201511210144368631

Series HSV‐180AD AC Servo Amplifier
User's Manual
V1.00
2012.4
Wuhan Huazhong Numerical Control Co., LTD
Wuhan China
Series HSV‐180AD AC Servo Amplifier User's Manual
CONTENTS
1SAFETY PRECAUTIONS ................................................................................................................... 4
1.1 SYMBOLS OF SAFETY PRECAUTIONS ........................................................................................................ 4

1.2 MEANING OF SAFETY PRECAUTION SYMBOLS ................................................................................ 5
1.3 EXPLANATION OF SAFETY PRECAUTION SYMBOLS ...................................................................................... 5
1.4 SAFETY REGULATIONS .......................................................................................................................... 6
2 OVERVIEW.................................................................................................................................. 11
2.1 INTRODUCTION ................................................................................................................................. 11

2.2 INTRODUCTION TO CONTROL MODES ................................................................................................... 12
3 ORDER INFORMATION ................................................................................................................ 14
3.1 SPECIFICATIONS OF SERVO AMPLIFIER ................................................................................................... 14

3.1.1 Specification for HSV‐180AD ................................................................................................ 14
3.1.2 Current Type of HSV‐180AD ................................................................................................. 14
3.1.3 Technical Specification of HSV‐180AD ................................................................................. 16
3.1.4 Dimension and Size of Servo Amplifier ................................................................................. 19
3.2 SPECIFICATION OF SERVO MOTOR ........................................................................................................ 25
3.2.1 Introduction to Series GK6 AC Servo Motor ......................................................................... 25
3.2.2 Features of Series GK6 AC Servo Motor ............................................................................... 25
3.2.3 Technical index of Series GK6 AC servo motor ..................................................................... 26
3.2.4Order information of series GK6 AC Permanent Magnet Servo ............................................ 28
3.2.5 Technical Specification of Series GK6 AC Permanent Magnet Servo Motor......................... 28
3.2.6 Installation Dimension of the Motor .................................................................................... 34
3.2.7Recommended shaft keyway ................................................................................................ 37
3.2.8 Recommended C‐type center hole ....................................................................................... 37
3.2.9 GK6 Series AC permanent magnet servo motor interface definition ................................... 38
4 INSTALLATION ............................................................................................................................ 40
4.1 PRODUCTS CHECK ............................................................................................................................. 40

4.2 INSTALLATION ENVIRONMENT ............................................................................................................. 40
4.2.1 Environment Temperature ................................................................................................... 40
4.2.2 Humidity ............................................................................................................................... 40
4.2.3 Altitude................................................................................................................................. 41
4.2.4 Vibration and Impulsion ....................................................................................................... 41
4.2.5 Water ................................................................................................................................... 41
4.2.6 Air Pollution.......................................................................................................................... 41
4.3 INSTALLATION OF SERVO AMPLIFIER ..................................................................................................... 42
4.3.1 Installation Methods of HSV‐180AD‐035,050,075 ............................................................... 42
4.3.2 Installation Methods of HSV‐180AD‐100,150 ...................................................................... 48
4.3.3Instllation method of HSV‐180AD‐200,300,450 .................................................................... 53
4.4 INSTALLATION OF SERVO MOTOR ......................................................................................................... 59
1
4.4.1 Installation Environment ...................................................................................................... 59

4.4.2 Installation Method.............................................................................................................. 60
5 WIRING ...................................................................................................................................... 61
5.1 CONNECTORS ................................................................................................................................... 61

5.2 TERMINAL CONFIGURATION ................................................................................................................ 63
5.3 TERMINAL CONFIGURATION ................................................................................................................ 65
5.3.1 Terminals of HSV‐180AD‐035，050，075，100，150 ....................................................... 65
5.3.2 Terminal Configuration HSV‐180AD‐200,300,450 ............................................................... 67
5.3.3 Side wring of main circuit input ........................................................................................... 68
5.3.4 Control power wiring ........................................................................................................... 70
5.3.5 Output side wiring of main circuit ........................................................................................ 70
5.4 CONNECTION OF CONTROL SIGNAL TERMINALS ........................................................................................ 73
5.4.1 XS4 COMMAND input/ output terminals ............................................................................. 73
5.4.2 XS5 Input/output Terminal................................................................................................... 84
5.5 CONNECTION OF THE ENCODER SIGNAL TERMINAL ................................................................................... 85
5.5.1 XS3 ENCODER1 Servo Motor Input Interface ....................................................................... 85
5.6 CONNECTION OF THE COMMUNICATION SIGNAL TERMINAL ........................................................................ 98
5.6.1 XS1 Serial Interface .............................................................................................................. 98
5.7 WIRING .......................................................................................................................................... 99
5.8 STANDARD WIRING ......................................................................................................................... 100
5.8.1 Standard Wiring for Position Control Mode (Pulse Interface) ............................................ 101
5.8.2 Standard Wiring for External Speed Control Mode (Analog Interface) .............................. 102
5.8.3 Standard Wiring for Closed‐loop Control Mode (pulse interface) ...................................... 105
6. OPERATION AND DISPLAY........................................................................................................ 107
6.1 OVERVIEW..................................................................................................................................... 107

6.2 OPERATION IN THE DISPLAY MODE..................................................................................................... 108
6.3 STATE SURVEILLANCE MODE .............................................................................................................. 109
6.4 OPERATION IN THE MOVEMENT PARAMETER MODE .............................................................................. 111
6.5OPERATION IN THE AUXILIARY MODE .................................................................................................. 112
6.6 OPERATIONS IN THE CONTROL PARAMETER MODE ................................................................................ 114
6.7OPERATION IN THE AUXILIARY MODE .................................................................................................. 114
6.8 CONTROL PARAMETER SETTING AND SAVING ....................................................................................... 115
7. PARAMETER SETTING .............................................................................................................. 117
7.1 FUNCTION MENU ........................................................................................................................... 117

7.1.1 Parameters illustration ...................................................................................................... 117
7.1.2 Parameter operation instructions ...................................................................................... 118
7.2 MOVEMENT PARAMETER MODE ........................................................................................................ 119
7.2.1 Movement parameters ...................................................................................................... 119
7.2.2Extension movement parameters ....................................................................................... 124
7.2.3 Description of the parameter setting: ................................................................................ 129
2
7.2.4 Parameters Related to Movement Control ......................................................................... 131

7.2.5 Parameters Related to Speed Control Mode ...................................................................... 136
7.2.6 Parameters Related to Output Torque Regulation............................................................. 138
7.2.7 Non standard motor parameter settings ........................................................................... 141
7.3 CONTROL PARAMETER MODE ........................................................................................................... 142
7.3.1 Control Parameter.............................................................................................................. 142
7.3.2 Extended control parameters............................................................................................. 143
8. OPERATION AND MODIFICATION ............................................................................................. 145
8.1 POWER CONNECTION ...................................................................................................................... 145

8.1.1 Checking Before Running ................................................................................................... 145
8.1.2 Power On Sequence ........................................................................................................... 146
8.1.3 power connection and alarm sequence ............................................................................. 146
8.1.4 Power Off Sequence ........................................................................................................... 149
8.1.5. Alarm Clear ....................................................................................................................... 149
8.2 TRIAL OPERATION ........................................................................................................................... 150
8.2.1 JOG Running Mode............................................................................................................. 151
8.2.2 Internal Speed Running Mode ............................................................................................ 152
8.2.3 External Speed Running Mode (Analog interface) ............................................................. 152
8.2.4 Torque Running Mode (Analog interface) .......................................................................... 153
8.2.5 Position Running Mode (Impulse interface) ....................................................................... 154
8.2.6 Full closed‐loop .................................................................................................................. 154
8.3 RUNNING MODIFICATION ................................................................................................................. 156
8.3.1Basic Gain............................................................................................................................ 156
8.3.2Electrical Gear Setting ......................................................................................................... 157
8.3.3Start and Stop Adjustment .................................................................................................. 158
9 FAULT TROUBLE SHOOTING ...................................................................................................... 160
9.1 PROTECTION AND FAULT IDENTIFICATION ............................................................................................ 160
3
1Safety Precautions
Thank you very much for buying AC Servo Amplifier, HSV-180AD AC Servo
Amplifier and servo motor are applicable to the general industrial environment,
not to the strong vibrating environment. Pay attention to the followings:
 It is inapplicable to the medical equipment which related to life safety .
 The Servo Amplifier is not water proof. It must be avoid moisture and direct
sunlight.
 Do not perform any change to the Servo Amplifier and motor.
Before installation and wiring, read through this manual. Before operation,
understand the safety information, safety precautions and operating instruction of
this equipment.
1.1 Symbols of Safety Precautions
Symbols of safety precautions are displayed on the front panel of the Servo
Amplifier.
Figure 1-1 Symbol of safety precaution for HSV-180AD-035，050，075
4
1.2 Meaning of Safety Precaution Symbols
！ Warning Safety precaution signage
 Danger! High Voltage

 Don’t move cables or
touch terminals while
applying power
 Disconnect incoming The meaning of each symbol
power and wait 5
minutes before
connecting cables or
opening terminal
cover
Symbols of Safety Precaution
1.3 Explanation of Safety Precaution Symbols
Danger
It indicates a potentially hazardous situation which, if not avoided, will result in

death.
！ Caution
It indicates a potentially hazardous situation which, if not avoided, will result in

minor or moderate injury or death and damage to the machine.
5
1.4 Safety Regulations

1. Products Confirmation
！ Caution
Do not install damaged the Servo Amplifier.

Failure to follow this instruction could result in injury.
2. Installation
！ Caution
 Hold the bottom of the machine.

If only hold the panel, the main engine may fall off which may result in
injury.
 Fit to noncombustible such as metal.
Failure to follow this instruction could result in fire hazard.
 If necessary, set a cooling fan and keep the inlet air at 45℃ or less.
Overheating may result in fire and other hazards.
 Don’t block the inlet and outlet. Avoid foreign matter entering into the
internal part of the machine.
It may cause the aging of internal components, which can result in
malfunction or fire hazard.
 When installing, make sure a specified intervals between the Servo
Amplifier and control cabinet or other machines.
Failure to follow this instruction could result in fire hazard or malfunction.
6
3. Wiring
Danger
 Before wiring, confirm whether the power is off.

Failure to follow this instruction could result in electric shock and fire
hazard.
 Only electrical engineer can do the wiring.
hazard.
 Make sure the ground terminal grounded.
hazard.
 After the wiring of the emergency stop circuit, check whether the wiring is
effective.
Failure to follow this instruction could result in injury. (Users shall be
responsible for the wiring.)
 Do not touch the output terminal directly nor connect external shield to the
output wire of a Servo Amplifier . Avoid short circuit of output wires.
Failure to follow this instruction could result in electric shock and short
circuit.
！ Caution
 Confirm whether the power voltage of the main AC circuit is subject to the
rated voltage of the Servo Amplifier .
Failure to follow this instruction could result in injury and fire hazard.
7
 Do not make withstand test for the Servo Amplifier .

Failure to follow this instruction could result in damage to components such
as semi-conductor.
 Do not connect power cable to the output U, V, W terminals so as to avoid
damage of Servo Amplifier internal parts.
！ Caution
 调试运行
 Do not connect capacitance and LC or LR noise filter to the output circuit so

as to avoid damage of the Servo Amplifier.
 Do not connect electromagnetic switch and electromagnetic contactor to the
U, V, and W output circuit. When the Servo Amplifier running with load,
surging current could activate over-current protection of the Servo
Amplifier .
4. Testing and Commissioning
Danger
 Do not remove or modify anything when the external wirings are made, or
the power is on.
Failure to follow this instruction could result in electric shock.
 Do not approach to the machine on the trial-operations, after resetting of the
Servo Amplifier (Take physical safety into consideration when perform
electrical and mechanical design).
 Arrange an external emergency stop device.
8
！ Caution
 Before operating, reconfirm some information such as the use range of the
motor and machines.
 Do not touch the machine while operating or just cut off the power, because
the radiator, brake resistor motor etc. may be at high temperature.
Failure to follow this instruction could result in burn.
 If necessary, arrange external brake. Do not touch the machine.
 Do not check signal while operating to avoid damage to the equipment.
5. Troubleshooting
Danger
 Do not remove wiring within 5 minutes nor touch terminals after power-off
of the Servo Amplifier , because the high voltage will last for a while.
Failure to follow this instruction could result in electric shock.
 Operations (such as wiring, installation, operation, remove and maintenance)
must be performed by the specified professional personnel.
Failure to follow this instruction could result in electric shock and damage to
the Servo Amplifier .
！ Caution
9
 The control circuit board adopts the CMOS IC. When maintaining, do not
touch it directly with your fingers, because electrostatic induction could
damage the control circuit board.
6. System Configuration
！ Caution
 The rated torque of the servo motor must be larger than continuous effective
load torque. Otherwise, the servo motor could be damaged by long-time
overload operation.
 The ratio of load inertia and servo motor inertia must be less than the
recommended value.
 Make sure that the motor is properly matching the Servo Amplifier .
Failure to follow this instruction could result in damage of the equipment.
7. Others
Danger
 Do not make alterations independently.

Failure to follow this instruction could result in electric shock and injury.
10
2 Overview
Series HSV-180AD AC Servo Amplifier is a new generation of full digital AC
servo amplifier developed by Wuhan Huazhong Numerical Control Co., Ltd..
This product features high performance, compact structure, easy-to-use operation,
and high reliability.
2.1 Introduction
Series HSV-180AD AC Servo Amplifier adopts the latest technologies such as

special motion control digital signal processor (DSP), and intelligent power
module (IPM), and achieves the closed-loop servo control of servo motor. It has
various specifications such as035、050、075、100、150、200、300、450A
and different ranges of power options. Users can configure various types of
Servo Amplifier and AC servo motor to form high reliability and performance
AC Servo Amplifier systems.
Characteristics of Series HSV-180AD AC Servo Amplifier:
1. Easy and flexible operation
By modifying the parameter, you can modify the control methods of the Servo
Amplifier and the interior parameters so as to meet the requirements for different
environment and conditions, and can be compatible with various types of servo
motors.
2. Full display of status
Series HSV-180S provide a series of status display, which enables users to view
related status parameters of the Servo Amplifier during commissioning and
operation. In addition, it provides a range of troubleshooting information.
3. Various interfaces, and flexible control methods
HSV-180AD Servo Amplifier can provide various interfaces and flexible control
methods as follows:
 Pulse input interface
 Analog input interface
11
 Feedback interface of servo motor optical -electrical encoder

 Feedback interface of servo motor encoder
 Serial communication interface
 Programmable I/O interface
4. Servo orientation function
Series HSV-180AD can provide an independent function for servo orientation.
Through feedback devices such as servo motor optic-electrical encoder, servo
encoder and zero switch, it can realize the servo orientation control
independently.
2.2 Introduction to Control Modes
Series HSV-180AD AC Servo Amplifier provides four control modes:

1. Position control mode (pulse interface)
Under this mode, HSV-180AD Servo Amplifier can set to external position
control mode by setting internal parameters. It can receive three types of external
pulse command such as orthogonal pulse command, pulse + direction command,
and positive and negative pulse command.
2. External speed control mode (pulse interface)
Under this mode, HSV-180AD Servo Amplifier can set to external speed control
mode by setting internal parameters. It can receive three types of external pulse
command such as orthogonal pulse command, pulse + direction command, and
positive and negative pulse command.
3. External speed control mode (analog interface)
Under this mode, HSV-180AD Servo Amplifier can set to external speed control
mode by setting internal parameters. It can receives external analog command
with amplitude varies from -10V to 10V or from 0V to 10V.
4. JOG mode
Under this mode, HSV-180S Servo Amplifier can run based on the key setting
(instead of external instruction). This mode is provided for users to test whether
the Servo Amplifier system is correctly installed and connected.
12
5. Internal speed control mode

Under this mode, HSV-180AD Servo Amplifier can run at a present speed in
the system without external instruction. This mode is provided for users to test
whether the Servo Amplifier system is correctly installed and connected.
13
3 Order Information
3.1 Specifications of Servo Amplifier
3.1.1 Specification for HSV‐180AD

The following figure shows the specification of HSV-180AD.
Figure 3-1 Current type of HSV-180AD
HSV-180AD -□□□
Servo Amplifier current type
035 050 075
100 150
200 300 450
3.1.2 Current Type of HSV‐180AD

Table 3-1 Current Types of HSV-180AD Servo Amplifier
Type HSV-180AD-035 HSV-180AD-050 HSV-180AD-075
Maximum power of 3.7KW 5.5KW 7.5KW
applicable Motor（KW）
Rated output current (A) 12.5 16 23.5
Short-time Peak Current 22 28 42
(A)
Circute breaker（A） 25 32 40
conector（A） 18 25 32
Input Current 10 15 20
exchange (A)
reactor Inductance 1.4 0.93 0.7
(mH)
Input filter(A) 10 15 20
Maximum braking resistor 25 25 40
(A)
Resistor 51Ω 51Ω 27Ω
Recommended (Ω)
Braking Power 1500W 1500W 2000W
resistor (W)
Quanlity 1 1 1
Recomand value of main 4 4 4
2
circute cable （mm ）
14
Type HSV-180AD-100 HSV-180AD-150

Maximum power of 11KW 15KW
Rated output current (A) 32 47
Short-time Peak Current (A) 56 84
Circute breaker（A） 63 100
conector（A） 40 63
Input Current (A) 30 50
exchange Inductance 0.47 0.28
reactor (mH)
Input filter(A) 30 50
Maximum braking resistor 50 75
(A)
Resistor 33Ω 27Ω
Recommended
(Ω)
Braking
Power (W) 1500W 2000W
resistor
Quanlity 2 2
Recomand value of main 10 16
circute cable （mm2）
Type HSV-180AD-200 HSV-180AD-300 HSV-180AD-450

Maximum power of 30KW 37KW 51KW
Rated output current (A) 64.3 94 128
Short-time Peak Current 110 168 224
(A)
Circute breaker（A） 125 200 400
conector（A） 95 150 250
Input Current 80 150 250
exchange (A)
reactor Inductance 0.17 0.095 0.056
(mH)
Input filter(A) 80 150 250
Maximum braking resistor 100 100 150
(A)
Resistor 30Ω 30Ω 30Ω
Recommended (Ω)
Braking Power 2500W 2500W 2500W
resistor (W)
Quanlity 3 4 6
Recomand value of main 35 70 120
circute cable （mm2）
15
3.1.3 Technical Specification of HSV‐180AD

