T3a T3L Manual

T3a/T3L series
AC servo driver
instruction manual
(V3.2 version)
T3a/T3L (universal servo)
Product introduction
T3a/T3L series digital AC servo drives are general-purpose AC servo drive
products with domestic leading level. This series of products adopts advanced full
digital control and AC motor vector control theory, with excellent system performance
and high reliability, and is widely used in servo shaft drive of food processing,
packaging machinery, textile machinery and other related automation industrial
machinery.
Product Features
T3a series fully sealed design, good protection and strong anti-interference ability
The compact design of T3L series saves installation space
Integrate speed control, position control and torque control
Can drive various types of permanent magnet synchronous servo motors
Excellent low-speed torque characteristics and industry-leading dynamic
acceleration and deceleration performance
Precautions of Safety
Before the product is stored, installed, wired, operated, inspected or maintained,
the user must be familiar with and observe the following important items to ensure the
safe and correct use of this product.
Incorrect operation may cause danger and result in personal injury or death.
Danger
Incorrect operation can be dangerous, cause personal injury, and possibly

Notice damage the equipment.
Actions are strictly prohibited, otherwise the equipment will be damaged or

Prohibit
unusable.
1.Use occasions
Danger
z It is forbidden to use the product in places with moisture, corrosive gas and flammable gas.
Otherwise, electric shock or fire may result.
z Do not use the product in places with direct sunlight, dust, salt and metal powder.
z It is forbidden to use the product in places with water, oil and medicine dripping.
2.Wiring
Danger
z Please ground the ground terminal reliably. Poor grounding may cause electric shock or
fire.
z Do not connect the 220V driver power supply to the 380V power supply, otherwise it will
cause equipment damage, electric shock or fire.
z Do not connect the U, V, W motor output terminals to the three-phase power supply,
otherwise it will cause personal injury or fire.
z The U, V, W motor output terminals must be connected to the driver wiring terminals U, V,
W in one-to-one correspondence, otherwise the motor may overspeed and cause equipment
loss and casualties.
z Please fasten the power supply and motor output terminals, otherwise it may cause fire.
z For wiring, please refer to the wire selection for wiring, otherwise it may cause a fire.
3.Operation
z Before the mechanical equipment starts to run, it must be matched with the appropriate
parameter settings. Failure to adjust to the proper setting may result in loss of control or
malfunction of the mechanical equipment.
z Before starting operation, please confirm whether the emergency switch can be activated at
any time to stop.
z Please test whether the servo motor runs normally without load first, and then connect the
load to avoid unnecessary losses.
z Do not turn on or turn off the power frequently, otherwise it will cause overheating inside
the drive.
4.Run
Prohibit
z When the motor is running, it is forbidden to touch any rotating parts, otherwise it will
cause personal injury or death.
z When the device is running, it is forbidden to touch the driver and motor, otherwise it will
cause electric shock or burns.
z When the device is running, it is forbidden to move the connecting cable, otherwise it will
cause personal injury or damage to the device.
5.Maintenance and Inspection
Prohibit
z Do not touch the inside of the driver and its motor, otherwise it will cause electric shock.
z When the power is turned on, it is forbidden to disassemble the drive panel, otherwise it
will cause electric shock.
z Do not touch the terminals within 5 minutes after the power is turned off, otherwise the
residual high voltage may cause electric shock.
z Do not change the wiring when the power is turned on, otherwise it will cause electric
shock.
z It is forbidden to disassemble the servo motor, otherwise it will cause electric shock.
6.Scope of use
z The products involved in this manual are for general industrial purposes, please do not use
them on devices that may directly endanger personal safety, such as nuclear energy devices,
aerospace equipment, life support and maintenance equipment, and various safety
equipment. If you need the above, please contact the manufacturer's customer service.
Content
Product introduction .................................................................................................................. 2

Precautions of Safety ........................................................................................................................ 3
1.Use occasions ......................................................................................................................... 3
2.Wiring .................................................................................................................................... 3
3.Operation................................................................................................................................ 4
4.Run ......................................................................................................................................... 4
5.Maintenance and Inspection ................................................................................................... 4
6.Scope of use ........................................................................................................................... 4
Chapter 1 Product Inspection and Installation .................................................................................. 7
1.1 Product Inspection............................................................................................................... 7
1.2 Product front panel .............................................................................................................. 7
1.3 Servo drive installation ....................................................................................................... 8
1.4 Servo motor installation ...................................................................................................... 9
1.5 Definition of Motor Rotation Direction ............................................................................ 10
Chapter 2 Wiring .......................................................................................................................... 10
2.1 System composition and wiring ........................................................................................ 10
2.2 CN1 control signal terminal .............................................................................................. 12
2.3 Front panel terminal wiring diagram................................................................................. 18
2.4 Definition of control port CN1 and encoder port CN2 ..................................................... 20
2.5 Specifications of braking resistor ...................................................................................... 21
Chapter 3 Panel Operation .............................................................................................................. 22
3.1 Driver panel description .................................................................................................... 22
3.2 Main Menu ........................................................................................................................ 23
3.3 Status monitoring .............................................................................................................. 23
3.4 Parameter setting ............................................................................................................... 27
3.5 Parameter management ..................................................................................................... 28
3.6 Auxiliary function ............................................................................................................. 29
3.7 Parameter default value restoration ................................................................................... 31
Chapter 4 Running .......................................................................................................................... 33
4.1 No-load test run ................................................................................................................. 33
4.2 Position Control ................................................................................................................ 35
4.3 Speed Control.................................................................................................................... 39
4.4 Torque Control .................................................................................................................. 43
4.5 Gain Adjustment ............................................................................................................... 45
4.6 Overtravel Protection ........................................................................................................ 48
4.7 Working timing ................................................................................................................. 49
4.8 Electromagnetic brake....................................................................................................... 50
Chapter 5 Parameters ...................................................................................................................... 52
5.1 List of parameters.............................................................................................................. 52
5.2 List of DI functions ........................................................................................................... 55
5.3 List of DO functions ......................................................................................................... 55
5.4 Detailed explanation of parameters ................................................................................... 56
5.5 Detailed explanation of DI function .................................................................................. 81
5.6 Detailed explanation of DO function ................................................................................ 83
Chapter 6 Troubleshooting and Diagnosis ...................................................................................... 85
6.1 List of alarms .................................................................................................................... 85
6.2 Alarm reason and treatment .............................................................................................. 86
Chapter 7 Specifications and Adapter Motors................................................................................. 92
7.1 Drive Specifications .......................................................................................................... 92
7.2 Standard 4 pole pairs motor table...................................................................................... 96
7.3 Customized 5 pole pairs A series motor adaptation table .................................................. 99
7.4 Customized 5 pole pairs B series motor adaptation table ............................................... 100
Chapter 8 Quick Commissioning Guide .................................................................................... 102
8.1 Notes on quick commissioning ....................................................................................... 102
8.2 Position control mode (quick commissioning)................................................................ 103
8.3 Speed control mode (quick commissioning) ................................................................... 104
8.4 Torque control mode (quick commissioning) ................................................................. 106
8.5 Debugging typical problems and countermeasures ......................................................... 107
Chapter 9 Communication Function Description.......................................................................... 110
9.1 Function overview and wiring diagram .......................................................................... 110
9.2 Communication parameters ............................................................................................ 110
9.3 MODBUS communication protocol................................................................................ 111
9.4 Writing and reading of parameters .................................................................................. 115
9.5 Description of monitoring state quantity address ............................................................ 116
9.6 Communication example ................................................................................................ 119
Chapter 1 Product Inspection and Installation
1.1 Product Inspection

This product has been fully functionally tested before leaving the factory. In order
to prevent the product from being abnormal due to negligence during the delivery of the
product, please check the following items in detail after unpacking:
z Check whether the model of the servo drive and servo motor is the same as the
model ordered.
z Check whether the appearance of the servo drive and servo motor is damaged or
scratched. If damage is caused during transportation, please do not connect to
power.
z Check the servo drive and servo motor for loose components. Whether there are
loose screws, whether the screws are not locked or come off.
z Check whether the rotor shaft of the servo motor can rotate smoothly by hand.
Motors with brakes cannot rotate directly.
If any of the above items are faulty or abnormal, please contact the dealer
immediately
1.2 Product front panel
Five-digit digital tube

two indicator lights
（POWER、RUN）
Four operation buttons
Mains power connection

terminal（R、S、T、PE） Input and output
signal connector
External braking resistor
terminal(P, BK, optional)
Encoder connector
Servo motor connection CN2
terminal（U、V、W、PE）
Ground terminal
Figure 1.1 Schematic diagram of the front panel

1.3 Servo drive installation
1.3.1 Installation environment conditions

The installation environment of the servo drive has a direct impact on the normal
function of the drive and its service life, so the installation environment of the drive
must meet the following conditions:
z Working environment temperature: 0℃～40℃; working environment humidity:
below 40%～80% (no condensation).
z Storage environment temperature: -40℃～50℃; Storage environment humidity:
below 93% (no condensation).
z Vibration: below 0.5G.
z Prevent rain dripping or wet environment.
z Avoid direct sunlight.
z Prevent oil mist and salt corrosion.
z Prevent corrosive liquid and gas erosion.
z Prevent the intrusion of dust, cotton wool and metal fines.
z Keep away from radioactive materials and combustibles.
z When several drives are installed in the control cabinet, please pay attention to keep
enough space for placement, which is conducive to air flow and heat dissipation.
Please add a cooling fan to reduce the temperature around the servo drive. The
long-term safe working temperature is below 40℃.
z When there is a vibration source nearby (such as a punch press), if it is unavoidable,
please use a vibration absorber or install an anti-vibration rubber gasket.
z When there are interfering devices nearby, it may interfere with the power line and
control line of the servo drive, which may cause the drive to malfunction. Noise
filters and other various anti-interference measures can be added to ensure the
normal operation of the driver. However, the noise filter will increase the leakage
current, so it is necessary to install an isolation transformer at the power input end
of the driver.
1.3.2 Installation method

z The normal installation direction of the servo drive is vertical and upright, with the
top facing upwards to facilitate heat dissipation.
z Tighten the M5 fixing screws at the rear of the servo drive during installation.
z For the installation distance between servo drives and other devices, please refer to
the figure on the next page. To ensure the performance and life of the drives, please
leave as much installation space as possible.
z A cooling fan must be installed in the electrical control cabinet to ensure that there
is vertical wind to dissipate heat from the radiator of the servo drive.
z  When installing the electrical control cabinet, prevent dust or iron filings from
entering the servo drive.
Figure 1.2 Servo drive installation diagram
1.4 Servo motor installation
1.4.1 Installation environment conditions

z Working environment temperature: 0 ～ 40 ℃ ; working environment humidity:
z Storage environment temperature: -40℃～50℃; Storage environment humidity:
z Vibration: below 0.5G.
z A well-ventilated place with little moisture and dust.
z No corrosive, flammable gas, oil and gas, cutting fluid, cutting powder, iron powder
and other environments.
z Places without water vapor and direct sunlight.
1.4.2 Installation method

z  Horizontal installation: To prevent water, oil and other liquids from flowing into
the motor from the outlet end of the motor, please place the cable outlet at the
bottom.
z  Vertical installation: If the motor shaft is installed upwards and a reducer is
attached, attention must be paid to prevent oil stains in the reducer from penetrating
into the motor through the motor shaft.
z  The extension of the motor shaft should be sufficient. If the extension is
insufficient, the motor will easily vibrate when it moves.
z  When installing and removing the motor, do not hit the motor with a hammer,
otherwise the motor shaft and encoder may be damaged.
1.5 Definition of Motor Rotation Direction
The definition of the rotation direction of the motor described in this manual:
facing the motor shaft extension, the counterclockwise rotation of the rotating shaft
(CCW) is forward rotation, and the clockwise rotation (CW) of the rotating shaft is
reverse rotation.
Figure 1.3 Definition of the rotation direction of the servo motor
Chapter 2 Wiring
2.1 System composition and wiring
2.1.1 Wiring Instructions

Wiring Precautions:
z The wiring materials are used in accordance with the wire specifications.
z Cable length, command cable within 3m, encoder cable within 20m.
z Check whether the power supply and wiring of R, S, and T are correct. Do not
connect the 220V servo to the 380V power supply.
z The phase sequence of the U, V, and W terminals of the motor output must be
in one-to-one correspondence with the corresponding terminals of the driver. If
the wrong connection is made, the motor may not rotate or run. The motor
cannot be reversed by exchanging the three-phase terminals, which is
completely different from the asynchronous motor.
z Must be grounded reliably and at a single point.
z The direction of the diode for absorbing the relay installed in the output signal
must be connected in the correct direction, otherwise it will cause a fault and
cannot output the signal.
z In order to prevent malfunction caused by noise, please add devices such as
isolation transformer and noise filter to the power supply.
z Please wire the power wires (power wires, motor wires, etc. strong current
circuits) and signal wires at a distance of more than 30cm, and do not place
them in the same conduit.
z Please install a non-fuse circuit breaker so that the external power supply can
be cut off in time when the drive fails.
2.1.2Wire Specifications
Connection terminal Symbol Gauge of wire
Power of main circuit R、S、T 1.5～2.5mm2
Terminal of motor U、V、W 1.5～4mm2
Terminal of ground 1.5～4mm2
Terminal of control signal CN1 ≥0.14mm2(AWG26),With shielded wire

Terminal of encoder signal CN2 ≥0.14mm2(AWG26),With shielded wire
Terminal of braking resistor P、BK 1.5～2.5mm2
The encoder cable must be twisted pair. If the encoder cable is too long (>20m), it
will cause insufficient power supply of the encoder. The power supply and ground wire
can be connected by multi-wire or thick wire.
2.1.3 Description of strong current terminals

Name Symbol of terminal Detailed description
To connect external AC power:
Power of main circuit
R、S、T Three-phase 220VAC -15%～+10% 50/60Hz
When an external braking resistor is connected,

it is used in parallel with the internal braking
Terminal of braking
P、BK resistor. Please pay attention to the choice of
resistor
resistance value and power to avoid burning
out the driver.
U Output to motor U phase power supply
Terminal of motor V Output to motor V phase power supply
W Output to motor W phase power supply
PE / Motor housing ground terminal
Terminal of ground
PE / Drive ground terminal
2.2 CN1 control signal terminal

The CN1 control signal terminal provides the signal required to connect with the
upper controller. The type of the driver is different, and the type of socket used is also
different. Signals include:
z 6 programmable inputs, 4 programmable outputs;
z Pulse command input (position command, speed command);
z Analog command input (speed command, torque command);
z Encoder signal output.
2.2.1 CN1 terminal signal description

Special note: DI1~DI6 are programmable input ports, whose functions are configured
by parameters P100~P105; DO1~DO4 are programmable output ports, whose
functions are configured by parameters P108~P111; see Chapter 5 5.4.2 for
parameter configuration for detailed function description, please refer to
Section 5.5~5.6 in Chapter 5. The following table shows the factory default
configuration.
Number of
Name of signal Mark Features
terminal
The positive
pole of the
The positive pole of the power supply of the input terminal is used to drive
power supply of COM+
the photocoupler of the input terminal, DC12～24V, current ≥100mA.
the input
terminal
Servo enable input terminal.
SON ON: allow the drive to work;
DI1 SON OFF: The drive is turned off and the motor is in a free state.
SON
Servo enable Note 1: The motor must be stationary before switching from OFF to ON.
Note 2: After hitting SON ON, wait at least 50ms before entering the
command.
Alarm clear input terminal.
ACLR ON: Clear the system alarm;
DI2 ACLR OFF: Keep the system in alarm.
ACLR
Alarm clear Note 1: Some hardware fault alarm numbers cannot be cleared by this
method, and need to be powered off for maintenance, and then powered on
again.
CCW (counterclockwise) drive prohibition input terminal.
CCWL ON: CCW drive is allowed, the motor can rotate counterclockwise;
CCWL OFF: CCW drive is prohibited, the motor is prohibited from
DI3
rotating counterclockwise.
CCW drive CCWL
Note 1: For mechanical overrun, when the switch is OFF, the torque in the
disabled
CCW direction remains 0.
Note 2: This function can be shielded by setting parameter Pr097, the user
can enable the CCW drive without connecting this terminal.
CW (clockwise) drive prohibition input terminal.
CWL ON: CW drive is allowed, the motor can rotate clockwise;
CWL OFF: CW drive is prohibited, the motor is prohibited from rotating
DI4
clockwise.
CW drive CWL
Note 1: For mechanical overrun, when the switch is OFF, CW
inhibit
The directional torque remains at 0.
Note 2: This function can be shielded by setting parameter Pr097, the user
can enable CW drive without connecting this terminal.
DI5 In the position control mode (parameter Pr004=0), the position deviation
Position error CLE counter clears the input terminal.
cleared CLE ON: During position control, the position deviation counter is cleared.
In position control mode (parameter Pr004=0), the input terminal of
DI6
position command pulse is prohibited.
Command pulse INH
INH ON : Command pulse input is prohibited;
prohibited
INH OFF: Command pulse input is valid.
Number of Name of signal Mark Features
terminal
DO1 RDY Servo is ready for output terminal.
Servo ready RDY ON: The main power supply is normal, the driver
for output has no alarm, the servo is ready to output ON (output is
turned on);
RDY OFF: The main power is not connected or the drive
has an alarm, the servo is ready to output
OFF (output is cut off).
DO2 ALM Servo alarm output terminal.
Servo alarm ALM ON: The servo drive has no alarm, and the servo
output alarm output is ON (the output is on);
ALM OFF: The servo drive has an alarm, and the servo
alarm output is OFF (the output is cut off).
DO3 COIN Positioning complete output terminal.
Positioning COIN ON: When the position deviation counter value is
arrive output; within the set positioning range, the
(in position positioning completion output is ON (output
control mode) is on), otherwise the output is OFF (output is
off).
DO4 BRK When the motor has a mechanical brake (retainer), this
Mechanical port can be used to control the brake.
brake release BRK ON: The brake is energized, the brake is invalid,
and the motor can run;
BRK OFF: The brake is cut off, the brake is valid, the
motor is locked and cannot run.
Note: BRK function is controlled internally by the driver.
Command External command pulse input terminal.
PULS＋
pulse PLUS Note 1: The pulse input mode is set by parameter P-035,
input z P-035=0, command pulse + symbol mode (default
PULS－
state);
Command z P-035=1, CCW/CW command pulse mode;
SIGN＋
pulse SIGN z P-035=2, A/B quadrature pulse mode.
input
SIGN－
Number of Name of
Mark Features
terminal signal
Analog
AS＋
speed External analog command input terminal, differential mode, input
command impedance 10kΩ, input range -10V ~ +10V.
AS－
input
Analogou
GNDA Ground for analog input.
sly
Encoder OA＋
A-phase
signal OA－
Encoder OB＋ z Encoder ABZ signal differential drive output (26LS31 output,
B-phase equivalent to RS422);
signal OB－ z Non-isolated output (non-isolated).
Encoder OZ＋
Z-phase
signal OZ－
z The encoder Z-phase signal is output by the open-collector. When the

Encoder
encoder Z-phase signal appears, the output is ON (the output is on),
Z-phase
otherwise the output is OFF (the output is off);
open CZ
z Non-isolated output (non-isolated);
collector
z On the host computer, the Z-phase signal pulse is usually very narrow,
output
so please use a high-speed photocoupler to receive it.
Encoder
common GND Encoder common ground.
ground
Shielded
ground FG Shield ground terminal.
wire
2.2.2 CN1 terminal interface type

The following will introduce each interface circuit of CN1 and the wiring method
with the upper control device.
1. Digital input interface (C1)
The digital input interface circuit can be controlled by switches, relays, open
collector transistors, optocouplers, etc. The relay needs to choose a low current relay to
avoid the phenomenon of poor contact. External voltage range DC12V ~ 24V.
C1-1:switch input C1-2:opeen collector trannsistor
Servvo Driver Servo D

Driver
2. Digital output interfaface (C2)

The outpuut circuit addopts Darlinngton photo ocoupler, which
w can bbe connected with
relaay and photoocoupler. Noote:
z The powerr supply is provided
p byy the user. Iff the powerr supply is rreversed, thee drive
will be dam
maged.
z The maxim mum external power suupply is 25V V, the maxim mum outputt current is 50mA,
5
and the summ of the thrree currents does not ex xceed 100m mA.
z When usinng an inducctive load suuch as a rellay, a diodee should be added in parallel p
with the innductive loaad. If the polarity
p of the
t diode iss reversed, tthe driver will
w be
damaged.
z When turn ned on, the voltage
v dropp is about 1V V, which caannot meet tthe TTL low w level
requiremennt, so it cannot be direcctly connectted to the TTL circuit.
C2-1:relayy C22-2:optocouplerr
Servo Driver
Serrvo Driver
Relayy
Maximuum 50mA outpu
ut
Maxim
mum 50mA outtput
z  A freew
wheeling diode must be added..
3. Position pulse
p commmand interfaace (C3)
There are two connnection metthods: diffeerential driive and sinngle-ended drive.
Diffferential drrive connecction is reccommended d. Wiring should
s be ttwisted paiir. The
drivving currentt is 8~15mA A, and the working mode
m is set by parametter P035: pulse
p +
signn, forward/rreverse pulse, quadraturre pulse.
C
C3-1:Differentia
al drive C3-2: Single-ended ddrive
Seervo Driver Servo Drivver

z Maximum pulse frequency 500kHz (kpps); z  Maximum pulse frequency 200kHz
z It should not be disturbed. This connection (kpps);
method is recommended. z  Recommended resistance R resistance
value:
VCC R
5V 82Ω~120Ω
12V 510Ω~820Ω
24V 1.5kΩ~2kΩ
4. Encoder signal line driver output (C5)

After dividing the encoder signal frequency, it is output to the upper controller
through the Line Driver.
C5-1: long line receiver C5-2: Optocoupler receive
Servo Driver Servo Driver

