EL7-RS Series AC Servo Drive

User Manual
 User Manual of EL7-RS AC Servo

Foreword
Thank you for purchasing Leadshine EL7-RS series AC Servo drives. This manual will
provide information on the EL7-RS series servo products regarding product safety &
specifications, installations & wiring, tuning & problem diagnostics.

Please contact us at [email protected] if you need further technical support.

Incorrect operation may cause unexpected accident, please read this manual carefully before using
product.

 We reserve the right to modify equipment and documentation without prior notice.
 We won’t undertake any responsibility with any customer’s modification of product and the
warranty of product will be canceled at the same time.

Safety Precautions
Please read the safety instructions carefully before using the products and pay attention to the safety
signs.
Might incur death or serious injury

!
Caution
Might cause injury to operating personals or damage to equipment

!
Warning
Might cause damage to equipment

High voltage. Might cause electrocution to personals in contact

Hot surface. Do not touch

Protective Earth

Safety instructions
! Warning
Warning

 The design of the product is not to be used in mechanical system which may incur health hazard.
 Users should be aware of the product safety precautions during design and installations of the
equipment to prevent any unwanted accident.

Upon receiving
!
Caution Caution
 The use of damaged or faulty product(s) is prohibited.
 Please refer to item checklist. If the labels don’t match, please do not install.

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 User Manual of EL7-RS AC Servo

Transportation
!
Caution Caution
 Please provide storage and transportation under protected conditions.
 Do not stack the products too high up to prevent toppling.
 The product should be packaged properly during transportation,
 Do not hold the product by the cable, motor shaft or encoder while transporting it.
 The product should be protected from external forces and shock.
Installation
!
Caution Caution
Servo drive and Motor:
 Do not install around combustibles to prevent fire hazard.
 Avoid vibration and impact.
 Do not install products that are damaged or incomplete.
Servo drive:
 Please install in electrical cabinet with sufficient protection from outside elements.
 Reserve sufficient gap as per the installation guide.
 Make sure to have good heat sinking.
 Avoid dust, corrosive gas, conductive object or fluid and combustibles.
Servo Motor:
 Make sure installation is tight to prevent it from loosening.
 Prevent fluid from leaking into motor and encoder.
 Protect motor from impact to avoid damaging encoder.
 Motor shaft should not bear the load beyond the limits as specified.

Wiring
!
Warning Warning
 Participate installation personals should have sufficient training in product installation safety.
 Please power off and wait for 10 minutes to make sure a full discharge of electricity.
 Servo drive and motor must be connected to ground.
 Connect the cables only after servo drive motor installed correctly
 Make sure the wires are properly managed and insulation layer is not torn to prevent
electrocution.
!
Caution Caution
 Wiring must be correctly connected to prevent damage to product(s)
 Servo motor U, V, W terminal should be connected correctly and NOT connected directly to an
AC power supply.
 Capacitor, inductor or filter shouldn’t be installed between servo motor and servo drive.
 Connecting wires or any non-heat resistant components should be put near to heat sink of the
servo drive or motor.
 The flyback diode which is connected in parallel to output signal DC relay must not be connected
in reverse.

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Tuning and running

!
Caution Caution
 Make sure the wirings of servo drive and servo motor are installed and fixed properly before
powering on.
 On the first time tuning of the product, it is recommended to run unloaded until all the parameter
settings are confirmed to prevent any damage to the product or machine.
Usage
!
Caution Caution
 Please install an emergency stop button on machine to stop operation immediately if there is an
accident.
 Please make sure machine is stopped before clearing an alarm.
 Servo drive must be matched with specified motor.
 Frequent restart of the servo system might incur damage to the product.
 Servo drive and motor will be hot to touch shortly after power off. Please be careful.
 Modification(s) to servo system is prohibited.

Error Handling
!
Warning Warning
 Please wait for 5 minutes after powering off for the electricity to be fully discharged before
uninstalling the cables.
 Participate maintenance personals should have sufficient training in maintenance and operation
of this product series.
!
Caution Caution
 Please handle the error before clearing an alarm.
 Keep away from machine after a restart upon alarm. Mechanical axis might suddenly move. Such
hazard should be prevented during the utilization of the product.
Model Selection
!
Caution Caution
 Rated torque of the servo motor should be higher than continuous designated torque when fully
loaded.
 Load inertia ratio of the motor should be lower or equals to recommended value for specified
models
 Servo drive must be matched with specified motor.

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Warranty Information
Available for
Leadshine overseas warranty only covers Leadshine AC servo products that are obtained through
Leadshine certified sales channel outside of China.

Warranty claim
 All Leadshine AC servo products (Servo drives and motors) overseas enjoy 18-month warranty
period.
 Due to unforeseen circumstances in different sales regions around the globe, we recommend
users to seek technical support from directed sales channel as any warranty claim or repair
services may be required.
 Please be informed that any maintenance/repair work that is outside of the warranty claim
conditions might incur some charges and to be confirmed before product(s) is being sent in.
 The duration required for maintenance work to be done is to be confirmed after initial check-up
but we reserve the right to prolong the repair duration if needed.
 Discontinued products within warranty period will be replaced with a product of similar
specifications.

Steps to warranty claim

1. Visit Leadshine global site www.leadshine.com to look for local certified sales channel.
2. Contact designated sales channel to check if any fee might incur. May include repair fee, spare
part cost or shipping cost.

Circumstances where warranty claim is not available

 Damage/Loss due to occurrence of natural or man-made disaster such as fire, flood or
earthquake.
 Installation or wiring error
 If there is any modification done to the product
 Warranty label on products is torn or not existing
 Not a product bought from Leadshine certified global network of retailers/distributors.

Before warranty claim

 Please backup device parameters before any repair work/warranty claim. Leadshine and
Leadshine certified retailers/distributors will not be held responsibilities for any data loss.
 If available, please send product back in original packaging or make sure it is well packaged to
prevent any damage to the product during shipping.

Leadshine Technology Co.,Ltd. and its certified sales channel reserved the final right of the
interpretation of the warranty information.

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TABLE OF CONTENT
WARRANTY INFORMATION .................................................................................................................................... 5
CHAPTER 1 INTRODUCTION ................................................................................................................................. 10
1.1 PRODUCT INTRODUCTION ...........................................................................................................................10
1.2 MODEL NUMBER STRUCTURE .............................................................................................................................11
1.2.1 Servo Drive..................................................................................................................................................11
1.2.2 Servo motor ................................................................................................................................................12
1.3 SERVO DRIVE TECHNICAL SPECIFICATIONS .............................................................................................................13
1.4 SERVO DRIVE PORTS AND CONNECTORS ...............................................................................................................16
1.5 MOTOR PORTS AND CONNECTORS .......................................................................................................................19
CHAPTER 2 INSTALLATION & WIRING ................................................................................................................... 20
2.1 SERVO DRIVE INSTALLATION ......................................................................................................................................20
2.1.1 Servo drive installation environment ..........................................................................................................20
2.1.2 Servo drive dimension ................................................................................................................................20
2.2 SERVO MOTOR INSTALLATION....................................................................................................................................23
2.2.1 Installation conditions ................................................................................................................................23
2.2.2 Precautions during installation...................................................................................................................23
2.3 EL7-RS WIRING DIAGRAM.......................................................................................................................................24
2.3.1 Position Control Mode Wiring Diagram ..................................................................................................25
2.3.2 Velocity/Torque Control Mode Wiring Diagram......................................................................................26
2.4 SERVO DRIVE PORTS .........................................................................................................................................29
2.5 X1 MAIN POWER SUPPLY..........................................................................................................................................30
2.5.1 Main Power Supply Cable Selection............................................................................................................32
2.5.2 Motor Power Supply Cable Selection (Without Brake) ...............................................................................34
2.5.3 Holding Brake Wiring Diagram ...................................................................................................................35
2.5.4 Motor Power Supply Cable (With Holding Brake) .......................................................................................36
2.6 CN1 I/O CONTROL SIGNAL ......................................................................................................................................38
2.6.1 CN1 control signal cable selection ..............................................................................................................40
2.7 CN2 MOTOR ENCODER ...........................................................................................................................................40
2.8 CN3/CN4 – RS485 COMMUNICATION PORT..............................................................................................................43
2.9 USB TYPE-C TUNING PORT ......................................................................................................................................44
2.10 REGENERATIVE RESISTOR SELECTION AND CONNECTIONS ...............................................................................................44
2.11 I/O SIGNALS ........................................................................................................................................................50
2.11.1 Pulse input circuit .....................................................................................................................................50
2.11.2 Analogue input/output circuit ..................................................................................................................55
2.11.3 Digital Input Circuit ...................................................................................................................................56
2.11.4 Digital Output Circuit ................................................................................................................................58
2.11.5 Encoder frequency divider output circuit..................................................................................................60
2.12 DI SIGNALS SETTINGS ............................................................................................................................................62
2.13 DO SIGNALS SETTINGS ..........................................................................................................................................68
2.14 MEASURES AGAINST ELECTROMAGNETIC INTERFERENCE................................................................................................71
2.14.1 Grounding connection and other anti-interference wiring connections ...................................................71
2.14.2 Using line filter .........................................................................................................................................72

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CHAPTER 3 PARAMETER....................................................................................................................................... 73
3.1 PARAMETERS LIST ...................................................................................................................................................73
3.2 PARAMETERS DESCRIPTION .......................................................................................................................................83
3.2.1 [Class 0] Basic Settings ...............................................................................................................................83
3.2.2 [Class 1] Gain adjustments .........................................................................................................................95
3.2.3 [Class 2] Vibration suppression.................................................................................................................101
3.2.4 [Class 3] Velocity/Torque control ..............................................................................................................107
3.2.5 [Class 4] I/O Monitoring Settings..............................................................................................................115
3.2.6 [Class 5] Extension Settings ......................................................................................................................124
3.2.7 [Class 6] Other settings .............................................................................................................................132
3.2.8 [Class 7] Factory settings ..........................................................................................................................136
3.2.8 [Class B] Status Parameters ......................................................................................................................137
3.2.9 [Class 8] PR control parameters ...............................................................................................................140
3.2.10 [Class 9] PR control path parameters .....................................................................................................148
CHAPTER 4 SERVO DRIVE OPERATION ................................................................................................................ 164
4.1 SERVO ENABLED ...................................................................................................................................................164
4.2 SERVO STOP .........................................................................................................................................................165
4.3 FRONT PANEL ......................................................................................................................................................179
4.4 PANEL DISPLAY AND OPERATION ..............................................................................................................................180
4.4.1 Panel Operation ........................................................................................................................................180
4.4.2 Data Monitoring Mode .............................................................................................................................181
4.5 PARAMETERS SAVING.............................................................................................................................................191
4.6 AUXILIARY FUNCTION ......................................................................................................................................192
4.7 GET STARTED WITH DRIVER OPERATION ....................................................................................................................197
4.7.1 Checklist before operation ........................................................................................................................197
4.7.2 Power On ..................................................................................................................................................197
4.7.3 Trial Run....................................................................................................................................................197
CHAPTER 5 CONTROL MODE .............................................................................................................................. 198
5.1 POSITION CONTROL ...............................................................................................................................................199
5.1.1 Pulse input and direction settings ............................................................................................................200
5.1.2 Electronic Gear Ratio ................................................................................................................................202
5.1.3 Position command filter ...........................................................................................................................203
5.1.4 Frequency divider output ..........................................................................................................................204
5.1.5 Positioning completed INP signal output..................................................................................................206
5.2 VELOCITY CONTROL MODE ......................................................................................................................................207
5.2.1 Velocity command input control ...............................................................................................................208
5.2.2 Velocity command acceleration/deceleration ..........................................................................................210
5.2.3 Velocity reached signal AT-SPEED output .................................................................................................212
5.2.4 Velocity coincidence V-COIN signal output ...............................................................................................212
5.2.5 Zero Speed Clamp .....................................................................................................................................213
5.3 TORQUE CONTROL ................................................................................................................................................214
5.3.1 Torque command input control ................................................................................................................215
5.3.2 Torque velocity limit .................................................................................................................................216
5.3.3 Torque limit (TL-SEL) .................................................................................................................................217
5.4 HYBRID CONTROL MODE .......................................................................................................................................218

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CHAPTER 6 APPLICATION CASE .......................................................................................................................... 219

6.1 GAIN ADJUSTMENT ...............................................................................................................................................219
6.2 INERTIA RATIO IDENTIFICATION FUNCTION ..................................................................................................................221
6.3 EASY TUNING .......................................................................................................................................................225
6.3.1 Single parameter tuning ...........................................................................................................................225
6.3.2 One-click Tuning .......................................................................................................................................226
6.4 AUTO GAIN ADJUSTMENT .......................................................................................................................................228
6.5 MANUAL GAIN ADJUSTMENT ............................................................................................................................233
6.5.1 Parameters adjustment under different control modes ...........................................................................235
6.5.2 Gain switching ..........................................................................................................................................237
rd
6.5.3 3 gain switching .....................................................................................................................................241
6.6 MODEL FOLLOWING CONTROL .................................................................................................................................242
6.7 ZERO TRACKING CONTROL.......................................................................................................................................243
6.8 FEEDFORWARD GAIN .............................................................................................................................................244
6.8.1 Velocity feedforward ................................................................................................................................244
6.6.2 Torque feedforward ..................................................................................................................................245
6.9 FRICTION COMPENSATION FUNCTION ........................................................................................................................247
6.10 SAFETY FUNCTIONS .............................................................................................................................................248
6.10.1 Max. motor rotational speed limitation .................................................................................................248
6.10.2 Max. duration for motor to stop after disabling.....................................................................................249
6.10.3 External brake deactivation output signal BRK-OFF ...............................................................................249
6.10.4 Servo stopping mode ..............................................................................................................................251
6.10.5 Emergency stop function ........................................................................................................................252
6.11 VIBRATION SUPPRESSION .....................................................................................................................................253
6.11.1 Mechanical resonance suppression ........................................................................................................253
6.11.2 End vibration suppression ......................................................................................................................257
6.11.3 Mechanical properties analysis ..............................................................................................................258
6.12 BLACK BOX ........................................................................................................................................................259
6.13 MULTITURN ABSOLUTE ENCODER ...........................................................................................................................262
6.13.1 Parameters setting .................................................................................................................................262
6.13.2 Read absolute position ...........................................................................................................................262
6.13.3 Absolute Encoder Related Alarm ............................................................................................................267
6.14 MOTOR SPEED REGULATION .................................................................................................................................268
6.14.1 Set up motor speed regulation ...............................................................................................................268
CHAPTER 7 MODBUS COMMUNICATION ........................................................................................................... 272
7.1 RS232 AND RS485 CONNECTION DIAGRAM. ............................................................................................................272
7.2 RS485 COMMUNICATION PORT ...............................................................................................................................273
7.3 MODBUS PROTOCOL .............................................................................................................................................274
7.3.1 Read Data 0x03 ........................................................................................................................................274
7.3.2 Write multiple data 0x10 ..........................................................................................................................275
7.4 FREQUENTLY OCCURRED ISSUES AND SOLUTIONS WITH RS485 COMMUNICATION. .............................................................277
CHAPTER 8 PR FUNCTIONS ................................................................................................................................. 279
8.1 PR FUNCTIONS INTRODUCTION ................................................................................................................................280
8.2 CONTROL PARAMETERS ..........................................................................................................................................281
8.3 PR MOTION ........................................................................................................................................................283
8.3.1 Homing .....................................................................................................................................................283
8.3.2 Position limit and emergency stop ...........................................................................................................288
8.3.3 JOG ...........................................................................................................................................................288
8.3.4 Path motion ..............................................................................................................................................289
8.4 PR CONTROL .......................................................................................................................................................292

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8.4.1 PR module in Motion Studio .....................................................................................................................292

8.4.2 Physical I/O ...............................................................................................................................................294
8.4.3 485 communication ..................................................................................................................................296
8.4.4 Path trigger ..............................................................................................................................................297
8.5 PR MOTION .........................................................................................................................................................298
8.5.1 Trigger using physical I/O .........................................................................................................................298
8.5.2 Control using 485 communication ............................................................................................................300
CHAPTER 9 WARNING AND ALARM ................................................................................................................... 302
9.1 SERVO DRIVE WARNING ..........................................................................................................................................302
9.2 SERVO DRIVE ALARM .............................................................................................................................................303
9.3 ALARM HANDLING ................................................................................................................................................306
9.4 ALARM CLEARING .................................................................................................................................................319
9.4.1 Servo Drive Alarm .....................................................................................................................................319
CONTACT US ...................................................................................................................................................... 320

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 User Manual of EL7-RS AC Servo

Chapter 1 Introduction

1.1 Product Introduction

EL7-RS Series AC Servo Product is a whole new midrange AC servo drivers and motors product
range that we have proudly developed at Leadshine Technology Co.,Ltd. This product series
provides more in demanded functionalities and control. While designing this AC servo drive series
with cost concerns in mind, this product series doesn’t compromise in term of performance and
functions.

EL7-RS Series AC Servo Drive comes with power rating from 400W up to 7500W which supports
Modbus communication protocol in addition to analogue and pulse + direction input control. Using
RS485 protocol, multi axis network of EL7-RS series servo drive can be realized and controlled from
1 single master device.

EL7-RS series AC Servo Drive is equipped with easy servo tuning (One-click Tuning/ Single
Parameter Tuning), Zero Tracking Control (ZTC), vibration suppression and many more. This AC
servo drive series also comes with new AC servo motors with 23-bit optical/magnetic encoder which
offers better accuracy and stability.

First time user of the EL7-RS series servo products can refer to this manual for more information on
this product that cannot be covered in this short introduction. For further technical support, please do
contact us or any local Leadshine certified retailers on Contact Us page.

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1.2 Model number structure

1.2.1 Servo Drive

EL7 - RS 750 P T
○
1 ○
2
E A A E
○
3A

○
4 ○
5
E A E A E

No. Description
① Series No. EL7：EL7 AC Servo Drive Series
Communication RS：Pulse train + RS485 + Analogue
②
protocol EC：EtherCAT
400：400W 750：750W 1000：1000W
③ Power Rating 1500：1500W 2000: 2000W 3000：3000W
4400：4400W 5500：5500W 7500：7500W
P: Full functions without STO
④ Type
F: Full functions with STO
⑤ Input Voltage Blank: 220VAC T:400VAC

Driver Label

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1.2.2 Servo motor

ELM1 H - 0400 M A 60 F T -
(1) (2) (3) (4) (5) (6) (7) (8) (9)

(1)Series No.
ELM1 ELM1 Series servo motor (9Motor Connector
ELM2 ELM2 Series servo motor Blank Direct Connector
H Aviation Connector
(2)Inertia Ratio
L Low (8)Voltage

M Medium Blank 220VAC

H High T 380VAC

(3)Power Rating
(7)Motor Type
0050 50W 2000 2000W
E With brake，oil seal
0100 100W 2900 2900W
F No brake，oil seal
0200 200W 3000 3000W
0400 400W 4000 4000W
(6)Fram e Size
0750 750W 4400 4400W 40 40mm
0850 850W 5000 5000W 60 60mm
1000 1000W 5500 5500W 80 80mm
1300 1300W 7000 7000W 100 100mm
1500 1500W 7500 7500W 130 130mm
180 180mm
1800 1800W

(4)Encoder Type (5)Rated Speed

L 23-bit optical multiturn A 3000rpm

M B 2500rpm
23-bit magnetic multiturn
C 2000rpm
D 1500rpm

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1.3 Servo Drive Technical Specifications

EL7-RS 220V Models
EL7-RSP Series Driver EL7-RS400P EL7-RS750P EL7-RS1000P EL7-RS1500P EL7-RS2000P

Power Rating 400W 750W 1000W 1500W 2000W

Rated Current (Arms) 3.5 5.5 7.0 9.5 12
Peak Current (Arms) 9.5 16.6 18.7 31.1 36
Control circuit power supply
1-Ph AC 200V-240V, -10% - +10%, 50/60Hz
Main power supply
Cooling method Air-cooled Fan-cooled
Dimension H*L*W(mm) 175*156*40 175*156*50 175*156*80

EL7-RS 400V Models

EL7-RSFT EL7- EL7- EL7- EL7- EL7- EL7- EL7- EL7-
series RS750FT RS1000FT RS1500FT RS2000FT RS3000FT RS4400FT RS5500FT RS7500FT
Rated Power(W) 750 1000 1500 2000 3000 4400 5500 7500
Rated Current
2.7 3.5 5.4 8.4 11.9 16.5 20.8 25.7
(Arms)
Peak Current
8.6 10.6 14.9 24.8 33.2 38.9 51.6 33.6
(Arms)
Size (mm) 55*175*179 80*175*179 89*250*230
Main Power Supply Three phase AC 380V~440V, -15%~+10%, 50/60Hz
Control Circuit Power Supply Single phase AC 380V~440V, -15%~+10%, 50/60Hz

Port Descriptions
USB Type-C Tuning Modify or read driver parameters without connecting to main power supply
5V differential signal, 0-500kHz
Low-speed pulse input
24V single ended signal, 0-200kHz
High-speed pulse input 5V differential signal, 0-4MHz
Supports phase A/B/Z differential crossover frequency output
Crossover Frequency Output
Supports phase Z open collector crossover frequency output
Analog Input 2 analog inputs（AI1/AI2）,-10V~+10V, Max. voltage: ±12V
Analog Output 1 analog output（AO1）, -10V~+10V
8 Digital Inputs (Supports common anode or cathode connection) DI1~DI8
1. Servo enabled (SRV-ON)
2. Positive limit switch (POT)
3. Negative limit switch (NOT)
4. Gain switching (GAIN)
5. Emergency stop (E-Stop)
6. Deviation counter clearing (CL)
7. Control mode switching (C-MODE)
8. Torque limit switching (TL-SEL)
Digital Input
9. Vibration suppression 1(VS-SEL1)
10. Vibration suppression 2(VS-SEL2)
11. Command prohibition(INH)
12. Internal command velocity 1(INTSPD1)
13. Internal command velocity 2(INTSPD2)
14. Internal command velocity 3(INTSPD3)
15.Crossover frequency input(DIV1)
16. Zero speed clamp(ZEROSPD)
17.Velocity sign(VC-SIGN)

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18.Torque sign(TC-SIGN)
19. Clear Alarm （A-CLR）
20. Speed Regulation(SPDREG)
Under PR mode
1. Path trigger (CTRG)
2. Home switch (HOME)
3. Emergency stop trigger(STP)
4. Path 0-3 (ADD0-ADD3)
5. Positive JOG (PJOG)
6. Negative JOG(NJOG)
7. Positive limit switch(PL)
8. Negative limit switch(NL)
9. Origin(ORG)
5 digital outputs (double-ended) DO1~DO5
1. Alarm (ALARM)
2. Servo ready (SRDY)
3. External brake off (BRK-OFF)
4. Positioning completed (INP1)
5. Velocity at arrival (AT-SPEED)
6. Zero speed position (ZSP)
7. Velocity coincidence (V-COIN)
8. Position command (P-CMD)
Digital Output
9. Velocity limit (V-LIMIT)
10. Velocity command (V-CMD)
11. Servo enabled (SRV-ST)
12. Positive limit switch(POT-OUT)
13. Negative limit switch (NOT-OUT)
Under PR mode
1. Command completed (CMD-OK)
2. Path completed (PR-OK)
3. Homing done (HOME-OK)
Communication Port RS485 communication, Modbus RTU protocol (RJ45 port)
Control Mode
1. External pulse train position control
2. JOG control
3. Velocity control
Control
4. Torque control
5. Hybrid control: Position-Torque/Position-Velocity/Velocity-Torque

● 4MHz (5V differential input)

Position

Pulse frequency ● 500kHz (5V differential input)

● 200kHz (24V single-ended input)
Electronic gear ratio (1～8388608) / (1～8388608)
Torque limit Please refer to parameter settings
Control Features
Drive Mode IGBT SVPWM sinusoidal wave drive
Feedback Method Encoder: RS485 Protocol
Quick tuning of servo driver parameters can be achieved through PC tuning
Standardized Parameters
tools.
Easy-to-use One-click tuning, Single parameter tuning, Black box, Zero tracking control
Notch Filter Mechanical resonance suppression. Supports up to 3 filters,50Hz~4000Hz

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Vibration suppression End vibration suppression

DI/DO settings Digital inputs and outputs are user-configurable
Overcurrent. Overvoltage. Undervoltage. Overheat. Overload. Overtravel.
Alarm Single-Phasing. Regenerative resistor error. Position deviation error. Encoder
feedback error. Excessive braking rate. EEPROM error
Front Panel 5 push buttons, 8-segments display
Driver tuning through Motion Studio Ver. 2.2.x. Parameters tuning in current
loop, position loop, velocity loop; Modify I/O signal and motor parameters;
Software
Variables(velocity, position deviation, etc.) monitoring using step diagrams’

USB Type-C Modbus USB2.0 (No need to connect driver to power supply)
Communication RS485 communication, Modbus RTU protocol (RJ45 port).
Modbus
Communication up to 32 axes to a host.
Dynamic Brake Internal dynamic brake
Set triggering conditions and analyze the data from black box. Used for error
Black Box
solving
Suitable Load Inertia 30 times smaller than motor inertia
Environmental requirements
Storage: -20-80℃ (Condensation free); Not < 72 hours if stored in over 65℃
Temperature
Installation: 0-55℃ (Not frozen); Lower performance at over 45℃
Humidity Under 90%RH (Condensation free)
Max. altitude of 2000m; 100% performance at 1000m or below.
Altitude
Performance decreases by 1% with every increase of 100m from 1000m.
Vibration Less than 0.5G (4.9m/s2) 10-60Hz (non-continuous working)
IP ratings IP20

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1.4 Servo Drive Ports and Connectors

EL7-RS Series Servo Drive 220V Models

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EL7-RS Series Servo Drive 400V Models

750W
Front panel

CN3

Power-on indicator
CN3/CN4 RS485
light
Communication Port
CN1

USB Type-C tuning port

X1 Main Power Supply Port

CN1 I/O signal port

L1
L2
P+
Br
U
Motor power supply port V
W
PE

CN2 Encoder input

Protective Earth

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Parts & Connectors Description

Including a LED display and 5 buttons. LED display is used to
display servo drive status and parameter settings.
5 buttons：
M ：To switch between different modes and parameters
Front Panel
◀ ：Switch between value
▲ ：Switch between sub-menus/Increase
▼ ：Switch between sub-menus/Decrease
S : Enter
Connect to computer for tuning of servo drive. Parameters of the
USB Type-C Tuning Port servo drive can be modified without connecting to main power
supply.
CN1 I/O signal Probe input signal & other I/O signals terminals
CN3/CN4 RS485
Connect to master device or next/previous slave station
communication port
CN2 Encoder Connect to motor encoder
Lights up when servo drive is connected to main power supply.
Power-on indicator light Please do not touch the power terminal immediately after power
off as the capacitor might require some time to discharge.
EL7-RS 220V models
L1, L2 Main power supply 220VAC
P+, Br Connect to regenerative resistor
P+, N Common DC bus terminals for multiple drivers
Motor connector: Connect to U,V,W power terminals on servo
U, V, W
motor
PE PE motor earth terminal: Connect to motor PE terminal
EL7-RS 400V models
L1C, L2C Control circuit power supply input – 1ph 400VAC
R, S, T Main power supply input – 3ph 400VAC
P+ DC bus positive terminal. Connect to regenerative resistor
Please short connect B1 and B2 when using internal regenerative
resistor. If external regenerative resistor is required, remove the
B1, B2
short connector between B1 and B2, connect the external
regenerative resistor to P+ and B2.
N DC bus negative terminal. Do not connect.
N1 and N2 are short connected. Connect N1 and N2 after
N1, N2
removing short connector to a DC reactor to suppress electrical
(4.4/5.5/7.5kW models)
current high harmonics.
Protective Earth PE Connect to PE of main power supply. For grounding

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1.5 Motor ports and connectors

Motors with aviation connectors

② Power
connector ① Encoder
③ Motor flange connector
④Installation
screw holes

⑤ Motor shaft

Motors with direct connectors

① Encoder
Power connector ②
connector
Motor flange ③
Installation
④
screw holes

Motor shaft ⑤

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 User Manual of EL7-RS AC Servo

Chapter 2 Installation & Wiring

2.1 Servo Drive Installation

2.1.1 Servo drive installation environment

Storage: -20-80℃ (Condensation free);

Temperature
Installation: 0-55℃ (Not frozen)
Humidity Under 90%RH (Condensation free)
Altitude Up to 1000m above sea level
Vibration Less than 0.5G (4.9m/s2) 10-60Hz (non-continuous working)
Atmospheric No corrosive gas, combustibles, dirt or dust.
IP ratings IP20

2.1.2 Servo drive dimension

Dimension 1: EL7-RS400P

175mm x 156mm x 40mm

Dimension 2: EL7-RS750/1000P

175mm x 156mm x 50mm

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Dimension 3: EL7-RS750/1000/1500FT

175mm x 179mm x 55mm

Dimension 3: EL7-RS2000/3000FT / EL7-RS1500/2000P

175mm x 179mm x 85mm

Dimension 3: EL7-RS4400/5500/7500FT

250mm x 230mm x 89mm

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Space requirement for installation

In order to ensure efficient heat dissipation, please leave at least 10mm installation space in
between drivers. If drivers need to be mounted compactly, please leave at 1mm of installation space.
Please keep in mind that under such conditions, the drivers can only run at 75% of actual load rate.

 Installation method
Please install the driver vertical to ground facing forward for better heat dissipation. Always
install in rows and use heat insulation board to separate between rows.
Cooling fans are recommended for drivers to achieve optimal performance.
 Grounding
PE terminals must be grounded to prevent electrocution hazard or electromagnetic interference.
 Wiring
Please ensure there is no liquid around the wiring and connectors as liquid leakage may cause
serious damage to the driver(s).
 RJ45 port cover
Please cover unconnected RJ45 port(s) on top of the driver to prevent dust or liquid from
damaging the ports.
 Battery kit
If there is a need for battery kit, please remember to leave a room in the electrical cabinet for it.

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2.2 Servo Motor Installation

2.2.1 Installation conditions
Installation conditions may affect the lifespan of a motor
 Please keep away from corrosive fluid and combustibles.
 If dusty working environment is unavoidable, please use motors with oil seal.
 Please keep away from heat source.
 If motor is used in enclosed environment without heat dissipation, motor lifespan will be short.
 Please check and clean the installation spot before installation.

2.2.2 Precautions during installation

Installation method
Install horizontal to ground
Make sure power cable and encoder cable is facing downwards to make sure fluid doesn’t leak into
the ports.
Install vertical to ground
Please use a motor with oil seal when paired with a reducer to prevent reducer oil from leaking into
the motor.

Oil- and waterproofing

 Do not submerge motor/cable under oil/water
 Please use a motor with oil seal when paired with a reducer to prevent reducer oil from leaking
into the motor.
 If there is an unavoidable fluid leakage near the motor, please use motor with better IP ratings.
 Make sure power cable and encoder cable is facing downwards to make sure fluid doesn’t leak
into the ports.
 Avoid the usage of motor in water/oil leaking prone environment.

Cable under stress

 Do not the bend the cable especially at each ends of the connectors.
 Make sure to not let the cables be too tight and under tremendous stress especially thinner
cables such as signal cables.

Connectors
 Please to remove any conductive foreign objects from the connectors before installation
 The connectors are made of resin. May not withstand impact.
 Please hold the driver during transportation, not the cables.
 Leave enough “bend” on the connector cables to ensure less stress upon installation.
Encoder & coupling
 During installation or removal of coupling, please do not hit the motor shaft with a hammer as it
would cause damage to internal encoder.
 Please make sure to centralize the motor shaft and coupling, it might cause damage to motor or
encoder due to vibration.
 Please make sure axial and radial load is within the limits specified as it might affect the lifespan
of the motor or cause damage to it.

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2.3 EL7-RS Wiring Diagram

EL7-RS 220VAC Wiring Diagram

Servo driver
parallel
communication
connection PLC
communication
CN3 cable

CN4
Main power supply
Single phase 220VAC RS485 communication cable

Circuit breaker Connect to PC via

Turn on/off power USB Type-C for driver
supply. Cut off tuning
power supply when P
current overload C

Line filter
To prevent
electromagnetic C
N
interference 1 CN1: I/O signal cable. Only
terminal connector is provided

Contactor
Cut off power supply
when current C
overload N
2 CN2 Motor encoder cable
L1
L2
P+
BR
N
U
V
W
Regeneration
resistor PE

Connect it to P+ and
B2

Battery kit

Servo motor power cable

PE: To ground the motor

 EL7-RS series servo drive supports single phase and three phase 220VAC. Only driver with
power rating above 1500W supports three phase 220VAC.
 Please use a circuit breaker for the main power supply to prevent damage to the product or
machine.
 Please do not use a contactor in connection to servo motor as it may not withstand a sudden
surge of operating voltage.
 Please take note of the capacity when connect to a 24VDC switching power supply, especially if
power supply is shared between multiple components. Insufficient supply current will cause
failure in holding brake functions.

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2.3.1 Position Control Mode Wiring Diagram

Position control mode wiring diagram

Encoder
1ph 220VAC
cable
1
2
Circuit CN2 5
breaker 6

Line filter

L1
Contactor
L2
P+
Connect B1 and B2 to use internal
Br
regenerative resistor ；If an external U
Motor power
regenerative resistor is needed， N
V
cable
connect it to P+ and B2，disconnect W
B1 and B2 PE

CN1

Controller
38 HPULSE+ DO1+: 7
SRDY+
High-speed pulse 36 HPULSE-
DO1-： 6
input，position signal. SRDY-
Max.4Mhz(Differential 42 HSIGN+ DO2+: 5
mode) INP1+
40 HSIGN-
DO2-: 4
GND 29 GND INP1-
Must connect when using
high speed input DO3+: 3
BRK-OFF+
35 2.4KΩ DO3-: Digital Output DO
PULLHI BRK-OFF-
2 (5 Double ended
2.4KΩ
Open collector 24V pulse DO4+: 1 outputs)
input(500khz) 41 PULSE+ ALARM+
（35 & 43、39 43 PULSE-
DO4-： 26
240Ω ALARM-
Or 35 & 41、37)
2.4KΩ DO5+: 28
5V differential pulse 37 2.4KΩ
HOME-OK+
input (200khz) SIGN+ DO5-： 27
39 HOME-OK-
（41&43、37&39） SIGN-
240Ω

11
COM_DI
4.7K
Positive limit 9 DI 1:POT

Negative limit 10 4.7K A+ 21

DI 2: NOT 22
A-
Command input inhibition 34 4.7K B+
25
DI 3: INH
B- 23
Alarm clearing 8 4.7K Z+
13 Frequency divider
DI 4: A-CLR
24
12~24Vdc

Z- output (Differential
Servo enabled 33 DI 5: 4.7K + Open collector Z-
SRV-ON 44
OCZ Phase)
32 4.7K GND
29
DI 6: Null

12 4.7K
DI 7: Null

Homing switch 30 DI 8: 4.7K

HOME-Switch

PE

Note: Please set Pr0.05 to 1 when using high speed pulse command (max. 4 MHz)

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2.3.2 Velocity/Torque Control Mode Wiring Diagram

Velocity control mode wiring diagram

1ph 220VAC Encoder

cable
1
Circuit 2
CN2 5
Breaker
6
Line Filter

L1
Contactor
L2
P+
Connect B1 and B2 to use internal Br
regenerative resistor ；If an external Motor power
N U
regenerative resistor is needed， V
cable
connect it to P+ and B2，disconnect W
B1 and B2 PE

CN1

11 DO1+: 7
COM_DI
SRDY+
Positive limit 4.7K
9 DI 1:POT DO1-： 6
SRDY-
Negative limit 10 4.7K
DI 2: NOT DO2+: 5
INP1+
Command pulse inhibition 34 DI 3: INH 4.7K
DO2-: 4
INP1-
Alarm clearing 8 DI 4: A-CLR
4.7K
12~24Vdc

DO3+: 3
BRK-OFF+
Servo enabled 33 DI 5: 4.7K
SRV-ON DO3-: Digital Output DO
2
BRK-OFF- (Double-ended)
32 4.7K
DI 6: Null DO4+: 1
ALARM+
12 4.7K
DI 7: Null DO4-： 26
ALARM-
Homing switch 30 DI 8: 4.7K DO5+: 28
HOME-Switch HOME-OK+
DO5-： 27
HOME-OK-

20 A+ 21
AI1 Low pass A/D
22
AI1: Velocity control analog input filter interchange A-
19 B+
25
（+10V~-10V） GND
B- 23 Frequency divider
13
Z+ output (Differential
24
Z- + Open collector Z-
Phase)
OCZ 44
GND
29

31 AO1:Analog output
AO1
（Configurable）

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 User Manual of EL7-RS AC Servo

Torque control mode wiring diagram

Encoder
cable
1ph 220VAC
1
2
Circuit CN2 5
breaker 6

Line filter

L1
Contactor
L2
P+

Connect B1 and B2 to use internal Br Motor Power

regenerative resistor ；If an external N
U
Cable
V
regenerative resistor is needed， W
connect it to P+ and B2，disconnect PE
B1 and B2

CN1

11 DO1+: 7
COM_DI SRDY+
4.7K
Positive limit 9 DI 1:POT DO1-： 6
SRDY-
Negative limit 10 DI 2: NOT
4.7K
DO2+: 5
INP1+
Command prohibition 34 4.7K
DI 3: INH DO2-: 4
INP1-
Alarm clearing 8 DI 4: A-CLR
4.7K
DO3+: 3
12~24Vdc

BRK-OFF+
Servo enabled 33 DI 5: 4.7K
SRV-ON DO3-: Digital Output DO
2
BRK-OFF- (5 double-ended)
32 4.7K
DI 6: Null DO4+: 1
ALARM+
12 4.7K
DI 7: Null DO4-： 26
ALARM-
Homing switch 30 DI 8: 4.7K DO5+: 28
HOME-Switch HOME-OK+
DO5-： 27
HOME-OK-

A+ 21
AI1:Velocity control analog input 20 AI1 Low pass A/D A- 22
（+10V~-10V） filter interchange 25
19 GND
B+
B- 23
13 Frequency divider output
Z+
24 (Differential + Open
Low pass A/D Z-
AI2:Torque control analog input AI2
collector Z-Phase)
（+10V~-10V） 18 filter interchange
OCZ 44
GND
29

31 AO1:Analog output
AO1
（Configurable）

PE
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 User Manual of EL7-RS AC Servo

EL7-RSPT(3ph 400VAC drives) wiring diagram

3ph 400VAC

Circuit
Breaker
Line Filter Encoder
cable
1
L1C 2
CN2 5
L2C 6

R
S
T
Contactor
P+
Motor power
U
Connect B1 and B2 to use internal B1 cable
V
regenerative resistor ；If an external B2 W
regenerative resistor is needed， PE
connect it to P+ and B2，disconnect N
B1 and B2
CN1
Controller
38 DO1+: 7
HPULSE+
SRDY+
High-speed pulse 36 HPULSE- DO1-： 6
input，position signal. SRDY-
Max.4Mhz(Differential 42 HSIGN+ DO2+: 5
mode) INP1+
40 HSIGN- DO2-: 4
INP1-
Must connect when using GND 29 GND
high speed input DO3+: 3
BRK-OFF+

35 2.4KΩ DO3-: Digital Output DO

BRK-OFF-
2 (5 Double ended
PULLHI
2.4KΩ outputs)
Open collector 24V pulse
DO4+: 1
input(500khz) 41 PULSE+
ALARM+
DO4-： 26
（35 & 43、39 43 PULSE- ALARM-
Or 35 & 41、37) 240Ω
DO5+: 28
2.4KΩ
HOME-OK+
5V differential pulse 37 2.4KΩ
SIGN+ DO5-： 27
input (200khz) HOME-OK-
（41&43、37&39） 39 SIGN-
240Ω

AI1:Velocity control analog input 20 AI1 Low pass A/D

（+10V~-10V） filter interchange
19 GND

AI2:Torque control analog input AI2 Low pass A/D

A+ 21
（+10V~-10V） 18 filter interchange
22
A-
B+
25
B- 23 Frequency divider
Z+
13 output (Differential +
11 Z-
24 Open collector Z-
COM_DI
4.7K
Phase)
Positive limit 9 DI 1:POT OCZ 44
Negative limit 10 4.7K GND
29
DI 2: NOT

Command input inhibition 34 DI 3: INH 4.7K

Alarm clearing 8 DI 4: A-CLR

4.7K
12~24Vdc

33 DI 5: 4.7K 31 AO1:Analog output

Servo enabled AO1
SRV-ON （Configurable）
32 4.7K
DI 6: Null

12 4.7K
DI 7: Null

Homing switch 30 DI 8: 4.7K

HOME-Switch

28
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 User Manual of EL7-RS AC Servo

2.4 Servo Drive Ports

Connector Label
CN1 I/O signal connector（DB 44PIN）
CN2 Motor encoder feedback
CN3 RS485 Communication port
CN4 RS485 Communication port
X1 Main circuit power supply/ Motor power output
PC USB type C tuning port
PE Protective Earth for grounding

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 User Manual of EL7-RS AC Servo

2.5 X1 Main power supply

EL7-RS Series – 220V Models

Port Pin Functions Remarks

① Optional isolation transformer

L1
② Do not connect to 400VAC directly to prevent
Single phase damage to driver.
220VAC，+10～- ③ In case of serious interference, it is
recommended to connect a line filter to main
15%，50/60Hz power supply;
L2 It is recommended to install a fuseless circuit
breaker to cut off power supply in time when the
driver fails.
① Internal DC bus
X1 positive terminal
P+ ② External Please refer to 2.10 Regenerative resistor
regenerative selection and connections
resistor P terminal
External regenerative
Br
resistor terminal
N Please do not connect
U Motor U terminal
V Motor V terminal Please ensure proper wire connection on motor.
W Motor W terminal
PE Motor Protective Earth Please ground PE of driver and motor together

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EL7-RS Series – 400V Models

L1C
L1C
L2C
L2C
R
S

T
P+
N2
B1
B2 N1
N P+
B1

B2
U
V U
W V
PE
W

Port Pin Functions Remarks

L1C Control circuit:

Single phase 380VAC， ① Optional isolation transformer
L2C +10～-15%，50/60Hz ② In case of serious interference, it is
recommended to connect a line filter to
R main power supply;
Main Power Supply:
Three phase 380VAC， It is recommended to install a fuseless circuit
S
breaker to cut off power supply in time when the
+10～-15%，50/60Hz
T driver fails.
③ Internal DC bus
positive terminal
If an external regenerative resistor is required,
P+ ④ External please disconnect B1 and B2. Connect the
regenerative external regenerative resistor to terminal P+
X1
resistor P terminal and B2.
External regenerative
B1/B2
resistor terminal
N Please do not connect

Internal DC bus N1 and N2 are connected under normal

N1
negative terminal circumstances. To suppress power supply high
harmonics, please disconnected N1 and N2.
N2
Connect a DC reactor between N1 and N2.
U Motor U terminal
V Motor V terminal Please ensure proper wire connection on motor.
W Motor W terminal
PE Motor Protective Earth Please ground PE of driver and motor together

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2.5.1 Main Power Supply Cable Selection

Main Power Supply Cable

• Wire diameter: Wire diameter differs according to the power rating of the servo drives.
Please refer to the table below.
Wire diameter (mm2/AWG)
Driver
L1 L2/R S T P+ BR U V W PE
EL7-RS400P 0.81/AWG18 2.1/AWG14 1.3/AWG16 2.1/AWG14
EL7-RS750P 0.81/AWG18 2.1/AWG14 1.3/AWG16 2.1/AWG14
EL7-RS1000P 0.81/AWG18 2.1/AWG14 2.1/AWG14 2.1/AWG14
EL7-RS750PT 1.3/AWG16 2.1/AWG14 1.3/AWG16 2.1/AWG14
EL7-RS1000PT 2.1/AWG14 2.1/AWG14 2.1/AWG14 2.1/AWG14
EL7-RS1500PT 2.1/AWG14 2.1/AWG14 2.1/AWG14 2.1/AWG14
EL7-RS2000PT 2*0.75/AWG18 1.5/AWG16 3*1.5/AWG16 1.5/AWG16
EL7-RS3000PT 2*0.75/AWG16 1.5/AWG16 3*1.5/AWG16 1.5/AWG16
EL7-RS4400PT 2*0.75/AWG16 4.0/AWG12 3*4.0/AWG12 4.0/AWG12
EL7-RS5500PT 2*0.75/AWG14 4.0/AWG12 3*4.0/AWG12 4.0/AWG12
EL7-RS7500PT 2*0.75/AWG12 4.0/AWG12 3*4.0/AWG12 4.0/AWG12

• Grounding: Grounding wire should be thicker. Ground PE terminal of servo drive and
servo motor together with resistance <100 Ω.
• A 3-phase isolation transformer is recommended to lessen the risk of electrocution
• Connect a line filter to power supply to reduce electromagnetic interference.
• Please install a fuseless circuit breaker to cut off power supply in time when the driver
fails.

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 User Manual of EL7-RS AC Servo

Wiring diagram for models using single phase 220VAC 400/750/1000W

1ph 220VAC

Line Filter
伺服驱动器
Contactor
L1 U
L1
V M
L2 Motor
L2
P+ W
PE
Br

Regen erative
resistor
CN2 PG Encoder
Stop Start
button button
Holding brake relay
CN1 BK-RY
ALARM+- DO3+
output (BRK-OFF)
relay

24V
BK Holding
DO3- brake
（BRK-OFF） 24V holding brake
Warning indicator
power supply
◆ When DO is set as alarm DO4+(ALM+)
output （ALARM+/ALARM-），
24V

power supply can be cut off DO4- (ALM-)

Servo alarm
automatically and warning
output signal
indicator on when servo alarm
occurs.

To fix wire cables into connector

Connector

1 3
Press
2
Tool
Release

Cable

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 User Manual of EL7-RS AC Servo

2.5.2 Motor Power Supply Cable Selection (Without Brake)

Motor winding power cable

 Wire length available: 1.5m, 3m and 5m
 Connectors type available: Aviation connectors, direct connectors (recommended)
 Please contact Leadshine sales team or any Leadshine certified local retailers for any
customized needs.

*M*: Length of the cable

Aviation connector（Frame size 130）CABLE-RZ*H(V1.1/V2.0)

Motor side Driver side

Motor cable pin Pins

Motor Color Driver

1 Red U
3 Green V
2 Black W
4 Yellow PE

Motor side

Direct connector(Frame size 80 or below）CABLE-RZH*M*-114-TS without holding brake

Motor side Driver side

Driver cable pin Pins

Motor Color Driver

1 Blue U
2 Black V
3 Red W
4 Yellow- green PE

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2.5.3 Holding Brake Wiring Diagram

Holding brake is activated when servo drive is not powered on to prevent axis from moving due to
gravitational pull or other external forces by locking the motor in place. Usually used on axis
mounted vertically to the ground so that the load would not drop under gravitational force when the
driver is powered off or when alarm occurs.

Servo Driver
Single Line Filter L1 U
phase V
220VAC L2
M Motor
W
MB

CK1 Brake Relay

BK-RY
DO2+(BRK+) Holding
BK
Brake

DOCOM-(BRK-) DC24V
DC 24V Holding brake power
supply

CK2
SG Bncoder

Holding brake wiring diagram

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 User Manual of EL7-RS AC Servo

2.5.4 Motor Power Supply Cable (With Holding Brake)

Aviation connector（Frame size 80 or below）CABLE-RZSH*M*-113-TS Winding cable with
holding brake

Motor side Driver side

Motor cable pin Pins

Motor Color Driver

1 Blue U
2 Red W
3 Black V
Yellow-
4 green PE
5 Black 0V
Motor side 6 Red 24V

Direct connector CABLE-RZH*M*-114-TS Winding cable with holding brake

Motor side Driver side

Motor cable pin Pin

Motor Color Driver

1 Blue U
2 Black V
3 Red W
Yellow-
4 PE
green
A Black 0V
B Red 24V

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 User Manual of EL7-RS AC Servo

 Mechanical noise might exist when motor with holding brake is in operation but it doesn’t
affect the functionality of the motor.
 When the holding brake circuit is closed (holding brake deactivated), there might be
magnetic flux leakage. Please be aware to not use magnetic sensor around motor with
holding brake.
 24V operating voltage for the holding brake has to be ensured to maintain the functionality
of the holding brake. Please consider the voltage dropped over lengthy motor cables due to
increase in cable resistance.
 It is recommended to have an isolated switching power supply for the holding brake to
prevent malfunctioning of the holding brake in case of voltage drop.

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 User Manual of EL7-RS AC Servo

2.6 CN1 I/O Control Signal

EL7-RS Series Servo Drive uses DB 44-Pin connector.

CN1 CN1 Signals

15
30
44
OCZ

2
AI2

31 1
16

Note: It is recommended to use 24-26AWG cables for CN1

Function Pin Signal Label Description

Low speed pulse Low speed pulse command input mode：
41 PULSE+
command input ● Differential （5V）
43 PULSE-
Low speed pulse ● Single ended (24V)
command input Low speed pulse and direction command
37 SIGN+
Low speed direction input mode ：
command input PULSE+ & PULSE-：5V Differential
Low speed direction （500KHz）
Position 39 SIGN-
command input SIGN+ & SIGN- ：5V Differential
command
（500KHz）
Open collector PULLHI & PULSE-：24V Single ended
35 PULLHI (200KHz)
24V common input
PULLHI & SIGN- ：24V Single ended
(200KHz)
High speed pulse
38 HPULSE+ 4MHz High speed pulse command input ，
command input

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High speed pulse 5V differential input

36 HPULSE-
command input
High speed direction
42 HSIGN+
command input 4MHz High speed direction command
High speed direction input ，5V differential input
40 HSIGN-
command input
17 +24V Internal 24V power 24V internal power supply, range 20V~28V.
Common
14 COM- supply Max. output current 200mA
11 COM+ Common DI Common DI
9 DI1 POT Positive limit
10 DI2 NOT Negative limit
34 DI3 INH Command pulse inhibition
8 DI4 A-CLR Alarm clearing
33 DI5 SRV-ON Servo enabled
32 DI6 Null -
12 DI7 Null -
30 DI8 HOME-Switch Homing switch (sensor)
7 DO1+ SRDY+
Servo ready signal output
6 DO1- SRDY-
5 DO2+ INP1+
Digital Positioning done signal output
4 DO2- INP1-
inputs and
3 DO3+ BRK-OFF+
outputs Holding brake output
2 DO3- BRK-OFF-
1 DO4+ ALARM+
Alarm output
26 DO4- ALARM-
28 DO5+ HOME-OK+
Homing done signal output
27 DO5- HOME-OK-
Analog 20 AI1 AI1 Velocity command or limit input(0～±10 V)
input and 18 AI2 AI2 Torque command or limit input (0～+10 V)
output 31 AO1 AO1 Analogue output – Status monitoring
19 GND GND Analogue ground
21 A+ Encoder A phase
frequency divider
22 A-
Frequency output Differential output，A/B phase quadrature
divider 25 B+ Encoder B phase frequency divided pulse output signal
output frequency divider
23 B-
output
13 Z+ Encoder Z phase
Differential output, motor Z phase signal
frequency divider
24 Z- output
output
Z-phase open
44 OCZ Channel Z output (Open collector)
collector output
Z-phase open
29 GND collector output Channel Z output ground (Open collector)
signal ground
15 +5V Internal 5V power 5V internal power supply. Max. output
Common
16 GND supply current 200mA
Fram
FG Frame grounding

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 User Manual of EL7-RS AC Servo

2.6.1 CN1 control signal cable selection

To ensure I/O signal to not be affected by electromagnetic interference, a shielded cable is
recommended for this application.
Foil shield

Cables for different analogue signals should be using isolated shielded cable while cables for digital
signals should be shielded twisted pair cable. Cables for CN1 connectors should be 24-28AWG in
diameter.

 Please keep at least 30cm from main power supply/control circuit power cable
(L1C/L2C/L1/L2/L3，U/V/W) to prevent electromagnetic interference of I/O signals.

2.7 CN2 Motor Encoder

Port Pin Signal Explanation

1 VCC5V Power supply 5V
2 GND Power supply ground
3 BAT+ Battery positive terminal
CN2 4 BAT- Battery negative terminal
5 SD+ SSI Data+
6 SD- SSI Data-
Frame PE Shield grounding

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Motor encoder cable and connector selection

Aviation connector（Frame size 130）CABLE-7BM*HZ(V3.0)

Motor side Driver side

Motor cable pin Pin

Motor Driver Signal

1 Frame Shielded
2 1 +5V
3 2 0V
4 5 SD+
5 6 SD-
6 3 BAT+
Motor side 7 4 BAT-
Direct connector(Frame size 80 or below）CABLE-BMH*M*-114-TS Incremental encoder

Motor side Driver side

Motor cable pin Pin

Motor Driver Signal

1 Frame Shielded
2 1 +5V
3 2 0V
4 5 SD+
5 6 SD-

Motor side

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Direct connector(Frame size 80 or below）CABLE-BMAH*M*-124-TS Absolute encoder

Motor side Driver side

Motor cable pin Pin

Motor Driver Signal

1 Frame Shielded
2 1 +5V
3 2 0V
4 5 SD+
5 6 SD-
6 3 BAT+
7 4 BAT-
Motor side

a) Please ground cable shield foil to drive to prevent servo error alarm
b) Please use a double winded shielded cable and make sure to be as short as possible.
c) Please separate CN1 cable from power cables with a minimum gap of 30cm.

Battery kit installation

Please install the battery kit as the following diagram if our Leadshine direct connector motor doesn’t
come with an online battery kit.

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2.8 CN3/CN4 – RS485 Communication Port

1 8 9 16

Port Pin Signal Description

1，9 RDO+ RS485 Differential signal+
2，10 RDO - RS485 Differential signal-
3，11 GND Ground（RS485）
4，12 TXD+ RS485 Differential signal+
CN3 5，13 TXD- RS485 Differential signal-
CN4 Reserved，5V positive
6 VCC5V
（50mA）
7，15 GND Ground
8，16 / /
Frame PE Shield grounding

EL7-RS series supports RS485 communication protocol which enables communication between
single/multi axes and master device.

PLC

CN3 IN
CN4 OUT

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2.9 USB Type-C Tuning Port

EL7-RS series servo drive can be connected to PC for performance tuning, data monitoring and
parameters modifying using a USB Type-C data cable. Can be done without the servo drive
connecting to main power supply.

Port Pin Signal Description

A4, B4,A9, B9 VCC 5V Power supply positive terminal 5V
A12,B12,A1,B1 GND Power supply negative terminal
USB Type-
A6,B6 D+ USB data positive terminal
C
A7,B7 D- USB data negative terminal
Frame USB_GND Ground through capacitor

2.10 Regenerative resistor selection and connections

The use of regenerative resistor
When the motor opposes the direction of rotation as in deceleration or vertical axis escalation, part
of the regenerative energy will be delivered back to the driver. This energy will first be stored in
internal capacitors of the driver. When the energy stored in the capacitors reach the maximum
capacity, a regenerative resistor is required the excessive energy to prevent over-voltage.

Selection of regenerative resistor

EL7-RS series servo drives are equipped with internal regenerative resistor. If an external resistor is
needed, please refer to the table below.
Model no. Internal Internal resistor Minimum Minimum power
resistance (Ω) power rating (W) resistance (Ω) rating (W)
EL7-RS400P 100 50 50 50
EL7-RS750P 50 75 40 50
EL7 -RS1000P 50 100 30 100
EL7-RS750PT 100 100 100 100
EL7-RS1000PT 100 100 100 100
EL7-RS1500PT 100 100 100 100
EL7-RS2000PT 50 100 40 100
EL7-RS3000PT 50 100 40 100
EL7-RS4400PT 35 100 35 100
EL7-RS5500PT 35 100 25 100
EL7-RS7500PT 35 100 25 100

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Calculation of regenerative resistance under normal operation

Steps:
1. Determine if driver comes with a regenerative resistor. If not, please prepare a regenerative
resistor with resistance value higher than might be required.
2. Monitor the load rate of the regenerative resistor using front panel (d14). Set the driver on high
velocity back and forth motions with high acceleration/deceleration.
3.Please make sure to obtain the value under following conditions: Driver temperature < 60℃,
d14<80(Won’t trigger alarm), Regenerative resistor is not fuming, No overvoltage alarm(Err120).

Pb(Regenerative power rating) = Resistor power rating x Regenerative load rate (%)

Please choose a regenerative resistor with power rating Pr about 2-4 times the value of Pb in
considered of harsh working conditions and some ‘headroom’.
If the calculated Pr value is less than internal resistor power rating, external resistor is not required.

R(Max. required regenerative resistance) = (3802 – 3702)/Pr

Problem diagnostics related to regenerative resistor:

 If driver temperature is high, reduce regenerative energy power rating or use an external
regenerative resistor.
 If regenerative resistor is fuming, reduce regenerative energy power rating or use an external
regenerative resistor with higher power rating.
 If d14 is overly large or increasing too fast, reduce regenerative energy power rating or use an
external regenerative resistor with higher power rating.
 If driver overvoltage alarm (Er120) occurs, please use an external regenerative resistor with
lower resistance or connect another resistor in parallel.

Please take following precautions before installing an external regenerative resistor.

1. Please set the correct resistance value in Pr0.16 and resistor power rating Pr0.17 for the external
regenerative resistor.
2. Please ensure the resistance value is higher or equals to the recommended values in table 2-3.
Regenerative resistors are generally connected in series but they can also be connected in parallel
to lower the total resistance.
3. Please provided enough cooling for the regenerative resistor as it can reach above 100℃ under
continuous working conditions.
4. The min. resistance of the regenerative resistor is dependent on the IGBT of the regenerative
resistor circuit. Please refer to the table above.

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Theoretical selection of regenerative resistor

Without external loading torque, the need for an external regenerative resistor can be determined as
the flow chart below

Start

Determine the T is the time for velocity to reach

max. velocity from 0 rpm and
duration of motion
decelerates back to 0rpm
cycle T (s)

Determine motor max.

rotational velocity Can be monitored on the front panel
V(rpm)

Determine motor load- Can be determined through inertia

measuring function
inertia ratio(N)

Calculate E1=(N+1)×Eo Eo=J×V^2/182

regenerative energy J: Motor unloaded rotational inertia
E1(J) V: Motor rotational velocity
N: motor load-inertia ratio
Determine energy
stored by capacitor Use table 2-5 to determine the maximum
Ec（J） regenerative energy stored by the capacitors

N Y
E1(J)>Ec（J）?

No external External
resistor needed resistor needed

Calculate required
regenerative resistor ((E1-Ec)/T)
- - - - - - - - - Pr=
power rating Pr 0.5

N Y
Pb>Pa?

Use internal Use external

regenerative resistor regenerative resistor

Please consider external

factor(s) when using external
regenerative resistor

End

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Diagram below shows the acceleration and deceleration cycle periods and the regenerative torque
that occurs during the process.
V:Motor rotational velocity
Rotational
velocity

0
tD:Deceleration
time

Motor
Torque

TL: Load torque

0

Regenerative
torque

Steps to calculate capacity of regenerative resistor

Steps Calculation Symbol Formula

Servo system regenerative

1 E1 E1=(N+1)×J×V2/182
energy
Depleted energy from loss of EL = (π/60) V×TL×tD
2 load system during EL If loss is not determined, please assume EL =
acceleration 0.

Depleted energy due to motor EM=(U2/R)×tD

3 EM R= coil resistance, U = operating voltage
coil resistance. If R is not determined, please assume EM = 0.

Energy stored by internal DC

4 Ec Please refer to table 2-5
capacitors
Depleted energy due to EK=E1-(EL+EM+EC),
5 EK
regenerative resistance If loss is ignored, EK=E1-EC
Required power rating of
6 Pr Pr=EK/(0.5×T)
regenerative resistor
Internal capacitor capacity and rotor inertia
Rotor Inertia Max. regenerative energy
EL7-RS Drivers Servo motor -4 2
（× 10 kg.m ） stored in capacitor Ec(J)
400W ELM2H-0400LA60 0.58 13.47
750W ELM2H-0750LA80 1.66 22.85
ELM2M-1000LB80 1.79
1000W 27.74
ELM2M-1000LB130 8.5

There are motors with low, medium and high inertia. Different motor models have different rotor
inertia. Please refer to product catalogue for more information on rotor inertia.
Calculation examples:
Servo drive: EL7-RS750P, Servo Motor: ELM2H-0750LA80. When T = 2s, rotational velocity =
3000rpm, load inertia is 5 times of motor inertia.

