AC Servo System

TSTE Series
Simplified Manual
■Warning and Alert:

Warning

y Do not proceed to the assembly of the line while electrifying.

y Circuit & change components between entering shutting down the power supply and stopping
showing CHARGE LED light of the Servo driver.

y The output of Servo drive [U, V, W] must NOT touch the AC power.

! Alert

y Install the fan if the temperature around is too high while the Servo driver is installed in the
Control Board.

y Do not proceed to the Anti-Pressure-Test to the Servo driver.

y Confirm the quick stop function is available before operate servo drive.

y Matching up machine to change the user parameter setting before machine performs. If there is
no according correct setting number, it could lead to out of control or breakdown.

y Before start operate this servo drive check the servo motor Cn030 setting, it will lead to error
when CN30 without setting correctly.

Safety proceeding:

Check the covering letter detail before installing, running, maintaining and examining. Furthermore, only
the profession-qualified people can proceed to the line-assembly.

Safety proceeding in the covering letter discriminate between “Warning” & ”Alert”.

Alarm Indicating the possibility dangerous situation. It could cause the death or serious
damage if being ignored.

Indicating the possibility dangerous situation. It could cause smaller or lighter human

! Warning injured and damage of equipment.

Read this covering letter detail before using Servo driver.

i
First of all, thank you for using TED Servo Driver TSTE Series (“TSTE” for short) and Servo Motors.
TSTE can be controlled by digital board or PC, and provide excellent performance for a wide range of
applications and different requirement from customers.

Read this covering letter before using TSTE. Contents of the letter comprises:

y Servo System checking, installing and procedure of assembly line.

y Controller procedure for digital board, status displaying, unusual alarm and strategy explanation.

y Servo System control function, running testing and procedures adjusted.

y Explanation for all parameter of Servo Driver.

y Standard specification of TSTE Series.

In order to daily examine, maintain and understand the reason of unusual situation and handle strategy,
please put this covering letter in safe place to read it anytime.

P.S: The end user should own this covering letter, in order to make the Servo Driver bring the best
performance.

ii
 Contents
Chapter 1 Checking and Installing
1-1 Checking Products ..........................................................................................................................1-1
1-1-1 Confirming with Servo Drives ..............................................................................................1-1
1-1-2 Confirming with Servomotors..............................................................................................1-2
1-1-3 Servo Motor Model Code Display ........................................................................................1-2
1-2 Surface and Panel Board ................................................................................................................1-4
1-3 A Brief Introduction of Operation for Drives.................................................................................1-5
1-4 Conditions for Installation of Drives..............................................................................................1-6
1-4-1 Environmental Conditions....................................................................................................1-6
1-4-2 Direction and Distance..........................................................................................................1-6
1-5 Conditions for Installation of Servomotors ..................................................................................1-7
1-5-1 Environmental Conditions....................................................................................................1-7
1-5-2 Method of Installation ...........................................................................................................1-7
1-5-3 Notice for in stall motor ........................................................................................................1-8

Chapter 2 Wiring
2-1 Basic Wiring for Servo System ......................................................................................................2-1
2-1-1 Wiring for Main Circuit and Peripheral Devices .................................................................2-1
2-1-2 Wiring for Servo Drives.........................................................................................................2-2
2-1-3 Specifications of Wiring........................................................................................................2-3
2-1-4 Motor Terminal Layout ..........................................................................................................2-4
2-1-5 Typical Wiring for Motor and Main Circuit ..........................................................................2-6
2-1-6 TB Terminal ............................................................................................................................2-7
2-1-7 Wiring for Mechanical Brake .................................................................................................2-7
2-2 I/O Terminal ......................................................................................................................................2-8
2-2-1 CN1 Input and Output terminals ..........................................................................................2-9
2-2-2 Encoder Connector (CN2) Terminal Layout......................................................................2-20
2-2-3 Encoder Connector (CN3/CN4) Terminal Layout..............................................................2-22
2-3 Typical Circuit Wiring Examples ..................................................................................................2-23
2-3-1 Position Control Mode (Pe Mode) (Line Driver) ..............................................................2-23
2-3-2 Position Control Mode (Pe Mode) (Open Collector) ........................................................2-24
2-3-3 Position Control Mode (Pi Mode).......................................................................................2-25
2-3-4 Speed Control Mode (S Mode) ...........................................................................................2-26
2-3-5 Torque Control Mode (T Mode) ..........................................................................................2-27

Chapter 3 Panel Operator / Digital Operator

3-1 Panel Operator on the Drives .........................................................................................................3-1
3-2 Signal Display ..................................................................................................................................3-8
3-2-1 Status Display ........................................................................................................................3-8
3-2-2 Diagnostic function ...............................................................................................................3-9

Chapter 4 Trial Operation

4-1 Trial Operation Servo motor without Load ...................................................................................4-2
4-2 Trial Operation for Servomotor without Load from Host Reference .........................................4-5
iii
4-3 Trial Operation with the Servomotor Connected to the Machine ...............................................4-8

Chapter 5 Control Functions

5-1 Control Mode Selection ..................................................................................................................5-1
5-2 Torque Mode ....................................................................................................................................5-2
5-2-1 Analog Torque command Ratio ...........................................................................................5-3
5-2-2 Adjusting the analog torque command Offset ...................................................................5-4
5-2-3 Torque command linear acceleration and deceleration ...................................................5-5
5-2-4 Definition of torque direction ...............................................................................................5-6
5-2-5 Internal Torque Limit .............................................................................................................5-7
5-2-6 Limiting Servomotor Speed during Torque Control ..........................................................5-7
5-2-7 Additional Torque Control Functions..................................................................................5-9
5-3 Speed Mode....................................................................................................................................5-10
5-3-1 Selection for speed command ..........................................................................................5-11
5-3-2 Analog speed command Ratio...........................................................................................5-12
5-3-3 Adjusting the analog reference offset...............................................................................5-12
5-3-4 Analog reference for speed command limit .....................................................................5-13
5-3-5 Encoder Signal Output........................................................................................................5-13
5-3-6 Smoothing the speed command........................................................................................5-15
5-3-7 Setting rotation direction....................................................................................................5-18
5-3-8 Speed Loop Gain .................................................................................................................5-19
5-3-9 Notch Filter...........................................................................................................................5-20
5-3-10 Torque Limit of speed control mode .................................................................................5-22
5-3-11 Gain Switched......................................................................................................................5-23
5-3-12 Other Functions...................................................................................................................5-30
5-4 Position Mode ................................................................................................................................5-32
5-4-1 External Pulse Command ...................................................................................................5-33
5-4-2 Internal Position Command................................................................................................5-35
5-4-3 Electronic Gear ....................................................................................................................5-38
5-4-4 Smooth Acceleration ..........................................................................................................5-42
5-4-5 Definition of Direction .........................................................................................................5-43
5-4-6 Gain Adjustment ..................................................................................................................5-43
5-4-7 Clear the Pulse Offset .........................................................................................................5-44
5-4-8 Original Home ......................................................................................................................5-45
5-4-9 Other Position Function......................................................................................................5-53
5-5 Gain Adjustment ............................................................................................................................5-54
5-5-1 Automatic Adjusting ...........................................................................................................5-57
5-5-2 Manual Adjusting.................................................................................................................5-60
5-5-3 Improving Resonance .........................................................................................................5-61
5-6 Other Functions.............................................................................................................................5-62
5-6-1 Programmable I/O Functions .............................................................................................5-62
5-6-2 Switching for the Control Mode .........................................................................................5-64
5-6-3 Auxiliary Functions .............................................................................................................5-64
5-6-4 Brake Mode ..........................................................................................................................5-65

iv
 5-6-5 Timing Diagram of Mechanical Brake ...............................................................................5-65
5-6-6 CW/CCW Drive Inhibit Function ........................................................................................5-67
5-6-7 Selecting for External Regeneration Resistor ..................................................................5-68
5-6-8 Fan Setting ...........................................................................................................................5-71
5-6-9 Factory setting parameter ..................................................................................................5-71

Chapter 6 Parameter
6-1 Explanation of Parameter Groups ................................................................................................6-1
6-2 Parameter Display Table ................................................................................................................6-1

Chapter 7 Communications Function

7-1 Communications function (RS232 & RS485) ................................................................................7-1
7-1-1 Communication wiring ...........................................................................................................7-1
7-1-2 RS232, RS-485 communication parameter ...........................................................................7-3
7-1-3 Rs-232 communication protocol and format ......................................................................7-5
7-1-4 Modbus communication protocol for RS-485 ....................................................................7-8
7-2 Communication Address table.....................................................................................................7-19

Chapter 8 Troubleshooting
8-1 Alarm Functions ..............................................................................................................................8-1
8-2 Troubleshooting of Alarm and Warning ........................................................................................8-3

Chapter 9 Specifications
9-1 Specifications and Dimension for Servo Drives ........................................................................9-1
9-2 Specifications and Dimension for Servomotors ..........................................................................9-7

Appendix A - Peripheral for Servo motors ...................................................................... App-1

v
Chapter 1 Checking and Installing
1-1 Checking Products
Our Servo Pack have already completely been functionally examined before leaving the factory. In order to protect the
products from the damage during transportation, please check the items below before sealing off the pack:
y Check if the models of servo driver and motor are the same with the models of ordering.
(About the model explanation, please check the chapters below)
y Check if there are damage or scrape out side of the servo driver and motor.
(If there is any damage during transportation, do not power ON)
y Check if there are any bad assembly or slipped component in the Servo Drive and Motor
y Check if the Motor’s rotor and shaft can be rotated smoothly by hand
(The Servo Motor with Mechanical-Brake can not be rotated directly)
y There must be the “QC”-seal in each servo drive, if not, please do not proceed Power ON.
If there is any bug or irregular under the situation above, please contact TED Local sales representative or distributor
instantly.

1-1-1 Confirming with Servo Drives

TS TE 20 C
AC Input Voltage
AC Servo
A : single phase 110V
Product No.
B: single phase 220V
C: single/3 phase 220V
Drive Series: D: 3 phase 220V
Series E

Drive Model:
10 / 15 / 20 / 30

P.S : Maximum output power

10：200 W 20：750 W
15：400 W 30：1 KW

1-1
1-1-2 Confirming with Servo Motors

TS Series:

TS B 08 751 C 2 N H 3 1 0 1

TS : Motor Speed: Lead Wire length

AC Servo A：1000 rpm A:Military Conn.
Product No. B：2000 rpm 1:100mm long
C：3000 rpm 2:200mm ... etc.
Motor Series: H：1500 rpm
B/C/T Special spec.：
AC input 0：None
Frame： voltage 1：Waterproof
B Series: 1: single phase 2：CE
07：76 mm Rated power 100V
08：86 mm 051：50 W 2: single phase Others
13：130 mm 101：100 W 200V 0：None
C / T Series: 201：200 W 3: 3 phase
04：40 mm 301：300 W 200V Np.
06：60 mm 401：400 W
08：80 mm 551：550 W
Optional:
751：750 W
N:None
120：1 KW
B :Brake
152：1.5 KW
202：2 KW
Encoder:
Wire-saving：
F：2000 ppr H / T：2500 ppr
L / U：8192 ppr
Standard：
A：2000 ppr B：2500 ppr

1-1
CB、CC、MB Series :

7 CB 30 … – 2 D E 7 C

Frame： Rated power AC input voltage: Encoder Wiring：

CB Series: CB Series : 1: single phase 100V 6：Standard
5：54 mm 12：120 W 2: single phase 200V (15 Wires)
7：76 mm 30：300 W 3: 3 phase200V 7：Wire-saving
8：87 mm 75：750 W (9 Wires)
CC Series: CC Series: Power Connector： B：Wire-saving
6：60 mm 201：200 W C：Military (9 Wires)
8：80 mm 401：400 W (MB series) (Only for CC series)
MB Series: 751：750 W D：AMP
3：130 mm MB Series: (CB、CC series) Encoder Resolution：
100：1 KW F：2000 ppr
Motor Series: 150：1.5 KW Optional： H：2500 ppr
CB : CB Series 200：2 KW E：Encoder I：5000 ppr
CC : CC Series 300：3 KW G：Encoder＋Brake E：2000 ppr
MB : MB Series (Only for CC series)
Motor Speed:
CB Series:
3000 rpm
CC Series:
G：3000 rpm
MB Series:
A：1000 rpm
B：2000 rpm
C：3000 rpm

1-1-3 Servo Motor Model Code Display

! Warning

Make sure parameter CN030 is setting correctly before start operate this drive.
Setting method reference 1-1-3 .

1-2
Use dn-08 to display servo motor code and check the servo drive and motor compatibility according to the table below.
If the dn08 preset is not according to the list below then contact your supplier.
The motor model code is stored in parameter Cn30.

dn-08 Display
Cn030 Setting Motor Standards Encoder
Drive Model Motor Model
Watt Speed
(W) (rpm) Specification

H0000 5CB12 120 3000 2500

H1011 TSC04051 50 3000 2500
H1021 TSTE10 TSC04101 100 3000 2500
H0030 6CC201 2000
200 3000
H1043 TST06201 2500
H0120 7CB30 2000
300 3000
H0121 TSB07301 2500
H0130 6CC201 2000
200 3000
H1133 TSTE15 TST06201 2500
H0140 6CC401 2000
H1141 TSC06401 400 3000 2500
H1143 TST06401 2500
H0210 8CB75 2000
750 3000
H0211 TSB08751 2500
H0220 6CC401 2000
H1221 TSC06401 400 3000 2500
H1223 TST06401 2500
H0230 TSTE20 8CC751 2000
750 3000
H1233 TST08751 2500
H0240 3MB055A 2000
1000
H0241 TSB13551A 2500
550
H0250 3MB055H 2000
1500
H0251 TSB13551H 2500
H0310 8CC751 2000
750 3000
H1313 TST08751 2500
H0320 3MB100A 2000
1000
H0321 TSB13102A 2500
H0330 TSTE30 3MB100B 2000
2000
H0331 TSB13102B 1000 2500
H0340 3MB100H 2000
1500
H0341 TSB13102H 2500
H0351 TSB13102C 3000 2500

1-3
 1-2 Surface and Panel Board

TSTE-10 / TSTE-15 TSTE-20 / TSTE-30

LED Display

Heat sink Heat sink

Serial
Communication Serial
Main Power Interface Communication
Input Terminal Main Power Interface
Input Terminal

* External
* External Regenerative Regenerative
Resistor Terminal I/O Interface Resistor I/O Interface
Terminal

Motor Terminal Motor Terminal

Ground Terminal Ground Terminal

FG Motor Encoder FG Motor Encoder
* Terminal P and PC Interface Interface
* Terminal P and PC
can not be dosed can not be dosed

Key Board

MODE

MODE SET UP

POWER ENTER

ENTER/ SHIFT DOWN

1-4
1-3 A Brief Introduction of Operation for Drives
There are many kinds of control-mode. The detail modes display as fellow:

Name Mode Explanation

Position Mode
Position control for the servo motor is achieved via an external
(External Pulse
Pe
pulse command. Position command is input from CN1.
Command)

Position Mode Position control for the servo motor is achieved via by 16
(Internal Position Pi commands stored within the servo controller. Execution of the
Command) 16 positions is via Digital Input signals.
Single
Speed control for the servo motor can be achieved via
Mode
parameters set within the controller or from an external analog
Speed Mode S -10 ~ +10 Vdc command. Control of the internal speed
parameters is via the Digital Inputs. A maximum of three steps
speed can be stored internally.
Torque control for the servo motor can be achieved via
Torque Mode T parameters set or from an external analog -10 ~ +10 Vdc
command.

Pe-S Pe and S can be switched by digital-input-contact-point.

Multiple Mode Pe-T Pe and T can be switched by digital-input-contact-point.

S-T S and T can be switched by digital-input-contact-point.

1-5
1-4 Conditions for Installation of Drives

1-4-1 Environmental Conditions

The product should be kept in the shipping carton before installation. In order to retain the warranty coverage, the
AC drive should be stored properly when it is not to be used for an extended period of time. Some storage suggestions
are:
y Ambient Temperature: 0 ~ + 55 deg C. Ambient Humidity: Under 85% RH (Under the condition of no frost).
y Stored Temperature: - 20 ~ + 85 deg C. Stored Humidity: Under 85%RH (Under the condition of no frost).
y Vibrating: Under 0.5 G.
y Do not mount the servo drive or motor in a location where temperatures and humidity will exceed specification.
y To avoid the insolation.
y To avoid the erosion of grease and salt.
y To avoid the corrosive gases and liquids.
y To avoid the invading of airborne dust or metallic particles.
y When over 1 Drives are installed in control panel, enough space have to be kept to get enough air to prevent the
heat, the fan also must be installed, to keep the ambient temperature under 55 deg C.
y Please Install the drive in a vertical position, face to the front, in order to prevent the heat.

y To avoid the metal parts or other unnecessary things falling into the drive when installing.

y The drive must be stable by M5 screws.

y When there were the vibrating items nearby, please using vibration-absorber or installing anti-vibration- rubber, if
the vibration can not be avoided.

y When there is any big-size magnetic switch, welding machines or other source of interference. Please install the
filter. When the filter is installed, we must install the insulation transformer.

1-4-2 Direction and Distance

1-6
1-5 Conditions for Installation of Servo Motors
1-5-1 Environmental Conditions
y Ambient Temperature: 0 ~ + 40 deg C. Ambient humidity: Under 90% RH (No Frost).

y Storage Temperature: - 20 ~ + 60 deg C. Storage temperature: Under 90%RH (No Frost).

y Vibration: Under 2.5 G.

y In a well-ventilated and low humidity and dust location.

y Do not store in a place subjected to corrosive gases, liquids, or airborne dust or metallic particles.

y Do not mount the servo motor in a location where temperatures and humidity will exceed specification.

y Do not mount the motor in a location where it will be subjected to high levels of electromagnetic radiation.

1-5-2 Method of Installation

1. Horizontal Install: Please let the cable-cavity downside to prevent the water or oil or other liquid flow into the servo
motor.

Attention
Encoder
BRAKE

2. Vertical Install: If the motor shaft is side-up installed and mounted to a gear box, please pay attention to and avoid the
oil leakage from the gear box.

1-7
1-5-3 Notice for install motor
1. Please using oil-seal-motor to avoid the oil from reduction gear flowing into the motor through the motor shaft.

2. The cable need to be kept dry.

3. Please fixing the wiring cable certainly, to avoid the cable ablating or breaking.

4. The extending length of the shaft shall be enough, otherwise there will be the vibration from motor operating.

Wrong Example Correct Example

5. Please do not beat the motor when installing or taking it apart. Otherwise the shaft and the encoder of backside will
be damaged.

Attention:
Encoder
Brake

1-8
Chapter 2 Wiring
2-1 Basic Wiring for Servo System

2-1-1 Wiring for Main Circuit and Peripheral Devices

Power
50W~1KW Single Phase or AC 200~230V 3 Phase

No Fuse Break
(NFB) RS485

Noise
Filter TSTE

Bectromagnetic
Contactor CN3
(MC)

PC
CN4 RS-232 / RS-485
For Communication

CN1
For I/O
Connection
PLC / PC BASE or
Motion controller
CN2
External braking For Encoder Connection
resistor is connected
to P and PC Circuit

Servo motor

2-1
2-1-2 Wiring for Servo Drives
y The wire material must go by “Wiring Specifications.”

y Wiring Length: Command Input Wire: Less than 3m.

Encoder Input Wire: Less than 20m.

The Wiring goes by the shortest length.

y Please wire according to the standard wiring schema. Don’t connect if no using.

y Motor output terminal (U,V,W) must be connected correctly. Otherwise the servo motor will abnormally function.

y Shielded cable must be connected to FG terminal.

y Don’t install the capacitor or Noise Filter at the output terminal of servo drive.

y At the control-output-signal relay, the direction of surge absorb diode must be correctly connected, otherwise it

can not output signal, and cause the protect loop of emergency-stop abnormal.

y Please do these below to avoid the wrong operation from noise:

Please install devices such as the insulated transformer and noise filter at the input power.

Keep more than 30 cm between Power wire (power cable or motor cable…etc.) and signal cable, do not

install them in the same conduit.

y Please set “emergency-stop switch” to prevent abnormal operation.

y After wiring, check the connection-situation of each joint (ex: loose soldering, soldering point short, terminal order

incorrect…etc.). Tighten the joints to confirm if surly connected to the servo drive, if the screw is tight. There can

not be the situations such as cable break, cable pulled and dragged, or be heavily pressed.

* Especially pay attention to the polarity between servo motor wiring and encoder.

y There is no necessary to add extra regeneration resistance under general situation. If there is any need or

problem, please connect to distributor or manufacturer.

2-2
2-1-3 Specifications of Wiring

Connection Terminal Servo Drives and Wire Specifications

Connection Mark
Name of Connect Terminal TSTE-10 TSTE -15 TSTE -20 TSTE -30
Terminal (Sign)
2.0mm ² 2.0mm ² 2.0mm ² 2.0mm ²
R, S, T Main Power Terminal
A.W.G.14 A.W.G.14 A.W.G.14 A.W.G.14
2.0mm ² 2.0mm ² 2.0mm ² 2.0mm ²
U, V, W Motor Terminal A.W.G.14 A.W.G.14 A.W.G.14 A.W.G.14
TB
Terminal 2.0mm ² 2.0mm ² 2.0mm ² 2.0mm ²
P, Pc Regeneration Resistor Terminal A.W.G.14 A.W.G.14 A.W.G.14 A.W.G.14
2.0mm ² 2.0mm ² 2.0mm ² 2.0mm ²
Ground
A.W.G.14 A.W.G.14 A.W.G.14 A.W.G.14
Connect Connect
Connect Point Name TSTE -10 TSTE -15 TSTE -20 TSTE -30
Terminal Point No.
Analog command input
12,25 (SIN, PIC) 0.2mm ² or 0.3mm ² , Twisted-pair-cable connecting
to the Analog Grounding wire (including shield cable)
13 Analog Ground Terminal(AG)

1~3
Digital input Terminal(DI)
14~16

18~20 Digital output terminal(DO)

CN1
0.2mm ² or 0.3mm ² , Twisted-pair-cable connecting
Joint Control 8 Output 24V (IP24)
to the I/O Grounding wire (including shield cable)
Signal
17 Input 24V (DICOM)

24 Digital Ground terminal(IG24)

Position Command Input

4~7 (Pulse, Sign) 0.2mm ² or 0.3mm ², Twisted-pair-cable (including
9~11 Encoder Signal Output (PA, /PA, shield cable)
21~23 PB, /PB, PZ, /PZ)

5 Output 5V (+5E)

CN2 Output Grounding wire of power 0.2mm ² or 0.3mm ² , Twisted-pair-cable (including

4 supply (GND) shield cable)
Joint of encoder
1~3 Encoder Signal Input
7~9 (A, /A, B, /B, Z, /Z)
CN3 Joint of
5,7 RS-485 Communication
Communication
1,4 RS-232 Communication 0.2mm ² or 0.3mm ² , Twisted-pair-cable (including
CN4 Joint of shield cable)
Communication 3 Communication grounding

5,7 RS-485 Communication

P.S.: 1. Select a proper capacity for NFB and noise filter when several Servo drives is connected.
2. CN1 is 25 Pins D-SUB connector, CN2 is 9 Pins D-SUB connector
3. CN3, CN4 are 8 Pins MINI DIN JACK.

2-3
2-1-4 Motor Terminal Layout

A Table of Motor-Terminal Wiring

(1) General Joint:

Terminal Symbol Cable Color Signal

1 Red U

2 White V

3 Black W

4 Green FG

Fine red DC +24V

Brake control wire
Fine yellow 0V

(2)Military Specifications Joint (No Brake):

Terminal Cable Color Signal

D A
A Red U

B White V
C B
C Black W

D Green FG

(3)Military Specifications Joint(Brake):

Terminal Cable Color Signal

B Red U
F A
G White V
E G B
E Black W

C Green FG
D C
A Fine red DC +24V
BK control wire
F Fine yellow 0V

P.S.: The military joint with BK of servo motor has 9 Pins; and the encoder joint has also 9 Pins. Please
confirm before wiring.

2-4
Table of Motor-Encoder Wiring
(1)General Joint:

Terminal Symbol Cable Color Signal

1 White +5V

2 Black 0V

3 Green A

4 Blue /A

5 Red B

6 Purple /B

7 Yellow Z

8 Orange /Z

9 Shield FG

(2) Military Specifications Joint

Terminal Symbol Cable Color Signal

B White +5V

I Black 0V

A Green A

C Blue /A

H Red B

D Purple /B

G Yellow Z

E Orange /Z

F Shield FG

2-5
2-1-5 Typical Wiring for Motor and Main Circuit
* The Wiring Example of Single Phase Main Power (Less than 1KW)

CN2

* The Wiring Example of 3 Phase Main Power (More than 1KW)

Power ON
Power OFF

MC/a MC

Red
U
White
NFB MC/R
V M
R TB1 Black
MC/S W
Power S TB1 Green
Filter
MC/T FG
T
P R PG
3 Phase 220 V
PC
External
Regeneration
BK Resistance
CN2

FG

2-6
2-1-6 TB Terminal

Terminal
Name Detail
Sign

R
Main circuit power input Connecting to external AC Power.
terminal S Single / 3 Phase 200~230VAC +10 ~ -15% 50/60Hz ±5%

External regeneration
P When using external regeneration, set the resistance power in Cn012.
resistance terminal Please refer to manual to see resistance value
PC
U Motor terminal wire is red

Motor-power output
terminal V Motor terminal wire is white

W Motor terminal wire is black

Motor-case grounding
Motor terminal wire is green or yellow-green.
terminal

2-1-7 Wiring for Mechanical Brake

Uninstall BRAKE:

z 50/100/200/300/400/750W series: Use Red wire and yellow wire connecting to DC +24V voltage(No
polarity)
z 550/1KW series: BK outputs from A & F of Motor Power Joint, servo motor can operate normally after
uninstalling.

A
50/100/200/ Yellow Wire 550W/1KW F
300/400/750W Red Wire

2-7
2-2 I/O Terminal
There are 4 groups of terminal, which contain CN3 and CN4 communication terminal, CN1 control I/O signal
terminal and CN2 encoder terminal. The diagram below displays all positions for the terminal.

2-8
2-2-1 CN1 Input and Output terminals
(1) CN1 Terminal Layout:

P.S.
1. Digital input and Digital output is programmable, setting method refer to parameter Hn501 ~ Hn 509.

2. Digital input and Digital output shield signal should connect to FG terminal.

2-9
(2) CN1 Signal Name and Explanation:
(a) General I/O Signal:
Explanation of General I/O Signal Function

Signal Name Function Symbol Pin No. Wired Mode

Pulse 4
Position Pulse Command Input
/Pulse 5
IO3
Sign 6
Position Symbol Command
Input
/Sign 7
Speed / Torque Analog
SIN 12
Command Input
IO5
Speed / Torque Analog / Limit
PIC 25
Command Input
Encoder Output A Phase PA 21

Encoder Output /A Phase /PA 9

Encoder Output B Phase PB 22

IO4
Encoder Output /B Phase /PB 10

Encoder Output Z Phase PZ 23

Encoder Output /Z Phase /PZ 11

Home Signal Output PZ 11 IO2

Digital input COM DICOM 17

Analog Signal Ground Terminal AG 13

+24V PW Output IP24 8

+24VPW Ground Terminal IG24 24

2-10
Explanation of General I/O Signal Function

Function
Signal Name Mode I/O Operation and Function Chapter
Symbol

Position Pulse Pulse The Driver can receive 3 kinds of Command below:
Command Input /Pulse ． (Pulse)+ (Sign)
Pe 5-4-1
Sign ． (CCW)/ (CW)Pulse
Position Sign
Command Input /Sign ．AB Phase pulse
5-3-1
In Speed Mode, when external speed command is operated at
Speed Analog 5-3-2
S SPD1=0, SPD2=0, input the voltage range: -10V~+10V, Sn216
command Input 5-3-3
can be set input voltage: ±10V’s Motor output speed.
SIN 5-3-4
Torque Analog In Torque Mode, input the voltage range -10~+10V, Tn103 can 5-2-1
T
Command Input be set input voltage ±10V’s motor output torque. 5-2-2
Torque Control In Torque Mode, when external speed limit is operated at input
Speed Limit T connect point SPD1=0 & SDP2=0(P.S), input voltage range: 5-2-6
Command 0~+10V, 10V’s speed limit stands for motor’s ratio speed.
PIC In Speed Mode, when external torque limit is be used at input
Position/Speed Pi
connect point TLMT=1(P.S.) , input voltage range: 0~+10V, to
Torque Limit Pe input 10V will limit the motor CCW torque is 300% of rate
5-3-10
Command S torque.
Encoder Output A
PA
Phase
Encoder Output / A
/PA
Phase Outputting the Motor Encoder Signal through pulse per rotation
Encoder Output B handle. The pulse quantity of every rotating can be set in
PB
Phase Cn005.
ALL 5-3-5
Encoder Output / B When “1” is set in Cn004, it is CCW rotation from the motor load
/PB
Phase terminal direction, and A Phase gets 90 degree ahead B Phase.
Encoder Output Z Signal Output is Line Driver.
PZ
Phase
Encoder Output / Z
/PZ
Phase
Analog Signal
AG ALL Analog signal grounding: CN1 - > Pin 12, 25. ―
Ground Terminal
Digital input COM
DICOM ALL Digital input power supplement common terminal. ―
Terminal
+24V PW Output IP24 ALL +24V power output terminal(Max. 0.2A). ―
+24V PW Ground
IG24 ALL +24V power grounding terminal ―
Terminal

P.S.: “1” stands for “close loop with IG24”; “0” stands for “open loop with IG24”.
PW is abbreviation of Power

2-11
 (b) Digital I/O Signal:
For many kinds of application, the digital input/output terminal layout of all operation mode are accordingly

different. In order to provide more functions, our drives can provide multi terminal layout settings. Users can set these

functions for application.

Digital input terminal layout provides 6 (Pin1~13, 14~16) programmable terminal; digital output terminal provides

4 (Pin18~20) programmable terminals. The diagram below shows the default digital input/output terminal placement

and functions. Please refer to 5-6-1 to check related parameters setting.

Default Digital Input Terminal placement Functions and Wired Mode

Terminal Default Pin

Signal Wired Mode
Layout Function No.
Servo ON DI-1 SON 1
Alarm reset DI-2 ALRS 14
PI/P Switch DI-3 PCNT 2
IO1
Servo Lock DI-4 LOK 15
Internal speed command 1 DI-5 SPD1 3
External Torque Limit DI-6 TLMT 16

Default Digital Input Terminal Layout Functions and Wired Mode

Terminal Default Pin

Signal Wired Mode
Layout Function No.
Servo ready DO-1 RDY 18
Alarm DO-2 ALM 19 IO1
Zero speed DO-3 ZS 20

2-12
Digital Input Function
(Except CCWL and CWL are high electric potential, other terminal layout are low electric potential. Please refer
to 5-6-1 to see related parameters)

Function
Signal Name Mode I/O Function Chapter
Sign
SON and IG24 close loop: Servo ON ; SON and IG24 open loop:
5-6-3
Servo On SON ALL Servo OFF. Attention: Before power on, the input connect point
5-6-4
SON (servo on) can not be operated to avoid danger.
ALRS and IG24 close loop: Relieving the stop-situation from of
abnormality. But the abnormality of encoder or memory will
Abnormal Reset ALRS ALL 8-1
cause the same alarm again. Please reset power after the
abnormality is eliminated.
PCNT and IG24 close loop will cause the speed loop control
PI/P switch PCNT Pi/Pe/S transforming to ratio control from ratio integration control. 5-3-11
Connect to CCW over travel detector: CCWL and IG24 close loop; 5-4-8
CCW
CCWL ALL open loop with IG24 -> CCW over travel operates. 5-6-3
Operation limit
5-6-4
Connect to CW over travel detector: CWL and IG24 close loop; 5-4-8
CW
CWL ALL open loop with IG24 -> CW over travel operates. 5-6-3
Operation limit
5-6-4
TLMT and IG24 close loop will cause the motor-output-torque-limit
External torque
TLMT Pi/Pe/S to stay in the command-voltage range of 5-3-10
limit
torque-limit-terminal-layout (PIC、NIC).
Pulse error When CLR and IG24 close loop, delete the pulse amount in the
CLR Pi/Pe Position Error Counter. 5-4-7
amount delete
When LOK and IG24 close loop will transform speed control mode
Servo lock LOK S into position control mode in order to lock the motor at the last 5-3-12
position.
When EMC and IG24 close loop: Emergency stop -> Servo Off and
Emergency stop EMC ALL exit the rotating statue, and Cn008 will decide if the dynamic Brake 5-6-4
operates.

