Preface

We appreciate very much for your purchasing of Shihlin servo products. This manual will be a
helpful instruction to install, wire, inspect, and operate your Shihlin servo drive and motor.
Before using the servo drive and motor, please read this user manual to prevent from electric
shock, fire, and injury.
In this manual, the safety instruction levels are classified into "DANGER" and "CAUTION".

It indicates that incorrect operation may cause hazardous

conditions, resulting in death or injury.

It indicates that incorrect operation may cause hazards,

resulting in injury to person or damage to the product.

Note that the CAUTION level may lead to a serious consequence by cases. Be sure to follow
the instructions of both levels to keep personnel safety well.

What must not be done and what must be done are indicated by the following marks:

: It indicates what must not be done. For example, “No Fire” is marked as .

: It indicates what must be done. For example, grounding is marked as .

In this manual, instructions at a lower level than the above, instructions for other functions, and
so on are classified into "NOTE".
After reading this user manual , always keep it accessible to the operator.

i
1. To prevent electric shock, please confirm the following:

Operate the power switches with dry hand to prevent an electric shock.
Before wiring or inspection, switch power off and wait for more than 10 minutes. Then,
confirm if the power indicator is off or the voltage is safe with voltage meter. Otherwise, you
may get an electric shock.
Connect the servo drive and motor to ground.
Do not attempt to wire the servo drive and motor until they have been installed. Otherwise,
you may get an electric shock.
The cables should not be damaged, stressed, loaded, or pinched. Otherwise, you may get
an electric shock.

2. To prevent fire, note the following:

Install the servo drive, motor and regenerative brake resistor in a clean and dry location
free from corrosive and inflammable gases or liquids. Otherwise a fire may be caused.
Don’t try to operate the servo drive or motor which has become faulty. Otherwise, a large
current flow may cause a fire.
Do not connect a commercial power supply to the U, V, W terminals of drive. Otherwise a
fire may be caused and the servo drive will be damaged.
When an external regenerative brake resistor is used, check the specification
recommended. Otherwise, a regenerative brake transistor fault or the like may overheat
the regenerative brake resistor, causing a fire.

3. To prevent injury, note the following:

The proper voltage specified in this manual should be applied to each terminal, Otherwise,
a burst, damage, etc. may occur.
Connect the terminals correctly to prevent a burst, damage, etc.
Ensure that polarity (＋,－) is correct. Otherwise, a burst, damage, etc. may occur.
Ensure that all screws, connectors and wire terminations are fixed on the power supply,
servo drive and motor to prevent from a burst, damage, or personal injury.
Don’t touch either the drive heat sink or the motor during operation because they may
become hot and cause personnel burnt.
Don’t approach or touch any rotating parts (e.g. shaft) as the motor is running. Otherwise, it
may cause serious personnel injury.

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4. Other instructions
The following instructions should also be fully noted. Improper operation may cause a damage,
fault, injury or electric shock, etc.
(1) Delivering and installation

Delivery the products correctly according to their weights.

It is not allowed to stack the products in excess of the specified layers.
Do not carry the motor by the cables, shaft or encoder.
Do not hold the front cover to transport the drive. Otherwise, it may be dropped.
The servo drive and motor must be installed in the specified direction.
Inside control box, preserve enough space between the servo drive and other equipment.
Provide adequate protection to prevent screws and other conductive matter, oil and other
combustible matter from entering the servo drive.
Do not drop or strike servo drive or servo motor. Keep from all impact loads.
Use the servo drive and servo motor under the specified environmental conditions.
Firmly attach the servo motor. Otherwise, it may come off during operation.
For safety of personnel, always cover the rotating and moving parts.
Never impact the servo motor or shaft, especially when coupling the servo motor to the
machine. The encoder may become faulty.
Do not subject the servo motor shaft to more than the permissible load. Otherwise, the
shaft may be broken.
When the equipment has been stored for an long period time, consult Shihlin.

(2) Wiring

In order to prevent from fire or other accidents, please use the cable specified in this user
manual to wire the servo equipment.
Wire the servo drive correctly and firmly. Otherwise, the motor will run improperly.
Do not install a power capacitor, surge absorber or noise filter between the servo motor
and servo drive.
Do not connect AC power directly to the servo motor. Otherwise, it results in damage of
servo motor.
The surge absorbing diode installed on the DC output signal relay must be wired in the
specified direction. Otherwise, the emergency stop and other protective circuits may not
operate.

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(3) Trial run

The initial trial run for servo motor should be operated under idle conditions (separate the
motor from its couplings and belts).
Before trial run, check if the parameters are set properly. Otherwise it will cause some
unexpected operation.
The parameter settings must not be changed excessively. To adjust the parameters setting
gradually to meet your demand operation.
Ensure to perform trial run before your normal operation to prevent unexpected accident.

(4) Duty operation

Set an external emergency stop circuit. It could stop operation immediately as unexpected
accidents occurred.
Before resetting an alarm, make sure that the run signal is off to prevent a sudden restart.
Use a noise filter to minimize the influence of electromagnetic interference, which may be
caused by electronic equipment used near the servo drive.
Do not mismatch the servo drive and motor in capacity.
The electromagnetic brake on the servo motor is designed to hold the motor shaft and
should not be used for ordinary braking.
For heavy duty case (e.g. where a huge load inertia or short acceleration/deceleration time
setting), the external regenerated brake resistor is necessary.

(5) Maintenance and Inspection

Ensure that the power indicator is off before maintenance or inspection performed.
Only personnel who have been trained should conduct maintenance and inspection.
Do not try to disassemble the servo drive or motor which any fault occurred.
Do not connect or disconnect the servo drive with motor while power is still applied.
As power is still applied, not to touch any internal or exposed parts of servo drive and servo
motor to prevent electrical shock.
Some parts inside the servo drive are consumable and should be replaced periodically. For
parts replacement, please consult Shihlin.
NOTE : This manual may be revised without prior notice. Please consult our agent or
download the most updated version at http://www.seec.com.tw/en/ .

iv
1. Production inspection and model descriptions...................................................................1
1.1 Summary .....................................................................................................................1
1.2 Inspection ....................................................................................................................1
1.3 Servo drive appearance and panel descriptions..........................................................5
1.4 Overview of servo drive operation modes ...................................................................6
1.5 Recommended specifications for circuit breaker and fuse ..........................................6
2. Installation..........................................................................................................................7
2.1 Cautions and storage methods....................................................................................7
2.2 The environment conditions of installation...................................................................7
2.3 Installation direction and space ...................................................................................7
3. Wiring and signals .............................................................................................................9
3.1. Connections between main power source and peripheral devices..............................9
3.1.1. Wiring diagram of peripheral devices(below 1KW) ...........................................9
3.1.2. Wiring diagram of peripheral devices(above 1.5KW)......................................10
3.1.3. Descriptions for drive’s connectors and terminals.......................................... 11
3.1.4. Wiring method of power source ......................................................................12
3.1.5. Lead wire connector specifications of motor U,V,W terminals ........................13
3.1.6. Lead wire connector specifications of encoder ...............................................14
3.1.7. Selection of wiring materials ...........................................................................15
3.2. Functional block diagram of Shihlin servo .................................................................16
3.3. CN1 I/O signal wires instruction ................................................................................18
3.3.1. CN1 terminal layout ........................................................................................18
3.3.2. Signal description of CN1 terminal..................................................................19
3.3.3. Interface wiring diagram .................................................................................28
3.3.4. User definition of DI/DO..................................................................................31
3.4. CN2 Encoder signal wiring and description ...............................................................32
3.5. CN3 communication port signal wiring and description .............................................33
3.6. CN4 USB communication port...................................................................................33
3.7. Standard wiring method.............................................................................................34
3.7.1. Wiring diagram of position control(Pr Mode)...................................................35
3.7.2. Wiring diagram of position control(Pt Mode)...................................................36
3.7.3. Wiring diagram of speed control(S Mode) ......................................................37
3.7.4. Wiring diagram of torque control(T Mode) ......................................................38
3.7.5. Wiring diagram with 1PG ................................................................................39
3.7.6. Wiring diagram with 10PG ..............................................................................40
3.7.7. Wiring diagram with 10GM .............................................................................41
3.7.8. Wiring diagram with 20GM .............................................................................42
3.7.9. Wiring diagram with FX3U ..............................................................................43
3.7.10. Wiring diagram with QD75 ..................................................................44
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4. Panel display and operation ............................................................................................45
4.1. Panel components.....................................................................................................45
4.2. Display flowchart .......................................................................................................46
4.3. Status display ............................................................................................................47
4.4. Alarm display.............................................................................................................50
4.5. Diagnostic display .....................................................................................................51
4.5.1. Indication of external I/O signals.....................................................................52
4.5.2. DO forced output ............................................................................................53
4.5.3. JOG test .........................................................................................................54
4.5.4. Positioning test ...............................................................................................55
4.5.5. Automatic offset of analog command input.....................................................56
4.5.6. Inertia estimation ............................................................................................57
4.6. Parameter display .....................................................................................................58
5. Operation.........................................................................................................................59
5.1. Checklist before operation.........................................................................................59
5.2. Idle operation.............................................................................................................60
5.2.1. Idle JOG test...................................................................................................60
5.2.2. Idle positioning test .........................................................................................61
5.3. Tuning process ..........................................................................................................62
5.3.1. Abstract ..........................................................................................................62
5.3.2. Auto-gain tuning mode....................................................................................64
5.3.3. Manual gain tuning mode ...............................................................................68
5.4. Parameter setting and operation for position control mode .......................................70
5.5. Parameter setting and operation for speed control mode..........................................71
5.6. Parameter setting and operation for torque control mode .........................................73
6. Control function................................................................................................................74
6.1. Control mode option ..................................................................................................74
6.2. Torque control mode..................................................................................................75
6.2.1. Output proportion of maximum torque analog command................................75
6.2.2. Torque analog command offset.......................................................................76
6.2.3. Torque analog command smoothing...............................................................76
6.2.4. Torque limit of torque control mode.................................................................77
6.2.5. Speed limit of torque control mode .................................................................78
6.3. Speed control mode ..................................................................................................79
6.3.1. Selection of speed command .........................................................................79
6.3.2. Output speed of maximum speed analog command.......................................80
6.3.3. Speed analog command smoothing................................................................80
6.3.4. Torque limit of speed control mode .................................................................83
6.3.5. Adjustment of speed loop gain .......................................................................84
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 6.3.6. Resonance suppression filter .........................................................................86
6.3.7. Gain switch function........................................................................................88
6.4. Position control mode ................................................................................................91
6.4.1. External pulse-train command(Pt mode) ........................................................91
6.4.2. Inner register command(Pr mode) ..................................................................93
6.4.3. Position command smoothing.........................................................................94
6.4.4. Electronic gear ratio........................................................................................95
6.4.5. Torque limit of position control mode ..............................................................97
6.4.6. Position loop gain ...........................................................................................97
6.5. Hybrid control mode ..................................................................................................98
6.5.1. Position/speed hybrid mode ...........................................................................99
6.5.2. Speed/torque hybrid mode..............................................................................99
6.5.3. Torque/Position hybrid mode ........................................................................100
6.6. Other functions ........................................................................................................101
6.6.1. Selection of brake resistor ............................................................................101
6.6.2. Analog monitor output...................................................................................104
6.6.3. Operation of electromagnetic brake interlock ...............................................106
7. Parameters ....................................................................................................................107
7.1. Parameter definition ................................................................................................107
7.2. Parameter list ..........................................................................................................108
7.3. Parameter details list ............................................................................................... 117
8. Communication functions ..............................................................................................135
8.1. Communication interface and wiring .......................................................................135
8.2. Relevant parameters of communication ..................................................................137
8.3. Modbus protocol......................................................................................................138
A. ASCII mode .............................................................................................................138
B. RTU mode ...............................................................................................................141
C. Time-out process.....................................................................................................145
D. Retry process ..........................................................................................................145
8.4. Communication parameter write-in and read-out ....................................................146
9. Inspection and Maintenance..........................................................................................151
9.1. Basic Inspection ......................................................................................................151
9.2. Maintenance............................................................................................................151
9.3. Life of consumable components ..............................................................................151
10. Troubleshooting .............................................................................................................152
10.1. Alarm list...............................................................................................................152
10.2. Alarm cause and remedy ......................................................................................153
11. Specifications.................................................................................................................158
11.1. Specifications of servo drives................................................................................158
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 11.2. Dimensions of servo drives...................................................................................160
11.3. Specifications of low inertia motors SMA－L R30A series............................162
11.4. Specifications of medium inertia motors SMA－M R20A series ...................163
11.5. Dimensions of low inertia motor............................................................................164
11.6. Permissible shaft load of low inertia motor............................................................167
11.7. Dimensions of medium inertia motors...................................................................168
11.8. Permissible shaft load of medium inertia motor ....................................................170
11.9. Precision of motor shaft ........................................................................................171
11.10. Electromagnetic compatible filter (EMC Filter) ................................................171
12. Motor characteristic .......................................................................................................172
12.1. Speed-torque curves of low inertia motor .............................................................172
12.2. Speed-torque curves of medium inertia motor ......................................................173
12.3. Overload protection ..............................................................................................174
13. Application examples.....................................................................................................175
13.1. Position control example with inner registers........................................................175
13.2. Home moving examples .......................................................................................177
14. Appendix A: Accessories ...............................................................................................183
14.1. Connector and cable.............................................................................................183
14.2. Brake resistor........................................................................................................187
15. Appendix B: Parameters communication address .........................................................188
16. Appendix C: Version information....................................................................................189

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1. Production inspection and model descriptions

1.1 Summary
The control modes for Shihlin multi-purpose AC servo could be classified into the single mode
and hybrid mode. The are 4 control types for single mode: position control with terminals input,
position control with inner registers, speed control, torque control. There are 5 types for hybrid mode:
position control（terminals input）/speed control, position control（terminals input）/torque control,
position control（inner registers）/speed control, position control（inner registers）/torque control and
speed control/torque control.
Therefore, the Shihlin servo are suitable for the general industry machinery that require the high
precision and smooth speed control, or machine tools, or tension control.
The Shihlin servo is equipped not only RS-232/RS-485 serial communication but also the most
convenient equipment “USB” which is the most popular application. The PC with the Shihlin
communication software would help the user to adjust the parameters, to operate the servo for test
and to monitor the status of the drive.
The Shihlin servo is also equipped with the automatic tuning function. The control gain of the drive
would be adjusted by the inner algorithm according to the instant dynamic change of the user’s
machinery. The specification of the Shihlin servo encoder is the 2500 pulses per revolution.（or 10000
pulses/rev after the 4-multiplication signal process）It offers a high precision control.

1.2 Inspection
Please check following items carefully to prevent the negligence of transport or human factor.
Check if there are any loosened screws on the motor or the drive.
Check the specification nameplate of motor/drive to confirm the consistency of your demand.
Check if there are any scratch and damage on the motor/drive.
Manually turn the shaft of servo motor. A smooth turn indicates a normal motor. If the motor is
with an electromagnetic brake, the motor will not be turn easy by hand.
Please contact your agent for solutions if any of above issues occurs.
A complete set of the Shihlin servo should include :
(1) A servo drive and a servo motor.
(2) A 50-pin connector of CN1.
(3) An encoder signal cable. One end is for the CN2 of drive, the other end for servo motor.
(4) The 5-pin(R/S/T/L1/L2) quick plug-in terminal which applicable to 1kW drive or below.
(5) The 3-pin(P/D/C) quick plug-in terminal which applicable to 1kW drive or below.
(6) The 5-pin(P/N/R/S/T) quick plug-in terminal which applicable to 1.5kW drive or above.
(7) The 5-pin(P/D/C/L1/L2) quick plug-in terminal which applicable to 1.5kW drive or above.
(8) The 3-pin(U/V/W) quick plug-in terminal.
(9) The RS-232 cable.(option)
(10) The USB cable.(option)
(11) A U-V-W power cable. (option)
(12) An installation manual.
(13) An user manual of the Shihlin servo.(It could be download on Shihlin website)
1
Reference for product type
Coding rule for Shihlin servo motor.
(1) Coding method

(2) Description for coded items

a. Servo motor code: SM denotes servo motor.
b. Type series code: A series.
c. Inertia class: Codes are classified by motor inertia and frame size as follows.
Code Class
L Low inertia
M Medium inertia
d. Motor capacity: The first 2 digits are used to represent the motor’s output power multiplied
by 1/10 and a default unit “kW”. If the third digit is a “K”, the capacity is the
first 2 digits multiplied by 1 kW. Here are some examples.
020 denotes: 02*(1/10)=0.2kW=200W
150 denotes: 15*(1/10)=1.5kW=1500W
350 denotes: 35*(1/10)=3.5kW= 3500W
11k denotes:11*1kW=11kW… and so on.
e. Rated speed: Rated speed of servo motor. It is denoted by 3 digits. First digit is represented
by R, second 2 digits is represented by 20(2000rpm) or 30(3000rpm).
R20 represents the rated speed is 2000rpm.
R30 represents the rated speed is 3000rpm.
f. Encoder type: It is represented by a capital “A”. The resolution is 2,500ppr incremental type.
g. Brake and oil seal: Motors with/without brake or oil seal are presented below.
code
A B C D
item
brake without with without with
oil seal without without with with
h. Shaft type: It describes the shape of the motor shaft; K denotes the inclusion of a keyway.
(3) Coding example:
Example 1: If a 200W low inertia motor, 3,000rpm rated speed, no brake, no oil seal, and no
keyway, its name code should be: SMA－L020R30AA
Example 2: If a 1500W medium inertia motor, 2,000rpm, with brake, no oil seal, and with
keyway, its name code should be: SMA－M150R20ABK
2
Coding rule for Shihlin servo drive:
(1) Coding method

(2) Description for coded items

a. Drive code: SD denotes “servo drive”.
b. Type code: A series.
c. Applied motor capacity.
There are 3 digits to represent the capacity of servo drive. The first 2 digits are used to
represent the drive’s output power multiplied by 1/10. If the third digit is a ”K”, the capacity
is the first 2 digits multiplied by 1kW. Here are some coding examples.
020 denotes: 02*(1/10)=0.2kW= 200W;
350 denotes: 35*(1/10)= 3,5kW=3500W
75k denotes: 75*1kW=75kW…and so no.
d. Type of power source: Specification of input power. “A2” denotes the applied power is 220V.
(3) Coding example:
Example: If a 200W drive applied a 3-phase 220V power source, its name code should be:
SDA－020A2

3
Reference table for servo drives and motors

Servo drive Servo motor (matched)

100W SDA-010A2 SMA-L010R30A□□

200W SDA-020A2 SMA-L020R30A□□

400W SDA-040A2 SMA-L040R30A□□

500W SDA-050A2 SMA-M050R20A□□

750W SDA-075A2 SMA-L075R30A□□

1000W SDA-100A2 SMA-M100R20A□□

1500W SDA-150A2 SMA-M150R20A□□

2000W SDA-200A2 SMA-M200R20A□□

3500W SDA-350A2 SMA-M350R20A□□

4
1.3 Servo drive appearance and panel descriptions

5
 1.4 Overview of servo drive operation modes
The Shihlin servo drives provide multiple operation modes for users to select.
Mode Sign Description

Position control Drive runs motor to reach the goal according to the external commands which
Pt
(terminal input) are received through the CN1 and are in the form of pulse trains.
Single mode

Position control Drive runs motor to reach the goal according to the inner commands which are
Pr
(inner register) from inner 8 registers that could be switched by DI signals.

