K/iK series

AC Servo Driver
User’s Manual 2021（V2.9）
 Preface

● Thank you for purchasing this AC servo driver.

● This Manual is the user manual for K/iK series products.

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

☆ Warm tips:

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

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

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

◇ Without prior written consent of the Company, no part of this manual shall be reproduced.
 Safety Precautions
Before product storage, installation, wiring, operation, check or maintenance, users must be
familiar with and observe the following important notes to ensure safety during use of the product.

1. Electric Shock Injury Warning

Warning

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

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

2. Warning of Damage to Equipment

Warning

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

Warning

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

Contents...............................................................................................................................................5
Chapter I Function Overview...........................................................................................................1
1.1 Description of Servo Driver Models.....................................................................................1
1.2 Description of servo motor................................................................................................... 1
1.3 Basic Functions..................................................................................................................... 3
Chapter II Installation and Dimension................................................................................................4
2.1 Servo Driver....................................................................................................................4
2.1.1 Storage Condition............................................................................................... 4
2.1.2 Installation Site................................................................................................... 4
2.1.3 Installation Direction.......................................................................................... 4
2.1.4 Installation of Several Servo Drivers..................................................................4
2.1.5 Dimension Description....................................................................................... 5
2.2 Servo Motor.................................................................................................................... 7
2.2.1 Storage Temperature........................................................................................... 7
2.2.2 Direction............................................................................................................. 8
2.2.3 Installation Concentricity....................................................................................8
2.2.4 Installation Direction.......................................................................................... 8
2.2.5 Protection Measures Against Water and Oil.......................................................8
2.2.6 Cable Tension......................................................................................................9
Chapter III Wiring............................................................................................................................. 10
3.1 Profile of terminal......................................................................................................... 10
3.1.1 K series driver.......................................................................................................... 10
3.1.2 iK series driver......................................................................................................... 11
3.2 Typical Examples for Main Circuit Wiring..................................................................... 12
3.2.1 K/iK series single axis 220V................................................................................... 12
3.2.2 K/iK series double axis 220V.................................................................................. 13
3.2.3 K/iK series single axis 380V................................................................................... 14
3.3 Control mode wiring........................................................................................................... 14
3.4 Encoder Signal Wiring........................................................................................................17
3.4.1 K series encoder.......................................................................................................17
3.4.2 iK series encoder......................................................................................................17
3.4.4 Connection with Encoder Interface (CN1/CN2) and Processing of Output
Signal from CN3............................................................................................................... 17
3.5 Input/Output Signal Wiring.......................................................................................... 19
3.5.1 K/iK series input/output terminal........................................................................... 19
3.5.4 Interface Circuit................................................................................................ 20
3.6 Communication connection terminal signal definition...................................................... 23
3.7 Other wiring.................................................................................................................. 23
3.7.1 Precautions........................................................................................................23
3.7.2 Anti-interference Wiring...................................................................................25
3.8 Wiring of Motor............................................................................................................ 27
 2.3.1 Connector Terminal Wiring for Motor Power Supply.............................................27
2.3.2 Connector Terminal Wiring for Motor Encoder...................................................... 28
Chapter IV Panel Operation..............................................................................................................29
4.1 Basic Operation.............................................................................................................29
4.1.1 Key Names and Functions................................................................................ 29
4.1.2 Selection and Operation of Basic Mode...........................................................29
4.1.3 Status Display................................................................................................... 30
4.2 Auxiliary Function Mode (F□□□□)..............................................................................32
4.2.1 Execution Mode List of Auxiliary Functions................................................... 32
4.2.2 Display of Software Version of Servo.............................................................. 32
4.2.3 Position Demonstration Operation................................................................... 33
4.2.4 Identification of Inertia Percentage.................................................................. 33
4.2.5 Confirmation of Motor Model..........................................................................34
4.2.6 Initialization of User Parameter Setup............................................................. 34
4.2.7 Displaying History Alarm Data........................................................................ 35
4.3 Operation under User Parameter Mode (P□□□□)........................................................ 35
4.3.1 User Parameter Setting..................................................................................... 35
4.3.2 Signal Distribution of Input Circuit..................................................................37
4.3.3 Signal Distribution of Output Circuit............................................................... 40
4.4 Operation under Monitoring Mode (Un□□□)...............................................................43
4.4.1 List of Monitoring Mode.................................................................................. 44
Chapter V Operation......................................................................................................................... 47
5.1 Trial Operation.............................................................................................................. 47
5.1.1 Trial Operation for Servo Motor Unit.............................................................. 47
5.1.2 Trial Operation for Servo Motor Unit with Superior Reference......................48
5.1.3 Trial Operation Servomotor Connected to the Machine.................................. 51
5.1.4 Trial Operation of Servomotor with Brakes..................................................... 52
5.1.5 Position Controlled by Command Controller...................................................52
5.2 Selection of Control Mode............................................................................................52
5.3 Setting of General Basic Functions.............................................................................. 53
5.3.1 Servo ON Setting.............................................................................................. 53
5.3.2 Rotation Direction Switching of Motor............................................................54
5.3.3 Overtravel Setting............................................................................................. 54
5.3.4 Setting for Holding Brake.................................................................................56
5.4 Use of Absolute Encoder.............................................................................................. 59
5.4.1 Interface Circuit....................................................................................................... 60
5.4.2 Selection of Absolute Encoder.................................................................................61
5.4.3 How to Use Battery..................................................................................................61
5.4.4 Giving and Receiving Sequence of Absolute Data................................................. 62
5.4.5 Setting of Absolute Encoder (F□009/ F□010).........................................................64
5.4.6 Clear of Multi-coil Data of Absolute Encoder........................................................ 64
5.4.7 Clear of Internal Errors of Bus Encoder..................................................................65
5.5 Speed Control (Analog Voltage Reference) Operation................................................ 65
5.5.1 User Parameter Setting..................................................................................... 65
 5.5.2 Setting of Input Signal................................................................................... 66
5.5.3 Adjustment of Reference Offset....................................................................... 66
5.5.4 Soft Start........................................................................................................... 68
5.5.5 Use of Zero Clamping Function....................................................................... 70
5.5.6 Encoder Signal Output......................................................................................71
5.6 Position Control Operation........................................................................................... 73
5.6.1 User Parameter Setting..................................................................................... 73
5.6.2 Setting of Electronic Gear................................................................................ 74
5.6.3 Position Reference............................................................................................ 76
5.6.4 Smoothing......................................................................................................... 79
5.6.5 Positioning Completed Output Signal.............................................................. 80
5.6.6 Low-frequency Jitter Suppression.................................................................... 80
5.6.7 Inhibition Function of Reference Pulse (INHIBIT Function)..........................81
5.7 Torque Control Operation............................................................................................. 82
5.7.1 User Parameter Setting..................................................................................... 82
5.7.2 Torque Reference Input.................................................................................... 82
5.7.3 Adjustment of Reference Offset....................................................................... 83
5.7.4 Speed Limit under Torque Control................................................................... 85
5.8 Speed Control (Internal Speed Selection) Operation................................................... 86
5.8.1 User Parameter Settings for speed control with an internally set speed.......... 86
5.8.2 Setting of Input Signal...................................................................................... 87
5.8.3 Operation at Internal Set Speed........................................................................ 87
5.9 Torque Limit................................................................................................................. 89
5.9.1 Internal Torque Limit (Limitation on Output Torque Maximum Value)..........89
5.9.2 External Torque Limit (through Input Signal)..................................................90
5.9.3 Torque Limit Based on Analog Voltage reference............................................91
5.9.4 Torque Limit Based on External Torque Limit + Analog Voltage Reference..92
5.9.5 Confirmation under Input Torque Limit...........................................................94
5.10 Control Mode Selection................................................................................................ 94
5.10.1 User Parameter Setting..................................................................................... 94
5.10.2 Shift of Control Mode.......................................................................................94
5.11 Other Output Signal...................................................................................................... 95
5.11.1 Servo Alarm Output (ALM)............................................................................. 95
5.11.2 Rotation Detection Output (/TGON)................................................................95
5.11.3 Servo Ready Output (/S-RDY).........................................................................96
5.12 Mode Motion Sequence Manner.................................................................................. 96
5.12.1 Single Data Set Manner.................................................................................... 96
5.12.2 Data Set Sequence Mode.................................................................................. 98
5.12.3 Operation of Seeking Reference Point (Return to Zero)................................103
Chapter VI Communication............................................................................................................ 107
6.1 Communication Wiring...............................................................................................107
6.2 User Parameter............................................................................................................107
6.3 MODBUS Communication Protocol................................................................................108
6.4 MODBUS Communication Address.................................................................................116
Chapter VII Maintenance and Inspection....................................................................................... 130
7.1 Abnormality Diagnosis and Treatment Methods........................................................130
7.1.1 Overview of Alarm Display............................................................................130
7.1.2 Alarm Displays and Their Causes and Treatment Measures..........................131
7.1.3 Causes and Treatment Measures of Other Abnormalities.............................. 139
7.2 Maintenance and Check of Servo Drive.....................................................................144
7.2.1 Check of Servo Motor.................................................................................... 144
7.2.2 Check of Servo Drive..................................................................................... 144
7.2.3 General Standards of Replacement of Internal Parts of Servo Drive............ 144
Appendix A Summary of User Parameters.....................................................................................146
Appendix B Table of iK Series M2 Drive Parameters................................................................... 175
Appendix C List of Alarm Display................................................................................................. 191
Appendix D Guidelines for Motor Model by Users....................................................................... 193
Motor Adaption Table............................................................................................................. 194
1、M series 220V motor................................................................................................ 194
2、M4 series 220V motor.............................................................................................. 196
3、M series 380V motor................................................................................................ 198
4、M4 series 380V motor.............................................................................................. 199
5、M1 series 220V motor.............................................................................................. 200
6、M1 series 380V motor.............................................................................................. 201
7、S series motor........................................................................................................ 202
8、S3 series motor..........................................................................................................202
9、S2 series motor..........................................................................................................203
10、A series motor......................................................................................................... 203
11、Panasonic A6 series motor...................................................................................... 205
12、Panasonic A5 series motor......................................................................................205
13、Tamakawa motor.....................................................................................................205
 K/iK Series AC Servo Driver

Chapter I Function Overview

1.1 Description of Servo Driver Models

Naming rule of K servo driver:

Naming rule of iK series bus servo driver:

Note: 3.5kW and 5kW products are single axis products

1.2 Description of servo motor

The description of universal M type servo motor:

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 K/iK Series AC Servo Driver

The description of universal M4 type servo motor:

The description of high performance type servo motor:

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 K/iK Series AC Servo Driver

1.3 Basic Functions

Control mode Position control, JOG running, speed contact, etc.
Encoder feedback 2500-line incremental standard and 17 bit incremental encoders
Ambient/storage
Ambient temperature: 0~+50℃; storage temperature: -20~+85℃
temperature
Use
Ambient/storage humidity Under 90%RH (no freezing or condensation)
conditions
Vibration/impact
4.9m/s2/19.6m/s2
resistance strength
Analog Reference voltage DC±10V
speed
reference Input impedance Appx. 20KΩ
input
Analog Reference voltage DC±10V
torque
reference Input impedance Appx. 20KΩ
input
Point 8 points
Servo ON (/S-ON), P action (/P-CON), positive-side over travel prohibited (P-OT),
IO input negative-side over travel prohibited (N-OT), alarm reset (/ALM-RST), positive-side torque
signal Function (distributable) limit (/P-CL), negative-side torque limit (/N-CL), position deviation clear (/CLR), internal
set speed switch, etc.
Distribution of above signals and change of positive/negative logics are available
Point 6 points
Servo alarm (ALM), position complete (/COIN), velocity compliance detection (/V-CMP),
IO output
Signal servo motor rotation detection (/TGON), servo ready (/S-RDY), torque limit detection
Function (distributable)
(/CLT), breaker (/BK), encoder zero point output (PGC)
Distribution of above signals and change of positive/negative logics are available
Encoder divided frequency output A-phase, B-phase and C-phase: linear drive output; divided pulse count: can be set freely
RS-485 Communication protocol MODBUS
communica 1:N communication N = 127 stations at maximum
tion Axial address setting Set by parameters
CAN Communication protocol CANOpen (DS301 + DS402 guild regulations)
communica 1:N communication N = 127 stations at maximum
tion Axial address setting Set by parameters
Display functions CHARGE indicator, 7-segment digital tube 5 bit
Regeneration processing Built-in or external regeneration resistor (optional)
Dynamic breaker (DB) stop, deceleration stop or free running stop during P-OT or N-OT
Overtravel (OT) prevention function
input action
Overcurrent, overvoltage, undervoltage, overload, overspeed, regeneration failure, encoder
Protection functions
feedback error, etc.
Rotation speed, current position, reference pulse accumulation, positional deviation, motor
Monitoring functions
current, operating status, input and output terminal signal, etc.
Auxiliary functions Gain adjustment, alarm record, JOG running, origin search, inertia detection, etc.
Intelligent function Built-in gain auto tuning function
Applicable load inertia Less than 5 times of the motor inertia
Feed-forward
0~100% (set unit: 1%)
compensation
Sign + pulse sequence, CW+CCW pulse sequence, 90 ° phase difference two-phase pulse
Input pulse type
(A phase + B phase)
Position Input pulse type Linear drive and open connector supported
control Linear drive：
Sign + pulse sequence, CW+CCW pulse sequence: 500Kpps
Maximum input pulse 90 ° phase difference two-phase pulse (A phase + B phase): 500Kpps
frequency Open connector：
Sign + pulse sequence, CW+CCW pulse sequence: 200Kpps
90 ° phase difference two-phase pulse (A phase + B phase): 200Kpps

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 K/iK Series AC Servo Driver

Chapter II Installation and Dimension

2.1 Servo Driver

K series servo drivers are base-mounted and improper installation may give rise to
failures. Please install the servo driver properly by following the instructions below.

2.1.1 Storage Condition

The servo driver should be kept in a place with an ambient temperature of [-20~+85]℃ when
not used.

2.1.2 Installation Site

■ Temperature: 0～55°C;
■ Ambient humidity: not higher than 90% RH ( no condensation);
■ Sea level not higher than 1000 m;
■ Maximum vibration: 4.9m/s²;
■ Maximum Impact: 19.6m/s²;
■ Other installation precautions:
· Installed in a control cabinet
Attention should be paid to the size of the control cabinet, the placement mode of servo
driver and cooling mode, in order to ensure that the ambient temperature for the servo driver is
under 55℃. Please refer to description in Section 1.2.2 for operation details;
· Installed near heat source
The radiation of the heat source and temperature rise caused by convection should be under
control, in order to ensure that the ambient temperature for the servo driver is under 55℃;
·Installed near vibration source
A vibration isolation device should be installed to avoid vibration passing to the servo driver;
· Installed in a place exposed to corrosive air
Necessary measures should be taken to prevent the servo driver from exposing to corrosive
air. Corrosive air may not immediately affect servo driver but will obviously cause the failure of
electronic components and relevant elements of the contactor;
· Other occasions
Servo driver should not be put in occasions of high temperature, high humidity, condensation
dripping, oil splashing, dust, scrap iron or radiation;
Note: when cutting off the power to store the servo driver, please put the driver in a place
with the following environmental conditions: -20~85℃, 90% RH below (no condensation)

2.1.3 Installation Direction

The direction of installation should be vertical to the mounting surface and two mounting
holes should be used to reliably fix the servo driver on the installation base. If required, a fan
should be installed to compulsorily cool the servo driver.

2.1.4 Installation of Several Servo Drivers

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 K/iK Series AC Servo Driver

If more than one servo driver should be installed in a control cabinet in parallel, the space
indicated below should be followed for installation and heat dissipation.

■ Installation direction of servo driver

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

2.1.5 Dimension Description

（1）Installation dimension of K1/K2/iK2 series：

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 K/iK Series AC Servo Driver

Installation of K1/K2/iK2 - 400W and 750W Installation of K1/K2/iK2- 1.5kW

Dimension of K1/K2/iK2-400W Dimension of K1/K2/iK2-750W

（2）K/iK series
Dimension of 1.5kW / 2.0kW（220V）and 2.0kW / 3.5kW（380V）：

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 K/iK Series AC Servo Driver

Dimension of 2.8kW：

Dimension of 3.5kW / 5.0kW（220V）和 5.0kW / 7.5kW（380V）：

2.2 Servo Motor

The servo motor can be installed in horizontal or vertical direction. The service life of the
servo motor will be shortened significantly or unexpected accident may occur if any mechanical
mismatch occurs during installation. Please follow the instructions below for correct installation.

Precautions before installation:

Antirust agent is applied at the motor axis end and should be wiped off using a soft cloth dipped in
diluent before installation.
When wiping off the antirust agent, attention should be paid to prevent the diluent from contacting
other parts of the servo motor.

2.2.1 Storage Temperature

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 K/iK Series AC Servo Driver

The servo motor should be kept in a place with an ambient temperature of [-20~+60]℃ when
not used.

2.2.2 Direction
Servo motor should be installed indoor and the indoor space should meet the following
environmental conditions.
 No corrosive, flammable or explosive air
 Good ventilation, little dust and dry environment
 Ambient temperature within 0~40℃
 Relative humidity within 26%~80%RH without condensation
 Easy for maintenance and cleaning

2.2.3 Installation Concentricity

Flexible coupling should be used as much as possible when connecting to machinery. In
addition, axis of servo motor should be placed in a straight line with that of mechanical load.
When installing servo motor, requirements for concentricity tolerance should be met as the
following figure.

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

 Mechanical vibration will be caused by large concentricity deviation

and therefore will lead to damages to servo motor bearing.
 When installing coupling, axial percussion is prohibited, otherwise
damages will be caused to encoder of servo motor.

2.2.4 Installation Direction

Servo motors can be installed horizontally, vertically or in random direction.

2.2.5 Protection Measures Against Water and Oil

When using in places containing water, oil or condensation, it is required to take special
measures to motors as per protection requirements; however, motors with oil seals should be used
since protection requirements for shaft penetrating portion should be satisfied when motors
leaving factory. Shaft penetrating portion refers to interval between extension of motor end and
end flange.

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 K/iK Series AC Servo Driver

2.2.6 Cable Tension

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

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 K/iK Series AC Servo Driver

Chapter III Wiring

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

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

3.1 Profile of terminal

3.1.1 K series driver

☆ Note：There is only U1、V1、W1 and CN1 in single axis driver.

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 K/iK Series AC Servo Driver

3.1.2 iK series driver

（1）Introduction of the main circuit terminal of K/iK series 220V driver

Terminal Functions Precautions for operation
U1, V1, W1 Terminal of A-axis motor power line Connected to A-axis servo motor
U2, V2, W2 Terminal of b-axis motor power line Connected to b-axis servo motor
Three phase 200 - 230VAC (-15%~+10%)
L1, L2, L3 Input terminal of main circuit power
(50/60Hz)
Single phase 200 - 230VAC (-15%~+10%)
L1C, L2C Power input terminal of control loop
(50/60Hz)
Resistor should be connected to B1 and B2 if
B1, B2 Terminal of bleeder resistor
external connection for bleeder resistor is required
Earthing measures should be carried out for
PE Earthing Terminal connection of power earthing terminals and motor
earthing terminals
Notes: A axis refers to U1, V1 and W1; b axis refers to U2, V2 and W2 in the instruction.

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 K/iK Series AC Servo Driver

（2）Introduction of the main circuit terminal of K/iK series 380V driver

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

3.2 Typical Examples for Main Circuit Wiring

3.2.1 K/iK series single axis 220V

--------------------------------------------------------------------------------------------
Notes: design of power ON sequence
The following items should be considered during design of power ON sequence.

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 K/iK Series AC Servo Driver

1. Design of power ON sequence: power should be OFF after output of signals of "servo alarm". (Refer
to the above circuit diagram.)
2. Press the POWER ON button for over 2 s. When control power of servo unit is ON, output 2s "servo
alarm" signal (1Ry: OFF). It is required to be done during initial setting of servo driver.

3. Power specification for used parts should match with input power.
------------------------------------------------------------------------------------------------------------------------------------------

3.2.2 K/iK series double axis 220V

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 K/iK Series AC Servo Driver

3.2.3 K/iK series single axis 380V

3.3 Control mode wiring

(1) Position Control Mode

Pin-out for signal wiring of single-axis driver should be subject to A-axis wiring pin-out. The
b-axis pin-out will not be connected.

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 K/iK Series AC Servo Driver

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 K/iK Series AC Servo Driver

(2) Speed/Torque Control Mode

Pin-out for signal wiring of single-axis driver should be subject to A-axis wiring pin-out. The
b-axis pin-out will not be connected.

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 K/iK Series AC Servo Driver

3.4 Encoder Signal Wiring

Connecting cables between encoder and servo driver and their wiring pin No. vary with
servo motors.

3.4.1 K series encoder

3M，14 pin，Type：10214-52A2PL（E）

Terminal Signal name Terminal Signal name

No. 2500 17bit No. 2500 17bit
1 A+ — 8 U+ —
2 A- — 9 U- —
3 B+ — 10 V+ —
4 B- — 11 V- —
5 C+ E+ 12 W+ SD+
6 C- E- 13 W- SD-
7 PG5V PG5V 14 PG0V PG0V

3.4.2 iK series encoder

Terminal type：3E106 - 2230 KV
Terminal No. 1 2 3 4 5 6 PE
Signal name PG5V PG0V E+ E- SD+ SD- Shell

3.4.4 Connection with Encoder Interface (CN1/CN2) and Processing of Output

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

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 K/iK Series AC Servo Driver

(2) 2500 incremental standard encoder

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 K/iK Series AC Servo Driver

(3) Bus incremental encoder

(4) Bus absolute encoder

3.5 Input/Output Signal Wiring

3.5.1 K/iK series input/output terminal

图 K/iK/K2 series I/O terminal（In the face of the plug welding）

3M，50 pin，type：10250-52A2PL。

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 K/iK Series AC Servo Driver

Functions Functions
Terminal Terminal
Name Name
No. Single-axis driver Double-axis driver No. Single-axis driver Double-axis driver

1 APULS+ 26 BPULS+ b-axis reference pulse

Reference pulse input A-axis reference pulse input Reserved
2 APULS- 27 BPULS- input

3 ASIGN+ 28 BSIGN+ b-axis reference sign

Reference sign input A-axis reference sign input Reserved
4 ASIGN- 29 BSIGN- input

b-axis speed reference

5 AV-REF Speed reference input A-axis speed reference input 30 BV-REF Reserved
input
6 GND Signal ground Signal ground 31 GND Signal ground Signal ground

7 OUT1+ 32 OUT4+ Output port 4, which

Output port 1, which can be Output port 1, which can be Output port 4, which can be
can be reallocated
reallocated reallocated reallocated
(Factory setting:
8 OUT1- (Factory setting:ALM) (Factory setting:A-axis ALM) 33 OUT4- (Factory setting:/S-RDY)
b-axis ALM)
9 OUT2+ 34 OUT5+ Output port 5, which
Output port 2, which can be Output port 2, which can be Output port 5, which can be
can be reallocated
reallocated reallocated reallocated
(Factory setting:
10 OUT2- (Factory setting:/COIN) (Factorysetting:A-axis/COIN) 35 OUT5- (Factory setting:/CLT)
b-axis/COIN)
11 OUT3+ Output port 3, which can be 36 OUT6+ Output port 6, which
Output port 3, which can be Output port 6, which can be
reallocated can be reallocated
reallocated reallocated
(Factory (Factory setting:
12 OUT3- (Factory setting:/TGON) 37 OUT6- (Factory setting:/BK)
setting:A-axis/TGON) b-axis/TGON)
Common port of input A-axis SEN signal
13 DICOM Common port of input signal 38 SEN SEN signal input
signal input
Input port 1, which can be Input port 5, which
Input port 1, which can be Input port 5, which can be
reallocated can be reallocated
14 IN1 reallocated 39 IN5 reallocated
(Factory (Factory setting:
(Factory setting:/S-ON) (Factory setting:/ALM-RST)
setting:A-axis/S-ON) b-axis/S-ON)
Input port 2, which can be Input port 6, which
Input port 2, which can be Input port 6, which can be
reallocated can be reallocated
15 IN2 reallocated 40 IN6 reallocated
(Factory (Factory setting:
(Factory setting:/P-CON) (Factory setting:/CLR)
setting:A-axis/P-CON) b-axis/P-CON)
Input port 7, which
Input port 3, which can be Input port 3, which can be Input port 7, which can be
can be reallocated
16 IN3 reallocated reallocated 41 IN7 reallocated
(Factory setting:
(Factory setting: POT) (Factory setting:A-axis POT) (Factory setting: /PCL)
b-axis POT)
Input port 8, which
Input port 4, which can be Input port 4, which can be Input port 8, which can be
can be reallocated
17 IN4 reallocated reallocated 42 IN8 reallocated
(Factory setting:
(Factory setting: NOT) (Factory setting:A-axis NOT) (Factory setting:/NCL)
b-axis NOT)
18 AT-REF Torque reference input A-axis torque reference input 43 BT-REF Reserved b-axis torque
reference input
19 APAO+ 44 BPAO+ Phase A of b-axis PG
Phase A of PG frequency Phase A of A-axis PG
Reserved frequency dividing
20 APAO- dividing output frequency dividing output 45 BPAO- output

21 APBO+ 46 BPBO+ Phase B of b-axis PG

Phase B of PG frequency Phase B of A-axis PG
Reserved frequency dividing
22 APBO- dividing output frequency dividing output 47 BPBO- output

23 APCO+ 48 BPCO+ Phase C of b-axis PG

Phase C of PG frequency Phase C of A-axis PG
Reserved frequency dividing
24 APCO- dividing output frequency dividing output 49 BPCO- output

25 GND Signal ground Signal ground 50 BSEN Reserved b-axis SEN signal
input
★
OUT1~OUT6：The maximum operating voltage is 25V and the maximum driving current is 50mA；

3.5.4 Interface Circuit

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 K/iK Series AC Servo Driver

Examples of connection of input/output signal of servo unit and its command controller are
shown as below.
(1) Interfaces to reference input circuit
(a) Analog input circuit
The following is to describe 5-6 (speed reference input) terminals and 18-25 (torque
reference input) terminals of CN3 connector.
Analog signal is the signal of speed reference or torque reference. Input impedance is shown
as below.
· Speed reference input: appx. 20 KΩ
· Torque reference input: appx. 20 KΩ
Maximum allowable voltage of input signal is 12 V.

