Shanghai Siheng Motor Co Ltd

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KA Series AC Servo Driver Manual

Safety notes
Danger means that when used incorrectly, it will lead to
danger and personal injury.

Note: When used incorrectly, it will cause danger, personal

injury and possible damage to equipment.

Prohibition: It means strictly prohibiting the behavior,

otherwise it will lead to equipment damage or can not be used.

Use occasion

DANGER

 It is forbidden to use the product in flammable and explosive occasions, which can
easily cause injury or fire.
 It is forbidden to use the product in places with humidity, direct sunlight, dust, salt
and metal powder.

Wring

 Do not connect 220V driver power to 380 power supply, otherwise it will cause
equipment damage or fire.

 Please grounding terminal reliably. Poor grounding may cause electric

shock or fire.
 Do not connect the output terminal of driver U-V-W motor to three-phase power
supply, otherwise it will cause casualties or fire.
 Driver UVW motor output terminal and motor connection terminal UVW must be
connected correspondingly, otherwise the motor may cause equipment damage
and casualties due to speeding.
 Wiring please refer to wire wiring, otherwise it may cause fire.

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Operation

Note

 Before starting operation, please make sure that you can start the emergency
switch and shut down at any time.
 When commissioning, please separate the servo motor from the machine. After the
action is confirmed, the motor is installed on the machine.
 After the servo motor stops and restores instantaneously, do not approach the
machine. The machine may suddenly start again.
 Do not switch on or off the power frequently, otherwise it will cause overheating
inside the driver.

Function

Stop
 When the motor is running, do not contact any rotating parts, otherwise it will cause
casualties.
 When the equipment is running, it is forbidden to touch the driver and motor,
otherwise it will cause electric shock or scald.
 When the equipment is running, it is forbidden to move the connecting cable,
otherwise it will cause personal injury or equipment damage.

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Product introduction

1.1 Servo Driver Technical Specification

output power(kW) 0.4～0.8 1.0~1.5 1.7～
2.3
Motor rated torque
2～4 4～10 6～15
（N·m）
Sing le- p has e or thr ee - Three-phase AC 50 Hz /60Hz
Input power supply phas e AC 50 Hz / 60Hz （0.85～1.1） ×220V
（0.85～1.1） ×
220V
temperature Work: Storage at 0 ~55: -20 ~+80.
Use
humidity Less than 90 %（No dew）
enviro
nment Vibration 2
Less than0.5G（4.9m/s ，）10 Hz～60 Hz(Discontinuous operation)
Control method Position Control, Speed Control and Torque Control
regenerative braking Built-in (external when built-in resistance power is insufficient)
Velocity Frequency Response：≥200Hz

Control Velocity fluctuation rate: <0.03 (load 0-100%): <0.02 *0.9-1.1) power
characteristics supply voltage
(Value corresponds to rated speed)
Speed ratio：1 : 5000
Pulse frequency：≤ 500kHz

control input 1 Servo Enablation 2 Alarm Clearance 3 CCW Drive Ban 4 CW Drive
Ban
Deviation counter clearing/speed selection 1_Instruction pulse
prohibition/speed selection 2
Control output Servo Ready Output, Servo Alarm Output, Positioning Complete
Output/Speed Achievement Output
Input mode (1) Pulse + Direction (2) Two-Phase A/B Orthogonal
position control Pulse
Electronic 1～32767 / 1～32767
gear ratio
Feedback 10000 Pulse / turn
pulse
speed control Four Internal Velocities
Acceleration and Parameter setting acceleration and deceleration time 1-10000ms (0r-
deceleration function 1000r/min)
Speed, current position, instruction pulse accumulation, position
Monitoring function deviation, motor torque, motor current, bus voltage, absolute rotor
position, instruction pulse frequency, operation status, input and output
terminal signals, etc.
Overspeed, overvoltage and undervoltage of main power supply,
Protection function overcurrent, overload, abnormal braking, abnormal encoder, abnormal
control power supply, abnormal position, etc.
Applicable load inertia Less than 5 times the inertia of the motor

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Installation
2.1 KA03 (below 600W) Motor Driver Outward Size Diagram

2.2 KA05 ～ KA15（0.6 ～ 1.5 kW）Outward Size Diagram of Motor

Driver

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2.2.1 2.3 Standard wiring diagram

Position control mode

Drawing 2-3-1：Position control wiring

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2.2.2 Speed/Torque Mode Wiring Diagram

Figure 2-3-2: Speed/Torque Mode Wiring

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2.2.2 Control signal input/output CN2

Control mode is abbreviated as: P stands for position control mode; S stands for speed control mode;
T stands for torque control mode.

Terminal Signal name Mark Mode Function

number
The common end of the input terminal is used to drive the input optocoupler. It
18 Input Common COM
End is connected to 0V or DC 12V-24V, and the current is more than 100mA.
SON ON: Allows drives to work;
SON OFF: The driver is closed and the motor is in free state. Note 1:
10 Servo Enabling SON
Input Before calling SON from SON OFF to SON ON,
The motor must be stationary.
Note 2: After calling SON ON, wait for at least 50ms to enter the
command.
ALRS ON: Clear system alarm;
Alarm clearance ALRS OFF: Keep system alarm.
40 input ALRS Note: The alarm with fault code greater than 8 can not be cleared by this
method. It needs power off and maintenance, and then power on again.

INH ON: instruction pulse input is prohibited;

Instruction pulse
INH P INH OFF: instruction pulse input is valid.
forbidden input
15 In the speed control mode, the combination of SC1 and SC2 is used to select
Speed Selection 1 different internal speeds.
Input SC1 S SC1 OFF, SC2 OFF: Internal speed 1
SC1 ON, SC2 OFF: Internal Speed 2 SC1 OFF, SC2 ON: Internal Speed 3
SC1 ON, SC2 ON: Internal Speed 4
Note: The values of internal velocities 1-4 can be modified by parameters.
Speed Selection 2 SC2 S
Input
11
Counter clearing CLE P CLE ON: When position control, position deviation counter is cleared.

SRDY ON: The control power supply and main power supply are normal, the
8 SRDY+
driver does not alarm, the servo is ready to output ON (output on);
Servo ready output
SRDY OFF: The main power supply is not closed or the driver has an alarm.
The servo is ready to output OFF (output cut-off).
25 SRDY-

ALM+ ALM ON: Servo driver without alarm, output ON, output on;
26
Alarm output ALM OFF: Servo driver has alarm, output OFF, output cut-off.