Drive runs motor to attain the target speed. The command type which is an
Speed control S
analog voltage or the inner registers could be switched by DI.

The drive receives the commands to run the motor to generate the demanded
Torque control T
torque. The command source is the analog voltage.

Pt-S Pt/S is switched mutually via the LOP signal of DI.

Pt-T Pt/T is switched mutually via the LOP signal of DI.

Hybrid mode Pr-S Pr/S is switched mutually via the LOP signal of DI.

Pr-T Pr/T is switched mutually via the LOP signal of DI.

S-T S/T is switched mutually via the LOP signal of DI.

Modify the PA01 value to define the application of mode switch. The PA01 modification works
after the “Power on” restart.
If the default value of PA01 is applied, set the PA01 value as “1□□□”.

1.5 Recommended specifications for circuit breaker and fuse

Specifications of circuit breaker and fuse applicable to Shihlin servo drive.
Drive type Fuse capacity Circuit breaker capacity

SDA-010A2 5A 5A

SDA-020A2 5A 5A

SDA-040A2 20A 10A

SDA-050A2 20A 10A

SDA-075A2 20A 10A

SDA-100A2 25A 15A

SDA-150A2 40A 20A

SDA-200A2 60A 30A

SDA-350A2 80A 30A

6
2. Installation

2.1 Cautions and storage methods

Do not install the product on inflammable matters or close to inflammable matters.
Do not over tighten the wire between the drive and the motor.
Do not place heavy objects on the top of the drive.
Be sure to tight lock every screw when fixed the drive.
Install the drive at a location where could bear the weight of the drive.
Align the axle of the motor and the axle of the machinery device.
Inflammable objects or conductive objects are not allowed inside the drive.
Upgrade the diameter of the U/V/W wires and the encoder cable if the length between the
drive and the motor is over 20m.
Do not clog up the vent of the drive or breakdown may be occurred.
Do not drop or clash the drive.
Not try to run the drive which something has been damaged.
Please refer to section 11.1 and 11.3 for drive and motor storage details.

2.2 The environment conditions of installation

The ambient temperature suitable for Shihlin drive is between 0℃ and 55℃. If the ambient
temperature is higher than 45℃, the installation place with good ventilation or air conditioner is
necessary. For a long-time operation, place the drive in an environment with temperature below
45℃ to ensure the reliability of the drive. If the product is installed in a distributor, make sure that
its size and ventilation condition. To prevent from over-heat of the electronic components inside it.
Make sure that mechanical vibration will not affect the electronic devices of the distributor. In
addition, the use of Shihlin servo shall meet the following criteria:
Locations without high-heating devices.
Locations without floating dust and metal particles.
Locations without corrosive, inflammable gas and liquid.
Locations without water drops, steam, dust or oil dust.
Locations without electromagnetic interference.
Select a solid, vibration-free location.

2.3 Installation direction and space

Follow the instruction of installation direction avoid the breakdown of drive. To provide a
good ventilation by keeping sufficient space between the drive and other objects to avoid
breakdown. Do not seal the vent of the drive or make the drive upside down during the installation
to avoid breakdown.

7
 Installation diagram:
To achieve a lower wind resistance of the heat-dissipation fan for a more effective heat
removal, follow the spacing recommendation for installing one or multiple AD servo drives.
(See the figure below).

50m m
(2.0in)m in .

20 m m 20m m
(0.8 in) (0 .8in)
M in . M in.

50 m m
(2.0 in)m in .

100mm 100mm
(4.0in) FAN FAN (4.0in)
Min. Min.

40mm 10mm 10mm 10mm 40mm

(1.6in) (0.4in) (0.4in) (0.4in) (1.6in)
Min. Min. Min. Min. Min.

100mm 100mm
(4.0in) (4.0in)
Min. Min.

8
3. Wiring and signals

This chapter defines the wiring diagrams for operation and the signals of the Shihlin servo drive.

3.1. Connections between main power source and peripheral devices

3.1.1. Wiring diagram of peripheral devices(below 1KW)

※ The details of EMI filter, please refer to Section 11.10 (EMI Filter)

9
3.1.2. Wiring diagram of peripheral devices(above 1.5KW)

※ The details of EMI filter, please refer to Section 11.10 (EMI Filter)
To prevent an electric shock, the PE ( ) terminal of servo drive should be linked
to the ground terminal of host controller.

NOTE Installation instruction:

Make sure that servo motor output terminals U/V/W are wired correctly.
When external brake resistor are used, make P/D ends open and connect the P/C ends to the
external brake resistor. If the built-in one applied, make P/D ends short and P/C ends open. Be
sure that the brake resistor is connected with the drive in operation.
Do not confuse U/V/W with R/S/T or L1/L2 or it causes the damage of servo.
10
3.1.3. Descriptions for drive’s connectors and terminals
Name Code Description
Main power input terminal R、S、T Connect to 3-phase AC power source
Control power input terminal L1、L2 Connect to single phase AC power source

Power output terminal for motor U 、 V 、

W、PE Terminal code Wire color
U Red
V White
W Black
PE Green

Brake resistor terminal P、D、C

External resistor P/C ends connected to resistor and
P/D ends open.
Built-in resistor P/D ends short together and P/C
ends open

Ground terminal To connect the power ground with the motor ground.
P：main circuit 【+】 terminal P、N When an active brake device is used for 1.5KW or above,
N：main circuit 【-】 terminal please connect the 【+】 terminal of it to the drive’s 【P】
terminal, the 【-】 terminal to the drive’s 【N】 terminal. The
active brake device is usually applied when the huge
regenerative power produced by the servo motor in heavy
duty.
DI/DO connector CN1 Connect to the host controller.
Encoder socket CN2 Connect to the encoder cable of servo motor.
RS-232/RS-485 port CN3 Connect to the COM port of PC.

USB port CN4 Connect to the USB port of PC.

Confirm the items as follows when wiring:

Keep the major power lines R/S/T and U/V/W away from other signal lines at least 30cm.
Do not touch the major power lines until the charge indicator goes out. When “power off” , there is
still a large amount of electric charge in the aluminum capacitors inside the servo drive.
If a longer encoder cable is required, uses the twisted pairs cable and not to exceed 20m. Be sure to
upgrade the diameter of wires to avoid signals attenuated when the wire’s length greater than 20m.

11
3.1.4. Wiring method of power source
To prevent an electric shock, insulate the connections of the power supply
terminals.

Connect the servo drive power output (U,V,W) to the servo motor power input
(U,V,W) correctly, or it may cause a malfunction.
The servo motor can not be connected to the commercial power directly.

The Shihlin servo drive is connected to a three-phase power source. In the figure below, Power ON is
contact a and alarm processing is contact b. 1MC/a is the self-maintained power source, and 1MC is
the electromagnetic contactor.

Note: The terminals P/N of servo drive 1.5KW above could not be connected to ground.
12
3.1.5. Lead wire connector specifications of motor U,V,W terminals
Connector specifications (female type ) of U/V/W terminals of the low inertia servo motor:
Drive capacity Motor type
100W SMA－L010R30A□□
200W SMA－L020R30A□□
400W SMA－L040R30A□□
750W SMA－L075R30A□□ with brake without brake

The lead wire signs of low inertia motor U,V,W terminal connector are listed as follows:
PIN Sign Wire color
1 U Red
2 V white
3 W Black
4 PE Green(background)/Yellow
5 NC Black(with electromagnetic brake)
6 NC Black(with electromagnetic brake)
Note: The aforesaid wires are connected to the connectors of the motor.

Connector specifications (male type ) of U/V/W terminals of the medium inertia servo motor:
Drive capacity Motor type
500W SMA－M050R20A□□
1KW SMA－M100R20A□□
1.5KW SMA－M150R20A□□

2KW SMA－M200R20A□□

3.5KW SMA－M350R20A□□

The lead wire signs of medium inertia motor U,V,W terminal connector are listed as follows:
PIN Sign
A NC
B U
C V
D W
E PE

F NC(with electromagnetic brake)

G NC(with electromagnetic brake)
H NC

13
3.1.6. Lead wire connector specifications of encoder
Encoder connector specifications (female type ) of the low inertia servo motor:
The suitable connector for various capacity of the Shihlin servo motor are listed as follows:
Drive capacity Motor type
100W SMA－L010R30A□□ 1 2 3
200W SMA－L020R30A□□ 4 5 6
400W SMA－L040R30A□□
7 8 9
750W SMA－L075R30A□□

Pin No. Wire color Sign Pin No. Wire color Sign
1 blue A 6 Yellow/black /Z
2 green B 7 red 5V
3 yellow Z 8 black GND
4 Blue/black /A 9 NC SHELD
5 Green/black /B

Drive socket: 9-pin female connector(suitable for the low and medium inertia motors )

5 4 3 2 1
Pin No. 1 2 3 4 5 6 7 8 9
9 8 7 6
Sign NC /Z /B /A 5V Z B A GND

Encoder connector specifications (male type ) of the medium inertia servo motor:
The suitable connector for various capacity of the Shihlin servo motor are listed as follows:
Drive capacity Motor type

500W SMA－M050R20A□□

1KW SMA－M100R20A□□

1.5KW SMA－M150R20A□□

2KW SMA－M200R20A□□

3.5KW SMA－M350R20A□□

Pin No. A B D E G H S P L
Sign A /A B /B Z /Z 5V GND SHIELD

14
3.1.7. Selection of wiring materials
Please follow the following recommendations and then use the proper specification.

Specification for power wiring(AWG)

Drive type Motor type
U、V、W R、S、T L1、L2 P、D、C
SDA－010A2 SMA－L010R30A□□ AWG14 AWG14 AWG16 AWG14
SDA－020A2 SMA－L020R30A□□ AWG14 AWG14 AWG16 AWG14
SDA－040A2 SMA－L040R30A□□ AWG14 AWG14 AWG16 AWG14
SDA－050A2 SMA－M050R20A□□ AWG14 AWG14 AWG16 AWG14
SDA－075A2 SMA－L075R30A□□ AWG14 AWG14 AWG16 AWG14
SDA－100A2 SMA－M100R20A□□ AWG14 AWG14 AWG16 AWG14
SDA－150A2 SMA－M150R20A□□ AWG14 AWG14 AWG16 AWG14
SDA－200A2 SMA－M200R20A□□ AWG12 AWG12 AWG16 AWG14
SDA－350A2 SMA－M350R20A□□ AWG12 AWG12 AWG16 AWG14

Specification for encoder wiring (AWG)

Drive type Motor type
Wire gauge Length Core number Core gauge
SDA－010A2 SMA－L010R30A□□ UL1332 2m 10 AWG26
SDA－020A2 SMA－L020R30A□□ UL1332 2m 10 AWG26
SDA－040A2 SMA－L040R30A□□ UL1332 2m 10 AWG26
SDA－050A2 SMA－M050R20A□□ UL1332 2m 10 AWG26
SDA－075A2 SMA－L075R30A□□ UL1332 2m 10 AWG26
SDA－100A2 SMA－M100R20A□□ UL1332 2m 10 AWG26
SDA－150A2 SMA－M150R20A□□ UL1332 2m 10 AWG26
SDA－200A2 SMA－M200R20A□□ UL1332 2m 10 AWG26
SDA－350A2 SMA－M350R20A□□ UL1332 2m 10 AWG26

Please follow the recommended list above or a larger specification to complete the wiring job.
The SHIELD terminal of the shield cable has to be connected to the power ground.
Use a shield twisted pairs cable for the wiring of encoder to reduce noise interference.
America Wire Gauge (AWG) is the standard wire diameter gauge of America.

15
3.2. Functional block diagram of Shihlin servo
100W~1kW:

16
1.5kW~3.5KW:

17
3.3. CN1 I/O signal wires instruction
3.3.1. CN1 terminal layout
Shihlin servo drive provides 8 sets of DI inputs and 5 sets of DO outputs for users to program, which
makes the application with the host controller more flexible. The 8 input DI parameters for users are
PD02 to PD09, and the output DO parameters are PD10 to PD14. In addition, it affords encoder
differential output signals, torque analog command input, speed analog command input. The CN1 pin
diagram is presented as follows: 1 2 6

2 5 5 0

No Pin name Signal name No Pin name Signal name

1 +15Vcc +15V power supply output 26 +15Vcc +15V power supply output
2 VC/VLA Speed analog command/limit 27 TC/TLA Torque analog command/limit
3 LG Signal ground of analog input/output 28 LG Signal ground of analog input/output
4 NC No effect 29 LG Signal ground of analog input/output
5 NG 30 MON1 Analog monitor output 1
Forward/reverse rotation pulse train
6 NP 31 LG Signal ground of analog input/output
7 OPC Open collector power 32 MON2 Analog monitor output 2
8 PP 33 LA Encoder A-phase pulse
Forward/reverse rotation pulse train (differential line drive)
9 PG 34 LAR
10 LG Signal ground of analog input/output 35 LB Encoder B-phase pulse
(differential line drive)
11 LG Signal ground of analog input/output 36 LBR
12 NC No effect 37 LZ Encoder Z-phase pulse
(differential line drive)
13 NC No effect 38 LZR
14 DI1 Digital input 1 39 OP Phase Z pulse of encoder (open collector)

15 DI2 Digital input 2 40 NC No effect

16 DI3 Digital input 3 41 DO1 Digital output 1
17 DI4 Digital input 4 42 DO2 Digital output 2
18 DI5 Digital input 5 43 DO3 Digital output 3
19 DI6 Digital input 6 44 DO4 Digital output 4
20 DI7 Digital input 7 45 DO5 Digital output 5
21 DI8 Digital input 8 46 ALM Trouble
22 LSP Limit of forward rotation route 47 COM+ Digital power source midway
23 LSN Limit of reverse rotation route 48 +24Vdd +24V built-in power
24 SG Signal ground of digital I/O 49 COM+ Digital power source midway
25 SG Signal ground of digital I/O 50 SG Signal ground of digital I/O

18
 NOTE：
1. NC stand for no effect terminal which is used for inner circuit of the drive. Do not connect it, or it
would result in damage!
2. Although CN1-22 and CN1-23 are digital input pins but they are not programmable. CN1-46 is also
the unique function output pin.
3. CN1-48 is a +24V power which is used only for internal circuit of servo drive, do not connect it with
other devices to prevent from damage.

3.3.2. Signal description of CN1 terminal

Signals listed in aforesaid section will be described in detail in this section.
1. CN1 terminal signal description

There are 50 pins in CN1 terminal. Every pin function would be described as below:
The abbreviation for the control modes in the table below are explained as below:
Pt ：Position control mode(terminal input)
Pr ：Position control mode(inner register)
S ：Speed control mode
T ：Torque control mode
Control
Signal name Sign Pin NO Function description
mode
+15V power supply CN1_1, DC 15V between +15Vcc and LG. It could be use as
+15Vcc ALL
output CN1_26 power source of TC, TLA, VC and VLA.
Apply a voltage in ±10V range on VC-LG under the
speed mode, the motor will rotate the proportional speed
linearly of PC12 value at ±10V range.
Speed analog
VC/VLA CN1_2 S,T
command/limit
Apply a voltage in ±10V range on VLA-LG under the
torque mode, the motor will rotate the proportional speed
linearly of PC12 value at ±10V range.
CN1_3 The common ground of TLA, LA, TC, VC, VLA, OP,
CN1_10 MO1, MO2, VCC. Each pin inside the drive is connected
Signal ground of together.
LG CN1_11 ALL
analog input/output
CN1_28
CN1_31

NG CN1_5 Open collector type:（Max. frequency 200Kpps）

To apply signals on PP-SG means “forward command”.
NP CN1_6 To apply signals on NP-SG means “reverse command”.
Forward/reverse
Pt
rotation pulse train
PP CN1_8 Signal in differential type:（Max. frequency 500Kpps）
To apply signals on PG-PP means “forward command”.
PG CN1_9 To apply signals on NG-NP means “reverse command”.
Open collector As signals in open collector type; this pin provides 24V
OPC CN1_7 ALL
power and SG is the ground.

