110 STM 06030

Vitkovets CNC
http://cnc.prom.ua/
+380 (096)-665-71-06
+380 (098)-821-25-90
[email protected]
Technical manual: 110ST-M06030, 130ST-M07725,

130ST-M15015, 130ST-M10025
CNCPROM
Safety Caution
In order to ensure the safe use of this product, must observe the following safety signs, in order to avoid
damaging to the people and the equipment
Said w rong operation will trigger dangerous, leading to

mild or moderate personal injury, damage to equipment, and even fire
warning
.
Said wrong operation will trigger dangerous cause injury or death

dangerous ,
Said Prohibit operation
Said must operate
After the product arriving, when validation, installation, wiring, operation maintenance,
inspection of the product, the following is one of the important matters must abide by:
● Matters needing attention during installation ：
Warning
It is forbidden to install will happen in the damp and
corrosion environment, a f lammable gas environment, and near combustible dust and m etal powder
more environment, or you may get an electric shock and fire.
Matters needing attention during installation wiring
Warning
◢ The earthing terminal of the servo drive must be grounded, otherwise, will get an electric shock
and fire could occur
◢ It is forbidden to put the output terminal of the servo drive, U, V, W, connected to a three phase power
supply, otherwise, could be injured and fire
-
◢ It is strictly prohibited to connect the 220v driver to 380 v, 220 v power supply, or you may get an
electric shock and fire
◢ Be sure to tighten power terminal, motor output terminal, otherwise may cause a fire
The matters needing attention when running ：
Dangerous
◢ In the operation , it is forbidden to touch any rotating parts, or you might get hurt
◢ In the operation, it is forbidden to touch electric motor and drive, otherwise you may burn
Warning
◢
Before operating, must choose the right motor type, otherwise people wil be hurt and the equipment
will be damaged.
◢
Before operating, you must set right parameters and applications that meet the needs of users, or may
be hurt, damage to equipment
◢
Before operating, confirm whether the mechanical may at any time the emergency stop, otherwise, you
might get hurt.
●
Maintain the points for attention during the inspection ：
◢
It is forbidden to touch the inside of the servo drive, or you may get an electric shock
◢
When turn off the power,in the five minutes, do not touch terminals, otherwise, the residual voltage may
cause electric shock
◢
It is forbidden to tear open outfit servo motor, or you may get an electric shock
CATALOGUE
Chapter 1 Product inspection and installation……………………………………………………………………1
1.1 PRODUCT INSPECTION .............. ....................................................................................................... 1
1.2 PRODUCT BRAND ................................................................................................................ 2
1.3 THE FRONT PANEL OF PRODUCT ..................................................................................... 2
1.4 DRIVE TECHNOLOGY SPECIFICATIONS .............. ...................................................................... 4
1.5 SERVO MOTOR INSTALLATION ..................................................................................... 5
1.6 THE MOTOR DIRECTION OF ROTATION ......................................................................... 6
1.7 THE KRS SERIES DRIVE AND MOTOR MODEL ADAPTATION ................................ .............. 7
CHAPTER 2 WIRING ......................... 8

2.1 THE SYSTEM COMPOSITION AND WIRING .................................................................. 8
2.2 CN1 COMMUNICATION INTERFACE ............................................................................. 11
2.3 CN2 CONTROL INTERFACE........................................................................................ 13
2.4 CN3 ENCODER INTERFACE ................................................................................... 18
2.3 THE STANDARD WIRING.................................................................................................... 19
CHAPTER 3 PANEL OPERATION ... 21

3.1 PANELS .......................................................................................................................... 21
3.2 MODE SWITCH ............................................................................................................ 21
3.3 MONITORING MODE OPERATION ................................................................................ 22
3.4 AUXILIARY MODE OPERATION ................................................................................... 22
3.5 USER PARAMETER MODE OPERATION ................................................................ 30
CHAPTER 4FUNCTION PARAMETERS ............. 31
4.1 PARAMETER SETTINGS PANEL ......................................................................... 31
4.2 PARAMETER LIST ........................................................................................................ 32
4.3 PARAMETERS ................................................................................................................ 44
4.4 PORT FUNCTIONS.................................................................................................... 87
CHAPTER 5 MONITORING PARAMETERS AND
OPERATION ....................................................................... 92
5.1 MONITOR PANEL OPERATION ................................................................................... 92
5.2 MONITOR THE PARAMETER LIST ........................................................................... 93
CHAPTER 6 ALARM AND PROCESSING ........ 94
6.1 ALARM CLEARANCE OPERATION ................................................................................ 94
6.2 ALARM CONTENT AND COUNTERMEASURE ........................................................ 94

MODBUS COMMUNICATION CHAPTER 7
FUNCTION ....................................................................... 100

7.1 M MODBUS COMMUNICATION INTRODUCTION ........................................................... 100
7.2 COMMUNICATION PROTOCOL STRUCTURE ............................................................... 101
7.3 COMMONLY USED COMMAND CODE............................................................................. 103
7.4 THE SERVO PARAMETERS, THE STATE INFORMATION COMMUNICATION ADDRESS
............................................................................................................................................ 115
THE APPENDIX .......................................................... 116

APPENDIX A GAIN SWITCH ....................................................................................... 116
APPENDIX B CONTROL MODE SWITCH ............................................................... 116
APPENDIX C SERVO DRIVER WORK SEQUENCE ....................................... 120
APPENDIX D ELECTROMAGNETIC BRAKE ............................................................... 121
APPENDIX E REGENERATIVE BRAKING RESISTOR ................................................ 122
APPENDIX F ORIGIN POINT ....................................................................................... 123
APPENDIX G INTERNAL POSITION CONTROL ....................................................... 131

Chapter One products inspection and installation
1.1 Product inspection
This product has made the complete function test before the leaving the factory, to prevent the product in
the course of transportation for negligence resulted in the product (s) is not functioning properly. Once
opened, please check the detailed the following matters:
● check the servo drive and servo motor type with the same whether order model
● Check the appearance of the servo drive and servo motor whether there is any
damage and scratches phenomenon.If there is any damage during the shipment, please
don’t wire power transmission.
● Check the servo drive and servo motor if there is any loose parts and other
phenomenon. If there is a loose screw, screw not lock or fall off
Check the servo motor rotor shaft can be smooth rotation. The motor with brake cannot be directly
●
rotation
If there is any fault or unmoral phenomenon, please contact with dealers immediately
1
1.2 ID label
AC SERVO DRIVER
! Danager
Please install, connection, using as manual

Model ASDD-30A
Voltage AC220V/50-60HZ
Output Current 30A Please don't install or un-install

the driver when it is connected to
the power and cut off the power
within 5 min.
1.3 The front panel
2
Five Number LED Screen
Four Number Button
Signal Port
Single/Three Phase AC220V Input
Control Port
External regenerative braking resistor
Power Output Of Driver
Encoder Interface
Ground
1.4 The function of AC servo motor driver .
3
The input power Single phase or three phase AC220V -15～+10% 50／60Hz
temper ature Using: 0～55℃ Storage: -20℃～80℃

environme nt
humidity Below 90% RH No dewing
vibration Belown0.5G(4.9m/S ),10-60 no continue running
Control mode IGBT PWM sine wave control
① Torque mode (internal or external)

Control mode ② speed mode (internal or external)
③ Position mode (internal or external)
④ Position/velocity model
⑤ Position/torque model
⑥ Speed/torque model
servo enables alarm reset Forward driving is prohibited
Control input Reverse driving i s prohibited 、
External forward torque is limited, external reverse torque is limited

Emergency stop , Zero speed clamp ,
Internal speed command option 1 ,
Internal speed command option 2
Internal speed command option 3
The internal torque command option 1

The internal torque command option 2
Control mode switch
Gain switch
Electronic gear molecular option 1
Electronic gear molecular option 2
Instructions for
Position deviation
、 to clear
Pulse input is prohibited
Proportional control
The origin return to trigger、
4
The origin return reference point
Internal location option 1
Internal location option 2、
Trigger internal position command
Suspend internal position command
Alarm detection , Servo ready , Emergency stop checked out、

Control the output Positioning to complete , Speed to reach
Reach the predetermined torque
Zero speed detection
Servo motor current , Electromagnetic brake
The origin return to complete 、 Located close to 、

torque limit、 speed limit、 Tracking arrive torque command
The encoder feedback

2500p/r,15 line increment model, differential output
Communication mode RS-232 OR RS-485
Display and operation ① five LED display ② Four buttons
Braking way Through the internal/external braking resistance braking energy
Cooling way Air cooled (heat transfer film, the strong cold wind fan)
Power range ≤7.5KW
1.5 Servo motor installation
1.4.1 Installation environment conditions
● Working environment: 0 ~ and ℃; working environment: less than 80% (no condensation)
● Storage environment temperature: - ℃; Storage environment humidity: 80% of the (no condensation)
● Vibration: Below 0.5 G
● Well ventilated, less moisture and dust place
5
● No corrosive, flash gas, oil and gas, cutting fluid, iron powder and so on environment
● No moisture and direct sunlight place
1.4.2 Installation method
● Level installation: to avoid liquids such as water, oil from motor wire end into the motor internal, please will cable outlet in
below
● Vertical installation: if the motor shaft and the installation with reduction unit, must pay attention
to and prevent reducer in mark through the motor shaft into the motor internal
● The motor shaft out quantity must be thoroughly, if insufficient out to motor sports generates vibration
● Installation and remove the motor, please do not use hammer knock motor, otherwise easy to cause damage to the
motor shaft and encoder
1.6 The motor direction of rotation
Looking from the motor load on the motor shaft and counterclockwise (CCW) for the forward, clockwise (the
CW) as the reverse
Forward (CCW) Reverse (CW)
6
1.7 The KRS series drive and motor model adaptation
Pn001 KRS KRS KRS KRS KRS

Motor model Rated Rated Rated 15A 20A 30A 50A 75A
speed torque power
(r/min) (N.M) (W)
60st_m00630 0 3000 0.6 200 √ √ √
60st_m01330 1 3000 1.3 400 √ √ √
60st_m01930 2 3000 1.9 600 √ √ √
80st_m01330 3 3000 1.3 400 √ √ √
80st_m02430 4 3000 2.4 750 √ √ √
80st_m03520 5 2000 3.5 730 √ √ √
80st_m04025 6 2500 4 1000 √ √ √
90st_m02430 7 3000 2.4 750 √ √ √
90st_m03520 8 2000 3.5 730 √ √ √
90st_m04025 9 2500 4 1000 √ √ √
110st_m02030 10 3000 2 600 √ √ √
110st_m04020 11 2000 4 800 √ √ √
110st_m04030 12 3000 4 1200 √ √
110st_m05030 13 3000 5 1500 √
110st_m06020 14 2000 6 1200 √ √ √
110st_m06030 15 3000 6 1800 √
130st_m04025 16 2500 4 1000 √ √ √
130st_m06015 17 1500 6 1000 √ √ √
130st_m05025 18 2500 5 1300 √ √
130st_m06025 19 2500 6 1500 √
130st_m07725 20 2500 7.7 2000 √
130st_m10010 21 1000 10 1000 √ √ √
130st_m10015 22 1500 10 1500 √ √
130st_m10025 23 2500 10 2600 √ √ √
130st_m15015 24 1500 15 2300 √
130st_m15025 25 2500 15 3800 √ √
150st_m15025 26 2500 15 3800 √ √
150st_m15020 27 2000 15 3000 √ √
150st_m18020 28 2000 18 3600 √ √
7
150st_m23020 29 2000 23 4700 √ √
150st_m27020 30 2000 27 5500 √
180st_m17215 31 1500 17.2 2700 √ √
180st_m19015 32 1500 19 3000 √ √
180st_m21520 33 2000 21.5 4500 √ √
180st_m27010 34 1000 27 2900 √ √
220st_m67010 35 1000 67 1000 √
第二章接线 Chapter 2 wiring
2.1 系统组成与接线 The system composition and wiring
2.1.1 伺服驱动器接线图 Servo driver wiring diagram
8
In general, It need a transfer to offer the 3phase 220v power, like the right Photo
2.1.2 Wiring instructions
Wiring matters needing attention:
● The wire material should be in accordance with the wire specification.
9
● Cable length, instruction cable within 3 m, encoder cable within 20 m
● Check the L1, L2, L3 power wiring is correct or not, please do not connect to the 380 v power supply.
● U, V, W terminal phase sequence,must be corresponded to the terminal correspondence of the motor,
otherwise, the motor may not transfer or coaster, the motor may not transfer or coaster. Can't use exchange
three-phase terminal method to make motor reversal, this is totally different with asynchronous motor
● must be reliable grounding, and single point grounding
● into the output signal of the relay, the absorption of the direction of the diode to connected
correctly, otherwise it will cause failure cannot output signal
● in order to prevent noise caused by the wrong action, please add in power transformer and
noise filter device in the same wiring tube
● please install the fuse type
circuit breaker that drive failure can promptly cut off the external power supply
2.1.3 Wire specifications
terminals label wire specifications
Power cord Ｕ、Ｖ、 0.75～2.5mm²
Motor terminals 0.75～2.5mm²
Earthing terminal terminal 0.75～2.5mm²
control symbol ＣＮ２ ≥0.12 mm²(AWG26), Including shielded
Encoder signal ＣＮ３ ≥0.12 mm²(AWG26), Including shielded
Encoder cable must use twisted-pair cable. If the encoder cable is
10
too long (> twenty m), can lead to encoder power supply shortage, its power source and ground
can use multiple wire connection or use thick wire
2.1.4 High power Terminal instruction
name Terminal symbol Detailed description
L1、L2、L3 Connect the external

Main circuit power
ac power three-phase220VAC -15%～+10% 50/60Hz
U The output to motor U phase power
Motor terminals V The output to motor V phase power

W The output to motor W phase power
Motor shell earthing terminal
Earthing terminal Drive earthing terminal
2.2 CN1 Communication interface
2.2.1 CN1 Port Numbers
1 2
Tx +5V
3 Rx A 4
5 Gnd B 6
2.2.2 CN1 port
pin number
+5V 2
GND 5
RS-232 Tx Send pin Tx 1
RS-232 Rx Receiving pin RX 3
RS-485 A 4
11
RS-485 B 6
2.2.3 CN1 port type
1. RS-232 interface
Servo Driver
it must connect the two side signal ground

2. RS-485 interface
Major Equipment
End Resistance End Resistance
● Adopt RS485 communication, at the same

time the most connected and table servo drive, 485 network terminals separately by one euro 120
resistance terminal resistances. If want to connect more equipment, must use Repeaters to expand
the connection Numbers
12
2.3 CN2 Control interface
CN2 control signal terminal to provide and the upper controller connection need signal, use DB25 socket, signs include:
● Four programmable input
● Four programmable output
● Analog quantity order input
● Pulse command input
● Encoder signal input
2.3.1 CN2 port numbers
13 12 11 10 9 8 7 6 5 4 3 2 1
25 24 23 22 21 20 19 18 17 16 15 14
2.3.2 CN2 port instructions
pin interface name function
number
DC12~24V 9
COM 10 The control signal of Input/output control signal input power

power supply and and ground
ground
SigIn1 6 Input command signal

SigIn2 7 Input command signal. The
SigIn3 21 factory all input signal port specified
SigIn4 8 functions:
SigIn1: Servo Enable SRV-ON
SigIn2: alarm reset
SigIn3: Zero position
13
deviation
SigIn4: Zero speed clamp
SigOUT1 11
output command signal
SigOUT2 23 output command signal.
SigOUT3 12 The factory all output signal port
SigOUT4 24 specified functions:

SigOUT1 Servo ready
SigOUT2： Alarm detection

SigOUT3： Positioningcomplete
SigOUT4：Zero speed
PV 2 PV:open collector input power

PP+ 3 Instruction pulse input
PP- 14 port
PD+ 4 Instruction pulse can be three different
PD- 5 ways to input
1 Instruction direction and pulse input

2 Clockwise or
counterclockwise pulse input
3 Phase difference 90 degrees of

orthogonal input
PA+ 20
PA- 19 Encoder signal output
PB+ 18 Encoder signal (ABZ) output port.
PB- 17 Through the parameter setting, AB
PZ+ 15 signal separable frequency output and
PZ- 16 logic take back output.
OZ 22
GND 1
Vref 25
Analog input
AGND 13 Analog voltage input port. The speed or
torque control, used for receiving the
speed or torque command. Voltage
input range-10V~+10V。
14
2.2.3 CN2 Port type
1. Digital input interface
DC12V～24V。Digital input interface circuit by switch, relay,

open collector triode, photoelectric coupler of control. Relay required to choose low current relay, in order to
avoid the phenomenon of poor contact. External voltage range DC12V ~ 24 V.
Switch input way collector electrode open way
Driver Driver
2. Digital output interface
Output circuit adopts darlington photoelectric coupler, but with relay, photoelectric coupler
Note:
● External power supply by users, but must pay attention to, if the power polarity meet back, may cause damage to
the servo driver.
● When the output open collector form, the maximum current is 70 mA, the external power peak voltage is 25 V. If
more than limit requirements or output directly with power connection, may cause damage to the servo driver.
15
● If the load is relay and inductive load, the load must be both ends against parallel fly-wheel diode. If fly-wheel
diode picks back, may cause damage to the servo driver.
The photoelectric coupler

Relay
The Max. output current is 70mA The Max. output current is 70mA
It must add Fly-wheel diode
3. Position pulse command interface
A differential drive and single end drive have two connections , recommend differential drive connection. Connection appropriate USES
twisted-pair cable
differential input way Collector electrode open input way
● In the differential input mode, it is recommended

AM26LS31 similar line drive; In order to make the transfer of pulse data has good anti interference ability, it is
suggested that the differential drive way; Maximum input pulse frequency 500 KHZ (KPPS).
-
16
● In the open collector input mode, the maximum input pulse frequency 200 KHZ (KPPS)
4. Encoder signal wire drive output
The encoder signal frequency division through line drive (26 ls31) output to the upper controller
Long Wire Receiver to accept photoelectric coupler to receive
Shielding wire Shielding wire

