Advanced User Guide

SV660N Series Servo Drive

User Guide

A00
Data code 19011236
 Preface

Preface
Thank you for purchasing the SV660N series servo drive developed by Inovance.

The SV660N series high-performance AC servo drive covers a power range from 50 W to 7.5 kW. It
supports EtherCAT communication protocol and carries Ethernet communication interfaces to work with
the host controller for a networked operation of multiple servo drives.

The SV660N series servo drive supports stiffness level setting, inertia auto-tuning and vibration
suppression, which simplify the operation process. It allows a quiet and stable operation together with
the MS1 series high-response servo motor equipped with a 23-bit single-turn encoder or 23-bit multi-
turn absolute encoder.

The SV660N series servo drive aims to deliver a fast and accurate control in automation equipment
such as semi-conductor manufacturing equipment, chip mounters, PCB punching machines, transport
machineries, food processing machineries, machine tools, and transmission machineries.

This user guide provides product information and instructions on installation, wiring, commissioning,
and troubleshooting. First-time users must read through this user guide. For concerns regarding product
functions or performance, contact Inovance for technical support.

Precautions

◆◆ The drawings in the user guide are sometimes shown without covers or protective guards. Remember to
install the covers or protective guards as specified first, and then perform operations in accordance with the
instructions described in the user guide.
◆◆ The drawings in the user guide are shown for descriptions only and may not match the product you purchased.
◆◆ This user guide is subject to change without notice due to product upgrade, specification modifications as well
as efforts to improve the accuracy and convenience of the user guide.

Unpacking Inspection
Check the following items upon unpacking.

Items Description

Check whether the delivered Check whether the delivered products comply with the model and
products comply with your order. specifications shown on the packing box.

Check whether the delivered product Check whether the overall appearance of the product is intact. If there is any
is intact. part missing or damaged, contact Inovance or your supplier immediately.

Revision History

Date Version Description

October 2020 A00 First release

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 Preface

Standards Compliance
SV660N series servo drives and MS1 series servo motors have passed CE certification and comply with
the following standards.

Name Symbol Directive Standard

EN 61800-3
Servo drive
EN55011
EMC directive 2014/30/EU and servo
EN61000-6-2
motor
CE EN61000-6-4
certification
Servo drive EN 61800-5-1
LVD directive 2014/35/EU
Servo motor EN 60034-1

RoHS directive 2011/65/EU EN 50581

◆◆ The preceding certification and standards are complied with only when the EMC-related electrical
installation requirements described in this user guide are observed.
◆◆ The integrator who integrates this drive into other products and attaches the CE mark to the final
assembly has the responsibility of ensuring compliance with CE standards and the European
NOTE Directives.
◆◆ For more information on product certification, contact our agents or sales representatives.

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 Contents

Contents
Preface............................................................................................................................................ 1
Unpacking Inspection..........................................................................................................................1
Revision History...................................................................................................................................1
Standards Compliance........................................................................................................................2
Safety Instructions....................................................................................................................... 10
Safety Precautions.............................................................................................................................10
Safety Levels and Definitions............................................................................................................10
Safety Instructions.............................................................................................................................10
Safety Signs........................................................................................................................................14
1 Product Information................................................................................................................. 15
1.1 Introduction to the Servo Drive..................................................................................................15
1.1.1 Nameplate and Model Number.......................................................................................................... 15

1.1.2 Components........................................................................................................................................ 16

1.1.3 Technical Specifications..................................................................................................................... 22

1.1.4 Specifications of the Regenerative Resistor...................................................................................... 27

1.2 Introduction to the Servo Motor.................................................................................................28

1.2.1 Motor Nameplate and Model Number............................................................................................... 28

1.2.2 Components........................................................................................................................................ 29

1.2.3 Technical Specifications..................................................................................................................... 30

1.3 Servo System Configurations......................................................................................................39

1.4 Cable Models................................................................................................................................40
1.5 Communication Cable Options..................................................................................................42
1.6 Connector Kits..............................................................................................................................42
1.7 Servo System Wiring Diagram.....................................................................................................43
2 Installation................................................................................................................................. 48
2.1 Installing the Servo Drive............................................................................................................48
2.1.1 Installation Location........................................................................................................................... 48

2.1.2 Environment Conditions..................................................................................................................... 49

2.1.3 Dimension Drawings........................................................................................................................... 49

2.1.4 Installation........................................................................................................................................... 51

2.2 Installing the Servo Motor...........................................................................................................53

2.2.1 Installation Location........................................................................................................................... 53

2.2.2 Installation Environment.................................................................................................................... 53

2.2.3 Installation Precautions...................................................................................................................... 54

2.2.4 Dimension Drawings........................................................................................................................... 56

3 Wiring......................................................................................................................................... 63

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 Contents

3.1 Terminal Pin Layout.....................................................................................................................65

3.2 Wiring of the Main Circuit............................................................................................................68
3.2.1 Main Circuit Terminals........................................................................................................................ 68

3.2.2 Wiring Example of the Regenerative Resistor.................................................................................... 71

3.2.3 Specifications of Main Circuit Cables................................................................................................. 72

3.2.4 Wiring Example of the Power Supply ................................................................................................ 75

3.2.5 Precautions for Main Circuit Wiring................................................................................................... 77

3.2.6 Specifications of Main Circuit Options............................................................................................... 78

3.3 Connecting the Servo Drive and Servo Motor Power Cables....................................................79
3.4 Connecting the Servo Drive and Servo Motor Encoder Cables................................................82
3.5 Connecting Control Signal Terminal CN1..................................................................................87
3.5.1 DI/DO Signals....................................................................................................................................... 88

3.5.2 Wiring of the Brake.............................................................................................................................. 91

3.6 Wiring of Communication Signals CN3/CN4..............................................................................93

3.6.1 Pin Assignment of Communication Signal Connectors................................................................... 94

3.6.2 Communication Cable Selection....................................................................................................... 94

3.6.3 Communication Connection with PC (RS232 Communication)...................................................... 95

3.7 Definition and Connection of STO terminals.............................................................................97

3.8 Anti-interference Measures for Electrical Wiring.......................................................................99
3.8.1 Anti-interference Wiring Example and Grounding......................................................................... 100

3.8.2 Instructions for Use of the Noise Filter........................................................................................... 101

3.9 Precautions for Use of Cables...................................................................................................102

4 Keypad Display and Operations............................................................................................. 104
4.1 Introduction to the Keypad.......................................................................................................104
4.2 Display........................................................................................................................................104
4.2.1 Mapping Relation Between Keypad Display and Operation Objects........................................... 105

4.2.2 Display Modes Switchover............................................................................................................... 105

4.2.3 Status Display................................................................................................................................... 106

4.2.4 Parameter Display............................................................................................................................ 106

4.2.5 Fault Display..................................................................................................................................... 108

4.2.6 Monitored Value Display.................................................................................................................. 109

4.3 Parameter Settings.....................................................................................................................116

4.4 User Password............................................................................................................................117
4.5 General Functions......................................................................................................................118
4.5.1 Jog..................................................................................................................................................... 118

4.5.2 Forced DI/DO Signals....................................................................................................................... 119

5 Commissioning and Operation.............................................................................................. 126
5.1 Pre-running Check.....................................................................................................................127

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5.2 Power-on....................................................................................................................................127
5.3 Jogging.......................................................................................................................................127
5.4 General Parameter Settings......................................................................................................128
5.4.1 Direction of Rotation........................................................................................................................ 128

5.4.2 Brake Settings................................................................................................................................... 129

5.4.3 Regenerative Resistor Settings........................................................................................................ 134

5.5 Servo Running............................................................................................................................141

5.6 Servo Stop..................................................................................................................................147
5.7 Conversion Factor Setting.........................................................................................................153
6 Gain Tuning............................................................................................................................. 155
6.1 Overview.....................................................................................................................................155
6.2 Inertia Auto-tuning.....................................................................................................................156
6.2.1 Offline Inertia Auto-tuning............................................................................................................... 157

6.2.2 Online Auto-tuning........................................................................................................................... 159

6.3 Instructions for ETune Operations............................................................................................160

6.3.1 Overview........................................................................................................................................... 160

6.3.2 Description of Operations................................................................................................................ 161

6.3.3 Precautions....................................................................................................................................... 165

6.3.4 Troubleshooting............................................................................................................................... 166

6.4 Instructions for STune Operations............................................................................................166

6.4.1 Overview........................................................................................................................................... 166

6.4.2 Description of Operations................................................................................................................ 167

6.4.3 Precautions....................................................................................................................................... 169

6.4.4 Resonance Suppression Parameters.............................................................................................. 171

6.4.5 Solutions to Common Faults........................................................................................................... 172

6.5 Manual Gain Tuning...................................................................................................................172

6.5.1 Basic Parameters.............................................................................................................................. 172

6.5.2 Gain Switchover................................................................................................................................ 175

6.5.3 Position Reference Filter.................................................................................................................. 180

6.5.4 Feedforward Gain............................................................................................................................. 180

6.5.5 Pseudo Derivative Feedback and Feedforward Control................................................................ 183

6.5.6 Torque Disturbance Observation.................................................................................................... 184

6.5.7 Speed Observer................................................................................................................................ 185

6.5.8 Model Tracking Function................................................................................................................. 186

6.5.9 Friction Compensation.................................................................................................................... 189

6.6 Parameter Adjustment in Different Control Modes.................................................................190

6.6.1 Parameter Adjustment in the Position Control Mode.................................................................... 190

6.6.2 Parameter Adjustment in the Speed Control Mode....................................................................... 192

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6.6.3 Parameter Adjustment in the Torque Control Mode...................................................................... 192

6.7 Vibration Suppression...............................................................................................................192

6.7.1 Suppression of Mechanical Resonance.......................................................................................... 193

6.7.2 Low Frequency Resonance Suppression at the Mechanical Load End........................................ 197

6.8 Mechanical Characteristic Analysis...........................................................................................199

6.8.1 Overview........................................................................................................................................... 199

6.8.2 Operating Procedure........................................................................................................................ 200

7 Control Modes......................................................................................................................... 202
7.1 Servo Drive Status Setting.........................................................................................................203
7.1.1 Control Word 6040h......................................................................................................................... 205

7.1.2 Status Word 6041h........................................................................................................................... 206

7.2 Operation Mode Setting............................................................................................................207

7.2.1 Introduction to Servo Drive Operation Modes............................................................................... 207

7.2.2 Communication Cycles.................................................................................................................... 209

7.3 Cyclic Synchronous Position (CSP) Mode................................................................................209

7.3.1 Configuration Block Diagram.......................................................................................................... 209

7.3.2 Related Objects................................................................................................................................. 209

7.3.3 Related Function Settings................................................................................................................ 210

7.3.4 Recommended Configuration......................................................................................................... 210

7.3.5 Related Parameters.......................................................................................................................... 211

7.3.6 Function Block Diagram.................................................................................................................. 213

7.4 Cyclic Synchronous Velocity (CSV) Mode.................................................................................214

7.4.1 Configuration Block Diagram.......................................................................................................... 214

7.4.2 Related Objects................................................................................................................................. 214

7.4.3 Related Function Settings................................................................................................................ 214

7.4.4 Recommended Configuration......................................................................................................... 215

7.4.5 Related Parameters.......................................................................................................................... 215

7.4.6 Function Block Diagram.................................................................................................................. 217

7.5 Cyclic Synchronous Torque (CST) Mode...................................................................................218

7.5.1 Configuration Block Diagram.......................................................................................................... 218

7.5.2 Related Objects................................................................................................................................. 218

7.5.3 Related Function Settings................................................................................................................ 219

7.5.4 Recommended Configuration......................................................................................................... 221

7.5.5 Related Parameters.......................................................................................................................... 221

7.5.6 Function Block Diagram.................................................................................................................. 223

7.6 Profile Position (PP) Mode.........................................................................................................223

7.6.1 Configuration Block Diagram.......................................................................................................... 224

7.6.2 Related Objects................................................................................................................................. 227

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7.6.3 Related Function Settings................................................................................................................ 227

7.6.4 Recommended Configuration......................................................................................................... 230

7.6.5 Related Parameters.......................................................................................................................... 230

7.6.6 Function Block Diagram.................................................................................................................. 233

7.7 Profile Velocity (PV) Mode .........................................................................................................233

7.7.1 Configuration Block Diagram.......................................................................................................... 233

7.7.2 Related Objects................................................................................................................................. 234

7.7.3 Related Function Settings................................................................................................................ 234

7.7.4 Recommended Configuration......................................................................................................... 237

7.7.5 Related Parameters.......................................................................................................................... 237

7.7.6 Function Block Diagram.................................................................................................................. 239

7.8 Profile Torque (PT) Mode...........................................................................................................239

7.8.1 Configuration Block Diagram.......................................................................................................... 239

7.8.2 Related Objects................................................................................................................................. 239

7.8.3 Related Function Settings................................................................................................................ 240

7.8.4 Related Parameters.......................................................................................................................... 243

7.8.5 Recommended Configuration......................................................................................................... 245

7.8.6 Function Block Diagram.................................................................................................................. 245

7.9 Homing Mode (HM)....................................................................................................................245

7.9.1 Configuration Block Diagram.......................................................................................................... 246

7.9.2 Related Objects................................................................................................................................. 246

7.9.3 Related Function Settings................................................................................................................ 247

7.9.4 Homing Operation............................................................................................................................ 249

7.9.5 Related Parameters.......................................................................................................................... 286

7.9.6 Recommended Configuration......................................................................................................... 289

7.9.7 Function Block Diagram.................................................................................................................. 290

7.10 Auxiliary Functions...................................................................................................................290

7.10.1 Touch Probe Function.................................................................................................................... 290

7.10.2 Software Position Limit................................................................................................................. 294

7.10.3 Position Comparison...................................................................................................................... 295

7.10.4 EtherCAT Forced DO Function....................................................................................................... 301

7.11 Absolute Encoder System........................................................................................................302

7.11.1 Descriptions for Use of the Absolute Encoder System................................................................ 302

7.11.2 Absolute Position Linear Mode..................................................................................................... 304

7.11.3 Absolute Position Rotation Mode.................................................................................................. 306

7.11.4 Single-Turn Absolute Mode........................................................................................................... 309

7.11.5 Precautions for Use of the Battery Box......................................................................................... 311

8 Parameters.............................................................................................................................. 312

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8.1 Object Classification..................................................................................................................312

8.2 Communication Parameters (Group 1000h)............................................................................315
8.3 Manufacturer-Specific Parameters (Group 2000h)..................................................................331
Group 2000h: Servo Motor Parameters.................................................................................................... 331

Group 2001h: Servo Drive parameters..................................................................................................... 332

Group 2002h: Basic Control Parameters.................................................................................................. 334

Group 2003h: Terminal Input Parameters............................................................................................... 340

Group 2004h: Terminal Output Terminals............................................................................................... 343

Group 2005h: Position Control Parameters............................................................................................. 345

Group 2006h: Speed Control Parameters................................................................................................ 348

Group 2007h: Torque Control Parameters............................................................................................... 351

Group 2008h: Gain Parameters................................................................................................................ 354

Group 2009h: Gain Auto-tuning Parameters........................................................................................... 360

Group 200Ah: Fault and Protection Parameters..................................................................................... 365

Group 200Bh Monitoring Parameters...................................................................................................... 370

Group 200Dh: Auxiliary Function Parameters......................................................................................... 377

Group 200Eh: Communication Parameters............................................................................................. 380

Group 203Fh: Manufacturer Fault Codes................................................................................................. 384

8.4 Parameters Defined by the Device Profile (Group 6000h).......................................................385

9 Communication Configurations............................................................................................ 411
9.1 Overview of EtherCAT Protocol.................................................................................................411
9.2 System Parameters....................................................................................................................412
9.2.1 Parameter Address Structure.......................................................................................................... 412

9.2.2 System Parameter Settings.............................................................................................................. 413

9.3 EtherCAT Communication Basis...............................................................................................413

9.3.1 EtherCAT Communication Specifications...................................................................................... 413

9.3.2 Communication Structure............................................................................................................... 413

9.3.3 State Machine................................................................................................................................... 414

9.3.4 Process Data..................................................................................................................................... 415

9.3.5 Service Data Object (SDO)............................................................................................................... 419

9.3.6 Distributed Clock (DC)...................................................................................................................... 420

9.3.7 Status Indication.............................................................................................................................. 420

9.3.8 Overview of CiA402 Control............................................................................................................. 422

9.3.9 Basic Characteristics........................................................................................................................ 423

10 Troubleshooting.................................................................................................................... 425
10.1 Faults and Warnings................................................................................................................425
10.2 Communication Faults and Warning Codes..........................................................................426
10.3 Solutions to Faults...................................................................................................................429

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10.4 Solutions to Warnings..............................................................................................................453

10.5 Solutions to Communication Faults.......................................................................................459
11 Application Cases.................................................................................................................. 463
Case 1 AM600 Series Controller as the Host Controller................................................................463
Case 2 Omron NX1P2 Controller as the Host Controller...............................................................469
Case 3 Beckhoff TwinCAT3 as the Host Controller........................................................................480
Case 4 KEYENCE KV7500 Controller as the Host Controller..........................................................495
12 Appendix................................................................................................................................ 508
12.1 Standards Compliance............................................................................................................508
12.1.1 CE Certification............................................................................................................................... 508

12.1.2 Low Voltage Directive Compliance................................................................................................ 508

12.1.3 EMC Directive Compliance............................................................................................................. 509

12.1.4 Definition of EMC Terms................................................................................................................ 510

12.1.5 Selection of EMC Filters................................................................................................................. 510

12.1.6 Cable Requirements and Routing................................................................................................. 515

12.1.7 Solutions to Leakage Current........................................................................................................ 516

12.1.8 Solutions to Common EMC Problems.......................................................................................... 517

12.1.9 UL Certification............................................................................................................................... 518

12.2 List of Object Groups...............................................................................................................519

Description of Object Groups................................................................................................................... 519

Object Group 1000h.................................................................................................................................. 519

Object Group 2000h.................................................................................................................................. 524

Object Group 6000h.................................................................................................................................. 554

SDO Abort Transfer Code ......................................................................................................................... 558

12.3 Safe Torque Off (STO) Function...............................................................................................559

12.3.1 Description of Technical Terms..................................................................................................... 559

12.3.2 Standards Compliance................................................................................................................... 562

12.3.3 General Safety Information........................................................................................................... 563

12.3.4 Specifications ................................................................................................................................ 564

12.3.5 Installation...................................................................................................................................... 565

12.3.6 Terminal and Wiring....................................................................................................................... 565

12.3.7 Requirement for Commission, Operation and Maintenance...................................................... 565

12.3.8 Safety Function: STO...................................................................................................................... 567

12.3.9 Troubleshooting............................................................................................................................. 570

12.3.10 Product Information.................................................................................................................... 570

12.3.11 Precautions................................................................................................................................... 572

12.4 Multi-Machine Recipe Management.......................................................................................574

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 Safety Instructions

Safety Instructions
Safety Precautions
1) Before installing, using, and maintaining this equipment, read the safety information and
precautions thoroughly, and comply with them during operations.

2) To ensure the safety of humans and equipment, follow the signs on the equipment and all the safety
instructions in this user guide.

3) "CAUTION", "WARNING", and "DANGER" items in the user guide do not indicate all safety
precautions that need to be followed; instead, they just supplement the safety precautions.

4) Use this equipment according to the designated environment requirements. Damage caused by
improper usage is not covered by warranty.

5) Inovance shall take no responsibility for any personal injuries or property damage caused by
improper usage.

Safety Levels and Definitions

Indicates that failure to comply with the notice will result in severe personal
DANGER injuries or even death.

Indicates that failure to comply with the notice may result in severe personal
WARNING injuries or even death.

Indicates that failure to comply with the notice may result in minor or moderate
CAUTION personal injuries or equipment damage.

Safety Instructions

Unpacking

CAUTION

◆◆ Check whether the packing is intact and whether there is damage, water seepage, damp, and deformation.
◆◆ Unpack the package by following the package sequence. Do not hit the package with force.
◆◆ Check whether there are damage, rust, or injuries on the surface of the equipment or equipment accessories.
◆◆ Check whether the number of packing materials is consistent with the packing list.

WARNING

◆◆ Do not install the equipment if you find damage, rust, or indications of use on the equipment or accessories.
◆◆ Do not install the equipment if you find water seepage, component missing or damage upon unpacking.
◆◆ Do not install the equipment if you find the packing list does not conform to the equipment you received.

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 Safety Instructions

Storage and Transportation

CAUTION

◆◆ Store and transport this equipment based on the storage and transportation requirements for humidity and
temperature.
◆◆ Avoid transporting the equipment in environments such as water splashing, rain, direct sunlight, strong electric
field, strong magnetic field, and strong vibration.
◆◆ Avoid storing this equipment for more than three months. Long-term storage requires stricter protection and
necessary inspections.
◆◆ Pack the equipment strictly before transportation. Use a sealed box for long-distance transportation.
◆◆ Never transport this equipment with other equipment or materials that may harm or have negative impacts on
this equipment.

WARNING

◆◆ Use professional loading and unloading equipment to carry large-scale or heavy equipment.
◆◆ When carrying this equipment with bare hands, hold the equipment casing firmly with care to prevent parts
falling. Failure to comply may result in personal injuries.
◆◆ Handle the equipment with care during transportation and mind your step to prevent personal injuries or
equipment damage.
◆◆ Never stand or stay below the equipment when the equipment is lifted by hoisting equipment.

Installation

WARNING

◆◆ Thoroughly read the safety instructions and user guide before installation.
◆◆ Do not modify this equipment.
◆◆ Do not rotate the equipment components or loosen fixed bolts (especially those marked in red) on equipment
components.
◆◆ Do not install this equipment in places with strong electric or magnetic fields.
◆◆ When this equipment is installed in a cabinet or final equipment, protection measures such as a fireproof
enclosure, electrical enclosure, or mechanical enclosure must be provided. The IP rating must meet IEC
standards and local laws and regulations.

DANGER

◆◆ Equipment installation, wiring, maintenance, inspection, or parts replacement must be performed only by
professionals.
◆◆ Installation, wiring, maintenance, inspection, or parts replacement must be performed only by experienced
personnel who have been trained with necessary electrical information.
◆◆ Installation personnel must be familiar with equipment installation requirements and relevant technical
materials.
◆◆ Before installing equipment with strong electromagnetic interference, such as a transformer, install an
electromagnetic shielding device for this equipment to prevent malfunctions.

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 Safety Instructions

Wiring

DANGER

◆◆ Equipment installation, wiring, maintenance, inspection, or parts replacement must be performed only by
professionals.
◆◆ Never perform wiring at power-on. Failure to comply will result in an electric shock.
◆◆ Before wiring, cut off all equipment power supplies. Wait at least 15 minutes before further operations because
residual voltage exists after power-off.
◆◆ Make sure that the equipment is well grounded. Failure to comply will result in an electric shock.
◆◆ During wiring, follow the proper electrostatic discharge (ESD) procedures, and wear an antistatic wrist strap.
Failure to comply will result in damage to internal equipment circuits.

WARNING

◆◆ Never connect the power cable to output terminals of the equipment. Failure to comply may cause equipment
damage or even a fire.
◆◆ When connecting a drive with the motor, make sure that the phase sequences of the drive and motor terminals
are consistent to prevent reverse motor rotation.
◆◆ Wiring cables must meet cross sectional area and shielding requirements. The shielding layer of the shielded
cable must be reliably grounded at one end.
◆◆ After wiring, make sure that no screws are fallen and cables are exposed in the equipment.

Power-on

DANGER

◆◆ Before power-on, make sure that the equipment is installed properly with reliable wiring and the motor can be
restarted.
◆◆ Before power-on, make sure that the power supply meets equipment requirements to prevent equipment
damage or even a fire.
◆◆ At power-on, unexpected operations may be triggered on the equipment. Therefore, stay away from the
equipment.
◆◆ After power-on, do not open the cabinet door and protective cover of the equipment. Failure to comply will result
in an electric shock.
◆◆ Do not touch any wiring terminals at power-on. Failure to comply will result in an electric shock.
◆◆ Do not remove any part of the equipment at power-on. Failure to comply will result in an electric shock.

Operation

DANGER

◆◆ Do not touch any wiring terminals during operation. Failure to comply will result in an electric shock.
◆◆ Do not remove any part of the equipment during operation. Failure to comply will result in an electric shock.
◆◆ Do not touch the equipment enclosure, fan, or resistor for temperature detection. Failure to comply will result in
heat injuries.
◆◆ Signal detection must be performed only by professionals during operation. Failure to comply will result in
personal injuries or equipment damage.

WARNING

◆◆ Prevent metal or other objects from falling into the device during operation. Failure to comply may result in
equipment damage.
◆◆ Do not start or stop the equipment using a contactor. Failure to comply may result in equipment damage.

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 Safety Instructions

Maintenance

DANGER

◆◆ Equipment installation, wiring, maintenance, inspection, or parts replacement must be performed only by
professionals.
◆◆ Do not maintain the equipment at power-on. Failure to comply will result in an electric shock.
◆◆ Before maintenance, cut off all equipment power supplies and wait at least 15 minutes.

WARNING

◆◆ Perform daily and periodic inspection and maintenance for the equipment according to maintenance
requirements and keep a maintenance record.

Repair

DANGER

◆◆ Equipment installation, wiring, maintenance, inspection, or parts replacement must be performed only by
professionals.
◆◆ Do not repair the equipment at power-on. Failure to comply will result in an electric shock.
◆◆ Before inspection and repair, cut off all equipment power supplies and wait at least 15 minutes.

WARNING

◆◆ Require for repair services according to the product warranty agreement.

◆◆ When the equipment is faulty or damaged, require professionals to perform troubleshooting and repair by
following repair instructions and keep a repair record.
◆◆ Replace quick-wear parts of the equipment according to the replacement guide.
◆◆ Do not operate damaged equipment. Failure to comply may result in worse damage.
◆◆ After the equipment is replaced, perform wiring inspection and parameter settings again.

Disposal

WARNING

◆◆ Dispose of retired equipment by following local regulations or standards. Failure to comply may result in
property damage, personal injuries, or even death.
◆◆ Recycle retired equipment by following industry waste disposal standards to avoid environmental pollution.

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 Safety Instructions

Safety Signs
■■ Description of safety signs in the user guide

i Read the user guide before installation and operation.

Reliably ground the system and equipment.

Danger!

High temperature!

Prevent personal injuries caused by machines.

High voltage!

Wait 15 minutes before further operations.

15min
■■ Description of safety signs on the equipment

For safe equipment operation and maintenance, comply with safety signs on the equipment, and do not
damage or remove the safety labels. The following table describes the safety signs.

Safety Sign Description

危险 Never fail to connect the Protective Earth(PE) terminal.

Read the user guide and follow the safety instructions before use.
DANGER

To prevent the risk of electric shock, do not touch terminals within 15

高压注意
Hazardous minutes after cutting off the power supply.
Voltage
高温注意
To prevent the risk of burning, do not touch the heatsink when the power
supply is ON.
High
Temperature

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 1 Product Information

1 Product Information
1.1 Introduction to the Servo Drive

1.1.1 Nameplate and Model Number

SV 660 N S 2R8 I - FH
Code Product Family Code Customized Function

SV Servo None Standard

FH High protection
Code Product Series
FS STO function
660 660 series

Code Product Type

N Network type Code Installation Mode

Baseplate installation
I
Code Voltage Class (standard)

S 220 V

T 380 V

Code 1R6 2R8 3R5 5R4 5R5 7R6

Rated output current 1.6 A 2.8 A 3.5 A 5.4 A 5.5 A 7.6 A

Code 8R4 012 017 021 026 -

Rated output current 8.4 A 12 A 17 A 21 A 26 A -

Nameplate
Product model MODEL： SV660NS2R8I Certifications

Rated input INPUT： 1PH AC 200-240V 4.6A 50/60Hz

Rated output OUTPUT： 3PH AC 0-240V 2.8A 0-400Hz 400W CN1
Serial No. S/N： 01050843xxxxxxxx

CN2
Suzhou Inovance Technology Co., Ltd.
CHARGE

Figure 1-1 Nameplate and model number

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 1 Product Information

01050193 4 H 7 00001
Code Part No. Code Product No.

01 ****** Internal part number 00001 1st in current month

00002 2nd in current month

00003 3rd in current month
Code Manufacturer Code …… Nth in current month
4 Suzhou Inovance Range: 00001 to 99999

Code Month
Code Year 1 January
9 2009 2 February
A 2010 3 March
B 2011 ... ...
…… By analogy A October
Note: Letters I, L, O, or Q B November
are not used.
C December

Example: The serial number 010501934H700001 indicates the servo drive is manufatured in July 2017.

Figure 1-2 Encryption of the serial number (S/N)

1.1.2 Components

1
CN6
CN5

10

11

12

11

Figure 1-3 Layout of servo drives in size A

No. Name Description

CN6: Functional safety terminal mainly used for functional safety purpose,
1 CN6 and CN5 connected to the external functional safety signal
CN5: Software tool communication terminal

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No. Name Description

2 LED display (5-digit) Used to display servo drive operation states and parameter settings.

MODE: Used to switch parameters in sequence.

△ : Used to increase the value of the blinking digit.
▽ : Used to decrease the value of the blinking digit.
3 Buttons ◁ ◁ : Used to shift the blinking digit leftwards.
(Held down: Used to turn to the next page when the display value is comprised
of more than five digits.)
SET: Used to save modifications and enter the next menu.

CN3, CN4
(EtherCAT CN3 (IN): Connected to the master or the last slave.
4
communication CN4 (OUT): Connected to the next slave.
terminals)

CN1
5 Used by reference input signals and other I/O signals.
(control terminal)

CN2
6 (terminal for connecting Connected to motor encoder terminals.
the encoder)

Used to indicate that the bus capacitor carries electric charge.

When this indicator lights up, electric charge may be still present in the internal
CHARGE
7 capacitor of the servo drive even if the main circuit power supply is cut off.
(bus voltage indicator)
To prevent electrical shock, do not touch the power terminals when this
indicator lights up.

L1, L2
See the nameplate for the rated voltage of the power supply.
(power input terminals)
8
P, N
Used as the common DC bus for multiple servo drives.
(DC bus terminals)

P, C
(terminals for connecting When an external regenerative resistor is needed, connect it between terminals
9
external regenerative P and C.
resistor)

U, V, W
10 (terminals for connecting Connected to U, V, and W phases of the servo motor.
the servo motor)

PE
11 Connected to the power supply ground and the motor grounding terminal.
(grounding terminal)

12 Battery location Used to hold the battery box of the absolute encoder.

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1 CN6
CN5

7
8

10

11

12

Figure 1-4 Layout of servo drives in size B

No. Name Description

CN6: Functional safety terminal mainly used for functional safety purpose and
1 CN6, CN5 connected to external functional safety signal
CN5: Software tool communication terminal

LED display
2 Used to display servo drive operation states and parameter settings.
(5-digit)

MODE: Used to switch the parameter No. in sequence.

△ : Used to increase the set value of the blinking digit.
▽ : Used to decrease the set value of the blinking digit.
3 Buttons ◁◁ : Used to shift the blinking digit leftwards.
(Held down: Used to turn to the next page when the display value is comprised of more
than five digits.)
SET: Used to save modifications and enter the next level of menu.

CN3, CN4
(EtherCAT CN3 (IN): Connected to the master or the last slave.
4
communication CN4 (OUT): Connected to the next slave.
terminals)

CN1
5 Used for reference input signal and other I/O signals.
(control terminal)

CN2
(terminal for
6 Connected to motor encoder terminals.
connecting the
encoder)

Used to indicate that the bus capacitor carries electric charge.

CHARGE When this indicator lights up, electric charge may be still present in the internal
7 (bus voltage capacitor of the servo drive even if the main circuit power supply is cut off.
indicator) To prevent electrical shock, do not touch the power terminals when this indicator lights
up.

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No. Name Description

See the nameplate for the rated voltage of the power supply.
L1, L2, L3
Note:
(power input
terminals) S5R5 (750 W) servo drives: Single-phase 220 V input, with 220 V power supply
8 connected to L1 and L2

P, N
(DC bus Used as the common DC bus for multiple servo drives.
terminals)

P, D, C
(terminals for
connecting Connect the regenerative resistor between terminals P and C as needed. Remove the
9
external jumper between terminals P and D before connecting the regenerative resistor
regenerative
resistor)

U, V, W
(terminals for
10 Connected to U, V, and W phases of the servo motor.
connecting the
servo motor)

PE
11 (grounding Connected to the power supply ground and motor grounding terminal.
terminal)

12 Battery location Used to hold the battery box of the absolute encoder.

◆◆ Built-in regenerative resistors or jumper bars are not included in S1R6 and S2R8 models. If an
external regenerative resistor is needed, connect it between terminals P and C.
◆◆ To connect an external regenerative resistor to S5R5 models, remove the jumper bar between
NOTE terminals P and D first and connect the resistor between terminals P and C.

10
3

4 11

12
5

6
13

14
7

Figure 1-5 Components of servo drives in size C and Size D

No. Name Description

1 LED display (5-digit) Used to display servo drive operation states and parameter settings.

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No. Name Description

MODE: Used to switch the parameter No. in sequence.

△ : Used to increase the set value of the blinking digit.
▽ : Used to decrease the set value of the blinking digit.
2 Buttons ◁◁ : Used to shift the blinking digit leftwards.
(Held down: Used to turn to the next page when the display value is
comprised of more than five digits.)
SET: Used to save modifications and enter the next level of menu.

Used to indicate that the bus capacitor carries electric charge.

When this indicator lights up, electric charge may be still present in the
CHARGE internal capacitor of the servo drive even if the main circuit power supply is
3
(bus voltage indicator) cut off.
To prevent electrical shock, do not touch the power terminals when this
indicator lights up.

L1C, L2C
4 (control circuit power input See the nameplate for the rated voltage of the power supply.
terminals)

R, S, T
5 (main circuit power input See the nameplate for the rated voltage of the power supply.
terminals)

P, D, C Connect the regenerative resistor between P and C as needed. Remove

(terminals for connecting the jumper between terminals P and D before connecting the regenerative
6 external regenerative resistor) resistor

P, N
Used as the common DC bus for multiple servo drives.
(DC bus terminals)

U, V, W
7 (terminals for connecting the Connected to U, V, and W phases of the servo motor.
servo motor)

PE
8 Connected to the power supply ground and motor grounding terminal.
(Grounding terminal)

9 Battery location Used to hold the battery box of the absolute encoder.

CN3, CN4 CN3(IN): Connected to the master or the last slave.

10
(EtherCAT terminal) CN4(OUT): Connected to the next slave.

CN6
11 Used to connect the external functional safety signal.
(STO terminal)

12 CN5 Used as the software tool communication terminal.

CN1
13 Used by reference input signals and other I/O signals.
(control terminal)

CN2
14 (terminal for connecting the Connected to motor encoder terminal.
encoder)

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8
9
1
10

2 11

12
3
13

4 14

Figure 1-6 Components of servo drives in size E

No. Name Description

Used to indicate that the bus capacitor carries electric charge.

When this indicator lights up, electric charge may be still present in the
CHARGE internal capacitor of the servo drive even if the main circuit power supply is
1
(bus voltage indicator) cut off.
To prevent electrical shock, do not touch the power terminals when this
indicator lights up.

L1C, L2C
2 (control circuit power input See the nameplate for the rated voltage of the power supply.
terminals)

R, S, T
3 (main circuit power input See the nameplate for the rated voltage of the power supply.
terminals)

U, V, W
4 (terminals for connecting the Connected to U, V, and W phases of the servo motor.
servo motor)

N2, N1
Terminals N1 and N2 are jumpered by default. Remove the jumper before
5 (terminals for connecting the
connecting the external DC reactor between N1 and N2.
external reactor)

P, D, C Connect the regenerative resistor between P and C as needed. Remove

6 (terminals for connecting the jumper between terminals P and D before connecting the regenerative
external regenerative resistor) resistor

7 Battery location Used to hold the battery box of the absolute encoder.

8 LED display (5-digit) Used to display servo drive operation states and parameter settings.

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No. Name Description

MODE: Used to switch the parameter No. in sequence.

△ : Used to increase the set value of the blinking digit.
▽ : Used to decrease the set value of the blinking digit.
9 Buttons ◁◁ : Used to shift the blinking digit leftwards.
(Held down: Used to turn to the next page when the display value is
comprised of more than five digits.)
SET: Used to save modifications and enter the next level of menu.

CN3, CN4 Connected in parallel internally.

10
(communication terminal) Connected to RS232 and RS485 devices.

CN6
11 Used to connect the external functional safety signal.
(STO terminal)

12 CN5 Used as the software tool communication terminal.

CN1
13 Used by reference input signals and other I/O signals.
(control terminal)

CN2
14 (terminal for connecting the Connected to the encoder terminal.
encoder)

1.1.3 Technical Specifications

1 Electrical specifications

■■ Single-phase 220 V servo drives

Item Size A Size B

Servo drive model: SV660N S1R6 S2R8 S5R5

Continuous output current (Arms) 1.6 2.8 5.5

Maximum output current (Arms) 5.8 10.1 16.9

Main circuit power supply Single-phase 200 VAC to 240 VAC, -10% to +10%, 50/60 Hz

Control circuit power supply Single-phase 200 VAC to 240 VAC, -10% to +10%, 50/60 Hz

Servo drives in size A support external regenerative resistors only.

Braking function
Servo drives in size B carries a built-in regenerative resistor as standard.

■■ Three-phase 220 V servo drives

Item Size C Size D

Servo drive model: SV660N S7R6 S012

Continuous output current (Arms) 7.6 11.6

Maximum output current (Arms) 23 32

Main circuit power supply Three-phase 200 VAC to 240 VAC, -10% to +10%, 50/60 Hz

Control circuit power supply Single-phase 200 VAC to 240 VAC, +10 to –10%, 50/60 Hz

Braking function A built-in regenerative resistor is included in the standard configuration.

◆◆ S7R6 and S012 models support single-phase 220 V power supply and derating is not required upon
single-phase power input.
NOTE

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■■ Three-phase 380 V servo drives

Item Size C Size D Size E

Servo drive model: SV660N T3R5 T5R4 T8R4 T012 T017 T021 T026

Continuous output current (Arms) 3.5 5.4 8.4 11.9 16.5 20.8 25.7

Maximum output current (Arms) 11 14 20 29.75 41.25 52.12 64.25

Main circuit power supply Three-phase 380 VAC to 440 VAC, -10% to +10%, 50/60 Hz

Control circuit power supply Single-phase 380 VAC to 440 VAC, -10% to +10%, 50/60 Hz

Braking function A built-in regenerative resistor is included in the standard configuration.

2 General specifications

Item Description
IGBT PWM control, sine wave current drive mode
Control mode 220 V, 380 V: Single-phase/Three-phase full bridge
rectification
23-bit absolute (optional) encoder, which can be used as an
Encoder feedback
incremental encoder in the absence of the battery
Ambient/Storage 0℃ to 55℃ (If the ambient temperature exceeds 45℃ , derate
temperature [1] 10% for every additional 5℃ .)/-20℃ to +70℃
Basic
Ambient/Storage
specifications Below 90% RH (without condensation)
humidity
Conditions for Vibration/Impact
4.9 m/s2, 19.6 m/s2
use resistance level
IP rating IP20 (Terminals are excluded, which have a rating of IP00.)
Pollution degree PD2
Below 1000 m. Derating is required for altitudes between
Altitude
1000 m and 2000 m.
1:6000 (Under the rated torque load, the servo drive keeps
Speed control range running as long as the lower limit of the speed control range
is not exceeded.)
Speed loop
3 kHz
bandwidth
Performance
Speed/ Torque control
Torque accuracy ±2%
control (repeatability)
mode 0s to 65s (Acceleration and deceleration can be set
Soft startup time
separately.)

Speed reference
Source of network-type references: EtherCAT communication
Input signals
Local mode and local multi-speed supported
Torque reference

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Item Description

Performance Positioning time 1 ms to 10 ms

Source of network-type references: EtherCAT communication

Input signal Position reference
Local mode supported

5 DIs
P-OT (Positive limit switch)
Position N-OT (Negative limit switch)
Digital input (DI) Signal allocation
control
signal change available HomeSwitch (Home switch)
mode
TouchProbe1 (Touch probe 1)
TouchProbe2 (Touch probe 2)
3 DOs
With-load capacity: 50 mA
Digital output Signal allocation Voltage range: 5 V to 30 V
(DO) signal change available S-RDY: Servo ready
TGON: Motor rotation output
Comparison output, brake output, EDM output
Overtravel (OT) prevention Stopping immediately when P-OT and N-OT activated
Providing protections against overcurrent, overvoltage,
undervoltage, overload, main circuit detection error,
Protective functions
heatsink over-temperature, overspeed, encoder error, CPU
error, and parameter error
CHARGE indicator for the main power supply, 5-digit LED
LED display and CHARGE indicator
display
Four notches (including two adaptive notches), 50 Hz to
Vibration suppression
5000 Hz
Built-in
Connection protocol RS232
functions
Communication
EtherCAT
protocol
Multi-station
Communication Maximum number of slaves: 255
communication
functions
Axis address setting No physical knob, set to 0...255 through software
Including status display, user parameter setting, monitoring
Functions information display, fault tracking display, jog and auto-
tuning, and speed/torque reference signal observation
Others Gain auto-tuning, fault log, jog

[1] Install the servo drive in environments that meet the allowable ambient temperature range. When it is installed
inside an electric control cabinet, the temperature inside the cabinet must also be within this range.

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3 Technical specifications of EtherCAT communication

Item Specification

Communication protocol EtherCAT protocol

Available services CoE (PDO, SDO)

Synchronization mode DC - Distributed clock

Physical layer 100BASE-TX

Baud rate 100 Mbit/s (100Base-TX)

Duplex mode Full duplex

Basic performance of EtherCAT slaves

Topological structure Ring and linear

Transmission medium Shielded Cat 5e network cable or better

Less than 100 m between two nodes (with a proper environment and proper
Transmission distance
cables)

Number of slaves 65535 by protocol, equal to or less than 100 in actual use

EtherCAT frame length 44 bytes to 1498 bytes

Process data A maximum of 1486 bytes per Ethernet frame

Synchronization jitter of
< 1 μs
two slaves

About 30 μs for 1000 DI/DOs

Refresh time About 100 μs for 100 servo axes
Different refresh times for different interfaces

Communication code error

10-10 Ethernet standard
rate

Number of FMMU units 8

EtherCAT configuration units

Number of storage
synchronization 8
management units

Process data RAM 8 KB

Distributed clock 64-bit

32 kbit
EEPROM capacity
Initialization data written through EtherCAT master

4 Basic functions

The servo drive functions are listed below. See details in corresponding chapters.

Function Description

Cyclic synchronous The host controller generates position references and sends the references cyclically
position mode through the bus. The servo drive performs the positioning control process.

Cyclic synchronous The host controller generates speed references and sends the references cyclically
velocity mode through the bus. The servo drive performs speed control.

Cyclic synchronous torque The host controller generates torque references and sends the references cyclically
mode through the bus. The servo drive performs torque control.

The host controller sets parameters through the bus, and the servo drive generates
Profile position mode
position references and performs positioning control process.

The host controller sets parameters through the bus, and the servo drive generates
Profile velocity mode
speed references and performs speed control.

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Function Description

The host controller sets parameters through the bus, and the servo drive generates
Profile torque mode
torque references and performs torque control.

The host controller selects the homing mode through parameters, and the servo drive
Homing mode
performs homing automatically with the position feedback set to the preset value.

Latches the position information when an external DI signal or the motor phase-Z signal
Touch probe function
state changes.

High-resolution encoder The encoder is of high performance with resolution up to 8388608 PPR.

Mechanical characteristics Analyzes the resonance frequency and mechanical system characteristics through a PC
analysis installed with Inovance software tool.

Generates gain parameters automatically to match present working condition through

Gain auto-tuning
just one parameter.

Different gains can be applied, stopped or switched through external terminals during
Gain switchover
running.

Torque disturbance Automatically estimates the disturbance torque suffered by the system to perform
observation compensation and reduce vibration.

Sets filter characteristics automatically to suppress mechanical system vibration after

Resonance suppression
detecting the resonance point.

Suppresses the mechanical resonance generated during high-speed response of the

Torque reference filter
servo drive.

Position first-order
Enables smooth acceleration and deceleration.
low-pass function

Torque limit Limits the output torque of the servo motor.

Speed limit Limits the servo motor speed.

External regenerative Intends to be used in cases where the braking capacity of the built-in regenerative
resistor resistor is insufficient.

Input signal selection Defines input functions such as emergency stop to corresponding pins.

Fault log Contains the latest ten faults or used to clear the previous faults.

Status display Displays the servo drive status through five LEDs.

External I/O display Displays ON/OFF status of external I/O signals.

Forced output of output Implements forced signal output not related to the servo drive status and detects the
signals wiring of output signals.

Trial run mode Runs the servo motor directly through the keypad, avoiding the need for a start signal.

Inovance software tool Used to execute parameter settings, trial run and status display through a PC.

Warning code output Outputs a four-bit warning code when a warning occurs.

High-speed position Outputs a DO signal with designated width after the servo drive reaches the preset
comparison output target position.

Captures the data before and after the designated condition. By using the software tool,
Black box function
the data is read for further analysis.

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1.1.4 Specifications of the Regenerative Resistor

Specifications of the Built-in Regenerative Max. Braking

Resistor Min. Allowable
Servo Drive Model Energy Absorbed
Resistance (Ω)
Resistance (Ω) Power (W) by the Capacitor (J)

SV660NS1R6I - - 50 13.15
Single-phase
SV660NS2R8I - - 45 26.29
220 V
SV660NS5R5I 50 50 40 22.41
Single-phase/ SV660NS7R6I 20 26.70
Three-phase 25 60
SV660NS012I 15 26.70
220 V
Three-phase
SV660NT3R5I 100 60 80 34.28
380 V
SV660NT5R4I 100 60 60 34.28
SV660NT8R4I 45
50 75 50.41
Three-phase SV660NT012I 40
380 V SV660NT017I 35 82.67
SV660NT021I 35 100 100.82
25
SV660NT026I 100.82

◆◆ Select the external regenerative resistor according to actual operating conditions.

◆◆ S7R6 and S012 models support single-phase 220 V power supply and derating is not required
NOTE upon single-phase power input.

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1.2 Introduction to the Servo Motor

1.2.1 Motor Nameplate and Model Number

MS1 H 1 - 20B 30C B - A3 3 1 Z - S

Code Product Family Code Sub-series No.

M Motor Z Terminal type, natural cooling

Z-S Lead-wire type, natural cooling

Code Product Type

S Servo : Servo motor

Code Product Generation

Code Brake, Reducer, Oil Seal
1 1st generation
0 None

Code Type 1 Oil seal

Motor with max. speed > rated
H speed Brake
2
Motor with max. speed = rated
V speed 4 Oil seal+Brake

Code Type

1 Low inertia and small capacity Code Shaft Connection Mode

2 Low inertia and medium capacity 3 Solid, with key and threaded hole
Medium inertia and medium
3 capacity
Medium inertia and small
4 capacity
Code Encoder Type

Code Rated Power (W) Comprised of a digit and a letter

Comprised of two digits and a letter A3 23-bit multi-turn absolute

encoder
B x 10

C x 100
Code Voltage Class
Example: 40B: 400 W
B 220 V

D 380 V
Code Rated Speed (RPM)

Comprised of two digits and a letter

B x 10

C x 100

Example: 30C: 3000 RPM

Nameplate

AC Servo Motor IEC60034-1

Motor model Model:MS1H1-75B30CB Type:A331Z

Motor specifications 0.75 kW 220 V 3000 r/min

2.39 N·m 250 Hz 4.8 A

Duty S1 Ins.F 3PHAC IP67

Motor code Motor Code: 14101 Weight: 2.18 kg
Suzhou Inovance Technology Co.,Ltd.
Serial No. Made in China SN:0111************

Figure 1-7 Model number and nameplate

◆◆ SV660N series servo drives can work with a motor equipped with a 23-bit single-turn or
multi-turn encoder.
NOTE

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1.2.2 Components

■■ Components of terminal-type motors

Encoder connector Encoder connector

Power connector Power connector

Flange mounting Flange mounting

face face
Mounting screw Mounting screw
through hole through hole
Shaft extension Shaft extension
(with key) (with key )

Cable outlet direction: Front outlet Cable outlet direction: Rear outlet

Figure 1-8 Components of MS1 series terminal-type motors

■■ Components of lead wire-type motors

Encoder connector

Power connector

Figure 1-9 Components of MS1 series lead wire-type motors

■■ Components of connector-type motors (flange sizes 100/130/180)

Encoder aviation connector
Power cable aviation connector

Mounting flange face

Mounting screw through

hole
Shaft extension (with key)

Disassembly hole

Figure 1-10 Components of MS1 series connector-type motors

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1.2.3 Technical Specifications

1 Mechanical specifications of the motor

Item Description

Duty type Continuous

Vibration level V15

Insulation resistance 500 VDC, above 10 MΩ

Ambient temperature 0°C to 40°C

Excitation mode Permanent magnetic

Installation mode Flange

Heat resistance level Level F

1500 VAC, 1 min (220 V)

Insulation voltage
1800 VAC, 1 min (380 V)

IP rating of the enclosure IP67 (except the shaft opening)

Ambient humidity 20% to 80% (without condensation)

Rotates counterclockwise (CCW) when viewed from the load side with a
Direction of rotation
forward run command

2 Motor ratings

Rotor
Rated Rated Max. Rated Max. Rated Max. Torque
Moment of Voltage
Model Output Torque Torque Current Current Speed Speed Specifications
Inertia (V)
(kW)[1] (N·m) (N·m) (Arms) (Arms) (RPM) (RPM) (N·m/Arms)
(10-4kg·m2)
Ratings of MS1H1 (Vn = 3000 RPM, Vmax = 6000 RPM) Series Motors
MS1H1-05B30CB 0.05 0.16 0.56 1.3 4.7 0.15 0.026 (0.028）
MS1H1-10B30CB 0.1 0.32 1.12 1.3 4.7 0.26 0.041 (0.043)
MS1H1-20B30CB 0.2 0.64 2.24 1.5 5.8 0.46 0.207 (0.220)
MS1H1-40B30CB 0.4 1.27 4.46 2.8 10.1 0.53 0.376 (0.390)
3000 6000 220
MS1H1-55B30CB 0.55 1.75 6.13 3.8 15.0 0.49 1.06

MS1H1-75B30CB 0.75 2.39 8.36 4.8 16.9 0.58 1.38 (1.43)

MS1H1-10C30CB 1.0 3.18 11.1 7.6 28.0 0.46 1.75

Ratings of MS1H2 (Vn = 3000 RPM, Vmax = 6000/5000 RPM) Series Motors
MS1H2-10C30CB 1.0 3.18 9.54 7.5 23.00 6000 0.47 1.87 (3.12)
220
MS1H2-15C30CB 1.5 4.90 14.7 10.8 32.00 5000 0.54 2.46 (3.71)
MS1H2-10C30CD 1.0 3.18 9.54 3.65 11.00 6000 0.89 1.87 (3.12)

MS1H2-15C30CD 1.5 4.90 14.7 4.50 14.00 1.07 2.46 (3.71)

MS1H2-20C30CD 2.0 6.36 19.1 5.89 20.00 3000 1.14 3.06 (4.31)
MS1H2-25C30CD 2.5 7.96 23.9 7.56 25.00 1.11 3.65 (4.90) 380
5000
MS1H2-30C30CD 3.0 9.8 29.4 10.00 30.00 1.16 7.72 (10.22)
MS1H2-40C30CD 4.0 12.6 37.8 13.60 40.80 1.16 12.1 (14.6)
MS1H2-50C30CD 5.0 15.8 47.6 16.00 48.00 1.16 15.4 (17.9)

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 1 Product Information

Rotor
Rated Rated Max. Rated Max. Rated Max. Torque
Moment of Voltage
Model Output Torque Torque Current Current Speed Speed Specifications
Inertia (V)
(kW)[1] (N·m) (N·m) (Arms) (Arms) (RPM) (RPM) (N·m/Arms)
(10-4kg·m2)
Ratings of MS1H3 (Vn = 1500 RPM, Vmax = 3000 RPM) Series Motors

MS1H3-85B15CB 0.85 5.39 13.5 6.60 16.50 0.95 13.3 (14)

220
MS1H3-13C15CB 1.3 8.34 20.85 10.00 25.00 0.96 17.8 (18.5)
1500 3000
MS1H3-85B15CD 0.85 5.39 13.5 3.30 8.25 1.87 13.3 (14)
380
MS1H3-13C15CD 1.3 8.34 20.85 5.00 12.50 1.87 17.8 (18.5)
MS1H3-18C15CD 1.8 11.5 28.75 6.60 16.50 1.87 25 (25.7)
MS1H3-29C15CD 2.9 18.6 37.2 11.90 23.80 1.82 55 (57.2)

MS1H3-44C15CD 4.4 28.4 71.1 16.50 40.50 1500 3000 1.90 88.9 (90.8) 380

MS1H3-55C15CD 5.5 35.0 87.6 20.85 52.00 1.74 107 (109.5)

MS1H3-75C15CD 7.5 48.0 119 25.70 65.00 1.99 141 (143.1)
Ratings of MS1H4 (Vn = 3000 RPM, Vmax = 6000 RPM) Series Motors
MS1H4-40B30CB 0.4 1.27 4.46 2.80 10.10 0.53 0.657 (0.667)
3000 6000 220
MS1H4-75B30CB 0.75 2.39 8.36 4.80 16.9 0.58 2 (2.012)

[1] The motor with oil seal must be derated by 10% during use.
[2] Values inside parentheses "()" are for motors with brake.
◆◆ Values in the preceding table are obtained when motors equipped with the following heatsinks are
working with Inovance servo drives under an armature coil temperature of 20° C.
MS1H1/MS1H4: 250 mm x 250 mm x 6 mm (aluminum)
MS1H2-10C to 25C: 300 mm x 300 mm x 12 mm (aluminum)

NOTE MS1H2-30C to 50C: 400 mm x 400 mm x 20 mm (aluminum)

MS1H3-85B to 18C: 400 mm x 400 mm x 20 mm (iron)
MS1H3-29C to 75C: 360 mm x 360 mm x 25 mm (double-layer aluminum plate)

3 Motor overload characteristics

Load Ratio (%) Operating Time (s)

120 230

130 80

140 40

150 30

160 20

170 17

180 15

190 12

200 10

210 8.5

220 7

230 6

240 5.5

250 5

300 3
350 2

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Operating time (s)

1000

100

10

1
100 150 200 250 300 350 Load ratio (%)

Figure 1-11 Motor overload curve

◆◆ The maximum torque of H1 and H4 models is 3.5 times the rated torque.
◆◆ The maximum torque of H2 models is three times the rated torque.
◆◆ The maximum torque of H3 models (2.9 kW models excluded) is 2.5 times the rated torque.
NOTE
◆◆ The maximum torque of 2.9 kW models is two times the rated torque.

4 Allowable radial and axial loads of the motor

LF

Radial load

Axial load

Figure 1-12 Radial and axial loads

Allowable Radial Allowable Axial

Motor Model Flange Size (mm) LF (mm)
Load (N) Load (N)
MS1H1-05B30CB 40 20 78 54
MS1H1-10B30CB 40 20 78 54
MS1H1-20B30CB 60 25 245 74
MS1H1-40B30CB 60 25 245 74
MS1H1-55B30CB 80 35 392 147
MS1H1-75B30CB 80 35 392 147
MS1H1-10C30CB 80 35 392 147
MS1H2-10C30CB 100 45 686 196
MS1H2-10C30CD 100 45 686 196
MS1H2-15C30CB 100 45 686 196
MS1H2-15C30CD 100 45 686 196
MS1H2-20C30CD 100 45 686 196
MS1H2-25C30CD 100 45 686 196
MS1H2-30C30CD 130 63 980 392
MS1H2-40C30CD 130 63 1176 392
MS1H2-50C30CD 130 63 1176 392
MS1H3-85B15CB 130 45 686 196
MS1H3-13C15CB 130 45 686 196
MS1H3-85B15CD 130 45 686 196
MS1H3-13C15CD 130 45 686 196
MS1H3-18C15CD 130 45 686 196

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 1 Product Information

Allowable Radial Allowable Axial

Motor Model Flange Size (mm) LF (mm)
Load (N) Load (N)
MS1H3-29C15CD 180 79 1470 490
MS1H3-44C15CD 180 79 1470 490
MS1H3-55C15CD 180 113 1764 588
MS1H3-75C15CD 180 113 1764 588
MS1H4-40B30CB 60 25 245 74
MS1H4-75B30CB 80 35 392 147

5 Electrical specifications of the motor with brake

Supply
Holding Rated Coil Excitation Apply
Voltage Release Backlash
Motor Model Torque Power Resistance Current Time
(VDC) Time (ms) (° )
(N·m) (W) (Ω)（±7%） (A) (ms)
±10%
MS1H1-05B/10B 0.32 6.1 94.4 0.25 ≤ 40 ≤ 20 ≤ 1.5
MS1H1-20B/40B
1.5 7.6 75.79 0.32 ≤ 60 ≤ 20 ≤ 1.5
MS1H4-40B
MS1H1/H4-75B 3.2 10 57.6 0.42 ≤ 60 ≤ 40 ≤ 1.0

MS1H3-85B/13C/18C 12 19.4 29.7 0.81 ≤ 120 ≤ 60 ≤ 0.5

24
MS1H2-10C/15C/20C/25C 8 23 25 0.96 ≤ 85 ≤ 30 ≤ 0.5

MS1H2-30C/40C/50C 16 27 21.3 1.13 ≤ 100 ≤ 60 ≤ 0.5

MS1H3-29C/44C/55C/75C 50 40 14.4 1.67 ≤ 200 ≤ 100 ≤ 0.5

◆◆ The brake cannot share the same power supply with other electrical devices. This is to prevent
malfunction of the brake due to voltage or current drop caused by other working devices.

NOTE ◆◆ It is recommended to use cables of 0.5 mm2 and above.

6 Motor torque-speed characteristics

■■ MS1H1 (low inertia, small capacity)

Continuous
A working area

Short-term
B working area

MS1H1-05B30CB MS1H1-10B30CB
Speed (RPM) Speed (RPM)

6000 6000
5000 5000
4000 4000
3000 A B 3000 A B
2000 2000
1000 1000
0 0
0 0.15 0.3 0.45 0.6 0 0.3 0.6 0.9 1.2
Torque (N·m) Torque (N·m)

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 1 Product Information

MS1H1-20B30CB MS1H1-40B30CB
Speed (RPM) Speed (RPM)

6000 6000

5000 5000

4000 4000

3000 A B
3000 A B

2000 2000

1000 1000
0 0
0 0.6 1.2 1.8 2.4 0 1.2 2.4 3.6 4.8
Torque (N·m) Torque (N·m)

MS1H1-55B30CB MS1H1-75B30CB
Speed (RPM)
Speed (RPM)
6000 6000

5000 5000

4000 4000

3000 3000 A B
A B

2000 2000

1000 1000

0 0
0 2 4 6 0 2.5 5 7.5 10
Torque (N·m) Torque (N·m)

MS1H1-10C30CB
Speed (RPM)

6000

5000

4000

3000 A B

2000

1000

0
0 2 4 6 8 10
Torque (N·m)

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 1 Product Information

■■ MS1H2 (low inertia, medium capacity)

Continuous
A working area

Short-term
B working area

MS1H2-10C30C* MS1H2-15C30C*
Speed Speed
(RPM) (RPM)
6000 5000
5000
4000
4000
3000
3000
A B
A B
2000
2000

1000 1000

0 0
0 2 4 6 8 10 0 3 6 9 12 15
Torque (N·m) Torque (N·m)

Speed MS1H2-20C30CD Speed MS1H2-25C30CD

(RPM) (RPM)

5000 5000

4000 4000

3000 3000
A B A B
2000 2000

1000 1000

0 0
0 4 8 12 16 20 0 5 10 15 20 25
Torque (N·m) Torque (N·m)

Speed MS1H2-30C30CD Speed MS1H2-40C30CD

(RPM) (RPM)

5000 5000

4000 4000

3000 3000
A B A B
2000 2000

1000 1000

0 0
0 6 12 18 24 30 0 8 16 24 32 40
Torque (N·m) Torque (N·m)

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 1 Product Information

MS1H2-50C30CD
Speed
(RPM)
5000

4000

3000
A B
2000

1000

0
0 10 20 30 40 50
Torque (N·m)

■■ MS1H3 (medium inertia, medium capacity)

Continuous
A working area

Short-term
B working area

Speed MS1H3-85B15C*
(RPM) MS1H3-13C15C*
3500 Speed
(RPM) 3500
3000
3000
2500
2500
2000
2000
A B
1500 A B
1500
1000
1000
500
500
0
0
0 3 6 9 12 15
0 5 10 15 20 25
Torque (N·m)
Torque (N·m)
MS1H3-18C15CD MS1H3-29C15CD
Speed Speed
(RPM) 3500 (RPM) 3500
3000 3000
2500 2500
2000 2000
A B
1500 1500
A B

1000 1000
500 500
0 0
0 6 12 18 24 30 0 8 16 24 32 40
Torque (N·m) Torque (N·m)

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 1 Product Information

MS1H3-44C15CD MS1H3-55C15CD
Speed
Speed
(RPM)
(RPM) 3500
3000
3000
2500
2000 2000
A B
1500
A B
1000 1000

500
0
0 10 20 30 40 50 60 70 80 0 20 40 60 80 100
Torque (N·m) Torque (N·m)
MS1H3-75C15CD
Speed
(RPM)

3000

2000

A B
1000

0
0 50 100 150
Torque (N·m)

■■ MS1H4 (medium inertia, small capacity)

Continuous
A working area

Short-term
B working area

Speed MS1H4-40B30CB MS1H4-75B30CB

Speed
(RPM) (RPM)
6000 6000

5000 5000

4000 4000

3000 A B
3000 A B

2000 2000

1000 1000

0 0
0 1.2 2.4 3.6 4.8 0 2.5 5 7.5 10
Torque (N·m) Torque (N·m)

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 1 Product Information

7 Derating curves

■■ Altitude-based derating curve

120

Max. allowable load rate (%)

100

80

60

40

20

0
0 500 1000 1500 2000 2500
Altitude (m)
■■ Temperature-based derating curve

120
Max. allowable load rate (%)

100

80

60

40

20

0
0 10 20 30 40 50 60 70
Ambient temperature (°C)

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 1 Product Information

1.3 Servo System Configurations

■■ 220 V:

Servo Drive Model

Rated Maximum Motor SV660N****I Servo Drive
Capacity Servo
Speed Speed Servo Motor Model Flange Code
(W) Single- Three- Drive Size
(RPM) (RPM) Size (H01-02)
phase phase
220 VAC 220 VAC

50 05B30CB 40 S1R6 - A 00002

100 10B30CB 40 S1R6 - A 00002

200 20B30CB 60 S1R6 - A 00002

MS1H1
400 (low inertia, small 40B30CB 60 S2R8 - A 00003
6000 capacity)
550 55B30CB 80 S5R5 - B 00005
3000
750 75B30CB 80 S5R5 - B 00005

1000 10C30CB 80 S7R6 C 00006

1000 MS1H2 10C30CB 100 S7R6 C 00006

(low inertia,
medium
5000 1500 15C30CB 100 S012 D 00007
capacity)

MS1H3
(medium
1500 3000 850 85B15CB 130 S7R6 C 00006
inertia, medium
capacity)

MS1H3
(medium
1500 3000 1300 13C15CB 130 S012 D 00007
inertia, medium
capacity)

400 MS1H4 40B30CB 60 S2R8 - A 00003

3000 6000 (medium inertia,
750 small capacity) 75B30CB 80 S5R5 - A 00005

◆◆ S7R6 and S012 models support single-phase 220 V power supply and derating is not required upon
single-phase power input.
NOTE

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 1 Product Information

■■ 380 V:

Servo Drive
Rated Maximum Motor Model Servo Drive
Capacity SV660N****I Servo
Speed Speed Servo Motor Model Flange Code
(W) Drive Size
(RPM) (RPM) Size Three-phase (H01-02)
380 VAC

6000 1000 10C30CD 100 T5R4 C 10002

1500 15C30CD 100 T5R4 C 10002

2000 20C30CD 100 T8R4 D 10003

MS1H2
3000 2500 (low inertia, 25C30CD 100 T8R4 D 10003
5000 medium capacity)
3000 30C30CD 130 T012 D 10004

4000 40C30CD 130 T017 E 10005

5000 50C30CD 130 T017 E 10005

850 85B15CD 130 T3R5 C 10001

1300 13C15CD 130 T5R4 C 10002

1800 18C15CD 130 T8R4 C 10003

MS1H3
1500 3000 2900 (medium inertia, 29C15CD 180 T012 D 10004
medium capacity)
4400 44C15CD 180 T017 E 10005

5500 55C15CD 180 T021 E 10006

7500 75C15CD 180 T026 E 10007

1.4 Cable Models

Table 1-1 Cables for MS1H1/MS1H4 terminal-type (Z) motors with front cable outlet

Cable Length (m)

Cable Type
3.0 5.0 10.0

Power cable (without brake) S6-L-M107-3.0 S6-L-M107-5.0 S6-L-M107-10.0

Power cable (with brake) S6-L-B107-3.0 S6-L-B107-5.0 S6-L-B107-10.0

Multi-turn absolute encoder cable S6-L-P124-3.0 S6-L-P124-5.0 S6-L-P124-10.0

Single-turn absolute encoder cable S6-L-P114-3.0 S6-L-P114-5.0 S6-L-P114-10.0

Table 1-2 Cables for MS1H1/MS1H4 terminal-type (Z) motors with rear cable outlet

Cable Length (m)

Cable Type
3.0 5.0 10.0

Power cable (without brake) S6-L-M108-3.0 S6-L-M108-5.0 S6-L-M108-10.0

Power cable (with brake) S6-L-B108-3.0 S6-L-B108-5.0 S6-L-B108-10.0

Multi-turn absolute encoder cable S6-L-P125-3.0 S6-L-P125-5.0 S6-L-P125-10.0

Single-turn absolute encoder cable S6-L-P115-3.0 S6-L-P115-5.0 S6-L-P115-10.0

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 1 Product Information

Table 1-3 Cables for MS1H1/MS1H4 lead wire-type (S) motors with front cable outlet

Cable Length (m)

Cable Type
3.0 5.0 10.0

Power cable (without brake) S6-L-M100-3.0 S6-L-M100-5.0 S6-L-M100-10.0

Power cable (with brake) S6-L-B100-3.0 S6-L-B100-5.0 S6-L-B100-10.0

Multi-turn absolute encoder cable S6-L-P120-3.0 S6-L-P120-5.0 S6-L-P120-10.0

Single-turn absolute encoder cable S6-L-P110-3.0 S6-L-P110-5.0 S6-L-P110-10.0

Table 1-4 Cables for MS1H2 (below 3 kW) and MS1H3 (below 2.9 kW) motors

Cable Length (m)

Cable Type
3.0 5.0 10.0

Power cable (without brake) S6-L-M111-3.0 S6-L-M111-5.0 S6-L-M111-10.0

Power cable (with brake) S6-L-B111-3.0 S6-L-B111-5.0 S6-L-B111-10.0

Multi-turn absolute encoder cable S6-L-P121-3.0 S6-L-P121-5.0 S6-L-P121-10.0

Single-turn absolute encoder cable S6-L-P111-3.0 S6-L-P111-5.0 S6-L-P111-10.0

Table 1-5 Cables for MS1H2 (4 kW/5 kW) motors

Cable Length (m)

Cable Type
3.0 5.0 10.0

Power cable (without brake) S6-L-M111-3.0 S6-L-M111-5.0 S6-L-M111-10.0

Power cable (with brake) S6-L-B111-3.0 S6-L-B111-5.0 S6-L-B111-10.0

Multi-turn absolute encoder cable S6-L-P121-3.0 S6-L-P121-5.0 S6-L-P121-10.0

Single-turn absolute encoder cable S6-L-P111-3.0 S6-L-P111-5.0 S6-L-P111-10.0

Table 1-6 Cables for MS1H3 (below 2.9 kW) motors

Cable Length (m)

Cable Type
3.0 5.0 10.0

Power cable (without brake) S6-L-M112-3.0 S6-L-M112-5.0 S6-L-M112-10.0

Power cable (with brake) S6-L-B112-3.0 S6-L-B112-5.0 S6-L-B112-10.0

Multi-turn absolute encoder cable S6-L-P121-3.0 S6-L-P121-5.0 S6-L-P121-10.0

Single-turn absolute encoder cable S6-L-P111-3.0 S6-L-P111-5.0 S6-L-P111-10.0

Table 1-7 Cables for MS1H3 (2.9 kW) motors

Cable Length (m)

Cable Type
3.0 5.0 10.0

Power cable (without brake) S6-L-M022-3.0 S6-L-M022-5.0 S6-L-M022-10.0

Power cable (with brake) S6-L-B022-3.0 S6-L-B022-5.0 S6-L-B022-10.0

Multi-turn absolute encoder cable S6-L-P121-3.0 S6-L-P121-5.0 S6-L-P121-10.0

Single-turn absolute encoder cable S6-L-P111-3.0 S6-L-P111-5.0 S6-L-P111-10.0

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 1 Product Information

Table 1-8 Cables for MS1H3 (above 2.9 kW) motors

Cable Length (m)

Cable Type
3.0 5.0 10.0

Power cable (without brake) S6-L-M022-3.0 S6-L-M022-5.0 S6-L-M022-10.0

Power cable (with brake) S6-L-B022-3.0 S6-L-B022-5.0 S6-L-B022-10.0

Multi-turn absolute encoder cable S6-L-P121-3.0 S6-L-P121-5.0 S6-L-P121-10.0

Single-turn absolute encoder cable S6-L-P111-3.0 S6-L-P111-5.0 S6-L-P111-10.0

If highly flexible cables fit for cable carriers are needed, add a suffix "-T" to the end of the cable model.
NOTE

1.5 Communication Cable Options

Model Description

S6-L-T00-3.0 Cable for communication between the servo drive and PC

S6-L-T04-0.3 Cable for parallel communication of multiple servo drives

S6-L-T04-3.0 Cable for communication between the servo drive and the host controller

1.6 Connector Kits

Connector Kit Outline Drawing

S6-C6

(DB15C plug)

S6-C26
JST
2 1

6-pin male Base 9-pin connector Pin base Insulated terminal Cripmping terminal Heat shrink tube

Heat shrink tube

SUNCHU
SC-06

Insulation
S6-C29 material
1.0
JST B A M M A B
2 1 C N L L N C
P T T P
D K D
K S R
1.5
R S
E J J E
H
F
G H G F

6-pin male Base Cripmping Insulated

Aviation connector Aviation connector
terminal terminal

Heat shrink tube

S6-C39 JST
B A M M A B
2 1
F A B
C N L L N C
P T T P
D K D
E C
R S K S R
J E
D
E J
H
F
G H G F

Cripmping Insulation
1394 male Base Aviation connector Aviation connector
terminal material

S6-C4

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 1 Product Information

1.7 Servo System Wiring Diagram

CN5: Serial communication CN3 CN4

Servo drive to PC communication cable
connector, connected to the
9 1
software tool TD+ TD+

CN6: Functional safety

TD- TD-
terminal, connected to external
functional safety signal
RUN BF
ERR CANRUN
0 1 2 3 4 5 6 7
0 1 2 3 4 5 6 7
I
II RD+ RD+
SF CANERR 0 1 2 3 4 5 6 7

40 39

- -
Servo drive to PLC communication cable

C N1 R S 485
RUN / STOP

RD- RD-
MFK

CN 3 Ethe r NE T CN 4 E ther CAT

CN5
Parallel communication - -
cable for multiple servo 16 8

C N2 C A N
drives 2 1

CN3 Servo drive to PLC communication cable

Power supply
Single-phase
220 VAC
CN4

Circuit breaker
Used to protect power
cables by cutting off the CN1
circuit upon overcurrent. Servo drive EtherCAT communication cable

Noise filter
Used to prevent
external noise.

15 5
+24V 10 DO3+
Servo drive I/O cables DI1
CN1
Electromagnetic
contactor (Prepared by users)
COM- DO3-
Used to switch on/
off the power supply DI2
of the servo drive.
Install a surge COM+ DO2+
protection device CN2 DI3
during use.
- DO2-
CHARGE
DI4
L1
L2 Servo motor encoder cable DI5 DO1+
Regenerative resistor P
Connected between P-
D01-
C 11 1
C terminals when the 6
N
bus capacitor is
insufficient. U
V
W
PE
24 VDC
Brake power supply
Used when the servo
motor is equipped
with a brake.
System grounding
See the magnified
Electromagnetic contactor
view at the bottom
Brake control signal, used
left. Battery box
to turn on/off the brake
power supply.
Install a surge protection
device.
It is recommended to use an Encoder signal connector CN2
electromagnetic contactor controlled Main circuit cables of the servo motor
by the DO terminals of the servo drive. PE: Motor grounding terminal

1 +5V
L1
L2
2 GND
P
C 3 Reserved
N
4 Reserved
U
V
5 PS+
W

PE 6 PS-

Enclosure PE

System
grounding

Figure 1-13 Wiring of single-phase 220 V systems

-43-
 1 Product Information

The servo drive is directly connected to an industrial power supply, with no isolation such as a
transformer. To prevent damages in case of short circuit, install a fuse or a circuit breaker on the input
power supply. The servo drive is not configured with the built-in earth fault protection circuit. For the
sake of safety, install a residual current device (RCD) to provide protection against electrical shock
and/or fire.

Do not run or stop the motor by using an electromagnetic contactor. As a high-inductance device, the
motor may generate high voltage instantaneously, which may damage the contactor.

Pay attention to the power capacity when connecting an external control power supply or a 24 VDC
power supply, especially when the power supply is used to power up multiple servo drives or brakes.
Insufficient power supply will lead to insufficient supply current, resulting in failure of the servo drive or
the brake. The brake must be powered by a 24 VDC power supply, and the brake power must match the
motor model and meet the brake power requirements.

-44-
 1 Product Information

CN5: Serial communication

connector,
, used to connect the CN3 CN4
Servo drive to PC communication cable
software tool
9 1
TD+ TD+
CN6: Functional safety terminal,
connected to external functional TD- TD-
safety signal
RUN
ERR
BF
CANRUN
0
0
1
1
2
2
3
3
4
4
5
5
6
6
7
7
I
II RD+ RD+
SF CANERR 0 1 2 3 4 5 6 7

- -
40 39

Servo drive to PLC communication cable

CN 1
RUN / STOP

RD- RD-
MFK

RS4 8 5

CN 3

CN 5
Ethe r NE T
- -
Parallel communication cable for
multiple servo drives 16 8

CN 4
CN 2

E t h e r CAT
CAN
2 1

CN3
Servo drive to PLC communication cable

Power
supply CN4
Three-phase
220 VAC

Circuit breaker
Used to protect power
cables by cutting off the CN1
circuit upon overcurrent. Servo drive EtherCAT communication cable

Noise filter
Used to prevent external
noise.

15 5
+24V 10 DO3+
Electromagnetic Servo drive I/O cable DI1
contactor CN1 (Prepared by users)
Used to switch on/off the COM- DO3-
power supply of the servo DI2
drive.
Install a surge protection COM+ DO2+
device during use.
CN2 DI3

L1 - DO2-
L2 DI4
L3
DI5 DO1+
Regenerative resistor CHARGE P Servo motor encoder cable
Connected between P-C D D01-
terminals when the bus 11 1
C 6
capacitor is insufficient.
N
U
V
W
24 VAC
PE
Brake power supply (24 VDC)
Used when the servo motor
is configured with brake.
System grounding
Electromagnetic contactor See the magnified
Brake control signal, used to view at the bottom
turn on/off the brake power left.
Battery box
supply.
Install a surge protection
device during use.
It is recommended to use an Encoder signal connector CN2
electromagnetic contactor Main circuit cables of the servo motor
controlled by the DO
terminals of the servo drive. PE : Motor grounding terminal

1 +5V

L1 2 GND
L2
L3 3 Reserved
P
D
4 Reserved
C
N
5 PS+
U
V
W 6 PS-
PE
Enclosure PE

System
grounding

Figure 1-14 Wiring of three-phase 220 V systems

The servo drive is directly connected to an industrial power supply, with no isolation such as a
transformer. To prevent damages in case of short circuit, install a fuse or a circuit breaker on the input
power supply. The servo drive is not configured with the built-in earth fault protection circuit. For the
sake of safety, install a residual current device (RCD) to provide protection against electrical shock
and/or fire.

Do not run or stop the motor by using an electromagnetic contactor. As a high-inductance device, the
motor may generate high voltage instantaneously, which may damage the contactor.

-45-
 1 Product Information

Pay attention to the power capacity when connecting an external control power supply or a 24 VDC
power supply, especially when the power supply is used to power up multiple servo drives or brakes.
Insufficient power supply will lead to insufficient supply current, resulting in failure of the servo drive or
the brake. The brake must be powered by a 24 VDC power supply, and the brake power must match the
motor model and meet the brake power requirements.
RU N BF 0 1 2 3 4 5 6 7 I
0 1 2 3 4 5 6 7 II
ER R CA NRU N
SF CA NERR 0 1 2 3 4 5 6 7

CN3 CN4
40 39

Power supply

C N 1 R S 4 85
RUN / STOP
MF K

Parallel communication cable for

C N 3 E the r N E T C N 4 E th e r C A T
Three-phase 380 VAC 9 1

C N5
TD+ TD+
multiple servo drives
Circuit breaker
TD- TD-

C N2 C A N
RD+ RD+
2 1

Used to protect power CN3 Servo drive to PLC communication cable - -

cables by cutting off the - -

circuit upon overcurrent. RD- RD-

CN4 - -
- -
16 8

Power supply filter

Used to prevent power Servo drive EtherCAT communication cable
cables from suffering
external interferences.

Electromagnetic
contactor
CN5: Serial communication
Used to turn on/off terminal, used to connect the
the power supply software tool Servo drive to PC communication cable
of the servo drive.
CN6: Functional safety
terminal,connected to
external functional
safety signal
Servo drive to PLC communication cable

CN1
Servo drive I/O cables
(prepared by users)

Encoder signal 15 5
connector CN2 +24V 10 DO3+
DI1
COM - DO3-
DI2
Servo motor DO2+
System grounding
COM +
encoder cable 1 +5V DI3
See the magnified - DO2-
2 GND
Regenerative resistor view at the bottom DI4

Connected between P-C left. 3 Reserved DI5 DO1+

terminals when the bus D01-
11
capacitor is insufficient. 4 Reserved 6
1

24 VDC 5 PS+
Brake power supply
Used when the servo motor 6 PS-
is configured with brake.
Encl-
PE
osure
Electromagnetic
contactor
Brake control signal, used to
turn on/off the brake power Battery box
supply.
Install a surge protection
device during use.
It is recommended to use an
electromagnetic contactor
controlled by the DO
terminals of the servo drive.

Servo motor main

circuit cable

Figure 1-15 Wiring of three-phase 380 V servo systems

The servo drive is directly connected to an industrial power supply, with no isolation such as a
transformer. To prevent damages in case of short circuit, install a fuse or a circuit breaker on the input
power supply. The servo drive is not configured with the built-in earth fault protection circuit. For the
sake of safety, install a residual current device (RCD) to provide protection against electrical shock
and/or fire.

-46-
 1 Product Information

Do not run or stop the motor by using an electromagnetic contactor. As a high-inductance device, the
motor may generate high voltage instantaneously, which may damage the contactor.

Pay attention to the power capacity when connecting an external control power supply or a 24 VDC
power supply, especially when the power supply is used to power up multiple servo drives or brakes.
Insufficient power supply will lead to insufficient supply current, resulting in failure of the servo drive or
the brake. The brake must be powered by a 24 VDC power supply, and the brake power must match the
motor model and meet the brake power requirements.

-47-
 2 Installation

2 Installation

8"3/*/(

Read through the safety instructions in "Safety Instructions" . Failure to comply may result in
i serious consequences.

$"65*0/
◆◆ Follow the installation directions described in this chapter. Failure to comply may result in
device faults or damage.
◆◆ Do not run a damaged or defective device. Failure to comply will result in physical injuries.
◆◆ Do not install the device in an environment exposed to water or corrosive objects. Failure to
comply will result in device faults.
◆◆ Do not install the device near flammable gases or combustible materials. Failure to comply will
result in a fire or electric shock.
◆◆ Install the device inside a fire-proof cabinet with electrical protections. Failure to comply may
result in a fire.
◆◆ Ensure the specified clearances are reserved among the servo drive, the interior surface of the
electric cabinet, and other machines. Failure to comply will result in a fire or device faults.
◆◆ Do not put heavy objects on the device. Failure to comply may result in physical injuries or
device damage.
◆◆ Do not exert large impact force on the device. Failure to comply may result in device damage.
◆◆ Do not block the air inlet/outlet port of the servo drive or allow unwanted matters to fall into
the device. Failure to comply may result in a fire or device faults.

2.1 Installing the Servo Drive

2.1.1 Installation Location

■■ Install the servo drive into a cabinet free from sunlight and rain.

■■ Install the servo drive in a place that meets the following requirements:

a) Free from corrosive and inflammable gases and combustible materials, such as the hydrogen sulfide,
chlorine, anmonia, sulphur gas, chloridize gas, acid, soda and salt

b) Free from high temperature, humidity, dusts and metal powders

c) Free from vibration

d) Pollution degree: PD2

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 2 Installation

2.1.2 Environment Conditions

Table 2-1 Installation environment

Item Description

0℃ to 55℃ (The average load ratio cannot exceed 80% when the ambient temperature is
Ambient temperature
between 45℃ to 55℃ .)

Ambient humidity Below 90% RH (without condensation)

Storage temperature -20℃ to +70℃ (non-freezing)

Storage humidity Below 90% RH (without condensation)

Vibration Below 4.9 m/s2

Shock Below 19.6 m/s2

IP rating IP20 (except the fan and terminals)

Below 1000 m. Derating is required for altitudes above 1000 m. For altitudes above 2000 m,
install an isolation transformer besides derating.
Altitude
Derating standard: Derate 1% for every additional 100 m.
The maximum altitude is 3000 m.

2.1.3 Dimension Drawings

■■ Size A: SV660NS1R6I, SV660NS2R8I

Front view Left view Rear view Top view

40 150 (75) 28
3.3 5
5
Ø 4.8
2- M4 screw
through hole

170 160 161

4.8

Fixing screw：2-M4
Recommended tightneing torque：1.2 N·M

Figure 2-1 Outline dimensions of size A (unit: mm)

The weight of a servo drive in size A is 0.8 kg.
■■ Size B: SV660NS5R5I

Front view Left view Rear view Top view

50 173±1 (75) 37
48 5
5

Ø5
2-M4 screw
through hole

170 160 161

Ø5

Fixing screw：2-M4
Recommended tightneing torque：1.2 N·M

Figure 2-2 Outline dimensions of size B (unit: mm)

The weight of a servo drive in size B is 1.0 kg.

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 2 Installation

■■ Size C: SV660NS7R6I, SV660NT3R5I, SV660NT5R4I

Front view Left view Rear view Top view

173±1 (75)
55±1
6 44

ø5
170

160

5
4
2-M4 screw through hole

Fixing screw：2-M4
Recommended tightneing torque：1.2 N·M

Figure 2-3 Outline dimensions of size C (unit: mm)

The weight of a servo drive in size C is 1.3 kg.

■■ Size D: SV660NS012I, SV660NT8R4I, SV660NT012I

Front view Left view Rear view Top view

80±1 183 (75) 71

170 160

Ø5
4 3-M4 screw through hole
Fixing screw：3-M4
Recommended tightneing torque：1.2 N·M

Figure 2-4 Outline dimensions of size D (unit: mm)

The weight of a servo drive in size D is 1.8 kg.

■■ Size E: SV660NT017I, SV660NT021I, SV660NT026I
Front view Left view Rear view Top view
90
230 (75)
78
4xø5.0

250 240.5

4.0
4 -M4 screw through hole
Fixing screw：4-M4
Recommended tightneing torque：1.2 N·M

Figure 2-5 Outline dimensions of size E (unit: mm)

The weight of a servo drive in size E is 3.6 kg.

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 2 Installation

2.1.4 Installation

■■ Installation method

Ensure the servo drive is installed vertically to the wall, with its front side (actual mounting side) facing
the operator. Cool the servo drive down with natural convection or a cooling fan. Fix the servo drive
securely on the mounting surface through two to four mounting holes (number of mounting holes
depends on the capacity of the servo drive).

■■ Cooling

As shown in Figure 2-6, reserve sufficient space around the servo drive to ensure proper cooling by the
cooling fan or natural convection. Install the cooling fan to the upper part of the servo drive to avoid
excessive regional temperature rise and maintain an even temperature inside the electric cabinet.

■■ Installation

When installing multiple servo drives side by side, for heat dissipation purpose, reserve a clearance of
at least 10 mm on the left and right sides of each servo drive and at least 50 mm above and below each
servo drive.

For compact installation of servo drives in size A and size B, take the installation tolerance into account
and reserve a clearance of at least 1 mm between every two drives. In this case, the rms load should be
lower than or equal to 75%.

Servo drives in size C, size D, and size E can be installed side by side without clearance, and derating is
not required.
Air outlet Air outlet Air outlet Air outlet

≥ 50 mm
≥ 10 mm

≥ 20 mm
≥ 20 mm

≥ 50 mm

Vertically and
Air inlet Air inlet Air inlet Air inlet
upward

Regular installation

-51-
 2 Installation

Air outlet Air outlet Air outlet Air outlet

≥ 50 mm
≥ 1 mm

≥ 20 mm ≥ 20 mm

≥ 50 mm

Vertically and
Air inlet Air inlet Air inlet Air inlet upward

Compact installation

Figure 2-6 Installation of the servo drive

■■ Grounding

The grounding terminal must be grounded properly. Failure to comply may cause electric shock or
malfunction due to interference.

■■ Routing direction

As shown in the following figure, route the servo drive cable downwards to prevent liquids from flowing
into the servo drive along the cable.

Route the cable Route the cable

downwards downwards

Figure 2-7 Routing direction

■■ Dust-proof cover (inserted into the CN5 port by default before delivery)

Insert the dust-proof cover into the unused CN5 port. This is to prevent unwanted objects (such as solids
or liquids) from falling into the servo drive and causing faults.

-52-
 2 Installation

The dust-proof cover is included in the standard configuration. Such dust-proof covers can be purchased
separately if required (model: NEX-02-N2B; manufacturer: PINGOOD).

Figure 2-8 Mounting of the dust-proof cover

◆◆ Dust-proof cover: Prevents unwanted objects (such as solids or liquids) from falling into the servo
drive and causing faults.
◆◆ The dust-proof cover is delivered along with the servo drive. Keep the dust-proof cover in a proper
NOTE
place.

2.2 Installing the Servo Motor

2.2.1 Installation Location

■■ Install the servo motor in a place free from corrosive and inflammable gases and combustible
materials, such as the hydrogen sulfide, chlorine, anmonia, sulphur gas, chloridize gas, acid, soda
and salt.

■■ Use the servo motor equipped with an oil seal when the motor is used in a place with grinding fluids,
oil mists, iron powders or cuttings.

■■ Install the servo motor away from heating sources such as a heating stove.

■■ Do not use the servo motor in an enclosed environment. Running in an enclosed environment may
overheat the motor, shortening its service life.

2.2.2 Installation Environment

Table 2-2 Installation environment

Item Description

Operating temperature 0℃ to 40℃ (non-freezing)

Operating humidity 20% to 80% RH (without condensation)

Storage temperature -20℃ to +60℃ (peak temperature: 80℃ for 72 hours)

Storage humidity 20% to 90% RH (without condensation)

Vibration Below 49 m/s2

Shock Below 490 m/s2

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 2 Installation

Item Description

IP67 (shaft opening excluded, with power cables and encoder connectors connected
IP rating
properly）

Altitude Below 1000 m (derating required for altitudes above 1000 m)

2.2.3 Installation Precautions

Table 2-3 Installation instructions

Item Description

Rust-proof ◆◆ Wipe up the anti-rust agent applied at the motor shaft extension before installing the servo motor,
measures and then take rust-proof measures.

◆◆ Do not strike the shaft extension during installation. Failure to comply will damage the encoder.

◆◆ Use the screw hole at the shaft end when mounting a pulley to the servo motor shaft with a
keyway.
◆◆ To fit the pulley, insert a double-end screw into the screw hole of the shaft.
◆◆ Put a washer on the surface of the coupling end, and then use a nut to push the pulley in.
Encoder ◆◆ For the servo motor shaft with a keyway, use the screw hole at the shaft end.
◆◆ For the servo motor shaft without a keyway, use friction coupling or similar methods.
◆◆ When removing the pulley, use a pulley remover to protect the shaft from suffering severe impact
from the load.
◆◆ To ensure safety, install a protective cover or similar device on the rotary area such as the pulley
mounted on the shaft.

Screw

Washer

Flange coupling, pulley

-54-
 2 Installation

Item Description

◆◆ When connecting the servo motor to a machine, use a coupling and keep the motor shaft center
and the machine shaft center in the same line.
◆◆ Make sure the servo motor fulfills the required alignment precision (as shown in the following
figure). Failure to comply will result in vibration or damage the bearing and the encoder.
Measure the distance at four different
positions on the circumference. The
difference between the maximum and the
minimum measured values must be less
than 0.03 mm.
Alignment

Installation
◆◆ The servo motor can be installed horizontally or vertically.
direction

◆◆ Do not submerge the motor/cable in water or oil.

◆◆ Check the IP rating of the servo motor when the application location is exposed to water drops
(except the shaft opening).
Flange surface

Shaft opening
Refers to the clearance of the shaft
extension.

Shaft

Counter-
measures ◆◆ Mount the motor with cable connecting terminal facing downwards if the application location
against oil is exposed to liquid. This is to prevent the liquid from flowing into the motor along the cable (as
and liquid shown in the following figure).

◆◆ In environments where the shaft opening is exposed to oil drops, use a motor with oil sealing.
◆◆ Observe the following requirements when using a motor with oil sealing:
1) Make sure the oil level is lower than the oil sealing lip during use.
2) Avoid oil accumulation on the oil sealing lip when the motor is installed vertically upward.

Stress of ◆◆ Do not bend or apply tension to the cables, especially the signal cables whose core wire is only
cables 0.2 mm or 0.3 mm in thickness. Do not pull the cables too tight during wiring.

-55-
 2 Installation

Item Description

◆◆ Observe the following requirements:

1) When connecting the connectors, make sure there is no waste or sheet metal inside the connector.
2) Connect the connector to the main circuit cable side of the servo motor first, and ensure the
grounding cable of the main circuit is connected properly. If the connector is connected to the
encoder cable side first, the encoder may become faulty due to the potential difference between
PE terminals.
Connectors
3) Ensure the pins are correctly arranged during wiring.
4) Do not strike the connector as they are made up of resins.
5) When moving a servo motor with cables connected, hold the servo motor by its main body instead
of by the cable. Failure to comply may damage the connector or cable.
6) If flexible cables are used, do not apply stress on the connector during wiring. Failure to comply
may damage the connector.

2.2.4 Dimension Drawings

1 Flange size: 40

øS h6 0-0.009

øLB h7 0-0.021
4- R1*

KH-00.1
Dimensions of the Dimensions of the
shaft end shaft end with key

Motor Model LL LC LR LA LZ LH LG LE LJ
65
MS1H1-05B30CB-A3**Z(-S) 40 25±0.5 46 2-φ4.5 34 5 2.5±0.5 0.5±0.35
(96)
MS1H1-10B30CB-**30Z 77.5
40 25±0.5 46 2-φ4.5 34 5 2.5±0.5 0.5±0.35
MS1H1-10B30CB-**32Z (109)

Motor Model S LB TP LK KH KW W T Weight (kg)

0.39
MS1H1-05B30CB-A3**Z(-S) 8 30 M3x6 15.5 6.2 3 3 3
(0.50)

MS1H1-10B30CB-**30Z 0.45
8 30 M3x6 15.5 6.2 3 3 3
MS1H1-10B30CB-**32Z (0.64)

◆◆ Dimensions in the preceding table are in millimeters.

◆◆ Values in side the parentheses "()" are for the servo motor with a holding brake.
◆◆ The tightening torque terminal screws is 0.19 N·m to 0.21 N·m, violation of which may damage the
NOTE
terminal.

-56-
 2 Installation

2 Flange size: 60

øS h6 0-0.011
øLB h7 0-0.025
Dimensions of the Dimensions of the
shaft end shaft end with key

Motor Model LL LC LR LA LZ LH LG LE LJ

MS1H1-20B30CB-**31Z 72.5 60 30±0.5 70 4-φ5.5 44 7.5 3±0.5 0.5±0.35

MS1H1-20B30CB-**34Z 100 60 30±0.5 70 4-φ5.5 44 7.5 3±0.5 0.5±0.35

MS1H1-40B30CB-**31Z 91 60 30±0.5 70 4-φ5.5 44 7.5 3±0.5 0.5±0.35

MS1H1-40B30CB-**34Z 119 60 30±0.5 70 4-φ5.5 44 7.5 3±0.5 0.5±0.35

MS1H4-40B30CB-**31Z 105 60 30±0.5 70 4-φ5.5 44 7.5 3±0.5 0.5±0.35

MS1H4-40B30CB-**34Z 128 60 30±0.5 70 4-φ5.5 44 7.5 3±0.5 0.5±0.35

Motor Model S LB TP LK KH KW W T Weight (kg)

MS1H1-20B30CB-**31Z 14 50 M5x8 16.5 11 5 5 5 0.78

MS1H1-20B30CB-**34Z 14 50 M5x8 16.5 11 5 5 5 1.16

MS1H1-40B30CB-**31Z 14 50 M5x8 16.5 11 5 5 5 1.11

MS1H1-40B30CB-**34Z 14 50 M5x8 16.5 11 5 5 5 1.48

MS1H4-40B30CB-**31Z 14 50 M5x8 16.5 11 5 5 5 1.27

MS1H4-40B30CB-**34Z 14 50 M5x8 16.5 11 5 5 5 1.62

◆◆ Dimensions in the preceding table are in millimeters.

◆◆ The tightening torque for terminal screws is 0.19 N·m to 0.21 N·m, violation of which may damage
NOTE the terminal.

-57-
 2 Installation

3 Flange size: 80

øS h6 0-0.013
øLB h7 0-0.030
Dimensions of the Dimensions of the
shaft end shaft end with key

Motor Model LL LC LR LA LZ LH LG LE LJ

MS1H1-55B30CB-A331Z 96.2 80 35±0.5 90 4-φ7 54 7.7 3±0.5 0.5±0.35

MS1H1-75B30CB-**31Z 107 80 35±0.5 90 4-φ7 54 7.7 3±0.5 0.5±0.35

MS1H1-75B30CB-**34Z 140 80 35±0.5 90 4-φ7 54 7.7 3±0.5 0.5±0.35

MS1H1-10C30CB-A331Z(-S) 118.2 80 35±0.5 90 4-φ7 54 7.7 3±0.5 0.5±0.35

MS1H4-75B30CB-**31Z 117.5 80 35±0.5 90 4-φ7 54 7.7 3±0.5 0.5±0.35

MS1H4-75B30CB-**34Z 147.5 80 35±0.5 90 4-φ7 54 7.7 3±0.5 0.5±0.35

Weight
Motor Model S LB TP LK KH KW W T
(kg)

MS1H1-55B30CB-A331Z 19 70 M6x20 25 15.5 6 6 6 1.85

MS1H1-75B30CB-**31Z 19 70 M6x20 25 15.5 6 6 6 2.18

MS1H1-75B30CB-**34Z 19 70 M6x20 25 15.5 6 6 6 2.82

MS1H1-10C30CB-A331Z(-S) 19 70 M6x20 25 15.5 6 6 6 2.55

MS1H4-75B30CB-**31Z 19 70 M6x20 25 15.5 6 6 6 2.40

MS1H4-75B30CB-**34Z 19 70 M6x20 25 15.5 6 6 6 3.04

◆◆ Dimensions in the preceding table are in millimeters.

◆◆ The tightening torque for terminal screws is 0.19 N·m to 0.21 N·m, violation of which may damage
NOTE the terminal.

-58-
 2 Installation

4 Flange size: 100

KB2
KB1

18.5
LZ EQS ⏊ 0.10 A
ØLA
仅抱闸电机

◎ Ø0.06 A

KA1
52° LJ
TP

KA2

-0.035
-0.013

0
0

ØLBh7
ØSh6
LK A

↗ 0.03 A
Ø118

2-M3 LE
□LC LG
LL LR

KW N9

W h8
80

KH T h11
100 Dimensions of Dimensions of
the shaft end the shaft end with key

Motor Model LC LL LR LA LZ KA1 KB1 KA2 KB2 LG

164 94.5 143.5
MS1H2-10C30CB-A3**Z 100 45±1 115 4-φ7 88 74 10
(213.5) (101) (192.5)
189 119.5 168.5
MS1H2-15C30CB-A3**Z 100 45±1 115 4-φ7 88 74 10
(239) (128) (219.5)
164 94.5 143.5
MS1H2-10C30CD- A3**Z 100 45±1 115 4-φ7 88 74 10
(213.5) (101) (192.5)
189 119.5 168.5
MS1H2-15C30CD-A3**Z 100 45±1 115 4-φ7 88 74 10
(239) (128) (219.5)
214 144.5 193.5
MS1H2-20C30CD-A3**Z(-S4) 100 45±1 115 4-φ7 88 74 10
(265) (153) (244)
240.5 169.5 218.5
MS1H2-25C30CD-A3**Z(-S4) 100 45±1 115 4-φ7 88 74 10
(290) (178) (269)
Weight
Motor Model LE LJ LB S TP LK KH KW W T
(kg)
5.11
MS1H2-10C30CB-A3**Z 5±0.3 2.5±0.75 95 24 M8x16 36 20 -0.2
0
8 8 7
(6.41)
6.22
MS1H2-15C30CB-A3**Z 5±0.3 2.5±0.75 95 24 M8x16 36 20 -0.2
0
8 8 7
(7.52)
5.11
MS1H2-10C30CD-A3**Z 5±0.3 2.5±0.75 95 24 M8x16 36 20 -0.2
0
8 8 7
(6.41)
6.22
MS1H2-15C30CD-A3**Z 5±0.3 2.5±0.75 95 24 M8x16 36 20 -0.2
0
8 8 7
(7.52)
7.39
MS1H2-20C30CD-A3**Z(-S4) 5±0.3 2.5±0.75 95 24 M8x16 36 20 -0.2
0
8 8 7
(8.7)
8.55
MS1H2-25C30CD-A3**Z(-S4) 5±0.3 2.5±0.75 95 24 M8x16 36 20 -0.2
0
8 8 7
(9.8)

◆◆ Dimensions in the preceding table are in millimeters.

NOTE ◆◆ Values inside the parentheses "()" are for the servo motor with a holding brake.

-59-
 2 Installation

5 Flange size: 130

■■ Outline drawing of MS1H2

KB2
KB1

18.5
Motor with brake only
ØLA LZ EQS ⏊ 0.10 A
◎ Ø0.06 A

KA1
TP LJ
51°

KA2

-0.035
ØSh6 -0.013

0
0

ØLBh7
LK A

↗ 0.03 A
Ø154
2-M5 LE
□LC LG
LL LR

KW N9

W h8
80

KH T h11
100 Dimensions Dimensions of
of the shaft end the shaft end with key

■■ Outline drawing of MS1H3

KB2
KB1

◎ Ø 0.06 A
⏊ 0.10 A
Motor with brake only
ØLA LZ EQS

Ø154
KA1

51°
LJ
KA2

-0.035
-0.013

0
0

Ø LBh7
ØSh6
TP LK A
↗ 0.02 A

2-M5
LE
□LC LG
LL LR
KW N9

W h8
80

KH T h11
Dimensions Dimensions of
100 of the shaft end the shaft end with key

Motor Model LC LL LR LA LZ KA1 KB1 KA2 KB2 LG

MS1H2-30C30CD- 209.5 136 188.5

130 63±1 145 4-φ9 103 74 14
A3**Z(-S4) (265.5) (139) (244.5)
MS1H2-40C30CD- 252 178.5 231
130 63±1 145 4-φ9 103 74 14
A3**Z(-S4) (308) (181.5) (287)
MS1H2-50C30CD- 294.5 221 273.5
130 63±1 145 4-φ9 103 74 14
A3**Z(-S4) (350.5) (224) (329.5)
146 125
MS1H3-85B15CB-A3**Z 130 55±1 145 4-Φ9 103 72.5 74 14
（182） （161）
163 142
MS1H3-13C15CB-A3**Z 130 55±1 145 4-Φ9 103 89.5 74 14
（199） （178）
181 160
MS1H3-18C15CD-A3**Z 130 55±1 145 4-Φ9 103 107.5 74 14
（217） （196）
146 125
MS1H3-85B15CD-A3**Z 130 55±1 145 4-φ9 103 72.5 74 14
（182） （161）
163 142
MS1H3-13C15CD-A3**Z 130 55±1 145 4-φ9 103 89.5 74 14
（199） （178）

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 2 Installation

Weight
Motor LE LJ LB S TP LK KH KW W T
(kg)

MS1H2-30C30CD- 10.73
6±0.3 0.5±0.75 110 28 M8x20 54 24 -0.2
0
8 8 7
A3**Z(-S4) (13.2)
MS1H2-40C30CD- 15.43
6±0.3 0.5±0.75 110 28 M8x20 54 24 -0.2
0
8 8 7
A3**Z(-S4) (17.9)
MS1H2-50C30CD- 16.2
6±0.3 0.5±0.75 110 28 M8x20 54 24 -0.2
0
8 8 7
A3**Z(-S4) (18.7)
7
MS1H3-85B15CB-A3**Z 4 0.5±0.75 110 22 M6x20 36 18 -0.2
0
8 8 7
(8)
8
MS1H3-13C15CB-A3**Z 4 0.5±0.75 110 22 M6x20 36 18 -0.2
0
8 8 7
(9.5)
MS1H3-18C15CD-A3**Z 4 0.5±0.75 110 22 M6x20 36 18 0
-0.2 8 8 7 9.5 (11)
7
MS1H3-85B15CD-A3**Z 4 0.5±0.75 110 22 M6x20 36 18 -0.2
0
8 8 7
(8)
8
MS1H3-13C15CD-A3**Z 4 0.5±0.75 110 22 M6x20 36 18 -0.2
0
8 8 7
(9.5)

◆◆ Dimensions in the preceding table are in millimeters.

◆◆ Values in the parentheses "()" are for the motor with a holding brake.
NOTE

6 Flange size: 180

KB2
KB1

◎ Ø 0.06 A
18.5

LZ ⏊ 0.10 A
∅207
ØLA
KA1

LJ
KA2
5°

ØLBh7 -0.035
53.

ØSh6 -0.016

0
0

LK
TP A ↗ 0.03 A

LE
LG
2-M6 LL LR
□LC
KW N9

W h8
80

KH T h11
100
Dimensions Dimensions of
of the shaft end the shaft end with key

-61-
 2 Installation

Motor Model LC LL LR LA LZ KA1 KB1 KA2 KB2 LG

197 136 177
MS1H3-29C15CD-A3**Z 180 79±1 200 4-φ13.5 138 74 18
(273) (134) (253)
230 169 210
MS1H3-44C15CD-A3**Z 180 79±1 200 4-φ13.5 138 74 18
(307) (167) (286)
274 213 254
MS1H3-55C15CD-A3**Z 180 113±1 200 4-φ13.5 138 74 18
(350) (211) (330)
330 269 310
MS1H3-75C15CD-A3**Z 180 113±1 200 4-φ13.5 138 74 18
(407) (267) (386)
Weight
Motor Model LE LJ LB S TP LK KH KW W T
(kg)
15
MS1H3-29C15CD-A3**Z 3.2±0.3 0.3±0.75 114.3 35 M12x25 65 30 -0.2
0
10 10 8
(25)
19.5
MS1H3-44C15CD-A3**Z 3.2±0.3 0.3±0.75 114.3 35 M12x25 65 30 -0.2
0
10 10 8
(30)
28
MS1H3-55C15CD-A3**Z 3.2±0.3 0.3±0.75 114.3 42 M16x32 96 37 -0.2
0
12 12 8
(38)
32
MS1H3-75C15CD-A3**Z 3.2±0.3 0.3±0.75 114.3 42 M16x32 96 37 -0.2
0
12 12 8
(42)

◆◆ Dimensions in the preceding table are in millimeters.

NOTE ◆◆ Values in the parentheses "()" are for the motor with a holding brake.

-62-
 3 Wiring

3 Wiring

8"3/*/(

◆◆ Read through the safety instructions in "Safety Instructions" . Failure to comply may result in
i serious consequences.

8"3/*/(
◆◆ Feed the servo drive with power from grounded (TN/TT) systems. Failure to comply may result in
electric shock.
◆◆ Connect an electromagnetic contactor between the input power supply and the main circuit power
supply of the servo drive (L1 and L2 for single-phase servo drives; L1, L2, and L3 for three-phase
servo drives) to form an architecture that allows independent power cutoff on the servo drive
power side. This is to prevent fire accidents caused by continuous large current upon fault.
◆◆ Ensure the input power supply of the servo drive is within the specified voltage range. Otherwise,
the servo drive may become faulty.
◆◆ Do not connect output terminals U, V, and W of the servo drive to a three-phase power supply.
Failure to comply may cause physical injuries or fire accidents.
◆◆ Do not connect the motor connecting terminals U, V, and W to a mains frequency power supply.
Failure to comply may cause physical injuries or fire accidents.
◆◆ Use the ALM (fault signal) to cut off the main circuit power supply. When the braking transistor is
faulty, the regenerative resistor may be overheated, leading to a fire accident.

8"3/*/(

◆◆ Connect the PE terminal of the servo drive to the PE terminal of the control cabinet. Failure to
comply may cause electric shock.
◆◆ Ensure the entire system is grounded. Otherwise, malfunction may occur on the servo drive.

8"3/*/(

◆◆ After cutting off the power supply, wait for at least 15 minutes before further operations
because residual voltage is still present in the internal capacitor after power-off. Failure to
comply may result in electric shock.

15min

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 3 Wiring

$"65*0/
◆◆ The specifications and installation method of external cables must comply with applicable local
regulations.
◆◆ Abide by the following requirements when applying the servo drive on a vertical axis.
1) Set the safety device properly to prevent the workpiece from falling under such status as warning
and overtravel.
2) Ensure the polarity of the 24 V power supply is correct. Otherwise, the shaft may fall and cause
physical injuries or damage the servo drive.
◆◆ Abide by the following requirements when wiring the power supply and the main circuit:
1) When the main circuit terminal is a connector, remove the connector from the servo drive before
wiring.
2) Insert one cable to one terminal of the connector. Do not insert multiple cables to one cable terminal.
3) Insert the cable with enough care to prevent the conductor burrs from being short circuited to the
neighboring cable.
4) Insulate the connecting part of the power terminals to prevent electric shock.
5) Do not connect a 220 V servo drive to a 380 V power supply directly.
6) Install safety devices such as a circuit breaker to prevent fire accidents caused by short-circuit in
external circuits.
7) Cut off the main circuit power supply and switch from S-ON to S-OFF after a warning signal is
detected.
◆◆ Connect the servo drive to the motor directly. Do not use an electromagnetic contactor during wiring.
Failure to comply may cause faults.
◆◆ Do not put heavy objects onto the cables or pull the cable with large force. Otherwise electric shock
may occur due to cable damage.
◆◆ When connecting DO terminals to relays, ensure the polarity of the flywheel diode is connected
correctly. Otherwise, the servo drive will be damaged and the signal output may be abnormal.
◆◆ Reserve a clearance of at least 30 cm between main circuit cables and I/O signal/encoder cables.
Failure to comply may cause malfunction of the servo drive.
◆◆ Use twisted pair cables or multi-core shielded twisted cables as the I/O signal/encoder cables. Failure
to comply may cause malfunction of the servo drive.
◆◆ The maximum wiring length of the I/O signal cable and the encoder cable is 3 m and 20 m
respectively.
◆◆ Use a noise filter to reduce the electromagnetic interference on electronic devices surrounding the
servo drive.
◆◆ To prevent damage to the servo drive, take proper shielding measures when the servo drive is used
in the following application locations:
1) Locations suffering from interferences caused by static electricity
2) Locations suffering from strong electric field or strong magnetic field
3) Locations with radioactive rays

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 3 Wiring

3.1 Terminal Pin Layout

CN3 CN4
9 1
TD + TD +

TD - TD -

CN3 CN 4 RD + RD +

- -

RD - RD -

- -
16 8

CN1

Encoder signal
CN1
connector CN2

15 5
+24V 10 DO3+
Main circuit input DI1
1 +5V
terminal CN8 COM- DO3-
DI2
2 GND
L1 COM+ DO2+

L2 3 Reserved
DI3

- DO2-
P 4 Reserved DI4

DI5 DO1+
C 5 PS+ D01-
11 1
N 6
6 PS-
U Enclo- PE
V sure

W
PE

Figure 3-1 Terminal pin layout of servo drives in size A

◆◆ The preceding figure shows the pin layout of the servo drive terminals.
NOTE

-65-
 3 Wiring

CN3 CN4
9 1
TD + TD +

CN3/CN4 TD - TD -

RD + RD +

- -

RD - RD -

- -
16 8

CN1

Encoder signal connector CN2

15 5
+24V 10 DO3+
Main circuit input 1 +5V DI1

terminal CN8 COM- DO3-

2 GND DI2

L1
3
COM+ DO2+
Reserved DI3
L2
4 Reserved - DO2-
L3 DI4

5 PS+ DI5 DO1+

p
D01-
D 6 PS- 11
6
1

Enclo-
C PE
sure
N
U
V
W
PE

Figure 3-2 Terminal pin layout of servo drives in size B

◆◆ The preceding figure shows the pin layout of the servo drive terminals.
NOTE

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 3 Wiring

CN3 CN4
9 1
TD+ TD+

TD- TD-

CN3 CN4 RD+ RD+

- -

RD- RD-

- -
16 8

CN1

Encoder signal connector CN2 15 5

+24V 10 DO3+
Main circuit input terminal CN8 DI1
COM- DO3-
L1C DI2

L2C 1 +5V COM+ DO2+

DI3

R 2 GND - DO2-

S
DI4
3 Reserved DI5 DO1+

T
4 Reserved
DO1-
11 1
P
6

5 PS+
D
6 PS-
C
Enclo-
PE
N sure

U
V
W
PE

Figure 3-3 Terminal pin layout of servo drives in size C and size D

◆◆ The preceding figure shows the pin layout of the servo drive terminals.
NOTE

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 3 Wiring

CN 3 CN 4
9 1
TD+ TD+

CN3/CN4 TD- TD-

RD + RD +

- -

RD - RD -

- -

16 8

C N1
Encoder signal connector CN2

Main circuit input 5

terminal CN8
15
+24V 10 DO3+
1 +5V DI1
L1C COM - DO3-
2 0V DI2
L2C
3 Reserved COM + DO2+
R DI3

S 4 Reserved - DO2-
DI4
T 5 PS+ DI5 DO1+

U
DO1-
6 PS- 11 1
6
V Enclo- PE
sure
W
N2
N1

P
D
C

Figure 3-4 Terminal pin layout of servo drives in size E

◆◆ The preceding figure shows the pin layout of the servo drive terminals.
NOTE

3.2 Wiring of the Main Circuit

3.2.1 Main Circuit Terminals

L1
L2

P
C
N

U
V
W
PE

Figure 3-5 Main circuit terminal pin layout of servo drives in size A

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 3 Wiring

Table 3-1 Names and functions of main circuit terminals of servo drives in size A

No. Name Description

L1, L2
1 See the nameplate for the rated voltage of the power supply.
(power input terminals)

P, N
Used as the common DC bus for multiple servo drives.
(DC bus terminals)
2 P, C
When an external regenerative resistor is needed, connect it
(terminals for connecting external
between terminals P and C.
regenerative resistor)

U, V, W
3 Connected to U, V, and W phases of the servo motor.
(terminals for connecting the servo motor)

PE Connected to the power supply ground and the motor

4
(grounding terminal) grounding terminal.

L1
L2
L3
p
D
C
N
U
V
W
PE

Figure 3-6 Main circuit terminal pin layout of servo drives in size B

Table 3-2 Names and functions of main circuit terminals of servo drives in size B

No. Name Description

See the nameplate for the rated voltage of the power supply.
L1, L2, L3 Note:
1
(Power input terminals) ◆◆ S5R5 (750 W) servo drives: Single-phase 220 V power input, with
220 V power supply connected to L1 and L2

P, N
Used as the common DC bus for multiple servo drives.
(DC bus terminals)

2 When an external regenerative resistor is needed, connect it

P, D, C
between terminals P and C.
(Terminals for connecting external
Servo drives in size B are equipped with a built-in regenerative
regenerative resistor)
resistor. In this case, terminals P and D are shorted by default.

U, V, W
3 Connected to U, V, and W phases of the servo motor.
(Servo motor connecting terminals)

PE Connected to the power supply ground and the motor grounding

4
(Grounding terminal) terminal.

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 3 Wiring

L1C
L2C
R
S
T
P
D
C
N

U
V
W
PE

Figure 3-7 Main circuit terminal pin layout of servo drives in size C and size D

Table 3-3 Names and functions of main circuit terminals of servo drives in size C and size D

No. Name Description

L1C, L2C
1 (control circuit power input See the nameplate for the rated voltage of the power supply.
terminals)

R, S, T
2 (main circuit power input See the nameplate for the rated voltage of the power supply.
terminals)

P, N (DC bus terminals) Used as the common bus terminal for multiple servo drives.

When an external regenerative resistor is needed, connect it between

3 P, D, C
terminals P and C.
(terminals for connecting
Servo drives in sizes C and D are equipped with a built-in regenerative
external regerative resistor)
resistor. In this case, terminals P and D are shorted by default.

U, V, W
4 (terminals for connecting the Connected to the U, V and W phases of the servo motor.
servo motor)

Connected to the power supply ground and the motor grounding

5 PE (grounding terminal)
terminal.

L1C
L2C
R
S
T
U
V
W
N2
N1
P
D
C

Figure 3-8 Main circuit terminal pin layout of servo drives in size E

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 3 Wiring

Table 3-4 Names and functions of main circuit terminals of servo drives in size E

No. Component Name Desciption

L1C, L2C
1 (control circuit power input See the nameplate for the rated voltage of the power supply.
terminals)

R, S, T
2 (main circuit power input See the nameplate for the rated voltage of the power supply.
terminals)

U, V, W
3 (terminals for connecting the Connected to the U, V and W phases of the servo motor.
servo motor)

N2, N1
Terminals N1 and N2 are jumpered by default. Remove the jumper first if
4 (terminals for connecting
you need to install an external DC reactor between N1 and N2.
external reactor)

When an external regenerative resistor is needed, connect it between

P, D, C
terminals P and C.
5 (terminals for connecting
Servo drives in size E are equipped with a built-in regenerative resistor. In
external regenerative resistor)
this case, terminals P and D are shorted by default.

3.2.2 Wiring Example of the Regenerative Resistor

L1

L2

PE

Figure 3-9 Connection of the external regenerative resistor

8"3/*/(
Observe the following requirements when connecting the external regenerative resistor:
◆◆ Remove the jumper between P and D before connecting the external regenerative resistor. Failure
to comply will cause overcurrent and damage the braking transistor.
◆◆ Do not connect the external regenerative resistor to the positive/negative pole of the bus directly.
Failure to comply will damage the servo drive and cause a fire.
◆◆ Do not select any resistor with a resistance lower than the minimum permissible value. Failure to
comply will result in E201 (Overcurrent) or damage the servo drive.
◆◆ Make sure parameters H02-25 (Regenerative resistor setting), H02-26 (Power of external
regenerative resistor) and H02-27 (Resistance of external regenerative resistor) are set properly
before use.
◆◆ Install the external regenerative resistor on incombustible objects such as a metal.

