Translated from Chinese (Simplified) to English - www.onlinedoctranslator.

com

Safety precautions

Before storing, installing, wiring, operating, inspecting or repairing the product, the user must be familiar with and comply with

the following important matters to ensure the safe use of the product.

Danger Improper operation may be dangerous and result in personal injury.

Notice Improper operation may cause danger, personal injury, and damage to the equipment.

prohibit Any behavior that may result in damage to the device or inability to use it is strictly prohibited.

1. Occasions of use

Danger

1. Do not expose the product to water vapor, corrosive gas, or flammable gas. Otherwise, it may cause electric

shock or fire.

2. Do not use the product in places exposed to direct sunlight, dust, salt or metal powder.

3.Do not use the product in places where water, oil or medicines may drip.

2. Wiring

Danger

1. Please ground the ground terminal reliably. Improper grounding may cause electric shock or fire.

2. Do not connect the 220V drive power supply to a 380V power supply, otherwise it may cause equipment damage and electric shock or fire.

3. The motor output terminals U, V, W and the motor connection terminals U, V, W must be connected one by one, otherwise the motor may

overspeed and cause equipment damage and casualties.

4.Please tighten the power supply and motor output terminals, otherwise it may cause fire.
3. Operation

Notice

1. Before the mechanical equipment starts to operate, it must be adjusted to the appropriate parameter setting value. If the setting value is not adjusted to the

appropriate value, the mechanical equipment may lose control or malfunction.

2. Before starting operation, please confirm whether the emergency switch can be activated at any time to stop the machine.

3. Please test the servo motor to see if it is operating normally without load before connecting the load to avoid unnecessary

losses.

4. Do not frequently turn the power on and off, otherwise it may cause overheating inside the driver.

4. Run

prohibit

1. When the motor is running, do not touch any rotating parts, otherwise it may cause personal injury or death.

2. When the equipment is running, it is forbidden to touch the driver and motor, otherwise it may cause electric shock or burns.

3. When the equipment is running, it is prohibited to move the connecting cables, otherwise it may cause personal injury or equipment damage.

5. Maintenance and inspection

prohibit

1. Do not touch the inside of the driver and its motor, otherwise it may cause electric shock.

2. When the power is on, it is prohibited to disassemble the driver panel, otherwise it may cause electric shock.

3. Do not touch the wiring terminals within 5 minutes after the power is turned off, otherwise the residual high voltage may cause electric shock.

4. Do not change the wiring or disassemble the servo motor when the power is on, otherwise it may cause electric shock.

6. Scope of Use

Notice

The products covered in this manual are for general industrial use. Please do not use them in devices that may directly endanger personal safety.
 Table of contents

Chapter 1 Product Inspection and Installation.................................................................................. 1

1.1 Product Inspection.................................................................................................................. 1

1.2 Product front panel.................................................................................................................. 2

1.3 Servo Installation Method.................................................................................................. 3

Chapter 2 Servo Specifications.................................................................................................. 6

2.1 Servo Drive Specifications Introduction.................................................................................. 6

Chapter 3 Driver and Motor Dimensions.................................................................................. 9

3.1 Driver Dimensions.................................................................................................................. 9

3.2 Motor Dimensions..................................................................................................................11

Chapter 4 Driver System Wiring and Composition...................................................................13

4.1 Servo System Wiring..................................................................................................13
4.2 Servo drive main circuit connection..................................................................15
4.3 CN1 Control Signal Terminal.........................................................................................16
4.4 CN2 encoder signal terminal.......................................................................................26
4.5 CN3 and CN4 communication interface...................................................................26
4.6 Anti-interference measures for power wiring..................................................................28

Chapter 5 Operation Mode and Control Wiring Diagram..................................................................32

5.1 Position Control Mode..................................................................................................32

5.2 Speed Control Mode..................................................................................................37
5.3 Torque Control Mode..................................................................................................40
5.4 Origin return function and related parameter description..................................................42

5.5 Pre-operation check..................................................................................................45

Chapter 6 Operation and Display Interface..................................................................................46
6.1 Driver Panel Description..................................................................................................46

6.2 Main Menu..................................................................................................................47

6.3 Parameter Setting Process..................................................................................................47

6.4 Monitoring Status Contents..................................................................................................48

6.5 Analog Zero Adjustment..................................................................................................49

6.6 Encoder Selection..................................................................................................................49

6.7 Restoring Default Parameters..................................................................................50

Chapter 7 Parameter Function Description..................................................................................51

1
 7.1 PA Group Parameters..................................................................................................................51

7.2 P3 Group Multi-Function Terminal Series Parameters..................................................66

7.3 P4 Group Internal Position Command Series Parameters..................................................................75

Chapter 8 MODBUS Communication Description..................................................................................81

8.1 Hardware Connection..................................................................................................81

8.2 Communication Parameter Settings..................................................................................81

8.3 Communication Protocol..................................................................................................82

8.4 Writing and Reading Parameters..................................................................................85

Chapter 9 Fault Codes..................................................................................................................88
Chapter 10 Alarm Processing Methods..................................................................................................90

2
 Chapter 1 Product Inspection and Installation

1.1 Product Inspection

This product has been fully functionally tested before leaving the factory. To prevent product malfunctions due to negligence during delivery, please

check the following items in detail after unpacking:

● Check whether the servo drive and servo motor models are the same as the ones you ordered.
● Check whether the servo drive and servo motor have been damaged or scratched during transportation.
Do not connect the wires to supply power.

● Check whether there are any loose components on the servo drive and servo motor. Check whether there are any loose screws or not.
Tight or falling off.

● Check whether the servo motor rotor shaft can be rotated smoothly by hand. A motor with a brake cannot be rotated directly.
● Check whether the servo operating instructions are included.

● Check whether the drive accessories are included in the package.

If there is any discrepancy between the product contents and the product description, please contact the agency where you purchased the product.

1
1.2 Product front panel

This panel description applies to models: TSD (TSE drive panel has the same functions)

C
N
1 4

SERVO
C
N
3

AC220V

C
N 2
1

C
N
2
3
CHARGE 4
5

7
8

Figure 1.1 Servo drive front panel introduction

Serial number Terminal name Functional Description

① CN3, CN4 485 communication terminal.

② CN1 Input and output control signal terminals.

③ CN2 Encoder signal terminal, connected to the motor encoder.

④ L1,L2 AC220V main power input terminal.

Bus voltage indicator. Used to indicate that the bus capacitor is in a charged state. When the indicator is on, even

⑤ CHARGE if the main circuit power is turned off, the capacitor inside the servo unit may still have charge. Therefore, do not

touch the power terminal when the light is on to avoid electric shock.

⑥ P,D,C, Braking resistor connection terminals.

⑦ U,V,W Servo motor connection terminal. Connect the U, V, W phases of the servo motor.

⑧ PE Grounding terminal: Connect to the power supply and motor grounding terminal for grounding.

2
1.3 Servo installation method

1.3.1 Driver Installation Method

● Installation direction

The normal installation direction of the servo drive is vertical.

● Installation and Fixing

When installing, tighten the two M4 fixing screws at the rear of the servo drive.

● Grounding

Please make sure to ground the driver ground terminal, otherwise there may be a risk of electric shock or interference causing erroneous operation.

● Routing requirements

When wiring the drive, please route the cables downward (see the figure below) to prevent liquids from flowing into the drive

along the cables when attached to the cables.

● Installation interval

For the installation distances between the drivers and other devices, please refer to Figure 1.3. Note that the minimum dimensions are indicated on the

figure. To ensure the performance and life of the driver, please leave sufficient installation distance as much as possible.

● Heat dissipation

The servo drive adopts natural cooling and forced heat dissipation.

● Installation Notes
When installing the electrical control cabinet, prevent dust or iron filings from entering the servo drive.

3
 Minimum Minimum

SERVO SERVO

AC220V AC220V

C C
N N
1 1

C C
N N
2 2

CHARGE CHARGE

Minimum
Minimum

Minimum

Figure 1.3 Installation interval

4
1.3.2 Installation environment conditions

● Working environment temperature: 0~40℃; working environment humidity: below 80% (no condensation).

● Storage environment temperature: -40~50℃; Storage environment humidity: below 80% (no condensation).

● Vibration: less than 0.5G.

● A well-ventilated place with little moisture and dust.

● Environment free from corrosive, flammable gases, oil and gas, cutting fluid, cutting powder, iron powder, etc.

● A place free from moisture and direct sunlight.

1.3.3 Motor installation method

● Horizontal installation: To prevent liquids such as water and oil from flowing into the motor from the motor outlet, please place the cable outlet at the bottom.

● Vertical installation: If the motor shaft is installed upward and a reducer is attached, be careful to prevent the oil stains in the reducer from

seeping into the motor through the motor shaft.

● The extension of the motor shaft must be sufficient. If the extension is insufficient, the motor will easily vibrate when moving.

● When installing or removing the motor, do not hit the motor with a hammer, otherwise the motor shaft and encoder may be damaged.

1.3.4 Definition of motor rotation direction

The definition of motor rotation direction described in this manual is: facing the motor shaft, counterclockwise rotation (CCW) is positive

rotation, and clockwise rotation (CW) is negative rotation.

Figure 1.4 Definition of motor rotation direction

5
 Chapter 2 Servo Specifications

2.1 TSD Servo Drive Specifications

model TSD-040 TSD-075

Output Power 0.05KW~0.4KW 0.75KW~1KW

Main circuit input Single Phase

Power supply AC220V-15%~+10% 50/60Hz

0: Position control mode; 1: Speed control mode; 2: Torque control mode; 3: Position-speed mixed
Control method
control mode; 4: Position-torque mixed control mode; 5: Speed-torque mixed control mode

Protection function Overspeed/main power supply overvoltage/undervoltage/overcurrent/overload/encoder abnormality/control power supply abnormality/position out of tolerance

Monitoring function Speed/current position/command pulse accumulation/position deviation/motor torque/motor current/operating status, etc.

1: Servo enable 2: Alarm clear 3: CCW drive disable 4: CW drive disable 5: Deviation

Control Input counter clear 6: Command pulse disable 7: CCW torque limit 8: CW torque limit

Control output Servo ready/Servo alarm/Positioning completed/Mechanical brake

Dynamic braking Support built-in and external

Applicable load Less than 3 times the motor inertia

Display Operation 5-digit LED digital tube display, 4 operation buttons

Communication RS485
0: Pulse + direction

1: CCW/CW pulse
Input method
2: A/B two-phase orthogonal pulse
Position Control
3: Internal position control

Input Electronics Gear ratio numerator: 1-32767

Gear Ratio Gear ratio denominator: 1-32767

6
2.2 TSE Servo Drive Specifications

model TSE-040 TSE-075 TSE-100

Output Power 0.05KW~0.4KW 0.75KW 0.75KW-1KW

Single Phase
Main circuit

Input power AC220V-15%~+10% 50/60Hz

source

0: Position control mode; 1: Speed control mode; 2: Torque control mode; 3: Position-speed mixed
Control method
control mode; 4: Position-torque mixed control mode; 5: Speed-torque mixed control mode

Protection function Overspeed/main power supply overvoltage/undervoltage/overcurrent/overload/encoder abnormality/control power supply abnormality/position out of tolerance

Monitoring function Speed/current position/command pulse accumulation/position deviation/motor torque/motor current/operating status, etc.

1: Servo enable 2: Alarm clear 3: CCW drive disable 4: CW drive disable

Control Input 5: Deviation counter cleared 6: Command pulse disabled 7: CCW torque limit 8:
CW torque limit

Control output Servo ready/Servo alarm/Positioning completed/Mechanical brake

Dynamic braking Support built-in and external

Applicable load Less than 3 times the motor inertia

Display Operation 5-digit LED digital tube display, 4 operation buttons

Communication RS485
0: Pulse + direction

1: CCW/CW pulse
Input method 2: A/B two-phase orthogonal pulse

3: Internal position control

Position Control

Input Electronics Gear ratio numerator: 1-32767

Gear Ratio Gear ratio denominator: 1-32767

7
2.3 TSD servo motor and servo drive adaptation table

power Speed Matching

Flange model Adapter driver

(W) (rpm) Encoder

60 60ST-CJ101330L5 400 3000 TSD-040

17-bit single turn absolute

80 80ST-CJ102430L5 750 3000 TSD-075

Pair Encoder
80 80ST-CJ103330L5 1000 3000 TSD-075

2.4 TSE servo motor and servo drive adaptation table

achievement Speed Matching

Flange model Adapter driver

Rate (rpm) coding

(W) Device

60 60ST-CJ101330L5 400 3000 TSE-040

80 80ST-CJ102430L5 750 3000 TSE-100

17-bit single-turn absolute

80ST-CJ102430L5A-B
Value Encoder
80 750 3000 TSE-075
(Rated current 3.3A)

2.5 TSE Servo Drive Selection Table

Z signal
Driver Model 485 Communication Function Analog voltage input function Pulse function

TSEA040 none none none have

TSEA075 none none none have

TSEA100 none none none have

TSEB040 have have have have

TSEB075 have have have have

TSEB100 have have have have

8
 Chapter 3 Driver and Motor Dimensions

3.1 Driver Dimensions

TSD-040 Dimensions

AC220V

C
N
1

C
N
2

CHARGE

TSD-075 Dimensions

-TSD-040 driver does not have a cooling fan.

9
 TSE-040 Dimensions:

28.20
151.00 5.20
40.40 5.00

SERVO

AC220V
D5.20

C
N
1
160.50
169.86

160.20
C
N
2

CHARGE

4.60

TSE-075/TSE-100 Dimensions:

5.25 33.34
46.30 158.71

5.24
.5
D5

C
N
1
160.00

158.41
168.00

C
N
2

CHARGE

5.30

10
 -The TSE-040 driver does not have a cooling fan.

3.2 Motor size

● 60 Flange motor installation dimensions (see Figure 3.2 and Table 3-1)

Figure 3.2 60 motor and Table 3-1

model LL (mm) Holding brake Encoder

60ST-CJ101330L5 96 none 17-bit single-turn absolute value

60ST-CJ101330L5Z 134 have 17-bit single-turn absolute value

● 80 Flange motor installation dimensions (see Figure 3.3 and Table 3-2)

11
 Figure 3.3 80 motor and Table 3-2

model LL (mm) Holding brake Encoder

80ST-CJ102430L5 106 none 17-bit single-turn absolute value

80ST-CJ102430L5Z 145 have 17-bit single-turn absolute value

12
 Chapter 4 Driver System Wiring and Composition

4.1 Servo System Wiring

4.1.1 Servo drive wiring diagram

NFB MC P Inside outside

L1
D
catch catch
Single phase 220V

L2
power supply
electricity electricity

filter
C
Resistance Resistance

CN1
+24V power output +24V 39
0V power output 0V 38 CN3
24V power supply positive terminal COM+ 20 3.3K
1 485+ A
Servo Enable SON DI1 17 2 485- B
Alarm Clear ACLR DI2 2 4 GND GND
DI3 18
CN4
CCW Prohibition
485 Communications
CW Banned DI4 3
1 485+ A
2 485- B
DO1+ 25 GND
4 GND
DO1- 9
Optocoupler Z signal output

DO2+ twenty three

Servo alarm ALM
DO2- 7
DO3+ twenty two
60, 80
DO3- 6
Location Arrival COIN Flange motor

DO4+ twenty one

DO4- 5
Electromagnetic brake signal BRK

U 1

Z+ DO5+ 44
V 2 M
Z
Z signal differential output
Z- DO5- 30 W 3
PE 4
Motor housing

CN2
Analog voltage input+ ASIN+ 35 -
1 +5V 7
Analog voltage input - ASIN- 36 +
2 0V 5
Analog ground AGND 34
4 A 6
3 B 4
PS+ 13
2.0K

+24V command pulse positive input

FG 1
15
75R
PULS+
2
+5V command pulse positive input

PULS- 14
3
Command pulse negative input

DS+ 10
2.0K
+ 24V command direction positive input

SIGN+ 12
75R
+5V command direction input +3.6v
Negative input of command direction SIGN- 11 0v Battery
Shielded Ground FG 31

Figure 4.1 Servo system wiring diagram

13
4.1.2 Wiring Instructions

Wiring precautions:

- Cable length: control line length is within 3m, encoding line length is within 20m.