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Rotor Inertia Max. regenerative energy

EL7-RS Drivers Servo motor -4 2
（× 10 kg.m ） stored in capacitor Ec(J)
750W ELM2H-0750LA80 1.66 22.85
Regenerative energy produced:
(N + 1) × J × V 2 (5 + 1) × 1.66 × 30002
E1 = = = 49.3J
182 182
If E1<Ec, internal capacitors can’t take in excessive regenerative energy, regenerative resistor is
required.
Required regenerative resistor power rating Pr:
(E1 − Ec) 49.3 − 22.85
Pr = = = 26.45W
0.5T 0.5 × 2
Hence, with the internal regenerative resistor Pa = 75W, Pr<Pa, no external regenerative resistor is
required.

Let’s assume if the load inertia is 15 times of motor inertia, Pr = 108.6W, Pr>Pa, external
regenerative resistor is required. And to consider for harsh working environment,

Pr(external)=108.6/(1-40%)=181 W

When selecting the resistance of the regenerative resistor, please be higher than the minimum value
recommended in table 2-3 but lower than Rmax

Rmax =(3802-3702)/Pr=7500/108.6=69Ω

In conclusion, a regenerative resistor with resistance 40Ω - 70Ω and power rating 110W to 180W can
be chosen.

Please take note that theoretical calculations of the regenerative resistance is not as accurate as
calculations done under normal operation.

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Regenerative resistor connection

 If B1 and B2 are connected, internal regenerative resistor is now functional; if an external

regenerative resistor is required, please disconnect B1 and B2 and connect P+ to B1 to prevent
overcurrent.
 Please do not connect external regenerative resistor directly to N or it might cause fire hazard.
 Please refer to the section above to select minimum allowable resistance for the external
regenerative resistor or it might damage the driver.
 Please confirm Pr0.16 and Pr0.17 before using any regenerative resistor.
 Do not set the regenerative resistor near any flammable object.

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2.11 I/O Signals

2.11.1 Pulse input circuit
When PLC or Motion Controller command pulse output circuits can be divided into 2 categories,
namely differential output or open collector. Hence, on the side of servo drive, there are 2 types of
command pulse input method as well: Differential drive input and open collector input.

Pulse input frequency:

1. High speed pulse input (4MHz)
2. Low speed pulse input (200kHz/500kHz)
Pulse input frequency can be set in Pr0.05.

Pulse Max. Frequency Min pulse width(μs)

Low Differential 500k 1
speed Open collector（Single ended） 200k 2.5
High speed differential 4M 0.125

 High-/low speed pulse cannot be used at the same time.

 If output pulse width is smaller than min pulse width, error might occur at pulse receiving
end.

5V differential drive input (Low Speed)

5V differential drive input (max. tolerable command input pulse frequency = 500kHz), input voltage of
3-6V with 50% duty ratio.
This input method will not be easily affected by noise with better delivery accuracy. Pin 47 and 43 of
CN1 are for pulse signal input; pin 37 and 39 are for direction signal input.
Controller Driver
35

PULSE＋ 41
PULSE－ 43
240Ω
Twisted
cable
SIGN+ 37
SIGN- 39
240Ω
GND 29
GND

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Single ended open collector drive input (Low Speed)

Max. tolerable command pulse input frequency under open collector = 200kHz. Input voltage of 12-
24V with 50% duty ratio.

• Using driver internal 24V power supply

1. When pulse input comes from NPN type device:

Controller Driver
+24V Power 24V
supply 17
PULLHI 35 2.4K

PULSE+ 41 240Ω

PULSE－ 43
2.4K

240Ω
SIGN+ 37
SIGN- 39
COM- 14

2. When pulse input comes from PNP type device:

Controller Driver
+24V Power 24V
Supply 17
PULLHI 35 2.4K

PULSE+ 41 240Ω

PULSE－ 43
2.4K

240Ω
SIGN+ 37
SIGN- 39
COM- 14

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• Using external power supply

Method 1: Using driver internal resistor (Recommended)

3. When pulse input comes from NPN type device:

Controller Driver
External 24V
24VDC
17
PULLHI 35 2.4K

PULSE+ 41 240Ω

PULSE－ 43
2.4K

240Ω
SIGN+ 37
SIGN- 39

14
External
0V

4. When pulse input comes from PNP type device:

Controller External Driver

24VDC 24V
17
PULLHI 35 2.4K

External PULSE+ 41 240Ω

0V
PULSE－ 43
2.4K

240Ω
SIGN+ 37
SIGN- 39

14

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Method 2: Using external resistor

5. When pulse input comes from NPN type device:

Controller Driver
24V
17
External
24VDC PULLHI 35

R1 PULSE+ 41 240Ω

PULSE－ 43

R1 240Ω
SIGN+ 37
SIGN- 39

14
GND
External 0V

6. When pulse input comes from PNP type device:

Controller External Driver
24Vdc 24V
17
PULLHI 35

R1 PULSE+ 41 240Ω

PULSE－ 43

240Ω
R1 SIGN+ 37
SIGN- 39

14
External 0V

 Using 24V external power supply, driver internal includes current limitation equivalent to VDC
value. By installing a resistor, driver’s noise tolerance will be improved.

VDC-1.5V(Voltage drop)
R1(Current limiting)+220Ω=10mA
 Resistance of current limiting resistor = . If VDC =
24V, resistance of current limiting resistor approximates 2kΩ. (Rough estimation)
Vcc Voltage R1 Resistance R1 Power rating
24V 2.4kΩ 1/2 W
12V 1.5kΩ 1/2 W
 5V differential drive method is recommended for accurate delivery of pulse data.
 EL7-RS series servo drive supports 5V differential drive and 24V single ended open
collector drive, different connection pins for both methods.
 External power supply needs to be provided externally when using single ended open
collector drive method. Please note that reversed polarity might cause damage to the servo
drive.

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5V differential drive input (High Speed)

5V differential drive input (Max. tolerable command pulse input frequency: 500kHz). Due to high
speed pulse input, it is highly recommended to use shielded cable and be isolated from power cable.
Controller Driver

HPULSE＋ 38
HPULSE－ 36
Twisted
cable
HSIGN+ 42
HSIGN- 40

GND GND 29

Please make sure that differential input is 5V or it might cause instability of input pulse.
 Pulse lost during command pulse input
 Inversed pulse direction during direction command
 Please connect 5V signal to GND on driver to lower noise interference.

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2.11.2 Analogue input/output circuit

Analogue input signal
EL7-RS series servo drives support 2 analogue inputs and 1 analogue output.

CN1 Pin Pin Label Description

Analogue output 1: Single-ended
15 AO1
Input voltage: ±10VDC, input resistance: 20KΩ
16 GND Power supply ground
Analogue input 2: Differential
18 AI2
Input voltage: ±10VDC, Input Resistance: 10KΩ
19 GND Analogue I/O common ground
Analogue input 1: Single-ended
20 AI1
Input voltage: ±10VDC, Input Resistance: 10KΩ
Frame PE Protective earth

• There are 2 analogue inputs: AI1 and AI2. AI1 uses single ended input while AI2 uses
differential input
• AI1 and AI2 are both voltage analogue inputs with resolution of 12-bit.
• AI1 uses specific calculations to increase sampling precision.
• Both analogue inputs max. voltage input = ±12VDC

Analogue input 1 AI1 wiring diagram

Driver
Low
AI1 20 A/D
pass
Analogue 3 Interchange
20k filter
voltage input
10k
(-10V～+10V)
GND 19

GND

Analogue input 2 AI2 wiring diagram

Driver VREF

AI2 18
Analogue 3
voltage input + 1
10K
(-10V～+10V) -
GND 19 2
GND

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2.11.3 Digital Input Circuit

Using DI1 as an example (DI2-DI8 use the same input circuit). The internal circuit of common input is
a bidirectional optocoupler which supports common anode and common cathode configurations.
There are 2 types of outputs from master device: Relay output and Open Collector output as shown
below.

 Relay output:

1. Using internal 24V power supply

+24V
Power 24V
Controller Supply Driver
17

COM+ 11
4.7k

DI 1
9

COM- 14
Relay

2. Using external power supply

External 24V
Controller Driver
+24VDC 17

COM+ 11
4.7k
DI 1
9

External
0V
14
Relay

*Please connect to a flyback diode when using relay input to prevent damage to DO terminal.

EL7-RS Series AC Servo Drive supports both common anode and cathode connection:

Common Cathode: Common Anode:

Driver

Driver
11
COM_DI
4.7K 11
Positive limit 9 DI 1:POT COM_DI
4.7K
Negative limit 10 DI 2: NOT
4.7K Positive limit E DI 1:POT

Command pulse inhibition 34 4.7K

NegMtive limit 10 DI 2: NOT
4.7K
DI 3: INH
CommMnd pulse inOibition 34 4.7K
Alarm clearing 8 DI 4: A-CLR
4.7K DI 3: INH
12~24Vdc

AlMrm CleMring 8 DI 4: A-CLR

4.7K
Servo enabled 33 DI 5: 4.7K
12~24Vdc

SRV-ON
Servo enMbled 33 DI 5: 4.7K
32 4.7K SRV-ON
DI 6: Null

32 4.7K
4.7K DI 6: Null
12 DI 7: Null

12 4.7K
Homing switch 30 4.7K DI 7: Null
DI 8:
HOME-Switch
Homing switcO 30 DI 8: 4.7K
IOME-Switch

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Open collector output

Common Anode (Internal power supply) Common Cathode (Internal power supply)
+24V
Controller Power 24V Driver +24V
Supply 17 Controller Power 24V Driver
Supply 17

COM+ 11
COM+ 11
4.7k
PNP 4.7k
DI 1
(CMD1) 9 DI 1
(CMD1) 9

NPN COM- 14 COM-

14

* Please prepare switching power supply with output of 12-24VDC, current≥ 100mA;
 Using open collector output
Common Anode (External power supply) Common Cathode (External power supply)
24V External
Controller External Driver
+24VDC 17 +24VDC 24V
Controller Driver
17
COM+ 11
4.7K PNP
COM+ 11
DI 1 4.7k
(CMD1) 9 DI 1
(CMD1) 9

NPN 14 14
External External
0V 0V

 Using transistor output

NPN: PNP:
Controller Driver Controller Driver
DI-COM 11 External DI-COM 11
4.7k 12~24VDC
4.7k
DI1 9 GND DI1 9
4.7k
10
4.7k
DI2
External
12~24VDC
DI2 10
4.7k
DI3 34 4.7k
DI3 34

*Please do not mix NPN and PNP connections in applications

DI1-DI8 Default Signal Assignment
Signal Default Pin Description
DI1 POT 9 Positive limit
DI2 NOT 10 Negative limit
Digital Input

DI3 INH 34 Command pulse inhibition

DI4 A-CLR 8 Alarm clearing
DI5 SRV-ON 33 Servo enabled
DI6 - 32 -
DI7 - 12 -
DI8 ORG 30 Homing switch(Only in PR mode)
+24V 17 Internal 24V power supply, Voltage
COM- 14 range+20~28V,Max current output 200mA
COM+ 11 Common DI

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2.11.4 Digital Output Circuit

There are 5 digital outputs. DO1-DO5 are all double ended outputs. Can be connected to
independent control signal power supply and reference ground is different from single ended output
signals.

Double ended outputs DO1-DO5 (Supports both NPN & PNP)

Inductive load, please connect a flyback diode

Driver
7 DO1+

12~24Vdc
6 DO1-
5 DO2+

12~24Vdc
4 DO2-

3 DO3+

12~24Vdc
2 DO3-
1 DO4+

12~24Vdc
26 DO4-

28 DO5+

12~24Vdc
27 DO5-
Normal load, no flyback diode is needed
NPN: PNP:

Driver Driver

Load DO1+
DO1+
12~24Vdc 12~24Vdc DO1-
DO1-
Load

Relay:
External 5~24VDC

Driver
7 DO1+
Relay

6 DO1-
External 0V
*Please connect to a flyback diode when using relay input to prevent damage to DO terminal.

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Optocoupler:
External 5~24VDC
R1 resistor is needed to prevent
damage to the circuit。
R1
Driver 7 DO1+
Optocoupler

6 DO1-
External 0V

*For servo drive internal optocoupler output circuit: Max. Voltage: 30VDC, Max. Current:50mA

 External power supply needs to be provided. Reversed connection of power supply might cause
damage to the driver.
 When output = open collector, max current 50mA, external power supply max voltage 25V.
Hence, DO loads need to satisfy these conditions. If excessive or output connected directly to
power supply, it might cause damage to the driver.
 If the load is an inductive load such as a relay, please install freewheeling diodes on both ends
of the load in parallel. If the diode is connected in reverse, it might cause damage to the driver.

DO1-DO5 Default Signal Assignment

Signal Default Pin Description
DO1+ SRDY+ 7
Servo Ready
DO1- SRDY- 6
DO2+ INP+ 5
Positioning completed
Digital Output

DO2- INP- 4
DO3+ BRK- OFF+ 3
External brake released
DO3- BRK-OFF- 2
DO4+ ALARM+ 1
Alarm
DO4- ALARM- 26
DO5+ WARN1+ 28
Warning
DO5- WARN1- 27

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2.11.5 Encoder frequency divider output circuit

EL7-RS series supports 2 kinds of frequency divider output: Differential and open collector.

Pin Signal Description

21 PAO＋ Motor encoder A phase
22 PAO－ frequency divider output Differential,
25 PBO＋ Motor encoder B phase High＞=2.5VDC，
23 PBO－ frequency divider output Low<=0.5VDC，
13 PZO＋ Motor encoder Z phase Max current output±20mA。
24 PZO－ frequency divider output
44 PZ-OUT Motor encoder Z phase OC signal output
29 GND Reference ground
15 +5V
Internal 5V power supply, Max current output 200mA
16 GND
Frame PE -
Encoder frequency divider output (Differential)
Encoder signal after frequency division will go through differential driver to deliver differential output.
Feedback signal will be provided if the master device is in position control mode. Please install a
differential optocoupler receiving circuit to receive the signals. A terminal resistor must be installed
between differential input circuits. Resistance of the resistor as per actual use.
Driver Controller
36Ω 21 PAO＋ A＋
36Ω 22 PAO－ A－
36Ω 25 PBO＋ B＋
36Ω 23 PBO－ B－
36Ω 13 PZO＋ Z＋
36Ω 24 PZO－ Z－
29 GND GND
Terminal
resistor

Using an optocoupler receiving circuit:

Driver Controller
36Ω 21 PAO＋ A＋
36Ω 22 PAO－ A－
36Ω 25 PBO＋ B＋
36Ω 23 PBO－ B－
36Ω 13 PZO＋ Z＋
36Ω 24 PZO－ Z－
29 GND GND

If a differential receiving circuit instead an optocoupler is used on the controller side, please
connect pin 29 (GND) to GND of differential receiving circuit.

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Encoder frequency divider output (Open Collector)

Encoder signal after frequency division will be delivered through an open collector output.

Driver External 5V~24V Controller

44 PZ-OUT
29 GND
GND
External 0V

Please connect driver frequency divider signal GND to GND of external power supply. Use
shielded twisted pair cable to lower noise interference.

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2.12 DI Signals Settings

CN1
Signal Parameter Default signal Default status
PIN
11 DI-COM - Common input
9 DI1 Pr4.00 POT NC OFF
10 DI2 Pr4.01 NOT NC OFF
34 DI3 Pr4.02 INH NC OFF
8 DI4 Pr4.03 A-CLR NC OFF
33 DI5 Pr4.04 SRV-ON NC OFF
32 DI6 Pr4.05 - NC OFF
12 DI7 Pr4.06 - NC OFF
30 DI8 Pr4.07 ORG NC OFF

NC: Signal NOT connected to DI-COM -> Invalid (OFF)

Signal connected to DI-COM -> Valid (ON)
NO: Signal NOT connected to DI-COM -> Valid (ON)
Signal connected to DI-COM -> Invalid (OFF)

Safety precautions
To stop motor if cable is disconnected, POT, NOT and E-STOP will be set as NO. Please make
sure there is no safety issue if need to set to NC.
SRV-ON signal is recommended to set as NC. Please make sure there is no safety issue if need
to set to NO.

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Control DI settings
Value
Signal Symbol
NO NC
Invalid — 0 -
Positive limit switch POT 1 81
Negative limit switch NOT 2 82
Servo enabled SRV-ON 3 83
Clear alarm A-CLR 4 -
Control mode switching C-MODE 5 85
Gain switching GAIN 6 86
Clear deviation count CL 7 - CN1
Command pulse prohibited INH 8 88 Input Parameters
PIN
Torque limit switching TL-SEL 9 89
9 DI1 Pr4.00
Command frequency DIV1 C 8C
divider/multiplier switching 10 DI2 Pr4.01
Internal command velocity 1 INTSPD1 E 8E 34 DI3 Pr4.02
Internal command velocity 2 INTSPD2 F 8F 8 DI4 Pr4.03
Internal command velocity 3 INTSPD3 10 90 33 DI5 Pr4.04
Zero speed clamp ZEROSPD 11 91 32 DI6 Pr4.05
Velocity command sign VC-SIGN 12 92 12 DI7 Pr4.06
Torque command sign TC-SIGN 13 93 30 DI8 Pr4.07
Forced alarm E-STOP 14 94
Vibration suppression 1 VS-SEL1 0A 8A
Vibration suppression 2 VS-SEL2 0B 8B
Speed regulation valid SPDREG 4B CB
Speed regulation ratio 1 SPDREG1 4C CC
Speed regulation ratio 2 SPDREG2 4D CD
Speed regulation ratio 3 SPDREG3 4E CE
Speed regulation ratio 4 SPDREG4 4F CF
Please don’t set anything other than listed in table above.
Normally open (NO) : Valid when input = ON
Normally close (NC): Valid when input = OFF
Er210 might occur if same function is allocated to different channels at the same time.
Servo enabled（SRV-ON）has to be allocated to enabled servo drive.

Inputs related to Pr-mode:

Value
Signal Symbol
NO NC
Trigger command CTRG 20 A0
Home HOME 21 A1
Forced stop STP 22 A2
Positive JOG PJOG 23 A3
Negative JOG NJOG 24 A4
Positive limit PL 25 A5
Negative limit NL 26 A6
Origin ORG 27 A7
Path address 0 ADD0 28 A8
Path address 1 ADD1 29 A9
Path address 2 ADD2 2A AA
Path address 3 ADD3 2B AB

Note: CTRG, HOME are edge triggered, please make sure electronic bits last 1ms or above.

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Configurable Input Signal

Label Servo enabled Mode P S T

Signal SRV-ON Default assignment 33(DI5) I/O circuit 2.11.3 Digital inputs

·Servo enabled (Motor ON/OFF control signal)

Label Positive position limit Mode P S T

Signal POT Default assignment 9(DI1) I/O circuit 2.11.3 Digital inputs
To prevent axis from travelling in positive direction
Signal valid when Pr5.04 is set.
If Pr5.04 is set to any value besides 1, POT signal invalid when axis moves in positive
direction.
Label Negative position limit Mode P S T
Signal NOT Default assignment 10(DI2) I/O circuit 2.11.3 Digital inputs
To prevent axis from travelling in negative direction
Signal valid when Pr5.04 is set.
If Pr5.04 is set to any value besides 1, NOT signal invalid when axis moves in negative
direction.

Label Clear deviation count Mode P S T

Signal CL Default assignment I/O circuit 2.11.3 Digital inputs
To clear position deviation counter.
Only clear once by default. Please modify on Pr5.17.

Label Clear alarm Mode P S T

Signal A-CLR Default assignment 8(DI4) I/O circuit 2.11.3 Digital inputs
To clear alarm.
Only some of the alarms can be cleared.

Label Command pulse prohibited Mode P S T

Signal INH Default assignment 34(DI3) I/O circuit 2.11.3 Digital inputs
Ignore position command pulse
Please set in Pr5.18 when needed
When INH input is valid, position command from controller will deviate from servo drive
internal command after filtering, which might cause the loss of position info before INH
input. Please reset before making any further action requiring position management.

Label Control mode switching Mode P S T

Signal C-MODE Default assignment I/O circuit 2.11.3 Digital inputs
When Pr0.01 = 3,4,5, control mode: hybrid mode, which is consists of 2 control modes.
All control modes require this signal. Please set to a same logic when in position,
velocity or torque mode to prevent error from occurring. When C-MODE is valid, select
2nd mode; when invalid, select 1st mode.
Please do not enter any command 10ms before and after mode switching.

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Command frequency divider/multiplier

P S T
Label switching Mode
Signal DIV1 Default assignment I/O circuit 2.11.3 Digital inputs
When DIV1 is valid, frequency divider/multiplier numerator and denominator switch to 2nd
command frequency divider/multiplier numerator and denominator.
When DIV1 input is valid, position command from controller will deviate from servo drive
internal command after filtering, which might cause the loss of position info before DIV1
input. Please reset before making any further action requiring position management.

Label Vibration suppression 1 Mode P S T

Signal VS-SEL1 Default assignment I/O circuit 2.11.3 Digital inputs
Label Vibration suppression 2 Mode P S T
Signal VS-SEL2 Default assignment I/O circuit 2.11.3 Digital inputs
To switch frequency used in vibration suppression

Label Gain switching Mode P S T

Signal GAIN Default assignment I/O circuit 2.11.3 Digital inputs
To switch between 1st and 2nd gain

Label Torque limit switching Mode P S T

Signal TL-SEL Default assignment I/O circuit 2.11.3 Digital inputs
To switch between 1st and 2nd torque limit. Please refer to Pr5.21
Value Limit
st
【0】 1 torque limit Pr0.13
nd
1 2 torque limitPr5.22
TL-SEL OFF Pr0.13
2
TL-SEL ON Pr5.22
3~4 Reserved
Pr0.13 →Positive torque limit
5
Pr5.22 →Negative torque limit

Label Zero speed clamp Mode P S T

Signal ZEROSPD Default assignment I/O circuit 2.11.3 Digital inputs
To set velocity command to 0
When in use, please set Pr3.15 ≠ 0.

Label Velocity command sign Mode P S T

Signal VC-SIGN Default assignment I/O circuit 2.11.3 Digital inputs
Sign of velocity command input in velocity control mode.
Please refer to Pr3.01

Label Torque command sign Mode P S T

Signal TC-SIGN Default assignment I/O circuit 2.11.3 Digital inputs
Sign of torque command input in torque control mode. Please refer to Pr3.18
Value Direction settings
Torque command input「Positive」→Positive direction、
【0】
「Negative」→Negative direction
Use TC-SIGN ON/OFF status for torque direction
1
OFF: Positive direction ON: Negative direction

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Label Internal command velocity 1 Mode P S T

Signal INTSPD1 Default assignment I/O circuit 2.11.3 Digital inputs
Label Internal command velocity 2 Mode P S T
Signal INTSPD2 Default assignment I/O circuit 2.11.3 Digital inputs
Label Internal command velocity 3 Mode P S T
Signal INTSPD3 Default assignment I/O circuit 2.11.3 Digital inputs
·Connect to the right DI to control internal command velocity settings.
Value Velocity settings
0 Analog - Velocity command（SPR）
【1】 Internal velocity settings 1st – 4th speed（Pr3.04～Pr3.07）
Internal velocity settings 1st – 3rd speed（Pr3.04～P3.06） 、Analog
2
velocity command（SPR）
3 Internal velocity settings 1st – 8th speed（Pr3.00～Pr3.11）

Internal command
velocity 1 Internal command Internal command
Velocity
Value velocity 2 velocity 3
（INTSPD 1 command
（INTSPD2） （INTSPD3）
）
OFF OFF 1st speed
ON OFF 2nd speed
1 No effect
OFF ON 3rd speed
ON ON 4th speed
OFF OFF 1st speed
ON OFF 2nd speed
2 OFF ON No effect 3rd speed
Simulated
ON ON
speed
1st – 4th
Similar to Pr3.00=1 OFF
speed
OFF OFF ON 5th speed
3
ON OFF ON 6th speed
OFF ON ON 7th speed
ON ON ON 8th speed

Please change internal command velocity as per diagram below as unexpected axis
movement might occurs if 2 command velocities are changed at the same time.

Pr3.00=1 / 2 Pr3.00=3

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Signal input configurable only in PR mode

Label Trigger command Mode PR

Signal CTRG Default assignment I/O circuit 2.11.3 Digital inputs
Select path address ID through ADD0-3, then trigger PR path motion using CTRG
Set rising edge/double edge trigger in Pr8.00.

Label Path address 0-3 Mode PR

Signal ADD0-3 Default assignment I/O circuit 2.11.3 Digital inputs
IO combination trigger select path using ADD0~ADD3. Trigger mode is set in Pr8.26.
ADD3 ADD2 ADD1 ADD0 Path selection
OFF OFF OFF OFF Path 0 (Non-action)
OFF OFF OFF ON Path1
OFF OFF ON OFF Path2
OFF OFF ON ON Path3
OFF ON OFF OFF Path4
OFF ON OFF ON Path5
OFF ON ON OFF Path6
OFF ON ON ON Path7
ON OFF OFF OFF Path8
ON OFF OFF ON Path9
ON OFF ON OFF Path10
ON OFF ON ON Path11
ON ON OFF OFF Path12
ON ON OFF ON Path13
ON ON ON OFF Path14
ON ON ON ON Path15

Label Home Mode PR

Signal HOME Default assignment I/O circuit 2.11.3 Digital inputs
Homing trigger, homing velocity and acceleration can be set in Pr8.15-Pr8.18

Label Forced stop Mode PR

Signal STP Default assignment I/O circuit 2.11.3 Digital inputs
Emergency stop trigger in PR motion. Deceleration can be set in Pr8.23

Label Positive/Negative JOG Mode PR

Signal PJOG/NJOG Default assignment I/O circuit 2.11.3 Digital inputs
To jog manually in PR mode
Label Positive/Negative limit Mode PR
Signal PL/NL Default assignment I/O circuit 2.11.3 Digital inputs
PR mode positive/negative position limit

Label Origin Mode PR

Signal ORG Default assignment I/O circuit 2.11.3 Digital inputs
Origin signal input

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2.13 DO Signals Settings

CN1
Label Parameter Assigned signal
PIN
7 DO1+
Pr4.10 Servo-Ready S-RDY
6 DO1-
5 DO2+
Pr4.11 Positioning completed INP1
4 DO2-
3 DO3+ External brake released
Pr4.12
2 DO3- BRK-OFF
1 DO4+
Pr4.13 Alarm（ALARM）
26 DO4-
27 DO5+
Pr4.14 Homing done (HOME-OK)
28 DO5-

Control signal output settings

Value
Signal Symbol
NO NC CN1
Output Parameters
00 80 Invalid — PIN
01 81 Alarm ALARM
02 82 Servo-Ready SRDY 7 DO1+
Pr4.10
03 83 External brake released BRK-OFF 6 DO1-
04 84 Positioning completed INP 5 DO2+
Pr4.11
05 85 At-speed AT-SPPED 4 DO2-
06 86 Torque limit signal TLC 3 DO3+
Pr4.12
07 87 Zero speed clamp detection ZSP 2 DO3-
08 88 Velocity coincidence V-COIN 1 DO4+
Pr4.13
12 92 Servo Status SRV-ST 26 DO4-
15 95 Positive limit valid POT-OUT 27 DO5+
Pr4.14
16 96 Negative limit valid NOT-OUT 28 DO5-
0B 8B Position command ON/OFF P-CMD
0F 8F Velocity command ON/OFF V-CMD
0D 8D Velocity limit signal V-LIMIT
14 94 Position comparison CMP-OUT
Same signal can be assigned to multiple different outputs.
Err212 might occur if output is allocated to signals other than listed in the table above.

Outputs related to PR-mode

Value
Signal Symbol
NO NC
Command completed CMD-OK 20 A0
Path completed PR-OK 21 A1
Homing done HOME-OK 22 A2

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Configurable DO signals

Label Alarm Mode P S T

Signal ALARM Default assignment (D04) I/O circuit 2.11.4 Digital inputs
Signal output when driver alarm occurs

Label Servo Ready Mode P S T

Signal S-RDY Default assignment (D01) I/O circuit 2.11.4 Digital inputs
Signal output when servo is powered on

Label Positioning completed Mode P S T

Signal INP Default assignment (D02) I/O circuit 2.11.4 Digital inputs
Signal output when positioning completed within set range

Label External brake released Mode P S T

Signal BRK-OFF Default assignment (D03) I/O circuit 2.11.4 Digital inputs
Signal valid to hold braking action

Label Velocity reached Mode P S T

Signal AT-SPEED Default assignment I/O circuit 2.11.4 Digital inputs
Velocity reached signal

Label Torque limit signal Mode P S T

Signal TLC Default assignment I/O circuit 2.11.4 Digital inputs
Torque limiting signal

Label Zero speed clamp detection Mode P S T

Signal ZSP Default assignment I/O circuit 2.11.4 Digital inputs
Zero speed clamp activation signal

Label Velocity coincidence Mode P S T

Signal V-COIN Default assignment I/O circuit 2.11.4 Digital inputs
Signal output when velocity coincides.

Label Servo Status Mode P S T

Signal SRV-ST Default assignment I/O circuit 2.11.4 Digital inputs
Signal output when servo is enabled.

Label Positive limit valid Mode P S T

Signal POT-OUT Default assignment I/O circuit 2.11.4 Digital inputs
Signal output when positive position limit signal valid.

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Label Negative limit valid Mode P S T

Signal NOT-OUT Default assignment I/O circuit 2.11.4 Digital inputs
Signal output when negative position limit signal valid

Label Position command ON/OFF Mode P S T

Signal P-CMD Default assignment I/O circuit 2.11.4 Digital inputs
Signal valid when position command ON

Label Velocity command ON/OFF Mode P S T

Signal V-CMD Default assignment I/O circuit 2.11.4 Digital inputs
Signal valid when velocity command ON in velocity control mode

Label Position comparison Mode P S T

Signal CMP-OUT Default assignment I/O circuit 2.11.4 Digital inputs
When position comparison condition is satisfied, output according to selected method:
Flip or pulse width output.

DO signals configurable only in PR mode

Label Command completed Mode PR

Signal CMD-OK Default assignment I/O circuit 2.11.4 Digital inputs
PR command is delivered but axis not yet in position

Label Path completed Mode PR

Signal PR-OK Default assignment I/O circuit 2.11.4 Digital inputs
PR command delivered and axis in position

Label Homing done Mode PR

Signal HOME-OK Default assignment I/O circuit 2.11.4 Digital inputs
PR motion homing done.

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2.14 Measures against electromagnetic interference

To reduce interference, please take the following measures:
 I/O signal cable > 3m; Encoder cable > 20m
 Use cable with larger diameter for grounding
①Grounding resistance > 100Ω
②When there are multiple drivers connected in parallel, PE terminal of the main power supply
and ground terminal of servo drives must be connected to copper ground bar in the electrical
cabinet and the copper ground bar needs to be connected to the metal frame of the cabinet.
 Please install a line filter on main power supply cable to prevent interference from radio
frequency.
 In order to prevent malfunctions caused by electromagnetic interference, please take following
measures:
○
1 Install master device and line filter close to the servo drive
E A

○
2 Install surge suppressor for relay and contactor
A E A

○
3 Please separate signal/encoder cable from power cable with a space of at least 30cm
A E A

○
4 Install a line filter for the main power supply if a device with high frequency generation such
A E A

as a welding machine exists nearby

2.14.1 Grounding connection and other anti-interference wiring connections

Contactor
Servo Drive
L1 U
Line L2 V
Filter L3 W
PE

Encoder

CN2

3.5mm2or above

2.0mm2or
3.5mm2or above above

Ground
Grounded
bar

 Servo motor frame should be grounded. Please connect the PE terminal of servo motor and
servo drive and ground them together to reduce interference.
 Ground both ends of the foil shield of encoder cable.

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2.14.2 Using line filter

To reduce interference from main power supply cable and to prevent from affecting other sensitive
components around the servo drive, please choose a line filter based on actual supply current.
Please do be aware of the following mistake when installing a line filter.

Do not band the main power supply cable together.

Wrong Correct
Contactor Contactor
Power Supply

Power Supply
L1
Line Line L2
AC

AC
Filter filter L3

Separate the ground wire from the line filter and the main power supply cable.
Wrong Correct
Contactor
Power Supply

Contactor L1 L1

Power Supply
Line L2 Line L2
AC

Filter L3 AC Filter L3

Ground wires inside an electrical cabinet

Contactor
Power Supply

Servo
L1
drive
AC

Line L2
Filter L3

Servo
drive

Ground
Shield grounding

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Chapter 3 Parameter

3.1 Parameters list

Pr0.0 0
Classification code Sub-code

Valid mode:
P: Valid in position control mode
S: Valid in velocity control mode
T: Valid in torque control mode
PR: Valid in PR control mode

Activation:
“O” – Restart driver for parameter changes to be valid
“—” – Valid immediately
“△” – Valid when axis stops
“●”- Valid after re-enabling

[Class 0] Basic settings

Valid mode Communication mode
Activ
Code Label Default 485
ation P S T Byte Op.
Addr.
Pr0.00 Model-following bandwidth 1 △ O — — 16bit R/W 0x0001
Pr0.01 Control Mode Settings 0 O O O O 16bit R/W 0x0003
Pr0.02 Real time Auto Gain Adjusting 0x1 — O O O 16bit R/W 0x0005
Pr0.03 Real time auto stiffness adjusting 11 — O O O 16bit R/W 0x0007
Pr0.04 Inertia ratio 250 — O O O 16bit R/W 0x0009
Pr0.05 Command pulse input selection 0 O O — — 16bit R/W 0x000B
Pr0.06 Command pulse polarity inversion 0 O O — — 16bit R/W 0x000D
Pr0.07 Command pulse input mode 3 O O — — 16bit R/W 0x000F
1st command pulse count per O O — —
0x0010
Pr0.08 10000 32bit R/W
revolution 0x0011

1st command frequency — —

0x0012
Pr0.09 1 32bit R/W
divider/multiplier numerator O O 0x0013

1st command frequency — —

0x0014
Pr0.10 1 32bit R/W
divider/multiplier denominator O O 0x0015

Pr0.11
Encoder output pulse count per 2500 O O O O 16bit R/W 0x0017
revolution
Pr0.12 Pulse output logic inversion 0 O O O O 16bit R/W 0x0019
Pr0.13 1st Torque Limit 350 — O O O 16bit R/W 0x001B
Pr0.14 Excessive position deviation 30 — O — — 16bit R/W 0x001D
Pr0.15 Absolute Encoder settings 0 O O O O 16bit R/W 0x001F
Pr0.16 Regenerative resistance 100 — O O O 16bit R/W 0x0021

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Valid mode Communication mode

Activ
Code Label Default 485
ation P S T Byte Op.
Addr.
Pr0.17 Regenerative resistor power rating 50 — O O O 16bit R/W 0x0023
Pr0.22 PR and P/S/T switching 0 — O O O 16bit R/W 0x002D
Pr0.25 Auxiliary function 0 — O O O 16bit R/W 0x0033
Pr0.26 Simulated I/O 0 — O O O 16bit R/W 0x0035
Pr0.30 Encoder feedback mode 0 — O O O 16bit R/W 0x0037
Pr0.31 External encoder type 0 O O O O 16bit R/W 0x0039
Pr0.32 External encoder direction 0 O O O O 16bit R/W 0x003B
Pr0.33 Excessive hybrid deviation 16000 O O 16bit R/W 0x0043
Pr0.34 Clear excess hybrid control deviation 0 O O 16bit R/W 0x0045
External encoder frequency divider
Pr0.35 0 O O O O 16bit R/W 0x0047
numerator
External encoder frequency divider
Pr0.36 10000 O O O O 16bit R/W 0x0049
denominator
External encoder feedback pulse
Pr0.37 0 O O O O 16bit R/W 0x004B
count per revolution
Pr0.38 Z-signal pulse input source 0 — O O O 16bit R/W 0x004D
R/W 0x0050
Pr0.40 Mapping parameter 1 0x0 — O O O 32bit
* 0x0051

R/W 0x0052
Pr0.41 Mapping parameter 2 0x0 — O O O 32bit
* 0x0053

R/W 0x0054
Pr0.42 Mapping parameter 3 0x0 — O O O 32bit
* 0x0055

R/W 0x0056
Pr0.43 Mapping parameter 4 0x0 — O O O 32bit
* 0x0057

R/W 0x0058
Pr0.44 Mapping parameter 5 0x0 — O O O 32bit
* 0x0059

R/W 0x005A
Pr0.45 Mapping parameter 6 0x0 — O O O 32bit
* 0x005b

R/W 0x005C
Pr0.46 Mapping parameter 7 0x0 — O O O 32bit
* 0x005d

R/W 0x005E
Pr0.47 Mapping parameter 8 0x0 — O O O 32bit
* 0x005F

0x0049 0x0064
Pr0.50 Mapping parameter 1 indicator 0049
— O O O 32bit R/W
0x0065

0x0049 0x0066
Pr0.51 Mapping parameter 2 indicator 0049
— O O O 32bit R/W
0x0067

0x0049 0x0068
Pr0.52 Mapping parameter 3 indicator 0049
— O O O 32bit R/W
0x0069

0x0049 0x006A
Pr0.53 Mapping parameter 4 indicator 0049
— O O O 32bit R/W
0x006B

0x0049 0x006C
Pr0.54 Mapping parameter 5 indicator 0049
— O O O 32bit R/W
0x006D

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Valid mode Communication mode

Activ
Code Label Default 485
ation P S T Byte Op.
Addr.
0x0049 0x006E
Pr0.55 Mapping parameter 6 indicator 0049
— O O O 32bit R/W
0x007F

0x0049 0x0070
Pr0.56 Mapping parameter 7 indicator 0049
— O O O 32bit R/W
0x0071

0x0049 0x0072
Pr0.57 Mapping parameter 8 indicator 0049
— O O O 32bit R/W
0x0073

[Class 1] Gain adjustment

Valid mode Communication mode
Activ
Code Label Default 485
ation P S T Byte Op.
Addr.
Pr1.00 1st position loop gain 320 — O — — 16bit R/W 0x0101
Pr1.01 1st velocity loop gain 180 — O O O 16bit R/W 0x0103
1st Integral Time Constant of Velocity
Pr1.02 310 — O O O 16bit R/W 0x0105
Loop
Pr1.03 1st velocity detection filter 15 — O O O 16bit R/W 0x0107
Pr1.04 1st Torque Filter Time Constant 126 — O O O 16bit R/W 0x0109
Pr1.05 2nd Position Loop Gain 380 — O — — 16bit R/W 0x010B
Pr1.06 2nd velocity loop gain 180 — O O O 16bit R/W 0x010D
2nd Integral Time Constant of Velocity
Pr1.07 10000 — O O O 16bit R/W 0x010F
Loop
Pr1.08 2nd velocity detection filter 15 — O O O 16bit R/W 0x0111
Pr1.09 2nd Torque Filter Time Constant 126 — O O O 16bit R/W 0x0113
Pr1.10 Velocity feed forward gain 300 — O — — 16bit R/W 0x0115
Velocity feed forward filter time
Pr1.11 50 — O — — 16bit R/W 0x0117
constant
Pr1.12 Torque feed forward gain 0 — O O — 16bit R/W 0x0119
Torque feed forward filter time
Pr1.13 0 — O O — 16bit R/W 0x011B
constant
Pr1.15 Position control gain switching mode 0 — O — — 16bit R/W 0x011F
Pr1.17 Position control gain switching level 50 — O — — 16bit R/W 0x0123
Hysteresis at position control — O — —
Pr1.18 33 16bit R/W 0x0125
switching
Pr1.19 Position control switching time 33 — O — — 16bit R/W 0x0127
Pr1.35 Position command pulse filter time 8 O O — — 16bit R/W 0x0147
Pr1.39 Special function register 2 0 — O O O 16bit R/W 0x014F

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[Class 2] Vibration Suppression

Valid mode Communication mode
Activ
Code Label Default 485
ation P S T Byte Op.
Addr.
Pr2.00 Adaptive filtering mode settings 0 — O O — 16bit R/W 0x0201
Pr2.01 1st notch frequency 4000 — O O O 16bit R/W 0x0203
Pr2.02 1st notch width 4 — O O O 16bit R/W 0x0205
Pr2.03 1st notch depth 0 — O O O 16bit R/W 0x0207
Pr2.04 2nd notch frequency 4000 — O O O 16bit R/W 0x0209
Pr2.05 2nd notch width 4 — O O O 16bit R/W 0x020B
Pr2.06 2nd notch depth 0 — O O O 16bit R/W 0x020D
Pr2.07 3rd notch frequency 4000 — O O O 16bit R/W 0x020F
Pr2.08 3rd notch width 4 — O O O 16bit R/W 0x0211
Pr2.09 3rd notch depth 0 — O O O 16bit R/W 0x0213
Pr2.14 1st damping frequency 0 — O — — 16bit R/W 0x021D
Pr2.16 2nd damping frequency 0 — O — — 16bit R/W 0x0221
Pr2.22 Position command smoothing filter 0 △ O — — 16bit R/W 0x022D
Pr2.23 Position command FIR filter 0 △ O — — 16bit R/W 0x022F
Pr2.48 Adjustment mode 0 — O O O 16bit R/W 0x0261
Pr2.50 MFC type 0 ● O — — 16bit R/W 0x0265
Velocity feedforward compensation O — —
0 — 16bit R/W 0x0267
Pr2.51 coefficient
Torque feedforward compensation O O —
0 — 16bit R/W 0x0269
Pr2.52 coefficient
Dynamic friction compensation O O O
0 — 16bit R/W 0x026B
Pr2.53 coefficient
Pr2.54 Overshoot time coefficient 0 — O O O 16bit R/W 0x026D
Pr2.55 Overshoot suppression gain 0 — O O O 16bit R/W 0x026F

[Class 3] Velocity / Torque Control

Valid mode Communication mode
Activ
Code Label Default 485
ation P S T Byte Op.
Addr.
Pr3.00 Velocity internal/external switching 1 — — O — 16bit R/W 0x0301
Velocity command rotational direction
Pr3.01 0 — — O — 16bit R/W 0x0303
selection
Pr3.02 Velocity command input gain 500 — — O O 16bit R/W 0x0305
Pr3.03 Velocity command input inversion 0 — — O — 16bit R/W 0x0307
Pr3.04 1st speed of velocity setting 0 — — O — 16bit R/W 0x0309
Pr3.05 2nd speed of velocity setting 0 — — O — 16bit R/W 0x030B
Pr3.06 3rd speed of velocity setting 0 — — O — 16bit R/W 0x030D
Pr3.07 4th speed of velocity setting 0 — — O — 16bit R/W 0x030F
Pr3.08 5th speed of velocity setting 0 — — O — 16bit R/W 0x0311
Pr3.09 6th speed of velocity setting 0 — — O — 16bit R/W 0x0313
Pr3.10 7th speed of velocity setting 0 — — O — 16bit R/W 0x0315
Pr3.11 8th speed of velocity setting 0 — — O — 16bit R/W 0x0317
Pr3.12 Acceleration time settings 100 — — O — 16bit R/W 0x0319
Pr3.13 Deceleration time settings 100 — — O — 16bit R/W 0x031B

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Valid mode Communication mode

Activ
Code Label Default 485
ation P S T Byte Op.
Addr.
Sigmoid acceleration/deceleration
Pr3.14 0 O — O — 16bit R/W 0x031D
settings
Pr3.15 Zero speed clamp function selection 0 — — O — 16bit R/W 0x031F
Pr3.16 Zero speed clamp level 30 — — O — 16bit R/W 0x0321
Pr3.17 Torque internal/external switching 0 — — — O 16bit R/W 0x0323
Pr3.18 Torque command direction selection 0 — — — O 16bit R/W 0x0325
Pr3.19 Torque command input gain 30 — — — O 16bit R/W 0x0327
Pr3.20 Torque command input inversion 0 — — — O 16bit R/W 0x0329
Pr3.21 Velocity limit in torque mode 0 — — — O 16bit R/W 0x032B
Pr3.22 Torque command 0 — O O O 16bit R/W 0x032D
Pr3.23 Zero speed delay time in velocity mode 0 — — O — 16bit R/W 0x032F
Pr3.24 Maximum motor rotational speed 0 — O O O 16bit R/W 0x0331
Pr3.29 Analog 1 clamping voltage 0 — — — O 16bit R/W 0x033B
Pr3.30 Analog 3 clamping voltage 0 — — — O 16bit R/W 0x033D
0x0374
Pr3.58 Speed Regulation Ratio 1 10 O O 16bit R/W
0x0375
0x0376
Pr3.59 Speed Regulation Ratio 2 20 O O 16bit R/W
0x0377
0x0378
Pr3.60 Speed Regulation Ratio 3 40 O O 16bit R/W
0x0379
0x037A
Pr3.61 Speed Regulation Ratio 4 80 O O 16bit R/W
0x037B

[Class 4] I/O Monitoring Settings

Valid mode Communication mode
Activ
Code Label Default 485
ation P S T Byte Op.
Addr.
Pr4.00 Input selection DI1 0x1 — O O O 16bit R/W 0x0401
Pr4.01 Input selection DI2 0x2 — O O O 16bit R/W 0x0403
Pr4.02 Input selection DI3 0x8 — O O O 16bit R/W 0x0405
Pr4.03 Input selection DI4 0x4 — O O O 16bit R/W 0x0407
Pr4.04 Input selection DI5 0x3 — O O O 16bit R/W 0x0409
Pr4.05 Input selection DI6 0x0 — O O O 16bit R/W 0x040B
Pr4.06 Input selection DI7 0x0 — O O O 16bit R/W 0x040D
Pr4.07 Input selection DI8 0x27 — O O O 16bit R/W 0x040F
Pr4.10 Output selection DO1 0x2 — O O O 16bit R/W 0x0415
Pr4.11 Output selection DO2 0x4 — O O O 16bit R/W 0x0417
Pr4.12 Output selection DO3 0x3 — O O O 16bit R/W 0x0419
Pr4.13 Output selection DO4 0x1 — O O O 16bit R/W 0x041B
Pr4.14 Output selection DO5 0x22 — O O O 16bit R/W 0x041D
Pr4.22 Analog input 1(AI-1) Zero drift settings 0 — — O O 16bit R/W 0x042D
Pr4.23 Analog input 1(AI-1) filter 0 — — O O 16bit R/W 0x042F
Analog input 1(AI-1) overvoltage
Pr4.24 0 — — O O 16bit R/W 0x0431
settings
Pr4.28 Analog input 3(AI-3) Zero drift settings 20 — O — — 16bit R/W 0x043F
Pr4.29 Analog input 3(AI-3) filter 1 — O — — 16bit R/W 0x0441
Pr4.30 Analog input 3(AI-3) overvoltage 0 — O — — 16bit R/W 0x0443

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Valid mode Communication mode

Activ
Code Label Default 485
ation P S T Byte Op.
Addr.
settings
Pr4.31 Positioning complete range 50 — O O O 16bit R/W 0x0445
Pr4.32 Positioning complete output setting 50 — — O — 16bit R/W 0x0447
Pr4.33 INP positioning delay time 1000 — — O — 16bit R/W 0x0449
Pr4.34 Zero speed 150 — O O O 16bit R/W 0x044B
Pr4.35 Velocity coincidence range 0 — O O O 16bit R/W 0x044D
Pr4.36 Arrival velocity 30 — O O O 16bit R/W 0x044F
Pr4.43 Emergency stop function 0 — O O O 16bit R/W 0x0457
Pr4.64 AO1 output 0 — O O O 16bit R/W 0x0481
Pr4.65 AO1 signal 0x4 — O O O 16bit R/W 0x0483
Pr4.66 AO1 amplification 100 — O O O 16bit R/W 0x0485
Pr4.67 AO1 communication settings 0 — O O O 16bit R/W 0x0487
Pr4.68 AO1 offset 0 — O O O 16bit R/W 0x0489

[Class 5] Extension settings

Valid mode Communication mode
Activ
Code Label Default 485
ation P S T Byte Op.
Addr.
0x0500
Pr5.00 2nd pulse count per revolution 10000 O O — — 32bit R/W
0x0501
2nd Command frequency divider/multiplier 0x0502
Pr5.01 1 O O — — 32bit R/W
numerator 0x0503
2nd Command frequency divider/multiplier 0x0504
Pr5.02 1 O O — — 32bit R/W
denominator 0x0505
Pr5.04 Driver prohibition input settings 0 — O O O 16bit R/W 0x0509
Pr5.06 Servo-off mode 0 — O O O 16bit R/W 0x050D
Pr5.08 DC bus voltage undervoltage 50 — O O O 16bit R/W 0x0513
Pr5.09 Main power-off detection time 0 O O O O 16bit R/W 0x0515
Pr5.10 Servo-off due to alarm mode 0 — O O O 16bit R/W 0x0517
Pr5.11 Servo braking torque setting 0 — O O O 16bit R/W 0x0519
Pr5.12 Overload level setting 0 — O O O 16bit R/W 0x051B
Pr5.15 I/O digital filter 0 O O O O 16bit R/W 0x051F
Pr5.17 Counter clearing input mode 3 — O — — 16bit R/W 0x0523
Pr5.20 Position unit settings 1 — O — — 16bit R/W 0x0529
Pr5.21 Torque limit selection 0 — O O O 16bit R/W 0x052B
Pr5.22 2nd torque limit 300 — O O O 16bit R/W 0x052D
Pr5.23 Positive torque warning threshold 0 — O O O 16bit R/W 0x052F
Pr5.24 Negative torque warning threshold 0 — O O O 16bit R/W 0x0531
Pr5.28 LED initial status 1 — O O O 16bit R/W 0x0539
Pr5.29 RS485 communication mode 0x5 — O O O 16bit R/W 0x053B
Pr5.30 RS485 communication Baud rate 4 — O O O 16bit R/W 0x053D
Pr5.31 RS485 axis address 1 — O O O 16bit R/W 0x053F
Pr5.32 Max. command pulse input frequency 0 — O — — 16bit R/W 0x0541
Pr5.35 Front panel lock setting 0 — O O O 16bit R/W 0x0547
Pr5.37 Torque saturation alarm detection time 500 — O O O 16bit R/W 0x0549

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[Class 6] Other Settings

Valid mode Communication mode
Activ
Code Label Default 485
ation P S T Byte Op.
Addr.
Pr6.01 Encoder zero position compensation 0 O O O O 16bit R/W 0x0603
Pr6.03 JOG trial run torque command 350 — — — O 16bit R/W 0x0607
Pr6.04 JOG trial run velocity command 30 — O O O 16bit R/W 0x0609
Pr6.05 Position 3rd gain valid time 0 — O — — 16bit R/W 0x060B
Pr6.06 Position 3rd gain scale factor 100 — O — — 16bit R/W 0x060D
Pr6.07 Torque command additional value 0 — O O O 16bit R/W 0x060F
Positive direction torque compensation O O O
Pr6.08 0 — 16bit R/W 0x0611
value
Negative direction torque compensation O O O
Pr6.09 0 — 16bit R/W 0x0613
value
Pr6.11 Current response settings 100 — O O O 16bit R/W 0x0617
Pr6.14 Max. time to stop after disabling 500 — O O O 16bit R/W 0x061D
Pr6.20 Trial run distance 10 — O — — 16bit R/W 0x0629
Pr6.21 Trial run waiting time 300 — O — — 16bit R/W 0x062B
Pr6.22 No. of trial run cycles 5 — O — — 16bit R/W 0x062D
Pr6.25 Trial run acceleration 200 — O O — 16bit R/W 0x0633
Pr6.28 Observer gain 0 — O O O 16bit R/W 0x0639
Pr6.29 Observer filter 0 — O O O 16bit R/W 0x063B
Pr6.56 Blocked rotor alarm torque threshold 300 — O O O 16bit R/W 0x0671
Pr6.57 Blocked rotor alarm delay time 400 — O O O 16bit R/W 0x0673
Pr6.63 Absolute multiturn data upper limit 0 O O O O 16bit R/W 0x067F

[Class B] Status Parameters

Valid mode Communication mode
Activ
Code Label Default 485
ation P S T Byte Op.
Addr.
PrB.00 Software version 1（DSP） / — O O O 16bit R 0x0B00
PrB.01 Software version 2（CPLD） / — O O O 16bit R 0x0B01
PrB.02 Software version 3（Others） / — O O O 16bit R 0x0B02
PrB.03 Current alarm / — O O O 16bit R 0x0B03
PrB.04 Motor not rotating cause / — O O O 16bit R 0x0B04
PrB.05 Driver operation status / — O O O 16bit R 0x0B05
PrB.06 Motor speed（Before filter） / — O O O 16bit R 0x0B06
PrB.07 Motor torque / — O O O 16bit R 0x0B07
PrB.08 Motor current / — O O O 16bit R 0x0B08
PrB.09 Motor speed（After filter） / — O O O 16bit R 0x0B09
PrB.10 DC bus voltage / — O O O 16bit R 0x0B0A
PrB.11 Driver temperature / — O O O 16bit R 0x0B0B
PrB.12 External analog 1 / — O O O 16bit R 0x0B0C
PrB.13 External analog 2 / — O O O 16bit R 0x0B0D
PrB.14 External analog 3 / — O O O 16bit R 0x0B0E
PrB.15 Motor overload rate / — O O O 16bit R 0x0B0F
PrB.16 Vent overload rate / — O O O 16bit R 0x0B10
PrB.17 Physical I/O input status / — O O O 16bit R 0x0B11
PrB.18 Physical I/O output status / — O O O 16bit R 0x0B12
0x0B14
PrB.20 Command position (Command unit) / — O O O 32bit R
0x0B15
/ 0x0B16
PrB.21 Motor position (Command unit) — O - - 32bit R
0x0B17
/ 0x0B18
PrB.22 Position deviation (Command unit) — O O O 32bit R
0x0B19
0x0B1A
PrB.23 Command position (Encoder unit) / — O O O 32bit R
0x0B1B
PrB.24 Motor position (Encoder unit) / — O - - 32bit R 0x0B1C

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Valid mode Communication mode

Activ
Code Label Default 485
ation P S T Byte Op.
Addr.
0x0B1D
/ 0x0B1E
PrB.25 Position deviation (Encoder unit) — O O O 32bit R
0x0B1F
/ 0x0B20
PrB.26 Rotational encoder position feedback — O - - 32bit R
0x0B21

[Class 8] Pr-Control Parameters

Valid mode Communication mode
Activ
Code Label Default P 485
ation S T Byte Op.
R Addr.
Pr8.00 PR Control 0 — O — — 16bit R/W 0x6000
Pr8.01 Path count 16 — O — — 16bit R/W 0x6001
Pr8.02 Control Operation — O — — 16bit R/W 0x6002
Pr8.06 Software positive limit H 0 O 16bit R/W 0x6006
Pr8.07 Software positive limit (L) 0 — O — — 16bit R/W 0x6007
Pr8.08 Software negative limit H 0 — O — — 16bit R/W 0x6008
Pr8.09 Software negative limit (L) 0 — O — — 16bit R/W 0x6009
Pr8.10 Homing mode 0 — O — — 16bit R/W 0x600A
Pr8.11 Zero position H 0 — O — — 16bit R/W 0x600B
Pr8.12 Zero position (L) 0 — O — — 16bit R/W 0x600C
Pr8.13 Home position off set H 0 — O — — 16bit R/W 0x600D
Pr8.14 Home position off set (L) 0 O — — 16bit R/W 0x600E
Pr8.15 High homing velocity 200 — O — — 16bit R/W 0x600F
Pr8.16 Low homing velocity 50 — O — — 16bit R/W 0x6010
Pr8.17 Homing acceleration 100 — O — — 16bit R/W 0x6011
Pr8.18 Homing deceleration 100 — O — — 16bit R/W 0x6012
Pr8.19 Homing torque holding time 100 — O — — 16bit R/W 0x6013
Pr8.20 Homing torque 100 — O — — 16bit R/W 0x6014
Pr8.21 Homing overtravel alarm range 0 — O — — 16bit R/W 0x6015
Pr8.22 Emergency stop at limit deceleration 10 — O — — 16bit R/W 0x6016
Pr8.23 STP emergency stop deceleration 50 — O — — 16bit R/W 0x6017
Pr8.24 I/O combination trigger mode 0 — O — — 16bit R/W 0x601A
Pr8.25 I/O commbination filter 5 — O — — 16bit R/W 0x601B
Pr8.26 S-code current output value 0 — O — — 16bit R/W 0x601C
Pr8.27 PR warning 0 — O — — 16bit R/W 0x601D
Pr8.39 JOG velocity 100 — O — — 16bit R/W 0x6027
Pr8.40 JOG acceleration 100 — O — — 16bit R/W 0x6028
Pr8.41 JOG deceleration 100 — O — — 16bit R/W 0x6029
Pr8.42 Command position H 0 — O — — 16bit R/W 0x602A
Pr8.43 Command position（L） 0 — O — — 16bit R/W 0x602B
Pr8.44 Motor position H 0 — O — — 16bit R/W 0x602C
Pr8.45 Motor position（L） 0 — O — — 16bit R/W 0x602D
Pr8.46 Input I/O status 0 — O — — 16bit R/W 0x602E
Pr8.47 Output I/O status 0 — O — — 16bit R/W 0x602F
Pr8.48 Path 0 S-code 0 — O — — 16bit R/W 0x6030
Pr8.49 Path 1 S-code 0 — O — — 16bit R/W 0x6031
Pr8.50 Path 2 S-code 0 — O — — 16bit R/W 0x6032
Pr8.51 Path 3 S-code 0 — O — — 16bit R/W 0x6033
Pr8.52 Path 4 S-code 0 — O — — 16bit R/W 0x6034
Pr8.53 Path 5 S-code 0 — O — — 16bit R/W 0x6035
Pr8.54 Path 6 S-code 0 — O — — 16bit R/W 0x6036
Pr8.55 Path 7 S-code 0 — O — — 16bit R/W 0x6037
Pr8.56 Path 8 S-code 0 — O — — 16bit R/W 0x6038
Pr8.57 Path 9 S-code 0 — O — — 16bit R/W 0x6039
Pr8.58 Path 10 S-code 0 — O — — 16bit R/W 0x603A

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Valid mode Communication mode

Activ
Code Label Default P 485
ation S T Byte Op.
R Addr.
Pr8.59 Path 11 S-code 0 — O — — 16bit R/W 0x603B
Pr8.60 Path 12 S-code 0 — O — — 16bit R/W 0x603C
Pr8.61 Path 13 S-code 0 — O — — 16bit R/W 0x603D
Pr8.62 Path 14 S-code 0 — O — — 16bit R/W 0x603E
Pr8.63 Path 15 S-code 0 — O — — 16bit R/W 0x603F

