51 - T6 MANUALT6 - AC - Servo - Full - Manual

User manual of T6 AC Servo
5.2.5【Class 4】I/F Monitor Setting

Name Input selection SI1 Mode P S T
Range 0~00FFFFFFh Unit — Default 3
Pr4.00＊
Data Type 16bit Access R/W Address 0401H
Repower o
Pr4.01＊
Repower o
Pr4.02＊
Repower o
Pr4.03＊
Repower o
Set digital SI input function allocation.
This parameter use 16 binary system to set up the values,
For the function number, please refer to the following Figure.
Setup value
Signal name Symbol Normally
Normally open
closed
Invalid - 00h Do not setup
Positive direction over-travel
POT 01h 81h
inhibition
Negative direction over-travel
NOT 02h 82h
inhibition
Servo-ON input SRV-ON 03h 83h
Alarm clear input A-CLR 04h Do not setup
Control mode switching input C-MODE 05h 85h
Gain switching input GAIN 06h 86h
Deviation counter clear input CL 07h Do not setup
Command pulse inhibition input INH 08h 88h
Torque switching TC-SEL 09h 89h
Selection 1 input of internal
INTSPD1 0Eh 8Eh
command speed
INTSPD2 0Fh 8Fh
command speed
INTSPD3 10h 90h
command speed
Forced alarm input E-STOP 14h 94h
Inertia ratio switching J-SEL 15h 95h
Note:
 Normally open means input signal comes from external controller or component, for
example: PLC.
 Normally closed means input signal comes from drive internally.
51
 Don’t setup to a value other than that specified in the table.
 Don’t assign specific function to 2 or more signals. Duplicated assignment will cause
Err210 I/F input multiple assignment error 1or Err211 I/F input multiple assignment error 2
Pr-Mode related input setup as below:
Input
Setup value
Signal name Symbol
Normally open Normally closed
Trigger command CTRG 20h A0h
Homing signal HOME 21h A1h
Forced stop STP 22h A2h
Forward direction JOG JOG+ 23h A3h
Opposite direction JOG JOG- 24h A4h
Positive limit switch PL 25h A5h
Negative limit switch NL 26h A6h
Homing switch signal ORG 27h A7h
Road strength address 0 ADD0 28h A8h
Road strength address 1 ADD1 29h A9h
Road strength address 2 ADD2 2ah Aah
Road strength address 3 ADD3 2bh Abh
Note:
CTRG, HOME is edge triggered. the active duration must more than 1ms.
Name Output selection SO1 Mode P S T

Pr4.10＊
Repower o
Pr4.11＊
Repower o
Pr4.12＊
Repower o
Set digital SO output functions allocation.
This parameter use 16 binary system do setup
For the function number, please refer to the following Figure.
Signal name Symbol Setup value
Invalid - 00h
Alarm output Alm 01h
Servo-Ready output S-RDY 02h
External brake release signal BRK-OFF 03h
Positioning complete output INP 04h
At-speed output AT-SPPED 05h
Torque limitation output TLC 06h
Zero-speed detection output ZSP 07h
Velocity coincidence output V-COIN 08h
52
Positional command ON/OFF
P-CMD 0Bh
output
Speed command ON/OFF output V-CMD 0Fh
Servo enabled output SEV-ST 12h
Positive limit active POT-OUT 15h
Negative limit active NOT-OUT 16h
Pr-Mode related output setup as below;
Output
Setup value
Signal name Symbol
Normally open Normally closed
Command complete CMD-OK 20h A0h
Road strength
MC-OK 21h A1h
address
Homing finish HOME-OK 22h A2h
Torque limit TQL 06h 86h
Note:
CMD-OK indicates PR command sent complete, but the motor may not in-position.
MC-OK indicates command complete and the motor in-position.
*1 Pay attention to the front panel display is hexadecimal.
Name Positioning complete range Mode P

Range 0~10000 Unit 0.0001rev Default 10
Pr4.31
Data Type 16bit Access R/W Address 043FH
Repower -
Set up the timing of positional deviation at which the positioning complete signal (INP1) is
output.
Name Positioning complete output setup Mode P

Range 0~3 Unit command unit Default 0
Pr4.32
Repower -
Select the condition to output the positioning complete signal (INP1).
Setup
Action of positioning complete signal
value
The signal will turn on when the positional deviation is smaller than Pr4.31
0
[positioning complete range].
The signal will turn on when there is no position command and position
1
deviation is smaller than Pr4.31 [positioning complete range].
The signal will turn on when there is no position command, the zero-speed
2 detection signal is ON and the positional deviation is smaller than Pr4.31
The signal will turn on when there is no position command and the positional
deviation is smaller than Pr4.31 [positioning complete range].Then holds
“ON” states until the next position command is entered. Subsequently, ON
3
state is maintained until Pr4.33 INP hold time has elapsed. After the hold
time, INP output will be turned ON/OFF according to the coming positional
command or condition of the positional deviation.
53
Name INP hold time Mode P
Range 0~30000 Unit 1ms Default 0
Pr4.33
Repower -
Set up the hold time when Pr 4.32 positioning complete output setup=3
Setup
State of Positioning complete signal
value
The hold time is maintained definitely, keeping ON state until
0
next positional command is received.
ON state is maintained for setup time (ms) but switched to
1-30000 OFF state as the positional command is received during hold
time.
Name Zero-speed Mode P S T

Range 10~20000 Unit r/min Default 50
Pr4.34
Repower -
You can set up the timing to feed out the
zero-speed detection output signal(ZSP or TCL)
in rotate speed (r/min).
The zero-speed detection signal(ZSP) will be fed

out when the motor speed falls below the setup of
this parameter, Pr4.34
 The setup of pr4.34 is valid for both positive
and negative direction regardless of the motor
rotating direction.
 There is hysteresis of 10[r/min]
54
Name Speed coincidence range Mode S
Pr4.35
Repower -
Set the speed coincidence (V-COIN) output detection timing.
Output the speed coincidence (V-COIN) when the difference between the speed command and
the motor speed is equal to or smaller than the speed specified by this parameter.
Because the speed coincidence detection is associated with 10 r/min hysteresis, actual
detection range is as shown below.
Speed coincidence output OFF -> ON timing (Pr4.35 -10) r/min
Speed coincidence output ON -> OFF timing (Pr4.35 +10) r/min
Name At-speed(Speed arrival) Mode S

Pr4.36
Repower -
Set the detection timing of the speed arrival output (AT-SPEED).
When the motor speed exceeds this setup value, the speed arrive output (AT-SPEED) is
output.
Detection is associated with 10r/min hysteresis .
55
Mechanical brake action setting when
Name Mode P S T
stopping
Pr4.37
Data Type 16bit Access R/W Address 044BH
Repower -
Motor brake delay time setup, mainly used to prevent servo on “galloping “phenomenon.
Set up the time from when the brake release signal(BRK-OFF) turns off to when the motor is
de-energized (servo-free),when the motor turns to servo-off while the motor is at stall
 Set up to prevent a micro-travel/drop of the
motor (work) due to the action delay
time(tb) of the brake.
 Ni After setting up Pr4.37>=tb, then
compose the sequence so as the drive
turns to servo-off after the brake is
actually activated.
Name Mechanical brake action setting Mode P S T

Pr4.38
Data Type 16bit Access R/W Address 044DH
Repower -
Mechanical brake start delay time setup, mainly used to prevent servo off “galloping
“phenomenon.
Set up time from when detecting the off of servo-on input signal(SRV-ON)is to when external
brake release signal(BRK-OFF)turns off, while the motor turns to servo off during the motor in
motion
 Set up to prevent the brake

deterioration due to the motor running.
 At servo-OFF during the motor is
running , tb of the right fig will be a shorter
one of either Pr4.38 setup time, or time
lapse till the motor speed falls below Pr4.39
setup speed
Name Brake release speed setup Mode P S T

Pr4.39
Repower -
Set up the speed timing of braking output checking during operation
56
5.2.6【Class 5】Extended Setup

2nd Command pulse counts per one motor
Name Mode P
revolution
Range 0-8388608 Unit P Default 0
Pr5.00
0500H
Data Type 32bit Access R/W Address
0501H
Repower o
Set the command pulse that causes single turn of the motor shaft. Select Pr0.08 1st or Pr5.00
2nd by IO signal.
1) If Pr5.00≠0 , the actual turns = pulse number / Pr5.00
2) If Pr5.00 = 0 , Pr5.01 2nd numerator of electronic gear and Pr5.02 2nd Denominator of
electronic Gear become valid.
Name 2nd numerator of electronic gear Mode P

Range 1~1073741824 Unit — Default 1
Pr5.01 0502H
0503H
Repower o
Set the numerator of division/multiplication operation made according to the command pulse
input
Name 2nd denominator of electronic gear Mode P
Pr5.02 0504H
0505H
Repower o
Set the denominator of division/multiplication operation made according to the command
pulse input.
Instructions refer to Pr0.09 and Pr0.10 and select by IO signal
Name Over-travel inhibit input setup Mode P S T

