Servo Drive User

Manual

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 Servo Drive User Manual

Foreword
This manual is for VD1 series Servo drive.
In order to use this series of Servo driver correctly, please read this manual carefully beforehand, and
keep it for future use.
If user has any doubts about the function and performance of this device during use, please contact our
technicians to get relevant help.
Wecon products are constantly being improved and upgraded. The contents of this manual are subject
to change without notice.
This manual is suitable for beginners and intermediate readers. All interpretation rights of this book
belong to Wecon company.

Serious injury or death may be caused by inproper operatoin.

Moderate or minor injury and equipment damage may be caused by inproper operatoin.

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Content
FOREWORD.................................................................................................................................................................... 1
1. SAFETY INSTRUCTION.......................................................................................................................................... 1
1.1 PRECAUTIONS FOR SAFETY.......................................................................................................................................1
1.2 PRECAUTIONS FOR STORAGE AND HANDLING..............................................................................................................2
1.3 PRECAUTIONS FOR INSTALLATION.............................................................................................................................. 2
1.4 PRECAUTIONS FOR WIRING......................................................................................................................................3
1.5 PRECAUTIONS FOR OPERATION................................................................................................................................. 3
1.6 PRECAUTIONS FOR MAINTENANCE AND INSPECTION.................................................................................................... 4
2. PRODUCT INFORMATION.....................................................................................................................................5
2.1 SERVO DRIVE PRODUCTS.........................................................................................................................................5
2.1.1 Servo Drive Model......................................................................................................................................5
2.1.2 Servo Drive Parts Identification..................................................................................................................6
2.1.3 Specifications of the Servo Drive................................................................................................................6
2.2 SERVO MOTOR...................................................................................................................................................... 7
2.2.1 Servo Motor Model Name..........................................................................................................................7
2.2.2 Servo Motor Parts Identification................................................................................................................8
2.2.3 Specifications of the Servo Motor.............................................................................................................. 9
3. SERVO DRIVE AND SERVO MOTOR INSTALLATION........................................................................................... 10
3.1 SERVO DRIVE INSTALLATION................................................................................................................................... 10
3.1.1 Dimension (unit: mm).............................................................................................................................. 10
3.1.2 Installation Site........................................................................................................................................ 10
3.1.3 Installation Environment..........................................................................................................................11
3.1.4 Installation Precaution.............................................................................................................................11
3.2 SERVO MOTOR INSTALLATION.................................................................................................................................13
3.2.1 Dimension (unit: mm).............................................................................................................................. 13
3.2.2 Installation Location.................................................................................................................................15
3.2.3 Installation Environment..........................................................................................................................15
3.2.4 Installation Precautions........................................................................................................................... 15
4. WIRING............................................................................................................................................................... 17
4.1 MAIN CIRCUIT WIRING.........................................................................................................................................17
4.1.1 Terminals of the Servo Drive.................................................................................................................... 17
4.1.2 Diagram of Power Wiring........................................................................................................................ 18
4.1.3 Wiring of Motor Cables between Servo Drive and Servo Motor..............................................................19
4.2 WIRING OF ENCODER TERMINAL............................................................................................................................. 19
4.3 WIRING OF INPUT/OUTPUT CONTROL TERMINAL CN2.............................................................................................. 20
4.3.1 CN2 Pinout............................................................................................................................................... 20
4.3.2 Wiring Diagram for Each Mode............................................................................................................... 21
4.3.3 Position Command Input Signal...............................................................................................................22
4.3.4 Analog Input Signals................................................................................................................................ 23
4.3.5 Digital Input and Output Signals..............................................................................................................24
4.4 WIRING TO COMMUNICATION SIGNAL TERMINAL CONNECTORS CN3/CN4...................................................................26
4.4.1 Wiring Diagram of Communication Signal Terminals..............................................................................26
4.4.2 RS422 Communication Connection with PC.............................................................................................27
5. OPERATION PANEL............................................................................................................................................. 28
5.1 OPERATOIN PANEL COMPOSITION........................................................................................................................... 28
5.2 PANEL DISPLAY.................................................................................................................................................... 29
5.2.1 Display Shift............................................................................................................................................. 29
5.2.2 State Display............................................................................................................................................ 29

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 5.2.3 Parameter Display....................................................................................................................................30
5.2.4 Fault Display.............................................................................................................................................30
5.2.5 Warning Display.......................................................................................................................................31
5.2.6 Error Display.............................................................................................................................................31
5.2.7 Monitoring display................................................................................................................................... 31
5.3 PANEL OPERATION............................................................................................................................................... 32
5.3.1 Parameter Setting.................................................................................................................................... 32
5.3.2 Jog Operation...........................................................................................................................................33
5.3.3 Restor to Default Setting..........................................................................................................................34
6. CONTROL MODE.................................................................................................................................................35
6.1 BASIC SETTING.................................................................................................................................................... 35
6.1.1 Check Before Running.............................................................................................................................. 35
6.1.2 Power Supply Connection.........................................................................................................................35
6.1.3 Jogging..........................................................................................................................................................36
6.1.4 Selection of Rotating Direction.....................................................................................................................36
6.1.5 Braking resistor.............................................................................................................................................37
6.1.6 Servo Running...............................................................................................................................................37
6.1.7 Servo Stop.....................................................................................................................................................38
6.2 POSITION CONTROL MODE....................................................................................................................................41
6.2.1 Position Reference Input Setting...................................................................................................................41
6.2.2 Electronic Gear Ratio....................................................................................................................................45
6.2.3 Position Reference Filter............................................................................................................................... 47
6.2.4 Position Deviation Clear............................................................................................................................... 48
6.2.5 Frequency-Division Output........................................................................................................................... 49
6.2.6 Position-relevant DO output function...........................................................................................................50
6.3 SPEED CONTROL MODE............................................................................................................................................ 54
6.3.1 Speed Reference Input Setting......................................................................................................................54
6.3.2 Acceleration and deceleration time setting................................................................................................. 58
6.3.3 Speed Reference Limitation.......................................................................................................................... 59
6.3.4 Zero Speed Clamp Function.......................................................................................................................... 59
6.3.5 Speed-relevant DO Signals........................................................................................................................... 60
6.4 TORQUE CONTROL MODE......................................................................................................................................... 64
6.4.1 Torque Reference Input Setting.................................................................................................................... 64
6.4.2 Torque Reference Filter.................................................................................................................................68
6.4.3 Torque Reference Limit................................................................................................................................. 69
6.4.4 Torque related DO output function.............................................................................................................. 70
7.ADJUSTMENT............................................................................................................................................................ 73
7.1 OVERVIEW.............................................................................................................................................................. 73
7.2 INERTIA RATIO......................................................................................................................................................... 74
7.3 GAIN ADJUSTMENT...................................................................................................................................................75
7.3.1 Automatic Gain Tuning.................................................................................................................................75
7.3.2 Manual Gain Adjustment............................................................................................................................. 77
7.3.3 Feedforward gain......................................................................................................................................... 79
7.4 VIBRATION SUPPRESSION...........................................................................................................................................80
7.4.1 Suppression of Mechanical Resonance.........................................................................................................80
8. COMMUNICATION................................................................................................................................................... 84
8.1 MODBUS COMMUNICATION....................................................................................................................................... 84
8.1.1 Hardware connection................................................................................................................................... 84
8.2 MODBUS COMMUNICATION PROTOCOL........................................................................................................................ 85
8.2.1 Modbus data frame format..........................................................................................................................85
8.2.2 Function code............................................................................................................................................... 85
8.2.3 CRC Checksum.............................................................................................................................................. 86
8.2.4 Error response frame....................................................................................................................................87
8.2.5 Communication Example..............................................................................................................................87

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 8.3 SERVO COMMUNICATION PARAMETER SETTING.............................................................................................................. 89
8.4 MODBUS COMMUNICATION VARIABLE ADDRESS AND DESCRIPTION....................................................................................90
8.4.1 Variable address........................................................................................................................................... 90
8.4.2 Value type description.................................................................................................................................. 91
8.4.3 Value unit description...................................................................................................................................91
9.PARAMETER...............................................................................................................................................................93
9.1 BASIC SETTING.................................................................................................................................................... 94
9.2 CONTROL PARAMETER.......................................................................................................................................... 95
9.3 GAIN PARAMETER................................................................................................................................................ 97
9.4 AUTO-TUNING PARAMETER....................................................................................................................................98
9.5 VIBRATION INHIBITION.......................................................................................................................................... 99
9.6 SIGNAL INPUT/OUTPUT PARAMETER..................................................................................................................... 100
9.7 DI/DO CONFIGURATION..................................................................................................................................... 102
9.8 AUXILIARY FUNCTION PARAMETER........................................................................................................................ 109
9.9 COMMUNICATION PARAMETER.............................................................................................................................110
9.10 VDI PARAMETER............................................................................................................................................ 110
6.11 MONITORING PARAMETER.....................................................................................................................................111
10.TROUBLESHOOTING.............................................................................................................................................. 113
10.1 ALARM AND FAULT DURING STARTUP.................................................................................................................113
10.1.1 Position Control Mode...........................................................................................................................113
10.1.2 Speed Control Mode..............................................................................................................................114
10.1.3 Torque Control Mode............................................................................................................................ 115
10.2 FAULT AND WARNING CODE DURING RUNNING................................................................................................... 116
11.MODBUS REGISTER ADDRESS...............................................................................................................................123
11.1 BASIC SETTING...............................................................................................................................................123
11.2 CONTROL PARAMETER.....................................................................................................................................123
11.3 GAIN ADJUSTMENT.........................................................................................................................................124
11.4 AUTO-TUNING PARAMETER.............................................................................................................................. 124
11.5 VIBRATION INHABITATION.................................................................................................................................125
11.6 SIGNAL INPUT/OUTPUT................................................................................................................................... 125
11.7 DI/DO CONFIGURATION................................................................................................................................. 126
11.8 AUXILIARY FUNCTION......................................................................................................................................127
11.9 COMMUNICATION PARAMETER......................................................................................................................... 127
11.10 VDI............................................................................................................................................................. 127
11.11 MONITORING PARAMETER............................................................................................................................... 128

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1. Safety Instruction

1.1 Precautions for Safety

This section explains important items that users must observe, such as product confirmation,
storage, transportation, installation, wiring, operation, inspection, and disposal. Follow the steps
required in this manual for trial operation.

 After the power is turned off for more than 5 minutes and the power indicator is off, use a
multimeter to confirm that the voltage across the high-voltage capacitor has dropped to a safe
voltage, and then perform the disassembly of the driver, otherwise electric shock may be
caused due to residual voltage.
 Do not touch the inside of the Servo drive, otherwise electric shock may be caused.
 To avoid an electric shock, insulate the connections of the power supply terminals.
 To prevent an electric shock, always connect the protective earth (PE) terminal (marked) of the
Servo to earth well.
 Install the Servo drive, Servo motor, and external brake resistor on incombustible material.
Installing them directly or close to combustibles would lead to smoke or a fire.
 Always connect the magnetic contactor and the non-fuse breaker between the power supply
and the main circuit power supply of the Servo driver (three-phase is L1, L2, L3). otherwise,
when the device fails, the high current may not be cut off. This could cause a fire.
 Provide adequate protection to prevent screws and other conductive matter, oil and other
combustible matter from entering the Servo drive and Servo motor.
 When the Servo motor and the machine are connected, if an operation error occurs, it would
not only cause mechanical damage, but may also lead to personal safety accidents.
 Do not damage or pull the cable with force, do not subject the cable to excessive force, or place
heavy objects under it, otherwise electric shock may occur, causing the product to stop
operating or burn out.
 Do not use the brake function of motor for normal braking, otherwise it may cause a
malfunction.
 Except for the designated operator, please do not set up, disassemble or repair the equipment,
otherwise electric shock or injury may be caused.
 Do not remove the cover, cables, connectors, and optional accessories while the power is on.
Otherwise, electric shock may occur.
 Install a stop device on the machine side to ensure safety.
 Please take measures to ensure that the personal safety would not be endangered when
restarting, otherwise it may cause injury.
 Do not modify this product, otherwise it may cause personal injury or mechanical damage.

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1.2 Precautions for Storage and Handling

Please keep and install in the following environment:

 Locations without direct sunlight.
 Locations where the ambient temperature does not exceed the product specifications.
 Locations where the relative humidity does not exceed the product specifications.
 Locations where condensation does not occur due to rapid temperature changes.
 No corrosive gas or flammable gas.
 No flammable materials nearby.
 Locations with less dust, salt and metal powder.
 Locations without water, oil, medicine plashing etc..
 Locations where vibration or shock would not affect the product (places that exceed product
specifications).
 Location that would not be exposed to radiation.
Storage or installation in environments other than those described above could cause product
failure or damage:
Please use proper method for transportatoin according to the weight of the product.
Do not hold the motor cable or motor shaft for transportation.
When operating the Servo unit and Servo motor, pay attention to sharp parts such as the corners of
the equipment.

1.3 Precautions for Installation

 Do not install this product in a place where it would be splashed with water or an environment
prone to cause corrosion.
 Please follow the requirements of the installation direction, otherwise it may cause equipment
failure.
 When installing, please ensure that the specified distance between the Servo drive and the
inner surface of the electrical cabinet and other machines is proper, otherwise fire or
equipment failure may be caused.
 Do not apply excessive impact, otherwise it may cause equipment failure.
 Do not sit on this product or place heavy objects on it, otherwise personal injury may be
caused.
 Do not use this product near flammable gas or combustible materials, otherwise there may be
danger of electric shock or fire.
 Do not block the air intake and exhaust ports, and do not allow foreign matter to enter the
product, or the equipment may be damaged due to the aging of internal components or cause
a fire.

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1.4 Precautions for Wiring

 Do not connect three-phase power to the output terminals U, V, and W of the Servo drive,
otherwise it may cause equipment damage or fire.
 Connect the Servo drive power output (U/V/W) to the Servo motor power input (U/V/W)
directly. Do not let a magnetic contactor. Otherwise malfunction may be caused.
 When DO output is connected to the relay, please pay attention to the polarity of the
freewheeling diode, otherwise the driver may be damaged and the signal may not be output
normally.
 Please securely fix the power terminals and motor terminals, otherwise fire may be caused.
 Do not connect the 220V Servo drive directly to the 380V power supply.
 Do not pass power cables and signal cables through the same pipe or bundle them together.
Power cables and signal cables should be separated by more than 30cm.
 Twisted shielded cables are used for signal lines and encoder cables, and the shield layers are
grounded at both ends.
 The wiring length of the signal input line is recommended to be within 3M, and the wiring
length of the encoder is recommended to be within 15M.
 When using in the following places, please take proper shielding measures:
 When interference occurs due to static electricity.
 Places with strong electric or magnetic fields.
 Places where there may be radiation.
 When checking, make sure that the CHARGE indicator is off.

1.5 Precautions for Operation

 During trial operation, in order to prevent accidents, please run the Servo motor with no load
(not connected to the drive shaft), otherwise injury may be caused.
 When the Servo motor is running, do not touch rotating parts, otherwise injury may be caused.
 Be sure to set proper inertia ratio, otherwise vibration may be caused.
 When installing drive on a machine a, please set the parameters corresponding to the machine
in advance. Otherwise it may cause the machine to run out of control or malfunction.
 When installing drive on a machine, please put the Servo motor in a state that could be stopped
Immediately at any time, otherwise injury may be caused
 When using a Servo motor on a vertical axis, install a safety device to prevent the workpiece
from falling in an alarm or overtravel condition. In addition, please set the Servo lock stop when
overtravel occurs, otherwise the workpiece may fall down during overtravel.
 Extreme parameter adjustments and setting changes could cause the Servo system to become
unstable. Therefore, do not do this, otherwise injury may be caused.

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 When an alarm occurs, reset the alarm after clearing the cause and ensuring safety, and restart
the operation, otherwise injury may be caused.
 Except for special purposes, do not change the maximum speed value (P1-10). Inadvertent
changes could damage the machine or cause injury.
 When the power is turned on and for a period of time after the power is turned off, the heat
sink of the Servo driver, external regenerative resistor, Servo motor, etc. may become hot. Do
not touch it, otherwise injury may be caused.
 If the power supply is restored after an instantaneous power failure during operation, the
machine may restart suddenly, so please do not approach the machine, and press the non-stop
button during power failure, and then operate after the power supply is stable

1.6 Precautions for Maintenance and Inspection

 Power on and off operations should be performed by professional operators.

 During testing the insulation resistance of the driver, please cut off all connections with the
driver first, otherwise it may cause drive failure.
 Do not use gasoline, alcohol, acid and alkaline detergents, otherwise discolored or damaged
may be caused.
 When replacing the servo driver, please transfer the original servo driver user parameters to
the new one before operation, otherwise equipment failure may be caused.
 Do not change the wiring while running, otherwise electric shock or injury may be caused.
 Do not disassemble the Servo Motor, otherwise electric shock or injury may be caused.

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2. Product Information
2.1 Servo Drive Products
2.1.1 Servo Drive Model

Figure 2- 1 Servo Drive Naming Rule

Figure 2- 2 Servo Drive Rating Plate

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2.1.2 Servo Drive Parts Identification

Figure 2- 3 Servo Drive Structure

Note:
When using an external regenerative resistor or an internal regenerative resistor, a short-circuit
treatment is required, as shown in the figure below:

When using an external regeneration resistor, remove the jumper between C and D,
and connect the external resisitor between P+ and C.
Short connect C and D when using the internal resistor.

2.1.3 Specifications of the Servo Drive

Servo model VD1-010Sxx VD1-020Sxx VD1-040Sxx VD1-075Sxx

Output current (A) 1.8 2 2.8 4.1
Maximum output current(A) 5.5 7.5 8.6 12.5
Braking method Built-in regenerative resistor, or external regenerative resistor
Main circuit power Single phase, 3 phases 220V -10%-+10% 50/60Hz
Control power Single phase 220V -10%-+10% 50/60Hz

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2.2 Servo Motor

2.2.1 Servo Motor Model Name

Figure 2- 4 Servo Motor Naming Rule

Figure 2- 5 Servo Motor Rating Plate

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2.2.2 Servo Motor Parts Identification

Figure 2- 6 Servo Motor Structure (1.0KW-2.3KW)

Figure 2- 7 Servo Motor Structure (400W-750W)

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2.2.3 Specifications of the Servo Motor

Rated Rated Rated Rated

Flange Voltage Motor
Model Power Current Torque Speed Encoder Type
(mm) (V) Structure
(KW) (A) (N.m) (rmp)
2500ppr
WD60M-02030S-E1B 60 0.20 1.8 0.64 220 3000 No break
incremental
2500ppr
WD60M-04030S-E1B 60 0.40 2.6 1.27 220 3000 No break
incremental
2500ppr
WD80M-04030S-E1B 80 0.40 2 1.27 220 3000 No break
incremental
2500ppr
WD80M-07530S-E1B 80 0.75 3 2.39 220 3000 No break
incremental
2500ppr
WD80M-10025S-E1B 80 1.00 4.4 4 220 2500 No break
incremental
WD130M-10025S-E1 2500ppr
130 1.00 4 4 220 2500 No break
B incremental
WD130M-15015S-E1 2500ppr
130 1.50 6 6 220 1500 No break
B incremental
WD130M-15025S-E1 2500ppr
130 1.50 6 6 220 2500 No break
B incremental
WD130M-20025S-E1 2500ppr
130 2.00 7.5 7.7 220 2500 No break
B incremental
WD130M-23015S-E1 2500ppr
130 2.30 9.5 15 220 1500 No break
B incremental

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3. Servo Drive and Servo Motor Installation

3.1 Servo Drive Installation

3.1.1 Dimension (unit: mm)

Figure 3- 1 Servo Drive Dimension

3.1.2 Installation Site

1) Please install in the cabinet to keep out of sun and rain.

2) Location without vibration.
3) Please do not install in the environment of high temperature, humidity, dust, metal dust.
4) Do not use this product near the environment with corrosive and flammable gases such as
hydrogen sulfide, chlorine, ammonia, sulfur, chlorinated gases, acids, alkalis, salts, flammable
materials, etc..

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3.1.3 Installation Environment

The environment in which the Servo drive is installed has a direct impact on the normal function of
the drive and its service life. Therefore, the environment in which the Servo drive is installed must
meet the following conditions:

Item Description
Operating temperature -10℃-40℃ (Non-freezing)
Operating enhumidity -20%-90%RH (Non-Condensing)
Storage temperature -20℃-60℃
Storage humidity -20%-90%RH (Non-Condensing)
Protection class IP65
Vibration < 0.5G (4.9m/s2),10-60Hz (Discontinuous operation)
Power system TN system*

*: The neutral point of the power system is directly connected to the ground, and the exposed
metal components are connected to the ground through a protective ground conductor.