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 3 Wiring

3.2.3 Specifications of Main Circuit Cables

L1

L2

PE

Figure 3-10 Main circuit terminal block of the servo drive

Table 3-5 Input/Output current specifications of SV660N series servo drives

Maximum Output Current

Servo Drive Model SV660N****I Rated Input Current (A) Rated Output Current (A)
(A)

S1R6 2.3 1.6 5.8

Size A
S2R8 4.0 2.8 10.1

Size B S5R5 7.9 (single-phase) 5.5 16.9

S7R6 5.1 7.6 23

Size C T3R5 2.4 3.5 11

T5R4 3.6 5.4 14

S012 8.0 11.6 32

Size D T8R4 5.6 8.4 20

T012 8.0 11.9 29.75

T017 12.0 16.5 41.25

Size E T021 16.0 20.8 52.12

T026 21.0 25.7 64.25

Table 3-6 Recommended main circuit cables

Servo Drive L1C, L2C R, S, T P⊕, C U, V, W PE

Model
AWG mm2 AWG mm2 AWG mm2 AWG mm2 AWG mm2
SV660N*****
Single-phase 220 V
S1R6I 2x0.75 18 2x0.75 18 2x0.75 18 3x0.5 20 0.5 20
Size A
S2R8I 2x0.75 18 2x0.75 18 2x0.75 18 3x0.5 20 0.5 20

Size B S5R5I 2x0.75 18 2x0.75 18 2x0.75 18 3x0.5 20 0.5 20

Matching MS1H1- Matching MS1H1-
10C30CB motors: 20 10C30CB motors: 20
3x0.5 0.5
Size C S7R6I 3x0.75 18 3x0.75 18 3x0.75 18 Matching MS1H2- Matching MS1H2-
10C30CB/MS1H3- 10C30CB/MS1H3-
16 16
85B15CB motors: 85B15CB motors:
3x1.5 1.5
Size D S012I 3x0.75 16 3x0.75 16 3x0.75 16 3x1.5 16 1.5 16

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 3 Wiring

Servo Drive L1C, L2C R, S, T P⊕, C U, V, W PE

Model
AWG mm 2
AWG mm 2
AWG mm 2
AWG mm 2
AWG mm2
SV660N*****
Three-phase 220 V
Matching MS1H1- Matching MS1H1-
10C30CB motors: 20 10C30CB motors: 20
3x0.5 0.5
Size C S7R6I 2x0.75 18 3x0.75 18 2x0.75 18 Matching MS1H2- Matching MS1H2-
10C30CB/MS1H3- 10C30CB/MS1H3-
16 16
85B15CB motors: 3 x 85B15CB motors:
1.5 1.5
Size D S012I 2x0.75 18 3x1.5 16 2x1.5 16 3x1.5 16 1.5 16
Three-phase 380 V
T3R5I 2x0.75 18 3x0.75 18 2x0.75 18 3x1.5 16 1.5 16
Size C
T5R4I 2x0.75 18 3x0.75 18 2x0.75 18 3x1.5 16 1.5 16
T8R4I 2x0.75 18 3x0.75 18 2x1.5 16 3x1.5 16 1.5 16
Size D
T012I 2x0.75 18 3x1.5 16 2x1.5 16 3x1.5 16 1.5 16

Matching MS1H2-
40C30CD/MS1H2-
14 2.50 14
50C30CD motors:
T017I 2x0.75 18 3x1.5 16 2x4.0 12 3x2.5

Size E Matching MS1H3-

44C15CD motors: 12 4.00 12
3x4.0
T021I 2x0.75 18 3x2.5 14 2x4.0 12 3x4.0 12 4.00 12

T026I 2x0.75 18 3x4.0 12 2x4.0 12 3x4.0 12 4.00 12

See "3.2.5 Precautions for Main Circuit Wiring" for details.

Table 3-7 Recommended grounding cable lug of the main circuit

Servo Drive Model SV660N****I PE

SV660NS1R6I TVR 2-4
Size A
SV660NS2R8I TVR 2-4
Size B SV660NS5R5I TVR 2-4

SV660NS7R6I TVR 2-4

Size C SV660NT3R5I TVR 2-4
SV660NT5R4I TVR 2-4
SV660NS012I TVR 2-4
Size D SV660NT8R4I TVR 2-4
SV660NT012I TVR 2-4

SV660NT017I TVR 2-4

Size E SV660NT021I TVR 2-4
SV660NT026I TVR 2-4

Reference data for recommended cable lugs (Manufacturer: Suzhou Yuanli Metal Enterprise Co., Ltd)

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 3 Wiring

Table 3-8 Dimensions and outline drawing of the grounding cable lug

Cable Lug D d2 B
Outline Drawing
Model (mm) (mm) (mm)
φ d2
B
TVR 2-4 4.5 4.3 8.5
φD

Use the following types of cables for the main circuit.

Table 3-9 Recommended main circuit cables

Cable Type
Allowable Temperature (℃ )
Model Name

PVC General PVC cable -

IV PVC cable with a rated voltage of 600 V 60

HIV Special PVC cable with heat-resistance capacity 75

For UVW cables, the relation between AWG specification and the allowable current is shown in the
following table.

Note that the values listed in the table cannot be exceeded during use.

Table 3-10 Specifications for UVW cables

Nominal Cross Sectional Area Allowable Current in Different Ambient Temperatures (A)
AWG Specification
(mm²) 30℃ 40℃ 50℃
20 0.519 8 7 6
19 0.653 9 8 7
18 0.823 13 11 9
16 1.31 18 15 12
14 2.08 26 23 20
12 3.31 32 28 26
10 5.26 48 43 38
8 8.37 70 65 55
6 13.3 95 85 75

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 3 Wiring

3.2.4 Wiring Example of the Power Supply

■■ Single-phase 220 V models: SV660NS1R6I, SV660NS2R8I, SV660NS5R5I, SV660NS7R6I and

SV660NS012

Single-phase 220 VAC

660N servo drive

Noise filter

U
V
M
W

STOP P
button
C
CN2
RUN Main circuit
N
button power input
contactor PG
1KM

Surge
protection
device
L1
L2 ALM-
COM
Servo alarm 1D 24V
output relay 1Ry
ALM+
Servo alarm
signal output
Servo alarm
indicator

Figure 3-11 Main circuit wiring example of single-phase 220 V models

◆◆ 1KM: Electromagnetic contactor; 1Ry: Relay; 1D: Flywheel diode

◆◆ DO is set as alarm output (ALM+/-). When the servo drive alarms, the power supply will be cut
off automatically. SV660NS1R6 and SV660NS2R8 are not configured with a built-in regenerative
NOTE resistor, connect an external regenerative resistor between terminals P and C if required.

-75-
 3 Wiring

■■ Single-phase/Three-phase 220 V models: SV660NS7R6I and SV660NS012I

Three-phase 220 VAC

Noise filter 660N servo drive

L1C
L2C
U
V
W
M

STOP P
button
D
Main circuit CN2
RUN power input C
button contactor
1KM
PG
Surge
protection R
device S
T ALM-
COM
1D 24V
Servo alarm output
relay 1Ry
ALM+
Servo alarm
signal output
Servo alarm
indicator

Figure 3-12 Main circuit wiring example of three-phase 220 V models

◆◆ 1KM: Electromagnetic contactor; 1Ry: Relay; 1D: Flywheel diode

◆◆ DO is set as alarm output (ALM+/-). When the servo drive alarms, the power supply will be cut off
NOTE automatically and the alarm indicator will be turned on.

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 3 Wiring

■■ Three-phase 380 V models: SV660NT3R5I, SV660NT5R4I, SV660NT8R4I, SV660NT012I, SV660NT021I,

SV660NT026I

Three-phase 380 VAC

Noise filter 660N servo drive

L1C
L2C
U
V
W
M

STOP P
button
D
RUN
Main circuit CN2
power input C
button contactor
1KM
PG
Surge
protection R
device S
T ALM-
COM
Servo alarm output 1D 24V
relay 1Ry
ALM+
Servo alarm
signal output
Servo alarm
output
indicator

Figure 3-13 Main circuit wiring example of three-phase 380 V models

◆◆ 1KM: Electromagnetic contactor; 1Ry: Relay; 1D: Flywheel diode

◆◆ DO is set as alarm output (ALM+/-). When the servo drive alarms, the power supply will be cut off
NOTE automatically and the alarm indicator will be turned on.

3.2.5 Precautions for Main Circuit Wiring

■■ Do not connect the input power cables to the output terminals U, V, and W. Failure to comply will
damage the servo drive.

■■ When cables are bundled in a duct, the cooling effect will be deteriorated. In this case, take the
reduction ratio of the allowable current into consideration.

■■ When the temperature inside the cabinet is higher than the temperature limit of the cable, it is
recommended to use a Teflon cable with a higher temperature limit. As the surface of regular cables
may be easily hardened and cracked under a low temperature, take thermal insulation measures for
cables laid in an environment with a low temperature.

■■ The bending radius of a cable must be 10 times longer than its outer diameter to prevent the
internal conductor from breaking due to long-time bending.

■■ Use cables with a rated voltage above 600 VAC and rated temperature above 75° C. Under an
ambient temperature of 30° C with normal cooling conditions, the allowable current density of
the cable cannot exceed 8 A/mm2 when the total current is below 50 A, or 5 A/mm2 when the total
current is above 50 A. The allowable current density (A/mm2) can be adjusted based on the following
formula in case of high ambient temperatures or bundled cables.

Allowable current density = 8 x Reduction coefficient of conductor current-carrying density x Current

correction coefficient

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 3 Wiring

Duct

Cable

Table 3-11 Reduction coefficient of current-carrying density of the conductor

Number of Cables in the Same Duct Current Reduction Coefficient

Less than 3 0.7

4 0.63

5–6 0.56

7–15 0.49

■■ Do not bundle power cables and signal cables together or route them through the same duct. Power
cables and signal cables must be separated by a distance of at least 30 cm to prevent interference.

■■ High voltage may be still present in the servo drive when the power supply is cut off. Do not touch
the power terminals within 5 minutes after power-off.
■■ Do not turn on/off the power supply frequently. If ON/OFF interval is less than 1s, fault E740, E136,
or E430 may be reported (see details in "10 Troubleshooting" ). If the fault does occur, power on again
based on the required ON/OFF interval. As the capacitor in the main circuit is charged with a large
current for 0.2s upon power on, the main circuit components inside the servo drive will be adversely
affected by frequent ON/OFF. If frequent ON/OFF is required, ensure the time interval is at least one
minute.
■■ Use a grounding cable with the same cross sectional area as the main circuit cable. If the cross
sectional area of the main circuit cable is less than 1.6 mm2, use a grounding cable with a cross
sectional area of 2.0 mm2.

■■ Ground the servo drive properly.

■■ Do not power on the servo drive when any screw of the terminal block or any cable is loose. Failure
to comply may cause a fire.

3.2.6 Specifications of Main Circuit Options

The recommended circuit breakers and electromagnetic contactors are listed in the following table.

Table 3-12 Recommended circuit breakers and electromagnetic contactors

Breaker Contactor
Main Circuit
Servo Drive Model
Power Supply
Current (A) Schneider Model Current (A) Schneider Model

SV660NS1R6I 4 OSMC32N3C4 9 LC1 D09

SV660NS2R8I 6 OSMC32N3C6 9 LC1 D09

Single-phase
SV660NS5R5I 16 OSMC32N3C16 9 LC1 D09
220 V
SV660NS7R6I 10 OSMC32N3C10 9 LC1 D09

SV660NS012I 16 OSMC32N3C16 9 LC1 D09

Three-phase SV660NS7R6I 10 OSMC32N3C10 9 LC1 D09

220 V SV660NS012I 16 OSMC32N3C16 9 LC1 D09

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 3 Wiring

Breaker Contactor
Main Circuit
Servo Drive Model
Power Supply
Current (A) Schneider Model Current (A) Schneider Model

SV660NT3R5I 4 OSMC32N3C4 9 LC1 D09

SV660NT5R4I 6 OSMC32N3C6 9 LC1 D09

SV660NT8R4I 10 OSMC32N3C10 9 LC1 D09

Single-phase
SV660NT012I 16 OSMC32N3C16 9 LC1 D09
380 V
SV660NT017I 20 OSMC32N3C20 12 LC1 D12

SV660NT021I 25 OSMC32N3C25 18 LC1 D18

SV660NT026I 32 OSMC32N3C32 25 LC1 D25

3.3 Connecting the Servo Drive and Servo Motor Power Cables

Figure 3-14 Example of the wiring between the servo drive and the servo motor

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 3 Wiring

Table 3-13 Power cable connector of terminal-type motors (motor side).

Outline Drawing of
Terminal Pin Layout Applicable Flange Size [Note]
the Connector
Black 6-pin connector

5 6
4
3
2
1 Terminal-type motor:
40
Pin No. Signal Name Color 60
1 PE Yellow/Green
80
2 W Red
3 V Black
4 U White
5 Brake Polarity Brown
6 Brake insensitive Blue

◆◆ The flange size refers to the width of the mounting flange.

◆◆ Power cable colors are subject to the colors of the actual product. Cable colors mentioned in this
NOTE user guide refer to Inovance's cable colors.

Figure 3-15 Example of the wiring between the servo drive and the servo motor

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 3 Wiring

Table 3-14 Power cable connector of lead-wire type motors (motor side).

Outline Drawing of the

Terminal Pin Layout Applicable Flange Size [Note]
Connector

Black 6-pin connector

4 1

5 2

6 3

Lead wire-type motor:

Pin No. Signal Name Color 40

1 U White 60
2 V Black 80
4 W Red
5 PE Yellow/Green
3 Brake
6 (polarity insensitive)
Recommendations:
Plastic housing: MOLEX-50361736
Terminal: MOLEX-39000061

◆◆ The flange size refers to the width of the mounting flange.

◆◆ Power cable colors are subject to the colors of the actual product. Cable colors mentioned in this
NOTE user guide refer to Inovance's cable colors.

Table 3-15 Connectors for power cables on the servo motor side

Outline Drawing of the Applicable Flange

Terminal Pin Layout
Connector Size

MIL-DTL-5015 series 3108E20-18S aviation plug

20-18 aviation plug

A H G

B I F

C D E

New Structure Old Structure 100

Signal Color
Pin No. Signal Name Pin No. 130
Name
B U B U Blue
I V I V Black
F W F W Red
Yellow/
G PE G PE
Green
C Brake
(polarity
E
insensitive)

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 3 Wiring

Outline Drawing of the Applicable Flange

Terminal Pin Layout
Connector Size

MIL-DTL-5015 series 3108E20-22S aviation plug

20-22 aviation plug

F
A E
B D
C

Definition of Y Series Definition of Z series

180
Terminal Terminal Color
Pin No. Signal Name Pin No. Signal Name
A U A U Blue
C V C V Black
E W E W Red
Yellow/
F PE F PE
Green
B Brake (polarity
D insensitive)

3.4 Connecting the Servo Drive and Servo Motor Encoder Cables

1 Installing the absolute encoder battery box

■■ The S6-C4 battery box contains the following items:

One plastic box

One 3.6 V/2600 mAh battery

Terminal block and crimping terminal

■■ Installing the battery box:

Figure 3-16 Installing the absolute encoder battery box (bottom view)

■■ Removing the battery box

The battery may have leakage liquids after a long-time use. It is recommended to replace the battery
every two years. Remove the battery box in steps in reverse to those shown in the preceding figure.

When closing the battery box cover, do not pinch the connector cables.

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Do not pinch the

connector cables
when closing the
battery cover.

$"65*0/
Improper use of the battery may result in battery leakage, corroding the components or causing
battery explosion. Observe the following requirements during use:
◆◆ Insert the battery with correct +/- polarity.
◆◆ Leaving a battery in constant use or no longer useful inside the device can cause liquid leakage.
The electrolyte inside the battery is corrosive and conductive, not only corroding surrounding
components but also giving rise to the danger of short circuit. Therefore, replace the battery
regularly (recommended interval: every 2 years).
◆◆ Do not disassemble the battery because the internal electrolyte may spread out and cause
physical injuries.
◆◆ Do not throw a battery into the fire or heat up the battery. Failure to comply may cause an
explosion.
◆◆ Do not short-circuit the battery or strip off the battery tube. If terminals + and - of the battery
come into contact with the metal, a large current will be generated, not only deteriorating the
battery power but also incurring the risk of explosion due to violent overheating.
◆◆ This battery is non-rechargeable.
◆◆ Dispose of the retired battery according to local regulations.

■■ Selecting the battery model

Select an appropriate battery according to the following table.

Table 3-16 Description of the absolute encoder battery

Ratings
Battery Model and
Items Minimum Typical Maximum Condition
Specifications
Value Value Value
External battery
3.2 3.6 5 In standby mode[2]
voltage (V)
Circuit fault voltage (V) - 2.6 - In standby mode
Battery warning
2.85 3 3.15 -
Output: 3.6 V, 2600 mAh voltage (V)
Recommended - 2 - In normal status[1]
manufacturer and Current consumed by In standby mode, shaft at a
- 10 -
model: Shenzhen circuit (µA) standstill
Jieshun LS14500 - 80 - In standby mode, shaft rotating
Ambient temperature
0 - 40
for operation (℃ ) Same as that required by the
Ambient temperature motor
-20 - 60
for storage (℃ )

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The preceding data is obtained under an ambient temperature of 20°C.

[1] During normal operation, the absolute encoder supports single-turn or multi-turn data counting and data
transceiving. A well-connected encoder will, upon switch-on of the servo drive, enter normal operation status and
transmit/receive data after a delay of 5s. Switching from standby mode to normal operation mode upon power-
on requires the motor to rotate at a speed less than 10 RPM. Otherwise, the servo drive reports E740 (Encoder
fault), In this case, you need to power on the servo drive again.
[2] Standby mode means the servo drive is not powered on and the absolute encoder is powered up by an external
battery to count the multi-turn data. In this case, data transceiving stops.

■■ Design life of the battery

The following calculation only covers the current consumed by the encoder.

Suppose that the servo drive works normally for T1 in a day, the motor rotates for T2 after the servo
drive is powered off, and the motor stops rotating for T3 after power-off (unit: hour (h)).

Example:

Table 3-17 Design life of the absolute encoder battery

Item Working Time 1 Working Time 2

Days of working in different operating conditions in 1 year (day) 313 52
T1 (hour H) 8 0
T2 (hour H) 0.1 0
T3 (hour H) 15.9 24

Capacity consumed in 1 year = (8 h x 2 μA + 0.1 h x 80 μA + 15.9 h x 10 μA) x 313 + (0 h x 2 μA + 0 h x 80 μA +24 h x 10 μA) x

52 ≈ 70 mAH

Design life = Battery capacity/Annual consumption = 2600 mAH/70 mAH = 37.1 years

2 Connecting the absolute encoder

SUNCHU
SC-06

C端
2-黑色
1-棕色

Figure 3-17 Wiring example of absolute encoder signals[1]

[1] The preceding figure shows the wiring diagram of absolute encoder cables, which is similiar to that of incremental
encoder (without a battery box) cables.

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 3 Wiring

The encoder cable color is subject to the color of the actual product. Cable colors mentioned in this
user guide refer to Inovance's cable colors.
NOTE

Lead wires of the battery box:

Pin No. Color Definition

1 Red Power supply (+)

2 1

Pin No. Color Definition

2 Black Power supply (-)

Figure 3-18 Lead wires of the absolute encoder battery

◆◆ Store the battery under an allowabl temperature and ensure reliable contact and sufficient battery
power. Failure to comply may cause encoder data loss.
NOTE ◆◆ Model of the battery box (battery included): S6-C4

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 3 Wiring

Table 3-18 Encoder cable connector of terminal-type motors (motor side).

Outline Drawing and Pin Layout of the Connector Applicable

Servo Drive Side Motor Side Flange Size [1]

6-pin male 7-pin connector

(Left: connecting side
Right: soldering side)

6 5
Terminal-type
4 3 motors:

2 1 40
Pin No. Signal Name Color Type 60
1 PS+ Blue Twisted 80
Pin No. Signal Name Color Type 2 PS- Purple pair
1 +5V Red Twisted 3 DC+ Brown Twisted
2 GND Orange pair 4 DC- Black pair
5 PS+ Blue Twisted 5 +5V Red Twisted
6 PS- Purple pair 6 0V Orange pair
Enclosure PE - - 7 PE - -

[1] The flange size refers to the width of the mounting flange.

Table 3-19 Encoder cable connector of lead wire-type motors (motor side)

Applicable Flange
Outline Drawing and Pin Layout of the Connector
Size [1]
Connector of the Encoder lead wire
encoder lead wire
Connected to CN2
of the servo drive

9-pin connector

4 7 4 1
1 7

2 5 8 8 5 2
7JFXFE
GSPN
Viewed from Lead wire-type
3 6 9 this side
motors:
UIJT
TJEF 9 6 3

40
Signal Color
Pin No. Signal Name Type Pin No. Type 60
Name
1 Battery (+) 80
- 1 Battery (+) Blue
4 Battery (-)
4 Battery (-) Blue and black
3 PS+ Twisted
3 PS+ Yellow Twisted pair
6 PS- pair
Yellow and
9 +5V 6 PS-
black
8 GND -
9 +5V Red
7 Shield
8 GND Black -
Recommendations:
7 Shield -
Plastic housing: AMP 172161-1
Terminal: AMP 770835-1

[1] The flange size refers to the width of the mounting flange.

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 3 Wiring

Table 3-20 Absolute encoder cable connector (MIL-DTL-5015 series 3108E20-29S connector)

Applicable
Outline Drawing and Terminal Layout of the Connector Flange Size
[1]

Encoder connector
Connector of the
encoder lead wire

100
Connected to CN2
130
of the servo drive
180

20-29 connector
20-29 connector
A B
M
A L N C
Viewed from B M T P
this side C N L K D
P T S R
D K J E
R S
E J H F
G
F H
G
100
Pin No. Signal Name Color
Pin No. Signal Name 130
A PS+ Yellow
Twisted
A PS+ Yellow and 180
Twisted pair B PS- pair
B PS- black
E Battery + E Battery+ Blue
F Battery - Blue and
F Battery-
G +5V black
H GND G +5V Red
J Shield H GND Black
J Shield

[1] The flange size refers to the width of the mounting flange.

3.5 Connecting Control Signal Terminal CN1

$ / $ /

15 5
15 5 +24V 10 DO3+
10 DI1

14 4 COM- DO3-
DI2
9
COM+ DO2+
13 3
DI3
8
- DO2-
12 2 DI4
7
DI5 DO1+
11 1 D01-
11 1
6 6

Figure 3-19 Pin layout of CN1

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 3 Wiring

CN1 terminal: Plastic housing of the plug on the cable side: DB15P (SZTDK), black housing
Core: HDB15P (SZTDK), male

◆◆ It is recommended to use cables of 24AWG to 26AWG.

NOTE

3.5.1 DI/DO Signals

Table 3-21 Description of DI/DO signals

Signal Name Function Pin No. Function
DI1 P-OT 10 Positive limit switch
DI2 N-OT 9 Negative limit switch
DI3 HomeSwitch 8 Home switch
DI4 TouchProbe2 7 Touch probe 2
DI5 TouchProbe1 11 Touch probe 1
+24V 15 Internal 24 V power supply, voltage range: 20 V to 28 V, maximum
COM- 14 output current: 200 mA
General
COM+ 13 Power input terminal (12 V to 24 V)
DO1+ S-RDY+ 1
Servo ready
DO1- S-RDY- 6
DO2+ ALM+ 3
Fault
DO2- ALM- 2
DO3+ BK+ 5
Brake
DO3- BK- 4

1 DI circuit

DI1 to DI5 circuits are the same. The following description takes DI1 circuit as an example.

1) The host controller provides relay output.

■■ When using the internal 24 V power supply of the servo drive

Servo drive

24 V
+24 V power
supply 15

COM + 13

DI1 (CMD 1) 10 4.7 kΩ

COM - 14
Relay

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 3 Wiring

■■ When using an external power supply

Servo drive Servo drive

External +24 VDC

24 V Two power supplies

used +24 V power 24 V
External +24 VDC 15 supply 15

COM+ 13 COM+ 13

DI1 (CMD1) 10 4.7 kΩ DI1 (CMD1) 10 4.7 kΩ

Relay

14 COM- 14
Relay

External 0 V External 0 V

2) The host controller provides open-collector output.

■■ When using the internal 24 V power supply of the servo drive

Servo drive Servo drive

24 V 24 V
+24 V power +24 V power
supply 15 supply 15

PNP
COM+ 13 COM+ 13

DI1 (CMD1) 10 4.7 kΩ 4.7 kΩ

DI1 (CMD1) 10
NPN

COM- 14 COM- 14

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 3 Wiring

■■ When using an external power supply

Servo drive Servo drive

24 V 24 V
External +24 VDC 15 External +24 VDC 15

PNP
COM+ 13 COM+ 13

DI1 (CMD1) 10 4.7 kΩ DI1 (CMD1) 10 4.7 kΩ

NPN
14 14
External 0 V

External 0 V

PNP and NPN inputs cannot be mixed in the same servo drive.
NOTE

2 DO circuit

DO1 to DO3 circuits are the same. The following description takes DO1 circuit as an example.

1) The output terminal is connected to a relay-type device.

Servo drive

External
5‒24 VDC

Relay

1 DO1+

6 DO1-

External 0 V

When the output terminal is connected to a relay-type device, a flywheel diode must be installed.
Otherwise, the DO terminals may be damaged.
NOTE

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 3 Wiring

Servo drive
Servo drive

External
External
5‒24 VDC
5‒24 VDC
Relay not connected

Relay

Wrong polarity of the

1 DO1+
1 DO1+ flywheel diode

6 DO1-
6 DO1-

External
External
0V
0V

2) The output terminal is connected to an optocoupler-type device.

Servo drive External Servo drive External
5‒24 VDC 5‒24 VDC
Current limiting
resistor not connected

Optocoupler Optocoupler

1 DO1+ 1 DO1+

6 DO1- 6 DO1-

External
External
0V
0V

The maximum allowable voltage and current of the optocoupler output circuit inside the servo drive are
as follows:

■■ Voltage: 30 VDC

■■ Current: DC 50 mA

3.5.2 Wiring of the Brake

The brake is used to prevent the servo motor shaft from rotating during non-operating status of the
servo drive. This is to keep the motor and the mechanical load in locked positions.

Prevent the workbench from moving due to Servo motor

external forces (with built-in
External force Servo motor Prevent movement due to brake)
(with built-in brake) gravity when the power
supply is turned off

Figure 3-20 Application of the brake

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 3 Wiring

$"65*0/
◆◆ Use the built-in brake for position-lock in the stop state only.
◆◆ The brake coil has no polarity.
◆◆ Switch off the S-ON signal after the servo motor stops.
◆◆ When the servo motor with a built-in brake runs, the brake may generate a clattering sound. Such
sound can be considered normal.
◆◆ When brake coils are energized (brake released), magnetic flux leakage may occur at the shaft
end. Be cautious when using magnetic sensors around the servo motor.

The brake input signal is connected without polarity differentiation. Users need to prepare a 24 V
external power supply. The following figure shows the standard wiring of the brake signal (BK) and the
brake power supply.

Servo drive
Three-phase L1 U Motor
220 VAC
Noise
L2 V
filter M
380 VAC W
L3
(Three-phase)

Encoder
CN2 PG

Brake control relay

CN1 BK-RY
DOx+(BK+) +24V Brake
+24V BK
DOx-(BK-)
(Brake power supply)

Figure 3-21 Wiring of the brake

Pay attention to the following precautions during wiring:

When deciding the length of the motor brake cable, take the voltage drop caused by cable resistance
into consideration. The input voltage must be at least 21.6 V to enable the brake to work properly. The
following table lists brake specifications of Inovance servo motors.

Table 3-22 Brake specifications

Holding Supply Voltage Rated Coil
Excitation Apply Release Backlash
Motor Model Torque (VDC) Power Resistance
Current（A）Time (ms) Time (ms) (° )
(N·m) ±10% (W) (Ω) (±7%)
MS1H1-05B/10B 0.32 6.1 94.4 0.25 ≤ 40 ≤ 20 ≤ 1.5
MS1H1-20B/40B
1.5 7.6 75.79 0.32 ≤ 60 ≤ 20 ≤ 1.5
MS1H4-40B
MS1H1/H4-75B 3.2 10 57.6 0.42 ≤ 60 ≤ 40 ≤ 1.0

MS1H3-85B/13C/18C 12 19.4 29.7 0.81 ≤ 120 ≤ 60 ≤ 0.5

24
MS1H2-10C/15C/20C/25C 8 23 25 0.96 ≤ 85 ≤ 30 ≤ 0.5

MS1H2-30C/40C/50C 16 27 21.3 1.13 ≤ 100 ≤ 60 ≤ 0.5

MS1H3-29C/44C/55C/75C 50 40 14.4 1.67 ≤ 200 ≤ 100 ≤ 0.5

◆◆ The brake cannot share the same power supply with other electrical devices. This is to prevent
malfunction of the brake due to voltage or current drop caused by other working devices.
NOTE ◆◆ It is recommended to use cables of 0.5 mm2 and above.

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3.6 Wiring of Communication Signals CN3/CN4

".

47/ 47/ 47/ 47/

Figure 3-22 Network topology

RUN BF 0 1 2 3 4 5 6 7 I
0 1 2 3 4 5 6 7 II

EtherCAT
ERR CANRUN
SF CANERR 0 1 2 3 4 5 6 7

40 39
CN1 RS 485

RUN / STOP
MFK
CN3 Ether NET CN 4 E ther CAT

CN5
C N2 CAN

2 1

Servo drive to PLC communication cable

EtherCAT

Servo drive EtherCAT

communication cable

Figure 3-23 Wiring of communication cables

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 3 Wiring

3.6.1 Pin Assignment of Communication Signal Connectors

CN3 and CN4 connectors are the EtherCAT interface connectors. CN3 (IN) is connected to the master and
CN4 (OUT) is connected to the next slave.

Table 3-23 Pin assignment of CN3 and CN4

Pin No. Name Description Terminal Pin Layout

1 TD+ Data transmitting (+)

2 TD- Data transmitting (-)

3 RD+ Data receiving (+)

CN 3 CN 4
4 and 5 - -
9 1
6 RD- Data receiving (-)
CN3/CN4 10 2

7 and 8 - - 11 3

9 TD+ Data transmitting (+) 12, 13 4, 5

10 TD- Data transmitting (-)

14 6

15, 16 7, 8
11 RD+ Data receiving (+)

12 and 13 - -

14 RD- Data receiving (-)

15 and 16 - -

3.6.2 Communication Cable Selection

■■ Principle for cable selection

Cable Specifications Supplier Price

0.2 m to 10 m See the following content for information on cable ordering.
Inovance,
The cable price is added by RMB 5 for every additional 1 m based
Haituo and
Above 10 m on the price of S6-L-T04-10.0. The cable price is also related to the
others
magnitude of the order.

◆◆ Cable selection is subject to the cable supplier. See "Instructions for purchasing servo encoder
cables/power cables" in Inovance business system.
NOTE

■■ Basic information of Inovance EtherCAT communication cables

Cable models are described in the following figure.

S6-L-T04-3.0
Code Product Series Cable Length (unit: m)

S6 S6 series Code Length Code Length

0.2 0.2 m 2.0 2.0 m

0.3 0.3 m 3.0 3.0 m

Code Meaning
0.5 0.5 m 5.0 5.0 m
L Line
1.0 1.0 m 10.0 10.0 m

Code Meaning Code Meaning

Communication Multi-drive EtherCAT
T 04
cable communication cable

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 3 Wiring

■■ Cable ordering information

Material Code Cable Model Length (m)

15040261 S6-L-T04-0.3 0.3
15040262 S6-L-T04-3.0 3.0
15041960 S6-L-T04-0.2 0.2
15041961 S6-L-T04-0.5 0.5
15041962 S6-L-T04-1.0 1.0
15041963 S6-L-T04-2.0 2.0
15041964 S6-L-T04-5.0 5.0
15041965 S6-L-T04-10.0 10.0

Cables need to be purchased from Haituo. (Guide price: The cable price is added by RMB 5 for every
additional 1 m based on the price of S6-L-T04-10.0. The cable price is also related to the magnitude of
the order.)
◆◆ The thickness of the head of dual network ports cannot be too large, otherwise, interference may
occur. The recommended thickness is 2.4 mm, as shown below.

NOTE
Network cable protection cover

Thickness of network cable protection cover (≤ 2.4 mm)

Jacket
2.4 mm

■■ Specifications

Item Description
UL certification UL-compliant
Cat 5e cable Cat 5e cable
Double shield Braided shield (coverage: 85%), aluminum foil shield (coverage: 100%)
Environment Ambient temperature: -30℃ to +60℃ , resistant to industrial oil and corrosive acid and
worthiness alkali
EMC test standard GB/T 24808-2009

3.6.3 Communication Connection with PC (RS232 Communication)

Connect the servo drive and the PC by using the PC communication cable as shown below. It is
recommended to use the common communication interface RS232.

A B

Figure 3-24 Outline drawing of the PC communication cable

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 3 Wiring

Table 3-24 Connection relation between the servo drive and PC communication cable pins

RJ45 on Servo Drive Side (A) DB9 on PC Side (B)

Signal Name Pin No. Signal Name Pin No.

RS232-TXD 6 PC-RXD 2

RS232-RXD 7 PC-TXD 3

GND 8 GND 5

PE (shield) Enclosure PE (shield) Enclosure

The definition of DB9 terminal on the PC side is shown in the following table.

Table 3-25 Pin definition of DB9 ("B" in the preceding figure) on the PC side

Pin No. Definition Description Terminal Pin Layout

2 PC-RXD PC receiving end

3 PC-TXD PC transmitting end 1

6
2
5 GND Ground 3
7
8
4
9
5
Enclosure PE Shield

If the host controller is not equipped with serial ports and offers an USB interface only, use a serial-to-
USB converter.

Figure 3-25 Serial-to-USB conversion

Recommendation:
Manufacture: Z-TEK
Model: ZE551A, equipped with a 0.8 m USB extension cable
Chip model: FT232

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3.7 Definition and Connection of STO terminals

This section describes the definition and functions of the I/O terminal (CN6) for the safe torque off (STO)
functional safety function.

1 Terminal layout

COM 1 2 24V

STO1 3 4 STO2

1) Pin assignment of the input connector

Terminal Pin No. Name Value Description

1 COM 0V STO reference ground

2 24V 24 V 24 V power supply

CN6
3 STO1 - Control input for STO1

4 STO2 - Control input for STO2

2) Two isolated inputs are configured to dual-channel inputs of STO function: STO1/STO2.

3) To make it more convenient and safe for installation, an additional pin with supply voltage (+24V)
is integrated. The bridging of the 24 volts is needed in case the safety circuit is installed but no STO
function is needed.

Remove the short-circuit jumper when STO function is needed in actual applications.
NOTE

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 3 Wiring

24V shorted to STO1/STO2 Short-circuit jumper removed in normal use

2 Electrical specifications and connections of the input circuit

This section describes the characteristics of the input signals assigned to the CN6 connector.

■■ Specifications

The servo drive can operate normally only if the input status of STO1 and STO2 are both "1" or "H".

If the input status of either STO1 or STO2 (or both ) is "0" or "L", the servo drive cannot run.

■■ Electrical characteristics of the safety request input signal

Items Characteristics Description

Voltage range 24 VDC (±15%) -

Input current 4 mA (Typ.) Value per channel

Standards of logic levels "0" < 3 V, "1" > 15 V -

Digital input impedance 5.78 kΩ -

■■ Example of external 24 V connection

7 $/ 4FSWP
ESJWF

450   LĒ

450   LĒ

450@(/% 

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 3 Wiring

■■ Example of internal 24 V connection

 7
$/

7
QPXFS
TVQQMZ 4FSWP
ESJWF

450

 LĒ
$0.

450

 LĒ
$0.

3 EMC requirements

■■ To avoid short circuit between two adjacent conductors, either use a shielded cable with its shield
connected to the protective ground or a flat cable with one earthed conductor between each signal
conductor.

■■ Double-shielded or single-shielded twisted multi-pair cables are strongly recommended.

■■ Fix and ground the cable shield using a piece of conductive metal.

Example of cable clamp:

■■ The maximum allowable cable length between the drive and the activation switch is 30 m.

4 Additional requirements

■■ All cables must be well protected, routed and clamped where practicable.

■■ Ensure that there is no pulling or pinching on the cables during installation.

■■ For cabling the DIs of the STO, to avoid the faults that commonly occur on the cables, route the two
channels through two separate routes, or the cable must be protected using a double shield.

Cable Description

Type Low voltage, double-shielded or single-shielded twisted multi-pair cable

Maximum size 0.8 mm2 (18 AWG)

Minimum size 0.3 mm2 (28 AWG)

Maximum length 30 m between STO inputs and the operating contact

3.8 Anti-interference Measures for Electrical Wiring

Take the following measures to suppress interference:

■■ Ensure the lengths of the command input cable and the encoder cable are below 3 m and 20 m
respectively.

■■ Use a thick cable as the grounding cable (above 2.0 mm2).

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 3 Wiring

1) It is recommended to adopt D class (or higher) grounding (grounding resistance below 100 Ω).

2) Adopt single-point grounding.

■■ Use a noise filter to prevent radio frequency interferences. In domestic applications or an

unfavorable environment with strong power noise interference, install a noise filter on the input side
of the power cable.

■■ To prevent malfunction due to electromagnetic interference, take the following measures:

1) Install the host controller and the noise filter near the servo drive.

2) Install a surge protection device on the relay, solenoid and electromagnetic contactor coils.

3) Separate the electrical circuit from the electronic circuit during wiring and keep a distance of at least
30 cm between them. Do not put these cables in the same duct or bundle them together.

4) Do not share the same power supply with an electric welder or electrical discharge machine. When
the servo drive is placed near a high-frequency generator, install a noise filter on the input side of
the power cable.

3.8.1 Anti-interference Wiring Example and Grounding

The servo drive uses high-speed switch elements in the main circuit. The switching noise may affect
the normal operation of the system due to different peripheral wiring and grounding of the servo drive.
Therefore, the servo drive must be properly wired and grounded. A noise filter can be added if necessary.

1 Anti-interference wiring example

Servo drive
L1 U
Noise
filter L2 V M
L3 W

CN2 PG

Above
3.5 mm2
Above
3.5 mm2 Above
2.0 mm2

Grounded to earth Grounding plate

Figure 3-26 Anti-interference wiring example

For the grounding cable connected to the enclosure, use a cable of at least 3.5 mm2 (braided copper
cables recommended).

If a noise filter is used, observe the precautions described in "3.7 Definition and Connection of STO
terminals" .

2 Grounding

To prevent potential electromagnetic interferences, observe the following instructions during grounding.

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1) Grounding the motor enclosure

Connect the grounding terminal of the servo motor to the PE terminal of the servo drive and ground the
PE terminal properly to reduce potential electromagnetic interferences.

2) Grounding the encoder cable shield

Ground both ends of the encoder cable shield.

3.8.2 Instructions for Use of the Noise Filter

To prevent interference from power cables and reduce impact of the servo drive to other sensitive
devices, install a noise filter on the input side of the power supply according to the magnitude of the
input current. In addition, install a noise filter on the power cable part of peripheral devices if necessary.
To ensure the filtering effect, observe the following requirements when installing and wiring the noise
filter.

■■ Do not put the input and output cables of the noise filer in the same duct or bundle them together.

L1 L2 L3

AC L1 L2 L3 AC
power power
Noise
supply supply
filter
Noise
filter

L1 L2 L3
L1 L2 L3

AC AC Noise
Noise
power power filter
filter
supply supply

Figure 3-27 Separate routing of input and output cables

■■ Do not lay the grounding cable and the power output cable of the noise filer in the same duct.

L1
AC AC L1
Noise
power L2 power Noise
filter L2
supply supply filter
L3
L3

Figure 3-28 Separate routing of the grounding cable and the power output cable

■■ Use a separate, thick grounding cable as short as possible for the noise filter. Do not share the same

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 3 Wiring

grounding cable with other grounding devices.

AC L1 AC L1
power power
Noise L2 Noise L2
supply supply
filter filter
L3 L3

Servo Servo Servo Servo

drive drive drive drive

Shield grounded Shield grounded

Figure 3-29 Single-point grounding

■■ Ground the noise filter installed inside the control cabinet.

If the noise filter and the servo drive are installed in the same control cabinet, secure the noise filter and
the servo drive on the same metal plate. Make sure the contact part is conductive and well bonded, and
ground the metal plate properly.

L1
AC
Noise L2 Servo
power filter drive
supply L3

Servo
drive

Shield grounded
Grounding

Figure 3-30 Grounding cable of the noise filter

3.9 Precautions for Use of Cables

■■ Do not bend or apply any tension to cables. The conductor of a signal cable is only 0.2 mm or
0.3 mm in diameter. Handle the cables carefully to prevent fracture.

■■ Use flexible cables for cable carriers. Ordinary cables may be easily damaged after being bent for a
long time. Cables suitable for small-power servo motors do not fit for cable carriers.

Ensure the following requirements are fulfilled for use of cable carriers:

■■ The bending radius of the cable must be 10 times longer than its outer diameter.

■■ Do not secure or bundle the cables inside the cable carrier. Cables can be bundled and secured only
at the two fixed ends of the cable carrier.

■■ Do not wind or twist the cables.

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■■ Ensure the space factor inside the cable carrier is below 60%.

■■ Do not use cables with different sizes together. This is to prevent thin cables from being crushed by
thick cables. If thick and thin cables need to be used together, use a spacer plate to separate them.

Cable carrier

Cable
Cable end

Figure 3-31 Cable carrier

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 4 Keypad Display and Operations

4 Keypad Display and Operations

4.1 Introduction to the Keypad

Keypad display

MODE SET

Figure 4-1 Appearance of the LED keypad

The keypad on the SV660N servo drive consists of five LEDs and five buttons. The keypad is used for data
display, parameter settings, password settings and general function executions. When the keypad is
used for parameter settings, the functions of the buttons are described as follows.

Table 4-1 Functions of buttons

Name Symbol Description

MODE Used to switch the mode and return to the previous menu.

UP Used to increase the value of the blinking digit.

DOWN Used to decrease the value of the blinking digit.

Used to shift the blinking digit for viewing the high digits of a number consisting of
SHIFT
more than 5 digits.

SET Used to enter the next menu and save parameter settings.

4.2 Display
The keyad displays the status, parameters, faults, and monitored values during operation.

■■ Status display: Displays current servo drive status, such as servo ready or running.

■■ Parameter display: Displays parameters and their setpoints.

■■ Fault display: Displays faults and warnings that occur on the servo drive

■■ Monitored value display: Displays present running parameters of the servo drive

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 4 Keypad Display and Operations

4.2.1 Mapping Relation Between Keypad Display and Operation Objects

The mapping relation between the parameter (decimal) displayed by the keypad and the object
dictionary operated by the host controller (hexadecimal, "Index" and "Sub-index") is as follows:

Object dictionary index = 0x2000 + Parameter group number

Object dictionary sub-index = Hexadecimal offset within the parameter group + 1

Example:

Display Object Dictionary Operated by the Host Controller

H00-00 2000-01h

H00-01 2000-02h

… …

H01-09 2001-0Ah

H01-10 2001-0Bh

… …

H02-15 2002-10h

The following describes the displayed content and parameter settings on the keypad (decimal)
side, which are different from those displayed on the software tool (hexadecimal). Make necessary
NOTE conversions when performing operations through the software tool in the host controller.

4.2.2 Display Modes Switchover

Fault display

SET
MODE
MODE Switched to
MODE group H0B
Status Parameter Monitored
Power on
display display value display

MODE MODE
After you set H02-32, the keypad switches the
display mode automatically after the motor starts rotating.

Motor at a standstill

Figure 4-2 Switchover between different display modes

■■ After power-on, the keypad enters status display mode.

■■ Press to switch between different modes, as shown in the preceding figure.

■■ In the status display mode, set H02-32 (Default keypad display) and select parameters to be
monitored. When the motor rotates, the keypad automatically switches to the monitored value
display mode. After the motor stops, the keypad automatically reverts to the status display mode.

■■ In the parameter display mode, set parameters in group H0B to select the parameters to be
pre-monitored. After setting, the keypad switches to the monitored value display mode.

■■ Once a fault occurs, the keypad enters the fault display mode immediately, and all the five LEDs
blink. Press to stop the LEDs from blinking, and then press to switch to the parameter
display mode.

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 4 Keypad Display and Operations

4.2.3 Status Display

Display Name Display Condition Meaning

The servo drive is in the initialization or

reset reset status.
(servo Upon power-on After initialization or reset is done, the
initialization) servo drive automatically switches to
other status.

Initialization done, As the main circuit is not powered on,

nr
but servo drive not the servo drive is not ready to run. See
(servo not ready)
ready "10 Troubleshooting" for details.

The servo drive is ready to run and waits

ry
Servo drive ready for the S-ON signal to be sent from the
(servo ready)
host controller.

rn S-ON signal
The servo drive is running.
(servo running) activated

Displays present operation mode of the

servo drive in hexadecimal digits.
1: Profile position control
3: Profile velocity mode
1–A
- 4: Profile torque mode
(control mode)
6: Homing mode
8: Cyclic synchronous position mode
9: Cyclic synchronous velocity mode
A: Cyclic synchronous torque mode

Displays the status of the slave EtherCAT

state machine in the form of characters.
1–8
1: Initialization
(communication -
2: Pre-operational
status)
4: Safe operational
8: Operational

-
EtherCAT output
CN4
connected
Solid OFF: No communication
(connection successfully
connection is detected in the physical
indication)
layer.
-
Solid ON: Communication connection is
EtherCAT input
CN3 detected in the physical layer.
connected
(connection successfully
indication)

4.2.4 Parameter Display

SV660N servo drive parameters are divided into 14 groups based on parameter functions. A parameter
can be located quickly based on the group it belongs to. See "12.2 List of Object Groups" to view the
parameter list.

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 4 Keypad Display and Operations

■■ Display of the parameter group

Display Name Description

XX: Parameter group No. (decimal)

HXX.YY Parameter group
YY: Parameter No. within the group (hexadecimal)

For example, H02-00 is displayed as follows.

Display Name Description

02: Parameter group No.

H02-00
00: Parameter No. within the group

■■ Display of negative numbers and data of different lengths

1) Signed number of 4 digits and below or unsigned number of 5 digits and below

Such numbers are displayed in a single page (five LEDs). For signed numbers, the highest bit "-" indicates
the negative symbol.

For example, -9999 and 65535 are displayed as follows.

2) Signed number of more than 4 digits or unsigned number of more than 5 digits

Such numbers are displayed from low to high digits through several pages with each page displaying five
digits. The display mode is shown in the following figure (current page + value on the current page). Hold
down for more than 2s to switch to the next page.
For example, -1073741824 is displayed as follows.
Segment "‒" in the first left LED indicates the current page.

SHIFT SHIFT

Four low bits First page Four middle bits Second page Four high bits Third page

The first “.”from the left of the four low/middle

bits lights up. The third digit from the left of the
four high bits displays the negative symbol "- ".

Figure 4-3 Display of "-1073741824"

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 4 Keypad Display and Operations

For example, 1073741824 is displayed as follows.

Segment "–" in the first left LED indicates the current page.

SHIFT SHIFT

Four low bits First page Four middle bits Second page Four high bits Third page

Figure 4-4 Display of "1073741824"

■■ Decimal point display

The segment "." of the ones position indicates the decimal point, and this segment does not blink.

Display Name Description

Decimal point 100.0

■■ Parameter setting display

Display Name Display Condition Meaning

The parameter value is set and

Done
Parameter setting stored in the servo drive. The servo
(parameter setting
done drive is ready to perform other
done)
operations.

The servo drive is in the process

F.InIt Parameter of parameter initialization. After
(parameter restored initialization in parameter initialization is done,
to default setting) progress (H02-31 = 1) restart the control circuit power
supply.

User password (H02-

Error The password entered is wrong.
30) applied and wrong
(wrong password) Enter the password again.
password entered

One-button tuning
TunE The one-button tuning is in progress.
enabled

One-button tuning
FAIL The one-button tuning failed.
failed

4.2.5 Fault Display

■■ The keypad can display present or previous faults and warnings. For analysis and solutions to the
faults and warnings, see "10 Troubleshooting" .

■■ When an individual fault or warning occurs, the keypad displays the fault or warning code
immediately. When multiple faults or warnings occur, the keypad displays the warning code of the
highest level.

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 4 Keypad Display and Operations

■■ Set the fault to be viewed in H0B-33 (Fault log). View the fault code of the selected fault in H0B-34.

■■ Set H02-31 (Parameter initialization) to 2 (Clear fault log) to clear the latest 10 faults or warnings
saved in the servo drive.

For example, E941.0 is displayed as follows.

Display Name Description

E: Fault or warning
E941.0
941.0: Fault or warning code

4.2.6 Monitored Value Display

Group H0B: Displays parameters used to monitor the operating state of the servo drive.

Set H02-32 (Default keypad display). After the servo motor runs, the keypad switches from the status
display mode to the parameter display mode and displays the parameter No. defined by H02-32 in group
H0B.

For example, if H02-32 is set to 00, the keypad displays the value of H0B-00 when the motor speed is not
0 RPM.

See details of the monitored value display mode in the following table.

Para. No. Name Unit Meaning Display Example

Display of 3000 RPM:

Displays the actual value of

Motor speed the motor speed after round-
H0B-00 RPM
actual value off, which is accurate to Display of -3000 RPM:
1 RPM.

Display of 3000 RPM:

Displays present speed

H0B-01 Speed reference RPM
reference of the servo drive. Display of -3000 RPM:

Display of 100.0%:

Displays the percentage of the

Internal torque
H0B-02 0.1% actual motor output torque to
reference Display of -100.0%:
the rated motor torque.

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 4 Keypad Display and Operations

Para. No. Name Unit Meaning Display Example

In the case where DI1 input is low

level and DI2 to DI5 inputs are high
Displays the level status of DI1 level, the corresponding binary value
to DI5: is 11110, the value of H0B-03 read
Upper LED segment ON: High using the software tool is 0x001E, and
level (indicated by "1") the corresponding display status is as
Monitored DI
H0B-03 - Lower LED segment ON: Low follows.
status
level (indicated by "0") DI4 DI2
DI5 DI3 DI1
The value of H0B-03 read
using the software tool is a
decimal number.
High High High High Low
1 1 1 1 0

In the case where DO1 is low level

and DO2 to DO3 are high level, the
Displays the level status of corresponding binary value is 110,
DO1 to DO3: the value of H0B-05 read using the
Upper LED segment ON: High software tool is 0x0006, and the
level (indicated by "1") corresponding display status is as
Monitored DO
H0B-05 - Lower LED segment ON: Low follows.
status
level (indicated by "0") DO2
DO3 DO1
The value of H0B-05 read
using the software tool is a
decimal number.
High High Low
1 1 0

Display of 1073741824 in reference

unit:

Absolute position SHIFT

Displays the absolute position
H0B-07 counter (32-bit Reference unit
of the motor (reference unit).
decimal value)

SHIFT

Display of 360.0°:
Displays the present
H0B-09 Mechanical angle 0.1° mechanical angle of the
motor.

Display of 360.0°:
Rotation angle Displays the present electrical
H0B-10 0.1°
(Electrical angle) angle of the motor.

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 4 Keypad Display and Operations

Para. No. Name Unit Meaning Display Example

Display of 3000 RPM:

Speed
information Displays the speed
corresponding corresponding to the position
H0B-11 RPM
to the input reference in an individual Display of -3000 RPM:
position control cycle.
reference

Display of 100.0%:
Displays the percentage of the
H0B-12 Average load rate 0.1% average load torque to the
rated torque of the motor.

Display of 10000 in encoder unit:

Encoder position Encoder position deviation

deviation = Sum of input position
H0B-15 counter Encoder unit references (encoder unit) -
(displayed in 32- Sum of pulses fed back by the SHIFT

bit decimal) encoder (encoder unit)

Display of 1073741824 in encoder unit:

Counts and displays the

number of servo motor
encoder pulses (encoder unit).
Note:
Feedback
When an absolute motor is
SHIFT

pulse counter
H0B-17 Encoder unit used, H0B-17 only shows the
(displayed in 32-
bit decimal) low 32-bit value of the motor
position feedback. To obtain
the actual motor position SHIFT
feedback, view H0B-77 and
H0B-79.

Display of 429496729.5s:

Total power-on Counts and displays the total

)PME
EPXO

4)*'5

H0B-19 time (displayed 0.1s power-on time of the servo

in 32-bit decimal) drive.

)PME
EPXO

4)*'5

Display of 4.60 A:

RMS value of Displays the RMS value of the

H0B-24 0.1 A
phase current servo motor phase current.

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 4 Keypad Display and Operations

Para. No. Name Unit Meaning Display Example

Display of 311.0 V rectified from

220 VAC:

Displays the main circuit DC

H0B-26 Bus voltage 0.1 V bus voltage between terminals
Display of 537.0 V rectified from
P and -.
380 VAC:

Display of 27℃ :
Displays the temperature of
Power module
H0B-27 °C the power module inside the
temperature
servo drive.

Displays the previous fault to

be viewed.
0-Display of present fault:
0: Present fault

H0B-33 Fault log - 1: Last fault

2: 2nd to last fault
…
9: 9th to last fault

If H0B-33 = 0, H0B-34 = Er.941, the

Displays the fault code of the present fault code will be 941.
fault defined by H0B-33. Corresponding display:
Fault code of the
H0B-34 -
selected fault When no fault occurs, H0B-34
displays "Er.000".

If H0B-34 = Er.941, and H0B-35 =

107374182.4, the present fault code
will be 941 and the total operating
time of the servo drive is 107374182.4s
when the fault occurs.

Displays the total operating

time of the servo drive when
Time stamp of the fault defined by H0B-33
H0B-35 s
the selected fault occurs. SHIFT

When there is no fault, H0B-35

displays "0".

SHIFT

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 4 Keypad Display and Operations

Para. No. Name Unit Meaning Display Example

Display of 3000 RPM:

Displays the servo motor

Motor speed
speed when the fault defined
upon occurrence
H0B-37 RPM by H0B-33 occurred
of the selected Display of -3000 RPM:
When there is no fault, H0B-37
fault
displays "0".

Displays the RMS value of

phase U winding current Display of 4.60 A:
Motor phase U
of the servo motor when
current upon
H0B-38 0.1 A the fault defined by H0B-33
occurrence of the
occurred.
selected fault
When there is no fault, H0B-38
displays "0".

Displays the RMS value of

Motor phase V phase V winding current of the Display of 4.60 A:
current upon servo motor when the fault
H0B-39 0.1 A
occurrence of the defined by H0B-33 occurred.
selected fault When there is no fault, H0B-39
displays "0".

Display of 311.0 V rectified from

220 VAC:

Displays the DC bus voltage of

Bus voltage upon the main circuit when the fault
H0B-40 occurrence of the V defined by H0B-33 occurred.
Display of 537.0 V rectified from
selected fault When there is no fault, H0B-40
380 VAC:
displays "0".

Displays the electrical status In the case where the value of H0B-41
of the five DIs when the fault read using the software tool is 0x0001,
defined by H0B-33 occurred. the corresponding binary code will be
Input terminal The viewing method is the 0000 0000 0000 0001.
status upon same as that of H0B-03.
H0B-41 - DI4 DI2
occurrence of the When there is no fault, all the
DI5 DI3 DI1

selected fault DIs are low level, as displayed

in in H0B-41, and the
corresponding hexadecimal High High High High Low

value is "0". 1 1 1 1 0

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 4 Keypad Display and Operations

Para. No. Name Unit Meaning Display Example

Displays the electrical status

of the three DOs when the
fault defined by H0B-33 Display of H0B-43 = 0x0003:
occurred.
Output terminal DO2
The viewing method is the DO3 DO1
status upon
H0B-43 - same as that of H0B-05.
occurrence of the
selected fault When there is no fault, all
the DOs are low level, as Low High High

displayed in H0B-43, and the 0 1 1

corresponding decimal value

is "0".

Display of 10000 in reference unit:

Position deviation = Sum of

Position
input position references
deviation counter
H0B-53 Reference unit (reference unit) - Sum of
(displayed in 32-
pulses fed back by the
bit decimal)
SHIFT

encoder (reference unit)

Display of 3000.0 RPM:

SHIFT

Displays the actual value of

Motor speed
H0B-55 0.1 RPM the motor speed, which is
actual value Display of -3000.0 RPM:
accurate to 0.1 RPM.

SHIFT

Display of 12.0 V:

Control circuit Displays the DC voltage of the

H0B-57 0.1 V
voltage control circuit.

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 4 Keypad Display and Operations

Para. No. Name Unit Meaning Display Example

Display of 2147483647 in encoder unit:

Displays the mechanical

Mechanical
SHIFT

absolute position (low 32 bits)

H0B-58 absolute position Encoder unit
when an absolute encoder is
(low 32 bits)
used.

SHIFT

Display of "-1" in encoder unit:

Displays the mechanical
Mechanical
absolute position (high 32 bits)
H0B-60 absolute position Encoder unit
when an absolute encoder is
(high 32 bits)
used.

Display of 32767:
Number of Displays the present number
H0B-70 absolute encoder Rev of revolutions of an absolute
revolutions encoder.

Display of 8388607 in encoder unit:

Single-turn
Displays the single-turn
position feedback
H0B-71 Encoder unit position feedback of the
of the absolute
absolute encoder.
encoder
SHIFT

Display of 2147483647 in encoder unit:

Absolute encoder Displays the absolute position

SHIFT

H0B-77 position (low 32 Encoder unit (low 32 bits) of the motor when
bits) the absolute encoder is used.

SHIFT

Display of "-1" in encoder unit:

Displays the absolute position
Absolute encoder
(high 32 bits) of the motor
H0B-79 position (high 32 Encoder unit
when an absolute encoder is
bits)
used.

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 4 Keypad Display and Operations

Para. No. Name Unit Meaning Display Example

Display of 2147483647 in encoder unit:

Single-turn
Displays the position feedback
position feedback
SHIFT

of the mechanical load (low 32

H0B-81 of the load in Encoder unit
bits) when the absolute system
rotation mode
works in the rotation mode.
(low 32 bits)
SHIFT

Single-turn Display of 1 in encoder unit:

Displays the position feedback
position feedback
of the mechanical load (high 32
H0B-83 of the load in Encoder unit
bits) when the absolute system
rotation mode
works in the rotation mode.
(high 32 bits)

Display of 1073741824 in reference

unit:

Single-turn Displays the absolute

position of the mechanical position when the SHIFT
H0B-85 Reference unit
load in rotation absolute system works in the
mode rotation mode.

SHIFT

4.3 Parameter Settings

Parameter settings can be performed through the keypad. For details on parameters, see "12.2 List of
Object Groups" . The following figure shows how to change from position control mode to speed control
mode after the power supply is switched on.
Servo status display
Servo ready

MODE
MODE
Parameter
group UP

MODE SET

Parameter
No.

SET

Parameter DOWN
MODE

SET

Parameter setting
completed

Figure 4-5 Procedure for parameter setting

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 4 Keypad Display and Operations

■■ : Used to switch the keypad display mode and return to the previous menu.

■■ " "/" ": Used to increase or decrease the value of the blinking digit.

■■ " ": Used to shift the blinking digit.

■■ " ": Used to save present setpoint or switch to the next menu.

After parameter setting is done, that is, "Done" is displayed on the keypad, press to return to
parameter group display (interface of "H02-00").

4.4 User Password

After the user password (H02-30) is enabled, only the authorized user can perform parameter settings;
other operators can only view the parameter.

■■ Setting the user password

The following figure shows how to set the password to "00001".

Start

Power on

View the
setpoint of
H02-30.

SET

Last digit No "SET" button

"- - - - -"
blinking? displayed

"SET" button
UP Yes

Input the set

Set the password.
password.

"SET" button
SET "SET" button

Password No "Error"
"Er.941"
correct? displayed
displayed

Yes
Power on again

User password "done"

activated displayed

"MODE" button

Return to the
End interface of
H02-30.

Figure 4-6 Procedure for user password setting

To change the user password, input the present password first to authorize the access to parameter
setting, and then enter H02-30 again to set a new password according to the method described in the
preceding figure.

If the last digit does not blink, access to parameters is password protected. If the last digit blinks, no
password is set or a correct password has been entered.
/05&

■■ Canceling user password

Enter the set user password, and set H02-30 to "00000" to cancel the user password.

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 4 Keypad Display and Operations

4.5 General Functions

4.5.1 Jog

$"65*0/

The jog function requires the S-ON signal to be deactivated. Otherwise, jogging
cannot be executed.

Users can perform trial running on the servo motor and the servo drive through jogging.

■■ Operating process

Start

Power on

Enter the
interface for
setting "H0D-11".

“SET” button SET

Set the initial

motor jogging
speed. [1]

"UP/DOWN" button SHIFT/UP

Set the motor

jogging speed.

"SET" button
SET
The keypad
displays "JOG",
indicating the
motor is energized
and jog is available.

"UP/DOWN" button

Make the motor

rotate forwardly/ UP DOWN
reversely.[2]

End

CCW CW

Figure 4-7 Procedure for setting the jog function

[1] Press or to increase or decrease the motor jogging speed. After exiting from the jog mode, the motor reverts
to the initial speed.
[2] Press or to make the servo motor rotate in forward or reverse direction. After you release the button, the
servo motor stops immediately.

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 4 Keypad Display and Operations

■■ Exiting from jog

Press to exit from the jog status and return to the previous menu.

4.5.2 Forced DI/DO Signals

There are five DI signals and three DO signals on the CN1 terminal. Users can assign DI/DO functions and
logics to parameters in group H03/H04 using the keypad (or host controller communication), so that the
host controller can control corresponding functions through the DI/DO signal output by the servo drive.

The servo drive also offers forced DI/DO function. The forced DI can be used to test the DI function of
the servo drive, and the forced DO can be used to check the DO signal connection between the host
controller and the servo drive.

■■ Definition of DI/DO functions

Code Name Function Description Remarks

Consisting of two digits which indicate DI terminal function

Functions of DI signals

Inactive - Servo motor disabled in The S-ON function is active only in

local mode the non-bus control mode.
01 S-ON Servo ON
Active - Servo motor enabled in The corresponding DI logic must
local mode be level-triggered.

This function is active only in the

Active: Fault reset under local
non-bus control mode.
mode
02 ALM-RST Fault reset It is recommended the
Inactive: Fault not reset under local
corresponding DI logic be level-
mode
triggered.

Overtravel prevention applies

when the mechanical movement is
Positive Active - Forward drive inhibited beyond the movable range.
14 P-OT
limit switch Inactive - Forward drive permitted It is recommended the
corresponding DI logic be level-
triggered.

Overtravel prevention applies

when the mechanical movement is
Negative Active - Reverse drive inhibited beyond the movable range.
15 N-OT
limit switch Inactive - Reverse drive permitted It is recommended the
corresponding DI logic be level-
triggered.

Inactive - Mechanical load beyond

Home the home switch range The corresponding DI logic must
31 HomeSwitch
switch Active - Mechanical load within the be level-triggered.
home switch range

Active: Position locked after

It is recommended the
Emergency stopping at zero speed
34 EmergencyStop corresponding DI logic be level
stop Inactive: Current running status
triggered.
not affected

Touch Inactive - Probe not triggered The probe logic is only related to
38 TouchProbe1
probe 1 Active - Probe can be triggered the probe function (60B8h).

Touch Inactive - Probe not triggered The probe logic is only related to
39 TouchProbe2
probe 2 Active - Probe can be triggered the probe function (60B8h).

Functions of DO signals

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 4 Keypad Display and Operations

Code Name Function Description Remarks

Active - Servo ready

01 S-RDY Servo ready The servo drive is ready to run.
Inactive - Servo not ready

Inactive - Absolute value of filtered

motor speed smaller than the
Motor value of H06-16.
02 TGON -
rotating Active - Absolute value of filtered
motor speed reaching the value of
H06-16.

Active: Brake signal outputted

Brake
09 BRK Inactive: Brake signal not -
output
outputted

Active - Warning occurred on the

servo drive
10 WARN Warning Inactive - No warning occurred on -
the servo drive or the warning has
been reset

Active - Fault occurred on the servo

drive
11 ALM Fault Inactive - No fault occurred on the -
servo drive or the fault has been
reset

Active: Servo drive passing the

target position comparison point
Position
25 CMP Inactive: Servo drive not passing -
comparison
the target position comparison
point

The EDM outputs active signals only

Active: STO function triggered
Safety when the 24 V input voltages for
32 EDM Inactive: STO function not
status STO1 and STO2 are disconnected
triggered
simutaneously.

1 Forced DI function

When this function is enabled, all DI levels are controlled by H0D-18 (Forced DI value), which is not
related to the external DI signal status.

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 4 Keypad Display and Operations

■■ Operating process

Start

Set the DI
function and logic
according to
group H03.

Set H0D-17 to 1 or
3 to enable forced
DI function.

Set H0D-18 to
define the high/low
level of the DI.

Monitor the DI
level state
through H0B-03.

End

Figure 4-8 Procedure for setting forced DI function

☆ Related parameter

Parameter No.
Setting Effective
Keypad Software Name Value Range Function Default
Condition Time
Side Tool Side
0: No operation
1: Forced DI enabled, forced
DO disabled This parameter
Forced DI/DO is used to select During
H0D-17 200D-12h 2: Forced DO enabled, forced Immediately 0
selection the forced DI/ running
DI disabled
DO function.
3: Forced DI and DO enabled
4: EtherCAT forced DO

H0D-18 is used to set the forced DI level. The display value is a hexadecimal, after being converted to a
binary, the number "1" indicates high level and the number "0" indicates low level.

The DI logic is defined by parameters in group H03. The DI level status is monitored by H0B-03 and
displayed on the keypad. The value of H0B-03 (Monitored DI signal) read through the software tool is a
hexadecimal.

■■ Example

To activate the function assigned to DI1 and deactivate functions assigned to DI2...DI5, set as follows (logic
of all the five DIs being "active low"):

As the number "1" indicates high level and "0" indicates low level, the binary value is "11110", which
corresponds to the hexadecimal number "1E". Therefore, set the value of H0D-18 (Forced DI value) to
"1E" through the keypad.

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 4 Keypad Display and Operations

SET

1 1 1 1 0 Level

DI5 DI4 DI3 DI2 DI1

Figure 4-9 Description of the setpoint of H0D-18

Monitoring the DI level status through H0B-03:

If the DI function is normal, the display value of H0B-03 is always the same as that of H0D-18.

In this case, DI1 is displayed as low level and DI2 to DI5 are displayed as high level on the keypad, and
the value of H0B-03 read through the software tool is 1E (hexadecimal). The keypad displays as follows.

DI4 DI2
DI5 DI3 DI1

High High High High Low

1 1 1 1 0

Figure 4-10 DI level status corresponding to H0B-03

■■ Exit

The forced DI function is not retentive upon power-off. Normal DIs apply after restart, or you can set
H0D-17 (Forced DI/DO selection) to 0 (No operation) to return to the normal DI mode.

2 Forced DO function

After this function is enabled, all DO levels are controlled by H0D-19 (Forced DO value).

$"65*0/

In cases where the servo motor is used in vertical motion, if the brake output signal (FunOUT.9:
BK, brake output) is used, the brake is released and the load may fall. Therefore, take protective
measures on the machine to prevent falling.

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 4 Keypad Display and Operations

■■ Operating process

Start

Set the DO
function and logic
according to
group H04.

Set H0D-17 to 2 or
3 to enter forced
DO function.

Set H0D-19 to
activate or
deactivate the DO
function.

Monitor the DO
level status
through H0B-05.

End

Figure 4-11 Procedure for setting forced DO function

H0D-19 (Forced DO value) is used to set whether the DO function is active. The keypad displays the value
in hexadecimal, after being converted to binary, the number "1" indicates the DO function is active and
"0" indicates the DO function is inactive.

The DO logic is defined by parameters in group H04. The DO level status is monitored by H0B-05 and
displayed on the keypad. The value of H0B-05 (Monitored DO signal) read through the software tool is a
hexadecimal.

Example: To activate the DO function assigned to DO1 and deactivate DO functions assigned to
DO2...DO3, set as follows:

As the number "1" indicates the DO function is active and "0" indicates the DO function is inactive, the
binary value is "110", which corresponds to the hexadecimal number "6". Therefore, set H0D-19 (Forced
DO value) to 6 through the keypad.

SET

1 1 0 Function

DO3 DO2 DO1

Figure 4-12 Description of the setpoint of H0D-19

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 4 Keypad Display and Operations

Monitoring the DO level status through H0B-05

If the logics of DO1 to DO3 are "active low", then DO1 is high level and DO2 to DO3 are low level, and
the corresponding binary number is "001". In this case, the value of H0B-05 (Monitored DO signal) read
through the software tool is 1 (decimal). The keypad displays as follows.

DO2
DO3 DO1

Low Low High

0 0 1

Figure 4-13 Display of H0B-05 when all DOs are "active low"

If the logics of DO1 to DO3 are "active high", then DO1 is low level and DO2 to DO3 are high level, the
corresponding binary number is "110", and the value of H0B-05 (Monitored DO signal) read through the
software tool is 6 (decimal). The keypad displays as follows.

DO2
DO3 DO1

High High Low

1 1 0

Figure 4-14 Display of H0B-05 when all DOs are "active high"

■■ Exit

The forced DO function is not retentive upon power-off. Normal DOs apply after restart, or you can set
H0D-17 (Forced DI/DO selection) to 0 (No operation) to return to the normal DO mode.

3 EtherCAT-controlled forced DO function

After this function is enabled, all DO signal levels are controlled by 60FE-01h (Physical output).

In cases where the servo motor is used in vertical motion, if the brake output signal (FunOUT.9: BK,
brake output) is used, the brake is released and the load may fall. Therefore, take protective measures to
prevent falling.

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 4 Keypad Display and Operations

■■ Operating process

Start

Set H0D-17 to 4 to
enable bus forced
DO function.

Select the DOs to bit16, bit17, and bit18 in 60FE-02h(Bit mask for
be set through enabling physical output) are used to set
communication whether to control the output levels of DO1,
by 60FE-02h. DO2, and DO3 through communication.

Set the output bit16, bit17, and bit18 in 60FE-01h (Physical output)
level of the are used to set the output levels of DO1, DO2
selected DO and DO3 through communication.
through 60FE-01h.

Monitor the DO
level status
through H0B-05.

End

Figure 4-15 Procedure for setting forced DO through EtherCAT

When 200D-12h is set to 4, 60FE (Digital output) can be used to set the DO level through EtherCAT.

Bit Related DO Physical Output Enable: 60FE-02h Physical Output: 60FE-01h

16 DO1 1: DO1 forced output enabled DO1 forced output (0: OFF, 1: ON)

17 DO2 1: DO2 forced output enabled DO2 forced output (0: OFF, 1: ON)

18 DO3 1: DO3 forced output enabled DO3 forced output (0: OFF, 1: ON)

When 200D-12h is set to 4 and any bit among bit16 to bit18 of 60FE-02h is set to 1, the corresponding
forced DO is OFF.

The DO level status is monitored by H0B-05 and displayed on the keypad. The value of H0B-05 (Monitored
DO signal) read through the software tool is a hexadecimal.

Example: To make the output level of DO1 to DO3 be forcibly set by the EtherCAT bus, in which DO1
outputs low level and DO2 to DO3 output high level, set as follows:

Set 200D-12h to 4, 60FE-02h to 0x00070000 and 60FE-01 to 0x00060000, and monitor the DO level status
through H0B-05 (Monitored DO signal). The keypad displays as follows.

DO2
DO3 DO1

High High Low

1 1 0

Figure 4-16 Display of H0B-05 when DO signals are controlled by EtherCAT

■■ Exit

The EtherCAT-controlled forced DO function is not retentive upon power-off. Normal DOs apply after
restart, or you can set H0D-17 (Forced DI/DO selection) to 0 (No operation) to return to the normal DO
mode.

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 5 Commissioning and Operation

5 Commissioning and Operation

Start

• Check cable connections.

Pre-running • Check the ambient
check environment and the
machine.

Switch on the power supply.

Power on
•
• Switch off the S-ON signal.

• Start jogging using the keypad.

Start jogging • Start jogging using Inovance
software tool.

• Set common parameters.

Parameter setting • Set parameters related to each control
mode.

• Run the servo drive at low speed during

initial operation.
Servo running • Set related parameters to achieve
desired performance.
• Perform commissioning on the servo
drive.

• The S-ON signal is switched off.

Servo stop • A fault occurs.
• The limit switch signal is activated.
• Emergency stop is applied.

End

Figure 5-1 Flowchart for setting the servo drive

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 5 Commissioning and Operation

5.1 Pre-running Check

Check the following items before operating the servo drive and the servo motor.

Table 5-1 Pre-running checklist

Record No. Description

Wiring

□ 1 Power input terminals of the servo drive are connected properly.

□ 2 The servo motor UVW cables are connected in the correct phase sequence at both ends.

No short circuit exists in the power input terminals or the main circuit output terminals (U, V, W) of the
□ 3
servo drive.

The control signal cables are connected properly. External signal cables such as brake and overtravel
□ 4
prevention signals are connected properly.

□ 5 The servo drive and the servo motor are grounded properly.

□ 6 The stress on cables is within the permissible range.

□ 7 The connecting terminals are well insulated.

Environment and Mechanical Conditions

No unwanted objects (such as the cable end or metal filings) which may cause short circuit are
□ 1
present inside or near the servo drive.

□ 2 The servo drive and the external regenerative resistor are placed on incombustible objects.

□ 3 The servo motor installation and the shaft and mechanical connections are reliable.

□ 4 The servo motor and the machine that the servo motor is connected to are ready to run.

5.2 Power-on
■■ Switching on the input power supply

The input terminals for single-phase 220 V power supplies are L1 and L2.

The input terminals for three-phase power supplies are L1/L2/L3 or L1C/L2C (control circuit power input
terminals) and R/S/T (main circuit power input terminals)

After switching on the input power supply, if the bus voltage indicator is in normal status and the keypad
displays "reset" → "ry" in sequence, it indicates the servo drive is ready to run and waits for the S-ON
signal to be sent from the host controller.

If the keypad keeps displaying "nr", see "10 Troubleshooting" for solutions.

If the keypad displays the fault code, see "10 Troubleshooting" for solutions.

■■ Deactivating the S-ON signal

Switch the servo state machine and deactivate the S-ON signal sent from the host controller.

Deactivate the DI enable signal or the internal auxiliary function enable signal.

5.3 Jogging
Perform jogging to check whether the servo motor rotates properly without unusual vibration or noise.
The jog function can be started using the keypad (jogging in the speed mode/jogging in the position
mode) or Inovance software tool (jogging in the speed mode).

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 5 Commissioning and Operation

The acceleration/deceleration time constant of the speed/position reference can be set through
H06-12 (2006-0Dh) in case of jogging mode.
NOTE
■■ Using the keypad (jogging in the speed mode)

Enter jogging in the speed mode by setting H0D-11 through the keypad, and the keypad displays the

default jogging speed, which can be modified by pressing / . Press to enter the jogging status,

and the keypad displays "JOG". Power on the servo motor, and hold down / to switch between

forward and reverse jogging as needed. Press to exit from the jogging mode.

■■ Using Inovance software tool (jogging in the speed mode)

Open the "Speed JOG" interface in the software tool and set the jog speed. After switching the servo
status to ON, press the forward/reverse arrow displayed on the interface to switch between forward and
reverse jog as needed.

■■ Using the keypad (jogging in the position mode)

Enter jogging in the position mode by setting H0D-08 through the keypad, and the keypad displays the
default jogging speed, which can be modified by pressing / . Press to enter the jogging status,

and the keypad displays "JOG-P". Power on the servo motor, and hold down / to switch between

forward and reverse jogging as needed. Press to exit from the jogging mode.
☆ Related parameters:

Setting
Acceleration ramp time Condition Any condition Data Data
H06-12 Name - Uint16
of jog speed & Effective & Immediately Structure Type
Time
Related 0 to 65535
2006-0Dh Access RW Mapping Yes All Data Range Default 10
Mode (ms)

Used to set the time constant for the servo motor to accelerate from 0 RPM to 1000 RPM.

5.4 General Parameter Settings

5.4.1 Direction of Rotation

Set H02-02 (2002-03h) (Direction of rotation) to change the motor direction of rotation without changing
the polarity of the input reference.

☆ Related parameters:

Setting
At stop
Condition Data
H02-02 Name Direction of rotation & - Data Type Uint16
& Effective Structure
Next power-on
Time

Related Data
2002-03h Access RW Mapping - All 0–1 Default 0
Mode Range

-128-
 5 Commissioning and Operation

Defines the forward direction of the motor when viewed from the motor shaft side.

Value Rotation direction Remarks

Defines the CCW direction as the forward direction when a forward run
CCW as the forward
0 command is received, indicating the motor rotates in the CCW direction when
direction
viewed from the motor shaft side.
Defines the CW direction as the forward direction when a forward run
CW as the forward
1 command is received, indicating the motor rotates in the CW direction when
direction
viewed from motor shaft side.

Reverse
direction
(CW)

Forward
direction
(CCW)

Changes in the setpoint of H02-02 (2002-03h) do not affect the pulse output form or the positive/
negative attribute of monitoring parameters.

The "Forward drive" and direction of rotation in the overtravel prevention function are the same as the
settings in H02-02 (2002-03h).

5.4.2 Brake Settings

The brake is used to prevent the servo motor shaft from rotating when the servo drive is in the non-
operating state. This is to keep the motor and the mechanical load in locked positions.

Prevent the workbench from moving due to Servo motor

external force. (with built-in
External Servo motor Prevent movement
brake)
force (with built-in due to gravity when
brake) the power supply is
turned off.

Figure 5-2 Application of the motor brake

$"65*0/
◆◆ Use the built-in brake for position-lock in the stop state only.
◆◆ The brake coil has no polarity.
◆◆ After the servo motor stops, switch off the S-ON signal.
◆◆ When the servo motor with built-in brake runs, the brake may generate a clattering sound. Such
sound can be considered normal.
◆◆ When brake coils are energized (the brake is released), magnetic flux leakage may occur at the
shaft end. Pay special attention when using magnetic sensors around the servo motor.

1 Wiring of the brake

The motor brake input signal is connected without polarity differentiation. Users need to prepare a 24 V
power supply. The following figure shows the standard wiring of the brake signal (BK) and motor brake
power supply.

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 5 Commissioning and Operation

Servo drive
L1 U Motor
Single-phase Noise V
220 VAC filter M
W
L2

Encoder
CN2 PG

Brake control relay

CN1 BK-RY
DOx+(BK+) +24V Brake
+24V BK
DOx-(BK-)
(Brake power
supply)

Figure 5-3 Wiring of the motor brake

Pay attention to the following precautions during wiring:

When deciding the length of the cable on the motor brake side, take the voltage drop caused by cable
resistance into consideration. The input voltage must be at least 21.6 V to enable the brake to work
properly. The following table lists brake specifications of Inovance servo motors.

Table 5-2 Brake specifications

Supply
Holding Rated Coil Excitation
Voltage Apply Release Backlash
Motor Model Torque Power Resistance Current
(VDC) Time (ms) Time (ms) (° )
(N·m) (W) (Ω)（±7%） （A）
±10%
MS1H1-05B/10B 0.32 6.1 94.4 0.25 ≤ 40 ≤ 20 ≤ 1.5
MS1H1-20B/40B
1.5 7.6 75.79 0.32 ≤ 60 ≤ 20 ≤ 1.5
MS1H4-40B
24
MS1H1/H4-75B 3.2 10 57.6 0.42 ≤ 60 ≤ 40 ≤ 1.0

MS1H3-85B/13C/18C 12 19.4 29.7 0.81 ≤ 120 ≤ 60 ≤ 0.5

MS1H2-10C/15C/20C/25C 8 24 23 25 0.96 ≤ 85 ≤ 30 ≤ 0.5

MS1H2-30C/40C/50C 16 27 21.3 1.13 ≤ 100 ≤ 60 ≤ 0.5

MS1H3-29C/44C/55C/75C 50 40 14.4 1.67 ≤ 200 ≤ 100 ≤ 0.5

◆◆ Do not share the same brake power supply with other devices. This is to prevent brake
malfunction due to voltage or current drop resulted from other working devices.

NOTE ◆◆ It is recommended to use cables of 0.5 mm2 and above.

2 Brake software setting

For the servo motor with brake, allocate DO function 9 (FunOUT.9: BK, brake output) to a certain DO (DO3
by default), and set the active logic of this DO.

Related DO function

Function No. Name Function Description

Inactive: The brake power supply is switched off and the brake applies. In this
Brake case, the motor is locked.
FunOUT.9 BK
output Active: The brake power supply is switched on and the brake is released. In this
case, the motor can rotate.

Depending on the present state of the servo drive, the working time sequence of the brake mechanism
can be divided into brake time sequence under normal state and brake time sequence under fault state.

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 5 Commissioning and Operation

3 Brake time sequence under normal state

The brake time sequence under normal state is divided into the following two conditions:

Motor at a standstill: The actual motor speed is less than 20 RPM.

Motor rotating: The actual motor speed is equal to or higher than 20 RPM.

■■ Motor at a standstill

If the S-ON signal is OFF, and the present motor speed is less than 20 RPM, the servo drive acts according
to the brake time sequence for the motor at a standstill.

$"65*0/
◆◆ When the brake output signal changes from OFF to ON, do not input a position/speed/torque
reference within the time defined by 2009-0Ah/2000-34h. Otherwise, reference loss or operation
error may occur.
◆◆ When the motor drives a vertical axis, the load may move slightly due to the gravity or
external force. For the motor at a standstill, if the S-ON signal is off, the brake output will be off
immediately. However, within the time defined by H02-10 (2002-0Bh), the motor is still energized
to prevent the mechanical load from moving due to the gravity or external force.

[1] ON

OFF OFF
S-ON

ON

Motor OFF OFF

energized [4] H02-10(2002-0Bh)
ON
Brake output
(BK) OFF OFF
[2]
ON (brake released)
[2]
OFF (brake
Brake contactor applied) OFF

Position/Speed/ [3]
Torque reference

ON
Stop at zero speed
OFF OFF

Motor speed

Figure 5-4 Brake time sequence for motor at a standstill

[1] For the brake delay time, see "4 Keypad Display and Operations" for details.

[2] The time interval from the moment when brake output is on to the moment when the command is input must be
longer than the time defined by 2009-0Ah/2000-34h.
[3] For the motor at a standstill (motor speed less than 20 RPM), when the S-ON signal is off, the brake output will be
off immediately. You can set the delay from brake output OFF to motor de-energized through 2002-0Bh.

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 5 Commissioning and Operation

☆ Related parameters:

Setting
Delay from brake Any condition
Condition Data Data
H02-09 Name output ON to & - Uint16
& Effective Structure Type
command received Immediately
Time

Related
2002-0Ah Access RW Mapping - All Data Range 0–500 (ms) Default 250
Mode
Defines the delay from the moment the brake output signal is on to the moment when the servo drive starts to
receive input commands after power-on.
Within the time defined by 2002-0Ah, the servo drive does not receive position/speed/torque references.

Setting
Delay from brake Condition Any condition
Data Data
H02-10 Name output OFF to motor & & - Uint16
Structure Type
de-energized Effective Immediately
Time

Related
2002-0Bh Access RW Mapping - All Data Range 50–1000 (ms) Default 150
Mode
Defines the delay from the moment the brake output signal is off to the moment when the motor enters
de-energized status.

■■ Motor rotating

If the S-ON signal changes from ON to OFF and the present motor speed is equal to or higher than
20 RPM, the servo drive acts according to the brake time sequence for the motor in the rotating state.

$"65*0/
◆◆ When S-OFF changes to S-ON, do not input a position/speed/torque reference within the time
defined by 2009-0Ah/2000-34h. Otherwise, reference loss or operation error may occur.
◆◆ If the S-ON signal is off during motor rotating, the servo motor enters ramp-to-stop state
as defined by 6085h, but the brake output signal will be off only after one of the following
conditions is met:
1) The motor has decelerated to the value defined by 2002-0Ch (Motor speed threshold at brake
output OFF in rotation state) when the time defined by 2002-0Dh (Delay from S-ON OFF to brake
output OFF in rotation state) is not reached.
2) The time defined by 2002-0Dh is reached, but the motor speed is still higher than the value of
2002-0Ch.
◆◆ After the brake output signal changes from ON to OFF, the motor stays energized within the time
defined by 2002-0B to prevent the mechanical load from moving due to the gravity or external
force.

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 5 Commissioning and Operation

[1] ON

OFF OFF
S-ON

ON

Motor OFF OFF

energized H02-10(2002-0Bh)
ON

Brake output OFF OFF

(BK)
ON (brake released) H02-12(2002-0Dh)
[2] [4]
OFF (brake
Brake contactor applied) OFF
[5]

Position/Speed/ [3]
Torque reference

H02-11(2002-0Ch)
Motor speed [4]

Figure 5-5 Brake time sequence for motor in the rotating state

[1] For the brake delay time, see "4 Keypad Display and Operations" for details.

[2] The time interval from the moment when brake output is on to the moment when the command is input must be
longer than the value defined by 2009-0Ah/2000-34h.
[3] When the S-ON signal is switched off during motor rotating, you can set the delay for brake output OFF by
2002-0Ch and 2002-0Dh.
[4] The motor enters de-energized state only after the time defined by 2002-0Bh elapses upon brake output OFF.

☆ Related parameters

Motor speed Setting

threshold at brake Condition Any condition Data Data
H02-11 Name - Uint16
output OFF in the & Effective & Immediately Structure Type
rotating state time

Related
2002-0Ch Access RW Mapping - All Data Range 20–3000 (RPM) Default 30
Mode

Defines the motor speed threshold when the brake output signal is off during motor rotating.

Delay from S-ON Setting

Any condition
OFF to brake output Condition Data Data
H02-12 Name & - Uint16
OFF in the rotating & Effective Structure Type
Immediately
state Time

Related 1–1000
2002-0Dh Access RW Mapping - All Data Range Default 500
Mode (ms)

Defines the delay from the moment the S-ON signal is off to the moment when brake output signal is off.

■■ Brake time sequence in quick stop

The states after quick stop can be divided into de-energized or position-lock depending on the stop
mode. For the de-energized state (605Ah < 4), the brake output condition is the same as the brake time
sequence under normal state (motor rotating).

■■ Brake time sequence under fault state

The servo drive faults are classified into level 1 faults (No. 1) and level 2 (No. 2) faults. For details, see
"10 Troubleshooting" . The brake time sequences under fault state are divided into the following two
situations:

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 5 Commissioning and Operation

1) No. 1 faults:

When a No. 1 fault occurs and the brake is used, the stop mode is forcibly set to "Dynamic braking stop,
keeping dynamic braking state", but the brake output condition is the same as the brake time sequence
under normal state (motor rotating).
2) No. 2 faults:
When a No. 2 fault occurs and the brake is used, the stop mode is forcibly set to "Ramp to stop, keeping
dynamic braking state", but the brake output condition is the same as the brake time sequence under
normal state (motor rotating).

◆◆ Recommended setpoints:
When the brake is used, the setpoint of 6085h (Stop deceleration) must meet the following
requirement:
Deceleration time ＜ 2002-0Dh
NOTE If the preceding requirement cannot be fulfilled, the deceleration command will be based on
2002-0Dh.

5.4.3 Regenerative Resistor Settings

When the motor torque direction is opposite to the direction of rotation, the energy is returned from the
motor to the servo drive, causing bus voltage rise. Once the bus voltage rises to the braking threshold,
the surplus energy must be consumed by a regenerative resistor. Otherwise, the servo drive will be
damaged.

The regenerative resistor can be a built-in or an external one. However, a built-in regenerative resistor
cannot be used together with an external one. The following table lists the specifications of the
regenerative resistor.

Table 5-3 Specifications of the regenerative resistor

Specifications of Built-in Regenerative Resistor Minimum Permissible

Resistance of External
Servo Drive Model Processable
Power Regenerative Resistor (Ω)
Resistance (Ω) Power
Pr (W) (H02-21)
Pa (W)

SV660NS1R6I - - - 50

SV660NS2R8I - - - 45

SV660NS5R5I 50 50 25 40

SV660NS7R6I 20
25 60 30
SV660NS012I 15

SV660NT3R5I 100 60 30 80

SV660NT5R4I 100 60 30 60

SV660NT8R4I 45
50 75 40
SV660NT012I 40

SV660NT017I 35

SV660NT021I 35 100 50
25
SV660NT026I

S1R6 and S2R8 models do not have the built-in regenerative resistor. For these models, you need to
prepare an external regenerative resistor if required.

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 5 Commissioning and Operation

■■ Without external load torque

The kinetic energy upon braking of a reciprocating motor motion is converted into electric energy and
fed back to the bus capacitor. When the bus voltage rises above the braking voltage threshold, the
regenerative resistor will consume the excessive feedback energy. The following figure shows the motor
speed curve in a no-load operation from 3000 RPM to a standstill.

Motor
speed

3000 RPM

Motor
deceleration

0 T
t
Motor
deceleration
-3000 RPM
Reciprocating motor
motion cycle (T)

Figure 5-6 Motor speed curve without external load torque

■■ Energy data caculation

SV660NS1R6I and SV660NS2R8I models do not carry a built-in regenerative resistor. The energy that can
be charged by the capacitor is shown as follows. If the rotating energy of the servo motor and the load
exceed the regenerative energy that can be processed, connect an external regenerative resistor.

Servo Drive Model Processable Regenerative Energy Remark

SV660NS1R6I 13.15
The input voltage of the main circuit
power supply is 220 VAC.
SV660NS2R8I 26.29

The following table lists the energy generated when a 220 V servo motor changes from no-load operation
at the rated speed to a standstill.

Braking Energy
Generated When Maximum Braking
Capacity Servo Motor Model Rotor Inertia Changing From No- Energy Absorbed
(W) MS1H*-*******-***** J(10-4kgm2) load Operation at Rated by the Capacitor
Speed to a Standstill EC(J)
EO(J)
MS1H1 MS1H1-75B30CB-*331Z 1.38 6.8
750 (low inertia, small 22.4
MS1H1-75B30CB-*334Z 1.43 7.1
capacity)
MS1H2-10C30CB-*331Z
1000 MS1H2 1.87 9.2 26.7
MS1H2-10C30CB-*334Z
(low inertia,
MS1H2-15C30CB-*331Z 26.7
1500 medium capacity) 2.46 12.2
MS1H2-15C30CB-*334Z 47.7
MS1H3-85B15CB-*331Z 13.3 65.8
850 MS1H3 22.4
MS1H3-85B15CB-*334Z 14 69.2
(medium inertia,
MS1H3-13C15CB-*331Z 17.8 88.0
1300 medium capacity) 22.4
MS1H3-13C15CB-*334Z 18.5 91.5
MS1H4 MS1H4-75B30CB-*331Z 2 9.9
750 (medium inertia, 22.4
MS1H4-75B30CB-*334Z 2.012 9.9
small capacity)

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 5 Commissioning and Operation

The following table lists the energy generated when a 380 V motor changes from no-load operation at
the rated speed to a standstill.

Braking Energy Generated

Maximum Braking
When Changing From No-
Capacity Servo Motor Model Rotor Inertia Energy Absorbed by
load Operation at Rated
(W) MS1H*-*******-***** J(10 kgm )
-4 2
the Capacitor
Speed to a Standstill
EC(J)
EO(J)
MS1H2-10C30CD-*331Z
1000 1.87 9.2 34.3
MS1H2-10C30CD-*334Z
MS1H2-15C30CD-*331Z
1500 MS1H2 2.46 12.2 34.3
MS1H2-15C30CD-*334Z
(low inertia,
2000 MS1H2-20C30CD-*331Z 3.06 15.1 50.4
medium
2500 MS1H2-25C30CD-*331Z 3.65 18.0 50.4
capacity)
3000 MS1H2-30C30CD-*331Z 7.72 38.2 50.4
4000 MS1H2-40C30CD-*331Z 12.1 59.8 82.7
5000 MS1H2-50C30CD-*331Z 15.4 76.2 82.7
MS1H3-85B15CD-*331Z 13.3 65.8 28.2
850
MS1H3-85B15CD-*334Z 14 69.2 34.3
MS1H3-13C15CD-*331Z 17.8 88.0 34.3
1300
MS1H3-13C15CD-*334Z 18.5 91.5 34.3
MS1H3-18C15CD-*331Z 25 123.6 50.4
1800 MS1H3 MS1H3-18C15CD-*334Z 25.7 127.1 50.4
(medium
MS1H3-29C15CD-*331Z 55 271.98 50.4
2900 inertia,
MS1H3-29C15CD-*334Z 55 271.98 50.4
medium
capacity) MS1H3-44C15CD-*331Z 88.9 439.6 82.7
4400
MS1H3-44C15CD-*334Z 88.9 439.6 82.7
MS1H3-55C15CD-*331Z 107 529.1 100.8
5500
MS1H3-55C15CD-*334Z 107 529.1 100.8
MS1H3-75C15CD-*331Z 141 697.3 100.8
7500
MS1H3-75C15CD-*334Z 141 697.3 100.8

If the time needed by the whole braking process is known (T), you can determine whether an external
regenerative resistor is required and calculate the power of the resistor needed by using the following
flowchart and formula.

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 5 Commissioning and Operation

■■ Regenerative resistor selection

Start

Determine the Determine the motion cycle based on

reciprocating actual operating conditions.
motion cycle T (s).

Determine the Determine the motor speed based on actual

motor speed operating conditions or through reading Inovance
(RPM). software tool.

Determine the
load to motor See section "Inertia auto-tuning" for details.
inertia ratio (N)

J x V2
E1 = (N +1) EO = ( N + 1) x 182
Calculate the
braking J represents the moment of inertia at no-load operation of the
energy E1(J). motor shaft.
V represents the motor speed.
N represents the load to motor inertia ratio.
Determine the
energy absorbed by Determine the maximum braking energy that can be absorbed
the capacitor Ec(J) by the capacitor.

No Yes
E 1 (J) > Ec (J)?

The regenerative The regenerative

resistor is not resistor is
needed. needed.

Calculate the 2 x(E1- EC )

power of the resistor Pb =
needed (Pb). T

No Yes
P b > Pa ？

Use the built-in Use the external

regenerative regenerative
resistor. resistor.

Use the external

regenerative
resistor with
70% derated (Pr).

End

Figure 5-7 Flowchart for selecting the regenerative resistor

◆◆ Assume that the load inertia is motor inertia multiplied by N, the braking energy is (N + 1) x EO
when the motor decelerates from 3000 RPM to 0 RPM, the energy consumed by the regenerative
resistor will be (N+1) x EO - EC (unit: J) after deducting the energy (EC) absorbed by the capacitor.
Assume the reciprocating motion cycle is T, the regenerative resistor power needed will be 2 x [(N
+ 1) x EO - EC]/T.
NOTE ◆◆ Determine whether to use the regenerative resistor according to the preceding flowchart and set
H02-25 (Regenerative resistor type) accordingly.
◆◆ The resistor with an aluminum housing is recommended.

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 5 Commissioning and Operation

☆ Related parameter

Parameter Setting
Name Value Range Function Effective Time Default
No. Condition

0- Reserved
Defines the mode
1: External, natural ventilation
Regenerative of absorbing and
2002h 1A 2: External, forced air cooling At stop Immediately 3
resistor type releasing the braking
3: No regenerative resistor energy.
needed

Take the H1 series 750 W model as an example. Assume the reciprocating motion cycle (T) is 2s, the
maximum speed is 3000 RPM, and the load inertia is four times the motor inertia, the regenerative
resistor power needed will be as follows:

2x[(N+1) x EO -EC ] 2x[(4+1)x6.4-26]

P b= = = 6W
T 2

The calculation result is smaller than the processable capacity (Pa = 25 W) of the built-in regenerative
resistor, so a built-in regenerative resistor is sufficient.

If the inertia ratio in preceding example is changed to 10 times the motor inertia, and other conditions
remain the same, the regenerative resistor power needed will be as follows:

2x[(N+1) x EO-EC ] 2x[(10+1)x6.4- 26]

Pb = = = 44.4 W
T 2

The calculation result is larger than the processable capacity (Pa = 25 W) of the built-in regenerative
resistor, so an external regenerative resistor is required. The recommended power of the external
regenerative resistor is Pb/(1 - 70%) = 148 W.

1) Connection and setting of the regenerative resistor

■■ When using an external regenerative resistor

Use the external regenerative resistor with 70% derated, that is, Pr = Pb/(1 - 70%), and ensure the
resistance of the regenerative resistor is larger than the minimum permissible value. Remove the jumper
between terminals P and D, and connect the external regenerative resistor between terminals P and C.

Connect the regenerative

resistor between P and C.
L1
L2
P
C
N
U
V
W
PE

Figure 5-8 Connection of an extenal regenerative resistor

See "Table 3-6 Recommended main circuit cables" for cable information on terminals P and C.

Set 2002-1Ah to 1 or 2 based on the cooling mode of the regenerative resistor and set the following
parameters properly.

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 5 Commissioning and Operation

☆ Related parameters

Parameter Setting Effective

Name Value Range Unit Function Default
No. Condition Time

Minimum
Displays the minimum
permissible Non-settable
permissible resistance of Model
2002h 16h resistance of and model - At display -
the external regenerative dependent
regenerative dependent
resistor.
resistor

Defines the power of the

external regenerative
Power of resistor used.
external Note: Model
2002h 1Bh 1–65535 W At stop Immediately
regenerative The power of the external dependent
resistor regenerative resistor used
cannot be smaller than the
calculated braking power.

Defines the resistance of

the external regenerative
resistor used.
Note:

Resistance The resistance of the

of external external regenerative Model
2002h 1Ch 1–1000 Ω resistor (2002-1Ch) used At stop Immediately
regenerative dependent
resistor cannot be smaller than
the minimum permissible
resistance of regenerative
resistor (2002-16h).
Otherwise, Er.922.0 will
occur.

$"65*0/
◆◆ Set the resistance (2002-1Ch) and power (2002-1Bh) of the external regenerative resistor
properly. Improper settings will impact the performance.
◆◆ When an external regenerative resistor is used, ensure the resistance of the external regenerative
resistor is larger than the minimum permissible value.
◆◆ In temperatures within the operating temperature range of the servo drive, when the
regenerative resistor is used at the processable power (average value) under the rated capacity,
the temperature of the resistor will rise to above 120° C during continuous braking. To ensure
safety, cool the resistor down by forced air cooling or use a resistor with a thermal switch. For
load characteristics of the regenerative resistor, contact the manufacturer.

Set the heat dissipation coefficient based on the heat dissipation condition of the external regenerative
resistor.

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 5 Commissioning and Operation

☆ Related parameter:

Parameter Value Setting

Name Unit Function Effective Time Default
No. Range Condition

Defines the heat dissipation

coefficient when an external
regenerative resistor is used.
Resistor heat The value cannot be higher than
2002h 19h dissipation 10–100 % 30% when natural ventilation is At stop Immediately 30
coefficient used.
The value cannot be higher than
50% when forced air cooling is
used.

◆◆ The larger the heat dissipation coefficient is, the better the braking efficiency is.
◆◆ When Pb < Pa and E1 > EC, use the built-in regenerative resistor. In this case, set H02-25 to 0.
◆◆ When E1 < EC, no regenerative resistor is required because the bus capacitor is sufficient to absorb
NOTE the braking energy. In this case, set 2002-1Ah to 3.

2) With external load torque and motor staying in the generating state

When the motor torque direction is the same with the axis rotating direction, the motor outputs
mechanical energy. In some special applications where the motor torque output is opposite to the
rotating direction, the motor is in power generating status and feeds the electric energy back to the
servo drive.

When the load is in continuous power-generating status, it is recommended to adopt the common DC
bus topology.

Motor
speed

External
load
torque

Motor
output
torque

Motor output Motor output Motor output Motor output

(generating) (motoring) (generating) (motoring)

Figure 5-9 Example of the curve with external load torque

Take the H1 series 750 W model (rated torque 2.39 N·m) as an example. When the external load torque is
60% of the rated torque and the motor speed is 1500 RPM, the power fed back to the servo drive is:
(60% x 2.39) x (1500 x 2π/60) = 225 W. As the regenerative resistor is derated by 70%, the power of the
external regenerative resistor is: 225/(1 - 70%) = 750 W, with resistance being 50 Ω.

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 5 Commissioning and Operation

5.5 Servo Running

1) Switch on the S-ON signal.

When the servo drive is ready to run, the keypad displays "rn", but if there is no command input at this
moment, the servo motor will stay in the locked state, without rotating.

2) After a command is input, the servo motor starts rotating.

Table 5-4 Instructions for operating the servo drive

Record No. Description

At initial operation, set a proper reference to make the motor run at low speed and check whether
□ 1
the motor rotates properly.

Observe whether the motor rotates in the correct direction. If the direction of rotation is opposite
□ 2
to the desired direction, check the input reference and reference direction.

If the direction of rotation is correct, observe the motor speed actual value in 200B-01h and the
□ 3
average load rate in 200B-0Dh through the keypad or Inovance software tool.

After checking the preceding operating conditions, set related parameters properly to adapt the
□ 4
motor to actual operating conditions.

□ 5 Perform commissioning on the servo drive according to the instructions in Chapter 6.

3) Power-on timing diagram

Power supply
set up
Main power Reset 200‒400 ms [1] ON
supply OFF
L1, L2

Microprocessor Not Working normally

Initialization: 2s
action working
200 ms
Servo drive
OFF ON
ready to output
(ry)

Above 0s
OFF ON
S-ON

ON [2] OFF
Dynamic brake

OFF About 100 ms ON

Motor
energized

OFF ON
Brake output
(BK)

OFF (Brake applied)

Brake ON (Brake released)
[3]
contactor

[4]
Position/Speed/
Torque Without reference With reference
references

Figure 5-10 Power-on timing diagram

[1] The reset time is determined by the setup time of the +5V power supply of the microprocessor.
[2] The dynamic brake is included in the standard configuration.
[3] For brake contactor delay, see "4 Keypad Display and Operations" for details.

[4] When the brake function is not used, the command delay time is invalid.

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 5 Commissioning and Operation

4) Timing diagram for stop upon warning or fault

■■ Fault 1: Coast to stop, keeping de-energized status

Fault occurs? Normal Fault

About 0.1 ms to 4 ms

Absolute value of
the motor speed 0 RPM

Motor
Energized De-energized
status

Servo alarm Non-fault

Err (fault) status
status output status

Figure 5-11 Timing diagram of "coast to stop, keeping de-energized status" at No. 1 fault

■■ Fault 1 (without brake): Dynamic braking stop, keeping de-energized status

About 0.1 ms Fault

Fault occurs？ Normal
to 4 ms

Absolute value of 10 RPM

the motor speed 0 RPM

Motor
status Energized
De-energized

Servo alarm Non-fault Err (fault)

status output status status

Dynamic brake output ON OFF

O FF
(DB)

Figure 5-12 Timing diagram of "Dynamic braking stop, keeping de-energized status" at No. 1 fault (without
brake)

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 5 Commissioning and Operation

■■ Fault 1 (with brake): Dynamic braking stop, keeping dynamic braking status

Fault occurs? Normal About 0.1 ms Fault

to 4 ms

Absolute value of 2002-0Ch

the motor speed 0 RPM

Motor
Energized De-energized
status

Servo alarm Non-fault Err fault

status output status status

Dynamic brake
output (DB) O FF ON

Delay for 2002-0Dh or speed less

than 2002-0Ch
Brake output
(BK) ON O FF

[1]

Brake O FF (Brake applied)

ON (Brake released)
contactor

Figure 5-13 Timing diagram of "Dynamic braking stop, keeping dynamic braking status" at No. 1 fault (with
brake)

[1] For brake contactor delay, see "4 Keypad Display and Operations" for details.

■■ Fault 1 (without brake): Dynamic braking stop, keeping dynamic braking status

Fault occurs? Normal About 0.1 ms to Fault

4 ms

Absolute value of
the motor speed 0 RPM

Motor
Energized De-energized
status

Servo alarm Non-fault

Err (fault) status
status output status

Dynamic brake
output OFF ON
(DB)

Figure 5-14 Timing diagram of "Dynamic braking stop, keeping dynamic braking state" at No. 1 fault
(without brake)

■■ Fault 2 (without brake)

Coast to stop, keeping de-energized status, same as "Coast to stop upon No. 1 fault"

Dynamic braking stop, keeping dynamic braking status[1]

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 5 Commissioning and Operation

About 0.1 ms Fault

Fault occurs? Normal
to 4 ms

Absolute value of
the motor speed 0 RPM

Motor
status Energized
De-energized

Servo alarm Non-fault

status output status Err (fault) status

Dynamic brake
output [1] OFF ON
(DB)

Figure 5-15 Timing diagram of "Coast to stop, keeping de-energized state" at No. 2 fault (without brake)

[1] After the dymanic brake is enabled

■■ Fault 2 (without brake): Ramp to stop or stop at emergency torque, keeping de-energized/dynamic
braking status[1]

Fault occurs? Normal About 0.1 ms Fault

to 4 ms

Absolute value of 10 RPM

the motor speed
0 RPM

Motor Energized
status Stop De-energized

Servo alarm Non-fault

status output status Err (fault) status

ON
Dynamic brake OFF
output [1]
(DB)

Figure 5-16 Timing diagram of "Ramp to stop or stop at emergency stop torque, keeping de-energized
state" at No. 2 fault (without brake)

[1] After the dymanic brake is enabled

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 5 Commissioning and Operation

■■ Fault 2 (with brake): Ramp to stop, keeeping dynamic braking status

Fault occurs? Normal About 0.1 ms Fault

to 4 ms

Absolute value of
2002-0Ch
the motor speed 0 RPM
Ramp to
stop

Motor 2002-0Bh
Energized De-energized
status

Servo alarm Non-fault

Err (fault) status
status output status

Dynamic brake
output OFF ON
(DB)
Delay for 2002-0Dh or speed less
than 2002-0Ch

Brake output
(BK) ON O FF

[1]

Brake
ON (Brake O FF (Brake applied)
contactor
released)

Figure 5-17 Timing diagram of "Ramp to stop, keeping dynamic braking state" at No. 2 fault (with brake)

[1] For brake contactor delay, see "4 Keypad Display and Operations" for details.

When a No. 3 warning occurs on the servo drive, such as Er.950.0 (Forward overtravel warning) and
Er.952.0 (Reverse overtravel warning), the servo drive stops as shown in the following figure.
■■ Overtravel warning
Stoppinf at zero speed as defined by 6085h if the brake function is enabled, keeping position lock status
Stopping at zero speed if the brake function is not enabled, keeping position lock status
About 0.1 ms
to 4 ms
Fault occurs？ Normal About 0.1 ms to 4 ms Warning
Normal

Absolute value of
the motor speed
10 RPM
0 RPM

ON

Ramp to stop/
Stop at zero speed OFF OFF

ON
Position lock
status OFF OFF

Motor
status
Energized

Servo alarm
Non-warning Warning Non-warning
status output
status status status

Brake output
(BK) ON

Brake
contactor
ON (Brake released)

Figure 5-18 Timing diagram for warnings that cause stop

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 5 Commissioning and Operation

Except Er.950 and Er.952, the other warnings do not affect the operating status of the servo drive. The
timing diagram upon occurrence of these warnings is as follows:

■■ Warnings that do not cause stop

Warning occurs? Normal Warning Normal

Absolute value of
the motor speed Speed
unchanged

Motor
status
Energized

About 0.1 ms to 4 ms About 0.1 ms to 4 ms

Servo alarm Non-warning Warning Non-warning

status output status status status

Brake output
(BK) ON

Brake
contactor O N (Brake released)

Figure 5-19 Timing diagram at warnings that do not cause stop

■■ Fault reset

ON
OFF
S-ON

[1]

Fault reset Not Not

Enabled
enabled enabled

About 3 ms

Servo fault Rdy Run

status output Err (fault) status status status

Motor De-energized Energized

status

Stop upon "Stop upon fault"

Stop upon fault fault cleared

Brake output OFF ON

(BK)

[2]
Brake ON (Brake released)
OFF (Brake applied)
contactor

[3]
Position/Speed/ Without With
Torque references reference reference

Figure 5-20 Timing diagram of fault reset

[1] The fault reset signal is edge-triggered.

[2] For brake contactor delay, see "4 Keypad Display and Operations" for details.

[3] The command delay is invalid when the brake function is not enabled.

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 5 Commissioning and Operation

5.6 Servo Stop

The stop modes can be coast to stop, stop at zero speed, ramp to stop, stop at emergency torque, and
dynamic braking stop. The stop status can be de-energized status, position lock status, and dynamic
braking status. See the following table for details.

Table 5-5 Comparison of stop modes

Stop Mode Description Feature

The servo motor is de-energized and

This mode features smooth deceleration and
decelerates to 0 RPM gradually. The
Coast to stop small mechanical impact, but the deceleration
deceleration time is affected by mechanical
process is slow.
inertia and friction.

The servo motor decelerates immediately to This mode features quick deceleration, but the
Stop at zero speed
0 RPM and stops. mechanical impact is large.

The servo motor decelerates to 0 RPM This mode features a smooth and controllable
Ramp to stop smoothly upon receiving position/speed/ deceleration process with small mechanical
torque references. impact.

Stop at emergency The servo drive outputs a reverse braking This mode features quick deceleration, but the
torque torque to stop the motor. mechanical impact is large.

Dynamic braking The servo motor is in the dynamic braking This mode features quick deceleration, but the
stop status. mechanical impact is large.

Table 5-6 Comparison of stop status

Stop Status Description

De-energized The motor is de-energized after it stops rotating, and the motor shaft can be rotated freely.

Position lock The motor shaft is locked and cannot be rotated freely after the motor stops rotating.

Dynamic braking The motor is de-energized after it stops rotating, and the motor shaft cannot be rotated freely.

The servo drive stops under the following situations:

■■ S-ON OFF

Switch off the S-ON signal through communication, and the servo drive stops according to the stop
mode at S-ON OFF.

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 5 Commissioning and Operation

☆ Related parameters:

Setting
Condition At stop & Data
H02-05 Name Stop mode at S-ON OFF - Data Type Int16
& Effective Immediately Structure
Time
Related
2002-06h Access RW Mapping No All Data Range -3 to +1 Data Type 0
Mode
Defines the deceleration mode of the servo motor for stopping rorating and the servo motor state after stops due to
S-ON OFF.

Setpoint Stop mode

-3 Stop at zero speed, keeping dynamic braking status
-2 Ramp to stop as defined by 6084/609A, keeping dynamic braking status
-1 Dynamic braking stop, keeping dynamic braking status
0 Coast to stop, keeping de-energized status
1 Ramp to stop as defined by 6084/609A, keeping de-energized status
Set a proper stop mode according to the mechanical condition and operating requirements.
After the brake output function is enabled, the stop mode at S-ON off is forcibly set to "Ramp to stop as defined by
6085h, keeping dynamic braking status".

Setting
Disable operation option Condition At stop & Data
Name - Data Type Int16
code & Effective At stop Structure
605Ch
Time
Related
Access RW Mapping NO ALL Data Range -4 to +1 Default 0
Mode
Defines the deceleration mode of the servo motor for stopping rotating and the servo motor state after stops due to
S-ON OFF.

Value Stop Mode

-4 Ramp to stop as defined by 6085h, keeping dynamic braking status
-3 Stop at zero speed, keeping dynamic braking status
-2 Ramp to stop as defined by 6084/609A, keeping dynamic braking status
-1 Dynamic braking stop, keeping dynamic braking status
0 Coast to stop, keeping de-energized status
1 Ramp to stop as defined by 6084/609A, keeping de-energized status
Set a proper stop mode based on the mechanical condition and operating requirements.
After the brake output function is enabled, the stop mode at S-ON off is forcibly set to "Ramp to stop as defined by
6085h, keeping dynamic braking state".

◆◆ The stop mode can be set in H02-05 or 605C. If the value of H02-05 or 605C changes, the value of 605C
or H02-05 also changes.
NOTE

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 5 Commissioning and Operation

■■ Stop at fault

The stop mode varies with the fault type. See "10 Troubleshooting" for details.

☆ Related parameters:

Setting
Stop mode at No. 1 Condition At stop & Data
H02-08 Name - Data Type Uint16
fault & Effective Immediately Structure
Time

Related
2002-09h Access RW Mapping RPDO All Data Range 0–2 Default 2
Mode
Defines the deceleration mode of the servo motor for stopping rotating and the servo motor state after stops due to
a No. 1 fault.

Value Stop mode

0 Coast to stop, keeping de-energized status
1 Dynamic braking stop, keeping de-energized status
2 Dynamic braking stop, keeping dynamic braking status
After the brake output function is enabled, the stop mode at No. 1 fault is forcicly set to "Dynamic braking stop,
keeping dynamic braking state".

Setting
Stop mode at No. 2 Condition At stop & Data
H02-06 Name - Data Type Int16
fault & Effective Immediately Structure
Time

Related Data -5 to
2002-07h Access RW Mapping - ALL Default 2
Mode Range +3

Defines the deceleration mode of the servo motor for stopping rotating and the servo motor state after stops due to
a No. 2 fault.

Value Stop Mode

-5 Stop at zero speed, keeping dynamic braking status
-4 Stop at emergency torque, keeping dynamic braking status
-3 Ramp to stop as defined by 6085, keeping dynamic braking status
-2 Ramp to stop as defined by 6084/609A, keeping dynamic braking status
-1 Dynamic braking stop, keeping dynamic braking status
0 Coast to stop, keeping de-energized status
1 Ramp to stop as defined by 6084/609A, keeping de-energized status
2 Ramp to stop as defined by 6085, keeping de-energized status
3 Stop at emergency torque, keeping e-energized status
After the brake output function is enabled, the stop mode at No. 2 fault is forcibly set to "Ramp to stop as defined
by 6085h, keeping dynamic braking status".

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 5 Commissioning and Operation

Setting
Condition At stop & Data
Name Fault reaction option code - Data Type Int16
& Effective At stop Structure
605Eh
Time

Related
Access RW Mapping NO ALL Data Range -5 to +3 Default 2
Mode
Defines the deceleration mode of the servo motor for stopping rotating and the servo motor state after stops at a
No. 2 fault.

Value Stop Mode

-5 Stop at zero speed, keeping dynamic braking status
-4 Stop at emergency torque, keeping dynamic braking status
-3 Ramp to stop as defined by 6085, keeping dynamic braking status
-2 Ramp to stop as defined by 6084/609A, keeping dynamic braking status
-1 Dynamic braking stop, keeping dynamic braking status
0 Coast to stop, keeping de-energized status
1 Ramp to stop as defined by 6084/609A, keeping de-energized status
2 Ramp to stop as defined by 6085, keeping de-energized status
3 Stop at emergency torque, keeping e-energized status
After the brake output function is enabled, the stop mode at No. 2 fault is forcicly set to "Ramp to stop as defined by
6085h, keeping dynamic braking status".

◆◆ The "Stop mode at No. 2 fault " can be set in H02-06 or 605E. If the value of H02-06 or 605E changes,
the value of 605E or H02-06 also changes.
NOTE

■■ Stop at overtravel

Definition of terms:

"Overtravel": The distance of the mechanical movement exceeds the designed range of safe movement.