26LS32 equivalent High-speed optocoupler
Please be sure to connect

the signal ground on both
z The upper controller uses the z The upper controller uses a high-speed
AM26LS32 equivalent as the receiver, optocoupler (such as 6N137), and the
and must be connected to the terminal resistance of the current limiting
resistor is about 220Ω.
resistance, the resistance value 220Ω～
470Ω;
z The driver encoder signal ground
(GND) must be connected to the upper
controller signal ground.
5. Encoder Z signal open collector output (C6)
The encoder Z signal is output to the upper controller through the open collector.
Due to the narrow pulse width of the Z signal, please use a high-speed photocoupler to
receive.
C6：Encoder Z signal open collector output
High-speed S
optocoupler
Maximum 50mA/30V
z The maximum external power supply i s 30V, and

the maximum output current is 50mA.
2.3 Front panel terminal wiring diagram

T3a-L20/L30 wiring diagram
The main power supply of the driver

is connected to the R, S, T terminals A 485_A
CN3: RS485
communication port B 485_B
T3a-L series: input power supply is three- G 485Ground
phase AC220V or single-phase 220V
pay attention:
For single-phase power supply, please connect CN1: host computer
R and T terminals command port
The dynamic braking
resistor should be connected CNC, PLC or
between P and BK terminals other host
device
The four wires U, V, W

and PE of the motor
power line should be Connect the motor
connected to the encoder
corresponding terminals
respectively, and they
should not be wrongly CN2: Motor encoder port
connected.
Permanent magnet
synchronous servo
Ground terminal motor
of the drive
Braking resistor
T3a-L40/L50/L75/H25/H50/H75 wiring diagram
The main power supply of the driver is T3a Servo Drive

connected to the R, S, T terminals
T3a-H series: The input power CN1: host computer

supply is three-phase AC380V command port
R
T3a-L series: input power supply is three- CNC, PLC or
S
phase AC220V or single-phase 220V
T other host
The dynamic braking resistor should PE device
be connected between P and BK P
terminals BK
U
The four wires U, V, W V Connect the motor
and PE of the motor power W encoder
line should be connected to PE
the corresponding
terminals respectively, and
they should not be wrongly CN2: Motor encoder port
connected.
Permanent
magnet
Ground terminal of CN4: Second encoder
synchronous
the drive port (bottom of drive)
servo motor
CN3: RS485 communication

Braking resistor port (bottom of driver)
2.4 Definition of control port CN1 and encoder port CN2
NOTE:
If the pulse command signal is 24V power supply, PULS+ must be connected to
pin 39 of CN1, and SIGN+ must be connected to pin 38 of CN1, otherwise the pulse
command port may be damaged;
If the pulse command signal is 5V power supply, PULS+ must be connected to pin
25 of CN1, and SIGN+ must be connected to pin 24 of CN1, otherwise the pulse
reception may not be normal.
2.5 Specifications of braking resistor
T3x-H series (380V servo) braking resistor configuration table
(Standard 380V servo does not contain built-in resistance, must be connected with
external braking resistance, except for customized models)
(Light Load Type) Recommended (Heavy duty) Recommended

Model of drive Configuration configuration
(start and stop are not frequent) (frequent start and stop)
T3x-H25F ≥50Ω，power greater than 1000W ≥50Ω，power greater than 1500W
T3x-L/T3L series (220V servo) braking resistor configuration table

(Standard 220V servo includes built-in resistance, and external braking resistance can be
selected according to load conditions)
Model of drive (Light Load Type) Recommended (Heavy duty) Recommended
Configuration configuration
(using built-in resistor) (connect external resistor in parallel)
T3x -L20F 47Ω（built-in） ≥47Ω，power greater than 500W
T3x -L30F 47Ω（built-in） ≥47Ω，power greater than 500W
T3x-L40F 47Ω（built-in） ≥47Ω，power greater than 500W
Chapter 3 Panel Operation
3.1 Driver panel description
3.1.1 Panel Composition
The T3a/T3/T3M/T3G series panels are composed of 5 LED digital tube displays, 4
buttons ▲、▼ 、 ◄ 、 Enter , and two indicator lights POW and RUN, which are used to
display various status and setting parameters of the system.
The T3L series panel consists of 5 LED digital tube displays and 5 buttons ▲, ▼,
◄, E, S, which are used to display various state and setting parameters of the system.
The operations are all layered operations, which are expanded layer by layer from the
main menu. The operation panel is as shown below:
T3a/T3/T3M/T3G operation panel T3L operation panel
3.1.2 Panel Description
Symbol Name Features

On: The main power The decimal point of the second
supply is powered on; digital tube from the left of T3L
POW Power light
Off: The main power lights up to indicate that the servo is
supply is not powered on; under voltage.
On: The motor is running
The decimal point of the first digital
with power on;
RUN Running lights tube from the left of T3L lights up to
Off: The motor is running
indicate that the servo is enabled
without power.
▲ Add key Increase the serial number or value; long press has repeat effect.
▼ Decrease key Decrease number or value; long press has repeat effect.
◄ Escape key Menu exit; operation canceled.
Menu entry; parameter modification confirmation or operation

Enter orE Enter key
confirmation.
Used for quick modification of parameter number or parameter

S Shift key
value (only valid for T3L).
3.1.3 Numerical display
The numerical value adopts 5 digital tube displays. The minus sign in front of the
numerical value indicates a negative number. If it is a 5-digit negative number, all the
decimal points are lit to indicate a negative number. Some display items are preceded
by a prefix character. If the number of digits of the value is too long to occupy the
position of the prefix character, the prefix character will not be displayed, and only
the value will be displayed. The specific display meanings are as follows:
3.2 Main Menu

The first layer is the main menu, there are 4 operation modes, use the ▲ and ▼
keys to change the mode, press the Enter key to enter the second layer, perform
specific operations, and press the ◄ key to return to the main menu from the second
layer.
3.3 Status monitoring

Select status monitoring "d-" in the main menu, and press Enter to enter the
monitoring mode. There are a variety of monitoring items, the user can use the ▲, ▼
keys to select the desired display item, and then press the Enter key to enter the specific
display state. The specific meanings of the status monitoring display items are as
follows:
1. 32-bit binary value display [Note 1]
The range of 32-bit binary numbers is -2147483648～2147483647, which is
represented by the combination of low and high bits. Select the low and high bits
through the menu, and use the formula in the figure to synthesize the complete value.
2. Pulse unit [Note 2]
The pulses of the original position command refer to the number of input pulses,
which have not been transformed by electronic gears. The pulse unit of other items is
the encoder pulse unit. Take the use of a 2500-line encoder as an example:
Encoder pulse unit = encoder resolution
= 4 × Number of encoder lines
= 4 × 2500( pulse / rev)
= 10000( pulse / rev)
3. Input terminal DI [Note 3]
The vertical line of the digital tube represents the state of one bit, the stroke on the
vertical line lights up to indicate ON, and the lower stroke lights up to indicate OFF.
4. Output terminal DO[Note 4]

vertical line lights up to indicate ON, and the lower stroke lights up to indicate OFF.
5. Encoder input signal [Note 5]

vertical line is lit to indicate a high level, and the lower stroke is lit to indicate a low
level. (Note: absolute position encoder, this display is meaningless)
6. Rotor single-turn position [Note 6]

Indicates the position of the rotor relative to the stator in one revolution, one
revolution is one cycle, the minimum resolution of the encoder is the unit, and the Z
pulse of the encoder is the origin.
2500 line encoder: Its range is 0～9999 (decimal system), the value is 0 when Z pulse
appears.
7. Control method [Note 7]
The first 3 characters indicate the control mode, and the last character indicates the
gain combination.
8. Alarm code [Note 8]

No alarms show two minus signs. When there is an alarm, the alarm number is
displayed and flashes. When the alarm occurs, the display will automatically enter the
state monitoring and display the alarm number, but other operations can be performed
through the keyboard. When it is not in the monitoring state, the decimal point of the
rightmost digital tube flashes to indicate that there is an alarm. Specific examples are as
follows:
9. History alarm code [Note 9]

The historical alarm code displays the last 10 alarm contents of the drive. If there is
no alarm, it will display two minus signs, and if there is an alarm, it will display the
alarm number. When an alarm occurs, the drive will automatically update and store the
alarm number. The historical alarm code viewing operation and specific display contents
are explained as follows:
The method of clearing the historical alarm codes is as follows: in the case of no
alarm, first set the parameter P-119 to 4, and then follow the steps below to clear all the
historical alarm codes.
3.4 Parameter setting

The parameter is represented by parameter segment and parameter number, the
hundreds digit is the segment number, and the tens and one digits are the parameter
number. For example, for parameter P-102, the segment number is "1", the parameter
number is "02", and the digital tube display is "P-102".
Select parameter setting "P-" in the main menu, and press Enter to enter the
parameter setting mode. First, use the ▲ and ▼ keys to select the parameter section,
after selecting it, press the Enter key to enter the parameter number selection of this
section. Next, use the ▲ and ▼ keys to select the parameter number. After selecting,
press the Enter key to display the parameter value.
Use the ▲ and ▼ keys to modify the parameter value. Press the ▲ or ▼ key once
to increase or decrease the parameter by 1. Press and hold the ▲ or ▼ key to
continuously increase or decrease the parameter. When the parameter value is modified,
the decimal point of the rightmost LED nixie tube lights up, press the Enter key to
confirm that the modified value is valid, at this time the decimal point of the right LED
nixie tube goes out, and the modified value will be immediately reflected in the control
(some parameters need to be saved after re-power on for it to work).
After that, you can continue to modify the parameters. After the modification, press
the ◄ key to return to the parameter number selection state. If you are not satisfied with
the value being modified, do not press the Enter key to confirm, but press the ◄ key to
cancel, and the parameter returns to the original value.
The modified parameters are not saved in the EEPROM. If you need to save them
permanently, please use the parameter write operation in the parameter management.
3.5 Parameter management
The parameter management mainly deals with the operation between the parameter
table and the EEPROM. Select the parameter management "E-" in the main menu, and
press the Enter key to enter the parameter management mode.
Select the operation mode, there are 3 modes, use the ▲, ▼ keys to select. After
the action is selected, press and hold the Enter key for more than 3 seconds to activate
the action. After finishing, press ◄ key to return to the operation mode selection state.
z Parameter write
Indicates that the parameters in the parameter table are written into the EEPROM.
When the user modifies the parameter, only the parameter value in the parameter table is
changed, and the next time the power is turned on, it will be restored to the original
value. If you want to permanently change the parameter value, you need to perform the
parameter write operation, write the parameters in the parameter table into the
EEPROM, and the modified parameters will be used after power-on.
z Restore default value
Indicates that the default values (factory values) of all parameters are read into the
parameter table and written into the EEPROM, and the default parameters will be used
next time the power is turned on. When the user messes up the parameters and cannot
work normally, use this operation to restore all the parameters to the factory state.
Because the default values of the parameters corresponding to different drive models
and motor models are different, when using the restore default parameters, you must
first ensure the correctness of the motor manufacturer (parameter P-099) and the motor
code (parameter P-002).
3.6 Auxiliary function

Select the auxiliary function "A-" in the main menu, and press Enter to enter the
auxiliary function mode. Use the ▲, ▼ keys to select the operation mode. After
selecting the operation, press the Enter key to enter the corresponding function, and
press the ◄ key to return to the operation mode selection state after completion.
3.6.1 Function brief
3.6.2 Analog zero adjustment

When this operation is used, the drive will automatically detect the analog zero
offset and write the zero offset value into parameter P-047 (or P-054). This operation
already saves the zero offset parameters to the EEPROM, so there is no need to perform
a parameter write operation.
The operation method is as follows: (1) The host computer first outputs 0V analog
quantity, enables the servo drive, then selects the analog quantity zero adjustment
"A-A0", and presses the Enter key to enter; (2) If the drive control mode is the analog
quantity speed mode , then select the speed analog zero adjustment "0-SPD" through the
menu; if the drive control mode is the analog torque mode, select the torque analog zero
adjustment "0-TRQ" through the menu; (3) After selecting the operation, press Enter and
hold for more than 3 seconds to activate the action. After finishing, you can press ◄ key
to return to the menu selection state, the specific display is as follows:
3.6.3 Jog (JOG) operation

Power on the drive first, after confirming that there is no alarm or any abnormal
situation, the servo enable (SON) is ON, and the RUN indicator light is on. At this time,
the motor is excited and is in a zero-speed state.
In the auxiliary function, select the jog operation "A-JOG", and press the Enter key
to enter the jog (JOG) operation mode. The jog prompt is "J", the numerical unit is
r/min, and the speed command is provided by the key. Press the ▲ key and hold, the
motor runs at the JOG speed forward (CCW), release the key, the motor stops and
maintains zero speed; press the ▼ key and hold, the motor runs at the JOG speed
reverse (CW), release Press the button, the motor stops and maintains zero speed.
Note: The JOG speed is set by the parameter P-076 (unit is r/min), the servo enable
is controlled by the external switch value or by the parameter P-098 (set to 1 to force the
drive internally, set to 0 to disable) .
3.6.4 Keyboard Speed Control

Power on the drive first, after confirming that there is no alarm or any abnormal
situation, the servo enable (SON) is ON, and the RUN indicator light is on. At this time,
the motor is excited and is in a zero-speed state.
In the auxiliary function, select the keyboard speed control "A-Sr", and press Enter
to enter the keyboard speed control mode. The keyboard speed control prompt is "r.",
the numerical unit is r/min, and the speed command is provided by the key. Use ▲, ▼
keys to change the speed command, the motor runs at the given speed. Positive numbers
indicate forward rotation (CCW), negative numbers indicate reverse rotation (CW), and
the minimum given speed is 0.1r/min.
Note: The keyboard speed adjustment needs to set the control mode to speed
control mode, that is, set parameter P-004 to 1 (power-off restart takes effect); servo
enable is controlled by external switch value or by parameter P-098 (set to 1 drive
Internal forced enable, set to 0 to disable).
3.7 Parameter default value restoration

In the following situations, please use the function of restoring default parameters
(factory parameters):
z The parameters are adjusted in disorder, and the system cannot work normally;
z Replace the motor, the new motor is different from the original motor;
z The driver code (parameter P-001) and the motor code (parameter P-002) do not
match due to other reasons.
The steps to restore default parameters are as follows:
1. Make sure that the servo enable signal(SON) of the drive is in the OFF state, change
the password (parameter P-000) to 385 or 316, and check whether the motor series
(parameter P-099) and motor code (parameter P-002) are correct. If correct, go to
step 3, if not, go to step 2:
2. Modify the motor series (parameter P-099) and motor code (parameter P-002) to the
required motor series and model. For the motor code, see the motor adaptation
table in chapter 7.2;
3. Enter parameter management and perform one of the following two operations:
(1) Restore the default values of some parameters
Only the default parameters related to the drive and motor are restored, and other
user parameters are reserved. Execute the parameter writing operation in parameter
management. This operation only has the function of restoring the default value
when the password is 385 (or 316) and the motor code is modified. In other cases,
only the parameter writing function is available.
(2) Restore all parameter default values

All parameters are restored to their default values, and parameters modified by the
user are also restored to their factory default values. Perform the operation of
restoring default values in parameter management.
4. Turn off the power and turn it on again to work.
Chapter 4 Running
4.1 No-load test run

The purpose of the test run is to confirm that the following are correct:
z  Drive power wiring;
z  Servo motor power line wiring;
z  Encoder wiring;
z  Servo motor running direction and speed.
Special attention: This series of servo drives adopts the integrated design of control
power supply and high-power power supply. In order to use the drive smoothly, please
read the working sequence diagram in Section 4.7 carefully. The host computer
controller must strictly follow the requirements of this sequence diagram.
4.1.1 Wiring and Inspection

Before applying power, confirm the following:
z The motor is no-load, do not add load to the motor shaft, and please disconnect
the connector if it has been installed on the machine;
z Due to the impact of motor acceleration and deceleration, the motor must be
fixed;
z Whether the wiring is correct, especially whether the U, V, W of the driver
corresponds to the wiring of U, V, and W of the motor, and whether the wiring of
the driver R, S, and T is correct;
z Whether the input voltage meets the requirements indicated on the nameplate;
z Check whether the encoder cable is connected correctly.If the servo drive is a
standard application, please refer to Chapter 8 for quick debugging and application.
4.1.2 Set the motor code and encoder type

Turn on the main circuit power supply, the POW indicator of the driver will light up,
and the display panel will light up. If an alarm occurs, please check the connection. Set
the motor code parameters as follows:
1. Modify the operation password (parameter P-000) to 385;
2. Modify the motor series (parameter P-099) and motor code (parameter P-002) to the
required motor model. The motor model code is showing in chapter 7.2;
3. Enter the parameter management, and execute the operation to restore the default
value, as shown in the figure below:
4. Set other functional parameters, execute E-SET operation to save the parameters, if
Done is displayed, the parameters are saved successfully, and other debugging can
be performed after restarting the drive;
5. After the drive is powered off and restarted, the trial operation can be performed. The
trial operation methods are provided as follows:
a. Trial operation of keyboard speed regulation (Fn -20);
b. JOG jog test run;
4.1.3 Keyboard Speed Adjustment Trial Run (Fn -20)

1. Power up
Turn on the main circuit power supply, the POW indicator of the driver will light up,
and the display panel will light up. If an alarm occurs, please check the connection.
2. Operation
After confirming that there are no alarms and any abnormal conditions, perform the
following operations as shown below:
Press and hold for 3 seconds

The keyboard speed control prompt is "r.", the numerical unit is r/min, and the
speed command is provided by the key. Use ▲, ▼ keys to change the speed command,
the motor runs at the given speed. Positive numbers indicate forward rotation (CCW),
negative numbers indicate reverse rotation (CW), and the minimum given speed is
0.1r/min.
After the keyboard speed adjustment test run without any abnormality, the
mechanical load can be connected, and the next step of debugging can be carried out
under the control command of the host computer controller.
4.1.4 JOG test run

1. Power up
Turn on the main circuit power supply, the Pow indicator of the driver will light up,
and the display panel will light up. If an alarm occurs, please check the connection.
2. Operation
After confirming that there is no alarm or any abnormal situation, set P098 to 1,
then the servo enable (SON) is ON, and the RUN indicator light is on. At this time, the
motor is excited and is in a zero-speed state.
In the auxiliary function, select the jog operation "A-JOG", and press the Enter key
to enter the jog (JOG) operation mode. The jog prompt is "J", the value unit is r/min,
and the speed command is provided by the key:
Press the ▲ key and hold, the motor runs at the JOG speed forward (CCW),
release the key, the motor stops and maintains zero speed; press the ▼ key and hold, the
motor runs at the JOG speed reverse (CW), release Press the button, the motor stops and
maintains zero speed.
The JOG speed is set by parameter P076, and the default speed is 100r/min. If the
motor runs normally, you can go to the next step (position control or other working
methods).
4.2 Position Control

Position control is used in systems that require precise positioning, such as CNC
machine tools, textile machinery, etc. The source of the position command is the pulse
command, and the pulse is input from the PULS+, PULS- and SIGN+, SIGN- of the
input terminal. The user needs to make correct wiring according to the description of the
position control wiring diagram, combined with the actual use requirements, and then
set the relevant parameters of the position control. A simple example of position control
given in this manual is as follows:
4.2.1 Wiring diagram of position control (take T3a/T3L as an
example)
The parameter settings of this example are as follows: (other parameters use the
factory default values)
Default
parameter name Settings Parameter Description
value
P-004 Control mode 0 0 Set to position control mode
Set to 0 to use Forward Drive Disable (CCWL) and
3(Ignore Reverse Drive Disable (CWL). If it is set to 3, the
0（Use driver
Ignore drive drive positive and negative limit positions are ignored, and
P-097
inhibit CCWL and CWL can not be connected. The user
prohibited） inhibit）
needs to set this parameter correctly according to the
actual usage, see section 4.6 for details.
4.2.2 Position command

1. Parameters related to position commands
Range of Default
Parameter Name unit applicable
parameter value
Position command pulse electronic gear 1st
P-029 1～32767 1 P
numerator
Position command pulse electronic gear
P-030 1～32767 1 P
denominator
Position command pulse mode
P-035 0～2 0 P
Position command pulse input direction

P-036 0～1 0 P
Position command pulse input signal logic

P-037 0～3 0 P
Position command pulse signal filter

P-038 0～15 2 P
coefficient
Position command exponential smoothing
P-040 0～10000 0 0.1ms P
filter time
2. Command pulse transmission path
N
f 2 = f 1×
M
3. Command pulse input mode

The input mode is determined by parameter P-035; the phase of the input signal
PULS and SIGN signal can be set by parameter P-037, which is used to adjust the
counting edge; the parameter P-036 is used to change the counting direction, and it is
set to 1 to reverse the count value.
4. Smoothing filter
As shown in the figure below, parameter P-040 is used to smooth and filter the
command pulse, with exponential acceleration and deceleration. The filter does not
lose input pulses, but there is a command delay phenomenon. When set to 0, the filter
has no effect. The parameter value represents the time for the frequency to rise from 0
to 63.2% of the position command frequency.
The filter smoothes the incoming pulse frequency. This filter is used in situations
where the host controller has no acceleration/deceleration function, the electronic gear
ratio is large, and the command frequency is low.
4.2.3 Input electronic gear

(1) Basic description of electronic gear ratio
Through the electronic gear, the unit pulse command input to the device can be
defined to make the transmission device move any distance. The pulse command
generated by the upper controller does not need to consider the gear ratio, reduction
ratio or the number of motor encoder lines of the transmission system. The following
table is the description of electronic gear variables:
variable variable description The value of this device
C Encoder lines/bits 2500 lines
Pt By default (electronic gear ratio is 1:1) the number =4×C
of pulses required for one revolution of the encoder =4×2500
(pulse/rev) =10000(pulse/rev)
R Reduction ratio
R=B/A，in
A: The number of revolutions of the motor;