Speed Speed Limit

SPD2 SPD1 Command Command
(Speed Mode) (Torque Mode)
Internal speed
command / limit External
0 0 External limit(PIC)
select 1 SPD1 command(SIN) 5-2-6
S/T
Internal speed SPD2 5-3-1
command / limit 0 1 Sn201 Tn105
select 2
1 0 Sn202 Tn106
1 1 Sn203 Tn107

Internal speed setting and limit:

“1”: Close loop with IG24

“0”: Open loop with IG24

2-13
Digital Input Function Explanation
(Except CCWL and CWL are the high electric potential, other terminal layout are the low electric potential,
please refer to 5-6-1 to check related parameters setting)
Function
Signal Name Mode I/O Function Chapter
Symbol
Control Mode When MDC and IG24 close loop, current control mode will 5-1
MDC Pe/S/T transform into default control mode, please refer to Cn001.
Switch 5-6-2
Position When INH and IG24 close loop, position command input does
INH Pe 5-4-1
Command Limit not operate (do not accept external pulse command).
Speed Command When SPDINV and IG24 close loop in speed mode, setting
SPDINV S 5-3-7
Counter Wise rotating speed will become counter-wise rotating speed.
When G-SEL and IG24 close loop, first stage control gain
Gain Select G-SEL Pi/Pe/S switch to the second control gain. 5-3-11
Electric gear ratio: select explanation:

GN2 GN1 Electric Gear ratio Numerator

0 0 Pn302
Electric Gear ratio GN1 0 1 Pn303
Pi/Pe 1 0 Pn304 5-4-3
Numerator 1~2 GN2
1 1 Pn305

“1”: Close loop with IG24

“0”: Open loop withIG24
Internal Position When PTRG and IG24 close loop (positively-triggered), the
Command PTRG Pi motor will select related position command to operate in 5-4-8
Trigger accordance with the terminal layout POS1~POS4.
Internal Position When PHOLD and IG24 close loop(positively-triggered), the
PHOLD Pi 5-4-8
Command Hold motor will stay holding.
When SHOME and IG24 close loop(positively-triggered),
Home SHOME Pi/Pe 5-4-8
HOME function operates
When ORG and IG24 close loop(positively-triggered), server
External Origin ORG Pi will use this as external reference point for home position 5-4-8
returning.

2-14
Digital Input Function Explanation
(Except CCWL and CWL are the high electric potential, other terminal layout are the low electric potential,
please refer to 5-6-1 to check related parameters setting)
Function
Signal Name Mode I/O Function Chapter
Symbol
Internal position command select :
Internal Position
POS4 POS3 POS2 POS1
Command select
0 0 0 0 Pn317, Pn318
0 0 0 1 Pn320, Pn321
0 0 1 0 Pn323, Pn324
0 0 1 1 Pn326, Pn327
0 1 0 0 Pn329, Pn330
0 1 0 1 Pn332, Pn333
0 1 1 0 Pn335, Pn336
0 1 1 1 Pn338, Pn339
1 0 0 0 Pn341, Pn342
1 0 0 1 Pn344, Pn345
1 0 1 0 Pn347, Pn348
1 0 1 1 Pn350, Pn351
POS1
Internal Position 1 1 0 0 Pn353, Pn354
POS2
Command select Pi 1 1 0 1 Pn356, Pn357 5-4-2
POS3
1~4 1 1 1 0 Pn359, Pn360
POS4
1 1 1 1 Pn362, Pn363

Internal position command select explanation:

“1”: close loop with IG24
“0”: open loop with IG24

Torque Command When TRQINV and IG24 close loop in torque mode, torque
Reverse
TRQINV T
command become a reverse direction.
5-2-4

2-15
Digital Output Function Explanation
(The terminal layout here from this explanation are all the low electric potential, please refer to 5-6-1 to check
parameter settings)
Function
Signal Name Mode I/O Function Chapter
Symbol
Main power and control power input are normal. Under the
Servo Ready RDY ALL situation of no alarm, terminal layouts RDY and IG24 close ―
loop.
If normally operates, the terminal layouts ALM and IG24 open
Alarm ALM ALL loop. When alarm occurs, protection-function operates, the ―
terminal and IG24 close loop.
When the motor speed is less than the speed from Sn215, the
Zero Speed ZS S 5-3-12
terminal layout ZS and IG24 close loop.
When Cn008 is set “1” or “3” and the servo on, the terminal
layout BI and IG24 close loop; when servo off , terminal layout
5-6-4
BK Signal BI ALL and IG24 open loop. (When this terminal layout is generally
5-6-5
applied, it is the Brake relay, which is connected to control
motor).
When the motor speed has achieved the setting speed from
In Speed INS S 5-3-12
Cn007, INS and IG24 close loop.
When the amount of position error counter is less than the
In Position INP Pi/Pe 5-4-9
amount range which is set in Pn307, INP and IG24 close loop.
Home HOME Pi/Pe When HOME is accomplished, HOME and IG24 close. 5-4-8

When the output torque reach setting value of Tn108,

In Torque INT ALL
INT and IG24 became a close loop.

2-16
(3) CN1 Interface Circuit and Wire Mode:
The diagram below introduces all interface circuit of CN1 and wire-method of host controller.
(a) Digital input interface circuit (IO1):
Digital input interface circuit can be operated by relay or collector transistor circuit. The relay should be the low
electric current, in order to avoid the faulty contacting. External voltage: 24V.
Internal 24V Power External 24V Power

Servo Pack

DC24V

IP24 CN1-8

CN1-17
5.6KΩ

i=4.3mA DICOM
SON

CN1-24
IG24

(b) Digital Output Interface Circuit (IO2):

When using external power, please attention to the power polarity. Adverse polarity will case circuit damage.
Digital output is “Open Collector”. The maximum of external voltage is 24V, and the maximum electric current is
10mA.
Internal 24V Power External 24V Power

2-17
(c) Pulse Command Input Interface Circuit (IO3):
Suggesting to use the input method of Line Driver to send the pulse command. The maximum input command

frequency is 500kpps. Using the input method of Open Collector will cause the decrease of input command

frequency, the maximum input command frequency is 200kpps. The servo provides only 24V power, and other

power should be prepared. Adverse polarity of power will cause the servo damage. The maximum of External

power (Vcc) is 24V limited. Input current is about 8~15mA. Please refer to the examples below to select

resistance. Please refer to 5-4-1 to check pulse input command timing.

Line Driver pulse command input Open Collector pulse command input

Vcc

Servo Pack
R
if Pulse
Sign

/Pulse
/Sign

The max. frequency of line driver type pulse command

Maximum input command frequency of open collector is
is 500kpps
200kpps

Open Collector (Internal 24V) Open Collector – Selection of input Resistance

Servo Pack
DC24V
IP24 CN1-8

2KΩ
Pulse
Sign
External Power External Power External Power
Vcc=24V Vcc=12V Vcc=5V
/Pulse
R=2KΩ R=750Ω R=100Ω
/Sign

CN1-24
IG24

The maximum input command frequency of open

collector is 200kpps

2-18
(d) Encoder Output Interface Circuit (IO4):

Encoder output interface circuit is the output method of Line Driver, please let end terminal

resistance(R=200~330Ω) connect to Line Receiver input terminal.

Encoder Output Interface Circuit (Line Driver)

(e) Analog Input Interface Circuit (IO5):

There is sometimes ripple inside the servo internal power. Adverse external power polarity will cause severe

damage. Maximum external power voltage (Vc) should be less than12V; terminal input voltage should not more
than10V. Over voltage will cause damage. When using internal power of server, user need to choose the
resistance (suggestion: more than 3KΩ), which maximum current is less than 10mA.
SIN Input impedance: 15KΩ
PIC Input impedance: 40KΩ
NIC Input impedance: 20KΩ

Analog Input Interface Circuit

2-19
2-2-2 Encoder Connector (CN2) Terminal Layout
(1) Diagram of CN2 Terminal:

P.S.: Do not wire to the terminal which is un-operated.

2-20
(2) Name and Explanation of I/O Signal:

Encoder Output
No. and Color

Pin General Plug-in

Signal Name Code Terminal Layout Function
No. Joint Joint
9 wires
Output
(fewer
No.
wiring)
5V Power for encoder (provided from driver).
5 Power output +5V B
White When the cable is more than 20m, user should
+ Terminal
separately use 2 cables to avoid decreasing

Power output voltage of encoder. When the cable is more

4 0V Black I
- Terminal than 30m, please contact to the distributorship.

3 A Phase encoder A Green A Encoder A Phase: From motor terminal to the

2 input A /A C driver.
Blue
1 B Phase encoder B Red H Encoder B Phase: From motor terminal to the
9 input /B D driver.
Pink
8 Z Phase encoder Z Yellow G Encoder Z Phase: From motor terminal to the
7 input /Z E driver.
Orange
6 No operated Do not wire.

2-21
2-2-3 Encoder Connector (CN3/CN4) Terminal Layout
Diagram of CN3/CN4 Terminal :

CN3 for RS-485 CN4 for RS232 and RS-485

Pin Pin
Name Function Name Function
NO. NO.
RS-232 Serial data
1 __ _________________ 1 RxD
receive

2 __ _________________ 2 __ _________________

3 __ _________________ 3 GND RS-232 Signal Ground

RS-232 Serial data

4 __ _________________ 4 TxD
transmit

RS-485 Serial data RS-485 Serial data

5 Data+ 5 Data+
communication (+) communication (+)

6 __ _________________ 6 __ _________________

RS-485 Serial data RS-485 Serial data

7 Data- 7 Data-
communication (-) communication (-)

8 __ _________________ 8 __ _________________

P.S : Do not wire to the terminal which is un-operated.

2-22
2-3 Typical Circuit Wiring Examples
2-3-1 Position Control Mode (Pe Mode) (Line Driver)

2-23
2-3-2 Position Control Mode (Pe Mode) (Open Collector)

2-24
2-3-3 Position Control Mode (Pi Mode)

2-25
2-3-4 Speed Control Mode (S Mode)

2-26
2-3-5 Torque Control Mode (T Mode)

2-27
Chapter 3 Panel Operator / Digital Operator
3-1 Panel Operator on the Drives
The operator keypad & display contains a 5 digit 7 segment display, 4 control keys

and one Power status LED (Green) is lit when the power is applied to the unit.

Power on to light up charge LED and gradually dark when internal main circuit discharge accomplished.

Key Name Function Keys Description

1. To select a basic mode, such as the status display mode, utility

MODE/SET
MODE function mode, parameter setting mode, or monitor mode.
2. Returning back to parameter selection from data-setting screen.

INCREMENT
1. Parameter Selection.
2. To increase or decrease the set value.
3. Press and at the same time to RESET ALARM.
DECREMENT

DATA SETTING 1. To confirm data and parameter item.

ENTER & 2. To shift to the next digit on the left.
DATA ENTER 3. To enter the data setting (press 2 sec.)

3-1
 After power on, MODE button can be used to select 9 groups of parameter.
By pressing the Mode key repeatedly once at a time you can scroll trough the displays below.
Step Key LED Display after Operation Description

1 Power on Drive status parameters.

2 MODE Diagnostic parameters.

3 MODE Alarm parameters.

4 System Control parameters.

5 Torque Control parameters.

6 MODE Speed Control parameters.

7 Position Control parameters.

8 MODE Quick set up parameters.

9 MODE Multi function I/O ( programmable Inputs/Outputs) Parameters.

10 Return to Drive status parameters.

11 MODE Drive status parameters again.

Once the first parameter in a parameter group is displayed use Increment or Decrement keys to
select the required parameter then use Enter key in order to view and alter the parameter setting,
once this is done then press Enter key again to save the change.
Notes: On each parameter display the first digit will be flashing, the enter key can be used
to move between digits.
Example procedures are shown below: -
Ex: Setting Speed Parameter Sn203 to 100rpm.
Step Key LED Display after Operation Description

1 Power On Display status of servo drive

2 MODE Press MODE-Key 6 times to select Sn 201

3 Press INCRMENT- Key twice Sn203 is displayed.

To view the Sn203 preset value by press ENTER-Key for 2

4
seconds

5 ENTER Shift to the second digit by press ENTER- Key once

3-2
Step Key LED Display after Operation Description

6 Shift to next Digit by press ENTER-Key once again

Change the digit preset value by press the DECREMET-Key

7
twice

To save the altered preset value, Press the ENTER- Key for 2
8 seconds until “SET”is displayed briefly and then display is
returned to parameter Sn203

Following example shows the sequence where a parameter preset value is displayed
When no change is made and it is skip back to the original parameter by pressing the Mode-Key.
Step Key LED Display after Operation Description

1 Power ON When power on drive status parameter will display

2 Pressing MODE-Key 6 times, Sn 201 will be displayed.

3 Pressing INCRMENT- Key twice Sn203 is displayed.

4 ENTER To view the Sn203 preset press ENTER-Key for 2 seconds.

No change is made and LED display return to last select parameter

5 Sn203, press MODE-Key once skip

Some of the data entry in this drive are in the format shown below, for these data the Most significant digit
will be shown by the Capital letter “H” as shown below.
Ex: Home search function in position mode Pn365 = 0212. Each digit of this preset for Pn365 parameter
defines a selection for a specific function.
Bit0 corresponds to a selection for parameter Pn 365.0 and bit1 setting for Pn 365.1 … etc.
Parameter Pn 365 Format for the 5 digits data value is shown below:

3-3
Display of Positive and Negative values:
Description of Positive/Negative Display Display of Positive Display of Negative

For negative numbers with 4 digits or less, the negative sign is 3000 -3000
displayed In the most significant digit as shown.
Ex: Sn201 (Internal Speed Command 1).

For negative numbers with 4 digits the negative sign is indicated by 30000 -30000
displaying all the 5 decimal points on the display.
Ex: Pn317(Internal Position Command 1- Rotation number)

Setting a negative value.

(1) If the negative value has 4 digits or less follow the steps in the example below:
Ex: Sn201(Internal speed command 1)= preset speed of 100 to –100 rpm.
Step Key LED Display after Operation Description
1 Power ON On” power on “ Drive Status parameter is displayed.

2 Pressing MODE-Key 5 times, Sn 201 will be displayed.

3 To view the Sn201 preset press ENTER-Key for 2 seconds.

To move to the most significant digit press the ENTER-Key

4 ENTER
4 times.

Use INCREMENT Or DECREMENT key until

5 or the minus sign ( _ ) is displayed. You can toggle between – and
+ by this key.

To save the altered preset value, Press the ENTER- Key for 2
6 ENTER seconds until “SET”is displayed briefly and then
display is returned to parameter Sn201.

3-4
If the negative value has 5 digits follow the steps in the example below:
Ex: Pn317 (internal position preset command 1) set to a negative value -10000 revolutions.
Step Control Keys LED Display after Operation Description
1 Power On On” power on “ Drive Status parameter is displayed.

Pressing MODE-Key 6 times, position parameter Pn 301 will

2 MODE
be displayed.

3 Use INCREMENT- Key to display Pn317.

4 ENTER To view the Pn317 preset press ENTER-Key for 2 seconds.

To move to the most significant digit press the ENTER-Key

5
4 times.
Press DECREMENT-Key once to set the most significant digit
6 To 1. And press the DECREMENT-Key once again.
All 5 decimal points will light up to indicate a negative number.

To save the altered preset value, Press the ENTER- Key for 2
7 seconds until “SET”is displayed briefly and then
display is returned to parameter Pn 317.

Alarm Reset from the Keypad.

All alarm displays can be cleared from the keypad without a need for an external Alarm clear (Reset) signal.

Ex. Under voltage Alarm AL-01.

Step Control Key LED Display after Opertion Description

1 Alarm Under voltage Alarm AL-01 is displayed.

To clear Alarm:-
Remove input contact SON (Servo On).
Then press INCREMENT-Key and DECREMENT-Key
2
at the same time.
The display will show RESET briefly and then returns back to
parameter display.

3-5
After Servo drive is power on, user can monitor status bit and status code on the display.
LED display for speed / torque control mode and position control mode has the different
definition, refer to following pages for detail.

(1) Speed and Torque Control Mode

Status bit Status code

Light up in
torque mode

BASE BLOCK

In Speed
Approach speed command
Approach torque command

Status code and status bit contents:

Status bit display and description

Status code
Indicator On Indicator Off
BASE BLOCK Servo Off status Servo On status
When motor speed greater than When motor speed less than the
In Speed (INS) the value of Cn007 (Speed value of Cn007 (Speed reached
reached preset) preset)
When speed command greater When speed command less than
Approach Speed
than the value of Cn007 (Speed the value of Cn007 (Speed
command
reached preset) reached preset)
Approach
When torque command greater When torque command less than
Torque
than 10% of the rate torque. 10% of the rate torque.
command

Status code Description

BASE BLOCK
Servo OFF status(when motor excitation is invalid)
The servo is under operation status.
Servo ON status( when motor excitation is valid)
CCW Operation limit
CCWL limit switch is active.
CW Operation limit
CWL limit switch is active.

3-6
(2) Position Control Mode:

Status code and status bit contents:

Status bit display and description

Status code
Indicator On Indicator Off
BASE BLOCK Servo Off status Servo On status
When Position pulse error value When Position pulse error value
In Position(INP) less than the value of Pn307 greater than the value of Pn307
(Position complete value) (Position complete value)
When speed command greater When speed command less than
In Speed (INS) than the value of Cn007 (Speed the value of Cn007 (Speed
reached preset) reached preset)
External Pulse When pulse input is exist. No external puluse input.
Reference Input
Pulse error amount Input contact CLR is active the Input contact CLR is not active.
clear pulse error value will be clear.

Status code Description

BASE BLOCK
Servo OFF status(when motor excitation is invalid)
The servo is under operation status. ( Run )
Servo ON status( when motor excitation is valid)
CCW Operation limit
CCWL limit switch is active.
CW Operation limit
CWL limit switch is active.

3-7
3-2 Signal Display
3-2-1 Status Display
Following parameters can be used to display drive and motor Status.

Parameter
Displayed Unit Description
Signal

Un-01 Actual motor speed rpm Actual Motor Speed is displayed in rpm.

It displays the torque as a percentage of the rated torue.

Un-02 Actual motor torque % Ex: 20 are displayed. It means that the motor torque output is 20% of
rated torque.

Un-03 Regenerative load ratio % Value for the processable regenerative power as 100% .

Un-04 Accumulated load ratio % Value for the rated torque as 100%.

Un-05 Max load rate % Max value appeared on accumulated load rate
Un-06 Speed command rpm Speed command is displayed in rpm.
Error between position command value and the actual position
Un-07 Position error counter value pulse
feedback.
Un-08 Position feedback pulse counter pulse The accumulated number of pulses from the motor encoder.
Un-09 External voltage command V External analog voltage command value in volts.
Un-10 Main circuit Vdc Bus Voltage V DC Bus voltage in Volts.
External speed limit command
Un-11 rpm Display external speed limit command value in rpm.
value
External CCW Torque limit Ex: Display 100. Means current external CCW torque limit command is
Un-12 %
command value set to 100 %.

External CW Torque limit command Ex: Display 100. Means current external CW toque limit command is set
Un-13 %
value to 100%.

Motor feed back – Rotation value

Un-14 rev After power on, it displays motor rotation number as an absolute value.
(absolute value)

Motor feed back – Less then 1 After power on, it displays the pulse number for less than a revolution of
Un-15 pulse
rotation pulse value(absolute value) the motor as an absolute value.

Pulse command – rotation After power on, it displays pulse command input rotation number in
Un-16 rev
value(absolute value) absolute value.

Pulse command – Less then 1 After power on, it displays pulse command input for less than a rotation.
Un-17 pulse
rotation pulse value(absolute value) pulse value is an absolute value.

It displays the torque command as a percentage of the rated torque.

Un-18 Torque command % Ex: Display. 50.Means current motor torque command is 50% of rated
torque.
When Cn002.2=0(Auto gain adjust disabled), it displays the current
preset load inertia ratio from parameter Cn025.
Un-19 Load inertia x0.1
When Cn002.2=1(Auto gain adjust enabled), it displays the current
estimated load inertia ratio.

3-8
3-2-2 Diagnostic function
Following diagnostics parameters are available:
Parameter
Name and Function
Signal
dn-01 Control mode display
dn-02 Output terminal status
dn-03 Input terminal status
dn-04 Software version (CPU version)
dn-05 JOG mode operation
dn-06 Reserve function
dn-07 Auto offset adjustment of external analog command voltag
dn-08 Servo model code
dn-09 ASIC software version display

dn-01 (Control Mode Display)

Access dn-01 to display the selected control mode.
Control mode display description is listed in the table below:
Control Mode dn-01 ( Control mode display)

Torque control－T

Speed control－S

Position control
(External pulse command)－Pe

Position/Speed control switch－Pe/S

Speed/Torque control switch－S/T

Position/Torque control switch－Pe/T

Position control
(Internal position command) －Pi

3-9
dn-02 (Output terminal status)
Use dn-02 to check the status of output terminals.
Output status display is described below:

When output terminal signal has a low logic level (close loop with IG24),
the corresponding LED will be on.
When output terminal signal has a high logic level (open loop with IG24),
the corresponding LED will be off.
Table below shows the functions of the digital outputs.
Default settings are shown below.
For programmable digital output list see section 5-6-1.

LED No. Output terminal number Default function

1 DO-1 RDY
2 DO-2 ALM
3 DO-3 ZS
Note: To set the logic state (High or Low) of for programmable digital outputs refer
to section 5-6-1.

3-10
dn-03 (Input terminals status)
Use dn-03 to check the status of Input terminals.
Digital Input status display is described below:

When Input terminal signal has a low logic level (close loop with IG24), the corresponding LED will be on.
When Input terminal signal has a high logic level (open loop with IG24), the corresponding LED will be off.
Table below shows the functions of the digital input.
Default settings are shown below.
For programmable function list see section 5-6-1.

LED Number Input terminal number Default function

1 DI-1 SON
2 DI -2 ALRS
3 DI -3 PCNT
4 DI -4 LOK
5 DI -5 SPD1
6 DI -6 TLMT

3-11
dn-04 (Version of Software)
Use dn-04 to view the current software version of the Servo drive.
Software version can be checked as below:
Step Keys LED Display Description
1 Power On On” power on Drive Status is displayed.

2 MODE Press MODE-Key twice to view diagnostics parameter dn-01.

3 Press INCREMENT-Key 3 times to display dn-04.

Press ENTER-Key for 2 seconds to view the software version.

4
(Software version: 2.30)

Press MODE-Key once to return to dn-04 and parameter

5
selection.

dn-05 (JOG Operation)

Use dn-05 to JOG the motor. Jog is activated by following the steps below:
Note: JOG speed is in accordance with setting of Sn201(internal speed command 1).
Ensure that the required speed is set in Sn201 before executing this function.
Warning: Motor will be agitated run as soon as JOG command is activated.
without the need for SON input (Servo On signal).

Step Key LED display Description

1 Power on On” power on Drive Status is displayed.

2 Press MODE-Key once to view diagnostics parameter dn-01.

3 Press INCREMENT-Key 4 times to display dn-5.

Press ENTER-Key for 2 seconds to enter JOG MODE.

4
Motor will power on immediately.
Press INCREMENT-Key, motor will run in the pre-defined
5
positive direction.
Press DECREMENT-Key, motor will run in the pre-defined
6
negative direction.
Press MODE-Key once to return to dn-05 and parameter
7 MODE selection.
Motor stoped the excitation immediately.

3-12
dn-07 (Auto offset adjustment of external analog command voltage)
If the external torque or speed analog command is set to 0V and the motor is rotating slowly,
this is due to analog input zero offset, use dn-07 to auto adjust this offset and stop the motor rotating.
Follow the steps below:

Step Key LED Display Description

Insert a link between analog command terminal SIN(CN1-26) and Analog Ground terminal
1
AG(CN1-29) before proceeding.

2 Power on On” power on “ Drive Status is displayed.

3 Press MODE-Key twice into diagnostics parameter dn-01.

4 Press INCREMENT-Key 6 times to display dn-7.

5 Press ENTER-Key for 2 seconds to enter dn-07

Press INCREMENT-Key once to set to 1

6
(Enable auto offset adjustment).

To save the altered preset value and activate auto offset adjust,
Press the ENTER- Key for 2 seconds until “SET”is displayed
briefly and then display is returned to parameter dn-07.
7 To save this offset value, please select parameters Tn104 or
Sn217 as required and press the ENTER-Key.
Tn107 for analog torque command.
Sn217 for analog speed command.

3-13
dn-08 (Servo motor Model Code display)
Use dn-08 to display servo motor code and check the servo drive and motor compatibility according to the table
below.
If the dn08 preset is not according to the list below then contact your supplier.
The motor model code is stored in parameter Cn30.
dn-08 Display
Cn030 Setting Motor Standards Encoder
Drive Model Motor Model
Watt Speed
(W) (rpm) Specification

H0000 5CB12 120 3000 2500

H1011 TSC04051 50 3000 2500
H1021 TSTE10 TSC04101 100 3000 2500
H0030 6CC201 2000
200 3000
H1043 TST06201 2500
H0120 7CB30 2000
300 3000
H0121 TSB07301 2500
H0130 6CC201 2000
200 3000
H1133 TSTE15 TST06201 2500
H0140 6CC401 2000
H1141 TSC06401 400 3000 2500
H1143 TST06401 2500
H0210 8CB75 2000
750 3000
H0211 TSB08751 2500
H0220 6CC401 2000
H1221 TSC06401 400 3000 2500
H1223 TST06401 2500
H0230 TSTE20 8CC751 2000
750 3000
H1233 TST08751 2500
H0240 3MB055A 2000
1000
H0241 TSB13551A 2500
550
H0250 3MB055H 2000
1500
H0251 TSB13551H 2500
H0310 8CC751 2000
750 3000
H1313 TST08751 2500
H0320 3MB100A 2000
1000
H0321 TSB13102A 2500
H0330 TSTE30 3MB100B 2000
2000
H0331 TSB13102B 1000 2500
H0340 3MB100H 2000
1500
H0341 TSB13102H 2500
H0351 TSB13102C 3000 2500

3-14
Chapter 4 Trial Operation
Before proceeding with trial run, please ensure that all the wiring is correct.
Trial run description below covers the operation from keypad and also from an external controller such as a PLC.
Trial run with external controller speed control loop (analog voltage command) and position control loop
(external pulse command).

(1) No-load servo motor.

A. Servo Drive wiring and motor installation B. Purpose of trial run

Confirm if the items below are correct:

．Drives power cable wiring
．Servo Motor wiring
．Encoder wiring
．Setting servo motor rotation direction and speed

(2) No-load servo motor with a host controller. Trial run (Reference:4-2)

A. Servo drive wiring and motor installation B. Purpose of trial run

Confirm if the items below are correct:

．Control signal wiring between host controller and servo
drive.
． Servo motor rotation direction, speed and rotating
number .
．Brake function, operation limit function and protection
function.

(3) Servo motor connected to load and controlled by a host controller.

A. Servo drive wiring and motor installation B. Purpose of trial run

Power Wining

Connect to Confirm if the items below are correct:

Host Controller
．Servo motor rotation direction, speed and
mechanical operation range.
．Set related control parameters.

SV-Motor Motion Table

4-1
4-1 Trial Operation Servo motor without Load
To carry out a successful trial run follow the steps below and ensure that drive wiring is correct and as specified.

Warning!

In order to prevent potential damage,prior to trial run ensure that the driven
mechanism, couplings and belts etc are disconnected from the motor.

1. Installation of servo motor.

Ensure that the motor is installed securely so that there is no movement and vibration during trial run.
2. Wiring.
Check servo drive, motor power connections and motor encoder connection.
No control signal wiring is required of this stage thus remove connector (CN1) from the servo drive.
3. Servo drive power.
Apply power to servo drive. If the display shows any Alarm message such as graph below then refer to Alarm
contents of chapter 8 to identify the cause.

AL-14 is caused by Input terminals CCWL (Counter clockwise Limit) and CWL (Clockwise Limit)
being activated at the same time.
See (the default setting of high or low input logic state according to the description in section 5-6-1 ).
Because of the alarm, the servo can not operate normally.
Set the parameter Cn002.1=1 to disable the drive limit function temporarily during trial run period.

4-2
Steps for setting parameter Cn002.1 ( CCWL &CWL Rotation limit selection).
Setp Keys LED Display Description

1 Power on On” power on “ Drive Status is displayed.

2 MODE Press MODE-Key 4 times to display Cn001.

3 Press INCREMENT-Key once to display Cn002.

Press ENTER-Key for 2 secs to display the preset value of

4 ENTER Cn002. Note: Cn 002 includes 4 digits corresponding to
Cn002.0,Cn002.1,Cn002.2 & Cn002.3.

5 Press ENTER-Key once to move to the 2nd digit for (Cn 002.1).

Press INCREMENT- Key once to adjust the 2nd digit to 1.

6
Disable the function of external limits CCWL and CWL.

To save the setting value by

7 ENTER Press the ENTER- Key for 2 seconds until “SET”is displayed
briefly and then display is returned to parameter Cn-002.

After accomplish these steps, reset the power. If there are any other alarms then
refer to section 8-2 (Clearing Alarms). Once there is no alarms then operate the drive again.
If any of the alarms can not be cleared, please contact your local supplier for assistance.

4. Mechanical Brake Release.

When a brake type servo motor is used then must release the brake before starting trial run
by applying 24vdc voltage to brake terminals.

5. Keypad Trial run (JOG function).

Jog function can be used to check if motor speed and rotation direction is correct.
Parameters Sn 201(internal speed command 1) and Cn004 (motor rotation direction selection)
Can be used to set the required speed and direction.
Warning!
Set the required JOG speed before the trial run otherwise the motor will run at the default speed set in
parameter Sn201(internal speed command 1).

Warning!
Regardless of external SON (servo on) is active of not, Servo motor will get excitation as soon as JOG is
activated.

4-3
Steps for setting JOG function:

Step Keys LED Display Description

1 Power on On” power on “ Drive Status is displayed.

2 Press MODE-Key twice to view diagnostics parameter dn-01.

3 Press INCREMENT-Key 4 times to display dn-5.

Press ENTER-Key for 2 seconds to enter JOG MODE.

4
Motor will power on immediately.
Press INCREMENT-Key, motor will run in the pre-defined
5
positive direction.
Press DECREMENT-Key, motor will run in the pre-defined
6
negative direction.
Press MODE-Key once to return to dn-05 and parameter
7 MODE selection.
Motor power will be turned off immediately.

4-4
4-2 Trial Operation for Servo motor without Load from Host Reference
Check and ensure that all power connections to the drive and motor and control signal connection between
the host controller and the drive are correct.Motor must be mechanically disconnected from the load.
Following section describes the trial run when using a host controller such as a PLC.
Two trial runs have been discussed. Speed control mode ( Section B) and Position control mode ( Section C).
Section A shows the connections and SON signal (servo on) requirements for both trial runs.

A. Launching Servo motor

Example wiring diagram:

Speed Control(Cn001=1) Position Control(Cn001=2)

a. Disable Analog Input command terminals.

Speed control mode: Link analog input terminal SIN to 0V terminal (AG).
Position control mode: Link external pulse command terminals “Pulse” to ”/Pulse” and “Sign” to
“/Sign”.

b. Enable Servo ON Signal

Connect SON terminal to IG 24 (0V) terminal (Digital Ground).
On drive power up servo will be turned on. Now check for any Alarms. If any alarms then refer to
Chapter 8-2 for how to reset the Alarms.

4-5
B. Trial run in Speed control mode(Cn001=1).
1. Wiring check:
Check and ensure that all power cable and control signal connections are correct as shown below.
To be able to adjust the speed for test connect a potentiometer between terminals SIN (analog input voltage)
and AG (Analog Ground). Set the analog input voltage to 0V. (No speed reference).

2. Apply Servo on.

Apply power to the drive and activate (SON) signal by switching SON terminal to IG24 (input digital Ground).
If the motor rotates slowly, while the speed analog input voltage is 0 volts
then use dn-07 function to auto offset adjustment for the analog input value. (refer to section 3-2-2).
3. Check the relationship between motor speed and the analog input speed command.
Increase the analog speed input voltage gradually (by potentiometer) and monitor the actual motor speed by
parameter Un0-01.
Check if motor rotation direction is correct and if necessary set it by parameter Cn004.
Check for correctness of analog speed command ratio in relation to the preset in parameter (Sn216) and
analog speed command limit as set in parameter (Sn218).
Finally, switch off SON signal (turn off the servo motor).
4. Connection with a host controller.
Check and ensure that the wiring for the servo drive and host controller, speed analog signal input (SIN), and
encoder output (PA, /PA, PB, /PB, PZ, /PZ) are all correct and according to the diagram below:

5. Confirm the rotation number and encoder output of Servo Motor.

Use parameter Un-14 to check if the Motor feed back (number of revolutions) per minute is correct and the
same as number of revolutions sent by the host controller.
If there is any difference then check and make sure that parameter Cn005 ( Encoder ppr) is set correctly.
Once this is complete remove SON signal to switch off power to the motor.