High speed photoelectric coupler
it must connect two side signal ground
● In the long term receiver receive, the drive encoder

signal (GND) must and upper controller signal ground connection
● In the photoelectric coupler receiving, upper controller using high-speed photoelectric coupler
(such as 6 n137), current limiting resistor R1 value about 220 Ω.
5. Encoder Z signal open collector output
Servo drives to open collector mode on the output signal of the encoder Z. Because Z letter feel the pulse
17
width is narrower, PC please use high-speed photoelectric coupler receiving
AC Servo Driver
● VCC peak voltage 30 V, output current maximum 50mA
2.4 CN3 Encoder interface
Connect the servo motor encoder signal to CN3 of the servo driver.
pin CN3 number
+5v 8
GND 15
A+ 3
A- 11
B+ 10
B- 2
Z+ 1
18
KRS AC ServoDri
ver s
ervomot
or
1phAC220V
mai
nsf
il
ter
OR
3PH AC220
+12-24V POWER SUPPLY
ServoEnabl
e
al
arm res
et
Pos
iti
on devi
ati
on t
ocl
ear
Zeros
peed cl
amp
s
ervoready
al
arm testi
ngout
pos
iti
oningcompl et
e
zerospeed
publi
shpi n
+5vpowers
uppl
y
Col
lect
orel
ect
rodeopen pl
use
inputpowersuppl
y(+24v)
pi
n
out
putpl
use(
dif
ferent
ial+5v)
pi
n
i
nputpl
use(
dif
ferent
ial
+5v)
A phas
epl
useout
put ground
B Phas
epl
useout
put
pi
n
Z Phasepl
useout put
Z col
lect
orel
ectrodeopen output pi
n
di
git
alground
KRS AC ServoDri
ver
ServoMot
or
1phAC220V
powerf
il
ter
OR
3PH AC220V
+12-24V POWER SUPPLY
Servoenabl
e
al
arm res
et
Pos
iti
on devi
ati
on t
ocl
ear
Zeros
peed cl
amp
Servoready
al
arm t
est
ingout
pos
iti
oni
ngcompl
ete
zeros
peed
publ
is
hport
+5V powers
uppl
y
s
peed/rot
ort
orques
imul
ati
on
pi
n
Vol
tagei
nst
ruct
ion
pi
n
Si
mul
ati
on
s
ignalground
A Phas
epl
useout
put
ground
B phas
epl
useout
put
pi
n
Z phas
epl
useout
put
pi
n
Z Col
lect
orel
ect
rodeopen out
put
Di
git
alground
Chapter 3 Panel operation
3.1 panel
MOD ▲ ▼ SET
panel instruction:：
key key name function
MODE 1 mode switch

Mode option key
2 Return to the superior directory
▲ increase number,long press has the effect of repeat

Digital increase key
▼
Digital reduce key reduce number,long press has the effect of repeat
SET 1 Digital shift

Shift to determine Key 2 Determine the set (long by 1 second)
3 End set parameters (long by 1 second)
Note: if the five decimal points of the display are flashing, there are some alarm.Must clear the
alarm,the drive can work normally.
3.2 mode switch
21
监控模式
按一下MODE键
辅助功能模式
按一下MODE键
参数编辑模式
按一下MODE键
Note: when the screen shows Fnxxx, Dnxxx, Pnxxx, mode key at this time as
the mode switching function, can be to switched to other mode directly, otherwise the mode key is as the
function of returnning to the upper directory.
3.3 Monitoring mode operation
Example: see dn015 monitoring parameters, sigOut1 port at this time as the low level, sigOut2, sigOut3,
sigOut4 port are the high levels
MODE ▲
MODE
▼
Long time to press SET ,Release
MODE Out1 Out2 Out3 Out4
3.4 Auxiliary mode operation
Auxiliary mode function number
22
3.4.1 Auxiliary function list
instruction
number
Fn000 Alarm record inquires
Fn001
Permanently written to the user
parameters. If users set the parameters of Pn000 ~ Pn219, For the next after power on,
the drive is loaded the modify parameters by the user, you must perform this operation,
the parameter block write internal EEPROM chip. After executing, need about 3 seconds,
the block to write all the parameters into the EEPROM
Fn002 JOG Trial operation
Fn003 clear the current detection alarm
Fn004
The parameters of the parameter in the table Pn000 ~ Pn219, according to the setting of
Pn000, restore to factory default
Fn005 Zero position deviation
Fn006 SigOut port output force, effectively under the forced state is limited to this operation
0： SigOut all ports to cancel compulsory state

1： SigOut all ports output high level
2： SigOut all ports output low level
Fn007 Simulation of torque command voltage correction
Fn008 Simulation speed reference voltage correction
Fn009 Busbar voltage correction
Fn010 temperature calibration
Fn011 Initialization alarm record
Fn012 encoder zero
3.4.2 Fn000 Alarm function query
23
MODE long time to press SET ,Release
MODE
MODE
▲ Or ▼
（The number of the alarm is larger,
MODE it means the time of the alarm is earlier
long time to press SET ,Release

（ Get the information of alarm ）
MODE
3.4.3 Fn001 Permanently written to the user parameters
long time to press Release

MODE ▲ SET ,
MODE
▼ MODE
｛
Write finished
Begin to written
long time to press SET Release
,
MODE
Write operation fails
Instructions 1: if the last operation shows , may be internal drive is writing data operations performed,
please wait a few seconds and try again
2: Power outages after write completint, otherwise may cause memory chip content damage (AL - 01 alarm)
after the reboot,
3.4.4 Fn002 Trial operation
Inching mode
0：
MODE ▲
MODE
MODE
▼
Long time to press SET Release Long time to press SET

, Release
,
MODE MODE
｛
Press on ▲
( Motor rotate counterclockwise）
Press on ▲ Or ▼ ( The motor not work and not connect to the power
,
Operate failed ）
Press on ▼
( Motor rotate clockwise）
24
JOG The speed and deceleration time is set by the following parameters
Pn177 JOG speed 0~5000 200 r/min
Pn178 JOG speed time 5~ 10000 100 ms
Pn179 JOG deceleration time 5~ 10000 100 ms
1： Into speed control mode
进入Fn002子目录
▲
｛
(电机已通电，按▲或▼键
长按 SET ,释放改变运行速度。正值逆时
针转，负值顺时针转）
MODE
2: Exit speed control mode
进入Fn002子目录按两下 ▲
MODE
长按 SET ,释放
电机减速停止，并断电
MODE
operation mode instruction
0
Inching mode. Press ▲ or ▼
button, the motor will be clockwise or counterclockwise rotation; release
▲or ▼ button, the motor will cease to spin, in a state of no electricity
1 Electricity into speed control mode, the
25
motor. Drive at a speed loop model, running speed by buttons▲ or ▼
input. In the process of the motor running, the other menu operations can
be performed. If the motor stop rotating, please enter Jog_2 mode
2 Exit speed control mode, the motor is power off
Note: if the display or , the possible reasons are as follows:
1 The motor is in the state of enabling or rotating. JOG trial run before operation, the motor must be in a non
-working state. when commissioning,the control interface of the servo drive don’t be connected to any control lines.
2 Servo driver alarm has occurred, and the alarm is not cleared.
3.4.5 Fn003 Alarm clearance operations
▲
MODE
MODE
▼
｛
清除成功
长按 SET ,释放长按 SET ,释放
清除失败
MODE MODE
Note:When the clearance is failure at last,display ,the Checked out
alarm can be cleared only after power on again
Through the clear operation to clear the alarm Electricity can remove alarm again
AL--02 Low voltage AL--01 Storage anomaly
AL--05 Overload 1 AL--03 overvoltage
26
AL--07 Motor speed is too high AL--04 Intelligent power module is abnormal
AL--08 Heat sink is overheating AL--06 Overload 2
AL--10 Pulse frequency is too high AL--09

The encoder abnormal
AL--11 Pulse position deviation value is too large AL--13

The CPU internal fault
AL--12 AL--17 The encoder signal frequency division output

Current sampling circuit may be damaged
Settings abnormal
AL--14 AL--18
Emergency stop impeoper motor code setting abnormal
AL--15 driving ban Abnormal
AL--16 Brake average power overload
3.4.6 Fn004 Initialization parameters
Long time to press

MODE ▲ SET , Release
MODE
▼ MODE
Initialized successfully
｛
Long time to press Begin to written
SET ,Release
MODE Initialized failed
Instructions 1: if the last operation display , the possible reason as following:
1： Drives are executing write operations

2 Parameters Pn000 doesn’t open the parameters initialization function
Instructions 2: must turn off the power after completing the wirting, otherwise ,after the reboot, may cause
memory chip content damage (AL - 01 alarm)
3.4.7 Fn005 Clear operation position deviation
27
Long time to press
MODE SET Release
,
MODE
MODE
Long time to press
Long time to press SET Release
, SET ,Release
MODE MODE
Reset completely
3.4.8 Fn006 The output port is mandatory
Long time to press

MODE SET ,Release
MODE
MODE
Long time to press SET ,Release
▲
MODE
Press one time SET

（All output ports apex）
Parameter selection instructions
0 Cancel the forced state
1 all sigoutall ports are forced high
2
all sigoutall ports are forced low
3.4.9 Fn007 Simulation of torque command voltage correction
Long time to press

Enter Fn007 subdirectories SET ,Release
MODE Complete the simulation rotor torque

Instructions correction
28
Note 1: before correcting operation, first direct short the CN2 analog voltage input port Vref (25 feet) and
AGND circuit (13 feet)
3.4.10 Fn008 Simulation speed command voltage correction
Long time to press

Enter Fn008 subdirectories SET ,Release
MODE Complete the simulation speed

Instructions correction
Note 1: before correcting operation, first direct short the CN2 analog voltage input port Vref (25 feet) and
AGND circuit (13 feet)
3.4.11 Fn009 Busbar voltage correction
Enter Fn009 subdirectories ▲ Or ▼
MODE
Long time to press SET ,Release Input AC Voltage testing number
MODE
Complete Voltage correction
Note 1: when making correction, measurement drive input ac voltage, input to this operation.
3.4.12 Fn010 The temperature calibration
Long time to press

Enter Fn010 subdirectories
SET ,Release
MODE Complete temperature correction
Note 1: before the operation, the temperature sensor is replaced with 1.5 K high precision resistor.
3.4.13 Fn011 Alarm record initialization
29
MODE ▲
MODE
▼
Long time to press SET ,Release Long time to press

长按 SET ,Release
MODE MODE
Operation finished
3.4.14 Fn012 The encoder zero
MODE ▲
MODE
▼
Long time to press Release

Long time to press SET ,Release SET ,
MODE MODE
The number of pulse deviation
Zero before operation, confirm the motor code Pn001 set value and the actual motor
model is consistent, otherwise may lead to motor current is too large, damage the motor. Adjust zero, don't
need can make internal or external can make the motor, the motor will turn a few laps, and then lock the zero.
When the display number of pulse bias of 0, the motor has been aimed at zero.
Note 1: if the motor heating, cooling for a period of time
3.5 User parameter mode operation
Parametric model function number
3.5.1 Choose parameter number
Example: select Pn011 parameters
30
MODE ▲
MODE
▼
Cursor point to the first location
Press one time SET Move

， Cursor ▲
Cursor point to the second location Select Pn011 parameter
3.5.2 Edit parameters
Example: change the current value of the Pn025 parameters from 100 to 200, the specific operation is as follows:
Long time to press SET Release Press two times

, SET
MODE
Long time to press
▲ SET , Release
number flash one time, operation finished
MODE
Note: Pn025 parameters are modified, if it does not have to save operation (Fn001 immortalised),
after the next to electricity, Pn025 parameters still for 100.
Chapter 4 function parameters
4.1 Parameter Settings panel operation
As shown in the third chapter of "user mode"

31
4.2 Parameter list
● In the column of Numbers, if any symbols ▲ , said after the parameter Settings, be it with electricity, can take effect;
If symbol ◆, said after the parameter Settings, to enable motor, parameters take effect; If no special symbols, effective
immediately
● The column of applicable mode, All said is suitable for the torque, speed and position control,
T is suitable for the torque control, S suitable for speed control, said P is suitable for the position control.
● Must set parameters carefully. If setting undeserved, may cause the motor running is not stable
4.2.1 System parameters
name
number Value range The default unit apply
value
Pn000 0~2 1 All

Open parameters initialization function
Pn001▲ motor code 3-12 3 All
Pn002▲ control mode 0~5 2 All
Pn003 Servo enabled 0~1 0 All
Pn004 Servo broken that can stop 0~2 0 All
Pn005 Can make deceleration time 5-10000 100 ms All
Pn006 0-3 0 All

With/without positive driving is
prohibited
Pn007 0-10000 60 ms All

Is/ reverse the driver stop deceleration
time is prohibited
Pn008 (CCW) Internal 0-300 300 % All

around are torque limit (CCW)
32
Pn009 CW）Around -300~0 -300 % All
inside the torque limit (the CW)
Pn010 (CCW）External 0-300 300 % All
around are torque limit (CCW)
Pn011 (CW) Around -300~0 -300 % All
outside the torque limit (the CW)
Pn012 0-300 200 % All

Forward (CCW) torque overload alarm
level 1
Pn013 -300-0 -200 % All

Inversion (the CW) torque overload
alarm level 1
Pn014 0-800 80 100ms All

Torque overload alarm detection 1 time
Pn015 0-150 40 100ms All

Overload 2 testing time
Pn016▲ 1~63 1 All

DA The molecular DA of encoder divider
output
Pn017▲ 1~63 1 All

DB The denominator DB of encoder divider
output
Pn018▲ Take the encoder output pulse AB 0-1 0 All
phase logic
Pn019▲ Rated current Settings 0-50 0 A All
Pn020▲ Rated speed setting 0~5000 0 r/min All
Pn021 reach the predetermined speed 0~5000 500 r/min All
Pn022 0~5000 30 r/min All

Hysteresis comparison difference in
speed
Pn023 Reach the predetermined speed detection

0-2 0 All
direction
Pn024 Reach the predetermined torque 0-300 100 % All
33
Pn025 0-300 5 % All
Reach the predetermined torque hysteresis
comparison difference
Pn026 Reach the predetermined torque direction 0-2 0 All
Pn027 0~1000 10 r/min All

Zero velocity detection range setting
Pn028 0~1000 5 r/min All

Zero speed test back tothe poor
Pn029 0~1000 5 r/min All

Motor electromagnetic brake testing point
zero speed
Pn030 The motor stops electromagnetic brake 0~2000 0 Ms All
delay time
Pn031 0~2000 500 ms All

The motor electromagnetic brake waiting
time during operation
Pn032 0-3000 30 r/min All

The motor speed of electromagnetic brake
action during operation
Pn033 The origin is triggered 0~3 0 All
Pn034 The origin return reference point model 0~5 0 All
Pn035 The origin back to the origin model 0~2 0 All
Pn036 The origin position offset high -9999~9999 0 hundreds of All

Pulse
Pn037 The origin position offset low -9999~9999 0 Pulse All
Pn038 The origin back to the first speed 1~3000 200 R/min All
Pn039 The origin back to the second speed 1~3000 50 R/min All
34
Pn040 The accelerating time of origin 5~10000 50 ms All
Pn041 The origin return to slow down time 5~10000 50 ms All
Pn042 The origin in the delay 0~3000 60 ms All
Pn043 Complete signal delay of origin 5~3000 80 ms All
Pn044 The origin of 0~1 0 All

origin instruction execution mode
Pn045 Gain switch to choose 0~5 5 All
Pn046 Gain switch level 0~30000 80 All
Pn047 Gain switch back to the poor 0~30000 6 All
Pn048 Gain switch delay time 0~20000 20 0.1ms All
Pn049◆ Gain switch time 1 0~15000 0 0.1ms All
Pn051 The motor running top speed limit 0~5000 3000 All
Pn052▲ SigIn1 port functional allocation -27~27 1 All
Pn053▲ SigIn 2 port functional allocation -27~27 2 All
Pn056 SigIn 1 port filtering time 1~1000 2 ms All
Pn060▲ SigOut 1 port -14~14 2 All
35
functional allocation


Pn064▲ Communication mode 0-2 0 All
Pn065 Communications site 1-254 1 All
Pn066▲ Communication baud rate 0-3 1 All
Pn067▲ 0-8 8 All

Communication mode setting
Pn068 Input function control 0~32767 0 All

mode select register 1
Pn069 Input function control 0~4095 0 All

mode select register 2
Pn070 Input function logic state 0~32767 32691 All

set register 1
Pn071 Input function logic state 0~4095 4095 All

set register 2
Pn072 Internal use
Pn073 Internal use
Pn074 Fan function temperature 30~70 50 摄氏 All
Pn075 Fan operation mode 0~2 0 All
Pn076 Emergency stop reset (EMG) 0-1 0 All
Pn077 Positive and negative 0-2 0 All

riving ban dchecked out
Pn078 0~1 1 All

Lack of voltage detection
Pn079 0-23 0 All

The system status display project selection
Pn080▲ The encoder to choose 0~0 0 All
Pn081 User preferences permanent write

0-1 0 All
36
operation
Pn082 SigOut port force output 0 0~255 All
Pn083 50~280 200 V All

Low pressure alarm detect amplitude
Pn084 High pressure alarm detect amplitude 290~380V 365 V All
Pn085▲ Motor pole logarithmic 1~100 4 对 All
Pn086 Renewable circuit discharge cycle 0~2000 70 ms All
Pn087- - - - -
Internal use
pn095
4.2.2 Position control parameters
name Value range apply

number The default value unit
Pn096▲ The command pulse input mode 0-2 0 P
Pn097▲ Instruction selection logic pulse 0-1 0 P
input direction
Pn098 1~32767 1 P
Pulse electronics gear than the
molecules of 1
Pn099 1~32767 1 P
molecules of 2
Pn100 1~32767 1 P
molecules of 3
Pn101 1~32767 1 P
molecules of
4
Pn102▲ Pulse electronics gear than the 1~32767 1 P
37
denominator
Pn103 Beyond the scope of 1~ 500 500 P
setting position deviation

Thous
and
pulse
Pn104 0~ 32767 10 P
Complete range set position
pilse
location
Pn105 0~ 32767 3 P
Positioning to complete set
pilse
Pn106 0~ 32767 300 P

