SPS-NE Series Bus-type Servo Drive

Simplified User Manual

Document Version: V1.1

Archive Date: 2024/01/24

BOM Code

Shenzhen Megmeet Electrical Co., Ltd. provides professional technical support for

our customers. You can contact the local branch office or customer service center,

or directly contact the company headquarters.

Shenzhen Megmeet Electrical Co., Ltd.

All rights reserved. The contents in this document are subject to change without

notice.

Shenzhen Megmeet Electrical Co., Ltd.

Address: 5th Floor, Block B, Unisplendor Information Harbor, Langshan Road,

Nanshan District, Shenzhen, 518057, China

Zip code: 518057

Website: https://www.megmeet.com/

Tel: +86-755-86600500

Fax: +86-755-86600562

Service email: [email protected]

1
 Foreword
Thank you for choosing the SPS-NE series servo drive manufactured by Megmeet.

SPS-NE servo drive, developed on a new hardware platform and featured with excellent performance, fully-fledged

functions, compact structure, simple installation, easy commissioning and maintenance, is an ideal product with

favorable price-performance ratio in the servo drive market for both general purposes and OEM.

SPS-NE servo drive adopts Ethernet communication interface, supports EtherCAT communication protocol, and

realizes networked operation of single servo drive or multiple servo drives in cooperation with the host controller. It

can be applied in machine tool feed shafts, printing, textile, cutting, manipulators, punch presses, semiconductor

welding machines and so on, achieving fast and accurate control on position, speed and torque.

This manual provides instructions and precautions for wiring, parameter setting, fault diagnosis and troubleshooting.

In order to ensure the correct installation and operation of the SPS-NE series servo drive, and to unlock its full

potential, please read this manual carefully before installation, keep the manual properly and give it to the actual

user when necessary.

Unboxing inspection

When you unbox the product, remember to check the following:

 whether there is any damage on the drive;

 whether the rated values on the nameplate are the same as what you ordered;

 whether the included wires are intact and can be connected for use.

Our company has implemented strict inspection on the product’s manufacturing and packaging. If there is still any

error, please contact us or the local distributor.

We are engaged in the continuous improvement of drives. The relevant manuals provided by us are subject to

change without notice.

2
Safety precautions

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

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

 Install the product on incombustible materials such as metal. Failure to comply will result in a fire.

 Do not install the product near combustible objects. Failure to comply will result in a fire.

 Do not install the product in places with explosive gases. Otherwise, there will be an explosion.

 The wiring work must be done by professional personnel. Otherwise, there will be an electric shock.

 Before wiring, check that the main and control power supplies are cut off. Otherwise, there will be an electric

shock.

 Properly connect the grounding terminal of the drive. Otherwise, there will be an electric shock.

 Properly close the cover before power-on. Otherwise, electric shock or explosion may occur.

 When powering on a drive that has been stored for 2 years, use a voltage regulator to increase voltage

gradually. Otherwise, electric shock or explosion may occur.

 To avoid electric shock, do not touch terminals when the drive is powered on.

 To avoid electric shock, do not operate the drive with wet hands.

 Before conducting maintenance, ensure that the power is cut off for 10 minutes, and check that the charging

indicator is completely off or the voltage of bus negative/positive is below 36 V. Failure to comply will result in

an electric shock.

 Only professional personnel is qualified to replace the components. Do not leave any wire or metal parts inside

the drive. Failure to comply will result in a fire.

 The bare parts of the terminal lugs in the main circuit must be wrapped with insulation tape. Otherwise,

electric shock may occur.

3
 Install the product on the place that can bear the weight. Failure to comply will result in personal injuries or

equipment damage.

 Do not install the drive near water pipes or other places with water splash. Otherwise, there will be equipment

damage.

 Take care not to drop screws, gaskets, metal bars and the like into the drive. Otherwise, fire and equipment

damage may occur.

 If the drive is damaged or lack of components, do not run the drive. Failure to comply will result in a fire or

personal injuries.

 Do not install the product in the place exposed to direct sunlight. Otherwise, there will be equipment damage.

 Cable lugs must be firmly connected to main circuit terminals. Otherwise, there will be equipment damage.

 Do not install the servo drive in places with vibration beyond the specification. Otherwise, there will be

equipment damage.

4
 Contents
SPS-NE Series Bus-type Servo Drive .....................................................................................1

Chapter 1 Specifications ........................................................................................................ 7

 Servo drive .......................................................................................................................................................7

 Product nameplate ........................................................................................................................................ 7

 Product series ................................................................................................................................................. 7

 Technical specifications ............................................................................................................................... 8

 Product appearance .................................................................................................................................... 10

 Product dimensions ..................................................................................................................................... 10

Chapter 2 System wiring ......................................................................................................12

 Basic operation wiring ................................................................................................................................ 12

 Main circuit terminals and functions .......................................................................................................13

 Control circuit terminals and functions (CN2) ...................................................................................... 13

 Control circuit signal wiring ....................................................................................................................... 15

 Encoder interface wiring and signal definition (CN3) .........................................................................16

 Serial communication interface definition (CN1) ..................................................................................18

 Ethernet communication interface definition (CN4, CN5) ................................................................. 19

Chapter 3 Parameter setting ..............................................................................................20

 Operating parameters ................................................................................................................................20

 Monitoring parameters .............................................................................................................................. 27

 Communication parameters .....................................................................................................................28

Chapter 4 Function and Application .................................................................................. 31

 Trial operation ............................................................................................................................................... 31

 Speed mode ..................................................................................................................................................36

 Position control .............................................................................................................................................39

5
  Spindle/Positioning homing .......................................................................................................................42

 Control mode selection .............................................................................................................................. 46

Chapter 5 EtherCAT Communication ................................................................................ 47

 Overview of EtherCAT bus ........................................................................................................................ 47

 Bus function of SPS-NE .............................................................................................................................. 48

 CiA402 device control (device conventions) ........................................................................................ 55

 Objects of drive parameters .....................................................................................................................82

Chapter 6 Troubleshooting ................................................................................................. 83

Chapter 7 Parameter list ...................................................................................................... 91

Appendix 1 Warranty and Service ....................................................................................158

Parameter Recording Table ...............................................................................................160

6
 Chapter 1 Specifications

 Servo drive

Fig. 1-1 Naming rule of SPS-NE servo drives

The model on the nameplate of the servo drive displays the product series, voltage class, power rating and other

information.

 Product nameplate

Fig. 1-2 Product nameplate

 Product series

Rated Rated Rated Compatible Minimum

Rated output output Braking
Product input motor braking Fuse
SIZE capacity current power torque
model current power resistor (A)
(kVA) (%)
(A) (A) (kW) (kW) (Ω)

B SPS-4T1.5-NE 3.0 5.1 3.7 1.5 1.5 80 200 10

7
 Rated Rated Rated Compatible Minimum
Rated output output Braking
Product input motor braking Fuse
SIZE capacity current power torque
model current power resistor (A)
(kVA) (%)
(A) (A) (kW) (kW) (Ω)

SPS-4T2.2-NE 4.0 5.8 5.5 2.2 2.2 80 200 10

SPS-4T3.0-NE 5.0 9.5 7.6 3.0 3.0 60 200 15

SPS-4T4.0-NE 6.0 11 9.0 4.0 4.0 50 200 15

C SPS-4T5.5-NE 8.5 14.5 13.0 5.5 5.5 50 200 20

SPS-4T7.5-NE 11.0 20.5 17.0 7.5 7.5 40 200 32

SPS-4T11-NE 17.0 26.0 25.0 11 11 30 200 50

D
SPS-4T15-NE 21.0 35.0 32.0 15 15 25 200 60

(1) All servo drives of SPS-NE series have a braking unit built in. Users can add additional braking resistors in case of

dynamic braking. The above specifications of braking resistors are suitable for most applications. In case of special

applications and working conditions, consult our company.

(2) Drives with power higher than SPS-4T18.5-NE are still in development.

 Technical specifications

Bus standard CoE: IEC 61158 Type12, IEC 61800-7 CiA402 Drive Profile

Profile Position Mode

Profile Velocity Mode

Bus
specifications Homing Mode
Bus mode
Interpolated Position Mode

Cyclic Synchronous Position Mode

Cyclic Synchronous Velocity Mode

Reference source Through EtherCAT bus

Position
control
Reference control signal Through EtherCAT bus

8
 Electronic gear ratio 0.001≤a/b≤4000

Positioning completed sign 0–10000 Pulse

Torque limit Parameter setting

Feedforward compensation Parameter setting

Reference control mode Through EtherCAT bus

Torque limit Internal parameter

Speed control
Zero clamp Internal parameter setting/EtherCAT bus setting

Speed reached threshold Internal parameter setting/EtherCAT bus setting

Reference control mode Internal setting

Torque
control
Speed limit Internal setting

Servo ON, external reset, gain switchover, mode switchover,

Digital input multi-position, zero clamp, torque limit, jogging, electronic gear
switchover, and so on
Digital input
and output
Servo ready, servo fault, torque limited, zero clamp completed,
Digital output positioning completed, positioning near, speed limited, homing
completed, and so on

No corrosive and combustible gases, no splash of water, oil and

Operating site
drug

≤ 1000 m: derating not required; > 1000 m: derated by 1% for

Altitude
every additional 100 m

Environment
-10℃ to +50℃ (derating required if the ambient temperature is
Ambient temperature
40℃ to 55℃)

Humidity 5% to 95% RH, non-condensing

Vibration/Shock resistance 5.9 / 19.6 (unit: m/s2)

9
 Product appearance

Fig. 1-3 Product appearance

 Product dimensions
SIZE B：

10
SIZE C：

SIZE D：

11
 Chapter 2 System wiring

 Basic operation wiring

Frequency-division
output

Oriented stop completed

(/ORL-RDY)

Positioning completed
(/COIN)

Fault output
(/ALM)

Servo ON
(/S-ON) Servo ready
Speed/Position switchover (/S-RDY)
(/SPD/POS)
Oriented stop ON
(/ORL-ON)
Tapping ON
(/TAP-ON)
Emergency stop
(/ESD)
Spindle swing
(/SPDL-SW)

Reaming ON
(/RM-ON)
Fault reset
(/ALM-RST)

RS485 communication

CAN communication

Fig. 2-1 Wiring diagram for basic operation

12
Note: The figure takes the incremental encoder as the example. Sin/Cos encoders are also supported.

Connect the braking resistor between PB and P.

 Main circuit terminals and functions

Terminal name Function description

L1, L2, L3 Three-phase 380 V AC input terminals

Single-phase 220 V AC input terminals

L1C, L2C
(load current ≥ 2 A)

P, PB Connect the external braking resistor

PE Power grounding and motor grounding terminals (2)

U, V, W Three-phase AC output terminals (connected to motor)

 Control circuit terminals and functions (CN2)

Fig. 2-2 Arrangement of control signal pins

13
 Type Mark Name Function description Note

FWD
Digital input
DI1 ON: Forward running
terminal 1
OFF: Stop

Speed/Position switchover
terminal
Digital input
DI2
terminal 2 OFF: Speed mode

ON: Position mode

Spindle/Positioning homing
Digital input
DI3 terminal
terminal 3
ON: Spindle homing Optocoupler isolation input

Multi-func
Tapping enable Input impedance: 3.9 K
tion input Digital input
DI4 ON: Switched to the tapping Maximum input frequency: 200 Hz
terminals terminal 4
mode Input voltage range: 20 to 30 V

Digital input Emergency stop

DI5
terminal 5 ON: Emergency stop

Digital input Spindle swing

DI6
terminal 6 ON: Spindle swing

Digital input Reaming enable

DI7
terminal 7 ON: Reaming enabled

Digital input Fault rest

DI8
terminal 8 ON: Fault reset

14
 Type Mark Name Function description Note

DO1+ Digital output 30: Spindle/Positioning homing

DO1- terminal 1 completed

DO2+ Digital output

Multi-func 25: Positioning completed Optocoupler isolation output
DO2- terminal 2
tion
Maximum operating voltage: 30 V
output
DO3+ Digital output
terminals 16: Servo drive fault Maximum output current: 100 mA
DO3- terminal 3

RLA Relay output

15: Servo drive ready
RLB terminal

＋24V power Provides external ＋24 V power

24V Maximum output current: 100 mA
supply supply
Power
2 common terminals, used in
COM ＋24V common COM is isolated from the inner GND
cooperation with other terminals

 Control circuit signal wiring

For DI/DO wiring, refer to the basic operation wiring diagram.

● Pulse frequency-division output

Host device differential reception Host device optocoupler reception

15
 Encoder interface wiring and signal definition (CN3)

SPS-NE servo drive supports four types of encoders including incremental encoders, sin/cos encoders,

absolute encoders and resolvers. The interfaces are defined as follows:

Incremental Encoder

Pin Signal name Description Pin Signal name Description

1 A+ Encoder A+ signal 11 U+ Encoder U+ signal

2 A- Encoder A- signal 12 U- Encoder U- signal

3 B+ Encoder B+ signal 13 V+ Encoder V+ signal

4 B- Encoder B- signal 14 V- Encoder V- signal

5 Z+ Encoder Z+ signal 15 W+ Encoder W+ signal

16
6 Z- Encoder Z- signal 16 W- Encoder W- signal

7 +5V 5 V power output Other NC Not connected

8 GND Ground 20 L- Motor temperature detection -

Motor temperature
10 L+ Housing Shield Shield
detection +

Sin/Cos Encoder

Pin Signal name Description Pin Signal name Description

1 A+ Encoder A+ signal 11 C+ Encoder C+ signal

2 A- Encoder A- signal 12 C- Encoder C- signal

3 B+ Encoder B+ signal 13 D+ Encoder D+ signal

4 B- Encoder B- signal 14 D- Encoder D- signal

5 Z+ Encoder Z+ signal Other NC Not connected

Motor temperature
6 Z- Encoder Z- signal 20 L-
detection -

7 +5V 5 V power output Housing Shield Shield

8 GND Ground

Motor temperature
10 L+
detection +

Resolver (in development)

1 COS+ Encoder COS+ signal

2 COS- Encoder COS- signal

3 SIN+ Encoder SIN+ signal

4 SIN- Encoder SIN- signal

17
 5 EXC+ Encoder EXC+ signal

6 EXC- Encoder EXC- signal

10 L+ Motor temperature detection +

20 L- Motor temperature detection -

Housing Shield Shield

Absolute Encoder (in development)

Pin Signal name Description Pin Signal name Description

Differential communication
1 COS+ COS+ signal 11 DAT+
data signal +

Differential communication
2 COS- COS- signal 12 DAT-
data signal -

Differential communication
clock signal + (only
3 SIN+ SIN+ signal 13 CLK+
applicable for Endat
protocol)

Differential communication
clock signal - (only
4 SIN- SIN- signal 14 CLK-
applicable for Endat
protocol)

7 +5V 5 V power output Other NC Not connected

Motor temperature
8 GND Ground 20 L-
detection -

Motor temperature
10 L+ Housing Shield Shield
detection +

 Serial communication interface definition (CN1)

Reserved.

18
 Ethernet communication interface definition (CN4, CN5)
CN4 and CN5 are EtherCAT Ethernet communication connectors.

CN4 is the input interface connected to the communication line from the master station.

CN5 is the output interface connected to the next slave device.

The connector’s pin definitions are as follows:

Pin Name Description Arrangement

1 TX+ Data transmission +

2 TX- Data transmission -

3 RX+ Data reception +

4 -

5 -

6 RX- Data reception -

7 -

Housing PE Shield

(1) The connector meets the 100M Ethernet standards.

(2) Selection of cables: both straight-through and cross-over cables are supported. It is recommended to choose

double-shielded CAT5E 100M Ethernet cables or better cables.

19
 Chapter 3 Parameter setting

 Operating parameters

1. Basic parameters

Function
Name Value range Default value Change
code

0: Non-servo control

1: Speed/Torque←→Servo control
Servo control
P30.00 2: Servo←→Speed/Torque control 0 ×
switchover selection
3: Servo control

4: Bus control

Ones: Motor control mode selection

1: Vector control with PG

Motor and mode
P02.00 Tens: Motor type selection 01 ×
selection
0: Asynchronous motor

1: Synchronous motor

P02.01 Keypad enable 1: Enable keypad 0 ○

Operation command 0: Keypad control

P02.02 1 ○
channel selection 1: Terminal control

0: Forward
P02.03 Running direction 0 ○
1: Reverse

0: Digital setting 1: Keypad ∧∨

1: Digital setting 2: Terminal UP/DN

Source of main
P02.04 2 to 5: Reserved 0 ○
frequency reference
6: Process closed-loop PID

7 to 10: Reserved

20
 Function
Name Value range Default value Change
code

Digital setting of main

P02.05 P02.17 to P02.16 50.00 ○
frequency reference

Maximum output MAX[50.00, upper limit frequency P02.16]

P02.15 50.00 ×
frequency to 3000.00 Hz

P02.16 Upper limit frequency P02.17 to P02.15 50.00 ○

P02.17 Lower limit frequency 0.00 to P02.16 0.00 ○

(1) P02.00 shall be set by the user based on the onsite conditions. For example, for “asynchronous motor+encoder”,

P02.00 shall be set to “01”;

(2) P02.04 can be used to choose the source of main frequency reference in speed control. P02.01 is valid only when

P02.02=1 (terminal control);

(3) Under bus control, both command source and frequency source are set by the bus, and function codes are

ineffective.

2. Motor parameters

Function
Name Value range Default value Change
code

P03.00 Motor rated power 0.4 to 999.9 kW Model-dependent ×

P03.01 Motor rated voltage 0 to rated voltage of servo drive (P98.04) Model-dependent ×

P03.02 Motor rated current 0.1 to 999.9 A Model-dependent ×

P03.03 Motor rated frequency 1.00 to 3000.00 Hz Model-dependent ×

P03.04 Motor rated speed 0 to 60000 rpm Model-dependent ×

1: Motor static auto-tuning

P03.24 Parameter auto-tuning 0 ×
2: Motor rotation auto-tuning

Encoder installation
P03.26 0 to FFFFH 0 ×
initial angle

21
Function
Name Value range Default value Change
code

Encoder Z pulse initial

P03.27 0 to FFFFH 0 ×
angle

3. Encoder parameters

Function
Name Value range Default value Change
code

0: Digital incremental

1: Sin/Cos
P04.04 PG card type 0 *
2: Resolver

3: Absolute

Pulses per revolution of

P04.05 1 to 10000 2048 ○
encoder

Rotation direction of 0: A leads B

P04.06 0 ×
encoder 1: B leads A

Pulses per revolution of

P04.07 1 to 10000 2048 ○
motor

Pulse reference 0: A leads B

P04.08 0 ○
direction 1: B leads A

Ones: Encoder Z pulse enable

P04.09 PG signal enable Tens: Encoder UVW signal enable 010 ×

Hundreds: Motor Z pulse enable

Ones: Encoder high-speed filter: 0 to 9

Tens: Encoder low-speed filter: 0 to 9

PG signal filter Hundreds: Pulse reference high-speed

P04.10 0030 ○
coefficient filter: 0 to 9

Thousands: Pulse reference low-speed

filter: 0 to 9

22
Function
Name Value range Default value Change
code

Frequency-division
P04.14 0 to 4096 1 ×
coefficient

Number of pole pairs of

P04.17 0 to 64 1 ×
resolver

4. Loop gain parameters

Function
Name Value range Default value Change
code

Current loop
P12.05 1 to 5000 600 ○
proportional gain

Current loop integral

P12.06 0.5 to 100.0 ms 8.0 ○
time

Speed loop low-speed

P05.00 0.1 to 200.0 20.0 ○
proportional gain

Speed loop low-speed

P05.01 0.000 to 10.000 0.200 s ○
integral time

P05.03 Switchover frequency 1 0.0% to 50.0% 10.0% ○

Speed loop high-speed

P05.04 0.1 to 200.0 20.0 ○
proportional gain

Speed loop high-speed

P05.05 0.000 to 10.000 0.200 s ○
integral time

P05.07 Switchover frequency 2 0.0% to 100.0% 20.0% ○

Position control
P30.08 0 to 8000 100 ×
proportional gain 1

Position control
P30.09 0 to 8000 400 ×
proportional gain 2

Position feedforward
P30.15 0.00 to 120.00% 100.00% ×
gain

23
5. Multi-function input and output parameters

Function
Name Value range Default value Change
code

P09.00 DI1 terminal function 1: FWD 1

P09.01 DI2 terminal function 22: External reset (RESET) input 89

P09.02 DI3 terminal function 57: Spindle swing 85

P09.03 DI4 terminal function 60: Emergency stop 90

×
P09.04 DI5 terminal function 72: Reaming enable 60

P09.05 DI6 terminal function 85: Spindle/Positioning homing terminal 57

P09.06 DI7 terminal function 89: Speed/Position switchover terminal 72

P09.07 DI8 terminal function 90: Tapping enable 22

P09.18 DO1 function selection 15: Servo drive ready (RDY) 30

P09.19 DO2 function selection 16: Servo drive fault 25

×
P09.20 DO3 function selection 25: Positioning completed 16

P09.21 DO4 function selection 30: Spindle/Positioning homing completed 15

6. Start and stop control parameters

Function
Name Value range Default value Change
code

P02.13 Acceleration time 1 0.0 to 3600.0 s 6s ○

P02.14 Deceleration time 1 0.0 to 3600.0 s 6s ○

Dynamic braking usage

P08.21 0.0 to 100.0% (0.0: no action) 100.0% ○
ratio

P08.22 Braking startup voltage 700 to 780 V 720 ○

The acceleration/deceleration time is only effective in speed mode.