"Stop at overtravel": When the motion part moves beyond the range of safe movement, the limit switch
changes the signal level on the digital input, and the servo drive forces the motor to stop.

☆ Related parameters:

Setting
Stop mode at At stop & Data Data
H02-07 Name Condition & - Uint16
overtravel Immediately Structure Type
Effective Time

2002-08h Access RW Mapping - Related Mode All Data Range 0–7 Default 1

Defines the deceleration mode of the servo motor for stopping rotating and the servo motor state after stops due to
overtravel.

Value Stop mode

0 Coast to stop, keeping de-energized status
1 Stops at zero speed, keeping position lock status
2 Stop at zero speed, keeping de-energized status
3 Ramp to stop as defined by 6085h, keeping de-energized status
4 Ramp to stop as defined by 6085h, keeping position lock status
5 Dynamic braking stop, keeping de-energized status
6 Dynamic braking stop, keeping dynamic braking status
7 Not responding to overtravel
When the servo motor drives a vertical axis, for the sake of safety, set 2002-08h to 1 to make the motor shaft stay in
the position lock status after overtravel occurs.
After the brake output function is enabled, the stop mode at overtravel is forcibly set to "Stop as defined by 6085h,
keeping position lock status".

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 5 Commissioning and Operation

If the servo motor enters the overtravel status when driving a vertical axis, the workpiece may fall.
To prevent such risk, set 2002-08h to 1. When the workpiece moves linearly, install limit switches to
prevent mechanical damage. In the overtravel status, input a reverse run command to make the motor
(workpiece) run in the reverse direction.

Load
Reduction
gear

Motor

Servo drive
FunIN.14:
P-OT
DI
FunIN.15:
N-OT
DI

Figure 5-21 Installation of limit switches

To use the limit switch, allocate FunIN.14 (P-OT, positive limit switch) and FunIN.15 (N-OT, negative limit
switch) to two DIs of the servo drive and set the active logic of these DIs. This is to enable the servo drive
to receive the level signals that inputted from the limit switches. The servo drive enables or cancels the
stop-at-overtravel status based on the DI level status.

☆ Related DI functions

Function
Name Function Description
No.

Overtravel prevention applies when the mechanical movement is beyond the

Positive movable range.
FunIN.14 P-OT
limit switch Inactive: Forward drive permitted
Active: Forward drive inhibited

Overtravel prevention applies when the mechanical movement is beyond the

Negative movable range.
FunIN.15 N-OT
limit switch Inactive: Reverse drive permitted
Active: Reverse drive inhibited

■■ Emergency stop

The emergency stop can be implemented through the following two methods:

1) FunIN.34: EmergencyStop

2) 200D-06h (Emergency stop)

☆ Related DI function

Function No. Name Function Description

Inactive: The servo drive keeps the present operating status.

FunIN.34 EmergencyStop Braking Active: The servo drive stops according to the stop mode defined by
605Ah.

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 5 Commissioning and Operation

☆ Related parameter

Setting
During running Data Data
H0D-05 Name Emergency stop Condition & - Uint16
& Immediately Structure Type
Effective Time

200D-06h Access RW Mapping - Related Mode - Data Range 0–1 Default 0

Defines whether to enable emergency stop:

Value Description
0 No operation
1 Emergency stop enabled
When H0D-05 is enabled, the servo drive stops in the stop mode defined by 605Ch regardless of the operating state.

■■ Quick stop

Quick stop applies when bit2 (Quick stop) in the control word 6040h is set to 0 (Valid). The quick stop
mode is defined by 605Ah.

Setting
Quick stop option Any condition Data
Name Condition & VAR Data Type Int16
code & At stop Structure
605Ah Effective Time

Access RW Mapping No Related Mode All Data Range 0–7 Default 2

Defines the deceleration mode of the servo motor for stopping rotating and the servo motor state after quick stop.

Value Stop mode

0 Coast to stop, keeping de-energized status
1 Ramp to stop as defined by 6084h/609Ah (HM), keeping de-energized status
2 Ramp to stop as defined by 6085h, keeping de-energized status
3 Stop at emergency torque, keeping de-energized status
4 N/A
5 Ramp to stop as defined by 6084h/609Ah (HM), keeping position lock status
6 Ramp to stop as defined by 6085h, keeping position lock status
7 Stop at emergency-stop torque, keeping position lock status
When the brake function is enabled and the setpoint of 605Ah is less than 4, the stop mode is forced to "Ramp to
stop as defined by 6085h, keeping de-energized state".

■■ Halt

The halt function applies when bit8 in the control word 6040h is set to 1 (Valid). The halt mode is defined by 605Dh.

Setting
Condition Any condition Data Data
Name Stop option code VAR Int16
& Effective & At stop Structure Type
605Dh
Time

Related
Access RW Mapping No All Data Range 1–3 Default 1
Mode
Defines the deceleration mode of the servo motor for stopping rotating and the servo motor state after halt.
PP/PV/HM mode:

Setpoint Stop mode

1 Ramp to stop as defined by 6084h/609Ah (HM), keeping position lock status
2 Ramp to stop as defined by 6085h, keeping position lock status
3 Stop at emergency-stop torque, keeping position lock status
PT mode:

Setpoint Stop mode

1/2/3 Ramp to stop as defined by 6087h, keeping position lock statestatus

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Do not set the acceleration/deceleration time to an excessively small value. An excessively small
value will lead to an overlong stop distance, causing the risk of collision.

■■ Maximum time of ramp-to-stop

When the stop mode is set to "Ramp to stop as defined by 6084h/609Ah (HM)" or "Ramp to stop as
defined by 6085h", set the maximum time for ramp-to-stop through H0A-72 to prevent an overlong stop
distance caused by an excessively small deceleration setpoint. When 6084h/609Ah (HM) or 6085h is set
to an excessively small value, the stop deceleration is restricted by the setpoint of H0A-72.

Maximum time Setting Condition & At stop & Data Data

H0A-72 Name - Uint16
for ramp-to-stop Effective Time Immediately Structure Type

Data 0–65535
200A-49h Access RW Mapping - Related Mode ALL Default 10000
Range (ms)

Defines the maximum time taken by the motor in decelerating from 6000 RPM to 0 RPM when the stop mode is set to
"Ramp to stop as defined by 6084h/609Ah (HM)" or "Ramp to stop as defined by 6085h".

5.7 Conversion Factor Setting

Gear ratio refers to the motor displacement (in encoder unit) corresponding to the load shaft
displacement of one reference unit.

The gear ratio is comprised of the numerator 6091-01h and denominator 6091-02h. It determines
the proportional relation between the load shaft displacement (in reference unit) and the motor
displacement (in encoder unit), as shown below.

Motor displacement = Load shaft displacement x Gear ratio

The motor is connected to the load through the reducer and other mechanical transmission
mechanisms. Therefore, the gear ratio is related to the mechanical reduction ratio, mechanical
dimensions and motor encoder resolution. The calculation formula is as follows.

Motor encoder resolution

Gear ratio =
Load shaft resolution

Setting Condition & Data

Name Gear ratio - ARR Data Type Uint32
Index Effective Time Structure
6091h OD data OD default
Access - Mapping Yes Related Mode All Data Range Default
range value

Defines the proportional relation between the load shaft displacement designated by the user and the motor shaft
displacement.
The relation between motor position feedback (in encoder unit) and load shaft position feedback (in reference unit) is as
follows.
Motor position feedback = Load shaft position feedback x Gear ratio
The relation between the motor speed (RPM) and the load shaft speed (in reference unit/s) is as follows.

Load shaft speed x Gear ratio 6091h

Motor speed (RPM) = x 60
Encoder resolution

The relation between motor acceleration (RPM/ms) and the load shaft speed (in reference unit/s2) is as follows.

Load shaft acceleration x Gear ratio 6091h 1000

Motor acceleration = x
Encoder resolution 60

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 5 Commissioning and Operation

Number of Setting
Data
Sub- Name gear ratio Condition & - - Data Type Uint8
Structure
index 0h sub-indexes Effective Time

Access RO Mapping No Related Mode - Data Range - Default 2

Setting During
Data Data
Name Motor revolutions Condition & running & - Uint32
Structure Type
Sub- Effective Time Immediately
index 1h Depending on
Data 1 to
Access RW Mapping RPDO Related Mode - Default encoder
Range (232-1)
resolution

Setting During
Data Data
Name Shaft revolutions Condition & running & - Uint32
Sub- Structure Type
Effective Time Immediately
index 2h
Data 1 to
Access RW Mapping RPDO Related Mode - Default 1
Range (232-1)

Take the ball screw as an example:

Minimum reference unit fc = 1 mm

Lead pB = 10 mm/r

Reduction ratio n = 5:1

Inovance 23-bit serial-type motor encoder resolution P = 8388608 (PPR)

The position factor is calculated as follows:

Position Encoder resolution P x n

=
factor pB

8388608 x 5
=
10

41943040
=
10

= 4194304

Therefore, 6091-1h = 4194304, and 6091-2h = 1, which means when the load shaft displacement is 1 mm,
the motor displacement is 4194304.

Reduce the values of 6091-1h and 6091-2h to a point where there is no common divisor, and take the
final value.

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 6 Gain Tuning

6 Gain Tuning
6.1 Overview
Set the gain parameters of the servo drive to proper values so that the servo drive can drive the motor as
quick and accurate as possible based on internal references or commands sent from the host controller.

Gain: Low Gain: High Gain: High+Feedforward

Position loop gain: 40.0 Hz Position loop gain: 80.0 Hz Position loop gain: 80.0 Hz
Speed loop gain: 25.0 Hz Speed loop gain: 50.0 Hz Speed loop gain: 50.0 Hz
Speed loop integral time constant: 50.00 ms Speed loop integral time constant: 25.00 ms Speed loop integral time constant: 25.00 ms
Speed feedforward gain: 0 Speed feedforward gain: 0 Speed feedforward gain: 50.0%
Load inertia ratio: 30 Load inertia ratio: 30 Load inertia ratio: 30

Figure 6-1 Example of gain settings

The gain is defined by the combination of multiple mutually-affected parameters (including position
loop gain, speed loop gain, filter and inertia ratio). Set these parameters to proper values to keep a
balanced performance.

Before gain tuning, perform a trial run through jogging to ensure the motor operates properly.
NOTE

The following figure shows the general procedure for gain tuning.

Start

Use offline or online inertia

Inertia auto-
auto-tuning. See section
tuning
"Inertia Auto-tuning"
. for details.

See sections "Instructions for ETune

Gain
Operations" and "Instructions for STune
auto-tuning
Operations" for details.

Yes
OK?

No
If gain auto-tuning cannot
Manual gain fulfill the application needs,
tuning perform manual gain tuning.
See section "Manual Gain
Tuning" for details.

Yes
OK?

No

Vibration Perform vibration suppression

suppression when vibration occurs.
See section "Vibration Suppression"
for details.

End

Figure 6-2 General procedure for gain tuning

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 6 Gain Tuning

Table 6-1 Gain tuning procedure

Gain Tuning Procedure Description Reference

Offline The servo drive calculates the inertia ratio automatically. 6.2.1
Inertia
1 The host controller sends a command to make the motor rotate,
auto-tuning Online 6.2.2
and the servo drive calculates the inertia ratio in real time.

The servo drive automatically generates a set of gain values that

2 Gain auto-tuning 6.3/6.4
match the inertia ratio (the inertia ratio must be set correctly).

If gain auto-tuning cannot fulfill the application needs, adjust the

Basic gain 6.5.1
auto-tuned values manually.

Reference
Filters the position, speed, and torque references. 6.5.3
filter

Feedforward
Improves the follow-up performance. 6.5.4
Manual gain gain
3
tuning
Pseudo
Improves the anti-interference capacity in the low frequency
differential 6.5.5
range through adjusting the speed loop control mode.
regulator

Torque
disturbance Improves the capacity in resisting the torque disturbance. 6.5.6
observer

Mechanical
The mechanical resonance is suppressed through the notch. 6.7.1
resonance
Vibration
4 Low-
suppression
frequency The low-frequency resonance is suppressed through the filter. 6.7.2
resonance

6.2 Inertia Auto-tuning

The load inertia ratio (2008-10h) is calculated by using the following formula.

Total moment of inertia of the mechanical load

Load inertia ratio =
Moment of inertia of the motor

The load inertia ratio is a critical parameter of the servo system. A proper inertia ratio facilitates the
commissioning process.

The load inertia ratio can be set manually or set automatically through inertia auto-tuning of the servo
drive.

The servo drive supports two inertia auto-tuning methods:

1) Offline inertia auto-tuning

Enable inertia auto-tuning (200D-03h), and make the motor rotate by pressing on the keypad to
perform inertia auto-tuning. This kind of auto-tuning mode does not involve the host controller.

2) Online inertia auto-tuning

The host controller sends the auto-tuning command to the servo drive, and the servo motor executes
inertia auto-tuning. This kind of auto-tuning involves the host controller.

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 6 Gain Tuning

◆◆ The following requirements must be met to ensure a correct calculation of the load inertia ratio:
1) The actual maximum motor speed is higher than 150 RPM.
2) The actual acceleration rate during acceleration/deceleration is higher than 3000 RPM/s.
3) The load torque is stable without dramatic changes.
4) The actual inertia ratio does not exceed 120.

NOTE ◆◆ If the actual inertia ratio is large but the gain is low, the motor may not be able to reach the maximum
speed and acceleration rate as required because motor actions are slowed down. In this case,
increase the speed loop gain (2008-01h) and perform auto-tuning again.
◆◆ If vibration occurs during auto-tuning, stop inertia auto-tuning immediately and reduce the gain.
◆◆ Inertia auto-tuning may fail if the backlash of the transmission mechanism is too large.

6.2.1 Offline Inertia Auto-tuning

1) In the parameter display mode, switch to H0D-02 and press to enable offline inertia auto-tuning.
☆ Related parameter

Offline inertia Setting Related

Name During running -
auto-tuning Condition Mode
H0D-02
Effective
Value Range - Unit - Immediately Default -
Time

In the parameter display mode, switch to H0D-02 and press on the keypad to enable offline inertia auto-tuning.

Confirm the following items before performing offline inertia auto-tuning:

The motor travel distance must meet the following requirements:

■■ A travel distance of more than one revolutions in either forward or reverse direction is available
between the limit switches.

Before offline inertia auto-tuning, ensure limit switches are installed to the machine and a travel distance
of more than one revolutions is reserved for the motor. This is to prevent overtravel during auto-tuning.

■■ The required number of revolutions (H09-09) is fulfilled.

View the value of H09-06 (Maximum speed of inertia auto-tuning), H09-07 (Time constant for accelerating
to the maximum speed during inertia auto-tuning), and H09-09 (Number of motor revolutions for a
single inertia auto-tuning) to ensure the motor travel distance starting from the stop position is larger
than the value of H09-09. If the motor travel distance is smaller than the value of H09-09, decrease the
value of H09-06 or H09-07 until the requirement is met.

2) Press / to execute offline auto-tuning.

To stop the servo drive, release / . To start auto-tuning again, press / again. The operating

direction at start is determined by / . For applications requiring unidirectional motion, set H09-05
(Offline inertia auto-tuning mode) to 1 (Unidirectional).

Increase the stiffness level (H09-01) of the servo drive properly so that the actual motor speed can reach
the value defined by H09-06 (Maximum speed for inertia auto-tuning).

The following figure shows the general procedure for offline inertia auto-tuning.

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 6 Gain Tuning

Start

The S-ON signal is set to OFF. The servo

Switch off the
drive is in "ry" status.
S-ON signal.

The value of H0D-02 displayed initially is

H0D-02 = 1
the present value of H08-15.

Press to make
the motor run in Operations vary with different offline inertia
the forward/reverse auto-tuning modes.
direction.

Is the No
display value The stabilized value is the auto-tuned value.
stabilized?

Yes

Hold the SET key Hold the SET key down until the keypad displays
down to save the "SAVE", indicating the auto-tuned value is
value to H08-15. saved into H08-15.

Press the MODE key Press the MODE key to exit from the interface of
to finish inertia H0D-02, indicating inertia auto-tuning is done.
auto-tuning.

End

Figure 6-3 Procedure for offline inertia auto-tuning

☆ Related parameters

Setting Effective
Para. No. Name Value Range Unit Function Default
Condition Time
Defines the load
Load moment of inertia During
H08-15 0 to 120 1 moment of inertia Immediately 3
ratio running
ratio.
0: Bidirectional
Defines the offline
Offline inertia auto- auto-tuning
H09-05 - inertia auto-tuning At stop Immediately 1
tuning mode 1: Unidirectional
mode.
auto-tuning
Defines the maximum
Maximum speed of speed reference for
H09-06 100 to 1000 RPM At stop Immediately 500
inertia auto-tuning offline inertia auto-
tuning.
Time constant for Defines the time
accelerating to the needed for the motor
H09-07 20 to 800 ms At stop Immediately 125
maximum speed during to accelerate from
inertia auto-tuning 0 RPM to 1000 RPM.

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 6 Gain Tuning

Setting Effective
Para. No. Name Value Range Unit Function Default
Condition Time
Defines the interval
Interval after an
between two
H09-08 individual inertia auto- 50 to 10000 ms At stop Immediately 800
consecutive speed
tuning
references.
Number of motor Defines the
H09-09 revolutions per inertia 0 to 100 r maximum number of - - 1
auto-tuning revolutions.

6.2.2 Online Auto-tuning

CAUTION
Before performing inertia auto-tuning, ensure the following conditions are fulfilled to ensure a
correct calculation of the load inertia ratio:
◆◆ The load inertia changes quickly.
◆◆ The load torque changes quickly.
◆◆ The motor is running at a speed lower than 120 r/min.
◆◆ Acceleration/Deceleration is slow (lower than 1000 r/min per second).
◆◆ The acceleration/deceleration torque is smaller than the unbalanced load/viscous friction torque.

The servo drive supports online inertia auto-tuning. The following figure shows the procedure for online
inertia auto-tuning.

Start

Switch off the The S-ON signal is off and the keypad displays

S-ON signal. "ry", indicating the servo drive is ready.

Set H09-03 to Set H09-03 to a non-zero value to enable

a non-zero value. inertia auto-tuning.

Switch on the The S-ON signal is on and the servo drive

S-ON signal. receives the command sent from the host
controller to drive the motor to run.

Input a command
through the host
controller to make
the motor rotate.

Calculate the
load inertia ratio The servo drive calculates the average value of
in real time. the load inertia ratio in real time and saves the
auto-tuned values into H08-15 every 30 min.

End

Figure 6-4 Procedure for online inertia auto-tuning

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 6 Gain Tuning

◆◆ H09-03 sets the updating speed of the load inertia ratio (H08-15) in real time.
1) H09-03 = 1: Applicable to applications where the actual load inertia ratio rarely changes, such as
machine tools and wood carving machines.
2) H09-03 = 2: Applicable to applications where the load inertia ratio changes slowly.
3) H09-03 = 3: Applicable to applications where the actual inertia ratio changes rapidly, such as material
NOTE
handling manipulators.
◆◆ Do not use online inertia auto-tuning in applications involving hitting against limit switches and
press fitting.

☆ Related parameter

Para. Setting Effective

Name Value Range Unit Function Default
No. Condition Time
0: Disabled
Defines the
Online inertia
1: Enabled, changing slowly online inertia During
H09-03 auto-tuning - Immediately 0
2: Enabled, changing normally auto-tuning running
mode
mode.
3: Enabled, changing quickly

6.3 Instructions for ETune Operations

6.3.1 Overview

ETune is a wizard-type function designed to guide users to perform auto-tuning by setting the motion
profile and the desired response level. After the motion profile and the response level are set, the servo
drive will perform the auto-tuning to obtain the optimal gain parameters. The auto-tuned parameters
can be saved and exported as a recipe for use in other devices of the same model.

The ETune function is intended to be used in applications featuring slight load inertia changes.

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 6 Gain Tuning

6.3.2 Description of Operations

1 Operation flowchart

Initialize the servo

drive parameters.

Set the electronic gear

ratio to a proper value.

Click Usability
adjustment on the
menu bar and
click ETUNE.
Reduce the
gain.
Yes

Set the positive/

negative limit position Vibration occurs
in the position during jogging?
setting interface.

No

Configure the mode

and the motion profile.

Click Next to start.

No
OK? Adjust the
response level.

Yes

Save parameters.

End

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 6 Gain Tuning

2 Detailed descriptions

1) Click Usability adjustment on the software tool, and then click ETune.

2) Select any of the following three operation modes based on the operating direction allowed by the
machine.

■■ In the Reciprocating po... mode, the motor keeps reciprocating within the positive and negative
position limits.

■■ In the One-way forward mode, the motor takes the difference value between the positive and
negative position limits as the maximum distance per action and keeps running in the forward
direction.

■■ In the One-way reversal mode, the motor operates in the same way as that in the one-way forward
mode, but in the opposite direction.

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 6 Gain Tuning

3) Enter the positive and negative position limits appropriate for the motor. The difference value
between the positive and negative limits defines the position reference pulses for the motor, which
is also the value before multiplication/division by the electronic gear ratio.
You can set the position and negative position limits by the following two methods.
Method 1:
Click Enable ON, and then click to make the motor move to the positive position limit. Next,
click Set to the posi.... Follow the same procedure for setting the negative position limit, and click
Enable OFF (the Enable ON button turns to Enable OFF after a click).
Method 2:
Enter the positive and negative position limits directly.
Note: The difference value between positive and negative position limits must be larger than 1/8 of
one revolution. The larger the limit value, the better the adaptability of auto-tuned parameters, but
the longer time will ETune operation take.

4) Click Next to switch to the mode parameter setting interface. The adjustment mode is divided
into Positioning mode and Track mode. Inertia auto-tuning is optional. If you choose not to
perform inertia auto-tuning, set the correct inertia ratio first (the value of the inertia ratio can be
modified directly). You can adjust the response level and position filter time constant based on
the responsiveness needed and the position reference noise generated during operation. Then
configure the motion profile by setting the maximum speed, acceleration/deceleration time and
time interval for auto-tuning.

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 6 Gain Tuning

5) Click Next to start auto-tuning.

■■ If you choose to perform inertia auto-tuning, the servo drive starts inertia auto-tuning based on the
set motion profile. After inertia auto-tuning is done, the servo drive starts gain tuning automatically.

■■ If you choose not to perform inertia auto-tuning on the start page, the servo drive starts gain tuning
directly after start-up.

6) During gain tuning, if you modify the Response fine-tuning coefficient and click Update, gain
tuning will be continued based on the fine-tuning coefficient entered. After gain tuning is done, you
can click DONE to save the parameters to EEPROM and export parameters as a recipe file.

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 6 Gain Tuning

6.3.3 Precautions
■■ The maximum speed and acceleration/deceleration time of the motion profile can be set as needed.
You can also increase the acceleration/deceleration time properly to enable quick positioning after
auto-tuning is done.
■■ If the acceleration/deceleration time is set to a too small value, overload may occur. In this case,
increase the acceleration/deceleration time properly.
■■ For vertical axis applications, take anti-drop measures before execution and set the stop mode upon
fault to "Stop at zero speed".
■■ For the ball screw applications, if the tuning time is too long, shorten the stroke length.

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 6 Gain Tuning

6.3.4 Troubleshooting

Fault Symptom Cause Measure

1) The vibration cannot be 1) Enable vibration suppression manually to eliminate the

suppressed. vibration.

2) Check whether the positioning threshold is too low.

2) The positioning overshoot is
Increase the acceleration/deceleration time and reduce the
Er661: too large.
response level.
Auto-tuned gain
values too low 3) Modify the electronic gear ratio to improve the reference
3) The reference is disturbed by
resolution, or increase the reference filter time constant in
noise.
the parameter configuration interface.

4) Check whether the current of the machine fluctuates

4) The current fluctuates.
regularly.

1) The vibration cannot be 1) Enable vibration suppression manually to eliminate the

suppressed. vibration and perform ETune again.

2) Increase the maximum operating speed and decrease the

2) The auto-tuned values
acceleration/deceleration time. In case of the ball screw,
fluctuate dramatically.
shorten the stroke length.

Er600: Inertia 3) The load mechanical

auto-tuning couplings are loose or the 3) Rectify the mechanical fault.
failure mechanism is eccentric.

4) Interruption occurs due to a

fault that occurs during 4) Clear the fault and perform ETune again.
auto-tuning.

5) The position reference filter 5) Decrease the setpoints of H05-04...H05-06, and perform
time is set to a too large value. ETune again.

6.4 Instructions for STune Operations

6.4.1 Overview

STune performs gain auto-tuning based on the set stiffness level. It aims to fulfill the requirements of
rapidity and stability.

The STune function is enabled by default with H09-00 (Gain auto-tuning mode) being set to 4 (Normal
mode+Inertia auto-tuning). The servo drive is turned off automatically 10 min after command input.

The STune function is intended to be used in applications featuring slight load inertia changes. For
applications featuring dramatic inertia changes or where inertia auto-tuning is unavailable (due to
operating speed too low or acceleration rate too small), disable the STune function after initial power-
on.

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 6 Gain Tuning

$"65*0/

If H09-00 (Gain auto-tuning mode) is set to 4 (Regular mode + Inertia auto-tuning) or 6 (Quick
positioning mode+Inertia auto-tuning), a load inertia auto-tuning through online inertia auto-
tuning is required. Therefore, ensure the following conditions are met:
◆◆ The load inertia changes quickly.
◆◆ The load torque changes quickly.
◆◆ The motor is running at a speed lower than 120 r/min.
◆◆ Acceleration/Deceleration is slow (lower than 1000 r/min per second).
◆◆ The acceleration/deceleration torque is smaller than the unbalanced load/viscous friction
torque.
If the preceding conditions cannot be fulfilled, set the correct inertia ratio manually..

6.4.2 Description of Operations

1) Operation flowchart

Start

Click Usability
adjustment on the
menu bar, and click
STUNE.

Set the gain tuning

mode.

Input the inertia ratio directly or click Manual inertia tuning

to start inertia tuning.
Set the inertia ratio. When H09-00 is set to 0, 1, or 2, manual inertia tuning is
required.When H09-00 is set to 3, 4, or 6, inertia auto-tuning
applies.

Switch on the S-ON

Enable the servo drive and input the command through the
signal and input the
host controller to make the motor rotate.
command.

Adjust the stiffness

level during motor Observe the behavior during running, response time,positioning
rotating and observe time, and vibration status. Meanwhile, adjust the value of H09-
the waveform during 01 until desired performance is achieved.
operation.

Yes
OK?

No

Perform manual
Adjust the gain manually, see section "Manual Gain Tuning"
gain tuning /
for details. For details on vibration suppression, see section
vibration
"Vibration suppression".
suppression.

End

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 6 Gain Tuning

2) Detailed description

The gain auto-tuning mode can be set through the keypad or the software tool.

a) Select the gain auto-tuning mode. If H09-00 is set to 0, 1, or 2, set the inertia ratio before stiffness
adjustment. If the inertia is unknown, perform manual inertia tuning. If vibration occurs, reduce the
stiffness level before manual inertia tuning. If H09-00 is set to 3, 4, or 6, the inertia ratio needs no
setting. You can perform tuning through the wizard-type interface.

Mode Name Applicable Occasion

0 Invalid Manual gain tuning is needed.

1 Standard stiffness level mode Gain auto-tuning is performed based on the set stiffness level.

Gain auto-tuning is performed based on the set stiffness

2 Positioning mode level. This mode is applicable to occasions requiring quick
positioning.

Gain auto-tuning is performed based on the set stiffness level.

3 Interpolation mode+Inertia auto-tuning Inertia auto-tuning is performed to suppress vibration. This
mode is applicable to multi-axis interpolation.

Gain auto-tuning is performed based on the set stiffness level.

4 Normal mode+Inertia auto-tuning Inertia auto-tuning is performed to suppress vibration. This
mode is applicable to trajectory tracking.

Gain auto-tuning is performed based on the set stiffness level.

Fast positioning mode+Inertia auto-
6 Inertia auto-tuning is performed to suppress vibration. This
tuning
mode is applicable to occasions requiring quick positioning.

b) Adjust the stiffness level gradually during operation of the load. The present stiffness level will be
written to the servo drive automatically. Keep monitoring the waveform during operation after
modifying the stiffness level (modify by one level each time) until the desired performance is
achieved.

c) For mode 4 and mode 6, H09-00 will be restored to 0 to exit from STune mode after running at a
speed above 100 r/min for 5 min.

If commissioning is done, you can set H09-00 to 0 to exit from STune in advance.

To modify the operating time of STune, set H09-37 (Vibration monitoring time) based on actual
applications.

d) For mode 4 and mode 6, resonance suppression will be applied automatically when resonance
occurs on the servo drive. If resonance cannot be suppressed, set H09-58 (STune resonance
suppression reset) to 1 (Enable) to clear resonance suppression parameters, reduce the stiffness
level, and perform STune again.

e) For multi-axis trajectories, perform single-axis commissioning first to determine the maximum
response of each axis and modify the response value of each axis manually to ensure position
responses of different axes are consistent.

■■ Mode 4: Determine the minimum value of H08-02 (Position loop gain), set H09-00 of each axis to 0,
and set H08-02 of each axis to the same value.

■■ Mode 6: Determine the minimum value of H08-43 (Model gain), set H09-00 of each axis to 0, and set
H08-43 of each axis to the same value.

$"65*0/

To ensure a stable operation of Mode 4 under default settings, gain parameters will be adjusted
along with the inertia ratio when the inertia ratio is higher than 13. In multi-axis trajectories,
different responses may be generated under the same stiffness level.

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 6 Gain Tuning

6.4.3 Precautions

The value range of H09-01 (Stiffness level selection) is 0 to 41. The level 0 indicates the weakest stiffness
and lowest gain and level 41 indicates the strongest stiffness and highest gain. The following table lists
the stiffness levels for different load types.

Table 6-2 Application range of different stiffness levels (for reference only)

Recommended Stiffness Level Type of Load Mechanism

Level 4 to level 8 Large-scale machineries

Level 8 to level 15 Applications with low stiffness such as a conveyor

Level 15 to level 20 Applications with high stiffness such as a ball screw and direct-coupled motor

The servo drive supports five gain auto-tuning modes.

$"65*0/

◆◆ If H09-00 (Gain auto-tuning mode) is set to 3, 4, or 6, the servo drive suppresses vibration by
performing inertia auto-tuning automatically within 10 min (or other time interval defined by
H09-37) after power-on or stiffness level setting, and then it exits from inertia auto-tuning. The
inertia auto-tuning function, once deactivated, cannot be activated again by setting H09-09 to 3,
4, or 6.
◆◆ In applications with slow acceleration/deceleration, large vibration, and unstable mechanical
couplings, do not set H09-00 to 3, 4, or 6.
◆◆ In applications where the inertia does not change, set H09-03 (Online inertia auto-tuning mode)
to 1 (Enabled, changing slowly). In applications where the inertia changes quickly, set H09-03 to
3 (Enabled, changing quickly).

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 6 Gain Tuning

■■ Standard stiffness level mode (H09-00 = 1)

The values of the 1st group of gain parameters (H08-00 to H08-02, H07-05) are updated automatically
according to the stiffness level defined by H09-01 and saved into the corresponding parameters.

Table 6-3 Parameters updated automatically in the standard stiffness level mode

Para. No. Name

H08-00 Speed loop gain

H08-01 Speed loop integral time constant

H08-02 Position loop gain

H07-05 Filter time constant of torque reference

■■ Positioning mode (H09-00 = 2)

On the basis of Table 6-3, the 2nd group of gain parameters (H08-03 to H08-05, H07-06) are also updated
automatically according to the stiffness level defined by H09-01 and saved into the corresponding
parameters. In addition, the stiffness level of the position loop gain in the 2nd group of gain parameters
is higher than that in the 1st group of gain parameters by one level.

Table 6-4 Parameters updated automatically in the positioning mode

Para. No. Name Description

H08-03 2nd speed loop gain -

If H08-04 is fixed to 512.00 ms, the 2nd speed

2nd speed loop integral time
H08-04 loop integral action is invalid, and only
constant
proportional control is used in the speed loop.

H08-05 2nd position loop gain -

Filter time constant of the 2nd

H07-06 -
torque reference

Parameters related to speed feedforward are fixed to certain setpoints.

Table 6-5 Parameters with fixed setpoints in the positioning mode

Para. No. Name Value

H08-19 Speed feedforward gain 30.0%

Speed feedforward filter time

H08-18 0.50 ms
constant

Parameters related to gain switchover are fixed to certain setpoints.

Gain switchover is enabled automatically in the positioning mode.

Para. No. Name Value Description

In the positioning mode, switchover between the 1st gain set

(H08-00 to H08-02, H07-05) and the 2nd gain set (H08-03 to
H08-08 2nd gain mode 1
H08-05, H07-06) is active.
In other modes, the original settings are used.

In the positioning mode, gain switchover is active only if H08-09 is

H08-09 Gain switchover condition 10 set to 10.
In other modes, the original settings are used.

In the positioning mode, the gain switchover delay is 5.0 ms.

H08-10 Gain switchover delay 5.0 ms
In other modes, the original settings are used.

In the positioning mode, the gain switchover level is 50.

H08-11 Gain switchover level 50
In other modes, the original settings are used.

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 6 Gain Tuning

Para. No. Name Value Description

In the positioning mode, the gain switchover dead time is 30.

H08-12 Gain switchover dead time 30
In other modes, the original settings are used.

$"65*0/

◆◆ In the gain auto-tuning mode, parameters updated automatically along with H09-01 and those
with fixed setpoints cannot be modified manually. If you need to modify these parameters, set
H09-00 to 0 to exit from the gain auto-tuning mode first.

6.4.4 Resonance Suppression Parameters

When the H09-00 is set to 3, 4, or 6, automatic resonance suppression will be applied automatically.

When the load changes or the mechanical structure is re-installed, the system resonance frequency
changes accordingly. Set H09-58 to "Enable" and turn on the STune mode after clearing resonance
suppression parameters.

Setting
Para. No. Name Value Range Unit Function Effective Time Default
Condition

Phase modulation of Defines the phase of

During
H08-37 medium frequency -90 to +90 ° medium frequency Immediately 0
running
suppression 2 suppression 2.

Defines the frequency

Frequency of medium During
H08-38 0 to 1000 Hz of medium frequency Immediately 0
frequency suppression 2 running
suppression 2.

Defines the
Compensation gain
compensation gain During
H08-39 of medium frequency 0 to 300 % Immediately 0
of medium frequency running
supression 2
suppression 2.

Frequency of the 3rd Defines the frequency of During

H09-18 50 to 8000 Hz Immediately 8000
notch the 3rd notch. running

Width level of the 3rd Defines the width level During

H09-19 0 to 20 - Immediately 2
notch of the 3rd notch. running

Depth level of the 3rd Defines the attentuation During

H09-20 0 to 99 - Immediately 0
notch level of the 3rd notch. running

Frequency of the 4th Defines the frequency of During

H09-21 50 to 8000 Hz Immediately 8000
notch the 4th notch. running

Width level of the 4th Defines the width level During

H09-22 0 to 20 - Immediately 2
notch of the 4th notch. running

Depth level of the 4th Defines the attentuation During

H09-23 0 to 99 - Immediately 0
notch level of the 4th notch. running

0: Disable
1: Enable
STune resonance After H09-58 is enabled, During
H09-58 0 to 1 - Immediately 0
suppression reset H08-37...H08-39 and running
H09-18...H09-23 will be
cleared automatically.

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 6 Gain Tuning

6.4.5 Solutions to Common Faults

■■ ER661: Gain too low

When the torque ripple detected by the servo drive exceeds the setpoint of H09-11 and becomes
uncontrollable, the stiffness level will be reduced automatically until reaching level 10 where ER661 is
reported.

1）For uncontrollable vibration, enable vibration suppression manually.

2）For current fluctuation, check whether the current of the machine fluctuates regulary.

Setting
Para. No. Name Description Value Range Default Unit Length Effective Time
Condition

Phase modulation of
During
H08-37 medium frequency - -90 to +90 0 ° 16 bits Immediately
suppression 2
running

Frequency of
During
H08-38 medium frequency - 0 to 1000 0 Hz 16 bits Immediately
running
suppression 2

Compensation
gain of medium During
H08-39 - 0 to 300 0 1 16 bits Immediately
frequency running
supression 2

STune resonance 0: Disable During

H09-58 0 to 1 0 1 16 bits Immediately
suppression reset 1: Enable running

6.5 Manual Gain Tuning

6.5.1 Basic Parameters

When gain auto-tuning cannot fulfill the application needs, perform manual gain tuning.

The servo system provides three control loops, which are position loop, speed loop, and current loop
from external to internal. The basic control diagram is shown in the following figure.

Speed Torque
feedforward feedforward

Position Motor
reference + +
input + Position Current
+ Speed loop + +
× loop × × × loop M
gain -
- gain + control
- Current
Position feedback
feedback
Speed Speed loop
feedback integral time
filter constant

Speed
calculation
Encoder

Figure 6-5 Basic control diagram

The response level of the inner loop must be higher than that of the outer loop. Otherwise, the system
may become unstable.

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 6 Gain Tuning

The default gain of the current loop is already set with the highest level of response, avoiding the need
for adjustment. It is only needed to adjust the position loop gain, speed loop gain and other auxiliary
gains. When executing gain tuning in the position control mode, increase the speed loop gain as well
after increasing the position loop gain, and ensure the response level of the position loop is lower than
that of the speed loop to keep the system stable.

The following table shows how to adjust the basic gain parameters.

Table 6-6 Adjustment of gain parameters

Para.
Step Name Description
No.

◆◆ Parameter function:
Defines the maximum frequency of the speed loop in following the variable speed
references.
If the average load inertia ratio (H08-15) is set properly, the maximum following
frequency of the speed loop can be equal to the value of H08-00 (Speed loop gain).

Speed reference
Increase the value of H08-00 Actual speed

Speed
1 H08-00
loop gain

◆◆ Adjustment method:
Increase the value of H08-00 without incurring noise or vibration. This helps shorten
the positioning time and improve speed stability and follow-up characteristics.
If noise occurs, decrease the value of H08-00.
If mechanical vibration occurs, enable the resonance suppression function (see "6.7
Vibration Suppression" ).

◆◆ Parameter function:
Eliminates the speed loop deviation.
Speed reference
Decrease the value of H08-01 Actual speed

Speed ◆◆ Adjustment method:

loop
Select the value according to the following formula:
2 H08-01 integral
time 500 ≤ H08-00 x H08-01 ≤ 1000
constant For example, if H08-00 is set to 40.0 Hz, H08-01 must meet the following requirement:
12.50 ms ≤ H08-01 ≤ 25.00 ms
Decreasing the setpoint of H08-01 strengthens the integral action and shortens the
positioning time, but a too small setpoint may cause mechanical vibration.
Do not set H08-01 to a too large value. Otherwise, the speed loop deviation cannot be
cleared to zero.
When H08-01 is set to 512.00 ms, the integral action is deactivated.

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 6 Gain Tuning

Para.
Step Name Description
No.

◆◆ Parameter function:
Defines the maximum frequency of the position loop in following the variable
position references.
Maximum following frequency of position loop = H08-02

Increase the value of Position reference

H08-00 and H08-02 Actual speed

◆◆ Adjustment method:
To ensure system stability, the maximum follow-up frequency of the speed loop must
Position be 3 to 5 times higher than that of the position loop. Therefore, the following formula
3 H08-02
loop gain must be fulfilled.

2 x π x H8-00
3≤ ≤5
H08-02

For example, when H08-00 is set to 40.0 Hz, the position loop must meet the following
requirement:
50.2 Hz ≤ H08-02 ≤ 83.7 Hz
Adjust the setpoint based on the positioning time. Increasing the value of H08-02
shortens the acceleration time and improves the response to disturbances of the
motor at a standstill.
Do not set H08-02 to a too large value. Otherwise, system instability or oscillation may
occur.

◆◆ Parameter function:
Eliminates the high-frequency noise and suppresses mechanical resonance.

Increase the Speed reference

value of H07-05 Actual speed

◆◆ Adjustment method:
Ensure the cutoff frequency of the torque reference low-pass filter is 4 times higher
than the maximum follow-up frequency of the speed loop. Therefore, the following
Filter time formula must be fulfilled.
constant
4 H07-05 1000
of torque ≥ (H08-00) x 4
2 x π x H07-05
reference
For example, when H08-00 is set to 40.0 Hz, the value of H07-05 must be less than or
equal to 1.00 ms.
If vibration occurs when you increase the value of H08-00, adjust the value of H07-05
to suppress vibration. For details, see "6.7 Vibration Suppression" .

Do not set H07-05 to a too large value. Otherwise, the responsiveness of the current
loop may be weakened.
To suppress vibration upon stop, increase the value of H08-00 and decrease the value
of H07-05.
If strong vibration occurs upon motor stop, decrease the value of H07-05.

☆ Related parameters

Value Setting Effective

Para. No. Name Unit Function Default
Range Condition Time

0.1 to Defines the proportional gain During

H08-00 Speed loop gain Hz Immediately 39.0
2000.0 of the speed loop. running

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 6 Gain Tuning

Value Setting Effective

Para. No. Name Unit Function Default
Range Condition Time

Speed loop integral 0.15 to Defines the integral time During

H08-01 ms Immediately 20.51
time constant 512.00 constant of the speed loop. running

0.1 to Defines the proportional gain During

H08-02 Position loop gain Hz Immediately 55.7
2000.0 of the position loop. running

Filter time constant 0.00 to Defines the filter time constant During
H07-05 ms Immediately 0.2
of torque reference 30.00 of the torque reference. running

6.5.2 Gain Switchover

Gain switchover, which is available only in position control and speed control, can be triggered by the
internal status of the servo drive or by an external DI. The following operations can be achieved through
gain switchover.

■■ Switching to the lower gain when the motor is at a standstill (servo ON) to suppress vibration

■■ Switching to the higher gain when the motor is at a standstill to shorten the positioning time

■■ Switching to the higher gain when the motor is running to achieve better command tracking
performance

■■ Switching between different gain settings through an external signal to fit different conditions of the
load devices

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 6 Gain Tuning

1 H08-08 = 0

The first group of gain parameters (H08-00 to H08-02, H07-05) are used, but proportional/proportional
integral control can be switched through DI function 3 (FunIN.3: GAIN_SEL, gain switchover) in the speed
loop.

Start

You can switch between P/PI control

Set H08-08 to 0.
for the speed loop.

Set bit26 of 60FE for gain switchover.

Set bit26 of 60FE.

No Yes
bit26 of 60FE
valid?

Speed loop being Speed loop being

PI control P control

End

Figure 6-6 Gain switchover flowchart (H08-08 = 0)

2 H08-08 = 1

Switchover between 1st group of gain parameters (H08-00 to H08-02, H07-05) and 2nd group of gain
parameters (H08-03 to H08-05, H07-06) is activated based on the setting of H08-09 (Gain switchover
condition).

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 6 Gain Tuning

Start

Set H08-08 to 1.

Set the gain

switchover
condition
(H08-09).

Yes
H08-09 = 0？

No

No
H08-09 = 1？

Yes

Assign FunIN.3
to a DI.

No Yes
DI logic active?

Fixed to the Use the 1st gain Use the 2nd Set
1st gain set. set. gain set. H08-10...H08-13.

End

Figure 6-7 Gain switchover flowchart (H08-08 = 1)

There are 11 conditions for gain switchover. The following table describes diagrams and related
parameters of different conditions.

Table 6-7 Conditions for gain switchover

Gain Switchover Condition Related Parameters

Gain Gain
Delay switchover switchover
H08-09 Condition Diagram
(H08-10) level dead time
(H08-11) (H08-12)

Fixed to the
0 - Invalid Invalid Invalid
1st gain set

Switched by
1 - Invalid Invalid Invalid
external DI

Actual speed

Torque Torque reference Switchover delay Switchover delay

2 Valid Valid (%) Valid (%)

reference
Switchover level

Switchover level

1st 2nd 1st 2nd 1st

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 6 Gain Tuning

Gain Switchover Condition Related Parameters

Gain Gain
Delay switchover switchover
H08-09 Condition Diagram
(H08-10) level dead time
(H08-11) (H08-12)

Speed reference
Switchover delay

Speed
3 Valid Valid Valid
reference
Switchover level

1st 2nd 1st

Speed reference

Speed Speed reference

change rate Switchover delay Switchover delay Valid Valid
4 reference Valid
(10 RPM/s) (10 RPM/s)
change rate Switchover level

Switchover level

1st 2nd 1st 2nd 1st

Speed reference

Speed Positive switchover dead time

Switchover level Valid Valid
5 reference Negative switchover dead time
Invalid
(RPM) (RPM)
threshold
1st 2nd 1st
Switching Switching
process process

Speed reference

Valid Valid
Position
6 Switchover delay Valid (encoder (encoder
deviation
Position deviation

unit) unit)
Switchover level

1st 2nd 1st

Position reference

Switchover delay
Position
7 Valid Invalid Invalid
reference

1st 2nd 1st

Position reference

Positioning completed signal

Positioning
8 Valid Invalid Invalid
completed Switchover delay

1st 2nd 1st

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 6 Gain Tuning

Gain Switchover Condition Related Parameters

Gain Gain
Delay switchover switchover
H08-09 Condition Diagram
(H08-10) level dead time
(H08-11) (H08-12)

Speed reference
Switchover delay

Valid Valid
9 Actual speed Switchover level Valid
(RPM) (RPM)

1st 2nd 1st

Position
Valid Valid
10 reference + See the following note for details. Valid
(RPM) (RPM)
Actual speed

H08-10 (Gain switchover delay) is valid only during switching from the 2nd gain set to the 1st gain set.
NOTE

With reference No pulse input |Actual speed|<

During Close to standstill
At standstill pulse continuously In a stable state Switchover level
operation (1st gain set, except the
(1st gain set) (2nd gain set) speed integral which comes
(2nd gain set)
from the 2nd gain set)

|Actual speed|< (Switchover level - Switchover dead time)

|Actual speed|< (Switchover level - Switchover dead time)

☆ Related parameters:

Para. Setting Effective

Name Value Range Unit Function Default
No. Condition Time
0: Fixed to the 1st gain set,
P/PI switched through
Defines the
2nd gain set external DI During
H08-08 - mode of the Immediately 1
mode 1: Switched between the 1st running
2nd gain set.
gain set and 2nd gain set as
defined by H08-09
0: Fixed to the 1st gain set
1: Switched through external
DI
2: Torque reference too large
3: Speed reference too large
4: Speed reference change
Gain rate too large Defines the
During
H08-09 switchover - gain switchover Immediately 0
5: Speed reference threshold running
condition condition.
6: Position deviation too large
7: Position reference available
8: Positioning completed
9: Actual speed too large
10: Position reference +
Actual speed
Gain Defines the
During
H08-10 switchover 0 to 10 - gain switchover Immediately 5.0
running
delay delay.

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 6 Gain Tuning

Para. Setting Effective

Name Value Range Unit Function Default
No. Condition Time
Gain Based on the Defines the
During
H08-11 switchover 0 to 20000 switchover gain switchover Immediately 50
running
level condition level.
Gain Based on the Defines the
During
H08-12 switchover 0 to 20000 switchover gain switchover Immediately 30
running
dead time condition dead time.
Position Defines the gain
gain switchover time During
H08-13 0.0 to 100.0 ms Immediately 3.0
switchover of the position running
time loop.

6.5.3 Position Reference Filter

Name Function Applicable Occasion Impact of Excessive Filter

Filters the position references The acceleration/deceleration process is

(in encoder unit) divided or not performed on the position references
Position
multiplied by the electronic gear sent from the host controller. The response delay is
reference
ratio to smoothen the running prolonged.
filter The pulse frequency is low.
process of the motor and reduce
the impact on the machine. The electronic gear ratio is larger than 10.

6.5.4 Feedforward Gain

1 Speed Feedforward

Speed feedforward
(H05-19)
Speed
feedforward
controller

Position 0
No speed feedforward Position
reference Position deviation +
Electronic Position Motor
input reference + Speed loop
gear ratio reference Position loop + Current loop
source and × × M
filter control control control
direction Internal speed 1 - -
feedforward Position Speed
feedback feedback
Speed
calculation
Encoder

Figure 6-8 Operating process for speed feedforward control

Speed feedforward can be applied to the position control mode to improve speed reference
responsiveness and reduce the position deviation during operation at a constant speed.

Operating procedure for speed feedforward:

1) Setting the speed feedforward signal source

Set H05-19 to a non-zero value to enable the speed feedforward function. The corresponding signal
source will be selected as well.

Para.
Name Value Range Description
No.

0: No speed feedforward -
Speed
H05-19 feedforward Defines the speed information corresponding to the
1: Internal speed
selection position reference (in encoder unit) as the speed
feedforward
feedforward signal source.

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 6 Gain Tuning

2) Setting the speed feedforward parameters (including H08-18 and H08-19)

Para.
Name Description
No.

Increase the
Increase the
value of H08-00 Position reference
value of H08-19
Speed and H08-02 Actual speed

feedforward
H08-18
filter time ◆◆ Parameter function:
constant
Increasing the value of H08-19 improves the responsiveness but may cause speed
overshoot during acceleration/deceleration.
Decreasing the value of H08-18 suppresses speed overshoot during acceleration/
deceleration. Increasing the value of H08-18 not only suppresses noises generated upon
long position reference update periods, long drive control periods and uneven position
Speed reference pulse frequencies, but also suppresses jitter of the positioning completed signal.
H08-19 feedforward
◆◆ Adjustment method:
gain
Set H08-18 to a fixed value first, and then increase the value of H08-19 gradually from 0 to
a certain value at which speed feedforward reaches the desired effect.
Adjust H08-18 and H08-19 repeatedly until a balanced performance is reached.

2 Zero phase control

Zero phase control is used to compensate for the position deviation generated upon delay of position
reference startup, reducing the position deviation upon start/stop of the position control mode.

The loop calculation model is shown in the following figure.

Speed
feedforward
gain (Kff)

+
+ Position + Speed loop/
Position loop control Position feedback
Current loop
reference - (Kpp)

Low-pass Delay
filter

■■ Setting parameters related to zero phase

Para. Value Min. Setting Effective

Name Description Default Width
No. Range Unit Condition Time

Setting H05-19 to 3 to enable zero

phase compensation feedforward.
Speed
Normal speed feedforward applies 16
H05-19 feedforward 0–3 1 1 At stop Immediately
when H08-17 is not involved. Zero bits
selection
phase control applies when H08-17
is involved.

The setpoint of H08-17 indicates the

Zero phase 16 During
H08-17 speed feedforward calculation time 0–4 0 1 ms Immediately
delay bits running
in advance.

Zero phase
Defines the low-pass filter time of 16
H05-04 low-pass 0–6553.5 0 0.1 ms At stop Immediately
position references. bits
filter time

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 6 Gain Tuning

3 Torque feedforward

Torque
feedforward
selection Torque
(H06-11) feedforward
controller

Speed Speed
No torque 0 +
reference deviation Motor
feedforward +
input Speed loop + Current loop
× × M
control control
Internal torque 1 -
feedforward
Speed
feedback
Speed
calculation
Encoder

Figure 6-9 Operating process for torque feedforward control

Torque feedforward can be applied to the position control mode to improve torque reference
responsiveness and reduce the position deviation during acceleration/deceleration at a constant speed.
Torque feedforward can also be applied to the speed control mode to improve torque reference
responsiveness and reduce the speed deviation during operation at a constant speed.

Operating procedure for torque feedforward:

1) Setting the torque feedforward signal source

Set H06-11 to 1 to enable the torque feedforward function. The corresponding signal source will be
selected as well.

Para.
Name Value Range Description
No.

0: No torque feedforward -
Torque Defines the speed reference as the torque feedforward
H06-11 feedforward 1: Internal torque signal source.
selection feedforward In the position control mode, the speed reference is
generated by the position controller.

2) Setting torque feedforward parameters

Para.
Name Description
No.

Parameter function:
Increasing the value of H08-21 improves the responsiveness but may cause speed
overshoot during acceleration/deceleration.
Torque
Decreasing the value of H08-20 suppresses overshoot during acceleration/deceleration.
feedforward
H08-20 Increasing the value of H08-20 suppresses the noise.
filter time
Adjustment method:
constant
Keep H08-20 to the default value, and then increase the value of H08-21 gradually from 0
to a certain value at which torque feedforward reaches the desired effect.
Adjust H08-20 and H08-21 repeatedly until a balanced performance is reached.

Torque
H08-21 feedforward For details, see "6.5.4 Feedforward Gain" .
gain

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 6 Gain Tuning

6.5.5 Pseudo Derivative Feedback and Feedforward Control

In the non-torque control mode, pseudo derivative feedback and feedforward (PDFF) control can be
used to adjust the speed loop control method.

Position Position
reference deviation

H08-24 = 50%

t
20 ms

Position
reference Position
deviation
H08-24 = 100%

t
160 ms

Position
Position
reference
deviation
H08-24 = 80%

t
90 ms

Figure 6-10 Example of PDFF control

Through adjusting the speed loop control method, PDFF control enhances the anti-disturbance capacity
of the speed loop and improves the performance in following speed references.

Para.
Name Description
No.

◆◆ Parameter function:
Defines the control method of the speed loop in the non-torque control mode.
◆◆ Adjustment method:
Do not set H08-24 to a too small value. Otherwise, the speed loop responsiveness
PDFF control
H08-24 will be affected.
coefficient
When the speed feedback overshoots, decrease the value of H08-24 gradually from
100.0 to a certain value at which the PDFF control achieves the desired effect.
When H08-24 is set to 100.0, the speed loop control method does not change and
the default proportional integral control is used.

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 6 Gain Tuning

6.5.6 Torque Disturbance Observation

This function is intended to be used in the non-torque control mode.

1 Disturbance observer 1

The disturbance observer is used to observe external disturbances. Disturbances within the frequency
range can be observed and suppressed through the cutoff frequency and compensation settings.

The following figure depicts the control block diagram, showing the location of the disturbance observer
1 in the control structure.

Position Speed loop Current loop

Motor
loop control control control

Disturbance
observer 1

1/s

◆◆ 1/s: Integral element

NOTE

Para. No. Name Description

Disturbance observer
H08-31 The higher the cutoff frequency is, the more easily will vibration occur.
cutoff frequency

Disturbance observer
H08-32 Defines the compensation percentage for observation.
compensation coefficient

Disturbance observer H08-33 needs to be set only if the inertia setpoint does not fit the actual
H08-33 inertia correction conditions. The effective inertia is the product of H08-33 multiplied by the
coefficient inertia setpoint. It is recommended to use the default value of H08-33.

☆ Related parameters

Para. Value Setting Effective

Name Unit Function Default
No. Range Condition Time

Disturbance Defines the cutoff

During
H08-31 observer cutoff 10 to 4000 1 Hz frequency of disturbance Immediately 600
running
frequency observer.

Disturbance Defines the

observer compensation During
H08-32 0 to 100 1% Immediately 0
compensation percentage of disturbance running
coefficient observer.

Disturbance Defines the correction

observer inertia coefficient of the During
H08-33 1 to 1600 1% Immediately 100
correction disturbance observer running
coefficient inertia.

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 6 Gain Tuning

6.5.7 Speed Observer

The speed observer is intended to be used in applications with slight load/inertia changes. It facilitates
quick positioning through improving the responsiveness and filtering high frequencies, shortening the
positioning time and improving the gain without incurring high-frequency vibration.

The block diagram for the speed observer is as follows.

Speed
reference Speed loop Current
+ control + M Load
loop control

Speed Torque
feedback
observed
Speed
observer
Actual speed feedback

1 Commissioning procedure

Restore the default gain

values.
Cancel parameter
auto-tuning,
gain switchover, and
feedforward.

Set the correct inertia

ratio.

Set the observer filter

(H08-29 = 60).

Turn on the speed

observer
(H08-40 = 1).

Increase the speed loop

gain (H08-00) to a value
not exceeding 600.

The speed
No feedback is
close to the speed
reference ?

Yes

Increase the position loop

gain to a value not
exceeding H08-00.

No Positioning
performance
OK?

Yes

End

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 6 Gain Tuning

2 Related parameters:

Min. Setting
Para. No. Name Value Range Default Effective Time
Unit Condition

During
H08-00 Speed loop gain Hz 0.1 to 2000 39 Immediately
running

During
H08-27 Speed observer cutoff frequency 1 Hz 50 to 600 170 Immediately
running

Speed observer inertia correction During

H08-28 1% 1 to 1600 100 Immediately
coefficient running

During
H08-29 Speed observer filter time 1 ms 0 to 10 0.8 Immediately
running

During
H08-40 Speed observer selection 1 0 to 1 0 Immediately
running

$"65*0/

◆◆ Before using the speed observer, set H08-15 (Load inertia ratio) to a proper value or perform
inertia auto-tuning. A wrong inertia ratio will cause vibration.
◆◆ Setting H08-27, H08-28, or H08-29 to a too small or too large value will cause motor vibration.

6.5.8 Model Tracking Function

The model tracking function, which is only available in the position control mode, can be used to
improve the responsiveness and shorten the positioning time.

Parameters used by model tracking are normally set automatically through ITune or ETune along with
the gain parameters. However, manual tuning is needed in the following situations:

■■ The auto-tuned values cannot fulfill the application needs.

■■ Improving the responsiveness takes priority over the auto-tuned values.

■■ Customized parameters for the gain or model tracking function are needed.

The block diagram for model tracking function is as follows.

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 6 Gain Tuning

Speed
Speed mode Move
command
Model tracking control
mKp, mVFF, mLPF

Time
Speed Torque
feedforwrd feedforward

Position control
loop Speed control
loop

Speed Servo motor

reference
Position Speed control Tf Current Power M
Deviation
loop gain loop control conversion
counter
Kp Kv, Ti loop

Current loop
Speed loop
PG
Position loop
Encoder

Servo unit
Host
controller Kp: Position loop gain (H08-02)
Kv: Speed loop gain (H08-00)
Ti: Speed loop integral time constant (H08-01)
Tf: Torque reference filter time constant (H07-05)
mKp: Model tracking control gain (H08-43)
mVFF: Model tracking control speed feedforward compensation (H08-46)
mLPF: Model filter time (H08-51)

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 6 Gain Tuning

1 Commissioning procedure

Perform mechanical
characteristic analysis
and set the correct
resonance point..

Set the correct inertia

ratio.

Improve the speed

loop stiffness (H08-00
and H08-01) and
reduce the torque
filter (H07-05).

No The speed
feedback is
close to the speed
reference?

Enable the model

tracking function
(H08-42 = 1).

Yes

Set H08-46 to 920.

Set H08-51 to 100.
Set H08-02 to the same
value as H08-00.
Set H08-43 to the same
value as H08-02.
Increase the value of
H09-30 or decrease
the value of H08-43.

Yes

Excessive No
overshoot
occurs?

Increase H08-43 to a No Positioning

value not exceeding performance
6000. OK?

Yes

End

2 Related parameters

Setting
Para. No. Name Min. Unit Value Range Default Effective Time
Condition

Torque reference filter time During

H07-05 1 ms 0 to 30 0.2 Immediately
constant running

During
H08-00 Speed loop gain Hz 0.1 to 2000 39 Immediately
running

Speed loop integral time During

H08-01 ms 0.15 to 512 20.51 Immediately
constant running

During
H08-02 Position loop gain Hz 0.1 to 2000 55.7 Immediately
running

H08-42 Model control selection 1 0 to 1 0 At stop Immediately

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 6 Gain Tuning

Setting
Para. No. Name Min. Unit Value Range Default Effective Time
Condition

During
H08-43 Model gain 1 0.1 to 2000 40 Immediately
running

During
H08-46 Model feedforward 1 0 to 102.4 95 Immediately
running

During
H08-51 Model filter time 2 0.01 ms 0 to 2000 0 Immediately
running

$"65*0/

Ensure the inertia is set correctly. If the inertia deviates greatly from the actual condition, motor
vibration will occur.

6.5.9 Friction Compensation

Friction compensation is used to reduce the impact of the friction on the mechanical transmission. Use
different positive/negative compensation values according to the running direction.

◆◆ Friction compensation is valid only in the position control mode.

NOTE

☆ Related parameters

Para. No. Para. Name Value Range Function

Defines the constant compensation

H09-32 Gravity compensation 0% to 100%
torque of vertical gravity load.

Positive friction Defines the friction compensation for

H09-33 0% to 100%
compensation forward position references.

Negative friction Defines the friction compensation for

H09-34 –100% to 0%
compensation reverse position references.

Friction compensation Defines the speed value after friction is

H09-35 0 RPM to 20RPM
speed threshold resisted.

0: Speed reference
1: Model speed (valid when
Friction compensation
H09-36 the model function is Defines the source of the speed threshold.
speed selection
activated)
2: Speed feedback

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 6 Gain Tuning

The diagram for friction compensation is as follows.

Speed
Forward

Gravity Positive friction

compensation compensation
(H09-32) (H09-33)
Time

Negative friction
compensation
(H09-34)

Reverse

Motor de-
energized
Motor energized (OFF)
(ON)

◆◆ When the speed is less than the speed threshold, static friction applies. When the speed exceeds
the speed threshold, dynamic friction applies. The compensation direction is determined by the
direction of the actual position reference. Forward direction requires a positive compensation value.
NOTE Reverse direction requires a negative compensation value.

6.6 Parameter Adjustment in Different Control Modes

Perform parameter adjustment in the following sequence:
"Inertia auto-tuning"=> "Gain auto-tuning" => "Manual gain tuning".

6.6.1 Parameter Adjustment in the Position Control Mode

1) Obtain the value of H08-15 (Load inertia ratio) through inertia auto-tuning.

2) Gain parameters in the position control mode are listed in the following tables.

■■ 1st gain set

Para. No. Name Function Default

Defines the filter time constant of the

H07-05 Torque reference filter time constant 0.2 ms
torque reference.

Defines the proportional gain of the speed

H08-00 Speed loop gain 39.0 Hz
loop.

Defines the integral time constant of the

H08-01 Speed loop integral time constant 20.51 ms
speed loop.

Defines the proportional gain of the

H08-02 Position loop gain 55.7 Hz
position loop.

■■ 2nd gain set

Para. No. Name Function Default

2nd torque reference filter time Defines the filter time constant of the
H07-06 0.27 ms
constant torque reference.

Defines the proportional gain of the speed

H08-03 2nd speed loop gain 75 Hz
loop.

2nd speed loop integral time Defines the integral time constant of the
H08-04 10.61 ms
constant speed loop.

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 6 Gain Tuning

Para. No. Name Function Default

Defines the proportional gain of the

H08-05 2nd position loop gain 120 ms
position loop.

H08-08 2nd gain mode Defines the mode of the 2nd gain set. 1

H08-09 Gain switchover condition Defines the gain switchover condition. 0

H08-10 Gain switchover delay Defines the gain switchover delay. 5.0 ms

H08-11 Gain switchover level Defines the gain switchover level. 50

H08-12 Gain switchover dead time Defines the gain switchover dead time. 30

Defines the gain switchover time of the

H08-13 Position gain switchover time 3.0 ms
position loop.

■■ Common gains

Para. No. Name Function Default

Speed feedforward filter time Defines the filter time constant of the
H08-18 0.50 ms
constant speed feedforward signal.

H08-19 Speed feedforward gain Defines the speed feedforward gain. 0.0%

Torque feedforward filter time Defines the filter time constant of the
H08-20 0.50 ms
constant torque feedforward signal.

H08-21 Torque feedforward gain Defines the torque feedforward gain. 0.0%

H08-22 Speed feedback filter selection Defines the speed feedback filter function. 0

Cutoff frequency of speed feedback Defines the cutoff frequency of the first-
H08-23 8000 Hz
low-pass filter order low-pass filter for speed feedback.

Defines the coefficient of the PDFF

H08-24 PDFF control coefficient 100.0%
controller.

Torque disturbance compensation Defines the gain of disturbance torque

H09-30 0.0%
gain compensation.

Filter time constant of torque Defines the filter time constant of the
H09-31 0.5 ms
disturbance observer disturbance observer.

Suppression mode for low- Defines the mode of suppressing low-

H09-04 0
frequency resonance frequency resonance.

Frequency of low-frequency Defines the frequency of the filter used to

H09-38 100.0 Hz
resonance suppression suppress low-frequency resonance.

Low-frequency resonance frequency Used to set the low-frequency resonance

H09-39 2
filter setting suppression filter.

Defines the position deviation threshold

Threshold of low-frequency
H0A-16 (in pulses) which can be judged as low- 0.0005 Rev
resonance position deviation
frequency resonance.

3) Perform gain auto-tuning to obtain the initial values of the 1st gain set (or 2nd gain set) and common
gains.

■■ Adjust the following gain parameters manually.

Para. No. Name Function

Filter time constant of torque

H07-05 Defines the filter time constant of the torque reference.
reference

H08-00 Speed loop gain Defines the proportional gain of the speed loop.

Speed loop integral time

H08-01 Defines the integral time constant of the speed loop.
constant

H08-02 Position loop gain Defines the proportional gain of the position loop.

H08-19 Speed feedforward gain Defines the speed feedforward gain.

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 6 Gain Tuning

6.6.2 Parameter Adjustment in the Speed Control Mode

Parameter adjustment in the speed control mode is the same as that in the position control mode except
for the position loop gains (H08-02 and H08-05). See section "6.6.1 Parameter Adjustment in the Position
Control Mode" for details.

6.6.3 Parameter Adjustment in the Torque Control Mode

Parameter adjustment in the torque control mode are differentiated based on the following conditions:

■■ If the actual speed reaches the speed limit, the adjustment method is the same as that described in
section 6.6.2.

■■ If the actual speed does not reach the speed limit, the adjustment method is the same as that
described in section 6.6.2, except for the position/speed loop gain and speed loop integral time
constant.

6.7 Vibration Suppression

The block diagram for vibration suppression is as follows.

Position loop Speed loop Current loop

NTF1 NTF2 NTF3 NTF4 Motor
control control control

VIBSUP3

Disturbance
observer

1/s

■■ NTF1–4: 1st notch to 4th notch

■■ VIBSUP3: Suppression of medium- and low-frequency vibration

■■ 1/s: Integral element

☆ Related parameters

Para. Max. Setting Effective

Name Default Unit Min. Value
No. Value Condition Time

Medium- and low-

During
H08-53 frequency jitter 0 Hz 0 300 Immediately
running
suppression frequency 3

Medium- and low-

frequency jitter During
H08-54 0 1% 0 200 Immediately
suppression compensation running
3

Medium- and low-

frequency jitter During
H08-56 100 1% 0 600 Immediately
suppression phase running
modulation 3

Medium- and low-

During
H08-59 frequency jitter 0 Hz 0 300 Immediately
running
suppression frequency 4

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 6 Gain Tuning

Para. Max. Setting Effective

Name Default Unit Min. Value
No. Value Condition Time

Medium- and low-

frequency jitter During
H08-60 0 1% 0 200 Immediately
suppression compensation running
4

Medium- and low-

frequency jitter During
H08-61 100 1% 0 600 Immediately
suppression phase running
modulation 4

◆◆ Jitter suppression phase modulation: synchronous phase adjustment of the compensation value and
jitter. It is recommended to use the default value. Adjustment is needed only when the phase of the
compensation deviates sharply from the phase of the vibration.

NOTE ◆◆ Jitter suppression frequency: Defines the jitter frequency to be suppressed.

◆◆ Jitter suppression compensation: Defines the compensation magnitude for jitter suppression.

6.7.1 Suppression of Mechanical Resonance

Resonance frequency is present in the mechanical system. When the gain increases, resonance may
occur near the resonance frequency, disabling further increase of the gains.

Mechanical resonance can be suppressed in the following two methods:

1) Torque reference filter (H07-05, H07-06)

To suppress the mechanical resonance, set the filter time constant to enable the torque reference to be
attenuated in the frequency range above the cutoff frequency.

Filter cutoff frequency fc (Hz) = 1/[2 x H07-05 (ms) x 0.001]

2) Notch

The notch reduces the gain at certain frequencies to suppress the mechanical resonance. After the
vibration is suppressed by the notch, you can continue to increase the gain. The operating principle of
the notch is shown in the following figure.

Amplitude-frequency
characteristic of the
mechanical system Mechanical resonance frequency

Frequency

Notch
characteristics
Notch width

Notch depth

fL fH

Notch center frequency fT Frequency

Figure 6-11 Operating principle of the notch

A total of four notches can be used, and each is defined by three parameters: frequency, width level, and
depth level. Parameters of the 1st and 2nd manual notches are set manually by the user. Parameters
of the 3rd and 4th notches can be either set manually or set automatically after being configured as an
adaptive notch (H09-02 = 1 or 2).

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 6 Gain Tuning

Table 6-8 Description of notch parameters

Manual Notch Manual/Adaptive Notch

Item
1st Notch 2nd Notch 3rd Notch 4th Notch

Frequency H09-12 H09-15 H09-18 H09-21

Width level H09-13 H09-16 H09-19 H09-22

Depth level H09-14 H09-17 H09-20 H09-23

◆◆ When the "frequency" is the default value (4000 Hz), the notch is invalid.
◆◆ The adaptive notch is preferred for resonance suppression. The manual notch can be used in cases
NOTE where the adaptive notch cannot deliver desired performance.

Start

Yes Adaptive No
notch used?

One
Yes No
resonance
frequency?

Two
No Analyze the
resonance
frequencies? resonance frequency.

Set H09-02 to 1. Yes

Set H09-02 to 2.

Input notch
3rd notch parameters parameters.
3rd notch parameters
updated
updated
automatically
automatically
(H09-18 to H09-20)
(H09-18 to H09-20)

4th notch parameters

updated
automatically
(H09-21 to H09-23)

Yes Resonance No
suppressed?

Set H09-02 to 0 after Switch off the S-ON

the operation is signal and use the
stabilized. manual notch.

End

Figure 6-12 Procedure for using the notch

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 6 Gain Tuning

■■ Procedure for using the adaptive notch

1) Set H09-02 (Adaptive notch mode) to 1 or 2 based on the number of resonance frequency points.

2) When resonance occurs, set H09-02 to 1 to enable one adaptive notch first. If new resonance occurs
after the gain is adjusted, set H09-02 to 2 to enable two adaptive notches.

3) Parameters of the 3rd or 4th notches are updated automatically during operation, and parameter
values are saved automatically to the corresponding parameters in group H09 every 30 minutes.

4) If resonance is suppressed, it indicates the adaptive notch functions well. After the servo drive
operates stably for a period of time, set H09-02 to 0 to fix the adaptive notch parameters to the latest
setpoints. This is to prevent notch parameters from being updated to the wrong values, causing
malfunction of the servo drive and intensifying vibration.

5) If vibration persists, switch off the S-ON signal.

6) If there are more than two resonance frequencies, use both the adaptive notch and manual notch to
suppress the resonance or use all the four notches as manual notches (H09-02 = 0).
◆◆ When adaptive notch is applied, if the S-OFF signal is activated within 30 min, notch parameters will
not be saved into corresponding parameters.
◆◆ When the resonance frequency is below 300 Hz, the suppression effect of the adaptive notch may be
degraded.
NOTE

■■ Procedure for using the manual notch:

1) Step 1: Analyze the resonance frequency.

2) Step 2: When using the manual notch, set the notch frequency to the same value as the actual
resonance frequency, which is obtained through the following methods:

a) Use the "Mechanical characteristic analysis" function in Inovance software tool.

b) Calculate the resonance frequency based on the motor phase current displayed on the
oscilloscope interface of the software tool.

c) Set H09-02 (Adaptive notch mode) to 3. The servo drive detects the resonance frequency and
saves the detected value in H09-24 (Auto-tuned resonance frequency) automatically after start.

3) Step 3: Enter the resonance frequency obtained in step 1 into the parameter of the selected notch,
and enter the width level and depth level of this notch.

4) If the resonance is suppressed, it indicates the notch functions well and you can continue adjusting
the gain. If new resonance occurs, repeat steps 1 and 2.

5) If vibration persists, switch off the S-ON signal.

■■ Width level of the notch

The width level indicates the ratio of the notch width to the center frequency of the notch.

Notch width level =

fH-fL
fT

In which:

f T: Center frequency of the notch, which is also the mechanical resonance frequency

fH-fL: Notch width, indicating the frequency width whose amplitude attenuation rate is -3 dB in relative to
the notch center frequency

The default value 2 applies to general applications.

■■ Depth Level of the notch

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

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 6 Gain Tuning

When the depth level is 0, the input is completely suppressed at the center frequency. When the depth
level is 100, the input can be fully received at the center frequency. Therefore, the smaller the depth level
is, the larger the notch depth is, and the stronger the suppression effect will be. Note that a too small
depth level may lead to system oscillation.
◆◆ If the amplitude-frequency characteristic curve obtained through the mechanical characteristic
analysis tool does not have obvious spikes but vibration does occur in actual operations, it indicates
the gain limit of the servo drive may be reached, which causes the vibration. Such vibration, which is
NOTE not mechanical resonance that normally suppressed by a notch, can be suppressed only by reducing
the gains or the torque reference filter time.

Their relation is shown in the following figure.

10 Depth: 50 Width: 4
5 Depth: 0 Width: 4
0 Depth: 0 Width: 8
-5
-10
-15
-20
-25
-30

10 100 1000

Figure 6-13 Notch frequency characteristics

☆ Related parameters

Para. Setting Effective

Name Value Range Unit Function Default
No. Condition Time
0: Parameters of the 3rd and 4th
notches not longer updated
1: One adaptive notch activated,
parameters of the 3rd notch
updated in real time based on
the vibration condition
2: Two adaptive notches
activated, parameters of the
Defines the working
Adaptive 3rd and 4th notches updated in During
H09-02 - mode of the adaptive Immediately 3
notch mode real time based on the vibration running
notch.
condition
3: Resonance frequency
detected only, displayed in
H09-24
4: Adaptive notch cleared,
parameters of the 3rd and 4th
notches restored to default
settings
Defines the
Frequency of During
H09-12 50 to 8000 Hz frequency of the 1st Immediately 8000
the 1st notch running
notch.
Width level of Defines the width During
H09-13 0 to 20 - Immediately 2
the 1st notch level of the 1st notch. running
Defines the
Depth level of During
H09-14 0 to 99 - attenuation level of Immediately 0
the 1st notch running
the 1st notch.
Defines the
Frequency of During
H09-15 50 to 8000 Hz frequency of the 2nd Immediately 8000
the 2nd notch running
notch.

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 6 Gain Tuning

Para. Setting Effective

Name Value Range Unit Function Default
No. Condition Time
Defines the width
Width level of During
H09-16 0 to 20 - level of the 2nd Immediately 2
the 2nd notch running
notch.
Defines the
Depth level of During
H09-17 0 to 99 - attenuation level of Immediately 0
the 2nd notch running
the 2nd notch.
Defines the
Frequency of During
H09-18 50 to 8000 Hz frequency of the 3rd Immediately 8000
the 3rd notch running
notch.
Defines the width
Width level of During
H09-19 0 to 20 - level of the 3rd Immediately 2
the 3rd notch running
notch.
Defines the
Depth level of During
H09-20 0 to 99 - attenuation level of Immediately 0
the 3rd notch running
the 3rd notch.
Defines the
Frequency of During
H09-21 50 to 8000 Hz frequency of the 4th Immediately 8000
the 4th notch running
notch.
Defines the width
Width level of During
H09-22 0 to 20 - level of the 4th Immediately 2
the 4th notch running
notch.
Defines the
Depth level of During
H09-23 0 to 99 - attenuation level of Immediately 0
the 4th notch running
the 4th notch.
Displays the
Auto-tuned
resonance frequency
H09-24 resonance 0 to 5000 Hz - - 0
detected when
frequency
H09-02 is set to 3.

6.7.2 Low Frequency Resonance Suppression at the Mechanical Load End

End part

Motor

Table

Figure 6-14 Low frequency vibration at the mechanical load end

If the mechanical load end is long and heavy, vibration may easily occur on this part during emergency
stop, affecting the positioning effect. Such vibration is called low frequency resonance as its frequency is
generally within 100 Hz, which is smaller than the mechanical resonance frequency mentioned in "6.7.1
Suppression of Mechanical Resonance". Use the low frequency resonance suppression function to suppress
such vibration.

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 6 Gain Tuning

Start

Perform tests
(three modes optional).

Input the low frequency

resonance suppression
filter parameters.
(H09-38, H09-39,
H09-44 to H09-52)

End

Figure 6-15 Procedure for setting low frequency resonance suppression filter

First, collect the position deviation waveform in the motor positioning mode by using the oscilloscope
function in Inovance software tool and calculate the position deviation fluctuation frequency, which is
the low-frequency resonance frequency. Next, input H09-38 (or H09-44) and H09-49 manually, and keep
the values of other parameters to their default values. Observe the suppression effect after using the low
frequency resonance suppression filter.

Position
deviation

Before suppression

After suppression

Time (t)

Figure 6-16 Effect of low-frequency resonance suppression

☆ Related parameters

Para. Value Setting Effective

Name Unit Function Default
No. Range Condition Time
Low-frequency Defines the frequency for suppressing
1.0 to During
H09-38 resonance suppression Hz low-frequency resonance at the Immediately 100.0
100.0 running
frequency mechanical load end.
Low-frequency Defines the low-frequency resonance During
H09-39 0 to 3 - Immediately 2
resonance suppression suppression level. running
Frequency of low- Defines the frequency for the 2nd
frequency resonance 0 to group of low-frequency resonance During
H09-44 Hz Immediately 0
suppression 2 at the 200.0 suppression. If H09-44 is set to 0, this running
mechanical load end function is invalid.

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 6 Gain Tuning

Para. Value Setting Effective

Name Unit Function Default
No. Range Condition Time
Defines the response of the 2nd
group of low-frequency resonance
Response of low- suppression. Increasing the value
frequency resonance 0.01 to of H09-45 reduces the delay caused During
H09-45 Hz Immediately 1.00
suppression 2 at the 10.00 by suppression and improves running
mechanical load end responsiveness. Note that setting
H09-45 to a too large value may incur
vibration.
Defines the width of the 2nd
Width of low-frequency
group of low-frequency resonance
resonance suppression 0 to During
H09-47 Hz suppression. Increase the value of Immediately 1.00
2 at the mechanical 2.00 running
H09-47 in cases where the vibration
load end
frequency changes during operation.
Frequency of low- Defines the frequency of the 3rd
0 Hz to
frequency resonance group of low-frequency resonance During
H09-49 200.0 Hz Immediately 0
suppression 3 at the suppression. If H09-49 is set to 0, this running
Hz
mechanical load end function is invalid.
Defines the response of the 3rd
group of low-frequency resonance
Response of low- suppression. Increasing the value
frequency resonance 0.01 to of H09-50 reduces the delay caused During
H09-50 Hz Immediately 1.00
suppression 3 at the 10.00 by suppression and improves running
mechanical load end responsiveness. Note that setting
H09-50 to a too large value may incur
vibration.
Defines the width of the 3rd group
Width of low-frequency
of low-frequency resonance
resonance suppression 0 to During
H09-52 Hz suppression. Increase the value of Immediately 1.00
3 at the mechanical 2.00 running
H09-52 in cases where the vibration
load end
frequency changes during operation.

6.8 Mechanical Characteristic Analysis

6.8.1 Overview

Mechanical characteristic analysis is used to determine the mechanical resonance point and system
bandwidth. An analysis of response characteristics up to 8 kHz is available and three modes including
mechanical characteristics, speed open loop and speed closed loop are supported.

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 6 Gain Tuning

6.8.2 Operating Procedure

Open the software tool, and click Mechanical

characteristic analysis on the menubar.

Perform tests.
（three mode available).

Distortion Yes Reduce current Vibration

occurs due to excessive Reduce the gains.
excitation.
vibration?

No

Yes
Motor overtravel
occurs?

No

Yes Increase the

Excessive waveform smoothing
noise occurs? factor.

No

End

Figure 6-17 Operating procedure for mechanical characteristic analysis

◆◆ To avoid strong vibration during test, set the current excitation to 10% during initial execution.
◆◆ The analysis waveform may be distorted if the current excitation is too small.
◆◆ If the vibration generated during test cannot be eliminated by reducing the current excitation, the
possible causes and solutions are as follows:
1) The gain is too high. Reduce the speed gain or set the notch based on the auto-tuned resonance
NOTE point.
2) The inertia ratio is too large. Set the inertia ratio properly.
◆◆ In the mechanical characteristic test mode, waveforms before and after notch settings are consistent.
In the speed closed loop and speed open loop modes, waveforms are attenuated after notch settings.

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 6 Gain Tuning

Figure 6-18 Example of the waveform obtained

Figure 6-18 shows an example of the waveform obtained with the mechanical characteristic analysis.

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 7 Control Modes

7 Control Modes
The servo system consists of three major parts: servo drive, servo motor, and feedback encoder.

Servo drive

Reference Motor
input + Position loop + Speed loop + Current loop
× × × M
control control control
- - -
Position Speed Current
feedback feedback feedback
Speed
calculation

Feedback
encoder

Figure 7-1 Structure of a basic servo system

The servo drive, which is the core of a servo system, serves to perform accurate position, speed and
torque control on a servo motor. It supports four control modes, namely position control, speed control,
torque control, and compound (combination of position, speed and torque) control. Position control is
the most important control mode of a servo system.

Descriptions of the control modes are as follows:

■■ Position control
In the position control mode, the target position of a motor is determined by the sum of position
references, and the motor speed is determined by the position reference frequency. The servo drive
performs quick and accurate position and speed control through the feedback encoder installed
on the motor or an external encoder (fully closed-loop control). The position control mode mainly
applies to applications requiring positioning control, such as the manipulator, SMT machine,
engraving and milling machine, and CNC machine tool.

■■ Speed control
In the speed control mode, the servo drive performs quick and accurate speed control through
the speed reference sent through communication. The speed control mode mainly applies to
applications requiring speed control or where a host controller is used for position control or the
commands sent from the host controller are used as the speed references for the servo drive, such
as the engraving and milling machine.

■■ Torque control
In the torque control mode, the motor current is in linear relation with the torque. Therefore, torque
control is implemented through current control. The output torque of the motor is controlled by
the torque reference sent through communication. The torque control mode mainly applies in
applications requiring strict tension control. For example, in winding/unwinding devices, torque
references are used to prevent the material from being affected by changes in the winding radius.

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 7 Control Modes

7.1 Servo Drive Status Setting

Follow the process stipulated in the standard 402 protocol when operating the SV660N servo drive.
Failure to comply may cause the servo drive to operate in the wrong state.
Start
13

0 Stop upon fault

14
Initialization

Fault
1
15

No fault

2 7

Ready for S-ON

12 10 3 6

Wait for S-ON 8 9

Quick stop
4 5

16 11

Operating

Figure 7-2 CiA402 state machine switchover

See the following table for the descriptions of different states.

Initialization of the servo drive and internal self-check are done.

Initialization
The servo drive parameters cannot be set. The driving functions cannot be executed.
No fault exists in the servo drive or the fault has been cleared.
No fault
The servo drive parameters can be set.
The servo drive is ready to run.
Ready for S-ON
The servo drive parameters can be set.
The servo drive is waiting to be switched on.
Wait for S-ON
The servo drive parameters can be set.
The servo drive is operating properly and a certain operation mode has been enabled. The
Operating motor is energized and starts rotating when the speed reference is not 0.
Only the parameter whose attribute is "Modifiable during running" can be set.
Quick stop is activated and the servo drive is in the process of quick stop.
Quick stop
Only the parameter whose attribute is "Modifiable during running" can be set.
A fault occurs and the servo drive is in the process of stop upon fault.
Stop upon fault
Only the parameter whose attribute is "Modifiable during running" can be set.
The stop process is done and all the driving functions are disabled. Parameters can be
Fault
modified for troubleshooting.

The following table describes the switchover between the control commands and servo drive status.

CiA402 Status Switchover Control Word 6040h bit0 to bit9[1] of Status Word 6041h

Natural transition, control command

0 Power-on → Initialization 0x0000
not required

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 7 Control Modes

CiA402 Status Switchover Control Word 6040h bit0 to bit9[1] of Status Word 6041h

Natural transition, control command

not required
1 Initialization → No fault If an error occurs during initialization, 0x0250/0x270
the servo drive directly goes to status
13.

2 No fault -> Ready for S-ON 0x0006 0x0231

Ready for S-ON -> Wait for

3 0x0007 0x0233
S-ON

4 Wait for S-ON-> Operating 0x000F 0x0237

5 Operating -> Wait for S-ON 0x0007 0x0233

Wait for S-ON -> Ready for

6 0x0006 0x0231
S-ON

7 Wait for S-ON -> No fault 0x0000 0x0250

Operating -> Ready for

8 0x0006 0x0231
S-ON

9 Operating -> No fault 0x0000 0x0250

10 Wait for S-ON -> No fault 0x0000 0x0250

11 Operating -> Quick stop 0x0002 0x0217

Set 605A to a value between 0 to 3.

12 Quick stop -> No fault Natural transition applies after stop 0x0250
and no control command is required.

Once a fault occurs in any status

other than "fault", the servo drive
13 -> Stop upon fault automatically switches to the stop- 0x021F
upon-fault state, requiring no control
command.

Natural transition applies after stop

14 Stop upon fault -> Fault 0x0218
and no control command is required.

0x80
Bit7 is rising edge-triggered.
15 Fault -> No fault 0x0250
If the value of bit7 is 1, other control
commands are invalid.

Set 605A to a value between 5 to 7.

16 Quick stop -> Operating 0x0237
0x0F will be sent upon stop.

[1] bit10 to bit15 of 6041h are related to the operating status of the servo drive, and their values are represented as 0
in the preceding table. For details on the status of these bits, view the operating modes of the servo drive.

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 7 Control Modes

7.1.1 Control Word 6040h

Setting
During
Condition Data
Name Control word running & VAR Data Type Uint16
Index & Effective Structure
Immediately
6040h Time

Related
Access RW Mapping RPDO All Value Range 0 to 65535 Default 0
Mode

Used to set the control command.

Bit Name Description

0 Switch on 1: Valid, 0: Invalid
1 Enable voltage 1: Valid, 0: Invalid
2 Quick stop 0: Valid, 1: Invalid
3 Enable operation 1: Valid, 0: Invalid
4 to 6 Operation mode-specific Related to the servo drive modes.
0: Invalid
0 -> 1: Fault reset is implemented for faults and
7 Fault reset warnings that can be reset.
1: Other control commands are invalid.
1 -> 0: Invalid
8 Halt 1: Valid, 0: Invalid
9 Operation mode-specific Related to the servo drive operation modes.
10 Reserved Undefined
11 to 15 Manufacturer-specific Defined by the manufacturer.
Note:
◆◆ All bits in the control word constitute a control command.
◆◆ The meaning of bit0 to bit3 and bit7 are the same in each mode of the servo drive. The servo drive switches to the
preset status according to CiA402 state machine only when control words are sent in sequence. Each command
corresponds to a certain status.
◆◆ The meanings of bit4 to bit6 vary with each mode. For details, see parameters related to each mode.
◆◆ The bit9 is not defined.

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 7 Control Modes

7.1.2 Status Word 6041h

Setting
Condition Data
Name Status word - VAR Data Type Uint16
Index & Effective Structure
6041h Time

Related
Access RO Mapping TPDO All Value Range - Default 0
Mode

Indicates the servo drive status.

15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0
ms oms ila tr rm ms w sod qs ve f oe so rtso
MSB LSB

Note：ms=manufacturer-specific；oms =operation mode specific；ila =internal limit actIve；

tr=target reached；rm=remote；w=warning；sod=switch on disabled；qs=quick stop；ve=voltage
enabled；f=fault；oe=operation enabled；so=switch on；rtso=ready to switch on

Bit Name Description

0 Ready to switch on 1: Valid, 0: Invalid
1 Switch on 1: Valid, 0: Invalid
2 Operation enabled 1: Valid, 0: Invalid
3 Fault 1: Valid, 0: Invalid
4 Voltage enabled 1: Valid, 0: Invalid
5 Quick stop 0: Valid, 1: Invalid
6 Switch on disabled 1: Valid, 0: Invalid
7 Warning 1: Valid, 0: Invalid
8 Manufacturer-specific Undefined
1: Valid, control word activated
9 Remote
0: Invalid
10 Target reached 1: Valid, 0: Invalid
11 Internal limit active 1: Valid, 0: Invalid
12 to 13 Operation mode specific Related to the servo drive operation modes.
14 Manufacturer-specific Undefined
15 Home found 1: Valid, 0: Invalid

Binary Value Description

xxxx xxxx x0xx 0000 Not ready to switch on
xxxx xxxx x1xx 0000 Switch on disabled
xxxx xxxx x01x 0001 Ready to switch on
xxxx xxxx x01x 0011 Switched on
xxxx xxxx x01x 0111 Operation enabled
xxxx xxxx x00x 0111 Quick stop active
xxxx xxxx x0xx 1111 Fault reaction active
xxxx xxxx x0xx 1000 Fault

Note:
◆◆ Meanings of bit0 to bit9 are the same in each mode of the servo drive. After control commands in 6040h are
sent in sequence, the servo drive returns an acknowledged status.
◆◆ Meanings of bit12 to bit13 vary with the servo drive modes. For details, see parameters related to each mode.
◆◆ Meanings of bit10, bit11, and bit15 are the same in each mode of the servo drive and indicate the servo drive
status after a certain control mode is implemented.

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 7 Control Modes

7.2 Operation Mode Setting

7.2.1 Introduction to Servo Drive Operation Modes

The SV660N supports seven operations modes, as defined in 6502h.

Setting
Condition Data
Name Supported drive modes - VAR Data Type Uint32
Index & Effective Structure
6502h Time

Related Value
Access RO Mapping No - - Default 0x000003ADh
Mode Range

Shows the servo drive modes supported.

Supported or Not
Bit Description
(0: No 1: Yes)

0 Profile position (PP) mode 1

1 Velocity (VL) mode 0
2 Profile velocity (PV) mode 1
3 Profile torque (PT) mode 1
4 N/A 0
5 Homing (HM) mode 1
6 Interpolated position (IP) mode 0
7 Cyclic synchronous position (CSP) mode 1
8 Cyclic synchronous velocity (CSV) mode 1
9 Cyclic synchronous torque (CST) mode 1
10 to 31 Defined by the manufacturer Reserved

If the device supports 6502h, you can get the supported servo drive modes through 6502h.

The pre-operating mode of the servo drive is set in 6060h. The present operating mode of the servo drive
can be viewed in object dictionary 6061h.

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 7 Control Modes

■■ 6060h (Modes of operation)

Setting
During
Condition Data Data
Name Modes of operation running & VAR Int8
Index & Effective Structure Type
Immediately
6060h Time

Related Value
Access RW Mapping RPDO All 0 to 10 Default 0
Mode Range
Defines the mode of servo drive operation.

Value Modes of Operation

0 N/A Reserved
1 Profile position (PP) mode See "7.6 Profile Position (PP) Mode"
2 N/A Reserved
3 Profile velocity (PV) mode See "7.7 Profile Velocity (PV) Mode"
4 Profile torque (PT) mode See "7.8 Profile Torque (PT) Mode"
5 N/A Reserved
6 Homing (HM) mode See "7.9 Homing Mode (HM)".
7 Interpolated position (IP) mode Not supported
8 Cyclic synchronous position (CSP) mode See "7.3 Cyclic Synchronous Position (CSP) Mode"
9 Cyclic synchronous velocity (CSV) mode See "7.4 Cyclic Synchronous Velocity (CSV) Mode"
10 Cyclic synchronous torque (CST) mode See "7.5 Cyclic Synchronous Torque (CST) Mode"
If an operation mode not supported is set through SDO, an SDO error will be returned. For details, see "12.2 List of
Object Groups" .
If an operation mode not supported is set through PDO, this operation mode is invalid.

■■ 6061h (Modes of operation display)

Setting
Condition Data
Name Modes of operation display - VAR Data Type Int8
Index & Effective Structure
6061h Time

Related Value
Access RO Mapping TPDO All 0 to 10 Default 0
Mode Range
Displays the present operation mode of the servo drive.

Value Modes of Operation

0 N/A Reserved
1 Profile position (PP) mode See "7.6 Profile Position (PP) Mode"
2 N/A Reserved
3 Profile velocity (PV) mode See "7.7 Profile Velocity (PV) Mode"
4 Profile torque (PT) mode See "7.8 Profile Torque (PT) Mode"
5 N/A Reserved
6 Homing (HM) mode See "7.9 Homing Mode (HM)"
7 Interpolated position (IP) mode Not supported
8 Cyclic synchronous position (CSP) mode See "7.3 Cyclic Synchronous Position (CSP) Mode"
9 Cyclic synchronous velocity (CSV) mode See "7.4 Cyclic Synchronous Velocity (CSV) Mode"
10 Cyclic synchronous torque (CST) mode See "7.5 Cyclic Synchronous Torque (CST) Mode"

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 7 Control Modes

7.2.2 Communication Cycles

SV660N series servo drives support a synchronization cycle of 125 µs (or an integer multiple of 125 μs).

7.3 Cyclic Synchronous Position (CSP) Mode

In CSP mode, the host controller generates position references and sends the target position to the servo
drive cyclically. The servo drive executes position control, speed control, and torque control.

7.3.1 Configuration Block Diagram

CSP mode (0x6060=8)

Position offset (0x60B0)
Position actual value
Target position (0x607A) (0x6064)

Following error actual value

Velocity offset (0x60B1) (0x60F4)
Servo control
Velocity actual value
Torque offset (0x60B2)
(0x606C)
Torque actual value
(0x6077)

Figure 7-3 CSP mode

7.3.2 Related Objects

Index Sub-index Data

Name Access Unit Value Range Default
(hex) (hex) Type

6040 00 Control word RW Uint16 - 0 to 65535 0

6041 00 Status word RO Uint16 - - 0

6060 00 Modes of operation RW Int8 - 0 to 10 0

Modes of operation
6061 00 RO Int8 - - 0
display

6064 00 Position actual value RO Int32 Reference unit - -

606C 00 Velocity actual value RO Int32 Reference unit/s - -

607A 00 Target position RW Int32 Reference unit –2 to +(2 – 1)

31 31
0

607E 00 Polarity RW Uint8 - 0 to 255 0

60B0 00 Position offset RW Int32 Reference unit –231 to +(231 – 1) 0

60B1 00 Velocity offset RW Int32 Reference unit/s –231 to +(231 – 1) 0

60B2 00 Torque offset RW Int16 0.1% –3000 to +3000 0

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 7 Control Modes

7.3.3 Related Function Settings

1 Position deviation monitoring function

☆ Related parameters

Setting
During
Condition Data Data
Name Following error window running & VAR Uint32
& Effective Structure Type
Index Immediately
Time
6065h
0 to (232 - 1)
Related Value
Access RW Mapping RPDO PP/HM/CSP (reference Default 3145728
Mode Range
unit)
Defines the threshold of excessive position deviation (in reference unit).
If 6065h is set to a too large value, the warning threshold of excessive position deviation will be 2147483647 encoder
units.

Setting
During
Condition Data Data
Name Following error time out running & VAR Uint16
& Effective Structure Type
Index Immediately
Time
6066h
0 to
Related Value
Access RW Mapping RPDO PP/HM/CSP 65535 Default 0
Mode Range
(ms)

Defines the time lapse to trigger excessive position deviation (EB00.0).

If the position deviation exceeds the threshold of excessive position deviation and such status persists after the
time defined by 6066h elapses, EB00.0 (Excessive position deviation) will occur.

2 Position reference polarity

You can change the position reference direction through setting the position reference polarity.

☆ Related parameter

Setting
During
Condition Data Data
Name Polarity running & VAR Uint8
Index & Effective Structure Type
Immediately
607Eh Time
Related Value 0 to
Access RW Mapping RPDO All Default 0
Mode Range 255
Defines the polarity of the position, speed, and torque reference.

Bit Description
Position polarity
0: Multiply by 1
7 1: Multiply by -1
PP: Inverting the target position (607Ah)
CSP: Inverting the position reference (607Ah+60B0h)

7.3.4 Recommended Configuration

The basic configuration for CSP mode is described in the following table.

RPDO TPDO Description

6040: Control word 6041: Status word Mandatory

607A: Target position 6064: Position actual value Mandatory

6060: Modes of operation 6061: Modes of operation display Optional

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 7 Control Modes

7.3.5 Related Parameters

Setting
During
Condition Data
Name Control word running & VAR Data Type Uint16
Index & Effective Structure
Immediately
6040h Time
Related Value
Access RW Mapping RPDO All 0 to 65535 Default 0
Mode Range
Defines the control commands.

Bit Name Description

0 Switch on 1: Valid, 0: Invalid
1 Enable voltage 1: Valid, 0: Invalid
2 Quick stop 0: Valid, 1: Invalid
3 Enable operation 1: Valid, 0: Invalid
The CSP mode only supports absolute position references.

Setting
Condition Data
Name Status word - VAR Data Type Uint16
Index & Effective Structure
6041h Time

Related
Access RO Mapping TPDO All Value Range - Default 0
Mode

Shows the servo drive status.

Bit Name Description

0 Ready to switch on 1: Valid, 0: Invalid
1 Switch on 1: Valid, 0: Invalid
2 Operation enabled 1: Valid, 0: Invalid
3 Fault 1: Valid, 0: Invalid
4 Voltage enabled 1: Valid, 0: Invalid
5 Quick stop 0: Valid, 1: Invalid
6 Switch on disabled 1: Valid, 0: Invalid
7 Warning 1: Valid, 0: Invalid
8 Manufacturer-specific Undefined
1: Valid, control word activated
9 Remote
0: Invalid
10 Target reached Not supported, always being 1
0: Position reference within the limit
11 Internal limit active
1: Position reference beyond the limit
12 Drive follows the command value Not supported, always being 1
0: EB00.0 (Excessive position deviation) not reported
13 Following error
1: EB00.0 (Excessive position deviation) reported
14 Manufacturer-specific Undefined
0: Homing not completed
15 Home found
1: Homing completed

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 7 Control Modes

Setting
During
Condition Data Data
Name Target position running & VAR Int32
& Effective Structure Type
Index Immediately
Time
607Ah
-231 to +(231 - 1)
Related Value
Access RW Mapping RPDO PP/CSP (reference Default 0
Mode Range
unit)

Defines the target position in PP mode and CSP mode.

In CSP mode, 607Ah represents the absolute target position. In PP mode, 607Ah represents either the incremental
position or the absolute position as defined by the control word.

Setting
During
Condition Data Data
Name Position offset running & VAR Int32
& Effective Structure Type
Index Immediately
Time
60B0h
-231 to +(231 - 1)
Related Value
Access RW Mapping RPDO CSP (reference Default 0
Mode Range
unit)
Defines the position offset in CSP mode.
The sum of 607Ah and 60B0h determines the target position of the servo drive.
Target position = 607Ah + 60B0h

Setting
Condition During Data Data
Name Velocity offset VAR Int32
& Effective running Structure Type
Index Time
60B1h
-231 to +(231 - 1)
Related Value
Access RW Mapping RPDO CSP/CSV (reference unit/ Default 0
Mode Range
s)

Defines the external velocity feedforward signal of EtherCAT in the CSP mode when 2005-14h is set to 2. 60B1h can
be used to reduce the position deviation during positioning. After the positioning is done, set the velocity offset to 0.
Failure to comply will cause deviation between the positioning target position and position feedback.
You can set both the velocity offset and the velocity reference offset in the CSV mode through 60B1h.

Setting
Condition During Data
Name Torque offset VAR Data Type Int16
Index & Effective running Structure
60B2h Time

Related Value -3000 to

Access RW Mapping RPDO CSP/CSV/CST Default 0
Mode Range +3000 (0.1%)

Defines the external torque feedforward signal of EtherCAT in CSP and CSV modes when 2006-0Ch is set to 2.
You can also set the torque reference offset in CST mode through 60B2h.

Setting
Condition At Data
Name Position actual value VAR Data Type Int32
& Effective display Structure
Index
Time
6064h
-
Related
Access RO Mapping TPDO All Value Range (reference Default 0
Mode
unit)

Shows the absolute position feedback (reference unit).

In case of an absolute encoder used in the rotary mode, 6064h reflects the single-turn position feedback (reference
unit) of the mechanical load.

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 7 Control Modes

Setting
Condition At Data
Name Velocity actual value VAR Data Type Int32
Index & Effective display Structure
606Ch Time

Related Value (reference

Access RO Mapping TPDO All Default -
Mode Range unit/s)

Shows the actual speed feedback value (reference unit/s).

Setting
Condition
At Data
Name Torque actual value & VAR Data Type Int16
Index display Structure
Effective
6077h Time

Related Value
Access RO Mapping TPDO All (unit: 0.1%) Default -
Mode Range

Shows the internal torque feedback of the servo drive.

The value 100.0% corresponds to the rated torque of the motor.

Setting
Following error actual Condition Data Data
Name At display VAR Int32
Index value & Effective Structure Type
60F4h Time

Related Value
Access RO Mapping TPDO PP/HM/CSP (reference unit) Default -
Mode Range

Shows the position deviation (reference unit).

7.3.6 Function Block Diagram

Velocity
offset
(60B1h) Polarity
(607E)
Position
offset
Target (60B0h)
position
(607Ah) Gear ratio Position
Polarity
(6091-01h, regulator Speed limit
(607E)
6091-02h) (2008-03h)
Position actual
value (6063h)

Torque
offset
(60B2h)
Polarity
(607E)

Speed
regulator
(2008-01h,
2008-02h)

Speed
calculation

Filter Torque Torque

Motor Encoder
(2007-06h) limit regulator

Torque actual
value (6077h)

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 7 Control Modes

7.4 Cyclic Synchronous Velocity (CSV) Mode

In this mode, the host controller sends the target speed to the servo drive using cyclic synchronization.
The servo drive executes speed control and torque control.

7.4.1 Configuration Block Diagram

CSV mode (0x6060= 9)

Velocity offset (0x60B1)

Target velocity (0x60FF) Position actual value (0x6064)

Servo control

Torque offset (0x60B2) Velocity actual value (0x606C)

Torque actual value(0x6077)

Figure 7-4 CSV mode

7.4.2 Related Objects

Index Sub-index Data

Name Access Unit Value Range Default
(hex) (hex) Type

6040 00 Control word RW Uint16 - 0 to 65535 0

6041 00 Status word RO Uint16 - - 0

6060 00 Modes of operation RW Int8 - 0 to 10 0

6061 00 Modes of operation display RO Int8 - - 0

6064 00 Position actual value RO Int32 Reference unit - -

606C 00 Velocity actual value RO Int32 Reference unit/s - -

60B1 00 Velocity offset RW Int32 Reference unit/s –2 to +(2 – 1)

31 31
0

60B2 00 Torque offset RW Int16 0.1% –3000 to +3000 0

60FF 00 Target velocity RW Int32 Reference unit/s –2 to +(2 – 1)

31 31
0

7.4.3 Related Function Settings

1 Velocity reference polarity

You can change the velocity reference direction through setting the velocity reference polarity.

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 7 Control Modes

☆ Related parameter

Setting
During
Condition Data Data
Name Polarity running & VAR Uint8
Index & Effective Structure Type
Immediately
607Eh Time

Related Value
Access RW Mapping RPDO All 0 to 255 Default 0
Mode Range
Defines the polarity of position, speed, and torque references.

Bit Description
Velocity reference polarity
0: Multiply by 1
1: Multiply by -1
6
PV: Inverting the target torque (6071h)
CSP: Inverting the velocity offset (60B1h)
CSV: Inverting the speed reference (60FFh + 60B1h)

7.4.4 Recommended Configuration

The basic configuration of the CSV mode is described in the following table.

RPDO TPDO Description

6040: Control word 6041:Status word Mandatory

60FF: Target velocity Mandatory

6064: Position actual value Optional

606C: Velocity actual value Optional

6060: Modes of operation 6061: Modes of operation display Optional

7.4.5 Related Parameters

Setting
During
Condition Data Data
Name Control word running & VAR Uint16
Index & Effective Structure Type
Immediately
6040h Time

Related Value 0 to
Access RW Mapping RPDO All Default 0
Mode Range 65535

Defines the control command.

Bit Name Description

0 Switch on 1: Valid, 0: Invalid
1 Enable voltage 1: Valid, 0: Invalid
2 Quick stop 0: Valid, 1: Invalid
3 Enable operation 1: Valid, 0: Invalid

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 7 Control Modes

Setting
Condition Data
Name Status word - VAR Data Type Uint16
Index & Effective Structure
6041h Time

Related Value
Access RO Mapping TPDO All - Default 0
Mode Range

Shows the servo drive status.

Bit Name Description

0 Ready to switch on 1: Valid, 0: Invalid
1 Switch on 1: Valid, 0: Invalid
2 Operation enabled 1: Valid, 0: Invalid
3 Fault 1: Valid, 0: Invalid
4 Voltage enabled 1: Valid, 0: Invalid
5 Quick stop 0: Valid, 1: Invalid
6 Switch on disabled 1: Valid, 0: Invalid
7 Warning 1: Valid, 0: Invalid
8 Manufacturer-specific Undefined
1: Valid, control word activated
9 Remote
0: Invalid
10 Target reached Not supported, always being 1
0: Position feedback within the limit
11 Internal limit active
1: Position feedback over the limit
12 Drive follow the command value Not supported, always being 1
13 Following error Not supported, always being 0
14 Manufacturer-specific Undefined
0: Homing not completed
15 Home found
1: Homing completed

Setting
During
Condition Data Data
Name Velocity offset running & VAR Int32
& Effective Structure Type
Index Immediately
Time
60B1h
–231 to +(231 – 1)
Related Value
Access RW Mapping RPDO CSP/CSV (reference unit/ Default 0
Mode Range
s)

Defines the speed reference offset in CSV mode. After setting the velocity offset, the following formula applies:
Target speed = 60FFh + 60B1h

Setting
During
Condition Data
Name Torque offset running & VAR Data Type Int16
Index & Effective Structure
Immediately
60B2h Time

Value –3000 to
Access RW Mapping RPDO Related Mode CSP/CSV/CST Default 0
Range +3000 (0.1%)

Defines the external torque feedforward signal of the EtherCAT in CSV mode when 2006-0Ch is set to 2.

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 7 Control Modes

Setting
Condition At Data
Name Position actual value VAR Data Type Int32
Index & Effective display Structure
6064h Time

Related -
Access RO Mapping TPDO All Value Range Default 0
Mode (reference unit)
Shows the absolute position feedback (reference unit).
In case of an absolute encoder used in the rotary mode, 6064h represents the single-turn position feedback (in
reference unit) of the mechanical load.

Setting
Condition At Data Data
Name Velocity actual value VAR Int32
Index & Effective display Structure Type
606Ch Time

Related Value
Access RO Mapping TPDO All (reference unit/s) Default -
Mode Range

Shows the speed feedback value (reference unit/s).

Setting
Condition At Data
Name Torque actual value VAR Data Type Int16
Index & Effective display Structure
6077h Time

Related Value
Access RO Mapping TPDO All (0.1%) Default -
Mode Range

Represents the internal torque feedback of the servo drive.

The value 100.0% corresponds to the rated torque of the motor.

Setting
During
Condition Data
Name Target velocity running & VAR Data Type Int32
& Effective Structure
Index Immediately
Time
60FFh
–231 to +(231 – 1)
Related Value
Access RW Mapping Yes PV/CSV (reference unit/ Default 0
Mode Range
s)

Defines the target speed in PV and CSV modes.

The maximum operating speed of the motor in CSV mode is determined by the maximum motor speed.

7.4.6 Function Block Diagram

Torque
offset
(60B2h)
607Eh

Velocity offset
(60B1h)

Target Speed
velocity regulator Filter Torque
607Eh Speed limit Torque limit Motor Encoder
(60FFh) (2008-01h, (2007-06h) regulator
2008-02h)

Torque actual
value (6077h)

Speed
calculation

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 7 Control Modes

7.5 Cyclic Synchronous Torque (CST) Mode

In this mode, the host controller sends the target torque to the servo drive using cyclic synchronization.
The servo drive executes torque control.

7.5.1 Configuration Block Diagram

CST mode (0x6060 = 10)

Torque offset (0x60B2)
Position actual value
Target torque (0x6071) (0x6064)

Max. profile velocity (0x607F) Servo control

Velocity actual value
Positive torque limit value (0x60E0) (0x606C)
Torque actual value
Negative torque limit value (0x60E1) (0x6077)

Figure 7-5 CST mode

7.5.2 Related Objects

Sub-index
Index (hex) Name Access Data Type Unit Value Range Default
(hex)

6040 00 Control word RW Uint16 - 0 to 65535 0

6041 00 Status word RO Uint16 - - 0

Modes of
6060 00 RW Int8 - 0 to 10 0
operation

Modes of
6061 00 RO Int8 - - 0
operation display

6071 00 Target torque RW Int16 0.1% –3000 to +3000 0

6072 00 Max torque RW Uint16 0.1% 0 to 3000 3000

Torque demand
6074 00 RO Int16 0.1% –3000 to +3000 0
value

Torque actual
6077 00 RO Int16 0.1% –3000 to +3000 0
value

Max profile Reference

607F 00 RW Uint32 0 to (232 – 1) 104857600
velocity unit/s

60B2 00 Torque offset RW Int16 0.1% –3000 to +3000 0

Positive torque
60E0 00 RW Uint16 0.1% 0 to 3000 3000
limit value

Negative torque
60E1 00 RW Uint16 0.1% 0 to 3000 3000
limit value

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 7 Control Modes

7.5.3 Related Function Settings

1 Speed limit in the torque control mode

In the torque control mode, 607Fh can be used to limit the maximum speed in the forward and reverse
directions. Note that the maximum speed cannot exceed the maximum operating speed allowed by the
motor.

+ max. motor speed

+ max. profile velocity (607Fh)

- max. profile velocity (607Fh)

- max. motor speed

☆ Related parameters

Setting
During
Condition Data Data
Name Max. profile velocity running & VAR Uint32
& Effective Structure Type
Index Immediately
Time
607Fh
0 to (232 – 1)
Related PP/PV/PT/HM/ Value
Access RW Mapping RPDO (reference Default 104857600
Mode CST Range
unit/s)

Defines the speed limit in PP, PV, PT, HM and CST modes.

2 Torque limit

To protect mechanical devices, you can limit torque references of the servo drive in the position, speed,
and torque control modes by setting 6072h (Max torque), 60E0h (Positive torque limit value), and 60E1h
(Negative torque limit value). Note that the maximum torque allowed by the motor cannot be exceeded.

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 7 Control Modes

T
+ max. drive torque
+ max. motor torque

+ max. torque (6072h)

Positive torque limit (60E0h)

Negative torque limit (60E1h)

- max. torque (6072h)

- max. motor torque

- max. drive torque

☆ Related parameters

Setting
During
Condition Data Data
Name Max. torque value running & VAR Uint16
Index & Effective Structure Type
Immediately
6072h Time

Related Value 0 to 3000

Access RW Mapping RPDO All Default 3000
Mode Range (0.1%)

Defines the maximum torque limit of the servo drive in the forward and reverse directions.

Setting
During
Name Condition Data Data
Index Positive torque limit value running & VAR Uint16
& Effective Structure Type
Immediately
60E0h Time

Access Related Value 0 to 3000

RW Mapping RPDO All Default 3000
Mode Range (0.1%)
Defines the maximum torque limit of the servo drive in the forward direction.

Setting
During
Condition Data
Name Negative torque limit value running & VAR Data Type Uint16
Index & Effective Structure
Immediately
60E1h Time

Related Value 0 to 3000

Access RW Mapping RPDO All Default 3000
Mode Range (0.1%)

Defines the maximum torque limit of the servo drive in the reverse direction.

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 7 Control Modes

3 Torque reference polarity

You can change the torque reference direction through setting the torque reference polarity.

Setting
During
Condition Data
Name Polarity running & VAR Data Type Uint8
Index & Effective Structure
Immediately
607Eh Time

Related Value
Access RW Mapping RPDO All 0 to 255 Default 0
Mode Range
Defines the polarity of the position, speed, and torque reference.

Bit Description
Torque reference polarity:
0: Multiply by 1
1: Multiply by -1
5
PT: Inverting the target torque (6071h)
CSP/CSV: Inverting the torque offset (60B2h)
CST: Inverting the torque reference (6071h + 60B2h)

7.5.4 Recommended Configuration

The basic configuration of cyclic synchronous torque (CST) mode is described in the following table.

RPDO TPDO Description

6040: Control word 6041:Status word Mandatory

6071: Target torque Mandatory

6064: Position actual value Optional

606C: Velocity actual value Optional

6077: Torque actual value Optional

6060: Modes of operation 6061: Modes of operation display Optional

7.5.5 Related Parameters

Setting
During
Condition Data
Name Control word running & VAR Data Type Uint16
Index & Effective Structure
Immediately
6040h Time

Related Value
Access RW Mapping RPDO All 0 to 65535 Default 0
Mode Range

Defines the control command.

Bit Name Description

0 Switch on 1: Valid, 0: Invalid
1 Enable voltage 1: Valid, 0: Invalid
2 Quick stop 0: Valid, 1: Invalid
3 Enable operation 1: Valid, 0: Invalid

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 7 Control Modes

Setting
Condition Data Data
Name Status word - VAR Uint16
Index & Effective Structure Type
6041h Time

Related Value
Access RO Mapping TPDO All - Default 0
Mode Range

Shows the servo drive status.

Bit Name Description

0 Ready to switch on 1: Valid, 0: Invalid
1 Switch on 1: Valid, 0: Invalid
2 Operation enabled 1: Valid, 0: Invalid
3 Fault 1: Valid, 0: Invalid
4 Voltage enabled 1: Valid, 0: Invalid
5 Quick stop 0: Valid, 1: Invalid
6 Switch on disabled 1: Valid, 0: Invalid
7 Warning 1: Valid, 0: Invalid
8 Manufacturer-specific Undefined
1: Valid, control word activated
9 Remote
0: Invalid
10 Target reached Not supported, always being 1
0: Position feedback within the limit
11 Internal limit active
1: Position feedback over the limit
12 Drive follow the command value Not supported, always being 1
13 Following error Not supported, always being 0
14 Manufacturer-specific Undefined
0: Homing not completed
15 Home found
1: Homing completed

Setting
During
Condition Data Data
Name Target torque running & VAR Int16
Index & Effective Structure Type
Immediately
6071h Time

Related Value –3000 to

Access RW Mapping RPDO PT/CST Default 0
Mode Range +3000 (0.1%)
Defines the target torque in PT and CST modes.
The value 100.0% corresponds to the rated torque of the motor.

Setting
Condition Data Data
Name Torque demand value - VAR Int16
Index & Effective Structure Type
6074h Time

Related Value -
Access RO Mapping TPDO All Default -
Mode Range (0.1%)

Shows the torque reference output value during operation.

The value 100.0% corresponds to the rated torque of the motor.

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 7 Control Modes

Setting
Condition Data
Name Torque actual value - VAR Data Type Int16
Index & Effective Structure
6077h Time

Related Value -
Access RO Mapping TPDO All Default -
Mode Range (0.1%)
Shows the actual torque output of the servo drive.
The value 100.0% corresponds to the rated torque of the motor.

Setting
During
Condition Data Data
Name Torque offset running & VAR Int16
Index & Effective Structure Type
Immediately
60B2h Time

Related Value –3000 to

Access RW Mapping RPDO CSP/CSV/CST Default 0
Mode Range +3000 (0.1%)
Defines the torque offset in CST, CSP, and CSV modes. After offset, the following formula applies:
Target torque = 6071h + 60B2h

7.5.6 Function Block Diagram

Torque offset
(60B2h)

Target
torque 607Eh
(6071h)

Filter Torque Torque

Motor Encoder
Speed (2007-06h) limit regulator
Speed regulator
limit (2008-01h,
2008-02h) Torque actual
value (6077h)

Speed
calculation

7.6 Profile Position (PP) Mode

The PP mode mainly applies to point-to-point positioning. In PP mode, the host controller defines the
target position, operating speed, acceleration, and deceleration. The position profile generator inside
the servo drive generates the position curve based on settings. The servo drive executes position control,
speed control, and torque control.