- Check whether the power supply of L1 and L2 is connected to single-phase 220VAC. Do not connect to 380VAC power supply. The

- phase sequence of the motor output terminals U, V, and W must correspond to the corresponding terminals of the driver.

The motor can stop rotating or run at high speed. You cannot reverse the motor by swapping the three-phase terminals, which is different from the asynchronous motor.

- Since the servo motor flows through high-frequency switching current, the leakage current is relatively large, and the motor ground terminal must be connected to the

The servo drive grounding terminals PE are connected together and grounded well.

- The direction of the absorbing diode installed in the relay that outputs the signal must be connected correctly, otherwise it will cause malfunction

and fail to output the signal.

- To prevent erroneous operation caused by noise, please add an insulating transformer and noise filter to the power supply. Please

- keep the power line (motor line, power line and other strong current circuits) and the signal line at least 30cm apart.

Wire,

Do not place them in the same wiring duct.

- Please install a non-fuse circuit breaker so that the external power supply can be cut off in time when the driver fails. Because the servo driver

- has a large-capacity electrolytic capacitor inside, even if the power is cut off, the internal circuit

There is still high voltage. After cutting off the power supply, wait at least 5 minutes before touching the drive and motor.

4.1.3 Wire specifications

Connection Terminals symbol Wire specifications

Main circuit power supply L1, L2 1.5~4mm2

Motor connection terminals U, V, W 1.5~4mm2
Ground terminal 1.5~4mm2
Control signal terminal CN1 ≧0.14mm2(AWG26), including shielded wire

Encoder signal terminal CN2 ≧0.14mm2(AWG26), including shielded wire

Braking resistor terminals P, D/P, C 1.5~4mm2

- The encoder cable must use twisted pair. If the encoder cable is too long(>20mm), which will cause insufficient power supply to

the encoder. Its power and ground wires can be connected by multiple wires or using thick wires.

14
4.2 Servo drive main circuit connection

4.2.1 Introduction to main circuit terminals

Figure 4.3 Main circuit terminal pin layout

name Terminal Symbols Detailed description

Main circuit power input terminal L1, L2 Single-phase 220VAC -15%~+10%, 50/60Hz

P.D. When using the internal braking resistor, short-circuit P and D.

Braking resistor terminals When using an external braking resistor, short-circuit P and D and disconnect them.

P.C.
Connect the external braking resistor wires between P and C respectively.

U, V, W Connect to servo motor U, V, W phases.

Motor connection terminals The driver ground terminal is connected to the power supply and motor ground terminal.

catch.

-The factory default internal brake resistor connection method is:PandDIn short circuit state.

4.2.2 Braking resistor wiring instructions

If the internal braking resistor is used, the driver needs to short-circuit P and D, that is, it can be used normally according to the factory state.

When using an external braking resistor, you must first remove the short circuit between P and D, and then connect the external braking resistor across P and C.

Braking resistor wiring precautions:

- Do not set the resistance value lower than the minimum allowable resistance of 30Ω, otherwise it will cause the driver to alarm or damage the

- driver; Please install the external braking resistor on non-combustible materials such as metal.

15
4.3 CN1 control signal terminal

4.3.1 CN1 control signal terminal description

CN1 control signal terminal provides the signal required to connect with the upper controller, using DB44 socket, signal package

include:

- 4 programmable inputs

- 4 programmable outputs

- Analog command input

- Command pulse input

4.3.2 CN1 terminal connector pinout

15 1
30 16
44 31

Figure 4.5 Driver CN1 terminal pin diagram

4.3.3 Description of position command input signal

Signal name Pin number Function

PULS+ 15 High-speed photoelectric isolation input, parameter PA14 sets the working mode:

PULS- 14 - Pulse+Direction

SIGN+ 12 - CCW/CW pulse

Position pulse
- A, B two-phase orthogonal pulse input
Rush instruction SIGN- 11
- Internal position control input

PS+ 13 External 24V power input interface for command pulse/direction

DS+ 10

The command pulse output circuit on the host device side can be selected from two types: differential driver output or open collector output. The

maximum input frequency and minimum pulse width are shown in the following table:

Pulse mode Maximum frequency (pps) Minimum pulse width (us)

16
 difference 500k 1
Open collector 200k 2.5

- If the pulse width output by the host device is less than the minimum pulse width value, the driver will receive pulse errors. The ports

- between PULS+ and PULS- and between SIGN+ and SIGN- only support signal level input below 5V. If the signal exceeds 5V, an external

resistor must be connected in series, otherwise the driver will be damaged.

Pulse command input circuit diagram

1) When using differential mode

Driver side

240Ω
PULS+ 15

PULS- 14

240Ω
SIGN+ 12

SIGN- 11

2) When the collector is open

A) When using the servo drive's internal 24V power supply:

- Common anode connection, for example: Mitsubishi PLC.

17
 24V

+24V 39

2.4KΩ Driver side

PS+ 13

240Ω
PULS+ 15

PULS- 14

2.4KΩ
DS+ 10

240Ω
SIGN+ 12

SIGN- 11

0V 38

0V

- Common cathode connection: for example: Siemens PLC.

24V

+24V 39

2.4KΩ Driver side

PS+ 13

240Ω
PULS+ 15

PULS- 14

2.4KΩ
DS+ 10

240Ω
SIGN+ 12

SIGN- 11

0V 38

0V
Use the common cathode connection method of the internal power supply of the driver

B) When using external power supply:

Solution 1: Use internal resistors in the driver (recommended solution)

- Common anode connection:

18
 external24Vpower supply

2.4KΩ Driver side

PS+ 13

240Ω
PULS+ 15

PULS- 14

2.4KΩ
DS+ 10

240Ω
SIGN+ 12

SIGN- 11

External power supply0V

Use external power supply common anode connection

- Common cathode connection:

external24Vpower supply

2.4KΩ Driver side

PS+ 13

240Ω
PULS+ 15

PULS- 14

2.4KΩ
DS+ 10

240Ω
SIGN+ 12

SIGN- 11

External power supply0V

Use external power supply common cathode connection

Solution 2: Use a resistor external to the driver.

- Common anode connection:

19
 external24Vpower supply

2.4KΩ Driver side

PS+ 13

2.4KΩ 240Ω
PULS+ 15

PULS- 14

2.4KΩ
DS+ 10

2.4KΩ 240Ω
SIGN+ 12

SIGN- 11

External power supply0V

Use external power supply common anode connection

- Common cathode connection:

external24Vpower supply

2.4KΩ Driver side

PS+ 13

2.4KΩ 240Ω
PULS+ 15

PULS- 14

2.4KΩ
DS+ 10

2.4KΩ 240Ω
SIGN+ 12

SIGN- 11

External power supply0V

Use external power supply common cathode connection

4.3.4 Description of digital input and output signals

Signal name Pin number Default functionality illustrate

DI1 17 Servo Enable

DI2 2 Alarm clear

Forward drive
DI3 18
prohibit Opto-isolated input, programmable function, set by P3 group parameter

Reverse drive Note: COM+ is a common anode or common

number DI4 3
prohibit cathode interface, and the input level is 12V-
enter
PULS- 14 24V.
In position mode
PULS+ 15
(Internal location
PS+ 13
mode) and non
SIGN- 11
In position mode
SIGN+ 12

20
 DS+ 10
Digital input signal
COM+ 20
Public terminal

DO1+ 25
Z signal output
DO1- 9
DO2+ twenty three

Alarm output
number DO2- 7 Opto-isolated output, programmable function, set by P3 group parameters

Output DO3+ twenty two Numbers P3-20~P3-23 are defined.

Positioning completed

DO3- 6
DO4+ twenty one

Electromagnetic brake

DO4- 5
Internal Isolation 0V 38 Internal 0V Internal isolated 24V power output, voltage range

Power Output +24V 39 Internal 24V 20V~28V, maximum output current 100mA.

- Digital input circuit diagram

Taking DI1 as an example, the DI1~DI4 interface circuits are the

same. 1) When the host device is a relay output

A) When using the internal 24V power supply of the servo drive:

24V

+24V 39 Driver side

4.7K
COM+ 20

DI1 17

0V 38

twenty one
B)When using an external 24V power supply:

externaltwenty four VDC

Driver side

4.7K
COM+ 20

DI1 17

External power supply0V

2) When the host device is open collector output

A)When using the internal 24V power supply of the servo drive:

24V 24V

+24V 39 Driver side +24V 39

Driver side
4.7K PNP
COM+ 20
4.7K
COM+ 20
DI1 17
DI1 17
NPN

0V 38
0V 38

0V
0V

B) When using an external 24V power supply:

external24VDC
external24VDC

Driver side
Driver side
4.7K PNP
COM+ 20
4.7K
COM+ 20
DI1 17
DI1 17

NPN

External power supply0V

External power supply0V

- Notice:
Mixing of PNP and NPN inputs is not supported.
twenty two
- Digital output circuit diagram

Taking DO1 as an example, the interface circuits of DO1~DO4 are the same.

1)When the host device is a relay input:

DO1+
Driver side

max 50mA

max 25v DO1-

2) When the host device is optocoupler input:

external5-24VDC

max 25v
max 50mA

DO1+
Driver side

DO1-

external0V

- When the host device is a relay, be sure to connect a freewheeling diode, otherwise the DO port may be damaged or

strong signal interference may occur.

-The maximum allowable voltage and current capacity of the internal optocoupler output circuit of the servo drive are as

follows: Voltage: DC30V

Current: DC50mA

4.3.5 Description of analog command signal

Signal name Pin number Function

twenty three
 AS+、AT+ 35
Simulation finger

AS-、AT- 36 Analog input of speed/rotation speed, range: -10V~+10V.

Command input

AGND 34

Schematic diagram of pulse command input interface

There are two connection methods: differential input and single-ended input. Differential input connection is recommended. Speed and

torque share one analog input, input range: -10V~+10V, input impedance is about 10KΩ. It is normal for analog input to have zero offset, which can be

compensated by parameters.

1) When analog differential input

2) When analog single-ended input

twenty four
4.3.6 Brake Wiring Instructions

The holding brake is a mechanism that prevents the servo motor shaft from moving when the servo drive is not in operation, keeps the motor in a locked position, and prevents

the moving parts of the machine from moving due to their own weight or external force.

Brake signal circuit diagram

Brake Wiring The connection of the brake input signal has no polarity, and the user needs to prepare a 24V power supply. The standard wiring example of the

brake signal BRK and the brake power supply is as follows:

Figure 4.6 Brake signal wiring diagram

Notice:
- The brake mechanism built into the servo motor is a non-energized fixed mechanism and cannot be used for

braking purposes. It is only used to keep the servo motor in a stopped state.

- The brake coil has no polarity.

- After the servo motor stops, the servo on signal (Servo On) should be turned off. When the motor with a built-in brake is running, the

- brake may make a clicking sound, but it has no effect on the function. When the brake coil is energized (brake open state), magnetic

- flux leakage may occur at the shaft end and other parts. Please pay attention when using instruments such as magnetic sensors

near the motor.

- The brake is prohibited from sharing power with other electrical appliances to prevent the operation of other electrical appliances, which may cause a decrease in voltage

or current and ultimately cause the brake to malfunction.

- It is recommended to use cables with a diameter of 0.5 mm² or above.

25
4.4 CN2 encoder signal terminal

4.4.1 CN2 terminal plug diagram

Connection diagram of CN2 encoder signal terminal and motor encoder.

The terminal for connecting the encoder uses a 1394 socket, and its appearance and pin distribution are as follows:

Figure 4.7 CN2 encoder signal terminal

4.4.2 Encoder terminal signal description

Signal name Pin number Function

5V 1 The encoder uses a 5V power supply (provided by the driver), and the cable is

Encoder signal power supply To prevent the encoder voltage from decreasing when the
0V 2
The source and ground wires can be connected in multiple wires or with thick wires.

Absolute encoder communication positive terminal SD+ 4 Absolute encoder communication positive terminal

Absolute encoder communication negative terminal SD- 3 Absolute encoder communication negative terminal

Empty End NC 5 reserve

Empty End NC 6 reserve

Shielded wire protection ground Plug metal shell Connect the encoder cable shield

4.5 CN3 and CN4 communication interface

4.5.1 Communication port wiring diagram

26
 CN3

12 4
1 485+
CN3 2 485-
4 GND

1 485+
485-

12 4
2
CN4 4 GND
CN4

Inside the CN3 and CN4 interfaces

Wiring is parallel

Figure 4.8 Communication port wiring diagram

4.5.2 Communication port pin definition

Pin number CN3 name CN4 name

1 RS485+ RS485 communication RS485+ RS485 communication

2 RS485 - interface RS485 - interface

3 NC Empty End NC Empty End

4 GND 485 Signal Ground GND 485 Signal Ground

5 NC Empty End NC Empty End

6 NC Empty End NC Empty End

7 NC Empty End NC Empty End

8 NC Empty End NC Empty End

Notice:
- It can be connected to a PC or host controller through a dedicated serial cable. It is forbidden to plug and unplug it while it is powered on. It is

- recommended to use twisted pair or shielded cable with a length of less than 2 meters.

- When multiple machines are connected in series, CN3 is connected to CN4 of the previous drive, and CN4 is connected to CN3 of the next

- drive. When using RS485 bus communication, when the 485 signal ground of the host computer is connected to the earth (PE), please

connect the PE terminal of the host computer to the driver terminal through a reasonable grounding method. In this case, it is forbidden

to connect the 485 signal ground of the host computer to the 485 signal ground (GND) of the driver, otherwise the driver may be

damaged.

4.5.3 485 communication network connection instructions

When 485 communication networking is used, the connection cables for multiple servo drives in parallel are as follows:

When using RS485 communication, the connection example between the GND terminal of the host device and the GND terminal of the servo drive is as follows:

27
As shown in the figure:

Terminal resistance

120R

485+ 485- GND Shielding

Single-ended grounding

12 4 12 4 12 4 12 4

Servo Drives Servo Drives

Main Station Slave Slave

Figure 4.11 Schematic diagram of 485 communication connection

Notice:
- The PLC has built-in 485 communication terminal resistance. It is

- recommended to perform single-end grounding on the shielding layer.

- Do not connect the GND terminal of the host device to the 0V terminal of the servo drive, otherwise the machine will be

damaged.

4.6 Anti-interference measures for power wiring

To suppress interference, please take the following measures:

- The length of the command input cable should be less than 3m, and the encoder cable should be less than 20m.

- Use thick wires for grounding wiring as much as possible. (2.0mm² or more)

- Please use a noise filter to prevent radio frequency interference. Use in a civilian environment or in an environment with strong power interference.

Please install a noise filter on the input side of the power line.

- To prevent erroneous actions caused by electromagnetic interference, the following treatment

methods can be used: 1) Install the host device and noise filter as close to the servo drive as possible. 2)

Install surge suppressors on the coils of relays, solenoids, and electromagnetic contactors.

3) When wiring, separate the strong current lines from the weak current lines and keep a distance of more than 30cm. Do not put them in the same pipe or bundle

them together.

4) Do not share power with welding machines, electrical discharge machining devices, etc. When there is a high-frequency generator nearby, install a noise filter

on the input side of the power line.

28
4.6.1 Anti-interference wiring example and grounding treatment

1. Anti-interference wiring example

Figure 4.12 Anti-interference wiring example

- For the outer box connection wire used for grounding, use a thick wire of 3.5 mm² or more as much as possible, and braided copper wire is

- recommended. When using a noise filter, please follow the precautions described in the following "How to use the noise filter".

2. Grounding

To avoid possible electromagnetic interference problems, please ground as follows.

1) Grounding of the servo motor housing

Please connect the ground terminal of the servo motor and the ground terminal PE of the servo drive together, and ground the PE terminal reliably to

reduce potential electromagnetic interference problems.

2) Encoder cable shield grounding

Please ground both ends of the shield of the motor encoder cable.

