US200 Series Control Type AC Servo Drive Manual

Thanks for your support to our US200 series servo drive. Before use, please
read this manual carefully. This manual includes:
* the examination, installation and wiring steps of servo drive
* the operation steps, status display, abnormal alarm and handling of digital
panel
* the control mode, test run and adjust steps
* All parameters explain
* Model specifications and standards

This manual is used for reference of daily examination, maintenance, the reason of
abnormal situation and treatment strategy.
Remark: Please hand this manual over to the end users to make sure the maximum
utility of servo drives.
● Because of the improvement of products, the content will be revised, please notice.
● If you do any modification to our products, the warranty bill will be invalid, UniMAT
company won’t take any responsibility.
Please especially note below warning mark when refer to this manual

Warning:
This means wrong operation will lead to disastrous
consequence------death or badly injured

Be careful:
1
This means wrong operation may make the operation staff injured, also make
the equipment damaged.

Attention:
This means the incorrect operation may destroy
products and equipment.

2
 Content

Chapter One Examination and Installation........................错误！未定义书签。

1.1 Examination.........................................................错误！未定义书签。
1.2 Specification........................................................ 错误！未定义书签。
1.3 Installation.............................................................................................. 9
Chapter Two Servo drive and motor wiring...........................错误！未定义书签。
2.1 Wiring of Power and Perpheral Device...............错误！未定义书签。
2.2 Wiring Diagram of Position Control....................................................13
2.3 Wiring Diagram of Inside Position Control Mode(Simple PLC
Function)
.................................................................................................................... 13
2.4 Electrical Connection of Terminal....................................................... 14
2.5 Schematic Diagram of Signal Interface............................................... 20
Chapter Three Operation and Display............................... 错误！未定义书签。
3.1 Keyboard Operation............................................................................. 23
3.2 Monitor Method................................................................................... 24
3.3 Parameter Setting................................................................................. 26
3.4 Parameter Management........................................................................27
3.5 F1 Operational Mode(Panel Test Function).........................................29
3.6 F2 Operational Mode(Inching Test Function)..................................... 30
3.7 Others................................................................................................... 31
Chapter Four Parameter..................................................................................... 31
4.1 Different Paramters Function Meaning Detailed Form....................... 35
4.2 Parameter Testing Block DiagramModel.............................................50
4.3 Servo Key Parameter Description........................................................50
4.4 Parameter Testing Steps in Practical Applications.............................. 51
Chapter Five Operation and Testing.................................................................. 52
5.1 Special Remarks of Testing..................................................................52
5.2 Position Control Method Operation.....................................................53
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 5.3 Speed Trial OperationMode Operation................................................53
5.4 Inching Operation.................................................................................54
5.5 Inside Position/Speed/Torque Control Mode.......................................55
5.6 Servo Characteristic Function Applications........................................ 61
Chapter Six RS485 Communication.............................. 错误！未定义书签。
6.1 RS485Communication Hardware Interface.........................................63
6.2 Communication Protocol..................................................................... 64
6.3 Communication Error Information and Data Handling.......................68
6.4 RTU Command.................................................................................... 70
6.5 UniMAT Servo Software Testing Description and Use.......................71
Chapter Seven Alarm and Processing........................................................... 74
7.1 Alarm List.............................................................................................74
7.2 Alarm Processing Method....................................................................75
7.3 FAQ or Abnormal Processing.............................................................. 78
Appendix A US200 Series drive and UM Series Servo Motor Mating
Parameters Configuration Table...............83
Appendix B After Sales Service Explaination................................................83

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 Chapter One Examination and Installation

Introduction
US200 Series servo is communication type servo that with control function, all input
and output ports can define by users; Standard RS485 communication function can achieve
upload and download network control;With inner simple PLC function, it can completely
omit PLC to achieve lower cost in some simple control situation.
1.1 Product Examination
All of our servo products have done with entire function testing, please examine below
events in order to judge whether the products are damaged because of negligence during
shipping:
1) Examining whether the model of servo drive and motor is the same with order
no.that you want.
2) Examining whether there are damaged and scratch traces for the appearance of
servo drive and motor.
If there are breakdown and abnormal, please contact us soon

1.1.1 Model No. Confirmation

The Model No. Of Servo Drive

5
1.1.2 US200 Servo Drive Random Standard Accessory
1. CN1 Plug (DB25female end) 1 set
2. CN1 Plug (DB15 pin) 1 set
3. 4 black power plug 1 piece
4. 4 green power plug 1 piece

1.1.3 Servo Drive Installation Size

US212-00R8 Servo Drive Installation Size Drawing

Remark: “L N” is 220V power input terminal, “P D” external brake resistor

terminal, couldn’t be mixed.

6
 US232-01R3/US232-02R0 Servo Drive Installation Size Drawing
1.2 Servo Drive Specification

Basic
Specific
ation Model US212-00R8 US232-01R3 US232-02R0
Max. Current (A) 7.8 15.4 19.6

Input Power Single Phase AC170-253V

50/60Hz
Cooling Mode Natural cooling
Control Mode SVPWM control
Encoder 2500 saving wire type
Internal Display and Six bit seven segment display LED: four function operation
Function Operation keys

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 Speed volatility rate: ＜ ±0.03% (load 0 ～ 100%). ＜
Speed Rate of Change
±0.05% (power -15%～+10%)
Braking Function Built-in
undervoltage, overvoltage, overload, overcurrent, encoder
Protection Function
abnormal, braking, position overproof, etc.
positio
n
Instruction Control Way External pulse
control
mode
External
Instruction Form Pulse+Direction Double pulse A/B orthogonality
Pulse Input
Max. frequency Differential motion1MHZ Open collector:200KHZ
Electronic Gear Ratio 1～32767/1～32767
Speed Control Range Speed ratio: 1:5000

Position control/speed test run/jog/internal locate PLC

Control Mode
function/RS485 communication/internal speed/internal torque
Straight line time constant 1 ms ～ 10000ms
Instruction Smooth Way
（0r/min←→1000r/min）
Input/ Position
ABZ phase line drive output/ Z phase collector open circuit
Output Signal Output Type
output
Signal Output
Frequency
1/255/～1
Dividing Ratio
7 point 1) servo enable 2) alarm clear 3) deviation counter clear 1 4)
Input
photoelectric instruction pulse forbid 5) position 0 6)position 1
Signal
Isolation Input 7)position trigger
Output 4 point collector 1) position to 2)servo alarm output 3) Z signal output 4)brake
Signal open circuit output
Operating Temperature working :0℃～55℃ storage:-20℃～80℃

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1.3 Servo Drive Installation

1.3.1 Installation Environment Condition

The installation environment of servo drive has direct influence to drive normal
function and service life, so the installation environment of servo drive must meet the
following conditions:
project US200 servo drive
Working 0℃～55℃ (no frozen cream)
temperature/ 90%RH below) (no condensation moisture)
humidity
storage and -20℃～80℃
transportation 90%RH (non condensate)
temperature/
humidity
atmosphere Inside control cabinet, without corrosive gas, inflammable gas, oil mist or
environment dust etc.
vibration Less than 0.5G (4.9m/s2) 10 Hz -60Hz (Not continuous operation)
protection
IP54
grade
Please keep enough space when installing in order to dissipate full heat; Also please
match cooling fans to make the surrounding temperature of servo drive under 55 ℃
Please keep the drive vertical standing, front forward, top up so can dissipate heat fully
when installing.
Please avoid drilling cuttings and other impurity falling into the inside of drive.
Please fix it using M4 screw when installing.
If there is vibration source (punching machine) around, if it couldn’t be avoided, please
use vibration absorber or re-install anti vibration rubber gasket.
When there are noises interference source from large magnetic switch and welding
machine etc., it’s easy to cause the drive wrong movement because of external interference,
at this time, it needs to install noises filter; but noises filter will add leakage current, so the
insulation transformer needs to be installed in input terminal of drive.

9
 1.3.2 Servo installation direction and interval
The below pictures show the installation interval of single drive and several drives,

when in real installation situation, you should set apart more space for keeping good heat

dissipation.

通风方向 Air direction

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 Chapter Two Servo Drive and Motor Wiring

2.1 Servo drive power and peripheral devices wiring

US212-00R8 servo drive peripheral devices wiring

电源 Power supply 单相 220V Single-phase 220V 1.0KW（含）以下 1.0KW（include）or below
漏电断路器 Residual-current circuit breaker 接触器 contactor 连接到输入电源 connect to inputpower
噪音滤波器 Noise Filter U/V/W 相 U/V/W phase 出线端子 outlet terminal 接地 Grounded
连接器 CN1 的配线 the wires to CN1 I/O 连接，连接到上位控制器 Connected to PLC I/O
连接器 CN2 的配线 the cable to CN2, 连接到编码器 Connected to Encoder
连接到伺服电机的各相与地线 the wires connected to each phase of servo motor and ground.

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 US232-01R3/US232-02R0 servo drive peripheral devices wiring
电源 Power supply 单相 220V Single-phase 220V 1.0KW（含）以下 1.0KW（include）or below
漏电断路器 Residual-current circuit breaker 接触器 contactor 连接到输入电源 connect to inputpower
噪音滤波器 Noise Filter U/V/W 相 U/V/W phase 出线端子 outlet terminal 接地 Grounded
连接器 CN1 的配线 the wires to CN1 I/O 连接，连接到上位控制器 Connected to PLC I/O
连接器 CN2 的配线 the cable to CN2, 连接到编码器 Connected to Encoder
连接到伺服电机的各相与地线 the wires connected to each phase of servo motor and ground.

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2.2 Position control method wiring
2.3 Internal position control mode wiring (simple PLC function)

Single phase AC220V changed to Single phase AC220V or Tri-phase 220VAC

13
24V 电源 24Vpower supply 抱闸电机 Brake motor 继电器 Relay 制动器线圈 brakes
抱闸释放信号典型实例 the example of brake releasing signal

2.4 the electric connection of terminal

2.4.1 the definition of power terminal (US212-00R8 series)
terminal
Signal definition Function
mark
L Main loop power input terminal 220V 50Hz
Main loop power
Remark: please don’t connect with motor output
N single phase
terminal U, V, W
P External
Applying in the occasion of start-stop frequently or
connection brake
D large inertia load
resistance
1. ground terminal ground resistance＜100Ω；
System ground 2. servo motor output and power input public point
ground。
W
servo motor Servo motor output terminal must connect
V
output accordingly with motor W, V, U terminal
U

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 The definition of power terminal (US232-01R3/US232-02R0 series)
Terminal Signal
Function
mark definition
L1 Main loop Main loop power input terminal ～ 220V 50Hz, single

L2 power single phase connect L1 L2;

phase or three Remark: please don’t connect motor output terminal
L3
phase U,V, W
1. ground terminal ground resistance ＜100Ω;
System
PE or 2. servo motor output and power input public point
ground
ground
U
Servo motor Servo motor output terminal must connect accordingly
V
output with motor U, V, W terminal
W
P External
Using built-in braking resistance: P and D connect
connection
D by short circuit
braking
resistance Using external braking resistance: P and D open
C choosing circuit, external resistance is connected between P
terminal and C.

