Ds2 Series User Manual: Ac Servo System
Ds2 Series User Manual: Ac Servo System
Ds2 Series User Manual: Ac Servo System
DS2 SERIES
USER MANUAL
(V1.00)
http://en.dorna.com.cn
1
Contents
SAFETY NOTICE .................................................................................................................................. 6
2
4.4.1 Contents of monitoring display mode .................................................................................... 41
4.4.2 Example of operations at monitoring display mode (dP 00) ................................................. 41
4.5 PARAMETER MODE (PA □□□) .................................................................................................. 42
4.5.1 Remarks at parameter mode ................................................................................................. 42
4.6 AUXILIARY FUNCTION MODE (AF □□) ....................................................................................... 43
4.6.1 Contents of auxiliary function mode ..................................................................................... 43
4.6.2 Example of operations at auxiliary function mode (AF005) ................................................. 44
3
8.2 BASIC FUNCTION SETTINGS ........................................................................................................... 69
8.2.1 S-ON settings......................................................................................................................... 69
8.2.2 Switch of motor rotational directions .................................................................................... 69
8.2.3 Overtravel (OT) settings........................................................................................................ 70
8.2.4 Holding brake settings .......................................................................................................... 72
8.2.5 Selection of servo stop patterns at servo OFF ...................................................................... 77
8.2.6 Instantaneous power off settings ........................................................................................... 78
8.2.7 Motor overload detection value setting ................................................................................. 79
8.3 USING OF ABSOLUTE ENCODERS .................................................................................................... 81
8.3.1 Absolute encoder selection .................................................................................................... 81
8.3.2 Using battery for absolute encoder ....................................................................................... 81
8.3.3 Battery replacement .............................................................................................................. 82
8.3.4 Setting up absolute encoders (AF011) ................................................................................... 82
8.4 POSITION CONTROL OPERATIONS ................................................................................................... 83
8.4.1 Parameter settings ................................................................................................................ 83
8.4.2 Electronic gear ratio settings ................................................................................................ 85
8.4.3 Position instructions.............................................................................................................. 85
8.4.4 Smoothness ............................................................................................................................ 89
8.4.5 Positioning completed signal (COIN) ................................................................................... 89
8.4.6 Positioning near signal (NEAR) ......................................................................................... 90
8.4.7 Pulse input inhibited (INHIBIT) ............................................................................................ 90
8.5 INTERNAL SPEED CONTROL OPERATIONS ....................................................................................... 92
8.5.1 Parameter settings ................................................................................................................ 92
8.5.2 Input signals .......................................................................................................................... 93
8.5.3 Soft start ................................................................................................................................ 93
8.5.4 Encoder signal output ........................................................................................................... 93
8.5.5 Speed instruction reached (VCMP) ....................................................................................... 95
8.6 INTERNAL TORQUE CONTROL......................................................................................................... 96
8.7.1 Parameter settings ................................................................................................................ 96
8.6.2 Input signals .......................................................................................................................... 96
4
10. 5 WARNING LIST......................................................................................................................... 137
10.6 WARNING CAUSES AND ACTIONS ............................................................................................... 137
5
Safety Notice
This section will introduce the main instructions that users shall follow during the
receiving, storage, handling, installation, wiring, operation, inspection and disposal of
the products.
DANGER
◼ Input power
Input power of the servo drive is 220VAC (-15%~+10%) or 380VAC (-
15%~+15%).
◼ When installed to a machine, the servo motor shall be able to do emergency
stop at any moment.
Otherwise, there may be personnel injuries and mechanical failure.
◼ When the power is on, the power supply terminals must be properly housed.
Otherwise, there may be electric shocks.
◼ After power off or voltage withstand test, when the charge indication light
(CHARGE) is on, do not touch the power supply terminals.
Otherwise, there may be electric shocks caused by residual voltage.
◼ Please do trial run (JOG) following the procedures and instructions of this
user manual.
Otherwise, there may be personnel injuries and mechanical failure.
◼ Do not make any alterations to this product. Only qualified/designated
persons can configure, dismantle or repair this product.
Otherwise, there may be personnel injuries, mechanical failure or fire.
◼ Please install stop mechanisms on the machine side to ensure safety.
The holding brake of the servo motor is not a device designed to ensure safety.
Otherwise, there may be injuries.
◼ Please ensure to connect the earth terminal of servo drive with the earth
electrode (the earth resistance of servo drive for power input is below 100Ω).
Otherwise, there may be electric shocks or fire.
ATTENTION: INSTALLATIONS
◼ Please do not block the air inlet and outlet and prevent alien matters entering
the product.
Otherwise, the inner components may be aged and cause failure or fire.
◼ Please install at correct directions.
Otherwise, there may be failure.
◼ During installation, please ensure there is enough space between the servo
drive and internal surface of control cabinet and other electrical parts.
Otherwise, there may be fire or machine breakdown.
◼ Please do not impose too big impacts.
Otherwise, there may be machine breakdown.
6
ATTENTION: WIRING
◼ Please connect wires correctly and reliably.
Otherwise, there may be out-of-control of motor, personnel injuries or machine
fault.
◼ Please DO NOT connect commercial power supply to the UVW terminals of
the servo drive.
Otherwise, there may be personnel injuries or fire.
◼ Please connect the UVW terminals with the servo motor firmly.
Otherwise, there may be a fire.
◼ Please do not house the main circuit cables, input-output signal cables and
encoder cables with the same bushing, or tie them together. During wiring,
the main circuit cables shall be at least 30cm from the input-output signal
cable.
◼ Cables for input-output signal and encoder shall be twin strands or multiple-
core twinning bulk shielding strands.
◼ Maximum length of input-output signal cable: 3m;
Maximum length of encoder cable: 30m.
◼ Even when the power is turned off, there may still be residual high voltage
inside the servo drive, so when the charge indication light (CHARGE) is
on, do not touch the power terminals.
Please connect or check wirings after the charge indication light (CHARGE) is
off.
◼ Please install circuit breakers to prevent external short-circuit.
Otherwise, there may be a fire.
◼ When used in the following places, please take appropriate measures for
shielding:
➢ When there may be interference of static electricity
➢ The place with strong electric field or high intensity field
➢ The place where there may be radioactive rays
Otherwise, there may be machinery breakdown.
◼ When connecting to batteries, pay attention to the polarity.
Otherwise, it may lead to the damage and explosion of batteries, servo drive and
servo motor.
7
ATTENTION: OPERATIONS
◼ In order to prevent accidents, please conduct trial run (JOG) before
connecting to mechanical parts.
Otherwise, there may be injuries.
◼ Before running, please set the appropriate parameters.
Otherwise, the machine may be out of control or have failure.
◼ Please do not turn on/off the power supply frequently.
Because the power section of servo drive has capacitors, when the power is on,
heavy charging current may flow through them. Therefore, if the power is
frequently turned on/off, perseverance of the main circuit components inside the
servo drive may decline.
◼ During JOG operation (AF 02) or advanced gain tuning(AF 201) , please
note that the emergency stop will become ineffective at over-travel.
Otherwise, there may be machinery breakdown.
◼ When the servo motor is used on the vertical axis, please set a safety device,
in case workpiece drops when there is alarm or over-travel. Besides, please
set up zero-position fixation when there is over-travel.
Otherwise, the workpiece may drop when there is over-travel.
◼ Extreme or alternative parameter settings may cause the servo system to be
instable.
Otherwise, there may be personnel injuries and machinery breakdown.
◼ When there are alarms, please reset the alarm after finding out the causes
and ensure operation safety, and then start operation again.
Otherwise, there may be machinery breakdown, fire or personnel injuries.
◼ The holding brake (optional) of the servo motor is designed for maintaining
positions, NOT for servo motor braking at decelerations.
Otherwise, there may be machine fault.
◼ The servo motor and servo drive shall be used in combinations as specified.
Otherwise, there may be fire or machine breakdown.
ATTENTION: MAINTENANCE
◼ Please do not change the wiring when the power is on.
Otherwise, there may be electric shocks or personnel injuries.
◼ When replacing the servo drive, please copy parameters to the new servo
drive, and then start operation again.
Otherwise, there may be machinery breakdown.
8
ATTENTION: OTHERS
◼ In order to give explicit explanations, housing or safety protection devices are
omitted in some drawings in this user manual. During real operations, please
make sure to install the housing or safety protection devices according to the
instructions of the user manual.
◼ Illustrations in this manual are representative graphic symbols, which may be
different from the products that you receive.
◼ During the commissioning and use of servo drive, please install the relevant
safety protection devices. Our company will not bear any liability for the
special losses, indirect losses and other relevant losses caused by our products.
◼ This manual is general descriptions or characteristic which may not always be
the case in practical use, or may not be completely applicable when the products
are further improved.
9
Chapter 1 Product Introduction
1.1 Product inspections
Please check the items listed in the table below carefully, in case there is
negligence during the purchase and transconnector of the product.
Items to inspect Reference
Whether the product received is the Check the product model on the motor and driver
right one you intend to buy? nameplate respectively. Please refer to the notes to
model in following sections.
Rotate the rotor shaft of the motor. If it can rotate
smoothly, the rotor shaft is normal.
Whether the motor shaft runs smoothly? Note that the motor with electro-magnetic brake
(holding brake) cannot be rotated with hands!
Check whether there are any appearance Check visually whether there are any appearance
damages? damages.
10
1.2 Product model identifications
Input power
适用输入电源
伺服驱动器型号
Servo drive model
R
DORNA
MODEL:DS2 P-04AS AC Servo Driver
Voltage:1PH 220VAC
Input Frequency:50/60Hz
Current:4.5A
Voltage:0~200VAC
Output Frequency:0~450Hz
Current:2.8A
11
1.2.2 Model identifications
Note: drive and motor models can be updated from time to time. Please contact our
after-sales service for updated information.
12
◼ Description of the models of DORNA DM2M servo motors
DM 1 M 04 A 60 I 8 S **
DORNA Servo motor Inertia Rated power Voltage class Flange size Encoder Shaft keyway Options Sepcial models
1: servo motor M: medium 01: 100W A: 220V 40: 40mm I: 17-bit 7: no keyway N: nil
02: 200W 60: 60mm L: 23-bit 8: with keyway B: brake
04: 400W 80: 80mm S: oil seal
08: 750W 130: 130mm E: brake & oil seal
10: 1KW
15: 1.5KW
20: 2KW
30: 3KW
Please make regular maintenance and inspection of the drive and motor for safe and
easy use. Routine and periodical inspections shall be carried out according to the
following items
13
Whether the front end of driver and the connector are clean
Whether there the connection with control device and
equipment motor is loose and whether the core feet deviates
Whether there are foreign matters in the load part
Periodical Yearly Whether the fastening parts are loose
Whether it is superheated
inspections
Whether the terminal is damaged or loose
14
Chapter 2 Installations
The installation direction must be in accordance with the regulations, otherwise it will
cause malfunctions. In order to make a good cooling effect, the upper and lower, left
and right with the adjacent items and baffle (wall) must have enough space, otherwise
it will cause malfunctions. The AC servo drive’s suction, exhaust hole cannot be sealed,
nor placed upside down, otherwise it will cause malfunctions.
Correct
In order to lower the wind resistance to the radiator fan and let heat discharge effectively,
users shall follow the recommended installation spacing distance of one or several AC
servo drives (see the figure below) .
>50mm
>20mm >20mm
>50mm
15
2.2 Recommended specifications of circuit-breaker and fuse
■ 220V class
Servo drive case type Circuit-breaker Fuse (class T)
A 10A 20A
B 20A 40A
C 30A 80A
Note:
1. Strongly recommended: the fuse and circuit-breaker must comply with UL/CSA
standards.
2. When an earth leakage circuit breaker (ELCB) is added for leakage protections,
please choose ELCB with sensitivity current over 200mA and action time over 0.1s.
The main circuit of servo drive uses a high-speed switching device, so the peripheral
wiring and earthing of servo drive may be affected by the noise of the switching device.
In order to prevent noise, the following measures can be taken:
◆ Please install EMI filter on the main power supply side;
◆ Connection of AC/DC reactor for suppression of higher harmonic;
◆ Please install the command input equipment (such as PLC) and EMI filter as
close as possible to the servo drive;
◆ The power cable (cable for power supply from servo drive to servo motor) shall
be over 30cm from the input-output signal cable. Do not house them in the same
bushing or tie them together.
◆ Do not use the same power supply with a welding machine or electro spark machine.
◆ When there is a high frequency generating device nearby, an EMI filter shall be
connected to the input side of the main circuit cable.
◆ Ensure the earthing is appropriate.
16
2.3.1 Installation of EMI filter
In order to ensure the EMI filter can fully suppress the interference, please note:
Item Reference
1 Servo drives and EMI filters must be installed on the same metal surface.
2 The wiring has to be as short as possible.
3 The metal surface shall be well grounded.
The metal housing or earthing of both servo drive and EMI filter shall be reliably
4
fixed to the metal surface, with the contact area as big as possible.
The motor power cable shall have shielded (double shielding layer is
5
preferred) .
6 Ground shielding copper with the shortest distance and maximum contact.
An AC/DC reactor can be connected to the servo drive for suppression of higher
harmonic. Please connect the reactor according to the figure below:
AC Reactor DC Reactor
17
2.4 Selection of regenerative resistors
When the motor is outputting torque opposite to the rotating direction, energy is
regenerated from the load to the drive. DC bus voltage will rise and at a certain level,
the regenerated energy can only be consumed by the regenerative resistor. The drive
contains an internal regenerative resistor, and users can also connect an external
regenerative resistor. The table below shows the specifications of regenerative resistor
contained in DS2 series servo drives.
When the regenerative capacity exceeds the disposable capacity of the internal
regenerative resistor, an external regenerative resistor shall be connected. Please note:
Item Reference
1 Please set the external resistor value and capacity correctly.
The external resistance value shall not be smaller than the minimum allowable
2 resistance value. If parallel connection is to be used to increase the power, please
confirm whether the resistance value satisfies the limiting conditions.
In natural environment, when the disposable regenerated capacity (mean value)
of regenerative resistor is used within the limit of nominal capacity, the temperature
3
of resistor will rise to be above 120˚C (under continual regeneration) . In order to
ensure safety, it is suggested to use a regenerative resistor with a thermo-switch.
When external regenerative resistor is used, the resistor shall be connected to P, C
4 end, and P, D end shall be open. External regenerative resistor shall follow the
resistance value suggested in the table above.
18
Chapter 3 Wirings
19
• Internal regenerative resistor: make PD short
Regenerative circuit, PC open.
P, D, C
resistor terminals • External regenerative resistor: connect PC to
external resistor, PD open.
DC bus negative DC bus positive terminal is P. P & N terminals can
N
terminal be used for common DC bus scheme.
Servo motor power
U, V, W, PE Connect with the servo motor
supply terminals
CN1 I/O connector Connect with upper controller
CN2 Encoder connector Connect with the motor encoder
CN3 USB connector For PC communication.
• DS2P: Modbus communication connector
Communication (optional)
CN4/CN5
connector 1 DS2E: EtherCAT communication connector
(optional)
20
R T
1PH 200~230VAC +10%
(50/60 Hz) -15%
EMI Filter
1 Ry PL
OFF 1 MC
ON
1 MC 2
U Motor
L1 3
L2 V M
1 MC W 4
L3 1
L1C Encoder
L2C
P
CN2 G
1 Ry +24V
4 ALM
~ 3 0V
COM
-
Communicational
CABLE CODE DESCRIPTION
1 +5V
2 0V With brake
3 PD+
Motor power(4P)
4 PD-
CODE DESCRIPTION
5 BAT+
1 U
6 BAT-
2 V
7
3 W
8
4 PE
9 FG
21
3.2.2 Configurations and definitions of aviation plug terminals
1) Terminal appearance
87654321
2) Signal definitions
DS2P: pulse type DS2E: EtherCAT type
Pin Name Function Pin Name Function
1 RS485+ RS485 postivie 1 TX+ Data transmission +
2 RS485- RS485 negative 2 TX- Data transmission -
3 GND Digital ground 3 RX+ Data reception +
4 Leave open 4 Leave open
5 Leave open 5 Leave open
22
6 GND Digital ground 6 RX- Data reception -
7 Leave open 7 Leave open
8 Leave open 8 Leave open
Housing FG Shielded cable Housing FG Shielded cable
The RJ45 lamps of CN1 and CN2 of DS2E driver can indicate communication related
information.
3) EtherCAT connections
EtherCAT Controller
L1
L2 Ln
Remarks:
• Connect using a Category 5e Ethernet communication cable.
• The cable length between the stations (L1, L2, ... Ln) must be less than or equal
to 50 m.