Position location close to the range
pilse
of Settings
Pn107 0~ 32767 30 P
Position location close to the poor set
pilse
back
Pn108 0-1 1 P
Position deviation clear way
Pn109◆ 0-2 1 P
Position command deceleration mode
Pn110◆ 5~1750 50 ms P
Position command a filtering
time constant
Pn111◆ 5~1200 50 ms P
Ta S-shaped filtering time constant
Ta position instruction
Pn112◆ 5~550 20 ms P
position instruction Ts S-shaped
filtering time constant Ts
Pn113▲ 0-100 0 % P
The position loop feedforward gain
Pn114▲ Position loop feedforward filter 1-50 5 ms P
time constant
Pn115 The position 5-2000 100 % P
38
controller gain 1
Pn116 5-2000 100 % P

The position controller gain 2
Pn117 0~1 0 P
Position command source selection
Pn118 Internal position instruction 0~1 0 P
suspend mode selection
Pn119 0~10000 50 P
Internal position suspended deceleration
time
Pn120 -9999~9999 0 万个 P
Internal position 0 high pulse 脉冲
number set up ten
thous
and
pulse
Pn121 -9999~9999 0 个 a P
Internal position instruction 0
pulse number low set
Pn122 -9999~9999 0 万个 P
脉冲
ten
pulse number high set
thous
and
pulse
Pn123 -9999~9999 0 个 a P
Internal position instruction
1pulse number low set
Pn124 -9999~9999 0 万个 P
Internal position instruction 脉冲
2pulse number high set ten
thous
and
pulse
39
Pn125 Internal position instruction 2 -9999~9999 0 个a P
pulse number set low
Pn126 -9999~9999 0 万个 P
Internal position instruction 3 脉冲
pulse high setting ten
thous
and
pulse
Pn127 -9999~9999 0 个a P
pulse number set low
Pn128 0~3000 100 r/min P

Internal position command zero
speed
Pn129 0~3000 100 r/min

Internal position command 1
speed
Pn130 0~3000 100 r/min P

Internal position command
2speed
Pn131 0~3000 100 r/min P

Internal position command 3
speed
Pn132 0~1 0 P
Torque/speed control
switch to the position control
Pn133 5-10000 100 ms P

Torque/speed
control switch to the position
control of the deceleration time
Pn134~ - - -
internal use
Pn145
4.2.3 Speed control parameter
40
number name The
value range unit apply
default
value
Pn146◆ 0~2 1 S
Speed instruction deceleration mode
Pn147◆ 5~ 1500 80 ms S
Ts Speed instruction S curve and
deceleration time constant Ts
Pn148◆ 5~ 10000 80 ms S
Ta Speed instruction S curve
acceleration time constant of Ta
Pn149◆ 5~ 10000 80 ms S
Td Speed instruction S curve
deceleration time constant of Td
Pn150◆ 5~30000 80 ms S
Linear acceleration time constant
Pn151◆ 5~30000 80 ms S
Linear deceleration time constant
Pn152▲ 1~380 10 0.1ms All

Speed detection filter time constant
Pn153 5~ 2000 100 % All

The speed regulator proportional gain 1
Pn154 5~ 2000 100 % All

Speed regulator integral time constant of 1
Pn155 5~ 2000 100 % All

The speed regulator proportional gain 2
Pn156 5~ 2000 100 % All

Speed regulator integral time constant 2
Pn157▲ Simulation speed instruction 1~500 1 0.1ms S
smoothing filtering time
Pn158 1~1500 300 r/min/ S

The directive gain simulation speed
V
Pn159 -5000~5000 mv S
Simulation speed instruction offset adjustment
41
Pn160 0-1 0 S
Simulation speed instruction direction
Pn161 Simulation speed instruction to 0~1000 0 10mv S
enforce zero range
Pn162 -1000~0 0 10mv S

Simulation speed instruction to
enforce zero range limit
Pn163 0-1 0 S
Zero speed clamp lock mode
Pn164 0~1 0 S
Zero speed clamp is triggered
Pn165 0~200 6 r/min S

The clamp level zero speed
Pn166 5~10000 50 ms S
Zero speed clamp deceleration time
Pn167 5~2000 100 % All

Internal position controller gain
Pn168 0~1 0 S
speed instruction source select
Pn169 -5000-5000 0 R/min S

Internal speed reference 1
Pn170 -5000-5000 0 R/min S

internal speed instruction 2
Pn171 -5000-5000 0 R/min S

Pn172 -5000-5000 0 R/min S

Pn173 -5000-5000 0 R/min S

Pn174 -5000-5000 0 R/min S

Pn175 -5000-5000 0 R/min S

Pn176 -5000-5000 0 R/min S

42
Pn177 JOG speed 0~5000 200 r/min S
Pn178 5~ 10000 100 ms S

JOG speed up the time
Pn179 5~ 10000 100 ms S

JOG Deceleration time
Pn180~
internal use
Pn185
4.2.4 Torque control parameters
number name value range The unit apply

default
value
Pn186 0~1 0 T
Torque command
deceleration mode
Pn187▲ torque instruction 1~30000 1 ms T
inear deceleration
l time constant
Pn188▲ 1~500 1 0.1ms T

Analog torque instruction smooth filtering
time
Pn189 1-300 30 %/V T

Analog torque instruction gain
Pn190 Analog torque instruction offset adjustment-1500~1500 0 mv T
Pn191 0-1 0 T
Simulation of torque command direction
Pn192 5~ 2000 100 % All

Q shaft torque regulator proportional gain is 1
Pn193 5~ 2000 100 % All

Q shaft torque regulator integral time
constant of 1
Pn194 Proportional gain 2 Q shaft torque 5~ 2000 100 % All
regulator
43
Pn195 5~ 2000 100 % All
Q shaft torque regulator integral time
constant 2
Pn196 1-500 1 0.1ms All

Torque Q axis filter time constant of 1
Pn197 1~500 1 0.1ms All

Filtering time constant torque Q 2
Pn198 0~4500 2500 r/min T

Torque control speed limit
Pn199 Source of limited torque 0~2 0 T

control speed choice
Pn200 The internal torque 1 -300~300 0 % T
Pn204 Torque command source 0~1 0 T
Pn205 D shaft torque regulator proportional gain 5~2000 100 % All
Pn206 5~2000 100 % All

D shaft torque regulator integral time
constant
Pn207 1~3000 100 T

Speed feedback adjustment coefficient
Pn208 0~300 5 % T
track torque instruction judgment error
range 1
Pn209 tracking torque instruction judgment 0~300 2 % T
error range 2
Pn210~
internal use
Pn219
4.2.5 Extension control parameters
44
4.3 Parameters
4.3.1 System parameters
number name value range default value unit apply
Pn000 Open parameters 0~2 1 All
initialization function
Open parameters initialization function

◢ 0：
◢ 1：Allow to initialize to all parameters, but not initialized Pn001
code (motor), Pn159 (simulated speed instruction offset adjustment), Pn190 (analog torque instruction
offset adjustment), and other parameter values
◢ 2：Allow to initialize all parameters
Pn001▲ Motor code 3-12 3 All
◢ Must set up the right motor type code, the motor can work normally. Drive model and motor model fit the table below
KRS KRS KRS KRS KRS

Motor model Pn001 Rated speed
rated Rated 15A 20A 30A 50A 75A
torque power
(r/min) (N.M) (W)
60st_m00630 0 3000 0.6 200 √ √ √
60st_m01330 1 3000 1.3 400 √ √ √
60st_m01930 2 3000 1.9 600 √ √ √
80st_m01330 3 3000 1.3 400 √ √ √
80st_m02430 4 3000 2.4 750 √ √ √
80st_m03520 5 2000 3.5 730 √ √ √
80st_m04025 6 2500 4 1000 √ √ √
90st_m02430 7 3000 2.4 750 √ √ √
90st_m03520 8 2000 3.5 730 √ √ √
90st_m04025 9 2500 4 1000 √ √ √
110st_m02030 10 3000 2 600 √ √ √
110st_m04020 11 2000 4 800 √ √ √

45
110st_m04030 12 3000 4 1200 √ √
110st_m05030 13 3000 5 1500 √
110st_m06020 14 2000 6 1200 √ √ √
110st_m06030 15 3000 6 1800 √
130st_m04025 16 2500 4 1000 √ √ √
130st_m06015 17 1500 6 1000 √ √ √
130st_m05025 18 2500 5 1300 √ √
130st_m06025 19 2500 6 1500 √
130st_m07725 20 2500 7.7 2000 √
130st_m10010 21 1000 10 1000 √ √ √
130st_m10015 22 1500 10 1500 √ √
130st_m10025 23 2500 10 2600 √ √ √
130st_m15015 24 1500 15 2300 √
130st_m15025 25 2500 15 3800 √ √
150st_m15025 26 2500 15 3800 √ √
150st_m15020 27 2000 15 3000 √ √
150st_m18020 28 2000 18 3600 √ √
150st_m23020 29 2000 23 4700 √ √
150st_m27020 30 2000 27 5500 √
180st_m17215 31 1500 17.2 2700 √ √
180st_m19015 32 1500 19 3000 √ √ √
180st_m21520 33 2000 21.5 4500 √ √
180st_m27010 34 1000 27 2900 √ √
220st_m67010 35 1000 67 1000 √
value the
number name default unit apply
range
value
Pn002▲ control mode 2 All

0~5
◢ All kinds of control mode in the following table
Pn002 control mode
0 Torque mode
1 speed mode
2 location mode
46
3 location/speed mode
4 location/torque mode
5 speed/torque mode
◢ Set to three, four, five, mode between the switch is determined by the input port SigIn Cmode signal state
Pn002 Cmode control mode
3 OFF location mode
ON speed mode
4 OFF location mode
ON torque mode
5 OFF speed mode
ON toeque mode
◢ Please refer to the appendix B for switching control mode
number name the unit

value range default value apply
Pn003 Servo enabled mode 0~1 0 All
◢ 0 By the input port of the SigIn SON can drive

◢ 1 After power on can automatically make the drive
value the
number name unit apply
range default value
Pn004 Servo is broken can stop 0~2 0 All

the way
◢ When make the can signal from effective becomes invalid, can set the motor to stop running mode
Pn004 Electromagne Slowing instructions
tic brake down
0
Do not use Do not use Inertial parking
1 Determined by Pn005 decelerate parking, deceleration time

Do not use use
47
2 use Do not use Electromagnetic braking parking with electromagnetic brake
(for motor)
value the
number name range default unit apply

value
Pn005
Can make deceleration time 5-10000 100 ms All
◢ Can make the signal from the effective becomes invalid, the motor speed to zero time. If in the
process of reduction, enabling signal effectively again, the motor will slow down to zero
value the
number name default unit apply
range
value
Pn006 With/without positive 0-3 0 All
driving is prohibited
◢ Set this parameter values, you can choose to use or not use driving ban function, the truth table below
Pn006 Forward driving ban Reverse driving ban
0 Do not use Do not use
1 Do not use use
2 use Do not use
3 use use
value the
number name
range default unit apply
value
Pn007 forward/reverse 0-10000 60 ms All
driving stop deceleration
time is prohibited
48
◢ When happening overtravel, SigIn port CCWL or.cwl status is OFF; use Pn077 on
whether can be set up alarm detection. Distance, the motor can be in accordance with the slow time to
slow down, clear position instruction pulse (position control) at the same time, after stop for internal
position lock. Internal position gain through Pn167 regulation
number name value the unit apply

range default value
Pn008 Internal around are torque 0-300 300 % All
limit (CCW)
Pn009 Around inside the torque -300~0 -300 % All
limit (the CW)
Pn010 External around are 0-300 300 % All
torque limit (CCW)
Pn011 Around outside the torque -300~0 -300 % All
limit (the CW)
◢ Set the CCW/the CW direction of motor torque limit. Internal and external torque limit effectively at the same time,
the actual torque smaller limi t
◢ External torque limit by SigIn TCCWL, TCWL control of the port
◢ Some motor maximum output torque is twice the rated torque, the maximum torque of the motor output
automatically restricted to within two times the rated torque
name the unit

number value range default value apply
Pn012 Forward (CCW) 0-300 200 % All

torque overload alarm level 1
Pn013 Inversion (the CW) -300-0 -200 % All
torque overload alarm level 1
49
Pn014 Torque overload 1 alarm 0-800 80 100ms All
detection time
Pn015 Overload 2 testing time 0-150 40 100ms All
◢
Overload 1 alarm level refers to the overload overcurrent rated output current percentage, relative to
the motor overload capacity range between 0 and the maximum output current. Torque overload 1 the
overload capacity of the default value is 2 times, in the setting time, lasts for more than 2 times the output
torque, will perform overload 1 protection
◢ In a set time, the motor to allow the rated torque output ratio, will perform overload 2 protection
◢ If the overload level sets is greater than the corresponding internal/external torque limit, overload conditions may
not be met, the protection will not work
number name value range the unit apply

default value
Pn016▲ 1~63 1 All

The molecular DA of
encoder divider output
Pn017▲ The denominator DB of 1~63 1 All

encoder divider output
◢ Encoder output, a electronic gear used for dividing the encoder pulse signal output. Frequency division value
must be satisfied: DA/DB > = 1. Encoder, for example, to line 2500, DA/DB crossover value = 25/8, then
after frequency division line number: 2500 / (DA/DB) = 2500 / (25/8) = 800 line
value the
value
Pn018▲ 0-1 0 All

Take the encoder output pulse
50
AB phase logic
◢ 0: motor counterclockwise A, B in advance. Clockwise ahead of A B
◢ 1: motor counterclockwise B ahead; Clockwise ahead of B

default value
Pn019▲ Rated current Settings 0-15 0 A All
Pn020▲ Rated speed setting 0~5000 Rated speed r/min All
◢ Parameter is set to 0, use the manufacturer to set a default value; Otherwise, the user must be strictly in
accordance with the motor rated current RMS, rated speed and the corresponding internal positive and
negative torque limit setting parameter values. If set incorrectly, the motor will not be able to run properly.
According to the code of different types and motor drive, can achieve the largest actual current value is
different. Please do not modify the average user.
name the unit

number value range default value apply
Pn021 reach to predetermined speed 0~5000 500 r/min All
Pn022 Hysteresis comparison 0~5000 30 r/min All
difference in predetermined
speed
Pn023 Reach to predetermined 0-2 0 All
speed detection direction
◢ When the motor is running at a faster rate than the decision value set, the output port SigOut Sreach will turn
ON, or to OFF.
◢ More instruments include
51
hysteresis comparison. The setting of the difference is too small, the output signal cut-off frequency is
higher; The set value, the greater the cut-off frequency is small, but at the same time reduce the resolution
of the comparator. Example: booking speed is set to 100, difference set to 10.
OFFD-Value D-ValueON
90 100 110 Speed
◢ Can be set up speed detection direction, in the following table
Pn023 The comparator
0 Positive &negative were detected
1 Testing only forward speed; Inversion, the signal is OFF
2 Only detect reverse speed; Forward, the signal is OFF
number name the unit apply
value range default value
Pn024 reach to the 0-300 100 % All

predetermined torque
Pn025 0-300 5 % All

Reach a predetermined
torque hysteresis
comparison difference
Pn026 0-2 0 All

Reach the predetermined torque
direction
◢ When the motor running torque than the decision value set, the output port SigOut Treach will turn ON, or to OFF
◢ Can install torque detection direction, in the following table:
Pn026 The comparator
52
0 Positive &negative were detected
1 Testing is only around moment; Inversion, the signal is OFF
2 Only testing around the moment; Forward, the signal is OFF
default value
Pn027 0~1000 10 r/min All

Zero velocity detection range setting
Pn028 Zero speed test back to the poor 0~1000 5 r/min All
◢ When the speed of the motor speed is lower than the set value, the output port SigOut zerospeed into ON,
otherwise to OFF
default value
Pn029 0~1000 5 r/min All

Motor electromagnetic brake testing
point zero speed
◢ Only when using electromagnetic brake function, state whether the motor is zero speed

default value
Pn030 Motor static electromagnetic 0~2000 0 Ms All
brake delay time
◢ Motor static, electromagnetic brake braking began to delay time of cut off the current to the motor
◢ When using the electromagnetic brake function, servo way can make Pn005 must be set to 2

default value
Pn031 The motor 0~2000 500 ms All
53
electromagnetic brake waiting
time during operation
◢ Motor operation, cut off the current to the waiting time between electromagnetic brake

range default value
Pn032 Electromagnetic brake movement 0-3000 30 r/min All
speed while the machine running
◢ Motor operation, when the speed of motor is lower than the set parameters, magnetic brakes brake
编号 number
number 名称 name
name 取值范围 value
value the the
默认值 unitunit
单位 apply
apply
适用
rangerange default value

default value
Pn033 The origin is triggered 0~3 0 All
◢ 0: Close the origin regression function

◢ 1 By the input port of the SigIn GOH level trigger
◢ 2 By the input port of the SigIn GOH rising along the trigger
◢ 3 Power on automatically
◢ See the appendix F origin point execution way
range default value
Pn034 The 0~5 0 All

origin return reference point
model
◢ 0：Forward looking for REF (rising along the trigger) as a reference point
◢ 1：Inversion for REF (rising along the trigger) as a reference point

◢ 2： Forward looking for CCWL falling edge (trigger) as a reference point
◢ 3 Inversion to find.cwl falling edge (trigger) as a reference point

◢ 4：Forward looking for Z pulse as a reference point
◢ 5：Pulse inversion for Z as a reference point
Note: CCWL or.cwl as a reference point, need to set the Pn006 parameters, open the function
54
name the
number value range default value unit apply
Pn035 The origin back to the origin model 0~2 0 All
◢ 1 Backward looking for Z pulse as the origin
◢ 2 Forward looking for Z pulse as the origin

◢ 3 Directly with reference point rise along the origin
number name value range the unit
default value apply
Pn036 -9999~9999 0 ten All

