User Manual

For SA Series

BONMET Motion GmbH

Smart & Accurate
 Preface
Thank you for choosing BONMET’s AC servo products.
This manual is a user guide that provides the information on how to install, operate and maintain
SA series AC servo drive. The contents of this manual include the following topics:
● Installation of AC servo drives and motors
● Configuration and wiring
● Trial run steps
● Control functions and adjusting methods of AC servo drives
● Parameter settings
● Inspection and maintenance
● Troubleshooting
● Application examples
Before using the product, please read this manual to ensure correct use. Users should thoroughly
understand all safety precautions (DANGERS and WARNINGS) before proceeding with the
installation, wiring and operation. If you still have any problem, please contact with the local
Bonmet sales representative. Place this user manual in a safe location for future reference.

1
 Safety Precautions
● To prevent electric shock, note the following:

DANGEROUS
· Before wiring or inspection, switch power off and wait for more than 10 minutes. Then,
confirm the voltage is safe with voltage tester. Otherwise, you may get an electric shock.
· Wiring must be carried by electrical engineer.
· Connect the servo drive and servo motor to ground.
· Operate the switches with dry hand to prevent an electric shock.
· The cables should not be damaged, stressed, loaded, or pinched. Otherwise, you may get
an electric shock.

● To prevent fire, note the following:

CAUTION
· Do not install the servo drive, servo motor and regenerative brake resistor on or near
combustibles. Otherwise a fire may cause.
· When the servo drive has become faulty, switch off the main power. Continuous flow of a
large current may cause a fire.
· When there is a signal faulty as a regenerative brake resistor is used, please switch the
main power off. Otherwise, a regenerative brake transistor fault may overheat the
regenerative brake resistor and cause a fire.

● Wiring Precautions

CAUTION
· Wire the equipment correctly and securely.
· Connect the output terminals (U, V, W) correctly.
· Do not connect AC power directly to the servo motor.

● Operation and Adjustment Precautions

CAUTION
· Do not touch the radiator and the regenerative brake resistor as they are overheated.
· Do not set parameter value unduly. If so, system would be instable.
· Do not touch the rotating parts of the servo motor in operation. Doing so may cause injury.

● Others

CAUTION
· Do not attempt to remold the servo drive.

2
 CONTENTS
CHAPTER 1 MODEL AND SPECIFICATIONS ............................................................................................................ 6

1.1 NAMEPLATE................................................................................................................................................... 6
1.2 MODEL DESIGNATION ..................................................................................................................................... 6
1.3 MODEL ......................................................................................................................................................... 6
1.4 OUTLINE DIMENSION DRAWINGS (UNIT: MM) ..................................................................................................... 7
1.4.1 SA3L04C Dimension Drawings ............................................................................................................... 7
1.4.2 SA3L06B /SA3L10B Dimension Drawings ............................................................................................... 7
1.4.3 SA3L15C/SA3L25C Dimension Drawings ................................................................................................ 8
1.4.4 SA3H10C Dimension Drawings .............................................................................................................. 8
1.5 TECHNICAL SPECIFICATIONS .............................................................................................................................. 9
1.5.1 General Specifications ........................................................................................................................... 9
1.5.2 Single Specification list........................................................................................................................... 9

CHAPTER 2 WIRING AND OPERATION ................................................................................................................ 10

2.1 INSTALLATION SITES ...................................................................................................................................... 10

2.2 INSTALLATION DIRECTION AND SPACE .............................................................................................................. 10
2.3 CONNECTION ............................................................................................................................................... 11
2.3.1 SA3L04C Connection Graph ................................................................................................................. 11
2.3.2 SA3L06B/SA3L10B Connection Graph ................................................................................................. 11
2.3.3 SA3L15C/25C Connection Graph .......................................................................................................... 12
2.3.4 SA3H10C Connection Graph ................................................................................................................ 12
2.6 CABLE TYPE ................................................................................................................................................. 13
2.7 WIRING NOTES ............................................................................................................................................ 13

CHAPTER 3 INTERFACE........................................................................................................................................ 14

3.1 POWER SUPPLY TERMINALS ............................................................................................................................ 14

3.2 ENCODER SIGNAL INPUT TERMINAL CN1 .......................................................................................................... 14
3.3 CONTROL SIGNAL I/O TERMINALS CN2 ............................................................................................................ 15
3.4 LINE-LINE SERIAL TERMINAL COM/CN3 .......................................................................................................... 18
3.5 I/O INTERFACE TYPE ..................................................................................................................................... 18
3.5.1 Switching Input Interface ..................................................................................................................... 18
3.5.2 Switching Output Interface .................................................................................................................. 19
3.5.3 Pulse Input Interface ............................................................................................................................ 20
3.5.4 Analog Input Interface ......................................................................................................................... 22
3.5.5 Encoder Signal Output Interface .......................................................................................................... 23
3.5.6 Open Collector Output Interface for Encoder Phase-Z Signal.............................................................. 24
3.5.7 Optical Encoder Input Interface for Servo Motor ................................................................................ 24
3.6 BRAKE RESISTOR TERMINALS P, PC, P1 ............................................................................................................ 24
3.7 EXTERNAL CAPACITOR TERMINAL G ................................................................................................................. 24

CHAPTER 4 OPERATION ...................................................................................................................................... 25

4.1 OPERATION PROCEDURE ................................................................................................................................ 25

3
 4.2 PREPARING FOR OPERATION .......................................................................................................................... 25
4.2.1 Turning Power ON and Checking Indicators ........................................................................................ 25
4.2.2 Power Connecting Sequence ............................................................................................................... 26
4.3 POSITION CONTROL MODE............................................................................................................................. 27
4.3.1 Schematic Diagram Of Position Control Mode .................................................................................... 28
4.3.2 Parameters In Position Control Mode ................................................................................................. 28
4.3.3 Operation ............................................................................................................................................. 29
4.4 SPEED MODE ............................................................................................................................................... 29
4.4.1 Schematic Diagram Of Speed Control Mode ....................................................................................... 30
4.4.2 Parameters In Speed Control Mode .................................................................................................... 30
4.4.3 Operation ............................................................................................................................................. 31
4.5 TORQUE CONTROL MODE .............................................................................................................................. 32
4.5.1 Schematic Diagram Of Torque Control Mode ...................................................................................... 32
4.5.2 Parameters In Torque Control Mode................................................................................................... 32
4.5.3 Operation ............................................................................................................................................. 33
4.6 JOG CONTROL MODE ................................................................................................................................... 33
4.6.1 Schematic Diagram Of JOG Control Mode ........................................................................................... 34
4.6.2 Parameters In JOG Control Mode ........................................................................................................ 34
4.7 POINT TO POINT CONTROL MODE ................................................................................................................... 34
4.7.1 Schematic Diagram Of Point To Point Control Mode ........................................................................... 35
4.7.2 Parameters In Point To Point Control Mode ....................................................................................... 35
4.7.3 Operation ............................................................................................................................................. 36
4.8 GAIN ADJUSTMENT ....................................................................................................................................... 37
4.8.1 Speed Loop .......................................................................................................................................... 37
4.8.2 Position Loop ....................................................................................................................................... 38
4.8.3 Parameters Settings ............................................................................................................................. 38

CHAPTER 5 PARAMETERS.................................................................................................................................... 39

5.1 PARAMETER LIST .......................................................................................................................................... 39

5.2 PARAMETER CONTENTS ................................................................................................................................. 44
5.3 MODEL CODE AND MOTOR SYNOPSIS .............................................................................................................. 58

CHAPTER 6 PROTECTIVE FUNCTIONS ................................................................................................................. 59

6.1 WARNING LIST ............................................................................................................................................. 59

6.2 REMEDIES FOR ALARMS ................................................................................................................................. 59

CHAPTER 7 DISPLAY AND KEYBOARD OPERATION.............................................................................................. 63

7.1 L AYER 1 ...................................................................................................................................................... 63

7.2 L AYER 2 ...................................................................................................................................................... 64
7.2.1 Monitor Mode ..................................................................................................................................... 64
7.2.2 Parameter Setting ................................................................................................................................ 65
7.2.3 Parameter Management ...................................................................................................................... 66
7.2.4 Speed Trial Running ............................................................................................................................. 67
7.2.5 JOG Running......................................................................................................................................... 67
7.2.6 Analog Auto-zero ................................................................................................................................. 68
4
CHAPTER 8 FUNCTION DESCRIPTION ................................................................................................................. 69

8.1 GROUNDING ................................................................................................................................................ 69

8.2 MECHANICAL BRAKES.................................................................................................................................... 69
8.3 DYNAMIC ELECTRONIC GEAR .......................................................................................................................... 70
8.3.1 Simple Connection ............................................................................................................................... 70
8.3.2 Operation ............................................................................................................................................. 71
8.4 ATTENTION NOTES ........................................................................................................................................ 72
8.5 TORQUE OVERLOAD ALARM FUNCTION ............................................................................................................ 73
8.6 COMMON QUESTIONS ................................................................................................................................... 73
8.6.1 Restore Default Parameters ................................................................................................................. 73
8.6.2 Frequent Appearances Err-2、Err-3、Err-5 ........................................................................................ 73
8.6.3 POWER Lamp OFF ................................................................................................................................ 74
8.7 RELEVANT KNOWLEDGE ................................................................................................................................. 74
8.7.1 Position Resolution and Settings for Electronicic Gear ........................................................................ 74
8.7.2 Lag Pulse in Position Control Mode ..................................................................................................... 74

5
 Chapter 1 Model and Specifications
1.1 Nameplate

Figure 1-1 Nameplate

1.2 Model Designation

SA 3L 10 B XX

1 2 3 4 5
1． Product type: SA- Series AC servo drive;
2． Power supply;
1L 3L 3H
1-phase AC220V 3-phase AC220V 3-phase AC380V
（1Ф220V） （3Ф220V） （3Ф380V）
3． Nominal current：
04 06 10 15 25
4A 6A 10A 15A 25A
4． Power specification code;
5． Software customized logo.

1.3 Model
Specification Model
4A SA3L04C
6A SA3L06B
1/3-phase AC220V 10A SA3L10B
15A SA3L15C
25A SA3L25C
3-phase AC380V 10A SA3H10C

6
1.4 Outline Dimension Drawings (Unit: mm)
1.4.1 SA3L04C Dimension Drawings

Figure 1-2 SA3L04C dimension drawings

1.4.2 SA3L06B /SA3L10B Dimension Drawings

Figure 1-3 SA3L06B/SA3L10B dimension drawings

7
1.4.3 SA3L15C/SA3L25C Dimension Drawings

Figure 1-4 SA3L15C/SA3L25C dimension drawings

1.4.4 SA3H10C Dimension Drawings

Figure 1-5 SA3H10C dimension drawings

8
1.5 Technical Specifications
1.5.1 General Specifications
Single-phase or three-phase
three-phase AC380V
Input power supply AC220V
-15~+10% 50/60Hz
-15~+10% 50/60Hz
Ambient
Operation：0~40℃ Storage：-40℃~50℃
temperature
Operation
Ambient humidity 40%~80%( non-condensing)
environment
Atmospheric
86~106kPa
pressure
Control mode ①Position ②Speed ③Torque ④JOG ⑤Point-to-Point
Regenerative braking Internal/External connection
Speed frequency
≥200Hz
response
Speed <±0.03(Load 0~100%)；<±0.02(Power Supply -15~+10%)
Features
fluctuation ratio (Value corresponds to the nominal speed)
Speed ratio 1:5000
Pulse frequency ≤500kHz
①Servo enable ②Alarm clear ③CCW drive forbidden ④CW drive
forbidden ⑤Deviation counter reset/ speed select 1/ zero speed clamp
Input signals
⑥Command pulse forbidden/ speed select 2 ⑦CCW torque limit ⑧CW
torque limit
Output signals ①Output ready ②Alarm output ③Positioning completed / speed reached
①Pulse + Direction
Pulse type ②CCW pulse / CW pulse
Position control mode ③A phase and B phase
Electronic gear 1~32767/1~32767
Feedback pulse 2500 C/T
Speed control mode Four kinds of internal speed
Acceleration and
Parameter setting :1~10000ms or 1~1000r/min
deceleration function
Speed, current position, accumulation of command pulse, position
deviation, motor torque, motor current, linear speed, rotor absolute
Monitoring function
position, command pulse frequency, operation state, I/O terminal signals,
etc.
Overspeed, overvoltage, undervoltage, over current, Motor overheated ,
Protective functions overload, Brake error, encoder error, control power error, location
tolerance, etc.
Applicable load inertia Less than five times of motor inertia

1.5.2 Single Specification list

Model SA3L04C SA3L06B SA3L10B SA3L15C SA3L25C SA3H10C
Input power 1/3 phases 1 /3 phases 1/3 phases 1/3 phases 1/3 phases 3-phaseAC
supply AC 220V AC 220V AC 220V AC 220V AC 220V 380V/220V
Nominal current 4A 6A 10A 15A 25A 10A
Maximum instant
11.312A 16.968A 28.28A 42.42A 70.7A 28.28A
current
Line diameter of 2
2 2 ≥1.5mm 2 2 2
terminal R,S,T ≥1.0mm ≥1.5mm ≥2.5mm ≥2.5mm ≥1.5mm
Line diameter of (AWG16-18) (AWG14-15) (AWG14-15) (AWG11) (AWG11) (AWG14-15)
terminal U,V,W,PE
2 2 2 2 2 2
Line diameter of ≥1.0mm ≥1.0mm ≥1.0mm ≥1.5mm ≥1.5mm ≥1.0mm
terminal r,t (AWG16-18) (AWG16-18) (AWG16-18) (AWG14-15) (AWG14-15) (AWG16-18)
Note: Momentary maximum current equals to the maximum theoretical value for drive, please do not operate the servo system in
the state of overcurrent for long-term to avoid damage.

9
 Chapter 2 Wiring and Operation
2.1 Installation Sites
· Please install the servo system in the place without oil mist, dust or electrical control cabinet (ensure the
temperature below 50℃, relative humidity below 80%. The long-term safety temperature below 40℃).
· Please install the servo system in the place without radioactive matters and combustibles.
· Take an anti-vibration measure to guarantee that the servo drive is free from vibration impact, ensuring the
vibration under 0.5G (4.9m/s2).
· Please install the servo system in the place without direct sunlight.
· Interferential equipment nearby would take great effects to the power wire and control wire which will
cause misoperation. For normal operation, a noise filter or any other anti-jamming measures is necessary to
be carried out. Leakage current would increase after installing a noise filter, therefore an isolation
transformer can be used to avoid this problem. Possessing a reasonable alignment and inhibit measures is
very important because the control signal wire is easy to be interfered.

2.2 Installation Direction and Space

· The equipment must be installed in the specified direction. Otherwise, a fault may occur.
· Leave specified clearances between the servo drive and control box inside walls or other equipment.
· Leave a large clearance between the top of the servo drive and the internal surface of the control box, and
install a fan to prevent the internal temperature of the control box from exceeding the environmental
conditions.
· When using heat generating equipment such as the regenerative brake option, install them with full
consideration of heat generation so that the servo drive is not affected. Install the servo drive on a
perpendicular wall in the correct vertical direction.

≥ 100mm
≥ 25mm ≥ 25mm

≥ 100mm

≥ 100mm
Air flow Air flow

Figure 2-1 installation schematic diagram for drives

10
2.3 Connection
2.3.1 SA3L04C Connection Graph
Non-fuse
Circuit Breaker
NFB

Noise Filter
NF

Magnetic
Contactor
MC Controller

Reactor
L PC Servofly
Enter

BONMET
Charge Run

R R CN4
S S Control
T T CN3
P Card
P
PC PC
External Brake P1 P1
Resistor
CN2

U
V
W
PE
CN1 Motor

PE

Figure 2-2 Connection graph of SA3L04C

2.3.2 SA3L06B/SA3L10B Connection Graph
Non-fuse
Circuit Breaker
NFB

Noise Filter
NF

Magnetic
Contactor Controller
MC

PC Servofly
Reactor
L

R R
S S COM
T T Control
P P Card

P PC
External Brake C P1 P1
Resistor
U CN2
V
W
PE

r r
t t
CN1 Motor

PE

Figure 2-3 Connection graph of SA3L06B/SA3L10B

11
2.3.3 SA3L15C/25C Connection Graph
Non-fuse
Circuit Breaker
NFB

Noise Filter
NF

Magnetic
Contactor
MC
Controller

Reactor
L
PC Servofly
Enter

BONMET
Charge Run

r
t CN4
R Control
CN3
Card
S
T
P
PC CN2
External Brake
Resistor P1
U
V
W
PE
CN1 Motor

Figure 2-4 Connection graph of SA3L15C/SA3L25C

2.3.4 SA3H10C Connection Graph
Non-fuse
Circuit Breaker
NFB

Noise Filter
NF

Magnetic
Contactor
MC
Controller

Reactor
L
PC Servofly
Enter

BONMET
Charge Run

r r
t t CN4
R R Control
S S CN3
T Card
T

P
P
G G
External Brake PC CN2
PC
Resistor P1
P1

U
V
W CN1 Motor
PE

PE

Figure 2-5 Connection graph of SA3H10C

Note: ①Connect PC with P1 when using the internal brake resistor, connect the external brake resistor between terminal PC and P
when using an external brake resistor.
②SA3L04C: The terminals r,t are integrated with main circuit power supply terminals；
③SA3H10C: It is necessary to connect a capacitance between terminal P and G under high-voltage operation.

12
2.6 Cable Type
Type Model Adapter model Cable icon
110-series motor Servo motor Servo drive
side side
BON-SA24 130-series motor Connector
Aviation plug
Encoder 150-series motor Plug:D-sub 15

cable Servo motor Servo drive

side side
BON-SB24 80-series motor Aviation plug Connector
Plug:D-sub 15

110-series motor Servo motor Servo drive

side side
BON-HA 130-series motor Connector
Power Aviation plug
150-series motor
cable
Servo motor Servo drive
BON-HB 80-series motor side side
Aviation plug Connector

Computer Servo drive

SA3L06B side side
BON-COM9 Serial plug
RS232 SA3L10B Connector
Plug:D-sub 9
serial
SA3L04C Computer Servo drive
cable side side
BON-PS2-8 SA3L25C Serial plug Connector
SA3H10C Plug:PS2-8

SA3L06B
Cable SA3L10B Servo drive Expansion board
side side
for PC BON-CN2A SA3L04C Expansion board
CN2 plug
connector
interface SA3L25C
SA3H10C
Table 2-1 Cable type list

2.7 Wiring Notes

· Please use the recommended electric cable or similar inhibit wire as for the I/O signal wires and encoder
signal wires. Cable specifications: the length of input/output signal wire should be 3 meters or less; the
length of encoder signal wire should be 20 meters or less; the main circuit wire and the signal wire should be
separated.
· Terminal PE of the servo drive and motor should be connected to ground.
· It is suggested to install a noise filter to prevent from malfunctions caused by interference, please notice the
followings:
1） Install the noise filters, servo drives and the host controller at a close range.
2） Install a surge suppressor in the coil of relays, electromagnetic contactors and brakes.
3） Do not tie up the main circuit and signal wires together or cross the same pipe.
· In the event that there is strong sources of interference nearby (such as electric welder, electro discharge
machine, etc.), an input power isolation transformer can be use to prevent malfunctions caused by
interference.
· Please install a non-fuse circuit breaker (NFB) so that the external power would be cut off in time when there
comes an alarm.
· Connect the cable inhibit correctly.