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 7 Control Modes

7.6.1 Configuration Block Diagram

PP mode (0x6060 = 1)

Target position (0x607A) Position

limit Position actual value
(0x6064)
Profile velocity (0x6081) Speed
limit Following error actual value
(0x60F4)

Servo control Velocity actual value

Profile acceleration (0x6083) Acceleration
limit (0x606C)
Torque actual value
(0x6077)
Profile deceleration (0x6084) Deceleration
limit

Figure 7-6 PP mode

In PP mode, the target position is triggered and activated based on the time sequence of bit4 of the
control word (New set-point) and bit12 of the status word (Set-point acknowledge).

The controller sets the New set-point bit (bit4 of the control word) to 1 to inform the servo drive of
the new target position. The servo drive, after receiving the new target position, sets the Set-point
acknowledge bit (bit12 of the status word) to 1 to 1. After the controller sets the New set-point to 0 again,
if the servo drive can receive the new target position, the Set-point acknowledge bit will be set to 0.
Otherwise, it is kept to 1.

Actual
speed

Target
position
(bit4)
t

Target
position
(setpoint) t

Target position
update (bit12)
t

Target position
reached (bit10)
t

The linkage mode of position references is determined by bit5 (Change set immediately) of the control
word. When bit5 is set to 1 (Sequential mode), sequential linkage applies between position references.
When bit5 is set to 0 (Single-point mode), linkage applies between position references after reaching
zero speed.

1 Sequential mode:

The target position of present segment is in the process of positioning. After the new target position is

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 7 Control Modes

generated, the controller sets the New set-point bit to 1, and the servo drive performs positioning based
on the new target position.

In sequential mode, the time sequence of bit4 of the control word (New set-point) and bit12 of the status
word (Set-point acknowledge) is as follows.

① ②
Target position
reference (setpoint)

6040h bit4

6040h bit5

6041h bit12

Position
reference

②
①

6041h bit10: Position

reached

Note: To modify the target position reference (setpoint), the new target position bit (bit4)
has to be sent again.

Figure 7-7 Time sequence in sequential mode

2 Single-point mode:

The target position of present segment is in the process of positioning. After the new target position is
generated, the controller sets the New set-point bit to 1, and the servo drive performs positioning based
on the new target position after the position reference of present segment is transmitted.

The time sequence of bit4 of the control word (New set-point) and bit12 of the status word (Set-point
acknowledge ) is as follows.

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 7 Control Modes

① ②
Target position
reference (setpoint)

6040 bit4

6040 bit5

6041 bit12

Position
reference

②
①

6041 bit10: Position

reached

Note: To modify the target position reference (setpoint), the new target position bit (bit4)
has to be sent again.

Figure 7-8 Time sequence in the single-point mode

In the single-point mode, the servo drive supports cache of one target position, which means the servo
drive can memorize a new segment of target position when the present target position is being executed.
The time sequence is as follows.

1 2 3 4 5

New setpoint
(bit4)
t

Change set
immediately
(bit5)
t

Set position A B c

Cache position B C C
Position
during running A A B B B B
Setpoint
acknowledge
(bit12) t

Target reached
(bit10)
t

① : If the cache position is empty, the set position will be executed immediately.

②③ : If the present position reference is being executed, the new set position will be stored in the cache.
After present position reference is transmitted, the cache value will be executed. After the cache is
empty, a new set value can be received.

④⑤ : The new setpoint cannot be received if the cache is full. In this case, you can set the attribute bit
(Change set immediately) of the setpoint to 1 to activate the setpoint.

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 7 Control Modes

7.6.2 Related Objects

Index Sub-index Data

Name Access Unit Value Range Default
(hex) (hex) Type

6040 00 Control word RW Uint16 - 0 to 65535 0

6041 00 Status word RO Uint16 - - 0

6060 00 Modes of operation RW Int8 - 0 to 10 0

6061 00 Modes of operation display RO Int8 - - 0

6064 00 Position actual value RO Int32 Reference unit - -

607A 00 Target position RW Int32 Reference unit –2 to (2 – 1)

31 31
0

6081 00 Profile velocity RW Uint32 Reference unit/s 0 to (232 – 1) 1747627

6083 00 Profile acceleration RW Uint32 Reference unit/s2 0 to (232 – 1) 1747626667

6084 00 Profile deceleration RW Uint32 Reference unit/s 2

0 to (2 – 1)32
1747626667

607F 00 Max. profile velocity RW Uint32 Reference unit/s 0 to (2 – 1)32

104857600

7.6.3 Related Function Settings

1 Positioning completed

Positioning completed: When the position deviation fulfills the set condition, the positioning process is
done. In this case, the servo drive sets bit10 of the status word, and the host controller, once receives the
signal, acknowledges that positioning is done.

☆ Related parameters

Setting
During
Condition Data
Name Position window running VAR Data Type Uint32
& Effective Structure
Index & At stop
Time
6067h
0 to (232–1)
Related Value
Access RW Mapping RPDO PP (reference Default 734
Mode Range
unit)
Defines the threshold for position reach.
When the position deviation is within ±6067h, and the time reaches the value defined by 6068h, the servo drive
considers the position is reached and sets bit10 of 6041h to 1.
This flag bit is valid only when the S-ON signal is active in PP mode.

Setting
During
Condition Data
Name Position window time running & VAR Data Type Uint16
Index & Effective Structure
At stop
Time
6068h
Related Value 0 to 65535
Access RW Mapping RPDO PP Default 0
Mode Range (ms)

Defines the time window for position reach.

$"65*0/

6067h only reflects the value of the threshold of the absolute position deviation to activate the
positioning completed signal (bit10). It is not related to the positioning accuracy.

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 7 Control Modes

2 Position deviation monitoring function

☆ Related parameters

Setting
During
Condition Data Data
Name Following error window running & VAR Uint32
& Effective Structure Type
Index Immediately
Time
6065h
0 to (232 – 1)
Related
Access RW Mapping RPDO PP/HM/CSP Value Range (reference Default 3145728
Mode
unit)

Defines the threshold of excessive position deviation (reference unit).

If 6065h is set to a too large value, the warning threshold of excessive position deviation will be 2147483647 in
encoder unit.

Setting
During
Condition Data Data
Name Following error time out running & VAR Uint16
Index & Effective Structure Type
Immediately
Time
6066h
Related Value 0 to 65535
Access RW Mapping RPDO PP/HM/CSP Default 0
Mode Range (ms)

Defines the time lapse to trigger excessive position deviation (EB00.0)

If the position deviation exceeds the warning threshold of excessive position deviation and such status persists after
the time defined by 6066h elapses, EB00.0 (Excessive position deviation) will occur.

3 Speed limit

In PP mode, 607Fh can be used to limit the maximum speed in the forward and reverse directions. Note
that the maximum speed cannot exceed the maximum operating speed allowed by the motor.

Speed V

+ max. motor speed

+ max. profile velocity (607Fh)

+ profile velocity (6081h)

t
‒ profile velocity (6081h)
‒ max. profile velocity (607Fh)

‒ max. motor speed

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 7 Control Modes

☆ Related parameters

Setting
During
Condition Data Data
Name Max. profile velocity running & VAR Uint32
& Effective Structure Type
Index Immediately
Time
607Fh
0 to (232 - 1)
Related PP/PV/PT/HM/ Value
Access RW Mapping RPDO (reference Default 104857600
Mode CST Range
unit/s)

Defines the speed limit in PP, PV, PT, HM, and CST modes.

4 Acceleration and deceleration limits

In PP mode, the change rate of position references can be limited through the acceleration and
deceleration limits.

☆ Related parameters

Setting
During
Condition Data Data
Name Max. acceleration running & VAR Uint32
& Effective Structure Type
Immediately
Index Time
60C5h 0 to
Related Value 4294967295
Access RW Mapping RPDO All Default 2147483647
Mode Range (reference
unit/s2)

Defines the maximum (limit) value of acceleration.

In PP mode, if the value of 6083h exceeds that of 60C5h, the value of 60C5h will be used.
For 60C5h, the setpoint 0 will be forcibly changed to 1.

Setting
During
Condition Data Data
Name Max. deceleration running & VAR Uint16
& Effective Structure Type
Immediately
Index Time
60C6h 0 to
Related Value 4294967295
Access RW Mapping RPDO All Default 2147483647
Mode Range (reference
unit/s2)

Defines the maximum (limit) value of deceleration.

In PP mode, if the value of 6084h exceeds that of 60C6h, the value of 60C6h will be used.
For 60C6h, the setpoint 0 will be forcibly changed to 1.

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 7 Control Modes

5 Polarity

You can change the position reference direction through setting the position reference polarity.

☆ Related parameter

Setting
During
Condition Data
Name Polarity running & VAR Data Type Uint8
Index & Effective Structure
Immediately
607Eh Time

Related Value
Access RW Mapping RPDO All 0 to 255 Default 0
Mode Range

Defines the polarity of the position, speed, and torque reference.

Bit Description
Position reference polarity
0: Multiply by 1
7
1: Multiply by -1
PP: Inverting the target position 607Ah

7.6.4 Recommended Configuration

The basic configuration for PP mode is described in the following table.

RPDO TPDO Description

6040: Control word 6041:Status word Mandatory

607A: Target position 6064: Position actual value Mandatory

6081: Profile velocity - Mandatory

6083: Profile acceleration - Optional

6084: Profile deceleration - Optional

6060: Modes of operation 6061: Modes of operation display Optional

7.6.5 Related Parameters

Setting
During
Condition Data
Name Control word running & VAR Data Type Uint16
Index & Effective Structure
Immediately
6040h Time
Related Value
Access RW Mapping RPDO All 0 to 65535 Default 0
Mode Range
Used to set control commands.

Bit Name Description

0 Switch on 1: Valid, 0: Invalid
1 Enable voltage 1: Valid, 0: Invalid
2 Quick stop 0: Valid, 1: Invalid
3 Enable operation 1: Valid, 0: Invalid
0 -> 1: Trigger new target position
4 New set-point
1 -> 0: Clear bit12 of the status word
0: Target position cannot be updated immediately
5 Change set immediately
1: Target position can be updated immediately
0: Target position being absolute position reference
6 abs/rel
1: Target position being relative position reference
0: Present operating state maintained
8 Halt
1: Halt

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 7 Control Modes

Setting
Condition Data
Name Status word - VAR Data Type Uint16
Index & Effective Structure
6041h Time

Related
Access RO Mapping TPDO All Value Range - Default 0
Mode

Shows the servo drive status.

Bit Name Description

0 Ready to switch on 1: Valid, 0: Invalid
1 Switch on 1: Valid, 0: Invalid
2 Operation enabled 1: Valid, 0: Invalid
3 Fault 1: Valid, 0: Invalid
4 Voltage enabled 1: Valid, 0: Invalid
5 Quick stop 0: Valid, 1: Invalid
6 Switch on disabled 1: Valid, 0: Invalid
7 Warning 1: Valid, 0: Invalid
8 Manufacturer-specific Undefined
1: Valid, control word activated
9 Remote
0: Invalid
0: Target position not reached
10 Target reached
1: Target position reached
0: Position reference within the limit
11 Internal limit active
1: Position reference over the limit
0: Set-point can be updated
12 Set-point acknowledge
1: Set-point cannot be updated
0: EB00.0 (Excessive position deviation) not
reported
13 Following error
1: EB00.0 (Excessive position deviation)
reported
14 Manufacturer-specific Undefined
0: Homing not completed
15 Home found
1: Homing completed

Setting
During
Condition Data Data
Name Target position running & VAR Int32
Index & Effective Structure Type
Immediately
607Ah Time

Related Value -231 to +(231 - 1)

Access RW Mapping RPDO PP/CSP Default 0
Mode Range (reference unit)

Defines the target position of the servo drive in PP mode.

The target position type (absolute or relative) can be designated through bit6 of 6040h in PP mode.

Absolute position Absolute position

Target position 2

Target position 2

Target position 1 Target position 1

Absolute position type Relative position type

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 7 Control Modes

Setting
During
Condition Data Data
Name Profile velocity running & VAR Uint32
& Effective Structure Type
Index Immediately
Time
6081h
0 to (232-1)
Related Value
Access RW Mapping RPDO PP (reference Default 174762
Mode Range
unit/s)

Defines the constant operating speed for the target position in PP mode.
6081h x 6091h (Gear ratio)
Motor speed (RPM) = x 60
Encoder resolution

Setting
During
Condition Data Data
Name Profile acceleration running & VAR Uint32
& Effective Structure Type
Index Immediately
Time
6083h
0 to (232-1)
Related Value
Access RW Mapping RPDO PP/PV (reference Default 17476266667
Mode Range
unit/s2)

Defines the position reference acceleration in PP mode.

In PP mode, if the value of 6083h exceeds that of 60C5h, the value of 60C5h will be used.
For 6083h, the setpoint 0 will be forcibly changed to 1.

Setting
During
Condition Data Data
Name Profile deceleration running VAR Uint32
& Effective Structure Type
Index & At stop
Time
6084h
0 to (232-1)
Related Value
Access RW Mapping RPDO PP/PV (reference Default 17476266667
Mode Range
unit/s2)
Defines the position reference deceleration in PP mode.
In PP mode, if the value of 6084h exceeds that of 60C6h, the value of 60C6h will be used.
For 6084h, the setpoint 0 will be forcibly changed into 1.

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 7 Control Modes

7.6.6 Function Block Diagram

Speed feedforward Speed feedforward

gain filter
(2008-14h) (2008-13h)

Target position(607Ah)
Profile velocity(6081h)
Profile acceleration(6083h)
Profile deceleration(6084h)
Polarity (607Eh)
Profile Electronic gear
position ratio Position loop gain
trajectory (6091-01h, (2008-03h)
generator 6091-02h) Position actual value
(6063h)

Torque feedforward Torque feedforward

filter (2008-15h) gain (2008-16h)

Speed regulator
Max. motor
(2008-01h,
speed limit
2008-02h)

Speed feedback
(200B-01h [RPM])
Speed reference
(200B-02h [RPM])

Speed
calculation

Torque filter Torque

Torque limit Motor
(2007-06h) regulator

7.7 Profile Velocity (PV) Mode

In PV mode, the host controller sends the target speed, acceleration, and deceleration commands to the
servo drive. The servo drive generates the speed reference curve and executes speed control and torque
control.

7.7.1 Configuration Block Diagram

PV mode (0x6060 = 3)
Position actual value
(0x6064)
Target velocity (0x60FF)
( ) Speed
limit

Profile acceleration (0x6083) Acceleration Velocity actual value

limit Servo control (0x606C)
Torque actual value
(0x6077)
Profile deceleration (0x6084) Deceleration
limit

Figure 7-9 PV mode

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 7 Control Modes

7.7.2 Related Objects

Index Sub-index Data
Name Access Unit Value Range Default
(hex) (hex) Type

6040 00 Control word RW Uint16 - 0 to 65535 0

6041 00 Status word RO Uint16 - - 0

6060 00 Modes of operation RW Int8 - 0 to 10 0

6061 00 Modes of operation display RO Int8 - - 0

606C 00 Velocity actual value RO Int32 Reference unit/s - -

606D 00 Velocity window RW Uint16 RPM 0 to 65535 10

606E 00 Velocity window time RW Uint16 ms 0 to 65535 0

606F 00 Velocity threshold RW Uint16 RPM 0 to 0xFFFF 10

6070 00 Velocity threshold time RW Uint16 ms 0 to 65535 0

607F 00 Max. profile velocity RW Uint32 Reference unit/s 0 to (2 - 1)32

104857600

6083 00 Profile acceleration RW Uint32 Reference unit/s2 0 to (232 - 1) 1747626667

6084 00 Profile deceleration RW Uint32 Reference unit/s2 0 to (232 - 1) 1747626667

60FF 00 Target velocity RW Int32 Reference unit/s -2 to +(2 - 1)

31 31
0

7.7.3 Related Function Settings

1 Speed reach monitoring
Speed reach monitoring is used to check whether the speed reference of the servo drive matches the
motor speed feedback.
☆ Related parameters
Setting
During
Condition Data Data
Name Velocity window running & VAR Uint16
Index & Effective Structure Type
Immediately
Time
606Dh
Related Value 0 to 65535
Access RW Mapping RPDO PV Default 10
Mode Range (RPM)

Setting
During
Condition Data Data
Name Velocity window time running & VAR Uint16
Index & Effective Structure Type
Immediately
Time
606Eh
Related Value 0 to 65535
Access RW Mapping RPDO PV Default 0
Mode Range (ms)

606Dh is used to set the threshold for speed reach. 606Eh is used to set the window time for speed reach.
Speed Speed
reference feedback Velocity window (606Dh)
Speed V

Servo Off Servo Run Servo Off t

6041 bit10

OFF OFF ON OFF

ON— Speed reach valid OFF — Speed reach invalid

t

If the difference value between the speed reference and speed feedback is within ±606D and such status persists for
the time defined by 606E, the speed is reached, and bit10 (Target reached) of 6041h is set to 1.
This flag bit is valid only when the servo drive is enabled in PV mode.

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 7 Control Modes

2 Zero speed monitoring

Zero speed monitoring is used to check whether the absolute value of motor speed feedback is less than
the set threshold. If this conditions is fulfilled, the motor is approaching the standstill state (zero speed)
and bit12 of the status word is set to 1.

☆ Related parameters

Setting
During
Condition Data Data
Name Velocity threshold running & VAR Uint16
Index & Effective Structure Type
Immediately
Time
606Fh
Related Value 0 to 65535
Access RW Mapping RPDO PV Default 10
Mode Range (RPM)

Setting
During
Condition Data Data
Name Velocity threshold time running & VAR Uint16
Index & Effective Structure Type
Immediately
Time
6070h
Related Value 0 to 65535
Access RW Mapping RPDO PV Default 0
Mode Range (ms)

Defines the threshold for zero speed.

Speed
V
feedback
Forward

606Fh

‒606Fh t
Reverse
6041h bit12

OFF ON OFF

t
ON — Zero speed signal valid OFF — Zero speed signal invalid

When the speed feedback is within ±606F and such status persists for the time defined by 6070, bit12 of 6041 is set to
1, indicating the motor speed is 0.
This flag bit is valid only in PV mode.

3 Speed limit

In PV mode, 607Fh can be used to limit the maximum speed in forward and reverse directions. Note that
the maximum speed cannot exceed the maximum operating speed allowed by the motor.

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 7 Control Modes

+max. motor speed

+max. profile velocity (607Fh)

‒max. profile velocity (607Fh)

‒max. motor speed

☆ Related parameters

Setting
During
Condition Data Data
Name Max. profile velocity running & VAR Uint32
& Effective Structure Type
Index Immediately
Time
607Fh
0 to (232 - 1)
Related PP/PV/PT/HM/
Access RW Mapping RPDO Value Range (reference Default 104857600
Mode CST
unit/s)

Defines the speed limits in PP, PV, PT, HM, and CST modes.

4 Acceleration and deceleration limits

In PV mode, the change rate of speed references can be limited through the acceleration and
deceleration limits.

Setting
During
Condition Data Data
Name Max. acceleration running & VAR Uint32
& Effective Structure Type
Immediately
Index Time
60C5h 0 to
Related Value 4294967295
Access RW Mapping RPDO All Default 2147483647
Mode Range (reference
unit/s2)
Defines the maximum (limit) value of acceleration.
In PV mode, if the value of 6083h exceeds that of 60C5h, the value of 60C5h will be used.
For 60C5h, the setpoint 0 will be forcibly changed to 1.

Setting
During
Condition Data
Name Max. deceleration running & VAR Data Type Uint16
& Effective Structure
Immediately
Index Time
60C6h 0 to
Related Value 4294967295
Access RW Mapping RPDO All Default 2147483647
Mode Range (reference
unit/s2)
Defines the maximum (limit) value of deceleration.
In PV mode, if the value of 6084h exceeds that of 60C6h, the value of 60C6h will be used.
For 60C6h, the setpoint 0 will be forcibly changed to 1.

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 7 Control Modes

5 Polarity

You can change the velocity reference direction through setting the velocity reference polarity.

☆ Related parameters

Setting
During
Condition Data
Name Polarity running & VAR Data Type Uint8
Index & Effective Structure
Immediately
607Eh Time

Related Value
Access RW Mapping RPDO All 0 to 255 Default 0
Mode Range

Defines the polarity of the position, speed, and torque reference.

Bit Description
Velocity reference polarity
0: Multiply by 1
6
1: Multiply by -1
PV: Inverting the target torque 60FFh

7.7.4 Recommended Configuration

The basic configuration for PV mode is described in the following table.

RPDO TPDO Description

6040: Control word 6041:Status word Mandatory

60FF: Target Velocity Mandatory

6064: Position actual value Optional

606C: Velocity actual value Optional

6083: Profile acceleration Optional

6084: Profile deceleration Optional

6060: Modes of operation 6061: Modes of operation display Optional

7.7.5 Related Parameters

Setting
During
Condition Data
Name Control word running & VAR Data Type Uint16
Index & Effective Structure
Immediately
6040h Time

Related
Access RW Mapping RPDO All Value Range 0 to 65535 Default 0
Mode

Used to set control commands.

Bit Name Description

0 Switch on 1: Valid, 0: Invalid
1 Enable voltage 1: Valid, 0: Invalid
2 Quick stop 0: Valid, 1: Invalid
3 Enable operation 1: Valid, 0: Invalid
0: Present operating state maintained
8 Halt
1: Halt

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 7 Control Modes

Setting
Condition Data
Name Status word - VAR Data Type Uint16
Index & Effective Structure
6041h Time

Related Value
Access RO Mapping TPDO All - Default 0
Mode Range

Shows the servo drive status.

Bit Name Description

0 Ready to switch on 1: Valid, 0: Invalid
1 Switch on 1: Valid, 0: Invalid
2 Operation enabled 1: Valid, 0: Invalid
3 Fault 1: Valid, 0: Invalid
4 Voltage enabled 1: Valid, 0: Invalid
5 Quick stop 0: Valid, 1: Invalid
6 Switch on disabled 1: Valid, 0: Invalid
7 Warning 1: Valid, 0: Invalid
8 Manufacturer-specific Undefined
1: Valid, control word activated
9 Remote
0: Invalid
0: Target velocity not reached
10 Target reached
1: Target velocity reached
0: Position feedback within the limit
11 Internal limit active
1: Position feedback over the limit
0: Speed not being 0
12 Speed
1: Speed being 0
13 N/A No meaning, always being 0
14 Manufacturer-specific Undefined
0: Homing not completed
15 Home found
1: Homing completed

Setting
During
Condition Data Data
Name Target velocity running & VAR Int32
& Effective Structure Type
Index Immediately
Time
60FFh
-231 to +(231 - 1)
Related Value
Access RW Mapping Yes PV/CSV (reference unit/ Default 0
Mode Range
s)

Defines the target speed in PV and CSV modes.

Setting
During
Condition Data Data
Name Profile acceleration running VAR Uint32
& Effective Structure Type
Index Immediately
Time
6083h
0 to (232 - 1)
Related Value
Access RW Mapping RPDO PP/PV (reference Default 17476266667
Mode Range
unit/s2)

Defines the speed reference acceleration in PP and PV modes.

In PP mode, if the value of 6083h exceeds that of 60C5h, the value of 60C5h will be used.
For 6083h, the setpoint 0 will be forcibly changed to 1.

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 7 Control Modes

Setting
During
Condition Data Data
Name Profile deceleration running & VAR Uint32
& Effective Structure Type
Index At stop
Time
6084h
0 to (232-1)
Related Value
Access RW Mapping RPDO PP/PV (reference Default 17476266667
Mode Range
unit/s2)

Defines the speed reference deceleration in PP and PV modes.

In PP mode, if the value of 6084h exceeds that of 60C6h, the value of 60C6h will be used.
For 6084h, the setpoint 0 will be forcibly changed to 1.

7.7.6 Function Block Diagram

Torque Torque
feedforward feedforward
gain filter
(2008-16h) (2008-15h)
Torque actual value
(6077h)

Target
velocity Profile
(60FFh) acceleration/ Max. profile Speed regulator Torque limit
Filter Torque
607Eh deceleration velocity (2008-01h, (60E0h, Motor Encoder
(2007-06h) regulator
(6083h, (607Fh) 2008-02h) 60E1h)
6084h)

7.8 Profile Torque (PT) Mode

In PT mode, the host controller sends the target torque defined by 6071h and the torque slope defined
by 6087h to the servo drive. The servo drive generates the torque reference curve and executes torque
control.

7.8.1 Configuration Block Diagram

PT mode (0x6060 = 4)
Target torque (0x6071)

Target slope (0x6087) Position actual value (0x6064)

Speed actual value (0x606C)

Max. profile velocity (0x607F) Servo control
Torque actual value (0x6077)
Positive torque limit value (0x60E0)

Negative torque limit value (0x60E1)

Figure 7-10 PT mode

7.8.2 Related Objects

Index Sub-index Data

Name Access Unit Value Range Default
(hex) (hex) Type

6040 00 Control word RW Uint16 - 0 to 65535 0

6041 00 Status word RO Uint16 - - 0

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 7 Control Modes

Index Sub-index Data

Name Access Unit Value Range Default
(hex) (hex) Type

6060 00 Modes of operation RW Int8 - - 0

6061 00 Modes of operation display RO Int8 - - 0

–3000 to
6071 00 Target torque RW Int16 0.1% 0
+3000

6072 00 Max. torque RW Uint16 0.1% 0 to 3000 3000

6074 00 Torque demand value RO Int16 0.1% - -

6077 00 Torque actual value RO Int16 0.1% - -

6087 00 Torque slope RW Uint32 0.1%/s 0 to (2 – 1) 32

2 –1
32

Reference
607F 00 Max. profile velocity RW Uint32 0 to (232 – 1) 104857600
unit/s

60E0 00 Positive torque limit value RW Uint16 0.1% 0 to 3000 3000

60E1 00 Negative torque limit value RW Uint16 0.1% 0 to 3000 3000

7.8.3 Related Function Settings

1 Speed limit in the torque control mode

In the torque control mode, 607Fh can be used to limit the maximum speed in the forward and reverse
directions. Note that the maximum speed cannot exceed the maximum operating speed allowed by the
motor.

Speed (V)

+max. motor speed

+max. profile velocity (607Fh)

‒max. profile velocity (607Fh)

‒max. motor speed

☆ Related parameters

Setting
During
Condition Data Data
Name Max. profile velocity running & VAR Uint32
& Effective Structure Type
Index Immediately
Time
607Fh
0 to (232 - 1)
Related PP/PV/PT/HM/ Value
Access RW Mapping RPDO (reference Default 104857600
Mode CST Range
unit/s)
Defines the speed limit in PP, PV, PT, HM, and CST modes.

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 7 Control Modes

2 Torque limit

To protect the mechanical devices, you can limit the torque references of the servo drive in the position,
speed, and torque control modes by setting 6072h (Max. torque), 60E0h (Positive torque limit value), and
60E1h (Negative torque limit value). Note that the maximum torque allowed by the servo drive cannot
be exceeded.

Torque (T)
+drive max. torque
+motor max. torque

+max. torque (6072h)

positive torque limit value (60E0h)

negative torque limit value (60E1h)

‒max. torque (6072h)

‒motor max. torque

‒drive max. torque

☆ Related parameters

Setting
During
Condition Data Data
Name Max. torque running & VAR Uint16
Index & Effective Structure Type
Immediately
6072h Time

Related Value 0 to 3000

Access RW Mapping RPDO All Default 3000
Mode Range (0.1%)

Defines the maximum torque limit of the servo drive in the forward/reverse direction.

Setting
During
Condition Data Data
Name Positive torque limit value running & VAR Uint16
Index & Effective Structure Type
Immediately
60E0h Time
Related Value 0 to 3000
Access RW Mapping RPDO All Default 3000
Mode Range (unit: 0.1%)
Defines the maximum torque limit of the servo drive in the forward direction.

Setting
During
Condition Data Data
Name Negative torque limit value running & VAR Uint16
Index & Effective Structure Type
Immediately
60E1h Time
Related Value 0 to 3000
Access RW Mapping RPDO All Default 3000
Mode Range (unit: 0.1%)
Defines the maximum torque limit of the servo drive in the reverse direction.

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 7 Control Modes

3 Torque reference polarity

You can change the torque reference direction through setting the torque reference polarity.

☆ Related parameters

Setting
During
Condition Data Data
Name Polarity running & VAR Uint8
Index & Effective Structure Type
Immediately
607Eh Time

Related Value
Access RW Mapping RPDO All 0 to 255 Default 0
Mode Range

Defines the polarity of the position, speed, and torque references.

Bit Description
Torque reference polarity:
0: Multiply by 1
5 1: Multiply by -1
CSP/CSV: Inverting the torque offset (60B2h)
CST: Inverting the torque reference (6071h + 60B2h)

4 Torque reach monitoring

Torque reach monitoring is used to check whether the torque reference value reaches the set torque
base value. If yes, a corresponding torque reached signal will be output to the host controller.
reference (T)

Torque reference
Torque

+(2007-17h)
+(2007-18h)
2007-16h

-(2007-18h)

-(2007-17h)

t
Torque reach

ON OFF ON

ON — Torque reach valid OFF — Torque reach invalid t

If the absolute difference value between the torque reference and 2007-16h (Base value for torque
reached) is larger than 2007-17h (Threshold of valid torque reach), the torque reached signal is valid.
Otherwise, the original status applies.

If the absolute difference value between the torque reference and 2007-16h (Base value for torque
reached) is smaller than 2007-18h (Threshold of invalid torque reach), the torque reached signal is
invalid. Otherwise, the original status applies.

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 7 Control Modes

☆ Related parameters

Setting
During
Condition Data Data
Sub- Name Base value for torque reach running & - Uint16
& Effective Structure Type
index Immediately
Time
16h
Related Value 0 to 300.0
Access RW Mapping - PT Default 0
Mode Range (%)

Setting
During
Threshold of valid torque Condition Data Data
Sub- Name running & - Uint16
reach & Effective Structure Type
index Immediately
Time
17h
Related Value 0 to 300.0
Access RW Mapping - PT Default 20.0
Mode Range (%)

Setting
During
Threshold of invalid torque Condition Data Data
Sub- Name running & - Uint16
reach & Effective Structure Type
index Immediately
Time
18h
Related Value 0 to 300.0
Access RW Mapping - PT Default 10.0
Mode Range (%)

7.8.4 Related Parameters

Setting
During
Condition Data
Name Control word running & VAR Data Type Uint16
Index & Effective Structure
Immediately
6040h Time
Related Value
Access RW Mapping RPDO All 0 to 65535 Default 0
Mode Range
Used to set control commands.

Bit Name Description

0 Switch on 1: Valid, 0: Invalid
1 Enable voltage 1: Valid, 0: Invalid
2 Quick stop 0: Valid, 1: Invalid
3 Enable operation 1: Valid, 0: Invalid
0: Present operating state maintained
8 Halt
1: Halt

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 7 Control Modes

Setting
Condition Data
Name Status word - VAR Data Type Uint16
Index & Effective Structure
6041h Time

Related Value
Access RO Mapping TPDO All - Default 0
Mode Range
Shows the servo drive status.

Bit Name Description

0 Ready to switch on 1: Valid, 0: Invalid
1 Switch on 1: Valid, 0: Invalid
2 Operation enabled 1: Valid, 0: Invalid
3 Fault 1: Valid, 0: Invalid
4 Voltage enabled 1: Valid, 0: Invalid
5 Quick stop 0: Valid, 1: Invalid
6 Switch on disabled 1: Valid, 0: Invalid
7 Warning 1: Valid, 0: Invalid
8 Manufacturer-specific Undefined
1: Valid, control word activated
9 Remote
0: Invalid
0: Target torque not reached
10 Target reached
1: Target torque reached
0: Position feedback within the limit
11 Internal limit active
1: Position feedback over the limit
12 to
N/A No meaning, always being 0
14
0: Homing not completed
15 Home found
1: Homing completed

Setting
During
Condition Data Data
Name Target torque running & VAR Int16
Index & Effective Structure Type
Immediately
6071h Time

Related Value -3000 to

Access RW Mapping RPDO PT/CST Default 0
Mode Range +3000 (0.1%)
Defines the target torque in PT and CST modes.
The value 100.0% corresponds to the rated torque of the motor.

Setting
Condition Data
Name Torque demand value - VAR Data Type Int16
Index & Effective Structure
6074h Time

Value -
Access RO Mapping TPDO Related Mode All Default -
Range (0.1%)
Shows the torque reference output value during operation.
The value 100.0% corresponds to the rated torque of the motor.

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 7 Control Modes

Setting
Condition Data
Name Torque actual value - VAR Data Type Int16
Index & Effective Structure
6077h Time

Related Value -
Access RO Mapping TPDO All Default -
Mode Range (0.1%)
Shows the actual torque output of the servo drive.
The value 100.0% corresponds to the rated torque of the motor.

Setting
During
Condition Data Data
Name Torque slope running & VAR Uint32
Index & Effective Structure Type
Immediately
6087h Time

Related Value 0 to (232 – 1)

Access RW Mapping RPDO PT/CST Default 232-1
Mode Range (0.1%/s)
Defines the acceleration (torque increment per second) of the torque reference in PT mode.
For 6087h, the setpoint 0 will be forcibly changed to 1.

7.8.5 Recommended Configuration

The basic configuration for the PT mode is described in the following table.

RPDO TPDO Description

6040: Control word 6041:Status word Mandatory

6071: Target torque Mandatory

6087: Torque slope Optional

6064: Position actual value Optional

606C: Velocity actual value Optional

6077: Torque actual value Optional

6060: Modes of operation 6061: Modes of operation display Optional

7.8.6 Function Block Diagram

Speed Max.
regulator speed
2008-01h limit
2008-02h 607Fh
Torque actual value
6077h

Target torque
6071h Selected during
Torque slope speed limit
Max.
6087h Filter Torque
607Eh torque Motor Encoder
2007-06h regulator
limit

7.9 Homing Mode (HM)

The homing mode is used to search for the mechanical home and determine the position relation
between the mechanical home and mechanical zero.

■■ Mechanical home: a fixed position on the machine, which can correspond to a certain home switch
or motor Z signal.

■■ Mechanical zero: absolute zero position on the machine

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 7 Control Modes

After homing is done, the motor stops at the mechanical home. The relation between the mechanical
home and mechanical zero is defined by 607Ch.

Mechanical home = Mechanical zero + 607Ch (Home offset)

When 607Ch is 0, the mechanical home coincide with the mechanical zero.

7.9.1 Configuration Block Diagram

Homing mode (0x6060 = 6)

Homing mode (0x6098)

Speed during search for switch Position actual value

(0x6099-01) Speed (0x6064)
limit
Velocity actual value
Speed during search for home (0x606C)
(0x6099-02) Speed Servo control
limit Torque actual value
(0x6077)
Homing acceleration
(0x609A) Acc. Following error actual value
limit (0x60F4)

Figure 7-11 HM mode

7.9.2 Related Objects

Index Sub-index
Name Access Data Type Unit Value Range Default
(hex) (hex)

6040 00 Control word RW Uint16 - 0 to 65535 0

6041 00 Status word RO Uint16 - - 0

6060 00 Modes of operation RW Int8 - 0 to 10 0

Modes of operation
6061 00 RO Int8 - 0 to 10 0
display

Position actual
6064 00 RO Int32 Reference unit - -
value

6098 00 Homing method RW Int8 - 1 to 35 1

Speed during Reference

01 RW Uint32 0 to (232 – 1) 1747627
search for switch unit/s
6099
Speed during Reference
02 RW Uint32 10 to (232 – 1) 174763
search for zero unit/s

Homing Reference
609A 00 RW Uint32 0 to (232 – 1) 1747626667
acceleration unit/s2

607C 00 Home offset RW Int32 Reference unit –231 to +(231 – 1) 0

2005 24 Timeout RW Uint16 10 ms 100 to 65535 50000

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 7 Control Modes

7.9.3 Related Function Settings

1 Homing timeout setting

When the homing duration exceeds the value defined by 2005-24h (Homing time limit), the servo drive
reports E601.0 (Homing timeout).

E601.0 can be used to determine whether the homing speed, the acceleration setpoint, and connections
of deceleration point signals and home signals are proper.

☆ Related parameters

Setting
During
Condition Data Data
Name Homing time limit running & - Uint16
Index & Effective Structure Type
Immediately
2005-24h Time

Related Value 0 to 65535

Access RW Mapping RPDO HM Default 50000
Mode Range (100 ms)

Defines the homing time limit, which is used for detecting E601.0 (Homing timeout).

2 Position calculation method

After homing, the calculation method for present mechanical position can be defined by 60E6h.

Setting
During
Actual position calculation Condition Data Data
Name running & VAR Uint8
Index method & Effective Structure Type
Immediately
60E6h Time

Related Value
Access RW Mapping NO HM 0 to 1 Default 0
Mode Range
Defines the calculation method for the mechanical position after homing.

Value Actual Position Calculation Method

Absolute position homing
0 After homing is done, the following formula applies:
6064h (Position actual value) = 607Ch (Home offset)
Relative position homing
1 After homing is done, the following formula applies:
6064h (Position actual value) = Present position feedback value + 607Ch (Home offset)
The value of 60E6h cannot be edited after homing is triggered.

Setting
During
Condition Data Data
Name Home offset running VAR Int32
& Effective Structure Type
Index & At stop
Time
607Ch
–231 to +(231 – 1)
Related Value
Access RW Mapping RPDO HM (reference Default 0
Mode Range
unit)

Defines the physical distance between the mechanical zero and the motor home in the homing mode.
The home offset is activated only after the homing operation is done upon power-on and bit15 of 6041h is set to 1.
Home offset is used in the following cases:
◆◆ Determine the present position of the user after homing based on 60E6h.
◆◆ Er.D10 (Improper homing offset setting) occurs because 607Ch is set to a value beyond the limit defined by
607Dh (Software position limit).

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 7 Control Modes

3 Position deviation monitoring

☆ Related parameters

Setting
During
Condition Data Data
Name Following error window running & VAR Uint32
& Effective Structure Type
Index Immediately
Time
6065h
0 to (232 – 1)
Related Value
Access RW Mapping RPDO PP/HM/CSP (reference Default 3145728
Mode Range
unit)
Defines the threshold of excessive position deviation (reference unit).
For 6065h, setpoints beyond 2147483647 will be forcibly changed to 2147483647.

Setting
During
Condition Data Data
Name Following error time out running & VAR Uint16
Index & Effective Structure Type
Immediately
6066h Time

Related Value 0 to 65535

Access RW Mapping RPDO PP/HM/CSP Default 0
Mode Range (ms)
Defines the time lapse to trigger excessive position deviation (EB00.0).
When the position deviation (reference unit) exceeds ±6065h and such status persists after the time defined by
6066h elapses, EB00.0 (Excessive position deviation) will occur.

4 Speed limit

In the homing mode, 607Fh can be used to limit the maximum speed in the forward and reverse
directions. Note that the maximum speed cannot exceed the maximum operating speed allowed by the
motor.

+max. motor speed

+max. profile velocity (607Fh)

‒max. profile velocity (607Fh)

‒max. motor speed

☆ Related parameters

Setting
During
Condition Data Data
Name Max. profile velocity running & VAR Uint32
& Effective Structure Type
Index Immediately
Time
607Fh
0 to (232 – 1)
Related PP/PV/PT/HM/ Value
Access RW Mapping RPDO (reference Default 104857600
Mode CST Range
unit/s)

Defines the speed limit in PP, PV, PT, HM and CST modes.

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 7 Control Modes

5 Acceleration limit

In the homing mode, the change rate of the position reference can be limited through the acceleration
limit.

☆ Related parameters

Setting
During
Condition Data Data
Name Max. acceleration running & VAR Uint32
& Effective Structure Type
Immediately
Index Time
60C5h 0 to
Related Value 4294967295
Access RW Mapping RPDO All Default 2147483647
Mode Range (reference
unit/s2)
Defines the maximum limit of acceleration.
In the homing mode, if the value of 609A exceeds that of 60C5h, the value of 60C5h will be used.
For 60C5h, the setpoint 0 will be forcibly changed to 1.

7.9.4 Homing Operation

■■ Homing mode

1) 6098h = 1

Mechanical home: Z signal

Deceleration point: negative limit switch (N-OT)

Negative limit switch

-H
Motion profile
L

Z signal

Negative limit
switch signal

Figure 7-12 N-OT signal inactive at start

Note: In the figures, "H" represents 6099-1h (Speed during search for switch), and "L" represents 6099-2h
(Speed during search for zero).

The N-OT signal is inactive at start, and the motor starts homing in the reverse direction at high speed.
After reaching the rising edge of the N-OT signal, the motor decelerates and changes to run in the
forward direction at low speed until it stops at the first Z signal after reaching the falling edge of the N-OT
signal.

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 7 Control Modes

Negative limit switch

Motion
profile L

Z signal

Negative limit
switch signal

Figure 7-13 N-OT signal active at start

The N-OT signal is active at start, and the motor starts homing in the forward direction at low speed.
After reaching the falling edge of the N-OT signal, the motor stops at the first Z signal.

2) 6098h = 2

Home: Z signal

Deceleration point: positive limit switch (P-OT)

Positive
limit switch

H
Motion profile
-L

Z signal

Positive limit
switch signal

Figure 7-14 P-OT signal inactive at start

The P-OT signal is inactive at start, and the motor starts homing in the forward direction at high speed.
After reaching the rising edge of the P-OT signal, the motor decelerates and changes to run in the reverse
direction at low speed until it stops at the first Z signal after reaching the falling edge of the P-OT signal.

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 7 Control Modes

Positive
limit switch

-L

Z signal

Positive limit
switch signal

Figure 7-15 P-OT signal active at start

The P-OT signal is active at start, and the motor starts homing in the reverse direction at low speed. After
reaching the falling edge of the P-OT signal, the motor stops at the first Z signal.

3) 6098h = 3

Home: Z signal

Deceleration point: home switch (HW)

Home switch

H
Motion profile
-L

Z signal

Home switch
signal

Figure 7-16 HW signal inactive at start

The HW signal is inactive at start, and the motor starts homing in the forward direction at high speed.
After reaching the rising edge of the HW signal, the motor decelerates and changes to run in the reverse
direction at low speed until it stops at the first Z signal after reaching the falling edge of the HW signal.

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 7 Control Modes

Home switch

-L

Z signal

Home switch
signal

Figure 7-17 HW signal active at start

The HW signal is active at start, and the motor starts homing in the reverse direction at low speed. After
reaching the falling edge of the HW signal, the motor stops at the first Z signal.

4) 6098 = 4

Home: Z signal

Deceleration point: home switch (HW)

Home switch

Motion profile H

-L
L

Z signal

Home switch
signal

Figure 7-18 HW signal inactive at start

The HW signal is inactive at start, and the motor starts homing in the forward direction at high speed.
After reaching the rising edge of the HW signal, the motor decelerates and changes to run in the reverse
direction at low speed. Then, after reaching the falling edge of the HW signal, the motor decelerates and
changes to run in the forward direction until it stops at the first Z signal after reaching the rising edge of
the HW signal.

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 7 Control Modes

Home switch

-L

Z signal

Home switch signal

Figure 7-19 HW signal active at start

The HW signal is active at start, and the motor starts homing in the reverse direction at low speed. After
reaching the falling edge of the HW signal, the motor decelerates and changes to run in the forward
direction until it stops at the first Z signal after reaching the rising edge of the HW signal.

5) 6098h = 5

Home: Z signal

Deceleration point: home switch (HW)

Home switch

Motion profile
-H

Z signal

Home switch
signal

Figure 7-20 HW signal inactive at start

The HW signal is inactive at start, and the motor starts homing in the reverse direction at high speed.
After reaching the rising edge of the HW signal, the motor decelerates and changes to run in the forward
direction at low speed until it stops at the first Z signal after reaching the falling edge of the HW signal.

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 7 Control Modes

Home switch

L
Motion profile

Z signal

Home switch signal

Figure 7-21 HW signal active at start

The HW signal is active at start, and the motor starts homing in the forward direction at low speed. After
reaching the falling edge of the HW signal, the motor stops at the first Z signal.

6) 6098 = 6

Home: Z signal

Deceleration point: home switch (HW)

Home switch

-H
Motion profile
-L

Z signal

Home switch
signal

Figure 7-22 HW signal inactive at start

The HW signal is inactive at start, and the motor starts homing in the reverse direction at high speed.
After reaching the rising edge of the HW signal, the motor decelerates and changes to run in the forward
direction at low speed. Then, after reaching the falling edge of the HW signal, the motor changes to run
in the reverse direction at low speed until it stops at the first Z signal after reaching the rising edge of the
HW signal.

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 7 Control Modes

Home switch

L
Motion profile -L

Z signal

Home switch signal

Figure 7-23 HW signal active at start

The HW signal is active at start, and the motor starts homing in the forward direction at low speed. After
reaching the falling edge of the HW signal, the motor decelerates and changes to run in the reverse
direction at low speed until it stops at the first Z signal after reaching the rising edge of HW signal.

7) 6098 = 7

Home: Z signal

Deceleration point: home switch (HW)

Home switch
Positive limit
switch

H
Motion profile
-L

Z signal

Home switch
signal

Positive limit
switch

Figure 7-24 HW signal inactive at start, not hitting the positive limit switch
The HW signal is inactive at start, and the motor starts homing in the forward direction at high speed.
If the axis does not hit the limit switch, it decelerates and changes to run in the reverse direction at low
speed after reaching the rising edge of the HW signal. Then, after reaching the falling edge of the HW
signal, the motor stops at the first Z signal.

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 7 Control Modes

Home switch Positive limit

switch

Motion profile -L -H

Z signal

Home switch
signal

Positive limit
switch signal

Figure 7-25 HW signal inactive at homing start, hitting the positive limit switch
The HW signal is inactive at start, and the motor starts homing in the forward direction at high speed. If
the axis hits the limit switch, it changes to run in the reverse direction at high speed. After reaching the
rising edge of the HW signal, the motor decelerates and runs in the reverse direction at low speed. Then,
after reaching the falling edge of the HW signal, the motor decelerates and changes to run in the forward
direction at low speed until it reaches the rising edge of HW signal. After that it changes to run in the
reverse direction at low speed. Finally, the motor stops at the first Z signal after reaching the falling edge
of the HW signal.

Home switch
Positive limit
switch

-L

Z signal

Home switch
signal

Positive limit
switch signal

Figure 7-26 HW signal active at start

The HW signal is active at start, and the motor starts homing in the reverse direction at low speed. After
reaching the falling edge of the HW signal, the motor stops at the first Z signal.

8) 6098 = 8

Home: Z signal

Deceleration point: home switch (HW)

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 7 Control Modes

Home switch
Positive limit
switch

-L

L
Z signal

Home switch
signal

Positive limit
switch signal

Figure 7-27 HW signal inactive at start, not hitting the positive limit switch

The HW signal is inactive at start, and the motor starts homing in the forward direction at high speed.
If the axis does not hit the limit switch, it decelerates and changes to run in the reverse direction at low
speed after reaching the rising edge of the HW signal. Then, after reaching the falling edge of the HW
signal, the motor changes to run in the forward direction at low speed until it stops at the first Z signal
after reaching the rising edge of the HW signal.

Positive limit
Home switch
switch

Motion profile -L -H

Z signal

Home switch
signal

Positive limit
switch signal

Figure 7-28 HW signal inactive at homing start, hitting the positive limit switch
The HW signal is inactive at start, and the motor starts homing in the forward direction at high speed. If
the axis hits the limit switch, it changes to run in the reverse direction at high speed. After reaching the
rising edge of HW signal, the motor decelerates and continues running in the reverse direction at low
speed. Then, after reaching the falling edge of the HW signal, the motor changes to run in the forward
direction at low speed until it stops at the first motor Z signal after reaching the rising edge of the HW
signal.

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 7 Control Modes

Home switch
Negative limit switch Positive limit switch

-L

L
Z signal

Home switch
signal

Positive limit
switch signal

Figure 7-29 HW signal active at start

The HW signal is active at start, and the motor starts homing in the reverse direction at low speed. After
reaching the falling edge of HW signal, the motor changes to run in the forward direction at low speed
until it stops at the first Z signal after reaching the rising edge of HW signal.

9) 6098 = 9

Home: Z signal

Deceleration point: home switch (HW)

Negative limit switch Home switch Positive limit switch

H L

-L

Z signal

Home switch
signal

Positive limit
switch signal

Figure 7-30 HW signal inactive at start, not hitting the positive limit switch
The HW signal is inactive at start, and the motor starts homing in the forward direction at high speed. If
the axis does not hit the limit switch, it decelerates and runs in the forward direction at low speed after
reaching the rising edge of the HW signal. Then, after reaching the falling edge of the HW signal, the
motor changes to run in the reverse direction at low speed until it stops at the first Z signal after reaching
the rising edge of the HW signal.

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 7 Control Modes

Home switch Positive limit switch

-H
Motion profile
L

-L

Z signal

Home switch
signal

Positive limit
switch signal

Figure 7-31 HW signal inactive at start, hitting the positive limit switch

The HW signal is inactive at start, and the motor starts homing in the forward direction at high speed.
If the axis hits the limit switch, it changes to run in the reverse direction. After reaching the rising edge
of the HW signal, the motor decelerates and changes to run in the forward direction at low speed. Then
after reaching the falling edge of the HW signal, the motor changes to run in the reverse direction at low
speed. Finally, the motor stops at the first Z signal after reaching the rising edge of HW signal.

Home switch

Positive limit switch

-L

Z signal

Home switch
signal

Positive limit
switch signal

Figure 7-32 HW signal active at start

The HW signal is active at start, and the motor starts homing in the forward direction at low speed. After
reaching the falling edge of the HW signal, the motor changes to run in the reverse direction until it stops
at the first Z signal after reaching the rising edge of the HW signal.

10) 6098 = 10

Home: Z signal

Deceleration point: home switch (HW)

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 7 Control Modes

Home switch Positive limit switch

H L

Z signal

Home switch
signal

Positive limit
switch signal

Figure 7-33 HW signal inactive at start, not hitting the positive limit switch
The HW signal is inactive at start, and the motor starts homing in the forward direction at high speed.
If the axis does not hit the limit switch, it decelerates and runs in the forward direction at low speed
after reaching the rising edge of HW signal. After reaching the falling edge of the HW signal, the motor
decelerates and changes to run in the reverse direction at low speed until it reaches the rising edge of
the HW signal. After that, it changes to run in the forward direction at low speed. Finally, it stops at the
first Z signal after reaching the falling edge of the HW signal.
Home switch

Negative limit switch Positive limit switch

-H
Motion profile
L

Z signal

Home switch
signal

Positive limit
switch signal

Figure 7-34 HW signal inactive at start, hitting the positive limit switch
The HW signal is inactive at start, and the motor starts homing in the forward direction at high speed. If
the axis hits the limit switch, it changes to run in the reverse direction. After reaching the rising edge of
the HW signal, the motor decelerates and changes to run in the forward direction at low speed until it
stops at the first Z signal after reaching the falling edge of the HW signal.

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 7 Control Modes

Home switch
Positive limit switch

Z signal

Home switch
signal

Positive limit
switch signal

Figure 7-35 HW signal active at start

The HW signal is active at start, and the motor starts homing in the forward direction at low speed. After
reaching the falling edge of HW signal, the motor stops at the first Z signal.

11) 6098 = 11

Home: Z signal

Deceleration point: home switch (HW)

Home switch
Negative limit switch

-H
Motion profile
L

Z signal

Home switch
signal

Negative limit switch

signal

Figure 7-36 HW signal inactive at start, not hitting the negative limit switch
The HW signal is inactive at start, and the motor starts homing in the reverse direction at high speed. If
the axis does not hit the limit switch, it decelerates and changes to run in the forward direction at low
speed after reaching the rising edge of the HW signal. Then, after reaching the falling edge of the HW
signal, the motor stops at the first Z signal.

-261-
 7 Control Modes

Negative limit switch

-H

H L

Motion profile

Z signal

Home switch
signal

Negative limit switch

signal

Figure 7-37 HW signal inactive at start, hitting the negative limit switch
The HW signal is inactive at start, and the motor starts homing in the reverse direction at high speed. If
the axis hits the limit switch, it changes to run in the forward direction. After reaching the rising edge of
the HW signal, the motor decelerates and runs in the forward direction at low speed. Then, after reaching
the falling edge of the HW signal, the motor decelerates and changes to run in the reverse direction at
low speed until reaching the rising edge of the HW signal where it decelerates and changes to run in the
forward direction at low speed. Finally, the motor stops at the first Z signal after reaching the falling edge
of the HW signal.

Home switch
Negative limit switch

Motion profile
L

Z signal

Home switch
signal

Negative limit switch

signal

Figure 7-38 HW signal active at start

The HW signal is active at start, and the motor starts homing in the forward direction at low speed. After
reaching the falling edge of the HW signal, the motor stops at the first Z signal.

12) 6098 = 12

Home: Z signal
Deceleration point: home switch (HW)

-262-
 7 Control Modes

Home switch
Negative limit switch

-H

Motion profile L

-L

Z signal

Home switch
signal

Negative limit
switch signal

Figure 7-39 HW signal inactive at start, not hitting the negative limit switch
The HW signal is inactive at start, and the motor starts homing in the reverse direction at high speed. If
the axis does not hit the limit switch, it decelerates and changes to run in the forward direction at low
speed after reaching the rising edge of the HW signal. Then, after reaching the falling edge of HW signal,
the motor changes to run in the reverse direction at low speed until it stops at the first Z signal after
reaching the rising edge of the HW signal.

Home switch
Negative limit switch

-H

H L
Motion profile
-L

Z signal

Home switch
signal

Negative limit
switch signal

Figure 7-40 HW signal inactive at start, hitting the positive limit switch
The HW signal is inactive at start, and the motor starts homing in the reverse direction at high speed. If
the axis hits the limit switch, it changes to run in the forward direction at high speed. After reaching the
rising edge of HW signal, the motor decelerates and runs in the forward direction at low speed. Then,
after reaching the falling edge of HW signal, the motor changes to run in the reverse direction at low
speed until it stops at the first Z signal after reaching the rising edge of the HW signal.

-263-
 7 Control Modes

Home switch
Negative limit switch

L
Motion profile
-L

Z signal

Home switch
signal

Negative limit
switch signal

Figure 7-41 HW signal active at start

The HW signal is active at start, and the motor starts homing in the forward direction at low speed. After
reaching the falling edge of the HW signal, the motor changes to run in the reverse direction at low speed
until it stops at the first Z signal after reaching the rising edge of the HW signal.

13) 6098 = 13

Home: Z signal

Deceleration point: home switch (HW)

Home switch
Negative limit switch

Motion profile
-L -H

Z signal

Home switch
signal

Negative limit switch

signal

Figure 7-42 HW signal inactive at start, not hitting the negative limit switch

The HW signal is inactive at start, and the motor starts homing in the reverse direction at high speed. If
the axis does not hit the limit switch, it decelerates and changes to run in the reverse direction at low
speed after reaching the rising edge of the HW signal. Then, after reaching the falling edge of the HW
signal, the motor changes to run in the forward direction at low speed until it stops at the first Z signal
after reaching the rising edge of the HW signal.

-264-
 7 Control Modes

Home switch
Negative limit switch

-H
Motion profile
H

-L

Z signal

Home switch
signal

Negative limit
switch signal

Figure 7-43 HW signal inactive at start, hitting the negative limit switch

The HW signal is inactive at start, and the motor starts homing in the reverse direction at high speed. If
the axis hits the limit switch, it changes to run in the forward direction at high speed. After reaching the
rising edge of the HW signal, the motor decelerates and changes to run in the reverse direction at low
speed. Then, after reaching the falling edge of the HW signal, the motor changes to run in the forward
direction at low speed until it stops at the first Z signal after reaching the rising edge of the HW signal.

Home switch
Negative limit switch

-L
Motion profile
L

Z signal

Home switch
signal

Negative limit
switch signal

Figure 7-44 HW signal active at start

The HW signal is active at start, and the motor starts homing in the reverse direction at low speed. After
reaching the falling edge of the HW signal, the motor changes to run in the forward direction at low
speed until it stops at the first Z signal after reaching the rising edge of the HW signal.

14) 6098 = 14

Home: Z signal

Deceleration point: home switch (HW)

-265-
 7 Control Modes

Home switch
Negative limit switch

-L -H

Motion profile

Z signal

Home switch
signal

Negative limit switch

signal

Figure 7-45 HW signal inactive at start, not hitting the negative limit switch
The HW signal is inactive at start, and the motor starts homing in the reverse direction at high speed. If
the axis does not hit the limit switch, it decelerates and runs in the reverse direction at low speed after
reaching the rising edge of HW signal. Then, after reaching the falling edge of HW signal, the motor
decelerates and changes to run in the forward direction at low speed until reaching the rising edge of
the HW signal where it decelerates and changes to run in the reverse direction at low speed. Finally, the
motor stops at the first Z signal after reaching the falling edge of the HW signal.

Home switch
Negative limit switch

-H

Motion profile -L

Z signal

Home switch
signal

Negative limit
switch signal

Figure 7-46 HW signal inactive at start, hitting the negative limit switch

The HW signal is inactive at start, and the motor starts homing in the reverse direction at high speed. If
the axis hits the limit switch, it changes to run in the forward direction at high speed. After reaching the
rising edge of the HW signal, the motor decelerates and changes to run in the reverse direction at low
speed until it stops at the first Z signal after reaching the falling edge of the HW signal.

-266-
 7 Control Modes

Home switch
Negative limit switch

Motion profile -L

Z signal

Home switch
signal

Negative limit switch

signal

Figure 7-47 HW signal active at start

The HW signal is active at start, and the motor starts homing in the reverse direction at low speed. After
reaching the falling edge of the HW signal, the motor stops at the first Z signal.

15) 6098h = 17

Home: negative limit switch

Deceleration point: negative limit switch (N-OT)

Negative limit switch

-H
Motion profile
L

Negative limit
switch signal

Figure 7-48 N-OT signal inactive at start

The N-OT signal is inactive at start, and the motor starts homing in the reverse direction at high speed.
After reaching the rising edge of the N-OT signal, the motor decelerates and changes to run in the
forward direction at low speed until it stops after reaching the falling edge of the N-OT signal.

-267-
 7 Control Modes

Negative limit switch

L
Motion profile

Negative limit
switch signal

Figure 7-49 N-OT signal active at start

The N-OT signal is active at start, and the motor starts homing in the forward direction at low speed.
After reaching the falling edge of the N-OT signal, the motor stops.

16) 6098h = 18

Home: positive limit switch

Deceleration point: positive limit switch (P-OT)

Positive limit switch

H
Motion profile
-L

Positive limit switch

signal

Figure 7-50 P-OT signal inactive at start

The P-OT signal is inactive at start, and the motor starts homing in the forward direction at high speed.
After reaching the rising edge of the P-OT signal, the motor decelerates and changes to run in the reverse
direction at low speed until it stops after reaching the falling edge of the P-OT signal.

Positive limit switch

-L
Motion profile

Positive limit
switch signal

Figure 7-51 P-OT signal active at start

The P-OT signal is active at start, and the motor starts homing in the reverse direction at low speed. After
reaching the falling edge of the P-OT signal, the motor stops.

-268-
 7 Control Modes

17) 6098h = 19

Home: home switch (HW)

Deceleration point: home switch (HW)

Home switch

H
Motion profile
-L

Home switch
signal

Figure 7-52 HW signal inactive at start

vThe HW signal is inactive at start, and the motor starts homing in the forward direction at high speed.
After reaching the rising edge of the HW signal, the motor decelerates and changes to run in the reverse
direction at low speed until it stops after reaching the falling edge of the HW signal.

Home switch

-L
Motion profile

Home switch
signal

Figure 7-53 HW signal active at start

The HW signal is active at start, and the motor starts homing in the reverse direction at low speed. After
reaching the falling edge of the HW signal, the motor stops.

18) 6098 = 20

Home: home switch (HW)

Deceleration point: home switch (HW)

-269-
 7 Control Modes

Home switch

H
Motion profile
-L
L

Home switch
signal

Figure 7-54 HW signal inactive at start

The HW signal is inactive at start, and the motor starts homing in the forward direction at high speed.
After reaching the rising edge of the HW signal, the motor decelerates and changes to run in the reverse
direction at low speed. Then, after reaching the falling edge of the HW signal, the motor decelerates and
changes to run in the forward direction at low speed until it stops after reaching the rising edge of the
HW signal.

Home switch

-L

Home switch signal

Figure 7-55 HW signal active at start

The HW signal is active at start, and the motor starts homing in the reverse direction at low speed. After
reaching the falling edge of the HW signal, the motor decelerates and changes to run in the forward
direction at low speed until it stops after reaching the rising edge of the HW signal.

19) 6098h = 21

Home: home switch (HW)

Deceleration point: home switch (HW)

-270-
 7 Control Modes

Home switch

-H
Motion profile
L

Home switch signal

Figure 7-56 HW signal inactive at start

The HW signal is inactive at start, and the motor starts homing in the reverse direction at high speed.
After reaching the rising edge of the HW signal, the motor decelerates and changes to run in the forward
direction at low speed until it stops after reaching the falling edge of the HW signal.

Home switch

L
Motion profile

Home switch signal

Figure 7-57 HW signal active at start

The HW signal is active at start, and the motor starts homing in the forward direction at low speed. After
reaching the falling edge of the HW signal, the motor stops.

20) 6098 = 22

Home: home switch (HW)

Deceleration point: home switch (HW)

-271-
 7 Control Modes

Home switch

-H
Motion profile
-L

Home switch
signal

Figure 7-58 HW signal inactive at start

The HW signal is inactive at start, and the motor starts homing in the reverse direction at high speed.
After reaching the rising edge of the HW signal, the motor decelerates and changes to run in the forward
direction at low speed. Then, after reaching the falling edge of the HW signal, the motor decelerates and
changes to run in the reverse direction until it stops after reaching the rising edge of the HW signal.

Home switch

L
Motion profile -L

Home switch signal

Figure 7-59 HW signal active at start

The HW signal is active at start, and the motor starts homing in the forward direction at low speed. After
reaching the falling edge of the HW signal, the motor decelerates and changes to run in the reverse
direction at low speed until it stops after reaching the rising edge of the HW signal.

21) 6098 = 23

Home: home switch (HW)

Deceleration point: home switch (HW)

-272-
 7 Control Modes

Home switch Positive limit switch

H
Motion profile -L

Home switch
signal
Positive limit
switch signal

Figure 7-60 HW signal inactive at start, not hitting the positive limit switch
The HW signal is inactive at start, and the motor starts homing in the forward direction at high speed.
If the axis does not hit the limit switch, it decelerates and changes to run in the reverse direction at low
speed after reaching the rising edge of the HW signal. Then, after reaching the falling edge of the HW
signal, the motor stops.

Home switch
Positive limit switch

Motion profile -L -H

Home switch
signal

Positive limit
switch signal

Figure 7-61 HW signal inactive at start, hitting the positive limit switch
The HW signal is inactive at start, and the motor starts homing in the forward direction at high speed. If
the axis hits the limit switch, it changes to run in the reverse direction at high speed until it reaches the
rising edge of the HW signal, where it decelerates to run in the reverse direction at low speed. Then, after
reaching the falling edge of the HW signal, it decelerates and changes to run in the forward direction at
low speed until it reaches the rising edge of the HW signal. After that, it decelerates and changes to run
in the reverse direction at low speed. Finally, the motor stops after reaching the falling edge of the HW
signal.

-273-
 7 Control Modes

Home switch Positive limit switch

Motion profile -L

Home switch
signal
Positive limit
switch signal

Figure 7-62 HW signal active at start

The HW signal is active at start, and the motor starts homing in the reverse direction at low speed until it
stops after reaching the falling edge of the HW signal.

22) 6098 = 24

Home: home switch (HW)

Deceleration point: home switch (HW)

Home switch Positive limit switch

H
Motion profile -L

Home switch
signal
Positive limit
switch signal

Figure 7-63 HW signal inactive at start, not hitting the positive limit switch

The HW signal is inactive at start, and the motor starts homing in the forward direction at high speed.
If the axis does not hit the limit switch, it decelerates and changes to run in the reverse direction at low
speed after reaching the rising edge of the HW signal. Then, after reaching the falling edge of the HW
signal, the motor changes to run in the forward direction at low speed until it stops after reaching the
rising edge of the HW signal.

-274-
 7 Control Modes

Home switch Positive limit switch

H
Motion profile -L -H

Home switch
signal
Positive limit
switch signal

Figure 7-64 HW signal inactive at start, hitting the positive limit switch

The HW signal is inactive at start, and the motor starts homing in the forward direction at high speed. If
the axis hits the limit switch, it changes to run in the reverse direction at high speed until it decelerates
after reaching the rising edge of the HW signal. Then, after reaching the falling edge of the HW signal, the
motor changes to run in the forward direction at low speed. Finally, the motor stops after reaching the
rising edge of the HW signal.

Home switch Positive limit switch

Motion profile -L

Home switch
signal
Positive limit
switch signal

Figure 7-65 HW signal active at start

The HW signal is active at start, and the motor starts homing in the reverse direction at low speed. After
reaching the falling edge of the HW signal, the motor changes to run in the forward direction at low
speed until it stops after reaching the rising edge of the HW signal.

23) 6098 = 25

Home: home switch (HW)

Deceleration point: home switch (HW)

-275-
 7 Control Modes

Home switch Positive limit switch

H L
Motion profile
-L

Home switch
signal
Positive limit
switch signal

Figure 7-66 HW signal inactive at start, not hitting the positive limit switch
The HW signal is inactive at start, and the motor starts homing in the forward direction at high speed.
If the axis does not hit the limit switch, it decelerates and runs in the forward direction at low speed
after reaching the rising edge of the HW signal. Then, after reaching the falling edge of the HW signal, the
motor changes to run in the reverse direction at low speed until it stops after reaching the rising edge of
the HW signal.

Home switch Positive limit switch

H
Motion profile
-H

-L

Home switch
signal
Positive limit
switch signal

Figure 7-67 HW signal inactive at start, hitting the positive limit switch

The HW signal is inactive at start, and the motor starts homing in the forward direction at high speed.
If the axis hits the limit switch, it changes to run in the reverse direction at high speed. After reaching the
rising edge of the HW signal, the motor decelerates and changes to run in the forward direction at low
speed until reaching the falling edge of the HW signal where it changes to run in the reverse direction at
low speed. Finally, the motor stops after reaching the rising edge of the HW signal.

-276-
 7 Control Modes

Home switch Positive limit switch

L
Motion profile
-L

Home switch
signal
Positive limit
switch signal

Figure 7-68 HW signal active at start

The HW signal is active at start, and the motor starts homing in the forward direction at low speed.
After reaching the falling edge of the HW signal, the motor changes to run in the reverse direction at low
speed until it stops after reaching the rising edge of the HW signal.

24) 6098 = 26

Home: home switch (HW)

Deceleration point: home switch (HW)

Home switch Positive limit switch

H L

Home switch
signal

Positive limit
switch signal

Figure 7-69 HW signal inactive at start, not hitting the positive limit switch
The HW signal is inactive at start, and the motor starts homing in the forward direction at high speed.
If the axis does not hit the limit switch, it decelerates and runs in the forward direction at low speed
after reaching the rising edge of the HW signal. Then, after reaching the falling edge of the HW signal, the
motor decelerates and changes to run in the reverse direction at low speed until reaching the rising edge
of the HW signal where it decelerates and changes to run in the forward direction at low speed. Finally,
the motor stops after reaching the falling edge of the HW signal.

-277-
 7 Control Modes

Home switch Positive limit switch

H
Motion profile
-H

Home switch
signal
Positive limit
switch signal

Figure 7-70 HW signal inactive at start, hitting the positive limit switch
The HW signal is inactive at start, and the motor starts homing in the forward direction at high speed. If
the axis hits the limit switch, it changes to run in the reverse direction at high speed. After reaching the
rising edge of the HW signal, the motor decelerates and changes to run in the forward direction at low
speed until it stops after reaching the falling edge of the HW signal.

Home switch Positive limit switch

Motion profile L

Home switch
signal
Positive limit
switch signal

Figure 7-71 HW signal active at start

The HW signal is active at start, and the motor starts homing in the forward direction at low speed. After
reaching the falling edge of the HW signal, the motor stops.

25) 6098 = 27

Home: home switch (HW)

Deceleration point: home switch (HW)

-278-
 7 Control Modes

Home switch
Negative limit switch

-H
Motion profile
L

Home switch
signal

Negative limit
switch signal

Figure 7-72 HW signal inactive at start, not hitting the negative limit switch
The HW signal is inactive at start. The motor starts homing in the reverse direction at high speed.
If the axis does not hit the limit switch, it decelerates and changes to run in the forward direction at low
speed after reaching the rising edge of the HW signal. Then, the motor stops after reaching the falling
edge of the HW signal.

Negative limit switch

-H

H L

Motion profile

Home switch
signal

Negative limit
switch signal

Figure 7-73 HW signal inactive at start, hitting the negative limit switch
The HW signal is inactive at start, and the motor starts homing in the reverse direction at high speed.
If the axis hits the limit switch, it changes to run in the forward direction at low speed. After reaching
the rising edge of the HW signal, the motor decelerates and keeps running in the forward direction at
low speed until reaching the falling edge of the HW signal where it decelerates and changes to run in
the reverse direction at low speed. Then, after reaching the rising edge of the HW signal, the motor
decelerates and changes to run in the forward direction at low speed until it stops after reaching the
falling edge of the HW signal.

-279-
 7 Control Modes

Home switch
Negative limit switch

L
Motion profile

Home switch
signal

Negative limit
switch signal

Figure 7-74 HW signal active at start

The HW signal is active at start, and the motor starts homing in the forward direction at low speed. After
reaching the falling edge of the HW signal, the motor stops.

26) 6098 = 28

Home: home switch (HW)

Deceleration point: home switch (HW)

Home switch
Negative limit switch

-H

L
Motion profile
-L

Home switch
signal

Negative limit
switch signal

Figure 7-75 HW signal inactive at start, not hitting the negative limit switch
The HW signal is inactive at start, and the motor starts homing in the reverse direction at high speed.
If the axis does not hit the limit switch, it decelerates and changes to run in the forward direction at low
speed after reaching the rising edge of the HW signal. Then, after reaching the falling edge of the HW
signal, the motor changes to run in the reverse direction at low speed until it stops after reaching the
rising edge of the HW signal.

-280-
 7 Control Modes

Home switch
Negative limit switch

-H

H L
Motion profile
-L

Home switch
signal

Negative limit
switch signal

Figure 7-76 HW signal inactive at start, hitting the positive limit switch

The HW signal is inactive at start, and the motor starts homing in the reverse direction at high speed.
If the axis hits the limit switch, it changes to run in the forward direction at high speed until it decelerates
after reaching the rising edge of the HW signal. Then, after reaching the falling edge of HW signal, the
motor decelerates and changes to run in the reverse direction at low speed. Finally, the motor stops after
reaching the rising edge of the HW signal.

Home switch
Negative limit switch

Motion profile -L

Home switch
signal

Negative limit
switch signal

Figure 7-77 HW signal active at start

The HW signal is active at start, and the motor starts homing in the forward direction at low speed.
After reaching the falling edge of the HW signal, the motor changes to run in the reverse direction at low
speed until it stops after reaching the rising edge of the HW signal.

27) 6098 = 29

Home: home switch (HW)

Deceleration point: home switch (HW)

-281-
 7 Control Modes

Home switch
Negative limit switch

-L -H
Motion profile L

Home switch
signal

Negative limit
switch signal

Figure 7-78 HW signal inactive at start, not hitting the negative limit switch

The HW signal is inactive at start, and the motor starts homing in the reverse direction at high speed.
If the axis does not hit the limit switch, it decelerates and runs in the reverse direction at low speed after
reaching the rising edge of the HW signal. Then, after reaching the falling edge of the HW signal, the
motor changes to run in the forward direction at low speed until it stops after reaching the rising edge of
the HW signal.

Home switch
Negative limit switch

-H
Motion profile
H

-L

Home switch
signal

Negative limit
switch signal

Figure 7-79 HW signal inactive at start, hitting the negative limit switch
The HW signal is inactive at start, and the motor starts homing in the reverse direction at high speed.
If the axis hits the limit switch, it changes to run in the forward direction at high speed. After reaching the
rising edge of the HW signal, the motor decelerates and changes to run in the reverse direction at low
speed until it reaches the falling edge of the HW signal, where it changes to run in the forward direction
at low speed. Finally, the motor stops after reaching the rising edge of the HW signal.

-282-
 7 Control Modes

Home switch
Negative limit switch

-L
Motion profile
L

Home switch
signal

Negative limit
switch signal

Figure 7-80 HW signal active at start

The HW signal is active at start, and the motor starts homing in the reverse direction at low speed.
After reaching the falling edge of the HW signal, the motor changes to run in the forward direction at low
speed until it stops after reaching the rising edge of the HW signal.

28) 6098 = 30

Home: home switch (HW)

Deceleration point: home switch (HW)

Home switch
Negative limit switch

-L -H

Motion profile

Home switch
signal

Negative limit
switch signal

Figure 7-81 HW signal inactive at start, not hitting the negative limit switch

The HW signal is inactive at start, and the motor starts homing in the reverse direction at high speed.
If the axis does not hit the limit switch, it decelerates and keeps running in the reverse direction at low
speed after reaching the rising edge of the HW signal. Then, after reaching the falling edge of the HW
signal, the motor decelerates and changes to run in the forward direction at low speed until reaching the
rising edge of the HW signal where it changes to run in the reverse direction at low speed. Finally, the
motor stops after reaching the falling edge of the HW signal.

-283-
 7 Control Modes

Home switch
Negative limit switch

-H

Motion profile -L

Home switch
signal

Negative limit
switch signal

Figure 7-82 HW signal inactive at start, hitting the negative limit switch

The HW signal is inactive at start, and the motor starts homing in the reverse direction at high speed.
If the axis hits the limit switch, it changes to run in the forward direction at high speed. After reaching the
rising edge of the HW signal, the motor decelerates and changes to run in the reverse direction at low
speed until it stops after reaching the falling edge of the HW signal.

Home switch
Negative limit switch

-L
Motion profile

Home switch
signal

Negative limit
switch signal

Figure 7-83 HW signal active at start

The HW signal is active at start, and the motor starts homing in the reverse direction at low speed and
stops after reaching the falling edge of the HW signal.

29) 6098h = 31/32

This mode is not defined in the standard 402 protocol. It can be used for extension purpose.

30) 6098h = 33/34

Home: Z signal

Deceleration point: None

Homing mode 33: The motor runs in the reverse direction at low speed and stops at the first Z signal.

Homing mode 34: The motor runs in the forward direction at low speed and stops at the first Z signal.

-284-
 7 Control Modes

-L
33
L
34

Z signal

31) 6098h = 35

Homing mode 35: The present position is taken as the mechanical home, after homing is triggered
(control word 6040: 0x0F → 0x1F):

60E6h = 0 (Absolute homing):

6064h (Position actual value) is equal to 607Ch (Home offset) after homing is done.

60E6h = 1 (Relative homing):

6064h is the sum of the original value plus 607Ch (Home offset) after homing is done.

32) 6098 = –1

The servo motor runs in the reverse direction at high speed first. If the torque reaches the limit and the
speed is near zero after the axis hits the mechanical limit, and such status persists, it indicates that the
axis has reached the mechanical limit position. In this case, the motor runs in the forward direction at
low speed and stops after reaching the rising edge of the Z signal for the first time.

Mechanical limit

Motion profile H
L

Z signal 0

Mechanical limit 0

33) 6098 = –2

The servo motor runs in the forward direction at high speed first. If the torque reaches the limit and the
speed is near zero after the axis hits the mechanical limit, and such status persists, it indicates the motor
reaches the mechanical limit position. In this case, the motor runs in the reverse direction at low speed
and stops after reaching the rising edge of the Z signal for the first time.

Mechanical limit

Motion profile H
L

1
Z signal 0
1
Mechanical limit 0

-285-
 7 Control Modes

$"65*0/

Keep sufficient clearance between the positive limit switch and negative limit switch and set a
proper acceleration rate. Failure to comply may cause collision.

7.9.5 Related Parameters

Setting
During
Condition Data
Name Control word running & VAR Data Type Uint16
Index & Effective Structure
Immediately
6040h Time

Related
Access RW Mapping RPDO All Value Range 0 to 65535 Default 0
Mode

Defines the control commands.

Bit Name Description

0 Switch on 1: Valid, 0: Invalid
1 Enable voltage 1: Valid, 0: Invalid
2 Quick stop 0: Valid, 1: Invalid
3 Running 1: Valid, 0: Invalid
0 -> 1: homing
4 New set-point
1 -> 0: homing
0: Present operating state maintained
8 Halt
1: Halt

Setting
Condition Data
Name Status word - VAR Data Type Uint16
Index & Effective Structure
6041h Time

Related Value
Access RO Mapping TPDO All - Default 0
Mode Range

Shows the servo drive status.

Bit Name Description

0 Ready to switch on 1: Valid, 0: Invalid
1 Switch on 1: Valid, 0: Invalid
2 Operation enabled 1: Valid, 0: Invalid
3 Fault 1: Valid, 0: Invalid
4 Voltage enabled 1: Valid, 0: Invalid
5 Quick stop 0: Valid, 1: Invalid
6 Switch on disabled 1: Valid, 0: Invalid
7 Warning 1: Valid, 0: Invalid
8 Manufacturer-specific Undefined
1: Valid, control word activated
9 Remote
0: Invalid
0: Home not located
10 Target reached
1: Home located
0: Home not found
12 Homing attained
1: Home found
0: No homing error
13 Homing error
1: Homing error occurs
0: Home not located
15 Home found
1: Home located

-286-
 7 Control Modes

Setting
During
Condition Data Data
Name Homing method running & VAR Int8
Index & Effective Structure Type
At stop
6098h Time

Related
Access RW Mapping RPDO HM Value Range –2 to +35 Default 0
Mode

Defines the homing method.

Mode Description
Forward homing:
–2 Home: Z signal
Deceleration point: forward mechanical limit
Reverse homing:
–1 Home: Z signal
Deceleration point: reverse limit position
Reverse homing:
Home: Z signal
1
Deceleration point: negative limit switch (N-OT)
The falling edge of the N-OT signal must be reached before reaching the Z signal.
Forward homing:
Home: Z signal
2
Deceleration point: positive limit switch (P-OT)
The falling edge of the P-OT signal must be reached before reaching the Z signal.
Forward homing:
Home: Z signal
3
Deceleration point: home switch (HW)
The falling edge on the same side of the HW signal must be reached before reaching the Z signal.
Reverse homing:
Home: Z signal
4
Deceleration point: home switch (HW)
The rising edge on the same side of the HW signal must be reached before reaching the Z signal.
Reverse homing:
Home: Z signal
5
Deceleration point: home switch (HW)
The falling edge on the same side of the HW signal must be reached before reaching the Z signal.
Forward homing:
Home: Z signal
6
Deceleration point: home switch (HW)
The rising edge of the HW signal on the same side must be reached before reaching the Z signal.
Forward homing:
Home: Z signal
7
Deceleration point: home switch (HW)
The falling edge on the same side of the HW signal must be reached before reaching the Z signal.
Forward homing:
Home: Z signal
8
Deceleration point: home switch (HW)
The rising edge on the same side of the HW signal must be reached before reaching the Z signal.
Forward homing:
Home: Z signal
9
Deceleration point: home switch (HW)
The rising edge on the other side of the HW signal must be reached before reaching the Z signal.
Forward homing:
Home: Z signal
10
Deceleration point: home switch (HW)
The falling edge on the other side of the HW signal must be reached before reaching the Z signal.

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 7 Control Modes

Setting
During
Condition Data Data
Name Homing method running & VAR Int8
Index & Effective Structure Type
At stop
6098h Time

Related
Access RW Mapping RPDO HM Value Range –2 to +35 Default 0
Mode

Reverse homing:
Home: Z signal
11
Deceleration point: home switch (HW)
The falling edge on the same side of the HW signal must be reached before reaching the Z signal.
Reverse homing:
Home: Z signal
12
Deceleration point: home switch (HW)
The rising edge on the same side of the HW signal must be reached before reaching the Z signal.
Reverse homing:
Home: Z signal on the other side of the home switch
13
Deceleration point: home switch (HW)
The rising edge on the other side of the HW signal must be reached before reaching the Z signal.
Homing in the reverse direction:
Home: Z signal on the other side of the home switch
14
Deceleration point: home switch (HW)
The falling edge of the HW signal on the other side must be reached before reaching the Z signal.
15 to 16 N/A
17 to 32 Similar to 1 to 14. However, the deceleration point overlaps with the home.
33 Reverse homing. The home is the Z signal.
34 Forward homing. The home is the Z signal.
35 The present position is used as the home.

Setting
Condition Data
Name Homing speeds - ARR Data Type Uint32
Index & Effective Structure
6099h Time

Related OD default
Access - Mapping Yes HM Value Range OD data range Default
Mode value

Defines the following two speed values used in the homing mode:
◆◆ Speed during search for switch
◆◆ Speed during search for zero

Setting
Number of homing speed Condition Data Data
Sub- Name - - Uint8
sub-indexes & Effective Structure Type
index Time
0h
Related Value
Access RO Mapping NO - 2 Default 2
Mode Range

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 7 Control Modes

Setting
During
Speed during search for Condition Data Data
Name running & - Uint32
Sub- switch & Effective Structure Type
At stop
index Time
1h 0 to (232-1)
Related Value
Access RW Mapping RPDO HM (reference Default 1747627
Mode Range
unit/s)

Defines the speed during searching for the deceleration point signal. A large setpoint helps prevent E601.0 (Homing
timeout) caused by a prolonged homing process.
◆◆ Note: After finding the deceleration point, the slave decelerates and blocks the change of the home signal
during deceleration. To prevent encountering the home signal during deceleration, set the switch position of the
deceleration point signal properly to leave sufficient deceleration distance or increase the homing acceleration
rate to shorten the deceleration time.

Setting
During
Condition Data Data
Name Speed during search for zero running & - Int32
Sub- & Effective Structure Type
At stop
index Time
2h 10 to (232-1)
Related Value
Access RW Mapping RPDO HM (reference Default 100
Mode Range
unit/s)

Defines the speed during searching for the home signal. A small setpoint helps avoid overshoot during stop at high
speed, preventing large deviation between the stop position and the preset mechanical home.

Setting
During
Condition Data Data
Name Homing acceleration running & VAR DUint32
& Effective Structure Type
Index At stop
Time
609Ah
0 to (232-1)
Related
Access RW Mapping RPDO HM Value Range (reference Default 100
Mode
unit/s2)

Defines the acceleration rate in the homing mode.

The setpoint is effective after homing is started.
In the homing mode, if 605Dh (Halt option code) is set to 2, the servo drive decelerates to stop as defined by 609Ah.
For 609Ah, the setpoint 0 will be forcibly changed into 1.

7.9.6 Recommended Configuration

The basic configuration for the homing mode is shown in the following table.

RPDO TPDO Description

6040: Control word 6041:Status word Mandatory

6098: Homing method Optional

6099-01: Speed during search for switch Optional

6099-02: Speed during search for zero Optional

609A: Homing acceleration Optional

6064: Position actual value Optional

6060: Modes of operation 6061: Modes of operation display Optional

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 7 Control Modes

7.9.7 Function Block Diagram

Speed Speed
feedforward gain feedforward filter
(2008-14h) (2008-13h)
Home method (6098h)
Homing speeds (6099h)
Homing acceleration (60Ah)
Homing timeout (2005-36h)

Homing Gear ratio

Position loop
trajectory (6091-01h,
gain (2008-03h)
generator 6091-02h)
Position actual
value (6063h)

Torque feedforward Torque

filter feedforward gain
(2008-15h) (2008-16h)

Speed regulator Maximum

(2008-01h, motor speed
2008-02h) limit

Speed feedback
200B-01h [RPM]
Speed reference
200B-02h [RPM]
Speed
calculation

Torque filter Torque

Torque limit Motor
(2007-06h) regulator

7.10 Auxiliary Functions

The servo drive offers the following auxiliary functions:

■■ Motor protection

■■ DI filter time setting

■■ Touch probe function

■■ EtherCAT forced DO function

7.10.1 Touch Probe Function

The touch probe function is used to latch the position actual value (reference unit) when an external
latch input signal or the Z signal changes.

The SV660N offers two touch probes to record the positions corresponding to the rising edge or falling
edge of each touch probe signal, which means four positions can be latched.

$"65*0/

◆◆ No specific DI logic is required when a DI is used to trigger the touch probe function.
◆◆ When a DI is used to trigger the touch probe function, you can set the filter window of the touch
probe signal through 200A-14h and 200A-15h.

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 7 Control Modes

■■ Related Objects

Index Sub-index Data

Name Access Unit Value Range Default
(HEX) (HEX) Type

2003 03 DI1 function RW Uint16 - 0 to 65535 14

2003 0B DI5 function RW Uint16 - 0 to 65535 39

60B8 00 Touch probe function RW Uint16 - 0 to 65535 0

60B9 00 Touch probe status RO Uint16 - - 0

Reference
60BA 00 Touch probe 1 positive edge RO Int32 - 0
unit

Reference
60BB 00 Touch probe 1 negative edge RO Int32 - 0
unit

Reference
60BC 00 Touch probe 2 positive edge RO Int32 - 0
unit

Reference
60BD 00 Touch probe 2 negative edge RO Int32 - 0
unit

60D5 00 Touch probe 1 positive edge counter RO Uint16 - - 0

60D6 00 Touch probe 1 negative edge counter RO Uint16 - - 0

60D7 00 Touch probe 2 positive edge counter RO Uint16 - - 0

60D8 00 Touch probe 2 negative edge counter RO Uint16 - - 0

■■ Operating procedure

Observe the following procedure when using DI5 to trigger the touch probe function.

Requirement: touch probe 1 positive edge, continuous latching

1) Set 0x2003-0B (DI5 function) to 38.

2) Set the touch probe function in 0x60B8.

The definition of each bit of the touch probe function (0x60B8) is shown in the following table.

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 7 Control Modes

Setting
During
Condition Data
Name Touch probe function running VAR Data Type Uint16
Index & Effective Structure
& At stop
60B8h Time
Related Data
Access RW Mapping RPDO - 0 to 65535 Default 0
Mode Range
Defines the function of touch probe 1 and touch probe 2.
Definitions of each bit of 60B8 are as follows.

Bit Description Remarks

Touch probe 1 function selection

0 0: Switch off touch probe 1
1: Enable touch probe 1

Touch probe 1 trigger mode

0: Single trigger mode (Latches the position at the
1
first trigger event.)
Bit0 to Bit5: settings related to touch probe 1
1: Continuous trigger mode
When a DI is used to trigger the touch probe
Touch probe 1 trigger signal selection
function, the DI source cannot be changed
2 0: DI signal once the touch probe function is enabled.
1: Z signal For an absolute encoder, Z signal refers to the
3 N/A zero point of the single-turn position feedback
of the motor.
Touch probe 1 positive edge
4 0: Switch off latching at positive edge
1: Enable latching at positive edge

Touch probe 1 negative edge

5 0: Switch off latching at negative edge
1: Enable latching at negative edge

6 to 7 N/A

Touch probe 2 function selection

8 0: Switch off touch probe 2
1: Enable touch probe 2

Touch probe 2 trigger mode

0: Single trigger mode (Latches the position at the
9
first trigger event.)
1: Continuous trigger mode

Touch probe 2 trigger signal selection

10 0: DI signal Bit8 to Bit13: settings related to touch probe 2
1: Z signal

11 N/A

Touch probe 2 positive edge

12 0: Switch off latching at positive edge
1: Enable latching at positive edge

Touch probe 2 negative edge

13 0: Switch off latching at negative edge
1: Enable latching at negative edge

14 to
N/A
15

For absolute encoders, Z signal refers to the zero position of each revolution.

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 7 Control Modes

Set 0x60B8 to 0x0013 in this example.

3) Read the touch probe status in 0x60B9.

The definition of each bit of the touch probe status (0x60B9) is shown in the following table.

Setting
Condition Data
Name Touch probe status - VAR Data Type Uint16
Index & Effective Structure
60B9h Time
Related Data
Access RO Mapping TPDO - - Default -
Mode Range
Indicates the status of touch probe 1 and touch probe 2.

Bit Description Remarks

Touch probe 1 function selection

0 0: Switch off touch probe 1
1: Enable touch probe 1

Touch probe 1 positive edge value

1 0: No positive edge value latched
1: Positive edge value latched Bit0 to Bit7: status of touch probe 1

Touch probe 1 negative edge value

2 0: No negative edge value latched
1: Negative edge value latched

3 to 7 N/A

Touch probe 2 function selection

8 0: Switch off Touch probe 2
1: Enable touch probe 2

Touch probe 2 positive edge value

9 0: No positive edge value latched
1: Positive edge value latched Bit8 to Bit15: status of touch probe 2

Touch probe 2 negative edge value

10 0: No negative edge value latched
1: Negative edge value latched

11 to 15 -

In this example, you can read bit1 of 0x60B9 to check whether the touch probe 1 positive edge value is
latched.

4) Read the latch position of the touch probe.

The four position values of the touch probe are saved in 0x60BA to 0x60BD.

In this example, if the touch probe 1 positive edge value is latched, you can read the position value
through 0x60BA (Touch probe 1 positive edge, reference unit). The latch times can be obtained through
0x60D5.

The following figure shows touch probe function settings and status feedback sequence when DI5 is
used as the trigger signal in case of latching at positive edge and continuous triggering.

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 7 Control Modes

Set the trigger mode, signal

source, and valid latch edge
of touch probe 1. 60B8 BIT1/2/4/5

Enable touch probe 1.

60B8 BIT0

A valid latch edge

is detected. Touch probe 1
signal

Read the status of touch

60B9 BIT0
probe 1.

60D5
Read the latch position
information.

60BA

Figure 7-84 Operaing procedure of touch probe function

7.10.2 Software Position Limit

Traditionally, position limits are defined by external sensor signals connected to CN1, which is known as
hardware position limits.

-PBE
3FEVDUJPO
HFBS

.PUPS

4FSWP
ESJWF
'VO*/盘
105 %*
'VO*/盘
/05 %*

Figure 7-85 Installation of limit switches

■■ Comparison between hardware position limit and software position limit

Hardware limit Software limit

Restricted to linear motion and single-turn Applicable to linear motion and rotational
1 1
rotational motion. motion.

Removes the need for hardware wiring,

2 External mechanical limit switches are required. 2
preventing malfunction due to poor contact.

3 Suffered from the risk of mechanical slip.

Prevents malfunction due to mechanical slip
Unable to detect or alarm an overtravel event 3
4 through internal position comparison.
after power-off.

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 7 Control Modes

The software position limit works by comparing the set limit value with the internal feedback value.
If the latter exceeds the former, a warning will be reported and the servo drive stops. This function is
available in both absolute and incremental position modes. To use this function in the incremental
position mode, set 200A-02h to 2 to make the servo drive perform homing after power-on before the
software position limit applies.

☆ Related objects:

Setting
Condition At stop & Data
Name Absolute position limit - Data Type Uint16
200A-02h & Effective Immediately Structure
H0A-01 Time

Related Value
Access RW Mapping - All 0 to 2 Default 0
Mode Range

This object determines whether the absolute position limit is activated and the conditions for activation.

Value Absolute Position Limit Selection

0 Disabled
1 Enabled
2 Enabled after homing
If the absolute position limit is enabled, the servo drive stops as defined by 2002-08h (Stop mode at overtravel) when
the absolute position feedback reaches the limit value.

Setting
During
Condition Data
Name Min. position limit running & - Data Type Int32
& Effective Structure
At stop
607D-01h Time
–231 to +(231–1)
Related Value
Access RW Mapping RPDO All (reference Default -231
Mode Range
unit)

Defines the minimum software position limit relative to the mechanical zero point.

Setting
During
Condition Data
Name Max. position limit running & - Data Type Int32
& Effective Structure
At stop
607D-02h Time

–231 to +(231–1)
Related Value
Access RW Mapping RPDO All (reference Default 231-1
Mode Range
unit)

Defines the maximum software position limit relative to the mechanical zero point.

$"65*0/

◆◆ Ensure the value of 607D-01h is less than or equal to 607D-02h. If 607D-01h is set to a value
larger than 607D-02h, the servo drive reports EE09.0 (Software position limit setting error).
◆◆ In the absolute rotation mode or single-turn mode, ensure 607D-01 and 607D-02 are within the
mechanical position limit. Otherwise, the servo drive reports EE09.0.
◆◆ Ensure the value of 607Ch (Home offset) is within the software position limit. Otherwise, the
servo drive reports EE09.0.

7.10.3 Position Comparison

In position comparison, the actual position of the axis is compared with the position values pre-stored
in the data array and, once the comparison conditions are fulfilled, a DO signal with pulse width settable

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 7 Control Modes

will be outputted for use in subsequent motion control. Such comparison is implemented through FPGA,
removing the risk of software communication delay between different processors. Accurate comparison
can also be performed on the motion axis rotating at high speed.

For position comparison, you can select“active high”or“active low”for the DO terminal. When
“active high”is selected, the corresponding DO is active when the actual position of the axis reaches a
comparison point in the specified attribute. When "active low" is selected, the corresponding DO is not
active when the actual position of the axis reaches a comparison point in the specified attribute.. Three
DOs are available in SV660N series servo drives.

1 Applicable conditions

Position comparison is available only when the following conditions are fulfilled.

Conditions for Position Comparison

Control mode All the control modes

◆◆ After EtherCAT communication is confirmed

◆◆ After homing is done
Others
◆◆ Motor rotating normally with critical parameters (control parameters
included) set properly

2 Related Objects

The configurable DO logic functions are listed as follows:

■■ 0: No definition

■■ 1: Servo ready (SRDY)

■■ 2: Motor rotating

■■ 9: Brake

■■ 10: Warning (WARN)

■■ 11: Fault (ALRM)

■■ 25: Position Comparison (CMP)

■■ 32: STO EDM

When position comparison is enabled, you can allocate function 25 (Position comparison) to any one of
the three DOs, and the DO you select will act as the position comparison output signal.

■■ Parameters for position comparison

Group H18: Position comparison output

Para. No. Name Description

H18: Position Comparison Output

H18-00 Position comparison switch 1: Enabled

Defines the number of pulses per revolution. For example, if H18-02 is

set to 2, the number of pulses per revolution is 222.
0: 24-bit
1: 23-bit
Position comparison 2: 22-bit
H18-02
resolution 3: 21-bit
4: 20-bit
5: 19-bit
6: 18-bit
7: 17-bit

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 7 Control Modes

Para. No. Name Description

0: Individual comparison
H18-03 Position comparison mode
1: Cyclic comparison

H18-04 Present position as zero 1: Enabled

Position comparison output Defines the active pulse width of the DO when the comparison point is
H18-05
pulse width reached. The value range is 0 to 2047 (unit: 0.1 ms).

Start point of position

H18-07 Activated when H18-00 is set to 1 again.
comparison

End point of position

H18-08 Activated when H18-00 is set to 1 again.
comparison

Present status of position 0: No comparison

H18-09
comparison n: Waiting for No. N comparison point

Displays the present position value during position comparison.

H18-10 Real-time position feedback
Value range: –231 to 231 – 1

Defines the offset value after the present position is taken as the zero
Zero offset of position point.
H18-12
comparison
Value range: –231 to +231 – 1

Target value of position Defines the target value of position comparison 1.

H19-00
comparison 1 Value range: –231 to 231 – 1

Defines the attribute value of position comparison 1.

0: Skip this point
1: Output DO active signal if current position changes from "less than"
Attribute value of position
H19-02 to "more than" the comparison point
comparison 1
2: Output DO active signal if current position changes from "more than"
to "less than" the comparison point
3: Output DO active signal in both situations

Target value of position Defines the target value of position comparison 2.

H19-03
comparison 2 Value range: –231 to 231 – 1

Defines the attribute value of position comparison 2.

0: Skip this point
1: Output DO active signal if current position changes from "less than"
Attribute value of position
H19-05 to "more than" the comparison point
comparison 2
2: Output DO active signal if current position changes from "more than"
to "less than" the comparison point
3: Output DO active signal in both situations

Target value of position Defines the target value of position comparison 3.

H19-06
comparison 3 Value range: –231 to 231–1

Defines the attribute value of position comparison 3.

0: Skip this point
1: Output DO active signal if current position changes from "less than"
Attribute value of position
H19-08 to "more than" the comparison point
comparison 3
2: Output DO active signal if current position changes from "more than"
to "less than" the comparison point
3: Output DO active signal in both situations

Target value of position Defines the target value of position comparison 4.

H19-09
comparison 4 Value range: –231 to 231 – 1

Defines the attribute value of position comparison 4.

0: Skip this point
1: Output DO active signal if current position changes from "less than"
Attribute value of position
H19-11 to "more than" the comparison point
comparison 4
2: Output DO active signal if current position changes from "more than"
to "less than" the comparison point
3: Output DO active signal in both situations

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 7 Control Modes

Para. No. Name Description

Target value of position Defines the target value of position comparison 5.

H19-12
comparison 5 Value range: –231 to 231 – 1

Defines the attribute value of position comparison 5.

0: Skip this point
1: Output DO active signal if current position changes from "less than"
Attribute value of position
H19-14 to "more than" the comparison point
comparison 5
2: Output DO active signal if current position changes from "more than"
to "less than" the comparison point
3: Output DO active signal in both situations

Target value of position Defines the target value of position comparison 6.

H19-15
comparison 6 Value range: –231 to 231 – 1

Defines the attribute value of position comparison 6.

0: Skip this point
1: Output DO active signal if current position changes from "less than"
Attribute value of position
H19-17 to "more than" the comparison point
comparison 6
2: Output DO active signal if current position changes from "more than"
to "less than" the comparison point
3: Output DO active signal in both situations

Target value of position Defines the target value of position comparison 7.

H19-18
comparison 7 Value range: –231 to 231 – 1

Defines the attribute value of position comparison 7.

0: Skip this point
1: Output DO active signal if current position changes from "less than"
Attribute value of position
H19-20 to "more than" the comparison point
comparison 7
2: Output DO active signal if current position changes from "more than"
to "less than" the comparison point
3: Output DO active signal in both situations

Target value of position Defines the target value of position comparison 8.

H19-21
comparison 8 Value range: –231 to 231 – 1

Defines the attribute value of position comparison 8.

0: Skip this point
1: Output DO active signal if current position changes from "less than"
Attribute value of position
H19-23 to "more than" the comparison point
comparison 8
2: Output DO active signal if current position changes from "more than"
to "less than" the comparison point
3: Output DO active signal in both situations

3 Run

1) Description

■■ Position comparison switch (H18-00)

When the value of H18-00 changes from 0 to 1, position comparison starts and the value of H18-09
(Present status of position comparison) is updated to the position comparison start point number.
When the value of H18-00 changes to 0, position comparison stops and the present comparison status is
cleared.

■■ Position comparison resolution (H18-02)

The comparison resolution defines the number of pulses per revolution. Given the maximum and
minimum limits of the position comparison points (defined by group H19), you can reset the comparison
value resolution when data overflow occurs on the comparison value. For example: H18-02 = 7 (17-bit)
The maximum value of the target position is 231–1, and the motor can move by 231–1/217 rotations.

The target position in group H19 is only related to the set resolution.

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 7 Control Modes

■■ Individual comparison mode (H18-03 = 0)

In the single comparison mode, when the comparison end point is reached, the comparison function
is switched off automatically and the present comparison value is cleared to zero. The comparison
function can be enabled again only when the position comparison is switched on again.

The real-time position feedback in the single comparison mode is an absolute value, which means
it is an accumulative value based on the preceding comparison point. Such value will not be cleared
automatically.

■■ Cyclic comparison mode (H18-03 = 1)

In the cyclic comparison mode, the comparison function will not be switched off when the comparison
end point is reached, and the start point for comparison will be set as the next comparison position
value.

In the cyclic comparison mode, the target position is a relative (incremental) value. Each time a
comparison point is reached, the real-time position feedback is cleared and reset to zero to be compared
with the new target point.

■■ Position comparison output width (H18-05)

When the position comparison conditions are fulfilled, the servo drive outputs DO active level signal.
The width of the active signal can be set by H18-05 (value range: 1 to 2047 x 0.1 ms).

When the DO output is active, the comparison logic is suspended and no comparison will be performed.
In this case, ensure the operating time between two target points is larger than the DO output width.

■■ Target value of position comparison

There are eight target values of position comparison. The target value is a 32-bit signed number. The
target value and attribute value of position comparison must be updated to the related parameters in
group H19 in advance.

■■ Start point for comparison (H18-07)

The start point indicates the position of the first comparison point. For example, if the start point is set
to 5, the comparison starts from position comparison 5.

■■ End point for comparison (H18-08)

The end point indicates the position of the last comparison point. For example, if the end point is set to 7,
the comparison stops or restarts from the start point after position comparison 7 is reached.

■■ Zero offset of position comparison (H18-12)

The value of H18-10 (Real-time position feedback) will be changed to the offset value defined by H18-12
(Zero offset of position comparison) at the rising edge (0 → 1) of H18-04 (Present position as zero).

2) Running

■■ When the position feedback of the encoder passes the target position comparison values (H19-00
to H19-21), the DO outputs the time width pulse defined by H18-05 (Position comparison output
width), as shown in the following figure.

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 7 Control Modes

Position

Actual position

Position comparison value 2

Position comparison value 1

Time

Position comparison output

Pulse output width when Pulse output width when

current position changing current position changing
from less than to more than from more than to less than
the comparison point the comparison point

When the attribute of the comparison point is set to 1 (Output DO active signal if current position
changes from "less than" to "more than" the comparison point), the DO outputs the position comparison
signal when the axis position changes from "less than" to "more than" the comparison point position.

When the attribute of the comparison point is set to 2 (Output DO active signal if current position
changing from "more than" to "less than" the comparison point), the DO outputs the position
comparison signal when the axis position changes from "more than" to "less than" the comparison point
position.

When the attribute of the comparison point is set to 3 (Output DO active signal under both situations),
the DO outputs the position comparison signal when the axis position passes the comparison point
position in either direction.

■■ When the direction of rotation reverses and multiple position comparison values are set, no
comparison will be performed once the position comparison DO output is active. Therefore, ensure
the operating time between two comparison points is larger than the pulse output width. As shown
in the following figure, no comparison is performed because the pulse output width is larger than
the operating time between the two comparison points.

Position
Actual position
Position comparison value 2
Position comparison value 1

Time

Position comparison output

Pulse output width

■■ Only one pulse will be output when the stop position is the same with the target value of position
comparison, as shown in the following figure.

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 7 Control Modes

Position
Actual position
Position comparison
value

Time

Position comparison
output

Pulse output width

3) Interface of the software tool

For the convenience of setting the target value of position comparison, the software tool provides the
function of division setting. Set a proper comparison mode, start point, and end point first.

■■ In the single comparison mode, set the total running distance and number of comparison points.
After clicking the division setting, the target value of position comparison 1 is updated to "Distance x
1/Number of comparison points", the target value of position comparison 2 is updated to "Distance
x 2/Number of comparison points", and the target value of position comparison N is updated to
"Distance x N/Number of comparison points".

■■ In the cyclic comparison mode, the distance length setting is used to set the operating distance
between two adjacent points; the comparison points setting is used to set the numbers of points to
be compared cyclically. After clicking the division setting, the target values of position comparison 1
to N are updated to the values set in the distance length setting.

7.10.4 EtherCAT Forced DO Function

1 Function description

1. Two offline DO output options are available by default in the non-operational (non-OP) status
(including network offline) for EtherCAT force DO output:

1) status unchanged upon offline: The servo status switches to the non-OP status and the forced DO
status stays the same as the DO status before offline

2) initialization status: There is no forced DO output when the servo drive is in the non-OP status.

When the network switches to operational (OP), the forced DO is determined by 60FE-1 and 60FE-2.

2. Select forced DO function by bits.

You can assign EtherCAT forced DO function to the DO terminal by bits, which means both local functions
and EtherCAT forced DO function are supported by DOs.

3. The value of H0D-17 is retentive upon power-off.

2 Setting method

1. Assign the DO to be controlled forcibly by EtherCAT with function 31 and set the bit of H04-23 as
needed. This is for the convenience of selecting the forced DO status after offline.

2. Configure 60FE-1 and 60FE-2 as RPDOs and use bit16, bit17, and bit18 to control the DO.

-301-
 7 Control Modes

3 Related parameter
Setting
During
EtherCAT forced DO Condition Data
H04-23 Name running & - Data Type Uint16
offline output logic & Effective Structure
Immediately
Time
Related Data
2004-18h Access RW Mapping - - 0~7 Default 1
Mode Range
Setpoint DO Function Name
0 Status of DO1 to DO3 unchanged in the non-OP status
1 No output in DO1 and status of others unchanged in the non-OP status
2 No output in DO2 and status of others unchanged in the non-OP status
3 No output in DO1 or DO2 and status of others unchanged in the non-OP status
4 No output in DO3, status of others unchanged in the non-OP status
5 No output in DO1 or DO3, status of others unchanged in the non-OP status
6 No output in DO2 or DO3 and status of others unchanged in the non-OP status
7 No output in DO1, DO2, or DO3.

7.11 Absolute Encoder System

For the wiring and battery installation of the absolute encoder, see "3.4 Connecting the Servo Drive and
Servo Motor Encoder Cables".

7.11.1 Descriptions for Use of the Absolute Encoder System

■■ Overview

The absolute encoder records the single-turn position and the number of revolutions. With a single-
turn resolution up to 8388608 (223) pulses, the encoder can record 16-bit multi-turn data. The absolute
encoder system works in the position, speed, and torque control modes. When the servo drive is
powered off, the encoder performs data backup using the power supplied by the battery. The servo drive
therefore can calculate the absolute mechanical position through the encoder after power-on, avoiding
the need for homing.

When using the absolute encoder, set 2000-01h (Motor code) to 14101 (Inovance 23-bit absolute
encoder) and set 2002-02h (Absolute encoder system selection) based on actual conditions. Er.731 will
be reported when the battery is connected for the first time. In this case, set 200D-15h (Absolute encoder
reset selection) to 1 (Reset the encoder fault) to reset the fault, and then perform the homing operation.

If the value of 2002-03h (Direction of rotation), 200D-15h (Absolute encoder reset selection)
or the mechanical gear ratio is changed, the mechanical position will change abruptly. In
this case, perform the homing operation. After homing is done, the servo drive calculates the
NOTE difference between the absolute mechanical position and the absolute position fed back by
the encoder, and saves the difference into the EEPROM.

■■ Related objects
■■ Absolute encoder system setting
Set 2000-01h (Motor code) to 14101 (Inovance 23-bit absolute encoder), and select the absolute position
mode through 2002-02h (Absolute encoder system mode).

Setting At stop &

Data
2000-01h Name Motor code Condition & Next - Data Type Uint16
Structure
Effective Time power-on

H00-00 Related Value 0 to

Access RW Mapping - - Default 14101
Mode Range 65535

Defines the motor code.

Value Motor SN Description
14000 Inovance motor with incremental encoder Encoder resolution: 1048576 (220)
14101 Inovance motor with absolute encoder Encoder resolution: 8388608 (223)

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 7 Control Modes

Setting
At stop
Condition Data
H02-01 Name Absolute system mode & Next - Data Type Uint16
& Effective Structure
power-on
Time
Related Value
2002-02h Access RW Mapping - All 0 to 4 Default 0
Mode Range
Defines the mode of the absolute system.

Absolute
Value Description Remarks
system mode
Incremental The encoder is used as a serial-type incremental No battery needed, no battery
0
position mode encoder without power-off memory. fault or multi-turn fault
The encoder is used as an absolute encoder with
power-off memory.
Battery needed, indications
Absolute This mode applies to applications with a fixed axis
of battery fault, multi-turn
1 position linear movement range and free from multi-turn data
counting error and overflow
mode overflow.
fault available
The multi-turn data range in the absolute position
linear mode is –32768 to +32767.
The encoder is used as an absolute encoder with
Battery needed, indication
Absolute power-off memory.
of battery fault available,
2 position This mode applies to the applications where the load
indication of multi-turn
rotation mode movement range is unlimited and only single-turn
overflow fault not available
position feedback is needed.
The encoder is used as an absolute encoder with Battery needed, indication
Absolute
power-off memory. of battery fault available,
3 position linear
This mode applies to applications where the multi- indication of multi-turn
mode 2
turn data overflow fault can be left untreated. overflow fault not available
Single-turn No battery needed, no battery
4 In this mode, only the single-turn position is recorded.
absolute mode fault or multi-turn fault

■■ Encoder feedback data

The feedback data of an absolute encoder is divided into the number of revolutions and the position
within one turn. For the incremental position mode, there is no feedback data concerning the number of
revolutions.

Setting
Number of revolutions of the Condition Data
H0B-70 Name - - Data Type Uint16
absolute encoder & Effective Structure
Time

Related Value
200B-47h Access RO Mapping TPDO All - Default -
Mode Range

Represents the number of revolutions of the absolute encoder.

Setting
Single-turn position feedback of Condition Data
H0B-71 Name - - Data Type Uint32
the absolute encoder & Effective Structure
Time

Related Value -
200B-48h Access RO Mapping TPDO All Default -
Mode Range (encoder unit)

Represents the single-turn position feedback of the encoder. If the encoder resolution is RE (for example, RE = 223), the
range is 0 to (RE–1).

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 7 Control Modes

Setting
Absolute position (low 32 Condition Data
H0B-77 Name - - Data Type Uint32
bits) of absolute encoder & Effective Structure
Time

-
200B-4Eh Access RO Mapping TPDO Related Mode All (encoder Default -
unit)

Setting
Absolute position (high 32 Condition Data
H0B-79 Name - - Data Type Int32
bits) of absolute encoder & Effective Structure
Time

Value -
200B-50h Access RO Mapping TPDO Related Mode All Default -
Range (encoder unit)

Represents the absolute position feedback of the encoder.

7.11.2 Absolute Position Linear Mode

This mode applies to applications where the axis movement range is fixed and multi-turn data overflow
will not occur.

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Figure 7-86 Application of the linear mode

Assume the absolute mechanical position (200B-3Bh and 200B-3Dh) is PM, the encoder absolute position
is PE, the position offset in the absolute position linear mode (2005-2Fh and 2005-31h) is PO, their relation
will be: PM = PE - PO
Assume the electronic gear ratio is B/A, and the mechanical absolute position (in reference unit) is
200B-08h, then the following formula applies:
200B-08h = PM/(B/A)

The multi-turn data range in the absolute position linear mode is –32768 to +32767. If the number of
forward revolutions is larger than 32767 or the number of reverse revolutions is smaller than –32768,
E735.0 (Encoder multi-turn counting overflow) will occur. In this case, set 200D-15h (Absolute encoder
reset selection) to 2 (Reset the encoder fault and multi-turn data) to reset the multi-turn data and
perform homing again. In special occasions, you can set 200A-25h (Multi-turn overflow fault of absolute
encoder) to 1 (Hide) to hide E735.0 or use absolute position linear mode 2.

Setting
At stop
Position offset in the absolute Condition Data Data
2005-2Fh Name & Next - Uint32
position linear mode (low 32 bits) & Effective Structure Type
power-on
Time

Related Value -231 to +(231 – 1)

H05-46 Access RW Mapping - All Default 0
Mode Range (encoder unit)

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 7 Control Modes

Setting
At stop
Position offset in the absolute Condition Data Data
2005-31h Name & Next - Int32
position linear mode (high 32 bits) & Effective Structure Type
power-on
Time

-231 to +(231 – 1)
Related Value
H05-48 Access RW Mapping - All (in encoder Default 0
Mode Range
unit)

These parameters define the offset of the absolute mechanical position (in encoder unit) relative to the absolute
position (in encoder unit) of the encoder in the linear mode (2002-02 = 1).
Position offset in the absolute position linear mode = Encoder absolute position - Mechanical absolute position
Note:
◆◆ The offset of the absolute position linear mode (2005-2Fh and 2005-31h) is 0 by default. If homing is performed,
the servo drive automatically calculates the deviation between the encoder absolute position and the mechanical
absolute position after homing, assigns the value to 2005-2Fh and 2005-31h, and stores the value to EEPROM.

Setting
Condition At stop & Data
200B-08h Name Absolute position counter - Data Type Int32
& Effective Immediately Structure
Time

-231 to +231
Related Value
H0B-07 Access RO Mapping - All (reference Default 0
Mode Range
unit)

Represents the current mechanical absolute position (in reference units).

Setting
Mechanical absolute position Condition Data
200B-3Bh Name - - Data Type Uint32
(low 32 bits) & Effective Structure
Time
-
Related Value
H0B-58 Access RO Mapping - All (encoder Default -
Mode Range
unit)
Setting
Mechanical absolute position Condition Data
200B-3Dh Name - - Data Type Int32
(high 32 bits) & Effective Structure
Time
Related Value (encoder
H0B-60 Access RO Mapping - All Default -
Mode Range unit)

Represents the current mechanical absolute position (in encoder units).

Setting
Condition Data Data
Name Position actual value* - VAR Int32
& Effective Structure Type
Index Time
6063h
-
Related Value
Access RO Mapping TPDO All (encoder Default 0
Mode Range
unit)

Represents the absolute position of the motor (in encoder unit). The value is equal to 200B-3Bh in the absolute
position mode.

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 7 Control Modes

Setting
Condition Data Data
Name Position actual value - VAR Int32
Index & Effective Structure Type
6064h Time

Related Value -
Access RO Mapping TPDO All Default 0
Mode Range (reference unit)
Represents the absolute position feedback in user defined units.
Position actual value (6064h) x Gear ratio (6091h) = Position actual value* (6063h)

Setting
Absolute encoder multi-turn Condition At stop & Data Data
Name - Uint16
overflow fault & Effective Immediately Structure Type
200A-25h Time

Related Value
Access RW Mapping No All 0 to 1 Default 0
Mode Range

This object is used to hide E735.0 (Encoder multi-turn overflow fault) in the absolute position linear mode.

Value Description
0 0: Not hide
1 1: Hide

7.11.3 Absolute Position Rotation Mode

This mode is mainly applicable to applications where the load movement range is unlimited, as shown
in the figure below. The number of motor revolutions in one direction is less than 32767 in case of power
failure.

Figure 7-87 Rotating load

The single-turn position range of the rotating load is 0 to (RM–1) (RM: encoder pulses per revolution of
the rotating load). When the gear ratio is 1:1, the variation law of the target position and the single-turn
position of the rotating load during forward running is shown as follows.

Target position

Single-turn position RM-1

of the rotating load

0 Magnitude of rotation

-306-
 7 Control Modes

The variation law of the target position and the single-turn position of the rotating load during reverse
running is shown as follows.

Target position

0
Magnitude of rotation

Single-turn position RM-1

of the rotating load

0 Magnitude of rotation

When the motor works in the absolute rotation mode and the servo drive operates in the HM mode, the
setting range of the home offset is 0 to (RM–1). If the home offset is set to a value outside this range, the
servo drive reports EE09.1 (Home setting error).

The multi-turn data range is unlimited in the absolute position rotation mode. Therefore, E735.0 (Encoder
multi-turn counting overflow) is automatically disabled.