27 ALM-

Location COIN ON: When the position deviation counter value is in the set positioning
28 COIN+ P range, the positioning completes the output ON (output conduction),
co mp letion
otherwise the output OFF (output cut-off).
output SCMP ON: When the speed reaches or exceeds the set speed,
(position Speed reaches output ON (output on), otherwise output OFF (output cut-off).
29 co ntrol mo de); COIN- S
Velocity
arrival
transport
Output (speed
co ntrol mo de);

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Terminal Signal name Mark Mode Function

number
This port can be used to control the brake when the motor has a mechanical brake
30 BRK+ (power-loss retainer).
BRK ON: The brake transmitter is electrified, the brake is invalid, and the motor can
Mechanical Brake
Release Output run.
BRK OFF: The brake is powered off, the brake is effective, the motor is locked and
31 BRK-
can not run.
Note: The BRK function is controlled by the driver.

32 Instruction Pulse PULS+

P Determine the angle and speed of the motor.
33 Position Input PULS-
34 Directional input of SIGN+
P Determine the rotation direction of the motor。
35 instruction pulse SIGN-
20 Analog Speed AS+ S Differential mode, the input impedance of 10 k Ω - 10 v ~ + 10
19 Torque Instruction AS- T v input range
Input
22 simulation AGND Analog input ground wire
1 Encoder A OA+
2 OA-
 ABZ differential drive output of encoder (26LS31 output, equivalent to RS422);
Phase Signal
 Non-insulated output (non-insulated)
Output
3 Encoder B- OB+
4 phase signal OB-
output
5 Encoder Z- OZ+
6 phase signal OZ-
output

7 Encoder Z-phase CZ  In the upper computer, the Z-phase signal pulse is usually very narrow. Please use a
collector open- high-speed optocoupler to receive it.
circuit output
9 Encoder Ground GND Encoder common ground wire
Wire

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2.2.2 encoder signal input terminal CN1

Terminal number Signal name Mark Mode
6 5V Power supply +5V Servo motor encoder with +5 power supply and common ground;
When the cable is longer, multiple parallel connection should be used
1 Power common 0V
to reduce the line voltage drop。
2 Encoder A+ input A+ It is connected with photoelectric encoder A+
3 Encoder A- input A- Connect with photoelectric encoder A-
4 Encoder B+ input B+ Connected with photoelectric encoder B+
5 Encoder B- input B- Connected with photoelectric encoder B-
10 Encoder Z+ input Z+ connected with the photoelectric encoder Z+
15 Encoder Z- input Z- Photoelectric encoder Z- phase connection
14 Encoder U+ input U+ Photoelectric encoder U+ phase connection
9 Encoder U- input U- Photoelectric encoder U- phase connection
13 Encoder V+ input V+ Photoelectric encoder V+ phase connection
8 Encoder V- input V- Photoelectric encoder V- phase connection
12 Encoder W+ input W+ Photoelectric encoder W+ connected
7 Encoder W- input W- Connected with the photoelectric encoder W-
Shell Frame Ground FG Shield ground terminal

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Chapter 3 display and panel operation

3.1 Panel shows
 The operating interface of the servo driver is composed of 5 LED digital tubes and 5 keys, which
can be used for the state display and parameter setting of the servo driver. The interface layout
is as follows:

Key function description

Button Button Function
name
MODE MODE Switch the status monitoring mode/parameter mode/alarm mode and
return to the previous menu.
 multiply Add monitor code, parameter number or set value, long press can
▲
increase quickly.
▼ Reduce Reduce the monitoring code, parameter number or set value, long press
can quickly reduce.
Shift When setting parameters, press this key to move the selected flicker bit
to the left by one.
SET Confirm Go to the next menu, or save the Settings.

 Numerical indication
The numerical value USES 5 digital tube displays. The minus sign in front of the
numerical value indicates a negative number. If it is a 5-digit negative number,
all decimal points are lit to indicate a negative number. Some display items are
preceded by an affix character, and if the number of digits is too long to occupy
the position of the prefix character, the prefix character will not be displayed,
only the value.

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3.2 state monitoring

When the servo driver is powered on, the display will display "Pr. On" for about one
second, and then automatically enter the status monitoring mode. A total of 21 display

state, the user with the, key to select the required display state. You can also change the

value of P00.03 and select the display state of the display after the servo drive is

powered on.

D -SPd 电机速度(r/min) r 1000 电机速度1000r/min

D -PoS 当前位置低4位(脉冲) P 5806
当前位置125806脉冲
D -PoS. 当前位置高4位(×10000 脉冲) P. 12
D -CPo 位置指令低4位(脉冲) C 5810
位置指令125810脉冲
D -CPo. 位置指令高4位(×10000 脉冲) C. 12
D -EPo 位置偏差低4位(脉冲) E 4
位置偏差4脉冲
D -EPo. 位置偏差高4位(×10000 脉冲) E. 0

D -trq 电机转矩(%) t 70 电机转矩 70%

D - I 电机电流(A) I 2.3 电机电流

Enter
↓ ↑ D -LSP 2.3A
直线速度(m/min)
D -Cnt ← L 5.000 直线速度5.000m/min
当前控制方式
D -Frq Cnt 0 控制方式 0
位置指令脉冲频率(kHz)
D - CS F 12.6 位置指令脉冲频率
速度指令(r/min)
D - Ct 转矩指令(%) r. -35 12.6kHz 速度指令 -

D -APo 35r/min
一转中转子绝对位置(脉冲)
t. -20 转矩指令 -20%
D - In 输入端子状态
A 3265 转子绝对位置
D - oUt 输出端子状态
In|||||||| 3265 输入端子
D - Cod 编码器输入信号
oUt |||| 输出端子
D - rn 运行状态
Cod |||||| 编码器信号
D -Err 报警代码
rn- on 运行状态 ：正在运行
D - rES 保留
Err 9 9号报警
U 0

3-2-1 Monitor mode operation block diagram

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[note 1] r 1000, r is the motor speed code, 1000 means the motor speed is anti-
clockwise 1000r/min, if it is clockwise, negative speed -1000 will be displayed. The
units are r/min.

[note 2] both position feedback pulse POS and position instruction pulse CPO are
values amplified by input electronic gears. The motor encoder feedback position
quantity is composed of POS. (high 4 bits) + POS (low 4 bits) :such as: P
12x1000=125806pcs pulse.
Similarly, the pulse amount of position instruction is also composed of CPO. (high
4 bits) + CPO (low 4 bits),Such as C. 12x10000+C5810=125810pcs pulse

When the encoder is fixed, the Z pulse is fixed as the zero pulse position. D-apo display motor encoder
The pulse value of the output position signal deviating from the zero pulse. If the number of lines of the
encoder is 2500, the display range is 0~9999.