B: The number of revolutions of the load shaft.
ΔP One command pulse movement amount
Pc The number of command pulses for one rotation of
the load shaft
Pitch Ball screw pitch (mm)
D Roller diameter (mm)
Calculation formula:
N Encoder one revolution resolution( Pt )
Electronic gear ratio( )=
M The number of command pulses for
( Pc ) × Reduction ratio( R )
one rotation of the load shaft
The number of command pulses for
one rotation of the load shaft
The amount of movement per revolution of the load shaft
( Pc ) =
One command pulse movement amount( ΔP)
Divide the above calculation result, make the numerator and denominator both less
than or equal to the integer value of 32767, and write it into the parameter.
(2) Electronic gear ratio dynamic switching function
The driver provides 4 groups of electronic gear molecules N, which can be changed
online, determined by GEAR1 and GEAR2 of DI input. The denominator M
(parameter P-030) is the same.
Parameter P-034 can be used to set the dynamic electronic gear application mode,
the details are as follows:
P-034 is set to 0: The use of dynamic electronic gear ratio switching is prohibited,
and the numerator of the command pulse electronic gear is set by P-029;
P-034 is set to 1: dynamic electronic gear ratio switching is allowed, and the
command pulse electronic gear numerator is determined by GEAR1 input by DI;
DI signal [Note] GEAR1 Command pulse electronic gear numerator N
0 1st molecule (parameter P-029)
1 2nd molecule (parameter P-031)
P-034 is set to 2: dynamic electronic gear ratio switching is allowed, and the
command pulse electronic gear numerator is determined by GEAR1 and GEAR2
input by DI.
DI signal [Note]
Command pulse electronic gear numerator N
GEAR2 GEAR1
0 0 1st molecule (parameter P-029)
0 1 2nd molecule (parameter P-031)
1 0 The third molecule (parameter P-032)
1 1 4th molecule (parameter P-033)
Note: 0 means OFF, 1 means ON.
4.2.4 Gains related to position control

Range of Default
Parameter Name unit applicable
parameter value
Position loop gain
P-009 1～1000 40 1/s P
Position loop feedforward gain

P-021 0～127 0 % P
Position loop feedforward filter

P-022 2～1000 10 ms P
time constant
Because the position loop includes the speed loop, according to the order of the
inner loop and the outer loop, first set the load moment of inertia ratio, then adjust the
speed loop gain, speed loop integral time constant, and finally adjust the position loop
gain.
The following is the position controller of the system. The increase of the position
loop gain Kp can improve the position loop bandwidth, but it is limited by the speed
loop bandwidth. To increase the position loop gain, the speed loop bandwidth must be
increased first.
Feedforward can reduce the phase lag of position loop control, reduce position
tracking error during position control and shorten positioning time. When the
feedforward amount increases, the tracking error of position control decreases, but if
it is too large, the system will become unstable and overshoot. If the electronic gear
ratio is greater than 10, it is easy to generate noise. In general applications, P-021 can
be set to 0%. When high response and low tracking error are required, it can be
appropriately increased, but should not exceed 80%. At the same time, it may be
necessary to adjust the position loop feedforward filter time constant (parameter
P-022).
4.3 Speed Control

Speed control is used in applications that require precise speed control, such as
braiding machines, drilling machines, and CNC machining machines. It can also form
a position closed-loop control by cooperating with the upper device.
4.3.1 Simple example of speed control (take T3a/T3L as an
example)
Paramet Default
Name Settings Parameter Description
er value
P-004 Control Mode 1 0 Set to speed control mode
P-025 Source of speed 0 0 Set as analog input
command
P-060 Speed command Set as 100 Acceleration time from zero speed
acceleration time needed to 1000r/min (ms)
P-061 Speed command Set as 100 Deceleration time from 1000r/min
deceleration time needed to zero speed (ms)
P-097 Ignore drive inhibit 0 3 Use Forward Drive Disable
(use (ignore (CCWL) and Reverse Drive
driver drive Disable (CWL). If it is set to be
disable) inhibit) ignored, CCWL and CWL may not
be connected, see section 4.6 for
details.
P-104 Digital input DI5 7 20 DI5 is set to zero-speed clamp
function ZCLAMP
P-110 Digital output DO3 6 5 DO3 set to speed to ASP
function
4.3.2 Parameters related to speed command

The parameters related to the speed command are as follows:
Default
Parameter Name Range of parameter unit applicable
value
P-025 Source of speed command 0～3 0 S
P-046 Analog speed command gain 10～3000 300 r/min/V S
Analog speed command zero
P-047 -15000～15000 0 0.1mv S
offset compensation
Analog speed command
P-048 0～1 0 S
direction
Analog speed command filter
P-049 2～500 20 0.1ms S
time constant
Analog speed command
P-050 0～2 0 S
polarity
Analog speed command dead
P-051 0～13000 0 mv S
zone 1
Analog speed command dead
P-052 -13000～0 0 mv S
zone 2
Please refer to the description in section 3.6.2 for the operation method of analog
zero adjustment. You can also manually set parameter P-047 to adjust the zero offset
value according to the input analog value. The analog voltage value received by the
drive can be viewed through the following menu items:
4.3.3 Source of speed command

There are several different sources of speed command, which are set by parameter
P-025, as follows:
P-025 Description Explanation
0 Analog speed command Ports AS+ and AS- input analog voltage
1 Internal multi-step speed command Determined by SP1, SP2, and SP3 of DI input [Note 1].
2 < 8 optional P-137~P-144 > When SP1, SP2, and SP3 are all OFF, it is an analog
command, and the rest is determined by SP1, SP2, and
SP3 [Note 2].
Note 1: Internal speed command:
DI signal Speed command
SP3 SP2 SP1
0 0 0 Internal speed 1 (parameter P-137)
Note 2: Analog speed command + internal speed command:
DI signal Speed command
SP3 SP2 SP1
0 0 0 Analog speed command
The above 0 means OFF and 1 means ON. There are two DI inputs that can provide
special functions: CZERO (zero command), CINV (command inversion). When
CZERO is ON, the speed command is forced to zero; when CINV is ON, the speed
command is inverted.
4.3.4 Acceleration and deceleration control

The acceleration and deceleration control is related to the following parameters:
Default
Parameter Name parameter range Unit Applicable
value
Speed command acceleration time
P-060 0～30000 100 ms S
Speed command deceleration time

P-061 0～30000 100 ms S
The acceleration and deceleration control can slow down the sudden change of
speed and make the motor run smoothly. As shown in the figure below, parameter
P-060 sets the acceleration time of the motor from zero speed to 1000r/min, and
P-061 sets the deceleration time of the motor from 1000r/min to zero speed. If the
drive and the host device form position control, this parameter should be set to 0.
4.3.5 Zero Speed Clamp
The parameters related to the zero speed clamp are as follows:
Default Applicabl
Parameter Name parameter range Unit
value e
P-160 Zero speed detection point 0～1000 10 r/min ALL
P-161 Zero speed detection hysteresis 0～1000 5 r/min ALL
P-162 Zero Speed Clamp Mode 0～1 0 S
During speed control, even if the motor is at zero speed, the position may change
due to rotation by an external force. If it is an analog speed command input, the
absolute zero speed command is not easy to achieve. In order to solve these two
problems, you can consider using the zero speed clamp function. The zero-speed
clamp function is enabled when the following conditions are met:
Condition 1: Speed control mode;
Condition 2: ZCLAMP (zero-speed clamp) in DI is ON;
Condition 3: The speed command is lower than parameter P-160.
When any of the above conditions are not satisfied, normal speed control is
performed. The zero-speed clamp has the following two modes:
P-162 description
The motor position is fixed at the moment the function is turned on. At this time, the
0 internal position control is connected, and even if the rotation occurs due to external
force, it will return to the zero fixed point.
When the function is turned on, the speed command is forced to zero speed. The
1
interior is still speed control and may rotate due to external forces.
4.3.6 Gains related to speed control
Default Uni Applicabl
Parameter Name parameter range
value t e
P-005 1st speed loop gain 1～3000 40 Hz P,S
P-006 1st speed loop integral time constant 1.0～1000.0 20.0 ms P,S
P-018 Speed loop PDFF control coefficient 0～100 100 % P,S
First set the load moment of inertia ratio, and then adjust the speed loop gain and
speed loop integral time constant. The following is the speed controller of the system.
Increasing the speed loop gain Kv can improve the speed response bandwidth, and
reducing the speed loop integral time constant Ti can increase the system rigidity and
reduce the steady-state error.
1
K v (1 + )
Ti S
P-018 can choose the speed controller structure, 0 is IP regulator, 100 is PI

regulator, 1～99 is PDFF regulator. If the parameter value of P-018 is too large, the
system has a high frequency response, and if the parameter value is too small, the
system has high stiffness (resistance to deviation), and the medium value takes into
account the frequency response and stiffness.
4.4 Torque Control

Torque control is used in printing machines, winding machines, injection molding
machines, etc., and the output torque of the motor is proportional to the input
command.
4.4.1 Simple example of torque control (take T3a/T3L as an
example)
Parameter Default
Parameter Name Parameter Description
Value Value
P-004 Control Mode 2 0 set to torque control
Torque command
P-026 0 0 Set as analog input
source
Use Forward Drive Disable (CCWL)
and Reverse Drive Disable (CWL).
Ignore drive
P-097 0 3 If it is set to be ignored, CCWL and
inhibit
CWL may not be connected, see
section 4.6 for details.
Digital input DI5 DI5 is set to forward torque limit
P-104 5 20
function TCCW
Digital input DI6 DI6 is set to reverse torque limit
P-105 6 21
function TCW
Digital output
P-110 6 5 DO3 set to speed to ASP
DO3 function
4.4.2 Parameters related to torque command

The parameters related to the torque command are shown in the table below:
parameter Default
Parameter Name Unit Applicable
range value
P-026 Torque command source 0～2 0 T
P-053 Analog torque command gain 1～300 30 %/V T
Analog torque command zero offset -1500.0～
P-054 0.0 mv T
compensation 1500.0
P-055 Analog torque command direction 0～1 0 T
Analog torque command filter time
P-056 20～500 20 0.1ms T
constant
P-057 Analog torque command polarity 0～2 0 T
P-075 speed limit 0～6000 3500 r/min ALL
Please refer to the description in section 3.6.2 for the operation method of analog
zero adjustment. You can also manually set parameter P-054 to adjust the zero offset
value according to the input analog value. The analog voltage value received by the
drive can be viewed through the following menu items:
4.4.3 Torque command source

There are several different sources of torque command, which are set by parameter
P-026 as follows:
P-026 Description Explain
0 Analog torque command Ports AS+ and AS- input analog voltage
Determined by TRQ1 and TRQ2 of DI input
1 Internal torque command
[Note 1].
When both TRQ1 and TRQ2 are OFF, it is an
Analog torque command +
2 analog command, and the rest is determined by
internal torque command
TRQ1 and TRQ2 [Note 2].
Note 1: Internal torque command:
DI signal Torque command
TRQ2 TRQ1
0 0 Internal torque 1 (parameter P-145)
Note 2: Analog torque command + internal torque command:
DI signal
Torque command
TRQ2 TRQ1
0 0 Analog torque command
The above 0 means OFF and 1 means ON. There are two DI inputs, CZERO (zero
command) and CINV (command inversion), which can provide special functions.
When CZERO is ON, the torque is forced to zero; when CINV is ON, the torque
command is inverted.
4.5 Gain Adjustment

The driver includes three control loops: current control loop, speed control loop and
position control loop. The control block diagram is as follows:
In theory, the control loop bandwidth of the inner layer must be higher than that of
the outer layer, otherwise the entire control system will be unstable and cause vibration
or poor response. Therefore, the relationship between the three control loop bandwidths
is as follows:
Current Loop Bandwidth > Velocity Loop Bandwidth > Position Loop Bandwidth
Since the driver has already adjusted the current control loop to the best state, the
user only needs to adjust the parameters of the speed control loop and the position
control loop.
4.5.1 Gain Parameters

The parameters related to the control gain are as follows:
Parameter Default
range value
P-005 Speed loop gain 1～3000 50 Hz P,S
Speed loop integral time
P-006 1～1000 20 ms P,S
constant
P-009 Position loop gain 1～1000 40 1/s P
P-017 Load moment of inertia ratio 1～2000 10 0.1 倍 P,S
P-007 Torque filter time constant 1～500 25 0.1ms ALL
Speed detection filter time
P-019 5～500 25 0.1ms P,S
constant
The symbols are defined as follows:
Kv: speed loop gain;
Ti: integral time constant of velocity loop;
Kp: position loop gain;
G: Load moment of inertia ratio (P-017);
JL: The moment of inertia of the load converted to the motor shaft;
JM: The moment of inertia of the motor rotor.
1. Speed loop gain Kv
The speed loop gain Kv directly determines the response bandwidth of the speed
loop. On the premise that the mechanical system does not generate vibration or noise,
if the gain value of the speed loop is increased, the speed response will be accelerated,
and the followability of the speed command will be better. However, an excessively
large setting is likely to cause mechanical resonance. The speed loop bandwidth is
expressed as:
1+ G
Speed loop bandwidth( Hz) = × Kv ( Hz)
1+ JL / JM
If the load moment of inertia ratio G is set correctly (G=JL/JM), the speed loop
bandwidth is equal to the speed loop gain Kv.
2. Speed loop integral time constant Ti
The speed loop integral can effectively eliminate the speed steady-state error and
quickly respond to subtle speed changes. On the premise that the mechanical system
does not generate vibration or noise, reduce the integral time constant Ti of the speed
loop to increase the rigidity of the system and reduce the steady-state error. If the load
inertia ratio is large or the mechanical system has resonance factors, it must be
confirmed that the integral time constant of the speed loop is large enough, otherwise
the mechanical system is prone to resonance. If the load moment of inertia ratio G is set
correctly (G=JL/JM), use the following formula to get the speed loop integral time
constant Ti:
4000
Ti (ms) ≥
2π × K V ( Hz)
3. Position loop gain Kp

The position loop gain directly determines the response speed of the position loop.
On the premise that the mechanical system does not generate vibration or noise,
increase the gain value of the position loop to speed up the response speed, reduce the
position tracking error, and shorten the positioning time. But too large setting will cause
mechanical system jitter or positioning overshoot. The position loop bandwidth cannot
be higher than the speed loop bandwidth.
Speed loop bandwidth(Hz)
Location loop bandwidth( Hz ) ≤
4
If the load moment of inertia ratio G is set correctly (G=JL/JM), the position loop
gain Kp is calculated as follows:
K v ( Hz)
K p (1 / s) ≤ 2π ×
4
4.5.2 Gain Adjustment Procedure

The choice of position and speed bandwidth must be determined by the rigidity of
the machine and the application. The conveying machine connected by the belt has
low rigidity and can be set to a lower bandwidth; the mechanical rigidity of the ball
screw driven by the reducer is medium and can be set to Medium bandwidth; direct
drive ball screw or linear motor with high stiffness and can be set to high bandwidth.
If the mechanical characteristics are unknown, gradually increase the gain to increase
the bandwidth until resonance, and then lower the gain.
In servo gain, if one parameter is changed, other parameters also need to be
readjusted. Please don't make major changes to just one parameter. Regarding the
steps for changing the servo parameters, generally please observe the following
principles:
Reduces response, suppresses vibration and
Improve responsiveness
overshoot
1.Increase speed loop gain Kv (P-005) 1. Reduce the position loop gain Kp (P-009)
2. Decrease the integral time constant Ti of 2. Increase the integral time constant Ti of the speed
the speed loop (P-006) loop (P-006)
3. Increase the position loop gain Kp (P-009) 3. Decrease the speed loop gain Kv (P-005)
Gain Adjustment Procedure for Speed Control
1. Set the load inertia moment ratio (P-017).
2. Set the speed loop integral time constant (P-006) to a larger value.
3. Increase the speed loop gain (P-005) within the range where no vibration or abnormal
sound occurs, and slightly decrease it if vibration occurs.
4. The integral time constant of the speed loop should be reduced within the range
where no vibration occurs. If vibration occurs, it will be slightly increased.
5. If the gain cannot be increased due to resonance in the mechanical system, and the
desired responsiveness cannot be obtained, adjust the torque low-pass filter (P-007) or
the speed detection filter (P-019) to suppress the resonance. , then repeat the above steps
to improve responsiveness.
Gain Adjustment Procedure for Position Control
1. Set the load inertia moment ratio (P-017).
2. Set the speed loop integral time constant (P-006) to a larger value.
3. Increase the speed loop gain (P-005) within the range where no vibration or abnormal
sound occurs, and slightly decrease it if vibration occurs.
4. The integral time constant of the speed loop should be reduced within the range
where no vibration occurs. If vibration occurs, it will be slightly increased.
5. Increase the position loop gain (P-009), and reduce it slightly if vibration occurs.
6. If the gain cannot be increased due to resonance in the mechanical system, and the
desired responsiveness cannot be obtained, adjust the torque low-pass filter (P-007) or
the speed detection filter (P-019) to suppress the resonance. , then repeat the above steps
to improve responsiveness.
7. If shorter positioning time and smaller position tracking error are required, position
feedforward (P-021, P-022) can be adjusted appropriately.
4.6 Overtravel Protection

The overtravel protection function refers to the safety function that when the
moving part of the machine exceeds the designed safe moving range, the limit switch
acts to force the motor to stop. The schematic diagram of overtravel protection is as
follows:
It is recommended to use a normally closed contact for the limit switch, which is
closed within a safe range and disconnected when overtravel. It is connected to forward
drive prohibition (CCWL) and reverse drive prohibition (CWL). It can also be set to use
and ignore through parameter P-097. If it is set to use, the limit signal must be
connected; if it is set to ignore, the signal is not required. The default value of the
parameter is that both CCWL and CWL are ignored. If you need to use it, you must
modify the parameter P-097. Even in the overtravel state, it is still allowed to exit the
overtravel state by inputting the reverse command.
Reverse Drive Disable Forward Drive Disable
P-097
(CWL) (CCWL)
0 Enable Enable
1 Enable Disable
2 Disable Enable
3(Default) Disable Disable
4.7 Working timing
4.7.1 Power-on sequence

 After the main power is turned on, after a delay of about 1.5 seconds, the servo ready
signal (SRDY) is ON. At this time, the servo enable (SON) signal can be accepted.
When the servo enable is detected to be valid, the power circuit is turned on, the motor
is excited, and it is running. state. It is detected that the servo enable is invalid or there is
an alarm, the power circuit is turned off, and the motor is in a free state.
4.7.2 Alarm sequence when servo ON
4.7.3 The action sequence of electromagnetic brake when the
motor is stationary
When the motor speed is lower than the parameter P-165, the electromagnetic
brake action sequence:
4.7.4 The action sequence of electromagnetic brake when the
motor is running
When the motor speed is higher than the parameter P165, the electromagnetic brake
action sequence:
<10ms
Servo enable OFF ON OFF

(DI:SON)
Motor power-on Power off Power on Power off

status
P-169
Electromagnetic OFF(Brake) ON(Release) OFF(Brake)

brake(DO:BRK)
The faster of reaching
P-167 the speed of P168 and
the time set by P167
Motor speed(r/min)
P-168 0r/min
4.8 Electromagnetic brake

Electromagnetic brakes (holding brakes, power-off brakes) are used to lock the
vertical or inclined worktable connected to the motor to prevent the worktable from
falling after the servo power is lost. To achieve this function, it is necessary to
purchase a motor with a brake. Brakes should only be used to hold the table and must
never be used to slow down and stop machine motion.
4.8.1 Electromagnetic brake parameters

Electromagnetic brake related parameters:
parameter Default
range value
Motor standstill speed detection
P-165 0～1000 5 r/min ALL
point
Electromagnetic brake delay time
P-166 0～2000 300 ms ALL
when the motor is stationary
Electromagnetic brake waiting time
P-167 0～2000 500 ms ALL
when the motor is running
Electromagnetic brake action speed
P-168 0～3000 100 r/min ALL
when the motor is running
Delay time for electromagnetic
P-169 0～3000 300 ms ALL
brake release
4.8.2 Use of electromagnetic brake

The following figure is the wiring diagram of the brake. The brake release signal
BRK of the driver is connected to the relay coil, and the relay contact is connected to
the brake power supply. Brake power is provided by the user and has sufficient capacity.
It is recommended to install a surge absorber to suppress surge voltage caused by relay
on/off action. Diodes can also be used as surge absorbers, but it should be noted that it
will cause a little braking delay.
After the motor stops and stops (the speed is less than P-165), the servo is OFF. At
this time, the motor continues to energize to maintain the position. After the brake is
stable for a period of time (the time is determined by parameter P-166), the power
supply to the motor is removed.
When the motor is running (the speed is greater than P-165), the servo is OFF. At
this time, the motor current is cut off, and the brake continues to be released. After a
delay for a period of time, the brake is braked. This is to decelerate the motor from a
high-speed rotation state to a low speed, and then activate the mechanical brake to avoid
damage to the brake. The delay time is the time required for parameter P-167 or the
motor speed to decelerate to the speed of parameter P-168, whichever is the smallest.
P-169: When the system changes from the disabled state to the enabled state, it
defines the delay time from the opening of the motor current to the release of the
electromagnetic brake (DO output terminal BRK ON).
Chapter 5 Parameters
5.1 List of parameters

The applicable column indicates the applicable control mode, P is for position
control, S is for speed control, T is for torque control, and All is applicable for
position, speed and torque control. A parameter value of "*" indicates that the factory
default value may be different.
5.1.1 0 segment parameters