19
 Please make both LSP-SG and LSN-SG short-circuit
when you operate the servo. An emergency stop
occurred and the motor locked when something makes
LSP-SG or LSN-SG open circuit.
Limit of forward If PD17 is set as xxx1, the motor decelerate by the time
LSP CN1_22 of deceleration and then stop.
rotation route
Set PD01 as follows to get a virtual short-circuit without a
physical wiring.(normal “ON”)

PD01 Normal “ON” Pt,Pr,S

xx1x LSP
x1xx LSN
Signal status(*) Rotary direction
LSP LSN CCW CW
Limit of reverse 1 1 ○ ○
LSN CN1_23 0 1 ○
rotation route
1 0 ○
0 0
(*) 0：OFF (LSP-SG/LSN-SG open-circuit)
1：ON (LSP-SG/LSN-SG short-circuit)
CN1_24 The common ground of SON, EMG digital input. Each pin
Signal ground of
SG CN1_25 inside the drive is connected together but separated from ALL
digital I/O
CN1_50 LG.
Apply a voltage signal within ±10V on TC-LG, the motor
torque generated would be linear proportional of PC13.
Torque analog
TC/TLA CN1_2 As TLA is valid, motor generated torque would be limited Pt,Pr,S
command/limit
according to proportion of rated torque to applied voltage.
The range of applied voltage on TLA-SG is 0 ~ +10V.
Analog monitor The proportional voltage signal according to the value of
MON1 CN1_30 ALL
output 1 PC14 outputs on MO1-LG.
Analog monitor The proportional voltage signal according to the value of
MON2 CN1_32 ALL
output 2 PC14 outputs on MO2-LG.
Encoder A-phase LA CN1_33 The value of PA14 decides how many pulses output in
pulse(differential line one turn. The output signals are in line drive type. There ALL
drive) LAR CN1_34 is a π/2 delay between phase A and B.
Encoder B-phase LB CN1_35 The phase sequence of rotation and phase difference
pulse(differential line between phase A and phase B could be defined by the ALL
drive) LBR CN1_36 change of PA39 value.
Encoder Z-phase LZ CN1_37
pulse(differential line The drive transforms the OP signals into line drive. ALL
drive) LZR CN1_38
Phase Z pulse of The origin signal of encoder output. One pulse is output
encoder OP CN1_39 as the completion of one revolution for the servo motor. ALL
(Open collector)
ALM-SG is open-circuit when the power is off, or the
Alarm signal output ALM CN1_46 protection of the drive is activated. In normal case, the ALL
ALM-SG is conductive one second after “power on”.
Digital power source CN1_47 When +24V built-in power is applied as the source of
COM+ ALL
midway CN1_49 input signals, this pin should be connected to +24Vdd.
+24V built-in power +24Vdd CN1_48 There is a +24V±10% power source on +24Vdd - SG. ALL

20
2. I/O signal description of CN1 terminal
Some signals and their abbreviation reference table for the I/O signals of CN1 are presented below:

Abbr. Signal name Abbr. Signal name

SON Servo ON CTRG Trigger of the position command

LSP Limit of forward rotation route TLC Torque limiting control

LSN Limit of reverse rotation route VLC Speed limiting control

CR Clear RD Ready

SP1 Speed option 1 ZSP Zero speed detection

SP2 Speed option 2 INP In-position ready

PC Proportion control SA Speed attained

ST1 Forward rotation activated ALM Alarm signal output

ST2 Reverse rotation activated OP Encoder output pulse (Open collector)

TL Torque limit option LZ

Encoder Z-phase pulse(differential line drive)
RES Reset LZR

EMG External emergency stop LA

Encoder A-phase pulse(differential line drive)
LOP Control mode switch LAR

VC Speed analog command LB

Encoder B-phase pulse(differential line drive)
VLA Speed analog limit LBR

TLA Torque analog limit +15Vcc +15V power supply output

TC Torque analog command +24Vdd +24V built-in power

RS1 Forward rotation option COM + Digital power source midway

RS2 Reverse rotation option SG Signal ground of digital I/O

PP OPC Open collector power

NP LG Signal ground of analog input/output

Forward/reverse rotation pulse train
PG MON1 Analog monitor output 1

NG MON2 Analog monitor output 2

POS1 Position command option 1 SD Shield

POS2 Position command option 2

POS3 Position command option 3

21
3. DI and DO signal description
Input DI
Every DI pin is programmable. There are 23 signal functions could be assigned to the particular DI
pin by the modification of parameter PD02 to PD09. The value from 0x01 to 0x17 is defined as the
function described below:

Control
Signal function Sign Value Functions/Applications description
mode

Power on the drive and make SON-SG short-circuit to ready (the

shaft is locked). Make SON-SG open-circuit to release (the shaft
Servo ON SON 0x01 ALL
is rotatable). A virtual “Servo ON” could be achieved by the PD01
set as □□□1.(Normal ON)

A short-circuit duration over 50mS on RES-SG would recover

from an abnormal alarm status. Some abnormal cases would not
Reset RES 0x02 ALL
be recovered(refer to section 10.1). Set the PD20 as □□□1，
the function of reset would not work.

A short-circuit on PC-SG would switch the proportion-integral

controller to the proportion controller（speed control）. When
Proportion motor in static, it outputs torque to resist the external disturbance
PC 0x03 Pt,Pr,S
control which even only 1 pulse revolution. Once the position is done, to
prevent from unnecessary jitter of motor shaft, please switch to
the proportion controller.

Open TL-SG to make inner torque limit 1 valid(PA05), or turn

Torque limit
TL 0x04 TL-SG on to make analog torque limit(TLA) valid. Pt,Pr,S
option
For details, refer to section 6.3.4.

Inner torque limit Turn TL1-SG on to make inner torque limit 2 valid(PC25). For
TL1 0x05 ALL
option details, refer to section 6.3.4.

22
 ＜Speed control mode＞
Used to select the speed command. When using SP3, make it
usable by making the setting of PD02~PD09.
(Note)Input
Setting of
signals Speed command
PD02~PD09 SP3 SP2 SP1
Speed option 1 SP1 0x06 When speed 0 0 Speed analog command (VC)
option (SP3) is 0 1 Inner speed command 1 (PC05)
not used. 1 0 Inner speed command 2 (PC06)
(initial status) 1 1 Inner speed command 3 (PC07)
0 0 0 Speed analog command (VC)
0 0 1 Inner speed command 1 (PC05)
0 1 0 Inner speed command 2 (PC06)
When speed
0 1 1 Inner speed command 3 (PC07)
option (SP3) is
1 0 0 Inner speed command 4 (PC08)
made valid.
1 0 1 Inner speed command 5 (PC09)
1 1 0 Inner speed command 6 (PC10)
1 1 1 Inner speed command 7 (PC11)
Note. 0：off (with SG)
1：on (with SG)
Speed option 2 SP2 0x07 S,T
＜Torque control mode＞
Used to select the limit speed for operation. When using SP3,
make it usable by making the setting of PD02~PD09.
(Note)Input
Setting of
signals Speed command
PD02~PD09 SP3 SP2 SP1
When speed 0 0 Speed analog command (VC)
option (SP3) is 0 1 Inner speed command 1 (PC05)
not used. 1 0 Inner speed command 2 (PC06)
(initial status) 1 1 Inner speed command 3 (PC07)
0 0 0 Speed analog command (VC)
0 0 1 Inner speed command 1 (PC05)
0 1 0 Inner speed command 2 (PC06)
Speed option 3 SP3 0x08 When speed 0 1 1 Inner speed command 3 (PC07)
option (SP3) is
made valid. 1 0 0 Inner speed command 4 (PC08)
1 0 1 Inner speed command 5 (PC09)
1 1 0 Inner speed command 6 (PC10)
1 1 1 Inner speed command 7 (PC11)
Note. 0：off (with SG)

Used to start the servo motor in the following directions:

Forward rotation (Note)Input signals

ST1 0x09 Servo motor starting direction
ST2 ST1
activated
0 0 Stop(servo lock)
0 1 CCW
1 0 CW
1 1 Stop(servo lock) S
Note. 0：off (with SG)
1：on (with SG)
Reverse rotation
ST2 0x0A If both ST1 and ST2 are switched on or off during operation, the
activated
servo will be decelerated to a stop according to the value of
PC18, and the motor will be locked. The activation of analog
speed commands (VC) at 0V will not servo lock.

23
 Used to select any of the following servo motor torque generation
directions:
Forward rotation Input
RS1 0x0A
option signals
(Note) Torque generation direction
RS2 RS1
0 0 Torque is not generated. T
0 1 Forward rotation torque, reverse rotation regeneration

Reverse rotation 1 0 Reverse rotation torque, forward rotation regeneration

RS2 0x09 1 1 Torque is not generated.
option
Note. 0：off (with SG)
1：on (with SG)
In position control with inner registers, this signal activated would
Origin position ORGP 0x0B Pr
assigned current position to the origin.
Start Home
SHOM 0x0C As this signal activated, drive runs motor to return the origin. Pr
moving
When using CM1 and CM2, make them usable by the setting of
PD02~PD09. The combination of CM1 and CM2 gives you a
Electronic gear choice of 4 numerators. CM1 and CM2 cannot be used in the
CM1 0x0D
option 1 absolute position detection system.
Input signals
(Note) Electronic gear molecule
CM2 CM1 Pt,Pr
0 0 The value of parameter PA07 (CMX)
0 1 The value of parameter PC32(CMX2)
Electronic gear
CM2 0x0E 1 0 The value of parameter PC33(CMX3)
option 2 1 1 The value of parameter PC34(CMX4)

Note. 0：off (with SG), 1：on (with SG)

Turn CR on to clear the position control counter droop pulses on
its leading edge. The pulse width should be 10mS or longer.
Clear CR 0x0F Pt,Pr
When the PD18 setting is □□□1, the pulse are always cleared
while CR is on.
When using this signal, make it usable by the setting of
Gain switch
CDP 0x10 PD02~PD09. Turn CDP on to change the gain values into the ALL
option multiplier of parameter PB14 to PB17.
＜Position/Speed control switch mode＞
Used to select the control mode in the position/speed control
switch mode.
(Note) LOP Control mode
0 Position
1 Speed

＜Speed/Torque control switch mode＞ Refer

Used to select the control mode in the Speed/Torque control to
switch mode.
Control mode Functio
LOP 0x11 (Note) LOP Control mode
switch 0 Speed ns/
1 Torque
Applica
＜Torque/Position control switch mode＞ tions
Used to select the control mode in the Torque/Position control
switch mode.
(Note) LOP Control mode
0 Torque
1 Position
Note. 0：off (with SG), 1：on (with SG)
24
 Turn EMG off (open EMG-SG) to bring the motor to an
emergency stop state, in which the electromagnetic brake is on.
External Turn EMG on (short EMG-SG) in the emergency stop state to
EMG 0x12 ALL
emergency stop reset that state.
To set the value of PD01 as 1□□□, this signal would be normal
on.

Corresponding
Position Position POS1 POS2 POS3 CTRG
POS1 0x13 parameter
command option
1 PA15,PA16,
P1 0 0 0 ↑
PA31

PA17,PA18,
P2 1 0 0 ↑
PA32

PA19,PA20,
P3 0 1 0 ↑
Position PA33
command option POS2 0x14 PA21,PA22, Pr,Pr-S
2 P4 1 1 0 ↑
PA34 ,Pr-T

PA23,PA24,
P5 0 0 1 ↑
PA35

PA25,PA26,
P6 1 0 1 ↑
PA36

PA27,PA28,
Position P7 0 1 1 ↑
command option POS3 0x15 PA37

3 PA29,PA30,
P8 1 1 1 ↑
PA38

In position control with inner 8 registers(Pr mode), the Pr,Pr-S

Position
CTRG 0x16 combination of POS1/POS2/POS3 gives you a choice of 8
command trigger position commands when the CTRG is activated. ,Pr-T

Inner position In position control with inner 8 registers(Pr mode), the motor Pr,Pr-S
HOLD 0x17
command halt would stop running as this signal activated. ,Pr-T

NOTE：
1. When setting the parameter PA01 in speed mode or torque mode, the function ST1/RS2 and
ST2/RS1 would be defined mutually because of the same values.
2. To use the custom definition of input signal, the value of PA01 should be as 0XXX. If the value
of PA01 is 1□□□, the function definition of signals should be a default.

25
Output DO

Every DO pin is programmable. There are 9 output functions could be assigned to the particular DO pin
by the modification of parameter PD10 to PD14. The value from 0x01 to 0x09 is defined as the function
described below:
Control
Signal function Sign Value Functions/Applications description
mode

Ready RD 0x01 It is on as power is turned on and drive is ready to operate. ALL

ALM-SG is isolated as power off or protection activated to cut

Alarm signal
ALM 0x02 off the main circuit. Without alarm occurring, ALM-SG would ALL
output
turn on after power on 1 second latter.

INP turn on when the number of droop pulses is in the preset

in-position range. The in-position range could be change using
In-position ready INP Pt,Pr
parameter PA12. When the in-position range is increased, INP
may be kept conductive during low-speed rotation.
0x03
SA turns on when the speed has nearly reached the preset
Speed attained SA command. When the preset command is 50r/min or less, SA S
always turns on.

Home moving
HOME 0x04 It turns on after the completion of home moving. Pr
completion

TLC-SG is on as motor generated torque reaches inner torque

Torque limiting
TLC limit or torque analog limit. TLC-SG is off when SON signal is Pt,Pr,S
control
turned off.
0x05
In torque mode, VLC-SG is on as motor speed reaches inner
Speed limiting
VLC speed limit or speed analog limit. VLC-SG is off when SON T
control
signal is turned off.

When using this signal, make it usable by setting parameter

Electromagnetic
MBR 0x06 PA01 as □1□□. MBR is off as the power is turned off or any ALL
brake interlock
alarm occurred.

WNG-SG is conductive as any warning occurred. Without

Warning WNG 0x07 ALL
warning occurring, WNG-SG is isolated.

When the speed is under the preset of zero speed(50r/min),

Zero speed
ZSP 0x08 ZSP-SG keeps conductive. The zero speed range could be ALL
detection
changed by PC17.
Inner position
CMDOK-SG is conductive as the inner position command is
command output CDMOK 0x09 Pr
completed or stopped.
completed
NOTE：
1. When setting the parameter PA01 in speed mode or torque mode, the function INP and SA
would be defined mutually because of the same values.
2. When setting the parameter PA01 in speed mode or torque mode, the function TLC and VLC
would be defined mutually because of the same values.

26
 There are 8 DI and 5 DO equipped in CN1. They afford user a flexible application. See as follows.
Value Sign Function Pt Pr S T Pt-S Pt-T Pr-S Pr-T S-T
0x01 SON Servo ON DI1 DI1 DI1 DI1 DI1 DI1 DI1 DI1 DI1

0x02 RES Reset DI5 DI5 DI5 DI5 DI5 DI5 DI5 DI5 DI5

0x03 PC Proportion control DI3

0x04 TL Torque limit option DI4

0x05 TL1 Inner torque limit option

0x06 SP1 Speed option 1 DI6 DI6 DI2 DI2 DI6

0x07 SP2 Speed option 2 DI2 DI2 DI2

0x08 SP3 Speed option 3

0x09 ST1 Forward rotation activated DI3 DI3 DI3

0x0A ST2 Reverse rotation activated DI4 DI4 DI6

0x0A RS1 Forward rotation option DI4 DI4 DI6 DI4

0x09 RS2 Reverse rotation option DI3 DI3 DI3 DI3

0x0B ORGP Origin positioned

0x0C SHOM Start Home moving
0x0D CM1 Electronic gear option 1 DI2

0x0E CM2 Electronic gear option 2

0x0F CR Clear DI6 DI6 DI6 DI6

0x10 CDP Gain switch option

0x11 LOP Control mode switch DI8 DI8 DI8 DI8 DI8 DI8 DI8 DI8

0x12 EMG External emergency stop DI7 DI7 DI7 DI7 DI7 DI7 DI7 DI7 DI7

0x13 POS1 Position command option 1 DI2 DI2 DI2

0x14 POS2 Position command option 2 DI3

0x15 POS3 Position command option 3

0x16 CTRG Position command trigger DI4 DI4 DI4

0x17 HOLD Inner position command halt DI8

Value Sign Function Pt Pr S T Pt-S Pt-T Pr-S Pr-T S-T

0x01 RD Ready DO5 DO5 DO5 DO5 DO5 DO5 DO5 DO5 DO5

0x02 ALM Trouble

0x03 INP In-position ready DO1 DO1 DO1 DO1 DO1 DO1

0x03 SA Speed attained DO1 DO1 DO1 DO1

0x04 HOME Home return

0x05 TLC Torque limiting control DO4 DO4 DO4 DO4 DO4 DO4 DO4 DO4

0x05 VLC Speed limiting control DO4 DO4 DO4 DO4

0x06 MBR Electromagnetic brake interlock DO3 DO3 DO3

0x07 WNG Warning DO3 DO1 DO3 DO3

0x08 ZSP Zero speed detection DO2 DO2 DO2 DO2 DO2 DO2 DO2 DO2 DO2
Inner position command output
0x09 CDMOK DO3 DO3 DO3
completed

27
3.3.3. Interface wiring diagram
(1). Digital input interface DI
For use of inner power supply For use of external power supply

(2). Source input interface DI

When using the input interface of source type, all DI input signals are of source type. Source output
could not be provided.
For use of inner power supply For use of external power supply

28
(3). Digital output interface DO
Lamp, relay or photo coupler could be driven. A diode for relay load, or a suppressing resistor for
lamp load is necessary. (Permissible current: 40mA or less, inrush current: 100mA or less)
Relay load for use of inner power supply Relay load for use of external power supply

Lamp load for use of inner power supply Lamp load for use of external power supply

(4). Speed analog command, torque analog command and MON1,MON2 analog output.
Input impedance 10KΩ to 12KΩ / Output voltage ±10V.
Speed/torque analog command input MON1/MON2 analog monitor output

The VC/TC input voltage higher than 10V would damage the inner transistors of servo drive.
29
(5). Encoder output pulse
Output a pulse train signal in the open collector or differential line drive type. Open collector output
could be obtained via the pin 39(OP) of CN1. The maximum output current is 35mA.
Open collector type with OP output Open collector type with photo coupler output

For a differential line drive system, the maximum output current is 20mA.
Differential line drive pulse output Differential line drive pulse output (photo coupler)

(6). Forward/reverse rotation pulse train input

Input a pulse train signal in open collector or differential line drive type. The maximum input pulse
frequency is 500kpps for differential line drive and 200kpps for open collector type.
NPN Open collector with inner power supply NPN Open collector with external power supply

30
 PNP Open collector with inner power supply PNP Open collector with external power supply

Differential line drive type

3.3.4. User definition of DI/DO

The DI/DO default functions are suitable for position mode. If they are not suitable for user’s application,
please define the functions of DI/DO again. The functions of DI1 to DI8 are corresponding to the setting
of parameters PD02 to PD09. Those DO1 to DO5 are corresponding to the ones of PD10 to PD14. The
following table describes the DI/DO pins of CN1 terminal and the relative parameters.
Pin No. Pin name Parameter Pin No. Pin name Parameter
CN1_14 DI1 PD02 CN_41 DO1 PD10
CN1_15 DI2 PD03 CN_42 DO2 PD11
CN1_16 DI3 PD04 CN_43 DO3 PD12
CN1_17 DI4 PD05 CN_44 DO4 PD13
CN1_18 DI5 PD06 CN_45 DO5 PD14
CN1_19 DI6 PD07
CN1_20 DI7 PD08
CN1_21 DI8 PD09

31
3.4. CN2 Encoder signal wiring and description
The resolution of Shihlin servo motor encoder is 2500ppr. After the digital signal process of 4 multiplied
by the servo drive, that would be increased to 10,000ppr. There are 8 wires for Shihlin servo encoder,
which are A,/A,B,/B,Z,/Z,+5V,GND. The appearance of CN2 connector is shown below:
The end of drive

The end of servo motor

Low inertia：(Type A) Medium inertia：(Type B)

1 2 3
4 5 6
7 8 9
The pin names and descriptions are listed below: (*): A~/Z input for drive end.
Drive Type A Type B Signal name Sign Function description
2 6 H Phase /Z /Z Phase /Z pulse train input/output(*) of encoder
3 5 E Phase /B /B Phase /B pulse train input/output of encoder
4 4 B Phase /A /A Phase /A pulse train input/output of encoder
5 7 S Power +5V +5V power supply for encoder
6 3 G Phase Z Z Phase Z pulse train input/output of encoder
7 2 D Phase B B Phase B pulse train input/output of encoder
8 1 A Phase A A Phase A pulse train input/output of encoder
9 8 P Ground GND power ground
-- 9 L SHIELD SHIELD SHIELD

32
3.5. CN3 communication port signal wiring and description
Shihlin servo drive CN3 port is for RS-232 and RS-485 communication. Via the Shihlin servo software
for communication, users could connect it to the computer then set parameters, monitor the status,
operate and test, etc. There are 2 format suitable for CN3: RS232 and RS485. Users could select one
by setting the parameter PC21. RS-232 format has its maximum communication distance 15m. The
other format RS485, it provides a longer communication distance and multiple drives communication.

