D2 Series

AC Servo Driver
User’s Manual 2020（V1.1）

1
● Thank you for purchasing this AC servo driver.

● This Manual is the user manual for D2 series products.

● To use this series of servo drivers correctly, please carefully read this Manual before use
and keep this Manual properly for future reference. If this product is purchased for your
customer, please send this product to the final user together with this Manual.

☆ Warm tips:

◇ For the user who uses this product for the first time, please carefully read this
Manual. If there is any question with the function or performance of this product, please
contact our technical support staff for help in order to use this product correctly.

◇ We have tried our best to improve the contents of this manual. However, if you find
any problem in this Manual, please contact our technical support staff in time for us to
make timely corrections.

As we will constantly improve our servo driver products, we may make changes to the
materials without prior notice.

◇ Without prior written consent of the Company, no part of this manual shall be
reproduced.

2
 Safety Precautions
Before product storage, installation, wiring, operation, check or maintenance, users
must be familiar with and observe the following important notes to ensure safety during use
of the product.

1. Electric Shock Injury Warning

Warning

When the servo driver is powered on, the machine casing should not be opened so as to
avoid electric shock.
When the casing is opened, the servo driver should not be powered on so as to avoid
electric shock resulting from exposed high voltage wire.

In maintenance of the driver, wait for at least five minutes after cutting off the power, and
detect both ends of the high-voltage capacitor using a voltmeter. The maintaining operation
is
allowed only when it is confirmed that the safe voltage range is reached.
Power on only after reliable installation of the driver.
Servo driver and servo motor must be reliably grounded.
Do not touch the driver with wet hands for fear of electric shock.
Wrong voltage or power supply polarity may cause an explosion or operational accidents.
Ensure that the wire is properly insulated to avoid squeezing the wire and electric shock.

2. Warning of Damage to Equipment

Warning

Do not directly connect power to the U, V or W terminals of the driver for fear of
damaging the driver.
The servo motor and servo driver should be directly connected. Do not connect the U, V
or W output ends of the driver to any capacitive element (e.g. noise suppression filter,
pulse interference limiter, etc.) for fear of improper work of the driver.
Connect the input end of the driver to a compliant power supply as required.
Please verify the correctness and reliability of the cable connections before energizing.
Please purchase and use motor as required, or damage to the driver or motor may occur.
The rated torque of the servo motor should be higher than the effective continuous load

3
 torque.
The ratio between the load inertia and servo motor inertia should be less than the
recommended value.

3. Fire Warring

Warning

The driver should not be installed on the surface of a combustible and should be kept
away from flammable materials. Otherwise, a fire accident may occur.
Do not use it at a place which is damp, full of corrosive gas or flammable gas for fear of a
fire.
When any abnormal situation occurs while the driver operates, please immediately cut
off the power for repair. Long-time overloaded operation of the driver may cause
damage and fire.

4
 Contents

Contents ........................................................................................................................................... 5
Chapter I Function Overview ....................................................................................................... 9
1.1 Description of Servo Driver Models ................................................................................ 9
1.3 Basic Functions.................................................................................................................. 9
Chapter II Installation and Dimension ....................................................................................... 12
2.1 Servo Driver .............................................................................................................. 12
2.1.1 Storage Condition ......................................................................................... 12
2.1.2 Installation Site .............................................................................................. 12
2.1.3 Installation Direction .................................................................................... 12
2.1.4 Installation of Several Servo Drivers........................................................... 12
2.1.5 Dimension Description .................................................................................. 13
2.2 Servo Motor ............................................................................................................... 15
2.2.1 Storage Temperature .................................................................................... 15
2.2.2 Direction ......................................................................................................... 15
2.2.3 Installation Concentricity ............................................................................. 15
2.2.4 Installation Direction .................................................................................... 16
2.2.5 Protection Measures Against Water and Oil ............................................... 16
2.2.6 Cable Tension................................................................................................. 16
Chapter III Wiring........................................................................................................................ 17
3.1 Profile of terminal ..................................................................................................... 17
3.2 Typical Examples for Main Circuit Wiring ................................................................. 18
3.2.1 D2 series 220V ...................................................................................................... 18
3.2.2 D2 series 380V ...................................................................................................... 19
3.3 Control mode wiring ....................................................................................................... 19
3.3.1 Position control mode .......................................................................................... 19
3.3.2 Speed/torque control mode ................................................................................. 20
3.4 Encoder Signal Wiring.................................................................................................... 22
3.4.1 Encoder Signal Wiring......................................................................................... 22
3.4.2 Connection with Encoder Interface (CN1/CN2) and Processing of Output
Signal from CN3 ............................................................................................................ 22
3.5 Input/Output Signal Wiring ..................................................................................... 24
3.5.1 Input/Output Signal Wiring ......................................................................... 24
3.5.2 Interface Circuit ............................................................................................ 25
3.6 Communication connection terminal signal definition ................................................ 28
3.7 Other wiring .............................................................................................................. 28
3.7.1 Precautions .................................................................................................... 28
3.7.2 Anti-interference Wiring .............................................................................. 29
3.8 Wiring of Motor ........................................................................................................ 31
3.8.1 Connector Terminal Wiring for Motor Power Supply ...................................... 31
3.8.2 Connector Terminal Wiring for Motor Encoder ............................................... 32
Chapter IV Panel Operation ........................................................................................................ 33

5
 4.1 Basic Operation ......................................................................................................... 33
4.1.1 Key Names and Functions ............................................................................ 33
4.1.2 Selection and Operation of Basic Mode ...................................................... 34
4.1.3 Status Display ................................................................................................ 34
4.2 Auxiliary Function Mode (F□□□□).......................................................................... 36
4.2.1 Execution Mode List of Auxiliary Functions .............................................. 36
4.2.2 Display of Software Version of Servo .......................................................... 36
4.2.3 Position Demonstration Operation .............................................................. 37
4.2.4 Identification of Inertia Percentage ............................................................. 37
4.2.5 Confirmation of Motor Model ..................................................................... 38
4.2.6 Initialization of User Parameter Setup ........................................................ 38
4.2.7 Displaying History Alarm Data.................................................................... 38
4.3 Operation under User Parameter Mode (P□□□□).................................................. 39
4.3.1 User Parameter Setting ................................................................................. 39
4.3.2 Signal Distribution of Input Circuit ............................................................ 41
4.3.3 Signal Distribution of Output Circuit ......................................................... 44
4.4 Operation under Monitoring Mode (Un□□□) ......................................................... 47
4.4.1 List of Monitoring Mode .............................................................................. 47
Chapter V Operation .................................................................................................................... 50
5.1 Trial Operation.......................................................................................................... 50
5.1.1 Trial Operation for Servo Motor Unit ......................................................... 50
5.1.2 Trial Operation for Servo Motor Unit with Superior Reference .............. 50
5.1.3 Trial Operation Servomotor Connected to the Machine ........................... 54
5.1.4 Trial Operation of Servomotor with Brakes ............................................... 54
5.1.5 Position Controlled by Command Controller ............................................. 55
5.2 Selection of Control Mode ........................................................................................ 55
5.3 Setting of General Basic Functions.......................................................................... 56
5.3.1 Servo ON Setting ........................................................................................... 56
5.3.2 Rotation Direction Switching of Motor ....................................................... 56
5.3.3 Overtravel Setting ......................................................................................... 57
5.3.4 Setting for Holding Brake............................................................................. 59
5.4 Use of Absolute Encoder ........................................................................................... 62
5.4.1 Interface Circuit ................................................................................................... 63
5.4.2 Selection of Absolute Encoder ............................................................................. 64
5.4.3 How to Use Battery .............................................................................................. 64
5.4.4 Giving and Receiving Sequence of Absolute Data ............................................. 64
5.4.5 Setting of Absolute Encoder (F□009/ F□010) ..................................................... 67
5.4.6 Clear of Multi-coil Data of Absolute Encoder ................................................... 67
5.4.7 Clear of Internal Errors of Bus Encoder ........................................................... 68
5.5 Speed Control (Analog Voltage Reference) Operation .......................................... 68
5.5.1 User Parameter Setting ................................................................................. 68
5.5.2 Setting of Input Signal ................................................................................. 69
5.5.3 Adjustment of Reference Offset ................................................................... 69
5.5.4 Soft Start ........................................................................................................ 71

6
 5.5.5 Use of Zero Clamping Function ................................................................... 73
5.5.6 Encoder Signal Output ................................................................................. 74
5.6 Position Control Operation ...................................................................................... 76
5.6.1 User Parameter Setting ................................................................................. 76
5.6.2 Setting of Electronic Gear ............................................................................ 77
5.6.3 Position Reference ......................................................................................... 79
5.6.4 Smoothing ...................................................................................................... 82
5.6.5 Positioning Completed Output Signal ......................................................... 82
5.6.7 Inhibition Function of Reference Pulse (INHIBIT Function) ................... 84
5.7 Torque Control Operation........................................................................................ 85
5.7.1 User Parameter Setting ................................................................................. 85
5.7.2 Torque Reference Input ................................................................................ 85
5.7.3 Adjustment of Reference Offset ................................................................... 86
5.7.4 Speed Limit under Torque Control.............................................................. 88
5.8 Speed Control (Internal Speed Selection) Operation............................................. 89
5.8.1 User Parameter Settings for speed control with an internally set speed .. 89
5.8.2 Setting of Input Signal .................................................................................. 90
5.8.3 Operation at Internal Set Speed .................................................................. 90
5.9 Torque Limit .............................................................................................................. 92
5.9.1 Internal Torque Limit (Limitation on Output Torque Maximum Value) 92
5.9.2 External Torque Limit (through Input Signal) ........................................... 92
5.9.3 Torque Limit Based on Analog Voltage reference ...................................... 94
5.9.4 Torque Limit Based on External Torque Limit + Analog Voltage
Reference........................................................................................................................ 94
5.9.5 Confirmation under Input Torque Limit .................................................... 96
5.10 Control Mode Selection ............................................................................................ 96
5.10.1 User Parameter Setting ................................................................................. 96
5.10.2 Shift of Control Mode ................................................................................... 96
5.11 Other Output Signal ................................................................................................. 97
5.11.1 Servo Alarm Output (ALM) ......................................................................... 97
5.11.2 Rotation Detection Output (/TGON) ........................................................... 97
5.11.3 Servo Ready Output (/S-RDY) ..................................................................... 98
5.12 Mode Motion Sequence Manner .............................................................................. 98
5.12.1 Single Data Set Manner ................................................................................ 98
5.12.2 Data Set Sequence Mode ............................................................................ 100
5.12.3 Operation of Seeking Reference Point (Return to Zero) ......................... 105
Chapter VI Communication....................................................................................................... 109
6.1 Communication Wiring .......................................................................................... 109
6.2 User Parameter ....................................................................................................... 109
6.3 MODBUS Communication Protocol ........................................................................... 110
6.4 MODBUS Communication Address ............................................................................ 117
Chapter VII Maintenance and Inspection ................................................................................ 127
7.1 Abnormality Diagnosis and Treatment Methods ................................................. 127
7.1.1 Overview of Alarm Display ........................................................................ 127

7
 7.1.2 Alarm Displays and Their Causes and Treatment Measures .................. 129
7.1.3 Causes and Treatment Measures of Other Abnormalities ....................... 135
7.2 Maintenance and Check of Servo Drive................................................................ 138
7.2.1 Check of Servo Motor ................................................................................. 138
7.2.2 Check of Servo Drive .................................................................................. 138
7.2.3 General Standards of Replacement of Internal Parts of Servo Drive .... 138
Appendix A Summary of User Parameters ............................................................................... 140
Appendix B List of Alarm Display............................................................................................. 171
Appendix C Guidelines for Motor Model by Users.................................................................. 173
Motor Adaption Table......................................................................................................... 174
1、D2 series 380V ....................................................................................................... 174

8
Chapter I Function Overview
1.1 Description of Servo Driver Models
Naming rule of D2-220V servo driver:

1.2 Description of servo motor

The description of universal type servo motor:

9
 1.3 Basic Functions
220V（kW） 0.4 0.75 1.5 2.2 3 5
Otputcurrent（A） 2.8 5.5 10 12 16 25
AC 380V（kW） 1.8 3 3.8 5.5 7.5 -
Outputcurrent（A） 5 8 12 16 20 -
Control mode Position control, JOG running, speed contact, etc.
Encoder feedback 2500-line incremental standard and 17 bit incremental encoders
Ambient/storage
Ambient temperature: 0~+50℃; storage temperature: -20~+85℃
temperature
Use
Ambient/storage humidity Under 90%RH (no freezing or condensation)
conditions
Vibration/impact
4.9m/s2/19.6m/s2
resistance strength
Analog Reference voltage DC±10V
speed
reference Input impedance Appx. 20KΩ
input
Analog Reference voltage DC±10V
torque
reference Input impedance Appx. 20KΩ
input
Point 8 points
Servo ON (/S-ON), P action (/P-CON), positive-side over travel prohibited (P-OT),
IO input negative-side over travel prohibited (N-OT), alarm reset (/ALM-RST), positive-side
signal Function (distributable) torque limit (/P-CL), negative-side torque limit (/N-CL), position deviation clear
(/CLR), internal set speed switch, etc.
Distribution of above signals and change of positive/negative logics are available
Point 6 points
Servo alarm (ALM), position complete (/COIN), velocity compliance detection (/V-
IO output
Signal CMP), servo motor rotation detection (/TGON), servo ready (/S-RDY), torque limit
Function (distributable)
detection (/CLT), breaker (/BK), encoder zero point output (PGC)
Distribution of above signals and change of positive/negative logics are available
A-phase, B-phase and C-phase: linear drive output; divided pulse count: can be set
Encoder divided frequency output
freely
RS-485 Communication protocol MODBUS
communica 1:N communication N = 127 stations at maximum
tion Axial address setting Set by parameters
CAN Communication protocol CANOpen (DS301 + DS402 guild regulations)
communica 1:N communication N = 127 stations at maximum
tion Axial address setting Set by parameters
Display functions CHARGE indicator, 7-segment digital tube 5 bit
Regeneration processing Built-in or external regeneration resistor (optional)
Dynamic breaker (DB) stop, deceleration stop or free running stop during P-OT or N-
Overtravel (OT) prevention function
OT input action
Overcurrent, overvoltage, undervoltage, overload, overspeed, regeneration failure,
Protection functions
encoder feedback error, etc.
Rotation speed, current position, reference pulse accumulation, positional deviation,
Monitoring functions
motor current, operating status, input and output terminal signal, etc.
Auxiliary functions Gain adjustment, alarm record, JOG running, origin search, inertia detection, etc.
Intelligent function Built-in gain auto tuning function
Applicable load inertia Less than 5 times of the motor inertia
Feed-forward
0~100% (set unit: 1%)
compensation
Sign + pulse sequence, CW+CCW pulse sequence, 90 ° phase difference two-phase
Input pulse type
pulse (A phase + B phase)
Position
Input pulse type Linear drive and open connector supported
control
Linear drive：
Maximum input pulse Sign + pulse sequence, CW+CCW pulse sequence: 500Kpps
frequency 90 ° phase difference two-phase pulse (A phase + B phase): 500Kpps
Open connector：

10
 Sign + pulse sequence, CW+CCW pulse sequence: 200Kpps
90 ° phase difference two-phase pulse (A phase + B phase): 200Kpps

11
Chapter II Installation and Dimension
2.1 Servo Driver
D2 series servo drivers are base-mounted and improper installation may give rise to failures.
Please install the servo driver properly by following the instructions below.
2.1.1 Storage Condition
The servo driver should be kept in a place with an ambient temperature of [-20~+85]℃ when not
used.
2.1.2 Installation Site
■ Temperature: 0～55°C;
■ Ambient humidity: not higher than 90% RH ( no condensation);
■ Sea level not higher than 1000 m;
■ Maximum vibration: 4.9m/s²;
■ Maximum Impact: 19.6m/s²;
■ Other installation precautions:
· Installed in a control cabinet
Attention should be paid to the size of the control cabinet, the placement mode of servo driver and
cooling mode, in order to ensure that the ambient temperature for the servo driver is under 55℃. Please
refer to description in Section 1.2.2 for operation details;
· Installed near heat source
The radiation of the heat source and temperature rise caused by convection should be under
control, in order to ensure that the ambient temperature for the servo driver is under 55℃;
·Installed near vibration source
A vibration isolation device should be installed to avoid vibration passing to the servo driver;
· Installed in a place exposed to corrosive air
Necessary measures should be taken to prevent the servo driver from exposing to corrosive air.
Corrosive air may not immediately affect servo driver but will obviously cause the failure of electronic
components and relevant elements of the contactor;
· Other occasions
Servo driver should not be put in occasions of high temperature, high humidity, condensation
dripping, oil splashing, dust, scrap iron or radiation;
Note: when cutting off the power to store the servo driver, please put the driver in a place with the
following environmental conditions: -20~85℃, 90% RH below (no condensation)
2.1.3 Installation Direction
The direction of installation should be vertical to the mounting surface and two mounting holes
should be used to reliably fix the servo driver on the installation base. If required, a fan should be
installed to compulsorily cool the servo driver.
2.1.4 Installation of Several Servo Drivers
If more than one servo driver should be installed in a control cabinet in parallel, the space
indicated below should be followed for installation and heat dissipation.

12
 ■ Installation direction of servo driver
The front (wiring side) of the servo driver should face the operator and should be vertical to the
mounting base.
■ Cooling
Adequate space should be reserved around the servo driver to ensure cooling through a fan or free
convection.
■ Parallel installation
As shown above, a space of above 10 mm should be reserved at both sides of the horizontal
direction and a space of above 50mm should be reserved at both sides of the vertical direction. The
temperature inside the control cabinet should be kept even to avoid excess temperature in some parts of
the servo driver. If necessary, a fan for compulsory cooling and convection should be installed above the
servo driver.
■ Environmental condition for normal operation of servo driver
1. Temperature: 0~ 55℃
2. Humidity: below 90%RH (no condensation)
3. Vibration: below 4.9m/s2
4. To ensure long-term stable use, it is recommended to use the servo driver under an environmental
temperature condition of 45℃ and below.
2.1.5 Dimension Description
（1）D2-0.4kW

13
（2）D2-0.75kW

（3）D2-1.5kW / 2.2kW（220V）and 1.8kW / 3kW（380V）

（4）D2-3kW /5kW（220V）and 3.8kW / 5.5kW / 7.5kW（380V）

14
2.2 Servo Motor
The servo motor can be installed in horizontal or vertical direction. The service life of the servo
motor will be shortened significantly or unexpected accident may occur if any mechanical mismatch
occurs during installation. Please follow the instructions below for correct installation.
Precautions before installation:
Antirust agent is applied at the motor axis end and should be wiped off using a soft cloth
dipped in diluent before installation.
When wiping off the antirust agent, attention should be paid to prevent the diluent from
contacting other parts of the servo motor.
2.2.1 Storage Temperature
The servo motor should be kept in a place with an ambient temperature of [-20~+60]℃ when not
used.
2.2.2 Direction
Servo motor should be installed indoor and the indoor space should meet the following
environmental conditions.
 No corrosive, flammable or explosive air
 Good ventilation, little dust and dry environment
 Ambient temperature within 0~40℃
 Relative humidity within 26%~80%RH without condensation
 Easy for maintenance and cleaning
2.2.3 Installation Concentricity
Flexible coupling should be used as much as possible when connecting to machinery. In
addition, axis of servo motor should be placed in a straight line with that of mechanical load.
When installing servo motor, requirements for concentricity tolerance should be met as the following
figure.

15
 Measure at quarter of a circle to make sure that difference between max. value and min. value is
lower than 0.03 mm. (rotating with coupling)

 Mechanical vibration will be caused by large concentricity deviation

and therefore will lead to damages to servo motor bearing.
 When installing coupling, axial percussion is prohibited, otherwise
damages will be caused to encoder of servo motor.
2.2.4 Installation Direction
Servo motors can be installed horizontally, vertically or in random direction.
2.2.5 Protection Measures Against Water and Oil
When using in places containing water, oil or condensation, it is required to take special measures to
motors as per protection requirements; however, motors with oil seals should be used since protection
requirements for shaft penetrating portion should be satisfied when motors leaving factory. Shaft
penetrating portion refers to interval between extension of motor end and end flange.

Shaft penetrating portion

2.2.6 Cable Tension

Bending radius cannot be too small when connecting cables. It is also not suggested to exert too
much tension in cables. Specially, diameter for core wire of signal line is usually very fine (0.2 or 0.3
mm), therefore too much tension cannot be exerted during wiring.

16
 Chapter III Wiring
This section explains wiring examples of main circuit, functions of terminals in main circuit and
power ON sequence.

！attention
Notes
(1)Do not lead power lines and signal lines to the same pipe, nor bind them together. During wiring, power
lines should be kept over 30 cm away from signal line. Otherwise, malfunction may be caused.
(2)Multi-stranded wires and multi-core shielded wire should be used as signal lines and feedback wires for
encoder (PG).As for wire length, reference input wire should be 3m at most and 20 m at most for PG
feedback wire.
(3)High voltage may be maintained in the servo driver even the power is turned off. Do not touch power
terminal within 5 minutes after power off. Inspection operation should be carried out when CHARGE
indicator light is confirmed to be off.
(4)Do not frequently turn on or off the power. If it is required to continuously turn on or off the power,
frequency should be limited to 1 time/min below. Due to capacitance in power of servo unit, large charging
current (charging for 0.2 s) will flow through when power is ON. Therefore, performance of components in
main circuit within servo unit will be damaged if power is turned on/off frequently.

3.1 Profile of terminal

Series 220V
Terminal Functions Precautions for operation

17
 Three phase 220VAC (-15%~+10%)
L1、L2、L3 Main circuit power
(50/60Hz)
Single phase 220VAC (-15%~+10%)
L1C、L2C Terminal of control power
(50/60Hz)
⊝1、⊝2 DCreactor ⊝1 and⊝2 are connected at factory 。
When using an external resistor, connect
bleeder resistor between B1/○ + and
Terminal of bleeder
B1/⊕、B2、B3 B2；ConnectB2 and B3 when use internal
resistor
bleeder resistor, (B2 and B3 is shorted at
factory).
Terminal of motor power
U、V、W、  Must connected to the motor terminals UVW
line and earthing terminal
CN1 Terminal of motor encoder see instructions in 3.2
Terminal of input and
CN2 see instructions in 3.3.3
output
CN3 Notice the definition of the terminal，see
Communication terminal
CN4 instructions in 6.1

（2）Introduction of the main circuit terminal of D2 series 380V driver

Terminal Functions Precautions for operation
U，V，W Terminal of motor power line Connected to servo motor
Input terminal of main circuit
L1，L2，L3 Three phase 380VAC (-15%~+10%) (50/60Hz)
power
24V，0V Input terminalof control power 20～32VDC
Resistor should be connected to B1 and B2 if
B1，B2 Terminal of bleeder resistor
external connection for bleeder resistor is required
Earthing measures should be carried out for
PE Earthing Terminal connection of power earthing terminals and motor
earthing terminals

3.2 Typical Examples for Main Circuit Wiring

3.2.1 D2 series 220V
（1）Threephase220V

18
 Three phase L1
AC220V L2
（-15%~10%） L3
1KM
L1C
L2C

1
1 and 2 are shorted when at factory
2

B1/
B2 and B3 are shorted when at factory B2
B3

PE

Must be grounded

（2）Single phase 220V

Single phase L1
AC220V L2
（-15%~10%）
1KM
L1C
L2C

1
1 and 2 are shorted when at factory 2

B1/
B2 and B3 are shorted when at factory B2
B3

PE

Must be grounded

3.2.2 D2
series 380V
Three phase L1
AC380V L2
（-15%~10%） L3
1KM

PE

Must be grounded

1
1 and 2 are shorted when at factory 2

B1/
B2
B2 and B3 are shorted when at factory B3

3.3 Control mode wiring

3.3.1Position control mode

19
3.3.2 Speed/torque control mode

20
21
3.4 Encoder Signal Wiring
3.4.1 Encoder Signal Wiring
Connecting cables between encoder and servo driver and their wiring pin No. vary with servo
motors.
D2 series’s encoder terminal (CN1) is DB15，Type：CD0515S21GO
5 4 3 2 1

10 9 8 7 6

15 14 13 12 11

D2 Series’s encoder
Terminal Signal name Terminal Signal name
No. 2500 17bit No. 2500 17bit
1 PG0V PG0V 8 V− —
2 A＋ — 9 U− —
3 A− — 10 C＋ E+
4 B＋ — 11 NC NC
5 B− — 12 W＋ SD+
6 PG5V PG5V 13 V＋ —
7 W− SD- 14 U＋ —
－ － － 15 C− E-

3.4.2 Connection with Encoder Interface (CN1/CN2) and Processing of Output Signal
from CN3
In the figure: *1: connector wiring pin No. varies with used servo motor.
*2: refers to multi-stranded shielded wire.
*3: connector wiring pin No. varies with used servo motor. 19 -25 is pin number for axis A of single-axis
or double axis motor; 44 - 49 is pin number of axis b of double-axis motor.
(1) 2500 incremental wire-saving encoder

22
 Wire-saving Servo drive
incremental encoder *2 Command controller (Client)
CN1/2 CN3
*1 19(44)
Bus receiver
PA 1 Phase A
/PA 2 20(45) R Phase A

PB 3 Phase B 21(46)
R Phase B
/PB 4 22(47)

PC 5 Phase C 23(48)
R Phase C
/PC 6 24(49)
PG C
8 *3 Choke
9 +5V
25
10 0V
11

12 R(terminal resistance): 220 - 470Ω

13 C(decoupling capacitor): 0.1μF

+5V 7
GND 14

Connector housing (PE)

Shielded wire (2)
2500 incremental standard encoder
Non-wire-saving Servo drive
incremental encoder *2 Command controller (Client)
CN1/2 CN3
*1 19(44)
Bus receiver
PA 1 Phase A
/PA 2 20(45) R Phase A

PB 3 Phase B 21(46)
R Phase B
/PB 4 22(47)

PC 5
Phase C 23(48)
24(49) R Phase C
/PC 6
PG C
PU 8 *3 Choke
/PU 9 +5V
25
PV 10 0V
/PV 11

PW 12 R (terminal resistance): 220 - 470Ω

/PW 13 C (decoupling capacitor): 0.1μF

+5V 7
GND 14

Connector housing (PE)

Shielded wire

23
(3) Bus incremental encoder
Servo drive
Bus incremental encoder Command controller (Client)
CN1/2 CN3
*1 19(44)
Bus receiver
1 Phase A
2 20(45) R Phase A

3 Phase B 21(46)
R Phase B
4 22(47)

5 Phase C 23(48)
R Phase C
6 24(49)
PG C
8 *3 Choke
9 +5V
25
10 0V
*2
11

PW 12 R (terminal resistance): 220 - 470Ω

/PW 13 C (decoupling capacitor): 0.1μF

+5V 7
GND 14
Connector housing (PE)
Shielded wire
(4) Bus absolute encoder
Servo drive
Bus absolute encoder Command controller (Client)
CN1/2 CN3
*1 19(44)
Bus receiver
1 Phase A
2 20(45) R Phase A

Phase B 21(46)
*2 3
R
4 22(47) Phase B

5
Phase C 23(48)
E+
R Phase C
E- 6 24(49)
PG C
8 *3 Choke
9 +5V
25
10 0V
11

PS 12 R (terminal resistance): 220 - 470Ω

/PS 13 C (decoupling capacitor): 0.1μF

+5V 7
GND 14
Connector housing (PE)
Shielded wire

3.5 Input/Output Signal Wiring

3.5.1 Input/Output Signal Wiring

13 12 11 10 9 8 7 6 5 4 3 2 1

25 24 23 22 21 20 19 18 17 16 15 14

24
Definition Terminal No Signal name Function description

Anode of the power supply of input terminal, used for

Commom port of input
DICOM 6 driving the photoelectric coupler of the input terminal,
signal
DC12-24V, with the current no less than 100mA.

Factory settings：
IN1 19
IN1：/SON；
IN2 7 Control sequence of
IN2：/PCON
IN3 20 input IO port command
IN3：POT
IN4 8
IN4：NOT

OUT1+ 16
OUT1- 3 Factory settings：
Control sequence of
OUT2+ 17 OUT1：ALM
output IO port
OUT2- 4 OUT2：COIN
OUT3+ 18 command
OUT3：TGON
OUT3- 5

PULS+ 1 PULS+/SIGN+ is the positive end of differential

PULS- 14 Pulse string input pulse input.
SIGN+ 2 sequence PULS-/SIGN- is the negative end of differential pulse
SIGN- 15 input.
VREF / GND is used as the speed reference input of
VREF 9
analog control
TREF 10 Analog control sequence
TREF / GND is used as the torque reference input of
GND 21
analog control
PAO+ 11
PAO- 23
PBO+ 12 Used for the frequency-dividing output of encoder
Encoder feedback
PBO- 24 feedback, which will be provided for the host
PCO+ 13
PCO- 25
CZ/DGND is used for Z signal output of the open
SEN 22 SEN signal input circuit of the collector, which will be provided for
the host.

3.5.2 Interface Circuit

Examples of connection of input/output signal of servo unit and its command controller are shown as
below.
(1) Interfaces to reference input circuit
(a) Analog input circuit
The following is to describe 5-6 (speed reference input) terminals and 18-25 (torque reference input)
terminals of CN3 connector.
Analog signal is the signal of speed reference or torque reference. Input impedance is shown as
below.
· Speed reference input: appx. 20 KΩ

25
· Torque reference input: appx. 20 KΩ
Maximum allowable voltage of input signal is 12 V.

Analog voltage command input circuit Analog voltage command input circuit (D/A example)

Servo drive Command controller Servo drive

Above 1.8 KΩ (1/2W)
V-REF or V-REF or
T-REF T-REF
12V
D/A
2KΩ Appx. 20 KΩ Appx. 20 KΩ

(b) Position reference Input Circuit

The following is to describe 1-2 (reference pulse input) terminal and 3-4 (reference sign input)
terminal of CN3 connector.
Reference pulse output circuit at the side of command controller can be optional between bus driver
output and open-collector output, as classified as below.

Bus driver output (differential) circuit Open collector output

Command controller Servo drive Command controller Servo drive

i
150Ω Vcc 150Ω
R1

Tr1

2.8V (H level) - (L level) 3.7V Please refer to the following applicable examples for setting
of the working resistance R1 to maintain current i within 7
mA - 15 mA.
Applicable examples
Vcc on 24 V Vcc on 12 V Vcc on 5 V
R1=2.2 KΩ R1=1 KΩ R1=180 Ω
(2) Interfaces to sequence control input circuit
The following is to describe IN1 - IN8 terminals of CN3 connector.
Connect through the transistor circuit of relay or open connector. Please select relay for
small current when using relay for connection. If otherwise, bad contact will occur.

Example of relay circuit Example of open connector

Servo drive Servo drive

DC24V 3.3KΩ DC24V 3.3KΩ

+24VIN +24VIN

/S-ON, etc. /S-ON, etc.

Tr1

26
 Note: For interface of SEN signal input circuit, please refer to Chapter "Usage of Absolute Value
Encoder".
(3) Absorption circuit and release circuit
Use two-way photo coupler as input circuit of servo driver. Please select absorption circuit
connection and release circuit connection according to the specification required for the machine.

Absorption circuit Release circuit

DC24V DC24V
+ - + -
Servo drive Servo drive

(4) Interfaces to output circuit

(a) Bus driver (differential) output circuit
The following is to describe 19-20 (A phase signal) terminals, 21-22 (B phase signal) terminals and
23-24 (C phase signal) terminals of CN3 connector.
Output signal (PAO/PAO, PBO/PBO), origin pulse signal (PCO/PCO) and S phase rotation
quantity signal (PSO/PSO) that convert the 2 phases (A, B) of serial data for encoder are outputted by
bus driver output circuit, which is generally used when servo unit forms position control system at the
side of command controller through speed control. At the side of command controller, please use bus
receiver circuit to receive.
(b) Photocoupler output circuit
Servo alarm (ALM), servo ready (/S - RDY) and other sequence signals are constituted by
photocoupler output circuit and are connected through relay circuit or bus receiver circuit.

Example of relay circuit Example of bus receiving circuit

DC5V~24V DC5V~24V
Servo drive Servo drive

0V
PE
0V

Note:
maximum allowable voltage and current capacity of photo coupler output circuit are shown as below.
• Maximum voltage: DC 30 V
• Maximum current: DC 50 mA

27
3.6 Communication connection terminal signal definition
D2 Series communication connection terminal signal definition are as follows：
Terminal No 1 2 3 4 5 6 7 8
CN3 CANH CANL GND GND RS485+ RS485- Reserved Reserved
mane
CN4 CANH CANL GND GND RS485+ RS485- Built in 120 ohm resistor

1 8
2 7
C 3 6 C
N 4 5 N
5 4
3 6 3 4
3.7 Other wiring 7
8
2
1

3.7.1 Precautions
1. For reference input and wiring leading to encoder, please use the specified cable. Please select the
cable with shortest connection distance.
2. Use heavy wire (above 2.0 mm2) whenever possible as grounding wire.
· Grounding superior to D type (with grounding resistance of below 100 Ω) is recommended.
· It must be one-point grounding.
· Please directly ground the servo motor when servo motor and machine are insulated from each
other.
3. Do not blend or impose tension on the wire.
Core wire thickness of cable for signal is only 0.2 mm or 0.3 mm, so be careful when using it.
4. For radio frequency interference, please use noise filter.
· When it is used around residences or radio frequency interference is concerned, please insert noise
filter at the input side of power wire.
· Since servo unit is industrial equipment, no countermeasure is taken against radio frequency
interference.
To prevent misoperation due to noise, the following approaches are effective.
· Please locate reference input equipment and noise filter close to servo unit where possible.
· Please be sure to install surge suppressor on the coils of relay, solenoid and electromagnetic
contactor.
· Please separate power wire (high voltage circuit of power wire, servo motor wiring, etc.) and
signal wire while wiring, with the interval kept above 30 cm. Do not put them into the same pipeline or
bind them.
· Do not use the same power as electric welding machine, electrical discharge machine, etc. Even if
so, please insert noise filter at the input side of power wire when there is high frequency generator
around.
6. Use molded case circuit breaker (QF) or fuse to protect power wire.
· The servo driver is directly connected to industrial power wire. To protect servo system from cross
electric shock accident, please be sure to use molded case circuit breaker (QF) or fuse.
7. There is no built-in grounding protection circuit in servo driver. To form a safer system, please
configure residual-current circuit breaker for both overload and circuit protection, or residual-
current circuit breaker with supporting molded case circuit breaker for special protection of ground
wire.
------------------------------------------------------------------------------------------------------------------------------------------

28
3.7.2 Anti-interference Wiring
(1) Example of anti-interference wiring
"High speed switch element" is used for the main circuit of this servo driver, which may be subject
to the influence of switch and noise because of switch element depending on the peripheral wiring and
grounding processing of servo driver. Therefore, proper grounding and wiring process are necessary.
Microprocessor (CPU) is built in the servo driver, so "noise filter" is required to be configured in
place to prevent as much external interference as possible.
(2) Proper grounding processing
(a) Grounding of motor framework
Please be sure to connect the motor frame terminal "FG" of servo motor to the grounding terminal
"PE" of servo unit. In addition, grounding terminal "PE" must be grounded.
When servo motor is grounded via a machine, switch interference current will flow from the power
part of servo unit through the stray capacitance of servo motor.
The above are precautions for such influence.
(b) When there is interference on reference input wire
When there is interference on reference input wire, please ground the OV wire (GND) of the input
wire. When passing the main circuit wiring of motor through a metal conduit, please ground the conduit
and its junction box.
Please conduct one-point grounding for the above grounding processing.
(3) Usage of noise filter
Use blocking noise filter to prevent interference from power wire. Besides, insert noise filter for
power wire of peripheral devices as required.
-------------------------------------------------------------------------------------------------------------------------------------
■ Noise filter for brake power
When using servo motor (below 400 W) with holding brake, please use the following noise
filter at the power input of brake.
Model: FN2070-6/07 (manufactured by SCHAFFNER)
■ Precautions for operation of noise filter
When installing and wiring noise filter, please follow the following precautions. In case of
misoperation, noise filter will be greatly less effective.
1. Please separate input wiring from output wiring and do not put them into the same pipeline or bind
them together.

Noise Noise
filter filter

Box Box

Noise Noise
filter filter

Box Box

Separate the circuit

2. Separate the grounding wire of noise filter from its output wiring.

29
 Please do not put the output wiring of noise filter and other signal wires and grounding wires into
the same pipeline or bind them together.

Noise Noise
filter filter

Separate the
Accessible input wire
circuit

3. Connect the grounding wire of filter

alone with grounding plate and do not
connect other Box Box grounding wires.

Noise Noise
filter filter

Servo unit Servo unit Servo unit Servo unit

Shielding grounding Thick

and
short

Box Box

4. Processing of grounding wire of noise filter within a device

When there is a noise filter within a certain device, please connect the grounding wire of this filter
and that of other machines to the bound grounding plate and then proceed to grounding.