Default
Parameter Name Parameter range Unit Applicable
value
P-000 Operation Password 0～9999 315 ALL
P-001 Drive Model Code * * ALL
P-002 Motor Code * * ALL
P-003 Software version * * ALL
P-004 Control Mode 0～8 0 ALL
P-005 1st speed loop gain 1～3000 50 Hz P,S
P-006 1st speed loop integral time constant 1～1000 20 ms P,S
P-007 1st torque filter time constant 1～500 25 0.1ms ALL
P-009 1st position loop gain 1～1000 40 1/s P
P-019 Speed detection filter time constant 5～500 35 0.1ms P,S
P-021 Position loop feedforward gain 0～100 0 % P
P-022 Position loop feedforward filter time constant 2～500 10 0.1ms P
P-025 Source of speed command 0～3 0 S
P-026 Torque command source 0～2 0 T
Position command pulse electronic gear 1st
P-029 1～32767 1 P
numerator
Position command pulse electronic gear
P-030 1～32767 1 P
denominator
Command pulse electronic gear second
P-031 1～32767 1 P
numerator
Command pulse electronic gear 3rd
P-032 1～32767 1 P
numerator
Command pulse electronic gear 4th
P-033 1～32767 1 P
numerator
P-035 Position command pulse mode 0～2 0 P
P-036 Position command pulse input direction 0～1 0 P
P-037 Position command pulse input signal logic 0～3 0 P
P-038 0～15 2 P
coefficient
Position command direction signal filter
P-039 0～3 0 P
coefficient
Position command exponential smoothing
P-040 0～5000 0 ms P
filter time
P-046 Analog speed command gain 10～3000 300 r/min/V S
Analog speed command zero offset
P-047 -15000～15000 0 0.1mv S
compensation
P-048 Analog speed command direction 0～1 0 S
Default
value
P-049 Analog speed command filter time constant 2～500 20 0.1ms S
P-050 Analog speed command polarity 0～2 0 S
P-051 Analog speed command dead zone 1 0～13000 0 mv S
P-052 Analog speed command dead zone 2 -13000～0 0 mv S
P-053 Analog torque command gain 1～300 30 %/V T
Analog torque command zero offset
P-054 1500～1500 0 mv T
compensation
P-055 Analog torque command direction 0～1 0 T
P-056 2～500 20 0.1ms T
constant
P-057 Analog torque command polarity 0～2 0 T
P-060 Speed command acceleration time 0～10000 100 ms S
P-061 Speed command deceleration time 0～10000 100 ms S
EMG (emergency stop)/ALM
P-063 0～10000 1000 ms ALL
deceleration time
P-064 Torque limit selection 0～2 0 ALL
Internal forward rotation (CCW)
P-065 0～300 300 % ALL
torque limit
Internal reverse rotation (CW) torque
P-066 -300～0 -300 % ALL
limit
External forward rotation (CCW)
P-067 0～300 100 % ALL
torque limit
External reverse rotation (CW) torque
P-068 -300～0 -100 % ALL
limit
P-069 Test run torque limit 0～300 100 % ALL
Forward rotation (CCW) torque
P-070 1～300 140 % ALL
overload alarm level
Reverse (CW) torque overload alarm
P-071 -300～-1 -140 % ALL
level
P-072 Torque overload alarm detection time 1～30000 5000 ms ALL
P-075 Maximum speed limit 0～6000 3500 r/min ALL
P-076 JOG running speed 0～5000 100 r/min S
P-077 Speed limit selection 0～2 0 T
P-078 Speed limit during torque control 0～5000 1000 r/min T
P-079 Speed limit error during torque control 1～5000 100 r/min T
P-080 Position out-of-tolerance detection 0～32767 400 0.01 圈 P
P-081 First encoder type selection 0~1 0 ALL
P-082 Number of lines of the first encoder 1~32767 2500 pulse ALL
P-083 Motor encoder zero offset angle -3600~3600 -23.0 degree ALL
P-084 Motor encoder control parameter 0～11111 0 ALL
Positive and negative limit use mode /
P-097 0～33 33 ALL
positive and negative control
P-098 Force enable 0~1 0 ALL
P-099 Motor series code 0~15 0 ALL
5.1.2 1st segment parameters
Default
value
P-100 Digital input DI1 function -21～21 1 ALL
P-108 Digital output DO1 function -12～12 2 ALL
P-120 Digital input DI forced valid parameter1 00000～11111 00000 ALL
P-121 Digital input DI forced valid parameter 2 00000～11111 00000 ALL
P-125 Digital input DIx filtering 1～1000 5 ms ALL
stop mode when servo disable or an alarm
P-136 0～1 0 ALL
occurs
P-137 Internal speed 1 -5000～5000 0 r/min S
P-145 Internal torque 1 -300～300 0 % T
P-150 Positioning complete range 0～32767 10 pulse P
P-151 Positioning complete hysteresis 0～32767 5 pulse P
P-152 Positioning proximity range 0～32767 500 pulse P
P-153 Positioning close to hysteresis 0～32767 50 pulse P
P-154 Arrival speed -5000～5000 500 r/min ALL
P-155 Arrival speed hysteresis 0～5000 30 r/min ALL
P-156 Arrival velocity polarity 0～1 0 ALL
P-157 Arrival torque -300～300 100 % ALL
P-158 Reaching torque hysteresis 0～300 5 % ALL
P-159 Arrival torque polarity 0～1 0 ALL
P-160 Zero speed detection point 0～1000 10 r/min ALL
P-161 Zero speed detection hysteresis 0～1000 5 r/min ALL
P-162 Zero Speed Clamp Mode 0～1 0 S
P-164 emergency stop mode 0～1 0 P
P-165 Motor standstill speed detection point 0～1000 5 r/min ALL
Electromagnetic brake delay time when
P-166 0～5000 500 ms ALL
the motor is stationary
Electromagnetic brake waiting time when
P-167 0～5000 500 ms ALL
the motor is running
Electromagnetic brake action speed when
P-168 0～3000 100 r/min ALL
the motor is running
Delay time for electromagnetic brake
P-169 0～5000 500 ms ALL
opening
5.1.3 2-segment parameters (part)
Default
value
P-201 Motor pole pairs 1～50 4 ALL
P-204 Motor rated current 1～4000 6.0 A ALL
P-207 Motor rated speed 1～30000 2500 r/min ALL
5.2 List of DI functions

Serial number Symbol DI function Serial number Symbol DI function
0 NULL No function 14 TRQ2 Internal torque selection 2
1 SON Servo enable 15 EMG emergency shutdown
2 ACLR Alarm clear 16 CMODE control mode switch
3 CCWL Forward drive prohibited 17 GAIN Gain switching
4 CWL Reverse drive prohibited 18 GEAR1 Electronic gear selection 1
5 TCCW Forward torque limit 19 GEAR2 Electronic gear selection 2
6 TCW Reverse torque limit 20 CLE Position deviation clear
7 ZCLAMP Zero speed clamp 21 INH Pulse input prohibited
8 CZERO zero command
9 CINV instruction negation 23 CCW Forward running (start)
10 SP1 Internal speed selection 1 24 CW run in reverse
11 SP2 Internal speed selection 2
12 SP3 Internal speed selection 3
13 TRQ1 Internal torque selection 1
5.3 List of DO functions

Serial number Symbol DI function Serial number Symbol DI function
0 OFF always invalid 8 BRK Electromagnetic brake
1 ON always valid 9 RUN Servo running

2 SRDY Servo Ready 10 NEAR positioning approach
3 ALM Servo Alarm 11 TRQL torque limit
4 ZSP Zero Speed 12 SPL speed limit
Position/speed mode
5 COIN Positioning completed 14 PtoS
switching completed
Position/torque mode
6 ASP Speed Arrive 15 PtoT
switching completed
Speed/torque mode
7 ATRQ Torque Arrive 16 StoT
switching completed
Z signal output (only DO3
20 DO3_ZOUT
supports this function)
5.4 Detailed explanation of parameters
5.4.1 0 segment parameters

Range Default Unit Applicable
P-000 Operation Password
0～9999 315 ALL
 Hierarchical management of parameters can ensure that parameters will not be

modified by mistake. Some special operations need to set a proper password.
 P-001 driver code, P-002 motor code, P-099 motor series code, P-000 should be
set to 385 (or 316) when modifying, otherwise the modification will be invalid.

P-001 Driver Code
* * ALL
 The current drive model. It has been set at the factory and cannot be modified by
the user. 1: L20 (220V, 0.75kW) 2: L30 (220V, 1.5kW) 3: L40 (220V, 2.5kW)

P-002 Motor Code
* * ALL
 For the current motor model, please set it according to the actual motor model used.
For the meaning of the parameters, see the motor adaptation table in chapter 7.2.
 When replacing different types of motors, this parameter needs to be modified. For
details, please refer to chapter 3.7.

P-003 Software version
* * ALL
 The software version number, which cannot be modified.

P-004 Control Mode
0～8 0 ALL
 Parameter meaning:
0: Position control mode; 1: Speed control mode; 2: Torque control mode;

3: position/speed mode; 4: position/torque mode; 5: speed/torque mode;
 When set to 3, 4, and 5, the specific control method is determined by the CMODE
of the DI input:
P-004 CMODE[Note] Control Mode
3 0 position control
1 speed control
4 0 position control
1 Torque control
5 0 speed control
1 Torque control

P-005 1st speed loop gain
1～3000 50 Hz P,S
 The proportional gain of the speed regulator, increasing the parameter value can
make the speed response quicker, and it is easy to cause vibration and noise if it is too
large.

P-006 1st speed loop integral time constant
1～1000 20 ms P,S
 The integral time constant of the speed regulator, reducing the parameter value, can
reduce the speed control error and increase the rigidity, and it is easy to cause
vibration and noise if it is too small.

P-007 1st torque filter time constant
1～500 35 0.1ms ALL
 The low-pass filter of torque can restrain vibration caused by machinery.
 The larger the value, the better the effect of suppressing vibration. If the value is
too large, the response will be slow, which may cause oscillation; the smaller the
value, the faster the response, but it is limited by mechanical conditions.
 When the load inertia is small, a small value can be set, and when the load inertia
is large, a large value can be set.

P-009 1st position loop gain
1～1000 40 1/s P
 Proportional gain of the position regulator; increasing the parameter value can
reduce the position tracking error and improve the response. If it is too large, it may
cause overshoot or oscillation.

P-019 Speed detection filter time constant
5～500 35 0.1ms P,S
 The larger the parameter value, the smoother the detection. The smaller the
parameter value, the faster the detection response. If it is too small, it may cause noise;
if it is too large, it may cause oscillation.
P-021 Position loop feedforward gain
0～100 0 % P
 Feedforward can reduce the position tracking error during position control. When it
is set to 100, the position tracking error is always 0 under the command pulse of any
frequency.
 When the parameter value increases, the response of the position control is
improved. If the parameter value is too large, the system will be unstable and
oscillation will occur easily.

P-022 Position loop feedforward filter time constant
2～500 10 0.1ms P
 The function of filtering the feedforward amount of the position loop is to increase
the stability of the feedforward control.

P-025 Source of speed command
0～5 0 S
 During speed control, set the source of speed command.

0: Analog speed 1: Internal multi-speed < 8 optional P137~P144 >
2: Analog + internal multi-speed 3: Puls Speed/Internal Test Speed < P-020 >
The specific meanings are as follows:
0: Analog speed command, input from analog ports AS+ and AS-.
1: Internal speed command, determined by SP1, SP2, SP3 of DI input:
DI signal [Note]
Speed command
SP3 SP2 SP1
0 0 0 Internal speed 1 (parameter P137)
2: Analog speed command + internal speed command:
DI signal [Note] Speed command
SP3 SP2 SP1
0 0 0 Analog speed command

P-026 Torque command source
0～2 0 T
 During torque control, set the source of torque command.

0: Analog torque command, input from analog ports AS+ and AS-.
1: Internal torque command, determined by TRQ1 and TRQ2 input by DI:
DI signal [Note]
Torque command
TRQ2 TRQ1
0 0 Internal torque 1 (parameter P145)
2: Analog torque command + internal torque command;
DI signal [Note]
Torque command
TRQ2 TRQ1
0 0 Analog torque command

P-029 Position command pulse electronic gear 1st numerator
1～32767 1 P

P-030 Position command pulse electronic gear denominator
1～32767 1 P
 It is used to divide or multiply the frequency of the input pulse, which can be easily
matched with various pulse sources to achieve the pulse resolution required by the
user.
 The numerator N of the command pulse electronic gear is set by parameter P029,
and the denominator M is set by parameter P030.
 The input pulse command gets the position command through N/M change.
Position command pulse electronic gear second
P-031
numerator 1～32767 1 P
 Refer to the description of parameters P029 and P030.

P-032 Position command pulse electronic gear 3rd numerator
1～32767 1 P
Refer to the description of parameters P029 and P030.

P-033 Position command pulse electronic gear 4th numerator
1～32767 1 P
Refer to the description of parameters P029 and P030.

 During position control, set the source of position command and the application
mode of dynamic electronic gear.
Tens digit: Set position command
0: External pulse 1: Internal digital quantity
One digit: Set the dynamic electronic gear application mode (see the description in
chapter 4.2.3 for details)
0: The use of dynamic electronic gear ratio switching is prohibited, and the numerator
of the command pulse electronic gear is set by P029
1: Dynamic electronic gear ratio switching is allowed, and the command pulse
electronic gear numerator is determined by GEAR1 input from DI
2: Dynamic electronic gear ratio switching is allowed, and the command pulse
electronic gear numerator is determined by GEAR1 and GEAR2 input by DI

P-035 Position command pulse input method
0～2 0 P
 Set the command pulse input mode, parameter meaning:

0: Pulse + direction
1: Forward/reverse pulse
2: Quadrature Pulse (A/B)
Note: The arrow represents the counting edge, and the parameters are set to
P036=0, P037=0.
 Command pulse input block diagram.
 After the parameter is modified, it must be saved, and it will be valid after
re-powering on.

P-036 Position command pulse input direction
0～1 0 P
0: Normal direction 1: Reverse direction

Position command pulse input signal
P-037
logic 0～3 0 P
 Set the phase of the pulse input signal PULS and SIGN signal to adjust the
counting edge and counting direction.
P037 PULS signal phase PULS signal phase
SIGN signal phase SIGN signal phase
0 in phase in phase
1 Invert in phase
2 in phase Invert
3 Invert Invert
re-powering on.

P-038
coefficient 0～3 0 P
 Digitally filter the pulse input signal PULS, the larger the value, the larger the filter
time constant.
 By default, the maximum pulse input frequency is 500kHz (kpps). The larger the
value is, the lower the maximum pulse input frequency will be.
 Used to filter out the noise on the signal line to avoid counting errors. If there is a
phenomenon of inaccurate walking due to inaccurate counting, the parameter value
can be appropriately increased.
 The timing lead or lag of pulse and direction signals can be adjusted.
re-powering on.

Position command direction signal filter
P-039
coefficient 0～3 0 P
 Digitally filter the pulse direction signal SIGN. The larger the value, the larger the
filter time constant.
re-powering on.
 The timing lead or lag of pulse and direction signals can be adjusted.
re-powering on.

Position command exponential
P-040
smoothing filter time 0～5000 0 ms P
 Smooth and filter the command pulse, with exponential acceleration and
deceleration. The filter will not lose input pulses, but there will be an instruction delay
phenomenon. When set to 0, the filter does not work.
 This filter is used for:
1. The host controller has no acceleration and deceleration function;
2. The electronic gear ratio is large (N/M>10);
3. The command frequency is low;
4. When the motor is running, the step jumps and the instability occurs.

P-046 Analog speed command gain
10～3000 300 r/min/V S
 Set the proportional relationship between the analog speed input voltage and the
actual running speed of the motor.
 The analog input range is -10V~10V.
Analog speed command zero offset
P-047
compensation -15000～15000 0 0.1mv S
 For the zero offset compensation of analog speed input, the actual speed command
is the input analog value minus this parameter value.
 The analog auto-zero function can be used, this parameter is set automatically,
refer to chapter 3.6.2.

P-048 Analog speed command direction
0～1 0 S
P048 Positive polarity (positive Negative polarity (negative voltage) analog input
voltage) analog input
0 Forward rotation (CCW) speed Reverse (CW) speed command
command
1 Reverse (CW) speed command Forward rotation (CCW) speed command

Analog speed command filter time
P-049
constant 2～500 20 0.1ms S
 Low-pass filter for analog speed input.

 The larger the setting, the slower the input analog response speed, which is
beneficial to reduce the interference of high-frequency noise; the smaller the setting,
the faster the response speed, but the greater the interference of high-frequency noise.

P-050 Analog speed command polarity
0～2 0 S
Parameter meaning:
0: Bipolar.
1: Single positive polarity. Input positive polarity is valid, when negative polarity is
forced to 0.
2: Single-negative polarity. Negative input polarity is valid, when positive polarity is
forced to 0.

P-051 Analog speed command dead zone 1
0～13000 0 mv S
 When the input voltage is between dead zone 2 (parameter P-052) and dead zone 1
(parameter P-051), the command is forced to be 0.

P-052 Analog speed command dead zone 2
-13000～0 0 mv S
 Refer to the description of parameter P-051.
P-053 Analog torque command gain
1～300 30 %/V T
 Set the proportional relationship between the analog torque input voltage and the
actual running torque of the motor. The unit of the set value is the rated torque 1%/V;
 The analog input range is -10V~10V.

Analog torque command zero
P-054
offset compensation -1500～1500 0 mv T
 For the zero offset compensation of analog torque input, the actual torque
command is the input analog value minus this parameter value.
 The analog auto-zero function can be used, this parameter is set automatically,
refer to chapter 3.6.2.

P-055 Analog torque command direction
0～1 0 T
P055 Positive polarity (positive Negative polarity (negative
voltage) analog input voltage) analog input
0 Forward rotation (CCW) torque Reverse (CW) torque command
command
1 Reverse (CW) torque command Forward rotation (CCW) torque
command
P-056
constant 2～500 20 0.1ms T
 Low-pass filter coefficient of analog torque input.

 The larger the setting, the slower the input analog response speed, which is
beneficial to reduce the high frequency noise interference; the smaller the setting, the
faster the response speed, but the high frequency noise interference is large.

P-057 Analog torque command polarity
0～2 0 T
0: Bipolar.
1: Single positive polarity. Input positive polarity is valid, when negative polarity is
forced to 0.
2: Single-negative polarity. Negative input polarity is valid, when positive polarity is
forced to 0.

P-060 Speed command acceleration time
0～10000 100 ms S
 Set the acceleration time of the motor from zero speed to 1000r/min.
 Only for speed control mode, position control mode is invalid.
 If it is used in speed control mode and forms a position control closed loop with
the host computer, this parameter should be set to 0.
1000r/min
Speed command
actual actual
acceleration deceleration
time time
P-060 P-061
P-061 Speed command deceleration time
0～10000 100 ms S
 Set the deceleration time of the motor from 1000r/min to zero speed.
 Only for speed control mode, position control mode is invalid.
 If it is used in speed control mode and forms a position control closed loop with
the host computer, this parameter should be set to 0.

EMG (emergency stop)/ALM
P-063
deceleration time 0～10000 1000 ms ALL
 When the EMG (emergency stop) mode is deceleration stop (P-164 is set to 1), it
works.
 When the alarm occurs and the stop mode is deceleration stop (P-136 is set to 1), it
will take effect.
 Set the deceleration time of the motor from 1000r/min to zero speed when EMG
(emergency stop) or alarm occurs, and the deceleration curve is linear.

P-064 Torque limit selection
0～2 0 ALL
 To set torque limit mode:

P064 Description Forward Description Forward Description Forward
(CCW) Reverse (CW) (CCW) Reverse (CW) (CCW) Reverse (CW)
0 basic restrictions Determined by DI input Determined by DI input
TCCW: TCCW:
1 Basic limit + analog limit In addition to the basic limit, it is also limited by the
analog torque command (this limit is not divided into
directions).
2 Basic limit + internal In addition to the basic limit, it is also limited by the
torque limit internal torque command (this limit is not divided into
directions). The internal torque command is
determined by TRQ1 and TRQ2 input by DI.
Note: 1. If multiple restrictions occur, the final limit value is the value with the
smaller absolute value.
2. The restrictions of P065 and P066 are valid at any time.
3. Even if the set value exceeds the maximum torque allowed by the system, the
actual torque will be limited within the maximum torque.

Internal forward rotation (CCW)
P-065
torque limit 0～300 300 % ALL
 Set the internal torque limit value of the motor CCW direction.
 This restriction is valid at all times.
 If the set value exceeds the maximum overload capacity allowed by the system, the
actual limit is the maximum overload capacity allowed by the system.

Internal reverse rotation (CW)
P-066
torque limit -300～0 -300 % ALL
 Set the internal torque limit value in the CW direction of the motor.
 This restriction is valid at all times.
 If the set value exceeds the maximum overload capacity allowed by the system, the
actual limit is the maximum overload capacity allowed by the system.

External forward rotation (CCW)
P-067
torque limit 0～300 100 % ALL
 Set the external torque limit value of the servo motor CCW direction.
 This limit is valid only when TCCW (forward rotation torque limit) of DI input is
ON.
 When the limit is valid, the actual torque limit is the minimum value among the
maximum overload capacity allowed by the system, the internal forward torque limit
and the external forward torque limit.

External reverse rotation (CW)
P-068
torque limit -300～0 -100 % ALL
 Set the external torque limit value in the CW direction of the servo motor.
 This limit is valid only when TCW (reverse torque limit) of DI input is ON.
 When the limit is valid, the actual torque limit is the smallest absolute value among
the maximum overload capacity allowed by the system, the internal reverse torque
limit, and the external reverse torque limit.

P-069 Test run torque limit
0～300 100 % ALL
 Set the torque limit value in trial operation mode (speed JOG operation, keyboard
speed regulation, demonstration mode).
 Regardless of the direction of rotation, both forward and reverse rotations are
limited.
 The internal and external torque limits are still valid.

Forward rotation (CCW) torque
P-070
overload alarm level 0～300 140 % ALL
 Set the forward rotation (CCW) torque overload value, which is the percentage of
rated torque.
 When the forward torque of the motor exceeds P-070 and the duration is longer
than P-072, the drive will alarm, the alarm number is Err-29, and the motor will stop.

Reverse (CW) torque overload
P-071
alarm level -300～0 -140 % ALL
 Set the reverse (CW) torque overload value, which is the percentage of rated
torque.
 When the motor reverse torque exceeds P-071 and the duration is longer than
P-072, the drive will alarm, the alarm number is Err29, and the motor will stop.

