EP3 Use Manual

EP3 EP3 Series
AC servo driver
User manual
GL1A0/GL1A8/GL3A0/GL7A5/GL120/GL160/GL190/GL240/
servo driver GH3A5/ GH5A4/ GH8A5/ GH130/ GH170

DECLARATION
.
Without this company's written permission, forbid strictly the reprint
either the part or the complete content of this handbook.
Because improves and so on the reasons, the product specification or

dimension has the change, not separate informs even slightly.

Safety Precautions
In order to use this product safely, the user should be familiar with and observes the following important items
before proceeding with storage, installation, wiring, operation, inspection or maintenance for the product.
Danger Indicates a disoperation possibly can cause danger and physical injure or death.

Cauti
Indicates a disoperation possibly can cause danger and physical injure, and may result in
on
damage to the product.

Stop Indicates a prohibited actions, otherwise can cause damage, malfunction to the product.
1. Service conditions
Danger

Do not expose the product in moisture, caustic gas, and ignitable gas situation. Otherwise can
cause an electric shock or fire.

Do not use the product in direct-sunlight, dust, salinity and metal powder places.

I
Do not use the product in the places that has water, oil and drugs drops
2. Wiring
Danger

Connect the earth terminal (PE) to earth reliably, otherwise can cause an electric shock or fire.
220V380V
Never connect the input power terminals (L1, L2, L3) to 380V power supply, otherwise can result in the
servo driver damage and an electric shock or fire.
UVW
Do not connect the output terminals (U, V, W) to AC power supply, otherwise can cause personnel
casualty or fire
UVWUVW

The output terminals (U, V, W) must be connected with the servo motor connections (U, V, W)
correspondently otherwise can result in the servomotor flying speed that may cause equipment damage
and the personnel casualty.

Please fasten the input power terminals (L1, L2, and L3) and the output terminals (U, V, W). Otherwise
may cause fire.

Referring to wire selection guide, please install all wires with an adequate cross-section. Otherwise may
cause fire.
II
3. Operations
CAUTION

Before operating the mechanical device, it is necessary to set the parameters with appropriate values.
Otherwise, can cause the mechanical device to out of control or break down.

Before running the mechanical device, make sure the emergency stop switch can work at any time.

Performing trial run without load, make sure that the servomotor is in normal operation. Afterwards joins
again the load.

Please do not turn on and off the main power supply more frequently, otherwise can cause the servo
driver overheat
4. Running
STOP

Do not touch any moving parts of the mechanical device while the servomotor is running, otherwise can
cause personnel casualty.

Do not touch servo driver and servomotor while the equipment is operating, otherwise can result in an
electric shock or in burn.

Do not move any connection cables while the equipment is operating, otherwise can result in physical
injure or equipment damage.
5. Maintenance and inspection
STOP
III
Do not touch any portion inside of the servo driver and servomotor, otherwise can cause an electric
shock.

Do not remove the front cover of the servo driver while power is on, otherwise can cause an electric
shock.
5
Please wait at least 5 minutes after power has been removed before touching any terminal, otherwise the
remaining high voltage possibly can cause an electric shock

Do not change the wiring while the power is on, otherwise can cause an electric shock.

Do not disassemble the servomotor, otherwise can cause an electric shock.
6. Service ranges
CAUTION

This handbook involves the product for the general industry use, please do not use in some equipment
which may directly harm the personal safety, such as nuclear energy, spaceflight, aeronautic equipment, and life
safeguard, life-support equipment and each kind of safety equipment. Please make contact with the company if
have the need of use mentioned above.
IV
CONTENTS
1 ............................................................................................................. 1-1
Chapter 1 Product inspection and installment
1.1 Product inspection......................................................................................... 1-1
1.2 Product nameplate........................................................................................ 1-1
1.3 Product front panel................................................................................... 1-2
1.4 Servo driver installation....................................................................1-4
1.4.1 The environmental conditions for installation........................... 1-4
1.4.2 The method of installation................................................................. 1-4
1.5 Servo motor installation........................................................................1-5
1.5.1 The environmental conditions for installation............................ 1-5
1.5.2 The method of installation.................................................................. 1-5
1.6 The definition of rotating direction for servomotor....................... 1-6
2 Chapter 2 Wiring................................................................................................ 2-1
2.1 System construction and wiring.........................................................2-1
2.1.1 Servo driver wiring diagram............................................... 2-1
2.1.2 Wiring explanations............................................................................2-3
2.1.3 Electric wire specifications.................................................................2-3
2.1.4 Main circuit terminal explanation2-4
2.1.5 Wiring diagram of main loop......................................................2-5
2.2 X1 X1 terminals for control signals........................................................2-7
2.2.1 X1 X1 terminal connector................................................................... 2-7
2.2.2 X1 X1 terminal signal explanation.............................................. 2-8
2.2.3 X1 X1 terminal interface type..................................................... 2-9
2.3 X2 X2 encoder signal terminals....................................................... 2-12
2.3.1 X2 X2 terminal connector................................................................. 2-12
2.3.2 X2 X2 terminal signal explanation............................................ 2-14
2.4 X3 X3 terminal connector............................................................................ 2-16
2.5 Standard wiring diagram......................................................................... 2-17
2.5.1 Wiring diagram for position control......................................... 2-17
2.5.2 Wiring diagram for speed control and
torque control.............................................................................................................. 2-18
2.6 Connecting of brake resistor............................................................2-19
2.7 Connecting of electric reactor.............................................................2-20
3 Chapter 3 Front panel operation.................................................................. 3-1
3.1 Explanation of the front panel of servo driver................................... 3-1
V
3.1.1 Front panel compositions....................................................................3-1
3.1.2 Front panel explanations.....................................................................3-1
3.1.3 Data display........................................................................................ 3-2
3.2 Main menu.........................................................................................................3-2
Status monitor................................................................................................3-3
3.3
Parameters setting..........................................................................................3-7
3.4
Parameter management..................................................................................3-8
3.5
Auxiliary functions........................................................................................ 3-9
3.6
3.6.1 Special functions.................................................................................3-9
3.6.2 Zeroing for analog quantity.......................................................... 3-10
3.7 Resume the parameter default values.............................................. 3-11
4 Chapter 4 Running.................................................................................................4-1
4.1 Trial running with no load......................................................................... 4-1
4.1.1 Wiring and inspection.....................................................................4-1
4.1.2 (JOG) Trial running in JOG mode................................................... 4-2
4.1.3 Trial running in speed adjustment mode with keyboard......... 4-3
4.2 Position control mode....................................................................................4-4
4.2.1 Simple example for position control mode..................... 4-4
4.2.2 Position commands.............................................................................4-5
4.2.3 Electronic gear for input commands...........................................4-8
4.2.4 Gains related to position control mode............................. 4-13
4.3 Speed control mode..................................................................................... 4-14
4.3.1 Simple example for speed control mode.......................4-14
4.3.2 Parameters related to speed commands........................ 4-15
4.3.3 Sources of the speed commands............................................... 4-16
4.3.4 Acceleration and deceleration...............................................................4-17
4.3.5 Clamp on zero speed.........................................................................4-18
4.3.6 Gains related to speed control mode.................................4-19
4.4 Torque control mode....................................................................................4-20
4.4.1 Simple example for torque control mode......................4-20
4.4.2 Parameters related to torque commands....................... 4-21
4.4.3 Sources of the torque commands.............................................. 4-21
4.4.4 Speed limitation in torque control mode.......................4-22
4.5 Motion Motion mode...........................................................................................4-23
4.5.1 Motion Unit of Motion mode........................................................ 4-23
4.5.2 Motion Simple example of Motion mode..............................4-23
4.5.3 Motion Sequence chart of Motion mode....................................... 4-24
4.5.4 Motion Parameter setting of Motion mode................................4-24
4.5.5 Motion Path instruction of Motion mode.......................................... 4-27
4.6 Gain adjustment...........................................................................................4-28
VI
4.6.1 Gain parameters................................................................................4-28
4.6.2 Procedure for gain adjustment.................................................. 4-30
4.7 Resonance suppressions.............................................................................. 4-31
4.7.1 Low pass filters.............................................................................4-32
4.7.2 Notch filters.......................................................................................... 4-32
4.8 Gains switching........................................................................................... 4-33
4.8.1 Parameters for gain switching...................................................4-33
4.8.2 Action of gain switching...........................................................4-33
4.9 Homing........................................................................................................ 4-35
4.9.1 Parameters for homing..............................................................4-35
4.9.2 Operation procedure for homing.......................................4-35
4.9.3 Methods of homing...................................................................4-36
4.9.4 Timing chart of homing............................................................ 4-37
4.9.5 Timing chart of homing for combination mode........4-40
4.10 Setting of Absolute encoder....................................................4-44
4.10.1 SEN Set the standard connection
diagram and SEN signal of absolute encoder.............................................................. 4-44
4.10.2 backups for the multi-turn information of
absolute encoder.......................................................................................................... 4-45
4.10.3 The initialization of absolute encoder......................4-45
4.10.4 ............................................................................. 4-46
4.11 Over-travel protections.............................................................................. 4-49
4.12 Torque limitations......................................................................................4-50
4.12.1 Parameters for torque limitations.............................................4-50
4.12.2 Modes of torque limitation...................................................... 4-50
4.13 Timing chart of operation.......................................................................... 4-51
4.13.1 Timing chart when power supply switch on............................ 4-51
4.13.2 ON Alarm timing chart while servo-ON is executed..........4-51
4.13.3 ON/OFF Action timing chart while servo-ON/OFF
are executed during the servo motor is in standstill.................................................... 4-52
4.13.4 ON/OFF Action timing chart while servo-ON/OFF
are executed during the servo motor is in motion........................................................4-52
4.14 Electromagnetic holding brake.............................................................. 4-53
4.14.1 Parameters of electromagnetic holding brake......................4-53
4.14.2 Make use of electromagnetic holding brake........................ 4-53
5 Chapter 5 Parameters.............................................................................................5-1
5.1 Parameter table.......................................................................................... 5-1
5.1.1 0 Parameters of section 0......................................................................5-1
VII
5.2 DI DI function table..................................................................................5-10
5.3 DO DO function table...............................................................................5-10
5.4 Parameter description in detail..................................................................... 5-11
5.4.1 0 Parameters of section 0.................................................................... 5-11
5.4.2 1 Parameters of section 1....................................................................5-27
5.5 DI DI function description in detail..............................................................5-51
5.6 DO DO function description in detail...........................................................5-55
6 Communication functions...............................................................................6-1
6.1 RS-485 Communication hardware interface...........................................6-1
6.2 RS-485 Communication parameter........................................................... 6-1
6.3 MODBUS MODBUS communication protocol............................................. 6-2
6.4 Write in and read out parameters.................................................... 6-8
6.5 Common operation command.................................................................6-8
6.6 Quantity of state surveillance..................................................................... 6-9
6.7 Operation example........................................................................................6-10
7 Chapter 7 Alarm.................................................................................................... 7-1
7.1 Alarm table................................................................................................ 7-1
7.2 The reason and handling of alarm..................................................... 7-2
8 Chapter 8 Specifications........................................................................................8-1
8.1 Types of servo driver................................................................................. 8-1
8.2 Dimensions of servo driver........................................................................8-2
8.3 Specifications of servo driver.................................................................... 8-3
VIII
IX
1
Chapter 1 Product inspection and

installment
1.1 Product inspection

This product has made the complete function test before delivery, for prevented the product to be abnormal
owing to shipping process, please make detail inspection as the following items after breaking the seal

Inspect the types of servo driver and servomotor and ensure that are the same types in the order form.
1

Inspect the outward appearance of servo driver and servomotor to see any abrasion or damage; if so please
do not wire to the power supply.

Inspect the parts of servo driver and servomotor to see any loosen parts such as loosened or fallen off screw.

Rotate the servomotor shaft by hand and should be smooth rotation. However, the servomotor with holding
brake is unable to rotate directly.

If there is any break down item or abnormal phenomenon mentioned above, please contact with the dealer
immediately.
1-1
1.2 Product nameplate

Product N am e Inspections
Logo and D ate
Product T ype Before D elivery

M ain circuit input pow er
/
R ated output current / pow er
Serial
N um ber
Product ID W arning Logo
1.3 Product front panel

pane
1-2
EP3-GL1A0EP3-GL1A8EP3-GL3A0EP3-GL7A5EP3-GL120EP3-GL160
Applicable models: EP3-GL1A0EP3-GL1A8EP3-GL3A0EP3-GL7A5EP3-GL120EP3-GL160

The Opened Cover
M ini U SB
5 5 Mini USB Interface
b its n ixie tube
display screen 2
P O W R U N
4
2 indicator light
4 Operation
P O W R U N
Buttons

D isplay
Screen and Operation
Back Mounting ButtonsOperating at
H o le opened cover )
L1 X3
L2L3Main Power C onnector X3 for
Source Connecting communication
T erm inalsL1L2 interface
L3

L1C Nameplate
L2CControl Power And Warning Logo
Source Connecting (S id e )
T erm inalsL1CL2C
(P X1
B1B2) C onnector X1 for Input
External Brake Resistor and Output Signals
(O p tio n ) T erm inals (PB1B2)
U
VWServomotor X2
Connection Terminals C onnector X 2 F or
UVW Encoder
Ground
T erm inals
1EP3-GL190 EP3-GL240

Note 1: The front panel of EP3-GL190 and EP3-GL240 servo driver is different from above
picture. Please refer to Main circuit terminal explanation
1-2
1.6 The definition of rotating direction for servomotor
EP3-GH3A5EP3-GH5A4
Applicable models: EP3-GH3A5EP3-GH5A4

The Cover Opened
M in i U S B
Mini USB interface
5
5 D igit D isplay LED
4 2 P O W R U N
4 Operation Buttons 2 LED LampsP o w
R u n

Display And Operation

Mounting Hole
ButtonsOpen the cover for
operating)

L1L2L3
Main Power Input TerminalsL1

L2L3
Charge lamp

X3
2 4 V0V X3 connector for 1
Control Power C onnection T erminals communication interface
2 4 V,0V)
( ) PB1B2
External Regenerative Resistor (O p tio n ) Nameplate And Warning Logo
T erminals PB1B2 (R ight side )
( ) N1N2
X1
DC Reactor(o p tio n ) T erminals
C onnector X1 For Input
N1,N2
And Output Signals
UVW
Servomotor Connection terminals X2
UVW C onnector X2 F or
Servomotor
Encoder
Ground Terminals
1EP3-GH8A5EP3-GH130 EP3-GH170

Note 1: The front panels of EP3-GH8A5EP3-GH130 and EP3-GH170 servo driver are different
from above picture. Please refer to Main circuit terminal explanation
.
1-3
1.4 Servo driver installation
1.4.1 The environmental conditions for installation

Since the environment conditions for servo driver installation have the direct influence to the normal function
and service life of the servo driver, therefore the environment conditions must be conformed to the following
conditions:
04040%80%()
Ambient temperature: 0 to 40; ambient humidity: less than 80% (no dew).
-405093%()
Storage temperature: -40 to 50; Storage humidity: less than 93% (no dew).
0.5G
Vibration: less than 0.5G.

Preventive measure shall be taken against raindrop or moist environment.

Avoid direct sunlight.

Preventive measure shall be taken against corrosion by oil mist and salinity.

Free from corrosive liquid and gas.

Keep away from radioactive and inflammable substances.

40
When several driver installments in a control cubicle, for good ventilation please reserve enough space
around each driver, install fans to provide effective cooling, keep less than 40 for long-term trouble-free
service.
()
If there are vibration sources nearby (punch press for example) and no way to avoid it, please use absorber
or antivibration rubber filling piece.

1-4

If there is disturbance from interferential equipment nearby along the wirings to the servo driver can make
the servo driver misoperation. Using noise filters as well as other antijamming measure guarantee normal
work of the servo driver. However, the noise filter can increase current leakage, therefore should install an
insulating transformer in the input terminals of power supply.
1.4.2 The method of installation

In order to get good cooling the servo driver should normally mount in vertical direction with the topside
upward.
M5
For installing the servo driver, fasten the backboard of the servo driver with M5 screw bolt.

Reserve enough space around the servo drivers as shown in the reference diagram. In order to guarantee the

performance of the servo driver and the lifetime, please make the space as full as possible.

To provide vertical wind to the heat sink of the servo driver should install ventilating fans in the control 1
cubicle.

Prevent the dust or the iron filings entering the servo driver when install the control cubicle.
>100mm
>5 0 m m >5 0 m m >1 0 0 m m

>100mm

Ventilating Direction
1-5
1.5 Servo motor installation
1.5.1 The environmental conditions for installation
04080%()
Ambient temperature: 0 to 40; Ambient humidity: less than 80 %( no dew).
-405080%()
Storage temperature: -40 to 50; Storage humidity: less than 93 %( no dew).
0.5G
Vibration: less than 0.5G.

Install the servomotor in well-ventilated place with less moisture and a few dusts.

Install the servomotor in a place without corrosive liquid, flammable gas, oil vapor, cutting cooling liquid,
cutting chips, iron powder and so on.

Install the servomotor in a place without water vapor and direct sunlight.
1.5.2 The method of installation

For horizontal installation: In order to prevent water, oil, etc. from entering inside of the servomotor, please
put the cable connector downward.

For vertical installation: if the shaft of the servo motor is in upward direction with a speed reducer, some
prevention measure shall be taken against entering inside of the servomotor by oil come from the speed
reducer.

Motor shaft extension should be long enough, or may cause vibration while motor is in running

In case of installation or removing the servomotor, please do not hit the servomotor with a hammer,
otherwise the shaft and the encoder can be damaged.
1-6
1.6 The definition of rotating direction
for servomotor
(CCW)
(CW)
The motor rotating direction description in this handbook is defined as facing the shaft of the servomotor, if
the rotating shaft is in counterclockwise direction will be called as positive direction, or in clockwise as reversal
direction.

(C C W )

(C W )
Positive Reversal
R otation R otation
(C C W ) (C W )
1
1-7
2 Chapter 2 Wiring
2.1 System construction and wiring
2.1.1 Servo driver wiring diagram
1 EP3-GL EP3-GL series Servo driver wiring diagram
2-1
A C 380 V Input Power Supply 3 Phase AC 3 8 0V
R S T A C 380V
Input 3 P has e A C 3 8 0 V

3 8 0 V
N orm ally,a transformer is
needed
3 8 0 V-3 8 0 V
3 Phase
Is olation
Circuit Breaker Transform er
3 8 0 V-3 8 0 V

O ver -current Protection
A C 380V
O utput 3 P has e A C 3 8 0V
F ilter

Prevents the servo drive EP 3
interfering from external noise E P 3 Servo Drive

Magnetic Contacto r
USB P C

USB Computer
Need to install connection cable
a surge
absorber MODBUS H M I
MODBUS Communication Signal Cable

Host Signal Cable
2 4 V
1.5A
Control Power Supply is
D C 2 4 Vcurrent is Servomotor
more than 1.5A. Encoder Cable
A C 3 8 0 V L1
L2L3
Main Power Supply is 3
Phase AC 3 8 0V,connect Servomotor 2
to terminals(L1/L2/L3) Encoder Cable
4

Servomotor Ground Terminals
Power Line connected To Servomotor
U/V/W Terminals , Power Cable
DO NOT Mistake !

AC Servomotor
EP3-GL1A0EP3-GL1A8EP3-GL3A0EP3-GL7A5EP3-GL120
EP3-GL160EP3-GL190EP3-GL2402.1.5
Note: This wiring method is only suitable for EP3-GL1A0EP3-GL1A8EP3-GL3A0
2-1
2 Chapter 2 Wiring
EP3-GL7A5EP3-GL120EP3-GL160 servo driver. For EP3-GL190 and EP3-GL240,

please refer to chapter 2.1.5.
2-2
2 EP3-GH EP3-GH series Servo driver wiring diagram

A C 380 V
Input Power Supply 3 Phase
A C 3 8 0V
R S T A C 380 V
Input 3 P has e A C 3 8 0 V
3 8 0 V
N orm ally ,a transformer is
needed

Circuit Breaker 3 8 0 V-3 8 0 V
3 Phase AC
Transform er
O ver -current Protection
A C 380V
Output 3 P has e A C 2 2 0 V
F ilter
Prevents
the servo drive interfering from EP3
external noise E P 3 Servo Drive
Magnetic
Contactor
USB P C
USB computer
Need to install connection cable
a surge
absorber
MODBUS MODBUS H M I
communication signal cable

Host Signal Cable

2 4 V
1.5A
Control Power Supply NC
is D C 2 4 V, current is S yste m /PLC
more than 1.5V or other Host
Controller

A C 3 8 0 V L1
L2L3 M ain
Power Supply is 3
P hase A C 3 8 0V,
Servomotor
Encoder

Connect to terminals
L1/L2/L3
C a b le

4
Ground Terminals

Servomotor Power
Servomotor 2
Power Cable
Line connected To
U/V/W Terminals ,
DO NOT Mistake !

AC Servomotor
EP3-GH3A5 EP3-GH5A4 EP3-GH8A5EP3-GH130EP3-GH170

2.1.5
Note: This wiring method is only suitable for EP3-GH3A5 and EP3-GH5A4 servo driver.
For EP3-GH8A5EP3-GH130 and EP3-GH170, please refer to chapter 2.1.5.
2-1
2 Chapter 2 Wiring
2.1.2 Wiring explanations
Wiring Notes:

According to electric wire specification, use the wiring materials.
3m20m
The control cable length should be less than 3 meters and the encoder cable length 20 meters.
EP3-GLL1L2L3L1CL2C380V

EP3-GL series: check that the power supply and wiring of L1, L2, L3 and L1C, L2C terminals are correct.
Please do not connect to 380V power supply.
EP3-GHL1L2L30V24V
EP3-GH series: check that the power supply and wiring of L1, L2, L3 and 0V, 24V terminals are correct.
UVW

The output terminals(U,V,W) must be connected with the servo motor connections(U,V,W) correspondently,
otherwise the servo motor will stop or over speed. However, by exchanging three-phase terminal cannot
cause the motor to reverse; this point is different from an asynchronous motor.

Earthed wiring must be reliable with a single-point connection.

Pay attention to the correct direction of freewheel diode which is connected with the relay at the output
terminal, otherwise can cause the output circuit breakdown.

In order to protect the servo driver from noise interference that can cause malfunction, please use an
insulation transformer and noise filter on the power lines.
()30cm

Wiring the power lines (power supply line, main circuit lines, etc.) at a distance above 30cm from the
control signal wires, do not lay them in one conduit.

Install a non-fuse circuit breaker that can shut off the external power supply immediately for in case of the
servo driver fault.
2-2
2.6 the connection of brake resistor
2.1.3 Electric wire specifications
Connect terminal symbol Wire specification

2
Main power supply L1L2L3 1.54mm
2
EP3-GL L1CL2C 0.751.0mm
EP3-GL series
Control EP3-GH 24V0V 0.751.0mm2
power supply EP3-GH series
Servomotor UVW 1.54mm2

Ground 1.54mm2
2
Control signals X1 0.14mm (AWG26), shielded
2
X2 0.14mm (AWG26), shielded
Encoder signals
2
communication X3 0.14mm (AWG26), shielded
2
PB1/PB 1.54mm
brake resistor
(>20m)

Must use a twisted pair wire cable for the encoder signal wiring. If the encoder signal cable is too long
(>20m), in which the encoder power supply can be insufficient, may use multi-wire or thick wire for the power 2
supply wiring.
2.1.4 Main circuit terminal explanation
Model Detailed
Terminal Symbol explanation
name
L1L2 EP3-GL1A0 EP3-GL1A8 1 phase 220VAC
EP3-GL3A0 -15%+10% 50/60Hz
EP3-GL7A5EP3-GL120 3 phase 220VAC
Main power EP3-GL160EP3-GL190 -15%+10% 50/60Hz
supply L1L2L3 EP3-GL240
2-3
Chapter 3 Front panel operation
EP3-GH 3 phase 380VAC
EP3-GH series -15%+10% 50/60Hz
L1CL2C EP3-GL 1 phase 220VAC
EP3-GL series -15%+10% 50/60Hz
Control 24V0V EP3-GH DC 24V
power supply EP3-GH series
EP3-GL1A0EP3-GL1A8
PB1B2 EP3-GL3A0EP3-GL7A5 B1B22
EP3-GL120EP3-GL160 PB1
EP3-GH3A5EP3-GH5A4 B2
when the external brake
Brake resistor is needed,
resistor disconnect B1 and B2[note
2] and crossover the
external brake resistor to
terminals P and B1. Leave
B2 alone.
EP3-GL190
NCPB EP3-GL2401 PB
EP3-GH8A5EP3-GH130 NC
EP3-GH170 When using the external
brake resistor, crossover
the external brake resistor
to terminals P and B. Leave
NC alone.
EP3-GL190EP3-GL240
DC N1N2 EP3-GH3A5EP3-GH5A4 N1N22
EP3-GH8A5EP3-GH130 DC
EP3-GH170 When the power supply
Power higher order harmonics
supply needs to be restrained,
higher order connect the DC reactor
harmonics between N1 and N2[note 2]
restrain-use
DC reactor
connection
terminals
U U
EP3 U phase output to servomotor
2-4
V EP3 series V
Servomotor V phase output to servomotor
W W
W phase output to servomotor
EP3
Ground EP3 series Ground terminal of servomotor

Ground terminal of servo driver
1EP3-GL240 PB
NC
Note 1: there is no internal brake resistor in EP3-GL240. When the external brake resistor is
used, please connect to the terminal P and B of EP3-GL240, leave the NC alone.
2:B1 B2 N1 N2
Note 2: the factory default connection of internal brake resistor : B1 and B2 are in the state of
short-circuited; N1 and N2 are in the state of short-circuited.

2.1.5 Servo motor and AC power supply wiring
2
diagrams
1. EP3-GL 220V 380V

750W 220V( L1L2
L3 )
The power supply for the servo driver EP3-GL series is a three-phase AC 220V which generally come from
three-phase AC380V power supply through a transformer. In peculiar circumstance, the small servomotor, which
is less than 750W, can use single-phase AC220V (L1 and L2 terminals connect to single-phase power supply.
Leave L3 terminal alone).
EP3-GL1A0EP3-GL1A8EP3-GL3A0EP3-GL7A5EP3-GL120EP3-GL160
Applicable types:
2-5

AC 220 V
T S R
1Q F

F IL
L1 U U
L2 V V M
L3 W W
1K M
L1C
L2C
OFF O N P
1R Y 1K M
B1
B2 X2 ENC
1K M
D PRT
X1
RDY 1Q F
DO 1 4
F I L
DO DO
1R Y COM
18 1K M
DC24 V 1R Y
P R T
D
3 Phas e
A C 220V
T S R
1Q F Servo D rive
Servomotor
F IL
L1 U U
L2 V V M
L3 W W
1K M
L1C
L2C
M ain Power M ain Power
OFF ON 1K M
1R Y
X2
Encoder
1K M PR T
D
X1
Servo R eady R D Y
DO 1 4 1Q F Circuit Breaker
DO Common Terminal DO F I L Noise Filter
1R Y 18
COM 1KM Magnetic Contactor
D C24 V 1R Y R e la y
P R T Surge Absorber
D F re e - wheeling Diode
EP3-GL190EP3-GL240
Applicable types : EP3-GL190EP3-GL240 note
2-6

AC 220 V
T S R
1Q F

F IL
L1 U U
L2 V V M
L3 W W
1K M
L1C
L2C
OFF O N
1R Y 1K M NC

P X2 ENC
B
1K M
PRT
N1
D N2 1Q F
X1 F I L
RDY 1K M
DO 1 4
1R Y
DO DO 18 P R T
1R Y COM
DC24 V D
AC 220 V
3 P has e A C 2 2 0 V
T S R

1Q F
Servo D rive

F IL Servomotor 2
L1 U U
L2 V V M
L3 W W
1K M
L 1C
L 2C
OFF ON M ain Pow er ON
M ain Pow er OFF
1K M
1R Y NC

P X2 ENC
B
1K M brake
PRT resistor N1
1Q F
N2 1Q F Circuit Breaker
D F I L
RDY X1 F IL Noise Filter
Servo R eady RDY 1K M
DO 1 4 1KM M agnetic Contactor
DO 1R Y 1R Y R elay
DO 18
1R Y COM P R T
DC24 V DO P R T Surge Absorber
Com m on D
Terminal D F r e e -w heeling D iode
EP3-GL240 PB
NC
2-7
Note: there is no internal brake resistor in EP3-GL240. When the external brake resistor is
connected, please crossover the terminal P and B and leave the NC alone.
2. EP3-GH
Two kinds of connection of EP3-GH series
EP3-GH3A5EP3-GH5A4
Applicable types: EP3-GH3A5EP3-GH5A4

AC 380 V
T S R
1Q F

FIL
L1 U U
L2 V V M
L3 W W
1K M
24v
0v
+ -
P
2 4 V
B1 ENC
X2
B2
N1
D N2
X1 1Q F
RDY
DO 1 4 F I L
DO DO 1K M
DC 24V 1R Y COM 18
1R Y
D
2-8

AC 380 V
3 Phas e AC 3 8 0V
T S R

1Q F
Servo D rive

FIL Servomotor
L1 U U
L2 V V M
L3 W W
1K M
24v
0v
+ -
2 4 V P
D C (2 4 V)
B1
X2 ENC
B2
N1
D 1Q F
N2 F I L
RDY
X1 1K M
Servo R eady R D Y
DO 1 4 1R Y
DO DO D
DC 24V 1R Y DO Common COM
18
1Q F Circuit Breaker
Term inal F I L Noise Filter
1KM Magnetic Contactor
1R Y R e la y
D F re e -w heeling D iode 2
EP3-GH8A5EP3-GH130EP3-GH170
Applicable types: EP3-GH8A5EP3-GH130EP3-GH170
2-9

L1 U U
L2 V V M
AC 380 V
L3 W W
QF 1K M
24v
0v
+ -
NC X2 ENC
2 4 V P

B

N1
D N2 1Q F
F I L
X1 1K M
RDY
DO 1 4 1R Y
DO DO D
DC 24V 1R Y COM
18

Servo D rive

Servomotor
L1 U U
AC 380 V L2 V V M
3 Phase
L3 W W
A C 3 8 0V QF 1K M
24v
0v
+ -
NC X2 ENC

2 4 V
P
D C (2 4 V)

B
Brake 1Q F
resistor N1 F I L
D 1K M
N2 1R Y
RDY X1 D
Servo R eady RDY 1Q F Circuit Breaker
DO 1 4
DO DO F I L Noise Filter
DC 24V 1R Y COM
18
1KM Magnetic Contactor
DO
1R Y R elay
Common
D F re e - w heeling D iode
Terminal
2-10
2.2 X1 X1 terminals for control signals
X1 DB25
The X1 connector DB25 plug provides the signals interfaced with the host-controller. The signal includes:
5
Five programmable inputs;
3
Three programmable outputs;

Analog command inputs;

Pulse command inputs;

Encoder signal outputs.
2.2.1 X1 X1 terminal connector

X1 DB25
The X1 connector plug uses DB25 male head, the contour and pin disposition charts are as the followings: 2
2-11
D I (C O M + ) 1
14 1 (D I 1)
2 (D I 2) 2
15 3 (D I 3)
4 (D I 4) 3
16
5 (D I 5)
1 (D O 1) 4
17
2 (D O 2)
3 (D O 3) 5
18 D O (D O C O M)
-(S I G N-) 6
19 + ( S I G N+ )
-(P U L S-) 7
20
+ ( P U L S+ )
-(A S -) 8
21 + (A S + )
(A G N D) 9
22 Z (C Z )
(G N D ) 10
23 /A (O A -)
A (O A + ) 11
24 /B (O B -)
B (O B + ) 12
25
/Z (O Z -)
Z (O Z + ) 13
( )
X1
13
25 1
14
X1
Connector X1 Soldering Lug Disposition
2-12
DI Power Supply(C O M + ) 1
14 Digital Input 1 (D I1)
Digital Input 2 (D I2) 2
Digital Input 4 (D I4) 3
Digital Output 1 (D O 1) 4
17
Digital Output 2 (D O 2)
Digital Output 3 (D O 3) 5
18 DO Common Terminal(D O C O M )
Position Command Direction -(S IG N -) 6
19 Position Command Direction + ( S IG N + )
Position Command Pulse -(P U L S -) 7
20
Position Command Pulse + (P U L S + )
Analog Command Input -(A S -) 8
21 Analog Command Input + ( A S + )
Analog Signal Ground(A G N D ) 9
22 Z Signal Open-collector Output (C Z )
Encoder Signal Ground (G N D ) 10
23 Encoder Signal /A Output(O A -)
Encoder Signal A Output(O A + ) 11
24 Encoder Signal /B Output(O B -)
Encoder Signal B Output(O B + ) 12
25
Encoder Signal /Z Output(O Z -)
Encoder Signal Z Output(O Z + ) 13
Shield Protection Ground

(Connector case )
Servo Drive X1 Connector

2.2.2 X1 X1 terminal signal explanation
Name of signals
pin functions connec
number tor
DI1 14 C1
digital inputs DI2 2 P100P104
DI3 15 Photo isolation input;
DI4 3 function is programmable;
DI5 16 defines by parameter P100 to P104.
COM+ 1 DI(DC12V24V)
DI power supply (DC12V24V).
DO1 4 C2
digital output DO2 17 50mA/25V
DO3 5 P130P132
photo isolation output;
maximum output: 50mA/25V;
function is programmable;
2-13
defines by parameter P130~P132.
DOCOM 18 DODO common terminal

PULS+ 20 C3
position command PULS- 7 P035
pulse SIGN+ 19 high speed photo isolation input;
SIGN- 6 working mode set by parameter P035:

pulse + mark;
/
positive/Reverse pulse;

Orthogonal pulse.
AS+ 21 / C4
Analog command AS- 8 -10V10V
inputs Speed/torque analog quantity input;
the range is -10V to + 10V.
AGND 9 analog Ground.
OA+ 11 C5
Output signals of OA- 23 (Line Driver)
encoder OB+ 12 Outputs of differential driver (Line
OB- 24 Driver) after the frequency division of
OZ+ 13 encoder signal.
OZ- 25
CZ 22 Z C6
open collector output of Z signal.
GND 10 Encoder signal
ground.

Shield protection shielded wire for connection with
ground Metal shielded cable.
case of
connecto
r
2-14
2.2.3 X1 X1 terminal interface type
X1
The followings introduce the X1 various interface circuits and the wiring ways with the host-controller.
1.
(C1)
(C1) Digital input interfaces (C1)

DC12V24V
For carrying on a control, the digital input interface circuit can be constructed by switch, relay,
open-collector triode, and photo-coupler and so on. To avoid contacting problem the relay must be chosen with
low current operation. External voltage is in the range of DC12V~24V.
C1-1: Switch input C1-2: Open collector

triode

Servo drive Servo drive
D C 1 2 V~2 4 V
D C 1 2 V~2 4 V C O M + 1 4.7K C O M + 1 4.7K

D I1 1 4 D I1 14
D I2 2 D I2 2
D I3 1 5 D I3 15
2
D I4 3 D I4 3
0V
D I5 1 6 D I5 16
2.
(C2)
(C2) Digital output interfaces (C2)

The digital outputs use Darlington photo-coupler. It can be connected with relay, photo-coupler. Matters of
note are:

Inverting the polarity of DC power source, which is provided by the user, can cause the servo driver damage.
25V50mA3100mA
The maximum voltage of external DC power supply is 25V, the maximum output current is 50mA, and the
total current for three channels is not in excess of 100mA.