[note 4] the display of input terminal is shown in figure 3-2-2, the display of output terminal is shown in figure
3-2-3, and the display of encoder signal is shown in figure 6-5

COIN(定位完成)
保留 SCMP(速度到
达)ALM(伺服报
警)
SRDY(伺服准备好)

图 3-2-3 输出端子显示(笔划点亮表示 ON，熄灭表示 OFF)

编码器V相
编码器W
编码器U相 编码器Z相
相
编码器B
相
编码器A相

3-2-4 Encoder signal display (stroke ON means ON, OFF means OFF)

【Note 5】 running state is denoted as：

：The main circuit is not charged and the servo system is not running；
rn- oF
：The main circuit has been charged, and the servo system is not running (the
rn- CH
servo system does not enable or alarm exists).
rn- on
：The main circuit is charged and the servo system is running

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3.2 Parameter setting

In the menu of the first layer, press [MODE] key to switch to P00. then use Parameter setting mode, and
then use 【▲】 、【▼】 button select different parameter groups P00~P05.

Press [SET] key to enter the second layer "parameter number" menu, and use【▲】
and【▼ 】

keys to select different parameter Numbers. Press "SET" key to display the parameter values,

the parameter value of lowest twinkle, twinkle with "◄" button can be moved, with the【▲】or

【 ▼ 】 key can modify the parameter values. Press [SET] key to save the modified value,

which will be immediately reflected into the control. After that, press【▲】and 【 ▼ 】button to

continue to modify the parameters. After the modification, press [MODE] button to return to the

parameter selection menu. If you are not satisfied with the value being modified, do not press the

[SET] key to confirm. You can press the [MODE] button to cancel, restore the original value of

the parameter, and return to the parameter selection menu.

3-3-1 Parameter setting operation block diagram

 Restore parameter default value operation

The operation steps are as follows:
1. Change the password parameter P00.00 to 385, i.e.
P00.00 =385.
2. Search the motor model code corresponding to the
current motor according to appendix A, and input the
motor model code into the parameter P00.01.
3. Modify the parameter P03.07 to 1, and press [SET]
key to restore the default value of the motor. Then power
on again, using the default parameters of the motor.

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Chapter 4 parameters and functions

4.1 list of parameters
The factory values in the following table take the servo driver of 110sjt-m02030 (2N•m,
3000r/min) motor as an example. Relevant parameters of different motors are different。

P00 Parameters
Parameters No Name Setting rage factory Unit Application way
default
P00.00 Password 0～9999 315 P，S
P00.01 Motor model code 0～69 60* P，S
P00.02 Software version (read only) * * P，S
P00.03 Initial display state 0～20 0 P，S
P00.04 Control Strategy Choice 0～8 0 P，S
P00.05 Velocity proportional gain 5～2000 150* Hz P，S
P00.06 Velocity integral time constant 1～1000 80* P，S
P00.07 Torque command filter 1～500 30 % P，S
P00.08 Speed detection low pass filter 1～500 120 % P，S
P00.09 Position proportional gain 1～1000 50 1/s P
P00.10 Position feed forward gain 0～100 0 % P
P00.11 Position feed forward low pass filter 1～1200 300 Hz P
cutoff frequency
P00.12 Position command pulse frequency 1～32767 10000 P
divider molecule
P00.13 Position order pulse frequency 1～32767 1000 P
divider denominator
P00.14 Position instruction pulse input mode 0～1 0 P
P00.15 Reverse the direction of the position 0～1 0 P
command pulse
P00.16 Positioning completion range 0～30000 20 Pulse P
P00.17 Location out of tolerance detection 0～30000 200 ×100 P
range Pulse
P00.18 Location error not valid 0～1 0 P
P00.19 Position order smoothing filter 0～30000 100* 0.1ms P

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P01 Parameters
Parameters No Name Setting rage factory Unit Application way
default
P01.00 Invalid driver forbidden input 0～1 0 P，S
P01.01 JOG operating speed -3000～3000 120 r/min S
P01.02 Acceleration and deceleration time 1～10000 500* ms S
constant
P01.03 Maximum speed limit 0～6000 3600 r/min P，S
P01.04 Internal velocity 1 -3000～3000 0 r/min S
P01.05 Internal velocity 2 -3000～3000 100 r/min S
P01.06 Internal velocity 3 -3000～3000 300 r/min S
P01.07 Internal velocity 4 -3000～3000 -100 r/min S
P01.08 Reach the speed 0～3000 500 r/min S
P01.09 reserve
P01.10 Internal CCW torque limitation 0～300 300* % P，S
P01.11 Internal CW torque limits -300～0 -300* % P，S
P01.12 External CCW torque limit 0～300 100 % P，S
P01.13 External CW torque limits -300～0 -100 % P，S
P01.14 Speed trial operation, JOG operation 0～300 100 % S
torque limit
P01.15 reserve

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P02 Parameters
Parameters No Name Setting rage factory Unit Application way
default
P02.00 Analog speed command gain 10～3000 300 r/min/V S
P02.01 Reverse direction of analog speed 0～1 0 S
command
P02.02 Analog speed command zero offset -500～500 0 S
compensation
P02.03 Analog speed command has no -500～500 0 S
control action area
P02.04 Analog speed command filter 1～1000 300 Hz S
P02.05 Analog torque command gain 1～300 30 %/V T
P02.06 Reverse direction of analog torque 0～1 0 T
instruction
P02.07 Analog torque instruction zero offset -500～500 0 T
compensation
P02.08 Maximum speed limit for torque 0～4000 2500 r/min T
control
P02.09 Analog torque command filter 1～1000 300 Hz T
P02.10 The lower 4-bit input terminal 0～15 0 ALL
enforces the ON control word
P02.11 High 4 bit input terminal force ON 0～15 0 ALL
control word
P02.12 Reverse control word for lower 4 bit 0～15 0 ALL
input terminal
P02.13 Reverse control word for high 4 bit 0～15 0 ALL
input terminal
P02.14 Reverse control word for output 0～15 0 ALL
terminal
P02.15 Input terminal to dither the time 1～1000 16 0.1ms ALL
constant

P03 Parameters
Parameters No Name Setting rage factory Unit Application
default way
P03.00 Speed trial run 0～1 0 S
P03.01 JOG Run 0～1 0 S
P03.02 Encoder zero operation 0～1 0 ALL
P03.03 Open loop operation 0～1 0 ALL
P03.04 The initial detection point of software 30～100 90 % ALL
overcurrent
P03.05 Software overcurrent detection time 10～10000 300 0.1ms ALL
P03.06 SON servo actuation 0～1 1 ALL
P03.07 System parameters initialized 0～1 0 ALL