[Class 9] Pr-Control Path Parameters

Valid mode Communication mode
Activ
Code Label Default P 485
ation S T Byte Op.
R Addr.
Pr9.00 PR0 mode 0 — O — — 16bit R/W 0x6200
Pr9.01 PR0 position H 0 — O — — 16bit R/W 0x6201
Pr9.02 PR0 position(L) 0 — O — — 16bit R/W 0x6202
Pr9.03 PR0 velocity 60 O — — 16bit R/W 0x6203
Pr9.04 PR0 acceleration time 100 — O — — 16bit R/W 0x6204
Pr9.05 PR0 deceleration time 100 — O — — 16bit R/W 0x6205
Pr9.06 PR0 pause time 0 — O — — 16bit R/W 0x6206
Pr9.07 PR0 special parameter 0 — O — — 16bit R/W 0x6207
Pr9.08 PR1 mode 0 — O — — 16bit R/W 0x6208
Pr9.09 PR1 position H 0 — O — — 16bit R/W 0x6209
Pr9.10 PR1 position(L) 0 — O — — 16bit R/W 0x620A
Pr9.11 PR1 velocity 60 — O — — 16bit R/W 0x620B
Pr9.12 PR1 acceleration time 100 — O — — 16bit R/W 0x620C
Pr9.13 PR1 deceleration time 100 — O — — 16bit R/W 0x620D
Pr9.14 PR1 pause time 0 — O — — 16bit R/W 0x620E
Pr9.15 PR1 special parameter 0 — O — — 16bit R/W 0x620F
Pr9.16 PR2 mode 0 — O — — 16bit R/W 0x6210
Pr9.17 PR2 position H 0 — O — — 16bit R/W 0x6211
Pr9.18 PR2 position(L) 0 — O — — 16bit R/W 0x6212
Pr9.19 PR2 velocity 60 O — — 16bit R/W 0x6213
Pr9.20 PR2 acceleration time 100 — O — — 16bit R/W 0x6214
Pr9.21 PR2 deceleration time 100 — O — — 16bit R/W 0x6215
Pr9.22 PR2 pause time 0 — O — — 16bit R/W 0x6216
Pr9.23 PR2 special parameter 0 — O — — 16bit R/W 0x6217
Pr9.24 PR3 mode 0 — O — — 16bit R/W 0x6218
Pr9.25 PR3 position H 0 — O — — 16bit R/W 0x6219
Pr9.26 PR3 position(L) 0 — O — — 16bit R/W 0x621A
Pr9.27 PR3 velocity 60 — O — — 16bit R/W 0x621B
Pr9.28 PR3 acceleration time 100 — O — — 16bit R/W 0x621C
Pr9.29 PR3 deceleration time 100 — O — — 16bit R/W 0x621D
Pr9.30 PR3 pause time 0 — O — — 16bit R/W 0x621E
Pr9.31 PR3 special parameter 0 — O — — 16bit R/W 0x621F
Pr9.32 PR4 mode 0 — O — — 16bit R/W 0x6220
Pr9.33 PR4 position H 0 — O — — 16bit R/W 0x6221
Pr9.34 PR4 position(L) 0 — O — — 16bit R/W 0x6222
Pr9.35 PR4 velocity 60 O — — 16bit R/W 0x6223
Pr9.36 PR4 acceleration time 100 — O — — 16bit R/W 0x6224
Pr9.37 PR4 deceleration time 100 — O — — 16bit R/W 0x6225
Pr9.38 PR4 pause time 0 — O — — 16bit R/W 0x6226
Pr9.39 PR4 special parameter 0 — O — — 16bit R/W 0x6227
Pr9.40 PR5 mode 0 — O — — 16bit R/W 0x6228
Pr9.41 PR5 position H 0 — O — — 16bit R/W 0x6229
Pr9.42 PR5 position(L) 0 — O — — 16bit R/W 0x622A
Pr9.43 PR5 velocity 60 — O — — 16bit R/W 0x622B
Pr9.44 PR5 acceleration time 100 — O — — 16bit R/W 0x622C
Pr9.45 PR5 deceleration time 100 — O — — 16bit R/W 0x622D

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Valid mode Communication mode

Activ
Code Label Default P 485
ation S T Byte Op.
R Addr.
Pr9.46 PR5 pause time 0 — O — — 16bit R/W 0x622E
Pr9.47 PR5 special parameter 0 — O — — 16bit R 0x622F
Pr9.48 PR6 mode 0 — O — — 16bit R/W 0x6230
Pr9.49 PR6 position H 0 — O — — 16bit R/W 0x6231
Pr9.50 PR6 position(L) 0 — O — — 16bit R/W 0x6232
Pr9.51 PR6 velocity 60 O — — 16bit R/W 0x6233
Pr9.52 PR6 acceleration time 100 — O — — 16bit R/W 0x6234
Pr9.53 PR6 deceleration time 100 — O — — 16bit R/W 0x6235
Pr9.54 PR6 pause time 0 — O — — 16bit R/W 0x6236
Pr9.55 PR6 special parameter 0 — O — — 16bit R/W 0x6237
Pr9.56 PR7 mode 0 — O — — 16bit R/W 0x6238
Pr9.57 PR7 position H 0 — O — — 16bit R/W 0x6239
Pr9.58 PR7 position(L) 0 — O — — 16bit R/W 0x623A
Pr9.59 PR7 velocity 60 — O — — 16bit R/W 0x623B
Pr9.60 PR7 acceleration time 100 — O — — 16bit R/W 0x623C
Pr9.61 PR7 deceleration time 100 — O — — 16bit R/W 0x623D
Pr9.62 PR7 pause time 0 — O — — 16bit R/W 0x623E
Pr9.63 PR7 special parameter 0 — O — — 16bit R/W 0x623F
Pr9.64 PR8 mode 0 — O — — 16bit R/W 0x6240
Pr9.65 PR8 position H 0 — O — — 16bit R/W 0x6241
Pr9.66 PR8 position(L) 0 — O — — 16bit R/W 0x6242
Pr9.67 PR8 velocity 60 O — — 16bit R/W 0x6243
Pr9.68 PR8 acceleration time 100 — O — — 16bit R/W 0x6244
Pr9.69 PR8 deceleration time 100 — O — — 16bit R/W 0x6245
Pr9.70 PR8 pause time 0 — O — — 16bit R/W 0x6246
Pr9.71 PR8 special parameter 0 — O — — 16bit R/W 0x6247
Pr9.72 PR9 mode 0 — O — — 16bit R/W 0x6248
Pr9.73 PR9 position H 0 — O — — 16bit R/W 0x6249
Pr9.74 PR9 position(L) 0 — O — — 16bit R/W 0x624A
Pr9.75 PR9 velocity 60 — O — — 16bit R/W 0x624B
Pr9.76 PR9 acceleration time 100 — O — — 16bit R/W 0x624C
Pr9.77 PR9 deceleration time 100 — O — — 16bit R/W 0x624D
Pr9.78 PR9 pause time 0 — O — — 16bit R/W 0x624E
Pr9.79 PR9 special parameter 0 — O — — 16bit R/W 0x624F
Pr9.80 PR10 mode 0 — O — — 16bit R/W 0x6250
Pr9.81 PR10 position H 0 — O — — 16bit R/W 0x6251
Pr9.82 PR10 position(L) 0 — O — — 16bit R/W 0x6252
Pr9.83 PR10 velocity 60 O — — 16bit R/W 0x6253
Pr9.84 PR10 acceleration time 100 — O — — 16bit R/W 0x6254
Pr9.85 PR10 deceleration time 100 — O — — 16bit R/W 0x6255
Pr9.86 PR10 pause time 0 — O — — 16bit R/W 0x6256
Pr9.87 PR10 special parameter 0 — O — — 16bit R/W 0x6257
Pr9.88 PR11 mode 0 — O — — 16bit R/W 0x6258
Pr9.89 PR11 position H 0 — O — — 16bit R/W 0x6259
Pr9.90 PR11 position(L) 0 — O — — 16bit R/W 0x625A
Pr9.91 PR11 velocity 60 — O — — 16bit R/W 0x625B
Pr9.92 PR11 acceleration time 100 — O — — 16bit R/W 0x625C
Pr9.93 PR11 deceleration time 100 — O — — 16bit R/W 0x625D
Pr9.94 PR11 pause time 0 — O — — 16bit R/W 0x625E
Pr9.95 PR11 special parameter 0 — O — — 16bit R/W 0x625F
Pr9.96 PR12 mode 0 — O — — 16bit R/W 0x6260
Pr9.97 PR12 position H 0 — O — — 16bit R/W 0x6261
Pr9.98 PR12 position(L) 0 — O — — 16bit R/W 0x6262
Pr9.99 PR12 velocity 60 O — — 16bit R/W 0x6263
Pr9.100 PR12 acceleration time 100 — O — — 16bit R/W 0x6264
Pr9.101 PR12 deceleration time 100 — O — — 16bit R/W 0x6265

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Valid mode Communication mode

Activ
Code Label Default P 485
ation S T Byte Op.
R Addr.
Pr9.102 PR12 pause time 0 — O — — 16bit R/W 0x6266
Pr9.103 PR12 special parameter 0 — O — — 16bit R/W 0x6267
Pr9.104 PR13 mode 0 — O — — 16bit R/W 0x6268
Pr9.105 PR13 position H 0 — O — — 16bit R/W 0x6269
Pr9.106 PR13 position(L) 0 — O — — 16bit R/W 0x626A
Pr9.107 PR13 velocity 60 — O — — 16bit R/W 0x626B
Pr9.108 PR13 acceleration time 100 — O — — 16bit R/W 0x626C
Pr9.109 PR13 deceleration time 100 — O — — 16bit R/W 0x626D
Pr9.110 PR13 pause time 0 — O — — 16bit R/W 0x626E
Pr9.111 PR13 special parameter 0 — O — — 16bit R/W 0x626F
Pr9.112 PR14 mode 0 — O — — 16bit R/W 0x6270
Pr9.113 PR14 position H 0 — O — — 16bit R/W 0x6271
Pr9.114 PR14 position(L) 0 — O — — 16bit R/W 0x6272
Pr9.115 PR14 velocity 60 O — — 16bit R/W 0x6273
Pr9.116 PR14 acceleration time 100 — O — — 16bit R/W 0x6274
Pr9.117 PR14 deceleration time 100 — O — — 16bit R/W 0x6275
Pr9.118 PR14 pause time 0 — O — — 16bit R/W 0x6276
Pr9.119 PR14 special parameter 0 — O — — 16bit R/W 0x6277
Pr9.120 PR15 mode 0 — O — — 16bit R/W 0x6278
Pr9.121 PR15 position H 0 — O — — 16bit R/W 0x6279
Pr9.122 PR15 position(L) 0 — O — — 16bit R/W 0x627A
Pr9.123 PR15 velocity 60 — O — — 16bit R/W 0x627B
Pr9.124 PR15 acceleration time 100 — O — — 16bit R/W 0x627C
Pr9.125 PR15 deceleration time 100 — O — — 16bit R/W 0x627D
Pr9.126 PR15 pause time 0 — O — — 16bit R/W 0x627E
Pr9.127 PR15 special parameter 0 — O — — 16bit R/W 0x627F

3.2 Parameters description

3.2.1 [Class 0] Basic Settings

S T
Label Model-following/Zero tracking control Valid mode(s) P
Pr0.00 Range 0-2000 Unit 0.1Hz Default 1
Byte length 16bit Attribute R/W 485 address 0x0001
Valid At stop
Model-following bandwidth, also known as model-following control (MFC), is used to control the
position loop to improve the responsiveness to commands, speed up positioning time and
reduce following error. The effect is obvious especially in low and medium mechanical stiffness.
Use mainly to tune MFC or ZTC bandwidth.
Value Description
0 Disable model following/zero tracking control
1 Set bandwidth automatically
2~9 Reserved
Manually set control bandwidth. 30~100 recommended for belt
10~2000
application

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Label Control Mode Settings Valid mode(s) P S T

Pr0.01 Range 0~10 Unit — Default 0
Byte length 16bit Attribute R/W 485 address 0x0003
Valid After restart

Description
Value st
st
1 mode
nd
2 mode ◆When 3, 4, 5, 6 combination hybrid mode, 1
nd
【0】 Position — and 2 mode can be chosen accordingly with
control mode switching input (C-MODE).
1 Velocity — st
C-MODE: Invalid, select 1 mode.
2 Torque — st
C-MODE: Valid, select 2 mode.
3 Position Velocity Please allow some time in between mode
4 Position Torque switching commands.
5 Velocity Torque ◆Please set Pr0.01 = 6 to switch to other
nd
Position modes from PR mod, then set 2 mode using
Pr0.22=1 Pr0.22.
PR internal Velocity
C-MODE is defaulted to Normally Open
6 command Pr0.22=1
control
Torque
Pr0.22=2

7~10 Reserved

Label Real time Auto Gain Adjusting Valid mode(s) P S T

Pr0.02 Range 0x0~0xFF Unit — Default 0x1

F
Byte length 16bit Attribute R/W 485 address 0x0005
Valid Immediate
Data Category Settings Application
bits

Used to set motion setting mode, which can be selected according to the motion
characteristics or setting requirements. Generally, it is recommended to select
mode 1 with good generality when there is no special requirement, mode 2 when
rapid positioning is needed If mode 1 and mode 2 cannot meet the requirements,
please choose mode 0.

Pr0.03 invalid. Gain value must be adjusted manually and

Motion 0:Manual
accordingly.
0x00_ setting Pr0.03 valid. Quick gain adjusting can be achieved by
mode changing Pr0.03 stiffness value. Gain switching is not used in
1:Standard
this mode, suitable for applications with requirements for
stability.
Pr0.03 valid. Quick gain adjusting can be achieved by
changing Pr0.03 stiffness value. This mode is suitable for
2:Positioning applications requiring quick positioning. Not recommended for
load mounted vertical to ground, or please compensate for the
load using Pr6.07

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Used to select the load type, choose according to load-inertia ratio and
mechanical structure.
This mode prioritizes system responsiveness. Use this mode
0: Rigid when there is a relatively rigid structure with low load inertia.
structure Typical application including directly connected high-precision
Load type gearbox, lead screw, gears, etc.
0x0_0
setting For applications with higher load inertia (10 times or above),
gain settings take into account both machine stability and
1:High inertia
responsiveness. Not recommended to set stiffness above 15
for high load inertia.
This mode prioritizes system stability. Use this mode when
2: Flexible there is low rigidity structure with high load inertia. Typical
structure applications included belts and chains.

0x_00 reserved

The setting type combination is a hexadecimal standard, as follows:

Setting type combination Application type
0X000 Rigid structure + Manual
0X001 Rigid structure +Standard
0X002 Rigid structure +Positioning
0X010 High inertia + Manual
0X011 High inertia + Standard
0X012 High inertia + Positioning
0X020 Flexible structure + Manual
0X021 Flexible structure +Standard
0X022 Flexible structure +Positioning

P S T
Label Real time auto stiffness adjusting Valid mode(s)
Pr0.03 Range 0 ~ 31 Unit — Default 11
Byte length 16bit Attribute R/W 485 address 0x0007
Valid Immediate
Low Mechanical stiffness High

Low Servo gain High

81.80……………………………70.69.68…………………………51.50

Low Responsiveness High

Lower values ensure better system responsiveness and mechanical stiffness but machine
vibration might occur, please set accordingly. Recommend to set to around 15 with motor with
high inertia.

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Inertia ratio P S T
Label Valid mode(s)
Pr0.04 Range 0~20000 Unit % Default 250
Byte length 16bit Attribute R/W 485 address 0x0009
Valid Immediate

Pr0.04=( load inertia/motor rotational inertia)×100%

Set inertia ratio according to actual load inertia. When both are uniform, actual motor
velocity loop responsiveness and gain settings will be consistent. If inertia ratio is greater
than actual value, velocity loop gain settings will be higher and vice versa.
For motor with high inertia, Pr0.04 can be left unfilled but optimal setting of Pr0.04 could
improve system performance

Command pulse input selection P

Label Valid mode(s)
Pr0.05 Range 0~1 Unit — Default 0
Byte length 16bit Attribute R/W 485 address 0x000B
Valid After restart

Value Description
Pulse input low speed channel (200/500kHz pulse
【0】
input)
1 Pulse input high speed channel (4MHz pulse input)
Both channels cannot be used at the same time.

Command pulse polarity P

Label inversion Valid mode(s)
Pr0.06 Range 0~1 Unit — Default 0
Byte length 16bit Attribute R/W 485 address 0x000D
Valid After restart
Pr0.06 and Pr0.07 set command pulse input inversion and mode correspondingly.

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Label Command pulse input mode Valid mode(s) P

Pr0.07 Range 0~3 Unit — Default 3
Byte length 16bit Attribute R/W 485 address 0x000F
Valid After restart
Command pulse input
Command
Command
pulse
Polarity Command Pulse
input mode Positive signal Negative signal
inversion Mode
settings
(Pr0.06)
(Pr0.07)
90°phase
0 difference
or 2 phase pulse
2 ﹙Phase A+ Phase
B）
CW pulse
【0】
sequence
1 ＋
CCW pulse
sequence
Pulse sequence
【3】 ＋
Directional symbol

90°phase
0 difference
or 2 phase pulse
2 （Phase A＋Phase
B）

1 CW pulse
sequence
1 ＋
CCW pulse
sequence
Pulse sequence
3 ＋
Directional symbol

Command pulse input signal max. frequency and min. duration needed
Max. Min. duration needed（μ s）
Command pulse input interface Frequency t1 t2 t3 t4 t5 t6
Differential drive 500 kHz 2 1 1 1 1 1
Pulse 200 kHz 5 2.5 2.5 2.5 2.5 2.5
Open collector
sequence
interface High speed
4Mhz 0.25 0.125 0.125 0.125 0.125 0.125
differential drive
Please set >0.1μs for the duration between rising and falling edge of command pulse input signal.
1 revolution with 2500 pulses 2-phase pulse input when Pr0.07=0 or 2, Pr0.08 = 10000;
1 revolution with 10000 pulses 1-phase pulse input when Pr0.07=1 or 3, Pr0.08 = 10000

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1st command pulse count per P S T

Label Valid mode(s)
revolution
Range Unit Default
0-67100864 PULS 10000
Pr0.08 E
Byte length 32bit Attribute R/W 485 address H: 0x0010
L: 0x0011
Valid After restart
Control will affected if value set is too low. Err1b1 might occur if value < 500.
(1) Pr0.08 valid when ≠ 0: Motor revolution = input pulse count / [Pr0.08 value]
(2) Pr0.08 invalid when = 0: Pr0.09 and Pr0.10 valid.

1st command frequency P

Label Valid mode(s)
divider/multiplier numerator
Range 1~2147483647 Unit — Default 1
Pr0.09
Byte length 32bit Attrib R/W 485 address H: 0x0012
ute L: 0x0013
Valid After restart
Valid when Pr0.08 = 0, please refer to description in Pr0.10.
1st command frequency P
Label Valid mode(s)
divider/multiplier denominator
Range 1~2147483647 Unit — Default 1
Pr0.10
Byte length 32bit Attrib R/W 485 address H: 0x0014
ute L: 0x0015
Valid After restart
1. Settings：
(1)Driver command pulse input count : X
(2)Encoder pulse count after frequency divider/multiplier: Y
(3)Encoder pulse count per revolution: Z
(4)Motor revolution: W
2. Calculation：
（1）X, Y
Y = X * Pr0.09 / Pr0.10
24
Please keep the value of Pr0.09 and Pr0.10 to be smaller than 2 (16777216).
（2）Z
23
Motor with 23-bit motor： Z= 2 = 8388608
（3）Y, Z, W
W=Y/Z
Performance cannot be guaranteed if frequency divider/multiplier ratio is set to extreme
values. Err1b1 might occur if W < 500.

Encoder output pulse count per P S T

Label Valid mode(s)
revolution
Pr0.11 Range 1~32767 Unit P/r Default 2500
Byte length 16bit Attribute R/W 485 address 0x0017
Valid After restart
If Pr0.11 = 1000, encoder differential output signal per revolution = 4000 pulses

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Label Pulse output logic inversion Valid mode(s) P S T

Range 0~1 Unit — Default 0
Pr0.12
Byte length 16bit Attribute R/W 485 address 0x0019
Valid After restart
To set phase B logic and output source from encoder pulse output. To inverse B-Phase
pulse logic and change the relation between Phase A and Phase B

Pulse output logic inversion

Pr0.12 Phase B logic CCW direction CW direction

[0] Not inverted

[1] Inverted

st
1 torque limit P S T
Label Valid mode(s)
Pr0.13 Range 0~500 Unit % Default 350
Byte length 16bit Attribute R/W 485 address 0x001B
Valid Immediate
st
1 torque limit is set according to ratio percentage of motor rated current. Do not exceed
max driver output current.

Please refer to Pr5.21 on how to set torque limit.

Excessive position deviation P

Label Valid mode(s)
Pr0.14 Range 0~310 Unit 0.1rev Default 30
Byte length 16bit Attribute R/W 485 address 0x001D
Valid Immediate
Please set threshold value for position deviation accordingly. Default factory setting = 30,
Er180 will be triggered if positive deviation is in excess of 3 revolutions.

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Label Absolute encoder settings Valid mode(s) P S T

Range 0~15 Unit - Default 0
Pr0.15
Byte length 16bit Attribute R/W 485 address 0x001F
Valid After restart
Value Mode Description
【0】 Incremental Doesn’t retain position data on power off. Unlimited travel distance.
Multiturn Retrain position data on power off. For applications with fixed travel
1 distance and no multiturn data overflow.
absolute linear
Multiturn Retrain position data on power off. Actual data feedback in between 0-
2
absolute rotary (Pr6.63+1). Unlimited travel distance.
Single turn Used when travel distance is within 1 revolution of the encoder. Data
3 overflow will trigger alarm.
absolute
Clear multiturn alarm and activate multiturn absolute function. Will switch to
5 multiturn mode once alarm cleared, if remains at 5 after 3s, please solve
according to Er153.
Multi turn
Clear multiturn position, reset multiturn alarm and activate multiturn
absolute
absolute function. Will switch to multiturn mode once alarm cleared, if
9
remains at 9 after 3s, please solve according to Er153. Please disable axis
before setting to 9 and home the axis before using.
Others Do not use!

Label Regenerative resistance Valid mode(s) P S T

Range 25~500 Unit Ohm Default 100
Pr0.16
Byte length 16bit Attribute R/W 485 address 0x0021
Valid Immediate
To set resistance value of regenerative resistor
Pr0.16 and Pr0.17set value determine alarm threshold of Er120.
If set value > actual regenerative resistance, Er120 occurrence might be delayed.
Regenerative resistor power P S T
Label Valid mode(s)
rating
Pr0.17 Range 20~5000 Unit W Default 50
Byte length 16bit Attribute R/W 485 address 0x0023
Valid Immediate
To set power rating of regenerative resistor. Please refer to table below
Model no. Internal Internal resistor
resistance (Ω) power rating (W)
EL7-RS400P 100 50
EL7-RS750P 50 75
EL7 -RS1000P 50 100
EL7-RS750PT 100 100
EL7-RS1000PT 100 100
EL7-RS1500PT 100 100
EL7-RS2000PT 50 100
EL7-RS3000PT 50 100
EL7-RS4400PT 35 100
EL7-RS5500PT 35 100
EL7-RS7500PT 35 100

Pr0.16 and Pr0.17 determines the threshold value of Er120. Please set accordingly or it
might trigger false alarm or damage to servo drive.

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Note: If external regenerative resistor is used, please set according to its labeled power
rating.

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Label PR and P/S/T switching Valid mode(s) P S T

Range 0~2 Unit - Default 0
Pr0.22
Byte length 16bit Attribute R/W 485 address 0x002D
Valid Immediate
nd
When Pr0.01 = 6(PR Mode), 2 mode can be set on Pr0.22
Pr0.01 Pr0.22 Control mode
【0】 PR / Position
6 1 PR / Velocity
2 PR / Torque

Label Auxiliary function Valid mode(s) P S T

Range 0~0xFFFF Unit - Default 0
Pr0.25
Byte length 16bit Attribute R/W 485 address 0x0033
Valid Immediate
Parameter Auxiliary function
0x1111 Reset current alarm
0x1122 Reset record alarm Only for RS485 communication,
Save parameter to EEPROM please write corresponding
0x2211
(not including PR) parameters into Pr0.25
0x2212 Save PR parameters Do not use JOG_P and JOG_N
Initialize parameter in PR mode
0x2222
(not including motor parameters)
0x2233 All parameters restore to default
0x3322 Analog 2 self-learning zero point
0x3333 Analog 3 self-learning zero point
0X4001 JOG_P（once every 50ms）
0X4002 JOG_N（once every 50ms）
0x4411 Encoder auto correction to zero
0x6666 Software reset
Label Simulated I/O Valid mode(s) P S T
Range 0~0xFFFF Unit - Default 0
Pr0.26
Byte length 16bit Attribute R/W 485 address 0x0035
Valid Immediate

Bit Input
0 DI1
1 DI2
2 DI3
3 DI4 Only for RS485 communication.
4 DI5 Simulated I/O is different from
5 DI6 physical I/O which means inversion
6 DI7 of current I/O status
7 DI8
8 DI9
9 DI10

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Label Mapping parameter 1 Valid mode(s) P S T

Pr0.40 Range Unit Default 0
(Only for Byte length 32bit Attribute 485 address H： 0x0050
RS485)
Valid L： 0x0051
For user to set parameters unrelated by RS485 address quickly. Mapping parameter ID to
be written is set on Pr0.50 by RS485. Data saved in Pr0.40 is parameter designated by
Pr0.50.
Please refer to Pr0.57 for parameter settings.
Note: Range, unit and attribute of Pr0.40 is determined by Pr0.50 designated parameter.
Label Mapping parameter 2 Valid mode(s) P S T
Pr0.41
Range Unit Default 0
(Only for
Byte length 32bit Attribute 485 address H: 0x0052
RS485)
Valid L: 0x0053
Please refer to Pr0.40 for parameter description and Pr0.57 for parameter settings.
Note: Range, unit and attribute of Pr0.41 is determined by Pr0.51 designated parameter.
Label Mapping parameter 3 Valid mode(s) P S T
Pr0.42 Range Unit Default 0
(Only for
Byte length 32bit Attribute 485 address H: 0x0054
RS485)
Valid L： 0x0055
Please refer to Pr0.40 for parameter description and Pr0.57 for parameter settings.
Note: Range, unit and attribute of Pr0.42 is determined by Pr0.52 designated parameter.
Label Mapping parameter 4 Valid mode(s) P S T
Pr0.43 Range Unit Default 0
(Only for Byte length 32bit Attribute 485 address H： 0x0056
RS485)
Valid L： 0x0057
Please refer to Pr0.40 for parameter description and Pr0.57 for parameter settings.
Note: Range, unit and attribute of Pr0.43 is determined by Pr0.53 designated parameter.
Label Mapping parameter 5 Valid mode(s) P S T
Pr0.44 Range Unit Default 0
(Only for Byte length 32bit Attribute 485 address H： 0x0058
RS485)
Valid L： 0x0059
Please refer to Pr0.40 for parameter description and Pr0.57 for parameter settings.
Note: Range, unit and attribute of Pr0.44 is determined by Pr0.54 designated parameter.
Label Mapping parameter 6 Valid mode(s) P S T
Pr0.45 Range Unit Default 0
(Only for Byte length 32bit Attribute 485 address H： 0x005A
RS485)
Valid L： 0x005B
Please refer to Pr0.40 for parameter description and Pr0.57 for parameter settings.
Note: Range, unit and attribute of Pr0.45 is determined by Pr0.55 designated parameter.
Label Mapping parameter 7 Valid mode(s) P S T
Pr0.46 Range Unit Default 0
(Only for Byte length 32bit Attribute 485 address H： 0x005C
RS485)
Valid L： 0x005D
Please refer to Pr0.40 for parameter description and Pr0.57 for parameter settings.
Note: Range, unit and attribute of Pr0.46 is determined by Pr0.56 designated parameter.

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Label Mapping parameter 8 Valid mode(s) P S T

Pr0.47
Range Unit Default 0
(Only for
RS485) Byte length 32bit Attribute 485 address H： 0x005E
Valid L： 0x005F
Please refer to Pr0.40 for parameter description and Pr0.57 for parameter settings.
Note: Range, unit and attribute of Pr0.47 is determined by Pr0.57 designated parameter.

Label Mapping parameter 1 indicator Valid mode(s) P S T

Pr0.50 Range 0~0xFFFFFFF Unit Default 0x00490049
(Only for F
RS485) Byte length 32bit Attribute R/W 485 address H： 0x0064
Valid Immediate L： 0x0065
Label Mapping parameter 2 indicator Valid mode(s) P S T
Pr0.51 Range 0~0xFFFFFFF Unit Default 0x00490049
(Only for F
RS485) Byte length 32bit Attribute R/W 485 address H： 0x0066
Valid Immediate L： 0x0067
Label Mapping parameter 3 indicator Valid mode(s) P S T
Pr0.52 Range 0~0xFFFFFFF Unit Default 0x00490049
(Only for F
RS485) Byte length 32bit Attribute R/W 485 address H： 0x0068
Valid Immediate L： 0x0069
Label Mapping parameter 4 indicator Valid mode(s) P S T
Pr0.53 Range 0~0xFFFFFFF Unit Default 0x00490049
(Only for F
RS485) Byte length 32bit Attribute R/W 485 address H: 0x006A
Valid Immediate L: 0x006B
Label Mapping parameter 5 indicator Valid mode(s) P S T
Pr0.54 Range 0~0xFFFFFFF Unit Default 0x00490049
(Only for F
RS485) Byte length 32bit Attribute R/W 485 address H: 0x006C
Valid Immediate L: 0x006D
Label Mapping parameter 6 indicator Valid mode(s) P S T
Pr0.55 Range 0~0xFFFFFFF Unit Default 0x00490049
(Only for F
RS485) Byte length 32bit Attribute R/W 485 address H: 0x006E
Valid Immediate L: 0x006F
Label Mapping parameter 7 indicator Valid mode(s) P S T
Pr0.56 Range 0~0xFFFFFFF Unit Default 0x00490049
(Only for F
RS485) Byte length 32bit Attribute R/W 485 address H: 0x0070
Valid Immediate L: 0x0071

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Label Mapping parameter 8 indicator Valid mode(s) P S T

Pr0.57 Range 0~0xFFFFFFF Unit Default 0x00490049
(Only for F
RS485) Byte length 32bit Attribute R/W 485 address H: 0x0072
Valid Immediate L: 0x0073
Set parameter to 0xABCDWXYZ
High bit parameter position(PH) and low bit parameter position(PL)settings format：
0xABCD & 0xWXYZ
4-bit value Definition 4-bit value Definition
CD Parameter bias decimal YZ Parameter bias decimal
B Parameter type X Parameter type
hexadecimal hexadecimal
A Unused W Unused
Description of corresponding parameter using Mapping Parameter 1 as example:
Mapping content is 32-bit wide, able to map 2 16-bit or 1 32-bit parameters：

Pr0.50 content as below：

(Mapping parameter 1 indicator：Pr0.50；Mapping parameter 1: Pr0.40)
Pr0.40 high bit corresponds to Pr0.50 high bit indicator (PH) value;
Pr0.40 low bit corresponds to Pr0.50 low bit indicator (PL) value;

1. When Pr0.50 PH≠PL, indicates that Pr0.40 contains 2 16-bit mapped values.
If Pr0.50=0x06200101; PH=0x0620,PL=0x0101; write 0x0005 0064 into Pr0.40; write
0x0005 into Pr6.20, write 0x0064 into Pr1.01;

2. When Pr0.50 PH=PL，indicates that Pr0.40 contains 1 32-bit mapped value.

If Pr0.50=0x01150115; PH=0x0115,PL=0x0115; write 0x00000001into Pr0.40; write
0x00000001 into Pr1.15;

Note: When a 32-bit address parameter is mapped, please write same address into high
and low bit as shown above.

3.2.2 [Class 1] Gain adjustments

st
Label 1 position loop gain Valid mode(s) P
Range 0～30000 Unit 0.1/s Default 320
Pr1.00
Byte length 16bit Attribute R/W 485 address 0x0101
Valid Immediate
Higher position loop gain value improves the responsiveness of the servo driver and
lessens the positioning time.
Position loop gain value shouldn’t exceed responsiveness of the mechanical system and
take in consideration velocity loop gain, if not it might cause vibration, mechanical noise
and overtravel.
As velocity loop gain is based on position loop gain, please set both values accordingly.
Recommended range: 1.2≤Pr1.00/Pr1.01≤1.8

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st
Label 1 velocity loop gain Valid mode(s) P S T
Range 1～32767 Unit 0.1Hz Default 180
Pr1.01
Byte length 16bit Attribute R/W 485 address 0x0103
Valid Immediate
To determine the responsiveness of the velocity loop. If inertia ratio of Pr0.04 is uniform
with actual inertia ratio, velocity loop responsiveness = Pr1.01.
To increase position loop gain and improve responsiveness of the whole system, velocity
loop gain must be set at higher value. Please notice that if the velocity loop gain is too
high, it might cause vibration.
st
1 Integral Time Constant of P S T
Label Valid mode(s)
Velocity Loop
Pr1.02 Range 1～10000 Unit 0.1ms Default 310
Byte length 16bit Attribute R/W 485 address 0x0105
Valid Immediate
The lower the set value, the closer the lag error at stop to 0 but might cause vibration. If
the value set is overly large, overshoot, delay of positioning time duration and lowered
responsiveness might occur.
Set 10000 to deactivate Pr1.02.
st
Label 1 velocity detection filter Valid mode(s) P S T
Range 0～31 Unit — Default 15
Pr1.03 Byte length 16bit Attribute R/W 485 address 0x0107
Valid Immediate

This filter is a low pass filter. It blocks high frequencies which cause system instability from
velocity feedback data. The higher the set value, lower frequencies will be blocked and
velocity responsiveness will also be lowered. Pr1.03 needs to match velocity loop gain.
Please refer to the following table.
Value Velocity Detection Value Velocity Detection Filter
Filter Cut-off Cut-off Frequency(Hz)
Frequency(Hz)
0 2500 16 750
1 2250 17 700
2 2100 18 650
3 2000 19 600
4 1800 20 550
5 1600 21 500
6 1500 22 450
7 1400 23 400
8 1300 24 350
9 1200 25 300
10 1100 26 250
11 1000 27 200
12 950 28 175
13 900 29 150
14 850 30 125
【15】 800 31 100

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st
Label 1 Torque Filter Time Constant Valid mode(s) P S T
Range 0～2500 Unit 0.01ms Default 126
Pr1.04
Byte length 16bit Attribute R/W 485 address 0x0109
Valid Immediate
To set torque command low-pass filter, add a filter delay time constant to torque command
and filter out the high frequencies in the command.
Often used to reduce or eliminate some noise or vibration during motor operation, but it
will reduce the responsiveness of current loop, resulting in undermining velocity loop and
position loop control. Pr1.04 needs to match velocity loop gain.
Recommended range: 1,000,000/(2π×Pr1.04) ≥Pr1.01×4

For example: Velocity loop gain Pr1.01=180(0.1Hz) which is 18Hz. Time constant of
torque filter should be Pr1.01≤221(0.01ms)
If mechanical vibration is due to servo driver, adjusting Pr1.04 might eliminate the
vibration. The smaller the value, the better the responsiveness but also subjected to
machine conditions. If the value is too large, it might lower the responsiveness of current
loop.
With higher Pr1.01 value settings and no resonance, reduce Pr1.04 value;
With lower Pr1.01 value settings, increase Pr1.04 value to lower motor noise.
nd
Label 2 Position Loop Gain Valid mode(s) P
Range 0～30000 Unit 0.1/s Default 380
Pr1.05
Byte length 16bit Attribute R/W 485 address 0x010B
Valid Immediate
nd
Label 2 velocity loop gain Valid mode(s) P S T
Range 1～32767 Unit 0.1Hz Default 180
Pr1.06
Byte length 16bit Attribute R/W 485 address 0x010D
Valid Immediate
nd
2 Integral Time Constant of P S T
Label Valid mode(s)
Velocity Loop
Pr1.07 Range 1～10000 Unit 0.1ms Default 10000
Byte length 16bit Attribute R/W 485 address 0x010F
Valid Immediate
nd
Label 2 velocity detection filter Valid mode(s) P S T
Range 0～31 Unit — Default 15
Pr1.08
Byte length 16bit Attribute R/W 485 address 0x0111
Valid Immediate
nd
Label 2 Torque Filter Time Constant Valid mode(s) P S T
Range 0~2500 Unit 0.01ms Default 126
Pr1.09
Byte length 16bit Attribute R/W 485 address 0x0113
Valid Immediate
Position loop, velocity loop, velocity detection filter, torque command filter each have 2
pairs of gain or time constant (1st and 2nd).

Label Velocity feed forward gain Valid mode(s) P

Range 0~1000 Unit 0.10% Default 300
Pr1.10
Byte length 16bit Attribute R/W 485 address 0x0115
Valid Immediate
Used for decreasing following error caused by low responsiveness of velocity loop. Might
cause overshoot or increase in noise if set value is too high.

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Velocity feed forward filter time P

Label Valid mode(s)
constant
Pr1.11 Range 0~6400 Unit 0.01ms Default 50
Byte length 16bit Attribute R/W 485 address 0x0117
Valid Immediate
Set velocity feed forward low pass filter to eliminate high or abnormal frequencies in
velocity feed forward command. Often used when position command with low resolution or
high electronic gear ration to smoothen velocity feed forward.
Position deviation under constant velocity can be lowered with higher velocity feed forward
gain. Please to refer to the equation below.
Reduce Pr1.11 value to suppress velocity overshoot during deceleration; Increase Pr1.11
value to suppress noise or vibration due to long driver control cycle or position command
uneven pulse frequency.

<Application>
Set Pr1.11 = 50（0.5ms）, improve feedforward effect by gradually increase Pr1.10. The
equation below can be used to determine the position deviation due to velocity
feedforward gain under constant velocity.

Position deviation[Uint]=

Label Torque feed forward gain Valid mode(s) P S

Range 0~1000 Unit 0.1% Default 0
Pr1.12
Byte length 16bit Attribute R/W 485 address 0x0119
Valid Immediate
Before using torque feed forward, please set correct inertia ratio Pr0.04. By increasing
torque feed forward gain, position deviation on constant acceleration/deceleration can be
reduced to close to 0. Under ideal condition and trapezoidal speed profile, position
deviation of the whole motion can be reduced to close to 0. In reality, perturbation torque
will always exist, hence position deviation can never be 0.
Torque feed forward filter time P S
Label Valid mode(s)
constant
Pr1.13 Range 0~6400 Unit 0.01ms Default 0
Byte length 16bit Attribute R/W 485 address 0x011B
Valid Immediate
Low pass filter to eliminate abnormal or high frequencies in torque feed forward command.
Usually used when encoder has lower resolution or precision.
Noise reduces if torque feed forward filter time constant is set higher but position deviation
will increase at acceleration varied points.
<Application>
・ Set Pr1.13 = 50ms, please increase torque forward gain gradually to enable torque
feedforward.
・By increasing Pr1.13, noise will reduce but position deviation will become larger.

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Position control gain switching P S

Label Valid mode(s)
mode
Pr1.15 Range 0～10 Unit — Default 0
Byte length 16bit Attribute R/W 485 address 0x011F
Valid Immediate
In position control, set the conditions for gain switching to be valid.

Value Condition Gain switching condition

st st
【0】 1 gain fixed Fixed on using 1 gain(Pr1.00-Pr1.04)
nd nd
1 2 gain fixed Fixed on using 2 gain (Pr1.05-Pr1.09)
st
· Gain switching input （GAIN）invalid: 1 gain.
nd
2
Gain switching · Gain switching input （GAIN）valid: 2 gain.
st
input valid *Default: 1 gain
nd
Switch to 2 gain when set torque command absolute
High command value larger than (level + hysteresis)[%]
3 st
Switch to 1 gain when set torque command absolute
torque
value smaller than (level + hysteresis)[%]
4-9 Reserved Reserved
Valid for position control.
Switch to 2nd gain if position command ≠ 0
Pending position Switch to 1st gain if positional command = 0 throughout
10 command the duration of delay time and absolute value of actual
+actual velocity velocity remains smaller than (level - hysteresis)
(r/min)

** Above ‘level’ and ‘hysteresis’ are in correspondence to Pr1.17 Position control gain
switching level and Pr1.18 Hysteresis at position control switching.
Position control gain switching P
Label Valid mode(s)
level
Range Unit Mode Default
Pr1.17 0~20000 50
dependent
Byte length 16bit Attribute R/W 485 address 0x0123
Valid Immediate
Set threshold value for gain switching to occur.
Unit is mode dependent.
Switching condition Unit
Position Encoder pulse count
Velocity RPM
Torque %

Please set level ≥ hysteresis

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Hysteresis at position control P

Label Valid mode(s)
switching
Range Unit Mode Default
Pr1.18 0~20000 33
dependent
Byte length 16bit Attribute R/W 485 address 0x0125
Valid Immediate
To eliminate the instability of gain switching. Used in combination with Pr1.17 using the
same unit.
If level< hysteresis, drive will set internally hysteresis = level.

Label Position control switching time Valid mode(s) P

Range 0~10000 Unit 0.1ms Default 33
Pr1.19
Byte length 16bit Attribute R/W 485 address 0x0127
Valid Immediate
During position control, if 1st and 2nd gain difference is too large, to ease torque changes
and vibration due to rapid changes in position loop gain, set suitable Pr1.19 value
For example: 1st (pr1.00) <-> 2nd (Pr1.05)

Label Position command pulse filter time Valid mode(s) P

Range 0~200 Unit 0.01us Default 8
Pr1.35
Byte length 16bit Attribute R/W 485 address 0x0147
Valid After restart
To filter position setting pulse, getting rid of narrow pulse frequency with interference. Low-
speed pulse input unit: 0.05us; High-speed pulse input unit: 0.01us.
If set value is overly large, it will affect the receiving of high frequency command pulse and
wth high delay time.
Pr1.35 formula：
1
Filter frequency = × 1000000Hz
2 × Pr1.35 × 0.05us

Example：Pr1.35=100, pulse frequency > 100KHz will be filtered;

Pr1.35 Filter frequency Pr1.35 Filter frequency
0 Null 100 100kHz(500KHz)
8 1.25MHz(6.25MHz) 125 80kHz(400KHz)
10 1MHz（5MHz） 160 62.5kHz(312KHz)
20 500kHz(2.5MHz) 200 50kHz(250KHz)
50 200kHz(1MHz)
80 125kHz(625KHz)

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3.2.3 [Class 2] Vibration suppression

Label Adaptive filtering mode settings Valid mode(s) P S

Range 0~4 Unit — Default 0
Pr2.00
Byte length 16bit Attribute R/W 485 address 0x0201
Valid Immediate

Value Description
rd
Adaptive filter: invalid Parameters related to 3 notch filter remain
0
unchanged
rd
Adaptive filter: 1 filter valid 1 adaptive filter becomes valid. 3 notch filter
1 for once. related parameters updated accordingly. Pr2.00
switches automatically to 0 once updated.
rd
Adaptive filter: 1 filter 1 adaptive filter becomes valid. 3 notch filter
2 remains valid related parameters will keep updating
accordingly.
3-4 Reserved -

st
Label 1 notch frequency Valid mode(s) P S T
Range 50~4000 Unit Hz Default 4000
Pr2.01
Byte length 16bit Attribute R/W 485 address 0x0203
Valid Immediate
st
Set center frequency of 1 torque command notch filter.
Set Pr2.01 to 4000 to deactivate notch filter
st
Label 1 notch width Valid mode(s) P S T
Range 0~20 Unit — Default 4
Pr2.02
Byte length 16bit Attribute R/W 485 address 0x0205
Valid Immediate
st
Set notch bandwidth for 1 resonant notch filter.
Under normal circumstances, please use factory default settings. If resonance is under control,
in combination with Pr2.01 and Pr2.03, Pr2.02 can be reduced to improve current loop
responsiveness which allows higher mechanical stiffness settings
st
Label 1 notch depth Valid mode(s) P S T
Range 0~99 Unit — Default 0
Pr2.03 Byte length Attribute 485 address
16bit R/W 0x0207
Valid Immediate
st
Set notch depth for 1 resonant notch filter.
Under normal circumstances, please use factory default settings. If resonance is under control,
in combination with Pr2.01 and Pr2.02, Pr2.03 can be reduced to improve current loop
responsiveness which allows higher mechanical stiffness settings

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nd
Label 2 notch frequency Valid mode(s) P S T
Range 50~4000 Unit Hz Default 4000
Pr2.04
Byte length 16bit Attribute R/W 485 address 0x0209
Valid Immediate
nd
Set center frequency of 2 torque command notch filter.
Set Pr2.04 to 4000 to deactivate notch filter
nd
Label 2 notch width Valid mode(s) P S T
Range 0~20 Unit — Default 4
Pr2.05
Byte length 16bit Attribute R/W 485 address 0x020B
Valid Immediate
nd
Set notch bandwidth for 2 resonant notch filter.
Under normal circumstances, please use factory default settings. If resonance is under control,
in combination with Pr2.04 and Pr2.06, Pr2.05 can be reduced to improve current loop
responsiveness which allows higher mechanical stiffness settings.
nd
Label 2 notch depth Valid mode(s) P S T
Range 0~99 Unit — Default 0
Pr2.06
Byte length 16bit Attribute R/W 485 address 0x020D
Valid Immediate
st
Set notch depth for 1 resonant notch filter.
When Pr2.06 value is higher, notch depth becomes shallow, phase lag reduces. Under normal
circumstances, please use factory default settings. If resonance is under control, in
combination with Pr2.04 and Pr2.05, Pr2.06 can be reduced to improve current loop
responsiveness which allows higher mechanical stiffness settings.
rd
Label 3 notch frequency Valid mode(s) P S T
Range 50~4000 Unit Hz Default 4000
Pr2.07 Byte length Attribute R/W 485 address
16bit 0x020F
Valid Immediate
rd
Set center frequency of 3 torque command notch filter.
Set Pr2.07 to 4000 to deactivate notch filter
rd
Label 3 notch width Valid mode(s) P S T
Range 0~20 Unit — Default 4
Pr2.08
Byte length 16bit Attribute R/W 485 address 0x0211
Valid Immediate
rd
Set notch depth for 3 resonant notch filter.
When Pr2.06 value is higher, notch depth becomes shallow, phase lag reduces. Under normal
circumstances, please use factory default settings. If resonance is under control, in
combination with Pr2.04 and Pr2.05, Pr2.06 can be reduced to improve current loop
responsiveness which allows higher mechanical stiffness settings.
rd
Label 3 notch depth Valid mode(s) P S T
Range 0~99 Unit — Default 0
Pr2.09
Byte length 16bit Attribute R/W 485 address 0x0213
Valid Immediate
rd
Set notch depth for 3 resonant notch filter.
When Pr2.06 value is higher, notch depth becomes shallow, phase lag reduces. Under normal
circumstances, please use factory default settings. If resonance is under control, in
combination with Pr2.04 and Pr2.05, Pr2.06 can be reduced to improve current loop
responsiveness which allows higher mechanical stiffness settings.

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st
Label 1 damping frequency Valid mode(s) P
Range 0/10~2000 Unit 0.1Hz Default 0
Pr2.14
Byte length 16bit Attribute R/W 485 address 0x021D
Valid Immediate
Set Pr2.16 to 0 to deactivate this parameter.
To suppress wobble at load end. Often used when wobble of flexible structure due to high
deceleration upon stopping. Especially effective for wobble with frequencies under 100Hz. Set
Pr2.15 to wobble frequency (wobble frequency can be determined using tracing function of
Motion Studio)
nd
Label 2 damping frequency Valid mode(s) P
Range 0/10~2000 Unit 0.1Hz Default 0
Pr2.16
Byte length 16bit Attribute R/W 485 address 0x0221
Valid Immediate
Set Pr2.16 to 0 to deactivate this parameter.
To suppress wobble at load end. Often used when wobble of flexible structure due to high
deceleration upon stopping. Especially effective for wobble with frequencies under 100Hz.
Set Pr2.16 to wobble frequency (wobble frequency can be determined using tracing function
of Motion Studio)

Label Position command smoothing filter Valid mode(s) P

Range 0~32767 Unit 0.1ms Default 0
r2.22
Byte length 16bit Attribute R/W 485 address 0x022D
Valid At stop
To set time constant of 1 time delay filter of position command.
To set time constant of 1 time delay filter, according to target velocity Vc square wave
command as show below.
Position
Velocity command Position command
after filter Filter
(RPM) before filter
switching
time
Vc
Vc 0.632 Position command
smoothing filter set
time(ms)
Vc 0.368 Pr2.22 x 0.1ms

Time
Usually applied when there is rather sharp acceleration which might cause motor overshoot or
undershoot. To smoothen command signal, reduces impact to machines and eliminate
vibration. If Pr2.22 is set too high, overall time will be lengthened.

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Label Position command FIR filter Valid mode(s) P

Range 0~2500 Unit 0.1ms Default 0
Pr2.23 Byte length 16bit Attribute R/W 485 address 0x022F

Valid At stop
As shown below, when target velocity Vc square wave command reaches Vc, it becomes
trapezoidal wave after filtering.
Position
Velocity command Position command Filter
(RPM) before filtering after filtering switching
time
Vc
Position command
FIR filter set
time(ms)
Pr2.23 x 0.1ms

Time

As shown below, when target velocity Vc trapezoidal command reaches Vc, it becomes S
wave after filtering.

Position
Velocity command Position command
(RPM) before filtering after filtering

Vc

Position command
FIR filter set
time(ms)
Pr2.23 x 0.1ms

Time
Usually applied when there is rather sharp acceleration which might cause motor overshoot or
undershoot. To smoothen command signal, reduces impact to machines and eliminate
vibration. If Pr2.23 is set too high, overall time will be lengthened.

Note: Please wait for command to stop and after filter idle time to modify Pr2.23.
Filter switching time = (Pr2.23 set value x 0.1ms + 0.25ms)

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Label Adjustment mode Valid mode(s) P S T

Range 0~1 Unit — Default 0
Pr2.48 Byte length 16bit Attribute R/W 485 address 0x0261
Valid Immediate

Value Description
【0】 Turn off automatic adjustments
Activate automatic adjustments, real time inertia measuring and vibration
1 suppression. Inertia measuring deactivated after reaching 4 times in 5
minutes, triggering conditions: changes in mechanical stiffness.

Label MFC type Valid mode(s) P S T

Range 0~3 Unit — Default 0
Pr2.50 Byte length 16bit Attribute R/W 485 address 0x0265
Valid Re-enable

Value Description
【0】 Model following control
1 Zero tracking control
2 3 inertia (future upgrade)
3 Path following (future upgrade)

Velocity feedforward compensation P S T

Label Valid mode(s)
coefficient
Range -10000~10000 Unit — Default 0
Pr2.51
Byte 16bit Attribute R/W 485 address 0x0267
length
Valid Immediate
To compensate for velocity feedforward

Torque feedforward compensation P S T

Label Valid mode(s)
coefficient
Range -10000~10000 Unit — Default 0
Pr2.52
Byte 16bit Attribute R/W 485 address 0x0269
length
Valid Immediate
To compensate for torque feedforward

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Dynamic friction compensation P S T

Label Valid mode(s)
coefficient
Range 0~1000 Unit % Default 0
Pr2.53
Byte 16bit Attribute R/W 485 address 0x026B
length
Valid Immediate
r To set ratio of rated torque/rated rotational speed, to compensate for dynamic friction
during motion and have better control over acceleration/deceleration.

When there is an excess position deviation during acceleration/deceleration, please adjust

Pr2.53 to reduce the deviation to 0.

Label Overshoot time coefficient Valid mode(s) P S T

Range 0~10000 Unit % Default 0
Pr2.54 Byte 16bit Attribute R/W 485 address 0x026D
length
Valid Immediate
To set overshoot time coefficient

Label Overshoot suppression gain Valid mode(s) P S T

Range 0~10000 Unit % Default 0
Pr2.55
Byte 16bit Attribute R/W 485 address 0x026F
length
Valid Immediate
Suppression improves with larger set value but might affect the performance of MFC.
Please use with caution for any value above 100.

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3.2.4 [Class 3] Velocity/Torque control

Label Velocity internal/external switching Valid mode(s) S
Range 0~3 Unit — Default 1
Pr3.00 Byte length 16bit Attribute R/W 485 address 0x0301
Valid Immediate
Connect to the right DI to control internal command velocity settings.
Value Velocity settings
0 Analog - Velocity command（SPR）
st th
【1】 Internal velocity settings 1 – 4 speed（Pr3.04～Pr3.07）
st rd
Internal velocity settings 1 – 3 speed（Pr3.04～P3.06）、Analog
2
velocity command（SPR）
st th
3 Internal velocity settings 1 – 8 speed（Pr3.00～Pr3.11）

Internal command Internal command Internal command

Velocity
Value velocity 1 velocity 2 velocity 3
command
（INTSPD 1） （INTSPD2） （INTSPD3）
st
OFF OFF 1 speed
nd
ON OFF 2 speed
1 No effect rd
OFF ON 3 speed
th
ON ON 4 speed
st
OFF OFF 1 speed
nd
ON OFF 2 speed
rd
2 OFF ON No effect 3 speed
Simulated
ON ON
speed
st th
Similar to Pr3.00=1 OFF 1 – 4 speed
th
OFF OFF ON 5 speed
3 ON OFF ON
th
6 speed
th
OFF ON ON 7 speed
th
ON ON ON 8 speed

Please change internal command velocity as per diagram below as unexpected axis
movement might occurs if 2 command velocities are changed at the same time.

Pr3.00=1 / 2 Pr3.00=3

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Velocity command rotational S

Label Valid mode(s)
direction selection
Pr3.01 Range 0~1 Unit — Default 0
Byte length 16bit Attribute R/W 485 address 0x0303
Valid Immediate
To set positive/negative direction of velocity command
Velocity settings Velocity command
Velocity command
Value （Analog or internal sign selection（VC-
direction
velocity） SIGN ）

＋ No effect Positive
【0】
－ No effect Negative

1 No effect OFF Positive

No effect ON Negative

Label Velocity command input gain Valid mode(s) S T

Range 10~2000 Unit (r/min)/V Default 500
Pr3.02
Byte length 16bit Attribute R/W 485 address 0x0305
Valid Immediate
To set gain changes from voltage added onto analog velocity command (SPR) to motor
command velocity
Pr3.02 sets command input voltage and rotational speed slope.
Factory default:
Pr3.02=500(r/min)/V.
Hence 6V input: 3000 r/min

1. Do not supply more than ±10V power for analog velocity command (SPR).
2. If Pr3.02 set value is too large, it might cause vibration.

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Label Velocity command input inversion Valid mode(s) S

Range 0~1 Unit — Default 0
Pr3.03
Byte length 16bit Attribute R/W 485 address 0x0307
Valid Immediate
To set voltage polarity of analog velocity command.
Only valid when Pr3.01 = 0. When Pr3.01 = 1, rotational direction is only related to VC-SIGN.
Value Motor rotational direction
【0】 Not 「Positive voltage」→「Positive direction」
inversed 「Negative voltage」→「Negative direction」
1 Inversed 「Positive voltage」→「Positive direction」
「Negative voltage」→「Negative direction」
If there is an external position sensor with different polarity from Pr3.03, motor might undergo
abnormal motion.

Label 1st speed of velocity setting Valid mode(s) S

Range -10000~10000 Unit r/min Default 0
Pr3.04
Byte length 16bit Attribute R/W 485 address 0x0309
Valid Immediate
Label 2nd speed of velocity setting Valid mode(s) S
Range -10000~10000 Unit r/min Default 0
Pr3.05
Byte length 16bit Attribute R/W 485 address 0x030B
Valid Immediate
Label 3rd speed of velocity setting Valid mode(s) S
Range -10000~10000 Unit r/min Default 0
Pr3.06
Byte length 16bit Attribute R/W 485 address 0x030D
Valid Immediate
Label 4th speed of velocity setting Valid mode(s) S
Range -10000~10000 Unit r/min Default 0
Pr3.07
Byte length 16bit Attribute R/W 485 address 0x030F
Valid Immediate
Label 5th speed of velocity setting Valid mode(s) S
Range -10000~10000 Unit r/min Default 0
Pr3.08
Byte length 16bit Attribute R/W 485 address 0x0311
Valid Immediate
Label 6th speed of velocity setting Valid mode(s) S
Range -10000~10000 Unit r/min Default 0
Pr3.09
Byte length 16bit Attribute R/W 485 address 0x0313
Valid Immediate
Label 7th speed of velocity setting Valid mode(s) S
Range -10000~10000 Unit r/min Default 0
Pr3.10
Byte length 16bit Attribute R/W 485 address 0x0315
Valid Immediate
Label 8th speed of velocity setting Valid mode(s) S
Range -10000~10000 Unit r/min Default 0
Pr3.11
Byte length 16bit Attribute R/W 485 address 0x0317
Valid Immediate
st th
To set internal velocity command 1 -8 speed

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Label Acceleration time settings Valid mode(s) S

Range Unit ms/ Default
0~10000 (1000rpm) 100
Pr3.12
Byte length 16bit Attribute R/W 485 address 0x0319
Valid Immediate
Label Deceleration time settings Valid mode(s) S
Range Unit ms/ Default
0~10000 100
Pr3.13 (1000rpm)
Byte length 16bit Attribute R/W 485 address 0x031B
Valid Immediate
Set max acceleration/deceleration for velocity command.

If target velocity = x [rpm], max acceleration = a [unit: rpm/ms], acceleration time = t [ms]
Pr3.12 = 1000/a
Pr3.13 = 1000/a
a = x/t

For example: If motor is to achieve 1500rpm in 30s, a=1500/30=50rpm/ms

Pr3.12 = 1000/a= 20. Hence when Pr3.12 = 20, motor can achieve 1500rpm in 30s.

Usually used when there is rapid acceleration or trapezoidal wave velocity command due
to many different internal speed segments under velocity control mode which causes
instable while motor in motion.
Under velocity control mode, 6083 and 6084 is limited by Pr3.12 and Pr3.13
correspondingly.

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Sigmoid acceleration/deceleration S
Label Valid mode(s)
settings
Pr3.14 Range 0~1000 Unit ms Default 0
Byte length 16bit Attribute R/W 485 address 0x031D
Valid After restart
To set sigmoid acceleration and deceleration turning point in accordance to Pr3.12 and
Pr3.13.
Velocity Velocity
(RPM) ts ts after
acceleration/
Target deceleration
velocity settings
Vc
ta= Vc/1000 x Pr3.12 x 1ms
ts td= Vc/1000 x Pr3.13 x 1ms ts
Ts = Pr3.14 x 1ms
Use when ta/2>ts、td/2>ts
Time
ta td

Zero speed clamp function S

Label Valid mode(s)
selection
Range 0~3 Unit — Default 0
Pr3.15
Byte length 16bit Attribute R/W 485 address 0x031F
Valid Immediate

Value Zero speed clamp function

0 Invalid: zero speed clamp deactivated
Velocity command is forced to 0 when the zero speed clamp (ZEROSPD) input
1
signal is valid.
2 Velocity command is forced to 0 when actual velocity is lower than Pr3.16.
3 Includes conditions from 1 and 2

Label Zero speed clamp level Valid mode(s) S

Range 10~2000 Unit r/min Default 30
Pr3.16
Byte length 16bit Attribute R/W 485 address 0x0321
Valid Immediate
Valid when Pr3.15 = 2/3, velocity command is forced to 0 when actual velocity is lower than
Pr3.16 and after static time set in Pr3.23.
Label Torque internal/external switching Valid mode(s) T
Range 0~3 Unit Default 0
Pr3.17
Byte length 16bit Attribute R/W 485 address 0x0323
Valid Immediate

Value Torque command input Velocity limit input

【0】 Analog input 3(AI 3) Pr3.21 set value
1 Analog input 3(AI 3) Analog input 1(AI 1)
2 Pr3.22 set value Pr3.21 set value

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Label Torque command direction selection Valid mode(s) T

Range 0~1 Unit — Default 0
Pr3.18
Byte length 16bit Attribute R/W 485 address 0x0325
Valid Immediate
To set torque command positive/negative direction
Value Direction settings
TC-SIGN ON/OFF has no effect on torque direction
【0】 Torque command input「Positive」→Positive direction、
「Negative」→Negative direction
Use TC-SIGN ON/OFF status for torque direction
1 OFF: Positive direction ON: Negative direction

Label Torque command input gain Valid mode(s) T

Range 10~100 Unit 0.1V/100% Default 30
Pr3.19
Byte length 16bit Attribute R/W 485 address 0x0327
Valid Immediate
To set gain changes from voltage added onto analog torque command (TRQR) to torque
command (%)

·Unit: （0.1V/100%）。
·Set input voltage required for rated output
torque.
·Default = 30，which is 3V/100%

Label Torque command input inversion Valid mode(s) T

Range 0~1 Unit — Default 0
Pr3.20
Byte length 16bit Attribute R/W 485 address 0x0329
Valid Immediate
To set voltage polarity of analog torque command.
Only valid when Pr3.18 = 0.
Value Motor torque direction
【0】 Not 「Positive voltage」→「Positive direction」
inversed 「Negative voltage」→「Negative direction」
1 Inversed 「Positive voltage」→「Positive direction」
「Negative voltage」→「Negative direction」

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Label Velocity limit in torque mode Valid mode(s) T

Range 0~10000 Unit r/min Default 0
Pr3.21 Byte length 16bit Attribute R/W 485 address 0x032B
Valid Immediate
To set velocity limit in torque control mode. Only valid when Pr3.17 = 0 / 2.