The origin position offset high
thousand pulse
Pn037 The origin position offset low -9999~9999 0 pulse All
◢ After finding the origin, plus the offset (10000 + Pn037 Pn036 *) as a real origin

range default value
Pn038 The origin back to the first speed 1~3000 200 R/min All
Pn039 The origin back to the second 1~3000 50 R/min All

speed
◢ ，
Perform operation on the origin, looking for reference points at the first speed, arrived at the
reference point, seeking the origin at the second rate. The second speed should be less than the first speed

default value
Pn040 The accelerating time of origin 5~10000 50 ms All
Pn041 The originreturn to slow down time5~10000 50 ms All
◢ In the execution of origin point, motor from zero speed accelerated to the rated speed of the time, only for the origin
returning operation
name value the unit
55
number range default value apply
Pn042 The origin in the delay 0~3000 60 ms All
◢ On arriving at the origin, the delay for a period of time, let the motor is perfectly still. After the completion of
the delay, output port SigOut HOME output ON

default value
Pn043 5~3000 80 ms All

Complete the signal delay of
origin
◢ HOME last valid time

range default value
Pn044 The origin return 0~1 0 All
instruction execution mode
◢ 0 After the completion of the origin, waiting for the HOME signal into OFF to receive and executes instructions
◢ 1 The origin return immediately after the completion of receiving and executes instructions
number name the

value range default value unit apply
Pn045 Gain switch to choose 0~5 5 All
◢ 0: Fixed gain 1
◢ 1: Fixed gain 2
◢ 2：Controlled by input port SigIn Cgain terminals, OFF as gain 1, ON 2 gain
Controlled by speed command, speed command exceeds Pn046, switch to gain 1

◢ 3：
Controlled by pulse bias, position deviation exceeds Pn046, switch to gain 1

◢ 4：
By the motor speed control, feedback speed exceeds Pn046, switch to gain 1
◢ 5：
56
◢ See the appendix A for gain switch
value the
number name range default value unit apply
Pn046 Gain switch level 0~30000 80 All
Pn047 0~30000 6 All

Gain switch back to the poor
◢ According to Pn045 parameter setting, switching condition and the unit is not the same
Pn044 Gain switching conditions unit
3 Speed instruction R/min
4 Pulse bias a pilse
5 Motor speed r/min
the
number name value range default value apply
unit
Pn048 Gain switch delay time 0~20000 20 0.1ms All
◢ Gain switching conditions meet the delay time to start switch. If detected in delayed phase
switching conditions are not met, then cancel the switch
the
Pn050◆ Gain switch time 2

0~15000 50 0.1ms All
◢ Gain switch, current gain linear smoothing gradient combination in this time to the target gain combination,
combination of the various parameters change at the same time
the
Pn051 0~5000 3000 All
57
The motor running
top speed limit
◢ Used to restrict the highest speed of the motor running. Value should be less than or equal to the rated
speed, otherwise the motor can run a maximum speed of the rated speed
name the
Pn053▲ SigIn2port functional allocation -27~27 2 All
◢ Specific functional allocation reference SigIn function, a table

1：
◢ 2：- 1 ~ 27 function number is 1- 27 corresponding negative logic function, function is the same, the effective level instead
Parameter SigIn input level

SigIn corresponding function
values
positive values low level ON
high level OFF
negative low level OFF
high level ON
◢ 3 If the same overlapped functions assigned to different port, the port number of ports real effective, small
number of port doesn't work. Example: SigIn1 - > 6; SigIn - > 3-6; The functions assigned to SigIn 3, 6
and logic is negative, and SigIn 1 port status is ignored
the
Pn056 SigIn filtering time 1 port 1~1000 2 ms All
58
Pn058 SigIn filtering time 3 port 1~1000 2s ms All
◢ For digital filter input port SigIn
the apply
number name value range default value unit
Pn060▲ SigOut1 port functional allocation -14~14 2 All
Pn061▲ SigOut2port functional allocation

-14~14 1 All
Pn062▲ SigOut3 port functional allocation -14~14 4 All
Pn063▲ -14~14 7 All

SigOut4port functional allocation
◢ Specific functional allocation reference to SigOut function, a table.
Parameter values Corresponding function SigOut output
positive values ON low level
OFF high level
negative OFF low level
ON high level
the
Pn064▲ Communication mode 0-2 0 All
◢ 0：No communication
◢ 1：RS-232
◢ 2: RS-485
◢ See chapter 7 Modbus communication protocol communication function
value the
Pn065 Communications site 1-254 1 All
59
◢ When using the Modbus communication, drive in each group should be set in advance different sites; If
repeat setting site, will lead to paralysis of communication
value the
Pn066▲ Communication 0-3 1 All
baud rate
◢ 0 ：4800
◢ 1 ：9600
◢ 2 ：19200
◢ 3 ：38400
the
Pn067▲ Communication mode setting 0-8 8 All
◢ Parameter values are defined as follows table, see chapter 7 of the Modbus communication function
set instructions
0 7 , N , 2 ( Modbus ,ASCII )
1 7 , E , 1 ( Modbus , ASCII )
2 7 , O , 1 ( Modbus , ASCII )
3 8 , N , 2 ( Modbus , ASCII )
4 8 , E , 1 ( Modbus , ASCII )
5 8 , O , 1 ( Modbus , ASCII )
6 8 , N , 2 ( Modbus , RTU )
7 8 , E , 1 ( Modbus , RTU )
8 8 , O , 1 ( Modbus , RTU )
the
Pn068 Choose to register 1 input 0~32767 0 All
function control way
Pn069 Choose to register 2 input 0~4095 0 All
60
function control way
◢ Determine the function or port input mode control by way of communication. If you don't communicate mode control, set the zero
Pn068 parameters
bit BIT7 BIT6 BIT5 BIT4 BIT3 BIT2 BIT1 BIT0
function Zero Lock EMG TCW TCCW CWL CCWL Alarm rst Son
The 0 0 0 0 0 0 0 0
default value
BIT15 BIT14 BIT13 BIT12 BIT11 BIT10 BIT9 BIT8
keep Cgain Cmode TR2 TR1 Sp3 Sp2 Sp1
0 0 0 0 0 0 0 0
Pn069 parameters
function REF GOH PC INH Pclear Cinv Gn2 Gn1
The default value 0 0 0 0 0 0 0 0
keep keep keep keep pstop ptriger Pos2 Pos1
0 0 0 0 0 0 0 0
◢
When the communication control, determine the above function from the input port or on the CN3 from c
ommunication control to change. Set to 0, the
controlled by the input port on the CN3 change; Is set to 1, is controlled by the communication change. The
default all controlled by the input port. For example: son sp3 sp2 sp1 function through communication
control, other control, through the input port is set value is 00000111 _00000001 (binary) -- - > 0 x0701
(hexadecimal) -- - > 1793 (decimal), so set Pn065 parameter value is 1793.
value the
value
61
Pn070 0~32767 32691 All
Input function
logic state set register 1
Pn071 Input function 0~4095 4095 All

logic state set register 2
◢ On RS232 or RS485 communication,

and set the Pn068, Pn069 corresponding controlled by communication, this parameter with the
corresponding bit to set or reset, can control the state of the function of input signal. Logic 0 for valid state.
Pn070 parameters
function ZeroLock EMG TCW TCCW CWL CCWL Alarmrst Son
The 1 0 1 1 0 0 1 1
default value

keep Cgain Cmode TR2 TR1 Sp3 Sp2 Sp1
0 1 1 1 1 1 1 1
Pn071 parameters
REF GOH PC INH Pclear Cinv Gn2 Gn1

Function signal
The default value 1 1 1 1 1 1 1 1
keep keep keep keep pstop ptriger Pos2 Pos1
0 0 0 0 1 1 1 1
◢
In a communication control mode, by setting the register, CN3 external input signal control could be achieved.
Drive in position control mode, for example, to
62
ban pulse command, set Pn071 BIT4 set 0, input pulse becomes invalid. The communication control,
set the parameter value, shall be invalid.
Note: after each access to electricity,
drive will automatically load the Pn070, Pn071 register values, and perform the corresponding
operation immediately. So, before enabling the motor to determine the function of input signal into
the proper working condition
name the
Pn074 Fan temperature 30~70 50 ℃ All
Pn075 Fan operation mode 0~2 0 All
◢ Fan operation mode are: 0: heat automatically

1 boot operation
2: don't run
name value the

number range default value unit apply
Pn076 0-1 0 All

Emergency stop reset (EMG)
◢ Lift its state of EMG OFF after the removal of EMG (AL -14) alarm conditions:
0 Must be under the servo can make OFF, by manual or port SigIn: AlarmRst cleared.
1 Regardless of servo enabled ON or OFF, EMG again into ON, will be automatically removed
◢ In can make ON the state, if the external command input, EMG alarm automatically remove, instructions are executed immediately
the
Pn077 Is/the driving ban checked out 0-2 0 All
◢ If use the function of CCWL or.cwl, when CCWL or.cwl for the OFF state, whether can be set up from AL
-15 police
0 Don't send out alarm
1 Motor is running, reducing stopped, send out alarm, motor is no longer current
2 Immediately issued a warning, motor power, free downtime
63
the
Pn078 Lack of voltage detection 0~1 1 All
◢ 0 not check out
◢ 1 Check out
name the
Pn079 The system status display project 0-23 0 All
selection
◢ Drive, automatic Dn000 submenu into monitor mode menu. By default, according to the manufacturer to
display the system status (motor speed), the user can set the parameter value, so it shows Dn000 particular
state of the system parameters, details see the list of "monitoring mode".
0 The default system (motor speed) 1 Speed instruction 2 The average torque 3 Position deviation value
4 The ac power voltage 5 Maximum instantaneous torque 6 Pulse input frequency 7 Temperature of
the heat sink 8 The current motor speed 9 Effective input command pulse accumulative total value is low
10 Effective input command pulse accumulative total value is high 11 Position control,
effective feedback pulse encoder accumulative total value is low 12 Position control, effective feedback pulse encoder
cumulative value high 13 Regenerative braking load factor 14 Input port signal state 15 Signal output port state
16 Analog voltage torque instruction 17 Simulate the speed reference voltage 18 Output function status register
19 After power on the servo, pulse encoder feedback accumulative total value is low
20 After power on the servo, pulse encoder feedback accumulative total value is high
21 Driver soft ware 22 encoder UVW letter 23 rotor absolute position
the
Pn080▲ The encoder to choose 0~1 0 All
◢ 0: Incremental encoder 2500 line

64
◢ 1：Absolute encoder 130000 line
the
Pn081 0-1 0 All

User preferences permanent write operation
◢ The corresponding auxiliary mode Fn001 operation. The current Pn000 ~ Pn219 block all parameter value written to the EEPROM.
When the parameter value from 0 to 1, the driver will perform a write operation. This operation is only valid at the time
of communication (Pn064 > 0)
the unit
number name value range default value apply
Pn082 SigOut port output 0 0~255 All
◢ Mandatory SigOut port output fixed level. By setting the parameters, the force output port level
keep SigOut4 SigOut3 SigOut2 SigOut1
bit BIT15~BIT8 BIT7 BIT6 BIT5 BIT4 BIT3 BIT2 BIT1 BIT0
The 0 0 0 0 0 0 0 0 0
default
value
Output port truth table below
SigOut 2 SigOut 1
BIT3 BIT2 Output level BIT1 BIT0 Output level
0 0 Optional state 0 0 Optional state
0 1 Forced to high level 0 1 Forced to high level
1 0 Forced to low level 1 0 Forced to low level
SigOut 4 SigOut 3
BIT7 BIT6 Output level BIT5 BIT4 Output level
65
0 1 Forced to high level 0 1 Forced to high level
1 0 Forced to low level 1 0 Forced to low level
Example: output port SigOut2 force output low level, other optional output port status, setting Pn082 parameter value is 8.
the
Pn083 Low pressure alarm detect amplitude 50~280 200 V All
◢ When the bus voltage is less than the amplitude, the Pn078 decided whether to send out alarm
.
the
Pn084 High pressure alarm detect amplitude 290~380V 365 V All
When the bus voltage is higher than the amplitude, immediately
issued a warning, in order to protect the internal electronic components. Input power supply voltage should be
within the specifications of the acceptable, if slightly on the high side, can be appropriately increase amplitude
detection. If the input voltage power supply has been far beyond specification, shall not increase the parameter
value, otherwise it will damage the driver, please conform to the specifications of the power supply.
the
Pn085▲ Motor pole logarithmic 1~100 4 对 All
value the
Pn086 Renewable circuit discharge cycle 0~2000 70 ms All
◢ When the servo motor running in generator mode, renewable electricity too
66
much, must through the regeneration way discharge, otherwise the internal voltage is too high, damage to the
drive. Set up, the longer the voltage release faster, but the greater the power needed for regenerative resistor,
otherwise easy to burn regenerative resistor. See appendix E specific Settings.
4.3.2 Position control parameters
the
Pn096▲ The command pulse input mode 0-2 0 P
Pn097▲ Instruction selection logic pulse 0-1 0 P

input direction
◢ Command pulse input mode in the following table:
Pn096 Forward command reverse command

PP+
0 Pulse + direction PP-
PD+
PD- L H
1 Forward/reverse pulse
PP+
PP- L
PD+
PD-
L
2 The orthogonal pulse PP+

PP-
PD+
PD-
◢ Pn097 = 0: input command, the motor rotate counterclockwise (CCW)
Pn097 = 1: input command, motor rotate clockwise (included)
the
Pn098 Pulse electronics gear than the 1~32767 1 P
molecules of 1
molecules of 2
molecules of 3
67
molecules of 4
Pn102▲ Pulse electronics gear than the 1~32767 1 P

denominator
◢ Electronic gear ratio must meet the following conditions, otherwise will not work:
Electronic gear or less than 1/127 of 127 or less
◢ Electronic gear than the molecules of N by the input port of the SigIn GN1, GN2 decision.
The denominator is fixed. Molecules to choose in the following table:
GN2 GN1 Electronic gear than N
OFF OFF Molecular 1
OFF ON Molecular 2
ON OFF Molecular 3
ON ON Molecular 4
the
Pn103 Beyond the scope of setting 1~ 500 50 Thousands P

of Pulse
position deviation
◢ Deviation when the pulse counter pulse count more than the value set (i.e., the current position and
target location are too large), drive out alarm signal.
value the
Pn104 Complete range set position 0~ 32767 10 pulse P
location
Pn105 0~ 32767 3 pulse P
68
Positioning to complete set
◢
While the rest of the deviation counter pulse number is lower than the parameters setting, output port
SigOut Preach signal is ON, or OFF.
name the
Pn106 Position location close to the 0~ 32767 300 P

Pulse
range of Settings
Pn107 Position location close to the 0~ 32767 30 Pulse P
poor set back
◢
While the rest of the deviation counter pulse number is lower than the parameters setting, output port
SigOut Pnear signal is ON, or OFF.
编号 the
Pn108 Position deviation clear way 0-1 1 P
◢ Position control, can use SigIn Pclear function, clear position deviation value of the counter.
Position deviation clearance in -
0: Pclear level ON period
1: Pclear rise along time (from OFF to ON)
the
Pn109◆ Position command deceleration mode 0-2 1 P
◢ 0 Do not use the filter
◢ 1 A smoothing filter
◢ 2 S-shaped filtering
the
Pn110◆ Position command s-shaped 5~1750 50 ms P
69
filtering time constant
Pn111◆ Ta S-shaped filtering time constant 5~1200 50 ms P

Ta position instruction
Pn112◆ Ts S-shaped filtering time constant 5~550 20 ms P

Ts position instruction
Filter time constant is defined by the current location instructions frequency
operation to the target frequency. Filtering, the longer the better position instruction frequency smoothness, but
command the greater the response delay. In instruction pulse frequency step change, have the effect of smooth
running motor. The filter has no effect on instruction pulse number.
◢
Filtering time T = Ta + Ts. Ta: straight line part of the time, the smaller the Ta, the faster the
deceleration. Ts: arc part time, Ts, the greater the speed is smooth, the smaller the impact.
f Target instructions pulse frequency
Current instructions pulse frequency

Ts Ts Ts Ts
Ta Ta
Ta+Ts
t
Setting Rulse :
Ta
2 ≥ Ts
the
Pn113▲ The position loop feedforward gain 0-100 0 % P
Pn114▲ Position loop feedforward filter 1-50 5 ms P
time constant
70
◢
Position control, position feedforward directly on the
speed instruction, can reduce the position tracking error, improve the response. If the feedforward gain is too
big, can lead to speed overshoot. To smooth the feedforward commands.
number name the


controller gain 1

controller gain 2
◢ In
mechanical systems do not produce under the premise of vibration or noise, increase the position loop
gain value, to speed up the reaction rate, shorten the positioning time.
number name the

Pn117 Position command source selection 0~1 0 P
◢ 0 The external input pulse

◢ 1 Internal location instructions (see appendix G)
number name value the
range default value unit apply
Pn118 0~1 0 P
Internal position instruction
suspend mode selection
◢ 0 When pstop the trigger action, ptriger trigger again, according to the currently selected internal drive position command to
run.
◢ 1 When pstop the trigger action, ptriger trigger again, drive to continue to complete the last remaining internal
position command pulse number.
number name the
Pn119 Internal position suspended 0~10000 50 P

deceleration time
71
◢ Falling edge position in internal control, pstop, motor by the current running
speed will slow down to zero, the deceleration time can be set by this parameter
(only for internal position control).
value the
value
Pn120 Internal position 0 -9999~9999 0 ten thousand pulse P
high pulse number set up
Pn121 Internal position 0 low -9999~9999 0 个 P
pulse number set up

Pn123 Internal position 0 low -9999~9999 0 piece P
pulse number set up

Pn125 Internal position 2 low -9999~9999 0 piece P

pulse number set up
Pn127 Internal position 3 low -9999~9999 0 个 P
pulse number set up
◢
Internal location instructions N (pulse) = internal position number N pulse high value x 10000 +
internal position instruction N pulse number value low
◢ Example: the encoder 2500 line, to go travel 12.5 turn, is set Pn120 = 12, Pn121 = 5000.
72
value the unit apply
number name range default value
Pn128 Internal position 0~3000 100 r/min P
command zero speed
Pn129 Internal position 0~3000 100 r/min
command 1 speed
command 2 speed
command 3 speed
◢ When performing internal position instruction N, restrict the highest speed of motor can run.
the
Pn132 Torque/speed control switch to 0~1 0 P
the position control
◢ Control mode from the speed/torque mode conversion to position control

(Pn002 = 3 or 4), to avoid severe mechanical shock, should be in low speed switching.
The conditions of the switch can be set up:
Pn132=0：zerospeed）
Pn132=1： Slow down to zero
the
Pn133 Torque/speed control 5-10000 100 ms P
switch to the position control of the

deceleration time
◢ Pn132 = 1, when cmode signals effectively, the order control
73
mode by the torque/speed control switch to the position control, motor slow down to zero, then switch to the
position control mode. Please refer to the appendix B for specific timing.
4.3.3 Speed control parameter
the
Pn146◆ Speed instruction deceleration mode 0~2 1 S
◢ Pn146=0: Do not use the speed instruction deceleration function

Pn146=1: Using the speed instruction S curve deceleration function
Pn146=2: Use linear deceleration function
◢In speed control mode and the external position loop, this parameter must be set to 0.
name the
Pn147◆ Speed instruction S curve and 5~ 1500 80 ms S
deceleration time constant Ts
Pn148◆ Speed instruction S curve 5~ 10000 80 ms S
acceleration time constant of Ta
Pn149◆ Speed instruction S curve 5~ 10000 80 ms S
deceleration time constant of Td
◢ In speed control mode, you can set the speed instruction, deceleration time, in order to smoothly to start and stop
the servo motor.
◢ Ta: acceleration time: from 0 r/min to rated speed. For

example, servo motor rated speed 3000 r/min, if the setting time is 3 s, accelerate from 0 r/min to 1000
r/min for 1 s.
Td: Deceleration time: by the rated speed reduced to 0 r/min

Ts: Arc part time
74
Speed
Ts Ts Ts Ts t
Ta Td
Setting
Ta
Rules ： 2 ≥ Ts, Td
2 ≥ Ts
the
Pn150◆ Linear acceleration time constant 5~30000 80 ms S
Pn151◆ Linear deceleration time constant 5~30000 80 ms S
◢ Accelerating time constant is defined as the speed instruction from zero to rated speed.
Rated speed
Pn150 Pn151 Time
the
Pn152▲ Speed detection filter time constant 1~380 10 0.1ms All
◢ The smooth the speed of the parameter value, the greater the detected, but lead to the slower speed
response. Too easy to cause the oscillation, too small may lead to noise.
the
75
Pn153 The speed regulator proportional gain 1 5~ 2000 100 % All
Pn154 Speedregulator integral time constant of 1 5~ 2000 100 % All
Pn155 The speed regulator proportional gain 2 5~ 2000 100 % All
Pn156 Speed regulator integral time constant 2 5~ 2000 100 % All
◢
Speed loop controller gain directly determine the response of the
speed control loop bandwidth, the mechanical system without vibration or noise, increase the speed loop
gain value, accelerated the response.
◢
Integral time constant is used to adjust the steady-state error compensation rate,
decrease the parameter values, reduce the speed control error, increase rigidity. Is too small easy to
cause vibration and noise.