(b) Position reference Input Circuit

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

(2) Interfaces to sequence control input circuit

The following is to describe IN1 - IN8 terminals of CN3 connector.
Connect through the transistor circuit of relay or open connector. Please select relay for

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 K/iK Series AC Servo Driver

small current when using relay for connection. If otherwise, bad contact will occur.

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

(4) Interfaces to output circuit

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

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 K/iK Series AC Servo Driver

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

3.6 Communication connection terminal signal definition

K series communication connection terminal signal definition are as follows：

Terminal No 1 2 3 4 5 6 7 8
CN4 CANH CANL GND GND RS485+ RS485- Reserved Reserved
mane
CN5 CANH CANL GND GND RS485+ RS485- Built in 120 ohm resistor

★ Note：
Ｋseries 485 commumication terminal is CN4、CN5；
iK series 485 commumication terminal is CN4；

3.7 Other wiring

3.7.1 Precautions
1. For reference input and wiring leading to encoder, please use the specified cable. Please select
the cable with shortest connection distance.
2. Use heavy wire (above 2.0 mm2) whenever possible as grounding wire.
· Grounding superior to D type (with grounding resistance of below 100 Ω ) is
recommended.
· It must be one-point grounding.
· Please directly ground the servo motor when servo motor and machine are insulated from
each other.
3. Do not blend or impose tension on the wire.
Core wire thickness of cable for signal is only 0.2 mm or 0.3 mm, so be careful when using
it.

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 K/iK Series AC Servo Driver

4. For radio frequency interference, please use noise filter.

· When it is used around residences or radio frequency interference is concerned, please
insert noise filter at the input side of power wire.
· Since servo unit is industrial equipment, no countermeasure is taken against radio frequency
interference.
To prevent misoperation due to noise, the following approaches are effective.
· Please locate reference input equipment and noise filter close to servo unit where possible.
· Please be sure to install surge suppressor on the coils of relay, solenoid and electromagnetic
contactor.
· Please separate power wire (high voltage circuit of power wire, servo motor wiring, etc.)
and signal wire while wiring, with the interval kept above 30 cm. Do not put them into the same
pipeline or bind them.
· Do not use the same power as electric welding machine, electrical discharge machine, etc.
Even if so, please insert noise filter at the input side of power wire when there is high frequency
generator around.
6. Use molded case circuit breaker (QF) or fuse to protect power wire.
· The servo driver is directly connected to industrial power wire. To protect servo system from
cross electric shock accident, please be sure to use molded case circuit breaker (QF) or fuse.
7. There is no built-in grounding protection circuit in servo driver. To form a safer system, please
configure residual-current circuit breaker for both overload and circuit protection, or
residual-current circuit breaker with supporting molded case circuit breaker for special
protection of ground wire.
------------------------------------------------------------------------------------------------------------------------------------------

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 K/iK Series AC Servo Driver

3.7.2 Anti-interference Wiring

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

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 K/iK Series AC Servo Driver

2. Separate the grounding wire of noise filter from its output wiring.
Please do not put the output wiring of noise filter and other signal wires and grounding wires
into the same pipeline or bind them together.

3. Connect the grounding wire of filter alone with grounding plate and do not connect other
grounding wires.

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

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 K/iK Series AC Servo Driver

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

3.8 Wiring of Motor

2.3.1 Connector Terminal Wiring for Motor Power Supply

4 pin aviation plug 4 pin aviation plug
Plug type 4 pin Amp Plug
XS16K4 YD28K4/YD32K4

sketch map

Motor series 1 2 3 4
Pin 1：PE 2：U 1：PE 2：U
M series U W V PE
descriptions 3：V 4：W 3：V 4：W
S series U V W PE

S series motor with brake B series 130flange

Plug type 7 pin aviation plug 4 pin aviation plug
YD28J7 CMS3102A18-10P

sketch
map

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

descriptio Definitio P U V W Brak Brak N Definitio U V W PE

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 K/iK Series AC Servo Driver

ns n E e e C n

2.3.2 Connector Terminal Wiring for Motor Encoder

（1）Incremental encoder
E/M series，flange≤90，Incremental encoder Non-wire saving encoder（15 pin Amp）
Pin 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15
Definition PE 5V G B+ Z- U+ Z+ U- A+ V+ W V- A- B- W-
E/M series，flange≥110，Incremental encoder Non-wire saving encoder（15 pin aviation）
Pin 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15
Definition PE 5V GND A+ B+ Z+ A- B- Z- U+ V+ W+ U- V- W-
S series，40≤flange＜90，Incremental encoder Non-wire saving encoder（15 pin Amp）
Pin 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15
Definition A+ A- B+ B- Z+ Z- U+ U- V+ V- W W- 5V G FG
（2）Wire-saving encoder
3 rows and 9-pin AMP
Pin 1 2 3 4 5 6 7 8 9
Definition 5V GND A+ A- B+ B- Z+ Z- FG
15 pin aviation plug，10~15 pins are not welded
Pin 1 2 3 4 5 6 7 8 9
Definition FG 5V GND A+ B+ Z+ A- B- Z-
（3）Absolute encoder
E series and M series absolute encoder（7pin,40~90 flange：XS16J7，100~180 flange
YD28J7）

Pin 1 2 3 4 5 6 7
Definition FG E- E+ SD- GND SD+ +5V
B series 100~150 flange absolute encoder，（10pin，SC-CMV1-R10P）

Pin 1 2 3 4 5 6 7 8 9 10
Mige Definition / E- E+ SD- GND SD+ +5V / / FG
Hongfa Definition / 5V GND SD+ SD- E+ E- / / FG
S series 40-90 flange absolute encoder，（9 pin AMP）
Pin 1 2 3 4 5 6 7 8 9
Definition E+ E- FG SD+ SD- / 5V GND /
S series 40-90 flange,Nikon absolute encoder（9 pin AMP，S2 and S3 series are not included）
Pin 1 2 3 4 5 6 7 8 9
Definition SD+ SD- E+ / / 5V GND E- FG
S series 100-150 flange, absolute encoder（15 pin aviation plug，YD28J15）

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 K/iK Series AC Servo Driver

Pin 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15
Definition FG E- E+ SD G SD 5V /

Chapter IV Panel Operation

4.1 Basic Operation

4.1.1 Key Names and Functions

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

Symbol Name Functions

Basic function switch: status display, auxiliary function,
parameter setting and monitoring
Function key
Long press to switch between A-axis and b-axis display and
operation
Press UP to increase set value
UP Functioning as start key of positive rotation during JOG
running in auxiliary function mode
Press DOWN to reduce set value
DOWN Functioning as start key of negative rotation during JOG
running in auxiliary function mode
Press the key to shift the selected bit (the decimal point of
Shift key
which flickers) one bit to the left
Press the key to display the setting and set value of parameters,
SET
and access parameter setting status and clear alarm
In the mode of status display, press SET to clear alarm, which can also be done by using
alarm removal input signal/ALMRST.
Note: in case of alarm ringing, first eliminate alarm causes and then remove alarm.

4.1.2 Selection and Operation of Basic Mode

Through switching the basic modes of panel operator, such operations as running status
display, parameter setting and running reference can be done.

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Basic modes include status display mode, parameter setting mode, monitoring mode and
auxiliary function mode. After Key M is pressed, the modes switch in the order as shown in the
following figure.

4.1.3 Status Display

Distinguishing method of status display is shown as below:

■ Display content of bit data

Velocity/torque control mode Position control mode
Item
Bit data Display content Bit data Display content
Light on when servo ON Servo ON
① A axis Running A axis Running
(power being supplied to motor) (power being supplied to motor)
② A axis Same speed Light on when gap between motor A axis Positioning Light on when offset of actual

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 K/iK Series AC Servo Driver

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

■ Display content of abbreviated sign

Abbreviated signs Display content
A-axis and b-axis servos are OFF
(no power being supplied to A-axis and b-axis motors)
A-axis servo is ON
(power being supplied to A-axis motor)
b- axis servo is ON
(power being supplied to b-axis motor)

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A-axis servo is P-OT/N-OT

(required to be judged depending on P-OT/N-OT bits in A-axis bit display)
b-axis servo is P-OT/N-OT
(required to be judged depending on positive and negative rotation in b-axis bit display)
A axis is in alarm state
displaying alarm number
b axis is in alarm state
displaying alarm number

4.2 Auxiliary Function Mode (F□□□□)

4.2.1 Execution Mode List of Auxiliary Functions

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

4.2.2 Display of Software Version of Servo

The following are operation steps for display of A-axis software version.
Operation Operation
Operation instruction Display after operation
steps key
Press M function key and select auxiliary function mode to
1
set the current mode as A-axis auxiliary function mode.
Press M function key (for more than 1 second) and switch to
2
auxiliary function mode of b axis, which will display Fb000.
Press UP or DOWN and select the desired auxiliary function
3
Fb000.

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 K/iK Series AC Servo Driver

Press SET and A-1.00 is displayed, which indicates processor

4
program version is V1.00.
Press Shift key and P-1.00 is displayed, which indicates
5
FPGA program version is V1.00.

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

4.2.3 Position Demonstration Operation

The following are operation steps for display of A axis position demonstration.
Operation Operation
Operation instruction Display after operation
steps key
Press M function key (for more than 1 second) and
1 switch to auxiliary function mode of A axis, which
will display FA000.
Press UP or DOWN and select the desired auxiliary
2
function FA001.
Press SET and "2PCLr" is displayed and initiate
3
position demonstration operation.
Press SET (for more than 1 second) until the
4 display flickers “donE” to indicate position
demonstration operation has been completed.

5 Press SET to return to the display of FA001.

4.2.4 Identification of Inertia Percentage

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

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

5 Press SET to return to the previous menu.

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 K/iK Series AC Servo Driver

Press M function key and select the desired auxiliary

6
function FA003.
Press SET to display the operation interface "-JIn-"
7
for display of inertia identification percentage.
Press M function key, initiate inertia identification
operation by rotating motor 3 circles clockwise and
8
another 3 circles counterclockwise, after which
display flickers "donE".
After detection, inertia percentage currently detected
9 ——
is displayed.

10 Press SET to return to the display of Fb000.

4.2.5 Confirmation of Motor Model

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

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

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

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

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

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

7 Press SET to return to the display of Fb000.

4.2.6 Initialization of User Parameter Setup

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

2 Press SET to start parameter initialization.

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 K/iK Series AC Servo Driver

Press SET (for more than 1 second) until the

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

4 Press SET to return to the display of FA011.

4.2.7 Displaying History Alarm Data

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

See "Abnormality Diagnosis and Treatment Methods" for alarm content.

1、 In case of continuous occurrence of the same alarm, the alarm history data will not update.
2、 The alarm history data displayed as “A--” or “b--” indicate zero alarm.
Validate the history alarm according to the following steps.
Operation Operation
Operation instruction Display after operation
steps key

Press M function key to select auxiliary function mode for A axis.

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

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

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

3
display the next new alarm).
Press UP to display the alarms in order.
4
* “A--” or “b--” indicates "Zero Alarm".

5 Press SET to return to the display of Fb012.

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

Functions can be selected or adjusted by setting parameters. User parameters consist of

"Parameter Setting" and "Function Selection". Parameter Setting functions to change the
parameter data to be adjusted in a certain range and Function Selection works to select the
functions distributed to bit numbers of penal operator.

4.3.1 User Parameter Setting

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 K/iK Series AC Servo Driver

(1) Parameter setting

(a) Categories of “Parameter Setting”
See "List of User Parameters".
(b) Example to change "Parameter Setting"
The Parameter Setting based user parameters specify data by numerical values directly.
The range of change is validated by List of User Parameters. For example: the operation steps
to change b axis user parameter Pb100 (Speed loop gain) from "40" to "100" are shown as
follows.

Operation Operation
Operation instruction Display after operation
steps key

1 Press M function key to select parameter setting mode

Press M function key (for more than 1 second). Pb000

2
is displayed and the decimal point in Bit 0 flickers
Press shift key twice and select Bit 2 of the displayed
3 number. Pb0.00 is displayed and the decimal point in
Bit 2 flickers

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

5 Press SET to display current Pb100 data

Press shift key twice and select Bit 2 of the displayed

6 number. 000.40 is displayed and the decimal point in
Bit 2 flickers

7 Press UP to change the data and 010.00 is displayed

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

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

(2) Function selection

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

Operation Operation
Operation instruction Display after operation
steps key
Press M function key (for more than 1 second) and
1
PA0.00 is displayed
Press SET to display current PA000 data. The
2
decimal point in Bit 0 flickers

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 K/iK Series AC Servo Driver

Press shift key and select Bit 1 of the displayed

3 number. H000.0 is displayed and the decimal point
in Bit 1 flickers
Press UP to change the data and H001.0 is
4
displayed
Press SET to return to the display of PA0.00 and
5 the control approach for A axis has changed to
position control

(c) User parametric representation of the Manual

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

PA000.0 or A.Hxxx□ stands for the set value "0-bit data" of A axis user parameter "PA000".
PA000.1 or A.Hxx□x stands for the set value "1-bit data" of A axis user parameter "PA000".
PA000.2 or A.Hx□xx stands for the set value "2-bit data" of A axis user parameter "PA000".
PA000.3 or A.H□xxx stands for the set value "3-bit data" of A axis user parameter "PA000".
Pb000.0 or b.Hxxx□ stands for the set value "0-bit data" of b axis user parameter "Pb000".
Pb000.1 or b.Hxx□x stands for the set value "1-bit data" of b axis user parameter "Pb000".
Pb000.2 or b.Hx□xx stands for the set value "2-bit data" of b axis user parameter "Pb000".
Pb000.3 or b.H□xxx stands for the set value "3-bit data" of b axis user parameter "Pb000".

4.3.2 Signal Distribution of Input Circuit

Input signals are distributed to the pins of input connector based on the user parameter setup.
(Distribution list is shown as follows.)
(1) Factory setting
The default distribution is indicated in bold as follows.
(a) Factory settings of single-axis driver
PA509 = H.4321 PA510 = H.8765 PA511 = H.0000 PA512 = H.0000
(b) Factory settings of double-axis driver
PA509 = H.4321 PA510 = H.0000 PA511 = H.0000 PA512 = H.0000
Pb509 = H.8765 Pb510 = H.0000 Pb511 = H.0000 Pb512 = H.0000

(2) Distribution change

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 K/iK Series AC Servo Driver

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

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

No connection
Signal CN3 Pin no.
required
Input signal
14 15 16 17 39 40 41 42 Always Always
User parameter distribution
(IN1) (IN2) (IN3) (IN4) (IN5) (IN6) (IN7) (IN8) invalid valid
Servo ON
/S-ON 1 2 3 4 5 6 7 8 0 9
PA509.0 = H.xxx□
Proportional action reference
/P-CON 1 2 3 4 5 6 7 8 0 9
PA509.1 = H.xx□x
Positive-side over travel prohibited
POT 1 2 3 4 5 6 7 8 0 9
PA509.2 = H.x□xx
Negative over travel prohibited
NOT 1 2 3 4 5 6 7 8 0 9
PA509.3 = H.□xxx
Alarm reset
/ALM-RST 1 2 3 4 5 6 7 8 0 9
PA510.0 = H.xxx□
Deviation counter reset
/CLR 1 2 3 4 5 6 7 8 0 9
PA510.1 = H.xx□x
Positive-side external torque limit
/PCL 1 2 3 4 5 6 7 8 0 9
PA510.2 = H.x□xx
Negative side external limit
/NCL 1 2 3 4 5 6 7 8 0 9
PA510.3 = H.□xxx
Gain switch
/G-SEL 1 2 3 4 5 6 7 8 0 9
PA511.0 = H.xxx□
Select internal position setting
/POS0 1 2 3 4 5 6 7 8 0 9
PA511.1 = H.xx□x
Select internal position setting
/POS1 1 2 3 4 5 6 7 8 0 9
PA511.2 = H.x□xx
Select internal position setting
/POS2 1 2 3 4 5 6 7 8 0 9
PA511.3 = H.□xxx
Reference point switch
/HOME-REF 1 2 3 4 5 6 7 8 0 9
PA512.0 = H.xxx□
Allow position start
/POS-START 1 2 3 4 5 6 7 8 0 9
PA512.1 = H.xx□x
Position change step
/POS-STEP 1 2 3 4 5 6 7 8 0 9
PA512.2 = H.x□xx
Homing start
/START-HOME 1 2 3 4 5 6 7 8 0 9
PA512.3 = H.□xxx

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

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 K/iK Series AC Servo Driver

(b) List of input circuit signal distribution of double axis driver:

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

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

Alarm reset
/ALM-RST 1 2 3 4 5 6 7 8 0 9
P□510.0 = H.xxx□
Positive-side external torque limit
/PCL 1 2 3 4 5 6 7 8 0 9
P□510.2 = H.x□xx
Negative side external limit
/NCL 1 2 3 4 5 6 7 8 0 9
P□510.3 = H.□xxx
Gain switch
/G-SEL 1 2 3 4 5 6 7 8 0 9
P□511.0 = H.xxx□
Select internal position setting
/POS0 1 2 3 4 5 6 7 8 0 9
P□511.1 = H.xx□x
Select internal position setting
/POS1 1 2 3 4 5 6 7 8 0 9
P□511.2 = H.x□xx
Select internal position setting
/POS2 1 2 3 4 5 6 7 8 0 9
P□511.3 = H.□xxx
Reference point switch
/HOME-REF 1 2 3 4 5 6 7 8 0 9
P□512.0 = H.xxx□
Allow position start
/POS-START 1 2 3 4 5 6 7 8 0 9
P□512.1 = H.xx□x
Position change step
/POS-STEP 1 2 3 4 5 6 7 8 0 9
P□512.2 = H.x□xx
Homing start
/START-HOME 1 2 3 4 5 6 7 8 0 9
P□512.3 = H.□xxx

Note:
1. When multiple signals are distributed to the same input circuit, the input signal level will influence all the
distributed signals.
2. The “□” of P□510、P□511、P□512 can be either "A" or "b".
(3) Example of input signal distribution
The steps to change the servo ON (/S-ON) distributed by single-axis driver to CN3-14 and
the positive-side external torque limit (/PCL) distributed by single-axis driver to CN3-41 are listed
as follows.

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 K/iK Series AC Servo Driver

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

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

5 Press SET to return to the display of PA509.

6 Press UP or DOWN to set PA510.

Press SET to display current PA510 data. (Distribute

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

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

Press SET to return to the display of PA510 and

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

(4) Polarity reversal setting of input port active level

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

4.3.3 Signal Distribution of Output Circuit

(1) Factory setting
(a) Factory settings of single-axis driver:
PA513 = H.4321 PA514 = H.0065 PA521 = H.0000 PA522 = H.0000
(b) Factory settings of double-axis driver:
PA513 = H.0321 PA514 = H.0000 Pb513 = H.0654 Pb514 = H.0000
(2) Distribution change

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 K/iK Series AC Servo Driver

The output circuits for sequence signals as follows can be used for function distribution.
Moreover, when user parameters change, the servo unit should be subject to "Power Off" →
"Power Restart" to make the user parameter take effect. The default distribution is indicated in the
following gray box.
(a) List of output circuit signal distribution of single-axis driver:
7/(8) 9/(10) 11/(12) 32/(33) 34/(35) 36/(37)
CN3 Pin no.
OUT1 OUT2 OUT3 OUT4 OUT5 OUT6
Polarity setting of signal output
User parameter
PA521=H.xxx□ PA521=H.xx□x PA521=H.x□xx PA521=H.□xxx PA522=H.xxx□ PA522=H.xx□x
distribution
0 1 0 1 0 1 0 1 0 1 0 1
0 Invalid
1 L H
Servo alarm 2 L H
(ALM) 3 L H
PA513.0=H.xxx□ 4 L H
5 L H
6 L H
0 Invalid
1 L H
Positioning completed
2 L H
/same-speed detection
3 L H
(/COIN or /V-CMP)
4 L H
PA513.1=H.xx□x
5 L H
6 L H
0 Invalid
1 L H
Motor rotation detection 2 L H
(/TGON) 3 L H
PA513.2=H.x□xx 4 L H
5 L H
6 L H
0 Invalid
1 L H
Servo ready 2 L H
(/S-RDY) 3 L H
PA513.3=H.□xxx 4 L H
5 L H
6 L H
0 Invalid
1 L H
Torque limit detection 2 L H
(/CLT) 3 L H
PA514.0=H.xxx□ 4 L H
5 L H
6 L H
0 Invalid
1 L H
Brake 2 L H
(/BK) 3 L H
PA514.1=H.xx□x 4 L H
5 L H
6 L H
0 Invalid
1 L H
Encoder origin pulse 2 L H
(/PGC) 3 L H
PA514.2=H.x□xx 4 L H
5 L H
6 L H

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

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 K/iK Series AC Servo Driver

(b) List of output circuit signal distribution of double-axis driver:

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

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

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

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 K/iK Series AC Servo Driver

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

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

5 Press SET to return to the display of PA513.

6 Press UP or DOWN to set PA514.

Press SET to display current PA514 data.

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

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

9
(Distribute TGON to CN3-11(12)

Press SET to return to the display of PA514 and

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

4.4 Operation under Monitoring Mode (Un□□□)

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 K/iK Series AC Servo Driver

Under monitoring mode, the reference value input to A axis or b axis servo driver, status of
input/output signals and servo internal status can be monitored. Even though the servo motor is running,
the monitoring mode can be changed.

4.4.1 List of Monitoring Mode

(1) Content displayed under monitoring mode

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

Validate the relation between input terminals and input signals according to "7.3.2 Signal
Distribution of Input Circuit".
Monitor LED number is Factory settings
Name of input terminal
number displayed Single-axis Double-axis
1 IN1（CN3-14） /S-ON A axis /S-ON
Un007
2 IN2（CN3-15） /P-CON A axis /P-CON

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 K/iK Series AC Servo Driver

Monitor LED number is Factory settings

Name of input terminal
number displayed Single-axis Double-axis
3 IN3（CN3-16） POT A axis POT
4 IN4（CN3-17） NOT A axis NOT
5 IN5（CN3-39） /ALM-RST b axis /S-ON
6 IN6（CN3-40） /CLR b axis /P-CON
7 IN7（CN3-41） /PCL b axis POT
8 IN8（CN3-42） /NCL b axis NOT

(b) Monitor display of output signal status

Display the status of the output signals distributed to output terminals.
When output is OFF (open circuit), the upper display segment (LED) will be on.
When output is ON (short circuit), the lower display segment (LED) will be on.
LED Factory settings
Monitor
number is Name of input terminal
number Single-axis Double-axis
displayed
1 OUT1 (CN3-7,-8) ALM A axis ALM
2 OUT2 (CN3-9,-10) /COIN or /V-CMP A axis/COIN or /V-CMP
3 OUT3 (CN3-11,-12) /TGON A axis/TGON
Un008
4 OUT4 (CN3-32,-33) /S-RDY b axis ALM
5 OUT5 (CN3-34,-35) /CLT b axis/COIN or /V-CMP
6 OUT6 (CN3-36,-37) /BK b axis/TGON
1 PW (CN□-12,-13) □ axis encoder W-phase (□ represents for 1 or 2)
2 PV (CN□-10,-11) □ axis encoder V-phase
Un009 3 PU (CN□-8,-9) □ axis encoder U-phase
(Only valid for 4 UVW off line detection signal □ axis UVW off line detection
incremental 5 PC (CN□-5,-6) □ axis encoder C-phase
encoder) 6 PB (CN□-3,-4) □ axis encoder B-phase
7 PA (CN□-1,-2) □ axis encoder A-phase
8 ABC off line detection signal □ axis UVW off line detection

(3) Use of monitoring mode

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

1 Press M mode key to select monitoring mode

Press UP or DOWN and select the desired monitor

2
number Un000
Press SET to display Un000. The decimal point of
3
current Bit 0 is off, so A axis Un000 is displayed

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 K/iK Series AC Servo Driver

Press UP or Down, the decimal point of current Bit 0

4
is on, so b axis Un000 is displayed

5 Press SET to return to the display of monitor number.

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

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 K/iK Series AC Servo Driver

Chapter V Operation

5.1 Trial Operation

Perform trial operation after wiring.