Torque overload alarm detection
P-072
time 1～30000 1000 ms ALL
 Refer to the description of parameters P-070 and P-071.

P-075 Maximum speed limit
0～6000 3500 r/min ALL
 Set the allowable maximum speed limit of the servo motor.

 Regardless of the direction of rotation.
 If the set value exceeds the maximum speed allowed by the system, the actual
speed will also be limited within the maximum speed.

P-076 JOG running speed
0～5000 100 r/min S
 Set the running speed of JOG operation.

P-077 Speed limit selection
0～2 0 T
 Set the speed limit mode in torque control, the speed limit is not divided into
directions.
P077 illustrate explain
0 basic restrictions Limited by parameter P078.
1 Basic limit + analog limit In addition to the basic limit, it is also limited by
the analog speed command.
2 Basic Limit + Internal Speed In addition to the basic limit, it is also limited by
Limit the internal speed command. The internal speed
command is determined by the SP1, SP2, and
SP3 of the DI input. Please refer to the DI
description.
Note: 1. If multiple limits occur, the final limit value is the smaller absolute value.
Even if the set value exceeds the maximum speed allowed by the system, the actual
speed will be limited within the maximum speed.

P-078 Speed limit during torque control
0～5000 1000 r/min T
 During torque control, the motor running speed is limited within this parameter.
 It can prevent the phenomenon of overspeed at light load.
 When overspeed occurs, the speed negative feedback is connected to reduce the
actual torque, but the actual speed will be slightly higher than the speed limit value.

Speed limit error during torque
P-079
control 1～5000 100 r/min T
 When overspeed occurs, this parameter can adjust the speed negative feedback
amount.
 The smaller the parameter value, the larger the negative feedback amount, the
steeper the speed limit curve, and the smaller the overspeed amount, but too small
may cause jitter.

Position out-of-tolerance detection
P-080
range 0～32767 400 0.01 圈 P
 Set the detection range of position out-of-tolerance alarm.

 In the position control mode, when the count value of the position deviation
counter exceeds the pulse corresponding to this parameter value, the servo drive will
give a position out-of-tolerance alarm (Err 4).
 The unit is revolution. Multiply the encoder's resolution per revolution to get the
number of pulses. If a 2500-line encoder is used, the resolution per revolution of the
encoder is 10,000, and when the parameter value is 400, it corresponds to 40,000
encoder pulses.

P-081 motor encoder type selection
0～1 0 ALL
 Set the type of motor encoder;
 Parameter meaning: 0: non-wire-saving photoelectric encoder; 1: wire-saving
photoelectric encoder.
Number of lines of the motor Range Default Unit Applicable

P-082
encoder 1~32767 2500 pulse ALL
 Set the number of lines of the motor encoder, the default setting is 2500 lines of
photoelectric encoder;
 If it is an incremental encoder, the number of pulses per revolution ppr = the
number of lines of the motor encoder * 4.
The motor encoder control Range Default Unit Applicable

P-084
parameter 0～11111 0 ALL
 Set the polarity of the A/B signal of the motor encoder: 0: A/B is not inverted 1:
A/B is inverted
Positive and negative limit use Range Default Unit Applicable

P-097 mode / positive and negative
0～33 33 ALL
control
 Forward drive prohibition (CCWL) and reverse drive prohibition (CWL) in DI
input are used for limit stroke protection. Normally closed switch is used. When the
input is ON, the motor can run in this direction. When it is OFF, it cannot run in this
direction. . If the limit stroke protection is not used, it can be ignored through this
parameter, so that it can run without connecting the drive prohibition signal.
 The default value is to ignore the drive prohibition. If you need to use the drive
prohibition function, please modify this value first.
 The meaning of the one-digit parameter:
P-097 Reverse Drive Disable Forward Drive Disable
single digit (CWL) (CCWL)
0 use use
1 use neglect
2 neglect use
3 neglect neglect
Use: When the input signal is ON, the motor can run in this direction; when it is
OFF, the motor cannot run in this direction.
Ignore: The motor can run in this direction, the drive prohibition signal has no
effect, so it is not necessary to connect to this signal.
 The meaning of the ten-digit parameter: in the speed control mode, it is used with
the analog speed command.
P-097 Forward signal usage mode Invert signal usage mode

ten digits
0 (analog speed command) (analog speed command)
1 use use
2 use Do not use
3 Do not use use
Use: The size of the speed command is given by the 0~10V analog quantity, and
the direction is determined by the forward and reverse input points.
Not used: The magnitude and direction of the speed command are given by
-10V~10V analog, and the forward and reverse input points do not work.
Appli
P-098 Force enable Range Default Unit
cable
Appli
P-098 Force enable Range Default Unit
cable
0~1 0 ALL
0: Enable SON control by DI input;
1: Software forced enable.
Appli
Range Default Unit
P-099 Motor series code cable
0~15 0 ALL
Set the motor series, the UVW phase sequence of the motor power line of different
series may be different, the AB signal polarity of the encoder, and the offset angle of
the encoder installation may also be different;
Wrong settings may cause the motor to stall or run! Therefore, users must ensure
the correctness of this parameter before using the drive!
Parameter meaning:
For specific setting instructions, see Chapter 7 Motor Adaptation Table.
5.4.2 1st stage parameters

Appli
Range Default Unit
P-100 Digital input DI1 function cable
-21～21 1 ALL
 Function planning of digital input DI1. The absolute value of the parameter
indicates the function, and the symbol indicates the logic. For the function, please
refer to chapter 5.5.
 Symbol represents input logic, positive number represents positive logic, negative
number represents negative logic, ON is valid, OFF is invalid:
parameter value DI input signal DI results
A positive number open circuit OFF
turn on ON
negative number open circuit ON
turn on OFF
 When the function selection of multiple input channels is the same, the function
result is a logical OR relationship. For example, both P-100 and P-101 are set to 1
(SON function), then when either DI1 and DI2 are ON, SON is valid.
 The input function that is not selected by parameters P-100~P-104, that is, the
unplanned function, will be OFF (invalid). But there are exceptions, setting
parameters P-120~P-124 can force the input function ON (valid), regardless of
whether the function is planned or not.
Appli
Range Default Unit
-21～21 2 ALL
 For the function planning of digital input DI2, refer to the description of parameter
P-100.
Appli
Range Default Unit
-21～21 3 ALL
P-100.
Appli
Range Default Unit
-21～21 4 ALL
P-100.
Appli
Range Default Unit
-21～21 20 ALL
P-100.
Appli
Range Default Unit
-21～21 21 ALL
P-100.
Appli
Range Default Unit
P-108 Digital output DO1 function cable
-12～12 2 ALL
 Digital output DO1 function planning, the absolute value of the parameter indicates
the function, the symbol indicates the logic, please refer to chapter 5.6 for the
function.
 0 is forced OFF, 1 is forced ON.
 Symbols represent output logic, positive numbers represent positive logic, and
negative numbers represent negative logic:
parameter value Correspondi DO output
ng function signal
A positive number ON turn on
OFF deadline
negative number ON deadline
OFF turn on
Appli
Range Default Unit
-12～12 3 ALL
 For the functional planning of digital output DO2, refer to the description of
parameter P108.
Appli
Range Default Unit
-12～12 5 ALL
 For the function planning of digital output DO3, refer to the description of
parameter P108.
Appli
Range Default Unit
-12～12 8 ALL
 For the function planning of digital output DO4, refer to the description of
parameter P108.
Appli
Digital input DI forced valid Range Default Unit
P-120 cable
parameter1
00000～11111 00000 ALL
 The corresponding function is represented by 5 decimal digits:
Digit Dec5 Dec4 Dec3 Dec2 Dec1
Correspon NoUse TCW TCCW ACLR SON
ding
function
 The function for forcing DI input is valid. If the corresponding function bit is set to
1, the function is forced ON (valid).
 Refer to Section 5.5 for the meaning of the DI symbol.
one of the Corresponding functional result
parameters function [Note]
0 Not planned OFF
planned determined by the
input signal
1 unplanned or ON
planned
Note: Planned refers to the function selected by parameters P-100~P-105.
Unplanned refers to functions that are not selected by parameters P-100~P-105.
Appli
P-121 cable
parameter2
00000～11111 00000 ALL
Corresponding ZCLAMP SP3 SP2 SP1 CMODE
function
 Others refer to the description of parameter P120.
Appli
P-122 cable
parameter3
00000～11111 00000 ALL
 The corresponding function is represented by a 5-digit decimal
Corresponding
TRQ2 TRQ1 CINV CZERO CCW
function
Appli
P-123 cable
parameter4
00000～11111 00000 ALL
Corresponding
GEAR2 GEAR1 EMG PC CW
function
Appli
P-124 cable
parameter5
00000～11111 00000 ALL
Corresponding
GAIN CWL CCWL PECLR INH
function
Digital input DIx filtering Appli

Range Default Unit
P-125 (DI1~DI6 share this filter cable
parameter) 1～1000 5 ms ALL
 Digital filter time constant for DI input.
 The smaller the parameter value, the faster the signal response speed; the larger the
parameter value, the slower the signal response speed, but the stronger the ability to
filter noise.
Enable off or stop mode when an Appli

P-136 Range Default Unit
alarm occurs cable
Enable off or stop mode when an Appli
P-136 Range Default Unit
alarm occurs cable
0～1 0 P
 When the drive is turned off or an alarm occurs, this parameter is used to set the
stop mode.
 The meaning of the parameter is:
0: The drive cuts off the motor current directly, and the motor stops freely.
1: The drive keeps the first enable state, controls the motor to decelerate and stop at
the deceleration time defined by P-063, and then turns off the enable to cut off the
motor current.
Appli
Range Default Unit
P-137 Internal speed 1 cable
-5000～5000 0 r/min S
 Internal speed 1, refer to the description of parameter P-025.
Appli
Range Default Unit
-5000～5000 0 r/min S
Appli
Range Default Unit
-5000～5000 0 r/min S
Appli
Range Default Unit
-5000～5000 0 r/min S
Appli
Range Default Unit
-5000～5000 0 r/min S
Appli
Range Default Unit
-5000～5000 0 r/min S
z  Internal speed 6, refer to the description of parameter P-025.
Appli
Range Default Unit
-5000～5000 0 r/min S
z  Internal speed 7, refer to the description of parameter P-025.
Appli
Range Default Unit
-5000～5000 0 r/min S
Appli
Range Default Unit
P-145 Internal torque 1 cable
-300～300 0 % T
 Internal torque 1, refer to the description of parameter P-026.
Appli
Range Default Unit
-300～300 0 % T
 For internal torque 2, refer to the description of parameter P-026.
Appli
Range Default Unit
-300～300 0 % T
 For internal torque 3, refer to the description of parameter P-026.
Appli
Range Default Unit
-300～300 0 % T
 Internal torque 4, refer to the description of parameter P-026.
Appli
Range Default Unit
P-150 Positioning complete range cable
0～32767 10 脉冲 P
 Set the pulse range for positioning completion under position control.
 When the number of remaining pulses in the position deviation counter is less than
or equal to the set value of this parameter, the COIN (positioning complete) of the
digital output DO is ON, otherwise it is OFF.
 The comparator has hysteresis function, which is set by parameter P-151.
Appli
Range Default Unit
P-152 Positioning proximity range cable
0～32767 500 脉冲 P
 Set the positioning proximity pulse range under position control.
 When the number of remaining pulses in the position deviation counter is less than
or equal to the set value of this parameter, the NEAR (near positioning) of the digital
output DO is ON, otherwise it is OFF.
 When the positioning is about to be completed, the host computer receives the
NEAR signal to prepare for the next step. Generally, the parameter value should be
greater than P-150.
Appli
Range Default Unit
P-154 Arrival speed cable
-5000～5000 500 r/min ALL
 When the motor speed exceeds this parameter, the ASP (speed arrival) of the digital
 With polarity setting function, controlled by parameter P-156:
P-156 P-154 Comparators
0 >0 speed regardless of
direction
1 >0 Only detect forward
speed
<0 Only detect reverse
speed
Appli
Range Default Unit
P-156 Arrival velocity polarity cable
0～1 0 ALL
 Refer to the description of parameter P-154.
Appli
Range Default Unit
P-157 Arrival torque cable
-300～300 100 % ALL
 When the motor torque exceeds this parameter, the ATRQ (torque arrival) of the
digital output DO is ON, otherwise it is OFF.
 It has the function of polarity setting, which is controlled by parameter P-159:
P-159 P-157 Comparators
0 >0 Torque regardless of
direction
1 >0 Only detect forward
torque
<0 Only the reverse
torque is detected

P-159 Arrival torque polarity
0～1 0 ALL
z  Refer to the description of parameter P-157.

P-160 Zero speed detection point
0～1000 10 r/min ALL
z  When the motor speed is lower than this parameter, ZSP (zero speed) of digital
z  The comparator has hysteresis function, which is set by parameter P-161.
P-162 Zero Speed Clamp Mode Range Default Unit Applicable

P-162 Zero Speed Clamp Mode Range Default Unit Applicable
0～1 0 S
z When the following conditions are met, the zero-speed clamping function is
enabled:
z Condition 1: Speed Control Mode
z Condition 2: ZCLAMP (zero-speed clamp) in DI is ON
z Condition 3: The speed command is lower than parameter P-160
z When any of the above conditions are not satisfied, execute normal speed control.
z When the zero-speed clamp function is enabled, the meaning of this parameter is:
z 0: The motor position is fixed at the moment the function is turned on. At this
time, the internal position control is connected, and even if the rotation occurs
due to external force, it will return to the zero fixed point.
z 1: When the function is turned on, the speed command is forced to zero speed.
The interior is still speed control and may rotate due to external forces.

P-164 emergency stop mode
0～1 0 P
z When the EMG (emergency stop) in the driver DI is ON, this parameter is used to
set the stop mode.
z The meaning of the parameter is:
z 0: The driver cuts off the motor current directly, and the motor stops freely;
z 1: The drive keeps the enabled state, and controls the motor to decelerate and stop
at the acceleration and deceleration time defined by P-063.
Motor standstill speed detection Range Default Unit Applicable

P-165
point 0～1000 5 r/min ALL
z Motor stationary detection, the motor speed is lower than the parameter value and
the motor is considered stationary.
z Only used for electromagnetic brake timing judgment.
Electromagnetic brake delay time Range Default Unit Applicable

P-166
when the motor is stationary 0～5000 500 ms ALL
z When the system changes from enabled state to disabled or an alarm occurs,
define the delay time from electromagnetic brake braking (DO output terminal
BRK OFF) to motor current cut-off during the stationary period of the motor.
z This parameter is to cut off the current after the brake is reliably braked to avoid
the slight displacement of the motor or the drop of the workpiece. The parameter
should not be less than the delay time of the mechanical brake.
z Please refer to chapter 4.7 for the corresponding timing.
Electromagnetic brake waiting time Range Default Unit Applicable

P-167
when the motor is running 0～5000 500 ms ALL
z When the system changes from enabled state to disabled or an alarm occurs,
define the delay time from motor current cut off to electromagnetic brake braking
(DO output terminal BRK OFF) during motor operation.
z This parameter is to decelerate the motor from high-speed rotation to low-speed,
and then brake the brake to avoid damage to the brake;
z The actual action time is the time required for P-167 or the motor to decelerate to
the value of P-168, whichever is the smallest.
z Please refer to chapter 4.7 for the corresponding timing.
Electromagnetic brake action speed Range Default Unit Applicable

P-168
when the motor is running 0～3000 100 r/min ALL
z  Refer to the description of parameter P-167.
Delay time for electromagnetic Range Default Unit Applicable

P-169
brake opening 0～5000 500 r/min ALL
z  When the system changes from the disabled state to the enabled state, define
the delay time from when the motor current is turned on to when the
electromagnetic brake is released (DO output terminal BRK ON).
z  Please refer to chapter 4.7 for the corresponding timing.

5.5 Detailed explanation of DI function
Special note: DI1~DI6 are programmable input ports, whose functions are
configured by parameters P-100~P-105; DO1~DO4 are programmable output ports,
whose functions are configured by parameters P-108~P-111; the parameter
configuration is detailed in Chapter 5 5.4.2 section, the specific functions are
described as follows:
Serial number Symbol Features Functional explanation

0 NULL No function The input state has no effect on the system.
Servo OFF: The servo drive is disabled, and the motor does not
1 SON
enable pass current;
2 ARST Alarm clear ON : The servo drive is enabled, and the motor is powered.
Forward OFF: Prohibit forward rotation (CCW) rotation;
drive ON : Enable forward (CCW) rotation.
prohibited Used for mechanical limit stroke protection, the function is
controlled by parameter P-097. Note that the default value of P-097 is
to ignore this function. If you need to use this function, you need to
modify P-097.
P097 illustrate
0 To use the forward drive prohibition
3 CCWL 2 function, it must be connected to the
normally closed contact of the travel
switch.
1 If the forward drive prohibition

3(Default) function is ignored, the motor can run
in the forward direction. This signal
has no effect and does not need to be
connected.
Reverse OFF: Prohibit reverse rotation (CW);
drive ON : Reverse (CW) rotation is allowed.
prohibited Used for mechanical limit stroke protection, the function is
controlled by parameter P-097. Note that the default value of P-097 is
to ignore this function. If you need to use this function, you need to
4 CWL modify P-097.
P-097 OFF: Prohibit reverse rotation (CW);
0 ON : Reverse (CW) rotation is
1 allowed.
2 OFF: Prohibit reverse rotation (CW);
3(Default)
Forward OFF: CCW direction torque is not limited by parameter P-067;
torque limit ON: CCW direction torque is limited by parameter P-067.
5 TCCW
Note that no matter whether TCCW is valid or invalid, CCW direction
torque is also limited by parameter P-065.
Reverse OFF: CW direction torque is not limited by parameter P-068;
torque limit ON : CW direction torque is limited by parameter P-068.
6 TCW
Note that no matter whether TCW is valid or invalid, the CW direction
torque is also limited by parameter P-066.
Zero speed The zero-speed clamp function is enabled when the following
clamp conditions are met:
Condition 1: Speed control mode;
Condition 2: ZCLAMP ON;
7 ZCLAMP
Condition 3: The speed command is lower than parameter P-160.
When any of the above conditions are not satisfied, normal speed
control is performed. Refer to the description of parameter P-162 for
specific application.
zero Under speed or torque control, the speed or torque commands are:
8 CZERO command OFF: normal command;
ON : Zero command.
instruction Under speed or torque control, the speed or torque commands are:
9 CINV negation OFF: normal command;
ON : Invert the instruction.
Internal In speed control and speed limit, the combination of SP1, SP2 and SP3
speed selects the internal speed 1~8:
10 SP1
selection 1 DI signal [Note] Speed command
SP3 SP2 SP1
Internal 0 0 0 Internal speed 1 (parameter P-137)

speed 0 0 1 Internal speed 2 (parameter P-138)
11 SP2 0 1 0 Internal speed 3 (parameter P139)
selection 2
Internal
speed
12 SP3
selection 3
Internal In the case of torque control and torque limit, the combination of
torque TRQ1 and TRQ2 selects internal torque 1~4:
13 TRQ1
selection 1 DI signal [Note] Torque command
TRQ2 TRQ1
Internal 0 0 Internal torque 1 (parameter
torque P-145)
selection 2 0 1 Internal torque 2 (parameter
P-146)
14 TRQ2 1 0 Internal torque 3 (parameter
P-147)
1 1 Internal torque 4 (parameter
P-148)
emergency OFF: Allow the servo drive to work;
15 EMG
shutdown ON : stop the motor according to the method set by parameter P-164.
control When parameter P-004 is set to 3, 4, and 5, the control mode can be
mode switched:
switch P-004 CMODE Control Mode
3 0 Position Mode
1 Speed Mode
16 CMODE
4 0 Position Mode
1 Torque Mode
5 0 Speed Mode
1 Torque Mode
注：0 表示 OFF，1 表示 ON。
Electronic
18 GEAR1 gear
Parameter P-034 is used to configure the dynamic electronic gear
selection 1
application mode, please refer to the specific description in chapter
Electronic
4.2.3.
19 GEAR2 gear
selection 2
Position Clear the position deviation counter, the clearing mode is selected by
deviation parameter P-163, the position deviation clearing occurs in:
20 CLE
clear P-163=0: CLE ON level;
P-163=1: CLE rising edge (the moment when OFF changes to ON).
Pulse input OFF: The position command pulse is allowed to pass;
21 INH
prohibited ON : Position command pulses are disabled.
5.6 Detailed explanation of DO function

Serial
numb Symbol Features Functional explanation
er
0 OFF always invalid Force output OFF.
1 ON always valid Force output ON.
Serial
numb Symbol Features Functional explanation
er
OFF: Servo main power is not connected or there is an
2 SRDY Servo ready alarm;
ON : Servo main power is normal, no alarm.
OFF: Servo Alarm not Happen
3 ALM Servo Alarm
ON: Servo Alarm Happen
OFF: Motor speed is higher than parameter P-160
(regardless of direction);
4 ZSP zero speed
ON : Motor speed is lower than parameter P-160
(regardless of direction).
During position control mode:
OFF: The position deviation is greater than parameter
Target Position
5 COIN P-150;
Arrive
ON : The position deviation is smaller than parameter
P-150.
OFF: Motor speed is lower than parameter P-154
Target Speed (regardless of direction);
6 ASP
Arrive ON : Motor speed is higher than parameter P-154
(regardless of direction).
Target Torque OFF: Motor Torque is lower than parameter P-157
7 ATRQ
Arrive ON : Motor Torque is higher than parameter P-157
Electromagnetic OFF: Electromagnetic brake hold on
8 BRK
brake ON : Electromagnetic brake release
OFF: Servo not Running
9 RUN Servo running
ON : Servo Running
During position control mode:
OFF: The position deviation is greater than parameter
positioning
10 NEAR P-152;
approach
ON : The position deviation is smaller than parameter
P-152.
OFF: Motor torque not arrive the torque limit
11 TRQL torque limit
ON : Motor torque arrive the torque limit
OFF: Motor speed not arrive the speed limit
12 SPL speed limit
ON : Motor speed arrive the speed limit
Chapter 6 Troubleshooting and Diagnosis
6.1 List of alarms