The following table describes the technical specification of HSV-180AD
Table 3-2 Technical specification of HSV-180AD Servo Amplifier
Rated 150A and below specifications：Three-phase AC380V
voltage、 -15%～+10% 50/60Hz
Range of 200A and above Specifications：
Input
power voltage 1.Single phase AC220V control power -15%～+10%
fluctuation 50/60Hz
Frequency 2.Three-phase AC380V strong power -15%～+10%
50/60Hz
Position control、External speed control、JOG control、
Control modes
Internal speed control
Speed
frequency 300Hz or higher
response
Characte Lower than±0.1 (load 0%～100%); Lower than±0.2(power
ristic Speed
volatility supply
-15%～+10%)
Speed range 1:10000
Types of
① Direction + pulse train ②CCW pulse +CW pulse
pulse
③Two-phase A / B quadrature pulse
command
Form of
Position
pulse Non-insulated wire drive（about +5V）
control
command
Frequency
of pulse ≤500kHz
command
Types of
① Direction + pulse train ②CCW pulse +CW pulse
pulse
③Two-phase A / B quadrature pulse
command
Form of
pulse Non-insulated wire drive（about +5V）
command
Frequency
of pulse ≤500kHz
Speed
command
control
Electron
1≤α/β≤32767
gear
Analog
DC 0～+10VorDC -10V～+10V
command
Acceleratio
n and 1～32000ms
deceleration (0~1000r/min or 1000~0r/min)
function
16
TTL composite incremental photoelectric

Type of servo motor
encoder:1024line、2048line、2500 line、6000 line
encoder
Servo encoder encoder Optical encoder (TTL)
type Sine and cosine analog signal（1Vpp）
Run enable
Alarm clear
Control Forward and reverse running enable
input Servo orientation ready
Input and Control modes switch
output Indexing incremental orientation ratio input selection
Signal Servo ready
Servo alarm
Control
output Servo orientation-finished
Speed-reached
Zero-speed reached
Servo Accuracy：±1pulse；Position adjustment：Parameter
orientation setting
Servo Rigid
function Tapping deviation：±2％
tapping
Other
C-axis control，Thread cutting
function
Communication
RS232 use MODBUS protocol
function
Speed
Flux current
Torque current
Monitoring function Motor load current
Switch-value input status display
Switch-value output status display
Control mode display
Provides protection against:
Over speed
Main power over-voltage and under-voltage
Over current
Protecting function
Overload
Motor over heat
Big speed error
IPM fault etc.
17
Six LED digital tubes, two light-emitting diodes(LED), five

Operation bottoms
Adaptive motor 2.2KW～51KWAC servo motor

Non-corrosive, flammable gas, prevent conductive objects,
Use place metal dust, oil mist and liquid from entering inside the Servo
Amplifier.
Use
Temperatur Use temperature :0℃～+40℃，More than 40 ℃ shall be
e Storage derated。
Temperatur Storage temperature :-20℃～+60℃。
Use e
Environ
Use
ment
humidity
Below 90% RH, non-condensing.
Storage
humidity
Altitude Below 1000m，Altitude above 1000m shall be derated。
Vibration /
impact Vibration Resistance 4.9m/S2 ，Impact resistance 19.6m/S2
resistance
18
3.1.4 Dimension and Size of the Servo Amplifier

The following figures show the installation dimension of series HSV-180AD
Servo Amplifier.
1、Figure 3-2 Dimension and size of HSV-180AD-, 035, 050, 075 (without
auxiliary devices Unit: mm)
2、Figure 3-3 Dimension and size of HSV-180AD-035, 050, 075 (with auxiliary
devices Unit: mm)
19
3、Figure 3-4 Dimension and size of HSV-180AD-,100, 150 (without auxiliary

devices Unit: mm)
20
4、Figure 3-5 Dimension and size of HSV-180AD-100,150 (with auxiliary

devices Unit: mm)
21
22
5、Figure 3-6 Dimension and size of HSV-180AD-,200, 300,450 (without auxiliary

devices Unit: mm)
23
6、Figure 3-7 Dimension and size of HSV-180AD-,200, 300,450 (with auxiliary

devices Unit: mm)
24
3.2 Specification of Servo Motor
3.2.1 Introduction to Series GK6 AC Servo Motor

GK6 series of AC servo motors and the Servo Amplifier can be widely used in
various fields such as machine tools, textile, printing, and building materials.
GK6 AC servo motor uses self-cooling motor, and its protection class reaches
IP64-IP67. GK6 AC servo motor is a three-phase AC permanent magnet synchronous
motor that uses high-performance rare earth permanent magnetic materials to form air
gap magnetic field. Pulse width modulation (PWM) inverter is used to control
operation to achieve good torque performance and wide speed range. A temperature
sensor is installed in the stator windings of the servo motor, which is used for
overheat protection. GK6 series of AC servo motors consist of stator, rotor, and
high-precision feedback devices (such as optical encoder and resolver).
3.2.2 Features of Series GK6 AC Servo Motor

 Compact architecture and high power density
 Small rotor inertia and rapid response
 Super high coercively rare earth permanent magnet
 Overheat protection capability
 Strong anti-demagnetization capability
 Various frame installation size
 Full-closed design
Figure 3-4 Series GK6 AC servo motor
25
3.2.3 Technical index of Series GK6 AC servo motor

The following table describes the technical index of series AC GK6 servo motor.
Table 3.3 Technical index of series GM7AC servo motor:
Item Description
Magnetic material ● Super high coercively rare earth permanent magnetic
Insulation level material.
● Class F insulation level
When the environmental temperature is +40℃, the rotor
winding temperature can reach 100 K ( T=100 K). Class
H or Class C insulation level is optional, in which case
the rotor
Feedback system Winding temperature can reach 125 K or 145 K
respectively.
● Standard: square-wave optic-electrical encoder (with
U, V, and W signal)
Options:
 Resolver, used in the environment with big vibration
Temperature and impacts
protection  Sine and cosine optic-electrical encoder, which
resolution can reach 220
 Absolute encoder
● Positive temperature coefficient (PTC) thermistor
When the temperature is 20°, the resistance cannot
greater than 250 Ω (R ≤ 250 Ω).
Option: Heat-sensitive switch
Temperature positive temperature coefficient(PTC) thermistor
protection
Types of mounting ●MB5
Protection level Options: IMV1, IMV3, and IMB35 IMB5
Cooling ●IP64
Options: IP 65 and IP67
Surface paint ●Natural cooling
●Flat grey paint
Options: customized paint
Bearing ●Double row deep groove ball bearing
Radial shaft seal ●Drive shaft seal
Shaft ●Standard:
Type a: Plain shaft, no keys
Option:
 Type b: Shaft with keyway, keys, or customized
shaft
26
Vibration level& ●N
Rotation accuracy Options: R and S
●N
Option: R and S
Noise GK603≤55dB(A); GK604≤55dB(A);
GK605≤60dB(A); GK606≤65dB(A);
GK607≤65dB(A); GK608≤70dB(A);
GK610≤70dB(A); GK613≤70dB(A);
GK618≤76dB(A);
Connection ●Socket connector (GK603-GK610)
Option: Outlet box (GK603-GK610)
●Outlet box (GK613 or a later version)
Option: Socket connector
Options ●Maintenance-free high-reliability permanent magnet
safe brake (made in Germany)
●High-precision planetary gear reducer or other reducers
27
3.2.4Order information of series GK6 AC Permanent Magnet Servo
3.2.5 Technical Specification of Series GK6 AC Permanent Magnet

Servo Motor
Adhere to the following principles when choosing the Servo Amplifier:
 Generally, the maximum current or rated current of the Servo Amplifier must
be equal or greater than 2.
 For the situation that requires great dynamic response characteristics, the
maximum current or rated current must be equal or greater than 3.
The following tables describe the technical specification of series GK6 AC permanent
magnet servo motor
28
Table 3-4 Technical specification of series GK6 AC permanent magnet servo motor
1. Natural cooling:
Type Rated Static Phase Rotational Weight Adaptive
Speed Torque Current Inertia Kg AC Servo
¯4 2
r/min M0 I0 10 Kgm Amplifier
Nm A /Overload Ratio
GK6062‐6AC61 2000 3.8 HSV‐180AD‐035/5.7
7.5 12.9 12.8
GK6062‐6AF61 3000 5.7 HSV‐180AD‐035/3.8
GK6063‐6AC61 2000 5.6 HSV‐180AD‐035/3.9
11 17 14.5
GK6063‐6AF61 3000 8.3 HSV‐180AD‐035/2.6
GK6065‐6AC61 2000 6.2 HSV‐180AD‐035/3.5
15 23.4 17.8
GK6065‐6AF61 3000 9.1 HSV‐180AD‐035/2.4
GK6072‐6AC61 2000 3.8 HSV‐180AD‐035/5.7
7.5 12.9 12.8
GK6072‐6AF61 3000 5.7 HSV‐180AD‐035/3.8
GK6073‐6AC61 2000 5.6 HSV‐180AD‐035/3.9
11 17 14.5
GK6073‐6AF61 3000 8.3 HSV‐180AD‐035/2.6
GK6075‐6AC61 2000 6.2 HSV‐180AD‐035/3.5
15 23.4 17.8
GK6075‐6AF61 3000 9.1 HSV‐180AD‐035/2.4
GK6080‐6AC61 2000 6.8 HSV‐180AD‐035/3.2
16 26.7 16.5
GK6080‐6AF61 3000 10.2 HSV‐180AD‐050/2.7
GK6081‐6AA61 1200 6.1 HSV‐180AD‐035/3.6
GK6081‐6AC61 2000 21 10 35.7 19.5 HSV‐180AD‐050/2.8
GK6081‐6AF61 3000 15 HSV‐180AD‐075/2.8
GK6083‐6AA61 1200 8.1 HSV‐180AD‐035/2.7
GK6083‐6AC61 2000 27 13.3 44.6 22.5 HSV‐180AD‐075/3.1
GK6083‐6AF61 3000 20 HSV‐180AD‐100/2.8
GK6085‐6AA61 1200 9.9 HSV‐180AD‐050/2.8
GK6085‐6AC61 2000 33 16.5 53.5 25.5 HSV‐180AD‐075/2.5
GK6085‐6AF61 3000 24.8 HSV‐180AD‐100/2.3
GK6087‐6AA61 1200 11.1 HSV‐180AD‐050/2.5
GK6087‐6AC61 2000 37 18.5 62.4 28.5 HSV‐180AD‐075/2.3
GK6087‐6AF61 3000 27.8 HSV‐180AD‐150/3
GK6089‐6AA61 1200 12.6 HSV‐180AD‐050/2.2
GK6089‐6AC61 2000 42 21 71.3 31.5 HSV‐180AD‐100/2.7
GK6089‐6AF61 3000 31.5 HSV‐180AD‐150/2.7
GK6100‐8AA61 1200 4.7 HSV‐180AD‐035/4.6
GK6100‐8AB61 1500 5.9 HSV‐180AD‐035/3.7
18 57.2 21
GK6100‐8AC61 2000 7.8 HSV‐180AD‐035/2.8
GK6100‐8AF61 3000 11.7 HSV‐180AD‐050/2.4
GK6101‐8AA61 1200 7.0 HSV‐180AD‐035/3.1
GK6101‐8AB61 1500 8.8 HSV‐180AD‐035/2.5
27 89.5 26
GK6101‐8AC61 2000 11.7 HSV‐180AD‐050/2.4
GK6101‐8AF61 3000 17.5 HSV‐180AD‐075/2.4
29
Type Rated Static Phase Rotational Weig Adaptive

Speed Torqu Curre Inertia ht Kg AC Servo
r/min e nt 10¯4Kgm2 Amplifier
M0 I0 /Overload Ratio
Nm A
GK6103‐8AA61 1200 9.4 HSV‐180AD‐035/2.3
GK6103‐8AB61 1500 11.8 HSV‐180AD‐050/2.4
36 121.5 30
GK6103‐8AC61 2000 15.7 HSV‐180AD‐075/2.7
GK6103‐8AF61 3000 23.5 HSV‐180AD‐100/2.4
GK6105‐8AA61 1200 11.7 HSV‐180AD‐050/2.4
GK6105‐8AB61 1500 45 14.5 HSV‐180AD‐075/2.9
153.5 34
GK6105‐8AC61 2000 19.5 HSV‐180AD‐100/2.9
GK6105‐8AF61 3000 30.6 HSV‐180AD‐150/2.7
GK6107‐8AA61 1200 14.3 HSV‐180AD‐075/2.9
GK6107‐8AB61 1500 17.9 HSV‐180AD‐075/2.3
55 185.5 38
GK6107‐8AC61 2000 23.8 HSV‐180AD‐100/2.4
GK6107‐8AF61 3000 35.7 HSV‐180AD‐150/2.4
GK6109‐8AA61 1200 18.5 HSV‐180AD‐075/2.3
GK6109‐8AB61 1500 23.1 HSV‐180AD‐100/2.4
70 233.5 45
GK6109‐8AC61 2000 28.2 HSV‐180AD‐150/3
GK6109‐8AF61 3000 42.3 HSV‐180AD‐200/2.6
30
2. Forced cooling
¯4 2
r/min M0 I0 10 Kgm Amplifier
GK6100‐8SA61 1200 6.0 HSV‐180AD‐035/3.6
GK6100‐8SB61 1500 7.5 HSV‐180AD‐035/2.9
23 57.2 21
GK6100‐8SC61 2000 10.0 HSV‐180AD‐050/2.8
GK6100‐8SF61 3000 14.9 HSV‐180AD‐075/2.8
GK6101‐8SA61 1200 9.3 HSV‐180AD‐035/2.4
GK6101‐8SB61 1500 11.7 HSV‐180AD‐050/2.4
36 89.5 26
GK6101‐8SC61 2000 15.6 HSV‐180AD‐075/2.7
GK6101‐8SF61 3000 23.3 HSV‐180AD‐100/2.4
GK6103‐8SA61 1200 12.5 HSV‐180AD‐050/2.2
GK6103‐8SB61 1500 15.7 HSV‐180AD‐075/2.7
48 121.5 30
GK6103‐8SC61 2000 20.9 HSV‐180AD‐100/2.7
GK6103‐8SF61 3000 31.3 HSV‐180AD‐150/2.7
GK6105‐8SA61 1200 15.6 HSV‐180AD‐075/2.7
GK6105‐8SB61 1500 60 19.3 HSV‐180AD‐100/2.9
153.5 34
GK6105‐8SC61 2000 26.0 HSV‐180AD‐100/2.2
GK6105‐8SF61 3000 40.8 HSV‐180AD‐200/2.7
GK6107‐8SA61 1200 18.2 HSV‐180AD‐075/2.3
GK6107‐8SB61 1500 22.8 HSV‐180AD‐100/2.5
70 185.5 38
GK6107‐8SC61 2000 30.3 HSV‐180AD‐150/2.8
GK6107‐8SF61 3000 45.4 HSV‐180AD‐200/2.4
GK6109‐8SA61 1200 23.8 HSV‐180AD‐100/2.4
GK6109‐8SB61 1500 29.7 HSV‐180AD‐150/2.8
90 233.5 45
GK6109‐8SC61 2000 36.3 HSV‐180AD‐150/2.3
GK6109‐8SF61 3000 54.4 HSV‐180AD‐300/3
GK61011‐8SB61 1500 36.6 HSV‐180AD‐150/2.3
115 270.7 57
GK61011‐8SC61 2000 49 HSV‐180AD‐200/2.3
GK6130‐8SW61 500 7.5 HSV‐180AD‐035/2.9
GK6130‐8SV61 750 11 HSV‐180AD‐050/2.5
GK6130‐8SE61 1000 15 HSV‐180AD‐075/2.8
75 451 53
GK6130‐8SA61 1200 18 HSV‐180AD‐075/2.3
GK6130‐8SB61 1500 23 HSV‐180AD‐100/2.4
GK6130‐8SC61 2000 30 HSV‐180AD‐150/2.8
31
Type Rated Static Phase Rotationa Weight Adaptive

Speed Torque Current l Inertia Kg AC Servo
r/min M0 I0 10¯4Kgm2 Amplifier
GK6131‐8SW61 500 9 HSV‐180AD‐035/2.4
GK6131‐8SV61 750 14 HSV‐180AD‐075/3
GK6131‐8SE61 1000 18 HSV‐180AD‐075/2.3
90 509 60
GK6131‐8SA61 1200 22 HSV‐180AD‐100/2.5
GK6131‐8SB61 1500 27 HSV‐180AD‐150/3.1
GK6131‐8SC61 2000 36 HSV‐180AD‐150/2.3
GK6132‐8SW61 500 12 HSV‐180AD‐050/2.3
GK6132‐8SV61 750 18 HSV‐180AD‐075/2.3
GK6132‐8SE61 1000 24 HSV‐180AD‐100/2.3
120 664 79
GK6132‐8SA61 1200 29 HSV‐180AD‐150/2.9
GK6132‐8SB61 1500 36 HSV‐180AD‐150/2.3
GK6132‐8SC61 2000 48 HSV‐180AD‐200/2.3
GK6133‐8SW61 500 15 HSV‐180AD‐075/2.8
GK6133‐8SV61 750 23 HSV‐180AD‐100/2.4
GK6133‐8SE61 1000 30 HSV‐180AD‐150/2.8
150 819 98
GK6133‐8SA61 1200 36 HSV‐180AD‐150/2.3
GK6133‐8SB61 1500 46 HSV‐180AD‐200/2.4
GK6133‐8SC61 2000 60 HSV‐180AD‐300/2.8
GK6135‐8SW61 500 18 HSV‐180AD‐075/2.3
GK6135‐8SV61 750 27 HSV‐180AD‐150/3.1
180 975 117
GK6135‐8SE61 1000 36 HSV‐180AD‐150/2.3
GK6135‐8SA61 1200 43 HSV‐180AD‐200/2.6
GK6137‐8SW61 500 21 HSV‐180AD‐100/2.7
GK6137‐8SV61 750 32 HSV‐180AD‐150/2.6
210 1130 135
GK6137‐8SE61 1000 42 HSV‐180AD‐200/2.6
GK6137‐8SA61 1200 50 HSV‐180AD‐200/2.2
32

r/min M0 I0 10¯4Kgm2 Amplifier
GK6138‐8SW61 500 24 HSV‐180AD‐100/2.3
GK6138‐8SV61 750 36 HSV‐180AD‐150/2.3
GK6138‐8SE61 1000 240 48 1360 148 HSV‐180AD‐200/2.3
GK6138‐8SA61 1200 57 HSV‐180AD‐300/2.9
GK6138‐8SB61 1500 73 HSV‐180AD‐300/2.3
GK6139‐8SW61 500 26 HSV‐180AD‐100/2.2
GK6139‐8SV61 750 39 HSV‐180AD‐150/2.2
270 1590 160
GK6139‐8SE61 1000 52 HSV‐180AD‐200/2.2
GK6139‐8SA61 1200 62 HSV‐180AD‐300/2.7
GK6180‐8SE61 1000 51 HSV‐180AD‐200/2.2
GK6180‐8SA61 1200 250 61 2200 277 HSV‐180AD‐300/2.7
GK6180‐8SB61 1500 76 HSV‐180AD‐300/2.2
GK6181‐8SE61 1000 61.5 HSV‐180AD‐300/2.7
GK6181‐8SA61 1200 300 73.5 2800 300 HSV‐180AD‐300/2.3
GK6181‐8SB61 1500 91.5 HSV‐180AD‐450/2.4
GK6182‐8SE61 1000 72 HSV‐180AD‐300/2.3
350 3400 323
GK6182‐8SA61 1200 86 HSV‐180AD‐450/2.6
GK6183‐8SE61 1000 82 HSV‐180AD‐450/2.7
400 3900 345
GK6183‐8SA61 1200 98 HSV‐180AD‐450/2.3
33
3.2.6 Installation Dimension of the Motor