5.1.1 Trial Operation for Servo Motor Unit

Notes
· Disconnect the servo motor and machinery and only fix the servo motor unit.
To avoid accident, based on the instruction, trial operation is performed on a servo motor under
unloaded status (where the servo motor unit connects with no coupling or belt).
Validate whether the power, motor main circuit and encoder cables are wired correctly. Usually,
wiring mistake may cause the motor fail to rotate smoothly in trial operation. Please validate again.
When the wiring is validated as correct, perform trial operation for servo motor units based on the
following serial number in order.
· Jogging (JOG) and mode running (F□002)
The following are operation steps for display of axis A JOG operation.
Operation Operation
Operation instruction Display after operation
steps key
Press M function key (for more than 1 second) and
1
switch to auxiliary function mode of axis A.
Press M function key to select auxiliary function
2 mode for A axis. In case of failing to display FA002,
press UP or DOWN to set.

3 Press SET to start JOG operation.

Press M function key to turn the servo ON (the

4
motor is powered on).
Press UP (turn anti-clockwise/ positive) or DOWN
5
(turn clockwise/ negative) to run the motor.
Press M function key to turn the servo OFF (the
6
motor is powered off).

7 Press SET to return to the display of FA002.

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 K/iK Series AC Servo Driver

Pay attention, in the operation under jogging (JOG) mode, it is invalid to disable Forward Drive
Prohibited (P-OT) or Reverse Drive Prohibited (N-OT).

5.1.2 Trial Operation for Servo Motor Unit with Superior Reference
This item is to validate whether the servo motor moving reference and input/output signals from
the command controller to the servo unit are correctly set, whether the wiring and polarity between
command controller and servo unit are correct and whether the movement setting of servo unit is
correct. This is the final validation before connecting the servo motor to machinery.
(1) Servo ON reference based on superior reference
The following external input signal circuits and equivalent signal circuits must be configured.

Step Content Verification methods and supplementary instruction

Form the input signal circuit required by servo ON. Please set as follows.

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

Turn the connected signal lines ON/Off to validate that the LED
display of the digital operator changes as follows.
Input servo ON input signal (/S-ON) and validate that When any alarm appears, see "Abnormality Diagnosis and Treatment
3 the display of panel operator is shown as follows.
Methods" to eliminate the alarm.

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 K/iK Series AC Servo Driver

In case of interference in reference voltage during speed control,

“-” in the upper left part of the panel operator will flash. When the
servo is ON, the servo motor might run at dead slow speed. For such
occasion, please refer to “Other Wiring” to take corresponding
measures.

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

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

Step Content Verification methods and supplementary instruction

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

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 K/iK Series AC Servo Driver

Step Content Verification methods and supplementary instruction

Please validate the power and input signal circuit again
9 and validate the speed command input (voltage between
V-REF and GND) is 0 V.
If the servo motor rotates at an extremely slow speed, see
10 Set servo ON(/S-ON) input signal as ON. “Adjustment of Reference Shift”,and use the reference voltage offset
to keep the servo motor from moving.
Give the motor rotation reference (e.g., the motor Motor rotation angle 1 (Un015[pulse]): the pulse count starting from
rotates 1 round) easy to validate in advance from original point.
11 command controller and validate the motor rotation
commanded and realized by visual inspection and
monitoring motor actual angle (Un015[pulse]).
In case of rotation difference of Step 11, please See "Encoder Signal Output" for relevant setting method.
12 properly set the PG frequency dividing ratio (Pn201) PG frequency dividing ratio (Pn201[P/Rev]): the encoder pulse count
that outputs encoder pulse from servo unit. per rotation round.
If the servo is OFF when the speed input reference is set
13 as 0 V, the trial operation to set the reference control as
position control has completed.

(3) Operation steps under position control mode (P□000=H. □□1□)

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

Step Content Verification methods and supplementary instruction

Please validate the conformity between pulse shape and Reference pulse shape is set with P□200=H.××□×. Please refer to
1
the pulse output from the superior pulse commander. "Setting of User Parameter".
Set command unit and set electronic gear ratio based on Electronic gear ratio is set with (Pn202/Pn203). Please refer to
2
command controller. "Setting of Electronic Gear".
3 Power on and set servo ON(/S-ON) input signal as ON.
Use the motor rotation to be easily validated in advance
4 (e.g., motor rotates 1 round) to output slow reference Set the reference pulse rate as the safe rate around 100 r/min.
pulse from command controller.
Please validate the reference pulse count input to servo See "Selection and Operation of Basic Mode" for relevant display
5 unit with the variation before and after inputting the methods.
reference of reference pulse counter ((Un010[pulse]). Un010( input reference pulse counter [pulse])
Please validate the actual rotation of the motor See "Selection and Operation of Basic Mode" for relevant display
6 before/after change of feedback pulse counter methods. Feedback pulse counter (Un011 [pulse])
(Un011[pulse]).
Please validate that Step 5 and 6 meet the following
7
conditions.

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 K/iK Series AC Servo Driver

Un011=Un010

Please validate the input pulse polarity and input reference pulse
Please validate the conformity of rotation direction with
8 shape.
the servo motor giving reference.
Please refer to "Selection of Pulse Reference shape".
To change the motor rotation direction without changing input
9 Please validate motor rotation direction. reference pulse shape, see “Rotation Direction Switching of Motor”.
Start from Step 9 after change.
If the servo will be OFF when the pulse reference input
stops, the trial operation under servo motor unit position
10
control mode using superior position reference has
completed.

5.1.3 Trial Operation Servomotor Connected to the Machine

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

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

8 the 12.4 User Parameter Setting Memo.

At this point, the Supporting Trial Operation for
Machinery and Servo Motor is completed.

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5.1.4 Trial Operation of Servomotor with Brakes

In terms of a servo motor with brake, operation for its holding brake should be controlled by
interlocking output (/BK) signals of the brake in servo driver.
Measures against natural falling of machinery and vibration caused by external force should be
taken prior to confirmation of brake operation. Please check operations of servo motor and holding
brake upon disconnection between servo motor and machinery. If operations are normal, servo motor
may be connected to machinery for trial operation.
Please refer to "Setting for Holding Brake" for wiring of servo motor with brake and settings for
user parameters.

5.1.5 Position Controlled by Command Controller

According to the above mentioned, make sure that trial operation for servo motor unit should be
conducted after disconnection of servo motor and machinery, Please confirm operation and
specification of servo motor first based on the following table.

Commands of command Confirming

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

5.2 Selection of Control Mode

Control modes applicable to servo driver are explained as follows:

User Parameter Control modes Reference

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 K/iK Series AC Servo Driver

P□000 H.□□0□ Speed control (analog voltage reference)

Control RPM of servo motor by reference of analog voltage speed in case of:
· required RPM control
· feedback from frequency dividing output by encoder of servo; setting position loop in command
controller; and implementation of position control
H.□□1□ Position control (pulse train reference)
Control position of servo motor via reference of pulse train position.
Control position via number of incoming pulse and control speed via frequency of incoming pulse.
Use it if in need of positioning operation.
H.□□2□ Torque control (analog voltage reference)
Control output torque of servo motor by analog voltage torque reference which should be used if
required amount of torque for operations such as pressing.
H.□□3□ Speed control (selection of internal set speed)
With 3 input signals (/P-CON, /P-CL and /N-CL), speed is controlled by operation speed set by
servo in advance. 3 operation speeds can be set for the servo without analog voltage reference.
H.□□3□ It is supporting switching modes for the above 4 control modes. Please select an applicable
· switching mode of control mode for purposes of clients.
·
·
H.□□B□
H.□□C□ Motion control mode

5.3 Setting of General Basic Functions

5.3.1 Servo ON Setting

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

(2) Select to use/disuse servo ON signal

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

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5.3.2 Rotation Direction Switching of Motor

In this case, only reverse the rotation direction of motor without changes to pulse and voltage
polarity of commands being sent into servo driver.
At the same time, moving direction (+, -) of shaft is reversed but polarity for output signals
from servo (such as pulse output of encoder and analog monitor signal) is kept unchanged.
In standard setting, "forward direction" is observed to be "counterclockwise rotation" from
the loading side of servo motor.
Command
User Parameter Name
rotation reference Negative rotation reference
Standard setting
(CCW refers to
forward rotation)
(Factory setting)
H.□□□0

P□000
Negative rotation
mode
(CW refers to
forward rotation)
H.□□□1

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

5.3.3 Overtravel Setting

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

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

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

(2) Select to use/disuse overtravel signal

Internal user parameters of servo driver can be set to disuse overtravel signals. At this time, it is
not required to use wiring of input signals for overtravel.
User Parameter Meanings
H.□3□□ Input positive-side over travel prohibited (POT) signal from IN3 (CN3-13). (Factory setting)
A axis Disable the positive-side over travel prohibited (POT) signal (positive-side over travel can be
H.□9□□
conducted frequently)
H.□7□□ Input positive-side over travel prohibited (POT) signal from IN7 (CN3-41). (Factory setting)
B axis H.□9□□ Disable the positive-side over travel prohibited (POT) signal (positive-side over travel can be
conducted frequently)
P□509
H.4□□□ Input negative-side over travel prohibited (NOT) signal from IN4 (CN3-14). (Factory setting)
A axis Disable the negative-side over travel prohibited (NOT) signal (negative-side over travel can be
H.9□□□
conducted frequently)
H.9□□□ Input negative-side over travel prohibited (NOT) signal from IN8 (CN3-42). (Factory setting)
B axis H.9□□□ Disable the negative-side over travel prohibited (NOT) signal (negative-side over travel can be
conducted frequently)
· Effective control modes: speed control, position control and torque control
· Power must be turned on again upon changes to the user parameter so as to effect the setting.
* POT and NOT signals may freely distribute inputted connector pin numbers by user parameters. See the Signal Distribution of Input
Circuit for details.
(3) Motor stop method when using overtravel
Methods used to stop operation of motor when inputting overtravel signals (POT and NOT)
during rotation of servo motor.
Methods for After stop of
User Parameter Meanings
motor stop motor

Plug braking Reduce speed to stop the servo motor by emergency stop torque
H.□0□□ (P□407). Servo motor will be in inertial operation (de-energized)
stopping Inertial operation state after stop.
Inertial operation state Stop the servo motor in the same manner as servo OFF (inertial
H.□1□□ operation stop). The servo motor will be in inertial operation
stopping
(de-energized) state after stop.
Plug braking Inertial operation Reduce speed to stop the servo motor by emergency stop torque
P□000 H.0□□□ (P□407). Servo motor will be in inertial operation (de-energized)
stopping state
state after stop.
Plug braking Zero clamping Reduce speed to stop the servo motor by emergency stop torque
H.1□□□ (P□407). Servo motor will be in zero clamping (servo locking)
stopping state
state after stop.
Inertial operation Inertial operation Stop the servo motor in the same manner as servo OFF (inertial
H.2□□□ operation stop). The servo motor will be in inertial operation
stopping state
(de-energized) state after stop.
· Power must be turned on again upon changes to the user parameter so as to effect the setting.

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· During setting of inertial operation for H.□1□□, the servo motor may be controlled if servo ON signals are received.
■Words and expressions
· Inertial operation stopping: naturally stop the motor by friction resistance arising from motor rotation other than braking.
· Plug braking stopping: stop the motor via deceleration (brake) torque (P□407).
· Zero clamping state: use state of position loop in zero configuration of position reference.
* See the Selection of Stop Methods in Servo OFF for stop methods in servo OFF and alarm condition.

(4) Setting for stop torque in overtravel

5.3.4 Setting for Holding Brake

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

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

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(2) Brake interlocking output

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

(3) Distribution of brake signal (/BK)

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

User Parameter Pin No. of connector Meanings

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

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

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

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

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(5) Timing setting of brake ON (during rotation of servo motor)

If an alarm occurs while the servomotor is rotating, the servomotor will come to a stop and
the brake signal will be turned OFF. The timing of brake signal output can be adjusted by setting
the following parameter.

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5.3.5 Selection of Stop Methods in Servo OFF

Select stop methods for servo unit in servo off.
Methods for After stop of
User Parameter Meanings
motor stop motor

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

5.4 Use of Absolute Encoder

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

5.4.1 Interface Circuit

Standard connection of absolute encoder installed in the servo motor is as follows:

■ Connection of SEN signal

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

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■ Attentions
In order to set the ON SEN signal as OFF and then ON, operation should be executed when H
level is kept for over 1.3 s as shown in the following figure.

5.4.2 Selection of Absolute Encoder

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

5.4.3 How to Use Battery

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

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5.4.4 Giving and Receiving Sequence of Absolute Data

After receipt of output from absolute encoder, the sequence used for the driver to send absolute
data to the command controller is as follows.
(1) Summary of absolute signal
As shown below, serial data and pulse of absolute encoder are output by servo driver via "PAO,
PBO and PCO".

Signal State Signal content

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

(2) Sending sequence and content of absolute data

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

＊ Serial data
It indicates position of motor shaft after circuits of rotation from the reference position (as per
setting value)
＊ Initial incremental pulse

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Pulse should be output at the same speed as pulse for rotation of 1250rpm (factory setting is used
for 17 byte frequency dividing pulse).

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

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

(3) Detailed specification of signal

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

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

In addition, setting operation for absolute encoder must be carried out in case of:
＊ initial startup of machinery
＊ "Bus encoder multi-coil information error (A25 / b25)"
＊ "Bus encoder multi-coil information overflow (A26 / b26)"
＊ "Bus encoder battery alarm 1 (A27 / b27)"
＊ requiring to set multi-turn data of absolute encoder as 0
Implement setting by panel operator.

Attentions:
1、 Setting operation of encoder only can be implemented under servo OFF state.
2、 When absolute encoder alarm is displayed, auxiliary function F□010 should be executed to
stop alarm. Alarm reset (/ALM-RST) of servo driver cannot stop alarm.
＊ "Bus encoder multi-coil information error (A25 / b25)
＊ Bus encoder multi-coil information overflow (A26 / b26)
＊ Bus encoder battery alarm 1 (A27 / b27)
＊ Bus encoder battery alarm 2 (A28 / b28)
＊ Bus encoder overspeed (A41 / b41)

5.4.6 Clear of Multi-coil Data of Absolute Encoder

When using bus absolute encoder, the operation can be used to remove multi-coil information.
Operation Operation
Operation instruction Display after operation
steps key
Press M function key (for more than 1
1 second) and switch to auxiliary function
mode of axis 1, which will display FA000.

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Press UP or DOWN and select the desired

2
auxiliary function FA009.
Press SET to display "PoSCL" and clear
3
multi-coil position operation.
Press function key to display "CLFin"
4 which indicates that multi-coil position is
completely cleared.

5 Press SET to return to the display of FA009.

5.4.7 Clear of Internal Errors of Bus Encoder

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

2 Press SET to display "ErrCL".

Press M function key to display "CLFIn" and

3 clear encoder multi-coil information
completely.

4 Press SET to return to the display of FA010.

5.5 Speed Control (Analog Voltage Reference) Operation

5.5.1 User Parameter Setting

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

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5.5.2 Setting of Input Signal

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

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

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

5.5.3 Adjustment of Reference Offset

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

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

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

Press M function key to select auxiliary function mode

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

3 Press SET, and "rEF_o" is displayed.

Press M function key to start auto-zeroing, and

4
flickering "donE" is displayed.
After completion of auto-zeroing, "rEF_o" instead of
5 ——
flickering "donE" is displayed.

6 Press SET to return to the display of FA008.

(2) Manual adjustment of speed reference offset

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Manual adjustment of speed reference offset (F□006) should be applied in case that:
· the reference controller is equipped with a position loop to set the offset pulse as zero when the
servo is locked in the OFF state
· offset is set as a certain value consciously
· offset set for auto-adjustment is applied
Basic function and auto-adjustment of analog (speed · torque) reference offset (F□008) are
the same. But for manual adjustment (F□006), adjustment must be made along with direct input of
offset.
Adjustment range of offset and setting unit are listed as below.

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

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

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

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

4 Press UP or DOWN to set offset.

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

6 Press SET to return to the display of FA006.

5.5.4 Soft Start

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

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(2) S-curved start-up

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

(3) Acceleration and deceleration filtering start-up

User Parameter Meanings
P□309 H. □□□2 Acceleration and deceleration filtering start-up
H. □□0□ First acceleration and deceleration filtering
H. □□1□ Second acceleration and deceleration filtering

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5.5.5 Use of Zero Clamping Function

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

User Parameter Meanings

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

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(3) Setting of input signal

Pin No. of
Name Signal connector (factory) Set Meanings
A axis B axis
ON = L Level Zero clamping function ON (valid)
Input /P-C0N CN3-15 CN3-40
OFF = H Level Zero clamping function OFF (invalid)
It is the input signal to switch to zero clamping action.
Anyone of /P-CON signal can be switched to zero clamping action.
See "signal distribution of input circuit" for distribution

5.5.6 Encoder Signal Output

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

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* Even in the negative rotation mode (P□000.0=1), frequency division output phase form is the same as that in the
standard setting (P□000.0=0).
■Output phase form

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

5.
5.7 Same Speed Detection Output
Pin No. of connector
Name Signal (factory) Set Meanings
A axis B axis
CN3-9 CN3-34 ON = L Level State of same speed
Output /V-CMP
CN3-10 CN3-35 OFF = H Level State of different speed
The output signal can be distributed to other output terminals through user parameter P□513.
See "Signal distribution of output circuit" for distribution of output signal.

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5.6 Position Control Operation

5.6.1 User Parameter Setting

Following user parameters should be set for position control by pulse train.

(1) Control mode selection

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

Pin No. of connector

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

(2) Selection of pulse reference form

Reference Input
User Parameter Positive rotation reference Negative rotation reference
form multiple
P□200 Sign +
H.□□0□ ——
pulse train

H.□□1□ CW+CCW ——

H.□□2□ Two phase ×1

H.□□3□ pulse train ×2
with 90°
H.□□4□ phase ×4
difference
■Supplement
Input multiplication can be set in
the state of 90 phase difference under
two phase pulse reference.

(3) Pulse instruction input complement

User Parameter Meanings
P□200 H.□0□□ PULS input reverse, and SIGN input does not reverse
H.□1□□ PULS input does not reverse and SIGN input reverse
H.□2□□ PULS input reverse, and SIGN input does not reverse
H.□3□□ PULS input reverse, and SIGN input does not reverse
Logic reverse for pulse reference is available by setting the parameter.

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(4) Selection of clear signal form

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

5.6.2 Setting of Electronic Gear

(1) Encoder pulse

Encoder type Encoder pulse

Common incremental encoder 2500 P/R
17 bit 32768 P/R
Bus encoder
23 bit 2097152 P/R
5000 line 5000 P/R
10000 line 32768 P/R
Note: Bits representing encoder resolution are different from pulse of signal output of
encoder (phase A and phase B), and are four times of encoder pulse.
(2) Electronic gear
Electronic gear is the function to set any value for movement of workpiece with 1 pulse input reference by
command controller. 1 pulse reference by command controller is "1 reference unit" as the smallest unit.

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(3) Relevant user parameter

(4) Procedure for setting the electronic gear ratio

Electronic gear ratio should be set as below.
Step Content Instruction
1 To confirm mechanical specifications Reduction ratio, ball screw pitch, pulley diameter, etc. should be confirmed.
2 To confirm encoder pulse Encoder pulse of servo motor should be confirmed.

1 reference unit by command controller should be determined.

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

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

(5) Example for setting of electronic gear ratio

Electronic gear ratio is determined based on several examples.

Load configuration
Ball screw Disc table Belt + pulley

Step Content

Pulley diameter: 100 mm

Check mechanical · Ball screw pitch: 6 mm Rotation angle of 1 cycle: 360°
1 (Pulley perimeter: 341 mm)
structure · Gear ratio: 1/1 Gear ratio: 3/1
·Gear ratio: 2/1

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2 Encoder 17-bit: 32768P/R 17-bit: 32768P/R 17-bit: 32768P/R

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

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

(6) Equation of electronic gear ratio

5.6.3 Position Reference

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

(1) Timing example for input/output signal

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Note:
1. Interval between ON set for servo ON signal to input of reference pulse should be more than 40 ms;
Otherwise, the reference pulse may not be received by the servo driver.
2. Clear signal ON should be set more than 200 μs.
Table: Timing for reference pulse input signal
Reference pulse form Electrical specification Remarks

Sign + pulse train input t1, t2 ≤ 0.1μs

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

CW pulse + CCW pulse t1, t2 ≤ 0.1μs

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

Two phase pulse with 90°

phase difference
Multiplication mode
(Phase A + Phase B) t1, t2 ≤ 0.1μs can be setted through
Maximum reference frequency: τ ≥ 1.0μs user parameter
× 1multiplier: 500kpps
P□200.1.
τ/T × 100 ≤ 50%
× 2multiplier: 400kpps
× 4multiplier: 200kpps
(2) Connection example
(a) Connection example of line driver output
Applicable line driver: equivalent of TI SN75174 or MC3487

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(b) Connection example of open- collector output

R1 value of limiting resistor should be selected to ensure that input current is within the
range below.
Input current i = 7mA ~ 15mA

(3) Chart of control box

Chart of control box is as below during position control.

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

(1) Selection of position reference filter

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

(2) User parameter related to filter

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5.6.5 Positioning Completed Output Signal

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

5.6.6 Low-frequency Jitter Suppression

For low-rigidity load, rapid start-stop may produce continuous low-frequency jitter at early stage
of loading, resulting in longer positioning and affecting production efficiency. Servo driver is equipped
with jitter buffer control function which can suppress low-frequency jitter by estimating loading
position and compensation.

(1) Scope of Application

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

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(2) Setting of user parameter

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

If jitter frequency can be directly measured by instrument, such as laser interferometer, frequency
measured should be directly input into parameter P□413 in the unit of 0.1 Hz.
In case of no measuring instrument available, drawing or FFT analysis function of PC
communication software can be used to measure jitter frequency of load indirectly.

5.6.7 Inhibition Function of Reference Pulse (INHIBIT Function)

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

(2) Setting of user parameter

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User Parameter Meanings

P□000 H.□□B□ Control mode: position control (pulse train reference)  position inhibition
■Inhibit switching condition
· /P-CON signal is ON (L level)

(3) Setting of input signal

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

5.7 Torque Control Operation

5.7.1 User Parameter Setting

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

5.7.2 Torque Reference Input

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

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■ Input specification
· Input range: DC ± 1V ~ ± 10V/ rated torque
· Maximum allowable input voltage: DC ± 12V
· Factory settings
P□400 = 30: rated torque under 3 V
+3V input: rated torque in the positive direction
+9 V input: 300% of rated torque in the positive direction
-0.3 V input: 10 % of rated torque in the negative direction
Voltage input range can be changed through user parameter
P□400.

■Example of input circuit

To adopt effective measures to prevent interference,
multi-stranded wire should be used for wiring.

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

5.7.3 Adjustment of Reference Offset

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

After auto-adjustment of reference offset, the value of offset will be saved in the servo driver.
Offset can be confirmed through manual adjustment of speed reference offset (F□006). When
offset pulse is set as zero with the servo locked in the OFF state by the host controller equipped with a
position loop, auto-adjustment of reference offset (F□008) is not available, instead, please use manual
adjustment of speed reference offset (F□00A).

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Under speed reference of zero, function of zero clamping speed control which can lock the servo
in a mandatory manner is provided. See "Use of Zero Clamping Function" for details.
Note: Auto-adjustment of zero analog offset should be conducted when the servo is OFF.

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

Operation Operation
Operation instruction Display after operation
steps key
Turn OFF the servo drive, and input
OV refercnce voltage through host
controller or external circuit.
1

Press M function key to select auxiliary function

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

3 Press SET, and "rEF_o" is displayed.

Press M function key to start auto-zeroing, and

4
flickering "donE" is displayed.
After completion of auto-zeroing, "rEF_o"
5 ——
instead of flickering "donE" is displayed.

6 Press SET to return to the display of FA008.

(2) Manual adjustment of torque reference offset

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

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

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

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

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

3
displayed.

4 Press UP or DOWN to set offset.

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

6 Press SET to return to the display of FA007.

5.7.4 Speed Limit under Torque Control

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

No speed limit Speed limit

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

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

(2) Internal speed limiting function

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(3) External speed limiting function

Pin No. of connector
Name Signal Name
A axis B axis
V-REF CN3-5 CN3-30 External speed limit input
Input
GND CN3-6 CN3-31 Signal ground
Motor speed limit in case the torque limit is input under analog voltage reference.
When P□001=H.□1□□, the smaller one of V-REF speed limit input and P□408 (speed limit under torque control) is the valid
value.
The setting in Pn300 determines the voltage level to be input as the limit value and it is not related to polarity.

Note: Principle of speed limit.

If the speed is out of the range of speed limit, it may return to the range of speed limit through negative
feedback of torque proportional to the speed difference with the limited speed. Therefore, actual motor
speed limit will fluctuate based on loading conditions.