3.1.4 Installation Precaution

1) Specification
In order to make the cooling cycle work well, during installing the Servo drive, ensure that there
is sufficient ventilation space around it. Be sure to follow the installation standards in the
control cabinet as shown in the figure below, otherwise the driver may fail.
Typical installation dimensions: see Figure 3-2 (a).

2) Install side by side

When multiple units are installed in parallel, a minimum distance of 20mm between each other
and a minimum distance of 100mm in the longitudinal direction are required (as shown in
Figure 3-2 (b)). To prevent the high temperature, a cooling fan could be placed on the upper
part. For smaller installation pitch, please consult our company.

3) Installation direction
When installing the Servo drive, make the front side of the Servo drive (panel control interface)
face the operator so that the Servo drive is perpendicular to the wall.

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Figure 3- 2

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3.2 Servo Motor Installation

3.2.1 Dimension (unit: mm)

1) 60 Flange Series Motor

Specification 60 Flange Series Motor

Rated torque(N.m) 0.64 1.27 1.91
LA without brake holding(mm) 109 135 156
LA with brake holding(mm) 157 183 204

Figure 3- 3 60 Flange Series Motor

2) 80 Flange Series Motor

Specification 80 Flange Series Motor

Rated torque(N.m) 1.3 2.4 3.5 4
LA without brake holding(mm) 124 151 179 191
LA with brake holding(mm) 166 193 221 233

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Figure 3- 4 80 Flange Series Motor

3) 130 Flange Series Motor

Specification 130 Flange Series Motor
10 15
Rated torque(N.m) 4 5 6 7.7 1000 1500 2500 1500 2500
rpm rpm rpm rpm rpm
LA without brake holding(mm) 166 171 179 192 213 209 241 231
LA with brake holding(mm) 223 234 242 255 280 276 308 298

Figure 3- 5 130 Flange Series Motor

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3.2.2 Installation Location

1) Do not use the motor near the environment where there is corrosion of hydrogen sulfide,
chlorine, ammonia, sulfur, chlorinated gases, acids, alkalis, salts, flammable gases, combustible
materials, etc.
2) Do not remove the oil seal in places with grinding fluid, oil mist, iron powder, etc..
3) Do not use the motor in a closed environment. Closed environment would lead to high
temperature of the motor and shorten the service life.
4) A place away from heat sources such as stoves.

3.2.3 Installation Environment

The installation environment of the Servo motor has a direct impact on the normal function of the
motor and its service life. Therefore, the installation environment of the Servo motor must meet the
following conditions:

Item Description
Operating temperature -10℃-40℃ (Non-freezing)
Operating enhumidity -20%-90%RH (Non-Condensing)
Storage temperature -20℃-60℃
Storage humidity -20%-90%RH (Non-Condensing)
Protection class IP65
Vibration < 0.5G (4.9m/s2),10-60Hz (Discontinuous operation)

3.2.4 Installation Precautions

Item Description
Before installation, please wipe off the [rust inhibitor] of the Servo motor shaft,
Rust Inhibitor
then do the relevant antirust treatment.
 During installing a pulley on a Servo motor shaft with a keyway, use a screw
hole on the shaft end. In order to install the pulley, first insert a stud into
the screw hole of the shaft, use a washer on the surface of the coupling
end, and gradually lock the pulley with a nut.
 For a Servo motor shaft with a keyway, use the screw holes on the shaft end
Encoder for installation.
 For shafts without keyways, use friction coupling or similar methods.
 When removing the pulley, the pulley remover should be used to prevent
the strongly impact from the load.
 To ensure safety, install a protective cover or similar device in the rotating
area.
Alignment During connecting with the machine, use a coupling and keep the axis of the

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Servo motor and the axis of the machine in a straight line

Direction Servo motor could be installed in horizontal or vertical direction
When using in a place with water drops, please confirm the protection level of
the Servo motor before use. When using in a place with oil drops, do not
remove the oil seal of the Servo motor.
Conditions for using Servo motor with oil seal:
Oil and water
 Please ensure that the oil level is lower than the lips of the oil seal when
countermeasures
using.
 The oil seal could be used in a state where there is splash of oil.
 When the Servo motor is installed in vertical direction, be careful not to
allow oil to accumulate on the lips of the oil seal.
Do not [bend] or apply [tension] to the wires, especially the signal wires
Stress condition
(diameter is 0.2mm or 0.3mm). During the wiring process, do not stretch cable
of the cable
too tightly.
For the connector, please note the following:
 During connecting the connector, make sure there are no foreign objects
such as garbage or metal pieces in the connector.
 During connecting the connector to the Servo motor, be sure to connect it
from the side of the main circuit cable of the Servo motor first, and the
ground of the main cable must be connected reliably with earth. If encoder
Connect side cable is connected first, the encoder may malfunction due to the
interface potential difference with PE.
 During connecting, please make sure the pins are arranged correctly.
 The connector is made of resin. Do not apply impact to avoid damaging the
connector.
 Do not apply stress to the connector when carrying the Servo drive with the
cables connected. If you apply stress to the connector part, the connector
may be damaged.

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4. Wiring

4.1 Main Circuit Wiring

4.1.1 Terminals of the Servo Drive

Figure 4- 1 Terminal

Terminal Description Function

L1
Main power Connect with three-phase 220V power supply.
L2
input terminals Single-phase 220V input only need to connect L1 and L3.
L3
L1C Control power Connect to any two-phase or single-phase power of three-phase
L2C input terminal power.
P+ For external Internal regenerative resistor: shortconnect C-D (default).
C regenerative External regenerative resistor: Disconnect the short wire between C-D,
D resistor and then connect the external regenerative resistor between P + and C.
U
Motor power It is connected to the U, V, and W of the motor to supply power to the
V
line terminal motor.
W
PE PE Grounding terminal of the Servo drive.

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4.1.2Diagram of Power Wiring

Figure 4- 2 1-phase 220V Power Supply

Figure 4- 3 3-phase 220V power supply

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4.1.3Wiring of Motor Cables between Servo Drive and Servo Motor

Figure 4- 4 Power cable

Pin Defination Color

1 U Red
2 V Brown
3 W Yellow
4 GND Bule/green

4.2 Wiring of encoder terminal

Figure 4- 5 CN1 Terminal

Figure 4- 6 CN1 Outlet Terminal

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CN1 Pin Default Function Color Outlet Pin

1 A+ Brown 4
2 A- Brown/White 14
3 B+ Red 9
4 B- Red/White 13
5 Z+ Orange 7
6 Z- Orange/White 5
9, 10 GND Purple 3
11 U+ Yellow 6
12 U- Yellow/Black 8
13 V+ Green 10
14 V- Green/White 12
15 W+ Blue 11
16 W- Blue/White 15
19, 20 5V Purple/White 2

4.3 Wiring of Input/Output Control Terminal CN2

4.3.1 CN2 Pinout

Figure 4- 7 Servo Drive Input/Output CN2 Pinout

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PIN Function PIN Function PIN Function

1 AI_2- 16 DI2 31 SIGN+
2 AI_2+ 17 DI3 32 PULS-
3 GND 18 DI4 33 PULS+
5 DO1- 20 PAO+ 34 PL
6 DO1+ 21 PAO- 40 DI5
7 DO2- 22 PBO+ 41 DI6
8 DO2+ 23 PBO- 42 DI7
9 DO3- 24 PCO+ 43 DI8
10 DO3+ 25 PCO- 48 GND
11 DO4- 26 AI_1+ 49 GND
12 DO4+ 27 AI_1- 50 GND
13 DICOM 28 GND
15 DI1 30 SIGN-

4.3.2 Wiring Diagram for Each Mode

Figure 4- 8 Position mode

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4.3.3Position Command Input Signal

PIN Function Description

33 PULS+ Low-speed pulse input mode: differential input and open collector. The input
32 PULS- pulse contains three modes:
31 SIGN+ 1) Direction+pulse (positive logic).
30 2) CW/CCW pulse.
SIGN-
3) A, B phase quadrature pulse (4 times frequency).
34 PL External power input terminal of reference pulse
The reference pulse and symbol signal output circuit on the host controller side could be either
differential drive output or OC output. The following table lists the maximum input frequency and
minimum pulse width of these output modes.

Pulse Mode Differential Open Collector

Maximum Frequency 500K 200K

Low-speed Pulse Input

1) Differential drive mode

Figure 4- 9

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2) OC mode

Figure 4- 10

4.3.4 Analog Input Signals

PIN Function Description

26 AI_1+ AI_1 analog input signal with 12-bit resolution and input voltage
27 AI_1- range: -10V- + 10V.
2 AI_2+ AI_2 analog input signal with 12-bit resolution and input voltage
1 AI_2- range: -10V- + 10V.
3 GND
Analog input signal ground
28 GND

Figure 4- 11

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4.3.5 Digital Input and Output Signals

PIN Function Description

15 DI1 Servo enable
16 DI2 Clear alarm
17 DI3 Forward drive disable
18 DI4 Backward drive disable
40 DI5 Reverse direction
41 DI6 Pulse input inhibited
42 DI7 Reserved
43 DI8 Reserved
13 DICOM Power supply(12-24V)
5 DO1-
Rotation detection
6 DO1+
7 DO2-
Alarm signal
8 DO2+
9 DO3-
Servo ready
10 DO3+
11 DO4-
Position completed
12 DO4+

Digital input signal

1) The host controller provides relay output.

Figure 4- 12

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2) The host controller provides OC output.

Figure 4- 13

Digital output signal

1) The host controller uses relay input.

Figure 4- 14

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2) The host controller uses optocoupler input.

Figure 4- 15

4.4 Wiring to Communication Signal Terminal Connectors CN3/CN4

4.4.1 Wiring Diagram of Communication Signal Terminals

1) CN3 pinout

Figure 4- 16

PIN Function Description

1 RX- Negative send end of pc(negative receive end of Servo)
2 RX+ positive send end of pc(positive receive end of Servo)
3 TX- Negative receive end of pc(negative transmit end of Servo)
4 GND Ground
5 NC Not connected
6 TX+ Positive receive end of pc(positive transmit end of Servo)
7 NC Not connected
8 NC Not connected

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2) CN4 pinout

Figure 4- 17

4.4.2 RS422 Communication Connection with PC

The PC communicates with the driver through the CN4 (RJ45 port) interface via RS-422.

Figure 4- 18

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5. Operation Panel

5.1 Operatoin Panel Composition

Figure 5- 1 Panel Schematic

Icon Function Description

Mode Switch between modes. Back to previous menu

Up(increase) Increase the value of the flashing LED

Down(decrease) decrease the value of the flashing LED

Shift Change the flashing position of the LED

Enter the next level menu. Execute commands such as
Return(enter)
storing parameter settings

When the Servo drive is running, the panel for displaying Servo status, parameter, error and
monitoring.
Status display: Displays the current running status of the Servo drive.
Parameter display: Display the function code and the setting value of the function code
corresponding to different functions.
Error display: displays the error code of the Servo drive.
Monitor display: display the operating parameter value of the Servo drive to be observed.

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5.2 Panel Display

5.2.1 Display Shift

Figure 5- 2

Description:
While the power is on, the panel of the Servo would enter the status display mode.
If there is an error, the panel switches from the parameter display mode to the error display mode.
The status display mode could be switched to the monitoring mode by pressing the up / down
button. Press the mode button in the monitoring mode to enter the parameter display.
The status display and parameter display could be switched by mode button.

5.2.2 State Display

Display Condition Description

Moment at Servo power The Servo drive is in initialization

on(within one second) state.

Very short time after

Initialization completed
displaying [88888]

The Servo drive is ready for running,

Servo is ready and waits for the S-ON signal from
the host controller.

The Servo ON (S-ON)

The Servo drive is in running state
signal is active.

The Servo drive is in jog The Servo drive is in jog running

running state. state.

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5.2.3 Parameter Display

1) Function Code Group

Parameter display is for different function codes. The format of the function code is PXX.YY,
where PXX represents the group number of the function code, and YY represents the group
number of the function code.

Display Function Description

PXX.YY Function code group XX: Function code group
YY: Function code number

Display Function Description

Control mode, function 00: function code group

code is P00.01 01: function code number

2) Parameter display

Display Function Description

Completed and saved parameters in Servo
Completed parameter
Drive. Then, Servo Drive could execute
setttings
other operations.

The Servo drive executes parameter

Parameter initialization
initialization.

When entering the JOG

mode, an error occurs or
There is an error when entering JOG mode,
the parameter setting
return to the previous menu
exceeds the limit (or the
setting is not allowed)

5.2.4 Fault Display

The keypad displays the current or history faults and warnings. For analysis and rectification of
faults and warnings, refer to Chapter 7 Troubleshooting.
When a single fault or warning occurs, the keypad displays the fault or warning code. When multiple
faults or warnings occur, the keypad displays the fault code of the highest level.
When a fault occurs, the corresponding fault or warning code would be displayed when switching
from the auxiliary function to the parameter display function. User could view the current fault and
warning codes and the past five fault and warning codes through the monitoring display of the
panel.

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5.2.5 Warning Display

Display Function Description

Need to restart Servo drive to make modified

Restart Servo Drive
parameters take effect

5.2.6 Error Display

Display Function Description

Motor is overloaded Motor is overloaded

5.2.7 Monitoring display

After the Servo drive is powered on or after the Servo enable is ON, user could use the [Up / Down]
key to enter the monitor display mode.

Display Code Function Units Description

motor The actual running speed of the Servo

U0-02 rpm
speed motor(decimal)

The voltage value between driver P +

U0-31 Bus voltage V and-, DC bus voltage

Represents the level status corresponding

input signal to the 8 DI terminals. The upper part of
U0-17 -
state the digital tube indicates a high level, and
the lower half indicates a low level.
Represents the level status corresponding
Output to the 6 DO terminals. The upper part of
U0-19 -
signal state the digital tube indicates a high level, and
the lower half indicates a low level.

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5.3 Panel Operation

5.3.1 Parameter Setting

Parameter display, take P0-1 as an example to set the parameters, and change the Servo drive from
the position control mode to the speed control mode.

Figure 5- 3

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5.3.2 Jog Operation

During the trial operation of the Servo motor and Servo drive, the function of jog operation could
be used. The operating steps are as follows:

Figure 5- 4

Operating procedures:
1) After power on, adjust the function code to P10.01.
2) Press the enter key to enter the next menu and set the JOG speed.
3) After the JOG speed is completed, press the enter key, the JOG is blinking, press the enter key
again to enter the JOG mode.
4) Press and hold the [Up] and ]Down] keys to achieve forward and reverse rotation of the motor.

Cause of error: The encoder of the Servo drive is not connected to the motor.

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5.3.3 Restor to Default Setting

Figure 5- 5

Operating procedures:
1) After power on, adjust the function code to P10.02
2) Press the enter key to enter the next menu and set the parameters.
3) After the parameter setting is completed, press the enter key then panel would display P.init.
4) Press and hold the enter key for 3s, the panel digital tube would light up from left to right until
88888 is displayed.
5) After done is displayed at the end, release the enter key to indicate that the factory reset is
complete.

Cause of Error: value of P10.02 exceeds the set range (0 - 1).

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6. Control mode
6.1 Basic Setting
6.1.1 Check Before Running
NO. Activity
Wiring
The servo drive’s control circuit power input terminals (L1C, L2C) and main
1
circuit power input terminals(L1,L2,L3) are connected correctly.
The main circuit output terminals U, V, W of the servo drive are properly
2 connected to the power cables U, V, W of the servo motor in correct phase
sequence
No short circuit exists in the main circuit power input terminals (L1,L2,L3)
3
and output terminals (U, V, W) of the servo drive.
The signal wires of the servo drive are connected correctly. The external
4
signal wires such as brake and limit switch are connected reliably.
5 The servo drive and motor are grounded reliably.
The jumper between terminals C and D has been removed when the
6
external regenerative resistor is used.
7 The cable tension is within the permissible range.
8 The wiring terminals have been insulated.
Environment and mechanical conditions
No foreign objects, such as wire end or metal powder, which may cause
1 short circuit of the signal wire and power cables, exist inside and outside of
the servo drive.
The servo drive or external regenerative resistor is not placed on
2
flammable objects.
3 Installation and shaft and mechanical connection are reliable.

6.1.2 Power Supply Connection

(1) Connect the power supply of the control circuit and main circuit.
Connect the power supply of the control circuit (L1C, L2C) and main circuit:
The main circuit power terminals are L1, L2, L3 for the 3-phase220 V and three-phase 380 V models.
 After connecting the power supply of the control circuit and main circuit, if the bus voltage
indicator is in normal display and the keypad displays "rdy", it indicates that the servo drive is
ready for running and waiting for the S-ON signal from the host controller.
 If the keypad displays the fault code, please refer to the “Fault and alarm table”.

(2) Turn off the S-ON signal

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6.1.3 Jogging
Jog operation could be realized in two ways, one is panel jog operation, and the jog operation could
be realized through the buttons on the servo panel. the other is jog operation through the debug
tool running on pc.
(1) Jogging via the Keypad
Switch to [P10-1] on the keypad to enter the jogging mode, and the keypad displays the default
jogging speed.
Press key UP/DOWN to set the jogging speed, after that press enter key.
The keypad displays "JOG" and blinks. Then, press enter key again to access the jog mode.
Long press the up/down key to achieve forward and reverse rotation, press key MODE to exit the
jogging mode.

Parameter Effective
Code Property Range Function Unit Default
Name Time
JOG speed During Immedia 0~3000 Set the jogging rpm 100
P10-1
running te speed value

(2) Jogging via debug tool

Open We-con servo debugging tool, set the speed value of the jog in the "Set Speed" in the
"Manual Operation" column, and then click the "Servo On" button on the interface. Click "Forward"
or "Reverse" button to realize forward/reverse jogging. When the "servo off" button is clicked, the
jog mode is exited.

6.1.4 Selection of Rotating Direction

Set [P0-4] to change the motor rotating direction without changing the polarity of the input
reference.

Parameter Effective
Code Property Range Function Unit Default
Name Time
Forward direction:viewed
from the motor shaft.
Rotating Power-o
0: CW direction as the
P0-4 direction At stop n 0~1 - 0
forward direction
selection again
1: CCW direction as the
forward direction
Limit switches (positive over travel POT and reverse over travel NOT), POT has the same direction
set in [P0-4](Rotating direction selection).

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6.1.5 Braking resistor

When the servo motor is in the generator state when decelerating or stopping, the motor would
transfer the energy back to the driver, which would increase the bus voltage. When the bus voltage
exceeds the braking point, the driver could use the braking resistor to consume the energy. The
braking resistor could be built-in or external, but it couldnot be used at the same time. When the
external braking resistor is connected, the jumper on the servo drive needs to be removed.
The judge whether to use a built-in braking resistor or an external braking resistor
(1) The calculated maximum braking energy> the maximum braking energy that the capacitor could
absorb, and the calculated braking power ≤ the power of the built-in braking resistor, then use
the internal braking resistance.
(2) When the calculated value of the maximum braking energy> the maximum braking energy that
the capacitor could absorb, and the calculated value of the braking power> the power of the built-in
braking resistor, then we should use an external braking resistor.
Relevant function code:
Parameter Prope Effective
Code Range Function Unit Default
Name rty Time
At 0- Use built-in braking resistor.
stop 1- Use external braking
resistor and natural cooling.
Immediat 2- Use external braking
P0-9 Braking 0~3 - 0
e resistor and forced air cooling.
resistance
3- No braking resistors are
used, all rely on capacitor
absorption.
External At Immediat
P0-1 0~655 set the resistance value of the
braking stop e Ω 50
0 35 external braking resistor.
resistance
External At Immediat
P0-1 braking stop e 0~655 Used to set the power of
W 100
1 resistor 35 external braking resistor.
power

6.1.6 Servo Running

(1) Turn on the S-ON signal
When the servo drive is ready for running, the keypad displays "Run". but if there is no reference
input, the servo motor is in locked state.
S-ON could be configured and selected through DI terminal function selection.
(2) After a reference is input, the servo motor starts to rotate
Enter the appropriate command during operation, running the motor at low speed firstly, and
observe whether the rotation is in accordance with the set rotation direction. Observe the actual
motor speed, bus voltage and other parameters through the debug tool running on pc. It could be
adjusted according to Chapter 7 to make the motor work in its expected condition.

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(3) Power-on time sequence

Figure 6-1 Power-on time sequence

6.1.7 Servo Stop

Servo stop includes coast to stop and zero-speed stop based on the stop mode, and de energized
state and position lock based on the stop state.
Stop mode Coast to stop Stop at zero
speed
The servo motor is de-energized and The servo drive outputs the reverse
decelerates to stop gradually. The braking torque and the motor
Description deceleration time is affected by the decelerates to 0 quickly.
friction inertia and mechanical.