30
 Device
Servo unit

Noise
filter

Servo unit

Grounding
Box

3.8 Wiring of Motor

3.8.1 Connector Terminal Wiring for Motor Power Supply
4-pin aviationplug 4-pin aviationplug
type 4-pinAMP
XS16K4 YD28K4/YD32K4

diagram

Motor
1 2 3 4
type
1：PE 2：U 1：PE 2：U
pin Other
U W V PE 3：V 4：W 3：V 4：W
Series
D2 Series U V W PE

D2 Series brake-holding motor Other Series 130 motor

type 7-pinaviationplug 4-pinaviationplug
YD28J7 CMS3102A18-10P

diagram

Pin pin 1 2 3 4 5 6 7 pin A B C D

description define PE U V W Brake Brake 空 define U V W PE

31
 3.8.2 Connector Terminal Wiring for Motor Encoder
（1）Incremental encoder
Other series non-wire saving encoder socket (15-pin AMP) of series less than or equal to 90
Terminal No. 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15
Signals PE 5V GND B+ Z- U+ Z+ U- A+ V+ W+ V- A- B- W-

Other series non-wire saving encoder socket (15-pin aviationplug) of series greater than or equal to 110.
Vacancy of U+, U-, V+, V-, W+,W- for wire-saving encoder.
Terminal No. 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15
Signals PE 5V GND A+ B+ Z+ A- B- Z- U+ V+ W+ U- V- W-

D2 series flange 40-90（15-pin AMP plug）

Terminal No. 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15
Signals A+ A- B+ B- Z+ Z- U+ U- V+ V- W+ W- 5V GN FG
D
（2）Wire saving encoder
3ranks 9-pin AMP plug
Terminal No. 1 2 3 4 5 6 7 8 9
Signals 5V GND A+ A- B+ B- Z+ Z- FG

15-pin aviationplug，10~15 pin not welded

Terminal No. 1 2 3 4 5 6 7 8 9
Signals FG 5V GND A+ B+ Z+ A- B- Z-

（3）Absolute encoder
D2 series absolute encoder plug
（7-pin,40~90flange；XS16J7，100~180 flange：YD28J7）

Terminal No. 1 2 3 4 5 6 7
Signals FG E- E+ SD- GND SD+ +5V

D2 series 100~150 flange absolute encoder plug，（10-pin，SC-CMV1-R10P）

Terminal No. 1 2 3 4 5 6 7 8 9 10
mige / E- E+ SD- GND SD+ +5V / / FG
hongfa / 5V GND SD+ SD- E+ E- / / FG

D2 series 40-90 flange absolute encoder plug，（9-pinAMPplug）

32
 Terminal No. 1 2 3 4 5 6 7 8 9
Signals E+ E- FG SD+ SD- / 5V GND /

D2 series 40-90 flange，Nikon absolute encoder plug（9-pinAMPplug，D2 series）

Terminal No. 1 2 3 4 5 6 7 8 9
Signals SD+ SD- E+ / / 5V GND E- FG

D2 series 100-150 flange absolute encoder plug（15-pin aviationplug，YD28J15）

Terminal No. 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15
Signals FG E- E+ SD GN SD 5V /
- D +

Chapter IV Panel Operation

4.1 Basic Operation
4.1.1 Key Names and Functions
Through panel, such functions as switch of A-axis and b-axis display and operation, setting of various
parameters, execution and status display of JOG running reference can be achieved. The following is a
list of key names and functions.

Symbol Name Functions

Basic function switch: status display, auxiliary function,
M Function key
parameter setting and monitoring
Long press to switch between A-axis and b-axis display and
operation
Press UP to increase set value
UP Functioning as start key of positive rotation during JOG
running in auxiliary function mode
Press DOWN to reduce set value
DOWN Functioning as start key of negative rotation during JOG
running in auxiliary function mode

33
 Press the key to shift the selected bit (the decimal point of
Shift key
which flickers) one bit to the left
Press the key to display the setting and set value of
SET parameters, and access parameter setting status and clear
alarm
In the mode of status display, press SET to clear alarm, which can also be done by using alarm
removal input signal/ALMRST.
Note: in case of alarm ringing, first eliminate alarm causes and then remove alarm.
4.1.2 Selection and Operation of Basic Mode
Through switching the basic modes of panel operator, such operations as running status display,
parameter setting and running reference can be done.
Basic modes include status display mode, parameter setting mode, monitoring mode and auxiliary
function mode. After Key M is pressed, the modes switch in the order as shown in the following figure.

Power ON

Status display mode

Press M

Press M for over 1 s Press

User parameter mode

Press M for over 1 s

repeat Press M

Press M for over 1 s

Press
Auxiliary function mode

Press M for over 1 s

Press M
4.1.3 Status
Monitor Mode Display
Distinguishing
Press M
method of
status display is shown as below:

34
 A-axis bit data b-axis bit data

Bit 0 digital tube

Bit 1 digital tube
Bit 2 digital tube
Bit 3 digital tube
Bit 4 digital tube

■ Display content of bit data

Velocity/torque control mode Position control mode
Item
Bit data Display content Bit data Display content
Servo ON
Light on when servo ON
① A axisRunning A axisRunning (power being supplied to
(power being supplied to motor)
motor)
Light on when gap between Light on when offset of actual
motor speed and reference motor position and position
A axisPositioning
A axisSame speed speed is lower than the specified reference is lower than the
② completed
(/V-CMP) value specified value
(/COIN)
Specified value: PA503 Specified value: PA500
(Factory default: 10 rpm) (Factory default: 10 pulse)
Light on when motor speed is Light on when motor speed is
A axis A axis
higher than the specified value higher than the specified value
③ Rotation detection On rotation detection
Specified value: PA502 Specified value: PA502
(/TGON) (/TGON)
(Factory default: 20 rpm) (Factory default: 20 rpm)
Servo on limit: Servo on limit:
Light on indicates P-OT status Light on indicates P-OT status
A axis A axis
④ Light off indicates N-OT status Light off indicates N-OT status
P-OT/N-OT P-OT/N-OT
Flickering indicates P-OT/N- Flickering indicates P-OT/N-
OT status OT status
Light on when servo ON
b axis Light on when servo ON b axis
⑤ (power being supplied to
Running (power being supplied to motor) Running
motor)
Light on when gap between Light on when offset of actual
motor speed and reference b axis motor position and position
b axis
speed is lower than the specified Positioning reference is lower than the
⑥ Same speed
value completed specified value
(/V-CMP)
Specified value: PB503 (/COIN)) Specified value: PA500
(Factory default: 10 rpm) (Factory default: 10 pulse)
Light on when motor speed is Light on when motor speed is
b axis b axis
higher than the specified value higher than the specified value
⑦ Rotation detection Rotation detection
Specified value: PA502 Specified value: PA502
(/TGON) (/TGON)
(Factory default: 20 rpm) (Factory default: 20 rpm)
Servo on limit: Servo on limit:
Light on indicates P-OT Light on indicates P-OT
status； status；
b axis b axis
⑧ Light off indicates N-OT Light off indicates N-OT
P-OT/N-OT P-OT/N-OT
status； status；
Flickering indicates P-OT/N- Flickering indicates P-OT/N-
OT status； OT status
Light on when main circuit Light on when main circuit
Main power
power is normal； Main power supply power is normal；
⑨ supply
Light off when main circuit Ready Light off when main circuit
Ready
power is cut off power is cut off

■ Display content of abbreviated sign

35
Abbreviated signs Display content
A-axis and b-axis servos are OFF
(no power being supplied to A-axis and b-axis motors)
A-axis servo is ON
(power being supplied to A-axis motor)
b- axis servo is ON
(power being supplied to b-axis motor)
A-axis servo is P-OT/N-OT
(required to be judged depending on P-OT/N-OT bits in A-axis bit display)
b-axis servo is P-OT/N-OT
(required to be judged depending on positive and negative rotation in b-axis bit
display)
A axis is in alarm state
displaying alarm number

b axis is in alarm state

displaying alarm number

4.2 Auxiliary Function Mode (F□□□□)

4.2.1 Execution Mode List of Auxiliary Functions
This part describes the application operation of digital operator for motor running and adjustment.
The following lists the user parameters of auxiliary function execution modes and their functions.
Auxiliary
Functions
function NO.
F□000 Display of software version of servo
F□001 Position demonstration (effective only in position mode)
F□002 Jogging (JOG) mode running
Identification of load inertia percentage (compared to inertia of motor
F□003 body)
F□004 User password authentication
F□005 Motor model confirmation
F□006 Manual adjustment of speed reference offset
F□007 Manual adjustment of torque reference offset
F□008 Automatic adjustment of (speed, torque) reference offset
F□009 Clear of multi-coil information data of bus encoder
F□010 Clear of internal errors of bus encoder
F□011 Initialization of user parameter setting
F□012 Display of history alarm data
Note: in the list "□" displaying "A" indicates it is now in A-axis auxiliary function mode, and displaying
"b" indicates it is now in b-axis auxiliary function mode.
4.2.2 Display of Software Version of Servo
The following are operation steps for display of A-axis software version.
Operation Operation
Operation instruction Display after operation
steps key

1
Press M function key and select auxiliary function mode
to set the current mode as A-axis auxiliary function mode. M

36
 Press M function key (for more than 1 second) and switch
2 to auxiliary function mode of b axis, which will display M
Fb000.

Press UP or DOWN and select the desired auxiliary

3
function Fb000.

Press SET and A-1.00 is displayed, which indicates

4
processor program version is V1.00.

Press Shift key and P-1.00 is displayed, which indicates

5
FPGA program version is V1.00.

6 Press SET key to return to the display of Fb000.

4.2.3 Position Demonstration Operation

The following are operation steps for display of A axis position demonstration.
Operation Operation
Operation instruction Display after operation
steps key
Press M function key (for more than 1 second)
1 and switch to auxiliary function mode of A axis, M
which will display FA000.
Press UP or DOWN and select the desired
2
auxiliary function FA001.

Press SET and "2PCLr" is displayed and

3
initiate position demonstration operation.
Press SET (for more than 1 second) until the
4 display flickers “donE” to indicate position
demonstration operation has been completed.

5 Press SET to return to the display of FA001.

4.2.4 Identification of Inertia Percentage

The following are operations steps for display of A-axis inertia percentage detected in normal mode
(by turning 3 circles clockwise and another 3 circles counterclockwise).
Operation Operation
Operation instruction Display after operation
steps key
Press M function key to select parameter setting
1 mode for A-axis. If PA127 is not displayed, press M
UP or DOWN to set.
Press SET to display "H1341.", whose decimal
2
point in bit 0 flickers.
Press shift key for three times and select Bit 3 of
3 the displayed number, after which "H1.341" is
displayed and the decimal point in Bit 3 flickers.

4 Press UP and change the data to display "H2.341".

5 Press SET to return to the previous menu.

6
Press M function key and select the desired
auxiliary function FA003. M

37
 Press SET to display the operation interface "-JIn-
7
" for display of inertia identification percentage.
Press M function key, initiate inertia identification
8
operation by rotating motor 3 circles clockwise
and another 3 circles counterclockwise, after M
which display flickers "donE".
After detection, inertia percentage currently
9 ——
detected is displayed.

10 Press SET to return to the display of Fb000.

4.2.5 Confirmation of Motor Model

It is the function for confirming the model, capacity and encoder model of servo motor being controlled by
servo driver.
Operation Operation
Operation instruction Display after operation
steps key
Press M function key to select A-axis auxiliary
1 function mode. If FA005 is not displayed, press UP M
or DOWN to set.

2 Press SET, and "A.0004" is displayed.

3 Press Shift key and "b.0220" is displayed.

4 Press Shift key and "C.0010" is displayed.

5 Press Shift key and "d.0020" is displayed.

6 Press SET, and "A.0004" is displayed.

7 Press SET to return to the display of Fb000.

4.2.6 Initialization of User Parameter Setup

Operation steps to initialize A axis user parameter setup are as follows.
Operation Operation
Operation instruction Display after operation
steps key
Press M function key to select auxiliary
1 function mode for A axis. In case of failing to
display FA011, press UP or DOWN to set.

2 Press SET to start parameter initialization.

Press SET (for more than 1 second) until the

3 display flickers “donE” to indicate A axis user
parameter has been initialized.

4 Press SET to return to the display of FA011.

4.2.7 Displaying History Alarm Data

38
 Ten previous alarms can be validated at most. The history alarm records can be cleared by a
long press on SET. The history alarm data will not be cleared by alarm reset or servo power-off.
Moreover, the alarm history data will not impact the operation.

The bigger the serial number See Alarm List for alarm codes
stands for the older alarm data For alarm axis number, A stands for
A axis while b stands for b axis
See "Abnormality
Diagnosis and
Treatment Methods" for alarm content.
1、 In case of continuous occurrence of the same alarm, the alarm history data will not update.
2、 The alarm history data displayed as “A--” or “b--” indicate zero alarm.
Validate the history alarm according to the following steps.
Operation Operation
Operation instruction Display after operation
steps key

Press M function key to select auxiliary function mode for A

1 axis. In case of failing to display FA012 press UP or DOWN to
set.

2 Press SET to display "0-A03" and the previous alarms.

Press UP to display the last history alarm (press DOWN to

3
display the next new alarm).

Press UP to display the alarms in order.

4
* “A--” or “b--” indicates "Zero Alarm".

5 Press SET to return to the display of Fb012.

4.3 Operation under User Parameter Mode (P□□□□)

Functions can be selected or adjusted by setting parameters. User parameters consist of
"Parameter Setting" and "Function Selection". Parameter Setting functions to change the parameter
data to be adjusted in a certain range and Function Selection works to select the functions distributed to
bit numbers of penal operator.
4.3.1 User Parameter Setting
(1) Parameter setting
(a) Categories of “Parameter Setting”
See "List of User Parameters".
(b) Example to change "Parameter Setting"
The Parameter Setting based user parameters specify data by numerical values directly. The
range of change is validated by List of User Parameters. For example: the operation steps to change
b axis user parameter Pb100 (Speed loop gain) from "40" to "100" are shown as follows.

Operation Operation
Operation instruction Display after operation
steps key

1 Press M function key to select parameter setting mode M

39
 2
Press M function key (for more than 1 second). Pb000 is
displayed and the decimal point in Bit 0 flickers M
Press shift key twice and select Bit 2 of the displayed number.
3
Pb0.00 is displayed and the decimal point in Bit 2 flickers

4 Press UP to change the data and Pb1.00 is displayed

5 Press SET to display current Pb100 data

Press shift key twice and select Bit 2 of the displayed number.
6
000.40 is displayed and the decimal point in Bit 2 flickers

7 Press UP to change the data and 010.00 is displayed

Press SET to return to the display of Pb1.00. The content of b

8
axis speed loop gain, Pb100, changes from "400" to "1000"

(2) Function selection

(a) Categories of "Function Selection"
Also See "List of User Parameters".
(b) Example to change "Function Selection"
Example: the operation steps to change the control method (PA000.1) of basic switch PA000 for A
axis function selection from speed to position are listed as follows.

Operation Operation
Operation instruction Display after operation
steps key

1
Press M function key (for more than 1 second)
and PA0.00 is displayed M
Press SET to display current PA000 data. The
2
decimal point in Bit 0 flickers
Press shift key and select Bit 1 of the displayed
3 number. H000.0 is displayed and the decimal point
in Bit 1 flickers
Press UP to change the data and H001.0 is
4
displayed
Press SET to return to the display of PA0.00 and
5 the control approach for A axis has changed to
position control

(c) User parametric representation of the Manual

The user parameters for function selection are represented with hexadecimal system and every bit
of the set value has respective meaning.
User parameters for function selection in the Manual are represented as follows.

40
 The flickering bit is the current one to be edited
Bit 0
Bit 1
Bit 2
Bit 3
This bit is only displayed for hexadecimal number
PA000.0 or A.Hxxx□ stands for the set value "0-bit data" of A axis user parameter "PA000".
PA000.1 or A.Hxx□x stands for the set value "1-bit data" of A axis user parameter "PA000".
PA000.2 or A.Hx□xx stands for the set value "2-bit data" of A axis user parameter "PA000".
PA000.3 or A.H□xxx stands for the set value "3-bit data" of A axis user parameter "PA000".
Pb000.0 or b.Hxxx□ stands for the set value "0-bit data" of b axis user parameter "Pb000".
Pb000.1 or b.Hxx□x stands for the set value "1-bit data" of b axis user parameter "Pb000".
Pb000.2 or b.Hx□xx stands for the set value "2-bit data" of b axis user parameter "Pb000".
Pb000.3 or b.H□xxx stands for the set value "3-bit data" of b axis user parameter "Pb000".
4.3.2 Signal Distribution of Input Circuit
Input signals are distributed to the pins of input connector based on the user parameter setup.
(Distribution list is shown as follows.)
(1) Factory setting
The default distribution is indicated in bold as follows.
(a) Factory settings of single-axis driver
PA509 = H.4321 PA510 = H.8765 PA511 = H.0000 PA512 = H.0000
(b) Factory settings of double-axis driver
PA509 = H.4321 PA510 = H.0000 PA511 = H.0000 PA512 = H.0000
Pb509 = H.8765 Pb510 = H.0000 Pb511 = H.0000 Pb512 = H.0000

(2) Distribution change

User parameters are set based on the relation between use signal and input connector pin.
Moreover, when user parameters changes, the servo unit should be subject to "Power Off" → "Power
Restart" to make the user parameter take effect.

(a) List of input circuit signal distribution of single-axis driver:

No connection
Signal CN3 Pin no.
Input required
signal 14 15 16 17 39 40 41 42 Always Always
User parameter distribution
(IN1) (IN2) (IN3) (IN4) (IN5) (IN6) (IN7) (IN8) invalid valid
Servo ON
/S-ON 1 2 3 4 5 6 7 8 0 9
PA509.0 = H.xxx□
Proportional action reference
/P-CON 1 2 3 4 5 6 7 8 0 9
PA509.1 = H.xx□x
Positive-side over travel
prohibited POT 1 2 3 4 5 6 7 8 0 9
PA509.2 = H.x□xx
Negative over travel prohibited
NOT 1 2 3 4 5 6 7 8 0 9
PA509.3 = H.□xxx
Alarm reset
/ALM-RST 1 2 3 4 5 6 7 8 0 9
PA510.0 = H.xxx□
Deviation counter reset
/CLR 1 2 3 4 5 6 7 8 0 9
PA510.1 = H.xx□x
Positive-side external torque limit
/PCL 1 2 3 4 5 6 7 8 0 9
PA510.2 = H.x□xx
Negative side external limit
/NCL 1 2 3 4 5 6 7 8 0 9
PA510.3 = H.□xxx

41
Gain switch
/G-SEL 1 2 3 4 5 6 7 8 0 9
PA511.0 = H.xxx□
Select internal position setting
/POS0 1 2 3 4 5 6 7 8 0 9
PA511.1 = H.xx□x
Select internal position setting
/POS1 1 2 3 4 5 6 7 8 0 9
PA511.2 = H.x□xx
Select internal position setting
/POS2 1 2 3 4 5 6 7 8 0 9
PA511.3 = H.□xxx
Reference point switch /HOME-
1 2 3 4 5 6 7 8 0 9
PA512.0 = H.xxx□ REF
Allow position start /POS-
1 2 3 4 5 6 7 8 0 9
PA512.1 = H.xx□x START
Position change step
/POS-STEP 1 2 3 4 5 6 7 8 0 9
PA512.2 = H.x□xx
Homing start /START-
1 2 3 4 5 6 7 8 0 9
PA512.3 = H.□xxx HOME

Note: when multiple signals are distributed to the same input circuit, the input signal level will influence
all the distributed signals.

42
 (b) List of input circuit signal distribution of double axis driver:
No connection
Signal CN3 Pin no.
required
Input signal
User parameter 14 15 16 17 39 40 41 42 Always Always
distribution (IN1) (IN2) (IN3) (IN4) (IN5) (IN6) (IN7) (IN8) invalid valid
Servo ON
/S-ON 1 2 3 4 5 6 7 8 0 9
PA509.0 = H.xxx□
Proportional action reference
/P-CON 1 2 3 4 5 6 7 8 0 9
PA509.1 = H.xx□x
Positive-side over travel
prohibited POT 1 2 3 4 5 6 7 8 0 9
PA509.2 = H.x□xx
Negative over travel prohibited
NOT 1 2 3 4 5 6 7 8 0 9
PA509.3 = H.□xxx

Servo ON
/S-ON 1 2 3 4 5 6 7 8 0 9
Pb509.0 = H.xxx□
Proportional action reference
/P-CON 1 2 3 4 5 6 7 8 0 9
Pb509.1 = H.xx□x
Positive-side over travel
prohibited POT 1 2 3 4 5 6 7 8 0 9
Pb509.2 = H.x□xx
Negative over travel prohibited
NOT 1 2 3 4 5 6 7 8 0 9
Pb509.3 = H.□xxx

Alarm reset
/ALM-RST 1 2 3 4 5 6 7 8 0 9
P□510.0 = H.xxx□
Positive-side external torque limit
/PCL 1 2 3 4 5 6 7 8 0 9
P□510.2 = H.x□xx
Negative side external limit
/NCL 1 2 3 4 5 6 7 8 0 9
P□510.3 = H.□xxx
Gain switch
/G-SEL 1 2 3 4 5 6 7 8 0 9
P□511.0 = H.xxx□
Select internal position setting
/POS0 1 2 3 4 5 6 7 8 0 9
P□511.1 = H.xx□x
Select internal position setting
/POS1 1 2 3 4 5 6 7 8 0 9
P□511.2 = H.x□xx
Select internal position setting
/POS2 1 2 3 4 5 6 7 8 0 9
P□511.3 = H.□xxx
Reference point switch
/HOME-REF 1 2 3 4 5 6 7 8 0 9
P□512.0 = H.xxx□
Allow position start
/POS-START 1 2 3 4 5 6 7 8 0 9
P□512.1 = H.xx□x
Position change step
/POS-STEP 1 2 3 4 5 6 7 8 0 9
P□512.2 = H.x□xx
Homing start /START-
1 2 3 4 5 6 7 8 0 9
P□512.3 = H.□xxx HOME
Note:
1. When multiple signals are distributed to the same input circuit, the input signal level will influence all the
distributed signals.
2. The “□” of P□510、P□511、P□512 can be either "A" or "b".
(3) Example of input signal distribution
The steps to change the servo ON (/S-ON) distributed by single-axis driver to CN3-14 and the
positive-side external torque limit (/PCL) distributed by single-axis driver to CN3-41 are listed as
follows.

Before change After change

PA509:

PA510:

43
 Operation Operation
Operation instruction Display after operation
steps key
Press M function key to select parameter setting
1 mode. In case of failing to display PA509, press UP M
or DOWN to set.
Press SET to display current PA509 data.
2
(Distribute /S-ON to CN3-14.)
Press shift key and select Bit 1 of the displayed
3 number. H.432.1 is displayed and the decimal
point in Bit 1 flickers.

4 Press UP or DOWN to set current bit as "7".

5 Press SET to return to the display of PA509.

6 Press UP or DOWN to set PA510.

Press SET to display current PA510 data.

7
(Distribute /PCL to CN3-41.)
Press shift key twice and select Bit 2 of the
8 displayed number. H.87.54 is displayed and the
decimal point in Bit 2 flickers.

9 Press UP or DOWN to set current bit as "1".

Press SET to return to the display of PA510 and

10 distribute /S-ON to IN7 (CN3-41) and /PCL to IN1
(CN3-14).

(4) Polarity reversal setting of input port active level

Single/double-axis driver can set active level parameters of input port signals (PA519 and PA520) to
reverse IN1-IN7 active level polarity.
Note:
1. When signals of Servo ON, Forward drive prohibited, and reverse drive Prohibited are used under "Polarity
Reverse" setting, in case of any abnormality caused by signal line-off, no action will be made to safe direction. If such
setup has to be made, validation on action and safety must be performed.
2. The reversal parameters of input port active level of double-axis driver are PA519, PA520, Pb519 and Pb520 with
other setting invalid.

4.3.3 Signal Distribution of Output Circuit

(1) Factory setting
(a) Factory settings of single-axis driver:
PA513 = H.4321 PA514 = H.0065 PA521 = H.0000 PA522 = H.0000
(b) Factory settings of double-axis driver:
PA513 = H.0321 PA514 = H.0000 Pb513 = H.0654 Pb514 = H.0000
(2) Distribution change
The output circuits for sequence signals as follows can be used for function distribution. Moreover,
when user parameters change, the servo unit should be subject to "Power Off" → "Power Restart" to
make the user parameter take effect. The default distribution is indicated in the following gray box.
(a) List of output circuit signal distribution of single-axis driver:
7/(8) 9/(10) 11/(12) 32/(33) 34/(35) 36/(37)
CN3 Pin no.
OUT1 OUT2 OUT3 OUT4 OUT5 OUT6
Polarity setting of signal output
User parameter
PA521=H.xxx□ PA521=H.xx□x PA521=H.x□xx PA521=H.□xxx PA522=H.xxx□ PA522=H.xx□x
distribution
0 1 0 1 0 1 0 1 0 1 0 1

44
 0 Invalid
1 L H
Servo alarm 2 L H
(ALM) 3 L H
PA513.0=H.xxx□ 4 L H
5 L H
6 L H
0 Invalid
1 L H
Positioning completed
2 L H
/same-speed detection
3 L H
(/COIN or /V-CMP)
4 L H
PA513.1=H.xx□x
5 L H
6 L H
0 Invalid
1 L H
Motor rotation detection 2 L H
(/TGON) 3 L H
PA513.2=H.x□xx 4 L H
5 L H
6 L H
0 Invalid
1 L H
Servo ready 2 L H
(/S-RDY) 3 L H
PA513.3=H.□xxx 4 L H
5 L H
6 L H
0 Invalid
1 L H
Torque limit detection 2 L H
(/CLT) 3 L H
PA514.0=H.xxx□ 4 L H
5 L H
6 L H
0 Invalid
1 L H
Brake 2 L H
(/BK) 3 L H
PA514.1=H.xx□x 4 L H
5 L H
6 L H
0 Invalid
1 L H
Encoder origin pulse 2 L H
(/PGC) 3 L H
PA514.2=H.x□xx 4 L H
5 L H
6 L H

Note:
1、 When ALM signals and other signals are distributed to the same output circuit, the output circuit only output ALM
signals.
2、 When PGC signals and other signals rather than ALM are distributed to the same output circuit, the output circuit
only output PGC signals.
3、 Multiple signals (except for ALM and /PGC) distributed to the same output circuit will be output through OR circuit.

45
 (b) List of output circuit signal distribution of double-axis driver:
7/(8) 9/(10) 11/(12) 32/(33) 34/(35) 36/(37)
CN3 Pin no.
OUT1 OUT2 OUT3 OUT4 OUT5 OUT6
Polarity setting of signal output
User parameter
PA521=H.xxx□ PA521=H.xx□x PA521=H.x□xx PA521=H.□xxx PA522=H.xxx□ PA522=H.xx□x
distribution
0 1 0 1 0 1 0 1 0 1 0 1
0 Invalid
1 L H
Servo alarm 2 L H
(ALM) 3 L H
PA513.0=H.xxx□ 4 L H
5 L H
6 L H
0 Invalid
1 L H
Positioning completed
2 L H
/same-speed detection
3 L H
(/COIN or /V-CMP)
4 L H
PA513.1=H.xx□x
5 L H
6 L H
0 Invalid
1 L H
Motor rotation
2 L H
detection
3 L H
(/TGON)
4 L H
PA513.2=H.x□xx
5 L H
6 L H

0 Invalid
1 L H
Servo alarm 2 L H
(ALM) 3 L H
Pb513.0=H.xxx□ 4 L H
5 L H
6 L H
0 Invalid
1 L H
Positioning completed
2 L H
/same-speed detection
3 L H
(/COIN or /V-CMP)
4 L H
Pb513.1=H.xx□x
5 L H
6 L H
0 Invalid
1 L H
Motor rotation
2 L H
detection
3 L H
(/TGON)
4 L H
Pb513.2=H.x□xx
5 L H
6 L H

0 Invalid
1 L H
Servo ready 2 L H
(/S-RDY) 3 L H
P□513.3=H.□xxx 4 L H
5 L H
6 L H
0 Invalid
1 L H
Torque limit detection 2 L H
(/CLT) 3 L H
P□514.0=H.xxx□ 4 L H
5 L H
6 L H
0 Invalid
1 L H
Brake 2 L H
(/BK) 3 L H
P□514.1=H.xx□x 4 L H
5 L H
6 L H
Encoder origin pulse 0 Invalid
(/PGC) 1 L H
P□514.2=H.x□xx 2 L H

46
 3 L H
4 L H
5 L H
6 L H

Note:
1、 When ALM signals and other signals are distributed to the same output circuit, the output circuit only
output ALM signals.
2、 When PGC signals and other signals rather than ALM are distributed to the same output circuit, the
output circuit only output PGC signals.
3、 Multiple signals (except for ALM and /PGC) distributed to the same output circuit will be output through
OR circuit.
(3) Example of output signal distribution
Steps to invalidate the default setting to distribute rotation detection (/TGON) to CN3-11(12) and replace
CN3-11(12) with Brake Signal Distribution.
Operation Operation
Operation instruction Display after operation
steps key
Press M function key to select parameter
1 setting mode. In case of failing to display M
PA513, press UP or DOWN to set.
Press SET to display current PA513 data.
2
(Distribute /TGON to CN3-11(12).)
Press shift key twice and select Bit 2 of the
3 displayed number. H.43.21 is displayed and the
decimal point in Bit 2 flickers.

4 Press UP or DOWN to set current bit as "0".

5 Press SET to return to the display of PA513.

6 Press UP or DOWN to set PA514.

Press SET to display current PA514 data.

7
(Distribute /BK to CN3-36(37).
Press shift key and select Bit 1 of the displayed
8 number. H.006.1 is displayed and the decimal
point in Bit 5 flickers.

Press UP or DOWN to set current bit as "3".

9
(Distribute TGON to CN3-11(12)

Press SET to return to the display of PA514

10
and distribute /TGON to OUT3:CN3-11(12).

4.4 Operation under Monitoring Mode (Un□□□)

Under monitoring mode, the reference value input to A axis or b axis servo driver, status of input/output
signals and servo internal status can be monitored. Even though the servo motor is running, the monitoring
mode can be changed.
4.4.1 List of Monitoring Mode
(1) Content displayed under monitoring mode

47
Monitor
Display content Unit
number
Un000 Motor speed 1r/min
Un001 Rotation angle (electric angle) 1deg
Un002 Input reference pulse speed (only valid under position control mode) 1 KHz
Un003 Bus voltage 1V
Un004 Speed reference value of analogue input 1r/min
Un005 Torque reference percentage of analogue input (relative rated torque) 1%
Un006 Internal torque reference (relative rated torque or given motor currency) 1% or 0.1A
Un007 Input port signal monitoring —
Un008 Output port signal monitoring —
Un009 Encoder signal monitoring (only valid for incremental encoder) —
Un010 Input reference pulse counter (32-bit decimal display, only valid under position control mode) 1-reference pulse
Un011 Feedback pulse counter (four-octave frequency data of encoder pulse, 32-bit decimal display) 1-reference pulse
Un012 Position offset counter (only valid under position control mode) 1-reference pulse
Un013 Accumulative load rate (when rated torque is set as 100%) 1%
Un014 Ratio of moment of inertia (the ratio of load moment inertia to motor moment inertia) 1%
Un015 Actual encoder angle (32-bit decimal display) 1-reference pulse
Un016 Display rounds of encoder (only valid for turns of encoder) 1 circle
(2) Monitor display for input/output signals for sequence
Monitor display for input/output signals for sequence
(a) Monitor display of input signal status
Display the input/output status of the signals distributed to input/output terminals.
When input/output is OFF (open circuit), the upper display segment (LED) will be on.
When input/output is ON (short circuit), the lower display segment (LED) will be on.
Upper: OFF (H Level)
Lower: ON (L Level)

Light-off: A axis status is displayed

8 7 6 5 4 3 2 1 LED number Light-on: b axis status is displayed
is displayed
Validate the relation between input terminals and input signals according to "7.3.2 Signal
Distribution of Input Circuit".
Monitor LED number is Factory settings
Name of input terminal
number displayed Single-axis Double-axis
1 IN1（CN3-14） /S-ON A axis /S-ON
2 IN2（CN3-15） /P-CON A axis /P-CON
3 IN3（CN3-16） POT A axis POT
4 IN4（CN3-17） NOT A axis NOT
Un007
5 IN5（CN3-39） /ALM-RST b axis /S-ON
6 IN6（CN3-40） /CLR b axis /P-CON
7 IN7（CN3-41） /PCL b axis POT
8 IN8（CN3-42） /NCL b axis NOT

(b) Monitor display of output signal status

Display the status of the output signals distributed to output terminals.
When output is OFF (open circuit), the upper display segment (LED) will be on.
When output is ON (short circuit), the lower display segment (LED) will be on.
LED Factory settings
Monitor
number is Name of input terminal
number Single-axis Double-axis
displayed
1 OUT1 (CN3-7,-8) ALM A axis ALM
/COIN or /V-
2 OUT2 (CN3-9,-10) A axis/COIN or /V-CMP
CMP
Un008
3 OUT3 (CN3-11,-12) /TGON A axis/TGON
4 OUT4 (CN3-32,-33) /S-RDY b axis ALM
5 OUT5 (CN3-34,-35) /CLT b axis/COIN or /V-CMP

48
 LED Factory settings
Monitor
number is Name of input terminal
number Single-axis Double-axis
displayed
6 OUT6 (CN3-36,-37) /BK b axis/TGON
1 PW (CN□-12,-13) □ axis encoder W-phase (□ represents for 1 or 2)
2 PV (CN□-10,-11) □ axis encoder V-phase
3 PU (CN□-8,-9) □ axis encoder U-phase
Un009
(Only valid for 4 UVW off line detection signal □ axis UVW off line detection
incremental 5 PC (CN□-5,-6) □ axis encoder C-phase
encoder)
6 PB (CN□-3,-4) □ axis encoder B-phase
7 PA (CN□-1,-2) □ axis encoder A-phase
8 ABC off line detection signal □ axis UVW off line detection

(3) Use of monitoring mode

Operation steps to display b axis Un000 data are listed as follows (when A axis and b axis servo motor
rotate at 1000 and 1500 r/min respectively)
Operation Operation
Operation instruction Display after operation
steps key

1 Press M mode key to select monitoring mode M

Press UP or DOWN and select the desired monitor
2
number Un000

Press SET to display Un000. The decimal point of

3
current Bit 0 is off, so A axis Un000 is displayed

Press UP or Down, the decimal point of current Bit

4
0 is on, so b axis Un000 is displayed

Press SET to return to the display of monitor

5
number.

(4) Monitor display of reference pulse, feedback pulse counter and actual angle of encoder
Operation steps to display b axis Un010 data are as follows.
Operation Operation
Operation instruction Display after operation
steps key
Press M function key to select A axis monitoring
1 mode. In case of failing to display Un010, press M
UP or DOWN to set.
Press SET to display Un010. The decimal point
2 of current Bit 0 is off, so low 16-bit of A axis
Un010 is displayed.
Press UP or Down, the decimal point of current
3 Bit 0 is on, so low 16-bit of b axis Un010 is
displayed.
Press Shift key, the decimal point of current Bit
4 0 is on, so high 16-bit of b axis Un010 is
displayed.
Press SET to return to the display of monitor
5
number.

49
Chapter V Operation
5.1 Trial Operation
Perform trial operation after wiring.
5.1.1 Trial Operation for Servo Motor Unit

Notes
· Disconnect the servo motor and machinery and only fix the servo motor unit.
To avoid accident, based on the instruction,trial operation is performed on a servo motor under unloaded
status (where the servo motor unit connects with no coupling or belt).
Validate whether the power, motor main circuit and encoder cables are wired correctly. Usually, wiring
mistake may cause the motor fail to rotate smoothly intrial operation. Please validate again.
When the wiring is validated as correct, perform trial operation for servo motor units based on the
following serial number in order.
· Jogging (JOG) and mode running (F□002)
The following are operation steps for display of axis A JOG operation.
Operation Operation
Operation instruction Display after operation
steps key

1
Press M function key (for more than 1 second)
and switch to auxiliary function mode of axis A. M
Press M function key to select auxiliary function
2 mode for A axis. In case of failing to display
FA002, press UP or DOWN to set.

3 Press SET to start JOG operation.

4
Press M function key to turn the servo ON (the
motor is powered on). M
Press UP (turn anti-clockwise/ positive) or
5 DOWN (turn clockwise/ negative) to run the
motor.

6
Press M function key to turn the servo OFF (the
motor is powered off). M
7 Press SET to return to the display of FA002.

P 304 Jogging (JOG) speed Speed Position Torque

Setting range Setting unit Factory setting Power reboot

0 ~ 6000 1rpm 500 Not required

Set the motor speed command value for auxiliary function "Jogging (JOG) Mode Running (Fn002)".
Pay attention, in the operation under jogging (JOG) mode, it is invalid to disable Forward Drive
Prohibited (P-OT) or Reverse Drive Prohibited (N-OT).
5.1.2 Trial Operation for Servo Motor Unit with Superior Reference
This item is to validate whether the servo motor moving reference and input/output signals from the
command controller to the servo unit are correctly set, whether the wiring and polarity between command
controller and servo unit are correct and whether the movement setting of servo unit is correct. This is the
final validation before connecting the servo motor to machinery.
(1) Servo ON reference based on superior reference

50
 The following external input signal circuits and equivalent signal circuits must be configured.
Speed control (standard setting) Position control
[P 000=H. 0 ] [P 000=H. 1 ]
Servo drive Servo drive
CN3 CN3
13 13
+24V +24V
/S-ON /S-ON 14（39）
14（39）

P-OT 16（41） P-OT 16（41）

N-OT 17（42） N-OT 17（42）

V-REF 5 （30） PULS 1 （26）

SIGN 3 （28）
0V
(b axis connection terminal in the bracket)
0V (b axis connection terminal in the bracket)
Step Content Verification methods and supplementary instruction
Form the input signal circuit required by servo ON. Please set as follows.

To turn the servo ON, the minimum required signal 1. Input servo On and input signal (/S-ON)
should be input. Please wire the input/output signal 2. Turn On (L level) input signals of Forward Drive Prohibited
connector (CN3) in the circuit equivalent to the (P-OT) and Reverse Drive Prohibited (N-OT) (forward drive
circuit shown in the preceding page, power it off prohibited and reverse drive prohibited can be performed)
and connect CN3 to servo unit. 3. Do not input reference (0V reference or 0 pulse)
1 If the external wiring is to be omitted, the input signal
distribution function based on user parameters can be used to set
the function of input terminal as “Always Valid”, “Always
Invalid” without signal input. Please refer to “Signal Distribution
of Input Circuit”.
When absolute value encoder is used, if “Use Absolute
Encoder as Incremental Encoder (Pn001=H.□□□2 )” is set
temporarily, wiring for SEN signals can be omitted.
Please power on to check whether the panel If the content is not displayed as shown in the left figure, the
operator displays content as follows. setting of the input signals is incorrect. Please validate the input
For single-axis signals with input signal monitor (Un007).
For single-axis：Un007=
2
For double-axis
For single-axis：Un007=

Turn the connected signal lines ON/Off to validate that the

LED display of the digital operator changes as follows.
Input servo ON input signal (/S-ON) and validate When any alarm appears, see "Abnormality Diagnosis and
that the display of panel operator is shown as Treatment Methods" to eliminate the alarm.
follows.
In case of interference in reference voltage during speed
For single-axis
control, “-” in the upper left part of the panel operator will flash.
3
When the servo is ON, the servo motor might run at dead slow
speed. For such occasion, please refer to “Other Wiring” to take
For double-axis corresponding measures.