5.8 Speed Control (Internal Speed Selection) Operation

· Meaning of internal set speed selection

This function allows speed control operation by externally selecting an input signal from
among three servomotor speed settings made in advance with parameters in the servodrive.
There is no need to provide a speed generator or pulse generator externally.

5.8.1 User Parameter Settings for speed control with an internally set speed

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User Parameter Meanings

P□000 H.□□3□ Selection of control manner: internal set speed control (contact reference)

5.8.2 Setting of Input Signal

Pin No. of connector
Name Signal Name
A axis B axis
/P-CON CN3-15 CN3-40 Shift of rotation direction of servo motor
Input /PCL Need to distribute Selection of internal set speed
/NCL Need to distribute Selection of internal set speed
■ As for input signal selection
For single-axis drive: /PCL and /NCL are respectively distributed to CN3-41 and CN3-42 when leaving factory.
For double-axis drive: /PCL and /NCL need to be distributed by parameter P□510.
Operation modes of the three input signals /P-CON, /P-CL and /N-CL are utilized (they are distributed in factory settings).

5.8.3 Operation at Internal Set Speed

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

Note:

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In case that the control mode is switching mode

When P□000.1 = 4, 5, 6, if the signal of either /PCL or /NCL is OFF (H level), then the control mode is
shifted.
For example, P□000.1=5: when internal set speed is set to select position control (pulse train)
Input signal
Speed
/PCL /NCL
OFF(H) OFF(H) Stop by the internal speed reference 0
OFF(H) ON(L) P□301: internal set speed 1 (SPEED1)
ON(L) ON(L) P□302: internal set speed 2 (SPEED2)
ON(L) OFF(H) P□303: internal set speed 3 (SPEED3)
· Operation example based on internal speed setting selection
If soft start function is used, then the impact during speed shifting will decrease.
Please refer to "Soft start" for soft start.
Example: operation based on internal set speed + soft start

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

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

5.9 Torque Limit

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

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

The function limits the maximum output torque through user parameters.

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5.9.2 External Torque Limit (through Input Signal)

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

(1) Related user parameter

Note: Setting unit corresponds to a percent (%) of the used servo motor rated torque. (Rated torque limits is 100%.)
(2) Input signal
Pin No. of connector
Name Signal Set Meanings Limit value
A axis B axis

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

(3) Changes in output torque during external torque limit

When external torque limit (P□403, P□404)=800%

/PCL (positive external torque limit)

/N-CL status
H level L level

H
level

/NCL
(Reverse external
torque limit input)

L
level

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

5.9.3 Torque Limit Based on Analog Voltage reference

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

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

(2) Input signal

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

5.9.4 Torque Limit Based on External Torque Limit + Analog Voltage Reference
Torque limit based on external input signal and torque limit based on analog voltage
reference can be used simultaneously.
For torque limit based on analog voltage reference, T-REF is used for input. Hence, it cannot
work under torque control. For torque limit based on external input signal, /P-CL or /N-CL is
used.
If signal of /P-CL (or /N-CL) is set to be ON, torque limit relies on the smaller one of torque
limit based on analog voltage reference and the set value of P□405(or P□406).

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(1) Relevant user parameter

User Parameter Meanings
P□001 Speed control option: If /P-CL or /N-CL is valid, T-REF terminal is used as the external
H. □□3□
torque limit input.
If H. □□2□ is set, then T-REF terminal may also be used as the torque feed-forward input. However, please note that it
cannot serve for these two input functions simultaneously.

(2) Input signal

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

Pin No. of connector

Name Signal Set Meanings Limit value
A axis B axis
ON = L Level Positive-side external torque The smaller value at Pn403 and Pn405
Different drives for
limit ON
Input /PCL single axis and double
OFF=H Level Positive-side external torque Pn403
axis
limit OFF
ON = L Level External torque limit at The smaller value in Pn404 and Pn406
Different drives for
negative side OFF
Input /NCL single axis and double
OFF=H Level Negative-side external Pn404
axis
torque limit OFF
For single-axis drive: /PCL and /NCL are respectively distributed to CN3-41 and CN3-42 when leaving factory.
For double-axis drive: /PCL and /NCL need to be distributed by parameter P□510.

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When using external torque limit + torque limit based on analog voltage reference, please confirm whether to distribute other
signals to the terminal same to /P-CL and /N-CL.
Since the logic becomes OR logic when several signals are distributed to a terminal, affect from ON/OFF of other signals
distributed to the same terminal may be inevitable. Please refer to "Signal distribution of input circuit" for distribution of input signal.

5.9.5 Confirmation under Input Torque Limit

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

5.10 Control Mode Selection

The servo drive can be used with various control modes for shifting. The shifting method and
conditions are described as follows.

5.10.1 User Parameter Setting

Control mode can be any of the following combination. Please select based on customers' usage.

User Parameter Meanings

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

5.10.2 Shift of Control Mode

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

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

Please use the following signal shift control mode. Conduct the following control mode shift
based on signal status.
Pin No. of connector Setting of P□000
Name Signal Set
A axis B axis H.□□7□ H. □□8□ H. □□9□ H. □□A□ H. □□B□
ON = L Level Speed Torque Speed Zero Prohibited
Input /PCON CN3-15 CN3-40 clamping
OFF = H Level Position Position Torque Speed Position

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5.11 Other Output Signal

Describe other signals that can be output, although they have no direct relationship with various
control manners.

5.11.1 Servo Alarm Output (ALM)

(1) Servo alarm output (ALM)
Refer to signals output when the servo drive detects any abnormalities.

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

(2) Reset alarm

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

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

5.11.2 Rotation Detection Output (/TGON)

Pin No. of
Name Signal connector (factory) Set Meanings
A axis B axis
ON = L Level Servo motor is rotating (motor speed is larger than the set
CN3-11 CN3-36 value of P□502)
Output /TGON
CN3-12 CN3-37 OFF = H Level Servo motor stops rotating (motor speed is larger than the
set value of P□502)
■Attentions
When brake signal (/BK) and rotation detection signal (/TGON) are distributed to the same output terminal, /TGON signal
is changed to L level, but /BK signal may cannot change to H level.
(The reason is that OR logic prevails for output when several output signals are distributed to the same output terminal) Please
distribute (/TGON) signal and (/BK) signal to other terminals.

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5.11.3 Servo Ready Output (/S-RDY)

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

5.12 Mode Motion Sequence Manner

The Product supports 15 data sets that can set parameters in the parameter manner, 32 data sets
that can set parameters in the communication manner. These data sets can start up independently
or in sequence.
Data sets that can set parameters contain the setting about data set types and the setting of
related goal value and subsequent data sets.
The following motion types are available in motion type:
• Invalid motion (null data)
• Absolute motion
• Relative motion
Data sets can start up through 2 different manners.
• Start up a single data set
For startup of a single data set, only the selected data set starts up. No other data
sets will start up upon successful execution of the data set. Time coordination
among several data sets is then completed through main control system (e.g. PLC).
• Start up a data set sequence (several data sets in sequence)
For startup of a sequence, the selected data set will start up first. When a data set is
executed successfully and the transitional conditions are fulfilled, subsequent data
sets will then start up. Time coordination among several data sets is then completed
through the product.

5.12.1 Single Data Set Manner

In the single data set manner, 15 sets of internal motion tasks are available. Mode of motion can
be incremental or absolute.
(1) Setting of user parameter
User Parameter Meanings
P□000 H.□□C□ Selection of control mode: mode motion sequence manner
P□764 H.□□□0 Selection of data set startup manner: single data set manner

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(2) Setting of input signal

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

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

Data set /POS2 /POS1 /POS0 /POS-START /POS-STEP Corresponding parameter

P0 OFF OFF OFF ON ↑ P□700 ~ P□703
P1 OFF OFF ON ON ↑ P□708 ~ P□711
P2 OFF ON OFF ON ↑ P□716 ~ P□719
P3 OFF ON ON ON ↑ P□724 ~ P□727
P4 ON OFF OFF ON ↑ P□732 ~ P□735
P5 ON OFF ON ON ↑ P□740 ~ P□743
P6 ON ON OFF ON ↑ P□748 ~ P□751
P7 ON ON ON ON ↑ P□756 ~ P□759
Sequence diagram of input signals and data sets is as below:

5.12.2 Data Set Sequence Mode

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

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(1) Setting of user parameter

User Parameter Meanings
P□000 H.□□C□ Selection of control mode: mode motion sequence manner
P□764 H.□□□0 Selection of data set startup manner: single data set manner

User Parameter Meanings

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

User Parameter Meanings

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

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User Parameter Meanings

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

User Parameter Meanings

P□705 H.0□□□ Aborting: neglect step change condition, immediately interrupt motion, and start up subsequent
data sets.

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

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

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

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

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

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

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(2) Setting of input signal

Pin No. of connector
Name Signal Name
A axis B axis
Need P□512 for Startup signal of mode motion sequence
Input /POS-START
distribution
Need P□512 for Step change signal of mode motion sequence
Input /POS-STEP
distribution
When /POS-START signal is from OFF  ON, the motor is allowed to operate; when it is OFF, the motor stops operation.
■Attentions
Every time after servo is OFF (or alarm is solved) and before data set sequence is rerun, it is necessary to set /POS-START
signal from ON to OFF and then ON so as to start up load data set.

5.12.3 Operation of Seeking Reference Point (Return to Zero)

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

(1) Setting of user parameter

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

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

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

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

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

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

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

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

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

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

(2) Setting of input signal

Pin No. of connector
Name Signal Name
A axis B axis
Need P□512 for Startup signal of mode motion sequence
Input /POS-START
distribution
Need P□512 for Zero reference on-off
Input /HOME-REF
distribution

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Need P□512 for Start return to zero operation and seek for zero point as per
Input /POS-START-HOME
distribution P□770.0 setting.
When /POS-START signal is ON, the motor is allowed to operate (return to zero allowed); when it is OFF, the motor
suspends operation (return to zero suspended).

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Chapter VI Communication

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

6.1 Communication Wiring

Signal name and functions of communication connector are as follows:

Terminal No. 1 2 3 4 5 6 7 8
CN4 CANH- CANL GND GND RS485+ RS485- Reserved Reserved
Name Built-in 120 ohm
CN5 CANH- CANL GND GND RS485+ RS485-
resistance

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

6.2 User Parameter

User Parameter Meanings

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

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H.□□3□ ASCII, 8 data bits, no parity, 2 stop bits

H.□□4□ ASCII, 8 data bits, even parity bit, 1 stop bits
H.□□5□ ASCII, 8 data bits, odd parity bit, 1 stop bits
H.□□6□ RTU, 8 data bits, no parity, 2 stop bit
H.□□7□ RTU, 8 data bits, even parity bit, 1 stop bit
H.□□8□ RTU, 8 data bits, odd parity bit, 1 stop bit

6.3 MODBUS Communication Protocol

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

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

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

■ Character structure
10 bit character format (for 7-bit data)

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11 bit
character format (for 8-bit data)

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■ Communication data structure

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

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

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Data format of communication protocol is described as follows:

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

ADR (Communication address)

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

CMD (Command) and DATA (Data)

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

ASCII mode:

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RTU mode:

Command code: 06 H, write in 1 word

For example: write 100(0064 H) in address 0200 H of servo with office number 01 H.

ASCII mode:

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RTU mode:

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

Add from ADR data to the last data:

01 H +03 H +02 H +01 H +00 H +01 H =08 H, 08 H becomes F8 H after applying complement of 2, so
LRC is ‘F’, ‘8’.

CRC calculation of RTU mode:

RTU mode adopts CRC (Cyclical Redundancy Check) detection error value.

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Steps for calculation of CRC detection error value are as follows:

Step 1: download a 16-bit register with content of FFFF H (called as "CRC" register).
Step 2: conduct XOR operation on the first bit (bit0) of command massage and the low order bit
(LSB) of 16-bit CRC register, and save the result to CRC register;
Step 3: check the lowest order (LSB) of CRC register; if it is 0, right shift CRC register value a
bit; if it is 1, right shift CRC register value a bit and then conduct XOR operation with A001 H;
Step 4: return to Step 3, until 8 times of execution of Step 3, and then move to Step 5;
Step 5: repeat Step 2-4 for the next bit of the command massage, until all bits are processed; the
content of CRC register now is CRC detection error value.
Note: after CRC detection error value is calculated, it is necessary to fill the CRC low order in
the command massage and then CRC high order. Please refer to the following example.
For example: read 2 words from 0101 H address of servo with official number of 01 H. The final
content of CRC register calculated from ADR to the last bit of the data number is 3794 H, and then its
command massage is as shown below. Note that 94 H is transmitted prior to 37 H.
ADR 01 H
CMD 03 H
01H (address high order)
Starting data address
01H (address low order)
Data number 00 H (high order)
(Calculated based on
02H (low order)
word)
CRC check low order 94H (check low order)
CRC check high order 37H (check high order)
End1, End0 (communication detection completed)

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

Example:
The following uses C programming language to generate CRC value. The function needs
two parameters:
unsigned char * data;
unsigned char length;
/*The function will pass back the CRC value in unsigned integer type.*/
unsigned int crc_chk(unsigned char * data,unsigned char length){
int i,j;
unsigned int crc_reg = 0xFFFF;
while(length- -){
crc_ reg ^=*data++;
for(j=0;j<8;j++){

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if(crc_reg & 0x01){

crc_reg=( crc_reg >>1)^0xA001;
}
Else
{
crc_reg＝crc_reg >>1;
}
}
}
return crc_reg;
}
■ Communication error
During communication, errors are possible, and common error sources are as follows:
 During parameters reading and writing, data address is wrong;
 During writing of a parameter, the data exceed the maximum of the parameter or
are smaller than the parameter;
 Communication is interrupted, data transmission is wrong or check code is wrong.

In case of the first two communication errors, operation of servo drive will not be affected and
meanwhile the servo drive will feedback an error frame. In case of the third error, transmitted data will
be considered to be invalid and abandoned, without feedback of frame.
Error frame format is as follows:
Upper computer data frame:
start Slave station address Command Data address, data, etc. Check
Command

Servo drive feedbacks error frame:

start Slave station address Response code Error code Check
Command + 80 H

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

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

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

Upper computer data frame:

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

Servo drive feedbacks error frame:

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

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

6.4 MODBUS Communication Address

Communication
data address
Meaning Instruction Operation
Hexadecimal
system
Correspond to parameters in
0000h ~ 03FFh Parameter area Read and write
parameter table
0198h Speed limit at torque control Unit: 1 r/min Read and write
0400h ~0409h Alarm information storage area 10 history alarms Read only

0410h Speed reference zero offset Read only

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

0420h ~ 0437h Monitoring data Read only

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

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Communication
data address
Meaning Instruction Operation
Hexadecimal
system
043Ah Accumulated load Unit: 1% Read only
043Ch Rotational inertia percent Unit: 1% Read only
Actual angle of encoder single
043Eh Unite: 1 reference pulse Read only
turn（bit31~bit16）
Actual angle of encoder single
043Fh Unite: 1 reference pulse Read only
turn（bit15~bit0）
0440h Encoder multi-circle position Unit: 1 circle Read only

044Ah Current alarm Read only

0451h Communication IO signal *1
Power failure not saved Read and write
Communication output port
0452h Power failure not saved Read and write
reverse
0453h Speed reference Unite:1r/min，-32767~32768 Read and write
Unite: 1 reference pulse
0454h Torque reference Read and write
-32767~32768
0457h Servo operation status *2 Read only
045Eh Software version Read only
045Fh FPGA version number Read only
First electronic gear ratio
0460h Power failure not saved Read and write
(numerator)
Second electronic gear ratio
0461h Power failure not saved Read and write
(numerator)
First electronic gear ratio
0462h Power failure not saved Read and write
(denominator)

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

BIT15:1 JOG servo enable

Speed JOG (speed as set in
0528h BIT01:1 JOG- (JOG positive) Read and write
P□304)
BIT00:1 JOG+ (JOG negative)
BIT15:1 Enter position jog
Position JOG (speed as set in mode
0529h Read and write
P□304) BIT01:1 JOG-
BIT00:1 JOG+

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 K/iK Series AC Servo Driver

Communication
data address
Meaning Instruction Operation
Hexadecimal
system
0540h Factory reset 1: Factory reset Writable
0541h Reset 1: Reset Writable

Number of data set under

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

Data set 0 parameter:

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

Data set 1 parameter:

0608h Destination position low byte Read and write
0609h Destination position high byte Read and write

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 K/iK Series AC Servo Driver

Communication
data address
Meaning Instruction Operation
Hexadecimal
system
060Ah Target speed rpm Read and write
060Bh Step change condition attribute Read and write
060Ch Step change condition 1 value Read and write
060Dh Step change condition 2 value Read and write
060Eh Subsequent data set number Read and write
0: NULL; 1: Absolute; 2:
060Fh Data set type Read and write
Relative

Data set 2 parameter:

0610 h Destination position low byte Read and write
0611 h Destination position high byte Read and write
0612 h Target speed rpm Read and write
0613 h Step change condition attribute Read and write
0614 h Step change condition 1 value Read and write
0615 h Step change condition 2 value Read and write
0616 h Subsequent data set number Read and write
0: NULL; 1: Absolute; 2:
0617 h Data set type Read and write
Relative

Data set 3 parameter:

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

Data set 4 parameter:

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

119
 K/iK Series AC Servo Driver

Communication
data address
Meaning Instruction Operation
Hexadecimal
system
Relative

Data set 5 parameter:

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

Data set 6 parameter:

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

Data set 7 parameter:

0638h Destination position low byte Read and write
0639h Destination position high byte Read and write
063Ah Target speed rpm Read and write
063Bh Step change condition attribute Read and write
063Ch Step change condition 1 value Read and write
063Dh Step change condition 2 value Read and write
063Eh Subsequent data set number Read and write
0: NULL; 1: Absolute; 2:
063Fh Data set type Read and write
Relative

Data set 8 parameter:

0640h Destination position low byte Read and write
0641h Destination position high byte Read and write
0642h Target speed rpm Read and write

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 K/iK Series AC Servo Driver

Communication
data address
Meaning Instruction Operation
Hexadecimal
system
0643h Step change condition attribute Read and write
0644h Step change condition 1 value Read and write
0645h Step change condition 2 value Read and write
0646h Subsequent data set number Read and write
0: NULL; 1: Absolute; 2:
0647h Data set type Read and write
Relative

Data set 9 parameter:

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

Data set 10 parameter:

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

Data set 11 parameter:

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

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 K/iK Series AC Servo Driver

Communication
data address
Meaning Instruction Operation
Hexadecimal
system

Data set 12 parameter:

0660h Destination position low byte Read and write
0661h Destination position high byte Read and write
0662h Target speed rpm Read and write
0663h Step change condition attribute Read and write
0664h Step change condition 1 value Read and write
0665h Step change condition 2 value Read and write
0666h Subsequent data set number Read and write
0: NULL; 1: Absolute; 2:
0667h Data set type Read and write
Relative

Data set 13 parameter:

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

Data set 14 parameter:

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

Data set 15 parameter:

0678h Destination position low byte Read and write
0679h Destination position high byte Read and write
067Ah Target speed rpm Read and write
067Bh Step change condition attribute Read and write

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 K/iK Series AC Servo Driver

Communication
data address
Meaning Instruction Operation
Hexadecimal
system
067Ch Step change condition 1 value Read and write
067Dh Step change condition 2 value Read and write
067Eh Subsequent data set number Read and write
0: NULL; 1: Absolute; 2:
067Fh Data set type Read and write
Relative

Data set 16 parameter:

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

Data set 17 parameter:

0688h Destination position low byte Read and write
0689h Destination position high byte Read and write
068Ah Target speed rpm Read and write
068Bh Step change condition attribute Read and write
068Ch Step change condition 1 value Read and write
068Dh Step change condition 2 value Read and write
068Eh Subsequent data set number Read and write
0: NULL; 1: Absolute; 2:
068Fh Data set type Read and write
Relative

Data set 18 parameter:

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

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 K/iK Series AC Servo Driver

Communication
data address
Meaning Instruction Operation
Hexadecimal
system
Data set 19 parameter:
0698h Destination position low byte Read and write
0699h Destination position high byte Read and write
069Ah Target speed rpm Read and write
069Bh Step change condition attribute Read and write
069Ch Step change condition 1 value Read and write
069Dh Step change condition 2 value Read and write
069Eh Subsequent data set number Read and write
0: NULL; 1: Absolute; 2:
069Fh Data set type Read and write
Relative

Data set 20 parameter:

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

Data set 21 parameter:

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

Data set 22 parameter:

06B0h Destination position low byte Read and write
06B1h Destination position high byte Read and write
06B2h Target speed rpm Read and write
06B3h Step change condition attribute Read and write
06B4h Step change condition 1 value Read and write

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 K/iK Series AC Servo Driver

Communication
data address
Meaning Instruction Operation
Hexadecimal
system
06B5h Step change condition 2 value Read and write
06B6h Subsequent data set number Read and write
0: NULL; 1: Absolute; 2:
06B7h Data set type Read and write
Relative

Data set 23 parameter:

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

Data set 24 parameter:

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

Data set 25 parameter:

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

Data set 26 parameter:

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 K/iK Series AC Servo Driver

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

Data set 27 parameter:

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

Data set 28 parameter:

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

Data set 29 parameter:

06E8h Destination position low byte Read and write
06E9h Destination position high byte Read and write
06EAh Target speed rpm Read and write
06EBh Step change condition attribute Read and write
06ECh Step change condition 1 value Read and write
06EDh Step change condition 2 value Read and write

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 K/iK Series AC Servo Driver

Communication
data address
Meaning Instruction Operation
Hexadecimal
system
06EEh Subsequent data set number Read and write
0: NULL; 1: Absolute; 2:
06EFh Data set type Read and write
Relative

Data set 30 parameter:

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

Data set 31 parameter:

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

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

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

Address description:

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 K/iK Series AC Servo Driver

*1. Communication IO input (0451h)

Input signal can be given through communication IO input (0451h) register of MODBUS
communication. The definition of the register is as follows:

Signal input in the register is valid only when the signal is not input from CN3 (signal distribution
parameter is set to be "Null").
For example: to input /POS-START through communication IO input register, it is necessary to set
P□512.1=0 first,and then modify bit13 of communication IO input (0451h) register valid.
*2. Servo operation status（0456h）

*3. Step change condition attribute

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 K/iK Series AC Servo Driver

Chapter VII Maintenance and Inspection

7.1 Abnormality Diagnosis and Treatment Methods

7.1.1 Overview of Alarm Display

Relationship between alarm display and alarm code output ON/OFF is as shown in the table
below. The method to stop motor in case of alarm: free-running stop: without braking, natural stop by
friction resistance at the time of motor rotation.
Alarm ALM Alarms Alarm contents Clear or
display output not
□01 H Encoder PA, PB, PC disconnection Encoder disconnection or cable welding problem. Clear
□02 H Encoder PU, PV, PW disconnection Encoder disconnection or cable welding problem. Clear
□03 H Overload Continuous running at a certain torque exceeding the rated value Clear
□04 H A/D switch channel abnormal A/D switch channel abnormal Clear
□05 H PU, PV, PW false code PU, PV, PW signals are all high or low Clear
□06 H PU, PV, PW phases incorrect PU, PV, PW signals are all high or low Clear
□08 H The BOOTLOADER is abnormal Contact manufacturer No
Set the locked-rotor torque by P□148，Set the locked-rotor time by P□
□09 H Alarm of locked-rotor 149. The servo driver will alarm 07 when the motor torque is greater No
than the locked-rotor torque and the speed is less than 10RPM
□10 H Overcurrent Servo drive IPM module current is overlarge. Clear
□11 H Overvoltage Servo drive main circuit voltage is too high. No
□12 H Undervoltage Servo drive main circuit voltage is too low. No
□13 H Parameter damage EEROM data in servo drive is abnormal. Clear
□14 H Over-speed Servo motor speed is extremely high Clear
□15 H Deviation counter overflow Internal position deviation counter overflow Clear
□16 H Position deviation is overlarge Position deviation pulse exceeds the set value of parameter P□504. Clear
□17 H Electronic gear fault Electronic gear is unreasonably set or pulse frequency is too high Clear
1st channel of current detection is
□18 H Current detection abnormal Clear
abnormal
2nd channel of current detection is
□19 H Current detection abnormal Clear
abnormal
□20 H The motor model is abnormal Contact manufacturer No
□22 H Motor model is incorrect Servo drive parameters do not match with those of motor Clear
Servo drive does not match with Servo drive does not match with motor
□23 H Clear
motor
Bus encoder multi-circle
□25 H Multi- circle information error Clear
information error
Bus encoder multi-circle
□26 H Multi- circle information overflow Clear
information overflow
□27 H Bus encoder battery alarm 1 Battery voltage is lower than 2.5 V, multi-circle information is lost Clear
□28 H Bus encoder battery alarm 2 Battery voltage is lower than 3.1 V, battery voltage is relatively low Clear

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 K/iK Series AC Servo Driver

Alarm ALM Alarms Alarm contents Clear or

display output not
Bleeder resistor disconnection Braking resistor damage.
□30 H Clear
alarm
□31 H Regeneration overload Regeneration processing circuit is abnormal. No
□33 H Momentary outage alarm. There is outage of over one power cycle under AC current. Clear
□34 H Rotary transformer is abnormal Rotary transformer communication is abnormal. Clear
Bus encoder communication is Servo drive and encoder cannot realize communication.
□40 H Clear
abnormal
□41 H Bus encoder overspeed When power is ON, encoder rotates at high speed Clear
□42 H Bus encoder absolute status error Encoder damage or encoder decoding circuit damage Clear
□43 H Bus encoder counting error Encoder damage or encoder decoding circuit damage Clear
Check error in bus encoder control Encoder signal is interrupted or encoder decoding circuit damage
□44 H Clear
field
Check error in bus encoder Encoder signal is interrupted or encoder decoding circuit damage
□45 H Clear
communication data
Stop bit error in bus encoder status Encoder signal is interrupted or encoder decoding circuit damage
□46 H Clear
field
Stop bit error in bus encoder Encoder signal is interrupted or encoder decoding circuit damage
□47 H Clear
SFOME
□48 H Bus encoder data are not initialized Bus encoder SFOME data are null Clear
Sum check error in bus encoder Sum check in bus encoder EEPROM data is abnormal
□49 H Clear
data
□60 H MODBUS communication timeout Drive fails to accept data normally at the set time in P□602 Clear
CANopen master station heartbeat Drive fails to accept master station heartbeat massage normally at the set
□61 H Clear
timeout time
□70 H Drive overheat alarm Drive internal IPM module temperature is too high Clear
Software does not match with Parameter is wrongly set or software does not match with hardware
□90 H No
hardware
□-- L No error display Display normal action status Clear
Note:
1. "□" in alarm display may be "A" or "b", referring to A axis alarm or b axis alarm respectively.
2. Alarms of □25, □26, □27, □41 can be reset only after alarms in encoder is cleared through auxiliary
function mode.