Pin NO Sign Function description

CN3_2 RS-485-B Data are transmitted in differential line drive format. Line drive B.
CN3_3 RS-485-A Data are transmitted in differential line drive format. Line drive A.
CN3_6 RS-232-RX Data transmission, it is connected to RS-232-TX end of computer.
CN3_7 RS-232-TX Data receiving, it is connected to RS-232-RX end of computer.
CN3_4, CN3_5 GND signal ground.

NOTE :
For RS-485 communication, please refer to section 8.1
3.6. CN4 USB communication port
For the plug-and-play usage, Shihlin servo drive provides the USB port (CN4). Similar to RS232 and
RS485 of CN3, CN4 in Mini-USB type, users could connect it to the computer then set parameters,
monitor the status, operate and test, etc.

5 4 3 2 1 5 4 3 2 1

Mini-USB
Mini-A Mini-B
The following table describes the standard terminal specification of mini-USB:
Pin No. Function description
1 +5V
2 D-
3 D+
4 NC
5 GND

33
3.7. Standard wiring method

Any person who does the wiring job should be fully competent.
Before wiring, turn off the power and wait for 10 minutes or more until the
charge LED turns off. Otherwise, an electric shock may occur.
Ground the servo drive and servo motor tightly.
Not to wire the servo amplifier and servo motor until they have been installed.
Otherwise, it may cause an electric shock.
The cable should not be damaged, stressed, loaded, or pinched. Otherwise, it
may cause an electric shock.

The wires between the servo drive and servo motor should be correctly.
Otherwise, the servo motor may run unexpectedly.
The wirings of cables and terminals should be correct, otherwise a burst,
malfunction, etc. may occur.
Ensure that polarity (+/-) is correct. Otherwise, a burst, malfunction, etc. may
occur.
The surge absorbing diode installed to the DC relay for output control should
be proper in the specified direction. servo motor can not be connected to the
commercial power directly. Otherwise, the emergency stop and other
protective circuits may not work.
The electronic equipments around the servo drive may be interfered, please
use the EMI suppression filter to improve.
Not to connect a power factor capacitor, surge absorber or radio noise filter
with the power line of the servo motor.
When using a regenerative resistor, switch power off by AL04 signal.
Otherwise, a brake IGBT fault may cause a fire due to overheated the
regenerative resistor.
Do not modify the servo drive or servo motor.

34
3.7.1. Wiring diagram of position control(Pr Mode)

♦ Note: 1. If the external power is applied, do not connect +24Vdd and COM+.
2. See section 3.1.3 for the wirings of brake resistor.

35
3.7.2. Wiring diagram of position control(Pt Mode)

♦ Note: 1. If the external power is applied, do not connect +24Vdd and COM+.
2. See section 3.1.3 for the wirings of brake resistor.

36
3.7.3. Wiring diagram of speed control(S Mode)

♦ Note: 1. If the external power is applied, do not connect +24Vdd and COM+.
2. See section 3.1.3 for the wirings of brake resistor.
37
3.7.4. Wiring diagram of torque control(T Mode)

♦ Note: 1. If the external power is applied, do not connect +24Vdd and COM+.
2. See section 3.1.3 for the wirings of brake resistor.
38
3.7.5. Wiring diagram with 1PG

39
3.7.6. Wiring diagram with 10PG

40
3.7.7. Wiring diagram with 10GM

41
3.7.8. Wiring diagram with 20GM

42
3.7.9. Wiring diagram with FX3U

43
3.7.10. Wiring diagram with QD75

44
4. Panel display and operation

This chapter describes the conditions of Shihlin servo drive’s panel and all operation.
4.1. Panel components

Name Function description

This display with 7-segment LED of 5 digits, is used to monitor the states of
5-digit LED display
servo and the value of parameters, and set modification value.

To switch one display mode to the others. Shihlin servo drive has parameter
MODE key
display mode, alarm history mode, status monitor mode, etc.

1. To increase the value which denoted parameter or set value.

UP Key
2. To move to the next screen as this key is pushed once.

1. To decrease the value which denoted parameter or set value.

DOWN key
2. To move to the last screen as this key is pushed once.

SET key To show or save the value which is operated.

Power indicator To indicate the power status.

45
4.2. Display flowchart
Use the display on the front side of servo drive for status display, parameter setting, etc. Set the
parameter before operation, diagnose an alarm, confirm external sequences, and confirm the operation
status. To refer to or set the expansion parameter, make them valid with PA42.

46
4.3. Status display
The operation status of Shihlin servo could be displayed on the 5-digit LED display.
Press the “UP” or “DOWN” key to change the display data as desired.
When the required data is selected, the corresponding symbol appears. Press the “SET” key to
display the information.
The status display shows 16 items such as motor speed.
A negative value which occupies 5 digits is displayed by the 5 lit decimal points. If a negative value
which occupies only 4 digits or less, the negative symbol “-“ is displayed at the highest digit.

Examples
The following table lists the display examples:

Display device
Item Status
5-digit LED

Forward rotation at 2500r/min

Motor rotation speed

Reverse rotation at 3000r/min

The ratio of load inertia to motor

15.5 times
shaft

11252 turns

Motor feedback revolution

-12345 turns
To light the 5 decimal points if 「-」
symbol could not be displayed.

parameter setting accomplished a successful EEPROM write-in

parameter setting failed a failed EEPROM write-in

47
 List of status display

The servo statuses which may be shown are listed in the following table:

Status display Sign unit Description Range

Motor feedback pulses Feedback pulses from the motor encoder are －9999～
FbP pulse
(absolute value) counted and displayed.(cumulated value) 9999

Motor feedback revolutions Feedback revolutions from the motor encoder －32767～
Fbr rev
(absolute value) are counted and displayed.(cumulated value) 32767

Cumulative pulses of The external command pulses are counted －9999～

CP pulse
command and displayed. 9999

The external command turns are counted and －32767～

Cumulative turns of command Cr rev
displayed. 32767

The difference between command pulses and －32767～

Accumulative pulses error E pulse
motor feedback pulses. 32767

The frequency of external command pulse is

Command pulse frequency CPF kHz －800~800
displayed.

－6000~
Motor speed r rpm The speed of servo motor is displayed.
6000

Speed control mode:

Speed analog command voltage is displayed.
Speed analog command －10.00~
F V
/limit voltage +10.00
Torque control mode:
Speed analog limit voltage is displayed.

Speed control mode:

Speed input command is displayed.
－6000~
Speed input command/limit V rpm
6000
Torque control mode:
Speed input limit is displayed.

Position control mode, speed control mode:

0 ~ +10.00
Torque analog limit voltage(TLA) is displayed.
Torque analog command
U V
/limit voltage
Torque control mode: －10.00~
Torque analog command voltage is displayed. 10.00

Position control mode, speed control mode:

0~ 300
Torque input limit is displayed in percentage.
Torque input command/limit TC %
Torque control mode:
－300~300
Torque command is displayed in percentage.

The continuous and effective load torque is

Effective load ratio J % 0~ 300
displayed relative to the rated torque of 100%.

The highest value in the past 15 seconds is

Peak load ratio b % 0~ 300
displayed relative to the rated torque of 100%.

48
 Status display Sign unit Description Range

The P-N voltage of main circuit is displayed.

DC bus voltage Pn V 0~500
“Lo-dC” is shown if it less than normal value.

The ratio of load inertia to The ratio of load inertia to motor shaft is
dC times 0.0~300.0
motor shaft displayed.

The Instantaneous torque value is displayed

Instantaneous torque T % 0~100
relative to the rated torque of 100%.。

Changing the status display screen

Changing the parameter PA01, the status item of the servo drive at power on could be changed.
The item displayed in the initial status changes with the control mode as follows:

Control mode Status display at power on

Position Motor feedback pulses

Position/speed Motor feedback pulses/ Motor speed

Speed Motor speed

Speed/torque Motor speed / Torque analog command voltage

Torque Torque analog command voltage

Torque/position Torque analog command voltage / Motor feedback pulses

49
4.4. Alarm display
It displays the current alarm and the alarm history record.
The lower two digits display the abnormal alarm number which has occurred.
Name Display Description

No alarm occurred.
Current alarm
Over voltage(AL 01) occurred, the screen flickers synchronously.

Indicates that the last alarm is over voltage(AL 01).

Indicates that the 2nd alarm in the past is low voltage(AL 02).

Indicates that the 3rd alarm in the past is over current(AL 03).
Alarm history
Indicates that the 4th alarm in the past is regenerative error(AL 03).

Indicates that the 5th alarm in the past is over load(AL 05).

Indicates that the 6th alarm in the past is over speed(AL 06).

Functions when abnormal alarm occurred:

A. Any mode screen could display the current alarm.
B. The other screen could be read during the occurrence of an alarm.
C. Remove the cause of the alarm and clear it by one of the following methods:
(a) Switch the power OFF, then ON.
(b) Press the “SET” key on the current alarm screen.
(c) Turn on the abnormal alarm reset signal (RES).
D. Move to the next record by pressing “UP” or “DOWN”.

50
4.5. Diagnostic display
The following table provides information related to the operation of diagnostic display:

Name Display Description

Not ready yet.
The drive is being initialized or an alarm has occurred.
Control status
Ready.
Initialization completed; ready for operation.
Indicates the ON/OFF states of the external I/O signals.
External I/O signal The upper segments correspond to the input signals and
display the lower ones to the output signals. The I/O signals could
be changed by the modification of PD02~PD09.
Output signal forced Digital output signals could force ON/OFF.
output For more information, refer to Section 4.5.2.
JOG test could be executed as no command from the
JOG
external command device.
test
For details, refer to section 5.2.1.
Positioning test could be executed once when there is no
Positioning command from the external command device. The PC
Test mode test communication software via RS-232/USB is required This
operation could not be performed from the display panel.
This operation could executed the estimation ratio of the
Inertia motor shaft to the load or related gain values. The PC
estimation communication software via RS-232/USB is required This
operation cannot be performed from the display panel.
If offset voltages in the analog circuits inside and outside
the drive cause the motor to rotate slowly at the speed
analog command or speed analog limit of 0V, this function
automatically makes zero-adjustment of offset voltages.
Automatic offset of When using this function, the parameter PC26 would be
analog input automatically adjusted to the offset voltage.
Please follow the steps to operate:
(1). Press the “ SET” key once.
(2). Press the “UP” or “DOWN” key and select 1.
(3). Press the “SET” key.
Software version Indicates the software version of the drive.
The applications of diagnostic display are described below:

51
4.5.1. Indication of external I/O signals
This display is used to verify the ON/OFF states of digital I/O signals connected to the drive.
(1) Operation
Call the display screen after power on. Press the “MODE” key to show the diagnostic screen:

(2) The display of I/O pin definition

The 5-digit 7-segment LED shown above indicates the ON/OFF states of DI and DO.
The top segments indicate the input signals and the bottom segments indicate the output signal.

52
4.5.2. DO forced output
The output signals could be forced on/off and do not affect the status of the servo drive. This
function is used for output signal wiring check, etc.
As no external command nor any alarm occurred, DO forced output operation could be
executed.
Do not execute this operation until the drive turned off (SON signal off).

Operation
Call the display screen after power on. Press the “MODE” key to show the diagnostic screen:

53
4.5.3. JOG test
As no external command nor any alarm occurred, JOG test could be executed.
Do not execute this operation until the contact between SON and SG is open.
Set the speed command of JOG by the PC04, set the acceleration time by the PC01, and set
the deceleration time by the PC02. Call the display screen after power on, select JOG test,
positioning test and approximate inertia operation by the following steps:
Press the MODE key to go to the diagnostic screen.

(1) Operation
As the JOG test is executed, connect +24Vdd with COM+ if the inner power is applied on
EMG-SG. Press the “UP” or “DOWN” key to run the motor. Release the key to stop. Use the
communication software to change the operation conditions. The initial conditions and setting
ranges for the operation are presented below:
Item Initial setting Setting range
Rotary speed [r/min] 300 -4500~4500
Acceleration/deceleration time constant [mS] 200 0~20000

Key functions are described as follows:

Key Description
UP Press to run CCW rotation. Release to stop.
DOWN Press to run CCW rotation. Release to stop.
If the communication cable is disconnected during JOG test by using the communication
software, the servo motor will be decelerated to a stop.
(2) Status display
Users could check the servo status during JOG test.
Press the “MODE” key to show the status display during the ready of JOG test. Perform the
JOG test in this status screen with “UP” and “DOWN” keys. Each press of “MODE” key will
show the next status screen. After an entire cycle, the ready of JOG test is returned. More
details related to the status display could be found in Section 6.2.
(3) JOG test completed
Turn off the power or press the "SET" key in operation test mode for more than 2 seconds to
terminate the JOG test.

54
4.5.4. Positioning test
The Shihlin communication software is required to execute the positioning test.
As no external command nor any alarm occurred, positioning test could be executed.
Before this operation, make sure that the contact between SON and SG is open.

Operation

Make sure that the motor is correctly wired before this test performed. Select operation testing via
the Shihlin communication software. Press “Forward” or “Reverse” to rotate the motor which will then
stop after moving the command route set by the user. Operation conditions could be modified with the
Shihlin communication software. The initial values and setting ranges are listed in the table below:
Name Initial value Setting range
Rotary speed [r/min] 200 0~6000
Acceleration/deceleration time constant [mS] 1000 0~20000
Revolution [10000/turn] 10 0~30000
Command route
pulse 0 0~9999

Description of the buttons：

Button name Function description
Forward Press to run positioning test in CCW.
Reverse Press to run positioning test in CW.
Press “Pause” button during operation to make a temporary stop.
Pause To press the same button which was pressed to finish the remaining route.
Otherwise, to press "Pause" button again to erases the remaining route.
Close Terminate this test.

The motor will stop immediately if the communication cable is disconnected during operation.

55
4.5.5. Automatic offset of analog command input
When the external speed analog command input is 0V, there may be still a offset voltage which will
cause a slow motor rotation inside the servo drive. The user could “erase” this bias with the automatic
offset function in the diagnostic display mode. Follow the steps to execute automatic offset operation of
analog input:

After the automatic offset completed, the bias value will be written into the PC26.

56
4.5.6. Inertia estimation
The Shihlin communication software is required to execute the inertia estimation.
As no external command nor any alarm occurred, the inertia estimation could be executed.
When this operation is performed, the PA02 should be set as 0x00.(manual tuning mode)

Operation

1. Make sure that the motor is wired correctly before operating this inertia estimation.
2. Under the Shihlin communication window, choose the “auto gain tuning” item.
3. Enable the “Auto tuning control panel”.
4. The acceleration/deceleration time constant, JOG speed could be adjusted if necessary.
5. Press the “Servo ON” button and then the motor would be magnetized.
6. The JOG button could be used to run the motor in CCW or CW.
7. Set the proper route command (revolutions and pulses).
8. Press the” Start” button to execute this inertia estimation.
The relevant parameters are listed below:
Name Initial value Setting range
acceleration/deceleration time constant [mS] 200 0~10000
JOG speed [r/min] 300 1~3000

During the acceleration or deceleration process, the servo drive would calculate the ratio of load
inertia to motor shaft and the bandwidth of the system. After the values getting more stable, press the
“Auto gain calculation” button, the relevant control parameters would be record.
The relevant parameters are listed below:
Setting Initial Control
Name Abbr. Sign unit
range value mode
Resonance suppression low-pass filter NLP PB03 0~10000 0.1mS 0 Pt,Pr,S,T

Position feed-forward gain FFC PB05 0~20000 0.0001 0 Pt,Pr

The ratio of load inertia to motor shaft GD1 PB06 0~1200 0.1time 10 Pt,Pr,S

Position loop gain PG1 PB07 4~1024 rad/s 35 Pt,Pr

Speed loop gain VG1 PB08 40~4096 rad/s 817 Pt,Pr,S

Speed integral gain VIC PB09 1~1000 mS 48 Pt,Pr,S

After the calculation completed, users must terminate the “Auto tuning control panel” in order to
record the relevant parameters. If users already know the low frequency gain and inertia ratio of the
system, they could also set the bandwidth value desired to calculate the optimum value for controller.

57
4.6. Parameter display
Some parameter modification would be valid by power off once and power on again.
Here are 2 examples. One is the control mode(PA01) changed. The other is the usage changed of
the “MODE” key. It is switched to the “shift” function to modify the revolutions.
Example 1: Change the control mode(PA01) to the speed control mode.

Example 2: Switch the usage of “MODE” key to the “shift” function.(PA15 as a case)

Another way to display a negative value which only occupies 4 digits or less is shown below:

58
5. Operation

5.1. Checklist before operation

To avoid the damage, before starting the operation, please check the following:

◆Whether the power source terminals (R,S,T,L1,L2) of the servo drive are correctly wired.
◆The terminals(U,V,W) of the motor and the U, V, W wires on the drive need to be consistency.
◆Make sure if the ground terminal of the servo drive is correctly grounded.
◆Make sure there is no conductive or inflammable materials inside the drive or close to the drive.
◆Make sure the voltage level of external power source of the drive is proper.
◆Make sure that the control switch is off.
◆Do not put heavy objects on top of the drive or the wires.
◆Use twisted line for the wiring of the brake resistor.
◆Check if there is any apparent damage on the exterior of the drive.