(2) Operation steps under speed control mode (P□000=H. □□0□)

The following external input signal circuits and equivalent signal circuits must be configured.

51
 Servo drive
CN3
13
+24V
/S-ON 14（39）

P-OT 16（41）

N-OT 17（42）

V-REF 5 （30）
0V
VE
6 （31）

VE: maximum voltage 12 V

(b axis connection terminal in the bracket)

Step Content Verification methods and supplementary instruction

Please check the power and input signal circuit Please refer to the input signal circuit shown in the above figure.
1 again and check the speed reference input (voltage
between V-REF and GND) is 0 V.
If the servo motor rotates at an extremely slow speed, see
2 Turn on the servo ON(/S-ON) input signal. “Adjustment of Reference Shift”,and use the reference voltage
offset to keep the servo motor from moving.
Increase the speed reference input voltage (between Factory setting: 150(r/min)/V.
3
V-REF and GND) slowly from 0 V with.
Please validate the speed reference (Un004[r/min]) See "Selection and Operation of Basic Mode" for relevant
4
value input to servo driver. display methods.
See "Selection and Operation of Basic Mode" for relevant
5 Please validate servo motor speed (Un000[r/min]).
display methods.
Please validate the values of Step 4 and 5 (Un004 Change speed reference input voltage to validate whether Un004
6
and Un000) are equivalent. = Un000 is valid when there are multiple speed reference values.
Refer to the following equation when speed reference input gain
(P□300) changes.
Un004 ＝ P□300[rpm/V]×(V-REF voltage)[V]
Please validate the speed reference input or motor
7 To change the motor rotation direction without changing speed
rotation direction.
reference input voltage polarity, see “Rotation Direction
Switching of Motor”.
Start from Step 2 after change.
If the servo is OFF when the speed input reference is
8 set as 0 V, the trial operation of servo motor unit has
completed.
Note: The position control is configured in command controller
When servo is under speed control and subject to position control in command controller, please validate the
following items after the said “Operation Steps under Speed Control Mode”.

Step Content Verification methods and supplementary instruction

Please validate the power and input signal circuit
9 again and validate the speed command input
(voltage between V-REF and GND) is 0 V.
If the servo motor rotates at an extremely slow speed, see
10 Set servo ON(/S-ON) input signal as ON. “Adjustment of Reference Shift”,and use the reference voltage
offset to keep the servo motor from moving.
Give the motor rotation reference (e.g., the motor Motor rotation angle 1 (Un015[pulse]): the pulse count starting
11
rotates 1 round) easy to validate in advance from from original point.

52
 command controller and validate the motor rotation
commanded and realized by visual inspection and
monitoring motor actual angle (Un015[pulse]).
In case of rotation difference of Step 11, please See "Encoder Signal Output" for relevant setting method.
12 properly set the PG frequency dividing ratio (Pn201) PG frequency dividing ratio (Pn201[P/Rev]): the encoder pulse
that outputs encoder pulse from servo unit. count per rotation round.
If the servo is OFF when the speed input reference is
13 set as 0 V, the trial operation to set the reference
control as position control has completed.
(3) Operation steps under position control mode (P□000=H. □□1□)
The following external input signal circuits and equivalent signal circuits must be configured.
Servo drive
CN3
13
+24V
/S-ON 14（39）

P-OT 16（41）

N-OT 17（42）
Factory setting of input
CLR 15（40）
port should be changed
PULS+ 1 （26）

PULS- 2 （27）
Pulse
commander SIGN+ 3 （28）

SIGN- 4 （29）

(b axis connection terminal in the bracket)

Step Content Verification methods and supplementary instruction
Please validate the conformity between pulse shape Reference pulse shape is set with P□200=H.××□×. Please refer to
1 and the pulse output from the superior pulse "Setting of User Parameter".
commander.
Set command unit and set electronic gear ratio Electronic gear ratio is set with (Pn202/Pn203). Please refer to
2
based on command controller. "Setting of Electronic Gear".
Power on and set servo ON (/S-ON) input signal as
3
ON.
Use the motor rotation to be easily validated in
4 advance (e.g., motor rotates 1 round) to output slow Set the reference pulse rate as the safe rate around 100 r/min.
reference pulse from command controller.
Please validate the reference pulse count input to See "Selection and Operation of Basic Mode" for relevant
servo unit with the variation before and after display methods.
5
inputting the reference of reference pulse counter Un010( input reference pulse counter [pulse])
((Un010[pulse]).
Please validate the actual rotation of the motor See "Selection and Operation of Basic Mode" for relevant
6 before/after change of feedback pulse counter display methods. Feedback pulse counter (Un011 [pulse])
(Un011[pulse]).
Please validate that Step 5 and 6 meet the following
7 conditions.
Un011=Un010
Please validate the input pulse polarity and input reference pulse
Please validate the conformity of rotation direction
8 shape.
with the servo motor giving reference. Please refer to "Selection of Pulse Reference shape".
9 Please validate motor rotation direction. To change the motor rotation direction without changing input

53
 reference pulse shape, see “Rotation Direction Switching of
Motor”. Start from Step 9 after change.
If the servo will be OFF when the pulse reference
input stops, the trial operation under servo motor
10
unit position control mode using superior position
reference has completed.

5.1.3 Trial Operation Servomotor Connected to the Machine

Danger
· Please carry out operations indicated in this section as per instructions.
Upon connection between servo motor and machinery, in case of operation mistake, not only damages
to machinery but also personal injuries will be caused there from.

The steps are specified on the condition that trial operation has been completed in each control.
Step Content Verification methods and supplementary instruction
Please refer to "Setting of General Basic Functions".
When using servo motor with brake, measures against natural
Switch on power and set mechanical configuration
falling of machinery and vibration caused by external force
1 in respect of protection functions for over travel and
brake. should be taken prior to confirmation of brake operation. Please
check whether operations for servo motor and brake are normal.
Please refer to "Setting for Holding Brake".
Based on used control mode, please refer to:
Please set necessary parameters for users based on the Speed Control (Analog Voltage Reference) Operation
2
used control mode. the Position Control Operation
the Torque Control Operation
Please connect to servo motor and machinery via Please refer to "Installation Precautions for Servo Motor".
3
coupling with power being cut off.
When servo controller is turned to "Servo Off" Please refer to "Setting of General Basic Functions".
mode (de-energized state), switch on power of In case of any abnormality during operation of following step,
4 command controller of machinery. Please confirm emergency stop may be carried out to safely stop operation.
once again whether operation of protection
functions in step 1 is normal.
Please carry out trial operation in accordance with Please check whether results are in line with trial operation of
objectives specified in the Trial Operation for Servo servo motor unit. In addition, please check whether settings like
5 Motor Unit Based on Superior Reference upon reference unit conform to that of machinery.
completed installation of machinery and servo
motor.
Please confirm once again whether user parameter Please check whether servo motor operates according to
6
settings conform to control mode in step 2. specification for machinery operation.
Please adjust servo gain as necessary to improve Trial operation should be fully completed since insufficient
7
responsiveness of servo motor. "running-in" with machinery may occur in thetrial operation.
Please record the user parameters set for
maintenance in the 12.4 User Parameter Setting
8 Memo.
At this point, the Supporting Trial Operation for
Machinery and Servo Motor is completed.

5.1.4 Trial Operation of Servo motor with Brakes

In terms of a servo motor with brake, operation for its holding brake should be controlled by inter locking
output (/BK) signals of the brake in servo driver.

54
 Measures against natural falling of machinery and vibration caused by external force should be taken prior to
confirmation of brake operation. Please check operations of servo motor and holding brake upon disconnection
between servo motor and machinery. If operations are normal, servo motor may be connected to machinery for trial
operation.
Please refer to "Setting for Holding Brake" for wiring of servo motor with brake and settings for user
parameters.
5.1.5 Position Controlled by Command Controller
According to the above mentioned, make sure that trial operation for servo motor unit should be conducted
after disconnection of servo motor and machinery, Please confirm operation and specification of servo motor first
based on the following table.

Analogue speed
command
Command Servo Trial Operation for servo
controller drive
M
motor without Load

Position control Velocity control

Commands of command Confirming

Confirming methods Re-corrected content Reference
controller matters
Confirm speed of servo motor by Please determine whether
the following methods. input gain (P□300) of speed
•RPM monitoring for motor using command is correct via
JOG operation panel operator (Un000) confirmation of setting values
(Reference with certain RPM of servo •Try to operate servo motor at a of user parameters.
speed input by command motor lower speed. For example, input
controller) a speed reference of 60r/min
and check whether the servo
motor rotates 1 round per
second.
After inputting a reference to order Please determine whether PG
the servo motor to rotate 1 round, divider ratio (P□201) is
Rotation amount
Simple positioning visually inspect whether the shaft correct via confirmation of
of servo motor
of servo motor rotates 1 round. setting values of user
parameters.
Overtravel operation Input POT and During continuous rotation of If it fails to be stopped,
(when using POT and NOT NOT signals and servo motor, make sure that servo correct wiring of POT and
signals) check whether motor stops after POT and NOT NOT again.
the servo motor signals is switched to be ON.
stops.

5.2 Selection of Control Mode

Control modes applicable to servo driver are explained as follows:
User Parameter Control modes Reference
P□000 H.□□0□ Speed control (analog voltage reference)
Control RPM of servo motor by reference of analog voltage speed in case of:
· required RPM control
· feedback from frequency dividing output by encoder of servo; setting position loop in command
controller; and implementation of position control
H.□□1□ Position control (pulse train reference)
Control position of servo motor via reference of pulse train position.
Control position via number of incoming pulse and control speed via frequency of incoming pulse.
Use it if in need of positioning operation.

55
 H.□□2□ Torque control (analog voltage reference)
Control output torque of servo motor by analog voltage torque reference which should be used if
required amount of torque for operations such as pressing.
H.□□3□ Speed control (selection of internal set speed)
With 3 input signals (/P-CON, /P-CL and /N-CL), speed is controlled by operation speed set by
servo in advance. 3 operation speeds can be set for the servo without analog voltage reference.
H.□□3□ It is supporting switching modes for the above 4 control modes. Please select an applicable
· switching mode of control mode for purposes of clients.
·
·
H.□□B□
H.□□C□ Motion control mode

5.3 Setting of General Basic Functions

5.3.1 Servo ON Setting
Set the servo ON signal (/S-ON) which sends out commands for energized/de-energized state of servo motor.
(1) Servo ON signal (/S-ON)
Pin No. of
connector
Name Signal Set Meanings
(factory)
A axis B axis
ON = L Level Servo motor can operate in energized state (servo ON state).
Input /S-ON CN3-14 CN3-39
OFF = H Level Servo motor cannot operate in de-energized state (servo OFF state).
■Attentions
Make sure that commands are input to start/stop servo motor after sending servo ON signal. Do not use /SON signal to start/stop servo
motor after inputting commands. In case of repeated switching between ON and OFF modes for AC power, accidents may be caused by
aging of internal components.
/S-ON signals may distribute inputted connector pin numbers to other places by user parameters.

(2) Select to use/disuse servo ON signal

Regular servo ON can be set by user parameters without wiring of /S-ON, however, servo driver is switched to
action state when power is on, therefore you should handle with care.
User Parameter Meanings
P□509 H.□□1□ Input /S-ON signal via the input terminal IN1(CN3-13) (factory setting)
A axis
H.□□9□ Set the /S-ON signal to be "valid " in regular time
H.□□5□ Input /S-ON signal via the input terminal IN5 (CN3-39) (factory setting)
B axis
H.□□9□ Set the /S-ON signal to be "valid " in regular time
· Power must be turned on again upon changes to the user parameter so as to effect the setting.
· When the signal is set to be "valid " in regular time, reset can be realized by power restarting in case of alarm (alarm reset is invalid).

5.3.2 Rotation Direction Switching of Motor

In this case, only reverse the rotation direction of motor without changes to pulse and voltage polarity of
commands being sent into servo driver.
At the same time, moving direction (+, -) of shaft is reversed but polarity for output signals from servo
(such as pulse output of encoder and analog monitor signal) is kept unchanged.
In standard setting, "forward direction" is observed to be "counterclockwise rotation" from the loading
side of servo motor.
Command
User Parameter Name
rotation reference Negative rotation reference

56
 Standard setting Positive rotation Negative rotation
(CCW refers to (CCW) (CW)

forward rotation)
(Factory setting)
H.□□□0

Encoder output pulse Encoder output pulse

PAO PAO
PBO A phase advance PBO B phase advance
P□000 Negative rotation
Negative rotation Positive rotation
（CW）
mode (CCW)

(CW refers to
forward rotation)
H.□□□1

Encoder output pulse Encoder output pulse

PAO PAO
PBO A phase advance PBO B phase advance
In terms of direction switching of POT and NOT, CCW direction is POT if P□000= H. □□□0 (standard setting) and CW
direction is POT if P□000= H.□□□1 (negative rotation mode).

5.3.3 Over travel Setting

The over travel limit function forces movable machine parts to stop if they exceed the allowable range of
motion and turn ON a limit switch.
(1) Connection of over travel signal
In order to use over travel function, connect input signals of the following over travel limit switch to
corresponding pin numbers in CN3 connector of servo driver without fail.
Pin No. of
Type Signal connector (factory) Set Meanings
A axis B axis
ON = L Level Positive-side over travel allowed. (normal operation)
Input POT CN3-16 CN3-41
OFF = H Level Positive-side over travel prohicbited (over travel in positive rotation side)
ON = L Level Negative-side over travel allowed. (normal operation)
Input NOT CN3-17 CN3-42
OFF = H Level Negative-side over travel prohibited (over travel in negative rotation side)
In respect of linear drive, limit switches must be Motor positive direction
connected according to the following figure so as to avoid
machinery damage. Servo drive
Even in case of over travel, it can also drive to the Servo motor CN1
opposite side. For example, negative-side run can be enabled Limit switch Limit switch POT
in case of positive-side over travel. 16 （41）
NOT
17 （42）

(b axis connection terminal in the bracket)

■Attentions
During position control, position error pulse will occur if the motor is stopped by over travel.
In order to clear position error pulse, clear signals (CLR) must be input.

Notes
Work pieces may fall under the over travel state when using servo motor in vertical shaft.
In order to prevent work pieces from falling in case of over travel, make sure to set P□000= H.1□□□ so as to
switch on zero clamping state after stop. (Please refer to "Selection of Motor Stop Methods when Using Over travel")

(2) Select to use/disuse over travel signal

57
 Internal user parameters of servo driver can be set to disuse over travel signals. At this time, it is not required to
use wiring of input signals for over travel.
User Parameter Meanings
H.□3□□ Input positive-side over travel prohibited (POT) signal from IN3 (CN3-13). (Factory setting)
A axis
H.□9□□
Disable the positive-side over travel prohibited (POT) signal (positive-side over travel can be
conducted frequently)
H.□7□□ Input positive-side over travel prohibited (POT) signal from IN7 (CN3-41). (Factory setting)
B axis H.□9□□ Disable the positive-side over travel prohibited (POT) signal (positive-side over travel can be
conducted frequently)
P□509
H.4□□□ Input negative-side over travel prohibited (NOT) signal from IN4 (CN3-14). (Factory setting)
A axis
H.9□□□
Disable the negative-side over travel prohibited (NOT) signal (negative-side over travel can be
conducted frequently)
H.9□□□ Input negative-side over travel prohibited (NOT) signal from IN8 (CN3-42). (Factory setting)
B axis H.9□□□ Disable the negative-side over travel prohibited (NOT) signal (negative-side over travel can be
conducted frequently)
· Effective control modes: speed control, position control and torque control
· Power must be turned on again upon changes to the user parameter so as to effect the setting.
* POT and NOT signals may freely distribute inputted connector pin numbers by user parameters. See the Signal Distribution of Input
Circuit for details.
(3) Motor stop method when using over travel
Methods used to stop operation of motor when inputting over travel signals (POT and NOT) during rotation of
servo motor.
Methods for After stop of
User Parameter Meanings
motor stop motor
Reduce speed to stop the servo motor by emergency stop torque
Plug braking
H.□0□□ stopping
(P□407). Servo motor will be in inertial operation (de-energized)
Inertial operation state after stop.
state Stop the servo motor in the same manner as servo OFF (inertial
Inertial operation
H.□1□□ stopping
operation stop). The servo motor will be in inertial operation (de-
energized) state after stop.
Reduce speed to stop the servo motor by emergency stop torque
Plug braking Inertial operation
P□000 H.0□□□ stopping state
(P□407). Servo motor will be in inertial operation (de-energized)
state after stop.
Reduce speed to stop the servo motor by emergency stop torque
Plug braking Zero clamping
H.1□□□ stopping state
(P□407). Servo motor will be in zero clamping (servo locking)
state after stop.
Stop the servo motor in the same manner as servo OFF (inertial
Inertial operation Inertial operation
H.2□□□ stopping state
operation stop). The servo motor will be in inertial operation (de-
energized) state after stop.
· Power must be turned on again upon changes to the user parameter so as to effect the setting.
· During setting of inertial operation for H.□1□□, the servo motor may be controlled if servo ON signals are received.
■Words and expressions
· Inertial operation stopping: naturally stop the motor by friction resistance arising from motor rotation other than braking.
· Plug braking stopping: stop the motor via deceleration (brake) torque (P□407).
· Zero clamping state: use state of position loop in zero configuration of position reference.
* See the Selection of Stop Methods in Servo OFF for stop methods in servo OFF and alarm condition.

(4) Setting for stop torque in over travel

58
P 407 Limit of plug braking torque Speed Position Torque

Setting range Setting unit Factory setting Power reboot

0 ~ 300 1% 300 Not required
· Set the stop torque used for inputting overtravel signals (POT and NOT).
· Setting unit corresponds to a percent (%) of the rated torque. (rated torque is 100%)
· The factory setting is 300% so that the setting is large enough a value to operate the servomotor at
maximum torque. The maximum value of emergency stop torque that is actually available, however, is
limited to the maximum torque of the servomotor.

5.3.4 Setting for Holding Brake

When the vertical shaft is driven by servo motor, it should be used. When power state of servo driver is OFF, use
the servo motor with brake to prevent removable part from moving due to gravity. (Please refer to " Trial Operation
for Servo Motor with Brake".)

Vertical shaft Shaft with external force applied

Servo motor
Servo
Holding brake External force motor

Prevent removable
part from moving
due to gravity Prevents the servomotor
from rotating due to
external force

Note:
1. The brake built in the servo motor with brake should be a actuated-type holding brake without excitation, which cannot
be used for braking. It should only be used to maintain the stop state of servo motor. Brake torque is over 120 % of
rated torque of servo motor.
2. When operation of servo motor is enabled only by speed loop, servo and input reference should be set to OFF and "OV"
respectively during operation of brake.
3. In configuration of position loop, mechanical brakes cannot move since servo is locking during servo motor's stop.
(1) Connection example
Order output signal "/BK" of servo driver and brake power constitute ON/OFF circuit of brake. Standard
connection examples are as follows.

59
 Servo drive Servo motor with brake
Power
R L1 UA/UB

S L2 VA/VB
M
T L3 WA/WB

L1C

L2C
CN1/CN2 PG
CN3
BK-RY (/BK+) *9
+24V
(/BK-) *10
BK

Brake power
BK-RY Yellow or blue Red
White AC DC Black

BK-RY：Brake control relay

9*、10*：Output terminal number, Assigned through the user parameter P 514.1
(2) Brake interlocking output
Pin No. of
connector
Name Signal Set Meanings
(factory)
A axis B axis
Distribution ON = L Level Release brake.
Output /BK
through P□514 OFF = H Level Use brake.
When using servo motor with brake, it is the output signal of control brake. In addition, this output signal is not used in factory
setting. Distribution for output signals is required (setting of P□514). Do not connect when using motor without brake.

(3) Distribution of brake signal (/BK)

Brake signals (/BK) cannot be used under the condition of factory setting. Therefore it is required to distribute
output signals.

User Parameter Pin No. of connector Meanings

P□514 H.□□0□ —— Do not use /BK signals. (factory setting)

H.□□1□ OUT1(CN3-7,8) Output /BK signal through output terminal of OUT1(CN3-7, CN3-8).
H.□□2□ OUT2(CN3-9,10) Output /BK signal through output terminal of OUT2(CN3-9, CN3-10).
H.□□3□ OUT3(CN3-11,12) Output /BK signal through output terminal of OUT3(CN3-11, CN3-12).
H.□□4□ OUT4(CN3-32,33) Output /BK signal through output terminal of OUT4(CN3-32, CN3-33).
H.□□5□ OUT5(CN3-34,35) Output /BK signal through output terminal of OUT5(CN3-34, CN3-35).
H.□□6□ OUT6(CN3-36,37) Output /BK signal through output terminal of OUT6(CN3-36, CN3-37).
■Attentions
Brake signals (/BK) set in factory delivery are invalid. When several signals are distributed to the same output terminal, OR
logic should be used for output. If you only want to enable /BK signal output, please distribute other signals of output terminal
for /BK signal distribution to other output terminals or set them as invalid. See the Signal Distribution of Output Circuit for
distribution methods of other output signals of servo unit.

(4) Timing setting of brake ON (after stop of servo motor)

During factory setting, /BK signals should be output while /S-ON signals are set as OFF (servo OFF), however,
timing of servo OFF can be changed by user parameters.

60
 P 506 Brake command - delay time for servo OFF Speed Positon Torque

Setting range Setting unit Factory setting Power reboot

0 ~ 500 10ms 0 Not required

· When used in vertical shaft, removable parts of machinery /S-ON Servo ON Servo OFF
may move slightly due to gravity or external force with
/BK Output Brake release Brake holding
timing of brake ON. Such slight movement can be eliminated
by servo OFF operation delay via this user parameter. Energized state Power to motor No power to
of motor motor
· This parameter changes the brake ON timing while the
servomotor is stopped.See the Timing Setting of Brake ON P 506

(after Stop of Servo Motor) for brake operation during rotation

of servo motor.

Attentions
In case of alarm, servo motor will come into de-energized state immediately, which is unrelated to setting
of user parameter.
Machinery may move within period before brake operation due to gravity of removable parts of
machinery or external force.
(5)
Timing setting of brake ON (during rotation of servo motor)
If an alarm occurs while the servomotor is rotating, the servo motor will come to a stop and the brake
signal will be turned OFF. The timing of brake signal output can be adjusted by setting the following
parameter.

61
 P 507 Brake Reference Output Speed Level Speed Position Torque

Setting range Setting unit Factory setting Power reboot

0 ~ 6000 1r/min 100 Not required
P 508 Servo OFF - waiting time of brake command Speed Position Torque

Setting range Setting unit Factory setting Power reboot

10 ~ 100 10ms 50 Not required

Output conditions for /BK signals during

Power is OFF for / Servo ON Servo OFF
rotation of servo motor. S-ON input or
BK signals should be set as H level alarm given
(brake initiates) if any of the following Plug braking or
condition is met: Motor speed P 507 inertial operation
· RPM of motor is lower than P 507 stopping
after servo OFF
· Setting time for P 508 is exceeded /BK output Brake release Brake holding
after servo OFF
P 508

Attentions
· Even P 507 is set as a value higher than maximum RPM of used servo motor, operation of the motor will
also be limited by its maximum RPM.
· Distribute motor rotation detection signal (/TGON) and brake signal (/BK) to other terminals.
· When brake signal (/BK) and motor rotation detection signal (/TGON) are distributed to the same output
terminal, /TGON signal is changed to L level due to falling speed in the vertical shaft . Even conditions for the
user parameter are met, /BK signal may also cannot be changed to H level. (Since output is completed by OR
logic when several output signals are distributed to the same output terminal ) Refer to "Signal Distribution of
Output Circuit" for details of distribution of output signals.

5.3.5 Selection of Stop Methods in Servo OFF

Select stop methods for servo unit in servo off.
Methods for After stop of
User Parameter Meanings
motor stop motor
Reduce speed to stop the servo motor by emergency stop
torque (P□407). Servo motor will be in inertial
Plug braking
H.□0□□ stopping
Inertial operation (de-energized) state after stop.
P□000 operation state Stop the servo motor in the same manner as servo OFF
Inertial operation
H.□1□□ stopping
(inertial operation stop). The servo motor will be in
inertial operation (de-energized) state after stop.
Setting of user parameter is valid under the following conditions:
· /S-ON output signal OFF (servo OFF)
· Main power (L1, L2 and L3) OFF
■Words and expressions
· Plug braking stopping: stop the motor via deceleration (brake) torque (P□407).
· Inertial operation stopping: naturally stop the motor by friction resistance arising from motor rotation other than braking.
■Attentions
· When power of main circuit (L1, L2 and L3) or control power supply (L1C and L2C) is OFF, the following servo drivers will
force to execute plug braking stop despite of the above setting of user parameter.
· In case of alarm from servo driver, the servo driver will execute inertial stop.

5.4 Use of Absolute Encoder

62
 If a servo motor with absolute encoder is used, absolute value detection system can be configured in the
command controller (host system). Results indicate that it can operate again directly without need of origin reset
when power is ON again.
Resolution of absolute Output range of
Operation when exceeding limit
encoder multi-turn data
When upper limit value (+32767) for positive direction is
17 digit exceeded, multi-turn data is changed to -32768
-32768 ~ +32767
(*131072 pulse/circle) When upper limit value (-32768) for negative direction is
exceeded, multi-turn data is changed to +32767

5.4.1 Interface Circuit

Standard connection of absolute encoder installed in the servo motor is as follows:
Host system Servo drive Encoder
*1 CN3 CN1
*1
+5V *2
38/50 PG5V
7

25 GND
14
Bus receiver Equal to 7406
PS
12
19/44 PG
Serial interface circuit PA R
/PS
/PAO 20/45 13

Pulse count circuit 21/46

PB R
22/47

(Connector shell) (Shell)

23/48 Shielded wire
PC R
24/49
3.6 V lithium battery

25

Applicable bus receiver: TI SN75174 or MC3487 *1. refers to multi-stranded wire

Terminal resistance: 220 - 470Ω
■Connection of SEN signal
Pin No. of
Name Signal Set Meanings
connector
FF= L level When power is supplied
Input ASEN CN3-38
ON = H level Absolute value is required
FF= L level When power is supplied
Input BSEN CN3-50
ON = H level Absolute value is required
This input signal must be used to reference the servo driver to output absolute data. Please set the
SEN signal as H level after the power is connected for 3 seconds.
If SEN signal is switched between L level and H level, then multi-turn data and initial incremental
pulse should be output.
Before completion of these operations, the servo motor will not be energized even if servo ON signal
(/S-ON) is in ON state. Operation panel displays "OFF".

63
 Command controller About 1 mA Servo controller
for H level
+5V 100Ω
CN3-38/50
4.7kΩ

CN3-25
Equal to 7406
0V 0V

Notes: the PNP transistor is suggested.

Signal level (H level: above 4.0 V; L level: max. 0.8 V)
■ Attentions
In order to set the ON SEN signal as OFF and then ON, operation should be executed when H
level is kept for over 1.3 s as shown in the following figure.
SEN Signal：

OFF ON (H level) OFF ON

Above 1.3s

Above 15 ms

5.4.2 Selection of Absolute Encoder

Absolute encoder can also be used as incremental encoder.
User Parameter Meanings
Use absolute encoder as absolute encoder and enable serial output of absolute
n.□□□0
data (PG frequency dividing PAO口)
P□001 n.□□□1 Use absolute encoder as incremental encoder
Use absolute encoder as absolute encoder and prevent serial output of absolute
n.□□□2
data (PG frequency dividing PAO口)
● As an incremental encoder, SEN signal and battery is not required
● Power must be turned on again upon changes to the user parameter so as to effect the setting.

5.4.3 How to Use Battery

Recommended battery specification: ER36V
■Procedures for battery replacement
1. Please replace batteries when control power of servo unit is ON;
2. After batteries are replaced, use auxiliary function F□010 to remove alarm of absolute encoder so as to stop
alarm of absolute encoder battery.
3. If no abnormal operation is found after restart of servo driver power, it indicates that replacement of battery
is over
Attentions:
Data of absolute encoder will be lost if control power of servo driver is set as OFF and wires (including
encoder cables) of battery is removed. At this time, setting operation for absolute encoder must be carried out. Please
refer to "2.3.4 Setting of Absolute Encoder (F□009)"
5.4.4 Giving and Receiving Sequence of Absolute Data
After receipt of output from absolute encoder, the sequence used for the driver to send absolute data to the
command controller is as follows.

64
(1) Summary of absolute signal
As shown below, serial data and pulse of absolute encoder are output by servo driver via "PAO, PBO and
PCO".
Frequency
dividing circuit PAO
PS Serial data （P 201） PBO
PG
Pulse conversion PCO

Signal State Signal content

Serial data
At initialization
PAO Initial incremental pulse
Normal time Incremental pulse
At initialization Initial incremental pulse
PBO
Normal time Incremental pulse
PCO Always Origin pulse

(2) Sending sequence and content of absolute data

1、 Set SEN signal as H level
2、 After 100 ms, wait state for serial data acceptance starts. Reversible counters used for incremental pulse
count should be reset.
3、 Receive serial data in 8 bytes
4、 It will change to common incremental operation state after last serial data is received for 25 ms.

SEN signal

Initial
Rotation count Incremental
PAO Undefined incremental
serial data pulses
pulses
（Phase A） （Phase A）
Initial
Incremental
PBO Undefined incremental
pulses
pulses
（Phase B） （Phase B）
Above 60ms
Type 90ms 1~3ms
Max 260ms
50ms About 15ms Max 25ms

＊ Serial data
It indicates position of motor shaft after circuits of rotation from the reference position (as per setting
value)
＊ Initial incremental pulse
Pulse should be output at the same speed as pulse for rotation of 1250rpm (factory setting is used for 17 byte
frequency dividing pulse).

65
 Reference position（setup） Current position
-1 0 +1 +2 +3
Coordinate value

±0 +1 +2 +3
Value M

M×R Po

PE
PS PM

Final absolute data PM can be calculated by the following formula:

PE = M × R + P0
PM = PE － PS
Notes: the following formula is used in negative rotation mode (Pn000.0 = 1)
PE = －M × R + P0
PM = PE － PS
PE Current value read from encoder
M Multi-turn data (number of turns of encoder)
P0 Count of initial incremental pulse
PS Count of initial incremental pulse read from the set point (this value is subject to
storage and management of host)
PM Current value required in client system
R Pulse count for 1 circle of rotating encoder (value after frequency dividing and value
of P□201)

(3) Detailed specification of signal

(a) Specification of PAO serial data
Output rotation in 5 digits
Data transmission method Start-stop synchronism (ASYNC)
Baud rate 9600 bps
Start bit 1 bit
Stop bit 1 bit
Parity Even parity check
Character code ASCII 7-bits coder
Data format See the following figure for data in 5 characters.

66
 P + or - 0 ~ 9 CR

0 0 0 0 0 1 0 1 0 1

Data Stop bit

Start bit Even parity
Note:
1,Data is P+00000 (CR) or P-00000 (CR) when the number of
revolutions is zero.
2,The revolution range is +32767 to -32768 .When this range is
exceeded, the data changes from +32767 to -32768 or from -
32768 to +32767 .

5.4.5 Setting of Absolute Encoder (F□009/ F□010)

In addition, setting operation for absolute encoder must be carried out in case of:
＊ initial startup of machinery
＊ "Bus encoder multi-coil information error (A25 / b25)"
＊ "Bus encoder multi-coil information over flow (A26 / b26)"
＊ "Bus encoder battery alarm 1 (A27 / b27)"
＊ requiring to set multi-turn data of absolute encoder as 0
Implement setting by panel operator.
Attentions:
1、 Setting operation of encoder only can be implemented under servo OFF state.
2、 When absolute encoder alarm is displayed, auxiliary function F□010 should be executed to stop alarm.
Alarm reset (/ALM-RST) of servo driver cannot stop alarm.
＊ "Bus encoder multi-coil information error (A25 / b25)
＊ Bus encoder multi-coil information over flow (A26 / b26)
＊ Bus encoder battery alarm 1 (A27 / b27)
＊ Bus encoder battery alarm 2 (A28 / b28)
＊ Bus encoder over speed (A41 / b41)
5.4.6 Clear of Multi-coil Data of Absolute Encoder
When using bus absolute encoder, the operation can be used to remove multi-coil information.
Operation Operation
Operation instruction Display after operation
steps key
Press M function key (for more than 1
1 second) and switch to auxiliary function M
mode of axis 1, which will display FA000.
Press UP or DOWN and select the desired
2
auxiliary function FA010.

Press SET to display "PoSCL" and clear

3
multi-coil position operation.

4
Press function key to display "CLFin"
which indicates that multi-coil position is M

67
 completely cleared.

5 Press SET to return to the display of FA009.

5.4.7 Clear of Internal Errors of Bus Encoder

When using bus absolute encoder, the operation can be used to remove multi-coil information.
Operation Operation
Operation instruction Display after operation
steps key
Press M function key to select auxiliary
1
function mode for A axis. In case of failing
to display FA010 press UP or DOWN to set M
FA010.

2 Press SET to display "ErrCL".

Press M function key to display "CLFIn" and

3 clear encoder multi-coil information M
completely.
4 Press SET to return to the display of FA009.

5.5 Speed Control (Analog Voltage Reference) Operation

5.5.1 User Parameter Setting
User Parameter Meanings
P□000 H.□□0□ Selection of control mode: speed control (analog voltage reference)

68
P 300 Speed command input gain Speed Position Torque

Setting range Setting Unit Factory setting Power reboot

（r/min）/Vspeed.
0 ~ 3000 voltage — command
Set slope for analog command 150 Not required
Command speed
(r/min)
For example,
Set the slope
P 300=150：1 V voltage corresponds to inputting
efficiency
150r/min (factory setting)
P 300=300：1 V voltage corresponds to inputting
300r/min (factory setting) Command voltage
(V)

5.5.2 Setting of Input Signal

(1) Speed reference input
If speed reference is sent to servo driver in the form of analog voltage reference, speed of servo motor is
controlled in proportion to input speed.
Pin No. of
Name Signal connector (factory) Meanings
A axis B axis
V-REF CN3-5 CN3-30 Speed reference input
Input
GND CN3-6 CN3-31 Signal ground for speed reference input
It should be used for speed control (analog voltage reference) (P□000.1 = 0, 4, 7, 9, A)
P□300 is used to set speed reference input gain. Please refer to "Setting of User Parameter for details".
■ Input specification
· Input voltage range: DC ± 10V
· Maximum allowable input voltage: DC ± 12V

(2) Proportional action reference signal (/P-CON)

Pin No. of
Name Signal connector (factory) Set Meanings
A axis B axis
ON = L Level Operate servo driver by P control mode.
Input /P-C0N CN3-15 CN3-40
OFF = H Level Operate servo driver by PI control mode.
/P-CON signal is a signal that selects speed control modes from PI (proportional and integral) or P (proportional) control.
If P control is set, motor rotation and slight vibration arising from input shift of speed reference can be reduced.
Input reference: servo motor rotation due to 0 V shift can be reduced, but servo rigidity (support force) will decrease when
rotation is stopped.
/P-CON signals may distribute inputted connector pin numbers to other places by user parameters. Please refer to “Signal
Distribution of Input Circuit”.

5.5.3 Adjustment of Reference Offset

In speed control mode, even if OV reference is sent under analog reference voltage, motor will rotate with
low speed in case of small reference voltage offset (unit: mV) of superior control unit or in external circuit. In
such case, reference offset can be automatically or manually adjusted by panel operator. See "5.2 Operation in
Auxiliary Function Execution Mode" for details.

69
 Auto-adjustment of analog (speed · torque) or reference offset is the function for offset measurement and
auto-adjustment of voltage.
In case of voltage reference offset of the superior controller or in external circuit, servo driver will make
following adjustment towards the automatic offset.

Reference Reference
voltage voltage
Auto-adjustment
Offset of offset in servo driver
speed Reference speed Reference
Auto-correction of offset

Once
auto-adjustment of reference offset begins, offset will be saved in the servo driver.
Offset can be confirmed through manual adjustment of speed reference offset (F□006). See "5.5.3(2)
Manual adjustment of speed reference offset" for details.
(1) Auto-adjustment of speed reference offset
When offset pulse is set as zero with the servo locked in the OFF state by the command
controller equipped with a position loop, auto-adjustment of reference offset (F□008) is not available, instead,
manual adjustment of speed reference offset (F□00A) should be applied.
Under speed reference of zero, function of zero clamping speed control which can lock the servo in a
mandatory manner is provided. See "5.5.6 Use of Zero Clamping Function" for details.
Note: Auto-adjustment of zero analog offset should be conducted when the servo is OFF.
Auto-adjustment of speed reference offset of A axis is conducted as below.
Operation Operation
Operation instruction Display after operation
steps key
Set the servo unit as OFF,
Servo drive Servo motor
and input OV reference
0 V speed reference voltage through reference
controller or external
1 circuit.
Reference
control unit

Servo OFF Rotation with a narrow

scope (servo ON state)

Press M function key to select auxiliary function mode

2 for A axis. In case of failing to display FA008, press UP M
or DOWN to set.

3 Press SET, and "rEF_o" is displayed.

4
Press M function key to start auto-zeroing, and flickering
"donE" is displayed. M
After completion of auto-zeroing, "rEF_o" instead of
5 ——
flickering "donE" is displayed.

6 Press SET to return to the display of FA008.

(2) Manual adjustment of speed reference offset

Manual adjustment of speed reference offset (F□006) should be applied in case that:
· the reference controller is equipped with a position loop to set the offset pulse as zero when the servo is
locked in the OFF state
· offset is set as a certain value consciously

70
 · offset set for auto-adjustment is applied
Basic function and auto-adjustment of analog (speed · torque) reference offset (F□008) are the same. But
for manual adjustment (F□006), adjustment must be made along with direct input of offset.
Adjustment range of offset and setting unit are listed as below.
Speed reference
Adjustment range of offset
Offset adjustment range: -9999 ~ +9999

Analog input voltage

Setting unit of offset

Auto-adjustment of speed reference offset of A axis is conducted as below.