Range 0/1/2 Unit 1ms Default 0
Pr5.04
Repower -
0: positive and negative limit effective, no alarm output;
1: positive and negative limit effective invalid;
2: positive and negative limit effective, alarm output;
Name Servo stop mode Mode P S T

Pr5.06
Repower -
Specify the status during deceleration and after stop, after servo-off.
Setup
Servo stop mode
value
When servo-disable signal active, servo-disable after the speed
0
reduced less than Pr4.39
When servo-disable signal active, servo-disable right away, motor
1
in free-run mode.
57
Name LV trip selection at main power OFF Mode P S T

Pr5.08
Repower -
You can select whether or not to activate Err0d.0 (main power under-voltage
protection)function while the main shutoff continues for the setup of Pr5.09(The main
power-OFF detection time).
Setup value Action of main power low voltage protection
When the main power is shut off during Servo-On,Err0d.0 will not
0 be triggered and the drive turns to Servo-OFF. The drive returns to
Servo-On again after the main power resumption.
When the main power is shut off during Servo-On, the drive will trip
1
due to Err0d.0
Caution: Err0d.0(main power under-voltage protection) is trigged when setup of Pr5.09 is
long and P-N voltage of the main converter falls below the specified value before detecting
the main power shutoff , regardless of the Pr5.08 setup.
Name The main power-OFF detection time Mode P S T

Pr5.09＊
Repower o
You can set up the time to detect the shutoff while the main power is kept shut off
continuously. The main power off detection is invalid when you set up this to 2000.
Name Dynamic braking mode Mode P S T

Range 0~2 Unit Default 0
Pr5.10
Repower o
0：Dynamic braking is valid in both normal and abnormal conditions.
1：Dynamic braking is valid in normal condition, invalid in abnormal condition. (used to
prevent abnormal conditions, high speed and large inertia to burn up the dynamic
braking)
2：Dynamic braking is invalid in both normal and abnormal conditions.
Name Torque setup for emergency stop Mode P S T

Range 0~500 Unit % Default 0
Pr5.11＊
Repower -
Set up the torque limit at emergency stop
When setup value is 0, the torque limit for normal operation is applied.
58
Name Over-load level setup Mode P S T

Pr5.12
Repower -
You can set up over-load level. The overload level becomes 115% by setting up this value to
0.
Use this with 0 setup in normal operation, set up other value only when you need to low this
over-load level.
The setup value of this parameter is limited by 115% of the motor rating.
Name Over-speed level setup Mode P S T

Pr5.13
Repower -
If the motor speed exceeds this setup value, Err1A.0 [over-speed protect] occurs.
The over-speed level becomes 1.2 times of the motor max, speed by setting up this to 0.
Name I/F reading filter Mode P S T

Range 0~255 Unit 0.1ms Default 0
Pr5.15＊
Repower o
I/O input digital filtering; higher setup will arise control delay.
Name Counter clear input mode Mode P

Pr5.17
Repower -
Set up the clearing conditions of the counter clear input signal
Setup value Clear condition
0/2/4 invalid
1 Always clear
3 Only clear one time
Name Position setup unit select Mode P

Pr5.20
Repower -
Specify the unit to determine the range of positioning complete and excessive positional
deviation
Setup value unit
0 Encoder unit
1 Command unit
2 10000pulse/rotation
59
Name Selection of torque limit Mode P S T

Pr5.21
Repower -
Set up the torque limiting method
Setup value Limiting value
0 PR0.13
1 PR5.22
TL-SEL off PR0.13
2
TL-SEL on PR5.22
PR0.13 Positive torque limit
5
PR5.22 Negative torque limit
Name 2nd torque limit Mode P S T

Pr5.22
Repower -
Set up the 2nd limit value of the motor torque output
The value of the parameter is limited to the maximum torque of the applicable motor.
Name Positive torque reached Mode P S T

Pr5.23
Repower -
 Default setting is 0，if the torque feedback is greater than 95% of the rated torque, output
TCL signal.
 If the torque feedback is greater than the user setting value, output TCL signal.
Name Negative torque reached Mode P S T

Pr5.24
Repower -
 Default setting is 0，if the torque feedback is greater than 95% of the rated torque, output
TCL signal.
 If the torque feedback is greater than the user setting value, output TCL signal.
Name LED initial status Mode P S T
Pr5.28＊
Repower -
You can select the type of data to be displayed on the front panel LED (7-segment) at the
initial status after power-on.
Setup Setup Setup
content content content
value value value
Positional
0 command 12 I/O signal status 24 Reserved
deviation
60
1 Motor speed 13 Reserved 25 Reserved
2 Positional 14 Regenerative 26 Reserved
command speed load rate
3 Velocity control 15 Overload rate 27 Voltage
command across PN [V]
4 Actual torque 16 Inertia ratio 28 Drive serial
number
Factor of
Feedback pulse
5 17 no-motor 29 Reserved
sum
running
Encoder Electromagneti
6 Command pulse 18 positional 30 c interference
sum deviation value
[encoder unit]
8 Max torque during 20 Encoder ID 31 Accumulated
operation operation time
Position
Encoder initial
9 command 21 32 Reserved
angle
frequency
10 Control mode 22 33 drive
temperature
Number of
11 I/O signal status 23 abnormal 36 Reserved
communication
of encoder
Name Mode setup of RS485 communication Mode P S T
Pr5.29＊ Range 0~255 Unit — Default 5

Repower -
Value Data bit Parity-check Stop bit

0 8 Even Parity 2
1 8 Odd Parity 2
2 8 Even Parity 1
3 8 Odd Parity 1
4 8 None 1
5 8 None 2
Name Baud rate setup of RS485 communication Mode P S T

Pr5.30＊
Repower -
Set up the communication baud rate of RS485.
Setup value Baud rate Setup value Baud rate
0 2400bps 4 38400bps
1 4800bps 5 57600bps
2 9600bps 6 115200bps
3 19200bps
61
Name RS485 slave axis ID Mode P S T
Pr5.31＊
Repower -
During communication with the host (e.g. PC) to control multiple shafts, the shaft being
accessed by the host should be identified.
Note: when using RS232/RS485, the maximum valid value is 31.
Name Command pulse input maximum setup Mode P

Range 0~4000 Unit KHZ Default 0
Pr5.32
Repower -
Set the maximum number of pulses to be used as command pulse input, if the number of the
input pulse exceeds the setup value ,ERR1B0 command pulse input frequency error
protection occurs
Name Front panel lock setup Mode P S T

Pr5.35＊
Repower -
Lock the operation on the front panel.
Setup value content
0 No limit on the front panel operation
1 Lock the operation on the front panel
Name 7th setting parameters open Mode P S T

Range 0、102 Unit — Default 0
Pr5.36
Repower -
7th setting parameters open.
Setup value content
0
102 Open 7th setting parameters modification authority.
Name 7th setting parameters open Mode P S T

Range 0、102 Unit — Default 0
Pr5.36
Repower -
7th setting parameters open.
Setup value content
0
102 Open 7th setting parameters modification authority.
62
5.2.7【Class 6】Special Setup
Name JOG trial run command torque Mode T

Pr6.03
Repower -
You can set up the command speed used for JOG trial run (torque control).
Name JOG trial run command speed Mode P S T

Pr6.04
Repower -
You can set up the command speed used for JOG trial run (velocity control).
Name Position 3rd gain valid time Mode P

Pr6.05
Repower -
Set up the time at which 3rd gain becomes valid.
When not using this parameter, set PR6.05=0, PR6.06=100
This is valid for only position control/full-closed control.
Name Position 3rd gain multiplication Mode P

Range 0~1000 Unit 100% Default 0
Pr6.06
Repower -
Set up the 3rd gain by multiplying factor of the 1st gain

3rd gain= 1st gain * PR6.06/100.
Name Torque command additional value Mode P S T

Range -100~100 Unit % Default 0
Pr6.07
Repower -
Name Positive torque compensation value Mode P S T
Pr6.08
Repower -
Name Negative torque compensation value Mode P S T
Pr6.09
63

Repower -
This three parameters may apply feed forward torque superposition directly to torque
command.
Name 2nd inertia ratio Mode P S T

Pr6.13
Repower -
Set up 2ndinertia ratio
Set up the ratio of the load inertia against the rotor of the motor ratio.
PR6.13= ( load inertia/ rotor inertia ) * 100 【%】
Name Emergency stop time at alarm Mode P S T

Range 0~3000 Unit ms Default 200
Pr6.14
Repower -
Set up the time allowed to complete emergency stop in an alarm condition, exceeding this
time puts this system in alarm state.
Name Trial run distance Mode P

Pr6.20
Repower -
The distance of running each time in JOG run(position control)
Name Trial run waiting time Mode P

Range 0~30000 Unit Ms Default 100
Pr6.21
Repower -
The waiting time after running each time in JOG run(position control)
Name Trial run cycle times Mode P

Pr6.22
Repower -
The cycling times of JOG run(position control)
64
Name Acceleration of trial running Mode P S

Range 0~32767 Unit ms Default 100
Pr6.25
Repower -
Acceleration time from 0rpm~1000rpm of trial running
Name Absolute multi-turn position upper bound Mode P S T