This mode features smooth deceleration This mode features quick deceleration
Characterist
and small mechanical impact, but the but a larger impact.
ic
deceleration process is long.
(1) Stop at S-ON Signal Off
Relevant function code:
Parameter Effective
Code Property Range Function Unit Default
Name Time
0: Coast to stop,
Stop mode keeping de-energized
P0-5 at S-ON At stop Immediate 0~1 state - 0
OFF 1: Stop at zero speed,
keeping de-energized

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state

(2) Emergency Stop

The default is the free stop mode, the motor shaft remains free, and the corresponding
configuration and selection could be made by configuring the DI terminal function selection.

(3) Stop at Limit Switch Signal Active

Over travel means that the movable part of the machine exceeds the setting area. In some
horizontal or vertical movements, the servo needs to limit the movement range of the work piece.
Over travel generally uses limit switches, photoelectric switches or multiple turns of the encoder for
detection, that is, hardware over travel or software over travel.
Once the servo drive detects the action of the limit switch signal, it would immediately force the
speed in the current running direction to 0 to prevent the forward movement, which would not
affect the reverse operation. Over travel stop is fixed as zero speed stop, and the motor shaft keeps
the position locked.
The corresponding configuration and selection could be made through the DI terminal function
selection. The default setting of DI3 is POT, DI4 is NOT.
Effectiv
Paramete
Code Property e Range Function Unit Default
r Name
Time
1: SON, Servo ON
2: A-CLR, Fault and warning
clear
3: POT, Forward limit switch
4: NOT, Reverse limit switch
5: ZCLAMP, Zero speed clamp
6: CL, Clear the position
deviation
7: C-SIGN, Instruction
negation
Power-o 8: E-STOP, Emergency stop
DI_3 During n
P6-08 0~16 9: GEAR-SEL, Electronic gear - 03-POT
function running
again switching 1
10: GAIN-SEL, Gain switch
11: INH, Position reference
inhibited
12: VSSEL, Damp control
switch
13: INSPD1, Internal speed
command selection 1
14: INSPD2, Internal speed
command selection 2
15: INSPD3, Internal speed

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command selection 3
16: J-SEL, Inertia ratio switch
DI port input logic validity
function selection.
Power-o 0: Normal open input. Active
DI_3 logic During n
P6-9 0~1 when off (switch closed). - 0
selection running
again 1: Normal closed input.
Active when on (switch
open).
DI_3 input Power-o
During 0-hardware DI3
P6-10 source n 0~1 - 0
running 1-VDI3
selection again
1: SON, Servo ON
2: A-CLR, Fault and warning
clear
3: POT, Forward limit switch
4: NOT, Reverse limit switch
5: ZCLAMP, Zero speed clamp
6: CL, Clear the position
deviation
7: C-SIGN, Instruction
negation
8: E-STOP, Emergency stop
Power-o 9: GEAR-SEL, Electronic gear
DI_4 During n 04-NO
P6-11 0~16 switching 1 -
function running T
again 10: GAIN-SEL, Gain switch
11: INH, Position reference
inhibited
12: VSSEL, Damper control
switch
13: INSPD1, Internal speed
command selection 1
14: INSPD2, Internal speed
command selection 2
15: INSPD3, Internal speed
command selection 3
16: J-SEL, Inertia ratio switch
DI port input logic validity
Power-o function selection.
DI_4 logic During n
P6-12 0~1 0: Normal open input. Active - 0
selection running
again when off (switch closed).
1: Normal closed input.

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Active when on (switch

open).
DI_4 input Power-o
During 0-hardware DI3
P6-13 source n 0~1 - 0
running 1-VDI3
selection again

(4) Stop at Fault Occurrence

If the machine breaks down, the servo would perform fault shutdown operation. The current
shutdown mode is fixed to free stop mode, and the motor shaft remains free.

6.2 Position Control Mode

Position control mode is the most important and commonly used control mode of servo system.
Position control refers to controlling the position of the motor through position commands,
determining the target position of the motor based on the total number of position commands, and
the frequency of the position command determines the rotation speed of the motor. The servo
drive could achieve fast and accurate control of the position and speed of the machine. Therefore,
the position control mode is mainly used in applications requiring positioning control, such as
manipulators, chip mounters, engraving machines, CNC machine tools, etc.
The block diagram of position control is as follows:

Figure 6-2 Position control diagram

6.2.1 Position Reference Input Setting

The servo drive has 1 set of pulse input terminals for receiving position pulse input (through the
CN2 terminal of the drive)

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The reference from the host controller could be differential output or open collector output. The
maximum input frequency is shown in the following table:
Pulse Type Differential Open collector
Max.
500k 200k
frequency
Voltage 5V 24V

(a) Low-speed Pulse Input

Differential drive mode

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(b) OC mode

(1) Position pulse selection

The servo drive supports three pulse input formats:
Direction + pulse (positive logic),Phase A + phase B quadrature pulse (4-frequency multiplication),
CW + CCW

Parameter Effective
Code Property Range Function Unit Default
Name Time
0:Direction + pulse
(positive logic)
1:CW/CCW
Position
Power-on 2:Phase A + phase B
P0-12 pulse type At stop 0~2 - 0
again quadrature pulse
selection
(4-frequency
multiplication)

The corresponding pulse waveform is as follows:

(a) [P0-12]=0 (Direction + pulse(positive logic))

PULSE:Pulse SIGN:Signal
Positive pulse waveform Negative pulse waveform

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(b)[P0-12]=1(CW/CCW)
PULSE:Pulse SIGN:Signal
Diagram

(c)[P0-12]=2(Phase A + phase B quadrature pulse (4-frequency multiplication))

PULSE(A phase):pulse SIGN(B phase):signal
Positive pulse waveform Negative pulse waveform
A advances B by 90° B advances A by 90°

(2) Position pulse frequency and anti-interference level

Filtering time is necessary for the reference input pin to prevent external interference input to the
driver and affect the control of the motor. The signal input and output waveforms with filtering
enabled are shown in the following figure:

Figure 6-3 Filtering signal waveform

The input pulse frequency refers to the frequency of the input signal, and the frequency of the input
pulse command could be modified through the function code [P0-13]. If the actual input frequency
is greater than [P0-13], it may cause pulse loss or alarm. The function code [P0-14] could adjust the
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position pulse anti-interference level, the greater the value, the greater the depth of the filter.
Relevant function code:
Paramete Effective
Code Property Range Function Unit Default
r Name Time
Position
Power-on Set the maximum pulse
P0-13 pulse At stop 1~500 kHz 300
again frequency
frequency
Set the pulse
Position anti-interference level.
pulse
Power-on 1:Low anti-interference
P0-14 anti-interf At stop 1~3 - 2
again level. (0.1)
erence
level 2: Medium (0.25)
3: High (0.4)

6.2.2 Electronic Gear Ratio

[Glossary]
Reference unit: It means the minimum value the host controller input to the servo drive.
Encoder unit: It means that the value from the input reference processed with the electronic gear
ratio.

[Electronic gear ratio definition]

In position control mode, the input position reference (reference unit) defines the load
displacement. the motor position reference (encoder unit) defines the motor displacement. The
electronic gear ratio is used to indicate the relationship between input position reference and
motor position reference. By dividing (electronic gear ratio < 1) or multiplying (electronic gear
ratio > 1) the electronic gear ratio, the actual motor rotating or moving displacement within the
input
position reference of one reference unit could be set.

[Setting range of electronic gear ratio]

The setting range of the electronic gear ratio should meet the following conditions:
Electronic gear ratio numerator
0.01 < < 100
Electronic gear ratio denominator
Otherwise, it would display [Er. 35] "Electronic gear ratio setting over limit" fault.

Electronic gear ratio setting Flowchart:

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Figure 6-4 Electronic gear ratio setting flowchart

Firstly, confirm the mechanical parameters, including confirming the reduction ratio, ball screw lead,
gear diameter in gear transmission, pulley diameter in pulley transmission, etc. Confirm the
resolution of the servo motor encoder used.
Confirm the parameters such as machine specifications and positioning accuracy, and determine the
load displacement corresponding to the position command output by the host computer. Combine
information including the mechanical parameters and the load displacement corresponding to one
position command to calculate the position command value required for one rotation of the load
shaft.
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Electronic gear ratio = encoder resolution / position command (command unit) required for one
revolution of the load shaft × reduction ratio, Set the function code parameters according to the
calculated electronic gear ratio value.
In addition to use the electronic gear ratio function, you could also use [P0-16] (the number of
command pulses for one rotation of the motor). Both gear ratio 1 and electronic gear ratio 2 are
invalid when [P0-16] is not zero.

Relevant function codes:

Paramet Proper Effective
Code Range Function Unit Default
er Name ty Time
pulse Set the pulse number of per
number Power-o rotation
0~100
P0-16 per At stop n Only when P0-16=0 then pulse 10000
00
revolutio again P0-17,P0-18,P0-19,P0-20
n would take effect
Electroni Set the numerator of the
During first group electronic gear
c gear 1 Immediat 1~327
P0-17 runnin - 1
numerat e 67 ratio.
g
or It is valid when P0-16=0
Electroni During Set the denominator of the
c gear 1 runnin Immediat 1~327 first group electronic gear
P0-18 - 1
denomin g e 67 ratio.
ator It is valid when P0-16=0
Electroni During Immediat Set the numerator of the
c gear 2 runnin e 1~327 first group electronic gear
P0-19 - 1
numerat g 67 ratio.
or It is valid when P0-16=0
Electroni Immediat Set the denominator of the
During
c gear 2 e 1~327 first group electronic gear
P0-20 runnin - 1
denomin 67 ratio.
g
ator It is valid when P0-16=0

6.2.3 Position Reference Filter

This function filters the position references (encoder unit) divided or multiplied by the electronic
gear ratio. It involves the first-order filter and average filter.
It is applicable to the following conditions:
(1) Acceleration/Deceleration is absent on the position references from the host controller.
(2) The pulse frequency is too low.
(3) The electronic gear ratio is larger than 10.

Properly setting the position loop filter time constant could run the motor more smoothly, so that
the motor speed would not overshoot before it stabilizes. This setting has no effect on the number

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of command pulses.
The filter time is not as long as possible. The longer the filter time, the longer the delay time and
the longer the response time.

Figure 6-5 position reference filter

Relevant parameters:
Parameter Effective
Code Property Range Function Unit Default
Name Time
Pulse
0:first-order low-pass
command filtering
P4-1 At stop Immediate 0~1 - 0
filtering
1: average filter
mode
Position At stop
command
For pulse command
P4-2 first-order Immediate 0~128 ms 0
input filtering
low-pass
filter
Position At stop
command
average 0~100 For pulse command
P4-3 Immediate ms 20
filtering 0 input filtering
time
constant

6.2.4 Position Deviation Clear

Position deviation = Position reference – Position feedback (encoder unit)
The position deviation clear function refers to the function that the drive clears the deviation
register in the position mode. The function of clearing position deviation could be realized through
DI terminal.

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6.2.5 Frequency-Division Output

The encoder pulse is output as a quadrature differential signal after divided by the internal circuit of
the servo driver. The phase and frequency of the frequency-divided signal could be set by
parameters. The source of frequency division output could be set by function code, and the setting
of different sources makes the function of frequency division output more widely used.

Figure 6-6 diagram of frequency division output wiring

The frequency-division output is a differential signal output:

Phase A pulse: PAO +, PAO-, differential output, the maximum output pulse frequency is 2Mpps
Phase B pulse: PBO +, PBO-, differential output, the maximum output pulse frequency is 2Mpps
Phase Z pulse: PZO +, PZO-, differential output, the maximum output pulse frequency is 2Mpps
The frequency division pulse output direction could be set through the function code [P0-21]. The
waveform diagram of the encoder frequency division pulse output is as follows:
Forward rotation, pulse output Reverse rotation, pulse output
P0-21
waveform waveform

In addition, the Z pulse output polarity could be set through function code P0-23, as shown in the
following figure:
P0-23(Z pulse output polarity) pulse waveform (forward / reverse)

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Function code P0-22(the number of output pulses per revolution of the motor) is used to set the
number of output pulses of the A and B phases of the motor, and changing the function code could
set the frequency division of the output.
Relevant parameters:
Pro
Parameter Effective Ran
Code pert Function Unit Default
Name Time ge
y
Quadrature pulse output.
frequency-
0: When the motor rotation
dividing At Power-on
P0-21 0~1 direction is CW, A advances B - 0
output stop again
direction 1: When the motor rotation
direction is CCW, B advances A
At Power-on Quadrature output. Set the
Encoder stop 10~1 number of output pulses of Puls
P0-22 2500
ppr 0000 phase A and phase B for each e
rotation of the motor
Z pulse At again
0-Z Active when pulse is high
P0-23 output stop 0~1 - 0
1-Z Active when pulse is low
OZ polarity

6.2.6 Position-relevant DO output function

The feedback value of the position command is compared with different thresholds, and the DO
signal could be output for the host controller to use.
(1)Positioning completed/near output
The internal command completion function means that when the multi position reference within
the servo is zero, it could be considered that the command transmission is completed. At this time,
the servo drive could output the internal command completion signal, and the host computer could
confirm that the multi-segment position command within the servo drive has been sent.
The positioning completion function means that the position deviation meets the conditions set by
the [P5-12], and it could be considered that the positioning is completed in the position control
mode. At this time, the servo driver could output the positioning completion signal, and the host
controller could confirm that the positioning of the servo driver is completed after receiving this
signal.
The functional schematic diagram is as follows:

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Figure 6-7 positioning completed diagram

When using the positioning completion / proximity function, you could also set positioning
completion, positioning proximity conditions, window, and hold time. The diagram of window
filtering time is shown in the figure below:

Figure 6-8 diagram of positioning completion signal output with window filtering time

Relevant parameters:

Parameter Propert Effective Rang

Code Function Unit Default
Name y Time e
Positioning During Immedia Output signal judging
P5-11 1~3 - 0
completed, running te conditions for positioning

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positioning completed and positioning

near setting near
0:The output is valid when
the absolute value of the
position deviation is less
than the positioning
completion threshold /
location near threshold.
1:The absolute value of the
position deviation is less
than the positioning
completion threshold /
positioning near threshold,
and the input position
command is 0 then the
output is valid
2:The absolute value of the
position deviation is
smaller than the
positioning completion
threshold / positioning
approach threshold, and
the input position
command filter value is 0
then the output is valid
3:The absolute value of the
position deviation is less
than the positioning
completion threshold /
positioning approach
threshold, the input
position command filter
value is 0, and the
positioning detection time
window is continued then
the output is valid
Positioning During Immedia
1~65 Positioning completion
P5-12 completed running te Pulse 800
535 threshold
threshold
Positioning During Immedia
1~65
P5-13 approach running te Positioning near threshold Pulse 5000
535
threshold
Positioning During Immedia Set the positioning
0~20
P5-14 detection running te completion detection time ms 10
000
time window

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window

Positioning During Immedia Set the hold time of

0~20
P5-15 signal hold running te positioning completion ms 100
000
time output
To use the positioning completion function, the DO terminal of the servo drive should be assigned
as the positioning completion function and determine the valid logic. Take the DO1 terminal as an
example, the relevant function code:

Effectiv
Paramet Propert
Code e Range Function Unit Default
er Name y
Time
129-RDY Servo Ready
130-ALM Alarm
131-WARN Warning
132-TGON Motor rotation
output
133-ZSP Zero speed
signal
134-P-COIN Positioning
DO_1 Power- completed
During on 128~1
P6-26 function 135-P-NEAR Positioning - 131
running 42
selection again near
136-V-COIN Speed consistent
137-V-NEAR Speed near
138-T-COIN Torque reached
139-T-LIMIT Torque limit
140-V-LIMIT Speed limit
141-BRK-OFF Solenoid brake
142-SRV-ST Enable Servo
status output
Output logic function
selection. ★
1. Set to 0:
When the signal is valid, the
DO_1 Power- output transistor is on.
During on
P6-27 logic 0~1 When the signal is invalid, the - 0
running
selection again output transistor is off.
2. Set to 1:
When the signal is valid, the
output transistor is off.
When the signal is invalid, the

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output transistor is on.

6.3 Speed Control Mode

Speed control refers to control the speed of the machine through the speed reference. Through
internal digital setting, analog voltage or communication, the servo drive could achieve fast and
precise control of the mechanical speed. Therefore, the speed control mode is mainly used to
control the rotation speed, or use the host controller to realize the position control, and the host
controller output is used as the speed reference, such as analog engraving and milling machine.
The speed control block diagram is as follows:

Figure 6-9 speed control diagram

Set the parameter P0-1 to 2 through the panel or debugging tool on PC to make the servo drive
work in speed control mode.
Relevant function code:
Parameter Effective Rang Defaul
Code Property Function Unit
Name Time e t
Control mode 1: Position control mode
Power-on
P0-1 (default At stop 1~10 2: Speed control mode - 1
again
setting) 3: Torque control mode

6.3.1 Speed Reference Input Setting

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(1) Speed Reference Source

There are two sources of speed reference in speed control mode, which could be set by [P1-1].
Relevant function code:
Parameter Propert Effective
Range Function Unit Default
Code Name y Time
Speed 0: Internal speed
P1-1 command At stop Immediate 0~1 command (set in P1-3). - 0
source 1: AI_1 analog input.

(a) Internal speed reference

Set the speed value through the function code [P1-2] as the speed reference.
Relevant function codes:
Parameter Effective
Code Property Range Function Unit Default
Name Time
Internal
During -3000~ Internal speed
P1-2 speed Immediate rpm 100
running 3000 command
command

(b) Analog voltage input as a reference

Take the analog voltage signal output by the host controller or other equipments, processed as a
speed reference.
Analog voltage setting method:

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Figure 6-10 flowchart of setting speed reference by analog voltage

Glossary:
Zero drift: Value of the servo drive sampling voltage relative to GND when the input
voltage of the analog channel is zero.
Offset: Input voltage value of the analog channel when the sampling voltage is zero after
zero drift correction.
Dead zone: Input voltage range of the analog channel when the sampling voltage is zero.

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Figure 6-11 Analog signal after-offset

After completing the correct settings, you could view the input voltage values of AI_1 and AI_2
through U0-21 and U0-22
Code Function Unit Format
U0-21 AI1 input voltage V decimal(3 decimal digits)
value
U0-22 AI2 input voltage V decimal(3 decimal digits)
value
Relevant function codes:
Parameter Effective
Code Property Range Function Unit Default
Name Time
AI_1 input During -5000~500 Set AI_1 channel
P5-1 Immediate mv 0
bias running 0 analog offset value
During Immediate AI_1 channel input
AI_1 Input
running first-order
P5-2 filter 0~65535 ms 200
low-pass filtering
constant
time constant
During Immediate Set AI_1 channel
AI_1 dead
P5-3 running 0~1000 analog dead zone mv 20
zone
value
During Immediate Automatic
AI_1 zero running calibration zero
P5-4 -500~500 mv 0
drift drift inside the
driver.
AI_2 input During Immediate -5000~500 Set AI_2 channel
P5-5 mv 0
bias running 0 analog offset value
AI_2 Input During Immediate AI_2 channel input
P5-6 filter running 0~65535 first-order ms 200
constant low-pass filtering

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time constant

During Immediate Set AI_1 channel

AI_2 dead
P5-7 running 0~1000 analog dead zone mv 20
zone
value
During Immediate Automatic
AI_2 zero running calibration zero
P5-8 -500~500 mv 0
drift drift value inside
the driver
Immediate Set the speed
Analog 10V
value
P5-9 for speed At stop 1000~4500 rpm 3000
corresponding to
value
analog 10V
Immediate Set the torque
Analog 10V
P5-1 value
for torque At stop 0~3000 0.1% 1000
0 corresponding to
value
analog 10V

6.3.2 Acceleration and deceleration time setting

The acceleration/deceleration time setting refers to convert a speed command with a relatively high
acceleration into a speed command with a relatively gentle acceleration, so as to achieve the
purpose of controlling the acceleration.
In the speed control mode, excessive acceleration of the speed command would cause the vibration.
At this time, increase the acceleration or deceleration time to achieve a smooth speed change of
the motor and avoid mechanical damage caused by the above situation.