Operation Operation
Operation instruction Display after operation
steps key
Press M function key to select auxiliary function mode
1 for A axis. In case of failing to display FA006, press M
UP or DOWN to set.

2 Press SET, and "A.SPd" is displayed.

3 Press SET for at least 1 s, and "0000" is displayed.

4 Press UP or DOWN to set offset.

5 Press SET for at least 1 s to save offset.

6 Press SET to return to the display of FA006.

5.5.4 Soft Start

Soft start is the function to transfer step speed reference input to the reference with certain acceleration and
deceleration in the servo driver.
(1) Trapezoidal start-up
User Parameter Meanings
P□309 H.□□□0 Trapezoidal start-up

71
P 305 Acceleration time of soft start Speed

Setting range Setting unit Factory setting Power reboot

0 ~ 10000 1ms 0 Not required
P 306 Deceleration time of soft start Speed

Setting range Setting unit Factory setting Power reboot

0 ~ 10000 1ms 0 Not required
While inputting step speed reference or selecting internal speed setting, smooth speed control is available.
(set "0" for common speed control.)
Setting values are listed as below.
· P 305： time required from the OFF state to the speed of 1000r/min
· P 306：time required from the speed of 1000r/min to the OFF state
1000r/min

After soft start

Before soft start

P 305 P 306
(2)
S-curved start-up
User Parameter Meanings
P□309 H.□□□1 S-curved start-up
H. □0□□ Close to linearity
H. □1□□ Low
Selection of S curve ratio
H. □2□□ Central
H. □3□□ Height

P 308 Rise time of S curve Speed

Setting range Setting unit Factory setting Power reboot

0 ~ 10000 1ms 0 Not required
P 308 P 308

After soft start

Before soft start
P 309.2 setting of curve ratio
(3)Acceleration and deceleration filtering start-up
User Parameter Meanings
P□309 H. □□□2 Acceleration and deceleration filtering start-up
H. □□0□ First acceleration and deceleration filtering
H. □□1□ Second acceleration and deceleration filtering

72
P 307 Time parameter of speed reference filter Speed

Setting range Setting unit Factory setting Power reboot

0 ~ 10000 1ms 0 Not required

Smooth speed reference through acceleration and deceleration filter.

A overlarge value set will reduce responsiveness. Before filtering
After filtering
100%

63.2%

36.8%

t
P 308 P 308

5.5.5 Use of Zero Clamping Function

(1) Meaning of zero clamping function
Zero clamping function refers to the function in the system where command controller is not equipped with
position loops under speed control.
If the zero clamping (/P-CON) signal is set as ON, servo driver will be equipped with a position loop, and
servo motor will fall into emergency stop with servo in the locked state regardless of speed reference when
input voltage of speed reference (V-REF) is lower than the value corresponding to the rotation speed of P□501
(zero clamping level).
Servo motor is clamped within ± 1 pulse at the position where zero clamping takes effect. Even through
external rotation, the servo motor will return to zero clamping.

User Parameter Meanings

P□000 H.□□A□ Control mode: speed control (analog voltage reference)  zero clamping
Condition for switching of zero clamping action
When P□000 is set as H.□□A□, zero clamping will be activated in case of any of the followings:
· /P-CON is ON (L level)
· Speed reference (V-REF) is lower than the setting value of P□501

73
 Speed V-REF speed reference
Servo drive
CN3
Setting value of
V-REF
Speed reference 5 zero clamping level
P 501
Time
/P-CON Open (OFF) Closed (ON)
Zero clamping 15 /P-CON input

Zero clamping action OFF OFF

ON
ON ON

P 501 Zero clamping level Speed

Setting range Setting unit Factory setting Power reboot

0 ~ 10000 1r/min 10 Not required
When speed control with zero clamping function(P 000=H. A ) is selected, rotation speed to activate
zero clamping should be set. Even if the value of P 501 exceeds the maximum rotation speed of the
servo motor, maximum rotation speed of servo motor still adopts valid value.
(3) Setting of input signal
Pin No. of
Name Signal connector (factory) Set Meanings
A axis B axis
ON = L Level Zero clamping function ON (valid)
Input /P-C0N CN3-15 CN3-40
OFF = H Level Zero clamping function OFF (invalid)
It is the input signal to switch to zero clamping action.
Anyone of /P-CON signal can be switched to zero clamping action.
See "signal distribution of input circuit" for distribution

5.5.6 Encoder Signal Output

Feedback pulse of encoder is output after processing in servo unit.
Pin No. of connector
Name Signal Name
A axis B axis
APAO+ CN3-19 CN3-44 Encoder output Phase A+
Output
APAO- CN3-20 CN3-45 Encoder output Phase A-
APBO+ CN3-21 CN3-46 Encoder output Phase B+
Output
APBO- CN3-22 CN3-47 Encoder output Phase B-
APCO+ CN3-23 CN3-48 Encoder output Phase C+
Output
APCO- CN3-24 CN3-49 Encoder output Phase C-
SEN CN3-38 CN3-50 SEN signal input (valid when using absolute encoder)
Input
GND CN3-25 Signal ground

74
 These outputs explained here.

Servo drive Host controller

CN3
Encoder *
DATA CN1/2 Phase A(PAO)
Frequency Phase B(PBO)
PG
dividing Phase C(PCO)
circuit

Note： Pulse width of the origin pulse varies by setting of frequency dividing ratio (P 201),
same as that of phase A.
* Even in the negative rotation mode (P□000.0=1), frequency division output phase form is the same as that in the
standard setting (P□000.0=0).
■Output phase form
Forward rotation (phase A leads by 90º) Reverse rotation (phase B leads by 90º)

90º 90º

A相 A相

B相 B相

C相 C相
t t

Note:
For bus encoder, C-phase pulse output of servo driver should be applied for mechanical origin reset after two cycles of
rotation of servo motor.
· Setting of frequency dividing ratio of encoder pulse
P 201 PG frequency dividing Speed Position Torque

Setting range Setting unit Factory setting Power reboot

16 ~ 32768 1P/rev 2500 Required
Set output pulse of PG output signal (PAO,PBO) sent from servo driver.
Frequency of each cycle of feedback pulse from encoder is divided into the setting value of P 201 in the
servo driver and output. (setting based on system specification of machinery and reference controller.)

Output example Setting value: 16

PAO
P 201=16(16 pulse output in each cycle )
PBO

1 cycle
5.5.7Same Speed Detection Output
Pin No. of
Name Signal connector (factory) Set Meanings
A axis B axis

75
 CN3-9 CN3-34 ON = L Level State of same speed
Output /V-CMP
CN3-10 CN3-35 OFF = H Level State of different speed
The output signal can be distributed to other output terminals through user parameter P□513.
See "Signal distribution of output circuit" for distribution of output signal.

5.6 Position Control Operation

5.6.1 User Parameter Setting
Following user parameters should be set for position control by pulse train.

(1) Control mode selection

User Parameter Meanings
P□000 H.□□1□ Control mode selection: position control (pulse train reference)

Pin No. of connector

Name Signal Name
A axis B axis
PULS+ CN3-1 CN3-26 Reference pulse input
PULS- CN3-2 CN3-27 Reference pulse input
Input
SIGN+ CN3-3 CN3-28 Sign input
SIGN- CN3-4 CN3-29 Sign input

(2) Selection of pulse reference form

Reference Input
User Parameter Positive rotation reference Negative rotation reference
form multiple
P□20 H.□□0 Sign +
PULS PULS

0 ——
□ pulse train SIGN H level SIGN L level
PULS PULS
H.□□1 CW+CC L level
——
□ W SIGN SIGN L level

H.□□2
Two phase ×1
□ 90º 90º
pulse train
H.□□3 PULS PULS
with ×2
□
90°phase SIGN SIGN
H.□□4 difference
×4
□
■Supplement Positive rotation Negative rotation
Input multiplication can be set in
PULS
The state of90 phase difference under
two phase pulse reference.
SIGN

×1 time

Internal processing ×2 time Movement Reference pulse

of servo driver

×4 time

(3) Pulse instruction input complement

User Parameter Meanings
P□200 H.□0□□ PULS input reverse, and SIGN input does not reverse

76
 H.□1□□ PULS input does not reverse and SIGN input reverse
H.□2□□ PULS input reverse, and SIGN input does not reverse
H.□3□□ PULS input reverse, and SIGN input does not reverse
Logic reverse for pulse reference is available by setting the parameter.

(4) Selection of clear signal form

Pin No. of connector
Name Signal (factory) Name
A axis B axis
Input /CLR Distribution through P□510 Clear input
If input is cleared, following actions can be performed.
· Offset counter in the servo driver is set as "0".
· Action of position loop is set in the invalid state.
→In clear state, servo clamping does not work, and servo motor may rotate with a low speed due to drifting in the speed
loop.
(5) Selection of clear action
In the condition other than clear signal CLR, regular clear of offset pulse can be selected based on state of
servo driver. Three types of action mode of clear offset pulse can be selected through user parameter P□200.0.
User Parameter Meanings
P□200 H.□□□0 Under servo OFF, clear offset pulse; under over travel, not clear offset pulse
H.□□□1 Under servo OFF or over travel, not clear offset pulse
H.□□□2 Under servo OFF or over travel (excluding zero clamping), not clear offset pulse

5.6.2 Setting of Electronic Gear

(1) Encoder pulse
Encoder type Encoder pulse
Common incremental encoder 2500 P/R
Bus encoder 17 bits 32768 P/R

Note: Bits representing encoder resolution are different from pulse of signal output of encoder (phase A
and phase B), and are four times of encoder pulse.
(2) Electronic gear
Electronic gear is the function to set any value for movement of work piece with 1 pulse input reference by command
controller. 1 pulse reference by command controller is "1 reference unit" as the smallest unit.

Without electronic gear With electronic gear

Work piece Work piece
Reference unit: 1 μm

Encoder pulse: 32768 Ball screw pitch: 6 mm Encoder pulse: 32768 Ball screw pitch: 6 mm

Workpiece movement of 10 mm Workpiece movement of 10 mm by "Reference unit"

1 revolution is 6 mm. Therefore, 1 reference unit is calculated as 1 μm

10÷6＝1.6666 cycles Workpiece movement of 10 mm (equal to 10000 μm)
32768×4 pulses/cycle，Therefore, 1 pulse equal to 1 μm，Therefore,
1.6666×32768×4＝218448 pulses 10000/1＝10000 pulses
218448 pulses are input as reference pulses. Input 10000 pulses as reference pulses.
The equation must be calculated at the host controller.

(3) Relevant user parameter

77
 P 202 Electronic gear (numerator) Position

Setting range Setting unit Factory setting Power reboot

1 ~ 65535 — 1 Required
P 508 Electronic gear (denominator) Position

Setting range Setting unit Factory setting Power reboot

1 ~ 65535 — 1 Required

If the deceleration ratio of the motor and the load shaft is given as n/m. Setting value of electronic gear ratio
can be calculated by formula below.(M is the rotation of the motor and n is the rotation of the load shaft)

Electronic gear ratio： B = P 202 Encoder pulse × 4 m

A P 203 = ×
Movement of loading axis n
with 1 cycle of rotation
* In case of beyond the setting range, numerator and denominator should be reduced to the integer within the
setting range.
Note: electronic gear ratio (B/A) should not be changed.

Attentions
Setting range of electronic gear ratio: 0.01 electronic gear ratio (B/A) 100
In case of beyond the range, servo driver cannot work normally. In such case, mechanical structure or
command unit should be changed.
(4) Procedure for setting the electronic gear ratio
Electronic gear ratio should be set as below.
Step Content Instruction
1 To confirm mechanical specifications Reduction ratio, ball screw pitch, pulley diameter, etc. should be confirmed.
2 To confirm encoder pulse Encoder pulse of servo motor should be confirmed.

1 reference unit by command controller should be determined.

3 To determine reference unit Reference unit should be determined based on mechanical specifications and
positioning accuracy.

To calculate movement of loading axis Reference units for 1 cycle of loading axis should be calculated based on
4
with 1 cycle of rotation determinate reference unit.
5 To calculate electronic gear ratio Electronic gear ratio (B/A) should be calculated according to the related formula.
6 To set user parameter The value calculated should be set as electronic gear ratio.

(5) Example for setting of electronic gear ratio

Electronic gear ratio is determined based on several examples.

Load configuration
Ball screw Disc table Belt + pulley
Reference unit: 0.02 mm
Reference unit: 0.1°
Reference unit: 0.001 mm Loading shaft
Step Content Loading s haft

Gear ratio 3:1

17-bit encoder Ball screw pitch: 6 mm Pulley diameter: 100
Gear ratio 2:1
mm
Loading shaft
17-bit encoder
17-bit encoder

Pulley diameter: 100 mm

Check mechanical · Ball screw pitch: 6 mm Rotation angle of 1 cycle: 360°
1 (Pulley perimeter: 341 mm)
structure · Gear ratio: 1/1 Gear ratio: 3/1
·Gear ratio: 2/1
2 Encoder 17-bit: 32768P/R 17-bit: 32768P/R 17-bit: 32768P/R

78
 Determine the 1 reference unit: 0.001 mm
3 1 reference unit: 0.1° 1 reference unit: 0.02mm
reference unit used. (1 μm)
Calculate movement
of loading axis
4 6mm/0.001mm=6000 360°/0.1°=3600 314 mm/0.02 mm=15700
with 1 cycle of
rotation
Calculate the B 32768  4 1 B 32768  4 3 B 32768  4 2
5
electronic gear ratio
     
A 6000 1 A 3600 1 A 15700 1
P□202 131072 * P□202 393216 P□202 262144
6 Set user parameter
P□203 6000 P□203 3600 P□203 15700

* Calculation result is not within the setting range. Hence numerator and denominator are reduced.
For example, numerator and denominator are reduced by 4. As a result, P□202 = 32768 and P□203 = 1500. Then the
setting is completed.

(6) Equation of electronic gear ratio

Servo motor n
Pitch = P (mm/rev)
Reference pulse B + Position Speed
A - loop loop
m

：Reference unit ×4
PG(P/rev) ：Encoder resolution PG(P/rev)
P (mm/rev) ：Ball screw pitch

：Gear ratio

A and B should be set through user parameter:

A ：P 203 B ：P 202

5.6.3 Position Reference

Position of servo motor is controlled by the reference in the form of pulse train.
Pulse train output forms of command controller are listed as below.
· Bus driver output
· +24V collector open circuit output
· +12 V collector open circuit output
· +5 V collector open circuit output
Note:
Note for collector open circuit output: when pulse output is conducted through collector open circuit, noise margin of
input signal will reduce. In case of offset caused by noise, following user parameters should be changed.
User Parameter Meanings
P□200 H.1□□□ Reference input filtering for collector open-circuit signal

(1) Timing example for input/output signal

79
 Servo ON ON
Release
t1 t2 t1 30ms
Base block H
t2 6ms

t3
H (When P 506 is set to 0)
Sign + pulse train
L t3 40ms

H
PAO L
Encoder pulses H
L t4，t5，t6 2ms
PBO t7 20µs
t5
/COIN t4 t6
ON ON
CLR
t7
Note:
1. Interval between ON set for servo ON signal to input of reference pulse should be more than 40 ms; Other wise, the
reference pulse may not be received by the servo driver.
2. Clear signal ON should be set more than 200 μs.
Table: Timing for reference pulse input signal
Reference pulse form Electrical specification Remarks

Sign + pulse train input t1, t2 ≤ 0.1μs

(SIGN + PULS signal) t3, t7 ≤ 0.1μs SIGN
Maximum reference frequency: 500 kpps t4, t5, t6 > 3𝜇𝑠 H = Forward reference
(In case of open-collector output, τ ≥ 1.0μs L = Reverse reference
maximum reference frequency: 200 kpps) τ/T × 100 ≤ 50%

CW pulse + CCW pulse t1, t2 ≤ 0.1μs

Maximum reference frequency: 500 kpps t3 > 3𝜇𝑠
(In case of open-collector output, τ ≥ 1.0μs
maximum reference frequency: 200 kpps) τ/T × 100 ≤ 50%

Two phase pulse with 90°

phase difference
Multiplication mode
(Phase A + Phase B) t1, t2 ≤ 0.1μs can besetted through
Maximum reference frequency: τ ≥ 1.0μs user parameter
 × 1multiplier: 500kpps τ/T × 100 ≤ 50%
× 2multiplier: 400kpps P□200.1.
× 4multiplier: 200kpps

(2) Connection example

(a) Connection example of line driver output
Applicable line driver: equivalent of TI SN75174 or MC3487

80
 Command controller Servo drive
* 150Ω
PULS＋

PULS－

150Ω
SIGN＋

SIGN－

3.3kΩ

DC24V DICOM

CLR

* represents twisted-pair wires.

(b) Connection example of open-collector output

R1 value of limiting resistor should be selected to ensure that input current is within the range below.
Input current i = 7mA ~ 15mA
Command controller Servo drive
i
Vcc 150Ω
Please refer to the following applicable examples for setting of the
R1 working resistance R1 to maintain current i within 7 mA ~ 15 mA.

Applicable examples
Tr1 When Vcc is 24V When Vcc is 12V When Vcc is 5V
i R1=2.2KΩ R1=1KΩ R1=180Ω
Vcc 150Ω
R1

Tr1 (Note):

In case of open-collector outputs, noise margin of input signal will

DC24V DICOM reduce. In case of offset caused by interference, user parameter
P 200.3 should be set as "1".
CLR

* represents twisted-pair wires.

(3) Chart of control box

Chart of control box is as below during position control.

81
 Servo driver (in position control)
P 110
P 109 P 202
P 107
Feedforward
Feed-forward B
Differential filter Offset
gain A
time constant
P 108
P 203
Range of offset
superposition
P 200.1
P 202 P 102 Servo motor
Pulse P 205
input
×1 + +
B + + Speed loop Current loop
×2 Smoothing
A KP M
Error counter
×4
P 203 -

Encoder ×4 ENC
pulse P 201
output
Dividing Encoder

5.6.4 Smoothing
Filtering is available in the servo unit through reference pulse input with certain frequency.

(1) Selection of position reference filter

User Parameter Meanings
P□206 H.□□□0 First acceleration and deceleration filtering
H.□□□1 Second acceleration and deceleration filtering

(2) User parameter related to filter

P 205 Position reference acceleration/deceleration filter time constant Position

Setting range Setting unit Factory setting Power reboot

0 ~ 6400 0.1ms 0 Not required
Attentions
Changing of position reference acceleration/deceleration time constant (Pn204) will take effects with no
command pulse input and offset pulse of 0. To actually reflect the setting value, clear signal (CLR) should be
input to disable reference pulse from command controller or to clear offset pulse as servo ON.
Even in following conditions, motor can be operated smoothly. In addition, the setting has no impact on
movement (command pulse)
· When the host controller that outputs a reference cannot perform acceleration /deceleration processing.
· When the reference pulse frequency is too low.
· When the reference electronic gear ratio is too high (i.e., 10 times or more).

Before filter applied

After filter applied
100%

63.2%

36.8%

t
P 205 P 205

5.6.5 Positioning Completed Output Signal

82
 The signal represents completion of servo motor positioning during position control, and should be used when
interlocking is confirmed by positioning completion of command controller.
Pin No. of
Name Signal connector (factory) Set Meanings
A axis B axis
CN3-9 CN3-34 ON = L Level Positioning completed
Output /COIN
CN3-10 CN3-35 OFF = H Level Positioning not completed
Positioning completed signal can be distributed to other output terminals through user parameter P □513.
See "Signal distribution of output circuit" for distribution of output signal.

P 500 Positioning completion width Position

Setting range Setting unit Factory setting Power reboot

0 ~ 250 1 Reference unit 10 Not required
Reference
If difference (offset pulse) between the reference pulse from Speed
Speed
host controller and the movement of the servo motor is lower than
the setting value of user parameter, positioning completed signal
(/COIN) will be output.
Too large a value at this parameter may output only a small error P 500
during low-speed operation that will cause the/COIN signal to be Error pulse
(Un012)
output continuously.
The positioning completed width setting has no effect on
final positioning accuracy. /COIN
5.6.6
Low-frequency Jitter Suppression
For low-rigidity load, rapid start-stop may produce continuous low-frequency jitter at early stage of loading,
resulting in longer positioning and affecting production efficiency. Servo driver is equipped with jitter buffer control
function which can suppress low-frequency jitter by estimating loading position and compensation.
Low-frequency jitter under low-rigidity load

Movable parts Ball screw

Coupling

Workbench
Servo motor

(1) Scope of Application

Low-frequency jitter suppression is available in speed control mode and position control mode.
Low-frequency jitter suppression may not work normally or reach expected effects in case of:
 Intensive vibration cause by external force
 Jitter frequency not within 5.0 Hz - 50.0 Hz
 Mechanical gap between mechanical joint parts of vibration structure
 Moving time lower than one vibration cycle

(2) Setting of user parameter

User Parameter Meanings
P□004 H. □0□□0 Disable low-frequency jitter suppression
H. □1□□1 Enable low-frequency jitter suppression

83
P 413 B type vibration (low-frequency jitter) frequency Speed Position

Setting range Setting unit Factory setting Power reboot

10 ~ 1000 0.1Hz 1000 Not required

P 414 B type vibration (low-frequency jitter) damping Speed Position

Setting range Setting unit Factory setting Power reboot

0 ~ 200 — 25 Not required

After inputting load jitter frequency measured into parameter P 413, P 413 can be slightly adjusted to
obtain best suppression.
In case of continuous vibration of motor during shutdown , P 414 can be increased suitable. Ordinary,
parameter P 414 don't need modification .
If jitter frequency can be directly measured by instrument, such as laser interferometer, frequency measured
should be directly input into parameter P □413 in the unit of 0.1 Hz.
In case of no measuring instrument available, drawing or FFT analysis function of PC communication
software can be used to measure jitter frequency of load indirectly.
Position offset counter

ΔT

0
t

f ＝ 1 / ΔT

5.6.7 Inhibition Function of Reference Pulse (INHIBIT Function)

(1) Inhibition function of reference pulse (INHIBIT function)
It is the function to stop (inhibit) reference counting input pulses during position control.
When the function is activated, servo locking (clamping) state is also activated.
Servo drive

P 000.1

P 000=H. 1
OFF +
Reference pulse
P 005=H. B Offset counter
ON -

/P-CON
/P-CON
Feedback pulse

(2) Setting of user parameter

User Parameter Meanings
P□000 H.□□B□ Control mode: position control (pulse train reference)  position inhibition

84
 ■Inhibit switching condition OFF
ON ON
· /P-CON signal is ON (L level) /P-CON

Refference pulse

t1 t2

t1，t2 0.5ms
Counting is not available even if
reference pulse is input during
this period.

(3) Setting of input signal

Pin No. of connector
Name Signal (factory) Set Meanings
A axis B axis
/P- ON = L Level INHIBIT function ON (stop counting of reference pulse)
Input CN3-15 CN3-40
CON OFF = H Level INHIBIT function OFF (counting of reference pulse)

5.7 Torque Control Operation

5.7.1 User Parameter Setting
User Parameter Meanings
P□000 H.□□2□ Control mode: torque control (analog voltage reference)

P 400 Torque reference input gain Speed Position Torque

Setting range Setting unit Factory setting Power reboot
10 ~ 100 0.1V/rated torque 30 (3V/rated torque) Not required
Reference torque
Set analog voltage level of torque reference (T-REF) for
Rated torque
servo motor operation under rated torque.
For example, Reference
P 400=30：rated torque of motor under 3 V input (factory setting) voltage (V)
P 400=1000：rated torque of motor under 10 V input
P 400=200：rated torque of motor under 2 V input Set voltage reference

5.7.2 Torque Reference Input

If torque reference is sent to servo driver in the form of analog voltage reference, torque of servo motor is
controlled in proportion to input voltage.
Pin No. of connector
Name Signal Name
A axis B axis
T-REF CN3-18 CN3-43 Torque reference input
Input
GND CN3-25 CN3-50 Signal earth for torque reference input
It should be used for torque control (analog voltage reference) (P □000.1 = 2, 6, 8 or 9)
P□400 is used to set torque reference input gain. Please refer to "8.7.1 Setting of User Parameter" for details.

85
 300
■ Input specification
Reference torque (%) 200
· Input range: DC ± 1V ~ ± 10V/ rated torque
· Maximum allowable input voltage: DC ± 12V
100
· Factory settings
P□400 = 30: rated torque under 3 V -12 -8 -4
0 3 4 8 12
+3V input: rated torque in the positive direction Factory settings
Input voltage (V)
-100
+9 V input: 300% of rated torque in the positive direction
-0.3 V input: 10 % of rated torque in the negative direction -200
Slope should be set by P 400.
Voltage input range can be changed through user parameter
P□400. -300

Servo drive

470Ω 1/2W min.

■Example of input circuit CN1

To adopt effective measures to prevent interference, multi-

T-REF+
stranded wire should be used for wiring. 2KΩ
+12V

GND

Note:
Internal torque can be confirmed under monitoring mode (Un005). See "Operation under Monitoring Mode".

5.7.3 Adjustment of Reference Offset

(1) Auto-adjustment of torque reference offset
In the torque control mode, the servomotor may rotate at a minute speed with an analog voltage reference of 0
V, This occurs because the reference voltage of the host controller or external circuit has a minute offset of a few
milli volts. In such case, the offset can be automatically or manually adjusted by panel operator.
Auto-adjustment of analog (speed · torque) or reference offset is the function for offset measurement and auto-
adjustment of voltage.
In case of voltage reference offset of the host controller or in external circuit, servo driver will make following
adjustment towards the automatic offset.
Reference volltage Reference voltage

Offset automatically
adjusted in servo drive
Offset
Torque reference Torque reference

Automatic offset adjustment

After auto-adjustment of reference offset, the value of offset will be saved in the servo driver.
Offset can be confirmed through manual adjustment of speed reference offset (F□006). When offset pulse is set
as zero with the servo locked in the OFF state by the host controller equipped with a position loop, auto-adjustment
of reference offset (F□008) is not available, instead, please use manual adjustment of speed reference offset
(F□00A).
Under speed reference of zero, function of zero clamping speed control which can lock the servo in a
mandatory manner is provided. See "Use of Zero Clamping Function" for details.
Note: Auto-adjustment of zero analog offset should be conducted when the servo is OFF.

Auto-adjustment of torque reference offset of A axis is conducted as below.

Operation Operation
Operation instruction Display after operation
steps key

86
 Servo motor Turn OFF the servo drive, and input
0V torque Servo drive
OV refercnce voltage through host
reference
controller or external circuit.
Host
1 controller

Servo OFF Slow rotation

（servo ON）

Press M function key to select auxiliary function

2 mode for A axis. In case of failing to display M
FA008, press UP or DOWN to set.

3 Press SET, and "rEF_o" is displayed.

4
Press M function key to start auto-zeroing, and
flickering "donE" is displayed. M
After completion of auto-zeroing, "rEF_o"
5 ——
instead of flickering "donE" is displayed.

6 Press SET to return to the display of FA008.

(2) Manual adjustment of torque reference offset

Manual adjustment of torque reference offset (F□007) should be applied in case that:
· the host controller is equipped with a position loop to set the offset pulse as zero when the servo is
locked in the OFF state
· the offset is set as a certain value consciously
· check the offset data that was set in the auto-adjustment mode.
Basic function and auto-adjustment of analog (speed · torque) reference offset (F□008) are the same. But
for manual adjustment (F□007), adjustment must be made along with direct input of offset.
Figure below shows adjustment range of offset and setting unit.

Torque command
Offset adjustment range
Offset adjustment range: -9999~+9999

Offset setting unit Analog input voltage

Auto-adjustment of torque reference offset of A axis is conducted as below.

Operation Operation
Operation instruction Display after operation
steps key
Press M function key to select auxiliary
1 function mode for A axis. In case of failing to M
display FA006, press UP or DOWN to set.

2 Press SET, and "A.Tcr" is displayed.

Press SET for at least 1 s, and "0000" is

3
displayed.

87
 4 Press UP or DOWN to set offset.

5 Press SET for at least 1 s to save offset.

6 Press SET to return to the display of FA007.

5.7.4 Speed Limit under Torque Control

Servo motor in torque control is controlled by the specified torque output, but the motor speed is not
controlled. If an excessive reference torque is set for the load torque on the mechanical side, then it will exceed
the torque of the machinery, which will lead to greatly increase of motor speed.
As a protective measure at the mechanical side, a function of limiting servo motor speed under torque
control is provided.

No speed limit Speed limit

Damage may be caused by Motor speed Safe operation with speed limited!
Motor speed exceeding s peed of machinery!
Maximum speed
Limit speed

t
t

(1) Selection of speed limit manner (torque limit option)

User Parameter Meanings
P□001 H.□0□□ Value set in P□408 is used as speed limit. (Internal speed limiting function)
H.□1□□ V-REF is used as external speed limit input.

(2) Internal speed limiting function

P 408 Speed Limit During Torque Control Torque

Setting range Setting unit Factory setting Power reboot

0 ~ 6000 1r/min 1500 Not required

This parameter set the limit speed under torque control.

When P 001=H. 0 ，the setting in this parameter take effect .
The servomotor s maximum speed will be used when the setting in this parameter exceeds the maximum speed of the
servomotor used.

(3) External speed limiting function

Pin No. of connector
Name Signal Name
A axis B axis
V-REF CN3-5 CN3-30 External speed limit input
Input
GND CN3-6 CN3-31 Signal ground
Motor speed limit in case the torque limit is input under analog voltage reference.
When P□001=H.□1□□, the smaller one of V-REF speed limit input and P□408 (speed limit under torque control) is the valid

88
 value.
The setting in Pn300 determines the voltage level to be input as the limit value and it is not related to polarity.

P 300 Speed reference input gain Speed Position Torque

Setting range Setting unit Factory setting Power reboot
0 ~ 3000 （r/min）/V 150 Not required
Under torque control, voltage level is set for the rotation speed for external speed limiting.
When P 300=150 (factory setting), if the voltage input to the V-REF is 6 V, the actual speed limit is 900
r/min.
Note: Principle of speed limit.
If the speed is out of the range of speed limit, it may return to the range of speed limit through negative feedback of
torque proportional to the speed difference with the limited speed. Therefore, actual motor speed limit will fluctuate
based on loading conditions.

5.8 Speed Control (Internal Speed Selection) Operation

·Meaning of internal set speed selection
This function allows speed control operation by externally selecting an input signal from among three
servomotor speed settings made in advance with parameters in the servo drive.
There is noneed to provide a speed generator or pulse generator externally.
Servo drive
Internal set speed
CN3
User Parameter
Servo motor
/P-CON SPEED1 P 301

Speed reference
SPEED2 P 302 M
Contact inputs
/P-CL
SPEED3 P 303

/N-CL

5.8.1 User Parameter Settings for speed control with an internally set speed
User Parameter Meanings
P□000 H.□□3□ Selection of control manner: internal set speed control (contact reference)

89
P 301 Internal set speed 1 Speed
Setting range Setting unit Factory setting Power reboot
0 ~ 6000 1r/min 100 Not required
P 302 Internal set speed 2 Speed
Setting range Setting unit Factory setting Power reboot
0 ~ 6000 1r/min 200 Not required
P 303 Internal set speed 3 Speed
Setting range Setting unit Factory setting Power reboot
0 ~ 6000 1r/min 300 Not required
Note：
Even through the value set in P 301~P 303 is larger than the maximum speed of the used servo motor,
the actual value is still limited to the maximum speed of the servo motor.
5.8.2 Setting of Input Signal
Pin No. of connector
Name Signal Name
A axis B axis
/P-CON CN3-15 CN3-40 Shift of rotation direction of servo motor
Input /PCL Need to distribute Selection of internal set speed
/NCL Need to distribute Selection of internal set speed
■ As for input signal selection
For single-axis drive: /PCL and /NCL are respectively distributed to CN3-41 and CN3-42 when leaving factory.
For double-axis drive: /PCL and /NCL need to be distributed by parameter P □510.
Operation modes of the three input signals /P-CON, /P-CL and /N-CL are utilized (they are distributed in factory settings).

5.8.3 Operation at Internal Set Speed

Operation is allowed through internal settings by ON/OFF combination of the following input signals.
Input signal Rotation
direction of
/P-CON /PCL /NCL
motor
OFF(H) OFF(H) Stop by the internal speed reference 0
OFF(H) ON(L) P□301: internal set speed 1 (SPEED1)
OFF(H) Positive rotation
ON(L) ON(L) P□302: internal set speed 2 (SPEED2)
ON(L) OFF(H) P□303: internal set speed 3 (SPEED3)
OFF(H) OFF(H) Stop by the internal speed reference 0
OFF(H) ON(L) P□301: internal set speed 1 (SPEED1)
ON(L) Negative
ON(L) ON(L) P□302: internal set speed 2 (SPEED2)
ON(L) OFF(H) P□303: internal set speed 3 (SPEED3)

Note:
In case that the control mode is switching mode
When P□000.1 = 4, 5, 6, if the signal of either /PCL or /NCL is OFF (H level), then the control mode is shifted.
For example, P□000.1=5: when internal set speed is set to select position control (pulse train)
Input signal
Speed
/PCL /NCL

90
 OFF(H) OFF(H) Stop by the internal speed reference 0
OFF(H) ON(L) P□301: internal set speed 1 (SPEED1)
ON(L) ON(L) P□302: internal set speed 2 (SPEED2)
ON(L) OFF(H) P□303: internal set speed 3 (SPEED3)
· Operation example based on internal speed setting selection
If soft start function is used, then the impact during speed shifting will decrease.
Please refer to "Soft start" for soft start.
Example: operation based on internal set speed + soft start

Motor speed
3rd speed
+SPEED3
Acceleration and deceleration are set
2nd speed through P 305 and P 306 (soft start time)
+SPEED2
1st speed
+SPEED1

Stop Stop
0
Stop

-SPEED1
1st speed
-SPEED2
2nd speed
-SPEED3
3rd speed

/P-CL ON ON ON ON
OFF OFF OFF OFF OFF

/N-CL ON ON ON ON
OFF OFF OFF OFF OFF

ON ON ON OFF OFF OFF OFF OFF

/P-CON

If "(P□000.1 = 5 internal set speed control" position control)" is set, the soft start function only works when the
internal set speed is selected. The soft start function is not available when pulse reference is input. If it is shifted to pulse
reference input during operation at any speed of speed 1-3, the servo drive will accept the pulse reference after output of
positioning completion signal (/COIN). Please start output of pulse reference of user command controller only after output
of positioning completion signal of servo drive.
(Internal set speed + soft start) based<--> position control (operation example of pulse train reference)
Signal timing in case of position control

Motor speed
0min-1

/COIN

Pulse reference
t1 t1
/P-CL OFF ON ON OFF OFF
/N-CL ON ON OFF OFF ON
Selected speed 1st speed 2nd speed 3rd speed Pulse reference 1st speed

t1>2ms

Note:
1. The soft start function is used in the figure above.
2. Value of t1 will not be affected by whether soft start function is used. Read-in of /PCL and /NCL may delay at
most 2 ms.

91
 5.9 Torque Limit
The servo driver provides the following four methods for limiting output torque to protect the machine.
Method Way of limit Reference
1 Internal torque limit 5.9.1
2 External torque limit 5.9.2
3 Torque limit by analog voltage reference 5.9.3
Torque limit by external torque limit + analog voltage
4 5.9.4
reference

5.9.1 Internal Torque Limit (Limitation on Output Torque Maximum Value)

The function limits the maximum output torque through user parameters.
P 403 Positive torque limit Speed Position Torque
Setting range Setting unit Factory setting Power reboot
0 ~ 300 1% 300 Not required
P 404 Negative torque limit Speed Position Torque
Setting range Setting unit Factory setting Power reboot
0 ~ 300 1% 300 Not required

Set value of this parameter is constantly valid. Set unit corresponds to a percent (%) of motor rated
torque.
Even through the value is set to exceed the maximum torque of the used servo motor, it will still be
limited to be the actual maximum torque of the servo motor. Factory setting: equivalent to 300%.
No internal torque limit
(Maximum torque can output) With internal torque limit

P 404

t t
P 403
speed speed
Maximum torque Limited torque

Supplement
Please note that if values of P 403 and P 404 are set to be too small, then torque may be insufficient
during acceleration and deceleration of servo motor.

5.9.2 External Torque Limit (through Input Signal)

Use this function to limit torque by inputting a signal from the host controller at a specific times during
machine operation, such as forced stop or hold operations for robot work pieces.
The torque limit value preset at the user parameter become valid through signal input.

(1) Related user parameter

92
 P 405 Positive-side external torque limit Speed Position Torque
Setting range Setting unit Factory setting Power reboot
0 ~ 300 1% 100 Not required
P 406 Negative-side external torque limit Speed Position Torque
Setting range Setting unit Factory setting Power reboot
0 ~ 300 1% 100 Not required
Note: Setting unit corresponds to a percent (%) of the used servo motor rated torque. (Rated torque limits is 100%.)
(2) Input signal
Pin No. of connector
Name Signal Set Meanings Limit value
A axis B axis

ON = L Level Positive-side external torque The smaller value between Pn403 and Pn405
Different drives for
limit ON
Input /PCL single axis and double
OFF=H Level Positive-side external torque Pn403
axis
limit OFF
ON = L Level External torque limit at The smaller value between Pn404 and Pn406
Different drives for
negative side OFF
Input /NCL single axis and double
OFF=H Level Negative-side external torque Pn404
axis
limit OFF
For single-axis drive: /PCL and /NCL are respectively distributed to CN3-41 and CN3-42 when leaving factory.
For double-axis drive: /PCL and /NCL need to be distributed by parameter P □510.
When using external torque limit, please confirm whether to distribute other signals to the same terminal of /P-CL and /N-CL.
Since the logic becomes OR logic when several signals are distributed to a terminal, effects from ON/OFF of other signals distributed to the
same terminal may be inevitable. Please refer to "Signal distribution of input circuit" for distribution of input signal.