4-6
C. Position control mode trial run (Cn001=2).
1. Wiring:
Check and ensure that all power connections to the drive and motor and control signal connections are
correct as diagram below.
Servo Driver
IP24
CN1-8
R
DICOM
CN1-17

SON
CN1-1 Servo Motor
CCWL CN1-2

CWL CN1-3

IG24
M
CN1-24
Pulse
CN1-4
/Pulse
CN1-5
Sign
CN1-6
/Sign
CN1-7

2. Setting electronic gear ratio.

Set electronic gear ratio parameters Pn302~Pn306 as required for the positioning application.
(refer to section 5-4-3).
Note: Electronic gear ratio parameter can be used to scale the command output pulse.
This would be useful in transmission applications where move distance per move command pulse
has to be scaled due to mechanical requirements.
3. Apply Servo on.
Apply power to the drive and activate (SON) signal by switching SON terminal to IG24 (input digital Ground).
4. Confirm motor speed, direction and number of revolutions.
Apply a low-speed pulse command from the host controller to the servo drive so that the servo motor
operates at low-speed.
Compare the number of pulses per revolution from parameters Un-15 ( motor feed back pulse ppr)
and Un-17 (Input command ppr) these should be the same.
Compare the number of revolutions using parameters Un-14 ( motor feed back rotation number) and
Un-16 (pulse command rotation number) these should be the same.
If there are differences then adjust electronic gear ratio parameters Pn302~Pn306 as required and test
again until the result is satisfactory.
If the direction of motor rotation is incorrect then check and if necessary set parameter Pn 301.0
(position pulse command types).
Also check and if necessary set parameter Pn314 (Position command direction selection).
Once the test result is correct then remove SON signal. (Power to the motor is switched off).

4-7
4-3 Trial Operation with the Servo motor Connected to the Machine

Servo drive parameters must be set correctly otherwise damage to machinery and potential injury
may result.
Do not close to the machine after temporary power loss, the machine may restart unexpected.

Please take the measures highlighted in the section below before trial run with load.
Consider the Mechanical system requirements and set the parameters appropriate for control by the host
controller.
Ensure that the rotation direction and speed are suitable for the Mechanical system.

Steps required for Trial run.

1. Ensure that the ServoDrive Power is off.
2. Connect the servo motor to the load shaft.
Refer to Chapter 1-5 to check the installation guidelines for the servo motor.
3. Gain adjustment for the servo control loop.
Refer to Chapter 5-5 for details.
4. Trial run with a host controller.
Run command is to be signaled by the host controller.
Refer to Chapter 4-2 to choose the required trial run mode (Speed control or position control modes)
according to the application and set and adjust the parameters if necessary for the application.
5. Repeat adjusting and record the set parameter values.
Repeat steps 3 and 4 until the mechanical system is operating satisfactorily then
record the Gain value and the parameters changes for the future use.

4-8
 Chapter 5 Control Functions

5-1 Control Mode Selection

There are three control modes in the servo drive, torque, speed and position modes can be selected
individually or as a combination according to the selection table below:
Setting Control
Parameter Setting Description Default Unit
Range Mode
Torque control
0 To use one analog voltage command signal to control
torque. Please refer to 5-2.
Speed control
1 Input contacts SPD1 and SPD2 can be used to select 4
-steps of speed. Please refer to section 5-3-1.
Position control (External pulse command)
Four separate selectable pulse command types are
2
possible to control position. Please refer to section
5-4-1.
Position / Speed control switch 0
★ Cn001 3 Input contact MDC can be used to switch between 2 X │ ALL
position & speed control. Please refer to section 5-6-2. 6
Speed / Torque control switch
4 Input contact MDC can be used to switch between speed
& torque control. Please refer to section 5-6-2.
Position / Torque control switch
5 Input contact MDC can be used to switch between
position & torque control. Please refer to section 5-6-2.
Position control (internal position command)
Input contacts POS 1~POS 4 can be used to select 16
6
programmable preset position commands to control
position. Please refer to 5-4-2.
　New setting will become effective after re-cycling the power.

5-1
5-2 Torque mode
Torque mode is used in applications such as printing machines, coil wiring machines, injection molding
machines and specific application that requiring torque control.
Diagram below shows the torque control process diagram.

Analog voltage torque command is applied to the drive input terminals as shown below:

Caution!
Care should be taken in selection of required torque direction CW/CCW.
Please refer to Chapter 5-2-4.

5-2
5-2-1 Analog Torque command Ratio.
Analog torque command ratio can be used to adjust the relationship between
Input voltage torque command and actual torque command.
Setting Control
Parameter Name Default Unit
range Mode
Analog torque command ratio
Tn103 Slope of voltage command / Torque command can 300 %/10V 0~300 T
be adjusted.

Setting example: refer to the following diagram.

1. With Tn103 set to 300, a torque command input voltage of 10V, corresponds to
300% of rated torque. For input voltage of 5V, actual torque command will be 150% of rated torque.
2. With Tn03 set to 200 , a torque command input voltage of 10V, corresponds to
200% of rated torque. For input voltage of 5V, actual torque command will be 100%.

300

Torque 200
Command (%)
100
-10 -5
5 10
Input Voltage (V)
-100

-200

Slope is set by Tn103

-300

5-3
5-2-2 Adjusting the analog torque command offset
For a torque command of 0V, motor could possibly be rotating slowly.
To rectify this effect by adjust offset value in parameter Tn104 or use auto offset adjust feature.
(Please refer to section 3-2-2).

Note : To check and set the offset to zero, insert a link between analog torque command contact
SIN(CN1-26) and analog ground contact AG (CN1-29).

Control
Parameter Name Default Unit Setting range
mode
Analog torque command offset
Tn104 The offset amount can be adjusted by this 0 mV -10000~10000 T
parameter.

Input Voltage (V)

Bias Voltage

Torque Command (%)

5-4
5-2-3 Torque command linear acceleration and deceleration
A smooth torque command can be achieved by enabling acceleration/Deceleration parameter Tn101.

Setting Control
Parameter Name Default Unit
Range mode
Linear acceleration/ deceleration method
0
★ Tn101 Setting Explanation 0 X │ T
0 Disabled. 1
1 Enabled.
Torque command acceleration/deceleration time,
is the time taken for the torque to rise from zero to the required level by Tn102.
As per diagram below:-
Setting Control
Parameter Name Default Unit
Range mode
Linear acceleration /deceleration time period
★ Tn102 Time taken for the torque-command to linearly 1 msec 1~50000 T
accelerate to the rated torque level or Decelerate
to zero torque .
　New setting will become effective after re-cycling the power.
Torque Command

Rated Torque
Command

Required Torque
Command

Tn102 Time (ms)

Setting examples:
(1) To achieve 50% of rated torque output in 10msec:
100%
Tn102 = 10(msec) × = 20(msec)
50%
(2) To achieve 75% of rated torque output in 10msec:
100%
Tn102 = 10(msec) × = 13(msec)
75%

5-5
5-2-4 Definition of torque direction
In torque mode, torque direction can be defined by one of the following three methods.
(1) Input contacts RS1, RS2. (torque command CW/CCW selectable by programmable input)
(2) Parameter Cn004. (motor rotation direction )
(3) Input contact TRQINV. (reverse torque command)
Caution !
All 3 methods can be active at the same time.
User must ensure that correct selections are made for these three selections.
Input Contact Control
Description
RS2 RS1 mode
0 0 Zero torque
Rotation in the current torque command
0 1
direction T
1 0 Reverse the current torque command direction
1 1 Zero torque
Note: RS2 and RS1 contact status “1” (ON) and “0” (OFF).
Please check 5-6-1 to set the required high /Low signal levels ( PNP/NPN) .

Setting
Control
Parameter Name Default Unit
Range mode
Motor rotate direction.(Inspect from the load side)
CCW CW

When Torque or Speed Command value is Positive, the

setting of Motor retation direction are:
Explanation
Setting
Explanation Explanation
0
Counter Counter S
Cn004 0 0 X │
ClockWise (CCW) ClockWise (CCW) T
3

Counter
1 ClockWise (CW)
ClockWise (CCW)

Counter
2 ClockWise (CW)
ClockWise (CCW)

3 ClockWise (CW) ClockWise (CW)

Input contact TRQINV Description Control

mode
0 Rotation in current torque command direction
T
1 Reverse torque command direction
Note: Input contacts status “1” (ON) and “0” (OFF).
Please refer to 5-6-1 to set the required high /Low signal levels ( PNP/NPN) selection.

5-6
5-2-5 Internal Torque Limit
In torque Control mode, user can set internal torque limit values as required.
Set as below:-
Setting Control
Parameter Name Default Unit
range mode
CCW Torque command limit
Cn010 Ex: For a torque limit in CCW direction which is 300 % 0~300 ALL
twice the rated torque , set Cn10=200.
CW Torque command limit
Cn011 Ex: For a torque limit in CW direction which is -300 % -300~0 ALL
twice the rated torque , set Cn11=-200.

5-2-6 Limiting Servomotor Speed during Torque Control

In torque control, input contacts SPD1 and SPD2 can be used for selecting one of the two
methods below for setting speed limits.
(1) External Analog command ( Default) Signal is applied to terminals PIC & AG ( pins 27& 29 on CN1)
(2) Selection of Three presentable Limits (Tn105~Tn107) according to the table below.
Caution! For achieving smooth speed response please refer to section 5-3-6.
Control
Input contact SPD2 Input contact SPD1 Speed limit command
mode
External analog
0 0 command
PIC(CN1-25)
Internal speed limit1
0 1
Tn105 T
Internal speed limit2
1 0
Tn106
Internal speed limit3
1 1
Tn107
Note: Input contacts status “1” (ON) and “0” (OFF).
Please check 5-6-1 to set the required high /Low signal levels ( PNP/NPN) selection.

Below is the external analog speed limit command wiring diagram:

Drive

PIC
CNI-25
Analog Speed
Limit Input AG
(0~10V) CNI-13

FG

5-7
 Internal presentable speed limit parameters for torque control mode are listed below:
These preset limits apply to both CW & CCW directions.
Setting Control
Parameter Name Default Unit
range mode
Preset Speed Limit 1
In Torque control, input contacts SPD1 and SPD2 can be
used to select Preset speed limit 1. As follows:

Tn105 Input Contact SPD2 Input Contact SPD1 100 rpm 0~3000 T
0 1

Note: Input contacts status “1” (ON) and “0” (OFF).

Refer to 5-6-1 to set high or low input logic levels.
Preset Speed Limit 2
In Torque control, input contacts SPD1 and SPD2 can be
used to select Preset speed limit 2. As follows:
Tn106 200 rpm 0~3000 T
Input Contact SPD2 Input Contact SPD1
1 0
Note: Input contacts status “1” (ON) and “0” (OFF)
Refer to 5-6-1 to set high or low input logic levels.
Preset Speed Limit 3
In Torque control, input contacts SPD1 and SPD2 can be
used to select Preset speed limit 3. As follows:
Tn107 300 rpm 0~3000 T
Input Contact SPD2 Input Contact SPD1
1 1
Note: Input contacts status “1” (ON) and “0” (OFF)
Refer to 5-6-1 to set high or low input logic levels.
P.S also refer to page 6-11 for detail.

5-8
5-2-7 Additional torque control functions
Torque Output Monitor
When the torque level in CW or CCW directions becomes greater than the value set in
Tn108 (torque level monitor value), the output contact INT is active.
Setting Control
Parameter Name Default Unit
range mode
Torque output monitor value
Tn108 When the torque level in CW or CCW direction become 100 % 0~300 ALL
greater then this value setting, the output contact INT is
active.

Torque
Tn108
Torque output
monitor level

1
INT output contact
logic state 0

Note: Input contacts status “1” (ON) and “0” (OFF).

Please check 5-6-1 to set the required high /Low signal levels (PNP/NPN) selection.

Torque Smoothing Filter

Torque vibration can be diminution by setting an appropriate value in Cn034 (Torque command smoothing
filter), In the other hand, this will cause a delay in the response time of the torque loop.

Setting Control
Parameter Name Default Unit
range mode
Torque command smoothing filter
Cn034 Restrain sharp vibration noise by the setting and this filter 0 Hz 0~1000 ALL
delay the time of servo response.

5-9
 5-3 Speed Mode
Speed Mode is necessary for applications that require precisely speed control, such as weaving, drilling
and CNC type machines.Diagrams below shows the speed control system in two parts.
First stage shows Speed processing and conditioning and the second stage shows the Speed controller
With PI/P control modes, and controller1&2 selection and interface with torque control stage.

Speed Command Processor

Once Smooth
AC/deceleration
Analog Speed Command Ratio Analog Speed Command Limit Speed
Sn206 Rotating Direction

Host Controllor A/D Sn216 Sn217 Sn218

Linear Cn004
AC/deceleration Speed Controller
Input Contact
Bias Adjusting SPDINV

Speed Feed Back

Sn208~Sn210
Cn005 Sn201~Sn203

Encoder Signal Internal Speed Command S-Curve

Encode-ratio Output AC/deceleration

Sn205

AC/deceleration Method

Speed Controller
Analog Torque Limit
A/D

Speed Controller 1
Analog Torque Limit
Sn211, Sn212
Speed Command Resonance filter
Torque Control
From Speed Loop
Cn013, Cn014
Processor
Internal Torque
Speed Controller 2
Limit
Speed Sn213, Sn214 Cn010, Cn011
Feed Back
Smooth Filter
Cn032
Gain switch method Input Contact
Cn015~Cn024
Speed Feed Back

5-10
5-3-1 Selection for speed command
In Speed control, input contacts SPD1 and SPD2 can be used for selecting one of the two methods below
for setting speed limits.
(1) External Analog command (Default) : Analog signal is input from terminals SIN & AG (pins 12& 13 on
CN1)
(2) Internal speed command: Selection of Three presentable Limits according to the table below.
.
Control
Input Contact SPD2 Input Contact SPD1 Speed Command
Mode
External analog command
0 0
SIN(CN1-12)
Internal speed command 1
0 1
Sn201
S
Internal speed command 2
1 0
Sn202
Internal speed command 3
1 1
Sn203
Note: Input contacts status “1” (ON) and “0” (OFF).
Please check 5-6-1 to set the required high /Low signal levels (PNP/NPN) selection.

Diagram below shows the external analog speed command wiring:

Internal presetable speed limit parameters for speed command mode are listed below:
These preset limits apply to both CW & CCW directions.

Setting Control
Parameter Name Default Unit
range mode
Sn201 Internal speed command 1 100
-3000~3
Sn202 Internal speed command 2 200 rpm S
000
Sn203 Internal speed command 3 300

5-11
5-3-2 Analog speed command Ratio
Analog speed command ratio can be used to adjust the relationship between
Input voltage speed command and actual speed command.
Setting Control
Parameter Name Default Unit
range mode
Analog speed command ratio
Sn216 Slope of voltage command / Speed command 3000 rpm/10V 100~4500 S
can be adjusted.
Setting Example:
(1) With Sn216 set to 3000, a speed command input voltage of 10V, corresponds to
3000rpm; for an input voltage of 5V speed command will be 1500rpm.
(2) With Sn216 set to 2000, a speed command input voltage of 10V, corresponds to 2000rpm,
for an input voltage of 5 volts speed command will be 1000rpm.

5-3-3 Adjusting the analog reference offset

For a speed command of 0V, motor could possibly be rotating slowly.
To rectify this effect by adjusting offset value manually in parameter Sn217 or use auto offset adjust feature.
(Please refer to section 3-2-2).
Note : To check and set the offset to zero, insert a link between analog torque command contact
SIN(CN1-12) and analog ground contact AG (CN1-13).

Setting Control
Parameter Name Default Unit
range mode
Analog speed command offset adjust
-10000~
Sn217 The offset amount can be adjusted by this 0 mV S
10000
parameter.

5-12
Refer to the following diagrams:

Input Voltage (V) Input Voltage (V)

Bias Voltage
Bias Voltage Adjusting Value

Speed Command(rpm) Speed Command(rpm)

5-3-4 Analog reference for speed command limit

A maximum limit for analog speed can be set by Sn218.
Setting Control
Parameter Name Default Unit
range mode
Analog speed command limit
Rate rpm
Sn218 Setting Sn218 for limit the highest speed rpm 100~4500 S
x 1.02
command of analog input.

5-3-5 Encoder Signal Output

Servo motor encoder pulse signal can be output to a host controller to establish an external control loop.

Set the required encoder Pulse Per Revolution (PPR) in parameter Cn005.

Default output value is the actual encoder PPR.

5-13
 Setting Contro
Parameter Name Default Unit
range l mode
Encoder pulse
output scale
For default set to the rated encoder number of pulses
per revolution, such as 2500ppr. 1
★Cn005 Encoder ppr can be scaled by setting a ppr in the range 1 X │ ALL
of 1 to the rated ppr of the encoder for scaling purpose. 63
PPR = Pulse per revolution.
Ex:encorder rated precision is 2000 ppr, If you
setting Cn005 =2, the output is 1000ppr.
　New setting will become effective after re-cycling the power.
Encoder pulse output terminal description:
Pin NO. of Control
Pin Name
CN1 mode

PA Encoder pulse output A Phase signal CN1-21

/PA Encoder pulse output /A Phase signal CN1-09

PB Encoder pulse output B Phase signal CN1-22

ALL
/PB Encoder pulse output /B Phase signal CN1-10

PZ Encoder pulse output Z Phase signal CN1-23

/PZ Encoder pulse output /Z Phase signal CN1-11

90 90

PA PA

PB PB

PZ PZ

TIME TIME

5-14
5-3-6 Smoothing the speed command
Sn205 can be used to eliminate speed overshoot and motor vibration by selecting one of the
acceleration /deceleration methods which is suitable for the application from the table below.
Setting Control
Parameter Name Default Unit
Range mode
Speed command accel/decel smooth method.

Setting Explanation

0 Disable this function. 0

Sn205 Smooth Acceleration/deceleration according 0 X │ S
1 3
to the curve defined by Sn206.
Linear accel/decel time constant .Defined by
2
Sn207
S curve for Acceleration/deceleration. Defined
3
by Sn208.

Above three methods of Acceleration/deceleration are described below.

(1)Speed command smooth ac/deceleration:
Set Sn205=1 to enable the use of speed command smooth acceleration/deceleration function.
Setting Control
Parameter Name Default Unit
range mode
Speed command smooth accel/decel time Constant
Sn206 Set Sn205=1 to enable this function then set the time 1 msec 1~10000 S
period for the speed to rise to 63.2% of the full speed.

Smooth acceleration/deceleration time corresponds to the time in which the speed command increases from 0 to
63.2% as shown in diagram below.

5-15
 Setting example:
(1) To achieve 95% of speed command output in 30msec:

30(msec)
Set Sn206 = = 10(msec)
- ln(1- 95%)
(2) To achieve 75% of speed command output in 30msec:
30(msec)
Set Sn206 = = 22(msec)
- ln(1 - 75%)
ln= Natural log

(2)Speed command linear acceleration/deceleration function:

Set Sn205=2 to enable the use of speed command linear acceleration/deceleration function.
Setting Control
Parameter Name Default Unit
range mode
Speed command linear accel/decel time constant
Sn207 Set Sn205=2 to enable this function then set the 1 msec 1~50000 S
time period for the speed to rise linearly to full
speed.

Linear acceleration/deceleration time corresponds to the time in which the speed increases (linearly)
from zero to the rated speed. As shown in the diagram below.

Speed Command

Rated Speed Command

Current Speed Command

Sn207 Time(ms)

Setting examples:
(1) To achieve 50% of rated speed output in 10msec:
100%
Set Sn207 = 10(msec) × = 20(msec)
50%
(2) To achieve 75% of rated speed output in 10msec:
100%
Set Sn207 = 10(msec) × = 13(msec)
75%

5-16
S-Curve Speed Command Acceleration/Deceleration:
Set Sn205=3 to enable the use of S-Curve speed command ac/deceleration function.

Setting Control
Parameter Name Default Unit
range mode
S-Curve speed command accel/decel time setting
Set Sn205=3 to enable this function.
In the period of Accel. and Decel. , drastic speed
changing might cause vibration of machine. S curve
Sn208 speed command Accel. and Decel. time setting has the 1 msec 1~1000 S
effect to smooth Accel. and Decel. curve.
ta t
Rule for the setting： > ts ， d > ts
2 2
S-Curve speed command acceleration time setting
Sn209 200 msec 0~5000 S
Refer Sn208
S-Curve speed command deceleration time setting
Sn210 200 msec 0~5000 S
Refer Sn208

In applications where normal acceleration/deceleration on ramp up or ramp down bring in vibration of the
mechanical
system. S- curve acceleration/deceleration parameters could help to reduce vibration as diagram below:

Speed Command (rpm)

ts=Sn208
ta=Sn209
td=Sn210

ts ts ts ts
Time (ms)
ta td

ta t
Caution! Setting Rule: > ts ， d > ts
2 2

5-17
 5-3-7 Setting rotation direction
Motor rotation direction in speed mode can be set by parameter Cn004 (Motor rotation direction)and input
contact SPDINV according to the tables below.
Caution!
Both methods can be operated at the same time.
Ensure that these parameters are set correctly for the required direction.
Setting Control
Parameter Name Default Unit
Range mode
Motor rotation direction (observation from load side).

CCW CW

Explanation
setting 0
Cn004 Torque control Speed control 0 X │ S/T
3
0 Counter Colckwise (CCW) Counter Colckwise (CCW)

1 Colckwise (CW) Counter Colckwise (CCW)

2 Counter Colckwise (CCW) Colckwise (CW)

3 Colckwise (CW) Colckwise (CW)

Input contact Control

Description
SPDINV mode

0 Rotation by speed command direction.

S
1 Rotation by reverse speed command direction.

Note: Input contacts status “1” (ON) and “0” (OFF).

Please check 5-6-1 to set the required high /Low signal levels (PNP/NPN) selection.

5-18
5-3-8 Speed Loop Gain
In speed mode there are two speed controller loops,
with separate Gain ( P) and Integral (I) functions.
Speed controllers 1 or 2 can be selected by setting one of the multi- function input terminals,
to selection G-SEL or by setting one of the parameters Cn20-Cn24 as required.
Please refer to section 5-3-11 section B for more details.

Setting Control
Parameter Name Default Unit
range mode
Speed loop gain 1
Speed loop gain has a direct effect on the frequency
response bandwidth of the Speed-control loop. Pi
Sn211 Without causing vibration or noise Speed-loop-gain can 40 Hz 10~450 Pe
be increased to obtain a faster speed response. S
If Cn025 (load Inertia ratio) is set correctly, the
speed-loop-bandwidth will equal to speed-loop-gain.
Speed loop integral time 1
Speed loop integral element can eliminate the steady
speed error and quick response for speed variations.
Pi
Decreasing Integral time can improve system rigidity. x0.2
Sn212 100 1~500 Pe
The formula below shows the relationship between ms
S
Integral time and Speed loop Gain.
1
SpeedLoopI ntegration TimeCons tan t ≥ 5 ×
2π × SpeedLoopG ain
Speed loop gain 2 Pi
Sn213 40 Hz 10~450 Pe
Refer to Sn211
S
Speed loop integral time constant 2 Pi
x0.2
Sn214 100 1~500 Pe
Refer to Sn212 ms
S
Diagram below shows the speed controller.
Setting a high speed loop gain or a lower speed loop integral time provides a faster speed control response
time.
For more details refer to section 5-5.

1
Kv 1
TiS
Kv: Speed Loop Gain (Hz)
Ti: Speed Loop Integral
Time Constant (sec)

5-19
5-3-9 Notch Filter
The function of the Notch filter is to suppress mechanical system resonance.
Resonance occurs due to low mechanical system rigidity (high springiness) of transmission systems used
with servo motors such as couplings, bearings, lead screws, etc.
Enter the mechanical system vibration (resonance frequency) in parameter Cn013 (Notch Filter frequency)
and adjust Cn014 to set the filter bandwidth scaling factor.
Lower the setting of Cn014 value, wider is the notch filter frequency bandwidth. The adjustment required
depends on the application.
Caution!
If Cn013 is set to “0” the Notch filter is disabled.
Setting Control
Parameter Name Default Unit
range mode
Frequency of resonance Filter (Notch Filter).
Cn013 Enter the vibration frequency in Cn013, to eliminate 0 Hz 0~1000 Pi/Pe/S
system mechanical vibration.
Band Width of the Resonance Filter.
Cn014 Adjusting the band width of the frequency, lower the 7 X 1~100 Pi/Pe/S
band width value in Cn014, restrain frequency Band
width will be wider.

5-20
 Gain The Response Line for Resonance

Gain After adding Notch Filter

Resonant Frequency Frequency

Gain Response Line for Notch Filter

Q1 Q2
Frequency
Q3

5-21
Q1>Q2>Q3
Cn014(Notch Filter-Quality Factor)

Cn013 Frequency
(Notch Filter-Frequency
5-3-10 Torque limit of speed control mode
In speed mode, the motor torque limit input contact TLMT could be used to select one of the two methods
below:
(1) Internal toque limit: Using default Cn010 (CCW Torque command limit ) and Cn011(CW Torque
command limit ).
(2) External analog command: Using two separate analog voltage command signals at input terminals
PIC(CN1-27) to limit CCW torque and NIC(CN1-28) to limit CW torque.
As shown in the table below:

Input contact CCW torque command limit CW torque command limit Control
TLMT source source mode

0 Cn010 Cn011 ALL

External analog command External analog command
1 Pi/Pe/S
PIC(CN1-25) PIC(CN1-25)
Note: Input contacts status “1” (ON) and “0” (OFF).
Please check 5-6-1 to set the required high /Low signal levels (PNP/NPN) selection.

Caution!
To use external analog torque command limit , If analog torque command limit is greater than
internal torque command limit, the internal torque command limit has the priority over external
analog torque command limit.

Internal Torque command limit is set as below.

Setting Control
Parameter Name Default Unit
range mode
CCW torque command limit
Cn010 Ex: For a torque limit in CCW direction which is twice 300 % 0~300 ALL
the rated torque , set Cn10=200.
CW torque command limit
Cn011 Ex: For a torque limit in CW direction which is twice the -300 % -300~0 ALL
rated torque , set Cn11=-200.

The diagram below shows the external analog torque limit command wiring:
Drive

PIC
CN1-25
Analog Speed
Limit Input
(0~10V) AG
CN1-13

FG

5-22
5-3-11 Gain Switched
PI/P control mode selection (Section A)
Automatic gain 1& 2 switch (Section B)
The selection of PI/P control mode switch and Automatic gain 1 & 2 switch by parameters or from input
terminals can be used in following conditions.
(1) In speed control, to restrain acceleration/deceleration overshooting.
(2) In position control, to restrain oscillations and decrease the adjusting time.
(3) To decrease the possible noise caused by using Servo Lock function.

(A) Switching between PI/P Control modes

Switch over from PI to P mode is determined by setting of parameter Cn015.0 and according to
the selection options below:

Setting Control
Parameter Name Default Unit
Range mode
PI/P control switch mode.

Setting Description
Switch from PI to P if the torque command is
0
greater than Cn016
Cn015.0 Switch from PI to P if the speed command is 0
1
greater than Cn017 4 X │ Pi/Pe/S
Switch from PI to P if the acceleration command 4
2
is greater than Cn018
Switch from PI to P if the position error is
3
greater than Cn019
Switch from PI to P by the input contact PCNT.
4 Set one of the multi function terminals to option
03.

Setting Control
Parameter Name Default Unit
range mode
PI/P control mode switch by torque command
Set the Cn015.0=0 first.
Cn016 If Torque Command is less than Cn016, PI control is 200 % 0~399 Pi/Pe/S
selected.
If Torque Command is greater than Cn016, P control is
selected.
PI/P control mode switch by speed command
Set the Cn015.0=1 first.
If Speed Command is less than Cn017, PI control is
Cn017 0 rpm 0~4500 Pi/Pe/S
selected.
If Speed Command is greater than Cn017, P control is
selected.
PI/P control mode switch by acceleration
Set the Cn015.0=2 first.
Cn018 0 rps/s 0~18750 Pi/Pe/S
If Acceleration is less than Cn018, PI control is selected.
If Acceleration is greater than Cn018, P control is selected.
PI/P control mode switch by position error value
Set the Cn015.0=3 first.
If Position error value is less than Cn019 PI control is
Cn019 0 pulse 0~50000 Pi/Pe/S
selected.
If Position error value is greater than Cn019 P control is
selected.

5-23
(1) PI to P mode switch over by comparing Torque command.
When the Torque command is less than Cn016 PI control is selected.
When the Torque command is greater than Cn016 P control is selected.
As shown in diagram below:

(2) PI to P mode switch over by comparing Speed command.

When the Speed command is less than Cn017 PI control is selected.
When the Speed command is greater than Cn017 P control is selected.
As shown in diagram below:

Speed

PI/P -Mode Switching Condition

(Speed Command)

5-24
(3) PI to P mode switch over by comparing Acceleration command.
When the Acceleration command is less than Cn018 PI control is selected.
When the Acceleration command is greater than Cn018 P control is selected.
As shown in diagram below:
Speed

Cn018
PI/P-Mode Switching Condition Acceleration Command
(Acceleration)

(4) PI to P mode switch over by comparing Position Error value.

When the Position Error value is less than Cn019 PI control is selected.
When the Position Error value is greater than Cn019 P control is selected.
As shown in diagram below:

(5) PI to P mode switch over by PCNT input contact.

When the PCNT input contact is open PI control is selected.
When the PCNT input contact is closed P control is selected.
Note: Input contacts status “1” (ON) and “0” (OFF).
Please check 5-6-1 to set the required high /Low signal levels (PNP/NPN) selection.

Status of contact PCNT

Enable
1
Switch PI/P
by PCNT input contact
0

PI control P control PI control

5-25
(B) Automatic gain 1& 2 switching
Selection of Automatic gain 1& 2 switch with different P&I Gains is possible by setting
Parameter Cn 015.1 to one of the selections listed in the table below.
Parameter Cn 020 can be use for setting a switch delay time between different gains. (Gain 1 and 2)
Setting Control
Parameter Name Default Unit
Range Mode
Automatic gain 1& 2 switch
Setting Explanation
Switch from gain 1 to 2 if torque command is greater
0
than Cn021.
Cn015.1 Switch from gain 1 to 2 if speed command is greater than
1 0
Cn022.
4 X │ Pi/Pe/S
Switch from gain 1 to 2 if acceleration command is
2 4
greater than Cn023.
Switch from gain 1to2 if position error value is greater
3
than Cn024.
Switch from gain 1 to 2 by input contact G-SEL. Set one
4
of the multi function terminals to option 15 of Hn501.
Automatic gain 1& 2 switch delay time.
x0.2
Cn020 Speed loop 2 to speed loop 1, Change over delay, 0 0~10000 Pi/Pe/S
msec
when two control speed loops ( P&I gains 1 & 2) are used.
Automatic gain 1& 2 switch condition(torque command)
Set Cn015.1=0 first.
When torque command is less than Cn021, Gain 1 is selected.
Cn021 When torque command is greater than Cn021, Gain 2 is 200 % 0~399 Pi/Pe/S
selected When Gain 2 is active and torque command becomes
less than Cn021 setting value, system will automatically switch
back to Gain 1 switch time delay can be set by Cn020.
Automatic gain 1& 2 switch condition (speed command)
Set the Cn015.1=1 first.
When speed command is less than Cn022 Gain 1 is selected.
Cn022 When speed command is greater than Cn022 Gain 2 is 0 rpm 0~4500 Pi/Pe/S
selected. When Gain 2 is active and speed command becomes
less than Cn022 setting value, system will automatically switch
back to Gain 1 the switch time delay can be set by Cn020.
Automatic gain 1& 2 switch condition (acceleration command)
Set Cn015.1=2 first.
When acceleration command is less than Cn023 Gain 1 is
selected. When acceleration command is greater than Cn023
Cn023 0 rps/s 0~18750 Pi/Pe/S
Gain 2 is selected. When Gain 2 is active and acceleration
command becomes less than Cn023 system will automatically
switch back to Gain 1 the switch time delay can be set by
Cn020.
Automatic gain 1& 2 switch condition (position error value)
Set Cn015.1=3 first.
When position error value is less than Cn024 Gain 1 is selected.
Cn024 When position error value is greater than Cn024 Gain 2 is 0 pulse 0~50000 Pi/Pe/S
selected. When Gain 2 is active and position error value
becomes less than Cn024 system will automatically switch back
to Gain 1 and the switch time delay can be set by Cn020.
Note: Gain 1 : is consisted of Pn310 (position loop gain 1), Sn211 (speed loop gain 1 ) and Sn212 (Speed
loop integral time 1).
Gain 2 : is consisted of Pn311 (position loop gain 2), Sn213 (speed loop gain 2) and Sn214 (Speed
loop integral time 2 ).
(1) Automatic gain 1&2 switch condition ( by torque command ).
When torque command is less than Cn021, Gain 1 is selected.
When torque command is greater than Cn021, Gain 2 is selected

5-26
 When Gain 2 is active and torque command becomes less than Cn021 system will automatically switch back
to Gain 1 the switch time delay can be set by Cn020.
As show in the diagram below:

(2) Automatic gain 1&2 switch condition (by Speed command).