Related parameters

Mechanical gear ratio in the Setting

At stop & Data Data
Name absolute position rotation mode Condition & - Uint16
Immediately Structure Type
2005-33h (numerator) Effective Time

Value
Access RW Mapping - Related Mode All 1 to 65535 Default 1
Range

Mechanical gear ratio in the Setting

At stop & Data Data
Name absolute position rotation mode Condition & - Uint16
Immediately Structure Type
2005-34h (denominator) Effective Time

Value
Access RW Mapping - Related Mode All 1 to 65535 Default 1
Range

Pulses per revolution of the load Setting

At stop & Data Data
Name axis in the absolute position Condition & - Uint32
Immediately Structure Type
rotation mode (low 32 bits) Effective Time
2005-35h
0 to (232-1)
Value
Access RW Mapping - Related Mode All (encoder Default 0
Range
unit)

Pulses per revolution of the load Setting

At stop & Data Data
Name axis in the absolute position Condition & - Int32
Immediately Structure Type
rotation mode (high 32 bits) Effective Time
2005-37h
0 to 127
Value
Access RW Mapping - Related Mode All (in encoder Default 0
Range
unit)

These parameters define the ratio of the feedback pulses (in encoder unit) per revolution of the load axis to the
absolute position feedback of the encoder when the absolute system works in the rotation mode (2002-02 = 2).
Assume the encoder resolution is RE, the encoder pulses per revolution is RM:
when 2005-35h or 2005-37h is set to 0:
RM = RE x 2005-33h/2005-34h
when 2005-35h or 2005-37h takes a value different other than 0:
RM = 2005-37h x 232 + 2005-35h
Note:
◆◆ The servo drive calculates the mechanical absolute position based on 2005-35h and 2005-37h first. If 2005-35h
and 2005-37h are set to 0, the servo drive performs calculation based on 2005-33h and 2005-34h.

-307-
 7 Control Modes

Setting
Single-turn position of the rotating Condition Data
Name - - Data Type Int32
load axis (low 32 bits) & Effective Structure
200B-52h
Time
Related Value (encoder
Access RO Mapping TPDO All Default -
Mode Range unit)
Setting
Single-turn position of the rotating Condition Data
Name - - Data Type Uint32
load axis (high 32 bits) & Effective Structure
200B-54h Time
-
Related Value
Access RO Mapping TPDO All (encoder Default -
Mode Range
unit)
Represents the single-turn position (encoder unit) of the rotating load axis.
Value range: (-RM + 1) to (RM – 1)

Setting
Single-turn position of the Condition Data
Name - - Data Type Int32
rotating load axis & Effective Structure
200B-56h Time

-
Related Value
Access RO Mapping TPDO All (reference Default -
Mode Range
unit)

Represents the single-turn position of the rotating load axis (reference unit).

Setting
Condition Data Data
Name Position actual value* - VAR Int32
& Effective Structure Type
Index Time
6063h
-
Related Value
Access RO Mapping TPDO All (encoder Default 0
Mode Range
unit)

Represents the absolute single-turn position of the rotating load axis (encoder unit). This value is equal to 200B-52h
in the absolute position mode.

Setting
Condition Data Data
Name Position actual value - VAR Int32
& Effective Structure Type
Index Time
6064h
-
Related Value
Access RO Mapping TPDO All (reference Default 0
Mode Range
unit)

Represents the single-turn absolute position feedback of the rotating load axis in real time. This value is equal to
200B-56h in the absolute position mode.
Position actual value (6064h) x Gear ratio (6091h) = Position actual value* (6063h)

-308-
 7 Control Modes

7.11.4 Single-Turn Absolute Mode

This mode is mainly applies to applications where the load axis movement range is within the single-
turn range of the encoder. In this case, the absolute encoder needs no battery as it records the single-
turn data only.

1) Target position input range of EtherCAT communication

If a 23-bit absolute encoder is used in the single-turn absolute mode, the servo drive works in the CSP or
PP mode, and the electronic gear ratio is 1:1:

When 607Ch (Home offset) is set to 0, the target position range is 0 to (223–1).

After homing is done, the target position range is 607Ch to (223–1 + 607Ch).

If the target position is set to a value outside the preceding range, EB01.4 (Target position beyond upper/
lower limit) will be reported.

2) Example

When the gear ratio is 1:1 and 607Ch is set to 0, the position range is as shown in the following diagram.

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When the gear ratio is 1:1, and 607Ch is set to 10000, the position range is as shown in the following
diagram.

Motor Load

Position upon power-on

Encoder position ‒1 0 223‒1 223

Actual position 9999 10000 （223‒1）+10000 223+10000

(reference unit)

3) Precaution for the motor position upon power-on

The motor movement range is determined by the motor position upon power-on (take the 23-bit
absolute encoder as an example).

a) Position upon power-on: The motor movement range shown in the following figure is derived from
the single-turn data range at the power-on position.

-309-
 7 Control Modes

2 23 ‒1

Single-turn
data

Position

0
Position upon power-on

EB01.4 occurs. Motor movement range EB01. 4 occurs.

b) To change the motor movement range, turn off the power supply at the position shown in the
preceding figure, and turn on the power supply again after moving the motor to the position shown
in the following figure.

223 ‒1

Moving after power-off

Single-turn data

Position

0
Position upon power-on

EB01.4 occurs. Motor movement range EB01.4 occurs.

c) Note: When the power supply is switched on near the motor movement range limits, EB01.4 (Target
position beyond the limit) may easily occur.

223 ‒1

Single-turn data

Position

0
Position upon power-on

EB01.4 occurs. Motor movement range EB01 . 4 occurs.

-310-
 7 Control Modes

7.11.5 Precautions for Use of the Battery Box

E731.0 (Encoder battery fault) will be reported when the battery is connected for the first time. Set
200D-15h (Absolute encoder reset selection) to 1 (Reset the encoder fault) to reset the fault, and then
perform homing.
When the battery voltage detected is smaller than 3.0 V, Er.730 (Encoder battery warning) occurs.
Replace the battery according to the following steps:
Step 1: Power on the servo drive and make it stay in the non-operating state.
Step 2: Replace the battery.
Step 3: After E730.0 (Encoder battery warning) is cleared automatically, if no other warning/fault occurs,
you can continue operating the servo drive.
If you replace the battery after power-off, E731.0 (Encoder battery fault) will be reported and the multi-
turn data changes abruptly. In this case, set 200D-15h to 1 to reset the fault, and then perform homing
again.
When the servo drive is in the power-down state, ensure the maximum motor speed does not exceed
6000 RPM so that the encoder position can be recorded accurately.

Keep the battery box in environments within the required ambient temperature range and ensure the
battery is in reliable contact and has sufficient power capacity. Otherwise, encoder data loss may occur.

☆ Related parameter

Setting
Absolute encoder reset At stop & Data Data
Name Condition & - Uint16
selection Immediately Structure Type
200D-15h Effective Time

Value
Access RW Mapping - Related Mode All 0 to 2 Default 0
Range

Defines whether to reset the encoder fault and the multi-turn data.

Value Description
0 No operation
1 Reset the encoder fault
2 Reset the encoder fault and multi-turn data

The absolute position of the encoder changes abruptly after multi-turn data reset. In this case, perform
mechanical homing.
NOTE

-311-
 8 Parameters

8 Parameters
8.1 Object Classification
The object dictionary is the most important part in device specifications. It is an ordered set of
parameters and variables and includes all parameters of device descriptions and device network status.
A group of objects can be accessed in an ordered and pre-defined way through the network.

The CANopen protocol adopts an object dictionary with 16-bit indexes and 8-bit sub-indexes. The
structure of the object dictionary is shown in the following table.

Table 8-1 Structure of the object dictionary

Index Device

000 Not used

0001h–001Fh Static data type (standard data type, such as Boolean and Integer16)

Complex data type (predefined structure consisting of simple types, such as

0020h–003Fh
PDOCommPar and SDOParmeter)

0040h–005Fh Complex data type specified by the manufacturer

0060h–007Fh Static data type specified by the device profile

0080h–009Fh Complex data type specified by the device profile

00A0h–0FFFh Reserved

Communication profile area (such as the device type, error register, and number of
1000h–1FFFh
supported PDOs)

2000h–5FFFh Manufacturer-specific profile area (such as parameter mapping)

6000h–9FFFh Standard device profile area (for example, CiA-402 protocol)

A000h–FFFFh Reserved

0000h‒0FFFh
Data type
parameters

1000h‒1FFFh
Communication Saving common communication parameters
object area
Object dictionary

2000h‒5FFFh
Manufacturer-specific Corresponding to the parameters of Inovance
object area servo drives

6000h‒9FFFh
Profile Common area, those saved in this device are
object area DSP402 profile parameters

Figure 8-1 Structure of CANopen object dictionary

-312-
 8 Parameters

Objects in the SV660N series servo drive contain the following attributes.

■■ Index

■■ Sub-index

■■ Data Structure

■■ Data Type

■■ Access

■■ Mapping

■■ Setting Condition & Effective Time

■■ Related Mode

■■ Data Range

■■ Default

★ Definitions of terms

Position of the object dictionary in the parameter list is specified by the "Index" and "Sub-index".

■■ "Index": This field (in hexadecimal) specifies the position of the same type of objects in the object
dictionary.

■■ "Sub-index": This field specifies the offset of each object under the same index.

The mapping relation between the parameter and the object dictionary is as follows:

■■ Object dictionary index = 0x2000 + Parameter group number

■■ Object dictionary sub-index = Hexadecimal offset within the parameter group + 1

For example, parameter H02-10 maps object 2002-0Bh in the dictionary.

Each object in the object dictionary is described based on types. For example, object 607Dh for software
position limit describes the maximum and minimum position limits respectively, as shown in the
following table.

Index Sub-index Name Meaning

Defines the number of the object data
607Dh 00h Number of elements
(exclusive of the sub-index 00h).
Defines the minimum position limit
607Dh 01h Min. position limit
(absolute position mode).
Defines the maximum position limit
607Dh 02h Max. position limit
(absolute position mode).

"Data Structure": See Table 8-1 for details.

Table 8-2 Object Classification

Type Meaning DS301 Value

Single simple value, including data types Int8, Uint16, and
VAR 7
String
ARR Data block of the same type 8
REC Data block of different types 9

"Data type": See the following table for details.

-313-
 8 Parameters

Table 8-3 Description of data types

Data Type Value Range Data Length DS301 Value

Int8 -128 to +127 1 byte 0002
Int16 -32768 to +32767 2 bytes 0003
Int32 -2147483648 to +2147483647 4 bytes 0004
Uint8 0 to 255 1 byte 0005
Uint16 0 to 65535 2 bytes 0006
Uint32 0 to 4294967295 4 bytes 0007
String ASCII - 0009

"Access": See Table 8-4 for details.

Table 8-4 Access

Access Description
RW Read/Write
WO Write-only
RO Read-only
CONST Constant, read-only

"Mapping": See Table 8-5 for details.

Table 8-5 Description of "Mapping"

Mapping Description
No Not mapped in PDO
RPDO RPDO
TPDO TPDO

"Setting Condition & Effective Time": See Table 8-6 for details.

Table 8-6 Description of "Setting Condition & Effective Time"

Setting
Description Effective Time Description
Condition
The parameter can be edited
Parameter editing takes effect
At stop when the servo drive is not in the Immediately
immediately.
operational state.
Parameter editing takes effect after the
At stop servo drive is not in the operational
state.
The parameter can be edited when Parameter editing takes effect after
During running
the servo drive is in any state. the servo drive is powered off and on
Next power-on again.
Note: The servo drive reports Er.941
after such parameters are modified.

"Related Mode": See Table 8-7 for details.

Table 8-7 Description of "Related Mode"

Related Mode Description

- The parameter is not related to the control mode.
All The parameter is related to all the control modes.
PP/PV/PT/HM/CSP/CSV/CST The parameter is related to specific control modes.

"Data Range": This field specifies the upper and lower limits of parameters with WO or RW attribute.

If the value of a parameter modified through SDO exceeds the data range, the servo drive returns a SDO
transmission abort code to deactivate the modification.

-314-
 8 Parameters

If the value of a parameter is modified through PDO, the servo drive does not detect whether the
setpoint exceeds the data range.

"Default": This field specifies the default value of the parameter.

8.2 Communication Parameters (Group 1000h)

Data Data
Name Device Type VAR Uint32
Index Structure Type

1000h Related Data

Access RO Mapping No - - Default 0x00020192
Mode Range

Describes the CoE device profile type.

Data Data
Name Manufacturer device name - -
Index Structure Type

1008h Related
Access RO Mapping No - Data Range - Default SV660-ECAT
Mode

Describes the manufacturer device name.

Data Data
Name Manufacturer hardware version - -
Structure Type
Index
Dependent on
1009h Related the hardware
Access RO Mapping No - Data Range - Default
Mode version of the
servo drive.

Describes the hardware version of the servo drive.

Data Data
Name Manufacturer software version - -
Structure Type
Index
Dependent on
100Ah Related Data the software
Access RO Mapping No - - Default
Mode Range version of the
servo drive.

Describes the software version of the servo drive.

Data Data OD data

Name Identity object REC
Index Structure Type type

1018h Related OD Default

Access RO Mapping No - Data Range OD Data Range Default
Mode Value

Describes the device information.

Data Data
Name Highest sub-index supported - Uint8
Sub-index Structure Type

00h Related
Access RO Mapping No - Data Range 4 Default 4
Mode

Data Data
Name Vendor ID - Uint32
Sub-index Structure Type

01h Related
Access RO Mapping No - Data Range - Default 0x00100000
Mode

Indicates the series number of the servo drive.

-315-
 8 Parameters

Data Data
Name Product code - Uint32
Sub-index Structure Type

02h Related
Access RO Mapping No - Data Range - Default 786696
Mode

Indicates the internal code of the servo drive.

Data Data
Name Revision number - Uint32
Sub-index Structure Type

03h Related
Access RO Mapping No - Data Range - Default 65537
Mode

Indicates the software upgrade record number of the servo drive.

Data Data
Name Manufacturer software version REC OD data type
Index Structure Type

1C00h Related OD Default

Access RO Mapping No - Data Range OD Data Range Default
Mode Value

Describes the device information.

Data Data
Sub- Name Number of Sync Manager channels - Uint8
Structure Type
index
00h Related
Access RO Mapping No - Data Range 4 Default 4
Mode

Data Data
Sub- Name Communication type SM0 - Uint8
Structure Type
index
01h Related
Access RO Mapping No - Data Range - Default 0x01
Mode

Communication type SM0: Mailbox receive (master to slave)

Data Data
Sub- Name Communication type SM1 - Uint8
Structure Type
index
02h Related
Access RO Mapping No - Data Range - Default 0x02
Mode

Communication type SM1: Mailbox send (slave to master)

Data Data
Sub- Name Communication type SM2 - Uint8
Structure Type
index
03h Related
Access RO Mapping No - Data Range - Default 0x03
Mode

Communication type SM2: Process data output (master to slave)

Data Data
Name Communication type SM3 - Uint8
Sub-index Structure Type

04h Related
Access RO Mapping No - Data Range - Default 0x04
Mode

Communication type SM3: Process data input (slave to master)

-316-
 8 Parameters

Data
Name 1st receive PDO mapping (RPDO1) Data Structure REC Uint32
Index Type

1600h Related OD Default

Access RW Mapping No - Data Range OD Data Range Default
Mode Value

Defines the mapping object of RPDO1.

Data Data
Name Number of mapped objects in RPDO1 - Uint8
Sub-index Structure Type

00h Related
Access RW Mapping No - Data Range 0 to 10 Default 3
Mode

Data Data
Name 1st mapped object - Uint32
Sub-index Structure Type

01h Related 0 to
Access RW Mapping No - Data Range Default 60400010
Mode 4294967295

Data Data
Name 2nd mapped object - Uint32
Sub-index Structure Type

02h Related 0 to
Access RW Mapping No - Data Range Default 607A0020
Mode 4294967295

Data Data
Name 3rd mapped object - Uint32
Sub-index Structure Type

03h Related 0 to
Access RW Mapping No - Data Range Default 60B80010
Mode 4294967295

Data Data
Name 4th to 10th mapped object - Uint32
Sub-index Structure Type

04h to 0Ah Related 0 to

Access RW Mapping No All Data Range Default -
Mode 4294967295

Data Data
Name 258th receive PDO mapping (RPDO258) REC Uint32
Structure Type
Index
1701h OD
Related OD Data
Access RO Mapping No - Data Range Default Default
Mode Range
Value

Indicates the mapped object of RPDO258.

Data Data
Name Number of mapped objects in RPDO258 - Uint8
Sub-index Structure Type

00h Related
Access RO Mapping No - Data Range - Default 4
Mode

Data Data
Name 1st mapped object - Uint32
Sub-index Structure Type

01h Related Data 0 to

Access RO Mapping No - Default 60400010
Mode Range 4294967295

-317-
 8 Parameters

Data Data
Name 2nd mapped object - Uint32
Sub-index Structure Type

02h Related 0 to
Access RO Mapping No - Data Range Default 607A0020
Mode 4294967295

Data Data
Name 3rd mapped object - Uint32
Sub-index Structure Type

03h Related 0 to
Access RO Mapping No - Data Range Default 60B80010
Mode 4294967295

Data Data
Name 4th mapped object - Uint32
Sub-index Structure Type

04h Related 0 to
Access RO Mapping No - Data Range Default 60FE0120
Mode 4294967295

Data
Name 259th receive PDO mapping (RPDO259) REC Data Type Uint32
Index Structure

1702h Related OD Data OD Default

Access RO Mapping No - Data Range Default
Mode Range Value

Indicates the mapped object of RPDO259.

Data
Sub- Name Number of mapped objects in RPDO259 - Data Type Uint8
Structure
index
00h Related Data
Access RO Mapping No - - Default 7
Mode Range

Data Data
Sub- Name 1st mapped object - Uint32
Structure Type
index
01h Related Data 0 to
Access RO Mapping No - Default 60400010
Mode Range 4294967295

Data
Sub- Name 2nd mapped object - Data Type Uint32
Structure
index
02h Related Data
Access RO Mapping No - 0 to 4294967295 Default 607A0020
Mode Range

Data
Sub- Name 3rd mapped object - Data Type Uint32
Structure
index
03h Related Data 0 to
Access RO Mapping No - Default 60FF0020
Mode Range 4294967295

Data
Sub- Name 4th mapped object - Data Type Uint32
Structure
index
04h Related Data 0 to
Access RO Mapping No All Default 60710010
Mode Range 4294967295

Data
Sub- Name 5th mapped object - Data Type Uint32
Structure
index
05h Related Data 0 to
Access RO Mapping No - Default 60600008
Mode Range 4294967295

-318-
 8 Parameters

Data
Sub- Name 6th mapped object - Data Type Uint32
Structure
index
06h Related Data 0 to
Access RO Mapping No - Default 60B80010
Mode Range 4294967295

Data Data
Sub- Name 7th mapped object - Uint32
Structure Type
index
07h Related Data 0 to
Access RO Mapping No - Default 607F0020
Mode Range 4294967295

Data
Name 260th receive PDO mapping (RPDO260) REC Data Type Uint32
Structure
Index
1703h OD
Related Data
Access RO Mapping No - OD Data Range Default Default
Mode Range
Value

Indicates the mapped object of RPDO260.

Data
Sub- Name Number of mapped objects in RPDO260 - Data Type Uint8
Structure
index
00h Related Data
Access RO Mapping No - - Default 7
Mode Range

Data Data
Sub- Name 1st mapped object - Uint32
Structure Type
index
01h Related Data
Access RO Mapping No - 0 to 4294967295 Default 60400010
Mode Range

Data Data
Sub- Name 2nd mapped object - Uint32
Structure Type
index
02h Related Data 0 to
Access RO Mapping No - Default 607A0020
Mode Range 4294967295

Data
Sub- Name 3rd mapped object - Data Type Uint32
Structure
index
03h Related Data
Access RO Mapping No - 0 to 4294967295 Default 60FF0020
Mode Range

Data
Sub- Name 4th mapped object - Data Type Uint32
Structure
index
04h Related Data 0 to
Access RO Mapping No - Default 60600008
Mode Range 4294967295

Data Data
Sub- Name 5th mapped object - Uint32
Structure Type
index
05h Related Data 0 to
Access RO Mapping No - Default 60B80010
Mode Range 4294967295

-319-
 8 Parameters

Data Data
Sub- Name 6th mapped object - Uint32
Structure Type
index
06h Related 0 to
Access RO Mapping No - Data Range Default 60E00010
Mode 4294967295

Data Data
Sub- Name 7th mapped object - Uint32
Structure Type
index
07h Related Data 0 to
Access RO Mapping No - Default 60E10010
Mode Range 4294967295

Data Data
Name 261st receive PDO mapping (RPDO261) REC Uint32
Index Structure Type

1703h Related OD Default

Access RO Mapping No - Data Range OD Data Range Default
Mode Value

Indicates the mapped object of RPDO261.

Data Data
Sub- Name 1st mapped object - Uint32
Structure Type
index
01h Related 0 to
Access RO Mapping No - Data Range Default 60400010
Mode 4294967295

Data Data
Sub- Name 2nd mapped object - Uint32
Structure Type
index
02h Related 0 to
Access RO Mapping No - Data Range Default 607A0020
Mode 4294967295

Data Data
Sub- Name 3rd mapped object - Uint32
Structure Type
index
03h Related 0 to
Access RO Mapping No - Data Range Default 60FF0020
Mode 4294967295

Data Data
Sub- Name 4th mapped object - Uint32
Structure Type
index
04h Related 0 to
Access RO Mapping No - Data Range Default 60710010
Mode 4294967295

Data Data
Sub- Name 5th mapped object - Uint32
Structure Type
index
05h Related 0 to
Access RO Mapping No - Data Range Default 60600008
Mode 4294967295

Data Data
Sub- Name 6th mapped object - Uint32
Structure Type
index
06h Related 0 to
Access RO Mapping No - Data Range Default 60B80010
Mode 4294967295

Data Data
Sub- Name 7th mapped object - Uint32
Structure Type
index
07h Related 0 to
Access RO Mapping No - Data Range Default 607F0020
Mode 4294967295

-320-
 8 Parameters

Data Data
Sub- Name 8th mapped object - Uint32
Structure Type
index
08h Related 0 to
Access RO Mapping No - Data Range Default 60E00010
Mode 4294967295

Data Data
Sub- Name 9th mapped object - Uint32
Structure Type
index
09h Related 0 to
Access RO Mapping No - Data Range Default 60E10010
Mode 4294967295

Data Data
Name 262nd receive PDO mapping (RPDO262) REC Uint32
Index Structure Type

1705h Related OD Default

Access RO Mapping No - Data Range OD Data Range Default
Mode Value

Indicates the mapped object of RPDO262.

Data Data
Sub- Name Number of mapped objects in RPDO262 - Uint8
Structure Type
index
00h Related
Access RO Mapping No - Data Range - Default 8
Mode

Data Data
Sub- Name 1st mapped object - Uint32
Structure Type
index
01h Related 0 to
Access RO Mapping No - Data Range Default 60400010
Mode 4294967295

Data Data
Sub- Name 2nd mapped object - Uint32
Structure Type
index
02h Related 0 to
Access RO Mapping No - Data Range Default 607A0020
Mode 4294967295

Data Data
Sub- Name 3rd mapped object - Uint32
Structure Type
index
03h Related 0 to
Access RO Mapping No - Data Range Default 60FF0020
Mode 4294967295

Data Data
Sub- Name 4th mapped object - Uint32
Structure Type
index
04h Related Data 0 to
Access RO Mapping No - Default 60600008
Mode Range 4294967295

Data Data
Sub- Name 5th mapped object - Uint32
Structure Type
index
05h Related 0 to
Access RO Mapping No - Data Range Default 60B80010
Mode 4294967295

Data Data
Sub- Name 6th mapped object - Uint32
Structure Type
index
06h Related 0 to
Access RO Mapping No - Data Range Default 60E00010
Mode 4294967295

-321-
 8 Parameters

Data Data
Sub- Name 7th mapped object - Uint32
Structure Type
index
07h Related Data 0 to
Access RO Mapping No - Default 60E10010
Mode Range 4294967295

Data Data
Sub- Name 8th mapped object - Uint32
Structure Type
index
08h Related 0 to
Access RO Mapping No - Data Range Default 60B20010
Mode 4294967295

Data Data
Name 1st transmit PDO mapping (TPDO1) Record Uint32
Index Structure Type

1A00h Related OD Default

Access RW Mapping No - Data Range OD Data Range Default
Mode Value

Indicates the mapped object of TPDO1.

Data Data
Sub- Name Number of mapped objects in TPDO1 - Uint8
Structure Type
index
00h Related
Access RW Mapping No - Data Range 0 to 10 Default 7
Mode

Data Data
Sub- Name 1st mapped object - Uint32
Structure Type
index
01h Related 0 to
Access RW Mapping No - Data Range Default 60410010
Mode 4294967295

Data Data
Sub- Name 2nd mapped object - Uint32
Structure Type
index
02h Related 0 to
Access RW Mapping No - Data Range Default 60640020
Mode 4294967295

Data Data
Sub- Name 3rd mapped object - Uint32
Structure Type
index
03h Related Data 0 to
Access RW Mapping No - Default 60B90010
Mode Range 4294967295

Data Data
Sub- Name 4th mapped object - Uint32
Structure Type
index
04h Related Data 0 to
Access RW Mapping No - Default 60BA0020
Mode Range 4294967295

Data Data
Sub- Name 5th mapped object - Uint32
Structure Type
index
05h Related Data 0 to
Access RW Mapping No - Default 60BC0020
Mode Range 4294967295

Data Data
Sub- Name 6th mapped object - Uint32
Structure Type
index
06h Related 0 to
Access RW Mapping No - Data Range Default 603F0010
Mode 4294967295

-322-
 8 Parameters

Data Data
Sub- Name 7th mapped object - Uint32
Structure Type
index
07h Related 0 to
Access RW Mapping No - Data Range Default 60FD0020
Mode 4294967295

Data Data
Sub- Name 8th mapped object - Uint32
Structure Type
index
08h Related 0 to
Access RW Mapping No - Data Range Default -
Mode 4294967295

Data Data
Sub- Name 9th mapped object - Uint32
Structure Type
index
09h Related 0 to
Access RW Mapping No - Data Range Default -
Mode 4294967295

Data Data
Sub- Name 10th mapped object - Uint32
Structure Type
index
09h Related 0 to
Access RW Mapping No - Data Range Default -
Mode 4294967295

Data Data
Name 258th transmit PDO mapping (TPDO258) REC Uint32
Index Structure Type

1B01h Related OD Default

Access RO Mapping No - Data Range OD Data Range Default
Mode Value

Defines the mapped object of TPDO258.

Data Data
Sub- Name Number of mapped objects in TPDO258 - Uint8
Structure Type
index
00h Related
Access RO Mapping No - Data Range - Default 8
Mode

Data Data
Sub- Name 1st mapped object - Uint32
Structure Type
index
01h Related 0 to
Access RO Mapping No - Data Range Default 603F0010
Mode 4294967295

Data Data
Sub- Name 2nd mapped object - Uint32
Structure Type
index
02h Related 0 to
Access RO Mapping No - Data Range Default 60410010
Mode 4294967295

Data Data
Sub- Name 3rd mapped object - Uint32
Structure Type
index
03h Related 0 to
Access RO Mapping No - Data Range Default 60640020
Mode 4294967295

Data Data
Sub- Name 4th mapped object - Uint32
Structure Type
index
04h Related 0 to
Access RO Mapping No - Data Range Default 60770010
Mode 4294967295

-323-
 8 Parameters

Data Data
Sub- Name 5th mapped object - Uint32
Structure Type
index
05h Related 0 to
Access RO Mapping No - Data Range Default 60F40020
Mode 4294967295

Data Data
Sub- Name 6th mapped object - Uint32
Structure Type
index
06h Related 0 to
Access RO Mapping No - Data Range Default 60B90010
Mode 4294967295

Data Data
Sub- Name 7th mapped object - Uint32
Structure Type
index
07h Related 0 to
Access RO Mapping No - Data Range Default 60BA0020
Mode 4294967295

Data Data
Sub- Name 8th mapped object - Uint32
Structure Type
index
08h Related 0 to
Access RO Mapping No - Data Range Default 60FD0020
Mode 4294967295

Data Data
Name 259th transmit PDO mapping (TPDO259) REC Uint32
Index Structure Type

1B01h Related OD Default

Access RO Mapping No - Data Range OD Data Range Default
Mode Value

Defines the mapped object of TPDO259.

Data Data
Sub- Name Number of mapped objects in TPDO259 - Uint8
Structure Type
index
00h Related
Access RO Mapping No - Data Range - Default 9
Mode

Data Data
Sub- Name 1st mapped object - Uint32
Structure Type
index
01h Related 0 to
Access RO Mapping No - Data Range Default 603F0010
Mode 4294967295

Data Data
Sub- Name 2nd mapped object - Uint32
Structure Type
index
02h Related 0 to
Access RO Mapping No - Data Range Default 60410010
Mode 4294967295

Data Data
Sub- Name 3rd mapped object - Uint32
Structure Type
index
03h Related 0 to
Access RO Mapping No - Data Range Default 60640020
Mode 4294967295

Data Data
Sub- Name 4th mapped object - Uint32
Structure Type
index
04h Related 0 to
Access RO Mapping No - Data Range Default 60770010
Mode 4294967295

-324-
 8 Parameters

Data Data
Sub- Name 5th mapped object - Uint32
Structure Type
index
05h Related 0 to
Access RO Mapping No - Data Range Default 60610008
Mode 4294967295

Data Data
Sub- Name 6th mapped object - Uint32
Structure Type
index
06h Related 0 to
Access RO Mapping No - Data Range Default 60B90010
Mode 4294967295

Data Data
Sub- Name 7th mapped object - Uint32
Structure Type
index
07h Related 0 to
Access RO Mapping No - Data Range Default 60BA0020
Mode 4294967295

Data Data
Sub- Name 8th mapped object - Uint32
Structure Type
index
08h Related 0 to
Access RO Mapping No - Data Range Default 60BC0020
Mode 4294967295

Data Data
Sub- Name 9th mapped object - Uint32
Structure Type
index
09h Related Data 0 to
Access RO Mapping No - Default 60FD0020
Mode Range 4294967295

Data Data
Name 260th transmit PDO mapping (TPDO260) REC Uint32
Index Structure Type

1B03h Related OD Default

Access RO Mapping No - Data Range OD Data Range Default
Mode Value

Defines the mapped object of TPDO260.

Data Data
Sub- Name Number of mapped objects in TPDO260 - Uint8
Structure Type
index
00h Related Data
Access RO Mapping No - - Default 10
Mode Range

Data Data
Sub- Name 1st mapped object - Uint32
Structure Type
index
01h Related Data 0 to
Access RO Mapping No - Default 603F0010
Mode Range 4294967295

Data Data
Sub- Name 2nd mapped object - Uint32
Structure Type
index
02h Related Data 0 to
Access RO Mapping No - Default 60410010
Mode Range 4294967295

Data Data
Sub- Name 3rd mapped object - Uint32
Structure Type
index
03h Related 0 to
Access RO Mapping No - Data Range Default 60640020
Mode 4294967295

-325-
 8 Parameters

Data Data
Sub- Name 4th mapped object - Uint32
Structure Type
index
04h Related Data 0 to
Access RO Mapping No - Default 60770010
Mode Range 4294967295

Data Data
Sub- Name 5th mapped object - Uint32
Structure Type
index
05h Related 0 to
Access RO Mapping No - Data Range Default 60F40020
Mode 4294967295

Data Data
Sub- Name 6th mapped object - Uint32
Structure Type
index
06h Related 0 to
Access RO Mapping No - Data Range Default 60610008
Mode 4294967295

Data Data
Sub- Name 7th mapped object - Uint32
Structure Type
index
07h Related Data 0 to
Access RO Mapping No - Default 60B90010
Mode Range 4294967295

Data Data
Sub- Name 8th mapped object - Uint32
Structure Type
index
08h Related 0 to
Access RO Mapping No - Data Range Default 60BA0020
Mode 4294967295

Data Data
Sub- Name 9th mapped object - Uint32
Structure Type
index
09h Related 0 to
Access RO Mapping No - Data Range Default 60BC0020
Mode 4294967295

Data Data
Sub- Name 10th mapped object - Uint32
Structure Type
index
0Ah Related Data 0 to
Access RO Mapping No - Default 60FD0020
Mode Range 4294967295

Data Data
Name 261st transmit PDO mapping (TPDO261) REC Uint32
Index Structure Type

1B04h Related Data OD Default

Access RO Mapping No - OD Data Range Default
Mode Range Value

Defines the mapped object of TPDO261.

Data Data
Sub- Name Number of mapped objects in TPDO261 - Uint8
Structure Type
index
00h Related Data
Access RO Mapping No - - Default 10
Mode Range

Data Data
Sub- Name 1st mapped object - Uint32
Structure Type
index
01h Related 0 to
Access RO Mapping No - Data Range Default 603F0010
Mode 4294967295

-326-
 8 Parameters

Data Data
Sub- Name 2nd mapped object - Uint32
Structure Type
index
02h Related 0 to
Access RO Mapping No - Data Range Default 60410010
Mode 4294967295

Data Data
Sub- Name 3rd mapped object - Uint32
Structure Type
index
03h Related Data 0 to
Access RO Mapping No - Default 60640020
Mode Range 4294967295

Data Data
Sub- Name 4th mapped object - Uint32
Structure Type
index
04h Related Data 0 to
Access RO Mapping No - Default 60770010
Mode Range 4294967295

Data Data
Sub- Name 5th mapped object - Uint32
Structure Type
index
05h Related 0 to
Access RO Mapping No - Data Range Default 60610008
Mode 4294967295

Data Data
Sub- Name 6th mapped object - Uint32
Structure Type
index
06h Related 0 to
Access RO Mapping No - Data Range Default 60F40020
Mode 4294967295

Data Data
Sub- Name 7th mapped object - Uint32
Structure Type
index
07h Related Data 0 to
Access RO Mapping No - Default 60B90010
Mode Range 4294967295

Data Data
Sub- Name 7th mapped object - Uint32
Structure Type
index
08h Related Data 0 to
Access RO Mapping No - Default 60BA0020
Mode Range 4294967295

Data Data
Sub- Name 9th mapped object - Uint32
Structure Type
index
09h Related Data 0 to
Access RO Mapping No - Default 60BC0020
Mode Range 4294967295

Data Data
Sub- Name 10th mapped object - Uint32
Structure Type
index
0Ah Related 0 to
Access RO Mapping No - Data Range Default 606C0020
Mode 4294967295

Data Data
Name Sync Manager 2_RPDO assignment ARR Uint16
Index Structure Type

1C12h Related OD Default

Access RW Mapping No - Data Range OD Data Range Default
Mode Value

Defines the index of the RPDO object assigned to Sync Manager 2.

-327-
 8 Parameters

Data Data
Sub- Name Sync Manager 2_Number of assigned RPDOs - Uint8
Structure Type
index
00h Related Data
Access RW Mapping No - 0 to 1 Default 1
Mode Range

Data Data
Sub- Name Index of RPDO assignment - Uint16
Structure Type
index
01h Related
Access RW Mapping Yes - Data Range 0 to 65535 Default 5889
Mode

Defines the index of assigned RPDO.

Observe the following procedure:
1. Perform configuration only when the EtherCAT state machine is in the pre-operational ("P" displayed on the
keypad) state.
2. If the object assigned to RPDO is selected using twinCAT host controller software, 1C12h needs no setting. If other
methods are used to select the object, configure PDOs based on the following steps:
Step 1: Write 0 to 1C12-00h.
Step 2: Write the pre-used RPDOx (1600/1701–1705) to 1C12-01h.
Step 3. If an index among 1701h...1705h is used as RPDO and the mapped object cannot be modified, jump to step 5.
If 1600h is used as RPDO, write the value 0 to the sub-index 00h of RPDOx, and write mapped objects to 01h...0Ah.
Then, go to step 4.
Step 4: After writing mapped objects in 1600h, write the number of mapped objects in 1600-00h.
Step 5. Write the value 1 to 1C12-00h.

Data Data
Name Sync Manager 2_TPDO assignment ARR Uint16
Index Structure Type

1C13h Related OD Default

Access RW Mapping No - Data Range OD Data Range Default
Mode Value

Defines the index of the TPDO object assigned to Sync Manager 2.

Data Data
Sub- Name Sync Manager 2_Number of assigned TPDOs - Uint8
Structure Type
index
00h Related
Access RW Mapping No - Data Range 0 to 1 Default 1
Mode

Data Data
Sub- Name Index of TPDO assignment - Uint16
Structure Type
index
01h Related
Access RW Mapping Yes - Data Range 0 to 65535 Default 6913
Mode

Defines the index of assigned TPDO.

Observe the following procedure:
1. Perform configuration only when the EtherCAT state machine is in the pre-operational ("P" displayed on the
keypad) state.
2. If the object assigned to TPDO is selected using twinCAT host controller software, 1C13h needs no setting. If other
methods are used to select the object, configure PDOs based on the following steps:
Step 1: Write 0 to 1C13-00h.
Step 2. Write the pre-used TPDOx (1A00/1B01 to 1B04) to 1C13-01h.
Step 3. If an index among 1B01h...1B04h is used as TPDO and the mapped object cannot be modified, jump to step 5.
If 1A00h is used as TPDO, write the value 0 to the sub-index 00h of 1A00h, and write mapped objects to 01h...0Ah.
Then, go to step 4.
Step 4: After writing mapped objects in 1A00h, write the number of mapped objects in 1A00-00h.
Step 5. Write the value 1 to 1C13-00h.

-328-
 8 Parameters

Data Data
Name Sync Manager 2_Output parameters REC Uint16
Structure Type
Index
1C32h OD
Related
Access RO Mapping No - Data RangeOD Data Range Default Default
Mode
Value

Describes output parameters of SM2.

Sync Manager 2_Number of Data Data

Sub- Name - Uint8
synchronization parameters Structure Type
index
00h Related
Access RO Mapping No - Data Range - Default 32
Mode

Data Data
Sub- Name Synchronization type - Uint16
Structure Type
index
01h Related
Access RO Mapping No - Data Range - Default 2
Mode

"0x0002": Distributed clock synchronization mode 0 (DC SYNC mode 0).

Data Data
Sub- Name Cycle time (ns) - Uint32
Structure Type
index
02h Related
Access RO Mapping No - Data Range - Default 0
Mode

Indicates the cycle of DC SYNC 0.

Data Data
Sub- Name Synchronization types supported - Uint16
Structure Type
index
04h Related
Access RO Mapping No - Data Range - Default 4
Mode

Indicates the type of the distributed clock.

0x0004: Distributed clock synchronization mode 0 (DC SYNC mode 0)

Data Data
Sub- Name Minimum cycle time - Uint32
Structure Type
index
05h Related
Access RO Mapping No - Data Range - Default 125000
Mode

Indicates the minimum cycle time in nanoseconds supported by the slave.

Note: The minimum cycle time supported by SV660N is 125000 ns. The network cannot enter the OP state if the
actual cycle time is less than 125000 ns.

Data Data
Sub- Name Calculation and copy time (ns) - Uint32
Structure Type
index
06h Related
Access RO Mapping No - Data Range - Default -
Mode

Indicates the time for the microprocessor to copy data from SYNC Manager to local in nanoseconds.

Data Data
Sub- Name Delay time (ns) - Uint32
Structure Type
index
09h Related
Access RO Mapping No - Data Range - Default -
Mode

-329-
 8 Parameters

Data Data
Sub- Name Sync error - BOOL
Structure Type
index
20h Related
Access RO Mapping No - Data Range - Default -
Mode

Indicates whether there is a synchronization error.

True: synchronization active and synchronization error not exist
False: synchronization inactive and synchronization error occurred

Data Data OD data

Name Sync Manager 2_Input parameters REC
Index Structure Type type

1C33h Related OD Default

Access RO Mapping No - Data Range OD Data Range Default
Mode Value

Describes input parameters of SM2.

Sync Manager 2_Number of Data Data

Sub- Name - Uint8
synchronization parameters Structure Type
index
00h Related
Access RO Mapping No - Data Range - Default 32
Mode

Data Data
Sub- Name Synchronization type - Uint16
Structure Type
index
01h Related
Access RO Mapping No - Data Range - Default 2
Mode

"0x0002": Distributed clock synchronization mode 0 (DC SYNC mode 0).

Data Data
Sub- Name Cycle time (ns) - Uint32
Structure Type
index
02h Related
Access RO Mapping No - Data Range - Default 0
Mode

Indicates the synchronization cycle of DC SYNC 0.

Data Data
Sub- Name Synchronization types supported - Uint16
Structure Type
index
04h Related
Access RO Mapping No - Data Range - Default 4
Mode

Indicates the type of the distributed clock.

0x0004: Distributed clock synchronization mode 0 (DC SYNC mode 0)

Data Data
Sub- Name Minimum cycle time - Uint32
Structure Type
index
05h Related
Access RO Mapping No - Data Range - Default 125000
Mode

Indicates the minimum cycle time in nanoseconds supported by the slave.

Note: The minimum cycle time supported by SV660N is 125000 ns. The network cannot enter the OP state if the
actual cycle time is less than 125000 ns.

-330-
 8 Parameters

Data Data
Sub- Name Calculation and copy time (ns) - Uint32
Structure Type
index
06h Related
Access RO Mapping No - Data Range - Default
Mode

Indicates the time for the microprocessor to copy data from SYNC Manager to local in nanoseconds.

Data Data
Sub- Name Delay time (ns) - Uint32
Structure Type
index
09h Related Data
Access RO Mapping No - - Default
Mode Range

Data Data
Sub- Name Sync error - BOOL
Structure Type
index
20h Related Data
Access RO Mapping No - - Default
Mode Range

Indicates whether there is a synchronization error.

True: synchronization active and synchronization error not exist
False: synchronization inactive and synchronization error occurred

8.3 Manufacturer-Specific Parameters (Group 2000h)

Group 2000h: Servo Motor Parameters

Setting
Condition Data
Name Servo motor parameters - ARR Data Type Uint16
Index & Effective Structure
2000h Time
Related Data OD Data OD Default
Access - Mapping Yes - Default
Mode Range Range Value

Defines servo motor parameters.

Setting
Condition Data
Sub- Name Number of entries - - Data Type Uint8
& Effective Structure
index
Time
00h
Related Data
Access RO Mapping No - - Default 6
Mode Range

-331-
 8 Parameters

Setting
At stop &
Condition Data
Name Motor code Next power- - Data Type Uint16
Sub- & Effective Structure
on
index 1h Time

Access RW Mapping - Related Mode - Data Range 0 to 65535 Default 14101

Defines the code of the servo motor.

The SV660N series servo drive is intended to be used with MS1 series motors, which is fixed to "14XXX". For the model
of the motor, see 2000-06h.

Setpoint Motor code Remarks

Inovance motor equipped with
14000 -
a 20-bit encoder
Inovance motor equipped with For operating procedure of the absolute encoder,
14101
a 23-bit absolute encoder see "7.11 Absolute Encoder System" .

Setting the motor code to a wrong value will result in E120.1 (Unknown motor model).

Setting
Condition Data
Sub- Name Customized motor code - - Data Type Uint16
& Effective Structure
index Time
03h
Related Data
Access RO Mapping - - 0 to 65535 Default 0H
Mode Range

Displays customized software version in hexadecimal format (XXX.YY).

XXX: Fixed number of customized software
YY: Upgrade record number of customized software

Setting
Condition Data
Name Encoder version - - Data Type Uint16
Sub- & Effective Structure
index Time
05h
Related Data
Access RO Mapping - - 0 to 65535 Default 0
Mode Range

Displays the encoder software version in the form of 2XXX.Y, with one decimal place.

Setting
Condition Data
Sub- Name Serial-type motor code - - Data Type Uint16
& Effective Structure
index
Time
06h
Related Data
Access RO Mapping - - 0 to 65535 Default 0
Mode Range

Displays the code of the serial-type motor, which is determined by the motor model and unmodifiable.

Group 2001h: Servo Drive parameters

Setting
Condition Data
Name Servo drive parameters - ARR Data Type Uint16
Index & Effective Structure
2001h Time
Related Data OD Data OD Default
Access - Mapping Yes - Default
Mode Range Range Value

Defines parameters of the servo drive.

-332-
 8 Parameters

Setting
Condition Data
Sub- Name Number of entries - - Data Type Uint8
& Effective Structure
index
Time
00h
Related Data
Access RO Mapping No - - Default 32
Mode Range

Setting
Condition Data
Sub- Name MCU software version - - Data Type Uint16
& Effective Structure
index
Time
01h
Related Data
Access RO Mapping - - 0 to 65535 Default 0
Mode Range
Displays the MCU software version in the form of XXXX.Y, with one decimal place.

Setting
Condition Data
Sub- Name FPGA software version - - Data Type Uint16
& Effective Structure
index
Time
02h
Related Data
Access RO Mapping - - 0 to 65535 Default 0
Mode Range
Displays the FPGA software version in the form of XXXX.Y, with one decimal place.

Setting
At stop &
Condition Data
Sub- Name Servo drive code Next - Data Type Uint16
& Effective Structure
index power-on
Time
0Bh
Related Data
Access RW Mapping - - 0 to 65535 Default 0
Mode Range

Defines the code of the servo drive.

SV660N series servo drive codes are listed in the following table.
Setpoint Servo drive code Remarks
Rated power of the servo drive: 0.2 kW; Power supply of the main
2 S1R6
circuit: Single-phase 220 V
Rated power of the servo drive: 0.4 kW; Power supply of the main
3 S2R8
circuit: Single-phase 220 V
Rated power of the servo drive: 0.75 kW; Power supply of the main
5 S5R5
circuit: Single-phase 220 V
Rated power of the servo drive: 1.0 kW; Power supply of the main
6 S7R6
circuit: Single-phase/Three-phase 220 V [1]
Rated power of the servo drive: 1.5 kW; Power supply of the main
7 S012
circuit: Single-phase/Three-phase 220 V [1]
Rated power of the servo drive: 1.0 kW; Power supply of the main
10001 T3R5
circuit: three-phase 380 V
Rated power of the servo drive: 1.5 kW; Power supply of the main
10002 T5R4
circuit: three-phase 380 V
Rated power of the servo drive: 2.0 kW; Power supply of the main
10003 T8R4
circuit: three-phase 380 V
Rated power of the servo drive: 3.0 kW; Power supply of the main
10004 T012
circuit: three-phase 380 V
Rated power of the servo drive: 5.0 kW; Power supply of the main
10005 T017
circuit: three-phase 380 V
Rated power of the servo drive: 6.0 kW; Power supply of the main
10006 T021
circuit: three-phase 380 V
Rated power of the servo drive: 7.5 kW; Power supply of the main
10007 T026
circuit: three-phase 380 V
If the voltage input to the main circuit of the servo drive does not comply with the preceding specifications, E420.0
(Main circuit phase loss) will occur.
[1]: The main circuit of the servo drive supports single-phase 220 V power supplies without derating.

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 8 Parameters

Group 2002h: Basic Control Parameters

Setting
Condition Data
Name Basic control parameters - ARR Data Type Uint16
Index & Effective Structure
2002h Time
Related Data OD Data OD Default
Access - Mapping Yes - Default
Mode Range Range Value
Defines basic control parameters.

Setting
Condition Data
Sub- Name Number of entries - - Data Type Uint8
& Effective Structure
index
Time
00h
Related Data
Access RO Mapping No - - Default 36
Mode Range

Setting
Condition At stop & Data
Sub- Name Control mode - Data Type Uint16
& Effective Immediately Structure
index
Time
01h
Related Data
Access RO Mapping - - 0 to 9 Default 9: EtherCAT
Mode Range

Defines the control mode of the servo drive.

When the servo drive is in the EtherCAT bus control mode, bit9 of the status word 6041h is set to 1.
See "7 Control Modes" for the operation modes.

Setting
At stop &
Absolute encoder Condition Data
Sub- Name Next - Data Type Uint16
system selection & Effective Structure
index power-on
Time
02h
Related Data
Access RW Mapping - All 0 to 4 Default 0
Mode Range
Defines the mode for using the absolute encoder system.

Absolute encoder
Value Remarks
system selection
Incremental position The encoder is used as a bus incremental encoder without power-off
0
mode memory.
The encoder is used as an absolute encoder with power-off memory.
Absolute position linear
1 This mode applies to applications where the load movement range is fixed
mode
and multi-turn data overflow will not occur.
The encoder is used as an absolute encoder with power-off memory.
Absolute position rotation This mode applies to applications where the load movement range is not
2
mode limited and the number of single-direction revolutions is smaller than
32767.
Absolute position linear
3 Encoder overflow will not be detected in this mode.
mode
Absolute position single-
4 -
turn mode
Note:
In the absolute position mode, the system automatically detects the motor code to check whether an absolute
encoder is used. If not, E122.0 (Multi-turn absolute encoder setting error) will be reported.
See "7.11 Absolute Encoder System" for instructions for the absolute position mode.

-334-
 8 Parameters

Setting
At stop &
Condition Data
Sub- Name Direction of rotation Next - Data Type Uint16
& Effective Structure
index power-on
Time
03h
Related Data
Access RW Mapping - All 0 to 1 Default 0
Mode Range
Defines the forward direction of the motor when seen from the motor shaft side.

Setpoint Direction of rotation Remarks

The motor rotates counterclockwise when viewed from
0 CCW as forward direction the motor shaft side, which means the motor rotates
counterclockwise upon a forward run command.
The motor rotates clockwise when viewed from the motor
CW direction as forward
1 shaft side, which means the motor rotates clockwise upon a
direction
forward run command.

Reverse
CW

Forward
CCW

Setting
Condition At stop & Data
Sub- Name Stop mode at S-ON OFF - Data Type Uint16
& Effective Immediately Structure
index
Time
06h
Related Data
Access RW Mapping - All -3 to 1 Default 0
Mode Range
Defines the deceleration mode of the servo motor for stopping rotating and the servo motor status at S-OFF.

Value Stop Mode

-3 Stop at zero speed, keeping dynamic braking status
-2 Ramp to stop as defined by 6084h/609Ah, keeping dynamic braking status
-1 Dynamic braking stop, keeping dynamic braking status
0 Coast to stop, keeping de-energized status
1 Ramp to stop as defined by 6084h/609Ah, keeping de-energized status

Set a proper stop mode according to the mechanical condition and operating requirements.
For comparison of stop modes, see "5.6 Servo Stop" .

After the brake output function is enabled, the stop mode at S-OFF is forcibly set to "Ramp to stop as defined by
6085h, keeping dynamic braking status".

-335-
 8 Parameters

Setting
At stop & Data
Name Stop mode at No. 2 fault Condition & - Data Type Int16
Sub-index Immediately Structure
Effective Time
07h
Data
Access RW Mapping - Related Mode All -5 to 3 Default 2
Range

Defines the deceleration mode of the servo motor for stopping rotating and the servo motor status upon occurrence
of a No. 2 fault.
After the brake output function is enabled, the stop mode at No. 2 fault is forcibly set to "Ramp to stop as defined by
6085h, keeping dynamic braking status".

Value Stop Mode

-5 Stop at zero speed, keeping dynamic braking status
-4 Stop at emergency torque, keeping dynamic braking status
-3 Ramp to stop as defined by 6085h, keeping dynamic braking status
-2 Ramp to stop as defined by 6084h/609Ah, keeping dynamic braking status
-1 Dynamic braking stop, keeping dynamic braking status
0 Coast to stop, keeping de-energized status
1 Ramp to stop as defined by 6084h/609Ah, keeping de-energized status
2 Ramp to stop as defined by 6085h, keeping de-energized status
3 Stop at emergency torque, keeping de-energized status

Setting
Condition At stop & Data
Sub- Name Stop mode at overtravel - Data Type Uint16
& Effective Immediately Structure
index
Time
08h
Related Data
Access RW Mapping - All 0 to 7 Default 1
Mode Range
Defines the deceleration mode of the servo motor for stopping rotating and the servo motor status upon overtravel.

Value Stop Mode

0 Coast to stop, keeping de-energized status
1 Stop at zero speed, keeping position lock status
2 Stop at zero speed, keeping de-energized state
3 Ramp to stop as defined by 6085h, keeping de-energized status
4 Ramp to stop as defined by 6085h, keeping position lock status
5 Dynamic braking stop, keeping de-energized status
6 Dynamic braking stop, keeping dynamic braking status
7 Not responding to overtravel

When the servo motor drives a vertical axis, set 2002-08h to 1 or 4 to allow the motor shaft to stay in the locked
position upon overtravel.
For comparison of stop modes, see "5.6 Servo Stop" .

After the brake output function is enabled, the stop mode at S-OFF is forcibly set to "Ramp to stop as defined by
6085h, keeping position lock status".

-336-
 8 Parameters

Setting
Condition At stop & Data
Sub- Name Stop mode at No. 1 fault - Data Type Uint16
& Effective Immediately Structure
index
Time
09h
Related Data
Access RW Mapping - All 0 to 2 Default 2
Mode Range
Defines the deceleration mode of the servo motor for stopping rotating and the servo motor status upon occurrence
of a No. 1 fault.

Value Stop Mode

0 Coast to stop, keeping de-energized state
1 Dynamic braking stop, keeping de-energized status
2 Dynamic braking stop, keeping dynamic braking status

For details on No. 1 faults, see "10 Troubleshooting" .

For comparison of stop modes, see "5.6 Servo Stop" .

After the brake output function is enabled, the stop mode at No. 1 fault is forcibly set to "Dynamic braking stop,
keeping de-energized status".

Setting
During
Delay from brake output Condition Data
Sub- Name running & - Data Type Uint16
ON to command received & Effective Structure
index Immediately
Time
0Ah
Related Data 0 to 500
Access RW Mapping - All Default 250
Mode Range (ms)
Defines the delay from the moment the brake output signal is on to the moment when the servo drive starts to
receive input commands after power-on.
Within the time defined by 2002-0Ah, the servo drive does not receive position/speed/torque references.
See "5.4.2 Brake Settings" to check brake time sequence for motor at a standstill.

Setting
Delay from brake output During
Condition Data Data
Sub- Name off to motor de-energized running & - Uint16
& Effective Structure Type
index in the standstill state Immediately
Time
0Bh
Related Data 50 to 1000
Access RW Mapping - All Default 150
Mode Range (ms)
Defines the delay from the moment the brake output signal is off to the moment when the motor at a standstill
enters the de-energized status.
See "5.4.2 Brake Settings" to check brake time sequence for motor at a standstill.

Setting
During
Motor speed threshold at brake Condition Data Data
Sub- Name running & - Uint16
output OFF in the rotation state & Effective Structure Type
index Immediately
Time
0Ch
Related Data 20 to 3000
Access RW Mapping - All Default 30
Mode Range (RPM)
Defines the motor speed threshold when the brake output (BK) is off in the rotational state.
See "5.4.2 Brake Settings" to check brake time sequence for motor in the rotational state.

Setting
During
Delay from S-OFF to brake Condition Data
Sub- Name running & - Data Type Uint16
output OFF in the rotational state & Effective Structure
index Immediately
Time
0Dh
Related Data 1 to 1000
Access RW Mapping - All Default 500
Mode Range (ms)
Defines the delay from the moment the S-ON signal is off to the moment when brake output (BK) signal is off.
See "5.4.2 Brake Settings" to check brake time sequence for motor in the rotational state.

-337-
 8 Parameters

Setting
Warning display Condition At stop & Data
Sub- Name - Data Type Uint16
on the keypad & Effective Immediately Structure
index
Time
10h
Related Data
Access RW Mapping - - 0 to 1 Default 0
Mode Range
Defines whether to switch the keypad to the fault display mode when a No. 3 fault occurs.
For details on No. 3 Warnings, see "10 Troubleshooting" .

Setting
Minimum permissible resistance Condition Data
Sub- Name - - Data Type Uint16
of regenerative resistor & Effective Structure
index
Time
16h
Related Data
Access RO Mapping - - 1 to 1000 Default -
Mode Range
The minimum permissible resistance of the regenerative resistor is only related to the servo drive model.

Setting
Power of built-in Condition Data
Sub- Name - - Data Type Uint16
regenerative resistor & Effective Structure
index
Time
17h
Related Data
Access RO Mapping - - 1 to 65535 Default -
Mode Range
The power of the built-in regenerative resistor is only related to the servo drive model, which is unmodifiable.

Setting
Resistance of built-in Condition Data
Sub- Name - - Data Type Uint16
regenerative resistor & Effective Structure
index
Time
18h
Related Data
Access RO Mapping - - 1 to 1000 Default -
Mode Range
The resistance of built-in regenerative resistor is only related to the servo drive model, which is unmodifiable.
The built-in regenerative resistor comes into rescue when the maximum braking energy calculated is larger than the
maximum braking energy that can be absorbed by the capacitor.
When using the built-in regenerative resistor, connect a jumper bar between terminals P and D.
When 2001-0Bh (Servo drive code) is set to 2 or 3, the built-in regenerative resistor is not available.

Specifications of Built-in Regenerative Resistor

Servo Drive Model
Resistance (Ω) Power (W)
SV660NS1R6I - -
Single-phase 220 V SV660NS2R8I - -
SV660NS5R5I 50 50
SV660NS7R6I
Three-Phase 220 V 25 80
SV660NS012I
SV660NT3R5I 100 80
SV660NT5R4I 100 80
SV660NT8R4I
50 80
Three-Phase 380 V SV660NT012I
SV660NT017I
SV660NT021I 35 100
SV660NT026I

-338-
 8 Parameters

Setting
Resistor heat dissipation Condition At stop & Data
Sub- Name - Data Type Uint16
coefficient & Effective Immediately Structure
index Time
19h
Related Data 10 to 100
Access RW Mapping - - Default 30
Mode Range (%)
Defines the heat dissipation coefficient of the regenerative resistor, which is applicable to external and internal
regenerative resistors.
Set the heat dissipation coefficient based on actual cooling conditions of the resistor.
Recommendations:
Set 2002-19h to a value lower than or equal to 30% in case of natural ventilation.
Set 2002-19h to a value lower than or equal to 50% in case of forced-air cooling.

Regenerative Setting Condition At stop & Data

Sub- Name - Data Type Uint16
resistor setting & Effective Time Immediately Structure
index
1Ah Data
Access RW Mapping - Related Mode - 0 to 3 Default 0
Range
Defines the regenerative resistor type and the mode of absorbing and releasing the braking energy.
See "5.4.3 Regenerative Resistor Settings" to select a proper regenerative resistor.

Power of external Setting Condition At stop & Data Data

Sub- Name - Uint16
regenerative resistor & Effective Time Immediately Structure Type
index
Data 1 to 65535
1Bh Access RW Mapping - Related Mode - Default 40
Range (Unit: W)
Defines the power of the external regenerative resistor.
Note: The value of 2002-1Bh cannot be lower than the calculated braking power.

Resistance of and external- Setting Condition At stop & Data Data

Sub- Name - Uint16
in regenerative resistor & Effective Time Immediately Structure Type
index
Data 15 to 1000
1Ch Access RW Mapping - Related Mode - Default 50
Range (Ω)

Defines the resistance of the external regenerative resistor.

An external regenerative resistor is needed when the calculated maximum braking energy is larger than the
maximum braking energy that can be absorbed by the capacitor, and the calculated braking power is larger than
the power of the built-in regenerative resistor.
◆◆ A too large setpoint may incur E400.0 (Main circuit overvoltage) when the bus energy cannot be absorbed
immediately.
◆◆ A setpoint lower than 2002-16h (Minimum permissible resistance of regenerative resistor) leads to E922.0
(Resistance of external regenerative resistor too small), which may finally result in E201.4 (Phase-N overcurrent)
is no action is taken.
Either use an external regenerative resistor or a built-in one, never the both. To use an external regenerative resistor,
remove the jumper bar between terminals P and D first and connect the resistor between terminals P and C.

System parameter Setting Condition At stop & Data Data

Sub- Name - Uint16
initialization & Effective Time Immediately Structure Type
index
20h Data
Access RW Mapping - Related Mode - 0 to 2 Default 0
Range
Used to restore default values or clear fault records.

Setpoint Description Remarks

0 No operation -
1 Restore default setting Restore default values except parameters in groups 2000h and 2001h.
2 Clear fault records Clear the latest 10 faults and warnings.

If necessary, use Inovance software tool to back up parameters except those in groups 2000h and 2001h.

-339-
 8 Parameters

Setting
During
Condition Data
Sub- Name Default keypad display running & - Data Type Uint16
& Effective Structure
index Immediately
Time
21h
Related Data
Access RW Mapping - - 0 to 99 Default 50
Mode Range
The keypad can switch to the monitored parameter display mode (group 200Bh) based on settings. 2002-21h is used
to set the offset of the parameter within group 200Bh.
If a parameter that does not exist in group 200Bh is set, the keypad does not switch to the monitored parameter
display mode.

Setting
During
Keypad data refresh Condition Data
Sub- Name running & - Data Type Uint16
frequency & Effective Structure
index Immediately
Time
24h
Related Data
Access RW Mapping - - 0 to 20 Default 0
Mode Range

Group 2003h: Terminal Input Parameters

Setting
Condition Data
Name Terminal input parameters - ARR Data Type Uint16
Index & Effective Structure
2003h Time
Related Data OD Data OD Default
Access - Mapping Yes - Default
Mode Range Range Value

Used to set terminal input parameters

Setting
Condition Data
Sub- Name Number of entries - - Data Type Uint8
& Effective Structure
index
Time
00h
Related Data
Access RO Mapping No - - Default 65
Mode Range

-340-
 8 Parameters

Setting
During
Condition Data
Sub- Name DI1 function running & - Data Type Uint16
& Effective Structure
index At stop
Time
03h
Related Data
Access RW Mapping - - 0 to 40 Default 14
Mode Range
Defines the function of DI1.
See the following table for descriptions of setpoints.

Value DI Function
0 No function assigned
2 Fault reset
14 Positive limit switch
15 Negative limit switch
31 Home switch
34 Emergency stop
38 Touch probe 1
39 Touch probe 2

Note:
◆◆ Set 2003-03h to a value listed in the preceding table. If 2003-03h is set to another value, E122.1 will occur.
◆◆ Do not assign the same function to different DIs. Otherwise, E122.1 will occur.
◆◆ After assigning a certain function to a DI and activate the logic of this DI, this function will remain active even if
you cancel the function assignment.
◆◆ DI1 to DI4 are normal DIs, requiring the input signal width to be higher than 1 ms.
◆◆ DI5 is a high-speed DI, requiring the input signal width to be higher than 0.25 ms.
◆◆ When the touch probe function is enabled, DI5 and DI4 are assigned with touch probe 1 and touch probe 2
respectively by default.

Setting
During
Condition Data
Sub- Name DI1 logic running & - Data Type Uint16
& Effective Structure
index At stop
Time
04h
Related Data
Access RW Mapping - - 0 to 1 Default 0
Mode Range
Used to set the level logic of DI1 when the function assigned to DI1 is active.
DI1 to DI4 are normal DIs, requiring the input signal width to be higher than 1 ms. Set the level logic based on the
host controller and peripheral circuits. See the following table for the input signal width.
DI Logic Upon Active
Setpoint Remarks
DI Function
0 Low level Low level must remain active for more than 1 ms.
1 High level High level must remain active for more than 1 ms.

Setting
During
Condition Data
Sub- Name DI2 function running & - Data Type Uint16
& Effective Structure
index At stop
Time
05h
Related Data
Access RW Mapping - - 0 to 40 Default 15
Mode Range

Setting
During
Condition Data
Sub- Name DI2 logic running & - Data Type Uint16
& Effective Structure
index At stop
Time
06h
Related Data
Access RW Mapping - - 0 to 1 Default 0
Mode Range

-341-
 8 Parameters

Setting
During
Condition Data
Sub- Name DI3 function running & - Data Type Uint16
& Effective Structure
index At stop
Time
07h
Related Data
Access RW Mapping - - 0 to 40 Default 31
Mode Range

Setting
During
Condition Data
Sub- Name DI3 logic running & - Data Type Uint16
& Effective Structure
index At stop
Time
08h
Related Data
Access RW Mapping - - 0 to 1 Default 0
Mode Range

Setting
During
Condition Data
Sub- Name DI4 function running & - Data Type Uint16
& Effective Structure
index At stop
Time
09h
Related Data
Access RW Mapping - - 0 to 40 Default 39
Mode Range

Setting
During
Condition Data
Sub- Name DI4 logic running & - Data Type Uint16
& Effective Structure
index At stop
Time
0Ah
Related Data
Access RW Mapping - - 0 to 1 Default 0
Mode Range

Setting
During
Condition Data
Sub- Name DI5 function running & - Data Type Uint16
& Effective Structure
index At stop
Time
0Bh
Related Data
Access RW Mapping - - 0 to 39 Default 38
Mode Range

Setting
During
Condition Data
Sub- Name DI5 logic running & - Data Type Uint16
& Effective Structure
index At stop
Time
0Ch
Related Data
Access RW Mapping - - 0 to 1 Default 0
Mode Range

Setting
During
Condition Data
Sub- Name DI1 filter time running & - Data Type Uint16
& Effective Structure
index At stop
Time
3Dh
Related Data
Access RW Mapping - - 0 to 50000 Default 50
Mode Range

Setting
During
Condition Data
Sub- Name DI2 filter time running & - Data Type Uint16
& Effective Structure
index At stop
Time
3Eh
Related Data
Access RW Mapping - - 0 to 50000 Default 50
Mode Range

-342-
 8 Parameters

During
Setting Condition Data Data
Sub- Name DI3 filter time running & - Uint16
& Effective Time Structure Type
index At stop
3Fh Data
Access RW Mapping - Related Mode - 0 to 50000 Default 50
Range

During
Setting Condition Data Data
Sub- Name DI4 filter time running & - Uint16
& Effective Time Structure Type
index At stop
40h Data
Access RW Mapping - Related Mode - 0 to 50000 Default 50
Range

During
Setting Condition Data Data
Sub- Name DI5 filter time running & - Uint16
& Effective Time Structure Type
index At stop
41h Data
Access RW Mapping - Related Mode - 0 to 50000 Default 50
Range

Group 2004h: Terminal Output Terminals

Setting
Condition Data
Name Terminal output parameters - ARR Data Type Uint16
Index & Effective Structure
2004h Time
Related Data OD Data OD Default
Access - Mapping Yes - Default
Mode Range Range Value
Used to set terminal output parameters.

Setting
Condition Data
Sub- Name Number of entries - - Data Type Uint8
& Effective Structure
index
Time
00h
Related Data
Access RO Mapping No - - Default 6
Mode Range

Setting
During
Condition Data
Sub- Name DO1 function running & - Data Type Uint16
& Effective Structure
index Immediately
Time
01h
Related Data
Access RW Mapping - - 0 to 32 Default 1
Mode Range
Defines the function of DO1.
See the following table for descriptions of setpoints.
Set 2004-01h to a value listed in the preceding table.
Different VDOs can be assigned with the same function.

Value Function
0 No function assigned
1 Servo ready
2 Motor rotating
9 Brake
10 Warning
11 Fault
25 Comparison output
31 Forced EtherCAT output
32 EDM safety state output

-343-
 8 Parameters

Setting
During
Condition Data
Sub- Name DO1 logic running & - Data Type Uint16
& Effective Structure
index Immediately
Time
02h
Related Data
Access RW Mapping - - 0 to 1 Default 0
Mode Range
Defines the level logic of DO1 when the function assigned to DO1 is active.
DO1 to DO3 are normal DOs, requiring the minimum output signal width to be 1 ms. The host controller must be
able to receive valid DO logic changes.

Setpoint DO1 Logic Upon Active DO Function Transistor Status Minimum Signal Width
High 1ms
0 Low level ON Active
Low

High
1 High level OFF Active
Low
1ms

Before receiving DO logic changes, check the setting of 200D-12h (Forced DI/DO selection) to confirm whether the
DO level is determined by the actual operating status of the servo drive or by forced DO (200D-14h or 60FEh).

Setting
During
Condition Data
Sub- Name DO2 function running & - Data Type Uint16
& Effective Structure
index Immediately
Time
03h
Related Data
Access RW Mapping - - 0 to 32 Default 11
Mode Range

Setting
During
Condition Data
Sub- Name DO2 logic running & - Data Type Uint16
& Effective Structure
index Immediately
Time
04h
Related Data
Access RW Mapping - - 0 to 1 Default 0
Mode Range

Setting
During
Condition Data
Sub- Name DO3 function running & - Data Type Uint16
& Effective Structure
index Immediately
Time
05h
Related Data
Access RW Mapping - - 0 to 32 Default 9
Mode Range

Setting
During
DO3 logic Condition Data
Sub- Name running & - Data Type Uint16
& Effective Structure
index Immediately
Time
06h
Related Data
Access RW Mapping - - 0 to 1 Default 0
Mode Range

-344-
 8 Parameters

Setting
During
EtherCAT forced DO output Condition Data
Sub- Name running & - Data Type Uint16
logic in non-OP status & Effective Structure
index Immediately
Time
18h
Related Data
Access RW Mapping - - 0 to 7 Default 1
Mode Range
See the following table for descriptions of setpoints.

Value Function
0 Status of DO1 to DO3 unchanged in the non-OP status
1 No output in DO1 and status of others unchanged in the non-OP status
2 No output in DO2 and status of others unchanged in the non-OP status
3 No output in DO1 or DO2 and status of others unchanged in the non-OP status
4 No output in DO3, status of others unchanged in the non-OP status
5 No output in DO1 or DO3, status of others unchanged in the non-OP status
6 No output in DO2 or DO3 and status of others unchanged in the non-OP status
7 No output in DO1, DO2, or DO3.

Group 2005h: Position Control Parameters

Setting
Condition Data
Name Position control parameters - ARR Data Type Uint16
Index & Effective Structure
2005h Time
Related Data OD Data OD Default
Access - Mapping Yes - Default
Mode Range Range Value

Used to set position control parameters.

Setting
Condition Data
Sub- Name Number of entries - - Data Type Uint8
& Effective Structure
index
Time
00h
Related Data
Access RO Mapping No - - Default 55
Mode Range

Setting
First-order low-pass Condition At stop & Data
Name - Data Type Uint16
Sub- filter time constant & Effective Immediately Structure
index Time
05h 0–65535
Related Data
Access RW Mapping Yes PP/HM/CSP (unit: Default 0
Mode Range
0.1 ms)

Setting
Moving average filter Condition At stop & Data
Name - Data Type Uint16
Sub- time constant 1 & Effective Immediately Structure
index Time
06h 0-10000
Related Data
Access RW Mapping Yes PP/HM/CSP (unit: Default 0
Mode Range
0.1 ms)

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 8 Parameters

Setting
Moving average filter Condition At stop & Data
Name - Data Type Uint16
Sub- time constant 2 & Effective Immediately Structure
index Time
07h 0-1280
Related Data
Access RW Mapping Yes PP/HM/CSP (unit: Default 0
Mode Range
0.1 ms)

Setting
Numerator of electronic Condition At stop & Data Data
Name - Uint16
Sub- gear ratio & Effective Immediately Structure Type
index Time
08h
Related PP/HM/CSP/ Data
Access RW Mapping Yes 0-4294967295 Default 1
Mode CSV/PV Range

Denominator of Setting Condition At stop & Data

Name - Data Type Uint16
Sub- electronic gear ratio & Effective Time Immediately Structure
index
0Ah PP/HM/CSP/ Data
Access RW Mapping Yes Related Mode 0-4294967295 Default 1
CSV/PV Range

Setting
Condition At stop & Data
Sub- Name Speed feedforward control - Data Type Uint16
& Effective Immediately Structure
index
Time
14h
Related Data
Access RW Mapping Yes PP/HM/CSP 0 to 3 Default 1
Mode Range
Defines the source of the speed loop feedforward signal.
Speed feedforward can be applied to position control mode to improve the position reference responsiveness.

Setpoint Speed feedforward source Remarks

0 No speed feedforward -
Use the speed information corresponding to the position reference
1 Internal speed feedforward
(encoder unit) as the speed loop feedforward source.
60B1h is used as the source of external speed offset signal in the CSP
2 60B1h used as speed offset mode.
The polarity of 60B1h is set in bit6 of 607Eh.
Zero phase control can be used together with H08-17 (zero phase delay) to
3 Zero phase control
reduce the position follow-up deviation during startup.
Speed feedforward control parameters include 2008-13h (Speed feedforward filter time constant) and 2008-14h
(Speed feedforward gain). See for parameter settings.

Setting
Condition At stop & Data
Sub- Name Local homing - Data Type Uint16
& Effective Immediately Structure
index
Time
1Fh
Related Data
Access RW Mapping Yes Any 0,6 Default 0
Mode Range
Used to execute local homing when the homing method in CiA402 profile cannot be called by the host controller
through operating bit4 of the control word.
Note: Use this function in the S-OFF state only. Failure to comply may result in malfunction of the motor due to
abrupt change in the position feedback. After homing is done successfully, the present position feedback will be
cleared.

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 8 Parameters

Setting
During
Condition Data Data
Sub- Name Homing time limit running & - Uint16
& Effective Structure Type
index Immediately
Time
24h
Related Data 0 to 65535
Access RW Mapping - HM Default 50000
Mode Range (unit: 0.1s)
Defines the maximum homing time.
Setting 2005-24h to a too small value or if the home is not found within the time defined by 2005-24h, E601.0 (Homing
timeout) will occur.

Setting
During
Condition Data Data
Name Local home offset running & - Int32
Sub- & Effective Structure Type
Immediately
index Time
25h -1073741824
Related Data
Access RW Mapping - HM to Default 0
Mode Range
+1073741824
2005-25h is used together with 2005-1Fh. After homing is done, the present position feedback is the value of
2005-25h.

Setting
Position offset in
Condition At stop & Data
Name absolute position linear - Data Type Int32
& Effective Immediately Structure
Sub- mode (low 32 bits)
Time
index
-231 to
2Fh
Related Data +(231 - 1)
Access RW Mapping - All Default 0
Mode Range (encoder
unit)

Setting
Position offset in absolute Condition At stop & Data Data
Name - Int32
position linear mode (high 32 bits) & Effective Immediately Structure Type
Sub- Time
index
-231 to
31h
Related Data +(231 - 1)
Access RW Mapping - All Default 0
Mode Range (encoder
unit)
These two parameters define the offset of the mechanical absolute position (encoder unit) relative to the motor
absolute position (encoder unit) when the absolute encoder system works in the linear mode (2002-02 = 1).
Position offset in the absolute position linear mode = Motor absolute position - Mechanical absolute position
Note:
Default values of these two parameters are 0 in the absolute position linear mode. After homing is done, the servo
drive automatically calculates the deviation between the absolute position fed back by the encoder and the
mechanical absolute position, assigns the deviation value to 2005-2Fh and 2005-31h, and saves the deviation in
EEPROM.

Setting
Mechanical gear ratio
Condition At stop & Data
Sub- Name (numerator) in the absolute - Data Type Uint16
& Effective Immediately Structure
index position rotation mode
Time
33h
Related Data
Access RW Mapping - All 1 to 65535 Default 1
Mode Range

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 8 Parameters

Setting
Mechanical gear ratio
Condition At stop & Data
Sub- Name (denominator) in absolute - Data Type Uint16
& Effective Immediately Structure
index position rotation mode
Time
34h
Related Data
Access RW Mapping - All 1 to 65535 Default 1
Mode Range
Defines the ratio of the feedback pulses (encoder unit) per load revolution to the absolute position feedback of the
encoder when the absolute encoder system works in the rotation mode (2002-02 = 2).
Assume that the encoder resolution is RE, the encoder pulses per load revolution is RM, and 2005-35h and 2005-37h
are 0, then the following formula applies:
RM = RE x 2005-33h/2005-34h
Note:
The servo drive calculates the upper limit of the mechanical absolute position based on 2005-35h and 2005-37h
first. If 2005-35h and 2005-37h are set to 0, the servo drive performs calculation based on 2005-33h and 2005-34h.

Setting
Pulses per load revolution
Condition At stop & Data
Name in the absolute position - Data Type Uint32
Sub- & Effective Immediately Structure
rotation mode (low 32 bits)
index Time
35h 0 to (232 - 1)
Related Data
Access RW Mapping - All (encoder Default 0
Mode Range
unit)

Setting
Pulses per load revolution
Condition At stop & Data
Name in absolute position rotation - Data Type Uint32
Sub- & Effective Immediately Structure
mode (high 32 bits)
index Time
37h
0 to 127
Related Data
Access RW Mapping - All (encoder Default 0
Mode Range
unit)
Defines the feedback pulses (encoder unit) per load revolution when the absolute encoder system works in the
rotation mode (2002-02 = 2).
Assume the encoder pulses per load revolution is RM and 2005-35h or 2005-37h is not 0, the following formula
applies:
PM = 2005-37h x 232 + 2005-35h
Note: The servo drive calculates the upper limit of the mechanical absolute position based on 2005-35h and 2005-
37h first. If 2005-35h and 2005-37h are set to 0, the servo drive performs calculation based on 2005-33h and 2005-
34h.

Group 2006h: Speed Control Parameters

Setting
Condition Data
Name Speed control parameters - ARR Data Type Uint16
Index & Effective Structure
2006h Time
Related Data OD Data OD Default
Access - Mapping Yes - Default
Mode Range Range Value

Used to set speed control parameters

Setting
Condition Data
Sub- Name Number of entries - ARR Data Type Uint8
& Effective Structure
index
Time
00h
Related Data
Access RO Mapping No - - Default 16
Mode Range

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 8 Parameters

Setting
During
Condition Data
Name Speed reference running & - Data Type Int16
Sub- & Effective Structure
Immediately
index Time
04h
Related Local speed Data -6000 to +6000
Access RW Mapping - Default 200
Mode mode Range (RPM)

2006-04h is valid in the local speed mode and invalid in the EtherCAT mode.

Setting
During
Acceleration ramp time Condition Data Data
Name running & - Uint16
Sub- constant of speed reference & Effective Structure Type
Immediately
index Time
06h
Related Local speed Data 0 to 65535
Access RW Mapping - Default 0
Mode mode Range (ms)

2006-06h is valid in the local speed mode and invalid in the EtherCAT mode.

Setting
During
Deceleration ramp time Condition Data
Sub- Name running & - Data Type Uint16
of speed reference & Effective Structure
index Immediately
Time
07h
Related Local speed Data 0 to 65535
Access RW Mapping Yes Default 0
Mode mode Range (ms)
2006-07h is valid in the local speed mode and invalid in the EtherCAT mode.

Setting
During
Condition Data
Sub- Name Forward speed limit running & - Data Type Uint16
& Effective Structure
index Immediately
Time
09h
Related Local speed Data 0 to 6000
Access RW Mapping Yes Default 6000
Mode mode Range (RPM)
2006-09h is valid in the local speed mode and invalid in the EtherCAT mode.

Setting
During
Condition Data
Sub- Name Reverse speed limit running & - Data Type Uint16
& Effective Structure
index Immediately
Time
0Ah
Related Local speed Data 0 to 6000
Access RW Mapping Yes Default 6000
Mode mode Range (RPM)
2006-0Ah is valid in the local speed mode and invalid in the EtherCAT mode.

Setting
Quick stop deceleration Condition At stop & Data
Sub- Name - Data Type Uint16
coefficient & Effective Immediately Structure
index
Time
0Bh
Related Data
Access RW Mapping Yes - 0 to 2 Default 0
Mode Range
The default value is 0. When 6085h (Quick stop deceleration) is set to the maximum value but the ramp time still
exceeds the expected value, enlarge the value of 6085h through 2006-0Bh, thus reducing the stop time.
Note: When the brake function is enabled and the stop mode at S-OFF is set to "Ramp to stop", the maximum time
of ramp-to-stop is Min (H02-12, stop time defined by 6085h).
Value Description
0 x1
1 x 10
2 x 100

-349-
 8 Parameters

Setting
Condition During running & Data
Sub- Name Torque feedforward control - Data Type Uint16
& Effective Immediately Structure
index
Time
0Ch
Related PP/PV/HM/ Data
Access RW Mapping Yes 0 to 2 Default 1
Mode CSP/CSV Range

Defines whether to enable internal torque feedforward in the non-torque control mode.
Torque feedforward can be used to improve the torque reference responsiveness and reduce the position
deviation during acceleration/deceleration at a constant speed.

Torque feedforward
Value Remarks
control
0 / -
The torque feedforward signal source is the speed reference, which comes
Internal torque either from the output of the position controller in the position control
1
feedforward mode or from the speed references set by the user in the speed control
mode.
60B2h is used as the external torque offset signal source in the CSP and CSV
modes.
60B2h as external torque The polarity of the torque feedforward signal is set in bit5 of 607Eh.
2
feedforward Note: When 60B2h is used as the torque offset signal, you can adjust the
operating effect of 60B2h through 2008-16h (Torque feedforward gain) and
2008-15h (Torque feedforward filter).

Parameters of the torque feedforward function include 2008-15h (Torque feedforward gain) and 2008-16h (Torque
feedforward filter time constant). For details, see "6.5.4 Feedforward Gain" .

In the non-torque control mode, the block diagram for torque feedforwad control is as follows:

Torque
feedforward
control

Speed + Motor
reference + +
Speed loop Current loop
× control × M
control
-
Speed
feedback

Speed Encoder
detection

Setting
Acceleration/Deceleration During
Condition Data
Name ramp time constant of running & - Data Type Uint16
Sub- & Effective Structure
jog speed reference Immediately
index Time
0Dh
Related Data 0 to 65535
Access RW Mapping Yes - Default 10
Mode Range (ms)

Defines the acceleration/deceleration time of jog speed references in the jog mode set through H0D-11 or the
software tool.

Setting
During
Speed feedforward Condition Data
Sub- Name running & - Data Type Uint16
filter time constant & Effective Structure
index Immediately
Time
0Eh
Related Data 0 to 2000
Access RW Mapping Yes - Default 0
Mode Range (us)
Defines the speed feedforward filter time constant.

-350-
 8 Parameters

Group 2007h: Torque Control Parameters

Setting
Condition Data
Name Torque control parameters - ARR Data Type Uint16
Index & Effective Structure
2007h Time
Related Data OD Data OD Default
Access - Mapping Yes - Default
Mode Range Range Value
Used to set torque control parameters

Setting
Condition Data
Sub- Name Number of entries - - Data Type Uint8
& Effective Structure
index
Time
00h
Related Data
Access RO Mapping No - - Default 40
Mode Range

Setting
During
Torque reference value Condition Data
Name running & - Data Type Int16
Sub- set through keypad & Effective Structure
Immediately
index Time
04h -4000 to
Related Local torque Data
Access RW Mapping - +4000 Default 0
Mode mode Range
(unit: 0.1%)

Setting
During
Torque reference filter Condition Data
Name running & - Data Type Uint16
Sub- time constant 1 & Effective Structure
Immediately
index Time
06h 0 to 3000
Related Data
Access RW Mapping - All (unit: Default 79
Mode Range
0.01 ms)

Setting
During
Torque reference filter Condition Data
Name running & - Data Type Uint16
Sub- time constant 2 & Effective Structure
Immediately
index Time
07h 0 to 3000
Related Data
Access RW Mapping - All (unit: Default 79
Mode Range
0.01 ms)
Defines the torque reference filter time constant.
Low-pass filtering of torque references helps smooth torque references and reduce vibration.
A large setpoint delays the responsiveness, so pay attention to the responsiveness during setting the filter time
constant.
Note:
The servo drive offers two low-pass filters, in which the low-pass filter 1 is used by default.
The gain switchover function can be used In the position or speed control mode. Once certain conditions are
satisfied, you can switch to low-pass filter 2. For details on gain switchover, see "6.5.2 Gain Switchover" .

Setting
During
Condition Data
Name Positive internal torque limit running & - Data Type Uint16
Sub- & Effective Structure
Immediately
index Time
0Ah 0 to 4000
Related Local torque Data
Access RW Mapping - (unit: Default 3500
Mode mode Range
0.1%)

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 8 Parameters

Setting
During
Negative internal Condition Data
Name running & - Data Type Uint16
Sub- torque limit & Effective Structure
Immediately
index Time
0Bh 0 to 4000
Related Local torque Data
Access RW Mapping - (unit: Default 3500
Mode mode Range
0.1%)
Note:
1: 2007-0Ah and 2007-0Bh are valid only in the local torque mode (H02-00 = 2). For torque limit in the EtherCAT
mode, use 60E0/60E1/6072. Use the torque limit with caution as a too small limit value will cause insufficient motor
torque output.
2. If the setpoint exceeds the maximum torque of the servo drive and servo motor, the actual torque will be limited
to a value within the maximum torque of the servo drive and servo motor.

Setting
Condition At stop & Data
Name Emergency stop torque - Data Type Uint16
Sub- & Effective Immediately Structure
index Time
10h 0 to 4000
Related Data
Access RW Mapping - - (unit: Default 1000
Mode Range
0.1%)

Setting
During
Positive internal speed Condition Data
Name running & - Data Type Uint16
Sub- limit in torque control & Effective Structure
Immediately
index Time
14h
Related Local torque Data 0 to 6000
Access RW Mapping - Default 3000
Mode mode Range (RPM)

Setting
During
Negative internal torque Condition Data
Name running & - Data Type Uint16
Sub- limit in torque control & Effective Structure
Immediately
index Time
15h
Related Local torque Data 0 to 6000
Access RW Mapping - Default 3000
Mode mode Range (RPM)

2007-14h and 2007-15h are valid in the local torque mode only (H02-00 = 2). Use 607F for speed limit in the EtherCAT
mode, CST mode and PT mode.

Setting
During
Condition Data
Name Base value for torque reached running & - Data Type Uint16
Sub- & Effective Structure
Immediately
index Time
16h 0 to 4000
Related Data
Access RW Mapping - PT (unit: Default 0
Mode Range
0.1%)

Setting
During
Threshold for valid Condition Data
Name running & - Data Type Uint16
Sub- torque reach & Effective Structure
Immediately
index Time
17h 0 to 4000
Related Data
Access RW Mapping - PT (unit: Default 200
Mode Range
0.1%)

-352-
 8 Parameters

Setting
During
Threshold for invalid Condition Data
Name running & - Data Type Uint16
Sub- torque reach & Effective Structure
Immediately
index Time
18h 0 to 4000
Related Data
Access RW Mapping - PT (unit: Default 100
Mode Range
0.1%)
The torque reach function is used to judge whether the actual torque reference reaches the range of valid torque
reach. If yes, the servo drive outputs the corresponding flag (bit10 of status word) to the host controller.
Actual torque (T) A ：Actual torque reference
B：Based value for torque reach (2007-16h)
C ：Threshold of valid torque reach (2007-17h)
D ：Threshold of invalid torque reach (2007-18h)
B+C
A：Actual torque reference
B+D

0
Time (t)
-B

-(B+D)

-(B+C)

Torque reached output OFF OFF OFF

ON ON
(bit10 of 6041h)

Actual torque reference (viewed in 200B-03h): A

Base value for torque reach (2007-16h): B
Threshold of valid torque reach (2007-17h): C
Threshold of invalid torque reach (2007-18h): D
C and D are the offset based on B.
The torque reached signal is activated only when the actual torque reference meets the following condition:
|A| ≥ B + C
The torque reach signal is deactivated only when the actual torque reference meets the following condition:
|A| < B + D

Setting
During
Condition Data
Name Field-weakening depth running & - Data Type Uint16
Sub- & Effective Structure
Immediately
index Time
19h 60 to 115
Related Data
Access RW Mapping - - (unit: Default 115
Mode Range
100%)
This parameter needs no setting generally. Reducing the field-weakening depth increases the dynamic performance
of the field-weakening area and reduces the current ripple, but it also leads to rise of the load rate.

Setting
During
Max. permissible Condition Data
Name running & - Data Type Uint16
Sub- demagnetizing current & Effective Structure
Immediately
index Time
1Ah 1 to 100
Related Data
Access RW Mapping - - (unit: Default 100
Mode Range
100%)
This parameter needs no setting generally. Increasing the demagnetizing current extends the motor speed range, but
it also poses a greater challenge on the bearing capacity of the motor. If you need to increase the setpoint of 2007-
1Ah, contact Inovance first.

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 8 Parameters

Setting
During
Condition Data
Sub- Name Field-weakening selection running & - Data Type Uint16
& Effective Structure
index Immediately
Time
1Bh
Related Data
Access RW Mapping - - 0 to 1 Default 0
Mode Range
0: Disable; 1: Enable

Setting
During
Condition Data
Sub- Name Field-weakening gain running & - Data Type Uint16
& Effective Structure
index Immediately
Time
1Ch
Related Data
Access RW Mapping - - 1 to 1000 Default 30
Mode Range

Setting
During
Time constant of Condition Data
Name running & - Data Type Uint16
Sub- low-pass filter 2 & Effective Structure
Immediately
index Time
25h 0–1000
Related Data
Access RW Mapping - - (unit: Default 0
Mode Range
0.01 ms)

Setting
During
Torque reference Condition Data
Sub- Name running & - Data Type Uint16
filter selection & Effective Structure
index Immediately
Time
26h
Related Data
Access RW Mapping - - 0 to 1 Default 0
Mode Range
0: First-order filter
1: Biquad filter

Setting
Condition At stop & Data
Sub- Name Biquad filter attenuation ratio - Data Type Uint16
& Effective Immediately Structure
index
Time
27h
Related Data
Access RW Mapping - - 0 to 50 Default 16
Mode Range

Group 2008h: Gain Parameters

Setting
Condition Data
Name Gain parameters - ARR Data Type Uint16
Index & Effective Structure
2008h Time
Related Data OD Data OD Default
Access - Mapping Yes - Default
Mode Range Range Value

Used to set gain parameters.

Setting
Condition Data
Sub- Name Number of entries - - Data Type Uint8
& Effective Structure
index
Time
00h
Related Data
Access RO Mapping No - - Default 65
Mode Range

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 8 Parameters

Setting Condition During running Data Data

Sub- Name Speed loop gain - Uint16
& Effective Time & Immediately Structure Type
index
01h PP/PV/HM/ Data 1 to 20000
Access RW Mapping - Related Mode Default 400
CSP/CSV Range (unit: 0.1 Hz)
Defines the proportional gain of the speed loop.
2008-01h determines the responsiveness of the speed loop. The larger the setpoint, the quicker the responsiveness
will be. Note that a too large setpoint may cause vibration.
If you increase the position loop gain in the position control mode, increase the speed loop gain as well.

During
Speed loop integral Setting Condition Data Data
Sub- Name running & - Uint16
time constant & Effective Time Structure Type
index Immediately
02h PP/PV/HM/ Data 15 to 51200
Access RW Mapping - Related Mode Default 1989
CSP/CSV Range (unit: 0.01 ms)
Defines the integral time constant of the speed loop.
The smaller the setpoint, the better the integral action, and the quicker will the deviation value be close to 0.
Note: There is no integral action when 2008-02h is set to 512.00.

Setting Condition During running Data Data

Sub- Name Position loop gain - Uint16
& Effective Time & Immediately Structure Type
index
03h Data 1 to 20000
Access RW Mapping - Related Mode PP/HM/CSP Default 640
Range (unit: 0.1 Hz)
Defines the proportional gain of the position loop.
2008-03h determines the responsiveness of the position loop. A large setpoint shortens the positioning time. Note
that a too large setpoint may cause vibration.
The first gain set include parameters 2008-01h, 2008-02h, 2008-03h, and 2007-07h.

2nd speed Setting Condition During running Data Data

Sub- Name - Uint16
loop gain & Effective Time & Immediately Structure Type
index
04h PP/PV/HM/ Data 1 to 20000
Access RW Mapping - Related Mode Default 750
CSP/CSV Range (unit: 0.1 Hz)

2nd speed loop Setting Condition During running Data Data

Sub- Name - Uint16
integral time constant & Effective Time & Immediately Structure Type
index
PP/PV/HM/ Data 15 to 51200
05h Access RW Mapping - Related Mode Default 1061
CSP/CSV Range (unit: 0.01 ms)

2nd position Setting Condition During running Data Data

Sub- Name - Uint16
loop gain & Effective Time & Immediately Structure Type
index
06h Data 1 to 20000
Access RW Mapping - Related Mode PP/HM/CSP Default 1200
Range (unit: 0.1 Hz)
Defines the second gain of the position loop and speed loop. The second gain set include parameters 2008-04h,
2008-05h, 2008-06h and 2007-07h.
For details on gain switchover, see "6.5.2 Gain Switchover" .

Setting
During
Condition Data
Sub- Name 2nd gain mode setting running & - Data Type Uint16
& Effective Structure
index Immediately
Time
09h
Related PP/PV/HM/ Data
Access RW Mapping - 0 to 1 Default 1
Mode CSP/CSV Range
Defines the switchover mode of the 2nd gain set.
Setpoint Mode
0: Fixed to the 1st gain set, switched between P and PI through bit26 of external 60FE
0
(switched to P when bit26 of 60FE set to 1)
1: Switched between the 1st gain set (2008-01h to 2008-03h, 2007-06h) and the 2nd gain set
1
(2008-04h to 2008-06h, 2007-07h) as defined by 2008-0Ah

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 8 Parameters

Setting
During
Condition Data
Sub- Name Gain switchover condition running & - Data Type Uint16
& Effective Structure
index Immediately
Time
0Ah
Related PP/PV/HM/ Data
Access RW Mapping - 0 to 10 Default 0
Mode CSP/CSV Range
Defines the condition for gain switchover.

Gain
Value switchover Remarks
condition
Fixed to the
0 The 1st gain set always applies.
1st gain set
Gains are switched through bit26 signal of 60FE.
Switched bit26 signal invalid: 1st gain set (2008-01h to 2008-03h, 2007-06h)
1 through
external DI bit26 signal valid: 2nd gain set (2008-04h to 2008-06h, 2007-07h)
If bit26 signal of 60FE cannot be assigned to the DI terminal, the 1st gain set applies.
If the torque reference absolute value exceeds (Level + Dead time) [%] in the last 1st gain set, the
Torque servo drive switches to the 2nd gain set.
2 reference
too large If the torque reference absolute value keeps lower than (Level - Dead time) [%] within the delay
defined by 2008-0Bh in the last 2nd gain set, the servo drive returns to the 1st gain set.
If the speed reference absolute value exceeds (Level + Dead time) [RPM] in the last 1st gain set, the
Speed servo drive switches to the 2nd gain set.
3 reference
too large If the speed reference absolute value keeps lower than (Level - Dead time) [RPM] within the delay
defined by 2008-0Bh in the last 2nd gain set, the servo drive returns to the 1st gain set.
Valid only in the non-speed control mode:
If the absolute value of the rate of change in the speed reference exceeds (Level + Dead time) [10
Speed RPM/s] in the last 1st gain set, the servo drive switches to the 2nd gain set.
4 reference If the absolute value of the rate of change in the speed reference keeps lower than (Level - Dead
too large time) [10 RPM/s] within the delay defined by 2008-0Bh in the last 2nd gain set, the servo drive
returns to the 1st gain set.
In speed control mode, the 1st gain set always applies.
Speed If the speed reference absolute value exceeds (Level - Dead time) [RPM] in the last 1st gain set,
reference the servo drive starts to switch to the 2nd gain set, with gains changed gradually. When the speed
high- reference absolute value reaches (Level + Dead time) [RPM], switchover to the 2nd gain set is done.
5
speed/ If the speed reference absolute value is lower than (Level + Dead time) [RPM] in the last 2nd gain set,
low-speed the servo drive starts to return to the 1st gain set, with gains changed gradually. When the speed
threshold reference absolute value reaches (Level - Dead time) [RPM], returning to the 1st gain set is done.
Valid only in the position control mode:
If the position deviation absolute value exceeds (Level + Hysteresis) [encoder unit] in the last 1st
Position
gain set, the servo drive switches to the 2nd gain set.
6 deviation
If the position deviation absolute value keeps lower than (Level - Hysteresis) [encoder unit] within
too large
the delay defined by 2008-0Bh in the last 2nd gain set, the servo drive switches to the 1st gain set.
The 1st gain set applies in other control modes.
Valid only in the position control mode:
Position If the position reference is not 0 in the last 1st gain set, the servo drive switches to the 2nd gain set.
7 reference If the position reference keeps being 0 within the delay defined by 2008-0Bh in the last 2nd gain set,
available the servo drive returns to the 1st gain set.
The 1st gain set applies in other control modes.
Valid only in the position control mode:
If positioning is not done in the last 1st gain set, the servo drive switches to the 2nd gain set.
Positioning
8 If positioning is not done within the delay defined by 2008-0Bh in the last 2nd gain set, the servo
completed
drive switches to the 1st gain set.
The 1st gain set applies in other control modes.
Valid only in the position control mode:
If the absolute value of actual motor speed exceeds (Level + Dead time) [RPM] in the last 1st gain
Actual
set, the servo drive switches to the 2nd gain set.
9 speed too
If the absolute value of actual motor speed exceeds (Level - Dead time) [RPM] within the delay
large
defined by 2008-0Bh in the last 2nd gain set, the servo drive switches to the 1st gain set.
The 1st gain set applies in other control modes.

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 8 Parameters

Setting
During
Condition Data
Sub- Name Gain switchover condition running & - Data Type Uint16
& Effective Structure
index Immediately
Time
0Ah
Related PP/PV/HM/ Data
Access RW Mapping - 0 to 10 Default 0
Mode CSP/CSV Range
(Continue)

Gain switchover
Value Remarks
condition
Valid only in the position control mode:
If the position reference is not 0 in the last 1st gain set, the servo drive switches to
the 2nd gain set.
If the position reference keeps being 0 within the delay defined by 2008-0Bh in the
Position last 2nd gain set, the 2nd gain set applies. When the position reference keeps being
10 reference + 0 after the time defined by 2008-0Bh elapses, if the absolute value of actual speed
Actual speed does not reach (Level) [RPM], the servo drive returns to the 1st gain set (except the
speed integral time constant which is fixed to 2008-05h (2nd speed loop integral
time constant)); if the actual value of the actual speed is lower than (Level - Dead
time) [RPM], the servo drive returns to the 1st gain set.
The 1st gain set applies in other control modes.

Setting
Condition During running & Data Data
Name Gain switchover delay - Uint16
Sub- & Effective Immediately Structure Type
index Time
0Bh
Related PP/PV/HM/ Data 0 to 10000
Access RW Mapping - Default 50
Mode CSP/CSV Range (unit: 0.1 ms)

Defines the delay when the servo drive returns from the 2nd gain set to the 1st gain set.

Setting
During
Condition Data
Sub- Name Gain switchover level running & - Data Type Uint16
& Effective Structure
index Immediately
Time
0Ch
Related PP/PV/HM/ Data
Access RW Mapping - 0 to 20000 Default 50
Mode CSP/CSV Range
Defines the gain switchover level.
Switchover is affected by both the level and the dead time. For details, see descriptions of 2008-0Ah. The unit of gain
switchover level varies with the switchover condition.

Setting
During
Condition Data
Sub- Name Gain switchover dead time running & - Data Type Uint16
& Effective Structure
index Immediately
Time
0Dh
Related PP/PV/HM/ Data
Access RW Mapping - 0 to 20000 Default 30
Mode CSP/CSV Range
Defines the dead time of gain switchover.
Switchover is affected by both the level and the dead time. For details, see descriptions of 2008-0Ah. The unit of gain
switchover hysteresis varies with the switchover condition.
Note:
Set 2008-0Ch to a value higher than 2008-0Dh. If 2008-0Ch is set to a value lower than 2008-0Dh, the servo drive sets
2008-0Ch to the same value as 2008-0Dh.

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 8 Parameters

Setting
During
Position gain Condition Data
Name running & - Data Type Uint16
Sub- switchover time & Effective Structure
Immediately
index Time
0Eh 0 to 10000
Related PP/PV/HM/ Data
Access RW Mapping - (unit: Default 30
Mode CSP/CSV Range
0.1 ms)
In the position control mode, if 2008-06h (2nd position loop gain) is set to a value far higher than 2008-03h (Position
loop gain), set the time for switching from 2008-03h to 2008-06h.
2008-0Eh can reduce the impact cause by an increase in the position loop gain.
2008-06h is invalid if it is set to a value lower than or equal to 2008-03h. In this case, the servo drive switches to the
2nd gain set immediately.

Setting
During
Condition Data
Name Load moment of inertia ratio running & - Data Type Uint16
Sub- & Effective Structure
Immediately
index Time
10h
Related Data 0 to 12000
Access RW Mapping - All Default 100
Mode Range (unit: 1%)

Defines the mechanical load inertia ratio relative to the moment of inertia of the motor.
The setpoint 0 indicates the motor is disconnected from the load. The setpoint 1.00 indicates the mechanical load
inertia equals the moment of inertia of the motor.
In online inertia auto-tuning (2009-04h ≠ 0), the servo drive sets 2008-10h automatically and manual setting is not
allowed. Manual setting is allowed after online inertia auto-tuning (2009-04h = 0) is off.
Note:
◆◆ When the value of 2008-10h is the same as the actual inertia ratio, the value of speed loop gain (2008-01h/2008-
04h) indicates the actual maximum follow-up frequency of the speed loop.

Setting
During
Condition Data
Name Zero phase delay running & - Data Type Uint16
Sub- & Effective Structure
Immediately
index Time
12h 0 to 40
Related Data
Access RW Mapping - PP/HM/CSP (unit: Default 0
Mode Range
0.1 ms)

Setting
During
Speed feedforward Condition Data
Name running & - Data Type Uint16
Sub- filter time constant & Effective Structure
Immediately
index Time
13h 0 to 6400
Related Data
Access RW Mapping - PP/HM/CSP (unit: Default 50
Mode Range
0.01 ms)

Defines the filter time constant of speed feedforward.

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 8 Parameters

Setting
During
Condition Data
Name Speed feedforward gain running & - Data Type Uint16
Sub- & Effective Structure
Immediately
index Time
14h 0 to 1000
Related Data
Access RW Mapping - PP/HM/CSP (unit: Default 0
Mode Range
0.1%)
In the position control mode, speed feedforward is the value of 2008-14h multiplied by the speed feedforward
signal, which is part of a speed reference.
Increasing the value of 2008-14h improves the responsiveness to the position references and reduces the position
deviation during operation at a constant speed.
When adjusting speed feedforward parameters, set 2008-13h to a fixed value first, and then gradually increase the
value of 2008-14h from 0 to a certain setpoint at which speed feedforward achieves the required effect.
Adjust 2008-13h and 2008-14h repeatedly until a balanced setting is achieved.
Note:
For the speed feedforward function and speed feedforward signal selection, see 2005-14h (Speed feedforward
control selection).

Setting
During
Torque feedforward Condition Data
Name running & - Data Type Uint16
Sub- filter time constant & Effective Structure
Immediately
index Time
15h 0 to 6400
Related PP/PV/HM/ Data
Access RW Mapping - (unit: Default 50
Mode CSP/CSV Range
0.01 ms)
Defines the filter time constant of torque feedforward.

Setting
During
Condition Data
Name Torque feedforward gain running & - Data Type Uint16
Sub- & Effective Structure
Immediately
index Time
16h 0 to 3000
Related PP/PV/HM/ Data
Access RW Mapping - (unit: Default 0
Mode CSP/CSV Range
0.1%)
In the non-torque control mode, torque feedforward is the value of 2008-16h multiplied by the torque feedforward
signal, which is part of a torque reference.
Increasing the value of 2008-16h improves the responsiveness to speed references and position references and
reduces the position deviation during operation at a constant speed.
When adjusting torque feedforward parameters, use the default value of 2008-15h and increase the value of 2008-
16h gradually to enhance the effect of torque feedforward. When speed overshoot occurs, keep the value of 2008-
16h unchanged and increase the value of 2008-20h. Adjust 2008-15h and 2008-16h repeatedly until a balanced
setting is achieved.
Note:
◆◆ For the torque feedforward function and torque feedforward signal selection, see 2006-0Ch (Torque feedforward
control selection).

Setting
Speed feedback Condition At stop & Data
Sub- Name - Data Type Uint16
filtering option & Effective Immediately Structure
index
Time
17h
Related PP/PV/HM/ Data
Access RW Mapping - 0 to 4 Default 0
Mode CSP/CSV Range
Defines the moving average filtering times for speed feedback.
The larger the setpoint, the smaller the speed feedback fluctuation, and the larger the feedback delay will be.
Note:
◆◆ When 2008-17h > 0, 2008-18h (Cutoff frequency of speed feedback low-pass filter) is invalid.

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 8 Parameters

Setting
During
Cutoff frequency of speed Condition Data
Name running & - Data Type Uint16
Sub- feedback low-pass filter & Effective Structure
index Immediately
Time
18h
Related PP/PV/HM/ Data 0 to 8000
Access RW Mapping - Default 8000
Mode CSP/CSV Range (Hz)
Defines the cutoff frequency of speed feedback first-order low-pass filter.
Note:
◆◆ The smaller the setpoint, the smaller the speed feedback fluctuation, and the larger the feedback delay will be.
◆◆ Setting 2008-18h to 8000 negates the filtering effect.

Setting
Pseudo derivative During
Condition Data
Name feedback and feedforward running & - Data Type Uint16
Sub- & Effective Structure
control coefficient Immediately
index Time
19h 0 to 2000
Related PP/PV/HM/ Data
Access RW Mapping - (unit: Default 1000
Mode CSP/CSV Range
0.1%)
Defines the control mode of the speed loop.
When 2008-19h is set to 200.0, PI control (default control mode of the speed loop) is applied to the speed loop,
which features fast dynamic response.
When 2008-19h is set to 0.0, speed loop integral action is enhanced, which filters low-frequency interferences but
also slows down the dynamic response.
2008-19h can be used to keep a good responsiveness of the speed loop, with anti-interference capacity in low-
frequency bands improved at the same time and the speed feedback overshoot remaining stable.

Group 2009h: Gain Auto-tuning Parameters

Setting
Condition Data
Name Gain auto-tuning parameters - ARR Data Type Uint16
Index & Effective Structure
2009h Time
Related Data OD Data OD Default
Access - Mapping Yes - Default
Mode Range Range Value

Used to set gain auto-tuning parameters.

Setting
Condition Data
Sub- Name Number of entries - - Data Type Uint8
& Effective Structure
index
Time
00h
Related Data
Access RO Mapping No - - Default 60
Mode Range

Setting
During
Condition Data
Sub- Name Gain auto-tuning mode running & - Data Type Uint16
& Effective Structure
index Immediately
Time
01h
Related Data
Access RW Mapping - All 0 to 7 Default 4
Mode Range
2009-01h is set to 4 (Normal mode+Inertia auto-tuning) by default.

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 8 Parameters

Setting
During
Stiffness level of Condition Data
Sub- Name running & - Data Type Uint16
the 1st gain set & Effective Structure
index Immediately
Time
02h
Related Data
Access RW Mapping - All 0 to 41 Default 15
Mode Range
Defines the stiffness level of the servo system. The higher the stiffness level is, the stronger the gains and the quicker
the response will be. But an excessively high stiffness level will cause vibration.
The setpoint 0 indicates the weakest stiffness and 41 indicates the strongest stiffness.

Setting
During
Condition Data
Sub- Name Adaptive notch mode running & - Data Type Uint16
& Effective Structure
index Immediately
Time
03h
Related PP/PV/HM/ Data
Access RW Mapping - 0 to 4 Default 3
Mode CSP/CSV Range
Defines the working mode of the adaptive notch.

Setting
During
Online inertia auto- Condition Data
Sub- Name running & - Data Type Uint16
tuning mode & Effective Structure
index Immediately
Time
04h
Related Data
Access RW Mapping - All 0 to 3 Default 2
Mode Range
Defines whether to enable online inertia auto-tuning and the inertia ratio update speed during online inertia auto-
tuning.

Setting
Offline inertia auto- Condition At stop & Data
Sub- Name - Data Type Uint16
tuning mode & Effective Immediately Structure
index
Time
06h
Related Data
Access RW Mapping - All 0 to 1 Default 1
Mode Range
Defines the offline inertia auto-tuning mode. The offline inertia auto-tuning function can be enabled through
200D-03h.
For details on offline inertia auto-tuning, see "6.2 Inertia Auto-tuning" .

Setting
Maximum speed in Condition At stop & Data
Name - Data Type Uint16
Sub- inertia auto-tuning & Effective Immediately Structure
index Time
07h 100 to
Related Data
Access RW Mapping - All 1000 Default 500
Mode Range
(RPM)
Defines the maximum permissible speed reference in offline inertia auto-tuning mode.
During inertia auto-tuning, the higher the motor speed is, the more accurate the auto-tuned values will be. Use the
default value of 2009-07h in general conditions.

Time constant for Setting

accelerating to the Condition At stop & Data
Name - Data Type Uint16
Sub- maximum speed during & Effective Immediately Structure
index inertia auto-tuning Time
08h
Related Data 20 to 800
Access RW Mapping - All Default 125
Mode Range (ms)

Defines the time for the motor to accelerate from 0 RPM to the value defined by 2009-07h during offline inertia auto-
tuning.

-361-
 8 Parameters

Setting
Waiting time after an Condition At stop & Data
Name - Data Type Uint16
Sub- individual inertia auto-tuning & Effective Immediately Structure
index Time
09h 50 to
Related Data
Access RW Mapping - All 10000 Default 800
Mode Range
(ms)
Defines the time interval between two consecutive speed references when 2009-06h (Offline inertia auto-tuning
mode) is set to 0 (Bidirectional).

Setting
Number of motor revolutions Condition Data
Name - - Data Type Uint16
Sub- per inertia auto-tuning & Effective Structure
index Time
0Ah 0 to 10000
Related Data
Access RO Mapping - All (unit: Default 100
Mode Range
0.01 r)
Defines the number of motor revolutions for a single inertia auto-tuning when 2009-06h (Offline inertia auto-tuning
mode) is set to 0 (Bidirectional).
Note:
◆◆ In offline inertia auto-tuning, check whether the motor movable distance at the stop position is larger than the
setpoint of 2009-0Ah. If not, decrease the setpoint of 2009-07h or 2009-08h until the motor movable distance at
the stop position is larger than the setpoint of 2009-0Ah.

Setting
During
Condition Data
Name Vibration threshold running & - Data Type Uint16
Sub- & Effective Structure
Immediately
index Time
0Ch 0 to 1000
Related PP/PV/HM/ Data
Access RW Mapping - (unit: Default 50
Mode CSP/CSV Range
0.1%)
Defines the threshold of vibration detected by the notch. When the current feedback exceeds the threshold, the
notch starts working.

Setting
During
Condition Data
Name Frequency of the 1st notch running & - Data Type Uint16
Sub- & Effective Structure
Immediately
index Time
0Dh
Related PP/PV/HM/ Data 50 to 8000
Access RW Mapping - Default 8000
Mode CSP/CSV Range (Hz)

Defines the center frequency of the notch, which is the mechanical resonance frequency.
In the torque control mode, setting 2009-0Dh to 8000 deactivates the notch function.

Setting
During
Condition Data
Sub- Name Width level of the 1st notch running & - Data Type Uint16
& Effective Structure
index Immediately
Time
0Eh
Related PP/PV/HM/ Data
Access RW Mapping - 0 to 20 Default 2
Mode CSP/CSV Range
Defines the width level of the notch. Use the default value of 2009-0Eh in general conditions.
Width level is the ratio of the notch width to the notch center frequency.

-362-
 8 Parameters

Setting
During
Condition Data
Sub- Name Depth level of the 1st notch running & - Data Type Uint16
& Effective Structure
index Immediately
Time
0Fh
Related PP/PV/HM/ Data
Access RW Mapping - 0 to 99 Default 0
Mode CSP/CSV Range
Defines the depth level of the notch.
The depth level of the notch is the ratio between the input and output at the notch center frequency.
The higher the setpoint is, the smaller the notch depth and the weaker the suppression on mechanical resonance
will be. Note that an excessively high setpoint may cause system instability.
For use of the notch, see "6.7 Vibration Suppression" .

Setting
During
Frequency of the Condition Data
Sub- Name running & - Data Type Uint16
2nd notch & Effective Structure
index Immediately
Time
10h
Related PP/PV/HM/ Data 50 to 8000
Access RW Mapping - Default 8000
Mode CSP/CSV Range (Hz)

Setting
During
Condition Data
Sub- Name Width level of the 2nd notch running & - Data Type Uint16
& Effective Structure
index Immediately
Time
11h
Related PP/PV/HM/ Data
Access RW Mapping - 0 to 20 Default 2
Mode CSP/CSV Range

Setting
During
Condition Data
Sub- Name Depth level of the 2nd notch running & - Data Type Uint16
& Effective Structure
index Immediately
Time
12h
Related PP/PV/HM/ Data
Access RW Mapping - 0 to 99 Default 0
Mode CSP/CSV Range
Descriptions of the 2nd group of notch parameters are the same as that of the 1st group of notch parameters (2009-
0Dh, 2009-0Eh, 2009-0Fh).

Setting
During
Condition Data
Sub- Name Frequency of the 3rd notch running & - Data Type Uint16
& Effective Structure
index Immediately
Time
13h
Related PP/PV/HM/ Data 50 to 8000
Access RW Mapping - Default 8000
Mode CSP/CSV Range (Hz)

Setting
During
Condition Data
Sub- Name Width level of the 3rd notch running & - Data Type Uint16
& Effective Structure
index Immediately
Time
14h
Related PP/PV/HM/ Data
Access RW Mapping - 0 to 20 Default 2
Mode CSP/CSV Range

-363-
 8 Parameters

Setting
During
Condition Data
Sub- Name Depth level of the 3rd notch running & - Data Type Uint16
& Effective Structure
index Immediately
Time
15h
Related PP/PV/HM/ Data
Access RW Mapping - 0 to 99 Default 0
Mode CSP/CSV Range
Descriptions of the 3rd group of notch parameters are the same as that of the 1st group of notch parameters (2009-
0Dh, 2009-0Eh, 2009-0Fh).
Note:
◆◆ The 3rd notch can be configured as an adaptive notch (2009-03h = 1 or 2). In this case, notch parameters are
updated automatically by the servo drive, which cannot be modified manually.
If the notch frequency is 8000 Hz, the notch function is disabled.

Setting
During
Condition Data
Name Frequency of the 4th notch running & - Data Type Uint16
Sub- & Effective Structure
Immediately
index Time
16h
Related PP/PV/HM/ Data 50 to 8000
Access RW Mapping - Default 8000
Mode CSP/CSV Range (Hz)

Setting
During
Condition Data
Sub- Name Width level of the 4th notch running & - Data Type Uint16
& Effective Structure
index Immediately
Time
17h
Related PP/PV/HM/ Data
Access RW Mapping - 0 to 20 Default 2
Mode CSP/CSV Range

Setting
During
Condition Data
Sub- Name Depth level of the 4th notch running & - Data Type Uint16
& Effective Structure
index Immediately
Time
18h
Related PP/PV/HM/ Data
Access RW Mapping - 0 to 99 Default 0
Mode CSP/CSV Range
Descriptions of the 4th group of notch parameters are the same as that of the 1st group of notch parameters (2009-
0Dh, 2009-0Eh, 2009-0Fh).
Note:
◆◆ The 4th notch can be configured as an adaptive notch (2009-03h = 1 or 2). In this case, the parameters are
updated automatically by the servo drive, which cannot be modified manually.
If the notch frequency is 8000 Hz, the notch function is disabled.

Setting
Condition Data
Sub- Name Auto-tuned resonance frequency - - Data Type Uint16
& Effective Structure
index
Time
19h
Related PP/PV/HM/ Data
Access RO Mapping - 0 to 5000 Default 0
Mode CSP/CSV Range
When 2009-03h (Adaptive notch mode) is set to 3, the present mechanical resonance frequency is displayed.

-364-
 8 Parameters

Group 200Ah: Fault and Protection Parameters

Setting
Condition Data
Name Fault and protection parameters - ARR Data Type Uint16
Index & Effective Structure
200Ah Time
Related Data OD Data OD Default
Access - Mapping Yes - Default
Mode Range Range Value
Used to set the fault and protection parameters.