(3) Changes inoutput torque during external torque limit

When external torque limit (P□403, P□404)=800%
/PCL (positive external torque limit)
/N-CL status
H level L level
P 404 P 404

torque torque
/NCL
H
(Reverse external 0 0
level
torque limit input)

speed P 405
speed
P 403 P 403

93
 P 404 P 404

P 406 P 406
torque
torque
L
0 0
level

P 405
speed speed
P 403 P 403

Note: Select motor rotation direction when setting P□000=H. □□□ 0 ( standard setting [CCW as positive rotation
direction]).

5.9.3 Torque Limit Based on Analog Voltage reference

Torque limiting by analog voltage reference limits torque by assigning a torque limit in an analog voltage to
the T-REF terminals. This function can be used only during speed or position control, not during torque control.
Under speed control, the block diagram in the case of "torque limit based on analog voltage reference" is
shown as below.

Servo drive

P 403
T-REF Input torque reference gain (Positive torque
Torque limit limit value)
（P 400)

Speed V-REF Input speed reference gain + + Torque

Speed loop gain
reference （P 300) + reference
— (P 100)

Speed loop integral

time constant
(P 101)
P 404
Speed feedback (Negative torque limit value)

Note:
Input voltage for analog voltage reference of torque limit does not have polarity. The value is absolute value, no matter
it is positive or negative, and the torque limit based on the absolute value is applicable to both positive and negative
directions.
(1) Relevant user parameter
User Parameter Meanings
P□001 H. □□1□ Speed control option: T-REF terminal is used as the external torque limit input.
If H. □□2□ is set, then T-REF terminal may also be used as the torque feed-forward input. However, please note that it
cannot serve for these two input functions simultaneously.

(2) Input signal

Pin No. of connector
Name Signal Name
A axis B axis
T-REF CN3-18 CN3-30 Torque reference input
Input
GND CN3-25 CN3-50 Signal ground
P□400 is used to set torque reference input gain. Please refer to "Setting of user parameter".

5.9.4 Torque Limit Based on External Torque Limit + Analog Voltage Reference
Torque limit based on external input signal and torque limit based on analog voltage reference can be used
simultaneously.

94
 For torque limit based on analog voltage reference, T-REF is used for input. Hence, it cannot work under
torque control. For torque limit based on external input signal, /P-CL or /N-CL is used.
If signal of /P-CL (or /N-CL) is set to be ON, torque limit relies on the smaller one of torque
limit based on analog voltage reference and the set value of P□405(or P□406).

Servo drive
/PCL

/NCL
P 403
T-REF Input torque reference gain (Positive torque
Torque limit limit value)
（P 400)
P 405
(/PCL:ON)

Speed V-REF Input speed reference gain + + Torque

Speed loop gain
reference （P 300) + reference
— (P 100)

Speed loop integral

time constant
(P 101) P 406
(/NCL:ON) P 404
Speed feedback (Negative torque limit value)

User Parameter Meanings

P□001 Speed control option: If /P-CL or /N-CL is valid, T-REF terminal is used as the external
H. □□3□
torque limit input.
If H. □□2□ is set, then T-REF terminal may also be used as the torque feed-forward input. However, please note that it
cannot serve for these two input functions simultaneously.
P 405 Positive-side external torque limit Speed Position Torque
Setting range Setting unit Factory setting Power reboot
0 ~ 300 1% 100 Not required
P 406 External torque limit at negative side Speed Position Torque
Setting range Setting unit Factory setting Power reboot
0 ~ 300 1% 100 Not required

(2) Input signal

Pin No. of connector
Name Signal Name
A axis B axis
T-REF CN3-18 CN3-30 Torque reference input
Input
GND CN3-25 CN3-50 Signal ground
P□400 is used to set torque reference input gain. Please refer to "Setting of user parameter".

Pin No. of connector

Name Signal Set Meanings Limit value
A axis B axis
ON = L Level Positive-side external torque The smaller value at Pn403 and Pn405
Different drives for
limit ON
Input /PCL single axis and double
OFF=H Level Positive-side external torque Pn403
axis
limit OFF
Input /NCL Different drives for ON = L Level External torque limit at The smaller value in Pn404 and Pn406

95
 single axis and double negative side OFF
axis OFF=H Level Negative-side external Pn404
torque limit OFF
For single-axis drive: /PCL and /NCL are respectively distributed to CN3-41 and CN3-42 when leaving factory.
For double-axis drive: /PCL and /NCL need to be distributed by parameter P□510.
When using external torque limit + torque limit based on analog voltage reference, please confirm whether to distribute other
signals to the terminal same to /P-CL and /N-CL.
Since the logic becomes OR logic when several signals are distributed to a terminal, affect from ON/OFF of other signals
distributed to the same terminal may be inevitable. Please refer to "Signal distribution of input circuit" for distribution of input signal.

5.9.5 Confirmation under Input Torque Limit

Pin No. of connector
Name Signal (factory) Set Meanings
A axis B axis
ON = L Level Motor input torque is under limiting
Output /CLT Need to distribute
OFF = H Level Not torque limit status
To use the signal in case of motor output torque limit, it is necessary to distribute output terminal through user parameter P□514.
Please refer to "Signal distribution of output circuit".

5.10 Control Mode Selection

The servo drive can be used with various control modes for shifting. The shifting method and conditions are
described as follows.
5.10.1 User Parameter Setting
Control mode can be any of the following combination. Please select based on customers' usage.

User Parameter Meanings

P□000 H. □□4□ Internal set speed control (contact reference) ←→ Speed control (analog reference)
H. □□5□ Internal set speed control (contact reference) ←→ Position control (pulse train reference)
H. □□6□ Internal set speed control (contact reference) ←→ Torque control (analog reference)
H. □□7□ Position control (pulse train reference) ←→ Speed control (analog reference)
H. □□8□ Position control (pulse train reference) ←→ Torque control (analog reference)
H. □□9□ Torque control (analog reference) ←→ Speed control (analog reference)
H. □□A□ Speed control (analog reference) ←→ Zero clamping
H. □□B□ Position control (pulse train reference) ←→Position control (pulse prohibited)

5.10.2 Shift of Control Mode

(1) Shift between internal set speed control (P□00.1 = 4, 5, 6)
Pin No. of connector
Name Signal Set Meanings
A axis B axis
Different drives for single
Input /PCL OFF = H Level
axis and double axis
Shift of control mode
Different drives for single
Input /NCL OFF = H Level
axis and double axis
For single-axis drive: /PCL and /NCL are respectively distributed to CN3-41 and CN3-42 when leaving factory.
For double-axis drive: /PCL and /NCL need to be distributed by parameter P □510.

(2) Shift beyond internal speed control (P□000.1=7, 8, 9, A, B)

Please use the following signal shift control mode. Conduct the following control mode shift based on signal
status.
Name Signal Pin No. of connector Set Setting of P□000

96
 A axis B axis H.□□7□ H. □□8□ H. □□9□ H. □□A□ H. □□B□
ON = L Level Speed Torque Speed Zero Prohibited
Input /PCON CN3-15 CN3-40 clamping
OFF = H Level Position Position Torque Speed Position

5.11 Other Output Signal

Describe other signals that can be output, although they have no direct relationship with various control
manners.
5.11.1 Servo Alarm Output (ALM)
(1) Servo alarm output (ALM)
Refer to signals output when the servo drive detects any abnormalities.

Pin No. of
Name Signal connector (factory) Set Meanings
A axis B axis
CN3-7 CN3-32 ON = L Level Normal status of servo drive
Output ALM
CN3-8 CN3-33 OFF = H Level Alarm status of servo drive
■Attentions
If constituting an external circuit, it is necessary to ensure the main circuit power supply of servo drive is set to be OFF
when the alarm is output.

(2) Reset alarm

Pin No. of connector
Name Signal (factory) Name
A axis B axis
Different drives for single
Input /ALM-RST
axis and double axis
For single-axis drive: /PCL and /NCL are respectively distributed to CN3-41 and CN3-42 when leaving factory.
For double-axis drive: /PCL and /NCL need to be distributed by parameter P □510.
This signal may be distributed to other pin number through user parameter P□510. Please refer to "Signal distribution
of input circuit" for detailed procedures. /ALM-RST signal is set based on distribution of external input signal, so it cannot
be set to be "constantly valid". Please use the action of setting level from H to L to reset alarm.
In case of "servo alarm (ALM)", finish troubleshooting and set this signal (/ALM-RST) from OFF (H level) to ON
(L level) to reset to alarm status. In addition, alarm reset can also be done through panel operator or digital operator. Please
refer to "Name and function of key".

Note:
1. Sometimes alarms related encoder cannot reset after /ARM-RST signal input. In such cases, please cut down control
power supply to reset.
2. In case of alarm, please reset only after troubleshooting.
Troubleshooting methods for alarms are described in the "Alarm displays and treatment measures".

5.11.2 Rotation Detection Output (/TGON)

Pin No. of
Name Signal connector (factory) Set Meanings
A axis B axis
ON = L Level Servo motor is rotating (motor speed is larger than the set
CN3-11 CN3-36 value of P□502)
Output /TGON
CN3-12 CN3-37 OFF = H Level Servo motor stops rotating (motor speed is larger than the
set value of P□502)

97
■Attentions
When brake signal (/BK) and rotation detection signal (/TGON) are distributed to the same output terminal, /TGON signal
is changed to L level, but /BK signal may cannot change to H level.
(The reason is that OR logic prevails for output when several output signals are distributed to the same output terminal) Please
distribute (/TGON) signal and (/BK) signal to other terminals.

5.11.3 Servo Ready Output (/S-RDY)

Pin No. of connector

Name Signal (factory) Set Meanings
A axis B axis
/S- Need P□513 for ON = L Level Servo ready status
Output
RDY distribution OFF = H Level Servo not ready status
Indicate that servo unit is under the status ready for servo ON signal reception.
Output when the main circuit power supply is ON and under the status of no servo alarm.

5.12 Mode Motion Sequence Manner

The Product supports 15 data sets that can set parameters in the parameter manner, 32 data sets that can set
parameters in the communication manner. These data sets can start up independently or in sequence.
Data sets that can set parameters contain the setting about data set types and the setting of related goal
value and subsequent data sets.
The following motion types are available in motion type:
• Invalid motion (null data)
• Absolute motion
• Relative motion
Data sets can start up through 2 different manners.
•Start up a single data set
For startup of a single data set, only the selected data set starts up. No other data sets will start
up upon successful execution of the data set. Time coordination among several data sets is then
completed through main control system (e.g. PLC).
•Start up a data set sequence (several data sets in sequence)
For startup of a sequence, the selected data set will start up first. When a data set is executed
successfully and the transitional conditions are fulfilled, subsequent data sets will then start up.
Time coordination among several data sets is then completed through the product.
5.12.1 Single Data Set Manner
In the single data set manner, 15 sets of internal motion tasks are available. Mode of motion can be
incremental or absolute.
(1) Setting of user parameter
User Parameter Meanings
P□000 H.□□C□ Selection of control mode: mode motion sequence manner
P□764 H.□□□0 Selection of data set startup manner: single data set manner

98
 P 700 Type of data set 0 Position
Setting range Setting unit Factory setting Power reboot
0~2 —— 0 Required
0：Data set is invalid.
1：The data set is an absolute movement.
2：The data set for the relative movement.
P 701 Low position of data set 0 Position
Setting range Setting unit Factory setting Power reboot
－9999 ~＋9999 1-reference pulse 0 Required
P 702 High position of data set 0 Position
Setting range Setting unit Factory setting Power reboot
－9999 ~＋9999 10000-reference pulse 0 Required
P 703 Speed of data set 0 Position
Setting range Setting unit Factory setting Power reboot
0 ~ 6000 1r/min 0 Required
1、Data set 1 parameters P 708 ~ P 711; Data set 2 parameters P 716 ~ P 719;
Data set 3 parameters P 724 ~ P 727; Data set 4 parameters P 732 ~ P 735;
Data set 5 parameters P 740 ~ P 743; Data set 5 parameters P 748 ~ P 751;
Data set 7 parameters P 756 ~ P 759。

P 765 Acceleration of data set Position

Setting range Setting unit Factory setting Power reboot
1 ~ 60000 10r/min/s 10000 Required
P 766 Deceleration of data set Position
Setting range Setting unit Factory setting Power reboot
1 ~ 60000 10r/min/s 10000 Required
P 767 Emergency deceleration of data set Position
Setting range Setting unit Factory setting Power reboot
1 ~ 60000 10r/min/s 60000 Required
P 768 Electronic gear of data set (numerator) Position
Setting range Setting unit Factory setting Power reboot
1 ~ 65535 —— 2 Required
P 769 Electronic gear of data set (denominator) Position
Setting range Setting unit Factory setting Power reboot
1 ~ 65535 —— 1 Required

99
(2) Setting of input signal
Pin No. of connector
Name Signal Name
A axis B axis
Input /POS-START Need P□512 for distribution Startup signal of mode motion sequence
Input /POS-STEP Need P□512 for distribution Step change signal of mode motion sequence
Input /POS0 Need P□511 for distribution Option switch 0 signal of data sets in mode motion sequence
Input /POS1 Need P□511 for distribution Option switch 1 signal of data sets in mode motion sequence
Input /POS2 Need P□511 for distribution Option switch 2 signal of data sets in mode motion sequence
Input /PCON Need P□509 for distribution Option switch 3 signal of data sets in mode motion sequence
In the single data set manner, when /POS-START signal is ON, the motor is allowed to operate; when it is OFF,
the motor stops operation.

For input signals (/POS-START, /POS-STEP, /POS0, /POS1, /POS2, /PCON), any of the 15 data sets are available
for selection as the current data set to be executed. The data sets are as follows:

/POS-
Data set /POS2 /POS1 /POS0 /POS-STEP Corresponding parameter
START
P0 OFF OFF OFF ON ↑ P□700 ~ P□703
P1 OFF OFF ON ON ↑ P□708 ~ P□711
P2 OFF ON OFF ON ↑ P□716 ~ P□719
P3 OFF ON ON ON ↑ P□724 ~ P□727
P4 ON OFF OFF ON ↑ P□732 ~ P□735
P5 ON OFF ON ON ↑ P□740 ~ P□743
P6 ON ON OFF ON ↑ P□748 ~ P□751
P7 ON ON ON ON ↑ P□756 ~ P□759
Sequence diagram of input signals and data sets is as below:
P7
P6
P5
P4
Data set P3
P2
P1

P0
>1ms
OFF ON OFF ON OFF ON OFF ON
POS0

OFF OFF ON ON OFF OFF ON ON

POS1

OFF OFF OFF OFF ON ON ON ON

POS2
External
input signal
POS-STEP

ON
POS-START
POS-STEP
ON
SON >2ms

5.12.2 Data Set Sequence Mode

The data set sequence manner supports 8 data sets in the parameter manner and 32 data sets in the
communication manner. Mode of motion can be incremental or absolute.

100
(1) Setting of user parameter
User Parameter Meanings
P□000 H.□□C□ Selection of control mode: mode motion sequence manner
P□764 H.□□□0 Selection of data set startup manner: single data set manner
P 700 Type of data set 0 Position
Setting range Setting unit Factory setting Power reboot
0~2 —— 0 Required
0: data set is invalid
1: data set is in absolute motion
2: data set is in relative motion

User Parameter Meanings

P□704 No step change condition, directly start up subsequent data sets; 2nd step change condition
H.□□□0
invalid.
H.□□□1 Delay step change, with delay time as "step change condition value 1" in the data set
Pulse edge step change, with "step change condition value 1" in the data set determining validity
H.□□□2
of rising edge or falling edge.
Level step change, with "step change condition value 1" in the data set determining validity of
H.□□□3
rising edge or falling edge.

User Parameter Meanings

P□704 H.□□0□ No step change condition, directly start up subsequent data sets.
H.□□1□ No step change condition, directly start up subsequent data sets.
Pulse edge step change, with "step change condition value 2" in the data set determining
H.□□2□
validity of rising edge or falling edge.
Level step change, with "step change condition value 2" in the data set determining validity of
H.□□3□
rising edge or falling edge.

P 705 Step change condition value of data set 0 Position

Set range Set unit Factory setting Power reboot
0 ~ 65535 —— 0 Required
The parameter significance depends on the types of data set step change condition 1, as below:
No step change condition
— Insignificant
Delay step change
— Delay time 0 ~ 65535, unit: ms
Pulse edge step change
— Value 0: rising edge step change
— Value 1: falling edge step change
— Value 2: rising edge or falling edge step change
— Other value: invalid
Pulse edge step change
— Value 3: H level step change
— Value 4: L level step change
— Other value: invalid
101
 P 706 Step change condition value of data set 2 Position
Set range Set unit Factory setting Power reboot
0 ~ 65535 —— 0 Required
The parameter significance depends on the types of data set step change condition 2, as below:
No step change condition
— Insignificant
Delay step change
— Delay time 0 ~ 65535, unit: ms
Pulse edge step change
— Value 0: rising edge step change
— Value 1: falling edge step change
— Value 2: rising edge or falling edge step change
— Other value: invalid
Pulse edge step change
— Value 3: H level step change
— Value 4: L level step change
— Other value: invalid

User Parameter Meanings

P□704 H.□0□□ No conjunction, step change condition 2 invalid
H.□1□□ "And" conjunction between condition 1 and 2.
H.□2□□ "Or" conjunction between condition 1 and 2.

User Parameter Meanings

P□705 H.0□□□ Aborting: neglect step change condition, immediately interrupt motion, and start up subsequent
data sets.
Immediately stop data set 1 and execute date set 2
V
Date set 2

Date set 1 t

H.1□□□ Standard: when the current motion is in place and the step change condition is fulfilled, start up
subsequent data sets.

V
Data set 1 Data set 2

Presume that step change t

Positioning completed
condition is fulfilled
(COIN)
H.2□□□ Standard: after reaching the goal position and if the step change condition is fulfilled, start up
subsequent data sets.

102
 V
Data set 1 Data set 2

t
Presume that step change condition is fulfilled

H.3□□□ Blending Low: neglect step change condition, and after reaching the goal position, adjust speed
based on the speed of subsequent data set.

V
v2 > v1 Data set 2
v2
v1

Data set 1 t

V
v2 < v1 Data set 2
v1
v2

Data set 1 t

H.4□□□ Blending Previous: neglect step change condition, and after reaching the goal position, adjust
speed based on the speed of subsequent data set.

V
v2 > v1 Data set 2
v2
v1

Data set 1 t

V
v2 < v1 Data set 2
v1
v2

Data set 1 t

H.5□□□ Blending Next: neglect step change condition, and after reaching the goal position, adjust speed
based on the speed of subsequent data set.

V
v2 > v1 Data set 2
v2
v1

Data set 1 t

103
 V
v2 < v1 Data set 2
v1
v2

Data set 1 t

H.6□□□ Blending High: neglect step change condition, and after reaching the goal position, adjust speed
based on the speed of subsequent data set.

V
v2 > v1 Data set 2
v2
v1

Data set 1 t

V
v2 < v1 Data set 2
v1
v2

Data set 1 t

104
P 707 Subsequent data set number after data set 0 Position
Setting range Setting unit Factory setting Power reboot
0~7 1r/min 0 Required
1、Data set 1 parameters P 708 ~ P 715; Data set 2 parameters P 716 ~ P 713;
Data set 3 parameters P 724 ~ P 731; Data set 4 parameters P 732 ~ P 739;
Data set 5 parameters P 740 ~ P 747; Data set 6 parameters P 748 ~ P 755;
Data set 7 parameters P 756 ~ P 763。

P 765 Acceleration of data set Position

Setting range Setting unit Factory setting Power reboot
1 ~ 60000 10r/min/s 10000 Required
P 766 Deceleration of data set Position
Setting range Setting unit Factory setting Power reboot
1 ~ 60000 10r/min/s 10000 Required
P 767 Emergency deceleration of data set Position
Setting range Setting unit Factory setting Power reboot
1 ~ 60000 10r/min/s 60000 Required
P 768 Electronic gear of data set (numerator) Position
Setting range Setting unit Factory setting Power reboot
1 ~ 65535 —— 2 Required
P 769 Electronic gear of data set (denominator) Position
Setting range Setting unit Factory setting Power reboot
1 ~ 65535 —— 1 Required
(2)
Setting of input signal
Pin No. of connector
Name Signal Name
A axis B axis
Need P□512 for Startup signal of mode motion sequence
Input /POS-START
distribution
Need P□512 for Step change signal of mode motion sequence
Input /POS-STEP
distribution
When /POS-START signal is from OFF  ON, the motor is allowed to operate; when it is OFF, the motor stops operation.
■Attentions
Every time after servo is OFF (or alarm is solved) and before data set sequence is rerun, it is necessary to set /POS-START
signal from ON to OFF and then ON so as to start up load data set.

5.12.3 Operation of Seeking Reference Point (Return to Zero)

Zero point can also be determined through reference point and it is the reference point in the absolute motion in
mode motion sequence manner.

(1) Setting of user parameter

User Parameter Meanings

105
P□770 H.□□□0 Current position is zero point
H.□□□1 For on-off operation of seeking NOT in the negative direction, C pulse is required

C pulse

NOT

H.□□□2 For on-off operation of seeking POT in the negative direction, C pulse is required

C pulse

POT

H.□□□3 For on-off operation of seeking reference point in the negative direction, C pulse is required

C pulse

/HOME-REF

H.□□□4 For on-off operation of seeking reference point in the positive direction, C pulse is required

C pulse

/HOME-REF

H.□□□5 For on-off operation of seeking NOT in the negative direction, C pulse is not required

106
 NOT

H.□□□6 For on-off operation of seeking POT in the negative direction, C pulse is not required

POT

H.□□□7 For on-off operation of seeking reference point in the negative direction, C pulse is not required

/HOME-REF

H.□□□8 For on-off operation of seeking reference point in the positive direction, C pulse is not required

/HOME-REF

P□770 H.0□□□ Not return to zero automatically after power-on.

After power-on, return to zero automatically after 1st servo is enabled, with the return to zero
H.1□□□
manner determined by P□770.0.

P 771 On-off speed to meet reference point Position

Setting range Setting unit Factory setting Power reboot
0 ~ 6000 1r/min 100 Required
P 772 On-off speed to leave reference point Position
Setting range Setting unit Factory setting Power reboot
0 ~ 6000 1r/min 30 Required

107
(2) Setting of input signal
Pin No. of connector
Name Signal Name
A axis B axis
Need P□512 for Startup signal of mode motion sequence
Input /POS-START
distribution
Need P□512 for Zero reference on-off
Input /HOME-REF
distribution
Need P□512 for Start return to zero operation and seek for zero point as per
Input /POS-START-HOME
distribution P□770.0 setting.
When /POS-START signal is ON, the motor is allowed to operate (return to zero allowed); when it is OFF, the motor
suspends operation (return to zero suspended).

108
 Chapter VI Communication
ZSD-K servo drives are equipped with standard MODBUS communication of RS485 interface and optional
CANopen of CAN interface (conforming to DS301 and DS402 standard protocols). The Chapter mainly describes
MODBUS communication.

6.1 Communication Wiring

Signal name and functions of communication connector are as follows:

Terminal No. 1 2 3 4 5 6 7 8
CN3 CANH- CANL GND GND RS485+ RS485- Reserved Reserved
Name Built-in 120 ohm
CN4 CANH- CANL GND GND RS485+ RS485-
resistance

Servo drive CN4 always acts as communication cable input terminal and CN5 always as communication cable
output terminal. Wiring diagram of several servo drives are as follows:

6.2 User Parameter

User Parameter Meanings
P□600 H.□□□0 RS485 communication baud rate: 4800 bps
H.□□□1 RS485 communication baud rate: 9600 bps
H.□□□2 RS485 communication baud rate: 19200 bps
H.□□□3 RS485 communication baud rate: 38460 bps
H.□□□4 RS485 communication baud rate: 57600 bps
P□600 H.□□0□ ASCII, 7 data bits, no parity, 2 stop bits
H.□□1□ ASCII, 7 data bits, even parity bit, 1 stop bits
H.□□2□ ASCII, 7 data bits, odd parity bit, 1 stop bits
H.□□3□ ASCII, 8 data bits, no parity, 2 stop bits
H.□□4□ ASCII, 8 data bits, even parity bit, 1 stop bits
H.□□5□ ASCII, 8 data bits, odd parity bit, 1 stop bits
H.□□6□ RTU, 8 data bits, no parity, 2 stop bit
H.□□7□ RTU, 8 data bits, even parity bit, 1 stop bit
H.□□8□ RTU, 8 data bits, odd parity bit, 1 stop bit

P 601 RS-485 communication axis address Speed Position Torque

Setting range Setting unit Factory setting Power reboot
1 ~ 127 —— 1 (A axis),2 (b axis) Required
P 602 RS-485 communication timeout Speed Position Torque
Setting range Setting unit Factory setting Power reboot
0 ~ 1000 100ms 0 Not required
· When P 602 is set to be zero, shut down communication timeout detection;；
· WhenP 602 is set to be larger than zero, indicate that communication shall be done within a set time,
or else communication error will appear. For example, if P 602 is set to be 50, indicate that one time of
communication with servo drive every 5 seconds is necessary.

109
6.3 MODBUS Communication Protocol
In case of RS-485 communication, every servo drive must have parameters P□600 ~ P□601 preset. In case of
MODBUS protocol for communication, the following two modes are available:
ASCII mode
RTU mode.
The following is the description of MODBUS communication.

■ Code meaning
ASCII mode:
Every 8-bit datum consists of two ASCII characters. For example, one 1-byte datum 64H (sexadecimal
notation). ASCII code "64" indicates it includes ASCII code (36 H) of „6‟ and ASCII code (34 H) of „4‟. ASCII codes
of digits 0-9 and alphabets A-F are as shown in the table below:
Character symbol „0‟ „1‟ „2‟ „3‟ „4‟ „5‟ „6‟ „7‟
Corresponding ASCII code 30 H 31 H 32 H 33 H 34 H 35 H 36 H 37 H
Character symbol „8‟ „9‟ „A‟ „B‟ „C‟ „D‟ „E‟ „F‟
Corresponding ASCII code 38 H 39 H 41 H 42 H 43 H 44 H 45 H 46 H

RTU mode:
Every 8-bit datum consists of two 4-bit sexadecimal data. For instance, decimal 100 presents to be 64 H when
using 1-byte RTU data.

■ Character structure
10 bit character format (for 7-bit data)
7，N，2（Modbus，ASCII）

Start Stop Stop

0 1 2 3 4 5 6
bit bit bit

7-data bits
10- bits character frame

7，E，1（Modbus，ASCII）

Start Even Stop

0 1 2 3 4 5 6 parity
bit bit

7-data bits
10- bits character frame

7，O，1（Modbus，ASCII）

Start Odd Stop

0 1 2 3 4 5 6 parity
bit bit

11 bit 7-data bits character

format (for 8-bit data)
10- bits character frame

110
 8，N，2（Modbus，ASCII / RTU）

Start Stop Stop

0 1 2 3 4 5 6 7
bit bit bit

8-data bits
11- bits character frame

8，E，1（Modbus，ASCII / RTU）

Start Even Stop

0 1 2 3 4 5 6 7 parity
bit bit

8-data bits
11- bits character frame

8，O，1（Modbus，ASCII / RTU）

Start Odd Stop

0 1 2 3 4 5 6 7 parity
bit bit

8-data bits
11- bits character frame

■ Communication data structure

ASCII mode:
STX Beginning character ':' =>(3A H)
ADR Communication address => 1-byte includes 2 ASCII codes
CMD Command code => 1-byte includes 2 ASCII codes
DATA(n-1)
... Data content => n-word=2n-byte includes 4n ASCII codes (n ≤ 12)
DATA(0)
LRC Check code => 1-byte includes 2 ASCII codes
End 1 End code 1 => (0D H) (CR)
End 0 End code 0 => (0A H) (LF)

RTU mode:
STX Rest time of at least four-byte transmission time
ADR Communication address => 1-byte
CMD Command code => 1-byte
DATA(n-1)
... Data content => n-word=2n-byte, n ≤ 12
DATA(0)
CRC CRC code => 1-byte
End 1 Rest time of at least four-byte transmission time

Data format of communication protocol is described as follows:

STX (Communication starting)
ASCII mode: ':' character.
RTU mode: rest time of communication time (automatically changed based on different communication
speed) for more than 4 bytes.

111
(Communication address)
Legal communication address ranges from 1 to 254.
For example, communication for servo with address of 32 (sexadecimal 20):
ASCII mode: ADR=„2‟, „0‟=>„2‟=32 H, „0‟=30 H
RTU mode: ADR=20 H

CMD (Command) and DATA (Data)

Data format is determined based on command code. Common command codes are as follows:
Command code: 03 H, read N word (maximum of N is 20).
For example: Read 2 words from the starting address 0200 H in the servo with address of 01 H.

ASCII mode:

Command information Respond information

STX : STX :
(0DH)(CR)
0 (0DH)(CR)
0
ADR ADR
1 1
(0DH)(CR)
0 (0DH)(CR)
0
CMD CMD
3 3
(0DH)(CR)
0 Number of data (0DH)(CR)
0
2 (calculated by byte) 4
Starting data position
(0DH)(CR)
0 (0DH)(CR)
0
0 Content of starting 0
(0DH)(CR)
0 data address (0200H) (0DH)(CR)
B
0 1
Number of data
(0DH)(CR)
0 (0DH)(CR)
1
2 Content of second data F
F address (0201H) (0DH)(CR)
4
LCR Check
8 0
End 1 (0DH)(CR) E
LCR Check
End 0 (0AH)(LF) 8
End 1 (0DH)(CR)
End 0 (0AH)(LF)

112
RTU mode:

Command information Respond information

ADR 01H ADR 01H
CMD (0DH)(CR)
03H CMD 03H
02H(high byte) Number of data
Starting data position 04H
00H(low
(0DH)(CR)
byte) (calculated by byte)
Number of data 00H Content of starting 00H(high byte)
(calculated by word) (0DH)(CR)
02H data address (0200H) B1H(low byte)
CRC Check Low C5H(low byte) Content of second data 1FH(high byte)
CRC Check High B3H(high
(0DH)(CR)
byte) address (0201H) 40H(low byte)
CRC Check Low A3H(low byte)
CRC Check High D4H(high byte)
Command code: 06 H, write in 1 word
For example: write 100(0064 H) in address 0200 H of servo with office number 01 H.

ASCII mode:

Command information Respond information

STX : STX :
(0DH)(CR)
0 (0DH)(CR)
0
ADR ADR
1 1
(0DH)(CR)
0 (0DH)(CR)
0
CMD CMD
6 6
(0DH)(CR)
0 (0DH)(CR)
0
2 2
Starting data position Starting data position
(0DH)(CR)
0 (0DH)(CR)
0
0 0
(0DH)(CR)
0 (0DH)(CR)
0
0 0
Content of data Content of data
(0DH)(CR)
6 (0DH)(CR)
6
4 4
9 9
LCR Check LCR Check
3 3
End 1 (0DH)(CR) End 1 (0DH)(CR)
End 0 (0AH)(LF) End 0 (0AH)(LF)

113
RTU mode:

Command information Respond information

ADR 01H ADR 01H
CMD (0DH)(CR)
06H CMD (0DH)(CR)
06H
02H(high byte) 02H(high byte)
Starting data position Starting data position
00H(low
(0DH)(CR)
byte) 00H(low
(0DH)(CR)
byte)
00H(high byte) 00H(high byte)
Content of data Content of data
64H(low
(0DH)(CR)
byte) 64H(low
(0DH)(CR)
byte)
CRC Check Low 89H(low byte) CRC Check Low 89H(low byte)
CRC Check High 99H(high
(0DH)(CR)
byte) CRC Check High 99H(high
(0DH)(CR)
byte)

Calculation of detection error values of LRC (ASCII mode) and CRC (RTU mode):
LRC calculation of ASCII mode:
ASCII mode adopts LRC (Longitudinal Redunancy Check) detection error value. LRC detection error value is
the sum of contents from ADR to the last data and the result is in the unit of 256 and removes exceeding part (for
example, the result after totaling is sexadecimal 128 H and 28 H is then obtained), and then calculates its complement;
thus the obtained results is the LRC detection error value.
For example, read 1 word from 0201 address of servo with official number 01 H.

STX “:”
ADR “0”
“1”
CMD “0”
“3”
“0”
Starting data position “2”
“0”
“1”
“0”
Number of data “0”
“0”
“1”
LCR check “F”
“8”
End1 (0DH)(CR)
End0 (0AH)(LF)

114
Add from ADR data to the last data:
01 H +03 H +02 H +01 H +00 H +01 H =08 H, 08 H becomes F8 H after applying complement of 2, so LRC is „F‟,
„8‟.

CRC calculation of RTU mode:

RTU mode adopts CRC (Cyclical Redundancy Check) detection error value.
Steps for calculation of CRC detection error value are as follows:
Step 1: download a 16-bit register with content of FFFF H (called as "CRC" register).
Step 2: conduct XOR operation on the first bit (bit0) of command massage and the low order bit (LSB) of 16-
bit CRC register, and save the result to CRC register;
Step 3: check the lowest order (LSB) of CRC register; if it is 0, right shift CRC register value a bit; if it is 1,
right shift CRC register value a bit and then conduct XOR operation with A001 H;
Step 4: return to Step 3, until 8 times of execution of Step 3, and then move to Step 5;
Step 5: repeat Step 2-4 for the next bit of the command massage, until all bits are processed; the content of
CRC register now is CRC detection error value.
Note: after CRC detection error value is calculated, it is necessary to fill the CRC low order in the command
massage and then CRC high order. Please refer to the following example.
For example: read 2 words from 0101 H address of servo with official number of 01 H. The final content of CRC
register calculated from ADR to the last bit of the data number is 3794 H, and then its command massage is as shown
below. Note that 94 H is transmitted prior to 37 H.

ADR 01 H
CMD 03 H
01H (address high order)
Starting data address
01H (address low order)
Data number 00 H (high order)
(Calculated based on
02H (low order)
word)
CRC check low order 94H (check low order)
CRC check high order 37H (check high order)

End1, End0 (communication detection completed)

ASCII mode:
(0D H) (i.e. character '\r' 『carriage return』) and (0A H) (i.e. „\n‟『new line』) indicate end of communication.
RTU mode:
Exceeding the rest time of 4-byte communication time at the current communication rate indicates the end of
communication.

Example:
The following uses C programming language to generate CRC value. The function needs two parameters:
unsigned char * data;
unsigned char length;
/*The function will pass back the CRC value in unsigned integer type.*/
unsigned int crc_chk(unsigned char * data,unsigned char length){

115
 int i,j;
unsigned int crc_reg = 0xFFFF;
while(length- -){
crc_ reg ^=*data++;
for(j=0;j<8;j++){
if(crc_reg & 0x01){
crc_reg=( crc_reg >>1)^0xA001;
}
Else
{
crc_reg＝crc_reg >>1;
}
}
}
return crc_reg;
}
■ Communication error
During communication, errors are possible, and common error sources are as follows:
 During parameters reading and writing, data address is wrong;
 During writing of a parameter, the data exceed the maximum of the parameter or are smaller
than the parameter;
 Communication is interrupted, data transmission is wrong or check code is wrong.

In case of the first two communication errors, operation of servo drive will not be affected and meanwhile the
servo drive will feedback an error frame. In case of the third error, transmitted data will be considered to be invalid
and abandoned, without feedback of frame.
Error frame format is as follows:

Upper computer data frame:

start Slave station address Command Data address, data, etc. Check
Command

Servo drive feedbacks error frame:

start Slave station address Response code Error code Check

Command + 80 H

Where the error frame response code = command + 80 H;

Error code = 00 H; communication is normal;
= 01 H: servo drive fails to identify the requested function;
= 02 H: data address given in request does not exist in servo drive;
= 03 H: data address given in request is not allowed in servo drive (due to exceeding the maximum
or minimum value of parameter);
= 04 H: servo drive has started to execute request, but fails to complete the request;

For example: the axis number of servo drive is 03 H and datum 06H is written in parameter Pn100; since the
range of parameter Pn100 is 0-6, the written data will not be allowed and the servo drive will return a error frame,
with error code of 03H ( exceeding the maximum or minimum value of parameter) and the structure as below:

Upper computer data frame:

start Slave station address Command Data address, data, etc. Check
03H 06H 0002H 0006H

Servo drive feedbacks error frame:

116
 start Slave station address Response code Error code Check
03H 86H 03H

In addition, if the slave station address in data frame sent by upper computer is 00H, indicate
that the data of the frame are broadcast data and the servo drive will not return any frame.