Figure 6-12 diagram of acc. and dec. time

Actual acceleration time T1 = speed reference / 1000 * acceleration time
Actual deceleration time T2 = speed reference / 1000 * deceleration time
Relevant function codes:

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Parame
Propert Effective
Code ter Range Function Unit Default
y Time
Name
Acceleration time from 0
Acc. During
P1-3 Immediate 0~65535 to 1000rpm in speed ms 50
time running
command mode
Deceleration time from
Dec. During
P1-4 Immediate 0~65535 1000 to 0 rpm in speed ms 50
time running
command mode

6.3.3 Speed Reference Limitation

The servo drive could display the value of the speed reference in speed mode.
Sources of speed instruction limits include:
[P1-10]: Set the maximum speed limit value
[P1-12]: Set forward speed limit value
[P1-13]: Set the reverse speed limit value
Maximum motor speed: determined according to the model of the motor
| The amplitude of the forward speed reference | ≤ min {Max. motor speed, P1-10, P1-12}
| The amplitude of the negative speed reference | ≤ min {Max. speed of the motor, P1-10, P1-13}
Relevant function codes:
Paramet Effective Defaul
Code Property Range Function Unit
er Name Time t
Max During Immediate 0~5000 Set the maximum speed
speed running limit value.
P1-10 rpm 3600
threshol
d
Forward During Immediate 0~3000
speed running
P1-12 Set forward speed limit rpm 3000
threshol
d
Reverse During Immediate 0~3000
speed running
P1-13 Set reverse speed limit rpm 3000
threshol
d

6.3.4 Zero Speed Clamp Function

Zero speed clamping function means that when the zero speed clamping signal (ZCLAMP) is valid,
when the absolute value of the speed reference is lower than the zero speed clamping speed value,

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the servo motor is in the locked state. At this time, the servo drive is in position lock mode, and the
speed reference is invalid.
Relevant function codes:
Paramet Effective
Code Property Range Function Unit Default
er Name Time
Set the zero speed clamp
function. In speed mode:
0: Force speed to 0.
1: Force the speed to 0,
and keep the position
Zero
locked when the actual
speed
During Immediat speed is less than [P1.22].
P1-21 clamp 0~3 - 0
running e 2: When the speed
function
selection reference is less than
[P1-22], force the speed
to 0 and keep the position
locked.
3: Invalid, ignore the zero
speed clamp input.
Speed Set the speed threshold of
During Immediat
P1-22 threshol 0~1000 the zero speed clamp rpm 20
running e
d for zero function

Figure 6-13 Zero Speed Clamp waveform

6.3.5 Speed-relevant DO Signals

Different DO signals are output to the host controller based on comparison between the speed

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feedback after filter and different thresholds. We need to assign different function for the DO
terminals and set the valid logic.
(1) Motor Rotation DO Signal
After the speed reference is filtered, the absolute value of the actual speed of the servo motor
reaches [P5-16] (rotation detection speed threshold), then the motor is considered to be rotating.
At this time, the DO terminal of the servo drive could output a rotation detection signal. Conversely,
when the actual rotation speed of the servo motor does not reach [P5-16], it is considered that the
motor is not rotating.

Figure 6-14 motor rotation DO signal

Relevant function codes:
Parameter Propert Effective
Code Range Function Unit Default
Name y Time
Rotation During Immediate Set motor rotation
detection running signal judgment
P5-16 0~1000 rpm 20
speed threshold
threshold
DO_1 function During Immediate 132-TGON rotation
P6-26 128~142 - 131
selection running detection

(2) Zero speed signal

The absolute value of the actual speed of the servo motor is less than a certain threshold [P5-19], it
is considered that the servo motor stops rotating, and the DO terminal of the servo drive could
output a zero speed signal at this time. Conversely, if the absolute value of the actual speed of the
servo motor is not less than this value, it is considered that the motor is not at a standstill and the
zero speed signal is invalid.

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Figure 6-15 zero speed signal waveform

Relevant function codes:

Parameter Effective
Code Property Range Function Unit Default
Name Time
Zero speed During Immediat Zero speed output
0~600
P5-19 output signal running e signal threshold rpm 10
0
threshold
DO_1 function During Power on 128~1 133-ZSP zero speed
P7-18 - 132
selection running again 42 signal

(3) Speed Consistent DO Signal

In speed control, when the absolute value of the difference between the motor speed after filter
and the speed reference satisfies the setting of [P5-17], the actual motor speed is considered to
reach the speed reference. At this moment, the servo drive outputs the speed consistent signal.
When the absolute value of the difference between the motor speed after filter and the speed
reference exceeds the setting of [P5-17], the speed consistent signal is inactive.

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Figure 6-16 Speed Consistent Waveform

Relevant function codes:
Parameter Effective
Property Range Function Unit Default
Code Name Time
Set the speed
Speed consistent During
P5-17 Immediate 0~100 consistent signal rpm 10
signal threshold running
threshold
DO_1 function During 128~1 135-V-COIN speed
P7-18 Immediate - 135
selection running 42 consistent

(4) Speed Reached DO Signal

When the absolute value of the motor speed after filter exceeds the setting of[P4-16],the motor
speed is considered to reach the desired value. At this moment, the servo drive outputs the speed
reached signal. When the absolute value of the motor speed after filter is smaller than or equal to
the setting of[P4-16], the speed reached signal is inactive.

Figure 6-17 Speed reached signal waveform

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Relevant function codes:

Parameter Effective
Code Property Range Function Unit Default
Name Time
Speed
During 10~60 Speed reached
P5-18 approaching Immediate rpm 100
running 00 signal threshhold
signal threshold
DO_1 function During Power on 128~1 136-V-NEAR
P7-18 - 136
selection running again 42 speed near

6.4 Torque Control Mode

The current of the servo motor has a linear relationship with the torque. Therefore, the control of
the current could achieve the control of the torque. Torque control refers to controlling the output
torque of the motor through a torque reference. Torque reference could be given by internal
command and analog voltage. The torque control block diagram is as follows:

Figure 6-18 torque mode block diagram

6.4.1 Torque Reference Input Setting

(1) Torque reference source

In the torque control mode, there are two sources of torque reference, which could be set
through [P1-7]. Relevant function codes:

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Parameter Effective
Code Property Range Function Unit Default
Name Time
Torque 0: Internal torque
P1-7 reference At stop Immediate 0~1 command. - 0
source 1: AI_1 analog input.

(a) Digital setting

The source of the torque reference is an internal command, which is set through function code
[P1-8]. Relevant function codes:
Parameter Effective
Code Property Range Function Unit Default
Name Time
Torque
reference During -3000~
P1-8 Immediate -300.0%～300.0% 0.1% 0
keyboard running 3000
set value

(b) Analog voltage setting

Take the analog voltage signal outputs by the host controller or other equipment as a speed
reference.
Operation flowchart of setting torque reference by analog voltage:

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Figure 6-19 flowchart of setting torque reference by analog voltage

Zero drift: value of the servo drive sampling voltage relative to GND when the input voltage of the
analog channel is zero
Offset: input voltage value of the analog channel when the sampling voltage is zero after zero drift
correction
Dead zone: input voltage range of the analog channel when the sampling voltage is zero

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Figure 6-20 Analog signal waveform after-offset

After completing the correct settings, user could view the input voltage values of AI_1 and AI_2
through [U0-21] and [U0-22]
Code Function Unit Format
U0-21 AI1 input voltage V decimal(3 decimal digits)
value
U0-22 AI2 input voltage V decimal(3 decimal digits)
value

Relevant function codes:

Parameter Effective Defaul
Code Property Range Function Unit
Name Time t
AI_1 input During -5000~ Set AI_1 channel analog
P5-1 Immediate mv 0
bias running 5000 offset value
AI_1 Input Immediate AI_1 channel input
During 0~6553
P5-2 filter first-order low-pass ms 200
running 5
constant filtering time constant
AI_1 dead During Immediate Set AI_1 channel analog
P5-3 0~1000 mv 20
zone running dead zone value
Immediate Automatic calibration
AI_1 zero During -500~5
P5-4 zero drift inside the mv 0
drift running 00
driver.
AI_2 input During Immediate -5000~ Set AI_2 channel analog
P5-5 mv 0
bias running 5000 offset value
AI_2 Input During Immediate AI_2 channel input
0~6553
P5-6 filter running first-order low-pass ms 200
5
constant filtering time constant

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AI_2 dead During Immediate Set AI_1 channel analog

P5-7 0~1000 mv 20
zone running dead zone value
During Immediate Automatic calibration
AI_2 zero -500~5
P5-8 running zero drift value inside mv 0
drift 00
the driver
Analog 10V Immediate Set the speed value
1000~4
P5-9 for speed At stop corresponding to rpm 3000
500
value analog 10V
Analog 10V Set the torque value
P5-10 for torque At stop Immediate 0~3000 corresponding to 0.1% 1000
value analog 10V

6.4.2 Torque Reference Filter

In the torque mode, the servo drive could realize low-pass filtering of the torque command, which
reduces the vibration of the servo motor.
Relevant function codes:
Parameter Effective Defaul
Code Property Range Function Unit
Name Time t
When [Auto-tuning
Torque
During 10~25 mode] is set as 1, or 2,
P4-4 filter time Immediate 0.01 0.5
running 00 this parameter is set
constant
automatically

Figure 6-21 Diagram of torque reference first-order filter

If the setting value of the filter time constant is too large, the responsiveness would be reduced.
Please set it while confirming the responsiveness.

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6.4.3 Torque Reference Limit

When the absolute value of the torque reference input from the host controller or output by the
speed regulator is larger than the absolute value of the torque reference limit, the actual torque
reference of the servo drive is restricted to the torque reference limit. Otherwise, the torque
reference input from the host controller or output by the speed regulator is used.
Only one torque reference limit is valid at a moment. Both positive and negative torque limits does
not exceed the maximum torques of the servo drive and motor and ±300.0% of the rated torque.

Figure 6-22 Torque setting and limit

(1) Torque Limit Source

The torque limit source is set in[P1-14]. After the torque limit is set, the servo drive torque
reference is restricted to be within the torque limit. After the torque reference reaches the limit, the
motor runs according to the torque limit. The torque limit must be set according to the load
conditions. If the setting is very small, it may cause longer acceleration/decelleration time of the
motor, and the actual motor speed may not reach the required value at constant speed running.
Relevant code:
Parameter Effective
Code Property Range Function Unit Default
Name Time
Torque limit 0: Internal value
P1-14 At stop Immediate 0~1 - 0
source 1: AI_2 analog input

When [P1-14]= 0: internal torque limit

The torque reference limit value is determined by the internal function codes [P1-15] and [P1-16]
Relevant code:
Parameter Effective
Code Property Range Function Unit Default
Name Time

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When [P1-14]
selects internal
Forward torque limit, this
0~300
P1-15 rotation during Immediate function code 0.1% 3000
0
torque limit value is used as
the forward
torque limit value
When [P1-14]
selects internal
torque limit, this
Reverse 0~300
P1-16 during Immediate function code 0.1% 3000
torque limit 0
value is used as
the reverse torque
limit value
(a) Torque Limit DO Signal
When the torque reference reaches the torque limit value, the driver outputs a torque limit signal
(138-T-LIMIT torque limit) to the host controller and determines the DO terminal logic.
Relevant code:
Parameter Effective Rang
Code Property Function Unit Default
Name Time e
DO_1 function During Power on 128~ 138-T-LIMIT torque
P6-26 - 138
selection running again 142 limit

6.4.4 Torque related DO output function

The feedback value of the torque reference is compared with different thresholds, and the DO
signal could be output to the host controller to use. Assign the DO terminals of the servo drive to
different functions and set the valid logic.
(1) Torch reach signal

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Figure 6-23 Torch reach signal waveform

Relevant function code:

Parameter Effective
Code Property Range Function Unit Default
Name Time
The torque reached
threshold needs to be
used in conjunction with
[torque reached
hysteresis value]:
When the actual torque
reaches [torque reached
threshold] + [torque
Torque
During reaches hysteresis], the
P5-20 reached Immediate 0~300 % 100
running torque reached DO
threshold
becomes effective.
When the actual torque
decreases below
[Torque reached
threshold] + [Torque
reached hysteresis], the
torque reached DO
becomes invalid.

Torque [Torque reached

During hysteresis value] Need
P5-21 reached Immediate 10~20 % 10
running to be used together
hysteresis
with [Torque reached

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threshold]

DO_1 During Immediate

128~14 138-T-COIN Torch
P6-26 function running - 138
2 reach
selection

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7. Adjustment
7.1 Overview
The servo drive is required to run the motor in least time delay and as faithful as possible against
references from the host controller or internal setting. Gain adjustment needs to be performed to
meet the requirements.

Figure 7-1 Gain adjustment flowchart

Servo gain is adjusted by setting multiple parameters (including position loop gain, speed loop gain,

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filter and inertia ratio) that affect each other. Ensure these parameters have a balanced relationship
during setting.
The following table shows the general gain adjustment description:
Gain Adjustment Procedure Function Section
to Refer
Use the debugging tool(running in pc) to 7.2.1
perform inertia identification. self-inertia
Inertia auto-
1 online identification function, the drive
tuning
automatically calculates the load inertia
ratio
The drive automatically gives the gain 7.3.1
2 Automatic gain adjustment parameters to match the inertia ratio (it
should be set correctly).
If the automatic gain adjustment result is 7.3.2
Basic gain not satisfactory, perform fine manual
Manual gain adjustment.
3
adjustment
Feedforward Enable this function to improve the 7.3.3
gain follow-up characteristics.
Vibration Mechanical Enable the notch function to suppress 7.4.1
4
suppression resonance mechanical resonance.

7.2 Inertia ratio

The inertia ratio [P3-1] is:
Total load inertia of machine
Inertia ratio =
Motor rotor inertia
The inertia ratio is an important parameter of the servo system, and quick commissioning could be
implemented with the correct setting of this parameter.
It could be set manually or auto-tuned automatically by the servo drive itself.
Before performing online auto-tuning, the following conditions should be met:

(1) The maximum speed of the motor should be greater than 300rpm.
(2) The actual inertia ratio is between 0.00 and 100.00.
(3) The load torque is stable without dramatic change.
(4) The backlash of the load transmission mechanism is within a certain range.
(5) The movement travel of the motor should meet the following requirements.
(a) The movement travel of above one revolution in either forward or reverse direction is available
between the mechanical limit switches. To make sure the limit switches have been installed,
the required movement travel is reserved to prevent the condition that the motor senses the
limit switches, it maybe cause accidents during auto-tuning.
(b) [P3-5] (Motor revolutions for an inertia auto-tuning) is met: Ensure the movement travel for the
motor in the stop position is larger than [P3-5]. if not, decrease [P3-6](maximum speed of

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inertia identification).
During inertia auto tuning, if vibration occurs, the auto tuning should be stopped Immediately.
Relevant function code:
Pro
Parameter Effective
Code pert Range Function Unit Default
Name Time
y
Load At Set load inertia ratio, 0.00
Immedia
P3-1 inertia stop 0~10000 - 100.00 times 0.01 500
te
ratio
Number of At Offline load inertia
inertia stop Immedia identification process, revolu
P3-5 1~2 2
identificati te motor rotation number tion
on cycles setting
Maximum At Set the maximum allowed
speed of stop motor speed command in
Immedia 300~200
P3-6 inertia offline inertia rpm 1000
te 0
identificati identification mode.
on
At Immedia 0: forward and backward
stop te rotation
rotation
1: forward-forward
P3-7 direction 0~2 - 0
one-way rotation
parameter
2: backward-backward
one-way rotation

7.3 Gain adjustment

In order to optimize the response of the servo drive, it is necessary to adjust the servo gain. The
servo gain is defined by several parameters. Therefore, the adjustment of the servo gain should take
into account the relationship between the various parameters.
In general, high-rigidity machinery could improve the response performance by increasing the servo
gain. However, for machines with low rigidity, when the servo gain is increased, vibration may occur,
which in turn affects the increase in gain. Therefore, selecting a suitable servo gain parameter could
achieve stable performance while achieving a high response.
The servo supports automatic gain adjustment and manual gain adjustment. It is recommended to
use automatic gain adjustment.

7.3.1 Automatic Gain Tuning

Automatic gain tuning means that the servo drive automatically produces the matching gain
parameters based on the setting of[P3-2] (rigidity level selection) to achieve fast response and
stability.
Servo rigidity refers to the ability of the motor rotor to resist load inertia, that is, the self-locking

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ability of the motor rotor. The stronger the servo rigidity, the greater the position loop gain and
speed loop gain, the faster the system response speed.

Note: before adjusting the rigidity level, set the proper load inertia ratio [P3-1] correctly!
The setting range of [P3-2]is 0–31. The level 0 indicates he weakest stiffness and lowest gain and
level 31 indicates the strongest stiffness and highest gain. The following table lists the stiffness
levels for different load types.
Recommended Stiffness Level Type of Load Mechanism
Level 4 to level 8 Large-scale machinery
Level 8 to level 15 Applications with low stiffness such as belt
Level 15 to level 20 Applications with high stiffness such as ball screw and
direct-connected motor

When the function code [P3-3]is set to 0, the gain parameter is stored in the first gain by modifying
the rigidity level.
During actual commissioning, it could be used for automatic rigidity level determination with the
debug tool. It is used to select a suitable rigidity level as the operating parameter. The operation
steps are as follows:
(1) Confirm that the servo is in the ready state, the panel displays rdy, and the communication line
is connected.
(2) Open the debugging tool software, go to the run interface, set the corresponding parameters,
and click "Servo On".
(3) Click the "Forward" or "Reverse" button to confirm the travel range of the servo operation.
(4) After the "auto tuning" lights up, click "auto tuning" to perform inertia recognition
(5) After the auto gain tuning is completed, click "Save Inertia Value".
(6) Click "Next" on the lower right to go to the parameter adjustment interface, and click
"Parameter Measurement" to start parameter measurement.
(Note: There may be a mechanical noise during the test. Generally, the servo would
automatically stop the test. If it does not automatically stop or other abnormal conditions occur,
you could click the "servo off" button on the interface to turn off the servo or power off the
machine! )
(7) After the parameter measurement is completed, the debug tool would pop up a confirmation
window for parameter writing and saving.
! ! ! Note: For detailed operation of the debug tool, please refer to the "Wecon Servo Debugging
Platform User Manual".

Related function codes:

Paramet Effective
Code Property Range Function Unit Default
er Name Time

P3-3 Auto-tu 0: Rigidity level auto-tuning

During Immediat
ning 0~2 mode. according to the - 1
running e
mode rigidity level setting,

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selectio position loop gain, speed

n loop gain, speed loop
integration time constant,
and torque filter parameter
settings are automatically
1:Manual setting. users
need to manually set the
position loop gain, speed
loop gain, speed loop
integration time constant,
and torque filter parameter
settings. adjusted.
2:Online
automaticparameter
auto-tuning mode (not
implemented yet).

7.3.2 Manual Gain Adjustment

When the automatic gain adjustment result is not satisfactory, execute fine manual gain adjustment
to achieve better result.
The servo system consists of three control loops, namely, position loop, speed loop, and current
loop from external to internal. The following figure shows the basic control block diagram.

Figure 7-2 Basic control block diagram of manual gain adjustment

The most internal loop must have the highest response. The default current loop gain of the servo
drive ensures the response, and need not be adjusted. You only need to adjust the position loop
gain, speed loop gain and other auxiliary gains. When executing gain adjustment in the position
control mode, increase the speed loop gain as well after increasing the position loop gain, and
ensure the response of the position loop is lower than that of the speed loop to keep the system
stable.
This servo drive has two sets of position loop and speed loop gain parameters. The user could
switch between 2 sets of gain parameters according to the method corresponding to the setting

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value of the second gain switching mode in [P2-7]. Usually use external DI to switch.
Relevant parameters:
Code Function
P2-1 1st position loop gain
P2-2 1st speed loop gain
P2-3 1st speed loop integral time constant
P2-4 2nd position loop gain
P2-5 2nd speed loop gain
P2-6 2nd speed loop integral time constant
P4-4 Torque filter time constant

(1) Speed loop gain

Within the range of no vibration or noise in the mechanical system, the greater the speed loop gain
setting value, the better the response of the servo system and the better the speed followability.
When noise occurs in the system, the speed loop gain should be reduced.

Relevant function code:

Effecti
Parameter Proper
Code ve Range Function Unit Default
Name ty
Time
During Set the speed loop gain to
P2-2 1st speed Imme 0~350
runnin determine the response of 0.1Hz 65
loop gain diate 00
g the speed loop.
During Set the speed loop gain to
P2-5 2nd speed Imme 0~350
runnin determine the response of 0.1Hz 65
loop gain diate 00
g the speed loop.

(2) Speed loop integral time constant

Speed loop integral time constant is used to eliminate speed loop deviation. Decreasing the integral
time constant of the speed loop could increase the speed of the speed following, but the set value
is too small would easily cause speed overshoot or vibration. when the time constant is set too large,
the integral effect would be weakened, resulting in the deviation of the speed loop.
Relevant function code:
Parameter Effective
Code Property Range Function Unit Default
Name Time
1st speed Set the speed loop
loop During Immediat 100~6 integral constant. The
P2-3 0.1ms 1000
integration running e 5535 smaller the set value, the
time stronger the integral

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constant effect.

2nd speed Set the speed loop

loop integral constant. The
During Immediat 100~6
P2-5 integration smaller the set value, the 0.1ms 1000
running e 5535
time stronger the integral
constant effect.