Label Torque command Valid mode(s) T

Range 0~300 Unit % Default 0
Pr3.22
Byte length 16bit Attribute R/W 485 address 0x032D
Valid Immediate
To set torque limit in torque control mode. Only valid when Pr3.17 = 2.
Please refer to Pr3.17.

Zero speed delay time in velocity S

Label Valid mode(s)
mode
Pr3.23 Range 0~2000 Unit ms Default 0
Byte length 16bit Attribute R/W 485 address 0x032F
Valid Immediate
To set the time interval between axis reaches zero speed level and the moment it totally stops.
Used when axis crawls under velocity mode. Set 0 to deactivate this parameter.

Label Maximum motor rotational speed Valid mode(s) P S T

Range 0~10000 Unit r/min Default 0
Pr3.24
Byte length 16bit Attribute R/W 485 address 0x0331
Valid Immediate
To set maximum motor rotational speed but not higher than motor rated speed
If Pr3.24 = 0, maximum motor rotational speed = max. speed in motor parameter.

Label Analog 1 clamping voltage Valid mode(s) P S T

Range 0~20000 Unit mv Default 0
Pr3.29
Byte length 16bit Attribute R/W 485 address 0x033B
Valid Immediate
Only valid when Pr3.17 = 1.
When Pr3.17=1, velocity is set to 0 if analog 1 voltage is below Pr3.29 set value.
Label Analog 3 clamping voltage Valid mode(s) P T
Range 0~20000 Unit mv Default 0
Pr3.30
Byte length 16bit Attribute R/W 485 address 0x033D
Valid Immediate
Only valid when Pr3.17 = 1 / 0.
When Pr3.17=1 / 0, velocity is set to 0 if analog 1 voltage is below Pr3.30 set value.

Label Speed regulation ratio 1 Valid mode(s) S

Range 0~150 Unit % Default 10
Pr3.58
Byte length 16bit Attribute R/W 485 address H0x0374 L0x0375
Valid Immediate
To set speed regulation ratio for each input signal. If ratio is more than 150% in total,
rotational speed of the motor will remain unchanged. If the rotational speed of the motor
exceeds Pr3.24, then motor will rotate at maximum speed.
Speed regulation ratio = 100% if SPDREG signal is not valid.

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Please refer to the following table as an example for users’ required settings.
Assuming (1) Pr3.58-Pr3.61 = default
(2)Motor rated rotational speed = 2000rpm
(3) SPDREG input signal = ON

SPDREG1 SPDREG2 SPDREG3 SPDREG4 Actual speed

Ratio (%)
Pr3.58 Pr3.59 Pr3.60 Pr3.61 (rpm)
OFF OFF OFF OFF 0 0
ON OFF OFF OFF 10 200
OFF ON OFF OFF 20 400
OFF OFF ON OFF 40 800
OFF OFF OFF ON 80 1600
ON ON OFF OFF 30 600
ON ON ON OFF 70 1400
Label Speed regulation ratio 2 Valid mode(s) S
Range 0~150 Unit % Default 20
Pr3.59
Byte length 16bit Attribute R/W 485 address H0x0376 L0x0377
Valid Immediate
Same as Pr3.58
Label Speed regulation ratio 3 Valid mode(s) S
Range 0~150 Unit % Default 40
Pr3.60
Byte length 16bit Attribute R/W 485 address H0x0378 L0x0379
Valid Immediate
Same as Pr3.58
Label Speed regulation ratio 4 Valid mode(s) S
Range 0~150 Unit % Default 80
Pr3.61
Byte length 16bit Attribute R/W 485 address H0x037A L0x037B
Valid Immediate
Same as Pr3.58

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3.2.5 [Class 4] I/O Monitoring Settings

Label Input selection DI1 Valid mode(s) P S T
Range 0x00~0xFF Unit — Default 0x2
Pr4.00 Byte 16bit R/W 485 0x0401
Attribute
length address
Valid Immediate
Please refer to the table below to set DI signals and table on the right for corresponding pin and parameters

Value
Symbol
Signal NO NC
Invalid — 0 - CN1
Input Parameters
Positive limit switch POT 1 81 PIN
Negative limit switch NOT 2 82 8 DI1 Pr4.00
Servo enabled SRV-ON 3 83 9 DI2 Pr4.01
Clear alarm A-CLR 4 - 26 DI3 Pr4.02
Control mode switching C-MODE 5 85 27 DI4 Pr4.03
Gain switching GAIN 6 86 28 DI5 Pr4.04
Clear deviation count CL 7 - 29 DI6 Pr4.05
Command pulse prohibited INH 8 88 30 DI7 Pr4.06
Torque limit switching TL-SEL 9 89 31 DI8 Pr4.07
Command frequency DIV1 C 8C
divider/multiplier switching
Internal command velocity 1 INTSPD1 E 8E
Internal command velocity 2 INTSPD2 F 8F
Internal command velocity 3 INTSPD3 10 90
Zero speed clamp ZEROSPD 11 91
Velocity command sign VC-SIGN 12 92
Torque command sign TC-SIGN 13 93
Forced alarm E-STOP 14 94
Vibration suppression 1 VS-SEL1 0A 8A
Vibration suppression 2 VS-SEL2 0B 8B
Speed regulation valid SPDREG 4B CB
Speed regulation ratio 1 SPDREG1 4C CC
Speed regulation ratio 2 SPDREG2 4D CD
Speed regulation ratio 3 SPDREG3 4E CE
Speed regulation ratio 4 SPDREG4 4F CF

Please don’t set anything other than listed in table above.

Normally open (NO) : Valid when input = ON
Normally close (NC): Valid when input = OFF
Er210 might occur if same function is allocated to different channels at the same time

Servo enabled（SRV-ON）has to be allocated to enabled servo drive.

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Inputs related to Pr-mode:

Value
Signal Symbol
NO NC
Trigger command CTRG 20 A0
Home HOME 21 A1
Forced stop STP 22 A2

Value
Signal Symbol
NO NC
Positive JOG PJOG 23 A3
Negative JOG NJOG 24 A4
Positive limit PL 25 A5
Negative limit NL 26 A6
Origin ORG 27 A7
Path address 0 ADD0 28 A8
Path address 1 ADD1 29 A9
Path address 2 ADD2 2A AA
Path address 3 ADD3 2B AB
Note: CTRG, HOME are edge triggered, please make sure electronic bits last 1ms or above.
Label Input selection DI2 Valid mode(s) P S T
Range 0x0~0xFF Unit — Default 0x1
Pr4.01 Byte 16bit Attribute R/W 485 address 0x0403
length
Valid Immediate
Label Input selection DI3 Valid mode(s) P S T
Range 0x0~0xFF Unit — Default 0x0
Pr4.02 Byte 16bit Attribute R/W 485 address 0x0405
length
Valid Immediate
Label Input selection DI4 Valid mode(s) P S T
Range 0x0~0xFF Unit — Default 0x6
Pr4.03 Byte 16bit Attribute R/W 485 address 0x0407
length
Valid Immediate
Label Input selection DI5 Valid mode(s) P S T
Range 0x0~0xFF Unit — Default 0xC
Pr4.04 Byte 16bit Attribute R/W 485 address 0x0409
length
Valid Immediate
Label Input selection DI6 Valid mode(s) P S T
Range 0x0~0xFF Unit — Default 0x3
Pr4.05 Byte 16bit Attribute R/W 485 address 0x040B
length
Valid Immediate
Label Input selection DI7 Valid mode(s) P S T
Range 0x0~0xFF Unit — Default 0x7
Pr4.06 Byte 16bit Attribute R/W 485 address 0x040D
length
Valid Immediate

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Label Input selection DI8 Valid mode(s) P S T

Range 0x0~0xFF Unit — Default 0x4
Pr4.07 Byte 16bit Attribute R/W 485 address 0x040F
length
Valid Immediate
DI2~DI8allocation is the same as DI1. Please refer to Pr4.00.

Label Output selection DO1 Valid mode(s) P S T

Range 0x0~0xFF Unit — Default 0x3
Pr4.10
Byte length 16bit Attribute R/W 485 address 0x0415
Valid Immediate
Please allocate DO as per table below. ALARM logic is the opposite of others
Value
Signal Symbol
NO NC CN1
Output Parameters
00 80 Invalid — PIN
01 81 Alarm ALARM
02 82 Servo-Ready SRDY 7 DO1+
Pr4.10
03 83 External brake released BRK-OFF 6 DO1-
04 84 Positioning completed INP 5 DO2+
Pr4.11
05 85 At-speed AT-SPPED 4 DO2-
06 86 Torque limit signal TLC 3 DO3+
Pr4.12
07 87 Zero speed clamp detection ZSP 2 DO3-
08 88 Velocity coincidence V-COIN 1 DO4+
Pr4.13
12 92 Servo Status SRV-ST 26 DO4-
15 95 Positive limit valid POT-OUT 27 DO5+
Pr4.14
16 96 Negative limit valid NOT-OUT 28 DO5-
0B 8B Position command ON/OFF P-CMD
0F 8F Velocity command ON/OFF V-CMD
0D 8D Velocity limit signal V-LIMIT
14 94 Position comparison CMP-OUT

Same signal can be assigned to multiple different outputs.

Normally open(NO)：Active low
Normally close(NC)：Active high
Err212 might occur if output is allocated to signals other than listed in the table above.

Outputs related to PR-mode

Value
Signal Symbol
NO NC
Command completed CMD-OK 20 A0
Path completed PR-OK 21 A1
Homing done HOME-OK 22 A2

Note: CMD-OK indicates PR command is sent by axis might not yet be in position. PR-OK
indicates axis is in place.

Label Output selection DO2 Valid mode(s) P S T

Pr4.11 Range Unit Default
0x0~0xFF — 0x2

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Byte length 16bit Attribute R/W 485 address 0x0417

Valid Immediate
Label Output selection DO3 Valid mode(s) P S T
Range 0x0~0xFF Unit — Default 0x1
Pr4.12
Byte length 16bit Attribute R/W 485 address 0x0419
Valid Immediate
Label Output selection DO4 Valid mode(s) P S T
Range 0x0~0xFF Unit — Default 0x4
Pr4.13
Byte length 16bit Attribute R/W 485 address 0x041B
Valid Immediate
Label Output selection DO5 Valid mode(s) P S T
Range 0x0~0xFF Unit — Default 0x7
Pr4.14 Byte length 16bit Attribute R/W 485 address 0x041D
Valid Immediate
DO2-DO5 is allocated by the same method as per DO1. Please refer to Pr4.10.

Label Analog input 1(AI-1) Zero drift settings Valid mode(s) S

Range -1860~1860 Unit 5.37mv Default 0
Pr4.22 Byte length 16bit Attribute R/W 485 address 0x042D
Valid Immediate
To set zero drift compensation value on analog input 1 voltage for zero drift correction.
Label Analog input 1(AI-1) filter Valid mode(s) S
Range 0~6400 Unit 0.01ms Default 0
Pr4.23
Byte length 16bit Attribute R/W 485 address 0x042F
Valid Immediate
To set a delay filter time coefficient for AI1 input voltage. When filter time takes effect, input
voltage will be smoothen.
Analog input 1(AI-1) overvoltage S
Label settings Valid mode(s)
Pr4.24 Range 0~100 Unit 0.1V Default 0
Byte length 16bit Attribute R/W 485 address 0x0431
Valid Immediate
Pr4.24 is invalid when set to 0. Er270 might occur when the input voltage of AI1 is higher than
the voltage after zero drift correction.

Label Analog input 3(AI-3) Zero drift settings Valid mode(s) T

Range -1860~1860 Unit 5.37mv Default 0
Pr4.28
Byte length 16bit Attribute R/W 485 address 0x0439
Valid Immediate
To set zero drift compensation value on analog input 3 voltage for zero drift correction.
Label Analog input 3(AI-3) filter Valid mode(s) T
Range 0~6400 Unit 0.01ms Default 0
Pr4.29 Byte length 16bit Attribute R/W 485 address 0x043B
Valid Immediate
To set a delay filter time coefficient for AI3 input voltage. When filter time takes effect, input
voltage will be smoothen.

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Analog input 3(AI-3) overvoltage T

Label Valid mode(s)
settings
Pr4.30 Range 0~100 Unit 0.1V Default 0
Byte length 16bit Attribute R/W 485 address 0x043D
Valid Immediate
Pr4.30 is invalid when set to 0. Er270 might occur when the input voltage of AI3 is higher
than the voltage after zero drift correction.
Label Positioning complete range Valid mode(s) P
Range 0～ Unit Default
Pr5.21 set unit 20
Pr4.31 10000
Byte length 16bit Attribute R/W 485 address 0x043F
Valid Immediate
To set position deviation range of INP1 positioning completed output signal. INP1 output
signal will be valid once position is complete within the range of deviation set.
Default unit: 0.00001rev. Can be set on Pr5.21 as command unit (pulse) or encoder unit
(pulse)
Label Positioning complete output setting Valid mode(s) P
Range 0~4 Unit — Default 1
Pr4.32 Byte length 16bit Attribute R/W 485 address 0x0441
Valid Immediate
To set conditions for INP1 output signal to be valid
Value Positioning completed signal
0 Signal valid when the position deviation is smaller than Pr4.31
1 Signal valid when there is no position command and position deviation is
smaller than Pr4.31
2 Signal valid when there is no position command, zero-speed clamp
detection (ZSP) signal is ON and the positional deviation is smaller than
Pr4.31
3 Signal valid when there is no position command and position deviation is
smaller than Pr4.31. Signal ON when within the time set in Pr4.33 otherwise
OFF.
4 When there is no command, position detection starts after the delay time set
in Pr4.33.
Signal valid when there is no position command and positional deviation is
smaller than Pr4.31.
Label INP positioning delay time Valid mode(s) P
Range 0~15000 Unit 1ms Default 0
Pr4.33 Byte length 16bit Attribute R/W 485 address 0x0443
Valid Immediate
Valid when Pr4.32 = 3.
Set value Positioning completed signal
0 Indefinite delay time, signal ON until next position command
OFF within the time set; ON after time set. Switch OFF after receiving next
1-15000
position command.

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Label Zero speed Valid mode(s) P S T

Range 1~2000 Unit r/min Default 50
Pr4.34
Byte length 16bit Attribute R/W 485 address 0x0445
Valid Immediate
To set threshold value for zero speed clamp detection.
Zero speed clamp detection (ZSP) output signal valid when motor speed goes under the value
set in Pr4.34

- Disregard the direction of rotation, Speed Positive

valid for both directions. (RPM) direction

- Hysteresis of 5RPM. Please refer (Pr4.34+5) r/min

to diagram on the right side.

(Pr4.34-5) r/min

Negative
direction

ZSP ON

Label Velocity coincidence range Valid mode(s) S

Range 10~2000 Unit r/min Default 50
Pr4.35
Byte length 16bit Attribute R/W 485 address 0x0447
Valid Immediate
If the difference between velocity command and motor actual speed is below Pr4.35, Velocity
coincidence (V-COIN) output signal valid.

Due to 10RPM hysteresis:

Velocity coincidence output OFF -> ON timing (Pr4.35 -10) r/min
Velocity coincidence output ON -> OFF timing (Pr4.35 +10) r/min
Position command after
acceleration time
Velocity Velocity settings added Pr4.35
(RPM) command Velocity coincidence
range

Motor
Pr4.35 speed
Velocity
coincidence Pr4.35 Time
range Velocity
coincidence range
Velocity ON ON
coincidence
V-COIN OFF OFF

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Label Target velocity Valid mode(s) S

Range 10~2000 Unit r/min Default 1000
Pr4.36
Byte length 16bit Attribute R/W 485 address 0x0449
Valid Immediate
When motor velocity > Pr4.36, AT-speed output signal is valid.
Detection using 10RPM hysteresis.

Label Motor power-off delay time Valid mode(s) P S T

Range 0~3000 Unit 1ms Default 150
Pr4.37
Byte length 16bit Attribute R/W 485 address 0x044B
Valid Immediate
To set delay time for holding brake to be activated after motor power off to prevent axis from
sliding.
When Pr5.06 = 0, SRV-ON signal is off, holding brake is activated (delay time is determined
by Pr4.39 or Pr6.14). Motor powered-off once delay time set in Pr4.37 is due.

Label Holding brake release time Valid mode(s) P S T

Range 0~3000 Unit 1ms Default 0
Pr4.38
Byte length 16bit Attribute R/W 485 address 0x044D
Valid Immediate
To set delay time for holding brake to be released after motor power on. Motor
will remain at current position and input command is masked to allow holding
brake to be fully released before motor is set in motion.
ON

Off
SRV_ON OFF
Brake released
(BRK_ON)
Brake *4
BRK_OFF ON *1
On

off
Motor Power
*2 Released *2

Actual holding Braked Braked

brake status

*3
Motor
t
Velocity

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*1: Delay time set in Pr4.38

*2: Delay time from the moment BRK_OFF signal is given until actual holding brake is
released or BRK_ON signal is given until actual holding brake is activated. It is dependent
on the holding brake of the motor.
*3: Deceleration time is determined by Pr6.14 or if motor speed goes below Pr4.39,
whichever comes first. BRK_OFF given after deceleration time.
*4: Pr4.37 set time value.

Delay time from the moment SRV_ON is given until BRK_OFF switch to BRK_ON, is less
than 500ms.
Label Holding brake activation speed Valid mode(s) P S T
Range 30~3000 Unit r/min Default 30
Pr4.39 Byte length 16bit Attribute R/W 485 address 0x044F
Valid Immediate
To set the activation speed for which holding brake will be activated.

When SRV-OFF signal is given, motor decelerates, after it reaches below Pr4.39 and Pr6.14
is not yet reached, BRK_OFF is given.
BRK_OFF signal is determined by Pr6.14 or if motor speed goes below Pr4.39, whichever
comes first.

Application:
1. After disabling axis, Pr6.14 has been reached but motor speed is still above Pr4.39,
BRK_OFF signal given.
2. After disabling axis, Pr6.14 has not been reached but motor speed is below Pr4.39,
BRK_OFF signal given.

Deceleration max duration: 2s. Servo disabled after 2s.

Label Emergency stop function Valid mode(s) P S T

Range 0~1 Unit — Default 0
Pr4.43 Byte length 16bit Attribute R/W 485 address 0x0457
Valid Immediate

Value Description.
Emergency stop is valid, servo driver will be forced to STOP and Err570
【0】
occurs.
Emergency stop is invalid, servo driver will not be forced to STOP. Servo
1 can be enabled once E-STOP signal is cleared.

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Label AO1 output Valid mode(s) P S T

Range 0~10 Unit — Default 0
Pr4.64
Byte length 16bit Attribute R/W 485 address 0x0481
Valid Immediate
Value Description
【0】 Negative/Positive value: -10~10V
1 Absolute value output: 0~10V
Other Reserved
Label AO1 signal Valid mode(s) P S T
Range 0x0~0x7FFFFFFF Unit — Default 0x4
Pr4.65
Byte length 16bit Attribute R/ 485 address 0x0483
Valid Immediate W
Bit 0 – 15: AO signal source; Bit 16 – 31: DO extension channel
Bit0~Bit15 Signal source
0x0 -
0x1 Motor rotational speed（V/krpm）
0x2 Position command velocity（V/krpm）
0x3 Internal position command velocity（V/krpm）
0x4 Torque command（0.03V/0.01）
0x5 Position command deviation（mV/Command unit）
0x6 Position command deviation（mV/Encoder unit）
0x7 Analog 1（V/V）
0x8 Analog 2（V/V）
0x9 Analog 3（V/V）
0xA Extension DO（0V/5V）
0xB As per Pr4.67
Bit 16 – 31: Only available when AO signal source = 0xA
Bit16~Bit31 Channel
01h Alarm output
02h Servo ready
03h External brake released
04h Positioning completed
··· Please refer to Pr4.10 for other signal channels
Label AO1 amplification Valid mode(s) P S T
Range -10000~10000 Unit 0.01 Default 100
Pr4.66
Byte length 16bit Attribute R/W 485 address 0x0485
Valid Immediate
To set the amplification of AO1, actual voltage output = amplification x theoretical voltage
Label AO1 communication settings Valid mode(s) P S T
Range -10000~10000 Unit mV Default 0
Pr4.67
Byte length 16bit Attribute R/W 485 address 0x0487
Valid Immediate
Available when AO1 = 0xB
Label AO1 offset Valid mode(s) P S T
Range -10000~10000 Unit mV Default 0
Pr4.68
Byte length 16bit Attribute R/W 485 address 0x0489
Valid Immediate
To set AO1 offset value.

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3.2.6 [Class 5] Extension Settings

nd
Label 2 pulse count per revolution Valid mode(s) P
Range Unit PULS Default
0-67108864 10000
E
Pr5.00 Byte length Attribute 485 address
32bit R/W H: 0x0500
L: 0x0501
Valid After restart
Switch between Pr0.08 and Pr5.00 with DI signal DIV1.
When switch to Pr5.00:
（1）Pr5.00 valid when ≠ 0:
Motor revolution = Input pulse count / [Pr5.00 set value]
（2）Pr5.00 invalid when = 0:
Actual position pulse count is according to Pr5.01 and Pr5.02.
Switching with DIV1 signal only valid when servo drive is re-enabled.
nd
2 Command frequency Valid mode(s) P
Label
divider/multiplier numerator
Range 1~1073741824 Unit — Default 1
Pr5.01
Byte length 32bit Attribute R/ 485 address H: 0x0502
W L: 0x0503
Valid After restart
To set command pulse input frequency division and multiplication numerator
nd
2 Command frequency Valid mode(s) P
Label
divider/multiplier denominator
Range 1~1073741824 Unit — Default 1
Pr5.02
Byte length 32bit Attribute R/ 485 address H: 0x0504
W L: 0x0505
Valid After restart
To set command pulse input frequency division and multiplication denominator. Please refer
to Pr0.09 and Pr0.10. Switch using DIV1 signal.

Label Driver prohibition input settings Valid mode(s) P S T

Range 0/1/2 Unit — Default 0
Pr5.04 Byte length 16bit Attribute R/W 485 address 0x0509
Valid Immediate
To set driver prohibition input (POT/NOT)
Value Description
0 POT  Positive direction drive prohibited
NOT  Negative direction drive prohibited
1 POT and NOT invalid
2 Any single sided input from POT or NOT might cause Er260

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Label Servo-off mode Valid mode(s) P S T

Range 0~1 Unit — Default 0
Pr5.06
Byte length 16bit Attribute R/W 485 address 0x050D
Valid Immediate
To set servo driver disable mode and status.
Description
Value
Mode Status
0 Servo braking Dynamic braking
1 Free stopping Dynamic braking
2 Dynamic braking Dynamic braking
3 Servo braking Free-run
4 Free stopping Free-run
5 Dynamic braking Free-run

Servo braking: Stop servo axis quickly using braking torque

Pr5.06 only effective for stopping under normal circumstances. For stopping on alarm
occurrence but refer to Pr5.10

Label Main power-off detection time Valid mode(s) P S T

Range 50~200 Unit ms Default 50
Pr5.09
Byte length 16bit Attribute R/W 485 address 0x0513
Valid Immediate
To set delay time for detection of main power-off or low voltage supply.

Label Servo-off due to alarm mode Valid mode(s) P S T

Range 0~2 Unit — Default 0
Pr5.10
Byte length 16bit Attribute R/W 485 address 0x0515
Valid After restart
To set servo driver disable mode and status if alarm is triggered.
Alarm type 2:
Explanation
Value
Mode Status
0 Servo braking Dynamic braking
1 Free stopping Dynamic braking
2 Dynamic braking Dynamic braking
3 Servo braking Free-run
4 Free stopping Free-run
5 Dynamic braking Free-run
Alarm type 1:
Explanation
Value
Mode Status
0
1 Dynamic braking Dynamic braking
2
3 Servo braking Free-run
4 Free stopping Free-run
5 Dynamic braking Free-run

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Label Servo braking torque setting Valid mode(s) P S T

Range 0~500 Unit % Default 0
Pr5.11
Byte length 16bit Attribute R/W 485 address 0x0517
Valid Immediate
To set torque limit for servo braking mode.
If Pr5.11 = 0, use torque limit as under normal situation.
Please note that if Pr5.11 set value is too low, emergency stop will take longer.

Label Overload level setting Valid mode(s) P S T

Range 0~115 Unit % Default 0
Pr5.12
Byte length 16bit Attribute R/W 485 address 0x0519
Valid Immediate
· When set to 0, overload level = 100%.
·Set to 0 under regular usage. Lowering overload level will cause motor to overload in
shorter time.
·Er100 occurs when driver output current higher than motor rated current (overload)
Er101 occurs when driver output current lower than motor rated current

Label Overspeed level settings Valid mode(s) P S T

Range 0~10000 Unit r/min Default 0
Pr5.13
Byte length 16bit Attribute R/W 485 address 0x051B
Valid Immediate
If motor speed exceeds Pr5.13, Er1A0 might occur.
When Pr5.13 = 0, overspeed level = max. motor speed x 1.2

Label I/O digital filter Valid mode(s) P S T

Range 0~255 Unit 0.1ms Default 0
Pr5.15
Byte length 16bit Attribute R/W 485 address 0x051F
Valid After restart
Digital filtering of I/O input. Overly large value set will cause control delay.

Label Counter clearing input mode Valid mode(s) P

Range 0~4 Unit — Default 3
Pr5.17
Byte length 16bit Attribute R/W 485 address 0x0523
Valid Immediate
To set the clearing conditions for deviation counter clearing input signal.
Value Condition
0/2/4 Invalid
1 Always clear
3 Clear only once (Rising edge trigger)

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Label Position unit settings Valid mode(s) P

Range 0~2 Unit — Default 1
Pr5.20 Byte length 16bit Attribute R/W 485 address 0x0529
Valid Immediate
Set unit for position related parameters
Value Unit
0 Encoder unit
1 Command unit
2 0.0001rev
Command unit: Pulse from host (Affected by electronic gear ratio)
Encoder unit: Pulse from encoder (Related to encoder resolution)
Pr5.20 can only be modified when axis is disabled as it will clear position data

Label Torque limit selection Valid mode(s) P S T

Range 0~6 Unit — Default 0
Pr5.21
Byte length 16bit Attribute R/W 485 address 0x052B
Valid Immediate

Value Limit
st
【0】 1 torque limit Pr0.13
nd
1 2 torque limitPr5.22
TL-SEL OFF Pr0.13
2
TL-SEL ON Pr5.22
3~4 Reserved
Pr0.13 →Positive torque limit
5 Pr5.22 →Negative torque limit

nd
Label 2 torque limit Valid mode(s) P S T
Range 0~500 Unit % Default 300
Pr5.22 Byte length 16bit Attribute R/W 485 address 0x052D
Valid Immediate
Pr5.22 is limited by max. torque set in motor parameter.

Label Positive torque warning threshold Valid mode(s) P S T

Range 0~300 Unit % Default 0
Pr5.23
Byte length 16bit Attribute R/W 485 address 0x052F
Valid Immediate
Default = 0, which is 95%. Other values only valid when Pr5.21 = 5.
If actual torque higher than threshold, TLC torque limit signal will be valid.
Label Negative torque warning threshold Valid mode(s) P S T
Range 0~300 Unit % Default 0
Pr5.24
Byte length 16bit Attribute R/W 485 address 0x0531
Valid Immediate
Default = 0, which is 95%. Other values only valid when Pr5.21 = 5.
If actual torque higher than threshold, TLC torque limit signal will be valid.

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Label LED initial status Valid mode(s) P S T

Range 0~35 Unit — Default 1
Pr5.28
Byte length 16bit Attribute R/W 485 address 0x0539
Valid Immediate
To set content display on front panel of the servo driver at servo driver power on.

Value Status Value Status Value Status

0 Position deviation 14 Regenerative load rate 28 Software version
1 Motor speed 15 Overload rate 29 Internal usage
Encoder
Position command
2 16 Inertia load ratio 30 communication
deviation
failure counts
Velocity control Cause(s) of non-
3 17 31 Accumulated uptime
command rotation
Actual feedback
4 18 No. of I/O changes 32 Internal usage
torque
5 Feedback pulse sum 19 Internal usage 33 Driver temperature
6 Command pulse sum 20 Absolute encoder data 34 Servo status
Encoder single turn
7 Max. torque 21 35 Internal usage
data
Position command
8 22 Encoder multiturn data
frequency
9 Control mode 23 485 receive frame
Encoder position
10 I/O status 24
deviation
11 Analogue input 25 Internal usage
Alarm cause &
12 26 Internal usage
history record
13 Warning ID 27 PN Voltage

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Label RS485 communication mode Valid mode(s) P S T

Range 0~255 Unit — Default 5
Pr5.29
Byte length 16bit Attribute R/W 485 address 0x053B
Valid After restart

Value Bit Checksum Stop

0 8 Even 2
1 8 Odd 2
2 8 Even 1
3 8 Odd 1
4 8 Null 1
【5】 8 Null 2

Label RS485 communication Baud rate Valid mode(s) P S T

Range 0~15 Unit — Default 4
Pr5.30
Byte length 16bit Attribute R/W 485 address 0x053D
Valid After restart

Value Baud rate Value Baud rate

0 2400bps 【4】 38400bps
1 4800bps 5 57600bps
2 9600bps 6 115200bps
3 19200bps
Baud rate tolerance: 2400～38400bps±0.5%, 57600～115200bps±2%

Label RS485 axis address Valid mode(s) P S T

Range 0~127 Unit — Default 1
Pr5.31
Byte length 16bit Attribute R/W 485 address 0x053F
Valid After restart
When controller is connected to multiple axis and controller needs to identify the axis,
Pr5.31 can be used to set the axis ID/address.
Please set to a max of 31 if the communication is between RS232 and RS485
Label Max. command pulse input frequency Valid mode(s) P
Range 0~8000 Unit kHz Default 4100
Pr5.32
Byte length 16bit Attribute R/W 485 address 0x0541
Valid Immediate
Please set the max. frequency required for command pulse input. Er1B0 will occur, if
command pulse input frequency exceeds Pr5.32.

Label Front panel lock setting Valid mode(s) P S T

Range 0~1 Unit — Default 0
Pr5.35
Byte length 16bit Attribute R/W 485 address 0x0547
Valid Immediate
Value Description
【0】 Front panel not lock
1 Only parameter modification through front panel is locked

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Torque saturation alarm detection Valid mode(s) P S T

Label
time
Pr5.37 Range 0~5000 Unit ms Default 500
Byte length 16bit Attribute R/W 485 address 0x0549
Valid Immediate
To set the delay time for detection of torque over limit under torque homing mode.
Under homing mode, when torque exceeds limit and the time set in Pr5.37, TLC output
signal will be valid.

Frequency divider output – Z-signal Valid mode(s) P S T

Label
polarity
Pr5.42 Range 0~7 Unit — Default 0
Byte length 16bit Attribute R/W 485 address 0x0555
Valid Disabled
Bit Polarity Description
0 = Positive Z polarity setting of frequency divider output and
Bit0
1 = Negative position comparison
0 = Positive Only valid in position comparison.
Bit1 Polarity setting when phase A frequency divider
1 = Negative
as position comparison output
Only valid in position comparison.
Bit2 0 = Positive Polarity setting when phase B frequency divider
as position comparison output

Frequency divider output – Z-signal Valid mode(s) P S T

Label
width
Pr5.43 Range 0~500 Unit μs Default 0
Byte length 16bit Attribute R/W 485 address 0x0557
Valid After restart
Value Description
【0】 Z bandwidth equivalent to 1 cycle of A/B
1~500 Delay setting on top of A/B cycle width
When Pr5.43 = 0, width of frequency divider output Z-signal is equivalent to width of 1 cycle
of A/B, value set in Pr5.43 + A/B cycle width = delay setting.

Z A/B cycle

Pr5.43

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Label Frequency divider output source Valid mode(s) P S T

Range 0~4 Unit — Default 0
Pr5.44
Byte length 16bit Attribute R/W 485 address 0x0559
Valid After restart

Value Description
【0】 Position feedback of encoder #1(motor encoder)
1 Position feedback of encoder #2(external encoder)
2 Reserved
3 Pulse input command position synchronous output;
position comparison not available in this mode
4 Frequency divider output prohibited

Label Vent overload level Valid mode(s) P S T

Range 0~115 Unit % Default 0
Pr5.46
Byte length 16bit Attribute R/W 485 address 0x055D
Valid After restart
Value Description
【0】 Default level: 80%
1~115 Set vent overload level accordingly

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3.2.7 [Class 6] Other settings

Label Encoder zero position compensation Valid mode(s) P S T
Range Electrical Default
0~360 Unit 0
Pr6.01 angel
Byte length 16bit Attribute R/W 485 address 0x0603
Valid Power-off
Zero position compensation for encoder zero drift to avoid abnormality due to zero drift.

Label JOG trial run torque command Valid mode(s) T

Range 0~350 Unit % Default 350
Pr6.03
Byte length 16bit Attribute R/W 485 address 0x0607
Valid Immediate
To set torque for JOG trial run command.
Label JOG trial run velocity command Valid mode(s) P S T
Range 0~10000 Unit r/min Default 30
Pr6.04
Byte length 16bit Attribute R/W 485 address 0x0609
Valid Immediate
To set velocity for JOG trial run command.

rd
Label Position 3 gain valid time Valid mode(s) P
Range 0~10000 Unit 0.1ms Default 0
Pr6.05
Byte length 16bit Attribute R/W 485 address 0x060B
Valid Immediate
rd
To set time for 3 gain to be valid
Only available in position mode
When not in use, set Pr6.05=0, Pr6.06=100
rd
Label Position 3 gain scale factor Valid mode(s) P
Range 50~1000 Unit 100% Default 100
Pr6.06
Byte length 16bit Attribute R/W 485 address 0x060D
Valid Immediate
rd st
Set up the 3 gain by multiplying factor of the 1 gain
Position command velocity
(RPM)
Effective time
Pr6.05 x 0.1ms

2nd gain 3rd gain 1st gain

Pr1.05~Pr1.09 Pr1.00~Pr1.04

Position loop gain = Pr1.00 x Pr6.06/100

Velocity loop gain = Pr1.01 x Pr6.06/100
Velocity loop integral time constant，Velocity detection filter，
Torque filter time constant still uses 1st gain

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Above diagram is illustrated using Pr1.15 = 7.

rd st
3 gain= 1 gain * Pr6.06/100
Only effective under position control mode. 3 gain valid when Pr6.05 ≠ 0. Set 3 gain value
rd rd
nd st rd
in Pr6.06. When 2 gain switches to 1 gain, it will go through 3 , switching time is set in
Pr1.19.

Label Torque command additional value Valid mode(s) P S T

Range -100~100 Unit % Default 0
Pr6.07
Byte length 16bit Attribute R/W 485 address 0x060F
Valid Immediate
To set torque forward feed additional value of vertical axis.
Applicable for loaded vertical axis, compensate constant torque.
Application: When load move along vertical axis, pick any point from the whole motion and
stop the load at that particular point with motor enabled but not rotating. Record output
torque value from d04, use that value as torque command additional value (compensation
value)

Positive direction torque Valid mode(s) P S T

Label
compensation value
Pr6.08 Range -100~100 Unit % Default 0
Byte length 16bit Attribute R/W 485 address 0x0611
Valid Immediate
Negative direction torque Valid mode(s) P S T
Label
compensation value
Pr6.09 Range -100~100 Unit % Default 0
Byte length 16bit Attribute R/W 485 address 0x0613
Valid Immediate
To reduce the effect of mechanical friction in the movement(s) of the axis. Compensation
values can be set according to needs for both rotational directions.

Applications:
1. When motor is at constant speed, d04 will deliver torque values.
Torque value in positive direction = T1;
Torque value in negative direction = T2

Pr6.08/Pr6.09 = Tf =

Positive/Negative compensation corresponds to actual position feedback.

Positive torque compensation value = +(Pr6.08=+Tf)
Negative torque compensation value = -(Pr6.08=+Tf)
Pr6.08 =x, Pr6.09=y; friction compensation value = |x-y|/2

Label Current response settings Valid mode(s) P S T

Range 50~100 Unit % Default 100
Pr6.11
Byte length 16bit Attribute R/W 485 address 0x0617
Valid Immediate
To set driver current loop related effective value ratio.

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Label Max. time to stop after disabling Valid mode(s) P S T

Range 0~1000 Unit ms Default 500
Pr6.14
Byte length 16bit Attribute R/W 485 address 0x061D
Valid Immediate
To set the max. time allowed for the axis to stop on emergency stop or normal axis disabling.
After disabling axis, if motor speed is still higher than Pr4.39 but the time set in Pr6.14 is
reached, BRK_ON given and holding brake activated.
BRK_ON given time is determined by Pr6.14 or when motor speed goes below Pr4.39,
whichever comes first.

Applications:
1. After disabling axis, if motor speed is still higher than Pr4.39 but the time set in Pr6.14 is
reached, BRK_ON given and holding brake activated.
2. After disabling axis, if motor speed is already lower than Pr4.39 but the time set in Pr6.14
is not yet reached, BRK_ON given and holding brake activated.

Dynamic brake will be provide the braking function if the function is activated for motors
without holding brake.

Label Trial run distance Valid mode(s) P

Range 0~1200 Unit 0.1rev Default 10
Pr6.20
Byte length 16bit Attribute R/W 485 address 0x0629
Valid Immediate
JOG (Position control) : Distance travel of each motion.

Label Trial run waiting time Valid mode(s) P

Range 0~10000 Unit ms Default 300
Pr6.21
Byte length 16bit Attribute R/W 485 address 0x062B
Valid Immediate
JOG (Position control) : Waiting time interval after each motion cycle

Label No. of trial run cycles Valid mode(s) P

Range 0~10000 Unit — Default 5
Pr6.22
Byte length 16bit Attribute R/W 485 address 0x062D
Valid Immediate
JOG (Position control) : No. of cycles
When Pr6.22, trial run goes into endless cycles.
Label Trial run acceleration Valid mode(s) P S
Range 0~10000 Unit ms Default 200
Pr6.25
Byte length 16bit Attribute R/W 485 address 0x0633
Valid Immediate
To set the acceleration/deceleration time for JOG command between 0 rpm to 1000 rpm

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Label Observer gain Valid mode(s) P S

Range 0~32767 Unit % Default 0
Pr6.28
Byte length 16bit Attribute R/W 485 address 0x0639
Valid Immediate
0：Default stable gain 1：OFF
x：(unit：%) Manual, related to motor, load and encoder
Label Observer filter Valid mode(s) P S
Range 0~32767 Unit μs Default 0
Pr6.29
Byte length 16bit Attribute R/W 485 address 0x063B
Valid Immediate
0：Default stable observer filter 1：OFF
x：(unit：μs) Manual, related to motor, load and encoder

Blocked rotor alarm torque Valid mode(s) P S

Label
threshold
Pr6.56 Range 0~300 Unit % Default 300
Byte length 16bit Attribute R/W 485 address 0x0671
Valid Immediate
To set the torque threshold of blocked rotor to trigger alarm. (Alarm triggered if torque
output% larger than threshold value & under 10rpm)
If Pr6.56 = 0, blocked rotor alarm deactivated.
If motor speed is 10rpm or above, Er102 won’t be triggered.
Label Blocked rotor alarm delay time Valid mode(s) P S
Range 1~10000 Unit ms Default 400
Pr6.57
Byte length 16bit Attribute R/W 485 address 0x0673
Valid Immediate
To set delay time for blocked rotor alarm. Err102 won’t be triggered if time doesn’t exceed
set time in Pr6.57.
Blocked rotor alarm is activated by default, alarm torque threshold = 300%, delay time =
400ms; speed threshold = 10rpm;
Torque（%）

300
Torque during Diagram shows
blocked
Torque during blocked rotor with
normal operation speed under 10rpm
70

If the rotor is
Normal speed
blocked but with
3000r/min speed over 10rpm,
Er102 would not be
Speed during block
(below 10rpm)
triggered but Er100
10r/min might occur.

Alarm
Pr6.57(ms)
Er102 alarm

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Label Absolute multiturn data upper limit Valid mode(s) P S T

Range 0~32766 Unit rev Default 0
Pr6.63
Byte length 16bit Attribute R/W 485 address 0x067F
Valid After restart
Use Pr0.15 = 2 in rotational mode, Feedback position cycles between 0 and (Pr6.63+1) x
encoder resolution.
Absolute multiturn data will be set to 0 if reaches upper limit.

3.2.8 [Class 7] Factory settings

*Please take precaution when modifying Class 7 parameters. Might cause driver errors
Label Motor model Valid mode(s) P S T
Range 0x0~0x7FFF Unit — Default 0x200
Pr7.15
Byte length 16bit Attribute R/W 485 address 0x071F
Valid After restart
Value Description
0x100 Read from EEPROM
[0x200] Read from Encoder
When Pr7.15 = 0x200(2xx):
Parameter Label
Pr7.00 Current loop gain
Pr7.01 Current loop integral time
Pr7.05 No. of motor pole pairs
Pr7.06 Motor phase resistance
Pr7.07 Motor D/Q induction
Pr7.08 Motor back EMF coefficient
Pr7.09 Motor torque coefficient
Pr7.10 Motor rated rotational speed
Pr7.11 Motor max. rotational speed
Pr7.12 Motor rated current
Pr7.13 Motor rotor inertia
Pr7.14 Driver power rating
Pr7.16 Encoder
Pr7.17 Motor max. current
Pr7.18 Encoder index angle compensation
Label Encoder Valid mode(s) P S T
Range 0x0~0x200 Unit — Default 编码器决定
Pr7.16
Byte length 16bit Attribute R/W 485 address 0x0721
Valid After restart
To select encoder type. Typically, encoder specifications are automatically read.
Value Description
0x0 17-bit encoder
0x7 23-bit encoder

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Label External grating ruler precision Valid mode(s) P S T

Range 1~1000000 Unit nm Default 100
Pr7.54
Byte length 16bit Attribute R/W 485 address 0x076D
Valid After restart
To select external grating ruler precision

3.2.8 [Class B] Status Parameters

Label Software version 1（DSP） Valid mode(s) P S T
PrB.00 Range / Unit / Default /
Byte length 16bit Attribute R 485 address 0x0B00
Show DSP software version info.
Label Software version 2（CPLD） Valid mode(s) P S T
PrB.01 Range / Unit / Default /
Byte length 16bit Attribute R 485 address 0x0B01
Show software version info.
Label Software version 3（Others） Valid mode(s) P S T
PrB.02 Range / Unit / Default /
Byte length 16bit Attribute R 485 address 0x0B02
Show software version info.

Label Current alarm Valid mode(s) P S T

PrB.03 Range / Unit / Default /
Byte length 16bit Attribute R 485 address 0x0B03
Show current alarm

Label Motor not rotating cause Valid mode(s) P S T

PrB.04 Range / Unit / Default /
Byte length 16bit Attribute R 485 address 0x0B04
Show cause of motor not rotating

Label Driver operation status Valid mode(s) P S T

PrB.05 Range / Unit / Default /
Byte length 16bit Attribute R 485 address 0x0B05
Bit Status Description
0 RDY Servo is ready
1 RUN Servo is running
2 ERR Driver error
3 HOME_OK Homing completed
4 INP In position
5 AT-SPEED Velocity reached
6~15 Reserved

Label Motor speed (Before filter) Valid mode(s) P S T

PrB.06 Range / Unit rpm Default /
Byte length 16bit Attribute R 485 address 0x0B06
Motor actual speed

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Label Motor torque Valid mode(s) P S T

PrB.07 Range / Unit % Default /
Byte length 16bit Attribute R 485 address 0x0B07
The percentage of motor actual torque and rated torque

Label Motor current Valid mode(s) P S T

PrB.08 Range / Unit 0.01A Default /
Byte length 16bit Attribute R 485 address 0x0B08
Motor actual current

Label Motor speed (After filter) Valid mode(s) P S T

PrB.09 Range / Unit rpm Default /
Byte length 16bit Attribute R 485 address 0x0B09
Motor speed after motor actual speed filtering

Label DC bus voltage Valid mode(s) P S T

PrB.10 Range / Unit V Default /
Byte length 16bit Attribute R 485 address 0x0B0A
Driver DC bus actual voltage

Label Driver temperature Valid mode(s) P S T

PrB.11 Range / Unit °C Default /
Byte length 16bit Attribute R 485 address 0x0B0B
Actual driver temperature

Label External analog 1 Valid mode(s) P S T

PrB.12 Range / Unit 0.01V Default /
Byte length 16bit Attribute R 485 address 0x0B0C
Driver analog input 1

Label External analog 2 Valid mode(s) P S T

PrB.13 Range / Unit 0.01V Default /
Byte length 16bit Attribute R 485 address 0x0B0D
Driver analog input 2

Label External analog 3 Valid mode(s) P S T

PrB.14 Range / Unit 0.01V Default /
Byte length 16bit Attribute R 485 address 0x0B0E
Driver analog input 3

Label Motor overload rate Valid mode(s) P S T

PrB.15 Range / Unit % Default /
Byte length 16bit Attribute R 485 address 0x0B0F
Motor overload rate

Label Vent overload rate Valid mode(s) P S T

PrB.16 Range / Unit % Default /
Byte length 16bit Attribute R 485 address 0x0B10
Vent overload rate

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Label Physical I/O input status Valid mode(s) P S T

PrB.17 Range / Unit / Default /
Byte length 16bit Attribute R 485 address 0x0B04
Driver physical I/O input bit0 corresponds to DI1, bit1 to DI2 and so on;
Bitn=1, DIn+1 high level signal input; Bitn=0, DIn+1 low level signal input

Label Cause of motor not rotating Valid mode(s) P S T

PrB.18 Range / Unit / Default /
Byte length 16bit Attribute R 485 address 0x0B04
Driver physical I/O output bit0 corresponds to DO1, bit1 to DO2 and so on;
Bitn=1, DOn+1 high level signal output; Bitn=0 indicates DOn+1 low level signal output

Label Command position (Command unit) Valid mode(s) P

Range / Unit P Default /
PrB.20
Byte length 32bit Attribute R 485 address H: 0x0B14
L: 0x0B15
Driver receives command pulse count. Driver command unit: 10000 pulses/rev, Encoder
unit: 8388608 pulses/rev. If driver receives 8388608 pulses, 10000P will be shown.

Label Motor position (Command unit) Valid mode(s) P

Range / Unit P Default /
PrB.21
Byte length 32bit Attribute R 485 address H: 0x0B16
L: 0x0B17
Motor position feedback. Driver command unit: 10000 pulses/rev, Encoder unit: 8388608
pulses/rev. If driver receives 8388608 pulses, 10000P will be shown.

Label Position deviation (Command unit) Valid mode(s) P

Range / Unit P Default /
PrB.22
Byte length 32bit Attribute R 485 address H: 0x0B18
L: 0x0B19
Shows position deviation. Please refer to PrB.20.

Label Command position (Encoder unit) Valid mode(s) P

Range / Unit P Default /
PrB.23
Byte length 32bit Attribute R 485 address H: 0x0B1A
L: 0x0B1B
Driver receives command pulse count. Driver command unit: 10000 pulses/rev, Encoder
unit: 8388608 pulses/rev. If driver receives 10000 pulses, 8388608 pulses will be shown.

Label Motor position (Encoder unit) Valid mode(s) P

Range / Unit P Default /
PrB.24
Byte length 32bit Attribute R 485 address H: 0x0B1C
L: 0x0B1D
Driver receives motor encoder feedback pulses

Label Position deviation (Encoder unit) Valid mode(s) P

Range / Unit P Default /
PrB.25
Byte length 32bit Attribute R 485 address H: 0x0B1E
L: 0x0B1F
Shows position deviation. Please refer to PrB.23.

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Rotational encoder position feedback Valid mode(s) P

Label
(Command unit)
PrB.26 Range / Unit P Default /
Byte length 32bit Attribute R 485 address H: 0x0B20
L: 0x0B21
Motor position under rotary mode. Please refer to PrB.21

3.2.9 [Class 8] PR control parameters

Label PR Control Valid mode(s) PR
Pr8.00 Range 0 ~ 65535 Unit / Default 0
Byte length 16bit Attribute R/W 485 address 0X6000
It is recommended to modify PR control parameters using Motion Studio.

Bit 3 2 1 0
Description =1, absolute value =1, homing =1, software position =0, CTRG rising
memory upon power on limit valid edge trigger
=0, absolute value =0, no homing =0, software position =1, double edges
with no memory upon power on limit not valid trigger
If parameter modifications are done through the front panel or parameters list, please keep in
mind that PR control parameters byte are decimal system.
For example: If Bit 3, 2, 1, 0 are to be set to 1 (1111). Conversion using decimal system, 1111
= 15, Pr8.00 is to be set to 15.

Label Path count Valid mode(s) PR

Pr8.01 Range 16 Unit / Default 16
Byte length 16bit Attribute R 485 address 0X6001
16 paths

Label Control Operation Valid mode(s) PR

Pr8.02 Range 0x0 ~ 0xFFFF Unit / Default 0x0
Byte length 16bit Attribute R/W 485 address 0X6002
Attributes of Pr8.02 functions are divided into Read/Write. P refers to positioning motion of N
path. Please refer to the following table.
Attribute Address Description
Write 0x01P N path positioning
Write 0x020 Reset
Write 0x021 Manually set currently position as 0 (Origin)
Write 0x040 Emergency stop
Read 0x000P Positioning completed. Ready to receive new data
Read 0x01P,
0x020, Yet to respond to command
0x040
Read 0x10P Path motion undergoing
Read 0x200 Command completed. Waiting for positioning

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Label Software positive limit H Valid mode(s) PR

Pr8.06 Range 0~ 65535 Unit Pulse Default 0
Byte length 16bit Attribute R/W 485 address 0X6006
High bit of software positive limit；(Only valid using 485 communication)

Label Software positive limit (L) Valid mode(s) PR

Range -2147483648~ Default
Pr8.07 Unit Pulse 0
2147483647
Byte length 32bit Attribute R/W 485 address 0X6007
To set software positive limit position (32 bit base)
Using 485 communication, only able to R/W low 16 bit.
R/W high 16 bit needs to be realized through Pr8.06
When software positive limit = 994817, 0x000F2E01(Hexadecimal)
high16bit = 0x000F, hence Pr8.05 reading = 0x000F, controller = 15.
R/W of high/low bit data is similar when using 485 communication.
Label Software negative limit H Valid mode(s) PR
Pr8.08 Range 0~ 0x65535 Unit Pulse Default 0
Byte length 16bit Attribute R/W 485 address 0X6008
High bit of software negative limit；(Only valid using 485 communication)

Label Software negative limit (L) Valid mode(s) PR

Range -2147483648~ Default
Pr8.09 Unit Pulse 0
2147483647
Byte length 32bit Attribute R/W 485 address 0X6009
To set software positive limit position.
Using 485 communication, only able to R/W low 16 bit.
R/W high 16 bit needs to be realized through Pr8.08.

Label Homing mode Valid mode(s) PR

Pr8.10 Range 0~ 0xFFFF Unit / Default 0
Byte length 16bit Attribute R/W 485 address 0X600A
To set homing method in PR mode. It is recommended to modify PR control parameters
using Motion Studio.
Bit 8（Z-signal 2-7（Homing mode） 1（Specific position 0（Homing
homing） after homing） direction）
Description =1, homing with =0 Limit homing =1, Yes =1, Forward
Z-signal =1 Origin homing =0, No =0, Reverse
=0, homing =2 Single turn Z
without Z-signal homing
=3 Torque homing
=8 Immediate homing

Label Zero position H Valid mode(s) PR

Pr8.11 Range 0 ~ 65535 Unit / Default 0
Byte length 16bit Attribute R/W 485 address 0X600B
High bit of zero position；(Only valid using 485 communication)

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Label Zero position (L) Valid mode(s) PR

Range -2147483648~ Default
Pr8.12 Unit p 0
2147483647
Byte length 32bit Attribute R/W 485 address 0X600C
To set zero position.
Using 485 communication, only able to R/W low 16 bit.
R/W high 16 bit needs to be realized through Pr8.11.
Label Home position offset H Valid mode(s) PR
Pr8.13 Range 0 ~ 65535 Unit / Default 0
Byte length 16bit Attribute R/W 485 address 0X600D
High bit of home position offset；(Only valid using 485 communication)
Label Home position offset (L) Valid mode(s) PR
Range -2147483648~ Default
Pr8.14 Unit p 0
2147483647
Byte length 32bit Attribute R/W 485 address 0X600E
To set home position offset.
Using 485 communication, only able to R/W low 16 bit.
R/W high 16 bit needs to be realized through Pr8.13.
Label High homing velocity Valid mode(s) PR
Pr8.15 Range 1 ~ 6000 Unit rpm Default 200
Byte length 16bit Attribute R/W 485 address 0X600F
To set high homing velocity in PR mode.
Label Low homing velocity Valid mode(s) PR
Pr8.16 Range 1 ~ 6000 Unit rpm Default 50
Byte length 16bit Attribute R/W 485 address 0X6010
To set low homing velocity in PR mode.
Label Homing acceleration Valid mode(s) PR
Pr8.17 Range 1 ~ 32767 Unit ms/Krpm Default 100
Byte length 16bit Attribute R/W 485 address 0X6011
To set homing acceleration time in PR mode, time needed for 0rpm to accelerate to
1000rpm
Label Homing deceleration Valid mode(s) PR
Pr8.18 Range 1 ~ 32767 Unit ms/Krpm Default 100
Byte length 16bit Attribute R/W 485 address 0X6012
To set homing deceleration time in PR mode, time needed for 1000rpm to decelerate to
0rpm
Label Homing torque holding time Valid mode(s) PR
Pr8.19 Range 0 ~ 65535 Unit ms Default 100
Byte length 16bit Attribute R/W 485 address 0X6013
To set homing torque holding time
Label Homing torque Valid mode(s) PR
Pr8.20 Range 0 ~ 65535 Unit % Default 100
Byte length 16bit Attribute R/W 485 address 0X6014
To set homing torque

Label Homing overtravel alarm range Valid mode(s) PR

Pr8.21 Range 0 ~ 65535 Unit 0.1r Default 0
Byte length 16bit Attribute R/W 485 address 0X6015
To set homing overtravel alarm threshold.

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Label Emergency stop at limit deceleration Valid mode(s) PR

Pr8.22 Range 1 ~ 32767 Unit ms/Krpm Default 10
Byte length 16bit Attribute R/W 485 address 0X6016
To set position limit emergency stop deceleration.
Label STP emergency stop deceleration Valid mode(s) PR
Pr8.23 Range 1 ~ 32767 Unit ms/Krpm Default 50
Byte length 16bit Attribute R/W 485 address 0X6017
To set STP emergency stop deceleration.

Label I/O combination trigger mode Valid mode(s) PR

Pr8.26 Range 0 ~ 65535 Unit / Default 0
Byte length 16bit Attribute R/W 485 address 0X601A
Value Description
【0】 Disable I/O combination trigger mode. Uses I/O CTRG signal edge trigger.
1 Enable I/O combination trigger. Valid when HOME-OK signal is valid.
2 Enable I/O combination trigger. HOME-OK signal not required.
IO combination trigger select path using ADD0~ADD3. Trigger mode is set in Pr8.26.

ADD3 ADD2 ADD1 ADD0 Path selection

OFF OFF OFF OFF Path 0 (Non-action)
OFF OFF OFF ON Path1
OFF OFF ON OFF Path2
OFF OFF ON ON Path3
OFF ON OFF OFF Path4
OFF ON OFF ON Path5
OFF ON ON OFF Path6
OFF ON ON ON Path7
ON OFF OFF OFF Path8
ON OFF OFF ON Path9
ON OFF ON OFF Path10
ON OFF ON ON Path11
ON ON OFF OFF Path12
ON ON OFF ON Path13
ON ON ON OFF Path14
ON ON ON ON Path15
Label I/O combination filter Valid mode(s) PR
Pr8.27 Range 0 ~ 65535 Unit ms Default 5
Byte length 16bit Attribute R/W 485 address 0X601B
To set I/O combination filter time.

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Label S-code current output value Valid mode(s) PR

Range 0 ~ 65535 Unit / Default 0
Pr8.28
Byte length 16bit Attribute R/W 485 address 0X601C

S-code（Status code）is the S-code of currently operating PR positioning data.

Every PR path has a S-code setting.
S-code Sx.H Sx.L
Bit 15 8-14 7 0-6
Description S-code valid when S-code upon S-code valid S-code upon
completed. completion upon activation activation
0: Invalid, retain 0: Invalid
previous value 1: Valid
1: Valid

Sequence diagram

PR1 Pause
PR2

t
Trigger

S-code S1.L S1.H S2.L S2.H

Valid upon enabling and completion of S1 and S2
S1.L S2.H
Valid when S1 enabled and S2 completed

S-code bit bit0/8 bit1/9 bit2/10 bit3/11 bit4/12 bit5/13 Bit6/14

SDx SD0 SD1 SD2 SD3 SD4 SD5 SD6

Label PR warning Valid mode(s) PR

Pr8.29 Range 0x0~0x20F Unit / Default 0
Byte length 16bit Attribute R/W 485 address 0X601D
Address Warning
0 Reset new command automatically
0x100 Position limit error during homing
0x101 Emergency stop. Homing not completed
0x102 Homing overtravel alarm
0x20x Position limit error on Path N

Label JOG velocity Valid mode(s) PR

Pr8.39 Range 0 ~ 65535 Unit rpm Default 100
Byte length 16bit Attribute R 485 address 0X6027
Set JOG velocity in PR mode.
Label JOG acceleration Valid mode(s) PR
Pr8.40 Range 0 ~ 65535 Unit ms/Krpm Default 100
Byte length 16bit Attribute R 485 address 0X6028
Set JOG acceleration in PR mode.

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Label JOG deceleration Valid mode(s) PR

Pr8.41 Range 0 ~ 65535 Unit ms/Krpm Default 100
Byte length 16bit Attribute R 485 address 0X6029
Set JOG deceleration in PR mode.

Label Command position H Valid mode(s) PR

Pr8.42 Range 0 ~ 65535 Unit / Default
Byte length 16bit Attribute R 485 address 0X602A
High bit of command position；(Only valid using 485 communication)
Label Command position（L） Valid mode(s) PR
Range -2147483648~ Default
Pr8.43 Unit p
2147483647
Byte length 32bit Attribute R 485 address 0X602B
To set PR-motion command position.
Using 485 communication, only able to R/W low 16 bit.
R/W high 16 bit needs to be realized through Pr8.42.
Label Motor position H Valid mode(s) PR
Pr8.44 Range 0~ 0xFFFF Unit / Default
Byte length 16bit Attribute R 485 address 0X602C
High bit of command position；(Only valid using 485 communication)
Label Motor position（L） Valid mode(s) PR
Pr8.45 Range -2147483648~ Default
Unit p
2147483647
Byte length 32bit Attribute R 485 address 0X602D
Using 485 communication, only able to R/W low 16 bit.
R/W high 16 bit needs to be realized through Pr8.44.

Label Input I/O status Valid mode(s) PR

Pr8.46 Range 0 ~ 65535 Unit / Default
Byte length 16bit Attribute R 485 address 0X602E
Input I/O status, displays in decimal system. Convert to binary system to determine which bit
is valid.
Label Output I/O status Valid mode(s) PR
Pr8.47 Range 0 ~ 65535 Unit / Default
Byte length 16bit Attribute R 485 address 0X602F
Output I/O status, displays in decimal system. Convert to binary system to determine which
bit is valid.

Label Path 0 S-code Valid mode(s) PR

Pr8.48 Range 0 ~ 65535 Unit / Default 0
Byte length 16bit Attribute R 485 address 0X6030
Please refer to Pr8.28 for S-code setting.

Label Path 1 S-code Valid mode(s) PR

Pr8.49 Range 0 ~ 65535 Unit / Default 0
Byte length 16bit Attribute R 485 address 0X6031
Please refer to Pr8.28 for S-code setting.

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Label Path 2 S-code Valid mode(s) PR

Pr8.50 Range 0 ~ 65535 Unit / Default 0
Byte length 16bit Attribute R 485 address 0X6032
Please refer to Pr8.28 for S-code setting.