13
 Chapter 3 Interface
3.1 Power Supply Terminals
Terminals for per drive
Model Terminal symbol
SA3L04C R、S、T、P、PC、P1、U、V、W、PE.
SA3L06B/SA3L10B/SA3L25C R、S、T、r、t、P、PC、P1、U、V、W、PE.
SA3H10C R、S、T、r、t、P、G、PC、P1、U、V、W、PE.

Table 3-1 Power supply terminals list

Terminal Name Function
R Main circuit power supply terminals(AC 380V/220V 50Hz for
S Main circuit power supply SA3H10C, AC 220V 50Hz for other models)
(1-phase or 3-phase) Note: Do not connect with the servo motor power supply
T terminals (U, V, W).
r Control circuit power
Power supply terminals for control circuit.(AC220V 50Hz)
t supply (1-phase)
External braking resistor
P 1. When using the internal brake resistor, please connect P1 with
terminal
PC, and leave P open.
External capacitor
G 2. When using the external brake resistor, please connect the
terminal
external brake resistor between P and PC, and leave P1 open.
Public contact of braking
PC 3. Terminal G is the proprietary terminal of SA3H10C, when
resistor
operating on 380V, please connect the high-voltage capacitance
Internal braking resistor
P1 between P and G.
terminal
U
V Servo motor output Connect to the servo motor power supply terminals (U, V, W).
W
PE Protective earth Grounding terminal.

3.2 Encoder Signal Input Terminal CN1

5 4 3 2 1

10 9 8 7 6

15 14 13 12 11

Figure 3-1 Plug-welding of plug CN1 (encoder FEEDBACK) (face to plug-welding)

Table 3-2 Encoder signal input terminal CN1
Terminal Function
Name
number Symbol I/O Description
12 Power supply(5V) +5V The power supply and public ground of encoder. It is
necessary to use a parallel multi-cored wire to reduce
13 Public ground 0V the pressure drop of wires.
1 Encoder A+ input A＋ Connect with the electro-optic encoder A+.
Type7
6 Encoder A- input A－ Connect with the electro-optic encoder A-.
2 Encoder B+ input B＋ Connect with the electro-optic encoder B+.
Type7
7 Encoder B- input B－ Connect with the electro-optic encoder B-.
3 Encoder Z+ input Z＋ Connect with the electro-optic encoder Z+.
Type7
8 Encoder Z- input Z－ Connect with the electro-optic encoder Z-.
4 Encoder U+ input U＋ Connect with the electro-optic encoder U+.
Type7
9 Encoder U- input U－ Connect with the electro-optic encoder U-.
14
 5 Encoder V+ input V＋ Connect with the electro-optic encoder V+.
Type7
10 Encoder V- input V－ Connect with the electro-optic encoder V-.
14 Encoder W+ input W＋ Connect with the electro-optic encoder W+.
Type7
15 Encoder W- input W－ Connect with the electro-optic encoder W-.
11 Inhibit ground FG Terminal of Inhibit ground

3.3 Control Signal I/O Terminals CN2

Front Back（Face to plug-welding）

Control mode： P stands for position control mode；S stands for speed control mode；T stands for torque control
mode.
Table 3-3 Control signal I/O terminals CN2
Terminal Terminal symbol
Name Function
number Symbol I/O mode
The anode of input terminal is used to drive the
Anode of
18 VCCCOM Type1 photoelectric coupler of input terminal
input power
(DC12~24V,current≥100mA).

Servo enable input terminal.

ServoEn ON: Operation enabled;
ServoEn OFF: Operation disabled.
Servo
10 ServoEn Type1 [Note 1]: Make sure the servo motor is quiescent
enable
before “ServoEn OFF” turns to “ServoEn ON”
[Note 2]: Please wait for 50 ms before inputting
any command in the State of “ServoEn ON”.

Alarm clear input terminal.

AlarmClr ON: Clear the system alarm;
11 Alarm clear AlarmClr Type1 AlarmClr OFF: Maintain the system alarm.
[Note]: As the alarm code is less than 12, please
cut off the power supply and repair the drive.
CCW (anti-clockwise) drive forbidden input
terminal.
CCWDis ON: motor is not allowed to rotate with
anti-clockwise as CW drive forbidden；
CCWDis OFF: motor is allowed to rotate with
CCW drive
12 CCWDis Type1 anti-clockwise as CW drive permitted.
forbidden
Note 1: Used in condition that mechanical over
limitation, CW torque is zero when switch is OFF.
Note 2: Inhibit this function by setting parameter
PN8=001000, CW is permitted without
connecting the terminals.

15
 CW (clockwise) drive forbidden input terminal.
CWDis ON: motor is not allowed to rotate with
clockwise as CW drive forbidden；
CWDis OFF: motor is allowed to rotate with
CW drive clockwise as CW drive permitted.
13 CWDis Type1
forbidden Note 1: Used in condition that mechanical over
limitation, CW torque is zero when switch is OFF.
Note 2: inhibit this function by setting parameter
PN8=000100, CW is permitted without
connecting the terminals.

In position control mode (PN4=2), input terminal

Offset
of position deviation counter clear.
counter CLE Type1 P
CLE ON: Clear deviation counter in position
clear
mode.

In speed mode, you can choose different internal

speed by setting the value of SC1 and SC2.
Speed SC1 OFF, SC2 OFF: Internal speed 1;
SC1 Type1 S
choose1 SC1 OFF, SC2 ON : Internal speed 2;
14 SC1 ON , SC2 OFF: Internal speed 3
SC1 ON , SC2 ON : Internal speed 4;

In speed mode (PN4=1), when choosing outer

stimulant speed (PN9=1000):
ZEROSPD ON: No matter what the simulative
Zero clamp ZEROSPD Type1 S
value is, the speed command is forced to zero;
ZEROSPD OFF: speed command equals to the
simulative value.

Command pulse forbidden under position

Command
control (parameter PN4=2).
pulse INH Type1 P
INH ON: Command pulse input forbidden;
forbidden
INH OFF: Command pulse input efficient.
In speed mode, you can choose different internal
15
speed by setting the value of SC1 and SC2.
Speed SC1 OFF, SC2 OFF: Internal speed 1;
SC2 Type1 S
choose 2 SC1 OFF, SC2 ON : Internal speed 2;
SC1 ON , SC2 OFF: Internal speed 3
SC1 ON , SC2 ON : Internal speed 4;

CCW (anti-clockwise) torque limit input terminal.

CCWTLtd ON:CCW external torque is limited in
Scope of PN28;
CCW torque
16 CCWTLtd Type1 CCWTLtd OFF: CCW torque is not limited by
limit
parameter PN28.
[Note]: Whether CCWTLtd is valid or not, CCW
torque is limited by parameter PN42.

CW (clockwise) torque limit input terminal.

CWTLtd ON:CW torque is limited in Scope of
PN27;
CW torque
17 CWTLtd Type1 CWTLtd OFF:CW torque is not limited by
limit
parameter PN27;
[Note]: Whether CWTLtd is valid or not, CW
torque is limited by PN42.
SRDY ON: Control power supply and main power
8 Servo ready SRDY＋ Type2 supply are both in ordinary condition, and there
is no alarm, servo ready output is ON;

16
 SRDY OFF: Main power supply is detached or
27 SRDY－ Type2 there is any alarm, servo ready output is OFF.

Output terminal of servo alarm.

25 ALM＋ ALM ON: Servo alarm output ON as there is no
Servo alarm
Type2 alarm;
output
26 ALM－ ALM OFF: Servo alarm output OFF as there is any
alarm.
Positioning P
completed Positioning completed output terminal:
28 COIN＋
output COIN ON:Positioning completed terminal outputs
(position S ON as the value of position offset counter is in
control); the setting range, otherwise outputs OFF;
Type2
speed Speed reached output terminal:
reached P COIN ON:Speed reached terminal outputs ON as
29 output COIN－ the speed is equal to or over the selected speed,
(speed otherwise outputs OFF;
control) S

This terminal can be used to control the brake

30 BRK＋ when the motor equipped with mechanical
brakes (power-loss holder).
Mechanical
BRK ON: When power is on, the brake is invalid,
brake Type2
and motor runs;
31 release BRK－ BRK OFF: When power is off, the brake is
effective, motor is locked and cannot move;
Note: BRK function is controlled by servo drive.

32 Command PulseInv＋
pulse PLUS Type3 P External command pulse input terminal.
33 input PulseInv－ Note: pulse type is selected by parameter PN52.
①PN52=0, command pulse+ signal mode(default
34 SignInv＋ state);
Command ②PN52=1, CCW/CW command pulse mode;
Type3 P
pulse SIGN ③PN52=2, 2-phase command pulse mode.
35 input SignInv－

22 Analog ASPEED＋ Command input terminal for external analog

speed
Type4 S speed (difference mode), the impedance is 10kΩ,
command
21 input ASPEED－ the voltage is -10V~+10V.

Analog
23 AGND The grounding line of analog input.
ground

20 Analog ATORQUE＋ Command input terminal for external analog

torque
Type4 T torque (difference mode), the impedance is
command
19 ATORQUE－ 10kΩ, the voltage is -10V~+10V.
input

Analog
24 AGND The grounding line of analog input.
ground

1 Encoder PhaseA＋
Phase-A Type5
2 signal PhaseA－
1. Encoder signal A, B, Z for difference drive
3 Encoder PhaseB＋
output (output through 26LS31, corresponding to
phase-B Type5
RS422 );
4 signal PhaseB－
2. Non-isolative output (non-insulation).
5 Encoder PhaseZ＋
phase- Z Type5
6 signal PhaseZ－

17
 1. Phase-Z signal is output through open
Encoder collector, when the encoder Z signal appears,
phase-Z outputs ON (output breakover), otherwise
7 collector ZOC Type6 outputs OFF (output closure)
opening 2. Non-isolative output (non-insulation);
output 3. Please use a high speed electro-optical coupler
to receive the signal.
Encoder
9 public GND Encoder public ground.
ground
Inhibit
36 FG Terminal of inhibit ground.
ground

3.4 Line-Line Serial Terminal COM/CN3

5 3 2

Figure 3-3 Type-1 serial-line terminal plug COM

Figure 3-4 Type-2 serial-line terminal plug CN3

Table 3-4 Serial-line terminals COM/CN3

Terminal Function
Name
number Symbol Description
2 Receive data RXD Receive data signal.

3 Transmit data TXD Transmit data signal.

5 Signal earth GND Inhibit signal earth.

3.5 I/O Interface Type

3.5.1 Switching Input Interface

18
 Figure 3-5 Type1 Switching input interface
(1) Power supply provided by customers, DC12~24V, current≥100mA;
(2) Servo drive could not work in the event of the reversed polarity for power supply.

3.5.2 Switching Output Interface

a. Relay connection figure

b. Electro-optical coupler connection figure

Figure 3-6 Type2 switching output interface
(1) The output is the Darington transistor, with relay or electro-optical coupler connection;
(2) The external power supply provided by users may damage the drive because of the reversed polarity;
(3) The output works in collecting electrode opening form, the maximum current is up to 50mA while the
maximum external voltage is 25V. Therefore, the switch output signal's load must satisfy this definition
request. If it surpasses the definition request or the output is directly connected with the power supply will
cause damage.
(4) Users should connect inverse parallel freewheel diode in case of the inductive load such as relays. If the
freewheel diode is reversed, servo drive may be damaged;
(5) As Darlington transistor is used for output, as breakover, the pressure drop(Vce) between collector and
launch is about 1V which could not meet the low-level requirements, so it could not be connected with TTL
integrated circuits directly.

19
3.5.3 Pulse Input Interface

Figure 3-7 difference drive mode for Type3 pulse input interface

Figure 3-8 single-ended drive mode for Type3 pulse input interface
(1) To transmit the pulse correctly, it is suggested to use the difference drive type.
(2) Using AM26LS31, MC3487 or similar RS422 drive in difference drive mode.
(3) Action frequency will be reduced as using single-ended drive mode. According to the pulse input circuit, the
drive current is 10 to 15mA and limitation for external maximum voltage is 25V to determinate the resistance
R. Empirical data: VCC=24V，R=1.3~2kΩ；VCC=12V，R＝510~820Ω；VCC=5V，R=82~120Ω.
(4) External power is provided by users as adopting single-ended drive, and the servo drive may be damaged
because of the anti-polarity.
(5) Table 3-1 for pulse input mode, Table 3-2 for pulse input timing and parameter. When operating in 2-phase
input mode, its 4 times pulse frequency will be less than 500 kHz.

Table 3-1 Pulse input mode

Pulse command CCW CW Setting value for parameters
pulse train PULS PULS 0
symbol SIGN SIGN Command pulse+symbol
CCW pulse train PULS PULS 1
CW pulse train SIGN SIGN CCW pulse/CCW pulse
Phase-A pulse train PULS PULS 2
Phase-B pulse train SIGN SIGN 2-phase command pulse

20
 Table 3-2 Pulse input mode timing and parameter
Parameter Difference drive input Single-ended drive input
tck >2μS >5μS
th >1μS >2.5μS
tl >1μS >2.5μS
trh <0.2μS <0.3μS
trl <0.2μS <0.3μS
ts >1μS >2.5μS
tqck >8μS >10μS
tqh >4μS >5μS
tql >4μS >5μS
tqrh <0.2μS <0.3μS
tqrl <0.2μS <0.3μS
tqs >1μS >2.5μS

Figure 3-9 Pulse and symbol input interface timing chart (The maximum pulse frequency: 500 kHz)

Figure 3-10 CCW /CW pulse input interface timing chart (The maximum pulse frequency: 500 kHz)

Figure 3-11 2-phase command pulse input interface timing chart (The maximum pulse frequency: 125 kHz)

21
3.5.4 Analog Input Interface

Figure 3-12 (a) Difference analog input interface（type4）

Figure 3-12 (b) Single-ended analog input interface（type4）

Figure 3-12 (c) Difference analog potentiometer input interface（type4）

Figure 3-12 (d) Single-ended analog potentiometer input interface（type4）

(1) Analog input interface works in difference mode, there are two modes according to the connection:
difference mode and single-ended mode, the input impedance is 10kΩ and the range of input voltage
is-10V~+10V;
22
(2) In the difference connection, the analog grounding and input negative end should be connected at the
controller side, needing three line connections from the controller to the driver；
(3) In the single end connection, the analog grounding and input negative end should be connected at the drive
side, needing two line connections from the controller to the driver;
(4) Difference mode which could suppress common code interference performances better than single-ended
mode;
(5) Drive may be damaged on condition that input voltage exceeds the range of -10~+10；
(6) It is suggested to connect with inhibit cable to reduce noise interference;
(7) It is normal that there is zero-bias at the analog input interface, you can compensate it by adjusting PN16 or
PN19;
(8) Analog interface is non-insulated.
3.5.5 Encoder Signal Output Interface

Figure 3-13 a Optical encoder output interface（Type5）

Figure 3-13 b Optical encoder output interface（Type5）

(1) AM26LS31 outputs encoder signals;

(2) AM26LS32 is used as the input end of the controller，it is necessary to connect a terminal resistor about
330Ω (Figure 3-13 a);
(3) The grounding line of controller and servo drive must be connected reliably;
(4) Non-isolative output (non-insulative).
(5) A high speed electro-optical coupler can be used as the controller input instead (Figure3-13 b).
23
3.5.6 Open Collector Output Interface for Encoder Phase-Z Signal

Figure 3-14 Optical encoder output interface（Type6）

(1) Phase-Z signal is output through open collector, when Phase-Z signal appears, outputs ON, otherwise,
outputs OFF;
(2) Non-isolative output (non-insulative).
(3) Please use a high speed electro-optical coupler to receive the signal.
3.5.7 Optical Encoder Input Interface for Servo Motor

Figure 3-15 Servo motor optical encoder input interface

3.6 Brake Resistor Terminals P, PC, P1

External brake resistor is suggested to be used as the power limitation of the internal brake resistor.
Acceleration/deceleration time is increased properly to avoid the phenomenon that the internal brake resistor
can’t absorb and Err-8, Err-10 or Err-14 would happen which caused by the excessive regenerative energy as
deceleration. If there is still any warning, it is necessary to connect an external brake resistor between P and P1
to enhance the braking effect. The impedance range is 40~200Ω, power is 100W~1 kW. The smaller the
impedance is, the greater the braking current is, while the required power is larger, the braking energy grows
greater, but too small impedance may result in damage to the drive, a test method is to descend the impedance
until there is no warning. The external brake resistor which can be used with the internals (about 50Ω) in parallel
or alone must be operated after 5 minutes the drive power on and the internal high-voltage has tapped
completely.
Do not touch terminal PC、P1 to prevent electrocution unless the power is cut off 5 minutes later. In order to
avoid the short circuit and damaging the drive, terminal PC, P1 can not be connected with others.

3.7 External Capacitor Terminal G

The external capacitor terminal G is a specific terminal for SA3H10C. When the drive is connected to 380V input
power supply, please connect an external capacitor between terminal P and G to prevent from damage. The
maximum voltage is up to 537V, please choose an external capacitor which can bear high-voltage.
24
 Chapter 4 Operation
4.1 Operation Procedure
Item Content Reference
Install the motor and servo drive according to the installation
Chapter 2- Section 2.1 ,
Mounting and installation conditions. (Do not connect the motor to the mechanical system
Section 2.2
before checking the no-load operation.)
↓
Connect to power supply and peripheral devices. Specified Chapter2- Section 2.3~
Wiring and connections
installation and wiring requirements must be satisfied. Section 2.5
↓
Before turning ON the power supply, check the necessary items.
Preparing for operation Check by means of the displays to see whether there are any Chapter 4 -Section 4.2
internal errors.
↓
Check the operation of the motor and servo driver alone by
Checking operation Chapter 4- Section 4.6
performing a jogging operation without a load.
↓
By means of the user parameters, set the functions according to
Function settings Chapter 5- Section 5.2
the operating conditions.
↓
Turn on the power, and check whether protective functions such
as emergency stop and operational limits are working reliably.
Trial operation Chapter 4- Section 4.3~4.7
Check operation at both low speed and high speed (using
instructions from the Host Controller).
↓
Manually adjust the gain as required. Further adjust the various
Adjustments functions to further improve the control performance as Chapter 4- Section 4.8
required.
↓
Operation can now begin. If any trouble occurs, refer to Chapter
Operation Chapter 6- Section 6.2
6 Troubleshooting.