Pn157▲ Simulation speed instruction 1~500 1 0.1ms S
smoothing filtering time
◢
The set value, the greater the input analog response speed is slow, is beneficial to reduce
the high frequency noise, setting is smaller, the faster response speed, but will get big interference noise.
the
Pn158 The directive gain simulation speed 1~1500 300 r/min/V S
◢ Analog speed reference input and the ratio between the actual speed motor. The range of input voltage
- 10 ~ 10 v. Formula: speed = * Pn158 input voltage. For example: when the input voltage of 10 v, if set to 300, the
corresponding rate of 10 * 300 = 3000 r/min.
76
+Rated Speed
Pn158=300
-10V +10V
Speed instruction voltage
-Rated- Speed
value the
Pn159 Simulation speed instruction -5000~5000 mv S
offset adjustment
◢ May occur in the analog input offset phenomenon, can through this parameter.
Input Voltage adjust before

adjust after
offset voltage adjusting number

Speed instruction
(rpm)
◢ Automatic offset adjusting, perform Fn008 operations.

◢ Manually adjust the migration steps are as follows:
1 The external zero potential access to the analog input port
2 This parameter is zero, the monitor dn17 shows the value of the model.
3 If observed values are not zero, negative observation value to the input parameters, can be realized to adjust (note
that the voltage unit conversion relationship).
Example: dn17 = 1.12 V, Pn159 input - 1120 mv.
value the
Pn160 0-1 0 S
77
Simulation speed instruction
direction
◢ 0 Positive voltage forward (CCW), negative voltage inversion (the cw)
name the
Pn161 Simulation speed instruction to 0~1000 0 10mv S
enforce zero range
Pn162 Simulation speed instruction to -1000~0 0 10mv S
enforce zero range
◢ Input speed instruction lies between floor and ceiling, forced to 0 V input instructions.
Speed instruction
Collars Caps Input voltage

-10V 0 +10V
◢ When the input voltage is after adjusting for PN159 offset of the input voltage.
◢ Through the upper and lower set, can make the input
instructions into a single polarity, double polarity. Example: the upper limit of 0, lower limit for
- 1000, the equivalent input command range of 0 ~ 10 v, for normal polarity speed commands.
number name the

Pn163 Zero speed clamp lock mode 0-1 0 S
78
◢ 0：Lock, the clamping position loop control is the mode, involved in internal ring loop control, gain by Pn167 Settings.
◢ 1 Locked, clamping way is speed loop control, speed instruction forced to 0, location may change due to external
force.
the
Pn164 Zero speed clamp is triggered 0~1 0 S
SigIn port ZeroLocK to ON

◢ 0：
◢ 1：Triggered when the speed instruction below Pn165 parameters
Pn165 The clamp level zero speed 0~200 6 r/min S
When Pn164 is set to 1, and the speed instruction below this parameter value,
the lock on the motor shaft. Example: this parameter is set to 10 r/min, if the analog speed instruction - 10
r/min ~ 10 r/min, within the scope of the deceleration clamp, in order to prevent the analog speed
instruction near the zero drift, lead to the motor shaft instability.
the
Pn166 Zero speed clamp deceleration time 5~10000 50 ms S
◢ When zero velocity clamp when triggered, immediately according to deceleration time to slow down to zero, and then to lock.

Pn167 Internal position controller gain 5~2000 100 % All
range default value
79
Pn168 Speed reference source 0~1 0 S
◢ In speed control mode, the optional speed reference source:
Pn168=0：External simulation speed instruction within + 2 ~ 8

Pn168=1：Speed within 1 ~ 8
the
Pn169 Internal speed reference 1 -5000-5000 0 R/min S
◢ When a drive control mode in speed control mode, the speed reference source by the input port of the SigIn SP1,
SP2, SP3 decision:
SP3 SP2 SP1 Speed instruction
0 0 0 Internal speed 1 / external analog instruction (decided by Pn168)
0 0 1 Internal speed 2
80
Note 1:0 is OFF, 1 is ON.
Note 2: if the SigIn port is not specified SP3, SP2, SP1 function, is OFF by default
value the unit apply
number name range default value
Pn177 speed 0~5000 200 r/min S
Pn178◆ speed up the time 5~ 10000 100 ms S
Pn179◆ Deceleration time 5~ 10000 100 ms S
◢ When commissioning at, can set the speed of the motor running and the deceleration time
4.3.4 Torque control parameters
the
Pn186 Torque command deceleration mode 0~1 0 T
◢ 0: Do not use the deceleration torque instruction
◢ 1 Using linear deceleration torque instruction
the
Pn187▲ Linear deceleration time constant torque instruction1~30000 1 ms T
◢ Time constant is defined as a torque command from zero has soared to the rated torque.
Rated Torque
Time
Pn187
81
the
Pn188▲ Analog torque instruction smooth 1~500 1 0.1ms T
filtering time
◢ The set value, the greater the input analog response speed is slow, is helpful to reduce the high
frequency noise; Setup is smaller, the faster the speed of response, but will get big interference noise.
the
Pn189 Analog gain torque instruction 1-300 30 %/V T
◢ Analog torque command input and the ratio between the actual output torque. The range of input voltage
- 10 ~ 10 v. The default input voltage of 10 v, motor at 3 times the rated torque, namely = KX = 30 x, Y K = 30.
Torque Instruction %
K=30
300
200
100
-10V +10V
-100 Input Voltage
-200
-300
the
Pn190 Analog torque instruction offset -1500~1500 0 mv T
adjustment
◢ Adjust the way reference "simulation speed deviation adjustment directive"
name value the unit apply
82
number range default value
Pn191 Simulation of torque 0-1 0 T
command direction
◢ 1 Turn negative voltage is (CCW), positive voltage inversion (the cw)
the
Pn192 Q shaft 5~ 2000 100 % All

torque regulator proportional gain is 1
Pn193 Q shaft torque regulator integral time 5~ 2000 100 % All

constant of 1
Pn194 Q shaft 5~ 2000 100 % All
torque regulator proportional gain is 12
Pn195 Q shaft 5~ 2000 100 % All

torque regulator integral time constant of 2
◢ Increase the proportional gain, can make the Q axis current response speed.
◢ Reduce the integral time constant, can reduce the Q axis current control error
the
Pn196 Torque Q axis filter time 1-500 1 0.1ms All
constant of 1
Pn197 Torque Q axis filter time constant of 1~500 1 0.1ms All

2
◢ Inhibits mechanical vibration, the larger the set values, the better the results, will
cause slow response and may cause oscillation; Set the value is smaller, the faster the response, but the
mechanical conditions.
value the
Pn198 Torque control speed limit 0~4500 2500 r/min T
83
◢
When the torque control, motor speed limit in this
parameter range. There was a phenomenon of speeding can prevent the light load. Speeding, speed
control to reduce the actual torque intervention, but the actual speed will be slightly error.
the
Pn199 Source of limited torque 0~2 0 T
control speed choice
◢ Pn199=0 Restricted by Pn198 parameters

Pn199=1 Restricted by internal speed instruction 1 ~ 8
Pn199=2: If Pn204 = 1, i.e., all instructions from the internal torque, torque, speed can be restricted by analog voltage
speed command
◢ All the above speed limit both positive and negative, multipl e speed limit, restricted to the minimum speed.
◢ If this parameter is set to 1, restricted by internal speed instruction, by sp1, sp2, sp3 limited decision speed value:
1 0 means OFF, 1 is ON.
◢ Even if the setting values than the system allows the highest speed, the actual speed can limit under the highest speed.
value the
84
◢ Select the internal torque control mode, use input port of the SigIn TR1 TR2 can choose 4 kinds of torque command:
TR2 TR1 Torque command
0 0 The external torque 1 or internal analog torque instruction (decided by Pn204)
0 1 The external torque 2
NOTE:1 0 means OFF, 1 is ON.

Note 2: if the SigIn port doesn't specify TR2, TR1 functions, is OFF by default.
the
Pn204 Torque command source 0~1 0 T
0: external analog torque command
1:1internal torque 1
the
Pn205 D shaft torque regulator proportional gain 5~2000 100 % All
Pn206 D shaft torque regulator integral time 5~2000 100 % All
constant
◢ Space vector modulation, D shaft torque regulator proportional gain and integral time constant.
the
Pn207 Speed feedback adjustment coefficient 1~3000 100 T
85
◢ When the torque control, the motor speed in a limited speed range, interventional speed feedback, to reduce the
actual torque, so that the speed to limit within the scope of regression. Parameter Settings is smaller, the
greater the amount of feedback, the faster the adjustment, the smaller amount of speeding, but is too small
will fuel motor shaking; Parameter is set too large, adjust the slower, may have been speed, less than the
speed limit. Actual speed will be slightly higher than the limit speed value.
Motor rotor speed

Limit speed
Limit speed area
Torque Instruction
Limit speed area
Limit speed
the
name
Pn208 track torque instruction judgment error range 1 0~300 5 % T
Pn209 track torque instruction judgment error range 2 0~300 2 % T
◢ To make SigOut effective TCMDreach signal output port, must meet the following conditions:
Condition 1: PC set torque instruction must be
within the error range of 1. Example: input torque command 80%, Pn208 set to 5%, internal drive
of input torque instruction in deceleration operation, when calculating the output torque of the
instructions within the scope of 75% ~ 85%, condition 1 is satisfied.
Condition 2: detect the actual motor torque and the difference between the input torque of the in
structions in the judgment error range within 2.
86
4.3.5 Extension control parameters
4.4 Port functions,
4.4.1 SigIn SigIn port function explanation
number symbol function Functional specifications
0 NULL No function specified Drive the input status does not produce any action.
1 Son servo enable 。motor without power

OFF The driver is not enabled, the
ON Drive enabled, the motor power
Note: Pn003 parameters or Son state decision.
2 AlarmRs The alarm reset Alarm, and when the alarm can be clear,
t the input signal (OFF to ON), the delay to clear the alarm.
3 CCWL Forward driving ban OFF: Motor forward is prohibited
ON Allow the motor forward
Note 1: if you want to use forward driving ban, first set Pn006
parameters, enabled, and designated to a specific to the input
port. By default, do not use this feature.
Note 2: the normal operation of the motor, CCWL must in a
normally closed contact state (ON)
Note 3: the origin, this function is invalid.
4 CWL Reverse driving ban OFF: Prohibit motor reversal
ON Allow the motor reversal
5 TCCW External forward OFF: CCW direction torque Pn010 parameters without limit
87
ON: The CCW Direction torque Pn010 parameters restrictions
torque limit
Note: whether TCCW efficient or effective, CCW
direction torque is also restricted by Pn008 parameters.
6 TCW Around outside the OFF: The CW direction torque Pn011 parameters without limit
torque limit
ON: The CW direction torque Pn011 parameter restrictions
Note: whether TCW efficient or effective, the CW
direction torque is also restricted by Pn009 parameters.
7 EMG Emergency stop OFF: Ban drive motor drive, to cut off the motor current
ON: Allow normal drive motor drive
8 Zero Zero speed clamp Speed control:
Lock OFF: Don't lock the motor shaft

ON : Lock the motor shaft
9 SP1 Internal speed When a drive control mode in

speed control mode, the speed reference source by SigIn SP1,
command option 1
SP2, SP3 decision:

10 SP2 Internal speed
command option 2
0 0 0 internal speed 1 /
11 SP3 3 nternal speed External analog
External analog
command option 1
0 0 1 internal speed 2
Note:0 means OFF,1means ON.
Note 2: if the SigIn port is not specified SP3, SP2,
88
SP1 function, is OFF by default.
12 TR1 The internal torque Select the internal torque control mode, the use
command option 1 of TR1, TR2 combination, can choose 4 kinds of torque
command.
13 TR2 The internal torque
command
TR2 TR1 Torque command
0 0 The external torque 1 / internal

analog torque command
0 1 The internal torque 2
Note:0 means OFF,1means ON.
Note 2: if the SigIn port doesn't specify TR2, TR1
functions, is OFF by default.
14 Cmode Control mode switch Parameter Pn002 for 3, 4, 5, control mode can be switched.
15 Cgain Gain switch When the parameter Pn045 is 2, through Cgain switch gain combination:
OFF The first gain

ON：The second gain
16 Gn1 Electronic gear By Gn1, Gn2 combination, electronic gear molecules 1 ~ 4
molecular option 1
Gn2 Gn1 N Electronic gear than N
17 Gn2 Electronic gear
molecular option 2
OFF OFF the 1 molecular
OFF ON the 2 molecular
ON OFF the 3 molecular
ON ON the 4 molecular
18 CINV Instructions in reverse The speed or torque control mode, take the speed or torque of the
instruction.
OFF: The normal order
ON: Instructions in reverse
19 Pclear Clear position deviation value of the counter, clear way by Pn108
89
Position deviation to
parameters:
clear
Pn108 way
0 During the Pclear level ON
1 Pclear rise along time (from OFF to ON)
20 INH Pulse input is prohibited OFF: Pulse allows input instructions

ON : Input instruction pulse have been banned, ignored
21 PC Proportional control OFF: Speed loop PI control
ON : Speed loop P control
22 GOH The See the appendix F
23 REF The origin return
reference point
24 Pos1 Pos1 internal See the appendix G
location choice
25 Pos2 Pos2 internal

location choice
26 ptriger Trigger internal
position command
27 pstop Suspend internal
position command
4.4.2 SigOut SigOut port function explanation
number symbol function Functional specifications
0 null No function specified
1 Alarm Alarm detection OFF: alarm

ON: no alarm
90
2 Ready servo is ready OFF: There are alarm or malfunction
ON: No alarm and fault
3 Emg Emergency stop OFF Not in a state of emergency stop
checked out
ON : In a state of emergency stop
4 Preach Positioning to Position control mode

OFF: Pn104 position deviation is greater than the parameter
complete
set value
ON: The value of position deviation less than or equal to

Pn104 parameters setting
5 Sreach Speed to reach OFF: Speed is less than Pn021 set value
ON：Speed is greater than or equal to Pn021 set value
6 Treach reach the OFF：Torque is less than Pn024 set value

predetermined
torque
ON：The value of torque is greater than or equal to Pn024 set
7 Zero Speed zero speed OFF: Faster than Pn027 set value
ON：Speed is less than or equal to Pn027 set value
8 Run Servo motor OFF: The motor has no electricity
current ON: motor current
9 BRK Electromagnetic OFF: Electromagnetic brake

brake ON : Electromagnetic brake release
10 HOME The origin return to See the appendix F

complete
11 Pnear Located close to in a position control

OFF: Pn106 position deviation is greater than the parameter
91
set value
ON: The value of position deviation less than or equal to
Pn106 parameters setting
12 TRQL OFF: The motor torque is not limited