Label Path 3 S-code Valid mode(s) PR

Pr8.51 Range 0 ~ 65535 Unit / Default 0
Byte length 16bit Attribute R 485 address 0X6033
Please refer to Pr8.28 for S-code setting.

Label Path 4 S-code Valid mode(s) PR

Pr8.52 Range 0 ~ 65535 Unit / Default 0
Byte length 16bit Attribute R 485 address 0X6034
Please refer to Pr8.28 for S-code setting.

Label Path 5 S-code Valid mode(s) PR

Pr8.53 Range 0 ~ 65535 Unit / Default 0
Byte length 16bit Attribute R 485 address 0X6035
Please refer to Pr8.28 for S-code setting.

Label Path 6 S-code Valid mode(s) PR

Pr8.54 Range 0 ~ 65535 Unit / Default 0
Byte length 16bit Attribute R 485 address 0X6036
Please refer to Pr8.28 for S-code setting.

Label Path 7 S-code Valid mode(s) PR

Pr8.55 Range 0 ~ 65535 Unit / Default 0
Byte length 16bit Attribute R 485 address 0X6037
Please refer to Pr8.28 for S-code setting.

Label Path 8 S-code Valid mode(s) PR

Pr8.56 Range 0 ~ 65535 Unit / Default 0
Byte length 16bit Attribute R 485 address 0X6038
Please refer to Pr8.28 for S-code setting.

Label Path 9 S-code Valid mode(s) PR

Pr8.57 Range 0 ~ 65535 Unit / Default 0
Byte length 16bit Attribute R 485 address 0X6039
Please refer to Pr8.28 for S-code setting.

Label Path 10 S-code Valid mode(s) PR

Pr8.58 Range 0 ~ 65535 Unit / Default 0
Byte length 16bit Attribute R 485 address 0X603A
Please refer to Pr8.28 for S-code setting.

Label Path 11 S-code Valid mode(s) PR

Pr8.59 Range 0 ~ 65535 Unit / Default 0
Byte length 16bit Attribute R 485 address 0X603B
Please refer to Pr8.28 for S-code setting.

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Label Path 12 S-code Valid mode(s) PR

Pr8.60 Range 0 ~ 65535 Unit / Default 0
Byte length 16bit Attribute R 485 address 0X603C
Please refer to Pr8.28 for S-code setting.

Label Path 13 S-code Valid mode(s) PR

Pr8.61 Range 0 ~ 65535 Unit / Default 0
Byte length 16bit Attribute R 485 address 0X603D
Please refer to Pr8.28 for S-code setting.

Label Path 14 S-code Valid mode(s) PR

Pr8.62 Range 0 ~ 65535 Unit / Default 0
Byte length 16bit Attribute R 485 address 0X603E
Please refer to Pr8.28 for S-code setting.

Label Path 15 S-code Valid mode(s) PR

Pr8.63 Range 0 ~ 65535 Unit / Default 0
Byte length 16bit Attribute R 485 address 0X603F
Please refer to Pr8.28 for S-code setting.

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3.2.10 [Class 9] PR control path parameters

It is more convenient to set Class 9 parameters on Motion Studio
Label PR0 mode Valid mode(s) PR
Pr9.00 Range 0x0~0xFFFF Unit / Default 0
Byte length 16bit Attribute R/W 485 address 0X6200

Bit 14 8-13 6-7 5 4 0-3

Definition 0: No 0-15: 0: absolute 0: No 0: Can be 0: null
Jump, Jump to 1: correspond overlap, Interrupt 1: Positioning
indicates correspond command indicates 1: Can’t be 2: Velocity
with END path 2: correspond with SJ Interrupt, motion
1: Jump. motor 1 Overlap, indicates 3: Homing
Jump to SJ indicated using ! 4: Emergency
or CJ with CJ stop
Indicates using
P/V/H/S

Label PR0 position H Valid mode(s) PR

Pr9.01 Range 0~ 0xFFFF Unit Pulse Default 0
Byte length 16bit Attribute R/W 485 address 0X6201
High bit of Path 0 position；(Only valid using 485 communication)

Label PR0 position(L) Valid mode(s) PR

Range -2147483648~ Default
Pr9.02 Unit Pulse 0
2147483647
Byte length 32bit Attribute R/W 485 address 0X6202
For Path 0 position, using 485 communication, only able to R/W low 16 bit.
R/W high 16 bit needs to be realized through Pr9.02.
Label PR0 velocity Valid mode(s) PR
Pr9.03 Range -10000～10000 Unit rpm Default 60
Byte length 16bit Attribute R/W 485 address 0X6203
To set PR path 0 velocity.
Label PR0 acceleration time Valid mode(s) PR
Pr9.04 Range 1 ~ 32767 Unit ms/Krpm Default 100
Byte length 16bit Attribute R/W 485 address 0X6204
To set PR path 0 acceleration time, time needed for 0rpm to accelerate to 1000rpm
Label PR0 deceleration time Valid mode(s) PR
Pr9.05 Range 1 ~32767 Unit ms/Krpm Default 100
Byte length 16bit Attribute R/W 485 address 0X6205
To set PR path 0 deceleration time, time needed for 1000rpm to decelerate to 0rpm
Label PR0 pause time Valid mode(s) PR
Pr9.06 Range 0 ~ 32767 Unit ms Default 0
Byte length 16bit Attribute R/W 485 address 0X6206
To set pause time for PR path 0 from completion to next path
Label PR0 special parameter Valid mode(s) PR
Pr9.07 Range 0 ~ 65535 Unit / Default 0
Byte length 16bit Attribute R 485 address 0X6207
Reserved

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Label PR1 mode Valid mode(s) PR

Pr9.08 Range 0x0~0xFFFF Unit / Default 0
Byte length 16bit Attribute R/W 485 address 0X6208

Bit 14 8-13 6-7 5 4 0-3

Definition 0: No 0-15: 0: absolute 0: No 0: Can be 0: null
Jump, Jump to 1: correspond overlap, Interrupt 1: Positioning
indicates correspond command indicates 1: Can’t be 2: Velocity
with END path 2: correspond with SJ Interrupt, motion
1: Jump. motor 1 Overlap, indicates 3: Homing
Jump to SJ indicated using ! 4: Emergency
or CJ with CJ stop
Indicates using
P/V/H/S

Label PR1 position H Valid mode(s) PR

Pr9.09 Range 0~ 0xFFFF Unit Pulse Default 0
Byte length 16bit Attribute R/W 485 address 0X6209
High bit of Path 1 position；(Only valid using 485 communication)
Label PR1 position(L) Valid mode(s) PR
Range -2147483648~ Default
Pr9.10 Unit Pulse 0
2147483647
Byte length 32bit Attribute R/W 485 address 0X620A
For Path position, using 485 communication, only able to R/W low 16 bit.
R/W high 16 bit needs to be realized through Pr9.09.
Label PR1 velocity Valid mode(s) PR
Pr9.11 Range -10000～10000 Unit rpm Default 60
Byte length 16bit Attribute R/W 485 address 0X620B
To set PR path 1 velocity.
Label PR1 acceleration time Valid mode(s) PR
Pr9.12 Range 1 ~ 32767 Unit ms/Krpm Default 100
Byte length 16bit Attribute R/W 485 address 0X620C
To set PR path 1 acceleration time, time needed for 0rpm to accelerate to 1000rpm
Label PR1 deceleration time Valid mode(s) PR
Pr9.13 Range 1 ~32767 Unit ms/Krpm Default 100
Byte length 16bit Attribute R/W 485 address 0X620D
To set PR path 1 deceleration time, time needed for 1000rpm to decelerate to 0rpm
Label PR1 pause time Valid mode(s) PR
Pr9.14 Range 0 ~ 32767 Unit ms Default 0
Byte length 16bit Attribute R/W 485 address 0X620E
To set pause time for PR path 2 from completion to next path
Label PR1 special parameter Valid mode(s) PR
Pr9.15 Range 0 ~ 65535 Unit / Default 0
Byte length 16bit Attribute R 485 address 0X620F
Reserved

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Label PR2 mode Valid mode(s) PR

Pr9.16 Range 0x0~0xFFFF Unit / Default 0
Byte length 16bit Attribute R/W 485 address 0X6210

Bit 14 8-13 6-7 5 4 0-3

Definition 0: No 0-15: 0: absolute 0: No 0: Can be 0: null
Jump, Jump to 1: correspond overlap, Interrupt 1: Positioning
indicates correspond command indicates 1: Can’t be 2: Velocity
with END path 2: correspond with SJ Interrupt, motion
1: Jump. motor 1 Overlap, indicates 3: Homing
Jump to SJ indicated using ! 4: Emergency
or CJ with CJ stop
Indicates using
P/V/H/S

Label PR2 position H Valid mode(s) PR

Pr9.17 Range 0~ 0xFFFF Unit Pulse Default 0
Byte length 16bit Attribute R/W 485 address 0X6211
High bit of Path 2 position；(Only valid using 485 communication)

Label PR2 position(L) Valid mode(s) PR

Range -2147483648~ Default
Pr9.18 Unit Pulse 0
2147483647
Byte length 32bit Attribute R/W 485 address 0X6212
For Path 2 position, using 485 communication, only able to R/W low 16 bit.
R/W high 16 bit needs to be realized through Pr9.17.

Label PR2 velocity Valid mode(s) PR

Pr9.19 Range -10000～10000 Unit rpm Default 60
Byte length 16bit Attribute R/W 485 address 0X6213
To set PR path 2 velocity.

Label PR2 acceleration time Valid mode(s) PR

Pr9.20 Range 1 ~ 32767 Unit ms/Krpm Default 100
Byte length 16bit Attribute R/W 485 address 0X6214
To set PR path 2 acceleration time, time needed for 0rpm to accelerate to 1000rpm
Label PR2 deceleration time Valid mode(s) PR
Pr9.21 Range 1 ~32767 Unit ms/Krpm Default 100
Byte length 16bit Attribute R/W 485 address 0X6215
To set PR path 2 deceleration time, time needed for 1000rpm to decelerate to 0rpm
Label PR2 pause time Valid mode(s) PR
Pr9.22 Range 0 ~ 32767 Unit ms Default 0
Byte length 16bit Attribute R/W 485 address 0X6216
To set pause time for PR path 2 from completion to next path
Label PR2 special parameter Valid mode(s) PR
Pr9.23 Range 0 ~ 65535 Unit / Default 0
Byte length 16bit Attribute R 485 address 0X6217
Reserved

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Label PR3 mode Valid mode(s) PR

Pr9.24 Range 0x0~0xFFFF Unit / Default 0
Byte length 16bit Attribute R/W 485 address 0X6218

Bit 14 8-13 6-7 5 4 0-3

Definition 0: No 0-15: 0: absolute 0: No 0: Can be 0: null
Jump, Jump to 1: correspond overlap, Interrupt 1: Positioning
indicates correspond command indicates 1: Can’t be 2: Velocity
with END path 2: correspond with SJ Interrupt, motion
1: Jump. motor 1 Overlap, indicates 3: Homing
Jump to SJ indicated using ! 4: Emergency
or CJ with CJ stop
Indicates using
P/V/H/S

Label PR3 position H Valid mode(s) PR

Pr9.25 Range 0~ 0xFFFF Unit Pulse Default 0
Byte length 16bit Attribute R/W 485 address 0X6219
High bit of Path 3 position；(Only valid using 485 communication)
Label PR3 position(L) Valid mode(s) PR
Range -2147483648~ Default
Pr9.26 Unit Pulse 0
2147483647
Byte length 32bit Attribute R/W 485 address 0X621A
For Path 3 position, using 485 communication, only able to R/W low 16 bit.
R/W high 16 bit needs to be realized through Pr9.25.
Label PR3 velocity Valid mode(s) PR
Pr9.27 Range -10000～10000 Unit rpm Default 60
Byte length 16bit Attribute R/W 485 address 0X621B
To set PR path 3 velocity.
Label PR3 acceleration time Valid mode(s) PR
Pr9.28 Range 1 ~ 32767 Unit ms/Krpm Default 100
Byte length 16bit Attribute R/W 485 address 0X621C
To set PR path 3 acceleration time, time needed for 0rpm to accelerate to 1000rpm
Label PR3 deceleration time Valid mode(s) PR
Pr9.29 Range 1 ~32767 Unit ms/Krpm Default 100
Byte length 16bit Attribute R/W 485 address 0X621D
To set PR path 0 deceleration time, time needed for 1000rpm to decelerate to 0rpm
Label PR3 pause time Valid mode(s) PR
Pr9.30 Range 0 ~ 32767 Unit ms Default 0
Byte length 16bit Attribute R/W 485 address 0X621E
To set pause time for PR path 3 from completion to next path
Label PR3 special parameter Valid mode(s) PR
Pr9.31 Range 0 ~ 65535 Unit / Default 0
Byte length 16bit Attribute R 485 address 0X621F
Reserved

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Label PR4 mode Valid mode(s) PR

Pr9.32 Range 0x0~0xFFFF Unit / Default 0
Byte length 16bit Attribute R/W 485 address 0X6220

Bit 14 8-13 6-7 5 4 0-3

Definition 0: No 0-15: 0: absolute 0: No 0: Can be 0: null
Jump, Jump to 1: correspond overlap, Interrupt 1: Positioning
indicates correspond command indicates 1: Can’t be 2: Velocity
with END path 2: correspond with SJ Interrupt, motion
1: Jump. motor 1 Overlap, indicates 3: Homing
Jump to SJ indicated using ! 4: Emergency
or CJ with CJ stop
Indicates using
P/V/H/S

Label PR4 position H Valid mode(s) PR

Pr9.33 Range 0~ 0xFFFF Unit Pulse Default 0
Byte length 16bit Attribute R/W 485 address 0X6221
High bit of Path 0 position；(Only valid using 485 communication)
Label PR4 position(L) Valid mode(s) PR
Range -2147483648~ Default
Pr9.34 Unit Pulse 0
2147483647
Byte length 32bit Attribute R/W 485 address 0X6222
For Path 4 position, using 485 communication, only able to R/W low 16 bit.
R/W high 16 bit needs to be realized through Pr9.33.
Label PR4 velocity Valid mode(s) PR
Pr9.35 Range -10000～10000 Unit rpm Default 60
Byte length 16bit Attribute R/W 485 address 0X6223
To set PR path 4 velocity.
Label PR0 acceleration time Valid mode(s) PR
Pr9.36 Range 1 ~ 32767 Unit ms/Krpm Default 100
Byte length 16bit Attribute R/W 485 address 0X6224
To set PR path 4 acceleration time, time needed for 0rpm to accelerate to 1000rpm
Label PR4deceleration time Valid mode(s) PR
Pr9.37 Range 1 ~32767 Unit ms/Krpm Default 100
Byte length 16bit Attribute R/W 485 address 0X6225
To set PR path 4 deceleration time, time needed for 1000rpm to decelerate to 0rpm
Label PR4 pause time Valid mode(s) PR
Pr9.38 Range 0 ~ 32767 Unit ms Default 0
Byte length 16bit Attribute R/W 485 address 0X6226
To set pause time for PR path 4 from completion to next path
Label PR4 special parameter Valid mode(s) PR
Pr9.39 Range 0 ~ 65535 Unit / Default 0
Byte length 16bit Attribute R 485 address 0X6227
Reserved

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Label PR5 mode Valid mode(s) PR

Pr9.40 Range 0x0~0xFFFF Unit / Default 0
Byte length 16bit Attribute R/W 485 address 0X6228

Bit 14 8-13 6-7 5 4 0-3

Definition 0: No 0-15: 0: absolute 0: No 0: Can be 0: null
Jump, Jump to 1: correspond overlap, Interrupt 1: Positioning
indicates correspond command indicates 1: Can’t be 2: Velocity
with END path 2: correspond with SJ Interrupt, motion
1: Jump. motor 1 Overlap, indicates 3: Homing
Jump to SJ indicated using ! 4: Emergency
or CJ with CJ stop
Indicates using
P/V/H/S

Label PR5 position H Valid mode(s) PR

Pr9.41 Range 0~ 0xFFFF Unit Pulse Default 0
Byte length 16bit Attribute R/W 485 address 0X6229
High bit of Path 5 position；(Only valid using 485 communication)
Label PR5 position(L) Valid mode(s) PR
Range -2147483648~ Default
Pr9.42 Unit Pulse 0
2147483647
Byte length 32bit Attribute R/W 485 address 0X622A
For Path 0 position, using 485 communication, only able to R/W low 16 bit.
R/W high 16 bit needs to be realized through Pr9.41.
Label PR5 velocity Valid mode(s) PR
Pr9.43 Range -10000～10000 Unit rpm Default 60
Byte length 16bit Attribute R/W 485 address 0X622B
To set PR path 5 velocity.
Label PR5 acceleration time Valid mode(s) PR
Pr9.44 Range 1 ~ 32767 Unit ms/Krpm Default 100
Byte length 16bit Attribute R/W 485 address 0X622C
To set PR path 5 acceleration time, time needed for 0rpm to accelerate to 1000rpm
Label PR5 deceleration time Valid mode(s) PR
Pr9.45 Range 1 ~32767 Unit ms/Krpm Default 100
Byte length 16bit Attribute R/W 485 address 0X622D
To set PR path 5 deceleration time, time needed for 1000rpm to decelerate to 0rpm
Label PR5 pause time Valid mode(s) PR
Pr9.46 Range 0 ~ 32767 Unit ms Default 0
Byte length 16bit Attribute R/W 485 address 0X622E
To set pause time for PR path 5 from completion to next path
Label PR5 special parameter Valid mode(s) PR
Pr9.47 Range 0 ~ 65535 Unit / Default 0
Byte length 16bit Attribute R 485 address 0X622F
Reserved

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Label PR6 mode Valid mode(s) PR

Pr9.48 Range 0x0~0xFFFF Unit / Default 0
Byte length 16bit Attribute R/W 485 address 0X6230

Bit 14 8-13 6-7 5 4 0-3

Definition 0: No 0-15: 0: absolute 0: No 0: Can be 0: null
Jump, Jump to 1: correspond overlap, Interrupt 1: Positioning
indicates correspond command indicates 1: Can’t be 2: Velocity
with END path 2: correspond with SJ Interrupt, motion
1: Jump. motor 1 Overlap, indicates 3: Homing
Jump to SJ indicated using ! 4: Emergency
or CJ with CJ stop
Indicates using
P/V/H/S

Label PR6 position H Valid mode(s) PR

Pr9.49 Range 0~ 0xFFFF Unit Pulse Default 0
Byte length 16bit Attribute R/W 485 address 0X6231
High bit of Path 6 position；(Only valid using 485 communication)
Label PR6 position(L) Valid mode(s) PR
Range -2147483648~ Default
Pr9.50 Unit Pulse 0
2147483647
Byte length 32bit Attribute R/W 485 address 0X6232
For Path 6 position, using 485 communication, only able to R/W low 16 bit.
R/W high 16 bit needs to be realized through Pr9.49.
Label PR6 velocity Valid mode(s) PR
Pr9.51 Range -10000～10000 Unit rpm Default 60
Byte length 16bit Attribute R/W 485 address 0X6233
To set PR path 6 velocity.
Label PR6 acceleration time Valid mode(s) PR
Pr9.52 Range 1 ~ 32767 Unit ms/Krpm Default 100
Byte length 16bit Attribute R/W 485 address 0X6234
To set PR path 6 acceleration time, time needed for 0rpm to accelerate to 1000rpm
Label PR6 deceleration time Valid mode(s) PR
Pr9.53 Range 1 ~32767 Unit ms/Krpm Default 100
Byte length 16bit Attribute R/W 485 address 0X6235
To set PR path 6 deceleration time, time needed for 1000rpm to decelerate to 0rpm
Label PR6 pause time Valid mode(s) PR
Pr9.54 Range 0 ~ 32767 Unit ms Default 0
Byte length 16bit Attribute R/W 485 address 0X6236
To set pause time for PR path 6 from completion to next path
Label PR6 special parameter Valid mode(s) PR
Pr9.55 Range 0 ~ 65535 Unit / Default 0
Byte length 16bit Attribute R 485 address 0X6237
Reserved

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 User Manual of EL7-RS AC Servo

Label PR7 mode Valid mode(s) PR

Pr9.56 Range 0x0~0xFFFF Unit / Default 0
Byte length 16bit Attribute R/W 485 address 0X6238

Bit 14 8-13 6-7 5 4 0-3

Definition 0: No 0-15: 0: absolute 0: No 0: Can be 0: null
Jump, Jump to 1: correspond overlap, Interrupt 1: Positioning
indicates correspond command indicates 1: Can’t be 2: Velocity
with END path 2: correspond with SJ Interrupt, motion
1: Jump. motor 1 Overlap, indicates 3: Homing
Jump to SJ indicated using ! 4: Emergency
or CJ with CJ stop
Indicates using
P/V/H/S

Label PR7 position H Valid mode(s) PR

Pr9.57 Range 0~ 0xFFFF Unit Pulse Default 0
Byte length 16bit Attribute R/W 485 address 0X6239
High bit of Path 7 position；(Only valid using 485 communication)

Label PR7 position(L) Valid mode(s) PR

Range -2147483648~ Default
Pr9.58 Unit Pulse 0
2147483647
Byte length 32bit Attribute R/W 485 address 0X623A
For Path 7 position, using 485 communication, only able to R/W low 16 bit.
R/W high 16 bit needs to be realized through Pr9.57.
Label PR7 velocity Valid mode(s) PR
Pr9.59 Range -10000～10000 Unit rpm Default 60
Byte length 16bit Attribute R/W 485 address 0X623B
To set PR path 7 velocity.
Label PR7 acceleration time Valid mode(s) PR
Pr9.60 Range 1 ~ 32767 Unit ms/Krpm Default 100
Byte length 16bit Attribute R/W 485 address 0X623C
To set PR path 7 acceleration time, time needed for 0rpm to accelerate to 1000rpm
Label PR0 deceleration time Valid mode(s) PR
Pr9.61 Range 1 ~32767 Unit ms/Krpm Default 100
Byte length 16bit Attribute R/W 485 address 0X623D
To set PR path 0 deceleration time, time needed for 1000rpm to decelerate to 0rpm
Label PR7 pause time Valid mode(s) PR
Pr9.62 Range 0 ~ 32767 Unit ms Default 0
Byte length 16bit Attribute R/W 485 address 0X623E
To set pause time for PR path 7 from completion to next path
Label PR7 special parameter Valid mode(s) PR
Pr9.63 Range 0 ~ 65535 Unit / Default 0
Byte length 16bit Attribute R 485 address 0X623F
Reserved

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 User Manual of EL7-RS AC Servo

Label PR8 mode Valid mode(s) PR

Pr9.64 Range 0x0~0xFFFF Unit / Default 0
Byte length 16bit Attribute R/W 485 address 0X6240

Bit 14 8-13 6-7 5 4 0-3

Definition 0: No 0-15: 0: absolute 0: No 0: Can be 0: null
Jump, Jump to 1: correspond overlap, Interrupt 1: Positioning
indicates correspond command indicates 1: Can’t be 2: Velocity
with END path 2: correspond with SJ Interrupt, motion
1: Jump. motor 1 Overlap, indicates 3: Homing
Jump to SJ indicated using ! 4: Emergency
or CJ with CJ stop
Indicates using
P/V/H/S

Label PR8 position H Valid mode(s) PR

Pr9.65 Range 0~ 0xFFFF Unit Pulse Default 0
Byte length 16bit Attribute R/W 485 address 0X6241
High bit of Path 0 position；(Only valid using 485 communication)

Label PR8 position(L) Valid mode(s) PR

Range -2147483648~ Default
Pr9.66 Unit Pulse 0
2147483647
Byte length 32bit Attribute R/W 485 address 0X6242
For Path 8 position, using 485 communication, only able to R/W low 16 bit.
R/W high 16 bit needs to be realized through Pr9.65.
Label PR8 velocity Valid mode(s) PR
Pr9.67 Range -10000～10000 Unit rpm Default 60
Byte length 16bit Attribute R/W 485 address 0X6243
To set PR path 8 velocity.
Label PR8 acceleration time Valid mode(s) PR
Pr9.68 Range 1 ~ 32767 Unit ms/Krpm Default 100
Byte length 16bit Attribute R/W 485 address 0X6244
To set PR path 8 acceleration time, time needed for 0rpm to accelerate to 1000rpm
Label PR8 deceleration time Valid mode(s) PR
Pr9.69 Range 1 ~32767 Unit ms/Krpm Default 100
Byte length 16bit Attribute R/W 485 address 0X6245
To set PR path 8 deceleration time, time needed for 1000rpm to decelerate to 0rpm
Label PR8 pause time Valid mode(s) PR
Pr9.70 Range 0 ~ 32767 Unit ms Default 0
Byte length 16bit Attribute R/W 485 address 0X6246
To set pause time for PR path 8 from completion to next path
Label PR8 special parameter Valid mode(s) PR
Pr9.71 Range 0 ~ 65535 Unit / Default 0
Byte length 16bit Attribute R 485 address 0X6247
Reserved

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 User Manual of EL7-RS AC Servo

Label PR9 mode Valid mode(s) PR

Pr9.72 Range 0x0~0xFFFF Unit / Default 0
Byte length 16bit Attribute R/W 485 address 0X6248

Bit 14 8-13 6-7 5 4 0-3

Definition 0: No 0-15: 0: absolute 0: No 0: Can be 0: null
Jump, Jump to 1: correspond overlap, Interrupt 1: Positioning
indicates correspond command indicates 1: Can’t be 2: Velocity
with END path 2: correspond with SJ Interrupt, motion
1: Jump. motor 1 Overlap, indicates 3: Homing
Jump to SJ indicated using ! 4: Emergency
or CJ with CJ stop
Indicates using
P/V/H/S

Label PR9 position H Valid mode(s) PR

Pr9.73 Range 0~ 0xFFFF Unit Pulse Default 0
Byte length 16bit Attribute R/W 485 address 0X6249
High bit of Path 9 position；(Only valid using 485 communication)

Label PR9 position(L) Valid mode(s) PR

Range -2147483648~ Default
Pr9.74 Unit Pulse 0
2147483647
Byte length 32bit Attribute R/W 485 address 0X624A
For Path 9 position, using 485 communication, only able to R/W low 16 bit.
R/W high 16 bit needs to be realized through Pr9.73.
Label PR0 velocity Valid mode(s) PR
Pr9.75 Range -10000～10000 Unit rpm Default 60
Byte length 16bit Attribute R/W 485 address 0X624B
To set PR path 0 velocity.
Label PR9 acceleration time Valid mode(s) PR
Pr9.76 Range 1 ~ 32767 Unit ms/Krpm Default 100
Byte length 16bit Attribute R/W 485 address 0X624C
To set PR path 9 acceleration time, time needed for 0rpm to accelerate to 1000rpm
Label PR9 deceleration time Valid mode(s) PR
Pr9.77 Range 1 ~32767 Unit ms/Krpm Default 100
Byte length 16bit Attribute R/W 485 address 0X624D
To set PR path 9 deceleration time, time needed for 1000rpm to decelerate to 0rpm
Label PR9 pause time Valid mode(s) PR
Pr9.78 Range 0 ~ 32767 Unit ms Default 0
Byte length 16bit Attribute R/W 485 address 0X624E
To set pause time for PR path 9 from completion to next path
Label PR9 special parameter Valid mode(s) PR
Pr9.79 Range 0 ~ 65535 Unit / Default 0
Byte length 16bit Attribute R 485 address 0X624F
Reserved

157
 User Manual of EL7-RS AC Servo

Label PR10 mode Valid mode(s) PR

Pr9.80 Range 0x0~0xFFFF Unit / Default 0
Byte length 16bit Attribute R/W 485 address 0X6250

Bit 14 8-13 6-7 5 4 0-3

Definition 0: No 0-15: 0: absolute 0: No 0: Can be 0: null
Jump, Jump to 1: correspond overlap, Interrupt 1: Positioning
indicates correspond command indicates 1: Can’t be 2: Velocity
with END path 2: correspond with SJ Interrupt, motion
1: Jump. motor 1 Overlap, indicates 3: Homing
Jump to SJ indicated using ! 4: Emergency
or CJ with CJ stop
Indicates using
P/V/H/S

Label PR10 position H Valid mode(s) PR

Pr9.81 Range 0~ 0xFFFF Unit Pulse Default 0
Byte length 16bit Attribute R/W 485 address 0X6251
High bit of Path10 position；(Only valid using 485 communication)

Label PR10 position(L) Valid mode(s) PR

Range -2147483648~ Default
Pr9.82 Unit Pulse 0
2147483647
Byte length 32bit Attribute R/W 485 address 0X6252
For Path 10 position, using 485 communication, only able to R/W low 16 bit.
R/W high 16 bit needs to be realized through Pr9.81.
Label PR10 velocity Valid mode(s) PR
Pr9.83 Range -10000～10000 Unit rpm Default 60
Byte length 16bit Attribute R/W 485 address 0X6253
To set PR path 10 velocity.
Label PR10 acceleration time Valid mode(s) PR
Pr9.84 Range 1 ~ 32767 Unit ms/Krpm Default 100
Byte length 16bit Attribute R/W 485 address 0X6254
To set PR path 10 acceleration time, time needed for 0rpm to accelerate to 1000rpm
Label PR10 deceleration time Valid mode(s) PR
Pr9.85 Range 1 ~32767 Unit ms/Krpm Default 100
Byte length 16bit Attribute R/W 485 address 0X6255
To set PR path 10 deceleration time, time needed for 1000rpm to decelerate to 0rpm
Label PR10 pause time Valid mode(s) PR
Pr9.86 Range 0 ~ 32767 Unit ms Default 0
Byte length 16bit Attribute R/W 485 address 0X6256
To set pause time for PR path 10 from completion to next path
Label PR10 special parameter Valid mode(s) PR
Pr9.87 Range 0 ~ 65535 Unit / Default 0
Byte length 16bit Attribute R 485 address 0X6257
Reserved

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 User Manual of EL7-RS AC Servo

Label PR11 mode Valid mode(s) PR

Pr9.88 Range 0x0~0xFFFF Unit / Default 0
Byte length 16bit Attribute R/W 485 address 0X6258

Bit 14 8-13 6-7 5 4 0-3

Definition 0: No 0-15: 0: absolute 0: No 0: Can be 0: null
Jump, Jump to 1: correspond overlap, Interrupt 1: Positioning
indicates correspond command indicates 1: Can’t be 2: Velocity
with END path 2: correspond with SJ Interrupt, motion
1: Jump. motor 1 Overlap, indicates 3: Homing
Jump to SJ indicated using ! 4: Emergency
or CJ with CJ stop
Indicates using
P/V/H/S

Label PR11 position H Valid mode(s) PR

Pr9.89 Range 0~ 0xFFFF Unit Pulse Default 0
Byte length 16bit Attribute R/W 485 address 0X6259
High bit of Path 11 position；(Only valid using 485 communication)

Label PR11 position(L) Valid mode(s) PR

Range -2147483648~ Default
Pr9.90 Unit Pulse 0
2147483647
Byte length 32bit Attribute R/W 485 address 0X625A
For Path 11 position, using 485 communication, only able to R/W low 16 bit.
R/W high 16 bit needs to be realized through Pr9.89.
Label PR11 velocity Valid mode(s) PR
Pr9.91 Range -10000～10000 Unit rpm Default 60
Byte length 16bit Attribute R/W 485 address 0X625B
To set PR path 11 velocity.
Label PR11 acceleration time Valid mode(s) PR
Pr9.92 Range 1 ~ 32767 Unit ms/Krpm Default 100
Byte length 16bit Attribute R/W 485 address 0X625C
To set PR path 11 acceleration time, time needed for 0rpm to accelerate to 1000rpm
Label PR11 deceleration time Valid mode(s) PR
Pr9.93 Range 1 ~32767 Unit ms/Krpm Default 100
Byte length 16bit Attribute R/W 485 address 0X625D
To set PR path 11 deceleration time, time needed for 1000rpm to decelerate to 0rpm
Label PR11 pause time Valid mode(s) PR
Pr9.94 Range 0 ~ 32767 Unit ms Default 0
Byte length 16bit Attribute R/W 485 address 0X625E
To set pause time for PR path 11 from completion to next path
Label PR11 special parameter Valid mode(s) PR
Pr9.95 Range 0 ~ 65535 Unit / Default 0
Byte length 16bit Attribute R 485 address 0X625F
Reserved

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 User Manual of EL7-RS AC Servo

Label PR12 mode Valid mode(s) PR

Pr9.96 Range 0x0~0xFFFF Unit / Default 0
Byte length 16bit Attribute R/W 485 address 0X6260

Bit 14 8-13 6-7 5 4 0-3

Definition 0: No 0-15: 0: absolute 0: No 0: Can be 0: null
Jump, Jump to 1: correspond overlap, Interrupt 1: Positioning
indicates correspond command indicates 1: Can’t be 2: Velocity
with END path 2: correspond with SJ Interrupt, motion
1: Jump. motor 1 Overlap, indicates 3: Homing
Jump to SJ indicated using ! 4: Emergency
or CJ with CJ stop
Indicates using
P/V/H/S

Label PR12 position H Valid mode(s) PR

Pr9.97 Range 0~ 0xFFFF Unit Pulse Default 0
Byte length 16bit Attribute R/W 485 address 0X6261
High bit of Path 12 position；(Only valid using 485 communication)

Label PR12 position(L) Valid mode(s) PR

Range -2147483648~ Default
Pr9.98 Unit Pulse 0
2147483647
Byte length 32bit Attribute R/W 485 address 0X6262
For Path 12 position, using 485 communication, only able to R/W low 16 bit.
R/W high 16 bit needs to be realized through Pr9.97.
Label PR12 velocity Valid mode(s) PR
Pr9.99 Range -10000～10000 Unit rpm Default 60
Byte length 16bit Attribute R/W 485 address 0X6263
To set PR path 12 velocity.
Label PR12 acceleration time Valid mode(s) PR
Pr9.100 Range 1 ~ 32767 Unit ms/Krpm Default 100
Byte length 16bit Attribute R/W 485 address 0X6264
To set PR path 12 acceleration time, time needed for 0rpm to accelerate to 1000rpm
Label PR12 deceleration time Valid mode(s) PR
Pr9.101 Range 1 ~32767 Unit ms/Krpm Default 100
Byte length 16bit Attribute R/W 485 address 0X6265
To set PR path 12 deceleration time, time needed for 1000rpm to decelerate to 0rpm
Label PR12 pause time Valid mode(s) PR
Pr9.102 Range 0 ~ 32767 Unit ms Default 0
Byte length 16bit Attribute R/W 485 address 0X6266
To set pause time for PR path 12 from completion to next path
Label PR12 special parameter Valid mode(s) PR
Pr9.103 Range 0 ~ 65535 Unit / Default 0
Byte length 16bit Attribute R 485 address 0X6267
Reserved

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 User Manual of EL7-RS AC Servo

Label PR13 mode Valid mode(s) PR

Pr9.104 Range 0x0~0xFFFF Unit / Default 0
Byte length 16bit Attribute R/W 485 address 0X6268

Bit 14 8-13 6-7 5 4 0-3

Definition 0: No 0-15: 0: absolute 0: No 0: Can be 0: null
Jump, Jump to 1: correspond overlap, Interrupt 1: Positioning
indicates correspond command indicates 1: Can’t be 2: Velocity
with END path 2: correspond with SJ Interrupt, motion
1: Jump. motor 1 Overlap, indicates 3: Homing
Jump to SJ indicated using ! 4: Emergency
or CJ with CJ stop
Indicates using
P/V/H/S

Label PR13 position H Valid mode(s) PR

Pr9.105 Range 0~ 0xFFFF Unit Pulse Default 0
Byte length 16bit Attribute R/W 485 address 0X6269
High bit of Path 13 position；(Only valid using 485 communication)

Label PR13 position(L) Valid mode(s) PR

Range -2147483648~ Default
Pr9.106 Unit Pulse 0
2147483647
Byte length 32bit Attribute R/W 485 address 0X626A
For Path 13 position, using 485 communication, only able to R/W low 16 bit.
R/W high 16 bit needs to be realized through Pr9.105.
Label PR13 velocity Valid mode(s) PR
Pr9.107 Range -10000～10000 Unit rpm Default 60
Byte length 16bit Attribute R/W 485 address 0X626B
To set PR path 13 velocity.
Label PR13 acceleration time Valid mode(s) PR
Pr9.108 Range 1 ~ 32767 Unit ms/Krpm Default 100
Byte length 16bit Attribute R/W 485 address 0X626C
To set PR path 13 acceleration time, time needed for 0rpm to accelerate to 1000rpm
Label PR13 deceleration time Valid mode(s) PR
Pr9.109 Range 1 ~32767 Unit ms/Krpm Default 100
Byte length 16bit Attribute R/W 485 address 0X626D
To set PR path 13 deceleration time, time needed for 1000rpm to decelerate to 0rpm
Label PR13 pause time Valid mode(s) PR
Pr9.110 Range 0 ~ 32767 Unit ms Default 0
Byte length 16bit Attribute R/W 485 address 0X626E
To set pause time for PR path 13 from completion to next path
Label PR13 special parameter Valid mode(s) PR
Pr9.111 Range 0 ~ 65535 Unit / Default 0
Byte length 16bit Attribute R 485 address 0X626F
Reserved

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Label PR14 mode Valid mode(s) PR

Pr9.112 Range 0x0~0xFFFF Unit / Default 0
Byte length 16bit Attribute R/W 485 address 0X6270

Bit 14 8-13 6-7 5 4 0-3

Definition 0: No 0-15: 0: absolute 0: No 0: Can be 0: null
Jump, Jump to 1: correspond overlap, Interrupt 1: Positioning
indicates correspond command indicates 1: Can’t be 2: Velocity
with END path 2: correspond with SJ Interrupt, motion
1: Jump. motor 1 Overlap, indicates 3: Homing
Jump to SJ indicated using ! 4: Emergency
or CJ with CJ stop
Indicates using
P/V/H/S

Label PR14 position H Valid mode(s) PR

Pr9.113 Range 0~ 0xFFFF Unit Pulse Default 0
Byte length 16bit Attribute R/W 485 address 0X6271
High bit of Path 14 position；(Only valid using 485 communication)

Label PR14 position(L) Valid mode(s) PR

Range -2147483648~ Default
Pr9.114 Unit Pulse 0
2147483647
Byte length 32bit Attribute R/W 485 address 0X6272
For Path 14 position, using 485 communication, only able to R/W low 16 bit.
R/W high 16 bit needs to be realized through Pr9.113.
Label PR14 velocity Valid mode(s) PR
Pr9.115 Range -10000～10000 Unit rpm Default 60
Byte length 16bit Attribute R/W 485 address 0X6273
To set PR path 14 velocity.
Label PR14 acceleration time Valid mode(s) PR
Pr9.116 Range 1 ~ 32767 Unit ms/Krpm Default 100
Byte length 16bit Attribute R/W 485 address 0X6274
To set PR path 14 acceleration time, time needed for 0rpm to accelerate to 1000rpm
Label PR14 deceleration time Valid mode(s) PR
Pr9.117 Range 1 ~32767 Unit ms/Krpm Default 100
Byte length 16bit Attribute R/W 485 address 0X6275
To set PR path 14 deceleration time, time needed for 1000rpm to decelerate to 0rpm
Label PR14 pause time Valid mode(s) PR
Pr9.118 Range 0 ~ 32767 Unit ms Default 0
Byte length 16bit Attribute R/W 485 address 0X6276
To set pause time for PR path 14 from completion to next path
Label PR14 special parameter Valid mode(s) PR
Pr9.119 Range 0 ~ 65535 Unit / Default 0
Byte length 16bit Attribute R 485 address 0X6277
Reserved

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Label PR15 mode Valid mode(s) PR

Pr9.120 Range 0x0~0xFFFF Unit / Default 0
Byte length 16bit Attribute R/W 485 address 0X6278

Bit 14 8-13 6-7 5 4 0-3

Definition 0: No 0-15: 0: absolute 0: No 0: Can be 0: null
Jump, Jump to 1: correspond overlap, Interrupt 1: Positioning
indicates correspond command indicates 1: Can’t be 2: Velocity
with END path 2: correspond with SJ Interrupt, motion
1: Jump. motor 1 Overlap, indicates 3: Homing
Jump to SJ indicated using ! 4: Emergency
or CJ with CJ stop
Indicates using
P/V/H/S

Label PR15 position H Valid mode(s) PR

Pr9.121 Range 0~ 0xFFFF Unit Pulse Default 0
Byte length 16bit Attribute R/W 485 address 0X6279
High bit of Path 15 position；(Only valid using 485 communication)

Label PR15 position(L) Valid mode(s) PR

Range -2147483648~ Default
Pr9.122 Unit Pulse 0
2147483647
Byte length 32bit Attribute R/W 485 address 0X627A
For Path 15 position, using 485 communication, only able to R/W low 16 bit.
R/W high 16 bit needs to be realized through Pr9.121.
Label PR15 velocity Valid mode(s) PR
Pr9.123 Range -10000～10000 Unit rpm Default 60
Byte length 16bit Attribute R/W 485 address 0X627B
To set PR path 15 velocity.
Label PR15 acceleration time Valid mode(s) PR
Pr9.124 Range 1 ~ 32767 Unit ms/Krpm Default 100
Byte length 16bit Attribute R/W 485 address 0X627C
To set PR path 15 acceleration time, time needed for 0rpm to accelerate to 1000rpm
Label PR15 deceleration time Valid mode(s) PR
Pr9.125 Range 1 ~32767 Unit ms/Krpm Default 100
Byte length 16bit Attribute R/W 485 address 0X627D
To set PR path 15 deceleration time, time needed for 1000rpm to decelerate to 0rpm
Label PR15 pause time Valid mode(s) PR
Pr9.126 Range 0 ~ 32767 Unit ms Default 0
Byte length 16bit Attribute R/W 485 address 0X627E
To set pause time for PR path 15 from completion to next path
Label PR15 special parameter Valid mode(s) PR
Pr9.127 Range 0 ~ 65535 Unit / Default 0
Byte length 16bit Attribute R 485 address 0X627F
Reserved

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Chapter 4 Servo Drive Operation

4.1 Servo enabled

Power on sequence diagram

ON
Control
circuit OFF
(L1C、L2C)

Usual action

Init
CPU Reset

ON
Main power
supply OFF
(R、S、T)
Ready
Servo ready
S-RDY Not Ready *1

Input coupler ON

Servo enabled
SRV-ON Input coupler OFF

Dynamic Activated
brake Deactivated

Enabled
Servo status
SRV-ST Disabled *2

Power ON
Motor
Power on Power OFF

Brake OFF
External brake
deactivated Brake ON
BRK-OFF

Command
Position,
velocity, torque NO command
command
Please enter servo status, position, velocity, torque command as sequence diagram above.
** 1. S-RDY signal is given after CPU initialization and main power supply powered on.
2. SRV-ST signal is received when servo driver is enabled. Command input is not allowed yet.

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4.2 Servo stop

Servo stopping are of 3 different methods: Servo braking method, free stopping method, dynamic
braking method.

Stopping method Description Details

Servo braking Servo driver delivers braking torque in Quick stopping but mechanical
opposite direction impact might exist
Free stopping Motor power cut off. Free to move until Smooth deceleration, low mechanical
velocity = 0. Affected inertia, friction impact but slow stopping
and other factors
Dynamic braking Brake activated when in motion Quick stopping but mechanical
impact might exist

Stopping status Status after stopped

Free running Motor is powered off, rotor is free to rotate
Dynamic braking Motor is powered off, rotor is not free to rotate
Holding brake stopping Motor axis is locked, cannot rotate freely

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Motor stopping（Servo disabled）- Sequence Diagram

Servo braking method. Status after stopping: Dynamic braking

Servo enabled Input coupler Input coupler

Input coupler ON
SRV-ON OFF
OFF

Dynamic Activated Deactivated *1 Activated

brake

Disabled *2 Enabled Disabled

Servo status
SRV-ST

Motor power Power OFF Power ON Power OFF

Holding brake Brake OFF Brake ON

status BRK-OFF BRK-ON Brake OFF
BRK BRK-OFF

Motor
*3
rotation
t

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Free stopping method. Status after stopping: Dynamic braking

Servo enabled Input coupler

Input coupler Input coupler
SRV-ON ON
OFF OFF

Dynamic
Brake Activated Deactivated *1 Activated

Disabled *2 Enabled Disabled

Servo status
SRV-ST

Motor power Power OFF Power ON Power OFF

Brake ON Brake OFF Brake ON

Holding brake
BRK-OFF BRK-ON BRK-OFF
status
BRK

Motor *3
rotation
t

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Dynamic braking method. Status after stopping: Dynamic braking

Servo enabled Input coupler

Input coupler Input coupler
SRV-ON ON
OFF OFF

Dynamic
Activated Deactivated *1 Activated
brake

Disabled *2 Enabled Disabled

Servo status
SRV-ST

Motor power Power OFF Power ON Power OFF

Holding brake
Brake ON Brake OFF Brake ON
status
BRK-OFF BRK-ON BRK-OFF
BRK

Motor *3
rotation

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Servo stopping method. Status after stopping: Free running

Servo enabled Input coupler

Input coupler Input coupler
SRV-ON ON
OFF OFF

Dynamic Activated Deactivated

brake *1

Disabled *2 Enabled Disabled

Servo status
SRV-ST

Motor power Power ON

Power OFF Power OFF

Holding brake status Brake ON Brake OFF Brake ON

BRK BRK-OFF BRK-ON BRK-OFF

Motor *3
rotation

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Free stopping method. Status after stopping: Free running

Servo enabled Input coupler Input coupler Input coupler

SRV-ON OFF ON OFF

Dynamic Activated Deactivated *1

brake

Disabled *2 Enabled
Servo status Disabled
SRV-ST

Motor power Power OFF Power ON Power OFF

Holding brake Brake ON

Brake ON Brake OFF
status BRK-OFF
BRK-OFF BRK-ON
BRK

Motor *3
rotation
t

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Dynamic braking method. Status after stopping: Free running

Servo enabled Input coupler

Input coupler Input coupler
SRV-ON ON
OFF OFF

Activated

Dynamic Activated Deactivated *1Deactivated

brake

Disabled *2 Enabled Disabled

Servo status
SRV-ST

Motor power Power OFF Power ON Power OFF

Holding brake status Brake ON Brake OFF Brake ON

BRK BRK-OFF BRK-ON BRK-OFF

Motor *3
rotation

** 1. Status after stopping is as defined in Pr5.06.

2. SRV-ST signal is received when servo driver is enabled. Command input is not allowed yet.

3. Servo stopping method is as defined in Pr5.06; braking torque in opposite direction to decelerate the motor is as
defined in Pr5.11. Deceleration time t is determined by whichever comes first between time set in Pr6.14 and time
needed for motor to drop below velocity set in Pr4.39. After deceleration time t, dynamic braking will be off and
holding brake signal will be set to OFF (Holding brake is activated. Although BRK-OFF signal is valid, actual
activation of holding brake is dependent on whether the motor comes with holding brake).

4. BRK-ON signal doesn’t indicate the activation of holding brake but the validation of the signal. Holding brake is
not applied when BRK-ON signal is valid. Same idea goes for BRK-OFF signal.

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Stopping when alarm occurs – Sequence Diagram

Servo braking method. Status after stopping: Dynamic braking

Error
Error
occurrence Normal

Servo status Enabled Disabled

SRV-ST

Activated

Dynamic brake *1
Deactivated

Motor power
Power ON Power OFF

Servo ready Ready Not Ready

S-RDY

Servo Alarm No Alarm Alarm

ALM

Holding brake
status Brake OFF Brake ON
BRK BRK-ON BRK-OFF

Motor *2
rotational
velocity t

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Free stopping method. Status after stopping: Dynamic braking

Error
Alarm
occurrence Normal

Servo status
SRV-ST Enabled Disabled

Activated
Dynamic *1
brake Deactivated

Motor power Power

ON Power OFF

Servo Ready
S-RDY Ready Not Ready

Servo Alarm
ALM No Alarm
Alarm

Holding brake
status Brake OFF Brake ON
BRK BRK-ON BRK-OFF

Motor
rotational *2
velocity

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Dynamic braking method. Status after stopping: Dynamic braking

Error
Alarm
occurrence Normal

Servo status
SRV-ST Enabled Disabled

Activated
Dynamic *1
brake Deactivated

Motor power
Power ON Power OFF

Status ready
S-RDY Ready Not Ready

Servo Alarm
ALM
No Alarm Alarm

Holding brake
status Brake OFF Brake ON
BRK BRK-ON BRK-OFF

Motor
rotational *2
velocity

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Servo braking method. Status after stopping: Free moving

Error
Alarm
occurrence Normal

Servo status
SRV-ST Enabled Disabled

Dynamic
brake Deactivated
*1

Motor power Power

ON Power OFF

Servo ready
S-RDY Ready Not Ready

Servo alarm
ALM No Alarm
Alarm

Holding brake
status Brake OFF Brake ON
BRK BRK-ON BRK-OFF

Motor
*2
rotational
velocity

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Free stopping method. Status after stopping: Free moving

Error
Alarm
occurrence Normal

Servo status
Enabled Disabled
SRV-ST

Dynamic
brake Deactivated *1

Motor power
Power ON Power OFF

Servo ready
S-RDY Ready Not Ready

Servo alarm
No Alarm
ALM Alarm

Holding brake
status Brake OFF Brake ON
BRK BRK-ON BRK-OFF

Motor
rotational *2
velocity

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Dynamic braking. Status after stopping: Free moving

Error
Error
occurrence Normal

Servo status Enabled Disabled

SRV-ST

Activated
Dynamic
brake Deactivated *1 Deactivated

Motor power
Power ON Power OFF

Servo Ready
S-RDY Ready Not Ready

Servo Alarm No Alarm Alarm

ALM

Holding brake
status Brake OFF Brake ON
BRK BRK-ON BRK-OFF

Motor
rotational
velocity *2

** 1. Status after stopping is as defined in Pr5.10.

2. Servo stopping method is as defined in Pr5.10. Deceleration time t is determined by whichever comes first
between time set in Pr6.14 and time needed for motor to drop below velocity set in Pr4.39. After deceleration time t,
dynamic braking will be off and holding brake signal will be set to OFF (Holding brake is activated. Although BRK-
OFF signal is valid, actual activation of holding brake is dependent on whether the motor comes with holding brake).

3. BRK-ON signal doesn’t indicate the activation of holding brake but the invalidation of the signal. Holding brake is
not applied when BRK-ON signal is valid. Same idea goes for BRK-OFF signal.

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Alarm clearing - Sequence diagram

Input coupler ON
Alarm
clearing Input coupler OFF
A-CLR

Dynamic
brake Activated
Deactivated

Servo
Disabled *1 Enabled
status
SRV-ST
Power ON

Motor power
Power OFF

Brake OFF
External
brake
deactivation Brake ON
BRK-OFF

Servo
ready Ready
Not Ready
S-RDY

No Alarm
Servo
alarm
Alarm
ALM
Position, Command
Velocity,
Torque Command
No command
** 1.SRV-ST
signal is received when servo driver is enabled. Command input is not allowed yet

2. BRK-OFF signal doesn’t indicate the deactivation of holding brake but the invalidation of the signal. Holding
brake is applied when BRK-OFF signal is invalid.

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4.3 Front Panel

Servo Drive front panel consists of 5 push buttons and a 8-segments display
. Can be used for displaying of status, alarms, functions, parameters setting and auxiliary functions.

88888 ■ ■ ■ ■ ■

Front panel

Buttons and functions

Label Symbol Function
Consists of 5 push buttons and a 8-segments display
Display /
To switch between 3 modes:
1. Data monitoring mode : To monitor changes of motion data
M values
Mode
2. Parameters setting mode : To set parameters
3. Auxiliary functions mode: To operate common functions, such
as trial run, alarm clearing
Enter S To enter or confirm
Up ▲ To switch between sub-menus / Increase
Down ▼ To switch between sub-menus / Decrease
Left ◄ To switch between values

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4.4 Panel Display and Operation

4.4.1 Panel Operation
Power on

isplay rEAdy for 1s

S 0 S Data monitoring D01 SP

mode
Initialization display
D00 uE S r 0
Display monitoring data
D35 SF
M

Parameter setting
Pr 0001 Modify
0
Select
needed
Pr 0000 ◀ Pr 0000 S
Parameter
parameter

value
value
Pr 9000 Pr 0095
M
Auxiliary
Trial run Vog -
function AF InI
S SrU on
AF Vog
AF rst Trial run
velocity p 400
M

Flow diagram of panel operation

(1) rEAdY will be displayed for about 1 second after driver is powered on. Then, automatically
enters data monitoring mode and displays initial data value. Otherwise, alarm code will be
displayed if error occurs.
(2) Press M key to switch between modes.
Data monitoring mode → Parameters setting mode → Auxiliary functions mode
Alarm code will be displayed regardless of any mode if alarm occurs. Press M to switch to other
modes.
(3) Press or to select the type of parameters in data monitoring mode. Press S to confirm.
(4) Press to select current segment in parameters settings mode. Press or to
increase/decrease the value of segment. Press S to confirm the modified value(s) and save the
parameters.

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Front Panel Locking

To prevent any misuse of the front panel, it can be locked. Limitations when locked are as shown
below.
Mode Limitation
Data monitoring Not limited
Parameters setting Parameters can only be read,
not modified.
Auxiliary functions Not limited

To lock and unlock the front panel

Front Panel Motion Studio

①Set Pr5.35 = 1.
Lock ②Restart driver.
③Front panel is now locked.

① Please refer to auxiliary function ① Set Pr5.35 = 0.

Unlock AF UnL ② Front panel is now
② Front panel is now unlocked. unlocked.

4.4.2 Data Monitoring Mode

EL7 series servo driver offers the function to monitor different types of data in data monitoring
mode. After entering this mode, press S to monitor any data that starts with d. Press S again to get
back to data monitoring mode and M to switch to any other modes.

Data list in data monitoring mode

Data Format
No. Label Descriptions Display Unit
(x = numerical value)
Position command
0 d00uE d00uE pulse “xxxx”
deviation
“r xxxx” – Motor actual
velocity
1 d01SP Motor velocity d01SP r/min
“F xxxx” – External
encoder feedback velocity
Position control command
2 d02CS d02CS r/min “xxxx”
velocity
Velocity control command
3 d03Cu d03Cu r/min “xxxx”
velocity
4 d04tr Actual feedback torque d04tr % “xxxx”
5 d05nP Feedback pulse sum d05nP pulse “xxxx”
6 d06cP Command pulse sum d06CP pulse “xxxx”
“d xxxx” – Max torque %
Maximum torque during
7 d07 d07 / “V xxxx”- Average load
motion
ratio

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Internal command
8 d08FP d08FP pulse “xxxx”
position sum
Position: “Ct PoS”
9 d09cn Control mode d09Cn / Velocity: “Ct SPd ”
Torque: “Ct trq”
10 d10Io I/O signal status d10 Io / -
11 d11Ai Analog input d11Ai V -
12 d12Er Alarm cause and record d12Er / “Er xxx” Alarm code
13 d13rn Warning d13rn / “H xxx” Warning code
14 d14r9 Regeneration load factor d14r9 % “xxx”
“L xxx” – Motor overload %
15 d15oL Overload factor d15oL %
“d xxx” – Driver overload %
16 d16Jr Inertia ratio d16Jr % “xxx”
17 d17ch Motor not running cause d17Ch / “CP xxx” Error code
No. of changes in I/O
18 d18ic d18ic / “xxx”
signals
19 d19 Internal use d19 / “ xxxx”
CSP position command
20 d20Ab d20Ab pulse “ xxxx”
sum
“A xxxx” – motor encoder
single turn data
21 d21AE Single turn encoder data d21AE pulse
“F xxxx” – external encoder
single turn data
22 d22rE Multiturn encoder data d22rE r “ xxxx”
“id xxx”
23 d23 id 485 received frame d23id /
“Fr xxx”
“A xxxx” – Position
deviation
“F xxxx” – Full closed loop
24 d24PE Position deviation d24PE Unit
deviation (Command unit)
“H xxxx” - Full closed loop
deviation (Encoder unit)
25 d25PF Motor electrical angle d25PF pulse “ xxxx”
26 d26hy Motor mechanical angle d26hy pulse “ xxxx”
27 d27 Pn Voltage across PN d27Pn V “ xxxx”
“d xxx Servo software”
“F xx Communication
28 d28 no Software version d28no / software”
“p xxx Servo power rating”
“C xx CPLD software”
“A xxxx” “F xxxx” –
29 d29AS Internal usage d29AS /
external encoder serial no.
“A xxxx” – Motor encoder
communication error count
No. of times of encoder
30 d30NS d30sE / “F xxxx” – External
communication error
encoder communication
error count
31 d31 tE Accumulated uptime d31tE / “ xxxx”
Automatic motor “r xxx Motor no.”
32 d32Au d32Au /
identification “E xxx Servo no.”

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“d xxx” – driver
33 d33At Driver temperature d33At ℃ temperature
“C xxx” – MCU temperature
34 d34 Servo status d34 / “xxx”
35 d35 SF Internal usage d35SF / “xxxxxx”
Description of data monitoring function
When using the front panel to monitor data, data is divided in low/high bit and positive/negative.

. 2 . 608850 . .50 50
High bit：1st and 2nd values on the right has two decimal points Positive：1st and 2nd value s on the lef t has no decimal point.
Low bit：1st and 2nd values on the right has no decimal point. Negative：1st and 2nd value s on the lef t has two decimal points

1. d00uE Position command deviation

Shows high bit and low bit of position deviation

.. 8 0
Position command deviation

Positive：1st and 2nd values on the left has no decimal point.

Negative：1st and 2nd values on the left has two decimal points

Press ◀ to switch between low and high bit

Example : Position command deviation=260885

.2 . 608850
High bit：1st and 2nd values on the right has two decimal points
Low bit：1st and 2nd values on the right has no decimal point.

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2. d01SP Motor velocity, d02CS Position control command velocity, d03CU Velocity control
command velocity, d04 tr Actual torque feedback
d04 tr reflects actual current.
External encoder feedback velocity
D01 sp r 400 Motor actual velocity（r/min） F 20 （mm/s）
S
Press ▲
D02 Cs 400 Command velocity under position
S control（r/min）

D03 CU 400 Command velocity under velocity

S control（r/min）

D04 tr 4 Actual torque feedback（‰）

S
3. d05nP Feedback pulse sum d06CP Command pulse sum

Feedback pulse sum(Encoder feedback pulse）

D05 np 10016
S

Feedback pulse sum

Press ◀ to switch between high/low bit （unit）
Example：Feedback pulse sum=2100160

. 2 . 100160
High bit Low bit

Command pulse sum（Command pulse）

D06 Cp 100160
S
Command pulse sum
（unit）
Press ◀ to switch between high/low bit
Example：Command pulse sum=210017

. 100170
2 High
. bit Low bit

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4. d07 Maximum torque during motion

Maximum torque during motion
D07 D 7 (%)
S
▲▼

V 7 Average load ratio（%）

5. d08FP Internal command pulse sum

D08 Fp 20
S
Internal command pulse sum
(pulse）
6. d09Cn Control mode

D09 Cn Ct pos Position control mode

S

Ct spd Velocity control mode

Ct trq Torque control mode

7. d10Io I/O signal status

When the top half of the digital tube is lighted, the signal is valid; when the bottom half of the
digital tube is lighted, the signal is not valid. Decimal points represent I/O status, input when
lighted, output when not lighted.
■ Input： From low to high bit(Right to left) DI1,DI2….DI10. Decimal point is lighted to represent input
signals.
In the example below, DI1, DI8 and DI10 input signal is valid; DI2-DI7, DI9 input signal is
invalid.

■ Output：From low to high bit(Right to left) DO1,DO2….DO10. Decimal point is not lighted to
represent output signals.
In the example below, DO1 output signal is valid; DO2-DO10 output signal is invalid.

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8. d11Ai Analog input

D11 Ai _ 2 0 Analog input 1（Unit: 0.001V）

S
▲▼
- 2 0 Analog input 2（Unit: 0.001V）

▲▼
_ 2 0 Analog input 3（Unit: 0.001V）

3 analog inputs can be monitored through d11. Left most bar at the top: 1st analog input; at the
middle: 2nd analog input; at the bottom 3rd analog input. Points on 4th and 5th value means negative
value.