7.1.2 Alarm Displays and Their Causes and Treatment Measures

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

Wiring of encoder is wrong Correct wiring of encoder

Incremental encoder When power supply is
□01 Change cable specifications to stranded wire
ABC disconnects on or during operation Encoder cables are interfered due to different specifications
or stranded shielded wire with core wire

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 K/iK Series AC Servo Driver

Alarm Alarm contents Circumstance Cause Treatment measures

over 0.12 mm2 and stranded wire made of

tined soft copper

Encoder cables are interfered due to overlength The max. wiring distance should be 20 m.

Signal lines are interfered due to engaging-in and damage in sheath

Correct layout of encoder cables
of encoder cables

Encoder cables are bound with high current line or their distance is Lay encoder cables at places free from surge

too close voltage

Change in FG potential due to influence by motor side equipment Connect equipment ground wire to prevent

(welding machine, etc.) shunting to FG at PG side

Take anti-interference measures for encoder

Signal line of encoder is interfered
wiring.

Encoder failure Replace servo motor

Servo drive circuit board develops fault Replace the servo drive

Wiring of encoder is wrong Correct wiring of encoder

Change cable specifications to stranded wire

Encoder cables are interfered due to different specifications
or stranded shielded wire

Encoder cables are interfered due to overlength The max. wiring distance should be 20 m.

Signal lines are interfered due to engaging-in and damage in sheath

Correct layout of encoder cables
of encoder cables

Incremental encoder When power supply is Encoder cables are bound with high current line or their distance is Lay encoder cables at places free from surge
□02
UVW disconnects on or during operation too close voltage

Change in FG potential due to influence by motor side equipment Connect equipment ground wire to prevent

(welding machine, etc.) shunting to FG at PG side

Take anti-interference measures for encoder

Signal line of encoder is interfered
wiring.

Encoder failure Replace servo motor

Servo drive circuit board develops fault Replace the servo drive

When control power

Servo drive circuit board develops fault Replace the servo drive
supply is on

Motor wiring is abnormal (poor condition in wiring and connection) Revise motor wiring

During servo ON Encoder wiring is abnormal (poor wiring and connection) Correct wiring of encoder

Servo drive circuit board develops fault Replace the servo drive

Motor wiring is abnormal (poor condition in wiring and connection) Revise motor wiring

When the servo motor Encoder wiring is abnormal (poor wiring and connection) Correct wiring of encoder

□03 Overload fails to rotate during Review loading condition, operation

Starting torque exceeds the max. torque
inputting of commands condition or motor capacity

Servo drive circuit board develops fault Replace the servo drive

Effective torque exceeds rated torque or starting torque exceeds Review loading condition, operation

rated torque substantially condition or motor capacity

Normally during
Reduce the temperature within storage tray
operation Temperature within storage tray of the servo drive is high
below 55

Servo drive circuit board develops fault Replace the servo drive

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 K/iK Series AC Servo Driver

Alarm Alarm contents Circumstance Cause Treatment measures

Incremental encoder When control power Wiring of encoder is wrong Correct wiring of encoder

□05 UVW signal is supply is on Encoder failure Replace servo motor

abnormal Servo drive circuit board develops fault Replace the servo drive

When control power Overload alarm reset for several times due to power off Change reset method of alarms

supply is on Servo drive circuit board develops fault Replace the servo drive

A faulty connection occurs between U, V, W and ground wire.

Check wiring and connect correctly.
Ground wire wraps around other terminals

A short circuit occurs between U, V, W used by main circuit of

motor and ground wire Revise or replace the cables used by main

A short circuit occurs between U, V, and W used by main circuit of circuit of motor

motor

An error occurs to regenerative resistor wiring. Check wiring and connect correctly.

A short circuit occurs between U, V, W of the servo drive and

ground wire
Replace the servo drive
Servo drive develops fault (current feedback circuit, power transistor

or circuit board fault)

When main power A short circuit occurs between U, V, W used by main circuit of
□10 Overcurrent
circuit is on or motor and ground wire
Replace servo motor
overcurrent during motor A short circuit occurs between U, V, and W used by main circuit of

operation motor

Overload alarm reset for several times due to power off Change reset method of alarms

Position speed reference changes violently Re-evaluate reference value.

Review loading condition and operation

Whether the load is too much and whether regeneration handling
condition (check specifications of inertia of
capacity is exceeded
load)

The installation (direction, interval with other parts) of servo drive is

Reduce ambient temperature of the servo
improper (whether there is storage disk is releasing heat while the
drive to below 55 °C
surrounding is heating )

Encoder slips Replace servo motor

Servo unit fan stops rotating

Replace the servo drive
Servo drive circuit board develops fault

When control power

Servo drive circuit board develops fault Replace the servo drive
supply is on

When main circuit AC supply voltage is too high Adjust AC supply voltage to normal range

power is on Servo drive circuit board develops fault Replace the servo drive

Overvoltage Check AC supply voltage (whether voltage changes substantially) Adjust AC supply voltage to normal range

□11 * Detect when main Review loading condition and operation

Normally during Number of turns is high and moment of inertia of load is too large
circuit power is on condition (check specifications of inertia of
operation (insufficient regeneration capacity)
load)

Servo drive circuit board develops fault Replace the servo drive

When the servo motor Review loading condition and operation

Number of turns is high and moment of inertia of load is too large
decelerates condition

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 K/iK Series AC Servo Driver

Alarm Alarm contents Circumstance Cause Treatment measures

Occurrence

When control power

Servo drive circuit board develops fault Replace the servo drive
supply is on

AC supply voltage is too low Adjust AC supply voltage to normal range

Servo unit fuse burns out Replace the servo drive

When main circuit Limiting resistor of surge current disconnects (whether power Replace servo unit (confirm power voltage

power is on voltage is abnormal and whether limiting resistor of surge current is and reduce frequency of main circuit
Undervoltage
overload) ON/OFF)
□12 * Detect when main
Servo drive circuit board develops fault Replace the servo drive
circuit power is on
AC supply voltage is low (whether there is oversized voltage drop) Adjust AC supply voltage to normal range

Power failure occurs instantaneously. Restart operation through reset

Normally during Revise or replace the cables used by main

Cable short circuit of motor main circuit
operation circuit of motor

Servo motor short circuit Replace servo motor

Servo drive circuit board develops fault Replace the servo drive

Power is turned off when parameters are being set Execute user parameters initialization
When control power
□13 Parameter damage Power is turned off when alarm is being entered (F□011)
supply is on
Servo drive circuit board develops fault Replace the servo drive

When control power

Servo drive circuit board develops fault Replace the servo drive
supply is on

The phase sequence of U, V and M of motor wiring is at fault Correct motor wiring

Wiring of encoder is wrong Correct wiring of encoder

During servo ON Take anti-interference measures for encoder

Encoder wiring is malfunctioned due to interference
wiring.

Servo drive circuit board develops fault Replace the servo drive
□14 Over-speed
The phase sequence of U, V and M of motor wiring is at fault Correct motor wiring

Wiring of encoder is wrong Correct wiring of encoder

When the servo motor Take anti-interference measures for encoder

Encoder wiring is malfunctioned due to interference
starts operation or during wiring.

high-speed rotation Input value of position/speed reference is too much Lower reference value

Speed reference input gain setting is wrong Correct reference input gain

Servo drive circuit board develops fault Replace the servo drive

When the servo motor Motor stalling Check the load

Position counter
□15 starts operation or during Input reference frequency is abnormal Reduce frequency of command computer
overflow
high-speed rotation Wiring is wrong Correct wiring

Set value of user parameter P□504 to any

Position error is too When control power Excessive position offset alarm level (P□504) is incorrect
value other than 0
large (position error supply is on
Servo drive circuit board develops fault Replace the servo drive
with servo ON
□16 Wiring of U, V and W of the servo motor is abnormal (incomplete Correct motor wiring
exceeds user During high-speed
connection) Correct wiring of encoder
parameter overflow rotation
Servo drive circuit board develops fault Replace the servo drive
level P□504 setting)
When the servo motor Wiring of U, V and W of the servo motor is poor Revise motor wiring

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Alarm Alarm contents Circumstance Cause Treatment measures

fails to rotate after

sending position Servo drive circuit board develops fault Replace the servo drive

reference

Increase speed loop gain (P□100) and

Gain adjustment of servo drive is poor
position loop gain (P□102)

Slow reduce position reference frequency

During long reference Position reference pulse frequency is too high Add smoothing function

with normal action Reassess electronic gear ratio

Excessive position offset alarm level (P□504) is incorrect Set user parameter P□504 to correct value

Load conditions (torque and moment of inertia) inconsistent with

Review reassessed load or motor capacity
motor specifications

When control power

supply is on
□17 Electronic gear fault Setting of electronic gear is incorrect Reset P□202 and P□203
When the servo motor

starts operation

When control power

1st channel of current supply is on

□18 Servo drive circuit board develops fault Replace the servo drive
detection is abnormal When the servo motor

starts operation

When control power

1st channel of current supply is on

□19 Servo drive circuit board develops fault Replace the servo drive
detection is abnormal When the servo motor

starts operation

Drive motor parameter setting is abnormal Replace the servo drive

Motor model is When control power
□22 Parameters written into encoder are abnormal Replace the servo motor (encoder)
incorrect supply is on
Servo drive circuit board develops fault Replace the servo drive

Servo unit capacity and motor capacity are not suitable for motor Match servo unit capacity with servo motor

capacity capacity
Drive does not match When control power
□23 Parameters written into encoder are abnormal Replace the servo motor (encoder)
with motor supply is on
Drive motor parameter setting is abnormal Replace the servo drive

Servo drive circuit board develops fault Replace the servo drive

When control power

Multi-circle data of Execute bus encoder multi-coil position
supply is on
□25 bus encoder goes Multi-circle data of absolute encoder is abnormal cleanout (F□09) and bus encoder alarm
During operation of
wrong register cleanout (F□010)
servo motor

When control power

Execute bus encoder multi-coil position
Bus encoder multi- supply is on
□26 Multi-circle data of absolute encoder is abnormal cleanout (F□09) and bus encoder alarm
circle data overflow During operation of
register cleanout (F□010)
servo motor

Bus encoder battery When control power

□27
alarm 1 supply is on

□28 Bus encoder battery When control power

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Alarm Alarm contents Circumstance Cause Treatment measures

alarm 2 supply is on

When control power

Servo drive circuit board develops fault Replace the servo drive
supply is on

Circumscribed regenerative resistor is not connected Connect circumscribed regenerative resistor

Check whether the wiring of regenerative resistor is in good Revise the wiring of circumscribed
When main circuit
condition or broken regenerative resistor
power is on
Jumper wire between B2 and B3 comes off (when using built-in
Regeneration is Correct wiring
□30 regenerative resistor)
abnormal
Check whether the wiring of regenerative resistor is in good Revise the wiring of circumscribed

condition or comes off regenerative resistor

Normally during Regenerative resistor disconnects (whether regeneration energy is Replace regenerative resistor or servo drive

operation too much) (review load and operation conditions)

Servo drive develops fault (fault in regenerative transistor and

Replace the servo drive
voltage detecting part)

When control power

Servo drive circuit board develops fault Replace the servo drive
supply is on

When main circuit

Power supply voltage exceeds 270 V Correct voltage
power is on

Normally during Regenerative energy is too much

operation (regenerative Reselect regenerative resistor capacity or

Regeneration resistor temperature Under continuous regeneration status review load and operation conditions.
□31
overload increases significantly)

Normally during

operation (regenerative
Servo drive circuit board develops fault Replace the servo drive
resistor temperature

increases slightly)

When the servo motor Reselect regenerative resistor capacity or

Regenerative energy is too much
decelerates review load and operation conditions.

When control power

Power supply has Servo drive circuit board develops fault Replace the servo drive
supply is on
open phase
Three-phase electric wire has poor wiring Correct wiring
(When main power
When main power Correct unbalance of power supply
supply is ON, any of Three-phase electric wire is unbalanced
supply is on (exchange of phase position)
□32 L1, L2 and L3 phases
Servo drive circuit board develops fault Replace the servo drive
is under low voltage
Three-phase electric wire has poor wiring Correct wiring
for over 1 s)
When the servo motor is Correct unbalance of power supply
* Detect when main Three-phase electric wire is unbalanced
actuated (exchange of phase position)
circuit power is on
Servo drive circuit board develops fault Replace the servo drive

Momentary outage Normally during

□33 There is outage of over one power cycle under AC current Check supply circuit
alarm. operation

Bus encoder is When control power Wiring of encoder is wrong Correct wiring of encoder
□40
abnormal supply is on Encoder failure Replace servo motor

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Alarm Alarm contents Circumstance Cause Treatment measures

Servo drive circuit board develops fault Replace the servo drive

Wiring of encoder is wrong Correct wiring of encoder

Change cable specifications to stranded wire

or stranded shielded wire with core wire

Encoder cables are interfered due to different specifications
over 0.12 mm2 and stranded wire made of

tined soft copper

Encoder cables are interfered due to overlength The max. wiring distance should be 20 m.

Signal lines are interfered due to engaging-in and damage in sheath

Correct layout of encoder cables
of encoder cables
During operation
Encoder cables are bound with high current line or their distance is Lay encoder cables at places free from surge

too close voltage

Change in FG potential due to influence by motor side equipment Connect equipment ground wire to prevent

(welding machine, etc.) shunting to FG at PG side

Take anti-interference measures for encoder

Signal line of encoder is interfered
wiring.

Encoder failure Replace servo motor

Servo drive circuit board develops fault Replace the servo drive

Servo motor rotates at a speed of over 100 r/min when PG power is PG power is set ON when servo rotating

When control power on speed is less than 100 r/min

Bus encoder supply is on Encoder failure Replace servo motor

□41
overspeed Servo drive circuit board develops fault Replace the servo drive

Encoder failure Replace servo motor

During operation
Servo drive circuit board develops fault Replace the servo drive

Bus encoder FS Normally during Encoder failure Replace servo motor

□42
status is wrong operation Servo drive circuit board develops fault Replace the servo drive

Bus encoder counter Normally during

□43 Servo drive circuit board develops fault Replace the servo drive
goes wrong operation

Change cable specifications to stranded wire

or stranded shielded wire with core wire

Encoder cables are interfered due to different specifications
over 12 mm2 and stranded wire made of

tined soft copper

Encoder cables are interfered due to overlength The max. wiring distance should be 20 m.

Checkout in bus When control power Signal lines are interfered due to engaging-in and damage in sheath
Correct layout of encoder cables
□44 encoder control field supply is on or during of encoder cables

is wrong operation Encoder cables are bound with high current line or their distance is Lay encoder cables at places free from surge

too close voltage

Change in FG potential due to influence by motor side equipment Connect equipment ground wire to prevent

(welding machine, etc.) shunting to FG at PG side

Take anti-interference measures for encoder

Signal line of encoder is interfered
wiring.

Bus encoder When control power Wiring of encoder is wrong Correct wiring of encoder
□45
communication data supply is on or during Encoder cables are interfered due to different specifications Change cable specifications to stranded wire

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Alarm Alarm contents Circumstance Cause Treatment measures

checkout is wrong operation or stranded shielded wire with core wire

over 12 mm2 and stranded wire made of

tined soft copper

Encoder cables are interfered due to overlength The max. wiring distance should be 20 m.

Signal lines are interfered due to engaging-in and damage in sheath

Correct layout of encoder cables
of encoder cables

Encoder cables are bound with high current line or their distance is Lay encoder cables at places free from surge

too close voltage

Change in FG potential due to influence by motor side equipment Connect equipment ground wire to prevent

(welding machine, etc.) shunting to FG at PG side

Take anti-interference measures for encoder

Signal line of encoder is interfered
wiring.

Encoder failure Replace servo motor

Servo drive circuit board develops fault Replace the servo drive

Wiring of encoder is wrong Correct wiring of encoder

Change cable specifications to stranded wire

or stranded shielded wire with core wire

Encoder cables are interfered due to different specifications
over 12 mm2 and stranded wire made of

tined soft copper

Encoder cables are interfered due to overlength The max. wiring distance should be 20 m.

Signal lines are interfered due to engaging-in and damage in sheath

Cut-off position in When control power Correct layout of encoder cables
of encoder cables
□46 bus encoder status supply is on or during
Encoder cables are bound with high current line or their distance is Lay encoder cables at places free from surge
field is wrong operation
too close voltage

Change in FG potential due to influence by motor side equipment Connect equipment ground wire to prevent

(welding machine, etc.) shunting to FG at PG side

Take anti-interference measures for encoder

Signal line of encoder is interfered
wiring.

Encoder failure Replace servo motor

Servo drive circuit board develops fault Replace the servo drive

Wiring of encoder is wrong Correct wiring of encoder

Change cable specifications to stranded wire

or stranded shielded wire with core wire

Encoder cables are interfered due to different specifications
over 12 mm2 and stranded wire made of

tined soft copper

When control power When control power
Encoder cables are interfered due to overlength The max. wiring distance should be 20 m.
□47 supply is on or supply is on or during
Signal lines are interfered due to engaging-in and damage in sheath
during operation operation Correct layout of encoder cables
of encoder cables

Encoder cables are bound with high current line or their distance is Lay encoder cables at places free from surge

too close voltage

Change in FG potential due to influence by motor side equipment Connect equipment ground wire to prevent

(welding machine, etc.) shunting to FG at PG side

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Alarm Alarm contents Circumstance Cause Treatment measures

Take anti-interference measures for encoder

Signal line of encoder is interfered
wiring.

Encoder failure Replace servo motor

Servo drive circuit board develops fault Replace the servo drive

When control power

Bus encoder data is
□48 supply is on or during Encoder EEROM is not initialized Replace servo motor
not initialized
operation

Wiring of encoder is wrong Correct wiring of encoder

Change cable specifications to stranded wire

or stranded shielded wire with core wire

Encoder cables are interfered due to different specifications
over 12 mm2 and stranded wire made of

tined soft copper

Encoder cables are interfered due to overlength The max. wiring distance should be 20 m.

Signal lines are interfered due to engaging-in and damage in sheath

Sum check of bus When control power Correct layout of encoder cables
of encoder cables
□49 encoder data is supply is on or during
Encoder cables are bound with high current line or their distance is Lay encoder cables at places free from surge
wrong operation
too close voltage

Change in FG potential due to influence by motor side equipment Connect equipment ground wire to prevent

(welding machine, etc.) shunting to FG at PG side

Take anti-interference measures for encoder

Signal line of encoder is interfered
wiring.

Encoder failure Replace servo motor

Servo drive circuit board develops fault Replace the servo drive

When control power Servo drive circuit board develops fault Replace the servo drive

supply is on Overload alarm reset for several times due to power off Change reset method of alarms

Review loading condition, operation

Cooling fin is overheated Load exceeds rated load.
□70 Overheating condition or motor capacity
when main power supply
Reduce ambient temperature of the servo
is ON or during motor Ambient temperature of the servo drive exceeds 55 °C
drive to below 55 °C
operation
Servo drive circuit board develops fault Replace the servo drive

Software does not When control power

□90 Servo drive circuit board develops fault Replace the servo drive
match with hardware supply is on

7.1.3 Causes and Treatment Measures of Other Abnormalities

See the following table for causes and proper treatment measures of other abnormalities without
alarm display. In case such abnormalities cannot be resolved after treatment, please contact agents or
service technicians of the Company.
Check method Treatment measures

Abnormalities Cause Note: Checking and treatment should only be made after power supply of servo system is set

to OFF.

Servo motor fails to Control power supply is not connected Check voltage between control power supply Correct control power supply ON circuit

start terminals

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Check method Treatment measures

Abnormalities Cause Note: Checking and treatment should only be made after power supply of servo system is set

to OFF.

Check voltage between main circuit power Correct main circuit power ON circuit
Main circuit power is not connected
terminals

Input/Output (CN3 connector) wiring is

Check installation and wiring of CN3 connector Correctly wire CN3 connector
wrong or comes off

Wiring of servo motor and encoder

Inspect wiring Connect wiring
comes off

Reduce load or replace with servo motor

Overload occurs Conduct no-load trial operation
with larger capacity

Speed/position reference is not input Check input pin Correctly input speed/position reference

Setting of input signal selection P□509 Check setting of input signal selection P□509 - Correctly set input signal selection

- P□512 is wrong P□512 P□509 - P□512

Confirm set value of user parameter P□50A.0 Correctly set user and set servo ON
Servo ON (/S-ON) input remains OFF
(/S-ON) input to ON

Check SEN signal input (when using absolute Set SEN signal input to ON
SEN input remains OFF
encoder)

Mode selection for reference pulse is Check use parameters setting and reference pulse Correctly set user parameter P□200.1

wrong shape

Speed reference input is improper Confirm control method and input are consistent Correctly set or input control parameter

during speed control or check between V-REF and GND

Torque reference input is improper Confirm control method and input are consistent Correctly set or input control parameter

during torque control or check between T-REF and GND

Position reference input is improper Check P□200.1 reference pulse signal shape or Correctly set or input control parameter

during position control sign or sign+ pulse signal

Shift pulse cleanout input (CLR)

Check CLR input Set CLR input signal to OFF
remains ON

Positive rotation drive prohibited

(P-OT)and negative rotation drive

Check POT or NOT input signal Set POT or NOT input signal to ON
prohibited (N-OT) input signal remains

OFF

Servo drive fault Servo drive circuit board develops fault Replace the servo drive

Servo motor stops after Motor wiring is wrong Check motor wiring Correctly wire motor

surge Encoder wiring is wrong Check encoder wiring Correctly wire encoder

Motor stops suddenly

Alarm reset (ALM-RST) signal remains Remove cause of alarm and set alarm
during operation and Check alarm reset signal
ON and alarm goes off reset signal from ON to OFF
becomes motionless

Motor rotates unstably Servo motor wiring is in bad contact Power line (U, V and W phases) and encoder Tighten loose fastening part between

connector are in unstable connection treatment terminal and connector

Motor rotates when no Speed reference input is improper Confirm control method and input are consistent Correctly set or input control parameter

reference has been sent during speed control or check between V-REF and GND

Torque reference input is improper Confirm control method and input are consistent Correctly set or input control parameter

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Check method Treatment measures

Abnormalities Cause Note: Checking and treatment should only be made after power supply of servo system is set

to OFF.

during torque control or check between T-REF and GND

Speed reference offset Offset adjustment of servo drive is poor Adjust offset of servo drive

Position reference input is improper Check P□200.1 reference pulse signal shape or Correctly set or input control parameter

during position control sign or sign+ pulse signal

Servo drive fault Servo drive circuit board develops fault Replace the servo drive

Motor sounds Whether mounting screws of servo motor are

Tighten mounting screws
abnormally loosed?
Machines are improperly installed
Whether coupling core is aligned? Align coupling core

Whether coupling is unbalanced? Restore coupling to balance

Check sounds and vibration near bearing Please contact service technicians of the
Bearing is abnormal inside
Company in case of any abnormality

Supporting machines have vibration Whether any moving part at machine side has

source foreign objects or is damaged or deformed? Please inquire relevant manufacturers

Whether stranded wire or stranded shielded wire Enable input signal line meet relevant
Input signal lines are interfered due to
has core wire over 0.12 mm and is made of
2
specifications
different specifications
tined soft copper?