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4.1.1 Parameters function

Parameters Name Function parame
No ter
scope
①Used to prevent parameters from being modified by mistake. In general, when you need to
set parameters, first set this parameter to the required password, and then set parameters.
After debugging, set this parameter to 0 at last
P00.00 Password to ensure that the parameter will not be modified by mistake in the future. 0～9999
②Password classification, corresponding to user parameters, system parameters and all
parameters.
③Change the motor model code parameter (P00.01) must use the model code password,
other passwords cannot change this parameter.
④User password is 315, model code password is 385.
①Corresponding to the same series of different power levels of servo drivers and motors
②The parameter default values of different motor model codes are different. When restoring
the default parameter function, the correctness of this parameter must be guaranteed.
Motor ③When EEPROM alarm (no. 20) appears, it must reset this parameter after repairing, and
P00.01 model then restore the default parameter. Otherwise, the servo drive will not work properly or 0～69
code damage.
④When changing this parameter, set the password (P00.00 parameter) to 385 before
changing this parameter.
⑤See this chapter for the detailed meaning of the parameters

P00.02 software You can view the software version number, but you can't change it. *
version
Select the display status of the display after the servo driver is powered on. 0: Display motor
speed;
1: Display the current position 5 bits lower;
2: Display the current position 5 bits high;
3: Display position instruction (instruction pulse accumulation) is 5 bits lower;
4: Display position instruction (instruction pulse accumulation) is 5 bits high;
5: Display position deviation is 5 bits lower;
6: Display position deviation is 5 bits higher;
7: Display motor torque;
8: Display motor current;
Initial 9: Display linear velocity;
P00.03 display 10: Display control mode; 0～20
state 11: Display position instruction pulse frequency;
12: Display speed instructions;
13: Display the Torque Instruction;
14: Display the absolute position of the rotor in one turn.
15: Display input terminal status;
16: Display output terminal status;
17: Display input signal of encoder;
18: Display the running status;
19: Display alarm code;
20: Reserve.

4.1.2 P00 Parameters

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Parameters No Name Function parameter

scope
Through this parameter, the control mode of AC servo drive unit can
be set: 0: position control mode;
1: Speed control mode;
2: Trial operation control mode;
3: JOG control mode;
4: Zero-adjusting mode of encoder;
5: Open-loop operation mode (for testing motor and encoder);
6: External analog speed control mode;
7: External analog torque control mode.
P00.04 (2) Position control mode, the position instruction is input from the 0～8
Control Strategy pulse input port.
Choice (3) Speed control mode. Speed instructions are input from input
terminals. The combination of SC1 and SC2 is used to select different
internal speeds.
SC1 OFF, SC2 OFF: Internal Speed 1 SC1 ON, SC2 OFF: Internal
Speed 2 SC1 OFF, SC2 ON: Internal Speed 3 SC1 ON, SC2 ON:
Internal Speed 4
(4) Trial operation control mode, speed instruction input from
keyboard, used to test AC servo drive unit and motor.
_JOG control mode, that is, point-to-move mode, after entering JOG
operation, press_key and keep it. The motor operates at JOG speed,
loosen key, stop the motor and keep zero speed; press_key and keep
it, the motor operates at JOG speed in reverse, loosen key, stop the
motor and keep zero speed.
_Zero-adjusting mode of encoder, used to adjust the zero point of
encoder disc when the motor leaves the factory.

（1）set the proportional gain of the speed loop regulator.

(2) The larger the setting value, the higher the gain, and
Velocity
P00.05 the greater the stiffness. The parameters are determined 5～2000Hz
proportional according to the type and load of the servo driver. In
gain general, the greater the load inertia, the larger the set
value.
(3) Under the condition that the system does not produce
oscillation, it should be set as large as possible.
(1)Set the integral time constant of the speed loop
regulator.
Velocity
P00.06 (2) The smaller the setting value, the faster the integration 1 ～1000ms
integral time
speed and the greater the stiffness. The parameters are
constant determined according to the type and load of the servo
driver. In general, the greater the inertia of load, the
smaller the set value.
(3) Under the condition that the system does not produce
oscillation, the system should be set as small as possible.

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(1) Setting the characteristics of the torque instruction filter. It can suppress
the resonance caused by the torque (the motor emits sharp vibration noise).
If the motor emits sharp vibration noise, please reduce this parameter.
P00.07 Torque (3) The smaller the value, the lower the cut-off frequency, and the smaller the
1～500%
noise generated by the motor. If the load inertia is large, the setting value can
command filter
be reduced appropriately. Too small a value will slow down the response
and may cause instability.
(4) The larger the numerical value, the higher the cut-off frequency and the
faster the response. If higher
Mechanical rigidity can be increased appropriately.

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Parameters Name Function parameter

No scope
①Set the speed detection low pass filter characteristics
②The smaller the value, the lower the cut-off frequency, the lower the noise
P00.08 Speed detection low generated by the motor. If the load inertia is large, the set value can be 1～500%
pass filter appropriately reduced. The value is too small, causing the response to slow
down and may cause oscillation.
③The higher the value is, the higher the cutoff frequency is, and the faster the
speed feedback response is. If you need
For a higher speed response, increase the set point appropriately.
①Set the proportional gain of the position ring regulator.
②The larger the setting value is, the higher the gain will be, and the greater the
Position proportional
P00.09 stiffness will be. Under the condition of the same frequency instruction pulse, 1～1000 /s
gain
the smaller the position hysteresis will be. However, too large a value may
cause oscillation or overshoot.
③The parameter value is determined according to the specific servo driver model
and load condition.
①Set the feed-forward gain of the position loop.
②When set to 100%, it means that the position hysteresis is always 0 under the
P00.10 Position feedforward instruction pulse of any frequency. 0～100％
gain ③When the feed-forward gain of the position loop is increased, the high-speed
response characteristics of the control system are improved, but the position
loop of the system is unstable and prone to oscillation.
④Unless very high response characteristics are required, the feedforward gain of
the position loop is usually 0.
Position feed-forward ①Set the cut-off frequency of the low pass filter for the position loop feedforward.
P00.11 1～1200Hz
low ②The function of this filter is to increase the stability of compound position control.
Through filter cutoff
frequency
①Set the frequency division of the position instruction pulse (electronic gear).
②In the position control mode, by setting no. 12 parameter and no. 13 parameter,
it can be easily matched with various pulse sources to achieve the ideal control
resolution (i.e., Angle/pulse) of users.
③P G N C 4
 P：number of pulses of input instruction； G：electronic gear ratio；
Frequency division of molecular
G
Position command pulse Dividing the denominator
P00.12 frequency divider N：Number of revolutions of the motor； 1～32767
molecule C：Photoelectric encoder line number/turn, the system C＝2500。
④ex：When the input instruction pulse is 6000, the servo motor rotates 1 turn
N C 4 1 2500 4 5
G
P 6000 3
Parameter 12 is set to 5, and parameter 13 is set to 3。
1
⑤The recommended range of electronic gear ratio： G 50
50

Position instruction pulse

P00.13 Impulse frequency See parameter 12 1～32767
denominator
①Set the input form of the position instruction pulse.
P00.14 Position instruction pulse ②The parameter is set to one of two input modes： 0：Pulse+ 0～1
input mode sign；
1：Two phase A/B orthogonal pulses;
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Parameters Name Function parameter