24
7. Spindle positioning parameters

Function
Name Value range Default value Change
code

Ones: Positioning mode selection

0: Carry

1: Indexing

Tens: Digital carry selection

0: Single-point carry

1: Multi-point carry

Spindle positioning Hundreds: Single-point carry mode

P31.00 0000H ×
selection 0: Single-point one time of positioning

1: Single-point multiple positioning

(positioning times determined by the
function code)

Thousands: Single-point multiple positioning

mode

0: Reciprocating

1: Continuous

Ones: Home detector types and searching

direction settings

0, 1: Reserved

2: Homing in forward direction, ORGP as the

homing origin

3: Homing in reverse direction, ORGP as the

homing origin

P31.01 Homing mode 4: Homing by the shortest distance, ORGP as 0009H ×

the homing origin

5: Homing in the current running direction,

ORGP as the homing origin

6: Searching for Z pulse in forward direction

and regard it as the homing origin

7: Searching for Z pulse in reverse direction

and regard it as the homing origin

8: Searching for Z pulse by the shortest

25
Function
Name Value range Default value Change
code

distance, and regard it as the homing origin

9: Homing in the current running direction, Z

pulse as the homing origin

Tens: Homing command mode

0: Level mode

1: Pulse mode

Hundreds: Homing

0: Homing only upon the first running

1: Homing upon every running

2: Homing upon each power-on (reserved)

Thousands: Home correction mode

0: Single correction

1: Real-time correction

Ones: Position mode of positioning

0: Relative position

1: Absolute position (relative zero)

Tens: Locking mode of positioning

0: Locked at the positioning point

1: Locked within the positioning range

Hundreds: Positioning sequence

Positioning mode 0: No response to a newly received positioning

P31.02 0000H ×
selection signal during positioning

1: Directly locating the new position when

receiving a new positioning signal during
positioning

Thousands: Action for positioning overlimit

0: Stop

1: Homing in reverse direction, and keep at

zero speed

2: Homing in reverse direction, and stop

26
Function
Name Value range Default value Change
code

Ones: Berth position of home searching

0: Berth at the left of the home

1: Berth at the right of the home

Berth position of Tens: Installation position of encoder

P31.03 0000H ×
home searching 0: Installed at the motor shaft

1: Installed at the spindle

Hundreds: Reserved

Thousands: Reserved

Start setting of 0: Manually set by the DI terminal

P31.04 0 ×
internal positioning 1: Auto start

Spindle
P31.05 0.000 to 30.000 1.000 ×
transmission ratio

Home searching
P31.06 0.00 to 30.00 1.00 ×
speed

Home position
P31.07 0 to 36000 18000 ×
offset

P31.35 Positioning speed 0 to 100.0% (maximum frequency) 20.0 ×

 Monitoring parameters

Function
Name Value range Default value Change
code

P01.07 Output current 0.0 to 3 Ie 0.0 *

Measured frequency of
P01.13 -650.00 to 650.00 Hz 0.00 *
motor

P01.16 Bus voltage 0 to 800 V 0 *

0 to FFH
Digital input terminal
P01.18 0: Off; 1: On 00 *
state

High-speed pulse reference not refreshed

27
Function
Name Value range Default value Change
code

synchronously

0 to FFH

Digital output terminal 0: Off; 1: On

P01.19 00 *
state
High-speed pulse output not refreshed
synchronously

UVW input state of

P01.33 0 to 7 0 *
encoder

P01.35 Encoder speed 0.00 to 600.00 Hz 0.00 *

P01.37 Encoder counter value 0 to 65535 0 *

Encoder Z pulse
P01.39 0 to 65535 0 *
position

Counter value of pulse

P01.40 0 to 65535 0 *
reference

High bits of position

P01.44 0 to 65535 0 *
reference

Low bits of position

P01.45 0 to 65535 0 *
reference

High bits of position

P01.46 0 to 65535 0 *
feedback

Low bits of position

P01.47 0 to 65535 0 *
feedback

P01.48 Position deviation pulse -9999 to 9999 0 *

P01.49 Current angle 0 to 359.99 0 *

 Communication parameters

Function
Name Value range Default value Change
code

P40.00 Bus type 000: No bus communication 300 *

28
Function
Name Value range Default value Change
code

300: EtherCAT

Others: Reserved

EtherCAT sub-protocol 301: CoE (CANopen over EtherCAT)

P40.10 301 *
type Other: Reserved

1: INIT

EtherCAT Ethernet 2: PRE-OPERATIONAL

P40.25 0 *
state 3: SAFE-OPERATIONAL

4: OPERATIONAL

Operation modes of the drive under

EtherCAT CoE control:

1: Profile Position Mode

3: Profile Velocity Mode

EtherCAT CoE
P40.27 0 *
operation mode 6: Homing Mode

7: Interpolated Position Mode

8: Cyclic Synchronous Position Mode

9: Cyclic Synchronous Velocity Mode

Numerator of velocity
P40.28 1 to 65535 1 ×
factor

Denominator of
P40.29 1 to 65535 1 ×
velocity factor

Numerator of position
P40.30 1 to 65535 1 ×
factor

Denominator of
P40.31 1 to 65535 1 ×
position factor

Numerator of
P40.32 1 to 65535 1 ×
acceleration factor

Denominator of
P40.33 1 to 65535 1 ×
acceleration factor

29
Function
Name Value range Default value Change
code

Whether to save
function codes written 0: Does not save

P40.34 through 1: Save data written through EtherCAT 1 ×

communication to bus to EEPROM of the drive
EEPROM (reserved)

30
 Chapter 4 Function and Application

 Trial operation
Power-on
Before powering on the drive, remember to check:

1）whether the power voltage is normal;

2）whether the wiring of main circuit and control circuit is normal;

For example, whether power cables are properly connected to L1, L2 and L3 of the drive, and whether U, V and

W of the drive are properly connected to motor terminals.

Status display and panel operation

(1) Status display

The operating panel display of SPS can be divided into stop status parameter display, running status parameter

display, function code editing status display and fault alarm status display.

After a careful check, you can power on the drive. If “rdy” is displayed after power-on, it means the servo system has

passed the self-test and is waiting for a signal from the host controller, as shown below:

Status display of SPS servo drive:

LED display Symbol Status description

Initialization at the moment of power-on. The servo drive is in the

“rst”
startup or reset status.

“nrd” The startup or reset is completed, but the servo drive is not ready yet.

31
 LED display Symbol Status description

The servo system has passed the self-test and is waiting for a signal
“rdy”
from the host controller.

“run” The servo drive is running.

“Er.xxx” The servo drive is in fault.

“AL..xxx” The servo drive is in alarm.

When a fault occurs, the LED will display a code starting with Er., as shown below. For more details, refer to Chapter

6 Troubleshooting.

The above figure takes Er.24 V (input phase loss) as an example. Codes vary according to actual conditions.

(2) Panel operation

SHIFT to move cursor SHIFT to move cursor

∧/∨ to select code ∧/∨ to select code

Or
Save
change
No.plus 1

SHIFT to move cursor

∧/∨ to select code Or
Or Discard
Change

1）After power-on initialization is done, the working status menu will be displayed by default. If the self-test of

servo system is normal, “rdy” will be displayed.

2）In the working status menu, press the SHIFT key to switch between the working status menu and parameter

monitoring menu.

32
 3）In the parameter monitoring menu, you can press the ∧/∨ key to choose the parameter to be monitored.

4）In the working status menu or parameter monitoring menu, you can press the MENU key to switch to the

level 1 menu.

5）In the level 1 parameter setting menu, you can press the SHIFT key to move the cursor to a certain parameter

group or parameter number.

6）In the level 1 parameter setting menu, you can press the ∧/∨ key to select the required parameter group or

parameter number.

7）In the level 1 parameter setting menu, you can press the ENTER key to enter the level 2 menu to display the

current value of the parameter. If such parameter value can be modified, its lowest digit will flash.

8）In the level 2 parameter setting menu, you can press the SHIFT key to select the digit to be modified, and

press the ∧/∨ key to increase or decrease the value.

9）After the parameter value is changed, you can press the ENTER key to save the change and return to the

previous menu, or press the MENU key to discard the change and return to the previous menu.

(3) Cross-page display

1）Five-digit or below parameter value display

If the parameter value is within [-9999 to 99999], it can be displayed and edited in one page.

2）Above five-digit parameter value display

If the parameter value exceeds [-9999 to 99999], it needs to be displayed and edited in more than one page.

The device supports 3-page display at most. The following figure shows the cross-page display logic. For

example, -18052643.12 can be divided into [-18], [0526] and [43.12].

“–”: a negative value. For positive “ ”: page up prompt,

values, the sign is not displayed. flashing

“.”: page down prompt, “.”: decimal point

flashing

If the parameter value can be changed at the time, press SHIFT to select the digit to be changed. If the parameter

value can not be changed, you can only press SHIFT to switch between pages.

33
Parameter settings for trial operation
After power-on, you can press MENU on the operating panel to enter the function code menu, such as P00.**. Basic

parameters include motor control modes, motor parameters, encoder parameters, and so on.

Function
Name Value range Default value Change
code

Ones: Motor control mode selection

1: Vector control with PG

Motor and mode
P02.00 Tens: Motor type selection 01 ×
selection
0: Asynchronous motor

1: Synchronous motor

P02.01 Keypad enable 1: Enable keypad 0 ○

Command channel 0: Keypad control

P02.02 1 ○
selection 1: Terminal control

0: Digital setting 1: Keypad ∧/∨

1: Digital setting 2: Terminal UP/DN

Source of main
P02.04 2 to 5: Reserved 0 ○
frequency reference
6: Process closed-loop PID

7 to 10: Reserved

Maximum output MAX[50.00, upper limit frequency Determined by

P02.15 ×
frequency P02.16] to 3000.00 Hz customers

Determined by
P02.16 Upper limit frequency P02.17 to P02.15 ○
customers

P03.00 Motor rated power 0.4 to 999.9 kW Model-dependent ×

0 to rated voltage of servo drive

P03.01 Motor rated voltage Model-dependent ×
(P98.04)

P03.02 Motor rated current 0.1 to 999.9 A Model-dependent ×

34
 P03.03 Motor rated frequency 1.00 to 3000.00 Hz Model-dependent ×

P03.04 Motor rated speed 0 to 60000 rpm Model-dependent ×

Pulses per revolution of Depending on

P04.05 1 to 10000 ○
encoder encoders

Encoder rotation 0: A leads B

P04.06 0 ×
direction 1: B leads A

Check PG wiring
Enter P01.37 (encoder counter value), and manually rotate the motor shaft for one circle. If the value does not

change, check the encoder wiring and parameter setting.

Parameter auto-tuning
Vector control requires auto-tuning of motor parameters. During auto-tuning, ensure the motor is with light load or

no load. Set P03.24=2 and P02.01=1 to perform dynamic auto-tuning, and the drive will auto-tune the stator

resistance, leakage inductance, rotor resistance, mutual inductance, no-load current (asynchronous motor) and other

parameters. During auto-tuning of no-load current, rotation begins at the 60% of the motor’s rated speed, and finally

stops to complete the auto-tuning.

The auto-tuning may fail and Er.TUn is reported due to the following reasons:

(1) The nameplate parameters of the motor are not set correctly. Please set again (if there is not a nameplate or you

are not sure about the motor parameters, please contact the motor manufacturer);

(2) The maximum output frequency P02.15 and upper limit frequency P02.16 are set too low. The values must not be

lower than 60% of the motor’s rated frequency during auto-tuning. Thus, increase the maximum output frequency

and upper limit frequency if necessary.

Trial operation
After motor auto-tuning, the servo drive and the motor can be run in trial operation under the speed mode. Check

whether the motor runs normally at both high speed and low speed through the current output by the drive and the

vibration and noise made by the motor.

After trial operation, the host controller can be connected to control the running of the drive and the motor.

35
Judge whether the rotation direction of the asynchronous motor is same as that of the encoder:

Set P02.00=02 (the asynchronous motor is running forward in the V/F mode), and check the monitoring

parameter P01.13. If P01.13 is a negative value, the directions are opposite; if P01.13 is a positive value, the directions

are the same.

Solutions for problems possibly encountered in host control:

(1) The drive does not receive the running command

Enable the system to send forward and reverse running signals, and check whether the ones place of the

monitoring parameter P01.18 turns to 1. If not, check the I/O signals of the drive and the system.

(2) Motor vibration

Adjust the loop gain appropriately, whether for low-speed vibration or high-speed vibration.

 Speed mode
Source of speed reference

Function
Name Value range Default value Change
code

0: Non-servo control

1: Speed/Torque←→Servo control
Servo control
P30.00 2: Servo←→Speed/Torque control 0 ×
switchover selection
3: Servo control

4: Bus control

36
 0: Digital setting 1: Keypad ∧/∨

1: Digital setting 2: Terminal UP/DN

Source of main
P02.04 2 to 5: Reserved 0 ○
frequency reference
6: Process closed-loop PID

7 to 10: Reserved

In speed control, set P30.00=0 first.

Acceleration/Deceleration time

Function
Name Value range Default value Change
code

Acceleration
P02.13 0.0 to 3600.0 s 6s ○
time 1

Deceleration
P02.14 0.0 to 3600.0 s 6s ○
time 1

The specific acceleration/deceleration time shall be determined by the actual requirements on the device.

If the device needs to be stable during acceleration and deceleration:

Increase P02.13 (acceleration time 1) and P02.14 (deceleration time 1).

If the device needs to be quickly accelerated and decelerated:

Too short acceleration and deceleration time will cause overcurrent during acceleration (Er.oC1) and overvoltage

during deceleration (Er.oU2). Thus, well-matched resistors are required, and dynamic braking should be enabled

through the function code.

Dynamic braking

Function
Name Value range Default value Change
code

Dynamic braking usage

P08.21 0.0 to 100.0% (0.0: no action) 100.0% ○
ratio

P08.22 Braking startup voltage 700 to 780 V 720 ○

37
The dynamic braking usage ratio P08.21 and braking startup voltage P08.22 are only applicable to the servo drive

with an internal braking unit. Adjusting P08.22 properly can achieve quick stop by dynamic braking.

Loop gain adjustment

Function
Name Value range Default value Change
code

Current loop
P12.05 1 to 5000 600 ○
proportional gain

Current loop integral

P12.06 0.5 to 100.0 ms 8.0 ○
time

Speed loop low-speed

P05.00 0.1 to 200.0 20.0 ○
proportional gain

Speed loop low-speed

P05.01 0.000 to 10.000 0.200 s ○
integral time

P05.03 Switchover frequency 1 0.0% to 50.0% 10.0% ○

Speed loop high-speed

P05.04 0.1 to 200.0 20.0 ○
proportional gain

Speed loop high-speed

P05.05 0.000 to 10.000 0.200 s ○
integral time

P05.07 Switchover frequency 2 0.0% to 100.0% 20.0% ○

Improper PID setting will make the system unstable.

In speed control, the current loop and the speed loop should be adjusted. The current loop is the inner loop, and the

speed loop is the outer loop. Generally, adjust the current loop first, then adjust the speed loop. The speed loop

consists of multi-stage PI, and the switchover frequency can be adjusted according to actual needs. See the

following figure:

38
Current loop:

P12.05 and P12.06 are PI adjustment parameters of the current loop. Increasing current loop KP or decreasing I

can enhance the dynamic features of system torque, but too strong regulation may cause device vibration, large

noise, overcurrent during acceleration and other problems upon shaft lock; decreasing KP or increasing I can enhance

the stability of the system.

Speed loop:

Increasing the proportional gain P can accelerate the dynamic response of the system; but too large P will cause

oscillation.

Decreasing the integral time I can accelerate the dynamic response of the system; but too small I will cause large

system overshoots and oscillation.

If the PI parameter is not well selected, the system may produce overvoltage failure (if there is no external braking

resistor or braking unit) after a fast start to high speed, which is due to the energy feedback produced in the

regenerative braking state of system during drop after the speed overshoot. This can be avoided by adjusting the PI

parameter.

 Position control
Source of position reference

Function
Name Value range Default value Change
code

Servo control 0: Non-servo control

P30.00 0 ×
switchover selection 1: Speed/Torque←→Servo control

39
 Function
Name Value range Default value Change
code

2: Servo←→Speed/Torque control

3: Servo control

4: Bus control

Ones: Reserved

Tens: Filter width (reserved)

0 to 3

Hundreds: Logic mode

Pulse reference input 0: Positive logic

P30.01 0000H ○
selection 1: Negative logic

Thousands: Pulse input source

0–1: Reserved

2: Internal position setting

3: Reserved

In position control, set P30.00=3 first.

Electronic gear

Function
Name Value range Default value Change
code

Numerator of electronic
P30.04 1 to 65535 1024 ×
gear

Denominator of
P30.05 1 to 65535 1024 ×
electronic gear

The electronic gear can be set as below:

1）Pulses per revolution and bits of the encoder on the servo motor;

2）Pulse equivalent;

The pulse equivalent is the minimum load displacement corresponding to one pulse signal. The pulse equivalent

can be 0.001 mm, 0.1°, and 0.01 inches, that is, the distance or angle of displacement corresponding to one pulse

input.

40
 For example, the pulse equivalent is 0.001 mm, the input pulse is 50000, then the load displacement is

50000*0.001 mm = 50mm.

3）Use the pulse equivalent to calculate the load displacement per load shaft revolution.

Displacement per load shaft revolution=Displacement per load shaft revolution (reference unit) * pulse

equivalent

For example, the ball screw pitch is 5 mm, the pulse equivalent is 0.001 mm, then the displacement per load

shaft revolution (reference unit)=5 mm/0.001 mm=5000

Ball screw Round table Belt pulley

Load shaft Load shaft

P: Screw pitch

Load shaft

πD
P 1 turn =
1 turn = Reference unit
Pulse equivalent 360°
1 turn =
Reference unit

4）Calculate the electronic gear ratio

Assuming the reduction ratio of the motor shaft to the load shaft is m/n (when motor rotates for m circles, the

load rotates for n circles),

then the electronic gear ratio=P30.04/P30.05=[(number of encoder pulses*4)/displacement per load shaft

revolution (reference unit)]*(m/n)

Position loop gain

Function
Name Value range Default value Change
code

Position control proportional

P30.08 0 to 8000 100 ×
gain 1

Position control proportional

P30.09 0 to 8000 400 ×
gain 2

0: No switchover

Switchover mode between 1: Torque reference

P30.10 0 ×
position gain 1 and 2 2: Speed reference

3: Position deviation

41
 Function
Name Value range Default value Change
code

4: Through external terminal

Speed reference threshold

P30.12 0 to 10000 10.0% ×
for position gain switchover

Position deviation threshold

P30.13 0 to 10000 100 ×
for position gain switchover

Smoothing filter coefficient

P30.14 0 to 15 1 ×
for gain switchover

P30.15 Position feedforward gain 0.00 to 120.00% 100.00% ×

(1) Set the proportional gain of the position loop regulator through P30.08 and P30.09. The higher the gain, the less

the position lag. But, too large gain will cause oscillation. The lower the gain, the slower the position tracking.

Generally, increase the position gain appropriately on the basis that no oscillation is produced.

(2) When the position deviation is larger than the deviation threshold for position gain switchover (P30.13), the

position gain will be automatically switched from position loop gain 1 (P30.08) to position loop gain 2 (P30.09) after

the smoothing filter coefficient for gain switchover (P30.14),.

(3) Large feedforward in position control gives rise to little position deviation and improved performance, but too

large amount of feedforward will cause speed overshoot and loud running noise.

 Spindle/Positioning homing

Function Default
Name Value range Change
code value

Ones: Positioning mode selection

0: Carry

1: Indexing

Spindle positioning Tens: Digital carry selection

P31.00 0000H ×
selection 0: Single-point carry

1: Multi-point carry

Hundreds: Single-point carry mode

0: Single-point one time of positioning

42
Function Default
Name Value range Change
code value

1: Single-point multiple positioning

(positioning times determined by the
function code)

Thousands: Single-point multiple positioning

mode

0: Reciprocating

1: Continuous

Ones: Home detector types and searching

direction settings

0, 1: Reserved

2: Homing in forward direction, ORGP as the

homing origin

3: Homing in reverse direction, ORGP as the

homing origin

4: Homing by the shortest distance, ORGP as

the homing origin

5: Homing in the current running direction,

ORGP as the homing origin

6: Searching for Z pulse in forward direction

and regard it as the homing origin

P31.01 Homing mode 7: Searching for Z pulse in reverse direction 0009H ×

and regard it as the homing origin

8: Searching for Z pulse by the shortest

distance, and regard it as the homing origin

9: Homing in the current running direction, Z

pulse as the homing origin

Tens: Homing command mode

0: Level mode

1: Pulse mode

Hundreds: Homing

0: Homing only upon the first running

1: Homing upon every running

2: Homing upon each power-on (reserved)

43
Function Default
Name Value range Change
code value

Thousands: Home correction mode

0: Single correction

1: Real-time correction

Ones: Position mode of positioning

0: Relative position

1: Absolute position (relative zero)

Tens: Locking mode of positioning

0: Locked at the positioning point

1: Locked within the positioning range

Hundreds: Positioning sequence

Positioning mode 0: No response to a newly received positioning

P31.02 0000H ×
selection signal during positioning

1: Directly locating the new position when

receiving a new positioning signal during
positioning

Thousands: Action for positioning overlimit

0: Stop

1: Homing in reverse direction, and keep at

zero speed

2: Homing in reverse direction, and stop

Ones: Berth position of home searching

0: Berth at the left of the home

1: Berth at the right of the home

Berth position of home Tens: Installation position of encoder

P31.03 0000H ×
searching 0: Installed at the motor shaft

1: Installed at the spindle

Hundreds: Reserved

Thousands: Reserved

Start setting of internal 0: Manually set by the DI terminal

P31.04 0 ×
positioning 1: Auto start

44
 Function Default
Name Value range Change
code value

Spindle transmission 0.000 to 30.000

P31.05 1.000 ×
ratio

P31.06 Home searching speed 0.00 to 30.00 1.00 ×

P31.07 Home position offset 0 to 36000 18000 ×

P31.35 Positioning speed 0 to 100.0% of maximum frequency 20.0 ×

P01.49 Current angle 0 to 359.99 0 ×

Pulses per revolution of

P04.05 1 to 10000 2048 ○
encoder

Pulses per revolution of

P04.07 1 to 10000 2048 ○
motor

P09.02 DI3 terminal function 85: Spindle/Positioning homing terminal 85 ×

(1) The home of spindle/positioning homing can be the Z pulse of the spindle motor (motorized spindle) or the

proximity switch of the spindle (non-motorized spindle). If the transmission ratio of motor shaft to spindle is 1:1, use

the Z pulse of motor encoder as the home position switch. When DI3 is set to 85 (Spindle/Positioning homing

terminal), as long as the input signal is on, the spindle will perform oriented position stop, and DO1

(Spindle/Positioning homing completed) is output after the oriented stop is done. For the spindle homing angle, rotate

the spindle to the desired “zero” position (more than two circles) in the free state until P01.49 changes. Record P01.49

(Current angle of spindle) at the time, and set the value in the parameter P31.07.