9. d12Er Alarm cause and historical record

D12 Er Er 150 ……Current error

S

01 150 ……Historical record 1

（Latest）

14 0E2 ……Historical record 14

（Oldest）
Press▲▼to check error historical
record up to 14 records.

Please refer to the alarm list table in chapter 9 for alarms that can be recorded.

10. d14rg Regenerative load factor d15oL Overload factor

Regenerative load factor（Er120 might occur, if the value increases indefinitely）

D1 4rg 5 0
S
Load factor in
regenerative resistance
circuit [%]

Overload factor（Er100 might occur, if d increases indefinitely

Er101 might occur, if L increases indefinitely）

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D1 5oL d 50
S
▼▲ Motor load ratio

L 50
Driver load ratio

11、d16Jr Inertia ratio

D1 6Vr 250
S
Actual inertia ratio during
motion [%]

Use auxiliary function AF_GL or Motion studio to measure the inertia ratio. The result will be shown on
D1 6Vr, hold M to write the value in Pr0.04.

12、d17Ch Motor not running cause

D1 7Ch CP 0
S
Error code of motor
not running
“d17Ch” Motor No Running Cause - Codes & Descriptions
Display Code Description Content
CP 0 Normal
CP 1 DC bus undervoltage Check if DC bus voltage is too low on D27
Servo-ON input (SRV-ON) is not connected
CP 2 No SRV-ON signal
to COM-
Pr5.04 = 0, POT is in open circuit, velocity
command is in positive direction
CP 3 POT/NOT input valid
NOT is in open circuit, velocity command is
in negative direction
CP 4 Driver alarm /

CP 5 Relay not clicked Check input voltage

Pulse input
CP 6 Pr5.18=0
prohibited(INH)
CP 7 Position command too low No command or too low
Pr5.17=0, deviation counter connected to
CP 8 CL valid
COM-
CP 9 Zero speed clamp valid Pr3.15 = 1, Zero speed clamp input is open

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13、d21AE Single turn encoder data d22rE Multiturn encoder data

D21 AE A10748 ◀ . 8. Example: Single turn

encoder data = 8410748
S
Press ◀ to switch
between high/low bit Single turn encoder
data – high bit
Single turn encoder
data – low bit
Press▲▼to switch between external and motor encoder.
A :motor ，F: external
For 23-bit encoder, single turn encoder data = 0~8388607.Each value corresponds to certain position in
a single revolution of the rotor, clockwise motion as negative, counter clockwise motion as positive.
When counter clockwise single turn data > 8388607, multiturn data +1, clockwise single turn data < 0,
multiturn data -1.

Example: Motor starts from

D22 rE 0 .. 2 0 and turns clockwise for 2
revolutions
S

Multiturn data -2
Multiturn encoder data

Multiturn encoder data range:-32768~+32767, As no. of revolution goes over range,32767 will jump to -
32768、 -32767(counter clockwise)； -32768 will jump to 32767、 32766 (clockwise)

14.d23id 485 received frame

D23 id id 0
S
485 correct received
frame rates

F 0
485 wrong received
frame rates
15. d24PE Position deviation

D24 PE A 748 ◀ . 8. Example: Position

deviation = 810748
S
Press ◀ to switch
between high/low bit Single turn encoder
Single turn encoder data – high bit
data – low bit

Press▲▼to switch between external and motor encoder.

A :motor ，F: Full closed loop (command unit) , H: Full closed loop (encoder unit)

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15. d27Pn DC bus voltage

D27 Pn 300
S
DC bus voltage across PN

16. d28no Software version

…..Servo firmware version

D28 no d 024 （DSP）
S ▲▼

C 000 …..CPLD Version

▲▼
…..Communication software
F 013 version
▲▼

P 400 …..Servo drive power rating

17. d31tE Accumulated operation time

D31 tE 1 2 5 6
S

Accumulated uptime (hour)

Press ◀ to switch between high/low bit

Low bit
1 2 5 6 .0 . High bit
17. d31t
18. d34 Servo driver status display
Driver status: 402 state machine, EtherCAT communication, running mode, running

402 State Machine

OFF(1：Top tube on)
Ready(2：Mid tube on) Running mode
ON(3：Top, Mid, Bottom tube (1/3/4/6/8/9/A，
on) Other no supported)
Operation(O： Enabled)
EtherCAT Communication Status Running mode
Emergency stop(Side tubes on)
Other status（-）
0 OFF
1 Init
r n ：Rotation
2 Pre-Op S t ：Stop
4 Safe-Op
8 Op
- Others

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Display setting at power on

■ Default setting for initialization display settings at power on is d34,if any other display is required,
please set on Pr5.28.
Please refer to Pr5.28 for any display content required on the front panel during initialization

Label LED initial status Valid mode(s) P S T

Range 0~35 Unit — Default 1
Pr5.28
Byte length 16bit Attribute R/W 485 address 0x0539
Valid Immediate
To set content display on front panel of the servo driver at servo driver power on.

Value Status Value Status Value Status

Regenerative load
0 Position deviation 14 28 Software version
rate
1 Motor speed 15 Overload rate 29 Internal usage
Encoder
Position command
2 16 Inertia load ratio 30 communication
deviation
failure counts
Velocity control Cause(s) of non-
3 17 31 Accumulated uptime
command rotation
Actual feedback
4 18 No. of I/O changes 32 Internal usage
torque
5 Feedback pulse sum 19 Internal usage 33 Driver temperature
6 Command pulse sum 20 Absolute encoder data 34 Servo status
Encoder single turn
7 Max. torque 21 35 Internal usage
data
Position command
8 22 Encoder multiturn data
frequency
9 Control mode 23 485 receive frame
Encoder position
10 I/O status 24
deviation
11 Analogue input 25 Internal usage
Alarm cause &
12 26 Internal usage
history record
13 Warning ID 27 PN Voltage

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4.5 Parameters saving

Save using driver’s front panel

D00 UE
M
Increase/decrease value
using ▲ ▼, press S to select
PR 0.000 S 1 the parameters to be
modified
Select value using ◀

After modifying the selected parameter to desired values, press S to confirm and save the changes.
If the parameter is modified but user does not want to save the changes, press M to exit without
saving. Some parameter modifications will only take effect after the driver is restarted.

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4.6 Auxiliary function

Parameters settings
Pr 0.000 mode
M
Auxiliary functions Operation

Press ▼ ▲ to select

AF Vog Trial run Vog - Trial run

Reset to factory Reset to factory

AF InI default In I - default

AF UnL Front panel unlock UnL - Front panel unlock

AF ACL Clear alarm ACL - Clear alarm

AF HEC HEC -
S

AI1 zero drift AI1 zero drift

AF of1 correction
o f1 - correction

AI2 zero drift

AI2 zero drift
AF of2 correction of2 - correction
(Do not use)
(Do not use)

AF of3 AI3 zero drift of3 - AI3 zero drift

correction correction

AF Enc Motor angle correction Enc - Motor angle correction

AF tUn One click auto tuning t U n--- One click auto tuning

A F _GL Inertia measuring G----- Inertia measuring

AF rst Software reset

rst - Software reset
After selecting the desired
function, press S to confirm

M
Data monitoring mode

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AF Vog Trial run

 Please disable servo driver before performing any trial run.
 Please don’t modify gain related parameters during trial run to prevent any occurrence of
mechanical vibrations.
 Only use trial run when Pr0.01 set to 0, 1, 6.
 Please check Pr6.04 (JOG velocity) and Pr6.25 (JOG acceleration) before running.
 Press S to exit trial run.
Auxiliary functions Operation

AF Vog Trial run

Vog - Initialization
S
Press ◀ to enable driver.
Sr Uon will be displayed.

Sr Uon Error
If driver is
enabled before ◀
CCW▲ ▼CW is pressed, error
might occur.

P 400 n 400
When Sr Uon is displayed, press ▲▼ to move
motor in CW or CCW direction.

Hold ▲▼to move motor at velocity set in

Pr6.04

AF Inl Reset to factory default

To reset parameters settings to factory default. Can be used to reset parameters using auxiliary
function on front panel or using object dictionary.

Auxiliary function Operation

AF Vog
Press ▲ to look for AFInI
InI - Initialization
AF InI Reset to factory
default
S

Hold ▲ to reset.
Ar A0E is displayed once completed.

Ar A0E
If driver is enabled
when holding ▲, error Error
might occur

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AF unL Front panel unlock

Auxiliary Operation

Front panel
AF unL unlock unL - Initialization
S
FinSh is displayed after press ▲
once. Front panel unlocked

FinSh

AF ACL Clear alarm

Alarm can be cleared using this auxiliary function but before that, the error needs to be solved and
driver needs to be restarted.
Auxiliary function Operation

AF ACL Clear alarm

ACL - Initialization
S
Press ▲ once.
FinSh is displayed once completed.

FinSh

For alarms that can be cleared using this function, please refer to table in Chapter 8.

AF of1 - AF of3 Analog input AI1-3 zero drift correction

Auto adjustment of analog input zero drift settings
Analog input Parameter (Zero drift settings)
AI1 Pr4.22
AI2 Pr4.25
AI3 Pr4.28

Auxiliary function Operation

AI1 Zero drift

AF of1 correction S of1 - Initialization

Press ▲ once to start correct(displays StArt)

FinSh is displayed once completed.

StArt Start correction

FinSh Completed

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AF Enc Motor angle correction

Auxiliary function Operation

Motor angle
AF Enc correction Enc - Initialization
S
Press ▲ once to start correct(displays StArt)
FinSh is displayed once completed.

StArt Start correction

FinSh Completed

AF_GL Inertia measuring

Please make sure: 1. Velocity < 300RPM, average velocity duration < 50ms
2. Acceleration/Deceleration time < 500ms
Press S to exit and disable the driver once completed.

Auxiliary function Operation

Inertia
AF_GL measuring G ----- Initialization
S
Press ◀ to start inertia measuring.
SrUon will be displayed.

SrUon Error
If driver is
enabled before ◀
is pressed, error
CCW▲ ▼CW might occur.

Hold ▲ or ▼ to
P 400 n 400 move motor in
CW/CCW direction
to measure
inertia.
G 200
G xxx will be displayed on completed. xxx
is the inertia value from the measurement.
Hold M to save the value to Pr0.04.

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AF rSt Software reset

Software reset is used mainly on parameters modification that takes effect only after driver restart.
Auxiliary function Operation

Software
AF rSt reset rSt - Initialization
S
Hold ▲ StArt will be displayed to
start reseting

StArt Start to reset

S 0 LED displayed will be off for 3s and back to

Reset completed initialization page once completed.

AF_tun One click auto tuning

One click auto tuning can be applied by operating the front panel. Set simple movement range and
movement range has to be more than 0.5 motor revolution.
Auxiliary function Operation

One click
AF tUn Auto tuning tUn --- Initialization
S
Press ◀ to enter one click auto tuning.
srUon will be displayed.

SrUon Error
If driver is enabled
before ◀ is pressed,
error might occur
CCW▲ ▼CW
When SrUon is
displayed, hold
▲▼ to perform CCW/CW
P 30 n 30 motion for a suitable
movement range.
Position will be
showed after motion
r 5 stops.

After setting movement range,

Hold S hold S to start tuning.

Shows tuning progress in %.

t 5 Tuning done at 100. Hold M to
save the parameter. If user does

t 100 not want to save, hold ◀ to get

back to SrUon

Hold M

FinSh will be displayed

FinSh after saving completed.

Press ◀ to get back to SrUon.

Press ◀ again to get back to
initialization page

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4.7 Get Started with Driver Operation

4.7.1 Checklist before operation
No. Description
Power supply
1 The voltage of main and control circuit power supply is within rated values.
2 Power supply polarity is rightly connected.
Wiring
1 Power supply input is rightly connected.
2 Driver’s power output UVW matches UVW terminals on the main circuit.
3 No short circuit of driver’s input and output UVW terminals.
4 Signal cables are correctly and well connected.
5 Drivers and motors are connected to ground
6 All cables under stress within recommended range.
7 No foreign conductive objects inside/outside the driver.
Mechanical
1 Driver and external holding brake are not place near combustibles.
2 Installations of driver, motor and axis is fastened.
3 Movement of motors and mechanical axes are not obstructed.

4.7.2 Power On
Connect 220V power supply into main power supply R, S, T terminals and 220V power supply
into control circuit power supply L1C, L2C. After power on, light indicator will light up and front
panel will display rEAdY, then LED initial status will be displayed. Driver is ready for operation if
no alarm occurs.

4.7.3 Trial Run

Servo drive must be disabled before performing trial run. For safety precautions, please JOG
under minimal velocity.

Related Parameters
No Parameters Label Set value Unit
.
1 Pr0.01 Control mode settings 0、1、6 /
2 Pr6.04 JOG trial run command velocity User defined r/min
3 Pr6.25 Trial run acc-/deceleration time User defined ms/1000rpm

 Please make sure the mechanical axis is within the range of motion and travelled distance
should not be too long to avoid collision.
 Set optimal velocity and acceleration for trial run (not too high!)
 Do not modify any gain related parameters during motion to avoid vibration.

Please refer to “Section 4.6 AF_Vog Trial Run” for detailed explanations on how to perform trial
run using front panel operation

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Chapter 5 Control Mode

Control modes for EL7-RSP series AC servo drives can be divided into 3 categories: Position control
mode, Velocity control mode and Torque control mode. RS models also come with a hybrid control
mode which is a combination of any 2 modes which are above.

• Position control mode determines position through pulse count. External input pulse
frequency determines rotational speed, mainly through motion controller, control card (5V
pulse), PLC (24V pulse). Due to the ability of position control mode to control velocity and
position tightly, it is usually use in positioning devices. It is the most widely used control
mode for servo drives.
• Velocity control mode controls rotational speed through digital I/O or communication
command settings. Mainly use in application where speed stability is required.
• Torque control mode is used in applications where forced applied on production material is
restricted, mainly winding or scrolling devices. For example, coil winding machines or
optical fiber cable production. Torque settings change according to the coil winding
diameter as to maintain stable force output throughout the process.

To set control mode

Label Control Mode Settings Valid mode(s) P S T
Pr0.01＊ Range 0~10 Unit — Default 0
Byte length 16bit Attribute R/W 485 address 0x0003
Valid After restart

Description
Value
1st mode 2nd mode ◆When 3, 4, 5, 6 combination hybrid mode,
【0】 Position — 1st and 2nd mode can be chosen
1 Velocity — accordingly with control mode switching
2 Torque — input (C-MODE).
C-MODE: Invalid, select 1st mode.
3 Position Velocity
C-MODE: Valid, select 2st mode.
4 Position Torque
Please allow some time in between mode
5 Velocity Torque switching commands.
Position ◆Please set Pr0.01 = 6 to switch to other
Pr0.22=1 modes from PR mod, then set 2nd mode
PR internal Velocity using Pr0.22.
6 command Pr0.22=1
control C-MODE is defaulted to Normally Open
Torque
Pr0.22=2

7~10 Reserved

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5.1 Position control

Position control determines rotational speed by frequency of external input pulse and angle of
rotation through pulse count using 5V pulse from motion controller, control card or 24V pulse for
PLC. Applies where precise positioning is required.
Velocity
feedforward Torque
feedforward
+ +
Command Command Electronic Command
+ Position + Velocity + Current
Motor
input Setting gear ratio filter control control control
- - -
Velocity
feedback Current
feedback

Frequency Position
divider output feedback Encoder

Set Pr0.01 = 0 to activate position control mode.

Please set related servo parameters according with the following diagram.

Pulse input Servo Drive

Position
Pulse command Electronic
command
input gear ratio
filter

Position command polarity(direction)

Position adjustment controller

Command prohibition
Controller

Position deviation clearing

Frequency
divider
pulse output

Frequency divider output

INP output
Positioning completed

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5.1.1 Pulse input and direction settings

Position command (pulse) input method:

1. A and B phase pulse
2. Positive/Negative direction pulse
3. Pulse count + symbol

Set pulse mode, rotational direction and max. pulse input frequency according to actual need
CN1 Pin Label Definition Description
1 PUL+24
Low speed pulse direction command input：
3 PUL+ Pulse command input
PUL+ / PUL-：5V differential input（500KHz）
4 PUL-
DIR+ / DIR-：5V differential input（500KHz）
2 DIR+24
PUL+24 / PUL-：24V single ended input (200KHz)
5 DIR+ Direction command input
DIR+24 / DIR-：24Vsingle ended input (200KHz)
6 DIR-
44 PULSH+ High speed pulse 4MHz high speed pulse command input :
45 PULSH- command input 5V differential input
46 SIGNH+ High speed direction 4MHz high speed direction command input :
47 SIGNH- command input 5V differential input

Command pulse input selection P

Label Valid mode(s)
Pr0.05 Range 0~1 Unit — Default 0
Byte length 16bit Attribute R/W 485 address 0x000B
Valid After restart

Value Description
Pulse input low speed channel (200/500kHz pulse
【0】
input)
1 Pulse input high speed channel (4MHz pulse input)
Both channels cannot be used at the same time.

Command pulse polarity P

Label inversion Valid mode(s)
Pr0.06 Range 0~1 Unit — Default 0
Byte length 16bit Attribute R/W 485 address 0x000D
Valid After restart
Pr0.06 and Pr0.07 set command pulse input inversion and mode correspondingly.

Label Command pulse input mode Valid mode(s) P

Pr0.07 Range 0~3 Unit — Default 3
Byte length 16bit Attribute R/W 485 address 0x000F
Valid After restart
Command pulse input
Command
Command
pulse
Polarity Command Pulse
input mode Positive signal Negative signal
inversion Mode
settings
(Pr0.06)
(Pr0.07)

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90°phase
0 difference
or 2 phase pulse
2 ﹙Phase A+ Phase
B）
CW pulse
【0】 sequence
1 ＋
CCW pulse
sequence
Pulse sequence
【3】 ＋
Directional symbol

90°phase
0 difference
or 2 phase pulse
2 （Phase A＋Phase
B）

1 CW pulse
sequence
1 ＋
CCW pulse
sequence
Pulse sequence
3 ＋
Directional symbol

Command pulse input signal max. frequency and min. duration needed
Max. Min. duration needed（μ s）
Command pulse input interface Frequency t1 t2 t3 t4 t5 t6
Differential drive 500 kHz 2 1 1 1 1 1
Pulse 200 kHz 5 2.5 2.5 2.5 2.5 2.5
Open collector
sequence
interface High speed
4Mhz 0.25 0.125 0.125 0.125 0.125 0.125
differential drive
Please set >0.1μs for the duration between rising and falling edge of command pulse input signal.
1 revolution with 2500 pulses 2-phase pulse input when Pr0.07=0 or 2, Pr0.08 = 10000;
1 revolution with 10000 pulses 1-phase pulse input when Pr0.07=1 or 3, Pr0.08 = 10000

Label Max. command pulse input frequency Valid mode(s) P

Range 0~8000 Unit kHz Default 4100
Pr5.32
Byte length 16bit Attribute R/W 485 address 0x0541
Valid Immediate
Please set the max. frequency required for command pulse input. Er1B0 will occur, if
command pulse input frequency exceeds Pr5.32.

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5.1.2 Electronic Gear Ratio

To realize correspondent motor rotational angle to arbitrarily set input command input by multiplying pulse
command input from controller and coefficient of frequency divider/multiplier. Motor might not reach
target velocity due to insufficient pulse output from controller. This function can be used to solve this issue
by increasing pulse command frequency.

1. When Pr0.08 = 0, Pr0.09 and Pr0.10 will be valid. Other than that, Pr0.08 set value will be valid.
2. EL7-RS series supports 2 independent sets of electronic gear ratio. The 2 sets can be switch by
delivering a command frequency divider/multiplier input DIV1. Both sets of electronic gear ratio
is set up using Pr0.08, Pr0.09 and Pr0.10; Pr5.00, Pr5.01 and Pr5.02.
1st command pulse count per P S T
Label Valid mode(s)
revolution
Range 0-67100864 Unit PULSE Default 10000
Pr0.08
Byte length 32bit Attribute R/W 485 address H: 0x0010
L: 0x0011
Valid After restart
Control will affected if value set is too low. Err1b1 might occur if value < 500.
(1) Pr0.08 valid when ≠ 0: Motor revolution = input pulse count / [Pr0.08 value]
(2) Pr0.08 invalid when = 0: Pr0.09 and Pr0.10 valid.

1st command frequency P

Label Valid mode(s)
divider/multiplier numerator
Range 1~2147483647 Unit — Default 1
Pr0.09
Byte length 32bit Attrib R/W 485 address H: 0x0012
ute L: 0x0013
Valid After restart
Valid when Pr0.08 = 0, please refer to description in Pr0.10.
1st command frequency P
Label Valid mode(s)
divider/multiplier denominator
Range 1~2147483647 Unit — Default 1
Pr0.10
Byte length 32bit Attrib R/W 485 address H: 0x0014
ute L: 0x0015
Valid After restart
1. Settings：
(1)Driver command pulse input count : X
(2)Encoder pulse count after frequency divider/multiplier: Y
(3)Encoder pulse count per revolution: Z
(4)Motor revolution: W
2. Calculation：
（1）X, Y
Y = X * Pr0.09 / Pr0.10
24
Please keep the value of Pr0.09 and Pr0.10 to be smaller than 2 (16777216).
（2）Z
23
Motor with 23-bit motor： Z= 2 = 8388608
（3）Y, Z, W
W=Y/Z
Performance cannot be guaranteed if frequency divider/multiplier ratio is set to extreme
values. Err1b1 might occur if W < 500.

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5.1.3 Position command filter

Position command filter is to filter position command after electronic gear ratio frequency
dividing/multiplying. Including position command smoothing filter and position command FIR filter.

Position command filter should be added for the following cases:

1. Position command pulse from controller has not yet to undergo acceleration/deceleration (with
steep acceleration/deceleration).
2. Low command pulse frequency
3. Electronic gear ratio = 10 times or above
Position command filter can smoothen position command and motor rotation will be more stable

Label Position command smoothing filter Valid mode(s) P

Range 0~32767 Unit 0.1ms Default 0
Pr2.22
Byte length 16bit Attribute R/W 485 address 0x022D
Valid At stop
To set time constant of 1 time delay filter of position command.
To set time constant of 1 time delay filter, according to target velocity Vc square wave
command as show below.
Position
Velocity command Position command
after filter Filter
(RPM) before filter
switching
time
Vc
Vc 0.632 Position command
smoothing filter set
time(ms)
Vc 0.368 Pr2.22 x 0.1ms

Time
Usually applied when there is rather sharp acceleration which might cause motor overshoot or
undershoot. To smoothen command signal, reduces impact to machines and eliminate
vibration. If Pr2.22 is set too high, overall time will be lengthened.
Label Position command FIR filter Valid mode(s) P
Range 0~2500 Unit 0.1ms Default 0
Pr2.23 Byte length 16bit Attribute R/W 485 address 0x022F
Valid At stop
As shown below, when target velocity Vc square wave command reaches Vc, it becomes
trapezoidal wave after filtering.
Position
Velocity command Position command Filter
(RPM) before filtering after filtering switching
time
Vc
Position command
FIR filter set
time(ms)
Pr2.23 x 0.1ms

Time

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As shown below, when target velocity Vc trapezoidal command reaches Vc, it becomes S
wave after filtering.

Position
Velocity command Position command
(RPM) before filtering after filtering

Vc

Position command
FIR filter set
time(ms)
Pr2.23 x 0.1ms

Time
Usually applied when there is rather sharp acceleration which might cause motor overshoot or
undershoot. To smoothen command signal, reduces impact to machines and eliminate
vibration. If Pr2.23 is set too high, overall time will be lengthened.

Note: Please wait for command to stop and after filter idle time to modify Pr2.23.
Filter switching time = (Pr2.23 set value x 0.1ms + 0.25ms)

5.1.4 Frequency divider output

Frequency divider output indicates position command pulse or encoder feedback position pulse
which is A and B phase pulse output.
Frequency divider output delivers motor encoder or external encoder position feedback to controller
using ABZ phase pulses

**Encoder Z-signal width ≥ 62.5ms, or equivalent to an A/B signal cycle. If frequency divider output
Z-signal width has to be widen, set through Pr5.43.
*When Pr5.43 = 0, frequency divider Z-signal width is similar to width of single A/B cycle.
If Pr5.43 = 1~500, set delay based on A/B cycle width.

Value Description
【0】 Z bandwidth equivalent to 1 cycle of A/B
1~500 Delay setting on top of A/B cycle width

Z A/B cycle

Pr5.43

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Related parameters
Encoder output pulse count per P S T
Label Valid mode(s)
revolution
Pr0.11 Range 1~32767 Unit P/r Default 2500
Byte length 16bit Attribute R/W 485 address 0x0017
Valid After restart
If Pr0.11 = 1000, encoder differential output signal per revolution = 4000 pulses
Label Pulse output logic inversion Valid mode(s) P S T
Range 0~1 Unit — Default 0
Pr0.12
Byte length 16bit Attribute R/W 485 address 0x0019
Valid After restart
To set phase B logic and output source from encoder pulse output. To inverse B-Phase
pulse logic and change the relation between Phase A and Phase B
Pulse output logic inversion
Pr0.12 Phase B logic CCW direction CW direction

[0] Not inverted

[1] Inverted

Frequency divider output – Z-signal Valid mode(s) P S T

Label
polarity
Pr5.42 Range 0~7 Unit — Default 0
Byte length 16bit Attribute R/W 485 address 0x0555
Valid Disabled
Bit Polarity Description
0 = Positive Z polarity setting of frequency divider output and
Bit0
1 = Negative position comparison
0 = Positive Only valid in position comparison.
Bit1 Polarity setting when phase A frequency divider as
1 = Negative
position comparison output
Only valid in position comparison.
Bit2 0 = Positive Polarity setting when phase B frequency divider as
position comparison output

Label Frequency divider output source Valid mode(s) P S T

Range 0~4 Unit — Default 0
Pr5.44
Byte length 16bit Attribute R/W 485 address 0x0559
Valid After restart

Value Description
【0】 Position feedback of encoder #1(motor encoder)
1 Position feedback of encoder #2(external encoder)
2 Reserved
3 Pulse input command position synchronous output;
position comparison not available in this mode
4 Frequency divider output prohibited

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5.1.5 Positioning completed INP signal output

INP signal output will be valid when position deviation is within the range when positioning is
completed. Set unit in Pr5.20.
Label Positioning complete range Valid mode(s) P
Range 0～ Unit Default
Pr5.21 set unit 20
Pr4.31 10000
Byte length 16bit Attribute R/W 485 address 0x043F
Valid Immediate
To set position deviation range of INP1 positioning completed output signal. INP1 output
signal will be valid once position is complete within the range of deviation set.
Default unit: 0.00001rev. Can be set on Pr5.21 as command unit (pulse) or encoder unit
(pulse)
Label Positioning complete output setting Valid mode(s) P
Range 0~4 Unit — Default 1
Pr4.32 Byte length 16bit Attribute R/W 485 address 0x0441
Valid Immediate
To set conditions for INP1 output signal to be valid
Value Positioning completed signal
0 Signal valid when the position deviation is smaller than Pr4.31
1 Signal valid when there is no position command and position deviation is
smaller than Pr4.31
2 Signal valid when there is no position command, zero-speed clamp
detection (ZSP) signal is ON and the positional deviation is smaller than
Pr4.31
3 Signal valid when there is no position command and position deviation is
smaller than Pr4.31. Signal ON when within the time set in Pr4.33 otherwise
OFF.
4 When there is no command, position detection starts after the delay time set
in Pr4.33.
Signal valid when there is no position command and positional deviation is
smaller than Pr4.31.
Label INP positioning delay time Valid mode(s) P
Range 0~15000 Unit 1ms Default 0
Pr4.33 Byte length 16bit Attribute R/W 485 address 0x0443
Valid Immediate
Valid when Pr4.32 = 3.
Set value Positioning completed signal
0 Indefinite delay time, signal ON until next position command
OFF within the time set; ON after time set. Switch OFF after receiving next
1-15000
position command.

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5.2 Velocity control mode

Velocity mode precisely controls motor rotational speed/direction using analog velocity command or
internal related parameters. There are 4 types of velocity control modes for EL7-RSP series AC
Servo Drives: Analog control, internal velocity 4 speeds, internal velocity 8 speeds and analog +
internal velocity control.
Set Pr0.01 = 1 to activate velocity control mode.
Torque
feedforward

Velocity
+
Velocity
command
Velocity Velocity + Velocity +
command command command Current control Motor
source & control
input gain limit
direction
- -
Current
feedback

Velocity
feedback Encoder

Please set related servo parameters according with the following diagram.
Velocity Servo Drive
command input
Command Velocity
Command input
gain limit

Velocity command polarity(direction)

Velocity adjustment controller

Zero speed clamp
Controller

Rotational speed limit output

Velocity reached output

Velocity coincide output

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5.2.1 Velocity command input control

Set velocity control mode in Pr3.00

Pr3.00 = 0
Analog

Pr3.00 = 1
Internal
velocity
Velocity command
Pr3.00 = 2 direction
Analog +
Internal Pr3.01
velocity
Pr3.00 = 3
Internal
velocity

Label Velocity internal/external switching Valid mode(s) S

Range 0~3 Unit — Default 1
Pr3.00 Byte length 16bit Attribute R/W 485 address 0x0301
Valid Immediate
Connect to the right DI to control internal command velocity settings.
Value Velocity settings
0 Analog - Velocity command（SPR）
st th
【1】 Internal velocity settings 1 – 4 speed（Pr3.04～Pr3.07）
st rd
Internal velocity settings 1 – 3 speed（Pr3.04～P3.06）、Analog
2
velocity command（SPR）
st th
3 Internal velocity settings 1 – 8 speed（Pr3.00～Pr3.11）

Internal command Internal command Internal command

Velocity
Value velocity 1 velocity 2 velocity 3
command
（INTSPD 1） （INTSPD2） （INTSPD3）
st
OFF OFF 1 speed
nd
ON OFF 2 speed
1 No effect rd
OFF ON 3 speed
th
ON ON 4 speed
st
OFF OFF 1 speed
nd
ON OFF 2 speed
rd
2 OFF ON No effect 3 speed
Simulated
ON ON
speed
st th
Similar to Pr3.00=1 OFF 1 – 4 speed
th
OFF OFF ON 5 speed
3 ON OFF ON
th
6 speed
th
OFF ON ON 7 speed
th
ON ON ON 8 speed

Please change internal command velocity as per diagram below as unexpected axis

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movement might occurs if 2 command velocities are changed at the same time.

Pr3.00=1 / 2 Pr3.00=3

Velocity command direction settings

Switch velocity command direction using I/O. Assign VC-SIGN to corresponding DI terminal, velocity
command direction will be in accordance to DI signal.
Velocity command rotational S
Label Valid mode(s)
direction selection
Pr3.01 Range 0~1 Unit — Default 0
Byte length 16bit Attribute R/W 485 address 0x0303
Valid Immediate
To set positive/negative direction of velocity command
Velocity settings Velocity command
Velocity command
Value （Analog or internal sign selection（VC-
direction
velocity） SIGN ）
＋ No effect Positive
【0】
－ No effect Negative
1 No effect OFF Positive
No effect ON Negative

Velocity command input inversion

Set Analog-Velocity command (SPR) voltage polarity

Label Velocity command input inversion Valid mode(s) S
Range 0~1 Unit — Default 0
Pr3.03
Byte length 16bit Attribute R/W 485 address 0x0307
Valid Immediate
To set voltage polarity of analog velocity command.
Only valid when Pr3.01 = 0. When Pr3.01 = 1, rotational direction is only related to VC-SIGN.
Value Motor rotational direction
【0】 Not 「Positive voltage」→「Positive direction」
inversed 「Negative voltage」→「Negative direction」
1 Inversed 「Positive voltage」→「Positive direction」
「Negative voltage」→「Negative direction」
If there is an external position sensor with different polarity from Pr3.03, motor might undergo
abnormal motion.

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Velocity command input gain

Set Analog-Velocity command (SPR) voltage to motor velocity command switching gain
Label Velocity command input gain Valid mode(s) S T
Range 10~2000 Unit (r/min)/V Default 500
Pr3.02
Byte length 16bit Attribute R/W 485 address 0x0305
Valid Immediate
To set gain changes from voltage added onto analog velocity command (SPR) to motor
command velocity
Pr3.02 sets command input voltage and rotational speed slope.
Factory default:
Pr3.02=500(r/min)/V.
Hence 6V input: 3000 r/min

1. Do not supply more than ±10V power for analog velocity command (SPR).
2. If Pr3.02 set value is too large, it might cause vibration.

5.2.2 Velocity command acceleration/deceleration

Acceleration/Deceleration is added onto velocity command input to control velocity. This function is valid
when entering step-like velocity command or internal velocity settings is used to realize motor soft start.
Use Sigmoid acceleration/deceleration to reduce vibration and impact due to changes in velocity.
Label Acceleration time settings Valid mode(s) S
Range Unit ms/ Default
0~10000 (1000rpm) 100
Pr3.12
Byte length 16bit Attribute R/W 485 address 0x0319
Valid Immediate
Label Deceleration time settings Valid mode(s) S
Range Unit ms/ Default
0~10000 100
Pr3.13 (1000rpm)
Byte length 16bit Attribute R/W 485 address 0x031B
Valid Immediate
Set max acceleration/deceleration for velocity command.

If target velocity = x [rpm], max acceleration = a [unit: rpm/ms], acceleration time = t [ms]
Pr3.12 = 1000/a
Pr3.13 = 1000/a

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With added
a = x/t acceleration
Velocity Initial acceleration deceleration
(rpm)
For example: time is to achieve 1500rpm in
If motor timea=1500/30=50rpm/ms
30s, settings
Pr3.12 = 1000/a= 20. Hence when Pr3.12 = 20, motor can achieve 1500rpm in 30s.

1000
(rpm)

PA3.12 PA3.13
Time(ms)

Usually used when there is rapid acceleration or trapezoidal wave velocity command due
to many different internal speed segments under velocity control mode which causes
instable while motor in motion.
Under velocity control mode, 6083 and 6084 is limited by Pr3.12 and Pr3.13
correspondingly.
Sigmoid acceleration/deceleration S
Label Valid mode(s)
settings
Pr3.14 Range 0~1000 Unit ms Default 0
Byte length 16bit Attribute R/W 485 address 0x031D
Valid After restart
To set sigmoid acceleration and deceleration turning point in accordance to Pr3.12 and
Pr3.13.
Velocity Velocity
(RPM) ts ts after
acceleration/
Target deceleration
velocity settings
Vc
ta= Vc/1000 x Pr3.12 x 1ms
ts td= Vc/1000 x Pr3.13 x 1ms ts
Ts = Pr3.14 x 1ms
Use when ta/2>ts、td/2>ts
Time
ta td

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5.2.3 Velocity reached signal AT-SPEED output

Velocity reached signal AT-SPEED output will be valid when motor velocity reached set speed in Pr4.36.
This output function can be assigned through I/O configurations, please refer to Pr4.10. When velocity
matches set conditions, assigned I/O terminal will be ON, signal will be valid.
Label Arrival velocity Valid mode(s) S
Range 10~2000 Unit r/min Default 1000
Pr4.36
Byte length 16bit Attribute R/W 485 address 0x0449
Valid Immediate
When motor velocity > Pr4.36, AT-speed output signal is valid.
Detection using 10RPM hysteresis.

5.2.4 Velocity coincidence V-COIN signal output

V-COIN signal output will be valid when velocity command (before acceleration/deceleration) coincides
with motor velocity. Velocity is considered to be coincided if the difference between velocity command
before acceleration/deceleration from servo drive and motor velocity is within the value set in Pr4.35.
This output function can be assigned through I/O configurations, please refer to Pr4.10. When velocity
matches set conditions, assigned I/O terminal will be ON, signal will be valid.
In Position signal in PV mode is in synchronization with V-COIN signal.
Label Velocity coincidence range Valid mode(s) S
Range 10~2000 Unit r/min Default 50
Pr4.35
Byte length 16bit Attribute R/W 485 address 0x0447
Valid Immediate
If the difference between velocity command and motor actual speed is below Pr4.35, Velocity
coincidence (V-COIN) output signal valid.

Due to 10RPM hysteresis:

Velocity coincidence output OFF -> ON timing (Pr4.35 -10) r/min
Velocity coincidence output ON -> OFF timing (Pr4.35 +10) r/min

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Position command after

acceleration time
Velocity Velocity settings added Pr4.35
(RPM) command Velocity coincidence
range

Motor
Pr4.35 speed
Velocity
coincidence Pr4.35 Time
range Velocity
coincidence range
Velocity ON ON
coincidence
V-COIN OFF OFF

5.2.5 Zero Speed Clamp

Forced set velocity command to 0 using zero speed clamp to avoid servo axis from crawling at low
velocity.
This input function can be assigned through I/O configurations, please refer to Pr4.00.
Label Zero speed clamp function selection Valid mode(s) S

Pr3.15 Range 0~3 Unit — Default 0

Byte length 16bit Attribute R/W 485 address 0x031F
Valid Immediate

Value Zero speed clamp function

0 Invalid: zero speed clamp deactivated
Velocity command is forced to 0 when the zero speed clamp (ZEROSPD) input signal is
1
valid.
2 Velocity command is forced to 0 when actual velocity is lower than Pr3.16.
3 Includes conditions from 1 and 2
Label Zero speed clamp level Valid mode(s) S
Range 10~2000 Unit r/min Default 30
Pr3.16
Byte length 16bit Attribute R/W 485 address 0x0321
Valid Immediate
Valid when Pr3.15 = 2/3, velocity command is forced to 0 when actual velocity is lower than Pr3.16 and
after static time set in Pr3.23.

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5.3 Torque control

Torque control mode is to the size of motor asserted torque through external analogue input or directly
from set value internally. This control mode is applicable where torque is the main control and limiting
factor.
Torque Torque Torque
Torque
command command command
setting
input filter limit

+
Velocity Velocity Acceleration/ Velocity + Velocity
+ Curremt
limit limit deceleration limit Motor
control control
input selection limit symbol
- -
Velocity
feedback Current
feedback

Encoder

Using Motion Studio or front panel on servo drive, set Pr0.01 = 2 to activate torque control mode.
Please set related servo parameters according with the following diagram.
Torque Servo Drive
command input
Command input Command Command
setting filter limit

Torque command direction selection

Torque adjustment controller

Velocity limit
Controller

TLC output

Torque limit output TLC

Torque reached output

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5.3.1 Torque command input control

Torque control mode settings

Torque control mode includes 3 control modes as shown below. Set torque control mode in Pr3.17.
Pr3.17 = 0
Torque analogue +
Pr3.21

Pr3.17 = 1
Torque analogue +
Velocity analogue
Torque command
Pr3.17 = 2 direction
Pr3.22(Torque) Pr3.18
Pr3.21(Velocity)

Label Torque internal/external switching Valid mode(s) T

Range 0~3 Unit Default 0
Pr3.17
Byte length 16bit Attribute R/W 485 address 0x0323
Valid Immediate

Value Torque command input Velocity limit input

【0】 Analog input 3(AI 3) Pr3.21 set value
1 Analog input 3(AI 3) Analog input 1(AI 1)
2 Pr3.22 set value Pr3.21 set value

Torque command direction settings

To switch velocity command direction through DI. Assign TC-SIGN signal to corresponding DI terminal
and determine velocity command direction through digital input signal.
Label Torque command direction selection Valid mode(s) T
Range 0~1 Unit — Default 0
Pr3.18
Byte length 16bit Attribute R/W 485 address 0x0325
Valid Immediate

To set torque command positive/negative direction

Value Direction settings
TC-SIGN ON/OFF has no effect on torque direction
【0】 Torque command input「Positive」→Positive direction、
「Negative」→Negative direction
Use TC-SIGN ON/OFF status for torque direction
1
OFF: Positive direction ON: Negative direction

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Torque command input inversion

To set the voltage polarity added onto analogue torque command (TRQR)
Label Torque command input inversion Valid mode(s) T
Range 0~1 Unit — Default 0
Pr3.20
Byte length 16bit Attribute R/W 485 address 0x0329
Valid Immediate

To set voltage polarity of analog torque command.

Only valid when Pr3.18 = 0.
Value Motor torque direction
【0】 Not inversed 「Positive voltage」→「Positive direction」
「Negative voltage」→「Negative direction」
1 Inversed 「Positive voltage」→「Positive direction」
「Negative voltage」→「Negative direction」

Torque command input gain

To set voltage added on to switching gain of motor torque command from analog torque
command(TRQR)
Label Torque command input gain Valid mode(s) T
Range 10~100 Unit 0.1V/100% Default 30
Pr3.19
Byte length 16bit Attribute R/W 485 address 0x0327
Valid Immediate
To set gain changes from voltage added onto analog torque command (TRQR) to torque command (%)

·Unit: （0.1V/100%）。
·Set input voltage required for rated output
torque.
·Default = 30，which is 3V/100%

5.3.2 Torque velocity limit

To set velocity limit in torque mode for safety reasons.
Label Velocity limit in torque mode Valid mode(s) T
Range 0~10000 Unit r/min Default 0
Pr3.21 Byte length Attribute 485 address
16bit R/W 0x032B
Valid Immediate
To set velocity limit in torque control mode. Only valid when Pr3.17 = 0 / 2.
Label Torque command Valid mode(s) T
Range 0~300 Unit % Default 0
Pr3.22
Byte length 16bit Attribute R/W 485 address 0x032D
Valid Immediate
To set torque limit in torque control mode. Only valid when Pr3.17 = 2.
Please refer to Pr3.17.

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5.3.3 Torque limit (TL-SEL)

This input function can be assigned through I/O configurations, please refer to Pr4.00.
To set torque limiting method.
Label Torque limit selection Valid mode(s) P S T
Range 0~6 Unit — Default 0
Pr5.21
Byte length 16bit Attribute R/W 485 address 0x052B
Valid Immediate

Value Limit
st
【0】 1 torque limit Pr0.13
nd
1 2 torque limitPr5.22
TL-SEL OFF Pr0.13
2
TL-SEL ON Pr5.22
3~4 Reserved
Pr0.13 →Positive torque limit
5 Pr5.22 →Negative torque limit

nd
Label 2 torque limit Valid mode(s) P S T
Range 0~500 Unit % Default 300
Pr5.22 Byte length 16bit Attribute R/W 485 address 0x052D
Valid Immediate
Pr5.22 is limited by max. torque set in motor parameter.

st
1 torque limit P S T
Label Valid mode(s)
Pr0.13 Range 0~500 Unit % Default 350
Byte length 16bit Attribute R/W 485 address 0x001B
Valid Immediate
st
1 torque limit is set according to ratio percentage of motor rated current. Do not exceed max driver
output current.

Please refer to Pr5.21 on how to set torque limit.

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5.4 Hybrid Control Mode

Hybrid control mode is for servo drive to be able to switch between different modes during operation.
Hybrid control mode consists of the 3 listed below:
• Position-velocity mode
• Position-torque mode
• Velocity-torque mode
Set Pr0.01 to select the hybrid control mode needed through Motion Studio or servo drive front panel.

Label Control Mode Settings Valid mode(s) P S T

Range 0~10 Unit — Default 0
Pr0.01
Byte length 16bit Attribute R/W 485 address 0x0003
Valid After restart

Description st
Value st nd ◆When 3, 4, 5, 6 combination hybrid mode, 1 and
1 mode 2 mode nd
2 mode can be chosen accordingly with control
【0】 Position — mode switching input (C-MODE).
st
1 Velocity — C-MODE: Invalid, select 1 mode.
st
2 Torque — C-MODE: Valid, select 2 mode.
3 Position Velocity Please allow some time in between mode
switching commands.
4 Position Torque ◆Please set Pr0.01 = 6 to switch to other modes
5 Velocity Torque nd
from PR mod, then set 2 mode using Pr0.22.
Position
Pr0.22=1 C-MODE is defaulted to Normally Open

Velocity
PR internal Pr0.22=1
6
command control
Torque
Pr0.22=2

7~10 Reserved

When Pr0.01 = 3/4/5, please set assign C-MODE mode switching signal to one of the DI terminal and
make sure the logic is valid.
Signal Set value Label Description
Pr0.01 C-MODE Control mode
Invalid Position mode
3
Valid Velocity mode
Control
C-MODE 0x5 mode Invalid Position mode
switching 4
Valid Torque mode
Invalid Velocity mode
5
Valid Torque mode

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Chapter 6 Application Case

6.1 Gain Adjustment

In order for servo driver to execute commands from master device without delay and to optimize
machine performance, gain adjustment has to be done yet.
Low gain High gain High gain + feedforward
[r/min]
+3000

Actual velocity
Command velocity
-3000
0 200 400 600 0 200 400 600 0 200 400 600

Position loop gain: 320 (0.1/s) Position loop gain: 900 (0.1/s) Position loop gain: 900 (0.1/s)
Velocity loop gain: 180 (0.1Hz) Velocity loop gain: 500 (0.1Hz) Velocity loop gain: 500 (0.1Hz)
Velocity loop integral time Velocity loop integral time Velocity loop integral time
constant: 31ms constant: 31ms constant: 31ms
Servo driver gain adjustment is done in combination with a few other parameters (Inertia ratio,
Position loop gain, Velocity loop gain and Filters settings). These parameters will have an effect on
each other so it always advisable to tune each parameter according in order to achieve optimal
machine performance. Please refer to the steps below

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Start

Electronic
gear ratio

Inertia
measuring

Auto gain
adjustment

Y Requirement
met?

Manual gain
adjustment

N
Y
Requirement
met?

Vibration
suppression

End

Gain Adjustment Flow Diagram

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Steps Functions Explanation

Online Motor moves with command from controller, servo driver will
automatically calculate load-inertia ratio
Inertia ratio
identification Offline Using servo driver inertia determining function, servo driver
can automatically calculate load-inertia ratio

Auto gain Auto gain Real time determining of mechanical load, gain value is set
adjustment adjustment accordingly.
1. One-click tuning (Can be realized using Motion
Studio. Auto tuning of gain and inertia according to
actual data)
2. Real time auto adjustment (Set by selecting
mechanical stiffness level, related gain parameters
will be automatically adjusted accordingly)
Basic gain On top of auto gain adjustment, manually adjust related
parameters so that machine can have better responsiveness
and following
Basic steps 1. Gain related parameters tuning under position mode
2. Gain related parameters tuning under velocity mode
3. Gain related parameters tuning under torque mode
Gain switching Gain switching through internal data or external signal. Lower
vibration at stop, shorten tuning time, improve command
following.
Manual gain
adjustment Model following Improve responsiveness, shorten positioning time (Only
control available in position mode)
Command pulse Set filter for position, velocity and torque command pulse.
filter
Gain Enable feedforward function to improve following behavior
feedforward
Friction Reduce the effect of mechanical friction
compensation
rd
3 gain Base on usual gain switching function. Can be set to switch
switching gain at stopping and reduce positioning time.
Vibration Mechanical Using notch filtering function to suppress mechanical
suppression resonance resonance.
End vibration To suppress low frequency vibration of mechanical end
suppression

6.2 Inertia ratio identification function

Inertia ratio = Total mechanical load rotational inertia / Motor rotational inertia

Inertia ratio is an important parameter. Setting a suitable value can help with the precise tuning of
the servo system. Inertia ratio can be set manually and also be determined automatically through
servo driver

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To make sure accurate inertia ratio identification

1. Max rotational velocity at 400rpm
2. Acceleration/deceleration time above 100ms
3. Stable load torque without large variation.

Online inertia determination

Enable motor using controller. Let motor run at above 400rpm, make sure there are acceleration,
constant velocity and deceleration phase during the whole run. Cycle through 2-3 times to calculate
load-inertia ratio. Result can be found on the front panel d16 or through Motion Studio system
monitoring page. Enter the calculated value into Pr0.04 and save.

Offline inertia determination

Can be achieved through driver front panel or on Motion Studio
Please make sure: 1. Servo driver is disabled.
2. Axis is within safe and allowed range and limit switch is not triggered to
prevent axis from over travelling.

Auxiliary function to determine inertia on front panel

Auxiliary Function Operation

AF _ GL
Inertia
measuring
G ---- Initialization
S
Press ‘◀’ to start inertia
measuring. SrUon will be
displayed.

S r U o n E r r o r
Error might occur if
‘◀’is pressed when
driver is enabled.
▲ ▼
When SrUon is
CW CCW displayed

P 400 N 400 Press ‘▲’or

‘▼’to start
moving in both
direction. Result
can be obtained
G 2 0 0 once completed.

G xxx ，xxx = inertia value.

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Steps:
1、Set the trial run velocity Pr6.04. Value set shouldn’t be too large, please keep it at around
400 r/min.
2、Enter AF_GL for auxiliary function – Inertia ratio determination into front panel
3、Press S once to enter. “G---” will be displayed on the front panel.
4、Press once to display “StUon”
5、Press or once to start to calculate the inertia.
6、After the calculation is done, G xxx will be displayed and xxx is the value of inertia
calculated.
7、Write the corresponding value into Pr0.04. Please refer to for parameter saving on servo
driver.

Inertia measuring using Motion Studio

1. Start Motion Studio and maneuver to inertia ratio identification page under performance tuning.
Set trial run velocity Pr6.04 and acc-/deceleration time Pr6.25, click on ‘Upload’ to upload
parameters to servo driver.
2. Tick “Prohibit external enabling” and click on “servo on”.
3. Click and hold “CCW” to start the motor. Current position will show motor cycles of revolution.
Click on POS 1 to save current position as starting point. Click and hold “CW” to start the motor
again. Click on POS 2 to save current position as ending point.
4. Set the waiting time between each cycle in Pr6.21 and no. of cycles in Pr6.22. Click on ‘Run’ and
motor will run according to the parameters set.

2
1

4
5. After the calculation is done, inertia ratio will be calculated automatically and click on ‘write’ to
enter the calculated value into Pr0.04.

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6. Click on “Parameter List” to enter parameters management to check or modify Pr0.04. Then, click
on “Save” to save parameters to driver.

Please take note:

1. Trial run velocity and distance should be optimal to prevent any axis from bumping into objects.
2. It is recommended to move only in 1 direction for vertically mounted axis. Take precaution before
moving the axis.
3. For applications with higher frictional drag, please set a minimal travel distance.

Inertia ratio P S T
Label Valid mode(s)
Pr0.04 Range 0~20000 Unit % Default 250
Byte length 16bit Attribute R/W 485 address 0x0009
Valid Immediate

Pr0.04=( load inertia/motor rotational inertia)×100%

Set inertia ratio according to actual load inertia. When both are uniform, actual motor
velocity loop responsiveness and gain settings will be consistent. If inertia ratio is
greater than actual value, velocity loop gain settings will be higher and vice versa.
For motor with high inertia, Pr0.04 can be left unfilled but optimal setting of Pr0.04
could improve system performance

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Common issues
Error Cause Solution
Loose load connection Check for mechanical failure
Measuring distance is too short Increase measuring distance
Inertia measuring
Please pre-set an inertia ratio when
failure
Belt load using a belt to prevent jolt due to low
inertia.

6.3 Easy Tuning

6.3.1 Single parameter tuning

Set a mechanical stiffness level and the driver will automatically tune the parameters accordingly,
including inertia measuring and vibration suppression to fulfill responsiveness and stability needs. At
same time, more advanced functions can be applied, for example: Command pulse filter, low frequency
vibration suppression, etc.
Recommended for applications where inertia changes is minute. Single parameter tuning is more
complicated to set up compared to one-click tuning. Use single parameter tuning when one-click tuning
doesn’t fulfill the needs.

Recommended application scenarios

Control mode Suitable in position mode or EtherCAT mode (Not applicable in other modes)
Others  Servo ON (SRV-ON) status
 Set suitable position/torque limit so that motor can run normally
 Use trial run or any external controller to make sure no clash of axes

Factors affecting single parameter tuning

 External load smaller or 30 times larger than rotor inertia
Load inertia  Inertia measuring might fail upon changes in load inertia
 Load torque changes drastically
 Mechanical stiffness is too low
Load  Existence of gear backlash or any other non-linear factors
 Complicated mechanical load structure
 Low speed, no more than 300[r/min].
 Acceleration/deceleration time too long, more than = 600ms
Motion
 Speed > 300r/min, acceleration/deceleration time < 600ms but travelling time
duration < 50ms.

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6.3.2 One-click Tuning

This function is able to automatically tune the most optimal gain parameters for the specific applications
after the axis is in operation and learning. Corresponding paths and responsiveness level need to be set
before using this function. Please refer to the flow chart below. Parameter will be saved to parameters file
and can be used on similar axes.
Recommended for applications where inertia changes is minute.

Recommended application scenarios

Control mode Suitable in position mode or EtherCAT mode (Not applicable in other modes)
Others  Make sure servo drive can't be enabled externally or any external command
that can rotate the motor. Set range of movement, velocity and
acceleration/deceleration time for one-click tuning.
 Prohibit external command. Make sure there is no obstacle within the range of
movement of the axis and motor can rotate freely.

Factors affecting one-click tuning

 External load smaller or 30 times larger than rotor inertia
Load inertia  Drastic changes in load inertia during motion.
Under heavy load (more than 30 times inertia), please make sure of safety
 Mechanical load is loosely connected.
Load  Existence of gear backlash or any other non-linear factors
 Complicated mechanical load structure
 Range of movement is too short or too long which cost the time to be overdue.
Motion
 Not smaller than 0.5R

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Start

Driver parameter
initialization

Set correct electronic

gear ratio

Click on ‘One-Click
Tuning’ on Motion
Studio

Select auto tuning

mode

Set range of movement and

operation mode

Tuning in progress

Tuning result

If result is N Fine tune

satisfactory manually

Save parameters

End

One-click tuning flow diagram

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6.4 Auto gain adjustment

This function will measure real time mechanical properties and set gain values in accordance to
mechanical stiffness. Can be used in any control mode
Conditions to implement
Please refer to Pr0.02 for detailed explanations. Auto gain adjustment is
Control mode
different for each control mode.
・Servo driver needs to be enabled
・Set up input signals such as deviation counter clearing and command
Other input; Torque limit and other motion control parameters to enable motor to
move normally without obstacles.

Under certain conditions, external factors might affect automatic gain adjustment functions. If the
conditions as listed exist or unfavorable, please disable the automatic gain adjustment function.

Affecting conditions
・If inertia is less than 3 times or over 20 times of rotor inertia.
Load inertia
・Changes in load inertia
・Very low mechanical stiffness
Load
・If gear backlash is a non-linear property
・Velocity less than 100r/min or continuously in low velocity mode
・Acc-/deceleration to 2000r/min within 1s. 。
Motion ・Acc-/deceleration torque lower than eccentric load, frictional torque.
・Velocity < 100r/min, acc-/deceleration to 2000r/min within 1s but not longer
than 50ms
To enable automatic gain adjustment:
1. Disable the servo driver.
2. Set Pr0.02 = 0x01/0x11 or 0x02/0x12. Then, set Pr0.03
3. Servo enabled. Run motion as normal to start measuring load properties. Related
parameters will be automatically set.
4. Increase motor responsiveness by increasing Pr0.03. Please check if there is any vibration
before setting Pr0.03 to max. value.
5. Save the parameters.

Please take note:

- Please stop the motor before modifying any parameter. Pr0.02 only takes effect after saving
modified parameter values into EEPROM and restarting the driver.
- After enabling the servo driver for the first time or when increasing Pr0.03, mechanical noise or
vibration might occur for the first run, it is normal. If it persists, please set Pr0.03 to lower value.

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Parameters that change in accordance to real time gain adjustment

There are 2 types of auto gain adjustment methods:

• Standard mode (Pr0.02 = 0x__1): Basic mode, prioritizing on stability, gain switching
is disabled. Actual gain auto adjustment as accordance to Pr0.03.
Gain related parameters that change as shown below.
Parameter Label Remarks
Pr1.00 1st position loop gain
Pr1.01 1st velocity loop gain
When stiffness setting is valid,
Pr1.02 1st velocity integral time
parameters will be updated to
constant
match stiffness value
Pr1.03 1st velocity detection filter
Pr1.04 1st torque filter
Gain related that doesn’t change
Parameter Label Reference value Remarks
Pr1.10 Velocity feedforward 300（0.1%） Doesn’t change
gain constant according to changes
in stiffness

• Positioning mode (Pr0.02=0x2): Prioritizing positioning. Usually applies on horizontal

axis without variable load, ball screws with lower friction, gain switching enabled.
Stiffness level of 2nd position loop gain is 1 level higher than 1st position.

No. Parameters Label Remarks

1 Pr1.00 1st position loop gain
2 Pr1.01 1st velocity loop gain
3 Pr1.02 1st velocity integral time
constant
4 Pr1.03 1st velocity detection filter
5 Pr1.04 1st torque filter When stiffness setting is valid,
6 Pr1.05 2nd position loop gain parameters will be updated to
7 Pr1.06 2nd velocity loop gain match stiffness value
8 Pr1.07 2nd velocity integral time
constant
9 Pr1.08 2nd velocity detection
filter
10 Pr1.09 2nd torque filter

If auto gain adjustment is valid, the parameters listed above can’t be manually modified. Only when
Pr0.02 = 0x00 or 0x10, can the gain related parameters be modified manually.

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Gain related parameters that don’t change with the real time gain adjustment
Parameter Label Reference value
Pr1.10 Velocity feedforward gain constant 1000ms
Pr1.11 Velocity feedforward filter time constant 30%
Pr1.12 Torque feedforward gain 0.50ms
Pr1.13 Torque feedforward filter time constant 0
Pr1.15 Position control gain switching mode 0
Pr1.17 Position control switching level 10
Pr1.18 Position control switching hysteresis 50
Pr1.19 Position gain switching time 33

Types of mechanical load

Please select mechanical load according to load-inertia ratio and mechanical structures:
Load types Description
0x00_ : Rigid structure When load is rigid with relatively low inertia. Gain adjustments
prioritize system responsiveness. Structures including high
precision reducer, lead screws, mechanical gears, etc.
0x01_ : High inertia High load inertia (10 times or above). Gain adjustments
prioritize operation stability and responsiveness.
Recommended mechanical stiffness level not more than 15.
0x02_ : Flexible structure When load is flexible with relatively high inertia. Gain
adjustments prioritize operation stability. Structures including
long transportation belt or chain.
Structures with high inertia can have better performance if inertia ratio is set accurately.

Label Real time Auto Gain Adjusting Valid mode(s) P S T

Pr0.02 Range 0x0~0xF Unit — Default 0x1

FF
Byte length 16bit Attribute R/W 485 address 0x0005
Valid Immediate
Data Category Settings Application
bits

Used to set motion setting mode, which can be selected according to the
motion characteristics or setting requirements. Generally, it is recommended
to select mode 1 with good generality when there is no special requirement,
mode 2 when rapid positioning is needed If mode 1 and mode 2 cannot meet
the requirements, please choose mode 0.
Pr0.03 invalid. Gain value must be adjusted manually and
Motion 0:Manual
accordingly.
0x00_ setting Pr0.03 valid. Quick gain adjusting can be achieved by
mode changing Pr0.03 stiffness value. Gain switching is not used
1:Standard
in this mode, suitable for applications with requirements for
stability.
Pr0.03 valid. Quick gain adjusting can be achieved by
changing Pr0.03 stiffness value. This mode is suitable for
2:Positioning applications requiring quick positioning. Not recommended
for load mounted vertical to ground, or please compensate
for the load using Pr6.07

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Used to select the load type, choose according to load-inertia ratio and
mechanical structure.
This mode prioritizes system responsiveness. Use this
0: Rigid mode when there is a relatively rigid structure with low load
structure inertia. Typical application including directly connected
Load type high-precision gearbox, lead screw, gears, etc.
0x0_0
setting For applications with higher load inertia (10 times or
above), gain settings take into account both machine
1:High inertia
stability and responsiveness. Not recommended to set
stiffness above 15 for high load inertia.
This mode prioritizes system stability. Use this mode when
2: Flexible
there is low rigidity structure with high load inertia. Typical
structure
applications included belts and chains.