2.4.2 Power line terminal wiring

 L1, L2, L3, PE, U, V, W terminal, line intersect area ≥1.5mm 2 (AWG14-16).
L, N terminal, line intersect area≥1.0 mm2(AWG16-18).
 Ground: ground lines should be thick, drives and servo motors are ground
connection in PE terminal, ground resistance＜100Ω。
 Suggest the power supply is from three phase isolated transformer, so that
can reduce the possibility of electric shock hurts.
 Suggest power supply by noise filter to enhance anti interference ability
 Please install NFB breaker to make sure timely cutting down external power
when the drives break down.

2.4.3 the definition of signal terminal

The configuration of US200 servo drive unit interface terminal is shown as below. CN1
signal control terminal is DB25 connector, socket is pin type, plug is cellular type; CN2

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 feedback terminal is DB15 connector, socket is triplex row 15 core cellular type, plug is
triplex row 15 core pin type.

1) Control terminal CN1

Terminal serial number configuration diagram

Control mode abbreviation:

terminal signal
mark I/O System default function
no. name
Input
Input terminal’s common port, photoelectric
terminal’s Power
CN1-8 COM coupler that use to drive input terminal, DC12～24V,
common supply
current ≥100mA.
port
System by default: servo enabled input terminal
CN1-21 Input port 0 IN0(SON) input ON: allow drive working;
OFF: drive off, stop working, motor is in free state.
System by default: servo alarm processing terminal
CN1-9 Input port 1 IN1(ARST) input ON: servo alarm normal output;
OFF: clear servo alarm.
CN1-20 Input port 2 IN2(CCW) input System by default: positive drive forbid
CN1-17 Input port 3 IN3(CW) input System by default: negative drive forbid.
System by default: positional deviation counter zero
clearing input terminal
CN1-22 Input port 4 IN4(CLE) input
ON: when in position control: positional deviation
counter zero clearing
System by default: position instruction pulse forbid
input terminal
CN1-10 Input port 5 IN5(INH) input
ON: instruction pulse input forbid;
OFF: instruction pulse input effective

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 System by default: electronic gear ratio choosing
terminal (OFF by default)
IN6 ON: choose PN31 parameters as present position
CN1-4 Input port 6 input
(GEARI) control gear ratio
OFF: choose PN9 parameters as present position
control gear ratio
System by default: position reaches, position reaches
Output port OUT1 signal output terminal; when servo location is
CN1-1 output
1 (COIN) near target location (Pn12 parameter setting value),
output ON
System by default: braking output
Drain open circuit output, in normal working
Output port OUT2
CN1-14 output situation, optocoupler break over, output ON;
2 (HOLD)
Not enable, drive forbid; when alarm, optocoupler
cut off, output OFF
System by default: servo alarm output terminal
1, ON: servo drive is not alarming, servo alarm
Output port OUT3
CN1-15 output output ON;
3 (ALM)
2, OFF: servo drive is alarming, servo alarm output
OFF.
Input
terminal’s CommonGround wire common port that control signal output
CN1-3/16 DG
common port terminal (except CZ)
port
Encoder Z phase output terminal, servo motor’s
Encoder Z
photoelectric encoder Z phase pulse output;
CN1-2 phase CZ+ output
CZ ON: Z phase signals appear, optocoupler
output
collector open circuit output
Encoder Z
phase
CN1-5 CZ- output
output
ground
External instruction pulse input terminal
Remark: set pulse input method by parameter Pn8
Instruction
CN1-18 PULS+ input 0. Instruction pulse + symbolic way
pulse signal
1. CCW/CW instruction pulse mode
2. A/B orthogonality instruction pulse mode

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CN1-6 PULS-
Instruction
CN1-19 direction SIGN+ input External instruction direction input terminal
signal
CN1-7 SIGN-
Standard is 2500 pulse per circle, there are pulse
Output outputs every time motors run a round, output pulses
CN1-23 coded disk PEA output mainly use for returning to computer, in order to
signal A achieve closed loop control. The frequency of output
signal can be set by PN41, PN42.
CN1-11 PEAL output
Output
CN1-24 coded disk PEB output
signal B
CN1-12 PEBL output
Output A signal output every time motors run a circle,
CN1-25 coded disk PEZ output the width of signal is related to motor’s
signal Z rotate speed.
CN1-13 PEZL output
Shield
CN1-PE PE
ground

2) feedback signal terminal CN2

Terminal
Signal name Mark I/O Function
No.
CN2-10 Encoder signal A+ A+ Encoder signal A+ input
CN2-9 Encoder signal B+ B+ Encoder signal B+ input
CN2-8 Encoder signal Z+ Z+ Encoder signal Z+input
CN2-5 Encoder signal A- A- Encoder signal A- input
CN2-4 Encoder signal B- B- Encoder signal B- input
CN2-3 Encoder signal Z- Z- Encoder signal Z- input
CN2-14 Digital ground GND Digital ground
CN2-15 +5V power supply VCC power supply
CN2-13 Shield ground FG

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3) serial communication terminal CN3
Terminal
Signal name Mark I/O Function
No.
CN3-6 Digital ground GND Digital ground
CN3-5 power supply VCC power supply
RS485 communication
CN3-3 485D- RS485 communication signal
signal
RS485 communication
CN3-1 485D+ RS485 communication signal
signal

4) serial communication terminal CN5

Terminal
Signal name Mark I/O Function
No.
CN5-6 Digital ground GND Digital ground
CN5-5 power supply VCC power supply
RS485 communication
CN5-3 485D+ RS485 communication signal
signal
RS485 communication
CN5-1 485D- RS485 communication signal
signal

Interconnect multi networking communication by two terminals CN3 CN5

Terminal interface is shown as below:

5) High speed bus communication terminal CN4

Terminal
Signal name Mark I/O Function
No.
CN4-1 Power supply VCC Power supply
CN4-2 CANL CANL CAN communication signal (reserved)
CN4-3 CANH CANH CAN communication signal (reserved)
CN4-4 Ground GND Ground

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2.4.4 Signal terminal wiring
 Wire rod choose: using shielded cable (twisting shielded cable is better) cable
core sectional area ≥0.12mm2(AWG24-26), shielded layer must connect FG
terminal.
 Cable length: cable length is as short as possible, control CN1 cables do not
exceed 3 meters, feedback signal CN2 cable length do not exceed 20 meters.
Wiring: keep far away from power circuit wiring to prevent interference enter into. Please
install surge absorbing components for inductive component (coil) in related circuit; direct
current coil anti parallel follow current diodes, alternating current coil parallel RC to absorb
loop.

2.5 signal interface schematic diagram

2.5.1 digital input interface circuit
Digital input interface circuit can be controlled by relays or open collector transistor

circuit. DC12～24V, current ≥100mA. Input signal SON /ARST/ INH/ CLR/ SC1/ SC2 can

refer to this wiring method.

伺服驱动器 Servo Drive

Judge by checking display menu UN-17, when input point is ON, corresponding Nixie

tube’s nut bar will lighten. Input OFF, corresponding Nixie tube’s nut bar will extinguish.

Applying this display content reasonably is convenient for debugging and maintenance to

servo input signal.

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输入端子显示 input terminal display On or OFF

2.5.2 servo motor photoelectric encoder input interface

When in differential output, using AM26LS32, MC3487 or similar RS422 wire drives as

receiver.

伺服电机Servo motor 伺服驱动器 Servo Drive

2.5.3 Pulse signal input interface circuit

In order to transmit pulse data correctly, suggest use differential drive method; when in

differential drive, using AM26LS31, MC3487 or similar RS 422 wire drives as below:

伺服驱动器 Servo Drive

Using single-ended drive method can make the motion frequency lower.
According to pulse input circuit, drive current 10 ～ 25mA, the situation is limited to

external power max. voltage 24V, confirm the value of resistance R. Empirical data:

VCC=24V, R=1.3～2k; VCC=12V, R=510～ 820Ω. External power is provided by users, but

must pay attention to that if power polar inversely connects, it will damage servo drive units.
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Details check as below:

控制器controller 驱动器 drive 脉冲 pulse 方向 direction

2.5.4 drive speed output interface

伺服驱动器 Servo Drive

2.5.5 D igi ta l ou t p u t in te r f ac e ci r c u i t
When using external power, please note the power’s polar, if the polar is opposite,

the drives will be damaged. Digital output is collector open circuit mode, external voltage

max. is 24V, max. current is 10mA. In terms of load, when using relays etc. inductive load,

need to add diode and inductive load in parallel, if the diode’s polar is opposite, will damage

drives. Output signal’s state can be observed by UN-18.

伺服驱动器 Servo Drive 最大 Maximum

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Judge by checking display menu UN-18, when output point is ON, corresponding Nixie tube

nut bar will lighten. When output is OFF, corresponding Nixie tube nut bar will extinguish.

Applying this display content reasonably is convenient for debugging and maintaining servo

output signal.

输入端子显示 input terminal display On or OFF

保留 Reserve

Chapter three Operation and Display

3.1 keyboard operation

 Servo panel is made up of six Nixie tube displays and four buttons to show various
states, parameters etc. The function of buttons is as below:
: serial number, values add or options forward
: serial number, values decrease or options backward
: return to upper operating menu or cancel operation
: enter into next operating menu or input confirm.
Remark: , keep pressing, this operation keeps repeating, the longer the holding
time, the faster the repetition rate.

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*** 6 bits LED Nixie tube displays system various states and data. All Nixie tubes or
rightmost Nixie tube’s decimal point display flickering indicates alarming.
***operation is executed according to multi layer manipulation menu, the first layer is main
menu, including eight operating modes. The second layer is function menu of various
operating modes. The main menu operating block diagram is as below:
Display state Display meaning

State monitor

Parameters

Parameters operating

Internal speed running

Jog

Coded disk adjust

Open loop run

3.2 monitor type

Choose “UN-” in the first layer, and press then you enter into monitor way; there are

22 kinds display state, press , to choose needed display mode.