23
3.4 Wirings of CN1 (I/O signal connector)
3.4.1 Pin arrangement of CN1 connector
24
⚫ DS2P
8 /PUL Pulse input 7 PULS Pulse input 33 PAO Encoder A 32 DO1 ALM (-)
S (-) (+) Phase -
output (+)
1 9 35 PBO Encoder B 34 /PAO Encoder A
0 Phase Phase
output (+) output (-)
1 DO5 Digital 13 39 38
4 - output 5 (-)
2 23 49 +24V Internal 48
4 24V power
supply
Notes:
1) do not use vacant terminals.
2) Connect the shielding of control line (I/O cable) to the connector housing to
achieve FG
3) Maximum output current of internal 24V is 300mA. If internal 24V is used, internal
5V will lose power very quickly.
25
26
⚫ DS2E
1 9 35 34
0
1 11 37 36
2
1 13 39 38
4
2 21 47 COM+ External 46
2 24V power
input
2 23 49 +24V Internal 48
4 24V power
supply
25 DO4+ Digital 50 24VG Internal
output 4 (+) ND 24V GND
Notes:
4) do not use vacant terminals.
5) Connect the shielding of control line (I/O cable) to the connector housing to
achieve FG
6) Maximum output current of internal 24V is 300mA. If internal 24V is used, internal
5V will lose power very quickly.
27
3.4.2 CN1 signal descriptions
Pin
Mode Signal Function
No.
PAO+ 33
A phase signal
PAO- 34 Two-phase pulse (A phase and B phase)
PBO+ 35 encoder frequency dividing signal output
B phase signal
PBO- 36
PZO+ 19
Z phase signal Original point (Z phase) signal output
PZO- 20
Internal 24V power supply, can provide for DI and DO signals,
+24V 49
can withstand 300mA current
Universal 24VGND 50 Internal 24V power supply ground
ALM+ 31
Servo alarm: OFF when abnormal state is detected.
ALM- 32
COIN+ 29 Positioning completed: Under position control mode, when
COIN- 30 deviation pulse is smaller than PA522, the signal is active.
CZ+ 27
Optocoupler Z phase pulse output
CZ- 28
BK+ 25
External brake signal output
BK - 26
28
3.4.3 Allocation of I/O signals
29
▪ Default signals and corresponding pins of DI 1~ DI 8:
DC24 V DC24 V
+ 24VIN Above 50 mA 3.3K Ω
Above 50 mA 3.3K Ω PC + 24VIN PC
Take the above figure as an example. When the optocoupler is conductive, S-ON signal
is L level; when the optocoupler is not conductive, S-ON signal is H level. Parameter
PA500.2 decides the active level of S-ON. When PA500.0=2, S-ON signal is L level
active; when PA500.2=1, S-ON signal is H level active.
31
diagram:
DC 5V~ 24V
Relay
Servo drive
Opticalcoupler S-RDY+
S-RDY-
0V
▪ Notes:
➢ ALM, WARN: active means alarm; inactive means no alarm.
➢ CZ level status cannot be modified by PA50X.2;
➢ If same signal has been allocated to multiple I/O pins, the higher-grade pin
prevails. For example, DO2 and DO3 are both set to 02 (CZ), then CZ is only
determined by DO3 (higher grade pin).
32
▪ Open collector, option 1 (external 24VDC)
33
Connected by a relay or an open collector transistor circuit. When using relay
connections, select the micro current relay. If you do not use small current relay, it will
cause bad contact.
Servo drive Servo drive
24VDC 24VDC
+24VIN 3.3KΩ
Above 50mA 3.3KΩ Above 50mA +24VIN
Relay
Servo drive
0V
34
▪ Line driver output
Encoder serial data are inverted into differential signals. Please use line receiver to
process the output signals: PAO, /PAO; PBO, /PBO; PZO, /PZO.
220
~
470
35
36
3.5.2 Examples of CN2 connections
*
PAO+ 33 A phase pulse
Serial encoder
P PAO- 34
*
CN4
PBO+ 35 B phase pulse
5 PD+
P PBO- 36
6 PD- P
BAT
Line receiver Line driver
SN75175 etc. AM26LS31 etc.
1 PG5V
PG5V
2 GND
PG0V
FG
Shielding cable
37
3.7 Standard wiring diagram
Panel operator consists of a panel display and operating keys. Panel operator is used
for displaying status, performing auxiliary functions, setting parameters and
monitoring servo drive’s status.
Hold & press↑&↓keys together can clear servo drive alarms. BUT please find out
the cause of alarms first.
38
MOD
39
Display Meaning Display Meaning
Base blockade Reverse driving prohibited
Indicates the state of the servo Indicates that the input signal (N-OT)
OFF (the servo motor is not is in an open state.
energized).
Running Security function
Indicates the status of the servo Indicates that the safety function is
ON (servo motor energization activated, and the servo drive is in the
status). Hard wire base block state.
Forward driving prohibited Alarm status
Indicates that the input signal Flashing display alarm number or
(P-OT) is in an open state. warning number
Display Meaning
Control power ON display
Lights when the servo drive's control power is turned ON.
Off when the servo drive's control power is OFF.
Base block display
Lights up in the base block (servo OFF state).
Off when the servo is turned ON.
Speed and torque control: for speed consistent (V-CMP) display
When the difference between the servo motor speed and the command speed is within the
specified value (set by PA513, the factory setting is 10 min-1), it lights up.
Off when the specified value is reached.
* Always lights up during torque control.
<Supplement>
When the command voltage is affected by noise, the “-” symbol on the upper left of the
panel operator will flash. Please take countermeasures against noise interference.
Position control: for positioning completion (COIN) display
The deviation between the position command and the actual position of the motor is within
the specified value (set by PA522, the factory setting is 7 command units), it lights up; it is
extinguished when the specified value is exceeded.
Rotation detection (TGON) display
When the rotation speed of the servo motor is higher than the specified value (set by PA512,
the factory setting is 20 min-1), it lights up; when it is lower than the specified value, it is
xtinguished.
For speed and torque control: display for speed command input
Lights when the speed command in the input is greater than the specified value (set by
PA512, the factory setting is 20 min-1), and turns off when it is less than the specified
value.
For position control: display for command pulse input
40
Lights when there is a command pulse input. Off when no command pulse is input.
For speed and torque control: display for torque command input
Lights when the torque command in the input is greater than the specified value (10% of
rated torque) and turns off when it is less than the specified value.
For position control: display for clear signal input
Lights when there is a clear signal input. Off when there is no clear signal input.
Power ready display
Lights when the main circuit power is turned ON. Off when the main circuit power is OFF.
At monitoring display mode, user can monitor the set values, I/O signal status and
internal status of the servo drive.
5 End of operations
41
【1】 【2】 【3】
Unassigned decimal.
Hexadecimal.
42
4.5.2 Example of operations at parameter mode (PA100)
Steps Panel display Keys Operations
7 End of operations
Auxiliary functions are used to perform some additional setting & tuning of the servo
drive.
43
4.6.2 Example of operations at auxiliary function mode (AF005)
Ste
Panel display Keys Operations
ps
8 End of operations
44
Chapter 5 Monitoring display
parameters
5.1 List of monitoring display parameters
dP003 The sum of input pulse number in position control [1 input pulse]
mode.
dP005 The sum of deviation pulse number in position control [1 encoder pulse]
mode.
position control.
dP00A Internal torque instruction (to rated torque value) 【%】 int16 0xE00A
Cumulative load factor (take rated cumulative load 【%】 Uint16 0xE00B
dP00B
as 100%)
45
dP014 Instruction pulse frequency [0.1Khz] int16 0xE014
dP030 Effective group of gains (1= 1st group; 2=2nd group) ―― Uint16 0xE030
23-bit: 8388608;
dP164 Motor absolute position value low 32 place 【encoder unit】 int32 0xE164
dP166 Motor absolute position value high 32 place 【encoder unit】 int32 0xE166
dP168 Motor absolute position value low 32 place 【user unit】 int32 0xE168
dP16A Motor absolute position value high 32 place 【user unit】 int32 0xE16A
46
5.2 Input signal monitoring (dP012)
5 End of operations
▪ Upper display
o LED off: signal is inactive
o LED on: signal is active
▪ Lower display
o LED off: high level (non-conductive)
o LED on: low level (conductive)
47
3 42 POT
4 43 NOT
5 44 CLR
6 45 A-RESTART
▪ Even without external signal inputs, by modifying PA500.2~PA507.2, user can
still make corresponding signal active. Please note dP012 is only for displaying
status of external I/O signals.
▪ S-ON is active
▪ S-ON is inactive
Step
Panel display Keys Operations
s
5 End of operations
48
5.3.2 Explanations of dP013 LED displays
▪ Upper display
o LED off: signal is inactive
o LED on: signal is active
▪ Lower display
o LED off: high level (non-conductive)
o LED on: low level (conductive)
DO number Pin (CN1) Default signal
1 31, 32 ALM
2 29, 30 COIN
3 27, 28 CZ
4 25, 26 BK
▪ Even output signal is inactive, by modifying PA50A.2, user can still make
corresponding signal active.
▪ CN1-31, CN1-32 can only be used for ALM signal
▪ dP13 is always off if the output signal is CZ.
▪ ALM is inactive
▪ ALM is active
49
5.4 Initial monitoring display at power on
▪ If PA52F is not 0FFF, then user can set which monitoring display parameter to
display at power on.
▪ If PA52F is 0FFF (default), then status codes will be displayed at power on (such
as bb, run)
50
Chapter 6 Auxiliary functions
6.1 List of auxiliary function parameters
AF006 Reserved
AF007 Reserved
AF008 Reserved
51
6.2 Display of error logging (AF000)
6 End of operations.
Notes:
▪ When there have been no alarms, the alarm No. is 0.
▪ The alarm logging can be deleted through Clearance of Alarm Logging (AF004) .
52
6.3 Position assignment (AF001)
With this function, motor feedback position & instruction pulse position is assigned by
value of 0.
8 End of operations.
53
6.4 JOG run (AF002)
JOG run is the function to confirm the servo motor action through speed control without
connecting to the upper controller. During JOG run, the overtravel prevention function
(POT, NOT) is inactive. User shall pay close attention to mechanical movement of
the machinery caused by JOG run.
1) Preparing for JOG run
Before JOG run, the following settings are necessary.
▪ When S-ON input signal is ON, please switch it to OFF.
▪ Please set the JOG speed after considering mechanical movement of the machinery.
JOG speed can be set by PA304.
▪ Please take necessary safety measures and ensure it can stop at any emergency.
▪ In order to ensure safety, a stop device shall be set on the machine side.
2) JOG run procedures
Steps Panel display Keys Operations
9 End of operations.
54
6.5 Panel lock (AF003)
Password settings:
▪ When it is set to be 58, no parameters or functions can be operated.
▪ When it is set to be not 58, the parameters can be operated.
Steps Panel display Keys Operations
4 Enter AF003
MOD SET
55
6.6 Clearance of alarm logging (AF004)
8 End of operations.
56
6.7 Parameter initialization (AF005)
To achieve parameter initialization, servo must not be ON. Also, restart afterwards to make
initialization effective.
57
6.8 Programmed JOG run (AF00A)
This function is like AF002 however the motor will run at preset speed, acceleration,
waiting time etc. Relevant parameters are PA5A0 to PA5A6.
3 Press SET.
MOD SET
7 End of operations.
58
6.9 Display of main software version of servo drive (AF010)
8
MOD SET
10 End of operations.
59
6.10 Vibration detection value initialization (AF021)
This function is to automatically set the vibration detection value (PA312) in order to
detect the vibration alarm (E.A20) and the vibration warning (A.91A) more accurately
after detecting the mechanical vibration in the running state.
Vibration detection switch PA310:
Parameter Meaning Effective Category
n.□□□0 No detection (default) Setting
PA310 Immediate
n.□□□1 Warning after detection(A.91A)。
n.□□□2 Alarm after detection(E.A20)。
(𝑃𝐴312[𝑟𝑝𝑚]) ∗ (𝑃𝐴311[%])
𝐷𝑒𝑡𝑒𝑐𝑡𝑒𝑑 𝑣𝑎𝑙𝑢𝑒 =
100
Notes:
• This function can only be used when the“Vibration Alarm (E.520)”or“Vibration
Warning (A.911)” is not correctly at the factory setting.
• Depending on the state of the machine used, the detection sensitivity of vibration
alarms and vibration warnings may vary. In this case, please refer to the above
detection formula to finely adjust the vibration detection sensitivity (PA311).
60
used.
• When the servo motor is
running at a maximum speed
of 10% or less,“Error”will
be displayed.
Press the MOD button again at
the appropriate time to end the
checkout and update for the
settings to take effect. “donE” is
5
MOD SET
displayed after the setting is
(闪烁显示) completed normally. “Error” is
displayed when the setting
cannot be completed normally
7 End of operations.
After the vibration occurs in the machine, if the notch filter or the torque command filter is set
according to the vibration frequency, there is a certain effect on eliminating the vibration.
The vibration frequency of the noise generated by mechanical resonance or the like is detected
online, and the frequency of the peak large vibration is displayed on the operator. For this frequency,
an effective torque command filter or notch filter frequency is automatically selected and the
relevant parameters are automatically set.
The FFT analysis (AF060) function also detects mechanical vibrations and automatically sets the
notch filter. User can use AF060 first and use AF050 for fine-tuning.
61
Press SET button, dots will
4
MOD SET
display and start detecting.
(闪烁)
If the detection is normal, the
result is displayed. The displayed
vibration frequency is the
frequency at the maximum peak.
If you only confirm the vibration
frequency and do not set the
detection result, you must press
the MOD button. When setting
5
the detection result, you must
proceed to step 6.
(Note)
• If the frequency detection fails,
“F----” is displayed.
• If the detection process does not
end normally, "no_oP" is
displayed.
Press the SET button to
automatically set the notch filter
frequency or torque command
6 filter time parameter that is most
MOD SET suitable for this frequency.
(闪烁显示)
“donE” flashes when the setting
is normal.
8 End of operations.
The AnFFT transmits the periodic waveform command from the servo driver to the servo motor,
and the servo motor is slightly rotated a few times for a certain period of time to cause the machine
to vibrate. The servo driver detects the resonance frequency based on the vibration generated by the
machine, and then sets the corresponding notch filter according to the resonance frequency. The
notch filter effectively removes high frequency vibrations and noise.
Danger
The servo motor rotates slightly during the AnFFT. Do not touch the servo motor and machine
during execution. Failure to do so may result in injury.
62
Important
• The AnFFT function must be used in a state where the gain is low in the initial stage of servo
adjustment. Execute if a higher gain is set
• AnFFT function, which may be subject to vibration due to mechanical characteristics and gain
balance.
• When the mechanical vibration occurs, if the notch filter is set according to the vibration
frequency, there is a certain effect on eliminating the vibration.
• This function should be operated in the servo OFF state.
• When this function is used, a dedicated command is output from the servo driver. Do not enter
commands from the outside.
63
changed, starting from the initial
setting "12". If the command
amplitude is increased, the
detection accuracy will increase,
but the vibration and noise
generated by the machine will
increase in a short time. When
changing the command
amplitude, increase the
amplitude value gradually and
change it while observing the
situation.
The set command amplitude is
saved in PA456.
64
resonance frequency is
confirmed and the detection
result is not set, press the SET
button to exit to step 9. When
setting the detection result, you
must proceed to step 10.
<important>
Even if the detection ends
normally, if the run time exceeds
2 seconds, the detection accuracy
may not be sufficient. If the
command amplitude is increased
to a value slightly larger than
"15" and then executed again, the
detection accuracy may increase.
However, after the command
amplitude is increased, the
vibration and noise generated by
the machine become large in a
short time. When changing the
command amplitude, increase
the amplitude value gradually
and change it while observing the
situation.
65
frequency detected by this
function, set PA408=n.□□□0
(notch filter is invalid).
13 End of operations.
66
7.3.1 Wiring & status check of input signal circuit
67
7.4 JOG run with mechanical connections
After stand-alone JOG run, user can then proceed to JOG run with mechanical
connections.
Reference
Steps Items Operations
chapter
Parameter Power on and conduct the setting related to the safety 3.1
1
setting 1 functions, overtravel and brake protection functions. 8.2
Parameter Set the necessary parameters according to the control
2 -
setting 2 mode used.
Power OFF and connect the servo motor with the
3 Installation -
mechanical parts.
Power on upper controller but keep the servo OFF, and
4 Check then confirm whether the protection functions set in Step -
1 function normally.
Conduct JOG run same way as Chapter 7.3. Confirm the
5 Operation JOG run result is up to expectations with mechanical -
connections.
Adjust the servo gains (if necessary) to improve the
response characteristic of servo motor.
6 Adjustment During the JOG run, the servo motor may not adapt to -
the machine well at the beginning. Please conduct fine
tune to make them adapt to each other.