0x_00 reserved

The setting type combination is a hexadecimal standard, as follows:

Setting type combination Application type
0X000 Rigid structure + Manual
0X001 Rigid structure +Standard
0X002 Rigid structure +Positioning
0X010 High inertia + Manual
0X011 High inertia + Standard
0X012 High inertia + Positioning
0X020 Flexible structure + Manual
0X021 Flexible structure +Standard
0X022 Flexible structure +Positioning

P S T
Label Real time auto stiffness adjusting Valid mode(s)
Pr0.03 Range 0 ~ 31 Unit — Default 11
Byte length 16bit Attribute R/W 485 address 0x0007
Valid Immediate
Low Mechanical stiffness High

Low Servo gain High

81.80……………………………70.69.68…………………………51.50

Low Responsiveness High

Lower values ensure better system responsiveness and mechanical stiffness but machine
vibration might occur, please set accordingly. Recommend to set to around 15 with motor
with high inertia.

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Gain parameters settings table

Stiffness 1st gain 2nd gain

Pr1.00 Pr1.01 Pr1.02 Pr1.04 Pr1.05 Pr1.06 Pr1.07 Pr1.09
Velocity Velocity loop Position Velocity Velocity loop
Position integral time Torque integral time Torque
loop loop loop
loop gain filter filter
gain constant gain gain constant
(0.1/s) (0.01ms) (0.01ms)
(Hz) （0.1ms） (0.1/s) (Hz) （0.1ms）
81 20 15 3700 1500 25 15 10000 1500
80 25 20 2800 1100 30 20 10000 1100
79 30 25 2200 900 40 25 10000 900
78 40 30 1900 800 45 30 10000 800
77 45 35 1600 600 55 35 10000 600
76 55 45 1200 500 70 45 10000 500
75 75 60 900 400 95 60 10000 400
74 95 75 700 300 120 75 10000 300
73 115 90 600 300 140 90 10000 300
72 140 110 500 200 175 110 10000 200
71 175 140 400 200 220 140 10000 200
70 320 180 310 126 380 180 10000 126
69 390 220 250 103 460 220 10000 103
68 480 270 210 84 570 270 10000 84
67 630 350 160 65 730 350 10000 65
66 720 400 140 57 840 400 10000 57
65 900 500 120 45 1050 500 10000 45
64 1080 600 110 38 1260 600 10000 38
63 1350 750 90 30 1570 750 10000 30
62 1620 900 80 25 1880 900 10000 25
61 2060 1150 70 20 2410 1150 10000 20
60 2510 1400 60 16 2930 1400 10000 16
59 3050 1700 50 13 3560 1700 10000 13
58 3770 2100 40 11 4400 2100 10000 11
57 4490 2500 40 9 5240 2500 10000 9
56 5000 2800 35 8 5900 2800 10000 8
55 5600 3100 30 7 6500 3100 10000 7
54 6100 3400 30 7 7100 3400 10000 7
53 6600 3700 25 6 7700 3700 10000 6
52 7200 4000 25 6 8400 4000 10000 6
51 8100 4500 20 5 9400 4500 10000 5
50 9000 5000 20 5 10500 5000 10000 5

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6.5 Manual gain adjustment

Due to limitation of load conditions, automatic gain adjustment might not achieve expected
performance. Control can be improved through manual gain adjustment
The servo system is made up of 3 control loops. From outer to inner: position loop, velocity loop,
current loop as shown in the diagram below.

Velocity Torque
feedforward feedforward

+ + + +
Command Command Position Velocity Current
input filter control control Motor
control
- - - -

Velocity Current
feedback feedback

Position
feedback Encoder

Inner control loop demands higher responsiveness. In order to avoid system instability, please tune
in accordance to this principle. Current loop gain usually satisfies the responsiveness demand
without tuning. When gain adjustment is done under position control mode, in order to keep the
system stabile, position and velocity loop gain have to be increased at the same time to make sure
the responsiveness of the position loop is lower than velocity loop.

Steps to tuning (Position and velocity control)

Step Parameter Label Tuning method

Determine if velocity loop is able to follow the changes in
velocity command at highest frequency. If Pr0.04 is set
correctly, velocity loop highest following frequency = Pr1.01
Velocity
command
Increase Pr1.01 Actual
velocity

1 Pr1.01 Velocity
loop gain

Increase Pr1.01 provided there is no noise or vibration to

reduce positioning time, better velocity stability and
following. Reduce Pr1.01 if there is mechanical noise.
Set up vibration suppression if there is mechanical vibration.

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Step Parameter Label Tuning method

To eliminate velocity loop deviation
Actual
velocity
Command
Reduce Pr1.02 velocity

2 Pr1.02 Velocity loop

integral time Velocity loop integral time constant (ms) = 4000 /
constant （2*π*Velocity loop gain(Hz)）
Reduce Pr1.02 to reduce positioning time. Mechanical
vibration might occur if set value is too low; Velocity loop
deviation can’t be zeroed if set value is too high.
Reduce Pr1.02 to increase systemic stiffness, reduce
deviation, provided that there is no resonance or noise in
the system. If load-inertia ratio is high or resonance exists
in mechanical system, increase Pr1.02.
Determine if position loop is able to follow the changes in
position command at highest frequency. Position loop
highest following frequency = Pr1.00
Position
Increase Pr1.00 command
Increase Pr1.01 Actual
Position

Position loop
gain
3 Pr1.00

Increase Pr1.00 to reduce position following deviation,

reduce positioning time provided that there is no
resonance or noise in the system. If Pr1.00 is set too high,
it might cause trembling in the mechanical system or
positioning overshoot
Eliminate high frequency noise, suppress mechanical
resonance.
Actual
velocity
Velocity
Increase Pr1.04 command

st
1 torque
filter time System response improves with lower set value but there
4 Pr1.04 constant is mechanical limitations；High frequency resonance
suppression improves with higher set value but it might
cause reduction in response bandwidth and phase margin,
resulting in system turbulence.
Torque filtering frequency is 4 times higher than velocity
loop max following frequency:
1000000/(2π×Pr1.04)≥Pr1.01×4
For example, when Pr1.01=180（0.1 Hz）,
Pr1.04 should satisfy： Pr1.01≤221（0.01ms）

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1. If vibration occurs with increasing Pr1.01, please modify Pr1.04 to suppress vibration.
2. If the parameters are set too high, it might cause current loop response to reduce.
3. To suppress vibration at stop, increase Pr1.01 and decrease Pr1.04.
4. Decrease Pr1.04 if motor vibrates too much at rest.
5. Pr1.04 cannot be set to overly high value as it might cause control system instability because the
torque loop response is much higher than velocity loop.

For servo gain, if any one of the parameters is changed, please modify other gain related
parameters accordingly. Make sure to the change at around 5% and follow the rules as below.
1) Increase responsiveness
a) Reduce torque command filter time
b) Increase velocity loop gain
c) Decrease velocity loop integral time
d) Increase position loop gain
2) Decrease responsiveness, prevent vibration and over shoot
a) Reduce position loop gain
b) Increase velocity loop integral time
c) Reduce velocity loop gain
d) Increase torque filter time

6.5.1 Parameters adjustment under different control modes

Under different control mode, parameters adjustment has to be adjusted in this order:
“Inertia measuring” -> “Auto gain adjustment”->” Manual gain adjustments”

Position control mode

Set load-inertia ratio Pr0.04 after inertia determination.
No. Parameter Label
1 Pr1.00 1st position loop gain
2 Pr1.01 1st velocity loop gain
3 Pr1.02 1st velocity integral time constant
4 Pr1.03 1st velocity detection filter
5 Pr1.04 1st torque filter time constant
6 Pr1.05 2nd position loop gain
7 Pr1.06 2nd velocity loop gain
8 Pr1.07 2nd velocity integral time constant
9 Pr1.08 2nd velocity detection filter
10 Pr1.09 2nd torque filter time constant
11 Pr1.10 Velocity feedforward gain constant
12 Pr1.11 Velocity feedforward filter time constant
13 Pr1.12 Torque feedforward gain
14 Pr1.13 Torque feedforward filter time constant
15 Pr1.15 Position control gain switching mode
16 Pr1.17 Position control switching level
17 Pr1.18 Position control switching hysteresis
18 Pr1.19 Position gain switching time

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1st and 2nd gain initial values are obtained by automatic gain adjustment
No. Parameter Label
1 Pr1.00 1st position loop gain
2 Pr1.01 1st velocity loop gain
3 Pr1.02 1st velocity integral time constant
4 Pr1.03 1st velocity detection filter
5 Pr1.04 1st torque filter time constant
6 Pr1.05 2nd position loop gain
7 Pr1.06 2nd velocity loop gain
8 Pr1.07 2nd velocity integral time constant
9 Pr1.08 2nd velocity detection filter
10 Pr1.09 2nd torque filter time constant

Manually adjusted gain parameters

No. Parameter Label
1 Pr1.00 1st position loop gain
2 Pr1.01 1st velocity loop gain
3 Pr1.02 1st velocity integral time constant
4 Pr1.04 1st torque filter time constant
5 Pr1.10 Velocity feedforward gain constant
6 Pr1.11 Velocity feedforward filter time constant

Velocity control mode

Velocity control mode parameters adjustment is pretty similar to position control mode. Except for
position loop gain Pr1.00 and Pr1.05, velocity feedforward gain (Pr1.10)

Torque control mode

Parameters adjustment for torque control mode has to be differentiate into 2 conditions:
1. When actual velocity reaches velocity limit, adjustment will be as per velocity control mode.
Motor will switch from torque control to velocity limit as velocity control.
2. When actual velocity doesn’t reach velocity limit yet, Except for position loop gain, velocity loop
gain and feedforward gain, parameter adjustments as per velocity control mode.
If there is no velocity limit and control is through torque command, please deactivate torque and
notch filter, set velocity limit to max. value and increase velocity loop gain to as high as possible.

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6.5.2 Gain switching

Gain switching function can be triggered internally in servo driver. Only valid under position or
velocity control mode. Following effects can be realized by gain switching:
1. Switch to lower gain when motor stops to suppress vibration
2. Switch to higher gain when motor is moving at a low velocity to shorten positioning time
3. Switch to higher gain when motor is moving at a high velocity to improve command following
behavior.

Diagram below shows gain switching when motor stops.

Command
Motion Time
velocity

Stop Stop
Status Driver
(Servo enabled) (Servo enabled)

Low Gain High gain

Low Gain
1st Gain 2nd gain
Gain 1st Gain
Pr1.19 set time

1st gain (Pr1.00-Pr1.04) and 2nd gain (Pr1.05-Pr1.09) switching can be realized through manual and
positioning mode. Switching condition is set through Pr1.15. Gain switching is invalid under standard
mode.

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Start

Pr0.02 – Standard mode

Set Pr0.02

Pr0.02 – Manual/
Positioning mode

Gain
switching

Pr1.15=0 Pr1.15=1
Set Pr1.15

PA1.15=3/5/6/9/10

Set
Pr1.17~Pr1.19

1st gain 2nd gain

Switch gain accordingly

End

Related parameters on gain switching

No. Parameter Label Remarks
In position control, set Pr1.15=3、5、
Position control gain
1 Pr1.15 6、9、10.
switching mode
In velocity control, set Pr1.15=3、5、9
2 Pr1.17 Position control level Please set Pr1.17≥Pr1.18
switching
Position control If Pr1.17＜Pr1.18, driver will set Pr1.17
3 Pr1.18
hysteresis switching ＝Pr1.18
4 Pr1.19 Position gain time As shown below
switching

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Label Position control gain switching mode Valid mode(s) P S

Range 0～10 Unit — Default 0
Pr1.15
Byte length 16bit Attribute R/W 485 address 0x011F
Valid Immediate
In position control, set the conditions for gain switching to be valid.
Value Condition Gain switching condition
st st
【0】 1 gain fixed Fixed on using 1 gain(Pr1.00-Pr1.04)
nd nd
1 2 gain fixed Fixed on using 2 gain (Pr1.05-Pr1.09)
st
· Gain switching input （GAIN）invalid: 1 gain.
nd
2
Gain switching · Gain switching input （GAIN）valid: 2 gain.
st
input valid *Default: 1 gain
nd
Switch to 2 gain when set torque command absolute
value larger than (level + hysteresis)[%]
st
Switch to 1 gain when set torque command absolute
value smaller than (level + hysteresis)[%]
Hysteresis
High command Acceleration Constant Deceleration
3 speed
torque Level

Set
Torque

1st 2nd 1st 2nd 1st

4-9 Reserved Reserved
Valid for position control.
Switch to 2nd gain if position command ≠ 0
Switch to 1st gain if positional command = 0 throughout
the duration of delay time and absolute value of actual
velocity remains smaller than (level - hysteresis)
(r/min)
Pending position
10 command
Switch when both
+actual velocity conditions fulfilled
Position
Command
Hysteresis

Velocity Level
Feedback
1st 2nd 1st
** Above ‘level’ and ‘hysteresis’ are in correspondence to Pr1.17 Position control gain
switching level and Pr1.18 Hysteresis at position control switching.
Label Position control gain switching level Valid mode(s) P
Range Unit Mode Default
0~20000 50
Pr1.17 dependent
Byte length 16bit Attribute R/W 485 address 0x0123
Valid Immediate
Set threshold value for gain switching to occur.
Unit is mode dependent.
Switching condition Unit
Position Encoder pulse count
Velocity RPM
Torque %

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Please set level ≥ hysteresis

Hysteresis at position control P

Label Valid mode(s)
switching
Range Unit Mode Default
0~20000 33
Pr1.18 dependent
Byte 16bit Attribute R/W 485 address 0x0125
length
Valid Immediate
To eliminate the instability of gain switching. Used in combination with Pr1.17 using the
same unit.
If level< hysteresis, drive will set internally hysteresis = level.

Label Position control switching time Valid mode(s) P

Range 0~10000 Unit 0.1ms Default 33
Pr1.19 Byte 16bit Attribute R/W 485 address 0x0127
length
Valid Immediate
During position control, if 1st and 2nd gain difference is too large, to ease torque changes
and vibration due to rapid changes in position loop gain, set suitable Pr1.19 value
For example: 1st (pr1.00) <-> 2nd (Pr1.05)

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6.5.3 3rd gain switching

st nd rd
Besides switching between 1 and 2 gain, a 3 gain switching is added to set gain at the moment of
stopping to reduce positioning time.
Only available under position mode and Pr6.05 ≠ 0, set Pr6.06 for 3 gain value. When 2 gain switches
rd nd
st rd
to 1 gain, it has to go through 3 gain, switching time is set in Pr1.19.

Diagram below shows when Pr1.15 = 7.

Position command velocity
RPM
Duration
PA6.05 × 0.1ms

2nd gain 3rd gain 1st gain

Pr1.05~Pr1.09 Pr1.00~Pr1.04

Position loop gain = Pr1.00 × Pr6.06/100

Velocity loop gain = Pr1.01 × Pr6.06/100
Velocity loop integral time constant, velocity detection filter, torque filter time
constant will still be applied in 1st gain

Related parameters
rd
Label Position 3 gain valid time Valid mode(s) P
Range 0~10000 Unit 0.1ms Default 0
Pr6.05
Byte length 16bit Attribute R/W 485 address 0x060B
Valid Immediate
rd
To set time for 3 gain to be valid
Only available in position mode
When not in use, set Pr6.05=0, Pr6.06=100
rd
Label Position 3 gain scale factor Valid mode(s) P
Range 50~1000 Unit 100% Default 100
Pr6.06
Byte length 16bit Attribute R/W 485 address 0x060D
Valid Immediate
rd st
Set up the 3 gain by multiplying factor of the 1 gain
Position command velocity
(RPM)
Effective time
Pr6.05 x 0.1ms

2nd gain 3rd gain 1st gain

Pr1.05~Pr1.09 Pr1.00~Pr1.04

Position loop gain = Pr1.00 x Pr6.06/100

Velocity loop gain = Pr1.01 x Pr6.06/100
Velocity loop integral time constant，Velocity detection filter，
Torque filter time constant still uses 1st gain

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Above diagram is illustrated using Pr1.15 = 7.

rd st
3 gain= 1 gain * Pr6.06/100
Only effective under position control mode. 3 gain valid when Pr6.05 ≠ 0. Set 3 gain value
rd rd
nd st rd
in Pr6.06. When 2 gain switches to 1 gain, it will go through 3 , switching time is set in
Pr1.19.

6.6 Model following control

Model following control is a type of closed loop control system. First, an ideal model is constructed
and acts as a reference for actual model in a closed loop control. Model following control can be
treated as a control mode with 2 flexibilities: Model reference can be used to improve command
responsiveness and closed loop control used to increase responsiveness of the system towards
interference. They don’t affect each other.
Model following control can be used in position loop control to increase responsiveness to
commands, reduce positioning time and following error. This function is only available in position
control mode.

Velocity Torque
MFC feedforward feedforward

+ Velocity +
Position Position + Position + loop
+ Current
loop Motor
Command filter loop gain gain control
- - + -
Velocity Velocity
feedback loop integral Current
time feedback
constant
Position
feedback Encoder

To adjust model following control

1. Automatic adjustment
Set model following bandwidth Pr0.00 = 1 for automatic adjustment. Now, Pr0.00 = Pr1.01,
model following bandwidth is adjusted automatically according to different velocity loop gain.
3. Manual adjustment
Please used manual adjustment if
 Automatic adjustment is not satisfactory.
 Responsiveness needs further improvement in comparison with automatic adjustment.
 There is a need to set servo gain or model following control parameters manually.

Steps to manually adjust

Step Content
1 Set up vibration suppression.
2 Set up the right inertia ratio.
3 Manually adjust gain.
4 Increase Pr0.00 provided that there is no overshoot and vibration. Usually Pr0.00 ≥
Pr1.01 is recommended.

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Model following bandwidth determines the responsiveness of the servo system. Increase the value
set will increase responsiveness and reduce positioning time. Overshoot can be prevented if it is set
at a lower value but responsiveness will be lowered. Model following bandwidth shouldn’t be too
large for mechanical structure with lower stiffness, excessive position deviation alarm might occur
under high velocity.

6.7 Zero tracking control

Zero tracking control (ZTC) is able to realize a zero position deviation during acceleration/deceleration.
This function increase multi axis precision and master-slave following.
Recommended application:
1. Multi axis

Improper following during circular arc motion Improved following

Enable zero tracking control

2. Master-slave following
Used when driving axis sends frequency divider signal to lead following axis to improve the
following control.

 ZTC only available under position control mode.

 ZTC can only be enabled when Pr0.00 is valid.
 Model following control (MFC) and Zero Tracking Control (ZTC) cannot be used together at the
same time.

Zero tracking control can achieve better performance with the following limiting factors.
Limiting factors
Electronic Electronic gear ratio should be lower to prevent current noise.
gear ratio
Mechanical Better structural rigidity to prevent vibration.
structure
1. Command acceleration should be continuously low to prevent deviation
change during drastic changes in acceleration.
Motion
2. Callback or overtravel might exist in positioning; sigmoid signal command
might improve the problem.

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Related parameters
Parameter Label Description
Pr2.50 Model following 0：Model following control - Default
control 1：Zero tracking control
Pr2.53 Dynamic friction Range: 0-1000, unit: 0.1%
compensation Unit：Changes in torque with the effect of friction on
coefficient rotational speed.
Only valid when MFC is activated
Pr0.00 Model following If Pr0.00 = 0, MFC and ZTC is deactivated.
bandwidth When Pr2.50 = 1 (Zero tracking control), higher
bandwidth will improve following performance but noise
will be higher.
Set the following parameters to default
Pr2.51 Velocity feedforward Default value = 0 for zero tracking control.
compensation
coefficient
Pr2.52 Torque feedforward
compensation
coefficient
Pr2.54 Overtravel time
constant
Pr2.55 Overtravel
suppression gain

6.8 Feedforward gain

In position control, velocity feedforward is calculated by comparing the velocity control command
calculated internally and velocity command calculated from position feedback. Comparing to control
only using feedbacks, this will reduce position deviation and increase responsiveness. Besides, by
comparing the torque needed during motion from velocity control command in comparison with
velocity feedback, torque feedback can be calculated to improve system responsiveness.

6.8.1 Velocity feedforward

Velocity feedforward can be used in position control mode. When the function is enabled, it can
increase velocity responsiveness, reduce position deviation during constant velocity.
Velocity feed forward gain Valid P
Label
mode(s)
Range 0~1000 Unit 0.10% Default 300
Pr1.10
Byte length 16bit Attribute R/W 485 address 0x0115
Valid Immediat
e
Used for decreasing following error caused by low responsiveness of velocity loop.
Might cause overshoot or increase in noise if set value is too high.
Velocity feed forward filter time Valid P
Label
constant mode(s)
Range 0~6400 Unit 0.01ms Default 50
Pr1.11
Byte length 16bit Attribute R/W 485 address 0x0117
Valid Immediat
e

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Set velocity feed forward low pass filter to eliminate high or abnormal frequencies in
velocity feed forward command. Often used when position command with low
resolution or high electronic gear ration to smoothen velocity feed forward.
Position deviation under constant velocity can be lowered with higher velocity feed
forward gain. Please to refer to the equation below.
Reduce Pr1.11 value to suppress velocity overshoot during deceleration; Increase
Pr1.11 value to suppress noise or vibration due to long driver control cycle or position
command uneven pulse frequency.

<Application>
Set Pr1.11 = 50（0.5ms）, improve feedforward effect by gradually increase Pr1.10.
The equation below can be used to determine the position deviation due to velocity
feedforward gain under constant velocity.

Position deviation[Uint]=

Velocity feedforward application

Set Pr1.11 to around 50 (0.5ms), then tune Pr1.10 from 0 to bigger values until the velocity
feedforward achieves better performance. Under constant velocity, the position deviation in a motion
will decrease as the velocity feedforward gain increase.

Steps to tuning:
1. Increase Pr1.10 to increase responsiveness but velocity overshoot might occur during acc-
/deceleration.
2. By reducing Pr1.11, velocity feedforward would be more effective and vice versa. Pr1.10 and
Pr1.11 need to be tuned to a balance.
3. If mechanical noise exists under normal working conditions, please increase Pr1.11 or use
position command filter (1 time delay/ FIR smoothing filter)

6.6.2 Torque feedforward

Position control mode: Torque feedforward can increase the responsiveness of torque command,
decrease position deviation during constant acc-/deceleration.
Velocity control mode: Torque feedforward can increase the responsiveness of torque command,
decrease velocity deviation during constant velocity.
Torque feed forward gain Valid P S
Label
mode(s)
Range 0~1000 Unit 0.1% Default 0
Pr1.12
Byte length 16bit Attribute R/W 485 address 0x0119
Valid Immediat
e

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Before using torque feed forward, please set correct inertia ratio Pr0.04. By increasing
torque feed forward gain, position deviation on constant acceleration/deceleration can
be reduced to close to 0. Under ideal condition and trapezoidal speed profile, position
deviation of the whole motion can be reduced to close to 0. In reality, perturbation
torque will always exist, hence position deviation can never be 0.

Torque feed forward filter time Valid P S

Label
constant mode(s)
Range 0~6400 Unit 0.01ms Default 0
Pr1.13
Byte length 16bit Attribute R/W 485 address 0x011B
Valid Immediat
e
Low pass filter to eliminate abnormal or high frequencies in torque feed forward
command. Usually used when encoder has lower resolution or precision.
Noise reduces if torque feed forward filter time constant is set higher but position
deviation will increase at acceleration varied points.
<Application>
・ Set Pr1.13 = 50ms, please increase torque forward gain gradually to enable torque
feedforward.
・By increasing Pr1.13, noise will reduce but position deviation will become larger.

Torque feedforward application

Set Pr1.13 to around 50 (0.5ms), then tune Pr1.10 from 0 to bigger values until torque feedforward
achieves better performance. Under constant acc-/deceleration, the position deviation in a motion
will decrease as the velocity feedforward gain increase.

Steps to tuning:
3. Increase Pr1.12 to increase responsiveness but velocity overshoot might occur during acc-
/deceleration.
4. By reducing Pr1.13, torque feedforward would be more effective and vice versa. Pr1.12 and
Pr1.13 need to be tuned to a balance and reduce noise.

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6.9 Friction compensation function

This function is to compensation for changes in load to reduce the effect of friction in motion. The
compensation value is directional.

Velocity
command

Pr6.08

Pr6.07

Time

Pr6.09

Velocity
command

Motor off Motor on Motor off

Vertically loaded axis: A constant eccentric load torque is applied on the motor. By adjusting Pr6.07,
positioning deviation due to different motional direction can be reduced.
Belt-driven axis: Due to large radial load with dynamic frictional torque. Positioning time delay and
deviation can be reduced by adjusting Pr6.08 and Pr6.09.
Torque command additional value Valid P S T
Label
mode(s)
Range -100~100 Unit % Default 0
Pr6.07
Byte 16bit Attribute R/W 485 address 0x060F
length
Valid Immediate
To set torque forward feed additional value of vertical axis.
Applicable for loaded vertical axis, compensate constant torque.
Application: When load move along vertical axis, pick any point from the whole motion
and stop the load at that particular point with motor enabled but not rotating. Record
output torque value from d04, use that value as torque command additional value
(compensation value)
Positive direction torque Valid P S T
Label
compensation value mode(s)
Range -100~100 Unit % Default 0
Pr6.08
Byte 16bit Attribute R/W 485 address 0x0611
length
Valid Immediate

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Negative direction torque Valid P S T

Label
compensation value mode(s)
Range -100~100 Unit % Default 0
Pr6.09
Byte 16bit Attribute R/W 485 address 0x0613
length
Valid Immediate
To reduce the effect of mechanical friction in the movement(s) of the axis.
Compensation values can be set according to needs for both rotational directions.

Applications:
1. When motor is at constant speed, d04 will deliver torque values.
Torque value in positive direction = T1;
Torque value in negative direction = T2

Pr6.08/Pr6.09 = Tf =

Positive/Negative compensation corresponds to actual position feedback.

Positive torque compensation value = +(Pr6.08=+Tf)
Negative torque compensation value = -(Pr6.08=+Tf)
Pr6.08 =x, Pr6.09=y; friction compensation value = |x-y|/2

6.10 Safety Functions

6.10.1 Max. motor rotational speed limitation
Motor rotational speed limits can be set on Pr3.24. If command speed is 1500r/min, but Pr3.24 is set to
1000r/min, motor rotational speed will only go up to 1000r/min.
Motor overspeed threshold value can be set in Pr5.13, if the rotational speed is exceeded during
operation, Er1A0 might occur.
Label Maximum motor rotational speed Valid mode(s) P S T
Range 0~10000 Unit r/min Default 0
Pr3.24
Byte length 16bit Attribute R/W 485 address 0x0331
Valid Immediate
To set maximum motor rotational speed but not higher than motor rated speed
If Pr3.24 = 0, maximum motor rotational speed = max. speed in motor parameter.

Overspeed level settings Valid P S T

Label
mode(s)
Pr5.13 Range 0~10000 Unit r/min Default 0
Byte length 16bit Attribute R/W 485 address 0x051B
Valid Immediate
If motor speed exceeds Pr5.13, Er1A0 might occur.
When Pr5.13 = 0, overspeed level = max. motor speed x 1.2

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6.10.2 Max. duration for motor to stop after disabling

Set max time duration for motor to stop after disabling. If the time taken for motor to stop exceeds the
duration set in Pr6.14 and motor speed is still higher than Pr4.39, holding brake will be activated. If motor
doesn’t have holding brake, dynamic braking will be activated to force stop the motor.

Max. time to stop after disabling Valid P S T

Label
mode(s)
Pr6.14 Range 0~1000 Unit ms Default 500
Byte length 16bit Attribute R/W 485 address 0x061D
Valid Immediate
To set the max. time allowed for the axis to stop on emergency stop or normal axis
disabling.
After disabling axis, if motor speed is still higher than Pr4.39 but the time set in Pr6.14 is
reached, BRK_ON given and holding brake activated.
BRK_ON given time is determined by Pr6.14 or when motor speed goes below Pr4.39,
whichever comes first.

Applications:
1. After disabling axis, if motor speed is still higher than Pr4.39 but the time set in Pr6.14
is reached, BRK_ON given and holding brake activated.
2. After disabling axis, if motor speed is already lower than Pr4.39 but the time set in
Pr6.14 is not yet reached, BRK_ON given and holding brake activated.

Dynamic brake will be provide the braking function if the function is activated for motors
without holding brake.

6.10.3 External brake deactivation output signal BRK-OFF

Please refer to Pr4.11 to set up the I/O output function parameters. When enabled and timing
conditions are fulfilled, the set I/O output will deliver ON signal.

Label Motor power-off delay time Valid mode(s) P S T

Range 0~3000 Unit 1ms Default 150
Pr4.37
Byte length 16bit Attribute R/W 485 address 0x044B
Valid Immediate
To set delay time for holding brake to be activated after motor power off to prevent axis from
sliding.
When Pr5.06 = 0, SRV-ON signal is off, holding brake is activated (delay time is determined
by Pr4.39 or Pr6.14). Motor powered-off once delay time set in Pr4.37 is due.
Label Holding brake release time Valid mode(s) P S T
Range 0~3000 Unit 1ms Default 0
Pr4.38
Byte length 16bit Attribute R/W 485 address 0x044D
Valid Immediate
To set delay time for holding brake to be released after motor power on. Motor
will remain at current position and input command is masked to allow holding
brake to be fully released before motor is set in motion.

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ON

Off
SRV_ON OFF
Brake released
(BRK_ON)
Brake *4
BRK_OFF ON *1
On

off
Motor Power
*2 Released *2

Actual holding Braked Braked

brake status

*3
Motor
t
Velocity
*1: Delay time set in Pr4.38
*2: Delay time from the moment BRK_OFF signal is given until actual holding brake is
released or BRK_ON signal is given until actual holding brake is activated. It is dependent
on the holding brake of the motor.
*3: Deceleration time is determined by Pr6.14 or if motor speed goes below Pr4.39,
whichever comes first. BRK_OFF given after deceleration time.
*4: Pr4.37 set time value.

Delay time from the moment SRV_ON is given until BRK_OFF switch to BRK_ON, is less
than 500ms.
Label Holding brake activation speed Valid mode(s) P S T
Range 30~3000 Unit r/min Default 30
Pr4.39 Byte length 16bit Attribute R/W 485 address 0x044F
Valid Immediate
To set the activation speed for which holding brake will be activated.

When SRV-OFF signal is given, motor decelerates, after it reaches below Pr4.39 and Pr6.14
is not yet reached, BRK_OFF is given.
BRK_OFF signal is determined by Pr6.14 or if motor speed goes below Pr4.39, whichever
comes first.

Application:
1. After disabling axis, Pr6.14 has been reached but motor speed is still above Pr4.39,
BRK_OFF signal given.
2. After disabling axis, Pr6.14 has not been reached but motor speed is below Pr4.39,
BRK_OFF signal given.

Deceleration max duration: 2s. Servo disabled after 2s.

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6.10.4 Servo stopping mode

Label Servo-off mode Valid mode(s) P S T
Range 0~1 Unit — Default 0
Pr5.06
Byte length 16bit Attribute R/W 485 address 0x050D
Valid Immediate
To set servo driver disable mode and status.
Description
Value
Mode Status
0 Servo braking Dynamic braking
1 Free stopping Dynamic braking
2 Dynamic braking Dynamic braking
3 Servo braking Free-run
4 Free stopping Free-run
5 Dynamic braking Free-run

Servo braking: Stop servo axis quickly using braking torque

Pr5.06 only effective for stopping under normal circumstances. For stopping on alarm
occurrence but refer to Pr5.10
Label Servo-off due to alarm mode Valid mode(s) P S T
Range 0~2 Unit — Default 0
Pr5.10
Byte length 16bit Attribute R/W 485 address 0x0515
Valid After restart
To set servo driver disable mode and status if alarm is triggered.
Alarm type 2:
Explanation
Value
Mode Status
0 Servo braking Dynamic braking
1 Free stopping Dynamic braking
2 Dynamic braking Dynamic braking
3 Servo braking Free-run
4 Free stopping Free-run
5 Dynamic braking Free-run
Alarm type 1:
Explanation
Value
Mode Status
0
1 Dynamic braking Dynamic braking
2
3 Servo braking Free-run
4 Free stopping Free-run
5 Dynamic braking Free-run

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6.10.5 Emergency stop function

Emergency stop is used when an alarm occurs or a servo prohibition signal is received when servo
driver is enabled.
Method 1: Set up Pr4.43 to enable the function
Label Emergency stop function Valid mode(s) P S T
Range 0~1 Unit — Default 0
Pr4.43 Byte length 16bit Attribute R/W 485 address 0x0457
Valid Immediate

Value Description.
Emergency stop is valid, servo driver will be forced to STOP and Err570
【0】
occurs.
Emergency stop is invalid, servo driver will not be forced to STOP. Servo
1 can be enabled once E-STOP signal is cleared.
Label Driver prohibition input settings Valid mode(s) P S T
Range 0/1/2 Unit — Default 0
Pr5.04 Byte length 16bit Attribute R/W 485 address 0x0509
Valid Immediate
To set driver prohibition input (POT/NOT)
Value Description
0 POT  Positive direction drive prohibited
NOT  Negative direction drive prohibited
1 POT and NOT invalid
2 Any single sided input from POT or NOT might cause Er260

Method 2: Using 605Ah object dictionary through master device to activate this function.
Servo braking torque setting Valid P S T
Label
mode(s)
Pr5.11 Range 0~500 Unit % Default 0
Byte length 16bit Attribute R/W 485 address 0x0517
Valid Immediate
To set torque limit for servo braking mode.
If Pr5.11 = 0, use torque limit as under normal situation.
Please note that if Pr5.11 set value is too low, emergency stop will take longer.

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6.11 Vibration Suppression

6.11.1 Mechanical resonance suppression
Mechanical system has certain resonance frequencies. When servo gain is increased, resonance might
occur at around mechanical resonant frequencies, preventing gain value from increasing. In such
situation, notch filter can be used to suppress resonance to set higher gains or lower vibration.
To suppress mechanical resonance:
1. Torque command filter time constant
Set filter time constant to reduce gain at around resonant frequencies
Torque command filter blocked frequencies（Hz） fc=1/ [2π×Pr1.04(0.01ms)×0.00001）]
2. Notch filter
Notch filter suppress mechanical resonance by reducing gain at certain frequencies. When
notch filter is correctly set, resonance can be suppressed and servo gain can be increased.

 Notch filter bandwidth

Center frequency of the notch filter, frequency bandwidth with reduction of -3dB.
 Notch filter depth
The ratio between input and output of center frequency.
When depth = 0, center frequency output is totally off and when depth = 100,
Hence when notch filter depth is set at lower value, the depth is higher and better at
suppressing mechanical resonance but it might cause system instability.

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If the analytic result from mechanical properties analysis tool doesn’t show any obvious peak but
vibration did occur, it might not be due to mechanical resonance, it may be that servo gain has
reached its limit. This kind of vibration can’t be suppressed by using notch filter, only by reducing
gain and torque command filter time.

To use notch filter

Automatic notch filter
1. Set Pr2.00 = 1 for auto notch filter adjustment
2. If Pr0.03 stiffness increases, 3rd group of notch filter (Pr2.07/Pr2.08/Pr2.09) updates
automatically when driver is enabled. Pr2.00 = 0, auto adjustments stop.
If resonance is suppressed, it means self-adjusting notch filter is working. If resonance
occurs when mechanical stiffness increases, please use manual notch filter, set filter
frequency to actual resonant frequency.

Manual notch filter

There are 2 ways to use manual notch filter.
1. After enabling self-adjusting notch filter, set the values from 3rd group of filters to 1st group of
notch filter (Pr2.01/Pr2.02/Pr2.03), see if resonance is suppressed. If there is other resonance,
set Pr2.00 = 1, then set the values from 3rd group of filters to 2nd group of notch filter
(Pr2.04/Pr2.05/Pr2.06)
2. Get resonant frequency, notch filter bandwidth and depth and set it into the corresponding
parameters through Motion Studio.

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Label Adaptive filtering mode settings Valid mode(s) P S

Range 0~4 Unit — Default 0
Pr2.00
Byte length 16bit Attribute R/W 485 address 0x0201
Valid Immediate

Value Description
rd
Adaptive filter: invalid Parameters related to 3 notch filter remain
0
unchanged
rd
Adaptive filter: 1 filter valid 1 adaptive filter becomes valid. 3 notch filter
1 for once. related parameters updated accordingly. Pr2.00
switches automatically to 0 once updated.
rd
Adaptive filter: 1 filter 1 adaptive filter becomes valid. 3 notch filter
2 remains valid related parameters will keep updating
accordingly.
3-4 Reserved -
st
Label 1 notch frequency Valid mode(s) P S T
Range 50~4000 Unit Hz Default 4000
Pr2.01
Byte length 16bit Attribute R/W 485 address 0x0203
Valid Immediate
st
Set center frequency of 1 torque command notch filter.
Set Pr2.01 to 4000 to deactivate notch filter
st
Label 1 notch width Valid mode(s) P S T
Range 0~20 Unit — Default 4
Pr2.02
Byte length 16bit Attribute R/W 485 address 0x0205
Valid Immediate
st
Set notch bandwidth for 1 resonant notch filter.
Under normal circumstances, please use factory default settings. If resonance is under control,
in combination with Pr2.01 and Pr2.03, Pr2.02 can be reduced to improve current loop
responsiveness which allows higher mechanical stiffness settings
st
Label 1 notch depth Valid mode(s) P S T
Range 0~99 Unit — Default 0
Pr2.03 Byte length Attribute 485 address
16bit R/W 0x0207
Valid Immediate
st
Set notch depth for 1 resonant notch filter.
Under normal circumstances, please use factory default settings. If resonance is under control,
in combination with Pr2.01 and Pr2.02, Pr2.03 can be reduced to improve current loop
responsiveness which allows higher mechanical stiffness settings
nd
Label 2 notch frequency Valid mode(s) P S T
Range 50~4000 Unit Hz Default 4000
Pr2.04
Byte length 16bit Attribute R/W 485 address 0x0209
Valid Immediate
nd
Set center frequency of 2 torque command notch filter.
Set Pr2.04 to 4000 to deactivate notch filter
nd
Label 2 notch width Valid mode(s) P S T
Range 0~20 Unit — Default 4
Pr2.05
Byte length 16bit Attribute R/W 485 address 0x020B
Valid Immediate

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nd
Set notch bandwidth for 2 resonant notch filter.
Under normal circumstances, please use factory default settings. If resonance is under control,
in combination with Pr2.04 and Pr2.06, Pr2.05 can be reduced to improve current loop
responsiveness which allows higher mechanical stiffness settings.
nd
Label 2 notch depth Valid mode(s) P S T
Range 0~99 Unit — Default 0
Pr2.06
Byte length 16bit Attribute R/W 485 address 0x020D
Valid Immediate
st
Set notch depth for 1 resonant notch filter.
When Pr2.06 value is higher, notch depth becomes shallow, phase lag reduces. Under normal
circumstances, please use factory default settings. If resonance is under control, in
combination with Pr2.04 and Pr2.05, Pr2.06 can be reduced to improve current loop
responsiveness which allows higher mechanical stiffness settings.
rd
Label 3 notch frequency Valid mode(s) P S T
Range 50~4000 Unit Hz Default 4000
Pr2.07
Byte length 16bit Attribute R/W 485 address 0x020F
Valid Immediate
rd
Set center frequency of 3 torque command notch filter.
Set Pr2.07 to 4000 to deactivate notch filter
rd
Label 3 notch width Valid mode(s) P S T
Range 0~20 Unit — Default 4
Pr2.08
Byte length 16bit Attribute R/W 485 address 0x0211
Valid Immediate
rd
Set notch depth for 3 resonant notch filter.
When Pr2.06 value is higher, notch depth becomes shallow, phase lag reduces. Under normal
circumstances, please use factory default settings. If resonance is under control, in
combination with Pr2.04 and Pr2.05, Pr2.06 can be reduced to improve current loop
responsiveness which allows higher mechanical stiffness settings.
rd
Label 3 notch depth Valid mode(s) P S T
Range 0~99 Unit — Default 0
Pr2.09
Byte length 16bit Attribute R/W 485 address 0x0213
Valid Immediate
rd
Set notch depth for 3 resonant notch filter.
When Pr2.06 value is higher, notch depth becomes shallow, phase lag reduces. Under normal
circumstances, please use factory default settings. If resonance is under control, in
combination with Pr2.04 and Pr2.05, Pr2.06 can be reduced to improve current loop
responsiveness which allows higher mechanical stiffness settings.

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6.11.2 End vibration suppression

End vibration

Direction

Motor Moving body

If the mechanical has an end that is long and heavy, it might cause end vibration at emergency stop
and affect the positioning. Usually happens on long armed axis with loose end. The frequency is
usually within 100Hz which is lower than mechanical resonant frequencies. It is called low-frequency
resonance which can be prevented by applying low frequency suppression function.

To apply low frequency suppression

1. Trace current/ position deviation waveform when motion stops.
2. Measure the vibration cycle T1 of current waveform.
3. Convert T1 into low frequency resonance by F1 = 1/T1
4. Write F1 into Pr2.14
5. If some other low frequency resonance occurs, please repeat step 1-3 and write F2 into Pr2.16.

Command
velocity
Position deviation

T1

Time t

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The result of suppressing low frequency resonance

End low
frequency
End sfboaqfln fp suppression End sfboaqfln fp
meaproed rpfnd iapeo 激光测试仪测
meaproed rpfnd iapeo
meaproemenq desfce 试末端振动
meaproemenq desfce

Acqrai Acqrai
seilcfqy seilcfqy

6.11.3 Mechanical properties analysis

To determine mechanical and set up notch filter parameters to suppress vibration caused by
resonance.

To avoid strong vibration, please first set lower excitation amplitude. However, if the set value is too
low, data waveform will include some degree of distortion.
If vibration occurs during tests which can’t be reduce through lowering electrical current excitation, it
might be due to excessive gain. Please lower velocity gain and set notch filter as accordance from
the mechanical properties analysis. Or might be due to inertia settings (Pr0.04) is too large, please
use optimal inertia ratio value.

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6.12 Black box

Black box is a function which allows users to set conditions or data to be captured whenever error occurs.
The data will be recorded by black box at the moment of error occurrence and automatically saved. Thus,
through Motion Studio, user can analyze cause of the problem with the aid of black box data.
Black box is deactivated by default. It is user configurable to choose whether to overwrite current data or
when to overwrite the data in black box.

Setting Up Black Box

1. Click on “Black Box” under “Tool” to enter Black box setup. There 3 methods to trigger black
box function: 1. Random error, 2. Specific error, 3. Conditions triggering. Choose trigger
method as accordance to needs. Please pay attention to Data Overlay Mode and choose the
option needed before start.

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2. Trigger mode 2: Trigger black box whenever a chosen specific error occurs.

3. Trigger mode 3: Conditions for black box functions to be triggered can set. Set the source,
level and edge of the trigger as shown below.

4. Data overlay mode: To select how and when black box data is overlaid. 0: Do not overlay
data (Black box will only preserve the data of the first trigger). 1: Always overlay (Black box
data will be overlaid every time). 2: Overlay upon powered on (Data overlaid occurs when
servo drive is powered on) 3: Overlay when enabled (Data overlaid occurs when servo drive
is enabled).

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5. Sampling period (ms): The lower the set value, the more precise the samples are but
sampling time will be shorter.
6. Trigger position (%): Set the position of trigger within the sampling period.
7. Click on “Set” to save the settings to driver.

Data recorded in Black

Box can be read and
cleared. The data can also
be saved and read by
anyone from this function
interface for further
analysis.

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6.13 Multiturn absolute encoder

Multiturn absolute encoder records the position and the revolution counts of the motor. When
driver is powered-off, multiturn absolute encoder will backed up the data using battery and after
powering on, the data will be used to calculated absolute mechanical position and there is no need
for a mechanical homing process. Use widely in robotic arms and CNC machines.
If it is the first time using the encoder, please home the mechanical axis and initialize the
absolute position of the encoder to zero. Set up a homing point and only home when there is an
alarm. Please stop the axis before reading any position data to prevent inaccuracy.

6.13.1 Parameters setting

Absolute encoder settings Valid P S T
Label
mode(s)
Range 0~15 Unit - Default 0
Pr0.15
Byte length 16bit Attribute R/W 485 address 0x001F
Valid After restart
Value Mode Description
【0】 Incremental Doesn’t retain position data on power off. Unlimited travel distance.
Multiturn Retrain position data on power off. For applications with fixed travel
1 distance and no multiturn data overflow.
absolute linear
Multiturn Retrain position data on power off. Actual data feedback in between 0-
2
absolute rotary (Pr6.63+1). Unlimited travel distance.
Single turn Used when travel distance is within 1 revolution of the encoder. Data
3 overflow will trigger alarm.
absolute
Clear multiturn alarm and activate multiturn absolute function. Will switch to
5 multiturn mode once alarm cleared, if remains at 5 after 3s, please solve
according to Er153.
Multi turn
Clear multiturn position, reset multiturn alarm and activate multiturn
absolute
absolute function. Will switch to multiturn mode once alarm cleared, if
9
remains at 9 after 3s, please solve according to Er153. Please disable axis
before setting to 9 and home the axis before using.
Others Do not use!

6.13.2 Read absolute position

1、Steps：
1) First, select a motor with multiturn absolute encoder, install battery and confirm whether the
driver version supports the specific motor;
2) Set Pr0.15 = 1. If it is the first time of installation, Err153 will occur because battery is newly
installed and position data is invalid. Please home the axis and initialize the absolute position of the
encoder to zero.
3) When absolute homing point is set and there is no fault with the battery, the alarm will be
cleared
4) Finally, the user can read the absolute position. Position won’t be lost even if the driver is
powered off.

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Install battery

Set
Pr0.15=1

YES
Home process
Finishing

NO*

Homing process，
set Pr0.15=9

Read absolute
position

*Note：The newly installed encoder is not

initialized and will alarm

2、Read absolute position

When the rotor turns in clockwise direction, the revolution count will be negative; turns in
counter clockwise direction, the count will be positive. No. of revolutions will be from -32767 to
+32767. If the count number reaches +32767 in counter clockwise direction, the count will revert
back to -32768, -32767 and vice versa for clockwise direction.
As for position data, it depends on the precision of the encoder. For 17 bit = 0-131071, 23 bit = 0-
8388607

Read data from 6064h object dictionary

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Please read data only when the motor is fully stopped or it might cause calculation errors. Please
repeat this step for at least twice to make sure the result is uniform.

Multiturn linear mode(Pr0.15 = 1)

Multiturn absolute with memory of position at power off. Use this mode when travel distance is
constant, encoder multiturn data would not overflow.
In this mode, encoder data ranges from -32768~32767. If the value either of the limits, Er157
might occur. Set 9 in Pr0.15 to clear multiturn data and home the axis.

Multiturn rotational mode

For absolute encoder, multiturn rotational mode (Pr0.15 = 2, Pr6.63 set to multiturn upper limit) is
added on top of incremental mode and multiturn linear mode. Actual feedback multiturn data is
always between 0 – [Pr6.63 + 1], regardless of the direction of rotation. There is no limit to no. of
rotation and no data overflow.

Single turn absolute mode

Use this mode when the travel distance of the axis is within a single turn of the rotor.
1. Target position input range – EtherCAT
When using 23-bit absolute encoder, under single turn absolute mode, electronic gear ratio
=1:1
Homing point offset 607Ch = 0, target position range = 0 – [223-1]
Axis is homed, target position range = 607Ch – [223-1+607Ch]

When electronic gear ratio = 1:1, 607Ch = 0:

Motor Load

Position during power-on

Encoder position 0 223-1

Actual position 0 223-1

When electronic gear ratio = 1:1, 607Ch = 10000:

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Motor Load

Position during power-on

Encoder position 0 223-1

Actual position 10000 (223-1)+10000

3、Clear multiturn position

Before clearing multiturn position, axis needs to be homed. After clearing multiturn position,
revolution count = 0 but absolute position remains unchanged and Err153 alarm will be cleared.
Please make sure the homing point is within the range of 1 revolution of the rotor. Installation
and setup of the homing point can be set with the use of auxiliary function D21 on the front panel.
By setting Pr0.15 to 9, multiturn position will be cleared.

Please take notice of motor position during power on. Range of motion of a motor depends on the
position of the motor during power on (23-bit absolute encoder as example).

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If the motor position is as shown below during power on. The range of motion of the motor is within
the range of a single turn of the motor from motor position during power on.

223-1

Single turn

0 Position during Position

power-on

Range of motion

If power is turned off at position as shown below and power on when motor reaches the position below.
Motor range of motion changes as shown below.

223-1

Moved after power-

off
Single Turn

0 Position during Position

power-on

Range of Motion

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6.13.3 Absolute Encoder Related Alarm

The alarm can determine if absolute value encoder is valid. If battery power is low, not a motor
with absolute encoder, encoder error etc. occurs, user can find out about the error from alarm output
or on the front panel. Controller will stop any operation until alarm is cleared.

Alarm output:
Err153 will be shown on front panel or by I/O ALM signal and from controller.

Err153 might occur,

（1）If absolute encoder is used for the first time and due to installation of new batteries Axis
needs to be homed and multiturn data needs to be cleared.
（2）If battery voltage is lower than 3.2v. Replace battery and restart the motor.
（3）If battery voltage is lower than 2.5v or battery power was cut off. Replacing the battery
won’t clear the alarm. Axis needs to be homed and multiturn data needs to be cleared.

4、Alarm processing flow chart

Er153

NO
Absolute Replace encoder
Encoder or set Pr0.15=0

YES
Replace
battery,
power-on

YES
Alarm clear？

NO

Return to home
point, set Pr0.15=9

Alarm clear

Battery kit
In multiturn absolute mode, Er153 might occur upon first time installation. Pr0.15 needs to be set to 0 to
reset error and clear multiturn data.
When battery supply voltage < 3.0V, ArA03 might occur. Change battery as per steps below:
1. Power on driver (Make sure axis is disabled)
2. Change battery
3. Servo drive will reset warning automatically.

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6.14 Motor Speed Regulation

This is a motor speed regulator to control motor rotational speed using I/O input signals. For
example, if the input voltage = -10 ~ 10VDC and rotational speed of the motor corresponds to -2000
to 2000rpm. When SPDREG = ON, motor speed regulation can be controlled using SPDREG 1 – 4.
If the speed regulation ratio is set to be 20%, then -10~10VDC input voltage will correspond to -400
to 400rpm (-2000*20%~2000*20%rpm). Please be minded that this is only applicable under velocity
control mode.

6.14.1 Set up motor speed regulation

1. Assign I/O signals using Motion Studio 2 or using the front panel.

Using Motion Studio 2: Under “Function” -> “I/O Settings”

Using front panel: Please refer to Chapter 4 section 4.5 for detailed instructions on how to assign I/O
signals using the front panel.

Assign SPDREG to enable motor speed regulator and SPDREG1-4 to control motor rotational speed
as per desired from 0%-150%. Please make sure that the control wirings are wired to the right pins
on CN1.

2. Make sure the control mode used for the servo drive is velocity control mode
(Pr0.01=1/3/5/6). Set up Pr3.58-Pr3.61 as per required.

Keep in mind that max ratio in total should not exceed 150%, if total exceeds 150%, motor rotational
speed will remain unchanged. Motor rotational speed will be running at max. speed set in Pr3.24 if
exceeds max speed.

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Related parameters
Label Control Mode Settings Valid mode(s) P S T
Pr0.01 Range 0~10 Unit — Default 0
Byte length 16bit Attribute R/W 485 address 0x0003
Valid After restart

Description
Value st nd st
1 mode 2 mode ◆When 3, 4, 5, 6 combination hybrid mode, 1
nd
【0】 Position — and 2 mode can be chosen accordingly
1 Velocity — with control mode switching input (C-MODE).
st
2 Torque — C-MODE: Invalid, select 1 mode.
st
C-MODE: Valid, select 2 mode.
3 Position Velocity
Please allow some time in between mode
4 Position Torque
switching commands.
5 Velocity Torque ◆Please set Pr0.01 = 6 to switch to other
Position nd
modes from PR mod, then set 2 mode
Pr0.22=1 using Pr0.22.
PR internal Velocity
6 command Pr0.22=1 C-MODE is defaulted to Normally Open
control
Torque
Pr0.22=2

7~10 Reserved

Label Speed regulation ratio 1 Valid mode(s) S

Range 0~150 Unit % Default 10
Pr3.58
Byte length 16bit Attribute R/W 485 address H0x0374 L0x0375
Valid Immediate
To set speed regulation ratio for each input signal. If ratio is more than 150% in total,
rotational speed of the motor will remain unchanged. If the rotational speed of the
motor exceeds Pr3.24, then motor will rotate at maximum speed.
Speed regulation ratio = 100% if SPDREG signal is not valid.

Please refer to the following table as an example for users’ required settings.
Assuming (1) Pr3.58-Pr3.61 = default
(2)Motor rated rotational speed = 2000rpm
(3) SPDREG input signal = ON

SPDREG1 SPDREG2 SPDREG3 SPDREG4 Actual speed

Ratio (%)
Pr3.58 Pr3.59 Pr3.60 Pr3.61 (rpm)
OFF OFF OFF OFF 0 0
ON OFF OFF OFF 10 200
OFF ON OFF OFF 20 400
OFF OFF ON OFF 40 800
OFF OFF OFF ON 80 1600
ON ON OFF OFF 30 600
ON ON ON OFF 70 1400

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Label Speed regulation ratio 2 Valid mode(s) S

Range 0~150 Unit % Default 20
Pr3.59
Byte length 16bit Attribute R/W 485 address H0x0376 L0x0377
Valid Immediate
Same as Pr3.58
Label Speed regulation ratio 3 Valid mode(s) S
Range 0~150 Unit % Default 40
Pr3.60
Byte length 16bit Attribute R/W 485 address H0x0378 L0x0379
Valid Immediate
Same as Pr3.58
Label Speed regulation ratio 4 Valid mode(s) S
Range 0~150 Unit % Default 80
Pr3.61
Byte length 16bit Attribute R/W 485 address H0x037A L0x037B
Valid Immediate
Same as Pr3.58

Label Maximum motor rotational speed Valid mode(s) P S T

Range 0~10000 Unit r/min Default 0
Pr3.24
Byte length 16bit Attribute R/W 485 address 0x0331
Valid Immediate
To set maximum motor rotational speed but not higher than motor rated speed
If Pr3.24 = 0, maximum motor rotational speed = max. speed in motor parameter.

Label Input selection DI1 Valid mode(s) P S T

Range 0x00~0xFF Unit — Default 0x2
Pr4.00
Byte length 16bit Attribute R/W 485 address 0x0401
Valid Immediate
Please refer to the table below to set DI signals and table on the right for corresponding pin and parameters

Value
Symbol
Signal NO NC
Invalid — 0 - CN1
Input Parameters
Positive limit switch POT 1 81 PIN
Negative limit switch NOT 2 82 8 DI1 Pr4.00
Servo enabled SRV-ON 3 83 9 DI2 Pr4.01
Clear alarm A-CLR 4 - 26 DI3 Pr4.02
Control mode switching C-MODE 5 85 27 DI4 Pr4.03
Gain switching GAIN 6 86 28 DI5 Pr4.04
Clear deviation count CL 7 - 29 DI6 Pr4.05
Command pulse prohibited INH 8 88 30 DI7 Pr4.06
Torque limit switching TL-SEL 9 89 31 DI8 Pr4.07
Command frequency DIV1 C 8C
divider/multiplier switching
Internal command velocity 1 INTSPD1 E 8E
Internal command velocity 2 INTSPD2 F 8F
Internal command velocity 3 INTSPD3 10 90
Zero speed clamp ZEROSPD 11 91
Velocity command sign VC-SIGN 12 92

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Torque command sign TC-SIGN 13 93

Forced alarm E-STOP 14 94
Vibration suppression 1 VS-SEL1 0A 8A
Vibration suppression 2 VS-SEL2 0B 8B
Speed regulation valid SPDREG 4B CB
Speed regulation ratio 1 SPDREG1 4C CC
Speed regulation ratio 2 SPDREG2 4D CD
Speed regulation ratio 3 SPDREG3 4E CE
Speed regulation ratio 4 SPDREG4 4F CF

Please don’t set anything other than listed in table above.

Normally open (NO) : Valid when input = ON
Normally close (NC): Valid when input = OFF
Er210 might occur if same function is allocated to different channels at the same time

Servo enabled（SRV-ON）has to be allocated to enabled servo drive.

Inputs related to Pr-mode:
Value
Signal Symbol
NO NC
Trigger command CTRG 20 A0
Home HOME 21 A1
Forced stop STP 22 A2

Value
Signal Symbol
NO NC
Positive JOG PJOG 23 A3
Negative JOG NJOG 24 A4
Positive limit PL 25 A5
Negative limit NL 26 A6
Origin ORG 27 A7
Path address 0 ADD0 28 A8
Path address 1 ADD1 29 A9
Path address 2 ADD2 2A AA
Path address 3 ADD3 2B AB
Note: CTRG, HOME are edge triggered, please make sure electronic bits last 1ms or above.

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Chapter 7 Modbus communication

There are 2 types of Modbus communication on EL7-RSP series servo drives: RS485 and RS232. RS232
is used for point-to-point communication connecting the driver to PC through a USB type-C cable for
tuning using Motion Studio. RS485 can be set to communicate with multiple slave devices as a single
master. Network control of the drivers can be achieved through CN3/CN4 ports.

7.1 RS232 and RS485 Connection Diagram.

Servo driver parallel
communication
connection
CN4

CN3
RS232 RS485 communication
cable
PLC communication
cable

P
C
L1C
L2C
L1 C
N
6
L2
L3
P+
B1
B2
N
RS485
C
N
U 1
V
W
PE

B R
+
BR-

C
N
2

RS485 network of multiple servo drives

If there is a need to connect multiple EL8-RS series servo drives together, it is recommended to connect
the drivers in series and no longer than 3 meters of LAN cable between each nodes (drivers) as shown
below.

<3m <3m <3m <3m

Master
Node 1 Node 2 Node 3 Node N
device

 Keep the connection cable between each node as short as possible. Not longer than 3m.
 Install a terminal resistor each end. Recommended resistance: 120 Ohm.
 Please use shielded twisted pair connection cables.
 Connect to reference ground of the driver.
 Connect shielded foil of the cables to Protective Earth PE terminal.
 Please separate them from power cable or any cable with strong interference.

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7.2 RS485 communication port

Port Diagram Pin Signal Description
1，9 RDO+ RS485 Differential signal+
2，10 RDO - RS485 Differential signal-

9
3，11 GND Ground（RS485）
4，12 TXD+ RS485 Differential signal+

16
CN3 5，13 TXD- RS485 Differential signal-
CN4 Reserved，5V positive
1
6 VCC5V
8 （50mA）
7，15 GND Ground
8，16 / /
Frame PE Shield grounding

Parameters related to RS485 communication

Label RS485 communication mode Valid mode(s) P S T
Range 0~255 Unit — Default 5
Pr5.29
Byte length 16bit Attribute R/W 485 address 0x053B
Valid After restart

Value Bit Checksum Stop

0 8 Even 2
1 8 Odd 2
2 8 Even 1
3 8 Odd 1
4 8 Null 1
【5】 8 Null 2

Label RS485 communication Baud rate Valid mode(s) P S T

Range 0~15 Unit — Default 4
Pr5.30
Byte length 16bit Attribute R/W 485 address 0x053D
Valid After restart

Value Baud rate Value Baud rate

0 2400bps 【4】 38400bps
1 4800bps 5 57600bps
2 9600bps 6 115200bps
3 19200bps
Baud rate tolerance: 2400～38400bps±0.5%, 57600～115200bps±2%

Label RS485 axis address Valid mode(s) P S T

Range 0~127 Unit — Default 1
Pr5.31
Byte length 16bit Attribute R/W 485 address 0x053F
Valid After restart
When controller is connected to multiple axis and controller needs to identify the axis,
Pr5.31 can be used to set the axis ID/address.
Please set to a max of 31 if the communication is between RS232 and RS485

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7.3 Modbus Protocol

EL7-RSP series servo drives contain 16-bit and 32-bit parameters. The parameters supports read and
write functions in the Modbus-RTU protocol with function codes as listed in the table below.
Operation Function code
Read 16/32 bit parameters 0x03
Write 16 bit parameters 0x06
Write 32 bit parameters 0x10
Parameters class 0 – 7 are 32 bits data but mostly only applicable up to 16 bit. To make it convenient for
users to read the data, any byte length written in the parameters list only shows that the data is using 16
bit lower level data but it is actually a 32 bit data.