Display state Display code Display meaning Example

Motor rotate This means the rotate

speed speed of motor is 500rpm

Current position

5 lower

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Current position

5 higher

Pulse instruction

5 lower

Pulse instruction

5 higher

Position deviation

5 lower

Position deviation

5 higher

Motor torque

Motor current

Current linear

velocity

Control way

Pulse frequency

Speed instruction

Torque

instruction

Rotor absolute

position

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 Input signal state

Output signal

state

Coded disk signal

state

Run state

Alarm code

Reserved

3.3 parameters setting

Choose “PN-” in the first layer, and press then enter into parameters setting mode.

Press choose parameter no., press , display the value of this parameter, press

to modify parameter’s value. Press for one time, parameters increase 1 or

decrease 1, press and hold on , parameters can increase or decrease continuously.

When parameters are modified, rightmost LED Nixie tube decimal point lighten, press

to confirm modified value effective, at the moment, LED Nixie tube extinguish, modified

value will be reflected to control, then press can continue to modify parameters.

After modifying parameters, you can continue to modify parameters, when finishing it, press

return to parameters choosing state. If you’re not satisfied with the modifying value, do

NOT press to confirm, press to cancel, parameters will recover to original value,

and return to parameters choosing state.

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3.4 Parameters management

Parameters management mainly deal with the operation between storage and EEPROM,

choose “Sn-” in the first layer, and press then enter into parameters management mode.

First, you need to choose operation mode, there are 5 kinds modes, press , to

choose. Take “parameters write in” for example, choose “Sn-Set”, then press and hold

on more than 2 seconds, if the operation is successful, display shows“DONE”, if failing,

then shows “ERR”. You can press to return to operation mode choosing state.

 Sn － SEt parameters write in, it means writing parameters in storage in EEPROM’s

parameters area. Users modify parameters, only changed parameter value in storage, it

27
 will recover to original value when power is on next time. If you want to change

parameter’s value permanently, then you need to execute parameters write in operating,

write parameters in storage in EEPROM’s parameters area, then when power is on, the

modified parameters will be used.

 Sn － rd parameters reading means read data in parameters area of EEPROM to

storage. This process will be executed by automatically when power is on, at the start,

the storage parameter values are the same as the values in parameters area of

EEPROM. But if users modify parameters, then the parameter values in storage will

be modified, too. When uses are not satisfied with modified parameters or parameters

are disordered, execute parameters reading operating, can read data in parameters area

of EEPROM to storage, recover to parameters that power just is on.

 Sn－SS reserved
 Sn－rS reserved
28
Sn－dEF recover default value means reading all parameters’ default value (factory
value.) to storage and write in parameters area of EEPROM, default parameters will be
used when power is on next time. When users disorder parameters, servo couldn’t work
normally, use this operation, can make all parameters restore factory default. Because
different drive models corresponding parameters default value is different, when using
restore default parameters, must confirm motor ID (parameter PN1) right.

3.5 F1 operational mode (panel test function)

Choose “F1-” in the first layer, and press then enter into speed test run mode.

Speed test run prompt is “S”, value’s unit is r/min. Speed instruction is provided by buttons,

using , can change speed instruction, motors run according to given speed.

control speed positively increase, control speed positively decrease (negatively

increase). Display speed is positive value, motors forward run; display speed is negative

value, motors reverse. Remark: speed mode is continuous motion, please make sure that

motion axis has enough moving distance, in case shocking limit

Remark: if there is not enable signal, please set PN95 parameter “1”, otherwise motors

couldn’t run.

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3.6 F2 Operational Mode (jogging test run function)
Choose “F2-” in the first layer, and press then enter into jogging run mode. JOG

run prompt is “J”, value unit is r/min, speed instruction is provided by buttons. After

entering into F2 operation, press and reserve, motors run according to jogging speed,

loosen the button, motors stop running, keep zero speed; press and hold on, motors are

inverted running according to jogging speed, loosen the button, motors stop running, keep

zero speed, jogging speed is set by parameter PN22.

Remark: if there is not enable signal, please set PN95 parameter “1”, otherwise motors

couldn’t run.

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3.7 Others
F4 is photoelectric encoder zero setting function, motors manufacturer can use this function,

users please do NOT use it.

F5 function reserved.

Chapter Four Parameters

There are 127 parameters can be adjusted in US200 series servo, it can satisfy
numerous demands by adjusting parameters when use. Don’t change motor’s mating
parameters optionally, otherwise it will turn up unexpected outcomes. Pn5-Pn16 are position
control parameters, Pn17-42 are speed control parameters, Pn43-Pn50 are current control
parameters, Pn51-Pn59 are I/O control parameters. Pn60-Pn96 are motor’s mating
parameters. Pn97- Pn127 are internal position control parameters and communication
control parameters.

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No. Name No. Name
0 Parameter password 22 Jog speed
1 Motor ID 23 Enable delay

Back to zero absolute locating

2 Software version 24
number of pulses
3 the initial display status 25 Reserve

4 Control mode 26 Back to zero speed

Back to zero complete
5 Position proportion gain 27
affirmation range
6 Position feed-forward 28 Reserve
Position feed-forward low pass filter
7 29 Acceleration time constant
cut-off frequency
Position instruction pulse input
8 30 Deceleration time constant
mode
Position instruction pulse
Position instruction pulse frequency
9 31 frequency demultiplication
demultiplication molecule
molecule 1

Position instruction pulse frequency Speed feed-forward filter

10 32
demultiplication denominator coefficient

Position control motor’s rotation

11 33 Speed 1
direction
12 Location complete range 34 Speed 2
Position out of tolerance detection
13 35 Speed 3
range
Position out of tolerance error
14 36 Speed 4
invalid
15 Position instruction smooth filter 37 Speed 5

32
16 Drives forbid input invalid 38 Speed 6
17 Speed proportion gain 39 Speed 7
18 Speed integral time constant 40 Speed 8
19 Speed detection low pass filter 41 Encoder output pulse molecule
Encoder output pulse
20 Rated rotate speed 42
denominator
21 Reaching speed 43 Current loop proportion gain

44 Current loop integral time constant 73 Currents sampling filter time

Overload torque monitoring
45 Internal torque 1 75
point
46 Internal torque 2 76 Overload max. torque
47 Internal torque 3 77 Overload max. overload time
48 Internal torque 4 78 Max. braking time
Speed amplifier saturation
49 Torque setting 79
monitoring time
50 Torque instruction filter 80 Speed feed-forward coefficient
Input port lower four bits forcible
51 82 Input pulse filter frequency
efficiency
Input port higher four bits forcible
52 83 Keys response time
efficiency
53 Input port lower four bits negation 84 Current monitoring coefficient
Input port higher four bits
54 85 Position shift clear way
negation
55 Output port negation 86 Coded disc line number
56 IO sampling time 87 Encoder zero bias
The current of encoder mask
57 The second position proportion gain 88
zero setting
58 Encoder breaking line detect invalid 89 Motor thermal overload
59 Production date 90 Motor thermal overload torque

33
60 Motor inertia ratio 91 Motor thermal overload time
61 Motor rated torque 92 Motor number of pole-pairs
62 Motor rated speed 93 Open loop running current
63 Motor max. rotate speed 94 Open loop running speed
64 Motor rated current 95 Forcible enable
Max. overload capacity that system
65 96 Module current value limit
allows
Internal position 0 cylinder
66 Current integral separation point 97
number
Internal position 0 pulse
67 Current proportion gain change rate 98
number
The speed of internal position
68 Current instruction low pass filter 99
0 location
Internal position 1 cylinder
69 Speed integral separation point 100
number
Internal position 1 pulse
70 Output port 1 function choose 101
number
The speed of internal position
71 Output port 2 function choose 102
1 location
Internal position 2 cylinder
72 Output port 3 function choose 103
number
104 Internal position 2 pulse number 116 Input port 6 definition
The speed of internal position 2
105 117 RS485 communication address
location
106 Internal position 3 cylinder number 118 RS485 communication rate
RS485 communication
107 Internal position 3 pulse number 119
protocol
The speed of internal position 3 Position / speed integral
108 120
location saturation fault detection

34
 Internal position acceleration and
109 121 Input port is chosen by control
deceleration
110 Input port 0 definition 122 Reserve
111 Input port 1 definition 123 Reserve
112 Input port 2 definition 124 History alarm record
113 Input port 3 definition 125 Torque mode rate-limiting
114 Input port 4 definition 126 High speed torque coefficient
115 Input port 5 definition 127 FPGA software version

4.1 Various parameters function meaning detailed chart

Parameterr
No. Name Function
ange
1. passwords divide ranks, correspond users
parameters and system parameters
Parameters
0 2. if you want to modify motor’s ID(Pn1), must set 0~300
password
this 0, users parameter’s password is 168, system
parameters please consult manufacturer.
Used as mating motor model. Every motor only has
one ID, only after setting password Pn0 to 0, then
1 Motor ID can modify this parameter. After completing 0~100
setting, need to execute EE-SET then it works.
Please manipulate this parameter carefully
2 Software ID Reserve manufacturer use

35
 Choose drive power on display status
0: display motor rotate speed;
1: display current position lower 5 bits;
2: display current position higher 5 bits;
Initial display
3 8: display motor current; 0~20
status
11: display position instruction pulse frequency;
12: display speed instruction;
13: display torque instruction;
14: display first turn rotor absolute position.
This parameter can set drive’s control mode:
0: position control mode;
1: internal position/ speed/ torque control mode;
4 Control mode 2: internal speed running control mode; 0~5
3: jogging control mode.
Internal position/ speed/ torque is decided by I/O
port.
Set position loop regulator’s proportion gain:
The larger the setting value, the higher the gain, the
Position larger the rigidity, under the same frequency
5 1~1000
proportion gain instruction pulse condition, the smaller the position
hysteresis. But if the value is too large, it may
cause vibration or overshoot.
Position loop’s feed-forward gains increase, control
system’s high speed response characteristics
Position enhance, but it may cause system’s position loop
6 0~100
feed-forward unstable, will generate vibration easily. Unless the
response characteristics are very high, position
loop’s feed-forward gain generally is 0.
Position
Set position loop feed-forward quantity’s low pass
feed-forward
filter cut-off frequency, the higher the cut-off
7 low pass filter 1~1200
frequency, the better the tracking, but it will
cut-off
frequency oscillate easily.