This section describes the installation dimension of series GK6 AC permanent
magnet servo motors.
Figure 3-10 Dimension and size of series GK6 AC permanent magnet servo
motors.
GK601 Outline dimension drawing

Type K (mm)
40
4
3
GK6011 83.5
25
45°
22.5
GK6013 98.5
30-0.021
8-0.009
+0
+0
GK6015 133.5
46
4- 4.5 R3
K EQS
GK602 Outline dimension drawing Type K'(mm)

K(mm) (with brake )
60 GK6021 110.5 139.5

31
6
3
18
70 GK6023 149.5
120.5
45°
27
GK6025 140.5 169.5
14-0.011
50-0.025
0
0
K(K') 4- 5.7 R4
EQS
GK603 Outline dimension drawing Type K'(mm)

K(mm) (with brake )
80 GK6031 149.5 180.5

35
8
22
3 90
GK6032 169.5 200.5
45°
31
19-0.013
70-0.03
0
0
K(K') 4- 6 R5
EQS
GK604 Outline dimension drawing Type K(mm) K'(mm)

(with brake )
96
28
10 GK6040 169.5 176
35
35
19+0.015
15
GK6041 185.5 192

45°
+0.002
40
80-0.03
0
GK6042 201.5 208

100
3 4- 7
0
12
K(K') EQS
34
35
GK610 Outline dimension drawing Type K (mm) K'(mm)

( with brake )
30 192
GK6100 237.5 237.5
18
50
GK6101 263.5 263.5
38 +0.018
4 5°
+0.002
15
180-0.04
GK6103 289.5 289.5

0
80
215 GK6105 315.5 315.5
4 4- 14
GK6107 341.5 341.5
0
EQS
24
K(K')
GK6109 380.5 380.5
Type K 1 (mm)
GK610( Forced cooling type ) Outline dimension drawing
GK6100（ FORCED ） 336.5
K
4- 14 45°
4 EQS GK6101（ FORCED ） 362.5
GK6103（ FORCED ） 388.5
(122)
+0.018
38 +0.002
80 GK6105（ FORCED ） 414.5
180-0.04
220
0
196
5 10 GK6107（ FORCED ） 440.5

70
GK6109（ FORCED ） 479.5
249
41 215 GK61011 （ FORCED ） 531.5
Type K 1(mm) D(mm) h(mm) b(mm)

GK613 Outline dimension drawing
GK6130 458.5 42 45 12
K
16 4- 18 45° GK6131 473.5 42 45 12
5 EQS
GK6132 513.5 42 45 12
(158)
110 GK6133 553.5 42 45 12

250-0.046
288
260
GK6135 593.5 42 45 12
0
10 b
90 GK6137 633.5 42 45 12
GK6138 658.5 55 59 16
350
h 300 GK61310 683.5 55 59 16
GK618 Outline dimension drawing Type L K

(mm) (mm)
K
GK6180 359 693
4- 19
5 450 EQS GK6181 389 723
400
+0.021 GK6182 419 753
60+0.002
140 18 GK6183 449 783
300-0.052
4 5°
GK6184 509 843

358
0
125 GK6185 569 903

180
10 GK6186 629 963

GK6187 689 1023
65 4- 17
L 64 GK6188 749 1083
279 GK6189 809 1143
NOTE: After GK610、GK613 assembling well，total length is K+61
36
3.2.7Recommended shaft keyway
Figure 3-11 Connect terminal of series GM7 AC servo motor
3.2.8 Recommended C‐type center hole

GK6 GK60 GK60 GK60 GK60 GK60 GK61 GK61 GK61
Type
03 4 5 6 7 8 0 3 8
Center
M5 M6 M6 M8 M8 M10 M12 M16 M24
Hole
Thread
12 12 12 14 14 18 22 26 34
Depth
37
3.2.9 GK6 Series AC permanent magnet servo motor interface

definition
Servo motor power terminal:
Note：If the motor without the brake or internal thermistor, the corresponding pin is
empty.
38
Servo motor encoder output Interface:
39
4 Installation
4.1 Products Check
After receiving products, users must check the items as the following table.
Item Reference
Whether the product is Check the product appearance to make sure that the
damaged product is not damaged during transportation.
Whether the product type Check and make sure the type of the Servo Servo the
is in accordance with that Servo Amplifier and motor is in accordance with that
in order in order
Whether the accessories Check the packing list and make sure that the
are complete accessory type and quantity is correct.
Whether the motor shaft
Check and make sure that the motor shaft can be
can be easily turned by
easily turned by hand, except motors with brakes.
hand
If there are any problems, contact directly with the applier or our company.
Warning
● Do not install the Servo Amplifier which are damaged or with incomplete
parts.
● The Servo Amplifier must be matched with the compatible servo motor.
● Do not touch the servo motor shaft directly, which can cause corrosive.
4.2 Installation Environment
4.2.1 Environment Temperature

The working environment temperature is between 0℃ to 40℃. If the
temperature over 40℃, de-rating required.
4.2.2 Humidity
Air relative humidity is equal or less than 90%. No condensation.
40
4.2.3 Altitude
The Servo Amplifier must be installed below 1000m altitude. If over 1000m
altitude, de-rating required.
4.2.4 Vibration and Impulsion

The Servo Amplifier is not load bearing and anti-collision. When installing and
working, it must be free from oscillation and impact, and take measures to
control the oscillation below 0.5G（4.9m/S2）.
4.2.5 Water
The Servo Amplifier cannot be installed in the water spray or condensation
location.
4.2.6 Air Pollution

The Servo Amplifier must be free from air pollution. It must be installed in the
electric cabinet which is resistant to corrosive and flammable gas, as well as
prevent conductive object, mental dust, oil mist and liquid from entering to the
interior of the equipment.
41
4.3 Installation of Servo Amplifier
Warning
 The Servo Amplifier must be installed in the electric cabinet with fine
protective function.
 The Servo Amplifier must be installed in accordance with the specified
direction and interval to ensure enough cooling.
 The Servo Amplifier cannot be installed near combustibles that may cause fire
hazard.
4.3.1 Installation Methods of HSV‐180AD‐035,050,075

1.Installation methods
There are three types of wall installation: directly installed without auxiliary devices,
with auxiliary devices, and external heat sink installation. For their installation
diagrams, see Figure 4.-1, Figure 4-2, and Figure 4-3. You can use any of the three
methods, and install the Servo Amplifier vertically.
2.Installation Interval
For the installation interval of single the Servo Amplifier, see Figure 4-4 and Figure
4-5.
For the installation interval of multiple the Servo Amplifier, see Figure 4-6.
During installation, leave enough intervals to ensure good heat emission.
3.Cooling
In the electric cabinet, there must be air blew through the radiator to prevent the
ambient temperature of the Servo Amplifier from overheating.
42
Figure 4-1 Wall installation of HSV-180AD-035, 050, 075 Servo Amplifier (without
auxiliary devices)
43
Figure 4-2 Wall installation of HSV-180AD- 035, 050, 075 Servo Amplifier (with
auxiliary devices)
44
Figure 4-3 Installation diagram of HSV-180AD- 035, 050, 075 (with external heat
sink)
45
Figure 4-4 Installation interval of HSV-180AD- 035, 050, 075 Servo Amplifier
(Wall installation)
46
Figure 4-5 Installation interval of HSV-180AD- 035, 050, 075 single Servo Amplifier
47
Figure 4-6 Installation intervals of HSV-180AD-035,050,075 multiple Servo

Amplifiers
4.3.2 Installation Methods of HSV‐180AD‐100,150

1. Installation Methods
There are two types of wall installation: directly installed with auxiliary devices,
and external heat sink installation. For their installation diagrams, see Figure 4-7,
Figure 4-8.You can use any of the three methods, and install the Servo Amplifier
vertically。
2. Installation Interval
For the installation interval of single Servo Amplifier, see Figure 4-9 and Figure
4-10
For the installation interval of multiple Servo Amplifier, see Figure 4-11
During installation, leave enough intervals as possible to ensure a good heat
emission.
48
3. Cooling
Figure 4-7 Wall installation diagram of HSV-180AD-100,150 Servo Amplifier

(with auxiliary devices)
2
447.
95
install with 4 M5×16 screws
49
Figure 4-8 Wall installation diagram for external heat sink of HSV-180AD- 100, 150
Servo Amplifier
443
×16 screws
install with 4 M5
146
50
Figure 4-9 Wall installation diagram of HSV-180AD- 100, 150 Servo Amplifier (with
auxiliary devices)
>100
RS232
XS1
ENCODER2
XS2
ENCODER1
XS3
>100 >100
COMMAND
XS4
I/O
XS5
>100
>370mm
51
Figure 4-10 Installation interval of HSV-180AD- 100,150 single Servo Amplifier
>100
RS232
XS1
ENCODER2
XS2
ENCODER1
XS3
>100 >100
COMMAND
XS4
I/O
XS5
>100
>250mm
52
Figure 4-11 Installation interval of HSV-180AD- 100,150 multiple Servo Amplifiers
RS232
RS232
RS232
XS1
XS1
XS1
ENCODER2
ENCODER2
ENCODER2
XS2
XS2
XS2
ENCODER1
ENCODER1
ENCODER1
XS3
XS3
XS3
COMMAND
COMMAND
COMMAND
XS4
XS4
XS4
I/O
I/O
XS5
XS5
I/O
XS5
4.3.3Instllation method of HSV‐180AD‐200,300,450

1. Installation Methods
There are two types of wall installation: directly installed with auxiliary devices,
and external heat sink installation. For their installation diagrams, see Figure
4-12, Figure 4-13.You can use any of the three methods, and install the Servo
Amplifier vertically。
2. Installation Interval
For the installation interval of single Servo Amplifier, see Figure 4-14 and
Figure 4-15
For the installation interval of multiple Servo Amplifiers, see Figure 4-16
During installation, leave enough intervals as possible to ensure a good heat
emission.
53
3. Cooling
Figure 4-12 Wall installation diagram of HSV-180AD-200,300,450 Servo

Amplifier (with auxiliary devices)
54
Figure 4-13 Wall installation diagram for external heat sink of HSV-180AD- 200,
300,450 Servo Amplifier(without auxiliary devices)
55
Figure 4-14 Installation interval of HSV-180AD- 200,300，450 single Servo

Amplifier （wall station）
56
Figure 4-15 Installation interval of HSV-180AD- 200,300,450 single Servo Amplifier
57
Figure 4-16 Installation interval of HSV-180AD- 200,300,450 multiple Servo

Amplifiers
58
4.4 Installation of Servo Motor
Warning
 Do not knock the motor or encoder so as to prevent the motor
from oscillation or impact.
 When carrying the motor, do not drag the motor shaft,
leading-out wire or encoder.
 Do not overload motor shaft, otherwise the motor may be
damaged.
 The motor must be firmly installed and prevent loosening.
4.4.1 Installation Environment

1. Prevention
The servo motor is not water-proof. When installing and operating, the motor
must be guard against liquid spilling and prevent oil mist from entering the
motor through motor leads and motor shaft. If users need water-proof motor,
make it clear when ordering.
2. Temperature and Humidity
The environmental temperature must be between 0 degree Celsius and 40 degree
Celsius. Humidity cannot greater than 90% RH and there is no condensation.
After long-time operation, the motor will heat up. It is recommended that you use
forced cooling or use derating motors if there is less space or the motor is closed
to heating equipments
3. Oscillation
The motor must be free from oscillation, and take measures to control the
oscillation below 0.5 G（4.9m/S2）.
59
4.4.2 Installation Method

1. Installation Method
The GK6 series can be installed vertically and horizontally.
2. Installation Notes
 During installing and removing pulley, do not knock the motor or motor
shaft to prevent damaging the encoder. Use the spiral drawing tools to
install and remove the thermal expansion expansion-type coupling.
 Series GK6 servo motors cannot withstand large axial load or radial load.
It is recommended that you use flexible couplings to connect it with the
load.
 When fixing the motor, use spring washer to tighten the bolts to prevent
loosening
60
5 Wiring
Warning
 Wiring and wiring inspection personnel must have required
capabilities.
● Wiring and wiring inspection personnel must wait 5 minutes after
power off for all wiring or wiring check to prevent from
electronic shock.
Caution
● Must be wiring in accordance with the terminal voltage and the
polarity to prevent from equipment damage or personal injury.
● The Servo Amplifier and servo motor must be reliably grounded.
 Do not directly hammer at the motor shaft when connect or
disconnect its mechanic part to protect encoder from being
damaged.
● Try to align the motor shaft to the optimum level to prevent from
oscillation or bearing damage.
5.1 connectors
61
Figure 5-1 shows the interface configuration of HSV-180AD
62
5.2 Terminal Configuration
Figure 5-2 shows the interface configuration of HSV-180AD. In the figure, XT1
and XT2 are the terminal blocks; XS1 is a DB9 socket; XS2, XS3, and XS4 are
high-density sockets; XS5 is a wiring terminal.
Figure 5-2 Interface configuration of HSV-180AD
XT1 power input

terminal
XS1 RS232
Communication interface
XS2 ENCODER Second position

encoder input interface
Th ENCODER1Servo
XS3 i ti t f motor
XS4 COMMAND
Command input / output
interface
XS5 input / output terminal
XT2 Power output terminal
63
XT1 power input

terminal
XS1 RS232
Communication interface
XS2 ENCODER Second position

Th i ti t f
XS3 ENCODER1Servo motor
The input interface

XS4 COMMAND
Command input / output
interface
XS5 input / output terminal
XT2 Power output terminal
64
5.3 Terminal Configuration
5.3.1 Terminals of HSV‐180AD‐035，050，075，100，150
Figure 5-3 Soldering terminal of HSV-180AD-035,050,075
Figure 5-4 Soldering terminal of HSV-180AD-100,150

Gram5.1 XT1 power input terminal of HSV-180AD-035，050，075
XT1 power input terminal of HSV-180AD-035，050，075
Terminal
NO. Signal Function
Symbol
1 220B
Reserved
2 220A
Ground Ground terminal, and the ground resistance is
3 PE
terminal less than 4Ω
4 L3 Three-phrase Main circuit power supply input terminal
5 L2 main circuit Three phrase AC380V/ 50Hz
power input Note:
6 L1
terminal Do not connect to the output terminal U, V, W.
65
Gram5.2 XT1 power input terminal of HSV-180AD-100，150

XT1 power input terminal of HSV-180AD-100，150
Terminal
NO. Signal Function
Symbol
Ground Ground terminal, and the ground resistance is
1 PE
terminal less than 4Ω
3 L2 main circuit Three phrase AC380V/ 50Hz
power input Note:
4 L1
terminal Do not connect to the output terminal U, V, W.
Gram 5.3 Heavy Current Output Terminal of HSV-180AD-035,050,075,100,150

HSV-180AD-035，050，075,100,150 XT2 heavy current output terminal
Terminal
NO. Signal Function
Symbol
 Build-in 70Ω/500W braking resistors.
 If only use the braking resistor, the
1 P terminal P and BK must be disconnected to
Connection avoid short-circuit.
terminal for  If an external braking resistor is used,
terminal P and BK must be connected to an
external external braking resistor.
2 BK braking resistor Note:
Terminal P and BK cannot be shorted.
Otherwise, the Servo Amplifier may be
damaged.
3 U Three-phrase
output terminal It must be linked to the motor U, V, and W
4 V
of the Servo terminals correspondingly.
5 W Amplifier
Ground Ground terminal
6 PE
terminal Ground resistance is less than 4Ω
Ground terminal
Ground Ground resistance is less than 4Ω
terminal Servo Amplifier housing ground terminal
66
5.3.2 Terminal Configuration HSV‐180AD‐200,300,450
Figure 5-5 Soldering terminal of HSV-180AD-200,300,450

Gram5.4 XT1 power input terminal of HSV-180AD-200,300,450
XT1 power input terminal of HSV-180AD-035，050，075
Terminal
NO. Signal Function
Symbol
1 220A single-phra
single-phrase input terminal of main circuit power
se input
AC220V/50Hz
terminal of
Main circuit power supply input terminal
2 220B control
Three phrase AC380V/ 50Hz
power
Gram 5.5 XT2 Heavy Current Output Terminal of HSV-180AD-200,300,450
HSV-180AD-200,300,450 XT2 heavy current input/output terminal
Termina
NO. Signal Function
l Symbol
main circuit Three phrase AC380V/ 50Hz
2 L2
power input Note:
3 L1 terminal Do not connect to the output terminal U, V, W.
4 PE
Terminal P and BK is used to DC current input or
Positive an external braking resistor.
5 P Of Note:
generator Terminal P and BK cannot be shorted. Otherwise,
the Servo Amplifier may be damaged.
Terminal P and BK is used to DC current input
Negative of Note:
6 N
generator Terminal P and BK cannot be shorted. Otherwise,
67
There is no build-in braking resistors, must use an

Connection
external braking resistor, terminal P and BK must
terminal for
be connected to an external braking resistor.
7 BK external
Note:
braking
Terminal P and BK cannot be shorted. Otherwise,
resistor
U Three-phrase
8 output
V It must be linked to the motor U, V, and W
terminal of
terminals correspondingly.
the Servo
W
Amplifier
9 PE
Ground terminal
10 Ground Ground resistance is less than 4Ω
terminal Servo Amplifier housing ground terminal
5.3.3 Side wring of main circuit input

Figure 5-6 Soldering terminal of main circuit input
1、Circuit Breaker (MCCB)

 Circuit breaker must be connected between the three-phrase AC power
supply and power input terminals L1, L2, L3 on XT1 so as to cut off the
power when the Servo Amplifier is over circuited or short circuited.
 MCCB capacity is generally 1.5 to 2 times of the rated motor current, refer to
Table 3.1
68
 MCCB's time characteristics should considerate the Servo Amplifier (motor

rated current 1.5 to 2 times, 1 min) and time characteristics.
 Each Servo Amplifier must be corresponding to a MCCB；when multiple
Servo Amplifiers share a MCCB, In order to cut off the power supply and
prevent the failure expanding，suggest using the failure chain output relay of
Servo Amplifier to control the line magnetic contactor to ensure safety。
2、leakage circuit breaker
 When choosing a specific leakage circuit breaker，please select Operating
current of Servo Amplifier above 30mA.
 When choosing a general leakage circuit breaker，please select Operating
current of Servo Amplifier above 200mA,time is above 0.1S。
 Installing isolation transformer between a general leakage circuit breaker and
Servo Amplifier could effectively avoid the breaker malfunction
3、Line electromagnetic contactor
 Line electromagnetic contactor capacity is generally 1.5 to 2 times the rated
motor current selection, please refer to Table 3.1
 Frequently using open / closed magnetic contactor will cause heating of the
soft-start resistance, and even burning.
 Interval time of open / closed magnetic contactor should be more than 10
minutes
4、 Surge Suppressors
In order to eliminate arc and damage, extend the life of the contactor
connect a three-phase AC interrupter serve on output main contact of electromagnetic
contactor
5、Input AC reactor
In order to protect the rectifier components from damage caused by the high-current's
impacting to the input power circuit, the power input side need to connect to an input
AC reactor and increase its power factor. It can effectively eliminate the influence of
high harmonics, prevent other equipment from damage caused by the voltage wave
changes, and eliminate the unbalanced input current caused by phase voltage
unbalanced.
 Input AC reactor capacity is generally 1.5 to 2 times of the rated motor current,
69
please refer to the Table 3.1.