4.6.2 How to use the noise filter

To prevent interference from the power line and reduce the impact of the servo drive on other sensitive equipment, please select the corresponding noise filter at

the power input terminal according to the input current. In addition, please install noise filters at the power lines of peripheral devices as needed. Please observe the

following precautions when installing and wiring the noise filter to avoid reducing the actual use effect of the filter.

- Please lay out the noise filter input and output wiring separately, and do not put them in the same pipe or bundle them together.

29
 Figure 4.13 Example of separate wiring for noise filter input and output

- Route the ground wire of the noise filter separately from its output power wire.

Figure 4.14 Schematic diagram of the separation of noise filter ground wire and output wiring

- The noise filter should be grounded separately using a thick wire that is as short as possible. Do not share the same ground wire with other grounding devices.

30
 Figure 4.15 Schematic diagram of single-point grounding

- Ground wire treatment of noise filter installed in the control cabinet.

When the noise filter and the servo drive are installed in the same control cabinet, it is recommended to fix the filter and the servo drive on the same

metal plate to ensure that the contact parts are conductive and well overlapped, and the metal plate is grounded.

Figure 4.16 Schematic diagram of noise filter ground wire processing

31
 Chapter 5 Operation Mode and Control Wiring Diagram

According to the command method and operating characteristics of the servo drive, it can be divided into three operating modes: position control operating

mode, speed control operating mode and torque control operating mode.

- The position control mode generally determines the displacement of movement by the number of pulses, and the external input pulse frequency determines

the rotation speed. Since the position mode can strictly control the position and speed, it is generally used in positioning devices. It is the most widely used control

mode for servo applications, mainly used in robots, placement machines, milling and engraving, CNC machine tools, etc.

- The speed control mode controls the rotation speed through analog quantity setting, digital quantity setting, and communication setting, and is mainly used in some constant

speed occasions. For example, in engraving and milling machine applications, the host computer adopts the position control mode and the servo drive adopts the speed control mode.

- The torque control mode controls the torque size through analog, digital and communication setting. It is mainly used in winding and unwinding devices

that have strict requirements on the force of the material, such as winding devices or fiber optic pulling equipment and other tension control occasions. The torque

setting should be changed at any time according to the change of the winding radius to ensure that the force of the material will not change with the change of the

winding radius.

5.1 Position control mode

5.1.1 Position Mode Description

Figure 5.1 Block diagram of position control mode

Position mode is a common working mode of servo drives. Its main usage steps are as follows: 1) Correctly connect the power supply

of the servo main circuit and control circuit, as well as the motor power line and encoder line.

32
The board displays "r 0”This means that the servo power supply and encoder wiring are correct. 2) Press the button to perform a servo

JOG test run to confirm whether the motor can operate normally. 3) Refer to Figure 5.2 for wiring instructions to connect the pulse

direction input and pulse command input in the CN1 terminal and the required DI/DO signals, such as servo enable, alarm clear,

positioning completion signal, etc.

4) Perform position mode related settings. Set the DI/DO used according to the actual situation. 5) Enable the servo and control the rotation of the servo motor by

sending position commands through the host computer. First, make the motor rotate at a low speed, and confirm whether the rotation direction and electronic gear

ratio are normal, and then adjust the gain.

5.1.2 Position Mode Wiring

NFB MC P Inside outside

L1
D
catch catch
Single phase 220V power supply
L2 electricity electricity

filter
C
Resistance Resistance

CN1
+24V power output +24V 39
0V power output 0V 38 CN3
24V power supply positive terminal COM+ 20 3.3K
1 485+ A
Servo Enable SON DI1 17 2 485- B
Alarm Clear ACLR DI2 2 4 GND GND
DI3 18
CN4
CCW Prohibition
485 Communications
CW Banned DI4 3
1 485+ A
2 485- B
DO1+ 25 GND
Optocoupler Z signal output 4 GND
DO1- 9
DO2+ twenty three
Servo alarm ALM
DO2- 7
DO3+ twenty two
60, 80
Location Arrival COIN Flange motor
DO3- 6
DO4+ twenty one

DO4- 5
Electromagnetic brake signal BRK

U 1

Z+ DO5+ 44
V 2 M
Z W
Z signal differential output
Z- DO5- 30 3
PE 4
Motor housing

CN2
1 +5V 7
PS+ 13
2.0K

+24V command pulse positive input

2 0V 5
15
75R
PULS+
+5V command pulse positive input
4 A 6
PULS- 14
3 B 4
Command pulse negative input

DS+ 10 2.0K
+ 24V command direction positive input
FG 1
12
75R
+5V command direction input SIGN+ 2
SIGN- 11
3
Negative input of command direction

Shielded Ground FG 31
+3.6v

0v
Battery

Figure 5.1.2 Position mode wiring diagram

-Internal+24VSupply voltage range20V~28V, maximum operating current100mAIf using external

33
24VPower supply, please connect the external power supply +24VConnect to20Pin No. (COM+).
5.1.3 Parameters that need to be adjusted in position control mode

- Gain and smoothing filter parameter adjustment

Required parameters Parameter Description Parameter Value Factory default value

PA4 Control mode selection 0 0

PA9 Position proportional gain 1-1000 80

PA19 Position command smoothing filter 0-1000×0.1ms 100

PA100 Command filter selection 0-1 0

- DI input related parameter adjustment

Required parameters Parameter Description Parameter Value Factory default value

PA11 The number of command pulses for the motor to rotate 1 circle 0-30000 10000

PA12 Position command pulse electronic gear first numerator 1-32767 0

PA13 Position command pulse electronic gear denominator 1-32767 10000

PA14 Position command pulse input mode 0-3 0

PA15 Position command pulse direction is reversed 0-1 0

PA59 Command pulse effective edge 0-1 0

PA77 Position command pulse electronic gear ratio second numerator 1-32767 0

PA78 Position command pulse electronic gear ratio third numerator 1-32767 0

PA79 Position command pulse electronic gear ratio fourth numerator 1-32767 0

PA80 Command direction signal effective level 0-1 0

PA81 Command pulse PULS signal filtering 0-15 4

PA82 Command pulse SIGN signal filtering 0-15 4

- DO output related parameter adjustment

Required parameters Parameter Description Parameter Value Factory default value

34
 PA16 Positioning completion range 0-3000 pulses 130

PA17 Position out-of-tolerance range detection 0-30000×100 pulse 6000

PA18 Position error invalid 0-1 0

PA83 CWL, CCWL direction prohibition mode 0-1 0

PA84 Positioning completion hysteresis 0-32767 65

PA85 Positioning proximity range 0-32767 6500

PA86 Positioning proximity hysteresis 0-32767 650

- Adjustment of input and output terminal related parameters

Required parameters Parameter Description Parameter Value Factory default value

PA55 Input terminal effective level control word 0000-1111 0000

PA57 Output terminal effective level control word 0000-1111 0000

PA58 IO input terminal debounce time constant 1-20ms 2

P3-0 Digital input DI1 function 0-99 1

P3-1 Digital input DI2 function 0-99 2

P3-2 Digital input DI3 function 0-99 3

P3-3 Digital input DI4 function 0-99 4

P3-15 Digital input DI forced valid 1 00000000-11111111 00000000

P3-16 Digital input DI forced valid 2 00000000-11111111 00000000

P3-17 Digital input DI forced valid 3 00000000-11111111 00000000

P3-20 Digital output DO1 function 0-99 18

P3-21 Digital output DO2 function 0-99 3

P3-22 Digital output DO3 function 0-99 5

P3-23 Digital output DO4 function 0-99 8

- Internal position Pr mode position command description and related parameters

The Pr position command source is the 8 built-in position command registers using parameters (P4-2, P4-3)-(P4-23, P4-24). With

the external I/O (CN1, POS0-POS 2 and CTRG), one of the eight groups can be selected as the position command.

35
make:

Location correspond Movement Speed

POS2 POS1 POS0 CTRG illustrate
Order parameter register

P4-2 Number of turns (+/-30000) P4-4

P1 0 0 0 ↑
P4-3 Pulse (+/-max cnt) (V1)
P4-5 Number of turns (+/-30000) P4-7
P2 0 0 1 ↑
P4-6 Pulse (+/-max cnt) (V2)
P4-8 Number of turns (+/-30000) P4-10
P3 0 1 0 ↑
P4-9 Pulse (+/-max cnt) (V3)
P4-11 Number of turns (+/-30000) P4-13
P4 0 1 1 ↑
P4-12 Pulse (+/-max cnt) (V4)
P4-14 Number of turns (+/-30000) P4-16
P5 1 0 0 ↑
P4-15 Pulse (+/-max cnt) (V5)
P4-17 Number of turns (+/-30000) P4-19
P6 1 0 1 ↑
P4-18 Pulse (+/-max cnt) (V6)
P4-20 Number of turns (+/-30000) P4-22
P7 1 1 0 ↑
P4-21 Pulse (+/-max cnt) (V7)
P4-23 Number of turns (+/-30000) P4-25
P8 1 1 1 ↑
P4-24 Pulse (+/-max cnt) (V8)

-POS0-2Status:0Indicates contact disconnection (open),1Represents the contact path (close. CTRG

↑ represents the circuit breaker (0)Become a pathway (1)The moment.maxRepresents the command pulse for one revolution of

the motor. Absolute position registers are widely used, equivalent to a simple program control. Users can easily complete

periodic operation actions by using the above table. For example, the position commandP1=10change,P2=20 Transfer, first

release the position

36
5.2 Speed control mode

5.2.1 Speed Mode Description

Figure 5.3 Speed control mode block diagram

The main steps of using speed mode are as follows:

1) Connect the power supply of the servo main circuit and control circuit, as well as the motor power line and encoder line correctly. After power-on, the servo panel

displays "r 0” means that the servo power supply and encoder wiring are correct. 2) Press the button to perform servo JOG test run to confirm whether the motor

can operate normally. 3) Refer to Figure 5.4 wiring instructions to connect the required DI/DO signals in the CN1 terminal, such as servo enable, alarm clear,

positioning completion signal, etc.

4) Make relevant settings for speed mode. Set the DI/DO used according to the actual situation. 5) Enable the servo and control the rotation of the servo motor by

sending position commands through the host computer. First, make the motor rotate at a low speed, and confirm whether the rotation direction and electronic gear

ratio are normal, and then adjust the gain.

37
5.2.2 Speed Mode Wiring

NFB MC P Inside outside

L1
D
catch catch
Single phase 220V
L2
power supply
electricity electricity

filter
C
Resistance Resistance

CN1
+24V power output +24V 39
0V power output 0V 38 CN3
24V power supply positive terminal COM+ 20 3.3K
1 485+ A
Servo Enable SON DI1 17 2 485- B
Alarm Clear ACLR DI2 2 4 GND GND
DI3 18
CN4
CCW Prohibition
485 Communications
CW Banned DI4 3
1 485+ A
2 485- B
DO1+ 25 GND
4 GND
DO1- 9
Optocoupler Z signal output

DO2+ twenty three

Servo alarm ALM
DO2- 7
60, 80
DO3+ twenty two
Location Arrival COIN Flange motor
DO3- 6
DO4+ twenty one

DO4- 5
Electromagnetic brake signal BRK

U 1

Z+ DO5+ 44
V 2 M
Z W
Z signal differential output
Z- DO5- 30 3
PE 4
Motor housing

CN2
Analog voltage input ASIN+ 35 -
1 +5V 7
-10V~+10V ASIN- 36 +
2 0V 5
Analog ground AGND 34
4 A 6
3 B 4
FG 1
2
3

+3.6v

0v battery
Shielded Ground FG 31

Figure 5.4 Speed mode wiring diagram

38
5.2.3 Parameters that need to be adjusted in speed control mode

- Related parameters that need to be adjusted for speed control mode

Required parameters Parameter Description Parameter Value Factory default value

PA4 Control mode selection 1 0

PA5 Speed proportional gain 5-2000Hz 150

PA6 Velocity integral constant 1-1000ms 75

PA22 Internal and external speed command selection 0-5 0

PA24 Internal speed 1 - 6000-6000r/min 100

PA25 Internal Speed 2 - 6000-6000r/min 500

PA26 Internal speed 3 - 6000-6000r/min 1000

PA27 Internal speed 4 - 6000-6000r/min 2000

PA28 Arrival speed 0-3000r/min 3000

PA40 Acceleration time constant 1-10000ms 100

PA41 Deceleration time constant 1-10000ms 100

PA42 S-type acceleration and deceleration time constant 0-1000ms 0

PA43 Analog speed command input gain 10-3000r/min/v 300

PA44 Analog speed command direction is reversed 0-1 0

PA45 Analog speed command zero offset compensation - 5000-5000 0

PA46 Analog speed command filter 1-300Hz 300

PA75 Zero speed detection point 0-1000r/min 10

PA76 Speed consistent setting value 0-1000r/min 10

PA87 Arrival speed difference 0-5000r/min 30

PA88 Arrival speed polarity 0-1 0

PA92 Zero speed detection hysteresis 0-1000r/min 5

39
5.3 Torque control mode

5.3.1 Torque mode description

Figure 5.5 Torque control mode block diagram

The main steps of using torque mode are as follows:

1) Connect the power supply of the servo main circuit and control circuit, as well as the motor power line and encoder line correctly. After power-on, the servo panel

displays "r 0” means that the servo power supply and encoder wiring are correct. 2) Press the button to perform servo JOG test run to confirm whether the motor

can operate normally. 3) Refer to the wiring instructions in Figure 5.6 to connect the required DI/DO signals in the CN1 terminal, such as servo enable, alarm clear,

positioning completion signal, etc.

4) Make torque mode related settings. Set the DI/DO used according to the actual situation. 5) Enable the servo and control the rotation of the servo motor by

sending position commands through the host computer. First, make the motor rotate at a low speed, and confirm whether the rotation direction and electronic gear

ratio are normal, and then adjust the gain.

40
5.3.2 Torque mode wiring

NFB MC P
Inside outside

L1
D
catch catch
Single phase 220V
power supply
L2 electricity electricity

filter
C
Resistance Resistance

CN1
+24V power output +24V 39
0V power output 0V 38 CN3
24V power supply positive terminal COM+ 20 3.3K
1 A A
Servo Enable SON DI1 17 2 B B
Alarm Clear ACLR DI2 2 4 GND GND
DI3 18
CN4
CCW Prohibition
485 Communications
CW Banned DI4 3
1 A A
2 B B
DO1+ 25
Optocoupler Z signal output 4 GND GND
DO1- 9
DO2+ twenty three

Servo alarm ALM

DO2- 7
DO3+ twenty two
60, 80
Location Arrival COIN Flange motor
DO3- 6
DO4+ twenty one

DO4- 5
Electromagnetic brake signal BRK

U 1

Z+ DO5+ 44
V 2 M
Z
Z signal differential output
Z- DO5- 30 W 3
PE 4
Motor housing

CN2
Analog voltage input ATIN+ 35 -
1 +5V 7
-10V~+10V ATIN- 36 +
2 0V 5
Analog ground AGND 34
4 A 6
3 B 4
FG 1
2
3

+3.6v

0v battery
Shielded Ground FG 31

Figure 5.6 Torque mode wiring diagram

5.3.3 Parameters that need to be adjusted in speed control mode

- Torque control mode requires adjustment of parameters

Required parameters Parameter Description Parameter Value Factory default value

PA4 Control mode selection 2 0

PA29 Analog torque command input gain Set as needed 30

PA32 Internal and external torque command selection 0-2 0

41
 PA33 Analog torque command input direction is reversed 0 0

PA39 Analog torque command zero offset compensation 0 0

PA50 Speed limit in torque control Set as needed Rated speed

PA64 Internal torque 1 - 300-300 0

PA65 Internal torque 2 - 300-300 0

PA66 Internal torque 3 - 300-300 0

PA67 Internal torque 4 - 300-300 0

PA83 Prohibition 0-1 0

PA89 Torque - 300%-300% 100

PA90 Reach torque differential 0%-300% 5

PA91 Arrival torque polarity 0-1 0

5.4 Origin return function and related parameter description

5.4.1 Related setting parameters

Required parameters Parameter Description Parameter Value Factory default value

P4-32 Origin detector type and search direction setting 0-5 0

P4-33 Setting of short distance movement to the origin 0-2 0

P4-34 Origin trigger start mode 0-2 0

P4-35 Origin stop mode setting 0-1 0

1-2000
P4-36 The first stage high speed origin return speed setting 1000
r/min

P4-37 The second stage low speed origin return speed setting 1-500 r/min 50

P4-38 Origin return offset number of circles +/-30000 0

P4-39 Origin return offset pulse number +/-max cnt 0

42
5.4.2 Description of origin return mode (must be used in internal position mode)

A. Origin trigger start mode(P4-34)

The origin trigger start mode is divided into two categories: automatic execution of origin return function and contact trigger origin return

function: P4-34 = 0: Turn off the origin return function. When P4-34 is set to 0, the origin return function cannot be started regardless of

other setting values.