Range 0~32766 Unit Rotation Default 0
Pr6.63
Repower o
While Pr0.15=2: Absolute position rotation mode:
The encoder is used as an absolute encoder, and the position retentive at power failure is
supported..
It is mainly applicable to the scenario where the load travel range is not limited and the
number of motor single-direction revolution is less than 0~(Pr6.63+1)
5.2.8【Class B】Status Information

Note: This parameters class is only for RS485 communication.
Name Software version 1（DSP） Mode P S T

PrB.00 Range Unit Default
Data Type 16bit Access R Address 0B00H
Display Software version 1（DSP）
Name Software version 2（CPLD） Mode P S T

Display Software version 2（CPLD）
Name Software version 3（other） Mode P S T

Display Software version 3
Name Error code Mode P S T

Display Error code
65
Name Factor of no-motor running Mode P S T

Factor of no-motor running
Name Drive operating state Mode P S T

Bit Function Details
0 RDY Servo ready
1 RUN Servo run
2 ERR Servo error
3 HOME_OK Homing process finished
4 INP Positioning complete
5 AT-SPEED At-speed
6~15 Reserve
Name Actual velocity (unfiltered) Mode P S T

PrB.06 Range Unit RPM Default
Actual velocity (unfiltered)
Name Actual torque feedback Mode P S T

PrB.07 Range Unit % Default
Actual torque feedback（Percentage of the rated torque）
Name Actual current feedback Mode P S T

PrB.08 Range Unit 0.01A Default
Actual current feedback
Name Actual velocity(After filtering) Mode P S T

PrB.09 Range Unit RPM Default
Actual velocity(After filtering)
66
Name DC bus voltage Mode P S T

PrB.10 Range Unit V Default
Data Type 16bit Access R Address 0B0AH
DC bus voltage
Name Drive temperature Mode P S T

PrB.11 Range Unit ℃ Default
Data Type 16bit Access R Address 0B0BH
Drive temperature
Name Over-load ratio Mode P S T

Data Type 16bit Access R Address 0B0FH
Over-load ratio（%）
Name Regeneration load ratio Mode P S T

Regeneration load ratio（%）
Name Digital input signal status Mode P S T

Digital input signal status：
Bit SI input
0 SI1
1 SI2
2 SI3
… …
8 SI9
Bit n=1, indicates SI(n+1)is at high level; Bitn=0,indacates SI(n+1)is at low level.
Name Digital output signal status Mode P S T

Digital output signal status：
67
Bit SO output
0 SO1
1 SO2
2 SO3
Bit n=1, indicates SO(n+1)is at high level; Bitn=0,indacates SO(n+1)is at low level.
Name Motor position feedback（Command unit） Mode P

PrB.20 Range Unit P Default
Data Type 32bit Access R Address 0B14H~0B15H
Motor position feedback（Command unit）.
If the drive receives 8388608 pulse, and the drive's instruction unit is 10000pulse/ r, the
encoder unit is 8388608 pulse/r, then the drive motor position feedback pulse number is
10000P
Name Command pulse sum（Command unit） Mode P

Command pulse sum（Command unit）
Name Positional deviation（Command unit） Mode P

Positional deviation（Command unit）,refer to PrB.23 for details.
Name Position command（Encoder unit） Mode P

Data Type 32bit Access R Address 0B1AH~0B1BH
Position command（Encoder unit）
If the drive's instruction unit is 10000pulse/ r, the encoder unit is 8388608 pulse/r, then the
drive receive 10000pulse, the position command pulse number is 8388608 pulse
Name Motor position（encoder unit） Mode P

Data Type 32bit Access R Address 0B1CH~0B1DH
Motor position（encoder unit）
68
Name Positional deviation(encoder unit) Mode P

Data Type 32bit Access R Address 0B1EH~0B1FH
Positional deviation(encoder unit)
Position feedback in rotation

Name Mode P
mode(encoder unit)
Data Type 32bit Access R Address 0B20H~0B21FH
Position feedback in rotation mode(encoder unit)，refer to PrB.23 for details.
69
User Manual of T6 AC Servo
Chapter 6 Alarm and Processing

6.1 Alarm List
Protection function is activated when an error occurs, the drive will stop the rotation of servo motor, and the front
panel will automatically display the corresponding fault error code. The history of the error can be viewed on data
monitoring mode. error logging submenu displays like:“d12Er”.
Table 6.1 Error Code List
Error code Attribute

Content
Immediate Can be
Main Sub History
stop cleared
09 0~F FPGA communication error ●
0~1 Current detection circuit error ●
2、4 Analog input circuit error ●
0A 3 Power line（U、V、W）not connected ●
5 DC bus circuit error ●
6 Temperature detection circuit error ●
0b 0 Control power under-voltage ●
0c 0 DC bus over-voltage ● ●
0 DC bus under-voltage ● ●
0d
2 Power line（U、V、W）not connected ●
0 Over-current ●
0E
1 over-current of intelligent power module (IPM) ●
0F 0 Drive over-heat ● ●
0 Motor over-load ● ●
10 1 Drive over-load ● ●
2 Motor stalling detection ● ● ●
0 Resistor discharged circuit overload ● ●
12
1 Brake error ●
0 Encoder wiring error ●
1 Encoder data error ●
15
2 Encoder initial position error ●
3 Encoder battery low-voltage error ● ●
0 Encoder data error ● ●
17
1 Motor parameter error
0 Too large position pulse deviation ● ● ●
18
1 Too large velocity deviation ● ● ●
19 0 Vibration is too large ● ● ●
0 Over-speed 1 ● ● ●
1A
1 Speed out of control ● ●
0 Incorrect input pulse format or over frequency ● ● ●
1b
1 The electronic gear ratio is not set correctly ● ● ●
0 I/F input interface allocation error ● ●
21 1 I/F input interface function set error ● ●
2 I/F output interface function set error ● ●
CRC verification error when EEPROM parameter
24 0 ●
saved
26 0 Positive/negative over-range input valid ● ● ●
57 0 Compulsory alarm input valid ● ●
70
Save: save this error history record
Emergency: error, drive will stop immediately
Alarm clear: may through SI input/panel/configuration software remove alarm
6.2 Alarm Processing Method

When appear error, please clear error reason, renew power on
Error Main Extra Display:“Er 090”--“Er 09F”

code 09 0~F Content: FPGA communication error
Cause Confirmation Solution
L1,L2 terminal Check L1,L2 terminal Make sure voltage of L1,L2 terminal in proper
under-voltage voltage range
Drive internal fault / replace the drive with a new one
Error Main Extra Display:“Er 0A0”--“Er 0A1”

code 0A 0~1 Content: current detection circuit error
Wiring error of motor output Check wiring of motor output Make sure motor U,V,W terminal wiring
U,V,W terminal U,V,W terminal correctly
Main voltage L1,L2,L3
Check main voltage L1,L2,L3 Make sure voltage of L1,L2,L3 terminal in
terminal voltage whether
terminal voltage proper range
over-low
Error Main Extra Display: “Er 0A2”、“Er 0A4”

code 0A 2、4 Content: analog input circuit error
Analog input Wiring error Check wiring of analog input Make sure analog input wiring correctly
Error Main Extra Display: “Er 0A3”

code 0A 3 Content: Power line（U、V、W）not connected
Power line（U、V、W）not
Check wiring of U、V、W Make sure U、V、W wiring correctly
connected or broken
Motor internal fault / replace the motor with a new one

code 0A 5 Content: DC bus circuit error
Main voltage L1,L2,L3 Make sure voltage of L1,L2,L3 terminal in
Check L1,L2,L3 terminal voltage
terminal under-voltage proper range

code 0A 6 Content: temperature detection circuit error
L1,L2,L3 terminal Check L1,L2,L3 terminal Make sure voltage of L1,L2,L3 terminal in proper
71
Main Extra Display: “Er 0b0”