When using relay like inductive loads, a free-wheel diode must be connected with the inductive load in
parallel. If the diode connects in wrong direction can cause damage to the output circuit.
1VTTLTTL
2-15
Owing to the low level of output is approximately 1V and cannot satisfy the TTL low-level request,
therefore cannot directly connect with the TTL circuit.
C2-1: Relay C2-2: photo coupler

D C 5V~2 4 V

D C 5V~2 4 V DO1 4
D O 2 17 DO1 4
50 m A 50 m A
DO3 5 D O 2 17
DO3 5
DOCOM 18
DOCOM 18
0V
0V
R elay Servo D rive

D C 5V~2 4 V D C 5V~2 4 V
DO1 4
D O 2 17 Servo D rive
M ax Output 5 0 m A
DO3 5
DO1 4
D O 2 17 M ax Output 5 0 m A
18 DO3 5
DOCOM
DOCOM 18
0V
0V

freewheel diode must be connected.
(C3)
3. Position command pulse interfaces (C3)

8~15mAP035/
There are both differential and single end connections. The differential connection is recommended and the
twisted pair wire is used suitably. The drive current is in the range of 8 to 15mA.The operation mode is set by
parameter P035: Pulse + direction, CCW/ CW pulse, A phase + B phase (orthogonal pulse).
C3-1: Differential drive C3-2: single end drive
2-16

Servo drive VC C
Servo drive
P U LS + 2 0 7 5
P U LS + 2 0 7 5
R P U LS - 7 7 5
P U LS - 7 7 5 1k
1k S IG N + 1 9 7 5
S IG N + 1 9 7 5
R S IG N - 6 7 5
S IG N - 6 7 5 1k
Line drive 1k
26 LS 31
2 6 L S 31 Equivalent chip
500kHz(kpps) 200kHz(kpps)
Maximum pulse frequency is Maximum pulse frequency is
500kHz(kpps) 200kHz(kpps)
R
This connection is recommended in order to VCC R 2

avoid interference. 5V 82~120
12V 510~820
24V 1.5k~2k
(C4) Analog command input interfaces (C4)

4.

-10V+10V10k
There are both differential and single end connections. The differential input connection is recommended. The
speed and the torque use the same analog input. The input is in the range of -10V~+10V.The input impedance is
approximately 10k. There is normally a zero-bias at analog input and can be compensated by the parameter
setting.
C4-1: C4-2:
C4-1Analog differential input C4-2: Analog single end input
2-17

Servo drive

2k
Servo drive
2k 10 V AS + 21
-
10 V 10k
10 V AS + 21 AS- 8
- +
10 V 10k
AS- 8 AGN D 9
+
AGN D 9
3 2
Needs 3 line connections with the host Needs 2 line connections with the host
controller; controller;
AGNDAS-X1
Strong anti-common mode interference; AGND connects with AS- on the inside of
X1 plug;
Recommends using shielded cable.
Recommends using shielded cable.
5.
(C5) Line driver outputs of the encoder signals (C5)
(Line Driver)
The signal divided from the encoder signal is transferred to the host-controller through the line driver.
C5-1: C5-2:
C5-1:Long line receiver C5-2: photo coupler receiver

26 LS 32 Servo drive
Servo drive H igh Speed
26 LS 32
Equivalent chip P hoto -coupler 26 LS 31
26 LS 31
OA+ 11
O A + 11
A
A OA- 23
OA- 23
OB+ 12
O B + 12
B B
24 OB- 24
OB -
OZ + 13 OZ+ 13
Z Z
OZ - 25 OZ- 25
GND 10 GND 10

M ust connect
both side
gr ounds
AM26LS32 (
2-18
6N137)220
220470 On host controller use high-speed photo
On the host controller uses AM26LS32(or coupler (e.g. 6N137); Current limiting
equivalent) to make the receiver, must resistor is about 220.
connect the terminal resistance, the value is
220470;
(GND)

Encoder signal (GND) of servo driver must
connect with the ground terminal on host
controller.
(C6) Open-collector output of encoder Z signal (C6)

6. Z
ZZ
The Z signal of the encoder is transferred to the host-controller through the open-collector circuit. Because the
width of the Z pulse is narrow, please use a high-speed photo-coupler to receive it.
C6: Z
C6: Open collector output of encoder Z signal

VC C servo drive

H igh Speed
P h o to -coupler 5 0 m A /3 0 V
M ax output
5 0 m A /3 0 V
CZ 22
Z
GND 10
0V
30V50mA
30V is the maximum voltage of external power supply; 50mA is
the maximum current output.
2-19
2.3 X2 X2 encoder signal terminals
2.3.1 X2 X2 terminal connector
X2the connection diagram of X2 encoder signal

terminals and motor encoder.
3DB15(VGA)
The terminal which is used to connect incremental encoder is 3 rows of DB 15 socket (VGA socket). The contour
and pin are displayed as follows:
/V (V-) 6
V (V+ ) 1 11 /W (W-)
/U (U-) 7
U (U+ ) 2 12 W (W+ )
/Z (Z-) 8
Z (Z+ ) 3 13 (5V)
/B (B-) 9
4 14
B (B+ ) (0V)
/A (A-) 10
5 15
A (A+ )
X2
2-20
/V Signal Input (V-) 6
V Signal Input (V+ ) 1 11 /W Signal Input (W-)
/U Signal Input (U-) 7
U Signal Input (U+ ) 2 12 W Signal Input (W+ )
/Z Signal Input (Z-) 8
Z Signal Input (Z+ ) 3 13 Encoder Power Supply ( + 5V)
/B Signal Input (B-) 9
4 14
B Signal Input (B+ ) Encoder Power Ground (0V)
/A Signal Input (A-) 10
5 15
A Signal Input (A+ ) Shield Protection Ground
S ervo D rive X 2 Connector

(Standard Encoder)
1 11
2 12

/Z (Z-) 8

Z (Z+ ) 3 13 (5V)
9
2
/B (B-)
4 14
B (B+ ) (0V)
/A (A-) 10
5 15
A (A+ )
X2
2-21
Not Used (Do not connect ) 6
Not Used (Do not connect ) 1 11 Not Used (Do not connect)
Not Used (Do not connect ) 7
Not Used (Do not connect ) 2 12 Not Used (Do not connect)
/Z Signal Input (Z-) 8
Z Signal Input (Z+ ) 3 13 Encoder Power Supply ( + 5V)
/B Signal Input (B-) 9
4 14
B Signal Input (B+ ) Encoder Power Ground (0V)
/A Signal Input (A-) 10
5 15
A Signal Input (A+ ) Shield Protection Ground
S ervo D rive X 2 Connector

(incremental Encoder )
5
1
10 6
15 11
X2
Incremental Connector X2 Soldering Lug Disposition
17BITDB9
The terminal which is used to connect 17 bits absolute encoder or rotary encoder is 2
rows of DB 9 socket. The contour and pin are displayed as follows:

5
(S D + ) encoder signal
i n p u t(S D + ) F G
9
(S D -) S hield ground (F G )
4
Encoder signal
i n p u t(S D -)
8 Not used, do not
E+ connect
3
External battery
p i n (E+ )
7 Not used, do not
(5V) connect
2
Encoder power
supply E-
6
External battery
(0V) p i n (E-)
1
Encoder power supply
ground(O V )
DB9
DB9 plug of Encoder terminal (absolute encoder)
2-22

5
Shield line ground
protection E X C -
9 Encoder impel output
E X C -
4
Not used, do not
connect E X C +
8 Encoder impel output
E X C +
3
Not used, do not
connect C O S -
7
Cosine difference signal
C O S + i n p u tC O S -
2
Cosine difference signal
i n p u tC O S + S I N -
6
Sine difference signal
S I N + i n p u tS I N -
1
Sine difference signal input
S I N +
DB9
DB9 plug for Encoder terminal(rotating transformer encoder)
DB9 2
Encoder terminal DB9 plug Soldering Lug Disposition
2.3.2 X2 X2 terminal signal explanation
defination of incremental encoder
Colour of
Pin wire
Signal name of encoder number Functions
(16) (10)
[1] [2]
standard Wire
(16core) saving
[note1] (10core)
[note2]
2-23
5V 13 + + 5V(
red+red red+red )20m
/white /white
0V 14 + +
black+bla black+bla
ck ck Use 5VDC power supply
Power supply /white /white (provided by servo driver).If the
cable is longer than 20m, in order
to prevent encoder from voltage
drop down, it is better to use
multi wire or thick wire for
power line and ground line.
A+ 5 brown brown A
A A- 10 Connect with A phase output of
A phase input Brown/w Brown/w encoder.
hite hite
B+ 4 yellow yellow B
B B- 9 Connect with B phase output of
B phase input Yellow Yellow encoder.
/white /white
Z Z+ 3 green green Z
Z phase input Z- 8 Connect with Z phase output of
Green/wh Green/wh encoder.
ite ite
U U+ 2 purple U,
U phase input U- 7
Purple Connect with U phase output of
/white encoder.
Not connect for wire saving.
V V+ 1 blue V
V phase input V- 6
Blue/whit Connect with V phase output of
e encoder.
W W+ 12 orange W
W phase input W- 11
Orange Connect with W phase output of
/white encoder.
2-24
FG 15 Bare
Shield protection wire Bare wire Connect with cable shield wire.
ground
Definition of absolute encoder
Functions
Signal name of encoder Pin
number (10)
standard
(10 core)
5V 4 + 5V(
Power supply red+red )20m
/white
0V 5 +
black+bla

ck Use 5VDC power supply
/white (provided by servo driver).If the 2
cable is longer than 20m, in
order to prevent encoder from
voltage drop down, it is better to
use multi wire or thick wire for
power line and ground line.
SD+ 1
Signal input brown
SD- 2 Connect with the absolute
Brown/w encoder signal input
hite
E+ 3
External yellow External battery pin
battery pin E- 6
Yellow
/white
FG 9
Shield protection Bare wire Connect with cable shield wire.
2-25
ground
11616FBM15(110)
Note 1. 16 core cable for the type of 16FMB15. (for using in the 110 and above frame of servomoto)
21010FBM15X(80)
Note 2. 10 core cable for the type of 10FBM15X (for using in the 80 frame of servomotor)
the definition of rotary transformer encoder
Functions
Signal name of encoder Pin
number (10)
standard
(10core)
EXC+ 8
Encoder excited red
output
EXC- 9
They are a pair of
red /white
difference output signal and
need to be twisted together.
They are used for the
excited signal of driver
to output to rotary
transformer.
SIN 1 brown
+
Sine difference SIN- 6 They are a pair
signal input Brown/ of difference signal and
white need to be twisted together.
They are used for the sine
signal of rotary transformer
to feedback to driver.
COS+ 2 yellow
COS- 7
Cosine Yellow
difference signal /white They are a pair of
input difference signal and need
2-26
to be twisted together. They
are used for the cosine
signal of rotary transformer
to feedback to driver.
FG 5
Shield protection Bare wire Connect with cable shield wire
ground
2.4 X3 X3 terminal connector
DB9
Communication terminal adopts DB9 socket of two row

Functions
Signal name Pin
number
RS-485 A 5 RS-485
B 4
Input and output The input and output signal wire used
signal wire in the RS-485 two wire 2
communication.
Ar 2 23120
Terminal resistor Br 3 AB
connection wire Short circuit pin 2 and pin 3.
Crossover the 120 terminal resistance
between signal A and B.
FG 6
Shield protection Connect with cable shield wire
ground
X3
Partial circuit diagram of X3 connector is as following:
2-27
R A 5 A D
4
D B B R
3
AB
In this chart, A stands for difference positive signal input and output; B stands for difference
negative signal input and output.
2.5
2.5 Standard wiring diagram
2.5.1
2.55.1 Wiring diagram for position control

2.
2-28
E P 3
E P 3 Servo Drive
X1
COM + 1
D C 1 2 2 4 V
4.7k

SON
DI 1 14 Encoder
Serv o On (S O N )
A R S TAlarm Clear ( A R S T ) DI 2 2
C C W CCWL C C W Drive Inhibition (C C W L) DI 3 15

CW C W L C W D rive Inhibition (C W L ) DI 4 3
CLR ENC
Position Deviation Clear (C L R ) DI 5 16 X2
X1
R D Y Servo
DO 1 4
R eady (R D Y )
ALM
Serv o Alarm (A L M ) DO 2 17
BRK
Electromagnetic DO 3 5
B ra k e (B R K )
D O
DO
DO Common Terminal 18
COM
X1 1 X 1D I / D O
PULS 75

Position
P U LS + 20
Com m and (P U L S ) P U LS - 7
75

SIGN
2X2
75
Position S IG N + 19
Com m and (S I G N ) S IG N - 6
75
2.3 .2
X1 N ote 1: The DI and DO
A OA + 11
A
terminals have Multi -
OA - 23 functions programmed by
A
2 6L S 3 1 Softw are. Their default
B OB + 12 settings shown in picture 2
Encoder Signal B 26 LS 31
OB - 24 can use for common
Outputs B Driver
purposes. User can modify
Z OZ+ 13 it according to different
Z
OZ- 25 n e e d s.
Z
Z N ote 2: X2 is encoder
Z Signal Open -collector CZ 22 connector , connect
Output differently according to
GND GND 10
different encoders. Refer to
Signal Ground
Encoder Signal chapter 2.3.2 for connection
G ro u n d
FG
X1 instruction .
X1 M etal C ase
2.5.2
2.55.2 Wiring diagram for speed or torque control

2.
2-29
E P 3
E P 3 S ervo D rive
X1
COM+ 1
D C 1 2 2 4 V
4.7k

SON E ncoder
Servo On (S O N ) DI 1 14
ARST A la rm C lear (A R S T ) DI 2 2
C C W ( ) C C W L C C W Drive Inhibition (C C W L ) DI 3 15
C W ( ) C W L C W Drive Inhibition (C W L ) DI 4 3
ENC
X2
CLR DI 5 16
Position Deviation Clear (C L R )
X1
RDY
DO 1 4
Servo Ready (R D Y )
ALM
DO 2 17
Serv o Alarm (A L M )
BRK DO 3 5
Electromagnetic Brake (B R K )
1X1D I /D O
DO
DO
DO Common Terminal
COM
18

X1 2X2

-1 0 V+1 0 V + AS + 21
10 K
-
Speed or Torque Analog
C om m and
- AS - 8 + 2.3.2
(-1 0 V~+1 0 V) AG N D 9 N o te : The DI and DO

Analog Signal terminals have Multi -
G round functions programmed by
X1 Softw are . Their default
A OA+ 11 settings shown in picture
A
can use for common
A OA - 23
purposes. User can
B OB+ 12 2 6 C3 1 modify it according to

B different needs.
Encoder Signal Outputs
OB - 24 26 LS 31
B N ote 2: X2 is encoder
Driver
Z OZ+ 13 connector, connect
Z differently according to
Z OZ- 25
Z
different encoders. Refer
Z Signal Open -collector Output CZ 22 to chapter 2.3.2 fo r
connection instruction .
GND GND 10
Encoder Signal Ground
Signal Ground
FG X1
X1 M etal
C as e
B1B2( A) PB( B)
When the internal brake resistor is used, it is necessary to short circuit B1 and B2( as the
picture A shows) or short circuit P and B ( as picture B shows).
2-30
A B
B1B2( C) PB( D)
PB1( C) PB( D)
When the external brake resistor is connected to the servo driver, the short circuit wire
between B1 and B2 (picture C) or between P and B ( picture D) must be disconnected firstly. Then
crossover the external brake resistor between the related terminals of P and B1 ( picture C)
C D
or P and B (picture D).
1:ACEP3-GL1A0EP3-GL1A8EP3-GL3A0EP3-GL7A5
EP3-GL120EP3-GL160EP3-GH3A5 EP3-GH5A4
Note 1: The connection way of resistor, as the picture A and C shows, is suitable for EP3-GL1A0
EP3-GL1A8EP3-GL3A0EP3-GL7A5EP3-GL120EP3-GL160EP3-GH3A5 and
EP3-GH5A4 servo drive
2BDEP3-GL190EP3-GL240EP3-GH8A5EP3-GH130
EP3-GH170
Note 2: The connection way of resistor, as the picture B and D shows, is suitable for EP3-GL190
EP3-GL240EP3-GH8A5EP3-GH130and EP3-GH170 servo drive
EP3-GL240
PBNC
note:: there is no internal brake resistor in EP3-GL240. When the external brake
Special note
2-31
resistor is used, please crossover it between the terminals of P and B. Leave the NC alone.
2.7 the connection of reactor
N1,N2
when it needs to be restrained to the power supply higher order harmonics, connect the direct
current reactor between N1 and N2.

reactor
1EP3-GL190EP3-GL240EP3-GH3A5EP3-GH5A4EP3-GH8A5EP3-GH130EP3-GH170

Note 1: There is the function of connecting external reactor only in EP3-GL190EP3-GL240
EP3-GH3A5EP3-GH5A4EP3-GH8A5EP3-GH130EP3-GH170 servo drive.
2-32
3
3.1
3.1 Explanation of the front panel of servo driver
3.1.1
3.1.1 Front panel compositions

5 LED 4 8245 1 USB
3
The front panel consists of the display (5-digit, 7-segment LED) and four switching buttons (8, 2, 4, and 5)
and one USB interface. It displays monitor status, parameters and changes the parameter setting value and so on.
The main menu is in cascade sequence mode and executes in layer.
3-1
M ini US B
5 Mini USB
5 Digital interface
LE D
4
4
B uttons 2L E D
2 LED Lam ps
3.1.2
3.1.2 Front panel explanations

Symbol Name Functions
POW
Main power
lamp Lit: Main power supply already turn on;
2-2
Go out: Main power supply did not turn on
RUN
Running lamp
Lit: Servomotor is active;
Go out: Servomotor is not active.

8
Increasing button Increase sequence number or value;
Press down and hold to repeat increasing.

2
Decreasing Decrease sequence number or value;
button Press down and hold to repeat decreasing.

4
Exit button Menu exit; cancel the operation.

5
Confirm button Menu entered; the operation confirmed.
USB
USB interface Connect the device to computer.
3-3
3.1.3
3.1.3 Data display
5 5

A number is shown by five digital displays; a minus symbol in front of the value represents a negative value;
the lit decimal points in all the digits indicate a negative 5-digit value. Some displays have a prefix character. If the
value is full-scale, then the prefix character can be omitted.
1 2 3 4 5
12345 -1 2 3 4 4

- 1234@
-1 2 3 4 55

1.2.3.4.5.
12345 Positive number .
12345 -1 2 3 4 4 digit or less negative

num ber , -symbol expresses
negative number .
- 1234@
-1 2 3 4 5 5 digit negative
number expressed by lighting
1.2.3.4.5. the decimal points in all digits .
3.2 Main menu
1 4 82 5 2
4 2
The first layer is the main menu and has four operating modes. Pressing '8' or '2' button changes the
operation mode. Pressing the '5' button enters the second layer and then executes a concrete operation. Pressing
'4' button returns to the main menu from the second layer.
3-2
3.5 Parameter management

D-@ @ @ status monitor
En ter
P-@ @ @ parameter setting 2
Second

parameter lay er
E-@ @ @ management

A-@ @ @ Auxiliary Function
1( )
First layer (m ain
m enu )
3.3 Status monitor

d- 5

82 5 3
Choose status monitor " d- " under the main menu. Pressing the '5' button enters the monitor mode. There
are many kinds of monitor's project; Use '8' and '2' button to select the needing project. Pressing the '5' button
again enters the concrete status display.
3-3
D-S P d (r/m i n )Motor speed(r/m in ) r1 0 0 0 1 0 0 0 r/m i n

( ) [1] [ 2]
D-[P.@ Initial position command (input pulse ) L o@@@ [n o te 1] [ n o te 2]
( )
D-[P o L o@@@ [1] [n o te 1]
Position command (p u lse )
( )
D-P o s L o@@@ [1][n o te 1]
Current position(p u lse )
( )
D-E P o Position deviation (p u lse ) L o@@@ [1][n o te 1]
D-t r q ( % ) Servomotor torque(% ) T 50 50%
D-P t @ ( % ) Peak torque (% ) T 80 8 0 % [ 4][n o te 4]
D-i@ @ (A)Servomotor current(A) i 2.3 2.3A[3][n o te 4]
D-P i @ (A)Peak current(A) i 5.6 5.6A[4][n o te 4]

(k H z )Position 1 2 .5k H z [5]
D-F r q command pulse frequency (k H z )
F 1 2 .5
[n o te 5]
(r/m i n )
D-[S@ Speed command(r/m in ) R. -3 5 -3 5 r/m i n
D-[t@ ( % ) Torque command(% ) T. -2 0 -2 0 %

En ter
(m V )Analog speed
D-A1@ command voltage(m V )
6 150 6150m V
(m V )Analog torque
D-A2@ command voltage (m V )
6 150 6150m V
DI
D-D i @ DI input terminal status &#$ [6][n o te 6]
DO
D-D o DO output terminal status
%* [7] [n o te 7]

D-[o d Encoder input signals # #! [8][n o te 8]

D-A P o Rotor absolute position (p u lse )
1000 4 0 9 6 [9][n o te 9]
(%)
D-L d @ Accumulative load factor (% ) Ld 4 5 45%
( % )
D-r G @ Duty factor of regeneration braking (% ) rG 3 0 30%

D-[n t Control mode P o s -1 [1 0 ][n o te 1 0 ]
[1 1 ]
D-E r r Alarm code E r r- -
N o a la rm [n o t e 1 1 ]
D-r E @ R eserved rE 0 R es erv ed
D-U@ @ burbar voltage U 300 300V

D-t[ module internal temperature TC 5 0 50
8 1 9 2 [12]
D-HP O encoder loopy position
2000 8 1 9 2 circle[n o t e 1 2 ]
[[ 1] binary bits value display [note1]

1. 32
32 -21474836482147483647

32 binary bits value translates into a decimal value that is in the range of -2147483648~147483647. It is
divided into the low portion and the top portion. Use '8' and '2' button to select the needing portion through the
menu. By the following formula, the complete value can be obtained.
3-4
L O @@@ En ter 12345

L O @@@ En ter 12345
Hi @@@ 6
Hi @@@ 6
=612345
=612345
3 2 3 2 = 100000+
= 100000 +

Bottom
L O@@@ digit
En ter 12345
T op
Hi @@@ digit 6
R esult =612345
3 2 bit number =top digit number 100000 +bottom digit number
[[ 2] Pulse unit [note2]

2.

2500

=
= 4 3
= 4 2500( pulse / rev)
= 10000( pulse / rev)
The original position command pulse is the input pulse count that has not transformed through the electronic
gear. The pulse count unit for other parts is the same with the encoder pulse unit. Take a 2500 lines encoder as the
example.
Encoder pulse unit = encoder resolution

= 4 encoder line
= 4 2500( pulse / rev)
= 10000( pulse / rev)
[[ 3] Motor current [note3]

3.

The servomotor current is Irms.
3-5
[[ 4] Peak torque and peak current [note4]
4.
10
The maximum torque and maximum Irms of the servomotor in previous 10-second duration is defined as the
peak value.
5.
[[ 5] Position command pulse frequency [note5]

The frequency of position command pulse is the actual pulse frequency before the electronic gear. The positive
number is shown as positive direction and the negative number as reverse direction.
6. DI[
DI[ 6] Input terminals DI [note6]
ON OFF
A vertical segment of LED shows an input status. The lit top vertical segment shows the DI input to be ON and
the lit bottom vertical segment to be OFF.
DI5 DI4 DI3 DI2 DI1
ON OFF ON ON OFF
ON
O F F
3-6
Digital input D I 5 DI4 DI3 DI2 DI1
s ta tu s ON OFF ON ON OFF
O N upper vertical segment is lit

O F F bottom vertical segment is lit
7. DO[
DO[ 7] Output terminals
DO DI 5] DI 4
[note7
[note7] DI3 DI2 DI1
ON OFF
A vertical segment of LED shows an output status. The lit top vertical segment shows the DO output to be
ON and the lit bottom vertical segment to be OFF.
DO3 DO2 DO1
ON OFF ON ON OFF
ON
O F F

OFF ON ON

ON
O F F
3
Digital output D O 3 DO2 DO1
s ta tu s O F F ON ON
O N upper vertical segment is lit

O F F bottom vertical segment is lit
[[ 8] Input signals from encoder [note8]

8.
DO3 DO2 DO1

A vertical segment of LED shows an input status. The lit top vertical segment shows a HIGH-level signal and
the lit bottom vertical segment a LOW-level signal. (Note: It means nothing for the absolute encoder.)
OFF ON ON 3-7
ON
O F F
U V W A B Z
0 1 0 1 0 0
(1)
(0)
Encoder input U V W A B Z
sta tu s 0 1 0 1 0 0
High level(1)upper vertical segment is lit

Low level (0)bottom vertical segment is lit
[[ 9] single circle
9. Uof rotor
position V W[note9]
A B Z

Z
The rotor position is relative to the stator in one revolution per cycle. Use the encoder minimum resolution as unit
and take the encoder Z pulse as the zero point.
0 1 0 1 0 0
2500 0999910 Z 0

01FFFF16 (1)

(0)
06553510 Z 0
2500 lines encoder: the range is 0~9999 (decimal system). It is 0 when Z pulse appears.
Absolute encoder: the range is 01FFFF (hexadecimal system), which indicates by high or low
position.
Rotating transformer encoder: the range is 0~65535 (decimal system). It is 0 when Z pulse appears.
10. [[ 10] Control mode [note10]
3
The first three characters show the control mode, the final character shows gain group.
3-8
S P D- 1
POS : 1 :1
SPD : 2 :2
TRQ :
S P D-1
POS :Position control mode 1 :First gain group
SPD :Speed control mode 2 :Second gain group
TRQ :Torque control mode
[[ 11] Alarm code [note11]

11.
S P D-1
The " Err " followed by two minus symbols indicates no alarm and by digital number indicates an error code

POS alarm
number that is flickering. When the error code
: appears, 1 number
:1 displays
automatically on the front panel
LED. During the error status,SPD : mode
the monitor can be changed
2 to other mode
:2 by pressing buttons, but the decimal 3
point of the last LED is still TRQ
flickering: shows
and existence of an alarm.
Er r - -
Er r 9 9
Er r - - N o a la rm
Er r 9 flickering 9 number alarm
[[ 12] multi
12. multi--turn position of encoder
APo
3-9
Er r - -

This display is only valid for absolute drive. Recording the multi-turn position of encoder
and coordinating with the single-ring absolute position of APO rotor can work out the absolute
position of the rotor.
=+
Absolute position = multi-turn position absolute encoder bits + single-ring position
2000 1000 16
(2000217+1000)16 =40001000
10 1073745920
P090=0 0
For example: multi-turn position shows 2000. Single-ring position shows 1000. Both of them are
hexadecimal.
Then the absolute position of encoder is (2000217+1000)hexadecimal=40001000
Converting it as decimal number is 1073745920
When the absolute encoder is set as single-ring modeP090=0), the multi-turn position shows 0
and it will not alter as the change of rotors position.
3.4 Parameters setting

setting
P102
102P-102
P- 5 82
5 82
5
82 8 2 1 8 2
LED 5
LED
() 4
5 4

EEPROM

The parameter number expression uses a parameter section name combined with a parameter name. The
three figures are the section name and two figures and one figure are the parameter name. Take P102 parameter as
02
an example, '11' is the section name and '02 P-102
P-102" displays on the front panel LED.
02' the parameter name. "P-102
Choose the parameter mode under the main menu " P- ". Pressing the '5' button enters the parameter-setting
3-10
mode. First use '8' or '2' button to select the parameter section name and then pressing '5' button enters the
parameter name selection. Again, use '8' or '2' button to select the parameter name and then pressing '5' button
shows the parameter value.
Use '8' or '2' button to alter a parameter value. Pressing '8'('2') button once to increase (decrease) the
parameter value by one. Pressing down and hold the '8'('2') button, the parameter value can increase (decrease)
continuously. When the parameter value is modified, the decimal point on the most right sides LED is lit. Press '5'
button to confirm the parameter value to be effective, meanwhile the decimal point turns off. The modified
parameter value is immediately active to influence on the control action (but some parameters needs to preserve
firstly and then turn off and on the power supply). Hereafter pressing '4' button returns to the parameter number
selection and can continue to modify a parameter. If the value is not satisfied, do not press the '5' button and can
press '4' button to cancel it for resuming the original parameter value.
The modified parameter did not preserve in EEPROM. For permanent preservation, please refer to the
parameter writing operation in the parameter management (3.5 sections). The parameter section name and the
parameter name are not necessarily continual, but the parameter section name and the parameter name that are not
in use will be jumped over and cannot be chosen.
P- 0_ _ P- 1_ _ P- 2_ _

En ter

P- 0 0 0 P- 1 0 0 P- 2 0 0 3
P- 0 0 1 P- 1 0 1 P- 2 0 1

P- 0 0 2 P- 1 0 2 P- 2 0 2
En ter

1234.
En ter
3-11
Parameter
P- 0_ _ P- 1_ _ P- 2_ _
section inc . / d e c.
Enter
P- 0 0 0 P- 1 0 0 P- 2 0 0
P- 0 0 1 P- 1 0 1 P- 2 0 1
Parameter
number P- 0 0 2 P- 1 0 2 P- 2 0 2
in c . / d e c .
Enter
Parameter value inc .

Parameter value 1 2 3 4. Parameter value dec .
Enter Modification confirmed
EEPROM E-
5
3 82 5 3
4
Choose the parameter management mode under the main menu " E- ". Pressing the '5' button enters the
parameter management mode. The operation is performed between parameter list and the EEPROM.
There are three operation modes. Use '8' or '2' button to select an operation mode and then pressing down
and hold the '5' button at least three seconds to active the operation mode. After finished the operation and then
pressing '4' button returns to the operation mode selection.
E- Se t 3 @d o n e

En ter
St ar t
E- r d @

Er r or
E- d e f
3-12
Press and
Parameter
E- Se t w rite -i n
hold 3 second @d o n e
Operation
Parameter
En ter
St ar t success
E- r d @ re a d -o u t Under
Resume
operation Er r or
E- d e f default value Operation fail
Write and save parameters

EEPROM

EEPROM
This operation indicates that the parameter in parameter list will write to the EEPROM. When user has
made change to a parameter, it only change the parameter value in parameter list, but for the next time when
the power supply is on the parameter value will restore its original value. Making permanent change to a
parameter value, it is the need to carry out the parameter write operation and write the parameter value to the
EEPROM. Hereafter, when the power supply is on again will be able to use the new parameter value.
Resume default value

EEPROM

( P002)

This operation indicates that each default value of all the parameters will read from EEPROM and write
to the parameter list and EEPROM. For the next time when power supply is on the default parameters will be 3
used by now. When many parameters become confusion and cause abnormal operation, it is necessary to
carry out this operation for resuming the default parameters. There are different default parameters for
different servo driver model and the servomotor model. Therefore, before doing this operation the servomotor
code (Parameter P002) must be selected correctly.
3-13
EEPROM
System power on: EEPROM parameter area parameter table
e e -s e t EEPROM
Parameter write-in parameter table EEPROM parameter area
EEPR OM
e e -d e f
Recover default value
parameter default value
parameter table,
EEPROM parameter area
3-14
3.6 Auxiliary functions
3.6 Auxiliary functions
A- 5 82
5 4
Choose the auxiliary function mode " A- " under the main menu. Pressing the '5' button enters the auxiliary
function mode. Use '8' or '2' button to select an operation mode. Then pressing the '5' button again enters the
corresponding function. After finished this operation pressing the '4' button returns to the operation mode
selection.
A- A-
F n F@
n@

En ter En ter
J OJGO G
A- A-

A- A-
S r S@
r @
A- A-
A0@A0@

Special
A- F n @ function
3
En ter
JOG Corresponding
A- J O G operation function
Buttom speed operation
A- S r @ adjustment
A- A0@ Analog
zeroing
3.6.1 Special functions
5 5 3
Choose the special functions, and press the button 5 to enter. Use the button 8 and
2 to set the function code, and then pressing down and hold the '5' button at least three seconds to active
the operation mode. After finished the operation and then pressing '4' button returns to the operation mode
3-9
selection.

Function
Fn 0 code
increase
and
3 decrease
press and En ter

hold for 3 exit
se co n d

Function execute
Fn functions explanation
Fn
number
Fn36 RESET
reset the encoder
The RESET command of encoder is used for encoder initialization,
encoder alarm reset and multi-turn information return-to-zero. This
Multi-turn absolute function should be executed when the battery is replaced.
encoder is valid
3.6.2 Zeroing for analog quantity
P047( P054)
EEPROM
A-A0 5
5 3 4

Using this operation, the servo driver automatically examines analog zero-bias and writes in the zero-bias
value parameter P047 (or P054).This operation already preserved the zero-bias parameter in the EEPROM,
therefore did not need to carry out the parameter write operation again.
Choose the analog zeroing "A-A0" of the auxiliary function. Pressing the '5' button enters the analog zeroing
modes. First, use '8' or '2' button to select a function mode. Then pressing down and hold the '5' button at least
3-10
3.7 Resume the parameter default values
three seconds to active the operation mode. After finished the operation and then pressing '4' button returns to the
operation mode selection.
3

0- s p d
En ter
St ar t @
done

0- t r q

Press and hold

fo r 3 seconds
Analog speed
0- s p d zeroing
En ter
St ar t @
done
Under Operation
Analog torque operation success
0- t r q zeroing
3-11

P001( P002)
In case of the following situation, please use the function of resuming the default parameter (manufacture
parameter):
The parameter is adjusted chaotically, the system is unable the normal work.
The servomotor is replaced by a different newly model.
For any other reason, the servo driver code (parameter P001) does not match with the servomotor code
(parameter P002)

1. P002 4
2. ( P000) 360
3. P002 8.4
4.
The procedures for resuming the default parameter values are as the followings:
1. Inspection servomotor code (parameter P002) whether it is correct or not. If it is correct, carrry out the strep
4. If it is not correct, carry out the following step.
2. Modify the password (parameter P000) by 360.
3. Modify the servomotor code (parameter P002) with newly servomotor code, referring to chapter 8.4
servomotor adaptive table.
4. Enter the parameter management, carries out one of following operations:
(1) Resume a part of the parameter default value

360

For resuming default parameters related to the servo driver and the servomotor and maintaining the other user
parameters, carry out the parameter write operation in the parameter management. This operation is active only in
that the password was 360 and the servomotor code was modified. In other situations, it only has the parameter
write function.
3-10
3 @
done

E- Se t En ter
St ar t

Er r or

Parameter Press and hold

w rite -i n fo r 3 seconds @
done
Operation
E- Se t En ter
St ar t success
U nder
operation Er r or
Operation
fa il
Only resume all the default
values with drive and motor
(2) Resume all of the parameter default value
Carry out to resume the default value in the parameter management, all the parameters including the
parameter modified by the user become the default value.