P4-34=1: Automatically execute the origin return function when the power is turned on. This function is only valid once when the power and servo are turned

on, that is, it is used under the working conditions that the return to origin does not need to be repeated during servo operation. Using this function can omit an input

contact for executing the return to origin.

P4-34=2: The origin return function is triggered by the SHOM input contact. When setting this function, any register in the input

pin function planning register (P3-0 to P3-3) must be set to the SHOM trigger origin input function. The SHOM contact can be triggered

at any time during servo operation to perform the origin return function.

B. Origin detector type and search direction setting(P4-32) The origin detector can use the left limit switch or the right limit switch as the origin

reference point, or use an additional detector (such as a proximity type or a shutter type switch) as the origin reference point. When the servo

motor moves within only one revolution, the Z pulse can also be set as the origin reference point.

P4-32=0: Search for the origin in the forward direction, and use the CCWL limit input point as the rough reference point of the origin. When the origin

positioning is completed, CCWL will be converted to the limit input function. The subsequent re-triggering will generate a limit warning. When using the limit input

point as the rough reference point of the origin, it is recommended to set the return to find the Z pulse (P4-33=0) as the precise mechanical origin.

P4-32=1: Reverse the direction to find the origin, and use the CWL limit input point as the rough reference point of the origin. When the

origin positioning is completed, CWL will switch to the limit input function. Subsequent re-triggering will generate a limit warning. When using the

limit input point as the rough reference point of the origin, it is recommended to set the return to find the Z pulse (P4-33=0) as the precise

mechanical origin.

P4-32=2: Search for the origin in the forward direction, and use ORGP (external detector input point) as the reference point of the origin. At

this time, the precise mechanical origin can be set as the Z-phase pulse of return search (P4-33=0) or non-return search (P4-33=1). When the Z-

phase pulse is not used as the mechanical origin, the positive edge of ORGP can also be set as the mechanical origin (P4-33=2).

P4-32=3: Reverse the direction to search for the origin, and use ORGP (external detector input point) as the reference point of the origin. At

this time, the precise mechanical origin can be set to the Z-phase pulse of return search (P4-33=0) or non-return search (P4-33=1). When the Z-

phase pulse is not used as the mechanical origin, the positive edge of ORGP can also be set as the mechanical origin (P4-33=2).

P4-32=4: Directly search for the single-turn absolute position zero point in the forward direction. This function is usually used for motion control of the

servo motor within a single rotation range. In this case, no external detection switch is required.

P4-32=5: Reverse the direction to directly find the single-turn absolute position zero point. This function is usually used for motion control of the servo

motor within a single rotation range. In this case, no external detection switch is required.

43
C. Setting the short distance movement method to reach the origin(P4-33) P4-33=0: After finding the reference origin, the motor returns to the second speed to

find the nearest single-turn absolute position zero point as the mechanical origin.

P4-33=1: After finding the reference origin, the motor switches to the second speed and continues to search for the nearest single-turn absolute position

zero point as the mechanical origin.

P4-33=2: Find the rising edge of the detector ORGP as the mechanical origin and stop according to deceleration. It is applicable to the settings of P4-32 value

2 and 3; or find the single-turn absolute position zero point and stop according to deceleration. It is applicable to the settings of P4-32 value 4 and 5.

D. Origin stop mode setting(P4-35)

P4-35=0: After the origin detection is completed, the motor decelerates and pulls back to the origin. After obtaining the origin detection signal during the second-stage speed

operation, the motor decelerates and stops. After stopping, it moves to the mechanical origin position at the second-stage speed.

P4-35=1: After the origin detection is completed, the motor decelerates and stops in the forward direction. After obtaining the origin detection signal in the

second speed operation, the motor decelerates and stops. The position overrun after stopping is no longer corrected, and the mechanical origin position will not

change due to the position overrun.

44
5.5 Pre-operation check

Please first disconnect the load connected to the servo motor, the coupling connected to the servo motor shaft and its related accessories.

After ensuring that the servo motor can work normally without load, connect the load to avoid unnecessary danger.

- Before running, please check and ensure that:

1) There is no obvious damage on the appearance of the servo drive;

2) The wiring terminals have been insulated;

3) There are no conductive objects such as screws or metal sheets, or flammable objects inside the driver, and there are no conductive foreign objects at the wiring

ports; 4) The servo driver or external brake resistor is not placed on flammable objects;

5) Wiring is completed and connected correctly.

- The wiring of the driver power supply, auxiliary power supply, grounding terminal, etc. is correct; the wiring of each control signal cable is correct; each limit switch,

The protection signals have been wired correctly.

1) The enabling switch is in the OFF state;

2) Cut off the power supply circuit and the emergency stop alarm circuit to maintain access;

3) The external voltage reference of the servo drive is correct.

- When the controller does not send a run command signal, power on the servo drive. Check and ensure that:

1) The servo motor can rotate normally without vibration or excessive noise; 2) All parameters are set correctly. Unexpected actions may occur

depending on the mechanical characteristics. Do not set extreme parameters excessively;

3) There is no abnormality in the bus voltage indicator light and digital tube display.

45
 Chapter 6 Operation and Display Interface

6.1 Driver Panel Description

6.1.1 Panel composition

SET
The panel consists of 5 LED digital tube displays and 4 buttons, which can be used to display various states, set Keys are used to display the system

parameters, etc. The operation is hierarchical, and is expanded layer by layer from the main menu.

Indicator Lights SET

Figure 6.1 Driver panel display interface

6.1.2 Button Description

symbol name Function

Add Key Increase the sequence number or value; long press has a repeat effect

Decrease key Decrease the sequence number or value; long press has a repeat effect

Escape key Menu exit; operation cancel

SET Confirm key Operation confirmation

46
6.2 Main Menu

The first level is the main menu, which has 8 operation modes. For specific operation, , To change the mode, press SET Enter the second level by pressing

press the button to return to the main menu from the second level.

Figure 6.2 Main menu operation diagram

6.3 Parameter Setting Process

Parameters are expressed as parameter segment + parameter number, the hundreds digit is the segment number, the tens and ones digits are the parameter number. For

example, for parameter PA53, the segment number is "PA", the parameter number is "53", and the display shows "PA-53".

Select parameter setting "P-" in the main menu, and press SET to enter parameter setting mode. First, use the and keys to select the parameter segment, and

after selecting, press SET to enter the parameter number selection of this segment. Secondly, use the and keys to select the parameter number, and after selecting,

press SET to display the parameter value.

Use the , keys to modify the parameter value. Press the or key once to increase or decrease the parameter by 1. Press and hold the or key to increase or

decrease the parameter continuously. When the parameter value is modified, press the SET key, the rightmost LED digital tube decimal point lights up and flashes

twice, and the modification is completed. The modified value will be immediately reflected in the control (some parameters need to be saved and then powered on

again to take effect).

47
6.4 Monitoring Status Content

The first layer is used to select the operation mode. There are 8 modes in total. Use and to enter theTo change the mode, press SET Key to enter

second layer of the selected mode, and press to return to the first layer from the second layer.

In the first layer, selectdp-”, and press SET Key to enter monitoring mode. There are 23 display states.

Use the , keys to select the desired display mode, and then press SET key to enter the specific display state.

Monitoring method operate Monitoring Examples illustrate

Motor speed 1000r/min

Current location 124580

Position command 124581

Position deviation 4 pulses

Motor torque 70%

Motor current 2.3A

Current control mode 0: Position control mode

The speed corresponding to the analog input in speed mode is 500

r/min.

In torque mode, the analog input corresponds to 50% of the torque.

The absolute rotor position is 3265.

Input Terminals

Output Terminals

Bus voltage 336V

48
 Alarm No. 4

Relay open state

Relay closed state

Relay alarm status

The main circuit is operating normally

Main circuit not charged

The main circuit is charged but the servo is not enabled

Main circuit alarm

Bus voltage is normal

Bus voltage is too low

Existence alarm

Motor absolute position 876543210

6.5 Analog Zero Adjustment

After using this operation, the drive automatically detects the analog zero offset and writes the zero offset value into parameter PA39 (or PA45). This

operation has saved the zero offset parameter into the EEPROM, so there is no need to perform the parameter writing operation again.

First select analog zero adjustment "A-A0", pressSETThen, select the speed analog value zeroing "A-SPd" or torque analog value zeroing "A-

Trq" through, and long press after selecting the operation.SETPress the key for more than 3 seconds until “donE” is displayed to activate the

operation. After completion, press the key again to return to the menu selection state.

6.6 Encoder Selection

Select "F-res" to reset the encoder and set the encoder multi-turn information to zero. By setting the P3-36 parameter value, the single-turn

information can be cleared to achieve the purpose of setting the origin; select "F-clr" to clear the encoder alarm. The No. 53 alarm caused by battery

power failure can be cleared by this operation. After selecting the operation, press and hold the SET key for more than 3 seconds, and activate the

operation after "donE" is displayed. After completion, press the key again to return to the menu selection state.

49
6.7 Restoring parameter defaults

Please use the restore default parameters (factory parameters) function in the following situations:

● The parameters are messed up and the system cannot work properly.

The steps to restore the default parameters are as follows:

1. The motor needs to be connected to the driver. After power-on, the driver will automatically read the motor parameters and automatically match the motor model.

2. Change the password (PA0) to 385.

3. Enter parameter management and perform the following operations:

Restore all parameters to default values. Parameters modified by the user are also restored to factory default values. Press the key to

return to the main menu, use and to select "PA-" mode, press the SET key to enter the second level operation interface, and then press

, make PA-0, then pressSETEnter the third layer interface, set PA-0 to 385, and pressSET
Next, press Press the key to return to the "PA-0" interface, then press the key to return to the "PA-1" interface.SETEnter with key, set the

Motor model, then press display to DEF-, long pressSETPress the key for 5 seconds. After the LED indicator flashes several times, the motor

model, complete the default parameter saving. Finally, power on again to take effect.

50
 Chapter 7 Parameter Function Description

7.1 PA Group Parameters

sequence

name Function Parameter range Factory value

Number

1. The user password is 315.

0 password 0-9999 315
2. Model code is 385.

This parameter is read-only and cannot be modified. Motor decision

1 Model code 40-80

Motor model, no need to select. Certainly

2 Software Version The software version number can be viewed but not modified.

0: Display motor speed;

1: Display the lower 5 digits of the current position;

2: Display the current position 5 bits higher;

3: Display the lower 5 digits of the position command (command pulse accumulation); 4:

Display the upper 5 digits of the position command (command pulse accumulation); 5:

Display the lower 5 digits of the position deviation;

6: Display position deviation high 5 digits;

7: Display motor torque;

8: Display motor current;

9: Current control mode;

10: Display current temperature;

11: Display speed command;

initial
3 12: Display torque command; 0-25 0
Display Status
13: Displays the absolute position of the rotor in one revolution, 5 digits lower;

14: Displays the absolute position of the rotor in one revolution by 5 digits higher;

15: Display input terminal status;

16: Display output terminal status;

17: Display encoder input signal;

18: Display the main circuit bus voltage value;

19: Display alarm code;

20: Display the logic chip version number;

21: Display the relay energizing status;

22: Display running status;

23: Display external voltage status;

24: Display the absolute value position in the lower 5 digits;

51
 25: Display the absolute value position in the upper 5 digits.

This parameter can be used to set the control mode of the drive:

0: Position control mode;

1: Speed control mode;

control 2: Torque control mode;

4 0-6 0
Method selection 3: Position and speed mixed control mode;

4: Position torque hybrid control mode;

5: Speed-torque mixed control mode;

6: Encoder zeroing mode.

1. Set the proportional gain of the speed loop regulator.

2. The larger the setting value, the higher the gain and the greater the stiffness.

speed The value is determined according to the specific servo drive system model and load conditions. 5-2000
5 150
Proportional Gain In general, the larger the load inertia, the larger the setting value. Hz
big.
3. Under the condition that the system does not oscillate, try to set it as large as possible.

1. Set the integral time constant of the speed loop regulator.

speed 1-1000
6 2. The smaller the setting value, the faster the integration speed and the better the system resistance to deviation. 75
Integration constant ms
The stronger it is, the greater the stiffness is, but too small will easily cause overshoot.

1. Set the torque command filter characteristics.

2. Used to suppress the resonance caused by torque.

3. The smaller the value, the lower the cutoff frequency, and the vibration generated by the motor

Torque If the load inertia is large, you can reduce

7 20-500% 100
filter Too small a value will cause slow response and may cause

Oscillate.

4. The larger the value, the higher the cutoff frequency and the faster the response. If a

higher torque response is required, the set value can be appropriately increased.

1. Set the speed detection filter characteristics.

2. The smaller the value, the lower the cut-off frequency and the smaller the noise generated

by the motor. If the load inertia is large, the set value can be appropriately reduced.

8 Speed detection filter If the value is too small, the response will be slow and may cause oscillation. 20-500% 100
Device 3. The larger the value, The higher the cutoff frequency, The faster the speed feedback response.

If a higher speed response is required, the setting can be appropriately increased.

value.

9 Location 1. Set the proportional gain of the position loop regulator. 1-1000 80

52
 Proportional Gain 2. The larger the setting value, the higher the gain and the greater the stiffness.

Under the condition of the rate command pulse, the position lag is smaller. But the value is too

It may cause vibration.

3. The parameter values are based on the specific servo drive system model and load.

Loading condition confirmed.

The motor rotates 1 1. Set the number of command pulses per motor rotation.

11 Command pulse of circle 2. When this setting value is 0, PA-12 (position command pulse frequency numerator) 0-30000 10000
number and PA-13 (position command pulse frequency denominator) are valid.

1. Set the frequency division and multiplication of the position command pulse (electronic gear).

2. In position control mode, by setting the parameters of PA12 and

PA13, it can be easily matched with various pulse sources.

Achieve the user's ideal control resolution (ie angle/pulse).

3. P×G=N×C×4.
P: number of pulses of input command; G: electronic gear ratio; G=frequency division

numerator/frequency division denominator N: number of motor rotations; C: number of

photoelectric encoder lines/revolution, in this system C=2500.

4. For example, when the input command pulse is 6000, the servo
Position command pulse
motor rotates one circle G=(N×C×4)/P=(1×2500×4)/6000=5/3, so
12 Electronic gear first 0-32767 0
parameter PA12 is set to 5 and PA13 is set to 3.
molecular
5. The numerator of the command pulse electronic gear is determined by Gear1 and

Gear2. The denominator is set by parameter PA13. The combinations are as follows:

DI signal {Note}
Command pulse electronic gear denominator

Gear 2 Gear 1

0 0 First molecule (parameter PA12)

0 1 Second molecule (parameter PA 77 )

1 0 The third molecule (parameter PA 78)

1 1 Fourth numerator (parameter PA 79)

Note: 0 means OFF, 1 means ON.

Position command pulse

13 See parameter PA12. 1-32767 10000
Electronic gear denominator

1. Set the input form of position command pulse.

Position command pulse
2. Set the parameters to one of the three input methods:
14 enter 0-3 0
0: pulse + direction;
Way
1: CCW pulse/CW pulse;

53
 2: A, B two-phase orthogonal pulse input;

3: Internal position input.

Note: CCW refers to the direction of observation from the axial direction of the servo motor.

The needle direction is defined as positive; CW is from the servo motor

The machine is viewed from the axial direction and rotates clockwise, which is defined as reverse rotation.

Towards.

Set to:
Command pulse direction
15 0: normal; 0-1 0
Negation
1: The direction of the position command pulse is reversed.