The Torque Limit
ON: The motor torque is limited
When the torque command

reaches Pn008 Pn009, Pn010, the parameter
value, the smallest Pn011 TRQL to ON.
13 SPL The Speed Limit When the torque control
OFF: Motor speed wasn't up to the limiting value
ON: Motor speed has reached the limit
Look Pn198 Pn199 instructions
14 TCMDreach Look Pn198 Pn199 In torque control:

instructions OFF Motor torque did not reach the upper machine set
torque instruction value
ON The setting of motor torque reaches the upper
machine set torque instruction value
.
See Pn208, Pn209 instructions.
Chapter 5 monitoring parameters and operation
5.1 Monitor panel operation
As shown in the third chapter "monitoring mode operation"
92
5.2 Monitor the parameter list
number
instruction
dn-00 Monitor display options (the default for motor speed), and by setting the Pn079 parameter, make the
dn - 00 show different monitoring status.
dn-01 Speed instruction (r/min)
dn-02 The average torque (%)
dn-03 Position deviation value (9999 ~ 9999) (unit: a)
dn-04 The ac power voltage (V)
dn-05 The maximum instantaneous torque (%)

dn-06 Input pulse frequency (in KHZ)
dn-07 Heat sink temperature (℃)

dn-08 The current motor speed (r/min)
dn-09 Effective input command pulse accumulative total value low (9999 ~ 9999) (unit: a)
dn-10 Effective input command pulse accumulative total value high (5000 ~
5000) (unit: m) (pulse accumulative total value high more than + 5000, the h
igh position 0, low today, to count)
dn-11 Effective feedback position control, the encoder pulse accumulative total value is low (9999 ~ 9999) (unit: a)
dn-12 Effective feedback position control, the encoder
pulse accumulative total value high (5000 ~ 5000) (unit: m) (feedback pulse accumulative total value
more than + 5000 high, high position 0, low today, to count)
dn-13 Regenerative braking load factor
dn-14 Signal input port state, from left to right in turn is SigIn1 ~ SigIn4 (1: high level; 0: low level)
dn-15 Output port status signal, from left to right in turn is SigOut1 ~ SigOut4 (1: high level; 0: low level)
dn-16 Analog torque command voltage (V)
dn-17 Simulation speed reference voltage (V)
dn-18 Output function status register
93
dn-19 After power on the servo, motor feedback pulse accumulative total value low (9999 ~ 9999) (unit: a)
dn-20 Electric servo, motor feedback pulse accumulative
total value high (5000 ~ 5000) (unit: m) (feedback pulse accumulative total value more than + 5000
high, high position 0, low today, to count)
dn-21 The drive software version
dn-22 Encoder UVW signals from left to right in order for the sale of state level (1: high level; 0: low level)
dn-23 Rotor absolute position
Note: Dn - 18 output function status register SigOut port state of logic, namely each Bit position shown in the table below:
Bit Bit7 Bit6 Bit5 Bit4 Bit3 Bit2 Bit1 Bit0

function Run Zero Speed Treach Sreach Preach Emg Ready Alarm
Bit Bit15 Bit14 Bit13 Bit12 Bit11 Bit10 Bit9 Bit8

- - - SPL TRQL Pnear HOME BRK
function
Function for Bit is 0, said ON state, 1 is the OFF state.
Chapter 6 alarm and processing
6.1 Alarm clearance operations
As shown in the third chapter of the auxiliary model operation "police clearance operation"
6.2 Alarm content and countermeasure
Alarm display Clear way Abnormal alarm instructions Elimination method
AL-01 power on The memory To initialize the parameters, and observation.
chip memory contents are

Internal
94
destroyed or damaged chip is damaged, replace the servo amplifier.
AL-02 reset In the case of lack of 1 The external power

low-pressure warning, dc supply voltage is measured with a voltmeter
bus voltage below Pn083 is in accordance with the specifications. If
alarm (200 v). conform to the specifications, can use Fn009
auxiliary mode, busbar voltage correction.
2 Through the display panel, into monitor
mode, observations show that whether the

voltage is consistent with an external
voltage, if the difference is too big, the
internal components damaged, replace the
servo amplifier.
3 Motor start too fast, large

load, which leads to the internal bus voltage
is lower. If it is single phase power supply
access, please use three -phase power
supply connection.
AL-03 power on Internal dc 1 The external power

bus voltage is higher than supply voltage is measured with a voltmeter
Pn084 (365 v). is in accordance with the specifications. If
conform to the specifications, can use Fn009
auxiliary mode, busbar voltage correction.
2 Through the display panel, into monitor

mode, observations show that whether the
voltage is consistent with an external
95
voltage, if the difference is too big, the
internal components damaged, replace the
servo amplifier.
3 In a reasonable range, appropriate

reduction small load inertia or prolonged
deceleration, or need additional braking
resistor.
AL-04 power on Intelligent power 1 Check the motor line U, V, W and

module directly produce encoder line is normal.
the report to the alarm
2 Turn the power off half an

hour, electricity again, if the alarm is still
there, may be internal power module is
damaged, please replace the servo
amplifier.
3: Speed loop and current loop pid p

arameter Settings.
AL-05 reset overload 1 Pn014 parameters set period of time for

greater than Pn012 overload capacity
parameters or Pn013 set by multiples of the
current.
1 Check the motor line U, V, W and

encoder line is normal.
2: Motor high frequency,
acceleration and deceleration delay when

the director of the deceleration time, reduce
the load inertia, or in more powerful capacity
96
of servo motor.
AL-06 power on overload 2 Pn015 parameter set period of time, 3 times greater
than the rated load. Eliminate overload
method reference 1.
Note: some motor can only bear

the 2.5 or 2 times of the
rated load, are not as calculated as 3 times.
AL-07 reset Motor speed is too high 1 Check the motor line U, V, W and
2 Reduce the pulse frequency of input

instructions, or adjust the electronic gear
ratio.
3 Improper speed loop pid parameter

adjustment, readjust.
AL-08 reset Servo amplifier heat 1 Repeat overload will cause the drive
overheating, please change the motor
sink overheating, actual
temperature has more operation mode. For prolonging the life of the
than 70 ℃ server, and should be used under the
environment temperature of 55 ℃, the
recommended temperature does not exceed
40 ℃.
2：Brake average power overload.
AL-09 power The encoder abnormal 1 Check whether the motor encoder wiring
is connected to the drive.
2 Check
97
whether the motor encoder interface virtual
welding, short circuit, or fall off, the encoder
the power cord is normal connection.
3: Check the encoder voltage (5 v + / -

5%). (encoder line is long, need to pay
special attention to)
AL-10 reset Actually receives the pulse 1 Electronic gear ratio (A/B)
frequency is too high, Settings. To adjust the ratio of A/B.
more than 600 KPPS
2: Reduce the pulse

frequency of the input command
AL-11 reset Deviation number of Location 1 Check the motor line U, V, W and
pulse more than setting number
Position command smoothing time constant

set is too large.
3: Increase the position loop gain, to speed
up the response speed of the machine.
4 Using the monitor model, check

to see if the motor output torque limits.
AL-12 reset Current sampling circuit 1 The instantaneous electric current too big, is
beyond the range of detection.
may be damaged
2: Check the motor line (U, V, W) whether

loose fall off.
3: Sampling circuit is damaged, replace the

servo amplifier.
AL-13 power on The CPU internal fault 1: The external interference is too large, reduce the
interference.
2：The
98
CPU chip is damaged, replace the servo
amplifier.
AL-14 Emergency Emergency stop signal is See if port,

stop effective setting of emergency stop function, signal
contact is in a normally closed state (ON)
AL-15 Abnormal Ccwl or.cwl to OFF state 1: Check CCWL,.cwl
driving ban wiring, the signal contact is in a normally

closed state (ON).
2 If do not use the driving ban

function, can set pn006 parameters, to block
it.
AL-16 Brake The input voltage is too 1 Using the monitoring mode to see if
average high or braking load rate the input voltage is beyond the normal range
power
above 85%
overload
2 Reduce the start-stop frequency
3 External more
powerful regenerative braking resistor
(remove internal brake resistance, not
parallel)
4 Increase the deceleration time
5 Renewable power resistance value and the

resistance value is set correctly
6 Change a more powerful motor and drive
AL-17 Abnormal Set the encoder Resetting Pn016, Pn017

encoder signal output of frequency parameter values, must
frequency division than not. satisfy the DA/DB > = 1.

output
99
Settings
AL-18 Improper The current Reference drive and motor type,

motor code drive model does not adapter
。 table, resetting Pn001.
sets
support setting of motor
model
Chapter 7 Modbus communication function
7.1 Modbus communication profile
This drive is RS - 232 and RS - 485 communication interface,
the user can choose a kind of communication interface and the driver. Communication method adopts the
Modbus transfer agreement, can use the following two communication modes: ASCII (American Standard
Code for information interchange) mode and the RTU (Remote Terminal Unit) model. Before communication,
you must first set up good communication related parameters (Pn064 ~ Pn071).
7.1.2 Coding meaning
ASCII mode:
Each 8-bit data consists of two ASCII characters. For example, a 78 -
byte data 1 h (hexadecimal notation), expressed in ASCII, contains the '7' ASCII (37 h) and
"8" ASCII (38 h).
The Numbers 0 to 9 and letters A through F ASCII, the following table:
Character symbols ‘0’ ‘1’ ‘2’ ‘3’ ‘4’ ‘5’ ‘6’ ‘7’
Corresponding to the ASCII 30H 31H 32H 33H 34H 35H 36H 37H
Character symbols ‘8’ ‘9’ ‘A’ ‘B’ ‘C’ ‘D’ ‘E’ ‘F’
Corresponding 38H 39H 41H 42H 43H 44H 45H 46H
100
to the ASCII
RTU mode:
Each 4 - bit 8-bit data by two hexadecimal data, namely the general number
of hexadecimal. For example, decimal in 1 120 - byte RTU data representation for 78 H.
7.1.3 The data structure
10 bit character mode (for 7 bit data)
11 bit character mode (for 8 bit data)
7.2 Communication protocol structure
101
ASCII mode
name meaning instruction
Communication began The starting character ':' (ASCII: 3 ah)

Start
The communication address Address, that is, drive site number.

For example:
a drive site # 32, hexadecimal for
20 h, Address = '2', '0' or '2' = 32 h,
Address '0' = 30 h
order 1 byte contains two ASCII.

Commonly used
commands: 3 h (read registers), 6
h ((reading a single register), 8 h
(diagnostic function), 10 h (write
CMD
multiple register)
DATA(n-1) The data content N = 2 N word bytes = 4 N
⋯⋯ ASCII (N < = 8)
DATA(0)
Check code 1 byte contains two ASCII

LRC
End 1 The end of the code 1 0 dh, i.e., CR
End 0 The end of the code 0 0 ah, that is, LF
RTU mode
name meaning instruction
Communication began The rest time to at least 3.5

Start bytes transmission time
The communication address

Address
102
Address, that is, drive site number. For
example: a drive site # 32,
hexadecimal for 20 h, Address = 20 h
command 1 byte. Commonly used commands: 3 h

(read registers), 6 h ((reading a
single register), 8 h (diagnostic
function), 10 h (write multiple

CMD register)
DATA(n-1) data content Word N = 2 N bytes (N < = 9)
⋯⋯
DATA(0)
CRC Check code 1 byte
The end The rest time to at least 3.5

bytes transmission time
End 1
7.3 Commonly used command code
7.3.1 Reading a multiple register
03H Reading a multiple register

Instructions: read the N word, N values for 1 ~ 8 scope
Example: from the site of 01 h drive read starting address 0013 h 2 words.
1. ASCII mode
PC - >drive Response - > PC (OK) Response - > PC (Error)
start ‘:’ start ‘:’ start ‘:’

Address ‘0’ Address ‘0’ Address ‘0’
103
‘1’ ‘1’ ‘1’
cmd ‘0’ cmd ‘0’ cmd ‘8’
‘3’ ‘3’ ‘3’
Data high ‘0’ Data bytes ‘0’ Abnormal code ‘0’
source bit ‘ 0’ ‘4’ ‘2’
address
low ‘1’ Address high ‘0’ LRC ‘7’

bit ‘3’ 0013 h bit ‘0’ ‘A’
content
‘0’ low ‘3’ END1(CR) 0DH
Read the register ‘0’ bit ‘2’ END0(LF) 0AH
number
‘0’ high ‘0 ’
Address
‘ 2’ 0014 h bit ‘0’
content
LRC ‘E’ low ‘0’
‘7’ bit ‘A’
END1(CR) 0DH LRC ‘B’

END0(LF) 0AH ‘C’
END1(CR) 0DH
END0(LF) 0AH
2. RTU Mode
Response - > PC Response - > PC (Error)

PC - > drive (OK)
Address 01H Address 01H Address 01H
CMD 03H CMD 03H CMD 83H

Data 00H Data bytes 04H Abnormal 02H
source code
high
address
bit
13H The 00H CRC C0H
low high low bit
bit bit
104
Read the register 00H content of 32H CRC F1H
the 0013 h low high bit
number
address bit
02H 00H
high
The bit
CRC low bit 35H content of 0AH
the 0014 h low
address bit
CRC high bit CEH CRC low DBH
bit
CRC high FBH
bit
7.3.2 Write a single register
06H Write a single register
Description: write a word to the register.
For example: drive station number of 01, write data initial address is 0013 h, write data, 100 (64 h).
1. ASCII MODE
Response - > PC (OK) Response - > PC (Error)

PC - > drive

‘1’ ‘1’ ‘1’
cmd ‘0’ cmd ‘0’ cmd ‘8’
‘6’ ‘6’ ‘6’
Data ‘0’ Data ‘0’ Abnormal code
‘0’
source source
high ‘ 0’ high ‘ 0’ ‘3’
address address
bit bit
‘1’ ‘1’ LRC ‘7’
low ‘3’ low ‘ 3’ ‘6’
105
bit bit
The data content ‘0’ The data content ‘0’ END1(CR) 0DH
(word format) ‘0’ (word format) ‘0’ END0(LF) 0AH
‘ 6’ ‘6’
‘ 4’ ‘4’
LRC ‘8’ LRC ‘8’
‘2’ ‘2’
END1(CR) 0DH END1(CR) 0DH
END0(LF) 0AH END0(LF) 0AH
2. RTU MODE
Response - > PC Response - > PC

PC - > drive
(OK) (Error)
Data 00H Data 00H 03H
source
source high high Abnormal
address
address bit bit code
13H 13H CRC 02H

low low low bit
bit bit
00H The F4H 00H CRC 61H
The data content
(word format) data content high bit
64H (word 48H 64H
format)
CRC low 79H CRC low bit 79H

bit
CRC high E4H CRC high bit E4H
bit
7.3.3 diagnosis
106
08H: 诊断功能 Diagnostic function
说明：使用子功能码 0000H，检查在 Master 和 Slaver 之间的传输信号。数据内容可为任意数。Note: use 0000
h subfunction code, check the signal transmission between the Master and Slaver. The data content can be any
number.
例如：对站点为 01H 的驱动器使用诊断功能。For example: the site of 01 h drive using diagnostic function
1. ASCII 模式
上位机->驱动器 PC - > 回应->上位机回应->上位机 Response

drive Response - > PC (OK) - > PC (Error)
‘1’ ‘1’ ‘1’
cmd ‘0’ cmd ‘0’ cmd ‘8’
‘8’ ‘8’ ‘8’
子功能高位 ‘0’ 子功能高位 ‘0’ 异常码 ‘0’
码 high ‘ 0’ 码 high ‘0’ Abnormal code ‘3’
Subroutine bit Subroutine bit
code 低位 ‘0’ code 低位 ‘0’ LRC ‘7’
low ‘0’ low ‘0’ ‘4’
bit bit
数据内容 ‘8’ 数据内高位 ‘8’ END1(CR) 0DH
（word 格式）The ‘6’ 容(word high ‘6’ END0(LF) 0AH
data content (word 格式) bit
format) ‘3’ The data 低位 ‘3’
‘ 1’ content low ‘ 1’
(word bit
format)
LRC ‘4’ LRC ‘4’

‘0’ ‘0’
END1(CR) 0DH END1(CR) 0DH
END0(LF) 0AH END0(LF) 0AH
2. RTU 模式 RTU mode
107
回应->上位机回应->上位机
上位机->驱动器 PC - >
Response - > PC Response - > PC
drive
(OK) (Error)
子功能高位 00H 子功能码高位 00H 异常码 03H
码 high Subroutine high Abnormal
Subroutine bit code bit code
code 低位 00H 低位 00H CRC 低位 06H

low low low bit
bit bit
数据内高位 86H 数据内容高位 86H CRC 高位 01H
容 high （word high high bit
(word 格 bit 格式）The bit
式）The 低位 31H data 低位 31H
data low content low
content bit (word bit
(word format)
format)
CRC 低位 low 43H CRC 低位 low bit 43H

bit
CRC 高位 high BFH CRC 高位 high BFH
bit bit
7.3.4 写多个寄存器 Write multiple register
10H: 写多个寄存器 Write multiple register
说明：将 N 个字写到连续寄存器中，N 最大为 8（08H)。Note: write the N word to register in a

row, the N maximum 8 h (08).
例如：将 100 (0064H)、300 (012CH) 写到局号为 01 伺服驱动器的起始地址 0013H 的连

续两个寄存器中。For example: 100 (0064 h), 300 (012 ch) writes JuHao for 01 servo drives the starting
address of 0013 h two consecutive registers.
1. ASCII 模式 ASCII MODE
108
上位机->驱动回应->上位机 Response 回应->上位机 Response
器 PC - > drive - > PC (OK) - > PC (Error)
‘1’ ‘1’ ‘1’
cmd ‘1’ cmd ‘1’ cmd ‘9’
‘0’ ‘0’ ‘0’
数据起高位 ‘ 0 ’ 数据高位 ‘0’ 异常码 ‘0’

始地址 high 起始 high Abnormal code
Data bit ‘ 0’ 地址 bit ‘0’ ‘3’

source Data
低位 ‘ 1 ’ 低位 ‘1’ LRC ‘6’
address source
low low
address
bit ‘3’ bit ‘3’ ‘C’
写寄存器个数 ‘0’ 写寄高位 ‘0’ END1(CR) 0DH

Write the register 存器 high
number ‘0’ 个数 bit ‘0’ END0(LF) 0AH
Write
‘0’ 低位 ‘0’
the
low
register
‘2’ bit ‘2’
number
数据字节数 ‘0’ LRC ‘4’

Data bytes
‘ 4’ ‘1’
写数据高位 ‘ 0 ’ END1(CR) 0DH

到 high
0013H bit ‘0’ END0(LF) 0AH
Write data
低位 ‘ 6’
to the
low
0013 h
bit ‘4’
109
高位 ‘ 0 ’
写数据
high
到 ‘1’
bit
0014H
Write data 低位 ‘ 2’
to the low
0014 h bit ‘ C’
LRC ‘4’
‘5’
END1(CR) 0DH
END0(LF) 0AH
2. RTU 模式
回应->上位机
上位机->驱动器 PC - > 回应->上位机 Response
Response - > PC
drive - > PC (OK)
(Error)
数据起高位 00H 数据高位 00H 异常码 03H

始地址 high 起始 high Abnormal
Data bit 地址 bit code
source 低位 13H Data 低位 13H CRC 低位 0CH

address low source low low bit
bit address bit
写寄存高位 00H 写寄高位 00H CRC 高位 01H
器个数 high 存器 high high bit
Write the bit 个数 bit
register 低位 02H Write 低位 02H
number low the low
bit register bit
数据字节数 04H number
110
Data bytes
写数据高位 00H CRC 低位 low B0H