6、Input filter
In order to reduce a high-frequency interference noise from source line coupling to
Servo Amplifier, suggest install matching input filter on the current input of Servo
Amplifier.
 Input filter capacity is generally 1.5 to 2 times the rated motor current selection,
please refer to Table 3.1.
 Please select the dedicated servo (inverter) input filter。
 Input filter should be well grounded
Figure 5-7 Input filter on the current input of Servo Amplifier
5.3.4 Control power wiring

HSV-180AD-200，300，450 Servo Amplifier must connect AC220Vcontrol
power，during power-on process, you should connect AC220V control power firstly
and then connect the AC380V strong electric power。
5.3.5 Output side wiring of main circuit

1、Motor Connection
Output terminals U、V、W of Servo Amplifier should connected to terminals U、
V、W of the three-phase AC motor according to the correct phase
 If A30 motor phase sequence error alarm appears at the first running,
 prompt users motor terminal phase sequence error will be wrong, you just
need to exchange V,W
 Distance between Servo Amplifier and motor wiring should generally be less
than 40 m
70
2、External Braking Resistor
The braking voltage of HSV-180AD Servo Amplifier is DC700 V. For the

maximum braking current, see Table 3.1.
(1)A 70 Ω/500 W braking resistor has been built in HSV-180AD-035，050，
075and a maximum of five times overload is allowed (continuing for one second). An
external braking resistor is required when the Servo Amplifier 's load or inertia is big.
The braking time is shorter when the load or inertia is bigger, and the resistance value
is smaller and its power is bigger. However, the maximum braking current cannot
exceed the Servo Amplifier's maximum braking current. Generally, the total braking
power of the braking resistor is 10% to 20% of the rated motor power.
Connect P and BK terminals of the Servo Amplifier with the external braking
resistor if an external braking resistor is used. In this case, the internal resistor and the
external resistor are serial connected. Table 5.8 shows the recommended external
braking resistor.
(2) There is no braking resistor built in HSV-180AD-100，150，200，250，

300，450,you have to connect to external braking resistor. The braking time is shorter
when the load or inertia is bigger, and the resistance value is smaller and its power is
bigger. However, the maximum braking current cannot exceed the Servo Amplifier's
maximum braking current. Generally, the total braking power of the braking resistor
is 10% to 20% of the rated motor power.
Connect P and BK terminals of the Servo Amplifier with the external braking
resistor if an external braking resistor is used. In this case, the internal resistor and the
external resistor are serial connected. Table 5.8 shows the recommended external
braking resistor.
71
Figure 5-8 single external braking resistor standard wiring
Figure 5-9 multiple external braking resistor standard wiring

3、Ground Connection
 Ground terminal or PE or ，be sure to ground。
 Ground resistance is less than 4Ω
 Ground wire of Servo Amplifier cann’t use with welder and other power
equipment at the same time.
Figure 5.10 Ground connection
72
5.4 connection of control signal terminals
5.4.1 XS4 COMMAND input/ output terminals

Figure 5-11 XS4 command input/output interface
18 1
36 19
Figure 5-12 Plug of XS4 command input/output interface plug (looking from the
plug)
1 18
19 36
Figure 5-13Soldering terminal of XS4 command input/output interface (looking from

the soldering terminal)
18 16 14 12 10 8 6 4 2
17 15 13 11 9 7 5 3 1
36 34 32 30 28 26 24 22 20
35 33 31 29 27 25 23 21 19
5.4.1.2 XS4 COMMAND Input/output Interface
Type Terminal Terminal Function Signal

Symbol
Command 14 CP+ Input terminal for external Line
pulse input 15 CP- command pulse drive
16 DIR+ Note: receiving
You can set the pulse input RS422
17
mode by setting the standard
movement parameter PA--22.
Command pulse + characters
DIR- CCW/CW command pulse
mode
2-phase command pulse
mode
73
Servo motor 32 A+ line drive

Encoder A output
optic-electrical 33 A- output
encoder 18 B+ RS422
Encoder B output
36 B- standard
35 Z+
Encoder Z output
34 Z-
PNP output
21,22 Z_OUT Z-phase pulse output
100mA
NPN
Z-phase pulse output
31 ZPLS_OUT output
100mA
23,24 GNDDM Digital signal ground 0V
Analog output Analog output terminal DC -10～
terminal 12 AN+ +10Vor 0～
+10V
Reference terminal for analog
13 AN-
input
27,28 GNDAM Analog signal ground 0V
SW input signal Servo enable input terminal 0Vcommon
EN ON：Enable the Servo point
Amplifier 0V input
1 EN
EN OFF：The Servo effective
Amplifier stops working, and
the motor is idle.
Alarm clear input terminal
ACL ON: Clear system
2 A_CL alarm
ACL OFF: Keep system
alarm
Position error counter
clearance input terminal
3 CLEE CLEE ON: In the position
control mode, clear the
position error counter.
Command pulse prohibition
Command pulse prohibition
4 INH
input terminal
CCW drive prohibition input

terminal
OFF: CCW drive is allowed.
5 L-CCW
ON：CCW drive is not
prohibited.
cancelled。
74
L-CW drive prohibition input

terminal
OFF: indicates that CW drive
6 L-CW
is allowed.
ON: indicates that CW drive
is prohibited.
25 PIN.7 Reserve
26 PIN.8 Reserve
SW output Position finished output NPN
signal Position terminal output100mA
finished When the position error is in
output the preset range, the signal is
connected.
7 GET
Speed reached output
Speed terminal
reached When the speed reaches or
output exceeds the preset speed, the
signal is connected.
Servo ready output terminal
ON: indicates proper power
supply, and no drive alarm.
The signal is connected.
8 READY OFF: indicates the main
power is not switched on or a
Servo Amplifier alarm is
reported. The signal is
disconnected.
Servo alarm output terminal
ALM ON: indicates a Servo
Amplifier alarm is reported.
9 ALM The signal is connected.
ALM OFF: indicates no
Servo Amplifier alarm. The
signal is disconnected.
29 POU.5 Reserve
30 POU.6 Reserve
19,20 COM
75
5.4.1.3 XS4 COMMAND Input / Output Interface

1、Switch-value Input Interface
Figure 5-14 Switch-value input interfaces of HSV-180AD
Note:
1、 Two common wiring example，IN means input point：（EN，ALM_RST，
FWD，REW，INC_Sel1，INC_Sel2，Mode_SW，ORN）
2、The COM signal of the XS4 command input/output interface must be connected to
the power ground of the external DC24V power supply. Otherwise, the Servo
Amplifier may work improperly.
3、The Darlington transistor is served as the output transistor which needs to be
connected to a relay or an optical coupler.The external power supply is provided by
users. Make sure that the polarity is not reversed. Otherwise, it may damage the Servo
Amplifier.
4、XS4 command input / output interface of the COM signal must be connected with
the ground signal of external DC24V，otherwise Servo Amplifier cannot work
properly.
76
Figure 5-15 Status of switch output signal
2、Switch-value Output Interface

1.Two common wiring example，OUT means out point：（ZSP，READY，ALM，
GET，ORN_FIN）。
Figure 5-16 Connections of switch output signal
2.Input mode: NPN. The input switch-value state is determined by the Servo
Amplifier. When the input of isolation optical coupler is conducted, the input switch
-value state is ON. When the input of isolation optical coupler is turned off, the input
switch-value state is OFF
77
3.It provides open-collector output, with a maximum of 100 mA current and 25 V

external power supply voltage. Therefore, the load of the switch-value output signal
must meet the requirements. If the value exceeds the maximum value or the output
terminal is directly connected to the power supply, it may damage the Servo
Amplifier.
4.If the load is an inductance load such as relay, it must be anti-parallel with the
freewheeling diode (FWD) at both ends. The FWD cannot be reversed. Otherwise, it
may damage the Servo Amplifier.
5.The output transistor is Darlington Transistor. When it is conducted, the voltage
drop between the collector and the emitter (Vce) is about 1V, which cannot meet the
requirement of the TTL low level. So it cannot be directly connected to the TTL.
3、Z-phase Pulse Open Collector Output Interface
（1）Incremental photoelectric encoder Z signal send to the CNC system by open

collector， meanwhile providing two types of output :Z_OUT(PNP)and ZPLS_OUT
（NPN）
Figure 5-18Z-phase pulse open-collector output interface（PNP）
78
Figure 5-19Z-phase pulse open-collector output interface（NPN）

（2）Z-phase pulse signal is outputted by the open-collector.，with a maximum of
100mA current
（3）The Z-phase pulse signal is usually very narrow. Therefore the PC must use a
high-speed optical coupler receiver, such as 6N137.
（4）The output must be non-isolated output (non-insulated).
4、 Pulse Command Input Interface
Figure 5-20 Differential drive mode of the pulse input
Figure 5-21 Single-ended drive mode of the pulse input
79
It is recommended that you use the differential drive mode (especially when the cable
is too long) which uses AM26LS31, MC3487 drives or RS422 drives.
The single- ended drive mode can reduce the action frequency. You can determine the
value of R according to a 10 to 15 mA drive current and a maximum of 25V external
power supply voltage.
Generally, if the value of VCC is 24 V, the value of R is 1.3 K to 2 K (VCC = 24 V,
R = 1.3 K to 2 K);
If the value of VCC is 12 V, the value of R is 510 Ω to 820 Ω (VCC = 12 V, R = 510
Ω to 820 Ω);
If the value of VCC is 5 V, the value of R is 82 Ω to 120 Ω (VCC = 5 V, R = 82 Ω to
120 Ω).
In the single-ended mode, users provide the external power supply. Make sure that the
polarity is not reversed. Otherwise, it may damage the Servo Amplifier.
5、 Analog Command Input Interface

Figure 5-22 Differential analog input interface
Figure5-23 Single-ended analog input interface
80
Figure 5-24 c Differential analog potentiometer input interface
Figure 5-25 d Single-ended analog potentiometer input interface
The analog input interface is differential. According to different connection methods,

it has two forms connection, differential connection and single-ended connection. The
range of input voltage is -10V to +10V.
In the differential connection, the analog ground wire is connected to the input
reference terminal at the side of controller. Therefore, it needs three wires to connect
the controller and Servo Amplifier.(see Figure 5-13 a)
In the single-ended connection, the analog ground wire is connected to the input
reference terminal at the side of the Servo Amplifier. Therefore, it needs two wires to
connect the controller and the Servo Amplifier.(see Figure 5-13 b)
The differential connection is superior to the signal-ended connection for its good
anti-common-mode interference characteristic.
The input voltage cannot exceed the range from -10V to +10V. Otherwise it may
damage the Servo Amplifier.
It is recommended that the shield cable be used to reduce the noise disturbance.
It is normal for the analog input interface has a zero bias which can be compensated
by setting the movement parameter PA-8.
The analog interface is non-isolated.
81
6、Servo Motor optic-electrical encoder/Servo Encoder Output Interface

Figure 5-26 Servo motor optic-electrical encoder/servo encoder output interface
The encoder signal is outputted by the differential drive（AM26LS31）.

The controller input terminal can adopt AM26LS32 receiver and must be connected to
an approximate 330Ω termination resistor.
The controller ground wire and the Servo Amplifier ground wire must be reliably
connected.
The output must be non-isolated output.
The controller input terminal can also adopt an optical coupler receiver. However, the
receiver must be a high-speed optical coupler, such as 6N137.
Figure 5-27 Servo motor optic-electrical encoder/servo encoder output interface
82
83
5.4.2 XS5 Input/output Terminal

XS5 Input/output Terminal Figure
4 3 2 1
Figure 5.25 XS5 Input/output Terminal
5.4.2.2 XS5 I/O Input/output Terminal Function
Terminal
NO. Signal Description
Symbol
Failure chain output terminal
The relay is connected when the relay is in the
Failure
1 MC1 Normal Open state and the Servo Amplifier runs
chain
properly. The relay is disconnected if there are
any Servo Amplifier faults.
2 MC2
Public terminal connection terminal
If the brake function is required, The COM signal
of the XS4 command input/output interface must
Common
3 COM be connected to the external DC 24 V power
terminal
ground signal. Otherwise, the Servo Amplifier
may work improperly. Otherwise, the Servo
Amplifier may work improperly.
Brake output terminal
If the main power is proper and no Servo
Brake
4 BREAK Amplifier fault is reported, the signal is
output
connected after the servo enable signal is input.
Otherwise, the signal is disconnected.
5.4.2.3 XS5 I/O Input/output Terminal Notations

（1）If the output terminal of the Servo Amplifier inductive loads, such as
electromagnetic relays, electromagnetic contactor, should be retrofitted surge
suppressor.
The surge suppressors should be nearby installed on end of electromagnetic relay or
electromagnetic contactor coil.
84
5.5 Connection of the encoder signal terminal
5.5.1 XS3 ENCODER1 Servo Motor Input Interface

HSV-180AD support three types of motor encoder: Incremental photoelectric encoder
sine and cosine incremental encoder、ENDAT2.1/2.2of Absolute encoder。Details
are as follows:
1．Number of encoder lines is 1024

Incremental 2．Number of encoder lines is 2048
encoder 3．Number of encoder lines is 2500
4．Sine and cosine incremental encoder
NDAT2.1/2.2of Absolute encoder
BISS of Absolute encoder

Absolute
encoder
Hiper FACE of Absolute encoder
TAMAGAWA of Absolute encoder
5.5.1.1 XS3 ENCODER1 Servo Motor Input Interface Figure

Figure 5-29 XS3 Servo Motor Input interface plug
13 1
26 14
Figure 5-30 XS3 Servo Motor Input interface plug (looking from the plug)
1 13
14 26
Figure 5-31 Soldering terminal of XS3 Servo Motor Input interface plug (looking
from the soldering terminal)
12 10 8 6 4 2
13 11 9 7 5 3 1
25 23 21 19 17 15
26 24 22 20 18 16 14
85
5.5.1.2 XS3 ENCODER1 Servo Motor Input Interface Function

1、The Servo Amplifier connect incremental photoelectric encoder
Chart5.8 signal function of XS3 ENCODER1 connect Incremental photoelectric

encoder
Symbol
Terminal
NO Function standard
Symbol
1 A+/SINA+ Servo motor encoder feedback A+ input
2 A-/SINA- Servo motor encoder feedback A- input
3 B+/COSB+ Servo motor encoder feedback B+input
4 B-/COSB- Servo motor encoder feedback B- input
Servo motor encoder feedback Z+(or R+)
5 Z+
input
Servo motor encoder feedback Z-(or R-) Line driver receive
6 Z-
input RS422 standard
7 U+/DATA+ Servo motor encoder feedback U+ input
8 U-/DATA- Servo motor encoder feedback U- input
9 V+/CLOCK+ Servo motor encoder feedback V+ input
10 V-/CLOCK- Servo motor encoder feedback V- input
11 W+ Servo motor encoder feedback W+ input
12 W- Servo motor encoder feedback W- input
13 OH1 Motor overheat detection input terminal
26 OH2 It is connected to the motor overheat
detection sensor.
Servo motor encoder +5V power output
terminal
16,17 Connect the servo motor optical-electrical
+5V
18,19 encoder with 5 V power supply. If the
DC +5V/150mA
cable is too long, use multiple wires to
form serial connection.
23,24,
GNDD Servo encoder power ground 0V
25
20,22 Reserved
21 Reserved
Shield ground
14,15 PE
It is connected to the motor housing
NOTE：The homonyms pin connected has been shorting together in the internal
circuit board
86
2、The Servo Amplifier connect with ENDAT2.1 encoder
Chart5.9 Signal function of XS3 ENCODER1 ENDAT2.1 encoder

Symbol
Terminal
Symbol
7 U+/DATA+ Servo motor encoder feedback U+ input Line driver receive
8 U-/DATA- Servo motor encoder feedback U- input RS422 standard
5,6 Reserved
11,12 Reserved
It is connected to the motor overheat
26 OH2 detection sensor.
terminal
Connect the servo motor
16,17
+5V optical-electrical encoder with 5 V
18,19 DC +5V/150mA
power supply. If the cable is too long,
use multiple wires to form serial
connection.
23,24,25 GNDD Servo encoder power ground 0V
20,22 Reserved
21 Reserved
Shield ground
14,15 PE
circuit board
87
3、The Servo Amplifier connect BISS agreement of Absolute encoder
Chart5.10 Signal function of XS3 ENCODER1 connect BISS agreement of

Absolute encoder
Symbol
Terminal
Symbol

1,2 Reserved
3,4 Reserved
5,6 Reserved
11,12 Reserved
detection sensor.
terminal
16,17
18,19 DC +5V/150mA
connection.
20,22 Reserved
21 Reserved
Shield ground
14,15 PE
circuit board
88
4、The Servo Amplifier connect HIPERFACE agreement of Absolute encoder
Chart5.11 Signal function of XS3 ENCODER1 connect HIPERFACE agreement

of Absolute encoder
Symbol
Terminal
Symbol
Line driver receive
RS422 standard
5,6 Reserved
9,10 Reserved
11,12 Reserved
detection sensor.
terminal
16,17
18,19 DC +9V/150mA
connection.
20,22 Reserved
21 Reserved
Shield ground
14,15 PE
circuit board
89
5、The Servo Amplifier connect TAMAGAWA agreement of Absolute encoder

Chart5.12 Signal function of XS3 ENCODER1 connect TAMAGAWA
agreement of Absolute encoder
Symbol
Terminal
Symbol