Do not operate the switches with wet hands. Otherwise, it may cause an
electric shock.

Before running the servo motor, check the parameters. Any improper settings
may cause machines some unexpected operation.
The servo drive heat sink, regenerative resistor, servo motor, etc. may be hot
while power is on or for an interval after power off. Not to touch them mentioned
above to avoid burns.

59
5.2. Idle operation
Please decouple the load(e.g., any coupler between the servo motor shaft and user’s machine)
before an idle operation. To follow the regular instruction to start the servo motor and then couple the
servo motor with user’s machine again. The idle operation is explained as below.
5.2.1. Idle JOG test
This operation could be performed only if there is not alarm nor warning on the drive.
To confirm an open contact between SON and SG before this operation.

The idle JOG test could be executed with the drive’s panel or the Shihlin communication
software in order to check if the speed and direction of the motor is as expected or not. The motor
speed could not be modified with the drive’s panel. If the rotation speed has to be modified, please use
the Shihlin communication software to modify. The low speed command is recommended when this
operation performed. The panel operation is described as follows:

Press the “UP” key to run the motor in CCW or the “DOWN” key to run the motor in CW.

The initial conditions and setting ranges are presented below:

Item Initial setting Setting range
Rotary speed [r/min] 300 -4500~4500
Acceleration/deceleration time constant [mS] 200 0~20000

If the communication cable is disconnected during this operation with the communication
software, the motor will be decelerated to a stop. Key functions are described as follows:
Key Description
UP Press to run CCW rotation. Release to stop.
DOWN Press to run CW rotation. Release to stop.

To terminate the idle JOG test, turn off the power or press the “SET” key more than 2
seconds in the display of “d-01” screen.
If the Shihlin communication software are applied to perform the idle JOG test, please refer to
the instruction of the help file for more detail.
60
5.2.2. Idle positioning test
The idle positioning test could be executed with the Shihlin communication software to check if the
speed and direction of the motor is as expected. The low speed command is recommended when this
operation performed. The route which is compose of revolutions and pulses should be set for this
positioning test. For example, a route of 10.5 turns for the servo motor, the number of revolution should
be set as “10” and the number of pulse should be set as “5000”. The operation steps are described
below:
Step 1 : Wire the drive and the motor correctly then turn on the power.
Step 2 : Connect the PC and the CN4 port of the drive with the standard mini USB cable. Execute
the USB communication function of the Shihlin communication software and select the
proper device number.
Step 3 : Select “TESTING/POSITIONING TESTING” to enter positioning test screen.
Step 4 : Set the numbers of revolution and pulse. Press “Forward” to run the motor CCW to
complete the distance. Or press “Reverse” to run the motor CW to reach the target
position.
The initial conditions and setting range are listed below:
Name Initial value Setting range

Revolution [10000/turn] 10 0~30000

Command route
Pulse 0 0~9999

Rotary speed [r/min] 200 0 to the max allowable speed

Acceleration/deceleration time constant [mS] 1000 0~20000

Description of the buttons：

Button name Function description

Forward Press to run positioning test in CCW until the command route done.

Reverse Press to run positioning test in CW until the command route done.
Press “Pause” button during operation to make a temporary stop.
Pause To press the same button which was pressed to finish the remaining route.
Otherwise, to press "Pause" button again to erases the remaining route.

Close Terminate the positioning test.

Step 5 : When the positioning test is completed, press “Close” to return the last window of the
Shihlin communication software.

61
5.3. Tuning process

Some extreme settings of parameters may cause unstable or unexpected

running, please do not perform that.

5.3.1. Abstract
With the auto-gain tuning function, the mechanical load inertia could be approximated precisely.
The appropriate gain value of controller parameter also could be fitted for the servo motor under
the various load conditions. The manual tuning function is executed as the result of auto-gain
tuning function is not suitable for the user’s mechanical system.
Gain tuning mode is explained in the following table:
PA02 Automatically set Manually set
Gain tuning mode Estimation rule
setting parameter parameter
GD1(PB06)
Manual gain tuning mode 1 PG1 (PB07)
0000h
(PI control) VG1 (PB08)
VIC (PB09)
A fixed PB06.
GD1(PB06)
Manual gain tuning mode 2 PG1 (PB07)
0001h
(PI control + interference compensator) VG1 (PB08)
VIC (PB09)
GD1(PB06)
PG1 (PB07)
Auto-gain tuning mode 1 0002h Always estimated. ATUL(PA03)
VG1 (PB08)
VIC (PB09)
PG1 (PB07)
ATUL(PA03)
Auto-gain tuning mode 2 0003h A fixed PB06. VG1 (PB08)
GD1(PB06)
VIC (PB09)
The PA02 is not writable as SON-SG is conductive. Make it open circuit then setting the values.

When the position control mode is performed, the manual gain tuning mode (PI control + interference
compensator) is recommended. The value of gain setting is various according to the different load
conditions. For example, reduce the gain value if the mechanical system is instable.

62
 Follow the steps listed below to tune the proper gain value of user’s mechanical application.

If the mechanical system which being tuned is a new set up, please use the JOG test at first. As
no abnormal alarm occurred then use the auto-gain tuning function. During the auto-gain tuning
function operated, several routes of acceleration and deceleration are necessary to make the ratio of
load inertia to motor shaft be getting stable. Finally, the proper gain and response would be set.

63
5.3.2. Auto-gain tuning mode
The auto-gain tuning of the drive could calculate the ratio of load inertia to motor shaft
instantaneously. With this value, the optimum gain could be decided under the current mechanical
condition. It is convenient to execute the adjustment of gain value with the auto-gain tuning function.

5.3.2.1. Auto-gain tuning function

(a) Auto-gain tuning mode 1
This mode is the default mode of the servo drive. If the parameter PA02 is set as “0002h”，
the load inertia ratio would be approximated continuously and the servo gain value will be
set automatically. The variable parameter for users is only PA03 which the response
setting related.
Parameters and settings related of this mode are presented below:
Parameter Abbreviation Parameter name User adjustable or auto-presumed
PA03 ATUL Auto-tuning response level setting User adjustable
PB06 GD1 The ratio of load inertia to motor shaft auto-approximated
PB07 PG1 Position loop gain auto-approximated
PB08 VG1 Speed loop gain auto-approximated
PB09 VIC Speed integral gain auto-approximated

When the function of auto-gain tuning mode 1 is applied, some conditions must be met.
①. The acceleration time from 0rpm to 2000rpm or the deceleration time from 2000rpm to
0rpm should be 1 second or less. If a 3000rpm case is applied, the acceleration and
deceleration time should be 1.5 seconds or less.
②. The speed command of the motor should be 300rpm or higher.
③. The ratio of machinery load inertia to motor shaft should be 100 times or less.
④. The machinery system with a violent change of load inertia is not suitable.

(b) Auto-gain tuning mode 2

When auto-gain tuning mode 1 is not satisfied the accurate approximation of load inertia,
the auto-gain tuning mode 2 is recommended. The parameter PA02 should be set as
“0003h” to perform this mode. During the tuning process，the load inertia ratio would not be
approximated and the users have to write manually the value into PB06 by themselves.

Parameters and settings related of this mode are presented below:

Parameter Abbreviation Parameter name User adjustable or auto-presumed
PA03 ATUL Auto-tuning response level setting User adjustable
PB06 GD1 The ratio of load inertia to motor shaft User adjustable
PB07 PG1 Position loop gain auto-approximated
PB08 VG1 Speed loop gain auto-approximated
PB09 VIC Speed integral gain auto-approximated

64
5.3.2.2. The flow of auto-gain tuning mode
The flow of auto-gain tuning mode for the servo drive could be presented below:

When the auto-gain tuning mode is performed, the following conditions should be satisfied.
①. As the mode 1 operated, at first execute the acceleration/deceleration routes of the motor, the
ratio of load inertia to motor shaft would be approximated according to the current and speed.
The PB06 would be updated(EEPROM) with the new approximated value every 6 minutes.
②. If the PB06 is known or the proper gain cannot be made by the auto-gain tuning mode 1,
please use the auto-gain tuning mode 2 by the setting of PA02 and manually set the known
value of PB06. Under this mode, the estimation of control gain would still compute.
③. With the settings of the inertia ratio and the response, the servo drive would tune the optimum
gains during the acceleration/deceleration route. The result value of gain tuning would be
written into EEPROM every 6 minutes. After power on of the drive, the saved value of the
controller gain in the EEPROM would be used as the initial value for the operation of auto-gain
tuning mode.

65
 Since the auto-gain tuning mode 1 is made valid as the default from the factory, simply running
the acceleration/deceleration route of the motor would automatically obtain the optimum gains that
match the machine. Merely changing the response level setting value as required completes the
adjustment. The adjustment procedure is as follows.

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5.3.2.3. Response level setting of the auto-gain tuning mode
The parameter PA03(response level setting) is related to the response of the whole servo system.
As the response level setting is increased, the traceability and settling time for a command decreases,
but a too high response level setting would generate vibration. Therefore, keep setting until the
optimum response is obtained within the range without vibration.
If the response level setting which user desired would cause machine resonance, the machine
resonance suppression filter(PB01,PB02,PB21,PB22) and the resonance suppression low-pass
filter(PB03) could be employed to suppress machine resonance. Suppressing machine resonance
may allow the response level setting to be higher.
Refer to section 6.3.6 for more detail about suppressing machine resonance.

Response level Speed loop Applicable inertia ratio of

Machine rigidity
setting response frequency load to motor shaft
1 5Hz
2 10 Hz
Low 30 times or more
3 15 Hz
4 20 Hz
5 30 Hz
10~30 times
6 40 Hz
7 Middle 55 Hz
8 70 Hz 5~10 times
9 85 Hz
A 100 Hz
B 130 Hz
C 160 Hz
High 5 times or less
D 200 Hz
E 250 Hz
F 300 Hz

For the response level setting, it is recommended to use the level value from low response to
high response gradually. It is probable to make resonance if the initial value is too high.
The applicable ratio of load inertia to motor shaft is a reference. The actual range would vary with
the different mechanical systems.

67
5.3.3. Manual gain tuning mode
The manual gain tuning mode is executed as the result of auto-gain tuning function is not suitable
for the user’s demand.
Adjustment of manual mode
For the applications of position control or speed control, the bandwidth is highly related with the
machinery rigidity and environment. For machine tools which the high precision required, a high
bandwidth system response is necessary. However, a high response level setting could cause the
machine resonance easily. Therefore, a high rigidity machine should be used for occasions that require
a high response to avoid machine resonance.
If users have no idea about the permissible response of the machine, they should adopt a smaller
gain value at first and then gradually increase the gain values until machine resonance occurred.
Then users could reduce the gain values accordingly. Reference parameter values for users to adjust
are listed in the following table:
Name Setting Initial Control
Name Sign Unit
Abbr. range value mode

Resonance suppression low-pass filter NLP PB03 0~10000 0.1mS 0 Pt,Pr,S,T

Position feed-forward gain value FFC PB05 0~20000 0.0001 0 Pt,Pr,

Position loop gain PG1 PB07 4~1024 rad/s 35 Pt,Pr

Speed loop gain VG1 PB08 40~4096 rad/s 817 Pt,Pr,S

Speed integral gain VIC PB09 1~1000 mS 48 Pt,Pr,S

Speed feed-forward gain VFG PB10 0~20000 0.0001 0 Pt,Pr,S

Position loop gain(PG1)

This parameter determines the response level of the position loop. Increasing PG1 improves
traceability, settling time and position error to a position command but a too high value will make
overshooting or vibration to occur.

VG1 setting value 1

PG1 setting value ≤ ×
1 + ratio of load inertial to motor shaft 4
1
PG1 setting value ≈ speed loop bandwidth ×
4

Speed loop gain(VG1)

This parameter determines the response level of the speed loop. Increasing VG1 improves
traceability to a speed command but a too high value will make machine resonance. The Speed
loop gain is usually 4~6 times bigger than the position loop gain. As the position loop gain is
greater than the speed loop gain, machine resonance or overshoot would be occurred easily.
VG1 setting value
Speed loop response frequency(Hz)=
(1+ ratio of load inertial to motor shaft ) × 2π

68
Speed integral gain(VIC)
This parameter is to eliminate stationary deviation against a command. The smaller it is, the better
capability for the drive to eliminate stationary deviation. However, the machine with a large load
inertia ratio or any vibration causing, the small value would cause vibration easily.
3000~5000
VIC setting value(ms) ≥
VG1 setting value / (1+ GD1 setting value × 0.1)

Resonance suppression low-pass filter(NLP)

The larger the load inertia ratio is, the lower the system bandwidth is. To keep a relatively high
bandwidth, a higher gain value may be required. Also the probability of resonance for the same
machine would be increased. Thus the resonance suppression low-pass filter could be applied to
eliminate the resonance. The higher setting value affords a better improvement about high
frequency noises. Also a too large value could probably cause the entire system to be instable. It
is because the higher setting value cause a larger phase lag of the servo drive.
3000~5000
VIC setting value(ms) ≥
VG1 setting value / (1+ GD1 setting value × 0.1)

Position feed-forward gain(FFC)

To reduce the position error and position settling time, but if the value is set too large, a sudden
acceleration or deceleration may cause overshoots. Also, a too large electronic gear ratio would
cause noises.

Speed feed-forward gain(VFG)

To set the proper gain value would reduce the tracking time of speed command. Also, a too big
value would cause overshoots during the sudden acceleration/deceleration command.

69
5.4. Parameter setting and operation for position control mode
(1) Power on
To switch off the SON signal of DI after the servo drive has turned on. The panel of the drive would
show 2 second latter.
(2) Test operation
Confirm the state of the servo motor with the JOG test.
(3) Parameter setting
After wiring for position control, the following parameters should be set for this operation.
Setting
Parameter Name Description
value
PA01 Control mode option □□□0 Position control mode

PA02 Gain tuning mode option 0002 Auto-gain tuning mode 1

PA03 Response level setting 0005 Middle rigidity

PA06 Numerator of the electronic gear ratio 1 Set the numerator as “1”

PA07 Denominator of the electronic gear ratio 1 Set the denominator as “1”

PD15 Digital input filter time option □□□2 Filter time constant is “4mS”

(4) Servo on
(a)Turn on the control power(L1,L2) of the servo drive.
(b)Turn on the SON signal(SON-SG short circuit).
When the SON is activated, the drive is ready to run. The servo motor would immediately be
magnetized and switched to the ”SERVO LOCK” state.
(5) Forward/reverse rotation pulse train
At first make the servo motor run at a low speed and confirm the operation and rotary direction of
the motor. If the pulse train commands are open collector type, PP and NP are used as input
terminal. When the line drive signals applied, please use the PP-PG or NP-NG wiring. Use
auto-gain tuning function or manually input the controller parameter and avoid the machine
resonance. To adjust the PA03 to obtain the optimum speed response.
(6)Home return
Before this function being performed, check if there is the proper rotary direction and origin.
Searching home could be executed if necessary.
(7)Stop
Take one of the following steps to stop running the motor.
(a)SON signal off :
The shaft of servo motor is become rotatable.
(b)Alarm has occurred :
The dynamic brake works and the servo motor suddenly stop running.
(c)EMG is activated :
The same actions as above but the ALM message is displayed.
(d)LSP/LSN signal off :
LSP on is rotatable in CCW. LSN on is rotatable in CW. If it is off, the dynamic brake works.

70
5.5. Parameter setting and operation for speed control mode
(1) Power on
To switch off the SON signal of DI after the servo drive has turned on. The panel of the drive would
show 2 second latter.
(2) Test operation
Check if the state of the servo motor normal or not with the JOG test.
(3) Parameter setting
After wiring for speed control, the following parameters should be set for this operation.
Setting
Parameter Name Description
value
PA01 Control mode option □□□2 Speed control mode
PC05 Inner speed command 1 [rpm] 1000 Speed command 1 is 1000rpm
PC06 Inner speed command 2 [rpm] 1500 Speed command 1 is 1500rpm
PC07 Inner speed command 3 [rpm] 2000 Speed command 1 is 2000rpm
PC01 Acceleration time constant [mS] 1000 Set as 1000mS
PC02 Deceleration time constant [mS] 500 Set as 500mS
PC03 S-curve acceleration/deceleration pattern 0 Disabled
PD15 Digital input filter time option □□□2 Filter time constant is “4mS”.
(4) Servo on
(a)Turn on the control power(L1,L2) of the servo drive.
(b)Turn on the SON signal(SON-SG short circuit).
When the SON is activated, the drive is ready to run. The servo motor would immediately be
magnetized and switched to the ”SERVO LOCK” state.
(5) Start
Choose the speed command with the SP1 and SP2 signals. Options are listed as below.
External input signal
Speed command
SP2 SP1
0 0 Speed analog command(VC)
0 1 Inner speed command 1(PC05)
1 0 Inner speed command 2(PC06)
1 1 Inner speed command 3(PC07)

The rotary direction is decided with the ST1 and ST2 signals. Options are listed as below.
External input signal Speed command
Speed analog command(VC) Inner
SP2 SP1
+ polarity 0V - polarity command

0 0 - - - -

0 1 CCW - CW CCW

1 0 CW - CCW CW

1 1 - - - -

“0” denotes the open circuit with SG, “1” denotes the short circuit with SG. “-“ is servo locked.
71
 At first make the servo motor run at a low speed and check if the sequence correct or not. With
the status display, user could check the motor speed, cumulative pulses of command, effective
load ratio, etc. Use auto-gain tuning function or manually input the controller parameters and
avoid the machine resonance. To adjust the PA03 to obtain the optimum speed response.
(6)Stop
Take one of the following steps to stop running the motor.
(a)SON signal off :
The shaft of servo motor is become rotatable.
(b)Alarm has occurred :
The dynamic brake works and the servo motor suddenly stop running.
(c)EMG is activated :
The same actions as above but the ALM message is displayed.
(d)LSP/LSN signal off :
LSP on is rotatable in CCW. LSN on is rotatable in CW. If it is off, the dynamic brake works.
(e)If ST1 and ST2 are both on or both off, the motor would decelerate to stop.