No scope
①Set as 0: normal;
P00.15 Reverse the 0～1
1：Reverse direction of position command pulse.
direction of the
position command
pulse
①Set the pulse range of positioning completion under position control.
②This parameter provides the basis for the servo driver to judge whether the
positioning is completed or not under the position control mode. When the
number of remaining pulses in the position deviation counter is less than or equal
to the set value of this parameter, the servo driver thinks that the positioning has
been completed, and the positioning signal is COIN ON, otherwise COIN OFF.
Positioning ③In the position control mode, the positioning signal is output to complete COIN; in 0～
P00.16 completion range 30000
other control modes, the output speed reaches the signal SCMP.
Pulse
④Set the pulse range of positioning completion under position control.
⑤This parameter provides the basis for the servo driver to judge whether the
positioning is completed or not under the position control mode. When the
number of remaining pulses in the position deviation counter is less than or equal
to the set value of this parameter, the servo driver thinks that the positioning has
been completed, and the positioning signal is COIN ON, otherwise COIN OFF.
⑥In the position control mode, the positioning signal is output to complete COIN
control in other states
In the system mode, the output speed reaches the signal SCMP.
①Set the location out-of-tolerance alarm detection range
P00.17 Location out of 0～30000
②In the position control mode, when the value of the position deviation counter
tolerance ×100 Pulse
detection range exceeds the value of this parameter, the servo driver will give the position
deviation alarm.
①Setup:
P00.18 Location error not 0～1
0：Location out of tolerance alarm detection is effective
valid
1Position out of tolerance alarm detection is invalid, stop detection position out of
tolerance error.

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①The command pulse is smoothed and filtered with exponential acceleration and
deceleration, and the numerical value represents the time constant.
②The filter does not lose input pulse, but instruction delay occurs.
Position order ③This filter is used for: 0～30000
P00.19 smoothing filter ×0.1ms
 The upper controller has no acceleration and deceleration function;
 Electronic gear division frequency larger（>10）；
 Instruction frequency is low；
 Stepping jump and unsteady phenomenon appear in motor operation。
④When set to 0, the filter does not work。

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4.1.3 P01 Parameters

Parameters Name Function parameter scope

No
①Setup:
0：CCW and CW input forbidden valid. CCW driver is allowed when FSTP is
ON. When CCW drive OFF switch (FSTP), CCW directional torque
P01.00 Invalid driver remains at 0; The CW in the same way. If both CCW and CW drivers are 0～1
forbidden input OFF, an error alarm will be generated to disable the driver input.
1 ： Cancel CCW and CW input prohibition. CCW and CW drivers are
allowed regardless of the status of CCW and CW drivers. At the same
time, if both CCW and CW drivers are OFF, there will be no error alarm
of driver forbidden input

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Parameters No Name Function parameter

scope
JOG Running speed -3000～3000
P01.01 ①Set the running speed of JOG operation.
r/min
①The setting value is the acceleration time of the motor from 0 to 1000 r/min
②The acceleration and deceleration characteristics are linear
Acceleration and 1～10000ms
P01.02 ③For speed control only, position control is invalid
deceleration time
constant ④This parameter should be set to 0 if the servo driver is used in combination with an
external position ring

①Set the maximum speed limit of the servo motor 0～6000

P01.03 Maximum speed
②It has nothing to do with the direction of rotation. r/min
limit
③If the setting value exceeds the rated speed, the actual maximum speed limit is the
rated speed
①Set internal speed 1.
P01.04 Internal speed 1 -3000～3000
②In the speed control mode, when SC1 is OFF and SC2 is OFF, the internal speed 1
r/min
is selected as the speed instruction.
①Set internal speed 2
P01.05 Internal speed 2 -3000～3000
②In the speed control mode, when SC1 is ON and SC2 is OFF, the internal speed 2
r/min
is selected as the speed instruction.
①Set internal speed 3.
P01.06 Internal speed 3 -3000～3000
②In the speed control mode, when SC1 is OFF and SC2 is ON, select internal speed
r/min
3 as the speed instruction.
①Set internal speed 4.
P01.07 Internal speed 4 -3000～3000
②In the speed control mode, when SC1 is ON and SC2 is ON, select internal speed
r/min
4 as the speed instruction.
①Set arrival speed
②In the non-position control mode, if the motor speed exceeds the set value, SCMP
P01.08 Reach the speed ON, otherwise SCMP OFF. 0～3000
③In position control mode, this parameter is not used r/min
④It has nothing to do with the direction of rotation
⑤The comparator has hysteresis characteristics

①Set internal torque limit value of servo motor CCW direction.

②The setting value is the percentage of the rated torque, for example 2 of the rated
Internal CCW torque X, set the value to 200.
P01.10 The torque limit 0～300%
③This restriction is valid at all times.
④If the set value exceeds the maximum allowable overload capacity of the system,
the actual torque is limited to the maximum allowable overload capacity of the
system.
①Set internal torque limit value of CW direction servo motor.
②The setting value is the percentage of the rated torque, for example 2 of the rated
Internal CW torque torque -300%～0
P01.11
limits X, the value is set to -200
③This restriction is valid at all times.

④If the set value exceeds the maximum allowable overload capacity of the system,
the actual torque is limited to the maximum allowable overload capacity of the
system.

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External CW torque ①Set the external torque limit value of the servo motor in CCW direction.
P01.12 limits 0～300%
②The setting value is the percentage of the rated torque, for example 1 of the rated
torque X, the value is set to 100
③This limitation is only valid if the CCW torque limiting input terminal (FIL) ON.
④When the limit is effective, the actual torque limit is the minimum of the maximum
allowable overload capacity of the system, internal CCW torque limit and external
CCW torque limit.

①Set the external torque limit value of the CW direction servo motor.
②The setting value is the percentage of the rated torque, for example 1 of the rated
torque the value is set to -100.
P01.13 External CW torque ③This restriction is only valid if the CW torque limit input terminal (RIL) ON. -300%～0
limits ④When the limit is effective, the actual torque limit is the minimum absolute value of
the maximum allowable overload capacity of the system, internal CW torque limit
and external CW torque limit

①Set the torque limit value in the speed trial operation and JOG operation mode.
Speed trial
②It has nothing to do with the direction of rotation.
operation, JOG 0～300%
P01.14 ③The setting value is the percentage of the rated torque, for example 1 of the rated
operation torque
torque
limit X, the value is set to 100.
④Internal and external torque limits are still valid.

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4.1.4 P02 Parameters

Parameters No Name Function parameter
scope
①Set the ratio between the input voltage of the analog speed and the actual
P02.00 Analog speed 10～3000
running speed of the motor.
command gain
②The analog input range is -10~10V

③Polarity reversal of analog velocity input.