(2) When the transmission ratio of motor shaft to spindle is not 1:1, if the encoder is installed at the spindle, set the

tens place of P31.03 to 1, and set the encoder’ pulses per revolution in P04.05. Use the Z pulse of spindle encoder as

the spindle home, and set the spindle encoder’s pulses per revolution P04.07, the spindle transmission ratio P31.05

and the homing mode P31.01 (ORGP as the homing origin) correctly. If the encoder is installed at the motor shaft, an

additional optoelectronic switch is required. Connect the signals of the optoelectronic switch to any terminal of DI6,

DI7 and DI8, set the corresponding terminal function to 84 (position reference input terminal), and set the spindle

encoder’s pulses per revolution P04.07, the spindle transmission ratio P31.05 and the homing mode.

(3) Home searching speed P31.06 is the home searching speed during the oriented specified position stop after the

first power-on.

45
(4) Positioning speed P31.35 is the home searching speed at the start stage of the spindle positioning, which affects

the positioning speed and accuracy of the spindle.

(5) The spindle/positioning homing direction is determined by P31.01.

 Control mode selection

Function Default
Name Value range Change
code value

0: Non-servo control

1: Speed/Torque←→Servo control
Servo control
P30.00 2: Servo←→Speed/Torque control 0 ×
switchover selection
3: Servo control

4: Bus control

For bus control, set P30.00=4.

In this mode, the EtherCAT fieldbus can control the drive by the following ways.

1: Profile Position Mode

3: Profile Velocity Mode

6: Homing Mode

7: Interpolated Position Mode

8: Cyclic Synchronous Position Mode

9: Cyclic Synchronous Velocity Mode

46
 Chapter 5 EtherCAT Communication

 Overview of EtherCAT bus

EtherCAT is a high-performance, low-cost, easy-to-use and topologically flexible industrial Ethernet technology that

can be used for ultra-fast I/O networks at the industrial field.

Standard physical layer of Ethernet, with transmission media of twisted pairs or optical fibers (100 Base-TX or 100

Base-FX).

EtherCAT system consists of a master station and several slave stations. The master station only requires a common

network card, while slave stations require special chips for slave control, such as ET1100、ET1200、FPGA.

EtherCAT is real time down to the I/O level:

 No underlying sub-systems any more

 No delays in gateways

 All devices are included in one system:

－ Inputs and outputs, sensors, actuators, drives, displays...

 Transmission speed:

－ 2 x 100 Mbit/s (high-speed Ethernet, full duplex)

 Synchronization: up to 300 nodes are between two devices with the cable length of 120 m, but the jitter is less

than 1 us

 Update time (in typical application):

－ 256 digital I/O in 11 us

－ 1000 digital I/O distributed to 100 nodes in 30 us = 0.03 ms

－ 200 analog I/O (16 bit) in 50 us, 20 kHz sampling rate

－ 100 servo axis (each 8 Byte IN + Out) in 100 us = 0.1 ms

－ 12000 digital I/O in 350 us

To support a wider range of devices and application layers, EtherCAT establishes the following application protocols:

－ CoE (CANopen application protocol based on EtherCAT)

－ SoE (Servo drive conventions according to IEC 61800-7-204)

47
 － EoE (Ethernet over EtherCAT)

－ FoE (File access over EtherCAT)

For slave devices, not all communication protocols are required. Just choose the most suitable protocol.

 Bus function of SPS-NE

SPS-NE servo drive supports EtherCAT communication (real-time Ethernet communication), and implements

CANopen Drive Profile (CiA402) in the application layer.

1. SPS-NE communication specifications

Item Specifications Note

Communication standards IEC 61158 Type12, IEC 61800-7 CiA402 Drive Profile

Transmission protocol 100 BASE-TX (IEEE 802.3)

Maximum distance 100 m

Physical
layer CN4 (RJ45): EtherCAT Signal IN
Interface
CN5 (RJ45): EtherCAT Signal OUT

Cable CAT5 twisted pairs

SDO SDO request, SDO response

PDO Variable PDO mapping

Profile Position Mode

Application Profile Velocity Mode

layer
Homing Mode
CiA402 Drive Profile
Interpolated Position Mode

Cyclic Synchronous Position Mode

Cyclic Synchronous Velocity Mode

Distributed clock DC mode，DC cycle ≥ 500 us

48
2. Network topology

EtherCAT network is generally composed of one master station (such as EtherCAT controller) and several slave

stations (such as servo controllers, bus terminals). Each EtherCAT slave station has two standard Ethernet interfaces.

The network wiring is shown in the following figure.

3. EtherCAT network reference model

Among all the application layer protocols of EtherCAT, SPS-NE uses IEC 61800-7 (CiA402) - CANOpen motion control

sub-protocol.

The following figure shows the EtherCAT communication structure based on the CANOpen application layer.

49
 Application layer Object dictionary

EtherCAT
state machine

Register Mailbox Process data

Data link layer

Physical layer

EtherCAT (CoE) network reference model is mainly composed of two parts: data link layer and application layer.

The data link layer is mainly in charge of the EtherCAT communication protocol, and the application layer is

embedded with CANopen drive Profile (DS402) communication conventions. The object dictionary in the application

layer of CoE includes communication parameters, application data and PDO mapping information.

Process data objects (PDO) consist of objects in the object dictionary that can be PDO mapped, and the PDO data is

defined by PDO mapping. The reading/writing of PDO data is cyclic without requirements to look up the object

dictionary, while the reading/writing of service data objects (SDO) is non-cyclic with requirements to look up the

object dictionary.

4. EtherCAT state machine

EtherCAT state machine is used to describe the status and status change of slave applications.

The request for status change is made by the master station, and slave stations respond to it correspondingly.

50
 Init (initialization)

Pre-Operational

Safe-Operational

Operational

The EtherCAT device must support 4 states to manage the status relations between the master station and the slave

station upon initialization and operation.

Init: initialization, abbreviated as I;

Pre-Operational: abbreviated as P；

Safe-Operational: abbreviated as S;

Operational: abbreviated as O.

From the initialization state to the operational state, the transition must be in the sequence of “Initialization＞

Pre-Operational＞Safe-Operational＞Operational”. No state shall be skipped.

However, going back from the operational state, the transition allows state skipping. The state initialization and

transition is shown in the following table:

State and Transition Operation description

Initialization (I) No communication in the application layer, no mailbox data

and process data;

The master station can only read and write the ESC register.

IP The master station configures the address of slave station;

Configure the mailbox channel;

Configure the DC distributed clock;

Check whether the mailbox is initialized successfully;

Request “Pre-Operational”.

51
 State and Transition Operation description

Pre-Operational (P) Mailbox data communication (SDO) of application layer is

activated.

PS The master station uses the process data mapping of mailbox

initialization;

The master station configures the SM channel used for process

data communication;

The master station configures FMMU;

The master station requests “Safe-Operational”.

Safe-Operational (S) Process data communication is available. Only allowed to read

the input data. No output signals can be generated, and the
output is set to the “safe” state.

(SDO, TPDO)

SO The master station sends valid input data;

The master requests “Operational”.

Operational (P) Both input and output are valid;

Mailbox communication can still be used.

(SDO, TPDO, RPDO)

5. Process data PDO

EtherCAT process data can be divided into RPDO (Reception PDO) and TPDO (Transmission PDO). The slave station

receives commands from the master station by RPDO, and sends feedback of its own status by TPDO.

(1) PDO assignment of Sync Manager

During the cyclic data communication of EtherCAT, the process data includes multiple PDO mapping data objects.

The CoE protocol uses data objects 1C10h–1C2Fh to define the PDO mapping list of the corresponding SM (Sync

Manager Channel). Multiple PDOs can be mapped in different sub-indexes.

The SPS-NE series servo drive supports one RPDO assignment and one TPDO assignment, as shown in the following

table.

52
 Index Sub-index Content

1C12h 01 Assign 1600h as the RPDO mapping object

1C13h 01 Assign 1A00h as the TPDO mapping object

(2) PDO mapping parameters

PDO mapping is used to establish a mapping relationship between the object dictionary and PDO (real-time process

data).

The indexes 1600h and 1A00h in the object dictionary store RPDO and TPDO mappings respectively.

SPS-NE provides a variable RPDO and a variable TPDO, as shown in the following table.

Default mapping
PDO Index Maximum mapping Maximum bytes
object

6040h (control word)

RPDO 1600h 10 40
……

6041h (status word)

TPDO 1A00h 10 40
……

(3) PDO configuration

PDO mapping parameters include the indexes, sub-indexes and lengths of objects that are mapped to process data.

The sub-index 0 indicates the number of PDO mapping objects n. Each PDO can map one or multiple objects

simultaneously, and the data length can reach up to 4*n bytes.

The sub-index 1–n, is the mapping contents.

The contents of mapping parameters are defined as below.

Bit 31 … 16 15 … 8 7 … 0

Meaning Index Sub-index Object length

The index and sub-index determine the position of an object in the object dictionary. The object length indicates the

bits of the object in hexadecimal, as shown blow.

53
 Object length Length (bit)

08h 8

10h 16

20h 32

For example:

The mapping value for the 8-bit working mode 6060-00h is 60600008h;

The mapping value for the 16-bit control word 6040-00h is 60400010h;

The mapping value for the 32-bit interpolated data record 60C1-01h is 60C10120h.

(4) PDO mapping steps

 Disable the PDO assignment function (by setting the sub-index 00h of 1C12h and 1C13h to 0);

 Disable the PDO mapping function (by setting the sub-index 00h of 1600h and 1A00h to 0 to clear the original

mapping contents);

 Set the contents of PDO mapping objects (by writing the indexes, sub-indexes and lengths of mapping objects

to the sub-indexes 1–10 of 1600h and 1A00h, depending on the actual application);

 Set the number of PDO mapping objects (by setting the sub-indexes 00h of 1600h and 1A00h to 1–10,

depending on the actual application);

 Set the PDO assignment objects (by setting the sub-indexes 1 of 1C12h and 1C13h);

 Enable the PDO assignment function (by setting the sub-indexes 00h of 1C12h and 1C13h to 1)

6. Mailbox data SDO

EtherCAT mailbox data SDO is used to transmit non-cyclic data, such as the configuration of communication

parameters and drive parameters.

The CoE service types of EtherCAT include: emergency information, SDO request, SDO response, remote TxPDO

request, remote RxPDO request and SDO information.

The SPS-NE series servo drive supports “SDO request”, “SDO response” and “SDO information”.

54
7. Distributed clock

In the EtherCAT system, the distributed clock is initialized, configured, started and compensated for clock drift by the

master station. The distributed clock at the slave station is realized by the ESC control chip, providing the interruption

signal and clock information. The distributed clock can also be used to record the input time of the latch input signal.

The distributed clock allows all EtherCAT devices to run synchronously by using the same system time. Slave devices

can generate sync signals based on the synchronous system time.

The SPS-NE series servo drive supports the DC synchronous mode, and the synchronous cycle is controlled by SYNC0.

The synchronous cycle varies according to different motion modes. Typical cycles include 250 us, 500 us, 1 ms and 2

ms. SPS-NE supports 500 us at minimum.

 CiA402 device control (device conventions)

Device control is used to realize all running functions of the drive, including the state machine control and the

operation mode. The master station controls the drive through “control word”, and learns the drive status through

“status word”.

1. CoE state machine

The CoE state machine is shown in the following diagram.

As shown in the above diagram, the state machine can be divided into “Power Disabled”, “Power Enabled” and

“Fault”.

55
After power-on, the drive is initialized, and enters the “Switch On Disabled” state. The drive’s operation mode can be

configured, but the main power is still off.

After State Transmission 2, 3, 4, the drive enters the “Operation Enable” state. At the time, the main power is started,

and the drive controls the motor according to the configured operation mode. Thus, before this state, the user must

confirm that the drive parameters are correctly configured and corresponding input values are zero.

After State Transmission 9, the main power is disabled.

If an alarm occurs, the drive, no matter what the current state, enters the “Fault” state.

The following table describes the meanings of drive states.

State Meaning

Not Ready to Switch On The drive is in initialization.

The initialization is done;

Switch On Disabled
Drive parameters can be configured.

The main power can be switched on;

Ready to Switch On
Drive parameters can be configured.

The main power is already switched on;

Switch On
Drive parameters can be configured.

No faults on the drive;

Operation Enable The drive is enabled for operation;

Configured drive parameters are valid.

Quick Stop Active The drive quickly stops.

The drive performs fault stop when a fault is

Fault Reaction Active
detected.

The drive fault is produced, and fault stop is done;

Fault
Drive functions are inhibited.

The following table describes the change of drive states.

State Description
change ID

56
 State Description
change ID

0 Auto state change after reset of the drive

1 Auto state change after reset of the drive

2 Receive the Shut Down command

3 Receive the Switch On command

4 Receive the Enable Operation command

5 Receive the Disable Operation command

6 Receive the Shut Down command

7 Receive the Quick Stop and Disable Voltage command

8 Receive the Shut Down command

9 Receive the Disable Voltage command

10 Receive the Quick Stop and Disable Voltage command

11 Receive the Quick Stop command

12 Receive the Quick Stop or Disable Voltage command

13 Auto state change after detecting a fault

14 Auto state change after the complete response to a fault

15 Receive the Fault Reset command

16 Receive the Enable Operation command

2. Object dictionary

The object dictionary is the most important part of device conventions. It is an ordered set of parameters and

variables, containing all parameters related to device description and device network state.

The objects in a group can be accessed through network in an orderly and pre-defined way.

The CANopen protocol adopts the object dictionary with 16-bit index and 8-bit sub-index. The structure of the object

dictionary is shown in the following table.

57
 Index range Meaning

0000h–0FFFh Section for objects of data type description

Section for communication objects: stores frequently-used

1000h–1FFFh
communication parameters

Section for manufacturer-defined objects: stores device

2000h–5FFFh parameters defined by the manufacturer, such as drive
parameters

6000h–9FFFh Section for sub-protocol objects: CiA402 protocol parameters

A000h–FFFFh Reserved section

3. Control word and status word

Index Object Code Name Type Attr.

6040h VAR Control word UINT16 RW

6041h VAR Status word UINT16 RO

(1) Control word

The bit definitions for the control word are shown in the following table.

Bit15–Bit11 Bit10–Bit9 Bit8 Bit7 Bit6–Bit4 Bit3 Bit2 Bit1 Bit0

Manufacture Fault Operation Enable Quick Enable Switch

Reserved Halt
specific reset mode specific operation stop voltage on

O O O M O M M M M

(In the above table, O: Optional; M: Mandatory)

The control command composed of Bit0–Bit3 and Bit7 is used for the switchover of state machine, as shown below.

Bit of control word

Command Enable Transitions

Enable
Fault reset Quick stop Switch on
operation voltage

Shutdown 0 X 1 1 0 2,6,8

58
 Bit of control word

Command Enable Transitions

Enable
Fault reset Quick stop Switch on
operation voltage

Switch on 0 0 1 1 1 3*

Switch on 0 1 1 1 1 3**

Disable voltage 0 X X 0 X 7,9,10,12

Quick stop 0 X 0 1 X 7,10,11

Disable
0 0 1 1 1 5
operation

Enable
0 1 1 1 1 4,16
operation

Fault reset X X X X 15

(In the above table, the bit with “X” mark can be ignored.)

The Bit4–Bit6 and Bit8 of the control word have different definitions in different control modes, as shown below.

Operation mode

Bit Profile Cyclic Cyclic

Profile position Homing Interpolated
velocity Synchronous Synchronous
mode mode position mode
mode position mode velocity mode

Homing
Enable ip
4 New set-point Reserved operation Reserved Reserved
Mode
start

Change set
5 Reserved Reserved Reserved Reserved Reserved
immediately

6 Abs/Rel Reserved Reserved Reserved Reserved Reserved

8 Halt Halt Halt Halt Halt Halt

(For detailed description of bits above, refer to the description of operation modes.)

59
(2) Status word

The bit definitions for the status word are shown in the following table.

Bit Description

0 Ready to switch on

1 Switched on

2 Operation enabled

3 Fault

4 Voltage enabled

5 Quick stop

6 Switch on disabled

7 Warning

8 Manufacturer specific

9 Remote

10 Target reached

11 Internal limit active

12–13 Operation mode specific

14–15 Manufacturer specific

The Bit0–Bit3, Bit5 and Bit6 of the status word indicate the drive states, as shown in the following table.

Bit (binary) State

xxxx xxxx x0xx 0000 Not ready to switch on

xxxx xxxx x1xx 0000 Switch on disabled

xxxx xxxx x01x 0001 Ready to switch on

xxxx xxxx x01x 0011 Switched on

xxxx xxxx x01x 0111 Operation enabled

60
 Bit (binary) State

xxxx xxxx x00x 0111 Quick stop active

xxxx xxxx x0xx 1111 Fault reaction active

xxxx xxxx x0xx 1000 Fault

Notes for the status word:

 Bit0–Bit9 have the same meaning in different control modes. When the master station sends the control word

6040h, the drive gives certain status feedback;

 Bit10, Bit11, Bit12 and Bit13 are specific to different control modes;

 Bit14 and Bit15 are defined by the manufacturer.

4. Common conversion factor

The user units are usually different from the motor units in drive control. CiA402 device conventions provide a group

of conversion factors to make conversion between user units and motor units.

The default motor units of SPS-NE are as follows:

 Motor displacement unit: p (pulse)

 Motor speed unit: rpm (revolutions per minute)

 Motor acceleration unit: rpm/ms (10 rpm/ms means the acceleration amplitude is 10 rpm in 1 ms)

The commonly used user units are as follows:

 Load displacement unit: mm

 Load speed unit: mm/s

 Load acceleration unit: mm/s2

(1) Position factor (6093h)

Position factor refers to the motor displacement (unit: p) corresponding to the load displacement of one user unit.

Position factor consists of the numerator 6093-1h and the denominator 6093-2h, through which a relation between

the load displacement (user unit) and the motor displacement (motor unit) can be formulated as below:

Numerator of position factor (6093 − 1h)

Position factor (6093h) =
Denominator of position factor (6093 − 2h)

Motor displacement = Load displacement (user) × Position factor

61
 Motor feedback displacement
Load feedback displacement (user) =
Position factor

[Example]

For the ball screw:

 Each feed of load: 40 mm

 Lead pB=10 mm/r

 Motor encoder PPR 2500, actual resolution: P=10000 (p/r)

Thus, the calculation formula of position factor is below:

Each feed of load shaft:

Feed of load 40 mm
Each feed of load shaft = = = 4 (r)
Lead pB 10 mm/r
Position factor:

Each feed of load shaft × Motor resolution 4 r × 10000 p/r

Position factor = = = 1000
Each feed of load 40

It indicates that 1 mm of load displacement corresponds to 1000 pulses of motor displacement.

Thus, the numerator 6093-1h can be set to 1000, and the denominator 6093-2h can be set to 1.

(2) Velocity factor 1 (6095h)

Velocity factor 1 refers to the motor speed (unit: rpm) corresponding to the load speed of one user unit.

Velocity factor 1 consists of the numerator 6095-1h and the denominator 6095-2h, through which a relation between

the load speed (user unit) and the motor speed (motor unit) can be formulated as below:

Numerator of velocity factor 1 (6095 − 1h)

Velocity factor 1 (6095h) =
Denominator of velocity factor 1 (6095 − 2h)

Load speed (user) = Motor speed × Velocity factor 1

Load feedback speed (user)

Motor feedback speed =
Velocity factor 1
[Example]

For the ball screw:

 Load speed unit: mm/s

 Motor speed: 1200 rpm

62
  Lead pB=10 mm/r

Thus, the calculation formula of velocity factor 1 is below:

Load speed:

10 mm
Load speed = Motor speed × Lead pB = 1200 rpm × = 200 mm/s
r

Velocity factor 1:

Load speed 200 mm/s 1

Velocity factor 1 = = =
Motor speed 1200 rpm 6
It indicates that 1 mm/s of load speed corresponds to 6 rpm of motor speed.

Thus, the numerator 6095-1h can be set to 1, and the denominator 6095-2h can be set to 6.

(3) Acceleration factor (6097h)

Acceleration factor refers to the motor acceleration speed (unit: rpm/ms) corresponding to the load acceleration

speed of one user unit.