Setting
Number of entries Condition Data
Sub- Name - ARR Data Type Uint8
& Effective Structure
index
Time
00h
Related Data
Access RO Mapping No - - Default 60
Mode Range

Setting
During
Power input phase Condition Data
Sub- Name running & - Data Type Uint16
loss protection & Effective Structure
index Immediately
Time
01h
Related Data
Access RW Mapping - - 0 to 1 Default 0
Mode Range
SV660N series servo drives support single-phase 220 V, three-phase 220 V, and three-phase 380 V power supplies.
When voltage fluctuation or phase loss occurs on the power supply, power input phase loss protection will be
triggered by the servo drive based on the setting of 200A-01h.
Note:
◆◆ 200A-01h = 0: The servo drive reports E420.0 (Phase loss fault) when H01-10 (Servo drive series number) is set to
60005 (850 W).
◆◆ 200A-01h = 1: E420.0 is hidden. When H01-10 is set to 60005 (850 W), derate 80% during use.
◆◆ Three-phase 220 V servo drives (S7R6, S012) need no derating in case of single-phase power input. Three-phase
380 V servo drives enter the NRD status in case of a phase loss fault. In this case, you cannot operate the servo
drive by hiding the phase loss fault.

Setting
Condition At stop & Data
Sub- Name Absolute position limit - Data Type Uint16
& Effective Immediately Structure
index
Time
02h
Related Data
Access RW Mapping - All 0 to 2 Default 0
Mode Range
Defines whether the absolute position limit is active and the condition for activation.
After the absolute position limit is enabled:
In the position control mode, when the target position reference exceeds the limit, the servo drive takes the limit as
the target and stops after reaching the limit.
In non-position control modes, when the absolute position feedback reaches the limit, the servo drive reports an
overtravel fault and stops in the mode defined by 2002-08h (Stop mode at overtravel).

Setting
During
Motor overload Condition Data
Sub- Name running & - Data Type Uint16
protection gain & Effective Structure
index Immediately
Time
05h
Related Data 50 to 300
Access RW Mapping - - Default 100
Mode Range (%)
Defines the motor overload duration before E620.0 (Motor overload) is reported.
You can change the setpoint to advance or delay the time when overload protection is triggered based on the
temperature rise condition. The setpoint 50% indicates the time is cut by half; 150% indicates the time is increased
by 50%.
Set 200A-05h based on the temperature rise condition of the motor and take caution during setting.

-365-
 8 Parameters

Setting
During
Condition Data
Name Overspeed threshold running & - Data Type Uint16
Sub- & Effective Structure
Immediately
index Time
09h
Related Data 0 to 20000
Access RW Mapping - All Default 0
Mode Range (RPM)

Defines the motor speed threshold at which the overspeed fault is detected.

Setting
During
Threshold of excessive local Condition Data
Sub- Name running & - Data Type Uint16
position following deviation & Effective Structure
index Immediately
Time
0Bh
Related Data
Access RW Mapping - All 0 to 232 - 1 Default 25185824
Mode Range
Defines the threshold for reporting EB00.0 (Position deviation too large). The function of 200A-0Bh is the same as
6065h (Following error window), both of which are active.

Setting
During
Condition Data
Sub- Name Runaway protection running & - Data Type Uint16
& Effective Structure
index Immediately
Time
0Dh
Related Data
Access RW Mapping - All 0 to 1 Default 1
Mode Range
Used to enable runaway protection.

Setting
During
Power module over- Condition Data
Sub- Name running & - Data Type Uint16
temperature threshold & Effective Structure
index Immediately
Time
13h
Related Data 120 to
Access RW Mapping - All Default 135
Mode Range 175 (℃ )
Defines the over-temperature threshold of the power module.

Setting During
Filter time constant Condition running & Data
Name - Data Type Uint16
Sub- of touch probe 1 & Effective Next Structure
index Time power-on
14h 0 to 630
Related Data
Access RW Mapping - - (unit: Default 200
Mode Range
0.01 us)

Setting During
Filter time constant Condition running & Data
Name - Data Type Uint16
Sub- of touch probe 2 & Effective Next Structure
index Time power-on
15h 0 to 630
Related Data
Access RW Mapping - - (unit: Default 200
Mode Range
0.01 us)
Touch probe 1 and touch probe 2 are high-speed DIs. When external input signals suffer from spike interference, you
can set 200A-14h or 200A-15h to filter the spike interference.
Note: The oscilloscope in the software tool displays the unfiltered signals of touch probe 1 and touch probe 2.
Signals with width lower than 0.25 ms will not be displayed.

-366-
 8 Parameters

Setting
During
Condition Data
Sub- Name STO function display running & - Data Type Uint16
& Effective Structure
index Immediately
Time
16h
Related Data
Access RW Mapping - - 0 to 1 Default 0
Mode Range
Defines whether to display the STO status or report E150.0 after the STO function is triggered.
0: Displays the STO status. The keypad displays "sto_" after the STO function is triggered. In this case, no fault is
reported and no output is generated from the fault DO.
1: Displays the STO failure. The keypad displays "E150.0" after the STO function is triggered. In this case, the servo
drive reports E150.0 and the fault DO generates output.

Setting
During
Filter time constant of speed Condition Data
Sub- Name running & - Data Type Uint16
feedback display value & Effective Structure
index Immediately
Time
1Ah
Related Data 0 to 5000
Access RW Mapping - All Default 50
Mode Range (unit: ms)
Defines the filter time constant of speed feedback signals to smooth the speed display value.
200B-01h displays the motor speed filtered by this parameter.

Setting
During
Motor overload warning/ Condition Data
Sub- Name running & - Data Type Uint16
fault selection & Effective Structure
index Immediately
Time
1Bh
Related Data
Access RW Mapping - - 0 to 1 Default 0
Mode Range
Defines whether to enable motor overload detection.
Take caution during setting as improper setting may lead damage the motor.

Setting
Speed DO filter Condition At stop & Data
Sub- Name - Data Type Uint16
time constant & Effective Immediately Structure
index
Time
1Ch
Related Data 0 to 5000
Access RW Mapping - All Default 50
Mode Range (ms)
Defines the low-pass filter time constant of speed feedback signals.
This parameter is effective only when the speed feedback signals are used to judge the speed-related DO signals.

Setting
Motor stall over- During
Condition Data
Sub- Name temperature protection running & - Data Type Uint16
& Effective Structure
index time window Immediately
Time
21h
Related Data 10 to 65535
Access RW Mapping - - Default 200
Mode Range (ms)
Defines the over-temperature duration before E630.0 (Motor stall) is detected by the servo drive.
You can adjust the sensitivity for detecting E630.0 by changing the setpoint of 200A-21h.

Setting
During
Motor stall over- Condition Data
Sub- Name running & - Data Type Uint16
temperature protection & Effective Structure
index Immediately
Time
22h
Related Data
Access RW Mapping Yes - 0 to 1 Default 1
Mode Range

Defines whether to enable the detection for E630.0.

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 8 Parameters

Setting
Absolute encoder multi-turn Condition At stop & Data
Sub- Name - Data Type Uint16
overflow fault selection & Effective Immediately Structure
index
Time
25h
Related Data
Access RW Mapping No All 0 to 1 Default 1
Mode Range

Defines whether to hide E735.0 (Encoder multi-turn counting overflow) in the absolute position linear mode.

Setting
Overtravel compensation Condition At stop & Data
Sub- Name - Data Type Uint16
selection & Effective Immediately Structure
index
Time
29h
Related Data
Access RW Mapping Yes CSP 0 to 1 Default 0
Mode Range

0: Enabled, used to solve position reference loss caused by interference in position limit signals in CSP mode.

Setting
Any
Regenerative resistor over- Condition Data
Sub- Name condition & - Data Type Uint16
temperature threshold & Effective Structure
index Immediately
Time
32h
Related Data 100 to
Access RW Mapping Yes All Default 115
Mode Range 175 (℃ )

Setting
Any
Encoder communication Condition Data
Sub- Name condition & - Data Type Uint16
fault tolerance threshold & Effective Structure
index Immediately
Time
33h
Related Data
Access RW Mapping Yes All 0 to 31 Default 3
Mode Range

Setting
Any
Phase loss detection Condition Data
Sub- Name condition & - Data Type Uint16
filter times & Effective Structure
index Immediately
Time
34h
Related Data
Access RW Mapping Yes All 3 to 36 Default 20
Mode Range

Setting
Any condition
Encoder temperature Condition Data
Sub- Name & - Data Type Uint16
protection threshold & Effective Structure
index Immediately
Time
35h
Related Data
Access RW Mapping Yes All 0 to 175 Default 0
Mode Range

0: Disable

Setting
Condition Any condition & Data
Name Runaway current threshold - Data Type Uint16
Sub- & Effective Immediately Structure
index Time
38h 1000 to
Related Data
Access RW Mapping Yes All 4000 (unit: Default 2000
Mode Range
0.1%)

-368-
 8 Parameters

Setting
Condition Any condition & Data
Name Reset delay - Data Type Uint16
Sub- & Effective Immediately Structure
index Time
39h
Related Data 0 to 60000
Access RW Mapping Yes All Default 10000
Mode Range (ms)

Faults E620.0, E630.0, E640.0, E640.1, and E650.0 can be reset only after the time defined by 200A-39h elapses.

Setting
Condition Any condition Data
Sub- Name Runaway speed threshold - Data Type Uint16
& Effective & Immediately Structure
index
Time
3Ah
Related Data 1 to 1000
Access RW Mapping Yes All Default 50
Mode Range (RPM)

Setting
Condition Any condition Data
Sub- Name Runaway speed filter time - Data Type Uint16
& Effective & Immediately Structure
index
Time
3Bh
Related Data 1 to 1000
Access RW Mapping Yes All Default 20
Mode Range (0.1 ms)

Setting
Runaway protection Condition Any condition Data
Sub- Name - Data Type Uint16
detection time & Effective & Immediately Structure
index
Time
3Ch
Related Data 10 to 1000
Access RW Mapping Yes All Default 30
Mode Range (ms)

Setting
Any
Condition Data
Sub- Name STO disconnection filter time condition & - Data Type Uint16
& Effective Structure
index Immediately
Time
4Ah
Related Data
Access RW Mapping Yes All 0 to 5 (ms) Default 5
Mode Range
Defines the filter time from the moment when STO1 and STO2 are disconnected from the 24 V power supply to the
moment when the STO status is displayed or E150.0 is reported.

Setting
Any
Condition Data
Sub- Name STO fault tolerance filter time condition & - Data Type Uint16
& Effective Structure
index Immediately
Time
4Bh
Related Data 0 to 10
Access RW Mapping Yes All Default 10
Mode Range (ms)
Defines the filter time from the moment when STO1 and STO2 are input with different voltages to the moment when
E150.1 is reported.

Setting
Any
Condition Data
Sub- Name STO servo off filter time condition & - Data Type Uint16
& Effective Structure
index Immediately
Time
4Ch
Related Data 0 to 25
Access RW Mapping Yes All Default 20
Mode Range (ms)
Defines filter time from the moment when the STO status is displayed or E150.0/E150.1 is reported to the moment
when the servo drive is off.

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 8 Parameters

Setting
Any
Condition Data
Sub- Name Overspeed threshold condition & - Data Type Uint16
& Effective Structure
index Immediately
Time
47h
Related Data
Access RW Mapping Yes All 0 to 20000 Default 0
Mode Range

Setting
Maximum time of Condition At stop & Data
Sub- Name - Data Type Uint16
ramp-to-stop & Effective Immediately Structure
index
Time
49h
Related Data 0 to 65535
Access RW Mapping Yes All Default 10000
Mode Range (ms)

Group 200Bh: Monitoring Parameters

Setting
Condition Data
Name Monitoring parameters - ARR Data Type Uint16
Index & Effective Structure
200Bh Time
Related Data OD Data OD Default
Access - Mapping Yes - Default
Mode Range Range Value

Used to set monitoring parameters.

Setting
Condition Data
Sub- Name Number of entries - ARR Data Type Uint8
& Effective Structure
index
Time
00h
Related Data
Access RO Mapping No - - Default 65
Mode Range

Setting
Condition Data
Name Motor speed actual value - - Data Type Int16
Sub- & Effective Structure
index Time
01h
Related Data -
Access RO Mapping TPDO All Default -
Mode Range (RPM)

Displays the actual motor speed after round-off, which is accurate to 1 RPM.
You can set the filter time constant for 200B-01h in 200A-1Ah (Filter time constant of speed feedback display value).

Setting
Condition Data
Name Speed reference - - Data Type Int16
Sub- & Effective Structure
index Time
02h
Related PP/PV/HM/ Data -
Access RO Mapping TPDO Default -
Mode CSP/CSV Range (RPM)

Displays the present speed reference (accurate to 1 RPM) of the servo drive in the position and speed control modes.

Setting
Condition Data
Sub- Name Internal torque reference - - Data Type Int16
& Effective Structure
index Time
03h
Related Data -
Access RO Mapping TPDO All Default -
Mode Range (%)

Displays present torque reference accurate to 0.1%. The value 100.0% corresponds to the rated torque of the motor.

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 8 Parameters

Setting
Condition Data
Sub- Name Monitored DI status - - Data Type Uint16
& Effective Structure
index
Time
04h
Related Data
Access RO Mapping TPDO - - Default -
Mode Range
Displays the electrical status of DI1 to DI5 without filtering.
Upper LED segments turned on: Not active (indicated by "1")
Lower LED segments turned on: Active (indicated by "0") In the case where DI1 input is active and DI2 to DI5 inputs
are not active, the corresponding binary value is 11110, the value of 200B-04h read using the software tool is 30, and
the corresponding display status is as follows.
DI4 DI2
DI5 DI3 DI1

High High High High Low

1 1 1 1 0

Setting
Condition Data
Sub- Name Monitored DO status - - Data Type Uint16
& Effective Structure
index
Time
06h
Related Data
Access RO Mapping TPDO - - Default -
Mode Range
Displays the electrical status of DO1 to DO3 without filtering.
Upper LED segments turned on: Not active (indicated by "1")
Lower LED segments turned on: Active (indicated by "0")
In the case where DO1 is active and DO2 to DO3 are not active, the corresponding binary value is 110, the value of
200B-06h read using the software tool is 6, and the corresponding display status is as follows.
DO 2
DO3 DO1

High High Low

1 1 0

Setting
Condition Data
Name Absolute position counter - - Data Type Int32
& Effective Structure
Sub- Time
index
-231 to
08h
Related Data +231 - 1
Access RO Mapping TPDO All Default 0
Mode Range (reference
unit)
Displays present absolute position (in reference unit) of the motor in the position control mode.
200B-08h is a 32-bit value, which is displayed as a decimal on the keypad.

Setting
Condition Data
Sub- Name Mechanical angle - - Data Type Uint16
& Effective Structure
index
Time
0Ah
Related Data 0 to 360.0
Access RO Mapping TPDO All Default -
Mode Range (unit: ° )
Displays present mechanical angle (in encoder unit) of the motor, and the value 0 indicates the mechanical angle is 0° .

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 8 Parameters

Setting
Condition Data
Sub- Name Electrical angle - - Data Type Uint16
& Effective Structure
index
Time
0Bh
Related Data 0 to 360.0
Access RO Mapping TPDO All Default -
Mode Range (unit: ° )
Displays the present electrical angle of the motor, which is accurate to 0.1° .
The electrical angle variation range is ±360.0° during rotation. If the motor has four pairs of poles, each revolution
generates four rounds of angle change from 0° to 359.9° . Similarly, if the motor has five pairs of poles, each
revolution generates five rounds of angle change from 0° to 359.9° .

Setting
Condition Data
Sub- Name Average load rate - - Data Type Int16
& Effective Structure
index
Time
0Dh
Related Data 0 to 800.0
Access RO Mapping TPDO All Default -
Mode Range (%)
Displays the percentage of the average load torque to the rated torque of the motor, which is accurate to 0.1%. The
value 100.0% corresponds to the rated torque of the motor.

Setting
Position following Condition Data
Name - - Data Type Int32
Sub- deviation (encoder unit) & Effective Structure
index Time
10h -231 to +231 - 1
Related PP/HM/ Data
Access RO Mapping TPDO (encoder Default -
Mode CSP Range
unit)
Counts and displays the position deviation value after being divided or multiplied by the electronic gear ratio in the
position control mode.
200B-10h is a 32-bit value, which is displayed as a decimal on the keypad.

Setting
Condition Data
Name Feedback pulse counter - - Data Type Int32
& Effective Structure
Sub- Time
index
-231 to
12h
Related Data +231 - 1
Access RO Mapping TPDO All Default -
Mode Range (encoder
unit)
Counts the position pulses fed back by the encoder in any control mode.
200B-12h is a 32-bit value, which is displayed as a decimal on the keypad.
Note:
◆◆ When an absolute encoder motor is used, 200B-12 displays only the low 32-bit value of the motor position
feedback. The actual motor position feedback can be obtained in 200B-4E (Absolute position (low 32 bits) of
absolute encoder) and 200B-50 (Absolute position (high 32 bits) of absolute encoder).

Setting
Condition Data
Sub- Name Total power-on time - - Data Type Uint32
& Effective Structure
index
Time
14h
Related Data
Access RO Mapping TPDO - (unit: s) Default -
Mode Range
Displays the total operating time of the servo drive.
200B-14h is a 32-bit value, which is displayed as a decimal on the keypad.
Note:
If the servo drive is switched on and off continuously within a short period of time, a deviation within 1h may be
present in the total power-on record.

-372-
 8 Parameters

Setting
Condition Data
Sub- Name RMS value of phase current - - Data Type Uint16
& Effective Structure
index
Time
19h
Related Data
Access RO Mapping TPDO - (unit: A) Default -
Mode Range
Displays the RMS value of the phase current of the servo motor, which is accurate to 0.1 A.

Setting
Condition Data
Sub- Name Bus voltage - - Data Type Uint16
& Effective Structure
index
Time
1Bh
Related Data
Access RO Mapping TPDO - (unit: V) Default -
Mode Range

Displays the DC bus voltage of the main circuit input voltage after rectification, which is accurate to 0.1 V.

Setting
Condition Data
Sub- Name Power module temperature - - Data Type Uint16
& Effective Structure
index
Time
1Ch
Related Data
Access RO Mapping TPDO - (unit: ℃ ) Default -
Mode Range
Displays the temperature of the module inside the servo drive, which can be used as a reference for the actual
temperature of the servo drive.

Setting
Condition Data
Sub- Name Fault log - - Data Type Uint16
& Effective Structure
index
Time
22h
Related Data
Access RW Mapping - - 0 to 9 Default -
Mode Range
Used to view any one of the latest 10 faults occurred on the servo drive.

Setting
Condition Data
Sub- Name Fault code of the selected fault - - Data Type Uint16
& Effective Structure
index
Time
23h
Related Data
Access RO Mapping TPDO - - Default -
Mode Range

Setting
Condition Data
Sub- Name Time stamp of the selected fault - - Data Type Int32
& Effective Structure
index
Time
24h
Related Data
Access RO Mapping TPDO - (unit: s) Default -
Mode Range

Setting
Motor speed upon occurrence Condition Data
Sub- Name - - Data Type Int16
of the selected fault & Effective Structure
index
Time
26h
Related Data (unit:
Access RO Mapping TPDO - Default -
Mode Range RPM)

-373-
 8 Parameters

Setting
Motor phase U current upon Condition Data
Sub- Name - - Data Type Int16
occurrence of the selected fault & Effective Structure
index
Time
27h
Related Data
Access RO Mapping TPDO - (unit: A) Default -
Mode Range

Setting
Motor phase V current upon Condition Data
Sub- Name - - Data Type Int16
occurrence of the selected fault & Effective Structure
index
Time
28h
Related Data
Access RO Mapping TPDO - (unit: A) Default -
Mode Range

Setting
Bus voltage upon occurrence Condition Data
Sub- Name - - Data Type Uint16
of the selected fault & Effective Structure
index
Time
29h
Related Data
Access RO Mapping TPDO - (unit: V) Default -
Mode Range

Setting
DI status upon occurrence Condition Data
Sub- Name - - Data Type Uint16
of the selected fault & Effective Structure
index
Time
2Ah
Related Data
Access RO Mapping TPDO - - Default -
Mode Range

Setting
DO status upon occurrence Condition Data
Sub- Name - - Data Type Uint16
of the selected fault & Effective Structure
index
Time
2Bh
Related Data
Access RO Mapping TPDO - - Default -
Mode Range

200B-23h to 200B-2Bh display corresponding parameter values when the fault displayed in 200B-23h occurs.

Setting
Condition Data
Sub- Name Position deviation counter - - Data Type Int32
& Effective Structure
index
Time
36h
Related PP/HM/ Data (reference
Access RO Mapping TPDO Default -
Mode CSP Range unit)
Displays the position deviation not divided or multiplied by the electronic gear ratio in the position control mode.
200B-36h is a 32-bit value, which is displayed as a decimal on the keypad.
Note: Position deviation (reference unit) refers to the value reduced by encoder position deviation. The precision
may be compromised.

Setting
Condition Data
Sub- Name Motor speed actual value - - Data Type Int32
& Effective Structure
index
Time
38h
Related Data
Access RO Mapping TPDO - (RPM) Default -
Mode Range
Displays the actual value of the motor speed, which is accurate to 0.1 RPM.
200B-38h is a 32-bit value, which is displayed as a decimal on the keypad.
You can set the filter time constant for speed feedback through 200A-1Ah (Filter time constant of speed feedback
display value).

-374-
 8 Parameters

Setting
Condition Data
Sub- Name Control circuit bus voltage - - Data Type Uint16
& Effective Structure
index
Time
3Ah
Related Data
Access RO Mapping TPDO - - Default -
Mode Range
Displays the DC bus voltage of the control circuit after rectification.

Setting
Mechanical absolute Condition Data
Name - - Data Type Int32
Sub- position (low 32 bits) & Effective Structure
index Time
3Bh -
Related Data
Access RO Mapping TPDO All (encoder Default -
Mode Range
unit)
Displays the low 32-bit value (encoder unit) of the mechanical position feedback when the absolute encoder is
used.

Setting
Mechanical absolute Condition Data
Sub- Name - - Data Type Int32
position (high 32 bits) & Effective Structure
index
Time
3Dh
Related Data (encoder
Access RO Mapping TPDO All Default -
Mode Range unit)
Displays the high 32-bit value (encoder unit) of the mechanical position feedback when the absolute encoder is
used.

Setting
Condition Data
Sub- Name Notrdy (Not ready) state - - Data Type Int32
& Effective Structure
index
Time
40h
Related Data
Access RO Mapping TPDO All 0-4 Default -
Mode Range
Display value Meaning
0 None
1 Control circuit power supply error (H0B-57)
2 Phase loss detection error
Main circuit power supply error (including short-
3
to-ground error)
4 Other servo drive faults

Setting
Condition Data
Sub- Name Encoder temperature - - Data Type Int16
& Effective Structure
index
Time
43h
Related Data -100 to
Access RO Mapping TPDO All Default -
Mode Range +200
Displays the encoder temperature value.

Setting
Condition Data
Sub- Name Load rate of regenerative resistor - - Data Type Uint16
& Effective Structure
index
Time
44h
Related Data 0 to 200.0
Access RO Mapping TPDO All Default -
Mode Range (%)
Displays the load rate of the regenerative resistor. When the load rate exceeds 100%, regenerative resistor stops
working.

-375-
 8 Parameters

Setting
Number of revolutions of Condition Data
Sub- Name - - Data Type Uint16
the absolute encoder & Effective Structure
index
Time
47h
Related Data
Access RO Mapping TPDO All - Default -
Mode Range
Displays the number of revolutions of the absolute encoder.

Setting
Single-turn position feedback Condition Data
Name - - Data Type Int32
Sub- of the absolute encoder & Effective Structure
index Time
48h -
Related Data
Access RO Mapping TPDO All (encoder Default -
Mode Range
unit)
Displays the single-turn position feedback of the encoder.

Setting
Absolute position (low 32 Condition Data
Name - - Data Type Int32
Sub- bits) of absolute encoder & Effective Structure
index Time
4Eh -
Related Data
Access RO Mapping TPDO All (encoder Default -
Mode Range
unit)
Displays the low 32-bit value of the position feedback of the absolute encoder.

Setting
Absolute position (high 32 Condition Data
Name - - Data Type Int32
Sub- bits) of absolute encoder & Effective Structure
index Time
50h -
Related Data
Access RO Mapping TPDO All (encoder Default -
Mode Range
unit)
Displays the high 32-bit value of the position feedback of the absolute encoder.

Setting
Single-turn position (low 32 Condition Data
Sub- Name - - Data Type Uint32
bits) of the rotating load & Effective Structure
index
Time
52h
Related Data (encoder
Access RO Mapping TPDO All Default -
Mode Range unit)
Displays the low 32-bit value (encoder unit) of the position feedback of the rotating load when the absolute encoder
system works in the rotation mode (2002-02h = 2).

Setting
Single-turn position (high 32 Condition Data
Name - - Data Type Uint32
Sub- bits) of the rotating load & Effective Structure
index Time
54h
Related Data -
Access RO Mapping TPDO All (encoder Default -
Mode Range
unit)
Displays the high 32-bit value (encoder unit) of the position feedback of the rotating load when the absolute
encoder system works in the rotation mode (2002-02h = 2).

-376-
 8 Parameters

Single-turn position Setting Condition Data

Name - - Data Type Uint32
Sub- of the rotating load & Effective Time Structure
index
-
56h Data
Access RO Mapping TPDO Related Mode All (reference Default -
Range
unit)
Displays the position feedback of the rotating load when the absolute encoder system works in the rotating mode
(2002-02h = 2).

Group number of the Setting Condition Data Data

Sub- Name - - Uint16
abnormal parameter & Effective Time Structure Type
index
5Bh Data 0 to
Access RO Mapping TPDO Related Mode All Default -
Range 0xFFFF
Displays the group number of the abnormal parameter when E101 occurs.

Offset of abnormal Setting Condition Data Data

Sub- Name - - Uint16
parameter within the group & Effective Time Structure Type
index
5Ch Data
Access RO Mapping TPDO Related Mode All 0–65535 Default
Range
Displays the offset of the abnormal parameter within the group when E101 occurs.

Group 200Dh: Auxiliary Function Parameters

Setting Condition Data

Name Auxiliary functions - ARR Data Type Uint16
& Effective Time Structure
Index
OD
200Dh Data OD Data
Access - Mapping - Related Mode - Default Default
Range Range
Value
Defines the auxiliary function parameters.

Setting
Condition Data
Sub- Name Number of entries - ARR Data Type Uint8
& Effective Structure
index
Time
00h
Related Data
Access RO Mapping No - - Default 21
Mode Range

Setting
Condition At stop & Data
Sub- Name Software reset - Data Type Uint16
& Effective Immediately Structure
index
Time
01h
Related Data
Access RW Mapping - - 0 to 1 Default 0
Mode Range
Defines whether to enable software reset.

Value Description Remarks

0 No operation
Programs in the servo drive are reset automatically (similar to the
1 Enable program reset operation upon power-on) after the software reset
function is enabled, without the need for a power cycle.

Software reset is available in the following cases:

◆◆ The servo is in the S-OFF state.
◆◆ A No. 1 non-resettable fault does not occur.
◆◆ No operation is performed on EEPROM. The software reset function is invalid when 200A-04h is set to 1.

-377-
 8 Parameters

Setting
Condition At stop & Data
Sub- Name Fault reset - Data Type Uint16
& Effective Immediately Structure
index
Time
02h
Related Data
Access RW Mapping - - 0 to 1 Default 0
Mode Range
Defines whether to enable fault reset.

Value Description Remarks

0 No operation -
When a No. 1 or No. 2 resettable fault occurs, you can enable the fault
reset function in the non-operational state after rectifying the fault
1 Enable cause, stopping the keypad from displaying the fault.
When a No. 3 warning occurs, you can enable the fault reset function
directly without regard to the operating state of the servo drive.

Note:
◆◆ For fault classification, see "10 Troubleshooting" .

◆◆ The fault reset function, once enabled, stops the keypad from displaying the fault only, which does not activate
modifications made on parameters.
◆◆ This function is not applicable to non-resettable faults. Take caution with this function if the fault causes are not
rectified.

Setting
During
Offline inertia auto- Condition Data
Sub- Name running & - Data Type Uint16
tuning selection & Effective Structure
index Immediately
Time
03h
Related Data
Access RW Mapping - - 0 to 1 Default 0
Mode Range
Used to enable offline inertia auto-tuning through the keypad. In the parameter display mode, after switching to
"200D-03h", you can press the SET key to enable offline inertia auto-tuning.
For details of offline inertia auto-tuning, see "6.2 Inertia Auto-tuning" .

Setting
During
Condition Data
Sub- Name Emergency stop running & - Data Type Uint16
& Effective Structure
index Immediately
Time
06h
Related Data
Access RW Mapping - - 0 to 1 Default 0
Mode Range
Emergency stop operation selection:

Value Description
0 No operation
1 Emergency stop enabled

When this function is enabled, the servo drive stops immediately as defined by 2002-05h (Stop mode at S-OFF)
regardless of the present state.

Setting
Condition Data
Sub- Name Jog function - - Data Type Uint16
& Effective Structure
index
Time
0Ch
Related Data
Access RW Mapping - - - Default -
Mode Range
Used to enable the jog function through the keypad.
You can perform operations related to the jog function through setting 200D-0Ch by the keypad. For details, see
"4.5.1 Jog" .
This function is not related to the servo control mode.

-378-
 8 Parameters

Setting
During
Condition Data
Sub- Name Forced DI/DO selection running & - Data Type Uint16
& Effective Structure
index Immediately
Time
12h
Related Data
Access RW Mapping - - 0 to 3 Default 0
Mode Range
Defines whether to enable forced DI/DO.

Setting
During
Condition Data
Sub- Name Forced DI setting running & - Data Type Uint16
& Effective Structure
index Immediately
Time
13h
Related Data
Access RW Mapping - - 0 to 0x1F Default 0x1F
Mode Range
Defines whether the DI functions set in group 2003h is active when forced DI is activated (200D-12h = 1 or 3).
The value of 200D-13h is displayed as a hexadecimal on the keypad. When it is converted to a binary value, bit(n) = 1
indicates the level logic is high level; bit(n) = 0 indicates the level logic is low level.
For instance:
The value of 200D-13h is 0x1E, which is converted to the binary value 11110, indicating that DI1 is low level and DI2
to DI5 are high level. You can also monitor the status of DI1 to DI5 through 200B-04h.
DI4 DI2
DI5 DI3 DI1

High High High High Low

1 1 1 1 0

Whether the DI function is active depends not only on 200D-13h but also on the DI logic set in group 2003h.

Setting
During
Condition Data
Sub- Name Forced DO setting running & - Data Type Uint16
& Effective Structure
index Immediately
Time
14h
Related Data
Access RW Mapping - - 0 to 7 Default 0
Mode Range
Defines whether the DI functions set in group 2004h are active when forced DI is activated (200D-12h = 2 or 3).
The value of 200D-14h is displayed as a hexadecimal on the keypad. When it is converted to a binary value, bit(n) = 1
indicates the DO function is active; bit(n) = 0 indicates the DO function is inactive.
For instance:
The value of 200D-14h is 6, which is converted to the binary value 110. Assume DO1 to DO3 in group 2004h are active
low, then 200B-06h is displayed as follows:
DO 2
DO3 DO1

High High Low

1 1 0

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 8 Parameters

Setting
Absolute encoder Condition At stop & Data
Sub- Name - Data Type Uint16
reset selection & Effective Immediately Structure
index
Time
15h
Related Data
Access RW Mapping - All 0 to 2 Default 0
Mode Range
Defines whether to reset the encoder fault or the multi-turn data of the encoder.
Note: The absolute position of the encoder changes abruptly after multi-turn data reset. In this case, perform the
mechanical homing operation.

Setpoint Description
0 No operation
1 Reset encoder fault
2 Reset encoder fault and multi-turn data

Group 200Eh: Communication Parameters

Setting
Condition Data
Name Communication parameters - ARR Data Type Uint16
& Effective Structure
Index
Time
200Eh
OD
Related Data OD Data
Access - Mapping - - Default Default
Mode Range Range
Value
Used to set communication parameters.

Setting
Number of entries Condition Data
Sub- Name - ARR Data Type Uint8
& Effective Structure
index
Time
00h
Related Data
Access RO Mapping No - - Default 97
Mode Range

Setting
During
Node address Condition Data
Sub- Name running & - Data Type Uint16
& Effective Structure
index Immediately
Time
01h
Related Data
Access RW Mapping - - 1 to 127 Default 1
Mode Range
Defines the servo drive axis address during RS232 communication.
0: Broadcast address. The host controller performs the write operation on all the servo drives through the broadcast
address. The servo drives acts accordingly after receiving the broadcast address frames without responding.
1 to 127: Each of the servo drive networked must have a unique address. Otherwise, communication error or failure
will occur.

Setting
Update parameter During
Condition Data
Sub- Name values written through running & - Data Type Uint16
& Effective Structure
index communication to EEPROM Immediately
Time
02h
Related Data
Access RW Mapping - - 0 to 3 Default 3
Mode Range

Defines whether to save parameters written through RS232 and EtherCAT (writing with SDO only) communication to
EEPROM.
Note:
◆◆ The value of 200E-02h will always be updated and saved to EEPROM.
◆◆ If the parameters modified need not be saved after power off, set 200E-02h to 0. This is to prevent EEPROM from
being damaged by frequent saving of parameters in batches, leading to E108.0 (Parameter write error).

-380-
 8 Parameters

Setting
Condition Data
Sub- Name EtherCAT slave name - - Data Type Uint16
& Effective Structure
index
Time
15h
Related Data
Access RO Mapping No - 0–65535 Default -
Mode Range

Displays the station number assigned to the slave by the master during EtherCAT communication.

Setting
Condition At stop & Data
Sub- Name EtherCAT slave alias - Data Type Uint16
& Effective Immediately Structure
index
Time
16h
Related Data
Access RW Mapping No - 0 to 65535 Default 0
Mode Range
Assigns a station number to the slave during EtherCAT communication in case of a master unable to assign the slave
station number automatically.
200E-16h = 0: The master assigns the station number automatically.
200E-16h ≠ 0: Use the set station number, with the one assigned by the master deactivated.

Setting
During
Number of SYNC interrupts Condition Data
Sub- Name running & - Data Type Uint16
allowed by EtherCAT & Effective Structure
index Immediately
Time
17h
Related Data
Access RW Mapping - - 1 to 20 Default 8
Mode Range
Defines the maximum number of master signal loss events allowed by the slave. The slave reports EE08.2 (IRQ loss)
if the value of 200E-17h.

Setting
During
Condition Data
Sub- Name SYNC loss counter running & - Data Type Uint16
& Effective Structure
index Immediately
Time
19h
Related Data
Access RW Mapping - - 0–65535 Default 0
Mode Range

Setting
Condition Display Data Data
Sub- Name Port 0 invalid frame counter - Uint16
& Effective parameter Structure Type
index
Time
1Ah
Related Data
Access RO Mapping - - 0 to 65535 Default 0
Mode Range

Indicates CRC error of Port0. If there is a counting value, it indicates the frames received by Port0 are damaged. The
cause may lie in the cable or PHY port, including 0x301 RX-ER. In normal conditions, 0x300 = 0x301, if 0x300 > 0x301,
a CRC error is present in the network.

Setting
Condition Display Data Data
Sub- Name Port 1 invalid frame counter - Uint16
& Effective parameter Structure Type
index
Time
1Bh
Access RO Mapping - Related Mode - Data Range 0 to 65535 Default 0

Indicates CRC error of Port1. If there is a counting value, it indicates the frames received by Port1 are damaged. The
cause may lie in the cable or PHY port, including 0x301 RX-ER. In normal conditions, 0x300 = 0x301, if 0x300 > 0x301,
a CRC error is present in the network.

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 8 Parameters

Setting
Port 0/1 transfer Condition Display Data Data
Sub- Name - Uint16
error counter & Effective parameter Structure Type
index
Time
1Ch
Related Data
Access RO Mapping - - 0 to 65535 Default 0
Mode Range

If the received data is wrong and ended with an extra error flag, it indicates the data is being processed by other
stations.

Setting
Process unit and Condition Display Data Data
Sub- Name - Uint16
PDI error counter & Effective parameter Structure Type
index
Time
1Dh

Access RO Mapping - Related Mode - Data Range 0 to 65535 Default 0

If data exchange error occurs between ESC and internal MCU, keep the setpoint to 0. If the counting value increases,
the internal anti-interference performance of the board is abnormal.

Setting
Condition Display Data Data
Sub- Name Port 0/1 lost counter - Uint16
& Effective parameter Structure Type
index
Time
1Eh
Data
Access RO Mapping - Related Mode - 0 to 65535 Default 0
Range

If data link loss is detected by the ESC port, the counting value of the corresponding link loss counter increases.
Such scenario may be caused by poor contact or damaged cables.

Setting
Condition At stop & Data
Sub- Name SYNC mode setting - Data Type Uint16
& Effective Immediately Structure
index
Time
20h
Related Data
Access RW Mapping - - 0 to 2 Default 1
Mode Range
Defines the synchronization mode.

Value Operation mode Description

0 Manufacturer function Manufacturer function
1 Synchronization 1 Applicable to host controllers with a jitter of 1 us in synchronization.
2 Synchronization 2 Applicable to host controllers with a jitter of 1 us in synchronization.

Note:
◆◆ In synchronization mode, the synchronization cycle must be an integer multiple of 125 us. Otherwise, the servo
drive reports EE13.0 (Synchronization cycle setting error).

-382-
 8 Parameters

Setting
Condition At stop & Data
Name SYNC error window - Data Type Uint16
Sub- & Effective Immediately Structure
index Time
21h 100 to
Related Data
Access RW Mapping - - 4000 Default 3000
Mode Range
(ns)
Defines the permissible jitter range of synchronization signals when the servo drive works in synchronization mode 1
(200E-20h = 1).
Note:
◆◆ In synchronization mode 1 (200E-20h = 1), if the jitter range of synchronization signals exceeds the value of
200E-20h after the ESM enters the OP state, the servo drive reports EE15.0 (Number of synchronization cycle errors
too large).

Setting
EtherCAT network Condition Display Data Data
Sub- Name - Uint16
state and link state & Effective parameter Structure Type
index
Time
22h
Data
Access RO Mapping - Related Mode - 0 to 65535 Default 0
Range

Shows the connection status of the servo state machine and EtherCAT network ports.

Setting
Excessive position During
Condition Data Data
Sub- Name reference increment running & - Uint16
& Effective Structure Type
index counter in CSP mode Immediately
Time
23h
Access RO Mapping - Related Mode - Data Range 0 to 65535 Default 0

Defines the counting value when the position reference increment exceeds the maximum position reference
increment threshold. When the counting value exceeds the threshold, EB01.0 or EB01.1 will be reported.

Setting During
EtherCAT enhanced Condition running & Data Data
Sub- Name - Uint16
link selection & Effective Next Structure Type
index
Time power-on
25h
Related
Access RO Mapping - - Data Range 0 to 1 Default 0
Mode

Setting During
Condition running & Data Data
Sub- Name EtherCAT XML reset selection - Uint16
& Effective Next Structure Type
index
Time power-on
26h
Related
Access RO Mapping - - Data Range 0 to 1 Default 0
Mode

-383-
 8 Parameters

Setting
During
Condition Data
Sub- Name Serial port baud rate running & - Data Type Uint16
& Effective Structure
index Immediately
Time
51h
Related Data
Access RW Mapping - - 0 to 9 Default 9
Mode Range
Defines the communication rate between the servo drive and the host controller.

Value Baud rate (bps)

0 300
1 600
2 1200
3 2400
4 4800
5 9600
6 19200
7 38400
8 57600
9 115200

The baud rate set in the servo drive must be the same as that in the host controller. Otherwise, communication will
fail.

Setting
During
Condition Data
Sub- Name Modbus data format running & - Data Type Uint16
& Effective Structure
index Immediately
Time
52h
Related Data
Access RW Mapping - - 0 to 3 Default 0
Mode Range
Defines the data check mode between the servo drive and the host controller during communication.
The data format set in the servo drive must be the same as that in the host controller. Otherwise, communication
will fail.

Setting
During
Condition Data
Sub- Name XML version running & - Data Type Uint16
& Effective Structure
index Immediately
Time
61h
Related Data
Access RW Mapping - - 0 to 655.35 Default 0
Mode Range

Group 203Fh: Manufacturer Fault Codes

Setting
Condition Data Data
Name Manufacturer fault code - VAR Uint32
Index & Effective Structure Type
203Fh Time
Related Data 0 to (232
Access RO Mapping TPDO - Default -
Mode Range - 1)
Displays the fault code of the highest level.
The value of 203Fh is a hexadecimal, in which the high 16 bits indicate the manufacturer internal fault code, and the
low 16 bits indicate the manufacturer external fault code.

-384-
 8 Parameters

8.4 Parameters Defined by the Device Profile (Group 6000h)

Setting
Condition Data
Name Error code - VAR Data Type Uint16
Index & Effective Structure
603Fh Time
Related Data
Access RO Mapping TPDO All 0 to 65535 Default -
Mode Range
When an error described in the CiA402 profile occurs on the servo drive, 603Fh is the same as that described in
CiA402. For details, see "10.2 Communication Faults and Warning Codes" .

The value of 603F is a hexadecimal.

203Fh displays the assistant byte of the error code in the form of hexadecimal. The value of 203Fh is an unsigned
32-bit integer, in which the high 16 bits are manufacturer internal error code, and the low 16 bits are manufacturer
external error code.

Setting
During
Condition Data
Name Control word running & VAR Data Type Uint16
Index & Effective Structure
Immediately
6040h Time
Related Data
Access RW Mapping RPDO All 0 to 65535 Default 0
Mode Range
Defines the control command.
Bit Name Description
0 Switch on 1: Valid; 0: Invalid
1 Enable voltage 1: Valid; 0: Invalid
2 Quick stop 0: Valid; 1: Invalid
3 Enable operation 1: Valid; 0: Invalid
4 to 6 Operation mode specific Related to the servo drive modes.
0: Invalid
0 -> 1: Fault reset is implemented for faults
7 Fault reset and warnings that can be reset.
1: Other control commands are invalid.
1->0: Invalid
8 Halt 1: Valid; 0: Invalid
9 Operation mode specific Related to the servo drive modes.
10 Reserved Not defined

11 to 15 Manufacturer-specific Defined by the manufacturer.

Note:
◆◆ All bits in the control word constitute a control command.
◆◆ The meanings of bit0...bit3 and bit7 are the same in each servo mode. The servo drive switches to the preset
status according to the CiA402 state machine switchover process only when commands are sent in sequence.
Each command corresponds to a certain status.
◆◆ bit4 to bit6 are related to each servo mode (see the control commands in different modes for details).
◆◆ bit9 is not defined.

-385-
 8 Parameters

Setting
Condition Data
Name Status word - VAR Data Type Uint16
Index & Effective Structure
6041h Time
Related Data
Access RO Mapping TPDO All 0 to xFFFF Default 0
Mode Range
Indicates the servo drive status.
15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0
ms oms ila tr rm ms w sod qs ve f oe so rtso
MSB LSB

Note：ms=manufacturer-specific；oms =operation mode specific；ila =internal limit actIve；

tr=target reached；rm=remote；w=warning；sod=switch on disabled；qs=quick stop；ve=voltage
enabled；f=fault；oe=operation enabled；so=switch on；rtso=ready to switch on

Bit Name Description

0 Ready to switch on 1: Valid; 0: Invalid
1 Switch on 1: Valid; 0: Invalid
2 Operation enabled 1: Valid; 0: Invalid
3 Fault 1: Valid; 0: Invalid
4 Voltage enabled 1: Valid; 0: Invalid
5 Quick stop 0: Valid; 1: Invalid
6 Switch on disabled 1: Valid; 0: Invalid
7 Warning 1: Valid; 0: Invalid
8 Manufacturer-specific Not defined
1: Valid, control word activated
9 Remote
0: Invalid
10 Target reached 1: Valid; 0: Invalid
11 Internal limit active 1: Valid; 0: Invalid
12 to 13 Operation mode specific Related to the servo drive modes.
14 Manufacturer-specific Not defined
15 Home found 1: Valid; 0: Invalid

Binary Value Description

xxxx xxxx x0xx 0000 Not ready to switch on
xxxx xxxx x1xx 0000 Switch on disabled
xxxx xxxx x01x 0001 Ready to switch on
xxxx xxxx x01x 0011 Switched on
xxxx xxxx x01x 0111 Operation enabled
xxxx xxxx x00x 0111 Quick stop active
xxxx xxxx x0xx 1111 Fault reaction active
xxxx xxxx x0xx 1000 Fault

Note:
◆◆ The meanings of bit0 to bit9 are the same in each mode of the servo drive. After commands in 6040h are sent in
sequence, the servo drive returns a feedback on the servo state.
◆◆ The meanings of bit12 to bit13 vary with the servo drive modes. For details, see parameters related to each
mode.
◆◆ The meanings of bit10, bit11, and bit15 are the same in each mode of the servo drive and indicate the servo drive
status after a certain control mode is implemented.

-386-
 8 Parameters

Setting
Any
Condition Data
Name Quick stop option code condition VAR Data Type Int16
Index & Effective Structure
& At stop
605Ah Time
Related Data
Access RW Mapping No All 0 to 7 Default 2
Mode Range
Defines the deceleration mode of the servo motor for stopping rotating and the servo motor status after quick stop.
When the brake function is enabled and the value of 605Ah is lower than 4, the stop mode is forcibly set to "Ramp to
stop as defined by 6085h, keeping de-energized state".

Value Stop Mode

0 Coast to stop, keeping de-energized status
1 Ramp to stop as defined by 6084h/609Ah (HM), keeping de-energized status
2 Ramp to stop as defined by 6085h, keeping de-energized status
3 Stop at emergency-stop torque, keeping de-energized status
4 N/A
5 Ramp to stop as defined by 6084h/609Ah (HM), keeping position lock status
6 Ramp to stop as defined by 6085h, keeping position lock status
7 Stop at emergency-stop torque, keeping position lock status

Setting
Any
Condition Data Data
Name Stop mode at S-OFF condition - Int16
& Effective Structure Type
605Ch & At stop
Time
Related Data
Access RW Mapping No All -4 to 1 Default 0
Mode Range
Defines the deceleration mode of the servo motor for stopping rotating and the servo motor status at S-OFF.

Setpoint Stop Mode

-4 Ramp to stop as defined by 6085h, keeping dynamic braking status
-3 Stop at zero speed, keeping dynamic braking status
-2 Ramp to stop under all modes, keeping dynamic braking status
-1 Dynamic braking stop, keeping dynamic braking status
0 Coast to stop, keeping de-energized status
1 Ramp to stop under all modes, keeping de-energized status
Set a proper stop mode according to the mechanical condition and operating requirements.
After the brake output function is enabled, the stop mode at S-OFF is forcibly set to "Ramp to stop as defined by
6085h, keeping dynamic braking status".

Setting
Any
Condition Data
Name Halt stop option code condition VAR Data Type Int16
Index & Effective Structure
& At stop
605Dh Time
Related Data
Access RW Mapping No All 1 to 3 Default 1
Mode Range
Defines the deceleration mode of the servo motor for stopping rotating and the servo motor status after halt.
PP/PV/HM mode:

Value Stop Mode

1 Ramp to stop as defined by 6084h/609Ah (HM), keeping position lock status
2 Ramp to stop as defined by 6085h, keeping position lock status
3 Stop at emergency-stop torque, keeping position lock status

PT mode:

Setpoint Stop Mode

1/2/3 Ramp to stop as defined by 6087h, keeping position lock status

-387-
 8 Parameters

Setting
Any
Condition Data Data
Name Stop mode at No. 2 fault condition VAR Int16
& Effective Structure Type
605Eh At stop
Time

Related Data
Access RW Mapping No All -5 to 3 Default 2
Mode Range
Defines the deceleration mode of the servo motor for stopping rotating and the servo motor status when a No. 2
fault occurs.

Value Stop Mode

-5 Stop at zero speed, keeping dynamic braking status
-4 Stop at the emergency-stop torque, keeping dynamic braking status
-3 Ramp to stop as defined by 6085h, keeping dynamic braking status
-2 Ramp to stop as defined by 6084h/609Ah (HM), keeping dynamic braking status
-1 Dynamic braking stop, keeping dynamic braking status
0 Coast to stop, keeping de-energized status
1 Ramp to stop as defined by 6084h/609Ah (HM), keeping de-energized status
2 Ramp to stop as defined by 6085h, keeping de-energized status
3 Stop at emergency-stop torque, keeping de-energized status

After the brake output function is enabled, the stop mode at No. 2 fault is forcibly set to "Ramp to stop as defined by
6085h, keeping dynamic braking status".

Setting
During
Condition Data
Name Modes of operation running VAR Data Type Int8
Index & Effective Structure
At stop
6060h Time
Related Data
Access RW Mapping RPDO All 0 to 10 Default 0
Mode Range
Defines the servo drive operation mode.

Value Modes of Operation

0 N/A Reserved
1 Profile position (PP) mode See "7.6 Profile Position (PP) Mode"
2 N/A Reserved
3 Profile velocity (PV) mode See "7.7 Profile Velocity (PV) Mode"
4 Profile torque (PT) mode See "7.8 Profile Torque (PT) Mode"
5 N/A Reserved
6 Homing (HM) mode See "7.9 Homing Mode (HM)"
7 Interpolated position (IP) mode Not supported
See "7.3 Cyclic Synchronous Position (CSP)
8 Cyclic synchronous position (CSP) mode
Mode"
See "7.4 Cyclic Synchronous Velocity (CSV)
9 Cyclic synchronous velocity (CSV) mode
Mode"
See "7.5 Cyclic Synchronous Torque (CST)
10 Cyclic synchronous torque (CST) mode
Mode"
If an unsupported operation mode is set through SDO, an SDO error will be returned. For details, see "SDO Abort
Transfer Code" .
If an operation mode not supported is set through PDO, this operation mode is invalid.

-388-
 8 Parameters

Setting
Condition Data
Name Modes of operation display - VAR Data Type Int8
Index & Effective Structure
6061h Time
Related Data
Access RO Mapping TPDO All 0 to 10 Default 0
Mode Range
Displays the present operation mode of the servo drive.

Value Modes of Operation

0 N/A Reserved
1 Profile position (PP) mode See "7.6 Profile Position (PP) Mode"
2 N/A Reserved
3 Profile velocity (PV) mode See "7.7 Profile Velocity (PV) Mode"
4 Profile torque (PT) mode See "7.8 Profile Torque (PT) Mode"
5 N/A Reserved
6 Homing (HM) mode See "7.9 Homing Mode (HM)"
7 Interpolated position (IP) mode Not supported
Cyclic synchronous position (CSP)
8 See "7.3 Cyclic Synchronous Position (CSP) Mode"
mode
Cyclic synchronous velocity (CSV)
9 See "7.4 Cyclic Synchronous Velocity (CSV) Mode"
mode
Cyclic synchronous torque (CST)
10 See "7.5 Cyclic Synchronous Torque (CST) Mode"
mode

Setting
Condition Data
Name Position demand value - VAR Data Type Int32
& Effective Structure
Index
Time
6062h
-
Related PP/HM/ Data
Access RO Mapping TPDO (reference Default 0
Mode CSP Range
unit)
Indicates the input position reference (in reference unit) in the S-ON state.

Setting
Condition Data
Name Position actual value - VAR Data Type Int32
& Effective Structure
Index
Time
6063h
-
Related Data
Access RO Mapping TPDO All (encoder Default 0
Mode Range
unit)
Indicates the absolute value of motor position in encoder unit.

Setting
Condition Data
Name Position actual value - VAR Data Type Int32
& Effective Structure
Index
Time
6064h
-
Related Data
Access RO Mapping TPDO All (reference Default 0
Mode Range
unit)
Indicates user absolute position feedback in real time.
Position actual value (6064h) x Gear ratio (6091h) = Position actual value* (6063h)

-389-
 8 Parameters

Setting
During
Following error Condition Data Data
Name running & VAR Uint32
window & Effective Structure Type
At stop
Index Time
6065h Motor with 20-bit
0 to (232 - 1)
Related PP/HM/ Data encoder: 3145728
Access RW Mapping RPDO (reference Default
Mode CSP Range Motor with 23-bit
unit)
encoder: 25165824
Defines the threshold of excessive position deviation (in reference unit).
If 6065h is set to a too large value, the alarm value of excessive position deviation will be treated as 2147483647
encoder units.

Setting
During
Condition Data Data
Name Following error time out running & VAR Uint16
Index & Effective Structure Type
Immediately
Time
6066h
Data 0 to 65535
Access RW Mapping RPDO Related Mode PP/HM/CSP Default 0
Range (ms)
Defines the threshold of excessive position deviation (in reference unit).
If the position deviation exceeds the threshold of excessive position deviation and such status persists after the time
defined by 6066h elapses, EB00.0 (Excessive position deviation) will occur.

Setting
During
Condition Data
Name Position window running & VAR Data Type Uint32
Index & Effective Structure
Immediately
6067h Time
Related Data
Access RW Mapping RPDO PP 0 to (232 - 1) Default 734
Mode Range
Defines the threshold for position reach.
When the position deviation is within ±6067h, and the time defined by 6068h elapses, the position is reached and
bit10 of 6041h is set to 1.
This flag bit is valid only when the S-ON signal is active in PP mode.

Setting
During
Condition Data
Name Position window time running & VAR Data Type Uint16
Index & Effective Structure
Immediately
6068h Time
Related Data 0 to 65535
Access RW Mapping RPDO PP Default 0
Mode Range (ms)
Defines the time window for position reach.

Setting
Condition Data
Name Velocity actual value - VAR Data Type Int32
& Effective Structure
Index
Time
606Ch
(unit:
Related Data
Access RO Mapping TPDO All reference Default -
Mode Range
unit/s)
Indicates the velocity actual value (in reference unit/s).

-390-
 8 Parameters

Setting
During
Condition Data
Name Velocity window running & VAR Data Type Uint16
Index & Effective Structure
At stop
606Dh Time
Related Data 0 to 65535
Access RW Mapping RPDO PV Default 10
Mode Range (RPM)
Defines the threshold for speed reach.
When the difference between 60FFh (converted into motor speed/RPM) and the motor speed actual value is within
±606Dh, and the time defined by 606Eh elapses, the speed is reached and bit10 of 6041h is set to 1.
This flag bit is meaningful only when the servo drive is enabled in PV mode.

Setting
During
Condition Data
Name Velocity window time running & VAR Data Type Uint16
Index & Effective Structure
At stop
Time
606Eh
Related Data 0 to 65535
Access RW Mapping RPDO PV/CSV Default 0
Mode Range (ms)
Defines the time window for speed reach.
When the difference between 60FFh (converted into motor speed/RPM) and the motor speed actual value is within
±606Dh, and the time defined by 606Eh elapses, the speed is reached and bit10 of 6041h is set to 1.
This flag bit is meaningful only when the servo drive is enabled in PV mode.

Setting
During
Condition Data Data
Name Velocity threshold running & VAR Uint16
Index & Effective Structure Type
Immediately
Time
606Fh
Related Data 0 to 65535
Access RW Mapping RPDO PV Default 10
Mode Range (RPM)
Defines the threshold for zero speed.
When the speed feedback is within ±606F and the time defined by 6070 elapses, it indicates the motor speed is 0,
and bit12 of 6041 is set to 1.
This flag bit is valid only in PV mode.

Setting
During
Condition Data Data
Name Velocity threshold time running & VAR Uint16
Index & Effective Structure Type
Immediately
6070h Time

Related Data 0 to 65535

Access RW Mapping RPDO PV Default 0
Mode Range (ms)
Defines the time window for zero speed.
When the speed feedback is within ±606F and the time defined by 6070 elapses, it indicates the motor speed is 0,
and bit12 of 6041 is set to 1.
This flag bit is valid only in PV mode.

Setting
During
Condition Data
Name Target torque running & VAR Data Type Int16
& Effective Structure
At stop
Index Time
6071h -3000 to
Related Data +3000
Access RW Mapping RPDO PT/CST Default 0
Mode Range (unit:
0.1%)
Defines the target torque of the servo drive in PT mode and CST mode.
The value 100.0% corresponds to the rated torque of the motor.

-391-
 8 Parameters

Setting
During
Condition Data
Name Max. torque running & VAR Data Type Uint16
& Effective Structure
Index At stop
Time
6072h
0 to 3000
Related Data
Access RW Mapping RPDO All (unit: Default 3000
Mode Range
0.1%)
Defines the maximum torque limit of the servo drive in forward/reverse direction.

Setting
Condition Data
Name Torque demand value - VAR Data Type Int16
Index & Effective Structure
6074h Time
Related Data (unit:
Access RO Mapping TPDO All Default -
Mode Range 0.1%)
Shows the torque reference output value during servo drive running.
The value 100.0% corresponds to the rated torque of the motor.

Setting
Condition Data
Name Torque actual value - VAR Data Type Int16
Index & Effective Structure
6077h Time
Related Data (unit:
Access RO Mapping TPDO All Default -
Mode Range 0.1%)
Indicates the internal torque feedback of the servo drive. The value 100.0% corresponds to the rated torque of the
motor.

Setting
During
Condition Data
Name Target position running & VAR Data Type Int32
& Effective Structure
At stop
Index Time
607Ah -231 to
Related Data +(231 - 1)
Access RW Mapping RPDO PP CSP Default 0
Mode Range (reference
unit)
Defines the target position in PP mode and CSP mode.
In CSP mode, 607Ah indicates the absolute target position. In PP mode, 607Ah indicates either the incremental
position or absolute position as defined by the control word.

Setting
During
Condition Data
Name Home offset running & VAR Data Type Int32
& Effective Structure
At stop
Index Time
607Ch -231 to
Related Data +(231 - 1)
Access RW Mapping RPDO HM Default 0
Mode Range (reference
unit)
Defines the physical distance between mechanical zero and the motor home in the homing mode.
The home offset takes effect in the following conditions: The device is powered on, the homing operation is done,
and bit15 of 6041h is set to 1.
The home offset has the following effect:
◆◆ Determines the present position after homing based on 60E6h.
◆◆ If 607Ch is outside the value of 607Dh (Software position limit), EE09.1 (Home setting error) will occur.

-392-
 8 Parameters

Setting
Condition Data
Name Software position limit - VAR Data Type Int32
& Effective Structure
Index
Time
607Dh
OD
Related Data OD Data
Access - Mapping Yes All Default Default
Mode Range Range
Value
Defines the minimum and maximum software position limits.
◆◆ Minimum software position limit = (607D-1h)
◆◆ Maximum software position limit = (607D-2h)
The software position limit is used to judge the absolute position. When the homing operation is not performed, the
software position limit is invalid.
The condition for activating the software position limit is set in the object dictionary 0x200A-02h.
0: No software position limit
1: Software position limit enabled
2: Software position limit enabled after homing The software position limit takes effect on the condition that the
homing operation is done upon power-on and bit15 of status word 6041h is set to 1.
If the minimum software position limit is larger than the maximum software position limit, EE09.0 (Software
position limit setting error) will occur.
When the position reference or position feedback reaches the internal software position limit, the servo drive
takes the position limit as the target position in the position control mode, stops reaching the limit, and reports an
overtravel fault. If a reverse displacement command is input, the motor exits from the overtravel state and this bit is
cleared.
When both the external DI limit switch and internal software position limit are activated, the overtravel status is
determined by the external DI limit switch.

Setting
Number of sub-indexes for Condition Data
Sub- Name - - Data Type Uint8
software absolute position limit & Effective Structure
index
Time
0h
Related Data
Access RO Mapping No - - Default 2
Mode Range

Setting
During
Condition Data
Name Maximum position limit running & - Data Type Int32
& Effective Structure
Sub- At stop
Time
index
-231 to
2h
Related Data +(231 - 1)
Access RW Mapping RPDO All Default 231 - 1
Mode Range (reference
unit)
Defines the maximum software position limit relative to the mechanical zero.
Maximum software position limit = (607D-2h)

-393-
 8 Parameters

Setting
During
Polarity Condition Data
Name running & VAR Data Type Uint8
Index & Effective Structure
At stop
607Eh Time
Related Data
Access RW Mapping RPDO All 0 to 255 Default 00
Mode Range
Defines the polarity of position, speed, and torque references.

Bit Description
0 to 4 Not defined
Torque reference polarity:
0: Multiply by 1
1: Multiply by -1
5
PT: Inverting the target torque (6071h)
CSP/CSV: Inverting the torque offset (60B2h)
CST: Inverting the torque reference (6071h + 60B2h)
Speed reference polarity
0: Multiply by 1
1: Multiply by -1
6
PT: Inverting the target torque (6071h)
CSP: Inverting the velocity offset (60B1h)
CSV: Inverting the speed reference (60FFh + 60B1h)
Position reference polarity
0: Multiply by 1
7 1: Multiply by -1
PP: Inverting the target position (607Ah)
CSP: Inverting the position reference (607Ah + 60B0h)

Setting
During
Condition Data
Name Maximum profile velocity running & VAR Data Type Uint32
& Effective Structure
Index At stop
Time
607Fh
0 to (232 - 1)
Related PP/PV/PT/ Data
Access RW Mapping RPDO (reference Default 104857600
Mode HM/CST Range
unit/s)
Defines the speed limit in PP, PV, PT, CST, and HM modes.

Setting
During
Condition Data
Name Profile velocity running & VAR Data Type Uint32
& Effective Structure
At stop
Index Time
6081h 0 to (232
Related Data - 1)
Access RW Mapping RPDO PP Default 174762
Mode Range (reference
unit/s)

Defines the constant operating speed of the target position in PP mode.

-394-
 8 Parameters

Setting
During
Condition Data
Name Profile acceleration running & VAR Data Type Uint32
& Effective Structure
Index At stop
Time
6083h
0 to (232 - 1)
Related Data
Access RW Mapping RPDO PP/PV (reference Default 174762666
Mode Range
unit/s2)
Defines the acceleration rate in the PP mode and PV mode.
In PP mode, if the value of 6083h exceeds that of 60C5h, the value of 60C5h will be used.
For 6083h, the setpoint 0 will be forcibly changed to 1.

Setting
During
Condition Data
Name Profile deceleration running & VAR Data Type Uint32
& Effective Structure
Index At stop
Time
6084h
0 to (232 - 1)
Related PP/PV Data
Access RW Mapping RPDO (reference Default 174762666
Mode CSP/CSV Range
unit/s2)
Defines the deceleration rate in PP mode and PV mode.
In PP mode, if the value of 6084h exceeds that of 60C6h, the value of 60C6h will be used.
For 6084h, the setpoint 0 will be forcibly changed to 1.

Setting
During
Condition Data
Name Quick stop deceleration running & VAR Data Type Uint32
& Effective Structure
Index At stop
Time
6085h
0 to (232 - 1)
Related PP/PV/HM/ Data
Access RW Mapping Yes (reference Default 2147483647
Mode CSP/CSV Range
unit/s2)
Defines the deceleration rate of ramp-to-stop when the quick stop command is active in the PP, CSV, PV, and HM
modes, with 605Ah (Quick stop option code) set to 2 or 6.
Defines the deceleration rate of ramp-to-stop when the quick stop command is active in the PP, CSV, PV, and HM
modes, with 605Dh (Quick stop option code) set to 2.
For 6085h, the setpoint 0 will be forcibly changed to 1.

Setting
During
Condition Data
Name Torque slope running & VAR Data Type Uint32
& Effective Structure
Index At stop
Time
6087h
0 to (232 - 1)
Related Data
Access RW Mapping RPDO PT/CST (unit: Default 232 - 1
Mode Range
0.1%/s)
Defines the acceleration rate (torque increment per second) of the torque reference in PT mode.
In PT and CST modes, if 605A (Quick stop option code) is set to 1, 2, 5, or 6 or 605D (Stop option code) is set to 1 or 2,
the servo drive decelerates to stop as defined by 6087h.
If the value of 6087h exceeds the torque reference limit, the limit value will be used.
For 6087h, the setpoint 0 will be forcibly changed to 1.

-395-
 8 Parameters

Setting
Condition Data
Name Gear ratio - ARR Data Type Uint32
& Effective Structure
Index
Time
6091h
OD
Related PP/PV/HM/ Data OD Data
Access - Mapping Yes Default Default
Mode CSP/CSV Range Range
Value

Defines the proportional relation between the load shaft displacement designated by the user and the motor shaft
displacement.
The electronic gear ratio must be within the following range:
0.001 x Encoder resolution/10000, 4000 x Encoder resolution/10000
If this range is exceeded, EE09.2 (Gear ratio beyond the limit) will occur.
The relation between the motor position feedback (in encoder unit) and the load shaft position feedback (in
reference unit) is as follows.
Motor position feedback = Load shaft position feedback x Gear ratio
The relation between the motor speed (RPM) and the load shaft speed (reference unit/s) is as follows.
Load shaft speed x Gear ratio (6091h)
Motor speed (RPM) = x 60
Encoder resolution
The relation between motor acceleration (RPM/ms) and the load shaft speed (reference unit/s2) is as follows.
Load shaft speed x Gear ratio (6091h) 1000
Motor acceleration = x
Encoder resolution 60

Setting
Condition Data
Sub- Name Number of gear ratio sub-indexes - - Data Type Uint8
& Effective Structure
index
Time
0h
Related Data
Access RO Mapping No - - Default 2
Mode Range

Setting
During
Condition Data
Sub- Name Motor revolutions running & - Data Type Uint32
& Effective Structure
index Immediately
Time
1h
Related Data
Access RW Mapping RPDO - 1 to (232 - 1) Default 1
Mode Range

Defines the resolution of the motor.

Setting
During
Shaft resolutions Condition Data
Sub- Name running & - Data Type Uint32
Shaft revolutions & Effective Structure
index Immediately
Time
2h
Related Data
Access RW Mapping RPDO - 1 to (232 - 1) Default 1
Mode Range
Defines the resolution of the load shaft.
The gear ratio is within the following range: 0.001 x Encoder resolution/10000 to 4000 x Encoder resolution/10000.
If this range is exceeded, EE09.2 (Gear ratio beyond the limit) will occur.

-396-
 8 Parameters

Setting
During
Condition Data
Name Homing method running & VAR Data Type Int8
Index & Effective Structure
At stop
6098h Time
Related Data
Access RW Mapping RPDO HM -2 to +35 Default 0
Mode Range
Defines the homing method.

Value Description
-2 Forward homing, positive mechanical limit as the deceleration point, and motor Z signal as the home
-1 Reverse homing, negative mechanical limit as the deceleration point, and motor Z signal as the home
Reverse homing, negative limit switch as the deceleration point, and motor Z signal as the home. The
1
falling edge of the N-OT signal must be reached before Z signal.
Forward homing, positive limit switch as the deceleration point, and motor Z signal as the home. The
2
falling edge of the P-OT signal must be reached before Z signal.
Forward homing, home switch as the deceleration point, and motor Z signal as the home. The falling
3
edge on the same side of the home switch must be reached before Z signal.
Reverse homing, home switch as the deceleration point, and motor Z signal as the home. The rising
4
edge on the same side of the home switch must be reached before Z signal.
Reverse homing, home switch as the deceleration point, and motor Z signal as the home. The falling
5
edge on the same side of the home switch must be reached before Z signal.
Forward homing, home switch as the deceleration point, and motor Z signal as the home. The rising
6
edge on the same side of the home switch must be reached before Z signal.
Forward homing, home switch as the deceleration point, and motor Z signal as the home. The falling
7
edge on the same side of the home switch must be reached before Z signal.
Forward homing, home switch as the deceleration point, and motor Z signal as the home. The rising
8
edge on the same side of the home switch must be reached before Z signal.
Forward homing, home switch as the deceleration point, and motor Z signal as the home. The rising
9
edge on the other side of the home switch must be reached before Z signal.
Forward homing, home switch as the deceleration point, and motor Z signal as the home. The falling
10
edge on the other side of the home switch must be reached before Z signal.
Reverse homing, home switch as the deceleration point, and motor Z signal as the home. The falling
11
edge on the same side of the home switch must be reached before Z signal.
Reverse homing, home switch as the deceleration point, and motor Z signal as the home. The rising
12
edge on the same side of the home switch must be reached before Z signal.
Reverse homing, home switch as the deceleration point, and motor Z signal on the other side of the
13 home switch as the home. The rising edge on the other side of the home switch must be reached before
Z signal.
Reverse homing, home switch as the deceleration point, and motor Z signal on the other side of the
14 home switch as the home. The falling edge on the other side of the home switch must be reached
before Z signal.
15 to 16 N/A
17 to 32 Similar to 1 to 14, except that the deceleration point coincides with the home.
33 Reverse homing, motor Z signal as the home
34 Forward homing, motor Z signal as the home
35 Current position as the home

Setting
Condition Data
Name Homing speeds - ARR Data Type Uint32
Index & Effective Structure
6099h Time
Related Data OD Data OD Default
Access - Mapping Yes HM Default
Mode Range Range Value
Defines the two speed values used in the homing mode.
1. Speed during search for switch
2. Speed during search for zero

-397-
 8 Parameters

Setting
Number of homing Condition Data
Sub- Name - - Data Type Uint8
speed sub-indexes & Effective Structure
index
Time
0h
Related Data
Access RO Mapping No - 2 Default 2
Mode Range

Setting
During
Condition Data
Name Speed during search for switch running & - Data Type Uint32
Sub- & Effective Structure
At stop
index Time
1h 0 to (232 - 1)
Related Data
Access RW Mapping RPDO HM (reference Default 1747627
Mode Range
unit/s)
Defines the speed during search for the deceleration point signal. A large setpoint helps prevent E601.0 (Homing
timeout)
Note:
◆◆ After finding the deceleration point, the slave decelerates and blocks the change of the home signal during
deceleration. To prevent the slave from encountering the home signal during deceleration, set the switch
position of the deceleration point signal properly to leave sufficient deceleration distance or increase the homing
acceleration rate to shorten the deceleration time.

Setting
During
Condition Data
Name Speed during search for zero running & - Data Type Int32
Sub- & Effective Structure
At stop
index Time
2h 10 to (232 - 1)
Related Data
Access RW Mapping RPDO HM (reference Default 100
Mode Range
unit/s)
This sub-index defines the speed during search for the home signal. Set this sub-index to a small value to prevent
overshoot during stop at a high speed. This is to avoid large deviation between the stop position and the preset
mechanical home.

Setting
During
Condition Data
Name Homing acceleration running & VAR Data Type Uint32
& Effective Structure
Index At stop
Time
609Ah
0 to (232 - 1)
Related Data
Access RW Mapping RPDO HM (reference Default 100
Mode Range
unit/s2)
Defines the acceleration rate in the homing mode.
The setpoint takes effect after the homing operation is started.
In the homing mode, if 605Dh (Stop option code) is set to 2, the servo drive decelerates to stop as defined by 609Ah.
This object dictionary indicates the position reference (in reference unit) increment per second.
For 609Ah, the setpoint 0 will be forcibly changed to 1.

Setting
During
Condition Data
Name Position offset running & VAR Data Type Int32
& Effective Structure
At stop
Index Time
60B0h -231 to
Related Data +(231 - 1)
Access RW Mapping RPDO CSP Default 0
Mode Range (reference
unit)
Defines the position reference offset in CSP mode. The target position of the servo drive is the sum of 607Ah and
60B0h.

-398-
 8 Parameters

Setting
During
Condition Data
Name Velocity offset running & VAR Data Type Int32
& Effective Structure
At stop
Index Time
60B1h -231 to
Related Data +(231 - 1)
Access RW Mapping RPDO CSP/CSV Default 0
Mode Range (reference
unit)
Defines the external speed feedforward signal of EtherCAT in CSP mode (activated when 2005-14h is set to 2). 60B1h
can be used to reduce the position deviation during positioning. After positioning is done, set the velocity offset to 0.
Failure to comply will lead to deviation between the target position and the position feedback.
You can also set the speed reference offset in the CSV mode through 60B1h.

Setting
During
Condition Data
Name Torque offset running & VAR Data Type Int16
& Effective Structure
At stop
Index Time
60B2h -3000 to
Related CSP/CSV/ Data +3000
Access RW Mapping RPDO Default 0
Mode CST Range (unit:
0.1%)
Defines the external torque feedforward signal of EtherCAT in CSP and CSV modes (activated when 2006-0Ch is set
to 2).
Defines the torque reference offset in CST mode. The target torque is the sum of 6071h and 60B2h.

-399-
 8 Parameters

Setting
During
Condition Data
Name Touch probe function running & VAR Data Type Uint16
Index & Effective Structure
At stop
60B8h Time
Related Data
Access RW Mapping RPDO - 0 to 65535 Default 0
Mode Range
Defines the functions of touch probe 1 and touch probe 2.
The definition of each bit of 60B8h is shown in the following table.
For absolute encoders, Z signal refers to zero position of each revolution.

Bit Description Remarks

Touch probe 1 function selection:
0 0: Switch off touch probe 1
1: Enable touch probe 1
Touch probe 1 trigger mode
0: Single trigger mode (Latches the position at the
1 Bit0 to Bit5: settings related to the touch
first trigger event.)
probe 1
1: Continuous trigger mode
When a DI is used to trigger the touch
Touch probe 1 trigger signal selection
probe function, the DI source is non-
2 0: DI signal modifiable once the touch probe function
1: Z signal is enabled.
3 N/A For an absolute encoder, Z signal refers to
the zero point of the single-turn position
Touch probe 1 positive edge
feedback.
4 0: Switch off latching at positive edge
1: Enable latching at positive edge
Touch probe 1 negative edge
5 0: Switch off latching at negative edge
1: Enable latching at negative edge
6 to 7 N/A
Touch probe 2 function selection
8 0: Switch off touch probe 2
1: Enable touch probe 2
Touch probe 2 trigger mode
0: Single trigger mode (Latches the position at the
9
first trigger event.)
1: Continuous trigger mode
Touch probe 2 trigger signal selection
Bit8 to Bit13: settings related to the touch
10 0: DI signal
probe 2
1: Z signal
11 N/A
Touch probe 2 positive edge
12 0: Switch off latching at positive edge
1: Enable latching at positive edge
Touch probe 2 negative edge
13 0: Switch off latching at negative edge
1: Enable latching at negative edge
14 to 15 N/A

-400-
 8 Parameters

Setting
Condition Data
Name Touch probe status - VAR Data Type Uint16
Index & Effective Structure
60B9h Time
Related Data
Access RO Mapping TPDO - - Default -
Mode Range
Indicates the status of touch probe 1 and touch probe 2.

Bit Description
Touch probe 1 function selection
0 0: Switch off touch probe 1
1: Enable touch probe 1
Touch probe 1 positive edge value
1 0: No positive edge value latched
Bit0 to Bit7: status of touch probe 1
1: Positive edge value latched
Touch probe 1 negative edge value
2 0: No negative edge value latched
1: Negative edge value latched
3 to 7 N/A
Touch probe 2 function selection
8 0: Switch off Touch probe 2
1: Enable touch probe 2
Touch probe 2 positive edge value
9 0: No positive edge value latched
Bit8 to Bit15: status of touch probe 2
1: Positive edge value latched
Touch probe 2 negative edge value
10 0: No negative edge value latched
1: Negative edge value latched
11 to 15

Setting
Condition Data
Name Touch probe 1 positive edge - VAR Data Type Int32
& Effective Structure
Index
Time
60BAh
-
Related Data
Access RO Mapping TPDO - (reference Default -
Mode Range
unit)

Indicates the position value of the touch probe 1 at positive edge (reference unit).

Setting
Condition Data
Name Touch probe 1 negative edge - VAR Data Type Int32
& Effective Structure
Index
Time
60BBh
-
Related Data
Access RO Mapping TPDO - (reference Default -
Mode Range
unit)

Indicates the position value of the touch probe 1 at negative edge (reference unit).

-401-
 8 Parameters

Setting
Condition Data
Name Touch probe 2 positive edge - VAR Data Type Int32
& Effective Structure
Index
Time
60BCh
-
Related Data
Access RO Mapping TPDO - (reference Default -
Mode Range
unit)
Indicates the position value of the touch probe 2 at positive edge (reference unit).

Setting
Condition Data
Name Touch probe 2 negative edge - VAR Data Type Int32
& Effective Structure
Index
Time
60BDh
-
Related Data
Access RO Mapping TPDO - (reference Default -
Mode Range
unit)

Indicates the position value of the touch probe 2 at negative edge (reference unit).

Setting
During
Condition Data
Name Positive torque limit value running & VAR Data Type Uint16
& Effective Structure
Index At stop
Time
60E0h
0 to 3000
Related Data
Access RW Mapping RPDO All (unit: Default 3000
Mode Range
0.1%)

Defines the maximum torque limit of the servo drive in the forward direction.

Setting
During
Condition Data
Name Negative torque limit value running & VAR Data Type Uint16
& Effective Structure
Index At stop
Time
60E1h
0 to 3000
Related Data
Access RW Mapping RPDO All (unit: Default 3000
Mode Range
0.1%)
Defines the maximum torque limit of the servo drive in the reverse direction.

Setting
Condition Data
Name Supported homing methods - ARR Data Type Uint16
& Effective Structure
Index
Time
60E3h
OD
Related Data OD Data
Access RO Mapping No HM Default Default
Mode Range Range
Value

Indicates the supported homing methods.

Setting
Number of homing Condition Data
Sub- Name - - Data Type Uint8
mode sub-indexes & Effective Structure
index
Time
00h
Related Data
Access RO Mapping No - - Default 31
Mode Range

-402-
 8 Parameters

Setting
Condition Data
Sub- Name Supported homing method 1 - - Data Type Uint16
& Effective Structure
index
Time
01h
Related Data
Access RO Mapping No - - Default 0301h
Mode Range

The low 8 bits indicate the supported homing method. Set 6098h
bit0 to bit7
to the corresponding value.
Relative homing supported or not:
bit8 No
Yes
Absolute homing supported or not:
bit9 No
Yes
bit10 to bit15 N/A

Defines whether to use relative homing or absolute homing.

Setting
Condition Data
Sub- Name Supported homing method 2 - - Data Type Uint16
& Effective Structure
index
Time
02h
Related Data
Access RO Mapping No - - Default 0302h
Mode Range
The low 8 bits indicate the supported homing method.

Setting
Condition Data
Sub- Name Supported homing method 3 - - Data Type Uint16
& Effective Structure
index
Time
03h
Related Data
Access RO Mapping No - - Default 0303h
Mode Range
The low 8 bits indicate the supported homing method.

Setting
Condition Data
Sub- Name Supported homing method 4 - - Data Type Uint16
& Effective Structure
index
Time
04h
Related Data
Access RO Mapping No - - Default 0304h
Mode Range
The low 8 bits indicate the supported homing method.

Setting
Condition Data
Sub- Name Supported homing method 5 - - Data Type Uint16
& Effective Structure
index
Time
05h
Related Data
Access RO Mapping No - - Default 0305h
Mode Range
The low 8 bits indicate the supported homing method.

Setting
Condition Data
Sub- Name Supported homing method 6 - - Data Type Uint16
& Effective Structure
index
Time
06h
Related Data
Access RO Mapping No - - Default 0306h
Mode Range
The low 8 bits indicate the supported homing method.

-403-
 8 Parameters

Setting
Condition Data
Sub- Name Supported homing method 7 - - Data Type Uint16
& Effective Structure
index
Time
07h
Related Data
Access RO Mapping No - - Default 0307h
Mode Range
The low 8 bits indicate the supported homing method.

Setting
Condition Data
Sub- Name Supported homing method 8 - - Data Type Uint16
& Effective Structure
index
Time
08h
Related Data
Access RO Mapping No - - Default 0308h
Mode Range
The low 8 bits indicate the supported homing method.

Setting
Condition Data
Sub- Name Supported homing method 9 - - Data Type Uint16
& Effective Structure
index
Time
09h
Related Data
Access RO Mapping No - - Default 0309h
Mode Range
The low 8 bits indicate the supported homing method.

Setting
Condition Data
Sub- Name Supported homing method 10 - - Data Type Uint16
& Effective Structure
index
Time
0Ah
Related Data
Access RO Mapping No - - Default 030Ah
Mode Range
The low 8 bits indicate the supported homing method.

Setting
Condition Data
Sub- Name Supported homing method 11 - - Data Type Uint16
& Effective Structure
index
Time
0Bh
Related Data
Access RO Mapping No - - Default 030Bh
Mode Range
The low 8 bits indicate the supported homing method.

Setting
Condition Data
Sub- Name Supported homing method 12 - - Data Type Uint16
& Effective Structure
index
Time
0Ch
Related Data
Access RO Mapping No - - Default 030Ch
Mode Range
The low 8 bits indicate the supported homing method.

Setting
Condition Data
Sub- Name Supported homing method 13 - - Data Type Uint16
& Effective Structure
index
Time
0Dh
Related Data
Access RO Mapping No - - Default 030Dh
Mode Range
The low 8 bits indicate the supported homing method.

-404-
 8 Parameters

Setting
Condition Data
Sub- Name Supported homing method 14 - - Data Type Uint16
& Effective Structure
index
Time
0Eh
Related Data
Access RO Mapping No - - Default 030Eh
Mode Range
The low 8 bits indicate the supported homing method.

Setting
Condition Data
Sub- Name Supported homing method 15 - - Data Type Uint16
& Effective Structure
index
Time
0Fh
Related Data
Access RO Mapping No - - Default 030Fh
Mode Range
The low 8 bits indicate the supported homing method.

Setting
Condition Data
Sub- Name Supported homing method 16 - - Data Type Uint16
& Effective Structure
index
Time
10h
Related Data
Access RO Mapping No - - Default 0310h
Mode Range
The low 8 bits indicate the supported homing method.

Setting
Condition Data
Sub- Name Supported homing method 17 - - Data Type Uint16
& Effective Structure
index
Time
11h
Related Data
Access RO Mapping No - - Default 0311h
Mode Range
The low 8 bits indicate the supported homing method.

Setting
Condition Data
Sub- Name Supported homing method 18 - - Data Type Uint16
& Effective Structure
index
Time
12h
Related Data
Access RO Mapping No - - Default 0312h
Mode Range
The low 8 bits indicate the supported homing method.

Setting
Condition Data
Sub- Name Supported homing method 19 - - Data Type Uint16
& Effective Structure
index
Time
13h
Related Data
Access RO Mapping No - - Default 0313h
Mode Range
The low 8 bits indicate the supported homing method.

Setting
Condition Data
Sub- Name Supported homing method 20 - - Data Type Uint16
& Effective Structure
index
Time
14h
Related Data
Access RO Mapping No - - Default 0314h
Mode Range
The low 8 bits indicate the supported homing method.

-405-
 8 Parameters

Setting
Condition Data
Sub- Name Supported homing method 21 - - Data Type Uint16
& Effective Structure
index
Time
15h
Related Data
Access RO Mapping No - - Default 0315h
Mode Range
The low 8 bits indicate the supported homing method.

Setting
Condition Data
Sub- Name Supported homing method 22 - - Data Type Uint16
& Effective Structure
index
Time
16h
Related Data
Access RO Mapping No - - Default 0316h
Mode Range
The low 8 bits indicate the supported homing method.

Setting
Condition Data
Sub- Name Supported homing method 23 - - Data Type Uint16
& Effective Structure
index
Time
17h
Related Data
Access RO Mapping No - - Default 0317h
Mode Range
The low 8 bits indicate the supported homing method.

Setting
Condition Data
Sub- Name Supported homing method 24 - - Data Type Uint16
& Effective Structure
index
Time
18h
Related Data
Access RO Mapping No - - Default 0318h
Mode Range
The low 8 bits indicate the supported homing method.

Setting
Condition Data
Sub- Name Supported homing method 25 - - Data Type Uint16
& Effective Structure
index
Time
19h
Related Data
Access RO Mapping No - - Default 0319h
Mode Range
The low 8 bits indicate the supported homing method.

Setting
Condition Data
Sub- Name Supported homing method 26 - - Data Type Uint16
& Effective Structure
index
Time
1Ah
Related Data
Access RO Mapping No - - Default 031Ah
Mode Range
The low 8 bits indicate the supported homing method.

Setting
Condition Data
Sub- Name Supported homing method 27 - - Data Type Uint16
& Effective Structure
index
Time
1Bh
Related Data
Access RO Mapping No - - Default 031Bh
Mode Range
The low 8 bits indicate the supported homing method.

-406-
 8 Parameters

Setting
Condition Data
Sub- Name Supported homing method 28 - - Data Type Uint16
& Effective Structure
index
Time
1Ch
Related Data
Access RO Mapping No - - Default 031Ch
Mode Range
The low 8 bits indicate the supported homing method.

Setting
Condition Data
Sub- Name Supported homing method 29 - - Data Type Uint16
& Effective Structure
index
Time
1Dh
Related Data
Access RO Mapping No - - Default 031Dh
Mode Range
The low 8 bits indicate the supported homing method.

Setting
Supported homing method 30 Condition Data
Sub- Name - - Data Type Uint16
& Effective Structure
index
Time
1Eh
Related Data
Access RO Mapping No - - Default 031Eh
Mode Range
The low 8 bits indicate the supported homing method.

Setting
Condition Data
Sub- Name Supported homing method 31 - - Data Type Uint16
& Effective Structure
index
Time
1Fh
Related Data
Access RO Mapping No - - Default 031Fh
Mode Range
The low 8 bits indicate the supported homing method.

Setting
During
Actual position Condition Data
Name running & VAR Data Type Uint8
Index calculation method & Effective Structure
At stop
60E6h Time
Related Data
Access RW Mapping No HM 0 to 1 Default 0
Mode Range
Defines the mode for processing the position offset after homing is done.

Setpoint Actual position calculation mode

Absolute homing
0 After homing is done, the following formula applies:
6064h (Position actual value) = 607Ch (Home offset)
Relative homing
After homing is done, the following formula applies:
1
6064h (Position actual value) = Present position feedback value + 607Ch
(Home offset)

After homing is triggered, any change on this object will be blocked.

Setting
Condition Data
Name Following error actual value - VAR Data Type Int32
Index & Effective Structure
60F4h Time
Related PP/HM/ Data (reference
Access RO Mapping TPDO Default -
Mode CSP Range unit)
Indicates the position deviation (reference unit).

-407-
 8 Parameters

Setting
Condition Data
Name Position demand value* - VAR Data Type Int32
Index & Effective Structure
60FCh Time
Related PP/HM/ Data (encoder
Access RO Mapping TPDO Default -
Mode CSP Range unit)
Indicates the position reference (encoder unit).
If no warning is detected when the S-ON signal is active, the relation between position references in reference unit
and those in encoder unit is as follows:
60FCh (in encoder unit) = 6062h (reference unit) x 6091h

Setting
Condition Data
Name Digital input - VAR Data Type Int32
Index & Effective Structure
Time
60FDh
Related Data 0 to
Access RO Mapping TPDO - Default 0
Mode Range FFFFFFFF
Indicates current DI logic of the servo drive.
0: Inactive
1: Active
The DI signal indicated by each bit is described as follows:

Bit Signal
0 1: Reverse overtravel active
1 1: Forward overtravel active
2 1: Home signal active
3 to 15 N/A
16 1: DI1 function active
17 1: DI2 function active
18 1: DI3 function active
19 1: DI4 function active
20 1: DI5 function active
21 to 26 N/A
27 1: STO1 signal input
28 1: STO2 signal input
29 1: EDM output active
30 to 31 N/A

Setting
Condition Data
Name Digital output - ARR Data Type Uint32
& Effective Structure
Index
Time
60FEh
OD
Related Data OD Data
Access - Mapping Yes - Default Default
Mode Range Range
Value
Indicates the current DO logic of the servo drive.

Setting
Number of digital Condition Data
Sub- Name - - Data Type Uint32
output sub-indexes & Effective Structure
index
Time
0h
Related Data
Access RO Mapping No - - Default x02
Mode Range

-408-
 8 Parameters

Setting
During
Condition Data
Sub- Name Physical output running & - Data Type Uint32
& Effective Structure
index At stop
Time
1h
Related Data 0 to
Access RW Mapping RPDO - Default 0
Mode Range FFFFFFFF
Indicates the DO logic.
The signal indicated by each bit is described as follows:

Related Description
Bit
Signal
0 to 15 N/A
16 DO1 Forced output (0: OFF; 1: ON), only when H0D-17 is set to 4 and bit16 of 60FE-02 is set to 1
17 DO2 Forced output (0: OFF; 1: ON), only when H0D-17 is set to 4 and bit17 of 60FE-02 is set to 1
18 DO3 Forced output (0: OFF; 1: ON), only when H0D-17 is set to 4 and bit18 of 60FE-02 is set to 1
19 to 25 N/A
Gain Switched between P and PI, only when bit26 of 60FE-02 is set to 1
26
switchover
27 to 31 N/A

Setting
During
Condition Data
Sub- Name Bit mask running & - Data Type Uint32
& Effective Structure
index At stop
Time
2h
Related Data 0 to
Access RW Mapping No - Default 0
Mode Range FFFFFFFF
Defines whether to enable the forced DO function.
The signal indicated by each bit is described as follows:

Bit Related DO Description

0 to 15 N/A
16 DO1 H0D-17 = 4, forced output enabled in DO1
17 DO2 H0D-17 = 4, forced output enabled in DO2
18 DO3 H0D-17 = 4, forced output enabled in DO3
19 to 25 N/A
26 Gain switchover Switchover between P and PI enabled
27 to 31 N/A

Setting
During
Condition Data
Name Target velocity running VAR Data Type Int32
& Effective Structure
& At stop
Index Time
60FFh -231 to
Related Data +(231 - 1)
Access RW Mapping Yes PV/CSV Default 0
Mode Range (reference
unit/s)
Defines the target velocity in PV and CSV modes.
The maximum operating speed of the motor in CSV mode is determined by the maximum rotational speed of the
motor.

-409-
 8 Parameters

Setting
Supported drive modes Condition Data
Name - VAR Data Type Uint32
Index & Effective Structure
6502h Time
Related Data
Access RO Mapping No - - Default 0x000003ADh
Mode Range
Shows the servo drive modes supported.

Supported or Not
Bit Description
(0: No 1: Yes)
0 Profile position (PP) mode 1
1 Variable frequency velocity (VL) mode 0
2 Profile velocity (PV) mode 1
3 Profile torque mode (PT) 1
4 N/A 0
5 Homing (HM) mode 1
6 Interpolated position (IP) mode 0
7 Cyclic synchronous position (CSP) mode 1
8 Cyclic synchronous velocity (CSV) mode 1
9 Cyclic synchronous torque (CST) mode 1
10 to 31 Defined by the manufacturer. Reserved

If the device supports 6502h, you can get the supported servo drive modes through 6502h.

-410-
 9 Communication Configurations

9 Communication Configurations
Start

Import XML. • See the user guide of the host

controller for details.

Set system See section "System parameters"

parameters.
•
for details.

Configure
communication • See section "EtherCAT communication
parameters. basis" for details.

Configure the PDO. • See section "EtherCAT communication

basis" for details.

Start the remote • Observe the communication state

node. according to section "Status Indication".

End

9.1 Overview of EtherCAT Protocol

EtherCAT features high-performance, low cost, easy use and flexible topology. It is applicable to
industrial applications requiring ultra-high speed I/O network. EtherCAT adopts standard Ethernet
physical layer with twisted pairs or optical fibers (100Base-TX or 100Base-FX) used as the transmission
media.

An EtherCAT system includes the master and the slave. The master requires a common network adapter,
and the slave requires a special slave control chip, such as ET1100, ET1200, and FPGA.
EtherCAT can process data at the I/O layer, without any sub-bus or gateway delay：
■■ One system covers all devices, including input/output devices, sensors, actuators, drives, and
displays.
■■ Transmission rate: 2 x 100 Mbit/s (high-speed Ethernet, full duplex mode).
■■ Synchronization: synchronization jitter < 1 µs (number of nodes up to 300, cable length within 120 m)
■■ Refresh time:
256 DI/DOs: 11 μs
1000 DI/DOs distributed in 100 nodes:30 µs = 0.03 ms
200 AI/AOs (16-bit): 50 μs, sampling rate: 20 kHz
100 servo axes (8 bytes IN + 8 bytes OUT for each): 100 µs = 0.1 ms

12000 DI/DOs: 350 μs

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 9 Communication Configurations

To support more types of devices and applications, the following EtherCAT-based application protocols
have been established:

■■ CANopen over EtherCAT (CoE)

■■ Safety over EtherCAT (SoE, servo drive safety compliant with IEC 61800-7-204)

■■ Ethernet over EtherCAT (EoE)

■■ File over EtherCAT (FoE)

The slave only needs to support the most suitable application protocol.
RTU

Programmable controller Max. RTU: 5

AM600
Hybrid in one RTU: 1 Analog , 4 Digital
RUN BF 0 1 2 3 4 5 6 7 I
0 1 2 3 4 5 6 7 II
ERR CANRUN

RTU
SF CANERR 0 1 2 3 4 5 6 7

40 39
CN 1

RUN / STOP
MFK
RS485

CN3

Max. analog modules in one RTU: 4

CN5
EtherNE T
CN4

RTU
CN2

E therCAT
C AN

2 1

Max. digital modules in one RTU: 16

SV660N SV660N SV660N SV660N

A maximum of 64 slaves can
be connected.

Figure 9-1 EtherCAT network

EtherCAT® is registered trademark and patented technology, licensed by Beckhoff Automation GmbH,
Germany.
NOTE

9.2 System Parameters

9.2.1 Parameter Address Structure

Parameter access address: Index + Subindex, both are hexadecimal data.

The CiA402 protocol imposes the following limits on the parameter address.

Index (Hex) Description

0000-0FFF Data type description

1000-1FFF CoE communication object

2000-5FFF Manufacturer-specific object

6000-9FFF Sub-protocol object

A000-FFFF Reserved

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 9 Communication Configurations

9.2.2 System Parameter Settings

Necessary parameter settings are required for the SV660N servo drive to be connected to the EtherCAT
fieldbus network.

Sub-
Index Name Value Range Default
index

0: Speed control mode

1: Position control mode
2002 01h Control mode 2: Torque control mode 9
9: EtherCAT mode
255: This axis is not used.

0: Not save
Save objects
written through 1: Save parameters only
200E 02h 3
communication to 2: Save object dictionaries only
EEPROM
3: Save both parameters and object dictionaries

200E 16 EtherCAT slave alias 0 to 65535 0

$"65*0/

Before saving parameters to EEPROM, set 200E-02h to a proper value. Otherwise, the parameters
will be restored to default values at next power-on.

9.3 EtherCAT Communication Basis

9.3.1 EtherCAT Communication Specifications

Item Specifications
Communication protocol IEC 61158 Type 12, IEC 61800-7 CiA 402 Drive Profile
SDO SDO request, SDO response
Mapping Variable PDO mapping
Profile position mode (PP)
Profile velocity mode (PV)
Application layer Profile torque mode (PT)
CiA402 Homing mode (HM)
Cyclic synchronous position mode (CSP)
Cyclic synchronous velocity mode (CSV)
Cyclic synchronous torque mode (CST)
Transmission protocol 100BASE-TX (IEEE802.3)
Physical layer Maximum distance 100 m
Interface RJ45 x 2 (INT, OUT)

9.3.2 Communication Structure

Multiple kinds of application protocols can be transmitted using EtherCAT communication. The IEC
61800-7 (CiA 402)-CANopen motion control profile is used in the SV660N servo drive.

The following figure shows the EtherCAT communication structure with CANopen application layer.

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 9 Communication Configurations

Application Object dictionary

layer

CoE
EtherCAT
state machine
SDO PDO

Register Mailbox Process data

ESC DPRAM

Link layer

Physical layer

Figure 9-2 EtherCAT communication structure with CANopen application layer

The object dictionary in the application layer contains communication parameters, application process
data and PDO mapping data. The process data object (PDO) contains the real-time data generated during
operation, which is read and written cyclically. In the SDO mailbox communication, the communication
parameter objects and PDO objects are accessed and modified non-cyclically.

9.3.3 State Machine

The following figure shows the state transition diagram of the EtherCAT state machine.

Init

(IP) (PI)

Pre-Operational (SI)

(PS) (SP)
(OI)

(OP) Safe-Operational

(SO) (OS)

Operational

Figure 9-3 EtherCAT state machine

The EtherCAT state machine must support the following four states and coordinate the state relation
between the master and slave application programs during initialization and operation.

These four states are Init (I), Pre-Operational (P), Safe-Operational (S), and Operational (O).

Transition from Init state to Operational state must be in the sequence of "Init → Pre-Operational →
Safe-Operational → Operational". Transition from Operational state to Init state can be done with certain
states skipped. The following table lists the state transition and initialization process.

Status SDO RPDO TPDO Description

Communication initialization
No communication is available in the application layer, and the
Init (I) No No No
master can only read and write the EtherCAT slave controller
(ESC) register.

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 9 Communication Configurations

Status SDO RPDO TPDO Description

The master configures the slave address, mailbox, and

IP No No No distributed clock (DC).
The master requests the Pre-Operational state.

Pre-Operational (P) Yes No No Mailbox data communication in the application layer (SDO)

The master uses the process data mapping of SDO initialization.

The master configures the SM channel used by the process data
PS Yes No No communication.
The master configures the FMMU.
The master requests the Safe-Operational state.

Safe-Operational (S) Yes No Yes SDO, TPDO, and distributed clock mode can be used.

The master sends valid output data to request the Operational

SO Yes No Yes
state.

Normal operating state

Operational (O) Yes Yes Yes Both the inputs and outputs are valid.
Mailbox communication can still be used.

9.3.4 Process Data

The real-time data transmission of EtherCAT is achieved through PDO. The PDO can be divided into
RPDO (Receive PDO) and TPDO (Transmit PDO) based on the data transmission direction. The RPDO
transmits the master data to the slave, and TPDO returns the slave data to the master.

RxPDO：
control word, target
position
Master Slave
TxPDO：
status word, position
feedback

The SV660N servo drive allows users to assign the PDO list and define the PDO mapping object.

1 PDO mapping

PDO mapping is used to establish the mapping relation between the object dictionary and the PDO.
1600h to 17FFh are RPDOs, and 1A00h to 1BFFh are TPDOs. The SV660N series servo drive provides six
RPDOs and five TPDOs, as listed in the following table.

RPDO 1600h Variable mapping

(Six) 1701h to 1705h Fixed mapping

TPDO 1A00h Variable mapping

(Five) 1B01h to 0x1B04h Fixed mapping

2 Fixed PDO mapping

The SV660N provides five fixed RPDOs and four fixed TPDOs.

The following table lists the typical instances of the RPDOs and TPDOs.

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 9 Communication Configurations

Control Mode PP, CSP

Mapping objects (4 mapping objects, 12 bytes)

6040h (Control word)

1701h
607Ah (Target position)
(Outputs)
60B8h (Touch probe function)
60FEh sub-index 1 (Physical outputs)

Mapping objects (9 mapping objects, 28 bytes)

603Fh (Error code)

6041h (Status word)
6064h (Position actual value)
1B01h 6077h (Torque actual value)
(Inputs) 60F4 (Following error actual value)
60B9 (Touch probe status)
60BA (Touch probe 1 positive edge)
60BC (Touch probe 2 positive edge)
60FD (Digital inputs)

Control Mode PP/PV/PT/CSP/CSV/CST

Mapping objects (7 mapping objects, 19 bytes)

6040h (Control word)

607Ah (Target position)
1702h 60FFh (Target velocity)
(Outputs) 6071h (Target torque)
6060h (Modes of operation)
60B8h (Touch probe function)
607Fh (Max. profile velocity)

Mapping objects (9 mapping objects, 25 bytes)

603Fh (Error code)

6041h (Status word)
6064h (Position actual value)
1B02h 6077h (Torque actual value)
(Inputs) 6061h (Modes of operation display)
60B9 (Touch probe status)
60BA (Touch probe 1 positive edge)
60BC (Touch probe 2 positive edge)
60FD (Digital inputs)

Control Mode PP/PV/CSP/CSV

Mapping objects (7 mapping objects, 17 bytes)

6040h (Control word)

607Ah (Target position)
1703h 60FFh (Target velocity)
(Outputs) 6060h (Modes of operation)
60B8h (Touch probe function)
60E0h (Positive torque limit value)
60E1h (Negative torque limit value)

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 9 Communication Configurations

Mapping objects (10 mapping objects, 29 bytes)

603Fh (Error code)

6041h (Status word)
6064h (Position actual value)
6077h (Torque actual value)
1B03h
60F4 (Following error actual value)
(Inputs)
6061h (Modes of operation display)
60B9 (Touch probe status)
60BA (Touch probe 1 positive edge)
60BC (Touch probe 2 positive edge)
60FD (Digital inputs)

Control Mode PP/PV/PT/CSP/CSV/CST

Mapping objects (9 mapping objects, 23 bytes)

6040h (Control word)

607Ah (Target position)
60FFh (Target velocity)
1704h 6071h (Target torque)
(Outputs) 6060h (Modes of operation)
60B8h (Touch probe function)
607Fh (Max profile velocity)
60E0h (Positive torque limit value)
60E1h (Negative torque limit value)

Mapping objects (9 mapping objects, 25 bytes)

603Fh (Error code)

6041h (Status word)
6064h (Position actual value)
1B02h 6077h (Torque actual value)
(Inputs) 6061h (Modes of operation display)
60B9 (Touch probe status)
60BA (Touch probe 1 positive edge)
60BC (Touch probe 2 positive edge)
60FD (Digital inputs)

Control Mode PP/PV/CSP/CSV

Mapping objects (8 mapping objects, 19 bytes)

6040h (Control word)

607Ah (Target position)
60FFh (Target velocity)
1705h
6060h (Modes of operation)
(Outputs)
60B8h (Touch probe function)
60E0h (Positive torque limit value)
60E1h (Negative torque limit value)
60B2h (Torque offset)

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 9 Communication Configurations

Mapping objects (10 mapping objects, 29 bytes)

603Fh (Error code)

6041h (Status word)
6064h (Position actual value)
6077h (Torque actual value)
1B04h
6061h (Modes of operation display)
(Inputs)
60F4 (Following error actual value)
60B9 (Touch probe status)
60BA (Touch probe 1 positive edge)
60BC (Touch probe 2 positive edge)
606C (Velocity actual value)

3 Variable PDO mapping

The SV660N provides one variable RPDO and one variable TPDO.

Max. Number
Variable PDO Index of Mapping Max. Byte Length Default Mapping Object
Objects

6040h (Control word)

RPDO1 1600h 10 40 607Ah (Target position)
60B8 (Touch probe function)

603F (Error code)

6041h (Status word)
6064h (Position actual value)
TPDO1 1A00h 10 40 60BC (Touch probe 2 positive edge)
60B9 (Touch probe status)
60BA (Touch probe 1 positive edge)
60FD (Digital inputs)

4 Sync Manager PDO Assignment

The process data can contain multiple PDO mapping objects during EtherCAT cyclic data
communication. The CoE protocol defines the PDO mapping object list of the sync manager using data
objects 0x1C10 to 0x1C2F. Multiple PDOs can be mapped to different sub-indexes.

The SV660N series servo drive supports assignment of one RPDO and one TPDO, as described in the
following table.

Index Sub-index Description

0x1C12 01h One of 0x1600 and 0x1701...0x1705 used as the actual RPDO

0x1C13 01h One of 0x1A00 and 0x1B01...0x1B04 used as the actual TPDO

5 PDO configuration

PDO mapping parameters contain indicators of the process data for PDOs, including the index, sub-
index and mapping object length. The sub-index 0 indicates the number (N) of mapping objects in
the PDO, and the maximum length of each PDO is 4 x N bytes. One or multiple objects can be mapped
simultaneously. Sub-indexes 1 to N indicate the mapping content, as defined below:

Bits 31 ... 16 15 ... 8 7 ... 0

Meaning Index Sub-index Object length

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 9 Communication Configurations

The index and sub-index define the position of an object in the object dictionary. The object length
indicates the bit length of the object in hexadecimal, as shown below:

Object Length Bit Length

08h 8-bit

10h 16-bit

20h 32-bit

For example, the mapping parameter of the 16-bit control word 6040h-00 is 60400010h.

■■ Observe the following procedure for PDO mapping:

1) Invalid PDO: Write 0 to sub-index 00h of 1C12h (or 1C13h).

Clear the original mapping content: All the original mapping content of the PDO is cleared when 0 is
written to the sub-index 00h of the mapping object.

Write the PDO mapping content: Write the content in sub-indexes 1 to 10 according to the preceding
mapping definition.

Write the total number of PDO mapping objects: Write the number of mapping objects written to sub-
indexes 0–10 to the sub-index 0 of the mapping object.

2) Valid PDO: Write 1 to sub-index 00h of 1C12h (or 1C13h).

Configure the PDO only when the EtherCAT state machine is in Pre-Operation state “2”
( displayed on the
keypad). Otherwise, an error is reported.

Do not save PDO configuration parameters to EEPROM. Configure the mapping objects again every time
upon power-on. Otherwise, the mapping objects are the default parameters of the servo drive.

An SDO fault code will be returned during the following operations:

■■ PDO parameters are modified in a state other than Pre-Operational.

■■ A value outside 1600/1701...1705 is written to 1C12h or a value outside 1A00/1B01...1B04 is written

to 1C13h.

9.3.5 Service Data Object (SDO)

EtherCAT SDO is used to transfer non-cyclic data, such as communication parameter configuration and
servo drive parameter configuration. The CoE service types include:

■■ Emergency message

■■ SDO request

■■ SDO response

■■ TxPDO

■■ RxPDO

■■ Remote TxPDO transmission request

■■ Remote RxPDO transmission request

■■ SDO message

SV660N series servo drives support SDO request and SDO response.

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 9 Communication Configurations

9.3.6 Distributed Clock (DC)

The DC enables all EtherCAT devices to use the same system time and allows synchronous execution of
slave tasks. A slave can generate synchronous signals according to the synchronized system time. The
SV660N series servo drive supports the DC synchronization mode only. The synchronization cycle, which
is controlled by SYNC0, varies with different motion modes.

9.3.7 Status Indication

Control mode
1：Profile position control
3：Profile velocity control
4：Profile torque mode
6：Homing mode
8：Cyclic synchronous position mode
9：Cyclic synchronous velocity mode
PORT1 connection
indicator
A：Cyclic synchronous torque mode

PORT0 connection Communication state

indicator
0：No meaning [1] Servo drive state:
1：Initialization nr：Not ready
2：Pre-Operational ry：Ready
4：Safe-Operational rn：Run
8：Operational
[1] If the value 0 is displayed, it indicates no value or the value 0 is written to 0x6060h.

Figure 8-2 Status indication

■■ Communication connection status

The connection status of the two RJ45 ports are indicated by segment "-" on the upper and lower part
of the first LED on the keypad. The upper "-" corresponds to PORT1, and the lower "-" corresponds to
PORT0.

Solid OFF: No communication is detected in the physical layer.

Solid ON: Communication is detected in the physical layer.

■■ Communication status

The 2nd LED indicates the status of the EtherCAT state machine of the slave, as described in the following
table.

Status SDO RPDO TPDO Description Keypad Display

Init No No No Communication initialization "1": solid ON

Network configuration initialized

Pre-Operational Yes No No "2": blinking at an interval of 400 ms
SDO available

Safe- SDO and TPDO available, "4": blinking at an interval of 1200 ms,
Yes No Yes
Operational distributed clock mode available ON for 200 ms and OFF for 1000 ms

Operational Yes Yes Yes Normal operational state "8": solid ON

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 9 Communication Configurations

■■ Servo mode display

The 3rd LED on the keypad indicates the present control mode of the servo drive, as described in the
following table.

Modes of operation (6060h) Keypad Display

1: Profile position mode 1

3: Profile velocity mode 3

4: Profile torque mode 4

6: Homing mode 6

8: Cyclic synchronous position mode 8

9: Cyclic synchronous velocity mode 9

10: Cyclic synchronous torque mode A

■■ Servo status display

The 4th and 5th LEDs on the keypad indicate the servo (slave) status, as described in the following table.

Status Description Keypad Display

Reset Init "Reset"
Initialization is done. The
Not control circuit is switched on
"nr"
ready but the main circuit is still off.
Not ready
"ry"
The character "y" blinks when the motor speed is not 0 RPM.
The main circuit is switched
on but the S-ON signal is When the communication layer is in Pre-Operational or Safe-Operational
Ready state, the blinking frequency is the same as that of characters "2" or "4"
inactive.
(communication status).
Ready
When the communication layer is in Init or Operational state, the blinking
frequency is 2 Hz.
"rn"
The character "n" blinks when the motor speed is not 0 RPM.
The S-ON signal is active and When the communication layer is in Pre-Operational or Safe-Operational
Run the motor is energized. state, the blinking frequency is the same as that of characters "2" or "4"
Run (communication status).
When the communication layer is in Init or Operational state, the blinking
frequency is 2 Hz.

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 9 Communication Configurations

9.3.8 Overview of CiA402 Control

The SV660N servo drive can run in the specified status only when it is commanded according to the
flowchart defined in the standard CiA402 protocol.
Start 13

0 Stop at fault

14
Initialization

Fault
1
15

No fault

2 7

Servo ready

12 10 3 6

Wait for the S-ON signal 8 9

Quick stop
4 5

16 11

Servo running

Figure 8-3 Switchover of CiA402 state machine

The states are described in the following table.

Initialization of the servo drive and internal self-check are done.

Initialization
Parameters cannot be set. Functions cannot be executed.

No fault exists in the servo drive or the fault is cleared.

No fault
Parameters can be set.

The servo drive is ready.

Servo ready
Parameters can be set.

Wait for the S-ON The servo drive is waiting to be switched on.
signal Parameters can be set.

The servo drive is running properly and a certain operation mode is enabled. The motor is
Servo running powered on and starts running when the speed reference is not 0.
Parameters with the setting condition of "During running" can be set.

The quick stop function is activated and the servo drive is in the process of quick stop.
Quick stop
Parameters with the setting condition of "During running" can be set.

A fault occurs on the servo drive and the servo drive is in the process of stop.
Stop at fault
Parameters with the setting condition of "During running" can be set.

The stop process is done and all the functions are prohibited. Parameters can be modified for
Fault
the convenience of troubleshooting.

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 9 Communication Configurations

9.3.9 Basic Characteristics

■■ Interfaces

EtherCAT cables are connected to the network ports (IN and OUT) equipped with metal shield. The
electrical characteristics are compliant with IEEE 802.3 and ISO 8877 standards.

   

*/ 065

Pin Definition Description

1 TX+ Data transmitting (+)

2 TX- Data transmitting (-)

3 RX+ Data receiving (+)

4 NULL Not connected

5 NULL Not connected

6 RX- Data receiving (-)

7 NULL Not connected

8 NULL Not connected

■■ Topology connection

EtherCAT features flexible communication topological structure without any limit, as shown in the
following figures. The SV660N series servo drive carries IN and OUT ports.

■■ Linear connection

Master
1 8 1 8 1 8 1 8 1 8 1 8 1 8

IN OUT IN OUT IN OUT

■■ Redundancy ring connection

Master
1 8 1 8

1 8 1 8 1 8 1 8 1 8 1 8

IN OUT IN OUT IN OUT

■■ Communication cable

The EtherCAT communication cable must be Ethernet Category 5 (100BASE-TX) network cable or high-
strength shielded network cable. The network cables used for the servo drive must also be shielded with
cable length not exceeding 100 m. The shielded network cable enhances the anti-interference capacity
of the system.

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 9 Communication Configurations

■■ EMC standards

The servo drive complies with the following standards:

IEC 61800-3:2004/A1:2011 (Adjustable speed electrical power drive systems---part 3:EMC requirements
and specific test methods) and GB/T12688.3.

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 10 Troubleshooting

10 Troubleshooting
10.1 Faults and Warnings
Faults and warnings are divided into the following three levels based on severity: No.1 > No.2 > No.3.
■■ No. 1 non-resettable fault
■■ No. 1 resettable fault
■■ No. 2 resettable fault
■■ No. 3 resettable warning
"Resettable" means the keypad stops displaying the fault/warning once receiving the reset signal.
To reset a fault/warning, use one of the following two methods:
■■ Set 200D-02h to 1 (Fault reset).
■■ Set the rising edge of bit7 of the control word 0x6040 through the host controller.
To reset a No. 1 or No. 2 fault, turn off the S-ON signal and send a fault reset signal.
For No. 3 warnings, the servo drive resets warnings automatically after the warning source is cleared.
Related parameter

Para. Setting Effective Default

Name Value Range Function
No. Condition Time Value

Used to stop the keypad from displaying

0: No operation
the fault/warning when a resettable
200Dh- Fault 1: Reset the fault/warning occurs. At stop Immediately 0
02h reset fault and
After fault/warning reset, 200Dh-02h is
warning
restored to 0 (No operation) immediately.

■■ Solutions to faults and warnings occurred upon start

Fault
Start Process Cause Confirming Method
Symptom

1. The voltage of the

Check whether the value of H0B-63 is 1.
control circuit power
Measure the AC voltage between L1C and L2C.
supply is abnormal.

2. Phase loss occurs Check whether the value of H0B-63 is 2.

on the input power Voltage must be present in all the phases of a three-phase 380
supply. V power supply.

Check whether the value of H0B-63 is 3.

The LED
Switch on
neither ◆◆ For single-phase 220 V models, measure the AC voltage
the control
lights up nor between L1 and L2. The keypad displays "nr" when the DC
power
displays "ry". 3. The voltage of the bus voltage amplitude (between terminals P and N) of the
supply (L1C,
main circuit power main circuit power supply is lower than 235 V.
L2C) and
supply is abnormal. ◆◆ For three-phase 220 V/380 V models, measure the AC voltage
main power
among L1, L2, and L3. The keypad displays "nr" when the DC
supply (L1,
bus voltage amplitude (between terminals P and N) of the
L2, L3).
main circuit power supply is lower than 235 V/451 V.

4. The servo drive is

-
faulty.

The keypad
displays See "10.3 Solutions to Faults" and "10.4 Solutions to Warnings" for solutions.
"Exxx.x".

The keypad displays "ry" when preceding faults are cleared.