72
5.6. Parameter setting and operation for torque control mode
(1) Power on
To switch off the SON signal of DI after the servo drive has turned on. The panel of the drive
would show 2 second latter.
(2) Test operation
Confirm the state of the servo motor with the JOG test.
(3) Parameter setting
After wiring for torque control, the following parameters should be set for this operation.
Setting
Parameter Name Description
value
PA01 Control mode option □□□4 Torque control mode
PC05 Inner speed limit 1 [rpm] 1000 Speed command 1 is 1000rpm
PC06 Inner speed limit 2 [rpm] 1500 Speed command 1 is 1500rpm
PC07 Inner speed limit 3 [rpm] 2000 Speed command 1 is 2000rpm
PC01 Acceleration time constant [mS] 1000 Set as 1000mS
PC02 Deceleration time constant [mS] 500 Set as 500mS
PC03 S-curve acceleration/deceleration pattern 0 Disabled
PD15 Digital input filter time option □□□2 Filter time constant is “4mS”.
PA05 Inner torque limit 1 [%] 50 50% of maximum torque as a limit
(4) Servo on
(a)Turn on the control power(L1,L2) of the servo drive.
(b)Turn on the SON signal(SON-SG short circuit).
When the SON is activated, the drive is ready to run. The servo motor would not be magnetized
and the shaft is rotatable.
(5) Start
Choose the speed limit with the SP1 and SP2 signals. The motor runs in CCW as the RS1
activated. The motor runs in CW as the RS2 activated. At first to run the servo motor at a low
speed to check if the sequence correct or not. If the sequence is unexpected, check whether the
input signal is proper.
(6)Stop
Take one of the following steps to stop running the motor.
(a)SON signal off :
The shaft of servo motor is become rotatable.
(b)Alarm has occurred :
The dynamic brake works and the servo motor suddenly stop running.
(c)EMG is activated :
The same actions as above but the ALM message is displayed.
(d)LSP/LSN signal off :
LSP on is rotatable in CCW. LSN on is rotatable in CW. If it is off, the dynamic brake works.
(e)If ST1 and ST2 are both on or both off, the shaft of servo motor is become rotatable.

73
6. Control function

6.1. Control mode option

The are 4 basic operation mode for Shihlin servo drive: position control with terminals input, position
control with inner registers, speed control, torque control. The drive could be operated in single mode
or hybrid mode. All operation modes are described as below.
PA01
Mode Sign Description
setting

The drive receives the command to run the motor to

Position control
Pt 0000 approach the goal. The command is received via the
(terminal input)
terminals and is in the form of pulse trains

The drive receives the command to run the motor to

Position control
Single mode

Pr 0010 approach the goal. The command source is the inner

(inner register)
register which could be assigned by DI signals.

The drive runs the motor to the target speed. The

Speed control S 0002 command source which is an analog voltage or the
inner register could be switched by DI signals.

The drive receives the command to run the motor to

Torque control T 0004 generate the desired torque. The command source is
the analog voltage.

Position control
Pt-S 0001 Pt/S is switched mutually via the LOP signal.
(terminal input) - speed

Position control
Pt-T 0005 Pt/T is switched mutually via the LOP signal.
Hybrid mode

(terminals input) - torque

Position control
Pr-S 0011 Pr/S is switched mutually via the LOP signal.
(inner register) - speed

Position control
Pr-T 0015 Pr/T is switched mutually via the LOP signal.
(inner register) - torque

Speed - torque control S-T 0003 S/T is switched mutually via the LOP signal.

The modification of PA01 would be valid by power off once and power on again.

74
6.2. Torque control mode
Torque control mode is often applied for such occasions: winding machines, printing press,
injection molding machines, etc. The torque command is analog voltage signals which control the
output torque of the servo motor. The basic torque control blocks are shown as below.

The input command for torque control is an analog ±10V voltage. After A/D process, torque output
command and torque command offset process, the expected torque and speed will be output.

6.2.1. Output proportion of maximum torque analog command

Output proportion is the relationship between the applied voltage of the torque analog command
and the torque generated by the servo motor.
Setting Initial Control
Name Sign Unit
range value mode

Torque generated of maximum analog command PC13 0~2000 % 100 Pt,Pr,S,T

If the setting value of PC13 is 100%, the 100% rated torque of servo motor would be generated
when the applied voltage of torque command is 10V. If the applied voltage of torque command is 5V,
the generated torque would be the 50% rated torque. The conversion is listed as follows.
applied voltage of torque command
The generated torque(%) = × the setting value of PC13
10

75
6.2.2. Torque analog command offset
When the torque analog command input is 0V, there may be still a offset voltage which will cause a
slow motor rotation. In such case, the user could use the parameter PC27 to correct the bias voltage.
The parameter description is as follows.
Setting Initial Control
Name Sign Unit
range value mode

-8000
Torque analog command offset PC27 ~ mV 0 S,T
8000

6.2.3. Torque analog command smoothing

By setting the filter time constant of torque analog command, the user could run the servo motor
smoothly in response to a sudden torque command. The parameter description is as follows.
Setting Initial Control
Name Sign Unit
range value mode

Torque command filter time constant PB19 0~5000 mS 0 T

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6.2.4. Torque limit of torque control mode
The parameter PA05 and PC25 are used to limit the generated torque of the servo motor when the
torque control mode is performed. The description is as follows.
Name Setting Initial Control
Name Sign Unit
Abbr. range value mode

Inner torque limit 1 [%] TL1 PA05 0~100 % 100 Pt,Pr,S,T

Inner torque limit 2 [%] TL2 PC25 0~100 % 100 Pt,Pr,S,T

The TL1 signal function of CN1 is also described again as follows.

Name Control
Name Description
Abbr. mode
When this signal is applied, make the PD02 to
Inner torque limit option TL1 PD09 usable at first. Open TL1-SG to make Pt,Pr,S,T
inner torque limit 2 valid(PC25).

There are two different result which is chosen by the switch status of DI.
DI signal status(*)
The valid value of torque limit
TL1
The setting value of PA05
0

If the PC25 is greater than the PA05, the PA05 is valid.

1
If the PC25 is less than the PA05, the PC25 is valid.
(*) 0: OFF(TL1-SG is open-circuit) 1：ON(TL1-SG is short-circuit)

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6.2.5. Speed limit of torque control mode
Under the torque control mode, the various speed limits could be applied by the SP1, SP2, SP3
and the external analog signal. There are 8 combinations which are listed below for user to choose.
DI signal status(*) Related
DI status Valid option Speed limit Limit range
SP2 SP1 parameter

VCM 0 0 Speed analog limit(VC) ±10V PC12

SP3 is invalid SC1 0 1 Inner speed limit 1 PC05
(default value) SC2 1 0 Inner speed limit 2 -4500 ~ 4500 PC06
SC3 1 1 Inner speed limit 3 PC07
Related
Valid option SP3 SP2 SP1 Speed limit Limit range
parameter
VCM 0 0 0 Speed analog limit(VC) ±10V PC12
SC1 0 0 1 Inner speed limit 1 PC05
SC2 0 1 0 Inner speed limit 2 PC06
SP3 is valid
SC3 0 1 1 Inner speed limit 3 PC07
SC4 1 0 0 Inner speed limit 4 -4500 ~ 4500 PC08
SC5 1 0 1 Inner speed limit 5 PC09
SC6 1 1 0 Inner speed limit 6 PC10
SC7 1 1 1 Inner speed limit 7 PC11
(*) 0: OFF(SPx-SG is open-circuit) 1：ON(SPx-SG is short-circuit) x=1,2,3
When the external speed analog limit is applied, check the initial 0 voltage and PC12 value
which are not permissible to exceed the motor’s rated speed otherwise damages would be
caused.
To make the SP3 of DI valid by setting PD02 to PD09 if the option SC4 to SC7 are used.

The parameters related to the function of inner speed limit are described below.
Initial Control
Name Sign Setting range
value mode

Inner speed limit 1 [rpm] PC05 100

Inner speed limit 2 [rpm] PC06 500

Inner speed limit 3 [rpm] PC07 1000

0 ~ instant
Inner speed limit 4 [rpm] PC08 permissible 200 T
speed
Inner speed limit 5 [rpm] PC09 300

Inner speed limit 6 [rpm] PC10 500

Inner speed limit 7 [rpm] PC11 800

78
6.3. Speed control mode
Speed control is often applied for occasions where is CNC machine, drilling machine, etc. The
command source is analog signal or inner register. The analog signal is the external voltage signal. The
inner command could be performed by the following 2 ways: (1)Use the inner registers (PC05 to PC11)
to set the various commands then switch SP1, SP2, and SP3 to change the demand speed. (2)Use the
communication software to modify the value of speed command register.
To avoid the discontinuity, the drives afford users the smooth S-pattern running. There are 2
control modes (manual and automatic) available. The manual mode enables users to set all related
parameters while the automatic functions were off. The automatic mode provides an estimation of load
inertia ratio and parameters adjusted. In addition, an simple mode is designed to provide users a robust
control which could instantaneously suppress external load interference. The basic speed control
blocks are shown as below.

The S-pattern smooth process and speed filter are recommended to suppress the discontinuity.

6.3.1. Selection of speed command

There are 8 combinations which are listed below for user to choose.
DI signal status(*) Related
DI status Valid option Speed command Setting range
SP2 SP1 parameter

VCM 0 0 Analog Command(VC) ±10V PC12

SP3 is invalid SC1 0 1 Inner speed command 1 PC05
(default value) SC2 1 0 Inner speed command 2 -4500 ~ 4500 PC06
SC3 1 1 Inner speed command 3 PC07
Related
Valid option SP3 SP2 SP1 Speed command Setting range
parameter
VCM 0 0 0 Analog Command(VC) ±10V PC12
SC1 0 0 1 Inner speed command 1 PC05
SC2 0 1 0 Inner speed command 2 PC06
SP3 is valid
SC3 0 1 1 Inner speed command 3 PC07
SC4 1 0 0 Inner speed command 4 -4500 ~ 4500 PC08
SC5 1 0 1 Inner speed command 5 PC09
SC6 1 1 0 Inner speed command 6 PC10
SC7 1 1 1 Inner speed command 7 PC11
(*) 0: OFF(SCx-SG is open-circuit) 1：ON(SCx-SG is short-circuit) x=1~7
As the external speed analog command is applied, check the commands which are not
permissible to exceed the motor’s rated speed otherwise damages would be caused.
To make the SP3 valid by setting PD02 to PD09 if the option SC4 to SC7 are used.
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6.3.2. Output speed of maximum speed analog command
The relationship between the applied voltage of the speed analog command and the output speed
is described below.
Setting Initial Control
Name Sign Unit
range value mode

Output speed of maximum analog voltage command PC12 0~30000 rpm 3000 S,T

This value decides the output speed while the maximum permissible voltage is applied. If the
PC12 is 3000, the motor would rotate at 3000rpm when the applied voltage of speed command is 10V.
If the applied voltage of speed command is 5V, the rotary speed would be 1500rpm. The conversion is
listed as follows.
applied voltage of speed command
The output speed[rpm] = × the setting value of PC12
10

6.3.3. Speed analog command smoothing

If the speed command changed violently, vibration or noise or even overshoot may be occurred
by the motor. Users could use related parameters for smoothing process to suppress those needless
impacts. The acceleration time constant could be used to adjust the slope of speed pattern from static
state to the speed command set by the user. The deceleration time constant could be used to adjust
the slope from the rotary state to the static state. The S-pattern acceleration/deceleration time constant
could be used to adjust the stability when starting or stopping the motor.
Name Setting Initial Control
Name Sign Unit
Abbr. range value mode

Acceleration time constant [mS] STA PC01 0~20000 mS 200 Pr,S,T

Deceleration time constant [mS] STB PC02 0~20000 mS 200 Pr,S,T

S-pattern acc./dec. time constant [mS] STC PC03 0~20000 mS 0 Pr,S,T

The 3 parameters will be described in detail as follows.

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Acceleration time constant

This parameter is the time spent for the motor from 0 rpm to the rated speed and it is defined
as “acceleration time constant”. For example, if the rated speed of the servo motor is 3000 rpm and
this parameter is set as 3000 (3s). In such case, the motor accelerating from 0 rpm to 3000 rpm
would take 3 seconds. When the speed command is set as 1000 rpm, the motor take 1 second to
accelerate from 0 rpm to 1000 rpm.
Deceleration time constant

The time spent for the motor to decelerate from the rated speed to 0 rpm is called “deceleration
time constant”. For example, if the current speed of the servo motor is 2000 rpm and this parameter is
set as 4000 (4s). In such case, the motor decelerating from 2000 rpm to 0 rpm would take 2 second.
When the running speed is 4000 rpm, the motor take 4 second to decelerate from 4000 rpm to 0 rpm.

S-pattern acc./dec. time constant

The method of S-pattern acceleration/deceleration time constants is to employ a three-step curve

during the acceleration or deceleration process in order to soothe the vibration during starting or
stopping the motor. Setting an appropriate STC could improve the stability of the motor during startup
and stop. The initial S-pattern acceleration/deceleration constants are set as 0 second. Users are
recommended to enable this function when the speed control mode is performed.

Protection during acceleration/deceleration is occupied in the speed control mode.

STA,STB,STC could be set independently. Even if STC is “0”, a trapezoidal-pattern is provided.

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Low-pass filter smooth time constant
Name Setting Initial Control
Name Sign Unit
Abbr. range value mode

Speed low-pass filter smooth time constant[mS] SFLT PB18 0~1000 mS 0 S,T

A larger parameter value would soothe the speed command more obviously. However, the
response would slow down as well. If it is set as zero, this function is disabled.

82
6.3.4. Torque limit of speed control mode
When this mode is applied, there are two major parameters: PA05 and PC25 which are related to
the torque limit function. They are explained in the following table.
Name Setting Initial Control
Name Sign Unit
Abbr. range value mode

Inner torque limit 1 [%] TL1 PA05 0~100 % 100 Pt,Pr,S,T

Inner torque limit 2 [%] TL2 PC25 0~100 % 100 Pt,Pr,S,T

Here are 3 pin functions of CN1: 1 analog voltage input and 2 DI inputs which are described below:
Name Control
Pin/Signal name Description
Abbr. mode
This signal is valid by the setting of PD02~PD09
to make TL enable. As TLA is valid, the torque
Torque analog limit TLA output would be limited. When TLA is connected Pt,Pr,S
to the positive polarity of the power source, a
maximum torque will be generated at +10V.

Set the PD02~PD09 parameter to enable this

signal. As TL-SG is open circuit, the inner torque
Torque limit option TL Pt,Pr,S
limit 1(PA05) is valid. In case of short circuit, the
torque analog limitation(TLA) effective.

Set the PD02~PD09 parameter to enable this

Inner torque limit option TL1 signal. As TL1-SG is short circuit, the Inner Pt,Pr,S,T
torque limit 2(PC25) effective.

There are 4 combinations which are decided by the signal state of TL and TL1.
DI signal status(*)
The valid value of torque limit
TL1 TL

0 0 The setting value of PA05

If TLA is less than PA05, then TLA is valid.

0 1
If TLA is greater than PA05 then PA05 is valid.
If PC25 is less than PA05, then PC25 is valid.
1 0
If PC25 is greater than PA05, then PA05 is valid.
If PC25 is less than TLA, then PC25 is valid.
1 1
If PC25 is greater than TLA, then TLA is valid.
(*) 0: OFF(TL1-SG or TL-SG is open-circuit) ,1：ON(TL1-SG or TL-SG is short-circuit)

If the generated torque suits the value of PA05 or PC25 or torque analog limit, the TLC of DO
signal becomes conductive with SG.
Name Control
Pin/Signal name Description
Abbr. mode

TLC-SG is conductive as the generated torque

reaches the inner torque limit 1(PA05), or the
Torque limiting control TLC Pt,Pr,S
torque analog limit (TLA).TLC-SG is isolated
when SERVO ON(SON) is off.

83
6.3.5. Adjustment of speed loop gain
There are some parameters related to inner speed control loop for users to adjust. Set the value of
the PA02 to use the auto-gain tuning function or manual-gain tuning function. If auto-gain tuning
function is performed, the load inertia ratio would be approximated continuously and the control gain
value would be set automatically. If manual-gain gain tuning is performed, users have to enter the
proper value of the load inertia ratio and control gain value. At this time, all automatic or auxiliary
functions about inner speed control loop would be disabled. The block diagram of inner speed control
loop is presented as follows:

Parameters and settings related of this mode are presented below.

Name Setting Initial Control
Name Sign Unit
Abbr. range value mode
0000h
Gain tuning mode option ATUM PA02 --- 0002h Pt,Pr,S
~0003h
0001h
Auto-tuning response level setting ATUL PA03 --- 0005h Pt,Pr,S
~000Fh
40
Speed loop gain VG1 PB08 rad/s 817 Pt,Pr,S
~4096
1
Speed integral gain VIC PB09 mS 48 Pt,Pr,S
~1000
0
Speed feed-forward gain VFG PB10 0.0001 0 S
~20000

Auto-gain tuning mode

The drive would tune the optimum gains during the acceleration/deceleration route. Refer to
section 5.3.2 for further details.

Manual-gain tuning mode

When the PA02 value is 0000h or 0001h, the effective parameters are: speed loop gain(PB08),
speed integral gain(PB09) and speed feed-forward gain (PB10). When PA02 is set as 0001, the servo
drive would automatically enable an interference compensator. This function could reduce torque
ripple, overshoot and speed ripple. It is suitable for systems with load changed violently. Besides, users
should avoid applying this compensator on the system which the ratio of load inertia to motor shaft is
greater than 10 times. If necessary, the related parameters should be adjusted according to the various
cases. The schematic diagram is as follows.

84
Parameters for manual-gain tuning mode
Speed loop gain：
Increasing this parameter would improve the bandwidth of speed control loop, but a too large
value would cause the mechanism vibration. Therefore, it is recommended to operate the auto-gain
tuning mode to approximate a proper values at first. If the value could not satisfy the requirement, to
increase this value gradually until the mechanism vibration occurred.

Speed integral gain：

Decreasing this parameter would improve the low-frequency rigidity of speed control loop and
reduce the speed stability errors. On the other hand, a too small value would cause the phase delay to
make an instable system.

Speed feed-forward gain：

The speed feed-forward gain could reduce the phase lag errors, and increase the traceability. If
the setting value is near 1, the dynamic tracking error would be very small and the pre-compensation
will be the most completed. If the setting value is too low, the improvement would not obvious. But a too
high value would cause the system vibration easily.