3 @
done

E- d e f En ter
St ar t

Er r or 3

Press and hold

Resume
default value
fo r 3 seconds @
done
Operation
E- d e f En ter
St ar t success
Under
operation Er r or
Operation
fa il
Resume all of the
parameter default value
6.
Turn off and on the power supply, then an operation can be performed again.
3-11
remarks
3-12
4 Running
4.1 Trial running with no load

The goal of trial running is confirming the following items that are correct or not:
The servo driver power supply wiring;
The servomotor wiring;
The encoder wiring;
The running direction and the servomotor speed
4.1.1 Wiring and inspection
4
UVW UVW
L1L2L3L1CL2C24V0V

Before turn on the power supply, confirms the servomotor:
The servomotor has no loading on the shaft; decoupling from the machinery if already coupled.
Because the servomotor has an impact during acceleration or deceleration, therefore the servomotor must be
fixed.
Follow the wiring chart, inspects the following items before turning on the power supply:
The wirings are correct or not. In particular, L1, L2, L3 wirings and U, V, W wirings corresponding to the
servomotor U, V, W are correct or not.
The input voltage is correct or not.
4-1
4 Running
The encoder cable connection is correct or not.
4.1.2
(JOG)
(JOG) Trial running in JOG mode
(JOG)
1. Turn on power supply
()
POWER
Turn on the control power supply (while the main power supply temporarily turned off). The front panel
display is lit. If any error appears, please inspect the wirings. Then turn on the main power supply, the POWER
indicating LED is lit.
2. Parameter setting
Set parameters according to the following table:

Paramet Name Setting Default Parameter explanation
er value value
P004 1 0
Control mode Set speed control
P025 3 0 JOG
Source of speed Set JOG source
command
P060 0
Acceleration time of suitable Decrease acceleration impact
speed command
P061 0
Deceleration time of suitable Decrease deceleration impact
speed command
4-4
4 Running
P076 JOG 100 100 (JOG)
JOG running speed JOG speed
P097 3 3 (CCWL)
Neglect inhibition of (CWL)
servo driver Neglect CCW inhibition (CCWL)
and CW inhibition (CWL).
P098 10 0
Forced enable 0
1
Set 1for forced enable;
Set 0for external enable.
P100 DI1 1 1 DI1 SON
Digital input DI1 Set DI1 for servo enable (SON)
function
3. Operation
(SON) ONRUN

Confirming that there is no alarm and any unusual situation, turn on the servo enable (SON), the RUN
indicating LED lit and the servomotor is active at zero speed.
A-JOG 5 (JOG)
J r/min 8 JOG
(CCW) 2 JOG
(CW)JOG P076
Choose the JOG running "A-JOG" in the auxiliary function. Pressing the button '5' to enter the JOG running
mode. The symbol of JOG is J , and the unit is r/min. The speed command is provided by the button. Pressing
down and hold the button '8', the servomotor will rotate in counterclockwise direction with the JOG speed. Loosen
the pressed button, the servomotor stops and keeps zero speed. Alternatively, pressing down and hold the '2'
button, the servomotor will rotate in clockwise direction with the JOG speed. The JOG speed is provided by P076
parameter

J 100
press
4-2
4.14 Electromagnetic holding brake
4.1.3 Trial running in speed adjustment mode with
keyboard
1. Turn on power supply
()
POWER
Turn on the control power supply (while the main power supply temporarily turned off). The front panel
display is lit. If any error appears, please inspect the wirings. Then turn on the main power supply, the POWER
indicating LED is lit.
2. Parameter setting
Set parameters according to the following table:

Parameter Name Setting Default Parameter explanation
value value
P004 1 0
Control mode Set speed control
P025 4 0
Source of speed Set BUTTON source
command
P097 3 3 (CCWL)
Neglect inhibition (CWL)
of servo driver Neglect CCW inhibition (CCWL) and CW
inhibition (CWL). 4
P098 10 0 0
Forced enable 1
Set 1for forced enable;
Set 0for external enable.
Set DI1 for servo enable (SON)
Digital input DI1
function
3. Operation
(SON) ONRUN
A-Sr 5
4-3
4 Running
r. r/min 82
(CCW)(CW) 0.1r/min
Confirming that there is no alarm and unusual situation, turn on the servo enable (SON), the RUN indicating
LED lit and the servomotor is active at zero speed.
Choose the adjustable speed "A-Sr" in the auxiliary function. Pressing the '5' button enters the adjustable
running mode. The numerical value is the speed command provided by pressing '8' button (for increasing) or '2'
button (for decreasing) and the unit is 0.1r/min. Following the speed command, the servomotor is in rotation. The
rotation direction is dependent on the sign of digits. The positive number indicates positive direction (CCW) and
the negative number indicates reverse direction (CW).
r. 50
r. 50
Speed command
r. 50 in c ./ d e c .
4.2 Position control mode

PULS+PULS- SIGN+SIGN-
The position control applies in systems that need to locate precisely, such as numerical control machine tool,
textile machinery and so on. The position command is a pulse serial coming from the input terminals PULS,
PULS-, SIGN and SIGN- .
4-4
4.2.1 Simple example for position control
mode

This is a simple example of positioning control. The wiring diagram is as below.
E P 3
X1
COM+ 1
D C 1 2 2 4 V

SON DI 1 14
C C W( ) CCWL DI 3 15
C W ( ) CWL X2 ENC
DI 4 3
RDY DO 1 4
D O
D O 18
COM
P U LS + 20

PULS P U LS - 7
S IG N + 19
SIGN S IG N - 6
CZ 22

Z

GN D GND 10
4-5
4 Running
E P 3
E P 3 Servo D rive
X1
COM+ 1
D C 1 2 2 4 V

SON Encoder
DI 1 14
S erv o O N S O N
C C W ( ) CCWL
DI 3 15
CCW drive inhibition C C W L
C W ( ) C W L X2 ENC
DI 4 3
C W drive inhibition CW L
RDY
DO 1 4
Servo ready RDY
DO
D O COM
18
DO common terminal
PULS P U LS + 20
Position command P U L S P U LS - 7
SIGN S IG N + 19
Position command S I G N S IG N - 6
Z
CZ 22
Z signal open -collector output
GN D GND 10
Encoder signal ground GND

paramete Name Setting Default Parameter explanation
r value value
P004 0 0
Control mode Set position control
P097 0 3 (CCWL)
Neglect inhibition (CWL)
of servo driver CCWLCWL
Use CCW inhibition (CCWL) and CW
inhibition (CWL). If neglect,did not connect
CCWLCWL
Set DI1 for servo enable (SON)
Digital input DI1
function
P130 DO1 2 2 DO1 RDY
Set DO1 for servo is ready(RDY)
Digital output DO1
4-6
function
4.2.2 Position commands
1. Parameters related to position command

Param Default
Name Range Unit Usage
eter value
1[ 1]
P027 Encoder pulse factor 1 132767 10000 P
[note 1]
2[ 1]
P028 Encoder pulse factor 2 132767 1 P
[note 1]
1
P029 132767 1 P
1st numerator of electronic gear

P030 Denominator numerator of electronic 132767 1 P
gear
2
P031 132767 1 P
2nd numerator of electronic gear
3
P032 132767 1 P
3rd numerator of electronic gear

4
P033 132767 1 P
4th numerator of electronic gear 4

P035 02 0 P
Input mode of command pulse

P036 01 0 P
Phase of input command pulse

P037 03 0 P
Signal logic of input command pulse

P038 021 7 P
Signal filter of input command pulse

P039 01 0 P
Filter mode of input command pulse

P040 Time-constant of exponential form 01000 0 ms P
filter for position command
4-7
4 Running

P089 Resolution ratio of rotating 03 0 ALL
transfomer
1 1:1
= P027P028
17 217=131072 P027P028
131072
P089 P027P028
P089
Note 1: Absolute and rotating transformer type servo driver are valid. In default (the
electronic gear ratio is 1:1), the command pulse number needed for motor rotating one
circle = P027P028.
In this example, the primitive resolution ratio of 17 bits absolute type is 217=131072. Users
need to make sure the result of P027P028 is not more than 131072.
The resolution ratio of rotating transformer depends on parameter P089. Users need to
make sure the result of P027P028 is not more than the resolution ratio set by P089.
2. Transmission path of command pulse
0
1 / N
ND I G E A R 1
2 P0 2 9
G E A R 2
P0 3 8 P0 3 1
P0 3 2
P0 3 7 P0 3 5 P0 3 3 P0 4 0
PULS N
CLK f 2 = f 1
M
f1 N f2 f3

DIR
SIGN M
P0 3 7
P0 3 9 P0 3 6 M
P0 3 0

0Pu ls e +D irection
1C C W pulse /C W pulse N umerator N Numerator N is determined
2A and B phases P0 2 9 by G E A R 1 and GEAR 2 of DI
P0 3 8 P0 3 1 in p u ts
P0 3 2
P0 3 7 P0 3 5 P0 3 3 N P0 4 0
f 2 = f 1
M
PULS F ilter CLK
Input Position Position
command command command
Counting N
U p /Down pulse f 1 f2 Smooth f3
m ode
DIR counter filte r
SIGN M
F ilter
P0 3 7
P0 3 9 P0 3 6 Denominator M
P0 3 0
Electronic gear
0
4-8 1 / N
ND I G E A R 1
2 P0 2 9
G E A R 2
P0 3 8 P0 3 1
P0 3 2
P0 3 7 P0 3 5 P0 3 3 P0 4 0
3. Input mode of command pulse
P035 P037 PULS SIGN
P036
The command pulse input mode is dependent on the parameter P035. For adjusting the counting edge of a
pulse, the parameter P037 sets the phases of the PULS and the SIGN signals. Parameter P036 uses in changing the
counting direction.
(C C W ) (C W ) P0 3 5
PULS
+ 0
SIGN
(C C W ) (C W ) P0 3 5
PULS
/ +
PULS
0 1
SIGN SIGN
PULS
/
PULS 1
SIGN
SIGN 2
PULS

2

SIGN P036=0P037=0
Note: The arrow indicates the counting edge with P306=0 and P307=0.
Command pulse CCW CW P aram eter P 0 3 5
ty pe
P uls e + PULS
D IR 0
SIGN
C C W pulse / PULS
C W pulse 1
SIGN
PULS

A phas e +
B phas e
SIGN 2
4
4. Timing chart specifications of command pulse

Pulse waveform of position command Parameter demand

Differential Single end
th tck>2s tck>5s
tck
90% th>1s th>>2.5s
PULS
10%
tl>1s tl>>2.5s
ts tl
trh trl ts
90% trh<0.2s trh<0.3s
S IG N
10% trl<0.2s trl<0.3s
CW trh CCW trl CW ts>1s ts>2.5s
+
tqck>8s tqck>10s
4-9
4 Running
th tck
tqh>4s tqh>5s
90% tql>4s tql>5s
PU LS
10%
tqrh<0.2s tqrh<0.3s
ts tl
trh trl ts
90% tqrl<0.2s tqrl<0.3s
S IG N
10% tqs>1s tqs>2.5s
CW trh CCW trl CW
P u ls e +D I R
tck
th
90 %
PU LS tl
10 %
trh trl ts
90 %
S IG N
10 %
trh trl
CCW C W
/
tck
th
90%
PU LS tl
10%
trh trl ts
90%
S IG N
10%
trh trl
CCW CW
CCW pulse /CW pulse
tqck
tqh
90%
PULS tql
10%
tqrh tqrl
tqs
tqs
90%
S IG N
10%
tqrl tqrh
CCW C W

tqck
tqh
90 %
PULS tql
10%
tqrh tqrl
tqs
tqs
90 %
S IG N
10 %
tqrl tqrh
CCW CW
A phase +B phase
5. Signal filter
P038 PULS SIGN
4-10
500kHz(kpps)

P039 SIGN
Numeral filters related to the parameter P038 will filter the input signal PULS and SIGN. The bigger the
P308 value, the larger filter time-constant and the lower maximum repeated frequency of input pulse. If P038 is
the default value, the maximum repeated frequency of input pulse will reach 500 kHz (kpps).
If the positioning is not accurate, increase the parameter P038 in order to filter noise on the signal cable and
to avoid counting error. The SIGN filter can close by parameter P039 setting.
6. Smooth filter
P040
0
0 63.2%
The parameter P040 carries on the smooth filter to the command frequency. It has the exponential form for
acceleration and deceleration as showing in the following chart. The filter cannot lose any input pulse, but can
delay its action time. When P040 is zero, the filter does not have any effect. The parameter value indicates the
time in which the repeated frequency increases from 0 to 63.2% command frequency.

0

4
Command pulse
frequency
0
tim e
Command
frequency after
filte rin g
0
tim e
The filter makes the input repeated frequency smooth. This filter is used in the following situations: the host
controller is without acceleration and deceleration function; the electronic gear ratio is quite big; the command
frequency is lower.
4-11
4 Running
4.2.3 Electronic gear for input commands

Through the electronic gear user can define that one input command pulse will cause an adjustable movement
of mechanical device. Therefore, the host controller does not have to consider that the gear ratio in the mechanical
system and the encoder line number of the servomotor .The electronic gear variable is illustrated in the following
table.

Varia Explanation Value of this driver
ble
C / 2500 17 1016 P089
Lines of encoder
Pt =4C P027P028 P027P028
1:1 =42500 =100001 =100001
(pulse/rev) =10000(pulse/rev) =10000(pulse/rev) =10000(pulse/rev)
R R=B/A
Ratio of reducer A
B the same as the same as
incremental type incremental type
P
One command pulse travel
equivalent
Pc
4-12
command pulse numbers for
one turn of the load shaft
Pitch (mm)
Pitch of ball bearing screw
(mm)
D (mm)
Diameter of rolling cylinder
(mm)
N ( Pt )
( )=
M ( Pc ) ( R)

( Pc ) =
(P)
32767
1/50<N/M<200
Calculating formula
N Resolution in one turn of encoder(Pt)
Electronic gear ratio( )=
M Command pulse number in one turn of load shaft(Pc) reducer ratio(R)
Here,
Movement quantity in one turn of load shaft
Command pulse number in one turn of load shaft (Pc) =
Movement quantity in one command pulse

The calculated result will be abbreviated and make the numerator and the denominator smaller or equal to 32767
integer values. At last, the result must be in the range of 1/50<N/M<200 and write to the parameter list.
4
1. Electronic gear is used for ball screw drive

Pitch (m m )
R

P t (pulse /r e v )
4-13
4 Running
lathe benc h
Ball s c rew P itc h (m m )

Servomotor
R educer ratio R
Encoder resolution
P t (pulse /r e v )

N Pt
( )=
M Pc R

Pitch
Pc =
P

C=2500 1/1 Pitch=8mm
P=0.001mm

(Pt)
Pt = 4 C = 4 2500 = 10000( pulse / rev)
(Pc)
Pitch 8mm
Pc = = = 8000
P 0.001mm

N Pt 10000 5
( )= = =
M Pc R 8000 (1 / 1) 4
()
N=5 M=4 P029=5 P030=4
The ball bearing screw load has

N Pt
M Pc R
Here,
Pitch
Pc =
P
For example:
Known the encoder line number C=2500 line, the reducer gear ratio 1/1, pitches Pitch=8mm, a pulse travel
equivalent P=0.001mm. Calculate the electronic gear ratio.
Calculation step:
4-14
Calculate the resolution of the encoder (Pt)
Pt = 4 C = 4 2500 = 10000( pulse / rev)
Calculate the command pulse numbers for one turn of the load shaft (ball-screw) (Pc)
Pitch 8mm
Pc = = = 8000
P 0.001mm
Calculate the electronic gear ratio.
N Pt 10000 5
Electronic gear ratio( )= = =
M Pc R 8000 (1 / 1) 4
Set parameters (By first numerator as an example)
Numerator N=5denominator M=4set P029=5 and P030=4.
2. Electronic gear is used for graduator drive
R
R

P t (pulse /r e v ) /r e v )
P t (pulse

Graduator 4
R educer ratio R
Servomotor
Encoder resolution
P t(p u lse /r e v )
N Pt
( )=
M Pc R
360
Pc =
P
4-15
4 Running
The graduator load has
N Pt
M Pc R
Here,
360
Pc =
P

C=17 1/3P=0.1

(Pt)
Pt = P027 P028 = 100001 = 10000( pulse / rev)
(Pc)
360 360
Pc = = = 3600
P 0 . 1

N Pt 10000 30000 25
( )= = = =
M Pc R 3600 (1 / 3) 3600 3
()
N=25 M=3 P029=25 P030=3
Take the absolute encoder for example:
Known that the encoder bit C=17 bits, the reducer gear ratio 1/3, a pulse travel equivalent P=0.1Calculate
the electronic gear ratio.
Calculation step:
Pt = P027 P028 = 100001 = 10000( pulse / rev)
Calculate the command pulse numbers for one turn of the load shaft (Pc)
360 360
Pc = = = 3600
P 0.1
Calculate the electronic gear ratio
N Pt 10000 30000 25
Electronic gear ratio( )= = = =
M Pc R 3600 (1 / 3) 3600 3
Numerator N=25denominator M=3set P029=25 and P030=3.
4-16
3. Electronic gear is used for convey
conveyoor belt drive
D
D
R
R

P t P(pulse
t (pulse/r/r
e ve )v )
C onveyor belt
R olling
cylinder D
Reducer ratio R
Servomotor
Encoder resolution
P t(p u lse /r e v )

N Pt 4
( )=
M Pc R
D
Pc =
P
C=16 1/10 D=200mm

P=0.01mm
(Pt)
Pt = P027 P028 = 100001 = 10000( pulse / rev)
(Pc)
4-17
4 Running
D 3.14 200
Pc = = = 62800
P 0.01

N Pt 10000 100000 250
( )= = = =
M Pc R 62800 (1 / 10) 62800 157
()
N=250 M=157 P029=250 P030=157
The conveyer belt load has
N Pt
M Pc R
Here,
D
Pc =
P
For example:
Known that the encoder bit C=2500 bits, the reducer gear ratio 1/10, the rolling cylinder diameter D=200mm,
a pulse travel equivalent P=0.001mm, Calculate the electronic gear ratio.
Calculation step:
Pt = P027 P028 = 100001 = 10000( pulse / rev)
Calculate the command pulse numbers for one turn of the load shaft (Pc)
D 3.14 200
Pc = = = 62800
P 0.01
Calculate the electronic gear ratio
N Pt 10000 100000 2500
Electronic gear ratio( )= = = =
M Pc R 62800 (1 / 10) 62800 157
Numerator N=2500denominator M=157set P029=2500 and P030=157
4. The relation between the electr on

electron ic gear ratio
onic
and the turn number of servomotor

pulse N

Pt M
pulse C=2500 N=20M=3pulse=1000,

1000 20 2
= ()
10000 3 3
4-18
The relation between the electronic gear ratio and the turn number of servomotor is:
pulse N
Servomotor turn number
Pt M
Among them, pulse is input pulse number. For example, the incremental encoder line number C=2500 line, N=20,
M=3, pulse=1000, the calculation is:
1000 20 2
Servomotor turn number = (Turn )
10000 3 3
5. The relation between the electr on

electron ic gear ratio
onic
and the speed of servomotor

f ( Hz ) 60 N
( r / min)
Pt M
f Hz(pps) C=2500 N=3M=1
f=100kHz(kpps),
100 10 3 60 3
(r / min) = 1800(r / min)
10000 1
The relation between the electronic gear and the speed of servomotor is:
f ( Hz ) 60 N
Servomotor speed (r / min)
Pt M
Among them, f is the repeated frequency of the input pulse; unit is Hz (pps). For example, the encoder line
number C=2500 line, N=3, M=1, f=100kHz (kpps), the calculation is:
100 103 60 3
Servomotor speed(r / min) = 1800(r / min)
10000 1
6. Electronic gear ratio switching 4
4 N DI GEAR1GEAR2
M
Four groups of electronic gear numerator N are provided in the servo driver. The group can be changed online
by signal of GEAR1 and GEAR2 from DI inputs. However, the denominator M is all the same.
DI [] N M
DI signal[note] Numerator of input Denominator of input
GEAR2 GEAR1 electronic gear N electronic gear M
0 0 1 ( P029) ( P030)
1st numerator(parameterP029) Denominator
0 1 2 ( P031) (parameterP030)
nd
2 numerator(parameterP031)
1 0 3 ( P032)
4-19
4 Running
3rd numerator(parameterP032)
1 1 4 ( P033)
4th numerator(parameterP033)
0 OFF1 ON
Note: 0 indicates OFF; 1 indicates ON.
4.2.4 Gains related to position control mode

Param Range Default
Name Unit Usage
eter value
1
P009 11000 40 1/s P
1st gain of position loop
2
P013 11000 40 1/s P
2nd gain of position loop

P021 0100 0 % P
Feed forward gain of position loop

P022 Time-constant of feed forward filter 0.2050.00 1.00 ms P
for position loop

Kp

According to the inner loop adjusts first and then the outer loop, the speed loop is included in the position
loop, therefore the rotation inertia ratio of load will be set first with suitable value. Then, the gain and the integral
time-constant of the speed loop are adjusted. At last, the gain of the position loop is adjusted.
The following block diagram is the position regulator of the system. Increasing the gain of position loop can
get higher position loop bandwidth, but it is limited by the speed loop bandwidth. Therefore, in order to increase
the gain of the position loop must increase the bandwidth of speed loop first.
4-20
P0 2 1 P0 2 2
+
+ +

- (K p)
Differentiator P0 2 1 P0 2 2
Position Speed
com m and + Position loop + + com m and
- g a in (K p )
Position feedback
P0 2 1 P0 2 2
10P0210%
80%(P022)
+
+ +

- (Kp )
The feed forward can reduce the lagging of phase in the position loop; also reduce the position tracking error as
well as shorter positioning time. The feed forward quantity
increases, the position tracking error reduces, but can
cause the system unstable and overshoot if the feed forward quantity is too large. If the electronic gear ratio is
more than 10 it is also easy to make noise. For normal application, the parameter P021 is set as 0%. If higher
response and lower tracking error are required, the P021 can be increased properly, but not in excess of 80%.

Meanwhile it may need to adjust the filter time constant (parameter P022) of the feed forward branch.
4.3 Speed control mode
CNC
4-21
4 Running

The speed control applies in the need of accurate-speed control situation, such as braider, drill, CNC machine.
Also may construct a positioning control system with host controller.
4.3.1 Simple example for speed control mode
()
This is a simple example of speed control (speed command is an analog input). The wiring diagram is as below.
E P 3
X1
COM+ 1
D C 1 2 2 4 V

SON DI 1 14
C C W( ) CCWL DI 3 15
C W ( ) CWL X2 ENC
DI 4 3
RDY DO 1 4
DO
D O 18
COM
+ AS + 21

-1 0 V~+1 0 V - AS- 8
AG N D 9
A OA+ 11
A OA- 23
B OB+ 12

B OB- 24
Z OZ+ 13
OZ- 25
Z
Z CZ 22
GND GND 10
4-22
E P 3
E P 3 Servo D rive
X1
C O M+ 1
D C 1 2 2 4 V

SON Encoder
Servo ON SON DI 1 14
C C W( ) C C W L DI 3 15
CCW drive inhibition C C W L
X2 ENC
C W ( ) C W DI 4 3
CW drive inhibition C W L
RDY
DO 1 4
Servo ready RDY
D O DO
18
COM
DO common terminal
+ AS + 21
-1 0 V~+1 0 V
Analog speed command - AS- 8
-1 0 V~+1 0 V AG N D 9
A O A+ 11
A O A- 23
B O B+ 12

Encoder signal out put s B O B- 24
Z OZ+ 13
OZ- 25
Z
Z
Z signal open-collector output CZ 22
GND GND 10
Encoder signal ground
GND

4-23
4 Running
The parameter setting for the example:

Paramet Name Setting Default Parameter explanation
er value value
P004 Control mode 1 0 Set speed control
P025 0 0
Source of speed Set analog input
command
P060 0
Acceleration time of suitable
speed command
P061 0
Deceleration time of suitable
speed command
P097 0 3 (CCWL)
Neglect inhibition of (CWL)
servo driver CCWLCWL
inhibition (CWL). If neglect,did not
connect CCWLCWL
Digital input DI1 function Set DI1 for servo enable (SON)
Digital output DO1 Set DO1 for servo is ready(RDY)
function
4.3.2 Parameters related to speed commands
The following table is the parameters related to the speed command

Param Default
eter value

P025 05 0 S
Source of speed command
r/min/
P046 103000 300 S
Gain of analog speed command V

P047 -1500.01500.0 0.0 mv S
Zero offset compensation of analog
4-24
speed command

P048 01 0 S
Direction of analog speed command

P049 Time constant of filter for analog 0.2050.00 2.00 ms S
speed command

P050 02 0 S
Polarity of analog speed command
1
P051 Dead zone 1 of analog speed 013000 0 mv S
command
2
P052 Dead zone 2 of analog speed -130000 0 mv S
command
JOG
P076 05000 100 r/min S
Running speed of JOG
4.3.3 Sources of the speed commands
P025
The sources of speed command determined by parameter P025:
P025 Explanation Interpret
0 AS+ AS-
Analog speed command From terminal AS+ and AS- inputs analog voltage.
1 DI SP1SP2SP3 [ 1]
4-25
4 Running
Internal speed command Determine on SP1SP2SP3 of DI inputs [Note1]
2 + SP1,SP2,SP3 OFF
Analog speed command + SP1SP2SP3 [ 2]
Internal speed command Act as analog speed command when SP1, SP2, SP3 are
OFF. The rest Determine on SP1SP2SP3 [Note2].
3 JOG JOG (JOG)
speed command Set for JOG operation.
4 (Sr)
BUTTON speed command Set for BUTTON adjust speed operation(Sr)
5
Demonstration speed command Set for adjustable speed demonstration.
1Note 1: inner speed command:
DI DI Signals Speed command
SP3 SP2 SP1
0 0 0 1( P137)
Internal speed 1 (parameter P137)
0 0 1 2( P138) Internal
speed 2 (parameter P138)
0 1 0 3( P139)
0 1 1 4( P140)
1 0 0 5( P141)
1 0 1 6( P142)
1 1 0 7( P143)
1 1 1 8( P144)
2+Note 2: analog speed command plus inner speed command:

DI DI Signals Speed command
SP3 SP2 SP1
0 0 0
Analog speed command
0 0 1 2( P138)
Internal speed 2 (parameter
P138)
4-26
0 1 0 3( P139)
P139)
0 1 1 4( P140)
P140)
1 0 0 5( P141)
P141)
1 0 1 6( P142)
P142)
1 1 0 7( P143)
P143)
1 1 1 8( P144)
P144)
0 OFF1 ON DI CZERO()CINV()
CZERO ON CINV ON
The mentioned above: 0 indicates OFF; 1 indicates ON. The inputs CZERO (the zero command) and CINV
(command reverse) from DI can provide the special function, when CZERO is ON, the speed command will be
forced to zero; When CINV is ON, the speed command will reverse.

4.3.4 Acceleration and deceleration
4
The following parameters relate to acceleration and deceleration:

Param Name Range Default Usag
Unit
eter value e

P060 Acceleration time of speed 030000 0 ms S
command

P061 Deceleration time of speed 030000 0 ms S
command
P060
P061
4-27
4 Running

0
Acceleration and deceleration can slow down the sudden change of speed and result in smooth movement of
the servomotor. The following chart shows that the parameter P060 sets the acceleration time from zero to rated
speed of the servomotor; the parameter P061 sets the deceleration time from rated to zero speed of the servomotor.
If the command speed is lower than the rated speed, then the acceleration or deceleration time is also reduce
correspondingly. If the servo driver constructs a positioning control system with host controller, these parameters
should set zero.
P0 6 0 P0 6 1
R ated speed
Speed
c om m and
Actual Actual
acceleration deceleration
tim e tim e
P0 6 0 P0 6 1
P0 6 0 P0 6 1
4-28
4.3.5 Clamp on zero speed
The parameters relate to zero speed clamp:

Para Name Range Default Unit Usag
meter value e

P160 01000 10 r/min ALL
Check point for zero speed

P161 01000 5 r/min ALL
Hysteresis for zero speed check

P162 01 0 S
Zero speed clamp mode

P1 6 0

ZCLAMP
OFF ON

P1 6 0

4
Speed
com m and
Zero speed
detecting point
P1 6 0
T im e
Z C LAM P
Input signal OFF ON
T im e
Servomotor
sp e e d
Zero speed
detecting point
P1 6 0
T im e
4-29
P1 6 0

4 Running

1
2DI ZCLAMP()ON
3 P160
In the speed control mode, a position change may occur by an external force even if the servomotor is in zero
speed. For analog speed command input, the absolute zero speed command is not easy to realize. In order to solve
these two problems, a clamp function of zero speed can be used. Start the clamp function of zero speed when the
following condition satisfies:
Condition 1: Speed mode.
Condition 2: ZCLAMP (zero speed clamp) of DI is on.
Condition 3: The speed command is lower than the parameter P160.

When any condition mentioned above does not satisfy, carries out the normal speed control. The zero speed
clamp has two kind of mode:
P162 Explanation
0

The position of the servomotor is fixed just when the clamp function starts. This time the servo
driver itself changes to the position control mode, and keeps the fixed point even if the external
force causes displacement.
1
The speed command is forced to zero when the clamp function starts. The servo driver is still in the
speed control mode, but the external force can cause revolving.
4.3.6 Gains related to speed control mode

Paramet Name Range Default Usag
Unit
er value e
1
P005 13000 40 Hz P,S
First gain of speed loop
1
P006 1.01000.0 20.0 ms P,S
First integral time constant of speed loop
2
P010 13000 40 Hz P,S
Second gain of speed loop
4-30
2
P011 1.01000.0 20.0 ms P,S
Second integral time constant of speed loop

P017 0.0200.0 1.0 P,S
Ratio of load inertia
PDFF
P018 0100 100 % P,S
Control coefficient PDFF of speed loop

KvTi
First sets a proper rotation inertia ratio of load, and then adjusts gain and integral time constant of speed loop.
The diagram of speed control loop is as the following. To increase the gain Kv can enhance the speed response
bandwidth. To reduce the integral time constant Ti can increase the system stiffness and reduce the static error.
Kv:
Ti:
+ 1
K v (1 + )
- Ti S
Kv :Speed loop gain

Ti :Integral time constant
of speed loop
Speed
com m and + 1
K v (1 + )
- Ti S

Speed feedback 4
P018 0 IP 100 PI 199 PDFF

K v:
P018 T i()
:
+ 1
The speed controller structure can be selected by K
thev (value
1 + of )parameter P018. The 0 and 100 number are
- Ti S
stand for IP regulator and 1 to 99 number are stand for PDFF regulator. The larger the value of parameter P018,
the higher frequency response of the system can get.The
smaller
the value of the parameter, the higher stiffness
(anti-deviation ability) of the system will be. The medium value takes account to both frequency response and
stiffness.
4-31
4 Running
4.4 Torque control mode

The torque control mode is used in the situations such as printer, winding machine, injection-molding
machine and so on. The output torque of servomotor is proportional to the input torque command.
4.4.1 Simple example for torque control mode
()
This is a simple example of torque control (torque command is an analog input). The wiring diagram is as
below.
E P 3
X1
COM+ 1
D C 1 2 2 4 V
SON DI 1 14
C C W ( ) CCWL DI 3 15 X2 ENC
C W ( ) CWL DI 4 3
RDY DO 1 4
DO
DO 18
COM
+ AS + 21

-1 0 V+1 0 V - AS- 8
AGN D 9
4-32
E P 3
E P 3 Servo D rive
X1
D C 1 2 2 4 V
C OM+ 1
Encoder
SON
Servo ON SON DI 1 14
C C W ( ) C C W L
CCW drive inhibition C C W L DI 3 15 X2 ENC
C W ( ) C W L DI 4 3
CW drive inhibition C W L
RDY
DO 1 4
Servo ready RDY
DO DO
18
COM
DO common terminal
+ AS + 21
-1 0 V+1 0 V
Analog torque command
- AS- 8
-1 0 V ~+1 0 V AG N D 9
Parameter setting of example:
Name
Param Setting Default Parameter explanation
eter value value
P004 Control mode 2 0 Set for torque control.
P026 0 0
Source of torque command Set for analog input
P097 0 3 (CCWL)
Neglect inhibition of servo (CWL)
driver CCWLCWL 4
inhibition (CWL). If neglect,did not
connect CCWLCWL
Digital input DI1 function Set DI1 for servo enable (SON).
Digital output DO1 function Set DO1 for servo is ready(RDY)
4.4.2 Parameters related to torque commands
The following table is the parameters related to the torque command:

Name Range
Param Default Unit Usag
4-33
4 Running
eter value e

P026 02 0 T
Source of torque command

P053 1300 30 %/V T
Gain of analog torque command

P054 Zero offset compensation of analog -1500.01500.0 0.0 mv T
torque command

P055 01 0 T
Direction of analog torque command

P056 Time constant of filter for analog 0.2050.00 2.00 ms T
torque command

P057 02 0 T
Polarity of analog torque command
4.4.3 Sources of the torque commands
P026
The sources of torque command determined by parameter P026:
0 AS+ AS-
Analog torque command From terminal AS+ and AS- inputs analog voltage.
1 DI TRQ1TRQ2 [ 1]
Internal torque command Determine on TRQ1TRQ2 of DI inputs [Note1].
2 + TRQ1TRQ2 OFF
Analog torque command + Internal torque TRQ1TRQ2 [ 2]
command Act as Analog speed command when TRQ1,TRQ2 are
OFF. The rest Determine on TRQ1TRQ2 [Note2].
1
Note 1: inner torque command:
DI DI
Signals Torque command
TRQ2 TRQ1
0 0 1( P145)
Internal torque 1(parameterP145)
0 1 2( P146)
4-34
1 0 3( P147)
1 1 4( P148)
2+
Note 2: analog torque command plus inner torque command:
DI
DI Signals Torque command
TRQ2 TRQ1
0 0
0 1 2( P146)
1 0 3( P147)
1 1 4( P148)
0 OFF1 ON DI CZERO()CINV()
CZERO ON CINV ON
The mentioned above: 0 indicates OFF; 1 indicates ON. The inputs CZERO (the zero command) and CINV
(command reverse) from DI can provide the special function, when CZERO is ON, the torque command will be
forced to zero; When CINV is ON, the torque command will reverse.
4.4.4 Speed limitation in torque control mode 4
In torque control mode, the torque output of the servomotor is controlled by torque command, but the speed
of the servomotor is not controlled. Therefore, an over speed may occur if in light loading. The speed must be
limited to protect the machinery. The parameters related to the speed limitation are:

Param Name Range Default Usag
Unit
eter value e

P077 02 0 T
Selection of speed limit
4-35
4 Running

P078 05000 3000 r/min T
Speed limit in torque control

P079 15000 100 r/min T
Speed limit error in torque control

P079
3
When appears over speed, use a negative speed feedback to reduce the actual torque and thus to reduce the
actual speed. However, the actual speed can be higher than the limited value slightly. The value of the negative
speed feedback is set by the parameter P079. The smaller the value of P079, the greater effect on the negative
feedback can be and the steeper of limit speed curve shows. Therefore, the quantity of over speed is smaller, but
the vibration becomes larger. In torque control mode, there are three kind of speed limitation as the following:
0 Basic limit P078 Limited by parameter P078.
1 +
Basic limit +Analog limit Except basic limit, it is also limited by analog speed
command.
2 +
Basic limit +Internal speed limit DI SP1SP2SP3
Except basic limit, it is also limited by internal speed
command. The internal speed command is determined by
SP1, SP2, and SP3 from DI inputs.
1.
2.
3.
4. DI SP1SP2SP3
Note: 1. Speed limitation is not related to the rotation direction.
2. If many limits occur, the final limitation value will be the smallest value.
3. Even if the setting value greater than the permission maximum speed of the system, but the operation
also can limit in the maximum torque range.
4. The internal speed command is determined by SP1, SP2, and SP3 from DI inputs.
DI []
Signal [Note] Speed command
SP3 SP2 SP1
0 0 0 1( P137)
P137)
0 0 1 2( P138)
4-36
P138)
0 1 0 3( P139)
Internal speed 13(parameter
P139)
0 1 1 4( P140)
P140)
1 0 0 5( P141)
P141)
1 0 1 6( P142)
P142)
1 1 0 7( P143)
P143)
1 1 1 8( P144)
P144)
0 OFF1 ON
4
4.5 Motion Motion mode
Motion
Motion mode: the command may be consisted of one or more paths.
MotionP3051DIMMODEON
Entering into the motion mode: set the parameter P305 as 1; or set DIMMODE as ON.
DICTRGDIMDATA1MDATA3
DI:CTRG

The path is triggered by DICTRG. AndDIMDATA1MDATA3is used to
appoint the path number of trigger. When the triggered path has been executed, it can point to
the next path automatically and it will be triggered byDI:CTRG.The path number could be
set. The delay time could be set between paths too.
4-37
4 Running
4.5.1 Motion the unit of motion mode
MotionPEUPulse of Encoder Unit

The position data of motion mode is all presented by the drive inner unit PEUPulse of
Encoder Unit.
Pulse
10000pulse/rev
131072pulse/rev
65536P089pulse/rev
The position unit (Pulse) of drive is the encoder unit.
Incremental type: 10000 pulse per revpulse/rev
Absolute type: 131072 pulse per revpulse/rev
Rotating transformer type: 65536 pulse per rev ( parameter P089 can be set)pulse/rev
4.5.2 Motion Simple example for motion mode
Motion
This is a simple example for motion mode. The wiring diagram is as follows:
E P 3
X1
COM + 1
D C 1 2 2 4 V
SON DI 1 14
C T RG DI 2 2
M D A T A1 DI 3 15 X2 ENC
M D A T A2 DI 4 3
M D A T A3 DI 5 16
RDY DO 1 4
MDONE DO2 17
DO 18
D O COM
4-38
E P 3
E P 3 Servo D rive
X1
D C 1 2 2 4 V
COM+ 1
Enc oder
SON
DI 1 14
Servo on SON
C T RG DI 2 2
M D A T A1 DI 3 15 X2 ENC
M D A T A2 DI 4 3
M D A T A3 DI 5 16
RDY
DO 1 4
Servo ready
M D ON E D O2 17
T rack done
D O DO D O
18
COM
common terminal
IO
The IO description for this example is:
Motion8
There are eight track procedures in motion mode in total, which can be defined by the users.
The trigger command ways are concluded as follows:
DICTRG + MDATA1MDATA3
MDATA1MDATA3DICTRG
Use the appointed trigger path number MDATA1MDATA3 and then trigger the execution
of the path by the rising edge DICTRG.