Acceleration factor consists of the numerator 6097-1h and the denominator 6097-2h, through which a relation

between the load acceleration speed (user unit) and the motor acceleration speed (motor unit) can be formulated as

below:

Numerator of acceleration factor (6097 − 1h)

Acceleration factor (6097h) =
Denominator of acceleration factor (6097 − 2h)

Motor acceleration speed

Acceleration factor =
Load acceleration speed (user)

Motor feedback acceleration speed

Load feedback acceleration speed (user) =
Acceleration factor
[Example]

For the ball screw:

 Acceleration speed of load: 40 mm/s2

 Lead pB=10 mm/r

 Motor encoder PPR 2500, actual resolution: P=10000 (p/r)

Thus, the calculation formula of acceleration factor is below:

Motor acceleration speed:

Load acceleration speed 40 mm/s2 r rpm rpm

Motor acceleration speed = = = 4 2 = 240 = 0.24
Lead pB 10 mm/r s s ms
Acceleration factor:

63
 Motor acceleration speed 0.24 rpm/ms 6 3
Acceleration factor = = = =
Load acceleration speed 40 mm/s2 1000 500
It indicates that 1 mm/s2 of load acceleration speed corresponds to 0.006 rpm/ms of motor acceleration speed.

Thus, the numerator 6097-1h can be set to 3, and the denominator 6097-2h can be set to 500.

5. Bus operation mode

SPS-NE supports 6 operation modes of CoE:

 Profile Position Mode

 Profile Velocity Mode

 Homing Mode

 Interpolated Position Mode

 Cyclic Synchronous Position Mode

 Cyclic Synchronous Velocity Mode

The objects related to operation modes are listed in the following table. 6060h is used to set the operation mode and

6061h is used to display the current operation mode.

Index Object Code Name Type Attr.

6060h VAR Modes of operation INT8 RW

6061h VAR Modes of operation display INT8 RO

The values and meanings of the above two objects are shown in the following table.

Value Meaning

1 Profile Position Mode

3 Profile Velocity Mode

6 Homing Mode

7 Interpolated Position Mode

8 Cyclic Synchronous Position Mode

9 Cyclic Synchronous Velocity Mode

64
(1) Profile Position Mode

This mode mainly applies to point-to-point positioning. In this mode, the master station sets the target position

(absolute or relative), operating speed of position profile, acceleration and deceleration, and the drive generates

position profiles based on preceding settings and executes the positioning control.

1）Common objects

The objects in this mode are listed in the following table.

Object PDO
Index Name Type Attr.
code mapping

6040h VAR Control word UINT16 RW RPDO

6041h VAR Status word UINT16 RO TPDO

6060h VAR Modes of operation INT8 RW RPDO

6061h VAR Modes of operation display INT8 RO TPDO

607Ah VAR Target position INT32 RW RPDO

6093h ARRAY Position factor UINT32 RW RPDO

6095h ARRAY Velocity factor 1 UINT32 RW RPDO

6097h ARRAY Acceleration factor UINT32 RW RPDO

6081h VAR Profile velocity UINT32 RW RPDO

6083h VAR Profile acceleration UINT32 RW RPDO

6084h VAR Profile deceleration UINT32 RW RPDO

607Fh VAR Max profile velocity UINT32 RW RPDO

60C5h VAR Max profile acceleration UINT32 RW RPDO

60C6h VAR Max profile deceleration UINT32 RW RPDO

6063h VAR Position actual value* (motor unit) INT32 RO TPDO

6064h VAR Position actual value (user unit) INT32 RO TPDO

606Ch VAR Velocity actual value INT32 RO TPDO

65
 Object PDO
Index Name Type Attr.
code mapping

6067h VAR Position window UINT32 RW RPDO

6068h VAR Position window time UINT16 RW RPDO

60F4h VAR Following error actual value INT32 RW RPDO

6065h VAR Following error window UINT32 RW RPDO

Note: The drive has set default profile velocity, acceleration and deceleration, max profile velocity, position factor,

velocity factor and other parameters related to the position profile. So, if the master station does not set these

parameters, the default values shall be active. To change the default values, the drive shall be powered off and

restarted.

2）Control word and status word

Control word in the profile position mode (PP):

Bit15–Bit7 Bit6 Bit5 Bit4 Bit3–Bit0

* Abs/Rel Change set immediately New set-point *

Note: “*” mark means the bit definition is same as the standard definition, the same below.

The bits of control word in the profile position mode are described below:

Bit Value Description

0 No set-point position
New set-point
1 New set-point position, start positioning

0 Position not updated immediately

Change set
immediately
1 Position updated immediately

0 Absolute position reference

Abs/Rel
1 Relative position reference

66
Status word in the profile position mode (PP):

Bit15–Bit14 Bit13 Bit12 Bit11 Bit10 Bit9–Bit0

Following Set-point
* * Target reached *
error acknowledge

The bits of status word in the profile position mode (PP) are described below:

Bit Value Description

0 Target position not reached

Target
reached
1 Target position reached

0 Target position can be updated

Set-point
acknowledge
1 Target position can not be updated

0 Without excessive position deviation fault

Following
error
1 With excessive position deviation fault

3）Function description

 Operation mode: set 6060h=1;

 Setting the target position: set the target position in user unit through 607Ah. Set the position factor 6093h if

necessary;

 Setting the positioning method: set the positioning method (absolute/relative position, change set

immediately/not immediately) through the control word 6040h;

 Setting the positioning speed: set the positioning speed in user unit through 6081h. Set the velocity factor

6095h, acceleration factor 6097h, profile acceleration 6083h, profile deceleration 6084h, max profile velocity

607Fh, max profile acceleration 60C5h and max profile deceleration 60C6h if necessary;

 Enabling positioning: enable drive operation through the object 6040h, and enable positioning through bit4;

 Positioning reach threshold: if the position deviation in user unit is smaller than 6067h and the time reaches

6068h, the target position is reached, and the bit10 of 6041h is 1.

 Excessive position deviation threshold: if the position deviation in user unit 60F4h is larger than 6065h, a fault
is triggered, and the bit13 of 6041h is 1.

67
 4）Basic configuration

The basic configuration for objects in the profile position mode (PP) is described in the following table.

RPDO object TPDO object Note

Control word 6040h Status word 6041h Mandatory

Position feedback
Target position 607Ah Mandatory
6064h

Profile velocity 6081h Mandatory

Optional, can be configured as the

Other SDO parameter, or default drive

parameter.

(2) Profile Velocity Mode

In this mode, the master station sets the target velocity, acceleration and deceleration, and the drive generates

velocity profiles based on preceding settings and executes the acceleration/deceleration control.

1）Common objects

The objects in this mode are listed in the following table.

Object PDO
Index Name Type Attr.
Code mapping

6040h VAR Control word UINT16 RW RPDO

6041h VAR Status word UINT16 RO TPDO

6060h VAR Modes of operation INT8 RW RPDO

6061h VAR Modes of operation display INT8 RO TPDO

60FFh VAR Target velocity INT32 RW RPDO

6095h ARRAY Velocity factor 1 UINT32 RW RPDO

6097h ARRAY Acceleration factor UINT32 RW RPDO

6083h VAR Profile acceleration UINT32 RW RPDO

68
 Object PDO
Index Name Type Attr.
Code mapping

6084h VAR Profile deceleration UINT32 RW RPDO

607Fh VAR Max profile velocity UINT32 RW RPDO

60C5h VAR Max profile acceleration UINT32 RW RPDO

60C6h VAR Max profile deceleration UINT32 RW RPDO

6063h VAR Position actual value* (motor unit) INT32 RO TPDO

6064h VAR Position actual value (user unit) INT32 RO TPDO

606Ch VAR Velocity actual value INT32 RO TPDO

606Dh VAR Velocity window UINT16 RW RPDO

606Eh VAR Velocity window time UINT16 RW RPDO

606Fh VAR Velocity threshold UINT16 RW RPDO

6070h VAR Velocity threshold time UINT16 RW RPDO

Note: The drive has set default acceleration/deceleration speed, max profile velocity, velocity factor and other

parameters related to the velocity profile. So, if the master station does not set these parameters, the default values

shall be active. To change the default values, the drive shall be powered off and restarted.

2）Control word and status word

The control word in the profile velocity mode (PV) is same as the standard definition.

Status word in the profile velocity mode (PV):

Bit15–Bit13 Bit12 Bit11 Bit10 Bit9–Bit0

* Speed * Target reached *

The bits of status word in the profile velocity mode (PV) are described below:

Bit Value Description

0 Target velocity not reached

Target
reached
1 Target velocity reached

69
 Bit Value Description

0 Speed is not 0

Speed
1 Speed is 0

3）Function description

 Operation mode: set 6060h=3;

 Setting the target velocity: set the target velocity in user unit through 60FFh. Set the velocity factor 6095h if

necessary;

 Setting the velocity profile: if necessary, set the acceleration factor 6097h, profile acceleration 6083h, profile

deceleration 6084h, max profile velocity 607Fh, max profile acceleration 60C5h and max profile deceleration

60C6h;

 Enabling operation: enable drive operation through the control word 6040h;

 Speed reach threshold: if the deviation between the speed feedback 606Ch and the target velocity 60FFh is

smaller than 606Dh and the time reaches 606Eh, the target velocity is reached, and the bit10 of 6041h is 1;

 Zero speed threshold: if the speed feedback in user unit 606Ch is smaller than 606Fh and the time reaches

6070h, the zero speed is reached, and the bit12 of 6041h is 1.

4）Basic configuration

The basic configuration for objects in the profile velocity mode (PV) is described in the following table.

RPDO object TPDO object Note

Control word 6040h Status word 6041h Mandatory

Target velocity 60FFh Mandatory

Velocity actual value

Optional
606Ch

Optional, can be configured as

Other the SDO parameter, or default

drive parameter.

70
(3) Homing Mode

SPS-NE supports the homing mode. In this mode, the drive will return to the specified angle according to the homing

mode, homing speed and home offset.

1）Common objects

The objects in this mode are listed in the following table.

Object PDO
Index Name Type Attr.
Code mapping

6040h VAR Control word UINT16 RW RPDO

6041h VAR Status word UINT16 RO TPDO

6060h VAR Modes of operation INT8 RW RPDO

6061h VAR Modes of operation display INT8 RO TPDO

6098h VAR Homing method INT8 RW RPDO

607Ch VAR Home offset INT32 RW RPDO

6099h ARRAY Homing speed UINT32 RW RPDO

Object description:

 Homing method (6098h)

Value Description Note

0,1 Reserved

2 Homing in forward direction, ORGP as the homing origin

3 Homing in reverse direction, ORGP as the homing origin

4 Homing by the shortest distance, ORGP as the homing origin

Homing in the current running direction, ORGP as the homing

5
origin

Searching for Z pulse in forward direction and regard it as the

6
homing origin

7 Searching for Z pulse in reverse direction and regard it as the

71
 Value Description Note

homing origin

Searching for Z pulse by the shortest distance, and regard it as

8
the homing origin

Homing in the current running direction, Z pulse as the homing

9
origin

 Home offset (607Ch)

Used to set the homing angle, ranging from 0 to 36000, unit 0.01.

Value Description Note

For absolute positioning, the offset is the number of pulses

offset from the home (unit: pulse).

(The offset value 18000 means the number of pulses offset

from the home is 0, the offset value 36000 means the number
0–36000 of pulses offset from the home is +18000, and the offset value
0 means the number of pulses offset from the home is -18000.)

For the indexing control, the offset is the offset angle of the
spindle zero relative to the spindle reference point (unit: 0.01°).

 Homing speed (6099h)

Sub-index Description Note

0 Number of sub-indexes (2)

1 Reserved

2 Homing speed (unit: rpm)

2）Control word and status word

Control word in the homing mode:

Bit15–Bit5 Bit4 Bit3–Bit0

* Homing start *

The bits of control word in the homing mode are described below:

72
 Bit Value Description

0->1 Start homing

Homing start 1 Homing in process

1->0 Homing completed

Status word in the homing mode:

Bit15–Bit14 Bit13 Bit12 Bit11 Bit10 Bit9–Bit0

* Homing error Homing attained * Target reached *

The bits of status word in the homing mode are described below:

Bit Value Description

0 Target position not reached

Target reached
1 Target position reached

0 Homing not attained

Homing attained
1 Homing attained

0 Without homing error

Homing error
1 With homing error

3）Function description

 Operation mode: set 6060h=6;

 Setting the homing method: select the homing method through 6098h;

 Setting the home offset: set the home offset value through 607Ch;

 Setting the homing speed: set the operating speed of the drive during homing through the sub-index 02h of

6099h;

 Enabling homing: enable drive homing through the control word 6040h.

4）Basic configuration

The basic configuration for objects in the homing mode is described in the following table.

73
 RPDO object TPDO object Note

Control word 6040h Status word 6041h Mandatory

Optional, can be configured as the

Homing method 6098h
SDO parameter.

Optional, can be configured as the

Home offset 607Ch
SDO parameter.

Optional, can be configured as the

Homing speed 6099-02h
SDO parameter.

Optional, can be configured as the

Other
SDO parameter.

(4) Interpolated Position Mode

The interpolated position mode is used in multi-axis coordination control or single-axis position interpolation control,

which can realize the synchronous action of the multi-axis servo or the single-axis servo. In this mode, the master

station sets the interpolation cycle, and plans the position profile based on the actual application, then the

interpolation position references are updated according to the interpolation cycle. The slave servo receives the

position references that are cyclically updated, then divides and executes the position references from the master

station based on its own control cycle of position loop.

The interpolated position mode only supports the absolute position reference.

The interpolation method includes linear interpolation and manufacturer-defined interpolation. SPS-NE only supports

linear interpolation.

1）Common objects

The objects in this mode are listed in the following table.

Object PDO
Index Name Type Attr.
Code mapping

6040h VAR Control word UINT16 RW RPDO

6041h VAR Status word UINT16 RO TPDO

6060h VAR Modes of operation INT8 RW RPDO

74
 Object PDO
Index Name Type Attr.
Code mapping

6061h VAR Modes of operation display INT8 RO TPDO

60C0h VAR Interpolation sub mode select INT16 RW RPDO

60C1h ARRAY Interpolation data record INT32 RW RPDO

60C2h RECOED Interpolation time period RW RPDO

6063h VAR Position actual value* (motor unit) INT32 RO TPDO

6064h VAR Position actual value (user unit) INT32 RO TPDO

Object description:

 Interpolation sub mode select (60C0h)

Used to select the interpolation method.

Value Description Note

-32768 to -1 Manufacturer-defined interpolation

SPS-NE only supports this

0 Linear interpolation
mode.

0 to 32767 Reserved

 Interpolation data record (60C1h)

Used to set the interpolation position references. SPS-NE uses the data of sub-index 01h as the position

reference.

For SPS-NE, 60C0h is 0 by default, so the data type of interpolation position reference is INT32.

Sub-index Description Note

0 Number of sub-indexes

1 Interpolation position reference

Others Reserved

 Interpolation time period (60C2h)

75
Used to store the cyclic interpolation data.

Sub-index Description Note

0 Number of sub-indexes (2)

1 Interpolation time constant (0 to 255) Default: 1

Interpolation time unit (-6 to 0)

-6: unit of us

-5: unit of 0.01 ms

-4: unit of 0.1 ms

2 Default: -3 (unit: ms)
-3: unit of ms

-2: unit of 10 ms

-1: unit of 100 ms

0: unit of s

2）Control word and status word

Control word in the interpolated position mode (IP):

Bit15–Bit5 Bit4 Bit3–Bit0

* Enable interpolation mode *

The bits of control word in the interpolated position mode (IP):

Bit Value Description

0 Disable interpolated position mode

Enable interpolation
mode
1 Enable interpolated position mode

Status word in the interpolated position mode (IP):

Bit15–Bit13 Bit12 Bit11 Bit10 Bit9–Bit0

* Interpolation mode active * Target reached *

76
The bits of status word in the interpolated position mode (IP):

Bit Value Description

0 Target position not reached

Target reached
1 Target position reached

0 Interpolation mode not activated

Interpolation mode

active
1 Interpolation mode activated

3）Function description

 Operation mode: set 6060h=7;

 Setting the interpolation method: set 60C0h=0, linear interpolation (default in SPS-NE, unchangeable);

 Setting the interpolated target position: set the interpolated target position through 60C1-01h;

 Setting the interpolation time period: set the interpolation time period through 60C2-01h and 60C2-02h;

 Enabling interpolation: enable the interpolated position mode through the control word 6040h.

4）Basic configuration

The basic configuration for objects in the interpolated position mode (IP) is described in the following table.

RPDO object TPDO object Note

Control word 6040h Status word 6041h Mandatory

Position actual value

Mandatory
6064h

Interpolation sub mode select Optional, can be configured as the

60C0h SDO parameter.

Interpolation data record 60C1h Mandatory

Optional, can be configured as the

Interpolation time period 60C2h
SDO parameter.

Optional, can be configured as the

Other
SDO parameter.

77
(5) Cyclic Synchronous Position Mode

The cyclic synchronous position mode is similar to the interpolated position mode. In this mode, the master station

plans the position references, and sends the target position to the slave drive cyclically and synchronously. The

target position is 607Ah, and the interpolation cycle is same as the signal sync cycle.

The cyclic synchronous position mode only supports the absolute position reference. SPS-NE only supports linear

interpolation.

1）Common objects

The objects in this mode are listed in the following table.

Object PDO
Index Name Type Attr.
Code mapping

6040h VAR Control word UINT16 RW RPDO

6041h VAR Status word UINT16 RO TPDO

6060h VAR Modes of operation INT8 RW RPDO

6061h VAR Modes of operation display INT8 RO TPDO

607Ah VAR Target position INT32 RW RPDO

6093h ARRAY Position factor UINT32 RW RPDO

6063h VAR Position actual value* (motor unit) INT32 RO TPDO

6064h VAR Position actual value (user unit) INT32 RO TPDO

6067h VAR Position window UINT32 RW RPDO

6068h VAR Position window time UINT16 RW RPDO

2）Control word and status word

The control word in the cyclic synchronous position mode (CSP) is same as the standard definition.

Status word in the cyclic synchronous position mode (CSP):

Bit15–Bit14 Bit13 Bit12 Bit11 Bit10 Bit9–Bit0

Target position
* Following error * Target reached *
ignored

78
The bits of status word in the cyclic synchronous position mode (CSP) are described below:

Bit Value Description

0 Target position not reached

Target reached

1 Target position reached

0 Position reference not followed

Target position

ignored
1 Position reference followed

0 Without excessive position deviation fault

Following error
1 With excessive position deviation fault

3）Function description

 Operation mode: set 6060h=8;

 Setting the target position: set the target position in user unit 607Ah. If necessary, set the position factor

6093h;

 Enabling operation: enable the drive operation through the control word 6040h;

 Threshold of excessive position deviation: if the position deviation in user unit 60F4h is larger than 6065h, a

fault is triggered, and the bit13 of status word 6041h is 1.

4）Basic configuration

The basic configuration for objects in the cyclic synchronous position mode (CSP) is described in the following
table.

RPDO object TPDO object Note

Control word 6040h Status word 6041h Mandatory

Position actual value

Target position 607Ah Mandatory
6064h

Optional, can be configured as the

Other
SDO parameter.

79
(6) Cyclic Synchronous Velocity Mode

In this mode, the master station sends the calculated target velocity to the slave drive cyclically and synchronously,

and the slave executes the target velocity.

1）Common objects

The objects in this mode are listed in the following table.

Object PDO
Index Name Type Attr.
Code mapping

6040h VAR Control word UINT16 RW RPDO

6041h VAR Status word UINT16 RO TPDO

6060h VAR Modes of operation INT8 RW RPDO

6061h VAR Modes of operation display INT8 RO TPDO

60FFh VAR Target velocity INT32 RW RPDO

6095h ARRAY Velocity factor 1 UINT32 RW RPDO

606Ch VAR Velocity actual value INT32 RO TPDO

606Dh VAR Velocity window UINT16 RW RPDO

606Eh VAR Velocity window time UINT16 RW RPDO

2）Control word and status word

The control word in the cyclic synchronous velocity mode (CSV) is same as the standard definition.

Status word in the cyclic synchronous velocity mode (CSV):

Bit15–Bit13 Bit12 Bit11 Bit10 Bit9–Bit0

* Target velocity ignored * Target reached *

The bits of status word in the cyclic synchronous velocity mode (CSV) are described below:

Bit Value Description

Target reached 0 Target velocity not reached

80
 Bit Value Description

1 Target velocity reached

0 Velocity reference not followed

Target velocity

ignored
1 Velocity reference followed

3）Function description

 Operation mode: set 6060h=9;

 Setting the target velocity: set the target velocity in user unit through 60FFh. If necessary, set the speed factor

6095h;

 Enabling operation: enable the drive operation through the control word 6040h.

4）Basic configuration

The basic configuration for objects in the cyclic synchronous velocity mode (CSV) is described in the following
table.

RPDO object TPDO object Note

Control word 6040h Status word 6041h Mandatory

Target velocity 60FFh Mandatory

Velocity actual value

Optional
606Ch

Optional, can be configured as the

Other
SDO parameter.

81
 Objects of drive parameters
The indexes for objects of SPS-NE drive parameters are listed in the following table:

Parameter
Index Sub-index Note
group

01h to max. number of group Index of drive parameter=(2000h+function group);

P00 2000h
parameters Sub-index of drive parameter=(actual function code

01h to max. number of group No. in the group+1).

P01 2001h
parameters [Example]

P00.00 as the first parameter in the P00 group:

……
Index=2000h, sub-index=01h;

P00.10 as the eleventh parameter in the P00 group:

01h to max. number of group Index=2000h, sub-index=0Bh;

P98 2062h
parameters P30.10 as the eleventh parameter in the P30 group:

Index=201Eh, sub-index=0Bh.

For details about parameter groups, index information, parameter types, parameter reading/writing and the like,

refer to “Parameter List”.

82
 Chapter 6 Troubleshooting

Abnormalities and solutions

All possible fault types of SPS-NE are included in the Table 6-1, totaling 41. Before seeking for service, the user can

perform self-check according to this table and record the fault symptoms in details. This will help a lot when you

contact the sales personnel for technical support.