7 Finish Then, the JOG run is finished. -
Item Remarks
When conducting JOG run of the servo motor with a brake, before confirming the
1 action of brake, measures to prevent the natural fall or vibration due to external force
of the machine shall be taken.
When conducting the JOG run of servo motor with a brake, please first of all confirm
the action of servo motor and holding brake before connecting the servo motor with the
2
machine. If there are no problems, conduct the JOG run again by connecting the servo
motor with the machine.
68
Chapter 8 Servo operations
8.1 Control mode selections
Refere
Parameter Control mode
nce
PA000 Position control (pulse train instruction)
The position of servo motor is controlled through the pulse train
n.□□0□ position instruction. The position is controlled through the pulse 8.4
number inputted, and speed is controlled through the frequency
of input pulse. It is used when the action needs to be positioned.
Torque control (internal instruction)
Use 2 input signals, INTor0, INTor1, for speed control through
n.□□2□
the 3 preset speeds in the servo drive. When this control mode
is used, the analog instruction is not needed.
Internal speed control
Use 2 input signals, INSPD0, INSPD1, for speed control
n.□□3□ 8.5
through the 3 preset speeds in the servo drive. When this control
mode is used, the analog instruction is not needed.
The servo drive can enable the servo motor to rotate reversely (negative rotation mode)
69
without changing the wiring of servo motor.
The positive direction is counterclockwise rotation (CCW). Negative mode only
changes the rotational direction of the motor and positive direction becomes clockwise
rotation (CW), and encoder pulse output polarity remains unchanged.
PAO POT
Time
PBO
n.□□□0
CCW
PAO NOT
Time
PBO
CW
PA000
PAO NOT
Time
PBO
n.□□□1
CW
PAO POT
Time
PBO
CCW
Overtravel refers to the safety function which can make the limit switch function (ON)
70
and force the servo motor to stop when the moving parts of a machine go beyond the
movable area.
Attention
Installation of limit switches
Limit switches must be installed in applications such as linear motions. When the
limit switch has bad contacts or broken wires, please use ‘normally closed nods’
to ensure the motor moves to the safer side.
Use of servo motors in vertical axis
Work piece might fall when overtravel. To prevent this, please set the servo into
zero-speed clamp when overtravel.
Important
▪ There might be position deviation pulse residual at overtravel in position
control. To clear the residual, use CLR signal.
▪ POT, NOT can be allocated to other Pins.
(2) Selection of servo stop patterns at overtravel
Parameter During stop After stop Meaning
PA001 n.□□00 DB to stop and enter free state (power
DB to stop Free state
n.□□01 off) after stop.
71
Coast to stop and enter free state (power
n.□□02 Coast to stop
off) after stop.
Use emergency stop torque (PA406) to
Zero-speed
n.□□1□ decelerate and enter zero-speed clamp
clamp state
Decelerate to state after stop.
stop Use emergency stop torque (PA406) to
n.□□2□ Free state decelerate and enter free state (power
off) after stop.
▪ Please restart the servo drive after modifying this parameter.
▪ If the servo receives S-ON signal during coast to stop, the servo motor can only
be controlled after the speed has decelerated to 0.
▪ Definitions:
o DB: dynamic brake (internal short-circuit of servo drive). This feature is
optional.
o Coast to stop: stop using natural frictions.
o Zero-speed clamp: the state when position instruction is 0 and position
deviation is cleared.
(3) Stop torque setting during overtravel
Emergency Stop Torque
PA406 Range Unit Default Effective
0 ~ 400 1% 400 Immediately
• Set the torque for motor stop when the overtravel signals (POT, NOT) are valid.
• The setting unit is the % of the rated torque. (the rated torque is 100%)
The holding brake is often used when the motor is used in the vertical axis. When the
power of servo drive is OFF, the servo motor with a brake can keep the moving parts
from moving due to gravity. (Please refer to Chapter 7.5 JOG run with a holding brake)
Vertical axis Horizontal axis
Servo motor
Mechanical
moving part
Holding brake Holding brake
External
To prevent force
movement due to
gravity at power off
Mechanical
moving part
To prevent movement due to external
force at power off
72
• The holding brake can only be used to maintain the halt state, not braking, of the
servo motor. The brake torque is 70% or above of the rated torque of servo motor.
• If only the speed loop is used to activate the servo motor, when the brake functions,
set the servo OFF and input instruction to be "0V".
• When setting the position loop, because the servo motor is under servo locked state
at stop, the mechanical brake shall not function.
(1) Example of connection
The sequential output signal of servo drive (BK) and brake power supply forms the
ON/OFF of the brake. Standard connection of a circuit is illustrated as follows.
Servo motor
Servo drive with brake
电机
U
U
L1C V
V M
W
L2C W
FG
FG
+24V
+24V BK-RY 0V BK
BK+ 25
BK- 26
Encoder
2CN PG
Switching
power supply BK-RY
+24V
AC DC
0V
Notes:
1. BK-RY: the relay for brake control
2. The current provided by switching power supply shall be determined by the brake;
different brakes have different working currents. Normally, the DC24V of switching power
supply shall be provide the current >1A;
3. DC24V input of the brake is not restricted by direction
The brake has delay action time; please refer to the figure below for the order of ON
and OFF of the action.
73
OFF OFF
S-RDY
ON
OFF OFF
S-ON
ON
OFF OFF
BK
ON
Holding Holding
Holing brake status Brake release
*1
*1 *2
*1. The time from BK signal active to brake release is different for different types of brakes.
*2. Set by PA516, PA517, PA518
Pin
Parameter Meaning
+ -
PA50A.01=03 CN1-29 CN1-30 BK signal output from CN1-29, CN1-30
PA50B.01=03 CN1-27 CN1-28 BK signal output from CN1-27, CN1-28
PA50C.01=03 CN1-25 CN1-26 BK signal output from CN1-25, CN1-26
Please refer to Chapter 3.4.3 ‘Allocation of I/O signals’
74
BK signal hysteresis time after Servo-OFF
PA516
Range Unit Default Effective
0~500 ms 0 Immed
When used on a vertical axis, moving parts of the machine sometimes may move
slightly due to deadweight or external force. The slight movement may be
eliminated by using the user parameter to delay the actions after the servo OFF.
S-ON ON OFF
BK ON OFF
Power off
Power on
Motor status
PA516
When an alarm is given out, the servo motor will be immediately powered off, and
the setting of this parameter becomes irrelevant.
Owing to the deadweight of machine moving parts or the external force, the
machine sometimes may move before the brake functions
75
BK signal will be OFF (H level, nonconductive) in following situations:
S-ON ON OFF
Motor speed
PA517
BK ON OFF
PA518
Even PA517 is set to be above the maximum speed of the servo motor, the servo
motor will be restricted by its own maximum speed.
76
8.2.5 Selection of servo stop patterns at servo OFF
77
8.2.6 Instantaneous power off settings
This is to set when the main power supply is OFF instantly, whether the motor shall go
on operating or set to be servo OFF
If the OFF→ON resetting time is below the setting value of this parameter, the servo
will keep on operating.
But under the following circumstances, the setting of this parameter will not become
effective:
• The load of servo motor is too big, which causes " under voltage alarm (E.190) "
during instantaneous power off;
• When the control power supply is out of control (the same to the usual power OFF
operation) during the period of instantaneous power off.
Instantaneous
power off
Main
power
Power off time: t
Servo OFF
The maximum holding time setting value is 1000ms during instantaneous power off,
but the holding time of control power supply of the servo motor is about 100ms. The
holding time of main power supply varies along with the output of servo drive.
Please use a UPS in order to go on controlling the servo drive if instantaneous power
off time is beyond the maximum setting value of this parameter.
78
8.2.7 Motor overload detection value setting
This servo driver can change the detection time of overload warning (A.910) and
overload alarm (continuous maximum load) (E.130). However, the overload
characteristics and the detection value of the overload alarm (instantaneous maximum
load) (A.120) cannot be changed.
(1) Change of detection time of overload warning (A.910)
The overload warning detection time at the factory is 20% of the overload alarm
detection time. By changing the overload warning value (PA52B), the overload warning
detection time can be changed. Use this function as an overload protection function for
your system to improve safety.
For example, as shown in the figure below, after changing the overload warning value
(PA52B) from 20% to 50%, the overload warning detection time is half (50%) of the
overload alarm detection time.
79
Motor base current × motor overload detection base current reduction rating (PA52C)
= Motor base current after derating
Motor base current: Starting calculation of motor current threshold for overload alarm
Motor overload detection base current rating reduction (PA52C): Rate of motor base
current reduction
For example, as shown in the figure below, after setting PA52C to 50%, the motor
overload is calculated from 50% of the base current, so an overload alarm can be
detected early.
When the value of PA52C is changed, the overload alarm detection time will be changed,
so the overload warning detection time will be changed accordingly.
Taking into account the ambient temperature and heat dissipation, etc., setting to PA52C
can be changed to a more appropriate overload alarm detection time, thereby achieving
motor overload protection.
80
8.3 Using of absolute encoders
If the servo motor with an absolute encoder is used, an absolute value detection system
can be set in the instruction control unit. Thus, after power on again, the motor can
directly run without zero reset.
Data
Encoder type Resolution output Action when exceed the limit
range
Absolute encoder • When going beyond the upper limit
with multi-turn (+32767) of positive rotation direction, the
memory 17-bit or 23- -32768 multi-turn data become -32768.
bit ~+32767 • When going beyond the lower limit (-
32768) of reverse rotation direction, the
multi-turn data become +32767.
When multi-turn data overflows, E.556 will output. PA007.1 can disable this alarm
Parameter Meaning
PA007 n.□□0□ Multi-turn data overflows will output E.5556 (default).
n.□□1□ Multi-turn data overflows will not output E.58
Parameter Meaning
PA002 n.□0□□ Use absolute encoders as incremental encoders. (default)
n.□1□□ Use absolute encoders as absolute encoders.
▪ When use absolute encoders as incremental encoders, no battery is needed.
▪ After modifying this parameter, restart the servo to take effect.
Even the power is OFF, a battery is needed to back up data, so that the absolute encoder
can save the position information.
(1) Battery selection
Please make preparations according to the specification of instruction control unit; the
battery shall be the product equivalent to ER3V (3.6V, 1000mA TOSHIBA battery).
(2) Battery installation
The battery shall be mounted inside the battery case of the encoder cable; pay close
attention not to reverse the polarities.
81
8.3.3 Battery replacement
When the battery voltage drops to be below 3.1V, the servo drive will output "17-bit
serial encoder battery warning (A.930)". But this warning only output when the servo
drive is ON. If the battery voltage is ultralow when the servo drive is powered on, the
servo drive will not give any warning. User can modify warning for ultralow battery
voltage.
Procedures to replace the battery
1. Please replace the battery when the control power of servo drive is ON.
2. After replacing the battery, please make the servo drive power OFF, so as to clear
"17-bit serial encoder battery warning (A.930) ".
3. Restart the power of servo drive; if there is no abnormal action, the battery is
successfully replaced.
Important
When the control power supply of servo drive is OFF and the battery connection has
been moved (so has the encoder cable), data inside the absolute value encoder will be
lost. Therefore, setting of absolute value encoder is necessary. Please refer to Chapter
8.3.4 Setting up absolute encoders (AF011).
Notes:
After the absolute value encoder is initialized, the encoder multi-turn data will
become 0, and the reference position of the mechanical system will also change.
If the machine is operated in this state, unexpected actions may occur, resulting in
personal accidents or machine damage. Use caution when operating machinery.
82
(2) Setting (initialization) steps
The setting (initialization) procedure is shown below:
6 End of operations.
When using pulses for position control, please pay attention to following parameters.
Parameter Meaning
PA000 n.□□0□ Position control (pulse train)
83
2) Pulse form selection
Pulse
Parameter Forward rotation Reverse rotation
form
PA200 n.□□00 PULS+ PULS PULS
SIGN (CN2-7/8) (CN2-7/8)
SIGN SIGN
(CN2-11/12) (CN2-11/12)
SIGN SIGN
(CN2-11/12) (CN2-11/12)
PULS PULS
(CN2-7/8) (CN2-7/8)
SIGN SIGN
(CN2-11/12) (CN2-11/12)
SIGN SIGN
(CN2-11/12) (CN1-11/12)
n.□2□□ Clear position deviation only when servo has alarm or by CLR signal.
84
n. 1□□□ HPULS+HSIGN input: high speed pulse channel
Pulse input in this channel is received by long-line receiver. It is suitable
for upper controller of long-line transmitter output, frequency ≤ 4M bps.
1) Encoder resolutions
Parameter Encoder type Pulses per revolution Resolution
PA002 n. 0□□□ 17-bit absolute encoder 32768 131072 (17-bit)
n. 2□□□ 23-bit absolute encoder 2097152 8388608 (23-bit)
Remarks: encoder resolution is 4 times (quadruple frequency) of encoder pulses per revolution.
2) Electronic gear ratio
The function of electronic gear is for setting the workpiece moving distance by 1
pulse instruction (1 command unit).
In case of open-collector pulse input, the interference tolerance for input signal will
decrease. In case of deviation due to interference, changes should be made in the
following user parameters.
85
▪ The interval between S-ON signal and input pulse instructions should be above
40ms. If this interval is less than 40ms, servo drive may fail to receive the pulse
instructions.
▪ Please set CLR signal to be above 20 μs.
.
Pulse Maximum
Specifications
forms frequency
t1,t2 0.1us
SIGN t1 t2
SIGN+ 500Kbps. t3 t7 t3,t7 0.1us
PULS
PULS Open-collector: t4 t
t5 t6
t4,t5,t6>3us
t 1.0us
200Kbps T
Forward Reverse 50%<(t/T) 100%
t1
T
500Kbps. t1,t2 0.1us
CW+ CCW t3 > 3us
Open-collector: t2
t
CCW t 1.0us
200Kbps CW
t3
Forward Reverse 50%<(t/T) 100%
86
t1 t2
t1,t2 0.1us
A phase
200Kbps. t 1.0us
A phase+ B phase
Open-collector: t 50%<(t/T) 100%
B phase
150Kbps T
Forward Reverse
B phase ahead of A phase by π/2 A phase ahead of B phase by π/2
2) Connection examples
87
▪ Open collector, option 1 (external 24VDC)
88
8.4.4 Smoothness
The servo drive can filter pulse instructions within certain frequency ranges.
PA216 Position instruction acceleration/deceleration time constant 1
Range Unit Default Effective
0~32767 0.1ms 0 Immed
PA217 Position instruction average-moving filter
Range Unit Default Effective
0~1000 rpm 0 Immed
If position instruction acceleration/deceleration time constants (PA216, PA217) are
changed, the changed value takes effect only if there’s no simultaneous pulse input.
In order to truly reflect the set value, please input CLR signal to prohibit pulse
instructions.
Even in the following cases, motor can operate smoothly. Also, this setting has no
effect on movement amount (instruction pulse count).
▪ The upper controller that sends the instructions can’t accelerate or decelerate.
▪ The frequency of instruction pulse is low
▪ The electronic gear ratio is relatively high (more than 100 times)
63.2%
36.8%
PA217
PA216
Before
PA217
After
100%
PA217
This signal means that servo motor positioning is completed at position control.
89
Type Signal Pin Level Name
Output COIN CN1-29, 30 ON= L level Positioning completed
(default) OFF=H level Positioning not completed
The positioning near signal (NEAR) is a signal meaning that the servo motor is near
positioning completion. It is usually used in pair with the COIN.
It is used to receive positioning near signal before the instruction controller’s
confirmation of the positioning completion signal to make action sequence
preparations after positioning is completed to shorten the time needed for the action
when positioning is completed.
This is a function that stops (inhibits) instruction pulse input counting in case of
position control.
90
It is in servo locking (clamping) state when this function is used.
OFF +
Pulse
instruction Deviation
ON – counter
INHIBIT
Pulse
feedback
91
8.5 Internal Speed control operations
Parameter Meaning
PA000 n.□□1□ Control mode selection: speed control
Internal speed control is to set 3 speeds beforehand through parameters inside servo
drive and to select among them by using external input signals INSPD1 and INSPD0.
It’s unnecessary to configure speed generator or pulse generator outside.
Servo drive
INSPD0
SPEED is 0
SPEED1 PA301 Speed
instruction
SPEED2 PA302
INSPD1
SPEED3 PA303
Parameter Meaning
PA301 Internal speed 1
Range Unit Default Effective
- rpm 100 Immed
PA302 Internal speed 2
6000~6000
Range Unit Default Effective
- rpm 200 Immed
PA303 Internal speed 3
6000~6000
Range Unit Default Effective
- rpm 300 Immed
6000~6000
92
8.5.2 Input signals
Soft start is the function that phase step speed instruction input is transformed to
instruction with certain acceleration and deceleration curves inside servo drive, thus to
achieve smooth operations.