9 Reserved
10 Reserved
1,2 Reserved
3,4 Reserved
5,6 Reserved
11,12 Reserved
detection sensor.
terminal
16,17 Connect the servo motor optical-electrical
+5V
18,19 encoder with 5 V power supply. If the
DC +5V/150mA
cable is too long, use multiple wires to
form serial connection.
23,24,
GNDD Servo encoder power ground 0V
25
20,22 Reserved
21 Reserved
Shield ground
14,15 PE
circuit board
90
5.5.1.3 XS3 ENCODER1 servo motor encoder input interface wiring diagram
1、Servo Amplifier connect with Incremental photoelectric encoder and
Dench motor
91
2、The Servo Amplifier connect with ENDAT2.1 agreement（EQN1325/1313） of

Absolute encoder and Dench motor
92
3、The Servo Amplifier connect with BISSagreement of Absolute encoder
93
4、The Servo Amplifier connect with Hiper FACE agreement of Absolute

encoder
94

encoder and Dench motor

encoder and Huada motor
95
5.5.2.1XS2 ENCODER2 Servo Encoder Input Interface Figure

Figure 5-38 XS2 Servo Encoder Input interface plug
10 1
20 11
Figure 5-39 XS2 Servo Encoder Input interface plug(looking from the plug)
1 10
11 20
Figure 5-40 Soldering terminal of XS2 Servo Encode Input interface plug (looking
from the soldering terminal)
10 8 6 4 2
9 7 5 3 1
20 18 16 14 12
19 17 15 13 11
96
5.5.2.2 XS2 ENCODER2 Servo Encoder Input Interface Function

1、Drive servo connect to Incremental photoelectric encoder
Figure 5.11 Signal function of XS2 ENCODER2 connect Incremental photoelectric
encoder
Terminal Symbol
NO Function
Symbol standard
11,12 A+/SINA+ Servo motor encoder feedback A+ input
1,2 A-/SINA- Servo motor encoder feedback A- input Line driver
13,14 B+/COSB+ Servo motor encoder feedback B+input receiver
3,4 B-/COSB- Servo motor encoder feedback B- input RS422 standard
15,16 Z+/DATA+ Servo motor encoder feedback Z+input
5,6 Z-/DATA- Servo motor encoder feedback Z-input
terminal
7,8 +5V optical-electrical encoder with 5 V
DC +5V/150mA
connection.
9,10 GNDD Servo encoder power ground 0V
19 CLOCK+
Reserved
20 CLOCK-
Shield ground
17,18 PE
It is connected to PE
97
5.6 Connection of the communication signal terminal
5.6.1 XS1 Serial Interface

Figure 5-41 XS1 Serial interface plug
1 5
6 9
Figure 5-42 XS1 Serial interface plug (looking from the soldering plug)
Figure 5-43 Soldering terminal of XS1 Serial interface plug (looking from the
soldering terminal)
Figur5.12 Function of the communication signal terminal XS1

Terminal
NO. Signal Function
Symbol
It is connected to the serial data receiving interface
RS232 Data
2 TX (RX) of the controller or PC to achieve the serial
transmission
communication.
It is connected to the serial data transmitting
RS232
3 RX interface (TX) on the controller or PC to achieve
Data reception
the serial communication.
1，5 GNDD Signal ground Data signal ground
4 CANL Reserved
6 CANH Reserved
98
5.7 Wiring
1、Power input terminal XT1, and heavy current power output terminal XT2
Diameter
The terminal diameters ofL3，L2，L1 on XT1 of HSV-180AD-035，050，
075,100，150.
The terminal diameters of P，BK，U，V，W， PE on XT2 of HSV-180AD-035，
050，075, 100，150.
The terminal diameters ofP，BK，L3，L2，L1,U，V，W， PEon XT2 of
HSV-180AD-200，300, 450.
The terminal diameters 220A，220B on XT1 of HSV-180AD-200,300,450≥1.5mm2
(3.0/3.7/5.5/7.5 kw).
Grounding
Grounding wire must be thick. The Servo Amplifier and servo motor must be
connected to PE.
Grounding resistance <4Ω
Use cold pre-insulated terminals to connect terminals and make sure that the
connection is firm.
Install the non-fuse circuit breaker to promptly cut off the external power when a
Servo Amplifier fault occurs.
It is recommended that shield cable be used to prevent other electrical equipments
from interference.
2、Control signal XS4, feedback signal XS3 for servo motor optic-electrical
encoder, servo encoder feedback signal XS2, and XS1 Serial Interface
Diameter
Shield cable is used (stranded shield cable is the best choice), and the cross-sectional
area is greater than or equal to 0.12mm2 (AWG24-26). The shielded layer must be
connected to the metal shell of the connection plug.
Cable length
The cable must be short. The length of the control signal cable XS4 is not greater than
10 meters, and the length of the feedback signal cable XS2, XS3 is no more than 40
meters.
Wiring
The wiring must be away from the electric power circuit to prevent interference.
Install surge absorbers with inductive components (coils) of related circuits.
Freewheeling diodes are antiparallel connected to the DC coils, and RC absorbed
circuits are paralleling connected to the AC coils.
3、I/O input/output terminal XS5
（1）Diameter: use ordinary cable or shielded cable, wire cross-sectional area ≥
1.5mm2.
（2）Cable length: cable length as short as possible and not more than 10 meters.
99
5.8 Standard Wiring

Caution
U, V, W on XT2 must be connected to the motor windings in corresponding order
and cannot be reversed.
Cables and wires must be fixed and cannot be near the radiator of the Servo
Amplifier or motor. Otherwise, the insulation properties may be reduced due to
overheat.
In the Servo Amplifier, large-capacity of electrolytic capacitor exists, which leads
to the remaining of high voltage even after power off. Therefore, do not touch the
Servo Amplifier or motor within five minutes after the power off.
Terminals P, BK on XT2 are connected to the external braking resistor.
Terminal P and BK cannot be shorted. Otherwise it will damage the Servo
Amplifier.
“Shell” in the wiring diagram refers to the mental shell of the wiring plug. The
cable shield must be connected to the metal shell. First unravel the shield and
avoid twisting together. Then loop part of the shield and cut off the rest. Last
cover the looped shield with casing, and weld the exposed shield to the metal
shell.
Avoid too much solder to make sure the plug shield can be covered.
It will be better, if you use a metal cable clip to form a 360-degree access and
perform nearby grounded.
100
5.8.1 Standard Wiring for Position Control Mode (Pulse Interface)

Figure 5-44 Standard wiring for position control mode (pulse interface)
(Configured with Dench motor GK604, GK606, GK607, GK608, and GK610)
101
Figure 5-45Standard wiring for position control mode (pulse interface)

(Configured with Dench motor force coolingGK610, GK613 and GK618)
102
5.8.2 Standard Wiring for External Speed Control Mode (Analog

Interface)
Figure 5-46 Standard wiring for external speed control mode (analog interface)
(configured with Dench motor GK604, GK606, GK607, GK608, and GK610)
103
Figure 5-47 Standard wiring for external speed control mode (analog interface)
(Configured with Dench motor force coolingGK610, GK613 and GK618)
104
5.8.3 Standard Wiring for Closed‐loop Control Mode (pulse interface)

Figure 5-48 Standard wiring for closed-loop control mode (pulse interface)
(configured with Dench motor GK604, GK606, GK607, GK608, and GK610)
105
Figure 5-49 Standard wiring for closed-loop control mode (pulse interface)
(Configured with Dench motor force cooling GK610, GK613 and GK618)
106
6. Operation and Display
6.1 Overview
1. The Servo Amplifier panel consists of 6 LED digital displays, 5 buttons ↑、

↓、←、M、S, and 2 light-emitting diodes.
Figure 6-1 Digital display of series HSV-180AD Servo Amplifier

 The 6 LED digital displays are used to display various statuses and set
parameters.
 The red light-emitting diode is an alarming lamp (AL). When it is on, it
means " Servo Amplifier alarm". The green light-emitting diode is an enable
lamp (EN). When it is on, it means "Servo Amplifier enable"
 The function of each button is as follows:
M：used for main menu mode switching

S：used for entering into the secondary menu, returning to the main menu
mode, and input confirmation
↑：used for an increase in number and value, or moving to the next option
↓：used for a decrease in number and value, or moving back to the previous
option
←：used for shifting
107
2. After the control power supply of the Servo Amplifier is connected, the six
LED digital displays on the panel all display "8", and change to "R O" a second
later.
3. Users must operate based on the multi-level menus. The first-level menu is the
main menu which includes five operation modes: display mode, movement
parameter mode, auxiliary mode, control parameter mode, and alarm history
display mode. Each operation mode contains a secondary menu.
Figure 6-2 R 0 display
4. The 6-bit LED digital tube displays various status and data of the system. If
the first bit of the digital tube displays A , and at the same time the red
light-emitting diode is on, an alarm is generated. The follow-up bit of the digital
tube displays the alarm code. After the process of fault diagnosis and
troubleshooting, you can reset the system by the alarm reset mode under the
auxiliary mode or cutting off the power and then re-power to the Servo Amplifier.
When the red light-emitting diode is off, the system is reset.
Figure 6.3 A8 Alarm display
6.2 Operation in the Display Mode
1. Press M to switch the operation mode on the main menu”, and press ↑and ↓
to enter the secondary menu for the display mode.
108
Figure 6-4 Main menu for the display mode
6.3 state surveillance mode
HSV-180AD Servo Amplifier contains 20 types of display modes(see table 6.1). Press
↑ and ↓ to select a display mode as required. The display status can only be viewed
and cannot be modified or set. Press S to display the detailed status, then press S to
return to the secondary menu, and then press M to return to the main menu.
Table 6-1 Meaning of each symbol in the display mode
NO. Symbol Description
Display the speed tracking error
1
unit：pulse
2 Display the actual speed (unit: 0.1r/m)
Display the actual torque current（Effective value ）
3
unit：0.1A
4 Display position command
unit：pulse
5 Actual position = DP-PRM * 10000 + DP-PRL
6 Display the actual position of motor

unit：pulse
7 Actual position = DP-PFM * 10000 + DP-PFL
109
Display the actual magnetic field current（Effective value）

4
unit：0.1A
Display the magnetic field current command
5
unit：0.1A
6 Display the actual position of motor
unit：pulse
7 Actual position = DP-PFM * 10000 + DP-PFL
Display pulse frequency

8
unit：0.1KHz
Display speed command
9
unit： 1r/min
Display magnetic current
10
unit：0.1A
11 Display alarm status
Display switch-value input status
PIN.1：Servo Amplifier enable
PIN.2：alarm status reset
PIN.3：CW control
12 PIN.4：CCW control
PIN.5：INC_Sel1
PIN.6：INC_Sel2
PIN.7：servo orientation control
PIN.8：control mode switch
11 Display the actual feedback value of the U-phase current
Display switch-value output status
POU.1：zero-speed reached
POU.2：drive system ready
12 POU.3：alarm output
POU.4：reserved
POU.5：speed reached
POU.6：servo orientation-finished
Display the actual load current（Effective value ）
13
unit：0.1A
Display the number of the feedback pulse of the servo motor
14
optic-electrical encoder
15 Display the number of feedback pulse of the servo encoder
16 Display the speed deviation
110
Display voltage reference output

17
18 Display position command

unit：pulse
19 Actual position = DP-PRM * 10000 + DP-PRL
Display the single-turn absolute position value of Absolute

20
encoder
21 Reserved
6.4 Operation in the Movement Parameter Mode
1. On the main menu, select "PA--0", and press ↑and ↓ to enter the secondary
menu for the movement parameter mode.
2. Series HSV-180AD Servo Amplifier contains 44 movement parameters.
Figure 6-6 Secondary menu for the movement parameter mode

 Set to ，could open extension movement parameter mode
HSV-180AD Servo Amplifier have 44 extension parameters
111
Figure 6-5 Secondary menu for extension movement parameter mode
6.5Operation in the Auxiliary Mode
1. On the main menu, select“EE-WRI”, and press ↑and ↓ to enter the secondary
menu for the auxiliary mode.
2. Series HSV-180AD Servo Amplifier contains 8 types of auxiliary modes
Figure 6-8 Secondary menu for the auxiliary mode

A. EEPROM mode: This method is effective only during the parameter
changes and settings. If changing or setting parameters, you should firstly set
to , then save the new parameter values by pressing S in

112
this mode. When “FINISH” is displayed, the parameter change and setting is
completed. Press M to switch to another mode, or press ↑ and ↓ to select
other operations in the auxiliary mode.
B. JOG mode: This mode is effective only in JOG running. When the JOG
speed parameter PA-21 is a non-zero value, on the main menu, press M to
select the auxiliary mode, and press ↑ and ↓ to select the JOG running mode.
“JOG---” is displayed through the digital display. Press S, “R --- ”is
displayed, which indicates that the system enters into the running state. Press
and hold ↑, then the Servo Amplifier and motor run at the speed specified by
PA-21. Press ↓, then the motor run at the speed specified by PA-21 in the
opposite direction. Release the ↑ or ↓to stop the motor. Press S to return to
the auxiliary mode. Press M to switch to another mode, or press ↑ and ↓ to
select other operations in the auxiliary mode.
C. Alarm resetting mode: When the Servo Amplifier generates an alarm, press
S to reset the system in this mode. If the fault is cleared, the Servo Amplifier
returns to normal. Press M to switch to another mode, or press ↑ and ↓ to
select other operations in the auxiliary mode.
D. Default restoration mode: This mode is used to set the parameters to the
default values. In this mode, press S to restore system parameters to default
values. Press M to switch to another mode, or press ↑ and ↓ to select other
operations in the auxiliary mode.
E. Alarm history clearance mode: This mode is used to clear alarm history
records. In this mode, press S to clear the alarm history records. Press M to
switch to another mode, or press ↑ and ↓ to select other operations in the
auxiliary mode.
F、Encoder zero calibration
○
1 Auxiliary correct encoder zero calibration of the motor.
G、Parameter self-adjustment
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1 Automatically adjust parameters of the Servo Amplifier to match the

○
inertia of load .
H、The encoder reset
○
1 Support automatic reset of several encoders.
6.6 Operations in the Control Parameter Mode
1. On the main menu, select “STA-0”, and press ↑and ↓ to enter the secondary
menu for the control parameter mode.
2. Series HSV-180AD Servo Amplifier contains 16 types of control parameters.
Figure 6-9 Secondary menu for the control parameter mode
2. Series HSV-180AD Servo Amplifier contains 16 types of control parameters.
6.7Operation in the Auxiliary Mode
2. Series HSV-180 AD Servo Amplifier contains 16 types of control parameters.
Figure 6-10 Secondary menu for the auxiliary mode
114
6.8 Control Parameter Setting and Saving

Caution
 The control parameter setting cannot take effect immediately. The new
parameter can be confirmed by pressing S only in the "EE-WRI" of auxiliary
mode, and it takes effect after restarting the Servo Amplifier.
 Wrong settings may cause improper operation that leads to accidents.
1. Select on the main menu, press ↑ and ↓ to select a control
parameter number, and then press S to display the value of the parameter. Press
↑ and ↓ to change the parameter value.
2. The parameter value increase or decrease 1 every time you press ↑ or ↓
respectively.
3.After the parameter modification is completed,. the corresponding decimal
point on the LED digital tube light, press S to return to the control parameter
mode menu.
3. The control parameter setting cannot take effect immediately. If changing or
setting parameters, you should firstly set as , then save the
parameter change by pressing S to return to the main menu and pressing M to

select the auxiliary mode. Then press ↑ and ↓ to select "EE-WRI”, and then
115
press S to save the changed parameter value to EEPROM. The wire control box
displays FINISH, indicating that the parameter value is saved.
4. The changed control parameter takes effect as a default control parameter after
restarting the Servo Amplifier.
NOTE:
If changing PA—24to PA--28，PA--59, you should firstly set as
116
7. Parameter Setting
Attention
 Personnel that set parameters must understand the meanings of the
parameters. Wrong setting could result in damage to the equipment
and injuries.
 It is recommended that parameter modification be performed under
the condition that servo motor run without load.
7.1 Function Menu
7.1.1 Parameters illustration

Users can set various parameters for series HSV-180AD Servo Amplifier to
adjust or set the performances and functions of the Servo Amplifier. This section
describes the purpose and functions of these parameters. Understanding these
parameters is essential for a best use and operation of the Servo Amplifier.
Series HSV-180 AD Servo Amplifier parameters can be divided into four
categories: movement parameter , expanding movement parameter control
parameter and expanding control parameter. (applicable to movement parameter
mode , expanding movement parameter mode,control parameter mode
respectively and expanding control parameter mode). These parameters can be
viewed, set and modified by keys or computer serial ports on the wire control
box.
Table 7-1 Description of the three types of modes
Param
Mode Group eter Description
No.
Movement
Able to set speed regulator, specially
parameter mode 0~43
modification, and motor related parameters.
Expanding Able to set parameters I/O, I/O interface
movement 0~43 function, notch filter ,the nominal motor
parameter mode current, speed etc
117
Control Able to set servo orientation speed, orientation

0~15
parameter mode position。
Expanding Able to set control functions can be enabled
control 0~15 or disabled etc.
parameter mode
7.1.2 Parameter operation instructions

This section describes the modify and view parameters during debugging and
precautions, does not include the adjustment and adaptation of parameters
1、The Servo Amplifier can only view the movement parameter PA, status
monitoring, auxiliary parameters and control parameters STA parameters after power
on.
2、Set PA—34to 2003, you could view or modify parameters PA and STB.
3、Any time，PA--23 、PA--24、 PA—25、PA—26 are effective only when
saving parameters and restarting power.
4、Before the Servo Amplifier running，you must modify parameter PA—43
（Notice：modify parameter PA--43 after setting PA--34 to 2003）.
If the Servo Amplifier and motor code is not in Table 7.3，you need to set the
parameters related to the motor manually，and refer to 7.2.7.Non-standard motor
parameters
5、The Servo Amplifier performance debugging please refer to the relevant sections
of 7.2.
6、The steps of trial operation of the Servo Amplifier, please reference the relevant
sections of Chapter 8.
118
7.2 Movement Parameter Mode
7.2.1 Movement parameters

Series HSV-180AD Servo Amplifier can provide 44 movement parameters. For
details about the movement parameters, see Table 7-2, and Table 7-3.
In the application control mode:
P: indicates position control
S: indicates speed control.
T: torque mode
Table 7-2 Movement parameters

No. Parameter Applic Value Default Unit
ation Range Value
Contro
l Mode
0 Position proportional P 0.01 Hz

20～10000 1000
gain
1 Position feed forward P 1%
0～150 0
gain
2 Speed proportional gain P, S 20～10000 400
3 Speed integral time P, S ms
15～500 20
constant
4 Speed feedback filter P, S
0～9 1
factor
5 Current amplitude limit P, S, T
30～500 250
for maximum torque
6 Acceleration time S 1ms/1000rpm
1～32000 200
constant
7 Speed command input S
100~9000 2000
gain
8 Speed command zero S
-6000~6000 0
drift compensation
9 Torque command input T
100~300 100
gain
10 Torque command zero T
-1023~1023 0
drift compensation
Inversion of Table P
position feedback 0 or 512 0
signal
11 Orientation-finished P 0.0001 r
0～3000 100
range
119
12 Position tolerance test P 0.1r