P02.01 Reverse direction of 0～1
analog speed ④When set to 0, the analog speed instruction is positive, and the velocity direction
command is CCW; When set to 1, the analog speed instruction is positive, and the speed
direction is CW;
Analog velocity
P02.02 indicator Zero offset compensation for analog velocity input. -500～500
Let zero offset
compensation
Analog speed
P02.03 command The command force is 0 when the analog speed input voltage is in the no-control -500～500
uncontrolled area.
Use area

①A low pass filter for analog velocity input.

Analog speed
P02.04 ②The larger the setting value is, the faster the response speed to the speed input 1～1000
command filter
analog quantity will be, and the greater the influence of signal noise will be. The
smaller the setting value, the slower the response and the smaller the influence
of signal noise.
①Set the proportional relationship between the input voltage of the analog torque
P02.05 Analog torque 1～300
and the actual running torque of the motor. The unit of set value is 1%/V;
command gain
②The analog input range is -10~10V.

Reverse direction of ①Polarity reversal of analog torque input.

P02.06 0～1
analog torque ②When set to 0, analog torque instruction is positive, and torque direction is CCW;
instruction When set to 1, the analog torque instruction is positive, and the direction of
torque is CW;

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Parameters No Name Function parameter

scope
Analog torque
P02.07 instruction zero offset Zero offset compensation for analog torque input. -500～500
compensation
Maximum speed limit ①In torque control, the motor speed is limited within this parameter;
P02.08 for torque control 0～4000
②It can prevent overspeed under light load
system
①Low pass filter for analog torque input.
Analog torque
P02.09 ②The larger the setting value is, the faster the response speed to torque input 1～1000
command filter
analog quantity is, and the greater the influence of signal noise is. The smaller the
setting value, the slower the response and the smaller the influence of signal
noise.
①Set input terminal internal force ON valid. The terminals that are not mandatory
ON need to be controlled ON/OFF in the external connection. The terminals that
are mandatory ON do not need to be connected in the external connection, and
The ON control word the internal drive is automatically set ON;
is forced ON the ②It is represented by a 4-bit binary number, 0 means the corresponding input
P02.10 0～15
lower 4 bit input terminal is not mandatory ON, and 1 means the corresponding input terminal is
terminal mandatory ON. The input terminal represented by the binary number is as follows:
0 ：SON Servo-on；
1 ：ALRS Alarm clearance；
2 ：FSTP CCW Driving ban；
3 ：RSTP CW Driving ban。
①Set input terminal internal force ON valid. The terminals that are not mandatory
ON need to be controlled ON/OFF in the external connection. The terminals that
are mandatory ON do not need to be connected in the external connection, and
The high 4 bit input the internal drive is automatically set ON;
is forced ON control ②The 4-bit binary number indicates that 0 indicates that the corresponding input
0～15
P02.11 word terminal is not mandatory ON, and 1 indicates that the corresponding input
terminal is mandatory ON. The input terminal represented by a binary number is
shown below：
0 ：CLE/SC1 Deviation counter reset/speed selection1；
1 ：INH/SC2 Command pulse disable/speed select 2；
2 ：FILCCW Torque limitation；
3 ：RILCW torque limitation。
①Set input terminal to invert. If the reverse terminal is not taken, it is effective when
the switch is closed and invalid when the switch is disconnected. If the reverse
Reverse control terminal is taken, it is invalid when the switch is closed and valid when the switch is
word for lower 4 bit disconnected
input terminal ②It is represented by a 4-bit binary number, 0 means the corresponding input
P02.12 0～15
terminal is not inverted, and 1 means the corresponding input terminal is inverted.
The input terminal represented by a binary number is shown below
0 ：SON Servo-on；
1 ：ALRS Alarm clearance；
2 ：FSTP CCW Driving ban；
3 ：RSTP CW Driving ban。
High 4 bit input ①Set input terminal to invert. If the reverse terminal is not taken, it is effective when
P02.13 the switch is closed and invalid when the switch is disconnected. If the reverse 0～15
terminal reverse
control terminal is taken, it is invalid when the switch is closed and valid when the switch is
Making the word disconnected.

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Parameters Name Function parameter

No scope
②It is represented by a 4-bit binary number, 0 means the corresponding input terminal is
not inverted, and 1 means the corresponding input terminal is inverted. The input
Reverse control terminal represented by a binary number is shown below:
P02.13 word for high 4 0 ：CLE/SC1 Deviation counter reset/speed selection 1； 0～15
bit input 1 ：INH/SC2 Command pulse disable/speed select2；
terminal
2 ：FIL CCW Torque limitation；
3 ：RIL CW Torque limitation。

①Set the output terminal to invert. The definition of the reverse terminal, on and off is
exactly the opposite of the standard definition;
②It is represented by a 4-bit binary number, 0 means the corresponding output terminal
Reverse control is not inverted, and 1 means the corresponding output terminal is inverted. The output
P02.14 word for output terminal represented by binary number is as follows: 0～15
terminal 0 ：SRDY servo -ready；
1 ：ALM servo alarm；
2 ：COIN Position completed/speed reached；
3 ：BRK Mechanical brake release。

Input terminal to The input terminal to the jitter filtering time.

P02.15 dither the time 1～1000
constant The smaller the value, the faster the terminal input response; The larger the value, the
better the anti-interference performance of terminal input, but the slower the response.

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4.1.5 P03 Parameters

Parameters Name Function parameter
No scope
SET the value to 1, and press the SET key to enter the speed trial operation mode.
P03.00 Speed trial run The speed instruction is SET by the key 0～1

SET the value to 1, and press the SET key and then JOG operation mode. The
P03.01 JOG running speed instruction is SET by pressing the key。 0～1

Speed trial run

P03.02 The zero adjustment function of the encoder is used by the motor manufacturer. 0～1

P03.03 Open loop Run The open-loop operation mode is used by the motor manufacturer 0～1
The initial detection ①Set the initial detection point of software overcurrent;
P03.04 point of software 30～100
②The setting value is the percentage of the system's maximum current
overcurrent
①Software overcurrent detection time, unit 0.1 ms;
P03.05 Software overcurrent 10～10000
detection time ②Set to 0, the software overcurrent alarm function is
forbidden; Normally, this parameter is set to 0.
SON Servo force ①When set to 0, SON is determined by IO port input signal;
P03.06 enable 0～1
②When set to 1, SON will be forced to be ON (independent of IO port input signal).