4.2 Preparing For Operation

4.2.1 Turning Power ON and Checking Indicators
■ Checking Power Supply Voltage
· Check to be sure that the power supply voltage is within the ranges shown below：

Model SA3L04C SA3L06B SA3L10B SA3L15C SA3L25C SA3H10C

Power
Single-phase /Three-phase AC 220V Three-phase AC 380V
supply

25
■ Checking Terminal Block Wiring
· The main-circuit power supply inputs （R、S、T） and the control-circuit power supply inputs （r、t）
must be properly connected to the terminal block.
· The servo motor’s power line（U、V、W、PE）must be properly connected to the terminal block.
■ Checking the servo motor
· The Encoder Cable must be securely connected to the Encoder Connector at the motor side.
· The power lines at the servo motor must be securely connected.
■ Checking the Control Connectors
· The Control Cable must be securely connected to the I/O Control Connector (CN2).。
· The ServoEn command must be OFF

4.2.2 Power Connecting Sequence

1) The power supply is accessed to the main circuit power input terminals through the electromagnetic contactor
(three-phase AC power connects with R, S, T, single-phase AC power connects with R, T).
2) The control circuit power terminal r, t should be connected at the same time or before the main circuit power
ON. If only connect the control circuit, the servo ready (SRDY) signal would be OFF.
3) After 1.5 seconds as the main circuit power is turned on, the servo enable (ServoEN) signal can be received on
the basis of the servo ready (SRDY) signal ON, and effective servo enable opens the base circuit and brings
the motor into operation state. If Servo Enable inefficiency or alerting, the base circuit will be closed and
motor would not work.
4) The base circuit will be connected after about 1.5 seconds as servo enable signal and power supply are turned
on.
The ON-OFF frequency should be less than 5 times per hour and below 30 times per day, because the frequent
ON-OFF power may damage the soft start circuit and energy-consumption braking circuit. After excluding the
failure cause, the power supply is allowed to be connected after 30 minutes cooling because of overheat.

Figure 4-1 Power hookup

26
 Figure 4-2 Power Supply Timing Diagram

Figure 4-3 Alarm Timing Diagram

4.3 Position Control Mode

· Perform position control using the pulse train input from PulseInv+(CN2-Pin32), PulseInv-(CN2-Pin33),
SighInv+ (CN2-Pin34), SighInv-( CN2-Pin35).
· The servo motor rotates using the value of the pulse train input multiplied by the electronic gear
（Pn48、Pn49、Pn50）
· The encoder line is 2500C/T，users can get feedback signals A+（CN2-Pin1）, A-（CN2-Pin2）, B+
（CN2-Pin3）, B-（CN2-Pin4）, Z+（CN2-Pin5）, Z-（CN2-Pin6）through CN2.

27
4.3.1 Schematic Diagram Of Position Control Mode

PE BONMET
Three Phases Or Single R
Phase S
AC220V T
P External brake U
resistance terminal 2
V 3
PC Brake resistance
common port W 4
PE 1
P1 Internal brake
resistance terminal
NFB MC
r
t Motor 4 Core
CN2 Pin
DC VCC COM 18
12~24V
4.7K

Servo Enable ServoEn 10

Alarm Clear AlarmClr 11
CCW Drive Forbidden CCWDis 12
CN1 26LV32 Receiver
CW Drive Forbidden CW Dis 13
Deviation Clear CLE 14 12 5V 2
Command Pulse Forbidden INH 15 13 0V 3
CCW Torque Forbidden CCWTLtd 16 1 A＋ 4
CW Torque Forbidden 6 A－ 7
CWTLtd 17
2 B＋ 5
CN2
7 B－ 8
SRDY＋ 8 6
Servo Ready 3 Z＋
SRDY－ 27 Z－ 9
8
ALM ＋ 25 10 Encoder 15
Servo Alarm 4 U＋
ALM － 26 U－ 13 Core Pin
9
COIN ＋ 28 5 V＋ 11
Orientation Complete
COIN － 29 10 V－ 14
BRK ＋ 30 W＋ 12
Arrester Release 14
BRK － 31 W－ 15
15
11 FG 1
CN2
Position Command PulseInv ＋ 32
PULS PulseInv － 33 220
Position Command SignInv ＋ 34
SIGN SignInv － 35
CN2 26LS31 Driver
1 PhaseA ＋ A

2 PhaseA － A

3 PhaseB ＋ B Encoder Signal

4 PhaseB － B Output
FG 36
5 PhaseZ ＋ Z
6 PhaseZ － Z

GND 9 GND GND

Encoder Z Signal
Opening Output
7 ZOC Z

Figure 4-4 Schematic diagram of torque control mode

Note: In position control mode, if using external ServoEn function, please connect Pin18，Pin10，Pin32，Pin33，Pin34，Pin35，
Pin36(Plug CN2) to control the servo system at least.
4.3.2 Parameters In Position Control Mode
No. Parameter Function
Select the control mode of servo drive.(Set the parameter to 2 for position control
4 Motor control mode
mode)
Denominator of position
48
gearbox The electronic gear ratio is G  N  C  4
Divider numerator of the P
49 first position command G: Electronic gear ratio;P: Input command pulse number;N: The revolving circle of the
pulse motor; C: The photoelectric encoder C/T, this system is C=2500.
Divider numerator of the
Recommendatory range of electronic gear ratio: 1  G  50
50 second position command
50
pulse
Dynamic electronic gear ①Set to 0, dynamic electronic gearbox is inactive.
51
enable ②Set to 1, dynamic electronic gearbox is active.
Position command pulse
52 Set the parameter to match with the controller command pulse status.
input mode
Invert direction of position
53 Select the rotation direction
command pulse
Positioning completed If the position error drops in the target position range, the output terminal COIN turns
54
range active, otherwise COIN remains inactive.
28
 Range of position The drive will issue position tolerance alarm when the position offset counter value
55
super-homodyne detection exceeds the selected value×100 in position control mode.
56 Enable position error Set the parameter select using the position tolerance alarm or not.
Position pulse feedback The feedback ratio of position pulse determines the ratio of the internal and output
57
ratio position pulse.
4.3.3 Operation
1. Connect the servo system correctly and turn on the power supply.
2. Select the command pulse type and rotation direction.
①Set Pn52 to choose position command pulse type. Set Pn52 to 0, the position command type is pulse and
symbol; set Pn52 to 1, the position command type is CW/CCW pulse; set Pn52 to 2, the position command
type is two-phase orthogonal pulse.
②Set Pn53 to select the rotation direction. (0 for normal rotation direction and 1 for the opposite rotation
direction)
3. Select electronic gear ratio.
①Set Pn51 to choose whether use dynamic electronic gear function or not. Set Pn51 to 0, dynamic
electronic gear function is invalid, users can only use the first electronic gear ratio; Set Pn51 to 1, there are
two electronic gear ratios and users can switch the ratios during the operation.
②Set Pn48, Pn49 and Pn50 to select two proper electronic gear ratios, the value of Pn49/Pn48 is the first
electronic gear ration while the value of Pn50/Pn48 is the second electronic gear ratio. Users can adjust
terminal INH(CN2-Pin15) to switch the electronic gear ratio, set INH(CN2-Pin15) ON to choose the first
electronic gear ratio while set INH(CN2-Pin15) OFF to choose the second electronic gear ratio.
4. Running.
Set Pn4 to 2 to select position control mode, set ServoEn(CN2-Pin 10) ON. Users can adjust the input pulse to
control the motor.
5. Other functions.
①Positioning completed: In position control mode, if the position error drops in the target position range,
the output terminal COIN turns active, otherwise COIN remains inactive.
②Position error function: Set Pn56 to 0, position tolerance alarm detection is enabled; Set Pn56 to 1,
position tolerance alarm detection is disabled and position tolerance error detection is stopped.
③Position pulse feedback ratio: The feedback ratio of position pulse determines the ratio of the internal and
output position pulse: the parameter is a decimal number, change it into a binary, we divide the binary into
two parts, the high-5-bit value is the numerator while the low-5-bit is the denominator , then the fraction is
the feedback ratio (Normal setting: 33 (00001_00001) for 1:1; 34 (00001_00010) for 1:2; 36 (00001_00100)
for 1:4; 37 (00001_00101) for 1:5; 42 (00001_01010) for 1:10 ).

4.4 Speed Mode

· Internal speed mode
①Set parameters to select internal speed(Internal speed 1 ～ internal speed 4).
②Set time constant of linear speed acceleration/ deceleration.
③Switch the internal speed through SC1( CN2-Pin14) and SC2( CN2-Pin15).
· External speed mode
①Set analog voltage input as the speed command(ASPEED-: CN2-Pin21, ASPEED+: CN2-Pin22).
②Select a proper bias compensation for a perfect performance.

29
4.4.1 Schematic Diagram Of Speed Control Mode

PE
BONMET
Three Phases Or R
Single Phase S
AC220V T
U 2
P External rake
resistance terminal V 3
4
PC Brake resistance
common port
W
PE 1
P1 Internal brake
resistance terminal
NFB MC r
Motor 4 Core
t
Pin
CN2
DC
VCC COM 18
12~24V
4.7K

Servo Enable ServoEn 10

Alarm Clear AlarmClr 11
CCW Drive Forbidden CCWDis 12 CN1 26LV32 Receiver
CW Drive Forbidden CW Dis 13
12 5V 2
Speed Choose 1 SC1/ZEROSPD 14
13 0V 3
Speed Choose 2 SC2 15
1 A＋ 4
CCW Torque Restrict CCWTLtd 16
6 A－ 7
CW Torque Restrict CWTLtd 17
2 B＋ 5
CN2 7 B－ 8
SRDY＋ 8 3 Z＋ 6
Servo Ready
SRDY－ 27 8 Z－ 9
ALM ＋ 25 4 U＋ 10 Encoder 15
Servo Alarm Core Pin
ALM － 26 9 U－ 13
COIN ＋ 28 5 V＋ 11
Orientation Complete
COIN － 29 10 V－ 14
BRK ＋ 30 14 W＋ 12
Arrester Release
BRK － 31 15 W－ 15
11 FG 1
CN2
Speed Simulation
Command
+ ASPEED ＋ 22 -
10k

(-10V~+10V) - ASPEED － 21 +
AGEND 23

CN2 26LS31 Driver

1 PhaseA ＋ A

2 PhaseA － A
3 PhaseB ＋ B Encoder Signal
4 PhaseB － B Output
FG 36
5 PhaseZ ＋ Z
6 PhaseZ － Z

GND 9 GND GND

Encoder Z Signal
7 ZOC Z
Opening Output

Figure 4-5 Schematic diagram of speed control mode

Note：In internal speed control mode, if users want to switch different speed, please connect pin18, pin 10, pin 36(Plug CN2) at
least. In external speed control mode, users need to connect pin18, pin10, pin21, pin22, pin23, pin 36(Plug CN2) at least.
4.4.2 Parameters In Speed Control Mode
No. Parameter Function
Select the control mode of servo drive.(Set the parameter to 1 for speed control
4 Motor control mode
mode)
Gain of analog speed Set the ratio between the input voltage of analog speed and actual motor
18
command input speed.(Effective in external speed mode)
The bias compensation of The zero-bias compensation for the analog speed input.(Effective in external speed
19
analog speed input mode)
Invert enable of analog
20 Set the rotation direction.(Effective in external speed mode)
speed input
Low-pass bandwidth of
21 Set the response time of speed analog input.
analog speed input
Time constant of linear
34 Set the time constant of linear speed acceleration(Effective in internal speed mode).
speed acceleration
Time constant of linear
35 Set the time constant of linear speed deceleration (Effective in internal speed mode).
speed deceleration
36 Internal speed 1
37 Internal speed 2 Set internal speed, users can switch different internal speed by select the combination
38 Internal speed 3 of SC1,SC2.
39 Internal speed 4

30
 Internal or external speed
40 Select internal or external speed command to control the motor.
command selection
42 Peak speed limitation Set the maximum speed limitation of servo motor.
In speed control mode, if the motor speed exceeds the selected value, then COIN
43 Target speed
turns to ON, otherwise COIN remains OFF.

4.4.3 Operation
1. Connect the servo system correctly and turn on the power supply.
2. Limitation of acceleration/ deceleration and maximum speed.
①Set Pn34 and Pn35 to select the acceleration time constant and the deceleration time constant.
②Set Pn42 to select the maximum speed.
3. Operation in internal speed mode.
Set Pn40 to 0 to select internal speed control mode, there are 4 internal speed (Pn36, Pn37, Pn38 and Pn39)
in total, users can choose different speed by selecting the combination of digital value SC1(CN2-Pin14) and
SC2(CN2-Pin15).
Otherwise, Users can also adjust Pn9 to switch the speed. Set Pn9 to 0000, motor would run at the first
internal speed; set Pn9 to 0100, motor would run at the second internal speed; set Pn9 to 1000, motor
would run at the third internal speed; set Pn9 to 1100, motor would run at the forth internal speed.
Set Pn4 to 1 to select speed control mode, then set ServoEn (CN2-Pin 10) ON, the motor starts running.
Speed command SC1 SC2
Internal speed 1 OFF OFF
Internal speed 2 OFF ON
Internal speed 3 ON OFF
Internal speed 4 ON ON

ServoEn OFF ON OFF

SC1 OFF OFF ON ON

SC2 OFF ON OFF ON

Speed Speed 2
Speed 3
Speed 1
Speed 4

Time

Acceleration determined Deceleration determined by

by Time constant of linear Time constant of linear
speed acceleration(Pn34) speed deceleration(Pn35)

Figure 4-6 Internal speed switch

4. Operation in external speed mode.
Set Pn40 to 1to select external speed control mode, users can adjust the external input command to control
the motor. In external speed control mode, users can select Pn18 to set analog speed input gain (for example,
the default value is 100, it means 10V input stands for 3000rpm). Set Pn20 to select the rotation direction (0
for reverse rotation (CW) direction and 1 for forward rotation (CCW) direction when the value of Pn15 is a
positive number).
Set Pn4 to 1 to select speed control mode, then set ServoEn (CN2-Pin 10) ON, users can adjust the external
input command to control the motor, and set Pn19 to rectify the speed command for an accurate value.
5. Other functions.

31
 Target speed: Set Pn43 to a proper value, as the current speed is over or the same with the selected value,
the signal “COIN” will turn to ON.
Zerospeed: This function is effective in external speed mode. Set ZEROSPD(CN2-Pin14) ON, speed command
would be invalid, and the motor would not move; set ZEROSPD OFF, speed command would be effective, and
the motor would run at selected speed.

4.5 Torque Control Mode

· Set analog voltage input as the torque command(ATORQUE-: CN2-Pin19，ATORQUE+: CN2-Pin20).
· Select a proper bias compensation for a perfect performance.
4.5.1 Schematic Diagram Of Torque Control Mode

PE
Three Phases Or Single
BONMET
R
Phase
S
AC220V
T
External brake
P resistance terminal U 2
V 3
PC Brake resistance
common port 4
W
PE 1
P1 Internal brake
NFB MC resistance terminal
r
t Motor 4 Core
CN2 Pin
DC VCC COM 18
12~24V
4.7K

Servo Enable ServoEn 10

Alarm Clear AlarmClr 11
CCW Drive Forbidden CCWDis 12
CW Drive Forbidden CW Dis 13
CN1 26LV32 Receiver
SC1/ZEROSPD 14
SC2 15 12 5V 2
CCW Torque Restrict CCWTLtd 16 13 0V 3
CW Torque Restrict CWTLtd 17 1 A＋ 4
6 A－ 7
CN2 5
2 B＋
SRDY＋ 8 7 B－ 8
Servo Ready
SRDY－ 27 3 Z＋ 6 Encoder 15
ALM ＋ 25 Z－ 9 Core Pin
Servo Alarm 8
ALM － 26 4 U＋ 10
COIN ＋ 28 9 U－ 13
Orientation Complete
COIN － 29 5 V＋ 11
BRK ＋ 30 10 V－ 14
Arrester Releases
BRK － 31 14 W＋ 12
15 W－ 15
CN2
11 FG 1
Torque Simulation + ATORQUE＋ 20 -
Instruction 10k
(-10V~+10V) - ATORQUE－ 19 +
AGEND 24

CN2 26LS31 Driver

1 PhaseA ＋ A

2 PhaseA － A

3 PhaseB ＋ B Encoder Signal

4 PhaseB － B Output
FG 36
5 PhaseZ ＋ Z
6 PhaseZ － Z

GND 9 GND GND

Encoder Z Signal
7 ZOC Z
Opening Output

Figure 4-7 Schematic diagram of torque control mode

Note: Users need to connect pin18, pin10, pin19, pin20, pin24, pin 36(Plug CN2) at least.
4.5.2 Parameters In Torque Control Mode
No. Parameter Function
Select the control mode of servo drive.(Set the parameter to 0 for torque control
4 Motor control mode
mode)
15 Gain of analog torque Set proportion relationship between analog torque input voltage and actual motor
command input torque.
16 The bias compensation of The zero-bias compensation for the analog torque input.
analog torque input
32
 17 Invert enable of analog Set the rotation direction.
torque input
22 Torque overload alarm Torque overload alarm value. The value is the percentage of nominal torque which
value effects both direction
23 Torque overload testing Torque overload alarm test time.
time
25 Internal reverse rotation Used to limit the torque in the reverse rotation driving mode.
(CW) torque limit
26 Internal forward rotation Used to limit the torque in the forward rotation driving mode.
(CCW) torque limit
27 External reverse rotation Used to limit the torque in the reverse rotation driving mode.
(CW) torque limit
28 External forward rotation Used to limit the torque in the forward rotation driving mode.
(CCW) torque limit
29 Speed limit during torque Limit the maximum speed in torque control mode.
control

4.5.3 Operation
1. Connect the servo system correctly and turn on the power supply.
2. Torque command.
①Set Pn15 to a proper value (Associated with the external input power) to select the analog torque input
gain (For example, the default value is 100, it means 10V input stands for nominal torque).
②Set Pn17 to select the rotation direction (0 for reverse rotation (CW) direction and 1 for forward rotation
(CCW) direction when the value of Pn15 is a positive number).
3. Limitation of speed and torque.
①Set Pn29 and Pn42 to select the maximum speed in torque control mode (The current speed is limited by
both Pn29 and Pn42).
②Set Pn25，Pn26，Pn27，Pn28 to select the maximum torque, the actual torque will be limited less than the
selected value. As using internal torque limit function, users can directly select parameter Pn25, Pn26 to limit
the torque; as using external torque limit function, users need to connect CCWTLtd(CN2-Pin16),
CWTLtd(CN2-Pin17) for external torque limit function. Set Pn27 and Pn28 to proper value, set the digital
signal ON when users want to use the function.
4. Running.
Set Pn4 to 0 to select torque control mode, then set ServoEn (CN2-Pin 10) ON. Users can adjust the external
input command to control the motor, and set Pn16 to rectify the torque command for an accurate value.
5. Other functions.
Overtorque alarm function: Set Pn22 and Pn23 to send an alarm as overtorque.