1～100 20
range
13 Position command P
pulse frequency 1～32767 1
molecular
14 Position command P
pulse frequency 1～32767 1
denominator
15 Maximum current P, S, T
amplitude limit for 0～500 280 1%
positive torque
16 Maximum current P, S, T
amplitude limit for -500～0 -280 1%
negative torque
17 Maximum speed P, S
10～12000 2500 1r/min
limitation
18 Overload Torque P, S, T
30～200 200 1%
setting
19 Software overload time P, S 40～32000 1000 0.01s
20 Internal speed S -3200~3200 0 0.1r/min
21 JOG operation speed P, S 0～2000 300 1r/min
22 command pulse input P
0~3 1
mode
23 Selection of control P, S, T 0：Position
mode control
1：Simulation
speed
0～7 0
2：Analog torque
3：Internal rate
7：Encoder Zero
calibration
24 Magnetic pole P, S, T
logarithm of the servo 1～20 3
motor
25 Encoder resolution P, S, T 0：1024
1：2000
2：2500
3：6000
0～9 2
4: ENDAT2.1
5：BISS
6：HiperFACE
7:TAMAGAWA
26 The encoder zero offset P，S， -32467~
0
T 32767
27 Current control P，S，
proportional gain 10～32767 2000
T
120
28 Current control P，S，

integration time 1～2047 100 0.1ms
T
29 The second position
command pulse P 1～32767 1
frequency molecular
30 The third
position command
P 1～32767 1
pulse frequency
molecular
31 -32467~ STA15-STA0
State control 1 4096
32767
32 Feed forward control
P，S 0～3000 0 1ms
filter time constant
33 Torque command filter
P，S 0～3000 0 1ms
time constant
34 User passport set P，S，T 0～2806 240
35 Position command
P 0～3000 0 1ms
filter time constant
0：2400bps
Communication baud
1：4800bps
36 rate 0～3 2
2：9600bps
3：19200bps
Position of serial P，S
37 1～15 1
communication axis
36 Ratio of load inertia P, S
0 ～ 15 1
and rotary inertia
37 Mechanical load P, S
0～9 4
rigidity
38 Deceleration time
S 1～32000 200 1ms/1000rpm
constant
39 The fourth
position command
P 1～32767 1
pulse frequency
molecular
39 Position of serial P, S, T
1 ～ 63 1
communication axis
Unit：ms；
P，S Brake output delay
40 Brake Output Delay 0～2000 0
time after the
servo OFF
Unit： 1rpm；
Permissible speed P，S Only below this
41 10～300 100
brake output threshold setting allows the
brake action
42 Speed reach range P，S 1～500 10 Unit：1rpm
121
thousand：
0：HSV-180AD
hundred：
0：35A
1：50A
2：75A
Specifications and 3：100A
43 Servo Amplifier type P，S 0～1999 101 4：150A
code ◆ 5：200A
6：300A
7：450A
Ten and a bit
indicates the type
of motor。See
form7.3
Note:
If changing ◆ parameter, you should firstly set PA--34 to , otherwise it’s
invalid.
Table 7-2 Movement parameters with Dench motor
Rated Rated
Rated
Motor Power Electric Adapter PA-43 Adjusted
Torque
current Servo
Type (Nm) Amplifier parameters Servo Amplifier
(KW) (A)
GK6073-6AC61 2000 11 5.6 00 0
HSV-180AD-035
GK6080-6AC61 2000 16 6.8 01 1
GK6081-6AC61 2000 21 10 02 102
HSV-180AD-050
GK6083-6AC61 2000 27 13.3 03 103
GK6085-6AC61 2000 33 16.5 04 204
HSV-180AD-075
GK6087-6AC61 2000 37 18.5 05 205
GK6089-6AC61 2000 42 21 06 306
GK6105-8AC61 2000 45 19.5 07 307
HSV-180AD-100
GK6107-8AB61 1500 55 17.9 08 308
GK6109-8AB61 1500 70 23.1 09 309
122
Table 7-3 Movement parameters with Huada motor

Rated Rated
Power Rated Adapter
Motor Electric PA-43 Adjusted
Torque Servo
current
Type (Nm) Amplifier parameters Servo Amplifier
(KW) (A)
110ST-M02515HMBB 1500 2.5 2.5 20 20
110ST-M03215HMBB 1500 3.2 2.5 21 21
110ST-M05415HMBB 1500 5.4 3.5 22 22
110ST-M06415HMBB 1500 6.4 4.0 23 23
110ST-M02420HMBB 2000 2.4 2.5 24 24
110ST-M04820HMBB 2000 4.8 3.5 25 25
130ST-M03215HMBB 1500 3.2 2.5 26 26 HSV-180AD-035
130ST-M05415HMBB 1500 5.4 3.8 27 27
130ST-M06415HMBB 1500 6.4 4.0 28 28
130ST-M09615HMBB 1500 9.6 6.0 29 29
130ST-M14615HMBB 1500 14.3 9.5 30 30
130ST-M04820HMBB 2000 4.8 3.5 31 31
130ST-M07220HMBB 2000 7.2 5.0 32 32
130ST-M09620HMBB 2000 9.6 7.5 33 133
130ST-M14320HMBB 2000 14.3 9.5 34 134
HSV-180AD-050
150ST-M14615HMBB 1500 14.6 9.0 35 135
150ST-M19115HMBB 1500 19.1 12.0 36 136
150ST-M22315HMBB 1500 22.3 13.0 37 237
150ST-M28715HMBB 1500 28.7 17.0 38 238
150ST-M14320HMBB 2000 14.3 9.0 39 239 HSV-180AD-075
150ST-M23920HMBB 2000 23.9 14.0 40 240
150ST-M26320HMBB 2000 26.3 15.5 41 241
123
7.2.2Extension movement parameters

Select PA—34 to2003 in the PA motion parameters , could see the extension
movement parameter model (PB parameter model), HSV-180AD have 44 extended
motion control parameters.
Table 7-4 Extension movement parameters
Applicable Default
NO. Parameter Scope Unit
Method value
The second position
0 P 20～10000 400* 0.1Hz
proportional gain
Second speed
1 P，S 20～10000 250*
proportional gain
The second
2 integration time P，S 15～500 20* ms
constant speed
The second torque
3 command filter time P，S 0～500 0 0.1ms
constant
0： Fixed for the
first gain
1：Fixed to the
second gain
2：Switch control
Gain switching cutover
4 P 0～5 0
condition 3：Command
frequency control
4：Bias pulse
control
5：Motor speed
control
Command frequency
0.1Kpps/unit
Gain switching P
5 0～10000 10 Deviation
threshold
pulse :pulse
Motor speed :1rpm
124
Gain switching P
6 1～10000 5 the same as above
hysteresis width
Unit：ms
Gain switching lag P Gain switching
7 0～10000 2
time conditions are met to
start switching time
Unit：ms
Set the position gain
Position gain switch P
8 0～1000 5 first-order low-pass
delay time
filter when gain
switching
Zero speed output P，S
9 1～100 10 Unit： 1rpm
detection range
Unit：ms
Servo motor delay P, S Time of input PWM
10 0～3000 20
caused by power off after servo OFF
delay
11 Weakening speed P，S 1000～4500 1800 Unit： 1rpm
Torque inertia ratio P，S

12 10～20000 880 Unit：(Nm/Kgm2 )
value
13 Load inertia ratio P，S 10～300 10 Unit：0.1
Digital output O4 P，S

14 -9～+9 8 Refer to function O1
function
0： Invalid Input
1： Servo enable
2： Alarm Clear
3： Deviation Clear
4： Pulse ban
Digital inputs I1 P，S 5： Reverse over
15 -16～+16 1
function travel
6： Forward over
travel
7： Zero speed lock
8： Gain switch
9： Electronic gear
125
switch 0
10：Electronic gear
switch 1
11： Positive torque
limit
12： Negative
torque limit
13： Emergency
stop switch
14： Internal speed
selection 1
15：Internal speed
selection 2
16：Internal speed
selection 3
The negative sign
indicates input level
negated
Digital inputs I2 P，S
16 -16～+16 2 the same as above
function
function
function
19 -16～+16 -5 the same as above
function
20 -16～+16 -6 the same as above
function
0： Invalid
1： Forced valid
2： Servo ready
3： Alarm Output
4： Reach zero
Digital Output O1 P，S
21 -9～+9 5 speed
function
5： Positioning
completed
6： Speed reached
7： Torque limits
8:Electromagnetic
126
brake output
9： Zero speed
Locking minus sign
indicates that the
output level is
inverted.
function
function
S -6000～
24 Internal speed 1 0 1r/min
6000
S -6000～
6000
S -6000～
6000
S -6000～
6000
S -6000～
6000
S -6000～
6000
S -6000～
6000
-32767～
31 State control 2 STB15-STB0
32767
The first notch P，S
32 100～2000 1500 Hz
frequency
33 0～20 2
width
34 0～100 0
depth
The second notch P，S
35 100～2000 1500 Hz
filter frequency
127

36 0～20 2
filter width
37 0～100 0
filter depth
0： Notch filter is
invalid
1：Notch filter 1 is
Notch filter P，S valid
38 0～3 0
application mode 2：Notch filter2 is
valid
3：Notch filter1,2
are valid
Moving Average
Position command P
39 0～31 0 number of position
smoothing factor
command FIR filter
Motor feedback
output to the number
Feedback pulse P，S 1000～
40 2500 of pulses per
output divider factor 15000
revolution of the PC
（×4）
Unit:Pulse
PC output pulse
number
corresponding to the
Command pulse motor rotation lap
input （×4）
Corresponding P 1000～ When STB4 zero,
41 2500
motor 25000 electronic gear
Feedback pulse parameters PA13,
number PA14 valid
When STB4 1,
electronic gear for
the servo motor
revolution needed to
128
command input
pulse direct
calculation.
At this time, the
electronic gear
parameter is invalid.
◆Motor rated P，S
42 300～15000 680 0.01A
current
◆Rated motor P，S
43 100～9000 2000 1r/min
speed
Note: The label ◆ parameters will be automatically configured in the PA-43.
7.2.3 Description of the parameter setting:

PA--17
NO. Parameter Scope Default Unit
value
PA--17 Maximum speed limit 100～12000 2500 1r/min
Function and setting:
1、 According to motor type set maximum speed of the servo motor.
2、 Regardless of the direction of rotation.
PA--24
value
PA--24 Magnetic logarithm of 1～12 3
servo motor
1、 According to motor type set maximum speed of the servo motor。
PA--25
value
PA--25 Servo motor encoder 0～7 4
optical -electrical
resolution
1、 PA--25must be filled in based on the technical data of the motor.
129
2、Setting parameters：
0：1024pps
1：2000pps
2：2500pps
3：6000 Sine and cosine incremental encoder
4: ENDAT2.1 encoder
5：BISS encoder
6: HiperFACE encoder
7: TAMAGAWA encoder
8,9:Reserved
PA--26
value
PA--26 Encoder zero offset -32767～32767 0
1、 Set encoder zero offset
2、 Adapter Dench motor mounting incremental encoder
(PA--25=0,1,2,3),the parameter is the number of pulses distance to zero
pulse..
3、 When the motor encoder is absolute encoder, the parameters is the
number of pulses at 16 bit resolution for conversion.
Dench GK6（8） servo motor
GK6(8)-XXX-XXX61-JE(JB) JE(JB) means installation Heidenhain
EQN1325 encoder
At this time: GK6(8)-XXX-XXX61-JE(JB) JE(JB);
PA--42
value
PA--42 Motor rated current 300～15000 680 0.01A
1、Set the motor rated current;
2、The parameters will be adjusted automatically after matching PA—43.
130
PA--43
value
PA--43 Motor rated speed 100～9000 2000 1r/min
1、Set the motor rated speed;
2、The parameters will be adjusted automatically after matching PA—43.
7.2.4 Parameters Related to Movement Control

PA--0
value
PA--0 Position proportional gain 20～10000 400 0.1Hz
1. Set position proportional gain.
2. The greater of the parameter value, the greater of the gain and the rigidity, and the
smaller of the position lag value at the same frequency of the command pulse. Note:
the value is too large may cause oscillation or overshooting.
3. The parameter value is determined according to the type of Servo Amplifier and
operating load.
PA--1
value
PA--1 Position forward gain 0～150 0 1%
1. Set Position forward gain
2. When setting 100%, position lag is always 0 in any frequency command pulse.
3. The greater of gain the position loop, the greater of the high speed response
characteristic of the control system, but it will make the system more prone to
oscillation.
4. The parameter is usually set to 0 when there is not need very high response
characteristics
131
PA--11
value
Positioning complete 0～3000 100 0.0001r
PA--11
range
1、Set the, positioning complete pulse range under position control mode
PA--11 * 0.0001 * motor pulses
If set PA--11 = 1000, motor runs 10000 pulses per revolution. Positioning complete
range is 1000 * 0.0001 * 10000 = 1000 pulses.
2、This parameter judges whether Servo Amplifier complete positioning under the
position control mode. when the remaining pulse in the deviation counter is less than
or equal to the parameter setting range, it means the Servo Amplifier has been
complete positioning. The positioning complete switch signal output ON, otherwise
OFF.
3、Under the position control mode(PA--23=0), output positioning complete signal.
PA--12
value
Range of position 1～100 20 0.1 ring
PA--12
tolerance
1、Set range of position tolerance:
PA--12 * 0.1 ring
Or (PA--12 * 0.1 * motor pulses) pulse.
2、Under the position control mode (PA--23=0), when the position deviation counter
exceeds the range of the parameter, the Servo Amplifier gives alarm.
If set PA--12 = 20, motor runs 10000 pulses per revolution. Then the Range of
position tolerance: 20 * 0.1 = 2or20 * 0.1 * 10000 = 20000 pulses
PA—13/14
value
Position command pulse 1～32767 1
PA--13
frequency molecular
Position command pulse 1～32767 1
PA--14
frequency denominator
132
1、Set the position command pulse sub-octave (electronic gear)

2、Under position control mode (PA - 23 = 0), through setting the PA - 13 and PA -
14 parameter, could be easily matched with a variety of pulse source, in order to
achieve ideal control resolution (angle / pulse)
3、P×G=N×C
P: the number of pulses input commands
G: electronic gear ratio G=Position command pulse frequency molecular/ Position
command pulse frequency denominator
N: motor rotation number;
C: the motor encoder pulses
4、If instruction input pulse is 6000, the servo motor rotates 1 circles, the motor
encoder is 2500 lines of incremental photoelectric.
N  C 1 2500  4 5
G  
P 6000 3
Setting PA—13 to 5, PA—14 to 3
1
5、The range of electronic gear ratio is  G  50
50
PA--22
value
PA--22 Command pulse input mode 0～3 1
1. Set parameters to the command pulse mode
2. Set parameters to one of the 3 types of input mode.
 0: indicates two-phase positive pulse input
 1: indicates pulse + direction
 2: indicates CCW pulse/CW pulse
3. CCW is defined as forward for the servo rotating counterclockwise (looking from
the axial direction).
4. CW is defined as reverse for the servo rotating clockwise (looking from the axial
direction).
133
Table 7.5 Command pulse

pulse Command Pulse
Input Mode
Signal
(movement
input pin Forward Reverse parameter PA-22)
Setting
A A
B 0 (positive pulse)
CP B
XS4-14 CP CP
XS4-15 DIR 1 (pulse +
DIR
DIR direction)
XS4-16 CW
CW
XS4-17 ccw 2（CW+CCW）
CCW
（CW+CCW）
PA--23
value
PA--23 Selection of control mode 0～7 0
This parameter is used to select control mode for the Servo Amplifier.
 0: indicates the C-axis position control mode, receiving the position pulse input
command.
 1: indicates the external speed control mode, receiving speed analog input
command.
 2: indicates the external speed control mode, receiving speed pulse input
command.
 3: indicates the internal speed control mode. The internal speed command is set
by movement parameter PA-20.
 4：Multi-speed mode
 7：Motor encoder Zero calibration mode
134
PA--29

value
The second position 1～32767 1
PA--29 command pulse frequency
molecular
1、 Set the second position command pulse frequency molecular
2、 This parameter is valid when STA-13 is 1。

PA--30
value
The third position 1～32767 1
molecular
1、 Set the third position command pulse frequency molecular

PA--33

value
Position forward filter time 0～3000 0 ms
PA--33 constant
1、 Set position forward filter time constant.