PA305 Soft start acceleration time
Range Unit Default Effective
0~10000 1ms 0 Immed
PA306 Soft start deceleration time
Range Unit Default Effective
0~10000 1ms 0 Immed
▪ PA305: Acceleration time from 0rpm to 1000rpm;
▪ PA306: Deceleration time from 1000rpm to 0rpm.
PA305 PA306
Pulse feedbacks from the encoder are processed inside the servo drive before
outputting to the upper controller.
93
Positive rotation Negative rotation
(B phase is π/2 ahead of A phase) (A phase is π/2 ahead of B phase)
90。 90。
A phase A phase
B phase B phase
Z phase Z phase
t t
Please make servo drive rotate by two turns before using servo drive’s Z phase pulse
output for mechanical reference point reset action. If this can’t be done due to the
structure of the mechanical system, please implement reference point reset action at
speed below 600rpm (calculated according to servo motor’s rotating speed).
▪ Frequency division
This is a transformation process of the encoder pulse feedbacks by changing the
density of pulses. The parameter is PA212.
▪ Example: PA212=16
PA 212 Value: 16
PAO
PBO
1 revoluion
94
8.5.5 Speed instruction reached (VCMP)
When motor rotation speed is same as speed instruction, VCMP will output
Motor speed
PA513
Speed
instruction
95
8.6 Internal torque control
Internal torque control is to set 3 speeds beforehand through parameters inside servo
drive and to select among them by using external input signals INTor0 and INTor1.
Parameter Meaning
PA000 n. □□2□ Control mode selection: internal torque control
PA301 Internal torque 1
Range Unit Default Effective
-6000~6000 0.1% 100 Immed
PA302 Internal torque 2
Range Unit Default Effective
-6000~6000 0.1% 200 Immed
PA303 Internal torque 3
Range Unit Default Effective
-6000~6000 0.1% 300 Immed
96
Chaper 9 Gain adjustment
Tuning (auto tuning) is a function to optimize the response of the servo drive. The response depends
on the servo gain set in the servo driver.
The servo gain is set by a combination of multiple parameters (speed loop gain, position loop gain,
filter, disturbance compensation, inertia ratio, etc.), and they affect each other. Therefore, the setting
of the servo gain must consider the balance between the setting values of the various parameters.
In general, a high-rigidity machine can improve responsiveness by increasing the servo gain.
However, for a machine with low rigidity, when the servo gain is increased, vibration may occur
and the responsiveness cannot be improved. At this time, vibration can be suppressed by various
vibration reduction control functions of the servo driver.
The factory setting of the servo gain is a stable setting. Depending on the state of the user's machine,
the servo gain can be adjusted using the following adjustment-related auxiliary functions to further
improve responsiveness.
Using this function, the above-mentioned multiple parameters will be adjusted automatically, so
usually there is no need to adjust the parameters separately.
97
● Filter (torque command filter, notch filter)
● Disturbance compensation
● Vibration reduction control
● Vibration suppression control
Simple parameter Input the position command or speed command from the Position control ,
type automatic host device, the following items are automatically speed control
adjustment (AF103) adjusted while running.
● Gain (position loop gain, speed loop gain, etc.)
● Filter (torque command filter, notch filter)
● Disturbance compensation
● Vibration suppression control
Vibration This function suppresses continuous vibration. Position control ,
suppression control speed control
function (AF104)
Vibration reduction This function suppresses aftershocks generated during Position control
control function positioning .
(AF105 )
Notes
During adjustment, make sure to observe the following items.
● Do not touch the rotating part of the motor while the servo is on or the motor is rotating.
● When the servo motor is running, please make it ready for emergency stop at any time.
● Please make adjustments after confirming that the trial operation has completed normally.
● To ensure safety, install a stop device on the machine side.
When making adjustments, set the servo driver protection function shown in (1) to (6)
below under appropriate conditions.
The torque limit function is a function that calculates the torque required for machine operation
and limits the output torque so that it does not exceed this value. It can reduce the impact in the
event of mechanical interference or collision. If the torque is set lower than the value required for
operation, overshoot or vibration may occur.
98
The position deviation can be expressed by the following relationship between the
position loop gain and the motor speed.
When the acceleration and deceleration speed of the position command exceeds the tracking
ability of the motor, the lagging will become larger, resulting in the position deviation cannot
satisfy the above-mentioned relationship. Please reduce the acceleration and deceleration speed of
the position command to a value that the motor can track or increase the alarm value of excessive
position deviation.
Related parameters: PA520
Related alarm: A.d00
Initialize the vibration detection value initialization (AF021) , and set an appropriate value for the
vibration detection function.
When the clear operation (PA200.2) is set to a value other than "0", if the servo is turned on while
the position deviation is accumulated, the position will be returned to the original position so that
the position deviation becomes 0. This is very dangerous. To avoid this situation, you can set an
alarm value for excessive position deviation when the servo is ON to limit its operation.
The related parameters and alarms are shown below.
Related parameters: PA526, PA528, PA529
Related alarms: A.d01, A.d02
99
Typical tuning procedures:
100
9.2 Manual stiffness adjustment (AF030)
Manual stiffness adjustment means to set PA100, PA101, PA102 and PA401 according to user
experience.
7 End of operations.
101
9.3 Internal instruction type automatic adjustment (AF101)
This section explains how to adjust by internal instruction type automatic adjustment.
Important
The internal instruction type automatic adjustment starts the adjustment based on the currently
set speed loop gain (PA100). Therefore, if vibration occurs at the start of adjustment, correct
adjustment will not be possible. In this case, perform adjustment after setting a sufficiently stable
gain with simple parameter type automatic adjustment (AF103).
● When performing the internal instruction type automatic adjustment while the automatic
adjustment function is active (PA600.0 =1), use the " Estimated Inertia (Jcalc = ON)"
setting. At this time, the automatic adjustment function will be set to invalid automatically,
and the gain will be set by the internal instruction type automatic adjustment . When
the internal instruction type automatic adjustment is performed with the setting " No
estimated inertia ( Jcalc = OFF )", "Error" is displayed and the internal instruction type
automatic adjustment cannot be performed .
● After executing the internal instruction type automatic adjustment , if you change the load state
and transmission mechanism of the machine and perform the internal instruction type
automatic adjustment again , change the following parameters and set all the settings after
the last adjustment to invalid. If the internal instruction type automatic adjustment is
performed without changing the parameters , it may cause mechanical vibration and
mechanical damage.
PA00B.0 = 1 (display all parameters)
PA610.0 = 0 (do not use model tracking control)
PA630.0 = 0 (do not use vibration suppression control)
PA408=n.00□0 (not used disturbance compensation and the first, second notch filter)
Internal instruction type automatic adjustment refers to the function that the servo driver
automatically adjusts according to the mechanical characteristics when performing automatic
operation (forward and reverse reciprocating motion) within the set range. Internal instruction
type automatic adjustment can be performed without a host device . At this time, the operation
specifications for automatic operation are as follows.
The internal instruction type automatic adjustment adjusts the following items.
● Moment of inertia ratio
● Gain adjustment (position loop gain, speed loop gain, etc.)
102
● Filter adjustment (torque command filter, notch filter)
● Disturbance compensation
● Vibration suppression control
● Vibration reduction control (only when Mode = 2 or 3)
Note
The internal instruction type automatic adjustment is performed in the automatic operation mode,
so vibration or overshoot may occur during operation. In order to ensure safety, please execute it
in an emergency stop state at any time.
Before executing internal instructions automatic adjustment, please confirm the following
items. If the setting is not correct, “NO-OP” will be displayed during operation.
◇ Main circuit power must be ON
◇ Servo must be OFF
◇ Overtravel signals must be invalid
◇ Not for torque control
◇ The automatic gain switching must be invalid
◇ Can not choose 2nd gain
◇ No alarms or warnings
◇ Hardware baseblock (HWBB) function must be invalid
◇ Writing prohibited (AF003) is not set to "Writing prohibited"
When executing internal instruction type automatic adjustment under speed control , it will
automatically switch to position control and perform adjustment, and return to speed control after
adjustment. When executing under speed control, please select "Mode=1".
Situations when internal instruction type automatic timing cannot be performed:
◇ When the mechanical system can only run in one direction
◇ When the range of motion is smaller than 0.5 turns. Use AF102 or AF103 for adjustment.
◇ Unable to obtain proper range of activities
◇ When using the position integration function
◇ During P (proportional action) control
◇ When the moment of inertia changes within the set operating range
◇ When the dynamic friction of the machine is large
◇ When the rigidity of the machine is low and vibration occurs during positioning operation
◇ When using the mode switch
◇ When speed feedforward and torque feedforward are input
◇ Positioning completion margin (PA522) is too small
Important
● The internal instruction type automatic adjustment refers to Positioning completion COIN
amplitude (PA522)" for adjustment.
When operating with "Position control (PA000.1 = 1)", please set the "Electronic gear ratio
(PA20E / PA210)" and "Positioning Completion (PA522)" to the values during actual
operation. When operating with "Speed Control (PA000.1 = 0)", use the factory settings.
103
● After positioning is completed, if the positioning completion signal (COIN) is not ON within
about 3 seconds, "WAITING" will flash. If the positioning completion signal (COIN) does
not turn on within about 10 seconds, the automatic adjustment will be aborted after 2 seconds
of “Error” flashing .
Use the overshoot detection value (PA561) only when you do not want to change the positioning
completion COIN amplitude (PA522) and want to fine-tune the overshoot amount. Since the factory
setting of PA561 is 100%, it is allowed to adjust up to the same overshoot amount as the positioning
completion range. If it is changed to 0%, it can be adjusted without overshooting within the
positioning completion range. But changing to this value may result in longer positioning time
The operation steps of the internal instruction type automatic adjustment are shown below.
Note
● When using " Jcalc = 1 (not estimating load moment of inertia)", set the "Moment of Inertia
Ratio (PA103)" correctly . If the moment of inertia ratio is set incorrectly, it will not be
controlled properly and vibration will occur.
◆ Jcalc of inertia
Select the estimated / non-estimated moment of inertia. Normally select "0" (estimated
moment of inertia).
3-1 Jcalc = 0: Estimated moment of inertia. (Factory setting)
Jcalc = 1: Do not estimate the moment of inertia.
If the moment of inertia is known from the mechanical parameters , set the correct
value in PA103 and select "1".
◆ Mode selection
Mode=1: Response characteristics and stability are taken into account during
3-2 adjustment. (Standard adjustment value)
Mode=2: Positioning-only adjustment. (Factory setting)
Mode=3: Suppresses overshoot on the basis of positioning-specific adjustments.
104
◆ Load Type
Select the type based on the mechanical factors driven. If an abnormal sound occurs and
the gain cannot be increased, changing the rigidity type may improve the effect. Select
3-3 the type based on the following guidelines.
Type=1: belt drive, etc.
Type=2: Ball screw drive, etc. (factory setting)
Type=3: Directly connected rigid body without reducer and transmission
◆ Movement distance
Setting range of moving distance:
The movement setting range is 1 to 8 turns.
The minimum setting scale of the movement distance is 1 turn.
The direction is reverse driving and the + direction is forward driving, which indicates
3-4
the moving distance from the current position.
Initial setting: approx. 3 turns *
● Set the number of rotations of the motor to at least one rotation.
● In order to ensure the estimation of inertia and the accuracy of automatic adjustment ,
it is recommended to set the number of rotations of the motor to about three.
Press and hold SET for about 1
second to display the internal
4
MOD SET
instruction type automatic
adjustment execution screen.
105
◆ Save the inertia value
During the pause, press and hold
SET for about 1 second to save
the estimated moment of inertia
in the servo driver .
7
MOD SET If you do not adjust the gain and
only end the operation by
estimating the moment of inertia,
you can press the MOD key to
end the operation.
◆ Adjustment of gain
After long-pressing the SET key,
the estimated value of the
moment of inertia ratio will be
written into the servo driver .
After pressing the "↑" key again,
the automatic movement will
start again according to the set
moving distance. Automatically
set various gains and
8
MOD SET filters. “ADJ - T ” will flash.
(Note)
● " A.Err□" will be displayed if
the adjustment cannot be made
due to factors such as mechanical
resonance . In this case, perform
the adjustment using AF103.
● Note that this operation takes a
long time. Press the "MOD" key
to exit the operation.
106
12 End of operations
107
Error Causes Countermeasure
display
AErr1 The estimation of the moment of ● Increase the setting value of speed
inertia is started, but the gain (PA100).
estimation process is not ● Increase the moving distance .
performed.
AErr2 The deviation of the estimated Based on the mechanical parameters in
value of the moment of inertia is PA103, then execute when Jcalc = OFF.
too large, and the deviation has
not been reduced
after 10 retries .
AErr3 Low-frequency vibration Set the start value PA324 to 2-times of the
detected original value.
AErr4 Torque limit reached ● When using torque limit, increase the limit
value.
● Set the start value PA324 to 2-times of the
original value.
AErr5 During proportional control (P- During the estimation process, it is PI control.
CON) is input , the speed
control becomes proportional
control during the estimation of
the moment of inertia.
108
◇ Viscosity resistance change of lubricant in mechanical sliding part
◇ Friction resistance change caused by mechanical assembly deviation
◇ Friction resistance change caused by aging
In the factory setting and mode is 2 or 3, PA109, T-REF and V-REF become invalid.
109
9.4 Vibration reduction control function (AF105)
The vibration reduction control function is mainly used to suppress transient low-frequency
vibration of about 1 to 100 Hz caused by vibration of the machine and the like during positioning.
This function is automatically set during internal instruction type automatic adjustment or external
instruction type automatic adjustment, so it is almost unnecessary to use this function. Only use it
if further fine adjustment is needed or readjustment is required due to vibration detection failure.
To improve response characteristics after executing this function, perform simple parameter type
automatic adjustment (AF103), etc.
Note
⚫ After executing this function, related parameters will be set automatically. Therefore, the response
may change greatly before and after this function is executed. For safety reasons, please execute
this function at any time in an emergency stop state.
⚫ Before executing the vibration suppression control function, please set the correct moment of
inertia ratio (PA103) by internal command type automatic adjustment, etc. If the moment of inertia
ratio is set improperly, the control may be abnormal and vibration may occur.
Important
⚫ The vibration frequency that can be detected using this function is 1 to 100 Hz. Vibrations
outside the detection range cannot be detected, but "F -----" is displayed.
⚫ If vibration due to position deviation does not occur or the vibration frequency is outside the
detection frequency range, vibration cannot be detected. In this case, use an instrument that
can measure the vibration frequency, such as a displacementr or a vibrometer, to measure
the vibration.
⚫ When the vibration frequency cannot be eliminated by the automatically detected vibration
frequency, there may be an error between the actual vibration frequency and the detected
frequency. Please fine-tune the vibration frequency.
Before executing this function, please confirm the following items. If the setting is not
correct, “NO-OP” will be displayed during operation.
◇ The automatic stiffness adjustment must be invalid
◇ Writing prohibited (AF003) is not set to "Writing prohibited"
◇ Must be in position control mode
When vibrations continue to occur when stopped, sufficient vibration reduction control effects
cannot be obtained with the vibration reduction control function. In this case, adjust it with the
vibration suppression control function (AF104) or simple parameter type automatic adjustment
(AF103).
If there is no vibration in the position deviation or the vibration of the position deviation is small,
the frequency may not be detected. The detection sensitivity can be adjusted by changing the ratio
110
to the positioning completion amplitude (PA522), that is, the setting of the residual vibration
detection amplitude (PA560), so please adjust the residual vibration detection amplitude (PA560)
and perform the vibration frequency detection again.
Please change the setting value to approximately 10%. The smaller the setting value is, the higher
the detection sensitivity is. However, if the setting value is too small, vibration may not be detected
correctly.
The automatic detection of the vibration frequency will have some differences in the frequency
detected during each positioning operation. Perform positioning operation several times, and adjust
while confirming the effect of vibration reduction control.
If you press the "MOD" key to stop the operation during the execution of this function, the motor
will run in the set state before the motor stops. After the motor stops, the setting value will return to
the state before adjustment.
Typical procedures:
111
If vibration frequency cannot be
detected, please prepare a tool
that can detect vibration and
measure the vibration frequency.
After measuring the vibration
frequency, go to step 5 and
manually set the measured
vibration frequency.
After pressing the "SET" key for
about 1 second, the displayed
frequency will be set to the set
frequency of the vibration
reduction control function.
6
MOD SET
9 End of operations
Important
⚫ During operation, the settings related to the "vibration reduction control function" do not
change.
⚫ If the motor does not stop after about 10 seconds after changing the setting, the change
timeout will occur and the setting will be restored to the setting before the change.