Error
code 0b 0 Content: control power under-voltage
L1,L2,L3 terminal Check L1,L2,L3 terminal Make sure voltage of L1,L2,L3 terminal in proper
Error Main Extra Display: “Er 0c0”

code 0c 0 Content: DC bus over-voltage
Main power L1,L2,L3
Check L1,L2,L3 terminal voltage decrease L1,L2,L3 terminal Voltage
terminal over-voltage
Inner brake circuit damaged / replace the drive with a new one
Drive inner fault / replace the drive with a new one
Error Main Extra Display: “Er 0d0”

code 0d 0 Content: DC bus under-voltage
Main power L1,L2,L3
Check L1,L2,L3 terminal voltage increase L1,L2 terminal Voltage
terminal under-voltage
Drive inner fault / replace the drive with a new one
Error Main Extra Display: “Er 0E0”

code 0E 0 Content: over-current
Short of drive output wire, whether Assure drive output wire no short
Short of drive output wire
short circuit to PG ground or not circuit, assure motor no damage
Abnormal wiring of motor Check motor wiring order Adjust motor wiring sequence
Cut off drive output wiring, make
Short of IGBT module srv_on available and drive motor, replace the drive with a new one
check whether over-current exists
abnormal setting of control
Modify the parameter Adjust parameter to proper range
parameter
Check control command whether
abnormal setting of control Adjust control command: open filter
command changes too violently or
command function
not
Error Main Extra Display: “Er 0E1”

code 0E 1 Content: IPM over-current
Short of drive output wire, whether Assure drive output wire no short
Short of drive output wire
short circuit to PG ground or not circuit, assure motor no damage
Abnormal wiring of motor Check motor wiring order Adjust motor wiring sequence
Cut off drive output wiring, make
srv_on available and drive motor,
Short of IGBT module replace the drive with a new one
check whether over-current exists
or not
Short of IGBT module / replace the drive with a new one
abnormal setting of control
Modify the parameter Adjust parameter to proper range
parameter
abnormal setting of control Check control command whether Adjust control command: open filter
72
command command changes too violently or function
not
Error Main Extra Display: “Er 0F0”

code 0F 0 Content: drive over-heat
the temperature of power Check drive radiator whether Strengthen cooling conditions, promote the
module have exceeded the temperature is too high or capacity of drive and motor, enlarge
upper limit not acceleration/deceleration time, reduce
load
Error Main Extra Display: “Er 100”

code 10 0 Content: motor over-load
Check actual load if the value of
Load is too heavy Decrease load, adjust limit parameter
parameter exceed maximum or not
Oscillation of Check the machine if oscillation exists Modify the parameter of control loop;
machine or not enlarge acceleration/deceleration time
wiring error of Check wiring if error occurs or not, if Adjust wiring or replace encoder/motor for
motor line breaks or not a new one
electromagnetic
Check brake terminal voltage Cut off brake
brake engaged

code 10 1 Content: Drive over-load
wiring error of Check U、V、W wiring if error occurs or Check U、V、W wiring if error occurs or not,
motor power line not, if line breaks or not if line breaks or not
Motor dosen’t
Drive over-current Motor current exceed drive current
match the drive

code 10 2 Content: Motor stalling detection
• Investigate and eliminate the cause of
motor stalling.
Mechanically Check if there are something • Modify the parameter of Pr6.56 for
stalling. mechanically that stall the motor. version above 1.14, or increase the
parameter of Pr6.57 for version below
1.14.

code 12 0 Content: Resistance discharge circuit over-load
Regenerative energy has Check the speed if it is too lower motor rotational speed; decrease load
exceeded the capacity of high. Check the load if it is inertia ,increase external regenerative resistor,
regenerative resistor . too large or not. improve the capacity of the drive and motor
Resistance discharge circuit / Increase external regenerative resistor,
damage replace the drive with a new one
73

code 12 1 Content: braking error
Braking resistor short circuit Change a new braking resistor
Braking circuit damage
Braking IGBT damaged Repair IGBT

code 15 0 Content: encoder line breaked
Encoder line disconnected check wiring if it steady or not Make encoder wiring steady
Check encoder wiring if it is correct
Encoder wiring error Reconnect encoder wiring
or not
Encoder damaged / replace the motor with a new one
Encoder measuring circuit
/ replace the drive with a new one
damaged
Main Extra Display: “Er 151”
Error
code 15 1 Content: encoder data error

Encoder data error Check for interference Anti-interference treatment

Error
code 15 2 Content: initialized position of encoder error

Check encoder power voltage if it is Ensure power voltage of encoder
DC5V  5% or not; check encoder cable normally, ensure encoder cable and
Communication data
and shielded line if it is damaged or not; shielded line well with FG ground,
abnormal
check encoder cable whether it is ensure encoder cable separated with
intertwined with other power wire or not other power wire
Encoder measuring
circuit damaged

code 15 3 Content: encoder battery under voltage
Check battery Change a battery
Multi-turn absolute Motor damaged, replace the motor with
/Check motor
encoder power off a new one
/Clear drive alarm Clear alarm after changing battery

code 17 0 Content: encoder data error
Check encoder power voltage if it is Ensure power voltage of encoder
DC5V  5% or not ; check encoder cable normally, ensure encoder cable and
Communication data
and shielded line if it is damaged or not; shielded line well with FG ground,
abnormal
check encoder cable whether it is ensure encoder cable separated with
intertwined with other power wire or not other power wire
74
Encoder measuring
circuit damaged

code 17 1 Content: motor parameters error
Input motor parameters to match with
Motor parameters
drive or replace the motor with a new
error
one

code 18 0 Content: position error over-large error
Unreasonable set of Check parameter Pr0.14 value if it is too Enlarge the value of Pr0.14
position error parameter small or not
Check parameter Pr1.00, Pr1.05 value if it Enlarge the value of Pr1.00,
Gain set is too small
is too small or not Pr1.05
Check parameter Pr0.13, Pr5.22 value Enlarge the value of Pr1.03,
Torque limit is too small
whether too small or not Pr5.22
Check acceleration/ deceleration time if it Increase acceleration/
is too small or not , check motor rotational deceleration time decrease
Outside load is too large
speed if it is too big or not ; check load if it speed, decrease load
is too large or not

code 18 1 Content: velocity error over-large error
The deviation of inner position Enlarge the value of PA_602, or set the
Check the value of PA_602 if it
command velocity is too large value to 0, make position deviation
is too small or not
with actual speed over-large detection invalid
The acceleration/ decelerate Enlarge the value of PA_312, PA_313.
Check the value of PA_312,
time Inner position command adjust gain of velocity control, improve
PA_313 if it is too small or not
velocity is too small trace performance.

Error
code 19 0 Content: motor vibration

Current vibration Current vibration
Cut down the value of Pr003. Pr004
Current loop is too strong Current loop is too strong

code 1A 0 Content: over-speed 1
Check speed command if it is too large or not;
Adjust the value of input speed
check the voltage of analog speed command if it
Motor speed has command, enlarge the value
is too large or not; check the value of Pr3.21 if it is
exceeded the first Pr3.21 value, modify command
too small or not; check input frequency and
speed limit pulse input frequency and division
division frequency coefficient of command pulse if
(Pr3.21) frequency coefficient, assure
it is proper or not; check encoder if the wiring is
encoder wiring correctly
correct or not
75

code 1A 1 Content: speed out of control
Control maladjustment UVW wrong connection
Anti-interference treatment or change
Encoder error Monitor D30 count increasing
motor
The rotation direction of the The special assessment of practical
Special application motor is opposite with motor application, set 0 to 4 for PA137 to
force direction. shield ERR1A1 alarm.
Error Main Extra Display: “Er 1b0”

code 1b 0 Content: input pulse format incorrect or out of frequency
The input pulse frequency To decrease pulse input frequency, less than
Too high pulse frequency
is too high 500K
Error Main Extra Display: “Er 1b1”

code 1b 1 Content: incorrect electronic gear ratio
Numerator denominator is
zero, or setting values out of Reduce the number of pulses per revolution
Out of range
range

code 21 0 Content: I/F input interface allocation error
Check the value of PA_400, Assure the value of PA_400, PA_401,
The input signal are assigned
PA_401, PA_402,PA_403,PA_404 if PA_402, PA_403, PA_404 set correctly
with two or more functions.
it is proper or not
Check the value of PA_400, Assure parameter PA_400, PA_401,
The input signal aren’t
PA_401,PA_402,PA_403,PA_404 if PA_402,PA_403,PA_404 set correctly
assigned with any functions.
it is proper or not

code 21 1 Content: I/F input interface function set error
Check the value of PA_400, PA_401, Assure the value of PA_400, PA_401,
Signal allocation error PA_402,PA_403,PA_404 if it is proper or PA_402, PA_403, PA_404 set correctly
not
76

code 21 2 Content: I/F input interface function set error
Check the value of PA_410, Assure the value of PA_410, PA_411,
The input signal is assigned
PA_411, PA_412, PA_413, if it is PA_412,PA_413 set correctly
with two or more functions.
proper or not
Check the value of PA_410, Assure the value of PA_410,
The input signal isn’t assigned
PA_411, PA_412, PA_413, if it is PA_411,PA_412,PA_413 set correctly
with any functions.
proper or not

code 24 0 Content: CRC verification error when EEPROM parameter is saved
L1,L2,L3 terminal Assure L1,L2,L3 terminal voltage in
Check L1,L2,L3 terminal voltage
under-voltage proper range
Drive is damaged save the parameters again replace the drive with a new one
The setting of drive maybe
Check the setting of drive if it is Download the suitable project file to drive
default setting which isn’t
suitable for your motor for motor
suitable for motor .

code 26 0 Content: positive negative over-travel input valid
positive /negative over-travelling Check the state of positive
/
input signal has been conducted negative over-travel input signal

code 26 0 Content: positive negative over-travel input valid
positive /negative over-travelling Check the state of positive
/
input signal has been conducted negative over-travel input signal
Error Main Extra Display: “Er 270~ Er 272”

code 27 0~2 Content: analog input out of range
Try to adjust analog input within limited
Analog input out of range
range
Error Main Extra Display: “ Er 570”

code 57 0 Content: forced alarm input valid
Forced-alarm input signal
Check forced-alarm input signal Assure input signal wiring correctly
has been conducted
77
6.3 Alarm clear