6.4 MODBUS Communication Address

Communication
data address
Meaning Instruction Operation
Hexadecimal
system
Correspond to parameters in
0000h ~ 03FFh Parameter area Read and write
parameter table
0400h ~0409h Alarm information storage area 10 history alarms Read only

0410h Speed reference zero offset Read only

0411h Torque reference zero offset Read only
0412h Iu zero offset Read only
0413h Iv zero offset Read only

0420h ~ 0437h Monitoring data Read only

0420h Motor speed Unit: 1 r/min Read only
0422h Rotation angle (electric angle) Unit: 1deg Read only
0424h Input reference pulse speed Unit: 1kHz Read only
0426h Bus voltage Unit: 1 V Read only
Speed reference value of
0428h Unit: 1 r/min Read only
analogue input
Analog input torque reference
042Ah Unit: 1% Read only
percent
042Ch Internal torque reference percent Unit: 1% or 0.1A Read only
042Eh Input signal monitoring —— Read only
0430h Output signal monitoring —— Read only
0432h Encoder signal monitoring —— Read only
0434h Input reference pulse counter Unite: 1 reference pulse Read only
0436h Feedback pulse counter Unite: 1 reference pulse Read only
0438h Position error counter Unite: 1 reference pulse Read only
043Ah Accumulated load Unit: 1% Read only
043Ch Rotational inertia percent Unit: 1% Read only
043Eh Actual angle of encoder Unite: 1 reference pulse Read only
0440h Encoder multi-circle position Unit: 1 circle Read only

044Ah Current alarm Read only

*1
0451h Communication IO signal Power failure not saved Read and write
Communication output port
0452h Power failure not saved Read and write
reverse
0457h Servo operation status *2 Read only
045Eh Software version Read only
045Fh FPGA version number Read only

0520h Clear history alarm 1: Clear history alarm Read and write
0521h Clear current alarm 1: Clear current alarm Read and write
0522h Clear bus encoder alarm 1: Clear bus encoder alarm Read and write
Clear bus encoder multi-circle 1: Clear bus encoder multi-
0523h Read and write
data circle data

BIT15:1 JOG servo enable

Speed JOG (speed as set in
0528h BIT01:1 JOG- (JOG positive) Read and write
P□304)
BIT00:1 JOG+ (JOG negative)

117
Communication
data address
Meaning Instruction Operation
Hexadecimal
system
BIT15:1 Enter position jog
Position JOG (speed as set in mode
0529h Read and write
P□304) BIT01:1 JOG-
BIT00:1 JOG+

0540h Factory reset 1: Factory reset Writable

0541h Reset 1: Reset Writable

Number of data set under

05F0h Read only
operation
Number of data set to be
05F1h Read only
operated
05F2h Actual position is 16 bits lower Position contacts position after Read only
05F3h Actual position is 16 bits higher electronic gear Read only
05F4h Position node manner 0: Task 1: External Read only
05F5h Acceleration 10rpm/s/s Read and write
05F6h Deceleration 10rpm/s/s Read and write
05F7h Emergency deceleration 10rpm/s/s Read and write
Position contact electronic gear
05F8h Read and write
numerator
Position contact electronic gear
05F9h Read and write
denominator
05FAh Reference point seeking manner Read and write
Reference point seeking on-off
05FBh 0~6000 rpm Read and write
speed
On-off speed to leave reference
05FCh 0~6000 rpm Read and write
point
05FDh Demonstration position low byte Read and write
05FEh Demonstration position high byte Read and write

Data set 0 parameter:

0600 h Destination position low byte Read and write
0601 h Destination position high byte Read and write
0602 h Target speed rpm Read and write
0603 h Step change attribute *3 Read and write
0604 h Step change condition 1 value Read and write
0605 h Step change condition 2 value Read and write
0606 h Subsequent data set number Read and write
0: NULL; 1: Absolute; 2:
0607 h Data set type Read and write
Relative

Data set 1 parameter:

0608h Destination position low byte Read and write
0609h Destination position high byte Read and write
060Ah Target speed rpm Read and write
060Bh Step change condition attribute Read and write
060Ch Step change condition 1 value Read and write
060Dh Step change condition 2 value Read and write
060Eh Subsequent data set number Read and write
0: NULL; 1: Absolute; 2:
060Fh Data set type Read and write
Relative

Data set 2 parameter:

0610 h Destination position low byte Read and write
0611 h Destination position high byte Read and write
0612 h Target speed rpm Read and write

118
Communication
data address
Meaning Instruction Operation
Hexadecimal
system
0613 h Step change condition attribute Read and write
0614 h Step change condition 1 value Read and write
0615 h Step change condition 2 value Read and write
0616 h Subsequent data set number Read and write
0: NULL; 1: Absolute; 2:
0617 h Data set type Read and write
Relative

Data set 3 parameter:

0618h Destination position low byte Read and write
0619h Destination position high byte Read and write
061Ah Target speed rpm Read and write
061Bh Step change condition attribute Read and write
061Ch Step change condition 1 value Read and write
061Dh Step change condition 2 value Read and write
061Eh Subsequent data set number Read and write
0: NULL; 1: Absolute; 2:
061Fh Data set type Read and write
Relative

Data set 4 parameter:

0620h Destination position low byte Read and write
0621h Destination position high byte Read and write
0622h Target speed rpm Read and write
0623h Step change condition attribute Read and write
0624h Step change condition 1 value Read and write
0625h Step change condition 2 value Read and write
0626h Subsequent data set number Read and write
0: NULL; 1: Absolute; 2:
0627h Data set type Read and write
Relative

Data set 5 parameter:

0628h Destination position low byte Read and write
0629h Destination position high byte Read and write
062Ah Target speed rpm Read and write
062Bh Step change condition attribute Read and write
062Ch Step change condition 1 value Read and write
062Dh Step change condition 2 value Read and write
062Eh Subsequent data set number Read and write
0: NULL; 1: Absolute; 2:
062Fh Data set type Read and write
Relative

Data set 6 parameter:

0630h Destination position low byte Read and write
0631h Destination position high byte Read and write
0632h Target speed rpm Read and write
0633h Step change condition attribute Read and write
0634h Step change condition 1 value Read and write
0635h Step change condition 2 value Read and write
0636h Subsequent data set number Read and write
0: NULL; 1: Absolute; 2:
0637h Data set type Read and write
Relative

Data set 7 parameter:

0638h Destination position low byte Read and write
0639h Destination position high byte Read and write
063Ah Target speed rpm Read and write
063Bh Step change condition attribute Read and write

119
Communication
data address
Meaning Instruction Operation
Hexadecimal
system
063Ch Step change condition 1 value Read and write
063Dh Step change condition 2 value Read and write
063Eh Subsequent data set number Read and write
0: NULL; 1: Absolute; 2:
063Fh Data set type Read and write
Relative

Data set 8 parameter:

0640h Destination position low byte Read and write
0641h Destination position high byte Read and write
0642h Target speed rpm Read and write
0643h Step change condition attribute Read and write
0644h Step change condition 1 value Read and write
0645h Step change condition 2 value Read and write
0646h Subsequent data set number Read and write
0: NULL; 1: Absolute; 2:
0647h Data set type Read and write
Relative

Data set 9 parameter:

0648h Destination position low byte Read and write
0649h Destination position high byte Read and write
064Ah Target speed rpm Read and write
064Bh Step change condition attribute Read and write
064Ch Step change condition 1 value Read and write
064Dh Step change condition 2 value Read and write
064Eh Subsequent data set number Read and write
0: NULL; 1: Absolute; 2:
064Fh Data set type Read and write
Relative

Data set 10 parameter:

0650h Destination position low byte Read and write
0651h Destination position high byte Read and write
0652h Target speed rpm Read and write
0653h Step change condition attribute Read and write
0654h Step change condition 1 value Read and write
0655h Step change condition 2 value Read and write
0656h Subsequent data set number Read and write
0: NULL; 1: Absolute; 2:
0657h Data set type Read and write
Relative

Data set 11 parameter:

0658h Destination position low byte Read and write
0659h Destination position high byte Read and write
065Ah Target speed rpm Read and write
065Bh Step change condition attribute Read and write
065Ch Step change condition 1 value Read and write
065Dh Step change condition 2 value Read and write
065Eh Subsequent data set number Read and write
0: NULL; 1: Absolute; 2:
065Fh Data set type Read and write
Relative

Data set 12 parameter:

0660h Destination position low byte Read and write
0661h Destination position high byte Read and write
0662h Target speed rpm Read and write
0663h Step change condition attribute Read and write
0664h Step change condition 1 value Read and write

120
Communication
data address
Meaning Instruction Operation
Hexadecimal
system
0665h Step change condition 2 value Read and write
0666h Subsequent data set number Read and write
0: NULL; 1: Absolute; 2:
0667h Data set type Read and write
Relative

Data set 13 parameter:

0668h Destination position low byte Read and write
0669h Destination position high byte Read and write
066Ah Target speed rpm Read and write
066Bh Step change condition attribute Read and write
066Ch Step change condition 1 value Read and write
066Dh Step change condition 2 value Read and write
066Eh Subsequent data set number Read and write
0: NULL; 1: Absolute; 2:
066Fh Data set type Read and write
Relative

Data set 14 parameter:

0670h Destination position low byte Read and write
0671h Destination position high byte Read and write
0672h Target speed rpm Read and write
0673h Step change condition attribute Read and write
0674h Step change condition 1 value Read and write
0675h Step change condition 2 value Read and write
0676h Subsequent data set number Read and write
0: NULL; 1: Absolute; 2:
0677h Data set type Read and write
Relative

Data set 15 parameter:

0678h Destination position low byte Read and write
0679h Destination position high byte Read and write
067Ah Target speed rpm Read and write
067Bh Step change condition attribute Read and write
067Ch Step change condition 1 value Read and write
067Dh Step change condition 2 value Read and write
067Eh Subsequent data set number Read and write
0: NULL; 1: Absolute; 2:
067Fh Data set type Read and write
Relative

Data set 16 parameter:

0680h Destination position low byte Read and write
0681h Destination position high byte Read and write
0682h Target speed rpm Read and write
0683h Step change condition attribute Read and write
0684h Step change condition 1 value Read and write
0685h Step change condition 2 value Read and write
0686h Subsequent data set number Read and write
0: NULL; 1: Absolute; 2:
0687h Data set type Read and write
Relative

Data set 17 parameter:

0688h Destination position low byte Read and write
0689h Destination position high byte Read and write
068Ah Target speed rpm Read and write
068Bh Step change condition attribute Read and write
068Ch Step change condition 1 value Read and write
068Dh Step change condition 2 value Read and write

121
Communication
data address
Meaning Instruction Operation
Hexadecimal
system
068Eh Subsequent data set number Read and write
0: NULL; 1: Absolute; 2:
068Fh Data set type Read and write
Relative

Data set 18 parameter:

0690h Destination position low byte Read and write
0691h Destination position high byte Read and write
0692h Target speed rpm Read and write
0693h Step change condition attribute Read and write
0694h Step change condition 1 value Read and write
0695h Step change condition 2 value Read and write
0696h Subsequent data set number Read and write
0: NULL; 1: Absolute; 2:
0697h Data set type Read and write
Relative

Data set 19 parameter:

0698h Destination position low byte Read and write
0699h Destination position high byte Read and write
069Ah Target speed rpm Read and write
069Bh Step change condition attribute Read and write
069Ch Step change condition 1 value Read and write
069Dh Step change condition 2 value Read and write
069Eh Subsequent data set number Read and write
0: NULL; 1: Absolute; 2:
069Fh Data set type Read and write
Relative

Data set 20 parameter:

06A0h Destination position low byte Read and write
06A1h Destination position high byte Read and write
06A2h Target speed rpm Read and write
06A3h Step change condition attribute Read and write
06A4h Step change condition 1 value Read and write
06A5h Step change condition 2 value Read and write
06A6h Subsequent data set number Read and write
0: NULL; 1: Absolute; 2:
06A7h Data set type Read and write
Relative

Data set 21 parameter:

06A8h Destination position low byte Read and write
06A9h Destination position high byte Read and write
06AAh Target speed rpm Read and write
06ABh Step change condition attribute Read and write
06ACh Step change condition 1 value Read and write
06ADh Step change condition 2 value Read and write
06AEh Subsequent data set number Read and write
0: NULL; 1: Absolute; 2:
06AFh Data set type Read and write
Relative

Data set 22 parameter:

06B0h Destination position low byte Read and write
06B1h Destination position high byte Read and write
06B2h Target speed rpm Read and write
06B3h Step change condition attribute Read and write
06B4h Step change condition 1 value Read and write
06B5h Step change condition 2 value Read and write
06B6h Subsequent data set number Read and write

122
Communication
data address
Meaning Instruction Operation
Hexadecimal
system
0: NULL; 1: Absolute; 2:
06B7h Data set type Read and write
Relative

Data set 23 parameter:

06B8h Destination position low byte Read and write
06B9h Destination position high byte Read and write
06BAh Target speed rpm Read and write
06BBh Step change condition attribute Read and write
06BCh Step change condition 1 value Read and write
06BDh Step change condition 2 value Read and write
06BEh Subsequent data set number Read and write
0: NULL; 1: Absolute; 2:
06BFh Data set type Read and write
Relative

Data set 24 parameter:

06C0h Destination position low byte Read and write
06C1h Destination position high byte Read and write
06C2h Target speed rpm Read and write
06C3h Step change condition attribute Read and write
06C4h Step change condition 1 value Read and write
06C5h Step change condition 2 value Read and write
06C6h Subsequent data set number Read and write
0: NULL; 1: Absolute; 2:
06C7h Data set type Read and write
Relative

Data set 25 parameter:

06C8h Destination position low byte Read and write
06C9h Destination position high byte Read and write
06CAh Target speed rpm Read and write
06CBh Step change condition attribute Read and write
06CCh Step change condition 1 value Read and write
06CDh Step change condition 2 value Read and write
06CEh Subsequent data set number Read and write
0: NULL; 1: Absolute; 2:
06CFh Data set type Read and write
Relative

Data set 26 parameter:

06D0h Destination position low byte Read and write
06D1h Destination position high byte Read and write
06D2h Target speed rpm Read and write
06D3h Step change condition attribute Read and write
06D4h Step change condition 1 value Read and write
06D5h Step change condition 2 value Read and write
06D6h Subsequent data set number Read and write
0: NULL; 1: Absolute; 2:
06D7h Data set type Read and write
Relative

Data set 27 parameter:

06D8h Destination position low byte Read and write
06D9h Destination position high byte Read and write
06DAh Target speed rpm Read and write
06DBh Step change condition attribute Read and write
06DCh Step change condition 1 value Read and write
06DDh Step change condition 2 value Read and write
06DEh Subsequent data set number Read and write
06DFh Data set type 0: NULL; 1: Absolute; 2: Read and write

123
Communication
data address
Meaning Instruction Operation
Hexadecimal
system
Relative

Data set 28 parameter:

06E0h Destination position low byte Read and write
06E1h Destination position high byte Read and write
06E2h Target speed rpm Read and write
06E3h Step change condition attribute Read and write
06E4h Step change condition 1 value Read and write
06E5h Step change condition 2 value Read and write
06E6h Subsequent data set number Read and write
0: NULL; 1: Absolute; 2:
06E7h Data set type Read and write
Relative

Data set 29 parameter:

06E8h Destination position low byte Read and write
06E9h Destination position high byte Read and write
06EAh Target speed rpm Read and write
06EBh Step change condition attribute Read and write
06ECh Step change condition 1 value Read and write
06EDh Step change condition 2 value Read and write
06EEh Subsequent data set number Read and write
0: NULL; 1: Absolute; 2:
06EFh Data set type Read and write
Relative

Data set 30 parameter:

06F0h Destination position low byte Read and write
06F1h Destination position high byte Read and write
06F2h Target speed rpm Read and write
06F3h Step change condition attribute Read and write
06F4h Step change condition 1 value Read and write
06F5h Step change condition 2 value Read and write
06F6h Subsequent data set number Read and write
0: NULL; 1: Absolute; 2:
06F7h Data set type Read and write
Relative

Data set 31 parameter:

06F8h Destination position low byte Read and write
06F9h Destination position high byte Read and write
06FAh Target speed rpm Read and write
06FBh Step change condition attribute Read and write
06FCh Step change condition 1 value Read and write
06FDh Step change condition 2 value Read and write
06FEh Subsequent data set number Read and write
0: NULL; 1: Absolute; 2:
06FFh Data set type Read and write
Relative

Data set 32 parameter (next data set of operating data set):

0700h Destination position low byte Read and write
0701h Destination position high byte Read and write
0702h Target speed rpm Read and write
0703h Step change condition attribute Read and write
0704h Step change condition 1 value Read and write
0705h Step change condition 2 value Read and write
0706h Subsequent data set number Read and write
0: NULL; 1: Absolute; 2:
0707h Data set type Relative Read and write

124
 Address description:
*1. Communication IO input (0451h)
Input signal can be given through communication IO input (0451h) register of MODBUS
communication. The definition of the register is as follows:
bit15 bit14 bit13 bit12 bit11 bit10 bit9 bit8
/START-HOME /POS-STEP /POS-START /POS-REF /POS2 /POS1 /POS0 /G-SEL

bit7 bit6 bit5 bit4 bit3 bit2 bit1 bit0

/N-CL /P-CL /CLR /ALM-RST N-OT P-OT /P-CON /SON

Signal input in the register is valid only when the signal is not input from CN3 (signal distribution parameter is
set to be "Null").
For example: to input /POS-START through communication IO input register, it is necessary to set
P□512.1=0first,and thenmodifybit13 of communication IO input (0451h) register valid.
*2. Servo operation status（0456h）
ALM REF-PASS RES S-RDY WAIT COIN AC-IN PS-IN PA-ST TGON N-OT P-OT
Servo alarm sign: '1' - alarm Position overtravel: '1' - P-OT is valid
Reference point seeking: '1' - reference point is found Position overtravel: '1' - N-OT is valid
Reserved
Rotation detection: '1' - motor speed is higher than specified value
Servo ready sign: '1' - it is ready
Position control: '1' - alarm clear signal ALM-RST input
Servo waiting sign (motor disable): '1' - waiting Speed control: '1' - motor torque is 10% larger than its rated value

Position control: '1' - positioning is completed Position control: '1' - pulse input is performing
Speed control: '1' - motor speed reaches given speed Speed control: '1' - given speed is higher than its specified value
Power supply input sign: '1' - power input at R and T terminals of drive

*3. Step change condition attribute

bit15-12 bit11-8 bit7-5 bit3-0

Data set step change condition 1 type

0 No condition
1 Delay
2 Pulse edge of signal input (/POS-STEP)
3 Level of signal input (/POS-STEP)

Data set step change condition 2 type

0 No condition
1 Delay
2 Pulse edge of signal input (/POS-STEP)
3 Level of signal input (/POS-STEP)

Logic between step change condition 1 and 2

0 No connection
1 AND
2 OR

Step change transitional manner

0 Aborting
1 Standard
2 Buffered
3 BlendingLow
4 BlendingPrevious
5 BlendingNext
6 BlendingHigh

125
P 503 Width of same-speed detection signal Speed
Setting range Setting unit Factory setting Power reboot
0 ~ 100 1r/min 10 Not required

If the difference between motor speed and reference Motor speed

speed is smaller than the set value of P 503,
then "/V-CMP" signal is output. P 503
For example,
At P 503=100 and reference speed of 2000 r/min,
if motor speed ranges from 1900 to 2100r/min, Reference speed
"/V-CMP" is set to be ON.
Output "/V-CMP" in this range.

Supplement
"/V-CMP" is the output signal under speed control. In case of position control, then the function will
automatically change to "/COIN"; in case of torque control, it will automatically change to "OFF(H
level)".

126
 Chapter VII Maintenance and Inspection
7.1 Abnormality Diagnosis and Treatment Methods
7.1.1 Overview of Alarm Display
Relationship between alarm display and alarm code output ON/OFF is as shown in the table below. The
method to stop motor in case of alarm: free-running stop: without braking, natural stop by friction resistance at the
time of motor rotation.
Alarm ALM Alarms Alarm contents Clear or
display output not
□01 H Encoder PA, PB, PC disconnection Encoder disconnection or cable welding problem. Clear
□02 H Encoder PU, PV, PW disconnection Encoder disconnection or cable welding problem. Clear
Continuous running at a certain torque exceeding
□03 H Overload Clear
the rated value
□04 H A/D switch channel abnormal A/D switch channel abnormal Clear
□05 H PU, PV, PW false code PU, PV, PW signals are all high or low Clear
□06 H PU, PV, PW phases incorrect PU, PV, PW signals are all high or low Clear
□08 H The BOOTLOADER is abnormal Contact manufacturer No
Set the locked-rotor torque by P□148，Set the
locked-rotor time by P□149. The servo driver
□09 H Alarm of locked-rotor will alarm 07 when the motor torque is greater No
than the locked-rotor torque and the speed is less
than 10RPM
□10 H Overcurrent Servo drive IPM module current is overlarge. Clear
□11 H Overvoltage Servo drive main circuit voltage is too high. No
□12 H Undervoltage Servo drive main circuit voltage is too low. No
□13 H Parameter damage EEROM data in servo drive is abnormal. Clear
□14 H Over-speed Servo motor speed is extremely high Clear
□15 H Deviation counter overflow Internal position deviation counter overflow Clear
Position deviation pulse exceeds the set value of
□16 H Position deviation is overlarge Clear
parameter P□504.
Electronic gear is unreasonably set or pulse
□17 H Electronic gear fault Clear
frequency is too high
1st channel of current detection is
□18 H Current detection abnormal Clear
abnormal
2nd channel of current detection is
□19 H Current detection abnormal Clear
abnormal
□20 H The motor model is abnormal Contact manufacturer No
Motor model is incorrect Servo drive parameters do not match with those of
□22 H Clear
motor
Servo drive does not match with Servo drive does not match with motor
□23 H Clear
motor

127
Alarm ALM Alarms Alarm contents Clear or
display output not
Bus encoder multi-circle
□25 H Multi- circle information error Clear
information error
Bus encoder multi-circle
□26 H Multi- circle information overflow Clear
information overflow
Battery voltage is lower than 2.5 V, multi-circle
□27 H Bus encoder battery alarm 1 Clear
information is lost
Battery voltage is lower than 3.1 V, battery voltage
□28 H Bus encoder battery alarm 2 Clear
is relatively low
Bleeder resistor disconnection Braking resistor damage.
□30 H Clear
alarm
□31 H Regeneration overload Regeneration processing circuit is abnormal. No
There is outage of over one power cycle under AC
□33 H Momentary outage alarm. Clear
current.
□34 H Rotary transformer is abnormal Rotary transformer communication is abnormal. Clear
Bus encoder communication is Servo drive and encoder cannot realize
□40 H Clear
abnormal communication.
□41 H Bus encoder overspeed When power is ON, encoder rotates at high speed Clear
Bus encoder absolute status error Encoder damage or encoder decoding circuit
□42 H Clear
damage
Bus encoder counting error Encoder damage or encoder decoding circuit
□43 H Clear
damage
Check error in bus encoder control Encoder signal is interrupted or encoder decoding
□44 H Clear
field circuit damage
Check error in bus encoder Encoder signal is interrupted or encoder decoding
□45 H Clear
communication data circuit damage
Stop bit error in bus encoder status Encoder signal is interrupted or encoder decoding
□46 H Clear
field circuit damage
Stop bit error in bus encoder Encoder signal is interrupted or encoder decoding
□47 H Clear
SFOME circuit damage
□48 H Bus encoder data are not initialized Bus encoder SFOME data are null Clear
Sum check error in bus encoder Sum check in bus encoder EEPROM data is
□49 H Clear
data abnormal
Drive fails to accept data normally at the set time
□60 H MODBUS communication timeout Clear
in P□602
CANopen master station heartbeat Drive fails to accept master station heartbeat
□61 H Clear
timeout massage normally at the set time
□70 H Drive overheat alarm Drive internal IPM module temperature is too high Clear
Software does not match with Parameter is wrongly set or software does not
□90 H No
hardware match with hardware
□-- L No error display Display normal action status Clear

128
Note:
1. "□" in alarm display may be "A" or "b", referring to A axis alarm or b axis alarm respectively.
2. Alarms of □25, □26, □27, □41 can be reset only after alarms in encoder is cleared through auxiliary function mode.

7.1.2 Alarm Displays and Their Causes and Treatment Measures

In case of abnormalities of the servo drive, the panel operator will display alarm information of A□□ or
b□□. Alarm displays and their treatment measures are as follows:
If the abnormal condition still exists after treatment, please contact with service department of our company.

(1) List of alarm displays

Alarm Alarm contents Circumstance Cause Treatment measures
Wiring of encoder is wrong Correct wiring of encoder
Change cable specifications to
stranded wire or stranded
Encoder cables are interfered due to different
shielded wire with core wire
specifications
over 0.12 mm2 and stranded
wire made of tined soft copper
The max. wiring distance
Encoder cables are interfered due to overlength
should be 20 m.
Signal lines are interfered due to engaging-in Correct layout of encoder
Incremental encoder When power supply is
□01 and damage in sheath of encoder cables cables
ABC disconnects on or during operation
Encoder cables are bound with high current Lay encoder cables at places
line or their distance is too close free from surge voltage
Connect equipment ground wire
Change in FG potential due to influence by
to prevent shunting to FG at PG
motor side equipment (welding machine, etc.)
side
Take anti-interference measures
Signal line of encoder is interfered
for encoder wiring.
Encoder failure Replace servo motor
Servo drive circuit board develops fault Replace the servo drive
Wiring of encoder is wrong Correct wiring of encoder
Change cable specifications to
Encoder cables are interfered due to different
stranded wire or stranded
specifications
shielded wire
The max. wiring distance
Encoder cables are interfered due to overlength
should be 20 m.
Signal lines are interfered due to engaging-in Correct layout of encoder
and damage in sheath of encoder cables cables
Incremental encoder When power supply is
□02 Encoder cables are bound with high current Lay encoder cables at places
UVW disconnects on or during operation
line or their distance is too close free from surge voltage
Connect equipment ground wire
Change in FG potential due to influence by
to prevent shunting to FG at PG
motor side equipment (welding machine, etc.)
side
Take anti-interference measures
Signal line of encoder is interfered
for encoder wiring.
Encoder failure Replace servo motor
Servo drive circuit board develops fault Replace the servo drive
When control power
Servo drive circuit board develops fault Replace the servo drive
supply is on
Motor wiring is abnormal (poor condition in
Revise motor wiring
wiring and connection)
During servo ON Encoder wiring is abnormal (poor wiring and
Correct wiring of encoder
connection)
□03 Overload
Servo drive circuit board develops fault Replace the servo drive
Motor wiring is abnormal (poor condition in
Revise motor wiring
When the servo motor wiring and connection)
fails to rotate during Encoder wiring is abnormal (poor wiring and
Correct wiring of encoder
inputting of commands connection)
Starting torque exceeds the max. torque Review loading condition,

129
Alarm Alarm contents Circumstance Cause Treatment measures
operation condition or motor
capacity
Servo drive circuit board develops fault Replace the servo drive
Effective torque exceeds rated torque or Review loading condition,
starting torque exceeds rated torque operation condition or motor
Normally during substantially capacity
operation Temperature within storage tray of the servo Reduce the temperature within
drive is high storage tray below 55
Servo drive circuit board develops fault Replace the servo drive
Incremental encoder When control power Wiring of encoder is wrong Correct wiring of encoder
□05 UVW signal is supply is on Encoder failure Replace servo motor
abnormal Servo drive circuit board develops fault Replace the servo drive
Overload alarm reset for several times due to
When control power Change reset method of alarms
power off
supply is on
Servo drive circuit board develops fault Replace the servo drive
A faulty connection occurs between U, V, W
Check wiring and connect
and ground wire.
correctly.
Ground wire wraps around other terminals
A short circuit occurs between U, V, W used
by main circuit of motor and ground wire Revise or replace the cables
A short circuit occurs between U, V, and W used by main circuit of motor
used by main circuit of motor
Check wiring and connect
An error occurs to regenerative resistor wiring.
correctly.
A short circuit occurs between U, V, W of the
servo drive and ground wire
Replace the servo drive
Servo drive develops fault (current feedback
circuit, power transistor or circuit board fault)
□10 Overcurrent When main power A short circuit occurs between U, V, W used
circuit is on or by main circuit of motor and ground wire
Replace servo motor
overcurrent during A short circuit occurs between U, V, and W
motor operation used by main circuit of motor
Overload alarm reset for several times due to
Change reset method of alarms
power off
Position speed reference changes violently Re-evaluate reference value.
Review loading condition and
Whether the load is too much and whether
operation condition (check
regeneration handling capacity is exceeded
specifications of inertia of load)
The installation (direction, interval with other
parts) of servo drive is improper (whether there Reduce ambient temperature of
is storage disk is releasing heat while the the servo drive to below 55 °C
surrounding is heating )
Encoder slips Replace servo motor
Servo unit fan stops rotating
Replace the servo drive
Servo drive circuit board develops fault
When control power
Servo drive circuit board develops fault Replace the servo drive
supply is on
Adjust AC supply voltage to
When main circuit AC supply voltage is too high
normal range
power is on
Servo drive circuit board develops fault Replace the servo drive
Check AC supply voltage (whether voltage Adjust AC supply voltage to
Overvoltage
changes substantially) normal range
□11 * Detect when main
Normally during Number of turns is high and moment of inertia Review loading condition and
circuit power is on
operation of load is too large (insufficient regeneration operation condition (check
capacity) specifications of inertia of load)
Servo drive circuit board develops fault Replace the servo drive
When the servo motor
Number of turns is high and moment of inertia Review loading condition and
decelerates
of load is too large operation condition
Occurrence
When control power
Servo drive circuit board develops fault Replace the servo drive
supply is on
Adjust AC supply voltage to
Undervoltage AC supply voltage is too low
normal range
□12 * Detect when main
When main circuit Servo unit fuse burns out Replace the servo drive
circuit power is on
power is on Limiting resistor of surge current disconnects Replace servo unit (confirm
(whether power voltage is abnormal and power voltage and reduce
whether limiting resistor of surge current is frequency of main circuit

130
Alarm Alarm contents Circumstance Cause Treatment measures
overload) ON/OFF)
Servo drive circuit board develops fault Replace the servo drive
AC supply voltage is low (whether there is Adjust AC supply voltage to
oversized voltage drop) normal range
Power failure occurs instantaneously. Restart operation through reset
Normally during
Revise or replace the cables
operation Cable short circuit of motor main circuit
used by main circuit of motor
Servo motor short circuit Replace servo motor
Servo drive circuit board develops fault Replace the servo drive
Power is turned off when parameters are being
set Execute user parameters
When control power
□13 Parameter damage Power is turned off when alarm is being initialization (F□011)
supply is on
entered
Servo drive circuit board develops fault Replace the servo drive
When control power
Servo drive circuit board develops fault Replace the servo drive
supply is on
The phase sequence of U, V and M of motor
Correct motor wiring
wiring is at fault
Wiring of encoder is wrong Correct wiring of encoder
During servo ON
Encoder wiring is malfunctioned due to Take anti-interference measures
interference for encoder wiring.
Servo drive circuit board develops fault Replace the servo drive
□14 Over-speed The phase sequence of U, V and M of motor
Correct motor wiring
wiring is at fault
Wiring of encoder is wrong Correct wiring of encoder
When the servo motor
Encoder wiring is malfunctioned due to Take anti-interference measures
starts operation or
interference for encoder wiring.
during high-speed
Input value of position/speed reference is too
rotation Lower reference value
much
Speed reference input gain setting is wrong Correct reference input gain
Servo drive circuit board develops fault Replace the servo drive
When the servo motor Motor stalling Check the load
Position counter starts operation or Reduce frequency of command
□15 Input reference frequency is abnormal
overflow during high-speed computer
rotation Wiring is wrong Correct wiring
Excessive position offset alarm level (P□504) Set value of user parameter
When control power
is incorrect P□504 to any value other than 0
supply is on
Servo drive circuit board develops fault Replace the servo drive
Wiring of U, V and W of the servo motor is Correct motor wiring
During high-speed
abnormal (incomplete connection) Correct wiring of encoder
rotation
Servo drive circuit board develops fault Replace the servo drive
When the servo motor Wiring of U, V and W of the servo motor is
Revise motor wiring
fails to rotate after poor
Position error is too
sending position
large (position error Servo drive circuit board develops fault Replace the servo drive
reference
with servo ON
□16 Increase speed loop gain
exceeds user
Gain adjustment of servo drive is poor (P□100) and position loop gain
parameter overflow
(P□102)
level P□504 setting)
Slow reduce position reference
frequency
During long reference Position reference pulse frequency is too high
Add smoothing function
with normal action
Reassess electronic gear ratio
Excessive position offset alarm level (P□504) Set user parameter P□504 to
is incorrect correct value
Load conditions (torque and moment of inertia) Review reassessed load or
inconsistent with motor specifications motor capacity
When control power
supply is on
□17 Electronic gear fault Setting of electronic gear is incorrect Reset P□202 and P□203
When the servo motor
starts operation
When control power
1st channel of current supply is on
□18 Servo drive circuit board develops fault Replace the servo drive
detection is abnormal When the servo motor
starts operation
When control power
1st channel of current
□19 supply is on Servo drive circuit board develops fault Replace the servo drive
detection is abnormal
When the servo motor

131
Alarm Alarm contents Circumstance Cause Treatment measures
starts operation
Drive motor parameter setting is abnormal Replace the servo drive
Motor model is When control power Replace the servo motor
□22 Parameters written into encoder are abnormal
incorrect supply is on (encoder)
Servo drive circuit board develops fault Replace the servo drive
Servo unit capacity and motor capacity are not Match servo unit capacity with
suitable for motor capacity servo motor capacity
Drive does not match When control power Replace the servo motor
□23 Parameters written into encoder are abnormal
with motor supply is on (encoder)
Drive motor parameter setting is abnormal Replace the servo drive
Servo drive circuit board develops fault Replace the servo drive
When control power Execute bus encoder multi-coil
Multi-circle data of
supply is on Multi-circle data of absolute encoder is position cleanout (F□09) and
□25 bus encoder goes
During operation of abnormal bus encoder alarm register
wrong
servo motor cleanout (F□010)
When control power Execute bus encoder multi-coil
Bus encoder multi- supply is on Multi-circledata of absolute encoder is position cleanout (F□09) and
□26 circle data overflow During operation of abnormal bus encoder alarm register
servo motor cleanout (F□010)
Bus encoder battery When control power
□27 alarm 1 supply is on
Bus encoder battery When control power
□28 alarm 2 supply is on
When control power
Servo drive circuit board develops fault Replace the servo drive
supply is on
Circumscribed regenerative resistor is not Connect circumscribed
connected regenerative resistor
Revise the wiring of
When main circuit Check whether the wiring of regenerative
circumscribed regenerative
power is on resistor is in good condition or broken
resistor
Jumper wire between B2 and B3 comes off
Correct wiring
Regeneration is (when using built-in regenerative resistor)
□30 abnormal Revise the wiring of
Check whether the wiring of regenerative
circumscribed regenerative
resistor is in good condition or comes off
resistor
Replace regenerative resistor or
Normally during Regenerative resistor disconnects (whether
servo drive (review load and
operation regeneration energy is too much)
operation conditions)
Servo drive develops fault (fault in
regenerative transistor and voltage detecting Replace the servo drive
part)
When control power
Servo drive circuit board develops fault Replace the servo drive
supply is on
When main circuit
Power supply voltage exceeds 270 V Correct voltage
power is on
Normally during Regenerative energy is too much
Reselect regenerative resistor
operation (regenerative
capacity or review load and
resistor temperature Under continuous regeneration status
Regeneration operation conditions.
□31 increases significantly)
overload
Normally during
operation (regenerative
Servo drive circuit board develops fault Replace the servo drive
resistor temperature
increases slightly)
Reselect regenerative resistor
When the servo motor
Regenerative energy is too much capacity or review load and
decelerates
operation conditions.
When control power
Servo drive circuit board develops fault Replace the servo drive
Power supply has supply is on
open phase Three-phase electric wire has poor wiring Correct wiring
(When main power Correct unbalance of power
When main power
supply is ON, any of Three-phase electric wire is unbalanced supply (exchange of phase
supply is on
□32 L1, L2 and L3 phases position)
is under low voltage Servo drive circuit board develops fault Replace the servo drive
for over 1 s) Three-phase electric wire has poor wiring Correct wiring
* Detect when main When the servo motor is Correct unbalance of power
circuit power is on actuated Three-phase electric wire is unbalanced supply (exchange of phase
position)

132
Alarm Alarm contents Circumstance Cause Treatment measures
Servo drive circuit board develops fault Replace the servo drive
Momentary outage Normally during There is outage of over one power cycle under
□33 Check supply circuit
alarm. operation AC current
Wiring of encoder is wrong Correct wiring of encoder
When control power
Encoder failure Replace servo motor
supply is on
Servo drive circuit board develops fault Replace the servo drive
Wiring of encoder is wrong Correct wiring of encoder
Change cable specifications to
stranded wire or stranded
Encoder cables are interfered due to different
shielded wire with core wire
specifications
over 0.12 mm2 and stranded
wire made of tined soft copper
The max. wiring distance
Encoder cables are interfered due to overlength
Bus encoder is should be 20 m.
□40 abnormal Signal lines are interfered due to engaging-in Correct layout of encoder
During operation and damage in sheath of encoder cables cables
Encoder cables are bound with high current Lay encoder cables at places
line or their distance is too close free from surge voltage
Connect equipment ground wire
Change in FG potential due to influence by
to prevent shunting to FG at PG
motor side equipment (welding machine, etc.)
side
Take anti-interference measures
Signal line of encoder is interfered
for encoder wiring.
Encoder failure Replace servo motor
Servo drive circuit board develops fault Replace the servo drive
PG power is set ON when servo
Servo motor rotates at a speed of over 100
rotating speed is less than 100
When control power r/min when PG power is on
r/min
Bus encoder supply is on
□41 Encoder failure Replace servo motor
overspeed
Servo drive circuit board develops fault Replace the servo drive
Encoder failure Replace servo motor
During operation
Servo drive circuit board develops fault Replace the servo drive
Bus encoder FS status Normally during Encoder failure Replace servo motor
□42 is wrong operation Servo drive circuit board develops fault Replace the servo drive
Bus encoder counter Normally during
□43 Servo drive circuit board develops fault Replace the servo drive
goes wrong operation
Change cable specifications to
stranded wire or stranded
Encoder cables are interfered due to different
shielded wire with core wire
specifications
over 12 mm2 and stranded wire
made of tined soft copper
The max. wiring distance
Encoder cables are interfered due to overlength
should be 20 m.
Checkout in bus When control power
Signal lines are interfered due to engaging-in Correct layout of encoder
□44 encoder control field supply is on or during
and damage in sheath of encoder cables cables
is wrong operation
Encoder cables are bound with high current Lay encoder cables at places
line or their distance is too close free from surge voltage
Connect equipment ground wire
Change in FG potential due to influence by
to prevent shunting to FG at PG
motor side equipment (welding machine, etc.)
side
Take anti-interference measures
Signal line of encoder is interfered
for encoder wiring.
Wiring of encoder is wrong Correct wiring of encoder
Change cable specifications to
stranded wire or stranded
Encoder cables are interfered due to different
shielded wire with core wire
specifications
over 12 mm2 and stranded wire
made of tined soft copper
Bus encoder When control power The max. wiring distance
Encoder cables are interfered due to overlength
□45 communication data supply is on or during should be 20 m.
checkout is wrong operation Signal lines are interfered due to engaging-in Correct layout of encoder
and damage in sheath of encoder cables cables
Encoder cables are bound with high current Lay encoder cables at places
line or their distance is too close free from surge voltage
Connect equipment ground wire
Change in FG potential due to influence by
to prevent shunting to FG at PG
motor side equipment (welding machine, etc.)
side