(3) Position loop gain

Determine the highest frequency that the position loop could follow changing position reference.
Increasing this parameter could speed up the positioning time and improve the ability of the motor
to resist external disturbances when it is stationary. However, if the value is set too high, the system
may be unstable .
Relevant function code:
Parameter Proper Effective
Code Range Function Unit Default
Name ty Time
Set the position loop gain
1st During
P2-1 to determine the
position runnin Immediate 0~6200 0.1Hz 400
responsiveness of the
loop gain g
position control system.
Set the position loop gain
P2-4 2nd During
to determine the
position runnin Immediate 0~6200 0.1Hz 400
responsiveness of the
loop gain g
position control system.

(4) Torque reference filter time

Choosing an appropriate torque filter time constant could suppress mechanical vibration. The larger
the value of this parameter, the stronger the suppression ability, but if the setting value is too large,
the response frequency of the current loop would decrease, causing vibration.
Relevant function code:
Effectiv
Parameter Proper Ran Defau
Code e Function Unit
Name ty ge lt
Time
Torque During When [Auto-tuning mode] is set
Immedi 10~2
P4-4 filter time runnin as 1, or 2, this parameter is set 0.01 50
ate 500
constant g automatically

7.3.3 Feedforward gain

Summary: During position control and full-closed control, the speed control reference required for
the operation is calculated from the internal position reference, and get the speed feedforward by
comparing speed reference with the position feedback to get the speed feedforward, which could
reduce more position deviation and improve response.

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additionally, the torque reference required for operation is calculated from the speed control
reference, and the torque feed-forward obtained by comparing the torque reference with the speed
feedback could improve the response of the speed control system.
Relevant function code(speed Feedforward Gain):
Code Function Description
Speed When the speed feedforward filter is set to 50 (0.5 ms), gradually
P2-9
feedforward gain increase the speed feedforward gain to make the speed
feedforward effective. The position deviation during operation
under a certain speed state becomes smaller according to the value
Speed of the speed feedforward gain as the following formula.
P2-10 Position deviation [reference unit] = reference speed [unit / s] /
feedforward filter
position loop gain [1 / s] × (100－speed feedforward gain [%]) /
100

Relevant function code (torque Feedforward Gain):

Code Function Description
Torque Increase the torque feed-forward gain, because the position
P2-11
feedforward gain deviation during certain acceleration and deceleration could be
close to 0, so under the ideal condition that the external
disturbance torque does not operate, when driving under the
trapezoidal speed model, the position deviation could be close to 0.
Torque In fact, there should be external disturbance torque, so the position
P2-12 deviation couldnot be zero. In addition, like the speed feedforward,
feedforward filter
although the greater the torque feedforward filter constant, the
smaller the operating noise, but the greater the position deviation
of the acceleration change point.

7.4 Vibration Suppression

7.4.1 Suppression of Mechanical Resonance
Resonance may occur at vicinity of the mechanical resonance frequency when the servo gain is
increased, making the gain couldnot be increased further.
Mechanical resonance could be suppressed in the following two methods:
(1) Torque reference filter
By setting the filter time constant so that it suppresses gain near the resonance frequency. The
cutoff frequency of the torque reference filter could be calculated using the following formula. Filter
cutoff frequency (Hz).
fc = 1 / [2π × setting parameter value × 0.001]
(2) Notch:
The notch reduces the gain at certain frequencies to suppress mechanical resonance. After
resonance is suppressed with correct setting of the notch, attempt to increase the gain gradually.
The following figure shows the resonance

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suppression principle of the notch.

Figure 7-3 Resonance suppression principle of the notch

There are 2 sets of notches in the servo drive. Each notch has 3 parameters, which are the
frequency, width level and depth level.

(a)Notch Width Level

The notch width level indicates the ratio of the notch width to the notch center frequency:
−
Notch width level =

Where:
:Notch center frequency, that is, mechanical resonance frequency
− :Notch width, indicating the ratio of -3dB attenuation frequency band with respective
to the notch center frequency
The corresponding relationship is shown in the figure below. Generally keep the default value of 4.

(b)Notch Depth Level

The notch depth level indicates the ratio of input to output at center frequency.

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The input is completely shut with depth level 0 and fully received with depth level 100
at the center frequency. A smaller notch depth level indicates larger notch depth, which
produces stronger resonance suppression and makes the system instable. Pay attention
to this during use. The specific relationship is shown below:

Figure 7-4 Frequency characteristic curve of notch

Relevant function code:

Paramet Propert Effective Uni Defa
Code Range Function
er Name y Time t ult
Set the center frequency
First
of the 1st notch filter.
notch During
P4-5 Immediate 250~5000 When the setting value is Hz 300
frequenc running
5000, the function of the
y
notch filter is disabled.
First
notch During 0: all blocked
P4-6 Immediate 0~100 - 100
depth running 100: all passed
level
First During Immediate 0: 0.5 x bandwidth
notch running 4: 1x bandwidth
P4-7 0~12 - 4
width 8: 2 times the bandwidth
level 12: 4 times the bandwidth
Second During Immediate Set the center frequency
notch running of the second notch filter.
P4-8 250~5000 Hz 500
frequenc When the setting value is
y 5000, the function of the

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notch filter is disabled.

Second During Immediate

notch running 0: all blocked
P4-9 0~100 - 100
depth 100: all passed
level
Second During Immediate 0: 0.5 x the bandwidth
notch running 4: 1x bandwidth
P4-10 0~12 - 4
width 8: 2 times the bandwidth
level 12: 4 times the bandwidth

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8. Communication
The servo drive supports Modbus communication. Users could modify or view parameters and
monitor servo drive status on the host controller configured with the debug tool.

8.1 Modbus communication

8.1.1 Hardware connection
The servo drive has a set of RS485 interface to support modbus communication. CN4 on the front
panel is the communication interface. The signal description is shown in the figure:

Figure 8-1 RS485 connection diagram

The servo drive adopts half-duplex communication method of RS485. The 485 bus must adopt a
hand-in-hand structure rather than a star structure or a bifurcated structure. The star structure or
the bifurcated structure would generate a reflected signal, which affects the 485 communication.
The wiring must be shielded twisted pair, and stay away from strong electricity and not parallel with
the power cord, nor tied together.
It should be noted that in a half-duplex connection, only one servo drive could communicate with
the host controller at a time. If two or more servo drives upload data at the same time, bus
contention would occur. Not only would it cause communication failure, but it may also cause some
components to generate large currents, causing component damage.

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Figure 8-2 RS485 communication network wiring diagram

The terminal of RS485 network should use 120Ω terminal resistance to weaken the signal reflection.
Termination resistors couldnot be used in the middle of network.
No point in the RS485 network could be directly grounded. All equipment in the network must be
well grounded through its own ground terminal. It should be noted that the ground wire couldnot
form a closed loop under any circumstances.
When wiring, consider the drive capability of the computer / PLC and the distance between the
computer / PLC and the servo drive. If the driving capacity is insufficient, a repeater needs to be
added.

8.2 Modbus communication protocol

8.2.1 Modbus data frame format
The servo currently supports the RTU communication format. The typical data frame format is as
follows:
The beginning should address Function code data CRC checksum
have a message interval
of not less than 3.5
characters
1 byte 1 byte N bytes 2 bytes

8.2.2 Function code

The host controller reads/writes servo through the Modbus RTU format (03, 06 function code). The
corresponding modbus function code is explained as follows:
Activity Command
Code

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Read 16-bit function code 0x03

Write16-bit function code 0x06

(1) Read function code:0x03

Request format:
starting starting
Function Read number Read number
address address address CRC checksum
code (high byte) (low byte)
(high byte) (low byte)
1 byte 03 1 byte 1 byte 1 byte 1 byte 2 bytes

Correct response format:

return data Register 1 Register 1
Function
address Byte High byte low byte … CRC checksum
code
number
1 byte 03 1 byte 1 byte 1 byte 1 byte 2 bytes

(2) Write function code:0x06

Request format:
Register Register Data
Function Data
address address address high byte CRC checksum
code low byte
(high byte) (low byte)
1 byte 06 1 byte 1 byte 1 byte 1 byte 2 bytes

Response format:
Register Register Data
Function high byte Data
address address address CRC checksum
code low byte
(high byte) (low byte)
1 byte 06 1 byte 1 byte 1 byte 1 byte 2 bytes
If the setting is successful, the original text is returned

8.2.3 CRC Checksum

The servo adopts 16-bit CRC checksum, the host controller should use the same check rule,
otherwise the CRC check would fail. The servo drive uses 16-bit CRC with low byte before high byte.
The CRC function is as follows:

Uint16 CRC16_Calc(Uint8 *pBuf, Uint16 uLen)

{
Uint16 crc = 0xffff.

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Uint16 i.

while(uLen--)
{
crc ^=(Uint16) *pBuf++.
for(i=0. i<8. i++)
{
if(crc & 0x0001)
{
crc = (crc >> 1) ^ 0xa001.
}
else
{
crc = crc >> 1.
}

}
}

return crc.
}

8.2.4 Error response frame

address function Error code CRC checksum
1 byte Command code+0x80 Error code 2 bytes

When an error occurs, set the function code bit7 issued by the host controller to 1, and return
(such as 0x03 returns 0x83, 0x06 returns 0x86). the error code is described as follows:
Error code Code description
0x0001 illegal command code
0x0002 Illegal data address
0x0003 Illegal data
0x0004 Slave device fault

8.2.5 Communication Example

[03 function code]
Read the value of [U0-31] (bus voltage), the address of the modbus register corresponding to
variable 7711 (0x1E1F)
Request format:

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Starting Starting Read number Read CRC

Function address address low byte CRC high
address (high byte) number
code high byte low byte byte
(low byte)
01 03 1E 1F 00 01 B3 E4

The slave response:

data CRC CRC high
address Function code Byte number data low byte
high byte low byte byte
01 03 02 0C 26 3C 9E
The read value is 0x0C26, representing a voltage of 311.0V.

[06 function code]

[P1-10]The maximum speed threshold is set to 3000 rpm. This variable corresponds to the modbus
address is 266 (0x010A)
Request format:
Register Register Data CRC low
Function Data low byte CRC high
address address (high address (low high byte
code byte byte
byte) byte)
01 06 01 0A 0B B8 AF 76

The slave response:

Register Register Data high CRC
Function Data CRC
address address (high address (low byte low byte
code low byte high byte
byte) byte)
01 06 01 0A 0B B8 AF 76

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8.3 Servo communication parameter setting

Figure 8-3 Modbus communication parameter setting process

(1) Set the station number of servo[P12-1]

When multiple servos are used together, each servo could only have a unique address, otherwise it
would cause communication exception.
0:Broadcast address
1~247:slave address

(2) Set the serial port baud rate[P12-2]

The baud rate set in the servo drive must be the same as that in the host controller.
Otherwise,communication would fail.
(3) Modbus data format[P12-3]
data check format:
 odd
 even
 none
stop bit:1 stop bit and 2 stop bits
The data format set in the servo drive must be the same as that in the host controller.
Otherwise,communication would fail.
(4) Set whether to store Modbus parameter modification to EEPROM [P12-4]

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When the host changes the servo function code through communication, it could choose to store it
in EEPROM in real time, which has the function of saving after power-off.
If the value of the function code only needs to be changed once, and the value would be used
afterwards, then we should enable “write into the EEPROM” function.
If you need to frequently change the value of the function code, it is recommended to disable this
function, otherwise the EEPROM life would be reduced due to frequent erasure of the EEPROM.
After the EEPROM is damaged, the servo would have a non-resettable fault!
Relevant function code:
Effective Default
Code name property range Defination unit
time setting
Servo
During Set the station address
P12-1 station Immediate 0~247 - 1
running of the servo drive.
No.
During 0-2400bps.
running 1-4800bps.
2-9600bps.
P12-2 Baud rate Immediate 0~5 - 2
3-19200bps.
4-38400bps.
5-57600bps
During 0:1stop bit，none
Modbus running 1:1stop bit，odd
P12-3 data Immediate 0~3 - 0
2:1stop bit，even
format
3:2 stop bits，none
Update
function
code
values 0-not write to
written During EEPROM，volatile.
P12-4 Immediate 0~1 - 0
via running 1-write to EEPROM，
communic non-volatile
ation
to
EEPROM

8.4 Modbus communication variable address and description

8.4.1 Variable address
Modbus registers are divided into two categories,
 The first type is the servo function code parameters (address: 0x0001 ~ 0x0D08), this part of
the register is readable and writable (ie. supports 0x03 and 0x06)

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 The second type is the monitoring register of the servo (address: 0x1E01 ~ 0x2010), this part of
the register is only readable (supports 0x03 function).
Servo function code form: PXX-YY
That:
XX: Represents the function code group number,
YY: Represents the offset within the function code group.
During servo communication, the communication address of the function code is a 16-bit address,
which is composed of the function code group number (higher 8 bits) + offset within the group
(lower 8 bits). For example, the modbus address corresponding to P12-1 (servo address) is 0x0C01.
Modbus monitoring register form:Uxx-yy
That:
xx: Represents the monitoring register group number.
yy: Represents the offset within the monitoring quantity group.
During modbus communication, the starting address of the monitoring register is 0x1E01, and the
conversion relationship of the address is similar to the representation of the function code.
For example, the corresponding modbus address of [U0-01] (servo status) is 0x1E01.
In order to facilitate practical use, the manual provides both decimal and hexadecimal address
identification, the table format is as follows:
Modbus address Modbus address
Code category function
(hex) (dec)
P0-1 0x0001 1 Basic setting Control mode
For detailed parameter address, please refer to the Chapter 11.

8.4.2 Value type description

When signed function codes (16-bit and 32-bit) are written, the pre-written data needs to be
converted into hexadecimal. The conversion rule is as below:
 Data is positive or 0: complement = true form
 Data is negative: complement = 0xFFFF – complement of data absolute value +
 0x0001
Example:
16-bit signed positive +100: the true form is 0x0064, and the complement is also 0x0064.
16-bit signed negative -100: the hexadecimal complement is: 0xFFFF – 0x0064 + 0x0001
= FF9C
If it is an unsigned number, the source code is directly converted into a hexadecimal number.
For example decimal 32768 is 0x8000.

8.4.3 Value unit description

Some values have units and decimals, such as 0.1%, 0.1Hz, 0.01ms. When reading and writing, the
corresponding value conversion must be performed. The representation method is as follows:
When the unit is 0.1%: 1 represents 0.1%, 10 represents 1.0%, 1000 represents 100.0%,

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Therefore, writing 1000 means setting as 100.0%. otherwise, if reading value is 1000, it means the
value is 100.0%.
When the unit is 0.01ms: 1 represents 0.01ms, 50 represents 0.5ms, and 10000 represents 100ms.
Therefore, writing 1000 means setting as 10.00ms. otherwise, if reading value is 1000, it means the
value is 10.00ms.
Other unit could be deduced in the same way.

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9. Parameter
Wecon VD1 series Servo drive provides rich monitoring and setting function for the users. The
specific display and setting areas are shown in the following table:

ID Function Block Section

1 Basic setting P0 P0-1- P0-25
2 Control parameter P1 P1-1- P1-25
3 Gain adjustment P2 P2-1- P2-25
4 Self-tuning parameters P3 P3-1- P3-25
5 Vibration inhibitation P4 P4-1- P4-25
6 IO signal P5 P5-1- P5-25
7 DI/DO configuration P6 P6-1- P6-25
8 auxiliary function P10 P10-1- P10-25
9 communication parameter P12 P12-1- P12-25
10 Virtual input terminal P13 P13-1- P13-25
11 Monitoring display U0 U0-1-U0-53
12 Alarm display U1 U1-1-U1-27
13 Device information U2 U2-1-U2-16

Notes:
1) Explanation of parameter names
When the parameter name is [Reserved], it indicates that it is occupied internally. Do not
configure this parameter.
2) Parameter units
When the unit of the parameter is [-], it means that the parameter has no unit.
3) Explanation of control mode
P: Position control mode
S: Speed control mode
T: Torque control mode
A(ALL): Fits for position control mode, speed control mode and torque control mode
4) Effective time of parameter modification
[○]: needs to stop Servo drive to set parameter and takes effect after restart.
[△]: sets when Servo drive is running and takes effect after restart.
[●]: needs to stop Servo drive to set parameter and takes effect right away
[▲]: sets when Servo drive is running and takes effect right away.

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9.1 Basic Setting

Effective Control
Code Function Defulat Range Description Unit
time mode
1: Position control mode
P0-1 Control mode ○ 1 1-3 2: Speed control mode — —
3: Torque control mode
Forward rotation: facing the
motor shaft
Rotation direction 0: Standard setting (CW is
P0-4 ○ 0 0-1 — —
forward rotation)
1: Reverse mode (CCW is
forward rotation)
0: Free stop, motor shaft
remains free.
P0-5 Servo stop method ● 0 0-1 — —
1: Zero speed stop, motor
shaft remains free.
0: Use built-in regenerative
resistor.
1: Use external regenerative
resistor and cool naturally.
Regenerative resistor 2: Use external regenerative —
P0-9 setting ● 0 0-3 —
resistor and forced air
cooling. (Not settable)
3: No regenerative resistor is
used, it's all absorbed by the
capacitor. (Not settable)
External Used to set the external
regenerative resistor ● regenerative resistor
P0-10 50 0-65535 Ω —
resistance resistance of a certain type of
driver.
Power of external Used to set the power of the
P0-11 regenerative resistor ● 100 0-65535 external regenerative resistor W —
of a certain type of driver.
0: direction+pulse(Positive
logic)
P0-12 pulse type selection ○ 0 0-2 1: CW/CCW — P
2: A, B phase quadrature
pulse (4 times frequency)
Pulse frequency Set the maximum pulse
P0-13 ○ 300 1-500 kHz P
frequency KHz
Set the pulse
anti-interference level.
pulse
1: low anti-interference level.
P0-14 anti-interference ○ 2 1-3 — P
(0.1)
level
2: Medium (0.25)
3: high (0.4)

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Set the pulse number of per

rotation
pulse number per
P0-16 revolution ○ 10000 0-10000 Only when P0-16=0 then Pul P
P0-17,P0-18,P0-19,P0-20
would take effect
Set the numerator of the first
Electronic gear 1
P0-17 ▲ 1 1-32767 group electronic gear ratio. — P
numerator
It is valid when P0-16=0
Set the denominator of the
Electronic gear 1 first group electronic gear
P0-18 denominator ▲ 1 1-32767 ratio. — P
It is valid when P0-16=0
Set the numerator of the first
Electronic gear 2
P0-19 ▲ 1 1-32767 group electronic gear ratio. — P
numerator
It is valid when P0-16=0
Set the denominator of the
Electronic gear 2 first group electronic gear
P0-20 denominator ▲ 1 1-32767 ratio. — P
It is valid when P0-16=0
Quadrature pulse output.
0: When the motor rotation
frequency-dividing direction is CW, A advances B
P0-21 output direction ○ 0 0-1 — P
1: When the motor rotation
direction is CCW, B advances
A
Quadrature output. Set the
Encoder ppr number of output pulses of
P0-22 ○ 2500 10-10000 Pul P
phase A and phase B for each
rotation of the motor
Z pulse output 0-Z Active when pulse is high
P0-23 ○ 0 0-1 — P
OZ polarity 1-Z Active when pulse is low
0: Ignore position deviation
Position deviation fault. Other values: Position
P0-25 limitation ○ 60000 0-65535 deviation exceeds this setting Pul P
range and report position [Er.
36] Excessive deviation fault

9.2 Control Parameter

Effective Control
Code Function Defulat Range Description Unit
time mode
0: Internal speed command
P1-1 Speed command
● 0 0-1 (set in P1-3). - S
source
1: AI_1 analog input.
P1-2 Internal speed -3000-300
▲ 100 Internal speed command rpm S
command 0
P1-3 Acc. time ▲ 50 0-65535 Acceleration time from 0 to ms S

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1000rpm in speed command

mode
Deceleration time from 1000
P1-4 Dec. time ▲ 50 0-65535 to 0 rpm in speed command ms S
mode
Torque command 0: Internal torque command.
P1-7 ● 0 0-1 - T
source 1: AI_1 analog input.
Torque command
P1-8 -3000-300
keyboard set ▲ 0 -300.0%-300.0% 0.1% T
0
value
Source of speed 0: Internal forward and
P1-9 Limit in torque ● 0 0-1 reverse limit - T
mode 1: AI_2 analog input
Set the maximum speed limit
P1-10 Max speed value. If it exceeds this value,
▲ 3600 0-5000 rpm A
threshold an overspeed fault is
reported.
Set the alarm speed
P1-11 Warning speed threshold. If this value is
▲ 3300 0-4500 rpm A
threshold exceeded, an overspeed
warning would be reported.
P1-12 Forward speed
▲ 3000 0-3000 Set forward speed limit rpm A
threshold
P1-13 Reverse speed
▲ 3000 0-3000 Set reverse speed limit rpm A
threshold
Torque limit 0: Internal value
P1-14 ● 0 0-1 - A
source 1: AI_2 analog input
When [P1-14] selects
internal torque limit, this
P1-15 Forward rotation
▲ 3000 0-3000 function code value is used 0.1% A
torque limit
as the forward torque limit
value
When [P1-14] selects
internal torque limit, this
P1-16 Reverse torque
▲ 3000 0-3000 function code value is used 0.1% A
limit
as the reverse torque limit
value
When the torque is limited
by the setting value of [P-15]
or [P-16] and exceeds this set
time, the driver reports a
"torque saturation
P1-19 Torque saturation abnormal" fault.
▲ 1000 0-65535 ms A
timeout
Note: When the value of this
function code is set to 0, no
torque saturation timeout
fault detection is performed,
and this fault is ignored.
P1-21 Zero speed clamp Set the zero speed clamp
▲ 0 0-3 rpm S
function selection function. In speed mode:

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0: Force speed to 0.
1: Force the speed to 0, and
keep the position locked
when the actual speed is less
than [P1.22].
2: When the speed reference
is less than [P1-22], force the
speed to 0 and keep the
position locked.
3: Invalid, ignore the zero
speed clamp input.
Set the speed threshold of
P1-22 Speed threshold
▲ 20 0-1000 the zero speed clamp rpm S
for zero
function

9.3 Gain Parameter

Effective
Code Function Default Range Description Unit
time
1st position loop Set the position loop gain to determine the
P2-1 ▲ 400 0-6200 0.1Hz
gain responsiveness of the position control system.
Set the speed loop gain to determine the response
P2-2 1st speed loop gain ▲ 65 0-35000 0.1Hz
of the speed loop.
1st speed loop
100-655 Set the speed loop integral constant. The smaller
P2-3 integration time ▲ 1000 0.1ms
35 the set value, the stronger the integral effect.
constant
2nd position loop Set the position loop gain to determine the
P2-4 ▲ 35 0-6200 0.1Hz
gain responsiveness of the position control system.
Set the speed loop gain to determine the response
P2-5 2nd speed loop gain ▲ 65 0-35000 0.1Hz
of the speed loop.
2nd speed loop
Set the speed loop integral constant. The smaller
P2-6 integration time ▲ 1000 0-65535 0.1ms
the set value, the stronger the integral effect.
constant
Second gain 0: DI terminal. 1: Speed command change rate is
P2-7 ▲ 0 0-3 -
switching mode too large. 2: Position deviation is large. 3: Reserved
Speed feedforward
P2-9 ▲ 0 0-1000 0.0%-100.0% 0.1%
gain
Speed feedforward Set the time constant of the primary delay filter 0.01m
P2-10 ▲ 50 0-10000
filter related to the speed feedforward input s
Torque feedforward
P2-11 ▲ 0 0-2000 0.0%-200.0% 0.1%
gain
Torque feedforward Set the time constant of the primary delay filter 0.01m
P2-12 ▲ 50 0-10000
filter associated with the torque feedforward input. s

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9.4 Auto-tuning Parameter

Effective
Code Function Defulat Range Description Unit
time
P3-1 Load inertia ratio ▲ 500 0-10000 Set load inertia ratio, 0.00 - 100.00 times 0.01
rigidity selection
P3-2 ▲ 12 0-31 Selection of rigidity -
for load level
0: Rigidity level auto-tuning mode.
according to the rigidity level setting,
position loop gain, speed loop gain,
speed loop integration time constant,
and torque filter parameter settings are
automatically
Auto-tuning 1: Manual setting. users need to
P3-3 ▲ 0 0-2 -
mode selection manually set the position loop gain,
speed loop gain, speed loop integration
time constant, and torque filter
parameter settings. adjusted.
2: Online automatic parameter
auto-tuning mode (not implemented
yet).
0:slow change (not implemented yet)
Online inertia
1: General changes (not implemented
P3-4 identification ▲ 0 0-2 -
yet)
sensitivity
2: Fast change (not implemented yet)
Number of inertia
Offline load inertia identification revolu
P3-5 identification ● 2 1-2
process, motor rotation number setting tion
cycles
Set the maximum allowed motor speed
command in offline inertia identification
Maximum speed mode.
P3-6 of inertia ● 1000 300-2000 The greater the speed of inertia rpm
identification identification, the more accurate the
identification result, usually keep the
default value.
0: forward and backward rotation
rotation direction
P3-7 ● 0 0-2 1: forward-forward one-way rotation -
parameter
2: backward-backward one-way rotation
Parameter Time interval between two consecutive
300-1000
P3-8 identification ● 1000 speed commands during offline inertia ms
0
waiting time recognition

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9.5 Vibration Inhibition

Effective Control
Code Function Defulat Range Description Unit
time mode
Pulse command 0: first-order low-pass filtering
P4-1 ● 0 0-1 - P
filtering mode 1: average filter
Position command
For pulse command input
P4-2 first-order ● 20 0-1000 ms P
filtering
low-pass filter
Position command
For pulse command input
P4-3 average filtering ● 20 0-128 ms P
filtering
time constant
When [Auto-tuning mode] is set
Torque filter time 10-250
P4-4 ▲ 50 as 1, or 2, this parameter is set 0.01
constant 0
automatically
Set the center frequency of the
1st notch filter.
First notch 250-50
P4-5 ▲ 300 When the setting value is 5000, Hz
frequency 00
the function of the notch filter
is disabled.
First notch depth 0: all blocked
P4-6 ▲ 100 0-100 -
level 100: all passed
0: 0.5 x bandwidth
First notch width 4: 1x bandwidth
P4-7 ▲ 4 0-12 -
level 8: 2 times the bandwidth
12: 4 times the bandwidth
Set the center frequency of the
second notch filter. When the
Second notch 250-50
P4-8 ▲ 500 setting value is 5000, the Hz
frequency 00
function of the notch filter is
disabled.
Second notch 0: all blocked
P4-9 ▲ 100 0-100 -
depth level 100: all passed
0: 0.5 x the bandwidth
Second notch 4: 1x bandwidth
P4-10 ▲ 4 0-12 -
width level 8: 2 times the bandwidth
12: 4 times the bandwidth

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9.6 Signal Input/Output Parameter

Effective Defula Control

Code Function Range Description Unit
time t mode
-5000- Set AI_1 channel analog offset
P5-1 AI_1 input bias ▲ 0 mV
5000 value
AI_1 Input filter 0-6000 AI_1 channel input first-order 0.01
P5-2 ▲ 200
constant 0 low-pass filtering time constant ms
Set AI_1 channel analog dead
P5-3 AI_1 dead zone ▲ 20 0-1000 mV
zone value
-500-5 Automatic calibration zero drift
P5-4 AI_1 zero drift ▲ 0 mV
00 inside the driver.
-5000- Set AI_2 channel analog offset
P5-5 AI_2 input bias ▲ 0 mV
5000 value
AI_2 Input filter 0-6000 AI_2 channel input first-order 0.01
P5-6 ▲ 200
constant 0 low-pass filtering time constant ms
Set AI_1 channel analog dead
P5-7 AI_2 dead zone ▲ 20 0-500 mV
zone value
-500-5 Automatic calibration zero drift
P5-8 AI_2 zero drift ▲ 0 mV
00 value inside the driver
Analog 10V for 1000-4 Set the speed value
P5-9 ● 3000 rpm
speed value 500 corresponding to analog 10V
Analog 10V for Set the torque value 0.1
P5-10 ● 1000 0-3000
torque value corresponding to analog 10V %
Output signal judging conditions
for positioning completed and
positioning near
0: The output is valid when the
absolute value of the position
deviation is less than the
positioning completion threshold
/ location near threshold.
1: The absolute value of the
position deviation is less than the
positioning completion threshold
Positioning / positioning near threshold, and
completed, the input position command is 0
P5-11 ▲ 0 0-3 - P
positioning near then the output is valid
setting 2: The absolute value of the
position deviation is smaller than
the positioning completion
threshold / positioning approach
threshold, and the input position
command filter value is 0 then
the output is valid
3: The absolute value of the
position deviation is less than the
positioning completion threshold
/ positioning approach threshold,
the input position command filter

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value is 0, and the positioning

detection time window is
continued then the output is valid
Positioning
1-6553
P5-12 completed ▲ 800 Positioning completion threshold Pul P
5
threshold
Positioning
1-6553
P5-13 approach ▲ 5000 Positioning near threshold Pul P
5
threshold
Positioning
0-2000 Set the positioning completion
P5-14 detection time ▲ 10 ms P
0 detection time window
window
Positioning signal 0-2000 Set the hold time of positioning
P5-15 ▲ 100 ms P
hold time 0 completion output
Rotation detection Set motor rotation signal
P5-16 ▲ 20 0-1000 rpm S
speed threshold judgment threshold
Speed consistent Set the speed consistent signal
P5-17 ▲ 10 0-100 rpm S
signal threshold threshold
Speed approaching 10-600 Set speed approach signal
P5-18 ▲ 100 rpm S
signal threshold 0 threshold
Zero speed output Set the zero-speed output signal
P5-19 ▲ 10 0-6000 rpm S
signal threshold judgment threshold
The torque reached threshold
needs to be used in conjunction
with [torque reached hysteresis
value]:
When the actual torque reaches
[torque reached threshold] +
Torque reached [torque reaches hysteresis], the
P5-20 ▲ 100 0-300 % T
threshold torque reached DO becomes
effective.
When the actual torque
decreases below [Torque reached
threshold] + [Torque reached
hysteresis], the torque reached
DO becomes invalid.
[Torque reached hysteresis value]
Torque reached
P5-21 ▲ 10 10-20 Need to be used together with % T
hysteresis
[Torque reached threshold]

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9.7 DI/DO Configuration

Effective
Code Function Default Range Description Unit
time
High-speed DI
P6-01 port filtering ○ 50 0-10000 Filter time for high-speed ports DI7 and DI8 1us
time
1: SON, Servo ON
2: A-CLR, Fault and warning clear
3: POT, Forward limit switch
4: NOT, Reverse limit switch
5: ZCLAMP, Zero speed clamp
6: CL, Clear the position deviation
7: C-SIGN, Instruction negation
8: E-STOP, Emergency stop
DI_1 function 9: GEAR-SEL, Electronic gear switching 1
P6-02 △ 1 0-16 10: GAIN-SEL, Gain switch -
selection
11: INH, Position reference inhibited
12: VSSEL, Damer control switch
13: INSPD1, Internal speed command
selection 1
14: INSPD2, Internal speed command
selection 2
15: INSPD3, Internal speed command
selection 3
16: J-SEL, Inertia ratio switch
DI port input logic validity function
selection.
DI_1 logic 0: Normal open input. Active when off -
P6-03 △ 0 0-1
selection (switch closed).
1: Normal closed input. Active when on
(switch open).
DI_1 input
0: Hardware DI1
P6-04 source ▲ 0 0-1 -
1: VDI1
selection
1: SON, Servo ON
2: A-CLR, Fault and warning clear
3: POT, Forward limit switch
4: NOT, Reverse limit switch
5: ZCLAMP, Zero speed clamp
DI_2 function 6: CL, Clear the position deviation
P6-05 △ 2 0-16 -
selection 7: C-SIGN, Instruction negation
8: E-STOP, Emergency stop
9: GEAR-SEL, Electronic gear switching 1
10: GAIN-SEL, Gain switch
11: INH, Position reference inhibited
12: VSSEL, Damer control switch

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13: INSPD1, Internal speed command

selection 1
14: INSPD2, Internal speed command
selection 2
15: INSPD3, Internal speed command
selection 3
16: J-SEL, Inertia ratio switch
DI port input logic validity function
selection.
DI_2 logic 0: Normal open input. Active when off -
P6-06 △ 0 0-1
selection (switch closed).
1: Normal closed input. Active when on
(switch open).
DI_2 input 0: Hardware DI2
P6-07 source ▲ 0 0-1 -
selection 1: VDI2
1: SON, Servo ON
2: A-CLR, Fault and warning clear
3: POT, Forward limit switch
4: NOT, Reverse limit switch
5: ZCLAMP, Zero speed clamp
6: CL, Clear the position deviation
7: C-SIGN, Instruction negation
8: E-STOP, Emergency stop
9: GEAR-SEL, Electronic gear switching 1
DI_3 function -
P6-08 △ 3 0-16 10: GAIN-SEL, Gain switch
selection
11: INH, Position reference inhibited
12: VSSEL, Damer control switch
13: INSPD1, Internal speed command
selection 1
14: INSPD2, Internal speed command
selection 2
15: INSPD3, Internal speed command
selection 3
16: J-SEL, Inertia ratio switch
DI port input logic validity function
selection.
DI_3 logic 0: Normal open input. Active when off
P6-09 △ 0 0-1 -
selection (switch closed).
1: Normal closed input. Active when on
(switch open).
DI_3 input 0: Hardware DI3
P6-10 source ▲ 0 0-1 -
selection 1: VDI3

1: SON, Servo ON
DI_4 function 2: A-CLR, Fault and warning clear
P6-11 △ 4 0-16 -
selection 3: POT, Forward limit switch
4: NOT, Reverse limit switch

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5: ZCLAMP, Zero speed clamp

6: CL, Clear the position deviation
7: C-SIGN, Instruction negation
8: E-STOP, Emergency stop
9: GEAR-SEL, Electronic gear switching 1
10: GAIN-SEL, Gain switch
11: INH, Position reference inhibited
12: VSSEL, Damer control switch
13: INSPD1, Internal speed command
selection 1
14: INSPD2, Internal speed command
selection 2
15: INSPD3, Internal speed command
selection 3
16: J-SEL, Inertia ratio switch
DI port input logic validity function
selection.
DI_4 logic 0: Normal open input. Active when off -
P6-12 △ 0 0-1
selection (switch closed).
1: Normal closed input. Active when on
(switch open).
DI_4 input
0: Hardware DI4
P6-13 source ▲ 0 0-1 -
1: VDI4
selection
1: SON, Servo ON
2: A-CLR, Fault and warning clear
3: POT, Forward limit switch
4: NOT, Reverse limit switch
5: ZCLAMP, Zero speed clamp
6: CL, Clear the position deviation
7: C-SIGN, Instruction negation
8: E-STOP, Emergency stop
DI_5 function 9: GEAR-SEL, Electronic gear switching 1
P6-14 △ 7 0-16 10: GAIN-SEL, Gain switch -
selection
11: INH, Position reference inhibited
12: VSSEL, Damer control switch
13:INSPD1, Internal speed command
selection 1
14:INSPD2, Internal speed command
selection 2
15:INSPD3, Internal speed command
selection 3
16: J-SEL, Inertia ratio switch
DI port input logic validity function
DI_5 logic selection.
P6-15 △ 0 0-1 -
selection 0:Normal open input. Active when off
(switch closed).

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1: Normal closed input. Active when on

(switch open).
DI_5 input 0: Hardware DI5
P6-16 source ▲ 0 0-1 -
selection 1: VDI5
1: SON, Servo ON
2: A-CLR, Fault and warning clear
3: POT, Forward limit switch
4: NOT, Reverse limit switch
5: ZCLAMP, Zero speed clamp
6: CL, Clear the position deviation
7: C-SIGN, Instruction negation
8: E-STOP, Emergency stop
9: GEAR-SEL, Electronic gear switching 1
DI_6 function -
P6-17 △ 11 0-16 10: GAIN-SEL, Gain switch
selection
11: INH, Position reference inhibited
12: VSSEL, Damer control switch
13:INSPD1, Internal speed command
selection 1
14:INSPD2, Internal speed command
selection 2
15:INSPD3, Internal speed command
selection 3
16: J-SEL, Inertia ratio switch
DI port input logic validity function
selection.
DI_6 logic 0: Normal open input. Active when off
P6-18 △ 0 0-1 -
selection (switch closed).
1: Normal closed input. Active when on
(switch open).
DI_6 input 0: Hardware DI6
P6-19 source ▲ 0 0-1 -
selection 1: VDI6
1: SON, Servo ON
2: A-CLR, Fault and warning clear
3: POT, Forward limit switch
4: NOT, Reverse limit switch
5: ZCLAMP, Zero speed clamp
6: CL, Clear the position deviation
DI_7 function 7: C-SIGN, Instruction negation -
P6-20 △ - 0-16
selection 8: E-STOP, Emergency stop
9: GEAR-SEL, Electronic gear switching 1
10: GAIN-SEL, Gain switch
11: INH, Position reference inhibited
12: VSSEL, Damer control switch
13: INSPD1, Internal speed command
selection 1

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14: INSPD2, Internal speed command

selection 2
15: INSPD3, Internal speed command
selection 3
16: J-SEL, Inertia ratio switch
DI port input logic validity function
selection.
DI_7 logic 0: Normal open input. Active when off
P6-21 △ 0 0-1 -
selection (switch closed).
1: Normal closed input. Active when on
(switch open).
DI_7 input 0: Hardware DI7
P6-22 source ▲ 0 0-1 -
selection 1: VDI7

1: SON, Servo ON
2: A-CLR, Fault and warning clear
3: POT, Forward limit switch
4: NOT, Reverse limit switch
5: ZCLAMP, Zero speed clamp
6: CL, Clear the position deviation
7: C-SIGN, Instruction negation
8: E-STOP, Emergency stop
DI_8 function 9: GEAR-SEL, Electronic gear switching 1
P6-23 △ - 0-16 10: GAIN-SEL, Gain switch -
selection
11: INH, Position reference inhibited
12: VSSEL, Damer control switch
13: INSPD1, Internal speed command
selection 1
14: INSPD2, Internal speed command
selection 2
15: INSPD3, Internal speed command
selection 3
16: J-SEL, Inertia ratio switch
DI port input logic validity function
selection.
DI_8 logic 0: Normal open input. Active when off -
P6-24 △ 0 0-1
selection (switch closed).
1: Normal closed input. Active when on
(switch open).
DI_8 input
0: Hardware DI8
P6-25 source ▲ 0 0-1 -
1: VDI8
selection

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129-RDY Servo Ready

130-ALM Alarm
131-WARN Warning
132-TGON Motor rotation output
133-ZSP Zero speed signal
134-P-COIN Positioning completed
DO_1 function 135-P-NEAR Positioning near
P6-26 △ 132 128~142 -
selection 136-V-COIN Speed consistent
137-V-NEAR Speed near
138-T-COIN Torque reached
139-T-LIMIT Torque limit
140-V-LIMIT Speed limit
141-BRK-OFF Solenoid brake
142-SRV-ST Enable Servo status output
Output logic function selection. ★
1. Set to 0:
When the signal is valid, the output
transistor is on.
When the signal is invalid, the output
DO_1 logic -
P6-27 △ 0 0~1 transistor is off.
selection
2. Set to 1:
When the signal is valid, the output
transistor is off.
When the signal is invalid, the output
transistor is on.
129-RDY Servo Ready
130-ALM Alarm
131-WARN Warning
132-TGON Motor rotation output
133-ZSP Zero speed signal
134-P-COIN Positioning completed
DO_2 function 135-P-NEAR Positioning near
P6-28 △ 130 128~142 -
selection 136-V-COIN Speed consistent
137-V-NEAR Speed near
138-T-COIN Torque reached
139-T-LIMIT Torque limit
140-V-LIMIT Speed limit
141-BRK-OFF Solenoid brake
142-SRV-ST Enable Servo status output
Output logic function selection. ★
1. Set to 0:
When the signal is valid, the output
DO_2 logic -
P6-29 △ 0 0~1 transistor is on.
selection
When the signal is invalid, the output
transistor is off.
2. Set to 1:

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When the signal is valid, the output

transistor is off.
When the signal is invalid, the output
transistor is on.
129-RDY Servo Ready
130-ALM Alarm
131-WARN Warning
132-TGON Motor rotation output
133-ZSP Zero speed signal
134-P-COIN Positioning completed
DO_3 function 135-P-NEAR Positioning near
P6-30 △ 129 128~142 -
selection 136-V-COIN Speed consistent
137-V-NEAR Speed near
138-T-COIN Torque reached
139-T-LIMIT Torque limit
140-V-LIMIT Speed limit
141-BRK-OFF Solenoid brake
142-SRV-ST Enable Servo status output
Output logic function selection. ★
1. Set to 0:
When the signal is valid, the output
transistor is on.
When the signal is invalid, the output
DO_3 logic -
P6-31 △ 0 0~1 transistor is off.
selection
2. Set to 1:
When the signal is valid, the output
transistor is off.
When the signal is invalid, the output
transistor is on.
129-RDY Servo Ready
130-ALM Alarm
131-WARN Warning
132-TGON Motor rotation output
133-ZSP Zero speed signal
134-P-COIN Positioning completed
DO_4 function 135-P-NEAR Positioning near
P6-32 △ 134 128~142 -
selection 136-V-COIN Speed consistent
137-V-NEAR Speed near
138-T-COIN Torque reached
139-T-LIMIT Torque limit
140-V-LIMIT Speed limit
141-BRK-OFF Solenoid brake
142-SRV-ST Enable Servo status output
Output logic function selection. ★
DO_4 logic
P6-33 △ 0 0~1 1. Set to 0: -
selection
When the signal is valid, the output

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transistor is on.
When the signal is invalid, the output
transistor is off.
2. Set to 1:
When the signal is valid, the output
transistor is off.
When the signal is invalid, the output
transistor is on.
★: Explanation of output logic selection (take P6-27 as an example)
1) When P6-27 is set to 0
 If the function of P6-26 is selected as [fault signal], it means when DO-1 appears a fault
signal, the output transistor is turned on. when DO-1 does not appear a fault signal, the
output transistor is turned off.
 If the function selection of P6-26 is [Positioning completed], it means that: when the
positioning of DO-1 is completed, the output transistor is turned on. when the positioning
of DO-1 is not completed, the output transistor is turned off.
Similarly:
2) When P6-27 is set to 1
 If the function of P6-26 is selected as [fault signal], it means when DO-1 appears a fault
signal, the output transistor is turned off. when DO-1 does not appear a fault signal, the
output transistor is turned on.
 If the function selection of P6-26 is [Positioning completed], it means that:when the
positioning of DO-1 is completed, the output transistor is turned off. when the positioning
of DO-1 is not completed, the output transistor is turned on.