For alarm can be cleared:
1、Use auxiliary function “AF_ACL”
a．Press M to select auxiliary function
b．Press SET to enter into “AF_ACL”
c．Press and hold to clear the alarm
2、Set IO input function as Alarm clear input “ (A-CLR)”，refer to switch input interface connection to clear the
alarm
For alarm cannot be cleared:
1、 Restart the power-supply to clear the alarm.
78
Chapter 7 Display and Operation

7.1 Introduction
The operation interface of servo drive consists of six LED nixie tubes and five key , which are used for servo
drive’s status display and parameter setting. The inter face layout is as follows :
Figure 7-1 front panel
Table 7.1 The name and function of keys

Name Key Function
Display / There are 5 LED nixie tubes to display monitor value, parameter value.
Press this key to switch among 4 modes:
1.data monitor mode
Mode key M 2.parameter setting mode
3.auxiliary function mode
4.EEPROM written mode
Set key SET Entrance for submenu, confirming the current setting
Up key ▲ Press this key to increase the current setup value
Down key ▼ Press this key to decrease the current setup value
Left key ◄ Press this key to shift to the next digit on the left
79
7.2 Panel Display and Operation
7.2.1 Panel Operation Flow Figure
Figure 7-1 the flow diagram of panel operation
(1) The front panel display rEAdY for about one second firstly after turning on the power of the drive. Then if no
abnormal alarm occurs, monitor mode is displayed with the value of initial parameter ; otherwise, abnormal alarm
code is displayed.
(2) (2) Press M key to switch the data monitor mode → parameter setting mode → auxiliary function mode →
EEPROM written mode.
(3) If new abnormal alarm occurs, the abnormal alarm will be displayed immediately in abnormal mode no matter
what the current mode is, press M key to switch to the other mode.
(4) (4) In data monitor mode, press or to select the type of monitor parameter; Press ENT to enter the
parameter type , then press to display the high 4 bits “H” or low 4 bits “L” of some parameter values.
(5) In parameter setting mode, press to select current editing bit of parameter No, press or to change current
editing bit of parameters No. Press ENT key to enter the parameter setting mode of corresponding parameters No.
Press to select current bit of parameter value when editing it, press or to change the value of the bit. Press
ENT to save it and switch to the interface of parameter No.
80
7.2.2 Drive Operating Data Monitor

Table 7.2 Function List of Drive Monitor
Serial Data Format
Name Specification Display Unit
Number (x, y is numerical value)
Positional command Low-bit “L xxxx”
0 d00uE d00uE pulse
deviation High-bit ”H xxxx”
1 d01SP Motor speed d01SP r/min “r xxxx”
Positional command
2 d02cS d02CS r/min “r xxxx”
speed
3 d03cu Velocity command d03Cu r/min “r xxxx”
4 d04tr Actual Torque feedback d04tr % “r xxxx”
Low-bit “L xxxx”
5 d05nP Feedback pulse sum d05nP pulse
High-bit”H xxxx”
6 d06cP Command pulse sum d06CP pulse
High -bit”H xxxx”
7 d07 Maximum torque feedback d07 / “ xxxx”
8 d08FP Frequency of pulse signal d08FP pulse
Position:“PoScn”
Speed:”SPdcn”
9 d09cn Control mode d09Cn /
Torque:”trqcn”
Composite mode” cnt”
10 d10Io Digital input/output status d10 Io / Refer instructions for details
11 d11Ai / d11Ai
Error factor and reference
12 d12Er d12Er / “Er xxx”
of history
13 d13 rn / d13rn / “m xxx”
14 d14 r9 Regeneration load factor d14r9 % “rg xxx”
15 d15 oL Over-load factor d15oL % “oL xxx”
16 d16Jr Inertia ratio d16Jr % “J xxx”
Factor of no-motor
17 d17ch d17Ch / “cP xxx”
running
No. of changes in I/O
18 d18ic d18ic / “n xxx”
signals
19 d19 / d19 / “ xxxx”
20 d20Ab Absolute encoder data d20Ab pulse
High-bit”H xxxx”
Absolute external scale Low-bit “L xxxx”
21 d21AE d21AE pulse
position High -bit”H xxxx”
No of Encoder/external
22 d22rE scale communication d22rE times “n xxx”
errors monitor
“id xxx”
23 d23 id Communication axis ID d23id /
“Fr xxx”
24 d24PE / d24PE pulse
25 d25PF / d25PF pulse
26 d26hy / d26hy pulse
27 d27 Pn Voltage across PN [V] d27Pn V “u xxx”
“d xxx”
28 d28 no Software version d28no /
“F xxx”
81
“P xxx”
29 d29AS / d29AS / “n xxx”
Times of encoder Low-bit “L xxxx”
30 d30NS d30sE /
communication anomaly High -bit”H xxxx”
Accumulated operation Low-bit “L xxxx”
31 d31 tE d31tE /
time High -bit”H xxxx”
Automatic motor
32 d32Au d32Au / “r xxx”
identification
33 d33At Drive temperature d33At ℃ “th xxx”
34 d34 / d34 / “t xxx”
35 d35 SF / d35SF / “xxxxxx”
Instructions:
1、d01SP Motor speed
Drive display s 0 after power on, in disable state. While in enable state, display r 0. Motor speed display
r xxx. So users can distinguish in disable state or in enable state by display s 0 or r 0 .
2、d10 Io I/O signal status
The upper half of the nixie tube is valid, the lower half is invalid, the decimal point represents the input and output
state, lit represents the input, not bright represents the output
Input: , from low to high, the order is SI1, SI2…SI10. The next figue represents SI1、SI8、SI10 input are
valid, other inputs are invalid.
Output: , from low to high, the order is SO1, SO2…SO10. The next figue represents SO1 output are
valid, other inputs are invalid.
3、Parameter high and low bit, positive and negative Numbers.

The highest and lowest digits of data and the signs are shown as follows. The first and second decimal points on
the right are bright, indicating the data of high order. The two decimal points are not lit, indicating the data of low
order. The fourth and fifth decimal places on the right indicate negative Numbers, otherwise positive Numbers
Users can choose to set the initial display state of power supply to any of the below:
82
Name LED initial status Mode P S T

Pr5.28＊
Repower -
You can select the type of data to be displayed on the front panel LED (7-segment) at the
initial status after power-on.
Setup Setup Setup
content content content
value value value
0 Positional command 12 I/O signal status 24 Reserved
deviation
1 Motor speed 13 Reserved 25 Reserved
Positional command Regenerative load
2 speed 14 rate 26 Reserved
Velocity control Voltage
3 command 15 Overload rate 27 across PN [V]
4 Actual torque 16 Inertia ratio 28 Drive serial
number
5 Feedback pulse sum 17 Factor of no-motor 29 Reserved
running
Encoder positional Electromagne
tic
6 Command pulse sum 18 deviation 30 interference
[encoder unit]
value
Max torque during Accumulated
8 20 Encoder ID 31
operation operation time
Position command Encoder initial
9 21 32 Reserved
frequency angle
drive
10 Control mode 22 33 temperature
Number of
abnormal
11 I/O signal status 23 36 Reserved
communication of
encoder
Table 7.3 “d17 ch” Motor No Rotate Reason Code Definition

Display
Code Specification Content
Code
0 cP 0 Working normally
1 cP 1 DC bus under-voltage /
Servo-Enable signal not
2 cP 2 Servo-Enable signal not active
active
PA_504=0,POT is open , speed command is positive
3 cP 3 POT/NOT input is valid direction
NOT is open , speed command is negative direction
4 cP 4 Drive fault /
The relay inside the drive
5 cP 5 /
isn’t closed
Pulse input prohibited
6 cP 6 PA_518=0,INH is open
(INH)
PA_517=0,deviation counter clear is connected to
8 cP 8 CL is valid
COM-
9 cP 9 speed zero-clamp is valid PA_315=1, speed zero-clamp is open
83
7.2.3 Auxiliary Function

Table 7.4 setting interface System parameter
No Name Specification Display Code Operation Flow
0 AFjog Trial run AFjog Please refer to the chapter of“trial run”
1. press SET to enter operation, display “InI -”。
Initialization of
1 AFInI AFInI 2.press ▲ once to display “InI---”, indicated
parameter
initialization; after finishing it, display“FinSh”。
1. press SET to enter operation, display “unL -”。
Release of
2 AFunL AFunL 2. press ▲button one time , display “FinSh”,indicated
front panel lock
unlock the panel successfully
1. press SET to enter operation, display“Acl -”。
3 AFAcL Alarm clear AFAcL 2. press ▲once , display “FinSh”, indicated alarm
clear successfully
1. Press SET once to enter operation, display “Enc
-”
Motor Angle
4 AFEnc AFEnc 2. press ▲once , display “StArt”, indicated start to
correction
correct the angle, then display“FiniSh”indicated
correction finished
1. Press SET once to enter operation, display “G---”
2. Press once，display “StUon”
Inertia ratio 3. Press ，motor running，indicated start to
5 AF_GL AF_GL
identification identification
4. Finishing，display G xxx，xxx indicated Inertia ratio
value
1. Press SET once to enter operation, display “rSt
-”
6 AFrSt Soft reset AFrSt
2. Press and hold on，display “StArt” Then，
finished
Table 7.5 The Locked panel conditions