4.6 JOG Control Mode

· Set rotation speed in JOG control mode, control the motor by UP button and DOWN button.

33
4.6.1 Schematic Diagram Of JOG Control Mode

PE
BONMET
Three Phases Or R
Single Phase S
AC220V T
U 2
P External rake
resistance terminal V 3
4
PC Brake resistance
common port
W
PE 1
P1 Internal brake
resistance terminal
NFB MC r
Motor 4 Core
t
Pin
CN2
DC
VCC COM 18
12~24V
4.7K

Servo Enable ServoEn 10

Alarm Clear AlarmClr 11
CCW Drive Forbidden CCWDis 12 CN1 26LV32 Receiver
CW Drive Forbidden CW Dis 13
12 5V 2
SC1/ZEROSPD 14
13 0V 3
SC2 15
1 A＋ 4
CCW Torque Restrict CCWTLtd 16
6 A－ 7
CW Torque Restrict CWTLtd 17
2 B＋ 5
CN2 7 B－ 8
SRDY＋ 8 3 Z＋ 6
Servo Ready
SRDY－ 27 8 Z－ 9
ALM ＋ 25 4 U＋ 10 Encoder 15
Servo Alarm Core Pin
ALM － 26 9 U－ 13
COIN ＋ 28 5 V＋ 11
Orientation Complete
COIN － 29 10 V－ 14
BRK ＋ 30 14 W＋ 12
Arrester Release
BRK － 31 15 W－ 15
11 FG 1

FG 36
CN2 26LS31 Driver
1 PhaseA ＋ A

GND 2 PhaseA － A
3 PhaseB ＋ B Encoder Signal
4 PhaseB － B Output
5 PhaseZ ＋ Z
6 PhaseZ － Z

9 GND GND

Encoder Z Signal
7 ZOC Z
Opening Output

Figure 4-8 Schematic diagram of JOG control mode

Note: In JOG mode, if users want to use external ServoEn function, please connect Pin18 and Pin10(Plug CN2) at least.
4.6.2 Parameters In JOG Control Mode
No. Parameter Function
4 Motor control mode Select the control mode of servo drive.(Set the parameter to 3 for JOG control mode)
41 Speed setting in JOG mode Set the operation speed in JOG control mode.
42 Peak speed limitation Set the maximum speed limitation of servo motor;

4.6.3 Operation
1. Connect the servo system correctly and turn on the power supply.
2. Speed settings.
Set Pn41 to select the speed in JOG control mode. Set Pn42 to select the maximum speed, when the value of
Pn41 is larger than Pn42, motor runs at the speed of Pn42.
3. Running
Set Pn4 to 3 to select JOG control mode, then set “Servo Enable” (Pin 10) ON; select menu, press
UP button and hold, motor runs in forward rotation (CCW) direction, release UP button, motor stops; press
DOWN button and hold, motor runs in reverse rotation (CW) direction, release DOWN button, motor stops.

4.7 Point To Point Control Mode

· Before operating in point to point control mode, we should adjust the drive to find home position first.
· Users can select absolute value mode and increment mode.
34
 ①In the absolute value mode, as position command is sent, motor would run to the selected position;
②In the increment mode, as position command is sent, motor would run a selected journey every time.
4.7.1 Schematic Diagram Of Point To Point Control Mode
PE BONMET
Three Phases Or Single R
Phase S
AC220V T
P External brake U
resistance terminal 2
V 3
PC Brake resistance
common port W 4
PE 1
P1 Internal brake
resistance terminal
NFB MC
r
t Motor 4 Core
CN2 Pin
DC VCC COM 18
12~24V
4.7K

Servo Enable ServoEn 10

Alarm Clear AlarmClr 11
CCWDis 12
HOME Signal CN1 26LV32 Receiver
CW Dis 13
CLE 14 12 5V 2
Position Choose INH 15 13 0V 3
0000~1111 CCWTLtd 16 1 A＋ 4
6 A－ 7
CWTLtd 17
2 B＋ 5
CN2
7 B－ 8
SRDY＋ 8 6
Servo Ready 3 Z＋
SRDY－ 27 Z－ 9
8
ALM ＋ 25 10 Encoder 15
Servo Alarm 4 U＋
ALM － 26 U－ 13 Core Pin
9
COIN ＋ 28 5 V＋ 11
Orientation Complete
COIN － 29 10 V－ 14
BRK ＋ 30 W＋ 12
Arrester Release 14
BRK － 31 W－ 15
15
11 FG 1

CN2 26LS31 Driver

1 PhaseA ＋ A

2 PhaseA － A

3 PhaseB ＋ B Encoder Signal

4 PhaseB － B Output
FG 36
5 PhaseZ ＋ Z
6 PhaseZ － Z

GND 9 GND GND

Encoder Z Signal
Opening Output
7 ZOC Z

Figure 4-9 Schematic diagram of Point to point control mode

Note: In point to point control mode, if users want to use external ServoEn function, please connect Pin18，in10，Pin14，Pin15，
Pin16，Pin17 (Plug CN2) at least.

4.7.2 Parameters In Point To Point Control Mode

No. Parameter Function
Select the control mode of servo drive.(Set the parameter to 6 for point to point
4 Motor control mode
control mode)
58 Home position The mode of capture home signal. Three homing methods are supported.
59 Homing speed The maximum running speed for motor in the process of seeking home position.
Homing acceleration/
60 The acceleration and deceleration value in the process of seeking home position;
deceleration speed
61 High bit of home offset
Offset value of home position.
62 Low bit of home offset
Demo or point-to-point Select the control mode of point to point mode.(Set to 3 for absolute value
63
mode point-to-point mode and 4 for Increment point-to-point mode.)
High bit of position
104 command 1 in position
mode
Set the first position command.
Low bit of position
105 command 1 in position
mode
35
 Speed of position command
106 The speed value of position 1;
1 in position mode
Acceleration/deceleration
The acceleration / deceleration in position 1;
107 of position command 1 in
position mode
Peak torque of position
108 command 1 in position The maximum torque in position 1;
mode
┇
┇
High bit of position
179 command 16 in position
mode
Set the sixteenth position command.
Low bit of position
180 command 16 in position
mode
Speed of position command
181 The speed value of position 16;
16 in position mode
Acceleration / deceleration
The acceleration / deceleration in position 16;
182 of position command 16 in
position mode
Peak torque of position
The maximum torque in position 16;
183 command 16 in position
mode

4.7.3 Operation
1. Home search
Connect the servo system correctly and turn on the power supply.
Set Pn4 to 6, select Pn63 to choose control mode(Set Pn63 to 3 for absolute value mode as Pn63 to 4 for
increment mode), set Pn58 to choose the homing method, set Pn59, Pn60, Pn61 and Pn62 to select the
speed, acceleration/ deceleration speed and the offset of home position while searching home position.
There are 3 methods to find home position below.
①Set Pn58 to 0 and ServoEn (CN2-Pin 10) ON, Servo would move in rotation (CW) direction until meets CW
limit switch, then turns back and treats the first Index signal as home position and motor would stop.
②Set Pn58 to 1 and ServoEn (CN2-Pin 10) ON, Servo would move in forward (CCW) direction until meets
CCW limit switch, then turns back and treats the first Index signal as home position and motor would stop.
③Set Pn58 to 3 and ServoEn (CN2-Pin 10) ON, the servo drive will define the current position as home
position and motor would not move.
2. Absolute value mode
Set Pn63 to 3 to select absolute value mode. Set Pn104~Pn108 to select the position command, acceleration
time constant , deceleration time constant, speed, maximum torque. As the servo system finds the home
position, motor would immediately run to position 1(Associated to Pn104 and Pn105).
Users can switch different 16 position commands by selecting the combination of digital value
CCWTLtd(CN2-Pin16), CWTLtd(CN2-Pin17), SC1(CN2-Pin14) and SC2(CN2-Pin15) to operate the servo system.
Position
CCWTLtd CWTLtd SC1 SC2
command
Position 1 0 0 0 0
Position 2 0 0 0 1
Position 3 0 0 1 0
┊

36
 ┊
Position 12 1 0 1 1
┊
┊
Position 15 1 1 1 0
Position 16 1 1 1 1
3. Increment mode
Set Pn63to 4 to select increment mode. Set Pn104~Pn108 to select the position command, acceleration time
constant , deceleration time constant, speed, maximum torque. As the servo system finds the home position,
motor would stay at the home position.
Users can switch different 16 position commands by selecting the combination of digital value
CCWTLtd(CN2-Pin16), CWTLtd(CN2-Pin17), SC1(CN2-Pin14) and SC2(CN2-Pin15) to operate the servo system.
Position
CCWTLtd CWTLtd SC1 SC2
command
Position 1 0 0 0 0
Position 2 0 0 0 1
Position 3 0 0 1 0
┊
┊
Position 12 1 0 1 1
┊
┊
Position 15 1 1 1 0
Position 16 1 1 1 1

4.8 Gain Adjustment

· Adjust the gain parameters in order to get a perfect performance.
· The wrong parameter settings may lead to equipment failure and accidents, users should confirm the
correctness of the parameters before operation.
· It is suggested that operate without load for testing first.
4.8.1 Speed Loop
■ Speed loop gain（Parameter-Pn30）
The larger the value is, the greater the stiffness would be. The value is determined by the type of servo and the
load condition. In general, larger load inertia needs larger value. If there is no oscillation, the larger the value is
the better the servo system performs.
■ Speed loop integral time constant（Parameter-Pn31）
The smaller the value is, the greater the stiffness is. The value is determined by the type of servo and the load
condition. In general, larger load inertia needs larger value. Set the parameter as small as possible without
oscillation.
■ Low-pass bandwidth of speed loop（Parameter-Pn32）
Normally, smaller value results in slower and smoother speed response. Too small value may cause system
oscillation.
■ Low-pass filter bandwidth of torque command（Parameter-Pn33）
Normally, smaller value results in slower and smoother speed response. But too much small value may
cause system oscillation.

37
4.8.2 Position Loop
■ Position loop gain（Parameter-Pn44）
Higher gain results in greater mechanical stiffness and less position tracking error. Too large value may cause
overshoot or oscillation. The value is determined by the type and the load of servo drive.
■ Difference coefficient ratio of position loop（Parameter-Pn45）
Higher gain results in greater mechanical stiffness and less position tracking error. Too big value may cause
overshoot or oscillation; This parameter is usually set to zero unless very fast response is required.
■ The cut-off frequency of position feed forward filter（Parameter-Pn46）
The filter is used to increase the stability of compound position control. Normally, users do not need to
change the default value.
4.8.3 Parameters Settings
■ The default parameter value is the recommended value in condition that operating without load, users can
adjust parameters follow the instructions below.
■ As the load inertia increases, the maximum value of Pn30 rises, the minimum value of Pn31 increased, Pn32
did not change significantly, Pn33 could remain unchanged, the maximum value of Pn44 reduces.
■ As load inertia rises from 1 time to 5 times, Pn30 roughly increases the proportion of 1 ~ 5 times (Pn31
remain unchanged); Pn44 roughly reduces the proportion of 1 ~ 5 times.
■ As the load inertia increases, it may lead to oscillation (whistle), users can reduce the response rate to solve
the problem (increase Pn31 or reduce Pn32; recommended that Pn31 rises 50%, reduce Pn32).
Set SM 110-060-20 LFB for example：
Load inertia Pn30 Pn31 Pn32 Pn33 Pn44

0 45 15 800 1000 2100

100 15 800 1000 1600

1.07

140 15 800 1000 1180

1.98

220 15 600 1000 840

3.15

250 15 600 1000 700

4.02

320 15 600 1000 580

5.25

38
 Chapter 5 Parameters
Warning
● Any person who attempts to adjust the parameters should be very familiar with the drive.
Inappropriate parameter settings may cause damage to the operator.
● It is strongly recommended that operate the servo system without saving as modifies the
parameters at the first time.

5.1 Parameter List

Default
NO. Parameter Mode Range Unit
value
0 Software edition P，S，T － －
1 Motor type code P，S，T 0~21
2 User constants protection code P，S，T 0~32767 28977
3 Display mode P，S，T 0~18 0
4 Motor control mode P，S，T 0~6 5
5 Mechanical brake delay time P，S，T 1~1000 10 ms
6 Current turn off delay time P，S，T 1~1000 10 ms
7 Mechanical brake speed P，S，T 0~6000 30 rpm
8 Anti-control of low-6-bit input terminal for PC interface P，S，T 0~63 0
9 Anti-control of high-4-bit input terminal for PC interface P，S，T 0~15 0
10 Anti-control of encoder input terminals P，S，T 0~63 0
11 Force-ON of low-6-bit input terminal for PC interface P，S，T 0~63 0
12 Force-ON of high-4-bit input terminal for PC interface P，S，T 0~15 0
13 Anti-control of high-4-bit output ports for PC interface P，S，T 0~15 0
14 Anti-control of low-3-bit output ports for PC interface P，S，T 0~7 0
15 Gain of analog torque command input T 10~300 100
-30000~3
16 The bias compensation of analog torque input T 0 mV
0000
17 Invert enable of analog torque input T 0~1 0
18 Gain of analog speed command input S 10~300 100
-30000~3
19 The bias compensation of analog speed input S 0 mV
0000
20 Invert enable of analog speed input S 0~1 0
21 Low-pass bandwidth of analog speed input S 0~1000 300 Hz
22 Torque overload alarm value T 1~400
23 Torque overload testing time T 1~32767 ms
24 Internal brake resistor temperature alarm P，S，T 0~1 1
25 Internal reverse rotation (CW) torque limit P，S 1 ~ 400 300
26 Internal forward rotation (CCW) torque limit P，S 1 ~ 400 300
27 External CW torque limit P，S 1 ~ 400 100
28 External CCW torque limit P，S 1 ~ 400 100

39
29 Speed limit during torque control T 0~3000 2000 rpm
30 Speed loop gain S 1~8000
31 Speed loop integral time constant S 1~8000
32 Low-pass bandwidth of speed loop S 1~1000 500 Hz
33 Low-pass filter bandwidth of torque command T 50~1000 800 Hz
34 Time constant of linear speed acceleration P，S，T 0~10000 0 0.1s
35 Time constant of linear speed deceleration P，S，T 0~10000 0 0.1s
-6000~60
36 Internal speed 1 S 1500 rpm
00
-6000~60
37 Internal speed 2 S 1500 rpm
00
-6000~60
38 Internal speed 3 S 1500 rpm
00
-6000~60
39 Internal speed 4 S 1500
00
40 Internal or external speed command selection S 0~1 0
41 Speed setting in JOG mode 0~3000 1500 rpm
42 Peak speed limitation P，S，T 0~6000 3000 rpm
43 Target speed S，T 1~6000 1500 rpm
44 Position loop gain P 1~10000
45 Difference coefficient ratio of position loop P 0~8000
46 The cut-off frequency of position feed forward filter P 1~300 100 Hz
47 Constant of position command filter P 0~1000 0
48 Denominator of position gearbox P 1~30000 20
49 Divider numerator of the 1nd postion command pulse P 1~30000 20
50 Divider numerator of the 2nd postion command pulse P 1~30000 20
51 Dynamic electronic gear enable P 0~1 0
52 Position command pulse input mode P 0~2 0
53 Invert direction of position command pulse P 0~1 0
54 Positioning completed range P 0~30000 1
55 Range of position super-homodyne detection P 1~30000 30000
56 Enable position error P 0~1 1
57 Position pulse feedback ratio P 0~3 0
58 Home position 0~2 0
59 Homing speed 1~6000 100 rpm
R/
60 Homing acceleration/ deceleration speed 1~1000 50
(s*s)
-30000~3
61 High bit of home offset 0
0000
-9999~99
62 Low bit of home offset 0
99
63 Demo or point-to-point mode 0~4 2
64 Torque value 1 in torque mode -400~400 10
65 Demo time 1 in torque mode 0~3600 60 s