When speed command is less than Cn022 Gain 1 is selected.
When speed command is greater than Cn022 Gain 2 is selected.
When Gain 2 is active and speed command becomes less than Cn022 system will automatically switch back
to Gain 1 the switch time delay can be set by Cn020.
As show in the diagram below :

5-27
(3) Automatic gain 1&2 switch condition (by Acceleration command).
When acceleration command is less than Cn023 Gain 1 is selected.
When acceleration command is greater than Cn023 Gain 2 is selected.
When Gain 2 is active and acceleration command becomes less than Cn023 system will automatically
switch back to Gain 1 the switch time delay can be set by Cn020.
As show in the diagram below:

(4) Automatic gain 1&2 switch condition (by Position error value).
When position error value is less than Cn024 Gain 1 is selected.
When position error value is greater than Cn024 Gain 2 is selected.
When Gain 2 is active and position error value becomes less than Cn024 system will automatically switch
back to Gain 1 and the switch time delay can be set by Cn020.
As show in the diagram below :

Speed

Cn024
Switching Condition of
2 Stages Gain Mode
Position Error Value
(Position Error Value)

Cn020
Delay Time
Gain 1 Gain 2 Gain 1

(5) Automatic gain 1&2 switch condition by G-SEL input contact.

5-28
 When the G-SEL input contact is open Gain 1 is selected.
When G-SEL input contact is closed Gain 2 is selected.
When G-SEL input contact opens again then Gain 1 is selected and switch delay time can be set by Cn20.
As show in the diagram below:

Input Contact G-SEL Statu

Motion
1
Use Input Contact G-SEL to
Switch 2 Stages Gain Mode
0
Cn020
Delay Time

Gain 1 Gain 2 Gain 1

Note: Input contacts status “1” (ON) and “0” (OFF).

Please refer to 5-6-1 for setting required high /Low signal levels (PNP/NPN) selection.

5-3-12 Other Functions

When the speed level in CW or CCW directions becomes greater than the value set in
Cn007 (Speed reached preset), the output contact INS operates.

Speed reached preset

Parameter Setting Control

Name Default Unit
Signal Range Mode
Speed reached preset
Speed preset level for CW or CCW rotation.
Cn007 When the speed is greater then preset level Rated rpm 0~4500 S/T
rpm × 1/3
in Cn007 the Speed reached output signal
INS will be activated

Speed
Cn007
Speed reached
preset

INS output contact state

Note: Input contacts status “1” (ON) and “0” (OFF).

Please check section 5-6-1 to set the required high /Low signal levels (PNP/NPN) selection.
Zero Speed preset
When the speed is less than the speed set in Sn215 (Value of ZS), the output contact ZS operates.

5-29
 Parameter Setting Control
Name Default Unit
Signal Range Mode
Value of zero speed
Sn215 Set the zero speed range in Sn215 50 rpm 0~4500 S
When the actual speed is lower than Sn215 value,
Output contact ZS is activated.

Note: Input contacts status “1” (ON) and “0” (OFF)

Please check section 5-6-1 to set the required high /Low signal levels (PNP/NPN) selection.

To Zero the speed command according to preset level in Sn215 set Sn204 to selection 1.
Parameter Setting Control
Name Default Unit
Signal Range Mode
Zero Speed selection Enable
Setting Description 0
Sn204 0 X │ S
0 No action 1
1 Set the preset value in Sn215 as zero speed.

Speed Command
Previous Speed Command
Zero speed
preset level

Set the speed Adjusted Speed Command

preset level as
Zero speed

Servo Lock
In speed mode: the Servo Lock is used to lock servo motor when input voltage command is not at 0V.
When input contact LOK operates: The control mode changes to internal position control mode, it temporarily
stop motor rotation. Please refer to section 5-6-1 for setting input contact LOK function.

5-30
Speed Feed Back Smooth Filter
When there is system abnormal vibration or noise, Set Cn032 (speed feed back smoothing filter)
to restrain vibration or noise. Addition of this filter will delay the speed response of servo system.

Parameter Setting Control

Name Default Unit
Signal Range Mode
Speed feed back smoothing filter
Cn032 Restrain sharp vibration noise by the setting and this filter 500 Hz 1~1000 Pe/Pi/S
also delay the time of servo response.

5-4 Position mode

Position control mode is used for high-precision applications on machinery such as machine tools.
The Position control mode offers two methods of control.
External pulse input position command
Internal position command.
In external pulse command input mode, the positioning command is signaled to the drive by a host Controller
to achieve a fixed position.
In internal position command mode, 16 preset position commands can be set by parameters
(Pn317~Pn364), and can be activated by use of input contacts POS1 ~ POS4.

Set parameter Cn001 (control mode selection) as required according to the table below.
Parameter Setting Control
Name Default Unit
Signal Range Mode
Control mode selection
Setting Description
Position control (External pulse command) 0
★Cn001 2 Using one pulse command signal to control 2 X │ ALL
position. Please refer to 5-4-3. 6
Position control (Internal pulse command)
6 Use input contacts to select 16 programmable
preset position commands. Please refer to 5-4-2.
　New setting will become effective after re-cycling the power.
The diagram below shows the position loop control. Detailed functions are described in the following chapters.

5-31
5-4-1 External Pulse Command
Four types of external position pulse command signals can be interfaced,
These can be selected from the list below.
Position pulse signal logic can be selected Positive or negative as required.

Parameter Setting Control

Name Default Unit
Signal Range Mode
Position pulse command selection

Setting Description

★Pn301.0 0 (Pulse)+(Sign) 0
0 X │ Pe
1 (CCW)and (CW) pulse 3

2 AB-Phase Pulsex2

3 AB-Phase Pulsex4

Position pulse command logic selection

★Pn301.1 Setting Description 0

0 X │ Pe
0 Positive Logic 1

1 Negative Logic

　New setting will become effective after re-cycling the power.

Position pulse Positive Logic Negative Logic

command types
CCW Command CW Command CCW Command CW Command

(Pulse)+
(Sign)

(CCW)/
(CW) Pulse

AB-Phase Pulse

5-32
 Two types of pulse command can be connected, (Open collector) and (Line driver).
Please refer to section 2-2-1 for the pulse wiring method.
Pulse command timing should be in accordance with the time sequence standard below.
Pulse Command
Time Sequence Diagram of Pulse Command Time Standard
Types
Line Driver:
t1, t2 ≦ 0.1μs
t3 ＞ 3μs
T t3 t3
t1 τ ≧ 1.0μs
(Pulse)+ Pulse (τ/T) ≦ 50%
(Sign) t2 t t2 OpenCollector:
t1, t2 ≦ 0.2μs
Sign
t3 ＞ 3μs
τ ≧ 2.0μs
(τ/T) ≦ 50%
LineDrive:
t1, t2 ≦ 0.1μs
T
t1
t3 ＞ 3μs
τ ≧ 1.0μs
Pulse
(CCW)/ (τ/T) ≦ 50%
t2 t
(CW) Pulse OpenCollector:
Sign t1, t2 ≦ 0.2μs
t3 t3 ＞ 3μs
τ ≧ 2.0μs
(τ/T) ≦ 50%
LineDrive:
t1 t1, t2 ≦ 0.1μs
τ ≧ 1.0μs
Pulse
(τ/T) ≦ 50%
t2
AB-Phase Pulse T
OpenCollector:
Sign t1, t2 ≦ 0.2μs
t τ ≧ 2.0μs
(τ/T) ≦ 50%

Position command can be disabled (Inhibited) by extrernal input contact INH.

Input Contact INH Description Control Mode

0 Position Pulse command enabled

Pe
1 Position Pulse command disabled

Note: Input contacts status “1” (ON) and “0” (OFF)

Please check section 5-6-1 to set the required high /Low signal levels ( PNP/NPN)
selection.

5-33
5-4-2 Internal Position Command
In internal position command mode, 16 preset position commands can be set by parameters
(Pn317~Pn364), and can be activated by use of input contacts POS1 ~ POS4.

Preset positions are programmable and can be selected according to the table below:

Position Position
POS4 POS3 POS2 POS1 Position Command Parameter
Command Speed Parameter

Rotation Number Pn317

P1 0 0 0 0 Pn319
Pulse Number Pn318
Rotation Number Pn320
P2 0 0 0 1 Pn322
Pulse Number Pn321
Rotation Number Pn323
P3 0 0 1 0 Pn325
Pulse Number Pn324
Rotation Number Pn326
P4 0 0 1 1 Pn328
Pulse Number Pn327
Rotation Number Pn329
P5 0 1 0 0 Pn331
Pulse Number Pn330
Rotation Number Pn332
P6 0 1 0 1 Pn334
Pulse Number Pn333
Rotation Number Pn335
P7 0 1 1 0 Pn337
Pulse Number Pn336
Rotation Number Pn338
P8 0 1 1 1 Pn340
Pulse Number Pn339
Rotation Number Pn341
P9 1 0 0 0 Pn343
Pulse Number Pn342
Rotation Number Pn344
P10 1 0 0 1 Pn346
Pulse Number Pn345
Rotation Number Pn347
P11 1 0 1 0 Pn349
Pulse Number Pn348
Rotation Number Pn350
P12 1 0 1 1 Pn352
Pulse Number Pn351
Rotation Number Pn353
P13 1 1 0 0 Pn355
Pulse Number Pn354
Rotation Number Pn356
P14 1 1 0 1 Pn358
Pulse Number Pn357
Rotation Number Pn359
P15 1 1 1 0 Pn361
Pulse Number Pn360
Rotation Number Pn362
P16 1 1 1 1 Pn364
Pulse Number Pn363

5-34
 For internal positioning mode there are two types of moves incremental move or absolute move, selectable
byparameter Pn316 as below.
Setting
Parameter Control
Name Default Unit
Signal Range Mode

Internal position command mode selection

Setting Description 0
★Pn316.0 0 X │ Pi
0 Absolute Position
1
1 Incremental Position
　New setting will become effective after re-cycling the power.
Example below shows the difference between absolute and incremental moves.
For two pulse commands of 10 pulse position pulse command and followed with another 20 pulse,
the traveled positions will be different.

PTRG. (Position Trigger).

Once any preset position is selected by input contacts POS1~POS4 then require a trigger signal (PTRG)
from the input contact, enable PTRG to start operation.
Diagram below shows an example for 4 different absolute encoders.

Note: Input contacts status “1” (ON) and “0” (OFF)

Please check section 5-6-1 to set the required high /Low signal levels (PNP/NPN) selection.

5-35
 PHOLD. (Position Hold)
The Position command can be inhibited (Held) at any time by input contact signal PHOLD.
Once PHOLD is initiated the motor will decelerate and stop.
As soon as the input contact PTRG is triggered again the original position command will be Completed.
Diagram below shows PHOLD function with incremental encoder.

CLR ( Clear position command ).

If the CLR input is activated when a position command is in process then the motor will stop immediately
and the remaining positioning pulses will be cleared. Parameter Pn315 must be set to 1or 2 as required
( refer to section 5-4-7).
Once the PTRG input contact is activated again then a new position command will be started according to
the selection of input contacts POS1~POS4.

Note: Input contacts status “1” (ON) and “0” (OFF)

Please check section 5-6-1 to set the required high /Low signal levels (PNP/NPN) selection.

5-36
5-4-3 Electronic Gear
Electronic gear ratio parameter can be used to scale the command output pulse.
This would be useful in transmission applications where move distance per move command pulse
has to be scaled due to mechanical requirements.
Diagram and notes below describe the electronic gear ratio effect.

Example of a transmission device and calculations that show the required number of pulses from a
host controller to move the table by 10mm.

Screw Pitch = 5mm. (Move distance for

Encoder pulse per 1revolution of screw)
revolution(PPR)=2000

Calculations without Electronic Gear Ratio Calculations with Electronic Gear Ratio
1. One rotation of ball screw = Table move distance of For Calculating the number of pulses command required,
5mm. Setting of Electronic gear ratio see next chapter.
2. If the table is required to move 10mm, then Ball Electronic gear ratio can be set according to the required
screw needs to rotate by (10mm ÷ 5 mm/rev)= 2 move distance per move command pulse.
Revs For example:
3. Command pulses required to cause one revolution:- 1. One Pulse command = Move distance of 1μm.
= Encoder ppr × ( Internal multiplication factor). 2. If the Motion Table needs to move 10mm,
= 2000 ppr x 4 = 8000 pulses. Then the required command pulses from a Host Controller
4. So the Command pulses required to move 10mm (2 is
revs):- = 10mm ÷ 1μm / Pulse.= 10000 Pulses.
= 8000 pulses x 2 ( revs) = 16000 Pulses.
Once the move distance per pulse and the Electronic
gear ratio is known then the required number of pulse
Number of command pulses for an specific move command can be calculated.
distance can be calculated according to the formula
below:
= Number of Ball Screw Revs x (Encoder ppr x 4).

Electronic Gear Ratio Calculation

5-37
Follow the Steps below:
1. Define the requirements of the positioning system
Establish the following:
Move distance per one revolution of load shaft.
Servo motor Encoder ppr (Pulse Per Revolution). (please refer to section 1-1-2 Servo Motor Standards).
Motor / load Shaft deceleration ratio.
2. Move distance per one move command pulse.
Define the move distance caused by the transmission system as a result of, one move command pulse from
the host controller.
Ex: When 1 Pulse Command move = 1μm
If the Host Controller gives a move command of 2000 pulses, the transmission device will move by: -
2000pulse × 1um/pulse = 2mm (The Electronic Gear Ratio must be set correctly).

3. Calculate the Electronic Gear Ratio

Calculate the Electronic Gear Ratio according to the formula below:-

Encoder ppr ( Pulse Per Revolution) x 4

Electronic Gear Ratio =
Move distance per load shaft revolution ÷ Move distance per command Pulse

If the deceleration ratio between motor and load shaft is n

m
(m = Motor Rotating number , n= Load Shaft Rotating Value), Then the formula for Electronic Gear Ratio is:

Encoder ppr ( Pulse Per Revolution) x 4 m

Electronic Gear Ratio = X
Move distance per load shaft revolution ÷ Move distance per command Pulse n

Warning!
The calculated Electronic Gear Ratio must be according to the conditions below,
otherwise the servo drive and motor will not function correctly.

1
≤ ElectroniceGearRatio ≤ 200
200

5-38
4. Parameter Setting for Electronic Gear Ratio
Setting gear ratio Numerator and denominator parameters:
Numerator and denominator values of the calculated electronic gear ratio must be entered in the required
parameters.
These two values have to be integer and with a value within the specified range in the table below.
Parameter Setting Control
Name Default Unit
Signal Range Mode
Pn302 Numerator of Electronic Gear Ratio 1
Pn303 Numerator of Electronic Gear Ratio 2
Pn304 Numerator of Electronic Gear Ratio 3 1 X 1~50000 Pi/Pe
Pn305 Numerator of Electronic Gear Ratio 4
★Pn306 Denominator of Electronic Gear Ratio
　New setting will become effective after re-cycling the power.

This device provides 4 selections of Numerator for Electronic Gear Ratio.

Input contacts GN1 and GN2 can be used to select the required Numerator for the Electronic Gear Ratio
According to the table below.
Input Input Contact Control
Numerator of Electronic Gear Ratio
Contact GN2 GN1 Mode

Numerator of Electronic Gear Ratio 1

0 0
Pn302
Numerator of Electronic Gear Ratio 2
0 1
Pn303 Pi/Pe
Numerator of Electronic Gear Ratio 3
1 0
Pn304
Numerator of Electronic Gear Ratio 4
1 1
Pn305
Note: Input contacts status “1” (ON) and “0” (OFF)
Please check 5-6-1 to set the required high /Low signal levels (PNP/NPN) selection.

5-39
Electronic Gear Ratio setting examples
Transmission System Setting Process
1. Main positioning specifications:
a) Load Shaft(Ball Screw) pitch
Ball Screw move distance per revolution= 5mm
b) Motor Encoder ppr ( Pulse per revolution) =
2000pulses
2. Move distance per one pulse of move Command.
Moving Distance of 1 Pulse Command =1μm
3. Calculation of the Electronic Gear Ratio:
2000 pulse / rev × 4 8000
Distance of 1 Rotating for Ball ElectronicGear Ration = =
Pulse Value of 1 Rotating for 5mm / rev ÷ 1um / pulse 5000
Screw = 5mm
Encoder=2000pulse/rev 4. Set the parameter of Electronic Gear Ratio:
Numerator of Electronic Gear Ratio = 8000
Denominator of Electronic Gear Ratio = 5000
Mechanical Disc 1. Main positioning specifications:
a) Deceleration Ratio=1/5
b) Load Shaft(Mechanical Disc)Move Value per one
revolution=360 ﾟ
Motor Encoder ppr ( Pulse per revolution)= 2500 pulses
2. Move distance per one pulse of move Command.
Load Shaft Deceleration Ratio-1/5
Distance for 1Pulse Command =0.1 ﾟ
3. Calculation of the Electronic Gear Ratio:
2500 pulse / rev × 4 5 50000
Electronic Gear Ratio = × =
Servo Motor 360° ÷ 0.1° / pulse 1 3600
4. Set the parameter of Electronic Gear Ratio:
Pulse Value of Rotating for Encoder Numerator of Electronic Gear Ratio = 50000
= 2500pulse/rev Denominator of Electronic Gear Ratio =3600

1. Main positioning specifications:

a) Deceleration Ratio=1/8
b) Load Shaft ( Idler) Move Value per revolution.
= 3.14 × 100mm = 314mm
Transmission Belt c) Motor encoder ppr ( Pulse Per Revolution) =
8192pulse
2. Move distance per pulse of move Command.
Distance for 1Pulse Command =10μm
3. Calculation the Electronic Gear Ratio:
8192 pulse / rev × 4 8 262144
Electronic Gear Ratio = × =
314mm ÷ 10um / pulse 1 31400
4. Set the parameter of Electronic Gear Ratio:
Reduction of the fraction to make the Numerator and
Denominator less than 50000.
Numerator of Electronic Gear Ratio
32768

Denominator of Electronic Gear Ratio

3925

5-40
5-4-4 Smooth Acceleration
Using the One Time Smooth Acceleration/Deceleration of Position Command”
It smoothes the position pulse command frequency.

Parameter
Name Default Unit Setting Range Control Mode
Signal
Position command
★Pn313 Accel/Decel Time 0 msec 0~10000 Pi/Pe
Constant
　New setting will become effective after re-cycling the power.
Time Constant of One Time Smooth Acceleration/Deceleration of Position Command:
The Time in which The Position Pulse Frequency increases (one time) from zero to 63.2% of Position Pulse
Command Frequency.
Frequency of Position
Pulse Command (%)

Frequency of Position Pulse Command

100

63.2
50

Time (ms)
Pn313

Setting Examples:
(1) To achieve 95% of Position Pulse Command Frequency Output in 30msec:
30(msec)
Pn313 = = 10(msec)
- ln(1 - 95%)
(2) To achieve 75% of Position Pulse Command Frequency Output in 30msec:
30(msec)
Pn313 = = 22(msec)
- ln(1 - 75%)

Note: Above curve is a logarithmic

ln = Natural log.

5-41
5-4-5 Definition of Direction
In position mode, user can use Pn314 (Position Command Direction Definition) to define motor rotation
direction. The setting is showed as follow:
Parameter Setting Control
Name Default Unit
Signal Range Mode
Definition of position command direction (from motor
load end)
CCW CW

0 Pi
★Pn314 1 X │
1 Pe
Setting Description
0 Clockwise (CW)
1 Counter Clockwise (CCW)
　New setting will become effective after re-cycling the power.

5-4-6 Gain Adjustment

The table below shows the parameters for adjusting the position loop.
Two position loop gains can be selected from input contact terminals according to table below.
For selection methods refer to section. 5-3-11.
Parameter Setting Control
Name Default Unit
Signal Range Mode
Position Loop Gain1
Without causing vibration or noise on the mechanical
system the position loop gain value can be increased to
increase system response and shorten the positioning
Pn310 time.Generally, the position loop bandwidth should not be 40 1/s 1~450 Pe/Pi
higher then speed loop bandwidth. The relationship is
according to the formula below:
SpeedLoopGain
PositionLoopGain ≤ 2π ×
5
Position Loop Gain 2
Pn311 40 1/s 1~450 Pe/Pi
Refer to Pn310
Position Feed-Forward Gain
t can be used to reduce the track error of position control
and speed up the response.If the feed forward gain is too
Pn312 0 % 0~100 Pe/Pi
large, it might cause speed overshoot and INP contact
repeatedly switch ON/OFF.INP(“In Position” output
signal).
Speed Feed-Forward Smooth Filter
Cn033 40 Hz 0~100 Pe/Pi
Smooth the speed feed-forward command.

5-42
 Diagram below shows the position controller. Adjust a higher gain value can reduse response time.
Position Feed-Forward Gain can also be used to shorten the positioning time.
refer to section 5-5 for Position Loop Gain Adjustment methods.

Position Controllor

K pff Filter

Position Pulse
Command
Kp
Kp : Position Loop Gain (1/s)
Kpff : Position Loop
Feed-Forward Gain (%)
Encoder Pulse Feed Back

5-4-7 Clear the Pulse Offset

In position control mode, parameter Pn315 (Pulse Error clear mode) has three modes can be select.
CLR input contact is used to clear the pulse error as required according to the list below.

Setting Control
Parameter Name Default Unit
Range Mode
Pulse Error Clear Mode

Setting Description Pe
When Input CLR contact, clears the pulse
0
error value. 0
Pn315 When Input CLR contact to cancels the 0 X │
position command, Stops the motor rotating, 2 Pi
1
the pulse error value is cleared and Pe
mechanical Home signal is reset.
When Input CLR contact to cancels the
2 position command, stops the motor rotating Pi
and the pulse error value is cleared.
Note: Input contacts status “1” (ON) and “0” (OFF)
Please check 5-6-1 to set the required high /Low signal levels (PNP/NPN) selection.

5-43
5-4-8 Original Home
Home routine is used to find and set a reference point for correct positioning.
To set a HOME reference position, one of input contacts ORG (external sensor input), CCWL, or CWL can be
used.
An encoder Z phase (marker pulse) can also be used as home reference and can be search by CW or CCW
direction. Following Home routine selections are available for setting parameter Pn 365.0.
Control
Parameter Name Setting Description
Mode
Once the home routine is activated, motor will search for Home
Position switch in 1st preset speed in CCW direction.
Input contacts CCWL or CWL can be used as the Home Reference
Switch.
0 Once Home reference switch is detected and complete, input contacts
CCWL and CWL will act as limits input contact again.
Note:
When using this function, 1 or 2 setting of Pn365.1 is not allowable.
Cn002.1 (CCWL & CWL Input terminal function) must to set as 0.
Once the home routine is activated, motor will search for Home
Position switch in 1st preset speed in CW direction.
Input contacts CCWL or CWL can be used as the Home Reference
Switch.
1 Once Home reference switch is detected and complete, input contacts
CCWL and CWL will act as limits input contact again.
Note:
When using this function, 1 or 2 setting of Pn365.1 is not allowable.
Cn002.1 (CCWL & CWL Input terminal function) must to set as 0.
Once the home routine is activated , motor will search for Home
On activation of Position switch in 1st preset speed in CCW direction and sets the input
Home input contact ORG (external sensor input) as a Home reference when ORG
contact, 2 contact is activated.
Pn365.0 It sets the If Pn365.1=2, it will directly find the closest Rising-Edge of ORG
to be the Home position (without a need for Home reference),then it
search
stops in accordance with Pn365.3 setting. Pi/Pe
direction
Once the home routine is activated , motor will search for Home
and Home
Position switch in 1st preset speed in CW direction and sets the input
reference. contact ORG (external sensor input) as a Home reference when ORG
(Setting for contact is activated.
home routine) 3
If Pn365.1=2, it will directly find the closest Rising-Edge of ORG
to be the Home position (without a need for Home reference),then it
stops in accordance with Pn365.3 setting.
Once the home routine is activated , motor will search for Home
position in 1st preset speed in CCW direction and sets the Home
reference
Servo drive start to find the Home position of the nearest Z phase.
4
(No need for Home reference)
When using this function, set Pn365.1=2 .
After finished setting of Z Phase to the Home position, for the stop
method refer to the setting of Pn365.3.
Once the home routine is activated , motor will search for Home
position in 1st preset speed in CW direction and sets the Home
reference
Servo drive start to find the Home position of the nearest Z phase.
5
(No need for Home reference)
When using this function, set Pn365.1=2 .
After finished setting of Z Phase to the Home position, for the stop
method refer to the setting of Pn365.3.

5-44
 Control
Parameter Name Setting Description
Mode
Once the Home Reference switch or signal is detected,
motor reverses direction in 2nd speed to find the nearest Z
0
Once Reference Phase pulse and sets this as the Home position,
Home switch or then stops in accordance with Pn365.3 setting method.
Signal, is found Once the Home Reference switch or signal is detected,
Pn365.1
set search motor Continues in its direction in 2nd speed to find the
1 Pi/Pe
nearest Z Phase pulse and sets this as the Home position,
method
then stops in accordance with Pn365.3 setting method.
for the Home
When Pn365.0=2 or 3, it finds the rising edge of ORG to be the
position.
Home position, then stops in accordance with Pn365.3;
2
When Pn365.0=4 or 5, it finds Z Phase pulse to be the Home,
then stops in accordance with Pn365.3.
0 Homing routine is Disabled.
On power up and activation of Servo on the home routine is
started automatically.
Pn365.2 Setting of 1 This method is useful for applications that do not require
Home Routine repeated home routines. No external home reference switch is Pi/Pe
Start method required.
Use SHOME input contact to start a home routine.
2 In position mode, SHOME can be used to start a home routine
at any moment.
After detecting the Home signal, it sets this position to be the
Home reference (Un-14 encoder feed back rotating number and
Un-15 encoder feed back pulse number are all 0), motor
0
decelerates and stops.
Pn365.3 Stopping mode
Then it reverses direction in 2nd speed to detect the Home
after finding Pi/Pe
Position again then it decelerates and stops..
Home signal.
After detecting the Home signal, it sets this position to be the
Home reference (Un-14 encoder feed back rotating number and
1
Un-15 encoder feed back pulse number are all 0), motor
decelerates and stops.

Home Mode selection table

Pn365.0 pn 365.1 selections can be made for each application as required according to the table
below:-
Pn365.0
Pn365.1 0 1 2 3 4 5
0
1
2
HOME routine available HOME routine not available.

5-45
Additional Home routine parameters

Home search speed parameters 1st (Fast) and 2nd (Slow) speeds are set according to table below:
Parameter
Name Default Unit Setting Range Control Mode
Signal
Pn366 1st preset high speed of HOME 100 rpm 0~2000 Pi/Pe
Pn367 2nd preset low speed of HOME 50 rpm 0~500 Pi/Pe

Parameters Pn368 and Pn 369 provide Home position offset feature for applications where
the machine mechanical home position is a different position to the detected home position.
This offset can be achieved by setting the two parameters below.
Once the detected home position is found in accordance with Pn365 (Home routine mode),
then it will search by number of revolutions and pulses set in Pn368 and Pn 369 to find the
new off set Home position.
Parameter
Name Default Unit Setting Range Control Mode
Signal
HOME Position Offset.
Pn368 0 rev -30000~30000 Pi/Pe
(No of Revolutions)
HOME position Bias Pulse value
Pn369 0 pulse -32767~32767 Pi/Pe
(No of pulses)

Home routine Timing Chart

During the Home routine if the SON (Servo On) is not activated or any alarm happens,
Home routine is stopped and Home Complete output contact is reset (Cleared).

Note: Input contacts status “1” (ON) and “0” (OFF)

Please check 5-6-1 to set the required high /Low signal levels ( PNP/NPN) selection.

5-46
Home Routine Speed /Position Timing Charts

Following Sections Show the Speed/Position Timing charts according to Pn 365.0 and Pn365.1 selections.

Pn365.0
0 1 2 3 4 5
Pn365.1
0 (1) (2) (1) (2)
1 (3) (4)
2 (5) (6) (7) (8)
No Home routine

(1)
Pn365.0=0 or 2 (After starting HOME routine, run CCW in 1st preset high speed for HOME Reference
(CCWL, CWL or ORG).

Pn365.1=0(After finding HOME Reference, reverse direction in 2nd preset low speed to search
for the nearest Z Phase pulse to be set as the HOME position).

Pn365.2=2(Input Contact SHOME to Start Home routine).

Pn365.3=0(Reverse search for HOME position).

5-47
(2)
Pn365.0=1or 3 After starting the HOME routine, run CW in 1st preset high speed to search for HOME
Reference (CWL, CCWL or ORG).
Pn365.1=0 After finding HOME Reference, reverse direction in 2nd preset low speed to search for the
nearest Z Phase pulse to be set as the HOME position.
Pn365.2=2 Input Contact SHOME Starts the Home routine.
Pn365.3=0 Reverse search for HOME position.

Speed
(2nd Stage
Pn367 low speed) Pn365.1=0

Position
Pn365.3=0

Pn366 (1st Stage

Z-Phase Pulse of high Speed)
Motor Encoder
Pn365.0=1

Input Contacts CWL, CCWL 1

or ORG
Pn365.0=3
1
Input Contact SHOME

Pn365.2=2

(3)
Pn365.0=2 After starting HOME routine, run CCW in 1st preset high speed to search for HOME Reference
(ORG).
Pn365.1=1 After finding HOME Reference, continues in the same direction in 2nd preset low speed to find
the nearest Z Phase to be set as the HOME position.
Pn365.2=2 Input Contact SHOME Starts the HOME routine.
Pn365.3=0 Reverse search for HOME position

5-48
(4)
Pn365.0=3 (After Starting HOME routine, run CW in 1st preset high speed to search for HOME
Reference.( ORG)
Pn365.1=1 After finding HOME Reference, continues in the same direction in 2nd preset low speed to find
the nearest Z Phase to be set as the HOME position.

Pn365.2=2 Input Contact SHOME Starts the HOME routine.

Pn365.3=0 Reverse search for HOME position

Speed

Pn365.3=0

Position

Pn367 (2nd Stage low speed)

Pn365.1=1
Pn366 (1st Stage High Speed)

Z-Phase Pulse of
Motor Encoder

1
Input Contact ORG
Pn365.0=3
1
Input Contact SHOME
Pn365.2=2

5-49
(5)
Pn365.0=2 After Starting HOME routine, run CCW in 1st preset high speed to search for HOME
Reference.( ORG).
Pn365.1=2 After Finding the HOME Reference, the Rising Edge of ORG sets the HOME Position.
Pn365.2=2 Input Contact SHOME Starts the HOME routine.
Pn365.3=0 Reverse search for HOME position

Speed

Pn366 (1st stage high speed)

Pn365.3=0

Position
Pn367 (2nd stage low speed)
Pn365.1=2
1
Input Contact ORG

Pn365.0=2
1
Input Contact SHOME

Pn365.2=2

(6)
Pn365.0=3 After Starting HOME routine, run CW in 1st preset high speed to search for HOME
Reference.( ORG).
Pn365.1=2 After Finding the HOME Reference, the Rising Edge of ORG sets the HOME Position.
Pn365.2=2 Input Contact SHOME Starts the HOME routine.
Pn365.3=0 Reverse search for HOME position

5-50
(7)
Pn365.0=4 After Starting HOME routine, run CCW in 1st preset high speed to search for the nearest Z phase
pulse.
Pn365.1=2 After Finding the Z phase pulse, set this position as the HOME position.
Pn365.2=2 Input Contact SHOME Starts the HOME routine.
Pn365.3=0 Reverse search for HOME position

Speed
Pn366 (1st stage high speed)

Pn365.3=0

Position

Pn367 (2nd stage low speed)

Pn365.1=2
Z-Phase Pulse of
Motor Encoder

Pn365.0=4
1
Input Contact SHOME
Pn365.2=2

(8)
Pn365.0=5 After Starting HOME routine, run CW in 1st preset high speed to search for the nearest Z phase
pulse.
Pn365.1=2 After Finding the Z phase pulse, set this position as the HOME position.
Pn365.2=2 Input Contact SHOME Starts the HOME routine.
Pn365.3=0 Reverse search for HOME position

Speed
Pn367 (2nd stage low speed)

Position

Pn365.3=0

Pn366 (1st stage high speed)

Pn365.1=2
Z-Phase Pulse of
Motor Encoder

Pn365.0=5
1
Input Contact SHOME
Pn365.2=2

5-51
5-4-9 Other Position Function
In position (Position Complete)
As long as the position error value (counts) is less than the pulse counts set in
Pn307 (Position Complete value) then INP output contact will be activated.