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 10 Troubleshooting

10.2 Communication Faults and Warning Codes

■■ List of fault codes

Error
Auxiliary
Fault Display Name Type Reset Fault Range Code
Code (203Fh)
(603Fh)
E101.0 System parameter error No.1 No Servo drive fault 0x6320 0x01010101
E101
E101.1 2000h/2001h parameter error No.1 No Servo drive fault 0x6320 0x11010101

FPGA communication initialization

E102.0 No.1 No Servo drive fault 0x7500 0x01020102
E102 error

E102.8 Software version mismatch No.1 No Servo drive fault 0x7500 0x81020102

E104.1 MCU operation timeout No.1 No Servo drive fault 0x7500 0x11040104

E104 E104.2 Current loop operation timeout No.1 No Servo drive fault 0x7500 0x21040104

E104.4 MCU reference update timeout No.1 No Servo drive fault 0x7500 0x41040104

E108.0 Parameter write error No.2 Yes Servo drive fault 0x5530 0x01080108

E108.1 Parameter read error No.2 Yes Servo drive fault 0x5530 0x11080108

E108 Invalid check on data written in

E108.2 No.2 Yes Servo drive fault 0x5530 0x21080108
EEPROM

Invalid check on data read in

E108.3 No.2 Yes Servo drive fault 0x5530 0x31080108
EEPROM

E120.0 Unknown encoder type No.1 No Axis fault 0x7122 0x01200120

E120.1 Unknown motor model No.1 No Axis fault 0x7122 0x11200120

E120.2 Unknown drive model No.1 No Axis fault 0x7122 0x21200120

E120
Motor current and drive current
E120.5 No.1 No Axis fault 0x7122 0x51200120
mismatch

E120.6 FPGA and motor model mismatch No.1 No Axis fault 0x7122 0x61200120

Multi-turn absolute encoder setting

E122.0 No.2 Yes Axis fault 0x6320 0x01220122
error

E122 Different DIs assigned with the same

E122.1 No.2 Yes Axis fault 0x6320 0x11220122
function

E122.3 Upper limit invalid No.2 Yes Axis fault 0x6320 0x31220122

E136.0 Encoder parameter error No.1 No Axis fault 0x7305 0x01360136

E136
E136.1 Encoder communication error No.1 No Axis fault 0x7305 0x11360136

E140.0 Encryption chip check error No.1 No Servo drive fault 0x0140 0x01400140
E140
E140.1 Encryption chip check failure No.1 No Servo drive fault 0x0140 0x01400140

STO signal input protection

E150.0 No.1 Yes Servo drive fault 0x0150 0x01500150
activated

E150.1 STO signal input error No.1 Yes Servo drive fault 0x0150 0x11500150

E150 E150.2 Abnormal voltage detected No.1 Yes Servo drive fault 0x0150 0x21500150

STO upstream optocoupler

E150.3 No.1 Yes Servo drive fault 0x0150 0x31500150
detection failure

E150.4 PWM Buffer detection failure No.1 Yes Servo drive fault 0x0150 0x41500150

E201.0 Phase-P overcurrent No.1 No Servo drive fault 0x2312 0x02010201

E201.1 Phase-U overcurrent No.1 No Axis fault 0x2312 0x12010201

E201
E201.2 Phase-V overcurrent No.1 No Axis fault 0x2312 0x22010201

E201.4 Phase-N overcurrent No.1 No Servo drive fault 0x2312 0x42010201

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 10 Troubleshooting

Error
Auxiliary
Fault Display Name Type Reset Fault Range Code
Code (203Fh)
(603Fh)
MCU position reference updated
E208.0 No.1 Yes Axis fault 0x0208 0x02080208
frequently

E208.2 Encoder communication timeout No.1 Yes Axis fault 0x0208 0x22080208
E208
E208.3 Current sampling fault No.1 Yes Axis fault 0x0208 0x32080208

FPGA current loop operation

E208.4 No.1 Yes Axis fault 0x0208 0x42080208
timeout

E210 E210.0 Output short-circuited to ground No.1 No Axis fault 0x2330 0x02100210

E234 E234.0 Runaway protection No.1 No Axis fault 0x0234 0x02340234

E400 E400.0 Main circuit overvoltage No.1 Yes Servo drive fault 0x3210 0x04000400

E410 E410.0 Main circuit undervoltage No.1 Yes Servo drive fault 0x3220 0x04100410

E420 E420.0 Phase loss fault No.2 Yes Servo drive fault 0x3130 0x04200420

E430 E430.0 Control circuit undervoltage No.2 Yes Servo drive fault 0x0430 0x04300430

E500.0 Motor overspeed No.1 Yes Axis fault 0x8400 0x05000500

E500.1 Speed feedback overflow No.1 Yes Axis fault 0x8400 0x15000500
E500
FPGA position feedback pulse
E500.2 No.1 Yes Axis fault - 0x25000500
overspeed

E602.0 Angle auto-tuning error No.1 Yes Axis fault 0x0602 0x06020602
E602 Wrong UVW phase sequence
E602.2 No.1 Yes Axis fault 0x0602 0x26020602
detected during angle auto-tuning

E605 E605.0 Speed upon S-ON too high No.1 Yes Axis fault 0x8400 0x06050605

E620 E620.0 Motor overload No.1 Yes Axis fault 0x3230 0x06200620

E630 E630.0 Motor stall No.1 Yes Axis fault 0x7121 0x06300630

E640.0 IGBT over-temperature No.1 Yes Axis fault 0x4210 0x06400640

E640
E640.1 Flywheel diode over-temperature No.1 Yes Axis fault 0x4210 0x06400640

E650 E650.0 Heatsink over-temperature No.1 Yes Axis fault 0x4210 0x06500650

E660 E660.0 Air-cooled motor over-temperature No.1 Yes Axis fault 0x4210 0x06600660

E661 E661.0 Auto-tuned gains too low No.2 Yes Axis fault 0x4210 0x06610661

E731 E731.0 Encoder battery failure No.2 Yes Axis fault 0x0661 0x07310731

E733 E733.0 Encoder multi-turn counting error No.2 Yes Axis fault 0x7305 0x07330733

Encoder multi-turn counting

E735 E735.0 No.2 Yes Axis fault 0x7305 0x07350735
overflow

E740.2 Absolute encoder error No.1 No Axis fault 0x7305 0x27400740

Absolute encoder single-turn

E740 E740.3 No.1 No Axis fault 0x7305 0x37400740
calculation error

E740.6 Encoder write error No.1 No Axis fault 0x7305 0x67400740

Nikon encoder communication

E755 E755.0 No.1 No Axis fault - 0x07550755
failure

E760 E760.0 Encoder over-temperature No.2 Yes Axis fault 0x4210 0x07600760

E765 E765.0 Nikon encoder beyond the limit No.1 No Axis fault - 0x07650765

EB00.0 Position deviation too large No.2 Yes Axis fault 0x8611 0x0B000B00
EB00
EB00.1 Position deviation overflow No.2 Yes Axis fault 0x8611 0x1B000B00

EA33 EA33.0 Encoder read/write check error No.1 No Axis fault 0x7305 0x0A330A33

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 10 Troubleshooting

Error
Auxiliary
Fault Display Name Type Reset Fault Range Code
Code (203Fh)
(603Fh)
Position reference increment too
EB01.1 No.2 Yes Axis fault 0x6320 0x1B010B01
large for once

Position reference increment too

EB01.2 No.2 Yes Axis fault 0x6320 0x2B010B01
EB01 large continuously

EB01.3 Reference overflow No.2 Yes Axis fault 0x6320 0x3B010B01

EB01.4: Target position beyond

EB01.4 No.2 Yes Axis fault 0x6320 0x4B010B01
upper/lower limit

EE09.0 Software position limit setting error No.2 Yes Axis fault 0x6320 0x0E090E09

EE09.1 Home setting error No.2 Yes Axis fault 0x6320 0x1E090E09

EE09 EE09.2 Gear ratio beyond the limit No.2 Yes Axis fault 0x6320 0x2E090E09

EE09.3 No synchronization signal No.2 Yes Axis fault 0x6320 0x3E090E09

EE09.5 PDO mapping beyond the limit No.2 Yes Axis fault 0x6320 0x5E090E09

EE08.0 SYNC signal loss No.2 Yes Axis fault 0x0FFF 0x0E086E08

EE08.1 Network status switchover error No.2 Yes Axis fault 0x0FFF 0x1E080E08

EE08.2 IRQ loss No.2 Yes Axis fault 0x0FFF 0x2E080E08

EE08 EE08.3 LAN cable connected improperly No.2 Yes Axis fault 0x0FFF 0x3E080E08

EE08.4 Data frame loss protection error No.2 Yes Axis fault 0x0FFF 0x4E080E08

EE08.5 Data frame transfer error No.2 Yes Axis fault 0x0FFF 0x5E080E08

EE08.6 Data update timeout No.2 Yes Axis fault 0x0FFF 0x6E080E08

EE11.0 ESI check error No.2 Yes Servo drive fault 0x5530 0x0E110E11

EE11 EE11.1 EEPROM read failure No.2 Yes Servo drive fault 0x5530 0x1E110E11

EE11.2 EEPROM update failure No.2 Yes Servo drive fault 0x5530 0x2E110E11

EE12 EE12.0 EtherCAT external device error No.1 No Servo drive fault 0x0E12 0x0E120E12

EE13 EE13.0 Synchronization cycle setting error No.2 Yes Servo drive fault 0x6320 0x0E130E13

Number of synchronization cycle

EE15 EE15.0 No.2 Yes Servo drive fault 0x0E15 0x0E150E15
errors too large

■■ List of warning codes

Auxiliary
Resettable Error Code
Warning Display Name Type Fault Range Code
or not (603Fh)
(203Fh)
E121 E121.0 Invalid S-ON command No.3 Yes Warning 0x0121 0x01210121

E600 E600.0 Inertia auto-tuning failure No.3 Yes Warning 0x0600 0x06000600

E601.0 Homing timeout No.3 Yes Warning 0x0601 0x06010601

E601 E601.1 Home switch error No.3 Yes Warning 0x0601 0x16010601

E601.2 Homing mode setting error No.3 Yes Warning 0x6320 0x2601E602

E730 E730.0 Encoder battery warning No.3 Yes Warning 0x7305 0x07300730

E900 E900.0 Emergency stop No.3 Yes Warning 0x0900 0x09000900

E902.0 Invalid DI setting No.3 Yes Warning 0x6320 0x09020902

E902
E902.1 Invalid DO setting No.3 Yes Warning 0x0902 0x19020902

Model identification check byte

E908 E908.0 No.3 Yes Warning 0x0908 0x09080908
invalid

E909 E909.0 Motor overload warning No.3 Yes Warning 0x3230 0x09090909

E920 E920.0 Regenerative resistor overload No.3 Yes Warning 0x3210 0x09200920

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 10 Troubleshooting

Auxiliary
Resettable Error Code
Warning Display Name Type Fault Range Code
or not (603Fh)
(203Fh)
Resistance of external regenerative
E922 E922.0 No.3 Yes Warning 0x6320 0x09220922
resistor too small

E924 E924.0 Braking transistor over-temperature No.3 Yes Warning 0x3230 0x09240924

Parameter modifications not

E941 E941.0 No.3 Yes Warning 0x6320 0x09410941
activated

E942 E942.0 Parameter saved frequently No.3 Yes Warning 0x7600 0x09420942

E950 E950.0 Forward overtravel warning No.3 Yes Warning 0x5443 0x09500950

E952 E952.0 Reverse overtravel warning No.3 Yes Warning 0x5444 0x09520952

EA41 EA41.0 Torque ripple compensation failure No.3 Yes Warning 0x0A41 0x0A410A41

10.3 Solutions to Faults

■■ E101.0: System parameter error

Direct cause:

The total number of parameters changes, which generally occurs after software update.

Parameter values in groups 2002h and above exceed the limit, which generally occurs after software
update.

Root Cause Confirming Method Solution

Check whether the voltage drops during

Restore system parameters to default values
control power (L1C, L2C) cutoff or whether
(2002-20h = 1), and write parameters again.
instantaneous power failure occurs.

Measure whether the voltage input to the

control circuit cable during operation is
within the following range:
1. The control 220 V servo drive:
power voltage drops Increase the power capacity or replace with
Effective value: 220 V to 240 V
instantaneously. a power supply of larger capacity. Restore
Allowable deviation: –10% to +10%
system parameters to default values (2002-
(198 V to 264 V)
20h = 1), and write parameters again.
380 V servo drive:
Effective value: 380 V to 440 V
Allowable deviation: –10% to +10%
(342 V to 484 V)

2. Instantaneous
Power on the system again, restore system
power failure occurs Check whether instantaneous power failure
parameters to default values (2002-20h = 1),
during parameter occurs during parameter saving.
and write parameters again.
saving.

3. The number of write Change the write mode and write

Check whether parameters are updated
operations exceeds parameters again.
frequently through the host controller.
the limit. If the servo drive is faulty, replace it.

Reset the servo drive model and the

4. The software has Check whether the software has been
servo motor model, and restore system
been updated. updated.
parameters to default values (2002-20h = 1).

If the fault persists after several times of

5. The servo drive is
restart and parameter initialization, the Replace the servo drive.
faulty.
servo drive is faulty.

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 10 Troubleshooting

■■ E101.1: 2000h/2001h parameter error

Direct cause:

The total number of parameters changes, which generally occurs after software update.

Parameter values in group 2000h or 2001h exceed the limit, which generally occurs after software
update.

Root Cause Confirming Method Solution

Set the servo drive model (2001-0Bh) to

1. Instantaneous power
Check whether instantaneous power failure a wrong value first and perform a power
failure occurs during
occurs during parameter saving. cycle, and then set the servo drive model to
parameter saving.
a correct value and perform a power cycle.

2. Instantaneous power
Check whether instantaneous power failure Write motor parameters using the software
failure occurs during the
occurs during writing motor parameters. tool.
write operation.

Set the servo drive model (2001-0Bh) to

3. The software has Check whether the software has been a wrong value first and perform a power
been updated. updated. cycle, and then set the servo drive model to
a correct value and perform a power cycle.

If the fault persists after repeated execution

4. The servo drive is
of steps 1 and 2 and multiple times of Replace the servo drive.
faulty.
restart, the servo drive is faulty.

■■ E102.0: FPGA communication initialization error

Direct cause:

The FPGA- or MCU-related hardware is damaged, resulting in communication failure between the MCU
and FPGA.

Root Cause Confirming Method Solution

1. The FPGA is faulty. 1. Confirm whether the FPGA has been

2. The MCU cannot The fault persists after the servo drive is upgraded. Ensure the programming is
communicate with the powered off and on several times. successful.
FPGA. 2. Replace the servo drive.

■■ E102.8: Software version mismatch

Cause Confirming Method Solution

Check whether the MCU version

(H01-00) is 9xx.x (the fourth digit
Contact Inovance for technical
The software version of MCU or FPGA displayed on the keypad is 9).
support and update to mutually-
is wrong. Check whether the FPGA version
matching FPGA or MCU software.
(H01-01) is 9xx.x (the fourth digit
displayed on the keypad is 9).

■■ E104.1: MCU operation timeout

Direct cause:
The access to MCU times out.

Root Cause Confirming Method Solution

1. The FPGA is faulty.

2. The communication handshake

The fault persists after the servo
between FPGA and HOST is
drive is powered off and on several Replace the servo drive.
abnormal.
times.
3. Access timeout occurs between
HOST and the coprocessor.

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 10 Troubleshooting

■■ E104.2: Current loop operation timeout

Direct cause:

The operating time of the current loop exceeds the scheduling time. This fault is reported only in the
commissioning stage.
Root Cause Confirming Method Solution

The fault persists after the servo

The time interval of MCU torque
drive is powered off and on several Replace the servo drive.
interrupt scheduling is abnormal.
times.

■■ E104.4: Command update timeout

Direct cause:

Take the moment when entering the interrupt as the starting time, if the duration of the command-write
operation in MCU is longer than the FPGA position and speed regulators start time, a warning will be
reported.

Root Cause Confirming Method Solution

The interrupt time of the Check whether the interrupt time of the torque
Hide unnecessary functions.
current loop is too long. loop is too long through the software tool.

■■ E108.0: Parameter write error

Direct cause:

Parameter values cannot be written to EEPROM.

Root Cause Confirming Method Solution

If the modified value is not saved

Modify a certain parameter value, power
An error occurs when writing and the fault persists after the servo
off and on the servo drive again, and check
parameters to EEPROM. drive is powered off and on again,
whether the modified value is saved.
replace the servo drive.

■■ E108.1: Parameter read error

Direct cause:

Parameter values cannot be read in EEPROM.

Root Cause Confirming Method Solution

An error occurs when Modify a certain parameter value, power If the modified value is not saved and the fault
reading parameter on the servo drive again, and check persists after the servo drive is powered off and
values in EEPROM. whether the modified value is saved. on again, replace the servo drive.

■■ E108.2: Invalid check on data written in EEPROM

Root Cause Confirming Method Solution

Modify a certain parameter

value, power off and on If the modified value is not saved and the fault persists
The check on the data
the servo drive again, after the servo drive is powered off and on again,
written in EEPROM fails.
and check whether the replace the servo drive.
modified value is saved.

■■ E108.3: Invalid check on data read in EEPROM

Root Cause Confirming Method Solution

Modify a certain parameter value,

If the modified value is not saved and the fault
The check on the data power off and on the servo drive
persists after the servo drive is powered off and on
read in EEPROM fails. again, and check whether the
several times, replace the servo drive.
modified value is saved.

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 10 Troubleshooting

■■ E120.0: Unknown encoder type

Direct cause:

The servo drive detects the encoder model during initialization upon power-on. If the encoder type does
not comply with the requirements, the servo drive reports E120.0.

Root Cause Confirming Method Solution

The encoder model does not Check whether the encoder

Replace the encoder.
match the servo drive. model is correct.

■■ E120.1: Unknown motor model

Direct cause:

The servo drive detects the motor model (H00-00) during initialization upon power-on. If the motor
model does not exist, the servo drive reports E120.1.

Root Cause Confirming Method Solution

The motor model is set Check whether H00-00 (Motor Set H00-00 to a proper value that matches the
improperly. code) is set properly. motor model.

■■ E120.2: Unknown drive model

Direct cause:

The servo drive detects the servo drive model (H01-10) during initialization upon power-on. If the servo
drive model does not exist, the servo drive reports E120.2.

Root Cause Confirming Method Solution

The servo drive model is set Check whether H01-10 (Servo drive Set H01-10 to a proper value that matches the
improperly. series number) is set properly. servo drive model.

■■ E120.5: Motor current and drive current mismatch

Direct cause:

The rated output current of the servo drive is higher than the rated current of the motor.
Root Cause Confirming Method Solution

Check whether the servo drive model is

Replace with a servo drive of lower rated
The internal scaling correct. If the rated current of the set servo
output current or a motor with higher rated
value is abnormal. drive model is larger than the rated current
current.
of the motor, calculation overflow will occur.

■■ E120.6: FPGA and motor model mismatch

Direct cause:

1. The motor model is set improperly, causing mismatch and malfunction of the servo drive.

2. The motor model is set properly, but the motor encoder is not supported by the servo drive.

Root Cause Confirming Method Solution

Check whether the motor encoder is

The FPGA does not support the Update FPGA software or replace
supported by the FPGA version
motor encoder. the motor encoder.
(H01-01).

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 10 Troubleshooting

■■ E122.0: Multi-turn absolute encoder setting error

Root Cause Confirming Method Solution

Check the motor nameplate to see

The motor does not match the whether the motor is equipped with an Set 200D-01h (Motor code) correctly
absolute position mode or the absolute encoder. according to the motor nameplate
motor code is set improperly. Check whether 200D-01h (Motor code) is or replace with a matching motor.
set properly.

■■ E122.1: Different DIs assigned with the same function

Root Cause Confirming Method Solution

Assign different DI functions to

View 2003-03h, 2003-05h...2003-15h, parameters that have been assigned
1. The same function is assigned to 2017-01h, and 2017-03h...2017-1Fh with the same DI function. To enable
different DIs. to check whether they are assigned such assignments, restart the
with the same DI function No.. control circuit or switch off the S-ON
signal and send a "RESET" signal.

Restore system parameters to

2. The DI function No. exceeds
Check whether the MCU software default values (2002-20h = 1) and
maximum setting number allowed
has been updated. power off and on the servo drive
for DI functions.
again.

■■ E122.3: Upper limit invalid

Root Cause Confirming Method Solution

Check the mechanical gear ratio Reset the mechanical gear ratio, the
The upper limit value of the setpoint, the upper limit of the upper limit of mechanical single-turn
mechanical single-turn position mechanical single-turn position position and the electronic gear ratio to
exceeds 231 in the absolute and the electronic gear ratio in the ensure the upper limit of the mechanical
position rotation mode. absolute position rotation mode single-turn position (reference range)
(H02-01 = 2). does not exceed 231.

■■ E136.0: Encoder parameter error

Direct cause:

When the servo drive reads parameters in the encoder ROM, no parameters are saved there or parameter
values are inconsistent with the expected values.

Root Cause Confirming Method Solution

View the servo drive and servo motor

1. The servo drive model does
nameplates to check whether the Replace with the mutually-matching servo
not match with the servo
devices used are Inovance SV660N drive and servo motor.
motor model.
series servo drive and servo motor.

Check whether the encoder cable

provided by Inovance is used. For Use the encoder cable provided by
Inovance. Ensure the cable is connected to
cable specifications, see "1.4 Cable
the motor securely and tighten the screws
2. A parameter check error Models" . Ensure the cable is intact
on the servo drive side. Use a new encoder
occurs or no parameter and in good contact at both ends.
cable if necessary.
is stored in the serial Measure signals PS+, PS-, +5V and
Do not bundle encoder cables together
incremental encoder ROM. GND at both ends of the encoder
with power cables (RST, UVW). Lay encoder
cable and observe whether signals at
cables and power cables through different
both ends are consistent. For signal
routes.
definitions, see "3 Wiring".

The fault persists after servo drive is

3. The servo drive is faulty. Replace the servo drive.
powered off and on again.

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 10 Troubleshooting

■■ E136.1: Encoder communication error

Direct cause:

1. The encoder cable is disconnected.

2. The encoder communication suffers from interference.

Root Cause Confirming Method Solution

A fault occurs on the Check whether the encoder cable is connected properly.
Observe the value of
communication between FPGA Check whether the motor model is set properly.
H0B-28 to see whether
and the motor encoder during Check whether H01-00 (MCU software version) and H01-
it is not 0.
initialization upon power-on. 01 (FPGA software version) are the correct ones.

■■ E140.0: Encryption chip check error

Direct cause:

The check on the encryption chip fails.

Rout Cause Confirming Method Solution

The encryption software is Power off and on again to check Contact Inovance to program the
not programmed. whether the fault persists. encryption software again.

■■ E140.1: Encryption chip check failure

Direct cause:

The check on the encryption chip fails.

Rout Cause Confirming Method Solution

1. Check the softwrae version. Check whether the Power off and on the servo
The key of the encryption chip
encryption program is programmed in the servo drive again, if the fault
is incorrect, causing failure in
drive. persists, contact Inovance for
decrypting the Renesas chip.
2. Check whether the encryption chip is abnormal. maintenance.

■■ E150.0: STO signal input protection activated

Direct cause:

The STO input protection applies (safety state).

Root Cause Confirming Method Solution

There is no need to take any actions. Clear

Check whether the STO function is
1. The STO is activated. the fault through the fault reset function
activated.
after the STO terminal is restored.

Measure the 24 V power supply of the STO

2. The STO power supply is Check whether the 24 V power
to check whether it is stable. Tighten the
abnormal. supply of the STO works normally.
cables that are loose or disconnected.

The fault persists after preceding

3. The STO is inactive. Replace the servo drive.
actions are taken.

When H0A-21 is set to 0, STO displays the STO state. When H0A-21 is set to 1, STO displays E150.0.
NOTE

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 10 Troubleshooting

■■ E150.1: STO signal input error

Direct cause:

The single-channel input of STO is invalid.

Root Cause Confirming Method Solution

Measure the 24 V power supply of the STO

1. The STO power supply is Check whether the 24 V power
to check whether it is stable. Tighten the
abnormal. supply of the STO works normally.
cables that are loose or disconnected.

After STO is triggered, only one STO

2. The STO input resistor is signal is sent to MCU after the 24 V
Replace the servo drive.
abnormal. power supply is cut off due to input
resistor drift.

The fault persists after preceding

3. The STO is inactive. Replace the servo drive.
actions are taken.

■■ E150.2: Abnormal voltage detected

Direct cause:

The MCU monitors the 5 V power supply provided to the PWM Buffer to detect whether overvoltage and
undervoltage occurs. If the voltage is abnormal, E150.2 will be displayed.

Root Cause Confirming Method Solution

The 5 V power supply provided to

Check the 5 V power supply. Replace the servo drive.
the Buffer is abnormal.

■■ E150.3: STO upstream optocoupler detection failure

Direct cause:

Short circuit occurs on the optocoupler of the upstream hardware circuit of STO.

Root Cause Confirming Method Solution

The servo drive does not display
Short circuit occurs on the upstream
E150.0 when the 24 V power supply is Replace the servo drive.
optocoupler of STO1 or STO2.
powered off and on again.

■■ E150.4: PWM Buffer detection failure

Direct cause:

An error occurs on the PWM Buffer integrated circuit during initialization detection upon power-on (the
PWM signal cannot be blocked).

Root Cause Confirming Method Solution

The Buffer fails to block the PWM The fault persists after the servo drive is
Replace the servo drive.
signals. powered off and on several times.

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 10 Troubleshooting

■■ E201.0: Phase-P overcurrent

Direct cause:

A excessively high current flows through the positive pole of the DC-AC circuit.

Root Cause Confirming Method Solution

◆◆ Check whether vibration or sharp noise occurs

during start and operation of the motor, or view
1. Gains are set
the "Current feedback" in the software tool.
improperly, leading
◆◆ Check whether encoder cables provided by ◆◆ Adjust the gains.
to motor oscillation.
Inovance are used. Check whether the encoder
2. The encoder is ◆◆ Re-solder, tighten or replace
cable is aging, corroded, or connected loosely.
wired improperly, encoder cables.
◆◆ Switch off the S-ON signal and rotate the motor
aging, or connected ◆◆ Replace the servo drive.
shaft manually, observing whether the value of
loosely.
200B-12h changes when the shaft rotates. ◆◆ Select the resistance and model
3. The servo drive is of the regenerative resistor
◆◆ Unplug the motor cable but the fault persists after
faulty. again.
the servo drive is powered off and on again.
4. Overcurrent occurs ◆◆ Perform wiring again.
◆◆ Check whether the resistance of the external
on the regenerative
regenerative resistor is too small or the
resistor.
regenerative resistor is short-circuited (between
terminals P and C).

■■ E201.1: Phase-U overcurrent

■■ Direct cause: A large current exceeding the threshold is detected in phase U.

Cause Confirming Method Solution

◆◆ Check whether both ends of servo drive power cables

1. Motor cables are in and motor cables on servo drive UVW sides are loose and ◆◆ Tighten the cables that
poor contact. fall off. are loose or fall off.
2. Motor cables are ◆◆ After confirming the servo drive power cables and motor ◆◆ Replace the motor in
grounded. cables are connected properly, measure whether the case of poor insulation.
3. UVW cables of insulation resistance between the servo drive UVW ends ◆◆ Connect the motor cables
the motor are short- and the PE cable is at MΩ level. properly.
circuited. ◆◆ Unplug the motor cables and check wehther short circuit ◆◆ Replace the motor if the
4. The motor is occurs among UVW cables and whether burrs exist in the resistance among UVW
damaged due to over- wiring. cables of the motor is
temperature. ◆◆ Unplug the motor cables and measure whether the unbalanced.
resistance among UVW cables of the motor are balanced.

■■ E201.2: Phase-V overcurrent

■■ Direct cause: A large current exceeding the threshold is detected in phase V.

Root Cause Confirming Method Solution

◆◆ Check whether both ends of servo drive power

cables and motor cables on servo drive UVW sides
1. Motor cables are in
are loose and fall off.
poor contact. ◆◆ Tighten the cables that are
◆◆ After confirming the servo drive power cables and loose or fall off.
2. Motor cables are motor cables are connected properly, measure
◆◆ Replace the motor in case of
grounded. whether the insulation resistance between the
poor insulation.
3. UVW cables of servo drive UVW ends and the PE cable is at MΩ
level. ◆◆ Connect the motor cables
the motor are short-
properly.
circuited. ◆◆ Unplug the motor cables and check wehther short
circuit occurs among UVW cables and whether ◆◆ Replace the motor if the
4. The motor is resistance among UVW cables
burrs exist in the wiring.
damaged due to over- of the motor is unbalanced.
◆◆ Unplug the motor cables and measure whether
temperature.
the resistance among UVW cables of the motor are
balanced.

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 10 Troubleshooting

■■ E201.4: Phase-N overcurrent

Direct cause:

■■ Direct cause: A large current exceeding the threshold is detected in phase N

Root Cause Confirming Method Solution

◆◆ Check whether both ends of servo drive power

cables and motor cables on servo drive UVW
1. Motor cables are in sides are loose and fall off. ◆◆ Tighten the cables that are loose
poor contact. or fall off.
◆◆ After confirming the servo drive power cables
2. Motor cables are and motor cables are connected properly, ◆◆ Replace the motor in case of poor
grounded. measure whether the insulation resistance insulation.

3. UVW cables of between the servo drive UVW ends and the PE ◆◆ Connect the motor cables
the motor are short- cable is at MΩ level. properly.
circuited. ◆◆ Unplug the motor cables and check wehther ◆◆ Replace the motor if the
4. The motor is short circuit occurs among UVW cables and resistance among UVW cables of
damaged due to over- whether burrs exist in the wiring. the motor is unbalanced.
temperature. ◆◆ Unplug the motor cables and measure whether ◆◆ Perform wiring again.
the resistance among UVW cables of the motor
are balanced.

■■ E208.0: MCU position reference updated frequently

Find the fault cause through the internal fault code (200B-2Eh).

Root Cause Confirming Method Solution

200B-2Eh = 1208:
1. MCU communication times out. The internal integrated circuit is
damaged.
Replace the servo drive.
200B-2Eh = 0208:
2. FPGA operation times out. Figure out the cause according to
cause 1.

■■ E208.2: Encoder communication timeout

Root Cause Confirming Method Solution

◆◆ Check bit12 of H0B-30. ◆◆ Check whether the motor model

◆◆ The encoder cable is connected is correct.
improperly. ◆◆ Check whether encoder cable is
The servo drive fails to receive the
◆◆ The encoder cable is loose. in proper condition.
data fed back by the encoder in
◆◆ The encoder cable is too long. ◆◆ Check whether the encoder
three consecutive cycles.
◆◆ The encoder communication version (H00-04) is set properly.
suffers from interference. ◆◆ If servo drive operates
◆◆ The encoder is faulty. improperly, replace it.

■■ E208.3: Current sampling fault

Root Cause Confirming Method Solution

Check whether there is large ◆◆ Check whether the servo drive

equipment generating interferences and motor are grounded and
on site and whether there are shielded properly.
Phase-U and phase-V current
multiple interference sources in the ◆◆ Install magnetic ring on the
samplings are abnormal.
cabinet. motor power cables and encoder
The internal current sampling cables.
integrated circuit is damaged. ◆◆ Replace the servo drive.

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 10 Troubleshooting

■■ E208.4: FPGA current loop operation timeout

Cause:

The operation time of the current loop exceeds the interval threshold.

Root Cause Confirming Method Solution

Turn off some unnecessary functions to

The FPGA operation 200B-2Eh (Internal fault code) = 4208:
reduce the operating time of the current
times out. The current loop operation times out.
loop.

■■ E210.0: Output short-circuited to ground

Direct cause:

The servo drive detects abnormal motor phase current or bus voltage during self-check upon power-on.

Root Cause Confirming Method Solution

1. Power cables (UVW)

Unplug motor cables and check whether the
of the servo drive Re-connect or replace the servo drive
servo drive power cables (UVW) are short
are short-circuited to power cables.
circuited to ground (PE).
ground.

After confirming servo drive power cables and

motor cables are connected securely, check
2. The motor is short-
whether the insulation resistance between Replace the servo motor.
circuited to ground.
servo drive UVW terminals and the grounding
cable (PE) is at MΩ-level.

Disconnect servo drive power cables from the

3. The servo drive is
servo drive. The fault persists after the servo Replace the servo drive.
faulty.
drive is powered off and on several times.

■■ E234.0: Runaway Protection

Direct cause:

The torque reference direction is opposite to the speed feedback direction in the torque control mode.

The speed feedback direction is opposite to the speed reference direction in the position or speed
control mode.

Root Cause Confirming Method Solution

1. The UVW cables are Check whether UVW phase sequence on the
Connect UVW cables according to the
connected in the wrong servo drive side is consistent with that on the
correct phase sequence.
phase sequence. motor side.

2. An error occurs on the

initial phase detection of
The UVW phase sequence is correct, but E234.0
the motor rotor due to Power off and on the servo drive again.
occurs when the servo drive is enabled.
interference signals upon
power-on.

Replace with the mutually-matching

servo drive and servo motor. If you use
Check the servo drive and servo motor
3. The encoder model Inovance SV660N series servo drive and
nameplates to check whether the devices used
is wrong or the wiring is servo motor, ensure that 2000-01h is
are Inovance SV660N series servo drive and
incorrect. set to 14000. Check the motor model,
servo motor.
encoder model, and encoder cable
connections again.

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 10 Troubleshooting

Root Cause Confirming Method Solution

Check whether the encoder cable provided by

Inovance is used. Check whether the cable is
4. The encoder cable is aging, corroded or loose.
Re-solder, tighten or replace the encoder
connected improperly, Switch off the S-ON signal, rotate the motor
cable.
corroded or loose. shaft manually, and check whether the value of
200B-0Bh (Electrical angle) changes when the
motor shaft rotates.

Check whether the vertical axis load Reduce the load of the vertical axis,
5. The gravity load is too
is too heavy. Adjust brake parameters improve the stiffness level or hide
heavy in vertical axis
2002-0Ah...2002-0Dh and check whether the this fault without affecting the safety
applications.
fault can be cleared. performance or normal use.

6. Improper parameter
The stiffness level is too high, leading to Set a proper stiffness level to avoid
settings cause excessive
excessive vibration. excessive vibration.
vibration.

■■ E400.0: Main circuit overvoltage

Direct cause:

The DC bus voltage between terminals P and N exceeds the overvoltage threshold.

220 V servo drive:

Normal value: 310 V
Overvoltage threshold: 420 V

380 V servo drive:

Normal value: 540 V
Overvoltage threshold: 760 V

Root Cause Confirming Method Solution

Check the power input specifications of the

servo drive and measure whether the voltage
input to main circuit cables (RST) on the
servo drive side is within the following range:
◆◆ 220 V servo drive:
1. The voltage input Effective value: 220 V to 240 V Replace or adjust the power supply according
to the main circuit is
Allowable deviation: –10% to +10% to the specified ranges.
too high.
(198 V to 264 V)
◆◆ 380 V servo drive:
Effective value: 380 V to 440 V
Allowable deviation: –10% to +10%
(342 V to 484 V)

2. The power supply Check whether the power input to the servo Connect a surge protection device and then
is unstable or affected drive is unstable, affected by lightning strike switch on the control circuit and main circuit.
by the lightning strike. or is within the preceding range. If the fault persists, replace the servo drive.

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 10 Troubleshooting

Root Cause Confirming Method Solution

◆◆ If the resistance is " ∞ " (infinite), the

regenerative resistor is disconnected
internally.
◆◆ If an internal regenerative resistor is used,
If an internal regenerative resistor is used replace with an external regenerative
(2002-1Ah = 0), check whether terminals resistor (2002-1Ah = 1, 2) and remove the
P and D are jumpered. If yes, measure the jumper between terminals P and D. Select
resistance between terminals C and D. an external regenerative resistor of the
3. The regenerative If an external regenerative resistor is used same resistance and equal or higher power
resistor fails. (2002-1Ah = 1, 2), measure the resistance than the internal one.
between terminals P and C. ◆◆ If an external regenerative resistor is used,
For specifications of the regenerative replace with a new one and connect the
resistor, see "1.1.4 Specifications of the new one between terminal P and C.
Regenerative Resistor" . Set 2002-1Bh (Power of external regenerative
resistor) and 2002-1Ch (Resistance of external
regenerative resistor) according to the
specifications of the external regenerative
resistor used.

Connect a new external regenerative resistor

4. The resistance
of the recommended resistance between
of the external
Measure the resistance of the external terminals P and C.
regenerative resistor
regenerative resistor between terminals P Set 2002-1Bh (Power of external regenerative
is too large, and
and C, and compare the measured value with resistor) and 2002-1Ch (Resistance of external
energy absorption
the recommended value. regenerative resistor) according to the
during braking is
specifications of the external regenerative
insufficient.
resistor used.

5. The motor is in
abrupt acceleration/ Confirm the acceleration/deceleration time
deceleration status during operation and measure whether Ensure the voltage input to the main circuit is
and the maximum the DC bus voltage between terminals P within the specified range, and then increase
braking energy and N exceeds the fault threshold during the acceleration/deceleration time if allowed.
exceeds the energy deceleration.
absorption value.

Check whether the bus voltage (200B-1Bh)

detected is within the following range:
6. The bus voltage
220 V servo drive: 200B-1Bh > 420 V
sampling value
380 V servo drive: 200B-1Bh > 760 V Contact Inovance for technical support.
deviates greatly from
the measured value. Measure whether the DC bus voltage
detected between terminals P and N is close
to the value displayed in 200B-1Bh.

7. The servo drive is The fault persists after main circuit is

Replace the servo drive.
faulty. powered off and on several times.

■■ E410.0: Main circuit undervoltage

Direct cause:

The DC bus voltage between terminals P and N is lower than the undervoltage threshold.

220 V servo drive:

Normal value: 310 V
Undervoltage threshold: 200 V (or 180 V for 7.5 W servo drives)

380 V servo drive:

Normal value: 540 V

Undervoltage threshold: 380 V

-440-
 10 Troubleshooting

Root Cause Confirming Method Solution

1. The main circuit Check the power input specifications of the servo drive.
power supply is Measure whether the voltage input to the main circuit
unstable or fails. cables is within the following range:
◆◆ 220 V servo drive:
Effective value: 220 V to 240 V
Allowable deviation: –10% to +10% (198 V to 264 V)
2. Instantaneous
◆◆ 380V servo drive
power failure occurs. Increase the power capacity.
Effective value: 380 V to 440 V
Allowable deviation: –10% to +10% (342 V to 484 V)
All the three phases must be measured.

Monitor the input voltage of the servo drive to check

3. Voltage drop occurs
whether the same power supply is used to power up
on the power supply
other devices, resulting in insufficient power capacity
during operation.
and voltage drop.

4. Phase loss: A single-

Check whether main circuit cables are connected Replace the cables and connect
phase power supply is
properly and whether the phase loss fault detection the main circuit cables properly.
used for a three-phase
(200A-01h) is hidden. Three-phase: R, S, T
servo drive.

Check whether the bus voltage (200B-1Bh) detected is

within the following range:
220 V servo drive: 200B-1Bh < 200 V (or < 180 V for 750 W
5. The servo drive is
servo drives) Replace the servo drive.
faulty.
380 V servo drive: 200B-1Bh < 380 V
The fault persists after the main circuit is powered off
and on several times.

■■ E420.0: Phase loss fault

Direct cause:

Phase loss occurs on a three-phase servo drive.

Root Cause Confirming Method Solution

1. The three- Check whether cables between the power

phase input cables supply side and main circuit input terminals Replace the cables and connect the main
are connected (R/S/T) are in good condition and connected circuit cables properly.
improperly. properly.

2. A single-phase Check the power input specifications of the

power supply is servo drive and measure whether the voltage
applied to a three- input to the main circuit is within the following A three-phase servo drive of 0.75 kW
phase servo drive. range: (2001-03h = 5) is allowed to run under a
◆◆ 220 V servo drive: single-phase power supply.

Effective value: 220 V to 240 V If the input voltage complies with the
specifications, set 200A-01h to 2 (Power
3. The three-phase Allowable deviation: –10% to +10%
input phase loss warning and fault
power supply is (198 V to 264 V)
inhibited).
unbalanced or the ◆◆ 380 V servo drive:
If input voltage does not comply with the
voltage of all the three Effective value: 380 V to 440 V
specifications, replace or adjust the power
phases is too low.
Allowable deviation: –10% to +10% supply.
(342 V to 484 V)
All the three phases must be measured.

4. The servo drive is The fault persists after the main circuit (L1, L2,
Replace the servo drive.
faulty. L3) is powered off and on several times.

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 10 Troubleshooting

■■ E430.0: Control circuit undervoltage

Direct cause:

The control circuit power supply is lower than the undervoltage threshold.

220 V servo drive:

Normal value: 310 V
Undervoltage threshold: 190 V

380 V servo drive:

Normal value: 540 V

Undervoltage threshold: 350 V

Root Cause Confirming Method Solution

Check whether the fault occurs during control Restore system parameters to default
circuit power supply (L1C, L2C) cutoff or values (2002-20h = 1), and write
during instantaneous power failure. parameters again.

Measure whether the voltage input to the

control circuit cable is within the following
1. The power supply range:
of the control circuit ◆◆ 220 V servo drive:
is unstable or the
Effective value: 220 V to 240 V
voltage of the power
supply drops. Allowable deviation: –10% to +10% Increase the power capacity.
(198 V to 264 V)
◆◆ 380 V servo drive:
Effective value: 380 V to 440 V
Allowable deviation: –10% to +10%
(342 V to 484 V)

Check whether control circuit cables are

2. The control circuit
connected properly and measure whether
cables are in poor Re-connect or replace the cables.
the voltage of the control circuit cable on the
contact
servo drive side is within the preceding range.

■■ E500.0: Motor overspeed

Direct cause:

The actual speed of the servo motor exceeds the overspeed threshold.

Root Cause Confirming Method Solution

1. The UVW phase Check whether UVW phase sequence on the

Connect UVW cables according to the
sequence of motor servo drive side is consistent with that on the
correct phase sequence.
cables is incorrect. motor side.

Check whether the overspeed threshold

is lower than the maximum motor speed
required in actual applications.
2. 200A-09h is set Overspeed threshold = 1.2 x Maximum motor Reset the overspeed threshold according
improperly. speed (200A-09h = 0) to actual mechanical requirements.
Overspeed threshold = 200A-09h (the setpoint
of 200A-09h is not 0 and less than 1.2 times
the maximum motor speed).

-442-
 10 Troubleshooting

Root Cause Confirming Method Solution

Check whether the motor speed

◆◆ Position control mode
corresponding to the input reference exceeds
the overspeed threshold. In CSP mode, decrease the position
reference increment per synchronization
◆◆ Position control mode
cycle. The host controller should handle
In CSP mode, view the gear ratio the position ramp when generating
6091-01h/6091-02h to check the position references.
reference increment per synchronization cycle
In PP mode, decrease the value of 6081h or
and convert it to the corresponding speed
increase the acceleration and deceleration
value.
ramps (6083h and 6084h).
In PP mode, view the gear ratio
HM: Decrease the values of 6099-01h and
6091-01h/6091-02h and determine the value
3. The input reference 6099-02h, or increase the acceleration/
of 6081h (Profile velocity).
is higher than the deceleration ramp (609Ah).
In HM mode, view the gear ratio
overspeed threshold. Reduce the gear ratio according to actual
6091-01h/6091-02h, and determine the values
conditions.
of 6099-01h and 6099-02h.
◆◆ Speed mode:
◆◆ Speed control mode:
Decrease the target velocity, speed limit,
View the gear ratio (6091h), the target velocity
and gear ratio. In PV mode, increase the
(60FFh), the speed limit values (2006-09h and
speed ramps in 6083h and 6084h. In CSV
2006-0Ah), and the maximum profile velocity
mode, the host controller should handle
(607Fh).
the speed ramp.
◆◆ Torque control mode:
◆◆ Torque control mode:
View the speed limits defined by 2007-14h and
Set the speed limit to a value lower than
2007-15h and check the corresponding speed
the overspeed threshold.
limits.

Check whether the speed feedback exceeds

4. The motor speed Adjust the gains or operating conditions of
the overspeed threshold using the software
overshoots. the machine.
tool.

5. The servo drive is The fault persists after servo drive is powered
Replace the servo drive.
faulty. off and on again.

■■ E500.1: Speed feedback overflow

Direct cause:

The FPGA speed measurement overflows.

Root Cause Confirming Method Solution

◆◆ The speed feedback is abnormal, check whether the encoder

version (H00-04) is proper.
The FPGA speed
Check whether bit9 of ◆◆ Replace the encoder cables.
measurement is
H0B-30 is 1. ◆◆ The encoder cables suffer from interference. Re-connect the
abnormal.
grounding cable and the shielded cable or install a magnetic
ring on the encoder cable.

■■ E500.2: FPGA position feedback pulse overspeed

Direct cause:

Overspeed occurs on the FPGA position feedback pulse.

Root Cause Confirming Method Solution

Modify the value of H0A-70

1. Check whether the value of H0B-17
(Overspeed threshold). The
changes abruptly.
The MCU detects excessive pulse default value of H0A-70 is 0. Use
2. Check whether the communication
increment fed back by the FPGA. the maximum motor speed as
between the servo drive and the
the threshold for excessive pulse
encoder suffers from interference.
increment.

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 10 Troubleshooting

■■ E602.0: Angle auto-tuning error

Direct cause:

Abnormal jitter occurs on the encoder feedback during angle auto-tuning.

Root Cause Confirming Method Solution

Check whether the encoder

An encoder feedback error occurs. communication suffers from Check the wiring of the encoder.
interference.

■■ E602.2: Wrong UVW phase sequence detected during angle auto-tuning

Direct cause:

A wrong UVW phase sequence is detected during angle auto-tuning.

Root Cause Confirming Method Solution

The UVW cables are connected Exchange the cables of any two
reversely, which is detected during - phases of UVW and perform auto-
angle auto-tuning. tuning again.

■■ E605.0: Speed upon S-ON too high

Root Cause Confirming Method Solution

Speeds of servo drives in sizes A and

Check whether the motor is in the Reduce the speed and switch on the
B exceed the rated speed upon servo
power generating state. S-ON signal again.
ON.

■■ E620.0: Motor overload

Direct cause:

The accumulative heat of the servo motor reaches the fault threshold.

Root Cause Confirming Method Solution

Connect cables according to the
correct wiring diagram.
Check the wiring among the servo
It is recommended to use the cables
1. The motor and encoder cable is drive, servo motor and encoder
provided by Inovance.
connected improperly. according to the correct wiring
diagram. If you use customized cables, ensure
such cables are made and connected
based on the wiring instructions.
Check the overload characteristics ofReplace with a servo drive of large
2. The load is too heavy. The motor
the servo drive or servo motor. capacity and a matching servo motor,
keeps outputting an effective torque
Check whether the average load ratio or reduce the load and increase the
higher than the rated value.
(200B-0DH) keeps exceeding 100.0%. acceleration/deceleration time.
Calculate the mechanical inertia ratio
or perform inertia auto-tuning, and
3. Acceleration/Deceleration is too Increase the acceleration/
view the value of 2008-10h (Load
frequent or the load inertia is too deceleration time of an individual
inertia ratio).
large. operation cycle.
Confirm the individual operation cycle
for cyclic operation.
Observe whether the motor vibrates
4. Gains are improper or the stiffness
and generates abnormal noise during Adjust the gains.
level is too high.
operation.
Read the servo drive nameplate and
5. The servo drive or motor models Check the motor model in 2000-06h
set the servo drive model and motor
are set improperly. and servo drive model in 2001-0Bh.
model properly.

-444-
 10 Troubleshooting

Root Cause Confirming Method Solution

Check the reference and motor speed
(200B-01h) through the software tool
or the keypad:
◆◆ Reference in the position control
mode: 200B-0Eh (Input position
6. The motor is stalled due to reference counter)
mechanical factors, resulting in ◆◆ Reference in the speed control Eliminate mechanical factors.
overload during operation. mode: 200B-02h (Speed reference)
◆◆ Reference in the torque control
mode: 200B-03h (Internal torque
reference)
Check whether the reference value is
not 0 but the motor speed is 0.
The fault persists after servo drive is
7. The servo drive is faulty. Replace the servo drive.
powered off and on again.

When E620.0 occurs, stop the servo drive for at least 30s before further operations.
NOTE

■■ E630.0: Motor stall

Direct cause:

The motor speed actual value is lower than 10 RPM but the torque reference reaches the limit, and such
status persists for the time defined by 200A-21h.

Root Cause Confirming Method Solution

1. Power output phase (UVW) Perform motor trial run without load and Re-connect the cables according to
loss or incorrect phase sequence check cable connections and the phase the correct wiring diagram or replace
occurs on the servo drive. sequence. the cables.
Read parameters in group H00 to check
2. The motor parameters
whether the pole pairs are set properly.
(especially the pole pairs) are set
Perform angle auto-tuning on the motor Modify motor parameter values.
improperly and motor angle auto-
several times and check whether the
tuning is not performed.
value of H00-28 remains unchanged.
Check whether jitter occurs on the Check whether the communication
3. The communication
commands sent from the host controller circuit between the host controller
commands suffer from
and whether EtherCAT communication and the servo drive suffers from
interference.
suffers from interference. interference.
Check the reference and motor speed
(H0B-00) through the software tool or the
keypad.
◆◆ Reference in the position control
mode: H0B-13 (Input position
reference counter)

4. The motor is stalled due to ◆◆ Reference in the speed control mode: Check whether any mechanical part
mechanical factors. H0B-01 (Speed reference) gets stuck or eccentric.
◆◆ Reference in the torque control mode:
H0B-02 (Internal torque reference)
Check whether the reference value is not
0 but the motor speed is 0.
Check the current feedback (torque
reference) waveform.

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 10 Troubleshooting

When E630.0 occurs, stop the servo drive for at least 30s before further operations.
NOTE

■■ E640.0: IGBT over-temperature

Direct cause: The IGBT temperature reaches the fault threshold defined by H0A-18.

Root Cause Confirming Method Solution

◆◆ Measure the ambient temperature. ◆◆ Improve cooling conditions to lower

1. The ambient temperature is ◆◆ View the fault log (set 200B-22h and down the ambient temperature.
too high. check 200B-23h) to see whether an ◆◆ Change the fault reset mode and
2. The servo drive is powered off overload fault or warning (E620.0, perform reset 30s after overload.
frequently to reset the overload E630.0, E650.0, E909.0, E920.0, and Increase the capacities of the servo
fault. E922.0) is reported. drive and servo motor. Increase the
3. The fan is damaged. ◆◆ Check whether the fan rotates during acceleration/deceleration time and
operation. reduce the load.
4. The installation direction and
clearance of the servo drive are ◆◆ Check whether the servo drive is ◆◆ Replace the servo drive.
improper. installed properly. ◆◆ Install the servo drive according to
5. The servo drive is faulty. ◆◆ The servo drive is restarted 5 min the installation requirements.
after power-off, but the fault persists. ◆◆ Replace the servo drive.

When E640.0 occurs, stop the servo drive for at least 30s before further operations.
NOTE

■■ E640.1: Flywheel diode over-temperature

Direct cause: The temperature of the flywheel diode reaches the fault threshold defined by H0A-18.

Root Cause Confirming Method Solution

◆◆ Measure the ambient temperature. ◆◆ Improve cooling conditions to lower

1. The ambient temperature is ◆◆ View the fault log (set 200B-22h and down the ambient temperature.
too high. check 200B-23h) to see whether an ◆◆ Change the fault reset mode and
2. The servo drive is powered off overload fault or warning (E620.0, perform reset 30s after overload.
frequently to reset the overload E630.0, E650.0, E909.0, E920.0, and Increase the capacities of the servo
fault. E922.0) is reported. drive and servo motor. Increase the
3. The fan is damaged. ◆◆ Check whether the fan rotates during acceleration/deceleration time and
operation. reduce the load.
4. The installation direction and
clearance of the servo drive are ◆◆ Check whether the servo drive is ◆◆ Replace the servo drive.
improper. installed properly. ◆◆ Install the servo drive according to
5. The servo drive is faulty. ◆◆ The servo drive is restarted 5 min the installation requirements.
after power-off, but the fault persists. ◆◆ Replace the servo drive.

When E640.1 occurs, stop the servo drive for at least 30s before further operations.
NOTE

■■ E650.0: Heatsink over-temperature

Direct cause:

The power module temperature of the servo drive is higher than the over-temperature protection
threshold.

Root Cause Confirming Method Solution

1. The ambient temperature is too Improve cooling conditions to lower

Measure the ambient temperature.
high. down the ambient temperature.

-446-
 10 Troubleshooting

Root Cause Confirming Method Solution

Change the fault reset mode and

View the fault records: Check whether
perform reset 30s after overload.
overload fault (set 200B-22h and view
2. The servo drive is powered off Increase the capacity of the servo
200B-23h) or warning (E620.0, E630.0,
frequently to reset the overload fault. drive and servo motor. Increase the
E650.0, E909.0, E920.0, and E922.0) is
acceleration/deceleration time and
reported.
reduce the load.

Check whether the fan rotates during

3. The fan is damaged. Replace the servo drive.
operation.

4. The installation direction and

Check whether the servo drive is Install the servo drive according to
clearance of the servo drive are
installed properly. the installation requirements.
improper.

The servo drive is restarted 5 min

5. The servo drive is faulty. Replace the servo drive.
after power-off, but the fault persists.

When E650.0 occurs, stop the servo drive for at least 30s before further operations.
NOTE

■■ E660.0: Air-cooled motor over-temperature

Direct cause:

The temperature of the air-cooled motor is too high.

Root Cause Confirming Method Solution

The temperature of the air-cooled Measure whether the temperature of

Cool the motor down.
motor is too high. the air-cooled motor is too high.

■■ E661.0: Auto-tuned gains too low

Root Cause Confirming Method Solution

1. Gains obtained from STune or 1. Set the notch manually if vibration cannot be
ETune are wrong. suppressed.
2. Check whether the positioning threshold is
too small. Increase the reference acceleration/
2. Vibration cannot be suppressed - deceleration time.
and the internal gains reach the lower 3. Modify the electronic gear ratio to improve the
limit. reference resolution, or increase the reference filter
time in the parameter configuration interface and
check whether cyclic vibration occurs on the machine.

■■ E731.0: Encoder battery failure

Direct cause:

The battery voltage of the absolute encoder is lower than 2.8 V.

Root Cause Confirming Method Solution

The battery is not connected during Check whether the battery is

Set 200D-15h to 1 to clear the fault.
power-off. connected during power-off.

The battery voltage of the encoder is Replace with a new battery of the
Measure the battery voltage.
too low. matching voltage.

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 10 Troubleshooting

■■ E733.0: Encoder multi-turn counting error

Direct cause:

The encoder multi-turn counting is wrong.

Root Cause Confirming Method Solution

Set 200D-15h to 2 to clear the fault.

The encoder is faulty. E733.0 persists after the servo drive is Replace the servo motor.
powered off and on again.

■■ E735.0: Encoder multi-turn counting overflow

Direct cause:

Multi-turn counting overflow occurs on the absolute encoder.

Root Cause Confirming Method Solution

Check whether the value of H0B-70 Set H0D-20 (Absolute encoder reset
The number of forward
(Number of absolute encoder revolutions) selection) to 2 (Reset the encoder
revolutions exceeds 32767
is 32767 or 32768 when the servo drive fault and multi-turn data) and
or the number of reverse
works in the absolute position linear power on the servo drive again.
revolutions exceeds 32768.
mode (H02-01 = 1). Perform homing if necessary.

■■ E740.2: Absolute encoder error

Direct cause:

Communication timeout occurs on the absolute encoder.

Root Cause Confirming Method Solution

◆◆ Check whether H00-00 (Motor code) is set properly.

The communication Check whether the value of
◆◆ Check whether the encoder cable is connected properly.
between the servo H0B-28 (Absolute encoder
drive and the encoder is fault information given by ◆◆ Check whether the servo drive and servo motor are
abnormal. FPGA) is not 0. grounded properly. You can install a magnetic ring on the
encoder cable to reduce interference.

■■ E740.3: Absolute encoder single-turn calculation error

Root Cause Confirming Method Solution

◆◆ Check whether the encoder

version (H00-04) is proper.
An internal fault occurs on the
Check whether bit7 of H0B-28 is 1. ◆◆ Check whether the encoder cable
encoder.
is in proper condition.
◆◆ Replace the servo motor.

■■ E740.6: Encoder write error

Direct cause:

A write error occurs on the encoder.

Root Cause Confirming Method Solution

An error occurs during writing the Check whether the encoder cable
position offset after angle auto- - shield and the grounding cable are
tuning. connected properly.

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 10 Troubleshooting

■■ E755.0: Nikon encoder communication failure

Direct cause:

Nikon encoder communication fails.

Root Cause Confirming Method Solution

1. An encoder communication error or ◆◆ Check whether the encoder is wired ◆◆ Ensure the encoder cable
encoder fault is detected after servo drive correctly. is connected properly.
initialization is done upon power-on. ◆◆ Check whether there is large ◆◆ Take proper shielding
2. E755.0 will be reported when a multi- equipment generating interferences measures if the
turn Nikon encoder that carries no battery on site and whether connectors are interference source does
for a long time is powered on again. loose or cables are broken. exist.

■■ E760.0: Encoder over-temperature

Root Cause Confirming Method Solution

The temperature of the absolute Measure the encoder or motor Switch off the S-ON signal to cool the
encoder is too high. temperature. encoder down.

■■ E765.0: Nikon encoder beyond the limit

Root Cause Confirming Method Solution

Over-temperature, overspeed, or The fault is detected by the Nikon

EEPROM access error is detected in encoder, and the servo drive only Set H0D-21 to 1 to clear the fault.
the encoder. displays the fault.

■■ EB00.0: Position deviation too large

Direct cause:

The position deviation is larger than the value defined by 6065h in the position control mode.

Root Cause Confirming Method Solution

1. Power output (UVW) phase

Re-connect the cables according
loss or incorrect phase Perform motor trial run without load and
to the correct wiring diagram or
sequence occurs on the check the cable connections.
replace the cables.
servo drive.

Re-connect the cables. The UVW

phase sequence on the servo drive
2. The servo drive UVW
side must be consistent with that
cables or the encoder cable Check the wiring.
on the motor side. Replace with
is disconnected.
new cables if necessary and ensure
the cables are connected properly.

Check the reference and motor speed

(200B-01h) through the software tool or the
keypad:
Reference in the position control mode:
200B-0Eh (Input position reference counter)
3. The motor is stalled due to
Reference in the speed control mode: Eliminate mechanical factors.
mechanical factors.
200B-02h (Speed reference)
Reference in the torque control mode:
200B-03h (Internal torque reference)
Check whether the reference value is not 0
but the motor speed is 0.

Check the position loop gain and speed

4. The servo drive gains are loop gain of the servo drive. Adjust the gains manually or
too low. 1st gain set: 2008-01h to 2008-03h perform gain auto-tuning.
2nd gain set: 2008-04h to 2008-06h

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 10 Troubleshooting

Root Cause Confirming Method Solution

◆◆ In CSP mode, decrease the

position reference increment
Position control mode: per synchronization cycle.
◆◆ In CSP mode, view the gear ratio The host controller should
6091-01h/6091-02h to check the handle the position ramp when
position reference increment per generating references.
synchronization cycle and convert it to ◆◆ In PP mode, decrease the
5. The position reference the corresponding speed value. value of 6081h or increase the
increment is too large. ◆◆ In PP mode, view the gear ratio acceleration/deceleration ramp
6091-01h/6091-02h and determine the (6083h/6084h).
value of 6081h (Profile velocity). ◆◆ In HM mode, decrease the values
◆◆ In HM mode, view the gear ratio of 6099-01h and 6099-02h,
6091-01h/6091-02h, and determine the or increase the acceleration/
values of 6099-01h and 6099-02h. deceleration ramp (609Ah).
Decrease the gear ratio according
to actual conditions.

6. The value of 6065h

(Following error window) is Check whether the value of 6065h is too
Increase the value of 6065h.
too small in relative to the small.
operating condition.

Monitor the operating curves through the If the position reference is not 0 but
7. The servo drive or servo oscilloscope function of the software tool: the position feedback is always 0,
motor is faulty. position reference, position feedback, replace the servo drive or the servo
speed reference, and torque reference motor.

■■ EB00.1: Position deviation overflow

Direct cause:

The position deviation is too large.

Root Cause Confirming Method Solution

1. Power output (UVW)

Re-connect the cables according to the
phase loss or incorrect Perform motor trial running without load
correct wiring diagram or replace the
phase sequence occurs and check the cable connections.
cables.
on the servo drive.

Re-connect the cables. The UVW phase

2. The servo drive UVW sequence on the servo drive side must be
cables or the encoder Check the wiring. consistent with that on the motor side.
cable is disconnected. Replace with new cables if necessary and
ensure the cables are connected properly.

Check the reference and motor speed

(200B-01h) through the software tool or
the keypad:
Reference in the position control mode:
200B-0Eh (Input position reference
3. The motor is stalled counter)
due to mechanical Eliminate mechanical factors.
Reference in the speed control mode:
factors.
200B-02h (Speed reference)
Reference in the torque control mode:
200B-03h (Internal torque reference)
Check whether the reference value is not 0
but the motor speed is 0.

Check the position loop gain and speed

4. The servo drive loop gain of the servo drive. Adjust the gains manually or perform gain
gains are too low. 1st gain set: 2008-01h to 2008-03h auto-tuning.
2nd gain set: 2008-04h to 2008-06h

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 10 Troubleshooting

Root Cause Confirming Method Solution

◆◆ In CSP mode, decrease the

Position control mode: position reference increment per
◆◆ In CSP mode, view the gear ratio synchronization cycle. The host
6091-01h/6091-02h to check the controller should handle the position
position reference increment per ramp when generating references.
synchronization cycle and convert it to ◆◆ In PP mode, decrease the value of
5. The position the corresponding speed value. 6081h or increase the acceleration/
reference increment is deceleration ramp (6083h/6084h).
◆◆ In PP mode, view the gear ratio
too large.
6091-01h/6091-02h and determine the ◆◆ In HM mode, decrease the values of
value of 6081h (Profile velocity). 6099-01h and 6099-02h, or increase
◆◆ In HM mode, view the gear ratio the acceleration/deceleration ramp
6091-01h/6091-02h, and determine the (609Ah).
values of 6099-01h and 6099-02h. Decrease the gear ratio according to
actual conditions.

6. The value of 6065h

(Following error
Check whether the value of 6065h is too
window) is too small Increase the value of 6065h.
small.
in relative to the
operating condition.

Monitor the operating curves through the

7. The servo drive or If the position reference is not 0 but the
oscilloscope function of the software tool:
the servo motor is position feedback is always 0, replace the
position reference, position feedback,
faulty. servo drive or the servo motor.
speed reference, and torque reference

■■ EA33.0: Encoder read/write check error

Direct cause:

Internal parameters of the encoder are abnormal.

Root Cause Confirming Method Solution

Check for wrong connection, disconnection and

1. The serial incremental
Check the encoder cable poor contact of the encoder cable. Route the
encoder cable is
connection. motor cable and encoder cable through different
disconnected or loose.
routes.

2. An error occurs when If the fault persists after the servo

reading/writing the RS485 drive is powered off and on several Replace the servo motor.
encoder parameters. times, the encoder is faulty.

■■ EB01.1: Position reference increment too large for once

Cause Confirming Method Solution

1. Check whether the maximum motor speed

fulfills the application requirements. If yes,
reduce the target position reference increment,
in order to lower the profile reference speed. If
not, replace the servo motor.
Check the variation value
The target position 2. Before switching the mode or enabling the
between two adjacent target
increment is too large. servo drive, check whether the target position is
positions using the software tool.
aligned with current position feedback.
3. The communication time sequence of the host
controller is abnormal, leading to slave data
reception error. Check the communication time
sequence of the host controller.

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 10 Troubleshooting

■■ EB01.2: Position reference increment too large continuously

Direct cause:

The target position increment exceeds the limit value N times consecutively.

Root Cause Confirming Method Solution

1. Check whether the maximum motor speed

fulfills the application requirements. If yes,
reduce the target position reference increment, in
order to lower the profiled reference speed. If not,
Check the variation value replace the servo motor.
The target position between two adjacent target 2. Before switching the mode or enabling the
increment is too large. positions by using the software servo drive, check whether the target position is
tool. aligned with current position feedback.
3. The communication time sequence of the host
controller is abnormal, leading to slave data
reception error. Check the communication time
sequence of the host controller.

■■ EB01.3: Command overflow

Cause Confirming Method Solution

The target position is still in

1. Check the servo limit signal (bit0 and bit1 of
the process of transmission Check whether the host controller
60FD recommended) through the host controller.
when the servo limit or continues sending commands
2. Stop sending limit direction references when the
software limit signal is after the overtravel warning
servo limit signal is detected to be active by the
activated and the 32-bit occurs.
host controller.
upper/low limit is reached.

■■ EB01.4: Target position beyond upper/lower limit

Cause Confirming Method Solution

The target position exceeds
Check whether the target position
the upper/lower limit of the Set the target position to a value within the upper/
setpoint is within the single-turn
position in the single-turn lower limit.
upper/lower limit.
absolute mode.

■■ EE09.0: Software position limit setting error

Root Cause Confirming Method Solution

The lower limit of the
Check the values of 607D-01 and Reset the values of 607D-01 and 607D-02 and
software is larger than or
607D-02. ensure the former is lower than the latter.
equal to the upper limit.

■■ EE09.1: Home setting error

Direct cause:

The home offset exceeds the upper/lower limit.

Root Cause Confirming Method Solution

The home offset is beyond the
software limit when the encoder
1. The home offset is Set the home offset to a value within the
works in the incremental mode,
beyond the software limit. software limit.
absolute linear mode, or single-
turn absolute mode.

The home offset is beyond the

2. The home offset is
mechanical single-turn upper/ Set the home offset to a value within the
beyond the upper/lower
lower limit when the encoder mechanical single-turn upper/low limit.
limit in the rotation mode.
works in the rotation mode.

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 10 Troubleshooting

■■ EE09.2: Gear ratio beyond the limit

Direct cause:

The electronic gear ratio exceeds the following limit:

(0.001, 4000 x Encoder resolution/10000)

Root Cause Confirming Method Solution

Check whether the ratio of 6091-01h

The set electronic gear ratio exceeds Set the gear ratio to a value within
to 6091-02h exceeds the preceding
the preceding range. the preceding range.
range.

■■ EE09.3: No synchronization signal

Direct cause:

The MCU does not receive the synchronization signal when the servo communication is switched to OP
status.

Root Cause Confirming Method Solution

1. The communication Replace with another master (such as
synchronization clock is Beckhoff or Omron PLCs) and perform tests Rectify improper configurations.
configured improperly. to compare between different masters.

2. The IN/OUT port of

Check whether the IN/OUT port is connected Connect the IN and OUT ports
EtherCAT communication is
reversely. according to the correct sequence.
connected reversely.

If the problem persists after the master

is replaced, measure the synchronization
3. The slave controller signal generated from the slave controller Contact Inovance for replacing the
integrated circuit is damaged. integrated circuit with an oscilloscope. slave controller integrated circuit.
If there is no signal, the slave controller
integrated circuit is damaged.

Test the synchronization signal generated

from the slave controller integrated circuit
4. The MCU pins are Contact Inovance for replacing the
with an oscilloscope. If there is a signal,
damaged. MCU integrated circuit.
the pin of the MCU integrated circuit is
damaged.

■■ EE09.5: PDO mapping beyond the limit

Root Cause Confirming Method Solution

The number of the mapping objects Check the number of self-indexes The number of the mapping objects
in TPDO or RPDO exceeds 10. configured in 1600h or 1A00h. in TPDO or RPDO cannot exceed 10.

10.4 Solutions to Warnings

■■ E121.0: Invalid S-ON command

Direct cause:

The S-ON signal is set repeatedly.

Root Cause Confirming Method Solution

1. The servo drive is enabled Check whether the S-ON signal is
internally at the same time when sent from the host controller when Switch off the S-ON signal sent from
the S-ON signal is activated through auxiliary functions (200D-03h, the host controller.
communication. 200D-04h, 200D-0Ch) are used.
Check whether the S-ON signal is sent
2. The S-ON signal is sent from the DI Switch off the redundant S-ON
from the DI terminal and the software
and the software tool simultaneously. signal.
tool simultaneously.

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 10 Troubleshooting

■■ E600.0: Inertia auto-tuning failure

Direct causes and solutions:

1. The vibration cannot be suppressed. Enable vibration suppression manually (H09-12 to H09-23) to
eliminate the vibration.

2. The auto-tuned values fluctuate dramatically. Increase the maximum operating speed and reduce the
acceleration/deceleration time during ETune operation. For screw mechanisms, shorten the stroke.

3. Mechanical connections of the load are loose or eccentric. Rectify the mechanical fault.

4. A warning occurs during auto-tuning and causes interruption. Clear the fault and perform inertia auto-
tuning again.

5. The vibration cannot be suppressed if the load carries large inertia. In this case, increase the
acceleration/deceleration time to ensure the motor current is not saturated.

■■ E601.0: Homing timeout

Direct cause:

The home is not found within the time defined by 2005-24h.

Root Cause Confirming Method Solution

1. If the home switch is used as the home signal,
a hardware DI is used as the deceleration point,
check whether FunIN.31 (HomeSwitch) is assigned
to a certain DI in group 2003h and then check the
wiring of the DI.
Manually change the DI logic and observe the value
of 200B-04h to see whether the servo drive receives
the corresponding DI level changes. If not, the DI
There is only high-speed search but no is wired improperly. If yes, a fault occurs during
low-speed search during homing. homing. Perform the homing operation correctly.
1. The home switch
After high-speed searching for the 2. If Z signal is used as the home signal, a hardware
fails.
home, the servo drive keeps low-speed DI is used as the deceleration point, check whether
searching in the reverse direction. DI functions (FunIN.14 for positive position limit;
FunIN.15 for negative position limit; FunIN.31 for
home switch) are set properly and then check the
wiring of the DI.
Manually change the DI logic and observe the value
of 200B-04h to see whether the servo drive receives
the corresponding DI level changes. If not, the DI
is wired improperly. If yes, a fault occurs during
homing. Perform the homing operation correctly.

2. The set homing

Check whether the value of 2005-24h
duration is too Increase the value of 2005-24h.
(Homing time limit) is too small.
short.

3. The speed Check the distance between the initial

in high-speed position of homing and the home
searching for the switch. Then check whether the value Increase the value of 6099-01h.
home switch signal of 6099-01h is too small, resulting in a
is too low. prolonged homing process.

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 10 Troubleshooting

■■ E601.1: Homing switch error

Root Cause Confirming Method Solution

Check whether the limit signals at both
sides are activated simultaneously.
The home switch is set Set the position of the hardware switch
Check whether the limit signal and the
improperly. properly.
deceleration point signal/home signal are
both activated.

■■ E601.2: Homing mode setting error

Root Cause Confirming Method Solution

The homing method (0x6098) is set to a value outside
Check the setpoint of Set 0x6098 to a value within the
the range of [-2 to 14] in the absolute position single-
0x6098. range.
turn mode (H02-01 = 4).

The homing method (0x6098) is set to a value outside

Check the setpoint of Set 0x6098 to a value within the
the ranges of [-2, 14], [17, 30], and [33,35] when the
0x6098. range.
absolute position single-turn mode is not used.

■■ E730.0: Encoder battery warning

Root Cause Confirming Method Solution

The encoder battery Replace with a new battery of matching
Measure the battery voltage.
voltage is lower than 3.0 V. voltage.

■■ E900: Emergency stop

Direct cause:

The logic of the DI (including hardware DI and virtual DI) assigned with FunIN.34 (EmergencyStop) is
active.

Root Cause Confirming Method Solution

The DI function 34 Check the operating mode and clear the
Check whether the logic of the DI assigned
(FunIN.34: Emergency DI signal without affecting the safety
with FunIN.34 is valid.
stop) is triggered. performance.

■■ E902.0: Invalid DI setting

Direct cause:

The DI function is set to an invalid value.

Root Cause Confirming Method Solution

Check whether 2003-03h, 2003-05h,

The function of either DI1 to
2003-07h...2003-09h, and 2003-0Bh Set the DI function to a valid value.
DI5 is set to an invalid value.
are set to invalid values.

■■ E902.1: Invalid DO setting

Direct cause:

The DO function is set to an invalid value.

Root Cause Confirming Method Solution

The function of either
Check whether 2004-01h, 2004-03h, and
DO1 to DO3 is set to an Set the DO function to a valid value.
2004-05h are set to invalid values.
invalid value.

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 10 Troubleshooting

■■ E908.0: Model identification check failure

Direct cause:

The first two check bytes of model identification are incorrect, indicating the attempt to read model
identification parameters fails.

Root Cause Confirming Method Solution

1. The model identification 1. Write the model identification
parameters are not written. The warning persists after the servo drive parameters again.

2. The check bytes of model is powered off and on again. 2. Set H01-72 to 1 to hide the model
identification are incorrect. identification function.

■■ E909.0: Motor overload warning

Direct cause:

The accumulative heat of the motor reaches the warning threshold (90% of the maximum allowable
heat).

Root Cause Confirming Method Solution

Connect cables based on the correct
wiring diagram.
1. The motor and encoder
Check the wiring among the servo drive, It is recommended to use the cables
cables are connected
servo motor and encoder according to the provided by Inovance.
improperly or in poor
correct wiring diagram. If you use customized cables, ensure
contact.
such cables are made and connected
based on the wiring instructions.

2. The load is too heavy. The Check the overload characteristics of the Replace with a servo drive of large
motor keeps outputting an servo drive or servo motor. capacity and a matching servo motor,
effective torque higher than Check whether the average load ratio or reduce the load and increase the
the rated value. (200B-0Dh) keeps exceeding 100.0%. acceleration/deceleration time.

Check the mechanical inertia ratio or

3. The acceleration/
perform inertia auto-tuning. Then view the
deceleration is too frequent Increase the acceleration/deceleration
value of 2008-10h (Load inertia ratio).
or the load inertia is too time.
Confirm the individual operation cycle
large.
when the servo motor operates cyclically.

Observe whether the motor vibrates

4. The gains are improper or
and generates abnormal noise during Adjust the gains.
the stiffness level is too high.
operation.

Read the servo drive nameplate and

5. The servo drive or motor Check the motor model in 2000-06h and
set the servo drive model and motor
models are set improperly. the servo drive model in 2001-0Bh.
model properly.

Check the reference and motor speed

(200B-01h) through the software tool or the
keypad:
◆◆ Reference in the position control mode:
200B-0Eh (Input position reference
6. The motor is stalled due to counter)
mechanical factors, resulting Rectify mechanical factors.
◆◆ Reference in the speed control mode:
in overload during operation.
200B-02h (Speed reference)
◆◆ Reference in the torque control mode:
200B-03h (Internal torque reference)
Check whether the reference value is not 0
but the motor speed is 0.

If the fault persists after restart,

7. The servo drive is faulty. Power off and on the servo drive again.
replace the servo drive.

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 10 Troubleshooting

When E909.0 occurs, stop the servo drive for at least 30s before further operations.
NOTE

■■ E920.0: Regenerative resistor overload

Direct cause:

The accumulative heat of the regenerative resistor reaches the warning threshold (90% of the maximum
allowable heat).

Root Cause Confirming Method Solution

Replace with a new external regenerative

resistor and measure its resistance. If its
Remove the external regenerative resistor
1. The external resistance is consistent with the nominal
and measure whether the resistance of the
regenerative resistor is value, connect it between terminals P and
resistor is " ∞ " (infinite).
connected improperly, C.
Measure whether the resistance between
disconnected or loose. Prepare a new cable and connect the
terminals P and C is " ∞ " (infinite).
external regenerative resistor between
terminals P and C.

2. The cable between

terminals P and D is
shorted or disconnected Measure whether the resistance between Prepare a new cable to short terminals P
when an internal terminals P and D is " ∞ " (infinite). and D.
regenerative resistor is
used.

Set 2002-1Ah to a proper value according

3. The setting of 2002- to "5.4.3 Regenerative Resistor Settings" :
1Ah is incorrect when
Check the setpoint of 2002-1Ah. 2002-1Ah = 1 (External, naturally
an external regenerative
Measure the resistance of the external ventilated)
resistor is used.
regenerative resistor connected between 2002-1Ah = 2 (External, forcible cooling)
terminals P and C. Check whether the
4. The resistance of the
resistance is too large by comparing it with Select a proper regenerative resistor
external regenerative
value listed in "Table 5-3 Specifications of according to Table 5-3.
resistor used is too large.
the regenerative resistor" .
5. The value of 2002-1Ch
(Resistance of external Check whether the value of 2002-1Ch is
regenerative resistor) larger than the resistance of the external
regenerative resistor connected between Set 2002-1Ch according to the resistance
is larger than the
terminals P and C. of the external regenerative resistor used.
resistance of the external
regenerative resistor
used.

Check whether the voltage input to the

main circuit cable on the servo drive side
is within the following range:
◆◆ 220 V servo drive:

6. The voltage input to Effective value: 220 V to 240 V

Adjust or replace the power supply
the main circuit exceeds Allowable deviation: –10% to +10%
according to the specified range.
the specified range. (198 V to 264 V)
◆◆ 380 V servo drive:
Effective value: 380 V to 440 V
Allowable deviation: –10% to +10%
(342 V to 484 V)

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 10 Troubleshooting

Root Cause Confirming Method Solution

Perform inertia auto-tuning according to

"6.2 Inertia Auto-tuning" , or calculate
7. The load moment of the total mechanical inertia according to
inertia ratio is too large. mechanical parameters.
Check whether the actual load inertia Select an external regenerative resistor of
ratio exceeds 30. large capacity and set 2002-1Bh (Power of
external regenerative resistor) according
8. The motor speed to the actual value.
is too high, and
Select a servo drive of larger capacity.
deceleration is not done
View the motor speed curve during cyclic Reduce the load if allowed.
within the required
motion and check whether the motor is in
time. The motor is in Increase the acceleration/deceleration
the deceleration status for a long time.
continuous deceleration time if allowed.
status during cyclic Increase the cyclic deceleration interval
motion. of the servo drive if allowed.

9. The capacity of View the single-cycle speed curve

the servo drive or of the motor and calculate whether
regenerative resistor is the maximum braking energy can be
insufficient. absorbed completely.

10. The servo drive is

- Replace the servo drive.
faulty.

■■ E922.0: Resistance of the external regenerative resistor too small

Direct cause:

The value of 2002-1Ch (Resistance of external regenerative resistor) is smaller than the value of 2002-16h
(Minimum permissible resistance of regenerative resistor).

Root Cause Confirming Method Solution

When an external regenerative Measure the resistance of ◆◆ If yes, replace with an external regenerative
resistor is used (2002-1Ah = the external regenerative resistor that matches the servo drive and set
1, 2), the resistance of the resistor connected 2002-1Ch (Resistance of external regenerative
external regenerative resistor between terminals P and resistor) according to the resistance of the external
is smaller than the minimum C and check whether it is regenerative resistor used.
value allowed by the servo smaller than the value of ◆◆ If not, set 2002-1Ch according to the resistance of
drive. 2002-16h. the external regenerative resistor used.

■■ E924.0: Braking transistor over-temperature

Cause:

The estimated temperature of the braking transistor is higher than H0A-38 (Maximum protection
threshold)

■■ E941.0: Parameter modifications not effective

Root Cause Confirming Method Solution

The parameters modified

Check whether modifications of these
are those whose
parameters can be effective at next power- Power on the servo drive again.
"Effective time" is "Next
on.
power-on".

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 10 Troubleshooting

■■ E942.0: Parameter saved frequently

Direct cause:

The total number of parameters modified simultaneously exceeds 200.

Root Cause Confirming Method Solution

A large number of
Check whether parameters are modified Check the operation mode. For
parameters are modified
quickly and frequently through the host parameters that need not be saved in
and saved frequently to
controller. EEPROM, set 200E-02h to 0.
EEPROM (200E-02h = 1, 3).

■■ E950.0: Forward overtravel warning

Cause Confirming Method Solution

Check whether a DI in group 2003h Check the operation mode and on the
1. The logic of the DI
is assigned with FunIN.14 and check prerequisite of ensuring safety, send a
assigned with FunIN.14
whether the DI logic of the corresponding reverse run command or rotate the motor
is valid (Forward driving
bit of 200B-04h (Monitored DI status) is to deactivate the logic of the DI assigned
inhibited).
valid. with FunIN.14.

2. The servo drive

Check whether the position feedback
position feedback Ensure the travel distance of the load is
(0x6064) is close to the value of
reaches the positive within the software position limit.
0x607D-02.
software position limit.

■■ E952.0: Reverse overtravel warning

Root Cause Confirming Method Solution

Check whether a DI in group Check the operation mode and on the

1. The logic of the DI assigned with 2003h is assigned with FunIN.15 prerequisite of ensuring safety, send
FunIN.15 (Reverse driving inhibited) and check whether the DI logic of a forward run command or rotate the
is valid. the corresponding bit of 200B-04h motor to deactivate the logic of the DI
(Monitored DI status) is valid. assigned with FunIN.15.

2. The servo drive position feedback Check whether the position

Ensure the travel distance of the load
reaches the negative software feedback (0x6064) is close to the
is within the software position limit.
position limit. value of 0x607D-02.

■■ EA41.0: Torque ripple compensation failure

Root Cause Confirming Method Solution

The attempt to write torque ripple

If the fault persists after several
compensation parameters to the
Check the wiring of the encoder. attempts, contact Inovance for
encoder fails. An encoder data read/
technical support.
write error occurs.

10.5 Solutions to Communication Faults

This section describes solutions to communication faults.

■■ EE08.0: SYNC signal loss

Direct cause:

The SYNC signal is turned off when the EtherCAT network is in the OP state.
Root Cause Confirming Method Solution
Check whether the SYNC
The SYNC signal is
signal cycle is 0 through the Replace the servo drive. Contact Inovance for
not generated due to
oscilloscope in the software maintenance.
hardware errors.
tool.

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 10 Troubleshooting

■■ EE08.1: Network status switchover error

Direct cause:

The EtherCAT network status switches from OP to other status when the servo drive is enabled.

Cause Confirming Method Solution

Check whether the master switches
This fault is caused by mal-operation Check the network status switchover
the network status when the servo
of the master or the operator. program of the host controller.
drive is enabled.

■■ EE08.2: IRQ loss

For servo drives with H01-00 (MCU software version) = 902.0 or earlier, the fault causes include all the
causes for EE08.0, EE08.01, and EE08.3...EE08.6, without differentiation.

For servo drives with H01-00 (MCU software version) = 902.1 or later, fault causes are further
differentiated, which means EE08.2 will not be reported.

■■ EE08.3: LAN cable connected improperly

Direct cause:

The LAN cable is connected to the servo drive network port improperly. (The low 16 bits of H0E-29 is the
number of IN port loss events. The high 16 bits of H0E-29 is the number of OUT port loss events.)

Cause Confirming Method Solution

Check:
The physical connection
1) whether the LAN cable of the servo drive is connected Check the connection
of the data link is
securely. condition of the network port
unstable or the process
through the value change of
data is lost due to plug- 2) whether violent vibration occurs on site.
H0E-29 and replace with a
in/plug-out of the LAN 3) whether the LAN cable is plugged in or out.
new LAN cable.
cable.
4) whether the LAN cable provided by Inovance is used.

■■ EE08.4: Data frame loss protection error

Direct cause:

The PDO data is corrupted due to EMC interference or inferior LAN cable.

Cause Confirming Method Solution

Check whether the servo drive is
grounded properly and rectify the
The data is lost due to EMC Check whether the high 16 bits EMC intereference.
interference, poor quality of the LAN of H0E-25 have values that are Check whether the LAN cable used is
cable or poor connection. increasing. the one designated by Inovance.
Check whether the LAN cable is
connected properly.

■■ EE08.5: Data frame transfer error

Direct cause:

As error data frames are generated from the upstream slave, the downstream device receives invalid
data frames.

Cause Confirming Method Solution

Check wehther a process unit error
The upstream station detectes that
occurs due to transfer error (H0E-
the data frame has been corrupted
27) or invalid frame (H0E-28) upon Check the upstream station to locate
and marked, which is then transfered
occurrence of the fault and check the fault cause.
to the slave, leading to a warning
whether no counting is performed
report.
in RX-ERR of Port0.

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 10 Troubleshooting

■■ EE08.6: Data update timeout

Direct cause:

The slave is in the OP status and does not receive the data frame in a long time.

Cause Confirming Method Solution

Check wehther the operation load of
Check through the software tool
the master CPU is too large. Increase
The data frame is lost or aborted whether the phase difference
the communication time or set H0E-
in the upstream station or the between SYNC and IRQ exceeds the
22 to a large value.
performance of the master is poor. value of H0E-22 multiplied by the
Check whether link loss occurs on
communication cycle.
the upstream station.

■■ EE11.0: ESI check error

Direct cause:

The attempt to upload the XML file during EtherCAT communication fails.

Root Cause Confirming Method Solution

1. The XML file is programmed in the
EEPROM. Check whether the XML version
Program the XML file.
2. The XML file in the EEPROM is displayed in H0E-96 is normal.
modified unexpectedly.

■■ EE11.1: EEPROM read failure

Direct cause:

The EEPROM communication of external EtherCAT devices fails.

Root Cause Confirming Method Solution

The EtherCAT data in the EEPROM This fault persists after the servo drive
Replace the servo drive.
cannot be read. is powered off and on several times.

■■ EE11.2: EEPROM update failure

Direct cause:

The communication is normal but the message in the EEPROM is wrong or lost.

Root Cause Confirming Method Solution

The EtherCAT data in the EEPROM This fault persists after the servo drive is
Replace the servo drive.
cannot be updated. powered off and on several times.

■■ EE12.0: External devices of EtherCAT being abnormal

Direct cause:

The EtherCAT network cannot be initialized.

Root Cause Confirming Method Solution

1. The FPGA firmware is not Check whether the value of 2001-02h
Program the FPGA firmware.
programmed. is 09xx.Y.

Check whether the servo drive is

2. The servo drive is faulty. Replace the faulty servo drive.
faulty.

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 10 Troubleshooting

■■ EE13.0: Synchronization cycle setting error

Cause Confirming Method Solution

Check the setpoint of the Set the value of synchronization

The synchronization cycle is not a
synchronization cycle in the cycle to an integer multiple of
integer multiple of 125 µs or 250 µs.
controller. 125 µs or 250 µs.

■■ EE15.0: Number of synchronization cycle errors too large

Direct cause:

The number of synchronization cycle errors exceed the threshold.

Root Cause Confirming Method Solution

Measure the synchronization cycle

Excessive number of synchronization of the controller using a digital
Increase the value of 200E-21h.
cycle errors occur on the controller. oscilloscope or the oscilloscope
function in the software tool.

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 11 Application Cases

11 Application Cases
Case 1 AM600 Series Controller as the Host Controller
This section describes how to configure the SV660N series servo drive in working with the AM600 series
controller.

1) Opening the software and creating an AM600 project

Select AM600-CPU1608TP, the corresponding interface is shown below.

2) Adding a SV660N servo drive as a slave

Open the network configuration and import the ECT file of SV660N. Add a SV660N servo drive as a slave,
as shown below.

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 11 Application Cases

3) PDO mapping
Select Enable Expert Settings and perform PDO mapping in the process data according to the control
needs. In Case 1, CSP is used as the control mode and the default values of 1600 and 1A00 are used for
PDO parameters.

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 11 Application Cases

4) Configuring axis parameters

Set the software limit and the running mode in basic axis settings.

Select 16#800000 for the 23-bit encoder and 16#100000 for the 20-bit encoder during unit conversion.
In Case 1, the single-turn stroke is set to 60 mm, and 1 mm/s equals to 1 RPM of the motor.

Select the homing mode according to actual needs. See "7.9.4 Homing Operation" for details on the
homing mode.

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 11 Application Cases

5) Adding a program

Add a program to control the servo axis position, as shown below.

Implement the basic functions such as homing and positioning through adding the function blocks.

To implement directional motion through the logic program, call variables through different POUs and
set the variables as global variables.

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 11 Application Cases

After editing the program, click the icon indicated by the red square box to detect whether the program
is correct.

6) Downloading and performing commissioning of the program

After the program detection is done, download the program to PLC. The program can be activated upon
running. Before downloading, scan the PLCs first to select the target PLC, and then click the download
icon, as shown below.

After log-in, ensure the servo drive and the axis are in normal state.

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 11 Application Cases

Monitor critical parameters through the monitoring function. Start the testing procedures to perform
basic tests such as homing and positioning.

After the testing is done, perform directed running program.

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 11 Application Cases

Case 2 Omron NX1P2 Controller as the Host Controller

This section describes how to configure the SV660N series servo drive in working with Omron NX1P2
controller.

1) Installing the Sysmac Studio software

It is recommended to install the Sysmac Studio software of V1.10 or later.

2) Importing the device description file (V2.5 or later recommended)

Use the device description file of“SV660_1Axis_V0.04-0506.xml”or later version. The file path is as
follows:

OMRON\Sysmac Studio\IODeviceProfiles\EsiFiles\UserEsiFiles

If the file is stored in this path for the first time, the Sysmac Studio software must be restarted.

3) Setting the network connection attribute of the computer

If the computer is connected to the controller through an USB , this step can be skipped.

If the computer is connected to the controller through the Ethernet, set the TCP/IP attribute of the
computer, as shown below.

4) Configuring the servo drive

Recommended version:

The MCU version of the PCB software is“H0100 = 0900.1”or higher.

The FPGA version of the PCB software is“H0100 = 0902.1”or higher.

Pay attention to the setting of H0E-21.

Value Related Setting Effective

Para. No. Name Unit Default Value
Range Mode Condition Time
H0E 21 EtherCAT slave alias 0-65535 - 0 - At stop Immediately Non-zero

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 11 Application Cases

Value Related Setting Effective

Para. No. Name Unit Default Value
Range Mode Condition Time
When an Omron controller is used, set the EtherCAT communication station number in H0E-21. It is recommended to
set the station number according to the actual physical connection sequence to facilitate management.

Host controller SV660N network configuration station No. setting

(for reference only)
SV660N SV660N SV660N SV660N SV660N

Ecat Ecat Ecat Ecat Ecat

OUT OUT OUT OUT OUT
Omron ……
NX1P2
Ecat Ecat Ecat Ecat Ecat
IN IN IN IN IN
ECAT

H0E-21 = 1 H0E-21 = 2 H0E-21 = 3 H0E-21 = N H0E-21 = N + 1

5) Creating a project

Device: Select the device according to the actual controller model.

Version: Use V1.09 or later versions. NX1P2-1140DT supports V1.13 only.

6) Communication settings

After entering the main interface, set the connection mode between the computer and the controller in
Controller  Connection type.

You can select Remote connection via USB to perform USB Communication Test directly. If the test is
succeeded, go to the next step.

You can also select Ethernet connection via a hub, in this case, set the IP to 192.168.250.1 (IP controlled
by NX), and then perform Ethernet Communication Test. If the test is succeeded, go to the next step.

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 11 Application Cases

7) Scanning the device

Switch the controller to the online running mode.

Observe the controller status in the lower right corner: online, running mode.

A window is displayed if it is a new controller. Click Yes in this window. The name shown in the window
is the project name.

Scan the devices and add slaves.

Right click Configurations and SetupEtherCATMaster, and select Compare and Merge with
Actual Network Configuration. The controller scans all the slaves within the network (an error will be
reported if the station number is 0). After scanning, click Apply actual network configuration in the
pop-up window to add the slave. You can view in the main page for the slaves added .

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 11 Application Cases

8) Setting parameters

Switch the controller to the offline mode and set PDO mapping, axis parameters, and the DC clock.

8-1) Setting PDO mapping

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 11 Application Cases

Select the editable RPDO and TPDO provided by SV660N for configuration.

Modify the PDO mapping object through Add PDO Entry and Delete PDO Entry. The frequently used
mapping parameters are shown below.

RPDO

TPDO

8-2) Setting axis parameters

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 11 Application Cases

Right click Motion Control SetupAxis settings AddMotion Control Axis, as shown below.

MC_Axis000 can be renamed through a simple click. For example, if it is named as Rewind axis, the axis
variable Rewind axis used in the NX program represents control on this SV660N servo axis.

Double-click MC_Axis000 and configure the SV660N device of the corresponding station in the
corresponding basic axis setting interface.

1) Axis assignment

Axis number: Represents the Ethernet communication station No. of the servo drive, which is also the
value of H0E-21.

Axis use: Represents the axis in use.

Axis type: Represents the servo axis.

Output device 1: Select the SV660N servo drive.

2) Detailed settings

Select the PDO mapping objects according to step 8-1, which is to allocate the output parameters
(controller to device) and input parameters (device to controller). Note that the object name, node
number, and index number must be set correctly. Each mapping object selected in step 8-1 must be
allocated correctly. Otherwise, an error will be reported.

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 11 Application Cases

60FDh must be mapped to objects by bit. The mapping must be consistent with that in the Omron
controller. SV660N only supports the positive/negative limit, home function, and touch probe function.

$"65*0/

The axis configuration of SV660N needs to be performed manually.

8-3) Unit conversion setting

Set Command pulse count per motor rotation based on the resolution of the motor in use (example:
8388608 pulses for 23-bit motor). In this example set to 60 mm per revolution, which results in that 1
mm/s equals 1 RPM of the motor.

Select Unit of display based on the actual running unit when setting the gear ratio. All the position-type
parameters in the host controller will be displayed in this unit.

8-4) Operation settings

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 11 Application Cases

■■ Velocity/Acceleration/Deceleration: Set the maximum speed of the load according to actual

conditions. If the motor speed converted from the set value exceeds 6000 RPM, a prompt will be
displayed in the form of a red box.
If the acceleration/deceleration rate is 0, the running curve will be generated based on the maximum
acceleration/deceleration rate. If there is no special requirement, this parameter needs no setting.

■■ Torque: If the warning value is set to 0, no warning will be reported. If there is no special
requirement, this parameter needs no setting.

■■ Monitor: Set the In-position range and Zero position range based on actual motor and
mechanical conditions. If the set value is too small, positioning or homing may not be completed.

8-5) Software limits

The set software limits will be activated after homing.

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 11 Application Cases

8-6) Homing

The homing mode involves the servo drive and the host controller. Set the homing mode according to
the following table.

Description of NX Software Servo Drive Function Terminal Configuration

Home proximity signal Home switch (FunIN.31) -

Positive limit input P-OT (FunIN.14) DI1

Negative limit input N-OT (FunIN.15) DI2

Select the homing mode of the host controller and set the homing speed, acceleration, and home offset
based on actual mechanical conditions.

■■ Introduction to homing

Function block: MC_Home and MC_HomeWithParameter

1) Set MC_Home in the preceding figure and MC_HomeWithParameter in the function block.

2) The two function blocks both include 10 types of homing modes.

MC_Home MC_HomeWithParameter
Designates the homing action to be modified.
0: Promixity reverse turn/home proximity input OFF
1: Proximity reverse turn/home proximity input ON
4: Home proximity input OFF
5: Home proximity input ON
8: Limit input OFF
9: Proximity reverse turn/home input mask distance
11: Limit inputs only
12: Proximity reverse turn/holding time
13: No home proximity input/holding home input
14: Zero position preset

■■ Home proximity input OFF: The host controller searches for the home signal after reaching the
falling edge of the home proximity switch.

■■ Home proximity input ON: The host controller searches for the home signal after reaching the
rising edge of the home proximity switch.

■■ Proximity reverse turn: If the home proximity signal is ON when homing is enabled, the host
controller reverses the running direction immediately after reaching the falling edge of the home
proximity signal.

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 11 Application Cases

■■ Home input mask distance: The host controller masks the homing signal within a set distance after
receiving the home proximity signal (for example, edge change of home proximity signal) and starts
to receive the home signal only after the set distance is passed.

■■ Holding time: The host controller masks the home signal within a set period after receiving the
home signal (for example, edge change of home proximity signal) and starts to receive the home
signal only after the set period elapses.

■■ Zero position preset: The host controller uses the current position as the home and the motor does
not act. The host controller writes the home offset to the position reference/position feedback.

$"65*0/

The home signal is searched at low speed in all the homing modes. If the motor runs at high speed,
the home signal is masked when it decelerates from high speed to low speed.

8-7) DC clock

The default clock is 1 ms. The synchronization clock (cycle of primary fixed-cycle tasks) named“PDO
communication cycle”can be modified in Task Settings. The modification will be activated after
switching to the online state at next power-on.

9) Program control

After configurations are done, you can control the servo drive operations through the PLC program. If
the MC_POWER module is used, it is recommended to add the servo status bit MC_Axis000.DrvStatus.
Ready (MC_Axis000 is the axis name). This is to prevent the situation where the PLC program is running
but the communication configuration is not done.

10) Online running

After all the settings and programming procedures are done, switch to the online state, and click to

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 11 Application Cases

download the program to the controller.

Click to use the synchronization function. This function serves to compare the difference between
the current program and the program in the controller, allowing users to determine whether to
download the program to the controller, upload it from the controller“ ”or leave it unchanged
based on the differences.

You can monitor the data through the monitoring list or collect the data waveform by using the data
tracking function during running.

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 11 Application Cases

Case 3 Beckhoff TwinCAT3 as the Host Controller

The following section describes how to configure the SV660N servo drive in working with Beckhoff
TwinCAT3.

1) Installing the TwinCAT software

The TwinCAT3 software, which supports Win7 32-bit or 64-bit systems, can be downloaded from the
official website of Beckhoff.

$"65*0/

The Ethernet adapter must be 100M-Ethernet adapter with Intel chip. If the Ethernet adapter of
other brands is used, the EtherCAT operation may fail.

a) Copy the SV660N EtherCAT configuration file (SV660_1Axis_V0.04-0506) to the TwinCAT installation
directory: TwinCAT\3.1\Config\Io\EtherCAT.

b) Open TwinCAT3 and create a New Twincat3 Project.

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 11 Application Cases

2) Installing the TwinCAT network adapter drive

Open Show Real Time Ethernet Compatible Devices… in the menu shown in the preceding figure to
display the following dialog box. Select local connection under Incompatible devices, and click Install.
After installation is done, the network adapter installed will be displayed under Installed and ready to
use devices(realtime capable).

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 11 Application Cases

3) Searching for devices

a) Create a project and start searching for devices. Select“ ”, and

click " " as shown below.

b) Click OK.

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 11 Application Cases

c) Click OK.

d) Click Yes.

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 11 Application Cases

e) Click OK.

f) Click No.

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 11 Application Cases

g) The device search is done, as shown below.

4) Configuring servo drive parameters

Configure the parameters through SDO communication in CoE - Online interface. When 200E-01h is set
to 3, the parameter values modified through SDO communication will be saved upon power failure.

To modify 6060h to the CSP mode (8), follow the procedures shown in the following image.

This operation is available only when H02-00 (Control mode) is set to 9 (EtherCAT mode).
NOTE

5) Configuring PDO

Select 0x1600 and 0x1A00 as shown in the following figure. Change the current PDO only if it does not
fulfill your needs. To modify the PDO, right click the PDO Content window, click Delete to delete the
redundant PDO or click Insert to add the PDO needed.

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 11 Application Cases

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 11 Application Cases

6) Activating the configuration and switching to the running mode

a) Click .

b) Click OK.

c) After clicking OK, the device enters OP status as shown in the Online interface. The 3rd LED on the
keypad displays the value 8, and the keypad displays _88RY.

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 11 Application Cases

7) Controlling the servo drive through NC controller or PLC program

7-1) Servo drive running in the CSP mode

a) Set the unit.

The unit is“mm”during testing.

b) Set the scaling factor.

■■ Scaling factor Numerator: Indicates the distance corresponding to the encoder pulses per position
feedback.

For example, 8388608 pulses per motor revolution corresponds to the distance of 60 mm, and the scaling
factor is: 60/8388608 = 0.000007152557373 mm/Inc.

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 11 Application Cases

c) Set the encoder feedback mode to POSVELO.

Descriptions for“Other Settings”:

■■ Encoder mode: There are three encoder modes: POS, POSVELO, and POSVELOACC.

■■ POS: The encoder only calculates the position and is used when the position loop is in the servo
drive.

■■ POSVELO: The encoder only calculates the position and speed and is used when the position loop
is in TWinCAT NC.

■■ POSVELOACC: The TWinCAT NC uses the encoder to determine the position, speed, and
acceleration.

d) Jogging test

Hide the system deviation temporarily.

Click Set to display a dialog box and then click All to enable the servo drive. Perform jogging through F1
to F4. The jog speed is set as follows.

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 11 Application Cases

7-2) Controlling the servo operations through the PLC

a) Create a PLC program.

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 11 Application Cases

b) Add a motion control library for the convenience of calling the motion control function blocks.

c) Create a POU program.

d) Call the motion module to implement some simple actions of the servo drive and input the final
program to PlcTask (PlcTask).

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 11 Application Cases

e) Link the axis to the variables defined in the PLC.

f) Compile the program. If there is not fault, activate the configuration and log onto the PLC.

g) Click the Start icon to make the servo drive run.

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 11 Application Cases

8) Adding the HMI interface to control the servo drive through the HMI interface

9) Using the scope view function of Beckhoff.

a) Add a scope view project as shown in the following figure.

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 11 Application Cases

b) Add parameters to be monitored to monitor these parameters during PLC running.

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 11 Application Cases

Case 4 KEYENCE KV7500 Controller as the Host Controller

1 Configuring the servo drive

■■ Servo drive version

It is recommended to use the device description file of "SV660N-Ecat_v0.09.xml" or above for trial run of
SV660N series servo drives.

It is recommended to use MCU software version of 901.4 or above for SV660N series servo drives.

■■ Description of related parameters

Definitions of 60FD in the object dictionary of SV660N are as follows:

bit0: negative limit
bit1: positive limit
bit2: home switch
bit16 to bit20 correspond to DI1 to DI5.

2 Configuring the software tool of KV7500 controller

Use the KEYENCE software tool of KV STUDIO 9.45 or above. Versions lower than KV STUDIO 9.45 do not
support extension of the EtherCAT module "KV-XH16EC".

■■ Unit configuration setting

Creat a project and click OK to display the following window. Click Yes, No, or Read unit setting as
needed.

Click Read unit setting when the physical PLC unit is connected properly and able to communicate
with the software tool. The software tool obtains unit settings automatically according to the physical
connection.

If you click Yes, the Unit editor window is displayed, allowing you to select units for configuration
through dragging or double-clicking.

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 11 Application Cases

If you click No, you can instead click Tool > Unit editor or double-click [0] KV7500 under Unit
configuration.

■■ Axis configuration setting

Select Axis configuration setting and double-click Register ESI file. Find the storage directory of the
device description file ".xml" and open it to import the ".xml" file. After the device description file is
imported, you can start to add axes and set the control cycle in Axis configuration setting. The default
control cycle is 1 ms and the minimum control cycle is 250 us.

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 11 Application Cases

You can add the axes needed through dragging or double-clicking. Select the corresponding axis, and
set critical information such a Encoder resolutuion, Max. motor speed, and Max. motor torque for
this axis. You can add PDO setting in detailed setting of the slave.

If extension setting is needed, set Extension setting to Enable.

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 11 Application Cases

For motion function settings, you can double-click or click the ComboBox (small triangle icon) to select
the PDO configuration needed fron the dropdown list, or you can right click and select Automatic
assignment, and then click Yes, in this way the assigned contents will correspond to preceding PDO
contents automatically. During manual assignment, do not neglect any contents in the PDO mapping.
Otherwise, a pop-up window will be displayed to remind you of the missing contents when you click OK.
For Communication command at initialization, DC setting, and Advanced settings, use the default
values. After settings are done, click OK.

After Slave detailed setting is done, the exclamation symbol disappears.

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 11 Application Cases

After adding the axes, click OK. The following dialogue box opens, asking you whether to set up
coordinate transformation.

Click Yes and the coordinate transformation dialog box opens. Set mechanical parameters and the
coordinate unit based on actual conditions and click Execute calculation. The software calculates the
denominator and numerator for coordinate transformation automatically and writes parameters to Axis
control setting automatically.

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 11 Application Cases

If you click No, you can instead click Tool > Coordinate transformation calculation > HV-XH setting >
Coordinate transformation calculation.

■■ Axis control setting

To open axis control setting, click Tool > Axis configuration setting > KV-XH setting > Axis control
setting, or click Axis control setting under Project. In axis control setting, you can set items including
Unit coordinate transformation, Software limit coord, Axis error, Axis control function, Common
in position control, Operation speed, and JOG.

3 Operation settings

■■ Homing

Before performing homing, assign (+) limit switch, (-) limit switch, and Orgin sensor in Motion
function setting under Axis configuration setting to each bit of 60FD. 60FD is defined as follows by
Inovance:

bit0: negative limit

bit1: positive limit
bit2: home switch
bit16 to bit 20 corresponding to DI1 to DI5 respectively.

In automatic assignment, you need to assign (+) limit switch, (-) limit switch, and origin sensor manually,
you can assign them to corresponding bits of 60FD based on the relation shown in the following figure or
to bit16...bit20, in this case, you also need to assign them to corresponding DIs of the servo drive.

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 11 Application Cases

Set the restriction parameters for homing in Axis control setting > Origin return. The following homing
methods are available. For detailed trajectories, see KEYENCE instruction manual for positioning/motion
control unit KV-XH16EC.

Default DOG type (with phase Z)

DOG type (with Decelerates upon DOG signal input and executes homing through
phase Z) phase Z signal.
DOG type (without Decelerates upon DOG signal input and executes homing in the
phase Z) falling edge of DOG signal.
DOG-type jogging Pauses after moving based on Dog ON upon DOG signal input,
(with phase Z) then moves to the homign direction through position speed
control and executes homing with phase Z signal.
DOG-type jogging Moves based on Dog ON upon DOG signal input before executing
(without phase Z) homing.
DOG type (contact) Executes homing when the ON duration of the torque limit signal
keeps longer than the compression torque time upon DOG signal
input.
Origin sensor and Executes homing in the initial phase Z position after the origin
Setting Range
phase Z sensor is ON.
Rising edge of origin
Executes homing using the rising edge of the origin sensor.
sensor
Middle point of Takes the middle point of the ON range of origin sensor as the
origin sensor origin and compares it with that in the homing method "Rising
(without phase Z) edge of origin sensor". Even if the light-receptive performance of
the origin sensor is deterioriated, the homing position can hardly
change with the time.
Rising edge of limit Executes homing with negative limit switch as the origin sensor.
switch
Immediate homing Executes homing using phase Z signal.
of phase Z
Data setting type Takes current coordinate as the origin coordinate.

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 11 Application Cases

The following homing methods are available in IS620N and SV660N series servo drive.

No. Homing Method IS620N SV660N

1 DOG type (with phase Z) OK OK
2 DOG type (without phase Z) OK OK
3 DOG-type jogging (with
No No
phase Z)
4 DOG-type jogging (without
No No
phase Z)
5 Homing is available and the home (origin) can
be determined after homing, but the reference
DOG type (contact) OK coordinate is not 0.
Updating to the xml coordinate of IS620N
zeroes out the reference coordinate.
6 Origin sensor and phase Z OK OK
7 Rising edge of origin sensor OK OK
8 Middle point of origin
No No
sensor
9 Homing is available,
but the reference Homing is available, but the reference
Rising edge of limit switch
coordinate after coordinate after homing is not 0.
homing is not 0.
10 Immediate homing of
OK OK
phase Z

■■ Positioning operation

Set the correct unit coordinate transformation before positioning operation. The unit coordinate
transformation is PLS by default, which allows no modification on the numerator or denominator.
Suppose N revolutions is required by the servo drive, in this case, the number of commands that need
to be sent by the host controller is N x pulses per revolution. If coordinate transformation calculation
has been confirmed, the unit coordinate transformation parameters will correspond to the unit
transformation results automatically.

Set the motion profile of the servo drive in Point parameter. You can set the target coordinate and
speed per positioning segment as needed. After setting, you can call the corresponding point No.
through the program to start operation.

You can preview the parameter trajectory through the following short-cut.

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 11 Application Cases

Ladder diagrams can be written using regular methods or the following time-saving method provided by
KEYENCE.

1. Drag down the Point parameter window with left mouse button, and zoom out the window to put it
in a proper place.

2. Move the mouse to the point parameter, such as No.1-Axis1, and wait until the mouse icon to change
from an arrow to a small hand. Then drag towards the program edit interface with mouse right button,
and the following shortcut pops out.

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 11 Application Cases

Select the function needed, such as Operation enable, click it to generate a DEMO program
automatically. Then designate the part in red as the relay needed. After these actions are done, this
function is done compiling.

4 Unit monitor

The unit monitor supports monitoring on the operating state of KV-XH16EC or the internal data.

Select the unit to be monitored and right-click to select Unit monitor in the shorcut menu, or double-
click with left mouse button to open the Unit monitor, or right-click the blank part in the main program
to select Unit monitor in the pop-up menu.

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 11 Application Cases

The unit monitor displays the operating state of each axis. To change the operating state of the monitor
item, click Monitor item setting on the top right corner. To check whether I/O signals such as limit
switch signals and origin sensor signals are normal, open Unit monitor and find the corresponding
monitoring position. If corresponding message is received, a small black circle will be displayed.
The error state of the unit can also be displayed in the Unit monitor. The axis error can be cleared using
the Error clear button in the bottom right.

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 11 Application Cases

5 Trial run

In trial run, actions can be acknowledged directly, without programming ladder diagrams. You can find
the Trial run button at the bottom right of the unit monitor interface. Select the control mode from
positioning control, speed control, and torque control, and then select the object axis for trial run. If
trial run is executed in the speed control mode or torque control mode, a warning will be reported. To
execute trial run, set the control mode to position control mode. The following introduces trial run >
positioning control.

1) OP enable/Servo ON: Unrelated to the status of the ladder diagram program. OP enable and Servo
ON can be executed through Commissioning. After operations are done, the Operation ready and
Servo ready indicators are green. To ensure safety, set the CPU unit to PROG mode and execute
operations again after stopping ladder diagram program.

Confirm the following items when the Servo ready indicator is not in green.

■■ No error occurs on the axis.

■■ No warning occurs on the servo drive.

■■ The main circuit power supply of the servo drive is switched on.

■■ The Ethernet cable is connected.

2) Axis error/Error clear: Check the axis error occurred and clear the error. After rectify the error
cause, click Error clear button to clear the error.

3) JOG: Click or to execut forward or reverse JOG, which operates with the speed multiplied
by a certain ratio between 10% to 100%, settable based on an increment of 1%.

4) Inching: Click or to execute forward or reverse inching based on Axis control setting >
JOG starting speed and the movement value defined in Axis control setting > Inching movement.

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 11 Application Cases

5) Origin return: Click the Origin return button to execut homing.

6) Teaching: Click the Acquire button to save current command coordinate value to the buffer
memory of the target coordinate of the designated poing number. The teaching function is available
only in the online edit mode. The teaching value will also be reflected to the buffer memory and the
point parameter.

7) Trial run: Designate a point number and click the Start button to execute point positioning. To
stop operation, click the Decel Stop or Force Stop button to stop smoothly with speed reduced to
zero gradully or stop immediately with shock being incurred. Clicking the 1 point operation button
makes the servo drive execute positioning of one point. Clicking the Cont. operation button makes
the servo drive execute positioning of ten points at most. Clicking the Repeat button makes the
servo drive return to the point in the first row and execute positioning repeatedly after positioning
of the point in the last row is done. The time interval between points can be set to a value within 0.1s
to 20.0s.

8) Changing current coordinate: Click Command coordinate and the Changing current coordinate
dialog box opens. Enter the coordinate needing to be changed and click the Change button
to change the current coordinate of an axis in trial run, and then close the Changing current
coordinate dialog box. If you click the Close button after changing current coordinate, the
Changing current coordinate dialog box will be closed with current coordinate unchanged.

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 12 Appendix

12 Appendix
12.1 Standards Compliance

12.1.1 CE Certification

■■ CE Mark

Figure 12-1 CE Mark

1) The CE mark indicates compliance with European safety and environmental regulations. The
European Norm includes the Machinery Directive for machinery manufacturers, the Low Voltage
Directive for electronics manufacturers, and EMC directive for electromagnetic interference control.

2) The CE mark is required for engaging in commercial business (production, importation, and
distribution) in Europe.

3) This servo drive carries the CE mark and complies with the following directives:

Low Voltage Directive: 2014/35/EU

EMC Directive: 2014/30/EU

4) Machines and devices integrated with this servo drive must also be CE certified.

5) The integrator who integrates this servo drive into other products and attaches CE mark to the final
assembly has the responsibility of ensuring compliance with CE standards and the European Norm.

12.1.2 Low Voltage Directive Compliance

This servo drive has been tested according to IEC 61800-5-1, and it complies with the Low Voltage
Directive.

Abide by the following requirements to enable machines and devices integrated with this servo drive to
comply with the Low Voltage Directive.

■■ Installation location

Install the servo drive in places with overvoltage and pollution respectively not higher than category 3
and severity 2 in accordance with IEC60664.

■■ Fuse on the input side (primary side)

To prevent accidents caused by short circuit, connect an UL-compliant fuse on the input side. Select the
fuse according to the following table.

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 12 Appendix

Table 12-1 Recommended fuse model

Bussmann FWH Series (UL-

Servo Drive Series Servo Drive Model Rated Input Current
compliant)

Single-phase 220 V

SV660NS1R6I 2.3 FWP-15B

Size A
SV660NS2R8I 4 FWP-20B

Size B SV660NS5R5I 7.9 FWP-20B

Size C SV660NS7R6I 5.1 FWP-20B

Size D SV660NS012I 8 FWP-35B

Three-phase 220 V

Size C SV660NS7R6I 5.1 FWP-20B

Size D SV660NS012I 8 FWP-35B

Three-phase 380 V

SV660NT3R5I 2.4 FWP-15B

Size C
SV660NT5R4I 3.6 FWP-20B

SV660NT8R4I 5.6 FWP-20B

Size D
SV660NT012I 8 FWP-35B

SV660NT017I 12 FWP-50B

Size E SV660NT021I 16 FWP-70B

SV660NT026I 21 FWP-125B

◆◆ When the fuse burns or the wiring breaker trips, do not switch on the power supply or operate the
machine immediately. Check the cable connections and the models of peripherals to identify the
cause. If the cause cannot be identified, contact Inovance. Do not switch on the power supply or
operate the machine without permission before identifying the cause.
NOTE ◆◆ Each input cable of the servo drive must be connected to a fuse. When a fuse burns, replace all
the fuses.

■■ In-cabinet installation to prevent intrusion of unwanted objects

The SV660N series servo drive must be installed in a cabinet with the fire-proof housing that provides
effective electrical and mechanical protection. The installation must conform to local laws and
regulations and related IEC requirements.

■■ Grounding

For a servo drive of class 400 V, connect the neutral point of the servo drive power supply to the ground.

12.1.3 EMC Directive Compliance

Electromagnetic compatibility (EMC) describes the ability of electrical and electronic devices to work
properly in the electromagnetic environment without introducing electromagnetic interferences that
disturb the operation of other local devices or systems. In other words, EMC includes two aspects:
1) The electromagnetic interference generated by a device during normal operation cannot exceed a
certain limit.
2) The device must have sufficient immunity to the electromagnetic interference in the environment.

Abide by the following requirements to make SV660N series servo drives comply with the European EMC
directive 2014/30/EU, EN 61800-3 C2, IEC 61800-3, and IEC 61800-5-2:

1) Install the recommended external EMC filter on the servo drive's input end and the shielded cable
on the output end. Ensure that the filter is reliably grounded and the output cable shield is

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 12 Appendix

grounded 360 degrees with a cable gland. See "12.1.5 Selection of EMC Filters" for selection of the EMC
filter.

2) Install the recommended AC reactor on the input end. See section 12.1.5 for selection of the reactor.

3) Use a shielded cable between the servo drive and the motor. See "3 Wiring" for selection and layout
of the cables.

4) Install and wire the servo drive according to the recommended wiring method. See "3 Wiring" for
details.

5) Install a common mode filter if necessary.

◆◆ When applied in the first environment, the servo drive may generate radio interference. In
addition to the CE compliance requirements described in this chapter, take measures to prevent
the radio interference if necessary.
◆◆ The manufacturer of the system integrated with this drive is responsible for compliance of the
NOTE system with the European EMC directive and standard EN 61800-3:2004 +A1:2012 according to
the system application environment.