Mode The Locked panel conditions
Monitor mode No limitation: all monitored data can be checked.
Parameter set up mode No parameter can be changed but setting can be checked.
Auxiliary function mode Cannot be run except for” release of front panel lock”
EEPROM writing mode No limitation
7.2.4 Saving parameter

Operation procedure:
1. press M to select EEPROM writing mode, display “EESet”;
2. Press ENT to enter into writing mode operation:
3. Press and hold ▲, display LED from” EP -” to” EP--”, then it becomes” EP---”, finally it becomes” StArt”,
indicated EEPROM writing operation have been began;
4. “Error” means that writing is unsuccessful，while “Finish” show that the writing is successful; Follow steps 3 and
4 to repeat the operation; the drive may be damaged if repeat of several times still fails. The drive need to repair.
5. The drive need to power off and restart again if writing is successful.
NOTE: Don’t turn off the power if EEPROM writing operation goes on, otherwise it may cause a writing wrong
data; If this happens, please reset all the parameters ,then do EEPROM writing operation again.
84
7.2.5 Abnormal Alarm

The front panel will automatically enter the abnormal alarm display mode if drive error occurs while it displays the
corresponding error code. Please refer to Chapter 6 of alarm processing about the detail of error code.
7.3 Trial Run

!
Warning
Attention
 Ground the earth terminal of the motor and drive without fail. the PE terminal of drive must be reliably
connected with the grounding terminal of equipment.
 The drive power need with isolation transformer and power filter in order to guarantee the security and
anti-jamming capability.
 Check the wiring to make sure correctness before power on.
 Install a emergency stop protection circuit externally, the protection can stop running immediately to
prevent accident happened and the power can be cut off immediately.
 If drive alarm occurs, the cause of alarm should be excluded and Svon signal must be invalid before
restarting the drive.
 The high voltage also will contain in several minutes even if the servo drive is powered off, please don’t
touch terminal strip or separate the wiring.

Note: there are two kinds of trial run: trial run without load and trial run with load. The user needs to test the drive
without load for safety first.
Contact technical@stepperonline.com if you need more technical service.
7.3.1 Inspection Before trial Run

Table7.6 inspection Item before Run
No Item Content
1. Ensure the following terminals are properly wired and securely connected :
the input power terminals, motor output power terminal ,encoder input terminal
Inspection on CN2, control signal terminal CN1, communication terminal CN4(it is
1
wiring unnecessary to connect CN1 andCN4 in Jog run mode)
2.short among power input lines and motor output lines are forbidden , and no
short connected with PG ground.
1. The range of control power input r, t must be in the rated range.
Confirmation of 2. The range of the main power input R, S, T must be in the rated range.
2
power supply 3. Single phase 220VAC input is sufficient if the power of drive is no more
1.5kw.
3 Fixing of position the motor and drive must be firmly fixed
Inspection without
4 The motor shaft must not be with a mechanical load.
load
Inspection on 1, all of the control switch must be placed in OFF state.
5
control signal 2, servo enables input Srv on must be in OFF state.
85
7.3.2 Timing chart on power-up
7.3.3 Timing chart on fault
7.3.4 Trial Run by operation interface

After installation and connection is completed, check the following items before turning on the power:
Wiring ? (Especially power input and motor output)
Short or grounded?
Loose connection?
Unstable mounting?
Separation from the mechanical system ?
It is unnecessary to connect control signal terminal CN1 and communication terminal CN4 in Jog run mode. It is
recommended that motor runs at low speed for safety, while the speed depends on the parameters below:
Table 7.7 Parameter Setup of Position JOG

No parameter name value unit
1 Pr0.01 Control mode setting 0 /

2 Pr6.04 JOG trial run command speed User-specified rpm
3 Pr6.25 Acceleration of trial running User-specified ms/1000rpm
86
◆JOG trial run operation process

1. set all parameters above corresponding to velocity JOG or position JOG ;
2. Enter EEPROM writing mode, and save the value of modified parameters ;
3. The drive need to restart after the value is written successfully;
4. Enter auxiliary function mode, and go to “AFJog "sub-menu;
5. Press ENT once, and display Jog - ";
6. Press once, and display ” Srvon " if no exception occurs; press once again if “Error " occurs, it should
display “Srvon "; If “Error " still occurs, please switch to data monitoring mode “d17 Ch "sub-menu, find the cause
why motor doesn’t rotate, fix the trouble and try again;
7. In position JOG mode, the motor will rotate directly; if motor doesn’t rotate, switch to data monitoring mode d17
Ch "sub-menu, find the cause why motor doesn’t rotate, fix the trouble and try again;
In speed JOG mode, press once, the motor rotates once (hold will make motor rotating to value of
Pr6.04 ); press once, the motor rotates once (hold will make motor rotating to value of Pr6.04); if motor
doesn’t rotate, switch to data monitoring mode d17 Ch "sub-menu, find the cause why motor doesn’t rotate, fix the
trouble and try again;
8. Press SET will exit JOG control in JOG run mode.
87
Chapter 8 Application Case

Operation Mode Selection
T6 series AC servo drives support the position, speed, torque three basic modes of operation, and can switch
freely between the three basic modes of operation by switch or modify parameters.
Table 8.1 Parameter setup of Operation Mode Selection
No Mode Parameter Specification
The position control is performed based on the positional command

1 Position mode Pr0.01=0 (pulse train) from the host controller or the command set in the servo
drive.
The velocity control is performed according to the analog speed
2 Velocity mode Pr0.01=1 command from the host controller or the speed command set in the
servo drive.
The torque control is performed according to the torque command
3 Torque mode Pr0.01=2 specified in the form of analog voltage or the command set in the
servo drive.
1st mode:
position mode
4 2nd mode: Pr0.01=3 The control mode is switched through external input.
speed mode
1st mode:
position mode
5 2nd Mode: Pr0.01=4 The control mode is switched through external input.
torque mode
1st mode:
speed mode
6 2nd Mode: Pr0.01=5 The control mode is switched through external input.
torque mode
The step of changing the operation mode:

1, Switch the drive to Servo Off status.
2, Modify the corresponding parameters of control mode to EEPROM.
Turn off/on the power to make the new mode works after setup completed.
8.1 Position Control

Notice : You must do inspection before position control test run.
Table 8.2 Parameter Setup of Position Control
No parameter name input value unit
1 Pr0.01 control mode setup / 0 /
2 Pr0.06 command pulse rotational direction setup 0
3 Pr0.07 command pulse input mode setup 0~3
4 Pr0.08 Command pulse per one motor revolution User-specified Pulse
5 Pr0.09 1st numerator of electronic gear 1
6 Pr0.10 denominator of electronic gear 1
7 Pr2.22 positional command smoothing filter User-specified 0.1ms
8 Pr2.23 positional command FIR filter User-specified 0.1ms
9 Pr3.12 Acceleration time setup / User-specified millisecond
10 Pr3.13 Deceleration time setup / User-specified millisecond
Sigmoid acceleration/deceleration time
11 Pr3.14 / User-specified millisecond
setup
12 Pr4.00 SI1 input select: servo-enable Srv_on Hex:0003 /
88
◆ Wiring Diagram
Figure 8-1 Position Mode Typical Wiring Diagram
Digital Input for Servo Enable
89
Figure 8-2 CN1 and CN2 Signal Wiring in Position Control Mode
◆Operation Steps
1. Cconnect terminal CN1.
2. Connect DC12V to 24V to digital input SI1 to ENABLE drive (the COM + and SI1).
3. Power on the drive.
4. Confirm the value of the parameters, and write to the EEPROM and turn off/on the power (of the drive)
5. Connect the Srv_on input to bring the drive to servo-on status and energize the motor.
6. Enter low-frequency pulse and direction signal to run the motor at low speed.
7. Check the motor rotational speed at monitor mode whether, ("d01SP " ),
Rotational speed is as per the setup or not, and
The motor stops by stopping the command (pulse) or not
if the motor does not run correctly, refer to the Factor of No-Motor running in data monitor mode
("d17Ch “).
The drive is widely used for precise positioning in position control mode.
Related parameters setup of position mode
8.1.1 Pulse command and rotation direction

The positional commands of the following 3 types (pulse train) are available.
◆A, B phase pulse
◆Positive direction pulse/negative direction pulse
◆Pulse + direction
Name Command Pulse Rotational Direction Setup Mode P

Pr0.06*
Repower o
Set command pulse input rotate direction, command pulse input type
Name Command Pulse Input Mode Setup Mode P
Pr0.07* Range 0~3 Unit — Default 1
90
Repower o
Positive Negative Direction