Setting Control
Parameter Name Default Unit
Range Mode
Position Complete value
Set a value for In position output signal.
Pn307 When the Position pulse error value is less then Pn307 10 pulse 0~50000 Pi/Pe
output-contact INP (In position output signal) will be
activated.
Speed Command
Speed Motor Speed

Pn307
Position Incorrect Value
Position Complete Value pulse

INP Statue
1

Note: Input contacts status “1” (ON) and “0” (OFF)

Please check 5-6-1 to set the required high /Low signal levels (PNP/NPN) selection.

Position error alarm

When the Position error value is greater than the preset pulse value of Pn308 (Positive position error level) or
Pn309 (Negative position error level) this will generate AL-11 (Position error) signal.

Setting Control
Parameter Name Default Unit
Range Mode
Positive position error level
Pn308 When the Position error value is higher then number of 50000 pulse 0~50000 Pi/Pe
pulses set in Pn308, an Alarm message
AL-11(Position error value alarm) will be displayed.
Negative position error level
When the Position error value is lower then number of
Pn309 50000 pulse 0~50000 Pi/Pe
pulses set in Pn309, an Alarm message
AL-11(Position error value alarm) will be displayed.

5-52
5-5 Gain Adjustment
The Servo controller provides 3 control loops as diagram shown below:
Control methods are: Current Control, Speed Control and Position Control.

Host Position Speed Current Power

Controllor Controllor Circuit
SM
Controllor Controllor

PG

Diagram above shows the three control loops.

Current ( Inner loop), Speed ( middle loop) and position (outer loop).
Theoretically, the bandwidth of inner control loop must be higher than the bandwidth of the outer control loop,
otherwise, the whole control system will become unstable, and cause vibration or abnormal response.
The relationship between the band width for these three control loops is as follows:
Current Loop (Inner) >Speed Loop (Middle)>Position Loop (outer).
The default current control bandwidth has already been set for optimum response, So Only speed and
position control loop gains may be adjusted.
Table below shows the Gain adjustment parameters for the three control loops.

Control
Parameter Name Default Unit Setting Range
Mode
Sn211 Speed Loop Gain 1 40 Hz 10~450 Pe/Pi/S
x0.2
Sn212 Speed Loop Integration Time Constant 1 100 1~500 Pe/Pi/S
msec
Sn213 Speed Loop Gain 2 40 Hz 10~450 Pe/Pi/S
x0.2
Sn214 Speed Loop Integration Time Constant 2 100 1~500 Pe/Pi/S
msec
Pn310 Position Loop Gain 1 40 1/s 1~450 Pe/Pi

Pn311 Position Loop Gain 2 40 1/s 1~450 Pe/Pi

Pn312 Position Loop Feed-Forward Gain 0 % 0~100 Pe/Pi

Cn025 Load Inertia Ratio 40 x0.1 0~1000 Pe/Pi/S

5-53
Speed Loop Gain
Speed Loop Gain has a direct effect on the response Bandwidth of Speed Control Loop.
Under the condition of no vibration or noise, when higher is the Speed Loop Gain Value is setting speed
response is becoming faster.
If Cn025 (Load Inertia Ratio) is correctly set then,
Speed Loop Bandwidth = Sn211 (Speed Loop Gain1) or Sn213 (Speed Loop Gain2).
Load Inertia Ratio Formula is as below:

Speed Loop Integration Time Constant

Integral element in Speed Control Loop eliminates the steady state error.
Under the condition of no vibration or noise, reducing the speed loop Integral Time Constant can enhance
system rigidity. If the Load Inertia Ratio is very high or the system has vibration factors, ensure that the Speed
Loop Integral Time Constant is also high enough, otherwise the mechanical system would produce
resonance easily.
Integral Time Constant for Speed Loop can be set using the formula below:

1
Sn212(Integral Time constant 1 of Speed Loop) ≥ 5 ×
2π × Sn211(Speed Loop Gain 1)

Setting Example:
Assume: Cn025 (Load Inertia Ratio) is correctly set, If target Speed Loop Bandwidth 100Hz,
set Sn211(Speed Loop Gain 1)=100(Hz) then
1
Sn212(Integral Time Constant 1 of Speed Loop) ≥ 5 × = 40 (×0.2msec)
2π ×100

5-54
Position Loop Gain
Position Loop Gain has a direct effect on the response speed of Position Loop.
Under the condition that there is no vibration or noise from servo motor, increasing the Position Loop Gain
Value can enhance the response speed and hence reduce the positioning time.

Position Loop Feed-Forward Gain

Using Position Loop Feed-Forward Gain can enhance the response speed.
If the Feed-Forward Gain value is set too high, overshooting could occur and cause the INP (In Position)
output contact to switch ON and OFF repeatedly.
SO monitor Speed Curve and INP (In Position Signal) at the same time then increase Feed-Forward Value
slowly.
If Position Loop Gain is too high, Feed-Forward function will be insignificant.

Quick Parameters for Gain adjustment

Quick Gain adjust parameters are available for setting manually.
The related Gain Adjust parameters are listed in the Quick-Parameter leaflet for convenient reference.
Quick adjust parameters once altered are saved and become effective immediately,
without pressing the Enter-Key. The table below shows the Gain Adjust Quick-Parameters.
Control
Name Default Unit Setting Range
Parameter Mode

◆qn401 Speed Loop Gain 1 40 Hz 10~450 Pe/Pi/S

Integral Time Constant 1 of x0.2
◆qn402 100 1~500 Pe/Pi/S
Speed Loop msec
◆qn403 Speed Loop Gain 2 40 Hz 10~450 Pe/Pi/S
Integral Time Constant 2 of x0.2
◆qn404 100 1~500 Pe/Pi/S
Speed Loop msec
◆qn405 Position Loop Gain 1 40 1/s 1~450 Pe/Pi

◆qn406 Position Loop Gain 2 40 1/s 1~450 Pe/Pi

Position Loop Feed-Forward
◆qn407 0 % 0~100 Pe/Pi
Gain
Become effective immediately without pressing Enter-Key

5-5-1 Automatic Adjusting

5-55
 This device provides ON-LINE Auto tuning, which can quickly and precisely measure Load Inertia
and adjust the Gain automatically. Setting is according to the table below:
Setting Control
Parameter Name Setting Description Default Unit
Range Mode
Cn002.2 0 Auto tuning Disabled 0
Auto tuning 0 X │ Pe/Pi/S
1 Enable Auto tuning 1

When Cn002.2 is set to 0 (Auto tuning Disabled), following Gain adjust parameters must be set.

Parameter
Name
Signal
Cn025 Load-Inertia ratio

Sn211 Speed Loop Gain 1

Sn212 Speed-loop Integral time constant 1

Sn213 Speed loop Gain 2

Sn214 Speed loop Integral time constant 2

Pn310 Position Loop Gain 1

Pn311 Position Loop Gain 2

Pn312 Position Loop Feed-Forward Gain

When Cn002.2 is set to 1 auto tuning is enabled and the Servo controller will adjust the Servo Gain in
accordance with Cn026 (Rigidity Setting) and the measured Load Inertia Ratio by monitor parameter Un-19
(Load Inertia Ratio), when the Load Inertia Ratio is becomes stable,
Then set 0 in Cn002.2 to cancel Auto tuning. At this moment, servo controller will record the measured Load
Inertia Ratio into Cn025 (Load Inertia Ratio).
If servo drive is used in applications where there is no significant load variations, then monitor Un-19 (Load
Inertia Ratio) if this is stable then it is recommended that Auto tuning is not used.

5-56
Apply conditions of Auto tuning
The Servo drive provides Auto tuning and uses an advanced control technique “ON-LINE” to measure the
Load Inertia Ratio to control the system to achieve default speed or Position Response Bandwidth.
System must comply with the conditions below, so that the Auto tuning can operate normally.
(1) The timing from stop to 2000rpm needs be less than 1 second.
(2) Motor speed is larger than 200rpm.
(3) Load Inertia needs be 100 times less than the inertia of the motor.
(4) External force or the variation of inertia ratio can not be excessive.

Rigidity Setting
When Auto tuning is used, set the Rigidity Level depending on the various Gain settings for applications
such as those listed below:
Rigidity Position Loop Speed Loop Speed-loop Integral
Mechanical
Setting Gain Gain time constant 1 Application
Rigidity
Cn026 Pn310 [1/s] Sn211 [Hz] Sn212 [x0.2msec]
1 15 15 300 Low
Machines driven by timing
2 20 20 225 Belt, Chain or Gear: Large
Moving Table, Conveyor Belt.
3 30 30 150
4 40 40 100 The machines driven by
Middle Ballscrew through
5 60 60 75 decelerator: Ordinary
machines, Mechanics arms,
6 85 85 50 robot arms, conveyor.
7 120 120 40 The machines driven by
8 160 160 30 Ballscrew: High precision
Machines, Metal engraving
9 200 200 25 Machine, Insertion Machine
High
A 250 250 20 and IC inspection Machine.

5-57
Process for Auto tuning
The Diagram below shows the process for Auto tuning.

Note: After Auto tuning is complete Set 0 in Cn002.2, otherwise it will not record the present
measured Load Inertia Ratio.

If the power is cut off during Auto tuning then when the power is established, Servo controller will
use the previously recorded setting of Load Inertia Ratio which is stored in parameter Cn025.

5-58
5-5-2 Manual Adjusting
Manual Gain adjustment is made available for applications when
auto tune is not providing a good and stable system response, Or a system where there is no
significant load variations and the auto tune is not used.

Manual Gain Adjustment in Speed control Mode

Step 1: Set Rigidity level in parameter Cn 26 (See section 5-5-1 for the selection table) and Cn25.
Step 2: If the Servo system includes a host controller which is used for positioning control, then it’s position
loop Gain should be set lower, relative to the servo drive Gain.
Step 3: Adjusting Speed Loop Gain 1 (Sn211):
a) Increase Sn212 (Integral Time Constant 1of Speed Loop). Set a higher value than default or the set
value when auto tune was unsuccessful.
b) Increase the Speed Loop Gain (Sn211) until there is no vibration or noise.
c) Then decrease the Speed Loop Gain (Sn211) slowly and increase Position Loop Gain of Host
Controller until there is no vibration or noise.
Step 4: Adjusting Speed Loop Integral Time Constant 1 (Sn212):
Set the Integral Time Constant of Speed Loop for minimum time setting that without causing mechanical
vibration.
Step 5: Finally, Slowly adjust the Speed Loop Gain, Position Loop Gain of Host Controller and Integral Time
Constant of Speed Loop until the servo system provides the best response.

Manual Gain Adjustment in Position Control mode

Step 1: Set Rigidity level in parameter Cn 26 (See section 5-5-1 for the selection table) for the correct Load
Inertia Ratio.
Step 2: Decrease Position Loop Gain 1 (Pn 310).
Set a lower value than default or the set value when auto tune was unsuccessful.
Set a relatively higher value in Sn212 (Integral Time Constant 1 of Speed Loop).
Step 3: Adjust Speed Loop Gain 1(Sn211).
Increase the Speed Loop Gain until there is no vibration or noise.
Step 4: Adjusting Position Loop Gain 1 (Pn310).
Slowly decrease the Speed Loop Gain again, then increase the Position Loop Gain until there is no
vibration or noise.
Step 5: Adjusting Speed Loop Integral Time Constant 1 (Sn212).
Set the Integral Time Constant of Speed Loop for a minimum time without causing mechanical vibration.
Step 6: Finally, slowly adjusting the Speed Loop Gain, Position Loop Gain and the Integral Time Constant of
Speed Loop until the servo system provides the best response.

5-59
5-5-3 Improving Resonance
The Servo drive provides the function of Gain Switching and Position Loop Feed-Forward Gain
to improve system response.
Note: Both of these features must be used correctly to improve system response, otherwise
the response will become worse. Refer to the description below:

Gain Switch
Following Gain Switching features are provided:-
a) Speed Loop Gain PI/P Switching
b) 2-stage Gain Switching.
Purposes list:
(1) To restrict overshoot during acceleration/deceleration in speed control.
(2) Reducing the in position oscillations and providing shorter settling time in position control.
(3) Decrease the noise caused when using Servo Lock.
For further details refer to section 5-3-11.

Position Loop Feed-Forward Gain

Position Loop Feed-Forward Gain can be used to reduce the error result from position control and improve
the response speed.
Position loop Feed forward gain and position loop gain should be matched with. If adjusting to higher position
loop gain, the feed fordward gain can be ignored. Oppositly, if the loop gain value is setting for a relatively low
level, adjust position loop feed forward gain will improve system response time obviously.
The adjustment steps are as follows:
Step 1: Refer to the procedures in sections 5-5-1~5-5-2 to adjust Speed and Position Gain.
Step 2: Increase Pn312(Position Feed-Forward Gain) slowly, and observe the INP ( Output Signal of In
Position) at the same time and INP output should be activated faster.

Note: The Position Loop Feed-Forward Gain can not be set too high, otherwise it will cause speed
overshooting and INP (In Position output signal) will be switching On/Off repeatedly.

5-60
5-6 Other Functions
5-6-1 Programmable I/O Functions
Digital Inputs.
There are 6 DI (Digital Inputs) contacts and 3 DO (Digital Outputs) contacts which are programmable as
listed below:
Setting Control
Parameter Name Default Unit
Range Mode
DI-1 Digital Input 1 programmable Functions

Setting Description

Signal Contactor Function

01 SON Servo On
02 ALRS Alarm Reset
03 PCNT PI/P Switching
04 CCWL CCW Limit
05 CWL CW Limit
06 TLMT External Torque Limit
07 CLR Clear Pulse Error Value
08 LOK Servo Lock
09 EMC Emergency Stop
0A SPD1 Speed 1
0B SPD2 Speed 2
★Hn501.0 01
0C MDC Control Mode Switch │
★Hn501.1 0D INH Position Command Inhibit 01 X 1C
0E SPDINV Speed Inverse
(HEX)
0F G-SEL Gain Select
Electronic Gear Ratio
10 GN1 ALL
Numerator 1
Electronic Gear Ratio
11 GN2
Numerator 2
12 PTRG Position Trigger
13 PHOLD Position Hold
14
SHOME Start Home
Home Position Reference
15 ORG
(Origin)
16 POS1 Internal Position select 1
17 POS2 Internal Position select 2
18 POS3 Internal Position select 3
19 POS4 Internal Position select 4
1A TRQINV Torque Inverse
1B RS1 Torque CW Selecting
1C RS2 Torque CCW Selecting
DI-1 Logic State NO/NC Selection
Setting Description
★Hn501.2 Input contact state. NO (Normally Open). 0
0 Connecting (IG24) to inputs, enables the 0 X │
selected function. 1
Input contact state. NC (Normally Closed).
1 Disconnecting (IG24) from inputs, enables
the selected function.
　New setting will become effective after re-cycling the power.

5-61
Digital Inputs 2 to 6 (Hn 502 to Hn 506). Are programmable and the logic state NO/NC can also be
selected same as that shown for digital input 1. See Hn501.

Setting Control
Parameter Name & Function Default Unit
Range Mode
DI-2 Programmable Digital input Selection 001
★Hn502 002 X │ ALL
Please refer to Hn501
11C
DI-3 Programmable Digital input Selection 001
★Hn503 003 X │ ALL
Please refer to Hn501
11C
DI-4 Programmable Digital input Selection 001
★Hn504 008 X │ ALL
Please refer to Hn501
11C
DI-5 Programmable Digital input Selection 001
★Hn505 00A X │ ALL
Please refer to Hn501
11C
DI-6 Programmable Digital input Selection 001
★Hn506 006 X │ ALL
Please refer to Hn501
11C
DO-1 Programmable Digital Output Selection 001
007 X │ ALL
Setting Explanation
11C
Signal Functions
01 RDY Servo Ready
★Hn507.0 02 ALM Alarm
★Hn507.1
03 ZS Zero Speed 01
04 BI Brake Signal 01 X │
05 INS In Speed 08
06 INP In Position ALL
07 HOME HOME
08 INT In Torque
DO-1 Digital Output Logic State.
★Hn507.2 Setting 0
Explanation 0 X │
0 Close, when the output is activated. 1
1 Open, when the output is activated.
DO-2 Programmable Digital Output Selection 001
★Hn508 002 X │ ALL
Please refer to Hn507
108
DO-3 Programmable Digital Output Selection 001
★Hn509 003 X │ ALL
Please refer to Hn507 108

Warning!
1. If any of programmable Inputs of DI-1 ~ DI-6 are set for the same type of function then the logic state
selection ( NO or NC selection) for these inputs must be the same type.
Otherwise an Alarm will be displayed. AL-07 (Multi-function contact setting error).
2. When programmable DO-1 ~ DO-3 are set for the same type of function alarm will be displayed.
AL-07 (Multi-function contact setting error).

5-62
5-6-2 Switch for the Control Mode
Set one of the programmable input terminals to MDC (Control mode) selection.
The input then will select the preset control mode, which is set by Parameter Cn001.
Selections are listed below:

Parameter Name Setting Description Control Mode

MDC Input off MDC Input On

Position Control
3 Speed Control
Control Mode (External Pulse Command)
★Cn001 ALL
Selection
4 Speed Control Torque Control
Position Control
5 Torque Control
(External Pulse Command)
　 New setting will become effective after re-cycling the power.
Please check 5-6-1 to setting the input contact required high /Low signal levels (PNP/NPN
selection).

5-6-3 Auxiliary Functions

Function of Input Contacts SON, CCWL and CWL can be set according to the list below:-

Parameter Name Setting Description Control Mode

★Cn002.0 0 Use input contact SON to switch Servo On.

SON
ALL
(Servo ON ) Servo on with Power on.
1
SON input contact not required.
CCWL and CWL(external limits) are effective.
0 CCW and CW rotation is inhibited by
CCWL and CWL
Cn002.1 CCWL&CWL.
(Counter Clockwise
CCWL and CWL(external limits) are ALL
&
ineffective.
Clockwise Limits) 1
CCW&CW rotation is not limited by
CCWL&CWL.
　New setting will become effective after re-cycling the power.

5-63
5-6-4 Brake Mode
Brake function for servo motor and the external mechanical brake if it is used can be set according to the table
below. Set the brake mode as required for Servo off, Emergency Stop and CCW/CW rotation inhibit functions.
Setting
Control
Parameter Name Default Unit
Range Mode
Brake Mode
Selectable Brake modes for Servo off, EMC and
CCW/CW drive inhibit.
0
Cn008 Setting Explanation 0 X │ ALL
1
Dynamic brakes Mechanical brakes
0 No No
1 No Yes

5-6-5 Timing Diagram of Mechanical Brake

In applications with vertical loading, if the power is turned off, to prevent the load from falling due to gravity, a
servo motor with electro-mechanical brake can be used.
This servo drive provides a brake output (BI) which can be used for controlling the external brake.
Timing of brake output signal can be set by parameter Cn003 (Output Time for electro-mechanical Brake).

Typical Circuit Diagram

CN2

5-64
Timing for Brake output signal
Set the required time for the operation of brake output signal (BI) according to the following.
BI output can be used to control the function of an external electro-mechanical brake.

Parameter Name Default Default Setting Range Control Mode

Output time setting for
Cn003 Mechanical Brake 0 msec -2000~2000 ALL
Signal

Note!
To use brake output signal set Cn008 (Brake mode) to selections 1 as required.
When the servo system has vertical loading, please set Cn003 to a Positive Number.
For definition of a time value with a positive or a negative sign refer to the following
notes and timing diagrams.

(1) Cn003 set to a time value with a Positive sign.

AS soon as the input contact SON is switched on, Servo on is activated at the same time,
then after a time delay set by parameter Cn003,Output Contact BI is switched on. (Signal to release the
brake).

When SON input contact is switched off, BI output contact is also switched off (Signal to operate the
brake).
Then after a time delay set by parameter Cn003, Servo ON is de-activated.

(2) Cn003 set to a time value with a Negative sign.

AS soon as the input contact SON is switched on, Output Contact BI is switched on at the same time.
(Signal to release the brake). then after a time delay set by parameter Cn003, Servo on is activated.

When SON input contact is switched off, Servo ON is de-activated at the same time.
After a time delay set by parameter Cn003, Output Contact BI is switched off. (Signal to operate the
brake).

1 1

1 1

1 1

Note: Input contacts status of above time sequence diagram “1” (ON) and “0” (OFF).
Please check 5-6-1 to set the required high /Low signal levels (PNP/NPN) selection.

5-65
5-6-6 CW/CCW Drive Inhibit Function
Stopping method of the servo motor as a result of CW/CCW Inhibit function
can be selected according to the list below:
Setting Control
Parameter Name Default Unit
Range Mode
CW/CCW drive inhibit mode

Setting Explanation
When torque limit reached the setting value of (Cn010,
0 Cn011), servo motor deceleration to stop in the zero 0
★Cn009 clamp condition. 0 X │ ALL
2
1 Reserve parameter

Once max torque limit (± 300%) is detected then

2
deceleration to stop, zero clamp is applied when stop.

　New setting will become effective after re-cycling the power.

CW/CCW
Drive inhibit
Deceleration Mode After Stopping
Cn009=0 Torque Limit (Cn010,
Zero Clamp
Cn011)Decelerating

Cn009=2
300% of Torque Limit Zero Clamp

5-66
5-6-7 Selecting for External Regeneration Resistor
In applications where a high inertia load is stopped rapidly, motor will generate an energy, which is regenerate
power back to the servo drive (Regeneration energy)
(1) Short deceleration time with heavy loads.
(2) In vertical load applications.
(3) High inertia rotary load applied to the motor shaft.
Part of the regeneration power will be absorbed by the drive main smoothing capacitors
If there is too much regeneration power which can not be totally absorbed by the capacitor then regeneration
resistors can be used to absorb the excess power.

Install a regeneration resistor for the repid deceleration and vertical motion control when the main circuit DC
link voltage is high.
Install a external regeneration resistor then make sure the resistance equip externally and built-in
regeneration resistor has the same resistance.
In order to prevent servo drive possible error, external or built-in regeneration resistance value should greater
than following table.

Built-in Regeneration Resistor specification is as below table.

Minimum allowed
Drive Mode Resistance Value
(Ω)

JSDE-10 23
JSDE-15 23
JSDE-20 23
JSDE-30 23

Setting for the Power of External Regeneration Resistor

When using external regeneration resistor, the power value (Watts) must be set in parameter Cn012.

5-67
 Setting Control
Parameter Name Default Unit
Range Mode
Power setting for External Regeneration Resistor 0
Cn012 Refer to section 5-6-7 to choose external Regeneration 0 W │ ALL
resister and set its power specification in Watts of Cn012. 10000

Wiring for External Regeneration Resistor

When external Regeneration Resistor is used, must remove the link between PC and P1 on TB1 Terminal.
Then the resistor should be installed between terminals P and PC.
For safety, use of resistors with thermal protection is recommended.
The thermal switch contact can then be interlocked to disable drive or remove power if necessary.
Refer to connection diagram below:

When installing Regeneration Resistors care must be taken as the resistor absorbs the regeneration power,
and it is possible to generate the high temperatures above 100°C.
Provide the necessary cooling and use appropriate high temperature wires and ensure there has enough
space between regeneration resistor and other materials.

5-68
 Calculation of the external regeneration resistor power (Watts).
Calculate the resistor watts according to the information and formulas below:
(Energy consumed by the motor internally is ignored).

Step Item Formula Description

E M : Working Energy of Servo system (J)
Calculate the working Energy of 2
J T : Inertia applied to the motor shaft
1 E M = J T ωrm / 182
the servo system. ( kg • m2 )
ωrm : Motor running Speed(rpm)
Calculate the Energy
E L : The Energy during deceleration (J)
2 consumption by the load during E L = (π / 60)ωrmTL t D TL : Loading Torque(Nm)
deceleration.
t D : The Time from deceleration to stopping(s)
3
Calculate the Energy absorbed by
EC Check the diagram above EC : The Energy absorbed by the main
internal main capacitor. capacitor (J)

4
Calculate the Energy which
E R = E M - ( E L + EC ) E R : The Energy which Regeneration Resistor
regeneration resistor consumes consumes (J)
Calculate the Power for PR : Regeneration Resistor Power(W)
5
regeneration resistor
PR = ( E R /T ) / 0.4
T : Operating cycle for servo system(s)
Note 1 : 0.4 in the formula for PR corresponds to 40% regeneration duty cycle.
Note 2: If the E L can not be calculated, then let E L = 0 , then calculate ER .
In applications with regenerative loads, which cause reverse torque, a large amount of energy will flow back to
the driver.
In such applications, calculate ER and hence regeneration resistor power according to the formula below.
Item Formula Description for Symbols
EG : Working Energy during the regenerative
period. (J)
Calculate the working Energy ωrm ,G : Motor running speed during the
during the continuous EG = (π / 60)ωrm ,G TG t G regenerative period . (rpm)
regenerative period. TG : Loading Torque during the regenerative
period (Nm)
t G : Regenerative Time. (s)

The formula for step 4 in the previous table will be: E R = E M - ( E L + EC ) + E G

5-69
5-6-8 Fan Setting
Availabel models that equipped with the fan.
Setting Control
Parameter Name Default Unit
Range Mode
Cooling fan running modes
(Only available for the model which equip with fan.)
1
Setting Explanation
Cn031 1 X │ ALL
1 Run when Servo ON.
3
2 Always Running.
3 Disabled.

5-6-9 Factory setting parameter

This parameter can reset all parameter settings to default value (factory reset).

Setting Control
Parameter Name Default Unit
Range Mode
Reset parameters

Setting Description 0
★Cn029 0 X │ ALL
0 Disabled 1

1 Reset all Parameters to default (Factory setting)

　New setting will become effective after re-cycling the power.

5-70
Chapter 6 Parameter
6-1 Explanation of Parameter groups.
There are 9 groups of parameters as listed below.
Symbol Description
Un-xx Status Display Parameters.
dn-xx Diagnostics Parameters.
AL-xx Alarm Parameters
Cn-xx System Parameters
Tn1xx Torque Control Parameters
Sn2xx Speed Control Parameters
Pn3xx Position Control Parameters
qn4xx Quick Set-up Parameters
Hn5xx Multi-function I/O parameters

Control Mode Code

Signal Control Mode
ALL All Control Mode
Pi Position Control Mode(Internal Positional Command )
Pe Position Control Mode(External Pulse Command)
S Speed Control Mode
T Torque Control Mode

Definition of Symbols.
Symbol Explanation
★ Parameter becomes effective after recycling the power.
◆ Parameter is Effective without pressing the Enter key.

6-2 Parameter Display Table

Diagnosis Parameter
Parameter Name & Function
dn-01 Control mode display
dn-02 Output terminal signal status.
dn-03 Input terminal signal status.
dn-04 Software version (CPU version)
dn-05 JOG mode operation
dn-06 Hold position.
dn-07 Auto offset adjustment of external analog command voltage.
dn-08 Servo model code.
dn-09 ASIC software version display

6-1
 Display Parameter

Parameter Display Unit Explanation

Un-01 Actual Motor Speed rpm Motor Speed is displayed in rpm.

It displays the torque as a percentage of the rated torue.

Un-02 Actual Motor Torque % Ex: 20 are displayed. It means that the motor torque output is 20% of
rated torque.
Value for the processable regenerative power as 100% .
Un-03 Regenerative load rate %
Displays regenerative power consumption in 10-s cycle.
Value for the rated torque as 100%.
Un-04 Accumulated load rate %
Displays effective torque in 10-s cyle.

Un-05 Max load rate % Max value of accumulated load rate

Un-06 Speed Command rpm Speed command is displayed in rpm.

Error between position command value and the actual position

Un-07 Position Error Value pulse feedback.

Un-08 Position Feed-back Value pulse The accumulated number of pulses from the encoder.

Un-09 ExternalVoltage Command V External analog voltage command value in volts.

(Vdc Bus)Main Loop

Un-10 V DC Bus voltage in Volts.
Voltage
External Spped Limit
Un-11 rpm External speed limit value in rpm.
Command Value

External CCW Torque Limit Ex: Display 100. Means current external CCW torque limit command is
Un-12 % set to 100 %.
Command Value

External CW Torque Ex: Display 100. Means current external CW toque limit command is set
Un-13 % to 100%.
LimitCommand Value

Motor feed back – Rotation

Un-14 rev After power on, it displays motor rotation number as an absolute value.
value (absolute value)
Motor feed back – Less
After power on, it displays the number of pulses for an incomplete
Un-15 then 1 rotation pulse pulse revolution of the motor as an absolute value.
value(absolute value)
Pulse command – rotation After power on, it displays pulse command input rotation number in
Un-16 rev absolute value.
value(absolute value)
Pulse command – Less
After power on, it displays pulse command input for an incomplete
Un-17 then 1 rotation pulse pulse rotation. pulse value is an absolute value.
value(absolute value)
It displays the torque command as a percentage of the rated torque.
Un-18 Torque command % Ex: Display. 50.Means current motor torque command is 50% of rated
torque.
When Cn002.2=0(Auto gain adjust disabled), it displays the current
preset load inertia ratio from parameter Cn025.
Un-19 Load inertia x0.1 When Cn002.2=1(Auto gain adjust enabled), it displays the current
estimated load inertia ratio.

6-2
System Parameters
Setting Control
Parameter Name & Function Default Unit Chapter
Range Mode
Control Mode selection
Setting Explanation
0 Torque Control 5-1
1 Speed Control
2 Position Control (external pulse Command) 0
★Cn001 2 X │ ALL
3 Position/Speed Control Switching
6
4 Speed/Torque Control Switching
5 Position/Torque Control Switching 5-6-2
Position Control (internal position
6
Command)
SON (Servo On) Input contact function
★Cn002.0 Setting Explanation 0
0 Input Contact, Enables SON (Servo On). 0 X │
Input Contact has no function. 1
1
(SON is enabled when Power on).
CCWL & CWL Input contact function. ALL 5-6-3
Setting Explanation
Cn002.1 CCWL and CWL input contacts are able to 0
0
control the drive inhibit of CCW and CW. 1 X │
CCWL & CWL input contacts are not able to 1
1 control CCW and CW drive inhibit. CCW and
CW drive inhibit is disable.
Auto Tuning
Cn002.2 0 Pi
Setting Explanation
0 X │ Pe 5-5-1
0 Continuously Auto Tuning is Disable
1 S
1 Continuously Auto Tuning is Enabled.
EMC reset mode selection
Setting Explanation
Reset EMC signal is only available in Servo
Off condition (SON contact is open) and
0 reset AL-09 by ALRS signal.
P.S.) It is NOT allow to reset when SON is
★Cn002.3 applied. 0
When EMC status is released, AL-09 can be 0 X │ ALL
reset on both Servo ON and Servo OFF 1
conditions.
1
Attention!
Ensure that the speed command are
removed before the alarm is reset to avoid
motor unexpected start.

6-3
 Setting Control
Parameter Name & Function Default Unit Range Mode
Chapter
Output time setting for Mechanical Brake Signal
Brake Signal Timing Sequence：

-2000
Cn003 0 msec │ ALL 5-6-5
2000

Implementation a pin for dynamic brake signal(BI) as a

output signal before to perform this function. Refer to
sequence diagram above.
Note: Signal logic level status: 1 = ON. 0 = OFF.
Refer to Hn501.2 ~ Hn506.2 for setting contact the high &
Low logic levels.