到 high bit
0013H bit
Write 低位 64H CRC 高位 high 0DH
data to low bit
the 0013 bit
h
写数据高位 01H
到 high
0014H bit
Write 低位 2CH
data to low
the 0014 bit
h
CRC 低位 low F3H

bit
位有符号整数。A signed integer.
注 2：写单个寄存器，上位机需用 5.5ms 左右时间，以等待驱动器完成内部数据存储器的
烧写；同理，写 N 个寄存器（N<=8），则上位机需要 5.5ms*N 等待时间，才能再发
送写命令。 Note 2: write a single register, PC must be about 5.5 ms, waiting for the driver to
complete the internal data storage of burning; By the same token, the register write N (N < = 8), the
upper machine needs 5.5 ms * N waiting time, to send the write command.
注 3：读取 Dn-13 参数时，实际电压值=读取值/100。Note 3: read the Dn - 13 parameters, the actual

voltage value = value read / 100.
7.3.5 校验码计算 Check code to calculate
1. LRC 校验 LRC England check
ASCII 模式采用 LRC（Longitudinal Redundancy Check）校验码。LRC 校验是计算 Address、CMD、起始数据
地址及数据内容之总和，将总和结果以 256 为单位,取余数 (若总和结果为 150H，则只取 50H）后，再计算

其补码，最后得到的结果为 LRC 校验码。ASCII mode using LRC England (Longitudinal Redundancy Check)
Check code. LRC England calibration is to calculate the Address, CMD, initial data Address and the sum total
of the data content will be combined results in 256, modulo (if the sum of the results for 150 h, then only take 50
h), to calculate its complement, the final results for LRC England check code.
例：从站点 01 H 伺服驱动器的 0013 地址读取 2 个字（word）。Example: 01 H servo drive from site 0013
address read 2 word (word)
111
start ‘:’
Address ‘0’
‘1’
cmd ‘0’
‘3’
数据起始地址 Data source 高位 high ‘0’
address bit ‘ 0’
低位 low ‘1’
bit ‘3’
读寄存器个数 Read the register number ‘0’
‘0’
‘0’
‘ 2’
LRC ‘E’
‘7’
END1(CR) 0DH
END0(LF) 0AH
从 Address 的数据加至最后一个数据：From the Address data add to the last data:
01 H +03H+00H+13H+00H+02H=19H,因 19H 的补码为 E7H，所以 LRC 为‘E’，‘7’ 01
H + 3 H + 00 00 H + 13 H + H + 02 H = 19 H, for 19 H complement E7H, so LRC England as the 'E', '7'
2. CRC 校验 CRC check
RTU 模式采用 CRC（Cyclical Redundancy Check）校验码。循环冗余校验 (CRC) 域为两个字节，包含一
个二进制 16 位值。附加在报文后面的 CRC 的值由发送设备计算。接收设备在接收报文时重新计算 CRC

的值，并将计算结果于实际接收到的 CRC 值相比较。如果两个值不相等，则为错误。RTU mode adopts CRC
(Cyclical Redundancy Check) Check code. Cyclic redundancy check (CRC) domain into two bytes, containing
a binary 16-bit value. Attached to the message behind the CRC value calculated by the transmitting device.
When receiving device on the receiving message to recalculate the CRC value, and the calculated results
compared to actually receives the CRC value. If the two values are not equal, is wrong.
CRC 的计算, 开始对一个 16 位寄存器预装全 1. 然后将报文中的连续的 8 位子节对其进行后续的计算。

只有字符中的 8 个数据位参与生成 CRC 的运算，停止位和校验位不参与 CRC 计算。
起始位， CRC calculation,
to a 16-bit registers with full 1. Then put the message in the continuous section 8 of the seats on the
subsequent calculations. Only the characters of the eight data bits participate in the operation of generating
CRC, start bit, stop bits and parity bit CRC calculation will not be involved.
生成 CRC 的过程为: To generate CRC process as follows:
112
1. The a 16-bit registers into hexadecimal FFFF. (1) all will be referred to as the CRC register.
2. The first 8 bytes of a message with a 16-bit CRC register low byte exclusive or, result in CRC register.
3.The CRC register moves to the right one to the LSB (direction), the MSB filling zero. Extraction and detection of LSB.
4. ((if the LSB of 0) : repeat step 3 (another shif t).

(if the LSB to 1) : the CRC register exclusive or polynomial value 0 xa001 (1010, 0000, 0000, 0001).
5. Repeat steps 3 and 4 until complete displacement of 8 times. As after this action, will complete the full operation of eight
bytes.
6. For the next byte of message repeat steps 2 to 5, this operation until all message being processed.
7. CRC CRC register the final content for CRC value.
8. When the CRC value is placed on a message, high and low byte must exchange.
Byte is sent first, and then the high byte
For example: from the site of 01 H drive reads two words (word), reading the starting address of
0200 H address. The last of the data from the Address to calculate the CRC register at the end of the content is
0704 H, is the instruction format as shown below, note that the front of the 04 H in H.
Address 01H
CMD 03H
Data source address high bit 02H
low bit 00H
Data length (in terms of word) 00H
02H
CRC low bit 04H
CRC high bit 07H
CRC generation paradigm:
113
The following CRC value by C language. This function requires two parameters:
Unsigned char * data; / / data source address, used to calculate the CRC value
Unsigned char length; / / data length
This function returns the unsigned integer type of CRC value.

unsigned int crc_chk(unsigned char * data,unsigned char length)
{
int i,j;
unsigned int crc_reg=oxFFFF;
While(length- -)
{
Crc_ reg ^=*data++;

for(j=0;j<8;j++)
{
If(crc_reg & 0x01)
{
crc_reg=( crc_reg >>1)^0xA001;
}else
{
crc_reg＝crc_reg >>1;
}
}
}
return crc_reg;
}
7.3.6 Abnormal code
In the process of communication, may create a communication error, common error event in the following table:
Communication error event Servo driver approach
Read/write parameters, data address is not correct; The request for processing, and abnormal return an error code
The request for processing, and abnormal return an error code

Write parameters, data number
114
more than the maximum or not within the scope of this
parameter;
数据传输错误或者校验码(LRC、CRC、奇偶检验)错误数据被丢弃，不返回响应，上位机应将请求作为超
Data transmission errors or check code (LRC 时状态处理 Data is discarded, not returns the
England, CRC, parity check) error response, PC should be request as state handling
overtime
驱动器发送错误异常码时，将命令功能码加上80H后一起传送给ModBus 主站系统。异常码如下表：Drive
send error exception code, will command function code plus 80 h after send the ModBus master station system
together. Abnormal code in the following table:
01 H 伺服驱动器不能识别请求的功能码 The function of

the servo driver does not recognize the request code
02 H 请求给出的数据地址非法Data address illegal

request
03 H 请求给出的数据在伺服驱动器中不允许（读写数据
个数超过驱动器允许最大值或写数据值不在参数的
取值范围内）Request the data given in the servo
driver does not allow (read and write data number
more than drive to allow maximum or write data value
is beyond the scope of parameter values)
04 H 伺服驱动器已经在开始执行请求，但不能完成该请
求。Servo drives are beginning to execute the request,

but can't complete the request.
7.4 伺服参数、
状态信息通信地址 The servo parameters, the state information communication address
数据地址 Data address 含义 meaning 说明 instructions 操作
十六进制十进制 The operation
hexadecimal decimal system
0000H~00EFH 0 ~ 239 参数设置区对应 Pn000~Pn239 可读可写

Parameter setting Corresponding Pn000 ~ Pn239 Can read
area but write
0164H~016DH 356 ~ 365 报警记录区 Alarm 在 Fn000 中可以查看，对应只读

recording area Sn--0~Sn--9 In Fn000 can view, read-only
corresponding Sn - 0 to Sn - 9
0170H~0185H 368 ~ 389 数据监控区 Data 对应 Dn000~Dn021 只读

monitoring area
115
附录 The appendix
附录 A 增益切换 Appendix A gain switch
第一增益 The first gain 第二增益 The second gain
参数 parameter 名称 name 参数 parameter 名称 name
Pn153 速度调节器比例增益 1 The Pn155 速度调节器比例增益 2 The speed

speed regulator proportional regulator proportional gain 2
gain 1
Pn154 速度调节器积分时间常数 1 Pn156 速度调节器积分时间常数 2 Speed

Speed regulator integral time regulator integral time constant of 2
constant of 1
Pn192 转矩 Q 轴调节器比例增益 1Q Pn194 转矩 Q 轴调节器比例增益 2Q shaft

shaft torque regulator torque regulator proportional gain is 2
proportional gain is 1
Pn193 转矩 Q 轴调节器积分时间常数 1 Pn195 转矩 Q 轴调节器积分时间常数 2 Q

Q shaft torque regulator integral shaft torque regulator integral time
time constant of 1 constant of 2
Pn196 转矩 Q 轴滤波时间常数 1Torque Pn197 转矩 Q 滤波时间常数 2Torque Q axis

Q axis filter time constant of 1 filter time constant of 2
Pn115 位置调节器增益 1 The position Pn116 位置调节器增益 2 The position

controller gain 1 controller gain 2
注：增益切换时，必须处于合适的控制模式,设置参数 Pn046 的条件合适，才能满足增益切换条件，进行切

换。Note: gain switch, must be in the right control mode, the setting parameters Pn046 conditions are right, to
meet gain switching conditions, to switch.
延迟时间切换时间1 延迟时间切换时间2

Pn048 Pn049 Pn048 Pn050
第1增益
第2增益第2增益
Appendix A gain switch 满足
Conditions 不满足不满足
增益切换时序图
附录 B 控制模式切换 Appendix B control mode switch
B.1 位置/速度控制模式切换 Position/speed control mode switch
116
使用控制切换(cmode)，可通过输入控制端口SigIn接点进行位置控制模式和速度控制模式的切
换。Using the control switch (cmode), can be controlled by input port SigIn contact for position control and
speed control mode switch.
cmode和控制模式的关系如下所示。Cmode relationship with control mode is shown below.
Cmode 控制模式control mode
OFF 位置控制模式Position control mode
ON 速度控制模式Speed control mode
可以在零速度状态时进行控制模式的切换。但为了安全起见，请在伺服电机停止时进行切换。
从位置控制模式切换到速度控制模式时，滞留脉冲将被清除。电机使能前，请先确定要进入的控
制模式（cmode引脚的状态）。电机使能时，切换方式有两种，时序图如下所示: Can be in the state
of zero speed control mode switch. But to be on the safe side, please switch with the servo motor stopped.
From the position control mode switch to the speed control mode, the trapped pulse will be cleared. Before the
machine can make, please make sure to enter the control mode (state) of cmode pin. Motor can make, there
are two main ways to switch, sequence diagram as shown below:
◢Pn132=0:
只有零速度状态下，切换信号发生改变，模式切换才有效；如果不在零速度状态下，切换
信号发生了改变，随后信号进入零速度状态，则不发生模式切换。Only the zero velocity condition,
switching signal changes, the mode switch is valid; If not zero velocity state, the switching signal is changed,
then enter into the state of zero speed signal, the mode switch does not occur.
Motor speed
Position control mode speed control mode Position control mode
Zero speed testing number Pn27
ON
零速度
（zerospeed）OFF
控制切换 ON
Cmode OFF
Position/speed control mode changed
◢Pn132=1:
117
Motor speed
Position control mode speed control mode
Position control mode
减速时间
Pn133
控制切换 On
Cmode Off
Position/speed control mode changed
B.2 位置/转矩控制模式切换 Position/torque control mode switch
使用控制切换(cmode)，可通过输入控制端口SigIn接点进行位置控制模式和转矩控制模式的
切换。cmode和控制模式的关系如下所示。Using the control switch (cmode), can be controlled by input
port SigIn contact position control mode and the torque control mode switching. Cmode relationship with control
mode is shown below.
OFF 位置控制模式position control mode
ON 转矩控制模式Torque control mode
可以在零速度状态时进行控制模式的切换。但为了安全起见，请在伺服电机停止时进行切换。
从位置控制模式切换到转矩控制模式时，滞留脉冲将被清除。电机使能时，切换方式有两种，时
序图如下所示: Can be in the state of zero speed control mode switch. But to be on the safe side, please
switch with the servo motor stopped. From the position control mode switch to the torque control mode, the
trapped pulse will be cleared. Motor can make, there are two main ways to switch, sequence diagram as shown
below:
◢Pn132=0:
只有零速度状态下，切换信号发生改变，模式切换才有效；如果不在零速度状态下，切换
信号发生了改变，随后信号进入零速度状态，则不发生模式切换。Only the zero velocity condition,
switching signal changes, the mode switch is valid; If not zero velocity state, the switching signal is changed,
then enter into the state of zero speed signal, the mode switch does not occur.
118
motor speed
Position control mode Torque control mode
Position control mode
Zero speed testing number Pn27
ON
零速度
（zerospeed）OFF
控制切换 ON
Cmode OFF
Positon/torque control mode changed
◢Pn132=1:
motor speed
Position control mode Torque control mode Position control mode
减速时间
Pn133
控制切换 On
Cmode Off
Positon/torque control mode changed
B.3 速度/转矩控制模式切换 Speed/torque control mode switch
使用控制切换(cmode)，可通过输入控制端口SigIn接点进行速度控制模式和转矩控制模式的切换。
Using the control switch (cmode), can be controlled by input port SigIn contact for speed control mode and the
torque control mode switching.
cmode和控制模式的关系如下所示。Cmode relationship with control mode is shown below.
OFF 速度控制模式position control mode
ON 转矩控制模式Torque control mode
119
不管何时都可以进行控制模式的切换，切换的时序图如下所示：Whenever can control mode switch,
switching sequence diagram as shown below:
speed control mode torque control mode

Torque control mode
控制切换 ON
Cmode OFF
speed/torque control mode changed
附录 C 伺服驱动器工作时序 Appendix C servo driver work sequence
C.1 电机静止时的 ON/OFF 动作时序 Motor resting ON/OFF action sequence
约60ms
Servo enable OFF ON OFF

（SigIn：SON）
不通电通电 Pn030 不通电

Motor connect to powr
电磁制动器 OFF（制动）注 OFF（制动）

ON(释放)
（SigOut:BRK）
位置/速度/
不执行执行不执行
转矩指令
注 1：使用电磁制动功能时，伺服断使能方式 Pn004 必须设置为 2 。Note 1: when using electromagnetic brake

function, servo broken way can make Pn004 must be set to 2.
注 2：当电机转速低于参数 Pn029 时，电磁制动器的动作时序。Note 2: when Pn029 motor speed is lower than

the argument, the electromagnetic brake action sequence.
C.2 电机运转时的 ON/OFF 动作时序 In the operation of the motor ON/OFF action sequence
120
伺服使能 OFF ON OFF
（SigIn：SON）
电机通电状态不通电通电不通电

到达Pn032速
度与Pn031设
注定时间较快
电磁制动器者
（SigOut:BRK） OFF（制动） ON(释放)
Pn031
OFF（制动）
电机速度 Pn032
注 1：使用电磁制动功能时，伺服断使能方式 Pn004 必须设置为 2 Note 1: when using electromagnetic brake

function, servo broken way can make Pn004 must be set to 2
注 2：当电机转速不低于参数 Pn029 设定值时，电磁制动器的动作时序。Note 2: when the motor speed is not

lower than Pn029 setting parameters, the electromagnetic brake action sequence.
C.3 伺服 ON 时报警的时序 When the servo ON alarm sequence
报警 OFF（正常）
(SigOut:Alarm) ON（报警）
伺服准备好
(SigOut:Alarm)
ON OFF(未准备好)
通电
电机通电状态
不通电
电磁制动器
（SigOut:BRK） ON(释放) OFF（制动）
注到达Pn032速
度与Pn031设
定时间较快者
Pn031
电机速度
Pn032
0r/min
位置/速度/ 执行不执行
转矩指令
注 1：使用电磁制动功能时，伺服断使能方式 Pn005 必须设置为 2 Note 1: when using electromagnetic brake

function, servo broken way can make Pn005 must be set to 2
附录 D 电磁制动器 Appendix D electromagnetic brake
电磁制动器（保持制动器、失电制动器），用于锁住与电机相连的垂直或倾斜工作
台，防止伺服电源失去后工作台跌落。实现这个功能，须选购带制动器的电机。制动器
只能用来保持工作台，绝不能用于减速和停止机器运动。Electromagnetic brake (to keep the
brakes, brake losing electricity, are connected to the motor is used to lock the vertical or inclined workbench,
prevent the servo power after losing the workbench. Implement this function, you must choose and buy motor
with brake. The brake can be used to keep the workbench, must not be used to slow down and stop the
machine movement.
121
使用电磁制动器，必须设置 Pn004 参数为 2,并在 SigOut 端口指定功能。驱动器根据
电机运行的转速，依照参数 Pn029 设定值，选择相应的制动时序，执行电磁制动功能。具
体时序详见附录 C。Pn004 parameter must be set using the electromagnetic brake, to 2, and specify the
SigOut port function. Pn029 drive according to the speed of the motor running, according to the parameters
setting, choose corresponding braking time sequence, perform the function of electromagnetic brake. Please
refer to the appendix C for specific timing.
附录 E 再生制动电阻 Appendix E regenerative braking resistor
当伺服电机运转在发电机模式时，电能会由电机流向驱动器，称为再生电力。以下
使用情况，会使伺服电机运转在发电机(再生)模式：When servo motor running in generator mode,
electricity will flow by motor drives, called renewable electricity. The following usage, can make the servo motor
running in generator (renewable) mode:
(1) 伺服电机在加减速运转时，由减速到停止期间。Servo motor, the deceleration is running by

slowing down to stop.
(2) 应用于垂直负载时。When applied to the vertical load.