Table 6-1 Fault types and solutions

Fault
Fault type Possible fault cause Solution
code

The acceleration time is too short. Prolong the acceleration time

The motor parameters are incorrect. Perform auto-tuning of motor parameters

When instantaneous stop happens, Set the startup mode P08.00 to startup after
Servo drive
the rotating motor is restarted. speed tracking
overcurrent
Er.oC1
during
Coded disc fault occurs when PG is
acceleration Check the coded disc and its wiring
running.

The servo drive power is too low. Use a servo drive with higher power

The V/F curve is improper. Adjust the V/F curve and manual torque boost

The deceleration time is too short. Prolong the deceleration time

There is potential energy load or the Add additional appropriate dynamic braking
Servo drive
load inertial torque is large. components
overcurrent
Er.oC2
during
Encoder fault occurs when PG is
deceleration Check the encoder and its wiring
running.

The servo drive power is too low. Use a servo drive with higher power

The acceleration/deceleration time is Prolong the acceleration/deceleration time

Servo drive too short. appropriately
Er.oC3 overcurrent at
constant speed Sudden load change or abnormal
Check the load
load

83
 Fault
Fault type Possible fault cause Solution
code

Low grid voltage Check the input power supply

Encoder fault occurs when PG is

Check the encoder and its wiring
running.

The servo drive power is low. Use a servo drive with higher power

Abnormal input voltage Check the input power supply

Servo drive
overvoltage The acceleration time is too short. Prolong the acceleration time appropriately
Er.oU1
during
acceleration When instantaneous stop happens, Set the startup mode P08.00 to startup after
the rotating motor is restarted. speed tracking

The deceleration time is too short

Servo drive (compared with the regenerative Prolong the deceleration time
overvoltage energy).
Er.oU2
during
deceleration There is potential energy load or the Select appropriate dynamic braking
load inertial torque is large. components

In vector control, the ASR parameters Refer to the ASR parameter setting of Group
are not set properly. P05

The acceleration/deceleration time is Prolong the acceleration/deceleration time

Servo drive too short. appropriately
Er.oU3 overvoltage at
constant speed Abnormal input voltage Check the input power supply

Abnormal fluctuation of input voltage Install an input reactor

Large load inertia Adopt dynamic braking components

Check the installation wiring

Er.IrF Input phase loss There is phase loss in input R, S, T.
Check the input voltage

Output phase Check the output wiring

Er.odF There is phase loss in output U, V, W.
loss Check the motor and the cables

There is interphase short circuit or

Power module
Er.drv grounding short circuit in three Rewire and check the motor insulation
protection
phases output.

84
 Fault
Fault type Possible fault cause Solution
code

Instantaneous overcurrent of the

Refer to the overcurrent solutions
servo drive

The duct is blocked or the fan is

Unblock the duct or replace the fan
damaged.

The ambient temperature is too high. Lower the ambient temperature

Wires or plug-in units of the control

Check them and rewire
board are loose.

Abnormal current waveform caused

Check the wiring
by output loss or other reasons

The auxiliary power supply is

damaged, and the drive voltage is Seek for technical support
insufficient.

Inverter module shoot-through Seek for technical support

Abnormal control board Seek for technical support

Braking pipe damaged Seek for technical support

The ambient temperature is too high. Lower the ambient temperature

Inverter module The duct is blocked. Clean the duct

Er.oH1 heatsink
overheat The fan is damaged. Replace the fan

The inverter module is abnormal. Seek for technical support

The ambient temperature is too high. Lower the temperature

Rectifier
Er.oH2 heatsink The duct is blocked. Clean the duct
overheat
The fan is damaged. Replace the fan

The motor parameters are incorrect. Perform auto-tuning of motor parameters

Servo drive
Er.oL1
overload
The load is too large. Use a servo drive with higher power

85
 Fault
Fault type Possible fault cause Solution
code

Reduce the DC braking current and prolong the

The DC braking amount is too large.
braking time

When instantaneous stop happens, Set the startup mode P08.00 to startup after
the rotating motor is restarted. speed tracking

The acceleration time is too short. Prolong the acceleration time

The grid voltage is too low. Check the grid voltage

The V/F curve is improper. Adjust the V/F curve and torque boost

The motor overload protection factor Set the overload protection factor of the motor
setting is incorrect. correctly

The motor is blocked or the sudden

Check the load
change of load is too large.

Er.oL2 Motor overload

The universal motor runs at low For long-time low-speed running, a specialized
speed for a long time with high load motor should be used

The grid voltage is too low. Check the grid voltage

The V/F curve is improper. Set the V/F curve and torque boost correctly

See the function definition of the STOP key in

Sudden stop using the STOP key
Emergency stop P00.04
Er.EFT or external
device fault External fault emergency stop After the external fault is revoked, release the
terminal is enabled. external fault terminal

EEPROM The read/write error of the control Reset by pressing the STOP/RESET key, and seek
Er.EEP
read/write fault parameters occurs. for technical support

Wires or plug-in units of the control

Check them and rewire
board are loose.

Current The auxiliary power supply is

Seek for technical support
Er.Cur detection circuit damaged.
abnormal
The Hall device is damaged. Seek for technical support

The amplifying circuit is abnormal. Seek for technical support

86
 Fault
Fault type Possible fault cause Solution
code

The AI voltage is too high. Reduce the AI voltage to less than 12 V

Press the STOP/RESET key to reset or add a

Strong interference
power filter at the power input side
System
Er.CPU
interference
Main control board DSP Press the STOP/RESET key to reset and seek for
reading/writing error technical support

The nameplate parameters of the Set the parameters properly according to the
motor are set incorrectly. motor nameplate

When reverse running is inhibited,

reverse rotation auto-tuning is Cancel the reverse running inhibition
Poor performed.
Er.Tun
auto-tuning
Check the motor wiring

Auto-tuning timeout Check P02.16 (upper limit frequency) and see

whether P02.17 is lower than the rated
frequency

Vector control with PG (or V/F control

Er.PG1 PG fault with PG), encoder signal Check the encoder wiring and rewire
disconnection

Undervoltage The servo drive is powered down

Er.Pof Check the R, S, T input
during running during running.

No home is found during home Check whether there is home signal input on the
Er.OrG Home lost
searching. corresponding terminals

The speed feedback encoder Avoid using the same speed feedback encoder
selection setting is not correct. for two motors

The AI function selection setting is Avoid choosing the same function for different
Parameter not correct. AIs
Er.PST
setting error
In vector control, torque limit (P05.13, P05.14)
Usage of process closed-loop is not and frequency reference (P02.04 or PLC stage
correct. frequency reference) can not have process
closed-loop as the same source

87
 Fault
Fault type Possible fault cause Solution
code

P24 is shorted with COM. Check the wiring between P24 and COM
Short circuit of
Er.24v control board
Change the interface board and seek for
24 V power The interface board is damaged.
technical support

Short circuit to One of the phases (most likely the Check the grounding short circuit of the three
Er.GdF
ground fault phase U) is grounding short circuited. phases output and troubleshoot it

The ASR parameters are improper. Modify the Group P05 function codes

Excessive
The speed deviation detection value
Er.dEv speed deviation Modify the speed deviation detection setting
is too small.
(DEV) fault

Heavy load fluctuation Eliminate the load vibration

The ambient temperature is too high. Lower the ambient temperature

The motor duct is blocked. Clean the motor duct

Er.oHL Motor overheat

The motor fan is damaged. Replace the motor fan

The motor runs at low frequency for

Add a large fan for the motor to dissipate heat
a long time with high load.

Temperature The temperature sampling circuit is

Seek for technical support
sampling abnormal.
Er.THI disconnection
of inverter The temperature sampling cable is
Check the sampling cable
module disconnected.

±10 V grounding Check the wiring of ±10 V

Short circuit of
Er.10v control board
Change the interface board and seek for
+10 V The interface board is damaged.
technical support

Internal
overcurrent
Er.rEF The control board is damaged. Seek for technical support
baseline
abnormal

Undervoltage
Er.036 The bus voltage is below 420 V. Check the accessories
during running

88
 Fault
Fault type Possible fault cause Solution
code

Bus
xml file is not written into the Write the xml file into the EEPROM of the slave
Er.Int initialization
EEPROM of the slave (drive) ESC. ESC properly
error

Overvoltage of After rectification, the direct voltage

Er.oUC Check whether the control power is normal
control voltage is over 390 V.

EtherCAT
The address for parameter mapping Ensure the mapping address is a valid drive
Er.Add parameter
is not correct. parameter address
mapping error

All possible alarm types of SPS-NE are included in the Table 6-2. For details, refer to the P97 group setting. If the fault

automatically disappears during running, the servo drive will automatically return to the state before alarm.

Table 6-2 Alarm types and solutions

Alarm
Alarm type Possible alarm cause Solution
code

The motor parameters are incorrect. Perform auto-tuning of motor parameters

The load is too large. Use a servo drive with higher power

Reduce the DC braking current and prolong the

The DC braking amount is too large.
braking time

Servo drive
AL.oL1 When instantaneous stop happens, Set the startup mode P08.00 to startup after
overload
the rotating motor is restarted. speed tracking

The acceleration time is too short. Prolong the acceleration time

The grid voltage is too low. Check the grid voltage

The V/F curve is improper. Adjust the V/F curve and torque boost

The motor overload protection factor Set the overload protection factor of the motor
setting is incorrect. correctly
AL.oL2 Motor overload
The motor is blocked or the sudden
Check the load
change of load is too large.

89
 Alarm
Alarm type Possible alarm cause Solution
code

The universal motor runs at low For long-time low-speed running, a specialized
speed for a long time with high load motor should be used

The grid voltage is too low. Check the grid voltage

The V/F curve is improper. Set the V/F curve and torque boost correctly

EEPROM The read/write error of the control Reset by pressing the STOP/RESET key, and seek
AL.EEP
read/write fault parameters occurs. for technical support

The grid voltage is too low. Check the grid voltage

Change the main circuit contactor, and seek for

The contactor is damaged.
technical support

Contactor
AL.rLy1 The power-on buffering resistor is Change the buffering resistor, and seek for
abnormal
damaged. technical support

The control circuit is damaged. Seek for technical support

Input phase loss Check the R, S, T wiring

The AI signal is disconnected or too

External weak (lower than 2 mA) when AI Check the wiring or adjust the input source of
AL.EGL
reference loss current is set as the main frequency reference signals
reference or the torque reference

P24 is shorted with COM. Check the wiring between P24 and COM
Short circuit of
AL.24v control board
Change the interface board and seek for
24 V power The interface board is damaged.
technical support

90
 Chapter 7 Parameter list

Menu Cha
Function Index- Default mode nge
Name Value range Min. unit
code Sub-index value
Q B

P00: System management parameters

0: Quick menu mode

Only quick commissioning

related parameters are
displayed.

1: Full menu mode

Menu mode All function parameters

P00.00 2000-01h 1 0 √ √ ○
selection are displayed.

2: Changed memory
menu mode

Only parameters that are

different from factory
settings are displayed.

0: No password

P00.01 User password 2000-02h Others: Password 1 0 × √ ○

protection

LCD display 0: Chinese

P00.02 2000-03h 1 0 × √ ○
language 1: English

0: All data can be

changed.

1: Only the digital setting

Parameter of main frequency
P00.03 protection 2000-04h reference P02.05 and this 1 0 √ √ ○
setting function code can be
changed.

2: Only this function code

can be changed.

91
 Menu Cha
Function Index- Default mode nge
Name Value range Min. unit
code Sub-index value
Q B

Ones: For manufacturer

commissioning

Tens: Function selection

of the STOP/RESET key

0: The STOP key is valid

only in the keypad control
channel.

1: The STOP key is valid in

all control channels.

Note: The RESET key is

valid in all control
channels.

Hundreds: Function
selection of multi-function
M key

0: No function

Selection of 1: JOG
P00.04 2000-05h 1 0100 × √ ×
key functions
2: FWD/REV

3: Command channel
switchover 1 (only valid at
stop)

4: Command channel
switchover 2 (valid at
both stop and running)

5: Keypad lock function

6: Emergency stop
function

7: Coast to stop function

Thousands: Keypad lock

function

0: All locked

1: All locked except the

STOP key

92
 Menu Cha
Function Index- Default mode nge
Name Value range Min. unit
code Sub-index value
Q B

2: All locked except the >>

key

3: All locked except the

RUN and STOP keys

0: Parameters rewritable

1: Clear fault records

Parameter 2: Restore to factory

P00.05 2000-06h 1 0 × √ ×
initialization settings

3: Only restore the quick

startup group parameters

0: No operation

1: Parameter upload

2: Parameter download

3: Parameter download
Parameter
P00.06 2000-07h (excluding motor 1 0 × √ ×
copy
parameters)

Note: Parameter
upload/download is not
performed on the servo
drive parameters.

P01: Status display parameters

0: No function

1: Digital setting 1: Set by

keypad ∧∨

2: Digital setting 2:
Main frequency Terminal UP/DN
P01.00 reference 2001-01h 1 0 × √ *
3: Serial port
channel
communication

4: AI

5: Reserved

6: Internal PLC running

93
 Menu Cha
Function Index- Default mode nge
Name Value range Min. unit
code Sub-index value
Q B

7: Process closed-loop PID

8: Multi-speed

9: PLC card or bus

(reserved)

Main frequency
P01.01 2001-02h -3000.00 to 3000.00 Hz 0.01 Hz 0.00 × √ *
reference

Auxiliary
P01.02 frequency 2001-03h -3000.00 to 3000.00 Hz 0.01 Hz 0.00 × √ *
reference

Frequency
P01.03 2001-04h -3000.00 to 3000.00 Hz 0.01 Hz 0.00 × √ *
reference

Frequency
command
P01.04 (after 2001-05h -3000.00 to 3000.00 Hz 0.01 Hz 0.00 × √ *
acceleration/
deceleration)

Output
P01.05 2001-06h -3000.00 to 3000.00 Hz 0.01 Hz 0.00 × √ *
frequency

P01.06 Output voltage 2001-07h 0 to 480 V 1V 0 × √ *

P01.07 Output current 2001-08h 0.0 to 3Ie 0.1 A 0.0 × √ *

P01.08 Torque current 2001-09h -300.0 to +300.0％ 0.1％ 0.0％ × √ *

P01.09 Flux current 2001-0Ah 0 to +100.0％ 0.1％ 0.0％ × √ *

P01.10 Output torque 2001-0Bh -300.0 to +300.0％ 0.1％ 0.0％ × √ *

0.0 to 200.0％ (relative to

P01.11 Motor power 2001-0Ch 0.1％ 0.0％ × √ *
the rated power of motor)

Motor speed
P01.12 2001-0Dh -60000.0 to 60000.0 rpm 0.1 rpm 0.0 × √ *
frequency

Motor actual
P01.13 2001-0Eh -3000.0 to 3000.0 Hz 0.01 0.00 × × *
frequency

94
 Menu Cha
Function Index- Default mode nge
Name Value range Min. unit
code Sub-index value
Q B

High bits of 10000

P01.14 2001-0Fh 0 to 65535*10000 kWh 0 × √ *
work (kWh) kWh

Low bits of
P01.15 2001-10h 0 to 9999 kWh 1 kWh 0 × √ *
work (kWh)

P01.16 Bus voltage 2001-11h 0 to 800 V 1V 0 × √ *

0 to FFFFH

Bit0: Running/Stop

Bit1: REV/FWD

Bit2: Zero speed running

Bit3: Accelerating

Bit4: Decelerating

Bit5: Running at constant

speed

Bit6: Pre-excitating
Operation
P01.17 status of servo 2001-12h Bit7: Auto-tuning 1 0000 × √ *
drive
Bit8: Overcurrent limited

Bit9: DC overvoltage
limited

Bit10: Torque limited

Bit11: Speed limited

Bit12: Servo drive in fault

Bit13: Speed control

Bit14: Torque control

Bit15: Position control

0 to FFH, 0: Off; 1: On

Digital input High-speed pulse

P01.18 2001-13h 1 00 × √ *
terminal state reference not refreshed
synchronously

95
 Menu Cha
Function Index- Default mode nge
Name Value range Min. unit
code Sub-index value
Q B

0 to FH, 0: Off; 1: On

Digital output High-speed pulse output

P01.19 2001-14h 1 0 × √ *
terminal sate not refreshed
synchronously

P01.20 to
Reserved
P01.23

Sin/Cos CD
P01.24 2001-19h 0 to 20.48 0.01 0.00 × √ *
signal strength

Process -100.0 to 100.0％

P01.25 closed-loop 2001-1Ah 0.1％ 0.0％ × √ *
reference (relative to the full span)

Process -100.0 to 100.0％

P01.26 closed-loop 2001-1Bh 0.1％ 0.0％ × √ *
feedback (relative to the full span)

Process -100.0 to 100.0％

P01.27 closed-loop 2001-1Ch 0.1％ 0.0％ × √ *
deviation (relative to the full span)

Process -100.0 to 100.0％

P01.28 closed-loop 2001-1Dh 0.1％ 0.0％ × √ *
output (relative to the full span)

Estimated
P01.29 temperature of 2001-1Eh 0 to 200℃ 1℃ 0 × √ *
motor

Sync deviation
P01.30 count of 2001-1Fh 0 to 10000 1 0 × √ *
EtherCAT bus

-300.0 to 300.0％
ASR controller
P01.31 2001-20h (relative to the rated 0.1％ 0.0％ × √ *
output
torque of motor)

96
 Menu Cha
Function Index- Default mode nge
Name Value range Min. unit
code Sub-index value
Q B

-300.0 to 300.0％
Torque
P01.32 2001-21h (relative to the rated 0.1％ 0.0％ × √ *
reference
torque of motor)

UVW input
P01.33 state of 2001-22h 0 to 7 1 0 × × *
encoder

P01.34 Reserved

P01.35 Encoder speed 2001-24h 0.00 to 600.00 Hz 0.01 0.00 × × *

P01.36 Motor speed 2001-25h 0.00 to 600.00 Hz 0.01 0.00 × × *

Encode counter
P01.37 2001-26h 0 to 65535 1 0 × × *
value

Encoder U
P01.38 2001-27h 0 to 65535 1 0 × × *
pulse position

Encoder Z
P01.39 2001-28h 0 to 65535 1 0 × × *
pulse position

Motor counter
P01.40 2001-29h 0 to 65535 1 0 × × *
value

Motor Z pulse
P01.41 2001-2Ah 0 to 65535 1 0 × × *
position

Sin/Cos
P01.42 encoder 2001-2Bh 0 to 2048 1 0 × √ *
amplitude

Reference
P01.43 2001-2Ch 0 to 65535 1 0 × × *
point position

High bits of
P01.44 position 2001-2Dh 0 to 65535 1 0 × × *
reference

97
 Menu Cha
Function Index- Default mode nge
Name Value range Min. unit
code Sub-index value
Q B

Low bits of
P01.45 position 2001-2Eh 0 to 65535 1 0 × × *
reference

High bits of
P01.46 position 2001-2Fh 0 to 65535 1 0 × × *
feedback

Low bits of
P01.47 position 2001-30h 0 to 65535 1 0 × × *
feedback

Position
P01.48 2001-31h -9999 to 9999 1 0 × × *
deviation pulse

P01.49 Current angle 2001-32h 0 to 359.99 0.01 0 × × *

P02: Basic parameters

Ones: Motor control mode

selection

1: Vector control with PG

Motor and
P02.00 2002-01h Tens: Motor type 1 01 √ √ ×
mode selection
selection

0: Asynchronous motor

1: Synchronous motor

P02.01 Keypad enable 2002-02h 1: Enable keypad 1 0 × √ ×

Command 0: Keypad control

P02.02 channel 2002-03h 1 0 √ √ ○
selection 1: Terminal control

Running
P02.03 2002-04h 0: Forward 1: Reverse 1 0 √ √ ○
direction

98
 Menu Cha
Function Index- Default mode nge
Name Value range Min. unit
code Sub-index value
Q B

0: Digital setting 1:
Keypad ∧∨

1: Digital setting 2:
Source of main
Terminal UP/DN
P02.04 frequency 2002-05h 1 0 √ √ ○
reference 2 to 5: Reserved

6: Process closed-loop PID

7 to 10: Reserved

Digital setting
of main
P02.05 2002-06h P02.17 to P02.16 0.01 Hz 50.00 √ √ ○
frequency
reference

LED ones: Store selection

of main digital frequency

0: Frequency stored upon

power failure

1: Frequency not stored

upon power failure

LED tens: Main digital

frequency control upon
stop

Main and 0: Frequency retained

auxiliary digital upon stop
P02.06 2002-07h 1 0000 × √ ○
frequency
1: Frequency restored
control
upon stop

LED hundreds: Store

selection of auxiliary
digital frequency

0: Frequency stored upon

power failure

1: Frequency not stored

upon power failure

LED thousands: Auxiliary

digital frequency control

99
 Menu Cha
Function Index- Default mode nge
Name Value range Min. unit
code Sub-index value
Q B

upon stop

0: Frequency retained
upon stop

1: Frequency cleared upon

stop

Note:

The ones place and tens

place are only for
P02.04=0, 1, 2

The hundreds place and

thousands place are only
for P02.07=1, 2, 3

0: No auxiliary reference

1: Digital setting 1: Keypad

∧∨
Source of
2: Digital setting 2:
auxiliary
P02.07 2002-08h Terminal UP/DN 1 0 × √ ○
frequency
reference 3 to 5: Reserved

6: Process closed-loop PID

7: Reserved

Digital setting
of auxiliary
P02.08 2002-09h 0.00 to 3000.0 Hz 0.01 Hz 0.00 × √ ○
frequency
reference

Auxiliary 0.00 to 9.99

P02.09 reference 2002-0Ah Only valid for P02.07=4 to 0.01 1.00 × √ ○

coefficient 7

0: +
Source
calculation of 1: -
P02.10 2002-0Bh 1 0 × √ ○
frequency 2: *
reference
3: MAX (Main, Auxiliary)