Input signal line is interfered due to Confirm that the max. wiring length is 3 m and Enable length of input signal line meet

length beyond range of application its impedance is less than 100 Ω relevant specifications

Encoder cables are interfered due to Whether stranded wire or stranded shielded wire Enable encoder cables meet relevant

different specifications has core wire over 0.12 mm2 and is made of specifications

tined soft copper?

Encoder cables are interfered due to The max. wiring distance should be 20 m. Enable encoder cables meet relevant

length beyond range of application specifications

Encoder cables are interfered due to Signal lines are interfered due to engaging-in Correct layout of encoder cables

damages and damage in sheath of encoder cables

Interference to encoder cable is too Whether encoder cables are too close with high Lay encoder cables at places free from

great current line? surge voltage

Change in FG potential due to influence What is grounding state (not grounded or Connect equipment ground wire to

by servo motor side equipment incomplete grounding) of welding machine, etc. prevent shunting to FG at PG side

(welding machine, etc.) at servo motor side?

Servo drive pulse counter goes wrong Take anti-interference measures for
Whether signal line of encoder is interfered?
due to interference encoder wiring.

Mechanical vibration or motor installation is not

Encoder is affected by excessive in condition Reduce mechanical vibration or properly

vibration shock) (Accuracy, fastening and core shift of mounting install servo motor

surface)

Encoder failure Encoder failure Replace servo motor

Motor with frequency Speed gain P□100 is set too high Factory setting: Kv = 40.0 Hz Correctly set speed loop gain P□100

around 200 - 400 Hz Position loop gain P□102 is set too high Factory setting: Kp = 40.0/s Correctly set position loop gain P□102

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Check method Treatment measures

Abnormalities Cause Note: Checking and treatment should only be made after power supply of servo system is set

to OFF.

vibrates Speed loop integral time constant Correctly set speed loop integral time
Factory setting: Ti = 20.00 ms
P□101 is improperly set parameter P□101

Machine stiffness is improperly set

Reassess selection of machine stiffness setting Correctly select machine stiffness setting
during autotune

Ratio of moment of inertia is

Check ratio f moment of inertia P□103 Correct ratio f moment of inertia P□103
inappropriate when not suing autotune

Starting and stopping Speed gain P□100 is set too high Factory setting: Kv = 40.0 Hz Correctly set speed loop gain P□100

rotating overtravel is too Position loop gain P□102 is set too high Factory setting: Kp = 40.0/s Correctly set position loop gain P□102

large Speed loop integral time parameter Correctly set speed loop integral time
Factory setting: Ti = 20.00 ms
P□101 is improperly set parameter P□101

Machine stiffness is improperly set

Reassess selection of machine stiffness setting Correctly select machine stiffness setting
during autotune

Ratio of moment of inertia is Correct ratio f moment of inertia P□103

Check ratio f moment of inertia P□103
inappropriate when not using autotune Use module switch function

Position offset of stranded wire or stranded shielded wire has core Enable encoder cables meet relevant
Encoder cables are interfered due to
absolute encoder is wire over 0.12 mm and is made of tined soft
2
specifications
different specifications
wrong copper

(Position saved by Encoder cables are interfered due to The max. wiring distance should be 20 m. Enable encoder cables meet relevant

command controller length beyond range of application specifications

during outage is Encoder cables are interfered due to Signal lines are interfered due to engaging-in
Correct layout of encoder cables
different from position damages and damage in sheath of encoder cables
when the power supply Interference to encoder cable is too Whether encoder cables are bound with high Lay encoder cables at places free from
is on next time) great current line or their distance is too close? surge voltage

Fluctuation of FG potential due to What is grounding state (not grounded or

Connect equipment ground wire to
interference by motor side equipment incomplete grounding) of welding machine, etc.
prevent shunting to FG at PG side
(welding machine, etc.) at servo motor side?

Servo drive pulse counter goes wrong Take anti-interference measures for
Whether signal line of encoder is interfered?
due to interference encoder wiring.

Mechanical vibration or motor installation is not

Encoder is affected by excessive in condition Reduce mechanical vibration or properly

vibration shock (Accuracy, fastening and core shift of mounting install servo motor

surface)

Encoder failure Encoder failure (no change in pulse) Replace servo motor

Servo drive fault Servo drive fails to send multi-turn data Replace the servo drive

Check error detection of command controller Restore error detection function of

command controller

Command controller multi-turn data Whether data (odd-even) check is executed on Execute odd-even check of multi-turn

read error command controller? data

Signal line between servo drive and command Interference effect occurs when no

controller is interfered checkout is done (above)

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Check method Treatment measures

Abnormalities Cause Note: Checking and treatment should only be made after power supply of servo system is set

to OFF.

Overtravel (OT) Whether external power supply (+24 V) of input Correct external power supply of +24 V

(Exceeding scope signal is correct?

Positive/negative rotation drive
specified by command Whether action state of overtravel limit SW is Correct state of overtravel limit SW
prohibited input signal reaches (POT or
controller) correct?
NOT is at H level)
Whether wiring of overtravel limit SW is Correct wiring of overtravel limit SW

correct?

Whether external power supply (+24 V) of input Remove cause of change in external

signal changes? power supply of +24 V

Positive/negative rotation drive
Whether action of overtravel limit SW is Make action of overtravel limit SW
prohibited input signal is
unstable? unstable
malfunctioning (POT or NOT changes
Whether wiring of overtravel limit SW is
constantly)
correct? Correct wiring of overtravel limit SW

(Cable damage and screw fastening)

Positive/negative rotation drive Check POT signal selection P□510.2 Correct POT signal selection P□510.2

prohibited input signal Correct NOT signal selection P□510.3

Check NOT signal selection P□510.3
P-OT/N-OT signal selection is wrong

What is the selection for inertial operation stop

Check P□000.2 and P□000.3
when servo is OFF?
Motor stop method selection is wrong
What is the setting for inertial operation during
Check P□000.2 and P□000.3
torque control?

Overtravel position is not proper OT position is shorter than operation distance Properly set Ot position

Whether stranded wire or stranded shielded wire

Encoder cables are interfered due to Enable encoder cables meet relevant
has core wire over 0.12 mm2 and is made of
different specifications specifications
tined soft copper?

Encoder cables are interfered due to Enable encoder cables meet relevant
The max. wiring distance should be 20 m.
length beyond range of application specifications

Encoder cables are interfered due to Signal lines are interfered due to engaging-in
Correct layout of encoder cables
damages and damage in sheath of encoder cables

Interference to encoder cable is too

Whether encoder cables are bound with high Lay encoder cables at places free from
great
current line or their distance is too close? surge voltage

Change in FG potential due to influence What is grounding state (not grounded or Connect equipment ground wire to

by servo motor side equipment incomplete grounding) of welding machine, etc. prevent shunting to FG at PG side

(welding machine, etc.) at servo motor side?

Servo unit pulse counter goes wrong Take anti-interference measures for
Whether signal line of encoder is interfered?
due to interference encoder wiring.

Encoder is affected by excessive Mechanical vibration or motor installation is not

Reduce mechanical vibration or properly
vibration shock in condition (accuracy, fastening and core shift
install servo motor
of mounting surface)

Encoder failure Encoder failure (no change in pulse) Replace servo motor

Servo drive fault Servo drive fails to send multi-turn data Replace the servo drive

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 K/iK Series AC Servo Driver

Check method Treatment measures

Abnormalities Cause Note: Checking and treatment should only be made after power supply of servo system is set

to OFF.

Coupling between machine and servo Whether coupling between machine and servo Correctly connect coupling between

motor is abnormal motor has offset? machine and servo motor

Whether stranded wire or stranded shielded wire

Position offset (alarm Input signal lines are interfered due to Enable input signal line meet relevant
has core wire over 0.12 mm2 and is made of
fails and causes position different specifications specifications
tined soft copper?
offset)
Input signal line is interfered due to Confirm that the max. wiring length is 3 m and Enable length of input signal line meet

length beyond range of application its impedance is less than 100 Ω relevant specifications

Encoder failure (no change in pulse) Encoder failure (no change in pulse) Replace servo motor

7.2 Maintenance and Check of Servo Drive

7.2.1 Check of Servo Motor

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

7.2.2 Check of Servo Drive

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

7.2.3 General Standards of Replacement of Internal Parts of Servo Drive

Mechanical abrasion and aging will occur to electric and electronic parts. Therefore, regular
check is required for safety purpose. In need of replacement of parts, local dealer should be

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 K/iK Series AC Servo Driver

contacted. Use parameters of servo drives overhauled by the Company will be restored to factory
setting and user parameters for using should be set before operation.
Part Name Years of revision of standards Use conditions
Cooling fan 4-5 years Ambient temperature: annual
Smoothing capacitor 7 - 8 years average of 30 °C
Relays — Load rate: below 80%
Fuse 10 years Operating ratio: less than 20 h
Aluminium electrolytic 5 years every day
capacitor on PCB

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 K/iK Series AC Servo Driver

Appendix A Summary of User Parameters

Parameter Setting Power

Name Setting unit Factory setting Remarks
No. range reboot
P□000 Basic function selection switch —— —— 0010 Y

P□001 Basic function selection switch 1 —— —— 0001 Y

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Parameter Setting Power

Name Setting unit Factory setting Remarks
No. range reboot
P□002 Basic function selection switch 2 —— —— 1100 Y

P□003 Basic function selection switch 3 —— —— 1000 Y

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

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 K/iK Series AC Servo Driver

Parameter Setting Power

Name Setting unit Factory setting Remarks
No. range reboot
P□006 Set the motor manufacturers and encoder type Y

P□008 Set the line of incremental encoder,For example set

P□008 to 5000,it indicates that the line of incremental 0 ~ 8192 0 Y
encoder is 5000
P□100 Speed loop gain 1 ~ 2500 0.1 Hz 400 N
P□101 Speed loop integral time constant 1 ~ 4000 0.01ms 2000 N
P□102 Position loop gain 1 ~ 2000 0.1/s 400 N
P□103 Moment of inertia ratio 0 ~ 20000 1% 0 N
P□104 Second speed loop gain 1 ~ 2500 0.1 Hz 400 N
P□105 Second speed loop integral time constant 1 ~ 4000 0.01ms 2000 N
P□106 Second position loop gain 1 ~ 2000 0.1/s 400 N
P□107 Offset (speed offset) 0 ~ 450 1r/min 0 N
P□108 Scope of offset stack 0 ~ 5000 1reference pulse 10 N
P□109 Feedforward gain 0 ~ 100 1% 0 N
P□110 Feedforward filter time constant 0 ~ 640 0.1ms 0 N

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Parameter Setting Power

Name Setting unit Factory setting Remarks
No. range reboot
P□111 Accelerated speed freeforward percentage 0 ~ 100 1% 0 N
P□112 Accelerated speed feedforward filter time constant 0 ~ 640 0.1ms 0 N
P□113 0000 ~
Application function for gain select switch —— 0000 Y
0064

P□114 Mode switch (torque reference) 0 ~ 300 1% 200 N

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

149
 K/iK Series AC Servo Driver

Parameter Setting Power

Name Setting unit Factory setting Remarks
No. range reboot

P□141 Speed observer setting

150
 K/iK Series AC Servo Driver

Parameter Setting Power

Name Setting unit Factory setting Remarks
No. range reboot
P□145 Function select

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

P□201 16 ~
PG frequency dividing 1 P/rev 2500 Y
32768
P□202 First electronic gear ratio (numerator) 1 ~ 65535 —— 1 Y
P□203 First electronic gear ratio (denominator) 1 ~ 65535 —— 1 Y
P□204 Second electronic gear ratio (numerator) 1 ~ 65535 —— 1 Y
P□205 Position reference acceleration/deceleration time
0 ~ 6400 0.1ms 0 N
constant

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 K/iK Series AC Servo Driver

Parameter Setting Power

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

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

P□401 Torque reference filter time constant 0 ~ 250 0.1ms 4 N
P□402 Second torque reference filter time constant 0 ~ 250 0.1ms 4 N
P□403 Forward torque limit 0 ~ 300 1% 300 N
P□404 Reverse torque limit 0 ~ 300 1% 300 N
P□405 Forward external torque limit 0 ~ 300 1% 100 N
P□406 Reverse external torque limit 0 ~ 300 1% 100 N
P□407 Plug braking torq ue limit 0 ~ 300 1% 300 N
P□408 Speed limit during torque control 0 ~ 6000 1r/min 1500 N
P□409 Frequency of notch filter section 1 50 ~ 5000 1Hz 5000 N
P□410 Depth of notch filter section 1 0 ~ 100 —— 10 N
P□411 Frequency of notch filter section 2 50 ~ 5000 1 Hz 5000 N
P□412 Depth of notch filter section 2 0 ~ 100 —— 10 N
P□413 Vibration frequency of B type 10 ~ 1000 0.1 Hz 1000 N
P□414 Vibration damping of B type 0 ~ 200 —— 25 N
P□500 Positioning completion width 0 ~ 5000 1 reference unit 10 N
P□501 Zero clamping level 0 ~ 3000 1r/min 10 N

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Parameter Setting Power

Name Setting unit Factory setting Remarks
No. range reboot
P□502 Rotation detection of electric level 0 ~ 3000 1r/min 20 N
P□503 Same-speed signal detection width 0 ~ 100 1r/min 10 N
P□504 Offset pulse overflow level 1 ~ 32767 256 reference unit 1024 N
P□505 Waiting time of servo ON 0 ~ 2000 ms 0 N
P□506 Brake command - delay time of servo OFF 0 ~ 500 10ms 0 N
P□507 Level for output speed of brake command 0 ~ 6000 1r/min 100 N
P□508 Brake command wait time when servo is OFF 10 ~ 100 10ms 50 N
P□509 8765 (double
Input signal selection 1 —— —— 9901 Y
axis/b)

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 K/iK Series AC Servo Driver

Parame Setting Power

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

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

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

154
 K/iK Series AC Servo Driver

Parame Setting Power

Name Setting unit Factory setting Remarks
ter No. range reboot
P□513 0321 0654
Output signal selection 1 —— —— Y
(double axis/A) (double axis/b)

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

P□515 Output signal selection 3 —— —— 0000 Y

155
 K/iK Series AC Servo Driver

Parame Setting Power

Name Setting unit Factory setting Remarks
ter No. range reboot
P□516 Instruction source selection —— —— —— N

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

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

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

156
 K/iK Series AC Servo Driver

Parame Setting Power

Name Setting unit Factory setting Remarks
ter No. range reboot
P□521 Output port signal reverse select 1 —— —— 0000 N

P□522 Output port signal inverse select 2 —— —— 0000 N

P□523 Select initial status display content

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 K/iK Series AC Servo Driver

Parame Setting Power

Name Setting unit Factory setting Remarks
ter No. range reboot
P□600 RS-485 communication parameter
—— —— 2151 Y
selection switch

P□601 RS-485 communication axis address 1 ~ 127 —— 1 (A axis) Y 2 (b axis)

P□602 RS-485 communication timeout parameter 0 ~ 1000 100 ms 0 N
P□603 Reserved —— —— 0000 N
P□604 Reserved —— —— 0000 N
P□605 Reserved —— —— 0000 N
P□606 Reserved —— —— 0000 N
P□607 Reserved —— —— 0000 N
P□608 Reserved —— —— 0000 N
P□609 Reserved —— —— 0000 N
P□610 Type of data set 8 0~2 —— 0 Y
0: data set is null
1: data set is in absolute motion
2: data set is in relative motion
P□611 -9999~+9 1-reference
Low byte value of Data Set 8 0 Y
999 pulse
P□612 -9999~+9 10000-referen
High byte value of Data Set 8 0 Y
999 ce pulse
P□613 Speed of data set 8 0 ~ 6000 rpm 100 Y

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Parame Setting Power

Name Setting unit Factory setting Remarks
ter No. range reboot
P□614 Step change attribute in Data Set 8 —— —— 0000 Y

P□615 Step change condition value 1 in data set 8 0 ~ 65535 —— 0 Y

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

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Parame Setting Power

Name Setting unit Factory setting Remarks
ter No. range reboot
P□622 Step change attribute in Data Set 9 —— —— 0000 Y

P□623 Step change condition value 1 in data set 9 0 ~ 65535 —— 0 Y

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

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Parame Setting Power

Name Setting unit Factory setting Remarks
ter No. range reboot
P□630 Step change attribute in Data Set 10 —— —— 0000 Y

P□631 Step change condition value 1 in data set

0 ~ 65535 —— 0 Y
10
- Unconditional: no transitional condition value
- Delay: value 0 ~ 65535: latency time 0 ~ 65535, unit: ms
- Pulse edge required for step change:
Value 0: rising edge
Value 1: falling edge
Value 2: rising edge or falling edge
- Level required for step change:
Value 3: 1 level
Value 4: 0 level
P□632 Step change condition value 2 in data set
0 ~ 65535 —— 0 Y
10
Ditto
P□633 Follow-up data set number of data set 10 0 ~ 14 —— 11 Y
P□634 Type of data set 11 0~2 —— 0 Y
0: data set is null
1: data set is in absolute motion
2: data set is in relative motion
P□635 -9999~+9 1-reference
Low byte value of Data Set 11 0 Y
999 pulse
P□636 -9999~+9 10000-referen
High byte value of Data Set 11 0 Y
999 ce pulse
P□637 Speed of data set 11 0 ~ 6000 rpm 100 Y

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Parame Setting Power

Name Setting unit Factory setting Remarks
ter No. range reboot
P□638 Step change attribute in Data Set 11 —— —— 0000 Y

P□639 Step change condition value 1 in data set

0 ~ 65535 —— 0 Y
11
- Unconditional: no transitional condition value
- Delay: value 0 ~ 65535: latency time 0 ~ 65535, unit: ms
- Pulse edge required for step change:
Value 0: rising edge
Value 1: falling edge
Value 2: rising edge or falling edge
- Level required for step change:
Value 3: 1 level
Value 4: 0 level
P□640 Step change condition value 2 in data set
0 ~ 65535 —— 0 Y
11
Ditto
P□641 Follow-up data set number of data set 11 0 ~ 14 —— 12 Y
P□642 Type of data set 12 0~2 —— 0 Y
0: data set is null
1: data set is in absolute motion
2: data set is in relative motion
P□643 -9999~+9 1-reference
Low byte value of Data Set 12 0 Y
999 pulse
P□644 -9999~+9 10000-referen
High byte value of Data Set 12 0 Y
999 ce pulse
P□645 Speed of data set 12 0 ~ 6000 rpm 100 Y

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 K/iK Series AC Servo Driver

Parame Setting Power

Name Setting unit Factory setting Remarks
ter No. range reboot
P□646 Step change attribute in Data Set 12 —— —— 0000 Y

P□647 Step change condition value 1 in data set

0 ~ 65535 —— 0 Y
12
- Unconditional: no transitional condition value
- Delay: value 0 ~ 65535: latency time 0 ~ 65535, unit: ms
- Pulse edge required for step change:
Value 0: rising edge
Value 1: falling edge
Value 2: rising edge or falling edge
- Level required for step change:
Value 3: 1 level
Value 4: 0 level
P□648 Step change condition value 2 in data set
0 ~ 65535 —— 0 Y
12
Ditto
P□649 Follow-up data set number of data set 12 0 ~ 14 —— 13 Y
P□650 Type of data set 13 0~2 —— 0 Y
0: data set is null
1: data set is in absolute motion
2: data set is in relative motion
P□651 -9999~+9 1-reference
Low byte value of Data Set 13 0 Y
999 pulse
P□652 -9999~+9 10000-referen
High byte value of Data Set 13 0 Y
999 ce pulse
P□653 Speed of data set 13 0 ~ 6000 rpm 100 Y

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 K/iK Series AC Servo Driver

Parame Setting Power

Name Setting unit Factory setting Remarks
ter No. range reboot
P□654 Step change attribute in Data Set 13 —— —— 0000 Y

P□655 Step change condition value 1 in data set

0 ~ 65535 —— 0 Y
13
- Unconditional: no transitional condition value
- Delay: value 0 ~ 65535: latency time0 ~ 65535, unit: ms
- Pulse edge required for step change:
Value 0: rising edge
Value 1: falling edge
Value 2: rising edge or falling edge
- Level required for step change:
Value 3: 1 level
Value 4: 0 level
P□656 Step change condition value 2 in data set
0 ~ 65535 —— 0 Y
13
Ditto
P□657 Follow-up data set number of data set 13 0 ~ 14 —— 14 Y
P□658 Type of data set 14 0~2 —— 0 Y
0: data set is null
1: data set is in absolute motion
2: data set is in relative motion
P□659 -9999~+9 1-reference
Low byte value of Data Set 14 0 Y
999 pulse
P□660 -9999~+9 10000-referen
High byte value of Data Set 14 0 Y
999 ce pulse
P□661 Speed of data set 14 0 ~ 6000 rpm 100 Y

164
 K/iK Series AC Servo Driver

Parame Setting Power

Name Setting unit Factory setting Remarks
ter No. range reboot
P□662 Step change attribute in Data Set 14 —— —— 0000 Y

P□663 Step change condition value 1 in data set

0 ~ 65535 —— 0 Y
14
- Unconditional: no transitional condition value
- Delay: value 0 ~ 65535: latency time0 ~ 65535, unit: ms
- Pulse edge required for step change:
Value 0: rising edge
Value 1: falling edge
Value 2: rising edge or falling edge
- Level required for step change:
Value 3: 1 level
Value 4: 0 level
P□664 Step change condition value 2 in data set
0 ~ 65535 —— 0 Y
14
Ditto
P□665 Follow-up data set number of data set 14 0 ~ 14 —— 0 Y
P□700 Type of data set 0 0~2 —— 0 Y
0: data set is null
1: data set is in absolute motion
2: data set is in relative motion
P□701 -9999~+9 1-reference
Low byte value of Data Set 0 0 Y
999 pulse
P□702 -9999~+9 10000-referen
High byte value of Data Set 0 0 Y
999 ce pulse

165
 K/iK Series AC Servo Driver

Parame Setting Power

Name Setting unit Factory setting Remarks
ter No. range reboot
P□703 Speed of data set 0 0 ~ 6000 rpm 100 Y
P□704 Step change attribute in Data Set 0 —— —— 0000 Y

P□705 Step change condition value 1 in data set 0 0 ~ 65535 —— 0 Y

- Unconditional: no transitional condition value
- Delay: value 0 ~ 65535: latency time 0 ~ 65535, unit: ms
- Pulse edge required for step change:
Value 0: rising edge
Value 1: falling edge
Value 2: rising edge or falling edge
- Level required for step change:
Value 3: 1 level
Value 4: 0 level
P□706 Step change condition value 2 in data set 0 0 ~ 65535 —— 0 Y
Ditto
P□707 Follow-up data set number of data set 0 0 ~ 14 —— 1 Y
P□708 Type of data set 1 0~2 —— 0 Y
0: data set is null
1: data set is in absolute motion
2: data set is in relative motion
P□709 -9999~+9 1-reference
Low byte value of Data Set 1 0 Y
999 pulse
P□710 -9999~+9 10000-referen
High byte value of Data Set 1 0 Y
999 ce pulse

166
 K/iK Series AC Servo Driver

Parame Setting Power

Name Setting unit Factory setting Remarks
ter No. range reboot
P□711 Speed of data set 1 0 ~ 6000 rpm 100 Y
P□712 Step change attribute in Data Set 1 —— —— 0000 Y

P□713 Step change condition value 1 in data set 1 0 ~ 65535 —— 0 Y

- Unconditional: no transitional condition value
- Delay: value 0 ~ 65535: latency time0 ~ 65535, unit: ms
- Pulse edge required for step change:
Value 0: rising edge
Value 1: falling edge
Value 2: rising edge or falling edge
- Level required for step change:
Value 3: 1 level
Value 4: 0 level
P□714 Step change condition value 2 in data set 1 0 ~ 65535 —— 0 Y
Ditto
P□715 Follow-up data set number of data set 1 0 ~ 14 —— 2 Y
P□716 Type of data set 2 0~2 —— 0 Y
0: data set is null
1: data set is in absolute motion
2: data set is in relative motion
P□717 -9999~+9 1-reference
Low byte value of Data Set 2 0 Y
999 pulse
P□718 -9999~+9 10000-referen
High byte value of Data Set 2 0 Y
999 ce pulse

167
 K/iK Series AC Servo Driver

Parame Setting Power

Name Setting unit Factory setting Remarks
ter No. range reboot
P□719 Speed of data set 2 0 ~ 6000 rpm 100 Y
P□720 Step change attribute in Data Set 2 —— —— 0000 Y

P□721 Step change condition value 1 in data set 2 0 ~ 65535 —— 0 Y

- Unconditional: no transitional condition value
- Delay: value 0 ~ 65535: latency time0 ~ 65535, unit: ms
- Pulse edge required for step change:
Value 0: rising edge
Value 1: falling edge
Value 2: rising edge or falling edge
- Level required for step change:
Value 3: 1 level
Value 4: 0 level
P□722 Step change condition value 2 in data set 2 0 ~ 65535 —— 0 Y
Ditto
P□723 Follow-up data set number of data set 2 0 ~ 14 —— 3 Y
P□724 Type of data set 3 0~2 —— 0 Y
0: data set is null
1: data set is in absolute motion
2: data set is in relative motion
P□725 -9999~+9 1-reference
Low byte value of Data Set 3 0 Y
999 pulse
P□726 -9999~+9 10000-referen
High byte value of Data Set 3 0 Y
999 ce pulse