36
 Set position instruction pulse input mode.
0: pulse + symbol;
1: CCW pulse /CW pulse;
Position
CCW is from servo motor’s axial direction
instruction observation, anti-clockwise direction rotating is
8 0~2
pulse input defined as a positive;
mode CW is from servo motor’s axial direction
observation, clockwise direction rotating is defined
as a negative;
2: A/B orthogonality pulse.
Position
instruction
9 pulse fractional Electronic gear ratio molecule 1~32767
frequency
molecule
Position
instruction
10 Electronic gear ratio denominator 1~32767
pulse fractional
denominator
Position control
0: normal
11 motor rotation 0~1
1: direction negation
direction
Setting under position control, location completion
Position pulse range:
12 completion This parameter provides proof of under position 0~30000
range control mode, drive units judge whether complete
location
Setting position over proof alarm detection range:
Position over under position control mode, when position
13 proof detection deviation counter’s count values exceed this 0~30000
range parameter’s value, servo drive units will give out
position over proof alarm

37
 Position over 0: position over proof alarm detection effective
14 proof error 1: position over proof alarm detection invalid, stop 0~1
invalid detecting position over proof error.
Instruction pulse smooth filtering, acceleration and
Position deceleration that with exponential form, values
0ms~20000
15 instruction express time constant; filters won’t lose input
×0.1ms
Smooth filter pulse, but the instruction will delay; when setting is
0, filters won’t work.
Drives forbid 0: CCW, CW inputs forbid effective;
16 0~1
input invalid 1: cancel CCW, CW inputs forbid.
Setting speed loop regulator’s proportion gain:
1. The larger the setting value, the higher the gain,
Speed 5Hz
17 the larger the severity;
proportion gain ~2000Hz
2. The larger the load inertia, the larger the setting
value.
Setting speed loop regulator’s integral time
constant:
1. The smaller the setting value, the quicker the
Speed integral integral speed, the larger the severity; 1ms
18
time constant 2. The larger the load inertia, the larger the setting ~1000ms
value. Start and stop frequently, in low power
applications, the setting is small, prevent
overshoot.

38
 Setting speed detection low pass filter
characteristics:
1. The smaller the value, the lower the cut-off
frequency, the smaller the motor noises. If load
inertia is very large, you can decrease setting
Speed detection
19 values properly. If the values are too small, cause 1%~500%
low pass filter
slow response, it may induce oscillatory;
2. The larger the values, the higher the cut-off
frequency, the quicker the speed feedback
response. If you need higher speed response, you
can add setting values properly.
Rated rotate
20 Motor’s rated rotate speed 0~ 4000
speed
21 Reaching speed Setting output signals reach effective speed values. 0~3000
-3000~3000r
22 Jogging speed Setting jogging running speed
/min
23 Enable delay 0-1000ms
Absolute
Exact position when in external trigger orientation
location pulse
24 control mode. 0-65536
numbers when
Actual running position is setting value*2
orienting

25 Reserve Reserve

External trigger orientation control speed, by

Orientation 0~3000
26 setting positive and negative speed to decide
speed r/min
rotation direction when locating.
Orientation
completion Identification scope when in external trigger
27 0-10000
identification orientation control mode.
scope
28 Reserve Reserve

39
 Setting values show the motor’s acceleration time
from 0r/min~1000r/min. Acceleration and
Acceleration 0ms
29 deceleration characteristics are linear.
time constant ~1000ms
Only used as speed control mode, position control
mode is invalid.
Setting values show the motor’s acceleration time
from 1000r/min~0r/min. Acceleration and
Deceleration 0ms
30 deceleration characteristics are linear.
time constant ~1000ms
Only used as speed control mode, position control
mode is invalid.
Position
instruction
31 pulses fractional Position control the second gear ratio molecule 1～65536
frequency
division
Speed
Setting speed loop feed-forward quantity low pass
feed-forward filter cut-off frequency, the higher the cut-off
32 0～1000
filtering frequency, the better position tracking, but it’s easy
coefficient to oscillate.

Internal speed control mode: by external I/O point

status to control speed , for example SC1 SC2 SC3:

Pn33: OFF OFF OFF

Pn34: ON OFF OFF
-3000~
33 Speed 1 Pn35: OFF ON OFF
3000r/min
Pn36: ON ON OFF
Pn37: OFF OFF ON
Pn38: ON OFF ON
Pn39: OFF ON ON
Pn40: ON ON ON
-3000~
34 Speed 2
3000r/min
-3000~
35 Speed 3
3000r/min

40
 -3000~
36 Speed 4
3000r/min
-3000~
37 Speed 5
3000r/min
-3000~
38 Speed 6
3000r/min
-3000~
39 Speed 7
3000r/min
-3000~
40 Speed 8
3000r/min
Encoder output Every circle feedback pulse from encoders output
41 1~65536
pulse molecule by this gear in the drive units.
Encoder output
Every circle feedback pulse from encoders output
42 pulses 1~65536
by this gear in the drive units.
denominator
1. The larger the setting values, the higher the
gain, the smaller the current tracking deviation, but
Current loop if gain is too large, will generate vibration or
43 1～500
proportion gain noises;
2. Related to servo and motor;
3. Not related to load.
1. The smaller the setting values, the quicker the
integration speed, the smaller the current tracking
deviation. But if integral is too small, will generate
Current loop
vibration or noises;
44 integral time 1~10000
2. Related to servo and motor;
constant
3. Not related to load
4. In terms of system not oscillating, try to set
larger.
Internal torque control mode: the size of torque is
controlled by the state of external I/O point. For
example: T0 T1:
45 Internal torque 1 Pn45: OFF OFF 0%~300%
Pn46: ON OFF
Pn47: OFF ON
Pn48: ON ON

41
46 Internal torque 2 -300%~0%
47 Internal torque 3 0%~300%
48 Internal torque 4 -300%~0%
49 Torque setting Internal speed running, jogging running torque. 0~300%
1. Setting torque instruction filter characteristics.
Can restrain resonance that torque generated
(motors generate sharp vibration noises )
2. The smaller the values, the lower the cut-off
Torque
50 frequency, the smaller the noises that motors 1%~500%
instruction filter
generated. If load inertia is very large, can decrease
setting values properly. If the values are too small,
causing response slow down, it may cause
instability.
Input port four
bits lower
51 Input signal four bits lower force ON 0-15
forcible
efficiency
Input port four
bits higher
52 Input signal four bits higher force ON 0-7
forcible
efficiency
Input port four
Input signal four bits lower negation, used for
53 bits lower 0-15
matching input signal contact’s level.
negation
Input port four
Input signal four bits higher negation, used for
54 bits higher 0-7
matching input signal contact’s level.
negation
output port Output signal negation, used for matching output
55 0-15
negation signal’s level.
I/O port 1~1000*0.1
56 I/O signal sampling time
sampling time ms
The function is same as PN5, in system, this
The second
parameter is as position proportion gain in reality,
57 position 1-65536
this is decided by external I/O, by default, PN5 and
proportion gain
system internal position proportion gain.
42
 Encoder broken
0: detect broken line
58 line detection 0~1
1: not detect broken line
invalid

59 Production date Indicate drive’s production date

Motor inertia
60 Setting motor inertia ratio 1～32767
ratio
Motor rated
61 Setting motor rated torque 1～1000
torque
Motor rated 0～4000
62 Setting motor rated rotate speed
rotate speed r/min
Motor max. 0～5000
63 Setting motor max. rotate speed
rotate speed r/min
Motor rated Setting motor rated current 1～
64
current Setting value is valid value. 500×0.1A
System allowed
65 max. overload Setting system allowed max overload multiple 0～300%
capacity
When current deviations exceed this setting value,
Current integral
66 current loop from PI turn to P, value is percentage 0～500%
separation point
of rated current.
Setting current proportion gain change rate, when
Current
large current is deviation, need to enhance current
67 proportion gain 100～400%
gain in order to enhance current response speed,
change rate
generally is 100%.
Setting current instruction low pass filter cut-off
Current frequency.
68 instruction low Used as limiting current instruction frequency 1～1500HZ
pass filter band, avoid current surge and vibration, make
current response smooth.
Speed integral When speed deviations exceed this setting value, 0～3000
69
separation point speed from PI turn to P. r/min

43
 Setting output port 1 function:
0: braking output function;

Output port 1 1: servo alarm output;

70 function 2: position reaching; 0-5
selection 3: speed reaching;
4: servo get ready;
5：back to zero completion.
Output port 2
71 function Setting output port 2 function: refer to Pn70 0-5
selection
Output port 3
72 function Setting output port 3 function: refer to Pn70 0-5
selection
In order to satisfy different occasions’

Current requirements, set different parameters to satisfy

73 sampling requirements of speed smoothness and quick 1～25
filtering time response.The more times, the slower system
responses, more stable the smaller the vibration.
Setting overload protection’s start torque value,
rated percentage. When motor current torque
Overload torque
75 exceeds this value, system internal overload 0-300%
detecting point
counters work,after counting values exceed,
system output overload alarm.
Setting overload point’s torque, motor’s overload
Overload feature characteristics are made up of this parameter and
76 0-300%
points’ torque Pn77,set by motor overload characteristics
parameters,note that Pn76>Pn75.
Overload point
0-3000×10
77 max. overload Refer to Pn76
ms
time
78 Reserve Reserve

44
 When system internal speed regulator continuous
Speed
saturation time exceed this value,will generate
amplification 0-3000×10
79 speed saturation alarm to prevent machinery stuck
device ms
or continuous large current caused by other
saturation time
reasons.
Speed loop’s feed-forward gain increases, control
system’s high speed response characteristics
Speed
enhance, but it will cause system position loop
80 feed-forward 0~5000
unstable, it’s easy to generate vibration. Unless
coefficient
very high response characteristics are needed, this
feed-forwards coefficient generally is 0.
Input pulse Setting input pulse passing frequency, unit 1 shows
82 filtering 1KHZ; setting to 500 shows system max. passing 1-10000
frequency frequency is 500KHZ
83 Key period Key response time 2~200
Current
Current detecting coefficient, system setting
84 detecting 1~32767
couldn’t be changed optionally.
coefficient
0: under not enabled status, position
deviation,instruction pulses accumulation zero
Position shift clearing;
85 0-1
clear way 1:under not enabled status, position
deviation,instruction pulses accumulation don’t
reset, continue counting
Coded disc line
86 Encoder line number 1-65536
number
Encoder zero
87 Deviation angle of encoder zero and U phase 1-65536
bias
Coded disc zero Setting encoder zero current, percentage, couldn’t
88 0-300%
current be too large to prevent motor overheating
Motor heat
89 overload torque Heat overload using I*I*T to calculate 10-300%
detecting point