DOMDONE
PCPLCDI
4
DO: after the path is finished and delayed according to the setting time, it outputs MDONE
signal.
Applicable occasion: PC or PLC gives commander by DI.
4.5.3 Motion the sequence diagram of motion mode
TYPE1
When the TYPE of path control word is 1, this path is position mode. The sequence diagram is as
follows:
4-39
4 Running
D I CTRG
D I :M D A T A1
DATA 1 DATA 2
M D A T A 3
POS1 POS2
Position
T rac k
DLY1
D O :M D O N E
TYPE0
When the TYPE of path control word is 0, this path is speed mode. The sequence diagram is as
follows:
D I C T R G
D I :M D A T A1
DATA 1 DATA 2
M D A T A3
S P D2
S P D1

Speed
T ra c k
D L Y1 D L Y2
D O :M D O N E
4.5.4 Motion parameter setting of motion mode
1. Motion The motion path selection
DI MDATA1MDATA2MDATA3
It is decided by MDATA1MDATA2MDATA3 inputted from DI.
DI [] path selection
DI signal[note]
MDATA3 MDATA2 MDATA1
0 0 0 1(P400P401P500P501)
4-40
0 0 1 2(P402P403P502P503)
0 1 0 3(P404P405P504P505)
0 1 1 4(P406P407P506P507)
1 0 0 5(P408P409P508P509)
1 0 1 6(P410P411P510P511)
1 1 0 7(P412P413P512P513)
1 1 1 8(P414P415P514P515)
0 OFF1 ON
Note: 0 indicates OFF, 1 indicates ON.
P400P415P500P515
The detailed plan of path is decided by parameter P400P415, and its target position is
decided by P500P515.
2. P400 bit definition for P400 parameter bit
15 1412 11 108 7 64 3 20
NC SPD NC DEC NC ACC NC DLY

The TYPE=0 TYPE=1
corresponding Speed track position track
parameter of
control word
SPD P310P317
path target speed Run to the set position
with the set speed 4

DEC P330P337
The deceleration of The deceleration of path
path
ACC P330P337
The acceleration of The acceleration of path
path
DLY P350P357
The delay time when position has
The delay time when reached
speed has reached
TYPE1SPDP310P317
Note : when TYPE is 1, the speed chose by SPE is absolute speed, regardless of the sign of
P310P317 parameter .
4-41
4 Running
SPDDECACCDLY
The following diagram shows how to set SPD to choose the path of target speed. The set method
is the same as DECACCDLY.
SPD
Bit Bit Bit Path target speed
14 13 12
0 0 0 1( P310)
Path target speed 1 (parameter P310)
0 0 1 2( P311)
0 1 0 3( P312)
0 1 1 4( P313)
1 0 0 5( P314)
1 0 1 6( P315)
1 1 0 7( P316)
1 1 1 8( P317)
3. P401 bit definition for P401 parameter bit
15 1410 95 43 1 0
TYPE NC NPRC CMD NEXT INS
TYPE 0
1
TYPE 0: This path is speed command
1: this path is position command.
NPRC NEXT=1
NPRC: choose next path when need to set automatic execurionNEXT=1
CMD 0
1
2
3
CMD
CMD: 0: absolute position localization command (take the position after DSZR as
4-42
original)
1: incremental localization command, increases basing on the terminal position of
the last sector .
2: relative localization command, increases on the current position.
3: meaningless
NEXT CTRG

NEXT: After this path is finished and the delay time is reached, it will load the next path
automatically, which is triggered by the next CTRG signal.
INS
INS: it allows to be interrupted by the next path when this path is executed.
NPRC
The following chart shows how to set NPRC to choose the next path.
NPRC
Bit Bit Bit Next path
7 6 5
0 0 0 1(P400P401P500P501)
Path 1 (P400P401P500P501)
0 0 1 2(P402P403P502P503)
Path 2 (P402P403P502P503)
0 1 0 3(P404P405P504P505)
Path 3 (P404P405P504P505)
0 1 1 4(P406P407P506P507)
Path 4 (P406P407P506P507)
1 0 0 5(P408P409P508P509) 4
Path 5 (P408P409P508P509)
1 0 1 6(P410P411P510P511)
Path 6 (P410P411P510P511)
1 1 0 7(P412P413P512P513)
Path 7 (P412P413P512P513)
1 1 1 8(P414P415P514P515)
Path 8 (P414P415P514P515)
4. path data
TYPE 1
Path data is valid when path TYPE is 1.
1 P500P501
16
1 = P5012 + P500
4-43
4 Running
PEU

For example, path 1 data is path target position, which consists of parameter P500 and P501.
Path 1 data = P501216+ P500
The data unit is PEU, which is equal to the resolution of encoder.
The target position is confirmed relating to the position after DSZR. Take the position after
DSZR as origin.
4.5.5 Motion motion path explanation
1. internal sequ
sequeence
Speed
P a t h1
P a t h2
Time
D L Y1 CTRG
Path1TYPE=1NEXT=1DLY
INS=1
Path1: position command (TYPE=1).Execute the next one automatically
(NEXT=1).If DLY has been set, it allows to be interruptedINS=1).
Path2TYPE=1
Path 2: position command (TYPE=1)
DLY CTRG
Note: DLY begins to count when the command has been finished.Need CTRG to
trigger.
Speed DLY1
P a t h2
S p e e d1
Time
Path 1TYPE=0DLY
Path 2TYPE=1DLY
Path 1: speed command (TYPE=0), when DLY is set.
Path 2: position command (TYPE=1) (DLY begins to count when the command has
been finished)
4-44
2. interrupted
Speed
P a t h1
P a t h2 Time
C T R G+I N S
Path 1(INS=1) DLY

Path 2
Path 1: Speed or position command, when it is set interrupt available(INS=1),
regardless of whether DLY is set.
Path 2: speed or position command
Speed
P a t h1 P a t h2
Time
CTRG DLY
Path 1INS=0
Path 2
Path 1: position command. It is not allowed to be interrupted (INS=0).
Path 2: speed or position command

4.6 Gain adjustment
4

The servo driver includes the current control loop, the speed control loop and the position control loop. The
control diagram is as follows:
+ +
+
M
- - -

PG
4-45
4 Running
Position control loop
Speed control loop

Current control loop
Servomotor
Position Speed
com m and + Position com m and + S peed + Current Power
controller controller
F ilter controller tr ans for m M
- - -
PG
Encoder

>>

Theoretically, the inner control loop bandwidth must be higher than the outer loop; otherwise, the entire

control system will be unstable and creates the vibration or worse response.
Therefore, the relations of the

bandwidth of the three control loops are as follows:
+ +
+
Bandwidth of the current loop >bandwidth of the loop>bandwidth of
speed M
theof the position loop
- - -

Because the current control loop of the servo driver is already adjusted in an optimum condition, the only
parameters of speed and position control loops have to be adjusted by the user. PG
4.6.1 Gain parameters

The parameters related to the gain are:

Parame Name Default
Range Unit Usage
ter value
1
P005 13000 40 Hz P,S
First gain of speed loop
1
P006 First integral time constant of speed 1.01000.0 20.0 ms P,S
loop
1
P009 11000 40 1/s P
First gain of position loop
2
P010 13000 40 Hz P,S
Second gain of speed loop
2
P011 2nd integral time constant of speed 1.01000.0 20.0 ms P,S
loop
4-46
2
P013 11000 40 1/s P
Second gain of position loop

P017 0.0200.0 1.0 P,S
Ratio of load inertia
The definition of symbol as follows:
Kv
Ti
Kp
G(P017)
JL
JM
KvThe gain of speed loop;
TiThe integral time-constant of speed loop;
KpThe gain of position loop;
G The inertia ratio of load (P017);
JLThe load inertia referred to the rotor shaft;
JMThe rotor inertia of the servomotor.
1. Kv The gain of speed loop Kv
Kv

1+ G
( Hz ) = K v ( Hz ) 4
1+ JL / JM
G(G=JL/JM),Kv
The speed loop gain Kv directly determines the response bandwidth of the speed loop. Under the premise that
there is no vibration in the mechanical system or noise, increases the speed loop gain, then the speed response can
speed up, and is better to follow the speed command. However, it is easy to cause a mechanical resonance if the
Kv is too large. The bandwidth of speed loop expresses as:
1+ G
Speed loop bandwidth ( Hz ) = K v ( Hz )
1+ JL / JM
If the setting inertia ratio of the load G is correct (G=JL/JM), then the bandwidth of the speed loop is equal to the
speed loop gain Kv.
2. Ti The integral time-constant of speed loop Ti
4-47
4 Running
Ti

G(G=JL/JM)
Ti 4000
Ti (ms )
2 K V ( Hz )
The integral item of speed loop has an effect to eliminate static error of speed, and has rapid reaction to a
slight speed change. Under the premise that there is no vibration in the mechanical system or noise, reduces the
integral time constant Ti of speed loop, then the stiffness of the system increases, and reduces the static error. If
load inertia ratio is very big or a resonating factor exists in the mechanical system, and then must confirm that the
integral time constant is big enough, otherwise the mechanical system will be easy to cause resonating. If the
setting inertia ratio of the load G is correct (G=JL/JM), uses following formula to obtain the integral time constant
Ti of the speed loop.
4000
Ti (ms )
2 K V ( Hz )
3. Kp The gain of position loop Kp

(Hz)
( Hz)
4
G(G=JL/JM),Kp:
K v ( Hz )
K p (1 / s ) 2
4
The gain of the position loop directly determines the reaction rate of the position loop. Under the premise that
there is no vibration in the mechanical system or noise, increases the position loop gain, then speeds up the
reaction rate, reduces the position tracking error and the positioning time is shorter. However, it is easy to cause a
mechanical vibration or over travel if the Kp is too large. The bandwidth of the position loop should be lower than
the bandwidth of speed loop. In general:
Speed loop bandwidth (Hz)
Position loop bandwidth ( Hz)
4
If the setting inertia ratio of the load G is correct (G=JL/JM), uses the following formula to obtain the gain Kp of
the position loop:
K v ( Hz )
K p (1 / s ) 2
4
4-48
4.6.2 Procedure for gain adjustmen

adjustmentt

:
The bandwidth selections of the position and the speed loop depend on the machinery rigidity and the
application situation. A leather belt conveyer has low rigidity and may set low bandwidth. Machinery with reducer
and ball bearing screw has medium rigidity and may set medium bandwidth. Machinery with ball bearing screw or
linear motor has higher rigidity and may set high bandwidth. If mechanical characteristics are unknown, may
gradually increase the bandwidth until resonating, and then decreases the gain.
In the servo system, if changes a parameter, then other parameters also need to readjust. Therefore, do not
change a parameter far from its original value. About the steps for changing the servo parameter, please observe
the following principle generally:

Increase response Decrease responserestrain vibration and overshoot
1.Kv 1.Kp 4
2.Ti 2.Ti
3.Kp 3.Kv
1.Increase gain of speed loop Kv 1. Decrease gain of position loop Kp
2. Decrease integral time constant of speed loop Ti 2. Increase integral time constant of speed loop Ti
3. Increase gain of position loop Kp 3. Decrease gain of speed loop Kv
Gain adjustment procedure for speed control loop
1.
2.
3.
4.
5.

4-49
4 Running
4.7
1. Set the load inertia ratio.
2. Set integral time constant of the speed loop with a relatively great value.
3. Under no vibration and unusual sound increase the gain of the speed loop, if vibration occurs then decrease the
gain a bit.
4. Under no vibration and unusual sound, decrease the integral time constant of speed loop, if vibration occurs
then increase the time constant a bit.
5. Because the mechanical system may have resonating factors and is unable to adjust for a bigger gain, then the
desired response cannot obtain. Now, use low pass or notch filter for torque to suppress the resonance, and
then carry on above steps again enhancing responsiveness. First use the low pass filter of torque, if the effect is
not good then use notch filter again. Please refer to 4.7 sections about resonance suppression.
Gain adjustment procedure for position control loop

1.
2.
3.
4.
5.
6.

4.7
7. 4.2.4

1. Set the load inertia ratio.
2. Set integral time constant of the speed loop with a relatively great value.
3. Under no vibration and unusual sound increase the gain of the speed loop, if vibration occurs then decrease the
gain a bit.
4. Under no vibration and unusual sound, decrease the integral time constant of speed loop, if vibration occurs
then increase the time constant a bit.
5. Increase the gain of position loop, if vibration occurs then decreases the gain a bit.
6. Because the mechanical system may have resonating factors and is unable to adjust for a bigger gain, then the
desired response cannot obtain. Now, use low pass or notch filter for torque to suppress the resonance, and then
carry on above steps again enhancing responsiveness. First use the low pass filter of torque, if the effect is not
good then use notch filter again. Please refer to 4.7 sections about resonance suppression.
7. If need shorter positioning time and smaller position tracking error, can adjust the feed forward of the position
loop. Please refer to 4.2.4 section
4-50
4.7 Resonance suppressions
When the mechanical system has the resonance effect, it is possibly created by higher rigidity of the servo
system and quicker response. It may improve if reduce the gain. The servo driver provides the low pass filter and
the notch filter. Under unchanging the gain by using filters can achieve the effect of resonance suppression.
The parameters related to Resonating suppression as follows:

Para Name Default
Range Unit Usage
meter value
1
P007 0.1050.00 2.50 ms ALL
Time constant of filter for first torque
2
P012 Time constant of filter for second 0.1050.00 2.50 ms ALL
torque
1
P200 501500 1500 Hz ALL
Frequency of first notch filter
1
P201 1100 7 ALL
Quality factor of first notch filter
1
P202 0100 0 ALL
Depth of first notch filter

2
P203 501500 1500 Hz ALL
Frequency of second notch filter
4
2
P204 1100 7 ALL
Quality factor of second notch filter
2
P205 0100 0 ALL
Depth of second notch filter

The principle for suppression resonance is to use filters to suppress the resonance peak that the machinery
responds. The schematic drawing is as follows:
4-51
4 Running
G a in
G a in lowpass
filter
Mechanical
res pons e
G a in
Frequency
Frequency N otc h
Frequency

Two kinds of filter characteristics are:

Filter type
Suitable case Advantage
Disadvantage

Low pass High frequency Do
not need to
know the exact
filter resonance resonance frequency Bring phase delay; reduce bandwidth

of the system. Do not suitable for the

case of medium and low frequency
resonance.

Notch filters medium and low Do not affect the bandwidth of
frequency the system.
resonance It is important to know the exact
resonance frequency. If make
mistake of frequency setting, will
4-52
affect the performance. It is not
suitable that if the resonance
frequency drifts all the time.
4.7.1 Low pass filters
P007P012
Tf
G
(G=JL/JM) 1000
T f ( ms )
2 2 K v ( Hz )
The low pass filter is active by default. There are two parameters P007 and P012 for setting the time constant
of torque filter. However, they are not used together at the same time. The low pass filter has the very good
weaken effect on high frequency and can suppress high frequency resonance and noise. For example, the
machinery with ball bearing screw sometimes can have high frequency resonance if increasing the gain. Using low

pass filter can get better effect, but the system response bandwidth and the phase allowance also reduced, the
system may become unstable. If the system is low frequency resonating, the low pass filter is unable to suppress it. 4
When the high frequency vibration caused by the servo driver, adjust the filter time-constant Tf of torque,
possibly can eliminate the vibration. The smaller the value, the better control response achieves, but it is limited
by mechanical condition. ; The bigger the value, the better suppressing effect achieves on high frequency vibration,
but the phase allowance reduces and can cause the oscillation if the value is too big. If the load inertia ratio is set
correctly G (G=JL/JM), must satisfy the following condition:
1000
T f ( ms )
2 2 K v ( Hz )
4.7.2 Notch filters
P200P205
4-53
4 Running

The notch filters are not active by default. By setting the parameter P200~P205, two notch filters can be used
at the same time and can suppress two kind of different frequency resonance. If the resonance frequency is known,
then by using the notch filter the resonance can be eliminated directly. It has better effect than by using the low
pass filter. When resonance frequency is unknown, may gradually reduce the notch frequency from high to low,
the notch frequency will be the optimum setting value while the vibration is smallest. If resonance frequency
changes with time or other factor and the frequency displacement is too large, therefore it is not suitable to use the
notch filter.
Except frequency, but also may adjust the notch depth and the quality factor and must pay attention to the
setting values to be appropriate. If the notch depth is deep, the suppression effect on the mechanical resonance is
possibly good, but can create the phase changing in a big way, sometimes can strengthen the vibration instead.
The smaller the quality factor, the wider notch width achieves, and the mechanical resonance suppression effect is
quite good, but can create the phase changing in big region, sometimes can strengthen the vibration instead.
4.8 Gains switching

()

1 2 4
4-54
Through internal condition or external signals carry on gains switching to achieve the following goals:
When the servomotor is in stop condition (servo driver is locking),make a switching for low gain in order to
suppress the vibration and the incisive noise;
When the servomotor is in stop condition, make a switching for high gain in order to enlarge the rigidity of
the servo system;
When the servomotor is in running condition, make a switching for high gain in order to obtain the better
tracking performance and the small positioning time;
According to the load situation, switching different gain achieves the optimizing control.
Showing below there are the first group and the second group of gain. Each group has four parameters. The first
group will switch to the second group or vice versa.
1 First gain group 2 Second gain group

Paramet Name Parame Name
er ter
1 2
P005 P010
First gain of speed loop Second gain of speed loop
1 2
P006 First integral time constant of speed P011 2nd integral time constant of speed
loop loop
1 2
P007 Time constant of filter for first P012 Time constant of filter for second
torque torque
1 2
P009 P013
First gain of position loop Second gain of position loop
4
4.8.1 Parameters for gain switching
The parameters related to the gain switching are:

Name range Default
Parameter Unit Usage
value

P208 05 0 ALL
Gain switching selection

P209 032767 100 ALL
Level of gain switching

P210 032767 5 ALL
Level hysteresis of gain switching
4-55
4 Running

P211 03000 5 ms ALL
Delay time of gain switching

P212 03000 5 ms ALL
Time of gain switching
4.8.2 Action of gain switching

Action conditions for gain switching are:
P208 P209 Condition of gain switching
0 Unacted 1 Fixed first gain group
1 Unacted 2 Fixed second gain group.
2 Unacted DI GAIN OFF 1 ON 2
Input GAIN terminal for gain switching from DI. 'OFF' is the first gain
group; 'ON' is the second gain group.
3 (0.1kpps) P209
Frequency(0.1kpps) If the input frequency of command pulse surpasses P209, then switches to
second gain group.
4 () P209
Position(pulse) If position pulse deviation surpasses P209, then switches to second gain
group.
5 (r/min) P209
Speed(r/min) If the servomotor speed of surpasses P209, then switches to second gain
group.
2 1
P211
P212

( P210)
The following chart shows: make a switching to the second gain group when the switching condition is
satisfied. After that, if the switching condition is not satisfied, make a switching to the first gain group. The
switching condition must maintain a period set by parameter P211 and then can make switching to avoid mistake
by receiving disturbance. During switching, the current gain group will make linearity change to the goal gain
group according to the setting time by parameter P212. Each parameter of the gain group will all make change at
the same time to avoid the machinery impact caused by the parameter changing suddenly. In order to prevent the
switching happens frequently, the comparator has a hysteretic error set by Parameter P210.
4-56
4.14

Electromagnetic holding brake
P2 1 1 P2 1 2 P2 1 1 P2 1 2

P2 1 1 P2 1 2 P2 1 1 P2 1 2
2
2
1 1
1 1
D elay tim e Switching time D elay tim e Switching time

P2 1 1 P2 1 2 P2 1 1 P2 1 2
Second
gain group
F irst F irst
gain gain
g ro u p g ro u p
Gain group
Switching
c ondition U nsatisfied S a tisfie d U nsatisfied
PI/P2(P011)(1000.0)
21PI/P
In the speed control, PI and P control modes can make switching between them. Set the second integral time
constant (P011) with maximum value (1000.0) in the second gain group. It is equal in canceling the integral item.
Other parameters in the second gain group are the same as the first group. Therefore, it is a P control mode
resulting in PI/P control switching.
4-57
4 Running
4.9 Homing

The homing let the mechanical to move to an assigned point. Take it as the reference origin for later on
movement.
4.9.1 Parameters for homing
The parameters related to homing are:

Para Name Range Default Unit
Usage
meter value

P178 03 0 ALL
Trigger mode of homing

P179 05 0 ALL
Reference mode of homing

P180 02 0 ALL
Origin mode of homing
10000
P181 -3276832767 0 ALL
misalignment top digit of homing 10000pulse

P182 misalignment bottom digit of -99999999 0 ALL
pulse
homing

P183 13000 500 r/min ALL
First speed of homing

P184 13000 50 r/min ALL
Second speed of homing

P185 030000 0 ms ALL
Acceleration time of homing

P186 030000 0 ms ALL
Deceleration time of homing

P187 03000 50 ms ALL
Positioning time delay of homing

P188 Delay time of complete signal after 13000 100 ms ALL
homing
P189 01 0 ALL
4-58
Command executive mode after
homing
4.9.2 Operation procedure for homing

The homing operation is divided two steps:
1. ()
REF(
)CCWLCWLZ

2.

Z
P185P186
P18110000+P182
1. Seek for the reference point (rough origin)
After starts the homing function, seek the reference point according to the first speed of homing. Can
use REF input terminal (external detector input), CCWL or CWL as the reference point, also may use the Z
pulse as the reference point. For seeking the reference point, can choose clockwise or counterclockwise
direction operation.
2. Seek for the origin
After found the reference point, and then seek for the origin according to the second speed of homing.
Can choose forward or backward direction seeking for the Z pulse, also can directly make the reference point

as the origin.

4
During homing operation, in order to avoid the machinery impact caused by speed change quickly uses the
acceleration and the deceleration functions set by parameter P185, P186. The origin position adds on the offset
quantity to make the actual origin. The offset quantity is P18110000 + P182.
4.9.3 Methods of homing
The parameters related to homing method are:

Explanation
Para Name settin
meter g
P178 0 Closed the function of homing.
1 DI GOH
Trigger Voltage level triggering of terminal GOH from DI input.
4-59
4 Running
mode of 2 DI GOH
homing Rising edge triggering of terminal GOH from DI input.
3 Automatic execution after turn on power supply.
P179 0 (P183) REF(
)
After starts homing, seek REF(external detector input; rising edge trigger) in
Reference CCW direction with first speed(P183) and take it the reference point.
mode of 1 (P183) REF(
homing )
After starts homing, seek REF(external detector input; rising edge trigger) in
CW direction with first speed(P183) and take it the reference point.
2 (P183) CCWL(
) CCWL

After starts homing, seek CCWL (falling edge trigger) in CCW direction with
first speed (P183) and take it the reference point. Neglect CCWL prohibition
function when homing execution, but resume the prohibition function after
the homing finished.
3 (P183) CWL(
) CWL

After starts homing, seek CWL (falling edge trigger) in CW direction with
first speed (P183) and take it the reference point. Neglect CWL prohibition
function when homing execution, but resume the prohibition function after
the homing finished.
4 (P183) Z

After starts homing, seek Z pulse in CCW direction with first speed(P183)
and take it the reference point.
5 (P183) Z

After starts homing, seek Z pulse in CW direction with first speed(P183) and
take it the reference point.
P180 0 (P184) Z

Origin After found the reference point, seek Z pulse in backward direction with
mode of second speed (P184) and take it the origin.
homing 1 (P184) Z

4-60
After found the reference point, seek Z pulse in forward direction with
second speed (P184) and take it the origin.
2
After found the reference point, directly make it the origin.
(P179)(P180) 4.9.5
For homing, the reference point mode (P179) and the origin mode (P180) cab be combined and have the following
combinations. The detailed actions of each combined mode refer to 4.9.5 section.
P179 0 1 2 3 4 5
P180
0 (A) (B) (A) (B)
1 (C) (D)
2 (E) (F) (G) (H)
In which: indicate recommendation use; indicate does not recommend the use.
4.9.4 Timing chart of homing
1.
(P178=1)
(P178=1) Level triggering (P178=1)
GOHGOH
ONHOMEONGOHOFF
HOMEOFF
P189=0 HOME OFF
P189=1
SONGOHOFF 4
HOME
After the SON is on (active), the homing execution is triggered by input signal of terminal GOH. Then the
normal command execution suspends. The GOH maintains ON continuously. After the homing completed, the
position and the position deviation reset, the output signal of terminal HOME becomes ON. Then HOME signal is
ON until GOH signal becomes OFF.
When P189=0, after the homing completed, waited for the OFF signal of the HOME, and then carry out the
normal command execution again. During the waiting period, the servomotor pauses at the origin and does not
accept any command; When P189=1, after the homing completed, carries out the normal command execution
immediately.
During homing operation, if SON becomes OFF, or any warning occurs, or GOH becomes OFF, then the
homing operation stops and the output terminal HOME does not act.
4-61
4 Running

(D O :R D Y ) OFF ON

(D I :S O N ) OFF ON

OFF ON OFF
(D I :G O H )
OFF ON OFF
(D O :H O M E)

(P1 8 9 =0)

(P1 8 9 =1)
Turn Turn
Pow er supply
o ff on
Servo ready
OFF ON
(D O :R D Y )
S erv o O N
OFF ON
(D I:S O N )
H oming triggering O F F ON OFF

(D I :G O H )
Homing execute U nder execution
Homing complete OFF ON OFF

(D O :H O M E)
Normal command execute e xe cu te p a u se e xe cu te

(P1 8 9 =0)
Normal command execute p a u se
e xe cu te e xe cu te
(P1 8 9 =1)
4-62
2.
(P178=2)
(P178=2) Rising edge triggering (P178=2)
GOH
HOMEONP188HOME
OFF
P189=0 HOME OFF
P189=1
SONGOHOFF
HOME
After the SON is on (active), the homing execution is triggered by the rising edge of input signal on terminal
GOH. Then the normal command execution suspends. After the homing completed, the position and the position
deviation reset, the output signal of terminal HOME becomes ON. After the delay time completed, then HOME
signal becomes OFF.
immediately.
During homing operation, if SON becomes OFF, or any warning occurs, then the homing operation stops and
the output terminal HOME does not act.

4

OFF ON OFF
(D I :G O H )
OFF ON OFF
(D O :H O M E )
P1 8 8

(P1 8 9 =0)

(P1 8 9 =1)
4-63
4 Running
Turn Turn
Pow er supply
o ff on
Servo ready
S erv o O N
(D I:S O N ) OFF ON
H oming triggering
OFF ON OFF
(D I:G O H )
Homing execute U nder execution
Homing complete OFF ON OFF

(D O :H O M E )
P1 8 8
Normal command execute e xe cu te p a u se e xe cu te
(P1 8 9 =0)

e xe cu te e xe cu te
(P1 8 9 =1)
3.
(P178=3)
(P178=3) Auto-execution when turn on the power supply (P178=3)

GOH
HOME
ONP188HOMEOFF
P189=0 HOME OFF
P189=1
SON
HOME
This function only uses in the condition that the power supply turn on and the SON is ON for the first time.
Each time carries out homing operation once and will not need to execute homing operation later. Using this
function can abbreviate a GOH input terminal.
After the homing completed, the position and the position deviation reset, the output signal of terminal
4-64
HOME becomes ON. After the delay time set by P188 has completed, then HOME signal becomes OFF. Then can
carry out the normal command execution again.
immediately.
During homing operation, if SON becomes OFF, or any warning occurs, then the homing operation stops
and the output terminal HOME does not act.
If the servo-on is not for the first time, cannot trigger the homing operation once more.


OFF ON OFF
(D O :H O M E)
P1 8 8

(P1 8 9 =0)

(P1 8 9 =1)

Turn Turn
Pow er supply 4
o ff on
S ervo ready
S erv o O N
(D I:S O N ) OFF ON
H oming execute U nder execution
H oming complete OFF ON OFF

(D O :H O M E )
Normal command execute P1 8 8

p a u se execute
(P1 8 9 =0)

execute
(P1 8 9 =1)
4-65
4 Running
4.9.5 Timing chart of homing for
combination mode
(P179)(P180) 4.9.3
For homing, the reference point mode (P179) and the origin mode (P180) cab be combined and have the
following combinations. The detailed actions of each combined mode refer to 4.9.3 section.
(A) P179=0 2/P180=0 (A) P179=0 or 2/P180=0

Parameter Setting explanation
P179 02 REF()
0 or 2 CCWL()
After starts homing, seek REF(rising edge trigger) or CCWL(falling edge
trigger) in CCW direction with first speed(P183) and take it the reference
point.
P180 0 Z
After found the reference point, seek Z pulse in backward direction with
REF OFF ON OFF

CCWL ON OFF ON
S peed
First speed
P os ition
Second speed
Encoder Z signal
REF OFF ON OFF

or
CCWL ON OFF ON
4-66
(B) P179=1 3/P180=0 (B) P179=1 or 3/P180=0

Parameter Setting Explanation
P179 13 REF()
1 or 3 CWL()
After starts homing, seek REF(rising edge trigger) or CWL(falling edge
trigger) in CW direction with first speed(P183) and take it the reference
point.
P180 0 Z
After found the reference point, seek Z pulse in backward direction with
REF OFF ON OFF

CWL ON OFF ON

S peed
Second speed
4
P os ition
First speed
Encoder Z signal
REF OFF ON OFF

or
CWL ON OFF ON
(C) P179=0/P180=1 (C) P179=0/P180=1

P179 0
REF()

4-67
4 Running

After starts homing, seek REF(rising edge trigger) in CCW direction with
first speed(P183) and take it the reference point.
P180 1 (P184) Z

After found the reference point, seek Z pulse in forward direction with
REF OFF ON OFF
S peed First speed
Second speed
P os ition
Encoder Z signal
REF OFF ON OFF
(D) P179=1/P180=1 (D) P179=1/P180=1

P179 1

REF()

After starts homing, seek REF(rising edge trigger) in CW direction with first
speed(P183) and take it the reference point.
P180 1 (P184) Z

After
Z found the reference point, seek Z pulse in forward direction with
REF OFF ON OFF

4-68
REF OFF ON OFF
S peed
P os ition
Second speed
First speed
Encoder Z signal
REF OFF ON OFF

4
(E) P179=0/P180=2 (E) P179=0/P180=2


P179 0 REF()

Z
After starts homing, seek REF(rising edge trigger) in CCW direction with
Rfirst
E F speed(P183)O Fand
F take it the
O N reference
O F F point.
P180 2
4-69
4 Running
REF OFF ON OFF
S peed First speed
P os ition
Second speed
REF OFF ON OFF
(F) P179=1/P180=2 (F) P179=1/P180=2

P179 1
REF()

After starts homing, seek REF(rising edge trigger) in CW direction with first
speed(P183) and take it the reference point.
P180 2

REF OFF ON OFF

REF OFF ON OFF
4-70
S peed
Second speed
P os ition
First speed
REF OFF ON OFF
REF OFF ON OFF

(G) P179=4/P180=2 (G) P179=4/P180=2

P179 4 Z

After starts homing, seek Z pulse in CCW direction with first speed(P183)

P180 2 4
(H) P179=5/P180=2 (H) P179=5/P180=2
4-71
4 Running
P179 5 Z

After starts homing, seek Z pulse in CW direction with first speed(P183)
P180 2
S peed
Second speed
P os ition
First speed
Encoder Z signal
4.10 set the absolute encoder

Z
This chapter is applicable to the servo drive with absolute encoder, while it
is not valid to the incremental drive and rotating transformer drive.

Servo resoluti Transfinite operation
motor on Multiturn
4-72
data
output
range
17 -32768 +32767=-32768
+32767 -32768=+32767
Absolute When it is higher than the upper limit value of
encoder CCW direction (+32767): multi-turn data=-32768
When it is lower than the upper limit value of CCW
direction(-32768): multi-turn data=+32767
4.10.1 SEN set the
standard connection diagram and SEN signal of absolute encoder

kinds Signal Connector settin meaning
name pin number g
SEN IO/15 OFF
input Optocoupler is in the state of not
IO/1 5 conducting
selectable ON
Optocoupler is in the conducting state

SEN
4
In the servo motor with absolute encoder, the standard connection example among servo units is
as follows:
Besides, it needs to set the SEN signal when it outputs the absolute data from servo unit.
4-73
4 Running
1. the standard connection diagram of absolute encoder

Servo drive encoder
4
+5V
0V 5
1
SD +
2 Enc
SD -
3
E+
6
E-
9
FG
2. SEN set the SEN signal
SEN
The setting method of SEN signal is as follows.
SEN ON SEN 1.3S

Again set the SEN signal as ON. Please do as the following diagram. Only when the
jump-up edge of SEN appears over 1.3S, can it be executed again.
OFF O N H OFF ON
1.3s
15ms
S E N
OFF O N H OFF ON
ON (H Level)
1.3s Over 1.3s
1 5 m s
S E N Over 1 5 m s
N o te
te:: when servo on , do not receive SEN signal
4-74
4.10.2 backups for the multi

multi--turn
information of absolute encoder
P090 1
Absolute encoder defaults to be single-ring value. If the user needs multi-turn position value,
he needs to set the parameter P090 as 1, save it, and restart the drive.