⚫ The vibration suppression control function takes effect immediately after setting the
parameters in step 6, but the motor's response will only change when there is "no command
input" and "motor stopped".
112
9.5 Disturbance compensation
The disturbance compensation function is a function that compensates for viscous friction
fluctuations and stable load fluctuations.
The main causes of load fluctuations are changes in viscosity resistance of lubricants caused by
temperature fluctuations, variations in equipment, and changes in viscous friction and stable loads
caused by aging.
With the following settings, the disturbance compensation will be adjusted automatically.
① When the mode is set to "Mode = 2" and "Mode = 3" by internal command type automatic
adjustment;
② When the automatic adjustment mode is set to "Tuning Mode = 2" or "Tuning Mode = 3" by
simple parameter type automatic adjustment. Please refer to the following descriptions only when
manual adjustment is required.
To use the disturbance compensation function, the following parameters need to be set:
PA408, PA121, PA123, PA124, PA125.
Note
⚫ When using the disturbance compensation function, set the moment of inertia ratio (PA103) as
accurately as possible. If the moment of inertia ratio is set incorrectly, vibration may occur.
Typical procedures:
Steps Operations
Restore the following disturbance compensation related parameters to the factory
settings.
Disturbance compensation gain (PA121) → Factory setting: 100
Disturbance compensation coefficient (PA123) → Factory setting: 0
1 Disturbance compensation frequency correction (PA124) → Factory setting: 0
Disturbance compensation gain correction (PA125) → Factory setting: 100
(Note)
Please keep the disturbance compensation frequency correction (PA124) and
disturbance compensation gain correction (PA125) at the factory settings.
To confirm the effect of the disturbance compensation function, increase the disturbance
2 compensation coefficient (PA123) gradually.
The upper limit value of the disturbance compensation coefficient (PA123) is 95%.
113
If the sufficient disturbance compensation function is still not obtained through step 2,
please increase the setting value of PA121 within the range that does not generate
vibration.
Setting the PA121 too large may cause vibration. When increasing PA121, adjust it
gradually at intervals of about 10%.
The results of the adjustment are shown below as examples of the waveform graphs
before and after adjustment.
114
9.6 Feedforward function
The feedforward command is a function that performs feedforward compensation during position
control to shorten the positioning time.
Torque feedforward is a function to shorten the positioning time. The torque feedforward command
is valid during speed control and position control.
The torque feedforward command is a command generated by differentiating the speed command
on the host device side. The torque feedforward command can be input to the servo drive at the
same time as the speed or position command.
Speed feedforward is a function to shorten the positioning time. Speed feed forward is effective
during position control.
Speed feedforward is a command generated by differentiating a position command on the host
device side. The speed feed forward command can be input into the servo unit at the same time as
the position command.
115
9.7 Model tracking control
Use model tracking control to improve responsiveness and shorten positioning time. Model tracking
control is only available for position control.
Normally, the parameters used by this function are automatically set at the same time as the servo
gain through automatic adjustment or custom adjustment. In the following cases, please adjust
manually.
⚫ When you are not satisfied with the adjustment result of automatic adjustment or manual
adjustment
⚫ When the responsiveness is more important than the adjustment result of automatic adjustment
or custom adjustment
⚫ When the customer decides the servo gain or model tracking control parameters by himself
An example of the adjustment procedure when using model tracking control is shown below.
Step Content
1 Since the disturbance compensation function needs to be used at the same time, the
parameters of the disturbance compensation function must be set.
2 1. Please try to set the correct moment of inertia ratio (PA103).
2. Please refer to the approximate standard for manual adjustment of servo gain, and set the
position loop gain (PA102) within the range of stable adjustment value.
3 Increase tracking control gain in the range where overshoot and vibration do not occur
(PA 613 ).
4 When overshoot occurs, or when the forward and reverse responses are different, the model
tracking control offset (forward direction) (PA 615 ), model tracking control offset (reverse
direction) (PA 616 ), model tracking Control speed feed forward compensation (PA 619 )
for fine tuning.
■ Related parameters
The following parameters are used in model tracking control.
• PA 610 (model tracking control switch)
• PA 613 (model tracking control gain)
• PA 615 (model tracking control offset (forward direction))
• PA 616 (model tracking control offset (reverse direction))
• PA 619 (Model Tracking Control Speed Feedforward Compensation)
116
When using the vibration reduction control function (PA610 = n. □□1□ or PA610 = n. □□2□ ), be sure
to set it to PA610 = n. □□□1 (use model tracking control)
For the machine whose model tracking control gain cannot be set too large, the position deviation during
model tracking control depends on the model tracking control gain. For models with low rigidity, such
as model tracking control gain that cannot be set too large, an excessive position deviation alarm may
occur during high-speed operation. At this time, the PA 520 value can be set to a large value, but the
detection of the alarm will become difficult.
As a guideline for setting values, refer to the following conditions.
𝑀𝑎𝑥 𝑓𝑒𝑒𝑑𝑖𝑛𝑔 𝑠𝑝𝑒𝑒𝑑[𝑐𝑜𝑚𝑚𝑎𝑛𝑑 𝑢𝑛𝑖𝑡/𝑆]
𝑃𝐴520 ≥ × 2.0
𝑃𝐴613 ÷ 10[1/𝑠]
When using the position command filter, the transient deviation will increase according to the filter time
parameter. The setting should consider the accumulation of filter signals
117
Chapter 10 Fault diagnosis
10.1 Alarm display
When an error occurs in the servo driver, the LED on the panel display shows the alarm number.
The alarm list lists the alarm names, alarm contents, and whether or not the alarm can be reset in
the order of alarm numbers.
Whether alarm reset
Yes: The alarm can be cleared through alarm reset. However, if the alarm factor still exists, it cannot
be removed.
No: Unable to dismiss the alarm
Alarm Alarm name Alarm content Alarm
number reset
E.020 Parameter check abnormal 1 The parameter data of the servo driver no
is abnormal.
E.021 Parameter check abnormal 2 The parameter data of the servo driver no
is abnormal.
E.022 Parameter memory read and The parameter memory in the servo no
write abnormal drive is not read or written properly .
E.030 Parameter value is abnormal The servo drive parameters are out no
of rangE.
E.040 Parameter setting failure Beyond the setting range no
E.042 Parameter combination failure Parameter combination failure no
E.0A0 Combination error Outside combinable motor capacity can
(capacity mismatch)
E.0A2 Motor and drive mismatch Mismatch of voltage type of motor and can
driver, etc.
E.0B3 Internal chip communication Communication error between internal no
error 1 chips
E.0B4 Internal chip communication Communication error between internal no
error 2 chips
E.100 Overcurrent detection Power transistor overcurrent or heat no
sink overheating.
E.120 Motor overload The motor is operated for several can
(transient overload ) seconds to several tens of seconds with
118
a torque that greatly exceeds the rated
value.
E.121 Drive overload The drive is operated for several can
(transient overload ) seconds to several tens of seconds with
a torque that greatly exceeds the rated
value.
E.130 Motor overload The motor is continuously running can
(continuous overload ) with torque exceeding the rated value.
E.131 Drive overload Driver has been transported to above can
(continuous excessive overload ) the rated continuous torque line.
E.180 Overvoltage The DC voltage of the main circuit is can
abnormally high.
E.190 Undervoltage The DC voltage of the main circuit is can
insufficient.
E.250 Current detection failure 1 The current detection circuit is faulty. no
E.252 Current detection failure 2 The current detection circuit is faulty. no
E.300 Abnormal regeneration The regeneration circuit is faulty. no
E.320 Regeneration overload A regeneration overload has occurred. can
E.340 Inrush current limiting resistor The main circuit power-on frequency no
overload is too high.
E.360 Heat sink overheating The heat sink of the drive is too hot. can
E.500 Encoder communication failure Communication encoder no
communication failure
E.502 Encoder communication error Encoder communication encountered no
multiple times multiple errors
E.504 Encoder communication check Communication can
error type communication data check error
E.505 Encoder communication frame Communication type encoder can
error 1 communication frame error (driver
side)
E.506 Encoder communication frame Communication frame communication can
error 2 frame error (encoder side)
E.507 Encoder communication frame Communication encoder can
error 3 communication data error
E.510 Incremental encoder Incremental encoder cable no
disconnected disconnected
E.512 Incremental encoder phase error Incremental encoder phase error no
E.530 Encoder and calibration alarm Sum check result of communication can
type encoder memory is abnormal
E.532 Encoder parameter is abnormal Parameter of communication encoder can
is abnormal
E.550 Encoder count error 1 Communication type encoder count can
error 1 .
119
E.552 Multiturn encoder error Communication type multi-turn can
encoder error .
E.554 Encoder overspeed Communication type multi-turn can
encoder over speed error .
E.555 Encoder count error 2 Communication multi-turn can
encoder count is incorrect .
E.556 Encoder count overflow Communication type multi-turn can
encoder count overflow error .
E.558 Encoder multi-turn data error Communication multi-turn can
encoder multi-turn data error .
E.55A Encoder battery alarm Communication multi-turn can
encoder low battery voltage alarm
E.600 Signal input time failure for The signal input time of the safety no
safety function function is abnormal.
E.A00 out of control Detected servo motor out of control can
E.A10 Speeding Motor speed exceeds maximum speed can
E.A20 Vibration alarm Detected abnormal vibration of motor can
speed.
E.A22 Auto-adjust alarm Vibration was detected during can
automatic adjustment.
E.A30 Excessive position deviation In the servo ON state, the position can
alarm deviation exceeds the excessive
position deviation alarm value
(PA520).
E.A31 Excessive position deviation Position deviation can
alarm when servo ON pulses accumulated too much .
E.A32 Servo ON since the bit rate Servo position deviation accumulated can
limitations caused by positional in the ON state, the servo ON when the
deviation is too large alarm speed limit value (PA 529 limit)
execution speed system. When the
command pulse is input in this
state, the set value of the excessive
position deviation alarm value
(PA520) is exceeded without releasing
the limit .
E.A90 Servo ON command invalid After executing the auxiliary function can
alarm of energizing the motor, a servo ON
input (S-ON) signal was input from the
host device.
E.F00 System alarm 0 Internal servo program error 0 no
occurred.
E.F01 System alarm 1 An internal program error 1 of the no
servo driver occurred .
120
E.F02 System alarm 2 An internal program error 2 of the no
servo driver has occurred .
E.F03 System alarm 3 An internal program failure 3 of the no
servo driver has occurred .
E.020: Instantaneous power Measure the power supply voltage. Set the power supply
Parameter check supply voltage drop voltage within the
abnormal 1 specifications and
(The data of the servo initialize the parameter
drive's internal set values.
parameters is abnormal) Power off when parameter Confirm the time of power failure. Re-enter the parameter
is written after the parameter
setting value is
initialized.
Parameter write times Check whether the parameter is It is possible that the
exceeded maximum frequently changed from the host servo driver is
device. malfunctioning. Replace
the servo driver. Change
the parameter writing
method.
Malfunction due to noise Turn on the power of the servo driver Take measures to prevent
from AC power, ground, again. If the alarm still occurs, there noise interference.
static electricity, etc. may be interference.
The components inside the Confirm the setting environment. It is possible that the
servo drive have failed due servo driver is
to gas, water droplets, or malfunctioning. Replace
cutting oil, etc. the servo driver.
Servo drive failure Turn on the power of the servo driver It is possible that the
again. If the alarm still occurs, servo driver is
the driver may be faulty. malfunctioning. Replace
the servo driver.
E.021: Instantaneous power Measure the power supply voltage. It is possible that the
Parameter check supply voltage drop servo driver is
abnormal 2 malfunctioning. Replace
(The data of the servo the servo driver.
drive's internal The power was turned Confirm the time of power failure. It is possible that the
parameters is abnormal) off during operation of servo driver is
the accessibility function malfunctioning. Replace
the servo driver.
121
Alarm number: Cause Confirmation method Action
Alarm name
E.022: Instantaneous power Measure the power supply voltage. It is possible that the
Parameter memory read supply voltage drop servo driver is
and write abnormal malfunctioning. Replace
the servo driver.
Servo drive failure Turn on the power of the servo driver It is possible that the
again. If the alarm still occurs, servo driver is
the driver may be faulty. malfunctioning. Replace
the servo driver.
E.030: Power off when parameter Confirm the time of power failure. Re-enter the parameter
Parameter value is written after the parameter
is abnormal setting value is
initialized.
The power was turned Confirm the time of power failure. It is possible that the
off during operation of servo driver is
the accessibility function malfunctioning. Replace
the servo driver.
Servo drive failure Turn on the power of the servo driver It is possible that the
again. If the alarm still occurs, servo driver is
the driver may be faulty. malfunctioning. Replace
the servo driver.
E.040: Servo drive capacity does Check the capacity and combination Match the capacity of
Parameter setting is not match servo motor of servo driver and servo motor. servo driver and servo
abnormal (beyond the capacity motor to each other.
setting range) Servo drive failure Turn on the power of the servo driver It is possible that the
again. If the alarm still occurs, servo driver is
the driver may be faulty. malfunctioning. Replace
the servo driver.
Outside the parameter Check the setting range of the Set the changed
setting range changed parameter. parameter to a value
within the setting range.
The setting value of the Check if the electronic gear ratio is Set the electronic gear
electronic gear ratio is 0.001 <(PA20E / PA210) < ratio to
outside the setting range 64000. 0.001 <(PA20E / PA210)
<64000.
A.042 * 1 : Because the electronic gear Check whether the detection Reduce the value of the
Parameter combination ratio ( PA20E / PA210 ) or condition formula * 1 is satisfied . electronic gear ratio
exception the servo motor ( PA20E / PA210 ).
is changed , the speed of
122
Alarm number: Cause Confirmation method Action
Alarm name
The program JOG speed Confirm whether the detection Increase the
( PA5A3 ) was changed , condition formula is satisfied program JOG speed
so that the speed of ( PA5A3 ).
the program JOG operation
( AF00A ) did not meet the
setting range.
Because the electronic gear Check whether the detection Reduce the value of the
ratio ( PA20E / PA210 ) or condition formula is satisfied * electronic gear ratio
the servo motor ( PA20E / PA210 ).
is changed , the movement
speed of the internal
instruction type automatic
adjustment does not satisfy
the setting range.
A.0A0 : The capacity of the servo Confirm that (motor Match the capacity of
Capacity combination driver does not match the capacity) / ( servo drive capacity) servo driver and servo
error (out of range of capacity of the servo motor ≤ 1/4 or (motor capacity) / (servo motor to each other.
motor capacity that can be drive capacity) ≤ 4 .
combined) Encoder failure Replace with another motor and Replace the servo motor
confirm that the alarm no longer (encoder).
occurs.
Servo drive failure Turn on the power of the servo driver It is possible that the
again. If the alarm still occurs, servo driver is
the driver may be faulty. malfunctioning. Replace
the servo driver.
A.0A2 : The voltage of the servo Confirm that the motor input Match the voltage of the
Voltage combination driver does not match the voltage is consistent with the servo servo driver and the
error (out of range of voltage of the servo motor drive voltage. servo motor to each
motor capacity that can be other.
combined) Encoder failure Replace with another motor and Replace the servo motor
confirm that the alarm no longer (encoder).
occurs.
Servo drive failure Turn on the power of the servo driver It is possible that the
again. If the alarm still occurs, servo driver is
the driver may be faulty. malfunctioning. Replace
the servo driver.
A.0B3 : The components inside the Confirm the setting environment. It is possible that the
servo drive have failed due servo driver is
123
Alarm number: Cause Confirmation method Action
Alarm name
A.100 : The main circuit cable or Confirm that the wiring is Modify the wiring.
Overcurrent detection the cable for the motor correct. For details, refer to "Wiring
(overcurrent flowing main circuit is incorrectly the Main Circuit".
through power transistor connected or has poor
or heat sink overheating) contact
The main circuit cable or Check if there is a short circuit The cable may be
the motor main circuit between the UVW phase of shorted. Replace the
cable has an internal short the cable , UVW and ground. For cable.
circuit, or a short circuit to details, refer to "Wiring the Main
ground Circuit".
A short circuit or a ground Check if there is a short circuit It is possible that the
fault occurred in the servo between the UVW phase of servo motor is
motor. the motor terminals , UVW and malfunctioning. Replace
ground. For details, refer to "Wiring the servo motor.
the Main Circuit".
Short circuit or short to Check if there is a short circuit It is possible that the
ground in the servo drive between the UVW phase, UVW and servo driver is
ground of the servo drive motor malfunctioning. Replace
connection terminals . For details, the servo driver.
refer to "Wiring the Main Circuit".
The regenerative resistor is Confirm that the wiring is Modify the wiring.
incorrectly connected or correct. For details, refer to
has poor contact "Connection of Regenerative
Resistors".