85
6.3.6. Resonance suppression filter
When the mechanism with low rigidity generates resonance by reason of the large bandwidth or
the large rigidity setting value of the servo drive. If the mechanism factors could not be adjusted, the
Shihlin servo drive provides 2 resonance filter frequencies, 4 related parameters of this function and 1
resonance suppression low-pass filter for users to make adjustment. Some parameters related to
resonance suppression filter are introduced below.
Name Setting Initial Control
Name Sign Unit
Abbr. range value mode
50
Machine resonance suppression filter 1 NHF1 PB01 Hz 1000 Pt,Pr,S,T
~1000
0
Machine resonance suppression attenuation 1 NHD1 PB02 dB 0 Pt,Pr,S,T
~32
50
Machine resonance suppression filter 2 NHF2 PB21 Hz 1000 Pt,Pr,S,T
~1000
0
Machine resonance suppression attenuation 2 NHD2 PB22 dB 0 Pt,Pr,S,T
~32

Machine resonance suppression filter

To set a specific frequency which the gain is decreased to suppress the mechanism resonance.

Machine resonance suppression attenuation

To set the attenuation of machine resonance suppression filter with the PB01/PB21. The value
“0”denotes the disabled of the notch filter. The mechanism resonance is presented as follows.

The resonance would cause a violent mechanism vibration. In this case, to set the proper PB01/PB21
and PB02/PB22 for the servo drive to eliminate the resonance phenomenon. See the figure below.

86
 There is an additional resonance suppression low-pass filter and its function is presented below.
Name Setting Initial Control
Name Sign Unit
Abbr. range value mode
0
Resonance suppression low-pass filter[mS] NLP PB03 0.1mS 0 Pt,Pr,S,T
~10000

Resonance suppression low-pass filter

To set the resonance suppression low-pass filter time constant to eliminate DC gain.

It could be found above that the employ of resonance suppression low-pass filter could suppress
the resonance magnitude , but also the system bandwidth is reduced and the phase is lagged.
As this resonance suppression filter is applied, it is necessary to know the frequency which
resonance occurred then to set the notch depth to make effect.
The improper frequency setting would not suppress resonance but amplify it.
The effect of the machine resonance suppression filter(PB01,PB02,PB21,PB22) is better than that
of resonance suppression low-pass filter if the frequency which resonance occurred is known.
If the actual resonance frequency exceeds the setting range of PB01(PB21), use the resonance
suppression low-pass filter(PB03) to suppress mechanism resonance.

87
6.3.7. Gain switch function
The gain switch could be performed for the drive during the running or stop status of the motor.
The programmable DI pins could be set as the function of gain switch. If this function is applied, the
gain tuning mode option(PA02) should be set as ” 0” or “ 1”. The gain switch function is
invalid under the auto-gain tuning mode option.
Applicable occasions are listed below.
(1). The rotation noises of motor are loud due to the large gain value setting..
(2). The load inertia ratio of mechanism is changed violently during the route.
(3). To improve the response or to shorten the settling time of the machinery system.
The relevant parameters and the detail descriptions are listed below.
Name Setting Initial Control
Name Sign Unit
Abbr. range value mode
0
The ratio of load inertia to motor shaft GD1 PB06 0.1time 10 Pt,Pr,S
~1200
4
Position loop gain PG1 PB07 rad/s 35 Pt,Pr
~1024
40
Speed loop gain VG1 PB08 rad/s 817 Pt,Pr,S
~4096
1
Speed integral gain VIC PB09 mS 48 Pt,Pr,S
~1000
0000h
Gain switch option CDP PB11 --- 0000h Pt,Pr,S
~0004h
0
Gain switch condition value CDS PB12 (*) 10 Pt,Pr,S
~6000
0
Gain switch time constant CDT PB13 mS 1 Pt,Pr,S
~1000
0
The ratio 2 of load inertia to motor shaft GD2 PB14 0.1time 70 Pt,Pr,S
~1200
10
Position loop gain change ratio PG2 PB15 % 100 Pt,Pr
~200
10
Speed loop gain change ratio VG2 PB16 % 100 Pt,Pr,S
~200
10
Speed integral gain change ratio VIC2 PB17 % 100 Pt,Pr,S
~200
Parameters related to gain switching are described below.
(1). The method of gain tuning for GD1,PG1,VG1,VIC(PB06~PB09) parameters is the same as
manual-gain tuning mode, but they are changeable under this gain switch operation.
(2). Gain switch option CDP(PB11)
Used to set the gain changing condition. Enable the trigger condition in the lowest digit. If
users set "1" here, they could use the CDP signal of DI for gain changing. The CDP signal
could be assigned to any one of the 8 DI pins using parameters PD02 to PD09.
0 0 0 x
x=0：Invalid
x=1：The external CDP signal of DI is ON
x=2：Position command frequency is equal to higher than parameter CDS(PB12) setting
x=3：Position command pulse error is equal to higher than parameter CDS(PB12) setting
x=4：Motor speed is equal to higher than parameter CDS(PB12) setting
88
 (3). Gain switch condition value CDS(PB12)
As users selected "position command frequency", " position command pulse error" or
" motor speed" in gain switch option(PB11), set the corresponding gain switch condition.
(*)The setting unit is as follows.
PB11 setting value Gain switch condition Unit
2 Position command frequency kpps
3 Position command pulse error pulse
4 Motor speed rpm

(4). Gain switch time constant CDT(PB13)

Used to smooth the motor running at gain switching moment to suppress vibration given to
the machine if the gain difference is large.
(5). The ratio 2 of load inertia to motor shaft GD2(PB14)
Set the demand ratio of load inertia to motor shaft after switching. If the load inertia ratio
does not change, set it to the same value as GD1(PB06).
(6). The change ratio of PG1/VG1/VIC after gain switching. The original gain values would be
switched to the ratio values of PG2/VG2/VIC2 settings.

Some examples are described below for the sequence of gain switch function.
Example 1: The external DI signal as the switch option.
①. Relevant parameters setting
Name
Name Sign Setting value Unit
Abbr.
The ratio of load inertia to motor shaft GD1 PB06 10 0.1 time
Position loop gain PG1 PB07 100 rad/s
Speed loop gain VG1 PB08 500 rad/s
Speed integral gain VIC PB09 100 mS
Gain switch option CDP PB11 0001h ---
Gain switch time constant CDT PB13 10 mS
The ratio 2 of load inertia to motor shaft GD2 PB14 20 0.1 time
Position loop gain change ratio PG2 PB15 80 %
Speed loop gain change ratio VG2 PB16 120 %
Speed integral gain change ratio VIC2 PB17 150 %
②. The sequence of gain switch

89
③. The states of parameters change
Name CDP OFF CDP ON CDP OFF
The ratio of load inertia to motor shaft 10 → 20 → 10
Position loop gain 100 → 80 → 100
Speed loop gain 500 → 600 → 500
Speed integral gain 100 → 150 → 100

Example 2: Trigger condition of position command pulse error.

①. Relevant parameters setting
Name
Name Sign Setting value Unit
Abbr.
The ratio of load inertia to motor shaft GD1 PB06 10 0.1 time
Position loop gain PG1 PB07 100 rad/s
Speed loop gain VG1 PB08 500 rad/s
Speed integral gain VIC PB09 100 mS
Gain switch option CDP PB11 0003h ---
Gain switch condition value CDS PB12 100 pulse
Gain switch time constant CDT PB13 10 mS
The ratio 2 of load inertia to motor shaft GD2 PB14 20 0.1 time
Position loop gain change ratio PG2 PB15 80 %
Speed loop gain change ratio VG2 PB16 120 %
Speed integral gain change ratio VIC2 PB17 150 %
②. The sequence of gain switch

③. The states of parameters change

Name CDP OFF CDP ON CDP OFF
The ratio of load inertia to motor shaft 10 → 20 → 10
Position loop gain 100 → 80 → 100
Speed loop gain 500 → 600 → 500
Speed integral gain 100 → 150 → 100

90
6.4. Position control mode
This mode is used at occasions, for example, machine tool, CNC processing, where require highly
accurate positioning. There are two ways for position command: one is the external input and the other
is internal register input. The external input is to receive the external pulse-train commands. The inner
register input enables users to use the inner 8 sets of registers(PA15 to PA30) as the position
commands and then set the DI function of POS1 to PO3 to switch the corresponding position command.
The following table explains the settings of the external input and inner register input.
Name Control
Name Sign Description
abbr. mode
Setting value of Control mode option:
u z y x
x：control mode select
PA01 0：position
Control mode option STY ALL
(*) y：position command select
0：external input
1：inner register(absolute type)
2：inner register(incremental type)
(*)The modification of PA01 would be valid by power off once and power on again.

The S-pattern smooth is invalid as the external pulse-train commands are applied.

6.4.1. External pulse-train command(Pt mode)

The position commands are provided by external devices. When this mode applied, set the PA01
as 0000h. There are 3 formats which could be used by users. The pulse trigger could be assigned into
positive or negative logic. Positive logic means that the drive recognizes the pulse valid by the rising
edge. On the other hand, negative logic means the falling edge. Related parameter is listed below.
Name Control
Name Sign Description
abbr. mode
Setting value of Control mode option:
0 z y x
x：pulse-train format select
0：forward/reverse rotation pulse train
Command pulse option PLSS PA13 Pt 1：pulse train + sign
2：A/B phase pulse train
y：acknowledged logic
0：positive logic
1：negative logic
The PA13 would not be changed as SON on and be valid by power off once and power on again.

91
 The following table is the description of the pulse format and acknowledged logic.

Pulse-train form Forward Reverse

PP
Forward/reverse
rotation pulse train
NP
Positive logic

PP
Pulse train + sign
NP
H L

PP
A/B phase pulse
train
NP

PP
Forward/reverse
rotation pulse train
NP
Negative logic

PP
pulse train + sign
NP
L H

PP
A/B phase pulse
train
NP

If pulse train is line drive type, the highest permissible frequency is 500Kpps. If pulse train is
open collector type, the highest permissible frequency is 200Kpps.

92
6.4.2. Inner register command(Pr mode)
The following table explains the combinations of POS1,POS2,POS3,CTRG and speed settings.
Command POS3 POS2 POS1 CTRG Position command register Speed setting

Revolutions PA15
P1 0 0 0 ↑ PA31
pulses PA16
Revolutions PA17
P2 0 0 1 ↑ PA32
pulses PA18
Revolutions PA19
P3 0 1 0 ↑ PA33
pulses PA20
Revolutions PA21
P4 0 1 1 ↑ PA34
pulses PA22
Revolutions PA23
P5 1 0 0 ↑ PA35
pulses PA24
Revolutions PA25
P6 1 0 1 ↑ PA36
pulses PA26
Revolutions PA27
P7 1 1 0 ↑ PA37
pulses PA28
Revolutions PA29
P8 1 1 1 ↑ PA38
pulses PA30
The state “↑” of CTRG means the transient of open-circuit to short-circuit.
0: OFF(POSx-SG is open-circuit), 1：ON(POSx-SG is short-circuit), x=1~3
To enable the least one of POS1 to POS3 is necessary.

Absolute/incremental position command

The applications of absolute/incremental command are common. Users have to make PA01 valid
then use these two types. See the table below for parameter setup.
Name Control
Name Sign 說明
abbr. mode
Setting value of Control mode option:
u z y x
Control mode option STY PA01 ALL x=0：position control mode
y=1：inner register(absolute type)
y=2：inner register(incremental type)
The results of absolute and incremental type even the same sequent of commands are listed.

93
6.4.3. Position command smoothing
This is used to smooth the running of motor as a violent position command change is applied.
Setting Initial Control
Name Sign Unit
range value mode

Position command filter time constant PB04 0~20000 mS 3 Pt,Pr

To use the S-pattern smoothing could improve the acceleration/deceleration vibration. The load
inertia ratio increased or occasion with huge inertia change may cause a motor rough running. In this
case, users could use the STA(PC01), STB(PC02), STC(PC03) to improve the phenomenon.
When the external pulse-train position command is applied, the STA(PC01), STB(PC02),
STC(PC03) would be invalid.

As a forward rotation due to position command is done, the acceleration/deceleration time is

decided by the PC01. On the other hand, the acceleration/deceleration time of a reverse rotation due to
other position command is controlled by the PC02.
As the inner register command is applied, it is recommended to use the S-pattern smoothing.

94
6.4.4. Electronic gear ratio
Users could set different electronic gear ratios to enable the transmission mechanism to move
different distances. Relevant parameters are presented below.
Name Setting Initial Control
Name Sign Unit
Abbr. range value mode
1
Electronic gear numerator CMX PA06
~32767
1
Electronic gear denominator CDV PA07
~32767
1
Electronic gear numerator 2 CMX2 PC32 - 1 Pt,Pr
~32767
1
Electronic gear numerator 3 CMX3 PC33
~32767
1
Electronic gear numerator 4 CMX4 PC34
~32767
The improper setting could lead to unexpected fast rotation so make sure to set them in the state
1 CMX
of SERVO OFF. The range of the electronic gear ratio is ≤ (electronic gear ratio) ≤ 200 .
50 CDV
If the setting value is outside this range, the operation of motor may not be performed.
The relationship of electronic gear numerator and electronic gear denominator is plotted below.

4 electronic gear numerators are available for users to select. Enable the function CM1 and CM2
of DI to switch. See the table below.
Name CM1 CM2 Control mode
Electronic gear numerator (PA06) 0 0
Electronic gear numerator 2(PC32) 1 0
Pt,Pr
Electronic gear numerator 3(PC33) 0 1
Electronic gear numerator 4(PC34) 1 1
0: OFF(CMx-SG is open-circuit), 1：ON(CMx-SG is short-circuit), x=1,2

Calculation of electronic gear ratio

Before calculating the value, users have to know the specifications such as the resolution of motor
encoder(2500ppr), the deceleration rate, the gear ratio of the machine. Use the following equation to
calculate the electronic gear ratio.
Encoder resolution ×4
Electronic gear ratio=
Load distance per revolutio(angle) / Distance pulses to be shifted entered by user

a tu rn o f m o to r s h a ft
If a gear ratio between motor and loads existed, to multiply the factor : m e c h a n is m tu rn s .

95
The following example explains the method for setting the electronic gear ratio.

Load distance per revolution is 1mm，the resolution of motor encoder is 2500ppr，the gear ratio of
load mechanism to motor shaft is 1, if the demand distance is 5µm，the calculation is listed below.
2500×4 1 10000
Electronic gear ratio= × =
1mm / 5 µ m 1 200

From above, it could be known that by setting the electronic gear numerator as 10000 and the
electronic gear denominator as 200, then the ball screw rod would be shift a 5-µm distance after a
position pulse command.

96
6.4.5. Torque limit of position control mode
See section 6.3.4. for details.
6.4.6. Position loop gain
If users need to use manual-gain tuning for position loop, to set parameters of speed loop(see
Section 6.3.5) is priority since position loop is outside control of speed loop. Then users could set
proportion gain and feed-forward gain of position loop. Usually, position gain is 1/4~1/6 value of the
speed loop gain. Users could also use auto-gain tuning mode to set the gains of position and speed
loop automatically. Position loop block diagram is presented below.

Parameters related to position gain adjustment are listed below.

Name Setting Initial Control
Name Sign Unit
Abbr. range value mode
0000h
Gain tuning mode option ATUM PA02 - 0002h
~0003h
Pt,Pr,S
0001h
Auto-tuning response level setting ATUL PA03 - 0005h
~000Fh
0
Position feed-forward gain FFC PB05 0.0001 0
~20000
Pt,Pr
4
Position loop gain PG1 PB07 rad/s 35
~1024
If position loop gain PG1(PB07) is set too large, the motor would rotate back and forth and
generate vibration even though the bandwidth and response are becoming faster. These phenomena
are not permitted for occasions requiring an accurate position control. In this case, be sure to reduce
PG1 value to prevent motor vibration. If the bandwidth limited due to mechanism factors causes a bad
traceability, position feed-forward gain could be used to reduce the dynamic error of position tracking.
On the other hand, the usage of feed-forward control also relatively increases the position settling time.
The method for adjusting position feed-forward gain is to increase the value gradually.
Theoretically, 1 is the best setting value. The improper value would cause machine vibration easily. In
such case, users should decrease the position feed-forward gain to meet a vibration-free situation.

97
6.5. Hybrid control mode
The 5 hybrid modes of servo drive could satisfy users who need to change varied modes
frequently. The parameter PA01 could be changed for the setting of hybrid mode. See the table below.
PA01
Control mode Abbr. Description
setting
Position with external command - speed Pt-S 0001h Via DI signal to switch Pt and S
Hybrid mode

Position with external command - torque Pt-T 0005h Via DI signal to switch Pt and T

Position with inner register command - speed Pr-S 0011h Via DI signal to switch Pr and S

Position with inner register command - torque Pr-T 0015h Via DI signal to switch Pr and T

Speed - torque S-T 0003h Via DI signal to switch S and T

The arrangement of DI and DO is critical when the hybrid mode is applied. To avoid DI/DO pins
insufficient, users could apply external analog voltage signal as the command of speed/torque mode
and external pulse train command for position mode so that could reduce the demand of DI.
The function LOP of DI should be made valid as the hybrid mode applied. See the following table.

CN1 Control
Name Sign I/O Description
No. mode
Option of position/speed switched
LOP(*) Control mode
0 position
1 speed
Option of speed/torque switched
LOP(*) Control mode Described
CN1-21
Control mode switch LOP DI 0 speed by varied
(default)
1 torque case
Option of torque/position switched
LOP(*) Control mode
0 torque
1 position

(*) 0: OFF(LOP-SG is open-circuit), 1：ON(LOP-SG is short-circuit)

The pin function setting of ST1 and RS2 are the same value, as speed/torque hybrid mode is
applied and the LOP signal activated, the ST1 function would have priority in speed control
mode and the RS2 function would have priority in torque control mode. Others such as
POS1/SP2, PC/ST1, RS2/PC, TL/ST2, ST2/RS1, RS1/TL, CR/SP1 are defined mutually. The
drive would automatically recognize the corresponding DI pin function when 2 different
modes are switched. See Section 3.4.2 for more details.

98
6.5.1. Position/speed hybrid mode
This hybrid mode is divided into 2 types in detail., i.e. Pt/S and Pr/S. The sequence chart of mode
switch is presented in the figure below.