In order to save the multi-turn position data of absolute encoder, battery unit needs to be
installed.

Servo
Drive
S id e 4
e
C a b l
der
Close Cover co
En

Install Battery

Note: do not set battery unit on both sides of servo drive. Please set the battery unit to any
4-75
4 Running
side of servo drive.
3.2VDC4.8VDC
requirement of battery voltage: 3.2VDC4.8VDC
Err48
Err48
0

If the battery voltage is out of range, the servo drive will alarm (Err48) when it powers on. If
so, please replace the battery. In order to solve the display of encoder battery alarm (Err48) after
replacement, please ensure servo drive is not in the enabled state. Connect the servo drive and
control partial power supply, and initialize the absolute encoder. The multi-turn value is zero after
initialization. Make sure the error display has disappeared. Then the servo drive can work well.
4.10.3 the initialization of absolute encoder

In the following situation, the absolute encoder must be initialized.

Err48
Err41
Err49
0
Fn36 3.6.1
The first time to start machine
Alarm for encoder battery (Err48) happens
Alarm for encoder internal fault (Err41) happens
Alarm for motor overheating (Err49) happens
When it needs to set the rotating number of the absolute encoder as zero
Initiate through Fn36. Steps should refer to section 3.6.1.
4.10.4 Receiv ing and sending order of

eceiving
absolute encoder

Next it will explain the sequence from receiving the output of absolute encoder to the absolute
4-76
data sent to the upper position by servo unit.
1 Summary for absolute signal
OA, OB, OZ
As the following picture shows, the serial data of absolute encoder outputted by servo unit and
pulse are outputted from OA, OB, OZ

Servo D rive
SEN
Fractional OA
CN2 Frequency OB
DATA
Encoder Serial D ata C ircuit
Pulse OZ H ost
C onver

Signal conditi Signal contents
name on
OA+
OA- Initial
time Serial data
Initial incremental pulse

Usually incremental pulse 4
time
OB+
OB- initializ Initial incremental pulse
ation

Usually incremental pulse
time
CZ
OZ+
OZ- Usually Origin pulse
time
4-77
4 Running
2 The sending order and contents of absolute data
the sending order of absolute data
1. SEN
1. set the SEN signal to be valid.
2.50ms
2. after 50ms, it enters serial data and sends waiting state.
3.60ms
3. After 60ms, it receives 8 bits serial data.
4. 400ms
4. After 400ms of finishing receiving the last serial data, it enters into the usual incremental
action state.
SEN

A
A A

B*
B B
(6 0 m s
6 0 mstyp
400 m s
50ms 1 6 m s
1-3m s
SEN
4-78
SEN
SEN Signal

Loopy Inform ation Initial Increm ental Increm ental
A U nstable Serial D ata P uls e P uls e
A A Phase A A Phase

Initial Increm ental Increm ental
B* P uls e
U nstable P uls e
B B
(6 0 m s B P h a se B Phase
6 0 m styp
(Above 6 0 m s
6 0 m styp ) 400m s
Maximum
50ms 1 6 m s 400m s
About 1 6 m s
1-3m s
SEN Signal
P173=1B
At inversion mode (P173=1), the output polarity of signal B will take reverse.
multi-turn information serial data:
0
means the position at which the motor axis has rotated several circles from reference position (the
value is zero after encoder initialization)
initial incremental pulse

1250min-117
4
The pulse output by the pulse speed for rotating from the position of motor axis origin to the
current motor axis position by about 1250min-1 (17 bits, the frequency pulse is the factory setting
value)
0
-1 +1 +2 +3 ( )

M
M R
Po
Pe
4-79
4 Running
0 Reference Position 0 Current Position

-1 +1 +2 +3 ( )
C oordinate Number
V a lu e of turns
M
M Value M R
Po
Pe
Pm
The final absolute data Pm comes out from the following equation.
mark meaning
Pe current positional value
M
Multi-rotating rings data (Multi-rotating data)
Po
Initial incremental pulse number
R 1 P027P028
The pulse number when encoder rotates one circle
the detailed specification of signal

The detailed specification of all signals is as below.
OA
OA serial data specification

The rotating quantity when output 5 bits
ASYNC
The data start-stop synchronism
transmission
method
4-80
9600bps
Baud rate
1
Start bit
1
End bit

Odd and even Even check
check
ASCII 7
character code
8
Data form 8 bits. The contents are showing as following picture.
P +- 09 C R
0 0 0 0 0 1 0 1 0
P +- 09 C R 4
0 0 0 0 0 1 0 1 0

End Bit
D a te

Start Bit Odd and even
ch e ck
()(note):
1.P+00000(CR)P-00000(CR)
2.+3276732768 +32767
-32768-32768+32767
4-81
4 Running
1.the range of null circle is one of P+00000(CR) or P-00000(CR)
2.the range of rotating volume is +32767 32768 . If it exceeds
this range, the data +32767 will turn to -32768 and the data of
-32768 will turn to +32767.
4.11 Over-travel protections

The security function of over travel protection is refers that when the movement part of the machinery just
exceed the design safe range of motion, the limit switch acts and forces the servomotor to stop. A schematic
diagram showing the over travel protection as follows:

( ) ( )

CCWL X1
CWL
4-82
R everse W orktable P o sitive
Servomotor Limit switch Limit switch

(normal closed ) (normal closed )
Servo driver
CCWL X1
CWL

(CCWL)(CWL)P097
CCWLCWL
P097

The limit switch suggested using normal closed type. It is close in the safety range and it is open in over
travel range. The limit switch on the right connects to CCW forbid terminal (CCWL) and the limit switch on the
left connects to CW forbid terminal (CWL).

( )
This security function of over travel protection can be set (
for use
) or neglect by setting the parameter P097.

C C Wcase
The limit signal must be connected for the use, or do not need this signal in L X1 of neglect.
The default value of P097 (for CCWL and CWL) is all neglects. Must
C W Lmodify parameter P097 if needs to
use. Under the over travel condition, use the reverse command to withdraw back from the over travel condition.
P097 (CWL) (CCWL)
Motion inhibition in CW Motion inhibition in CCW
direction(CWL) direction(CCWL)
0 Use Use
1 Use Neglect

2 Neglect Use
3() Neglect Neglect 4
3(Default)
4-83
4 Running
4.12 Torque limitations

In order to protect the machinery from over-load can carry on the limit to the output torque.
4.12.1 Parameters for torque limitations

The parameters related to torque limit:

Para Name Range Default Unit
Usage
meter value

P064 02 0 ALL
Torque limit selection
(CCW)
P065 Internal torque limit in CCW 0300 300 % ALL
direction
(CW)
P066 -3000 -300 % ALL
Internal torque limit in CW direction
(CCW)
P067 External torque limit in CCW 0300 100 % ALL
direction
(CW)
P068 External torque limit in CW -3000 -100 % ALL
direction

P069 0300 100 % ALL
Torque limit in trial running
4.12.2 Modes of torque limitation
P064 Explanation (CCW) (CW)

0 DI TCCW DI TCW
4-84
Basic limit TCCW=OFF: P065 TCW=OFF: P066
TCCW=ON : P067 TCW=ON : P068
Determines by TCCW from Determines by TCW from DI
DI inputs inputs
TCCW =OFF: parameterP065 TCW =OFF: parameterP066
TCCW =ON : parameterP067 TCW =ON: parameter P068
1 + (
Basic limit + )
Analog limit Except basic limit, it is also limited by analog torque command.
Limitation does not relate to the rotation direction.
2 + (
Basic limit + ) DI TRQ1TRQ2
Internal torque limit Except basic limit, it is also limited by internal torque command.
Limitation does not relate to the rotation direction. The internal
torque command is determined by TRQ1 and TRQ2 from DI
inputs.
1.
2.P065 P066
3.

Note: 1.The final limitation value will be the smallest value if many limits occur.
2. The limit of the P065 and the P066 is effective all the time.
3. Even if the setting value greater than the permission maximum speed of the system, but the operation

The inner torque commands are:
DI [] DI 4
Signals[Note] Torque command
TRQ2 TRQ1
0 0 1( P145)
Internal torque 1 (parameter P145)
0 1 2( P146) Internal torque
2 (parameter P1456)
1 0 3( P147)
1 1 4( P148)
0 OFF1 ON
4-85
4 Running
4.13 Timing chart of operation
4.13.1 Timing chart when power supply switch on
L1CL2C L1L2L3
(RDY)OFF
1.5 (RDY) ON
SON

The control power supply L1C, L2C turns on before or at the same time when the main power supply L1, L2,
and L3 turn on. If only the control power supply turn on, the servo ready signal (RDY) is OFF.
After the main power supply turn on, at about 1.5 seconds later the servo ready signal is on (RDY), from
now can accept the servo enable signal (SON). The servo driver examines that the SON is effective, and then
the power circuit and the servomotor are active. The servomotor is in running status. If the SON is invalid or
an alarm occurs, power circuit shut down and the servomotor is in free running state.

L1CL2C
<1s

OFF ON
(D O :A L M )
<1.5s
L1L2L3
OFF ON
(D O :R D Y )
>1 0 m s

OFF ON
(D I :S O N )
<1 0 m s
4-86
T urn T urn
Control power supply o ff on
L1CL2C <1s
A la rm OFF ON
(D O :A L M )
Main power su p p ly Turn off <1.5s T urn on

L1L2L3
S ervo ready OFF ON

(D O :R D Y )
>1 0 m s
S erv o O N
OFF ON
(D I:S O N )
<1 0 m s
Servomotor U nexcited E x c ited

s tatus
4.13.2 ONL1CL2C

Alarm timing chart while servo-ON is

<1s

executed (D O :A L M )
OFF ON
<1.5s
L1L2L3

(D O :A L M ) O N ( ) O F F ( )
OFF ON
(D O :R D Y )
>1 0 m s
ON OFF
(DO:RD Y )
OFF ON
(D I :S O N )
<1 0 m s

O N ( ) O F F ( )
(D O :B R K )
4
P1 6 8
P1 6 7
P1 6 7

(r/m i n )
P1 6 8 0r/m i n
4-87
4 Running
A la rm
(D O :A L M ) O N (normal) O F F (a la r m )
Servo ready
(D O :R D Y ) ON OFF
Servomotor U nexcited E x c ited

s tatus
Electromagnetic brake O F F (b ra k e)
O N (re le a se)
(D O :B R K )
depend on the faster
P1 6 7 one comparing
betw een P 167 and
arrival time of P 1 6 8
Motor speed (r/m in )

P1 6 8 0r/m i n
4.13.3 ON/OFF

(D O :A L M) O N ( ) O F F ( )
Action timing chart while servo-ON/OFF are executed during the
ON OFF
servo motor is in
(D O :Rstandstill
D Y)
P165

When the speed of the servomotor
isO lower
N ( than
) parameter (P165), the action-timing
O F F ( ) chart is:
(D O :B R K )
<1 0 m s P1 6 8
P1 6 7
P1 6 7

OFF ON OFF
(D I :S O N )
(r/m i n)
P1 6 8 0r/m i n

P1 6 6
O F F ( ) O N ( ) O F F ( )
4-88
<1 0 m s
S erv o O N
OFF ON OFF
(D I :S O N )
Servomotor
U nexcited E x c ited U nexcited
s tatus
P1 6 6
Electromagnetic
brak e (D O :B R K ) O F F (b ra k e) O N (release) O F F (b ra k e)
4.13.4 ON/OFF
<1 0 m s
Action timing chart while servo-ON/OFF are executed during the servo motor is in motion

O F F
P165 ON OFF
(D I :S O N )
When the speed of the servomotor is higher than parameter (P165), the action-timing chart is:
<1 0 m s

P1 6 6
OFF ON OFF
(DI
:S
O N
)
(D O :B R K ) O F F ( ) O N ( ) O F F ( )
O F F ( ) O N ( ) O F F ( )
(D O :B R K )

P1 6 8
P1 6 7
P1 6 7

4
(r/m i n )
P1 6 8 0r/m i n
4-89
4 Running
<1 0 m s
S erv o O N OFF ON OFF

(D I:S O N )
Servomotor U nexcited E xcited U nexcited

s tatus
Electromagnetic O F F (b ra ke ) O N (release ) O F F ( b ra ke )
brake (D O :B R K )
depend on the faster
P1 6 7 one comparing
betw een P 167 and
arrival tim e of P 1 6 8
M otor speed (r/m in )

P1 6 8 0r/m i n
4.14 Electromagnetic
<1 0 m s holding brake
OFF ON OFF
(D I :S O N )

The electromagnetic
brakeO F (holding
F ( ) brake, lost power brake) is used in locking
O N ( ) O F F ( the
) vertical or the inclined
(D O :B R K )
worktable of machine tool, which connected with the servomotor. When the power supply lost or SON is OFF,
P1 6 8
P1 6must
prevent the worktable from fall and break. Realizes this function, 7 select and purchase
P1 6 7 the servomotor with
use
electromagnetic brake. The brake only can use for holding the worktable and cannot for
decelerating and or
stopping machine
movement.
(r/m i n )
P1 6 8 0r/m i n
4.14.1 Parameters of electromagnetic holding brake

The parameters related to the electromagnetic brake:

Para Name Default
Range Unit Usage
meter value

P165 Speed check point for servomotor is near 01000 5 r/min ALL
standstill
P166 02000 0 ms ALL
4-90
Delay time for electromagnetic brake
when servomotor is in standstill

P167 Waiting time for electromagnetic brake 02000 500 ms ALL
when servomotor is in motion

P168 Action speed for electromagnetic brake 03000 100 r/min ALL
4.14.2 Make use of electromagnetic holding brake
BRK
/
( P165) OFF
( P166 )
( P165) OFF
P167 P168
The chart below is the brake wiring diagram, the brake release signal BRK of the servo driver connect to the
relay coil, the contact of relay connect brake coil and DC supply. The brake power supply has enough capacity
provided by the user. Suggested installs the surge absorber to suppress surge voltage caused by switching off the

relay. The diode also makes the surge absorber, but must pay attention to that the action of the brake has a little

lagging.
4
Under the speed of the servomotor is smaller than parameter P165, if the SON becomes OFF. By now, the
servomotor will continue to excitation for holding the position, after the period set by parameter P166 removes the
excitation from the servomotor.
Under the servomotor is in motion (The speed is bigger than P165) if the SON becomes OFF, by now the
excitation is removed from the servomotor, after delay period of time the brake becomes active. During the delay
time, the servomotor decelerates from the high speed down to the low speed, and then the brake is active to avoid
damaging the brake. The delay time is set by the parameter P167 or is the time that the speed of the servomotor
decelerates to the speed set by parameter P168. The delay time will take the minimum value.
4-91
4 Running

D O x B R K
E P 2
K
x=1,2,3
K

x1
DOx

DO
18
COM
D O x B R K
x=1,2,3
E P 2 VDC

K K 1 2 2 4 V
x1
DOx
DO
18
COM
VDC
1 2 2 4 V
Set DOx
M otor Surge absorber R elay
w ith B R K
E P 2 Servo driver
K
x=1,2,3
K
Brake coil
x1
DOx
DO
COM 18
VDC
Brake power supply 1 2 2 4 V
Remarks
4-92
4-93
5
Chapter 5 Parameters
5.1 Parameter table
PSTMMotion
All*
The usage item in the table indicates the suitable control mode. P stands for the position control; S
stands for the speed control; T stands for the torque control; M stands for Motion mode, All stands for the
position, speed, and torque control. The*indicates default value that may be different.
5.1.1 0 Parameters of section 0

Param Default
eter value
P000 Password 09999 315 ALL
Identity code of servo driver
P001 * * ALL

P002 Identity code of servomotor * * ALL
P003 Software edition * * ALL

P004 Control mode 05 0 ALL
First gain of speed loop 1 5
P005 13000 40 Hz P,S

First integral time constant of speed loop
P006 1.01000.0 20.0 ms P,S
1
First filter time constant of torque 1
P007 0.1050.00 2.50 ms ALL

First gain of position loop 1
P009 11000 40 1/s P

Second gain of speed loop 2
P010 13000 40 Hz P,S

Second integral time constant of speed
P011 1.01000.0 20.0 ms P,S
loop 2
5-1
Second filter time constant of torque
P012 0.1050.00 2.50 ms ALL
2
Second gain of position loop 2
P013 11000 40 1/s P

P017 Inertia ratio of load 0.0200.0 1.0 P,S
Control coefficient PDFF of speed loop
P018 0100 100 % P,S
PDFF
Time constant of filter for speed detection
P019 0.5050.00 2.50 ms P,S

Feed forward gain of position loop
P021 0100 0 % P

Time constant of feed forward filter for
P022 position loop 0.2050.00 1.00 ms P

Sources of speed command
P025 05 0 S

Sources of torque command
P026 02 0 T

1
P027 Encoder pulse factor 1 (Absolute 132767 10000 P
type only)
2
P028 Encoder pulse factor 2 (Absolute 132767 1 P
type only)
First numerator of electronic gear for
P029 command pulse 132767 1 P
1
Denominator of electronic gear for

Second numerator of electronic gear for
2
Third numerator of electronic gear for
3
Fourth numerator of electronic gear for
4
5-4
5.6 DO DO function description in detail
Input mode of command pulse
P035 02 0 P

Input direction of command pulse
P036 01 0 P

Input signal logic of command pulse
P037 03 0 P

input signal filter of command pulse
P038 021 7 P

Input filter mode of command pulse
P039 01 0 P

Time-constant of exponential form filter
P040 for position command 01000 0 ms P

Gain of analog speed command
P046 103000 300 r/min/V S

Zero offset compensation of analog speed
P047 -1500.01500.0 0.0 mv S
command
Direction of analog speed command
P048 01 0 S

Time constant of filter for analog speed
P049 command 0.2050.00 2.00 ms S

Polarity of analog speed command
P050 02 0 S

Dead zone 1 of analog speed command
P051 013000 0 mv S
1
Dead zone 2 of analog speed command
P052 -130000 0 mv S
2 5
Gain of analog torque command
P053 1300 30 %/V T

Zero offset compensation of analog
P054 torque command -1500.01500.0 0.0 mv T

Direction of analog torque command
P055 01 0 T

Time constant of filter for analog torque
P056 command 0.2050.00 2.00 ms T

P057 Polarity of analog torque command 02 0 T
5-5

Acceleration time of speed command
P060 030000 0 ms S

Deceleration time of speed command
P061 030000 0 ms S

P064 Torque limit selection 02 0 ALL
Internal torque limit in CCW direction
P065 0300 300 % ALL
(CCW)
Internal torque limit in CW direction
P066 -3000 -300 % ALL
(CW)
External torque limit in CCW direction
P067 0300 100 % ALL
(CCW)
External torque limit in CW direction
P068 -3000 -100 % ALL
(CW)
P069 0300 100 % ALL

Alarm level of torque overload in CCW
P070 direction (CCW) 0300 300 % ALL

Alarm level of torque overload in CW
P071 direction (CW) -3000 -300 % ALL

Detection time for torque overload alarm
P072 010000 0 10ms ALL

P075 Maximum speed limit 06000 3500 r/min ALL
P076 JOG running speed JOG 05000 100 r/min S
P077 Selection of speed limit 02 0 T
Speed limit in torque control
P078 05000 3000 r/min T

Speed limit error in torque control
P079 15000 100 r/min T

P080 Position deviation limit 0.00327.67 4.00 P
brake resistor
P084 01 0 ALL
option switch

P085 1750 50 ALL
The value of external brake resistor

P086 110000 60 W ALL
The power of external brake resistor
P089 03 0 ALL
5-6
The resolution of rotating
transformer

P090 Absolute positon encoder type (only 01 0 ALL
absolute type.)
P093 fan alarm on 01 1 ALL

P094 The switching temperature point of 25~125 50 ALL
fan
P096 Items of initial display 022 0 ALL
Neglect inhibition of servo driver
P097 03 3 ALL

P098 Forced enable 0~1 0 ALL
5-7

DI1 Function of digital
P100 -3030 1 ALL
input DI1
P101 -3030 2 ALL
input DI2
P102 -3030 3 ALL
input DI3
P103 -3030 4 ALL
input DI4
P104 -3030 20 ALL
input DI5
DI1 Filter of digital
P110 0.1100.0 2.0 ms ALL
input DI1
P111 0.1100.0 2.0 ms ALL
input DI2
P112 0.1100.0 2.0 ms ALL
input DI3
P113 0.1100.0 2.0 ms ALL
input DI4
P114 0.1100.0 2.0 ms ALL
input DI5
DI 1 First group
P120 0000011111 00000 ALL
function of DI digital inputs
DI 2 Second
P121 0000011111 00000 ALL
group function of DI digital inputs
DI 3 third group
P122 0000011111 00000 ALL
DI 4 Fourth
P123 0000011111 00000 ALL
group function of DI digital inputs
DI 5 Fifth group
P124 0000011111 00000 ALL
DO1 Function of
P130 -1414 2 ALL
digital output DO1
DO2 Function of
P131 -1414 3 ALL
digital output DO2
P132 DO3 Function of -1414 8 ALL
5-8

digital output DO3
P137 1 Internal speed 1 -50005000 0 r/min S
P145 1 Internal torque 1 -300300 0 % T
Range for positioning
P150 032767 10 P
completion
Hysteresis for
P151 032767 5 P
positioning completion
Range for approach
P152 032767 500 P
positioning
Hysteresis for
P153 032767 50 P
approach positioning
P154 Arrival speed -50005000 500 r/min ALL
Hysteresis of arrival
P155 05000 30 r/min ALL
speed
Polarity of arrival
P156 01 0 ALL
speed
P157 Arrival torque -300300 100 % ALL 5
Hysteresis of arrival
P158 0300 5 % ALL
torque
Polarity of arrival
P159 01 0 ALL
torque
Range for zero speed
P160 01000 10 r/min ALL
detection
Hysteresis for zero
P161 01000 5 r/min ALL
speed detection
Zero speed clamp
P162 01 0 S
mode
P163 The way of 01 0 P
5-9

position deviation clearing
Speed check
P165 01000 5 r/min ALL
point for servomotor is near standstill

P166 Delay time for electromagnetic brake 02000 0 ms ALL
when servomotor is in standstill

P167 Waiting time for electromagnetic brake 02000 500 ms ALL

P168 Action speed for electromagnetic brake 03000 100 r/min ALL

P170 Encoder putput pulse fractional 131 1 ALL
frequency numerator

P171 Encoder putput pulse fractional 131 1 ALL
frequency denominator

P172 absolute encoder output line 116384 2500 ALL
number
B
P173 01 0 ALL
Encoder output B pulse phase
Z
P174 01 0 ALL
Encoder output Z pulse phase
Z
P175 015 0 ALL
Encoder output Z pulse width
Trigger mode of
P178 03 0 ALL
homing
Reference
P179 05 0 ALL
mode of homing
Origin mode of
P180 02 0 ALL
homing
misalignment top 10000
P181 -3276832767 0 ALL
digit of homing
misalignment
P182 -99999999 0 ALL
bottom digit of homing
P183 First speed of 13000 500 r/min ALL
5-10

homing
Second speed of
P184 13000 50 r/min ALL
homing
Acceleration
P185 030000 0 ms ALL
time of homing
Deceleration
P186 030000 0 ms ALL
time of homing
Positioning time delay
P187 03000 50 ms ALL
of homing
Delay time
P188 13000 100 ms ALL
of complete signal after homing
Command
P189 01 0 ALL
executive mode after homing

1 Frequency of
P200 501500 1500 Hz ALL
first notch filter
1 Quality
P201 1100 7 ALL
factor of first notch filter

1 Depth of first
P202 0100 0 % ALL 5
notch filter
2 Frequency of
P203 501500 1500 Hz ALL
second notch filter
2 Quality
P204 1100 7 ALL
factor of second notch filter
2 Depth of
P205 0100 0 % ALL
second notch filter
Gain switching
P208 05 0 ALL
selection
Level of gain
P209 032767 100 ALL
switching
5-11
Level hysteresis
P210 032767 5 ALL
of gain switching
Delay time of
P211 03000 5 ms ALL
gain switching
Time of gain
P212 03000 5 ms ALL
switching
5-12

Param Name Default
Range Unit Usage
eter value
P300 ID ID number of drive 132 1 ALL
MODBUS
P301 MODBUS communication baud 06 0 ALL
rate
MODBUS
P302 MODBUS communication 05 4 ALL
protocol option
Motion
P305 01 0 ALL
Motion mode enabled
P309
06000 100 rpm M
Default target speed
P310 1 M
-50005000 0 rpm
Target speed 1
P311 2 M
-50005000 0 rpm
Target speed 2
P312 3 M
-50005000 0 rpm
Target speed 3
P313 4 M
-50005000 0 rpm
Target speed 4
P314 5 Target speed 5 -50005000 0 rpm M

6
P330 1 3010000 1000 ms M
Accelerate and decelerate time 1
P331 2 3010000 1000 ms M
P332 3 3010000 1000 ms M
P333 4 3010000 1000 ms M
P334 5 3010000 1000 ms M
6-1
6
P335 6 3010000 1000 ms M
P336 7 3010000 1000 ms M
P337 8 3010000 1000 ms M
P350 1 032767 0 ms M
The delay time 1 after the path
finished
P351 2 032767 0 ms M
finished
P352 3 032767 0 ms M
finished
P353 4 032767 0 ms M
finished
P354 5 032767 0 ms M
finished
P355 6 032767 0 ms M
finished
P356 7 032767 0 ms M
finished
P357 8 032767 0 ms M
finished
6-2
5

Param Name Default
Range Unit Usage
eter value
P400 1 16
-3276832767 0 M
Path 1 control word low 16 bits
P401 1 16 M
-3276832767 0
Path 1 control word high 16 bits
P402 2 16 M
-3276832767 0
P403 2 16 M
-3276832767 0
P404 3 16 M
-3276832767 0
P405 3 16 M
-3276832767 0
P406 4 16 M
-3276832767 0
P407 4 16 M
-3276832767 0
P408 5 16 M
-3276832767 0
P409 5 16 M
-3276832767 0
P410 6 16 M
-3276832767 0
P411 6 16 M
-3276832767 0
P412 7 16 M
-3276832767 0
P413 7 16 -3276832767 0 M
P414 8 16 -3276832767 0 M
P415 8 16 -3276832767 0 M
5-5
6
5.1.6 5

Param Default
eter value
P500 1 16
-3276832767 0 M
P501 1 16 M
-3276832767 0
P502 2 16 M
-3276832767 0
P503 2 16 M
-3276832767 0
Path21 control word high 16 bits
P504 3 16 M
-3276832767 0
P505 3 16 M
-3276832767 0
P506 4 16 M
-3276832767 0
P507 4 16 M
-3276832767 0
P508 5 16 M
-3276832767 0
P509 5 16 M
-3276832767 0
P510 6 16 M
-3276832767 0
P511 6 16 M
-3276832767 0
P512 7 16 M
-3276832767 0
P513 7 16 -3276832767 0 M
P514 8 16 -3276832767 0 M
P515 8 16 -3276832767 0 M
6-2
5
5.2 DI DI function table

DI DI Function DI DI Function
Ordinal Symbol Ordinal Symbol

0 NULL Not have function 16 CMODE
Control mode switching

1 SON Servo enable 17 GAIN
Gain switching
1
2 ARST Clear alarm 18 GEAR1 Electronic gear
switching 1
2

3 CCWL 19 GEAR2 Electronic gear
CCW drive inhibition
switching 2

4 CWL 20 CLR
CW drive inhibition Clear position deviation

5 TCCW 21 INH
CCW torque limitation Pulse input inhibition

6 TCW 22 PC
CW torque limitation Proportional control
ZCLA
7 23 GOH
MP Zero speed clamp Homing triggering

8 CZERO Zero command 24 REF Reference point of
homing

Upper computer
9 CINV 25 SEN
Command reverse requires absolute
position
1
10 SP1 26 MMODE Motion
Internal speed selection 1
2
11 SP2 27 CTRG Motion
3
12 SP3 28 MDATA1 Motion 1
1
13 TRQ1 29 MDATA2 Motion 2
Internal torque selection 1
14 TRQ2 2 30 MDATA3 Motion 3
5-7
6
Internal torque selection 2
15 EMG Emergency stop
5.3 DO DO function table

DO DO
Ordin Ordin
Symbol DO Function Symbol DO Function
al al

0 OFF Always invalid 8 BRK
Electromagnetic brake

1 ON Always valid 9 RUN
Servo is in motion

2 RDY Servo ready 10 NEAR
Near positioning

3 ALM Alarm 11 TRQL
Torque under limitation

4 ZSP Zero speed 12 SPL
Speed under limitation
Positioning
5 COIN 13 HOME
complete Homing complete
Motion
6 ASP Arrival speed 14 MDONE
Motion path complete
7 ATRQ Arrival torque
6-2
5
5.4 Parameter description in detail

Range Default
P000 Password Unit Usage
value
09999 315 ALL

315 012345 315

Classifying parameter management can guarantee the parameters cannot modify by mistake.
Setting this parameter as 315 can examine, modify the parameters of the 0, 1, and 2 sections. For other
setting only can examine, but cannot modify parameters.
Some special operations need to set a suitable password.

Range Default
P001 Unit Usage
Identity code of servo driver value
* * ALL

This is the model of the servo driver in sue now. The manufacturer sets it and the user cannot modify it.

Range Default
P002 Unit Usage
Identity code of servomotor value
* * ALL

8.4
3.7

The model code of the servomotor in use now is set when it is out of factory.
The meaning of this parameter refers to the match table of servomotor in 8.4 chapter.
It is necessary to modify this parameter when different model of servomotor is in usage. The detailed
operation refers to the 3.7 chapter.
This parameter has no meaning for the absolute type.
5-9
6

Range Default
P003 Software version Unit Usage
value
* * ALL

This is the software version number and cannot be modified.

Range Default
P004 Control mode Unit Usage
value
05 0 ALL

0
1
2
3/
4/
5/
The meanings of this parameter are:
0Position control mode
1Speed control mode
2Torque control mode
3Position/speed control mode
4Position/torque control mode
5Speed/torque control mode
345 DI CMODE
When the parameter is 3 , 4 or 5.The concrete control mode depends on the CMODE of DI inputs:
P004 CMODE[]
3 0
1
4 0
1
5 0
1
0 OFF1 ON
6-2
5
P004 CMODE[Note] Control mode
3 0 Position control
1 Speed control
4 0 Position control
1 Torque control
5 0 Speed control
1 Torque control

1 Range Default
P005 Unit Usage
First gain of speed loop value
13000 40 Hz P,S

P017()
This is the proportion gain of the speed regulator. Increases the parameter value, can make the speed
response to speed up. It is easy to cause the vibration and the noise when the value is too large.
If the P017 (load inertia ratio) is a correct value then the parameter value is equal to the speed response bandwidth.

1
Range Default
P006 First integral time constant of speed Unit Usage
value
loop
1.01000.0 20.0 ms P,S

(1000.0) P
This is the integral time constant of the speed regulator. Reduces the parameter value, can reduce the speed
control error, and increase rigidity. It is easy to cause the vibration and the noise when the value is too small.
If using the maximum value (1000.0) indicates the integral function to be canceled. The speed regulator
becomes the P controller.

1 Range Default
P007 Unit Usage
First filter time constant of torque value
0.1050.00 2.50 ms ALL

This is the low pass filter of torque and can suppress the vibration of the machinery.
The bigger the value, the better effect of suppression achieves. The response will slow down. It is easy to
cause oscillation if the value is too large. The smaller the value, the quicker response achieves, but can be
5-11
6
limited by mechanical condition.
When the load inertia is small, can set a small value; the load inertia is big, can set a big value.

1 Range Default
P009 Unit Usage
First gain of position loop value
11000 40 1/s P

This is the proportional gain of the position regulator. Increases the parameter value, can reduce the position
tracking error, and enhance the response. It is easy to cause overshoot or oscillation when the value is too
large.

2 Range Default
P010 Unit Usage
Second gain of speed loop value
13000 40 Hz P,S
P005
Refer to the description of the P005 parameter. It is necessary to set this parameter when begins using the
gain switching function

2
Range Default
P011 Second integral time constant of Unit Usage
value
speed loop
1.01000.0 20.0 ms P,S
P006
gain switching function.

2
Range Default
P012 Second filter time constant of Unit Usage
value
torque
0.1050.00 2.50 ms ALL
P007

2
P013 Range Default
Second gain of position loop Unit Usage
value
6-2
5

2 Range Default
P013 Unit Usage
Second gain of position loop value
11000 40 1/s P
P009

Range Default
P017 Unit Usage
Inertia ratio of load value
0.0200.0 1.0 P,S
()
The load inertia ratio is that the inertia of mechanical load (refers to servomotor shaft) divides by the rotor
inertia of the servomotor.

PDFF
Range Default
P018 Control coefficient PDFF of speed Unit Usage
value
loop
0100 100 % P,S
PDFF 0 IP 100 PI
199 PDFF
()

Using this PDFF coefficient of speed regulator can choose the structure of the speed controller. 0 and
100 are the IP regulator. 1 to 99 is the PDFF regulator.
The smaller value of the parameter can get the higher stiffness (anti-deviation ability) of the system. The
medium value takes account to both frequency response and stiffness.

Range Default
P019 Time constant of filter for speed Unit Usage
value
detection
0.5050.00 2.50 ms P,S

The bigger value of parameter can get the smoother detected speed signal. The smaller value of parameter
can get the quicker responded signal, but it will cause noise if the value is too small. In addition, it will cause
oscillation if the value is too big.
5-13
6

Range Default
P021 Unit Usage
Feed forward gain of position loop value
0100 0 % P
100
0

The feed forward can reduce position-tracking error in the position control mode. Under any frequency
command pulse the position-tracking error always becomes zero if the parameter setting value is 100.
Increasing the parameter value enhance the response of position control. It is easy to cause the system to be
unstable, oscillation if the parameter value is too large.

Range Default
P022 Time constant of feed forward Unit Usage
value
filter for position loop
0.2050.00 1.00 ms P

For filtering the feed forward signal in position loop. This function is to increase the stability of feed forward
control.

Range Default
P025 Unit Usage
Sources of speed command value
05 0 S

0 AS+AS-
1 DI SP1SP2SP3
Set the source of the speed command in speed control mode.
0Analog speed command come from terminal AS and AS- inputs.
1Internal speed command is determined by SP1, SP2, and SP3 from DI inputs.
DI []
DI Signals[note] Speed command
SP3 SP2 SP1
0 0 0 1( P137)
6-2
5
Internal speed1 (parameter P137)
0 0 1 2( P138)
0 1 0 3( P139)
0 1 1 4( P140)
1 0 0 5( P141)
1 0 1 6( P142)
1 1 0 7( P143)
1 1 1 8( P144)
0 OFF1 ON
2+
Analog speed command plus internal speed command:
DI []
DI Signals[note] Speed command
SP3 SP2 SP1
0 0 0
Analog speed command
0 0 1 2( P138)
Internal speed2 (parameter P138)
0 1 0 3( P139)
0 1 1 4( P140)
1 0 0 5( P141)
1 0 1 6( P142)
1 1 0 7( P143)
1 1 1 8( P144)
0 OFF1 ON
5-15
6
3JOG (JOG)
4(Sr)
5
3This is the JOG speed command. It needs to set this parameter when begins using the JOG operation.
4This is the button speed command. It needs to set this parameter when begins using the (Sr) operation.
5 This is the demonstration speed command. It needs to set this parameter when begins using the
demonstration operation. The speed command can change automatically.