①Set the value to 1 to restore all parameters to their default (factory value).
Since the default values of the parameters for different drivers and motor models
System parameters
P03.07 are different, the correctness of the motor model code (parameter P00.01) must 0～1
initialized
be guaranteed before restoring the default parameters.
②When changing this parameter, set the password (P00.00 parameter) to 385
before changing this parameter

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Chapter 5 alarm and handling

5.1 alarm list

Servo driver has a variety of protection functions, after power detected fault, servo driver will
stop motor operation, operation Display the alarm code er-xx on the panel. You can go in d-Err
Menu to view the current alarm code. Users can report according to the report
Refer to the relevant content of this chapter for the cause of the failure and troubleshooting

5-1 alarm list

alarm code Alarm name Content

-- Normal
1 Over speed servo motor speed exceeds the set value
2 Main circuit over voltage main circuit supply voltage is too high
3 \ main circuit under voltage Main circuit power supply voltage is too low

4 Position error position deviation counter exceeds the set value

5 Motor overheating Motor temperature is too high
6 Speed amplifier saturation failure speed regulator saturates for a long time
7 Driver disable exception CCW and CW drive are OFF
8 Position deviation counter overflow absolute value of the position deviation counter is greater than 2^30
9 Encoder failed Encoder signal error
10 Control under voltage of power supply Control power supply 15V is low
11 IPM module failure IPM Intelligent module fault
12 Over current Excessive motor current
13 overload Ac servo drive unit and motor overload (instantaneous overheating)
14 Braking fault Brake circuit fault
15 Encoder count error Encoder count exception
16 Motor thermal overload Electrical and mechanical heating value exceeds the set value (I2t test)
19 Thermal reduction system was reset by heat
20 EEPROM error EEPROM error
23 IU,IV Current sampling anomaly IU,IV Current sampling anomaly
30 encoder Z pulse is lost Encoder Z pulse error
31 Encoder UVW signal error Encoder UVW signal error or mismatch with encoder
32 Illegal encoder UVW signal encoding UVW signals exist at all high or all low levels

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5.1 alarm processing method
5-2 Alarm handling method
Alarm Code Alarm name Running status Reasons Handling method
Appears when Control board fault。 Replace the servo driver
switching on the
1 Motor encoder failure。 Replace the servo motor
control power
Over speed
Input instruction pulse frequency is too Set the input instruction pulse correctly.
Motor appears high。
during operation The acceleration/deceleration time
constant is too small, so that the speed Increase the acceleration/deceleration time
overshoot is too large constant.

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Alarm Alarm name Running status Reasons Handling method

Code
Input electronic gear ratio too large. Set it up correctly.
Motor encoder failure Replace the servo motor.

Motor appears during Bad encoder cable. Change encoder cable.

operation ①Reset about gain.
②If the gain cannot be set to an appropriate
1 servo system is unstable, causing
value, the load inertia ratio is reduced.
Over speed overshoot.

①Reduce the load inertia.

Load inertia is too large.
②Replace high power servo drivers and
The motor appears as motors
soon as it starts
①Replace the servo motor.
Encoder zero error.
②Please reset the encoder zero
①Wrong connection of U, V and W
leads of motors. Correct wiring.
②Wrong lead of encoder cable
Appears when switching
on the control power Circuit board failure. Replace the servo driver.
Appears when the main ①The power supply voltage is too
power is switched on high. Check the power supply
②Power supply voltage waveform is
abnormal.
2 Main circuit Brake resistance wire is rewiring
overvoltage disconnected

①Brake transistor is damaged.

Replace the servo driver.
②Internal brake resistance is
Motor appears during damaged.
operation ①Reduce start and stop frequency.
②Increase the acceleration/deceleration
time constant.
Insufficient capacity of brake circuit. ③Reduce the torque limit.
④Reduce the load inertia.
⑤Replace high power servo drivers and
motors
①Circuit board failure.
Appears when the main
②power supply is insured against
power is switched on Replace the servo driver.
damage.
③Soft start circuit failure.
④The rectifier is damaged.
3 ①Circuit board failure.
main circuit
undervoltage ②The power supply is insured
Replace the servo driver.
Appears when the main against damage.
power is switched on ③Soft start circuit failure.
④The rectifier is damaged.
①The power supply is low.
Check the power supply
②Temporary power failure more
than 20mS。
①Insufficient power supply.
Motor appears during Check the power supply
②Instantaneous power loss.
operation
Heatsink is overheating. Check the load.
Appears when switching
4 Position error on the control power Circuit board failure. Replace the servo driver.

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Alarm Alarm name Running status Reasons Handling method

Code
①Wrong connection of U, V and W leads of
motors Correct connection
②Wrong lead of encoder cable.
Encoder failed Replace the servo motor.
Switch on the main
4 Increase the detection range of out-of-
power supply and The detection range of setting position
Position error tolerance position.
control line, input deviation is too small.
instruction pulse, Position proportional gain is too small. Increase gain.
motor does not rotate
①Check the torque limit.
②Reduce the load capacity.
Insufficient torque.
③Replace high power servo drivers
and motors。
Command pulse frequency too high.  reduce frequency

Appears when Circuit board failure. Replace the servo motor driver.
switching on the ① cable is broken. ①Check the cables.
control power
②Motor internal temperature relay damaged ②Check the Motor.

①Reduce the load.

5
Motor ②Reduce start and stop frequency.
overheating ③Reduce the torque limit.
Motor appears during Motor overload. ④Reduce the relevant gain.
operation
⑤Replace high power ac servo drive
unit and motor
Motor internal fault. Replace the servo motor.
motor jammed mechanically. Check the mechanical part of the load.
Speed amplifier Motor appears during
6 ①Reduce the load
saturation operation Over load
failure ②Replace high power servo drivers
and motors.
Driver disable CCW, CW drive forbidden input terminal Check wiring and power supply for input
7 exception Disconnect.。 terminals.
①Check the mechanical part of the
Position ① motor jammed mechanically. load.
8 deviation ②Abnormal input instruction pulse ②Check the command pulse.
counter
③Check whether the motor receives
overflow
the instruction pulse to rotate.
Encoder wiring error. Check wiring

9 Encoder Failed encoder is damaged. Replace the servo motor.

Bad encoder cable Change cable
The encoder cable is too long, resulting in low ①Shorten the cable.。
power supply voltage of the encoder. ②Multi-core parallel power supply is
adopted。
Input control internal 15V voltage is low Check the control power。
Control under
10 ①Bad internal connector of servo driver. ①Replace the servo motor driver.
voltage of
power supply ③Abnormal switching power supply. ②Check the connectors.
③Chip is damaged. ③Check the switching power supply.

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Alarm Code Alarm name Running status Reasons Handling method

Appears when switching
on the control power Circuit board failure. Replace the servo motor driver.

①check the servo motor driver.

①Low supply voltage.
②power-on again
11 ②Overheating
IPM module ③Replace the servo driver.
failure Motor appears during
Short circuit between servo driver U, V Check the wiring
operation
and W
Bad grounding. Correct grounding.