9.8 Auxiliary Function Parameter

Effective
Code Function Default Range Description Unit
time
P10-1 JOG speed ▲ 100 0-3000 JOG speed rpm
Restore factory
P10-2 ● 0 0-1 Write 1 to restore setting -
setting
According to the heating condition of the
motor, modifying this value could make the
Motor overload overload protection time float up and down
P10-4 protection time ▲ 100 50-300 from the reference value, 50 corresponds to %
coefficient 50%, that is, the time is reduced by half.
300 corresponds to 300%, that is, the time
is extended to 3 times.

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9.9 Communication Parameter

Effective
Code Function Default Range Description
time
Servo RS485 communication station number
P12-1 RS485 station NO. ▲ 1 1-247
and address
0: 2400bps. 1: 4800bps.
P12-2 Baud rate ▲ 0 0-5 2: 9600bps. 3: 19200bps.
4: 38400bps. 5: 57600bps
0: 1 STOP bit, No check
Serial port data 1: 1 stop bit, odd check
P12-3 ▲ 0 0-3
format 2: 1 stop bit, even check
3: 2 stop bit, no check
Write modbus 0: Not write to EEPROM, volatile.
P12-4 communication ▲ 0 0-1
data to EEPROM 1: write to EEPROM, non-volatile.

9.10 VDI Parameter

Code Function Effective time Default Range Description

Virtual VDI_1 input VDI1 input level:
P13-1 ▲ 0 0-1
value 0: low level. 1: high level.
Virtual VDI_2 input VDI2 input level:
P13-2 ▲ 0 0-1
value 0: low level. 1: high level.
Virtual VDI_3 input VDI3 input level:
P13-3 ▲ 0 0-1
value 0: low level. 1: high level.

Virtual VDI_4 input VDI4 input level:

P13-4 ▲ 0 0-1
value 0: low level. 1: high level.

Virtual VDI_5 input VDI5 input level:

P13-5 ▲ 0 0-1
value 0: low level. 1: high level.
Virtual VDI_6 input VDI6 input level:
P13-6 ▲ 0 0-1
value 0: low level. 1: high level.
Virtual VDI_7 input VDI7 input level:
P13-7 ▲ 0 0-1
value 0: low level. 1: high level.
Virtual VDI_8 input VDI8 input level:
P13-8 ▲ 0 0-1
value 0: low level. 1: high level.

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6.11 Monitoring Parameter

Code Type Function Unit Data format

U0-01 General Servo state - int16_t
U0-02 General Servo motor speed rpm int16_t
U0-03 General Enter speed command rpm int16_t
U0-04 General Speed corresponding to input position reference rpm int16_t
U0-05 General Pulse deviation Pul int32_t
U0-07 General Pulse deviation *10000 Pul int32_t
U0-09 General input pulse number Pul int32_t
U0-11 General input pulse number *10000 Pul int32_t
U0-13 General Encoder accumulative position Pul int32_t
U0-15 General Encoder accumulative position *10000 Pul int32_t
U0-17 General DI input signal state - uint32_t
U0-19 General DO output signal state - uint32_t
U0-21 General AI1 input voltage value V int16_t
U0-22 General AI2 input voltage value V int16_t
U0-23 General Vibration frequency Hz uint16_t
U0-24 General Vibration amplitude rpm uint16_t
U0-25 General Forward torque limitation % int16_t
U0-26 General Backward torque limitation % int16_t
U0-27 General Forward speed limitation rpm int16_t
U0-28 General Backward speed limitation rpm int16_t
U0-29 General Mechanical angle ° int16_t
U0-30 General Electric angle ° int16_t
U0-31 General Bus voltage V uint16_t
U0-32 General Module temperature ℃ int16_t
U0-33 General Instantaneous output power W int32_t
U0-35 General Total power-on time: hour h uint32_t
U0-37 General Total power-on time:min min uint16_t
U0-38 General Total power-on time:sec s uint16_t
U0-39 General Output load percentage % uint16_t
U0-40 General Power-on time: hour h uint32_t
U0-42 General Power-on time: min min uint16_t
U0-43 General Power-on time: sec s uint16_t
U0-44 General Instantaneous braking resistance power W uint32_t
U0-46 General Average braking resistance power W uint32_t
U0-48 Device Power-on times times uint32_t
U0-50 Device Motor cumulative turns (x1) Revolution uint16_t
U0-51 Device Motor cumulative turns (x10e4) Revolution uint16_t
U0-52 Device Motor cumulative turns (x10e8) Revolution uint16_t

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U0-53 Device Motor model code - uint16_t

U1-01 Alarm Current fault code - uint16_t
U1-02 Alarm Current alarm code - uint16_t
U1-03 Alarm phase U current upon displayed fault A int16_t
U1-04 Alarm phase V current upon displayed fault A int16_t
U1-05 Alarm Bus voltage upon displayed fault V uint16_t
U1-06 Alarm IGBT temperature upon displayed fault ℃ int16_t
U1-07 Alarm Torque component when fault occured % int16_t
U1-08 Alarm Excitation component when fault occurred % int16_t
U1-09 Alarm Position deviation when fault occurred Pul int32_t
U1-11 Alarm Speed value when fault occurred rpm int16_t
U1-12 Alarm the time when fault occurred s uint32_t
U1-14 Alarm Number of faults - uint16_t
U1-15 Alarm Number of warnings - uint16_t
U1-16 Alarm Total number of historical faults - uint16_t
U1-17 Alarm Total number of historical alarm - uint16_t
U1-18 Alarm Last 2nd fault code - uint16_t
U1-19 Alarm Last 3rd fault code - uint16_t
U1-20 Alarm Last 4th fault code - uint16_t
U1-21 Alarm Last 5th fault code - uint16_t
U1-22 Alarm Last 6th fault code - uint16_t
U1-23 Alarm Last 2nd alarm code - uint16_t
U1-24 Alarm Last 3rd alarm code - uint16_t
U1-25 Alarm Last 4th alarm code - uint16_t
U1-26 Alarm Last 5th alarm code - uint16_t
U1-27 Alarm Last 6th alarm code - uint16_t
U2-01 Device Product series - uint16_t
U2-02 Device model - uint16_t
U2-03 Device Model - uint16_t
U2-04 Device Firmware version - uint16_t
U2-05 Device Hardware version - uint16_t
U2-06 Device date of manufacture:year Year uint16_t
U2-07 Device date of manufacture:month month uint16_t
U2-08 Device date of manufacture:day Day uint16_t
U2-09 Device Device serial number 1 - uint16_t
U2-10 Device Device serial number 2 - uint16_t
U2-11 Device Device serial number 3 - uint16_t
U2-12 Device Device serial number 4 - uint16_t
U2-13 Device Device serial number 5 - uint16_t
U2-14 Device Device serial number 6 - uint16_t
U2-15 Device Device serial number 7 - uint16_t
U2-16 Device Device serial number 8 - uint16_t

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10. Troubleshooting

10.1 Alarm and Fault during Startup

10.1.1 Position Control Mode

During startup Fault Reason Solution

L1C and L2C
Re-wiring: connect L1C / L2C cable with the
are not well
The LED display socket.
connected
or green
Connect control indicator is off The control
power L1C/L2C (bus power voltage Measure AC voltage between L1C and L2C
voltage
and main power indicator) is abnormal.
L1/ L2 and L3. The Servo Contact an agent or Wecon customer
drive is faulty service.
Refer to 7.2 Faults and Alarms information, find the cause and
LED display Er.xx
troubleshoot.
The S-ON
Check whether the Servo enable signal is set
signal is
Shaft of Servo and the terminal logic is valid.
invalid.
Motor is in free
Set the S-ON running status. Selection of
signal to ON. control mode Check P0-1 value
is incorrect.
Refer to 7.2 Faults and Alarms information, find the cause and
LED display Er.xx
troubleshoot.
Position reference is not entered:
Input Whether DI_3 is set as forward drive
Input position Servo Motor reference prohibition or DI_4 is set as reverse drive
reference does not rotate. pulse counter prohibition.
(U0-09) is 0. Check if the DI command pulse inhibit
function set by accident.
Motor speed is The gain is set
Adjust the gain
Servo motor not steady. improperly.
jitters at low Motor shaft The load
speed Perform inertia auto-tuning and then
vibrates left and inertia ratio is
perform automatic gain tuning.
right. too large.

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The pulse received(U0-09) is not consistent

Unsatisfactory with the actual position machine.
Servo system Positioning position Whether the equipment is vibrating, adjust
runs normally. inaccurate deviation by gain.
generated. Check the coupling at the motor shaft
locked well.

10.1.2 Speed Control Mode

During Startup Fault Cause Solution

L1C and L2C are not Re-wiring: connect L1C / L2C
The LED display or well connected cable with the socket.
green indicator is The control power Measure AC voltage
Connect control power off (bus voltage voltage is abnormal. between L1C and L2C
L1C/L2C and main indicator)
power L1/ L2 and L3. The Servo drive is Contact an agent or Wecon
faulty customer service.
Refer to 7.2 Faults and Alarms information, find the
LED display Er.xx
cause and troubleshoot.
Check whether the Servo
The S-ON signal is
Shaft of Servo enable signal is set and the
invalid.
Motor is in free terminal logic is valid.
Set the S-ON signal to running status.
Selection of control
ON. Check P0-1 value
mode is incorrect.
Refer to 7.2 Faults and Alarms information, find the
LED display Er.xx
cause and troubleshoot.
The analog interface wiring
is incorrect. Refer to Chapter
4 for correct wiring. No
speed reference:
1) Whether DI_3 is set as
forward drive
prohibition or DI_4 is set
as reverse drive
Servo motor does prohibition.
not rotate or the Speed reference
Input speed reference 2) Whether the reference
speed is not as (U0-03) is 0.
pulse inhibit input
expected
function of DI is used.
3) Check if the P1-1 speed
reference source setting
is correct.
4) When using the internal
speed reference, check
if P1-2 internal speed
command is 0.

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Motor speed is The load inertia ratio

Adjust the gain
not steady. is too large.
Servo motor jitters at perform inertia auto-tuning
low speed Motor shaft
The load inertia ratio and then perform automatic
vibrates left and
is too large. gain tuning
right.

10.1.3 Torque Control Mode

During Startup Fault Cause Solution

L1C and L2C are not Re-wiring: connect L1C / L2C
The LED display or well connected cable with the socket.
green indicator is The control power Measure AC voltage
Connect control power off (bus voltage voltage is abnormal. between L1C and L2C
L1C/L2C and main indicator)
power L1/ L2 and L3. The Servo drive is Contact an agent or Wecon
faulty customer service.
Refer to 7.2 Faults and Alarms information, find the
LED display Er.xx
cause and troubleshoot.
Check whether the Servo
The S-ON signal is
Shaft of Servo enable signal is set and the
invalid.
Motor is in free terminal logic is valid.
Set the S-ON signal to running status.
Selection of control
ON. Check P0-1 value
mode is incorrect.
Refer to 7.2 Faults and Alarms information, find the
LED display Er.xx
cause and troubleshoot.
The analog interface wiring
is incorrect. Refer to Chapter
4 for correct wiring. No
speed reference:
1) Whether DI_3 is set as
forward drive
prohibition or DI_4 is set
as reverse drive
Servo motor does prohibition.
not rotate or the Internal torque
Input torque reference 2) Whether the reference
speed is not as reference (U0-03) is 0.
pulse inhibit input
expected
function of DI is used.
3) Check if the P1-1 speed
reference source setting
is correct.
4) When using the internal
speed reference, check
if P1-2 internal speed
command is 0.

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Motor speed is The load inertia ratio

Adjust the gain
not steady. is too large.
Servo motor jitters at Perform inertia auto-tuning
low speed Motor shaft
The load inertia ratio and then perform automatic
vibrates left and
is too large. gain tuning
right.

10.2 Fault and Warning Code during Running

Type Name Description Code Troubleshooting

The hardware interface couldnot read and
Parameter is EEPROM couldnot read write parameters. Please contact the
Type 1 Er.01
damaged and write manufacturer to check whether the hardware
is damaged.
Internal parameters
stored version, total 1. If the parameter storage is abnormal due to
number, range, etc. the program update, please update the
The possible reasons are: parameters by restoring the factory default
1. The driver has been parameters and power on again.
Parameter
Type 1 software upgraded. Er.02 2. Power on again and reset the parameters
storage error
2. A momentary power after restoring the factory settings.
failure occurred during 3. Check whether the host computer
parameter storage. frequently writes parameters and modify the
3. Frequent writing of corresponding parameter writing method.
parameters.
The internal analog Please power on again to determine whether
ADC reference
Type 1 reference source of the Er.03 the fault is eliminated. if the error still occurs,
source failure
driver is not accurate please contact the manufacturer.
AD current Current sampling zero Please power on again to determine whether
Type 1 sampling drift or current sensor Er.04 the fault is eliminated. if the error still occurs,
conversion error error please contact the manufacturer.
FPGA Please power on again to determine whether
FPGA communication
Type 1 communication Er.05 the fault is eliminated. if the error still occurs,
failure
abnormal please contact the manufacturer.
FPGA program Please power on again to determine whether
FPGA program version is
Type 1 version is Er.06 the fault is eliminated. if the error still occurs,
incorrect
incorrect please contact the manufacturer.
The internal clock of the Please power on again to determine whether
Type 1 Clock abnormal drive is disturbed or Er.07 the fault is eliminated. if the error still occurs,
abnormal please contact the manufacturer.

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The driver has detected

an overcurrent. The
possible reasons are:
1. Motor power lines U,
V, W are shorted to 1. Please check whether the motor power line
ground. wiring is correct.
2. Short circuit among 2. Whether the motor power line wiring is
motor power line U, V, W loose or short-circuited.
phase. 3. Replace the motor power line.
Type 2 Overcurrent Er.20
3. The motor power 4. Replace the motor.
cables U, V, W have poor 5. Replace the encoder cable.
contact.
6. If the above methods still could not
4. Internal damage of the eliminate the fault, please contact the
motor. manufacturer.
5. The encoder wire is
aging and loose.
6. Excessive fluctuations
in control power.
Driver bus voltage is
below the limit:
(1) 220V driver: normal
bus voltage is 310V,
undervoltage threshold
is 200V.
1. Check if the input voltage of the driver is too
(2) 380V driver: normal
low. If it is too low, please increase the voltage
bus voltage is 540V,
or wait for the power supply to be normal,
undervoltage threshold
Main power is then power on again and see if the fault is
Type 2 is 400V. Er.21
undervoltage cleared.
Possible reasons for
undervoltage of the main 2. Check the input power voltage of the driver
power supply are: to see if the voltage drops due to the power
load change.
(1) The main power
source is not connected.
(2) The input voltage is
low, or the voltage drops.
(3) The internal main
power relay is damaged.
The driver detects that
the bus voltage is too
high. The possible
reasons are:
1. Check whether the mains input voltage is
1. Check whether the
too high.
input voltage is normal:
Main power is 2. Check whether the regenerative resistor
Type 2 (1) 220V driver power Er.22
overvoltage resistance is reasonable.
supply voltage range:
-10% - + 10% (198V - 3. Extend the acceleration / deceleration time
242V) and choose a regenerative resistor with a
lower resistance value.
(2) 380V driver power
supply voltage range:
-10% - + 10% (342V -

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418V)
2. The regenerative
resistor resistance is too
large, resulting in the
braking energy not being
absorbed in time.
3. The load inertia is
large and the motor
accelerates and
decelerates too quickly,
and the maximum
braking energy exceeds
the absorbable value.
4. Excessive deviation of
bus voltage detection
1. When using the
1. If using internal regenerative resistor, please
internal regenerative confirm whether the short-circuit jumper
resistor, the jumper between C / D is normal.
between C and D should
be disconnected. 2. If using an external regenerative resistor,
Regenerative make sure that the external regenerative
2. When using an resistor is connected securely.
Type 2 resistor is not Er.23
external regenerative
connected 3. If an external regenerative resistor is used,
resistor, the resistor is
not connected. please confirm whether the resistance of the
regenerative resistor is reasonable.
3. The regenerative
resistor status detection 4. If above methods still could not eliminate
circuit is abnormal. the fault, please contact the manufacturer.
The brake resistor vent is
turned on, but no
feedback signal is
detected. The possible
Regenerative reasons are: The brake relief circuit may be damaged,
Type 2 resistor turned Er.24
1. Failed to open the please contact the manufacturer
on abnormally
regenerative resistor.
2. Brake resistor
feedback detection
failure.
The regenerative resistor
Regenerative is turned on, but the
resistor actual bus voltage is still Please confirm whether the resistance of the
Type 2 Er.25
resistance is too increasing. It may be that regenerative resistor is reasonable.
large the regenerative resistor
resistance is too large.
Motor model Check if the motor model function code is set
Type 2 Motor model error Er.26
error correctly
1. Check whether the wiring of the motor
Incremental
Encoder cable is encoder cable is loose. If it is loose, tighten it.
Type 2 encoder is Er.27
disconnected 2. Replace the encoder cable and power on
disconnected
again.

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No Z-pulse signal appears

when the motor rotates
more than 1 turn. 1. Check whether the motor model matches
Encoder Z phase The possible reasons are: Er.28 the model of the driver.
Type 2
pulse is lost
1. Motor model is wrong. 2. Replace the motor and power on again.
2. The motor encoder is
disturbed or damaged.
The incremental encoder
Incremental AB count value is not
encoder AB equal to the ppr * 4. The 1. Check whether the motor model matches
count value is possible reasons are:
Type 2 Er.29 the model of the driver. replace the motor
not equal to the
1. Motor model is wrong. model that matches the driver.
number of ppr *
4 2. Motor encoder is
disturbed or damage.
Check if the motor model matches the driver
Encoder UVW Motor encoder UVW
Type 2 Er.30 model. replace with the motor model that
signal error signal error
matches the driver
1. Check if the motor power line wiring is
Power line Motor power line is loose, and tighten it if it is loose.
Type 2 Er.31
disconnected loose or disconnected 2. Change the power cable of the motor, and
then power on again.
Exceeds the maximum
speed threshold of
function code P1-10.
Possible reasons are: 1. Please check whether the motor power line
1. U / V / W phase is correctly connected.
Exceed the sequence of motor 2. Confirm whether the motor model is
Type2 maximum speed power line is wrong. Er.32
correct.
of the motor
2. Motor model is wrong. 3. Use the correct power cable and encoder
3. Motor power line cable to connect the wiring.
error.
4. Motor encoder line
error.
The power module
temperature exceeds the
normal value. The
possible reasons are:
1. The cooling fan fails. 1. Check if the cooling fan is running normally.
2. The ambient If not, replace the drive.
power module is
Type 2 temperature is too high. Er.33 2. Improve the ambient temperature.
overheated
3. The installation of the 3. Install the Servo driver according to the
driver is not reasonable, standard.
and the interval is too
small then cause
abnormal heat
dissipation.