100
 Menu Cha
Function Index- Default mode nge
Name Value range Min. unit
code Sub-index value
Q B

4: MIN (Main, Auxiliary)

5: sqrt (Main) +sqrt

(Auxiliary)

6: sqrt (Main+Auxiliary)

7: Switchover between
main frequency reference
source and auxiliary
frequency reference
source

8: Switchover between
main frequency reference
source and
(Main+Auxiliary)
frequency reference
source

9: Switchover between
auxiliary frequency
reference source and
(Main+Auxiliary)
frequency reference
source

Proportion 0: No function
adjustment
1: Relative to P02.15
P02.11 selection for 2002-0Ch 1 0 × √ ○
frequency 2: Relative to the current
reference frequency

Proportion
adjustment
P02.12 coefficient for 2002-0Dh 0.0% to 200.0% 0.1％ 100.0％ × √ ○
frequency
reference

(unit 5.5–22:
Acceleration defined
P02.13 2002-0Eh 0.0 to 3600.0 by P11.01) 6s √ √ ○
time 1

0.1 30–45:

101
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Function Index- Default mode nge
Name Value range Min. unit
code Sub-index value
Q B

20 s

Other:

30 s

5.5–22:

6.0 s
(unit

Deceleration defined 30–45:

P02.14 2002-0Fh 0.0 to 3600.0 by P11.01) √ √ ○
time 1 20.0 s
0.1
Other:

30 s

Maximum MAX[50.00, upper limit

P02.15 output 2002-10h frequency P02.16] to 0.01 Hz 50.00 √ √ ×
frequency 3000.00 Hz

Upper limit
P02.16 2002-11h P02.17 to P02.15 0.01 Hz 50.00 √ √ ○
frequency

Lower limit
P02.17 2002-12h 0.00 to P02.16 0.01 Hz 0.00 √ √ ○
frequency

P03: Motor parameters

Motor rated
P03.00 2003-01h 0.4 to 999.9 kW 0.1 0 √ √ ×
power

Motor rated 0 to rated voltage of

P03.01 2003-02h 1 0 √ √ ×
voltage servo drive (P98.04)

Motor rated Model-de

P03.02 2003-03h 0.1 to 999.9 A 0.1 A √ √ ×
current pendent

Motor rated Model-de

P03.03 2003-04h 1.00 to 3000.0 Hz 0.01 Hz √ √ ×
frequency pendent

Motor rated
P03.04 2003-05h 0 to 60000 rpm 1 rpm 1440 rpm √ √ ×
speed

102
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Name Value range Min. unit
code Sub-index value
Q B

0.001 to 1.000

Motor power Used for calculation of Model-de

P03.05 2003-06h motor parameters 0.001 √ √ ×
factor pendent
according to the
nameplate

Motor stator Model-de

P03.06 2003-07h 0.000 to 65.000 0.001 √ √ ×
resistance pendent

Motor leakage
inductance
Model-de
P03.07 (synchronous 2003-08h 0.0 to 2000.0 0.1 √ √ ×
pendent
motor axis-D
inductance )

Motor rotor
resistance
Model-de
P03.08 (synchronous 2003-09h 0.000 to 65.000 0.001 √ √ ×
pendent
motor back
EMF constant)

Motor mutual
inductance
Model-de
P03.09 (synchronous 2003-0Ah 0.0 to 2000.0 0.1 √ √ ×
pendent
motor axis-Q
inductance)

Motor no-load Model-de

P03.10 2003-0Bh 0.1 to 999.9 A 0.1 A √ √ ×
current I0 pendent

20.0％ to 110.0%

Set action level (%) =

Rated motor current /
Motor overload Rated servo drive current
P03.11 protection 2003-0Ch × 100 0.1% 100.0% √ √ ×
coefficient
Actual action level for
low-speed compensation
= Set action level ×
(Output frequency / 30 Hz

103
 Menu Cha
Function Index- Default mode nge
Name Value range Min. unit
code Sub-index value
Q B

× 45 + 55)

Actual converted current

of overload protection =
Sampling current/Action
level for overload
protection

0: No action

1: Action (motor is static)

Parameter 2: Action (motor rotates)

P03.24 2003-19h 1 0 √ √ ×
auto-tuning
3: Reserved (calculated
according to the
nameplate)

Synchronous
motor 0 to 30% of rated motor
P03.25 2003-1Ah 0 10 √ √ ×
auto-tuning current
current

Encoder
P03.26 installation 2003-1Bh 0 to FFFFH 1 0 √ √ ×
initial angle

Encoder Z
P03.27 pulse initial 2003-1Ch 0 to FFFFH 1 0 √ √ ×
angle

0: SMPM (reverse startup

Synchronous can not be totally

P03.28 motor type 2003-1Dh avoided) 1 0 √ √ ×

selection 1: IPM (reverse startup
can be avoided)

P04: Encoder parameters

0: Digital incremental
PG card type
P04.04 2004-05h 1: Sin/Cos 1 0 × √ *
(R)
2: Resolver

104
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Name Value range Min. unit
code Sub-index value
Q B

3: Absolute

Pulses per
P04.05 revolution of 2004-06h 1 to 10000 1 2048 × √ ○
encoder

Rotation 0: A leads B
P04.06 direction of 2004-07h 1 0 × √ ×
encoder 1: B leads A

Pulses per
P04.07 revolution of 2004-08h 1 to 10000 1 2048 × √ ○
motor

Rotation 0: A leads B
P04.08 direction of 2004-09h 1 0 × √ ○
motor 1: B leads A

Ones: Encoder Z pulse

enable

PG signal Tens: Encoder UVW signal

P04.09 2004-0Ah 1 010 × √ ×
enable enable

Hundreds: Motor Z pulse

enable

Ones: Encoder high-speed

filter: 0 to 9

Tens: Encoder low-speed

PG signal filter filter: 0 to 9

P04.10 2004-0Bh 1 0030 × √ ○
coefficient Hundreds: Motor
high-speed filter: 0 to 9

Thousands: Motor
low-speed filter: 0 to 9

Frequency-
P04.14 division 2004-0Fh 0 to 4096 1 1 × √ ×
coefficient

105
 Menu Cha
Function Index- Default mode nge
Name Value range Min. unit
code Sub-index value
Q B

Detection time 0.0: No action

P04.15 for encoder 2004-10h 0.1 0.0 × √ ×
disconnection 0.1 to 10.0 s

Protection for 0: Coast to stop (Er.PG1)

P04.16 encoder 2004-11h 1: Switched to SVC 1 0 × √ ○

disconnection running (reserved)

Number of pole
P04.17 pairs of 2004-12h 0 to 64 1 1 × √ ×
resolver

Interference
P04.18 degree of 2004-13h 0 to 1000 1 0 × √ ×
resolver signal

P05: Speed control parameters

Speed loop
low-speed
P05.00 proportional 2005-01h 0.1 to 200.0 0.1 20.0 √ √ ○
gain
(ASR1-P)
Speed loop
low-speed
P05.01 2005-02h 0.000 to 10.000 s 0.001 s 0.200 s √ √ ○
integral time
(ASR1-I)

ASR1 output 0 to 8 (corresponding to 0

P05.02 2005-03h 1 0 × √ ○
filter to 2^8/8 ms）

ASR switchover
P05.03 2005-04h 0.0% to 50.0% 0.1 10.0％ × √ ○
frequency 1

Speed loop
high-speed
P05.04 proportional 2005-05h 0.1 to 200.0 0.1 10.0 √ √ ○
gain
(ASR2-P)

106
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Function Index- Default mode nge
Name Value range Min. unit
code Sub-index value
Q B

Speed loop
high-speed
P05.05 2005-06h 0.000 to 10.000 s 0.001 s 0.600 s √ √ ○
integral time
(ASR2-I)

ASR2 output 0 to 8 (corresponding to 0

P05.06 2005-07h 1 0 × √ ○
filter to 2^8/10 ms）

ASR switchover
P05.07 2005-08h 0.0% to 100.0% 0.1 20.0％ × √ ○
frequency 2

Speed loop
proportional
P05.08 gain at special 2005-09h 0.1 to 200.0 0.1 20.0 × √ ○
speed segment
(ASR3-P)

Speed loop
integral time at

P05.09 special speed 2005-0Ah 0.000 to 10.000 s 0.001 s 0.200 s × √ ○

segment

（ASR3-I）

ASR switchover
P05.10 2005-0Bh 0.0% to 100.0% 0.1 80.0％ × √ ○
frequency 3

Derivative gain 0: Disabled

P05.11 2005-0Ch 1 0 × √ ×
enable 1: Enabled

ASR derivative
P05.12 2005-0Dh 0.00 to 10.00 0.01 0.00 × √ ○
gain

0: Limit value for drive

torque
Drive torque
P05.13 2005-0Eh 1 0 × √ ×
limit channel 1–2: Reserved

3: Closed-loop output

107
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Function Index- Default mode nge
Name Value range Min. unit
code Sub-index value
Q B

0: Limit value for braking

torque
Braking torque
P05.14 2005-0Fh 1 0 × √ ×
limit channel 1–2: Reserved

3: Closed-loop output

Drive torque
P05.15 2005-10h 0.0％ to +300.0％ 0.1％ 180.0% × √ ○
limit value

Braking torque
P05.16 2005-11h 0.0％ to +300.0％ 0.1％ 180.0% × √ ○
limit value

0: Invalid
Zero servo
1: Always valid
P05.17 function 2005-12h 1 0 × √ ×
selection 2: Valid on conditions
(terminal enabled)

P05.18 Zero servo gain 2005-13h 0 to 6.000 0.001 1.000 × √ ○

Start frequency
P05.19 2005-14h 0.00 to 10.00 Hz 0.01 0.30 × √ ○
of zero servo

Action upon 0: Decelerate to stop

detection of
1: Coast to stop, and
P05.20 excessive 2005-15h 1 2 × √ ×
report Er.dEv
speed
deviation (DEV) 2: Continue running

Threshold for
excessive
P05.21 2005-16h 0％ to 50.0％ 0.1％ 20.0％ × √ ×
speed
deviation

Detection time
for excessive
P05.22 2005-17h 0.0 to 10.0 s 0.1 s 10.0 × √ ×
speed
deviation

P06: Torque control parameters

108
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Function Index- Default mode nge
Name Value range Min. unit
code Sub-index value
Q B

Speed/Torque 0: Speed control

P06.00 2006-01h 1 0 × √ ×
control mode 1: Torque control

Ones: Torque command

selection

0: By torque reference
setting

1: By torque current

Tens: Torque positive

direction selection

Torque control 0: Forward drive is

P06.01 2006-02h 1 0 × √ ×
mode selection positive

1: Reverse drive is positive

Hundreds: Speed
switched to torque
selection

0: Direct switchover

1: Switchover after the

torque switching point

Torque 0: Digital setting

P06.02 reference 2006-03h 1 0 × √ ×
selection 1 to 5: Reserved

Digital setting
P06.03 2006-04h -300.0% to 300.0% 0.1％ 0.0% × √ ○
of torque

Acceleration/
Deceleration
P06.04 2006-05h 0 to 65535 ms 1 0 × √ ×
time of torque
reference

Speed→torque
0％ to +300.0％ of initial
P06.05 switchover 2006-06h 0.1％ 100.0% × √ ×
torque
point

109
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Function Index- Default mode nge
Name Value range Min. unit
code Sub-index value
Q B

Switchover
delay between
P06.06 2006-07h 0 to 1000 ms 1 0 × √ ×
speed and
torque

0: Limit value for FWD

FWD speed speed
P06.07 2006-08h 1 0 × √ ×
limit channel
1: Reserved

FWD speed
P06.08 2006-09h 0.0％ to +100.0％ 0.1％ 100.0％ × √ ○
limit value

0: Limit value for REV

REV speed limit speed
P06.09 2006-0Ah 1 0 × √ ×
channel
1: Reserved

REV speed limit

P06.10 2006-0Bh 0.0％ to +100.0％ 0.1％ 100.0％ × √ ○
value

Compensation
value for
P06.11 2006-0Ch -20.0 to 20.0% 0.1％ 0.0％ × √ ×
mechanical
loss

Inertia 0: Disabled
P06.12 compensation 2006-0Dh 1 0 × √ ○
enable 1: Enabled

Inertia
P06.13 2006-0Eh 0－>1: Start auto-tuning 1 0 × √ ×
auto-tuning

Torque value of 0 to 100.0％ of rated

P06.14 2006-0Fh 0.1 10.0 × √ ×
auto-tuning motor torque

Mechanical
P06.15 2006-10h 0 to 30.000 kg·m2 0.001 0 × √ ○
inertia

0 to 50.0％ of rated
P06.16 Friction torque 2006-11h 0.1 0.0 × √ ×
motor torque

110
 Menu Cha
Function Index- Default mode nge
Name Value range Min. unit
code Sub-index value
Q B

Torque
P06.17 compensation 2006-12h 0.5 to 3.0 0.1 1.0 × √ ×
coefficient

P06.18 Torque offset 2006-13h -300.0％ to +300.0％ 0.1％ 0.0％ × √ ×

Start delay for

P06.19 2006-14h 0.00 to 1.00 s 0.01 s 0.00 × √ ×
torque offset

0: Overtorque detection
invalid

1: Continue running after

overtorque is detected,
only at constant speed

2: Continue running after

Action upon
overtorque is detected
P06.20 detection of 2006-15h 1 0 × × ×
during running
overtorque
3: Cut off output after
overtorque is detected,
only at constant speed

4: Cut off output after

overtorque is detected
during running

0.0％ to 300.0%

Threshold for SVC: Relative to the rated

P06.21 overtorque 2006-16h motor torque 0.1 0 × × ×
detection
V/F: Relative to the rated
motor current

Detection time
P06.22 for overtorque 2006-17h 0.0 to 10.0 s 0.1 0.0 s × × ×
detection

0: Undertorque detection
Action upon
invalid
P06.23 detection of 2006-18h 1 0 × × ×
undertorque 1: Continue running after
undertorque is detected,

111
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Name Value range Min. unit
code Sub-index value
Q B

only at constant speed

2: Continue running after

undertorque is detected
during running

3: Cut off output after

undertorque is detected,
only at constant speed

4: Cut off output after

undertorque is detected
during running

Threshold of 0 to 300.0%

P06.24 undertorque 2006-19h (relative to rated motor 0.1％ 0％ × × ×

detection torque)

Detection time
for
P06.25 2006-1Ah 0.0 to 10.0 s 0.1 0.0 × × ×
undertorque
detection

P08: Startup and stop parameters

0: Startup from the

startup frequency

1: Startup from the

startup frequency after
P08.00 Startup mode 2008-01h 1 0 × √ ×
braking

2: Startup after speed

tracking (with direction
judgment)

Startup delay
P08.01 2008-02h 0.00 to 30.00 s 0.01 s 0.00 s × √ ○
time

Startup dwell
P08.02 2008-03h 0.00 to 60.00 Hz 0.01 Hz 0.00 Hz × √ ○
frequency

112
 Menu Cha
Function Index- Default mode nge
Name Value range Min. unit
code Sub-index value
Q B

Startup
P08.03 frequency hold 2008-04h 0.00 to 10.00 s 0.01 s 0.00 s × √ ○
time

DC braking
0.0％ to 100.0％ of rated
P08.04 current at 2008-05h 0.1% 0.0％ × √ ○
current of servo drive
startup

DC braking 0.00 (no action)

P08.05 2008-06h 0.01 s 0.00 s × √ ○
time at startup 0.01 to 30.00 s

0: Decelerate to stop

1: Coast to stop
P08.06 Stop mode 2008-07h 1 0 × √ ×
2: Decelerate to stop + DC
braking

Stop detection
P08.07 2008-08h 0.00 to 150.00 Hz 0.01 Hz 0.50 Hz × √ ×
frequency

Hold time for

P08.08 stop detection 2008-09h 0.00 to 10.00 s 0.01 s 0.00 s × √ ○
frequency

Detection 0: Set speed value

P08.09 method for 2008-0Ah (reserved) 1 1 × √ ×

stop speed 1: Detected speed value

Stop dwell
P08.10 2008-0Bh 0.00 to 150.00 Hz 0.01 Hz 02.00 Hz × √ ×
frequency

Stop dwell
P08.11 frequency hold 2008-0Ch 0.00 to 10.00 s 0.01 s 0.00 s × √ ○
time

Start frequency
P08.12 of DC braking 2008-0Dh 0.00 to 60.00 Hz 0.01 Hz 0.00 Hz × √ ○
at stop

113
 Menu Cha
Function Index- Default mode nge
Name Value range Min. unit
code Sub-index value
Q B

DC braking
P08.13 2008-0Eh 0.00 to 10.00 s 0.01 s 0.00 s × √ ○
delay at stop

DC braking 0.0％ to 100.0% of rated

P08.14 2008-0Fh 0.1% 0.0% × √ ○
current at stop current of servo drive

DC braking 0.0 (no action)

P08.15 2008-10h 0.01 s 0.00 s × √ ○
time at stop 0.01 to 30.00 s

Restart 0: Disabled
P08.16 selection upon 2008-11h 1 0 × √ ×
power failure 1: Enabled

Waiting time
for restart
P08.17 2008-12h 0.0 to 3600.0 s 0.1 s 0.0 s × √ ○
upon power
failure

0: Reverse running
allowed

Reverse 1: Reverse running

P08.18 running 2008-13h inhibited (zero frequency 1 0 × √ ×
inhibition running when a reverse
running command is
input)

FWD/REV
P08.19 switchover 2008-14h 0.00 to 360.00 s 0.01 s 0.00 s × √ ○
deadzone time

0: Switchover after the

FWD/REV zero frequency
P08.20 switchover 2008-15h 1 0 × √ ×
mode 1: Switchover after the
startup frequency

Dynamic
0.0 to 100.0％ (0: No
P08.21 braking usage 2008-16h 0.1％ 100.0％ × √ ○
action)
ratio

P08.22 Braking startup 2008-17h 700 to 780 1 750 × √ ○

114
 Menu Cha
Function Index- Default mode nge
Name Value range Min. unit
code Sub-index value
Q B

voltage

Deceleration 0.00 to 100.00 s

time for
P08.23 2008-18h (0: Automatic fast 0.01 s 0.00 s × √ ○
emergency
stop deceleration)

P09: Digital input and output parameters

0: No function

1: FWD

2: REV

3: External FWD jogging

control input

4: External REV jogging

control input

5 to 9: Reserved

10: 1
Acceleration/Deceleration
89
time terminal 1
85
2009-01h 11:
DI1 to DI8 90
P09.00 to Acceleration/Deceleration
function to 1 √ √ ×
P09.07 time terminal 2 60
selection
2009-08h
12, 13: Reserved 57

14: Frequency increase 72

command (UP)
22
15: Frequency down
command (DN)

16: External fault NO input

17: External fault NC input

18: External interruption

NO contact input

19: External interruption

NC contact input

20: Frequency reference

115
 Menu Cha
Function Index- Default mode nge
Name Value range Min. unit
code Sub-index value
Q B

source switchover
command

21: Reserved

22: External reset (RESET)

input

23: Coast to stop input

(FRS)

24:
Acceleration/Deceleration
inhibition

25: DC braking input at

stop

26 to 33: Reserved

34: Main reference

frequency source
selection 1

35: Main reference

frequency source
selection 2

36: Main reference

frequency source
selection 3

37: Main reference

frequency switched to AI

38: Command source

selection 1

39: Command source

selection 2

40: Command switched

to terminal

41: FWD inhibition

42: REV inhibition

43: Servo drive running

inhibition

116
 Menu Cha
Function Index- Default mode nge
Name Value range Min. unit
code Sub-index value
Q B

44: External stop

command (it is valid for
all control modes, and the
device will be stopped
according to the current
stop mode)

45: Auxiliary reference

frequency clear

46: Pre-excitation
command terminal
(reserved)

47: Speed control and

torque control switchover
terminal

48: Torque direction

switchover terminal in
torque control

49 to 53: Reserved

54: Zero servo enabling

terminal

55: Motor 1 and 2

switchover terminal

56: Reserved

57: Spindle swing

58, 59: Reserved

60: Emergency stop

64 to 71: Reserved

72: Reaming enable

73 to 75: Reserved

76: Positioning start

terminal 1

77: Positioning start

terminal 2

78: Positioning start

117
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Function Index- Default mode nge
Name Value range Min. unit
code Sub-index value
Q B

terminal 3

79, 80: Reserved

81: Position deviation

counter clear

82: Reserved

83: Position loop gain

switchover terminal

84: Position reference

point input terminal (only
valid for DI6, DI7, and DI8)

85: Spindle/Positioning
homing terminal

86: Spindle indexing

terminal 1

87: Spindle indexing

terminal 2

88: Spindle indexing

terminal 3

89: Speed/Position
switchover terminal

90: Tapping enable

91: Limit switch for left

travel (only valid for DI6,
DI7, and DI8)

92: Limit switch for right

travel (only valid for DI6,
DI7, and DI8)

93 to 94: Reserved

95: Internal positioning

start enable

FWD/REV 0: Two-wire mode 1

P09.08 operation 2009-09h 1 0 × √ ×
mode 1: Two-wire mode 2

118
 Menu Cha
Function Index- Default mode nge
Name Value range Min. unit
code Sub-index value
Q B

Terminal
P09.09 2009-0Ah 0.01 to 99.99 Hz/s 0.01 1.00 × √ ○
UP/DN rate

Terminal filter
P09.10 2009-0Bh 0 to 500 ms 1 10 × √ ○
time

P09.11 to
Reserved
P09.14

Binary

0: Positive logic active

1: Negative logic active

Input terminal
P09.15 2009-10h LED ones: 1 00 × √ ○
active mode
Bit0 to Bit3: DI1 to DI4

LED tens:

Bit0 to Bit3: DI5 to DI8

Binary

0: Inactive

1: Active
Virtual input
P09.16 terminal active 2009-11h LED ones: 1 00 × √ ○
mode
Bit0 to Bit3: DI1 to DI4

LED tens:

Bit0 to Bit3: DI5 to DI8

Open-collector 0: Servo drive in running

P09.18 output terminal 2009-13h (RUN) 1 30 √ √ ×
DO1
1: Frequency reach signal
(FAR)
Open-collector
P09.19 output terminal 2009-14h 2: Non-zero speed 1 25 √ √ ×
DO2 detection signal

3: Frequency-level
P09.20 Open-collector 2009-15h 1 16 √ √ ×
detection signal (FDT1)
output terminal

119
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Function Index- Default mode nge
Name Value range Min. unit
code Sub-index value
Q B

DO3 4: Frequency-level
detection signal (FDT2)

5: Overload detection
signal (OL)

6: Lockout for
undervoltage (LU)

7: External fault stop

(EXT)

8: Frequency upper limit

(FHL)

9: Frequency lower limit

(FLL)

10: Zero-speed running

11 to 14: Reserved

15: Servo drive ready

(RDY)
Open-collector
16: Servo drive fault
P09.21 output terminal 2009-16h 1 15 √ √ ×
DO4 17: Host device on/ff
signal

18: Reserved

19: Torque limited

Valid when torque

command is limited by
the torque limit value 1 or
2.