Alarm
Alarm code Alarm name Alarm content
clear
Err-- no alarm works fine
Err 1 overspeed Motor speed exceeds maximum limit Yes
The main circuit power supply voltage
exceeds the specified value, check whether
Err 2 Power main circuit overvoltage No
the braking resistor is damaged or the
resistance value is appropriate
Power main circuit The main circuit power supply voltage is
Err 3 No
undervoltage lower than the specified value
The position tracking deviation exceeds the
Err 4 Position tracking deviation error Yes
set value (P-080).
position command frequency The position command frequency exceeds
Err 5 Yes
error the maximum allowable frequency
The motor power line is connected
Err 6 Motor stall incorrectly, and the number of pole pairs Yes
P-201 is incorrect
CCWL, CWL driver stroke limit switch
Err 7 Drive forbidden exception Yes
signal abnormal
Incremental encoder ABZ signal The encoder ABZ signal is disturbed or
Err 9 Yes
failure disconnected
Incremental encoder UVW There is interference or disconnection in the
Err10 Yes
signal failure UVW signal of the encoder
The power main circuit IPM inverter module
Err11 IPM module failure No
is faulty
The instantaneous current of the servo drive
Err12 Overcurrent Yes
is too large
The average load current of the motor is too
Err13 overload Yes
high
If the instantaneous load is too large for a
short time during braking, check whether the
Err14 Braking peak power overload Yes
braking resistor is damaged or whether the
resistance value is appropriate.
EEPROM read and write errors or
Err20 EEPROM error unexpected power failure when saving No
parameters
Err21 logic circuit error Processor peripheral logic circuit failure No
AD conversion reference AD sampling circuit voltage reference is not
Err23 No
voltage error a standard value
A/D conversion channel AD Sampling Amplification Conditioning
Err24 No
asymmetry or zero drift Circuit Abnormal
The motor load exceeds the value and
Err29 User torque overload alarm Yes
duration set by the user
Err30 Encoder Z signal lost Encoder Z signal does not appear No
The encoder Z signal is detected The encoder Z signal is disturbed or the
Err31 No
abnormally signal is unstable
The encoder UVW signal is
Err32 Encoder UVW signal disconnection No
illegally encoded
Wire-saving encoder signal No high-impedance state during power-up
Err33 No
error sequence
The second encoder is disconnected or there
Err36 Second encoder disconnection No
is interference
6.2 Alarm reason and treatment
Err 1(overspeed)
Reason Check Solution
Motor wiring U, V, W Check U, V, W wiring Check U, V, W wiring
phase sequence error
Motor speed overshoot Check the running status Check the running status and view
and view the parameters the parameters
Encoder wiring error Check encoder wiring Check encoder wiring
Err 2(main circuit overvoltage)

Input AC power is too high Check the supply voltage Make the voltage meet the product
specification
Regenerative braking Whether the regenerative Repair
failure braking resistor, brake pipe
is invalid or the wiring is
disconnected
Excessive regenerative Check the brake load ratio Reduce start-stop frequency
braking energy Increase the acceleration and deceleration
time
Decrease torque limit value
Reduce load inertia
Replacement of higher power drives and
motors
Replace with larger braking resistor
Err 3(main circuit undervoltage)
Input AC power is too low Check the supply voltage Make the voltage meet the product
specification
Err 4(Position out of tolerance)

Motor wiring U, V, W Check U, V, W wiring Correctly connect the U, V, W
phase sequence error wiring of the motor, and
correspond to the U, V, W labels of
the driver plug one by one
Encoder zero change Check encoder zero Reinstall the encoder and zero
Encoder wiring error Check encoder wiring Correct wiring
Motor stuck Check the motor and repair
mechanical connection
parts
Command pulse frequency Check the input frequency, reduce the input frequency
is too high pulse division and
multiplication parameters
Position loop gain is too Check parameters P-009, Adjust the pulse division and
small P-013 multiplication parameters
Out of tolerance detection Check parameter P-080 Increase position loop gain
range is too small
Insufficient torque View torque Increase torque limit value
Increase the position command
smoothing filter time
reduce load
motors
Err 5(Position command overclocking)

Command pulse frequency Check whether the input reduce the input frequency
is too high frequency and electronic Correctly set P029 and P030
gear ratio are set correctly
The interval time between Add a delay of at least Modify the timing of the host computer
the motor enable and the 500ms between the host
command pulse is too computer giving the enable
short and sending the pulse
(waiting for the motor to
be fully excited)
The command of the host Whether the acceleration Increase the acceleration and deceleration
computer does not perform and deceleration time time of the command sent by the host
acceleration and setting of the position computer
deceleration processing or command sent by the host Properly increase the position command
the acceleration and computer is reasonable smoothing filter coefficient P040
deceleration time is too
short
Err 6(motor stall)

Motor stuck Check the motor and Overhaul
mechanical connection
parts
Motor wiring U, V, W Check U, V, W wiring Correctly connect the U, V, W wiring of
phase sequence error the motor, and correspond to the U, V, W
labels of the driver plug one by one
The motor is overloaded Check whether the load reduce load
current D-i is too large Increase torque limit P065, P065
Replace with a higher power drive
Err 7(Drive forbidden exception)

When the servo is enabled, the Check CCWL, CWL wiring Correctly input CCWL and CWL signals
CCWL and CWL drive If CCWL and CWL signals are not used,
prohibition inputs are invalid. parameter P097 can be set to shield
Err 9(Encoder AB signal failure)

Defective encoder cable Check cables and Replacing cables and connectors
and connector connectors
Motor model is not set Check motor model Reset the motor model
correctly
Encoder damaged Check the encoder Replace the encoder
Err11(power module failure)

Short circuit between Check U, V, W wiring Correctly connect U, V, W wiring
motor wiring U, V, W
Damaged motor winding Check the motor Replace the motor
insulation
drive corruption Check the drive There is no problem with the
motor, if the power is turned on
again, it still alarms, the driver may
be damaged, and the driver should
be replaced.
Poor grounding Check the ground wire properly grounded
disturbed Check for sources of Add a line filter to keep away from
interference interference sources
Err12(Overcurrent)
Short circuit between Check U, V, W wiring Correctly connect U, V, W wiring
motor wiring U, V, W
Damaged motor winding Check the motor Replace the motor
insulation
drive corruption Check the drive There is no problem with the
motor, if the power is turned on
again, it still alarms, the driver may
be damaged, and the driver should
be replaced.
Err13(overload)
Continuous operation over View load rate Reduce the load or change to a
rated load higher power driver
System is unstable Check motor operation for lower system gain
oscillation
Acceleration and Check whether the motor Increase the acceleration and
deceleration too fast runs smoothly deceleration time
Encoder zero change Check encoder zero Reinstall the encoder and zero
Err14(Braking peak power overload)

Input AC power is too high Check the supply voltage Make the voltage meet the product
specification
Regenerative braking Whether the regenerative Repair
failure braking resistor, brake pipe is
invalid or the wiring is
disconnected
Excessive regenerative Check the brake load ratio Reduce start-stop frequency
braking energy Increase the acceleration and deceleration
time
motors
Replace with larger braking resistor
encoder problem Incorrect number of lines and Replace the encoder
poles
Encoder Z signal error
Encoder damaged
Err20(EEPROM error)
EEPROM chip damaged Re-power on and check The fault does not disappear, please
replace the drive
Err21(logic circuit error)

control circuit failure Re-power on and check The fault does not disappear, please
replace the drive
Err23(AD conversion reference voltage error)

Current sensor and connector Check the main circuit Replace the drive
problems and see if the flexible
connecting wire is loose
AD converter and analog Check the control Replace the drive
amplifier circuit problems circuit
Err24(The AD conversion channel is asymmetrical or the zero
drift value is too large)

AD converter and analog amplifier Check the control Replace the drive
circuit problems circuit
Err29(User torque overload alarm)

Unexpected heavy load occurs Check the load adjust the load
The setting of parameters P-070, Check parameters Adjustment parameters
P-071 and P-072 is unreasonable
Err30(Encoder Z signal lost)

encoder problem View encoder Z Replace the encoder
signal
Encoder cable and connector Check cables and Replacing cables and connectors
problems connectors
Drive interface circuit failure Check the control Replace the drive
circuit
Err31(The encoder Z signal is detected abnormally)

encoder problem View encoder Z Replace the encoder
signal
Interference in the encoder cable Check cables and Replacing cables and connectors
connectors
Drive interface circuit failure Check the control Replace the drive
circuit
Err32(The encoder UVW signal is illegally encoded)

encoder problem Check encoder UVW Replace the encoder
signal
Encoder wiring error, Check encoder wiring Correct wiring, including
disconnection shielding
Err33(Wire-saving encoder signal error)

encoder problem Check the encoder signal Replace the encoder
Motor model is not set correctly Check the motor model and confirm whether Reset the motor model
the motor is equipped with a wire-saving
encoder
Chapter 7 Specifications and Adapter Motors
7.1 Drive Specifications

 (1) Model naming rules
(2) Driver installation dimension drawing
T3L-L15/L20 installation dimension drawing
AC Servo Drive T3L

TH-T3L 220V
CN2
CN1
T33L-L30 installlation dimen
nsion drawin
ng
AC
A Servo Drive T3L
TH-T3L 220V
高：161mm
CN2
CN1
T3a-L20 installation
n dimension drawing (un
nit: mm)
T3a-L30 installation dimension drawing (unit: mm)
T3a-L40/T3a-H25 installation dimension drawing (unit: mm)
T3a-L50/L75, T3a-H50/H75 installation dimension drawing (unit: mm)

(3) Model specification and function introduction
Table 7.1 Driver Model Specifications and Functions
Model T3x-L20 T3x-L30 T3x-L40 T3x-L50 T3x-L75 T3x-H25 T3x-H50 T3x-H75

Power Main Single phase/Three phase 220VAC -15%+10%
3-phase 380VAC -15%+10% 50/60Hz
Supply power 50/60Hz
Temperatur
Work：0℃～40℃ Storage：-40℃～50℃
e
Environme
Humidity Work：40% ～ 80%( no condensation) Storage：93% or less (no condensation)
nt
Atmospher
86kPa ～ 106 kPa
ic pressure
Protection class IP20
control mode position, speed, torque, position/speed, speed/torque, position/torque
digital input 6 programmable input terminals (optical isolation)
digital output 4 programmable output terminals (optical isolation)
Encoder
Signal signal type A, B, Z differential output, Z signal open collector output
output
Input
Differential input: ≤500kHz (kpps); Single-ended input: ≤200kHz (kpps)
frequency
Command
Position Pulse + Direction; Forward/Reverse Pulse; Quadrature Pulse
mode
Electronic
1～32767/1 ～ 32767
gear ratio
Simulation
command ±10VDC, input impedance 10kΩ
enter
Instruction
Speed
plus Parameter setting P-060/P-061
slow down
Command
Analog, internal speed command
source
Monitoring
-10V ~ +10V, input impedance 10kΩ
function
Torque Torque limit Parameter setting P-065/P-066
Command Analog, internal torque command
source
Speed, current position, position deviation, motor torque, motor current, command
Monitoring function
pulse frequency, etc.
Overspeed, overvoltage, overcurrent, overload, abnormal braking, abnormal encoder,
Protective function
position out of tolerance, command overclocking, etc.
Speed
≥800Hz
Bandwidth
Feature
speed
＜±0.03% (load 0～100%); ＜±0.02% (power -15%～+10%)
volatility
Note: T3x stands for T3a/T3L
7.2 Standard 4 pole pairs motor table
Table 7.2 T3a-H25/H50/H75 driver compatible motor model
(Motor series code P-099: F1-MG)
Motor Code Adapter drive Servo motor Rated Rated Rated overload
（P-002） Model model Power Current Torque multiple
Specifications (220V) （kW）（A）（Nm）
(AC 220V)
0 110ST-M02030 0.6 2.0 2 3
1 110ST-M04020 0.8 2.0 4 3
2 110ST-M04030 1.2 3.0 4 3
3 110ST-M05030 1.5 4.5 5 3
4 110ST-M06020 1.2 3.0 6 3
5 110ST-M06030 1.8 4.5 6 3
6 130ST-M04025 1.0 2.6 4 3
7 T3a-H25 130ST-M05025 1.3 3.0 5 3
8 130ST-M06025 1.5 3.7 6 3
9 130ST-M07725 2.0 4.7 7.7 3
10 130ST-M10010 1.0 2.5 10 3
11 130ST-M10015 1.5 3.5 10 3
12 130ST-M10020 2.0 5.1 10 3
13 130ST-M10025 2.6 5.9 10 3
14 130ST-M15015 2.3 5.0 15 3
15 130ST-M15025 3.8 7.4 15 2.8
16 130ST-M17020 3.5 7.4 17 2.8
17 150ST-M15020 3.0 6.8 15 3
18 T3a-H25/H50 150ST-M15025 3.8 9.5 15 2.2/2.9
19 T3a-H25/H50 150ST-M18020 3.6 8.5 18 2.5/3
20 T3a-H25/H50 150ST-M23020 4.7 12 23 1.8/2.3
21 T3a-H25/H50 150ST-M27015 4.2 11 27 1.9/2.5
22 T3a-H50/H75 150ST-M27020 5.5 14.5 27 2/2.7
23 T3a-H75 150ST-M27025 6.8 17 27 2.3
24 T3a-H25 180ST-M17215 2.7 6.5 17.2 3
25 T3a-H25 180ST-M19015 3.0 7.5 19 2.8
26 T3a-H25/H50 180ST-M21520 4.5 9.5 21.5 2.2/2.9
27 T3a-H25 180ST-M27010 2.9 7.5 27 2.8
28 T3a-H25/H50 180ST-M27015 4.3 10 27 2.1/2.8
29 T3a-H25/H50 180ST-M35010 3.7 10 35 2.1/2.8
30 T3a-H25/H50 180ST-M35015 5.5 12 35 1.8/2.3
31 T3a-H75 180ST-M48015 7.5 20 48 1.95
Table 7.3 T3x-L20/L30 driver compatible motor model
Motor Code Adapter drive Servo motor Rated Rated Rated overload
（P-002） Model model Power Current Torque multiple
Specifications (220V) （kW）（A）（Nm）
(AC 220V)
20 40ST-M00130 0.05 0.61 0.16 3
20 40ST-M00330 0.1 0.9 0.32 3
21 60ST-M00630 0.2 1.2 0.6 3
22 60ST-M01330 0.4 2.8 1.3 3
23 60ST-M01930 0.6 3.5 1.9 3
27 T3x-L20 80ST-M01330 0.4 2.0 1.3 3
28 80ST-M02430 0.75 3.0 2.4 2.5
29 80ST-M03520 0.73 3.0 3.5 2.5
30 80ST-M04025 1.0 4.4 4 2.5
31 90ST-M02430 0.75 3 2.4 3
32 90ST-M03520 0.73 3 3.5 3
33 90ST-M04025 1.0 4 4 2.5
34 T3x-L20/L30 110ST-M02030 0.6 2.5 2 2.5/3
35 T3x-L20/L30 110ST-M04030 1.2 5 4 2/3
39 T3x-L20/L30 110ST-M04020 0.8 3.5 4 3/3
36 T3x-L30 110ST-M05030 1.5 6 5 2.5
37 T3x-L30 110ST-M06020 1.2 4.5 6 3
38 T3x-L30 110ST-M06030 1.8 6 6 2.5
44 T3x-L20/L30 130ST-M04025 1 4 4 2.5/3
45 T3x-L20/L30 130ST-M05025 1.3 5 5 2/3
46 T3x-L30 130ST-M06025 1.5 6 6 2.5
41 T3x-L30 130ST-M06030 1.8 7 6 2.2
47 T3x-L30 130ST-M07720 1.6 6 7.7 2.5
47 T3x-L30 130ST-M07725 2.0 7.5 7.7 2
48 T3x-L30 130ST-M07730 2.4 9 7.7 1.6/2
40 T3x-L20/L30 130ST-M10010 1.0 4.5 10 2.2/3
49 T3x-L30 130ST-M10015 1.5 6 10 2.5
43 T3x-L30 130ST-M10020 2 8.5 10 1.7
50 T3x-L30 130ST-M10025 2.6 10 10 1.5
51 T3x-L30 130ST-M15025 3.8 13.5 15 1.3
52 T3x-L30 130ST-M15015 2.3 9.5 15 1.6
Note: T3x represents multiple series of T3a/T3L/T3M/T3G.
Table 7.4 T3a-L40/L50/L75 driver compatible motor model
Motor Adapter drive Servo motor Rated Rated Rated overload
Code Model model Power Current Torque multiple
（P-002） Specifications (220V) （kW）（A）（Nm）
(AC 220V)
0 T3a-L40 130ST-M07720 1.6 6 7.7 3
0 T3a-L40 130ST-M07725 2.0 7.5 7.7 3
1 T3a-L40/L50 130ST-M07730 2.4 9 7.7 2.3/3
2 T3a-L40 130ST-M10015 1.5 6 10 3
3 T3a-L40/L50 130ST-M10025 2.6 10 10 2.1/2.8
4 T3a-L40/L50 130ST-M12020 2.4 10 12 2.1/2.8
5 T3a-L40/L50 130ST-M15015 2.3 9.5 15 2.2/3
6 T3a-L50/L75 130ST-M15025 3.9 13.5 15 1.6/2.3
7 T3a-L50/L75 150ST-M15020 3.0 14 15 2.0/2.8
8 T3a-L50/L75 150ST-M15025 3.8 17 15 1.7/2.4
9 T3a-L50/L75 150ST-M18020 3.6 17 18 1.7/2.4
10 T3a-L50/L75 150ST-M23020 4.7 21 23 1.4/1.9
11 T3a-L50/L75 150ST-M27020 5.4 24 27 1.4/1.9
12 T3a-L40/L50 180ST-M17215 2.7 10.5 17.2 2/2.7
13 T3a-L50/L75 180ST-M19015 3 12 19 2.3/3
14 T3a-L50/L75 180ST-M21520 4.5 16 21.5 1.8/2.5
15 T3a-L50/L75 180ST-M27010 2.9 12 27 2.3/3
16 T3a-L50/L75 180ST-M27015 4.3 16 27 1.8/2.4
17 T3a-L50/L75 180ST-M35010 3.7 16 35 1.8/2.4
18 T3a-L75 180ST-M35015 5.5 24 35 1.6
19 T3a-L75 180ST-M48015 7.5 32 48 1.2
7.3 Customized 5 pole pairs A series motor adaptation table
Table 7.5 T3x-L15~L75 driver suitable for 5 pole pairs motor model
(Motor series code P-099: F5-NA)
Motor Code Adapter drive Servo motor model Rated Rated Rated overload
（P-002） Model (220V) Power Current Torque multiple
Specifications （kW）（A）（Nm）
(AC 220V)
1 L15 60AST-M00630LB 0.2 1.1 0.64 3
2 L15 60AST-M01330LB 0.4 2.1 1.27 3
3 L15 80AST-M01330LB 0.4 2.3 1.27 3
4 L20 80AST-M02430LB 0.75 4 2.39 2.5
5 L20//L30 80AST-M03220LB 0.67 5.6 3.2 2/3
6 L20/L30 110AST-M04220LB 0.88 4.5 4.2 2.2/3
7 L20/L30 110AST-M05420LB 1.1 5.5 5.4 2/2.7
8 L30 110AST-M06420LB 1.3 6.5 6.4 2.5
9 L30/L40 110AST-M07520LB 1.6 8.0 7.5 2/2.5
10 L30 110AST-M04230LB 1.3 6.5 4.2 2.5
11 L30/L40 110AST-M05430LB 1.7 8.2 5.4 2/2.5
12 L30/L40 110AST-M06425LB 1.7 9.5 6.4 1.7/2
13 L30 130AST-M05415LB 0.85 6.5 5.4 2.5
14 L30/L40 130AST-M06415LB 1.0 8.0 6.4 2/2.5
15 L30/L40 130AST-M07515LB 1.2 9.0 7.5 1.7/2
16 L30/L40 130AST-M08415LB 1.3 9.5 8.4 1.7/2
17 L30/L40 130AST-M09615LB 1.5 10.0 9.6 1.5/2
18 L50 130AST-M11515LB 1.8 14.0 11.5 2
19 L50 130AST-M14615LB 2.3 16.0 14.6 2
20 L30/L40 130AST-M05430LB 1.7 9.5 5.4 1.7/2
21 L40/L50 130AST-M06430LB 2.0 11.5 6.4 1.7/2.5
22 L40/L50 130AST-M07530LB 2.4 12.0 7.5 1.5/2.5
23 L50 130AST-M08430LB 2.6 13.5 8.4 2.2
24 L50 130AST-M09625LB 2.5 16 9.6 1.9
25 L50/L75 130AST-M11520LB 2.4 17.8 11.5 1.7/2.2
26 L75 130AST-M14620LB 3.1 23.0 14.6 1.8
27 L30/L40 180AST-M17215LB 2.7 10.8 17.2 1.5/2
28 180AST-M21520LB
29 L50/L75 180AST-M27015LB 4.3 17.5 27 1.7/2.2
30 L75 180AST-M48015LB 7.5 30 48 1.4
31 180AST-M35015LB
32 L20/L30 130AST-M04820LB
Remarks: The above motors are all 5 pole pairs motors with a 2500-line photoelectric
encoder as standard. You must first set P-000 to 385 or 316, then select the motor
series parameter P-099 to F5-NA, and then set the motor code parameter P-002
according to the motor model. Execute the operation E-DEF to restore the default
parameters of the motor, in order to ensure better control performance, please be sure
to follow the above steps to correctly set the motor series parameter P-099 and model
code parameter P-002!
7.4 Customized 5 pole pairs B series motor adaptation table