Pr0.06 Pr0.07 Command Pulse Format Signal Direction Command
Command
90 phase difference
Pulse
0 or 2 2-phase pulse(A phase +B
sign
phase)
0 Positive direction pulse + Pulse
1
negative direction pulse sign
Pulse
3 Pulse + sign
sign
90 phase difference
Pulse
0 or 2 2 phase pulse(A phase +B
sign
phase)
Positive direction pulse + Pulse
1 1
negative direction pulse sign
Pulse
3 Pulse + sign
sign
Command pulse input signal allow largest frequency and smallest time width
Permissible Smallest Time Width
PULS/SIGN Signal Input I/F Max. Input
t1 t2 t3 t4 t5 t6
Frequency
Long distance
Pulse 500kpps 2 1 1 1 1 1
interface
series
Open-collector
interface 200kpps 5 2.5 2.5 2.5 2.5 2.5
output
8.1.2 Electronic gear function

The function multiplies the input pulse command from the host controller by the predetermined dividing or
multiplying factor and applies the result to the position control section as the positional command. By using this
function, desired motor rotations or movement distance per unit input command pulse can be set.
Command pulse counts per one motor
Name Mode P S T
revolution
Range 0-8388608 Unit P Default 0
Pr0.08
0010H
0011H
Repower o
Set the command pulse that causes single turn of the motor shaft.
1) If Pr008≠0 , the actual motor rotation turns = pulse number / Pr0.08
2) If Pr008 = 0, Pr0.09 1st numerator of electronic gear and Pr0.10 Denominator of electronic gear valid.
Name 1st numerator of electronic gear Mode P

Pr0.09 0012H
0013H
Repower o
Set the numerator of division/multiplication operation made according to the command pulse
input.
91
Name 1st denominator of electronic gear Mode P

Pr0.10 0014H
0015H
Repower o
Set the denominator of division/multiplication operation made according to the command
pulse input.
Pr0.09 Pr0.10 Command division/multiplication operation
1-10737 1-10737
41824 41824
1. Settings：
1)The drive input command pulse number is X
2)The pulse number of encoder after frequency division and frequency doubling is Y
3)The number of pulses per revolution of the motor encoder is Z
4)Number of turns of motor is W
2. Calculations：
1)Y=X* Pr0.09 / Pr0.10
2)17Bit encoder: Z=2^17 = 131072
23Bit encoder: Z=2^23 = 8388608
8.1.3 Position command filter

To make the positional command divided or multiplied by the electronic gear smooth, set the command filter.
In the following situations, it is necessary to consider adding position command filtering:
(1) The position instruction output by the controller is not accelerated or decelerated;
(2) Low command pulse frequency;
(3) when the electronic gear ratio is more than 10 times.
The position command filter can make the position command smoother and the motor rotation more stable.
Name positional command smoothing filter Mode P

Pr2.22
Repower o
 Set up the time constant of the1st delay filter in response to the positional command.
 When a square wave command for the target speed Vc is applied ,set up the time
constant of the 1st delay filter as shown in the figure below
92
Name positional command FIR filter Mode P

Pr2.23
Repower o
 Set up the time constant of the1st delay filter in response to the positional command.
 When a square wave command for the target speed Vc is applied , set up the Vc arrival time
as shown in the figure below.
8.1.4 Motor encoder pulse output

The information on the amount of movement can be sent to the host controller in the form of A and B phase
pulses from the servo drive.
Output pulse counts per one motor

Name Mode P S T
revolution
Pr0.11＊ Range 1~2500 Unit P/r Default 2500
Repower o
For example, if this parameter is set to 1000, it means that the frequency division output
signal of the encoder outputs 4000 pulses per turn.
Name reversal of pulse output logic Mode P S T

Pr0.12＊
Repower o
You can set up the B phase logic and the output source of the pulse output. With this
parameter, you can reverse the phase relation between the A-phase pulse and B-phase
pulse by reversing the B-phase logic.
< reversal of pulse output logic >
B-phase CCW Direction Rotation CW Direction Rotation
Pr0.12
Logic
A phase A phase
0 Standard
B phase B phase
A phase A phase
1 Reverse
B phase B phase
93
8.1.5 Position complete output (INP)

The completion of positioning can be verified by the positioning complete output (INP).When the absolute
value of the positional deviation counter at the position control is equal to or below the positioning complete
Range by the parameter, the output is ON. Presence and absence of positional command can be specified
as one of judgment conditions.
Name Positioning complete range Mode P

Pr4.31
Repower -
Set up the timing of positional deviation at which the positioning complete signal (INP1) is
output.
Name Positioning complete output setup Mode P

command
unit
Pr4.32
Repower -
Select the condition to output the positioning complete signal (INP1).
Setup
Action of positioning complete signal
value
The signal will turn on when the positional deviation is smaller than Pr4.31
0 [positioning complete range].
The signal will turn on when there is no position command and position
1 deviation is smaller than Pr4.31 [positioning complete range].
The signal will turn on when there is no position command, the zero-speed
2 detection signal is ON and the positional deviation is smaller than Pr4.31
The signal will turn on when there is no position command and the positional
deviation is smaller than Pr4.31 [positioning complete range].Then holds “ON”
states until the next position command is entered. Subsequently, ON state is
3 maintained until Pr4.33 INP hold time has elapsed. After the hold time, INP
output will be turned ON/OFF according to the coming positional command or
condition of the positional deviation.
Name INP hold time Mode P

Pr4.33 Data Type 16bit Access R/W Address 0443H
Repower -
Set up the hold time when Pr 4.32 positioning complete output setup=3
Setup
State of Positioning complete signal
value
The hold time is maintained definitely, keeping ON state until next
0
positional command is received.
ON state is maintained for setup time (ms)but switched to OFF state as
1-30000
the positional command is received during hold time.
And the output port should be assigned for “INP”, for details of these parameters, refer to PA_410 – PA415.
94
8.2 Multi-turn absolute encoder

The absolute encoder remember position, When the absolute encoder is used for the first time, user need to
move to the home position, and clear the absolute position value of multiple turns through the drive to set the
home position. It is unnecessary to return to home position in the future (except for the absolute encoder alarm
and other situations). It is recommended that the motor is stationary when reading the position to prevent dynamic
data jump.
8.2.1 Parameters setting

Name Absolute Encoder Setup Mode P S T
Pr0.15
Repower o
How to use:
0: Incremental position mode:
The encoder is used as a incremental encoder, and the position retentive at power failure is not
supported.
1: Absolute position linear mode:
The encoder is used as an absolute encoder, and the position retentive at power failure is supported..
It is applicable to the scenario where the travel range of device load is fixed and the encoder multi-turn
data dose not overflow.
2: Absolute position rotation mode:
The encoder is used as an absolute encoder, and the position retentive at power failure is supported..
It is mainly applicable to the scenario where the load travel range is not limited and the number of motor
single-direction revolution is less than 0~(Pr6.63+1)
5: Clean multi-turn alarm, and open multi-turn absolute function.
It will become 1 when normal clearance, if it’s still 5 after 3seconds, please deal with according to 153
alarm processing.
9: Clear multi-turn position and reset multi-turn alarm, open multi-turn absolute function.
It will become 1 when normal clearance, if it’s still 9 after 3seconds, please deal with according to 153
alarm processing. Please remember to do mechanical homing.
Notes: Set to 9 after homing process finished and servo disabled. valid after repower.
Name Absolute multi-turn position upper bound Mode P S T

Range 0~32766 Unit Rotation Default 0
Pr6.63
Repower o
While Pr0.15=2: Absolute position rotation mode:
The encoder is used as an absolute encoder, and the position retentive at power failure is
supported..
It is mainly applicable to the scenario where the load travel range is not limited and the
number of motor single-direction revolution is less than 0~(Pr6.63+1)
95
8.2.2 Read absolute position

1、Steps：
（ 1 ） Firstly, select the multi-turns absolute encoder motor, install the battery, and confirm whether the drive
version supports multi-turns absolute encoder motor;
（2）Set Pr0.15=1 to open absolute encoder. If it is the first time of installation, the drive will alarm Err153. The
reason is that the multi-turn position is invalid due to the newly installed battery of the motor. At this time, it is
necessary to return to the home position of the machine and perform the multi-turn position reset operation (see
multi-turn position reset).
（3）When the absolute value origin is set and there is no battery fault, the alarm will be cancelled
（4）Finally, the user can read the absolute position, even if the power off the position will not lost.
2、Read absolute position

The absolute encoder counting mode is that when the motor rotates clockwise, the number of turns is defined as
negative; while motor rotates counterclockwise the number of turns is defined as positive. The maximum rotation
number is -32768 to +32767. After the number of turns is out of range, if the number of turns is 32767
counterclockwise, it will reverse to -32768, -32767... ; If the number of turns clockwise -32768, it will reverse to
32767, 32766...
Absolute encoder read mode: read 6064h data object
3、Clear absolute position