133
Alarm Alarm contents Circumstance Cause Treatment measures
Take anti-interference measures
Signal line of encoder is interfered
for encoder wiring.
Encoder failure Replace servo motor
Servo drive circuit board develops fault Replace the servo drive
Wiring of encoder is wrong Correct wiring of encoder
Change cable specifications to
stranded wire or stranded
Encoder cables are interfered due to different
shielded wire with core wire
specifications
over 12 mm2 and stranded wire
made of tined soft copper
The max. wiring distance
Encoder cables are interfered due to overlength
should be 20 m.
Cut-off position in When control power Signal lines are interfered due to engaging-in Correct layout of encoder
□46 bus encoder status supply is on or during and damage in sheath of encoder cables cables
field is wrong operation Encoder cables are bound with high current Lay encoder cables at places
line or their distance is too close free from surge voltage
Connect equipment ground wire
Change in FG potential due to influence by
to prevent shunting to FG at PG
motor side equipment (welding machine, etc.)
side
Take anti-interference measures
Signal line of encoder is interfered
for encoder wiring.
Encoder failure Replace servo motor
Servo drive circuit board develops fault Replace the servo drive
Wiring of encoder is wrong Correct wiring of encoder
Change cable specifications to
stranded wire or stranded
Encoder cables are interfered due to different
shielded wire with core wire
specifications
over 12 mm2 and stranded wire
made of tined soft copper
The max. wiring distance
Encoder cables are interfered due to overlength
should be 20 m.
When control power When control power Signal lines are interfered due to engaging-in Correct layout of encoder
□47 supply is on or during supply is on or during and damage in sheath of encoder cables cables
operation operation Encoder cables are bound with high current Lay encoder cables at places
line or their distance is too close free from surge voltage
Connect equipment ground wire
Change in FG potential due to influence by
to prevent shunting to FG at PG
motor side equipment (welding machine, etc.)
side
Take anti-interference measures
Signal line of encoder is interfered
for encoder wiring.
Encoder failure Replace servo motor
Servo drive circuit board develops fault Replace the servo drive
When control power
Bus encoder data is
□48 supply is on or during Encoder EEROM is not initialized Replace servo motor
not initialized
operation
Wiring of encoder is wrong Correct wiring of encoder
Change cable specifications to
stranded wire or stranded
Encoder cables are interfered due to different
shielded wire with core wire
specifications
over 12 mm2 and stranded wire
made of tined soft copper
The max. wiring distance
Encoder cables are interfered due to overlength
should be 20 m.
When control power Signal lines are interfered due to engaging-in Correct layout of encoder
Sum check of bus
□49 supply is on or during and damage in sheath of encoder cables cables
encoder data is wrong
operation Encoder cables are bound with high current Lay encoder cables at places
line or their distance is too close free from surge voltage
Connect equipment ground wire
Change in FG potential due to influence by
to prevent shunting to FG at PG
motor side equipment (welding machine, etc.)
side
Take anti-interference measures
Signal line of encoder is interfered
for encoder wiring.
Encoder failure Replace servo motor
Servo drive circuit board develops fault Replace the servo drive
Servo drive circuit board develops fault Replace the servo drive
When control power
□70 Overheating Overload alarm reset for several times due to
supply is on Change reset method of alarms
power off

134
 Alarm Alarm contents Circumstance Cause Treatment measures
Review loading condition,
Cooling fin is Load exceeds rated load. operation condition or motor
overheated when main capacity
power supply is ON or Ambient temperature of the servo drive Reduce ambient temperature of
during motor operation exceeds 55 °C the servo drive to below 55 °C
Servo drive circuit board develops fault Replace the servo drive
Software does not When control power
□90 Servo drive circuit board develops fault Replace the servo drive
match with hardware supply is on

7.1.3 Causes and Treatment Measures of Other Abnormalities

See the following table for causes and proper treatment measures of other abnormalities without alarm display.
In case such abnormalities cannot be resolved after treatment, please contact agents or service technicians of the
Company.
Check method Treatment measures
Abnormalities Cause Note: Checking and treatment should only be made after power supply of servo system is set
to OFF.
Control power supply is not Check voltage between control power Correct control power supply ON circuit
connected supply terminals
Main circuit power is not connected Check voltage between main circuit Correct main circuit power ON circuit
power terminals
Input/Output (CN3 connector) Check installation and wiring of CN3 Correctly wire CN3 connector
wiring is wrong or comes off connector
Wiring of servo motor and encoder Inspect wiring Connect wiring
comes off
Overload occurs Conduct no-load trial operation Reduce load or replace with servo motor with
larger capacity
Speed/position reference is not input Check input pin Correctly input speed/position reference
Setting of input signal selection Check setting of input signal selection Correctly set input signal selection P□509 -
P□509 - P□512 is wrong P□509 - P□512 P□512
Servo ON (/S-ON) input remains Confirm set value of user parameter Correctly set user and set servo ON (/S-ON)
OFF P□50A.0 input to ON
SEN input remains OFF Check SEN signal input (when using Set SEN signal input to ON
Servo motor fails absolute encoder)
to start Mode selection for reference pulse is Check use parameters setting and Correctly set user parameter P□200.1
wrong reference pulse shape
Speed reference input is improper Confirm control method and input are Correctly set or input control parameter
during speed control consistent or check between V-REF and
GND
Torque reference input is improper Confirm control method and input are Correctly set or input control parameter
during torque control consistent or check between T-REF and
GND
Position reference input is improper Check P□200.1 reference pulse signal Correctly set or input control parameter
during position control shape or sign or sign+ pulse signal
Shift pulse cleanout input (CLR) Check CLR input Set CLR input signal to OFF
remains ON
Positive rotation drive prohibited (P- Check POT or NOT input signal Set POT or NOT input signal to ON
OT)and negative rotation drive
prohibited (N-OT) input signal
remains OFF
Servo drive fault Servo drive circuit board develops fault Replace the servo drive
Servo motor Motor wiring is wrong Check motor wiring Correctly wire motor
stops after surge Encoder wiring is wrong Check encoder wiring Correctly wire encoder
Motor stops Alarm reset (ALM-RST) signal Check alarm reset signal Remove cause of alarm and set alarm reset
suddenly during remains ON and alarm goes off signal from ON to OFF
operation and
becomes
motionless
Motor rotates Servo motor wiring is in bad contact Power line (U, V and W phases) and Tighten loose fastening part between treatment
unstably encoder connector are in unstable terminal and connector
connection
Motor rotates Speed reference input is improper Confirm control method and input are Correctly set or input control parameter
when no during speed control consistent or check between V-REF and
reference has GND
been sent Torque reference input is improper Confirm control method and input are Correctly set or input control parameter

135
 Check method Treatment measures
Abnormalities Cause Note: Checking and treatment should only be made after power supply of servo system is set
to OFF.
during torque control consistent or check between T-REF and
GND
Speed reference offset Offset adjustment of servo drive is poor Adjust offset of servo drive
Position reference input is improper Check P□200.1 reference pulse signal Correctly set or input control parameter
during position control shape or sign or sign+ pulse signal
Servo drive fault Servo drive circuit board develops fault Replace the servo drive
Motor sounds Machines are improperly installed Whether mounting screws of servo motor Tighten mounting screws
abnormally are loosed?
Whether coupling core is aligned? Align coupling core
Whether coupling is unbalanced? Restore coupling to balance
Bearing is abnormal inside Check sounds and vibration near bearing Please contact service technicians of the
Company in case of any abnormality
Supporting machines have vibration Whether any moving part at machine side Please inquire relevant manufacturers
source has foreign objects or is damaged or
deformed?
Input signal lines are interfered due Whether stranded wire or stranded Enable input signal line meet relevant
to different specifications shielded wire has core wire over 0.12 specifications
mm2 and is made of tined soft copper?
Input signal line is interfered due to Confirm that the max. wiring length is 3 Enable length of input signal line meet
length beyond range of application m and its impedance is less than 100 Ω relevant specifications
Encoder cables are interfered due to Whether stranded wire or stranded Enable encoder cables meet relevant
different specifications shielded wire has core wire over 0.12 specifications
mm2 and is made of tined soft copper?
Encoder cables are interfered due to The max. wiring distance should be 20 m. Enable encoder cables meet relevant
length beyond range of application specifications
Encoder cables are interfered due to Signal lines are interfered due to Correct layout of encoder cables
damages engaging-in and damage in sheath of
encoder cables
Interference to encoder cable is too Whether encoder cables are too close with Lay encoder cables at places free from surge
great high current line? voltage
Change in FG potential due to What is grounding state (not grounded or Connect equipment ground wire to prevent
influence by servo motor side incomplete grounding) of welding shunting to FG at PG side
equipment (welding machine, etc.) machine, etc. at servo motor side?
Servo drive pulse counter goes Whether signal line of encoder is Take anti-interference measures for encoder
wrong due to interference interfered? wiring.
Encoder is affected by excessive Mechanical vibration or motor installation Reduce mechanical vibration or properly
vibration shock) is not in condition install servo motor
(Accuracy, fastening and core shift of
mounting surface)
Encoder failure Encoder failure Replace servo motor
Motor with Speed gain P□100 is set too high Factory setting: Kv = 40.0 Hz Correctly set speed loop gain P□100
frequency around Position loop gain P□102 is set too Factory setting: Kp = 40.0/s Correctly set position loop gain P□102
200 - 400 Hz high
vibrates Speed loop integral time constant Factory setting: Ti = 20.00 ms Correctly set speed loop integral time
P□101 is improperly set parameter P□101
Machine stiffness is improperly set Reassess selection of machine stiffness Correctly select machine stiffness setting
during autotune setting
Ratio of moment of inertia is Check ratio f moment of inertia P□103 Correct ratio f moment of inertia P□103
inappropriate when not suing
autotune
Starting and Speed gain P□100 is set too high Factory setting: Kv = 40.0 Hz Correctly set speed loop gain P□100
stopping rotating Position loop gain P□102 is set too Factory setting: Kp = 40.0/s Correctly set position loop gain P□102
overtravel is too high
large Speed loop integral time parameter Factory setting: Ti = 20.00 ms Correctly set speed loop integral time
P□101 is improperly set parameter P□101
Machine stiffness is improperly set Reassess selection of machine stiffness Correctly select machine stiffness setting
during autotune setting
Ratio of moment of inertia is Check ratio f moment of inertia P□103 Correct ratio f moment of inertia P□103
inappropriate when not using Use module switch function
autotune
Position offset of Encoder cables are interfered due to stranded wire or stranded shielded wire Enable encoder cables meet relevant
absolute encoder different specifications has core wire over 0.12 mm2 and is made specifications
is wrong of tined soft copper
(Position saved Encoder cables are interfered due to The max. wiring distance should be 20 m. Enable encoder cables meet relevant
by command length beyond range of application specifications

136
 Check method Treatment measures
Abnormalities Cause Note: Checking and treatment should only be made after power supply of servo system is set
to OFF.
controller during Encoder cables are interfered due to Signal lines are interfered due to Correct layout of encoder cables
outage is damages engaging-in and damage in sheath of
different from encoder cables
position when the Interference to encoder cable is too Whether encoder cables are bound with Lay encoder cables at places free from surge
power supply is great high current line or their distance is too voltage
on next time) close?
Fluctuation of FG potential due to What is grounding state (not grounded or Connect equipment ground wire to prevent
interference by motor side incomplete grounding) of welding shunting to FG at PG side
equipment (welding machine, etc.) machine, etc. at servo motor side?
Servo drive pulse counter goes Whether signal line of encoder is Take anti-interference measures for encoder
wrong due to interference interfered? wiring.
Encoder is affected by excessive Mechanical vibration or motor installation Reduce mechanical vibration or properly
vibration shock is not in condition install servo motor
(Accuracy, fastening and core shift of
mounting surface)
Encoder failure Encoder failure (no change in pulse) Replace servo motor
Servo drive fault Servo drive fails to send multi-turn data Replace the servo drive
Command controller multi-turn data Check error detection of command Restore error detection function of command
read error controller controller
Whether data (odd-even) check is Execute odd-even check of multi-turn data
executed on command controller?
Signal line between servo drive and Interference effect occurs when no checkout is
command controller is interfered done (above)
Overtravel (OT) Positive/negative rotation drive Whether external power supply (+24 V) Correct external power supply of +24 V
(Exceeding scope prohibited input signal reaches (POT of input signal is correct?
specified by or NOT is at H level) Whether action state of overtravel limit Correct state of overtravel limit SW
command SW is correct?
controller) Whether wiring of overtravel limit SW is Correct wiring of overtravel limit SW
correct?
Positive/negative rotation drive Whether external power supply (+24 V) Remove cause of change in external power
prohibited input signal is of input signal changes? supply of +24 V
malfunctioning (POT or NOT Whether action of overtravel limit SW is Make action of overtravel limit SW unstable
changes constantly) unstable?
Whether wiring of overtravel limit SW is Correct wiring of overtravel limit SW
correct?
(Cable damage and screw fastening)
Positive/negative rotation drive Check POT signal selection P□510.2 Correct POT signal selection P□510.2
prohibited input signal Check NOT signal selection P□510.3 Correct NOT signal selection P□510.3
P-OT/N-OT signal selection is
wrong
Motor stop method selection is What is the selection for inertial operation Check P□000.2 and P□000.3
wrong stop when servo is OFF?
What is the setting for inertial operation Check P□000.2 and P□000.3
during torque control?
Overtravel position is not proper OT position is shorter than operation Properly set Ot position
distance
Encoder cables are interfered due to Whether stranded wire or stranded Enable encoder cables meet relevant
different specifications shielded wire has core wire over 0.12 specifications
mm2 and is made of tined soft copper?
Encoder cables are interfered due to The max. wiring distance should be 20 m. Enable encoder cables meet relevant
length beyond range of application specifications
Encoder cables are interfered due to Signal lines are interfered due to Correct layout of encoder cables
damages engaging-in and damage in sheath of
encoder cables
Interference to encoder cable is too Whether encoder cables are bound with Lay encoder cables at places free from surge
great high current line or their distance is too voltage
close?
Change in FG potential due to What is grounding state (not grounded or Connect equipment ground wire to prevent
influence by servo motor side incomplete grounding) of welding shunting to FG at PG side
equipment (welding machine, etc.) machine, etc. at servo motor side?
Servo unit pulse counter goes wrong Whether signal line of encoder is Take anti-interference measures for encoder
due to interference interfered? wiring.
Encoder is affected by excessive Mechanical vibration or motor installation Reduce mechanical vibration or properly
vibration shock is not in condition (accuracy, fastening install servo motor
and core shift of mounting surface)

137
 Check method Treatment measures
Abnormalities Cause Note: Checking and treatment should only be made after power supply of servo system is set
to OFF.
Encoder failure Encoder failure (no change in pulse) Replace servo motor
Servo drive fault Servo drive fails to send multi-turn data Replace the servo drive
Position offset Coupling between machine and Whether coupling between machine and Correctly connect coupling between machine
(alarm fails and servo motor is abnormal servo motor has offset? and servo motor
causes position Input signal lines are interfered due Whether stranded wire or stranded Enable input signal line meet relevant
offset) to different specifications shielded wire has core wire over 0.12 specifications
mm2 and is made of tined soft copper?
Input signal line is interfered due to Confirm that the max. wiring length is 3 Enable length of input signal line meet
length beyond range of application m and its impedance is less than 100 Ω relevant specifications
Encoder failure (no change in pulse) Encoder failure (no change in pulse) Replace servo motor

7.2 Maintenance and Check of Servo Drive

7.2.1 Check of Servo Motor
Since AC servo motor is not equipped with electric brush, only simple daily check is required. The table lists
general standards of checking period which should be properly determined based on actual using conditions and
environment.
Check item Check period Tips for check and Remarks
maintenance
Confirmation of Everyday Determine based on Compare with normal
vibration and feeling and hearing condition to detect any
sound increase
Appearance Based on contamination Clean up with brush or air —
inspection gun
Measurement of Once every year Disconnect from servo Please contact local dealer
insulation unit and measure in case the resistance is
resistance insulation resistance with less than 10 MΩ.
500 V megameter.
Resistance over 10 MΩ is
considered as normal.
Replacement of Once at least every 5000 h Please contact local Only for servo motor with
oil seal dealer. oil seal
Comprehensive Once every five years or at least Please contact local —
check every 20000 h dealer.

7.2.2 Check of Servo Drive

Daily check is not required, but more than one check is needed every year.
Check item Check period Tips for check and Remarks
maintenance
Cleaning of main body Please contact local dealer.
and circuit board
Loosening of screws Mounting screws of Please further secure screws.
Once every year
terminal board and
connector should be firmly
secured without loosening.

7.2.3 General Standards of Replacement of Internal Parts of Servo Drive

Mechanical abrasion and aging will occur to electric and electronic parts. Therefore, regular check is
required for safety purpose. In need of replacement of parts, local dealer should be contacted. Use parameters
of servo drives overhauled by the Company will be restored to factory setting and user parameters for using
should be set before operation.
Part Name Years of revision of standards Use conditions

138
Cooling fan 4-5 years Ambient temperature: annual
Smoothing capacitor 7 - 8 years average of 30 °C
Relays — Load rate: below 80%
Fuse 10 years Operating ratio: less than 20 h
Aluminium electrolytic 5 years every day
capacitor on PCB

139
 Appendix A Summary of User Parameters
Parameter Power
Name Setting range Setting unit Factory setting Remarks
No. reboot
P□000 Basic function selection switch —— —— 0010 Y
Bit 3 Bit 2 Bit 1 Bit 0

H
Rotation direction selection
0 CCW (couter clockwise) is the positive rotation direction
1 CW (clockwise) is the positive rotation direction (in reserve mode)

Control mode selection

0 Speed control (analog reference)
1 Position control (pulse train reference)
2 Torque control (analog reference)
3 Internal set speed control (contact reference)
4 Internal set speed control (contact reference) Speed control (analog reference)
5 Internal set speed control (contact reference) Position control (pulse train reference)
6 Internal set speed control (contact reference) Torque control (analog reference)
7 Position control (pulse train reference) Speed control (analog reference)
8 Position control (pulse train reference) Speed control (analog reference)
9 Torque control (analog reference) Speed control (analog reference)
A Speed control (analog reference) Zero clamping
B Position control (pulse train reference) Position control (pulse prohibited)
C Internal position control

Stop method when servo is OFF

0 Reverse braking the motor decelerates to a stop, then Set it to free-running status
1 Set motor to inertial operation state

Stop method during overtravel (OT)

0 Reverse braking the motor decelerates to a stop, then Set it to free-running status
1 Reverse braking the motor decelerates to a stop, then Set it to free-running status
2 Set motor to inertial operation state
P□001 Basic function selection switch 1 —— —— 0001 Y

140
Parameter Power
Name Setting range Setting unit Factory setting Remarks
No. reboot
Bit 3 Bit 2 Bit 1 Bit 0

H
Use method of encoder
Use absolute encoder as absolute encoder and enable serial output of absolute data
0
(PG frequency dividing PAO口)
1 Use absolute encoder as incremental encoder
2 Use absolute encoder as absolute encoder and disable serial output of absolute data

Speed control option (T-REF distribution)

0 NA
1 Use T-REF as external torque limit input
2 Use T-REF as torque feedforward input
3 Use T-REF as external torque limit input when P-CL and N-CL are enabled

Torque control option (V-REF distribution)

0 NA
1 Use V-REF as external torque limit input

Accelerated speed feedforward mode selection

0 Accelerated speed feedforward type 1 (filtering calculation)
1 Accelerated speed feedforward type 2 (rapid calculation)
P□002 Basic function selection switch 2 —— —— 1100 Y
Bit 3 Bit 2 Bit 1 Bit 0

H
Second electronic gear enabled
0 Disable second electronic gear and use /P-CON signal as P/PI switch
1 Enable second electronic gear and use /P-CON signal as second electronic gear switch

Preset constant (do not change)

0 Reserved
1 Reserved

Preset constant (do not change)

0 Reserved
1 Reserved

Preset constant (do not change)

0 Reserved
1 Reserved
P□003 Basic function selection switch 3 —— —— 1000 Y

141
Parameter Power
Name Setting range Setting unit Factory setting Remarks
No. reboot
Bit 3 Bit 2 Bit 1 Bit 0

H
Common encoder (non-serial encoder) alarm enable switch
0 Disable A05 - A08 or b05 - b08 alarm detection
1 Enable A05 - A08 or b05 - b08 alarm detection

Preset constant (do not change)

0 Reserved
1 Reserved

Momentary outage alarm enable switch

0 No alarm for momentary outage of one cycle
1 Alarm for momentary outage of one cycle

Overload enhancement enable switch

0 Disable overload enhancement function
Enable overload enhancement function (enhance overload capacity, suitable for
1
occasion with frequent start and stop)

P□004 Basic function selection switch 4 —— —— 0100 Y

Bit 3 Bit 2 Bit 1 Bit 0

H
Preset constant (do not change)
0 Reserved
1 Reserved

Preset constant (do not change)

0 Reserved

Low-frequency jitter suppression enable switch

0 Disable low-frequency jitter suppression
1 Enable low-frequency jitter suppression

Out-of-tolerance alarm enable switch

0 Disable out-of-tolerance alarm detection
Enable out-of-tolerance alarm detection (alarm will be given when offset counter
1
value exceeds P 504)
4 Shielding the alarm of number 17(Electronic gear is wrong)

P□006 Set the motor manufacturers and encoder

Y
type

142
Parameter Power
Name Setting range Setting unit Factory setting Remarks
No. reboot

P□008 Set the line of incremental encoder,For

exampleset P□008 to 5000,it
0~ 8192 0 Y
indicates that the line of incremental encoder
is5000
P□100 Speed loop gain 1 ~ 2500 0.1 Hz 400 N
P□101 Speed loop integral time constant 1 ~ 4000 0.01ms 2000 N
P□102 Position loop gain 1 ~ 2000 0.1/s 400 N
P□103 Moment of inertia ratio 0 ~ 20000 1% 0 N
P□104 Second speed loop gain 1 ~ 2500 0.1 Hz 400 N
P□105 Second speed loop integral time constant 1 ~ 4000 0.01ms 2000 N
P□106 Second position loop gain 1 ~ 2000 0.1/s 400 N
P□107 Offset (speed offset) 0 ~ 450 1r/min 0 N
P□108 Scope of offset stack 0 ~ 5000 1reference pulse 10 N
P□109 Feedforward gain 0 ~ 100 1% 0 N
P□110 Feedforward filter time constant 0 ~ 640 0.1ms 0 N
P□111 Accelerated speed freeforward percentage 0 ~ 100 1% 0 N
P□112 Accelerated speed feedforward filter time
0 ~ 640 0.1ms 0 N
constant
P□113 Application function for gain select switch 0000 ~ 0064 —— 0000 Y

143
Parameter Power
Name Setting range Setting unit Factory setting Remarks
No. reboot
Bit 3 Bit 2 Bit 1 Bit 0

H
Module switch selection
0 Use internal torque reference as the condition (level setting: P 114)
1 Use speed as the condition (level setting: P 115)
2 Use acceleration as the condition (level setting: P 116)
3 Use position error pulse as the condition (level setting: P 117)
4 No mode switch function

Selection of auto gain switch conditions

0 Non-auto gain switch (fixed to first group gain)
1 External switch gain switch (G-SEL signal)
2 Torque percentage switch
3 Switch only under position offset
4 Given accelerated speed value (10 r/min/s)
5 Given speed value
6 With position reference input

Reserved

Reserved
P□114 Mode switch (torque reference) 0 ~ 300 1% 200 N
P□115 Mode switch (speed reference) 0 ~ 10000 1r/min 0 N
P□116 Mode switch (accelerated speed reference) 0 ~ 3000 10 r/min/s 0 N
P□117 1-reference
Mode switch (offset pulse) 0 ~ 10000 0 N
pulse
0.1 ms (single 0.2 ms (double
P□118 Gain switch delay time 0 ~ 20000 0 N
axis) axis)
P□119 Gain switch range 0 ~ 20000 free 0 N
When P□113.1 = 2, the unit is 1%
When P□113.1 = 3, the unit is 1 reference pulse
When P□113.1 = 4, the unit is 10 r/min/s
When P□113.1 = 5, the unit is 1 r/min
When P□113.1 = 6, the unit is 1 reference pulse
0.1 ms (single 0.2 ms (double
P□120 Position gain switch time 0 ~ 20000 0 N
axis) axis)
P□121 1-reference
Gain switch hysteresis 0 ~ 20000 0 N
pulse
P□122 Friction load 0 ~ 3000 1‰ 0 N
P□123 Friction compensation speed hysteresis area 0 ~ 100 1r/min 0 Y
P□124 Viscous friction load 0 ~ 20000 1 ‰/1 krpm 0 N
P□125 Friction gain 0 ~ 30000 0 N
P□126 Speed observer period 0 ~ 100 0.1ms 0/35/70 N
P□127 Online autotune switches —— —— 1340 Y/N

144
Parameter Power
Name Setting range Setting unit Factory setting Remarks
No. reboot
Bit 3 Bit 2 Bit 1 Bit 0

H
Real-time auto gain setting Power reboot
0 Non-real-time auto gain adjustment
1 Normal mode (suitable for operations without change in load inertia)
2 Normal mode (suitable for operations with little change in load inertia)
3 Normal mode (suitable for operations with great change in load inertia) Y
4 Vertical load (suitable for operations without change in load inertia)
5 Vertical load (suitable for operations with little change in load inertia)
6 Vertical load (suitable for operations with great change in load inertia)

Selection of machine stiffness for real-time auto gain Power reboot

0Machine stiffness during real-time auto gain adjustment may be selected.

The larger the parameter value is, the quicker the response will be.
If this parameter is set very high all at once, system gain will change
... N
significantly, leading to great shock to machine.
It is recommended to set a small value and gradually select larger stiffness
F while monitoring operating status of machine.

Reserved

Normal auto adjustment mode setting Power reboot

0 Rotating circles: 1; direction: CCW CW
1 Rotating circles: 2; direction: CCW CW
2 Rotating circles: 3; direction: CCW CW
3 Rotating circles: 4; direction: CCW CW
N
4 Rotating circles: 1; direction: CW CCW
5 Rotating circles: 2; direction: CW CCW
6 Rotating circles: 3; direction: CW CCW
7 Rotating circles: 4; direction: CW CCW

P□141 Speed observer setting

Bit 3 Bit 2 Bit 1 Bit 0

H
Coefficient of Speed observer

Acceleration coefficient of Speed observer

Enable speed observer

0 Disable speed observer
1 Enable speed observer

P□145 Function select

145
Parameter Power
Name Setting range Setting unit Factory setting Remarks
No. reboot
Bit 3 Bit 2 Bit 1 Bit 0

H
Torque arrival signal distribution
0 Invalid（Not using this signal）
1 Output this signal via OUT1（CN3-7、8）
2 Output this signal via OUT2（CN3-9、10）
3 Output this signal via OUT3（CN3-11、12）
4 Output this signal via OUT4（CN3-32、33）
5 Output this signal via OUT5（CN3-34、35）
6 Output this signal via OUT6（CN3-36、37）

To select the function of power-down brake

0 Disable the function of power-down brake
1 Enable the function of power-down brake

Shield the No. 42 alarm

0 Enable No. 42 alarm
1 Disable No. 42 alarm

Reserved

P□146 Set the torque arrival value 0~3000 1% rated torque 100
P□147 Set the lasting time of torque arrival time 0~3000 ms 100
P□148 Set the locked-rotor torque 0~3000 1% rated torque 100
P□149 Set the locked-rotor time 0~6000 ms 300
P□200 Position control reference form selection
—— —— 0000 Y
switch
Bit 3 Bit 2 Bit 1 Bit 0

H
Offset pulse clearing method
0 Clear error pulse(servo OFF); Does not clear error pulse(over travel)
1 Does not clear offset pulse(servo OFF or over travel)
2 Clear offset pulse (servo OFF or over travel ,except for zero clamping position)

Reference pulse form

0 Sign + pulse
1 CW+CCW
2 A phase + B phase (1x frequency)
3 A phase + B phase (2x frequency)
4 A phase + B phase (4x frequency)

Reverse setting of reference pulse signal

0 Does not reverse PULS and SIGN
1 Does not reverse PULS, reverse SIGN
2 Reverse PULS , does not reverse SIGN
3 Reverse PULS and SIGN

Filter selection
0 Bus driver signal reference input filter
1 Collector open-circuit signal reference input filter
P□201 PG frequency dividing 16 ~ 32768 1 P/rev 2500 Y
P□202 First electronic gear ratio (numerator) 1 ~ 65535 —— 1 Y

146
Parameter Power
Name Setting range Setting unit Factory setting Remarks
No. reboot
P□203 First electronic gear ratio (denominator) 1 ~ 65535 —— 1 Y
P□204 Second electronic gear ratio (numerator) 1 ~ 65535 —— 1 Y
P□205 Position reference acceleration/deceleration
0 ~ 6400 0.1ms 0 N
time constant
P□206 Position reference filter form selection 0~1 —— 0 Y
P□212 Electronicgearnumerator adjustment factor 1 ~ 65535 1
This parameter×P□202=Electronicgearnumerator
P□213 Electronicgeardenominator adjustment factor 1 ~ 65535 1
This parameter×P□203 =Electronicgeardenominator
P□300 Speed reference input gain 0 ~ 3000 (r/min)/V 150 N
P□301 Internal set speed 1 0 ~ 6000 1r/min 100 N
P□302 Internal set speed 2 0 ~ 6000 1r/min 200 N
P□303 Internal set speed 3 0 ~ 6000 1r/min 300 N
P□304 Jogging (JOG) speed 0 ~ 6000 1r/min 500 N
P□305 Acceleration time of soft start 0 ~ 10000 1 ms 0 N
P□306 Deceleration time of soft start 0 ~ 10000 1 ms 0 N
P□307 Speed reference filter constant 0 ~ 10000 1 ms 0 N
P□308 Rise time of S curve 0 ~ 10000 1 ms 0 N
P□309 Z signal inversion —— —— 0000 Y
Bit 3 Bit 2 Bit 1 Bit 0

H
Reserved

Reserved

Reserved

Z signal inversion

P□400 Torque reference input gain 10 ~ 100 0.1V/rated torque 30 N

P□401 Torque reference filter time constant 0 ~ 250 0.1ms 4 N
P□402 Second torque reference filter time constant 0 ~ 250 0.1ms 4 N
P□403 Forward torque limit 0 ~ 300 1% 300 N
P□404 Reverse torque limit 0 ~ 300 1% 300 N
P□405 Forward external torque limit 0 ~ 300 1% 100 N
P□406 Reverseexternal torque limit 0 ~ 300 1% 100 N
P□407 Plug braking torque limit 0 ~ 300 1% 300 N
P□408 Speed limit during torque control 0 ~ 6000 1r/min 1500 N
P□409 Frequency of notch filter section 1 50 ~ 5000 1Hz 5000 N
P□410 Depth of notch filter section 1 0 ~ 100 —— 10 N
P□411 Frequency of notch filter section 2 50 ~ 5000 1 Hz 5000 N
P□412 Depth of notch filter section 2 0 ~ 100 —— 10 N
P□413 Vibrationfrequency of B type 10 ~ 1000 0.1 Hz 1000 N
P□414 Vibration damping of B type 0 ~ 200 —— 25 N
P□500 Positioning completion width 0 ~ 5000 1 reference unit 10 N
P□501 Zero clamping level 0 ~ 3000 1r/min 10 N
P□502 Rotation detection of electric level 0 ~ 3000 1r/min 20 N
P□503 Same-speed signal detection width 0 ~ 100 1r/min 10 N
P□504 256 reference
Offset pulse overflow level 1 ~ 32767 1024 N
unit
P□505 Waiting time of servo ON 0 ~ 2000 ms 0 N
P□506 Brake command - delay time of servo OFF 0 ~ 500 10ms 0 N

147
Parameter Power
Name Setting range Setting unit Factory setting Remarks
No. reboot
P□507 Level for output speed of brake command 0 ~ 6000 1r/min 100 N
P□508 Brake command wait time when servo is
10 ~ 100 10ms 50 N
OFF
P□509 8765 (double
Input signal selection 1 —— —— 9901 Y
axis/b)
Bit 3 Bit 2 Bit 1 Bit 0

H
/S-ON signal distribution
0 Set signal fixed to be "inactive"
1 Active when IN1 (CN2-19) input signal is ON
2 Active when IN2 (CN2-7) input signal is ON
3 Active when IN3 (CN2-20) input signal is ON
4 Active when IN4 (CN2-8) input signal is ON
9 Set signal fixed to be "active"

/P-CON signal distribution (P control when input signal is ON)

0-9 Ditto

P-OT signal distribution (positive rotation drive prohibited when OFF)

0 Set signal fixed to be "positive rotation drive prohibited"
1 Active when IN1 (CN2-19) input signal is ON
2 Active when IN2 (CN2-7) input signal is ON
3 Active when IN3 (CN2-20) input signal is ON
4 Active when IN4 (CN2-8) input signal is ON
9 Set signal fixed to be "positive rotation drive allowed"

N-OT signal distribution (negative drive prohibited when input signal is OFF)
0 Set signal fixed to be "negative rotation side drive prohibited"
1 Active when IN1 (CN2-19) input signal is ON
2 Active when IN2 (CN2-7) input signal is ON
3 Active when IN3 (CN2-20) input signal is ON
4 Active when IN4 (CN2-8) input signal is ON
9 Set signal fixed to be "negative rotation side drive allowed"

Parame Power
Name Setting range Setting unit Factory setting Remarks
ter No. reboot
P□510 8765 (single 0000 (double
Input signal selection 2 —— —— Y
axis) axis)

148
Parame Power
Name Setting range Setting unit Factory setting Remarks
ter No. reboot
Bit 3 Bit 2 Bit 1 Bit 0

H
/ALM-RST signal distribution (Clear alarm when turning from OFF to ON)
0 Set signal fixed to be "OFF"
1 Active when IN1 (CN2-19) input signal is ON
2 Active when IN2 (CN2-7) input signal is ON
3 Active when IN3 (CN2-20) input signal is ON
4 Active when IN4 (CN2-8) input signal is ON
9 Set signal fixed to be "ON"

/CLR signal distribution

0-9 Same with /S-ON signal conversion

/P-CL signal distribution

0-9 Ditto

/N-CL signal distribution

0-9 Ditto

P□511 Input signal selection 3 —— —— 0000 Y

Bit 3 Bit 2 Bit 1 Bit 0

H
/G-SEL signal distribution
0-9 Same with /S-ON signal conversion

/POS0 signal distribution

0-9 Ditto

/POS1 signal distribution

0-9 Ditto

/POS2 signal distribution

0-9 Ditto

P□512 Input signal selection 4 —— —— 0000 Y

Bit 3 Bit 2 Bit 1 Bit 0

H
/HOME-REF
0-9 Same with /S-ON signal conversion

/POS-START
0-9 Same with /S-ON signal conversion

/POS-STEP
0-9 Same with /S-ON signal conversion

/POS-START-HOME
0-9 Same with /S-ON signal conversion

P□513 0321 (double axis/A)

Output signal selection 1 —— —— 4321 Y
0654 (double axis/b)

149
Parame Power
Name Setting range Setting unit Factory setting Remarks
ter No. reboot
Bit 3 Bit 2 Bit 1 Bit 0

H
Servo alarm signal distribution (ALM)
0 Inactive (not using the signal)
1 Output such signal via OUT1 (CN2-16 and CN2-3)
2 Output such signal via OUT2 (CN2-17 and CN2-4)
3 Output such signal via OUT3 (CN2-18 and CN2-5)

Positioning completion signal distribution (/COIN)/same-speed detection signal

distribution (/V-CMP)
0-3 Ditto

Motor rotation detection signal distribution (/TGON)

0-3 Ditto

Servo ready signal distribution (/S-RDY)

0-3 Ditto

P□514 Output signal selection 2 —— —— 0065 Y 0000 (double axis)

Bit 3 Bit 2 Bit 1 Bit 0

H
Torque limit output signal distribution (/CLT)
0-6 Same with ALM signal conversion

Brake signal distribution (/BK)

0-6 Ditto

Encoder origin signal distribution (/PGC)

0-6 Ditto

Reserved
P□515 Output signal selection 3 —— —— 0000 Y
Bit 3 Bit 2 Bit 1 Bit 0

H
Current data set number bit 0 signal distribution when internal position control
is in place (/InPosNum0)
0-6 Ditto

Current data set number bit 1 signal distribution when internal position control
is in place (/InPosNum1)
0-6 Ditto

Current data set number bit 2 signal distribution when internal position control
is in place (/InPosNum2)
0-6 Ditto

Current data set number bit 3 signal distribution when internal position control
is in place (/InPosNum3)
0-6 Ditto

P□516 Instruction source selection —— —— —— N

150
Parame Power
Name Setting range Setting unit Factory setting Remarks
ter No. reboot
Bit 3 Bit 2 Bit 1 Bit 0

H
Source of pulse command
1 Receive pulse command from A-axis pulse input port
2 Receive pulse command from B-axis pulse input port

Resered

Resered

Source of analog voltage reference

0 Analog input port
1 485

P□517 Input port filter time constant 0 ~ 1000 0.1ms 1 N

P□518 Alarm input filter time constant 0~3 0.1ms 1 N
P□519 Active input port signal level
—— —— 0000 N
selection 1
Bit 3 Bit 2 Bit 1 Bit 0

H
CN2-19 active input level selection
0 Active when input signal is ON (L level)
1 Active when input signal is OFF (H level)