45
 Motor heat
90 This parameter’s setting is greater than Pn89 10-300%
overload torque
Motor heat
91 Setting heat overload max.time 0-1000S
overload time
Setting servo motors pole-pairs, different
Motor
manufacturers, different models, motors may be
92 pole-pairs 1~36
different, couldn’t modify this parameter
number
optionally
Open loop 1～
93 Setting open loop max. Current
running current 100×0.1A
Open loop 0～3000
94 Setting open loop running rotate speed
running speed r/min
0: servo enable is controlled by external I/O
95 Forcible enable 1: after power is on, servo auto enable, no need an 0~1
external signal
System max
96 allowed current Reserve 0-800
1
Setting internal position 0 precision position
When in internal position control:aim position is

Internal position confirmed by these two parameters, position 0=

97 0 cylinder Pn97*10000+ Pn98*2 0~4000
number For example: Pn97=2 Pn98=1000
Show internal position
motion=2*10000+2000=22000 units
Internal position
98 1~65536
0 pulse number
Internal position 0～3000
99 Locate to internal position 0 running speed
0 location speed r/min
Internal position
Setting internal position 1 precision position, refer
100 1 cylinder 0~4000
to Pn97 Pn98
number
Internal position
101 1~65536
1 pulse number
46
 Internal position 0～3000
102 Locate to internal position 1 running speed
1 locating speed r/min
Internal position
Setting internal position 2 precision position, refer
103 2 cylinder 0~4000
to Pn97 Pn98
number
Internal position
104 1~65536
2 pulse number
Internal position 0～3000
105 Locate to internal position 2 running speed
2 locating speed r/min
Internal position
Setting internal position 3 precision position, refer
106 3 cylinder 0~4000
to Pn97 Pn98
number
Internal position
107 1~65536
3 pulse number
Internal position 0～3000
108 Locate to internal position 3 running speed
3 locating speed r/min
Internal position Internal locating accelerated and decelerated
109 accelerated speed time, the larger the setting value, quicker 0~2000
speed the accelerated speed

Input port 0 Servo enable function, this input port couldn’t

110 1
definition define other function

47
 Used as defining input port function, convenient
for users to use setting value and functions as
below:
0：no define, no function
1：servo enable
2：alarm clear
3：input pulse forbid
4：position deviation counter zero clearing
5：speed instruction input0
6：speed instruction input 1
7：speed instruction input 2
8：back to zero signal input
Input port 1
111 9：position gain switch over 0-21
definition
10：position gear ratio molecule switch over
11：null
12：torque instruction input 0
13：torque instruction input 1
14：positive drive forbid
15：negative drive forbid
16：internal position instruction 0
17：internal position instruction 1
18: internal position running start 19 ： internal
control mode choose 0
20：internal control mode choose 1
21：orientation control function
Input port 2
112 Refer to Pn111 0-21
definition
Input port 3
113 Refer to Pn111 0-21
definition
Input port 4
114 Refer to Pn111 0-21
definition

48
 Input port 5
115 Refer to Pn111 0-21
definition
Input port 6
116 Refer to Pn111 0-21
definition
Communication When multi drives communication, setting station
117 0-127
address no.
Communication rate:
0：4800
1：9600
Communication
118 2：19200 0-5
rate
3：38400
4：57600
5：115200
Transmitting protocol, using RTU mode:
0：8 O 1 （MODBUS, RTU）
Communication
119 1：8 E 1 （MODBUS，RTU） 0-1
protocol
Remark: 8 shows 8 bits data; E shows 1 even bit;
O shows 1 odd bit; 1 shows 1 end bit
Position/ speed 0：detecting integral saturation fault;
integral
120 1：not detecting integral saturation fault; 0-1
saturation fault
detection
Input port is
Setting I/O port controlled object:
chosen
121 0：is controlled by external input terminal CN1; 0-1
by
1：is controlled by RS485 communication
control
122 Reserve
123 reserve
History alarm Record alarm codes that happened in last time, in
124 0-100
record order to trace trouble
Torque mode
125 Limit to rotate speed in torque control mode 0-4000
rate-limiting

49
 High speed
126 torque High speed torque promotion coefficient 0-500
coefficient
FPGA version
127 Show matched FPGA version 0-1000
show

4.2 parameters adjusting diagram model

输入脉冲形式 input pulse type 电子齿轮比 Electronic gear ratio

位置前馈 position feedforward 前馈低通 feedforward lowpass 位置增益 position gain
加减速时间 time of acceleration or deceleration 速度 PI speed PI
电流低通 Current lowpass 电流 PI current PI 位置计算 position calculate
速度低通 speed lowpass 电流检测 current detection

4.3 servo key parameters description

Because the default motor matched specification has been optimized, so in most

application occasions, can use it directly, no need to adjust parameters (except

electronic gear ratio). But the actual machines are complicated. If there are abnormal

situations or need very high response, then need to adjust parameters to satisfy

requirements. The adjusting principle is, first, current loop, then speed loop, at last

position loop.

Current loop generally do not need to been adjusted, except individual occasions. If the

speed response is too quick, will cause current surge, AL11 will alarm. Adjusting PN64 to

50
solve it.

Speed loop: You can enlarge PN17 or minish PN18 to get higher speed response occasions.

But if PN17 is too large, it’s easy to vibrate. In large load inertia occasions, if load motor

slowdown and stop unsteadily, left and right shake, then increasing PN18 to solve it.

Position loop: You can enlarge PN5 to get higher position response occasions. In some

occasions, need to enlarge PN6. But if PN5 and PN6 set too large, it’s easy to vibrate. The

setting’s precondition is to adjust PN5 in priority, only in short distance and high response

situation, need to adjust PN6.

Electronic gear ratio: 1) please refer to below formula if calculated by rotate speed

f ×( PN9/PN10)=10000

f indicates pulses that sent from upper computer, unit is KHZ/circle

namely if know the pulses that sent from upper computer, motor or load runs a circle, then

you can calculate electronic gear ratio setting values according to above formula.

2）calculating according to position precision

（lead/ pulse equivalent）×( PN9/PN10)=10000

For example, if screw lead is 5mm, motors connect directly with lead screw, motors run a

circle, load moves 5mm. if precision is required to be 0.001mm, motors need 5000 pulses

then can run a circle; namely：PN9=2，PN10=1

Pulses input mode: supporting pulses add direction. Double pulses (positive and negative

pulses) A/B orthogonal pulses input, setting PN8.

4.4 parameters debugging steps in practical application

In the process of debugging or application, if there are vibration, noises or couldn’t
reach control accuracy; you can adjust system’s parameters to satisfy control requirements.
When motors are in the state of static locking, if there are vibration or sharp noises,
please turn down Pn43 parameter values; if in not vibration condition, this parameter should
set larger. The larger this parameter, the better the current tracking effect, the quicker the

51
motor response speed; but if this parameter is too large, it’s easy to generate vibration or
noises.
(1): speed control mode parameters adjustment
1) [speed proportion gain] (parameter Pn17) setting value, in not vibration condition,
try to set larger. General situation is the larger the load inertia, the larger the setting values;
② [speed integral time constant] (parameter Pn18) setting value, try to set it smaller
according to given condition. If setting value is too small, the response speed will enhance,
but it’s easy to generate vibration. So in not vibration condition, try to set it smaller. If the
setting values are too large, speed change will be larger in the condition of loads change.
(2): position control mode parameters adjustment
1) please refer to above method to set suitable[speed proportion gain] and [speed
integral time constant];
2) [position feed forward gain] (parameter Pn6) set to 0%;
3) [position proportion gain] (parameter Pn5) setting values, in stable range, try to set
it larger. If setting value is too large, position instruction has a good tracking performance,
hysteresis deviation is small, but if stop locating, it’s easy to generate vibration. If the setting
values are smaller, system is in stable state, but position tracking performance is getting bad,
hysteresis deviation will be larger.
4) if you want position tracking performance is better, you can increase Pn6 setting
values; but if too large, will cause overshoot.

Chapter Five Operation and Debugging

5.1 Debugging special remarks

1) (large/ medium power model: above 1KW) servo drives connect AC three phase
220V power to power input terminals, three phase connect L1, L2, L3, single
phase connect L2, L1.
2) (small power model: below 1KW) servo drive single phase connect L,N.
3) motor power line U, V, W, PE, the sequence couldn’t inversely connect.
4) above is the connection method of drives, if connect wrongly, it may cause burning
down, motors won’t rotate, alarming. Please check wiring carefully, don’t connect
wrongly or inversely.

52
Power getting through timing sequence is as below:
1) after power is on, 1s later, servo alarm signal output, 1.5s later, get ready for signal
output, 10ms later, response enable signal, within 10ms, motor excitation locking; waiting to
run.

5.2 position control way operation

1) connect control circuit power and main circuit power, drive unit’s display lighten.
If there are alarming, please check wiring.
2) setting parameters as below:
Parameter No. Parameter Name Definition Setting value
0：position mode
Pn4 Control mode 1 ： internal position 0
mode
Position
0：single pulse
Pn8 instruction pulse 0
1：double pulse
input mode
Gear ratio
Pn9 1
molecule
Gear ratio
Pn10 1
denominator
0：external enable
Pn95 Servo enable 1
1: forcible enable

3) after confirming there isn’t alarm and any abnormal situation, make servo enable
(SON) ON, at this time, motors motivate, at the state of zero speed. If enable signal couldn’t
wire, can set Pn95 to 1 to enable motors automatically.
4) adjust input signal pulse frequency, so motors can run according to instructions.

5.3 speed test run mode operation

1) connect control circuit power and main circuit power, drive unit’s display lighten.
If there are alarming, please check wiring

53
 2) please set parameters as below:
Parameter No. Parameter Name Definition Setting value
0: position mode
1: internal position
Pn4 Control mode 2
mode
2: test run
0: external enable
Pn95 Servo enable 1
1: forcible enable
3) after confirming there isn’t alarm and any abnormal situation, make servo enable
(SON) ON, at this time, motors motivate, at the state of zero speed. If enable signal couldn’t
wire, can set Pn95 to 1 to enable motors automatically.
4) by keys operation, enter into F1 speed test run operation state, speed test run
prompt is “S”, value unit is r/min, system is in speed test run way, speed instructions are
provided by keys, using to change speed instructions, motors should run according
to given speed.

5.4 jogging operation

1) connect control circuit power and main circuit power, drive unit’s display lighten.
If there are alarming, please check wiring
2) please set parameters as below:
Parameter No. Parameter Name Definition Setting value
0: position mode
1: internal position
Pn4 Control mode mode 3
2: test run
3: jogging
0: external enable
Pn95 Servo enable 1
1: forcible enable
3) after confirming there isn’t alarm and any abnormal situation, make servo enable
(SON) ON, at this time, motors motivate, at the state of zero speed. If enable signal couldn’t
wire, can set Pn95 to 1 to enable motors automatically.
4) by keys operation, enter into F2 jogging run operation state, JOG run prompt is “J”,
value unit is r/min, system is in speed control way, speed and direction are determined by
54
parameter Pn22, press , motors run according to speed and direction determined by
Pn22 parameter, press , motors run in negative direction according to given speed.