Power device alarm due to Reduce the overload multiple. Or Decrease PA 402 and
large instantaneous increase the acceleration / PA 403 values.
overload current deceleration time. Increase the values
of PA216 and
PA 217 under position
control; increase
the values of PA 305 and
PA 306 under speed
control .
E.120 : Motor wiring, encoder Confirm the wiring. Check if there are any
wiring or connection is bad problems with the motor
124
Alarm number: Cause Confirmation method Action
Alarm name
Motor failure Replace with the same model and It is possible that the
run . motor is
malfunctioning. Replace
the servo motor.
E.180 : When the AC 200 V servo Measure the power supply voltage. The AC/DC power
Overvoltage (main loop driver was supply voltage is
of the servo drive power used, a DC power supply adjusted to within the
sources overvoltage voltage of 410 V or more product specifications.
detection portion) was detected .
When the AC 400 V servo
driver detected a DC power
supply voltage of 820 V or
more
Power supply is unstable or Measure the power supply voltage. Improve the power
affected by lightning supply. Turn on the
power again after setting
the surge suppressor. If
the alarm still occurs, the
servo driver may be
faulty. Replace the servo
driver.
125
Alarm number: Cause Confirmation method Action
Alarm name
Acceleration and Check the power supply voltage and The AC supply voltage is
deceleration speed during operation adjusted to within the
Degrees, torque. product specifications.
External regenerative Check the operating conditions and Consider the operating
resistor value is greater the regenerative resistance value. conditions and load, and
than operating conditions choose a suitable
regenerative resistor
value.
With the allowable load Check that the load moment of inertia Increase the deceleration
moment of inertia ratio is within the allowable load time or reduce the load.
Running moment of inertia ratio.
Servo drive failure Turn on the power of the servo driver Without turning on the
again. If the alarm still occurs, main circuit power, turn
the driver may be faulty. on the control power
again. If the alarm still
occurs, the servo driver
may be faulty. Replace
the servo driver.
A.190 : AC200V with a servo Measuring power supply voltage Adjust the power supply
Undervoltage drive, the AC supply voltage to the normal
(Undervoltage detected in voltage 120 V or less; the range.
the main circuit power AC 400V a servo drive, the
supply section of the AC supply voltage 240
servo driver) V or less
Power supply voltage drops Measuring power supply voltage Increase the power
during operation capacity.
Servo drive failure Turn on the power of the servo driver It is possible that the
again. If the alarm still occurs, servo driver is
the driver may be faulty. malfunctioning. Replace
the servo driver.
126
Alarm number: Cause Confirmation method Action
Alarm name
Motor does not stop Motor does not stop completely when After the motor stops,
power is applied power on again
Motor does not stop Motor does not stop completely when After the motor stops,
power is applied power on again
E.300 : When the drive is not Check if the driver has internal or ≤4 00 W is no built-in
Regeneration failure connected with a external braking resistor and the braking resistor drive,
regenerative resistor, wiring is correct. ≥7 50 W is built with a
PA 010.0 is not set to 1. drive brake resistor.
When using the built-in
braking resistor, P and D
are shorted and P and C
are disconnected.
When using an external
braking resistor, P and D
are disconnected, and P
and C are connected to
the external braking
resistor.
Driver regeneration resistor Check the connection of the external After connecting an
is not connected regenerative resistor or regenerative external regenerative
resistor device. resistor, set an
appropriate
value for PA590 .
Defective, disconnected or Check the wiring of the external Connect the external
disconnected external regenerative resistor. regenerative resistor
regenerative resistor Check the wiring of the power correctly.
terminal jumper. Wire the jumper
properly.
Servo drive failure Turn on the power of the servo driver It is possible that the
again. If the alarm still occurs, servo driver is
the driver may be faulty. malfunctioning. Replace
the servo driver.
127
Alarm number: Cause Confirmation method Action
Alarm name
E.320 : Power supply voltage Measure the power supply voltage. Set the power supply
Regeneration overload exceeds specifications voltage within the
specifications.
Continuously under Check the load applied to the running Check the system
negative load, in servo motor. including servo,
continuous regeneration machinery, and operating
state conditions again.
The capacity set Check the connection of the Correct the setting value
in PA590 (Regenerative regenerative resistor and the value of PA590
resistor capacity) is less of PA5A0 .
than the capacity of
external
The external regeneration Check if the regenerative resistance is Change it to the correct
resistance is too large correct. resistance value and
capacity.
Servo drive failure Turn on the power of the servo driver It is possible that the
again. If the alarm still occurs, servo driver is
the driver may be faulty. malfunctioning. Replace
the servo driver.
Servo drive failure Turn on the power of the servo driver It is possible that the
again. If the alarm still occurs, servo driver is
the driver may be faulty. malfunctioning. Replace
the servo driver.
E.360 : Ambient temperature is too Measure the ambient temperature Improve the setting
Heat sink (power of high with a thermometer. Or, set conditions of the servo
module temperature the environmental driver and reduce the
abnormality) monitoring through the servo driver ambient temperature.
to confirm the operating status.
Excessive load or The running load is confirmed by the Re-examine the load and
exceeding regeneration cumulative load factor, and the operating conditions.
128
Alarm number: Cause Confirmation method Action
Alarm name
The installation direction of Check the installation status of the Install according to the
the servo driver and the servo driver. installation standard of
distance from other servo the servo driver.
drivers are unreasonable
Servo drive failure Turn on the power of the servo driver It is possible that the
again. If the alarm still occurs, servo driver is
the driver may be faulty. malfunctioning. Replace
the servo driver.
E.500 : Encoder connector has Check the status of the encoder Insert the encoder
Encoder communication poor contact or incorrect connector. connector again and
failure wiring check the wiring of the
encoder.
The encoder cable is Check the status of the encoder Use the specified
broken, shorted, or a cable cable. Check the wiring of the encoder cable.
exceeding the specified encoder cable shield.
impedance is used
E.5 0 2: Due to the influence of Check the wiring of the encoder. 1. Check if the ground
interference, connection is correct;
129
Alarm number: Cause Confirmation method Action
Alarm name
E.504 : Encoder incorrect wiring Check the wiring of the encoder. Check if there is any
Encoder communication and poor contact problem with the encoder
checksum error wiring.
E.505 : Encoder cable has different Check the wiring of the encoder cable Change the cable
Encoder communication specifications and is shield. specifications to double-
frame error 1 interfered stranded shielded wires
E.506 : or double-stranded
Encoder communication unified shielded wires
frame error 2 with a core wire
E.507 : of 0.12mm2 or more and
Encoder communication tinned soft copper
frame error 3 stranded wires.
FG potential changes due Check the status of the encoder cable Ground the machine to
to the influence of motor- and connector. prevent shunting to
side equipment (welder, the FG on the encoder
etc.) sidE.
Servo drive failure Turn on the power of the servo driver Turn on the power of the
again. If the alarm still occurs, servo driver again. If the
the driver may be faulty. alarm still occurs, the
servo driver may be
faulty. Replace the servo
driver.
130
Alarm number: Cause Confirmation method Action
Alarm name
E.510 : Wire-saving encoder signal Make sure the cables are connected Check the encoder
Incremental encoder line is broken properly wiring;
disconnected Low encoder signal level The signal level does not meet the Reduce the cable length
requirements because the cable is too or increase the signal
long level by thickening the
cable diameter.
PA 002.2 Parameter setting Check whether the setting of Set correct PA002.3
error parameter PA002.3 matches the type according to the encoder
of motor encoder; model;
Motor encoder failure Check if the motor encoder is Replace the same motor
abnormal and check whether the
same fault occurs.
E.512 : Low encoder signal level The signal level does not meet the Reduce the cable length
Incremental encoder requirements because the cable is too or increase the signal
phase error long level by thickening the
cable diameter.
PA 002.2 Parameter setting Check whether the setting of Set correct PA002.3
error parameter PA002.3 matches the type according to the encoder
of motor encoder; model;
Motor encoder failure Check if the motor encoder is Replace the same motor
abnormal and check whether the
same fault occurs.
E.530 : Encoder data storage area Encoder data storage area data error. This alarm still appears
Encoder and calibration check error after the power is turned
alarm on again. The servo
(Detected on the encoder motor encoder may be
side) faulty. Replace the servo
motor or encoder.
Servo drive failure Rotating the motor, the speed It is possible that the
(dp 000 ) and position (dp 001 ) of servo driver is
the motor show no change. malfunctioning. Replace
the servo driver.
E.532 : Encoder data storage area Encoder data storage area data error Turn on the power of the
data error servo driver again. If the
131
Alarm number: Cause Confirmation method Action
Alarm name
E. 550 : Encoder incorrect wiring Check the wiring of the encoder. Check if there is any
Encoder count error and poor contact problem with the encoder
wiring.
FG potential changes due Check the status of the encoder cable Ground the machine to
to the influence of motor- and connector. prevent shunting to
side equipment (welder, the FG on the encoder
etc.) sidE.
132
Alarm number: Cause Confirmation method Action
Alarm name
E. 552 : Serial communication is Check the wiring of the encoder cable Check if there is any
Multiturn encoder error disturbed shield. problem with the encoder
E. 555 : wiring.
Encoder count error 2 The multi-turn encoder is Multi-turn encoder battery is not After confirming the
not connected to the connected or alarm due to previous battery voltage, execute
battery or the battery battery alarm the auxiliary
voltage is too low function AF 012 : Reset
the encoder alarm
E. 554 : After the power is turned Check whether the motor shaft moves After confirming the
Encoder overspeed off, the encoder rotates at a at a high speed during the power battery voltage, execute
high speed; failure of the servo. the auxiliary
Absolute encoder is not Check whether the absolute encoder function AF011 : Reset
connected to battery or is connected to the battery and the the encoder multi-
battery voltage is too low battery voltage is correct ; turn data and alarm
E. 556 : The multi-turn encoder is Multi-turn encoder battery is not After confirming the
Encoder count overflow not connected to the connected or alarm due to previous battery voltage, execute
battery or the battery battery alarm auxiliary function
voltage is too low
133
Alarm number: Cause Confirmation method Action
Alarm name
E. 558 : The multi-turn encoder is Multi-turn encoder battery is not After confirming the
Encoder multi-turn data not connected to the connected or alarm due to previous battery voltage, execute
error battery or the battery battery alarm auxiliary function
voltage is too low AF011 : reset encoder
multi-turn data and alarm
E.55A : Battery is badly connected, Confirm the battery connection. Connect the battery
Encoder battery alarm not connected properly
(The voltage of the The battery voltage is lower Measure the voltage of the battery. Replacement battery
absolute encoder battery than the specified value
is below the specified ( 2.7V )
value) Encoder failure Encoder data error Turn on the power of the
servo driver again. If the
alarm still occurs, the
servo motor encoder may
be faulty. Replace the
servo motor or encoder.
E.600 : Hard wire base blocking Measurement 2 input signals a time The output signal
Signal input time failure function input signal / difference. circuit of / HWBB1 , /
for safety function HWBB1 , / HWBB2 start HWBB2 , machine
time difference is more failure, input signal
than 10 seconds circuit failure of the
servo driver, or the input
signal cable may be
broken. Check for
malfunction or
disconnection.
E.A00 : Motor wiring the Confirm motor wiring Check if there is any
Out of control detection U- , V , W is wrong phase problem with the motor
(detected when the servo sequence wiring
is ON ) Encoder failure If there is no problem
with the motor wiring, if
134
Alarm number: Cause Confirmation method Action
Alarm name
E.A10 : Motor wiring the Check the wiring of the servo motor. Check if there is any
Super speed (the speed of U- , V , W is wrong phase problem with the motor
the motor at the highest sequence wiring
speed on) The command input value Confirm input instructions Decrease the command
exceeds the value. Or adjust the gain.
overspeed value
Motor speed exceeds Check the waveform of the motor Reduce the speed
maximum speed speed. command input gain and
adjust the servo gain. Or
adjust operating
conditions
E.A20 : Detect abnormal vibration Check the abnormal sound of the Reduce motor speed. Or
Vibration alarm of motor speed motor and the speed and torque reduce the speed loop
waveforms during operation. gain ( PA100 ).
The value of the moment of Confirm the moment of inertia ratio Set the moment of inertia
inertia ratio ( PA103 ) is or mass ratio ratio correctly
larger than the actual value ( PA103 )
or has changed greatly
Vibration detection value Check if the vibration detection value Set the vibration
( PA312 ) is not ( PA312 ) is appropriate detection value
appropriate ( PA312 ) appropriately.
E.A22 : Motor when using auto Check the waveform of the motor Reduce the load so that it
Auto-adjust alarm tuning speed. is below the allowable
( Vibration detected Great vibration moment of inertia ratio,
in custom or increase the load value
135
Alarm number: Cause Confirmation method Action
Alarm name
E.A30 : Position deviation Check the amount of position Set to clear the position
Excessive position exceeded deviation when the servo is OFF deviation when the servo
deviation alarm during servo OFF is OFF .
when servo ON Over PA526 ( S-ON Correctly set the alarm
Position deviation alarm value of excessive
value) position deviation
Keep the servo ON at ( PA526 ) when
the set valuE. the servo is ON .
E.F00 : The components inside the Confirm the setting environment. It is possible that the
E.F01 : servo drive have failed due servo driver is
E.F02 : to gas, water droplets, or malfunctioning. Replace
E.F03 : cutting oil, etc. the servo driver.
System alarm Servo drive failure Turn on the power of the servo driver
again. If the alarm still occurs,
the driver may be faulty.
When a servo drive warning occurs, the LED on the panel display shows the warning number.
136
闪烁显示警告号
Here, warning names and warning contents are listed in the order of warning numbers .
Warning Warning name Warning content
number
A.900 Excessive position The accumulated position deviation exceeds
deviation the ratio set by ( PA520 ×PA51E ) / 100.
A.901 Excessive position Servo O N accumulated when the positional
deviation when servo ON deviation exceeds ( PA526 PA528 × ) / ratio of
100 is set.
A.910 Motor overload Is about to reach the motor overload ( E.120 or
E.130) warning before the alarm display. If the
operation continues, an alarm may occur.
A.911 Drive overload It is approaching the drive overload ( E.120 or
E.130) prior warning alarm display. If the
operation continues, an alarm may occur.
A.91A vibration Abnormal vibration detected during motor
operation. Same as the detection value of A.520,
it is set to alarm or warning by vibration
detection switch (PA310).
A.920 Regeneration overload This is the warning display immediately before
the regeneration overload (A.320) alarm is
reached. If the operation continues, an alarm
may occur.
A.930 Battery failure of the It is a warning display that the absolute encoder
absolute encoder battery voltage is too low.
A.941 Parameter changes that Changed the parameters that need to be turned
need to be turned on again on again.
A.970 Undervoltage Is about to reach under-voltage
( E.190 ) warning alarm before the show. If the
operation continues, an alarm may occur.
A.9A0 Overtravel Overtravel detected during servo ON.
137
A.900: The wiring of U, V, W of Check the wiring of the Check whether the motor cable or
Excessive position the servo motor is incorrect servo motor main circuit encoder cable has poor contact.
deviation cable.
Servo driver gain is low Check if the gain of the Servo gain can be improved by
servo driver is too low. automatic adjustment (no host
command) function.
High frequency of position Try lowering the command Reduce the position command pulse
command pulse pulse before running. frequency or command acceleration, or
adjust the electronic gear ratio.
Position command Try to reduce the command Added smoothing functions such as
acceleration is too large acceleration before running. position command acceleration /
deceleration time parameter (PA216).
Relative to running Check the position deviation Set the value of parameter PA520
conditions, the position alarm value correctly.
deviation alarm value (PA520) Is it appropriate.
(PA520) is low
A.901: The position deviation Set to clear the position deviation when
Excessive position accumulated when the the servo is OFF.
deviation when servo is ON exceeds Set the excessive position deviation
servo ON the ratio set by ( PA526 × warning value (PA528) when servo ON.
PA528) / 100.
A.910: Motor wiring, encoder Confirm the wiring. Check if there are any problems with the
Motor overload wiring or connection is bad motor wiring and encoder wiring.
(overload alarm Motor operation exceeds Check the motor's overload Re-examine the load and operating
becomes overload protection characteristics and operating conditions. Or re-examine the motor
( E warning prior characteristics instructions. capacity.
to .120 or E.130))
The motor does not drive Confirm the running Improve mechanical factors.
due to mechanical factors, command and motor speed.
causing excessive load
during operation
A.911: Drive operation exceeds Check the drive model and Re-examine the load and operating
Drive overload overload protection operation instructions. conditions. Or re-examine
(overload alarm characteristics the drive capacity.
becomes The motor does not drive Confirm the running Improve mechanical factors.
( E warning prior due to mechanical factors, command and motor speed.
to .121 or E.131)) causing excessive load
during operation
A.91A: Detect abnormal vibration Check the abnormal sound Reduce motor speed. Or reduce the
vibration during motor operation of the motor and the speed servo gain by custom adjustment, etc.
and torque waveforms
during operation.