Before clear absolute position, the machine needs to return to the home point. After clear absolute position, the
absolute position =0, the single-turn position remains unchanged, and the absolute value of the encoder is
cleared to alarm
Set Pr0.15=9: multi-turn zero clearing and reset multi-turn alarm, open multi-turn absolute function. It will become
1 when normal clearance, if it’s still 9 after 3seconds, please deal with according to 153 alarm processing.
Please remember to do mechanical homing.
8.2.3 Alarm
1、Introductions
The multi-turns absolute encoder alarm function can determine whether the absolute encoder is valid or not, such
as battery under voltage or power failure, encoder fault, etc., users can judge the absolute encoder alarm through
bus alarm output, IO alarm output, and drive operation panel alarm. At this time, the controller should stop
96
operation immediately, and the absolute motion operation can only be carried out after the alarm is eliminated
2、Alarm output
Absolute encoder alarm can be displayed by the panel Err153, IO output alarm signal, or read alarm information
by communication
3、The drive sends an absolute encoder alarm Err153, the main situation is as follows:
（1）When the absolute encoder is used for the first time, absolute encoder alarm will be generated due to the
new battery of the motor. At this time, it is necessary to return to the home point and perform multi-turn zero
clearing operation
（2）When the battery under voltage is lower than 3.2v, absolute encoder alarm will be generated by the drive. At
this time, the alarm will be automatically eliminated after the battery is recharged by replacing the battery
（3）When the battery voltage is lower than 2.5v, or the battery has a power failure, the absolute encoder alarm
will be generated. Even if the battery is replaced, the alarm cannot be eliminated. At this time, the return to the
home point and multi-turn zero clearing operation should be performed
4、Alarm processing flow chart
8.3 Security Features

8.3.1 Speed limit
Name Motor rotate maximum speed limit Mode P S T
Pr3.24＊
Repower -
Set up motor running max rotate speed, but can’t be exceeded motor allowed max rotate
speed.
97
8.3.2 BRK-OFF output

This function can be configured by set digital SO output functions allocation. refer to IO Pr4.10 parameter
description. When the enable and time meet the set conditions, the digital output IO port can output ON.
Mechanical brake action setting when
Name Mode P S T
stopping
Pr4.37
Repower -
Motor brake delay time setup, mainly used to prevent servo on “galloping “phenomenon.
Set up the time from when the brake release signal(BRK-OFF) turns off to when the motor is
de-energized (servo-free),when the motor turns to servo-off while the motor is at stall
 Set up to prevent a micro-travel/drop of the
motor (work) due to the action delay time
(tb) of the brake.
 Ni After setting up Pr4.37>=tb, then
compose the sequence so as the drive
turns to servo-off after the brake is
actually activated.
Name Mechanical brake action setting Mode P S T

Pr4.38
Repower -
Mechanical brake start delay time setup, mainly used to prevent servo off “galloping
“phenomenon.
Set up time from when detecting the off of servo-on input signal(SRV-ON)is to when external
brake release signal(BRK-OFF)turns off, while the motor turns to servo off during the motor in
motion
 Set up to prevent the brake

deterioration due to the motor running.
 At servo-OFF during the motor is
running , tb of the right fig will be a shorter
one of either Pr4.38 setup time, or time
lapse till the motor speed falls below Pr4.39
setup speed
Name Brake release speed setup Mode P S T

Pr4.39
Repower -
Set up the speed timing of braking output checking during operation
98
Notice：
*1：The delay time between SRV_ON and BRK_OFF is less than 500ms;
*2：Time setting in Pr4.38;
*3：The delay time between the BRK_OFF signal output and the actual brake release action, which depends on
the hardware characteristics of the motor brake;
*4：The smaller value of Pr4.37 and Pr4.39;
8.3.3 Servo stop mode

Name Servo stop mode Mode P S T
Pr5.06
Repower -
Specify the status during deceleration and after stop, after servo-off.
Setup Servo stop mode
value
When servo-disable signal active, servo-disable after the
0
speed reduced less than Pr4.39
When servo-disable signal active, servo-disable right away,
1
motor in free-run mode.
8.3.4 Emergency stop function

Name Torque setup for emergency stop Mode P S T
Pr5.11＊
Repower -
Set up the torque limit at emergency stop
When setup value is 0, the torque limit for normal operation is applied.
8.4 Inertia ratio identification
Name Inertia ratio Mode P S T
Pr0.04
Repower -
99
You can set up the ratio of the load inertia against the rotor(of the motor)inertia.
Pr0.04=( load inertia/rotate inertia)×100%
Notice:
If the inertia ratio is correctly set, the setup unit of Pr1.01 and Pr1.06 becomes (Hz). When the
inertia ratio of Pr0.04 is larger than the actual value, the setup unit of the velocity loop gain
becomes larger, and when the inertia ratio of Pr0.04 is smaller than the actual value, the setup
unit of the velocity loop gain becomes smaller..
8.4.1 On-line inertia ratio identification

The motor is operated by the controller, and the motor speed is above 400rmp. The running stroke has obvious
acceleration, uniform speed and deceleration process, and the load inertia ratio can be tested by running 2-3
times continuously. The inertia ratio of the test is viewed in Drive Operating Data Monitor-> d16Jr. Set the monitor
value minus 100 into Pr0.04..
8.4.2 Off-line inertia ratio identification

Pre-conditions：1、servo disable. 2、Positive limit and negative limit invalid
Steps:
1、Set the trial running speed Pr6.04, and the setting of Pr6.04 should not be too large
2、Enter auxiliary inertia ratio identification function on the drive panel, AF_GL
3、Press ENT once to enter operation，display “G---”
4、Press once， display “StUon”
5、Press once， motor start running to identification
6、After finishing， display G XXX, which represents the measured inertia ratio value
7、Set the monitor value minus 100 into Pr0.04.
8.4.3 Motion Studio inertia ratio identification

This inertia ratio identification function also added in Motion Studio configuration software.
Pre-conditions：1、Servo disable. 2、Positive limit and negative limit invalid
Steps:
1、Set the Jog speed Pr6.04, and the setting should not be too large(600~1000rpm is recommend)
Set the Acc Pr6.25(50~100 ms/1000rpm is recommend)
Set the Default Inertia Ratio.
Download these settings, then Servo Enable.
2、Click “CCW” to make motor run to CCW direction，click “Position 1” to save the position limit 1
Click “CW” to make motor run to CW direction，click “Position 2” to save the position limit 2
Click “Run” to start Inertia ratio identification.
100

51 - T6 MANUALT6 - AC - Servo - Full - Manual

Uploaded by

Document Informationclick to expand document information

Copyright:

Available Formats

51 - T6 MANUALT6 - AC - Servo - Full - Manual

Uploaded by

Document Information

Original Description:

Original Title

Copyright

Available Formats

Share this document

Share or Embed Document

Sharing Options

Did you find this document useful?

Is this content inappropriate?

Copyright:

Available Formats

51 - T6 MANUALT6 - AC - Servo - Full - Manual

Uploaded by

Copyright:

Available Formats

User manual of T6 AC Servo

5.2.5【Class 4】I/F Monitor Setting

Name Output selection SO1 Mode P S T

Name Positioning complete range Mode P

Name Positioning complete output setup Mode P

Name Zero-speed Mode P S T

The zero-speed detection signal(ZSP) will be fed

Name At-speed(Speed arrival) Mode S

Name Mechanical brake action setting Mode P S T

 Set up to prevent the brake

Name Brake release speed setup Mode P S T

5.2.6【Class 5】Extended Setup

Name 2nd numerator of electronic gear Mode P

Name Over-travel inhibit input setup Mode P S T

Name Servo stop mode Mode P S T

Name LV trip selection at main power OFF Mode P S T

Name The main power-OFF detection time Mode P S T

Name Dynamic braking mode Mode P S T

Name Torque setup for emergency stop Mode P S T

Name Over-load level setup Mode P S T

Name Over-speed level setup Mode P S T

Name I/F reading filter Mode P S T

Name Counter clear input mode Mode P

Name Position setup unit select Mode P

Name Selection of torque limit Mode P S T

Name 2nd torque limit Mode P S T

Name Positive torque reached Mode P S T

Name Negative torque reached Mode P S T

Name Mode setup of RS485 communication Mode P S T

Pr5.29＊ Range 0~255 Unit — Default 5

Value Data bit Parity-check Stop bit

Name Baud rate setup of RS485 communication Mode P S T

Range 0~6 Unit — Default 2

Name Command pulse input maximum setup Mode P

Name Front panel lock setup Mode P S T

Name 7th setting parameters open Mode P S T

Name 7th setting parameters open Mode P S T

5.2.7【Class 6】Special Setup

Name JOG trial run command torque Mode T

Name JOG trial run command speed Mode P S T

Name Position 3rd gain valid time Mode P

Name Position 3rd gain multiplication Mode P

Set up the 3rd gain by multiplying factor of the 1st gain

Name Torque command additional value Mode P S T

Data Type 16bit Access R/W Address 0613H

Name 2nd inertia ratio Mode P S T

Name Emergency stop time at alarm Mode P S T

Name Trial run distance Mode P

Name Trial run waiting time Mode P

Name Trial run cycle times Mode P

Name Acceleration of trial running Mode P S

Acceleration time from 0rpm~1000rpm of trial running

Name Absolute multi-turn position upper bound Mode P S T

5.2.8【Class B】Status Information

Name Software version 1（DSP） Mode P S T

Display Software version 1（DSP）

Name Software version 2（CPLD） Mode P S T