1. Set the positioning completion pulse range under position control.

2. This parameter provides the driver judgment under position control mode

The basis for whether positioning is completed.

When the number of remaining pulses is less than or equal to the setting value of this parameter, 0-30000
16 Positioning completion range 130
COIN (positioning completed) of digital output DO is ON, no pulse

Then OFF.

3. The comparator has a hysteresis function. Set by parameter PA84

Set.
1. Set the position out-of-tolerance alarm detection range.
0-30000
Position tolerance range 2. In position control mode, when the position deviation counter
17 ×100 6000
Detection When the value exceeds this parameter, the driver will give a position alarm.
pulse
police.

Set to:
Position error 0: Position out-of-tolerance alarm detection is valid;
18 0-1 0
invalid 1: Position out-of-tolerance alarm detection is invalid, stop detecting position

Out of tolerance error.

1. Smooth filter the command pulse in exponential form

The value indicates the time constant of acceleration and deceleration.

2. The filter will not lose the input pulse, but the command will appear

Delay phenomenon.
Position command smoothing 0-1000×
19 3. This filter is used for: 100
filter 0.1ms
(1) The upper controller has no acceleration and deceleration function;

(2) The electronic gear frequency division multiple is large (>10);

(3) The instruction frequency is low.

4. The motor experiences step jumps and instability during operation.

54
 5. When set to 0, the filter does not function.

Set to:
0: CCW and CW inputs are disabled.
When the CCW drive prohibition switch (FSTP) is ON, CCW drive is

allowed; when the CCW drive prohibition switch (FSTP) is OFF, the

CCW direction torque remains at 0; the same applies to CW.

Drive inhibit input If the drive prohibition is OFF, a drive prohibition input error will occur.
20 0-1 1
invalid False alarm;

1: Cancel CCW, CW input prohibition. Regardless of CCW,

What is the status of the CW drive prohibition switch?

At the same time, if CCW and CW drives are prohibited

If both are OFF, there will be no drive prohibit input error alarm.

police.

0-6000
twenty one JOG operation speed Set the running speed of JOG operation. 100
r/min
When speed control is used, set the source of the speed command.

righteous:

0: Analog speed command is input by analog port AS+ and AS-.

enter;

1: Internal speed command, determined by DI input SP1,

SP2:

DI signal {Note}
Speed command

SP2 SP1
0 0 Internal speed 1 (parameter PA24)

twenty two Speed command source 0 1 Internal speed 2 (parameter PA25) 0-5 0
1 0 Internal speed 3 (parameter PA26)

1 1 Internal speed 4 (parameter PA27)

2: Analog speed command + internal speed command:

DI signal {Note}
Speed command

SP2 SP1
0 0 Analog speed command

0 1 Internal speed 2 (parameter PA25)

1 0 Internal speed 3 (parameter PA26)

55
 1 1 Internal speed 4 (parameter PA27)

Note: 0 means OFF, 1 means ON.

3: JOG speed command, perform JOG operation

hour,

Need to be set.

4: Keyboard speed command, keyboard speed adjustment (Sr) operation

hour,

Need to be set.

5: IO terminal controls the inching operation.

Set the maximum speed limit of the servo motor.

0-
1. Independent of the direction of rotation.
twenty three Maximum speed limit 6000r/m 5000
2. If the set value exceeds the rated speed, the actual maximum limit
in
The speed is the rated speed.

1. Set internal speed 1.

- 6000-
internal 2. Speed control mode (PA22=0), when SP1 OFF, SP2
twenty four 6000 100
Speed 1 OFF, select internal speed 1 as the speed command.
r/min

1. Set the internal speed2.

- 6000-
internal 2. In speed control mode (PA22=0), when SP1 is ON and SP2
25 6000 500
Speed 2 is OFF, internal speed 2 is selected as the speed reference.
r/min

1. Set the internal speed3. - 6000-

internal
26 2. In speed control mode (PA22=0), when SP1 is OFF and SP2 is 6000 1000
Speed 3
ON, internal speed 3 is selected as the speed command. r/min
1. Set the internal speed to 4. - 6000-
internal
27 2. In speed control mode (PA22=0), when SC1 ON, SC2 6000 2000
Speed 4
ON, select internal speed 4 as the speed command. r/min
1. When the motor speed exceeds this parameter, the digital output DO

ASP
(Speed reached) ON, otherwise OFF.
arrive 0-3000
28 2. The comparator has a hysteresis function, which is set by parameter PA87. 3000
speed r/min
Set.
3. With polarity setting function:

PA88 PA28 Comparator

56
 0 >0 Speed is not direction-dependent

>0 Only detect forward speed

1
<0 Only detect reverse speed

1. Set the analog torque input voltage and the actual motor operation

The proportional relationship between torque. 10-100

Analog torque indicator
29 2. The unit of the set value is 0.1v/100%. (0.1v/ 30
Let input gain
3. The default value is 30, corresponding to 3v/100%, that is, an input voltage of 3v 100%)
generates 100% of the rated torque.

1. Set the user torque overload value, which is the rated torque.

Percentage, torque limit value is not direction-dependent, both positive and negative directions are available

Protect.
User torque overload
30 2. When PA31>9, when the motor torque>PA30, and the 1-300 300
Alarm value
duration>PA31, the driver alarms, and the alarm number is

Err-29, the motor stops. After the alarm is generated, the drive must be

powered on again to clear the alarm.

User torque overload 1. User torque overload detection time, in milliseconds.

31 0-32767 0
Alarm detection time 2. When set to zero, the user torque overload alarm will not function.

In torque control, set the source of the torque command:

0: Analog torque command, from analog ports AS+, AS-

enter.
1: Internal torque command, TRQ1 input by DI,

TRQ2 Decision:

DI signal {Note}
Torque command

TRQ2 TRQ1
0 0 Internal torque 1 (parameter PA64)

32 Torque command source 0 1 Internal torque 2 (parameter PA65) 0-1 0

1 0 Internal torque 3 (parameter PA66)

1 1 Internal torque 4 (parameter PA67)

2: Analog torque command + internal torque command:

DI signal {Note}
Torque command

TRQ2 TRQ1
0 0 Analog torque command

0 1 Internal torque 2 (parameter PA65)

1 0 Internal torque 3 (parameter PA66)

57
 1 1 Internal torque 4 (parameter PA67)

Note: 0 means OFF, 1 means ON.

Analog torque indicator

Inverts the polarity of the analog torque input.
33 Command input direction 0-1 0
Negation

1. The setting value is a percentage of the rated torque. For example,

If the torque is twice the rated torque, the setting value is 200.

Internal CCW transfer 2. This restriction is valid at all times.

34 0-300% 300
Moment Limit 3. If the setting value exceeds the maximum overload capacity allowed by the system

force, the actual torque limit is the maximum overload allowed by the system

ability.
1. The setting value is a percentage of the rated torque. For example,

If the torque is twice the rated torque, the setting value is -200.

Internal CW Torque 2. This restriction is valid at all times.

35 - 300-0% - 300
limit 3. If the setting value exceeds the maximum overload capacity allowed by the system

force, the actual torque limit is the maximum overload allowed by the system

ability.
1. The setting value is a percentage of the rated torque. For example,

If the torque is 1 times of the rated torque, the setting value is 100.

2. This limit is effective only when the CCW torque limit

External CCW to
36 input terminal (CCWL) is ON. 0-300% 100
Moment Limit
3. When the limit is effective, the actual torque limit is the system allowed

Maximum overload capacity, internal CCW torque limit, external

CCW torque limit is the minimum of the three.

Set the external torque limit value of the servo motor in CW direction.

1. The setting value is a percentage of the rated torque. For example,

If the torque is 1 times of the rated torque, the setting value is -100.

External CW torque limit 2. Only when the CW torque limit input terminal (CWL) is ON
37 - 300-0% - 100
system This restriction is only effective when

3. When the limit is effective, the actual torque limit is the system allowed

Maximum overload capacity, internal CW torque limit, external

The CW torque limit has the smallest absolute value among the three.

temperature 200-
38 Set the drive temperature to the upper limit alarm value.
Alarm value 1350

58
 Analog torque indicator - 2000-
39 Zero offset compensation for analog torque input. 0
Zero bias compensation 2000
The setting value indicates the acceleration time of the motor from

0-1000r/min.
1-
40 Acceleration time constant 1. The acceleration and deceleration characteristics are linear. 100
10000ms
2. Only used for speed control and internal position control.

His control method is ineffective.

The setting value indicates the deceleration time of the motor from 1000-0r/min.

1-
41 Deceleration time constant 1. The acceleration and deceleration characteristics are linear. 100
10000ms
2. Only used for speed control and internal position control.

His control method is ineffective.

S-shaped acceleration and deceleration To start and stop the motor smoothly, set an S-shaped acceleration and deceleration curve 0-
42 0
Interval constant Part of the line time. 1000ms

Analog speed indicator Set the analog speed input voltage and the actual motor speed 10-3000
43 300
Let input gain The proportional relationship between the degrees. r/min/v

Inverts the polarity of the analog speed input.

1. When set to 0, the analog speed command is positive, the speed

Analog speed indicator
44 The direction is CCW. 0-1 0
Reverse the direction
2. When set to 1, the analog speed command is positive, the speed

Direction is CW.

Analog speed indicator - 5000-

45 Zero offset compensation for analog speed input. 0
Zero bias compensation 5000
1. Low pass filter for analog speed input.

Analog speed indicator 2. The larger the setting, the faster the response speed to the speed input analog value. 1-1000
46 300
Let the filter The faster the signal noise is, the smaller the setting is, and the faster the response is. Hz
The slower the speed, the smaller the impact of signal noise.

1. Define the mechanical brake action (input

Motor stop timing Output BRK changes from ON to OFF) until the motor current is cut off
0-200×
47 Mechanical brake action Delay time. 0
10ms
set up 2. This parameter should not be less than the delay time of the mechanical brake

(Tb) to avoid slight displacement or working drop of the motor.

59
 1. Define the time from motor current cut off to mechanical

Delay of braking action (output terminal BRK changes from ON to OFF)

time.
Motor running time
2. This parameter is used to slow down the motor from high speed rotation. 0-200×
48 Mechanical brake action 50
After the speed reaches a low level, the mechanical brake is activated to avoid damage. 10ms
set up
Brakes.
3. The actual action time is when PA48 or the motor decelerates to

The time required for PA49 value is the minimum of the two.

1. Define the time from when the motor current is cut off to when the mechanical

Motor running time Brake action (output terminal BRK changes from ON to OFF) speed
0-3000
49 Mechanical brake action Degree value. 100
r/min
speed 2. The actual action time is PA48 or the motor decelerates to PA49

The time required for the value is the minimum of the two.

Torque control speed 1. In torque control, the motor speed is limited to this parameter.
0-5000
50 Spend Inside. 3000
r/min
limit 2. It can prevent overspeed under light load.

Set to:
53 Servo forced enable 0: The enable signal is controlled by SON input from DI; 1: 0-1 0
Software forced enable.

1. Set the input terminal to reverse.

It is effective when the switch is closed and invalid when the switch is disconnected;

It is invalid when the switch is closed and valid when the switch is open.

2. Expressed as a 4-bit binary number, this bit is 0 to represent

The output terminal is not inverted, 1 represents the output terminal is inverted
Input terminal valid 0000-
55 opposite. 0000
Level control word 1111
The input terminals represented by binary numbers are as follows:

3 2 1 0
DI4 DI3 DI2 DI1
0: high level is valid;

1: Low level is valid.

1. Set the output terminal to be reversed. The reversed terminal is turned on and off.
Output terminal effective 0000-
57 The definition of stop is exactly the opposite of the standard definition. 0000
Level control word 1111
2. Expressed as a 4-bit binary number, the output represented by 0

60
 The terminal is not inverted, and 1 represents the output terminal is inverted.

The input terminals represented by binary numbers are as follows:

3 2 1 0
DO4 DO3 DO2 DO1
0: high level is valid;

1: Low level is valid.

1. De-jitter filter time for input terminals.

IO input terminal
2. The smaller the value, the faster the terminal input response.
58 Debounce time 1-20ms 2
3. The larger the value, the better the terminal input anti-interference performance, but
number

The response becomes slower.

Set to:
Command pulse
59 0: Pulse rising edge is valid; 0-1 0
Effective edge
1: The falling edge of the pulse is valid.

0: Soft reset is invalid;

60 Soft reset 0-1 0
1: Soft reset is valid and the system will restart.

Set to:
61 System alarm clear 0: System alarm clearing is invalid; 0-1 0
1: System alarm clearing is effective.

4: Single-turn absolute encoder; By motor

62 Encoder selection 4-5
5: Multi-turn absolute encoder. Decide

1. Set the load inertia ratio corresponding to the motor's rotation inertia.

63 Load inertia ratio 2. Set the value to: 1-500 100

=((load inertia + moment of inertia)/moment of inertia)×100.

In torque control mode (PA4=2), when TRQ1

64 Internal torque 1 OFF - 300-300 0

When TRQ2 is OFF, internal torque 1 is selected as the torque command.

In torque control mode (PA4=2), when TRQ1 ON TRQ2 OFF,

65 Internal torque 2 - 300-300 0
internal torque 2 is selected as the torque command.

In torque control mode (PA4=2), when TRQ1 is OFF and TRQ2 is

66 Internal torque 3 - 300-300 0
ON, internal torque 3 is selected as the torque command.

In torque control mode (PA4=2), when TRQ1 ON TRQ2 ON,

67 Internal torque 4 - 300-300 0
internal torque 3 is selected as the torque command.

MODBUS
71 MODBUS communication slave address value. 1-254 1
Slave Address

61
 MODBUS 48-1152
72 MODBUS communication baud rate. 96
Baud rate ×100
Set to:
0: 8, N, 2 (MODBUS, RTU);
1: 8, E, 1 (MODBUS, RTU);
2: 8, O, 1 (MODBUS, RTU);
3: 8, N, 1 (MODBUS, RTU).
MODBUS
73 This parameter determines the communication protocol. The number 8 indicates the data to be transmitted. 0-3 0
Communication protocol selection

The number of bits is 8; the English letters N, E, O represent parity:

N: indicates that this bit is not used;

E: indicates an even position;

O: indicates 1 odd bit.

The number 1 or 2 indicates that the communication bit is 1 or 2 bits.

When the communication signal is wrong, select:

74 Communication error handling 0: continue to operate; 0-1 0

1: Alarm and stop operation.

1. When the motor speed is lower than this parameter, the digital output DO

ZSP (zero speed) is ON, otherwise it is OFF. 0-1000

75 Zero speed detection point 10
2. When the ZCLAMP of the digital input DI is ON, the speed r/min
command value is forced to zero when it is lower than this value.

When the difference between the actual speed and the command speed is less than this setting,

Consistent speed 0-1000

76 UCO2N (consistent speed) of digital output DO is ON, otherwise it is 10
Setting Value r/min
OFF.

Position command pulse

77 Electronic gear ratio See parameter PA12 for details. 0-32767 0

The second molecule

Position command pulse

78 Electronic gear ratio See parameter PA12 for details. 0-32767 0

The third molecule

Position command pulse

79 Electronic gear ratio See parameter PA12 for details. 0-32767 0

The fourth molecule

Command direction signal Set to:

80 0-1 0
Effective level 0: high level positive direction;

62
 1: Low level positive direction.

1. Digitally filter the pulse input PULS signal.

The larger the value, the larger the filtering time constant.

2. Maximum pulse input frequency at default value

Command pulse 500kHz(kpps), the larger the value, the lower the maximum pulse input

81 PULS signal frequency will be. 0-15 4

Filtering 3. Used to filter out noise on the signal line to avoid counting errors.

If the movement is inaccurate due to inaccurate counting,

Increase the parameter value appropriately.

4. After the parameters are modified, they must be saved and the power must be turned on again to be effective.

1. Digitally filter the pulse input SIGN signal.

The larger the value, the larger the filtering time constant.

2. Maximum pulse input frequency at default value

Command pulse 500kHz(kpps). The larger the value, the lower the maximum pulse input

82 SIGN Signal filter frequency will be. 0-15 4

Wave 3. Used to filter out noise on the signal line to avoid counting errors.