Motor rotate direction.(Inspect from the load side)

CCW CW

When Torque or Speed Command value is Positive, the

setting of Motor retation direction are:
0
S 5-2-4
Cn004 Explanation 0 X │
Setting T 5-3-7
3
Torque Control Speed Control
Counter Counter
0
ClockWise(CCW) ClockWise (CCW)
Counter
1 ClockWise (CW)
ClockWise (CCW)
Counter
2 ClockWise(CW)
ClockWise (CCW)
3 ClockWise (CW) ClockWise (CW)

6-4
 Setting Control
Parameter Name & Function Default Unit Chapter
Range Mode
Encoder pulse output scale (Dividend)
For default set to the rated encoder number of pulses
per revolution, such as 2500ppr. 1
★Cn005 Encoder ppr can be scaled by setting a ppr in the range 1 X │ ALL 5-3-5
of 1 to the rated ppr of the encoder for scaling purpose. 63
PPR = Pulse per revolution.
Ex:encorder rated precision is 2000 ppr, If you
setting Cn005 =2, the output is 1000ppr.
Cn006 Reserve parameter — — — — —
Speed reached preset.
0
Speed preset level for CW or CCW rotation. Rated S
Cn007 rpm │ 5-3-12
When the speed is greater then preset level in Cn007 rpm × 1/3 T
4500
the Speed reached output signal INS will be activated.
Brake Mode
Selectable Brake modes for Servo off, EMC and
CCW/CW drive inhibit. 0
Cn008 Setting Explanation 0 X │ ALL 5-6-4
Dynamic brakes Mechanical brakes 1
0 No No
1 No Yes
CW/CCW drive inhibit mode
Setting Explanation
When torque limit reached the setting value of
0 (Cn010,Cn011), servo motor deceleration to 0
★Cn009 stop in the zero clamp condition. 0 X │ ALL 5-6-6
1 Reserve parameter 2
Once max torque limit (± 300% ) is detected
2 then deceleration to stop, zero clamp is
applied when stop.
CCW Torque command Limit. 0
5-2-5
Cn010 Ex: For a torque limit in CCW direction which is twice 300 % │ ALL
5-3-10
the rated torque , set Cn10=200. 300
CW Torque command Limit. -300
5-2-5
Cn011 Ex: For a torque limit in CW direction which is twice the -300 % │ ALL
5-3-10
rated torque , set Cn11=-200. 0
Power setting for External Regeneration Resistor
Refer to section 5-6-7 to choose external Regeneration 0
Cn012 resister and set its power specification in Watts of 0 W │ ALL 5-6-7
Cn012. 10000

Frequency of resonance Filter ( Notch Filter). 0 Pi

Cn013 Enter the vibration frequency in Cn013, to eliminate 0 Hz │ Pe 5-3-9
system mechanical vibration. 1000 S
Band Width of the Resonance Filter.
1 Pi
Cn014 Adjusting the band width of the frequency, lower the 7 X │ Pe 5-3-9
band width value in Cn014, restrain frequency Band 100 S
width will be wider.

6-5
 Setting Control
Parameter Name & Function Default Unit Chapter
Range Mode
PI/P control switch mode.
Setting Explanation
Switch from PI to P if the torque command is
0
greater than Cn016.
Switch from PI to P if the speed command is
Cn015.0 1 0
greater than Cn017.
Switch from PI to P if the acceleration rate is 4 X │
2 4
greater than Cn018.
Switch from PI to P if the position error is
3
greater than Cn019.
Switch from PI to P be the input contact PCNT.
4 Set one of the multi function terminals to
active. Pi
Pe 5-3-11
Automatic gain 1& 2 switch S
Setting Explanation
Switch from gain 1 to 2 if torque command is
0
greater than Cn021.
Cn015.1 Switch from gain 1 to 2 if speed command is 0
1
greater than Cn022. 4 X │
Switch from gain 1 to 2 if acceleration 4
2
command is greater than Cn023.
Switch from gain 1 to 2 if position error value
3
is greater than Cn024.
Switch from gain 1 to 2 by input contact
4
G-SEL.
PI/P control mode switch by Torque Command
Set the Cn015.0=0 first.
0 Pi
If Torque Command is less than Cn016 PI control is
Cn016 200 % │ Pe 5-3-11
selected.
399 S
If Torque Command is greater than Cn016 P control is
selected.
PI/P control mode switch by Speed Command
Set the Cn015.0=1 first. 0 Pi
Cn017 If Speed Command is less than Cn017 PI control is 0 rpm │ Pe 5-3-11
selected. 4500 S
If Speed Command is greater than Cn017 P control is
selected.
PI/P control mode switch by accelerate Command
Set the Cn015.0=2 first. 0 Pi
Cn018 If Acceleration is less than Cn018 PI control is 0 rps/s │ Pe 5-3-11
selected. 18750 S
If Acceleration is greater than Cn018 P control is
selected.
PI/P control mode switch by position error number
Set the Cn015.0=3 first. 0 Pi
Cn019 If Position error value is less than Cn019 PI control is 0 pulse │ Pe 5-3-11
selected. 50000 S
If Position error value is greater than Cn019 P control is
selected.

6-6
 Setting Control
Parameter Name & Function Default Unit Chapter
Range Mode
Automatic gain 1& 2 switch delay time.
0 Pi
x02
Cn020 Speed loop 2 to speed loop 1, Change over delay, 0 │ Pe 5-3-11
msec
when two control speed loops ( P&I gains 1 & 2) are 10000 S
used.
Automatic gain 1& 2 switch condition (Torque
command)
Set Cn015.1=0 first.
When torque command is less than Cn021, Gain 1 is
selected. 0 Pi
Cn021 When torque command is greater than Cn021, Gain 2 200 % │ Pe 5-3-11
is selected 399 S
When Gain 2 is active and torque command becomes
less than Cn021 setting value, system will
automatically switch back to Gain 1 switch time delay
can be set by Cn020.
Automatic gain 1& 2 switch condition (Speed
Command)
Set the Cn015.1=1 first.
When speed command is less than Cn022 Gain 1 is
selected. 0 Pi
Cn022 When speed command is greater than Cn022 Gain 2 0 rpm │ Pe 5-3-11
is selected. 4500 S
When Gain 2 is active and speed command becomes
less than Cn022 setting value, system will
automatically switch back to Gain 1 the switch time
delay can be set by Cn020.
Automatic gain 1& 2 switch condition
(Acceleration Command)
Set Cn015.1=2 first.
When acceleration command is less than Cn023 Gain
1 is selected.
0 Pi
When acceleration command is greater than Cn023
Cn023 0 rps/s │ Pe 5-3-11
Gain 2 is selected.
18750 S
When Gain 2 is active and acceleration command
becomes less than Cn023 system will automatically
switch back to Gain 1 the switch time delay can be set
by Cn020.

Automatic gain 1& 2 switch condition (Position

error value)
Set Cn015.1=3 first.
When position error value is less than Cn024 Gain 1 is
selected. 0 Pi
Cn024 When position error value is greater than Cn024 Gain 2 0 pulse │ Pe 5-3-11
is selected. 50000 S
When Gain 2 is active and position error value
becomes less than Cn024 system will automatically
switch back to Gain 1 and the switch time delay can be
set by Cn020.

6-7
 Setting Control
Parameter Name & Function Default Unit Chapter
Range Mode
Load-Inertia ratio
0 Pi
Cn025 LoadInertiaToMotor (J L ) 40 x0.1 │ Pe 5-5
LoadInertiaRatio = × 100%
MotorRotorInertia(J M ) 1000 S

Rigidity Setting
When Auto tuning is used, set the Rigidity Level
depending on the various Gain settings for
applications such as those listed below:
Explanation
Speed Loop
Setting Position Loop Speed Loop Integral-Time
Gain Gain Constant
Pn310 [1/s] Sn211 [Hz] Sn212
Cn026 [x0.2msec] 1 Pi
1 15 15 300 4 X │ Pe 5-5-1
2 20 20 225 A S
3 30 30 150
4 40 40 100
5 60 60 75
6 85 85 50
7 120 120 40
8 160 160 30
9 200 200 25
A 250 250 20
Cn027 Reserve parameter — — — — —
Cn028 Reserve parameter — — — — —
Reset parameters.
Setting Explanation 0
★Cn029 0 Disabled 0 X │ ALL 5-6-10
Reset all Parameters to default (Factory 1
1
setting)
Servo motor model code
Servo model code can be display and checked with
parameter dn-08, refer 3-2-2 dn-08 table for more
★Cn030 information. (refer to chapter 1-1-3)
Default X X ALL 3-2-2
Attention：Before operate your servo motor, check this
parameter setting is compatible for servo drive and
motor. If there has any incompatible problem contact
supplier for more information.
Cooling fan running modes
(Only available for the model which equip with fan.)
1
Setting Explanation
Cn031 1 X │ ALL 5-6-8
1 Run when Servo ON.
3
2 Always Running.
3 Disabled.

6-8
 Setting Control
Parameter Name & Function Default Unit Chapter
Range Mode
Speed feed back smoothing filter 1 Pe
Cn032 Restrain sharp vibration noise by the setting and this 500 Hz │ Pi 5-3-12
filter also delay the time of servo response. 1000 S
Speed Feed-forward smoothing filter 1
Pe
Cn033 40 Hz │ 5-4-6
Smooth the speed feed-forward command. Pi
100
Torque command smoothing filter 0
Cn034 Restrain sharp vibration noise by the setting and this 0 Hz │ ALL 5-2-7
filter delay the time of servo response. 1000
Panel display content selection
Select display content for LED panel for power on
status.
Setting Explanation 0
3-1
Cn035 0
Display data set and drive status parameter. 0 X │ ALL
Refer 3-1 3-2-1
19
Display Un-01 ~ Un-19 content. Refer 3-2-1
1
for more information.
│
Ex:Set Cn035=1, when power on it display the
19
actual speed of motor. (content of Un-01)
Servo ID number
0
When using Modbus for communication, each servo
Cn036 1 X │ ALL 7
units has to setting a ID number. When two or more
254
drive ID overlap will lead to communication fail.
Modbus RS-485 braud rate setting
Setting Explanation
0 4800
Cn037.0 0
1 9600
1 bps │ ALL 7
2 19200
5
3 38400
4 57600
5 115200
PC Software RS-232 braud rate setting
Setting Explanation
Cn037.1 0
0 4800
1 bps │ ALL 7
1 9600
3
2 19200
3 38400
Communication protocol
Setting Explanation
0 7 , N , 2 ( Modbus , ASCII )
1 7 , E , 1 ( Modbus , ASCII )
2 7 , O , 1 ( Modbus , ASCII ) 0
Cn038 3 8 , N , 2 ( Modbus , ASCII ) 0 X │ ALL 7
4 8 , E , 1 ( Modbus , ASCII ) 8
5 8 , O , 1 ( Modbus , ASCII )
6 8 , N , 2 ( Modbus , RTU )
7 8 , E , 1 ( Modbus , RTU )
8 8 , O , 1 ( Modbus , RTU )

6-9
 Setting Control
Parameter Name & Function Default Unit Chapter
Range Mode
Communication time-out dection
Setting non-zero value to enable this function, 0
Cn039 communication Time should be in the setting period 0 sec │ ALL 7
otherwise alarm message of communication time-out 20
will show. Setting a zero value to disable this function.
Communication response delay time 0
0.5
Cn040 Delay Servo drive communication response time to 0 │ ALL 7
msec
master control unit. 255

Torque-Control Parameter
Setting Control
Parameter Name & Function Default Unit Chapter
Range Mode
Linear acceleration/deceleration method
0
Setting Explanation
★Tn101 0 X │ T 5-2-3
0 Disabled. 1
1 Enabled.
Linear accel/decel time period.
Time taken for the torque-command to linearly
accelerate to the rated torque level or Decelerate to
zero torque .

1
★Tn102 1 msec │ T 5-2-3
50000

Analog Torque Command Ratio

Slope of voltage command / Torque command can be
adjusted.

% 0
Tn103 300 │ T 5-2-1
10V 300

6-10
 Setting Control
Parameter Name & Function Default Unit Chapter
Range Mode
Torque Command, analog input voltage offset
The offset amount can be adjusted by this parameter.
Before Offset Adjustment

Input Voltage (V)

-10000
Tn104 0 mV │ T 5-2-2
Offset
Voltage
10000

Torque
Command (%)

Preset Speed Limit 1. ( Torque control mode)

In Torque control, input contacts SPD1 and SPD2 can
be used to select Preset speed limit 1. As follows:
0
Tn105 Input Contact SPD2 Input Contact SPD1 100 rpm │ T 5-2-6
0 1 3000

Note: Input contacts status “1” (ON) and “0” (OFF).

Refer to 5-6-1 to set high or low input logic levels.
Preset Speed Limit 2. ( Torque control mode)
In Torque control, input contacts SPD1 and SPD2 can
be used to select Preset speed limit 2. As follows:
0
Tn106 Input Contact SPD2 Input Contact SPD1 200 rpm │ T 5-2-6
1 0 3000
Note: Input contacts status “1” (ON) and “0” (OFF)
Refer to 5-6-1 to set high or low input logic levels.
Preset Speed Limit 3. ( Torque control mode)
In Torque control, input contacts SPD1 and SPD2 can
be used to select Preset speed limit 3. As follows: 0
Tn107 300 rpm │ T 5-2-6
Input Contact SPD2 Input Contact SPD1
3000
1 1
Note: Input contacts status “1” (ON) and “0” (OFF)
Refer to 5-6-1 to set high or low input logic levels.
Torque output monitor value
0
When the torque level in CW or CCW direction
Tn108 0 % │ ALL 5-2-7
become greater then this value setting, the output
300
contact INT is active.

6-11
 Speed-Control Parameter
Setting Control
Parameter Name & Function Default Unit Chapter
Range Mode
Internal Speed Command 1
In Speed control, input contacts SPD1 and SPD2 can
be used to select 3 sets of internal speed command,
select for speed command 1 contact status shows -3000
Sn201 below: 100 rpm │ S 5-3-1
Input Contact SPD2 Input Contact SPD1 3000
0 1
Note: Input contacts status “1” (ON) and “0” (OFF)
Refer to 5-6-1 to set high or low input logic levels.
Internal Speed Command 2
In Speed control, input contacts SPD1 and SPD2 can
be used to select 3 sets of internal speed command,
select for speed command 2 contact status shows -3000
Sn202 below: 200 rpm │ S 5-3-1
Input Contact SPD2 Input Contact SPD1 3000
1 0
Note: Input contacts status “1” (ON) and “0” (OFF)
Refer to 5-6-1 to set high or low input logic levels.
Internal Speed Command 3
In Speed control, input contacts SPD1 and SPD2 can
be used to select 3 sets of internal speed command,
select for speed command 3 contact status shows -3000
Sn203 below: 300 rpm │ S 5-3-1
Input Contact SPD2 Input Contact SPD1 3000
1 1
Note: Input contacts status “1” (ON) and “0” (OFF).
Refer to 5-6-1 to set high or low input logic levels.
Zero Speed selection Enable or Disable the zero
speed preset parameter Sn215.
0
Setting Explanation
Sn204 0 X │ S 5-3-12
No Action. (Sn215 zero preset is not
0 1
effective).
1 Set the preset value in Sn215 as zero speed.
Speed command accel/decel smooth method.
Setting Explanation
0 Disable this function.
Smooth Acceleration/deceleration according 0
1
Sn205 to the curve defined by Sn206. 0 X │ S 5-3-6
Linear accel/decel time constant .Defined by 3
2
Sn207
S curve for Acceleration/deceleration. Defined
3
by Sn208.

6-12
 Setting Control
Parameter Name & Function Default Unit Chapter
Range Mode
Speed command smooth accel/decel time
Constant.
Set Sn205=1 to enable this function then set the time
period for the speed to rise to 63.2% of the full speed.

1
Sn206 1 msec S 5-3-6
│
10000

Speed command linear accel/decel time constant.

Set Sn205=2 to enable this function then set the time
period for the speed to rise linearly to full speed.
Speed Command (%)

Rate Speed
100

1
Sn207 1 msec │ S 5-3-6
Speed Command 50000
50

Time (ms)
Sn207

6-13
 Setting Control
Parameter Name & Function Default Unit Chapter
Range Mode
S curve speed command acceleration and
deceleration time setting.
Set Sn205=3 to enable this function.
In the period of Accel. and Decel. , drastic speed
changing might cause vibration of machine. S curve
speed command Accel. and Decel. time setting has the
effect to smooth Accel. and Decel. curve.

1
Sn208 1 msec │ S 5-3-6
1000

ta t
Rule for the setting： > ts ， d > ts
2 2
S curve speed command acceleration time setting. 0
Sn209 200 msec │ S 5-3-6
Refer Sn208
5000
S curve speed command deceleration time setting. 0
Sn210 200 msec │ S 5-3-6
Refer Sn208
5000
Speed loop Gain 1
Speed loop gain has a direct effect on the frequency
response bandwidth of the Speed-control loop.
10 Pi
Without causing vibration or noise Speed-loop-gain can 5-3-8
Sn211 40 Hz │ Pe
be increased to obtain a faster speed response. 5-5
450 S
If Cn025 (load Inertia ratio) is set correctly, the
speed-loop-bandwidth will equal to speed-loop-gain.
Speed-loop Integral time 1

Speed loop integral element can eliminate the steady

speed error and quick response for speed variations.
Decreasing Integral time can improve system rigidity. 1 Pi
x0.2 5-3-8
Sn212 The formula below shows the relationship between 100 │ Pe
Integral time and Speed loop Gain. ms 5-5
500 S
1
SpeedLoopI ntegration TimeCons tan t ≥ 5 ×
2π × SpeedLoopG ain

6-14
 Setting Control
Parameter Name & Functions Default Unit Chapter
Range Mode
Speed loop Gain 2 10 Pi 5-3-8
Sn213 40 Hz │ Pe 5-5
Refer to Sn211
450 S
Speed loop Integral time 2 1 Pi
x0.2 5-3-8
Sn214 100 │ Pe
Refer to Sn212 msec 5-5
500 S
Value of zero speed
0
Set the zero speed range in Sn215
Sn215 50 rpm │ S 5-3-12
When the actual speed is lower than Sn215 value, Output
4500
contact ZS is activated.
Analog Speed Command Ratio
Slope of voltage command / Speed command can be
adjusted.

100
rpm
Sn216 Rate rpm │ S 5-3-2
/10V
4500

Analog Speed Command offset adjust

The offset amount can be adjusted by this parameter.

-10000
Sn217 0 mV │ S 5-3-3
10000

Analog speed command upper limited 100

Rate rpm
Sn218 Setting Sn218 for limit the highest speed command of x 1.02 rpm │ S 5-3-4
analog input. 4500

6-15
Position Control Parameter
Setting Control
Parameter Name & Function Default Unit Chapter
Range Mode
Position pulse command selection
Setting Explanation
★Pn301.0 0
0 (Pulse)+(Sign)
0 X │
1 (CCW)/(CW) Pulse 3
2 AB-Phase pulse x 2
Pe 5-4-1
3 AB-Phase pulse x 4
Position- Pulse Command Logic
★Pn301.1 Setting 0
Explanation
0 X │
0 Positive Logic
1
1 Negative Logic
Selection for command receive of drive inhibit
mode
★Pn301.2 Setting Explanation 0
0
Pi
When drive inhibit occurs, record value of X │ 5-4-1
0 Pe
position command input coherently. 1
When drive inhibit occurs, ignore the value of
1
position command.
Electronic Gear Ratio Numerator 1
Use input contacts GN1 & GN2 to select one of four
electronic Gear Ratio Numerators.
To select Numerator 1, the statue of the input-contacts
1
GN1 & GN2 should be as follows: Pi
Pn302 1 X │ 5-4-3
Pe
50000
Input Contact GN2 Input Contact GN1
0 0
Note: Input contacts status “1” (ON) and “0” (OFF).
Refer to 5-6-1 to set high or low input logic levels.
Electronic Gear Ratio Numerator 2
Use input contacts GN1 & GN2 to select one of four
electronic Gear Ratio Numerators.
To select Numerator 2, the statue of the input-contacts
1
GN1 & GN2 should be as follows: Pi
Pn303 1 X │ 5-4-3
Pe
50000
Input Contact GN2 Input Contact GN1
0 1
Note: Input contacts status “1” (ON) and “0” (OFF).
Refer to 5-6-1 to set high or low input logic levels.
Electronic Gear Ratio Numerator 3
Use input contacts GN1 & GN2 to select one of four
electronic Gear Ratio Numerators.
To select Numerator 3, the statue of the input-contacts 1
Pi
Pn304 GN1 & GN2 should be as follows: 1 X │ 5-4-3
Pe
Input Contact GN2 Input Contact GN1 50000
1 0
Note: Input contacts status “1” (ON) and “0” (OFF).
Refer to 5-6-1 to set high or low input logic levels.
Electronic Gear Ratio Numerator 4
Use input contacts GN1 & GN2 to select one of four
electronic Gear Ratio Numerators.
To select Numerator 4, the statue of the input-contacts 1
Pi
Pn305 GN1 & GN2 should be as follows: 1 X │ 5-4-3
Pe
Input Contact GN2 Input Contact GN1 50000
1 1
Note: Input contacts status “1” (ON) and “0” (OFF).
Refer to 5-6-1 to set high or low input logic levels.
Setting Control
Parameter Name & Function Default Unit Chapter
Range Mode

6-16
 Electronic Gear Ratio Denominator
Set the calculated Electronic Gear Ratio Denominator
in Pn 306. ( Refer to section 5-4-3). 1
Pi
★Pn306 Electronic Gear Ratio should comply with the formula 1 X │ 5-4-3
below. Pe
50000
1
≤ ElectronicGearRatio ≤ 200
200
Position complete value
Set a value for In position output signal. 0
Pi
Pn307 When the Position pulse error value is less then Pn307 10 pulse │ 5-4-9
Pe
output-contact INP (In position output signal) will be 50000
activated.
“Incorrect position” Error band Upper limit.
0
When the Position error value is higher then number of Pi
Pn308 50000 pulse │ 5-4-9
pulses set in Pn308, an Alarm message Pe
50000
AL-11(Position error value alarm) will be displayed.
“Incorrect position” Error band lower limit.
0
When the Position error value is lower then number of 50000 Pi
Pn309 pulse │ 5-4-9
pulses set in Pn309, an Alarm message Pe
50000
AL-11(Position error value alarm) will be displayed.
Position Loop Gain 1
Without causing vibration or noise on the mechanical
system the position loop gain value can be increased
to increase system response and shorten the
1
positioning time. Pi 5-4-6
Pn310 40 1/s │
Generally, the position loop bandwidth should not be Pe 5-5
450
higher then speed loop bandwidth. The relationship is
according to the formula below:
SpeedLoopGain
PositionLoopGain ≤ 2π ×
5
Position Loop Gain 2 1
Pi 5-4-6
Pn311 40 1/s │
Refer to Pn310 Pe 5-5
450
Position Loop Feed Forward Gain
It can be used to reduce the track error of position
control and speed up the response. 0
Pi 5-4-6
Pn312 If the feed forward gain is too large, it might cause 0 % │
Pe 5-5
speed overshoot and INP contact repeatedly switch 100
ON/OFF.
INP(“In Position” output signal).
Position command smooth
Acceleration/Deceleration Time Constant
Set the time period for the Position command pulse
frequency to rise from 0 to 63.2%.

0
Pi
★Pn313 0 msec │ 5-4-4
Pe
10000

6-17
 Setting Control
Parameter Name & Function Default Unit Chapter
Range Mode
Positioning Command Direction Definition
CCW CW

0
★Pi
★Pn314 1 X │ 5-4-5
1 Pe
Setting Explanation
0 (CW) .Clockwise
1 (CCW). Counter Clockwise
Pulse Error Clear Modes.
Setting Explanation
Pe
Once CLR signal is activated, it eliminates,
0
the Pulse error amount.
Once CLR signal is activated, following takes
place:
The position command is cancelled. 0 Pi
1
Pn315 Motor rotation is interrupted 0 X │ Pe 5-4-7
Pulse error amount is cleared. 2
Machine home reference is reset
Once CLR signal is activated, following takes
place:-
2 The position command is cancelled.. Pi
Motor rotation is interrupted
Pulse error amount is cleared.
Internal Position Command Mode
0
Setting Explanation
★Pn316.0 0 X │ Pi 5-4-2
0 Absolute Position 1
1 Incremental Position
Internal Position Command Hold (PHOLD)
program select
Setting Explanation
★Pn316.1 When PHOLD is active then received PTRG 0
0 signal. servomotor will be proceed internal 0 X │ Pi 5-4-2
position command from PHOLD position. 1
When PHOLD is active then received PTRG
1 signal. Servomotor will operate internal
position command of current selection.
Internal Position Command 1 – Rotation Number
Set the Rotation number of the internal Position -30000
Pn317 Command 1 0 rev │ Pi 5-4-2
Use input contacts POS1~POS4 to select Refer to 30000
5-4-2.
Internal Position Command 1 - Pulse Number
Set the rotation pulse number of internal position -32767
Pn318 Command 1 0 pulse │ Pi 5-4-2
Internal Position Command 1 =Pn317(Rotation Number)
32767
x
Pulse number of One Rotate x 4 + Pn318(Pulse number)
Internal Position Command 1 - Move Speed 0
Pn319 Setting the Move Speed of internal Position Command 0 rpm │ Pi 5-4-2
1 3000
Internal Position Command 2-Rotation Number -30000
Pn320 0 rev │ Pi 5-4-2
Please refer to Pn317
30000
Internal Position Command 2-Pulse Number -32767
Pn321 0 pulse │ Pi 5-4-2
Please refer to Pn318
32767

6-18
 Setting Control
Parameter Name & Function Default Unit Chapter
Range Mode
Internal Position Command 2-Move Speed 0
Pn322 0 rpm │ Pi 5-4-2
Please refer to Pn319
3000
Internal Position Command 3-Rotation Number -30000
Pn323 0 rev │ Pi 5-4-2
Please refer to Pn317
30000
Internal Position Command 3-Pulse Number -32767
Pn324 0 pulse │ Pi 5-4-2
Please refer to Pn318 32767
Internal Position Command 3-Move Speed 0
Pn325 0 rpm │ Pi 5-4-2
Please refer to Pn319
3000
Internal Position Command 4 -Rotation Number -30000
Pn326 0 rev │ Pi 5-4-2
Please refer to Pn317
30000
Internal Position Command 4-Pulse Number -32767
Pn327 0 pulse │ Pi 5-4-2
Please refer to Pn318
32767
Internal Position Command 4-Move Speed 0
Pn328 0 rpm │ Pi 5-4-2
Please refer to Pn319
3000
Internal Position Command 5 -Rotation Number -30000
Pn329 0 rev │ Pi 5-4-2
Please refer to Pn317
30000
Internal Position Command 5-Pulse Number -32767
Pn330 0 pulse │ Pi 5-4-2
Please refer to Pn318
32767
Internal Position Command 5-Move Speed 0
Pn331 0 rpm │ Pi 5-4-2
Please refer to Pn319
3000
Internal Position Command 6 -Rotation Number -30000
Pn332 0 rev │ Pi 5-4-2
Please refer to Pn317
30000
Internal Position Command 6-Pulse Number -32767
Pn333 0 pulse │ Pi 5-4-2
Please refer to Pn318
32767
Internal Position Command 6-Move Speed 0
Pn334 0 rpm │ Pi 5-4-2
Please refer to Pn319 3000
Internal Position Command 7 -Rotation Number -30000
Pn335 0 rev │ Pi 5-4-2
Please refer to Pn317
30000
Internal Position Command 7-Pulse Number -32767
Pn336 0 pulse │ Pi 5-4-2
Please refer to Pn318
32767
Internal Position Command 7-Move Speed 0
Pn337 0 rpm │ Pi 5-4-2
Please refer to Pn319
3000
Internal Position Command 8 -Rotation Number -30000
Pn338 0 rev │ Pi 5-4-2
Please refer to Pn317
30000
Internal Position Command 8-Pulse Number -32767
Pn339 0 pulse │ Pi 5-4-2
Please refer to Pn318
32767
Internal Position Command 8-Move Speed 0
Pn340 0 rpm │ Pi 5-4-2
Please refer to Pn319
3000

6-19
 Defaul Setting Control
Parameter Name & Function Unit Chapter
t Range Mode
Internal Position Command 9 -Rotation Number -30000
Pn341 0 rev │ Pi 5-4-2
Please refer to Pn317
30000
Internal Position Command 9-Pulse Number -32767
Pn342 0 pulse │ Pi 5-4-2
Please refer to Pn318
32767
Internal Position Command 9-Move Speed 0
Pn343 0 rpm │ Pi 5-4-2
Please refer to Pn319
3000
Internal Position Command 10 -Rotation Number -30000
Pn344 0 rev │ Pi 5-4-2
Please refer to Pn317
30000
Internal Position Command 10-Pulse Number -32767
Pn345 0 pulse │ Pi 5-4-2
Please refer to Pn318
32767
Internal Position Command 10-Move Speed 0
Pn346 0 rpm │ Pi 5-4-2
Please refer to Pn319
3000
Internal Position Command 11 -Rotation Number -30000
Pn347 0 rev │ Pi 5-4-2
Please refer to Pn317
30000
Internal Position Command 11-Pulse Number -32767
Pn348 0 pulse │ Pi 5-4-2
Please refer to Pn318
32767
Internal Position Command 11-Move Speed 0
Pn349 0 rpm │ Pi 5-4-2
Please refer to Pn319
3000
Internal Position Command 12-Rotation Number -30000
Pn350 0 rev │ Pi 5-4-2
Please refer to Pn317
30000
Internal Position Command 12-Pulse Number -32767
Pn351 0 pulse │ Pi 5-4-2
Please refer to Pn318
32767
Internal Position Command 12-Move Speed 0
Pn352 0 rpm │ Pi 5-4-2
Please refer to Pn319
3000
Internal Position Command 13 -Rotation Number -30000
Pn353 0 rev │ Pi 5-4-2
Please refer to Pn317
30000
Internal Position Command 13-Pulse Number -32767
Pn354 0 pulse │ Pi 5-4-2
Please refer to Pn318
32767
Internal Position Command 13-Move Speed 0
Pn355 0 rpm │ Pi 5-4-2
Please refer to Pn319
3000
Internal Position Command 14 -Rotation Number -30000
Pn356 0 rev │ Pi 5-4-2
Please refer to Pn317
30000
Internal Position Command 14-Pulse Number -32767
Pn357 0 pulse │ Pi 5-4-2
Please refer to Pn318
32767
Internal Position Command 14-Move Speed 0
Pn358 0 rpm │ Pi 5-4-2
Please refer to Pn319
3000
Internal Position Command 15 -Rotation Number -30000
Pn359 0 rev │ Pi 5-4-2
Please refer to Pn317
30000

6-20
 Setting Control
Parameter Name & Function Default Unit Chapter
Range Mode
Internal Position Command 15-Pulse Number -32767
Pn360 0 pulse │ Pi 5-4-2
Please refer to Pn318
32767
Internal Position Command 15-Move Speed 0
Pn361 0 rpm │ Pi 5-4-2
Please refer to Pn319
3000
Internal Position Command 16 -Rotation Number -30000
Pn362 0 rev │ Pi 5-4-2
Please refer to Pn317
30000
Internal Position Command 16-Pulse Number -32767
Pn363 0 pulse │ Pi 5-4-2
Please refer to Pn318
32767
Internal Position Command 16-Move Speed 0
Pn364 0 rpm │ Pi 5-4-2
Please refer to Pn319
3000
Setting for HOME routine.
Setting Explanation
Once the home routine is activated, motor will
search for Home Position switch in 1st speed in
CCW direction.
Input contacts CCWL or CWL can be used as
the Home Reference Switch.
Once Home reference switch is detected, then
0
input Contacts CCWL and CWL will act as
normal Max limits again.
Note:
When using this function, Pn365.1 can not be
set to 1 or 2. Cn002.1 ( selection for CCWL 0
Pi
and CWL) must be set to 0. 0 X │ 5-4-8
Pe
Once the home routine is activated, motor will 5
search for Home position switch in 1st speed in
CW direction.
Pn365.0
Input contacts CCWL or CWL can be used as
the Home Reference Switch.
Once Home position is detected, then input
1 contacts CCWL and CWL will act as normal
max. limits again.
Note:
When using this function, Pn365.1 can not be
set to 1 or 2.
Cn002.1 ( selection for CCWL and CWL)
must be set to 0.
Once the home routine is activated , motor will
search for Home position switch in 1st speed in
CCW direction and sets the Home reference
position as soon as the input contact ORG is
2 activated.
If Pn365.1=2, it will directly find the closest
Rising-Edge of ORG to be the Home position
(without a need for Home Reference), then it
stops in accordance with Pn365.3 setting.