Default
P026 Range Unit Usage
Sources of torque command value
02 0 T

0 AS+AS-
1 DI TRQ1TRQ2
Set the source of the torque command in torque control mode.
0Analog torque command come from terminal AS and AS- inputs.
1Internal torque command is determined by TRQ1 and TRQ2 from DI inputs.
DI []
DI Torque command
Signals[note]
TRQ2 TRQ1
0 0 1( P145)
Internal torque 1 (parameterP145)
0 1 2( P146)
1 0 3( P147)
1 1 4( P148)
0 OFF1 ON
2+
2: Analog torque command plus internal torque command:
DI []
DI Torque command
Signal[note]
6-2
5
TRQ2 TRQ1
0 0
0 1 2( P146)
1 0 3( P147)
1 1 4( P148)
0 OFF1 ON

1 Range Default
P027 Unit Usage
Encoder pulse factor 1 value
132767 10000 P
1:1

P027 10000P028 1.
PLUSE= P027P028=100001=10000 1:1
10000
In position control, set the command pulse number needed by the motor rotating for one
circle under the default circumstance (electronic gear ratio is 1:1)
The default value of P027 is 10000, and P028 is 1
PLUSE= P027P028=100001=10000 means that the motor rotating for one circle needs
10000 command pulse when the electronic gear ratio is 1:1
17 217= 131072 P027P028
131072
In this example, original resolution of 17 bits absolute type is 217= 131072. Users should
ensure the result of P027P028 is not more than 131072.

2 Range Default
P028 Unit Usage
Encoder pulse factor 2 value
132767 1 P
2 P027
The using method of encoder pulse factor 2 can refer to the instruction of parameter P027.
1

P029 First numerator of electronic gear Range Default
Unit Usage
for command pulse value
5-17
6

1
Range Default
P029 First numerator of electronic gear Unit Usage
value
for command pulse
132767 1 P

N DI GEAR1GEAR2 M P030

Use the frequency division or multiplication for the input pulse and can conveniently match with each kind
of pulse source, also can achieve the pulse resolution for the user needs.
The electronic gear numerator N of command pulse is determined by GEAR1 and GEAR2 from DI inputs.
The denominator M is set by parameter P030.
DI [] N
DI Signals [note] Numerator of electronic gear for
GEAR2 GEAR1 command pulse N
0 0 1 ( P029)
First numerator (parameter P029)
0 1 2 ( P031)
Second numerator (parameter P031)
1 0 3 ( P032)
Third numerator (parameter P032)
1 1 4 ( P033)
Fourth numerator (parameter P033)
0 OFF1 ON
N/M 1/50<N/M<200
The input pulse command becomes the position command by the N/M factor. The ratio range is:
1/50<N/M<200

Range Default
P030 Denominator of electronic gear for Unit Usage
value
command pulse
132767 1 P
M P029
This is electronic gear denominator M of command pulse. The application method refers to parameter P029.
2

P031 Second numerator of electronic Range Default
Unit Usage
gear for command pulse value
6-2
5

2
Range Default
P031 Second numerator of electronic Unit Usage
value
gear for command pulse
132767 1 P
P029
Refer to the explanation of parameter P029.

3
Range Default
P032 Third numerator of electronic gear Unit Usage
value
for command pulse
132767 1 P
P029

4
Range Default
P033 Fourth numerator of electronic gear Unit Usage
value
for command pulse
132767 1 P
P029

Range Default
P035 Unit Usage
Input mode of command pulse value
02 0 P

0
1/
2
Set the input mode of command pulse. The meanings of this parameter are:
0Pulse + direction
1Positive/Reverse pulse
2Orthogonal pulse
5-19
6
(C C W ) (C W ) P0 3 5
PULS
+
(C C W ) (C W ) P0 3 5 0
SIGN
PULS
+ 0
IGN PULS
/ S
1
PULS SIGN
/
1
SIGN
PULS

2
PULS SIGN

SIGN 2
P036=0P037=0
Command pulse CCW CW P aram eter P 0 3 5

ty p e
P uls e + PULS
D IR 0
SIGN
C C W pulse / PULS
C W pulse 1
SIGN
A phase + PULS
B phase
SIGN 2
Note: The arrow indicates the counting edge when P036=0, P037=0.

The diagram of command pulse inputs
0
1 /
2
P0 3 8
P0 3 7 P0 3 5
PULS CLK

f1

SIGN DIR

P0 3 7
P0 3 9 P0 3 6
6-2
5
0: p u lse +D irection
1: C C W pulse /C W pulse
2: A and B phases
P0 3 8
P0 3 7 P0 3 5
PULS F ilter CLK Input

command
Counting Up/ pulse f1
m ode Down
SIGN DIR counter
F ilter
P0 3 7
P0 3 9 P0 3 6

The parameter needs to preserve firstly and then turn off and on the power supply.
0
1 /
2

P0 3 8 Range Default
P036 P0 3 7 P0 3 5 Unit Usage
Input direction of command pulse value
PULS CLK
01 0 P

f1

0
SIGN DIR

1
The meanings of this parameter P0 3 7
P0 3 9 are: P0 3 6
0Normal direction
1Direction reverse

Range Default
P037 Input signal logic of command Unit Usage
value
pulse
03 0 P
PULS SIGN
Set the phase of the input pulse signals PULS and SIGN for adjusting the counting edge as well as the
counting direction.
P037 PULS SIGN

PULS signal SIGN signal phase
phase
0 In phase In phase
1 Opposite phase In phase
2 In phase Opposite phase
3 Opposite phase Opposite phase

5-21
6

Range Default
P038 Input signal filter of command Unit Usage
value
pulse
021 7 P
PULS SIGN
500kHz(kpps)

Filter the input signal PULS and SIGN numerically. The value is bigger then the filter time-constant is
bigger.
The maximum input pulse frequency is 500 kHz (kpps) when the setting value is seven. If the value is bigger,
the maximum input pulse frequency will reduce correspondingly.
Filter the noise from the input signal to avoid counting mistake. Because if found the running not perfect
caused by the counting pulse, then can suitably increase the parameter value.

Range Default
P039 Input filter mode of command Unit Usage
value
pulse I
01 0 P

0 PULS SIGN
1 PULS SIGN
0Filter the input signal PULS and SIGN numerically.
1Filter the input signal PULS only and not filter the SIGN signal.


Range Default
P040 Time-constant of exponential form Unit Usage
value
filter for position command
01000 0 ms P

0

1.
2. N/M>10

3.
4.
6-2
5
Carries on the smooth filter to the command pulse and has the exponential form acceleration/deceleration.
The filter cannot lose the input pulse, but can delay the command pulse. When the setting value is zero, the
filter does not have any effect.
This filter uses in some cases:
1. The host controller has no acceleration/deceleration function;
2. The electronic gear ratio is quite big (N/M>10);
3. The command frequency is lower;
4. When the servomotor is in motion appears step-by-steps or unstable phenomenon.
Command pulse
frequency
0
tim e
Command
frequency after
filte rin g
0
tim e

Range Default
P046 Unit Usage
Gain of analog speed command value
103000 300 r/min/V S

-10V~10V
This proportional coefficient is that the servomotor actual speed divides by the analog input voltage.
The analog input voltage is in the range from -10V to 10V.
5-23
6
3000
(r/m i n )
1500
-1 0 -5
5 10
(V)
-1 5 0 0
-3 0 0 0
3000
Speed command (r/m in )
1500
-1 0 -5
5 10
Input voltage (V)
-1 5 0 0
-3 0 0 0

Range Default
P047 3000
Zero offset compensation of analog Unit Usage
value
speed command (r/m i n )
-1500.01500.0 0.0 mv S
1500

3.6.2
-1 0 -5
This is the zero-bias compensation for analog speed input.
5 The actual
10 speed command is that the analog
speed input minus this parameter value. (V)
By using the analog zero-bias auto-setting function-1this

5 0 0 parameter is set automatically. Refer to 3.6.2 section.
-3 0 0 0
6-2
5

Curve before
compensation
Speed command
Curve after
compensation
Input voltage
Zero offset compensation

Range Default
P048 Direction of analog speed Unit Usage
value
command
01 0 S

P048 () ()
Positive polarity (positive Negative polarity (negative
voltage) analog input voltage) analog input
0 (CCW) (CW)
CCW speed command CW speed command
1 (CW) (CCW)
CW speed command CCW speed command
5-25
6

Range Default
P049 Time constant of filter for analog Unit Usage
value
speed command
0.2050.00 2.00 ms S

This is the low pass filter of the analog speed input.
The bigger the value, the slower response of the analog speed input will be and it is advantageous in
reducing the high frequency noise jamming; the smaller the value, the quicker speed response will be, but it
increases high frequency noise jamming.

Range Default
P050 Unit Usage
Polarity of analog speed command value
02 0 S

0
1 0
2 0
0Bipolarity.
1Single positive polarity. The input positive polarity is effective, when negative polarity forces the input to
be zero.
2Single negative polarity.The input negative polarity is effective, when positive polarity forces the input to
be zero.
0 0 0
6-2
5
Speed command Speed command Speed command
0 Input voltage 0 Input voltage 0 Input voltage
Bipolarity Single positive polarity Single negative polarity

1
Range Default
P051 Dead zone 1 of analog speed Unit Usage
value
command 0 0 0
013000 0 mv S
2( P052) 1( P051) 0
When the input voltage is located between the second dead band (parameter P052) and the first dead band

to
(Parameter P051) forces the input command be zero.
2
0 1

2
0 1

Speed command
Dead band 2
0
Dead band 1 Input voltage

2
Range Default
P052 Dead zone 2 of analog speed Unit Usage
value
command
-130000 0 mv S
5-27
6
P051

Range Default
P053 Unit Usage
Gain of analog torque command value
1300 30 %/V T
, 1%/V
-10V~10V
This proportional coefficient is that the servomotor actual torque divides by the analog input voltage. The
unit of setting value is 1%/V.
The analog input voltage is in the range from -10V to 10V.
300
(%)
150
-1 0 -5
5 10
(V)
-1 5 0
-3 0 0
300
Torque command(% )
150
-1 0 -5
5 10
Input voltage (V)
-1 5 0
-3 0 0

P054 Zero offset compensation of analog Range Default
Unit Usage
torque command 300 value
(%)
150
6-2
-1 0 -5
5 10
5

Range Default
P054 Zero offset compensation of analog Unit Usage
value
torque command
-1500.01500.0 0.0 mv T

3.6.2
This is the zero-bias compensation for analog torque input. The actual torque command is that the analog
torque input minus this parameter value.
By using the analog zero-bias auto-setting function this parameter is set automatically. Refer to 3.6.2 section.

Curve before
compensation
Torque command
Curve after
compensation
Input voltage
Zero offset compensation

Range Default
P055 Direction of analog torque Unit Usage
value
command
01
0 T

P055 () ()
(positive
Positive polarity Negative polarity (negative
voltage) analog input voltage) analog input
5-29
6
0 (CCW) (CW)
CCW torque command CW torque command
1 (CW) (CCW)
CW torque command CCW torque command

Range Default
P056 Time constant of filter for analog Unit Usage
value
torque command
0.2050.00 2.00 ms T

This is the low pass filter of the analog torque input.
The bigger the value, the slower response of the analog speed input will be and it is advantageous in
reducing the high frequency noise jamming; the smaller the value, the quicker speed response will be, but it
increases high frequency noise jamming.

Range Default
P057 Unit Usage
Polarity of analog torque command value
02 0 T

0
1 0
2 0
The meanings of this parameter:
0Bipolarity.
1Single positive polarity. The input positive polarity is effective, when negative polarity forces the input to
be zero.
2Single negative polarity.The input negative polarity is effective, when positive polarity forces the input to
be zero.
0 0 0
6-2

Torque command Torque command Torque command
0 Input voltage 0 Input voltage 0 Input voltage
B ipolarity Single positive polarity Single negative polarity

Range Default
P060 Acceleration time of speed Unit Usage
value
command
030000 0 ms S

0
Set the acceleration time for the servomotor from the zero speed up to rated speed.
If the command speed is lower than the rated speed, the rise time also correspondingly reduces.
Only uses in the speed control mode. It is invalid in position control mode.
If the servo driver constitutes the position control with host controller, this parameter should be set zero,
otherwise affects the position control performance.
P0 6 0 P0 6 1
5-31
6
R ated speed
Speed
c om m and
Actual Actual
acceleration deceleration
tim e tim e
P0 6 0 P0 6 1

of speed
Range Default
P061 Deceleration time Unit Usage
value
command
030000 0 ms S

0
P0 6 0 from the rated speed P0
Set the deceleration time for the servomotor 6 1 to zero speed.
down
If the command speed is lower than the rated speed, the fall time also correspondingly reduces.
Only uses in the speed control mode. It is invalid in position control mode.
If the servo driver constitutes the position control with host controller, this parameter should be set zero,
otherwise affects the position control performance.

Range Default
P064 Unit Usage
Torque limit selection value
02 0 ALL

Set torque limitation mode:
P064 (CCW) (CW)

Explanation
0 DI TCCW DI TCW
Basic limit TCCW=OFF: P065 TCW=OFF: P066
TCCW=ON : P067 TCW=ON : P068
Determines by TCCW from Determines by TCW from DI
DI inputs inputs
TCCW =OFF: parameterP065 TCW =OFF: parameterP066
TCCW =ON : parameterP067 TCW =ON : parameter P068
1 + (
Basic limit + Analog limit )
6-2
5
Except basic limit, it is also limited by analog torque
command. Limitation does not relate to the rotation direction.
2 + (
Basic limit + Internal torque ) DI TRQ1TRQ2
limit
Except basic limit, it is also limited by internal torque
command. Limitation does not relate to the rotation direction.
The internal torque command is determined by TRQ1 and
TRQ2 from DI inputs.
1.
2.P065 P066
3.
Note: 1. If many limits occur, the final limitation value will be the smallest value.
2. The limits of P065 and P066 are effective all the time.
3. Even if the setting value greater than the permission maximum torque of the system, but the operation

(CCW)
Range Default
P065 Internal torque limit in CCW Unit Usage
value
direction
0300 300 % ALL
CCW

Set the internal torque limitation value in CCW direction of servomotor.
This limit is effective all the time.
If the value surpasses the biggest overload capacity of the servo driver, then the actual limits will be equal to
the biggest overload capacity.

(CW)
Range Default
P066 Internal torque limit in CW Unit Usage
value
direction
-3000 -300 % ALL
CW

Set the internal torque limitation value in CW direction of servomotor.
This limit is effective all the time.
If the value surpasses the biggest overload capacity of the servo driver, then the actual limits will be equal to
5-33
6
the biggest overload capacity.

(CCW)
Range Default
P067 External torque limit in CCW Unit Usage
value
direction
0300 100 % ALL
CCW
DI TCCW()ON

Set the external torque limitation value in CCW direction of servomotor.
This limit is effective if the TCCW (torque limit in CCW direction) is on by DI input.
When limit is effective, the actual torque limitation will take the minimum value from the biggest overload
capacity of the servo driver, the internal CCW torque limitation and the external CCW torque limitation.

(CW)
Range Default
P068 External torque limit in CW Unit Usage
value
direction
-3000 -100 % ALL
CW
DI TCW()ON

Set the external torque limitation value in CW direction of servomotor.
This limit is effective if the TCW (torque limit in CW direction) is on by DI input.
When limit is effective, the actual torque limitation will take the minimum value from the biggest overload
capacity of the servo driver, the internal CCW torque limitation and the external CCW torque limitation.

Range
P069 Unit Usage
0300 100 % ALL
( JOG )

Set the torque limitation value for trial running mode (the speed JOG movement, the button speed
adjustment, the demonstration mode).
The torque limitation is not related to the rotation direction. It is valid in both directions.
The internal and the external torque limitation are still effective.

(CCW)
Range Default
P070 Alarm level of torque overload in Unit Usage
value
CCW direction
0300 300 % ALL
6-2
5
(CCW)
P070 P072 Err29

Set the overload value of torque in (CCW) direction. This value indicates the percentage of rated torque.
When the torque of the servomotor surpasses P070 and the duration is bigger than P072, then the servo
driver alarms, and the servomotor stops. The number of the alarm is Err29.

(CW)
Range Default
P071 Alarm level of torque overload in Unit Usage
value
CW direction
-3000 -300 % ALL
(CW)
P071 P072 Err29

Set the overload value of torque in (CW) direction. This value indicates the percentage of rated torque.
When the torque of the servomotor surpasses P070 and the duration is bigger than P072, then the servo
driver alarms, and the servomotor stops. The number of the alarm is Err29.

Range Default
P072 Detection time for torque overload Unit Usage
value
alarm
010000 0 10ms ALL
P070 P071
0
Refer to the explanation of parameter P070 and P071.
The torque overload can be shielded if the setting value is zero.

Range Default
P075 Unit Usage
Maximum speed limit value
06000 3500 r/min ALL

Set the permission highest speed of servomotor.
The limit is effective in both CCW and CW direction.
If the setting value surpasses the system permission the maximum speed, the actual speed also can limit in
the maximum speed.
5-35
6

JOG Range Default
P076 Unit Usage
JOG running speed value
05000 100 r/min S
JOG
Set the running speed for JOG operation.

Range Default
P077 Unit Usage
Selection of speed limit value
02 0 T

Set the speed limitation mode for torque control. The speed limitation is effective in both CCW and CW
direction.
0 P078
Basic limit Limited by parameter P078
1 +
Basic limit +Analog limit Except basic limit, it is also limited by analog speed
command
2 +
Basic limit + DI SP1SP2SP3
Internal speed limit DI
Except basic limit, it is also limited by internal speed
command. The internal speed command is determined
by SP1, SP2, and SP3 from DI inputs.
1.

Note: 1.If many limits occur, the final limitation value will be the smallest value. If the setting value surpasses
the system permission the maximum speed, the actual speed also can limit in the maximum speed.

Range Default
P078 Unit Usage
Speed limit in torque control value
05000 3000 r/min T

The servomotor running speed limits in this parameter for torque control mode.
Under light loading can prevent the servomotor from over speed.
6-2
5
When appears over speed, turns on speed negative feedback to reduce the actual torque, but the actual speed
can be higher than the limit value slightly.

Range Default
P079 Unit Usage
Speed limit error in torque control value
15000 100 r/min T

This parameter can govern the quantity of speed negative feedback if the over speed appears.
The smaller the value, the bigger negative feedback and the smaller over speed achieve; the limiting curve is
steeper, but may cause shake if the value is too small.

Range Default
P080 Unit Usage
Position deviation limit value
0.00327.67 4.00 P

(Err 4)
2500
10000 4.00 40000
Set the position deviation range for alarm when the deviation exceeds this parameter.
Under position control mode, when the counting value of position deviation counter exceeds the pulses
corresponding to this parameter value, the servo driver gives the position deviation alarm (Err 4).
The unit is one circle. Multiplying the resolution of encoder with the value of this parameter can obtain the
total pulse number. For example, the encoder has 2500 lines and the resolution of encoder is 10000. If the
parameter value is 4.00, then corresponds to 40000 pulses.

Range Default
P084 Unit Usage
The option switch of brake resistor value
01 0 ALL
0
0: adopting internal brake resistor.
1
1: adopting external brake resistor.

Range Default
P085 Unit Usage
The value of external brake resistor value
1750 50 ALL
5-37
6

Set this parameter according to the value of actual external brake resistor.
P084=0
This parameter is out of valid when internal brake resistor (P084=0) is adopted.

Range Default
P086 The power of external brake Unit Usage
value
resistor
110000 60 W ALL

Set this parameter according to the power of actual external brake resistor
P084=0
This parameter is out of valid when internal brake resistor (P084=0) is adopted.

Range Default
P089 The resolution of rotating Unit Usage
value
transformer
03 0 ALL
0 16
1 14
2 12
3 10
0: set the encoder resolution to 16 bits

Range Default
P090 Absolute position encoder type Unit Usage
value
(absolute type only)
01 0 ALL
0
1
0: single-ring absolute encoder
1: multi-turn absolute encoder
0
The encoder can not reserve multi-turn information, when encoder has no external battery.
Please set this parameter as 0.
6-2
5

Range Default
P093 Unit Usage
Fan alarm on value
01 1 ALL
0
1
0: Shield the fan fault alarm (except for special reasons, shield it is not suggested.)
1: allowing fan fault alarm

Range Default
P094 turn on the fan and start the Unit Usage
value
temperature point
25125 50 ALL

When the module temperature is higher than this temperature, drive cooling fan begins to
work.
When the module temperature is lower than this temperature, drive cooling fan stops
working.

Range Default
P096 Unit Usage
Items of initial display value
022 0 ALL

Set the display status on the front panel after turn on the power supply. The meanings of this parameter are:
P096 Display item P096 Display item

Speed of Analog voltage of speed
0 12
servomotor command
Original Analog voltage of torque
1 13
Position command command
2 Position command 14 DI Digital input DI
Position of DO Digital output DO
3 15
servomotor
4 Position deviation 16 Signals of encoder
5 Torque 17 Absolute position in one turn
5-39
6
6 Peak torque 18 Accumulative load ratio
7 Current 19 Brake ratio
8 Peak current 20 Control mode
Frequency of Number of alarm
9 21
input pulse
10 Speed command 22 Reserved
11 Torque command

Range Default
P097 Unit Usage
Neglect inhibition of servo driver value
03 3 ALL
DI (CCWL)(CWL)
ON OFF

The prohibited positive travel (CCWL) and the prohibited reverse travel (CWL) from DI inputs are used for
the limit traveling protection. Use normal closed switch as protecting switch. If the input from DI is ON,
then the servomotor can move to this direction, or is OFF, cannot move to this direction. If does not use the
limit traveling protection, can neglect it by modifying this parameter and does not need the CCWL and CWL
wiring.
The default value neglects the prohibition, if use this function, please modify this value first.

P097 (CWL) (CCWL)
Motion inhibition in Motion inhibition in
CW direction(CWL) CCW direction(CCWL)
0 Use Use
1 Use Neglect
2 Neglect Use
3 Neglect Neglect
ON OFF

Use: When input signal is ON, the servomotor can move to this direction; When OFF the servomotor cannot
move to this direction.
Neglect: The servomotor can move to this direction, and the prohibition signal does not have the function,
therefore can disconnect this signal.
6-2
5

Range Default
P098 Forced enable Unit Usage
value
0~1 0 ALL

0 DI SON
1
0The enable signal SON comes from inputs by DI;
1The enable signal comes from internal software.

DI1 Range Default
P100 Unit Usage
Function of digital input DI1 value
-3030 1 ALL
DI1 5.5
ON OFF
The function plan of digital input DI1: the absolute value of the parameter expresses functions; the
symbolic expresses the logic. Refer to the 5.5 sections for the functions.
The symbolic expresses the input logic. Positive number expresses positive logic and the negative number
express the negative logic. ON is effective, OFF is invalid:
DI DI
Parameter DI input signal DI Result
Turn off OFF
Positive Turn on ON
number
Turn off ON
Negative Turn on OFF
number
P100 P101
1(SON ), DI1DI2 ON SON
P100P104 OFF()
P120P124 ON()
If set the same function for many input channel, the function results in logical 'or' relations. For example
P100 and P101 are set by 1 (the SON function), then DI1 and/or DI2 is ON, the SON is effective.
The input function which is not selected by parameter P100~P104, namely the undefined function, results in
5-41
6
OFF (invalid).But has the exceptional case, the parameter P120~P124 can set to force input function ON
(effectively), no matter this function has planned or not.

DI2 Range Default
P101 Unit Usage
-3030 2 ALL
DI2 P100
The function plan of digital input DI2. Refer to the explanation of parameter P100.

DI3 Range Default
P102 Unit Usage
-3030 3 ALL
DI3 P100

DI4 Range Default
P103 Unit Usage
-3030 4 ALL
DI4 P100

DI5 Range Default
P104 Unit Usage
-3030 20 ALL
DI5 P100

DI1 Range Default
P110 Unit Usage
Filter of digital input DI1 value
0.1100.0 2.0 ms ALL
DI1

This is the time-constant of DI1 input digital filter.
The smaller the value, the quicker signal responses; the bigger the value, the slower signal responses, but
6-2
5
filtering ability of noise is stronger.

DI2 Range Default
P111 Unit Usage
0.1100.0 2.0 ms ALL
DI2 P110
This is the time-constant of DI2 input digital filter. Refer to the explanation of parameter P110.

DI3 Filter of digital Range Default
P112 Unit Usage
input DI3 value
0.1100.0 2.0 ms ALL
DI3 P110

DI4 Range Default
P113 Unit Usage
0.1100.0 2.0 ms ALL
DI4 P110

DI5 Range Default
P114 Unit Usage
0.1100.0 2.0 ms ALL
DI5 P110

DI 1
Range Default
P120 Forced effect in DI digital inputs Unit Usage
value
(group 1)
0000011111 00000 ALL
5
The function corresponding to 5 binary bit is as following:
bit4 Bit3 Bit2 Bit1 bit0
5-43
6
Bit number
CWL CCWL ARST SON NULL
Function
DI 1 ON()
DI 5.5

Use in forcing the DI input function to be effective. If the corresponding bit of function is set, then this
function forces ON (effectively).
The meaning of DI symbol string refers to 5.5 sections.
[]
Certain bit of this Function[note] Function result
parameter
0 OFF
Not yet planned

Has planned Determine by input signal
1 ON
Not yet planned or
has planned
P100P104
P100P104
Note: 'Has planned' indicates the function which is selected by parameter P100~P104.
'Not yet planned' indicates the function which is not selected by parameter P100~P104.

DI 2
Range Default
value
(group 2)
0000011111 00000 ALL
5
bit4 bit3 bit2 bit1 bit0
Bit number
CINV CZERO ZCLAMP TCW TCCW
Function
P120
Refer to the explanation of parameter P120 for others.
6-2
5

DI 3
Range Default
value
(group 3)
0000011111 00000 ALL
5
Bit number
TRQ2 TRQ1 SP3 SP2 SP1
Function
P120

DI 4
Range Default
value
(group 4)
0000011111 00000 ALL
5
Bit number
GEAR2 GEAR1 GAIN CMODE EMG
Function
P120

DI 5
Range Default
value
(group 5)
0000011111 00000 ALL
5
Bit number
REF GOH PC INH CLR
Function
P120

DO1
P130 Range Default
Function of digital output DO1 Unit Usage
value
5-45
6

DO1 Range Default
P130 Unit Usage
Function of digital output DO1 value
-1414 2 ALL
DO1 5.6
0 OFF1 ON

The function plan of digital output DO1: The absolute value of the parameter expresses functions; the
symbol expresses the logic, Refer to the 5.6 sections for the functions.
'0' is forcing OFF, '1' is forcing ON.
The symbol indicates the output logic; the positive number expresses the positive logic and the negative
number expresses the negative logic:
DO
Parameter Function DO output
value signal
ON Turn on
Positive OFF Turn off
number
ON Turn off
Negative OFF Turn on
number

DO2 Range Default
P131 Unit Usage
-1414 3 ALL
DO2 P130
This is the function plan of digital output DO2. Refer to the explanation of parameter P130.

DO3 Range Default
P132 Unit Usage
-1414 8 ALL
DO3 P130
This is the function plan of digital output DO3. Refer to the explanation of parameter P130.
6-2
5

Range Default
P137 1 Internal speed 1 Unit Usage
value
-50005000 0 r/min S
1 P025
This is the internal speed 1. Refer to the explanation of parameter P025.

Range Default
value
-50005000 0 r/min S
2 P025

Range Default
value
-50005000 0 r/min S
3 P025

Range Default
value
-50005000 0 r/min S
4 P025

Range Default
value
-50005000 0 r/min S
5 P025

Range Default
value
-50005000 0 r/min S
5-47
6
6 P025

Range Default
value
-50005000 0 r/min S
7 P025

Range Default
value
-50005000 0 r/min S
8 P025

Range Default
P145 1 Internal torque 1 Unit Usage
value
-300300 0 % T
1 P026
This is the internal torque 1. Refer to the explanation of parameter P026.

Range Default
value
-300300 0 % T
2 P026

Range Default
value
-300300 0 % T
3 P026
6-2
5

Range Default
value
-300300 0 % T
4 P026

Range Default
P150 Unit Usage
Range for positioning completion value
032767 10 P

DO COIN
ON OFF
P151
Set the pulse range for positioning completion under the position control mode.
When the pulse number in the position deviation counter is smaller than or equal to this setting value, the
digital output DO COIN is ON (positioning completion), otherwise is OFF.
The comparator has hysteretic function set by parameter P151.

Range Default
P151 Hysteresis for positioning Unit Usage
value
completion
032767 5 P
P150

Range Default
P152 Unit Usage
Range for approach positioning value
032767 500 P

DO NEAR
ON OFF
P153
NEAR
P150
Set the pulse range for approach positioning under the position control mode.
5-49
6
When the pulse number in the position deviation counter is smaller than or equal to this setting value, the
digital output DO NEAR is ON (near position), otherwise is OFF.
Use this function in case that in near positioning, the host controller is accepting the NEAR signal to carry
on the preparation to the next step. In general, the parameter value must be bigger than P150.

Range Default
P153 Unit Usage
Hysteresis for approach positioning value
032767 50 P
P152

Range Default
P154 Arrival speed Unit Usage
value
-50005000 500 r/min ALL
DO ASPON OFF
P155

When the servomotor speed surpasses this parameter, the digital output DO ASP (speed arrives) is ON,
otherwise is OFF.
Has the polarity setting function:
P156 P154 Comparator
0 >0
detect CCW or CW speed
1 >0 Only detect CCW speed
<0 Only detect CW
speed

Range Default
P 155 Unit Usage
Hysteresis of arrival speed value
05000 30 r/min ALL
P154
6-2
5

Range Default
P156 Unit Usage
Polarity of arrival speed value
01 0 ALL
P154

Range Default
P157 Arrival torque Unit Usage
value
-300300 100 % ALL
DO ATRQON OFF
P158

When the servomotor torque surpasses this parameter, the digital output DO ATRQ (torque arrives) is ON,
otherwise is OFF.
Has the polarity setting function:
P159 P157 Comparator

0 >0
detect CCW or CW torque
1 >0
Only detect CCW torque
<0
Only detect CW torque

Range Default
P158 Unit Usage
Hysteresis of arrival torque value
0300 5 % ALL
P157

Range Default
P159 Unit Usage
Polarity of arrival torque value
01 0 ALL
P157
5-51
6

Range Default
P160 Unit Usage
Range for zero speed detection value
01000 10 r/min ALL
DO ZSPON OFF
P161
When the speed of the servomotor is lower than this parameter, digital output DO ZSP (zero speed) is ON,
otherwise is OFF.

Range Default
P161 Unit Usage
Hysteresis for zero speed detection value
01000 5 r/min ALL
P160

Range Default
P162 Unit Usage
Zero speed clamp mode value
01 0 S

1
2DI ZCLAMP()ON
3 P160

0

1
When the following conditions satisfies, the zero speed clamp function will start:
Condition 1: In the speed control mode;
Condition 2: The ZCLAMP (zero speed clamp) is ON from DI input;
Condition 3: The speed command is lower than parameter P160.
When any condition mentioned above does not satisfy, carries out the normal speed control.
6-2
5
When zero speed clamp function started, the meanings of this parameter are:
0 The position of the servomotor is fixed just when the clamp function starts. This time the servo driver
itself changes to the position control mode, and keeps the fixed point even if an external force causes a
displacement.
1The speed command is forced to zero when the clamp function starts. The servo driver is still in the speed
control mode, but an external force can cause revolving.

P1 6 0

ZCLAMP
OFF ON

P1 6 0

Speed
com m and
Zero speed
detecting point
P1 6 0
T im e
Z C LAM P
Input signal OFF ON
T im e
Servomotor
sp e e d
Zero speed
detecting point
P1 6 0
T im e

Range Default
P163 The way of position deviation Unit Usage
value
clearing
P1 6 0 01 0 P

DI CLR()
ZCLAMP

OFF ON
0:CLR ON

5-53

P1 6 0
6
1:CLR (OFF ON )
In the position control mode, use the CLR input signal (clear position deviation) from DI to clear the
position deviation counter.
The meaning of this parameter are:( at the time when the position deviation elimination occurs)
0: The high level of CLR ON.
1: The rising edge of CLR ON (the moment from OFF to ON).

Range Default
P165 Range for static check of the Unit Usage
value
servomotor.
01000 5 r/min ALL

Use this parameter to check the servomotor to be static. If the speed of the servomotor is lower than the
parameter value and will consider the servomotor static.
Only uses in the timing chart judgment of the electromagnetic brake.

Delay time for electromagnetic Range Default
P166 Unit Usage
brake when servomotor is in value
standstill 02000 0 ms ALL

(DO BRK OFF)

4.13.3
Use the electromagnetic brake when the SON is from ON go to OFF or alarm occurs in the servo driver.
This parameter defines the delay time from the action (the BRK is OFF from DO terminals) of the
electromagnetic brake until excitation removal of the servomotor during the servomotor to be in static.
The parameter should not be smaller than the delay time in which the machinery applies the brake. This
parameter will make the brake reliable and then turns off the servomotor excitation to guarantee against the
small displacement of the servomotor or depreciation of the work piece.
The timing chart refers to 4.13.3 section.

Waiting time for electromagnetic Range Default
P167 Unit Usage
motion 02000 500 ms ALL

6-2
5
(DO BRK OFF)

P167 P168
4.13.4
Use the electromagnetic brake when the SON is from ON go to OFF or alarm occurs in the servo driver.
This parameter defines the delay time from excitation removal of the servomotor until the action (the BRK is
OFF from DO terminals) of the electromagnetic brake during the servomotor to be in motion.
This parameter will make the servomotor deceleration from high speed down to low speed and then applies
the brake to avoid damaging the brake.
The actual action time will take the minimum value in both the parameter P167 and the time in which the
servomotor decelerates to the P168 value.
The timing chart refers to 4.13.4 section.

Action speed for electromagnetic Range Default
P168 Unit Usage
motion 03000 100 r/min ALL
P167

Range Default
P170 Encoder output pulse fraction Unit Usage
value
frequency numerator
131 1 ALL

Encoder output electronic gear, which is used for fraction frequency of encoder pulse and
changing the pulse resolution sent to upper computer.
P170P171
Can only do fraction frequency, but not double frequency. And P170P171 must be set.
P170=1 P171=1AB
If P170=1 or P171=1 is set, the fraction frequency electronic gear will be canceled, and AB
signal will connect directly.

It is often used to reduce the pulse frequency and resolution after setting when it is limited
that the max frequency of receiving pulse by upper computer.
C
If motor encoder adopts C line encoder, the output encoder number is
P170
C
P171
5-55
6
2500
If 2500 line incremental encoder is used, the output encoder number is
P170
2500
P171

If absolute encoder is used, the output encoder number is
P170
P172
P171

If rotating transformer is used, the output encoder number is
P170
( P 089 resolution chosen by P089)
P171 4

Take the incremental encoder for example
P170 P171
Output encoder
line number
1 1 2500
1 2 1250
3 25 300
2 3 2
1666
3

Equivalent encoder line number can be fraction.