(3) 由负载端驱动伺服电机运转时。Driven by load operation of the servo motor.
此再生电力会由驱动器的主回路滤波电容吸收，但是再生电力过多时，滤波电容无
法承受时，必须使用再生电阻来消耗多余的再生电能。当出现再生能量过大，内部制动
电阻不能完全吸收，导致出现 AL-03(过压)、AL-08（过温）或 AL-16(制动平均功率过载)
等报警。根据实际应用，增加加减速时间，若仍旧报警，就需要外接制动电阻，增强制
动效果。外接制动电阻阻值范围 40~200 欧姆，功率 1000~50W，阻值越小，制动电流越
大，所需制动电阻功率越大，制动能量越大，但阻值太小会可能造成损坏驱动器，试验
方法是阻值由大到小，直到驱动器不再出现报警，同时运行时，制动电阻温度不太高即
可。外接制动电阻时，拆去内部再生制动电阻。由于再生电阻在消耗再生电力时，会产
生 100°C 以上高温，请务必小心，在连接再生电阻的电线请使用耐热不易燃的线材，并
确认再生电阻没有碰触任何物品。The renewable electricity will be absorbed by the drive of the primary
loop filter capacitor, but too much renewable electricity, filter capacitance cannot afford, regenerative resistor
must be used to burn off excess renewable electricity. When there is a renewable energy is too large, the
internal brake resistance cannot be fully absorbed, resulting in AL - 03 (overvoltage), AL - 08 (temperature) or
AL - 16 (such as brake average power overload) call the police. According to the practical application, increase
deceleration time, if still alarm, requires external braking resistance, enhance the braking effect. External
braking resistance tolerance range of 40 ~ 200 ohms, 1000-50 w, the smaller the value, the braking current, the
greater the power, the greater the braking resistance is required for braking energy is larger, but the value is too
small may cause damage to the drive, resistance test method is from big to small, until the alarm is no longer
present drives, running at the same time, the brake resistance temperature is not too high. When external
braking resistor, down the internal regenerative braking resistor. Because regenerative resistor in the
122
consumption of renewable power, can produce high temperature above 100 ° C, please be careful, the
connection of regenerative resistor wire please use of heat-resistant non-flammable cables, and confirm the
regenerative resistor without touching anything.
注意：使用再生电阻时如果有上述报警产生，请切断电源，冷却半小时。由于再生晶
体管发生故障，再生电阻异常发热，可能会造成火灾。请务必根据应用场合，选择相匹
配的制动电阻。Note: if the alarm when using regenerative resistor, please cut off power supply, cooling and
a half hours. Due to the regenerative transistor failure, abnormal regeneration resistance heating, may cause a
fire. Please be sure to choose according to applications, matching the braking resistor.
附录 F 原点回归 Appendix F origin point
F.1 原点回归运行步骤 F. 1 origin point operation steps
1：找参考点 Looking for a reference point
启动原点回归功能后，按原点加归第一速度寻找参考点，可使用 SigIn 输入端子

REF、CCWL 或 CWL 作为参考点，也可以 Z 脉冲作为参考点，可选择正转或反转方向寻
找。After start origin regression function, looking for reference point at the origin and return to the first rate,
can use SigIn input terminals REF, CCWL or.cwl as a reference point, can also be Z pulse as a reference point,
can choose forward or reverse direction finding.
2：找原点 find the origin
当找到参考点后，再以第二速度寻找原点，可选择继续向前或向后折返找 Z 脉冲，
也可以直接以参考点作原点。When find reference point, and then to find the origin at the second speed,
can choose continue to forward or backward turn-back find Z pulse, may also directly to the reference point for
the origin.
原点回归执行过程中，为避免速度剧烈变化造成的机械冲击，可设置参数 Pn040、
Pn041 进行加减速。找到的原点加上偏移量脉冲作为实际原点，偏移量为：
Pn036*10000+Pn037。
Origin point execution process, to avoid rapid changes of mechanical impact velocity, can be set parameters for
deceleration Pn040, Pn041. Find the origin and offset pulse as actual origin, the offset is:
Pn036*10000+Pn037。
原点回归参考点模式(Pn034)和原点模式（Pn035）有以下组合：The origin return reference point
mode (Pn034) and the origin (Pn035) has the following combination:
123
F.2 原点回归触发时序 The origin return to trigger sequence
Pn033 原点回归触发方式 The 0:关闭原点回归功能 Close the origin regression function

origin is triggered 1：由 SigIn 输入的 GOH 电平触发 Triggered by t he GOH
SigIn input level
2：由 SigIn 输入的 GOH 边沿触发 GOH edge triggered by

SigIn input
3：上电自动执行一次 Electricity automatically perform again
电平触发（Pn033=1）Level trigger (Pn033 = 1)
伺服使能后，输入端子 GOH 触发原点回归执行，GOH 上边沿开始回归操作，暂停正常指令执行，下

边沿结束回归操作。GOH 一直保持 ON,回归执行完后，位置偏差清零(位置控制)，输出端子 HOME 变为 ON。
直到 GOH 变为 OFF,则 HOME 变为 OFF。Servo enabled, the input terminals GOH triggered the origin return to
execute, GOH edge began to return to operation, the suspension of normal instruction execution, the end of the
edge back to operation. GOH has kept ON, after the return to perform, position deviation reset (position control),
the output terminal HOME ON. Until GOH is OFF, is HOME to OFF.
当 Pn044=0 时，
原点回归完成后等待 HOME 信号变为 OFF 后再执行指令，
等待期间电机停留在原点，
不接受指令；当 Pn044=1 时，原点回归完成后立刻执指令。When Pn044 = 0, origin wait for after the completion
of the HOME after the signal into a OFF again executes instructions, waiting for the motor during stay at the
origin, not accept instructions; When Pn044 = 1, the origin return immediately after the completion of the
instructions.
在原点回归执行中，如果取消伺服使能 SON、产生任何报警、GOH 提前变为 OFF，则原点回归功能中
止且输出端子 HOME 不动作。此外，如果使能 son 有效、没有报警，回归在执行中且没有完成，即使边沿

触发（Pn033=2）信号重复有效，则驱动器会完成当前回归操作后，再检测边沿触发信号。At the origin in the
execution of regression, if cancel the servo can make SON, produce any alarm, GOH into OFF ahead of
schedule, the origin of regression function suspension and output terminals HOME not action. In addition, if
effective, no alarm, can make the son return in execution and there is no complete, even if the edge triggered
(Pn033 = 2) repeat signals effectively, the drive will be completed the current return after operation, to detect
edge trigger signal.
124
断电通电
电源
OFF ON
伺服准备好
（SigOut:ready）
OFF ON
伺服伺能
OFF ON OFF
原点回归触发
（SigIn:GOH）
执行中
原点回归执行
Pn042
原点回归完成 OFF OFF
ON
（SigOut:HOME）
Pn043
正常指令执行执暂停执行
（Pn044=0）行
执
行暂停执行
Pn033=1
边沿触发（Pn033=2）Edge triggered (Pn033 = 2)
伺服使能后，输入端子 GOH 上升触发原点回归执行，并暂停正常指令执行 Servo enabled, the input

terminals GOH rise triggered the origin return to perform, and suspension of normal instruction execution
断电通电
电源
OFF ON
伺服准备好
（SigOut:ready）
OFF ON
伺服伺能
OFF ON OFF
原点回归触发
（SigIn:GOH）
执行中
原点回归执行
Pn042
ON
（SigOut:HOME）
Pn043
正常指令执行执暂停执行
（Pn044=0）行
执
正常指令执行行暂停执行
（Pn044=1）
Pn033=2
上电自动执行（Pn033=3）Electricity automatically perform (Pn033 = 3)
此功能仅于上电后伺服初次使能有效时执行一次，以后不需要重复运行原点回归的
情况。每次上电，驱动器自动执行一次原点回归操作。使用此功能可以节省一个输入端
子 GOH。This function only in electric servo make effective for the first time after the execution time, later don't
need to repeat the origin regression. Every time it with electricity, drive automatically perform an origin point
operations. Use this feature can save one input terminal GOH.
125
电源断电通电
伺服准备好 OFF ON
（SigOut:ready）
OFF ON
伺服伺能
执行中
原点回归执行
Pn042
ON
（SigOut:HOME）
Pn043
正常指令执行暂停执行
（Pn044=0）
正常指令执行暂停执行
（Pn044=1）
Pn033=3
F.3 原点回归组合模式时序 The origin model time-series regression combination
Pn034 原点回归参考点 0:正转找 REF(上升沿触发)作参考点 Forward looking 0~5 0

模式 The origin for REF (rising along the trigger) as a reference point
return reference 1:反转找 REF(上升沿触发)作参考点 Inversion for REF

point model (rising along the trigger) as a reference point
2: 正转找 CCWL( 下降沿触发 ) 作参考点 Forward
looking for CCWL falling edge (trigger) as a reference
point
3: 反转找 CWL( 下降沿触发 ) 作参考 Inversion to
find.cwl falling edge (trigger) for reference
4:正转找 Z 脉冲作参考点 Forward looking for Z pulse

as a reference point
5:反转找 Z 脉冲作参考点 Pulse inversion for Z as a

reference point
Pn035 原点回归原点模 0：向后找 Z 脉冲作原点 Backward looking for Z pulse 0~2 0

式 The origin as the origin
back to the origin 1：

向前找 Z 脉冲作原点 Forward looking for Z pulse as
model the origin
2：
直接以参考点上升沿作原点 Directly with reference
point rise along the origin
注 1：通过组合参数 Pn034 和 Pn035，有 8 种可用的原点回归方式。Note 1: by combining Pn034 and Pn035

parameters, there are eight kinds of available ways of origin.
注 2：在原点回归操作时，将关闭正/反驱动禁止功能，直至退出回归操作。Note 2: when operating at the origin

regression will close/reverse driving ban function, until the exit to return to operation.
(A)Pn034=0 或 2,Pn035=0
126
参数 parameter 设定 set 说明 instruction
Pn034 0 或 2 原点回归启动后，按回归第一速度正转找 REF(上升沿触发)或 CCWL(下
0 or 2 降沿触发)作参考点 Origin starts, to return to the first speed forward
looking for REF (rising along the trigger) or CCWL falling edge (trigger) as
a reference point
Pn035 0 到达参考点后，按回归第二速度向后找 Z 脉冲作原点 Arriving at

reference points, the backward looking for Z pulse to return to the second
speed as the origin
speed The first speed
position
the second speed
encoder z pulse
REF OFF ON OFF
CCWL ON OFF ON
(B)Pn034=1 或 3,Pn035=0
Pn034 1或3 原点回归启动后，按回归第一速度反转找 REF（上升沿触发）或

CWL(下降沿触发)作参考点 Origin starts, to return to the first speed
inversion for REF (rising along the trigger) or.cwl falling edge
(trigger) as a reference point
Pn035 0 到达参考点后，按回归第二速度向后找 Z 脉冲作原点 Arriving at

reference points, the backward looking for Z pulse to return to the
second speed as the origin
127
the second speed
speed
position
The first speed
encoder z pulse
REF OFF ON OFF
CWL
ON OFF ON
(C)Pn034=0,Pn035=1
参数设定 set 说明 instruction
parameter
Pn034 0 原点回归启动后，按回归第一速度正转找 REF(上升沿触发)作参考点

Origin starts, to return to the first speed forward looking for REF (rising
along the trigger) as a reference point
Pn035 1 到达参考点后，按回归第二速度向前找 Z 脉冲作原点 Arrived at the

reference point, to return to the second speed forward looking for Z
pulse as the origin
the second speed

position
encoder z pulse
REF OFF ON OFF
(D)Pn034=1,Pn035=1
Pn034 1 原点回归启动后，按回归第一速度反转找 REF(上升沿触发)作参考点

Origin starts, to return to the first speed inversion to find the REF (rising
128
along the trigger) as a reference point
Pn035 1 到达参考点后，按回归第二速度向前找 Z 脉冲作原点 Arrived at the

reference point, to return to the second speed forward looking for Z pulse
as the origin
speed
Position
the second speed

The first speed
Encoder Z pulse
REF OFF ON OFF
(E)Pn034=0,Pn035=2
parameter
Pn034 0 原点回归启动后，按回归第一速度正转找 REF(上升沿触发)作

参考点 Origin starts, to return to the first speed forward looking
for REF (rising along the trigger) as a reference point
Pn035 2 到达参考点后，直接以参考点作为原点 Arriving at reference

points, the direct reference point as the origin
Position
the second speed
REF OFF ON OFF
(F)Pn034=1,Pn035=2
129
Pn034 1 原点回归启动后，按回归第一速度反转找 REF(上升沿触发)作参考点

Origin starts, to return to the first speed inversion for REF (rising along
the trigger) as a reference point
Pn035 2 到达参考点后，直接以参考点作为原点 Arriving at reference points,

the direct reference point as the origin
speed
The second speed
Position
The first speed
REF OFF ON OFF
(G)Pn034=4,Pn035=2
parameter
Pn034 4 按回归第一速度正转找 Z 脉冲作参考点 Origin starts, to

原点回归启动后，
return to the first speed forward looking for Z pulse as a reference point
Pn035 2 到达参考点后，直接以参考点作为原点 Arriving at reference points, the

direct reference point as the origin
speed
The first speed
postion
The second speed
Encoder Z pulse
130
(H)Pn034=5,Pn035=2
parameter set instruction
Pn034 5 Origin starts, to return to the first speed pulse inversion for Z as a
reference point
Pn035 2 Arriving at reference points, the direct reference point as the origin
Speed
The second speed
Location
The first speed
Encoder Z pulse
The appendix G internal position control
An internal position control, need to set Pn002 = 2, Pn117 = 1, and in

Pn118 ~ Pn131 set up corresponding operation parameters.
SigIn port pos1, pos2 choose internal position command N:
Pos2 Pos1 internal location instructions N
1 1 internal location instructions 0

When using internal position control, make sure the input port pos1, pos2 state,
namely choose corresponding internal position command, and then trigger ptriger input signal, each ptriger
131
(OFF - > ON) falling edge, the driver will read instruction N internal position, accumulate to the rest of the order
the number of pulses, continue to perform the corresponding operation.
If set Pn118 = 0, want to suspend the motor running, in the process of

position when the trigger input port pstop signal, motor speed to stop, and then drive automatically remove
residual position instruction, when the input port ptriger fire again, the drive will be based on the current pos1,
pos2 state, execute the position of the corresponding instructions, please refer to the following sequence
diagram:
Location
(pluse) p0=20,p1=18,p3=17
17
20
pos2
pos1
P0 P1 P3
ptriger
pstop
清除剩余的脉冲数，执行内
部位置指令3
If set Pn118 = 1, want to pause in the process of the position the motor running,
when the trigger input port pstop signal, motor speed to stop, when the input port ptriger fire again, the location
of the electricity opportunities continue to walk the remaining instructions, the input port pstop trigger issued
before the target location, please refer to the following sequence diagram:
132
位置
(pluse) p0=20,p1=18,p3=17
55
38
20
pos2
pos1
P0 P1 P3 P3
ptriger
pstop 虽然触发指令3，但是因之前
暂停，所以本次执行上次剩
余的脉冲数
133

110 STM 06030

Uploaded by

Copyright:

Available Formats

110 STM 06030

Uploaded by

Document Information

Original Description:

Original Title

Copyright

Available Formats

Share this document

Share or Embed Document

Sharing Options

Did you find this document useful?

Is this content inappropriate?

Copyright:

Available Formats

110 STM 06030

Uploaded by

Copyright:

Available Formats

Vitkovets CNC

Technical manual: 110ST-M06030, 130ST-M07725,

damaging to the people and the equipment

Said w rong operation will trigger dangerous, leading to

Said wrong operation will trigger dangerous cause injury or death

Said Prohibit operation

Said must operate

Matters needing attention during installation wiring

The matters needing attention when running ：

Chapter 1 Product inspection and installation……………………………………………………………………1

1.1 PRODUCT INSPECTION .............. ....................................................................................................... 1

1.2 PRODUCT BRAND ................................................................................................................ 2

1.3 THE FRONT PANEL OF PRODUCT ..................................................................................... 2

1.4 DRIVE TECHNOLOGY SPECIFICATIONS .............. ...................................................................... 4

1.5 SERVO MOTOR INSTALLATION ..................................................................................... 5

1.6 THE MOTOR DIRECTION OF ROTATION ......................................................................... 6

CHAPTER 2 WIRING ......................... 8

2.2 CN1 COMMUNICATION INTERFACE ............................................................................. 11

2.3 CN2 CONTROL INTERFACE........................................................................................ 13

2.4 CN3 ENCODER INTERFACE ................................................................................... 18

2.3 THE STANDARD WIRING.................................................................................................... 19

CHAPTER 3 PANEL OPERATION ... 21

3.2 MODE SWITCH ............................................................................................................ 21

3.3 MONITORING MODE OPERATION ................................................................................ 22

3.4 AUXILIARY MODE OPERATION ................................................................................... 22

3.5 USER PARAMETER MODE OPERATION ................................................................ 30

CHAPTER 4FUNCTION PARAMETERS ............. 31

4.1 PARAMETER SETTINGS PANEL ......................................................................... 31

4.2 PARAMETER LIST ........................................................................................................ 32

4.3 PARAMETERS ................................................................................................................ 44

4.4 PORT FUNCTIONS.................................................................................................... 87

CHAPTER 5 MONITORING PARAMETERS AND

5.2 MONITOR THE PARAMETER LIST ........................................................................... 93

CHAPTER 6 ALARM AND PROCESSING ........ 94

6.1 ALARM CLEARANCE OPERATION ................................................................................ 94

6.2 ALARM CONTENT AND COUNTERMEASURE ........................................................ 94

FUNCTION ....................................................................... 100

7.2 COMMUNICATION PROTOCOL STRUCTURE ............................................................... 101

7.3 COMMONLY USED COMMAND CODE............................................................................. 103

7.4 THE SERVO PARAMETERS, THE STATE INFORMATION COMMUNICATION ADDRESS

THE APPENDIX .......................................................... 116

APPENDIX B CONTROL MODE SWITCH ............................................................... 116

APPENDIX C SERVO DRIVER WORK SEQUENCE ....................................... 120

APPENDIX D ELECTROMAGNETIC BRAKE ............................................................... 121

APPENDIX E REGENERATIVE BRAKING RESISTOR ................................................ 122

APPENDIX F ORIGIN POINT ....................................................................................... 123

APPENDIX G INTERNAL POSITION CONTROL ....................................................... 131

1.1 Product inspection

don’t wire power transmission.

phenomenon. If there is a loose screw, screw not lock or fall off

Please install, connection, using as manual

Output Current 30A Please don't install or un-install

1.3 The front panel

Four Number Button

Single/Three Phase AC220V Input

External regenerative braking resistor

Power Output Of Driver

1.4 The function of AC servo motor driver .