20: Flux detection signal

Valid when flux detection

value exceeds P09.33

21: Zero servo completed

22: Analog torque offset

valid

23: Overtorque output

120
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Name Value range Min. unit
code Sub-index value
Q B

24: Undertorque output

25: Positioning completed

26: Positioning near

27: Reserved

28: Excessive position

deviation alarm

29: Reserved

30: Spindle/Positioning
homing completed

31: Spindle indexing

completed

32 to 33: Reserved

34: FWD and REV

indication terminal of
servo drive

35: Motor 1 and 2

indication terminal

36: Communication card

on/off signal

37: Position 1 reached

38: Position 2 reached

39: Position 3 reached

40: Position 4 reached

41: Position 5 reached

42: Position 6 reached

43: Position 7 reached

44: Position 8 reached

In the quick menu, only

functions 0, 1, 3, 4, 5, 6, 7,
8, 9, 15, 16 are displayed.

P09.22 Output 2009-17h Binary 1 0 × √ ○

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code Sub-index value
Q B

terminal active 0: Positive logic active

mode
1: Negative logic active

LED ones:

Bit0 to Bit3: DO1 to DO4

Detection
width for
P09.24 2009-19h 0.00 to 3000.00 Hz 0.01 Hz 2.50 Hz × √ ○
frequency
reach (FAR)

FDT1 level
P09.25 2009-1Ah P09.24 to P02.16 0.01 Hz 50.00 Hz × √ ○
upper limit

FDT1 level
P09.26 2009-1Bh 0.00 to P09.23 0.01 Hz 49.00 Hz × √ ○
lower limit

FDT2 level
P09.27 2009-1Ch P09.26 to P09.24 0.01 Hz 25.00 Hz × √ ○
upper limit

FDT2 level
P09.28 2009-1Dh 0.00 to P02.16 0.01 Hz 24.00 Hz × √ ○
lower limit

Flux detection
P09.33 2009-22h 10.0％ to 100.0% 0.1% 100.0% × √ ○
value

Zero speed 0.0％ to 100.0% of

P09.34 2009-23h 1.0% 1.0％ × √ ○
threshold maximum frequency

P11: Auxiliary function parameters

0: Straight-line
Acceleration/ acceleration/deceleration
P11.00 Deceleration 200B-01h 1 0 × √ ×
mode 1: S-curve
acceleration/deceleration

0: 0.1 s
Acceleration/
P11.01 Deceleration 200B-02h 1: second 1 1 √ √ ○
time unit
2: minute

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code Sub-index value
Q B

(unit set
Acceleration by P11.01)
P11.02 200B-03h 0.0 to 3600.0 6.00 × √ ○
time 2
0.1

(unit set
Deceleration by P11.01)
P11.03 200B-04h 0.0 to 3600.0 6.00 × √ ○
time 2
0.1

(unit set
Acceleration by P11.01)
P11.04 200B-05h 0.0 to 3600.0 6.00 × √ ○
time 3
0.1

(unit set
Deceleration by P11.01)
P11.05 200B-06h 0.0 to 3600.0 6.00 × √ ○
time 3
0.1

(unit set
Acceleration by P11.01)
P11.06 200B-07h 0.0 to 3600.0 6.00 × √ ○
time 4
0.1

(unit set
Deceleration by P11.01)
P11.07 200B-08h 0.0 to 3600.0 6.00 × √ ○
time 4
0.1

Acceleration of
P11.08 200B-09h 10.00 to 600.00 Hz/s 0.01 25.00 × √ ○
S-curve

Rapid
acceleration of
P11.09 200B-0Ah 0.20 to 600.00 Hz/s2 0.01 12.50 × √ ○
S-curve start
segment

Rapid
acceleration of
P11.10 200B-0Bh 0.20 to 600.00 Hz/s2 0.01 20.00 × √ ○
S-curve end
segment

P11.11 Deceleration of 200B-0Ch 10.00 to 600.00 Hz/s 0.01 25.00 × √ ○

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Q B

S-curve

Rapid
deceleration of
P11.12 200B-0Dh 0.20 to 600.00 Hz/s2 0.01 20.00 × √ ○
S-curve start
segment

Rapid
deceleration of
P11.13 200B-0Eh 0.20 to 600.00 Hz/s2 0.01 12.50 × √ ○
S-curve end
segment

Switchover
frequency for
P11.14 acceleration/ 200B-0Fh 0.00 to 3000.00 Hz 0.01 Hz 0.00 × √ ○
deceleration
time 1 and 2
Switchover
hysteresis
frequency for
P11.15 200B-10h 0.00 to 655.35 Hz 0.01 Hz 1.00 × √ ○
acceleration/
deceleration
time 1 and 2
Jog
acceleration/
P11.16 200B-11h 0.1 to 60.0 s 0.1 s 6.0 × √ ○
deceleration
time

P11.17 Jog interval 200B-12h 0.0 to 100.0 s 0.1 s 0.0 × √ ○

Jog running
P11.18 200B-13h 0.10 to 50.00 Hz 0.01 Hz 5.00 √ √ ○
frequency

Jump
P11.19 frequency 1 200B-14h P11.20 to 3000.00 Hz 0.01 Hz 0.00 × √ ×
upper limit

Jump
P11.20 frequency 1 200B-15h 0.00 to P11.19 0.01 Hz 0.00 × √ ×
lower limit

P11.21 Jump 200B-16h P11.22 to 3000.00 Hz 0.01 Hz 0.00 × √ ×

frequency 2

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Q B

upper limit

Jump
P11.22 frequency 2 200B-17h 0.00 to P11.21 0.01 Hz 0.00 × √ ×
lower limit

Jump
P11.23 frequency 3 200B-18h P11.24 to 3000.00 Hz 0.01 Hz 0.00 × √ ×
upper limit

Jump
P11.24 frequency 3 200B-19h 0.00 to P11.23 0.01 Hz 0.00 × √ ×
lower limit

P12: Advanced function parameters

HD/ND 0: HD (Heavy duty)

P12.00 200C-01h 1 0 × √ ×
selection 1: ND (Normal duty)

Energy saving 0: Disabled

P12.01 200C-02h 1 0 × √ ×
operation 1: Enabled

Carrier 0.7 to 15.0 KHz (3 k at

P12.02 200C-03h 0.1 8.0 √ √ ○
frequency minimum for vector)

Ones: Overmodulation
enable

0: Disabled

1: Enabled

Tens: Auto adjustment

selection of carrier
PWM mode
P12.03 200C-04h frequency 1 1001 × √ ×
optimization
0: Without auto
adjustment

1: With auto adjustment

Hundreds: Modulation
mode

0: Switchover of two

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Q B

phases and three phases

1: Three phases
modulation

Thousands:
Low-frequency carrier
limit

0: Disabled

1: Enabled

0: Manually select
Current loop
P12.04 200C-05h 1: Automatically calculate 1 0 × √ ×
gain selection
(after auto-tuning)

Current loop
proportional
P12.05 200C-06h 1 to 5000 1 1000 × √ ○
gain
ACR-P
Current loop
P12.06 integral time 200C-07h 0.5 to 100.0 ms 0.1 8.0 × √ ○
ACR-I

Power dip 0: Disabled

P12.07 ride-through 200C-08h 1 0 × √ ×
enable 1: Enabled

Frequency
decrease rate
P12.08 200C-09h 0.00 to 99.99 Hz/s 0.01 10.00 × √ ○
during voltage
compensation

Pre-excitation
P12.09 200C-0Ah 0.0 to 10.0 s 0.1 0.0 × √ ×
time

Minimum flux
P12.10 200C-0Bh 10％ to 150% 1％ 10％ × √ ○
setpoint

Field
weakening
P12.11 200C-0Ch 0 to 10000 1 1000 × √ ○
adjustment
coefficient 1

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code Sub-index value
Q B

Field
weakening
P12.12 200C-0Dh 0 to 10000 1 1000 × √ ○
adjustment
coefficient 2

Field 0: Disabled
P12.13 weakening 200C-0Eh 1 1 × √ ○
control method 1: Enabled

0: Auto running

1: Keep running during

power-on

Cooling fan 2: Running when there

P12.14 200C-0Fh 1 2 × √ ×
control are operation commands

Note: After stop, the fan

stops running for 3
minutes.

P12.15 to
Reserved
P12.19

P13: Multi-reference parameters

0: Multi-frequency

Multi-reference reference
P13.00 200D-01h 1 0 × √ ○
property 1: Multi closed-loop
reference

Multi-reference For multi-frequency:

P13.01 200D-02h 0.1% 10.0% × √ ○
1
0.0% to 100.0%

Multi-reference corresponds to the

P13.02 200D-03h minimum frequency to 0.1% 20.0% × √ ○
2
the maximum frequency.

Multi-reference For multi closed-loop:

P13.03 200D-04h 0.1% 40.0% × √ ○
3
-100.0% to 100.0%

Multi-reference corresponds to -10 V to

P13.04 200D-05h +10 V 0.1% 60.0% × √ ○
4

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Q B

Multi-reference
P13.05 200D-06h 0.1% 80.0% × √ ○
5

Multi-reference
P13.06 200D-07h 0.1% 90.0% × √ ○
6

Multi-reference
P13.07 200D-08h 0.1% 100.0% × √ ○
7

Multi-reference
P13.08 200D-09h 0.1% 10.0% × √ ○
8

Multi-reference
P13.09 200D-0Ah 0.1% 20.0% × √ ○
9

Multi-reference
P13.10 200D-0Bh 0.1% 40.0% × √ ○
10

Multi-reference
P13.11 200D-0Ch 0.1% 60.0% × √ ○
11

Multi-reference
P13.12 200D-0Dh 0.1% 80.0% × √ ○
12

Multi-reference
P13.13 200D-0Eh 0.1% 90.0% × √ ○
13

Multi-reference
P13.14 200D-0Fh 0.1% 100.0% × √ ○
14

Multi-reference
P13.15 200D-10h 0.1% 100.0% × √ ○
15

LED ones:

0: Multi-reference
(multi-speed or multi
Segment 1
P13.17 200D-12h closed-loop set by P13.00) 1 000 × √ ×
setting
1: Digital setting 1 (keypad
∧∨)

2: Digital setting 2

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Q B

(terminal UP/DN)

3 to 5: Reserved

6: Process closed-loop PID

7: PLC card or bus

(reserved)

LED tens:

0: FWD

1: REV

2: Determined by the
operation command

LED hundreds:

0:
Acceleration/Deceleration
time 1

1:
Acceleration/Deceleration
time 2

2:
Acceleration/Deceleration
time 3

3:
Acceleration/Deceleration
time 4

Segment 1
P13.18 200D-13h 0.0 to 6500.0 0.1 20.0 × √ ○
running time

Segment 2
P13.19 200D-14h Same as segment 1 1 000 × √ ×
setting

Segment 2
P13.20 200D-15h 0.0 to 6500.0 0.1 20.0 × √ ○
running time

Segment 3
P13.21 200D-16h Same as segment 1 1 000 × √ ×
setting

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code Sub-index value
Q B

Segment 3
P13.22 200D-17h 0.0 to 6500.0 0.1 20.0 × √ ○
running time

Segment 4
P13.23 200D-18h Same as segment 1 1 000 × √ ×
setting

Segment 4
P13.24 200D-19h 0.0 to 6500.0 0.1 20.0 × √ ○
running time

Segment 5
P13.25 200D-1Ah Same as segment 1 1 000 × √ ×
setting

Segment 5
P13.26 200D-1Bh 0.0 to 6500.0 0.1 20.0 × √ ○
running time

Segment 6
P13.27 200D-1Ch Same as segment 1 1 000 × √ ×
setting

Segment 6
P13.28 200D-1Dh 0.0 to 6500.0 0.1 20.0 × √ ○
running time

Segment 7
P13.29 200D-1Eh Same as segment 1 1 000 × √ ×
setting

Segment 7
P13.30 200D-1Fh 0.0 to 6500.0 0.1 20.0 × √ ○
running time

Segment 8
P13.31 200D-20h Same as segment 1 1 000 × √ ×
setting

Segment 8
P13.32 200D-21h 0.0 to 6500.0 0.1 20.0 × √ ○
running time

Segment 9
P13.33 200D-22h Same as segment 1 1 000 × √ ×
setting

Segment 9
P13.34 200D-23h 0.0 to 6500.0 0.1 20.0 × √ ○
running time

Segment 10
P13.35 200D-24h Same as segment 1 1 000 × √ ×
setting

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Q B

Segment 10
P13.36 200D-25h 0.0 to 6500.0 0.1 20.0 × √ ○
running time

Segment 11
P13.37 200D-26h Same as segment 1 1 000 × √ ×
setting

Segment 11
P13.38 200D-27h 0.0 to 6500.0 0.1 20.0 × √ ○
running time

Segment 12
P13.39 200D-28h Same as segment 1 1 000 × √ ×
setting

Segment 12
P13.40 200D-29h 0.0 to 6500.0 0.1 20.0 × √ ○
running time

Segment 13
P13.41 200D-2Ah Same as segment 1 1 000 × √ ×
setting

Segment 13
P13.42 200D-2Bh 0.0 to 6500.0 0.1 20.0 × √ ○
running time

Segment 14
P13.43 200D-2Ch Same as segment 1 1 000 × √ ×
setting

Segment 14
P13.44 200D-2Dh 0.0 to 6500.0 0.1 20.0 × √ ○
running time

Segment 15
P13.45 200D-2Eh Same as segment 1 1 000 × √ ×
setting

Segment 15
P13.46 200D-2Fh 0.0 to 6500.0 0.1 20.0 × √ ○
running time

P16: Keypad display parameters

Binary:

LED display 0: No display; 1: Display

parameter
P16.00 2010-01h LED ones: 1 007H × √ ○
selection 1
during running Bit0: Reference frequency
(Hz flashing)

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code Sub-index value
Q B

Bit1: Output current (A)

Bit2: Output frequency

(Hz)

LED tens:

Bit0: Operating speed

(R/MIN)

Bit1: Set speed (R/MIN

flashing)

Bit2: Operating line speed

(m/s)

Bit3: Set line speed (m/s

flashing)

LED hundreds:

Bit0: Output power

Bit1: Output torque (％)

Note: If all are zero, the

output frequency will be
displayed by default.

Binary:

0: No display; 1: Display

LED ones:

Bit0: Output voltage (V)

LED display LED tens:

parameter
P16.01 2010-02h Bit0: Analog closed-loop 1 00 × √ ○
selection 2
feedback (%)
during running
Bit1: Analog closed-loop
setting (% flashing)

Bit2: Terminal state (no

unit)

Bit3: Bus voltage

P16.02 LED parameter 2010-03h Binary: 1 009H × √ ○

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Q B

display 0: No display; 1: Display

selection at
LED ones:
stop
Bit0: Reference frequency
(Hz)

Bit1: Operating speed

(R/MIN)

Bit2: Set speed (R/MIN)

Bit3: Bus voltage

LED tens:

Bit0: Operating line speed

(m/s)

Bit1: Set line speed (m/s)

Bit2: Analog closed-loop

feedback (%)

Bit3: Analog closed-loop

setting (%)

LED hundreds:

Bit3: Terminal state (no

unit)

Note: If all are zero, the

reference frequency will
be displayed by default.

0.1％ to 999.9%

Line speed = Actually

measured/Estimated
Line speed
P16.03 2010-04h speed × P16.03 0.1% 1.0% × √ ○
coefficient
Set line speed =
Reference frequency ×
P16.03

Rotation speed 0.1％ to 999.9%

P16.04 display 2010-05h 0.1% 100.0% × √ ○
Operating speed =
coefficient
Actually

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code Sub-index value
Q B

measured/Estimated
speed × P16.04

Set speed = Reference

frequency × Rated motor
speed/Rated motor
frequency × P16.04

0.1％ to 999.9%
Closed-loop
P16.05 analog display 2010-06h Note: Closed-loop analog 0.1% 100.0% × √ ○
coefficient setting/feedback display
range: 0 to 9999.9

Inverter
P16.06 module 2010-07h 0.0 to 150.0℃ 0.1℃ 0.0 × √ *
temperature

Rectifier
P16.07 module 2010-08h 0.0 to 150.0℃ 0.1℃ 0.0 × √ *
temperature

Actually
P16.08 measure motor 2010-09h 0℃ to 200℃ 1℃ 0 × √ *
temperature

Accumulated
P16.09 2010-0Ah 0 to 65535 h 1h 0 × √ *
power-on time

Accumulated
P16.10 2010-0Bh 0 to 65535 h 1h 0 × √ *
running time

Accumulated
P16.11 fan running 2010-0Ch 0 to 65535 h 1h 0 × √ *
time

P30: Servo control parameters

0: Non-servo control
Servo control
P30.00 switchover 201E-01h 1: Speed/Torque←→Servo 1 0 × √ *
selection control

2: Servo←→

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Speed/Torque control

3: Servo control

4: Bus control

Ones: Reserved

Tens:

Filter width (reserved)

0 to 3

Hundreds: Logic mode

Pulse reference 0: Positive logic

P30.01 201E-02h 1 0000H × √ ×
input selection
1: Negative logic

Thousands: Pulse input

source

0–1: Reserved

2: Internal position setting

3: Reserved

Position
P30.02 reference filter 201E-03h 0.0 to 3000.0 ms 0.1 0 × √ ×
time

Acceleration/
Deceleration
P30.03 time constant 201E-04h 0.0 to 50.0 ms 0.1 0 × √ ×
of position
reference

Numerator of
P30.04 201E-05h 1 to 65535 1 1024 × √ ×
electronic gear

Denominator of
P30.05 201E-06h 1 to 65535 1 1024 × √ ×
electronic gear

P30.06 to
Reserved 1 to 65535 1 1024 × √ ×
P30.07

P30.08 Position control 201E-09h 0 to 8000 1 100 × √ ×

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Q B

proportional
gain 1

Position control
P30.09 proportional 201E-0Ah 0 to 8000 1 400 × √ ×
gain 2

0: No switchover

1: Torque reference
Switchover
mode between 2: Speed reference
P30.10 201E-0Bh 1 0 × √ ×
position gain 1
3: Position deviation
and 2
4: Through external
terminal

Torque
reference
P30.11 threshold for 201E-0Ch 0.0 to 100.0％ 0.1％ 10.0％ × √ ×
position gain
switchover

Speed
reference
P30.12 threshold for 201E-0Dh 0.0 to 100.0％ 0.1％ 10.0％ × √ ×
position gain
switchover

Position
deviation 1
P30.13 threshold for 201E-0Eh 0 to 10000 reference 100 × √ ×
position gain unit
switchover

Smoothing
filter
P30.14 coefficient for 201E-0Fh 0 to 15 1 1 × √ ×
gain
switchover

P30.15 Position 201E-10h 0.00 to 120.00％ 1.00％ 100.00％ × √ ×

feedforward

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Q B

gain

Output limit of
0 to 100.0％ (maximum
P30.16 position 201E-11h 0.1％ 20.0％ × √ ×
frequency)
controller

0: Stop according to the

servo stop time after
switchover to speed
Servo stop control
P30.17 201E-12h 1 1 × √ ×
mode
1: Decelerate to stop after
switchover to speed
control

0.0 to 3000.0 ms

When PL (CCWL), NL
P30.18 Servo stop time 201E-13h (CWL) occur, decelerate 0.1 100.0 × √ ×

to stop according to the

servo stop time

P31: Spindle positioning parameters

Ones: Positioning mode

selection

0: Carry

1: Indexing

Tens: Digital carry

selection

Spindle 0: Single-point carry

P31.00 positioning 201F-01h 1 0000H × √ ×
1: Multi-point carry
selection
Hundreds: Single-point
carry mode

0: Single-point one time of

positioning

1: Single-point multiple
positioning (positioning
times determined by the

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Q B

function code)

Thousands: Single-point
multiple positioning mode

0: Reciprocating

1: Continuous

Ones: Home detector

types and searching
direction settings

0, 1: Reserved

2: Homing in forward
direction, ORGP as the
homing origin

3: Homing in reverse
direction, ORGP as the
homing origin

4: Homing by the shortest

distance, ORGP as the
homing origin

5: Homing in the current

P31.01 Homing mode 201F-02h running direction, ORGP 1 0009H × √ ×
as the homing origin