12.1.4 Definition of EMC Terms

First environment: Environment that includes domestic premises, and establishments directly
connected without intermediate transformers to a low-voltage power supply network which supplies
buildings used for domestic purposes

Second environment: Environment that includes all establishments other than those directly connected
to a low-voltage power supply network which supplies buildings used for domestic purposes

Category C1 drive: Power drive system (PDS) with rated voltage less than 1000 V, intended for use in the
first environment

Category C2 drive: PDS with rated voltage less than 1000 V, which is neither a plug-in device nor a
movable device and, when used in the first environment, is intended to be installed and commissioned
only by professionals

Category C3 drive: PDS with rated voltage less than 1000 V, intended for use in the second environment
and not intended for use in the first environment

Category C4 drive: PDS with rated voltage equal to or above 1000 V, or rated current equal to or above
400 A, or intended for use in complex systems in the second environment

12.1.5 Selection of EMC Filters

■■ EMI filter

The following series of filters fulfill the EN 61800-3 C2 emission requirement of CE certification. Connect
the filter and the servo drive to the same grounding reference surface to enable reliable grounding of the
filter. The cable between the filter and the servo drive must be shielded cable with length less than
30 cm.

1) Appearance

Figure 12-2 Schaffner FN3258 series filter

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 12 Appendix

Figure 12-3 Schaffner FN2080 series filter

■■ Recommended Model Selection

The recommended Schaffner models are listed in the following table.

Table 12-2 Recommended EMC input filters

Rated Input Current Filter Model

Series Servo Drive Model
(In) (Manufactuer: Schaffner)
Single-phase 220 V
SV660NS1R6I 2.3 FN2090-3-06
Size A
SV660NS2R8I 4 FN2090-4-06
Size B SV660NS5R5I 7.9 FN2090-8-06
Size C SV660NS7R6I 5.1 FN 3258-7-44
Size D SV660NS012I 8 FN 3258-16-44
Three-phase 220 V
Size C SV660NS7R6I 5.1 FN 3258-7-44
Size D SV660NS012I 8 FN 3258-16-44
Three-phase 380 V
SV660NT3R5I 2.4 FN 3258-7-44
Size C
SV660NT5R4I 3.6 FN 3258-7-44
SV660NT8R4I 5.6 FN 3258-7-44
Size D
SV660NT012I 8 FN 3258-16-44
SV660NT017I 12 FN 3258-16-44
Size E SV660NT021I 16 FN 3258-16-44
SV660NT026I 21 FN 3258-30-33

2) Mounting dimensions (FN2080 and FN3258)

Multiple servo drives can be connected to the same external EMI filter if the following conditions are
met:

■■ The single-phase device is connected to a single-phase EMI filter, and the three-phase device is
connected to a three-phase EMI filter.

■■ The total current consumption of the connected devices must be equal to or less than the rated
current allowed by the EMI filter.

■■ Dimensions of Schaffner FN2080 series filters (1-16 A)

A I
F
D H

K
B E G
J
N
L M
C

Figure 12-4 Dimensions of FN2080 series filters (1–16 A) (unit: mm)

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 12 Appendix

Table 12-3 Dimensions of FN2080 series filters (1-16 A) (unit: mm)

Rated
Current A B C D E F G H I J K L M N
(A)

1 85 54 30.3 64.8 49.8 75 27 12.3 20.8 19.9 5.3 6.3 0.7 6.3 x 0.8

3 85 54 40.3 64.8 49.8 75 27 12.3 29.8 11.4 5.3 6.3 0.7 6.3 x 0.8

6 113.5±1 57.5±1 45.4±1 94±1 56 103 25 12.4 32.4 15.5 4.4 6 1 6.3 x 0.8

10 156±1 57.5±1 45.4±1 130.5±1 56 143 25 12.4 32.5 15.5 5.3 6 1 6.3 x 0.8

12 156±1 57.5±1 45.4±1 130.5±1 56 143 25 12.4 32.5 15.5 5.3 6 1 6.3 x 0.8

16 119±1 85.5±1 57.6±1 98.5±1 84.5 109 40 15.6 - 42.25 4.4 7.4 1.2 6.3 x 0.8

■■ Dimensions of Schaffner FN3258 series filters (7–180 A)

D I

C
J
L
H
K
A
B
G
F

Figure 12-5 Dimensions of FN3258 series filters (7–180 A) (unit: mm)

Table 12-4 Dimensions of FN3258 series filters (7–180 A)

Rated Input
A B C D E F G H I K L
Current J
(mm) (mm) (mm) (mm) (mm) (mm) (mm) (mm) (mm) (mm) (mm)
(A)

7 190 40 70 160 180 20 4.5 1 22 M5 20 29.5

16 250 45 70 220 235 25 5.4 1 22 M5 22.5 29.5

30 270 50 85 240 255 30 5.4 1 25 M5 25 39.5

42 310 50 85 280 295 30 5.4 1 25 M6 25 37.5

55 250 85 90 220 235 60 5.4 1 39 M6 42.5 26.5

75 270 80 135 240 255 60 6.5 1.5 39 M6 40 70.5

100 270 90 150 240 255 65 6.5 1.5 45 M10 45 64

130 270 90 150 240 255 65 6.5 1.5 45 M10 45 64

180 380 120 170 350 365 102 6.5 1.5 51 M10 60 47

3) Safety capacitance box and magnetic ring

To filter out part of the interference generated during running, connect a safety capacitance box and
wind a magnetic ring around the input/output cable in some applications.

The safety capacitance box must be grounded to the grounding terminal of the servo drive with a
grounding cable as short as possible (within 15 cm).

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 12 Appendix

L1
L2
L3
P
D
c
N
U
L1 V
L2
L3 W
PE
PE

Cable length Cable length

< 150 mm < 150 mm

Cxy-1-1
Magnetic ring
Safety capacitance box
(wind by three turns)

Figure 12-6 Installation of the capacitance box and the magnetic ring

■■ Dimension drawing of the safety capacitance box

6.5±0.2 4.5±0.2

Brown

Brown
75±0.5
65±2

85±2

Brown Yellow-green

38±2
45±0.5
65±2

72±2

Figure 12-7 Dimensions of the safety capacitance box

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 12 Appendix

Table 12-5 Dimensions of the safety capacitance box

Safety Capacitance Box Dimension (Width x Mounting Dimension (Width x

Code
Model Depth x Height) (mm) Depth) (mm)

Cxy-1-1 11025018 85 x 72 x 38 45 x 75

■■ Selection of the output magnetic ring

To reduce the noise current and the interference to neighboring devices, install the output magnetic ring
around the U/V/W power cables (PE excluded) near the servo drive side.

L1
L2
L3
P
D
c
N
U
V
W
PE

U
V W

Cable length
PE < 150 mm

Magnetic ring
(wind by three turns)

Figure 12-8 Installation of the output magnetic ring (external)

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 12 Appendix

Figure 12-9 Appearance of the output magnetic rings (external)

Table 12-6 Model selection of the output magnetic rings (external)

Dimensions (Outer Diameter x Inner

Magnetic Ring Model Code
Diameter x Thickness) (mm)

CTRC 0930 -1B 11013003 19.5 x 9 x 35

7427122S 11013046 32.8 x 13.5 x 28

DY644020H 11013031 64 x 40 x 20

DY805020H 11013032 80 x 50 x 20

DY1207030H 11013033 120 x 70 x 30

■■ AC input reactor

The AC input reactor is an option used to suppress the harmonics in the input current. In applications
where strong suppression of harmonics is required, install an external AC input reactor.

12.1.6 Cable Requirements and Routing

■■ Requirements on Power Cables

To fulfill the EMC requirements of CE marking, use shielded cables. Shielded cables are classified into
three-conductor cables and four-conductor cables. If the conductivity of the cable shield cannot meet
the requirement, add a separate PE cable, or use a four-conductor shielded cable, of which one phase
conductor is PE cable. The cable shield, which serves to suppress the emission and conduction of the
radio frequency interference, must be made of co-axial copper braids with a weaving density larger than
85% to enhance shielding and conductivity performance.

Power cables recommended are shielded cables, as shown in the following figure.

PE and shield Shield Shield Shield

PE PE
PE

■■ Requirements on wiring

1) The motor cables and PE shielded cables (twisted) must be as short as possible. For motor cables
over 100 meters, install an output filter or a dv/dt reactor.

2) It is recommended to adopt shielded cables for the control signals.

3) It is recommended to adopt shielded cables for the motor brake.

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 12 Appendix

4) The motor cables must be routed away from other cables. The motor cables of several servo drives
can be routed in parallel.

5) It is recommended that the motor cables, power input cables and control cables be routed in
different cable duct. The motor cables and other cables cannot be routed in parallel for a long
distance. This is to prevent the electromagnetic interference caused by rapid change of the drive
output voltage.

6) If the control cable must pass through the power cable, make sure the angle between them is close
to 90 degrees. Other cables cannot pass through the servo drive.

7) Power input and output cables and signal cables (such as control cables) of the servo drive should,
if possible, be laid upright rather than in parallel.

8) Cable ducts must be in good connection and well grounded. Aluminum cable ducts can be used to
improve equal potential.

9) The grounding plane of different equal potential must be connected properly using cables with a
cross sectional area of more than 16 mm2.

10) The filter, the servo drive and the motor must be properly connected to the electrical system, with
the conductive metal kept in full contact.

■■ The recommended wiring diagram is shown below.

Main circuit cable

Control cable Min.: 300 mm

Power cable
Min.: 200 mm

Min.: 500 mm
Main circuit cable Communication cable
Min.: 500 mm

Communication cable Servo drive

Control cable

90 ° Min.: 500 mm Regenerative

resistor cable

Power cable

Min.: 500 mm
Control cable 90 °
Main circuit cable Encoder cable

12.1.7 Solutions to Leakage Current

The servo drive outputs high-speed pulse voltage, which may generate high-frequency leakage current. It
is recommended to use a residual current device (RCD) with tripping current not lower than 100 mA. If
multiple servo drives share the same RCD, the tripping current of this RCD must be not lower than 300 mA.

Factors that affect the leakage current are listed as follows:

■■ Distributed capacitance of the motor

■■ Carrier frequency

■■ Type and length of the motor cables.

■■ EMI filter

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 12 Appendix

When the leakage current generated by the servo drive causes the RCD to trip, take the following
measures:

■■ Increase the rated tripping current of the RCD.

■■ Replace the original RCD with a time-delay type-B RCD.

■■ Reduce the carrier frequency.

■■ Shorten the length of the drive output cables.

■■ Wind the magnetic ring around the power cables (PE cable excluded). Recommended RCD brands
are Chint and Schneider.

12.1.8 Solutions to Common EMC Problems

The servo drive generates strong interferences. Although EMC measures are taken, interference may still
exist due to improper wiring or grounding during use. When the servo drive interferes with other devices,
adopt the following solutions.

Table 12-7 Solutions to common EMC interference problems

Interference Type Solution

◆◆ Reduce the carrier frequency without compromising the performance.

◆◆ Shorten the servo drive cable length.
◆◆ Wind the ferrite core around the power cables (PE cable excluded).
◆◆ For tripping at the moment of power-on, disconnected the capacitor that carries
RCD tripping larger capacity (disconnect the grounding end of the external or internal filter and
the grounding end of the grounding Y capacitor of the input terminal).
◆◆ For tripping during running or enabling, take leakage current
suppression measures (install a leakage current filter, or install a safety capacitor
and/or wind a magnetic ring).

◆◆ Connect the motor housing to the PE terminal of the servo drive.

◆◆ Connect the PE terminal of the servo drive to the PE terminal of the mains power
supply.
◆◆ Route the power cables (main circuit cables，power cables, and
regenerative resistor cables), control cables, and signal cables through different
routes.
◆◆ Wind the ferrite core around the power cables (PE cable excluded).
Interference generated ◆◆ Install a capacitor to the interfered signal port or wind the ferrite core around this
during running port.
◆◆ Install a matching resistor between the communication cable source and the load
end.
◆◆ Add an auxiliary reference ground wire if the differential cable pair are used for
communication.
◆◆ Adopt shielded cables as communication cables
◆◆ Apply additional common-ground connection between devices and
cabinets.

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 12 Appendix

12.1.9 UL Certification

Figure 12-10 UL/cUL mark

The UL/cUL mark is commonly applied to products in the United States and Canada. It indicates that UL
has performed product tests and evaluations, and determined that their stringent standards for product
safety have been met. For a product to receive UL certification, the main components inside that product
must also be UL certified.

This series of servo drives have been tested in accordance with UL standard 61800-5-1 and CSA C22.2 No.
274-17 and comply with UL/cUL standards. Abide by the following requirements to enable machines and
devices integrated with this servo drive to comply with UL/cUL standards.

■■ Installation location

Install the servo drive in a place with pollution degree 1 or 2 (UL standard).

■■ Ambient temperature

Run the servo drive in an ambient temperature not higher than 50° C.

■■ Wiring example

See "3 Wiring" or the wiring diagram that complies with the Low Voltage Directive.

■■ Wiring of main circuit terminals

To meet UL standard, use UL-compliant crimping terminals to crimp the cables on main circuit terminals
with the tools recommended by the terminal manufacturer for crimping. Use crimping terminals with
insulated cladding or insulated sleeves.

Adopt UL-compliant insulated copper cables as main circuit cables, and the continuous maximum
allowable temperature of such cables is 75° C.

Select the cable dimension and tightening torque according to "3 Wiring" during wiring.

（Note: “ “ indicates the grounding terminal defined in IEC/EN60417-5019)

■■ Fuse on the input side (primary side)

To prevent accidents caused by short circuit, connect a fuse that complies with UL standards on the
input side. See "10 Troubleshooting" for fuse selection.

See the specifications and model selection of the servo drive for the input and output current of the
servo drive.

See "10 Troubleshooting" for fuse model recommendations.

◆◆ When the fuse burns or the wiring breaker trips, do not switch on the power supply or operate the
machine immediately. Check the wiring and the models of peripherals to identify the cause. If the
cause cannot be identified, contact Inovance. Do not switch on the power supply or operate the
machine without permission before identifying the cause.
NOTE ◆◆ Each input cable of the servo drive must be connected to a fuse. When a fuse burns, replace all
the fuses.

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 12 Appendix

■■ Short-circuit withstand capacity

This series of servo drives adopt the Bussmann FWH series fuses, which can be used in a main circuit of
480 V (400 V class) and below, with short-circuit current less than 100,000 A.

12.2 List of Object Groups

Description of Object Groups

Parameter access address: Index + subindex, both are hexadecimal data.

The CiA402 protocol establishes the following constraints on the parameter address.

Index (Hex) Description

0000-0FFF Data type description

1000-1FFF CoE communication object

2000-5FFF Manufacturer-defined object

6000-9FFF Profile object

A000-FFFF Reserved

Object Group 1000h

Index Sub-index PDO Data

Name Accessibility Unit Data Range Default
(hex) (hex) Mapping Type

1000 00 Device type RO NO Uint32 - - 0x00020192

Manufacturer device
1008 00 RO NO - - - SV660N-ECAT
name
Determined by
Manufacturer
1009 00 RO NO - - - the hardware
hardware version
version
Determined by
Manufacturer
100A 00 RO NO - - - the software
software version
version
ID object
Highest sub-index
00 No. included in the ID RO NO Uint8 - - 0x04
object
1018
01 Vendor ID RO NO Uint32 - - 0x00100000
02 Product code RO NO Uint32 - - 0x000C010D
03 Revision number RO NO Uint32 - - 0x00010001
04 Serial No. RO NO Uint32 - - 0x00000000
Manufacturer software version
Number of Sync
00 RO NO Uint8 - - 0x04
Manager channels
Communication type
01 RO NO Uint8 - - 0x01
SM0
1C00 Communication type
02 RO NO Uint8 - - 0x02
SM1
Communication type
03 RO NO Uint8 - - 0x03
SM2
Communication type
04 RO NO Uint8 - - 0x04
SM3

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 12 Appendix

Index Sub-index PDO Data

Name Accessibility Unit Data Range Default
(hex) (hex) Mapping Type

RPDO mapping object in group 1600

Number of mapping
00 RW NO Uint8 - 0–0x0A 0x03
objects in group 1600
01 1st mapping object RW NO Uint32 - 0–0xFFFFFFFF 0x60400010
2nd mapping
02 RW NO Uint32 - 0–0xFFFFFFFF 0x60600008
object
03 3rd mapping object RW NO Uint32 - 0–0xFFFFFFFF 0x60B80010
1600 04 4th mapping object RW NO Uint32 - 0–0xFFFFFFFF -
05 5th mapping object RW NO Uint32 - 0–0xFFFFFFFF -
06 6th mapping object RW NO Uint32 - 0–0xFFFFFFFF -
07 7th mapping object RW NO Uint32 - 0–0xFFFFFFFF -
08 8th mapping object RW NO Uint32 - 0–0xFFFFFFFF -
09 9th mapping object RW NO Uint32 - 0–0xFFFFFFFF -
10th mapping
0A RW NO Uint32 - 0–0xFFFFFFFF -
object
RPDO mapping objects in group 1701
Number of mapping
00 RO NO Uint8 - - 0x04
objects in group 1701
01 1st mapping object RO NO Uint32 - - 0x60400010
1701
2nd mapping
02 RO NO Uint32 - - 0x607A0020
object
03 3rd mapping object RO NO Uint32 - - 0x60B80010
04 4th mapping object RO NO Uint32 - - 0x60FE0120
RPDO mapping objects in group 1702
Number of mapping
00 RO NO Uint8 - - 0x07
objects in group 1702
01 1st mapping object RO NO Uint32 - - 0x60400010
02 2nd mapping object RO NO Uint32 - - 0x607A0020
1702
03 3rd mapping object RO NO Uint32 - - 0x60FF0020
04 4th mapping object RO NO Uint32 - - 0x60710010
05 5th mapping object RO NO Uint32 - - 0x60600008
06 6th mapping object RO NO Uint32 - - 0x60B80010
07 7th mapping object RO NO Uint32 - - 0x607F0020
RPDO mapping objects in group 1703
Number of mapping
00 RO NO Uint8 - 0x07
objects in group 1703
01 1st mapping object RO NO Uint32 - 0x60400010
02 2nd mapping object RO NO Uint32 - 0x607A0020
1703
03 3rd mapping object RO NO Uint32 - 0x60FF0020
04 4th mapping object RO NO Uint32 - 0x60600008
05 5th mapping object RO NO Uint32 - 0x60B80010
06 6th mapping object RO NO Uint32 - 0x60E00010
07 7th mapping object RO NO Uint32 - 0x60E10010

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 12 Appendix

Index Sub-index PDO Data

Name Accessibility Unit Data Range Default
(hex) (hex) Mapping Type

RPDO mapping objects in group 1704

Number of mapping
00 RO NO Uint8 - - 0x09
objects in group 1704
01 1st mapping object RO NO Uint32 - - 0x60400010
02 2nd mapping object RO NO Uint32 - - 0x607A0020
03 3rd mapping object RO NO Uint32 - - 0x60FF0020
1704
04 4th mapping object RO NO Uint32 - - 0x60710010
05 5th mapping object RO NO Uint32 - - 0x60600008
06 6th mapping object RO NO Uint32 - - 0x60B80010
07 7th mapping object RO NO Uint32 - - 0x607F0020
08 8th mapping object RO NO Uint32 - - 0x60E00010
09 9th mapping object RO NO Uint32 - - 0x60E10010
RPDO mapping objects in group 1705
Number of mapping
00 RW NO Uint8 - - 0x08
objects in group 1705
01 1st mapping object RW NO Uint32 - - 0x60400010
02 2nd mapping object RW NO Uint32 - - 0x607A0020
1705 03 3rd mapping object RW NO Uint32 - - 0x60FF0020
04 4th mapping object RW NO Uint32 - - 0x60600008
05 5th mapping object RW NO Uint32 - - 0x60B80010
06 6th mapping object RW NO Uint32 - - 0x60E00010
07 7th mapping object RW NO Uint32 - - 0x60E10010
08 8th mapping object RW NO Uint32 - - 0x60B20010
Mapping objects in group 1A00
Number of mapping
00 RW NO Uint8 - 0–0x0A 0x07
objects in group 1A00
01 1st mapping object RW NO Uint32 - 0–0xFFFFFFFF 0x60410010
02 2nd mapping object RW NO Uint32 - 0–0xFFFFFFFF 0x60640020
03 3rd mapping object RW NO Uint32 - 0–0xFFFFFFFF 0x60B90010

1A00 04 4th mapping object RW NO Uint32 - 0–0xFFFFFFFF 0x60BA0020

05 5th mapping object RW NO Uint32 - 0–0xFFFFFFFF 0x60BC0020
06 6th mapping object RW NO Uint32 - 0–0xFFFFFFFF 0x603F0010
07 7th mapping object RW NO Uint32 - 0–0xFFFFFFFF 0x60FD0010
08 8th mapping object RW NO Uint32 - 0–0xFFFFFFFF -
09 9th mapping object RW NO Uint32 - 0–0xFFFFFFFF -
0A 10th mapping object RW NO Uint32 - 0–0xFFFFFFFF -
Mapping objects in group 1B01
Number of mapping
00 RO NO Uint8 - - 0x09
objects in group 1B01
01 1st mapping object RO NO Uint32 - - 0x603F0010
02 2nd mapping object RO NO Uint32 - - 0x60410010
03 3rd mapping object RO NO Uint32 - - 0x60640020
1B01
04 4th mapping object RO NO Uint32 - - 0x60770010
05 5th mapping object RO NO Uint32 - - 0x60F40020
06 6th mapping object RO NO Uint32 - - 0x60B90010
07 7th mapping object RO NO Uint32 - - 0x60BA0020
08 8th mapping object RO NO Uint32 - - 0x60BC0020
09 9th mapping object RO NO Uint32 - - 0x60FD0010

-521-
 12 Appendix

Index Sub-index PDO Data

Name Accessibility Unit Data Range Default
(hex) (hex) Mapping Type

Mapping objects in group 1B02

Number of mapping
00 RO NO Uint8 - - 0x09
objects in group 1B02
01 1st mapping object RO NO Uint32 - - 0x603F0010
02 2nd mapping object RO NO Uint32 - - 0x60410010
03 3rd mapping object RO NO Uint32 - - 0x60640020
1B02
04 4th mapping object RO NO Uint32 - - 0x60770010
05 5th mapping object RO NO Uint32 - - 0x60610008
06 6th mapping object RO NO Uint32 - - 0x60B90010
07 7th mapping object RO NO Uint32 - - 0x60BA0020
08 8th mapping object RO NO Uint32 - - 0x60BC0020
09 9th mapping object RO NO Uint32 - - 0x60FD0010
Mapping objects in group 1B03
Number of mapping
00 RO NO Uint8 - - 0x0A
objects in group 1B03
01 1st mapping object RO NO Uint32 - - 0x603F0010
02 2nd mapping object RO NO Uint32 - - 0x60410010
03 3rd mapping object RO NO Uint32 - - 0x60640020
1B03 04 4th mapping object RO NO Uint32 - - 0x60770010
05 5th mapping object RO NO Uint32 - - 0x60F40020
06 6th mapping object RO NO Uint32 - - 0x60610008
07 7th mapping object RO NO Uint32 - - 0x60B90010
08 8th mapping object RO NO Uint32 - - 0x60BA0020
09 9th mapping object RO NO Uint32 - - 0x60BC0020
0A 10th mapping object RO NO Uint32 - - 0x60FD0010
Mapping objects in group 1B04
Number of mapping
00 RO NO Uint8 - - 0x0A
objects in group 1B04
01 1st mapping object RO NO Uint32 - - 0x603F0010
02 2nd mapping object RO NO Uint32 - - 0x60410010
03 3rd mapping object RO NO Uint32 - - 0x60640020
1B04 04 4th mapping object RO NO Uint32 - - 0x60770010
05 5th mapping object RO NO Uint32 - - 0x60610008
06 6th mapping object RO NO Uint32 - - 0x60F40020
07 7th mapping object RO NO Uint32 - - 0x60B90010
08 8th mapping object RO NO Uint32 - - 0x60BA0020
09 9th mapping object RO NO Uint32 - - 0x60BC0020
0A 10th mapping object RO NO Uint32 - - 0x606C0020
Sync Manager 2_RPDO assignment

Number of assigned
00 RW NO Uint8 - 0–0x01 0x01
RPDOs
1C12
1st PDO mapping
01 object index of RW YES Uint16 - 0–0xFFFF 0x1701
assigned RPDO

-522-
 12 Appendix

Index Sub-index PDO Data

Name Accessibility Unit Data Range Default
(hex) (hex) Mapping Type

Sync Manager 2_TPDO assignment

Number of assigned
00 RW NO Uint8 - 0–0x1 0x01
TPDOs
1C13
1st PDO mapping
01 object index of RW YES Uint16 - 0–0xFFFF 0x1B01
assigned TPDO
Sync Manager 2 Synchronization output
Number of
00 synchronization RO NO Uint8 - - 0x20
parameters
01 Synchronization type RO NO Uint16 - - 0x0002
02 Cycle time RO NO Uint32 ns - 0
1C32 Synchronization
04 RO NO Uint16 - - 0x0004
types supported
05 Minimum cycle time RO NO Uint32 ns - 0x0003D090
Calculation and copy
06 RO NO Uint32 ns - -
time
09 Delay time RO NO Uint32 ns - -
20 Synchronization error RO NO BOOL - - -
Sync Manager 2 Synchronization input
Number of
00 synchronization RO NO Uint8 - - 0x20
parameters
01 Synchronization type RO NO Uint16 - 0x0002
02 Cycle Time RO NO Uint32 ns - 0
1C33 Synchronization
04 RO NO Uint16 - - 0x0004
types supported
05 Minimum cycle time RO NO Uint32 ns - 0x0003D090
Calculation and copy
06 RO NO Uint32 ns - -
time
09 Delay time RO NO Uint32 ns - -
20 Synchronization error RO NO BOOL - - -

-523-
 12 Appendix

Object Group 2000h

Parameter Group
Hexadecimal Decimal Min. Setting Effective
Name Option Description Value Range Default Width
Index Para. Unit Condition Time
Group
Code No.
2000h/H00 Servo motor parameters
Next
01h H00-00 Motor code - 0–65535 14101 1 16 bits At stop
power-on
Customized
03h H00-02 - 0–0xFFFFFFFF 0 1 32 bits - -
software version
05h H00-04 Encoder version - 0–65535 0 0.1 16 bits - -
Serial-type motor
2000 06h H00-05 - 0–65535 0 1 16 bits - -
code
FPGA customized
07h H00-06 - 0–65535 0 1 16 bits - -
No.
08h H00-07 STO version 0–65535 0 1 16 bits - -
Serial encoder Next
09h H00-08 - 0–65535 0 1 16 bits At stop
type power-on
2001h/H01: Servo drive parameters
MCU software
01h H01-00 - 0–6553.5 0 1 16 bits - -
version
FPGA software
02h H01-01 - 0–6553.5 0 1 16 bits - -
version
2: 1R6
3: S2R8
5: S5R5
60005: S6R6
6: S7R6
7: S012
Servo drive series Next
0Bh H01-10 10001: T3R5 0–65535 3 1 16 bits At stop
number power-on
10002: T5R4
10003: T8R4
10004: T012
10005: T017
2001
10006: T021
10007: T026
Voltage class of
0Ch H01-11 - 0–65535 220 1V 16 bits - -
the drive unit
Rated power of
0Dh H01-12 - 0–10737418.24 0.4 1 kW 32 bits - -
the servo drive
Max. output power
0Fh H01-14 - 0–10737418.24 0.4 1 kW 32 bits - -
of the servo drive
Rated output
11h H01-16 current of the servo - 0–10737418.24 2.8 1A 32 bits - -
drive
Max. output current
13h H01-18 - 0–10737418.24 10.1 1A 32 bits - -
of the servo drive
DC bus overvoltage
29h H01-40 protection - 0–2000 420 1V 16 bits - -
threshold
2002h/H02 Basic control parameters
0: Speed control mode
1: Position control
Immed-
2002 01h H02-00 Control mode mode 0–9 9 1 16 bits At stop
iately
2: Torque control mode
9: EtherCAT mode

-524-
 12 Appendix

Parameter Group
Hexadecimal Decimal Min. Setting Effective
Name Option Description Value Range Default Width
Index Para. Unit Condition Time
Group
Code No.
0: Incremental mode
1: Absolute position
linear mode
2: Absolute position
rotation mode
Absolute system Next
02h H02-01 3: Absolute position 0–4 0 1 16 bits At stop
selection power-on
linear mode, no
encoder overflow
alarm
4: Absolute position
single-turn mode

0: CCW direction as the

forward direction Next
03h H02-02 Rotation direction 0–1 0 1 16 bits At stop
1: CW direction as the power-on
forward direction

-3: Stop at zero speed,

keeping DB state
-2: Ramp to stop as
defined by 6084h/609Ah,
keeping DB state
-1: DB stop, keeping DB
Stop mode at Immed-
06h H02-05 state -3 to +1 0 1 16 bits At stop
S-ON OFF iately
0: Coast to stop, keeping
de-energized state
1: Ramp to stop as
defined by 6084h/609Ah,
keeping de-energized
2002 state
-5: Stop at zero speed,
keeping DB state
-4: Stop at emergency
torque, keeping DB state
-3: Ramp to stop as
defined by 6084h,
keeping DB state
-2: Ramp to stop as
defined by 6084h/609Ah,
keeping DB state
-1: DB stop, keeping DB
state
Stop mode at No. Immed-
07h H02-06 0: Coast to stop, keeping -5 to +3 2 1 16 bits At stop
2 fault iately
de-energized state
1: Ramp to stop as
defined by 6084h/609Ah,
keeping de-energized
state
2: Ramp to stop as
defined by 6084h,
keeping de-energized
state
3: Stop at emergency
torque, keeping de-
energized state

-525-
 12 Appendix

Parameter Group
Hexadecimal Decimal Min. Setting Effective
Name Option Description Value Range Default Width
Index Para. Unit Condition Time
Group
Code No.
0: Coast to stop,
keeping de-energized
state
1: Stop at zero speed,
keeping position lock
state
2: Stop at zero speed,
keeping de-energized
state
3: Ramp to stop as
defined by 6084h/609Ah,
keeping de-energized
Stop mode upon Immed-
08h H02-07 state 0–7 1 1 16 bits At stop
overtravel iately
4: Ramp to stop as
defined by 6084h/609Ah,
keeping position lock
state
5: DB stop, keeping de-
energized state
6: DB stop, keeping DB
state
2002 7: Not responding to
overtravel, displaying
the alarm only
0: Coast to stop,
keeping de-energized
state
Stop mode at No. Immed-
09h H02-08 1: DB Stop, keeping de- 0–2 2 1 16 bits At stop
1 fault iately
energized state
2: DB Stop, keeping DB
state
Delay from brake
output ON to During Immed-
0Ah H02-09 - 0–500 250 1 ms 16 bits
command running iately
received
Delay from brake
output OFF to During Immed-
0Bh H02-10 - 50–1000 150 1 ms 16 bits
motor running iately
de-energized
Motor speed
threshold at brake During Immed-
0Ch H02-11 - 20–3000 30 1 RPM 16 bits
output OFF in the running iately
rotation status

-526-
12 Appendix

-527-
 12 Appendix

Parameter Group
Hexadecimal Decimal Min. Setting Effective
Name Option Description Value Range Default Width
Index Para. Unit Condition Time
Group
Code No.
Delay from S-ON
OFF to brake During Immed-
0Dh H02-12 - 1–1000 500 1 ms 16 bits
output OFF in the running iately
rotation state
0: Output warning
information
Warning During Immed-
10h H02-15 immediately 0–1 0 1 16 bits
display on keypad running iately
1: Not output warning
information

DB relay coil ON During Immed-

15h H02-20 - 30–30000 30 1 ms 16 bits
delay running iately

Permissible
min. resistance
16h H02-21 - 1–1000 40 1Ω 16 bits - -
of regenerative
resistor
Power of built-
17h H02-22 in regenerative - 0–65535 0 1W 16 bits - -
resistor
Resistance of
built-in
18h H02-23 - 0–65535 0 1Ω 16 bits - -
regenerative
resistor
Resistor heat
During Immed-
19h H02-24 dissipation - 10–100 30 1% 16 bits
running iately
coefficient
0: Built-in
2002 1: External, naturally
ventilated
Regenerative During Immed-
1Ah H02-25 2: External, forced air 0–3 3 1 16 bits
resistor type running iately
cooling
3: No regenerative
resistor needed
Power of
external During Immed-
1Bh H02-26 - 1–65535 40 1 kW 16 bits
regenerative running iately
resistor
Resistance of
external During Immed-
1Ch H02-27 - 15–1000 50 1Ω 16 bits
regenerative running iately
resistor
During Immed-
1Fh H02-30 User password - 0–65535 0 1 16 bits
running iately
0: No operation
System parameter 1: Restore default Immed-
20h H02-31 0–2 0 1 16 bits At stop
initialization settings iately
2: Clear fault records
Group H0B
During Immed-
21h H02-32 parameter - 0–99 50 1 16 bits
running iately
selection
Keypad data During Immed-
24h H02-35 - 0–20 0 1 Hz 16 bits
refresh rate running iately
During Immed-
2Ah H02-41 Factory password - 0–65535 0 1 16 bits
running iately
2003h/H03 Terminal input parameters

-528-
 12 Appendix

Parameter Group
Hexadecimal Decimal Min. Setting Effective
Name Option Description Value Range Default Width
Index Para. Unit Condition Time
Group
Code No.
0: No definition
1: S-ON
2: Fault reset
14: Positive limit switch
DI1 function 15: Negative limit During Immed-
03h H03-02 0–40 14 1 16 bits
selection switch running iately
31: Home switch
34: Emergency stop
38: Touch probe 1
39: Touch probe 2
0: Normally open During Immed-
04h H03-03 DI1 logic selection 0–1 0 1 16 bits
1: Normally closed running iately
0–39
DI2 function During Immed-
05h H03-04 See the description of 0–40 15 1 16 bits
selection running iately
H03-02 for details.
0–1
During Immed-
06h H03-05 DI2 logic selection See the description of 0–1 0 1 16 bits
running iately
H03-03 for details.
0–39
DI3 function During Immed-
07h H03-06 See the description of 0–40 31 1 16 bits
selection running iately
H03-02 for details.
0–1
During Immed-
08h H03-07 DI3 logic selection See the description of 0–1 0 1 16 bits
2003 running iately
H03-03 for details.
0–39
DI4 function During Immed-
09h H03-08 See the description of 0–40 39 1 16 bits
selection running iately
H03-02 for details.
0–1
During Immed-
0Ah H03-09 DI4 logic selection See the description of 0–1 0 1 16 bits
running iately
H03-03 for details.
0–39
DI5 function During Immed-
0Bh H03-10 See the description of 0–40 38 1 16 bits
selection running iately
H03-02 for details.
0–1
During Immed-
0Ch H03-11 DI5 logic selection See the description of 0–1 0 1 16 bits
running iately
H03-03 for details.
During Immed-
3Dh H03-60 DI1 filter time - 0–500 0.5 1 ms 16 bits
running iately
During Immed-
3Eh H03-61 DI2 filter time - 0–500 0.5 1 ms 16 bits
running iately
During Immed-
3Fh H03-62 DI3 filter time - 0–500 0.5 1 ms 16 bits
running iately
During Immed-
40h H03-63 DI4 filter time - 0–500 0.5 1 ms 16 bits
running iately

During Immed-
41h H03-64 DI5 filter time - 0–500 0.5 1 ms 16 bits
running iately

2004h/H04 Terminal Output Parameters

-529-
 12 Appendix

Parameter Group
Hexadecimal Decimal Min. Setting Effective
Name Option Description Value Range Default Width
Index Para. Unit Condition Time
Group
Code No.
0: No definition
1: Servo ready
2: Motor rotating
DO1 function 9: Brake output During Immed-
01h H04-00 0–32 1 1 16 bits
selection 10: Warning running iately
11: Fault
25: Comparison output
32: STO EDM

DO1 logic 0: Normally open During Immed-

02h H04-01 0–1 0 1 16 bits
selection 1: Normally closed running iately
2004
0–32
DO2 function During Immed-
03h H04-02 See the description of 0–32 11 1 16 bits
selection running iately
H04-00 for details.
0–1
DO2 logic During Immed-
04h H04-03 See the description of 0–1 0 1 16 bits
selection running iately
H04-01 for details.
0–32
DO3 function During Immed-
05h H04-04 See the description of 0–32 9 1 16 bits
selection running iately
H04-00 for details.
0–1
DO3 logic During Immed-
06h H04-05 See the description of 0–1 0 1 16 bits
selection running iately
H04-01 for details.
0: Status of DO1 to DO3
unchanged in the non-
OP status
1: No output in DO1
and status of others
unchanged in the non-
OP status
2: No output in DO2
and status of others
unchanged in the non-
OP status
3: No output in DO1
or DO2 and status of
EtherCAT forced others unchanged in
During Immed-
18h H04-23 DO offline output the non-OP status 0–7 0 1 16 bits
running iately
logic 4: No output in DO3,
status of others
unchanged in the non-
OP status
5: No output in DO1 or
DO3, status of others
unchanged in the non-
OP status
6: No output in DO2
or DO3 and status of
others unchanged in
the non-OP status
7: No output in DO1,
DO2, or DO3.
2005h/H05 Position control parameters

-530-
 12 Appendix

Parameter Group
Hexadecimal Decimal Min. Setting Effective
Name Option Description Value Range Default Width
Index Para. Unit Condition Time
Group
Code No.
First-order low-
Immed-
05h H05-04 pass filter time - 0–6553.5 0 1 ms 16 bits At stop
iately
constant
Average filter time Immed-
06h H05-05 - 0–1000 0 1 ms 16 bits At stop
constant 1 iately
Average filter time Immed-
07h H05-06 - 0–128 0 1 ms 16 bits At stop
constant 2 iately
Numerator of
During Immed-
08h H05-07 electronic gear - 0–4294967295 1 1 32 bits
running iately
ratio
Denominator of
During Immed-
0Ah H05-09 electronic gear - 0–4294967295 1 1 32 bits
running iately
ratio
0: No speed
feedforward
Speed 1: Internal speed
feedforward Immed-
14h H05-19 feedforward 0–3 1 1 16 bits At stop
iately
control selection 2: 60B1 as speed
feedforward
3: Zero phase control
Condition for 0: Position deviation
outputting = Filtered position Immed-
15h H05-20 0–3 0 1 16 bits At stop
positioning reference - Position iately

2005 completed signal feedback

Duration limit of During Immed-
24h H05-35 - 0–6553.5 5000 1s 16 bits
homing running iately
Position offset in
absolute position -2147483648 to During Immed-
2Fh H05-46 - 0 1 32 bits
linear mode (low +2147483647 running iately
32 bits)
Position offset in
absolute position -2147483648 to During Immed-
31h H05-48 - 0 1 32 bits
linear mode (high +2147483647 running iately
32 bits)
Numerator of the
mechanical gear
Immed-
33h H05-50 ratio in absolute - 1–65535 1 1 16 bits At stop
iately
position rotation
mode
Denominator of
mechanical gear
Immed-
34h H05-51 ratio in absolute - 1–65535 1 1 16 bits At stop
iately
position rotation
mode
Pulses per
revolution of the
load in absolute Immed-
35h H05-52 - 0–4294967295 0 1p 32 bits At stop
position rotation iately
mode (low 32
bits)
Pulses per
revolution of the
load in absolute Immed-
2005 37h H05-54 - 0–4294967295 0 1p 32 bits At stop
position rotation iately
mode (high 32
bits)
2006h/H06 Speed control parameters

-531-
 12 Appendix

Parameter Group
Hexadecimal Decimal Min. Setting Effective
Name Option Description Value Range Default Width
Index Para. Unit Condition Time
Group
Code No.
During Immed-
04h H06-03 Speed reference - -6000 to +6000 200 1 RPM 16 bits
running iately
Acceleration ramp
During Immed-
06h H06-05 time of speed - 0–65535 0 1 RPM 16 bits
running iately
reference
Deceleration
During Immed-
07h H06-06 ramp time of - 0–65535 0 1 RPM 16 bits
running iately
speed reference
Forward speed During Immed-
09h H06-08 - 0–6000 6000 1 RPM 16 bits
limit running iately

Reverse speed During Immed-

0Ah H06-09 - 0–6000 6000 1 RPM 16 bits
limit running iately

Deceleration unit 0: x 1
Immed-
0Bh H06-10 under emergency 1: x 10 0–2 0 1 16 bits At stop
iately
stop 2: x 100

0: No torque
feedforward
Torque
2006 1: Internal torque During Immed-
0Ch H06-11 feedforward 0–2 1 1 16 bits
feedforward running iately
control selection
2: 60B2 as external
torque feedforward
Jog speed
During Immed-
0Dh H06-12 acceleration ramp - 0–65535 10 1 ms 16 bits
running iately
time
Speed
During Immed-
0Eh H06-13 feedforward - 0–2000 0 1 16 bits
running iately
smoothing filter
Motor speed During Immed-
11h H06-16 - 0–1000 20 1 RPM 16 bits
threshold running iately
0: No During Immed-
17h H06-22 Enable 0–1 1 1 16 bits
1: Yes running iately

0: No During Immed-
17h H06-22 Study 0–1 1 1 16 bits
1: Yes running iately

Spline torque
0: Disable During Immed-
1Dh H06-28 compensation 0–1 1 1 16 bits
1: Enable running iately
selection
2007h/H07 Torque control parameters
Torque reference
During Immed-
04h H07-03 value set through - -400 to +400 0 1% 16 bits
running iately
keypad
Torque reference
During Immed-
06h H07-05 filter time - 0–30 0.2 1 ms 16 bits
running iately
constant 1
Torque reference
During Immed-
2007 07h H07-06 filter time - 0–30 0.27 1 ms 16 bits
running iately
constant 2
Forward internal During Immed-
0Ah H07-09 - 0–400 350 1% 16 bits
torque limit running iately
Reverse internal During Immed-
0Bh H07-10 - 0–400 350 1% 16 bits
torque limit running iately
Emergency stop During Immed-
10h H07-15 - 0–400 100 1% 16 bits
torque running iately

-532-
 12 Appendix

Parameter Group
Hexadecimal Decimal Min. Setting Effective
Name Option Description Value Range Default Width
Index Para. Unit Condition Time
Group
Code No.
Forward internal
During Immed-
14h H07-19 speed limit in - 0–6000 3000 1 RPM 16 bits
running iately
torque control
Reverse internal
During Immed-
15h H07-20 speed limit in - 0–6000 3000 1 RPM 16 bits
running iately
torque control
Base value for During Immed-
16h H07-21 - 0–400 0 1% 16 bits
torque reach running iately
Torque output
value when
During Immed-
17h H07-22 torque reached - 0–400 20 1% 16 bits
running iately
DO signal turned
on
Torque output
value when
During Immed-
18h H07-23 torque reached - 0–400 10 1% 16 bits
running iately
DO signal turned
off
2007
Flux-weakening During Immed-
19h H07-24 - 60–115 115 100% 16 bits
depth running iately
Maximum
allowable During Immed-
1Ah H07-25 - 1–100 100 100% 16 bits
demagnetizing running iately
current

Flux-weakening 0: Disable During Immed-

1Bh H07-26 0–1 0 1 16 bits
enable 1: Enable running iately

Flux-weakening During Immed-

1Ch H07-27 - 1–1000 30 1 Hz 16 bits
gain running iately
Time constant of During Immed-
25h H07-36 - 0–10 0 1 ms 16 bits
low-pass filter 2 running iately
Torque reference 0: First-order filter During Immed-
26h H07-37 0–1 0 1 16 bits
filter selection 1: Biquad filter running iately
Attenuation ratio Immed-
27h H07-38 - 0–50 16 1 16 bits At stop
of biquad filter iately
2008h/H08 Gain parameters
During Immed-
01h H08-00 Speed loop gain - 0.1–2000 39 1 16 bits
running iately
Speed loop
During Immed-
02h H08-01 integral time - 0.15–512 20.51 1 ms 16 bits
running iately
constant
During Immed-
03h H08-02 Position loop gain - 0.1–2000 55.7 1 Hz 16 bits
running iately
2nd speed loop During Immed-
04h H08-03 - 0.1–2000 75 1 Hz 16 bits
gain running iately
2nd speed loop
2008 During Immed-
05h H08-04 integral time - 0.15–512 10.61 1 ms 16 bits
running iately
constant
2nd position loop During Immed-
06h H08-05 - 0.1–2000 120 1 Hz 16 bits
gain running iately
0: Fixed at the 1st
gain, P/PI switchover
through bit26 of 60FE
2nd gain mode During Immed-
09h H08-08 1: 1st/2nd gain 0–1 1 1 16 bits
setting running iately
switchover valid, with
H08-09 as the
switchover condition

-533-
 12 Appendix

-534-
 12 Appendix

Parameter Group
Hexadecimal Decimal Min. Setting Effective
Name Option Description Value Range Default Width
Index Para. Unit Condition Time
Group
Code No.
0: Fixed at 1st gain (PS)
1: Switchover through
bit26 of 60FE
2: Torque
reference too large (PS)
3: Speed
reference too large (PS)
4: Speed
reference change ratio
too large (PS)
Gain switchover 5: Speed reference During Immed-
0Ah H08-09 high/low-speed 0–10 0 1 16 bits
condition running iately
threshold (PS)
6: Position
deviation too large (P)
7: Position reference
available (P)
8: Positioning
unfinished (P)
9: Actual speed (P)
10: Position reference
existed + Actual speed
(P)
Gain switchover During Immed-
0Bh H08-10 - 0–1000 5 1 ms 16 bits
delay running iately
Gain switchover During Immed-
0Ch H08-11 - 0–20000 50 1 16 bits
level running iately
Gain switchover During Immed-
0Dh H08-12 - 0–20000 30 1 16 bits
hysteresis running iately
Position gain During Immed-
0Eh H08-13 - 0–1000 3 1 ms 16 bits
switchover time running iately
2008
During Immed-
10h H08-15 Load inertia ratio - 0–120 3 1 16 bits
running iately
During Immed-
12h H08-17 Zero phase delay - 0–4 0 1 ms 16 bits
running iately
Speed
During Immed-
13h H08-18 feedforward filter - 0–64 0.5 1 ms 16 bits
running iately
time constant
Speed During Immed-
14h H08-19 - 0–100 0 1% 16 bits
feedforward gain running iately
Torque
During Immed-
15h H08-20 feedforward filter - 0–64 0.5 1 ms 16 bits
running iately
time constant

Torque During Immed-

16h H08-21 - 0–300 0 1% 16 bits
feedforward gain running iately

0: Average filter on speed

feedback inhibited
1: 2 times of average filter
on speed feedback
Speed feedback 2: 4 times of average filter Immed-
17h H08-22 0–4 0 1 16 bits At stop
filter option on speed feedback iately
3: 8 times of average filter
on speed feedback
4: 16 times of average filter
on speed feedback
Cutoff frequency
During Immed-
18h H08-23 of low-pass filter 100–8000 8000 Hz 16 bits
running iately
of speed feedback
PDFF control During Immed-
19h H08-24 0–200 100 % 16 bits
coefficient running iately

-535-
 12 Appendix

Parameter Group
Hexadecimal Decimal Min. Setting Effective
Name Option Description Value Range Default Width
Index Para. Unit Condition Time
Group
Code No.
Speed observer During Immed-
1Ch H08-27 - 50–600 170 Hz 16 bits
cutoff frequency running iately
Speed observer
During Immed-
1Dh H08-28 inertia correction - 1–1600 100 % 16 bits
running iately
coefficient
Speed observer During Immed-
1Eh H08-29 - 0–10 0.8 ms 16 bits
filter time running iately
Disturbance
During Immed-
1Fh H08-30 compensation - 0–100 0.2 ms 16 bits
running iately
time
Disturbance
During Immed-
20h H08-31 observation - 10–4000 600 Hz 16 bits
running iately
cutoff frequency
Disturbance
During Immed-
21h H08-32 compensation - 0–100 0 % 16 bits
running iately
gain
Disturbance
observer inertia During Immed-
22h H08-33 - 1–1600 100 % 16 bits
correction running iately
coefficient
Phase modulation
of medium- During Immed-
26h H08-37 - -90 to +90 0 ° 16 bits
frequency running iately
suppression 2
Frequency
of medium- During Immed-
27h H08-38 - 0–1000 0 Hz 16 bits
frequency running iately
suppression 2
2008 Compensation
gain of medium- During Immed-
28h H08-39 - 1–300 0 % 16 bits
frequency running iately
suppression 2
Speed observer 0: Disabled During Immed-
29h H08-40 0–1 0 1 16 bits
selection 1: Enabled running iately
Model control 0: Disabled During Immed-
2Bh H08-42 0–1 0 1 16 bits
selection 1: Enabled running iately
During Immed-
2Ch H08-43 Model gain - 0.1–2000 40 1 16 bits
running iately
Feedforward During Immed-
2Fh H08-46 - 0–102.4 95 1 16 bits
value running iately
Medium and low
frequency During Immed-
36h H08-53 - 0–300 0 Hz 16 bits
jitter suppression running iately
frequency 3
Medium- and low-
frequency jitter During Immed-
37h H08-54 - 0–200 0 1% 16 bits
suppression running iately
compensation 3
Medium- and
low- frequency
During Immed-
39h H08-56 jitter suppression - 0–600 100 1% 16 bits
running iately
phase
modulation 3
Medium- and low-
frequency During Immed-
3Ch H08-59 - 0–300 0 Hz 16 bits
jitter suppression running iately
frequency 4

-536-
 12 Appendix

Parameter Group
Hexadecimal Decimal Min. Setting Effective
Name Option Description Value Range Default Width
Index Para. Unit Condition Time
Group
Code No.
Medium- and low-
frequency jitter During Immed-
3Dh H08-60 - 0–200 0 1% 16 bits
suppression running iately
compensate 4
Medium- and
low- frequency
During Immed-
3Eh H08-61 jitter suppression - 0–600 100 1% 16 bits
running iately
phase
modulation 4
Position loop
During Immed-
3Fh H08-62 integral time - 0.15–512 512 1 16 bits
running iately
constant
2nd position loop
During Immed-
40h H08-63 integral time - 0.15–512 512 1 16 bits
running iately
constant
Speed 0: Disable During Immed-
41h H08-64 observation 0–1 0 1 16 bits
1: Enable running iately
feedback source
Viscous friction
During Immed-
49h H08-72 of zero deviation - 0–100 0 1 16 bits
running iately
control
Forward coulomb
During Immed-
4Ah H08-73 friction of zero - 0–100 0 1 16 bits
running iately
deviation control
Reverse coulomb
During Immed-
2008 4Bh H08-74 friction of zero - -100–0 0 1 16 bits
running iately
deviation control
Friction
compensation 0: Disable During Immed-
4Ch H08-75 0–1 0 1 16 bits
selection of zero 1: Enable running iately
deviation control
Acceleration
compensation During Immed-
4Dh H08-76 - 0–900 0 1 16 bits
factor of zero running iately
deviation control
Static friction of
During Immed-
4Eh H08-77 zero deviation - 0–100 0 1 16 bits
running iately
control
Speed of
transition
between coulomb
During Immed-
4Fh H08-78 friction and - 0–100 0 1 16 bits
running iately
viscous friction
of zero deviation
control
Initial torque
During Immed-
50h H08-79 shock of zero - 0–100 0 1 16 bits
running iately
deviation control
Friction
compensation During Immed-
51h H08-80 - 0–1000 20 1 16 bits
delay of zero running iately
deviation control
2009h/H09 Gain auto-tuning parameters

-537-
 12 Appendix

Parameter Group
Hexadecimal Decimal Min. Setting Effective
Name Option Description Value Range Default Width
Index Para. Unit Condition Time
Group
Code No.
0: Invalid, gain
parameters adjusted
manually
1: Standard gain
auto-tuning mode
2: Positioning mode
Gain auto-tuning During Immed-
01h H09-00 3: Interpolation mode + 0–7 4 1 16 bits
mode running iately
Inertia auto-tuning
4: Normal mode +
Inertia auto-tuning
6: Quick positioning
mode + Inertia
auto-tuning

Stiffness level During Immed-

02h H09-01 - 0–41 15 1 16 bits
selection running iately

0: Adaptive notch no
longer updated
1: One adaptive notch
activated (3rd notch)
2: Two adaptive
notches activated (3rd
and 4th notches)
Adaptive notch During Immed-
03h H09-02 3: Resonance point 0–4 3 1 16 bits
mode selection running iately
tested only, displayed
in H09-24
4: Adaptive notch
cleared, values of the
3rd and 4th notches
2009 restored to default
settings
0: Online auto-tuning
turned off
1: Online auto-tuning
turned on, changing
slowly
Online inertia During Immed-
04h H09-03 2: Online auto-tuning 0–3 2 1 16 bits
auto-tuning mode running iately
turned on, changing
normally
3: Online auto-tuning
turned on, changing
quickly
Offline inertia 0: Bidirectional Immed-
06h H09-05 0–1 1 1 16 bits At stop
auto-tuning mode 1: Unidirectional iately
Maximum speed
Immed-
07h H09-06 of inertia - 100–1000 500 1 RPM 16 bits At stop
iately
auto-tuning
Time constant
for accelerating
to the maximum Immed-
08h H09-07 - 20–800 125 1 ms 16 bits At stop
speed during iately
inertia
auto-tuning
Inertia
Immed-
09h H09-08 auto-tuning - 50–10000 800 1 ms 16 bits At stop
iately
interval
Number of motor
revolutions per
0Ah H09-09 - 0–100 1 1 16 bits - -
inertia
auto-tuning

-538-
12 Appendix

-539-
 12 Appendix

Parameter Group
Hexadecimal Decimal Min. Setting Effective
Name Option Description Value Range Default Width
Index Para. Unit Condition Time
Group
Code No.
Vibration During Immed-
0Ch H09-11 0–100 5 1% 16 bits
threshold running iately

1st notch During Immed-

0Dh H09-12 - 50–8000 8000 1 Hz 16 bits
frequency running iately
Width level of the During Immed-
0Eh H09-13 - 0–20 2 1 16 bits
1st notch running iately
Depth level of the During Immed-
0Fh H09-14 - 0–99 0 1 16 bits
1st notch running iately
2nd notch During Immed-
10h H09-15 - 50–8000 8000 1 Hz 16 bits
frequency running iately
Width level of the During Immed-
11h H09-16 - 0–20 2 1 16 bits
2nd notch running iately
Depth level of the During Immed-
12h H09-17 - 0–99 0 1 16 bits
2nd notch running iately
3rd notch During Immed-
13h H09-18 - 50–8000 8000 1 Hz 16 bits
frequency running iately
Width level of the During Immed-
14h H09-19 - 0–20 2 1 16 bits
3rd notch running iately
Depth level of the During Immed-
15h H09-20 - 0–99 0 1 16 bits
3rd notch running iately
4th notch During Immed-
16h H09-21 - 50–8000 8000 1 Hz 16 bits
frequency running iately
Width level of the During Immed-
17h H09-22 - 0–20 2 1 16 bits
4th notch running iately
Depth level of the During Immed-
18h H09-23 - 0–99 0 1 16 bits
4th notch running iately
Auto-tuned
19h H09-24 resonance - 0–5000 0 1 Hz 16 bits - -
2009
frequency
Tension
fluctuation During Immed-
1Fh H09-30 - -100 to +100 0 1 16 bits
compensation running iately
gain
Tension
fluctuation During Immed-
20h H09-31 - 0–25 0.5 1 16 bits
compensation running iately
filter time
Gravity During Immed-
21h H09-32 - 0 to 100 0 1% 16 bits
compensation running iately
Forward friction During Immed-
22h H09-33 - 0 to 100 0 1% 16 bits
compensation running iately
Reverse friction During Immed-
23h H09-34 - -100 to 0 0 1% 16 bits
compensation running iately
Friction
During Immed-
24h H09-35 compensation - 0–20 2 1 16 bits
running iately
speed
0x00: Slow mode +
Speed reference
0x01: Slow mode +
Model speed
0x02: Slow mode +
Friction Speed feedback During Immed-
25h H09-36 compensation 0–0x12 0 1 16 bits
0x10: Quick mode + running iately
speed selection
Speed reference
0x11: Quick mode +
Model speed
0x12: Quick mode +
Speed feedback

-540-
 12 Appendix

Parameter Group
Hexadecimal Decimal Min. Setting Effective
Name Option Description Value Range Default Width
Index Para. Unit Condition Time
Group
Code No.
Vibration During Immed-
26h H09-37 - 0–65535 1200 1 16
monitoring time running iately
Low-frequency
resonance
During Immed-
27h H09-38 suppression - 1–100 100 1 Hz 16 bits
running iately
frequency 1 at the
mechanical end
Low-frequency
resonance
Immed-
28h H09-39 suppression 1 at - 0–3 2 1 16 bits At stop
iately
the mechanical
end
5th notch During Immed-
2Ah H09-41 - 50–8000 8000 1 Hz 16 bits
frequency running iately
Width level of the Immed-
2Bh H09-42 - 0–20 2 1 16 bits At stop
5th notch iately
Depth level of the Immed-
2Ch H09-43 - 0–99 0 1 16 bits At stop
5th notch iately
Low-frequency
resonance
During Immed-
2Dh H09-44 suppression - 0–200 0 1 16 bits
running iately
frequency 2 at the
mechanical end
Low-frequency
resonance
During Immed-
2Eh H09-45 suppression - 0.01–10 1 1 16 bits
running iately
response 2 at the
mechanical end

2009 Low-frequency
resonance
During Immed-
30h H09-47 suppression - 0–2 1 1 16 bits
running iately
width 2 at the
mechanical end
Low-frequency
resonance
During Immed-
32h H09-49 suppression - 0–200 0 1 16 bits
running iately
frequency 3 at the
mechanical end
Low-frequency
resonance
During Immed-
33h H09-50 suppression - 0.01–10 1 1 16 bits
running iately
response 3 at the
mechanical end
Low-frequency
resonance
During Immed-
35h H09-52 suppression - 0–2 1 1 16 bits
running iately
width 3 at the
mechanical end
STune mode During Immed-
39h H09-56 - 0–4 4 1 16 bits
setting running iately
STune resonance
suppression During Immed-
3Ah H09-57 - 0–1500 850 1 Hz 16 bits
switching running iately
frequency
STune resonance
0: Disable During Immed-
3Bh H09-58 suppression reset 0–1 0 1 16 bits
1: Enable running iately
selection
200Ah/H0A Fault and Protection Parameters

-541-
 12 Appendix

-542-
 12 Appendix

Parameter Group
Hexadecimal Decimal Min. Setting Effective
Name Option Description Value Range Default Width
Index Para. Unit Condition Time
Group
Code No.
0: Enable
1: Hide
Note: In common-bus
Power input connection mode, set During Immed-
01h H0A-00 phase loss 200A-01h to 1. 0–3 0 1 16 bits
running iately
protection Otherwise, the servo
drive cannot enter
"rdy" state after
power-on.
0: Disable
Absolute position 1: Enable Immed-
02h H0A-01 0–2 0 1 16 bits At stop
limit selection 2: Enabled after iately
homing

Motor overload Immed-

05h H0A-04 - 50–300 100 1 16 bits At stop
protection gain iately

Overspeed During Immed-

09h H0A-08 - 0–20000 0 1 RPM 16 bits
threshold running iately
Runaway 0: Disable During Immed-
0Dh H0A-12 0–1 1 1 16 bits
protection 1: Enable running iately
IGBT over-
During Immed-
13h H0A-18 temperature - 120–175 135 1℃ 16 bits
running iately
threshold
Probe 1 filter time During Immed-
14h H0A-19 - 0–6.3 2 1 μs 16 bits
constant running iately
Probe 2 filter time During Immed-
15h H0A-20 - 0–6.3 2 1 μs 16 bits
constant running iately

STO function 0: Displaying STO status During Immed-

200A 16h H0A-21 0–1 0 1 16 bits
display selection 1: Displaying STO fault running iately

TZ signal filter Next

18h H0A-23 - 0–31 15 125 ns 16 bits At stop
time power-on
Filter time
constant of speed Immed-
1Ah H0A-25 - 0–5000 50 1 ms 16 bits At stop
feedback display iately
value
0: Not hide motor
overload warning
Motor overload Immed-
1Bh H0A-26 1: Hide motor overload 0–1 0 1 16 bits At stop
selection iately
warning (E909.0) and
fault (E620.0)
Speed DO filter During Immed-
1Ch H0A-27 - 0–5000 50 1 ms 16 bits
time constant running iately
Time threshold
for locked rotor During Immed-
21h H0A-32 - 10–65535 200 1 ms 16 bits
over-temperature running iately
protection
Locked rotor
0: Hide During Immed-
22h H0A-33 over-temperature 0–1 1 1 16 bits
1: Enable running iately
protection
Encoder multi-
0: Not hide During Immed-
25h H0A-36 turn overflow 0–1 0 1 16 bits
1: Hide running iately
fault
0: Compensation
Overtravel activated Immed-
29h H0A-40 compensation 0–1 0 1 16 bits At stop
1: Compensation iately
switch
inhibited

-543-
 12 Appendix

Parameter Group
Hexadecimal Decimal Min. Setting Effective
Name Option Description Value Range Default Width
Index Para. Unit Condition Time
Group
Code No.
Regenerative
resistor During Immed-
32h H0A-49 - 100–175 115 1℃ 16 bits
over-temperature running iately
threshold
Encoder
communication During Immed-
33h H0A-50 - 0–31 3 1 16 bits
fault tolerance running iately
threshold
Phase loss
During Immed-
34h H0A-51 detection filter - 3–36 20 55 ms 16 bits
running iately
times
Encoder
temperature During Immed-
35h H0A-52 - 0–150 0 1℃ 16 bits
protection running iately
threshold

Runaway current During Immed-

38h H0A-55 - 100–400 200 1% 16 bits
threshold running iately

During Immed-
39h H0A-56 Reset delay - 0–60000 10000 1 ms 16 bits
running iately

200A Runaway speed During Immed-

3Ah H0A-57 - 1–1000 50 1 RPM 16 bits
threshold running iately

Runaway speed During Next

3Bh H0A-58 - 0.1–100 2 1 ms 16 bits
filter time running power-on
Runaway
During Immed-
3Ch H0A-59 protection - 10–1000 30 1 ms 16 bits
running iately
detection time

Overspeed During Immed-

3Ch H0A-70 - 0–20000 0 1 16 bits
threshold running iately

0: New overload curve

1: Old overload curve
MS1 motor 2: Discharge upon
During Immed-
3Ch H0A-71 overload curve power-off shielded 0–3 0 1 16 bits
running iately
switchover
3: Old overload curve &
Discharge upon power-
off shielded
Maximum time of Immed-
49h H0A-72 - 0–65535 10000 1 ms 16 bits At stop
ramp-to-stop iately

STO 24 V
Immed-
4Ah H0A-73 disconnection - 0–5 5 1 ms 16 bits At stop
iately
filter time
STO fault
Immed-
4Bh H0A-74 tolerance filter - 0–10 10 1 ms 16 bits At stop
iately
time
OFF delay after Immed-
4Ch H0A-75 - 0–25 20 1 ms 16 bits At stop
STO triggered iately

200Bh/H0B Monitoring parameters

-544-
 12 Appendix

Parameter Group
Hexadecimal Decimal Min. Setting Effective
Name Option Description Value Range Default Width
Index Para. Unit Condition Time
Group
Code No.
-32767 to
01h H0B-00 Speed feedback - 0 1 RPM 16 bits - -
+32767
-32767 to
02h H0B-01 Speed reference - 0 1 RPM 16 bits - -
+32767
Internal torque
03h H0B-02 - -500 to +500 0 0.1% 16 bits - -
reference
Monitored DI
04h H0B-03 - 0–65535 0 1 32 bits - -
status
Monitored DO
06h H0B-05 - 0–0xFFFF 0 1 16 bits - -
status
Absolute position -2147483648 to
08h H0B-07 - 0 1p 32 bits - -
counter +2147483647
0Ah H0B-09 Mechanical angle - 0–3600 0 0.1° 16 bits - -
0Bh H0B-10 Electrical angle - 0–3600 0 0.1° 16 bits - -
0Dh H0B-12 Average load ratio - 0–800 0 1% 16 bits - -
Position following
-2147483648 to
10h H0B-15 deviation - 0 1p 32 bits - -
+2147483647
(encoder unit)
-2147483648
Feedback pulse to
12h H0B-17 - 0 1p 32 bits - -
counter
+2147483647
200B Accumulative
14h H0B-19 - 0–4294967295 0 0.1s 32 bits - -
power-on time
RMS value of
19h H0B-24 - 0–6553.5 0 1A 32 bits - -
phase current
1Bh H0B-26 Bus voltage - 0–6553.5 0 1V 16 bits - -
Power module
1Ch H0B-27 - -20 to +200 0 1℃ 16 bits - -
temperature
Absolute encoder
1Dh H0B-28 fault information - 0–0xFFFF 0 1 16 bits - -
given by FPGA
Axis status
1Eh H0B-29 information given - 0–0xFFFF 0 1 16 bits - -
by FPGA
Axis fault
1Fh H0B-30 information given - 0–0xFFFF 0 1 16 bits - -
by FPGA
Encoder fault
20h H0B-31 - 0–0xFFFF 0 1 16 bits - -
information
During Immed-
22h H0B-33 Fault log - 0–9 0 1 16 bits
running iately
Fault code of the
23h H0B-34 selected fault - 0–0xFFFF 0 1 16 bits - -
record

-545-
 12 Appendix

Parameter Group
Hexadecimal Decimal Min. Setting Effective
Name Option Description Value Range Default Width
Index Para. Unit Condition Time
Group
Code No.
Time stamp upon
24h H0B-35 occurrence of the - 0–4294967295 0 0.1s 32 bits - -
selected fault
Motor speed upon
-32767 to
26h H0B-37 occurrence of the - 0 1 RPM 16 bits - -
+32767
selected fault
Motor phase U
current upon -3276.7 to
27h H0B-38 - 0 1A 16 bits - -
occurrence of the +3276.7
selected fault
Motor phase V
current upon -3276.7 to
28h H0B-39 - 0 1A 16 bits - -
occurrence of the +3276.7
selected fault
Bus voltage upon
29h H0B-40 occurrence of the - 0–6553.5 0 V 16 bits - -
selected fault
Input terminal
state upon
2Ah H0B-41 - 0–65535 0 1 32 bits - -
occurrence of the
selected fault
Output terminal
state upon
2Ch H0B-43 - 0–0xFFFF 0 1 16 bits - -
occurrence of the
selected fault
Internal fault
2Eh H0B-45 - 0–0xFFFF 0 1 16 bits - -
code
Absolute encoder
fault information
given by FPGA
2Fh H0B-46 - 0–0xFFFF 0 1 16 bits - -
200B upon occurrence
of the selected
fault
System state
information given
30h H0B-47 by FPGA upon - 0–0xFFFF 0 1 16 bits - -
occurrence of the
selected fault
System fault
information given
31h H0B-48 by FPGA upon - 0–0xFFFF 0 1 16 bits - -
occurrence of the
selected fault
Encoder fault
information upon
32h H0B-49 - 0–0xFFFF 0 1 16 bits - -
occurrence of the
selected fault
Internal fault code
upon occurrence
34h H0B-51 - 0–0xFFFF 0 1 16 bits - -
of the selected
fault
Position following
-2147483648 to
36h H0B-53 deviation - 0 1p 32 bits - -
+2147483647
(reference unit)
Actual motor
38h H0B-55 - -6000 to +6000 0 1 RPM 32 bits - -
speed
Bus voltage of
3Ah H0B-57 - 0–6553.5 0 1V 16 bits - -
control circuit
Mechanical
-2147483648 to
3Bh H0B-58 absolute position - 0 1p 32 bits - -
+2147483647
(low 32 bits)

-546-
 12 Appendix

Parameter Group
Hexadecimal Decimal Min. Setting Effective
Name Option Description Value Range Default Width
Index Para. Unit Condition Time
Group
Code No.
Mechanical
-2147483648 to
3Dh H0B-60 absolute position - 0 1p 32 bits - -
+2147483647
(high 32 bits)
0: None
1: Control circuit power
error
2: Phase loss detection
error

40h H0B-63 NotRdy status 3: Main 0–5 0 1 16 bits - -

circuit power detection
error (including short-
to-ground fault)
4: Other servo faults
5: Short-to-ground
detection not done
Encoder
43h H0B-66 - -100 to +200 0 1℃ 16 bits - -
temperature
Regenerative
44h H0B-67 - 0–200 0 1% 16 bits - -
resistor load ratio
Number of
47h H0B-70 absolute encoder - 0–65535 0 1 16 bits - -
revolutions
Position of the
200B 48h H0B-71 absolute encoder - 0–2147483647 0 1p 32 bits - -
within one turn
Encoder position -2147483648 to
4Eh H0B-77 - 0 1p 32 bits - -
(low 32 bits) +2147483647
Encoder position -2147483648 to
50h H0B-79 - 0 1p 32 bits - -
(high 32 bits) +2147483647
Single-turn
position of the
52h H0B-81 - 0–4294967295 0 1p 32 bits - -
rotating load (low
32 bits)
Single-turn
position of the -2147483648 to
54h H0B-83 - 0 1p 32 bits - -
rotating load +2147483647
(high 32 bits)
Single-turn
position of the -2147483648 to
56h H0B-85 - 0 1p 32 bits - -
rotating load +2147483647
(reference unit)
Group No. of the
5Bh H0B-90 abnormal - 0–0xFFFF 0 1 16 bits - -
parameter
Offset within the
group of the
5Ch H0B-91 - 0–65535 0 1 16 bits - -
abnormal
parameter
200Dh/H0D Auxiliary function parameters

-547-
 12 Appendix

Parameter Group
Hexadecimal Decimal Min. Setting Effective
Name Option Description Value Range Default Width
Index Para. Unit Condition Time
Group
Code No.
0: No operation Immed-
01h H0D-00 Software reset 0–1 0 1 16 bits At stop
1: Enable iately
0: No operation Immed-
02h H0D-01 Fault reset 0–1 0 1 16 bits At stop
1: Enable iately
Encoder initial 0: No operation Immed-
04h H0D-03 0–1 0 1 16 bits At stop
angle auto-tuning 1: Enable iately

0: No operation
200D Encoder ROM Immed-
05h H0D-04 1: Write ROM 0–2 0 1 16 bits At stop
read/write iately
2: Read ROM

0: No operation During Immed-

06h H0D-05 Emergency stop 0–1 0 1 16 bits
1: Emergency stop running iately

UV phase current 0: Disable

During Immed-
0Ch H0D-12 balance 0–1 0 1 16 bits
1: Enable running iately
correction
0: No operation
1: Forced DI enabled,
forced DO disabled
2: Forced DI disabled,
Forced DI/DO During Immed-
12h H0D-17 forced DO enabled 0–4 0 1 16 bits
selection switch running iately
3: Forced DI and DO
enabled
4: EtherCAT forced DO
enabled
200D Forced DI setting During Immed-
13h H0D-18 - 0x00–0x1F 0 1 16 bits
value running iately

Forced DO setting During Immed-

14h H0D-19 - 0x00–0x07 0 1 16 bits
value running iately

0: No operation
1: Reset the encoder
Absolute encoder fault Immed-
15h H0D-20 0–2 0 1 16 bits At stop
reset selection 2: Reset the encoder iately
fault and multi-turn
data
200Eh/H0E Auxiliary function parameters
During Immed-
01h H0E-00 Node address - 0–127 1 1 16 bits
running iately
0: Not save parameters
and object dictionaries
written through
communication to
EEPROM
1: Save parameters
written through
communication to
Save objects EEPROM
written through During Immed-
200E 02h H0E-01 2: Save object 0–3 3 1 16 bits
communication running iately
to EEPROM dictionaries
written through
communication to
EEPROM
3: Save parameters
and object dictionaries
written through
communication to
EEPROM
EtherCAT slave
15h H0E-20 - 0–65535 0 1 16 bits - -
name

-548-
 12 Appendix

Parameter Group
Hexadecimal Decimal Min. Setting Effective
Name Option Description Value Range Default Width
Index Para. Unit Condition Time
Group
Code No.
EtherCAT slave Immed-
16h H0E-21 - 0–65535 0 1 16 bits At stop
alias iately

Number of
synchronization
During Immed-
17h H0E-22 interrupts - 1–20 9 1 16 bits
running iately
allowed by
EtherCAT
EtherCAT station
During Immed-
18h H0E-23 alias from - 1–65535 0 1 16 bits
running iately
EEPROM
Synchronization
19h H0E-24 - 0–65535 0 1 16 bits - -
loss count
Maximum value
of invalid frames
1Ah H0E-25 and errors of - 0–0xFFFF 0 1 16 bits - -
EtherCAT port 0
per unit time
Maximum value
of invalid frames
1Bh H0E-26 and errors of - 0–0xFFFF 0 1 16 bits - -
EtherCAT port 1
per unit time
Maximum value
of transfer errors
1Ch H0E-27 - 0–0xFFFF 0 1 16 bits - -
of EtherCAT port
per unit time
Maximum value
200E of EtherCAT data
1Dh H0E-28 frame processing - 0–0x0255 0 1 16 bits - -
unit errors per unit
time
Maximum value
of link loss of
1Eh H0E-29 - 0–0xFFFF 0 1 16 bits - -
EtherCAT port 0
per unit time
EtherCAT
Next
20h H0E-31 synchronization - 0–2 1 1 16 bits At stop
power-on
mode setting
EtherCAT
Immed-
21h H0E-32 synchronization - 100–4000 3000 1 μs 16 bits At stop
iately
error threshold
Connection state
between EtherCAT
22h H0E-33 - 0–65535 0 1 16 bits - -
state machine and
the port
Excessive CSP
During Immed-
23h H0E-34 position reference - 0–7 1 1 16 bits
running iately
increment count
24h H0E-35 AL fault code - 0–65535 0 1 16 bits - -
EtherCAT AL 0: Disable During Next
25h H0E-36 enhanced link 0–1 0 1 16 bits
1: Enable running power-on
selection

EtherCAT reset 0: Disable During Next

26h H0E-37 0–1 0 1 16 bits
XML selection 1: Enable running power-on

-549-
 12 Appendix

Parameter Group
Hexadecimal Decimal Min. Setting Effective
Name Option Description Value Range Default Width
Index Para. Unit Condition Time
Group
Code No.
0: 300 bps
1: 600 bps
2: 1200 bps
3: 2400 bps
4: 4800 bps During Immed-
51h H0E-80 Modbus baud rate 0–9 9 1 16 bits
5: 9600 bps running iately
6: 19200 bps
7: 38400 bps
8: 57600 bps
9: 115200 bps
0: No parity, 2 stop bits
(8-N-2)
1: Even parity, 1 stop
Modbus data bit (8-E-1) During Immed-
52h H0E-81 0–3 3 1 16 bits
format 2: Odd parity, 1 stop bit running iately
200E (8-O-1)
3: No parity, 1 stop bit
(8-N-1)

Modbus response During Immed-

53h H0E-82 - 0–20 0 1 ms 16 bits
delay running iately

Modbus
During Immed-
54h H0E-83 communication - 0–600 0 1 ms 16 bits
running iately
timeout
Modbus version
5Bh H0E-90 - 0–655.35 0 1 16 bits - -
number

EtherCAT CoE
5Eh H0E-93 - 0–655.35 0 1 16 bits - -
version No.

61h H0E-96 XML version No. - 0–655.35 0 1 16 bits - -

2018h/H18 Position comparison output
Position 0: Disable
During Immed-
01h H18-00 comparison 1: Enable (rising edge- 0–1 0 1 16 bits
running iately
output selection triggered)
0: 24-bit
1: 23-bit
2: 22-bit
Position
3: 21-bit During Immed-
03h H18-02 comparison value 0–7 1 1 16 bits
4: 20-bit running iately
resolution
5: 19-bit
6: 18-bit
7: 17-bit
2018 0: Individual
Position
comparison mode During Immed-
04h H18-03 comparison mode 0–1 0 1 16 bits
1: Cyclic comparison running iately
selection
mode
0: Disable
Current position During Immed-
05h H18-04 1: Enable (rising edge- 0–1 0 1 16 bits
as zero point running iately
triggered)
Position
During Immed-
06h H18-05 comparison - 0–204.7 0 0.1 ms 16 bits
running iately
output width
Position
During Immed-
08h H18-07 comparison - 0–8 0 1 16 bits
running iately
starting point

-550-
 12 Appendix

Parameter Group
Hexadecimal Decimal Min. Setting Effective
Name Option Description Value Range Default Width
Index Para. Unit Condition Time
Group
Code No.
Position
During Immed-
09h H18-08 comparison end - 0–8 0 1 16 bits
running iately
point
Current state
During Immed-
0Ah H18-09 of position - 0–8 0 1 16 bits
running iately
comparison
2018
Real-time position
-2147483648 to
0Bh H18-10 of position - 0 1 32 bits - -
+2147483647
comparison
Zero offset
-2147483648 to During Immed-
0Dh H18-12 of position - 0 1 32 bits
+2147483647 running iately
comparison
2019h/H19 Target position parameters
Target value
-2147483648 to During Immed-
01h H19-00 of position - 0 1 32 bits
+2147483647 running iately
comparison 1
0: Skip this point
1: Output DO active
signal if current
position changes from
less than to more than
the comparison point
Attribute value
2: Output DO active During Immed-
03h H19-02 of position 0–3 0 1 16 bits
signal if current running iately
comparison 1
position changes from
more than to less than
the comparison point
3: Output DO active
signal in both
situations
Target value
-2147483648 to During Immed-
2019 04h H19-03 of position - 0 1 32 bits
+2147483647 running iately
comparison 2
0: Skip this point
1: Output DO active
signal if current
position changes from
less than to more than
the comparison point
Attribute value
2: Output DO active During Immed-
06h H19-05 of position 0–3 0 1 16 bits
signal if current running iately
comparison 2
position changes from
more than to less than
the comparison point
3: Output DO active
signal in both
situations
Target value
-2147483648 to During Immed-
07h H19-06 of position - 0 1 32 bits
+2147483647 running iately
comparison 3

-551-
 12 Appendix

Parameter Group
Hexadecimal Decimal Min. Setting Effective
Name Option Description Value Range Default Width
Index Para. Unit Condition Time
Group
Code No.
0: Skip this point
1: Output DO active
signal if current
position changes from
less than to more than
the comparison point
Attribute value
2: Output DO active During Immed-
09h H19-08 of position 0–3 0 1 16 bits
signal if current running iately
comparison 3
position changes from
more than to less than
the comparison point
3: Output DO active
signal in both
situations
Target value
-2147483648 to During Immed-
0Ah H19-09 of position - 0 1 32 bits
+2147483647 running iately
comparison 4
0: Skip this point
1: Output DO active
signal if current
position changes from
less than to more than
the comparison point
Attribute value
2: Output DO active During Immed-
0Ch H19-11 of position 0–3 0 1 16 bits
signal if current running iately
comparison 4
2019 position changes from
more than to less than
the comparison point
3: Output DO active
signal in both
situations
Target value
-2147483648 to During Immed-
0Dh H19-12 of position - 0 1 32 bits
+2147483647 running iately
comparison 5
0: Skip this point
1: Output DO active
signal if current
position changes from
less than to more than
the comparison point
Attribute value
2: Output DO active During Immed-
0Fh H19-14 of position 0–3 0 1 16 bits
signal if current running iately
comparison 5
position changes from
more than to less than
the comparison point
3: Output DO active
signal in both
situations
Target value
-2147483648 to During Immed-
10h H19-15 of position - 0 1 32 bits
+2147483647 running iately
comparison 6

-552-
 12 Appendix

Parameter Group
Hexadecimal Decimal Min. Setting Effective
Name Option Description Value Range Default Width
Index Para. Unit Condition Time
Group
Code No.
0: Skip this point
1: Output DO active
signal if current
position changes from
less than to more than
the comparison point
Attribute value
2: Output DO active During Immed-
12h H19-17 of position 0–3 0 1 16 bits
signal if current running iately
comparison 6
position changes from
more than to less than
the comparison point
3: Output DO active
signal in both
situations
Target value
-2147483648 to During Immed-
13h H19-18 of position - 0 1 32 bits
+2147483647 running iately
comparison 7
0: Skip this point
1: Output DO active
signal if current
position changes from
less than to more than
the comparison point
Attribute value
2: Output DO active During Immed-
2019 15h H19-20 of position 0–3 0 1 16 bits
signal if current running iately
comparison 7
position changes from
more than to less than
the comparison point
3: Output DO active
signal in both
situations
Target value
-2147483648 to During Immed-
16h H19-21 of position - 0 1 32 bits
+2147483647 running iately
comparison 8
0: Skip this point
1: Output DO active
signal if current
position changes from
less than to more than
the comparison point
Attribute value
2: Output DO active During Immed-
18h H19-23 of position 0–3 0 1 16 bits
signal if current running iately
comparison 8
position changes from
more than to less than
the comparison point
3: Output DO active
signal in both
situations

-553-
 12 Appendix

Object Group 6000h

The object group 6000h contains objects supported and related to DSP 402 profile.

Sub-
Index PDO Data Setting Effective
index Name Accessibility Unit Data Range Default
(hex) Mapping Type Condition Time
(hex)
603F 00 Error code RO TPDO Uint16 - - - - -
During Immed-
6040 00 Control word RW RPDO Uint16 - 0–0xFFFF 0
running iately
6041 00 Status word RO TPDO Uint16 - - - - -
Quick stop option During
605A 00 RW NO Int16 - 0–0x07 0x02 At stop
code running
Disable operation During
605C 00 RW NO Int16 - 0xFFFD–0x01 0 At stop
option code running
During
605D 00 Stop option code RW NO Int16 - 0x01–0x03 0x01 At stop
running
Fault reaction During
605E 00 RW NO Int16 - 0xFFFB–0x03 0x02 At stop
option code running
Modes of During Immed-
6060 00 RW RPDO Int8 - 0–0x0A 0
operation running iately
Modes of
6061 00 RO TPDO Int8 - - - - -
operation display
Position demand Reference
6062 00 RO TPDO Int32 - - - -
value unit
Position actual Encoder
6063 00 RO TPDO Int32 - - - -
value unit
Position actual Reference
6064 00 RO TPDO Int32 - - - -
value unit
Following error Reference During Immed-
6065 00 RW RPDO Uint32 0–0xFFFFFFFF 0x00300000
window unit running iately

Following error During Immed-

6066 00 RW RPDO Uint32 ms 0–0xFFFF 0
time out running iately

Reference During Immed-

6067 00 Position window RW RPDO Uint32 0–0xFFFFFFFF 0x000002DE
unit running iately
Position window During Immed-
6068 00 RW RPDO Uint16 ms 0–0xFFFF 0
time running iately
Velocity actual Reference
606C 00 RO TPDO Int32 - - - -
value unit/s
During Immed-
606D 00 Velocity window RW RPDO Uint16 RPM 0–0xFFFF 0x0A
running iately
Velocity window During Immed-
606E 00 RW RPDO Uint16 ms 0–0xFFFF 0
time running iately
Velocity During Immed-
606F 00 RW RPDO Uint16 RPM 0–0xFFFF 0x0A
threshold running iately
Velocity During Immed-
6070 00 RW RPDO Uint16 ms 0–0xFFFF 0
threshold time running iately
0xF448– During Immed-
6071 00 Target torque RW RPDO Int16 0.1% 0
0x0BB8 running iately
During Immed-
6072 00 Max torque RW RPDO Uint16 0.1% 0–0x0BB8 0x0BB8
running iately
Torque demand
6074 00 RO TPDO Int16 0.1% - 0 - -
value
Torque actual
6077 00 RO TPDO Int16 0.1% - 0 - -
value

-554-
 12 Appendix

Sub-
Index PDO Data Setting Effective
index Name Accessibility Unit Data Range Default
(hex) Mapping Type Condition Time
(hex)
Reference 0x80000000– During Immed-
607A 00 Target position RW RPDO Int32 0
unit 0x7FFFFFFF running iately

Reference 0x80000000– During Immed-

607C 00 Home offset RW RPDO Int32 0
unit 0x7FFFFFFF running iately
Software absolute position limit
Highest sub-index
00 RO NO Uint8 - - 0x02 - -
supported
607D Reference 0x80000000– During Immed-
01 Min position limit RW RPDO Int32 0x80000000
unit 0x7FFFFFFF running iately

Reference 0x80000000– During Immed-

02 Max position limit RW RPDO Int32 0x7FFFFFFF
unit 0x7FFFFFFF running iately
During Immed-
607E 00 Polarity RW RPDO Uint8 - 0–0xFF 0
running iately
Max profile Reference During Immed-
607F 00 RW RPDO Uint32 0–0xFFFFFFFF 0x06400000
velocity unit/s running iately
User speed During Immed-
6081 00 Profile velocity RW RPDO Uint32 0–0xFFFFFFFF 0x001AAAAB
unit running iately
Profile Reference During Immed-
6083 00 RW RPDO Uint32 0–0xFFFFFFFF 0x0A6AAAAA
acceleration unit/s2 running iately
Profile Reference During Immed-
6084 00 RW RPDO Uint32 0–0xFFFFFFFF 0x0A6AAAAA
deceleration unit/s2 running iately
User
Quick stop During Immed-
6085 00 RW RPDO Uint32 acceleration 0–0xFFFFFFFF 0x7FFFFFFF
deceleration running iately
unit

Motion profile 0x8000– During Immed-

6086 00 RW RPDO Int16 - 0
type 0x7FFF running iately

During Immed-
6087 00 Torque slope RW RPDO Uint32 0.1%/s 0–0xFFFFFFFF 0xFFFFFFFF
running iately
Gear ratio
Highest sub-index
00 RO NO Uint8 Uint8 - 0x02 - -
supported
6091 During Immed-
01 Motor revolutions RW RPDO Uint32 - 0–0xFFFFFFFF 1
running iately
During Immed-
02 Shaft revolutions RW RPDO Uint32 - 1–0xFFFFFFFF 1
running iately
During Immed-
6098 00 Homing method RW RPDO Int8 - -2 to 35 0x01
running iately
Homing speed
Highest
00 sub-index RO NO Uint8 - - 0x02 - -
supported
6099
Speed during Reference During Immed-
01 RW RPDO Uint32 0–0xFFFFFFFF 0x001AAAAB
search for switch unit/s running iately
Speed during Reference 0– During Immed-
02 RW RPDO Uint32 0x0002AAAB
search for zero unit/s 0xFFFFFFFF running iately
Homing Reference During Immed-
609A 00 RW RPDO Uint32 0–0xFFFFFFFF 0x0A6AAAAA
acceleration unit/s2 running iately
Reference 0x80000000– During Immed-
60B0h 00 Position offset RW RPDO Int32 0
unit 0x7FFFFFFF running iately

Reference 0x80000000– During Immed-

60B1h 00 Velocity offset RW RPDO Int32 0
unit/s 0x7FFFFFFF running iately

-555-
 12 Appendix

Sub-
Index PDO Data Setting Effective
index Name Accessibility Unit Data Range Default
(hex) Mapping Type Condition Time
(hex)
0xF448– During Immed-
60B2h 00 Torque offset RW RPDO Int16 0.1% 0
0x0BB8 running iately
Touch probe During Immed-
60B8h 00 RW RPDO Uint16 - 0–0xFFFF 0
function running iately
Touch probe
60B9h 00 RW TPDO Uint16 - - 0 - -
status
Touch probe 1 Reference
60BAh 00 RW TPDO Int32 - 0 - -
positive edge unit
Touch probe 1 Reference
60BBh 00 RW TPDO Int32 - 0 - -
negative edge unit
Touch probe 2 Reference
60BCh 00 RW TPDO Int32 - 0 - -
positive edge unit
Touch probe 1 Reference
60BDh 00 RW TPDO Int32 - 0 - -
negative edge unit
User
During Immed-
60C5h 0 Max acceleration RW RPDO Uint32 acceleration 0–0xFFFFFFFF 0xFFFFFFFF
running iately
unit
User
During Immed-
60C6h 0 Max deceleration RW RPDO Uint32 acceleration 0–0xFFFFFFFF 0xFFFFFFFF
running iately
unit
Touch probe 1
60D5h 0x00 positive edge RO TPDO Uint16 - - 0 - -
counter
Touch probe 1
60D6h 0x00 negative edge RO TPDO Uint16 - - 0 - -
counter
Touch probe 2
60D7h 0x00 positive edge RO TPDO Uint16 - - 0 - -
counter
Touch probe 2
60D8h 0x00 negative edge RO TPDO Uint16 - - 0 - -
counter
Positive torque Immed-
60E0h 00 RW RPDO Uint16 0.1% 0–0x0BB8 0x0BB8 -
limit value iately

Negative torque Immed-

60E1h 00 RW RPDO Uint16 0.1% 0–0x0BB8 0x0BB8 -
limit value iately

-556-
 12 Appendix

Sub-
Index PDO Data Setting Effective
index Name Accessibility Unit Data Range Default
(hex) Mapping Type Condition Time
(hex)
Supported Homing Methods
Highest
00 sub-index RO NO Uint8 - - 0x1F - -
supported
1st supported
01 RO NO Uint16 - - 0x0301 - -
homing method
2nd supported
02 RO NO Uint16 - - 0x0302 - -
homing method
3rd supported
03 RO NO Uint16 - - 0x0303 - -
homing method
4th supported
04 RO NO Uint16 - - 0x0304 - -
homing method
5th supported
05 RO NO Uint16 - - 0x0305 - -
homing method
6th supported
06 RO NO Uint16 - - 0x0306 - -
homing method
7th supported
07 RO NO Uint16 - - 0x0307 - -
homing method
8th supported
08 RO NO Uint16 - - 0x0308 - -
homing method
9th supported
09 RO NO Uint16 - - 0x0309 - -
homing method
10th supported
0A RO NO Uint16 - - 0x030A - -
homing method
11th supported
0B RO NO Uint16 - - 0x030B - -
homing method
60E3h
12th supported
0C RO NO Uint16 - - 0x030C - -
homing method
13th supported
0D RO NO Uint16 - - 0x030D - -
homing method
14th supported
0E RO NO Uint16 - - 0x030E - -
homing method
15th supported
0F RO NO Uint16 - - 0x030Fh - -
homing method
16th supported
10 RO NO Uint16 - - 0x0310 - -
homing method
17th supported
11 RO NO Uint16 - - 0x0311 - -
homing method
18th supported
12 RO NO Uint16 - - 0x0312 - -
homing method
19th supported
13 RO NO Uint16 - - 0x0313 - -
homing method
20th supported
14 RO NO Uint16 - - 0x0314 - -
homing method
21th supported
15 RO NO Uint16 - - 0x0315 - -
homing method
22th supported
16 RO NO Uint16 - - 0x0316 - -
homing method
23th supported
17 RO NO Uint16 - - 0x0317 - -
homing method
24th supported
18 RO NO Uint16 - - 0x0318 - -
homing method

-557-
 12 Appendix

Sub-
Index PDO Data Setting Effective
index Name Accessibility Unit Data Range Default
(hex) Mapping Type Condition Time
(hex)
25th supported
19 RO NO Uint16 - - 0x0319 - -
homing method
26th supported
1A RO NO Uint16 - - 0x031A - -
homing method
27th supported
1B RO NO Uint16 - - 0x031B - -
homing method
28th supported
60E3h 1C RO NO Uint16 - - 0x031C - -
homing method
29th supported
1D RO NO Uint16 - - 0x031D - -
homing method
30th supported
1E RO NO Uint16 - - 0x031E - -
homing method
31th supported
1F RO NO Uint16 - - 0x031F - -
homing method
Additional
position encoder
During Immed-
60E6h 00 resolution – RW NO Uint16 - 0–1 0
running iately
encoder
increments
Following error Reference
60F4h 00 RO TPDO Int32 - - - -
actual value unit
Position demand Encoder
60FCh 00 RO TPDO Int32 - - - -
internal value unit
60FDh 00 Digital inputs RO TPDO Uint32 - - - - -
Digital output
Highest sub-index
00 RO NO Uint8 - - 0x02 - -
supported
60FEh During Immed-
01 Physical outputs RW RPDO Uint32 - 0–0xFFFFFFFF 0
running iately
During Immed-
02 Bit mask RW NO Uint32 - 0–0xFFFFFFFF 0
running iately
Reference 0x80000000– During Immed-
60FFh 00 Target velocity RW RPDO Int32 0
unit/s 0x7FFFFFFF running iately
Supported drive
6502h 00 RO NO Uint32 - - 0x000003AD - -
modes

SDO Abort Transfer Code

Abort Code Function Description

0503 0000 Trigger bits are not alternated.

0504 0000 Timeout occurs in the SDO protocol.

0504 0001 The client/server command word is invalid or unknown.

0504 0005 Memory overflow occurs.

0601 0000 Access to objects is not supported.

0601 0001 Indicates an attempt to read a write-only object.

0601 0002 Indicates an attempt to write a read-only object.

0602 0000 The object does not exist in the object dictionary.

0604 0041 The object cannot be mapped to the PDO.

0604 0042 The number and length of mapped objects exceed the PDO length.

-558-
 12 Appendix

Abort Code Function Description

0604 0043 General parameters are incompatible.

0604 0047 General device content is incompatible.

0606 0000 Accessing objects fails due to an hardware error.

0607 0010 The data type does not match and the service parameter length does not match.

0607 0012 The data type does not match and the service parameter is too long.

0607 0013 The data type does not match and the service parameter is too short.

0609 0011 The sub-index does not exist.

0609 0030 The value exceeds the parameter value range.

0609 0031 The parameter value entered is too large.

0609 0032 The parameter value entered is too small.

0609 0036 The maximum value is smaller than the minimum value.

0800 0000 General error

0800 0020 Data cannot be transmitted or stored to the application.

0800 0021 Data cannot be transmitted or stored to the application due to local control.

0800 0022 Data cannot be transmitted or stored to the application due to current device status.

0800 0023 An error occurs in the object dictionary or the object dictionary does not exist.

0800 0024 The value does not exist.

12.3 Safe Torque Off (STO) Function

12.3.1 Description of Technical Terms

■■ Terms and abbreviations:

Terms/Abbreviations Description

Classification of the safety-related parts of a control system. The categories are: B,1,2,3,4
Cat.
(EN 13849-1).

CCF Common cause failure

DC Diagnostic coverage (%)

DTI Diagnostic test interval time

SFF Safe failure fraction

HFT Hardware fault tolerance

PFH Average frequency of dangerous failures per hour

PL Performance level

SC Systematic capability

SIL Safety integrity level

T1 Proof test interval

T2 Diagnostic test interval

DI Digital input

DO Digital output

PCB Printed circuit board

MCU Micro computer unit

FPGA Center processor unit

-559-
 12 Appendix

■■ Description of technical terms:

Terms Description

The STO function brings the machine safely into a no-torque state and prevents it from
Safe Torque Off (STO ) unexpected starting. If the motor is running when STO function is activated, it coasts to a
stop.

Safe state Used to disable the PWM gating signal of the drive.

System reset Reset the servo system by shutting off the power or executing software reset.

Proof test Used to detect the failure of the safety-related system, not applied to STO circuits.

Refers to the specified cumulative operating time of the safety-related parts of the servo
Mission time
drive during its overall lifetime.

Overview of the safety drive with safety function is shown in Fig 11-1. The parts marked in the orange
dashed line is the safety-related. They are integrated in the control board of the drive.

-560-
 12 Appendix

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-561-
 12 Appendix

12.3.2 Standards Compliance

■■ North American Standards (UL)

UL 61800-5-1

CSA C22.2 No. 274

■■ European Directives and Standards

Low Voltage Directive 2014/35/EU; Standards EN 61800-5-1 and IEC 61800-5-1

Electromagnetic Compatibility Directive 2014/30/EU; Standards EN 61800-3, IEC 61800-3, and IEC 61800-
5-2

Machinery Directive 2006/42/EC (functional safety); Standard IEC 61800-5-2

■■ Safety Standards

Model Safety Standards Standards

ISO 13849-1: 2015

Safety of machinery
IEC 60204-1: 2016

IEC 61508: 2010, parts 1-7

Functional Safety IEC 62061: 2015
SV660NXXX
IEC 61800-5-2: 2016

IEC 61326-3-1
Electromagnetic Compatibility (EMC) IEC 61800-3
IEC 61800-5-2

■■ Safety Performance

Items Standards Performance level

IEC 61508 SIL3

Safety integrity level
IEC 62061 SILCL3

Probability of Dangerous Failure per IEC 61508 PFH ≤ 0.1 x 10-7 [1/h]
Hour (PFH) IEC 62061 (10% of SIL3)

Performance level (PL) ISO 13849-1 PL e (category 3)

Mean time to dangerous failure of

ISO 13849-1 MTTFd: High
each channel

Ave. diagnostic coverage ISO 13849-1 DCave: Medium

Stop category IEC 60204-1 Stop category 0

Safety function IEC 61800-5-2 STO

Mission time IEC 61508 5 years

Hardware fault tolerance (HFT) IEC 61508 1

Systematic capability (SC) IEC 61508 3

Application mode IEC 61508 High demand or continuous mode

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12.3.3 General Safety Information

This section contains the warning symbols used in this user guide and the safety instructions which
you must obey when you install, use or maintenance a safety option module of a servo drive. If you
ignore the safety instructions, injury, death or damage may occur. Read this section before you start the
installation.

Any illustrations, photographs, or examples used in this manual are provided as examples only and may
not apply to all products to which this user guide is applicable.

The products and specifications described in this user guide or the content and presentation of the user
guide may be changed without notice to improve the product and/or the user guide.

■■ Warnings, Cautions and Notes

Pictogram Signal word Meaning Consequences In Case of Disregard

Example:
DANGER Imminent danger Severe or fatal injuries

General danger
WARNINGS Possible dangerous situation Severe or fatal injuries

Specific danger CAUTION Possible dangerous situation Minor injuries

(such as electric shock)

Damage to the drive system or its

STOP! Possible high dangerous
environment

A Note containing information

NOTE or tip which helps ensure correct -
NOTE operation of the product

WARNING

◆◆ High attention is required for electrical installation and at the system design to avoid hazards
either in normal operation or in the event of equipment malfunction.
◆◆ System design, installation, commissioning and maintenance must be carried out by personnel
who have the necessary training and experience. They must read the operating instruction and
this safety information.

It is the responsibility of the machine builder/OEM/system integrator to make sure that the essential
health and safety requirements specified in the Machinery Directive are met. Risk analysis and risk
assessment is needed before using a product. Make sure that adequate measures are taken to eliminate/
reduce the relating risks and components chosen must meet the safety requirements.

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12.3.4 Specifications

■■ Electrical safety complies with IEC 61800-5-1:2016, over voltage category II.

■■ The environment test requirement complies with IEC 61800 -5-1:2016.

■■ The operating conditions are as follows.

Items Description

Surrounding air/Storage temperature 0℃ to 55℃ /-20℃ to +70℃

Ambient/Storage humidity 20%–95% RH (without condensation)

Subject Test conditions

Test reference Test Fc of IEC 60068-2-6 4.6

Conditions The EUT is powered up and operating normally.

Motion Sinusoidal

Vibration
amplitude/ -
Vibration acceleration

10 Hz ≤ f ≤ 57 Hz 0.075 mm amplitude

57 Hz < f ≤ 150 Hz 1g

10 sweep cycles per axis on each of three

Vibration duration
mutually perpendicular axes

Axes X, Y, Z

Detail of mounting According to manufacturer's specification

Subject Test conditions

Test reference Test Ea of IEC 60068-2-27: 2008 Table 17

Conditions The EUT is powered up and operating normally.

Motion Half-sine pulse

Shock resistance Shock amplitude/

50 m/s2 (5 g) 30 ms
time

3 per axis on each of three mutually

Number of shocks
perpendicular axes

Axes ±X, ±Y, ±Z

Detail of mounting According to manufacturer's specification

IP 20
IP rating/Pollution degree (PD) PD 2: free of corrosive or explosive gases; free of exposure to water, oil or
chemicals; free of dust, salts or iron dust

Altitude 2000 m or below

Cooling method Dry clean air (natural convection)

Free of static electricity, strong electromagnetic fields, magnetic fields or

Others
exposure to radioactivity

■■ The servo drive follows the EMC standards EN/IEC 61800-3:2017, IEC 61326-3-1, and IEC 61800-5-2.

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■■ Others

Items Description

SV660NS1R6I-FS SV660NS2R8I-FS
SV660NS5R5I-FS SV660NS6R6I-FS
SV660NS7R6I-FS SV660NS012I-FS
Applicable Servo Drive SV660NT3R5I-FS SV660NT5R4I-FS
SV660NT8R4I-FS SV660NT012I-FS
SV660NT017I-FS SV660NT021I-FS
SV660NT026I-FS

Location Integrated in the control board of the servo drive

Safety function - Inputs 2 channels: STO1/STO2

The STO subsystem elements must always operate within the range of temperature,
humidity, corrosion, dust, vibration, and other items specified above.

12.3.5 Installation

Since the STO function is integrated in the control board of the servo drive, its installation requirements
are consistent with the servo drive. Observe the installation requirements of the servo drive.

Designers and installers must be trained to understand the requirements and principles of designing and
installing safety-related systems.

12.3.6 Terminal and Wiring

This section describes the definition and function of the I/O connecting terminal (CN6) for STO.

See details in "3.7 Definition and Connection of STO terminals" .

12.3.7 Requirement for Commission, Operation and Maintenance

1 General

■■ Technicians must be trained to understand the requirements and principles of designing and
commissioning safety-related systems.

■■ Those performing the maintenance must be trained to understand the requirements and principles
of designing and operating safety-related systems.

■■ Operators must be trained to understand the requirements and principles of designing and
operating safety-related systems.

■■ If the safety-related circuits on the control board fails to operate, replace it with a new one because
it is not repairable.

2 Commissioning checklists

■■ Start-up test and validation

IEC 61508, EN/IEC 62061 and EN ISO 13849 require that the final assembler of the machine validates the
operation of the safety function with an acceptance test. The acceptance tests for the standard safety
functions of the drive are described in the drive manuals.

The acceptance test must be performed:

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1) at initial start-up of the safety function

2) after any changes related to the safety function (including wiring, components, and settings)

3) after any maintenance work related to the safety function.

The acceptance test of the safety function must be carried out by an authorized person with expertise
and knowledge of the safety function. The test must be documented and signed by the authorized
person.

Signed acceptance test reports must be stored in the logbook of the machine. The report shall include
documentation of start-up activities and test results, references to failure reports and resolution of
failures. Any new acceptance tests performed due to changes or maintenance need to be logged into the
logbook.

■■ Start-up checklist

Step Action Result

1 Ensure that the servo drive can run and stop freely during the commissioning.

Stop the servo drive (if running), switch the input power off and isolate the drive
2
from the power line by a circuit breaker.

3 Check the STO circuit connections against the circuit diagram.

4 Check that the shield of the STO input cable is grounded to the drive frame.

5 Close the circuit breaker and switch the power on.

Test the STO signal #1 when the motor is stopped.

Set STO1 and STO2 to "H".
Give a stop command for the drive (if running) and wait until the motor shaft is at
standstill.
5.1
Activate the STO function by disconnecting (low state or open-circuit) the STO input
signal #1 and give a start command for the drive.
Ensure that the motor stays at standstill and the LED display of the servo drive
displays "E150.1".

Set STO1 to "H", disable the ON/RUN command of the drive, then automatically
5.2 reset the drive, enable ON/RUN command of the drive and check that the motor runs
normally.

Test the STO signal #2 when the motor is stopped.

Set STO1 and STO2 to "H".
Give a stop command for the drive (if running) and wait until the motor shaft is at
standstill.
5.3
Activate the STO function by disconnecting (low state or open-circuit) the STO input
signal #2 and give a start command for the drive.
Ensure that the motor stays at standstill and the LED display of the servo drive
displays "E150.1".

Set STO2 to "H", disable the ON/RUN command of the drive, then automatically
5.4 reset the drive, enable ON/RUN command of the drive and check that the motor runs
normally.

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 12 Appendix

Step Action Result

Test the STO channel #1 when the motor is running.

Set STO1 and STO2 to "H".
Start the drive and ensure the motor is running.
Activate the STO function by disconnecting (low state or open-circuit) the STO input
6.1 signal #1.
Ensure that the motor stops and the drive trips.
Reset the fault and try to start the drive.
Ensure that the motor stays at standstill and the LED display of the servo drive
displays "E150.1".

Set STO1 to "H", disable the ON/RUN command of the drive, then automatically
6.2 reset the drive, enable ON/RUN command of the drive and check that the motor runs
normally.

Test the STO channel #2 when the motor is running.

Set STO1 and STO2 to "H".
Start the drive and ensure the motor is running.
Activate the STO function by disconnecting (low state or open-circuit) the STO input
6.3 signal #2.
Ensure that the motor stops and the drive trips.
Reset the fault and try to start the drive.
Ensure that the motor stays at standstill and the LED display of the servo drive
displays "E150.1".

Set STO2 to "H", disable the ON/RUN command of the drive, then automatically
6.4 reset the drive, enable ON/RUN command of the drive and check that the motor runs
normally.

Document and sign the acceptance test report which verifies that the safety function
7
is safe and accepted to operation.

3 Special requirements

To fulfill SIL 3 PL e (cat3), power off the servo drive once per 3 months to perform the power-on
diagnostic.

12.3.8 Safety Function: STO

1 Description of safety function

Safe Torque Off (STO) is a safety function that complies with IEC 61800-5-2:2016. It is built into Inovance
SV660N series servo drives.

The STO function prohibits the control signal of the power semiconductors of the drive output end,
preventing the drive from generating torque at the motor shaft end.

The STO function prevents the movement of the motor by two redundant external hardware signals:
STO1 and STO2 that block the PWM signals to be transmitted to the power layer of the drive. These two
+24VDC signals must be active to enable the drive's normal operations.

If either one or both signals are set low, the PWM signals are blocked within a time of 20 ms.

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TEXE_MAX

Safety request input

Servo state Operating STO

Safety function Standby Activated

■■ The STO function table is as follows.

STO1 Input STO2 Input PWM Signal

H H Normal

L H Inhibited

H L Inhibited

L L Inhibited

STO (Safe Torque Off)

Definition Cuts off the force-producing power to the motor.

The STO function brings the machine safely into a no-torque state and prevents it from
Description unexpected starting. If the motor is running when STO function is activated, it coasts to
a stop.

Safe state Used to disable the PWM gate signals of the drive.

Operating mode High demand mode or continuous mode

2 Application example of safety function

■■ Example 1: Direct Stop, stop category 0, safety stop: STO

Emergency pushbutton (double contacts) Category 3 ISO13849

4
24 V STO2+
Max.SIL 3 PL e
3
STO1+

1
0V COM

2
24VDC

3 Monitoring of safety function

The LED display of the servo drive displays the selected mode, the status, and the error information of
the servo drive.

Error: Displays drive fault code.

You can select and modify the configuration through the keypad. See "4 Keypad Display and Operations"
for the definition of the keypad.

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 12 Appendix

■■ Fault codes related to the STO function are shown below.

Fault code Status Description

E150.0 STO activated by external request Both of STO1/STO2 in "Low" state

Only one of STO1/STO2 in "Low" state, status of

E150.1 Status of STO1/STO2 not consistent
STO1/STO2 inconsistent

E150.2 STO activated by internal diagnosis OV/UV of 5 V power supply detected

E150.3 STO activated by internal diagnosis Input circuits of STO working abnormally

E150.4 STO activated by internal diagnosis Buffer circuits of STO working abnormally

4 STO status during exceptional operations

The exceptional operation refers to the duration of power-on and initialization, and how to return from
the STO state.

1) The PWM buffer is disabled through pulling-up of the enable terminal during power-on, so the PWM
signal is prohibited.

2) The PWM buffer is disabled through pulling-up of the enable terminal during initialization of MCU,
so the PWM signal is prohibited. This condition is relieved once the initialization phase is finished
and servo drive works normally.

3) When servo system enters safe state through the STO function, the safe state can be cleared to
return to normal operation after auto-reset of the drive when all of the following conditions are met:

■■ The input state of the STO request must be "high".

■■ The S-ON or RUN command must be inactive.

■■ No dangerous faults exist.

high
STO1 input
STO2 input high

Active Respond
Servo ON command

Return conditions Not met Met

Servo state
STO Normal
Delay

Figure 12-12 Return condition of S-ON/RUN command

low high
STO1 input
STO2 input low high

Servo ON command Respond

Return conditions Not met Met

Servo state STO Normal

Delay

Figure 12-13 Return condition of external STO request state

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 12 Appendix

12.3.9 Troubleshooting

See the following table to identify the fault cause and the action to be taken. Contact your Inovance
representative if the problem cannot be solved by the described corrective actions. Fault codes related
to the STO function are shown below.

Fault Code Cause Action

STO1/STO2 not connected to the

E150.0 Connect the STO1 and STO2 to the 24 V input voltage signal.
24 V input voltage

1) Ensure the requests for disconnecting the voltage of STO1

and STO2 are triggered
Input states of STO1/STO2 being simultaneously.
E150.1
inconsistent 2) The input circuit is abnormal and a certain STO input signal
is still in "High" status after the 24 V signal is disconnected.
Contact Inovance for technical support.

Restore the 5 V power supply to normal state. Contact Inovance

E150.2 OV/UV of 5 V power supply detected
for technical support.

Input circuit of STO working Fix the input circuit fault. Contact Inovance for technical
E150.3
abnormally support.

Buffer circuit of STO working Fix the buffer circuit fault. Contact Inovance for technical
E150.4
abnormally support.

12.3.10 Product Information

1 Nameplate and model number

See "1.1.1 Nameplate and Model Number" for details.

2 Applicable servo drive

STO applies to the servo drives in the following two kinds of physical structures.

Size Power Range Physical Structure W x H x D (mm3)

A 200 W to 400 W Integrated structure 40 x 160 x 150

B 750 W to 850 W Integrated structure 50 x 160 x 173

C 1 kW to 1.5 kW Separated structure 55 x 170 x 173

D 1.8 kW to 3 kW Separated structure 75 x 170 x 183

E 5 kW to 7.5 kW Separated structure 90 x 250 x 230

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Integrated structure means that the control parts and power parts are on the same PCB.
NOTE

Separated structure means that the control parts and power parts are on different PCBs.
NOTE

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12.3.11 Precautions

This section describes the information needed before starting operation. Be sure to read the following
safety instructions, risk assessment information, and limitations before starting operation. Safety
function: use the STO function after properly understanding all of these information.

1 Safety protective measures

Carefully read the following important precautions and observe them when using the safety function
STO.

■■ The STO function is not intended as a replacement for an Emergency Stop function (E-stop). In
an emergency situation, the power supply cannot be cut off if no other measure is taken, and the
electrical parts of the motor and drive are still energized, incurring the risk of electric shock or other
risks. Therefore, maintenance work on electrical parts of the drive or motor can only be carried out
after isolating the drive system from the main power supply.

■■ Depending on the standards and requirements for a particular application, it may be possible to
use STO as an integral part of an E-stop system. However, its main purpose is for use in a dedicated
safety control arrangement whose purpose is to prevent any hazard from occurring, not for the use
of an E-stop.

■■ An E-stop is often provided in a machine to allow for unexpected situations where an operator sees
a hazard and can take action to prevent an accident.

■■ The design requirement for an E-stop differs from that of a safety interlock. Generally, the
E-stop is required to be independent from any complex or intelligent control. It may use purely
electromechanical devices to either disconnect the power or initiate a controlled quick stop through
other means such as dynamic or regenerative braking.

In the use of permanent-magnet motors, reluctance motors, and salient-pole induction motors, in spite
of the activation of the STO function, a possible (although highly unlikely) failure mode may cause two
power devices in the drive to conduct incorrectly. The drive system can produce an alignment torque
which maximally rotates the motor shaft by 180º electrical angle for a permanent-magnet motor, or by
NOTE 90º electrical angle for a salient pole induction motor or reluctance motor. This possible failure mode
must be allowed for in the machine system design.

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 12 Appendix

8"3/*/(

360º electrical angle

Max. rotating angle of the motor shaft =
Motor poles number

8"3/*/(

◆◆ The design of safety-related systems requires specialist knowledge. To ensure that a complete
control system is safe, the whole system needs to be designed according to recognized safety
principles. The use of individual sub-systems such as drives with STO function, which are
intended for safety-related applications, does not in itself ensure the safety of the complete
system.
◆◆ The STO function can be used for stopping the servo drive in emergency stop situations.
◆◆ In normal operating mode, it is recommended not to stop the servo drive by using the STO
function. If a drive running is stopped by using STO, the drive perform a coast to stop. If this is
not acceptable, the system must be stopped using the correct mode instead of the STO function.
◆◆ This publication is a guide to the application of Inovance STO function, and also on the design of
safety-related systems for machinery control.
◆◆ It is the responsibility of the designer of the end product or application to ensure that it is safe
and in compliance with the relevant regulations.

2 Risk assessment

■■ When using the safety function STO, be sure to perform risk assessment of the servo system in
advance. Make sure that the safety integrity level of the standards is met.

■■ The following residual risks can be present even when the safety functions operate. Therefore,
safety must always be given consideration during risk assessment.

■■ If external forces (such as gravitational force with a vertical axis) are applied when the safety
functions are operating, the motor will rotate due to the action of these external forces. Use a
separate mechanical brake to secure the motor.

■■ If the servo drive fails, the motor may operate within a range of 180 electrical degrees. Make sure
that safety is ensured even in hazardous situations.

■■ The number of rotations and movement distance for each type of motor are listed below.

Rotational motor: 1/6 rotation max. (rotation angle at motor shaft conversion), depending on the
number of motor pole pairs

Direct drive motor: 1/20 rotation max. (rotation angle at motor shaft conversion), depending on the
number of motor pole pairs

Linear servo motor: 30 mm max., depending on the number of motor pole pairs

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12.4 Multi-Machine Recipe Management

In EtherCAT multi-axis applications, parameters of each axis are ususally written or read separately,
which is time-consuming and error-prone. Therefore, a PC software capable of writing/reading
parameters of all the servo axes is needed in EtherCAT networking, so that parameters of Inovance servo
axis parameters can be written/read through an individual operation, with the full device receipe being
saved.

1 Function

■■ Identification and scanning of axis drives: The PC software identifies Inovance EtherCAT devices
(available in IS620N series servo drives only) based on the configuration of network card.

■■ Upload and download of all the cascaded axis drive parameters

■■ Storage and download of drive recipes

■■ Comparison and copy of axis drive parameters

■■ Comparison of device parameters and recipe parameters

2 Operating environment

■■ Hardware: PC

■■ Software supported:

Operating system: WIN7 32/64-bit systems and WIN 10 32/64-bit systems

3 Instructions for use

1) Click the Multi-machine recipe button under SV660N to start the multi-machine recipe function, as
shown below.

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2) Scanning: Click the Scan button, and all the EtherCAT slaves cascaded will be scanned and
displayed. The scanning time is directly proportional to the number of cascaded slaves, so you
may wait a few minutes in case of large numebers of cascaded slaves. (Non-Inovance slaves are
displayed as "Non-Inovance device".)

3) Click to enter parameter management interface.

■■ Import recipe files: Import the machine recipe saved in the local to current device.

■■ Export to recipe files: Upload parameters of all slaves and save them as a recipe file (the recipe file
does not contain parameters in groups H00 or H01).

■■ Upload the paramers of the selected slave stations: You can choose to upload parameter of all
slaves, partial slaves or a single slave.

■■ Compare: You can compare current parameter values between slaves, default values of slaves, and
machine recipes.

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■■ Parameter copy: You can copy parameters from slave to slave.

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Shenzhen Inovance Technology Co., Ltd.
Add.: Building E, Hongwei Industry Park, Liuxian Road, Baocheng No. 70 Zone, Bao'an District, Shenzhen
Tel: +86-755-2979 9595
Fax: +86-755-2961 9897
http: //www.inovance.com

Suzhou Inovance Technology Co., Ltd.

Add.: No. 16 Youxiang Road, Yuexi Town, Wuzhong District, Suzhou 215104, P.R. China
Tel: +86-512-6637 6666
Fax: +86-512-6285 6720
http: //www.inovance.com
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