Using Pr0.00 as an example, the 485 address shows 0x0001. It is actually high 0x0000 and low
0x0001 data.
S T
Label Model-following/Zero tracking control Valid mode(s) P
Pr0.00 Range 0-2000 Unit 0.1Hz Default 1
Byte length 16bit Attribute R/W 485 address 0x0001
Valid At stop

7.3.1 Read Data 0x03

Read Data function code 0x03 can be used to read 1 – 100 16-bit data. For example, from servo drive to
slave as 1 and reading 2 data. (H: High 8-bit, L: Low 8-bit)
No. Request frame data（Master->Slave） Reply frame data（Slave->Master）
1 ID Slave 0x01 ID Slave 0x01
2 FC Function code 0x03 FC Function code 0x03
3 H Data count 0x00(H)
ADDR Starting address NUM
4 L （byte） 0x04(L)
5 Data count 0x00(H) H
NUM DATA1 Data 1
6 （word） 0x02(L) L
7 L H
CRC Checksum DATA2 Data 2
8 H L
9 L
CRC Checksum
10 H
Request frame and reply frame should have the same set of data as shown below.
Send 01 06 00 01 00 01 19 CA
Receive 01 06 00 01 00 01 19 CA
Send Frame: Request Frame. Master device writes a 1-Word (16 bit) data (0x0001) into slave servo drive
with ID no. 1 (Address 0x0001).
Receive Frame: Reply frame. Master device writes value in slave servo drive with ID no.1 successfully
and gets the same frame data back.

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7.3.2 Write multiple data 0x10

Function code 0x10 is to write multiple 16-bit data into servo drive. For example, from servo drive to slave
as 1 and reading 2 data. (H: High 8-bit, L: Low 8-bit).
No. Request frame data（Master->Slave） Reply frame data（Slave->Master）
1 ID Slave 0x01 ID Slave 0x01
2 FC Function code 0x03 FC Function code 0x03
3 H H
ADDR Starting address ADDR Address
4 L L
5 Data count 0x00(H) Data count H
NUM1 NUM
6 （word） 0x02(L) （word） L
Data count 0x04 L
7 NUM2 CRC Checksum
（Byte） (2*NUM1) H
8 H
DATA1 Data 1
9 L
10 H
DATA2 Data 2
11 L
12 L
CRC Checksum
13 H
Servo parameters are 32-bit with high 16-bit at the front and low 16-bit at the back. 2 continuous
communication addresses will be distributed starting with even number (High 16-bit uses even number
address, low 16-bit uses odd number address. Word byte frame word is also with high 8-bit at the front
and low 8-bit at the back.
32-bit data written from starting address 0x0000 (Servo driver with axis address 01):
Send 01 10 00 00 00 02 04 00 00 00 00 F3 AF
Receive 01 10 00 00 00 02 41 C8
Send Frame: Request Frame. Master device writes a 2 Word (16 bit), 4 bytes data (0x0000 0000) into
slave servo drive with ID no. 1 (Address 0x0000). 11-byte CRC value is 0xAFF3 before frame sending.
Receive Frame: Reply frame. Master device writes a 2 Word value into slave servo drive with ID no. 1
(Address 0x0000). 6-byte CRC value is 0xC841 before frame sending.
7.3.3 Reply error
When driver receives request frame data format with error, driver will feedback error reply data frame to
master device.
No. Error reply frame data (Slave->Master)
1 ID Slave ID 0~31
2 FC Function code (0x03/0x06/0x10)+0x80
3 Error code Address 0x01/0x02/0x03
4 L
CRC Checksum
5 H

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Error code table:

Error code Description
0x01 Function code error
0x02 Address error
0x03 Data error, i.e. written data over limit
0x08 CRC checksum error

Communication data:
Receive frame: Slave servo drive’s reply frame. Request frame data CRC from master device, servo
drive will not respond to current request.

Receive frame: Slave servo drive’s reply frame. Request frame data function from master device error
or slave station does not support this function, unable to respond to current request.

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7.4 Frequently occurred issues and solutions with RS485

communication.
Terminal resistor

Terminal resistor is to be connected at the start and end of the device network. Recommended resistance
of the terminal resistor: 120 Ohm. Measure the resistance within the network using a multimeter and refer
to the table below.
Measured resistance (Ohm) Normal: 60 Ohm Description
0 Short circuit
Much lower than 60 Might be other resistor within the network; incorrect
terminal resistor is used
Much higher than 60 Might be due to damaged/faulty node communication
port

Incorrect wiring connection

Please make sure RS485 communication connection is normal using a multimeter. Then, make sure the
reference ground is corrected connected. If there is not no reference ground, please leave it
unconnected. Same goes for cable shield foil.

Signal interference

External interference: Magnetic ring can be intertwined within cable 1 and 2 to prevent external
interference.

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Driver interference: If interference occurs within the driver, please intertwine magnetic rings on
cable 1 and 2. Please loop UVW cables around the magnetic ring for at least 3 rounds. Do not
loop PE wire into the magnetic ring.

Step-by-step problem solving

1: Verify if communication parameters setting are correct (ID not repeated, uniform Baud rate
and data format);
2: If terminal resistor used is correct;
3: If wiring connection is correct;
4: Verify grounding and PE connection;
5: Communication cables should be separated from power cables.

Servo drives are devices of good anti-interference. However, during installation, interference still
might occur due to wiring and grounding issues. Please refer to the table below if such problems
persist.

Steps Solutions
1 Use shielded wire cable for I/O signals, connect shield foil to PE.
2 Connect motor PE to PE terminals on drivers, connect driver PE to PE
terminals of electrical network.
3 Ground master device and servo drives together.
4 Loop UVW motor power cable around magnetic ring for 2-3 times.
5 Loop signal cable around magnetic ring for 1-2 times.
6 Use shielded cable for power cables. Connect shield foil to ground.
7 Connect a capacitance filter onto DI input. Max capacitance: 0.1 μF

COM+
0.01μF
DI Driver

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Chapter 8 PR Functions

PR function is a control module in servo drive that controls single axis motion using PRocedure
program. Main single axis motion control functions included homing, path, position limit and
emergency stop. Using PR functions can save the resources on the main controller.

Please set Pr0.01 = 6 when using PR functions. All position unit: 10000 Pulse/r

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8.1 PR functions introduction

Function Description
Homing Driver seeks origin signal through homing to determine zero point of the
mechanical motion coordination system
1. Homing mode configurable. Can be chosen between position limit signal
homing, origin signal homing and manually set home;
2. Homing direction configurable;
3. Specific position can be set after homing completed;
4. Homing velocity, acceleration and deceleration configurable.
5. High homing velocity to locate origin and low homing velocity to look for
Z-signal
JOG Forward/Reverse JOG through I/O control. Used for tuning.
1. JOG direction: forward JOG, reverse JOG
2. JOG velocity and acceleration configurable
Position limit Prevent mechanical damage by limiting the range of motion
1. Positive/Negative position limit input through I/O
2. Software position limit
3. Position limit deceleration configurable
Emergency stop Emergency stop input signal through I/O. To stop any operating motion
Path motion Select path ID through IO（ADD0-3）, then trigger path motion through enable
IO（CTRG）；or directly through I/O combination mode；path motion can be
controlled directly through 485 communication as well
1. Path motion includes positioning, velocity and homing modes.
2. I/O trigger includes rising edge, double edges trigger
3. Supports continuous positioning；
4. Max. 16 paths；
5. Configurable position, velocity and acceleration/deceleration；
6. Pause time/ timer configurable
485 PR parameter R/W through 485 communication. Control PR functions such as
communication homing, JOG, path motion, emergency stop, etc.

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8.2 Control parameters

All PR motion related parameters including trigger, status output, limits, emergency
stop, JOG, homing, etc.
Param 485 Addr.
Label Description
eter
PR control functions 0X6000
Bit 0：=0，CTRG rising edge trigger
=1，double edges trigger ;
Bit 1：=1，software position limit valid，
Pr8.00 PR Control =0，software position limit not valid;
Bit 2：=1，homing upon power on ，
=0，no homing upon power on
Bit 3：=1，absolute value memory，
=0，absolute value with no memory，
Pr8.01 Path count 16 paths 0X6001
Pr8.02 Control Operation -- 0X6002
Pr8.06 Software positive limit H High 16-bit of software positive limit 0X6006
Software positive limit Software positive limit（Only able to read low 16-bit 0X6007
Pr8.07
L using 485 communication）
Software negative limit 0X6008
Pr8.08 High 16-bit of software negative limit
H
Software negative limit（Only able to read low 16-bit 0X6009
Pr8.09 Software negative limit L
using 485 communication）
Homing method in PR mode
Bit 0：Homing direction
=0 ：Reverse；
=1： Forward
Bit 1：Specific position after homing
=0：No；
=1：Yes
Bit2~7：Homing mode
0X600A
=0：Position limit homing
Pr8.10 Homing mode
=1：Origin homing
=2：Single turn Z homing
=3：Torque homing
=8：Immediate homing
Bit 8： =1: Homing with Z-signal
= 0: Homing without Z-signal

Single turn Z homing is homing method within 1

revolution, has nothing to do with Bit 8 Z-signal.
Pr8.11 Zero position H High 16-bit of zero position 0X600B
Zero position（Only able to read low 16-bit using 485 0X600C
Pr8.12 Zero position L
communication）
Pr8.13 Home position offset H High 16-bit of home position offset 0X600D
Home position offset（Only able to read low 16-bit 0X600E
Pr8.14 Home position offset L
using 485 communication）
Pr8.15 High homing velocity Set high homing velocity 0X600F

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Pr8.16 Low homing velocity Set low homing velocity 0X6010

Pr8.17 Homing acceleration Set homing acceleration 0X6011
Pr8.18 Homing deceleration Set homing deceleration 0X6012
Homing torque holding 0X6013
Pr8.19 Set homing torque holding time
time
Pr8.20 Homing torque Set homing torque value 0X6014
Homing overtravel alarm Set homing overtravel alarm threshold, set to 0 to 0X6015
Pr8.21
range deactivate the alarm
Emergency stop at limit 0X6016
Pr8.22 Set position limit emergency stop deceleration
deceleration
STP emergency stop 0X6017
Pr8.23 Set STP emergency stop deceleration
deceleration
0：Disable I/O combination trigger mode. Uses I/O 0X601A
CTRG signal edge trigger.
I/O combination trigger 1：Enable I/O combination trigger. Valid when
Pr8.26
mode HOME-OK signal is valid.
2：Enable I/O combination trigger. HOME-OK signal
not required.
Pr8.27 I/O combination filter Set I/O combination filter time 0X601B
S-code current output 0X601C
Pr8.28 Display S-code output
value
=0：Reset new command automatically； 0X601D
=0x100；Position limit error during homing
Pr8.29 PR warning
=0x101；Emergency stop. Homing not completed；
=0x20x；Position limit error on Path N
Pr8.39 JOG velocity Set JOG velocity 0X6027
Pr8.40 JOG acceleration Set JOG acceleration 0X6028
Pr8.41 JOG deceleration Set JOG deceleration 0X6029
Pr8.42 Command position H High 16- bit of command position 0X602A
Command position （Only able to read low 16-bit 0X602B
Pr8.43 Command position L
using 485 communication）
Pr8.44 Motor position H High 16- bit of motor position 0X602C
Motor position（Only able to read low 16-bit using 0X602D
Pr8.45 Motor position L
485 communication）
Pr8.46 Input Input status 0X602E
Pr8.47 Output Output status 0X602F
Pr8.48 0x6030
- S-code setting Path N S-code output settings ~
Pr8.63 0x603F

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8.3 PR Motion
8.3.1 Homing
Homing is divided into 5 methods according to home signal: Single turn Z-phase homing, position
limit homing, origin homing, torque homing, manually set home. Position limit homing, origin homing
and torque homing can be with or without Z-signal. Homing can be triggered upon power on or using
I/O after servo enabled.
Homing sequence diagram

Velocity

Homing

Enable homing

HOME

Homing done

CMD _ OK

1. HOME: Homing trigger signal. When HOME is valid, homing will be done according to set
homing method.
2. CMD_OK: Command completed signal. Invalid when command is being carried out, valid when
command is done.
3. Please refer to Pr8.10 to set homing methods and other homing mode related settings. It is
recommended to use Motion Studio to modify the control parameters in PR mode.
Label Homing mode Valid mode(s) PR
Pr8.10 Range 0~ 0xFFFF Unit / Default 0
Byte length 16bit Attribute R/W 485 address 0X600A
To set homing method in PR mode. It is recommended to modify PR control parameters
using Motion Studio.
Bit 8（Z-signal 2-7（Homing 1（Specific 0（Homing
homing） mode） position after direction）
homing）
Description =1, homing with =0 Limit homing =1, Yes =1, Forward
Z-signal =1 Origin homing =0, No =0, Reverse
=0, homing =2 Single turn Z
without Z-signal homing
=3 Torque homing
=8 Immediate
homing

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Position limit, origin and torque homing with Z-signal

1. Negative limit homing

Sta rt End Hig h ve loci ty Low Vel ocit y

Z-sig nal

Neg ativ e li mit

NOT

A: Sta rts from

NOT = OFF

B: Sta rts from

NOT = ON

2. Positive limit homing

Start End High Velocity Low velocity

Z-signal

Positive limit
POT

A: Starts from
POT = OFF

B: Starts from
POT = ON

3. Origin homing – Negative direction

Start End High velocity Low velocity

Z-signal
Origin switching
ORG
Negative limit
NOT

A：Starts from ORG=OFF

and NOT=OFF

B：Starts from ORG=ON

and NOT=OFF

C：Starts from ORG=OFF

and NOT=OFF

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4. Origin homing – Positive direction

Start End High velocity Low velocity

Z-signal

Origin switching
ORG
Positive limit
POT

A:Starts from
ORG=OFF and
POT=OFF

B:Starts from
ORG=ON and
POT=OFF

C:Starts from
ORG=OFF and
POT=OFF

5. Torque homing – Negative direction

Start End High Velocity Low velocity

Z-signal

6. Torque homing – Positive direction

Start End High velocity Low velocity

Z-signal

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Position limit, origin, Z-signal, torque and manual set home (Homing with single
condition)
1. Negative limit homing
Start End High velocity Low velocity

Negative limit
NOT

A:Starts from
NOT=OFF

B:Starts from
NOT=ON

2. Positive limit homing

Start End High velocity Low velocity

Positive limit
POT

A:Starts from
POT=OFF

B:Starts from
POT=ON

3. Origin homing – Negative direction

Start End High velocity Low velocity

Origin switching
ORG
Negative limit
NOT

A：Starts from
ORG=OFF and
NOT=OFF

B：Starts from
ORG=ON and
NOT=OFF

C：Starts from
ORG=OFF and
NOT=OFF

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4. Origin homing – Positive direction

Start End High velocity Low velocity

Origin switching
ORG
Positive limit
POT

A：Starts from
ORG=OFF and
POT=OFF

B：Starts from
ORG=ON and
POT=OFF

C：Starts from
ORG=OFF and
POT=OFF

5. Torque homing – Negative direction

Start End Low velocity

6. Torque homing – Positive direction

Start End Low velocity

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8.3.2 Position limit and emergency stop

For safety concerns, PR mode is designed to trigger emergency stop when position limit or
emergency stop signal is valid. Please refer to the sequence diagram below.

Velocity
Deceleration

Emergency
stop / Position
limit valid

PL/ NL/ STP

Stop

CMD _ OK

8.3.3 JOG
JOG is used to make tuning more convenient. Please refer to the sequence diagram below for
motion profile during JOG

Velocity
JOG velocity

PJOG/NJOG valid

PJOG /NJOG
Stop
CMD_ OK

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8.3.4 Path motion

Path motion: Segmented, continuous, interrupted. Path positioning: Position, velocity, homing.
PR path is to a total of 16 paths. Every path can be set with motion type, positioning mode, velocity,
acceleration, deceleration and pause time independently.
Parameter Label Description 485 addr.
Attribute of PR path is determined by its mode. 0X6200
Bit 0-3：type ： 0: null
1: Positioning
2: Velocity
3: Homing
4: Emergency stop
Indicates using P/V/H/S
Bit 4: 0: Can be Interrupted
1: Can’t be Interrupted, indicates
using !
Pr9.00 PR mode
Bit 5: OVLP: 0: No overlap, indicates with SJ
1: Overlap, indicated with CJ
Bit 6-7: 0: absolute
1: relative command
2: relative motor
Corresponding to ABS/INC/REL
Bit8-13： 0-15: Jump to corresponding path
Indicates using SJ0x or CJ0x
Bit 14： JUMP: 0: No Jump, indicates with END
1: Jump. Jump to SJ or CJ
Pr9.01 PR position H High 16-bit of PR path position 0X6201
Pr9.02 PR position L PR position（Only able to read low 16-bit using 0X6202
485 communication）
Pr9.03 Velocity Velocity, rpm 0X6203
Pr9.04 Acceleration Unit ms/1000rpm 0X6204
time
Pr9.05 Deceleration Unit ms/1000rpm 0X6205
time
Pr9.06 Pause time Pause time after command completed 0X6206
Pr9.07 Special Mapped to Pr8.02 0X6207
parameter
Pr9.08 ~ 8 parameters for each path. Please refer to Class 9
Pr9.127 parameter in Chapter 3

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Segmented trigger
CTRG rising edge/double edges trigger (Pr8.00) a segmented motion. Please refer to the sequence
diagram below with rising edge trigger of path 5.
Pause time
Velocity 9
5

CTRG Enable

ADD 0-3 5 X
Continuous
CMD _ OK path completed

Multi-path interrupted motion

In multi-path motion, path motion that is triggered later will interrupt path motion that has already
started. Please refer to the sequence diagram below
Give up current path
motion after interruption
(INS), maintain current
velocity and directly
continue with PR2 PR 2
INS Valid
PR 1
Uncompleted

CTRG + ADD 2

PR 1 PR 2
Path：

PR2
trigger ：

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Non-overlap continuous motion

Path motion continues by another, no trigger needed for the next one to start.

Non-overlap
continuous PR 2

Stop
DELAY 1

PR 1 PR 2
Path：

INP ： OFF

Overlapping continuous motion

Path motion starts immediate after the previous path motion is completed without deceleration or
trigger in between.
After reaching target
position POS1 of PR1,
maintain velocity and
switch to PR2 PR 2

Overlapping
continuous

PR 1 PR 2
Path：

OFF
INP ：

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8.4 PR Control
8.4.1 PR module in Motion Studio
Using Pr-Motion function in Motion Studio 2, PR parameters can be set including trigger settings,
software position limit, JOG, homing, emergency stop, etc. Manual triggering of homing, path motion
or emergency stop can also be triggered on this interface.

Most of PR control related parameters can be set on this page.

All class 9 parameters for 0-15 paths can be found here once connected to a servo drive that
supports PR mode.

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Manual control of
servo drive in PR
mode can be done in
this page.

All PR mode and

control parameters
can be found on this
list for convenience of
tuning

To run PR mode in a
loop

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8.4.2 Physical I/O

Path motion, feedback status, etc can be triggered through I/O in PR mode. Please refer to the table
below for I/O assignments in PR mode.
Input Output
Label Signal Value Label Signal Value
NO NC NO NC
Command trigger CTRG 20h A0h Command completed CMD_OK 20h A0h
Homing HOME 21h A1h Path completed PR_OK 21h A1h
Forced emergency stop STP 22h A2h Homing completed HOME_OK 22h A2h
Positive JOG PJOG 23h A3h S-code 0 SD0 23h A3h
Negative JOG NJOG 24h A4h S-code 1 SD1 24h A4h
Positive position limit PL 25h A5h S-code 2 SD2 25h A5h
Negative position limit NL 26h A6h S-code 3 SD3 26h A6h
Origin ORG 27h A7h S-code 4 SD4 27h A7h
Path address 0 ADD0 28h A8h S-code 5 SD5 28h A8h
Path address 1 ADD1 29h A9h S-code 6 SD6 29h A9h
Path address 2 ADD2 2ah Aah PR warning PRWAR 2Ah AAh
Path address 3 ADD3 2bh Abh
Torque switching TC-SEL 09h 89h

S-code
S-code（Status code）is the S-code of currently operating PR positioning data.
Every PR path has a S-code setting.
S-code Sx.H Sx.L
Bit 15 8-14 7 0-6
Description S-code valid when completed. S-code upon S-code valid S-code upon
0: Invalid, retain previous value completion upon activation activation
1: Valid 0: Invalid
1: Valid

PR1 Pause
PR2

t
Trigger

S-code S1.L S1.H S2.L S2.H

Valid upon enabling and completion of S1 and S2
S1.L S2.H
Valid when S1 enabled and S2 completed

S-code bit bit0/8 bit1/9 bit2/10 bit3/11 bit4/12 bit5/13 Bit6/14

SDx SD0 SD1 SD2 SD3 SD4 SD5 SD6

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I/O trigger
Path motion trigger: Edge trigger/combination trigger(Pr8.26). Edge trigger is triggering path
combination motion using I/O. I/O combination trigger uses electrical level as trigger rather than
signal edge. No valid motion for path 0 and I/O combination triggers motion once after I/O filter when
converted to non-zero paths.
IO Filter time

PR 1 PR 2 PR 3

Path I/O 0x01 0x00 0x02 0x03

combination

**Path combination 0 is invalid because I/O combination x>0->x can be triggered for multiple times
when using incremental position.
*In I/O combination trigger mode 2, path motion will be triggered upon servo drive power on if I/O
combination not set to 0. Please be careful.

Label I/O combination trigger mode Valid mode(s) PR

Pr8.26 Range 0 ~ 65535 Unit / Default 0
Byte length 16bit Attribute R/W 485 address 0X601A
Value Description
【0】 Disable I/O combination trigger mode. Uses I/O CTRG signal edge trigger.
1 Enable I/O combination trigger. Valid when HOME-OK signal is valid.
2 Enable I/O combination trigger. HOME-OK signal not required.
IO combination trigger select path using ADD0~ADD3. Trigger mode is set in Pr8.26.

ADD3 ADD2 ADD1 ADD0 Path selection

OFF OFF OFF OFF Path 0 (Non-action)
OFF OFF OFF ON Path1
OFF OFF ON OFF Path2
OFF OFF ON ON Path3
OFF ON OFF OFF Path4
OFF ON OFF ON Path5
OFF ON ON OFF Path6
OFF ON ON ON Path7
ON OFF OFF OFF Path8
ON OFF OFF ON Path9
ON OFF ON OFF Path10
ON OFF ON ON Path11
ON ON OFF OFF Path12
ON ON OFF ON Path13
ON ON ON OFF Path14
ON ON ON ON Path15

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8.4.3 485 communication

485 communication can be used to achieve the same functions as with I/O, modifying PR related
parameters and trigger path motions. Through this communication protocol, controlling of multiple
axes can be realized, saving wiring works with flexibility in the system. 485 communication includes
2 kinds of mode: Fixed trigger and immediate trigger.

485 communication parameters

Parameter Label Description
Pr5.29 Communication 485 communication mode data
mode Value Bit Checksum Stop
0 8 Even 2
1 8 Odd 2
2 8 Even 1
3 8 Odd 1
4 8 Null 1
【5】 8 Null 2
Pr5.30 Baud rate To set communication speed of RS485 communication
Value Baud rate Value Baud rate
0 2400bps 【4】 38400bps
1 4800bps 5 57600bps
2 9600bps 6 115200bps
3 19200bps
Pr5.31 ID Modbus slave ID address
Pr8.02 PR trigger Attribute Index Description
Write 0x01P N path positioning
Write 0x020 Reset
Write 0x021 Manually set currently position as 0 (Origin)
Write 0x040 Emergency stop
Read 0x000P Positioning completed. Ready to receive new data
Read 0x01P,
0x020, Yet to respond to command
0x040
Read 0x10P Path motion undergoing
Read 0x200 Command completed. Waiting for positioning

PR mode communication address:

Class 8 parameters: 0x6000+(Param-ID-800). For example Pr8.06: 0x6000+(806-800)=0x6006
Class 9 parameters: 0x6200+(Param-ID-900). For example Pr9.06: 0x6200+(906-900)=0x6206

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8.4.4 Path trigger

Fixed trigger

Fixed triggering method is to set all 16 paths homing and other settings, then through Pr8.02 (trigger
register to replace CTRG and HOME) to enable path. Recommended for simple applications with
fixed motions.

Steps:
1. Set homing and path attributes using Motion Studio. Power on driver for parameters to be
valid.
2. Write corresponding command into 0x6002(Pr8.02) to realize required motions.
Attribute Index Description
Write 0x01P N path positioning
Write 0x020 Reset
Write 0x021 Manually set currently position as 0 (Origin)
Write 0x040 Emergency stop
Read 0x000P Positioning completed. Ready to receive new data
Read 0x01P,
0x020, Yet to respond to command
0x040
Read 0x10P Path motion undergoing
Read 0x200 Command completed. Waiting for positioning

Immediate trigger
Immediate trigger is more flexible while fixed triggering is restricted by 16 paths position. Path
motion is triggered immediately once path is written. Motions such as position, velocity or homing
are realized through data frame.
This triggering method uses PR0 with 8 datum from which Pr9.07 mapped into Pr8.02. When 0x10 is
written into Pr8.02, it will trigger PR0 motion immediately.
Steps:
1. Set homing and path attributes using Motion Studio. (Homing parameters must be set)
Power on driver for parameters to be valid.
2. Control specific path using Pr8.02.
3. Realize path motion by writing into Pr9.00 – Pr9.07 with Pr9.07 = 0x10

Master device request frame byte data

No. Data Description Value
1 ID Slave ID 1~127
2 FC Function code 0x10
3 ADDR Address 0x62
4 ADDR Address 0x00
5~6 NUM1 Data count（Word） 0x0008
7 NUM2 Data count（BytE） 0x10
8-9 Pr9.00 Mode XXXX
10-11 Pr9.01 Position high bit XXXX
12-13 Pr9.02 Position low bit XXXX

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14-15 Pr9.03 Velocity XXXX

16-17 Pr9.04 Acceleration XXXX
18-19 Pr9.05 Deceleration XXXX
20-21 Pr9.06 Delay time XXXX
22-23 Pr9.07 Trigger control 0x0010
24 CRC Checksum Lo
25 Checksum Hi

Slave response frame byte data

No. Data Description Value
1 ID Slave ID 1~127
2 FC Function code 0x10
3 ADDR Address 0x62
4 ADDR Address 0x00
5 NUM Data count（Word） 0x08
6 CRC Checksum Lo 0xXX
7 Checksum Hi 0xXX

8.5 PR motion
8.5.1 Trigger using physical I/O
1. Set up servo drive parameter such as Pr0.01 = 6. Required PR I/Os are set in Pr4.00-Pr4.15
2. Set up PR control parameters such as trigger, homing, emergency stop, velocity, etc as shown
below
3. Set PR path parameter such as motion type, S-code, etc as shown below. The interface is divided
into 3 parts：

Function buttons

Path parameters
settings

Positioning Mode settings guide

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Function buttons: Upload, download parameters to/from drives, save parameter, backup and reset
to factory default.

Parameters: Set PR path related parameters here

Descriptions: Short explanation on each PR path motion types
Remember to upload parameters to drive and save to drive after parameters setup.
4. Set up homing, trigger, I/O in PR mode as shown below:
**Please select required path when using edge trigger. Make sure the corresponding path is chosen
in I/O path selection
*Please set up I/O combination filter time when using I/O combination trigger. Make sure I/O signal
filter time covers the change in signal level.

This page is divided into 3 parts:

Motion Operation: To set up parameters for Path 0. Click on “Start” and parameters will be
automatically uploaded to driver
Homing: I/O and position display; Homing and emergency stop button
Trigger Pr-Mode: To trigger operation of any of the 16 PR paths.

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8.5.2 Control using 485 communication

485 communication data frame format
Byte(x) 0 1 2 3 4 5 6 7
Definition ID Function Addr. Addr. Data Data CRC CRC
code High Low High Low checksum checksum
8-bit 8-bit 8-bit 8-bit Low 8-bit High 8-bit

Please refer to Modbus communication in Chapter 7 to use Word function code writing. The request
and respond frame data format is similar.

1. Set PR0 to travel to absolute position = 200000 (10000 pulse/rev)

No. 485 communication data frame Description
1 01 06 62 00 00 01 57 B2 Set PR0 mode as absolute position
2 01 06 62 01 00 03 87 B3 Set PR0 position high bit
3 01 06 62 02 0D 40 32 D2 Set PR0 position low bit
4 01 06 62 03 02 58 66 E8 Set PR0 velocity
5 01 06 62 04 00 32 56 66 Set PR0 acceleration
6 01 06 62 05 00 32 07 A6 Set PR0 deceleration
7 01 06 60 02 00 10 37 C6 Trigger PR0 motion
8 01 06 60 02 00 40 37 FA Send Emergency stop datagram when required

2. Set PR0 to travel relative distance = 10000 (10000 pulse/rev)

No. 485 communication data frame Description
1 01 06 62 00 00 41 56 42 Set PR0 mode as relative position
2 01 06 62 01 00 00 C7 B2 Set PR0 position high bit
3 01 06 62 02 27 10 2D 8E Set PR0 position low bit
4 01 06 62 03 02 58 66 E8 Set PR0 velocity
5 01 06 62 04 00 32 56 66 Set PR0 acceleration
6 01 06 62 05 00 32 07 A6 Set PR0 deceleration
7 01 06 60 02 00 10 37 C6 Trigger PR0 motion
8 01 06 60 02 00 40 37 FA Send Emergency stop datagram when required

3. Set PR0 as velocity mode with velocity = 600rpm

No. 485 communication data frame Description
1 01 06 62 00 00 02 17 B3 Set PR0 as velocity mode
2 01 06 62 03 02 58 66 E8 Set PR0 velocity
3 01 06 62 04 00 32 56 66 Set PR0 acceleration
4 01 06 62 05 00 32 07 A6 Set PR0 deceleration
5 01 06 60 02 00 10 37 C6 Trigger PR0 motion
6 01 06 60 02 00 40 37 FA Send Emergency stop datagram when required

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4. Set PR1 to travel to absolute position = 200000 (10000 pulse/rev)

No. 485 communication data frame Description
1 01 06 62 08 00 01 D6 70 Set PR1 mode
2 01 06 62 09 FF FC 07 C1 Set PR1 position high bit
3 01 06 62 0A F2 C0 F3 40 Set PR1 position low bit
4 01 06 62 0B 02 58 E7 2A Set PR1 velocity
5 01 06 62 0C 00 32 D7 A4 Set PR1 acceleration
6 01 06 62 0D 00 32 86 64 Set PR1 deceleration
7 01 06 60 02 00 11 F6 06 Trigger PR1 motion
8 01 06 60 02 00 40 37 FA Send Emergency stop datagram when required

5. Set PR1 as velocity mode with velocity = 300rpm

No. 485 communication data frame Description
1 01 06 62 08 00 02 96 71 Set PR1 as velocity mode
2 01 06 62 0B 01 2C E7 FD Set PR1 velocity
3 01 06 60 02 00 11 F6 06 Set PR1 acceleration
4 01 06 62 0C 00 32 D7 A4 Set PR1 deceleration
5 01 06 62 0D 00 32 86 64 Trigger PR1 motion
6 01 06 60 02 00 40 37 FA Send Emergency stop datagram when required

6. Homing
No. 485 communication data frame Description
1 01 06 60 0A 00 00 B7 C8 Set homing method
2 01 06 60 0F 00 64 A6 22 Set high homing velocity
3 01 06 60 10 00 1E 16 07 Set low homing velocity
4 01 06 60 02 00 20 37 D2 Trigger homing
5 01 06 60 02 00 40 37 FA Send Emergency stop datagram when required

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Chapter 9 Warning and Alarm

9.1 Servo drive warning

When warning occurs, driver will set protective function but motor won’t stop moving. Error
code will be displayed on the front panel.

Example of warning code:

Others

Ar A08 P O T
Bit 1：Sub-code
Bit 2：Main code
Warning
Code Content
Main Code
1 Overload warning
2 Regeneration energy overload warning(85% of the regeneration threshold)
3 Absolute encoder battery voltage low (<3.1V). Valid when Pr0.15 is set to 1.
4 Change the parameter to a non-real time valid warning
7 Low temperature warning ( < 20℃)
8 Positive limit switch valid. POT blinking on front panel
A0 9 Negative limit switch valid. NOT blinking on front panel
A Positive and negative limit switch valid. PNOT blinking on front panel
B Current position is beyond software positive limit. SPOT blinking on front panel
C Current position is beyond software negative limit. NPOT blinking on front panel
Current position is beyond software negative, positive limit. SPNOT blinking on
D
front panel
E Parameters reset to factory default. Restart needed

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9.2 Servo drive alarm

When alarm occurs, driver will set protective function and motor stops moving. Error code will
be displayed on the front panel. Alarm history record can also be viewed in data monitoring mode,
with the alarm log sub-menu displaying "d12Er".

Er 150 D12Er
S
Bit 1：Sub-code

Bit 2: Main code Er 150 ……Current alarm

01150 ……Alarm record 1(Latest)

140E0 ……Alarm record 14(Last)

Able to look back at 14 alarm records
Use ▲▼ buttons to navigate between
alarm records

Table 9.1 Error Code List

Error code Attribute
Content
Main Sub Save Type Clearable
09 0~F FPGA communication error ● 2
0~1 Circuit current detection error ● 2
2,4 Analog input error ● 2
0A 3 Motor power cable not connected ● 1
5 DC bus error ● 2
6 Temperature measuring error ● 2
0 Control circuit power supply voltage too low 2
0b
1 Control circuit power supply voltage too high 2 ●
0c 0 DC bus overvoltage ● 1 ●
0 DC bus undervoltage ● 1 ●
0d 1 Single phasing of main power supply ● 2
2 No main power supply detected 2
0 Overcurrent ● 1
1 Intelligent Power Module (IPM) overcurrent ● 1
0E
2 Power output to motor shorted to ground ● 1
4 Phase overcurrent ● 1
0F 0 Driver overheated ● 2
0 Motor overloaded ● 1 ●
10 1 Driver overloaded ● 1 ●
2 Motor rotor blocked ● 1 ●
0 Regenerative resistor overvoltage ● 2
12 1 Holding brake error ● 1
2 Regenerative resistor value too low ● 2

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0 Encoder disconnected ● 1
1 Encoder communication error ● 1
2 Encoder initial position error ● 1
3 Multiturn encoder error ● 2
15
4 Encoder parameter settings error ● 2
5 Encoder data overflow ● 2 ●
6 Encoder overheated ● 2 ●
7 Encoder counter error ● 2 ●
0 Encoder data error ● 1
17
1 Encoder parameter initialization error ● 1
0 Excessive position deviation ● 2 ●
18
1 Excessive velocity deviation ● 2 ●
0 Motor vibration too strong ● 2 ●
19
1 Excessive hybrid position deviation ● 1 ●
0 Overspeed ● 2 ●
1A
1 Velocity out of control ● 1 ●
0 Bus input signal dithering ● 2 ●
1 Incorrect electronic gear ratio ● 2 ●
1b External encoder frequency divider 1
3 ●
parameter error
4 Excessive synchronous position command ● 2 ●
0 I/O input interface assignment error ● 2
1 I/O input interface function assignment error ● 2
21
I/O output interface function assignment 2
2 ●
error
CRC correction during EEPROM parameter 2
0
saving
1 I2C communication status error 2
24 2 Error r/w alarm history record 2
3 Error r/w diagnostic data 2
4 Error r/w 402 parameters 2
5 Error r/w communication parameters 2
0 Gantry deviation error ● 1
25
1 Gantry communication error ● 1
Positive/Negative position limit triggered 2
26 0 ● ●
under non-homing mode
0 Analog 1 input overrun limit ● 2 ●
27 1 Analog 2 input overrun limit ● 2 ●
2 Analog 3 input overrun limit ● 2 ●
Control mode not match under full closed 1
0 ●
loop mode
29
Encoder mode not match under full closed 1
1 ●
loop mode
57 0 Forced alarm input valid(E-stop) ● 2 ●
0 Motor model no. detection error 2
5F
1 Driver power module detection error 2
0 Main loop interrupted timeout 2
60
1 Velocity loop interrupted timeout 2
70 0 Encryption error 2
89 0 Homing error 2 ●

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Save: Save error messages to alarm history.

Type: The type 1 and type 2 fault stop mode can be set via Pr5.10 [Sequence at alarm].
Clearable: Clearable alarm by operating the front panel and use auxiliary function AFACL as
below. Besides clearable alarms, please first solve the error and restart the servo driver to clear
alarm.

PR 000 Parameter settings

M
Auxiliary Function
Press▼ ▲ Button to choose
auxiliary function

Clear Alarm
AF ACL

Press S to enter
operational mode
Press M to
enter data
monitoring mode

Data monitoring

Auxiliary Function Operation

Clear Initial display of

AF ACL Alarm
S
ACL - alarm clearing function

Press ▲ button once. Alarm

cleared successfully if FinSh
is displayed.

FinSh

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9.3 Alarm Handling

**When error occurs, please solve accordingly. Then, restart. If the solutions described don’t work,
please consider replacing the driver.

Error Main Sub Display: “Er 090”--“Er 09F”

code
09 0~F Content: FPGA communication error
Cause Diagnosis Solution
L1, L2 terminal voltage too Verify L1, L2 terminal Make sure L1, L2 terminal voltage is
low voltage within recommended range

Error Main Sub Display: “Er 0A0”--“Er 0A1”

code
0A 0~1 Content: Circuit current detection error
Cause Diagnosis Solution
Motor power cable wiring Verify motor power cable Make sure U,V,W terminal wired
error wiring properly
Main power supply Verify L1,L2,L3 terminal
Increase main power supply voltage
undervoltage voltage

Error Main Sub Display: “Er 0A2” / “Er 0A4”

code
0A 2/4 Content: Analog input error
Cause Diagnosis Solution
Analog input wiring error Verify analog input wiring Make sure of analog input wiring
connection

Error Main Sub Display: “Er 0A3”

code
0A 3 Content: Motor power cable not connected
Cause Diagnosis Solution
Motor power cable not Verify motor power cable Measure resistance values
connected wiring between U, V, W terminals, make
sure the values are almost equal. If
not, might be due to damaged motor
or motor winding open circuit.
Motor fault / Replace motor

Error Main Sub Display: “Er 0A5”

code
0A 5 Content: DC Bus error
Cause Diagnosis Solution
L1, L2 terminal voltage too Verify L1, L2 terminal voltage. Make sure L1, L2 terminal voltage
low Check if power on indicator is within recommended range
light on servo drive is on and
d27 DC bus voltage.

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Error Main Sub Display: “Er 0A6”

code
0A 6 Content: Temperature measuring error
Cause Diagnosis Solution
L1, L2 terminal voltage too Verify L1, L2 terminal Make sure L1, L2 terminal voltage is
low voltage within recommended range

Error Main Sub Display: “Er 0b0”

code
0b 0 Content: Control circuit power supply voltage too low
Cause Diagnosis Solution
Control circuit power Verify L1C, L2C terminal Increase L1C, L2C terminal voltage;
supply voltage too low voltage; check if wiring Tighten L1C, L2C terminal
connection is tight connection
Power supply under Increase power supply capacity for
/
capacity L1C, L2C terminals

Error Main Sub Display: “Er 0b1”

code 0b 1 Content: Control circuit power supply abnormal
Cause Diagnosis Solution
USB power supply too low Verify if USB cable is properly Replace USB Type-C cable
connected and not damaged.

Error Main Sub Display: “Er 0c0”

code 0c 0 Content: DC bus overvoltage
Cause Diagnosis Solution
Main power supply Verify L1,L2,L3 terminal Decrease main power supply
overvoltage voltage voltage
Acceleration/deceleration Increase the duration time or
Verify if the time is actually
time too short change to a regenerative resistor
too short
with higher resistance.
Regenerative brake
Verify Pr7.32/Pr7.33 Modify vent overload parameter
parameter anomaly
Inner brake circuit damaged / Replace driver

Error Main Sub Display: “Er 0d0”

code 0d 0 Content: DC bus undervoltage
Cause Diagnosis Solution
Main power supply Increase main power supply
Verify L1,L2,L3 terminal voltage
undervoltage voltage
L1C, L2C connected Control circuit power on before Please disconnect the USB cable
when USB cable is driver initialization. Alarm might before powering on control
connected occur. circuit.

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Error Main Sub Display: “Er 0d1”

code 0d 1 Content: Single phasing of main power supply
Cause Diagnosis Solution
Main power supply Increase main power supply
Verify L1,L2,L3 terminal voltage
undervoltage voltage
Main power supply
Loose connection of L1, L2, L3 Secure connections
wiring error

Error Main Sub Display: “Er 0d2”

code 0d 2 Content: No main power supply detected
Cause Diagnosis Solution
1. Increase main power supply
No main power supply Verify L1,L2,L3 terminal voltage voltage
2. Secure connections

Error Main Sub Display: “Er 0E0”

code 0E 0 Content: Overcurrent
Cause Diagnosis Solution
Verify if there is short circuit 1. Make sure there is no circuit.
Driver power output
between UVW terminals, or 2. Make sure motor is not
short circuit
shorted to PG. damaged
Motor wiring error Verify motor wiring Reconnect motor wiring
Disconnect motor output cable.
IGBT module short
Then, enable servo driver to Replace driver
circuit
check for overcurrent
Control parameter Verify if parameter exceeds Set parameter within
anomaly recommended range recommended range.
Control command Verify if command motion is too Modify control command;
anomaly acute use filter

Error Main Sub Display: “Er 0E1”

code 0E 1 Content: Intelligent Power Module (IPM) overcurrent
Cause Diagnosis Solution
Verify if there is short circuit 1. Make sure there is no circuit.
Driver power output
between UVW terminals, or 2. Make sure motor is not
short circuit
shorted to PG. damaged
Motor wiring error Verify motor wiring Reconnect motor wiring
Disconnect motor output cable.
IGBT module short
Then, enable servo driver to Replace driver
circuit
check for overcurrent
IGBT module / Replace driver
undervoltage
Control parameter Verify if parameter exceeds Set parameter within
anomaly recommended range recommended range.
Control command Verify if command motion is too Modify control command;
anomaly acute use filter

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Error Main Sub Display: “Er 0E2”

code 0E 2 Content: Power output to motor shorted to ground
Cause Diagnosis Solution
Disconnect motor power cable
Driver U, V, W terminals 1. Reconnect wiring.
and check for short circuit
shorted to ground 2. Change motor power cable.
between driver UVW and PE
Connect motor power cable to
driver power output. Verify if
Motor shorted to ground Replace motor
resistance value of UVW to PE is
in the range of MegaOhm (MΩ)

Error Main Sub Display: “Er 0E4”

code 0E 2 Content: Phase overcurrent
Cause Diagnosis Solution
Disconnect motor power cable
Driver U, V, W terminals 1. Reconnect wiring.
and check for short circuit
shorted to ground 2. Change motor power cable.
between driver UVW and PE
Connect motor power cable to
driver power output. Verify if
Motor shorted to ground Replace motor
resistance value of UVW to PE is
equal and if there is short circuit

Error Main Sub Display: “Er 0F0”

code 0F 0 Content: Driver overheated
Cause Diagnosis Solution
Temperature of power Measure the temperature of 1. Improve cooling condition. Please
module exceeded upper driver radiator. check installation guide;
limit 2. Replace driver and motor with
higher power rating;
3. Increase duration time for
acceleration and deceleration;
4. Decrease load

Error Main Sub Display: “Er 100”

code 10 0 Content: Motor overloaded
Cause Diagnosis Solution
Verify if actual load exceeds 1. Decrease load
Load too heavy
maximum value allowed 2. Adjust limit values
Strong 1. Adjust gain value of control loop
Look for mechanical vibration from
mechanical 2. Increase duration time for
machine system
vibration acceleration and deceleration
Motor or encoder Verify motor and encoder wiring 1. Reconnect wiring
cable wiring error 2. Replace motor and encoder cable
Holding brake
Verify holding brake terminal voltage Cut off holding brake
engaged

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Error Main Sub Display: “Er 101”

code 10 1 Content: Driver overloaded
Cause Diagnosis Solution
Motor power Make sure motor power cable wiring
UVW terminals wiring error
cable wiring error connection is correct
Motor not Motor rated current is higher than driver
matched Motor current is too high rated current. Please change to a driver
with higher rated current.

Error Main Sub Display: “Er 102”

code 10 2 Content: Motor rotor blocked
Cause Diagnosis Solution
Motor rotor
Look for mechanical blockages Check the machinery
blocked
Motor rotor
blocking time
Verify value of Pr6.57 Adjust value of Pr6.57
threshold value
too low

Error Main Sub Display: “Er 120”

code 12 0 Content: Regenerative resistor overvoltage
Cause Diagnosis Solution
Regenerative energy 1. Verify if velocity is too 1. Decrease motor rotational velocity;
exceeded capacity of high 2. Decrease load inertia;
regenerative resistor 2. Verify if load is too large 3. Add an external regenerative resistor;
Power supply voltage 1. Verify if power supply 1. Decrease power supply voltage
too high voltage is within the rated 2. Increase regeneration resistance
range. value(add external regenerative resistor)
2. Interval regenerative
resistor value is too low
Unstable power supply Verify if power supply Add a surge suppressor to main power
voltage voltage is stable supply.
Regenerative energy / 1. Add an external regenerative resistor;
discharge circuit 2. Replace driver
damaged

Error Main Sub Display: “Er 121”

code 12 1 Content: Holding brake error
Cause Diagnosis Solution
Regenerative resistor
Replace regenerative resistor
Holding brake circuit disconnected
damaged Holding brake IGBT Replace driver
damaged

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Error Main Sub Display: “Er 122”

code 12 2 Content: Regenerative resistor value too low
Cause Diagnosis Solution
External regenerative
Replace the regenerative resistor with the
resistor value is less
/ right resistance value which meets the
than the minimum value
specification of the driver
allowed by the drive

Error Main Sub Display: “Er 150”

code 15 0 Content: Encoder disconnected
Cause Diagnosis Solution
Encoder cable Make sure encoder cable properly
Verify encoder cable connection
disconnected connected
Encoder cable wiring error Verify if encoder wiring is correct Reconnect encoder wiring
Encoder damaged / Replace motor
Encoder measuring circuit
/ Replace driver
damaged

Error Main Sub Display: “Er 151”

code 15 1 Content: Encoder communication error
Cause Diagnosis Solution
Encoder wire shielding Verify if encoder cable has Replace with standard encoder
layer is missing shielding layer cable
Encoder cable wiring error Verify if encoder wiring is correct Reconnect encoder wiring
Encoder damaged / Replace motor

Main Sub Display: “Er 152”

Error
code 15 2 Content: Encoder initial position error

Cause Diagnosis Solution

1. Make sure encoder power supply
voltage is stable
1. Verify if encoder power supply
2. Make sure encoder cable is not
voltage is DC5V ± 5% ;
damaged.
Communication 2. Verify if encoder cable and shielded
3. Make sure encoder cable shielded
data abnormal layer is not damaged;
layer is grounded to frame
3. Verify if encoder cable is close to
4. Make sure encoder cable is away
high-powered power supply cable
from high-powered power supply
cable
Encoder damaged / Replace motor
Encoder measuring
/ Replace driver
circuit damaged

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Error Main Sub Display: “Er 153”

code 15 3 Content: Multiturn encoder error
Cause Diagnosis Solution
Perform origin positioning and multiturn
Origin calibration not
Initial use position initialization, calibrate the origin of
performed
coordinate system.
1. Replace the motor with a multiturn
Encoder without Verify if encoder has
absolute encoder.
multiturn absolute multiturn absolute
2. Set Pr0.15 = 0 to deactivate multiturn
function used function
absolute function.
Replace battery and
Low battery power restart driver to clear Replace battery
alarm
Alarm not cleared after Absolute position lost. Return to origin and
Battery has no power or
replacing battery and perform multiturn initialization, calibrate the
has been dismantled
restart origin of coordinate system

Error Main Sub Display: “Er 154”

code 15 4 Content: Encoder parameter settings error
Cause Diagnosis Solution
Absolute encoder mode Verify if encoder has multi-turn Modify absolute encoder mode
is incorrectly set. absolute value function. settings

Error Main Sub Display: “Er 155”

code 15 5 Content: Encoder data overflow
Cause Diagnosis Solution
Verify if encoder is not
Encoder data overflow Initialize multiturn data
damaged
Absolute value
Verify if encoder is not Adjust absolute value application
applications, motor
damaged mode, set to turntable mode
rotates in one direction

Error Main Sub Display: “Er 156”

code 15 6 Content: Encoder overheated
Cause Diagnosis Solution
The encoder Verify if motor temperature is
Reduce encoder temperature.
temperature is too high. too high

Error Main Sub Display: “Er 157”

code 15 7 Content: Encoder counter error
Cause Diagnosis Solution
Verify if encoder is not
Encoder data overflow Initialize multiturn data
damaged
Absolute value
Verify if encoder is not Adjust absolute value application
applications, motor
damaged mode, set to turntable mode
rotates in one direction

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Error Main Sub Display: “Er 170”

code 17 0 Content: Encoder data error
Cause Diagnosis Solution
1. Make sure encoder power supply
voltage is stable
1. Verify if encoder power supply
2. Make sure encoder cable is not
voltage is DC5V ± 5% ;
damaged.
Communication 2. Verify if encoder cable and shielded
3. Make sure encoder cable shielded
data abnormal layer is not damaged;
layer is grounded to frame
3. Verify if encoder cable is close to
4. Make sure encoder cable is away
high-powered power supply cable
from high-powered power supply
cable
Encoder damaged / Replace motor
Encoder measuring
/ Replace driver
circuit damaged

Error Main Sub Display: “Er 171”

code 17 1 Content: Encoder parameter initialization error
Cause Diagnosis Solution
Driver and motor Replace with matching driver and
Verify driver and motor models.
not matched motor
1. Verify if encoder cable is standard. Use standard encoder cable, verify
Error while getting
2. Verify if encoder has no peeled the connection of both sides of driver
parameters from
insulator, broken connection or and motor, change encoder cable if
encoder
improper contact. necessary

Error Main Sub Display: “Er 180”

code 18 0 Content: Excessive position deviation
Cause Diagnosis Solution
Improper position Verify if value of Pr_014 is too low Increase value of Pr_014
deviation settings
Position gain setting too Verify if values of Pr1.00 & Pr1.05 Increase values of Pr1.00 &
low are too low Pr1.05
Verify if values of Pr0.13 & Pr5.22 Increase values of Pr0.13 &
Torque limit too low
are too low Pr5.22
1. Verify if acceleration and 1. Increase duration time for
deceleration duration time is acceleration and
too low. deceleration
Excessive external load 2. Verify if rotational velocity is too 2. Decrease rotational
high velocity
3. Verify if load is too large 3. Decrease load

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Error Main Sub Display: “Er 181”

code 18 1 Content: Excessive velocity deviation
Cause Diagnosis Solution
Deviation between set 1. Increase value of Pr6.02;
Verify if value of Pr6.02 is too
velocity and actual velocity is 2. Set Pr6.02 to 0, position error
low
too great detection off.
Acceleration and 1. Increase value of Pr3.12, Pr3.13;
Verify if value of Pr3.12 and
deceleration duration time for 2. Adjust velocity gain to reduce
Pr3.13 are too low
set velocity is too low velocity lag error

Main Sub Display: “Er 190”

Error
code 19 0 Content: Vibration too strong

Cause Diagnosis Solution

Mechanical stiffness is too Reduce mechanical stiffness or use
Resonance
high, resonance occurs filter
Current loop gain too Verify current loop gain value Reduce current loop gain
large

Error Main Sub Display: “Er 191”

code 19 1 Content: Excessive hybrid position deviation
Cause Diagnosis Solution
Driver UVW terminal output Make sure UVW terminals are
Verify if UVW terminal wiring
single phasing or wiring error correctly connected to UVW of motor;
connection is right
change motor power cable.
Look for mechanical
Motor rotor blocked Check the machinery
blockages
Driver stiffness too low Verify if position loop and Increase position loop and velocity
velocity loop gain is too low loop gain
Full closed loop position Increase Pr0.33 set value
deviation (Deviation accordingly but please aware that
between external encoder doing so might cause the position
Verify if Pr0.33 is set too low
feedback position and deviation to be higher.
motor feedback position)
exceeds Pr0.33

Mai Sub Display: “Er 1A0”

Error n
code 1A 0 Content: Overspeed
Cause Diagnosis Solution
1. Verify if velocity command is too high; 1. Adjust velocity input
2. Verify if simulated velocity command voltage command; 2. Increase Pr3.21
Motor velocity
is too high; value;
exceeded first
3. Verify if parameter value of Pr3.21 is too low; 3. Adjust pulse train input
speed limit
4. Verify if input frequency and division frequency and division
(Pr3.21)
frequency coefficient of pulse train is proper; frequency coefficient;
5. Verify if encoder is wired correctly 4. Verify encoder wiring;

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Error Main Sub Display: “Er 1A1”

code 1A 1 Content: Velocity out of control
Cause Diagnosis Solution
Motor velocity Verify encoder phase sequence; Verify if UVW Reconnect UVW if wrongly
out of control, cable is connected to the right terminal connected. If still remains
Excessive unsolved, please contact
velocity error technical support.

Error Main Sub Display: “Er 1b0”

code 1b 0 Content: Bus input signal dithering
Cause Diagnosis Solution
Controller
synchronization / Increase alarm threshold value
dithering

Error Main Sub Display: “Er 1b1”

code 1b 1 Content: Incorrect electronic gear ratio
Cause Diagnosis Solution
Numerator or denominator Reduce number of pulses per revolution
Values out of range is zero/Set values out of
range

Error Main Sub Display: “Er 1b3”

code 1b 3 Content: External encoder frequency divider parameter error
Cause Diagnosis Solution
Numerator or denominator Reduce number of pulses per revolution
Values out of range is zero/Set values out of
range

Error Main Sub Display: “Er 1b4”

code 1b 4 Content: Excessive synchronous position mode command
Cause Diagnosis Solution
Numerator or denominator Reduce number of pulses per revolution
Values out of range is zero/Set values out of
range

Error Main Sub Display: “Er 210”

code 21 0 Content: I/O input interface assignment error
Cause Diagnosis Solution
Input signal assigned with Verify values of Pr4.00-Pr4.09, Set proper values for Pr4.00-
two or more functions. Pr4.44-4.47 Pr4.09, Pr4.44-4.47

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Error Main Sub Display: “Er 211”

code 21 1 Content: I/O input interface function assignment error
Cause Diagnosis Solution
Input signal assignment Verify values of Pr4.00-Pr4.09, Set proper values for Pr4.00-
error Pr4.44-4.47 Pr4.09, Pr4.44-4.47

Error Main Sub Display: “Er 212”

code 21 2 Content: I/O output interface function assignment error
Cause Diagnosis Solution
Input signal assigned with Verify values of Pr4.10-Pr4.15 Set proper values for Pr4.10-
two or more functions. Pr4.15
Verify values of Pr4.10-Pr4.15 Set proper values for Pr4.10-
Input signal not assigned
Pr4.15

Error Main Sub Display: “Er 240”

code 24 0 Content: CRC correction error during EEPROM parameter saving
Cause Diagnosis Solution
L1, L2 terminal voltage Verify if L1, L2 terminal voltage Make sure L1, L2 terminal voltage is
too low too low within recommended range
Parameter saving Save parameter again and Save parameter again
anomaly restart

Error Main Sub Display: “Er 260”

code 26 0 Content: Positive/Negative position limit triggered under non-homing
mode
Cause Diagnosis Solution
Positive/negative Verify position limit signal
/
position limit triggered

Error Main Sub Display: “Er 270” -- “Er 272”

code 27 0~2 Error description: Analog input 1-3 out of range
Cause Diagnosis Solution
Verify if analog input value is out Adjust analog input voltage
Analog value out of range
of range

Error Main Sub Display: “Er 280”

code 28 0 Error description: Output pulse frequency too high
Cause Diagnosis Solution
Frequency divided pulse Verify if motor rotational speed and Reduce the number of
output exceeds 1MHz the number of frequency divided frequency divided pulse output
pulse output are too high or reduce rotational speed

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Error Main Sub Display: “ Er 570”

code 57 0 Error description: Forced alarm input valid
Cause Diagnosis Solution
Forced alarm input Verify forced alarm input signal Verify if the input wiring connection is
signal occurred correct

Error Main Sub Display: “Er 5F0”

code 5F 0 Content: Motor model no. detection error
Cause Diagnosis Solution
Automatically detected Please contact our technical
motor doesn’t match / support
set motor

Error Main Sub Display: “Er 5F1”

code 5F 1 Error description: Driver power module detection error
Cause Diagnosis Solution
Driver power rating not Restart driver Please contact our technical
within range. support

Error Main Sub Display: “Er 600”

code 60 0 Error description: Main loop interrupted timeout
Cause Diagnosis Solution
Check for interference from Ground driver and motor to reduce
The motor control loop
devices releasing interference
calculation time
electromagnetic field
overflow
Restart driver Replace driver

Error Main Sub Display: “Er 601”

code 60 1 Error description: Velocity loop interrupted timeout
Cause Diagnosis Solution
Verify if encoder connection is Replace encoder cable if necessary
Motor control loop and that the encoder cable is
calculation time too not long (more than 20
overflow meters)
Restart driver Replace the drive with a new one

Main Sub
Error Display: “Er 700”
Extra
code 70 0 Error description: Encryption error
Cause Diagnosis Solution
Encryption error during Restart driver Please contact our technical
initialization upon support
power-on.

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Error Main Sub Display: “Er 890”

code 89 0 Error description: Homing error
Cause Diagnosis Solution
1. Excess homing 1. Verify if homing velocity is too 1. Set an optimal homing velocity
velocity high 2. Make sure sensor signal edge is
2. Homing mode is 2. Verify if homing mode is set consistent.
different from given correctly
signal 3. Verify if sensor signal edge is
3. Sensor signal edge consistent
inconsistent
1. Homing acceleration/ 1. If electronic gear ratio cannot be
deceleration is set too low changed, please set a suitable
Inconsistent origin
2. Electronic gear ratio is low 609A.
status
which causes acceleration/ 2. Increase electronic gear ratio
deceleration to be too low

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9.4 Alarm clearing

9.4.1 Servo Drive Alarm
For alarm can be cleared，There are 3 method.
Method 1：
1、By setting bit 7 of 6040h to 1, switches state machine from fault to initialization completion , No
fault(Switch on disabled).
Method 2：
Use auxiliary function “AF_ACL”
1、Press M to select auxiliary function , Press SET to enter into “AF_ACL” , Press and hold to clear
the alarm
Method 3：
Set IO input function as Alarm clear input “ (A-CLR)”，refer to switch input interface connection to
clear the alarm.

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Contact Us
Leadshine
Leadshine Technology Co., Ltd. Overseas

Headquarters
Address:
15-20/F, Block B, Nanshan I Valley, No.3157, Nanshan District,
Shenzhen City, Guangdong Province, China
Tel:
+86 755 26411692
Fax:
+86 755 26402718
Website:
www.leadshine.com
Emails:
[email protected] Leadshine
America, Inc.
Leadshine Global Retailers Network
North America
Office

Address:
26050 Towne
Centre Dr.
Foothill
Ranch California
United States
Tel:
1-949-608-7270
Fax:
1-949-638-7298
Get in touch with us or any of your local Leadshine Website:
certified retailers by visiting our global website. www.leadshineus
a.com
Technical Support Emails:
Tel: 86-755-2641-8447
86-755-2641-8774 (Asia, Australia, Africa)
sales@leadshin
86-755-2665-5136 (North and South America) eusa.com
86-755-8654-2465 (Europe)
Fax: 86-755-2640-2718
Email: [email protected]

Sales Hot Line

Tel: 86-755-2641-7674 (Asia, Australia, Africa)
86-755-2641-7617 (North and South America)
86-755-2640-9254 (Europe)
Email: [email protected]

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