5.5 internal position/ speed/ torque control mode

1) connect control circuit power and main circuit power, drive unit’s display lighten.
If there are alarming, please check wiring
2) please set parameters as below:
Parameter Setting
Parameter Name Definition
No. value
0: position mode
Pn4 Control mode 1
1: internal position mode
0: external enable
Pn95 Servo enable 1
1: forcible enable
Define as location
Pn111 IN1 definition 18
trigger
Define as orientation
Pn112 IN2 definition 21
start
Define internal mode
Pn113 IN3 definition 19
choose 0
Define internal position
Pn114 IN4 definition 16
0
Define internal position
Pn115 IN5 definition 17
1
Define internal mode
Pn116 IN6 definition 20
choose 1
3) outage, recharge, after confirming there isn’t alarming and any abnormal situation,
make servo enable (SON) ON, at this time, motors motivate, at the state of zero speed. If
enable signal couldn’t wire, can set Pn95 to 1 to enable motors automatically.
4) by switching over IN3/IN6 state, switch position, speed and torque, please refer as
below:

IN3 IN6 input signal state Internal control mode

OFF OFF Position

55
 ON OFF Speed

OFF ON Torque

5) By switching over IN4 IN5 state can achieve four points positioning movement, the
speed and accurate position of 4 points positioning are set by Pn97- Pn109.
IN4 IN5 input signal state Internal control mode
OFF OFF Position A
ON OFF Position B
OFF ON Position C
ON ON Position D

内部位置触发 Internal position trigger 定向启动 directed start 位置 0 Position0

位置 1 position1 内部控制模式选择 1 Internal control option1
56
内部控制模式选择 0 Internal control option0
Other translation pls refer to picture on page 13

5.5.1 internal position application examples

Using internal position control to achieve below 4 points movement mode

Frame is made up of the most simple single chip and this servo system. Single chip is used
as sending three control signals to servo to trigger servo internal position control mode and
running accurate location.

Internal position control application electric diagram

伺服驱动器 Servo drive 单相或 3 相 Single-phase or Tri-phase
简易单片机 Simple Single chip machine 伺服使能 Servo Enable
位置触发 position trigger 定向启动 directed start 位置 0 Position0 位置 1 position1
内部控制模式选择 0 Internal control option0 位置到达 position arrived
内部控制模式选择 1 Internal control option1 抱闸输出 brake output
伺服报警 servo alarm 输出公共端 output common end 接收器 receiver
57
电机动力线 motor power cable 4PIN 航空座 4PIN Aviation plug
省线编码器信号 line encoder signal
By this example can omit high price upper computer for example: PLC motion
controller etc. At the same time, omit the interference of pulses transmitting. All these
guarantee servo accurate location. Within 4 points, repeated location occasions have very
economic cost, and also have excellent control performance.
Control specific description: IN3/IN6 signal connecting OV signal, show choosing
internal position control mode. IN0 signal connecting 0V signal, show choosing after power
on servo, enable automatically. Single chip control process: after power on system, single
chip send a low level signal to servo IN2 signal, start servo orientation back to origin A.
Executing one time every time starting up, equivalently wherever the primary position is,
before work, all are back to fixed position. After servo position back to A point, single chip
sending two electrical level signal to servo IN4/IN5 to control servo from A point move to B,
C, D, finally back to A, complete a circulation. Every time starting trigger is accomplished
by IN2 signal. Rising edge is effective. This system’s characteristics are easy to control,
locating accurately, a powerful anti interference ability. Speed and accurate position of
movement process are set by Pn97- Pn109.
Related parameters that need to set are as below:
Paramete
Parameter Name Definition Setting value
r No.
0: position mode
Pn4 Control mode 1: internal position 1
mode
Define as position
Pn111 IN1 definition 18
trigger
Define as orientation
Pn112 IN2 definition 21
start
Define as internal
Pn113 IN3 definition 19
mode choose 0
Define as internal
Pn114 IN4 definition 16
position 0
Pn115 IN5definition Define as internal 17

58
 position 1
Define as internal
Pn116 IN6 definition 20
mode choose 1
Please refer to
Pn97 Internal position 0 cylinder number specification
description
Please refer to
Pn98 Internal position 0 pulses number specification
description
Internal position 0 positioning
Pn99
speed
Please refer to
Pn100 Internal position 1 cylinder number According
specification
Pn101 Internal position 1 pulse number actual ABCD 4
description
Internal position 1 positioning points
Pn102
speed coordinate set
Pn103 Internal position 2 cylinder number related
Pn104 Internal position 2 pulse number parameters
Internal position 2 positioning
Pn105
speed
Please refer to
Pn106 Internal position 3 cylinder number
specification
Pn107 Internal position 3 pulse number
description
Internal position 3 positioning
Pn108
speed
Acceleration and deceleration time
Pn109
constant when in internal control

59
5.5.2 internal speed application examples

Internal speed and torque mix control application electric diagram

伺服驱动器 Servo drive 单相或 3 相 Single-phase or Tri-phase
简易单片机 Simple Single chip machine 伺服使能 Servo Enable
速度 speed 内部控制模式选择 0 Internal control option0 转矩 0 torque 0
内部控制模式选择 1 Internal control option1 位置到达 position arrived
抱闸输出 brake output 伺服报警 servo alarm 输出公共端 output common end
接收器 receiver 电机动力线 motor power cable 4PIN 航空座 4PIN Aviation plug
省线编码器信号 line encoder signal
Show as above: wiring as above diagram can achieve 8 kinds internal speed regulation
and 4 kinds internal torque control, besides it can switch over mutually. Of which
IN1/IN2/IN3are internal speed switch signals. Internal speed values are set by Pn33- Pn40.
IN4/IN5 are internal speed and torque mode switch signals. Internal torque values are set by
Pn45- Pn48

Servo related parameters set as below:

Parameter
Parameter No. Definition Setting value
Name
0: position mode
Pn4 Control mode 1
1: internal position mode
Pn95 Servo enable 0: external enable 1
60
 1: forcible enable
Pn110 IN0 definition Couldn’t be defined 1
Pn111 IN1 definition Defined as speed 0 5
Pn112 IN2 definition Defined as speed 1 6
Pn113 IN3 definition Defined as speed 2 7
Define internal mode
Pn114 IN4 definition 19
choose 0
Define internal mode
Pn115 IN5 definition 20
choose 1
Pn116 IN6 definition Define as torque 1 13
Pn33 Speed 1
Pn34 Speed 2
Pn35 Speed 3
Pn36 Speed 4
Set related
Pn37 Speed 5
parameters
Pn38 Speed 6 Please refer to parameter
according to actual
Pn39 Speed 7 description
operation speed and
Pn40 Speed 8
torque requirements
Pn45 Internal torque 1
Pn46 Internal torque 2
Pn47 Internal torque 3
Pn48 Internal torque 4

5.6 servo special function application

5.6.1 servo start orientation function
After input ports are set to servo start orientation function, as long as input signal set to
ON, it will start automatically orientation function (except torque control mode) the rotation
direction is decided by Pn26 when in orientation. Oriented accurate position is decided by
Pn24, Pn25. If the setting is single wrap orientation, then accurate position is decided by
Pn24; if the setting is multi-circle orientation, then accurate position is decided by
(Pn25*10000+ Pn24. When input signal is OFF, orientation function close.

61
5.6.2 position gear ratio switch function
After input ports are set to position gear ratio switch function, when input signal is set
to ON, system uses Pn31 values as current input pulses electronic gear. When input signal is
OFF, system uses Pn9 values as current input pulses electronic gear. This function is mainly
applied in the occasions that need dynamic electronic gear ratio.

5.6.3 position gain switch function

After input port is set to position gain switch function, when input signal is set to ON,
system uses Pn57 values as current position loop control gain. When input signal is set to
OFF, system uses Pn5 values as current position loop control gain. This function is mainly
applied in the occasions that need dynamic position gain.

5.6.4 input pulse instruction filter

In actual industrial application occasions, there are many interference, input
pulse instructions might be disturbed by external environment, and cause servo
counting errors, influence servo repetition positioning accuracy. By setting this
filter can prevent interference entering into servo system effectively, improve
system’s anti interference ability.
The relations between setting values and passable frequency are as below:
Pn82 setting value System passable max. pulse
frequency
4000 2MHZ
2000 1MHZ
1000 500KHZ
500 250KHZ

250 125KHZ

100 50KHZ

62
 Chapter Six RS485 Communication

6.1 RS485 communication hardware interface

Our servo drive has RS485 communication, can achieve modifying servo system
parameters, monitoring servo system state and communicating and networking etc. many
functions to adapt particular application requirements.

6.1.1 external connection diagram

外部简略图 External diagram HMI/PLC 等控制器 HMI/PLC controller

6.1.2 multi drives external connection diagram

63
6.2 communication protocol
Our servo system uses standard asynchronous serial master-slave MODBUS
communication protocol, there is only one device host can set up protocol, other device
slave only response the instructions of device host by providing data or execute
corresponding actions according to the instruction of device host. Device host means PC,
industrial control device or PLC etc, device slave means our servo system.
When communication orders are sent to receiving device (slave) by sending device
(host), slaves that accord with corresponding address code receive communication orders,
and read information according to function code and related requirements, if CRC verify
without error, then execute corresponding tasks, and then send back executive outcomes
(data) to host. Returned information include address code, function code, executive data and
CRC check code. If CRC checks make mistakes, then not return any information.
Newsletter frame structure use RTU mode.