If the movement is inaccurate due to inaccurate counting,

Increase the parameter value appropriately.

4. After the parameters are modified, they must be saved and the power must be turned on again to be effective.

1. When the machine hits the mechanical limit switch, CWL is triggered.

CWL,CCWL When CCWL is restricted, this parameter is used to select the prohibition method.

83 Direction prohibited Parameter meaning: 0-1 0

Mode 0: limit the torque in this direction to 0;

1: Disable pulse input in this direction.

1. Set the positioning completion pulse range under position control.

2. When the remaining pulse number in the position deviation counter is less than or

When the digital output DO is equal to the setting value of this parameter, 0-32767
84 Positioning completion hysteresis 65
COIN (positioning completed) is ON, otherwise it is OFF. pulse
3. The comparator has a hysteresis function, which is set by

parameter PA85.

1. Set the positioning approach pulse range under position control.

2. When the remaining pulse number in the position deviation counter is less than or 0-32767
85 Positioning proximity range 6500
When the value of this parameter is equal to the NEAR value of the digital output DO, pulse
(Near positioning) ON, otherwise OFF.

63
 3. The comparator has a hysteresis function, which is set by parameter PA86.

4. Used for the host computer to accept when positioning is about to be completed

The NEAR signal prepares for the next step. General parameter values

It must be larger than the positioning completion range.

0-32767
86 Positioning proximity hysteresis See the description of parameter PA85 for details. 650
pulse
1. When the motor speed exceeds this parameter, the digital output DO

ASP (speed reached) is ON, otherwise it is OFF.

2. The comparator has a hysteresis function.

3. With polarity setting function: 0-5000

87 Arrival speed difference 30
PA88 PA28 Comparator r/min
0 >0 Speed is not direction-dependent

>0 Only detect forward speed

1
<0 Only detect reverse speed

88 Reaching speed polarity Refer to the description of parameter PA87. 0-1 0

1. When the motor torque exceeds this parameter, the digital output DO

ATRQ (torque arrival) is ON, otherwise it is OFF.

2. The comparator has a hysteresis function, which is set by parameter PA90.

3. With polarity setting function: - 300%-

89 Torque 100
PA91 PA89 Comparator 300%
0 >0 Torque is irrelevant in direction

>0 Only detects forward torque

1
<0 Only detects reverse torque

1. When the motor torque exceeds this parameter, the digital output DO

ATRQ (torque arrival) is ON, otherwise it is OFF.

2. The comparator has a hysteresis function, which is set by parameter PA90.

3. With polarity setting function:

90 Reach torque differential 0-300% 5
PA91 PA89 Comparator

0 >0 Torque is irrelevant in direction

>0 Only detects forward torque

1
<0 Only detects reverse torque

1. When the motor torque exceeds this parameter, the digital output DO

91 Arrival torque polarity ATRQ (torque arrival) is ON, otherwise it is OFF. 0-1 0
2. The comparator has a hysteresis function, which is set by parameter PA90.

64
 3. With polarity setting function:

PA91 PA89 Comparator

0 >0 Torque is irrelevant in direction

>0 Only detects forward torque

1
<0 Only detects reverse torque

1. When the motor speed is lower than this parameter, the digital output DO
0-1000
92 Zero speed detection hysteresis ZSP (zero speed) is ON, otherwise it is OFF. 5
r/min
2. The comparator has a hysteresis function.

93 Thermal overload capability 0: Default 1: Enhancement 0-1 0

1. Set the delay time for the electromagnetic brake to open.

2. When the system changes from the disabled state to the enabled state, define
Electromagnetic brake 0-200
94 The motor current is turned on until the electromagnetic brake is released (DO output 0
Open delay time ms
Terminal BRK ON) delay time.

The encoder resolution is 2 to the 17th power = 131072 by default. The setting value
Motor encoder
95 is 17. Please modify it with caution, otherwise the wrong setting will lead to 10-32 17
Resolution
To the flying car.

This parameter indicates the number of motor pole pairs. Please modify it carefully, otherwise

96 Motor pole pairs 1-360 5

Incorrect settings may result in runaway.

Motor zero position The offset angle between the encoder zero position and the motor zero position is determined by the motor.

97 0-3600 216
Offset Angle Certainly.

Maximum braking time

99 Maximum duty cycle setting when braking. 5-90 50
Empty ratio

Set to:
Position loop
100 0: digital moving average filter; 0-1 0
Filter selection
1: Exponential smoothing filter.

Feedforward can reduce the position tracking error during position control.
Position loop
101 When set to 100, the position will follow the command pulse of any frequency. 0-100 0
Feedforward Gain
The tracking error is always 0.

Position loop feedforward filter

102 Position loop feedforward filtering increases the stability of the feedforward control quantity. 20-500 100
Wave time constant

103 Z signal width Adjust the Z signal pulse width 1-200 50

Multi-lap information error 0: Start multi-turn error alarm
108 0-1 0
Alarm detection 1: Shield multi-turn error alarm

65
7.2 P3 Group Multi-Function Terminal Series Parameters

7.2.1 P3 series parameter list

P series drivers all have 4 input terminals and 4 output terminals. The terminal input and output definition values can be changed through the P3 group

series parameters to complete various input and output definitions. (The input terminal defaults to low level valid)

parameter name scope Factory value

P3-0 Digital input DI1 function 0-99 1

P3-1 Digital input DI2 function 0-99 2

P3-2 Digital input DI3 function 0-99 3

P3-3 Digital input DI4 function 0-99 4

P3-4 Digital input DI5 function 0-99 0

P3-5 Digital input DI6 function 0-99 0

P3-13 Set the lower 16 bits of the current position value coordinates - 32768 - 32767 0

P3-14 Set the high 16 bits of the current position value coordinates - 32768 - 32767 0

P3-15 Digital input DI forced valid 1 00000000-11111111 00000000

P3-16 Digital input DI forced valid 2 00000000-11111111 00000000

P3-17 Digital input DI forced valid 3 00000000-11111111 00000000

P3-18 Digital input DI forced valid 4 00000000-11111111 00000000

P3-19 Digital input DI forced valid 5 00000000-11111111 00000000

P3-20 Digital output DO1 function 0-99 18

66
P3-21 Digital output DO2 function 0-99 3

P3-22 Digital output DO3 function 0-99 5

P3-23 Digital output DO4 function 0-99 8

P3-30 Virtual input terminal control 0-2 0

P3-31 Virtual input terminal status value 00000000-11111111 00000000

0: Motor resolution display increase

quantity;

1: Motor resolution display absolute

Motor position, command position, position difference, single for location;

P3-32 0
Circle absolute position display mode 2: Host computer (PA-11)

Resolution display increments;

3: Host computer (PA-11)

Resolution shows absolute position;

P3-33 Virtual output terminal status value 0000-1111 0000

P3-34 Reset zero encoder multi-turn data 0-1 0

P3-35 Clear encoder fault alarm 0-1 0

P3-36 The current position is the single-turn position zero point

0-1 0
(Effective when P3-34 is set to 1)

P3-37 0: Single-turn + multi-turn position overall 64-bit data

0-1 0
1: Divided into single-turn position and multi-turn position

P3-38 Virtual IO input DI1 function 0-99 0

P3-39 Virtual IO input DI2 function 0-99 0

P3-40 Virtual IO input DI3 function 0-99 0

P3-41 Virtual IO input DI4 function 0-99 0

P3-42 Virtual IO input DI5 function 0-99 0

P3-43 Virtual IO input DI6 function 0-99 0

P3-44 Virtual IO input DI7 function 0-99 0

67
 P3-45 Virtual IO input DI8 function 0-99 0

Notice:

1. When P3-30=0, the IO input is determined by DI1 ~ DI4. The number of input IO is 4, corresponding to parameters P3-0 ~ P3-

3;

2. When P3-30=1, the IO input is determined by the corresponding bit of virtual IOP3-31. The number of input IO is 8, and the corresponding parameter is

P3-38~P3-45;

3. When P3-30=2, IO input is determined by DI1~DI4 and P3-31, and the number of input IO is 12, corresponding to parameter

P3-0~P3-3 and P3-38~P3-45.

7.2.2 DI function list

Input terminal (the 4 terminals corresponding to the parameters of group P3 are P3-0, P3-1, P3-2, and P3-3 respectively) definition value.

Define Values symbol Function Functional analysis

0 NULL No function The input status has no effect on the system.

Servo enable input terminal.

1 SON Servo Enable OFF: The servo drive cannot be used and the motor does not flow current;

ON: The servo drive is enabled and current flows through the motor.

Alarm clear input terminal:

If there is an alarm, and the alarm is allowed to be cleared, the rising edge of the input (the moment
2 ARST Alarm clear
when OFF changes to ON) clears the alarm.

Note: Only some alarms can be cleared.

1. CCW drive prohibition input terminal:

OFF: Forward (CCW) rotation is prohibited;

ON: Forward (CCW) rotation is allowed.

2. Used for mechanical limit travel protection, the function is controlled by parameter PA-20.

Note that the default value of PA-20 ignores this function. If you need to enable this function,
3 CCWL Forward drive disabled
you need to modify PA-20:

(1) When PA-20 is 0, the input prohibition function is valid, and whether CCW is

prohibited is controlled by PA-83;

(2) When PA-20 is 1, the input prohibition function is invalid, and whether CCW is

prohibited is not controlled by PA-83.

68
 3. When the prohibition function is valid (PA-20 is 0):

(1) When PA-83 is 0, the forward torque limit is 0, and the forward pulse input is not

limited;

(2) When PA-83 is 1, the input of positive pulse is prohibited.

1. CW drive prohibition input terminal:

OFF: Forward (CW) rotation is prohibited;

ON: Forward (CW) rotation is allowed.

2. Used for mechanical limit travel protection, the function is controlled by parameter PA-20.

Note that the default value of PA-20 is to ignore this function. If you need to enable this

function, you need to modify PA-20:

(1) When PA-20 is 0, the input prohibition function is valid, and whether CW is
4 CWL Reverse drive prohibition
prohibited is controlled by PA-83;

(2) When PA-20 is 1, the input prohibition function is invalid, and whether CW is

prohibited is not controlled by PA-83.

3. When the prohibition function is valid (PA-20 is 0):

(1) When PA-83 is 0, the reverse torque limit is 0, and the reverse pulse input is not

limited;

(2) When PA-83 is 1, the input of reverse pulse is prohibited.

OFF: CCW direction torque is not limited by PA-36 parameter; ON: CCW

direction torque is limited by PA-36 parameter. Note: Regardless of whether

5 TCCW Forward torque limit
TCCW is valid or invalid, CCW direction torque is still limited by parameter

PA-34.

OFF: CW direction torque is not limited by PA-37 parameter; ON: CW

direction torque is limited by PA-37 parameter. Note: Regardless of whether

6 TCW Reverse torque limit
TCW is valid or invalid, CW direction torque is still limited by parameter

PA-35.

When the following conditions are met, the zero speed clamp function is enabled (the speed is

forced to zero): Condition 1: In speed control mode (PA4=1), when external speed is selected

(PA22=0);
7 ZCLAMP Zero speed clamp
Condition 2: ZCLAMP ON;

Condition 3: The speed command is lower than parameter PA-75.

When any of the above conditions is not met, normal speed control is performed.

Under speed or torque control, the speed or torque commands are:

8 CZERO Zero instruction

OFF: normal command;

69
 ON: Zero command.

Under speed or torque control, the speed or torque commands are:

9 CINV Instruction Negation OFF: normal command;

ON: Invert the command.

10 SP1 Speed selection 1 In speed control mode (PA4=1), when internal speed is selected

(PA22=1), SP1 and SP2 are combined to select different internal

speeds: SP2=OFF SP1=OFF: Internal speed 1 (parameter PA-24)

11 SP2 Speed Selection 2 SP2=OFF SP1=ON: Internal speed 2 (parameter PA-25) SP2=ON

SP1=OFF: Internal speed 3 (parameter PA-26)

SP2=ON SP1=ON: Internal speed 4 (parameter PA-27)

13 TRQ1 Torque selection 1 In torque control mode (PA4=2), when internal torque is selected

(PA32=1), TRQ1, TRQ2 combination selects different internal

torques: TRQ2=OFF TRQ1=OFF: Internal torque 1 (parameter

14 TRQ2 Torque selection 2 PA-64) TRQ2=OFF TRQ1=ON: Internal torque 2 (parameter

PA-65) TRQ2=ONTRQ1=OFF: Internal torque 3 (parameter PA-66)

TRQ2=ON TRQ1=ON: Internal torque 4 (parameter PA-67)

When PA-4 is set to 3, 4, or 5, it is in mixed control mode. The control mode

can be switched through this input terminal:

(1) When PA-4 is 3, CMODE OFF means position mode; CMODE

Composite mode control ON means speed mode;

16 CMODE
Mode Settings (2) When PA-4 is 4, CMODE OFF, it is position mode; CMODE

ON, it is torque mode;

(3) When PA-4 is 5, CMODE OFF means speed mode; CMODE ON

means torque mode.

18 GEAR1 Electronic gear selection 1 When PA-11 is 0, GEAR1 and GEAR2 are combined to select different

numerators of electronic gear ratios:

GEAR2=OFF GEAR1=OFF: Numerator 1 (parameter PA-12)

19 GEAR2 Electronic gear selection 2 GEAR2=OFF GEAR1=ON ： Molecule 2 (parameter PA-77)

GEAR2=ON GEAR1=OFF: Numerator 3 (parameter PA-78)

GEAR2=ON GEAR1=ON: Numerator 4 (parameter PA-79)

20 CLR Position deviation clearing In position control mode, position deviation counter reset input terminal.

In position control mode, position command pulse prohibition terminal:

twenty one INH Pulse input disabled OFF: Command pulse input is valid;

ON: Command pulse input is prohibited.

70
 In speed mode, when PA22=5, this signal is connected, the motor jogs in the positive

twenty two JOGP Positive inching direction, and the speed is set by PA21.

Note: If this signal is connected at the same time as the reverse jog, the jog function will be invalid.

In speed mode, when PA22=5; this signal is turned on, the motor jogs in the reverse

twenty three JOGN Reverse inching direction, and the speed is set by PA21.

Note: If this signal is connected at the same time as the forward jog signal, the jog function will be invalid.

Internal position control In internal position register mode, when this signal is on, the motor will stop
27 HOLD
Command to stop Operation (can only be used when internal position mode PA-14=3).

In the internal position register mode, after selecting the internal position register control

Internal location command (POS0-2), this signal is triggered, and the motor runs according to the internal
28 CTRG
Command trigger position register command. When the digital output zero speed signal (ZSPD=1) is received, the

next trigger internal position command is accepted.

The relationship corresponding to the internal position selection is:

Location correspond

Internal location POS2 POS1 POS0 CTRG

29 POS0 Order parameter

Command selection 0

P4-2
P1 0 0 0 ↑
P4-3
P4-5
P2 0 0 1 ↑
P4-6
P4-8
P3 0 1 0 ↑
Internal location
P4-9
30 POS1
Command Selection 1 P4-11
P4 0 1 1 ↑
P4-12

P5 1 0 0 ↑ P4-14

71
 P4-15

P4-17
P6 1 0 1 ↑
P4-18
Internal location
31 POS2 P4-20
Command Selection 2 P7 1 1 0 ↑
P4-21

P4-23
P8 1 1 1 ↑
P4-24

In the internal position register mode, it is necessary to search for the origin. When this signal is turned
33 SHOM Start homing
on, the origin search function is started (please refer to the setting of P4-34).

In the internal position register mode, when searching for the origin, the servo regards the

34 ORGP Return to the origin position of this point as the origin after this signal is turned on (please refer to the setting of

parameter P4-32).

7.2.3 DO function list

Output terminal (the four terminals correspond to the P3 group parameters P3-20, P3-21, P3-22, and P3-23 respectively) definition values:

Define Values symbol Function Functional analysis

1 ON Always valid Force output ON.

OFF: The servo main power is off or there is an alarm;

2 RDY Servo ready
ON: The servo main power supply is normal and there is no alarm.

OFF: Alarm is on;

3 ALM Call the police

ON: No alarm.
When speed and torque control is used,

4 ZSP Zero speed OFF: The motor speed is higher than the parameter PA-75 (regardless of direction);

ON: The motor speed is lower than the parameter PA-75 (regardless of direction).