40
66 Torque value 2 in torque mode -200~200 -10
67 Demo time 2 in torque mode 0~3600 60 s
68 Torque value 3 in torque mode -200~200 20
69 Demo time 3 in torque mode 0~3600 60 s
70 Torque value 4 in torque mode -200~200 -20
71 Demo time 4 in torque mode 0~3600 60 s
72 Torque value 5 in torque mode -200~200 30
73 Demo time 5 in torque mode 0~3600 60 s
74 Torque value 6 in torque mode -200~200 -30
75 Demo time 6 in torque mode 0~3600 60 s
76 Torque value 7 in torque mode -200~200 80
77 Demo time 7 in torque mode 0~3600 60 s
78 Torque value 8 in torque mode -200~200 -80
79 Demo time 8 in torque mode 0~3600 60 s
80 Torque value 9 in torque mode -200~200 100
81 Demo time 9 in torque mode 0~3600 60 s
82 Torque value 10 in torque mode -200~200 -100
83 Demo time 10 in torque mode 0~3600 60 s
-6000~60
84 Speed value 1 in speed mode 10 rpm
00
85 Demo time 1 in speed mode 0~3600 60 s
-6000~60
86 Speed value 2 in speed mode 50 rpm
00
87 Demo time 2 in speed mode 0~3600 60 s
-6000~60
88 Speed value 3 in speed mode 250 rpm
00
89 Demo time 3 in speed mode 0~3600 60 s
-6000~60
90 Speed value 4 in speed mode 1250 rpm
00
91 Demo time 4 in speed mode 0~3600 60 s
-6000~60
92 Speed value 5 in speed mode 2500 rpm
00
93 Demo time 5 in speed mode 0~3600 60 s
-6000~60
94 Speed value 6 in speed mode -10 rpm
00
95 Demo time 6 in speed mode 0~3600 60 s
-6000~60
96 Speed value 7 in speed mode -50 rpm
00
97 Demo time 7 in speed mode 0~3600 60 s
-6000~60
98 Speed value 8 in speed mode -250 rpm
00
99 Demo time 8 in speed mode 0~3600 60 s
-6000~60
100 Speed value 9 in speed mode -1250 rpm
00
101 Demo time 9 in speed mode 0~3600 60 s
-6000~60
102 Speed value 10 in speed mode -2500 rpm
00
41
103 Demo time 10 in speed mode 0~3600 60 s
-30000~3
104 High bit of position command 1 in position mode 50
0000
-9999~99
105 Low bit of position command 1 in position mode 0
99
106 Speed of position command 1 in position mode 0~6000 2000
Acceleration/deceleration of position command 1 in R/
107 1~1000 25
position mode (s*s)
108 Peak torque of position command 1 in position mode 0~400 125 N.M
-30000~3
109 High bit of position command 2 in position mode 10
0000
-9999~99
110 Low bit of position command 2 in position mode 0
99
111 Speed of position command 2 in position mode 0~6000 2000
Acceleration / deceleration of position command 2 in
112 1~1000 25
position mode
113 Peak torque of position command 2 in position mode 0~400 125 N.M
-30000~3
114 High bit of position command 3 in position mode 90
0000
-9999~99
115 Low bit of position command 3 in position mode 0
99
116 Speed of position command 3 in position mode 0~6000 2000
Acceleration / deceleration of position command 3 in
117 1~1000 25
position mode
118 Peak torque of position command 3 in position mode 0~400 125 N.M
-30000~3
119 High bit of position command 4 in position mode 20
0000
-9999~99
120 Low bit of position command 4 in position mode 0
99
121 Speed of position command 4 in position mode 0~6000 2000
Acceleration / deceleration of position command 4 in
122 1~1000 25
position mode
123 Peak torque of position command 4 in position mode 0~400 125 N.M
-30000~3
124 High bit of position command 5 in position mode 50
0000
-9999~99
125 Low bit of position command 5 in position mode 0
99
126 Speed of position command 5 in position mode 0~6000 2000
Acceleration / deceleration of position command 5 in
127 1~1000 25
position mode
128 Peak torque of position command 5 in position mode 0~400 125 N.M
-30000~3
129 High bit of position command 6 in position mode 80
0000
-9999~99
130 Low bit of position command 6 in position mode 0
99
131 Speed of position command 6 in position mode 0~6000 2000
Acceleration / deceleration of position command 6 in
132 1~1000 25
position mode
133 Peak torque of position command 6 in position mode 0~400 125 N.M
-30000~3
134 High bit of position command 7 in position mode 50
0000
-9999~99
135 Low bit of position command 7 in position mode 0
99
136 Speed of position command 7 in position mode 0~6000 2000
42
 Acceleration / deceleration of position command 7 in
137 1~1000 25
position mode
138 Peak torque of position command 7 in position mode 0~400 125 N.M
-30000~3
139 High bit of position command 8 in position mode 30
0000
-9999~99
140 Low bit of position command 8 in position mode 0
99
141 Speed of position command 8 in position mode 0~6000 2000
Acceleration / deceleration of position command 8 in
142 1~1000 25
position mode
143 Peak torque of position command 8 in position mode 0~400 125 N.M
-30000~3
144 High bit of position command 9 in position mode 10
0000
-9999~99
145 Low bit of position command 9 in position mode 0
99
146 Speed of position command 9 in position mode 0~6000 2000
Acceleration / deceleration of position command 9 in
147 1~1000 25
position mode
148 Peak torque of position command 9 in position mode 0~400 125 N.M
-30000~3
149 High bit of position command 10 in position mode 80
0000
-9999~99
150 Low bit of position command 10 in position mode 0
99
151 Speed of position command 10 in position mode 0~6000 2000
Acceleration / deceleration of position command 10 in
152 1~1000 25
position mode
153 Peak torque of position command 10 in position mode 0~400 125 N.M
-30000~3
154 High bit of position command 11 in position mode 50
0000
-9999~99
155 Low bit of position command 11 in position mode 0
99
156 Speed of position command 11 in position mode 0~6000 2000
Acceleration / deceleration of position command 11 in
157 1~1000 25
position mode
158 Peak torque of position command 11 in position mode 0~400 125 N.M
-30000~3
159 High bit of position command 12 in position mode 60
0000
-9999~99
160 Low bit of position command 12 in position mode 0
99
161 Speed of position command 12 in position mode 0~6000 2000
Acceleration / deceleration of position command 12 in
162 1~1000 25
position mode
163 Peak torque of position command 12 in position mode 0~400 125 N.M
-30000~3
164 High bit of position command 13 in position mode 30
0000
-9999~99
165 Low bit of position command 13 in position mode 0
99
166 Speed of position command 13 in position mode 0~6000 2000
Acceleration / deceleration of position command 13 in
167 1~1000 25
position mode
168 Peak torque of position command 13 in position mode 0~400 125 N.M
-30000~3
169 High bit of position command 14 in position mode 50
0000
-9999~99
170 Low bit of position command 14 in position mode 0
99
43
 171 Speed of position command 14 in position mode 0~6000 2000
Acceleration / deceleration of position command 14 in
172 1~1000 25
position mode
173 Peak torque of position command 14 in position mode 0~400 125 N.M
-30000~3
174 High bit of position command 15 in position mode 100
0000
-9999~99
175 Low bit of position command 15 in position mode 0
99
176 Speed of position command 15 in position mode 0~6000 2000
Acceleration / deceleration of position command 15 in
177 1~1000 25
position mode
178 Peak torque of position command 15 in position mode 0~400 125 N.M
-30000~3
179 High bit of position command 16 in position mode 50
0000
-9999~99
180 Low bit of position command 16 in position mode 0
99
181 Speed of position command 16 in position mode 0~6000 2000
Acceleration / deceleration of position command 16 in
182 1~1000 25
position mode
183 Peak torque of position command 16 in position mode 0~400 125 N.M
Note: The default value of PN1、PN22、PN23、PN25、PN26、PN27、PN28、PN30、PN31、PN44、PN45 is related with the motor
model.

5.2 Parameter Contents

NO Parameter Parameter description Range
0 Firmware edition Firmware edition of servo drive. Can't be modified by users. －
1 Motor type code The type code of motors; 0~21
It is used to prevent the parameters from being changed accidentally. The
User constants parameters can be modified as the value is set to 28977.
2 0~32767
protection code We suggest users to change it into a value other than 28977 after the
parameters having been adjusted.
Select the information displaying on the panel:
0: Motor's current torque;
1: Motor's current speed;
2: Low-5-bit of current position;
3: High-5-bit of current position;
4: Torque command;
5: Speed command;
6: Low-5-bit of position command(command pulse accumulation);
7: High-5-bit of position command(command pulse accumulation);
8: Motor's current;
3 Display mode 0~18
9: Counter of encoder output;
10: Linear speed;
11: Low-5-bit of position deviation;
12: High-5-bit of position deviation;
13: Control mode;
14: Alarm code;
15: States of low part input terminals in CN2;
16: States of high part input terminals in CN2;
17: State of output terminals in CN2;
18: State of the optical encoder in input terminals;
①Select the control mode of servo drive:
0: Torque control mode;
1: Speed control mode;
4 Motor control mode 0~6
2: Position control mode;
3: JOG control mode;
4: Speed trial operation control mode;
44
 5: Auto-correction mode(used to correct ports and internal control
parameter for motor);
6: Demo mode (Torque/Speed/Position)/point to point mode;
②In speed control mode, speed command transmits from input terminals
(PN40).Set SC1 and SC2 to choose the internal speed:
SC1 OFF, SC2 OFF: Internal speed 1;
SC1 OFF, SC2 ON : Internal speed 2;
SC1 ON , SC2 OFF: Internal speed 3
SC1 ON , SC2 ON : Internal speed 4;
③In position control mode, position command transmits from pulse input
ports.
④In JOG control mode, press Up continuously, the motor is running at JOG
speed, release the key, motor stops and keeps zero-speed; Press Down
continuously, the motor is running in the reverse direction, release the key,
motor stops and keeps zero-speed;
⑤In speed trial control mode, speed command is input from keyboard to
test the drive and motor;
⑥In auto-correction mode, users can adjust the zero-compensation for analog,
torque and speed input port as well as the internal control parameters.
①Set the delay time from the moment that mechanical brake available
(output terminals BRK changes from OFF to ON) to the time motor current is
Mechanical brake delay 1~1000
5 cut off.
time ms
②This parameter should be bigger than mechanical braking delay time to
avoid motor for micro-displacement or falling.
①Set the delay time from the moment the motor current is cut off to the
time mechanical brake available (output terminals BRK changes from OFF to
ON).
Current turn off delay 1~1000
6 ②This parameter will protect the mechanical brake as the motor runs from
time ms
a high speed to a low speed.
③The actual time is the minimum value between PN5 and the time speed
falls to PN6.
①Set the motor speed ensuring that mechanical brake is active (output
terminal BRK changes from OFF to ON) when motor is running.
7 Mechanical brake speed 0~6000
②The actual time is the minimum value between PN5 and the time speed
falls to PN6.
①Inverting enable of input terminals. Invert the input signal when the
corresponding enable setting is active.
②This parameter is expressed by a 6-bit binary number. 0 stands for
original state, 1 stands for invert state. Here’s a input terminal of binary
number below:
Anti-control of low-6-bit 5 4 3 2 1 0
8 input terminal for PC ServoEn AlarmClr CCWDis CWDis CCWTLtd CWTLtd 0~63
interface
ServoEn: Servo enable;
AlarmClr: Alarm clear;
CCWDis: CCW(counter-clockwise) drive forbidden;
CWDis: CW(clockwise) drive forbidden;
CCWTLtd: CCW torque limited;
CWTLtd: CW torque limited;
①Inverting enable of input terminals. Invert the input signal when the
corresponding enable setting is active.
②This parameter is expressed by a 4-bit binary number. 0 stands for
original state, 1 stands for invert state. Here’s a input terminal of binary
number below:
Anti-control of high-4-bit 3 2 1 0
9 input terminal for PC 0~15
CLE/SC1/ZEROSPD INH/SC2 SignInv PulseInv
interface
CLE/SC1/ZEROSPD: Offset counter clear / Speed selector 1 / Zero clamp;
INH/SC2: Command pulse forbidden（dynamic electronic gear switch）
/Speed selector 2;
SignInv: Position command pulse symbol bit;
PulseInv: Position command pulse bit;

45
 ①Inverting enable of input terminals. Invert the input signal when the
corresponding enable setting is active.
②This parameter is expressed by a 6-bit binary number. 0 stands for
original state, 1 stands for invert state. Here’s a input terminal of binary
number below::
5 4 3 2 1 0
Anti-control of encoder
10 PhaseU PhaseV PhaseW PhaseA PhaseB PhaseZ 0~63
input terminals
Phase U: Photoelectric incremental encoder phase U;
Phase V: Photoelectric incremental encoder phase V;
Phase W:Photoelectric incremental encoder phase W;
Phase A: Photoelectric incremental encoder phase A;
Phase B: Photoelectric incremental encoder phase B;
Phase Z: Photoelectric incremental encoder phase Z;
①Force the input signal active when the corresponding enable setting is
active;
②This parameter is expressed by a 6-bit binary number. 0 stands for the
unforce-ON for input terminal, 1 stands for the force-ON for input terminal.
Here’s a input terminal of binary number below:

Force-ON of low-6-bit 5 4 3 2 1 0
11 input terminal for PC ServoEn AlarmClr CCWDis CWDis CCWTLtd CWTLtd 0~63
interface ServoEn: Servo enable;
AlarmClr: Alarm clear;
CCWDis: CCW(counter-clockwise) drive forbidden;
CWDis: CW(counter-clockwise) drive forbidden;
CCWTLtd: CCW torque limited;
CWTLtd : CW torque limited;

①External connection to control ON / OFF，for the terminal of force-ON, the

drive can set ON automatically at internal without external connection.
②This parameter is expressed by a 4-bit binary number. 0 stands for the
unforce-ON for input terminal, 1 stands for the force-ON for input terminal.
Here’s a input terminal of binary number below:
Force-ON of high-4-bit
12 input terminal for PC 3 2 1 0 0~15
interface CLE/SC1/ZEROSPD INH/SC2 SignInv PulseInv
CLE/SC1/ZEROSPD: Offset counter clear / Speed selector 1 / Zero clamp;
INH/SC2: Command pulse forbidden（dynamic electronic gear switch）
/Speed selector 2;
SignInv: Position command pulse symbol bit;
PulseInv: Position command pulse bit;
①Inverting enable of output terminals. For the anti-control terminal,
turn-on and cut-off definition are opposited from standard definition.
②This parameter is expressed by a 4-bit binary number. 0 stands for the no
anti-control output terminal, 1 stands for the anti-control output terminal.
Here’s a input terminal of binary number below:
Anti-control of high-4-bit
13 output ports for PC 0~15
3 2 1 0
interface
SRDY ALM COIN BRK
SRDY: Servo ready;
ALM: Servo alarm;
COIN: Positioning complete / Reach speed
BRK: Mechanical brake release.
①Inverting enable of output terminals. For the anti-control terminal,
turn-on and cut-off definition are opposite from standard definition.
②This parameter is expressed by a 3-bit binary number. 0 stands for the no
Anti-control of low-3-bit
anti-control output terminal, 1 stands for the anti-control output terminal.
14 output ports for PC 0~7
Here’s a input terminal of binary number below:
interface
2 1 0
PhaseA_O PhaseB_O PhaseZ_O
46
 PhaseA_O:Phase A output of rotor position;
PhaseB_O:Phase B output of rotor position;
PhaseZ_O: Phase Z output of rotor position.
①Set proportion relationship between analog torque input voltage and
actual motor torque;
Gain of analog torque
15 ②Parameter unit is 100%/0.1V; 10~300
command input
③The default value is 100, corresponding to 100%/10V (Input 10V to
generate 100% of nominal torque).
①The zero-bias compensation for the analog torque input; -30000~
The bias compensation
16 ②Parameter unit is mV. 30000m
of analog torque input
V
①Set the parameter to 0, as the analog torque command is positive, motor
Invert enable of analog runs in reverse rotation (CW) direction,;
17 0~1
torque input ②Set the parameter to 1, as the analog torque command is positive, motor
runs forward rotation (CCW) direction.
①Set proportion relationship between the input voltage of analog speed
Gain of analog speed and actual motor speed;
18 10~300
command input ②Parameter unit is 3000rpm/0.1V;
③The default value is 100, corresponding to 3000rpm/10V.
①The zero-bias compensation for the analog speed input;
-30000~
The bias compensation ②Parameter unit is mV.
19 30000m
of analog speed input
V
①Set the parameter to 0, as the analog speed command is positive, motor
Invert enable of analog runs in reverse rotation (CW) direction,;
20 0~1
speed input ②Set the parameter to 1, as the analog speed command is positive, motor
runs forward rotation (CCW) direction.
① Low-pass filter of the analog speed input.
Low-pass bandwidth of ②The greater the value is, it would bring faster response of analog speed 1~1000H
21
analog speed input input and more signal noise; The smaller the value is, it would bring slower z
response of analog speed input and less signal noise.
①Torque overload value. The value is the percentage of nominal torque
Torque overload alarm which effects both direction(CW/CCW);
22 1~400
value ②As the motor torque > PN22 and lasting time > PN23, the drive will alarm
Err-18 the motor will stop.
①Parameter unit is ms;
Torque overload testing 1~32767
23 ②As the motor torque > PN22 and lasting time > PN23, the drive will alarm
time ms
Err-18, the motor will stop.
Internal brake resistor ①Set 1, internal brake resistor temperature alarm enabled;
24 0~1
temperature alarm ②Set 0, internal brake resistor temperature alarm disabled.
①Used to limit the torque in the reverse rotation driving mode;
②Parameter value is the percentage of nominal torque, for example, the
Internal reverse rotation value of 200 if it is set to 2 times of the nominal torque;
25 1~400
(CW) torque limit ③This limitation is valid all time;
④Actual torque limit equals to the allowed peak overload on the condition
that the setting value exceed the allowed peak overload.
①Used to limit the torque in the forward rotation driving mode
②Parameter value is the percentage of nominal torque, for example, the
Internal forward rotation value of 200 if it is set to 2 times of the nominal torque;
26 1~400
(CCW) torque limit ③This limitation is valid all time;
④Actual torque limit equals to the allowed peak overload on the condition
that the setting value exceed the allowed peak overload.
①Set the external torque limit for motor CW;
②Parameter value is the percentage of nominal torque, for example, the
value of 100 if it is set to 1 time of the nominal torque;
27 External CW torque limit ③The limitation is valid only when the CW torque limit input terminal ON; 1~400
④The actual torque limit is the minimum value among allowed peak
overload,CW internal torque limit and CW external torque limit as the
limitation is valid.

47
 ①Set the external torque limit for motor CCW;
②Parameter value is the percentage of nominal torque, for example, the
value of 100 if it is set to 1 time of the nominal torque;
External CCW torque
28 ③The limitation is valid only when the CCW torque limit input terminal ON; 1~400
limit
④The actual torque limit is the minimum value among allowed peak
overload,CCW internal torque limit and CCW external torque limit as the
limitation is valid.
①Limit the maximum speed in torque control mode, parameter unit is rpm;
Speed limit during ②Avoid overspeed when the motor unloaded.
29 0~3000
torque control

①Set the speed loop proportional gain;

②The larger the value is, the greater the stiffness would be. The value is
determined by the type of servo and the load condition. In general, larger load
30 Speed loop gain 1~8000
inertia needs larger value.
③If there is no oscillation, the higher the value is the better the servo system
performs.
①Set the speed loop integral time constant;
②The smaller the value, the greater the stiffness. The value is determined by
Speed loop integral time the type of servo and the load condition. In general, larger load inertia needs
31 1~8000
constant larger value.
③Set the parameter as small as possible without oscillation.
①Set the characteristics of speed detection filter;
Low-pass bandwidth of 1~1000H
32 ②Normally, smaller value results in slower and smoother speed response.
speed loop z
Too small value may cause system oscillation.
Low-pass filter ①Set the characteristics of speed detection filter;
50~1000
33 bandwidth of torque ②Normally, smaller value results in slower and smoother speed response.
Hz
command But too much small value may cause system oscillation.
①The value means motor accelerates from 0 to 1000 r/min, the unit ×0.01s;
②Characteristics of acceleration and deceleration is linear; the range of
Time constant of linear valid value from 1 to 10000;
34 0~10000
speed acceleration ③Affective in speed control mode only;
④If the drive works in position control mode or the external position loop,
the parameter should be set to 0.
①The value means motor decelerates from 1000 to 0 r/min, the unit
×0.01s;
②Characteristics of acceleration and deceleration is linear; the range of
Time constant of linear
35 valid value from 1 to 10000; 0~10000
speed deceleration
③Affective in speed control mode only;
④If the drive works in position control mode or the external position loop,
the parameter should be set to 0.
①Set the first internal speed;
-6000~6
36 Internal speed 1 ②In speed control mode, select the first internal speed as the speed
000
command when SC1 OFF, SC2 OFF.
①Set the first internal speed;
-6000~6
37 Internal speed 2 ②In speed control mode, select the second internal speed as the speed
000
command when SC1 OFF, SC2 ON.
①Set the first internal speed;
-6000~6
38 Internal speed 3 ②In speed control mode, select the third internal speed as the speed
000
command when SC1 ON, SC2 OFF.
①Set the first internal speed;
-6000~6
39 Internal speed 4 ②In speed control mode, select the fourth internal speed as the speed
000
command when SC1 ON, SC2 ON.
Internal or external ①Set the parameter to 0, select the internal speed control mode;
40 speed command ②Set the parameter to 1, select the external speed control mode. 0~1
selection
Speed setting in JOG Set the operation speed in JOG control mode.
41 0~3000
mode
①Set the maximum speed limitation of servo motor;
42 Peak speed limitation 0~6000
②The function is effective in both CCW and CW direction;

48
 ③The selected speed equals to actual peak speed if it is smaller than the
value.
①Position target speed, the unit is r/min;
②In non-position control mode, if the motor speed exceeds the set value,
then COIN ON, otherwise COIN OFF;
43 Target speed ③This parameter is not effective in position control mode,; 1~6000
④CCW and CW directions are both effective;
⑤The comparator has hysteresis characteristics.