6-21
 Setting Control
Parameter Name & Functions Default Unit Chapter
Range Mode
Once the home routine is activated , motor will
search for Home position switch in 1st speed in
CW direction and sets the reference Home
position as soon as the input contact ORG is
3 activated.
If Pn365.1=2, it will directly find the closest
rising -Edge of ORG to be the Home position
(without a need for Home reference), then it
stops in accordance with Pn365.3 setting.
Once the home routine is activated , motor will
search for Home position in 1st speed in CCW
Pn365.0 direction and sets the Home reference position 0
Pi
as soon as the nearest Z (marker pulse) is 0 X │ 5-4-8
4 Pe
detected. 5
When using this function, set Pn365.1=2 .
After setting the Z Phase to be the Home, it stops
in accordance with the setting of Pn365.3.
Once the home routine is activated , motor will
search for Home position in 1st speed in CW
direction and sets the Home reference position
as soon as the nearest Z (marker pulse) is
5
detected.
When using this function, set Pn365.1=2 .
After setting the Z Phase to be the Home, it stops
in accordance with the setting of Pn365.3.
Once Reference Home switch or Signal, is found it
sets the search method for the Home position.
Setting Explanation
Once the Home Reference switch or signal is
detected, motor reverses direction in 2nd speed
to find the nearest Z. Phase pulse and sets this
0
as the Home position,
then stops in accordance with Pn365.3 setting
method.
Pn365.1 0
Once the Home Reference switch or signal is 0 X │
detected, motor Continues in its direction in 2
1 2nd speed to find the nearest Z Phase pulse and
sets this as the Home position, then stops in
accordance with Pn365.3 setting method.
When Pn365.0=2 or 3, it finds the rising edge of
ORG to be the Home position, then stops in Pi
5-4-8
accordance with Pn365.3. Pe
2
When Pn365.0=4 or 5, it finds Z Phase pulse to
be the Home, then stops in accordance with
Pn365.3.
Setting of Home Routine Start method
Setting Explanation
0 Homing routine is Disabled.
On power up and activation of Servo on the
home routine is started automatically. 0
Pn365.2
1 This method is useful for applications that do not 0 X │
require repeated home routines. No external 2
home reference switch is required.
Use SHOME input contact to start a home
routine.
2
In position mode, SHOME can be used to start a
home routine at any moment.

6-22
 Setting Control
Parameter Name & Function Default Unit Chapter
Range Mode
Setting of stopping mode after finding Home
signal.
Setting Explanation
After detecting the Home signal, it sets this
position to be the Home reference (Un-14
encoder feed back rotating number and
Un-15 encoder feed back pulse number are 0
Pn365.3 0 Pi
all 0), motor decelerates and stops. 0 X │ 5-4-8
Then it reverses direction in 2nd speed to 1
Pe
detect the Home Position again then it
decelerates and stops..
After detecting the Home signal, it sets this
position to be the Home reference (Un-14
1 encoder feed back rotating number and
Un-15 encoder feed back pulse number are
all 0), motor decelerates and stops.
Machine Home reference search speed. 1st speed 0
Pi
Pn366 ( Fast) 100 rpm │ 5-4-8
Pe
HOME Refeence search speed . Speed 1. 2000
Machine Home position search speed. 2nd Speed 0
Pi
Pn367 (Slow) 50 rpm │ 5-4-8
Pe
Home position search speed . Speed 2. 500
Home position offset . Number of revolutions.
Once the searched home position is found in
-30000
accordance with Pn365 (Home routine mode), then it Pi
Pn368 0 rev │ 5-4-8
will search by a number of revolutions and pulses set in Pe
30000
parameters Pn368 and Pn 369 to find the new (off set)
Home position.
Home position offset . Number of Pulses.
-32767
Home Offset position = Pn368(Rotate Number) x Pi
Pn369 0 pulse │ 5-4-8
Number of Encoder Pulse per Rotation x 4 Pe
32767
+ Pn369(Pulse Number)

6-23
Quick Set-up Parameters

Setting Control
Parameter Name & Function Default Unit Chapter
Range Mode
Speed Loop Gain 1. ( Same function as Sn211)
Speed loop gain has a direct effect on the frequency
response bandwidth of the Speed-control loop. 10 Pi
5-3-8
◆qn401 Without causing vibration or noise Speed-loop-gain 40 Hz │ Pe
5-5
can be increased to obtain a faster speed response. 450 S
If Cn025 (load Inertia ratio) is correctly set, the
speed-loop-bandwidth will equal to speed-loop-gain.
Speed-loop Integral time 1. (Same function as
Sn212)
Speed loop integral element can eliminate the steady
speed error and react to even slight speed variations. 1 Pi
x0.2 5-3-8
◆qn402 Decreasing Integral time can improve system rigidity. 100 │ Pe
ms 5-5
The formula below shows the relationship between 500 S
Integral time and Speed loop Gain.
1
SpeedLoopI ntegration TimeCons tan t ≥ 5 ×
2π × SpeedLoopG ain
Speed Loop Gain 2. (Same function as Sn213) 10 Pi
5-3-8
◆qn403 40 Hz │ Pe
Refer to qn401 5-5
450 S
Speed Loop Integration Time Constant 2. 1 Pi
x0.2 5-3-8
◆qn404 (Same function as Sn214) 100 │ Pe
ms 5-5
Refer to qn402 500 S
Position Loop Gain 1. (Same function as Pn310)
Without causing vibration or noise on the mechanical
system the position loop gain value can be
increased to speed up response and shorten the
positioning time. 1
Pi 5-4-6
◆qn405 Generally, the position loop bandwidth should not be 40 1/s │
Pe 5-5
higher then speed loop bandwidth. The relationship 450
is according to the formula below:
SpeedLoopGain
PositionLoopGain ≤ 2π ×
5
Position Loop Gain 2 (Same function as Pn311) 1
Pi 5-4-6
◆qn406 40 1/s │
Please refer to qn405 Pe 5-5
450
Position Loop Feed Forward Gain
It can be used to reduce the follow up error of
position control and speed up the response.
If the feed forward gain is too large, it might cause 0
Pi 5-4-6
◆qn407 speed 0 % │
Pe 5-5
Overshoot and in position oscillations which result in 100
the repeated ON/OFF operation of the output
contact
INP(“In Position” output signal).

6-24
 Multi-Function Input Parameters

Setting Control
Parameter Name & Function Default Unit Chapter
Range Mode
DI-1 Programmable Digital input Selection
Seting Explanation
Signal Functions
01 SON Servo On
02 ALRS Alarm Reset
03 PCNT PI/P Switching
04 CCWL CCW Limit
05 CWL CW Limit
06 TLMT External Torque Limit
07 CLR Clear Pulse Error Value
08 LOK Servo Lock
09 EMC Emergency Stop
0A SPD1 Speed 1
0B SPD2 Speed 2
0C MDC Control Mode Switch
01
★Hn501.0 0D INH Position Command Inhibit
│
★Hn501.1 0E SPDINV Speed Inverse 01 X 1C
0F G-SEL Gain Select
Electronic Gear Ratio Numerator (HEX)
10 GN1
1
Electronic Gear Ratio Numerator ALL 5-6-1
11 GN2
2
12 PTRG Position Trigger
13 PHOLD Position Hold
14 SHOME Start Home
Home Position Reference
15 ORG
(Origin)
16 POS1 Internal Position select 1
17 POS2 Internal Position select 2
18 POS3 Internal Position select 3
19 POS4 Internal Position select 4
1A TRQINV Torque Inverse
1B RS1 Torque CW Selecting
1C RS2 Torque CCW Selecting
DI-1 Logic State. NO/NC Selection
Setting Explanation
Input contact state. NO (Normally Open).
★Hn501.2 0
0 Connecting (IG24) to inputs, enables the
0 X │
selected function.
1
1 Input contact state. NC (Normally Closed).
Disconnecting (IG24) from inputs, enables
the selected function.
　★New setting will become effective after re-cycling the power.

Warning! If any of programmable Inputs of DI-1 ~ DI-6 are set for the same type of function
then the logic state selection ( NO or NC selection) for these inputs must be the same type.
Otherwise an Alarm will be displayed. AL-07 (Abnormal DI/DO programming).

6-25
 Setting Control
Parameter Name & Function Default Unit Chapter
Range Mode
DI-2 Programmable Digital input Selection 001
★Hn502 002 X │ ALL 5-6-1
Please refer to Hn501
11C
DI-3 Programmable Digital input Selection 001
★Hn503 003 X │ ALL 5-6-1
Please refer to Hn501
11C
DI-4 Programmable Digital input Selection 001
★Hn504 008 X │ ALL 5-6-1
Please refer to Hn501
11C
DI-5 Programmable Digital input Selection 001
★Hn505 00A X │ ALL 5-6-1
Please refer to Hn501
11C
DI-6 Programmable Digital input Selection 001
★Hn506 006 X │ ALL 5-6-1
Please refer to Hn501
11C
DO-1 Programmable Digital Output Selection 001
007 X │ ALL 5-6-1
Setting Explanation
11C
Signal Functions
★Hn507.0 01 RDY Servo Ready
★Hn507.1 02 ALM Alarm
03 ZS Zero Speed 01
04 BI Brake Signal 01 X │
05 INS In Speed 08
06 INP In Position ALL 5-6-1
07 HOME HOME
08 INT In Torque
DO-1 Digital Output Logic State.
★Hn507.2 Setting 0
Explanation
0 X │
0 Close, when the output is activated.
1
1 Open, when the output is activated.
DO-2 Programmable Digital Output Selection 001
★Hn508 002 X │ ALL 5-6-1
Please refer to Hn507
108
DO-3 Programmable Digital Output Selection 001
★Hn509 003 X │ ALL 5-6-1
Please refer to Hn507
108
★New setting will become effective after re-cycling the power.
Warning! If any of programmable Inputs of DO-1 ~ DO-3 are set for the same type of function
then the logic state selection ( NO or NC selection) for these inputs must be the same type.
Otherwise an Alarm will be displayed. AL-07 (Abnormal DI/DO programming).

6-26
 Setting Control
Parameter Name & Function Default Unit Chapter
Range Mode
Digital input control method selection.
Select digital input (6 pins) control method by
external terminal or communication. Convert Binary
code to Hex code for setting this parameter. DI and
binary bits table as below.
Binary code representation：
￫” 0 “ Digital input control by external terminal.
￫” 1 “ Digital input control by communication. H0000
│
5-6-1
★Hn510 Set H0000 for Hn510 represent DI-1,DI-3, DI-6 are H0000 X H003F ALL
7
controlled by external terminal and set H0003F
represent all terminal is controlled by (HEX)
communication.
The corresponding binary code is :[10 0101] convert
to Hex code is : [H 0025]for entering parameter.
For the setting Bit0 (DI-1) is control by
communication and Bit1 (DI-2) is control by external
terminal ….etc

Setting digital input status in communication

mode
Change Hn511 Hex code for setting digital input
status of communication control mode; Setting
method refer Hn510. H0000
Binary code representation： │
H003F 5-6-1
★Hn511 “0” : digital input contact OFF H0000 X ALL
“1” : digital input contact ON 7
Set H0000 for Hn510 represent H0000 are (HEX)
controlled by external terminal and set H0003F
represent all terminal is controlled by
communication.
P.S.)This parameter should co-operate with
Hn510.

6-27
Chapter 7 Communications function
7-1 Communications function ( RS-232 & RS-485 )
The Servo drive provides RS232 communication. The description below shows the communication wiring and
communication protocol.

7-1-1 Communication wiring

RS-232

Driver terminal MD-Type 8Pins PC terminal D-Type 9Pins(female)

* Pin 4 and Pin 6 is a close loop

* Pin 7 and Pin 8 is a close loop

7-1
RS-485

Driver terminal MD-Type 8Pins RS-232 / RS-485 to converter

7-2
7-1-2 RS-232, RS-485 communication parameter
Setting Control
Parameter Name & Function Default Unit Chapter
Range Mode
Servo ID number
0
When using Modbus for communication, each servo
Cn036 1 X │ ALL 7
units has to setting a ID number. When two or more
254
drive ID overlap will lead to communication fail.
Modbus RS-485 braud rate setting
Setting Explanation
0 4800
Cn037.0 0
1 9600
1 bps │ ALL 7
2 19200
5
3 38400
4 57600
5 115200
PC Software RS-232 braud rate setting
Setting Explanation
Cn037.1 0
0 4800
1 bps │ ALL
1 9600
3
2 19200
3 38400
Communication protocol
Setting Explanation
0 7 , N , 2 ( Modbus , ASCII )
1 7 , E , 1 ( Modbus , ASCII )
2 7 , O , 1 ( Modbus , ASCII ) 0
Cn038 3 8 , N , 2 ( Modbus , ASCII ) 0 X │ ALL 7
4 8 , E , 1 ( Modbus , ASCII ) 8
5 8 , O , 1 ( Modbus , ASCII )
6 8 , N , 2 ( Modbus , RTU )
7 8 , E , 1 ( Modbus , RTU )
8 8 , O , 1 ( Modbus , RTU )
Communication time-out dection
Setting non-zero value to enable this function, 0
Cn039 communication Time should be in the setting period 0 sec │ ALL 7
otherwise alarm message of communication time-out 20
will show. Setting a zero value to disable this function.
Communication response delay time 0
0.5
Cn040 Delay Servo drive communication response time to 0 │ ALL 7
msec
master control unit. 255
Setting Control
Parameter Name & Function Default Unit Chapter
Range Mode

7-3
 Digital input control method selection.
Select digital input (6 pins) control method by external
terminal or communication. Convert Binary code to Hex
code for setting this parameter. DI and binary bits table
as below.
Binary code representation:
￫” 0 “ Digital input control by external terminal.
H0000
￫” 1 “ Digital input control by communication.
│ 5-6-1
Hn510 H0000 X ALL
H003F 7
Set H0000 for Hn510 represent DI-1,DI-3, DI-6 are
(HEX)
controlled by external terminal and set H0003F
represent all terminal is controlled by communication.
The corresponding binary code is :[10 0101] convert to
Hex code is : [H 0025]for entering parameter.
For the setting Bit0 (DI-1) is control by communication
and Bit1 (DI-2) is control by external terminal ….etc

Setting digital input status in communication mode

Change Hn511 Hex code for setting digital input status
of communication control mode; Setting method refer
Hn510.
H0000
Binary code representation:
│ 5-6-1
Hn511 “0” : digital input contact OFF H0000 X ALL
H003F 7
“1” : digital input contact ON
(HEX)
Set H0000 for Hn510 represent H0000 are controlled
by external terminal and set H0003F represent all
terminal is controlled by communication.
P.S.)This parameter should co-operate with Hn510.

7-4
7-1-3 RS-232 Communication protocol and format

Baud rate 9600bps (Selection by Cn037.1 )

Parity No
Data bit 8
Stop bit 1
※ Symbol H in folling sentence is for Hex representation.

(1) Read a word from servo drive  Function code format: R5XxSs
Xx : A request to read register “ Xx ” from slave device( Unit :Byte, Hex representation)
Ss : Check Sum Ss =’R’+’5’+’X’+’x’ ( Unit :Byte、Hex representation)
Ex1: Read register address 30H and
( Convert『R530』into ASCII codes )
Check Sum=52H+35H+33H+30H=EA H
Æ R 5 3 0
Obtain Function code for read register address 30H:『R530EA』
Servo drive response : %XxYySs
Ss is Check Sum, Ss=’%’+’X’+’x’+’Y’+’y’

Response message of example 1:

0008H is the data store in register address 30H:
Check Sum=25H+30H+30H+30H+38H=EDH
% 0 0 0 8
Drive response message:『%0008ED』
* When function code incorrect , drive response :『!』(ASCII code: 21H )

7-5
(2) Read consecutive 2 words from drive  Function code format: L5NnSs

Nn : A request to read register “ Nn ” from slave device ( Unit :Byte, Hex representation)
Ss : Check Sum、Ss =’L’+’5’+’N’+’n’ ( Unit : Byte, Hex representation)

Ex2: Read data from register address 60H and

( Convert『L560』into ASCII codes )
Check Sum=4CH+35H+36H+30H=E7
L 5 6 0
Obtain Function code for read register address 60H:『L560E7』
Servo drive response: %XxYyAaBbSs
Ss is Check Sum，Ss=’%’+’X’+’x’+’Y’+’y’ +’A’+’a’+’B’+’b’
XxYy is the data store in register address Nn+1,
AaBb is the data store in register address Nn

Response message of example 2:

0001 000AH is the data store in register 60H
Check Sum=25H+30H+30H+30H+31H+30H+30H +30H+41H=1B7H
% 0 0 0 1 0 0 0 A
Drive response message:『%0001000AB7』
* When function code incorrect , drive response :『!』(ASCII code: 21H )

7-6
(3) Write a word to drive  Function code format: W5XxYyZzSs
Xx : Address for write data ( Unit :Byte、Hex representation)
YyZz : Writes the data contents ( Unit :word, Hex representation)
Ss : Check Sum，Ss =’W’+’5’+’X’+’x’+’Y’+’y’+’Z’+’z’ ( Unit :Byte, Hex representation)

Ex3：Write data 0008H to register 30H

( Convert『W5300008』into ASCII codes )
Check Sum=57H+35H+33H+30H+30H+30H+30H+38H=1B7H
W 5 3 0 0 0 0 8
Obtain Function code for write data 0008H to register 30H : 『W5300008B7』
Drive response message :『%』(ASCII code :25H)
* When function code incorrect , drive response :『!』(ASCII code: 21H )

(4) Write consecutive 2 words to drive  Function code format: M5NnXxYyAaBbSs

Nn : Address for write data( Unit :Byte、Hex representation)
XxYy : Writes the data contents of address Nn+1 ( Unit :Word、Hex representation)
AaBb : Writes the data contents of address Nn ( Unit :Word、Hex representation)
Ss : Check Sum , Ss =’M’+’5’+’N’+’n’+’X’+’x’+’Y’+’y’+’A’+’a’+’B’+’b’ ( Unit :Byte、Hex representation)

Ex4: Write data 0002 000BH to register 60H

( Convert『M5600002000B』into ASCII codes )
Check Sum=4DH+35H+36H+30H+30H+30H+30H+32H+30H+30H+30H+42H =27CH
M 5 6 0 0 0 0 2 0 0 0 B
『M5600002000B7C』
Obtain Function code for write data 0002000BH to register 60H：
Drive response message:『%』(ASCII code :25H )
* When function code incorrect , drive response :『!』(ASCII code: 21H )

7-7
7-1-4 Modbus communication protocol for RS-485
The MODBUS protocol allows an easy communication within types of network architectures,before start to
communication with slave device, set the ID number ( Cn036 ) for Servo drive respectively, server distinguish ID
number for controlling specific client station.
Standard Modbus networks combine two transmission modes: ASCII or RTU: ASCII(American Standard Code
for information interchange) Mode and RTU (Remote Terminal Unit) Mode, Use Cn038 to select ASCII or RTU
mode.

Coding method
ASCII Mode
8-bits Data consist of two ASCII code.
Ex: Data 26H 1-byte , the ’26’ convert to ASCII code is include character ’2‘ Æ <32H> and ’6’ Æ<36H>
ASCII Chart ( 0 ~ 9 and A ~ F ):
Character ‘0’ ‘1’ ‘2’ ‘3’ ‘4’ ‘5’ ‘6’ ‘7’
ASCII code(Hex) 30H 31H 32H 33H 34H 35H 36H 37H
Character ‘8’ ‘9’ ‘A’ ‘B’ ‘C’ ‘D’ ‘E’ ‘F’
ASCII code(Hex) 38H 39H 41H 42H 43H 44H 45H 46H

RTU Mode
Each 8bits is consist of 2 Hex number (4-bits per Hex number).
Ex.: Data 26H, the data length is 1-byte.

7-8
ASCII Mode Framing
10 bits Frame (7-bits Data)

Start Stop Stop

7N2 0 1 2 3 4 5 6
bit bit bit
←－－－ Data:7 bits －－－→

←－－－－－－－ Character Frame：10 bits －－－－－－－→

Start Even Stop

7E1 0 1 2 3 4 5 6
bit parity bit
←－－－ Data:7 bits －－－→

←－－－－－－－－ Character Frame:10 bits －－－－－－－→

Start Odd Stop

7O1 0 1 2 3 4 5 6
bit parity bit
←－－－ Data:7 bits －－－→

←－－－－－－－－ Character Frame:10 bits －－－－－－－→

11 bits Frame (8-bits Data)

Start Stop Stop

8N2 0 1 2 3 4 5 6 7
bit bit bit
←－－－ Data:8 bits －－－→

←－－－－－－－－ Character Frame:11 bits －－－－－－－→

Start Even Stop

8E1 0 1 2 3 4 5 6 7
bit parity bit
←－－－ Data:8 bits －－－→

←－－－－－－－－ Character Frame:11 bits －－－－－－－→

Start Odd Stop

8O1 0 1 2 3 4 5 6 7
bit parity bit
←－－－ Data:8 bits －－－→

←－－－－－－－－ Character Frame:11 bits －－－－－－－→

7-9
ASCII Mode Framing
Symbol Name Description
STX Comm. start 3AH, Char ’:‘
Include 2 ASCII code within 1-byte
Comm. add : 1 ~ 254 convert to Hex representation ;
ADR Slave address
Ex. Servo drive ADR is No.20 convert to 14H ;
ADR = ’1‘ , ‘4’ → ’1‘ = 31H , ‘4’ = 34H
Include 2 ASCII code within 1-byte
Function codes: 03H: Read the register contents,
CMD Function code
06H：Write Single Register , 08H：Diagnostic function,
10H：Write Multipile Registers
DATA(n-1)
n-word = 2n-byte (ASCII numbers : 4n ), n≦30
│ Data
The format of data is depend on Function code
DATA(0)
LRC Check code Include 2 ASCII code within 1-byte
END 1 END 1 (CR) 0DH, Char ’ \ r ‘
END 0 END 0 (LF) 0AH, Char ’ \ n ‘

RTU Mode
Symbol Name Description
STX Comm. start Excess comm. loss time setting 10ms
1-byte
Comm. address : 1 ~ 254, convert to Hex representation ;
ADR Slave address
Ex. Comm. address = 20 convert representation to 14 Hex, ADR
= ’14H’
1-byte
Function codes: 03H: Read the register contents,
CMD Function code
06H：Write Single Register , 08H: Diagnostic function,
10H：Write Multipile Registers
DATA(n-1)
n-word = 2n-byte, n≦30
│ Data
The format of data is depend on Function code
DATA(0)
CRC-Low Checking code-LO 1-byte
CRC-High Checking code-HI 1-byte
END 0 End 0 Excess comm. loss time setting 10ms

7-10
Common function codes
03H : Read the register contents

Continuous read N words. * Largest number of N is 29 (1DH)

Ex.: Read two words ( register 0200H and 0201H ) from Slave address 01H.

ASCII Mode
Query PC Æ Servo Response Servo Æ PC OK) Servo Æ PC (ERROR)

STX ‘:’ STX ‘:’ STX ‘:’

‘0’ ‘0’ ‘0’
ADR ADR ADR
‘1’ ‘1’ ‘1’
‘0’ ‘0’ ‘8’
CMD CMD CMD
‘3’ ‘3’ ‘3’
‘0’ Data length ‘0’ Exception ‘0’
(Hi)
Register ‘2’ (byte) ‘4’ code ‘2’
ADD. ‘0’ ‘0’ ‘7’
(Lo) Data of (Hi) LRC
‘0’ ‘0’ ‘A’
0200H
‘0’ ‘B’ END1 (CR) (0DH)
(Lo)
Data length ‘0’ ‘1’ END0 (LF) (0AH)
(word) ‘0’ ‘1’
Data of (Hi)
‘2’ ‘F’
0201H
‘F’ ‘4’
LRC (Lo)
‘8’ ‘0’
END1 (CR) (0DH) ‘E’
LRC
END0 (LF) (0AH) ‘8’
END1 (CR) (0DH)
END0 (LF) (0AH)

RTU Mode
Query PC Æ Servo Response Servo ÆPC (OK) Servo Æ PC (ERROR)

ADR 01H ADR 01H ADR 01H

Function Code 03H Function Code 03H Function Code 83H
Register (Hi) 02H Data (Byte) 04H Exception 02H
ADD (Lo) 00H Data of (Hi) 00H CRC(Lo) C0H
Data length 00H 0200H (Lo) BAH CRC(Hi) F1H
(word) 02H Data of (Hi) 1FH
CRC(Lo) 04H 0201H (Lo) 40H
CRC(Hi) 07H CRC(Lo) A3H
CRC(Hi) D4H

06H : Write Single Register

7-11
 Write a word into register.
Ex : Write data (0064H) into register address 0200H and slave ADR= 01

ASCII Mode
Query PC Æ Servo Response ServoÆPC (OK) Servo Æ PC (ERROR)

STX ‘:’ STX ‘:’ STX ‘:’

‘0’ ‘0’ ‘0’
ADR ADR ADR
‘1’ ‘1’ ‘1’
‘0’ ‘0’ ‘8’
CMD CMD CMD
‘6’ ‘6’ ‘6’
‘0’ ‘0’ Exception ‘0’
(Hi) (Hi)
Register ‘2’ Register ‘2’ code ‘3’
ADD ‘0’ ADD. ‘0’ ‘7’
(Lo) (Lo) LRC
‘0’ ‘0’ ‘6’
‘0’ ‘0’ END1 (CR) (0DH)
Write data ‘0’ Write data ‘0’ END0 (LF) (0AH)
(word) ‘6’ (word) ‘6’
‘4’ ‘4’
‘9’ ‘9’
LRC LRC
‘3’ ‘3’
END1 (CR) (0DH) END1 (CR) (0DH)
END0 (LF) (0AH) END0 (LF) (0AH)

RTU Mode
Query PC Æ Servo Response Servo ÆPC (OK) Servo Æ PC (ERROR)

ADR 01H ADR 01H ADR 01H

CMD 06H CMD 03H CMD 86H
Exception
Register (Hi) 02H Register (Hi) 02H 03H
code
ADD ADD.
(Lo) 00H (Lo) 00H CRC(Lo) 02H
Write data 00H Write data 00H CRC(Hi) 61H
(word) 64H (word) 64H
CRC(Lo) 89H CRC(Lo) 89H
CRC(Hi) 99H CRC(Hi) 99H

08H : Diagnostic function

The sub-function code 0000H is able to check communication signal between Master and Slaver. Data
content is random value.
Ex: Use the diagnostic function for ID=01H

7-12
ASCII Mode
Query PC Æ Servo Response Servo Æ PC (OK) Servo Æ PC (ERROR)

STX ‘:’ STX ‘:’ STX ‘:’

‘0’ ‘0’ ‘0’
ADR ADR ADR
‘1’ ‘1’ ‘1’
‘0’ ‘0’ ‘8’
CMD CMD CMD
‘8’ ‘8’ ‘8’
‘0’ ‘0’ Exception ‘0’
Sub- (HI) Sub- (HI)
‘0’ ‘0’ code ‘3’
Function Function
‘0’ ‘0’ ‘7’
(Lo) (Lo) LRC
‘0’ ‘0’ ‘4’
‘A’ ‘A’ END1 (CR) (0DH)
Data ‘5’ Data ‘5’ END0 (LF) (0AH)
(word) ‘3’ (word) ‘3’
‘7’ ‘7’
‘1’ ‘1’
LRC LRC
‘B’ ‘B’
END1 (CR) (0DH) END1 (CR) (0DH)
END0 (LF) (0AH) END0 (LF) (0AH)

RTU Mode
Query PC Æ Servo Response Servo ÆPC (OK) Servo Æ PC (ERROR)
ADR 01H ADR 01H ADR 01H
CMD 08H CMD 08H CMD 88H
Exception
Sub- (HI) 00H Sub- (HI) 00H 03H
code
Function Function
(Lo) 00H (Lo) 00H CRC(Lo) 06H
Data A5H Data A5H CRC(Hi) 01H
(word) 37H (word) 37H
CRC(Lo) DAH CRC(Lo) DAH
CRC(Hi) 8DH CRC(Hi) 8DH

10H : Write Multipile Registers

Continuously write N words to register. * Largest number of N is 27 (1BH)
Ex.: Write data (0064H) and (012CH) into register address 100H and 101H respectively.

7-13
ASCII Mode
Query PC Æ Servo Response Servo ÆPC (OK) Servo Æ PC (ERROR)
STX ‘:’ STX ‘:’ STX ‘:’
‘0’ ‘0’ ‘0’
ADR ADR ADR
‘1’ ‘1’ ‘1’
‘1’ ‘1’ ‘9’
CMD CMD CMD
‘0’ ‘0’ ‘0’
‘0’ ‘0’ Exception ‘0’
(HI) (HI)
Register ‘1’ Register ‘1’ code ‘2’
ADD ‘0’ ADD ‘0’ ‘6’
(Lo) (Lo) LRC
‘0’ ‘0’ ‘D’
‘0’ ‘0’ END1 (CR) (0DH)
Data length ‘0’ Data length ‘0’ END0 (LF) (0AH)
(word) ‘0’ (word) ‘0’
‘2’ ‘2’
Byte counters ‘0’ ‘E’
LRC
(byte) ‘4’ ‘C’
‘0’ END1 (CR) (0DH)
(HI)
ADD. ‘0’ END0 (LF) (0AH)
0100H ‘6’
(Lo)
‘4’
‘0’
(HI)
ADD. ‘1’
0101H ‘C’
(Lo)
‘2’
‘5’
LRC
‘7’
END1 (CR) (0DH)
END0 (LF) (0AH)

7-14
RTU Mode
Query PC Æ Servo Response Servo ÆPC (OK) Servo Æ PC (ERROR)

ADR 01H ADR 01H ADR 01H

CMD 10H CMD 10H CMD 90H
Exception
Register (HI) 01H Register (HI) 01H 02H
code
ADD ADD
(Lo) 00H (Lo) 00H CRC(Lo) CDH
Data length 00H Data length 00H CRC(Hi) C1H
(word) 02H (word) 02H
Byte counters 04H CRC(Lo) 40H
Data (HI) 00H CRC(Hi) 34H
0100H (Lo) 64H
Data (HI) 01H
0101H (Lo) 2CH
CRC(Lo) BFH
CRC(Hi) ADH

LRC (ASCII Mode ) and CRC (RTU Mode) Check methods

LRC Checking:
ASCII Mode LRC (Longitudinal Redundancy Check) checking method
The LRC is calculated by adding together successive 8–bit bytes of the message, discarding any carries.
Ex. add ADR, Function code, register address and data contents together, if it get the sum 19DH then discard
carrier ”1” and find two’s complement for 9DH to obtain LRC code.

Ex: Execute diagnostic function for Servo drive ID =01H

STX ‘:’ ‘A’
‘0’ ‘5’
ADR Data (word)
‘1’ ‘3’
‘0’ ‘7’
CMD
‘8’ ‘1’
LRC
‘0’ ‘B’
(HI)
‘0’ END1 (CR) (0DH)
Sub-function
‘0’ END0 (LF) (0AH)
(Lo)
‘0’

01H+08H+00H+00H+A5H+37H = E5H

Two’s complement for E5H is 1BH ; derive LRC code: ‘ 1 ’ , ‘ B ’

7-15
CRC Checking:
CRC check code is from Slave Address to end of the data. The calculation method is
illustrated as follow:
(1) Load a 16-bit register with FFFF hex (all1’s). Call this the CRC register.
(2) Exclusive OR the first 8-bit byte of the message with the low-order byte of the 16-bit
CRC register, putting the result in the CRC register.
(3) Shift the CRC register one bit to the right (toward the LSB), Zero-filling the MSB,
Extract and examines the LSB.
(4) (If the LSB was 0): Repeat Steps (3) (another shift) (If the LSB was 1):
Exclusive OR the CRC register with the polynomial value A001 hex (1010 0000
0000 0001).
(5) Repeat Steps (3) and (4) until 8 shifts been performed. When this is done, a complete
8-bit byte will be processed.
(6) Repeat Steps (2) through (5) for next 8-bit byte of the message, Continue doing this
until all bytes have been processed. The final content of the CRC register is the CRC value.
Placing the CRC into the message:
When the 16-bit CRC (2 8-bit bytes) is transmitted in the message, the low-order byte
will be transmitted first, followed by the high-order byte, For example, if the CRC value
is 1241 hex, the CRC-16 (Low) put the 41h, the CRC-16 (Hi) put the 12h.

Example:
An example of a C language function performing CRC generation is shown on the following
pages. All of the possible CRC values are preloaded into two arrays, which are simply indexed
as the function increments through the message buffer. One array contains all of the 256
possible CRC values for the high byte of the 16-bit CRC field, and the other array contains all
of the values for the low byte.
Indexing the CRC in this way provides faster execution than would be achieved by calculating a
new CRC value with each new character from the message buffer.

Note
This function performs the swapping of the high/low CRC bytes internally. The bytes are
already swapped in the CRC value that is returned from the function.
Therefore the CRC value returned from the function can be directly placed into the message for
transmission.

The function takes two arguments:

unsigned char *puchMsg ; A pointer to the message buffer containing binary data
to be used for generating the CRC
unsigned short usDataLen ; The quantity of bytes in the message buffer.
The function returns the CRC as a type unsigned short.