X1 X2
A A
P1 7 0
B
B P1 7 1

P1 7 3
Z
Z
P1 7 4
P1 7 5
6-2
5
Servo Drive
X1 X2
A
A F eedback A
P1 7 0
B
B P1 7 1 F eedback B

H ost
D e vice P1 7 3
Servo Motor Encoder
Z
Z Pulse
w id e n F eedback Z
P1 7 4
P1 7 5

Range Default
P171 Encoder outputs pulse fraction Unit Usage
value
frequency denominator
131 1 ALL
P170
Refer to P170

Range Default
P172 Unit Usage
Absolute encoder output lines value
116384 2500 ALL
The meaning of this parameter are

Set parameter to confirm the output pulse lines from drive when absolute encoder is chose.
2500 2500410000
The default value is 2500, which means motor outputs 2500410000 pulses when motor
axis rotates one circle.

B Range Default
P173 Unit Usage
encoder outputs B pulse phase value
01 0 ALL
0
5-57
6
1
0: in-phase
1: anti-phase
B A (CCW)A B
90 (P173=0) A B 90 (P173=1)(CW)A B 90
(P173=0) A B 90 (P173=1)
This parameter can adjust the phase relation between B phase signal and A phase signal. That
is, when motor CCW, A phase lags B phase 90 degree (P173=0) or A phase advances B phase
90 degree (P173=1); when motor CW, A phase advances B phase 90 degree (P173=0) or A
phase lags B phase 90 degree (P173=1).
90 90
A A
B B
(P1 7 3 =0) (P1 7 3 =0)
B B
(P1 7 3 =1) (P1 7 3 =1)
(C C W ) (C W )
90 90
A A
A Ph a se A Ph a se
B(P1 7 3 =0) B(P1 7 3 =0)

B Phase B Phase
(P1 7 3 =0) (P1 7 3 =0)
B(P1 7 3 =1) B(P1 7 3 =1)
B Ph a se B Ph a se
(P1 7 3 =1) (P1 7 3 =1)
(C C W ) (C W )

Z Range Default
P174 Unit Usage
Encoder outputs Z pulse phase value
01 0 ALL
0
1
0: in-phase
1: anti-phase
6-2
5

Z Range Default
P175 Unit Usage
Encoder outputs Z pulse width value
015 0 ALL
0 Z
0: Pass-through, which is the original width of encoder Z signal.
1~15 A( B)
1~15: the width is double width of parameter value multiplying output signal A (or B)
Z Z
Z
Broaden Z pulse. When the upper device can not catch narrow Z pulse, it can be widened.
But you had better use Z pulse front edge.

Range Default
P178 Unit Usage
Trigger mode of homing value
03 0 ALL
:
0
1 DI GOH
2 DI GOH
3
4.9
0The homing function is closed.
1Level triggering by the input GOH of DI
2Rising edge triggering by the input GOH of DI
3Automatic execution after turn on the power supply
Refer to 4.9 sections for detailed explanation.
5-59
6

Range Default Usag
P179 Unit
Reference mode of homing value e
05 0 ALL
(P183)

0: REF()
1 REF()
2 CCWL()
3 CWL()
4 Z
5 Z
CCWL CWL

4.9
After starting the homing, seek the reference point according to the first speed (P183) of homing.
0Looks for REF (rising edge triggering) to make the reference point in CCW direction
1Looks for REF (rising edge triggering) to make the reference point in CW direction
2Looks for CCWL (falling edge triggering) to make the reference point in CCW direction
3Looks for CWL (falling edge triggering) to make the reference point in CW direction
4Looks for the Z pulse to make reference point in CCW direction
5Looks for the Z pulse to make reference point in CW direction
If set the CCWL or the CWL as the reference point, neglect the prohibition function when homing execution,
but resume the prohibition function after the homing finished.

Range Default
P180 Unit Usage
Origin mode of homing value
02 0 ALL
(P184)

0 Z
1 Z
2

4.9
6-2
5
After arrives the reference point, and then seeks the origin according to the second speed (P184) of homing.
0Looks backward for the Z pulse to be the origin
1Looks forward for the Z pulse to be the origin
2The rising edge of the reference point takes for the origin directly
'Forward' is that the second speed direction is the same with the first speed direction, 'backward' is that the
second speed direction reverse with the first speed direction.

Range Default
Unit Usage
P181 value
misalignment top digit of homing
10000
-3276832767 0 ALL

P18110000+P182
The actual origin is equal to that the found origin adds the displacement quantity. The displacement quantity
is P18110000+ P182.

Range Default
P182 misalignment bottom digit of Unit Usage
value
homing
-99999999 0 ALL
P181

Range Default
P183 Unit Usage
First speed of homing value
13000 500 r/min ALL

This is the speed for seeking the reference point in homing.

Range Default
P184 Unit Usage
Second speed of homing value
13000 50 r/min ALL
(P183)
This is the speed for seeking the origin in homing after the reference point arrived. This speed should be
smaller than the first speed (P183).
5-61
6

Range Default
P185 Unit Usage
Acceleration time of homing value
030000 0 ms ALL

This is the acceleration time from zero to rated speed of the servomotor in homing execution.
If the command speed is lower than the rated speed, then the desired rising time also correspondingly
reduces.
Use only in the homing execution.

Range Default
P186 Unit Usage
Deceleration time of homing value
030000 0 ms ALL

This is the deceleration time from rated speed to zero speed of the servomotor in homing execution.
If the initial command speed is lower than the rated speed, then the desired falling time also correspondingly
reduces.
Use only in the homing execution.

Range Default
P187 Unit Usage
Positioning time delay of homing value
03000 50 ms ALL
DO HOME ON
This is the delay time after arrival at the origin. During the time of delay lets the servomotor to stop
completely. After the time delay completes, the output HOME from DO becomes ON.

Range Default
P188 Delay time of complete signal after Unit Usage
value
homing
13000 100 ms ALL
P178=2 3 HOME
This is the effective time for HOME signal after the homing completes. Use in the situation of P178=2 or 3
6-2
5

Range Default
P189 Command executive mode after Unit Usage
value
homing
01 0 ALL
:
0 HOME OFF
1
0 After the homing completed, waiting for the HOME signal becomes OFF and then carries out the
command again.
1After the homing completed carries out the command immediately.

1 Range Default
P200 Unit Usage
Frequency of first notch filter value
501500 1500 Hz ALL

P202 0
notch filter is the filter for eliminating the specific frequency resonance caused by machinery.
If the parameter P202 sets zero, then closes the notch filter.
5-63
6
Q
(d B ) P2 0 1 Q1<Q2<Q3
P2 0 4
Q3
0d B
Q1
P2 0 2 Q2
P2 0 5
(H z )

P2 0 0
P2 0 3
G a in Quality factor Q
(d B ) P2 0 1 Q1<Q2<Q3
P2 0 4
Q3
0d B
N orth depth Q1
P2 0 2 Q2
P2 0 5
Frequenc y (H z )
N orth frequency
P2 0 0
P2 0 3

Q
1 (d B ) P2 0 1 Range
Q1<Q2<Q3 Default
P201 Unit Usage
P2 0 4
Quality factor of first notch filter value
Q3
0d B
1100 7 ALL
Q1
Q Q (-3dB)
P2 0 2 Q2
P2 0 5
Q =

The quality factor Q indicates the shape of notch filter. The bigger the quality factor Q, the more incisive
of the north shape and the narrower of bandwidth (-3dB) obtain.
(H z )

North frequency
Quality P2 00
factor Q =
P2 0 3 North Width
6-2
5

1 Range Default
P202 Unit Usage
Depth of first notch filter value
0100 0 % ALL
0

dB D
P 202
D = 20 log(1 )
( dB)
100
Set the depth of the notch filter. The bigger the value, the more depth of the north obtains, namely the
bigger attenuating of filter gain obtains. If the parameter P202 sets zero, then closes the north.
Using dB unit the north depth D is:
P 202
D = 20 log(1 )
(dB )
100

2 Range Default
P203 Unit Usage
Frequency of second notch filter value
501500 1500 Hz ALL

P205 0
Notch filter is the filter for eliminating specific frequency resonance caused by mechanical system.
If the parameter P205 sets zero the north closes.

2 Range Default
P204 Unit Usage
Quality factor of second notch filter value
1100 7 ALL
P201

2 Range Default
P205 Unit Usage
Depth of second notch filter value
0100 0 % ALL
0 P202
Set the depth of the notch filter. If the parameter P205 sets zero the north closes. Refer to the explanation
of parameter P201 for others.
5-65
6

Range Default
P208 Unit Usage
Gain switching selection value
05 0 ALL

0 1
1 2
2DI GAIN OFF 1 ON 2
3 P209 2
4 P209 2
5 P209 2
1 2 4
0Fixed first gain group
1Fixed second gain group
2Input GAIN terminal for gain switching from DI. 'OFF' is the first gain group; 'ON' is the second gain
group
3The gain group switching depends on the command pulse frequency. If the frequency of input command
pulse surpasses the P209, and then switches to the second gain group
4The gain group switching depends on the pulse deviation. If the position pulse deviation surpasses the
P209, and then switches to the second gain group
5 The gain group switching depends on the speed of the servomotor. If the speed of the servomotor
surpasses the P209, then switches to the second gain group
Each group of the gain has four parameters and switches at the same time.
1 First gain group 2 Second gain group

Name Name
Parameter Parameter
1 2
P005 P010
First gain of speed loop Second gain of speed loop
1 2

P006 P011
First integral time constant of Second integral time constant
speed loop of speed loop
1 2
P007 First filter time constant of P012 Second filter time constant of
torque torque
1 2
P009 P013
First gain of position loop Second gain of position loop
6-2
5

Range Default
P209 Unit Usage
Level of gain switching value
032767 100 ALL
P208
P210
Set this parameter according to the parameter P208, there are different unit for different switching condition.
P208
Gain switching
condition
3 0.1kHz(kpps)
Frequency of command
pulse
4 pulse
Pulse deviation
5 r/min
Servomotor speed

Range Default
P210 Unit Usage
Level hysteresis of gain switching value
032767 5 ALL
P209 P209
This parameter has the same unit with P209; refers to the explanation of parameter P209.

Range Default
P211 Unit Usage
Delay time of gain switching value
03000 5 ms ALL

The switching condition of gain group must maintain a period set by parameter P211.
During the delay time, if checks the switching condition unsatisfied, then cancels the switching.

Range Default
P212 Unit Usage
Time of gain switching value
03000 5 ms ALL
5-67
6

During switching of the gain group, the current gain group will make linearity change to the goal gain group
according to the setting time by parameter P212. Each parameter of the gain group also changes at the same
time.
The machinery impact caused by changing the parameter suddenly can avoid.

P2 1 2P2 1 1
P2 1 1 P2 1 2P2 1 1 P2 1 P2
2 11 P2 1 2
2 2
1
1 1 1
D elay tim e Sw itching tim e D elay tim e Sw itching tim e

P2 1 1 P2 1 2 P2 1 1 P2 1 2
Second
gain group
F irst F irst
gain gain
g ro u p g ro u p
G ain group
Switching
c ondition U nsatisfied S atisfied U nsatisfied
6-2
5

ID Range Default
P300 Unit Usage
Drive ID number value
132 1 M
ID MODBUS
Drive ID number is used for setting the parameter of MODBUS communication station
number.
MODBUS
1~32

When MODBUS is used to communicate, the communication address of servo drive needs to
be set different servo drive station number respectively according to this parameter. The
setting range is 1~32. A group of servo drive can only set one station number. It will lead to
abnormal communication if it is set station number repeatedly.

MODBUS
Range Default
P301 MODBUS communication baud Unit Usage
value
rate
06 0 M
MODBUS
Set MODBUS communication baud rate
bit/s
The meanings of this parameter are: (the unit is bit/s)
0MODBUS USB
1 4800
2 9600
3 19200
4 38400
5 57600
6 115200
0: MODBUS mode prohibition, USB communication enabled
1Baud rate is 4800
2: Baud rate is 9600
6 : Baud rate is 115200
5-69
6

MODBUS
Range Default
P302 MODBUS communication protocol Unit Usage
value
option
05 4 M
MODBUS
4
Choose MODBUS communication protocol through this parameter. It should keep in
accordance with that of the upper controller when choose communication protocol. The
detailed setting value is as follows. The initial value is 4.
the meaning of parameter
08N1MODBUS, ASCII
18E1MODBUS, ASCII
28O1MODBUS, ASCII
38N1MODBUS, RTU
48E1MODBUS, RTU
58O1MODBUS, RTU
Detailed explanation of parameter
8 8 NEO N
E 1 O 1 1 1
Figure 8 implies the transmissive bits is 8 bits; English letters NEO imply parity bit. N
implies not to use this bit; E implies an even bit; O implies an odd bit; Figure 1 implies the
ending bit is one.

Motion Range Default
P305 Unit Usage
Motion mode enabled value
01 0 M
Motion
This parameter is used for enable motion mode.
0
1 Motion
the meaning of this parameter:
0: common mode
1: enable motion mode

Range Default
P309 Unit Usage
The default target speed value
06000 100 rpm M
Motion 0
6-2
5

This parameter is used in motion mode. The current path is position command. But when the
target speed is zero, it will go to the setting position automatically with the speed set by this
parameter.

1 Range Default
P310 Unit Usage
Target speed 1 value
05000 0 rpm M
Motion
Motion
This parameter is valid under motion mode.
It is the target speed of path under motion mode.

2 Range Default
P311 Unit Usage
05000 0 rpm M
2 P310
Target speed 2, refers to the explanation of parameter P310

3 Range Default
P312 Unit Usage
05000 0 rpm M
3 P310

4 Range Default
P313 Unit Usage
05000 0 rpm M
4 P310

5 Range Default
P314 Unit Usage
05000 0 rpm M
5 P310
5-71
6

6 Range Default
P315 Unit Usage
05000 0 rpm M
6 P310

7 Range Default
P316 Unit Usage
05000 0 rpm M
7 P310

8 Range Default
P317 Unit Usage
05000 0 rpm M
8 P310

1
Range Default
P330 Acceleration and deceleration Unit Usage
value
time 1
3010000 1000 ms M
Motion 1000rpm
This parameter is used in motion mode to set the acceleration time of motor from zero-speed
to 1000rpm speed.
1000rpm
If the target speed of current path is less than 1000rpm, the needed acceleration time should
be shorter accordingly.
Motion
The acceleration and deceleration time of path in motion mode.
6-2
5

2
Range Default
P331 Acceleration and deceleration time Unit Usage
value
2
3010000 1000 ms M
2 P330
Acceleration and deceleration time 2, refers to the explanation of parameter P330.

3
Range Default
value
3
3010000 1000 ms M
3 P330

4
Range Default
value
4
3010000 1000 ms M
4 P330

5
Range Default
value
5
3010000 1000 ms M
5 P330

6
Range Default
value
6
3010000 1000 ms M
6 P330

7
Range Default
value
7
3010000 1000 ms M
5-73
6
7 P330

8
Range Default
value
8
3010000 1000 ms M
8 P330

1 Range Default
P350 Unit Usage
Delay time 1 value
3010000 1000 ms M
Motion

This parameter is used in motion mode to set the delay time after path complete.
When the path is in speed mode, the delay time begins to count from reaching target speed.
When the path is in position mode, the delay time begins to count from reaching target
position.

2 Range Default
P351 Unit Usage
Delay time 2 value
3010000 1000 ms M
2 P350
delay time 2, refers to the explanation of parameter P350

3 Range Default
P352 Unit Usage
Delay time 3 value
3010000 1000 ms M
3 P350
6-2
5

4 Range Default
P353 Unit Usage
Delay time 4 value
3010000 1000 ms M
4 P350

5 Range Default
P354 Unit Usage
Delay time 5 value
3010000 1000 ms M
5 P350

6 Range Default
P355 Unit Usage
Delay time 6 value
3010000 1000 ms M
6 P350

7 Range Default
P356 Unit Usage
Delay time 7 value
3010000 1000 ms M
7 P350

8 Range Default
P357 Unit Usage
Delay time 8 value
3010000 1000 ms M
8 P350
5-75
6

1 16 Range Default
P400 Unit Usage
Path 1 control word low 16 bits value
-3276832767 0 M
Motion
This parameter is used in motion mode to set the control word of path.
the detailed explanation of parameter.
15 1412 11 108 7 64 3 20
NC SPD NC DEC NC ACC NC DLY
SPD 1~8 P310~P317

SPD: Choose 1~8 as the target speed of path to match P310~P317.
DEC 1~8 P330~P337
DEC: Choose 1~8 as the deceleration time of path to match P330~P337.
ACC 1~8 P330~P337
ACC: Choose 1~8 as the acceleration time of path to match P330~P337.
DLY 1~8 P350~P357
DLY: Choose 1~8 as the delay time of path to match P350~P357.
NC
NC: null

1 16 Range Default
P401 Unit Usage
Path 1 control word high 16 bits value
-3276832767 0 M
Motion
This parameter is used in motion mode to set the control word of path.
the detailed explanation of parameter.
15 1410 95 43 1 0
TYPE NC NPRC CMD NEXT INS
TYPE 0
1
TYPE: 0: this path is speed command.
1: this path is position command
NPRC NEXT=118
6-2
5
1 8
NPRC: Choose next path when it sets to execute automatically (NEXT=1). It is represented
in binary system. 1~8 match path 1to path 8 respectively.
CMD 0
1

2
3
CMD
CMD: 0: absolute position location command (regarding the position after origin
regression as origin)
1: incremental location command, increases basing on the end position of the last
section. When the last section is speed command, motor will decelerate and stop at the
current position.
2: relative location command, increases at the current position.
3: no meaning
CMD content is invalid under the speed instruction.
NEXT 0
1 CTRG

NEXT: 0: When this path is finished, wait the command from the next section path .
1: When this path is finished and the delay time reaches , it will load the next section
path automatically and be triggered by the next CTPG signal.
INS 0
1
NC
INS: 0: while this path is executed, it is not allowed to be interrupted by the next section
path.
1: while this path is executed, it is allowed to be interrupted by the next section path.
NC: null

2 16 Range Default
P402 Unit Usage
-3276832767 0 M
2 16 P400
Path 2 control word low 16 bits, refers to parameter P400 for explanation.
5-77
6

2 16 Range Default
P403 Unit Usage
-3276832767 0 M
2 16 P401
Path 2 control word high 16 bits, refers to parameter P401 for explanation.

3 16 Range Default
P404 Unit Usage
-3276832767 0 M
3 16 P400

3 16 Range Default
P405 Unit Usage
-3276832767 0 M
3 16 P401

4 16 Range Default
P406 Unit Usage
-3276832767 0 M
4 16 P400

4 16 Range Default
P407 Unit Usage
-3276832767 0 M
4 16 P401

5 16 Range Default
P408 Unit Usage
-3276832767 0 M
5 16 P400

5 16
P409 Range Default
Path 5 control word high 16 bits Unit Usage
value
6-2
5

5 16 Range Default
P409 Unit Usage
-3276832767 0 M
5 16 P401

6 16 Range Default
P410 Unit Usage
-3276832767 0 M
6 16 P400

6 16 Range Default
P411 Unit Usage
-3276832767 0 M
6 16 P401

7 16 Range Default
P412 Unit Usage
-3276832767 0 M
7 16 P400

7 16 Range Default
P413 Unit Usage
-3276832767 0 M
7 16 P401

8 16 Range Default
P414 Unit Usage
-3276832767 0 M
8 16 P400
5-79
6

8 16 Range Default
P415 Unit Usage
-3276832767 0 M
8 16 P401
6-2
5

1 16 Range Default
P500 Unit Usage
Path 1 data low 16 bits value
-3276832767 0 PEU M
Motion TYPE 1
16
This parameter is used in motion mode. When path TYPE is one and position command is
chose, this parameter means the low 16 bits of target position
16 32 PEU
Cooperate with the high 16 bits of path data to form the target position of 32 digit. The unit is
PEU, which is equal to the resolution of encoder.

The target position is confirmed related to the position after origin regression. Regard the
position after origin regression as origin

1 16 Range Default
P501 Unit Usage
Path 1 data high 16 bits value
-3276832767 0 PUU M
Motion TYPE 1
16
This parameter is used in motion mode. When the path TYRE is 1 and position command is
chose , this parameter means the high 16 bits of target position.
16 32 PUU
Cooperate with the low 16 bits of path data to form the target position of 32 bits. The unit is
PUU, which is equal to the resolution of encoder.

2 16 Range Default
P502 Unit Usage
-3276832767 0 PUU M
2 16 P500
Path 2 data low 16 bits, refers to parameter P500 for explanation.

2 16 Range Default
P503 Unit Usage
-3276832767 0 PUU M
5-81
6
2 16 P501
Path 2 data high 16 bits, refers to parameter P501 for explanation.

3 16 Range Default
P504 Unit Usage
-3276832767 0 PUU M
3 16 P500

3 16 Range Default
P505 Unit Usage
-3276832767 0 PUU M
3 16 P501

4 16 Range Default
P506 Unit Usage
-3276832767 0 PUU M
4 16 P500

4 16 Range Default
P507 Unit Usage
-3276832767 0 PUU M
4 16 P501

5 16 Range Default
P508 Unit Usage
-3276832767 0 PUU M
5 16 P500

5 16 Range Default
P509 Unit Usage
-3276832767 0 PUU M
5 16 P501
6-2
5

6 16 Range Default
P510 Unit Usage
-3276832767 0 PUU M
6 16 P500

6 16 Range Default
P511 Unit Usage
-3276832767 0 PUU M
6 16 P501

7 16 Range Default
P512 Unit Usage
-3276832767 0 PUU M
7 16 P500

7 16 Range Default
P513 Unit Usage
-3276832767 0 PUU M
7 16 P501

8 16 Range Default
P514 Unit Usage
-3276832767 0 PUU M
8 16 P500

8 16 Range Default
P515 Unit Usage
-3276832767 0 PUU M
8 16 P501
5-83
6
5.5 DI DI function description in detail

Ordin
Symbol Function Function explanation
al

0 NULL Not have
The input condition does not have any influence to the system.
function
OFF

ON
1 SON Servo
OFFservo driver does not enable, servomotor does not excite;
enable
ON servo driver has enabled, servomotor has excited.
(OFF ON )

When an alarm occurs and the alarm has permission to clear, then the
2 ARST
Clear alarm rising edge (from OFF becomes ON) of input signal ARST will clear
the alarm. Attention: only a part of alarm can have the permission to
clear.
6-2
5

Ordin
al
OFF(CCW)
ON (CCW)
P097 P097
P097
OFFInhibit CCW running;
ON Enable CCW running.
Uses this function for protection of the mechanical traveling limit,
the function is controlled by the parameter P097. Pays attention to that
the P097 default value neglects this function, therefore needs to modify
P097 if needs to use this function:

P097 Explanation

3 CCWL 0
CCW drive
2
inhibition
Use CCW prohibition function and must
connect the normally closed contact of the
limit switch.
1
3()
3(Default) Neglect CCW prohibition function, this signal
does not have any influence to CCW
movement of the servomotor, and therefore
does not need the CCWL wiring.
5-85
6

Ordin
al
OFF(CW)
ON (CW)
P097 P097
P097
OFFInhibit CW running;
ON Enable CW running.
Uses this function for protection of the mechanical traveling limit,
the function is controlled by the parameter P097. Pays attention to that
the P097 default value neglects this function, therefore needs to modify
P097 if needs to use this function:

P097 Explanation

4 CWL 0
CW drive
1
inhibition
Use CW prohibition function and must
connect the normally closed contact of the
limit switch.
2
3()
Neglect CW prohibition function, this signal
does not have any influence to CW
movement of the servomotor, and therefore
does not need the CWL wiring.
OFFCCW P067
ON CCW P067

TCCW CCW P065

5 TCCW CCW
OFFTorque is not limited by parameter P067 in CCW direction;
torque
ON Torque is limited by parameter P067 in CCW direction.
limitation
Attention: whether the TCCW is effective or not, the torque is also
limited by the parameter P065 in CCW direction.
6-2
5

Ordin
al
OFFCW P068
ON CW P068
TCW CW P066

6 TCW
CW torque OFFTorque is not limited by parameter P068 in CW direction;
limitation ON Torque is limited by parameter P068 in CW direction.
Attention: whether the TCW is effective or not, the torque is also
limited by the parameter P066 in CW direction.

1
2ZCLAMP ON
3 P160

P162

When the following condition satisfies, the function of zero speed
7 ZCLAMP Zero speed
clamp starts working:
clamp
Condition 1speed control mode;
Condition 2ZCLAMP is ON;
Condition 3speed command is lower than parameter P160.
If any condition mentioned above does not satisfy, carries out the
normal speed control. For concrete application refers to the explanation
of parameter P162.

OFF
ON
8 CZERO Zero Under the speed or torque control mode, the speed or torque command
command is:
OFFNormal command;
ON Zero command.

OFF
ON
9 CINV Command Under the speed or torque control mode, the speed or torque command
reverse is:
OFFNormal command;
ON Reverse command.
5-87
6

Ordin
al
SP1SP2SP3 18
1 In speed control mode and speed limitation, Chooses internal speed by
10 SP1 Internal the combination from SP1, SP2 and SP3 1~8:
speed DI []
selection 1 DI Signals[note] Speed command
SP3 SP2 SP1
2 0 0 0 1( P137)
11 SP2 Internal Internal speed 1 (parameter P137)
speed 0 0 1 2( P138)
selection 2 Internal speed 2 (parameter P138)
0 1 0 3( P139)
0 1 1 4( P140)
1 0 0 5( P141)

3
1 0 1 6( P142)
12 SP3 Internal
speed
1 1 0 7( P143)
selection 3
1 1 1 8( P144)
0 OFF1 ON
TRQ1TRQ2 1~4
1 In torque control mode and torque limitation, Chooses internal torque
13 TRQ1 Internal by the combination from TRQ1 and TRQ2 1~4:
torque DI []
selection 1 DI Signals[note] Torque command
TRQ2 TRQ1
0 0 1( P145)
2 Internal torque 1
14 TRQ2 Internal (parameterP145)
torque 0 1 2( P146)
selection 2 Internal torque 2
(parameterP146)
6-2
5

Ordin
al
1 0 3( P147)
Internal torque 3
(parameterP147)
1 1 4( P148)
Internal torque 4
(parameterP148)
0 OFF1 ON
OFF
ON
15 EMG Emergency OFFPermits the servo driver to work;
stop ON Servo driver stops; removes the main current and the excitation
of servomotor.
P004 345
Set parameter P004 3,4 or 5 can carry out the control mode switching:
P004 CMODE
Control mode

3 0 position

1 speed
16 CMODE Control
4 0 position
mode
1 torque
switching
5 0 speed
1 torque
0 OFF1 ON
P208=2 GAIN
OFF 1
ON 2
17 GAIN Gain If parameter P208=2can carry out gain group switching by GAIN
switching input:
OFFFirst gain group;
ON Second gain group.
5-89
6

Ordin
al
GEAR1GEAR2 14
1 Select electronic gear for command pulse by the combination of
18 GEAR1 Electronic GEAR1 and GEAR2 1~4:
gear GEAR2 GEAR1 N
switching 1 Numerator of electronic gear
N
0 0 1 ( P029)
1st
numerator(parameterP029)
0 1 2 ( P031)
2nd
2 numerator(parameterP031)
19 GEAR2 Electronic 1 0 3 ( P032)
gear 3rd
switching 2 numerator(parameterP032)
1 1 4 ( P033)
4th
numerator(parameterP033)
0 OFF1 ON
P163

P163=0CLR ON
P163=1CLR (OFF ON )
20 CLR Clear Eliminates the position deviation counter; The elimination mode is
position selected by the parameter P163; The elimination of position deviation
deviation occurs in the moment:
P163=0CLR ON Level:
P163=1CLR Rising edge (from OFF become ON).
OFF
ON
21 INH
Pulse input OFFPermits position command pulse to go through:
inhibition ON Position command pulse is inhibited.
6-2
5

Ordin
al
OFF PI

ON P
22 PC Proportiona
OFF PI control of speed loop:
l control
ON P control of speed loop.

P178 4.9

23 GOH Starts homing function; Refers to the explanation of parameter P178
Homing
and 4.9 sections.
triggering

P179 4.9
24 REF Reference he homing returns to an external reference point; Refers to the
point of explanation of parameter P179 and 4.9 sections.
homing

4.10
25 SEN Request Upper computer requesting absolute position information and
absolute triggering rising edge, refers to chapter 4.10
position
Motion
OFF

ON Motion
26 MMODE motion
OFF: normal mode
mode
ON: motion mode
trigger
Motion
Motion 4.5
27 CTRG Motion Trigger motion command. The rising edge is valid. Refer to chapter
command 4.10
trigger
Motion
1
Motion 4.5.4
28 MDATA1 Motion
Choosing motion mode path, refers to chapter 4.5.4
command
choice 1
5-91
6

Ordin
al
Motion
2
29 MDATA2 Motion
command
choice 2
Motion
3
30 MDATA3 Motion
command
choice 3
6-2
5

Function Function explanation
Ordinal Symbol

0 OFF OFFForced output OFF.
Always invalid

1 ON ONForced output ON.
Always valid
OFF
ON
2 RDY
Servo ready OFFServo main power supply is off; Or alarm occurs;
ON Servo main power supply is normalno alarm occurs.
OFF
ON
3 ALM Alarm
OFFAlarm occurs;
ON No alarm occurs.
OFF P160()
ON P160()
OFFServomotor speed is higher than parameter P160 (in CCW or
4 ZSP Zero speed
CW);
ON Servomotor speed is lower than parameter P160((in CCW or
CW).

OFF P150

ON P150
5 COIN Positioning
In position control mode
complete
OFFPosition deviation is bigger than parameter P150;
ON Position deviation is smaller than parameter P150.
OFF P154
ON P154
P154

6 ASP OFFServomotor speed is lower than parameter P154;
Arrival speed
ON Servomotor speed is higher than parameter P154.
Can set polarity functionrefers to the explanation of parameter
P154.
5-93
6

Ordinal Symbol
OFF P157
ON P157
P157

7 ATRQ OFFServomotor torque is lower than parameter P157;
Arrival torque
ON Servomotor torque is higher than parameter P157.
Can set polarity functionrefers to the explanation of parameter
P157.
OFF

ON
8 BRK Electromagnetic
OFFElectromagnetic brake applies the brake;
brake
ON Electromagnetic brake releases the brake.
OFF

ON
9 RUN Servo is in
OFFServomotor has not excited;
motion
ON Servomotor has excited in motion.

OFF P152

ON P152
10 NEAR Near
In position control mode
positioning
OFFPosition deviation is bigger than parameter P152;
ON Position deviation is smaller than parameter P152.
OFF
ON

P064
11 TRQL Torque under
OFFServomotor torque has not reached the limit value;
limitation
ON Servomotor torque has reached the limit value.
Torque limitation is set by parameter P064.

OFF
ON

P077
12 SPL Speed under
In torque control mode
limitation
OFFServomotor speed has not reached the limit value;
ON Servomotor speed has reached the limit value.
Speed limitation is set by parameter P077.
6-2
5

Ordinal Symbol
ON 4.9
13 HOME Homing After homing has completedthe HOME output is ON. The timing
complete chart refers to 4.9 sections.
Motion
MDON Motion
14 OFF
E
ON
5-95
6
remarks
6-2
5
Chapter 6 Communication functions
6.1 6.1 Communication hardware interface

Servo drive
RS-485MODBUS
USBPC
PC
It has RS-485 serial communication functions, which could achieve functions of driving
servo system, altering parameters and monitoring servo system state through MODBUS
agreement.
It has USB communication function, which need to use with PC terminal software. It can do
the performance of changing parameters. Please refer the detailed information to PC terminal
software use instructions and other related documents.
6.2 6.2 Communication parameter

ID range default usag
P300 unit
drive ID number value e
132 1 M
RS-485
1321
When RS-485 communication is used, the communication address of servo drive needs to set
by this parameter respectively as different servo drive station number. The setting range of station
number address is 1~ 32 and the default value is one. This station number represents the absolute
address in the communication network of this drive. A group of servo drive can only set one
station number. It will lead to abnormal communication if set repeatedly.

MODBUS
range default usag
P301 MODBUS communication baud unit
value e
rate
06 0 M
5-97
6
USBRS-4850USB
16RS-485

Choose USB communication interface or RS-485 communication baud rate through this
parameter . When the value is 0, choose USB communication interfacewhen the value is 1~6,
choose RS-485 communication interface. Different value is corresponding to different baud rate.
The chosen communication baud rate needs to keep in correspondence with the communication
baud rate of upper controller. The detailed setting is as follows:
the meaning of parameter
0USBPC
1RS-4854800
2RS-4859600
3RS-48519200
4RS-48538400
5RS-48557600
6RS-485115200
0: Using USB interface to communicate, it needs to use with PC terminal software.
1: Using RS-485 interface to communicate, the baud rate is 4800.
2: Using RS-485 interface to communicate, the baud rate is 9600
6: Using RS-485 interface to communicate, the baud rate is 115200.

MODBUS
range default usag
P302 MODBUS communication protocol unit
value e
option
05 4 M
RS-485

Choose RS-485 communication protocol through this parameter. The chosen communication
protocol needs to keep in correspondence with the communication protocol of upper controller.
The detailed setting is as follows:
the meaning of parameter:

08N1MODBUS, ASCII
18E1MODBUS, ASCII
28O1MODBUS, ASCII
38N1MODBUS, RTU
48E1MODBUS, RTU
6-2
6.3 MODBUS 6.3 MODBUS communication treaty
58O1MODBUS, RTU
88NEONE
1O111
Figure 8 indicates the transmissive data is eight bits. English letter N, E, O represent parity
bit: N represents not to use this , E represents one even bit, zero represents one odd bit. Figure 1
means the end bit is 1.
6.3 MODBUS 6.3 MODBUS communication protocol

RS-485P300
P301MODBUSASCIIAmerican
Standard Code for information interchange RTURemote Terminal Unit
P302 MODBUS
When RS-485 serial communication is used, every servo drive should be set its servo drive
station by P300 parameter in advance. Computer or upper controller implements control for servo
drive according to the station number. The baud rate needs to refer to the communication
parameter of upper controller to set parameter P301, in which MODBUS can use the following
two modes: ASCIIAmerican Standard Code for information interchangemode or RTURemote
Terminal Unitmode. The user can set the needed communication protocol in the parameter P320.
There is explanation for MODBUS communication as follows:
The encoding meaning
ASCIIASCII mode
8bitsASCII1byte64H()
ASCII646ASCII(36H)4ASCII(34H)
Every 8 bits data consists of two ASCII character. For example: one 1byte data 64H
(hexadecimal notation), presented by ASCII 64, contains 6ASCII code (36H) and 4 ASCII

code (34H).