6.2.1 communication order code and data description

Function
Definition Operation (binary system)
code
03 Read register data Read one or multi register data
Write one group binary system data into one
06 Write one way register
register
Write multi channel Write multi groups binary system data into multi
10
register registers

6.2.2 function code “03”: read multi channels register input

For example: hosts want to read data of three slaves registers which address is 01, start
address is 0116
Slave (PDM) data register’s address and data is:
Corresponding PDM electric
Register address Register data (hex system)
quantity
0116 1784 UA
0117 1780 UB

64
 0118 178A UC
Host sent message format:
Host sent Word bytes Message Remark
Send to slaves which address
Slave address 1 01
is 01
Function code 1 03 Read register
Start address 2 0116 Start address is 0116
Read 3 registers (altogether 6
Data length 3 0003
bytes)
By the host calculated CRC
CRC code 2 E5F3
code

Slaves (PDM) response returned message format:

Returned
Slave response Word bytes Remark
information
Slave address 1 01 From slave 01
Function code 1 03 Read register
Read words 1 06 3 registers altogether 6 bytes
Memory contents which
Register data 1 2 1784
address is 0116
Memory contents which
Register data 2 2 1780
address is 0117
Memory contents which
Register data 3 2 178A
address is 0118
By the slave calculated CRC
CRC code 2 5847
code

6.2.3 function code“06”: write one way register

For example: host needs to save data 07D0 to slave register which address is 002C
(slave address code is 01). After communication data saved, PDM table which address is
002C original storage information is:

65
 Address Original storage data (hex system)
002C 04B0
Message format that host sending:
Host Word
message Example
sending bytes
Slave
1 01 Sending to slave that address is 01
address
Function
1 06 Write one way register
code
Start address 2 002C Register address that needs writing in
Write in data 2 07D0 Corresponding new data
CRC code 2 4BAF By the host calculated CRC code
Slaves (PDM) responding returned message format: are the same with message format and
data contents that host sends

6.2.4 function code “10”: write multi channel register

Hosts save multi data to PDM table’s data register by using this function. The registers
of Modbus communication stipulations refer to 16 bits (namely 2 bytes), besides MSB first.
Then PDM storage is 2 bytes. Because Modbus communication stipulations allow max. save
60 registers every time, PDM max. allow save 60 data registers one time.
For example: host needs to save 0064, 0010 to slave register which address is 002C,
002D (slave address code is 01). After communication data is saved, PDM table which
address is 002C/002Dstorage information is
Address Original storage data (hex system)
002C 04B0
002D 1388

Message format that host sending:

Host sending Word Message Example
bytes
Slave address 1 01 Sending to slave 01

66
 Function code 1 10 Write multi channel register
Start address 2 002C Start address that needs to write in
registers
Saving data word 2 0002 Word length of saving the data
length (altogether 2 words)
Save data bytes 1 04 Save data bytes length (altogether 4
length bytes)
Save data 1 2 04B0 Data address 002C
Save data 2 2 1388 Data address 002D
CRC code 2 FC63 By the host calculated CRC code

Slave (PDM) response returned message format

Number Number of
Slave response Example
of bytes bytes
Slave address 1 01 From slave 01
Function code 1 10 Write multi channels register
Start address 2 002C Start address is 002C
Save data word
2 0002 Save data that has 2 words length
length
CRC code 2 8001 By the slave calculated CRC code

6.2.5 error check code (CRC verify):

Host or slave can use check code to judge whether the information received is correct or not.
Because of electronic noises or some other interference, there sometimes are some mistakes
while information is transferring,error checking code (CRC) can examine whether the
information is wrong or not while host or slave transfers communication data, wrong data
can abandon (no matter sending or receiving)
This will increase the safety and efficiency of system.
MODBUS communication protocol’s CRC (redundancy recurrent code) include 2 bytes,
namely 16 bits binary system figure. CRC code is calculated by sending device (host), is
placed in the tail of sending information frame. The device of receiving information (slave)

67
will calculate CRC that received the information again, comparing whether CRC that is
calculated with CRC that received conform, if they don’t conform, then indicate there is
error.
Only 8 data bits are used when calculating CRC, start bit and stop bit, if there are parity
check bits, also including parity check bits, all not participate in CRC calculating.
● CRC code calculating method is:
1．Preset one 16 bits register to hexadecimal FFFF (namely all is 1); call this register as
CRC register;
2．The first 8 bits binary system data (namely the first byte of communication information
frame) and 16 bits CRC register’s lower 8 bits xor, and put the outcome into CRC register;
3．Right shift CRC register’s content one bit (towards low bits), fill up top digit with 0, and
check shift out bits after right shift;
4．If shift out bit is 0: repeat the third step (right shift one bit again); if shift out bit is 1:
CRC register and polynomial A001(1010 0000 0000 0001) xor;
5．Repeat step 3 and step 4, until right shift 8 times, then entire 8 bits data all process;
6．Repeat step 2 to step 5, process next one byte of communication information frame;
7．After all bytes of this communication information frame are calculated according to
above steps, calculated 16 bits CRC register’s high and low bytes interchange;
8．The resulting of CRC register content is to be called CRC code.

6.3 the management of communication error information and data

When PDM tables detect errors except CRC code made mistakes, must loop back
messages to host, the highest position of function code is 1, namely function codes that
slaves return to host equal function codes that host sent plus 128. Below codes indicate there
are unexpected errors.
PDM received information from host if has CRC error, then will be ignored by PDM
tables.
PDM returned error code format is as below (except CRC code):
Address code: 1 byte
Function code: 1 byte (the highest bit is 1) \
Error code: 1 byte
CRC code: 2 bytes
68
 PDM response return below error code:
81．Illegal function code;
Received function code PDM tables not support
82．Illegal data position;
Appointed data position exceeds the range of PDM table
83．Illegal data value;
Received data values sent by host exceed PDM corresponding address’s data range.
Computer debugging screenshot is as below:

69
6.4 RTU command
03 read single or multi registers
06 write single register
10 write multi register
6.4.1Application examples
Read multi channel register (for example read PN9 PN10 electronic gear ratio)
01 03 00 09 00 02 14 09
Station number read command 9# address 2 data check bit
Return
01 03 04 00 01 00 01 6A 33
Return result: four bytes, two data respectively is 01 01, namely PN9 PN10=1
Write multi channel register (for example write PN9 PN10 electronic gear ratio)
01 10 00 09 00 02 04 00 05 00 04 22 07
Station number write command 9# address 2 data 4 bytes data 5 and 4 check
bit Return
01 10 00 09 00 02 91 CA
Return result: already write in two byte parameters, check drive, PN9=5 PN10=4
Write single register (for example read servo output current size, namely UN-I address is
148)
01 03 00 94 00 01 C5 E6
Return: 01 03 02 00 03 F8 45 indicate read data is 03 show 0.3A
Remark:
① read monitoring menu address, mainly by 485 communication, let the PC to read, used
for transmitting servo state to PC
70
② monitor menu address:140 ～ 160, sequence is the same as original drive, only insert
motor cylinder number after 154, absolute position do not show the lowest one bit
(display precision is not enough)
③ write input port IO48-IO54 address, use for controlling input point by communication
Input port address is 128～134, output port address is 135/136/137
④ communication port standard use PC servo software debugging, also can use computer
serial ports debugging. USB to RS485 converter must be connected if use computer
debugging.
6.4.2 servo system communication address list

Communication project Communication address Read/write status

Servo parameters 0-00FFH Can read write
Input port status 0080H-0086H Only write
Output port status 0087H-0089H Only read
Monitor menu contents 008CH-00A0H Only read

Remark:
1) need to use communication to control input port status, only need to set PN121to 1,
otherwise invalid.
2) motor absolute position 009BH only show 16 bits information, after read out, need to
multiply 2, then it’s correct position information.

6.5 UniMAT Servo Soft debugging software explain and employ

Our servo debugging software is green software, no need to install. After getting the
software, just keep it in PC, then it will run directly. Connect PC and servo drive, must use
manufacturer specialized debugging communication cable. Use other brand communication
cables will damage drive or couldn’t communicate.
1. Double click UniMAT ServoSoft, enter into first interface show as below:

71
 2. Click serial port to set software will recognize COM port automatically, baud rate
need to set choice according to drive, if not matched, will occur communication error,
software and drive default baud rate 9600; station number is set according to drive, choose
drive models. Other parameters default, save, and then click “connect” button, by this time,
software and drive can communicate normally. Off-line mode use for not connecting drive,
just check software other information.

Serial port setting interface

3. Click parameters management, this interface mainly check and modify drive parameters,
can modify separately or batching modify, this can increase drive debugging efficiency.
72
Function description:
Read: read external parameter table file to current computer software
Save as: save parameter table of current computer software to other file for downloading.
Upload: upload servo drive parameters to computer software.
Send down: download computer software parameters to servo drive. Parameter batch deals.
Send down one by one: download computer software parameters to servo drive. Single
parameter deals.
Save: directly save modified parameters of current computer software to EEPROM of drive.

Parameters setting interface

4. Run waveform display icon, can four ways gather motor rotate speed, position,
instruction position, torque, current, it’s convenient to debug drive. Detailed instructions
please refer to instructions of testing software.

73
 Run testing interface

Chapter Seven Alarm and process

If the server failure in use, the display will show: AL - xx, please operate according to
this chapter content; after solve the corresponding fault, just can be put into use again.

7.1 Alarm
Alarm code Alarm name Alarm reason
AL-0 Normal
AL-1 Over speed Servo motor speed over the setting
AL-2 Main circuit over voltage Main circuit over voltage
AL-3 Main circuit less voltage Main circuit less voltage
AL-4 Position out of tolerance Motor following tolerance over Pn13 setting
AL-6 Speed amplifier saturation Speed regulator saturation long time
AL-9 Encoder fault Encoder break line or short
AL-10 Control power less voltage Control power±15V lower
AL-11 Over current1 IPM module output current higher
AL-12 Over current2 DSP inspect current higher
AL-13 Over load Servo output torque exceeds
74
 AL-14 Brake fault Brake circuit fault
AL-15 Encoder counter fault Encoder AB phase signal fault
AL-16 Memory fault Internal EEPROM read-write fault
Motor suns 2 cycles, and encoder not find Z
AL-17 Encoder Z pulse fault
pulse
Encoder UVW signal wrong or encoder not
AL-18 Encoder UVW signal fault
matched
Encoder UVW signal
AL-19 UVW signal all high level or all low level
wrong encoding
CPLD communication
AL-20 CPLD communication fault
fault

7.2 Alarm processing method

Alarm
Alarm name Reason Processing
code
1.Pulse frequency of input
Set input instruction pulse
instruction too high
2.Electrical gear ratio too
AL-1 Over speed Set Pn9, Pn10 parameter
large
3,encoder zero wrong Adjust encoder zero
4,motor U,V,W wiring wrong Check wiring
Input L1 L2 L3power voltage
Decrease power voltage
more than AC260V
Main circuit Capacity of brake circuit not Extend the control system
AL-2
over voltage enough (often happen at accelerate or decelerate time
frequently quickly start stop Contact factory to increase
and load inertia is large) brake resistance capacity
Input L1 L2 L3power voltage Check the external reason of
Main circuit
AL-3 less than AC170V low voltage
less voltage
Servo protection Change servo drive