6: Searching for Z pulse in

forward direction and
regard it as the homing
origin

7: Searching for Z pulse in

reverse direction and
regard it as the homing
origin

8: Searching for Z pulse

by the shortest distance,
and regard it as the
homing origin

9: Homing in the current

running direction, Z pulse

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Q B

as the homing origin

Tens: Homing command

mode

0: Level mode

1: Pulse mode

Hundreds: Homing

0: Homing only upon the

first running

1: Homing upon every

running

2: Homing upon each

power-on (reserved)

Thousands: Home
correction mode

0: Single correction

1: Real-time correction

Ones: Position mode of

positioning

0: Relative position

1: Absolute position
(relative zero)

Tens: Locking mode of

positioning

Positioning 0: Locked at the

P31.02 201F-03h 1 0000H × √ ×
mode selection positioning point

1: Locked within the

positioning range

Hundreds: Positioning
sequence

0: No response to a newly
received positioning
signal during positioning

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code Sub-index value
Q B

1: Directly locating the

new position when
receiving a new
positioning signal during
positioning

Thousands: Action for

positioning overlimit

0: Stop

1: Homing in reverse
direction, and keep at
zero speed

2: Homing in reverse
direction, and stop

Ones: Berth position of

home searching

0: Berth at the left of the

home

1: Berth at the right of the

home
Berth position
P31.03 of home 201F-04h Tens: Installation position 1 0000H × √ ×
searching of encoder

0: Installed at the motor

shaft

1: Installed at the spindle

Hundreds: Reserved

Thousands: Reserved

Start setting of 0: Manually set by the DI

P31.04 internal 201F-05h terminal 1 0 × √ ×

positioning 1: Auto start

Spindle
P31.05 transmission 201F-06h 0.000 to 30.000 0.001 1.000 × √ ×
ratio

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Q B

Home
P31.06 searching 201F-07h 0.00 to 30.00 1.00 1.00 × √ ×
speed

Home position
P31.07 201F-08h 0 to 36000 1 18000 × √ ×
offset

P31.08 Reserved 0 to 1 1 0 × √ ×

Single-point
multiple
P31.09 201F-0Ah 1 to 65535 1 5 × √ ×
positioning
times

High bits of
internal
P31.10 201F-0Bh 0 to 150 1 0 × √ ×
position
reference 1

Low bits of 0 to 65535

internal
P31.11 201F-0Ch Refreshed upon setting of 1 0 × √ ×
position
reference 1 low bits

High bits of
internal
P31.12 201F-0Dh 0 to 150 1 0 × √ ×
position
reference 2

Low bits of 0 to 65535

internal
P31.13 201F-0Eh Refreshed upon setting of 1 0 × √ ×
position
reference 2 low bits

High bits of
internal
P31.14 201F-0Fh 0 to 150 1 0 × √ ×
position
reference 3

Low bits of 0 to 65535

P31.15 201F-10h 1 0 × √ ×
internal Refreshed upon setting of

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position low bits

reference 3

High bits of
internal
P31.16 201F-11h 0 to 150 1 0 × √ ×
position
reference 4

Low bits of 0 to 65535

internal
P31.17 201F-12h Refreshed upon setting of 1 0 × √ ×
position
reference 4 low bits

High bits of
internal
P31.18 201F-13h 0 to 150 1 0 × √ ×
position
reference 5

Low bits of 0 to 65535

internal
P31.19 201F-14h Refreshed upon setting of 1 0 × √ ×
position
reference 5 low bits

High bits of
internal
P31.20 201F15h 0 to 150 1 0 × √ ×
position
reference 6

Low bits of 0 to 65535

internal
P31.21 201F-16h Refreshed upon setting of 1 0 × √ ×
position
reference 6 low bits

High bits of
internal
P31.22 201F-17h 0 to 150 1 0 × √ ×
position
reference 7

0 to 65535
Low bits of
P31.23 internal 201F-18h Refreshed upon setting of 1 0 × √ ×

position low bits

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reference 7

High bits of
internal
P31.24 201F-19h 0 to 150 1 0 × √ ×
position
reference 8

Low bits of 0 to 65535

internal
P31.25 201F-1Ah Refreshed upon setting of 1 0 × √ ×
position
reference 8 low bits

0 to FFH

Ones:

Bit0: Position 1 direction

Bit1: Position 2 direction

Bit2: Position 3 direction

Bit3: Position 4 direction

Direction
setting of Tens:
P31.26 internal 201F-1Bh 1 00H × √ ×
Bit0: Position 5 direction
position
references Bit1: Position 6 direction

Bit2: Position 7 direction

Bit3: Position 8 direction

0: Same as the running

direction

1: Opposite to the running

direction

Auto-running
P31.27 201F-1Ch 0 to 600.00 s 0.001 s 1.000 × √ ×
mode timer 1

Auto-running
P31.28 201F-1Dh 0 to 600.00 s 0.001 s 1.000 × √ ×
mode timer 2

Auto-running
P31.29 201F-1Eh 0 to 600.00 s 0.001 s 1.000 × √ ×
mode timer 3

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Auto-running
P31.30 201F-1Fh 0 to 600.00 s 0.001 s 1.000 × √ ×
mode timer 4

Auto-running
P31.31 201F-20h 0 to 600.00 s 0.001 s 1.000 × √ ×
mode timer 5

Auto-running
P31.32 201F-21h 0 to 600.00 s 0.001 s 1.000 × √ ×
mode timer 6

Auto-running
P31.33 201F-22h 0 to 600.00 s 0.001 s 1.000 × √ ×
mode timer 7

Auto-running
P31.34 201F-23h 0 to 600.00 s 0.001 s 1.000 × √ ×
mode timer 8

Positioning 0 to 100.0% of maxim

P31.35 201F-24h 0.1% 20.0 × √ ×
speed frequency

Positioning
P31.36 acceleration 201F-25h 0.1 to 300.00 s 0.01 s 2.00 × √ ×
time

Positioning
P31.37 deceleration 201F-26h 0.1 to 300.00 s 0.01 s 2.00 × √ ×
time

Ones: Current position

reference

Positioning 1 to 8
P31.38 state 201F-27h 00H 00H × √ ×
parameter Tens: Currently
completed position

1 to 8

Spindle swing
P31.39 201F-28h 0.0 to 360.0 0.1 30.0 × √ ×
angle

Spindle swing
P31.40 201F-29h 0.00 to 100.00 Hz 0.01 5.00 × √ ×
speed

Spindle swing
P31.41 201F-2Ah 0.00 to 60.00 s 0.01 1.00 × √ ×
acceleration/

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deceleration
time

Positioning 1
P31.42 completed 201F-2Bh 0 to 10000 reference 1 × √ ×
range unit

Signal width 1
P31.43 for positioning 201F-2Ch 1 to 32767 reference 1 × √ ×
near unit

Detection
range for 1
P31.44 excessive 201F-2Dh 0 to 32767 reference 1 × √ ×
position unit
deviation

Excessive
position 0: Valid
P31.45 201F-2Eh 1 0 × √ ×
deviation alarm 1: Invalid
invalid

0: Keep searching
Action upon
P31.46 home signal 201F-2Fh 1: Report a fault after two 1 1 × √ ×
loss times of searching
(Er.ORG)

P32: Spindle tapping parameters

P32.00 Tapping enable 2020-01h 0 to 1 1 0 × √ ×

Acceleration
P32.01 2020-02h 0.00 to 300.00 s 0.01 s 2.00 × √ ×
time

Deceleration
P32.02 2020-03h 0.00 to 300.00 s 0.01 s 2.00 × √ ×
time

P32.03 ASR1-P 2020-04h 0.1 to 200.0 0.1 20.0 × √ ×

P32.04 ASR1-I 2020-05h 0.000 to 10.000 s 0.001 s 0.200 s × √ ×

P32.05 ASR1 output 2020-06h 0 to 8 (corresponding to 0 1 0 × √ ×

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filter to 28/10 ms)

P32.06 ASR2-P 2020-07h 0.1 to 200.0 0.1 20.0 × √ ×

P32.07 ASR2-I 2020-08h 0.000 to 10.000 s 0.001 s 0.200 s × √ ×

ASR2 output 0 to 8 (corresponding to 0

P32.08 2020-09h 1 0 × √ ×
filter to 28/10 ms)

ASR1/2
P32.09 switchover 2020-0Ah 0.0％ to 100.0％ 0.1 10.0％ × √ ×
frequency

Maximum
0.0％ to 100.0％
P32.10 tapping 2020-0Bh 0.1％ 100.0％ × √ ×
(maximum frequency)
frequency

Maximum
0.0％ to 100.0％
P32.11 reaming 2020-0Ch 0.1％ 100.0％ × √ ×
(maximum frequency)
frequency

Analog amount
P32.12 2020-0Dh 0.000 to 10.000 s 0.001 s 0.010 × √ ×
filter

Sampling mode 0: Normal sampling

P32.13 for analog 2020-0Eh 1 0 × √ ×
amount 1: High-speed sampling

P40: Communication parameters

000: No bus
communication
P40.00 Bus type 2028-01h 300 1 × √ *
300: EtherCAT

Other: Reserved

EtherCAT 301: CoE (CANopen over

P40.10 sub-protocol 2028-0Bh EtherCAT) 301 1 × √ *

type Other: Reserved

P40.25 EtherCAT 2028-1Ah 1: INIT 0 1 × √ *

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Ethernet state 2: PRE-OPERATIONAL

3: SAFE-OPERATIONAL

4: OPERATIONAL

Operation modes of servo

drive under EtherCAT CoE
Ethernet control:

1: Profile Position Mode

3: Profile Velocity Mode

EtherCAT CoE
6: Homing Mode
P40.27 operation 2028-1Ch 0 1 × √ *
mode 7: Interpolated Position
Mode

8: Cyclic Synchronous
Position Mode

9: Cyclic Synchronous
Velocity Mode

Numerator of
P40.28 2028-1Dh 1 to 65535 1 1 × √ ×
velocity factor

Denominator of
P40.29 2028-1Eh 1 to 65535 1 1 × √ ×
velocity factor

Numerator of
P40.30 2028-1Fh 1 to 65535 1 1 × √ ×
position factor

Denominator of
P40.31 2028-20h 1 to 65535 1 1 × √ ×
position factor

Numerator of
P40.32 acceleration 2028-21h 1 to 65535 1 1 × √ ×
factor

Denominator of
P40.33 acceleration 2028-22h 1 to 65535 1 1 × √ ×
factor

P40.34 Whether to 2028-23h 0: Does not save 1 1 × √ ×

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save function 1: Save data written

codes written through EtherCAT bus to
through EEPROM of the drive
communication
to EEPROM
(reserved)

P97: Fault and protection parameters

LED ones: Reserved

LED tens: Contactor

abnormal operation

0: Perform protection and

coast to stop

1: Alarm and keep running

Fault LED hundreds: EEPROM

protection and abnormal operation

P97.00 2061-01h 1 0000 × √ ×
alarm property 0: Perform protection and
1 coast to stop

1: Alarm and keep running

LED thousands: ±10 V

short circuit

0: Perform protection and

coast to stop

1: Alarm and keep running

LED ones: Phase loss

0: Perform protection for

both input and output
Fault phase loss
protection and
P97.01 2061-02h 1: No action for input 1 0000 × √ ×
alarm property
2 phase loss

2: No action for output

phase loss

3: No action for both input

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and output phase loss

LED tens: Reserved

LED hundreds: Motor

overheat

0: Perform protection and

decelerate to stop

1: Perform protection and

coast to stop

2: Alarm and keep

running

LED thousands: Reserved

LED ones: Temperature

sampling disconnection

0: Perform protection on
inverter and rectifier
modules and stop
according to the stop
mode

1: Perform protection on
inverter and rectifier
modules and coast to

Fault stop

protection and 2: Temperature alarm on

P97.02 2061-03h 1 0000 × √ ×
alarm property inverter and rectifier
3 modules and keep
running

3: No detection for the

rectifier module sampling
disconnection; but
perform protection on the
inverter module and stop
according to the stop
mode

LED tens: Undervoltage

fault

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0: No action

1: Action (undervoltage
deemed as a fault)

LED hundreds: Auto reset

interval fault

0: No action

1: Action

LED thousands: Fault lock

function

0: Disabled

1: Enabled (no action for

fault)

2: Enabled (action for

fault)

LED ones: Overload

compensation method

0: No action

1: Common motor
(low-speed compensation
required)

2: Variable frequency
motor (low-speed
compensation not
Motor overload required)
P97.03 2061-04h 1 0001 × √ ×
protection
LED tens: Overload
pre-alarm detection

0: Always detecting

1: Only detecting at
constant speed

LED hundreds: Overload

pre-alarm selection

0: Alarm, and keep

running

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1: Perform protection and

coast to stop

LED thousands: Overload

amount detection

0: Relative to the rated

motor current (Er.oL1)

1: Relative to the rated

servo drive current
(Er.oL2)

Threshold for
overload
P97.04 2061-05h 20.0% to 200.0% 0.1% 130.0% × √ ○
pre-alarm
detection

Detection time
P97.05 for overload 2061-06h 0.0 to 60.0 s 0.1 s 5.0 s × √ ○
pre-alarm

Motor over-
temperature
P97.06 2061-07h 0.00 to 10.00 V 0.01 10.00 × √ ○
protection
threshold

0: Disabled (when

Overvoltage installed with braking

P97.07 2061-08h resistors) 1 1 × √ ×
stall selection

1: Enabled

Stall
P97.08 overvoltage 2061-09h 120.0％ to 150.0％ Udce 0.1% 140.0％ × √ ×
threshold

0: Invalid for constant

speed
Auto current
P97.09 limiting 2061-0Ah 1: Valid for constant 1 1 × √ ×
selection speed

Note: Always valid for

acceleration and

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deceleration

Auto current
P97.10 2061-0Bh 20.0% to 200.0% Ie 0.1% 150.0% × √ ×
limiting level

Frequency
decrease rate 10.00
P97.11 2061-0Ch 0.00 to 99.99 Hz/s 0.01 Hz/s × √ ○
during current Hz/s
limiting

Short-to- 0: Disabled
ground
P97.12 2061-0Dh 1: Enabled (valid for 7.5 1 1 × √ ○
detection upon
power-on kW and below)

0: No function

1 to 100: Auto reset

attempts
Auto reset
P97.13 2061-0Eh Note: No auto reset 1 0 × √ ×
attempts
function for module
protection, external
device fault and AI
overcurrent fault

Auto reset
P97.14 2061-0Fh 2.0 to 20.0 s for each time 0.1 s 5.0 s × √ ×
interval

0: No abnormal records

1: Servo drive overcurrent

during acceleration
(Er.oC1)

2: Servo drive overcurrent

P97.15 First fault type 2061-10h during deceleration 1 0 × √ *

(Er.oC2)

3: Servo drive overcurrent

at constant speed
(Er.oC3)

4: Servo drive overvoltage

during acceleration

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(Er.oU1)

5: Servo drive overvoltage

during deceleration
(Er.oU2)

6: Servo drive overvoltage

at constant speed
(Er.oU3)

7: Reserved

8: Input phase loss (Er.IrF)

9: Output phase loss

(Er.odF)

10: Power module

protection (Er.drv)

11: Inverter bridge

overheat (Er.oH1)

12: Rectifier bridge

overheat (Er.oH2)

13: Servo drive overload

(Er.oL1)

14: Motor overload

(Er.oL2)

15: External fault (Er.EFT)

16: EEPROM read/write

fault (Er.EEP)

17–18: Reserved

19: Current detection

circuit abnormal (Er.CUr）
Hall device or amplifying
circuit

20: System interference

(Er.CPU)

21: Reserved

22: External reference

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loss (Er. EGL)

23: Reserved

24: Poor auto-tuning

(Er.TUn)

25: PG fault (Er.PG1)

26: Undervoltage during

running (Er.PoF)

27: Home lost (Er.oRG)

28: Parameter setting

error (Er.PST)

29: Short circuit of control

board 24 V power
(Er.24v)

30–32: Reserved

33: Short circuit to ground

fault (Er.GdF)

34: Excessive speed

deviation fault（Er.dEv）

35–38: Reserved

39: Motor overheat

(Er.oHL)

40–41: Reserved

42: Temperature
sampling disconnection of
inverter module (Er.THI)

43: Reserved

44: Short circuit of analog

output ±10 V (Er.10v)

45: Internal overcurrent

baseline abnormal
(Er.rEF)

46–47: Reserved

48: Bus initialization error

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(Er.Int)

49: Overvoltage of control

voltage (Er.oUC)

50: EtherCAT parameter

mapping error (Er.Add)

Note:

(1) 10 seconds after Er.drv,

reset can be done;

(2) When consecutive

overcurrent is less than 3
times (3 included), reset
can be done after a delay
of 6 s; when consecutive
overcurrent is more than
3 times, the reset can be
done after a delay of 200
s.

(3) When an alarm

occurs, the keypad
displays AL.xxx (for
example, if a contactor
fault occurs, with
protection action the
keypad displays Er.xxx;
with only alarm and
running kept the keypad
displays AL.xxx)

Second fault
P97.16 2061-11h Same as P97.15 1 0 × √ *
type

P97.17 Third fault type 2061-12h Same as P97.15 1 0 × √ *

Bus voltage
P97.18 upon the third 2061-13h 0 to 999 V 1V 0V × √ *
fault

P97.19 Actual current 2061-14h 0.0 to 999.9 A 0.1 A 0.0 A × √ *

upon the third

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fault

Running
frequency
P97.20 2061-15h 0.00 Hz to 3000.00 Hz 0.01 Hz 0.00 Hz × √ *
upon the third
frequency

Servo drive 0 to FFFFH

P97.21 status upon 2061-16h 1 0000 × √ *
the third fault Same as P01.17

P98: Servo drive parameters

P98.00 Serial No. 2062-01h 0 to FFFF 1 500 × √ *

Manufact
DSP software
P98.01 2062-02h 0.00 to 99.99 0.01 urer- × √ *
version No.
defined
Manufact
Customized
P98.02 2062-03h 0 to 9999 1 urer- × √ *
version No.
defined
Manufact
FPGA software
P98.03 2062-04h 0.00 to 99.99 0.01 urer- × √ *
version No.
defined

Output power, 0 to 999.9

kVA Manufact
P98.04 Rated capacity 2062-05h 0.1 kVA urer- × √ *
(automatically set defined
according to the model)

0 to 999 V Manufact
P98.05 Rated voltage 2062-06h (automatically set 1V urer- × √ *

according to the model) defined

0 to 999.9 A Manufact
P98.06 Rated current 2062-07h (automatically set 0.1 A urer- × √ *

according to the model) defined

0: 220 V Manufact
Servo drive
P98.07 2062-08h 1 urer- × √ *
selection 1: 380 V defined

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Q B

2: 400 V

3: 415 V

4: 440 V

5: 460 V

6: 480 V

157
 Appendix 1 Warranty and Service

Shenzhen Megmeet Electrical Co., Ltd. manufactures motor drive products strictly according to the ISO9001:2015

standard. In case of any product abnormalities, please contact the distributor or the headquarter. Our company will

provide full technical support for you.

1. Warranty period

The product is warranted for 18 months from the purchase date, however, the warranty date shall not exceed 24

months after the manufacturing date on the nameplate.

2. Warranty scope

During the warranty period, any product abnormalities incurred due to our company can be freely repaired or

replaced by our company. In case of the following situations, maintenance fees will also be charged even if the

product is still in the warranty period.

(1) The damages are caused by fire, flood, strong lightning strike, etc.

(2) The damages are caused by users’ unauthorized modifications.

(3) The product is damaged due to drop or in transmission after the purchase.

(4) The product is damaged because the standard requirements are not obeyed in actual use.

(5) The product is damaged because the user does not follow the instructions of the user manual.

3. After-sales service

(1) If there are specific requirements for drive installation and trial operation, or the working status of the drive is not

satisfactory (such as unsatisfactory performance and function), please contact the distributor or Shenzhen

Megmeet Electrical Co., Ltd.

(2) In case of any abnormality, contact the distributor or Shenzhen Megmeet Electrical Co., Ltd. immediately for help.

(3) During the warranty period, our company will repair any drive abnormality incurred due to the product

manufacturing and design free of charge.

(4) If the product is out of the warranty period, our company can provide paid repairing service according to the

customers’ needs.

(5) The service change is calculated by actual costs. If there is an agreement, the agreement shall prevail.

158
SHENZHEN MEGMEET ELECTRICAL CO., LTD.

Address: 5th Floor, Block B, Unisplendor Information Harbor, Langshan Road, Nanshan District, Shenzhen, 518057,

China

Tel: +86-755-86600500

Fax: +86-755-86600562

Zip code: 518057

Website: https://www.megmeet.com/

159
Parameter Recording Table

160
161
 Shenzhen Megmeet Electrical Co., Ltd. Shenzhen Megmeet Electrical Co., Ltd.

Warranty Bill of SPS-NE Series Servo Drive Warranty Bill of SPS-NE Series Servo Drive

Customer company: Customer company:

Detailed address: Detailed address:

Zip code： Contact: Zip code： Contact:

Tel: Fax: Tel: Fax:

Machine model: Machine model:

Power: Machine No.： Power: Machine No.：

Contract No.: Purchase date: Contract No.: Purchase date:

Service unit: Service unit:

Contact: Tel: Contact: Tel:

Maintenance person： Tel: Maintenance person： Tel:

Maintenance date: Maintenance date:

Comment on service: Comment on service:

□Good □Fair □ So so □ Poor □Good □Fair □ So so □ Poor

Other comment： Other comment：

User’s signature: Date: User’s signature: Date:

Return visit record in Customer Service Center: Return visit record in Customer Service Center:

□Telephone return visit □Letter return visit □Telephone return visit □Letter return visit

Other: Other:

Signature of the technical support engineer: Date: Signature of the technical support engineer: Date:

Note: This bill becomes invalid if the user can not be visited. Note: This bill becomes invalid if the user can not be visited.

162
163