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The drive has detected

that the motor is
overloaded. The possible
reasons are:
1. The load is too large, 1. Check whether the load of the motor is too
and the motor works for large. If the load is too large, please replace
a long time in a state the motor and driver with higher power.
exceeding the rated 2. Increase the acceleration / deceleration
torque. time.
Motor overload
Type 2 2. Large load inertia and Er.34 3. Use the host computer software to observe
protection
frequent acceleration the actual torque and observe whether there
and deceleration. is obvious speed overshoot. Adjust appropriate
3. The speed and loop gain parameters.
position loop gain 4. Check the mechanical connection and
parameters are not set troubleshoot.
properly. 5. Replace the Servo driver.
4. Locked rotor occurs in
the motor.
5. Servo drive failure.
Check whether the setting value of the
In the electronic gear
electronic gear numerator and denominator of
ratio setting, the
the function codes P0-16 - P0-19 meets the
Electronic gear numerator /
Type 2 Er.35 following conditions: the numerator /
ratio exceeded denominator ratio is less
denominator is within the range of [0.01 -
than 0.01, or greater
100], and then power on again after
than 100.
modification.
The deviation of the
current position pulse
exceeds the setting value
of [P0-26]( Position
deviation limit). The 1. Check whether the wiring of the motor
possible reasons for this power line U / V / W is normal.
failure are: 2. Check the load of the motor. If the load is
1. The U / V / W line of too large, please replace the driver and motor
the motor is not with higher power. if the stall occurs, please
Excessive connected or check the machinery.
Type 2 position disconnected. Er.36 3. Adjust the gain parameters according to the
deviation method in the chapter 6.3 in the user
2. The phase sequence of
U / V / W wire of the manual.
motor is wrong. 4. When the change of the position reference
3. The motor is speed is too large, the ramp time could be
overloaded or stalled. appropriately increased to reduce the speed
change rate.
4. The driver gain setting
is unreasonable.
5. The position reference
speed changes too fast.

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The torque reached the

maximum torque limit
value and exceeds the
setting time of the
[P1-19] function code.
The possible reasons are:
1. If the load is too large, 1. Check whether the load is too large.
the driver would output
2. Modify the forward torque limit and
at the maximum torque
Torque maximum reverse torque limit to appropriate
and still couldnot reach
Type 2 saturation values according to the actual application.
the target speed within Er.37
abnormal the predetermined time. 3. Check whether the machine stalls.
2. Whether the 4. Confirm whether the setting of function
maximum forward code [P1-19] is reasonable.
torque limit and
maximum reverse torque
limit are set too small.
3. The motor stalls.
4. [P1-19] The set torque
limit time is too short.
Type 2 reserved Er.38
1. Check whether it is artificial emergency
shutdown protection. If it is, then power on
The drive received an again after other system faults are cleared.
Type 2 Emergency stop emergency stop Er.39
command 2. If it is a false trigger, please check whether
the wiring and function configuration of the DI
terminal is normal.
Please power on again to determine whether
ADC conversion ADC conversion is not
Type 3 Er.60 the fault is eliminated. if the abnormality still
is not completed completed
occurs, please contact the manufacturer.
Please power on again to determine whether
Internal software
Type 3 Torque loop error Er.61 the fault is eliminated. if the abnormality still
failure
occurs, please contact the manufacturer.
Please power on again to determine whether
Internal software
Type 3 Speed loop error Er.62 the fault is eliminated. if the abnormality still
failure
occurs, please contact the manufacturer.
Please power on again to determine whether
Internal software
Type 3 Illegal instruction Er.63 the fault is eliminated. if the abnormality still
failure
occurs, please contact the manufacturer.
Please power on again to determine whether
Internal software Internal RAM parameters
Type 3 Er.64 the fault is eliminated. if the abnormality still
failure are corrupted
occurs, please contact the manufacturer.
Internal function code Please power on again to determine whether
Internal software
Type 3 parameters are Er.65 the fault is eliminated. if the abnormality still
failure
corrupted occurs, please contact the manufacturer.
Check whether the setting value of function
Speed exceeds alarm
Type 4 Overspeed alarm A-81 code P1-14 is too small, and then check
limit
whether the speed reference is too high.
Check whether the load of the motor is too
Type 4 overload Motor overload alarm A-82
large. If the load is too large, please replace

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the motor and driver with higher power.

1. When the regenerative
resistor is selected as the 1.Please confirm whether the load inertia is
internal regenerative too large.
Brake resistor resistor, it means 2.Please confirm whether it is frequently
Type 4 overheated or overheat. A-83 started and stopped and whether the speed is
overload 2. When the regenerative too high.
resistor is externally 3.Please check whether the actual resistance
connected, it represents value is larger than the set value.
overload.
Modify the parameters
Parameters that Power on again or clear the alarm to make the
Type 4 that need to be powered A-84
required restart alarm disappear.
on to take effect again
Please check the timing sequence of the
Receive position Receive pulse command
control signal from the host device. The pulse
Type 4 pulse when in Servo non-SON state A-85
is still being sent when the Servo stops or is in
Servo is OFF or non-position mode
non-position mode.
Check whether the input frequency of the
Input pulse
The speed of the input pulse and the number of pulses per round
Type 4 frequency is too A-86
reference is too high (P0-15) or the electronic gear ratio (P0-16 -
high
P0-19) of the motor are set properly.
Type 4 reserved reserved A-87 reserved
Check whether there is voltage on the mains
Instantaneous The input voltage of the
input, and then restart or clear the alarm. if
Type 4 power failure of main circuit is A-88
the mains circuit voltage is normal, this alarm
main circuit momentarily low
still exists, please contact the manufacturer.
Check the function code [DIDO Configuration],
check the DI channel function selection: DI_1
channel function selection (P6-02) - DI_8
DI port
Different DI ports are set channel function selection (P6-23), and check
Type 4 configuration is A-89
to the same function whether there is any duplication of the 8 DI
duplicated
channel function selections. If you set the
unwanted channels to off, power off and then
power on again.
Check the function code [DIDO Configuration],
check the DO channel function selection: DO_1
channel function selection (P6-26) - DO_4
DO port
Different DO ports are channel function selection (P6-32), and check
Type 4 configuration is A-90
set to the same function whether there is any duplication of the four
duplicated
DO channel function selections. If you set the
unwanted channels to off, power off and then
power on again.
The frequency of
Parameters are communication to Check whether the host computer frequently
Type 4 modified too modify function code A-91 writes parameters and modify the
frequently parameters is too corresponding parameter writing method
frequent

Type 4 reserved A-92

Type 4 reserved A-93

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11 Modbus Register Address

11.1 Basic Setting

Modbus Address
Code Function Unit Bits
Hex Decimal
P0-1 0x0001 1 Contral mode - 16
P0-4 0x0004 4 Rotation direction - 16
P0-5 0x0005 5 Servo stop mode at S-ON off - 16
P0-9 0x0009 9 Regenerative resistor setting - 16
P0-10 0x000A 10 External regenerative resistor resistance Ω 16
P0-11 0x000B 11 External regenerative resistor power W 16
P0-12 0x000C 12 Position pulse type selection - 16
P0-13 0x000D 13 Position pulse frequency kHz 16
P0-14 0x000E 14 Position pulse anti-interference level - 16
P0-16 0x0010 16 Number of pulses per revolution of the motor Pul 16
P0-17 0x0011 17 Electronic gear 1 numerator - 16
P0-18 0x0012 18 Electronic gear 1 denominator - 16
P0-19 0x0013 19 Electronic gear 2 numerator - 16
P0-20 0x0014 20 Electronic gear 2 denominator - 16
P0-21 0x0015 21 Pulse frequency division output direction - 16
Number of output pulses per revolution of the
P0-22 0x0016 22 Pul 16
motor
P0-23 0x0017 23 OZ polarity of Z pulse output - 16
P0-25 0x0019 25 Position deviation limit Pul 16

11.2 Control Parameter

Modbus Address
Code Function Unit Bits
Hex Decimal
P1-1 0x0101 257 Speed reference source - 16
P1-2 0x0102 258 Internal speed command rpm 16
P1-3 0x0103 259 Acc. time ms 16
P1-4 0x0104 260 Dec. time ms 16
P1-7 0x0107 263 Torque reference source - 16
P1-8 0x0108 264 Keypad setting value of torque reference 0.1% 16
P1-9 0x0109 265 Source of Speed Limit in Torque Mode - 16

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P1-10 0x010A 266 Maximum speed threshold rpm 16

P1-11 0x010B 267 Warning speed threshold rpm 16
P1-12 0x010C 268 Forward speed threshold rpm 16
P1-13 0x010D 269 Backward speed threshold rpm 16
P1-14 0x010E 270 Torque limit source - 16
P1-15 0x010F 271 Forward rotation torque limit 0.1% 16
P1-16 0x0110 272 Backward rotation torque limit 0.1% 16
P1-19 0x0113 275 Torque saturation timeout ms 16
P1-21 0x0115 277 Zero speed clamp function selection rpm 16
P1-22 0x0116 278 Zero speed clamp speed threshold rpm 16

11.3 Gain Adjustment

Modbus Address
Code Function Unit Bits
Hex Decimal
P2-1 0x0201 513 1st position loop gain 0.1Hz 16
P2-2 0x0202 514 1st speed loop gain 0.1Hz 16
P2-3 0x0203 515 1st speed loop integration time constant 0.1ms 16
P2-4 0x0204 516 2nd position loop gain 0.1Hz 16
P2-5 0x0205 517 2nd speed loop gain 0.1Hz 16
P2-6 0x0206 518 2nd speed loop integration time constant 0.1ms 16
P2-7 0x0207 519 Second gain switching mode - 16
P2-9 0x0209 521 Speed feedforward gain 0.1% 16
P2-10 0x020A 522 Speed feedforward filter 0.01ms 16
P2-11 0x020B 523 Torque feedforward gain 0.1% 16
P2-12 0x020C 524 Torque feedforward filter 0.01ms 16

11.4 Auto-tuning Parameter

Modbus Address
Code Function Unit Bits
Hex Decimal
P3-1 0x0301 769 Load inertia ratio 0.01 16
P3-2 0x0302 770 Load level rigidity selection - 16
P3-3 0x0303 771 Auto-tuning mode selection - 16
P3-4 0x0304 772 Online inertia identification sensitivity - 16
P3-5 0x0305 773 Number of inertia identification cycles Revolution 16
P3-6 0x0306 774 Maximum speed of inertia identification rpm 16
P3-7 0x0307 775 Parameter identification rotation direction - 16
P3-8 0x0308 776 Parameter identification waiting time ms 16

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11.5 Vibration Inhabitation

Modbus Address
Code Function Unit Bits
Hex Decimal
P4-1 0x0401 1025 Pulse reference filtering method - 16
P4-2 0x0402 1026 Position reference first-order low-pass filter ms 16
P4-3 0x0403 1027 Position reference average filter time constant ms 16
P4-4 0x0404 1028 Torque filter time constant 0.01 16
P4-5 0x0405 1029 1st notch frequency Hz 16
P4-6 0x0406 1030 1st notch depth - 16
P4-7 0x0407 1031 1st notch width - 16
P4-8 0x0408 1032 2nd notch frequency Hz 16
P4-9 0x0409 1033 2nd notch depth - 16
P4-10 0x040A 1034 2nd notch width - 16

11.6 Signal Input/Output

Modbus Address
Code Function Unit Bits
Hex Decimal
P5-1 0x0501 1281 AI_1 input bias mV 16
P5-2 0x0502 1282 AI_1 input filter constant 0.01ms 16
P5-3 0x0503 1283 AI_1 dead zone mV 16
P5-4 0x0504 1284 AI_1 zero shift mV 16
P5-5 0x0505 1285 AI_2 input bias mV 16
P5-6 0x0506 1286 AI_2 input filter constant 0.01ms 16
P5-7 0x0507 1287 AI_2 dead zone mV 16
P5-8 0x0508 1288 AI_2 zero shift mV 16
P5-9 0x0509 1289 the speed value corresponding to analog 10V rpm 16
P5-10 0x050A 1290 the torque value corresponding to analog 10V 0.1% 16
Positioning complete, positioning approach
P5-11 0x050B 1291 - 16
condition setting
P5-12 0x050C 1292 Positioning completion threshold Pul 16
P5-13 0x050D 1293 Positioning approach threshold Pul 16
Set the positioning completion detection time
P5-14 0x050E 1294 ms 16
window
Set the hold time of positioning completion
P5-15 0x050F 1295 ms 16
output
P5-16 0x0510 1296 Rotation speed detection threshold rpm 16
P5-17 0x0511 1297 Speed consistent signal threshold rpm 16
P5-18 0x0512 1298 Speed approaching signal threshold rpm 16

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P5-19 0x0513 1299 Zero speed output signal threshold rpm 16

P5-20 0x0514 1300 Torque reached threshold % 16
P5-21 0x0515 1301 Torque reached hysteresis % 16

11.7 DI/DO Configuration

Modbus Address
Code Function Unit Bits
Hex Decimal
P6-01 0x0601 1537 High-speed DI port filtering time 1us 16
P6-02 0x0602 1538 DI_1 Channel function selection - 16
P6-03 0x0603 1539 DI_1 Channel logic selection - 16
P6-04 0x0604 1540 DI_1 Input source selection - 16
P6-05 0x0605 1541 DI_2 Channel function selection - 16
P6-06 0x0606 1542 DI_2 Channel logic selection - 16
P6-07 0x0607 1543 DI_2 Input source selection - 16
P6-08 0x0608 1544 DI_3 Channel function selection - 16
P6-09 0x0609 1545 DI_3 Channel logic selection - 16
P6-10 0x060A 1546 DI_3 Input source selection - 16
P6-11 0x060B 1547 DI_4 Channel function selection - 16
P6-12 0x060C 1548 DI_4 Channel logic selection - 16
P6-13 0x060D 1549 DI_4 Input source selection - 16
P6-14 0x060E 1550 DI_5 Channel function selection - 16
P6-15 0x060F 1551 DI_5 Channel logic selection - 16
P6-16 0x0610 1552 DI_5 Input source selection - 16
P6-17 0x0611 1553 DI_6 Channel function selection - 16
P6-18 0x0612 1554 DI_6 Channel logic selection - 16
P6-19 0x0613 1555 DI_6 Input source selection - 16
P6-20 0x0614 1556 DI_7 Channel function selection - 16
P6-21 0x0615 1557 DI_7 Channel logic selection - 16
P6-22 0x0616 1558 DI_7 Input source selection - 16
P6-23 0x0617 1559 DI_8 Channel function selection - 16
P6-24 0x0618 1560 DI_8 Channel logic selection - 16
P6-25 0x0619 1561 DI_8 Input source selection - 16
P6-26 0x061A 1562 DO_1 Channel function selection - 16
P6-27 0x061B 1563 DO_1 Channel logic selection - 16
P6-28 0x061C 1564 DO_2 Channel function selection - 16
P6-29 0x061D 1565 DO_2 Channel logic selection - 16
P6-30 0x061E 1566 DO_3 Channel function selection - 16
P6-31 0x061F 1567 DO_3 Channel logic selection - 16

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P6-32 0x0620 1568 DO_4 Channel function selection - 16

P6-33 0x0621 1569 DO_4 Channel logic selection - 16

11.8 Auxiliary Function

Modbus Address
Code Function Unit Bits
Hex Decimal
P10-1 0x0A01 2561 JOG sped rpm 16
P10-2 0x0A02 2562 Restore factory setting - 16
P10-4 0x0A04 2564 Motor overload protection time coefficient % 16

11.9 Communication Parameter

Modbus Address
Code Function Unit Bits
Hex Decimal
P12-1 0x0C01 3073 Servo station number - 16
P12-2 0x0C02 3074 baudrate - 16
P12-3 0x0C03 3075 Serial data format - 16
Write modbus communication data to
P12-4 0x0C04 3076 - 16
EEPROM

11.10VDI

Modbus Address
Code Function Unit Bits
Hex Decimal
P13-1 0x0D01 3329 VDI_1 input value - 16
P13-2 0x0D02 3330 VDI_2 input value - 16
P13-3 0x0D03 3331 VDI_3 input value - 16
P13-4 0x0D04 3332 VDI_4 input value - 16
P13-5 0x0D05 3333 VDI_5 input value - 16
P13-6 0x0D06 3334 VDI_6 input value - 16
P13-7 0x0D07 3335 VDI_7 input value - 16
P13-8 0x0D08 3336 VDI_8 input value - 16

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11.11 Monitoring Parameter

Modbus Address
Code Function Unit Bits
Hex Decimal
U0-01 0x1E01 7681 Servo state - 16
U0-02 0x1E02 7682 Servo motor speed rpm 16
U0-03 0x1E03 7683 Enter speed command rpm 16
Speed corresponding to input position
U0-04 0x1E04 7684 rpm 16
reference
U0-05 0x1E05 7685 Pulse deviation Pul 32
U0-07 0x1E07 7687 Pulse deviation *10000 Pul 32
U0-09 0x1E09 7689 input pulse number Pul 32
U0-11 0x1E0B 7691 input pulse number *10000 Pul 32
U0-13 0x1E0D 7693 Encoder accumulative position Pul 32
U0-15 0x1E0F 7695 Encoder accumulative position *10000 Pul 32
U0-17 0x1E11 7697 DI input signal state - 32
U0-19 0x1E13 7699 DO output signal state - 32
U0-21 0x1E15 7701 AI1 input voltage value V 16
U0-22 0x1E16 7702 AI2 input voltage value V 16
U0-23 0x1E17 7703 vibration frequency Hz 16
U0-24 0x1E18 7704 Vibration amplitude rpm 16
U0-25 0x1E19 7705 forward torque limitation % 16
U0-26 0x1E1A 7706 backward torque limitation % 16
U0-27 0x1E1B 7707 forward speed limitation rpm 16
U0-28 0x1E1C 7708 backward speed limitation rpm 16
U0-29 0x1E1D 7709 Mechanical angle ° 16
U0-30 0x1E1E 7710 Electric angle ° 16
U0-31 0x1E1F 7711 Bus voltage V 16
U0-32 0x1E20 7712 Module temperature ℃ 16
U0-33 0x1E21 7713 Instantaneous output power W 32
U0-35 0x1E23 7715 total power-on time: hour h 32
U0-37 0x1E25 7717 total power-on time:min min 16
U0-38 0x1E26 7718 total power-on time:sec s 16
U0-39 0x1E27 7719 Output load percentage % 16
U0-40 0x1E28 7720 Power-on time: hour h 32
U0-42 0x1E2A 7722 Power-on time: min min 16
U0-43 0x1E2B 7723 Power-on time: sec s 16
U0-44 0x1E2C 7724 Instantaneous braking resistance power W 32
U0-46 0x1E2E 7726 Average braking resistance power W 32

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U0-48 0x1E30 7728 Power-on times Times 32

U0-50 0x1E32 7730 Motor cumulative turns (x1) Revolution 16
U0-51 0x1E33 7731 Motor cumulative turns (x10e4) Revolution 16
U0-52 0x1E34 7732 Motor cumulative turns (x10e8) Revolution 16
U0-53 0x1E35 7733 Motor model code - 16
U1-01 0x1F01 7937 Current fault code - 16
U1-02 0x1F02 7938 Current alarm code - 16
U1-03 0x1F03 7939 phase U current upon displayed fault A 16
U1-04 0x1F04 7940 phase V current upon displayed fault A 16
U1-05 0x1F05 7941 Bus voltage upon displayed fault V 16
U1-06 0x1F06 7942 IGBT temperature upon displayed fault ℃ 16
U1-07 0x1F07 7943 Torque component when fault occured % 16
U1-08 0x1F08 7944 Excitation component when fault occurred % 16
U1-09 0x1F09 7945 Position deviation when fault occurred Pul 32
U1-11 0x1F0B 7947 Speed value when fault occurred rpm 16
U1-12 0x1F0C 7948 the time when fault occurred s 32
U1-14 0x1F0E 7950 Number of faults - 16
U1-15 0x1F0F 7951 Number of warnings - 16
U1-16 0x1F10 7952 Total number of historical faults - 16
U1-17 0x1F11 7953 Total number of historical alarm - 16
U1-18 0x1F12 7954 Last 2nd fault code - 16
U1-19 0x1F13 7955 Last 3rd fault code - 16
U1-20 0x1F14 7956 Last 4th fault code - 16
U1-21 0x1F15 7957 Last 5th fault code - 16
U1-22 0x1F16 7958 Last 6th fault code - 16
U1-23 0x1F17 7959 Last 2nd alarm code - 16
U1-24 0x1F18 7960 Last 3rd alarm code - 16
U1-25 0x1F19 7961 Last 4th alarm code - 16
U1-26 0x1F1A 7962 Last 5th alarm code - 16
U1-27 0x1F1B 7963 Last 6th alarm code - 16
U2-01 0x2001 8193 Product series - 16
U2-02 0x2002 8194 model - 16
U2-03 0x2003 8195 Model - 16
U2-04 0x2004 8196 Firmware version - 16
U2-05 0x2005 8197 Hardware version - 16
U2-06 0x2006 8198 date of manufacture:year year 16
U2-07 0x2007 8199 date of manufacture:month Month 16
U2-08 0x2008 8200 date of manufacture:day day 16
U2-09 0x2009 8201 Device serial number 1 - 16

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U2-10 0x200A 8202 Device serial number 2 - 16

U2-11 0x200B 8203 Device serial number 3 - 16
U2-12 0x200C 8204 Device serial number 4 - 16
U2-13 0x200D 8205 Device serial number 5 - 16
U2-14 0x200E 8206 Device serial number 6 - 16
U2-15 0x200F 8207 Device serial number 7 - 16
U2-16 0x2010 8208 Device serial number 8 - 16

Version: V2.0.0
Date: July 2020

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