75
 1. Confirm motor UVW line
phase sequence is correct or
not
Operate running, motor not 2. Confirm whether input pulse
run and alarm frequency too high or not
3. Pulse electronic gear ratio
set too large, set Pn9
Pn10 parameters correctly
Position out of
AL-4 Alarm on running(input Confirm input pulse frequency
tolerance
pulse fault) and width
Alarm on running
Set parameter Pn13 to the
(out-of-tolerance range too
greater
small)
Alarm on running (position Increase position gain Pn5
proportional gain too small) setting value
Alarm on running (less More powerful servo drive
torque) motor
Speed amplifier
AL-6 Motor locked Check load mechanical part
saturation

Motor locked Check load mechanical part

Speed amplifier
AL-6 1, decrease load
saturation
Over load 2, replace more powerful drive
and motor
Encoder wiring wrong or
Check or replace encoder line
broken
Field interference Set P n58 to 1
AL-9 Encoder failure
Encoder cable too long
caused encoder voltage too Cut down cables
low
Control power
AL-10 ±15Vcontrol power too low Replace servo drive
less than ±15V
Grounded not good GND correctly
Motor insulation damaged Replace motor
Winding broken Replace motor
AL-11 Over current 1 Servo motor parameter not
Correctly set motor ID no. Pn1
match
The time of accelerate and Increase PC acceleration and
decelerate too short deceleration time

76
 Decrease parameter Pn43 Pn5
Current shock values
Increase parameter Pn64 value
Increase pulse smooth
Input pulse not evenly
parameter Pn15 value
Servo protection Replace servo drive
Motor insulation damaged Replace motor
Over current 2 Grounded not good GND correctly
AL-12
Servo protection Replace servo drive
Machine stuck or high
resistance
AL-13 Over load Servo output torque exceeds Motor model selection is not
reasonable, replace more
powerful drive and motor
Servo protection Replace servo drive units
Increase acceleration and
Capacity of brake circuit not deceleration time constant
AL-14 Brake fault
enough Replace more powerful servo
and motor
Main circuit power too high Check AC input power
Encoder Check or replace motor
AL-15 Encoder wiring wrong
counter fault encoder line

Grounded not good GND correctly

Servo motor not good Replace servo motor
Check whether motor exceed
rated
AL-16 Motor too heat Motor too heat
Whether motor body has
sundries
1, no Z pulse, cable shield Whether motor encoder line
Encoder Z not good insert well or not
AL-17
Pulse fault 2, encoder interface circuit Check or replace motor
fault encoder line
Whether motor encoder line
1,encoder UVW signal
insert well or not
Encoder UVW damaged
AL-18 Check or replace motor
signal fault 2, encoder Z signal damaged
encoder line
3, cable shield not good
Replace servo drive

77
 Encoder UVW signal Whether motor encoder line
Encoder UVW
damaged insert well or not
AL-19 signal wrong
Cable not good Replace motor encoder line
encoding
Cable shield not good Replace servo drive
AL-20 CPLD fault CPLD communication fault Replace servo drive

Special remark: if the servo drive shows alarm, but after power on again, alarm disappears.
As usual caused by the periphery part of Servo drive or incorrect parameter, please check the
servo peripheral parts. Such as: power supply voltage, controller, mechanical load, motor,
etc. If no problem please consult the manufacturer to adjust parameters.
If power on again the electric alarm cannot eliminate, please replace the servo driver to
watch again.

7.3 Common problems or exception handling in the application

1, The running motor has strong vibration or scream when no-load, when load the noise or

positioning not correct..

method: confirm if the servo driver PN1 parameter matches with connected motor,

according to table 7.2, set the correct parameters and restore factory default.

For example: the current motor UM060-00R40-30BA

1) check table appendix A, get motor ID = 1

2) operate the drive set PN0 to 0

3) set the PN1 to motor ID number, PN1 = 1

4) operate the drive into the SN - DEF interface, press the ENTER key on the display for 2

seconds, when the display shows DONE, indicates success.

5) turn it off and then turn on again.

2. Motor running position precision is much different with demand of precision and

regularly

Methods: set up correctly position pulse electronic gear ratio.

The servo system defaults to 10000 pulse motor rotation.If PC control requirement is 3000

pulse the motor one circle, requires setting the gear ratios. By the following formula to
78
calculate

3000 *（PN9 / PN10）=10000

PN9=10 PN10=3

3. The driver electrical level of input and output signal is opposite.

1) set parameters PN53 PN54 PN55 to set the appropriate input/output high level or low

level effectively to adapt to the different controller input/output level required.

4. PC sends pulse the motor is not running
Please confirm PN4 = 0, check UN - 12 monitoring value, if there is a digital display shows
the drive has received pulse, control signal connection no problem. Please solve the problem
referring to method 1. If displayed as F 0.0 then the drive has not received pulses. Please
solve the problem referring to method 2. UN - 12 unit is KHZ, such as display F150, said
the current drive pulse frequency is 150 KHZ.
Method 1:

Set the following two parameters: PN95 = 1 PN4 = 3 performs jog function in F2 model. If

the motor can turn, shows motor, motor power line, the encoder cable connected correctly.

Mainly to check whether CN1 signal has INH signals or CLE signal is ON. Can be found by

viewing UN - 16.

If motor can not turn, then check below:

1) Check if Drive has enabled motor, can turn the motor shaft by hand.If can not then shows

the motor is locked by enable.If can turn then shows no enable, please check if CN1 input

enable signal has connected correctly. If enable signal does not need PC control, and CN1

input enable signal is not connected, you can set PN95 = 1, power on the drive, the motor is

enabled locked automatically.

2) Check if power cable has good connection between the drive and motor socket plug if

loose.if the output end of the drive U V W PE corresponds to the motor U V W PE. Power

cable U V W PE must be good connecting, can not change optionally.

3）contact factory technical support.

79
Method 2:

1) Check the pulse amplitude which input to the drive, standard 5V. If the pulse amplitude is

12V then must is concatenation 1K resistors, if the pulse amplitude is 24V must 2K resistor.

If not as required connect then damage the drive input circuit, causing servo can not receive

pulse;

2) Make sure the correct pulse wiring, wiring: differential and single-ended wiring.

Specifically shown below

Classic application: CNC, motion control

控制器 controller 驱动器 drive 脉冲 pulse

Classic application: PLC, SCM

控制器 controller 驱动器 drive 脉冲 pulse 方向 direction

5. the motor only goes in one direction

80
1) check the input pulse type to the drive, pulse plus direction PN8 = 0; double pulse setting
PN8 = 1; A / B quadrature pulse setting PN8 = 2, and confirm that the drive model is US200
series.
2) observe the UN-12 display state, if PC sent forward signal should show F xx if sent
backward signal then shows F -xx. If sent forward or backward signal, twice are F xx or F
-xx. Please check the PC to the drive direction signal SIGN
3) Please contact factory technical support.
6. High-speed stop or motion from the top down doing negative work, drive shows
AL-3
1) Modify PC deceleration time;
2) reduce motor speed;
3) low-power drive access to an external braking resistor;
4) high power drive, please contact factory technical support.
7. Power on but no display
1）Confirm wiring and input power supply
2）contact factory technical support.
8. Powered driver shows “......”or “888888”
1） Input power supply lose phase, check every phase wiring
2 ） if Servo motor has shorten, and Drive is damaged, then judge the motor damaged
according to running motor axle at empty load status, if running a circle, axle is not smooth
then the motor is damaged.
9. Motor inaccurate position
1）no rule, check the part of motor connecting machine.
2）rule, monitor UN-02 UN-03 UN-04 UN-05 analyze and then get the result.
3）Check interference, use shield signal wire and grounded, install magnetic ring, use shield
motor cable, wire electric control again, separate strong and weak power, install filter.
10. The role of Servo monitor menu at analyze and adjustment
1）UN-01 Motor speed monitor motor real operation speed
2）UN-02 UN-03 Motor present position: monitor motor present position, show as pulse
numbers, e.g. Control fixed track, when repeat operate and go at the same position, the value
should be the same, that means accurate position.
3）UN-04 UN-05 Pulse instruction count, monitor the pulse from the upper correct or not,
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e.g. Control fixed track, when repeat operate and go at the same position, the value should
be the same, that means the pulse from the
upper correct.
4）UN-08 Motor present torque, monitor the motor real operation force. If value over 90 for
long-time, then motor model is small.
5 ） UN-12 input pulse frequency, monitor the pulse frequency from upper high or low or
stable
6）UN-17 input signal status, judge input signal normal or not
7）UN-18 output signal status, judge output signal normal or not

保留 Reserve 输出端子显示 output terminal display ON or OFF

输入端子显示 input terminal display ON or OFF

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Appendix A：US200 Drive and UM Motor parameter configuration table

US200 Drive and assorted UM Motor and PN1 parameter (Motor ID) configuration:

Motor Motor
Motor Part. No. Servo Drive ID No. ID
Flange Power
□60 200W UM060-00R20-30BA 0
400W UM060-00R40-30BA 1
US212-00R8
750W UM080-00R80-30BA 2
□80
1.0KW UM080-01R00-25BA 3
□110 1.5KW UM110-01R50-30DA US232-01R3 12
□130 2.0KW UM130-02R00-25DA US232-02R0 18
Drive should match usage with motor to get the best control result ( Pn1 Motor ID
matches correspondent model, or occur vibration, scream, inaccuracy.
Matches method: 1) Pn0 change to 0
2) Pn1 set as Motor ID No.
3) Enter SN-DEF Menu, press Enter for 2 second, till DONE appears
4) Power off, and on then work normally

Appendix B: After service

If according to correct usage, it has a long-life. But if incorrect use, or the bad environment
over the limited range, it will be damaged. The standard warranty is one year, if incorrect
use or over 12 months, then we will charge for repairing. And please note below:
1) the label is important proof, please do not damage, or will not guarantee
2) Warranty from the purchase date, if can not provide purchasing proof, then 13 months
from factory date.
3) Please contact the local sales office or distributor if you need service.
4) Please packing well for shipping if you need repair.
Below warranty not included:
*Damaged by Incorrect usage, such as incorrect wiring, self-disassembled, remaking, inflow,
oil in etc, man-made damage.
*Damaged by natural disasters, such as lightning, earthquake.

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Shenzhen UniMAT Automation Technology CO., Ltd.

5/F, Building 15-16, Wisdomland Business Park, Road 2 Nantou port, Nanshan District, Shenzhen, China
Sales and Service hot line: 0086-755-86582719
website：www.unimat.com.cn E-mail:[email protected]

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