7-16
CRC Generation Function

unsigned short CRC16(puchMsg, usDataLen)

unsigned char *puchMsg ; /* message to calculate CRC upon*/
unsigned short usDataLen ; /* quantity of bytes in message*/
{
unsigned char uchCRCHi = 0xFF ; /* high byte of CRC initialized*/
unsigned char uchCRCLo = 0xFF ; /* low byte of CRC initialized*/
unsigned uIndex ; /* will index into CRC lookup table*/

while (usDataLen--) /* pass through message buffer

{
uIndex = uchCRCHi ^ *puchMsgg++ ; /* calculate the CRC*/
uchCRCHi = uchCRCLo ^ auchCRCHi[uIndex} ;
uchCRCLo = auchCRCLo[uIndex] ;
}
return (uchCRCHi << 8 | uchCRCLo) ;
}

High-Order Byte Table

/* Table of CRC values for high-order byte */

static unsigned char auchCRCHi[] = {

0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81,
0x40, 0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40, 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0,
0x80, 0x41, 0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40, 0x00, 0xC1, 0x81, 0x40, 0x01,
0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x01, 0xC0, 0x80, 0x41,
0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40, 0x00, 0xC1, 0x81,
0x40, 0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x01, 0xC0,
0x80, 0x41, 0x00, 0xC1, 0x81, 0x40, 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x01,
0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40,
0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81,
0x40, 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0,
0x80, 0x41, 0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40, 0x00, 0xC1, 0x81, 0x40, 0x01,
0xC0, 0x80, 0x41, 0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41,
0x00, 0xC1, 0x81, 0x40, 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81,
0x40, 0x01, 0xC0, 0x80, 0x41, 0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0,
0x80, 0x41, 0x00, 0xC1, 0x81, 0x40, 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x01,
0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40, 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41,
0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81,
0x40
};

7-17
Low-Order Byte Table

/* Table of CRC values for low-order byte */

static char auchCRCLo[] = {

0x00, 0xC0, 0xC1, 0x01, 0xC3, 0x03, 0x02, 0xC2, 0xC6, 0x06, 0x07, 0xC7, 0x05, 0xC5, 0xC4,
0x04, 0xCC, 0x0C, 0x0D, 0xCD, 0x0F, 0xCF, 0xCE, 0x0E, 0x0A, 0xCA, 0xCB, 0x0B, 0xC9, 0x09,
0x08, 0xC8, 0xD8, 0x18, 0x19, 0xD9, 0x1B, 0xDB, 0xDA, 0x1A, 0x1E, 0xDE, 0xDF, 0x1F, 0xDD,
0x1D, 0x1C, 0xDC, 0x14, 0xD4, 0xD5, 0x15, 0xD7, 0x17, 0x16, 0xD6, 0xD2, 0x12, 0x13, 0xD3,
0x11, 0xD1, 0xD0, 0x10, 0xF0, 0x30, 0x31, 0xF1, 0x33, 0xF3, 0xF2, 0x32, 0x36, 0xF6, 0xF7,
0x37, 0xF5, 0x35, 0x34, 0xF4, 0x3C, 0xFC, 0xFD, 0x3D, 0xFF, 0x3F, 0x3E, 0xFE, 0xFA, 0x3A,
0x3B, 0xFB, 0x39, 0xF9, 0xF8, 0x38, 0x28, 0xE8, 0xE9, 0x29, 0xEB, 0x2B, 0x2A, 0xEA, 0xEE,
0x2E, 0x2F, 0xEF, 0x2D, 0xED, 0xEC, 0x2C, 0xE4, 0x24, 0x25, 0xE5, 0x27, 0xE7, 0xE6, 0x26,
0x22, 0xE2, 0xE3, 0x23, 0xE1, 0x21, 0x20, 0xE0, 0xA0, 0x60, 0x61, 0xA1, 0x63, 0xA3, 0xA2,
0x62, 0x66, 0xA6, 0xA7, 0x67, 0xA5, 0x65, 0x64, 0xA4, 0x6C, 0xAC, 0xAD, 0x6D, 0xAF, 0x6F,
0x6E, 0xAE, 0xAA, 0x6A, 0x6B, 0xAB, 0x69, 0xA9, 0xA8, 0x68, 0x78, 0xB8, 0xB9, 0x79, 0xBB,
0x7B, 0x7A, 0xBA, 0xBE, 0x7E, 0x7F, 0xBF, 0x7D, 0xBD, 0xBC, 0x7C, 0xB4, 0x74, 0x75, 0xB5,
0x77, 0xB7, 0xB6, 0x76, 0x72, 0xB2, 0xB3, 0x73, 0xB1, 0x71, 0x70, 0xB0, 0x50, 0x90, 0x91,
0x51, 0x93, 0x53, 0x52, 0x92, 0x96, 0x56, 0x57, 0x97, 0x55, 0x95, 0x94, 0x54, 0x9C, 0x5C,
0x5D, 0x9D, 0x5F, 0x9F, 0x9E, 0x5E, 0x5A, 0x9A, 0x9B, 0x5B, 0x99, 0x59, 0x58, 0x98, 0x88,
0x48, 0x49, 0x89, 0x4B, 0x8B, 0x8A, 0x4A, 0x4E, 0x8E, 0x8F, 0x4F, 0x8D, 0x4D, 0x4C, 0x8C,
0x44, 0x84, 0x85, 0x45, 0x87, 0x47, 0x46, 0x86, 0x82, 0x42, 0x43, 0x83, 0x41, 0x81, 0x80,
0x40
};

Exception Codes
When communication error occur , servo drive is returned with an error code and
Function code+80H return to the ModBus host controller.
Code Name Description
The function code received in the query is not an allowable action
01 ILLEGAL FUNCTION
for the server (or slave).
The data address received in the query is not an allowable
02 ILLEGAL DATA ADD.
address for the server (or slave).
A value contained in the query data field is not an allowable value
03 ILLEGAL DATA VALUE
for server (or slave).
SLAVE DEVICE An unrecoverable error occurred while the server (or slave) was
04
FAILURE attempting to perform the requested action.
05 RTU CHECK FAILURE RTU mode: CRC check error
ASCII CHECK
06 ASCII mode: LRC check error or no end code(CRLF)
FAILURE

7-18
7-2 Communication address table
All parameters allow to write data by communication excluding display parameters.
System parameters
Address
Parameter Name of parameter
RS485 RS232
0001 510H Cn001 Control Mode
0002 51DH Cn002 DI Contacts function and Auto tunning
0003 511H Cn003 Output time setting for Mechanical Brake Signal
0004 512H Cn004 Motor rotation direction
0005 513H Cn005 Encoder pulse output scale
0006 514H Cn006 Reserve parameter
0007 515H Cn007 Value for Speed reached
0008 516H Cn008 Brake Modes
0009 517H Cn009 CW/CCW Drive inhibit
000A 518H Cn010 CCW Torque command limit
000B 519H Cn011 CW Torque command limit
000C 51AH Cn012 Power setting for external Re-generation resistor
000D 5DEH Cn013 Frequency of Notch Filter (Resonance Filter)
000E 5DFH Cn014 Band Width of the Resonance Filter.
000F 58FH Cn015 Gain selection.
0010 5F8H Cn016 PI/P control switch Mode (Torque Command)
0011 5F9H Cn017 PI/P control switch Mode (Speed Command)
0012 5FAH Cn018 Switch-condition in PI/P mode (accelerate Command )
0013 5FBH Cn019 PI/P control switch Mode (position error number)
0014 53CH Cn020 Automatic Gain 1 & 2 switch delay time
0015 53DH Cn021 Automatic Gain 1 & 2 switch condition (Torque command)
0016 53EH Cn022 Automatic Gain 1 & 2 switch condition (Speed Command)
0017 53FH Cn023 Automatic Gain 1 & 2 switch condition (Acceleration Command)
0018 540H Cn024 Automatic Gain 1 & 2 switch condition (Position error value)
0019 587H Cn025 Load-Inertia ratio
001A 5D0H Cn026 Rigidity Setting
001B 58BH Cn027 Reserve parameter
001C 58CH Cn028 Reserve parameter
001D 5FDH Cn029 Reset Parameter
001E 50BH Cn030 Servo motor model code
001F 50EH Cn031 Cooling fan running mode
0020 546H Cn032 Speed feed-back smoothing filter
0021 51EH Cn033 Speed Feed-forward smoothing filter
0022 5B8H Cn034 Torque command smoothing filter
0023 541H Cn035 Panel display content selection
0024 51BH Cn036 Servo ID number
Address
Parameter Name of parameter
RS485 RS232
7-19
 0025 544H Cn037 Braud rate setting for (Modbus RS-485 / PC Software RS-232)
0026 545H Cn038 Communication protocol selection
0027 567H Cn039 Communication time-out dection time
0028 579H Cn040 Communication response delay time

Torque control parameters

Address
Parameter Name of parameter
RS485 RS232
0101 520H Tn101 Linear acceleration/deceleration method selection
0102 523H Tn102 Linear acceleration/deceleration time period
0103 521H Tn103 Analog Torque Command Ratio
0104 522H Tn104 Analog torque command offset
0105 526H Tn105 Internal Speed Limit 1
0106 527H Tn106 Internal Speed Limit 2
0107 528H Tn107 Internal Speed Limit 3
0108 5CDH Tn108 Torque output monitor value

Speed control parameters

Address
Parameter Name of parameter
RS485 RS232
0201 536H Sn201 Internal Speed Command 1
0202 537H Sn202 Internal Speed Command 2
0203 538H Sn203 Internal Speed Command 3
0204 529H Sn204 Zero Speed preset selection
0205 52AH Sn205 Speed command acceleration / deceleration methods
Speed command Smooth acceleration/deceleration-time
0206 52BH Sn206
constant
Speed command Linear acceleration/deceleration time
0207 52CH Sn207
constant
S curve speed command acceleration and deceleration time
0208 52DH Sn208
setting
0209 52EH Sn209 S curve speed command acceleration time setting
020A 52FH Sn210 S curve speed command deceleration time setting
020B 530H Sn211 Speed loop Gain 1
020C 531H Sn212 Speed-loop Integral time constant 1
020D 53AH Sn213 Speed loop Gain 2
020E 53BH Sn214 Speed loop Integral time constant 2
020F 532H Sn215 Value of zero speed
Address
Parameter Name of parameter
RS485 RS232
0210 533H Sn216 Analog Speed Command Ratio
0211 534H Sn217 Analog Speed Command offset adjust

7-20
 0212 599H Sn218 Analog Speed Command Limit

Position control parameters

Address
Parameter Name of parameter
RS485 RS232
Position command selection (for pulse type、logic and
0301H 550H Pn301
drive inhizibit )
0302H 560H Pn302 Electronic Gear Ratio Numerator 1
0303H 561H Pn303 Electronic Gear Ratio Numerator 2
0304H 562H Pn304 Electronic Gear Ratio Numerator 3
0305H 563H Pn305 Electronic Gear Ratio Numerator 4
0306H 554H Pn306 Electronic Gear Ratio Denominator
0307H 552H,553H Pn307 Position complete value
0308H 556H,557H Pn308 Position error band upper limit
0309H 558H,559H Pn309 Position error band lower limit
030AH 55AH Pn310 Position Loop Gain 1
030BH 551H Pn311 Position Loop Gain 2
030CH 55BH Pn312 Position Loop Feed Forward Gain
030DH 55CH Pn313 Position command Smooth Accel/Decel time constant
030EH 55DH Pn314 Position Command Direction definition
030FH 51FH Pn315 Position Pulse error clear mode
0310H 50DH Pn316 Internal Position Command Mode
0311H 568H Pn317 Internal Position Command 1-Rotation Number
0312H 569H Pn318 Internal Position Command 1-Pulse Number
0313H 56AH Pn319 Internal Position Command 1-Move Speed
0314H 56BH Pn320 Internal Position Command 2-Rotation number
0315H 56CH Pn321 Internal Position Command 2-Pulse Number
0316H 56DH Pn322 Internal Position Command 2-Move Speed
0317H 56EH Pn323 Internal Position Command 3-Rotation number
0318H 56FH Pn324 Internal Position Command 3-Pulse Number
0319H 575H Pn325 Internal Position Command 3-Moving Speed
031AH 576H Pn326 Internal Position Command 4-Rotation number
031BH 577H Pn327 Internal Position Command 4-Pulse Number
031CH 578H Pn328 Internal Position Command 4-Move Speed
031DH 59CH Pn329 Internal Position Command 5-Rotation Number
031EH 59DH Pn330 Internal Position Command 5-Pulse Number

Address
Parameter Name of parameter
RS485 RS232
031FH 59EH Pn331 Internal Position Command 5- Move Speed
0320 59FH Pn332 Internal Position Command 6-Rotation Number
0321 5A0H Pn333 Internal Position Command 6-Pulse Number
0322 5A1H Pn334 Internal Position Command 6- Move Speed
7-21
 0323 5A2H Pn335 Internal Position Command 7-Rotation Number
0324 5A3H Pn336 Internal Position Command 7-Pulse Number
0325 5A4H Pn337 Internal Position Command 7- Move Speed
0326 5A5H Pn338 Internal Position Command 8-Rotation Number
0327 5A6H Pn339 Internal Position Command 8-Pulse Number
0328 5A7H Pn340 Internal Position Command 8- Move Speed
0329 5A8H Pn341 Internal Position Command 9-Rotation Number
032A 5A9H Pn342 Internal Position Command 9-Pulse Number
032B 5AAH Pn343 Internal Position Command 9- Move Speed
032C 5ABH Pn344 Internal Position Command 10-Rotation Number
032D 5ACH Pn345 Internal Position Command 10-Pulse Number
032E 5ADH Pn346 Internal Position Command 10-Move Speed
032F 5AEH Pn347 Internal Position Command 11-Rotation Number
0330 5AFH Pn348 Internal Position Command 11-Pulse Number
0331 5B3H Pn349 Internal Position Command 11-Move Speed
0332 5E0H Pn350 Internal Position Command 12-Rotation Number
0333 5E1H Pn351 Internal Position Command 12-Pulse Number
0334 5E3H Pn352 Internal Position Command 12-Move Speed
0335 5E4H Pn353 Internal Position Command 13-Rotation Number
0336 5E5H Pn354 Internal Position Command 13- Pulse Number
0337 5E6H Pn355 Internal Position Command 13- Move Speed
0338 5E7H Pn356 Internal Position Command 14-Rotation Number
0339 5E8H Pn357 Internal Position Command 14- Pulse Number
033A 5E9H Pn358 Internal Position Command 14- Move Speed
033B 5EAH Pn359 Internal Position Command 15-Rotation Number
033C 5EBH Pn360 Internal Position Command 15- Pulse Number
033D 5ECH Pn361 Internal Position Command 15- Move Speed
033E 5EDH Pn362 Internal Position Command 16- Rotation Number
033F 5EEH Pn363 Internal Position Command 16- Pulse Number
0340 5EFH Pn364 Internal Position Command 16-Move Speed
0341 54AH Pn365 Setting for HOME routine
0342 54BH Pn366 1 st preset speed of HOME (high speed)
0343 54CH Pn367 2 nd preset speed of HOME ( low speed )
0344 54DH Pn368 HOME Position Offset. (No of Revolutions)
0345 54EH Pn369 HOME – Bias Pulse value (No of pulses)

Quick Setup parameters

Address
Parameter Name of parameter
RS485 RS232
0401 530H qn401 Speed Loop Gain 1
0402 531H qn402 Integral Time constant for Speed Loop 1
0403 53AH qn403 Speed Loop Gain 2
0404 53BH qn404 Integral Time constant for Speed Loop 2
7-22
 0405 55AH qn405 Position Loop Gain 1
0406 551H qn406 Position Loop Gain 2
0407 55BH qn407 Position Loop Feed-Forward Gain

Multi-function programmable contact parameter

Address
Parameter Name of parameter
RS485 RS232
0501 5C0H Hn501 DI-1 Pragrammable digital inupt Selection
0502 5C1H Hn502 DI-2 Pragrammable digital inupt Selection
0503 5C2H Hn503 DI-3 Pragrammable digital inupt Selection
0504 5C3H Hn504 DI-4 Pragrammable digital inupt Selection
0505 5C4H Hn505 DI-5 Pragrammable digital inupt Selection
0506 5C5H Hn506 DI-6 Pragrammable digital inupt Selection
0507 5C6H Hn507 DO-1 Programmable Digital Output Selection
0508 5C7H Hn508 DO-2 Programmable Digital Output Selection
0509 5C8H Hn509 DO-3 Programmable Digital Output Selection
050A 5C9H Hn510 Digital input control method selection
050B 5CAH Hn511 Setting digital input status in communication mode

7-23
Display parameters
Address
Parameter Name of parameter
RS485 RS232
0601 6E4H Un-01 Actual Motor Speed
0602 9B6H Un-02 Actual Motor Torque
0603 691H Un-03 Regenerative load rate
0604 693H Un-04 Accumulated load rate
0605 694H Un-05 Max load rate
0606 678H Un-06 Speed Command
0607 65CH Un-07 Position Error Value
0608 688H Un-08 Position Feed-back Value
0609 632H Un-09 ExternalVoltage Command
060A 6B7H Un-10 (Vdc Bus) Main Loop Voltage
060B 695H Un-11 External Spped Limit Command Value
060C 6C0H Un-12 External CCW Torque Limit Command Value
060D 6C1H Un-13 External CW Torque Limit Command Value
060E 8BBH Un-14 Motor feed back – Rotation value (absolute value)
Motor feed back – Less then one rotation pulse
060F 8BAH Un-15
value(absolute value)
0610 8C5H Un-16 Pulse command – rotation value(absolute value)
8C4H Pulse Command-Pulse value less than one
0611 Un-17
rotation(Absolute value)
0612 67EH Un-18 Torque command
0613 844H Un-19 Load inertia ratio

7-24
Chapter 8 Troubleshooting
8-1 Alarm functions
The Alarm codes are displayed in a format such as that shown below. For any Alarm messages , refer to this
section for identify the cause and dispel the error. to reset the Alarm message by following pages description.
If this is not possible for any reason then contact your local supplier for assistance.

Alarm Status Display：

For Alarm List refer to the section 8-2. In the example above AL-01 indicate (Under Voltage)
There is also an Alarm history which can record ten entry of alarm record.
History record is listed as alarm history record table shows.

Alarm History Record

Display Explanation
AL –xx The Latest Alarm.
A1 – xx Previous First Alarm.
A2 – xx Previous Second. Alarm.
A3 – xx Previous Third Alarm.
A4 – xx Previous Fourth Alarm.
A5 – xx Previous Fifth Alarm.
A6 – xx Previous Sixth Alarm.
A7 – xx Previous Seventh Alarm.
A8 – xx Previous Eighth Alarm.
A9 – xx Previous Ninth Alarm.
Note：xx is denotation of the Alarm Codes.

8-1
Example:
Following table are procedures to access the alarm history record parameter.

Steps Key LED Display Procedures

1 Turn On
On” power on “ Drive Status parameter is displayed.
the Power

2 MODE Press MODE key to enter the Alarm History record.

3 Press Key to view the Alarm 1 message that previously

happened and the alarm code is “03” (Overload)

Press Key again to view Alarm 2 message and repeat

4 this to see entire alarm history list.
In this example Alarm code is 01. (Under voltage)

5 Press MODE key once to view System Parameters.

Repeat this to select all other available parameters.

8-2
8-2 Troubleshooting of Alarm and Warning

Alarm Alarm Name Reset

Corrective Actions
Code and Description Method
00 Normal — —
Under-voltage Use multi-meter to check whether the input
Turn ALRS(DI)
01 The main circuit voltage is below its voltage is within the specified limit. If it can not be ON
minimum specified value. (190Vac) solved, there may be failure inside the Drive.
Over-voltage 1. Use multi-meter to check whether the input
(Regeneration error) voltage is within the specified limit.
2. Check the Parameter Cn012 if it is setting
correctly.
1. The main circuit voltage is Turn ALRS(DI)
02 3. If this alarm appears during operation.
exceeded maximum allowable ON
Extend ac/deceleration time or reduce load
value. (410V)
ratio in the permitted range. Otherwise, an
2. Regeneration voltage is too high.
external regeneration resistor is needed.
(Please contact your supplier for assistance.)
Motor Over-load 1. Check connection for Motor terminal s (U,V,W)
and Encoder.
The drive has exceeded its rated load 2. Adjust the Drive gain, If gain is not correctly
during continuous operation. When Turn ALRS(DI)
03 adjusted, it would cause motor vibration and
the loading is equal to 2 times of large current will lead to motor over load. ON
rated loading, alarm occurs within
3. Extend acc/deceleration time or reduce load
10sec.
ratio in the permitted range.
Drive Over-current 1. Check connection of the motor cable (U,V,W)
Transistor error and encoder.
Check power cable connection. Refer to the
diagram in Chapter 2. Reset Power
04
Drive main circuit Over current or 2. Turn off the power, and turn on again after 30 Supply
Transistor error. min. If the alarm still exists, there may be
power module malfunction or noise consider
the drive for test and repair.
Encoder ABZ phase signal error 1. Check the motor’s encoder connections.
2. Check the encoder if short circuit, poor solder
Motor’s encoder Reset Power
05 joints or break.
failure or encoder Supply
3. Check the encoder signal terminals CN2-4
connection problem.
and CN2-5 ( power cable 5V)
Communication error 1. Check parameter setting of communication
function.
2. Check wire connection between drive and
Communication protocol setting error Reset Power
06 controller.
or Supply
3. Set a correct value for parameter Cn039
Communication time-out is detected. communication time-out or set “0 ” to disable
communication time-out function.
Multi-function contact setting 1. Check parameters Hn501~Hn506 trigger
error level selected by 2nd digit of Hn 501 to
506should be the same for all inputs
Reset Power
07 DI-1~DI-6
Input/output contacts function setting Supply
2. Check parameters setting of Hn507~Hn509
error.
should NOT be the same for outputs contact
DO-1~DO-3
Memory Error Disconnect all command cable then re-cycle the
Reset Power
08 power. If alarm still occurs, it means the Drive
Parameter write-in error Supply
was failure.

8-3
Alarm Alarm Name Corrective Actions Reset
Code and Description Method
Emergency Stop 1. Disable Emergency stop signal input.
2. Internal mal-function.
When the input contact point EMC is Ensure that all connection are Turn ALRS(DI)
09
activated. correct, refer to Chapter 2 Power and motor ON
Alarm 09 appears. circuit diagrams connection.
Control wiring diagrams.
Motor over-current 1.Check if the motor wiring U,V,W)and encoder
wiring correct or not.
2.Internal interference and mal-function. Ensure Turn ALRS(DI)
10 Motor current is 4 times greater than
that all connection are correct ,refer to Chapter ON
rated current.
2 Power and motor circuit diagrams.

Position error 1. Increase the position loop gain (Pn310 and

Pn311) setting value.
The deviation between Pulse 2. Increase in position tolerance value by
Turn ALRS (DI)
11 command and encoder feed back (Pn312 for a better motor response. ON
( position error) is greater than the 3. Extend the time of ac/deceleration or reduce
setting of Pn308 or Pn309. load inertia in the permitted range.
4. Check if the motor wiring (U,V,W) is correct.
Motor over speed 1. Reduce the speed command.
2. Electronic gear ratio is incorrect
Turn ALRS (DI)
12 Motor’s speed is 1.5 times more then check and set correctly. ON
motor’s rated speed. 3. Adjust speed loop gains (Sn211 & Sn213) for
a better motor response.
CPU Error Turn off the power. Turn on again after 30 min. If
error alarm still exists, this may be due to
Reset Power
13 Control system external interference. Refer to the chapter 2
Supply
Mal-function. Motor, power cable and control signals
connections.
Drive disable
1. Remove input contact signal
When input contacts Turn ALRS (DI)
14 CCWL or CWL.
CCWL & CWL are operated at the 2. Check all input wiring for correct connections. ON
same time this alarm occurs.
Drive overheat
Over-load for a long duration will cause driver Turn ALRS (DI)
15 Power transistor temperature exceed overheat, check and reset operation system. ON
90°C.

8-4
Alarm Reset Methods
1. carry out the suggestions below to reset Alarm.
(a) Reset by input signal: Once the cause of Alarm is rectified,
disable SON signal (Switch off Servo ON), then activate input signal ALRS.
Alarm condition should be cleared and the drive will be ready for operation.
Reference 5-6-1 for setting SON and Alarm signal.
(b) Reset from Keypad : Once the cause of Alarm is rectified,

disable SON signal (Switch off Servo ON), then press the buttons and at the same time to reset

Alarm and the drive will be ready for operation.

2. Power reset: Once the cause of Alarm is rectified, disable SON signal (Switch off Servo ON) and re-cycling
power.
Alarm condition can be reset and the drive will be ready for operation.

Waning!
1) Before applying power rest , ensure that SON is off ( SON signal is removed first) to prevent danger.
2) Ensure that the speed commands are removed before the alarm is reset, otherwise the motor may
run abruptly once the alarm signal is reset.

8-5
Chapter 9 Specifications
9-1 Specifications and Dimension for Servo Drives
Servo motor for JSDE- 10A 15A 20A 30A
TSC04051 TSC06401 TSC06401 TSC08751
TSC04101 TST06401 TSC08751 TSC08751
Available Servo Motor
— TSB07301 TST06401 TSB13102A
(Applicable Motor Models)
— — TSB08751 TSB13102B
TSC/TSB/TST-
— — TSB13551A TSC13102C
— — TSB13551H TSB13102H
Servo motor capacity [KW] Max. 0.2 0.4 0.8 1.0
Continuous output
1.8 3.5 4.4 5.16
current [A rms]
Max. output current [A rms] 5.4 10.5 13.2 15.50

Input Power Main Circuit Single/Three Phase 170 ~ 253Vac

Supply R/S/T 50/60Hz ±5%

Cooling System Natural Air Cooling Fan Cooling

Control of Main Circuit Three-phase full-wave rectification IGBT- SVPWM Control
Resolution of
Incremental type: 2000ppr / 2500ppr
Encoder Feedback
Panel and operation key 5 digital seven-segment display ; four function key.
Position(Pulse input), Position (Internal control), Speed, Torque,
Control Mode
Position/Speed, Speed/Torque, Position/Torque,
Regeneration Brake Builted-in (brake Transistor and brake resistor)
Undervoltage, Over Voltage, Overload, Overcurrent, decoder
abnormal, Multi-function contact setting error, Memory
Protection Function
abnormal, Emergency Stop, Position error, Overspeed, CPU
Error, Drive disable, Drive Overheat
Communication interface RS-232 / RS- 485 (Modbus protocol)

9-1
 Command Source External Pulse Control / 16-Stage internal register control
Positive/Negative Edge Trigger Type : CW/CCW, CLK+DIR, A Phase + B
Type
Phase
Input
Waveform Line Driver(+5V), Open Collector
Pulse
Max.
500 KHz(Line Driver) / 200 KHz(Open Collector)
Frequency
Electronice Gear 1/200≦ A/B ≦200 ( A=1~50000, B=1~50000 )
Position
Position Smoothing
Control Ripple Time Constant 0~10sec
Constant
Mode (Time Constant 0~10 sec)
(Input Ripple Filtering)
Final Position
Tolerance 0~50000 Pulse
(In Position)
Torque Limit Operation 0 ~ 100 %
Feed Forward
Set by Parameters
Compensation

Command Source External Analog Command / 3-Stage internal Parameters

Analog voltage input

±10Vdc / 0~ Rated Speed
range

Input Impedance Approx.10k ohm

Speed Control Range 1：5000(Internal speed control) / 1：2000(External analog voltage control)

-0.03% or less at Load fluctuation 0 to 100% (at Rated Speed)

0.2% or less at power fluctuation ±10% (at Rated Speed)
Speed Speed fluctuation Rate
0.5% or less at ambient temperature fluctuation 0 deg C to 50 deg C (at Rated
Control
Speed)
Mode
Zero Speed Command Set by Parameters 0~3000rpm

Limit of Speed up or Line and speed up or down, time constant 0~50sec, smoothing time constant
down 0~10sec

Speed Reached Set by Parameters 0~3000rpm

Torque Limit External Analog Command /Set by Parameters

Frequency Response
Max. 300Hz (when JL=JM)
Characteristic

9-2
 Voltage Command 0~±10Vdc / 0~±300%

Input Impedance 10K ohm

Torque
Torque Time
Control Time Constant 0~50sec
Constant
Mode

Speed limit External Analog Command / Set by Parameters

Torque Reached
0 ~ 300% (Set by Parameters)
Command

Output
A, B, Z Line Drive Output/ Phase Z Open Collector
Position Type
Output Encoder
1 ~ 63 Encoder Ratio (Set by Parameters)
Ratio

Servo ON, P/PI switching, inhibit forward/reverse drive, error pulse clear, servo
lock, Emergency stop, internal speed choice, run mode switching, inhibit position
Digital DI[NPN/ Optional command, gain switching, electronic gear ratio setting, internal position
PNP] Input command choice, internal position command trigger, internal position command
Input To 6 ports pause, original point positioning, return to original point, external torque limit,
control model switching, forward/reverse switching, internal speedsetting, inhibit
pulse command

DO Optional
Servo Motor Warning, Servo Ready, Zero Speed, Positioning Completed, Speed
Input to 3
Output Reach, Brake interlock, Home Completed
ports

Altitude Sea level 1000m below

Indoor (avoiding direct sunshine) no erosion air (avoiding oil gases, inflammable
Install Location
Environ- gas and dust)
ment o o
Temperature Operating Temperature 0~ 55 C , storage Temperature: -20 ~ +85 C

Humidity Operating, storage below 90% RH

Vibration 10 ~ 57Hz : 20m/s2, 57 ~ 150Hz : 2G

*Momentary Max. torque is 240% of rate torque for TSTE series.

9-3
※ Dimension for TSTE-10 and TSTE-15

9-4
※ Dimension for TSTE-20 and TSTE-30

9-5
TSB 07/08 SERIES
SPECIFICATION
1（kgf．cm）＝0.0980665（N．m） 1（gf．cm．s 2 ）＝0.980665（kg．cm 2 ）

● To customize motors, please contact with us or our agent.

9-6
TSB 07/08 SERIES
DIMENSION

9-7
TSB 13 SERIES
SPECIFICATION
1（kgf．cm）＝0.0980665（N．m） 1（gf．cm．s 2 ）＝0.980665（kg．cm2 ）

● To customize motors, please contact with us or our agent.

9-8
 TSB 13 SERIES
SPECIFICATION
1（kgf．cm）＝0.0980665（N．m） 1（gf．cm．s2 ）＝0.980665（kg．cm 2 ）

● To customize motors, please contact with us or our agent.

DIMENSION

9-9
9-10
9-11
 Appendix A: Peripheral for Servo motors
Part No. Description Model

Power Connector + PIN

DTY3FAMPUVW000000
(AMP 4pin)

Encoder Connector + PIN

DTY3FAMPP0PG000000
(AMP 9pin)

0Y303A3104PS1 Power Connector (MS 4pin)

0Y303A3109PS1 Encoder Connector (MS 9pin)

DTY3CMS06A2004S00 Power Connector (MS 4pin)

DTY3CMS06A2018S00 Encoder Connector (MS 9 pin)

DTY3FCB01MUVWCB00 1M Power Cable (AMP)

DTY3FCB03MUVWCB00 3M Power Cable (AMP)

DTY3FCB05MUVWCB00 5M Power Cable (AMP)

DTY3FCB10MUVWCB00 10M Power Cable (AMP)

DTY3FCB01M0PGCB00 1M Encoder Cable (AMP+3M)

DTY3FCB03M0PGCB00 3M Encoder Cable (AMP+3M)

DTY3FCB05M0PGCB00 5M Encoder Cable (AMP+3M)

DTY3FCB10M0PGCB00 10M Encoder Cable (AMP+3M)

App-1
 Part No. Description Model.

DTY3FCB01MUVWMB00 1M L-type Power Cable (MSL)

DTY3FCB03MUVWMB00 3M L-type Power Cable (MSL)

DTY3FCB05MUVWMB00 5M L-type Power Cable (MSL)

DTY3FCB10MUVWMB00 10M L-type Power Cable (MSL)

1M L-type Encoder Cable

DTY3FCB01M0PGMB00
(MSL+D-SUB)
3M L-type Encoder Cable
DTY3FCB03M0PGMB00
(MSL+D-SUB)
5M L-type Encoder Cable
DTY3FCB05M0PGMB00
(MSL+D-SUB)

10M L-type Encoder Cable

DTY3FCB10M0PGMB00
(MSL+D-SUB)

App-2