When position control is used,

5 COIN Positioning completed OFF: Position deviation is greater than parameter PA-16;

ON: The position deviation is less than parameter PA-16.

When speed and torque control is used,

OFF: Motor speed is lower than parameter PA-28;

6 ASP Speed arrival
ON: The motor speed is higher than parameter PA-28.

It has polarity setting function, refer to the description of parameter PA-28.

7 ATRQ Torque reached OFF: Motor torque is lower than parameter PA-89;

72
 ON: Motor torque is higher than parameter PA-89.

It has polarity setting function, refer to the description of parameter PA-89.

OFF: electromagnetic brake is applied;

8 BRK Electromagnetic brake
ON: Electromagnetic brake is released.

OFF: The servo motor is not powered on;

9 RUN Servo running
ON: The servo motor is powered on and running.

When position control is used,

10 NEAR Positioning proximity OFF: Position deviation is greater than parameter PA-85;

ON: Position deviation is less than parameter PA-85.

OFF: The motor torque does not reach the limit value;

ON: The motor torque reaches the limit value.

11 TRQL Torque limiting
The torque limitation method is controlled by parameters PA-34, PA-35,

PA-36, and PA-37.

During torque control,

OFF: The motor speed has not reached the limit value;
12 SPL Speed limit
ON: The motor speed reaches the limit value.

The speed limiting method is set by parameter PA-50.

OFF: The absolute value of the difference between the actual speed and the command speed is greater than

PA76;
13 VCOIN Consistent speed
ON: The absolute value of the difference between the actual speed and the command speed is less than

PA76.
OFF: When origin return is not completed, no signal is output;
15 HOME Return to origin completed
ON: Signal output when origin return is completed.

OFF: When the internal position command is not completed or the internal position

Internal Position Commands

command is not stopped, no signal is output;
16 CMDOK
Finish ON: When the internal position command is completed or the internal position command

stops, the signal is output after the time set by P4-1 has passed.

OFF: When the Z signal is invalid, no signal is output;

18 ZOUT Z signal output
ON : When the Z signal is valid, the signal is output.

7.2.4 DI forced to be effective

There are five parameters (P3-15, P3-16, P3-17, P3-18, P3-19) in the P3 group parameters that can be used to set the digital input DI to be

forced effective.

73
(1) The corresponding function of P3-15 is represented by 8 bits of binary:

Digital Bit7 Bit6 Bit5 Bit4 Bit3 Bit2 Bit1 Bit0

Function CZERO ZCLAMP TCW TCCW CWL CCWL ARST SON

(2) The corresponding function of P3-16 is represented by 8 bits of binary:

Digital Bit7 Bit6 Bit5 Bit4 Bit3 Bit2 Bit1 Bit0

Function CMODE NULL TRQ2 TRQ1 NULL SP2 SP1 CINV

(3) The corresponding function of P3-17 is represented by 8 bits of binary:

Digital Bit7 Bit6 Bit5 Bit4 Bit3 Bit2 Bit1 Bit0

Function NULL JOGN JOGP INH CLR GEAR2 GEAR1 NULL

(4) The corresponding function of P3-18 is represented by 8 bits of binary:

Digital Bit7 Bit6 Bit5 Bit4 Bit3 Bit2 Bit1 Bit0

Function NULL POS2 POS1 POS0 CTRG HOLD NULL NULL

(5) The corresponding function of P3-19 is represented by 8 bits of binary:

Digital Bit7 Bit6 Bit5 Bit4 Bit3 Bit2 Bit1 Bit0

Function NULL NULL NULL NULL NULL NULL ORGP SHOM

Parameter meaning:

Any one of the 5 parameters Corresponding functions Functional Results

Not planned OFF (invalid)

0
Planned Determined by the signal

1 Unplanned or planned ON (forced to be effective)

- Planned means that the parameter has been selected by the input terminals in P3-0~P3-3, and the opposite is true for unplanned.

74
 7.3 P4 Group Internal Position Command Parameters

Function parameter

Serial number name Factory value

scope

Internal position refers to 0: absolute position command;

P4-0 0-1 0
Command control mode 1: Relative position command.

1. When the internal position command is completed or the internal position command stops

When the internal position command is completed (CMDOK), the DO

signal is output after the delay time set by P4-1.

2. When the P4-1 delay time is set to 0, the trigger signal internal
Internal position
position command will be accepted again when the DO signal zero speed 0-200
P4-1 Order to complete the number 0
detection (ZSPD) is set to 1. ms
Output Delay
3. When the P4-1 delay time is not set to 0, it is set to 1 when the DO signal

internal position command is completed (CMDOK), and then the internal

position command triggered by the DI signal command trigger (CTRG) is

accepted.

Internal position refers to

- 30000-
P4-2 Let 1 be the position Set the number of position circles for the first segment's internal position. 0
30000
Lap number setting

1. Set the number of position pulses for the first internal position.

Internal location 2. Internal position command 1 = the first internal position circle setting value
+ /-
Instruction 1 bit + The setting value of the internal position pulse number of the first stage.
P4-3 max.cnt 0
Pulse in the loop (Max is the set number of pulses per motor rotation, please refer to the
/rev
Number setting settings of PA-11 PA-12 PA-13).

75
 Internal position refers to

Command control 1 0-5000

P4-4 Set the moving speed of internal position command control 1. 1000
Movement Speed r/min
set up

Internal position refers to

- 30000-
P4-5 Let 2 be the position Set the number of position circles for the second segment's internal position. 0
30000
Lap number setting

Internal location
1. Set the number of position pulses for the second internal position. + /-
Instruction 2 bits
P4-6 2. Internal position command 2 = the setting value of the second internal position circle max.cnt 0
Pulse in the loop
+ The setting value of the second internal position pulse number. /rev
Number setting

Internal position refers to

Command control 2 0-5000

P4-7 Set the moving speed of internal position command control 2. 1000
Movement Speed r/min
set up

Internal position refers to

- 30000-
P4-8 Let 3 be the position Set the number of position circles for the inner position of the third segment. 0
30000
Lap number setting

Internal location
1. Set the number of position pulses for the third internal position. + /-
Instruction 3 bits
P4-9 2. Internal position command 3 = the third internal position circle setting value max.cnt 0
Pulse in the loop
+ The third segment internal position pulse number setting value. /rev
Number setting

Internal position refers to

Command control 3 0-5000

P4-10 Set the moving speed of internal position command control 3. 1000
Movement Speed r/min
set up

76
 Internal position refers to

- 30000-
P4-11 Let 4 be the position Set the number of position circles for the 4th segment inner position. 0
30000
Lap number setting

Internal location
1. Set the number of position pulses for the 4th internal position. + /-
Instruction 4 bits
P4-12 2. Internal position command 4 = the setting value of the 4th internal position circle max.cnt 0
Pulse in the loop
+ The setting value of the number of internal position pulses in the 4th segment. /rev
Number setting

Internal position refers to

Command control 4 0-5000

P4-13 Set the moving speed of internal position command control 4. 1000
Movement Speed r/min
set up

Internal position refers to

- 30000-
P4-14 Let 5 be the position Set the number of position circles for the inner position of the 5th segment. 0
30000
Lap number setting

Internal location
1. Set the number of position pulses for the 5th internal position. + /-
Instruction 5 bits
P4-15 2. Internal position command 5 = the setting value of the 5th internal position circle max.cnt 0
Pulse in the loop
+ The setting value of the number of internal position pulses in the 5th segment. /rev
Number setting

Internal position refers to

Command control 5 0-5000

P4-16 Set the moving speed of internal position command control 5. 1000
Movement Speed r/min
set up

Internal position refers to

- 30000-
P4-17 Let 6 be the position Set the number of position circles for the 6th internal position. 0
30000
Lap number setting

77
 Internal location
1. Set the number of position pulses for the 6th internal position. + /-
Instruction 6 bits
P4-18 2. Internal position command 6 = the setting value of the 6th internal position circle max.cnt 0
Pulse in the loop
+ The setting value of the number of internal position pulses in the 6th segment. /rev
Number setting

Internal position refers to

Command control 6 0-5000

P4-19 Set the moving speed of internal position command control 6. 1000
Movement Speed r/min
set up

Internal position refers to

- 30000-
P4-20 Let 7 be the position Set the number of position circles for the inner position of the 7th segment. 0
30000
Lap number setting

Internal location
1. Set the number of position pulses for the 7th segment internal position. + /-
Instruction 7 bits
P4-21 2. Internal position command 7 = the 7th internal position circle setting value max.cnt 0
Pulse in the loop
+ The setting value of the number of internal position pulses in the 7th segment. /rev
Number setting

Internal position refers to

Command control 7 0-5000

P4-22 Set the moving speed of internal position command control 7. 1000
Movement Speed r/min
set up

Internal position refers to

- 30000-
P4-23 Let 8 be the position Set the number of position circles for the internal position of the 8th segment. 0
30000
Lap number setting

Internal position refers to

1. Set the number of position pulses for the 8th internal position. + /-
Let 8 be the position
P4-24 2. Internal position command 8 = the 8th internal position circle setting value max.cnt 0
Number of pulses in a circle

+ The setting value of the internal position pulse number of the 8th segment. /rev
set up

78
 Internal position refers to

Command control 8 0-5000

P4-25 Set the moving speed of internal position command control 8. 1000
Movement Speed r/min
set up

0: Forward direction origin return, CCWL is used as the origin return; 1:

Reverse direction origin return, CWL is used as the origin return; 2:

Forward direction origin return, ORGP is used as the origin return

point;
Origin detector
3: Reverse direction origin return, ORGP as the return origin
P4-32 Types and Find 0-5 0
point;
Direction Setting
4: Directly find the single-turn absolute position zero point for returning to the original position

point;

5: Reverse and directly find the single-circle absolute position zero point to return to the original

point.

0: After finding the reference origin, return to find the single-turn absolute position zero point

As the mechanical origin;

Arrived at the origin
1: After finding the reference origin, do not return, and search forward for the single-circle absolute

P4-33 Short distance movement 0-2 0

Position zero point is used as the mechanical origin;
Mode setting
2: After finding the reference origin (ORGP rising edge or single-turn absolute

position zero point) as the mechanical origin, decelerate and stop.

0: turn off the origin return function;

Origin trigger 1: When the power is turned on, the origin return function is automatically executed;
P4-34 0-2 0
Startup Mode 2: The origin search function (SHOM) input contact triggers the origin

Point regression function.

0: After the origin detection is completed, the motor decelerates and pulls back to the origin;
Origin stop
P4-35 1: After the origin detection is completed, the motor decelerates and stops in the forward direction 0-1 0
Mode Settings
end.

The first high speed

Origin return speed 1-2000

P4-36 Set the first high-speed origin return speed. 1000
Degree setting r/min
(HSPD1)

79
 Second stage low speed

Origin return speed Set the second low-speed origin return speed. 1-500
P4-37 50
Degree setting r/min
(HSPD2)

Origin regression bias

- 30000-
P4-38 Number of circles Set the origin return offset number of circles. 0
30000
(HOF1)

1. Set the number of origin return offset pulses.

2. When the parameter functions HOF1 and HOF2 are set to zero, the origin
Origin regression bias + /-
will be defined as the single-turn absolute position zero point or
P4-39 Shift pulse number max.cnt 0
ORGP. If the setting value is not zero, the origin will be based on the above single
(HOF2) /rev
The absolute position zero point or ORGP plus a pulse offset

HOF1 x 10000+HOF2 is used as the new origin.

80
 Chapter 8 MODBUS Communication Description

8.1 Hardware Connection

8.1.1 Communication port wiring diagram

CN3
12 4
1 485+
CN3 2 485-
4 GND

1 485+
485-
12 4

2
CN4 4 GND
CN4

Inside the CN3 and CN4 interfaces

Wiring is parallel

8.1.2 Communication port pin definition

Pin number CN3 name CN4 name

1 RS485+ RS485 communication RS485+ RS485 communication

2 RS485 - interface RS485 - interface

3 NC Empty End NC Empty End

4 GND 485 Signal Ground GND 485 Signal Ground

5 NC Empty End NC Empty End

6 NC Empty End NC Empty End

7 NC Empty End NC Empty End

8 NC Empty End NC Empty End

8.2 Communication parameter settings

parameter name scope Default value

PA-71 (Note 1) Drive ID 1〜254 1

PA-72 (Note 2) MODBUS communication baud rate 48〜1152×100 96
PA-73 (Note 3) MODBUS communication protocol selection 0〜2 0

* Note 1 ：When using RS-485 communication, the station number of the servo drive needs to be set to a different value by this parameter. The setting range of the

station number address is 1~254, and the default value is 1. This station number represents the absolute address of this drive in the communication network.

81
Duplicate station number settings will result in abnormal communication.

* Note 2 : Use this parameter to select the baud rate of RS-485 communication. The selected communication baud rate must be consistent with the communication

baud rate of the upper controller.

Parameter meaning:

Select 96×100, the baud rate is 9600

In addition, the RS-485 communication protocol must be consistent with the communication protocol of the upper controller. The specific setting values are as follows:

8, N, 2 (MODBUS, RTU)
The number 8 means that the transmitted data is 8 bits; the letter N means that the parity bit is not used; the number 2 means that the end bit is 2.

* Note 3 : Use this parameter to select the RS-485 communication protocol. The selected communication protocol must be consistent with the communication protocol of the upper

controller. The specific setting values are as follows:

0: 8, N, 2 (MODBUS, RTU)
1:8,E,1(MODBUS,RTU)
2: 8, O, 1 (MODBUS, RTU)
3: 8, N, 1 (MODBUS, RTU)
The number 8 represents 8 bits of data to be transmitted; the letters N, E, and O represent parity bits, N represents not using this bit, E represents 1

even bit, and O represents 1 odd bit; the number 1 represents the end bit is 1, and the number 2 represents the end bit is 2.

8.3 Communication Protocol

When using RS-485 serial communication, each servo drive must be pre-set with the servo drive station number in the parameters. The

computer or host controller communicates with the corresponding servo drive according to the station number. The communication baud rate needs

to refer to the communication parameters of the host controller to set the drive parameters. Here MODBUS uses the RTU (Remote Terminal Unit)

mode.

Communication data structure:

STX The minimum time interval with the previous frame is 3.5 character times

ADR Communication address: 1 byte

CMD Command code: 1 byte

DATA(0)
..... Data content: Nword=2Nbyte, N＜=100
DATA(n-1)
CRC Check code: 2 bytes

End1 The minimum time interval with the next frame is 3.5 character times

82
 The items in the communication data format box are described as follows:

1. STX (communication start)

The minimum time interval with the previous frame is 3.5 character times.

2. ADR (Correspondence Address)

The legal communication address range is between 1 and 254, as shown below: Communicate with the servo drive with

station number 16 (hexadecimal 10H): ADR = 10H

3. CMD (command name) and DATA (data character)

The format of the data characters depends on the command code. Commonly used command codes are described as follows:

(1) Command code 03H, read N words (16 bits).

For example: read two parameters continuously from parameter No. 5 of the servo drive with station No. 01H.

(2) Command code 06H, write 1 parameter.

For example: write 100 (0064H) to parameter No. 5 of the servo drive with station number 01H.

83
 4. CRC frame check calculation:

Instructions for the verification calculation steps:

Step 1: Initialize a 16-bit register with the content of FFFFH, called the CRC register. Step 2: Perform an XOR

operation on the first character of the command information and the low byte of the 16-bits CRC register,

and store the result back to the CRC register.

Step 3: Check the least significant bit (LSB) of the CRC register. If this bit is 0, shift it right by one bit. If this bit is 1, shift

the CRC register value right by one bit and then perform an XOR operation with A001H.

Step 4: Return to step 3 until step 3 has been executed 8 times, then go to step 5. Step 5: Repeat steps 2 to 4 for

the next byte of the command information until all bytes have completed the above processing. At this time, the

content of the CRC register is the CRC frame check.