①Set the speed loop proportional gain;

②Higher gain results in greater mechanical stiffness and less position
44 Position loop gain 1~10000
tracking error. Too large value may cause overshoot or oscillation.
③The value is determined by the type and the load of servo drive.
①Set the difference gain of position loop;
Difference coefficient ② Higher gain results in greater mechanical stiffness and less position tracking
45 error. Too big value may cause overshoot or oscillation; 0~8000
ratio of position loop
③This parameter is usually set to zero unless very fast response is required.

The cut-off frequency of ①Set the low-pass filter cut-off frequency of position loop feed forward.
46 position feed forward the unit is Hz; 1~300
filter ②The filter is used to increase the stability of compound position control.
①Smoothen filter for the command pulse with the accelerate of index form,
the value stands for time constant. The unit is ms;
②Filter would not lose input pulse but may lead to delay;
③The filter works in the follow conditions:
Constant of position
47 ● Host controller has not acceleration and deceleration function; 0~1000
command filter
● Larger electronic gear ratio (＞10);
● Lower command frequency;
● Motor running with jumps or other unstable conditions;
④Filter is inactive as set to 0.
①Set the denominator of sub-octave for position command pulse (electric
gear);
②In the position control mode, conveniently match with any pulse source by
setting parameters PN48 and PN49 to meet the ideal control resolution
(angle/pulse);
③P×G=N×C×4
P : Input command pulse number;
G: Electronic gear ratio;
Denominator of position N: The revolving circle of the motor;
48 1~30000
gearbox C: The photoelectric encoder C/T, this system is C=2500;
④For example, the motor runs one circle when the input command pulse is
6000,
N  C  4 1  2500 4 5
G  
P 6000 3
So please set PN49=5, PN48=3
⑤Recommendatory range of electronic gear ratio:
1/50≤G≤50
①Set the first position command pulse sub-octave (electronic gear);
Divider numerator of the
②Set parameter PN51 to 1 as using the dynamic electronic gear, meanwhile
49 first position command 1~30000
the function of input terminal INH (command pulse forbidden) translates
pulse
into control terminal of electronic gear switching input.
①Set the second position command pulse sub-octave (electronic gear);
Divider numerator of the
②Set parameter PN51 to 1 as using the dynamic electronic gear, meanwhile
50 second position 1~30000
the function of input terminal INH (command pulse forbidden) translates
command pulse
into control terminal of electronic gear switching input.

49
 ①Set to 0, dynamic electronic gearbox is inactive.
②Set to 1, dynamic electronic gearbox is active.
③When dynamic electronic gearbox is active, the input terminal INH(Inhibit
Dynamic electronic gear Position instruction) functions as a switch to select electronic gear ratio
51 0~1
enable generated by the first or the second numerator;
④When dynamic electronic gearbox is active, if INH terminal is inactive, the
active G=PN50/PN48; If INH terminal is active, the active G=PN49/PN48; By
controlling INH terminal, PLC cant switch the electronic gear ratio.
①Set the input form of position command pulse;
②Three position command types are supported as following:
0: Pulse + symbol;
Position command pulse
52 1: CCW pulse / CW pulse; 0~2
input mode
2: Two-phase orthogonal pulse input;
③CCW is defined as positive direction on the condition that it rotates with
anti-clockwise direction from the axial view.
Select condition:
Invert direction of 0: Normal;
53 0~1
position command pulse 1: Reverse the direction of position command pulse.
①Position range indicates the motor has reached the target location;
Positioning completed ②In position control mode or point to point mode, if the position error
54 0~30000
range drops in the target position range, the output terminal COIN turns active,
otherwise COIN remains inactive.
Range of position ①Set the detection range for position tolerance alarm;
55 super-homodyne ②The drive will issue position tolerance alarm when the position offset 1~30000
detection counter value exceeds the selected value×100 in position control mode.
Select condition:
0: position tolerance alarm detection enabled;
56 Enable position error 0~1
1: position tolerance alarm detection disabled and position tolerance error
detection is stopped.
①The feedback ratio of position pulse determines the ratio of the internal
and ouput position pulse:
②[4:0] : Feedback setting: B, Ratio=A/B.
③[9:5] : Feedback setting: A, Ratio=A/B.
④[15:10] : Reserved.
Position pulse feedback
57 ⑤Normal setting : 1:1 => 33 (00001_00001) 1~1023
ratio
1:2 => 34 (00001_00010)
1:4 => 36 (00001_00100)
1:5 => 37 (00001_00101)
1:10 => 42 (00001_01010)
⑥(Ratio x Encoder pulse number) should be a integer.
The mode of capture Home signal. Three homing methods are supported.
①Set PN58 to 0, the servo seeks home position with CW limit switch; Servo
would move in CW direction until meets CW limit switch, then turns back
and treats the first Index signal as home position;
58 Home position 0~3
②Set PN58 to 1, the servo seeks home position with CCW limit switch.
Servo would move in CCW direction until meets CCW limit switch, then
turns back and treats the first Index signal as home position;
③Set PN58 to 2, the current position is set as home position.
①The maximum running speed for motor in the process of seeking home
position;
②The speed value is effective in both CCW and CW direction. The unit is
59 Homing speed 1~6000
r/min;
③Caution: Too fast homing speed may cause mechanical damage at limit
switch.
①The acceleration and deceleration value in the process of seeking home
position;
Homing acceleration/
60 ②The value is effective in both CCW and CW direction. The unit is r/(s*s); 1~1000
deceleration speed
③Caution: Too weak acceleration and deceleration speed may cause
mechanical damage at limit switch.
61 High bit of home offset ①A 16-bit space is narrow for a 32-bit. So the home offset is stored to -30000~

50
 high-bit and low-bit; 30000
②The actual origin offset = PN61×10000+PN62.
①A 16-bit space is narrow for a 32-bit. So the home offset is stored to
-9999~9
62 Low bit of home offset high-bit and low-bit;
999
②The actual origin offset = PN61×10000+PN62.
①Demo mode or point-to-point mode;
②Set to 0, the drive will work in torque demo mode. From step 1 to 10,
servo runs each step one by one and loops forever. In every step torque
value and lasting time can be set independently.
③Set to 1, the drive will work in speed demo mode. From step 1 to 10,
servo runs each step one by one and loops forever. In every step torque
value and lasting time can be set independently.
④Set to 2, the drive will work in position demo mode, From step 1 to 10,
servo runs each step one by one and loops forever. In every step position,
speed, acceleration and maximum torque value can be set independently.
⑤Set to 3, the drive will work in absolute value point-to-point mode.
Demo or point-to-point ⑥Set to 4, the drive will work in increment point-to-point mode..
63 0~3
mode ⑦There are four parameters can be selected independently: Position,
Speed, Acceleration and Maximum Torque in point-to-point mode. The
position index is determined by input terminals { CCWTLtd, CWTLtd, SC1,
SC2 }:
If CCWTLtd=0, CWTLtd=0,SC1=0, SC2=0, then select position 1;
If CCWTLtd=0, CWTLtd=0,SC1=0, SC2=1, then select position 2;
If CCWTLtd=0, CWTLtd=0, SC1=1, SC2=0, then select position 3;
......
If CCWTLtd=1, CWTLtd=0,SC1=1, SC2=1, then select position 12;
......
If CCWTLtd=1, CWTLtd=1, SC1=1, SC2=0 then select position 15;
If CCWTLtd=1, CWTLtd=1, SC1=1, SC2=1, then select position 16;
①Set the first torque value in torque demo mode;
Torque value 1 in torque ②Parameter value is the percentage of the nominal torque, for example, if -400~40
64
mode you want to set maximum torque to the 1 times of the nominal torque, the 0
parameter is 100.
Demo time 1 in torque ①Set the first duration in torque demo mode.
65 0~3600
mode ②Parameter unit is second.
①Set the second torque value in torque demo mode;
Torque value 2 in torque ②Parameter value is the percentage of the nominal torque, for example, if -200~20
66
mode you want to set maximum torque to the 1 times of the nominal torque, the 0
parameter is 100.
Demo time 2 in torque ①Set the second duration in torque demo mode.
67 0~3600
mode ②Parameter unit is second.
①Set the third torque value in torque demo mode;
Torque value 3 in torque ②Parameter value is the percentage of the nominal torque, for example, if -200~20
68
mode you want to set maximum torque to the 1 times of the nominal torque, the 0
parameter is 100.
Demo time 3 in torque ①Set the third duration in torque demo mode.
69 0~3600
mode ②Parameter unit is second.
①Set the fourth torque value in torque demo mode;
Torque value 4 in torque ②Parameter value is the percentage of the nominal torque, for example, if -200~20
70
mode you want to set maximum torque to the 1 times of the nominal torque, the 0
parameter is 100.
Demo time 4 in torque ①Set the fourth duration in torque demo mode.
71 0~3600
mode ②Parameter unit is second.
①Set the fifth torque value in torque demo mode;
Torque value 5 in torque ②Parameter value is the percentage of the nominal torque, for example, if -200~20
72
mode you want to set maximum torque to the 1 times of the nominal torque, the 0
parameter is 100.
Demo time 5 in torque ①Set the fifth duration in torque demo mode.
73 0~3600
mode ②Parameter unit is second.
74 Torque value 6 in torque ①Set the sixth torque value in torque demo mode; -200~20

51
 mode ②Parameter value is the percentage of the nominal torque, for example, if 0
you want to set maximum torque to the 1 times of the nominal torque, the
parameter is 100.
Demo time 6 in torque ①Set the sixth duration in torque demo mode.
75 0~3600
mode ②Parameter unit is second.
①Set the seventh torque value in torque demo mode;
Torque value 7 in torque ②Parameter value is the percentage of the nominal torque, for example, if -200~20
76
mode you want to set maximum torque to the 1 times of the nominal torque, the 0
parameter is 100.
Demo time 7 in torque ①Set the seventh duration in torque demo mode.
77 0~3600
mode ②Parameter unit is second.
①Set the seventh torque value in torque demo mode;
Torque value 8 in torque ②Parameter value is the percentage of the nominal torque, for example, if -200~20
78
mode you want to set maximum torque to the 1 times of the nominal torque, the 0
parameter is 100.
Demo time 8 in torque ①Set the eighth duration in torque demo mode.
79 0~3600
mode ②Parameter unit is second.
①Set the ninth torque value in torque demo mode;
Torque value 9 in torque ②Parameter value is the percentage of the nominal torque, for example, if -200~20
80
mode you want to set maximum torque to the 1 times of the nominal torque, the 0
parameter is 100.
Demo time 9 in torque ①Set the ninth duration in torque demo mode.
81 0~3600
mode ②Parameter unit is second.
①Set the tenth torque value in torque demo mode;
Torque value 10 in ②Parameter value is the percentage of the nominal torque, for example, if -200~20
82
torque mode you want to set maximum torque to the 1 times of the nominal torque, the 0
parameter is 100.
Demo time 10 in torque ①Set the tenth duration in torque demo mode.
83 ②Parameter unit is second. 0~3600
mode
Speed value 1 in speed ①Set the first speed value in the speed demo mode; -6000~6
84
mode ②Parameter unit is rpm. 000
Demo time 1 in speed ①Set the first duration in the speed demo mode;
85 0~3600
mode ②Parameter unit is second.
Speed value 2 in speed ①Set the second speed value in speed demo mode; -6000~6
86
mode ②Parameter unit is rpm.. 000
Demo time 2 in speed ①Set the second duration of speed value in speed demo mode;
87 0~3600
mode ②Parameter unit is second.
Speed value 3 in speed ①Set the third speed value in speed demo mode; -6000~6
88
mode ②Parameter unit is rpm. 000
Demo time 3 in speed ①Set the third duration of speed value in speed demo mode;
89 0~3600
mode ②Parameter unit is second.
Speed value 4 in speed ①Set the fourth speed value in speed demo mode; -6000~6
90
mode ②Parameter unit is rpm. 000
Demo time 4 in speed ①Set the fourth duration of speed value in speed demo mode
91 0~3600
mode ②Parameter unit is second.
Speed value 5 in speed ①Set the fifth speed value in speed demo mode; -6000~6
92
mode ②Parameter unit is rpm. 000
Demo time 5 in speed ①Set the fifth duration of speed value in speed demo mode;
93 0~3600
mode ②Parameter unit is second.
Speed value 6 in speed ①Set the sixth speed value in speed demo mode; -6000~6
94
mode ②Parameter unit is rpm. 000
Demo time 6 in speed ①Set the sixth duration of speed value in speed demo mode;
95 0~3600
mode ②Parameter unit is second.
Speed value 7 in speed ①Set the seventh speed value in speed demo mode; -6000~6
96
mode ②Parameter unit is rpm. 000
Demo time 7 in speed ①Set the seventh duration of speed value in speed demo mode;
97 0~3600
mode ②Parameter unit is second.

52
 Speed value 8 in speed ①Set the eighth speed value in speed demo mode; -6000~6
98
mode ②Parameter unit is rpm. 000
Demo time 8 in speed ①Set the ninth duration of speed value in speed demo mode;
99 0~3600
mode ②Parameter unit is second.
Speed value 9 in speed ①Set the ninth speed value in speed demo mode; -6000~6
100
mode ②Parameter unit is rpm. 000
Demo time 9 in speed ①Set the ninth duration of speed value in speed demo mode;
101 0~3600
mode ②Parameter unit is second.
Speed value 10 in speed ①Set the tenth speed value in speed demo mode; -6000~6
102
mode ②Parameter unit is rpm. 000
Demo time 10 in speed ①Set the tenth duration of speed value in speed demo mode;
103 0~3600
mode ②Parameter unit is second.
High bit of position ①Set the first high bit command value in position demo mode;
-30000~
104 command 1 in position ②The value of position 1 equals to high-bit value×10000+low-bit value.
30000
mode Parameter unit is pulse.
Low bit of position ①Set up the first low bit command value in position demo mode.
-9999~9
105 command 1 in position ②The value of position 1 equals to high-bit value×10000+low-bit value.
999
mode Parameter unit is pulse.
Speed of position ①The speed value of position 1;
106 command 1 in position ②Parameter unit is rpm. 0~6000
mode
Acceleration/deceleratio ①The acceleration / deceleration in position 1;
107 n of position command 1 ②The acceleration and deceleration share the same value. 1~1000
in position mode
①The maximum torque in position 1;
Peak torque of position
②The value is the percentage of the nominal torque, for example, if you
108 command 1 in position 0~400
want to set maximum torque value as same as the nominal torque value, the
mode
parameter would be 100.
High bit of position ①Set the second high bit command value in position demo mode;
-30000~
109 command 2 in position ②The value of position 2 equals to high-bit value×10000+low-bit value.
30000
mode Parameter unit is pulse.
Low bit of position ①Set the second low bit command value in position demo mode;
-9999~9
110 command 2 in position ②The value of position 2 equals to high-bit value×10000+low-bit value.
999
mode Parameter unit is pulse.
Speed of position ①The speed value of position 2;
111 command 2 in position ②Parameter unit is rpm. 0~6000
mode
Acceleration / ①The acceleration / deceleration in position 2;
deceleration of position ②The acceleration and deceleration share the same value..
112 1~1000
command 2 in position
mode
①The maximum torque in position 2;
Peak torque of position
②The value is the percentage of the nominal torque, for example, if you
113 command 2 in position 0~400
want to set maximum torque value as same as the nominal torque value, the
mode
parameter would be 100.
High bit of position ①Set the third high bit command value in position demo mode;
-30000~
114 command 3 in position ②The value of position 3 equals to high-bit value×10000+low-bit value.
30000
mode Parameter unit is pulse.
Low bit of position ①Set the third low bit command value in position demo mode;
-9999~9
115 command 3 in position ②The value of position 3 equals to high-bit value×10000+low-bit value.
999
mode Parameter unit is pulse.
Speed of position ①The speed value of position 3;
116 command 3 in position ②Parameter unit is rpm. 0~6000
mode
Acceleration / ①The acceleration / deceleration in position 3;
deceleration of position ②The acceleration and deceleration share the same value..
117 1~1000
command 3 in position
mode

53
 ①The maximum torque in position 3;
Peak torque of position
②The value is the percentage of the nominal torque, for example, if you
118 command 3 in position 0~400
want to set maximum torque value as same as the nominal torque value, the
mode
parameter would be 100.
High bit of position ①Set the fourth high bit command value in position demo mode;
-30000~
119 command 4 in position ②The value of position 4 equals to high-bit value×10000+low-bit value.
30000
mode Parameter unit is pulse.
Low bit of position ①Set the fourth low bit command value in position demo mode;
-9999~9
120 command 4 in position ②The value of position 4 equals to high-bit value×10000+low-bit value.
999
mode Parameter unit is pulse.
Speed of position ①The speed value of position 4;
121 command 4 in position ②Parameter unit is rpm. 0~6000
mode
Acceleration / ①The acceleration / deceleration in position 4;
deceleration of position ②The acceleration and deceleration share the same value..
122 1~1000
command 4 in position
mode
①The maximum torque in position 4;
Peak torque of position
②The value is the percentage of the nominal torque, for example, if you
123 command 4 in position 0~400
want to set maximum torque value as same as the nominal torque value, the
mode
parameter would be 100.
High bit of position ①Set the fifth high bit command value in position demo mode;
-30000~
124 command 5 in position ②The value of position 5 equals to high-bit value×10000+low-bit value.
30000
mode Parameter unit is pulse.
Low bit of position ①Set the fifth low bit command value in position demo mode;
-9999~9
125 command 5 in position ②The value of position 5 equals to high-bit value×10000+low-bit value.
999
mode Parameter unit is pulse.
Speed of position ①The speed value of position 5;
126 command 5 in position ②Parameter unit is rpm. 0~6000
mode
Acceleration / ①The acceleration / deceleration in position 5;
deceleration of position ②The acceleration and deceleration share the same value..
127 1~1000
command 5 in position
mode
①The maximum torque in position 5;
Peak torque of position
②The value is the percentage of the nominal torque, for example, if you
128 command 5 in position 0~400
want to set maximum torque value as same as the nominal torque value, the
mode
parameter would be 100.
High bit of position ①Set the sixth high bit command value in position demo mode;
-30000~
129 command 6 in position ②The value of position 6 equals to high-bit value×10000+low-bit value.
30000
mode Parameter unit is pulse.
Low bit of position ①Set the sixth low bit command value in position demo mode;
-9999~9
130 command 6 in position ②The value of position 6 equals to high-bit value×10000+low-bit value.
999
mode Parameter unit is pulse.
Speed of position ①The speed value of position 6;
131 command 6 in position ②Parameter unit is rpm. 0~6000
mode
Acceleration / ①The acceleration / deceleration in position 6;
deceleration of position ②The acceleration and deceleration share the same value..
132 1~1000
command 6 in position
mode
①The maximum torque in position 6;
Peak torque of position
②The value is the percentage of the nominal torque, for example, if you
133 command 6 in position 0~400
want to set maximum torque value as same as the nominal torque value, the
mode
parameter would be 100.
High bit of position ①Set the seventh high bit command value in position demo mode;
-30000~
134 command 7 in position ②The value of position 7 equals to high-bit value×10000+low-bit value.
30000
mode Parameter unit is pulse.
135 Low bit of position ①Set the seventh low bit command value in position demo mode; -9999~9