The value of the moment of Check the moment of inertia Set the moment of inertia ratio correctly
inertia ratio (PA103) is ratio or mass ratio. (PA103).
138
larger than the actual value
or has a large change
A.920: Power supply voltage Measure the power supply Set the power supply voltage within the
Regenerative exceeds specifications voltage. specifications.
overload External regenerative Reconfirm operating Change the regenerative resistance
( Warning before resistor value, servo drive conditions and capacity value, regenerative resistance capacity,
becoming capacity or or servo drive capacity. Be shipped
Regenerative regenerative resistor again to adjust the line conditions .
overload (E.320) ) capacity is insufficient, or is
in continuous regeneration
Continuously under Check the load applied to the Re-examine the system including servo,
negative load, in continuous running servo motor. machinery, and operating conditions.
regeneration state
A.930: Battery is badly connected, Confirm the battery Connect the battery properly.
Battery failure of not connected connection.
the absolute Battery voltage is lower Measure the voltage of the Replacement battery
encoder than the set value (2.7V) battery.
A.941: Changed the parameters − Turn on the power of the servo driver
Parameter changes that need to be turned on again.
that need to be again
turned on again
A.970 : AC 200V power servo Measure the power supply Adjust the power supply voltage to the
Undervoltage drives, AC power voltage. voltage. normal range.
1 . 4 0V or less
Power supply voltage drops Measure the power supply Increase the power capacity.
during operation voltage.
A momentary power outage Measure the power supply If the instantaneous stop holding time
occurred voltage. (P A 5 1 9) is changed , set it to a
smaller value.
Servo driver fuse Replace the servo driver and connect the
Cut off reactor before using the servo driver.
A.9A0: Overtravel detected during Check the status of the If the overtravel signal cannot be
Overtravel servo ON overtravel signal by input confirmed by input signal monitoring,
signal monitoring. the overtravel may be detected
instantly. Do the following.
• The instructions from the host device
to the overtravel area are not executed.
• Check the wiring of the overtravel
signal.
• Take anti-interference measures.
139
Chapter 11 Communications
11.1 Communication terminals
Please refer to chapter 3.3 for wirings of CN1/CN2.
1) If upper controller only connects to one servo drive, connect CN1 to upper
controller and CN2 to a 120Ω resistor.
2) If upper controller connects to multiple servo drives, connect CN1 of first servo
drive to upper controller and CN2 of first servo drive to CN1 of second servo drive.
Connect all servo drives in this way and connect CN2 of last servo drive to a 120Ω
resistor.
n.
RS485 baud rate
0 2400bps
1 4800bps
2 9600bps
3 19200bps
4 38400bps
5 57600bps
Communicational protocal
PA016 0 8,N,1 (Modbus protocol, RTU mode)
1 8,N,2 (Modbus protocol, RTU mode)
2 8,E,1 (Modbus protocol, RTU mode)
3 8,O,1 (Modbus protocol, RTU mode)
Reserved
Reserved
140
11.3 Communication protocol
When using RS-485 for serial communications, each servo drive must set its own
axis number (PA015). There are two MODBUS modes: ASCII (American Standard
Code for Information Interchange) or RTU (Remote Terminal Unit). DS2 series servo
drive only supports RTU mode.
8,N,2(Modbus,ASCII / RTU)
8-data bits
11- bits character frame
8,E,1(Modbus,ASCII / RTU)
8-data bits
11- bits character frame
8,O,1(Modbus,ASCII / RTU)
8-data bits
11- bits character frame
141
CRC Command code: 1-byte
End 1 Static time exceeding 3.5 bytes
Detailed explanations are as below:
➢ STX (Communication starting)
Static time exceeding 3.5 bytes under current communication speed.
➢ ADR (communication address)
Valid communication address is between 1 and 127. For example: to communicate with
servo drive of Axis 16 (hexadecimal: 10H): ADR =10H
➢ CMD (command code) & DATA (data content)
DATA format is determined by CMD. Common CMD listed below:
Command Response
ADR 01H ADR 01H
CMD 03H CMD 03H
Starting address (high to 02H Data quantity (bytes) 04H
low) 00H Starting address 0200H (high 00H
Data byte number (high to 00H to low) B1H
low) 02H Second address 0200H (high to 1FH
CRC check low C5H low) 40H
CRC check high B3H CRC check low A3H
CRC check high D4H
Command Response
ADR 01H ADR 01H
CMD 06H CMD 06H
Starting address (high to 02H Starting address (high to 02H
low) 00H low) 00H
00H Data content (high to 00H
Data content (high to low)
64H low) 64H
CRC check low 89H CRC check low 89H
CRC check high 99H CRC check high 99H
142
1) CMD: 10H (write N words, N≤29)
For example, write 100 (0064H) , 102 (0066H) to starting address 0200H of servo
drive Axis 01H:
Command Response
ADR 01H ADR 01H
CMD 10H CMD 10H
Starting address (high to 02H Starting address (high to 02H
low) 00H low) 00H
Data word number (high 00H Data word number (high 00H
to low) 02H to low) 02H
Data byte number 04H CRC check low 40H
00H CRC check high 70H
Data 1 content
64H
00H
Data 2 content
66H
CRC check low 50H
CRC check high 11H
Notes:
After calculated CRC detected error value, in command, shall first fill in CRC low place,
then CRC high place.
RTU mode:
143
10.3.4 Communication troubleshooting
If slave address is 00H, this is broadcast data and the servo drive will send no
feedback.
144
11.4 Communication address
Communication Operation
address content Related instructions Data type (read and
HEX write)
Corresponds to parameters in Chapter
13.
For example, the corresponding address
of PA005 is 0005H;
For example, the corresponding address ◆ Unsigned 16 (Uint 16 )
Parameter of PA101 is 0101H; ◆Signed 16 (int 16 ) Read and
0000 ~ 0F00H
area For example, the corresponding address ◆ Unsigned 32-bit (Uint 32 ) write
of PA307 is 0307H; ◆Signed 32-bit (int 32 )
For example, the corresponding address
of PA5A0 is 05A0H;
Function to read RAM or write
RAM and EEPROM.
Corresponds to parameters in Chapter
13.
For example, the corresponding address
of PA005 is 0005H;
For example, the corresponding address ◆ Unsigned 16 (Uint 16 )
Temporary
of PA101 is 0101H; ◆Signed 16 (int 16 ) Read and
1000 ~ 1F00H parameter
For example, the corresponding address ◆ Unsigned 32-bit (Uint 32 ) write
area
of PA307 is 0307H; ◆Signed 32-bit (int 32 )
For example, the corresponding address
of PA5A0 is 05A0H;
Function to read RAM or write
RAM but not edit EEPROM.
Corresponds to parameters in Chapter
5.
For example, the corresponding ◆ Unsigned 16 (Uint 16 )
Monitoring address of dp000 is E000H; ◆Signed 16 (int 16 )
E000 ~ E200H Readable
area For example, the corresponding ◆ Unsigned 32-bit (Uint 32)
address of dp00A is E00AH; ◆Signed 32-bit (int 32 )
For example, the corresponding
address of dp 160 is E160H.
Notes:
1. If the addresses in the above table are continuous, continuous read / write operations can be performed. When the
continuous operation data is not in the table, the read / write data will be invalid. For example, there are only two
data at the beginning of 0x0630. When more than two consecutive data are read, the read data driver determines that
it is invalid and returns an error code .
145
2. When operating 32 -bit data: when reading data, the lower 16 bits are first, the upper 16 bits are last; the write
operation must use the 0x10 command to write two consecutive words, the lower 16 bits are first, and then the upper
16 bits.
3. In normal mode, the motor position feedback, encoder multi-turn data, and encoder single-turn data are all
increased counterclockwise (viewed from the motor axis) and decreased clockwise.
4. E168H, E16AH instructions: Before use, you must manually clear the absolute value data (perform AF011
operation). After execution, E168H, E16AH data will be automatically cleared; E168H, E16AH calculated data for
electronic gears (in user units). For example, the electronic gear is 20:1; the motor runs 50 turns (e.g., 1 turn
is 131072 pulses); feedback data is50 * 131072/20 = 327 680. Thus E168H data is 0x00050000 and E16AH data is
0x00000000.
146
Chapter 12 Product specifications
12.1 Servo drive specifications
147
on functions Address By parameter setting
Devices PC, upper controller
Display/keypad 7 LED X 5 bit, 4 buttons
At Servo OFF, forward/backward rotation inhibition,
Dynamic brake (DB) (optional)
power OFF, or stop due to failure.
Regenerative functions Internal or external
Over-travel (OT) protections POT, NOT. DB, deceleration to stop, coast to stop.
Over-current, over-voltage, under-voltage, over-load,
Protection functions
regenerative fault, etc.
148
12.1.3 Servo drive dimensions
149
12.2 Servo motor specifications & dimensions
General specifications
150
151
152
153
154
Chapter 13 List of parameters
Legends:
▪ P: Parameter number.
▪ Descriptions: Parameter detailed descriptions.
▪ Range: Parameter setting range.
▪ Unit: Parameter unit.
▪ Default: Parameter factory default setting value.
▪ Effective: Parameter effective time.
• Immediate: Parameter to be effective immediately.
• Restart: Parameter to be effective after restart the servo drive.
▪ DL: Data length
155
P Description Range Unit Default Effective DL
2: 23-bit.
PA003 Reserved
PA004 Reserved
PA005 Reserved
PA006 Basic function selection switch 6 n.0000~4000 n.0000 Restart 1
n.×××□: Speed control integral retention
0 integral clearance
1 integral retention
n.××□×: Reserved
n.×□××: Reserved
n.□×××: Use of external encoders
0 Not use.
1 Use in forward direction.
2 Reserved
3 Use in reverse direction.
4 Reserved
PA007 Function selection basic switch 7 b.0000 ~ 1211 n.0000 Restart 1
n.×××□: Reserved
n.××□×: Multi-turn encoder data overflow alarm
0: no alarm
1: alarm
n.×□××: Reserved
n. □×××: Reserved
PA008 Basic function selection switch 8 b.0000~1211 b.0000 Restart 1
n.×××□: Alarm/warning selection when battery voltage is low
0: Set battery voltage low to alarm(E.55A);
1: Set battery voltage low to warning(A.930);
n.××□×: Function selection when undervoltage
0: Do not detect undervoltage warning;
1: Check out the undervoltage warning and execute the torque limit by the host device;
2: Check out undervoltage warning and execute torque limit via PA424, PA425;
n.×□××: Warning detection selection
0: Detect;
1: Not detect;
n.□×××: Reserved
PA009 Basic function selection switch 9 b.0000~1311 b.0000 Restart 1
n.×××□: Reserved
n.××□×: Reserved
n.×□××: Speed detection method selection
0: Speed detection method 1;
1: Speed detection method 2;
n.□×××: Reserved
156
P Description Range Unit Default Effective DL
PA00B Basic function selection switch B n.0000~9953 n.0021 Restart 1
n.×××□: Panel parameter display selection
0: Only display setting parameters;
1: Display all parameters;
n.××□×: Warning stop method selection
0: Zero speed stop;
1: Coast to stop (same as PA001.0);
n.×□××: Reserved
n.□×××: Reserved
PA00D Basic function selection switch D n.0000~n.0200 0000 Immediate 1
n. ×××□: Main circuit power off alarm
0: No alarm when main power is off. However, if the main power is turned off multiple times within 1 minute, E.340 will be
reported.
1 ~ 7: The main power is off. The number of detections is set according to this bit: if set to 1, the main power is turned off and then
turned on to alarm E.AA2; if set to 2, the main power is turned off and then turned on, after the main power is turned off and then
turned on again Alarm E.AA2.
n. ××□×: Power-on current is automatically zero
0: The current is automatically zeroed after power-on.
1: Do not perform current comparison after power-on.
n. ×□××: Motor anti-collision protection function
0: When the torque exceeds the LEVEL (percentage of rated torque) of PA43D, the torque arrival signal is output and the anti-
collision function is turned off.
n: Anti-collision function is on. When the torque exceeds PA43D, the output torque reaches the signal, and after n * 100ms, the
driver alarms E.136.
n. □×××: Overtravel warning detection option
0: No overtravel warning is detected.
1: Detect overtravel warning A.9A0.
2: Overtravel alarm E.AB0 is detected.
PA010 Basic function selection switch 10 n.0000~n.0601 0300 Restart 1
n.×××□: Regenerative resistor detection
0: Detect;
1: Not detect;
n.××□×: Reserved
n.×□××: Overload class
0~9: the higher this value is, the higher overload time is;
n.□×××: Reserved
PA012 Motor model selection 0~59 12 Restart 1
The drive and motor models need to match. By default the servo drive can recognize the servo motor automatically and there is no
need to modify this parameter.
PA015 Axis address (UART/EtherCAT communication) 1~255 1 Restart 1
PA016 RS485 Communication function selection switch n.0000~1096 n.0035 Immediate 1
n.×××□: RS485 baud rate
157
P Description Range Unit Default Effective DL
0: 2400bps;
1: 4800bps;
2: 9600bps;
3: 19200bps;
4: 38400bps;
5: 57600bps;
n.××□×: Protocol
0: 8,N,1;
1: 8,N,2;
2: 8,E,1;
3: 8,O,1;
n.×□××: Reserved
n.□×××: Reserved
First speed loop gain 10 ~ 20000 0.1 Hz 400 Immediate 1
Determine the speed loop responsiveness.
PA100
In order to increase the position loop gain and improve the overall responsiveness of the servo system, the speed loop gain value
must be increased. However, if the setting is too large, it may cause vibration. Please pay attention when modifying it.
First speed loop integral time constant 15 ~ 51200 0.01 ms 2000 Immediate 1
Set the speed loop integral time constant.
PA101
The smaller the set value, the greater the integral action and the stronger the anti-disturbance capability, but an excessive setting
may cause vibration.
First position loop gain 10 ~ 20000 0.1/s 400 Immediate 1
Determine the responsive characteristics of the Position control system.
PA102
Set the larger position loop gain value to shorten the positioning time.
However, if the setting is too large, it may cause vibration. Please pay attention when modifying it.
Inertia ratio 0 ~ 20000 1% 100 Immediate 1
PA103
PA103 value = load inertia (JL) / rotorary inertia(JM))×100 (%)
PA104 Second speed loop gain 10 ~ 20000 0.1 Hz 400 Immediate 1
PA105 Second speed loop integral time constant 15 ~ 51200 0.01 ms 2000 Immediate 1
PA106 Second position loop gain 10 ~ 20000 0.1/s 400 Immediate 1
Speed feed forward gain 0~100 % 0 Immediate 1
PA109 In the speed command calculated according to the internal position command, the value multiplied by the ratio of this parameter is
added to the speed command from the position control processing.
PA10A Speed feedforward filter 0~6400 0.01ms 0 Immediate 1
Gain application selection switch 0 n.0000~0014 n.0000 Immediate 1
n.×××□: Mode selection
0: conditioned by internal torque command;
1: conditioned by the speed command;
PA10B
2: conditioned by acceleration;
3: conditioned by the position deviation pulse;
4: no mode switch function;
n.××□×: Speed loop control method
158
P Description Range Unit Default Effective DL
0: PI control;
1: I-P control;
n.×□××: Reserved
n.□×××: Reserved
PA10C Mode switch (torque command) 0~400 1% 200 Immediate 1
PA10D Mode switch (speed command) 0~3000 1min-1 0 Immediate 1
PA10E Mode switch (acceleration) 0~30000 1 min-1/s 0 Immediate 1
PA10F Mode switch (position deviation pulse) 0~10000 1 pulse 0 Immediate 1
PA121 First disturbance compensation gain 10 ~ 1000 1% 100 Immediate 1
PA122 Second disturbance compensation gain 10 ~ 1000 1% 100 Immediate 1
PA123 Disturbance compensation coefficient 0 ~ 100 1% 0 Immediate 1
PA124 Disturbance compensation frequency compensation -10000~ 10000 0.1 Hz 0 Immediate 1
PA125 Disturbance compensation gain compensation 1 ~ 1000 1% 100 Immediate 1
PA131 Gain switching time 1 0~32767 1ms 0 Immediate 1
PA132 Gain switching time 2 0~32767 1ms 0 Immediate 1
PA135 Gain switching waiting time 1 0~32767 1ms 0 Immediate 1
PA136 Gain switching waiting time 2 0~32767 1ms 0 Immediate 1
PA139 Gain application selection switch 1 n.0000~0014 n.0000 Immediate 1
n.×××□: Gain switching selection switch
0: Manual: by external G-SEL signal.