Note: After calculating the CRC frame check, in the command information, you must first fill in the low bit of CRC, and then fill in the

high bit of CRC.

For example: read 2 parameters in succession from parameter 5 of the servo drive with station number 01H. From ADR to

the last byte of data

The final content of the calculated CRC register is 0AD4H, and the command information is as follows. It should be noted

that: Byte D4H

Should be transmitted before byte 0AH.

ADR 01H
CMD 03H
Starting data position 00H (high byte)

05H (low byte)

Number of data 00H (high byte)

02H (low byte)

CRC Low D4H (high byte)

CRC High 0AH (low byte)

5. End1 Communication ends:

The minimum time interval with the next frame is 3.5 character times.

84
8.4 Writing and reading parameters

8.4.1 Writing PA group parameters

For all PA parameters of the servo drive, please refer to the corresponding chapters of the manual. Each parameter is represented by 16-bit data. The

communication address of each parameter is determined by the parameter number, and the address is 16 bits. For example, the address of the parameter: parameter

1 (PA-0) is represented by 0X0000, parameter 2 (PA-1) is represented by 0X0001, and the other parameters are similar.

8.4.2 Writing P3 group parameters

For all P3 parameters of the servo drive, please refer to the corresponding chapters in the manual. Each parameter is represented by 16-bit data. The

communication address of each parameter is determined by the parameter number, and the address is 16 bits. For example, the address of the parameter:

parameter 1 (P3-0) is represented by 0x0100H, parameter 16

(P3-15) is represented as 0x010FH, and the other parameters are similar.

8.4.3 Writing P4 group parameters

For all P4 parameters of the servo drive, please refer to the corresponding chapters in the manual. Each parameter is represented by 16-bit data. The

communication address of each parameter is determined by the parameter number, and the address is 16 bits. For example, the address of the parameter:

parameter 1 (P4-0) is represented by 0x0200H, parameter 16

(P4-15) is represented as 0x020FH, and the other parameters are similar.

8.4.4 Parameter format description for writing and reading parameters

Parameter format description that can be written and read through communication (please refer to Section 1.5 for reading status): The

parameters read and written must be decimal integers. Parameters marked with decimal points on the driver display panel and in the manual are

magnified by the corresponding multiples during the reading and writing operations to become decimal integers. Parameters with binary display

format are actually used in the reading and writing operations with the equivalent decimal integers. The details are as follows. For details on the

change of each parameter in the PA group, please refer to the corresponding section of the manual parameter description:

PA No. Display value Communication operation value Transformation method

1 315 315 constant

63 1.00 100 Magnify 100 times

57 0100 (binary) 4 (decimal) Convert binary to decimal

All parameters described in the parameter section can be read and written through communication. For details, please refer to the corresponding parameter

description in the manual.

85
8.4.6 Parameter temporary storage and temporary storage address

According to the needs of customers, during the operation of the drive, the parameter values need to be continuously updated. In order to ensure the life of the EEPROM and

speed up the program execution efficiency, a parameter temporary storage function is added. When the corresponding temporary storage address is used to modify the parameter, the

parameter can be modified, but it is not saved. After the drive is powered on again, the parameter will be restored to the initial value. As follows:

The communication address for saving the positive torque limit value is 0x0022. When the parameter is modified to 200 using this address, the parameter is

saved in EEPROM. After the drive is powered off, the parameter is 200 and is not lost. The communication address for temporarily storing the positive torque limit

value is 0x00A2. When the torque limit value is modified to 200 using this address, the parameter value set in will take effect immediately, but after powering on

again, the initial value will be restored to 300.

The communication address of the PA group parameter storage parameters is detailed in the parameter description section of the driver manual; and the communication

address of the PA group parameter temporary storage is the address offset 0x0080 of the storage parameters, as follows:

(1) The communication address of the storage parameter of the positive torque limit value is 0x0022. After offsetting 0x0080, the communication address of the temporary storage

parameter of the positive torque limit value is 0x00A2.

(2) The communication address of the storage parameter of the reverse torque limit value is 0x0023. After offsetting 0x0080, the communication address of the

temporary storage parameter of the reverse torque limit value is 0x00A3.

Note: The temporary address can only be written, not read. If you need to read, please use the address before the offset.

86
8.4.5 Status Quantity Monitoring

The state quantity inside the servo drive can be read out through the RS-485 communication port, but cannot be written. The state quantity is stored in 16-bit

data, and the value is accurate to the decimal place. When it is read out through the communication port, the value is magnified 10 times or 100 times. This situation

is the same as the parameter reading part. The assembly order of the relevant state quantity is as follows:

Communication address (hexadecimal) describe

1000H Motor speed

1001H Current position (pulse) lower 16 bits

1002H Current position (pulse) high 16 bits

1003H Position command (pulse) lower 16 bits

1004H Position command (pulse) high 16 bits

1005H Position deviation (pulse) lower 16 bits

1006H Position deviation (pulse) high 16 bits

1007H Motor torque

1008H Motor current

1009H Current control mode

100AH Current Temperature

100BH Speed command

100CH Torque command

100DH The absolute position of the rotor in one revolution is 16 bits lower

100EH The absolute position of the rotor in one revolution is 16 bits higher

100FH Input terminal status

1010H Output terminal status

1011H Encoder input signal

1012H Main circuit bus voltage value

1013H Alarm code

1014H Logic chip version number

1015H Relay energized state

1016H Running status

1017H External voltage status

1018H 15bit~0bit of absolute position value

1019H 31bit~16bit of absolute position value

101AH 47bit~32bit of absolute position value

87
 101BH 63bit~48bit of absolute position value

Chapter 9 Fault Codes

Fault
Fault name Fault content
symbol

-- normal

1 Speeding The servo motor speed exceeds the set value

2 Main circuit overvoltage The main circuit power supply voltage is too high

3 Main circuit undervoltage The main circuit power supply voltage is too low

4 Location out of tolerance The value of the position deviation counter exceeds the set value.

5 Drive overheating Drive temperature is too high

6 Speed amplifier saturation fault Speed regulation saturation for a long time

7 Driver disabled exception CCW/CW drive inhibit input is OFF

8 Position deviation counter overflow The absolute value of the position deviation count exceeds 230

11 IPM module failure IPM intelligent module failure

13 Driver overload Servo drive and motor overload (instantaneous overheating)

14 Brake failure Brake circuit fault

18 Relay switch failure The actual state of the relay is inconsistent with the control state

19 Brake delay error There is pulse input when the brake is not opened

20 EEPROM Error EEPROM Error

twenty one FPGA module failure FPGA module malfunction

twenty three Current acquisition circuit failure Current acquisition circuit failure

29 User torque overload alarm The motor load exceeds the value and duration set by the user

Read and write encoder EEPROM

38 The encoder line is not connected properly or the encoder interface circuit is faulty.

Communication failure

39 Data CRC check error The motor encoder has not yet written data, all are 0

40 Unsupported models The driver does not support this motor model

41 Need to switch motor model The current motor and the selected drive model are inconsistent.

42 AC input voltage is too low AC input voltage is too low

47 The main circuit voltage is too high when powering on The main circuit voltage is too high when powering on

50 Encoder communication fault The driver and encoder have not established a communication connection

51 Encoder communication abnormality After the encoder establishes communication, an interruption occurs and the connection is disconnected

88
52 Encoder battery low voltage alarm Encoder battery voltage low alarm, information is not lost but needs to be replaced as soon as possible

Encoder battery voltage error alarm, storage information has an error,

53 Encoder battery voltage error alarm
Encoder reset required

54 Encoder error alarm The encoder is not a battery alarm, but the encoder needs to be reset

The CRC check of the data received by the encoder communication has errors for 3 consecutive times.
55 CRC check fails 3 times in a row

56 MODBUS frame too long error The received MODBUS frame data is too long

57 MODBUS communication format is abnormal Communication parameters are set improperly or the address or value is incorrect

58 Single-turn position value error The single-turn position offset value stored in the drive exceeds the encoder resolution

59 Encoder reports CF error The encoder continuously reports CF domain errors and needs to be reset.

89
 Chapter 10 Alarm Processing Methods

Call the police Call the police run

reason Treatment
Code name state

Switch on control 1. Control circuit board failure. 1. Replace the servo drive.

Appears when power is on 2. Encoder failure. 2. Replace the servo motor.

The input command pulse frequency is too high. Set the input command pulse correctly.

The acceleration/deceleration time constant is too small.

Increase the acceleration/deceleration time constant.

The speed overshoot is too large.

The input electronic gear ratio is too large. Set it up correctly.

Motor operation
Encoder failure. Replace the servo motor.
Appear during the process

Defective encoder cable. Replace the encoder cable.

1 Speeding 1. Reset the relevant gain value.

The servo system is unstable, causing over
2. If the gain cannot be set to an appropriate
Tune.
value, the load inertia ratio is reduced.

1. Reduce the load.

The load is too large. 2. Replace with a higher power drive and

Motor just started Motor.

Appears when moving 1. Encoder zero point error. 1. Replace the servo motor.

2. The UVW leads of the motor are connected incorrectly. 2. Ask the manufacturer to readjust the encoder zero point.

3. The encoder cable leads are connected incorrectly. 3. Connect the wires correctly.

90
Call the police Call the police run
reason Treatment
Code name state

Switch on control
Circuit board failure. Replace the servo drive.
Appears when power is on

Connect the main power 1. The power supply voltage is too high.

Check the power supply.

Occurs when source 2. The power supply voltage waveform is abnormal.

The brake resistor wiring is disconnected. Rewire.

1. The brake transistor is damaged.
Main circuit Replace the servo drive.
2 2. The internal braking resistor is damaged.
Overpressure

1. Reduce the start-stop frequency.

The motor has been running

2. Increase the acceleration and deceleration time constants.

Appear in the process

3. Reduce the torque limit value.

Insufficient brake circuit capacity.
4. Reduce load inertia.

5. Replace with a higher power drive and

Motor.

1. Circuit board failure.

2. The power fuse is damaged.

Replace the servo drive.
Connect the main power 3. Soft start circuit failure.

Occurs when source 4. The rectifier is damaged.

Main circuit
3 1. The power supply voltage is low.

Undervoltage Check the power supply.

2. Temporary power outage lasting more than 20ms.

The motor has been running 1. The power supply capacity is insufficient.

Check the power supply.

Appear in the process 2. Momentary power failure.

Radiator overheated. Check the load conditions.

91
Call the police Call the police run
reason Treatment
Code name state

Turn on the control power

Circuit board failure. Replace the servo drive.

Occurs when source

Connect the main power supply

and control lines,

1. Encoder zero point changes. 1. Re-adjust the encoder zero point.
Input pulse pointer
2. Encoder failure. 2. Replace the servo motor.
The motor does not

Rotate or reverse

4 Location out of tolerance The detection range of the set position deviation is small. Increase the position deviation detection range.

The position proportional gain is too small. Increase the gain value.

1. Check the torque limit value.

The motor has been running 2. Reduce load capacity.

Insufficient torque.
Appear in the process 3. Replace with a higher power drive and

Motor.

The command pulse frequency is too high. Reduce the frequency.

Encoder zero point change. Re-adjust the encoder zero point.

Drive Drive operation 1. Circuit board failure. 1. Reduce the drive temperature.
5
overheat Appear during the process 2. The drive temperature is too high. 2. Replace the servo drive.

1. Reduce the load.

Speed Amplification The motor has been running 1. The load is too heavy. 2. Replace with a higher power drive and
6
Saturation Fault Appear in the process 2. The motor is mechanically stuck. Motor.
3. Check the load mechanical part.

Driver ban The CCW / CW drive inhibit input terminals are

7 Check the wiring.
Stop exception both disconnected.

1. Check the load mechanical part.

Position deviation
1. The motor is mechanically stuck. 2. Check the command pulse.
8 counter
2. The input command pulse is abnormal. 3. Check whether the motor is following the command pulse.

overflow
Rush and turn.

92
Call the police Call the police run
reason Treatment
Code name state

Turn on the control power

Circuit board failure. Replace the servo drive.

Occurs when source

1. Check the drive.

1. The power supply voltage is too low.
2. Cycle power.
2. Overheating.
IPM Module 3. Replace the drive.
11
Block Fault The motor has been running There is a short circuit between driver UVW. Check the wiring.

Appear in the process Poor grounding. Proper grounding.

The motor insulation is damaged. Replace the motor.

1. Add line filter.

Being disturbed.
2. Stay away from interference sources.

Turn on the control power

Circuit board failure. Replace the servo drive.

Occurs when source

1. Check the load.

2. Reduce the frequency of starting and stopping.

Operation exceeding rated torque. 3. Reduce the torque limit value.

4. Replace with a higher power driver and

13 Overload Motor.
The motor has been running

The holding brake is not on. Check the holding brake.

Appear in the process

1. Adjust the gain.

The motor oscillates unsteadily. 2. Increase the acceleration/deceleration time.

3. Reduce load inertia.

1. One phase of UVW is broken.

Check the wiring.
2. Encoder connection error.

1. Braking circuit failure.

1. Change the driver;
14 Brake failure 2. The PD shorting piece is not connected
2. Check the connecting piece;

93
Call the police Call the police run
reason Treatment
Code name state

Relay
18 Relay is damaged. Return to factory for repair.

Switch failure

Braking delay PA94 parameter value is set too large, control

19 Reduce the value of parameter PA94.
Not open The pulse comes, but the brake has not been opened yet.

1. Replace the servo drive.

2. After repair, you must reset

20 EEPROM Error The chip or circuit board is damaged. Driver model (see

PA10), and then restore to default

parameter.

twenty one FPGA module failure The FPGA module is not functioning properly. Replace the drive.

Current acquisition circuit

twenty three The current acquisition circuit is faulty. Replace the servo drive.
Fault

User torque 1. The parameters of PA30 and PA31 are unreasonable. 1. Modify the parameters.
29
Overload alarm 2. An unexpectedly large load occurs. 2. Repair machinery.

Read and write encoder 1. The encoder cable is not connected properly

1. Check the wiring.

38 EEPROM Communication 2. Encoder interface circuit failure
2. Contact the manufacturer.
fail 3. The encoder has not refreshed the code

Data CRC check The motor encoder has not yet written data. Write the motor parameters of the corresponding model into

39
mistake All are 0. Enter the encoder.

40 Unsupported models The drive does not support this motor model. Use a matching motor.

Need to switch motor The current motor and drive model selected
41 Manually switch the model to the current model.
model Inconsistent.

AC Input When power is off 1. Normal.

42 Check AC220V input.
Voltage is too low Runtime 2. The external AC voltage input is too low.

Main circuit at power on 1. The external AC voltage input is too high. 1. Check AC220V input.
47
Voltage is too high 2. Main circuit failure. 2. Replace the drive.

Encoder The driver and encoder have not established communication Connect the encoder cable and reconnect
50
Communication failure connect. electricity.

Encoder After the encoder communication is established, Connect the encoder cable and reconnect
51
Communication anomaly Now interrupted, disconnected. electricity.

94
Call the police Call the police run
reason Treatment
Code name state

Encoder battery Encoder battery low voltage alarm,

52 Replace the encoder battery.
Insufficient pressure alarm The information is not lost but needs to be replaced as soon as possible.

Encoder battery voltage error alarm,

Encoder battery The encoder battery is exhausted and must
53 An error has occurred in the stored information.
Pressure error alarm replace.
To reset the encoder.

Encoder Encoder non-battery alarm, but need

54 Reset the encoder.
Error Alarm To reset the encoder.

CRC check continuous Data received by MODBUS communication

55 Replace the drive.
3 errors CRC verification fails 3 times in a row

1. Confirm the frame length.

MODBUS frame 1. The communication protocols do not match.

56 2. Add line filters and keep away from

Long Error 2. Being disturbed.
interference.

MODBUS Communication 1. Communication parameters are set improperly.

57 Replace the drive.

Format abnormality 2. The communication address or value is incorrect.

Lap Single-turn position offset stored in the drive

58 Restart the system by powering on.

Position value error The value exceeds the encoder resolution.

Encoder The encoder continuously reports CF domain errors.

59 Reset the encoder.
Report CF Error The encoder needs to be reset.

95