2、 The smaller the time constant, the faster of response characteristics of the control
system, make the system unstable, oscillation.
PA--35
value
Position command 0～3000 1
PA--35
smoothing time
1、 Set position command smoothing time.
135
2、 The smaller the time constant, the faster of response characteristics of the control
system.
3、 The larger the filter time constant, the slower response of the control system, this
parameter is usually set to 0.
PA--39
value
The fourth position 1～32767 1
molecular
1、 Set the fourth position command pulse frequency molecular.
7.2.5 Parameters Related to Speed Control Mode

Table 7.6 Parameters related to speed control mode
NO. Parameter Function Value Range

1.Set parameters to the proportional gain for the
speed regulator.
2.Gain and rigidity will be enhanced as the
parameter value increases. This parameter is
Speed determined by the actual Servo Amplifier system
PA--2 proportional type and the load. Generally, load inertia grows 20～10000
gain 1 as the value increases.
3.It is recommended that the value be larger if no
oscillation exists.
4.this parameter will be automatically adjusted
after setting PA 43 .
1.Set this parameter to the speed regulator
integration time constant.
2.Integration speeds up as the value decreases.
This parameter is determined by the actual Servo
Speed
Amplifier system type and the load. Generally,
PA--3 integral time 5～500mS
load inertia grows as the value increases.
constant 1
3.It is recommended that the value be smaller if
no oscillation exists.
4.this parameter will be automatically adjusted
after setting PA 43 .
136
1.Set this parameter to the features of low-pass

filter for speed feedback.
2.Noise produced by motors and cut-off
frequency decreases as the value increases. If the
Speed
load inertia is large, decrease the value to prevent
PA--4 feedback 0 ～ 9
from slow response or oscillation.
filter factor
3.The cut-off frequency increases and speed
feedback response becomes faster as the value
decreases. If high speed feedback response
required, decrease the value.
Deceleration 1. The value indicates the time required for
PA--38 time motor slow down from the 1000 speed to 0r/min. 1～32000
constant 2. Deceleration features linearity.
Acceleration 1. The value indicates time required for motor
PA--6 time speed up from 0 r/min to 1000 speed. 1～32000
constant 2. Acceleration features linearity.
1.Set this parameter to the relationship between
voltage and rotary speed under analogue speed
Analogue command mode.
speed
PA--7 2.The value is the speed corresponding to the + 0～6000
command
input gain 10 V voltage ( unit: 1 r/min)
3.The valve is effective under the external speed
control mode.
1. In the speed control mode, this parameter is
used to adjust zero drift input by external
Speed analogue speed command. The method of
command adjustment is as follows:
PA--8 zero drift -1023～+1023
 Perform short-connection between the
compensatio analogue control input terminal and
n grounding wire for signal.
 Set this parameter to the value that stops the
operation of the motor.
1. Set parameters to the internal speed when
-32000～
PA--23=3.
PA-20 Internal 32000 (unit：
2. In the internal control mode, select the internal
speed 1r/min)
speed as the speed command.
JOG 1. Set this parameter to the speed in the JOG
0～2000
PA-21 operating mode.
(unit：1r/min)
speed
137
4. This parameter is used to select the control

mode for Servo Amplifier.
 0: Position control mode, receiving
computer position command pulse.
 1: indicates the external speed control mode,
Selection of receiving speed analog input command.
PA-23 control  2: indicates the external speed control mode, 0～7
mode receiving speed pulse input command.
 3: indicates the internal speed control mode.
The internal speed command is set by
movement parameter PA-20.
 4: multi speed mode
 7: the motor encoder zero mode
1. Set parameters to speed reached. 1～500r/min
speed
2. In the speed control mode, if the motor speed
PA-42 reached
is less than the set value, the rate reaches the
range
switch signal to ON, otherwise OFF
7.2.6 Parameters Related to Output Torque Regulation

PA--5

value
Maximum torque output 30～500 250 1%
PA--5
rate
1、 Set the maximum torque output rate.
2、 The value represents the maximum output torque is multiple of the motor torque
3、 Any time ,this limitation is effective.
4、 30~ 500 means the set range: 0.3~ 5 times of the rated torque.
5、 This parameter will be corresponding adjusted according to PA—43.
PA--9
value
Torque command input
PA--9 80～32000 20000
gain
1、Set the relationship of voltage and torque of external analog torque command.
2、Only in the torque control mode (PA--23=2) effectively.
138
PA--10
value
Torque command zero -1023～
PA--10 0
drift compensation +1023
1、 In the torque control mode (PA--23=2), adjust the zero drift. of external analog
torque.
2、 Adjustment methods are as follows:
The external analog input terminal and the signal ground short circuit, set the
parameters until the motor does not turn.
PA—15/PA--16
value
PA--15 Positive maximum torque 0～500 280 1%
output rate
PA--16 Negative maximum torque -500～0 -280 1%
output rate
1、 Set the internal torque limiting value in the CCW/CW direction of the servo
2、 The value is the desired positive /negative maximum output torque.
3、 When STA10 is set to 1, the two limit are effective.
4、 If PA--15>PA 5(or |PA--16| >PA--5), the actual output rate is restricted to a
maximum torque output rate permitted by PA—5.
5、 The corresponding range: 0~ 5 times of the positive /negative output torque.
6、 PA--15 ≤ PA--5；|PA--16| ≤ PA—5.
PA--18
value
PA--18 overload torque 30～200 120 1%
1、 Set the system overload torque.
2、 Any time, this limitation is effective.
3、 30～200 means the set range: 0.3～2times of overload torque.
4、 PA--18 ≤ PA—5.
5、 The parameter will be automatically adjusted after PA—43 set
139
PA--19

value
PA--19 Overload time 40～32000 1000 10ms
1. Set this parameter to the allowable overloading time of the system.
2. The value indicates the overloading time per time unit (unit: 0.1s). For example, if
the value is 1000, the allowable overloading time is 10s.
3.The value is effective at any time.
PA--23
value
PA--23 Control mode selection 0～7 0
 0: Position control mode, receiving computer position command pulse.
 1: indicates the external speed control mode, receiving speed analog input
command.
 2: indicates the external speed control mode, receiving speed pulse input
command.
 3: indicates the internal speed control mode. The internal speed command is set
by movement parameter PA-20.
 4: multi speed mode
 7: the motor encoder zero mode
PA--27

value
Current control
PA--27 10～32767 2600
proportional gain
1、 Set this parameter to the proportional gain of current loop.
2、 Decrease the value to decrease the loud noise of current during motor operation.
3、 However, a small value will decrease the feedback response.
140
PA--28
value
Current control integration
PA--28 10～32767 2600
time
1. Set this parameter to the integration time of current loop.
2. Increase the value to decrease the loud noise of current during motor operation.
3. A big value will decrease the feedback response.
PA--32
value
Torque command filter 0～500 0 0.1ms
PA--32
time constant
1、 Set the Torque command filter time constant.
2、 The greater of the time constant, the slower of response of the control system. it
will make the system unstable, oscillation.
7.2.7 Non standard motor parameter settings

Select HSV-180AD series Servo Amplifier , refer to table7.3.
If the code cannot be found in Table 7.3, or use other manufacturers IM servo
motor, you must manually set the operating parameters. Details as follows:
1. Confirm whether the servo motor specifications match with the Servo
Amplifier specifications
2. Confirm whether the Servo Amplifier is installed to support the servo motor
encoder.
3. Setting parameters according to the type of IM servo motor:
Setting PA--34 to 2003
Setting PA--43 according to the type of servo motor
HSV-180AD-035：Setting PA—59 to 1
According to the actual requirement, set PA—17, PA—24, PA—25, PA--26,
PB--42and PB--43
4. Setting PA--34 to 1230, saving parameters in the secondary menu , and restart
the Servo Amplifier.
5. Confirmation weather phase sequence of the servo motor is correct.
6. The Servo Amplifier access systems up to running after confirmation.
141
7.3 Control Parameter Mode
Series HSV-180AD Servo Amplifier provides 16 control parameters, see Table

7-6,7-7. For the parameter operation, setting, modifying and saving.
7.3.1 Control Parameter

Table 7-6 Control Parameters(state control number is 1 )
NO. Parameter Function Description
Position command interface 0：Serial pulse
0 STA-0
selection 1：NCUC
1 STA-1 Reserved
This parameter is used to 0: Allow
2 STA-2 specify whether feedback
1: Not allow
break-off alarm is allowed.
3 STA-3 specify whether system
1: Not allow
overspeed alarm is allowed.
specify whether position
4 STA-4
over-tolerance alarm is 1: Not allow
allowed.
5 STA-5 specify whether Software
1: Not allow
overheating alarm is allowed.
This parameter is used to
specify whether the internal 1: Internal enable
6 STA-6
SVR-ON control start is 0: External enable
allowed.
specify whether system main 1: Not allow
7 STA-7
power undervoltage alarm is 0: Allow
allowed.
specify whether the forward 1：Allow
8 STA-8
over travel switch input is 0：Not allow
allowed.
specify whether the reverse 1：Allow
9 STA-9
over travel switch input is 0：Not allow
allowed.
142

specify whether positive and 1：Allow
10 STA-10
negative torque limit is 0：Not allow
allowed.
11 STA-11 Reserved
1: Not allow
12 STA-12 specify whether motor
0: Allow
overheat alarm is allowed.
Electronic gear ratio dynamic 1: Not allow
13 STA-13
switching selection 0: Allow
1: Not allow
14 STA-14 Gain switching enable.
0: Allow
specify whether the Servo 1: Not allow
15 STA-15
Amplifier overheat alarm is 0: Allow
allowed.
7.3.2 Extended control parameters
Set PA—34to2003 in the motion parameters, could open the extension control
parameter mode. HSV-180AD have a total of 16 extended control parameters of STB
Figure 7-7 Description of the extended control parameters

（State control word 2）
NO. Parameter Function Description
0：The position pulse from the
computer
0 STB-0 Command pulse source
1：The position pulse from the
internal PA--20
0: Not allowed
1 STB-1 Zero speed switch enable 1: Allowed
Whether the output Z pulse 0：No expansion

2 STB-2
width is expanded 1：Expansion
0：The position tracking error
is less than the limit value
Complete positioning output
3 STB-3 1：No position command input
mode selection
and the position tracking error
is less than the limit value
0：Select PA—13andPA--14
1：Select PB—4 command
The electronic gear function
4 STB-4 pulse corresponding feedback
selection
number calculation of electronic
gear ratio
143
Speed adaptive feature 0：Not select

5 STB-5
selection 1: Select
6 STB-6 Reserved
0：Low pass filter

7 STB-7 Position filter selection
1：Smoothing filter
0: Not allowed
Whether the emergency stop
8 STB-8 1: Allowed
function is allowed
0：General servo motor

9 STB-9 Torque motor mode selection
1：Torque servo motor
0：Incremental encoder output
Pulse frequency divider directly
10 STB-10
output mode enable 1：Digital encoder output
frequently
Speed feedback filter 0：First order low pass filter
11 STB-11
selection 1：Second order low pass filter
Incremental encoder
feedbackSTB-13 = 0 STB-12
= 0：
Full closed loop position ENDAT absolute encoder
12 STB-12 feedback signal selection feedbackSTB-13 = 1 STB-12
13 STB-13
= 0：
Sine cosine 1Vpp analog signal
feedback：STB-13 = 1
STB-12 = 1：
0: Not allowed
Full closed loop position
14 STB-14
control enable 1: Allowe
0：Do not lock the operation

Lock control of the operation keys
15 STB-15
keys 1：Lock keys
（Unlock:SET+MODE）
144
8. Operation and Modification

Caution
 The Servo Amplifier and motor must be reliably grounded, and PE
terminal must be connected with the grounded terminal of the
equipment reliably.
 The power can be connected only after the wiring is correct.
 Emergency stop circuit must be provided to make sure the power could
be stopped at once in case of emergency.
 If a Servo Amplifier alarm is reported, make sure the alarm is cleared
and the servo enable input signal (EN) is ineffective before restarting
 After the Servo Amplifier and motor are power off, do not touch the
Servo Amplifier within 5 minutes to avoid electronic shock.
 Be cautious to prevent burning as the temperature may get higher after
the Servo Amplifier and motor running for a period of time.
8.1 Power Connection
8.1.1 Checking Before Running

After the installation and connection is completed, check the following items
before power on:
 Whether the type of Servo Amplifier HSV-180AD-200 and above is
correct and reliable? Whether the input voltage is correct?
 Whether the strong power terminal (L1、L2、L3、U、V、W、P、
BK、PE) is correct and reliable? Whether the input voltage is correct?
 Whether the power lines or motor lines is short circuited or grounded.
 Whether the encoder cable connection is correct?
 Whether the control signal terminal connection is correct? Whether the
polarity and size are proper?
145
 Whether the Servo Amplifier and motor are fixed firmly?
8.1.2 Power On Sequence

 For HSV-180AD-035，050，075，100，150,connect the main circuit power
(three-phase AC380V) and external DC 24V power supply. The digital tube of
the Servo Amplifier is light, servo alarm (ALM) is disconnected, and the failure
chain relay normally-open contact on interface XS5 closed. If an alarm is
reported, power the Servo Amplifier off and check the trouble.
 For HSV-180AD-200，300，450, connect the Servo Amplifier control power
(single-phase AC380V) and external DC 24V power supply. The digital tube of
the Servo Amplifier is light, servo alarm (ALM) is disconnected, and the failure
chain relay normally-open contact on interface XS5 closed. If an alarm is
reported, power the Servo Amplifier off and check the trouble. If an alarm is not
appear, connect the main circuit power (three-phase AC380V)
 After 1 second, the servo enable signal (EN) is received. If the Servo Amplifier
have no faults and the servo enabling function is effective, the motor is activated
and in the state for running. If an alarm is reported and the servo enabling
function is ineffective, the motor is idle. At this time, power off the main circuit
power and check the trouble.
 In the external speed running mode (analog interface), the PC outputs the servo
forward (FWD) or servo reverse (REW) control signal to Servo Amplifier. And
operate PC to send analog command to Servo Amplifier. The motor runs
according to the command.
 In the position running mode (pulse interface) or the external speed running mode
(pulse interface), the PC to send pulse command to Servo Amplifier. The motor
runs according to the command.
8.1.3 power connection and alarm sequence

Figure 8-1 HSV-180AD-035，050，075，100，150 Sequential diagram for
power connection (analog command)
146
Main circuit power

supply
Servo ready
output
Servo enable input
Analog command
Figure 8-1 HSV-180AD-035，050，075，100，150Sequential diagram for

power connection (analog command)
Control power
Main circuit power

supply
Servo ready
output
Servo enable input
Analog command
Figure 8-2 HSV-180AD-200，300，450 Sequential diagram for power

connection (pulse command)
147
Main circuit power

supply
Servo ready
output
Servo enable input
Pulse command
Figure 8-3 HSV-180AD-035，050，075，100，150 Sequential diagram for

power connection (pulse command)
Control power
Main circuit power

supply
Servo ready
outputt
Servo enable input
Pulse command
Figure 8-4 HSV-180AD-200，300，450Sequential diagram for alarming
Figure 8-5 Time sequence alarm

When a Servo Amplifier alarm is reported, cut off the external control circuit
power immediately based on the servo alarm output signal (ALM) or the failure
chain input/output terminal XS5.
148
8.1.4 Power Off Sequence

 For HSV-180AD-035，050，075，100，150，disconnect the main circuit
power (three-phase AC380V) of the Servo Amplifier. If the servo enable signal
(EN) keep outputting "ON" signal, A-1 (indicates main power low-voltage) is
displayed, the green enable light (EN) on the Servo Amplifier panel is off, and
the red alarm light (AL) is on (indicates alarm).
 For HSV-180AD-200，300，450，firstly disconnect the main circuit power
(three-phase AC380V) of the Servo Amplifier, and then disconnect the Servo
Amplifier control power (single-phase AC380V) and external DC 24V power

supply. When servo detect heavy electricity disconnected, if the servo enable
signal (EN) keep outputting "ON" signal, A-1 (indicates main power low-voltage)
is displayed, the green enable light (EN) on the Servo Amplifier panel is off, and
the red alarm light (AL) is on (indicates alarm).
 After disconnect the main circuit power, the internal capacitor storage energy of
the Servo Amplifier could not be released immediately. Do not connect nor
disconnect wire within five minutes.
 Avoid frequently turning on and off the main circuit power in a short period of
time, which may damage the soft-start circuit.
8.1.5. Alarm Clear

There are three methods to clear the alarm:
 Turn off the power (three-phase main power), after the fault source is cleared;
repower the Servo Amplifier to clear the alarm. (Some alarm can only be cleared
by this method).
149
 Do not turns off the power, after the fault source is cleared, and enter the
auxiliary mode to reset the internal alarm to clear the alarm. After the alarm is
reset, the red alarm light is off (indicating the alarm is cleared), the servo alarm
(ALM) output is disconnected and the failure chain relay normally-open contact
on the input/output terminal XS5 is connected.
 Do not turns off the power, after the fault source is cleared, reset the external
alarm to clear the alarm via the alarm clear input signal (ALM_RST), see Figure
8-4. After the alarm is reset, the red alarm light is off (indicates the alarm is
cleared), the servo alarm (ALM) output is disconnected and the failure chain
relay normally-open contact on the input/output terminal XS5 is connected.
Figure 8-6 Sequential diagram for external alarm clear
8.2 Trial Operation

Before operating any modes as follows, you must check whether the motor parameter
setting of Servo Amplifier and phase sequence of motor power line is right. Steps as
follows:
1、For HSV-180AD-150 Servo Amplifier and below, disconnect motor coding cable
and motor power line, connect the main circuit power (three-phase AC380V) of the
Servo Amplifier.
2、 For HSV-180AD-200 Servo Amplifier and above, disconnect motor coding cable
and motor power line, connect the main circuit power (single-phase AC220V) of the
Servo Amplifier.
3、Modify control parameters and movement parameters:
Setting STA—0 to 0, STA—6 to 1
According to the Servo Amplifier and type of motor encoder, setting follow
parameters: PA--34, PA--25，PA--26 and PA--43.
4、Changing PA--34 to 1230 after completing setting,, enter auxiliary parameter
setting mode to save parameter, and turn off at last.
5、Connect encoder and power line of motor:
150
For HSV-180AD-150 and below specifications： only need to connect the

three-phase AC380V of strong electric。
For HSV-180AD-200 and above specifications：Firstly connect single-phase
AC220V of control power，and then connect the three-phase AC380V of strong
electric。
6、After the Servo Amplifier digital display, select the auxiliary mode "TST-MD"
(open-loop control mode), press S to enter, when display "FINISH", the green Servo
Amplifier enable lights, look up the DP- PFL the actual status, if the value is
increasing without decimal point, it indicates that the phase sequence of motor power
line UVW is right. Otherwise, the motor power lines indicate the sequence is wrong,
switch off the Servo Amplifier power , swap the motor power line V, W phase
sequence can be.
Note:Operating steps above, the motor shaft must be no load.
8.2.1 JOG Running Mode

1、For wiring, see Figure 5.8 in Chapter 5
2、 For HSV-180AD-150 Servo Amplifier and below ,disconnect motor coding
cable and motor power line, connect the main circuit power (three-phase AC380V) of
For HSV-180AD-200 Servo Amplifier and above, disconnect motor coding cable
Servo Amplifier.
3、 Modify control parameters and movement parameters:
Setting STA—0 to 0；Setting STA—6to 1；
According to the type of Servo Amplifier, setting follow parameters STB--1（IM：
0，PM:1）；
Setting PA--34to 2003, PA—25 and PA—43
4、Save the parameter to EEPROM after setting PA--34to 1230. Turn off the power,
wait for 30seconds
For HSV-180AD-150 and below specifications：only need to connect the three-phase
AC380V of strong electric。
electric。
6、Connect the main circuit power (three-phase AC380V) of the Servo Amplifier. If
there are no alarms or abnormal situation, the green enable lamp (EN) is light, which
indicates the Servo Amplifier is working properly. The motor is activated and in the
zero speed state.
7、In the auxiliary mode, select the JOG mode, and JOG-- is displayed through the
digital cube. Press S to enter into the JOG mode. RUN-- is displayed through the
digital cube. Press and hold ↑, the servo motor runs at the JOG speed. Release ↑, and
then the motor stops and enters the zero-speed state. Press and hold ↓, the motor runs
151
at the JOG speed in the opposite direction. Release ↓, and then the motor stops and
enters the zero-speed state.
8.2.2 Internal Speed Running Mode