Table 7.6 T3x-L15~L75 driver suitable for 5 pole pairs motor model
(Motor series code P-099: F6MG5)
Motor Code Adapter Servo motor model Rated Rated Rated overload
（P-002） drive (220V) Power Current Torque multiple
Model （kW）（A）（Nm）
Specifications
(AC 220V)
1 L15 MB060-P64FFDI2 0.2 1.55 0.637 3
2 L15 MB060-013FFDI2 0.4 2.6 1.27 3
3 L15 MB080-013FFDI2 0.4 2.7 1.27 3
4 L20 MB080-024FFDI2 0.75 5.0 2.39 2
5 L20 MB080-033FFDI2 1.0 5.4 3.3 3
6 L20/L30 MB080-040FFDI2 1.2 6.7 4.0 1.8/2.5
7 L20/L30 MB100-032FFDI2 1.0 5.0 3.2 2/3
8 L30/L40 MB100-064FFDI2 2.0 9.9 6.4 1.5/2
9 L20 MB110-020DFDI2 0.4 2.5 2 3
10 L20/L30 MB110-040DFDI2 0.8 5 4 2/3
11 L20/L30 MB110-050DFDI2 1.0 6 5 1.7/2.5
12 L30 MB110-060DFDI2 1.2 7 6 2.2
13 L20 MB110-042DFDI2 0.88 4.6 4.2 2.2
14 L20/L30 MB110-054DFDI2 1.1 5.9 5.4 2/2.5
15 L30 MB110-064DFDI2 1.3 7.0 6.4 2.2
16 L30 MB110-075DFDI2 1.6 8.6 7.5 1.8
17 L30 MB130-054CFDI2 0.85 6.9 5.39 2.3
18 L30/L40 MB130-083CFDI2 1.3 10.7 8.34 1.5/2
19 L40/L50 MB130-115CFDI2 1.8 15 11.5 1.5/2
20 L40/L50 MB130-146CFDI2 2.3 12.5 14.6 1.7/2.5
21 L40/L50 MB130-178CFDI2 2.8 15.5 17.8 1.5/2
22 L50/L75 MB180-186CFDI2 2.9 21.0 18.6 1.5/2
23 L50/L75 MB180-284CFDI2 4.4 27.0 28.4 1.2/1.6
24 L75 MB180-350CFDI2 5.5 39.0 35 1.2
Remarks: The above motors are all 5 pole pairs motors with a standard 2500-line
photoelectric encoder. You must first set P-000 to 385 or 316, then select the motor
series parameter P-099 to F6MG5, and then set the motor code parameter P-002
according to the motor model. Execute the operation E-DEF to restore the default
parameters of the motor, in order to ensure better control performance, please be sure
to follow the above steps to correctly set the motor series parameter P-099 and model
code parameter P-002!
Chapter 8 Quick Commissioning Guide
8.1 Notes on quick commissioning

1. Make sure the wiring is correct
● The power terminals R/S/T and the motor power terminals U/V/W should not be
reversely connected and should not be loose;
● The input voltage of L series must be three-phase or single-phase 220V, and the
input voltage of H series must be three-phase 380V;
● Check whether the +5V power supply in the CN2 terminal is correct, and the
polarity cannot be reversed;
● Whether the motor connection cable is short-circuited, it must be grounded

reliably;
● Check the command cable and motor encoder cable, they must be connected
reliably;
● The wiring of the same motor must correspond to the same driver.
2. Determine the power-on sequence
● The strong power and control power of the T3x series servo driver adopts an
integrated design. When the power is turned on, the strong power and the control
power are turned on at the same time. When the power is turned off, the internal
strong power is cut off first. Please wait patiently;
● If it is equipped with a servo motor with electromagnetic brake (holding brake), its
brake is not controlled by the servo driver, please ensure that the brake is energized
(holding brake release) more than 0.5 seconds after the servo is enabled, so as to
ensure the safety and position of the equipment precision;
● In order to use the servo drive smoothly, please read the following timing diagram
carefully (please refer to Section 4.7 of this manual for more detailed timing
diagram):
8.2 Position control mode (quick commissioning)
Example: T3a-L40F servo driver, suitable for 130ST-M15015 servo motor
(position control)
1: After the power is turned on (POW), the green indicator light is on, and the
three-phase 220V voltage between the power terminals R, S, and T is measured to
ensure that the power supply is normal;
2: Do not turn on the servo enable signal for the time being, check whether there is an
alarm, if there is no alarm, it is working normally, and you can proceed to the next
step;
3: Start to adapt the motor control parameters:
a) Enter the parameter modification mode "P-", modify the operation password
(parameter P-000) to 385, and then modify the motor series (parameter P-099) and
motor code (parameter P-002) to the required motor model, the motor for the model
code, see the motor adaptation table in chapter 7.2. In this example, P-002 is set to 5;
b) Enter the parameter management mode "E-", and perform the operation of
restoring the default value as shown in the figure below;
c) After the operation of restoring the default value is successful, set or check several
key parameters of position control (as shown in Table 8.1 below). After confirming
that it is correct, the host computer can give the external enable signal SON (or
internal enable: P-098 is set to 1), after the (RUN) green light is on, a pulse signal is
given to observe the operation effect of the motor, and the gain adjustment operation
characteristics can be modified appropriately.
Table 8.1 Key parameter settings for position control mode

Parameter Name Settings Parameter Description
P-004 Control Mode 0 (default) Set to position control mode
P-029 Electronic gear molecule 1 (default) Eectronic gear molecule
P-030 Electronic gear denominator 1 (default) Electronic gear denominator
Pulse input mode 0 (default) 0: Pulse + direction
P-035 1: Forward/reverse pulse
2: Quadrature Pulse (A/B)
Pulse input direction 0 (default) 0: normal direction
P-036
1: Invert the direction
P-005 Speed loop proportional gain 50 (default) To improve rigidity or reduce
Speed loop integral time 20 (default) tracking error, P-005/P-009 can
P-006
constant be adjusted appropriately, each
Position loop proportional 40 (default) adjustment is 5.
P-009
gain
P-007 Torque filter time constant 45 (default) 电机运行产生振动或噪音时，
可适当调大 P-019，每次调整量
Speed detection filter time 65 (default)
P-019 为5
constant
8.3 Speed control mode (quick commissioning)

Example: T3x-L30F servo driver, suitable for 130ST-M10015 servo motor
(speed control)
2: Make sure the speed analog differential input or single-ended input wiring is
correct;
alarm, if there is no alarm, the work is normal, and you can proceed to the next step;
motor code (parameter P-002) to the required motor model, the motor For the model
code, see the motor adaptation table in chapter 7.2. In this example, P-002 is set to 49;
c) After the operation of restoring the default value is successful, set several key
parameters of the speed control (as shown in Table 8.2), then switch the menu to
"E-SET" and press the Enter key for 3 seconds to execute the parameter saving
operation, and the saving is successful. After power off and restart, after confirming
that there is no error, the host computer can give the external enable signal SON (or
internal enable: P-098 is set to 1), after the (RUN) green light is on, the analog
automatic zero adjustment operation can be performed (details See chapter 3.6.2),
give the analog command, observe the motor operation effect, and modify the gain
adjustment operation characteristics appropriately.
Table 8.2 Key parameter settings for speed control mode

P-004 Control Mode 1 Set to speed control mode
0: Analog speed
P-025 Source of speed command 0 (default) 1: Internal multi-speed
8 optional P137~P144 settings
300 (default) Rotation speed corresponding to
P-046 Analog speed command gain
Set as needed 1V analog voltage (unit: r/min/V)
Analog speed command zero 0 (default)
P-047 Unit: 0.1mv
offset compensation Set as needed
0 (default) 0: normal direction
P-048 Analog speed command direction
Set as needed 1: Invert the direction
100 (default) 0 to 1000r/min acceleration time
P-060 Speed command acceleration time
Set as needed (unit: ms)
100 (default) 1000 r/min to 0 deceleration time
P-061 Speed command deceleration time
Set as needed (unit: ms)
To improve rigidity, P-005 can be
P-005 Speed loop proportional gain 50 (default) adjusted appropriately, each
adjustment is 5
P-006 can be adjusted bigger if
P-006 Speed loop integral time constant 20 (default) load inertial is bigger, each
adjustment is 10.
P-007 Torque filter time constant 45 (default) P-019 can be adjusted bigger if
Speed detection filter time motor has noise, each
P-019 65 (default)
constant adjustment is 10.
8.4 Torque control mode (quick commissioning)
Example: T3x-L20F servo driver, suitable for 110ST-M06020 servo motor
(torque control)
2: Make sure the torque analog differential input or single-ended input wiring is
correct;
alarm, if there is no alarm, the work is normal, and you can proceed to the next step;
motor code (parameter P-002) to the required motor model, the motor Please refer to
the motor adaptation table in chapter 7.2 for the model code. In this example, P-002 is
set to 37;
c) After the operation of restoring the default value is successful, set several key
parameters of torque control (as shown in Table 8.3), and then switch the menu to
"E-SET" and press the Enter key for 3 seconds to save the parameters. Save After the
success, power off and restart. After confirming that there is no error, the host
computer can give the external enable signal SON (or internal enable: P-098 is set to
1), and after the (RUN) green light is on, the analog automatic zero adjustment
operation can be performed (See chapter 3.6.2 for details), give the analog command,
observe the motor operation effect, and modify the gain adjustment operation
characteristics appropriately.
Table 8.3 Key parameter settings of torque control mode
P-004 Control Mode 2 Set to torque control mode
0: Analog torque
P-026 Torque command source 0 (default)
1: Internal multi-stage
torque <4 optional
P145~P148 settings>
Percentage of motor rated
Analog torque command
P-053 30 (default) torque corresponding to 1V
gain
analog voltage (unit: 1%/V)
Analog torque command
P-054 Set as needed Unit: 0.1mv
zero offset compensation
Analog torque command 0: normal direction
P-055 0 (default)
direction 1: Invert the direction
Speed limit during 1000 (default)
P-078 Unit: r/min
torque control Set as needed
8.5 Debugging typical problems and countermeasures

①.Error when restoring default parameters.
a. Confirm whether the operation password (P-000) is set correctly;
b. Restoring the default operation must be performed under the condition that the
driver is disabled (SON is invalid and P-098 is 0);
②. The host computer is enabled, and the green light of the drive (RUN) is not
on.
a. Check whether the R/S/T voltage of the power supply is low and whether the
wiring is correct;
b. Check the CN1 interface, whether the +24V input is correct;
c. Check whether the SON signal of the CN1 interface is connected to 0V;
d. Through the above measures, if the green light (RUN) is still not on, the internal
enable (P098 is set to 1) can be used to try again.
③. "Err 9/Err 10/Err 30/Err 31/Err 32/Err 33" fault alarm occurs
Note: The photoelectric encoder at the end of the servo motor is a typical fragile and
vulnerable component, special attention should be paid to protection!
a. The above alarm indicates that there is a problem with the encoder or the
connecting cable of the encoder;
b. Check whether the shielding layer is well grounded at both ends, and whether the
plug has water or impurities;
c. Whether the connection line is too long will attenuate the encoder power supply
5V;
d. Confirm whether it is an interference problem, and whether there is a strong
magnetic circuit nearby, and if so, isolate it as much as possible.
④. Noise or vibration (high frequency) occurs during the operation of the servo
motor
a. Appropriately increase the filter coefficients P-007 and P-019, each adjustment is 5;
b. If the effect of increasing the filter coefficient is not obvious, it is necessary to
reduce the proportional gain of the speed loop and the proportional gain of the
position loop, that is, reduce P-005 and P-009, and the adjustment amount is 5 each
time;
c. If the above measures have no obvious improvement, please check whether there is
interference in the encoder connection line, and check whether both ends of the
shielding layer are well grounded.
⑤. Vibration (low frequency) occurs during the operation of the servo motor
a. Determine whether the load and inertia of the servo motor are within the allowable
range of the motor. If the load and inertia exceed the rated multiple of the motor too
much (the load torque is greater than 3 times, and the inertia is greater than 5 times),
please re-select a larger size the motor;
b. Properly increase the proportional gain of the speed loop P-005, each adjustment is
5;
c. If the effect of increasing P-005 is not obvious, the filter coefficient P-007/P-019
can be appropriately decreased, and the adjustment amount is 5 each time;
d. If the effect of reducing the filter coefficient is not obvious, the position loop gain
P-009 can be adjusted appropriately, and the adjustment amount is 5 each time;
e. If the above measures are not significantly improved, please check whether there is
interference between the encoder connecting line and the command connecting line,
and check whether both ends of the shielding layer are well grounded.
⑥.The drive has Err 2 or Err 11 alarm
To judge whether the drive alarms when it is powered on or alarms when it has
large inertia and frequent acceleration and deceleration:
a. If the power is turned on, the alarm will confirm that the hardware circuit of the
driver is faulty;
b. If the alarm occurs during frequent acceleration and deceleration due to large
inertia, first check the monitoring menu d-I and d-pI, and observe whether the
instantaneous value and maximum value of the current exceed the allowable range of
the drive and motor. If it exceeds the range, reduce the inertia acceleration
accordingly (speed mode : Increase the acceleration time P-060 and deceleration time
P-061; position mode: increase the acceleration and deceleration time of the upper
computer controller), so that the current is controlled within the allowable range of the
drive and motor, and check whether the fault disappears.
⑦. When the servo motor starts, the driver will display "Err 5/Err12"
a. The appearance of "Err 5" indicates that the frequency of the pulse command sent
by the host computer is too fast, which exceeds the response capability of the servo
motor. It is recommended to increase the acceleration and deceleration time of the
host computer, or appropriately increase the position command smoothing time P-040,
and the adjustment amount each time is 10;
b. The above measures are invalid or the host computer cannot be modified, please set
P-116 to 32 to shield the "Err 5" alarm (it needs to be powered off and restarted to
take effect);
c. If "Err 12" overcurrent alarm appears in the driver during startup, it means that the
load of the motor is too large during startup. Please check whether the driver is too
small or the driver is damaged.
⑧. "Err 4" appears on the drive during the operation of the servo motor
a. If the low-speed operation is normal, and “Err 4” appears in the high-speed
operation, please first check whether the maximum speed limit of P-075 is too low,
and then appropriately increase the position loop gain P-009 (the adjustment amount
is 5 each time), or properly Increase the position out-of-tolerance detection range
P-080;
b. If you only need to give the position command, no matter what the speed, the
motor will appear "Err 4" as soon as it runs, please confirm whether the motor is
blocked or damaged, and whether the strong current circuit of the driver is damaged;
c. If "Err 4" appears when the acceleration is fast during operation, please confirm
whether the selection of the driver and motor is too small;
d. If "Err 4" appears occasionally during operation, please check whether there is
interference between the encoder cable and the command cable, and check whether
the shielding layer is well grounded at both ends.
⑨. The drive is running normally, but the host computer appears "Position tracking
error is too large"
a. Determine the detection threshold of the position tracking error of the host
computer, and set the detection range P-080 of the position error of the drive to a
value smaller than the threshold, and observe whether the drive appears "Err 4" during
operation;
b. If "Err 4" does not appear in the driver, it means that the encoder signal sent
back to the host computer on the command connection line has interference. Please
check whether the connection line is soldered reliably and whether both ends of the
shielding layer are well grounded;
c. If the driver shows "Err 4", it means that it is the response problem of the driver and
the motor. Please confirm the integrity of the driver and the motor first, and then
increase the position loop and speed loop gain P-009/P-005;
d. If the above measures have no obvious effect, consider selecting a larger size driver
and motor.
Chapter 9 Communication Function Description
9.1 Function overview and wiring diagram

The T3a/T3L servo driver has an RS-485 serial communication interface, which
can be used to control the servo system, change parameters and monitor the status of
the servo system through the MODBUS protocol. The wiring instructions of the
communication port CN3 are as follows:
The communication port of the T3a-L20/L30 driver uses three-position terminals.
The shape and pin distribution are as follows:
The communication port of the T3L-L20/L30 driver uses a standard network port,
the shape and pin distribution are:
The communication ports of the drives of other specifications use double-row DB9
sockets, and the shape and pin distribution are as follows:
1
3 3/4 485_A
5
8
5/6 485_B
7/8 485ground
The communication ports of the drives of other specifications use double-row DB9
sockets, and the shape and pin distribution are as follows:
Special note: RS485 communication port can also be connected through 40/41/42
of CN1, see section 2.4 for details.
9.2 Communication parameters

Default
Range Unit
P-181 Drive communication ID number value
-1～32 -1
When using RS-485 communication, the host controller is the master and the servo
drive is the slave. The communication address of the servo drive needs to be set to a
different communication station number by this parameter. The setting range of the
station number address is -1 to 32. The default value of -1 means to close the
communication function, and the setting value greater than 0 means to open the
communication function. Before using the communication function, this parameter
must be set to the required station number. This station number represents the absolute
address of the drive in the communication network. Only one station number can be
set for a group of servo drives.
Default
MODBUS communication baud Range Unit
P-182 value
rate
0～3 2
Use this parameter to select the baud rate of RS-485 communication. Different
values correspond to different baud rates. The selected communication baud rate must
be consistent with the communication baud rate of the host controller. The specific
setting values are as follows:
Parameter meaning:
0: The baud rate is 4800bps 1: The baud rate is 9600bps
2: The baud rate is 19200bps 3: The baud rate is 38400bps
MODBUS communication data Default
Range Unit
mode selection value
P-183
(For the time being, only RTU data
0～5 1
format is supported)
Use this parameter to select the data mode of RS-485 communication. The
selected data mode must be consistent with the communication protocol of the host
controller. The specific parameter values are as follows:
0: Data bits - 8 bits Parity bits - none Stop bits-1 bits
1: Data bits - 8 bits Parity bits - Even parity (Even) Stop bits - 1 bits
2: Data bits - 8 bits Parity bits - Odd parity (Odd) Stop bits - 1 bits
3: Data bits - 8 bits Parity bits- none Stop bits-2 bits
4: Data bits - 8 bits Parity bits - Even parity (Even) Stop bits - 2 bits
5: Data bits - 8 bits Parity bits - Odd parity (Odd) Stop bits - 2 bits
9.3 MODBUS communication protocol

When using RS-485 serial communication, each servo drive must set its
communication station number in parameter P-181 in advance, and the computer or
the host controller controls the corresponding servo drive according to the station
number; the baud rate needs to refer to the host Set the parameter P-182 according to
the communication mode of the controller; MODBUS communication protocol only
supports the RTU (Remote Terminal Unit) mode temporarily, the user can set the
required communication data mode on the parameter P-183 according to the
requirements of the upper controller . After the above parameter settings are
completed, the parameter saving operation needs to be performed and the drive will
be powered off and restarted to take effect. The following describes the details of
MODBUS communication.
Communication data structure:
 RTU mode:
The MODBUS application layer protocol defines a simple protocol data unit
(PDU), as shown in the figure below, which does not depend on the underlying
communication layer.
Address field Function code Data field Check code
MODBUS takes the address field as the beginning of the frame, the content of
the address field is the effective address value (0~247), the host places the slave
address value in the address field of the request message to determine the recipient of
the request message, and the qualified slave machine After receiving the information
and completing the corresponding processing, place its own address value in the
address field of the response information, so that the host knows which slave is
sending the response.
After the address field is the function code, which indicates what the slave will
do. After the function code is the data field. The data field contains the parameters of
the request and response. The format, length and meaning of the data field are also
different according to the different function codes.
The check code is used to verify the validity of information and ensure the
reliability of information transmission. In RTU mode, a 16-bit CRC (Cyclical
Redundancy Check) check is used.
In RTU mode, each 8-bit one-byte data in the information frame is sent in two
4-bit hexadecimal codes, for example: 1byte data 64H.
The RTU mode is a bit-oriented transmission mode. The frame starts with an idle
time of no less than 3.5 characters, and then the address field is sent. The online
device monitors the communication bus. When the idle time of 3.5 characters is
continuously monitored, the frame can be received. Address field information, when it
is judged that the received address field information is valid, continue to receive
subsequent information, and then perform corresponding operations according to the
function code and additional information. If response information is required, the
response information is packaged and sent to the host. The last transmitted byte
indicates the end of the information frame after approximately 3.5 characters of idle
time, and a new information frame can be sent. The RTU mode relies on analog
synchronization information to maintain frame synchronization, and the entire
information frame must be transmitted as a continuous data stream at one time. If the
receiving device detects that there are more than 1.5 character intervals during the
transmission of a continuous data stream, it is considered that one frame of data has
been received, and the next received character is regarded as the beginning of the next
frame. Under normal circumstances, the interval time between information frames is
at least 3.5 characters, that is, after one frame of data is sent, at least 3.5 characters of
idle time can be passed before the next frame of data can be sent.
The information frame format in RTU mode is:
Address Function
Check code
field code
START Data field（DATA） END
（CRC）
（ADR）（CMD）
T1-T2-T3-T4 8 bits 8 bits n*8 bits 16 bits T1-T2-T3-T4

Note: T1-T2-T3-T4 means that the time interval with the previous frame is at
least 3.5 character time.
In RTU mode, the format of sending each byte is:
Data bits
Start bit Parity bit Stop bit
(low bit first)
1 bit 8 bits 1 bit or no bit 1 bit or 2 bits
z Character structure:
10bits character box (for 8bits characters without verification)
(8 bits of data + no parity + 1 stop bit)
11bits character box (for 8bit characters plus check)
(8-bit data + even parity + 1 stop bit)
(8-bit data + odd parity + 1 stop bit)
Communication information frame format:

The items in the Communication Information Frame Format box are explained as
follows:
¾ START (communication start)
RTU mode: The minimum time interval with the previous frame is 3.5 character
time.
¾ ADR (communication address)
The legal communication address range is between 1 and 32, as shown below:
Communicate with the servo drive whose station number is 16 (hexadecimal 10H):
RTU mode: ADR = 10H
¾ CMD (function code) and DATA (data field)
The format of data characters depends on the function code. Commonly used
function codes are described as follows:
Command code 03H: read the parameter value of the drive
Command code 04H: Read the running state of the drive (such as motor speed,
position, current, torque and other variable values)
Command code 06H: Write parameters to the drive (single write)
Command code 41H: Write the parameters of the drive into EEPROM
(parameter saving)
¾ CRC (RTU mode) frame check calculation:
RTU mode:
RTU mode adopts CRC (Cyclical Redundancy Check) frame check. The
calculation of CRC frame check is explained in the following steps:
Step 1: Initialize a 16bits register whose content is FFFFH, which is called a
CRC register.
Step 2: XOR the first byte of the command information with the low byte of the
16-bitsCRC register, and store the result back into the CRC register.
Step 3: Check the least significant bit (LSB) of the CRC register. If this bit is 0,
then shift to the right by one; if this bit is 1, the CRC register value is shifted to the
right by one bit, and then XOR is performed with A001H.
Step 4: Go back to Step 3 until Step 3 has been executed 8 times, then go to Step
5.
Step 5: Repeat steps 2 to 4 for the next byte of the command information, until
all bytes have completed the above processing, and the content of the CRC register is
the CRC frame check.
Note: After calculating the CRC frame check, in the command information, the
low CRC must be filled first, and then the high CRC must be filled. Please refer to the
following example.
For example: read the 0-segment 05 parameter of the servo drive whose station
number is 01H. The last content of the CRC register calculated from the ADR to the
last byte of the data is 3794H, then its command information is as follows. It should
be noted that byte 94H should be transmitted before byte 37H.
ADR 01H
CMD 03H
Start data 00H (high byte)
Location 05H (low byte)
Number of 00H (high byte)
data 02H (low byte)
CRC Low 94H (high byte)
CRC High 37H (low byte)
¾ END (end of communication):
RTU mode: The minimum time interval with the next frame is 3.5 character time.
Function code (CMD):
The function code is 1 byte (8bits), and its range is 1～255.
Function code Meaning in the Modbus
Specific meaning
(HEX) Protocol Specification
Read the parameter value of the
03H drive (multiple parameters can be Read Holding Register
read at the same time)
04H Read the operating state of the Read Input Register
drive (such as motor speed,
position, current, torque and other
variable values, multiple states can
be read at the same time)
Parameters written to the drive
06H Write Single Register
(single write)
Parameters written to the drive
10H Write Multiple Register
(multiple writes)
08h Diagnostic function Diagnostic
Write the parameters of the drive
41H
into EEPROM (parameter saving)
Various exceptions and errors may occur during communication. In order to
enable these exceptions and errors to be recognized by the host, corresponding
exception codes are defined, as shown in the following table. When the slave receives
the information from the master and finds an error or cannot complete the normal
response, the slave will send an error response frame to the master, that is, the highest
bit of the function code byte is 1, and the corresponding exception code (Exception
Code) is placed in the data field.
Exception Code（HEX） Mean

01h ILLEGAL FUNCTION
02h ILLEGAL DATA ADDRESS
03h ILLEGAL DATA VALUE
04h SLAVE DEVICE FAILURE
05h ACKNOWLEDGE
06h SLAVE DEVICE BUSY
9.4 Writing and reading of parameters

For details of all parameters of the servo drive, please refer to the parameter
chapter of the commissioning manual. The parameters are divided into parameter
sections. Each parameter is represented by 16bits data, and the communication
address of each parameter is determined by the parameter serial number (range
0~249). For example, the communication address of parameter P-005 is 005 (decimal),
and the communication address of parameter P-108 is is 108 (decimal), the
communication address of parameter P-204 is 204 (decimal), and other parameters are
deduced by analogy.
All parameters described in the parameter section can be read through
communication, but only some of the parameters are open to allow users to modify
and write. The parameters listed in the debugging manual are allowed to be modified
and written. Other parameters that are not described are reserved by the servo drive.
parameters (the user cannot write the reserved parameters, otherwise the servo drive
may run abnormally). If the user needs to modify other parameters, please contact the
technical staff of our company.
9.5 Description of monitoring state quantity address

The internal state quantity of the servo drive can be read out through the RS-485
communication port, and the write operation is invalid. The state quantity is stored in
16-bit data, providing a total of 40 state variables from 0 to 39. The reading of the
state quantity can be realized by the following two function codes:
(1) Function code (04H), address range 0x0000~0x0027
(2) Function code (03H), address range 0x1000~0x1027
The address (hexadecimal) of the function code (04H) to read the state quantity is as
follows:
0x0000: Motor speed, unit "r/min";
0x0001: low 16 bits of the original position command (input pulse);
0x0002: high 16 bits of the original position command (input pulse);
0x0003: Position command (pulse) low 16bits;
0x0004: Position command (pulse) high 16bits;
0x0005: The current motor position (pulse) low 16bits;
0x0006: The current motor position (pulse) high 16bits;
0x0007: The position deviation (pulse) low 16bits;
0x0008: The position deviation (pulse) high 16bits;
0x0009: Motor torque, unit "%" (percentage of rated torque);
0x000A: peak torque, unit "%" (peak torque within 1s); <10>
0x000B: Motor instantaneous current, unit "0.1A" (12: Indicates motor real-time
current 1.2A);
0x000C: Motor peak current, unit "0.1A" (152: indicates that the maximum current
within 1s is 15.2A);
0x000D: Position command pulse frequency, unit "0.1kHz" (3000: means 300kHz);
0x000E: Speed command, unit "r/min";
0x000F: Torque command, unit "%"; <15>
0x0010: Speed analog command voltage, unit "mV";
0x0011: Torque analog command voltage, unit "mV";
0x0012: Input terminal DI status, [Note 1];
0x0013: Output terminal DO status, [Note 2];
0x0014: Motor encoder single-turn absolute position (pulse) low 16bits; <20>
0x0015: Motor encoder single-turn absolute position (pulse) high 16bits;
0x0016: Motor encoder multi-turn position (when there is no multi-turn information,
read 0 value);
0x0017: Regenerative braking load rate, unit "%";
0x0018: Average load rate, unit "%";
0x0019: Output voltage, unit "%"; <25>
0x001A: Alarm code;
0x001B: Motor speed, unit "0.1r/min";
0x001C: The second encoder position (pulse) low16 bits;
0x001D: The second encoder position (pulse) high 16bits;
0x001E: Reserved <30> DC bus voltage
0x001F: low 16bits of absolute position of the motor (32-bit absolute position of
multi-turn + single-turn data splicing)
0x0020: high 16bits of absolute position of the motor (32-bit absolute position of
0x0021: reserved
0x0022: reserved
0x0023: Reserved <35>
0x0024: reserved
0x0025: reserved
0x0026: reserved
The address (hexadecimal) of the function code (03H) to read the state quantity is
as follows:
0x1000: Motor speed, unit "r/min";
0x1001: low 16 bits of the original position command (input pulse);
0x1002: high 16 bits of the original position command (input pulse);
0x1003: Position command (pulse) low 16bits;
0x1004: Position command (pulse) high 16bits;
0x1005: The current motor position (pulse) low 16bits;
0x1006: The current motor position (pulse) high 16bits;
0x1007: The position deviation (pulse) low 16bits;
0x1008: The position deviation (pulse) high 16bits;
0x1009: Motor torque, unit "%" (percentage of rated torque);
0x100A: peak torque, unit "%" (peak torque within 1s); <10>
0x100B: Motor instantaneous current, unit "0.1A" (12: Indicates motor real-time
current 1.2A);
0x100C: Motor peak current, unit "0.1A" (152: indicates that the maximum current
within 1s is 15.2A);
0x100D: Position command pulse frequency, unit "0.1kHz" (3000: means 300kHz);
0x100E: Speed command, unit "r/min";
0x100F: Torque command, unit "%"; <15>
0x1010: Speed analog command voltage, unit "mV";
0x1011: Torque analog command voltage, unit "mV";
0x1012: Input terminal DI status, [Note 1];
0x1013: Output terminal DO status, [Note 2];
0x1014: Motor encoder single-turn absolute position (pulse) low 16bits; <20>
0x1015: Motor encoder single-turn absolute position (pulse) high 16bits;
0x1016: Motor encoder multi-turn position (when there is no multi-turn information,
read 0 value);
0x1017: Regenerative braking load rate, unit "%";
0x1018: Average load rate, unit "%";
0x1019: Output voltage, unit "%"; <25>
0x101A: Alarm code;
0x101B: Motor speed, unit "0.1r/min";
0x101C: The second encoder position (pulse) low16 bits;
0x101D: The second encoder position (pulse) high 16bits;
0x101E: Reserved <30> DC bus voltage
0x101F: low 16bits of absolute position of the motor (32-bit absolute position of
0x1020: high 16bits of absolute position of the motor (32-bit absolute position of
0x1021: reserved
0x1022: reserved
0x1024: reserved
0x1025: reserved
0x1026: reserved
[Note 1]: The data read from this address is 16bit, of which bit5~bit0 correspond
to the input status of DI6~DI1 respectively, "1" means input high level, "0" means
input low level; bit15~bit6 are reserved bit.
[Note 2]: The data bits read from this address are 16 bits, of which bit5~bit0
represent the output status of DO6~DO1, "1" means output high level, "0" means
output low level; bit15~bit6 are reserved bits .
9.6 Communication example
9.6.1 Read status (CMD=04H)

The read status function code (04H) can be used to read all monitoring status
quantities in the servo drive. The description of the communication frame format is as
follows:
Note: The number of states read each time is up to 8.
The request frame format is as follows:
Address function Start Address Read Status Number CRC check code
field code 2 bytes, high byte 2 bytes, high byte 2 bytes, low byte
1 byte 1 byte first first first
0x01 0x04 0x00，0x00 0x00，0x01 (N) CRC_Lo, CRC_Hi
Normal response:
The number of bytes
Address function Status value, CRC check code
occupied by the
field code 2N bytes, high byte 2 bytes, low byte
Status
1 byte 1 byte first first
1byte
0x01 0x04 0x02 (2N) 0xXX，0xXX，…… CRC_Lo, CRC_Hi
Exception response:
Address function CRC check code
field code Exception code1byte 2 bytes, low byte
1 byte 1 byte first
0x01 0x84 0x01 or 02 or 03 or 04 CRC_Lo, CRC_Hi
An example is as follows:
Host sends frame:
ADDR CODE STADDR_H STADDR_L RNUM_H RNUM_L CRC_L CRC_H
0x01 0x04 0x00 0x01 0x00 0x02 0xXX 0xXX
Slave response frame:
ADDR CODE BYTE_NUM DATA1_H DATA1_L DATA2_H DATA2_L CRC_L CRC_H
0x01 0x04 0x04 0xXX 0xXX 0xXX 0xXX 0xXX 0xXX
STADDR: read status start address
RNUM: The number of status read
BYTE_NUM: The number of bytes occupied by the read status (for example, if
RNUM is 2, that is, 2 pieces of 16-bit data, then BYTE_NUM is 2*2 = 4 bytes)
DATAX: Status value read back, X represents the serial number, DATA1 is the first
data, DATA2 is the second data
In this example, STADDR = 0x0001 and RNUM = 0x02 in the sending frame,
which means that starting from the starting address 0x0001, two status data are read
(that is, two status values with addresses 0x0001 and 0x0002 are read, and the specific
meaning is described in the previous section).
In the response frame, BYTE_NUM = 0x04, indicating that the two read status
values occupy 4 bytes, followed by DATA1 and DATA2, which are the status values
at addresses 0x0001 and 0x0002.
9.6.2 Read parameter (CMD=03H)

All parameters in the drive can be read by using the read parameter function code
(03H). The communication frame format is described as follows:
Note: The maximum number of parameters read each time is 8.
Read Parameter
Address function Start Address CRC check code
Number
field code 2 bytes, high byte 2 bytes, low byte
2 bytes, high byte
first
0x01 0x03 0x00，0x00 0x00，0x01（N） CRC_Lo, CRC_Hi
Normal response:
The number of
Address function Parameter value CRC check code
bytes occupied by
field code 2N bytes, high byte 2 bytes, low byte
the parameter
1 byte
0x01 0x03 0x02（2N） 0xXX，0xXX，…… CRC_Lo, CRC_Hi
Exception response:
field1 code 1 Exception code1byte 2 bytes, low byte
byte byte first
Host sends frame:
ADDR CODE STADDR_H STADDR_L RNUM_H RNUM_L CRC_L CRC_H
0x01 0x03 0x00 0x01 0x00 0x02 0xXX 0xXX
ADDR CODE BYTE_NUM DATA1_H DATA1_L DATA2_H DATA2_L CRC_L CRC_H
0x01 0x03 0x04 0xXX 0xXX 0xXX 0xXX 0xXX 0xXX
STADDR: read parameter start address
RNUM: Number of parameters read
BYTE_NUM: The number of bytes occupied by the read parameters (for example,
if RNUM is 2, that is, 2 pieces of 16-bit data, then BYTE_NUM is 2*2 = 4)
DATAX: The parameter value read back, X represents the serial number, DATA1 is
the first parameter, DATA2 is the second parameter
In this example, STADDR = 0x01 and RNUM = 0x02 in the transmission frame,
which means that starting from the starting address 1, two parameters are read (that is,
two parameters P-001 and P-002 with addresses 0x01 and 0x02 are read.
In the response frame, BYTE_NUM = 0x04, which means that the two parameter
values read occupy 4 bytes, followed by DATA1 and DATA2, which are the parameter
values at addresses 0x01 and 0x02.
9.6.3 Write a single parameter (CMD=06H)

The parameters listed in the debugging manual can be written in the parameter
writing function code (06H). The communication frame format is explained as
follows:
Note: Function code 06H can only write one parameter at a time. Before writing
parameters, please refer to the parameter manual to confirm the specific meaning of
the parameters. Wrongly writing parameter values may cause abnormal operation of
the servo drive!
Address function parameter number CRC check code
Write parameter value
2 bytes, high byte first
CRC_Lo,
0x01 0x06 0x00，0x00 0x00，0x64
CRC_Hi
Normal response:
Address function parameter number CRC check code
Write parameter value
2 bytes, high byte first
CRC_Lo,
0x01 0x06 0x00，0x00 0x00，0x64
CRC_Hi
Exception response:
1 byte 1 byte first
Host sends frame:
ADDR CODE WADDR_H WADDR_L VALUE_H VALUE_L CRC_L CRC_H
0x01 0x06 0x00 0x01 0x01 0x02 0xXX 0xXX
ADDR CODE WADDR_H WADDR_L VALUE_H VALUE_L CRC_L CRC_H
0x01 0x06 0x00 0x01 0x01 0x02 0xXX 0xXX
WADDR: write parameter address
VALUE: the value to write
In this example, ADDR = 0x01 and VALUE = 0x0102 in the sending frame, which
means that the value 0x0102 is written into the parameter whose address is 0x01.
The response frame is the same as the send frame.
9.6.4 Write multiple parameters (CMD=10H)

The parameters listed in the debugging manual can be written in the parameter
writing function code (10H). The communication frame format is described as
follows:
Note: Function code 10H can write multiple parameters at a time (the maximum
number of parameters written in a single time is 10). Before writing parameters,
please refer to the parameter manual to confirm the specific meaning of the
parameters. Wrongly writing parameter values may cause abnormal operation of the
servo drive!
The number
starting The number of
of bytes
address parameters parameter CRC check
Address function occupied by
value, written, 2 value, code
field code the
2 bytes, bytes, 2N bytes, 2 bytes, low
1 byte 1 byte parameter,
high byte High byte first high byte first byte first
1byte
first (1~122)
(0~255)
0x00，0x02 0x04
0xXX，0xXX， CRC_Lo,
0x01 0x10 0x00，0x00
（2N） CRC_Hi
（N） ……
Normal response:
starting address The number of
Address function
value, parameters CRC check code
field code
2 bytes, written, 2 bytes, 2 bytes, low byte first
1 byte 1 byte
high byte first high byte first
0x00，0x02
0x01 0x10 0x00，0x00 CRC_Lo, CRC_Hi
（N）
Exception response:
Address function Exception code1byte CRC check code
field1 code 1 2 bytes, low byte
byte byte first
Host sends frame:
ADR CODE SADRH SADRL WNUMH WNUML WNUMB D1_H D1_L D2_H D2_L CRCL CRCH
0x01 0x10 0x00 0x01 0x00 0x02 0x04 0xXX 0xXX 0xXX 0xXX 0xXX 0xXX
ADR CODE SADRH SADRL WNUMH WNUML CRCL CRCH
0x01 0x10 0x00 0x01 0x00 0x02 0xXX 0xXX
SADR: Write parameter start address SADRH (high byte) SADRL (low byte)
WNUM: The number of written parameters WNUMH (high byte) WNUML (low
byte)
WNUMB: The number of bytes occupied by the written parameters (for example, if
WNUM is 2, that is, 2 pieces of 16-bit data, then WNUMB is 2*2 = 4)
D1_H: The high byte value of the first parameter written
D1_L: The low byte value of the first parameter written
D2_H: The high byte value of the second parameter written
D2_L: The low byte value of the second parameter written
In this example, SADR = 0x01 and WNUM = 0x02 in the transmission frame,
which means that starting from the starting address 1, 2 parameters are written (that is,
the two parameters P-001 and P-002 with addresses 0x01 and 0x02).
9.6.5 Diagnosis function (CMD=08H)

After the master sends the diagnostic frame, the slave (servo drive) will respond
with the same data.
Tip: The diagnostic function can be used to determine whether the MODBUS
communication is normal.
Host sends frame:
ADDR CODE DATA_H DATA_L CRC_L CRC_H
0x01 0x08 0x12 0x34 0xXX 0xXX
ADDR CODE DATA_H DATA_L CRC_L CRC_H
0x01 0x08 0x12 0x34 0xXX 0xXX
The frame data that the slave responds to the diagnostic command should be
exactly the same as the frame data sent by the master, so the diagnostic command can
be used to check whether the communication is normal. DATA can be any custom
data, for example, the host sends 0xABCD, and the slave responds with 0xABCD
9.6.6 Save parameters (CMD=41H)
The parameters of the drive can be stored in the EEPROM by using the save
parameter function code (41H). The communication frame format is described as
follows:
Note: After sending this command, the servo drive needs a certain time to save the
parameters to the EEPROM
It is recommended that after sending this command, wait for more than 5S before
performing other operations.
field code 2 bytes, low byte
1 byte 1 byte first
0x01 0x41 CRC_Lo, CRC_Hi
Normal response:
1 byte 1 byte first
Exception response:
1 byte 1 byte first
0x01 0xC1 0x01 or 02 or 03 or 04 CRC_Lo, CRC_Hi
The second way to save parameters:
Using the function code (06H) for writing a single parameter, write the value
0x1234 to the address unit 0x1001, and the drive will execute the parameter saving
operation.
9.6.7 Servo enable/disable (CMD=42H)

Request/normal response:
Enable shutdown flag
1byte
1 byte 1 byte first
0x01 0x42 0x55(使能) or 0xAA(关断) CRC_Lo, CRC_Hi
Exception response:
Exception code
1byte
1 byte 1 byte first
9.6.8 Alarm clear (CMD=43H)
field1 code1 byte 2 bytes, low byte
byte first
Exception response:
byte byte first
9.6.9 JOG jog operation (CMD=44H)

Address function Operation mode1byte CRC check code
field1 code1 2 bytes, low byte
byte byte first
0x01 0x44 0x03 (enable, JOG zero speed hold), CRC_Lo, CRC_Hi
0x01 (JOG forward rotation),
0x02 (JOG reversal),
0x00 (exit JOG, break enable)
Note: JOG speed is controlled by P-076
(r/min)
Exception response:
byte byte first

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T3a/T3L series

Incorrect operation can be dangerous, cause personal injury, and possibly

Actions are strictly prohibited, otherwise the equipment will be damaged or

5.Maintenance and Inspection

Product introduction .................................................................................................................. 2

1.1 Product Inspection

1.2 Product front panel

Five-digit digital tube

Mains power connection

Figure 1.1 Schematic diagram of the front panel

1.3.1 Installation environment conditions

1.3.2 Installation method

1.4 Servo motor installation

1.4.1 Installation environment conditions

1.4.2 Installation method

Figure 1.3 Definition of the rotation direction of the servo motor

2.1 System composition and wiring

2.1.1 Wiring Instructions

Power of main circuit R、S、T 1.5～2.5mm2

Terminal of motor U、V、W 1.5～4mm2

Terminal of ground 1.5～4mm2

Terminal of control signal CN1 ≥0.14mm2(AWG26),With shielded wire

Terminal of braking resistor P、BK 1.5～2.5mm2

2.1.3 Description of strong current terminals

When an external braking resistor is connected,

2.2 CN1 control signal terminal

2.2.1 CN1 terminal signal description

z The encoder Z-phase signal is output by the open-collector. When the

2.2.2 CN1 terminal interface type

Servvo Driver Servo D

2. Digital output interfaface (C2)

Seervo Driver Servo Drivver

4. Encoder signal line driver output (C5)

C5-1: long line receiver C5-2: Optocoupler receive

Servo Driver Servo Driver

Please be sure to connect

C6：Encoder Z signal open collector output

z The maximum external power supply i s 30V, and

2.3 Front panel terminal wiring diagram

The main power supply of the driver

The four wires U, V, W

T3a-L40/L50/L75/H25/H50/H75 wiring diagram

The main power supply of the driver is T3a Servo Drive

T3a-H series: The input power CN1: host computer

CN3: RS485 communication

(Light Load Type) Recommended (Heavy duty) Recommended

T3x-L/T3L series (220V servo) braking resistor configuration table

3.1.2 Panel Description

Symbol Name Features

◄ Escape key Menu exit; operation canceled.

Menu entry; parameter modification confirmation or operation

Used for quick modification of parameter number or parameter

3.2 Main Menu

3.3 Status monitoring

4. Output terminal DO[Note 4]

5. Encoder input signal [Note 5]

6. Rotor single-turn position [Note 6]

8. Alarm code [Note 8]