09AFASCII
The ASCII code of figure 0 to 9 and letter A to F, is in the following chart.
0 1 2 3 4 5 6 7 6
Character
sign
ASCII 30H 31H 32H 33H 34H 35H 36H 37H
Correspondin
g ASCII code
8 9 A B C D E F
Character
sign
6-3
6
ASCII 38H 39H 41H 42H 43H 44H 45H 46H
Correspondin
g ASCII code
RTU
8bits 4bits 1byte 64H
RTU mode:
Every 8bits data consists of two 4bits hexadecimal characters. For example: one 1byte data is
64H.
Character structure
10bits(8bits)
10bits character frame (used for 8bits character without verification)
Start Stop
0 1 2 3 4 5 6 7
bit bit
8-data bits
1 0 -bits character frame
8, N, 1
11bits(8bit)
11bits character frame (used for 8bits character with verification)
Start Even Stop
0 1 2 3 4 5 6 7
bit parity bit
8-data bits
8E1
Start Odd Stop
0 1 2 3 4 5 6 7
bit parity bit
8-data bits
8O1

Communication
Communication data structure
ASCIIASCII mode
STX (3AH)
Start character (3AH)
ADR 1byte 2 ASCII
Communication address: 1byte contains two ASCII codes
CMD 1byte 2 ASCII
Command code: 1byte contains two ASCII codes
DATA(n-1)
.. Nword=2Nbyte 4N ASCII N<=100
DATA(0) Data content: Nword=2Nbyte, contains 4N ASCII codes,
N<=100
6-4
LRC 1byte 2 ASCII
Verification code: 1byte contains two ASCII codes
End1 1(0DH)(CR)
End code 1: (0DH)(CR)
End0 0(0AH)(LF)
End code 0: (0AH)(LF)
RTU PTU mode
STX 3.5
the minimum time interval with upper frame is 3.5
character time
ADR 1byte
Communication address : 1byte
CMD 1byte
Command code : 1byte
DATA(n-1)
.. Nword=2NbyteN<=100
DATA(0) Data content: Nword=2NbyteN<=100
CRC 2byte
Verification code: 2byte
End1 3.5
the minimum time interval with below frame is 3.5
character time

The explanations of all the items of communication data format frame are as
follows.
STX() STX(communication starting)

ASCII ASCII mode : :character.
RTU 3.5
RTU mode: the minimum time interval with upper frame is 3.5 character time
ADR() ADR(communication address)

6
13216(10H)

Legal communication address ranges from 1 to 32, as the follow picture: communication
with the servo drive of station number 16 (hexadecimal 10H) .
ASCII ADR=10 => 1=31H0=30H
ASCII mode: ADR=1 0 => 1=31H 0=30H
RTU ADR = 10H
RTU mode: ADR = 10H
CMD() DATA()
6-3
6
CMD (command code) and DATA (data character)
:
The format of data character is according to command code. The common command
codes are described as follows:
03HN(16bit)N10001H
052
Command code 03H, could read N words (16bit). The maximum of N is 100. For example,
read two parameters continuously from section 0 number 5 parameter of 01H station number
servo drive.
ASCIIASCII mode:
command information Respond information
STX STX
0 0
ADR ADR
1 1
0 0
CMD CMD
3 3
0 0
( byte
)
Data
0 4
Initial number(coun
data t by byte)
position
0 0 5 0
5 0
0 Section 0 2
number 5

0 parameter 8
Data
content
number
0 0 6 0
2 0
F Section 0 C
number 6
LRC Check
5 parameter 8
content
End1 0DH(CR) D
LRC Check
End0 0AH(LF) A
End1 0DH(CR)
End0 0AH(LF)
6-6
RTU RTU mode

ADR 01H ADR 01H
CMD 03H CMD 03H
00H () 04H
00H (high ( byte
Initial byte) )
data 05H () Data
position 05H (low byte) number(coun
t by byte)
00H () 0 5 00H ()
Data 00H (high 00H (high
number byte) 0 section byte)
02H () number 5 28H ()
02H (low byte) parameter 278H (low
content byte)
CRC Low D4H () 0 6 00H ()
D4H (high 00H (high
byte) 0 section byte)
CRC High 0AH () number 6 C8H ()
OAH (low byte) parameter C8H (low
content byte)
CRC Low 7BH ()
7BH (high
byte)
CRC High ADH()

ADH (low

byte)
06H 1 N 100 100(0064H) 01H
6
0 05
Command code 06H, could write in one parameter. The maximum of N is 100. For example,
write 100 (0064H) to the section 0 number 05 parameter of 01H station number servo drive.
ASCII ASCII mode:
STX STX
0 0
ADR ADR
1 1
CMD 0 CMD 0
6-7
6
6 6
0 0

0 0

Initial 0 0
Initial data
data
5 position 5
position
0 0

0 0
Data
6 Data content 6
content
4 4
E E
LRC Check LRC Check
A A
End1 0DH(CR) End1 0DH(CR)
End0 0AH(LF) End0 0AH(LF)
RTU RTU mode
ADR 01H ADR 01H
CMD 06H CMD 06H
00H () 00H ()
00H (high 00H (high
Initial byte) initial data byte)
data 05H () address 05H ()
position 05H (low byte) 05H (low
byte)
00H () 00H ()
Data 00H (high Data content 00H (high
content byte) byte)
64H () 64H ()
64H (low byte) 64H (low
byte)
CRC Low 98H () CRC Low 98H ()
98H (high 98H (high
byte) byte)
CRC High 20H () CRC High 20H ()
20H (low byte) 20H (low
byte)

Every operational parameter is only limited to the same parameter section. Different
parameter section needs to be operated respectively.
6-6
LRC(ASCII ) CRC(RTU )
Frame check calculate of LRC(ASCII mode) and CRC(RTU mode):
LRC
LRC frame check:
ASCIILRC(Longitudinal Redundancy Check)LRC
ADR8bit
(128H28H)
LRC
ASCII mode adopts LRC (Longitudinal Redundancy Check)frame check.LRC
calculation adds all the 8bit character from ADR to the last data content in
the message, neglects carry and then determines its two's complement.(For
example, if the result after adding is 128H in hexadecimal , then take 28H).
Then calculate its two's complement. The counting result is LRC frame check.
01H005
For example, read the section 0 No. 05 parameter of station number 01H servo drive.
STX
0
ADR
1
0
CMD
3
0
0
Initial 0
data
5
position
0

0
Data
0
number
2
6
F
LRC Check
5
End1 0DH(CR)
End0 0AH(LF)
LRC
LRC calculate process is as follows:
01H+03H+00H+05H+00H+02H=0BH
0BH F5H LRC F 5
Taking two's complement of OBH is F5H. so LRC is F5.
6-7
6
RTU
RTUCRC(Cyclical Redundancy Check)CRC

PTU mode:
PTU mode adopts CRC(Cyclical Redundancy Check) frame check. The following
steps are explaining CRC frame check calculation:
FFFFH16bitsCRC
16-bits CRC
CRC
CRC(LSB)01
CRCA001H
8

CRCCRC
Step 1: Initialize one 16 bits register with content of FFFFH which is called CRC
register.
Step 2: Work the first byte of command information and the low byte of 16-bits CRC
register, and store the result back to CRC register.
Step 3: Check the lowest bit (LSB) of CRC register. If this bit is 0, then move right for
one bit; if this bit is one, the CRC register value moves right for one bit and
then work the XOR (exclusive or operation) with A001H.
Step 4: Go back to step 3 until the step 3 has been executed for eight times, then go to
step 5.
Step 5: Repeats step 2 to step 4 for the next byte of command information, until all the
types have completed the above processing. And the content of CRC register
is CRC frame check.
CRCCRCCRC

Explanation: after working out the CRC frame check, in the command information, it needs
to fill the CRC low bit firstly and then fill the CRC high bit. Please refer to the
following example.
01H005ADR
CRC3794H94H
37H
For example, read the section 0 No.05 parameter of station No. 01H servo drive. If the
last content of CRC register is 3794H counting from ADR to the last byte of data, the
command information is as follows. It needs to note that byte 94H should be sent before byte
37H.
6-6
ADR 01H
CMD 03H
00H ()
00H(hign
Initial byte)
data 05H ()
position 05H(low byte)
00H ()
Data 00H(hign
number byte)
02H ()
02H(low byte)
CRC Low D4H ()
D4H(hign
byte)
CRC High 0AH ()
OAH(low byte)
End1End0
ASCII0DH\r0AH\n
RTU 3.5
End 1, end 0 communication end:
ASCII mode: It indicates end communication with ODH which is character\rand 0AH
which is character\n.
RTU mode: The minimum time interval with below frame is 3.5 character time.
6-7
6
6.4 parameterss
6.4 Write in and read out parameter
16bit
16bits
8bits 8bits P322
3256+22=790
Please refer the details of all the servo drive parameter to parameter chapter. The parameter is
divided by the parameter section. Every parameter is represented by 16bit data. The
communication address of every parameter is confirmed commonly by parameter section number
and parameter sequence number in the section. The address is 16bits. The parameter section
number is high 8bits of the address. The sequence number in parameter section is low 8bits of the
address. For example, the communication address of parameter P322 is 3256+22=790.Other
parameters may be done by analogy.
6.6

6.7
The parameter format explanation written in and read out through communication (Reading
state quantity refers to chapter 6.6): the parameter written in and read out must be the decimal
integer. The parameters with decimal point on the drive display panel and in the manuals are all
magnified for corresponding times in the process of writing in and reading out in order to make it
to be the decimal integer. The display format is binary parameter. But it adopts equivalent integer
of decimalism in the process of writing in and reading out , with the details as follows. The
operation example refers to the instruction of chapter 6.7 . The mapping mode of all parameter
refers to the instruction of parameter chapter.

Parameter The displaying Communication Mapping mode
sequence value of use operating
number manuals value
P005 40 40 invariant
P006 20.0 200 10
Magnify for ten times
P007 1.00 100 100
Magnify for 100 times
P120 00000( 0()
)binary system decimalism Binary system turns
to decimalism
6-8
6.7 operation example
All the parameter in the parameter instruction can be written in and read out
through communication. The details refer to the parameter instruction in chapter
five.
6.5 6.5 Common operation command
RS-485
The internal parameter of servo drive can be read and written through RS-485
communication interface. After reading and writing were completed, it can do entire operation to
drive parameter list through specific command code.

Firstly, write the operation code to operation command code register. After a certain delay
time, read the operation state register and read out the specific value which means the operation is
completed successfully. The operation address is shown as follows:

Register Operation Contact Data size
Explanation address
0x1100 16bit
Operate command
code register
0x1101 16bit

Operate state register

EEPROM
6
The command codes supported by the current edition include parameter operation is valid,
parameter write in EEPROM, recover default value. The detailed explanation of all command
codes is as follows:

Command code Command Completion Operation meaning
explanation code state
0xBB00 0x44FF
parameter operation is To make the modified parameters in
valid parameter list valid
6-9
6
EEPROM 0x0011 0xFFEE

Write parameter in EEPROM
EEPROM To write the parameters in parameter
list to EEPROM
0x0024 0xFFDB
Recover default value
To read the default value of all the
parameter to parameter list
6.6 6.6 Quantity of state surveillance
RS-485
16bit 10 100
6.7

The internal quantity of state of servo drive can be read out through RS-485 communication
interface, but can not be written in. The quantity of state is stored by 16bits data. For the data
whose value is accurate to decimal place, its value will be magnified by 10 times or 100 times
when it is read out by communication interface. Such case is same as the reading part of
parameter. The operation example refers to the instruction of chapter 6.7. The organization order
of relative quantity of state is as follows:
0x1000r/min
Motor speed, unit r/min
0x1001() 16bit
Original position command (input pulse) low 16 bit
0x1002() 16bit
Original position command (input pulse) high 16 bit
0x1003() 16bit
position command (input pulse) low 16 bit
0x1004() 16bit
position command (input pulse) high 16 bit
0x1005() 16bit
Current position (input pulse) low 16 bit
0x1006() 16bit
Current command (input pulse) high 16 bit
0x1007() 16bit
6-8
6.7 operation example
Positional deviation (input pulse) low 16 bit
0x1008() 16bit
positional deviation (input pulse) high 16 bit
0x1009%
Motor torque, unit %
0x100A%
peak torque, unit %
0x100BA
Motor current, unit A
0x100CA
peak current, unit A
0x100DkHz
Position command pulse frequency, unit KHz
0x100Er/min
Speed command, unitr/min
0x100F%
Torque command, unit %
0x1010mV
Speed analog command voltage, unit mV
0x1011mV
torque analog command voltage, unit mV
0x1012 DI 1
Input terminal DI state, note 1;
0x1013 DO 2
Output terminal DO state, note 2
0x1014() 16bit
Rotor absolute position (pulse) low 16 bit
0x1015() 16bit

Rotor absolute position (pulse) high 16 bit

0x1016%
Accumulative load rate, unit % 6
0x1017%
Regenerative brake load rate, unit %
0x1018
Alarm code
0x101AV
Busbar voltage, unit V
0x101B
Module internal temperature, unit
0x101C( 0 )
6-9
6
Multi-turn position( when there is no multi-turn information, read out value 0)
1 16bit bit4bit0 DI5DI1 1
0
bit15bit5
Note 1: The data read by this address is 16bit, of which bit4~bit0 mean the input state of DI5~DI1. 1 means to
input high level, 0 means to input low level; bit15~bit5 are stored for usage in future.
2 16bit bit2bit0 DO3DO1
1
0
bit15bit3
Note 2: the data read by this address is 16bit, of which bit2~bit0 mean the output state of DO3~DO1. 1 means to
output high level, 0 means to output low level; bit15~bit3 are stored for usage in future.
6.7 Operation example

The following three operation examples explain the operation of parameter section and
quantity of state.
The quantity of state operation: this part is

only..
read only
d- d-A1 7.5 mV
7 mV
10
The value ford-A1quantity of sate ind- of servo drive shows 7.5. The unit is mV.
When it reads the quantity of state as speed analog command voltage through communication
interface, the value is 7. The unit is mV. This value of quantity of state is operated round-off, and
not magnified for ten times.
Operation for parameter: this part is read-write
P006 () 20.0 ms
P006 20.0 1
10
The drive parameter P006the first speed circulation integral time constantshows 20.0. The
unit is ms. Read parameter P006 through communication interface. The value is 20.0. The
precision of this parameter is accurate to the place after the decimal point. It is magnified ten
times when it is read out.
P007 () 1.00 ms
P007 2.00 200 2
100 2 P007 0.02
The drive parameter P007the first torque filtering time constantshows 1.00. The unit is ms.
The value of parameter P007 modified through communication interface is 2.00. The value
6-8
6
written in is 200. The precision of this parameter is accurate to the second place after decimal
point. It needs to be magnified 100 times when it is written in. If parameter 2 is written directly,
the parameter P007 of drive shows 0.02.

Write
Write the value of state quantity in parameter
0d- d-A1
P047
1 P0-47 1
10

In the speed control mode, the external input analog value is 0. The value of d-A1
quantity of state in drive d- is zero bias of analog. It can be read out through
communication interface, and written into the parameter P047 of drive to eliminate zero bias. The
value of state quantity is accurate to the place after decimal. The value of parameter P0-47 is also
accurate to the place after decimal point. When read out, the value is integral value after round-off.
While written in, it needs to be magnified ten times before written in.
d- d-A1 7.5 mV
770 P047
In the instruction of above example, the d-A1of drive d- shows 7.5. The unit
is mV. This state quantity is read as 7. 70 should be written into parameter P047.
6-10
7
Chapter 7 Alarm
7.1 Alarm table

Alarm
Alarm Name Alarm Alar
code content m
clear
Err-- No alarm occurs Normal operation
Err 1 Over speed
Servomotor speed exceeds the speed limit. no
Err 2
Over voltage of the main The voltage of the main power supply no
power supply exceeds the specified value.
Err 4
Position deviation exceeds The counter of position deviation exceeds can
the limit value the setting limit value.
Err 7 CCWLCWL
Drive inhibition abnormal CCWLCWL the inputs of drive inhibition can
are not effective.
Err 8 230
Overflow of position The absolute value of position deviation can
deviation counter counter exceeds 230 7

Err 9
Encoder signal fault Lack of the signals of encoder no
Err11
Power model fault Power model fault occurs. no
Err12 Over current Over-current of servomotor
no
7-1
Chapter 7 Alarm
Err13 Overload Overload of servomotor
no
Err14
Overload of brake peak Instantaneous load is too big in short brake no
power time
Err15
Incremental Encoder counter Incremental Encoder counter is abnormal no
error
Err16 (I2t )
Over-heat of servomotor The heat load of servomotor exceeds the no
setting value (I2t detection)
Err17
Overload of brake average Average load is too big in brake time no
power
Err18
Overload of power model Average output load of power model is too no
big
Err20 EEPROM EEPROM
EEPROM error EEPROM error occurs when read or white. no
Err21
Logic circuit error Logic circuit fault outside DSP no
Err23 AD
AD conversion error Circuit or current sensor fault no
Err24 LDO
Under voltage of control The LDO fault of control circuit no
power supply
Err27
Phase loss alarm Check whether the power line is three phase input or no
not
Err29
Over-torque alarm The torque of servomotor exceeds the setting can
value and lasting time
Err30 Z Z
Lost Z signal of encoder Z signal of encoder is loss. no
Err31 UVW UVW
UVW signals error of The UVW Signals error or pole number does no
encoder not match with the servomotor
Err32 UVW UVW
Illegal code of encoder UVW UVW signals are all high level or low level no
7-2
7.2 The reason and handling of alarm
signals
Err33
Error signal of saving wire Has no high resistance in the timing chart no
encoder when power supply turns on.
Err35
Connection path fault in drive Connection path fault in drive no
Err36
Fan alarm Fan alarm no
Err40
Absolute encoder Drive can not communicate with encoder no
communication error
Err42
Fault internal counting of Absolute encoder counts abnormally no
absolute encoder
Err43
Absolute encoder Absolute encoder communication responds no
communication responds error abnormally
Err44
Absolute encoder verifies The communication content of absolute no
error encoder is fault.
Err45 EEPROM EEPROM
Absolute encoder EEPROM fault no
Absolute encoder EEPROM is
error
Err46
Absolute encoder parameter is Absolute encoder parameter is destroyed no
error

Err47

Battery voltage is too low no
The external battery of
6
absolute encoder is error
Err48
Battery voltage is low no
The external battery of
absolute encoder alarms
Err50
The parameter of Motor does not The power of Motor does not match that of no
match that of drive. drive
6-9
Chapter 7 Alarm
Err51
Rotating transformer loses track Encoder wire connection error no
Err52
Rotating transformer signal Encoder wiring does not reach the requirement
degradation
Err 1(
))
1(
Err 1 (Over speed)
Potential cause Check Handle

UVW UVW UVW
Servomotor U V W Check UVW wiring UVW
connection is not correct Correct UVW wiring. The UVW
must connect with servo driver terminal
UVW correspondently.

Speed overshoot Check the operation status and
the parameters Adjust servo gain to reduce the
overshoot; In speed control mode can
increase acceleration/deceleration time.

Encoder wiring error Check the encoder wiring Correct wiring.
Err 2(
))
2(
Err 2 (Main circuit over-voltage)

The voltage of input AC power Check the voltage of power Use correct power supply according with
supply is too high supply the specifications.

Regeneration fault Repair.
Regenerative resistor and/or
IGBT damaged; Connection
circuit is open.

7-2
Regeneration energy too large Check the regeneration load
factor

Decrease the start-stop frequency.
Increase acceleration/deceleration time
Reduce the torque limit.
Reduce the load inertia.
Replace a bigger power servo driver and
servomotor
Replace a bigger brake resistor
6-9
Err 4(
))
4(

UVW UVW UVW
Servomotor U V W Check UVW wiring UVW
connection is not correct Correct UVW wiring. The UVW
must connect with servo driver terminal
UVW correspondently.

Encoder zero point changes Check the encoder zero point Install the encoder again and adjust the
zero point.

The encoder wiring error Check the encoder wiring Correct wiring

The servomotor is blocked Check the servomotor shaft and Repair.
its mechanical connection

The command pulse frequency
is too high Check input frequency and the Slow down the input frequency.
parameter of Adjust the parameter of
division/multiplication division/multiplication.
P009P013
The gain of position loop is too Check the parameters P009 and Increasing the gain of position loop.
small P013
P079 P079
The excess position deviation Check the parameter P079 Increasing the value of parameter P079.
range is too small

Torque is not enough big Check torque

Increase the torque limit.
Increase smooth filtering time for
7
position command.
Reduce load.
Replace the servo driver and
servomotor with bigger ones.
7-3
Chapter 7 Alarm
Err 7(
))
7(
Err 7 (Drive inhibition abnormal)

CCWLCWL CCWLCWL CCWLCWL
Check CCWLCWL wiring CCWLCWL
The CCWL and/or CWL P097
over-travel inhibition is invalid Correct input CCWLCWL signal.
when servo is on If not use CCWLCWL signal can
shield it by setting parameter P097.
Err 8(
))
8(
Err 8 (Overflow of position deviation counter)


The servomotor is blocked Check the servomotor shaft and Repair.
its mechanical connection

The command pulse is Check command pulse
abnormal
Err 9(
))
9(
Err 9 (Encoder signal fault)


Encoder wiring error Check the encoder wiring Correct wiring

Encoder cable and/or connector Check cable and connector Replace the cable and connector.
is bad

Servomotor type setting is not Check the servomotor type Set the servomotor type again.
correct.

Encoder is damaged Check the encoder Replace the encoder.
7-4
Chapter 7 Alarm
Err11(
))
Err11(
Err11 (IGBT model fault)

UVW UVW UVW
Short-circuit at drive Check UVW wiring Repair or replace the short-circuited
output (UVW) wiring.

Motor winding insulation is Check the servomotor Replace the servo motor
damaged

Servo driver is damaged Check the servo driver
Known the servomotor to be no fault, and
then turn on the power supply again, if
the alarm still exists, the servo driver may
damage possibly. Replace the servo
driver.

Ground is bad Check the ground wiring Ground correctly.

Suffer from interference Check interference source Adds line filter; Keep away interference
source.
Err12(
))
Err12(
Err12 (Over-current)
UVW UVW UVW
Short-circuit at drive Check the wiring connections Repair or replace the short-circuited
output (UVW) between servo driver and wiring.
servomotor.

Motor winding insulation is Check the servomotor Replace the servomotor.
damaged

Servo driver is damaged Check the servo driver
Known the servomotor to be no fault, and
then turn on the power supply again, if
the alarm still exists, the servo driver may
damage possibly. Replace the servo
driver.
7-4
Chapter 7 Alarm
Err13(
))
Err13(
Err13 (Over-load)

Excess the rated load for Check the load factor Reduce load or replace the servo driver
continuous duty operation with bigger one.

System unstable Check the oscillation when Reduce the gains of the system
servomotor is in running

Acceleration/deceleration is too Check the smoothness when increasing acceleration/deceleration time
short servomotor is in running setting.

zero point.
Err14(
))
Err14(
Err14 (Overload of brake peak power)



Regeneration fault Repair.
Regenerative resistor and/or
IGBT damaged; Connection
circuit is open.

factor

Decrease the start-stop frequency.
Increase acceleration/deceleration time
Replace a bigger power servo driver and
servomotor
7-4
Err15(
))
Err15(
Err15 (Encoder counter error)


Encoder wiring error Check the encoder wiring Correct wiring included shield wire.

Ground is bad Check the ground wiring Ground correctly.

Suffer from interference Check interference source Keep away interference source.

Encoder has problem Z Replace the encoder.

Check the line number
and pole number
Check the encoder Z
signal
Encoder damaged
Err16(
))
Err16(
Err16 (Motor over-heat)


Excess the rated load for Check the load factor and the Reduce load or replace the servo driver
continuous duty operation rise in temperature of motor with bigger one.

zero point.
Err17(
))
Err17(


7

factor

7-5
Slow down the starting and
stopping frequency.
Increase acceleration /deceleration
time setting.
Reduce the torque limit.
Decreasing the load inertia.
Replace the servo driver and
servomotor with bigger ones.

Err18(
)) Err18 (IGBT model over-load)
Err18(

Excess the rated load for continuous Check current Reduce load or replace the servo driver
duty operation with bigger one.

Encoder zero point changes Check the encoder zero Install the encoder again and adjust the
point zero point.
Err20(EEPROM
)) Err20 (EEPROM Error)

EEPROM
EEPROM chip is damaged Turn on the power again If the error still exists, then replace the
and check servo driver.
Err21(
))
Err21( Err21 (Logic circuit error)

Control circuit fault Turn on the power again If the error still exists, then replace the
and check servo driver.

7
Err23(AD
)) Err23 (AD conversion error)

Current sensor and connector fault Check the main circuit Replace the servo driver.
AD
AD converter and analog amplifier Check the control Replace the servo driver.
7-5
fault circuit
Err24(
Err24(

)) Err24 (Under voltage of control power supply)

LDO
Control circuit LDO fault Check the power of Replace the servo driver.
control board
Err27 (
)) alarm))
Err27 (Phase loss alarm

L1L2L3
Phase loss of power supply Check the wiring of Connect wire correctly
L1, L2,L3

Power supply undervoltage Check supply power Ensure correct voltage input
voltage

Phase loss checking return circuit Check optocoupler, If error still exists, please replace drive
error power on again
Err29(
)) Err29 (Over-torque alarm)
Err29(

Unexpected big load occurs Check load condition Correctly readjust the load.
P070P071P072
Parameter P070P071P072 setting Check the parameters Correctly readjust parameters.
is not reasonable
Err30( Z
Err30( )) Err30 (Lost Z signal of encoder)

Z
Encoder has problem Check the encoder Z Replace the encoder
7
signal

Encoder cable and/or connector has Check cable and Replace the cable and connector.
problem connector

The interface circuit of the servo driver Check the control Replace the servo driver.
is at fault circuit
7-7
6
Err31( UVW
Err31( ))

Encoder has problem UVW Replace the encoder.

Check the line
number and pole
number
Check the encoder
UVW signals
Encoder damaged

Err32( UVW
Err32( )) Err32 (Illegal code of encoder UVW signals)

UVW
Encoder has problem Check the encoder UVW Replace the encoder.
signals

Err33(
))
Err33( Err33 (Wire saving encoder error)

Encoder has problem Check the encoder signals Replace the encoder.

Servomotor type setting is not correct Set the servomotor type again.
Check the servomotor type;
Confirm that the servomotor is

adapted with the wire saving
encoder.
7
Err35(
)) Err 35 (Drive interior connection path error)
Err35(

Drive interior connection wire error Check flexible connection wire Replace flexible connection wire
7-7

Hardware circuit error Optocoupler access replace drive
Err36(
)) Err 36(
Err36( 36(FFan alarm)

fan alarm check fan replace fan
hardware circuit error
Optocoupler access replace drive
Err40(
)) Err40 (Absolute encoder communication error)
Err40(

Encoder connection wiring error Check encoder connection Connect wiring correctly
wiring

Encoder cable and connector unsteady Check cable and connector Replace cable and connector

Encoder damage Check encoder Replace encoder
Err42(
)) Err42 (Absolute encoder interior counting error)
Err42(


Err43(
)) Err43 (Absolute encoder communication respond
Err43( respondss
error)


7
Err44()) Err 44(
Err44( Absolute encoder verify error)
44(A


7-7
6
Err45( EEPROM
Err45( )) Err45 Absolute encoder EEPROM error

EEPROM
Encoder EEPROM damage Check encoder Replace encoder
Err46(
)) Err46 Absolute encoder parameter error
Err46(

EEPROM
Encoder EEPROM damage Check encoder Replace encoder
Err47(
)) Err47 Absolute encoder external battery error
Err47(

External battery out of power External battery voltage Replace battery
Err48(
)) Err48 Absolute encoder external battery alarm
Err48(

External battery out of power External battery voltage Replace battery

First time power on after replacing battery voltage 3.6.1
battery If voltage is normal, please restart
encoder. Refer to chapter 3.6.1
Err50(
)) Err50 Motor parameter do
Err50( es not match that of drive
does

The power of motor does not match Check the motor match list of Replace suitable drive or motor
7
that of drive drive
Err51(
)) Err51 Rotating transformer lose
Err51( losess track

Encoder wiring error Check whether encoder shield Connect wiring correctly, including
is good or not shield wiring
7-7

Encoder wiring does not reach the Check whether encoder is Replace encoder signal cable
requirement twisted-pair
Err52(
)) Err52 Rotating transformer signal degradation
Err52(

Encoder wiring fault Check whether encoder shield Connect wiring correctly, including
is good or bad shield wiring

Encoder wiring does not reach the Check whether encoder is Replace encoder signal cable
requirement twisted-pair
7-7
6
Chapter 8 Specifications
8.1 Types of servo driver
G L 1A8 F - XX

(A)
E P 3 X
1A0 1.0
Y
1A8 1.8

3A0 3.0
L A C 220V 2500
... ... F
/
H A C 380V
1 7
E
/

R

G L 1A8 F - XX
Specification
M ar k

(A) X Factory Standard
E P 3 M a rk Specification
C urrent (A)

1A0 1.0 Y C us tom -m ade
E P 3 Servo Drive specification
1A8 1.8
M ar k Encoder C onnector Specification
M ain Pow er Voltage 3A0 3.0
M a rk Specification 2 5 0 0 /
L A C 220V ... ... F 2500 line increm ental

encoder (standard /w ir e -saving )
1 7 /
H A C 380V E 17 D igit Absolute Encoder
(Single C ircle / Loopy )

R Rotating Transform er Type
Encoder
8-2
8
8.2 Dimensions of servo driver
3-5
108

D
80 A B E
GL1A0 GL1A8/GL3A0 GL7A5 GL120 GL160 GL190 GL240

mm
A 150 150 180 180 180 180 210
B 55 65 85 95 95 105 115
C 168 168 168 168 200 220 250
D 158 158 158 158 189 209 239
E - 55 65 65 65 94 104
GH3A5/GH5A4 GH8A5 GH130 GH170

mm
A 180 180 180 210
B 95 95 105 115
C 168 200 220 250
D 158 189 209 239
E 65 65 94 104
8-2
8.3 Specifications of servo driver
8.3 Specifications of servo driver

GL GL GL GL GL GL GL GL GH GH GH GH GH
Type
1A0 1A8 3A0 7A5 120 160 190 240 3A5 5A4 8A5 130 170
kW 0.1 0.2 0.4 1.0 1.5 2.0 3.0 5.0 1.0 1.5 2.0 3.0 5.0
Rated output
power(KW)
A 1.0 1.8 3.0 7.5 12.0 16.0 13.0 24.0 3.5 5.4 8.5 13.0 17.0
Rated output
current(A)
380VAC -15%+10%
220VAC 220VAC -15%+10% 50/60Hz
50/60Hz
Main power Single phase Three-phase AC220V -15%
Three-phase 80VAC -15%+10%
supply 220VAC +10% 50/60Hz
50/60Hz
Power
24VDC15%1.5A
supply Control 220VAC-15%+10% 50/60Hz
24VDC15% no less than 1.5A
power Single phase 220VAC-15%+10% 50/60Hz
supply
0 40 -40 50
Temperature Operation040C Storage-4050C

40% 80%() 93%()

Humidity Operation40%80% (non-condensing) Storage93% or less(non-condensing)
Enviro

nment
Atmospheri 86kPa 106 kPa
c pressure

IP20
IP rating

Control of main vector control
circuit

/ Built-in/ built-out built-
Regeneration
out
2500P/R 17

2500P/R incremental encoder, 17 bits absolute encoder, rotating transformer
Feedback type
type encoder
///
Control modes Position, Speed, Torque, Position/Speed, Speed/Torque, Position/Torque
5(
Digital inputs Five programmable input terminals (optical isolation)

3(

Digital outputs Three programmable output terminals (optical isolation)
ABZ Z 8
Signal type ABZ (Differential output ), Z signal (open collector output)

(/ 1131072P/R()
Encode
Wiring programmable fractional frequency(using incremental encoder) / 1
r signal
number 131072P/R (using absolute encoder)
outputs
500kHzkpps
200kHzkpps
8-3
Input Differential input500kHz(kpps); Single-end input200kHz(kpps)
Positio frequency
n
+/
Command
Pulse+DirectionCCW pulse+CW pulse; A phase+B phase(orthogonal ).
modes

Electronic 132767/1 32767
gear ratio

10VDC10k
Analog
10VDCInput impedance 10k
command
input

Speed Acceleration/
Parameter setting
deceleration
command

Command
Analog voltage, Internal speed command
source

-10V +10V10k
Analog
-10V+10VInput impedance 10k
command

input

Torque Parameter setting
Speed limit

Command
Analog voltage, Internal torque command
source
Modbus
Special function Homing, Gain switching, Notch of mechanical resonance , supporting Modbus protocol

Speed, current position, position deviation, motor torque, motor current, command pulse
Monitor function
frequency, etc.

Over-speed, over-voltage, over-current, over-load, regeneration abnormal, encoder
Protection function
signal abnormal, excess position deviation, etc.

Frequency 300Hz
response of

speed

Charac 0.03%(0100%; 0.02%(-15% +10%)
Fluctuation
teristic <0.03%(load 0100%)<0.02%(power supply -15+10%)
of speed

Speed 1:5000
control range
8-4
6

EP3 Use Manual

Enviado por

Dados do documento

Direitos autorais

Formatos disponíveis

Compartilhar este documento

Compartilhar ou incorporar documento

Opções de compartilhamento

Você considera este documento útil?

Este conteúdo é inapropriado?

Direitos autorais:

Formatos disponíveis

EP3 Use Manual

Enviado por

Direitos autorais:

Formatos disponíveis

EP3 EP3 Series

Because improves and so on the reasons, the product specification or

5. Maintenance and inspection

Chapter 1 Product inspection and

1.1 Product inspection

1.2 Product nameplate

Product ID W arning Logo

1.3 Product front panel

1.4 Servo driver installation

1.4.1 The environmental conditions for installation

1.4.2 The method of installation

>5 0 m m >5 0 m m >1 0 0 m m

1.5 Servo motor installation

1.5.1 The environmental conditions for installation

1.5.2 The method of installation

1.6 The definition of rotating direction

2.1 System construction and wiring

2.1.1 Servo driver wiring diagram

1 EP3-GL EP3-GL series Servo driver wiring diagram

Note: This wiring method is only suitable for EP3-GL1A0EP3-GL1A8EP3-GL3A0

EP3-GL7A5EP3-GL120EP3-GL160 servo driver. For EP3-GL190 and EP3-GL240,

EP3-GH3A5 EP3-GH5A4 EP3-GH8A5EP3-GH130EP3-GH170

2.1.2 Wiring explanations

2.1.3 Electric wire specifications

Connect terminal symbol Wire specification

Servomotor UVW 1.54mm2

2.1.4 Main circuit terminal explanation

1. EP3-GL 220V 380V

2.2 X1 X1 terminals for control signals

2.2.1 X1 X1 terminal connector

Connector X1 Soldering Lug Disposition

Shield Protection Ground

Servo Drive X1 Connector

DOCOM 18 DODO common terminal

2.2.3 X1 X1 terminal interface type

C1-1: Switch input C1-2: Open collector

D C 1 2 V~2 4 V C O M + 1 4.7K C O M + 1 4.7K

C2-1: Relay C2-2: photo coupler

R elay Servo D rive

C3-1: Differential drive C3-2: single end drive

This connection is recommended in order to VCC R 2

(C4) Analog command input interfaces (C4)

(C6) Open-collector output of encoder Z signal (C6)

2.3 X2 X2 encoder signal terminals

2.3.1 X2 X2 terminal connector

X2the connection diagram of X2 encoder signal

/V Signal Input (V-) 6

V Signal Input (V+ ) 1 11 /W Signal Input (W-)

/U Signal Input (U-) 7

U Signal Input (U+ ) 2 12 W Signal Input (W+ )

/Z Signal Input (Z-) 8

Z Signal Input (Z+ ) 3 13 Encoder Power Supply ( + 5V)

/B Signal Input (B-) 9

/A Signal Input (A-) 10

S ervo D rive X 2 Connector

Not Used (Do not connect ) 6

Not Used (Do not connect ) 7

/Z Signal Input (Z-) 8

Z Signal Input (Z+ ) 3 13 Encoder Power Supply ( + 5V)

/B Signal Input (B-) 9

/A Signal Input (A-) 10

S ervo D rive X 2 Connector

2.3.2 X2 X2 terminal signal explanation

defination of incremental encoder