1、For wiring, refer to Figure 5.8 in Chapter 5
2、For HSV-180AD-150 Servo Amplifier and below ,disconnect motor coding cable
Servo Amplifier.
For HSV-180AD-200 Servo Amplifier and above ,disconnect motor coding cable
Servo Amplifier.
3、 Modify control parameters and movement parameters:
Setting STA-0to 0；STA-6to 1
Setting PA—34to 2003；
Setting PA—23 to 3；Servo Amplifier to work in the internal speed mode
SettingPA—25,26,43；
wait for 30seconds
5、 Connect encoder and power line of motor:
For HSV-180AD-150and below specifications： only need to connect the
electric6.
6、If there are no alarms or abnormal situation, the green enable lamp (EN) is light,
which indicates the Servo Amplifier is operating normal. The motor is activated and
in the zero speed state.
7、Set the movement parameter PA-20 (internal speed). Press S to confirm, and then
the motor will run at the specified speed.
8.2.3 External Speed Running Mode (Analog interface)

1、For wiring, see Figure 5.8.2 in Chapter 5.
2、 For HSV-180AD-150 Servo Amplifier and below ,disconnect motor cable and
motor power line, connect the main circuit power (three-phase AC380V) of the Servo
Amplifier.
For HSV-180AD-200 Servo Amplifier and above, disconnect motor coding cable and
motor power line, connect the main circuit power (single-phase AC220V) of the
Servo Amplifier.
Setting STA-0to 0；STA-6to0；PA—34to2003
Setting PA—25, PA—26,PA—43
Setting PA—23 to 1, Servo Amplifier in the external speed control mode
According to the demand , setting the speed parameter PA—7 and PA--8
152
4、Save the parameter settings to EEPROM after setting PA--34to 1230. Turn off the
power, wait for 30seconds。
5、 Connect encoder and power line of motor:
electric。
6、 Verify no alarm or abnormal condition is reported. The green enable lamp (EN)
is on, which indicates the Servo Amplifier is working properly. The motor is activated
and in the zero speed state.
7、Use PC outputs forward or reverse control signal to the third pin (FWD) and the
forth pin (REW) and outputs analog signal to the 27, 28, 12, 13 pin (GNDAM, AN+,
AN-) on the command input/output interface XS4. The motor rotate forward or
reverse.
8.2.4 Torque Running Mode (Analog interface)

2、For HSV-180AD-150 Servo Amplifier and below ,disconnect motor coding
cable and motor power line, connect the main circuit power (three-phase AC380V) of
For HSV-180AD-200 Servo Amplifier and above ,disconnect motor coding cable and
Servo Amplifier.
Setting PA—23 to 2, Servo Amplifier in the external speed control mode
According to the demand , setting parameter PA—9 and PA--10
wait for 30seconds
electric。
6、If there are no alarms or abnormal situation, the green enable light (EN) is on
which indicates the Servo Amplifier working properly. The motor is activated and in
the zero speed state.
7、PC sends pulse command to the 27、28、12、13（GNDAM、AN+、AN-） pins
on the command input/output interface XS4. The motor runs according to the
command.
153
8.2.5 Position Running Mode (Impulse interface)

2、For HSV-180AD-150 Servo Amplifier and below ,disconnect motor coding cable
Servo Amplifier.
For HSV-180AD-200 Servo Amplifier and a above, disconnect motor coding cable
Servo Amplifier.
Setting PA—23 to 0
According to the demand , setting parameter PA—22
4、Save the parameter to EEPROM after setting PA—41to 1230. Turn off the power,
wait for 30seconds
electric。
6、If there are no alarms or abnormal situation, the green enable light (EN) is on,
which indicates the Servo Amplifier is working properly. The motor is activated and
7、The PC sends pulse command to the 14,15,16,17 pins on the command
input/output interface XS4. The motor runs according to the command.
8.2.6 Full closed‐loop

1、For wiring, see Figure 5.8.3Standard wiring diagram in Chapter 5.
2、For HSV-180AD-150 Servo Amplifier and below , disconnect motor coding cable
Servo Amplifier.
For HSV-180AD-200 Servo Amplifier and above, disconnect motor coding cable and
Servo Amplifier.
3、Modify control parameters and movement parameters：
Setting STA-0to 0；STA-6to 0；
Setting STB-14 to 0,select forbid full closed-loop function
Setting PA—25, PA—26, PA—43, PA--22
wait for 30seconds
154
5、Connect encoder of motor:

For HSV-180AD-150 and below specifications： connect the three-phase AC380V
of strong electric。
For HSV-180AD-200 and above specifications： connect single-phase AC220V of
control power。
6、Manually rotate the servo motor，observe the value of DP-PFL, DP-PFM,
confirm the count direction of feedback pulse when reversing.
7、Setting STB-14 to 1, select closed loop function
Setting STB-12、STB-13, select the second position encoder type
The second position encoder type STB-13 STB-12
Square Incremental Encoder （TTL） 0 0
ENDAT2.1/2.2 Agreement absolute 1 0
encoder
Cosine encoder（1Vpp Analog signals） 1 1
wait for 30seconds
9、Connect the second position encoder:
For HSV-180AD-200 and above specifications： connect single-phase AC220V of
control power
10、Manually rotate the servo motor，observe the value of DP-PFL, DP-PFM,
confirm the count direction of feedback pulse when reversing is consist with the
direction as steps 6
If the count direction is not consist with the direction as steps 6,set PA-10 to
512,and invert servo encoder feedback pulse.
11、Save the parameter to EEPROM after setting PA—34to 1230. Turn off the
power, wait for 30seconds
12、Connect power line of motor:
electric。
13、Adjust parameters PA-17, PA-21 to be smaller, test by JOG point dynamic. If
tests are normal, turn off the power, and wait 30 seconds.
14、Connect command line of motor:
155

electric.
15 、If there are no alarms or abnormal situation, the green enable light (EN) is on,
which indicates the Servo Amplifier is working properly. The motor is activated and
16、.Operate PC outputs pulse command to the 14, 15, 16, 17 pin (CP+、CP-、
DIR+、DIR-) on the XS4 interface. The motor run according to the command.
8.3 Running Modification
Note
 Wrong parameter setting may cause equipment failure or

accidents. Make sure the parameter settings are correct before
starting the Servo Amplifier.
 It is recommended that the overload commissioning be performed
after the non-load commissioning.
8.3.1Basic Gain
A: Speed Control
 Speed proportional gain: specified by the movement parameter PA-2. Gain and
rigidity will be enhanced as the parameter value increases. The value is
determined by the actual Servo Amplifier system type and the load. It is
recommended that the value be larger if no oscillation exists. In general, the value
of speed proportional gain increases as the loading inertia increases.
 Speed integration time constant: specified by the movement parameter PA-3.
Integration speeds up as the value decreases. The response speed increases as the
parameter value decrease, but oscillation may occur. It is recommended that the
value be smaller if no oscillation exists. A big parameter value may leads to great
changes in speed when the load changes. In general, the value increases as the
load inertia increases.
B: Position control
 Set an appropriate value for speed proportional gain and speed integration time
constant based on the information in Speed control.
156
 Position forward feedback gain: It is specified by the movement parameter PA-1.

The system response enhanced as the value increases, but instability or oscillation
may occur. It is recommended that the value be set to 0.
 Position proportional gain: It is specified by the movement parameter PA-0.
Gain and rigidity will be enhanced as the parameter value increases, but the
position hysteresis decreases under the condition of the same pulse frequency.
The value is determined by the actual Servo Amplifier system type and the load.
It is recommended that a big value be set. The position command tracking feature
is enhanced but the lag error decreases as the parameter value increases. However,
oscillation easily occurs after the orientation is complete.
 If high position command tracking feature is required, set the parameter to a
bigger value. However, it may cause overshoot or oscillations.
For the Position proportional gain parameter setting, see the following table.
Recommended values for Position proportional gain
Rigidity Value
Low 500～1000
Middle 1000～2000
High 2000～3000
8.3.2Electrical Gear Setting

In the position control mode, by changing the position command pulse frequency
molecular (movement parameter PA-13) and position command pulse frequency
denominator (movement parameter of PA-14), users can easily match with the
pulse controller to achieve position control resolution as required.
The position resolution (a pulse travel⊿l) is determined by the servo motor travel
per turn (⊿S) and encoder feedback pulses per revolution Pt. The formula is as
follows:  l S

Pt
In the formula,
⊿l: Indicates a pulse travel (mm)
⊿S: Indicates servo motor travel per turn (mm/turn)
Pt: indicates encoder feedback pulse per revolution (pulse/rev.)
157
Fourfold frequency circuit is provided for the Servo Amplifier: Pt = 4 × C.

C indicates the number of encoder lines per revolution. In this system C is 2500
lines/turn (specified by encoder resolution and movement parameter PA-25), then
Pt = 1000 pulses/rev.
Multiply command pulse with the electronic gear ratio G to get the position control
pulse. The formula for one command pulse travel ⊿l* is as follows:
S
l *  G
Pt
In the formula, G = position command pulse frequency molecular/position

command pulse frequency denominator
8.3.3Start and Stop Adjustment

The Servo Amplifier start and stop feature, namely, acceleration and deceleration
time, is determined by the over-load inertia and start and stop frequency, and
limited by the Servo Amplifier and servo motor performance. Frequent start and
stop, short acceleration and deceleration time, large load inertia will cause over
heat to the Servo Amplifier and motor and over voltage to the main circuit. You
need to adjust them as required.
a. Overload inertia and start and stop frequency adjustment
The adjustment is required when the start and stop frequency is too high. Check
whether the frequency is in the frequency range. The frequency range varies with
different motor types, capacities, load inertias, and motor speeds. If the overload
inertia is M times of the motor inertia, the start and stop frequency and
recommended deceleration time (movement parameter PA-6) is as in the
following table:
Load inertia ratio and allowed start and stop frequency
Load Inertia Allowed Start-Stop Frequency
Times
m≤3 >100 times/mins: acceleration and deceleration time is
60 ms or less
m≤5 60 to 100 times/mins: acceleration and deceleration
time is 150 ms or less
158
m>5 < 60 times/mines: acceleration and deceleration time is

150 ms or more
b. Impact of the servo motor

Different type of servo motor allows different overload conditions, running
times, loading rate, and environment temperature. See related manual and
adjust the settings as required to prevent overheat or short service life.
c. Adjustment method
Generally, the overload inertia must be less than 5 times of the motor rotor
inertia. The large overload inertia may cause overvoltage during deceleration
or abnormal braking. Use the following methods to adjust it:
 Increasing the acceleration and deceleration time (movement parameter
PA-6 and PA-38)
You can set the parameter to a bigger value and then gradually reduce it to
the appropriate value.
 Reducing the maximum output torque value (movement parameter PA-5)
to reduce the current limit value
 Reducing the maximum speed limit of the servo motor (movement
parameter PA-17)
 Installing external braking device
 Changing the servo motor to one with larger power and inertia motor (the
servo motor must match with the Servo Amplifier)
159
9 Fault Trouble shooting
Caution
 Maintenance personnel must have related knowledge and abilities.
 Do not touch the Servo Amplifier or motor within five minutes after
power-off to prevent electric shock or burns.
 If a Servo Amplifier alarm is reported, do not use the Servo Amplifier
only after the alarm is cleared based on the alarm code.
 Before the alarm reset, make sure that the EN signal is ineffective to
prevent accidents caused by a sudden start.
9.1 Protection and Fault Identification
1. Series HSV-180AD Servo Amplifier provides 30 different protection

functions and fault identification. If one protection function is activated,
alarm information can be displayed through the digital tube on the Servo
Amplifier panel, the servo alarm output (ALM) is connected, and the failure
chain relay normally-open contact on the input/output terminal XS5 is
disconnected.
2. It is required to connect the alarm output (ALM)or XS5 terminal to the PC.
When the protection function of the Servo Amplifier is activated, the PC can
promptly take emergency measures.
3. After the fault source is cleared, you can turn off three-phase main power ,
and then the repower the Servo Amplifier to clear the alarm, or enter the
auxiliary mode to reset the internal alarm to clear the alarm, or reset the
external alarm to clear the alarm via the alarm clear input signal
(ALM_RST).
4. The protection function with "*" cannot be cleared by resetting the external
or internal alarm. It can only be cleared by cutting off the power, and then
repower the Servo Amplifier after the fault source is cleared.
Table 9.1 Alarm information:
No. Alarm Type Description

0 Normal No alarming
Whether the three-phase main voltage is c？
1 Under-voltage supply
Whether the three-phase main voltage is too low？
Whether the built-in braking resistor of Servo
Amplifier is intact?
2 Over-voltage supply Whether external braking resistor specifications and
wiring is correct?
Whether the circuit power supply voltage is too high？
Whether the cooling of Servo Amplifier is normal？
Whether the system is overload？
Whether parameter settings are appropriate？
3 IPM failure◆ Whether connection of motor power line is correct and
reliable ?
Whether connection of Shielded cable is complete, and
reliable?
Whether external braking resistor is correct?
4 Brake failure◆ Whether external braking resistor specifications and
wiring is correct?
5 Reserved
Temperature of motor is too high
6 Motor overheat
STA-12 is set to 1to shield alarm
The encoder data signal Whether encoder cable is connected and reliable？
7
error Whether the encoder cable is too long?
Whether encoder cable is connected？
8 The type of encoder error
Whether setting of P-25 is correct ？
Whether the phase sequence of motor power line is
9 system software overheat
correct？
Whether setting of PA--10、PA--18、PA--19 is
correct？
10 Over current◆ Whether setting of PA--26 is correct？
Whether the Servo Amplifier is overload？
Whether setting of PA--17 is correct？

Whether the r feedback signal of encode is correct？
11 Motor over speed If the system work in full closed loop mode: whether
direction of full closed-loop feedback pulse is consistent
with the direction of semi-closed loop feedback pulse？
Overlarge tracking Whether the phase sequence of motor is correct？
12
deviation Whether setting of P-12 is correct？
Whether setting of PA--18、PA--19 is correct？
Motor overload for a long
13 Whether the phase sequence of motor is correct？
time
161
Control parameters read Resave parameters

14
fault◆
Whether PA17 parameter set is reasonable
after given an instruction frequency more than it?
Whether PA23 parameter set is reasonable?
15 Instruction Over clocking
Whether the system of electronic gear ratio, the encoder
type or operating mode is correct?
Whether PB42andPB4 is reasonable?
Control board hardware DSP and FPGA communication failure
16
failure◆ Resave parameters
Temperature of the Servo Amplifier exceeds the set
17 Servo Amplifier overheat value（100℃）
STB--4 is set to 1to shield alarm
18 Reserved
19 ADconversion data communications failure or current
ADConversion failure◆
sensor failure
Reverse over travel input switch input is active
20 Reverse over travel fault
Forward over travel input switch input is active
21 Forward over travel fault
Inertia recognition errors
Self-tuning error Check the operation parameters especially parameters
22
recognition system such asPA18
Whether system inertia and motor is reasonable?
23 Reserved
24 Reserved
25 Reserved
Absolute encoder communication failure
Motor encoder signals Whether the connection of encoder cable is correct？
26
Communication fault Whether parameter PA – 25 is consistent with the motor
encoder？
Whether connections of closed loop encoder are
Closed loop cosine proper ?
27
encoder signal distortion Whether settings of closed loop encoder type are
correct?
Closed loop encoder Whether connections of closed loop encoder are
signals proper ?
28
Communication Whether settings of closed loop encoder type are
breakdown correct?
Servo Amplifier and Whether setting of PA--43 is correct？
29 motor model code
matching fault◆
162
Version history of HSV-180AD Servo Amplifier:

1 Series HSV-180AD Servo Amplifier User's Manual V1.00 2012.4
a. Applicable to HSV-180AD-035，050，075，100，150，200，300，450 Servo
Amplifier
b. Software version V 1.13
163

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Series HSV‐180AD AC Servo Amplifier

Wuhan Huazhong Numerical Control Co., LTD

1.1 SYMBOLS OF SAFETY PRECAUTIONS ........................................................................................................ 4

2.1 INTRODUCTION ................................................................................................................................. 11

3 ORDER INFORMATION ................................................................................................................ 14

3.1 SPECIFICATIONS OF SERVO AMPLIFIER ................................................................................................... 14

4.1 PRODUCTS CHECK ............................................................................................................................. 40

4.4.1 Installation Environment ...................................................................................................... 59

5.1 CONNECTORS ................................................................................................................................... 61

6. OPERATION AND DISPLAY........................................................................................................ 107

6.1 OVERVIEW..................................................................................................................................... 107

7. PARAMETER SETTING .............................................................................................................. 117

7.1 FUNCTION MENU ........................................................................................................................... 117

7.2.4 Parameters Related to Movement Control ......................................................................... 131

8. OPERATION AND MODIFICATION ............................................................................................. 145

8.1 POWER CONNECTION ...................................................................................................................... 145

9 FAULT TROUBLE SHOOTING ...................................................................................................... 160

9.1 PROTECTION AND FAULT IDENTIFICATION ............................................................................................ 160

1.1 Symbols of Safety Precautions

1.2 Meaning of Safety Precaution Symbols

！ Warning Safety precaution signage

 Danger! High Voltage

Symbols of Safety Precaution

1.3 Explanation of Safety Precaution Symbols

It indicates a potentially hazardous situation which, if not avoided, will result in

It indicates a potentially hazardous situation which, if not avoided, will result in

1.4 Safety Regulations

Do not install damaged the Servo Amplifier.

 Hold the bottom of the machine.

 Before wiring, confirm whether the power is off.

 Do not make withstand test for the Servo Amplifier .

 Do not connect capacitance and LC or LR noise filter to the output circuit so

 Do not make alterations independently.

Series HSV-180AD AC Servo Amplifier adopts the latest technologies such as

 Feedback interface of servo motor optical -electrical encoder

2.2 Introduction to Control Modes

Series HSV-180AD AC Servo Amplifier provides four control modes:

5. Internal speed control mode

3.1 Specifications of Servo Amplifier

3.1.1 Specification for HSV‐180AD

3.1.2 Current Type of HSV‐180AD

Type HSV-180AD-100 HSV-180AD-150

Type HSV-180AD-200 HSV-180AD-300 HSV-180AD-450

3.1.3 Technical Specification of HSV‐180AD

TTL composite incremental photoelectric

Six LED digital tubes, two light-emitting diodes(LED), five

Adaptive motor 2.2KW～51KWAC servo motor

3.1.4 Dimension and Size of the Servo Amplifier

3、Figure 3-4 Dimension and size of HSV-180AD-,100, 150 (without auxiliary

4、Figure 3-5 Dimension and size of HSV-180AD-100,150 (with auxiliary

5、Figure 3-6 Dimension and size of HSV-180AD-,200, 300,450 (without auxiliary

6、Figure 3-7 Dimension and size of HSV-180AD-,200, 300,450 (with auxiliary

3.2 Specification of Servo Motor

3.2.1 Introduction to Series GK6 AC Servo Motor

3.2.2 Features of Series GK6 AC Servo Motor

3.2.3 Technical index of Series GK6 AC servo motor

Table 3.3 Technical index of series GM7AC servo motor:

3.2.4Order information of series GK6 AC Permanent Magnet Servo