168
 K/iK Series AC Servo Driver

Parame Setting Power

Name Setting unit Factory setting Remarks
ter No. range reboot
P□727 Speed of data set 3 0 ~ 6000 rpm 100 Y
P□728 Step change attribute in Data Set 3 —— —— 0000 Y

P□729 Step change condition value 1 in data set 3 0 ~ 65535 —— 0 Y

- Unconditional: no transitional condition value
- Delay: value 0 ~ 65535: latency time0 ~ 65535, unit: ms
- Pulse edge required for step change:
Value 0: rising edge
Value 1: falling edge
Value 2: rising edge or falling edge
- Level required for step change:
Value 3: 1 level
Value 4: 0 level
P□730 Step change condition value 2 in data set 3 0 ~ 65535 —— 0 Y
Ditto
P□731 Follow-up data set number of data set 3 0 ~ 14 —— 4 Y
P□732 Type of data set 4 0~2 —— 0 Y
0: data set is null
1: data set is in absolute motion
2: data set is in relative motion
P□733 -9999~+9 1-reference
Low byte value of Data Set 4 0 Y
999 pulse
P□734 -9999~+9 10000-referen
High byte value of Data Set 4 0 Y
999 ce pulse
P□735 Speed of data set 4 0 ~ 6000 rpm 100 Y

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 K/iK Series AC Servo Driver

Parame Setting Power

Name Setting unit Factory setting Remarks
ter No. range reboot
P□736 Step change attribute in Data Set 4 —— —— 0000 Y

P□737 Step change condition value 1 in data set 4 0 ~ 65535 —— 0 Y

- Unconditional: no transitional condition value
- Delay: value 0 ~ 65535: latency time0 ~ 65535, unit: ms
- Pulse edge required for step change:
Value 0: rising edge
Value 1: falling edge
Value 2: rising edge or falling edge
- Level required for step change:
Value 3: 1 level
Value 4: 0 level
P□738 Step change condition value 2 in data set 4 0 ~ 65535 —— 0 Y
Ditto
P□739 Follow-up data set number of data set 4 0 ~ 14 —— 5 Y
P□740 Type of data set 5 0~2 —— 0 Y
0: data set is null
1: data set is in absolute motion
2: data set is in relative motion
P□741 -9999~+9 1-reference
Low byte value of Data Set 5 0 Y
999 pulse
-9999~+9 10000-referen
P□742 High byte value of Data Set 5 0 Y
999 ce pulse
P□743 Speed of data set 5 0 ~ 6000 rpm 100 Y
P□744 Step change attribute in Data Set 5 —— —— 0000 Y

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 K/iK Series AC Servo Driver

Parame Setting Power

Name Setting unit Factory setting Remarks
ter No. range reboot

P□745 Step change condition value 1 in data set 5 0 ~ 65535 —— 0 Y

- Unconditional: no transitional condition value
- Delay: value 0 ~ 65535: latency time0 ~ 65535, unit: ms
- Pulse edge required for step change:
Value 0: rising edge
Value 1: falling edge
Value 2: rising edge or falling edge
- Level required for step change:
Value 3: 1 level
Value 4: 0 level
P□746 Step change condition value 2 in data set 5 0 ~ 65535 —— 0 Y
Ditto
P□747 Follow-up data set number of data set 5 0 ~ 14 —— 6 Y
Type of data set 6 0~2 —— 0 Y
0: data set is null
P□748
1: data set is in absolute motion
2: data set is in relative motion
-9999~+9 1-reference
P□749 Low byte value of Data Set 6 0 Y
999 pulse
-9999~+9 10000-referen
P□750 High byte value of Data Set 6 0 Y
999 ce pulse
P□751 Speed of data set 6 0 ~ 6000 rpm 100 Y
P□752 Step change attribute in Data Set 6 —— —— 0000 Y

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 K/iK Series AC Servo Driver

Parame Setting Power

Name Setting unit Factory setting Remarks
ter No. range reboot

P□753 Step change condition value 1 in data set 6 0 ~ 65535 —— 0 Y

- Unconditional: no transitional condition value
- Delay: value 0 ~ 65535: latency time0 ~ 65535, unit: ms
- Pulse edge required for step change:
Value 0: rising edge
Value 1: falling edge
Value 2: rising edge or falling edge
- Level required for step change:
Value 3: 1 level
Value 4: 0 level
P□754 Step change condition value 2 in data set 6 0 ~ 65535 —— 0 Y
Ditto
P□755 Follow-up data set number of data set 6 0 ~ 14 —— 7 Y
P□756 Type of data set 7 0~2 —— 0 Y
0: data set is null
1: data set is in absolute motion
2: data set is in relative motion
P□757 -9999~+9 1-reference
Low byte value of Data Set 7 0 Y
999 pulse
P□758 -9999~+9 10000-referen
High byte value of Data Set 7 0 Y
999 ce pulse
P□759 Speed of data set 7 0 ~ 6000 rpm 100 Y
P□760 Step change attribute in Data Set 7 —— —— 0000 Y

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 K/iK Series AC Servo Driver

Parame Setting Power

Name Setting unit Factory setting Remarks
ter No. range reboot

P□761 Step change condition value 1 in data set 7 0 ~ 65535 —— 0 Y

- Unconditional: no transitional condition value
- Delay: value 0 ~ 65535: latency time0 ~ 65535, unit: ms
- Pulse edge required for step change:
Value 0: rising edge
Value 1: falling edge
Value 2: rising edge or falling edge
- Level required for step change:
Value 3: 1 level
Value 4: 0 level
P□762 Step change condition value 2 in data set 7 0 ~ 65535 —— 0 Y
Ditto
P□763 Follow-up data set number of data set 7 0 ~ 14f —— 0 Y
P□764 Data set start method 0~1 —— 0 Y
0: internal method (single data set method)
1: task mode (data set sequence)
P□765 Acceleration of data set 0 ~ 60000 10 rpm/s 10000 Y
P□766 Deceleration of data set 0 ~ 60000 10 rpm/s 10000 Y
P□767 Emergency deceleration of data set 0 ~ 60000 10 rpm/s 60000 Y
Data set position electronic gear ratio
P□768 1 ~ 65535 —— 1 Y
(numerator)
Data set position electronic gear ratio
P□769 1 ~ 65535 —— 1 Y
(denominator)

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 K/iK Series AC Servo Driver

Parame Setting Power

Name Setting unit Factory setting Remarks
ter No. range reboot
P□770 Zero returning method selection switch —— —— 0000 Y

P□771 On-off speed to meet reference point 0 ~ 6000 rpm 100 Y

P□772 On-off speed to leave reference point 0 ~ 6000 rpm 30 Y
Low byte of speed/position switching 1-reference
P□773 0 ~ 9999 0 N
reference point pulse
High byte of speed/position switching 10000-referen
P□774 0 ~ 9999 0 N
reference point ce pulse
Set wether read the motor encoder

P□858

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 K/iK Series AC Servo Driver

Appendix B Table of iK Series M2 Drive Parameters

Paramete Setting Power

Name Setting unit Factory setting Remarks
r No. range reboot
P□000 Basic function selection switch —— —— 0010 Y

P□001 Basic function selection switch 1 —— —— 0001 Y

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 K/iK Series AC Servo Driver

Paramete Setting Power

Name Setting unit Factory setting Remarks
r No. range reboot
P□002 Basic function selection switch 2 —— —— 1100 Y

P□003 Basic function selection switch 3 —— —— 1000 Y

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

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 K/iK Series AC Servo Driver

Paramete Setting Power

Name Setting unit Factory setting Remarks
r No. range reboot
P□006 Set the motor manufacturers and
encoder type

P□100 Speed loop gain 1 ~ 2500 0.1 Hz 400 N

P□101 Speed loop integral time constant 1 ~ 4000 0.01 ms 2000 N
P□102 Position loop gain 1 ~ 2000 0.1/s 400 N
P□103 Ratio of moment of inertia 0 ~ 20000 1% 0 N
P□104 Second speed loop gain 1 ~ 2500 1 Hz 40 N
P□105 Second speed loop integral time
1 ~ 4000 0.1ms 200 N
constant
P□106 Second position loop gain 1 ~ 2000 1/s 40 N
P□107 Offset (speed offset) 0 ~ 450 1r/min 0 N
P□108 Scope of offset stack 0 ~ 5000 1-reference pulse 10 N
P□109 Feedforward 0 ~ 100 1% 0 N
P□110 Feedforward filter time constant 0 ~ 640 0.1ms 0 N
P□111 Accelerated speed freeforward
0 ~ 100 1% 0 N
percentage
P□112 Accelerated speed feedforward filter
0 ~ 640 0.1ms 0 N
time constant

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 K/iK Series AC Servo Driver

Paramete Setting Power

Name Setting unit Factory setting Remarks
r No. range reboot
P□113 0000 ~
Gain application switch —— 0000 Y
0064

P□114 Mode switch (torque reference) 0 ~ 300 1% 200 N

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

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Paramete Setting Power

Name Setting unit Factory setting Remarks
r No. range reboot
P□127 Online autotune switches —— —— 1340 Y/N

P□141 Speed observer setting

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Paramete Setting Power

Name Setting unit Factory setting Remarks
r No. range reboot
P□145 Function select

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

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Paramete Setting Power

Name Setting unit Factory setting Remarks
r No. range reboot
P□201 16 ~
PG frequency dividing 1 P/rev 2500 Y
32768
P□202 First electronic gear ratio (numerator) 1 ~ 65535 —— 1 Y
P□203 First electronic gear ratio (denominator) 1 ~ 65535 —— 1 Y
P□204 Second electronic gear ratio
1 ~ 65535 —— 1 Y
(numerator)
P□205 Position reference
acceleration/deceleration time 0 ~ 6400 0.1ms 0 N
parameter
P□206 Position reference filter form selection 0~1 —— 0 Y
P□212 Electronic gear numerator adjustment
1 ~ 65535 1
factor
This parameter×P□202 = Electronic gear numerator
P□213 Electronic gear denominator adjustment
1 ~ 65535 1
factor
This parameter×P□203 = Electronic gear denominator
P□300 Speed reference input gain 0 ~ 3000 (r/min)/V 150 N
P□301 Internal speed 1 0 ~ 6000 1r/min 100 N
P□302 Internal speed 2 0 ~ 6000 1r/min 200 N
P□303 Internal speed 3 0 ~ 6000 1r/min 300 N
P□304 Jogging (JOG) speed 0 ~ 6000 1r/min 500 N
P□305 Acceleration time of soft start 0 ~ 10000 1 ms 0 N
P□306 Deceleration time of soft start 0 ~ 10000 1 ms 0 N
P□307 Speed reference filter constant 0 ~ 10000 1 ms 0 N
P□308 Rise time of S curve 0 ~ 10000 1 ms 0 N
P□309 Z signal inversion —— —— 0000 Y

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

P□401 Torque reference filter time constant 0 ~ 250 0.1ms 4 N
P□402 Second torque reference filter time
0 ~ 250 0.1ms 4 N
constant
P□403 Forward torque limit 0 ~ 300 1% 300 N
P□404 Reverse torque limit 0 ~ 300 1% 300 N

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Paramete Setting Power

Name Setting unit Factory setting Remarks
r No. range reboot
P□405 Forward external torque limit 0 ~ 300 1% 100 N
P□406 Reverse external torque limit 0 ~ 300 1% 100 N
P□407 Plug braking torq ue limit 0 ~ 300 1% 300 N
P□408 Speed limit during torque control 0 ~ 6000 1r/min 1500 N
P□409 Frequency of notch filter section 1 50 ~ 5000 1 Hz 5000 N
P□410 Depth of notch filter section 1 0 ~ 100 —— 10 N
P□411 Frequency of notch filter section 2 50 ~ 5000 1 Hz 5000 N
P□412 Depth of notch filter section 2 0 ~ 100 —— 10 N
P□413 B type vibration frequency 10 ~ 1000 0.1 Hz 1000 N
P□414 B type vibration damping 0 ~ 200 —— 25 N
P□500 Positioning completion width 0 ~ 5000 1 reference unit 10 N
P□501 Zero clamping level 0 ~ 3000 1r/min 10 N
P□502 Rotation detection of electric level 0 ~ 3000 1r/min 20 N
P□503 Same-speed signal detection width 0 ~ 100 1r/min 10 N
P□504 Offset pulse overflow level 1 ~ 32767 256 reference unit 1024 N
P□505 Latency time for servo to turn on 0 ~ 2000 ms 0 N
P□506 Waiting time of servo ON 0 ~ 500 10ms 0 N
P□507 Brake command - delay time of servo
0 ~ 6000 1r/min 100 N
OFF
P□508 Brake command wait time when servo
10 ~ 100 10ms 50 N
is OFF

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Parameter Power
Name Setting range Setting unit Factory setting Remarks
No. reboot
P□509 8765 (double
Input signal selection 1 —— —— 4321 Y
axis/b)

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

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

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

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Parame Factory Power

Name Setting range Setting unit Remarks
ter No. setting reboot
P□513 0321 (double axis/A)
Output signal selection 1 —— —— 4321 Y
0654 (double axis/b)

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

P□515 Output signal selection 3 —— —— 0000 Y

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Parame Factory Power

Name Setting range Setting unit Remarks
ter No. setting reboot
P□516 Instruction source selection —— —— —— N

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

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

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

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Parame Factory Power

Name Setting range Setting unit Remarks
ter No. setting reboot
P□521 Output port signal reverse select 1 —— —— 0000 N

P□522 Output port signal reverse select 2 —— —— 0000 N

P□523 Select initial status display content

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Parame Factory Power

Name Setting range Setting unit Remarks
ter No. setting reboot
P□600 RS-485 communication parameter
—— —— 2151 Y
selection switch

RS-485 communication axis

P□601 1 ~ 127 —— 1 (A axis) Y 2 (b axis)
address
P□602 RS-485 communication timeout
0 ~ 1000 100 ms 0 N
parameter
P□603 CANopen communication
—— —— 0004 Y
parameter selection switch

CANopen communication axis

P□604 1 ~ 127 —— 1 (A axis) Y 2 (b axis)
address

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Parame Factory Power

Name Setting range Setting unit Remarks
ter No. setting reboot
P□605 Metratrolink communication
—— —— 0011 Y
parameter

P□606 Metratrolink station address 0000 - 001F —— 0001 Y 0001 (b axis)

P□620 Linear acceleration 1 ~ 65535 10000 p/s/s 100 N
P□621 Linear deceleration 1 ~ 65535 10000 p/s/s 100 N
P□622 Emergency deceleration 1 ~ 65535 10000 p/s/s 10000 N
P□623 External positioning displacement －1073741823 ~
1 reference unit 100 N
distance +1073741823
P□625 Zero return mode setting —— —— 1 Y

P□626 Reference point seeking switch

0 ~ 65535 100 p/s 150 Y
speed
P□627 Zero return closing speed 0 ~ 65535 100 p/s 50 Y
P□628 Zero return displacement distance Y
P□858 Set wether read the motor encoder

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Remarks:
1. Parameter mode
Standard mode (P□605.2 = 0):
Parameter access address is parameter No. in the table (decimal)
2. YASKAWA mode (P□605.2 = 1):
Parameter access address reflects partly YASKAWA common parameters and the remaining
addresses use parameter No. in the table (hexadecimal)
Reflection Parameter Table:
Reflection Name Original Reflection Name Original
Parameter No. parameter No. Parameter No. parameter No.
(P□605.2=1) (P□605.2=0) (P□605.2=1) (P□605.2=0)
P□100 Speed loop gain P□100 P□506 Brake command latency P□508
time when servo is OFF
P□101 Speed loop integral P□101 P□50A Input signal selection 1 P□509
P□102 Position loop gain P□102 P□50B Input signal selection 2 P□510
P□212 Encoder frequency divider P□201 P□50E Output signal selection 1 P□513
P□203 Electronic gear numerator P□202 P□50F Output signal selection 2 P□514
P□210 Electronic gear denominator P□203 P□510 Output signal selection 3 P□515

Examples:
In standard mode (P□605.2 = 0), speed loop gain parameter access address is 100 (hexadecimal 0x0064)
and torque reference filtering time parameter access address is 401 (hexadecimal 0x0191);
In YASKAWA mode (P□605.2 = 1), speed loop gain parameter access address is 256 (hexadecimal
0x0100) and torque reference filtering time parameter access address is 1025 (hexadecimal 0x0401).

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Appendix C List of Alarm Display

Alarm ALM Alarms Alarm contents Clear or

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

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Alarm ALM Alarms Alarm contents Clear or

display output not
□34 H Rotary transformer is abnormal Rotary transformer communication is abnormal. Clear
Bus encoder communication is Servo drive and encoder cannot realize communication.
□40 H Clear
abnormal
□41 H Bus encoder overspeed When power is ON, encoder rotates at high speed Clear
□42 H Bus encoder absolute status error Encoder damage or encoder decoding circuit damage Clear
□43 H Bus encoder counting error Encoder damage or encoder decoding circuit damage Clear
Check error in bus encoder control Encoder signal is interrupted or encoder decoding circuit
□44 H Clear
field damage
Check error in bus encoder Encoder signal is interrupted or encoder decoding circuit
□45 H Clear
communication data damage
Stop bit error in bus encoder status Encoder signal is interrupted or encoder decoding circuit
□46 H Clear
field damage
Stop bit error in bus encoder SFOME Encoder signal is interrupted or encoder decoding circuit
□47 H Clear
damage
□48 H Bus encoder data are not initialized Bus encoder SFOME data are null Clear
□49 H Sum check error in bus encoder data Sum check in bus encoder EEPROM data is abnormal Clear
□60 H MODBUS communication timeout Drive fails to accept data normally at the set time in P□602 Clear
CANopen master station heartbeat Drive fails to accept master station heartbeat massage normally
□61 H Clear
timeout at the set time
□63 H Mechatrolink Communication warning Error in mechatrolink communication No
□77 H AD Sampling operation timeout Contact manufacturer No
□70 H Drive overheat alarm Drive internal IPM module temperature is too high Clear
Software does not match with Parameter is wrongly set or software does not match with
□90 H No
hardware hardware
□-- L No error display Display normal action status Clear

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

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Appendix D Guidelines for Motor Model by Users

Operation Display after

Steps Operation instruction
key operation
Gently press M function key for several times to switch to A axis
1
parameter setting mode.

2 Gently press “∧” key for six times and set FA006.

Press SET key to display current PA000 data. The decimal point in bit 0
currently displayed flickers. Set motor manufacturer and encoder type
with Shift key and "∧" key.

4 Press SET to return to the display of FA006.

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

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

Modify the value according to appendix (motor adaption table) and set
7
value at each bit with Shift key.

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8 Gently press SET key to exit motor model code setting.

Note:
1. In case of double-axis servo drive, M function key should be press for a long time
(continuously for above 1 s) during setting of b axis motor model to switch to b axis
parameter and then follow step 9-12.
2. After setting motor model code, it is required to turn off and reboot servo drive to make
modified parameters effective.

Motor Adaption Table

Note: Before selecting motor model, please set motor manufacturer and encoder type
first which can both be set via PA006.

1、M series 220V motor

Rated torque Rated speed Rated power Rated cutrrent Motor manufacturer code Motor type
Motor model
（N•m） （rpm） （kW） （A） （Pn006 第 1 位） （Pn005）
60ST-M00630 0.637 3000 0.2 1.5 2 0
60ST-M01330 1.27 3000 0.4 2.8 2 1
60ST-M01930 1.91 3000 0.6 3.5 2 2
80ST-M01330 1.27 3000 0.4 2 2 3
80ST-M02430 2.39 3000 0.75 3 2 4
80ST-M03520 3.5 2000 0.73 3 2 5
80ST-M04025 4 2500 1 4.4 2 6
90ST-M02430 2.4 3000 0.75 3 2 7
90ST-M03520 3.5 2000 0.73 3 2 8
90ST-M04025 4 2500 1 4 2 9
110ST-M02030 2 3000 0.6 2.5 2 10
110ST-M04020 4 2000 0.8 3.5 2 11
110ST-M04030 4 3000 1.2 5 2 12
110ST-M05030 5 3000 1.5 6 2 13
110ST-M06020 6 2000 1.2 4.5 2 14
110ST-M06030 6 3000 1.8 6 2 15
130ST-M04025 4 2500 1 4 2 16
130ST-M05025 5 2500 1.3 5 2 17
130ST-M06025 6 2500 1.5 6 2 18
130ST-M07725 7.7 2500 2 7.5 2 19
130ST-M10010 10 1000 1 4.5 2 20
130ST-M10015 10 1500 1.5 6 2 21
130ST-M10025 10 2500 2.6 10 2 22
130ST-M15015 15 1500 2.3 9.5 2 23
130ST-M15025 15 2500 3.8 13.5 2 24

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180ST-M17215 17.2 1500 2.7 10.5 2 25

180ST-M19015 19 1500 3 12 2 26
180ST-M21520 21.5 2000 4.5 16 2 27
180ST-M27010 27 1000 2.9 12 2 28
180ST-M27015 27 1500 4.3 16 2 29
180ST-M35010 35 1000 3.7 16 2 30
180ST-M35015 35 1500 5.5 24 2 31
130ST-M05015 5 1500 0.75 4 2 32
180ST-M17230 17.2 3000 5.4 19 2 33
130ST-M06015 6 1500 0.9 4.3 2 39
130ST-M10030 15.5A When ordering Please match the motor current 15.5a 2 40
150ST-M23020 23 2000 4.7 21 2 55
150ST-M27020 27 2000 5.5 27 2 56
100ST-M03230 3.2 3000 1 5 2 60
100ST-M06430 6.4 3000 2 9.9 2 61
130AST-M04025 4 2500 1 4.5 2 62
130AST-M05025 5 2500 1.3 5.3 2 63
130AST-M06025 6 2500 1.5 5.9 2 64
130AST-M07725 7.7 2500 2 7.5 2 65
130AST-M10015 10 1500 1.5 6.7 2 66
130AST-M15015 15 1500 2.3 9.4 2 67
40ST-M00130 0.16 3000 0.05 0.4 2 41
40ST-M00330 0.3 3000 0.1 0.6 2 42
150ST-M18020 18 2000 3.6 17 2 54
80ST-M03530 3.5 3000 1 4.5 2 43
150ST-M18010 18 1000 1.8 8 2 53
130ST-M15010 15 1000 1.5 7.3 2 44
130AST-M10025 10 2500 2.6 9.5 2 68
80ST-M03230 3.2 3000 1 4 2 45
110ST-M08020 8 2000 1.6 6.5 2 46
110ST-M10020 10 2000 2 8.5 2 47
130ST-M04010 4 1000 0.4 2.5 2 48
130ST-M07720 7.7 2000 1.6 6.5 2 49
130ST-M04030 4 3000 1.2 5.5 2 50
150ST-M15020 15 2000 3 14 2 52
130ST-M05030 5 3000 1.5 5.8 2 51
130ST-M17015 17 1500 2.6 11.5 2 57
60EST-M00630 0.64 3000 0.2 1.7 2 58
130ST-M06020 6 2000 1.2 6 2 70
150ST-M23010 23 1000 2.4 11 2 71
130ST-M06030 6 3000 1.8 7 2 85
130ST-M07730 7.7 3000 2.5 10 2 86
60EST-M00630 0.64 3000 0.2 1.7 2 94

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80EST-M02430 2.39 3000 0.75 5 2 95

130ST-M15030 15 3000 4.7 19 2 96
150ST-M15025 15 2500 3.8 17 2 73
80ST-M04030 4 3000 1.2 5.2 8 38
130ST-M05020 5 2000 1 4 8 0
130BST-AM05415 5.4 1500 0.85 4 8 4
130BST-AM08315 8.3 1500 1.3 6 8 5
150ST-M27025 27 2500 5.5 27 8 6
40ED-A1013050xx 0.318 3000 0.1 1.1 8 1
60ED-A4013050xx 1.27 3000 0.4 3.3 8 2
130ED-A2022030xx 9.6 2000 2 13.8 8 3
130ED-A1021520xx 6.4 2000 1 5 8 10
130BST-AM11525 11.5 2500 3 12.5 8 11
130BST-M08315 8.34 3000 1.3 10.7 8 13
130BST-AM11515 11.5 1500 1.8 10 8 14
60BST-M01330 1.27 3000 0.4 2.6 8 15
180BST-AM18620 18.6 2000 3.9 17 8 16
130BST-M05415 5.39 1500 0.85 6.9 8 17
80ST-TM03515 3.5 1500 0.55 2.7 8 19
130EST-M04820 4.8 2000 1 6 8 22
130EST-M06415 6.4 1500 1 5 8 23
130EST-M09615 9.6 1500 1.5 9.1 8 24
130EST-M09620 8 2000 2 12 8 30
130EST-M11915 10.9 1500 1.9 10 8 25
130BST-AM11515 11.5 1500 1.8 16.7 8 32
130ST-M17020 17 2000 3.6 14 8 33
80BST-AM04030 4 3000 1.2 6.7 8 35
130AST-M10010 10 1000 1 5.1 8 36
180ST-M19025 19 2500 5 19 8 37