54
 command 7 in position ②The value of position 7 equals to high-bit value×10000+low-bit value. 999
mode Parameter unit is pulse.
Speed of position ①The speed value of position 7;
136 command 7 in position ②Parameter unit is rpm. 0~6000
mode
Acceleration / ①The acceleration / deceleration in position 7;
deceleration of position ②The acceleration and deceleration share the same value..
137 1~1000
command 7 in position
mode
①The maximum torque in position 7;
Peak torque of position
②The value is the percentage of the nominal torque, for example, if you
138 command 7 in position 0~400
want to set maximum torque value as same as the nominal torque value, the
mode
parameter would be 100.
High bit of position ①Set the eighth high bit command value in position demo mode;
-30000~
139 command 8 in position ②The value of position 8 equals to high-bit value×10000+low-bit value.
30000
mode Parameter unit is pulse.
Low bit of position ①Set the eighth low bit command value in position demo mode;
-9999~9
140 command 8 in position ②The value of position 8 equals to high-bit value×10000+low-bit value.
999
mode Parameter unit is pulse.
Speed of position ①The speed value of position 8;
141 command 8 in position ②Parameter unit is rpm. 0~6000
mode
Acceleration / ①The acceleration / deceleration in position 8;
deceleration of position ②The acceleration and deceleration share the same value..
142 1~1000
command 8 in position
mode
①The maximum torque in position 8;
Peak torque of position
②The value is the percentage of the nominal torque, for example, if you
143 command 8 in position 0~400
want to set maximum torque value as same as the nominal torque value, the
mode
parameter would be 100.
High bit of position ①Set the ninth high bit command value in position demo mode;
-30000~
144 command 9 in position ②The value of position 9 equals to high-bit value×10000+low-bit value.
30000
mode Parameter unit is pulse.
Low bit of position ①Set the ninth low bit command value in position demo mode;
-9999~9
145 command 9 in position ②The value of position 9 equals to high-bit value×10000+low-bit value.
999
mode Parameter unit is pulse.
Speed of position ①The speed value of position 9;
146 command 9 in position ②Parameter unit is rpm. 0~6000
mode
Acceleration / ①The acceleration / deceleration in position 9;
deceleration of position ②The acceleration and deceleration share the same value..
147 1~1000
command 9 in position
mode
①The maximum torque in position 9;
Peak torque of position
②The value is the percentage of the nominal torque, for example, if you
148 command 9 in position 0~400
want to set maximum torque value as same as the nominal torque value, the
mode
parameter would be 100.
High bit of position ①Set the tenth high bit command value in position demo mode;
-30000~
149 command 10 in position ②The value of position 10 equals to high-bit value×10000+low-bit value.
30000
mode Parameter unit is pulse.
Low bit of position ①Set the tenth low bit command value in position demo mode;
-9999~9
150 command 10 in position ②The value of position 10 equals to high-bit value×10000+low-bit value.
999
mode Parameter unit is pulse.
Speed of position ①The speed value of position 10;
151 command 10 in position ②Parameter unit is rpm. 0~6000
mode
Acceleration / ①The acceleration / deceleration in position 10;
deceleration of position ②The acceleration and deceleration share the same value..
152 1~1000
command 10 in position
mode

55
 ①The maximum torque in position 10;
Peak torque of position
②The value is the percentage of the nominal torque, for example, if you
153 command 10 in position 0~400
want to set maximum torque value as same as the nominal torque value, the
mode
parameter would be 100.
High bit of position ①Set the eleventh high bit command value in position demo mode;
-30000~
154 command 11 in position ②The value of position 11 equals to high-bit value×10000+low-bit value.
30000
mode Parameter unit is pulse.
Low bit of position ①Set the eleventh low bit command value in position demo mode;
-9999~9
155 command 11 in position ②The value of position 11 equals to high-bit value×10000+low-bit value.
999
mode Parameter unit is pulse.
Speed of position ①The speed value of position 11;
156 command 11 in position ②Parameter unit is rpm. 0~6000
mode
Acceleration / ①The acceleration / deceleration in position 11;
deceleration of position ②The acceleration and deceleration share the same value..
157 1~1000
command 11 in position
mode
①The maximum torque in position 11;
Peak torque of position
②The value is the percentage of the nominal torque, for example, if you
158 command 11 in position 0~400
want to set maximum torque value as same as the nominal torque value, the
mode
parameter would be 100.
High bit of position ①Set the twelfth high bit command value in position demo mode;
-30000~
159 command 12 in position ②The value of position 12 equals to high-bit value×10000+low-bit value.
30000
mode Parameter unit is pulse.
Low bit of position ①Set the twelfth low bit command value in position demo mode;
-9999~9
160 command 12 in position ②The value of position 12 equals to high-bit value×10000+low-bit value.
999
mode Parameter unit is pulse.
Speed of position ①The speed value of position 12;
161 command 12 in position ②Parameter unit is rpm. 0~6000
mode
Acceleration / ①The acceleration / deceleration in position 12;
deceleration of position ②The acceleration and deceleration share the same value..
162 1~1000
command 12 in position
mode
①The maximum torque in position 12;
Peak torque of position
②The value is the percentage of the nominal torque, for example, if you
163 command 12 in position 0~400
want to set maximum torque value as same as the nominal torque value, the
mode
parameter would be 100.
High bit of position ①Set the thirteenth high bit command value in position demo mode;
-30000~
164 command 13 in position ②The value of position 13 equals to high-bit value×10000+low-bit value.
30000
mode Parameter unit is pulse.
Low bit of position ①Set the thirteenth low bit command value in position demo mode;
-9999~9
165 command 13 in position ②The value of position 13 equals to high-bit value×10000+low-bit value.
999
mode Parameter unit is pulse.
Speed of position ①The speed value of position 13;
166 command 13 in position ②Parameter unit is rpm. 0~6000
mode
Acceleration / ①The acceleration / deceleration in position 13;
deceleration of position ②The acceleration and deceleration share the same value..
167 1~1000
command 13 in position
mode
①The maximum torque in position 13;
Peak torque of position
②The value is the percentage of the nominal torque, for example, if you
168 command 13 in position 0~400
want to set maximum torque value as same as the nominal torque value, the
mode
parameter would be 100.
①Set the fourteenth high bit command value in position demo mode;
High bit of position
②The value of position 14 equals to high-bit value×10000+low-bit value. -30000~
169 command 14 in position
Parameter unit is pulse. 30000
mode

56
 Low bit of position ①Set the fourteenth low bit command value in position demo mode;
②The value of position 14 equals to high-bit value×10000+low-bit value. -9999~9
170 command 14 in position
Parameter unit is pulse. 999
mode
Speed of position ①The speed value of position 14;
171 command 14 in position ②Parameter unit is rpm. 0~6000
mode
Acceleration / ①The acceleration / deceleration in position 14;
deceleration of position ②The acceleration and deceleration share the same value..
172 1~1000
command 14 in position
mode
①The maximum torque in position 14;
Peak torque of position
②The value is the percentage of the nominal torque, for example, if you
173 command 14 in position 0~400
want to set maximum torque value as same as the nominal torque value, the
mode
parameter would be 100.
High bit of position ①Set the fifteenth high bit command value in position demo mode;
-30000~
174 command 15 in position ②The value of position 15 equals to high-bit value×10000+low-bit value.
30000
mode Parameter unit is pulse.
Low bit of position ①Set the fifteenth low bit command value in position demo mode;
-9999~9
175 command 15 in position ②The value of position 15 equals to high-bit value×10000+low-bit value.
999
mode Parameter unit is pulse.
Speed of position ①The speed value of position 15;
176 command 15 in position ②Parameter unit is rpm. 0~6000
mode
Acceleration / ①The acceleration / deceleration in position 15;
deceleration of position ②The acceleration and deceleration share the same value..
177 1~1000
command 15 in position
mode
①The maximum torque in position 15;
Peak torque of position
②The value is the percentage of the nominal torque, for example, if you
178 command 15 in position 0~400
want to set maximum torque value as same as the nominal torque value, the
mode
parameter would be 100.
High bit of position ①Set the sixteenth high bit command value in position demo mode.
-30000~
179 command 16 in position ②The value of position 16 equals to high-bit value×10000+low-bit value.
30000
mode Parameter unit is pulse.
Low bit of position ①Set the sixteenth low bit command value in position demo mode;
-9999~9
180 command 16 in position ②The value of position 16 equals to high-bit value×10000+low-bit value.
999
mode Parameter unit is pulse.
Speed of position ①The speed value of position 16;
181 command 16 in position ②Parameter unit is rpm. 0~6000
mode
Acceleration / ①The acceleration / deceleration in position 16;
deceleration of position ②The acceleration and deceleration share the same value.
182 1~1000
command 16 in position
mode
①The maximum torque in position 16;
Peak torque of position
②The value is the percentage of the nominal torque, for example, if you
183 command 16 in position 0~400
want to set maximum torque value as same as the nominal torque value,
mode
the parameter would be 100.

57
5.3 Model Code and Motor Synopsis
SM series servo motor Main parameters SA series servo drive

Model Nominal Nominal Nominal Nominal 380V AC

Motor model SFC SFC+
code torque speed power current(A) input power

1 SM 080-013-30 LFB 1.3Nm 3000rpm 0.4Kw 2.6 SA3L04C SA3L06B SA3H10C

2 SM 080-024-30 LFB 2.4Nm 3000rpm 0.75Kw 4.2 SA3L04C SA3L06B SA3H10C

3 SM 080-033-30 LFB 3.3Nm 3000rpm 1.0Kw 4.2 SA3L04C SA3L06B SA3H10C

4 SM 110-020-30 LFB 2 Nm 3000rpm 0.6 Kw 4 SA3L04C SA3L06B SA3H10C

5 SM 110-040-30 LFB 4 Nm 3000rpm 1.2 Kw 5 SA3L06B SA3L10B SA3H10C

6 SM 110-050-30 LFB 5 Nm 3000rpm 1.5 Kw 6 SA3L06B SA3L10B SA3H10C

7 SM 110-060-20 LFB 6 Nm 2000rpm 1.2 Kw 6 SA3L06B SA3L10B SA3H10C

8 SM 110-060-30 LFB 6 Nm 3000rpm 1.6 Kw 8 SA3L10B SA3L15C SA3H10C

9 SM 130-040-25 LFB 4 Nm 2500rpm 1.0 Kw 4 SA3L04C SA3L06B SA3H10C

10 SM 130-050-25 LFB 5 Nm 2500rpm 1.3 Kw 5 SA3L06B SA3L10B SA3H10C

11 SM 130-060-25 LFB 6 Nm 2500rpm 1.5 Kw 6 SA3L06B SA3L10B SA3H10C

12 SM 130-077-20 LFB 7.7 Nm 2000rpm 1.6 Kw 6 SA3L06B SA3L10B SA3H10C

13 SM 130-077-30 LFB 7.7 Nm 3000rpm 2.4 Kw 9 SA3L10B SA3L15C SA3H10C

14 SM 130-100-15 LFB 10 Nm 1500rpm 1.5 Kw 6 SA3L06B SA3L10B SA3H10C

15 SM 130-100-25 LFB 10 Nm 2500rpm 2.6 Kw 10 SA3L10B SA3L15C SA3H10C

16 SM 130-150-15 LFB 15 Nm 1500rpm 2.3 Kw 9.5 SA3L10B SA3L15C SA3H10C

17 SM 130-150-25 LFB 15 Nm 2500rpm 3.8 Kw 17 SA3L15C SA3L25C ——

18 SM 150-150-25 LFB 15 Nm 2500rpm 3.8 Kw 16.5 SA3L15C SA3L25C ——

19 SM 150-180-20 LFB 18 Nm 2000rpm 3.6 Kw 16.5 SA3L15C SA3L25C ——

20 SM 150-230-20 LFB 23 Nm 2000rpm 4.7 Kw 20.5 SA3L25C SA3L25C ——

21 SM 150-270-20 LFB 27 Nm 2000rpm 5.5 Kw 20.5 SA3L25C SA3L25C ——

Configuration explanation: SFC series suit for low overload, low on-off frequency in unit time, high speed and small load modes;
SFC+ series suit for high overload, high on-off frequency in unit time, high speed and large load modes.

58
 Chapter 6 Protective Functions
6.1 Warning List
Table 6-1 Warning list
Alarm code Name
-- Normal state
1 System initialization error alarm
2 Phase-Z pulse missing
3 Illegal code for encoder signal U/V/W
4 Encoder difference signal error
5 Encoder counter missing error
6 IPM module faulty
7 Main circuit relay disconnected
8 Main circuit overvoltage
9 Main circuit undervoltage
10 Motor overheat alarm
11 Motor phase current gain alarm
12 EEPROM access fault
13 Overcurrent alarm
14 Internal brake resistor overtemperature alarm
15 Drive forbidden abnormal
16 Position offset counter overflow
17 Position command overflow error
18 Torque overload alarm
19 Overspeed or larger offset alarm

6.2 Remedies for Alarms

Table 6-2 Remedies for alarms
Alarm code Name Running status Reason Processing method
System
Reduce the power supply
1 initialization Power supply overvoltage
voltage.
error alarm
①Z pulse does not exist,
encoder faulty.
②Bad cables inhibit. ①Change the encoder.
Phase-Z pulse
2 ③Inhibit ground is not ②Check the encoder
missing
connected well. interface circuit.
④Encoder interface
circuit faulty.
①Encoder signal U/V/W
faulty.
Illegal code for ②Bad cable inhibit. ①Change the encoder.
3 encoder signal ③Inhibit ground is not ②Check the encoder
U/V/W connected well. interface circuit.
④Encoder interface
circuit faulty.
Encoder Check the control power
Connector disconnected.
4 difference signal supply.
faulty Encoder faulty. Change the encoder.

59
 ①Encoder faulty.
②Wrong number of
encoder lines.
Change the encoder.
③Encoder disc damaged.
Encoder counter ④False signal Z in
5 encoder
missing error
Encoder wiring error. Check wiring.
①Grounding correct.
Bad grounding. ②Check the condition of
inhibit ground.
Occurs When
connected to
①Circuit board faulty. ①Change the servo drive.
the main
power

①Check the servo drive.

①Low supply voltage.
②Restart.
②Overheat.
IPM module ③Change the servo drive
6
faulty
Occurs as Short-circuit in U,V,W. Check wiring.
operating Bad grounding. Grounding correct.
Motor insulation faulty. Change the servo motor.
①Install a line filter.
Interference nearby. ②Leave away from
interference source.
Occurs When
connected to Power supply
Check the main power supply.
Main circuit relay the main disconnected.
7 power
disconnected
Occurs as
Motor faulty. Change the servo motor.
operating

Occurs When Circuit board faulty. Change the servo drive.

connected to
the main ①Low supply voltage.
power ②Abnormal power Check the power supply.
supply voltage waveform.
Brake resistor wiring
Check wiring.
disconnected.
①Brake transistors
damaged.
Change the servo drive.
Main circuit ②Internal brake resistor
8 damaged.
overvoltage

Occurs as ①Reduce stop-start

operating frequency.
②Increase acceleration /
Insufficient capacity for deceleration time constant
braking circuit. ③Reduce the torque limit.
④Reduce the load inertia.
⑤Chang a larger power drive
and motor.

①Circuit board faulty.

②Power supply insurance
Occurs When faulty. Change the servo drive.
Main circuit connected to ③Soft-start circuit faulty.
9
undervoltage the main ④Rectifier failure.
power
①Low supply voltage.
Check the power supply.
②Temporary power
60
 failure for more than
20ms.
① Insufficient capacity
for power.
Occurs as Check the power supply.
②Instantaneous
operating power-off.
Radiators overheat. Check load.

①Check the parameter is

Overcurrent correct or not.
②Change wiring.
Occurs as
10 Motor overheat
operating
Change a larger power drive
Motor overloaded
and motor.

Motor phase
11 current gain Motor overcurrent Change the servo drive.
alarm

①Change the servo drive.

EEPROM access Chip or circuit board
12 ②Reset the parameters after
fault failure.
repairing.

Short-circuit in U,V,W. Check wiring.

Bad grounding. Ground correct.
Overcurrent
13 Motor insulation
alarm Change the servo motor
damaged.
Servo drive damaged. Change the servo drive.
Main power supply Reduce the main supply
Internal brake voltage.
overvoltage.
resistor
14 The impedance of the Reduce the impedance of the
overtemperature
alarm brake resistor is too large. brake resistor.
Motor overloaded Reduce the load.
Disconnect CCW/CW
Drive forbidden Check the power for wiring
15 drive forbidden input
abnormal and input terminal.
terminals.
①Check the mechanical parts
of load.
Position offset Occurs as ①Motor is blocked up.
16 ②Check the command pulse.
counter overflow operating ②Abnormal input pulse.
③Check whether the motor
works correctly.
Occurs When
connected to
Circuit board faulty. Change the servo drive.
the main
power
Connect main ①Wrong wiring of U, V,
power and W.
Connect correctly.
control ②Wrong wiring of the
wire,input encoder cable.
Position command
17 command pulse, motor
overflow error does not ①Zero point changed. ①Re-adjust the zero point.
operate or ②Encoder faulty. ②Change the servo motor.
with opposite
direction
Smaller detection range Increase detection range for
Occurs as for position tolerance. position tolerance.
operating Smaller position
Increase the gain.
proportional gain is.
61
 ①Check the torque limit。
②Reduce the load capacity.
Insufficient torque. ③Change a servo system
(including motor and drive)
with larger power.
Higher command pulse
Reduce the frequency.
frequency.
Zero point changed Re-adjust the zero point.
①Wrong Parameters.
Torque overload ①Modify the parameters.
18 ②Happen to appear
alarm ②Mechanical maintenance.
overload.
Occurs When
①Control circuit board
connected to ①Change the servo drive.
faulty.
the main ②Change the servo motor.
②Encoder faulty.
power
Input command pulse Set the input command pulse
Overspeed or overfrequency. correctly.
19 larger offset Too small acceleration /
alarm deceleration time Increase the acceleration /
Occurs as constant can cause deceleration time constant.
operating overshoot speed.
Larger input electronic
Set correctly.
gear ratio.
Encoder faulty. Change the servo motor.