Replace the servo motor

Motor insulation damage
①Add line filters.
be disturbed
②Stay away from distractions
Short circuit between servo driver U, V Check the wiring
and W
12 Over current Bad grounding. Correct grounding.
Motor insulation damage. Replace the servo motor
Servo driver damage Replace the servo driver.
Appears when
switching on the control Circuit board failure. Replace the servo driver.
power

①Check the load

②Reduce start/stop frequency.
Operating in excess of rated torque.
③Reduce the torque limit.
13
④Replace high power servo drivers
Over load
and motors.
Motor appears during
Keep the brake on Check the hold brake.。
operation
①Adjust the gain.
Unsteady oscillation of the motor.
②Increase the acceleration/deceleration
time.
③Reduce the load inertia.
①servo drivers U, V and W have
a phase break. Check the wiring。
②Encoder wiring error.

Appears when switching

on the control power Circuit board failure. Replace the servo driver.

Brake resistance wire is disconnected. rewiring。

①Brake transistor is damaged.
Replace the servo driver.
②Internal brake resistance is
14 damaged.
Brake fault ①Reduce start and stop frequency.
Motor appears during
②Increase the
operation
Insufficient capacity of brake circuit. acceleration/deceleration time
constant.
③Reduce the torque limit.
④Reduce the load inertia.
⑤Change to more powerful ac servo
drive unit and motor.
The main circuit supply voltage is too Check the main power supply.
high.

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Alarm Code Alarm name Running status Reasons Handling method

The encoder is damaged. Replace encoder
15 Encoder count
Encoder wiring error connection test
error
imperfect earth Correct grounding
Appears when switching Circuit board fault Replace the servo driver.
on the control power
Parameter setting error. Set the parameters correctly
①Check the load。
16 ②Reduce start and stop frequency.
Motor thermal ④Small torque limits.
Long run over rated torque。
overload Motor appears during
⑤Replace high power ac servo drive
operation
unit and motor

Poor mechanical transmission. Inspection of machinery

Input control power is unstable. Check the control power.
19
Thermal ①Add line filters.
reduction be disturbed
②Stay away from distractions

①Replace the servo driver.。

20 EEPROM ②After the fix, the servo driver model

error Damage to chip or circuit board code (parameter P00.01) must be
reset and the default parameters
restored。
A/D chip error ①Damage to chip or circuit board
23 Replace the servo driver.
②current sensor is damaged.
①Z pulse not present, encoder
damaged。 ①Replace encoder
30 encoder Z ②Check the encoder interface circuit.
②Cable is bad。
pulse is lost
③Poor cable shielding。
④The shielded ground wire is not
properly connected。
⑤Encoder interface circuit failure。
①encoder UVW signal is damaged.
②encoder Z signal is damaged.
Encoder ①Replace encoder
31 UVW signal ③Bad cable.
②Check the encoder interface circuit.
error ④Poor cable shielding.
⑤shielded ground wire is not properly
connected.
⑥Encoder interface circuit failure.
① encoder UVW signal is damaged
Encoder UVW ①Replace encoder
②Bad cable.
32 illegal coding ②Check the encoder interface circuit
③Poor cable shielding.
of signal
④shielded ground wire is not properly
connected.
⑤Encoder interface circuit failure。

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Appendix: servo motor/servo drive selection table

Motor driver Rated current Rated Rated Rotor inertia

Servo motor Voltage Power torque speed -3 2
10 kg.m
KA03 40SF-M00130 220 V 50 W 0.4 0.16 3000 0.0025

KA03 40SF-M00330 220 V 100 W 0.6 0.32 3000 0.0051

KA03 60SFM-E00630 220 V 200 W 1.3 0.64 3000 0.0264
KA03 60SFM-E01330 220 V 400 W 2.6 1.27 3000 0.0407
KA03 60SFM-E01930 220 V 600 W 3.1 1.91 3000 0.0526
KA03 80SFM-E01330 220 V 400 W 2.0 1.27 3000 0.105
KA05 80SFM-E02430 220 V 750 W 3.0 2.39 3000 0.182
KA05 80SFM-E03520 220 V 730 W 3.0 3.5 2000 0.263
KA05 80SFM-E03530 220 V 1.1 kW 4.5 3.5 3000 0.263
KA05 80SFM-E04025 220 V 1.0 kW 4.4 4.0 2500 0.297
KA10 80SFM-E04030 220 V 1.2 kW 4.5 4.0 3000 0.297
KA05 90SFM-E02430 220 V 750 W 3.0 2.4 3000 0.245
KA05 90SFM-E03520 220 V 730 W 3.0 3.5 2000 0.34

KA05 90SFM-E04025 220 V 1.0 kW 4.0 4.0 2500 0.37

KA03 110SFM-E02030 220 V 600 W 2.5 2.0 3000 0.31
KA05 110SFM-E04020 220 V 800 W 3.5 4.0 2000 0.54
KA10 110SFM-E04030 220 V 1.2 kW 5.0 4.0 3000 0.54
KA10 110SFM-E05030 220 V 1.5 kW 6.0 5.0 3000 0.63
KA10 110SFM-E06020 220 V 1.2 kW 4.5 6.0 2000 0.76
KA10 110SFM-E06030 220 V 1.8 kW 6.0 6.0 3000 0.76
KA05 130SFM-E05025 220 V 1.0 kW 4.0 4.0 2500 0.85
KA10 130SFM-E05025 220 V 1.3 kW 5.0 5.0 2500 1.06
KA10 130SFM-E06025 220 V 1.5 kW 6.0 6.0 2500 1.26
KA15 130SFM-E07725 220 V 2.0 kW 7.5 7.7 2500 1.53

KA10 130SFM-E10010 220 V 1.0 kW 4.5 10.0 1000 1.94

KA10 130SFM-E10015 220 V 1.5 kW 6.0 10.0 1500 1.94
KA15 130SFM-E10025 220 V 2.6 kW 10.0 10.0 2500 1.94
KA15 130SFM-E15015 220 V 2.3 kW 9.5 15.0 1500 2.77
KA20 130SFM-E15025 220 V 3.8 kW 13.5 15.0 2500 2.77
KA15 180SFM-E17015 220 V 2.5 kW 10.0 17.0 1500 3.40
KA15 180SFM-E19015 220 V 3.0 kW 12.0 19.0 1500 3.80

KA25 180SFM-E21520 220 V 4.5 kW 14.0 21.5 2000 4.70

KA25 180SFM-E27015 220 V 4.3 kW 16.0 27.0 1500 6.10
KA20 180SFM-E35010 220 V 3.7 kW 16.0 35.0 1000 8.60
KA30 180SFM-E35015 220 V 5.5 kW 24.0 35.0 1500 8.60
KA40 180SFM-E48015 220 V 7.5 kW 32.0 48.0 1500 9.50

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