2、M4 series 220V motor

Rated torque Rated speed Rated power Rated cutrrent Motor manufacturer code Motor type
Motor model
（N•m） （rpm） （kW） （A） （Pn006 第 1 位） （Pn005）
60M4S-A20130D1 0.637 3000 0.2 1.5 2 0
60M4S-A40130D1 1.27 3000 0.4 2.8 2 1
60M4S-A60130D1 1.91 3000 0.6 3.5 2 2
80M4D-A40130D1 1.27 3000 0.4 2 2 3
80M4D-A75130D1 2.39 3000 0.75 3 2 4
80M4D-A73120D1 3.5 2000 0.73 3 2 5
80M4D-A10225D1 4 2500 1 4.4 2 6
90M4D-A75130D1 2.4 3000 0.75 3 2 7
90M4D-A73120D1 3.5 2000 0.73 3 2 8
90M4D-A10225D1 4 2500 1 4 2 9

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110M4D-A60130D1 2 3000 0.6 2.5 2 10

110M4D-A80120D1 4 2000 0.8 3.5 2 11
110M4D-A12230D1 4 3000 1.2 5 2 12
110M4D-A15230D1 5 3000 1.5 6 2 13
110M4D-A12220D1 6 2000 1.2 4.5 2 14
110M4D-A18230D1 6 3000 1.8 6 2 15
130M4D-A10225D1 4 2500 1 4 2 16
130M4D-A13225D1 5 2500 1.3 5 2 17
130M4D-A15225D1 6 2500 1.5 6 2 18
130M4D-A20225D1 7.7 2500 2 7.5 2 19
130M4D-A10210D1 10 1000 1 4.5 2 20
130M4D-A15215D1 10 1500 1.5 6 2 21
130M4D-A26225D1 10 2500 2.6 10 2 22
130M4D-A23215D1 15 1500 2.3 9.5 2 23
130M4D-A38225D1 15 2500 3.8 13.5 2 24
180M4D-A27215D1 17.2 1500 2.7 10.5 2 25
180M4D-A30215D1 19 1500 3 12 2 26
180M4D-A45220D1 21.5 2000 4.5 16 2 27
180M4D-A29210D1 27 1000 2.9 12 2 28
180M4D-A43215D1 27 1500 4.3 16 2 29
180M4D-A37210D1 35 1000 3.7 16 2 30
180M4D-A55215D1 35 1500 5.5 24 2 31
130M4D-A75115D1 5 1500 0.75 4 2 32
180M4D-A54230D1 17.2 3000 5.4 19 2 33
130M4D-A90115D1 6 1500 0.9 4.3 2 39
150M4D-A47220D1 23 2000 4.7 21 2 55
150M4D-A55220D1 27 2000 5.5 27 2 56
100M4D-A10230D1 3.2 3000 1 5 2 60
100M4D-A20230D1 6.4 3000 2 9.9 2 61
130M4D-A10225D4 4 2500 1 4.5 2 62
130M4D-A13225D4 5 2500 1.3 5.3 2 63
130M4D-A15225D4 6 2500 1.5 5.9 2 64
130M4D-A202255D4 7.7 2500 2 7.5 2 65
130M4D-A15215D4 10 1500 1.5 6.7 2 66
130M4D-A23215D4 15 1500 2.3 9.4 2 67
40M4D-A50030D1 0.16 3000 0.05 0.4 2 41
40M4D-A10130D1 0.3 3000 0.1 0.6 2 42
150M4D-A36220D1 18 2000 3.6 17 2 54
80M4D-A10230D1 3.5 3000 1 4.5 2 43
150M4D-A18210D1 18 1000 1.8 8 2 53
130M4D-A15210D1 15 1000 1.5 7.3 2 44
130M4D-A26225D1 10 2500 2.6 9.5 2 68
110M4D-A16220D1 8 2000 1.6 6.5 2 46

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110M4D-A20220D1 10 2000 2 8.5 2 47

130M4D-A40110D1 4 1000 0.4 2.5 2 48
130M4D-A16220D1 7.7 2000 1.6 6.5 2 49
130M4D-A12230D1 4 3000 1.2 5.5 2 50
150M4D-A30220D1 15 2000 3 14 2 52
130M4D-A15230D1 5 3000 1.5 5.8 2 51
130M4D-A26215D1 17 1500 2.6 11.5 2 57
130M4D-A12220D1 6 2000 1.2 6 2 70
150M4D-A24210D1 23 1000 2.4 11 2 71
130M4D-A18230D1 6 3000 1.8 7 2 85
130M4D-A25230D1 7.7 3000 2.5 10 2 86
130M4D-A47230D1 15 3000 4.7 19 2 96
150M4D-A38225D1 15 2500 3.8 17 2 73
80M4D-A12230D1 4 3000 1.2 5.2 8 38
130M4D-A10220D1 5 2000 1 4 8 0
150M4D-A55225D1 27 2500 5.5 27 8 6
80M4D-A55115D10 3.5 1500 0.55 2.7 8 19
130M4D-A36220D1 17 2000 3.6 14 8 33
180M4D-A50225D1 19 2500 5 19 8 37

3、M series 380V motor

Rated torque Rated speed Rated power Rated cutrrent Motor manufacturer code Motor type
Motor model
（N•m） （rpm） （kW） （A） （Pn006 第 1 位） （Pn005）
130HST-M10015 10 1500 1.5 3.5 2 97
130HST-M15015 15 1500 2.3 5 2 98
150HST-M15020 15 2000 3 6.8 2 99
180HST-M19015 19 1500 3 7.5 2 34
180HST-M27010 27 1000 2.9 7.5 2 35
180HST-M35015 35 1500 5.5 12 2 76
180HST-M27015 27 1500 4.3 10 2 77
180HST-M21520 21.5 2000 4.5 9.5 2 78
130HST-M04025 4 2500 1 2.6 2 69
180HST-M48015 48 1500 7.5 20 2 79
130HST-M10025 10 2500 2.6 5.9 2 59
180HST-M35010 35 1000 3.7 10 2 72
130HST-M05025 5 2500 1.3 3 2 80
130HST-M06025 6 2500 1.5 3.7 2 81
130HST-M07725 7.7 2500 2 4.7 2 82
130HST-M15025 15 2500 3.8 7.4 2 83
150HST-M15025 15 2500 3.8 9.5 2 84
130HST-M10010 10 1000 1 2.5 2 87
150HST-M18020 18 2000 3.6 8.5 2 88
150HST-M23020 23 2000 4.7 12 2 89

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150HST-M27020 27 2000 5.5 14.5 2 90

180HST-M17215 17.2 1500 2.7 6.5 2 91
180HST-M21520 21.5 2000 4.5 9.5 2 92
80HST-M03520 3.5 2000 0.73 1.8 2 93
200HST-M30010 30 1500 4.7 9.2 2 74
150HST-M23025 23 2500 6 14.5 2 75
150HST-M27030 27 3000 8.4 21.5 8 7
180HST-M27020 27 2000 5.6 12 8 8
130HST-M17020 17 2000 3.5 7.4 8 9
150HST-M27015 27 1500 4.2 11 8 12
180HST-M35020 35 2000 7.3 16 8 18
150HST-M27025 27 2500 6.8 17 8 20
110HST-M06030 6 3000 1.8 4.5 8 21
180HST-M17220 17.2 2000 3.5 8 8 28
210HST-M10002 100 2000 2 7.3 8 29
180HST-M17230 17.2 3000 5.4 12 8 34

4、M4 series 380V motor

Rated torque Rated speed Rated power Rated cutrrent Motor manufacturer code Motor type
Motor model
（N•m） （rpm） （kW） （A） （Pn006 第 1 位） （Pn005）
130M4D-B15215 10 1500 1.5 3.5 2 97
130M4D-B23215 15 1500 2.3 5 2 98
150M4D-B30220 15 2000 3 6.8 2 99
180M4D-B30215 19 1500 3 7.5 2 34
180M4D-B29210 27 1000 2.9 7.5 2 35
180M4D-B55215 35 1500 5.5 12 2 76
180M4D-B43215 27 1500 4.3 10 2 77
180M4D-B45220 21.5 2000 4.5 9.5 2 78
130M4D-B10225 4 2500 1 2.6 2 69
180M4D-B75215 48 1500 7.5 20 2 79
130M4D-B26225 10 2500 2.6 5.9 2 59
180M4D-B37210 35 1000 3.7 10 2 72
130M4D-B13225 5 2500 1.3 3 2 80
130M4D-B15225 6 2500 1.5 3.7 2 81
130M4D-B20225 7.7 2500 2 4.7 2 82
130M4D-B38225 15 2500 3.8 7.4 2 83
150M4D-B38225 15 2500 3.8 9.5 2 84
130M4D-B10210 10 1000 1 2.5 2 87
150M4D-B36220 18 2000 3.6 8.5 2 88
150M4D-B47220 23 2000 4.7 12 2 89
150M4D-B55220 27 2000 5.5 14.5 2 90
180M4D-B27215 17.2 1500 2.7 6.5 2 91
180M4D-B45220 21.5 2000 4.5 9.5 2 92

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80M4D-B73120 3.5 2000 0.73 1.8 2 93

200M4D-B47215 30 1500 4.7 9.2 2 74
150M4D-B60225 23 2500 6 14.5 2 75
150M4D-B84230 27 3000 8.4 21.5 8 7
180M4D-B56220 27 2000 5.6 12 8 8
130M4D-B35220 17 2000 3.5 7.4 8 9
150M4D-B42215 27 1500 4.2 11 8 12
180M4D-B73220 35 2000 7.3 16 8 18
150M4D-B68225 27 2500 6.8 17 8 20
110M4D-B18230 6 3000 1.8 4.5 8 21
180M4D-B35220 17.2 2000 3.5 8 8 28
210M4D-B20220 100 2000 2 7.3 8 29
180M4D-B54230 17.2 3000 5.4 12 8 34

5、M1 series 220V motor

Rated torque Rated speed Rated power Rated cutrrent Motor manufacturer code Motor type
Motor model
（N•m） （rpm） （kW） （A） （Pn006 第 1 位） （Pn005）
80ST-M01330 1.27 3000 0.4 2 5 3
80ST-M02430 2.39 3000 0.75 3 5 4
130ST-M04025 4 2500 1 4 5 19
110ST-M05020 5 2000 1 4 5 15
110ST-M02030 2 3000 0.6 2.5 5 12
110ST-M04020 4 2000 0.8 3.5 5 13
110ST-M04030 4 3000 1.2 5 5 14
110ST-M06030 6 3000 1.8 6 5 18
130ST-M10015 10 1500 1.5 6 5 24
130ST-M10020 10 2000 2 8 5 25
130ST-M15015 15 1500 2.3 9.5 5 28
110ST-M05030 5 3000 1.5 6 5 16
110ST-M06020 6 2000 1.2 4.5 5 17
130ST-M05025 5 2500 1.3 5 5 20
130ST-M07725 7.7 2500 2 7.5 5 22
130ST-M10025 10 2500 2.6 10 5 23
130ST-M06025 6 2500 1.5 6 5 21
130ST-M10010 10 1000 1 4.5 5 26
60ST-M01330 1.27 3000 0.4 2.6 5 1
180ST-M19020 19 2000 3.9 14 5 33
180ST-M21520 21.5 2000 4.5 16 5 34
60ST-M00630 0.64 3000 0.2 1.3 5 0
130ST-M10050 10 5000 5 15 5 77
80ST-M03530 3.5 3000 1.1 4.5 5 10
60ST-M01930 1.91 3000 0.6 3.8 5 2
80ST-M03520 3.5 2000 0.73 3 5 5

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80ST-M04025 4 2500 1 4.4 5 6

80ST-M04030 4 3000 1.2 4.5 5 7
90ST-M02430 2.4 3000 0.75 3 5 8
90ST-M03520 3.5 2000 0.73 3 5 9
90ST-M04025 4 2500 1 4 5 11
130ST-M15025 15 2500 3.8 13.5 5 27
180ST-M35015 35 1500 5.5 24 5 35
180ST-M19015 19 1500 3 12 5 40
130ST-M05430 5.4 3000 1.7 5.8 5 41
130ST-M09530 9.5 3000 3 10.5 5 42
180ST-M19025 19 2500 5 16 5 43
180ST-M27015 27 1500 4.3 16 5 44
180ST-M17015 17 1500 2.55 10 5 45
180ST-M17215 17.2 1500 2.5 10 5 80
130ST-M15020 15 2000 3 13 5 81
130ST-M04030 4 3000 1.2 4.5 5 94
130ST-M15030 15 3000 4.5 17 5 95
130BST-M14615 14.6 1500 2.3 16 5 96
130ST-M15010 15 1000 1.5 8 5 46
180ST-M21525 21.5 2500 21.5 17 5 47
180ST-M48015 48 1500 7.5 32 5 48
80BST-M02430 2.4 3000 0.75 3.5 5 49
180ST-M35010 35 1000 3.7 16 5 50
130BST-M04215 4.2 1500 0.65 5.5 5 55
130BST-M05415 5.4 1500 0.85 6.5 5 56
130BST-M06415 6.4 1500 1 8 5 57
130BST-M07515 7.5 1500 1.2 9 5 58
130BST-M08415 8.4 1500 1.3 9.5 5 59
130BST-M09615 9.6 1500 1.5 10 5 60
60BST-M01330 1.27 3000 0.4 2.5 5 61

6、M1 series 380V motor

Rated torque Rated speed Rated power Rated cutrrent Motor manufacturer code Motor type
Motor model
（N•m） （rpm） （kW） （A） （Pn006 第 1 位） （Pn005）
180HST-M27030 27 3000 8.5 16 5 76
180HST-M35015 35 1500 5.5 12 5 65
130HST-M07725 7.7 2500 2 4.8 5 78
130HST-M10015 10 1500 1.5 3.5 5 36
180HST-M19015 19 1500 3 7.5 5 37
130HST-M15030 15 3000 4.5 10.5 5 38
180HST-M21520 21.5 2000 4.5 9.5 5 39
110HST-M05030 5 3000 1.5 3.6 5 79
180HST-M48015 48 1500 7.5 20 5 82

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130HST-M15025 15 2500 3.8 8.8 5 83

130HST-M15025 15 2500 3.8 8.8 5 84
110HST-M06030 6 3000 1.8 4 5 85
130HST-M06025 6 2500 1.5 4 5 86
130HST-M10025 10 2500 2.6 6 5 87
130HST-M15015 15 1500 2.3 5 5 88
180HST-M27015 27 1500 4.3 10 5 89
180HST-M27020 27 2000 5.6 13 5 90
110HST-M06010 6 1500 0.9 3.3 5 91
130HST-M06015 6 1000 0.6 3.3 5 92
180HST-M17015 17 1500 2.7 6.5 5 93
180HST-M35020 35 2000 7.3 16 5 98
180HST-M27010 27 1000 2.8 9 5 98

7、S series motor

Rated torque Rated speed Rated power Rated cutrrent Motor manufacturer code Motor type
Motor model
（N•m） （rpm） （kW） （A） （Pn006 第 1 位） （Pn005）
60SS-A4013050xx 1.27 3000 0.4 2.8 6 80
80SS-A7513050xx 2.39 3000 0.75 4 6 81
130SD-A1022030xx 4.77 2000 1 6 6 82
130SD-A2022030xx 9.55 2000 2 10.5 6 83
60SS-A2013050xx 0.64 3000 0.2 1.9 6 84
130SD-A3022030xx 14.3 2000 3 13.8 6 85
130SD-A1522030xx 7.16 2000 1.5 8.2 6 86
130SD-A1521015xx 14.3 1000 1.5 7.2 6 87
110SD-A1523050xx 4.77 3000 1.5 10.3 6 88
130SH-A9511525xx 6.05 1500 0.95 5.6 6 90
80SD-A1023045xx 3.18 3000 0.8 4.5 6 92
130SD-B2022030xx 9.55 2000 2 6 6 93
130SD-B3022030xx 14.3 2000 3 9.3 6 94
80SS-A1023045xx 3.18 3000 1 4.9 6 95
60SD-A4013050xx 1.27 3000 0.4 2.1 6 96
80SD-A7513050xx 2.39 3000 0.75 4 6 97
60SH-A4013050xx 1.27 3000 0.4 2.1 6 98
130SH-A1022030xx 4.77 2000 1 6 6 99
180SH-A2721518xx 17 1500 2.7 10.6 6 79

8、S3 series motor

Rated torque Rated speed Rated power Rated cutrrent Motor manufacturer code Motor type
Motor model
（N•m） （rpm） （kW） （A） （Pn006 第 1 位） （Pn005）
80S3S-A7513050xx 2.39 3000 0.75 4.2 7 31
40S3S-A1013050xx 0.32 3000 0.1 0.8 7 28
60S3S-A2013050xx 0.64 3000 0.2 1.1 7 29

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60S3S-A4013050xx 1.27 3000 0.4 2.3 7 30

130S3H-A7511520xx 5 2500 1.2 5.5 7 33
130S3H-A1221520xx 7.7 2500 2 9 7 34
130S3H-A1521520xx 10 1500 1.5 7.5 7 35
130S3H-A2321520xx 15 1500 2.3 11.5 7 36
40S3S-A1013050xx 0.32 3000 0.1 0.4 7 37
60S3S-A4013060xx 1.27 3000 0.4 2.7 7 38
80S3S-A7513060xx 2.39 3000 0.75 5.2 7 39

9、S2 series motor

Rated torque Rated speed Rated power Rated cutrrent Motor manufacturer code Motor type
Motor model
（N•m） （rpm） （kW） （A） （Pn006 第 1 位） （Pn005）
60S2S-A4013050xx 1.27 3000 0.4 2.7 1 80
80S2S-A7513045xx 2.4 3000 0.75 4.3 1 81
60S2S-A2013050xx 0.63 3000 0.2 1.7 1 82

10、A series motor

Rated torque Rated speed Rated power Rated cutrrent Motor manufacturer code Motor type
Motor model
（N•m） （rpm） （kW） （A） （Pn006 第 1 位） （Pn005）
80ST-M01330LB 1.3 3000 0.4 2.6 0 0
80ST-M02430LB 2.4 3000 0.75 4.2 0 1
80ST-M03330LB 3.3 3000 1 4.2 0 2
110ST-M02030LB 2 3000 0.6 4 0 3
110ST-M04030LB 4 3000 1.2 5 0 4
110ST-M05030LB 5 3000 1.5 6 0 5
110ST-M06020LB 6 2000 1.2 6 0 6
110ST-M06030LB 6 3000 1.8 8 0 7
130ST-M04025LB 4 2500 1 4 0 8
130ST-M05020LB 5 2000 1 5 0 9
130ST-M05025LB 5 2500 1.3 5 0 10
130ST-M06025LB 6 2500 1.5 6 0 11
130ST-M07720LB 7.7 2000 1.6 6 0 12
130ST-M07725LB 7.7 2500 2 7.5 0 13
130ST-M07730LB 7.7 3000 2.4 9 0 14
130ST-M10015LB 10 1500 1.5 6 0 15
130ST-M10025LB 10 2500 2.6 10 0 16
130ST-M15015LB 15 1500 2.3 9.5 0 17
130ST-M15025LB 15 2500 3.8 17 0 18
150ST-M15025LB 15 2500 3.8 16.5 0 19
150ST-M18020LB 18 2000 3.6 16.5 0 20
150ST-M23020LB 23 2000 4.7 20.5 0 21

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150ST-M27020LB 27 2000 5.5 20.5 0 22

130ST-F06025LFC 6 2500 1.5 6 0 23
130ST-F07720LFC 7.7 2000 1.6 6 0 24
130ST-F10015LFC 10 1500 1.5 6 0 25
130ST-F15015LFC 15 1500 2.3 9.5 0 26
110ST-M05030LFC 5 3000 1.5 6 0 27
80ST-M01330LBB 1.3 3000 0.4 2.8 1 0
80ST-M02430LBB 2.4 3000 0.75 4.8 1 1
80ST-M03330LBB 3.3 3000 1 6.2 1 2
110ST-M02515LBB 2.5 1500 0.4 3.5 1 3
110ST-M03215LBB 3.2 1500 0.5 4.5 1 4
110ST-M05415LBB 5.4 1500 0.85 6.5 1 5
110ST-M06415LBB 6.4 1500 1 8 1 6
110ST-M02420LBB 2.4 2000 0.5 2.9 1 7
110ST-M04820LBB 4.8 2000 1 6 1 8
130ST-M03215LBB 3.2 1500 0.5 4.5 1 9
130ST-M05415LBB 5.4 1500 0.85 7 1 10
130ST-M06415LBB 6.4 1500 1 8 1 11
130ST-M09615LBB 9.6 1500 1.5 11.5 1 12
130ST-M14615LBB 14.6 1500 2.3 16.5 1 13
130ST-M04820LBB 4.8 2000 1 6.2 1 14
130ST-M07220LBB 7.2 2000 1.5 9.5 1 15
130ST-M09620LBB 9.6 2000 2 13.5 1 16
130ST-M14320LBB 14.3 2000 3 17 1 17
150ST-M14615LBB 14.6 1500 2.3 20 1 18
150ST-M19115LBB 19.1 1500 3 21 1 19
150ST-M14320LBB 14.3 2000 3 20 1 20
130ST-M0961530Z 9.6 1500 1.5 10 0 41
130ST-M0841530LMDD 8.4 1500 1.3 9.5 0 42
130ST-M0421530LMDD 4.2 1500 0.65 5.5 0 43
130ST-M0541530LMDD 5.4 1500 0.85 6.5 0 44
130ST-M0641530LMDD 6.4 1500 1 8 0 45
130ST-M0751530LMDD 7.5 1500 1.2 9 0 46
130ST-M1151520LMDD 11.5 1500 1.8 9 0 47
130ST-M1151530LMDD 11.5 1500 1.8 12.5 0 48
130ST-M1461520LMDD 14.6 1500 2.3 11 0 49
130ST-M1461530LMDD 14.6 1500 2.3 16 0 50
110ST-M0422030LMDD 4.2 2000 0.88 4.5 0 51
110ST-M0542030LMDD 5.4 2000 1.1 5.5 0 52

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110ST-M0642030LMDD 6.4 2000 1.3 6.5 0 53

110ST-M0752030LMDD 7.5 2000 1.6 8 0 54
80ST-M0333050LM1DD 3.3 3000 1 6.1 0 55
80ST-M0133050LMDD 1.3 3000 0.4 2.2 0 56
110ST-M0543040LMDD 5.4 3000 1.7 8.2 0 57
130ST-M0643040LMDD 6.4 3000 2 11.5 0 58
80ST-M0403050LMDD 4 3000 1.3 7.8 0 59
80ST-M0243050LM1DD 2.4 3000 0.75 4.8 0 60
60ST-M0123060LMDD 1.27 3000 0.4 2.9 0 61
130ST-M0543040LMDD 5.4 3000 1.7 9.5 0 62
130ST-M1781520LM1DD 17.8 1500 2.8 19 0 63
60ST-M0063060LMDD 0.64 3000 200 1.7 0 64
130ST-M0541530HMDD 5.4 1500 0.85 3.6 0 65

11、Panasonic A6 series motor

Rated torque Rated speed Rated power Rated cutrrent Motor manufacturer code Motor type
Motor model
（N•m） （rpm） （kW） （A） （Pn006 第 1 位） （Pn005）
MHMF042L1U2M 1.27 3000 0.4 2.1 1 64
MHMF082L1U2M 2.39 3000 0.75 3.8 1 65
MSMF302L1G6M 9.55 3000 3 18.1 1 66
MSMF012L1U2M 0.32 3000 0.1 1.1 1 67

12、Panasonic A5 series motor

Rated torque Rated speed Rated power Rated cutrrent Motor manufacturer code Motor type
Motor model
（N•m） （rpm） （kW） （A） （Pn006 第 1 位） （Pn005）
MHMJ042G1U 1.3 3000 0.4 2.6 1 60
MHMJ042P1S 1.3 3000 0.4 2.6 1 61
MHMJ082G1U 2.4 3000 0.75 4 1 62
MHMJ082P1S 2.4 3000 0.75 4 1 63

13、Tamakawa motor
Rated torque Rated speed Rated power Rated cutrrent Motor manufacturer code Motor type
Motor model
（N•m） （rpm） （kW） （A） （Pn006 第 1 位） （Pn005）
TS4603N7122E200 0.318 3000 0.1 1.1 7 41
TS4607N1680E200 0.64 3000 0.2 1.7 7 42
TS4609N1680E200 1.27 3000 0.4 3.3 7 43
TS4614N1680E200 2.39 3000 0.75 5 7 44
TSM1306N3270E716 6.4 1500 1 5 7 45
TSM1308N8270E726 9.6 2000 2 13.8 7 46

TSM3003N1302E200 0.318 3000 0.1 1.18 7 47

TSM3006N1302E200 1.27 3000 0.4 2.83 7 48

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TSM3010N1302E200 2.39 3000 0.75 5.61 7 49

206