62
 Chapter 7 Display and Keyboard Operation
The panel is used to display system status, parameters setting and so on which composed by six LED digital tube
displays and four buttons (Up, Down, Cancel, Enter). Cancel and Enter separately stand for Backward and
Forward, Enter key means enter or determine, Cancel key means quit or cancel; Up key and Down key are
separately used to increase or reduce value. They have repeat effect as pressed continuously and the longer the
duration time is the higher the repeat speed is.
If the LED display twinkles it means error occurs. The main power supply on while CHARGE lamp turns on and
RUN lamp turns on as motor runs.

Figure 7-1 Panel

7.1 Layer 1
Users can select 7 operation modes in layer 1 through pressing UP key and DOWN key, press ENTER key to enter
layer 2 and CANCEL key return to layer 1 from layer 2.

Monitor

Parameter
Setting
Parameter
management

Speed test Enter 2ND

JOG mode

Auto adjustment
Cancel

Encoder rest

Operation
open loop

Figure 7-2 Operation selecting diagram

63
7.2 Layer 2
7.2.1 Monitor Mode
Entering into monitor mode by pressing ENTER key after selecting “ ” in layer 1. There are 19 displaying
statuses. Choose the required monitor mode by UP key and DOWN key firstly and then press ENTER to access to
the display status.

Torque

speed

Low five digit of Position

High five digit of Position

Torque instruction

Speed instruction
Low five digit of position
instrution
High five digit of position
instruction
Motor current
Enter
Absolute position of rotor

Line speed Cancel

Low five digit of position
error
High five digit of position
error
Control mode

Error code

Low four digit of input

port
High six digit of input
port
State of output port

Encoder input signal

Figure 7-3 Monitor mode diagram

[Note 1] The input pulse equals to the pulse which amplified through the input electronic gear.
[Note 2] Pulse unit is the system pulse unit (10000 pulse /r).Pulse volume is indicated by high 5- bit + low 5-bit:
Pulse volume＝High 5-bit100000＋Low 5-bit
[Note 3] Control mode: 0-Torque; 1-Speed; 2-Position; 3-JOG; 4-Speed trial running; 5-Auto-correction; 6- Demo
(support for Torque/Speed/Position and point-to-point mode).
[Note 4] In the event of reaching 6-bit number (for example: -12345) it would not display prompt
character.
[Note 5] Position command pulse frequency is the actual pulse frequency before amplified by the electronic gear.
The minimum unit is 0.1 kHz, forward rotation displays a positive number and reverse rotation displays a
negative number.
[Note 6] The calculation method for motor current( I )is:

64
 1 2
I ( IU  IV2  IW2 )
3
[Note 7] The rotor absolute position rotates one cycle relative to the stator, one period means one cycle and the
range from 0 to 9999 which has nothing to do with the electronic gear ratio.
[Note 8]

Figure 7-4(a) OUT terminal display(1 for ON，none for OFF)

Figure 7-4(b) Encoder signal display(1 for ON，none for OFF)

[Note 9] Operation mode:
“cn-oFF”: Main circuit OFF, the servo system stops;
“cn-cH” : Main circuit ON, the servo system stops (ServoEn OFF or alarm);
“cn-on” : Main circuit ON, the servo system works.
[Note 10] "Err -" means no error.

7.2.2 Parameter Setting

Enter into monitor mode by pressing ENTER after selecting “ ” in layer 1. Choose the parameter code by

pressing UP key and DOWN key, modify the parameter value by pressing UP key or DOWN key. Pressing UP key or
DOWN key once, the parameter will increase or decrease 1, and maintain pressing the button, the parameter can
increase or the reduction continuously. The right side LED digital tube decimal point lightens as the parameter is
being modified and it will disappear while pressing ENTER, the modified value will be reflected to the operation
immediately, continuously pressing UP key or DOWN key to modify the parameter, it will return to the parameter
selection status by pressing CANCEL after completing the modify. Press CANCEL to restore to the origin and
return to the parameter selection status as the modifying value you are not satisfied.

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 parameter Pn0

parameter Pn1

Enter
Up
4
Enter
parameter Pn116
Cancel Down

parameter Pn117

Figure 7-5 Parameter setting operation diagram

7.2.3 Parameter Management

Parameter management is mainly used to deal with the operation between memory and EEPROM, select the
parameter management mode by pressing ENTER after selecting “ ” in layer 1. Firstly press UP key and
DOWN key to select the operation mode. Take “write parameter” for example, firstly, select “EE-SRO”, then
presses ENTER, it will display “Start” which means that the parameter is being wrote into EEPROM, after 1 or 2
seconds, it will display “FINISH” as the operation succeeds, otherwise, the LED will display “ERROR”, at last, press
CANCEL to return to the operation selection status.
 EE-SR0 Write parameter expresses saving data to EEPROM from table. Users only modify the parameter
value and the original value will be restored as power turns on next time. Executing the Write parameter
operation and writing the parameter to EEPROM from table will change the parameter value permanently.
 EE-LD0 Read parameter expresses reading the data from EEPROM. This process will carry out once
automaticly and the parameter from table is the same value as from EEPROM at the beginning. When users
adjust the parameter, the data from table will be also changed, executing Read parameter operation will
read the data from EEPROM to the parameter table again and restore to the power on status for the
unsatisfied or error parameter setting.
 EE-SR1 Backup parameter expresses writing the value into the backup area of EEPROM. EEPROM who
divided into data area and backup area can store two sets of parameters. The system power turns on, Write
parameter and Read parameter operation are in the parameter area of EEPROM as the Backup parameter
and Restore backup are in the backup area of EEPROM. During the process of setting parameters, if users
want to modify it without one set of satisfied parameter, Backup parameter operation is carried out and the
memory parameter is saved to the backup area of EEPROM firstly and then modify the parameter, for the
poor effect, the Restore backup operation is used to read the parameter stored at the last time from the
backup area of EEPROM to the parameter table and then modify parameters again.
 EE-LD1 Restore backup expresses reading the data from the backup area of EEPROM to the parameter table.
This operation will not write the data into EEPROM, so it will also read the date from the parameter area of
EEPROM. Write parameter operation is also needed to be carried out as users want to permanently use the
parameter from the EEPROM backup area.
 EE-dEF Restore default value expresses the drive read all default value from the memory and write into the
parameter area of EEPROM, the default parameter would be effective at the next power on operation.
All parameters are restored to status at delivery by using this operation for abnormal working.

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 Press and keep
3second
Parameter read

Restore and
backup

Parameter write Enter 2nd

Parameter backup

Cancel
Default restore

Figure 7-6 Parameter setting operation diagram

Parameter read

Parameter write

Restore and
backup

Parameter backup

Default restore

Figure 7-7 Parameter definition

7.2.4 Speed Trial Running

Entering into monitor mode by pressing ENTER after selecting “ ” in layer 1. The symbol of speed trial
running is “ ”，unit is r/min. Users can adjust speed command by pressing UP key and DOWN key, motor would
run at the selected speed.

Up

Down
Figure 7-8 Operation diagram of the speed testing mode
7.2.5 JOG Running
Entering into monitor mode namely crawl mode by pressing ENTER after selecting “ ” in layer 1. The symbol
of JOG running is “ ”, the unit is r/min. In JOG control mode, press UP key and maintain the status, the motor
will run at JOG speed, release UP key, the motor will stop and maintain zero-speed; press DOWN key and
maintain the status, the motor will run at JOG speed, release DOWN key, the motor will stop and maintain
zero-speed. JOG speed is set by parameter PN42.

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 Up

Down
Figure 7-9 Operation diagram of JOG mode

7.2.6 Analog Auto-zero

Drive detects speed analog zero-bias automatically (or torque analog zero-bias), writes the zero-bias value to
PN19 (or PN16) and restores it in EEPROM by using this operation. Entering into monitor mode namely crawl
mode by pressing ENTER after selecting “ ” in layer 1. After automatic zero-bias setting, users can set
zero-bias manually.

Press and
keep 3s

speed

Enter

torque
Cancel

Figure 7-10 Analog Zero-bias Setting

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 Chapter 8 Function Description
8.1 Grounding
Connect the protective grounding terminal of servo drive and control box to avoid electrocution, the servo drive
and motor should be connected to earth correctly. As the servo drive uses the PWM technology to provide
power for servo motor through power tube, the drive and wires may be affected by the switching noise, for the
purpose of confirming to EMC standard, the grounding line should be as thick as possible and the grounding
resistance should be as small as possible.

8.2 Mechanical Brakes

Mechanical brake (maintain brake) is used to lock the vertical or tilt table which connects with motor, preventing
table from falling off as the power OFF. In order to realize this function, you need to select the motor with
maintain brake. The brake can not be used to slow down speed or stop the machine movement but only to
maintain the table.
Figure 7-3 is the brake connection diagram, the mechanical brake release signal(BRK) from drive can be used to
control the brake. Attention ,brake power should be provided by the customer and have enough capacity. It is
suggested that a surge absorber should be installed to suppress surge voltage which caused by relay on or off
action. The diode can be used as a surge absorber, but it may cause a little brake delay.
Figure 7-4 is the mechanical brake action time-series under normal circumstance as the motor completely stops.
At this moment, motor must be continually electrified to maintain the position, the brake turns from release to
brake and after a period of time (determined by parameter PN7) to cut off the power supply.
Figure 7-5 shows in the running process the motor current is cut off at speed larger than 30r/min while the brake
maintains release condition, it will brake after delaying some time. All of measures are carried out in order to
avoid damaging brake as the motor slow down and the mechanical brake run. The delay time is selected as the
smaller value between PN7 and PN8.

Figure 8-1 Mechanical Brakes Connection Diagram

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 Figure 8-2 Mechanical Brake Action Time-series As Motor Stopping (motor speed<30r/min)

Figure 8-3Mechanical Brake Action Time-series As Motor Running

8.3 Dynamic Electronic Gear

Users can switch the electronic gear ratio by inputting control signals during the operation process. The function
is that with a lower peak output pulse frequency for the host machine, as the gear ratio is set smaller/ larger we
will get a higher/lower position resolution and lower/higher peak speed. In order to get a higher position
resolution and higher peak speed, we have set two electronic gear ratios to control the servo system, users can
switch dynamic electronic gear to get a perfect performance.
For example, users can set the first electronic gear ratio to a smaller value and the second ratio to a larger value
for CNC machine. In machining process, a normal speed is enough, users can set the first gear ratio to a smaller
value in order to get a higher position resolution. While in fast moving process, users can select a proper second
gear ratio and switch the ratios through the host machine in order to get a higher moving speed.
8.3.1 Simple Connection
 Connect main circuit terminal R, S, T to three-phase AC 220V(connect to terminal R, S to single-phase AC
220V);
 Connect control circuit terminals r, t to single-phase AC 220V;
 Connect encoder signal connector CN1 with motor correctly;
 Connect control signal connector CN2 as the figure shows.

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 PE BONMET
Single Or R
Three Phases S
AC220V T

External brake
P resistance terminal
U 2
Brake resistance 3
PC common port V
W 4
P1 Internal brake PE 1
resistance terminal
NFB MC
r
t Motor 4 Core Pin
CN2
DC VCC COM 18
12~24V
4.7K

ServoEn ServoEn 10
CN1 26LS32 Receiver
Electric Gear 12 5V 2
INH 15
Switch 13 0V 3
1 A＋ 4
6 A－ 7
2 B＋ 5
7 B－ 8
CN2 3 Z＋ 6
SRDY＋ 8 8 Z－ 9
Servo Ready
SRDY－ 27 4 U＋ 10 Encoder 15
9 U－ 13 Core Pin
5 V＋ 11
10 V－ 14
14 W＋ 12
15 W－ 15
11 FG 1

CN2
PulseInv ＋ 32
Position Command
PULS PulseInv － 33 220
SignInv ＋ 34
Position Command
SIGN SignInv － 35
CN2 26LS31 Driver
1 PhaseA ＋ A

2 PhaseA － A

3 PhaseB ＋ B Encoder Signal

4 PhaseB － B Output
FG 36
5 PhaseZ ＋ Z
6 PhaseZ － Z

GND 9 GND GND Encoder GND

7 ZOC Z Z Phase Output

Figure 8-4 Dynamic electronic gear

8.3.2 Operation
Set the parameters as following table and write data to EEPROM
Number Function Value Default value
PN4 Control mode 2 1
PN49 first electronic gear numerator Set by users 20
PN50 second electronic gear numerator Set by users 20
PN48 Electronic gear denominator Set by users 20
PN47 Smooth filter for position command 0 0
PN51 Dynamic electronic gear enable 1 0

Users can switch the electronic gear ratios by controlling input terminal INH. The electronic gear ratio is
PN49/PN48 as INH is OFF while the value is PN50/PN48 as INH is ON.
The switch of electronic gear must meet the timing diagram, the pulse should not be sent fore or after 10ms as
inputting INH signal.

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 t1 t2 t3 t4

Electronic gear shift

INH OFF ON OFF

Position command
PULSE

Electronic gear First Ratio Second Ratio First Ratio

Ratio
NO.49 / NO.48 NO.50 / NO.48 NO.49 / NO.48

t1，t2，t3，t4>10mS
Figure 8-5 Timing diagram

8.4 Attention Notes

·The frequency of starting and stopping is restricted by servo drive and motor and it must satisfy the following
conditions.
1) The allowed frequency for servo drive
Used in the occasion of high start and stop frequency, the drive should be confirmed advance whether in the
permitted range or not. The permitted frequency range is different with different motor types, capacity, load
inertia and speed. Firstly, the acceleration and deceleration time must be set to prevent from larger
renewable energy (in the position control mode, set the acceleration and deceleration time for host
controller output pulse or parameter PN47; in the speed control mode, set parameter PN34 and PN35).
Under the condition of the load inertia M times to the motor inertia, motors’ allowed start and stop
frequency is showed as follows:
Load inertia times The allowed start and stop frequency
m≤3 ＞100times /minutes; acceleration and deceleration time 60mS or less
m≤5 60 to 100times/minutes; acceleration and deceleration time 150mS or less
m＞5 ＜60 times /minutes; acceleration and deceleration time more than 150mS

If it still does not satisfy the request, users can reduce the internal torque limit (parameter PN25, PN28) and
slowing down the motors’ highest rotation speed (parameter PN42).
2) The servo motors’ allowed start and stop frequency is different from load condition and running time.
· Generally, the load inertia is less than 5 times, in the condition of large load inertia, it may cause over-voltage
or abnormal brake in deceleration, the following suggestions can be carried out to deal with the problems:
① Reduce internal torque limit (parameter PN25,PN28);
② Slow down the motors’ limited speed(parameter PN42);
③ Install an extra renewable device (an external braking resistance), the connection can be found in
chapter 3.
· Encoder power supply is installed in the servo drive, the output voltage must be maintained at 5V±5% to
ensure normal operation. Voltage may be loss as using long cable. In this case, please use a multi-core line to
connect with the encoder power supply to reduce the pressure drop.

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8.5 Torque Overload Alarm Function
In order to prevent accidents in some occasions, we have designed the torque overload alarm. The servo system
will check the present torque, if the value is larger than the selected parameter for a period, the drive would
alarm EER-18.
Set PN23>0 as users need to use torque overload alarm function, reasonable settings(PN22,PN23 )will help to
send alarm as soon as the accident happens.

8.6 Common Questions

8.6.1 Restore Default Parameters
Please use restores default parameter function in the following conditions:
 Inappropriate parameter brings the non-normal operation.
 The power turns off which causes the system to restore default parameter automaticly when saving
parameters, but the PN1 is not matched with the drive and motor.
 Servo drive need change the original motor which has the different type with new motor.
Steps to restore default parameter:
1) Check the model of the servo drive and motor, error type of drive will cause the damagement.
2) Set PN2 to 28977；
3) Write the default value into EEPROM. Enter into the parameter management mode by pressing ENTER
after selecting “ ” in layer 1. Firstly use UP key and DOWN key to select the operation mode from
5 modes. Select “EE-SRO”, then press ENTER and remain over 3 seconds ,it will display “Start” as the
parameter is being wrote into EEPROM, after 1 or 2 seconds, it will display “FINISH” as the write
operation succeeds, otherwise, the LED screen will display “ERROR”.
4) Turn off the power after the last step has finished, and then re-power the operation winds up.

Parameter read

Restore backup

Parameter write Hold at least 3 seconds

finish
Parameter backup Enter start
error
Restore default
value

Figure 8-6 Operating diagram

8.6.2 Frequent Appearances Err-2、Err-3、Err-5

The alarm expresses that there are problems for the optical encoder and wiring. Please deal with the following
things firstly:
 Wiring and plug are connected correctly or not;
 Inhibit lines are well welded;
 Grounding terminal PE is well or not;

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 The grounding terminals of motor and drive are connected perfectly;
 Too long cable may cause excessive pressure drop, please change it with 5V and 0V power of multi-cored
wire encoder.
 Do not put cables with heavy-current cables in the same wire channel.
Please contact with us if the above measures are invalid.
8.6.3 POWER Lamp OFF
If Digitron can display data and no alarm appears, but the POWER light is OFF and drive can not run, mostly
the reason is that the internal brake circuit malfunctions forcing the drive into the protection state, please
contact us for help.

8.7 Relevant Knowledge

8.7.1 Position Resolution and Settings for Electronicic Gear
The position resolution (an impulse stroke △l) is decided by the traveling schedule per round (△S) for servo
motor and encoder feedback pulse per round (Pt).
△l = △S/Pt
△l: a pulse travel (mm);
△S: traveling schedule per round for servo motor (mm/r);
Pt: encoder feedback pulse per round (pulse/r).
Because there are four doubling circuits in the system, therefore, Pt=4C, C is encoder line per round. In the
system, C=2500 line/round, therefore Pt=10000 pulse/round.
The dictate pulse can be transformed to position control pulse by multiplying the electronic gear ratio G,
therefore a dictate pulse traveling schedule △l* is expressed:
△l* = (△S/Pt) *G
In the formula, G= dictate pulse division member/command pulse division denominator.

8.7.2 Lag Pulse in Position Control Mode

In the position control mode, between the dictate pulse and the feedback pulse there is a differential value
called the lag pulse. This value accumulates in the position deviation counter, it has following relationships with
command pulse frequency, the electronic gear ratio and the position proportional gain:
ε= (f* *G)/Kp
In the formula, ε: Lag pulse (pulse); f*: dictate pulse frequency (Hz); Kp: Position proportional gain (1/S); G:
Electronic gear ratio.
[Note] The relations above are obtained when position forward feed gain is 0%, if position forward feed
gain >0%, the value will be smaller than the predicted one above.

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