CN2-7 active input level selection

0-1 Ditto

CN2-20 active input level selection

0-1 Ditto

CN2-8 active input level selection

0-1 Ditto

P□520 Input port signal logic selection 2 —— —— 0000 N

Bit 3 Bit 2 Bit 1 Bit 0

H
CN3-39 active input level selection
0-1 Same with CN3-14 input level selection

CN3-40 active input level selection

0-1 Ditto

CN3-41 active input level selection

0-1 Ditto

CN3-42 active input level selection

0-1 Ditto

P□521 Output port signal reverseselect 1 —— —— 0000 N

151
Parame Power
Name Setting range Setting unit Factory setting Remarks
ter No. reboot
Bit 3 Bit 2 Bit1 Bit 0

H
OUT1 (CN2-16 and CN2-3) output reverse select
0 Does not inverse
1 Inverse

OUT2 (CN2-17 and CN3-4) output reverse select

0-1 Ditto

OUT3 (CN2-18 and CN2-5) output reverse select

0-1 Ditto

Reserved

P□522 Output port signal inverseselect 2 —— —— 0000 N

Bit 3 Bit 2 Bit1 Bit 0

H
OUT5 (CN3-34 and CN3-35) output reverse select
0-1 Ditto

OUT6 (CN3-36 and CN3-37) output reverse select

0-1 Ditto

Reserved

P□523 Select initial status display content

Bit 3 Bit 2 Bit 1 Bit 0

H
Select initial status display content
0 The status of the servo drive
1 Low 4 bit of the feedback pulse
2 High 4 bit of the feedback pulse
3 Current speed of the motor
4 Low 4 bit of the electronic gear numerator
5 High 4 bit of the electronic gear numerator
6 Low 4 bit of the electronic gear denominator
7 High 4 bit of the electronic gear denominator

Reserved

Reserved

Reserved

P□600 RS-485 communication parameter

—— —— 2151 Y
selection switch

152
Parame Power
Name Setting range Setting unit Factory setting Remarks
ter No. reboot
Bit 3 Bit 2 Bit 1 Bit 0

H
Communication baud rate select
0 4800 bps
1 9600 bps
2 19200 bps
3 38400 bps
4 57600 bps
5 115200 bps

Communication protocol select

0 7，N，2
1 7，E，1
2 7，O，1
Modbus，ASCII
3 8，N，2
4 8，E，1
5 8，O，1
6 8，N，2
7 8，E，1
Modbus，RTU
8 8，O，1
9 8，N，1

Reversed

Reversed

RS-485 communication axis

P□601 1 ~ 127 —— 1 (A axis) Y 2 (b axis)
address
P□602 RS-485 communication timeout
0 ~ 1000 100 ms 0 N
parameter
P□603 Reserved —— —— 0000 N
P□604 Reserved —— —— 0000 N
P□605 Reserved —— —— 0000 N
P□606 Reserved —— —— 0000 N
P□607 Reserved —— —— 0000 N
P□608 Reserved —— —— 0000 N
P□609 Reserved —— —— 0000 N
P□610 Type of data set 8 0~2 —— 0 Y
0: data set is null
1: data set is in absolute motion
2: data set is in relative motion
P□611 1-reference
Low byte value of Data Set 8 -9999~+9999 0 Y
pulse
P□612 10000-reference
High byte value of Data Set 8 -9999~+9999 0 Y
pulse
P□613 Speed of data set 8 0 ~ 6000 rpm 100 Y
P□614 Step change attribute in Data Set 8 —— —— 0000 Y

153
Parame Power
Name Setting range Setting unit Factory setting Remarks
ter No. reboot
Bit 3 Bit 2 Bit 1 Bit 0

H
Data set step change condition 1 type
0 No condition
1 Delay
2 Pulse edge of signal input (/POS-STEP)
3 Level of signal input (/POS-STEP)

Data set step change condition 2 type

0 No condition
1 Delay
2 Pulse edge of signal input (/POS-POS0)
3 Level of signal input (/POS-POS0)

Logic between step change condition 1 and 2

0 No conjunction
1 AND
2 OR

Step change transitional manner

0 Aborting
1 Standard
2 Buffered
3 BlendingLow
4 BlendingPrevious
5 BlendingNext
6 BlendingHigh
P□615 Step change condition value 1 in
0 ~ 65535 —— 0 Y
data set 8
-Unconditional: no transitional condition value
- Delay: value 0 ~ 65535: latency time 0 ~ 65535, unit: ms
- Pulse edge required for step change:
Value 0: rising edge
Value 1: falling edge
Value 2: rising edge or falling edge
- Level required for step change:
Value 3: 1 level
Value 4: 0 level
P□616 Step change condition value 2 in
0 ~ 65535 —— 0 Y
data set 8
Ditto
P□617 Follow-up data set number of data
0 ~ 14 —— 9 Y
set 8
P□618 Type of data set 9 0~2 —— 0 Y
0: data set is null
1: data set is in absolute motion
2: data set is in relative motion
P□619 1-reference
Low byte value of Data Set 9 -9999~+9999 0 Y
pulse
P□620 10000-reference
High byte value of Data Set 9 -9999~+9999 0 Y
pulse
P□621 Speed of data set 9 0 ~ 6000 rpm 100 Y
P□622 Step change attribute in Data Set 9 —— —— 0000 Y

154
Parame Power
Name Setting range Setting unit Factory setting Remarks
ter No. reboot
Bit 3 Bit 2 Bit 1 Bit 0

H
Data set step change condition 1 type
0 No condition
1 Delay
2 Pulse edge of signal input (/POS-STEP)
3 Level of signal input (/POS-STEP)

Data set step change condition 2 type

0 No condition
1 Delay
2 Pulse edge of signal input (/POS-POS0)
3 Level of signal input (/POS-POS0)

Logic between step change condition 1 and 2

0 No conjunction
1 AND
2 OR

Step change transitional manner

0 Aborting
1 Standard
2 Buffered
3 BlendingLow
4 BlendingPrevious
5 BlendingNext
6 BlendingHigh

P□623 Step change condition value 1 in

0 ~ 65535 —— 0 Y
data set 9
- Unconditional: no transitional condition value
- Delay: value 0 ~ 65535: latency time0 ~ 65535, unit: ms
- Pulse edge required for step change:
Value 0: rising edge
Value 1: falling edge
Value 2: rising edge or falling edge
- Level required for step change:
Value 3: 1 level
Value 4: 0 level
P□624 Step change condition value 2 in
0 ~ 65535 —— 0 Y
data set 9
Ditto
P□625 Follow-up data set number of data
0 ~ 14 —— 10 Y
set 9
P□626 Type of data set 10 0~2 —— 0 Y
0: data set is null
1: data set is in absolute motion
2: data set is in relative motion
P□627 1-reference
Low byte value of Data Set 10 -9999~+9999 0 Y
pulse
P□628 10000-reference
High byte value of Data Set 10 -9999~+9999 0 Y
pulse
P□629 Speed of data set 10 0 ~ 6000 rpm 100 Y

155
Parame Power
Name Setting range Setting unit Factory setting Remarks
ter No. reboot
P□630 Step change attribute in Data Set
—— —— 0000 Y
10
Bit 3 Bit 2 Bit 1 Bit 0

H
Data set step change condition 1 type
0 No condition
1 Delay
2 Pulse edge of signal input (/POS-STEP)
3 Level of signal input (/POS-STEP)

Data set step change condition 2 type

0 No condition
1 Delay
2 Pulse edge of signal input (/POS-POS0)
3 Level of signal input (/POS-POS0)

Logic between step change condition 1 and 2

0 No conjunction
1 AND
2 OR

Step change transitional manner

0 Aborting
1 Standard
2 Buffered
3 BlendingLow
4 BlendingPrevious
5 BlendingNext
6 BlendingHigh
P□631 Step change condition value 1 in
0 ~ 65535 —— 0 Y
data set 10
- Unconditional: no transitional condition value
- Delay: value 0 ~ 65535: latency time 0 ~ 65535, unit: ms
- Pulse edge required for step change:
Value 0: rising edge
Value 1: falling edge
Value 2: rising edge or falling edge
- Level required for step change:
Value 3: 1 level
Value 4: 0 level
P□632 Step change condition value 2 in
0 ~ 65535 —— 0 Y
data set 10
Ditto
P□633 Follow-up data set number of data
0 ~ 14 —— 11 Y
set 10
P□634 Type of data set 11 0~2 —— 0 Y
0: data set is null
1: data set is in absolute motion
2: data set is in relative motion
P□635 1-reference
Low byte value of Data Set 11 -9999~+9999 0 Y
pulse
P□636 10000-reference
High byte value of Data Set 11 -9999~+9999 0 Y
pulse

156
Parame Power
Name Setting range Setting unit Factory setting Remarks
ter No. reboot
P□637 Speed of data set 11 0 ~ 6000 rpm 100 Y
P□638 Step change attribute in Data Set
—— —— 0000 Y
11
Bit 3 Bit 2 Bit 1 Bit 0

H
Data set step change condition 1 type
0 No condition
1 Delay
2 Pulse edge of signal input (/POS-STEP)
3 Level of signal input (/POS-STEP)

Data set step change condition 2 type

0 No condition
1 Delay
2 Pulse edge of signal input (/POS-POS0)
3 Level of signal input (/POS-POS0)

Logic between step change condition 1 and 2

0 No conjunction
1 AND
2 OR

Step change transitional manner

0 Aborting
1 Standard
2 Buffered
3 BlendingLow
4 BlendingPrevious
5 BlendingNext
6 BlendingHigh
P□639 Step change condition value 1 in
0 ~ 65535 —— 0 Y
data set 11
- Unconditional: no transitional condition value
- Delay: value 0 ~ 65535: latency time 0 ~ 65535, unit: ms
- Pulse edge required for step change:
Value 0: rising edge
Value 1: falling edge
Value 2: rising edge or falling edge
- Level required for step change:
Value 3: 1 level
Value 4: 0 level
P□640 Step change condition value 2 in
0 ~ 65535 —— 0 Y
data set 11
Ditto
P□641 Follow-up data set number of data
0 ~ 14 —— 12 Y
set 11
P□642 Type of data set 12 0~2 —— 0 Y
0: data set is null
1: data set is in absolute motion
2: data set is in relative motion
P□643 1-reference
Low byte value of Data Set 12 -9999~+9999 0 Y
pulse
P□644 High byte value of Data Set 12 -9999~+9999 10000-reference 0 Y

157
Parame Power
Name Setting range Setting unit Factory setting Remarks
ter No. reboot
pulse
P□645 Speed of data set 12 0 ~ 6000 rpm 100 Y
P□646 Step change attribute in Data Set
—— —— 0000 Y
12
Bit 3 Bit 2 Bit 1 Bit 0

H
Data set step change condition 1 type
0 No condition
1 Delay
2 Pulse edge of signal input (/POS-STEP)
3 Level of signal input (/POS-STEP)

Data set step change condition 2 type

0 No condition
1 Delay
2 Pulse edge of signal input (/POS-POS0)
3 Level of signal input (/POS-POS0)

Logic between step change condition 1 and 2

0 No conjunction
1 AND
2 OR

Step change transitional manner

0 Aborting
1 Standard
2 Buffered
3 BlendingLow
4 BlendingPrevious
5 BlendingNext
6 BlendingHigh
P□647 Step change condition value 1 in
0 ~ 65535 —— 0 Y
data set 12
- Unconditional: no transitional condition value
- Delay: value 0 ~ 65535: latency time 0 ~ 65535, unit: ms
- Pulse edge required for step change:
Value 0: rising edge
Value 1: falling edge
Value 2: rising edge or falling edge
- Level required for step change:
Value 3: 1 level
Value 4: 0 level
P□648 Step change condition value 2 in
0 ~ 65535 —— 0 Y
data set 12
Ditto
P□649 Follow-up data set number of data
0 ~ 14 —— 13 Y
set 12
P□650 Type of data set 13 0~2 —— 0 Y
0: data set is null
1: data set is in absolute motion
2: data set is in relative motion
P□651 1-reference
Low byte value of Data Set 13 -9999~+9999 0 Y
pulse

158
Parame Power
Name Setting range Setting unit Factory setting Remarks
ter No. reboot
P□652 10000-reference
High byte value of Data Set 13 -9999~+9999 0 Y
pulse
P□653 Speed of data set 13 0 ~ 6000 rpm 100 Y
P□654 Step change attribute in Data Set
—— —— 0000 Y
13
Bit 3 Bit 2 Bit 1 Bit 0

H
Data set step change condition 1 type
0 No condition
1 Delay
2 Pulse edge of signal input (/POS-STEP)
3 Level of signal input (/POS-STEP)

Data set step change condition 2 type

0 No condition
1 Delay
2 Pulse edge of signal input (/POS-POS0)
3 Level of signal input (/POS-POS0)

Logic between step change condition 1 and 2

0 No conjunction
1 AND
2 OR

Step change transitional manner

0 Aborting
1 Standard
2 Buffered
3 BlendingLow
4 BlendingPrevious
5 BlendingNext
6 BlendingHigh
P□655 Step change condition value 1 in
0 ~ 65535 —— 0 Y
data set 13
- Unconditional: no transitional condition value
- Delay: value 0 ~ 65535: latency time0 ~ 65535, unit: ms
- Pulse edge required for step change:
Value 0: rising edge
Value 1: falling edge
Value 2: rising edge or falling edge
- Level required for step change:
Value 3: 1 level
Value 4: 0 level
P□656 Step change condition value 2 in
0 ~ 65535 —— 0 Y
data set 13
Ditto
P□657 Follow-up data set number of data
0 ~ 14 —— 14 Y
set 13
P□658 Type of data set 14 0~2 —— 0 Y
0: data set is null
1: data set is in absolute motion
2: data set is in relative motion
P□659 Low byte value of Data Set 14 -9999~+9999 1-reference 0 Y

159
Parame Power
Name Setting range Setting unit Factory setting Remarks
ter No. reboot
pulse
P□660 10000-reference
High byte value of Data Set 14 -9999~+9999 0 Y
pulse
P□661 Speed of data set 14 0 ~ 6000 rpm 100 Y
P□662 Step change attribute in Data Set
—— —— 0000 Y
14
Bit 3 Bit 2 Bit 1 Bit 0

H
Data set step change condition 1 type
0 No condition
1 Delay
2 Pulse edge of signal input (/POS-STEP)
3 Level of signal input (/POS-STEP)

Data set step change condition 2 type

0 No condition
1 Delay
2 Pulse edge of signal input (/POS-POS0)
3 Level of signal input (/POS-POS0)

Logic between step change condition 1 and 2

0 No conjunction
1 AND
2 OR

Step change transitional manner

0 Aborting
1 Standard
2 Buffered
3 BlendingLow
4 BlendingPrevious
5 BlendingNext
6 BlendingHigh
P□663 Step change condition value 1 in
0 ~ 65535 —— 0 Y
data set 14
- Unconditional: no transitional condition value
- Delay: value 0 ~ 65535: latency time0 ~ 65535, unit: ms
- Pulse edge required for step change:
Value 0: rising edge
Value 1: falling edge
Value 2: rising edge or falling edge
- Level required for step change:
Value 3: 1 level
Value 4: 0 level
P□664 Step change condition value 2 in
0 ~ 65535 —— 0 Y
data set 14
Ditto
P□665 Follow-up data set number of data
0 ~ 14 —— 0 Y
set 14
P□700 Type of data set 0 0~2 —— 0 Y
0: data set is null
1: data set is in absolute motion
2: data set is in relative motion

160
Parame Power
Name Setting range Setting unit Factory setting Remarks
ter No. reboot
P□701 1-reference
Low byte value of Data Set 0 -9999~+9999 0 Y
pulse
P□702 10000-reference
High byte value of Data Set 0 -9999~+9999 0 Y
pulse
P□703 Speed of data set 0 0 ~ 6000 rpm 100 Y
P□704 Step change attribute in Data Set 0 —— —— 0000 Y
Bit 3 Bit 2 Bit 1 Bit 0

H
Data set step change condition 1 type
0 No condition
1 Delay
2 Pulse edge of signal input (/POS-STEP)
3 Level of signal input (/POS-STEP)

Data set step change condition 2 type

0 No condition
1 Delay
2 Pulse edge of signal input (/POS-POS0)
3 Level of signal input (/POS-POS0)

Logic between step change condition 1 and 2

0 No conjunction
1 AND
2 OR

Step change transitional manner

0 Aborting
1 Standard
2 Buffered
3 BlendingLow
4 BlendingPrevious
5 BlendingNext
6 BlendingHigh
P□705 Step change condition value 1 in
0 ~ 65535 —— 0 Y
data set 0
- Unconditional: no transitional condition value
- Delay: value 0 ~ 65535: latency time 0 ~ 65535, unit: ms
- Pulse edge required for step change:
Value 0: rising edge
Value 1: falling edge
Value 2: rising edge or falling edge
- Level required for step change:
Value 3: 1 level
Value 4: 0 level
P□706 Step change condition value 2 in
0 ~ 65535 —— 0 Y
data set 0
Ditto
P□707 Follow-up data set number of data
0 ~ 14 —— 1 Y
set 0
P□708 Type of data set 1 0~2 —— 0 Y
0: data set is null
1: data set is in absolute motion
2: data set is in relative motion

161
Parame Power
Name Setting range Setting unit Factory setting Remarks
ter No. reboot
P□709 1-reference
Low byte value of Data Set 1 -9999~+9999 0 Y
pulse
P□710 10000-reference
High byte value of Data Set 1 -9999~+9999 0 Y
pulse
P□711 Speed of data set 1 0 ~ 6000 rpm 100 Y
P□712 Step change attribute in Data Set 1 —— —— 0000 Y
Bit 3 Bit 2 Bit 1 Bit 0

H
Data set step change condition 1 type
0 No condition
1 Delay
2 Pulse edge of signal input (/POS-STEP)
3 Level of signal input (/POS-STEP)

Data set step change condition 2 type

0 No condition
1 Delay
2 Pulse edge of signal input (/POS-POS0)
3 Level of signal input (/POS-POS0)

Logic between step change condition 1 and 2

0 No conjunction
1 AND
2 OR

Step change transitional manner

0 Aborting
1 Standard
2 Buffered
3 BlendingLow
4 BlendingPrevious
5 BlendingNext
6 BlendingHigh
P□713 Step change condition value 1 in
0 ~ 65535 —— 0 Y
data set 1
- Unconditional: no transitional condition value
- Delay: value 0 ~ 65535: latency time0 ~ 65535, unit: ms
- Pulse edge required for step change:
Value 0: rising edge
Value 1: falling edge
Value 2: rising edge or falling edge
- Level required for step change:
Value 3: 1 level
Value 4: 0 level
P□714 Step change condition value 2 in
0 ~ 65535 —— 0 Y
data set 1
Ditto
P□715 Follow-up data set number of data
0 ~ 14 —— 2 Y
set 1
P□716 Type of data set 2 0~2 —— 0 Y
0: data set is null
1: data set is in absolute motion
2: data set is in relative motion

162
Parame Power
Name Setting range Setting unit Factory setting Remarks
ter No. reboot
P□717 1-reference
Low byte value of Data Set 2 -9999~+9999 0 Y
pulse
P□718 10000-reference
High byte value of Data Set 2 -9999~+9999 0 Y
pulse
P□719 Speed of data set 2 0 ~ 6000 rpm 100 Y
P□720 Step change attribute in Data Set 2 —— —— 0000 Y
Bit 3 Bit 2 Bit 1 Bit 0

H
Data set step change condition 1 type
0 No condition
1 Delay
2 Pulse edge of signal input (/POS-STEP)
3 Level of signal input (/POS-STEP)

Data set step change condition 2 type

0 No condition
1 Delay
2 Pulse edge of signal input (/POS-POS0)
3 Level of signal input (/POS-POS0)

Logic between step change condition 1 and 2

0 No conjunction
1 AND
2 OR

Step change transitional manner

0 Aborting
1 Standard
2 Buffered
3 BlendingLow
4 BlendingPrevious
5 BlendingNext
6 BlendingHigh
P□721 Step change condition value 1 in
0 ~ 65535 —— 0 Y
data set 2
- Unconditional: no transitional condition value
- Delay: value 0 ~ 65535: latency time0 ~ 65535, unit: ms
- Pulse edge required for step change:
Value 0: rising edge
Value 1: falling edge
Value 2: rising edge or falling edge
- Level required for step change:
Value 3: 1 level
Value 4: 0 level
P□722 Step change condition value 2 in
0 ~ 65535 —— 0 Y
data set 2
Ditto
P□723 Follow-up data set number of data
0 ~ 14 —— 3 Y
set 2
P□724 Type of data set 3 0~2 —— 0 Y
0: data set is null
1: data set is in absolute motion
2: data set is in relative motion

163
Parame Power
Name Setting range Setting unit Factory setting Remarks
ter No. reboot
P□725 1-reference
Low byte value of Data Set 3 -9999~+9999 0 Y
pulse
P□726 10000-reference
High byte value of Data Set 3 -9999~+9999 0 Y
pulse
P□727 Speed of data set 3 0 ~ 6000 rpm 100 Y
P□728 Step change attribute in Data Set 3 —— —— 0000 Y
Bit 3 Bit 2 Bit 1 Bit 0

H
Data set step change condition 1 type
0 No condition
1 Delay
2 Pulse edge of signal input (/POS-STEP)
3 Level of signal input (/POS-STEP)

Data set step change condition 2 type

0 No condition
1 Delay
2 Pulse edge of signal input (/POS-POS0)
3 Level of signal input (/POS-POS0)

Logic between step change condition 1 and 2

0 No conjunction
1 AND
2 OR

Step change transitional manner

0 Aborting
1 Standard
2 Buffered
3 BlendingLow
4 BlendingPrevious
5 BlendingNext
6 BlendingHigh
P□729 Step change condition value 1 in
0 ~ 65535 —— 0 Y
data set 3
- Unconditional: no transitional condition value
- Delay: value 0 ~ 65535: latency time0 ~ 65535, unit: ms
- Pulse edge required for step change:
Value 0: rising edge
Value 1: falling edge
Value 2: rising edge or falling edge
- Level required for step change:
Value 3: 1 level
Value 4: 0 level
P□730 Step change condition value 2 in
0 ~ 65535 —— 0 Y
data set 3
Ditto
P□731 Follow-up data set number of data
0 ~ 14 —— 4 Y
set 3
P□732 Type of data set 4 0~2 —— 0 Y
0: data set is null
1: data set is in absolute motion
2: data set is in relative motion

164
Parame Power
Name Setting range Setting unit Factory setting Remarks
ter No. reboot
P□733 1-reference
Low byte value of Data Set 4 -9999~+9999 0 Y
pulse
P□734 10000-reference
High byte value of Data Set 4 -9999~+9999 0 Y
pulse
P□735 Speed of data set 4 0 ~ 6000 rpm 100 Y
P□736 Step change attribute in Data Set 4 —— —— 0000 Y
Bit 3 Bit 2 Bit 1 Bit 0

H
Data set step change condition 1 type
0 No condition
1 Delay
2 Pulse edge of signal input (/POS-STEP)
3 Level of signal input (/POS-STEP)

Data set step change condition 2 type

0 No condition
1 Delay
2 Pulse edge of signal input (/POS-POS0)
3 Level of signal input (/POS-POS0)

Logic between step change condition 1 and 2

0 No conjunction
1 AND
2 OR

Step change transitional manner

0 Aborting
1 Standard
2 Buffered
3 BlendingLow
4 BlendingPrevious
5 BlendingNext
6 BlendingHigh
P□737 Step change condition value 1 in
0 ~ 65535 —— 0 Y
data set 4
- Unconditional: no transitional condition value
- Delay: value 0 ~ 65535: latency time0 ~ 65535, unit: ms
- Pulse edge required for step change:
Value 0: rising edge
Value 1: falling edge
Value 2: rising edge or falling edge
- Level required for step change:
Value 3: 1 level
Value 4: 0 level
P□738 Step change condition value 2 in
0 ~ 65535 —— 0 Y
data set 4
Ditto
P□739 Follow-up data set number of data
0 ~ 14 —— 5 Y
set 4
P□740 Type of data set 5 0~2 —— 0 Y
0: data set is null
1: data set is in absolute motion
2: data set is in relative motion

165
Parame Power
Name Setting range Setting unit Factory setting Remarks
ter No. reboot
P□741 1-reference
Low byte value of Data Set 5 -9999~+9999 0 Y
pulse
10000-reference
P□742 High byte value of Data Set 5 -9999~+9999 0 Y
pulse
P□743 Speed of data set 5 0 ~ 6000 rpm 100 Y
Step change attribute in Data Set 5 —— —— 0000 Y
Bit 3 Bit 2 Bit 1 Bit 0

H
Data set step change condition 1 type
0 No condition
1 Delay
2 Pulse edge of signal input (/POS-STEP)
3 Level of signal input (/POS-STEP)

Data set step change condition 2 type

0 No condition
1 Delay
2 Pulse edge of signal input (/POS-POS0)
P□744 3 Level of signal input (/POS-POS0)

Logic between step change condition 1 and 2

0 No conjunction
1 AND
2 OR

Step change transitional manner

0 Aborting
1 Standard
2 Buffered
3 BlendingLow
4 BlendingPrevious
5 BlendingNext
6 BlendingHigh
P□745 Step change condition value 1 in
0 ~ 65535 —— 0 Y
data set 5
- Unconditional: no transitional condition value
- Delay: value 0 ~ 65535: latency time0 ~ 65535, unit: ms
- Pulse edge required for step change:
Value 0: rising edge
Value 1: falling edge
Value 2: rising edge or falling edge
- Level required for step change:
Value 3: 1 level
Value 4: 0 level
P□746 Step change condition value 2 in
0 ~ 65535 —— 0 Y
data set 5
Ditto
Follow-up data set number of data
P□747 0 ~ 14 —— 6 Y
set 5
Type of data set 6 0~2 —— 0 Y
0: data set is null
P□748
1: data set is in absolute motion
2: data set is in relative motion

166
Parame Power
Name Setting range Setting unit Factory setting Remarks
ter No. reboot
1-reference
P□749 Low byte value of Data Set 6 -9999~+9999 0 Y
pulse
10000-reference
P□750 High byte value of Data Set 6 -9999~+9999 0 Y
pulse
P□751 Speed of data set 6 0 ~ 6000 rpm 100 Y
Step change attribute in Data Set 6 —— —— 0000 Y
Bit 3 Bit 2 Bit 1 Bit 0

H
Data set step change condition 1 type
0 No condition
1 Delay
2 Pulse edge of signal input (/POS-STEP)
3 Level of signal input (/POS-STEP)

Data set step change condition 2 type

0 No condition
1 Delay
2 Pulse edge of signal input (/POS-POS0)
P□752 3 Level of signal input (/POS-POS0)

Logic between step change condition 1 and 2

0 No conjunction
1 AND
2 OR

Step change transitional manner

0 Aborting
1 Standard
2 Buffered
3 BlendingLow
4 BlendingPrevious
5 BlendingNext
6 BlendingHigh
P□753 Step change condition value 1 in
0 ~ 65535 —— 0 Y
data set 6
- Unconditional: no transitional condition value
- Delay: value 0 ~ 65535: latency time0 ~ 65535, unit: ms
- Pulse edge required for step change:
Value 0: rising edge
Value 1: falling edge
Value 2: rising edge or falling edge
- Level required for step change:
Value 3: 1 level
Value 4: 0 level
P□754 Step change condition value 2 in
0 ~ 65535 —— 0 Y
data set 6
Ditto
P□755 Follow-up data set number of data
0 ~ 14 —— 7 Y
set 6
P□756 Type of data set 7 0~2 —— 0 Y
0: data set is null
1: data set is in absolute motion
2: data set is in relative motion

167
Parame Power
Name Setting range Setting unit Factory setting Remarks
ter No. reboot
P□757 1-reference
Low byte value of Data Set 7 -9999~+9999 0 Y
pulse
P□758 10000-reference
High byte value of Data Set 7 -9999~+9999 0 Y
pulse
P□759 Speed of data set 7 0 ~ 6000 rpm 100 Y
P□760 Step change attribute in Data Set 7 —— —— 0000 Y
Bit 3 Bit 2 Bit 1 Bit 0

H
Data set step change condition 1 type
0 No condition
1 Delay
2 Pulse edge of signal input (/POS-STEP)
3 Level of signal input (/POS-STEP)

Data set step change condition 2 type

0 No condition
1 Delay
2 Pulse edge of signal input (/POS-POS0)
3 Level of signal input (/POS-POS0)

Logic between step change condition 1 and 2

0 No conjunction
1 AND
2 OR

Step change transitional manner

0 Aborting
1 Standard
2 Buffered
3 BlendingLow
4 BlendingPrevious
5 BlendingNext
6 BlendingHigh
P□761 Step change condition value 1 in
0 ~ 65535 —— 0 Y
data set 7
- Unconditional: no transitional condition value
- Delay: value 0 ~ 65535: latency time0 ~ 65535, unit: ms
- Pulse edge required for step change:
Value 0: rising edge
Value 1: falling edge
Value 2: rising edge or falling edge
- Level required for step change:
Value 3: 1 level
Value 4: 0 level
P□762 Step change condition value 2 in
0 ~ 65535 —— 0 Y
data set 7
Ditto
P□763 Follow-up data set number of data
0 ~ 14f —— 0 Y
set 7
P□764 Data set start method 0~1 —— 0 Y
0: internal method (single data set method)
1: task mode (data set sequence)
P□765 Acceleration of data set 0 ~ 60000 10 rpm/s 10000 Y

168
Parame Power
Name Setting range Setting unit Factory setting Remarks
ter No. reboot
P□766 Deceleration of data set 0 ~ 60000 10 rpm/s 10000 Y
P□767 Emergency deceleration of data set 0 ~ 60000 10 rpm/s 60000 Y
Data set position electronic gear
P□768 1 ~ 65535 —— 1 Y
ratio (numerator)
Data set position electronic gear
P□769 1 ~ 65535 —— 1 Y
ratio (denominator)
Zero returning method selection
P□770 —— —— 0000 Y
switch
Bit 3 Bit 2 Bit 1 Bit 0

H
Zero returning method setting
0 DS402 METHOD 35 (set current position as zero point)
DS402 METHOD 1 (for on-off operation of seeking for NOT switch in the
1
reverse direction, C pulse is required)
DS402 METHOD 2 (for on-off operation of seeking for POT switch in the
2
forward direction, C pulse is required)
DS402 METHOD 3 (for on-off operation of seeking for reference point switch in
3
the forward direction, C pulse is required)
DS402 METHOD 4 (for on-off operation of seeking for reference point switch in
4
the forward direction, C pulse is required)
DS402 METHOD 5 (for on-off operation of seeking for reference point switch in
5
the reverse direction, C pulse is required)
DS402 METHOD 6 (for on-off operation of seeking for reference point switch in
6
the reverse direction, C pulse is required)
DS402 METHOD 17 (for on-off operation of seeking for NOT switch in the
7
reverse direction, C pulse is not required)
DS402 METHOD 18 (for on-off operation of seeking for POT switch in the
8
forward direction, C pulse is not required)
DS402 METHOD 19 (for on-off operation of seeking for reference point switch
9
in the forward direction, C pulse is not required)
DS402 METHOD 20 (for on-off operation of seeking for reference point switch
10
in the forward direction, C pulse is not required)
DS402 METHOD 21 (for on-off operation of seeking for reference point switch
11
in the reverse direction, C pulse is not required)
DS402 METHOD 22 (for on-off operation of seeking for reference point switch
12
in the reverse direction, C pulse is not required)

Reserved

Reserved

Enable back zero switch when powering on

0 Do not switch on back zero when powering on
1 Switch on back zero automatically after the first SON when powering on
P□771 On-off speed to meet reference
0 ~ 6000 rpm 100 Y
point
P□772 On-off speed to leave reference
0 ~ 6000 rpm 30 Y
point
Low byte of speed/position 1-reference
P□773 0 ~ 9999 0 N
switching reference point pulse
High byte of speed/position 10000-reference
P□774 0 ~ 9999 0 N
switching reference point pulse
P□858 Set wether read the motor encoder

169
Parame Power
Name Setting range Setting unit Factory setting Remarks
ter No. reboot
Bit 3 Bit 2 Bit 1 Bit 0

H
Reservation constant (do not change)

Reservation constant (do not change)

0 Reserved
1 Do not read the encoder type when writing motor parameters

Reservation constant (do not change)

Reservation constant (do not change)

170
 Appendix B List of Alarm Display
Alarm ALM Alarms Alarm contents Clear or
display output not
□01 H Encoder PA, PB, PC disconnection Encoder disconnection or cable welding problem. Clear
□02 H Encoder PU, PV, PW disconnection Encoder disconnection or cable welding problem. Clear
Overload Continuous running at a certain torque exceeding the
□03 H Clear
rated value
□04 H A/D switch channel abnormal A/D switch channel abnormal Clear
□05 H PU, PV, PW false code PU, PV, PW signals are all high or low Clear
□06 H PU, PV, PW phases incorrect PU, PV, PW signals are all high or low Clear
□08 H The BOOTLOADER is abnormal Contact manufacturer No
Set the locked-rotor torque by P□148，Set the locked-
rotor time by P□149. The servo driver will alarm 07
□09 H Alarm of locked-rotor, No
when the motor torque is greater than the locked-rotor
torque and the speed is less than 10RPM
□10 H Overcurrent Servo drive IPM module current is overlarge. Clear
□11 H Overvoltage Servo drive main circuit voltage is too high. No
□12 H Undervoltage Servo drive main circuit voltage is too low. No
□13 H Parameter damage EEROM data in servo drive is abnormal. Clear
□14 H Over-speed Servo motor speed is extremely high Clear
□15 H Deviation counter overflow Internal position deviation counter overflow Clear
Position deviation is overlarge Position deviation pulse exceeds the set value of
□16 H Clear
parameter P□504.
Electronic gear fault Electronic gear is unreasonably set or pulse frequency is
□17 H Clear
too high
1st channel of current detection is Current detection abnormal
□18 H Clear
abnormal
2nd channel of current detection is Current detection abnormal
□19 H Clear
abnormal
□20 H The motor model is abnormal Contact manufacturer No
□22 H Motor model is incorrect Servo drive parameters do not match with those of motor Clear
Servo drive does not match with Servo drive does not match with motor
□23 H Clear
motor
Bus encoder multi-coil information Multi-coil information error
□25 H Clear
error
Bus encoder multi-coil information Multi-coil information overflow
□26 H Clear
overflow
Bus encoder battery alarm 1 Battery voltage is lower than 2.5 V, multi-coil
□27 H Clear
information is lost
Bus encoder battery alarm 2 Battery voltage is lower than 3.1 V, battery voltage is
□28 H Clear
relatively low

171
Alarm ALM Alarms Alarm contents Clear or
display output not
□30 H Bleeder resistor disconnection alarm Braking resistor damage. Clear
□31 H Regeneration overload Regeneration processing circuit is abnormal. No
Momentary outage alarm. There is outage of over one power cycle under AC
□33 H Clear
current.
□34 H Rotary transformer is abnormal Rotary transformer communication is abnormal. Clear
Bus encoder communication is Servo drive and encoder cannot realize communication.
□40 H Clear
abnormal
□41 H Bus encoder overspeed When power is ON, encoder rotates at high speed Clear
□42 H Bus encoder absolute status error Encoder damage or encoder decoding circuit damage Clear
□43 H Bus encoder counting error Encoder damage or encoder decoding circuit damage Clear
Check error in bus encoder control Encoder signal is interrupted or encoder decoding circuit
□44 H Clear
field damage
Check error in bus encoder Encoder signal is interrupted or encoder decoding circuit
□45 H Clear
communication data damage
Stop bit error in bus encoder status Encoder signal is interrupted or encoder decoding circuit
□46 H Clear
field damage
Stop bit error in bus encoder SFOME Encoder signal is interrupted or encoder decoding circuit
□47 H Clear
damage
□48 H Bus encoder data are not initialized Bus encoder SFOME data are null Clear
□49 H Sum check error in bus encoder data Sum check in bus encoder EEPROM data is abnormal Clear
MODBUS communication timeout Drive fails to accept data normally at the set time in
□60 H Clear
P□602
CANopen master station heartbeat Drive fails to accept master station heartbeat massage
□61 H Clear
timeout normally at the set time
□70 H Drive overheat alarm Drive internal IPM module temperature is too high Clear
□77 H ADSampling operation timeout Contact manufacturer No
Software does not match with Parameter is wrongly set or software does not match with
□90 H No
hardware hardware
□-- L No error display Display normal action status Clear

Note: 1. "□" in alarm display may be "A" or "b", referring to A axis alarm or b axis alarm respectively

172
 Appendix C Guidelines for Motor Model by Users
Operation Display after
Steps Operation instruction
key operation
Gently press M function key for several times to switch to A axis
1
parameter setting mode.
M
2 Gently press “∧” key for six times and set FA006.

Press SET key to display current PA006data. The decimal point in bit 0
3 currently displayed flickers. Set motor manufacturer and encoder type
with Shift key and "∧" key.

4 Press SET to return to the display of FA006.

5 Gently press “∨” key once to set FA005.

6 Gently press SET key to start motor model code setting.

Modify the value according to appendix (motor adaption table) and set
7
value at each bit with Shift key.
8 Gently press SET key to exit motor model code setting.
Note:
1. In case of double-axis servo drive, M function key should be press for a long time (continuously for above 1
s) during setting of b axis motor model to switch to b axis parameter and then follow step 9-12.
2. After setting motor model code, it is required to turn off and reboot servo drive to make modified
parameters effective.

173
 Motor Adaption Table
Note: Before selecting motor model, please set motor manufacturer and encoder type first which
can both be set via PA006.
1、D2 series 380V
Motor model ETMA- ETMA- ETMA-A20- ETMA- ETMA-
A30-401-06-D A30-751-08-D 152-13-M A20-222-13-M A20-302-13-M
Rated power (KW) 0.4 0.75 1.5 2.0 3.0
Pole-pairs 5 5 5 5 5
Rated torque (N.m) 1.27 2.39 7.16 9.55 14.3
Maximum torque (N.m) 3.8 7.2 21.5 28.65 42.9
Rated input speed 3000 3000 2000 2000 2000
(rpm)
Maximum speed (rpm) 5000 5000 3000 3000 3000
Rated current (A) 2.8 4.0 8.2 10.5 13.8
Maximum current (A) 8.4 11.7 24.6 31.5 41.4
Torque constant 0.453 0.612 0.873 0.905 1.04
(N.m/A)
Counter EMF (V/Krpm) 29.3 39.8 55 61 65
0.28*10 -4 1.0*10 -4 6.7*10 -4 8.7*10 -4 15.1*10 -4
Rotor inertia (Kg.m2)
0.3*10 -4 1.1*10 -4 8.6*10 -4 10.7*10 -4 17.1*10 -4

Line resistance (Ohm) 3.3 1.4 0.70 0.54 0.3

Line inductance (mH) 9.61 7.25 6.1 5.91 3.17

174