1: Reserved;
2: Automatic switch 1;
When the switching condition A is met, switch from first gain to second gain;
When the switching condition A is not met, switch from second gain to first gain
n.××□×: Switching condition A
0: COIN signal ON;
1: COIN signal OFF;
2: NEAR signal ON;
3: NEAR signal OFF
4: Position instruction filter output=0 AND instruction pulse output OFF
6: Position instruction pulse ON
n.×□××: Reserved
n.□×××: Reserved
PA200 Position control function switch 0 n.0000~1232 n.0000 Restart 1
n.×××□: Instruction pulse form
0: SIGN+PULS;
1: CW+CCW;
2: A phase + B phase;
n.××□×: Pulse signal negation
0: PULS, SIGN not negate;
1: PULS not negate, SIGN negate;
2: PULS negate, SIGN negate;
159
P Description Range Unit Default Effective DL
3: PULS negate, SIGN negate;
n.×□××: Pulse clearance action
0: Clear deviation pulse upon Servo OFF or alarm;
1: Clear deviation pulse only by CLR signal;
2: Clear deviation pulse upon alarm.
n.□×××: Pulse input channel selection
0: PULS, SIGN input (low speed channel);
1: PULSH, SIGNH input (high speed channel, reserved).
PA201 Position control function switch 1 n.0000~3177 n.0000 Restart 1
n.×××□: Reserved
n.××□×: Reserved
n.×□××: Frequency division pulse output negation
0: Not negate
1: Negate
n.□×××: Frequency division pulse Z expansion
0: Not expand
1: Expand
PA202 Position control function switch 2 n.0000~0022 n.0000 Restart 1
n.×××□: COIN signal output condition
0: Output when the absolute value of the position deviation is smaller than the positioning completion amplitude (PA522);
1: Output when the absolute value of the position deviation is less than the positioning completion amplitude (PA522) and the
position command filtered command is 0;
2: Output when the absolute value of the position deviation is smaller than the positioning completion amplitude (PA522) and
the position command input is 0.
n.××□×: CLR signal form
0: Clear the position deviation pulse when the signal is H level;
1: The rising edge of the signal clears the position deviation pulse;
2: Clear the position deviation pulse when the signal is L level;
3: The falling edge of the signal clears the position deviation pulse;
n.×□××: Homing modes
0: Search for the Z pulse in the negative direction, and the Z pulse as the zero point;
1: Search for the Z pulse in the positive direction, and the Z pulse as the zero point;
2: Running in the negative direction, after hitting the NOT signal, the Z pulse is searched in the forward direction, and the first
Z pulse is used as the zero point;
3: Running in the positive direction, after hitting the POT signal, the Z pulse is searched negatively, and the first Z pulse is
used as the zero point;
4: The zero signal is invalid, running in the positive direction. After the zero signal is valid, the negative Z is running. The first
Z pulse with zero signal is invalid. The zero signal is valid, the negative direction is running, and the zero signal is invalid. Z pulses
as zero points;
5: The zero signal is valid, running in the negative direction, after the zero signal is invalid, the forward operation, the first Z
pulse after the zero signal is valid is zero; the zero signal is invalid, the positive direction is running, and the zero signal is valid. a Z
pulse as a zero point;
6: Running in the negative direction, after hitting the NOT signal, it will run in the forward direction, and the NOT signal will
160
P Description Range Unit Default Effective DL
be invalid as the zero position;
7: Running in the positive direction, after hitting the POT signal, it runs in the negative direction, and the invalid position of
the POT signal is used as the zero position;
8: The zero signal is invalid, running in the positive direction. After the zero signal is valid, the negative direction is running,
and the zero signal is invalid as the zero point; the zero signal is valid, the negative direction is running, and the zero signal is invalid
as the zero point;
9: The zero signal is valid, running in the negative direction. After the zero signal is invalid, the forward operation is performed,
and the zero signal is valid as the zero point; the zero signal is invalid, the positive direction is running, and the zero signal is valid
as the zero point;
n. □×××: Reserved
PA205 Multi-turn upper limit 0 ~ 65535 1 rev 65535 Restart 1
Position control function switch 0000~2210 -- 0000 Restart 1
n.×××□: Reserved
n.××□×: Position control selection
PA207 0: No V-REF assignment;
1: Assign V-REF as speed feedforward input.
n.×□××: Reserved
n.□×××: Reserved
Electronic gear ratio numerator 1 ~ 1073741824 1 4 Restart 2
PA20E
Refer to PA210.
Electronic gear ratio denominator 0 ~ 1073741824 1 1 Restart 2
PA210 Electronic gear ratio calculation
PA210 ≠0 PA20E/PA210
=0 Encoder resolution/PA20E
161
P Description Range Unit Default Effective DL
Valid Invalid Internal speed 2 (PA302)
Valid Valid Internal speed 3 (PA303)
Internal torque register 0 -6000~ 6000 0.1% 100 Immediate 1
In internal torque control mode, combination of external IO signals INTor1 and INTor0 controls internal torque.
INTor1 INTor0 Torque setting value
Invalid Invalid Analog input
Invalid Valid Internal torque 1 (PA301)
Valid Invalid Internal torque 2 (PA302)
Valid Valid Internal torque 3 (PA303)
Internal speed 2 -6000~ 6000 1 min-1 200 Immediate 1
PA302
Internal torque register 1 -6000~ 6000 0.1% 200 Immediate 1
Internal speed 3 -6000~ 6000 1 min-1 300 Immediate 1
PA303
Internal torque register 2 -6000~ 6000 0.1% 300 Immediate 1
PA304 JOG speed 0~6000 1 min-1 500 Immediate 1
PA305 Soft start acceleration time 0 ~ 10000 1ms 0 Immediate 1
PA306 Soft start deceleration time 0 ~ 10000 1ms 0 Immediate 1
PA307 Speed command filter time 0 ~ 65535 0.01ms 40 Immediate 1
PA308 Speed feedback filter time 0 ~ 65535 0.01ms 0 Immediate 1
PA30A Speed control function switch 0 0000 ~ 0001 - 0000 Immediate 1
n.××× □: Zero clamping function selection
0: External IO input signal cotrol (ZEROSPD);
1: Automatic (according to the value of PA511 as the speed dead zone, ignoring the ZEROSPD signal);
n.□□□×: Reserved
PA30B Speed control function switch 1 1
PA310 Vibration detection switch 0000 ~ 0F02 - 0000 Immediate 1
n.×××□: Vibration detection selection
0: No detection;
1: After detection, outputs warning (A.91A);
2: After detection, outputs alarm (E.A20);
n.××□×: Reserved
n.□□××: N Pulse suppression pulse number
N is encoder unit. N=0~F。
PA311 Vibration detection sensitivity 50 ~ 500 1% 100 Immediate 1
PA312 Vibration detection value 0 ~ 5000 50min-1 50 Immediate 1
PA324 Immediate 1
Inertia estimation start value 0 ~ 20000 1% 300
PA400 Reserved
PA401 1st torque command filter time constant 0~32767 0.01ms 100 Immediate 1
PA402 Positive torque limit 0~400 1% 400 Immediate 1
PA403 Negative torque limit 0~400 1% 400 Immediate 1
PA404 Positive external torque limit 0~400 1% 100 Immediate 1
PA405 Negative external torque limit 0~400 1% 100 Immediate 1
162
P Description Range Unit Default Effective DL
PA406 Emergency stop torque limit 0~400 1% 400 Immediate 1
PA407 Speed limit at torque control 0~5000 1 min-1 1500 Immediate 1
PA408 Torque function switch 0 0000 ~1111 - 0000 1
n.×××□: Notch filter selection 1
0: The first stage notch filter is invalid.
1: Use the 1st stage notch filter.
2: The 1st stage notch filter is set to automatic.
n.××□×: Speed limit selection
0: Use the smaller of the motor maximum speed or PA407 as the speed limit value.
1: Use the overspeed detection speed or the smaller of PA407 as the speed limit value.
n.×□××: Notch filter selection 2
0: The 2nd stage notch filter is invalid.
1: Use the 2nd stage notch filter.
n.□×××: Disturbance compensation function selection
0: Do not use the disturbance compensation function.
1: Use the disturbance compensation function.
PA409 1st stage notch filter frequency 50 ~ 5000 1 Hz 5000 Immediate 1
PA40A 1st stage notch filter attenuation value 50 ~ 1000 0.01 70 Immediate 1
PA40B 1st stage notch filter depth 50 ~ 5000 0.001 0 Immediate 1
PA40C 2nd stage notch filter frequency 50 ~ 5000 1 Hz 5000 Immediate 1
PA40D 2nd stage notch filter attenuation value 50 ~ 1000 0.01 70 Immediate 1
PA40E 2nd stage notch filter depth 50 ~ 5000 0.001 0 Immediate 1
PA415 Analog torque command filter time parameter 0 ~ 32767 0.01ms 0 Immediate 1
PA417 3rd stage notch filter attenuation value 50 ~ 1000 0.01 70 Immediate 1
PA41A 4th stage notch filter attenuation value 50 ~ 1000 0.01 70 Immediate 1
163
P Description Range Unit Default Effective DL
Notch filter adjustment switch 1 0000 ~0101 0101 Immediate 1
n.×××□: Notch filter adjustment selection 1
0: 1st stage notch filter not automatic adjustment
1: 1st stage notch filter automatic adjustment
PA460 n.××□×: Reserved
n.×□××: Notch filter adjustment selection 2
0: 2nd stage notch filter not automatic adjustment
1: 2nd stage notch filter automatic adjustment
n.□×××: Reserved
DI 1 function selection (CN1-40) n.0000~n.211F -- n.0000 Immediate 1
n.XX□□: DI 1 input signal selection
[00] Servo-on (S-ON)
[01] Control mode switch (C-MODE)
[02] Forward rotation prohibited (POT)
[03] Reverse rotation prohibited (NOT)
[04] Deviation counter clearance (CLR)
[05] Alarm reset (A-RST)
[06] Pulse input inhibited (INHIBIT)
[07] Reserved
[08] Forward torque limitation (PCL)
[09] Reverse torque limitation (NCL)
[0A] Gain switch (GAIN)
[0B] Reserved
PA500
[0C] Reserved
[0D] Instruction division/ multiplication switch 0 (DIV0)
[0E] Reserved
[0F] Internal speed register 0 (INSPD0)
[10] Internal speed register 1 (INSPD1)
[13] Internal torque register 0 (INTor0)
[14] Internal torque register 1 (INTor1)
n.X□XX: DI 1 signal negation
[0] Not negate
[1] Negate
n.□XXX: DI 1 signal status
[0] Controlled by external I/O
[1] Normally active
[2] Normally inactive
PA501 DI 2 input signal selection (CN1-41) n.0000~n.211F -- n.0001 Immediate 1
PA502 DI 3 input signal selection (CN1-42) n.0000~n.211F -- n.2002 Immediate 1
PA503 DI 4 input signal selection (CN1-43) n.0000~n.211F -- n.2003 Immediate 1
PA504 DI 5 input signal selection (CN1-44) n.0000~n.211F -- n.0004 Immediate 1
PA505 DI 6 input signal selection (CN1-45) n.0000~n.211F -- n.0005 Immediate 1
PA50A DO 1 function selection (CN1-31, CN1-32) n.0000~n.0100 -- n.0000 Immediate 1
164
P Description Range Unit Default Effective DL
n.××□□: DO1 function selection
[00] Alarm signal output (ALM)
[01] Positioning completed (COIN)
[02] Z pulse open-collector signal (CZ)
[03] Brake release signal (BK)
[04] Servo ready signal (S-RDY)
[05] Speed instruction reached (VCMP)
[06] Motor rotation detection (TGON)
[07] Torque limited signal (TLC)
[08] Speed limited signal (VLC)
[09] Warning output (WARN)
[0A] Positioning near signal (NEAR): output when position deviation is less than PA524 settings
[0D] Torque reached (TREACH): output when torque feedback reaches PA43D settings
n.×□××: DO 1 signal negation
[0] Not negate
[1] Negate
n.□×××: DO 1 signal status
[0] Controlled by external I/O
DO 2 signal selection (CN1-29, CN1-30) n.0000~n.011F n.0001 Immediate 1
PA50B
Same as above
PA50C DO 3 signal selection (CN1-27, CN1-28) n.0000~n.011F n.0002 Immediate 1
PA50D DO 4 signal selection (CN1-25, CN1-26) n.0000~n.011F n.0003 Immediate 1
PA511 Zero-speed clamp grade 0 ~ 5000 1 min-1 10 Immediate 1
PA512 Rotation detection (TGON) value 1 ~ 6000 1 min-1 20 Immediate 1
PA513 VCMP signal detection width 0~100 1 min-1 10 Immediate 1
PA516 BK signal hysteresis time after Servo-OFF 0 ~ 1000 ms 0 Immediate 1
PA517 BK signal speed limit 0~ 5000 1 min-1 100 Immediate 1
PA518 BK signal waiting time at Servo-OFF 100 ~ 5000 1ms 500 Immediate 1
PA519 Instantaneous power off holding time 20~1000 1ms 20 Immediate 1
1 ~1073741824 1 command 1000 Immediate 2
PA51B Motor-load position deviation too large value
unit
PA51E Position deviation too large warning value 10 ~ 100 1% 100 Immediate 1
PA520 Position deviation too large alarm value 1 ~500 0.1 turn 50 Immediate 2
1 ~1073741824 1 command 7 Immediate 2
PA522 Positioning completion COIN amplitude
unit
165
P Description Range Unit Default Effective DL
PA52F Display setting at power on 0000 ~ 0FFF -- 0FFF Immediate 1
PA54D Homing speed 1 0 ~ 3000 1 min-1 500 Immediate 1
PA54E Homing speed 2 0 ~ 3000 1 min-1 10 Immediate 1
PA550 Homing position deviation value 0 ~ 67108864 Pulse 0 Immediate 1
PA560 Residual vibration detection amplitude 1 ~ 3000 0.1% 400 Immediate 1
PA561 Overshoot detection value 0 ~ 100 1% 100 Immediate 1
PA590 Regenerative resistance capacity 0 ~ 32767 1W 0 Immediate 1
PA591 Regenerative resistance 1~200 Ω 40 Immediate 1
PA5A0 Programmed JOG switches n.0000~n.0005 -- n.0000 Immediate 1
n.□□□X: Programmed JOG parameters
【 0 】 (Waiting time PA5A5→ Positive movement
PA5A1)× Movement times PA5A6
【1 】(Waiting time PA5A5→ Negative movement
PA5A1)× Movement times PA5A6
【2】(Waiting time PA5A5 → Positive movement
166
P Description Range Unit Default Effective DL
1: Valid
n.××□×: Reserved
n.×□××: Automatic stiffness level adjustment
0~4: The higher this value is, the higher stiffness level should be
n.□×××: Automatic load level adjustment
0~2: The higher the load is, the higher this value should be
PA60D Current gain value 100~2000 0.1% 1000 Immediate 1
PA610 Model tracking control switch 0000 ~ 1121 -- 0100 Immediate 1
n.×××□: Model tracking control switch
0: Invalid
1: Valid
n.××□×: Vibration reduction control switch
0: Invalid
1: Valid for special frequency
2: Valid for 2 different frequencies
n.×□××: Vibration reduction control function adjustment
0: No automatic adjustment by auxiliary function
1: Automatic adjustment by auxiliary function
n.□×××: Speed feedforward / Torque feedforward selection
0: Not to use model tracking and feedforward simultaneously
1: Use model tracking and feedforward simultanesously
PA613 Model tracking control gain 10 ~ 20000 0.1/s 500 Immediate 1
PA614 Model tracking control gain compensation 500 ~ 2000 0.1% 1000 Immediate 1
PA615 Model tracking control positive offset 0 ~ 10000 0.1% 1000 Immediate 1
PA616 Model tracking control negative offset 0 ~ 10000 0.1% 1000 Immediate 1
PA617 Vibration reduction control 1 frequency A 10 ~ 2500 0.1Hz 500 Immediate 1
PA618 Vibration reduction control 1 frequency B 10 ~ 2500 0.1Hz 700 Immediate 1
PA619 Model tracking control speed feedforward compensation 0 ~ 10000 0.1% 1000 Immediate 1
PA630 Vibration suppression control swtiches 0000 ~ 0011 - 0010 Restart 1
n.×××□: Vibration suppression control switch
0: Invalid
1: Valid
n.××□×: Vibration suppression control adjustment switch
0: No automatic adjustment by auxiliary function
1: Automatic adjustment by auxiliary function
n.×□××: Reserved
n.□×××: Reserved
PA631 Vibration suppression frequency 10 ~ 20000 0.1Hz 1000 Immediate 1
PA632 Vibration suppression gain compensation 1 ~ 1000 1% 100 Immediate 1
PA633 Damping gain 0 ~300 1% 0 Immediate 1
167