Control mode could not be switched if the motor is at a high speed rotation. It could be performed
as the zero speed detection output signal is ON. Yet it is recommended for users to switch control
mode when the motor is stopped completely.

6.5.2. Speed/torque hybrid mode

Set the PA01 as 0003h before this hybrid mode performed. Users could use LOP signal to switch
speed mode and torque mode. Because pin function ST1(ST2) and RS2(RS1) are defined mutually, the
rotation direction of motor would reverse while changing between the speed and torque modes.
The sequence diagram of the speed / torque mode is presented below.

It is recommended that users switch the speed to torque mode after the motor is static.

99
6.5.3. Torque/Position hybrid mode
This hybrid mode is divided into 2 types in detail., i.e. T/Pt and T/Pr. Users could set the PA01 as
0005h(T/Pt mode) or 0015h(T/Pr mode). The switch could not be performed if the motor is at a high
speed rotation. It could be switched as the zero speed detection output signal is ON. Users could use
the pin function LOP of DI to switch these 2 modes. When the position mode with inner register
command is wanted, the state of CTRG signal must be turned on. The sequence chart is presented in
the figure below.

It is recommended that users switch torque to position mode after the motor is static.

100
6.6. Other functions
Before wiring, turn off the power and wait for 10 minutes or more until the charge
LED turns off. Otherwise, an electric shock may occur.

Use the specified auxiliary equipment and options to prevent a malfunction or a

fire.

6.6.1. Selection of brake resistor

Use the specified auxiliary equipment and options to prevent a malfunction or a
fire.

As the direction of motor generated torque is opposite to the rotary direction of motor, it becomes a
power generator. The regenerative energy would be turned back to the servo drive. To prevent from
P-N voltage exceeded, a voltage stabilized protection is necessary. The IGBT switch and brake
resistors constitute this protection. Regenerative energy is consumed by the brake resistor.
There is a built-in brake resistor inside the drive（below 3.5KW）. If the regenerative energy is too
large, it is not recommended to use. Instead, use an external one to avoid overheating. When using the
built-in brake resistor, make sure that the P/D terminals is short-circuit. If the external brake resistor
applied, make P/D terminals open while the external resistor is connected to the P/C terminals.
Built-in brake resistor specifications for the Shihlin servo drive are described below.

Built-in brake resistor specification Minimum permissible Consumption power of

Drive(W)
resistor (Ω) Capacity (W) (Ω) built-in resistor (W)
100 100 20 100 10
200 100 20 100 10
400 100 20 100 10
500 100 20 100 10
750 40 40 40 20
1000 40 40 40 20
1500 13 100 13 50
2000 13 100 13 50
3500 13 100 13 50
The average regenerative power that could be consumed is at 50% rated power of the built-in
brake resistor. So as the external brake resistor.

As external brake resistor is applied, the same resistance value mentioned above is required. If
serial or parallel wiring are applied to increase resistor’s power, be sure that the resistance meets the
minimum permissible specification. The brake resistor with a thermal switch or a cooling fan would be
helpful to tell users that the capacity of brake resistor is insufficient or to reduce the temperature of
brake resistor. Please contact the manufacturer of brake resistor to know the detail load characteristic.

101
 In order to let users easily caculate the power of external brake resistor, the caculations are
described below.

(a) Without external load

If the motor is repeated running forward and reverse, the braking regenerative energy would return to
the aluminum capacitors of servo drive. When the P-N voltage exceeds a particular value, the brake
IGBT switch is turn on and the brake resistor would dissipate the regenerative energy. The following
statement and table provide the calculation of regenerative power.

The Es and Ec of various drive capacity are listed below.

Regenerative power which from
Regenerative energy of
Drive(W) Rotor inertia, J(x10-4kg‧m2) rated speed to stop without load
capacitor, Ec(joule)
Es(joule)
100 0.055 0.27 8.98
200 0.204 1.03 8.98
400 0.335 1.65 11.02
500 6.590 14.45 11.02
750 1.203 5.92 19.18
1000 12.56 27.55 19.18
1500 18.52 40.62 41.62
2000 38.80 85.10 41.62
3500 74.80 164.05 55.49

The capacity of brake resistor is calculated as follows:

PBR = 2 × (( N+1 ) × ES − EC ) / T
Where:
PBR : Power of brake resistor
N : The ratio of load inertia to motor shaft
T : Duty cycle ( Defined by users)
If the ratio of load inertia to motor shaft is N, deceleration from the rated speed to stop; the
regenerative energy is (N +1) × Es. The brake resistor consumption is (N +1)× Es - Ec joules. Assuming
the duty cycle is T second, then the recommend power of brake resistor is 2 × ((N +1) × Es-Ec) / T. The
calculation procedure is as follows.
Step Item Calculation or procedure

1 Choose the duty cycle T With user’s application to decide the repeat operation cycle.
2 Set motor speed wr Panel operation to read/write this value.
3 Set load to motor inertia ratio N Panel operation to read/write this value.(PA02=0002h)
2
4 Compute the Es Refer to the previous table or calculation Es = J × Wr / 182
5 Compute the Ec Refer to the previous table
6 Compute the PBR 2 x ((N+1) x ES-EC)/T

102
Example 1
The drive capacity is 400W, duty cycle T is 0.5 second, revolution speed is 3000 rpm, load to
motor inertia ratio is 7, then the necessary power of brake resistor = 2 x ((7 + 1) x 1.65 -11.02 ) / 0.5 =
8.72W. Since these are less than the built-in brake resistor capacity (20W), users could directly use the
built-in brake resistor to consume the regenerative energy.
Note: Due to 3000rpm is the rate speed of 400W servo drive, we could find the Es on the previous table
is 1.65.
Example 2
The drive capacity is 2KW, duty cycle T is 1 second, revolution speed is 1000 rpm, load to motor
inertia ratio is 20. Since the revolution speed 1000rpm is less than the rated speed(2000rpm), we need
to compute ES , ES =38.8 x 10-4 x 10002/182 = 21.3, then the necessary power of brake resistor = 2 x
((20 + 1) x 21.3 -41.62 ) /1 = 811.36. These are more than the capacity(50W) of 2KW servo drive’s
built-in brake resistor. So, a 1000W brake resistor is recommended.
Generally, if the load inertia ratio is small(N<=5), the capacity is sufficient. If the brake resistor
capacity is too small, the heat accumulated is growing easily and the temperature of brake resistor rises
soon. When the temperature is higher than a certain value, the brake resistor will be burn out.
IF the external brake resistor is applied, please refer to section 14.2.

(b) With external load

When the external load torque is greater than motor torque, it make the servo motor output torque
direction is opposite to the rotary direction of servo motor. In this case, the external energy is delivered
to the servo drive through the servo motor. The following figure is an example that the motor runs in
CCW rotation at constant speed when a sudden external load torque change.

Power of the external load torque : PL = TL × ω

Where: PL is the power of external load torque
TL is the external load torque. (unit : Nt-m)
ω is the motor rotation speed. (unit : rad/s)
For example :
If an external load torque of +50% rated torque is applied and the servo motor speed is 3000r/min, the
servo drive is 400W capacity(rated torque: 1.27Nt-m), then the users need to connect a external brake
resistor which power is 2 x (0.5 x 1.27) x (3000 x 2 x π/ 60) = 399W, 100Ω.
Note : 1rpm = 2π/60 (rad/s)

103
6.6.2. Analog monitor output
There are 2 analog monitor channels provided for users to check the required signals. The
contents and settings of monitor output are described in the table below.
Setting
Name Abbr. Sign Description
range
There are 2 monitor outputs, ch1 and ch2.
0 ch2 0 ch1
The setting values and their corresponding output are
listed below.
0：Motor speed (scale: ±10V/(double rated speed))
0000h 1：Generated torque (scale: ±10V/max.torque)
Analog monitor output MOD PC14
~0707h 2：Speed command (scale: ±10V/(double rated speed))
3：Effective load ratio (scale: ±10V/±300%)
4：Pulse command frequency (scale: ±10V/500kpps)
5：Current command (scale: ±10V/max.current command)
6：DC Bus voltage (scale: ±10V/400V)
7：Pulse command error(scale: ±10V/10000pulse)
Example：
If the PC14 is set as 0000h and the current speed of motor is forward rotation 3000 rpm, a +5V
signal would be measured on CN1-30 and LG. On the other hand, a -5V signal would be detected if the
speed of motor is reverse rotation -3000 rpm. The mentioned example above is without any adjustment
of PC28 to PC31.
Voltage offset of analog monitor
The parameter PC28 and PC29 are used to set the compensation to eliminate the bias voltages of
analog monitor output MON1 and MON2.
Setting Initial
Name Abbr. Sign Description Unit
range value
-999 Used to set the offset voltage of the
Analog monitor ch1 offset MO1 PC28 mV 0
~999 analog monitor ch1 output.

-999 Used to set the offset voltage of the

Analog monitor ch2 offset MO2 PC29 mV 0
~999 analog monitor ch2 output.

Here is an example.

It assumes that the motor speed is 0 rpm, then the analog monitor voltage output should be 0 V.
This difference above is 0.5 V, which could be compensated by setting PC28 or PC29 as -500mV so
the MOD analog voltage would be corrected.
104
Output proportion of analog monitor
The output proportion of analog monitor enables users to set the ratio of the analog voltage
output to be viewed. Relevant parameters are presented in the table below.
Setting Initial
Name Abbr. Sign Description Unit
range value
Analog monitor ch1 output 0 Set the output proportion of analog
MOG1 PC30 % 100
proportion ~100 monitor ch1.

Analog monitor ch2 output 0 Set the output proportion of analog

MOG2 PC31 % 100
proportion ~100 monitor ch2.

If the current rotation speed is +3000 rpm and monitor scale is ±10V/ (double rated speed), the
analog output should be +5V if MOG1 or MOG2 is set as initial value(100%). So, the analog monitor
output voltage by MON should be +10V in case of 50% setting value applied.
The equation is:
Monitor output = monitoring value × 〈monitor scale〉 ÷ MOG

105
6.6.3. Operation of electromagnetic brake interlock
The electromagnetic brake interlock signal is described: (1)As MBR is OFF，the electromagnetic
brake is disabled and motor shaft is locked. (2)As MBR is ON，the electromagnetic brake is enabled
and motor shaft is rotatable. The PC16 could be used to decide the delay time of SON signal off to
MBR signal activated. The electromagnetic brake is usually applied on the Z axis(vertical axis) to
prevent from load falling.
MBR enables/disables electromagnetic contactor to release/lock the motor shaft.
The coil of electromagnetic brake is without polarity.
Do not use CN1_48(+24Vdd) to drive the electromagnetic brake.
If users control the electromagnetic brake without MBR, refer to the operation sequence.
The operation sequence of electromagnetic brake is plotted below.

Wiring diagram of electromagnetic brake(MBR DO applied)

Specification of electromagnetic brake

SMA series
Motor type
L010B L020B L040B L075B M050B M100B M150B M200B M350B
Brake type Spring brake (Normal locked)
Rated voltage (V) DC 24V
Rated power (W) 6.3 7.9 8.6 19.3 34
Rated current (A) 0.24 0.32 0.35 0.8 1.41
Friction Tq (N‧m) 0.3 1.3 2.4 8.5 45

106
7. Parameters

7.1. Parameter definition

SDA servo drive, its parameters are classified into the basic parameters, gain values, filters, expansion
parameters and I/O parameters. When an advance adjustment is required, change the parameter PA42
setting to make the expansion parameters write-enabled.
Here are some notes for reading of parameter manual.
1. Parameter classification
There is a parameter list which is classified due to the functions for user to consult conveniently.
Refer to section 7.3 for more details.
2. Special symbol of parameter sign
(★) denotes the setting is valid by power off once and power on again. The PA01 is an example.

(■) denotes the setting is vanished once power off. The PC37 is an example.

(▲) denotes the invalid change as the Servo ON activated. The PA07 is another example.

There are 2 ways to make Servo ON disabled.

(1)Turn off the SON signal of DI.
(2)Set the PD16 as 1 and the drive would be at Servo OFF state. But remember to recover it
after the completion of modification.
Group classification according to different functions is listed below.
Group Description

Basic parameter (No PA□□) Used to perform the position control. Please set this parameter group.

Gain, filter (No PB□□) Used to perform the manual-gain tuning. Please set this parameter group.

Expansion (No PC□□) As speed or torque control is required, please set this parameter group.

I/O settings (No PD□□) Used to change the states of I/O signal. Please set this parameter group.

The control mode is described as follows.

Mode Sign Description

Position control Drive runs motor to reach the goal according to the external commands which
Pt
(terminal input) are received through the CN1 and are in the form of pulse trains.
Single mode

Position control Drive runs motor to reach the goal according to the inner commands which are
Pr
(inner register) from inner 8 registers that could be switched by DI signals.

Drive runs motor to attain the target speed. The command type which is an
Speed control S
analog voltage or the inner registers could be switched by DI.

The drive receives the commands to run the motor to generate the demanded
Torque control T
torque. The command source is the analog voltage.
Pt-S Pt/S is switched mutually via the LOP signal of DI.
Pt-T Pt/T is switched mutually via the LOP signal of DI.
Hybrid mode Pr-S Pr/S is switched mutually via the LOP signal of DI.
Pr-T Pr/T is switched mutually via the LOP signal of DI.
S-T S/T is switched mutually via the LOP signal of DI.
107
7.2. Parameter list
The parameters of Shihlin servo drive could be classify into 4 groups. PA group is basic for control
mode option, auto-tuning, etc. PB group is for gain and filter functions. PC group is related to
speed/torque control and analog signal and communication functions. PD group is for I/O parameters
which enables users to set parameters for DI and DO. The following table is helpful for users to consult.
(1)Basic parameters
Initial Control mode
NO Abbr. Name Unit
value Pt Pr S T
PA01(★) STY Control mode option 1000h - ○ ○ ○ ○
PA02(▲) ATUM Gain tuning mode option 0002h - ○ ○ ○
PA03 ATUL Auto-tuning response level setting 0005h - ○ ○ ○
PA04 HMOV Home moving option 0000h - ○
PA05 TL1 Inner torque limit 1 100 % ○ ○ ○ ○
PA06 CMX Electronic gear numerator 1 - ○ ○
PA07(▲) CDV Electronic gear denominator 1 - ○ ○
PA08 HSPD1 Home moving high speed option 1 1000 rpm ○
PA09 HSPD2 Home moving high speed option 2 50 rpm ○
PA10 HOF1 Home moving revolution offset 0 rev ○
PA11 HOF2 Home moving pulse offset 0 pulse ○
PA12 INP In-position range 100 Pulse ○ ○
PA13(★) PLSS Command pulse option 0000h - ○
PA14(★) ENR Encoder output pulses 10000 pulse/rev ○ ○ ○ ○
PA15 PO1H Revolution of inner position command 1 0 rev ○
PA16 PO1L Pulse of inner position command 1 0 pulse ○
PA17 PO2H Revolution of inner position command 2 0 rev ○
PA18 PO2L Pulse of inner position command 2 0 pulse ○
PA19 PO3H Revolution of inner position command 3 0 rev ○
PA20 PO3L Pulse of inner position command 3 0 pulse ○
PA21 PO4H Revolution of inner position command 4 0 rev ○
PA22 PO4L Pulse of inner position command 4 0 pulse ○
PA23 PO5H Revolution of inner position command 5 0 rev ○
PA24 PO5L Pulse of inner position command 5 0 pulse ○
PA25 PO6H Revolution of inner position command 6 0 rev ○
PA26 PO6L Pulse of inner position command 6 0 pulse ○
PA27 PO7H Revolution of inner position command 7 0 rev ○
PA28 PO7L Pulse of inner position command 7 0 pulse ○
PA29 PO8H Revolution of inner position command 8 0 rev ○
PA30 PO8L Pulse of inner position command 8 0 pulse ○
PA31 POV1 Moving speed of inner position command 1 1000 rpm ○

108
PA32 POV2 Moving speed of inner position command 2 1000 rpm ○
PA33 POV3 Moving speed of inner position command 3 1000 rpm ○
PA34 POV4 Moving speed of inner position command 4 1000 rpm ○
PA35 POV5 Moving speed of inner position command 5 1000 rpm ○
PA36 POV6 Moving speed of inner position command 6 1000 rpm ○
PA37 POV7 Moving speed of inner position command 7 1000 rpm ○
PA38 POV8 Moving speed of inner position command 8 1000 rpm ○
PA39(★) POL Motor rotary direction option 0000h - ○ ○ ○ ○
PA40(▲) SPW Special parameter write-enable 0000h - ○ ○ ○ ○
PA42(★) BLK Parameter write-inhibit 0000h - ○ ○ ○ ○
PA43 OVPE Output of position error excess 3000 10 pulse ○ ○

(2)Gain, filter parameters

Initial Control mode
NO Abbr. Name Unit
value Pt Pr S T
PB01 NHF1 Machine resonance suppression filter 1 1000 Hz ○ ○ ○ ○
PB02 NHD1 Machine resonance suppression attenuation 1 0 dB ○ ○ ○ ○
PB03 NLP Resonance suppression low-pass filter 0 0.1mS ○ ○ ○ ○
PB04 PST Position command filter time constant 3 mS ○ ○
PB05 FFC Position feed-forward gain 0 % ○ ○
PB06 GD1 The ratio of load inertia to motor shaft 10 0.1time ○ ○ ○
PB07 PG1 Position loop gain 35 rad/s ○ ○
PB08 VG1 Speed loop gain 817 rad/s ○ ○ ○
PB09 VIC Speed integral gain 48 mS ○ ○ ○
PB10 VFG Speed feed-forward gain 0 0.0001 ○
PB11(★) CDP Gain switch condition 0000h - ○ ○ ○
PB12 CDS Gain switch condition value 10 depends ○ ○ ○
PB13 CDT Gain switch time constant 1 mS ○ ○ ○
PB14 GD2 The ratio 2 of load inertia to motor shaft 70 0.1time ○ ○ ○
PB15 PG2 Position loop gain change ratio 100 % ○ ○
PB16 VG2 Speed loop gain change ratio 100 % ○ ○ ○
PB17 VIC2 Speed integral gain change ratio 100 % ○ ○ ○
PB18 SFLT Speed low-pass filter smooth time constant 0 mS ○ ○
PB19 TQC Torque command filter time constant 0 mS ○
PB20 SJIT Speed feedback filter time constant 0 0.1mS ○ ○ ○ ○
PB21 NHF2 Machine resonance suppression filter 2 1000 Hz ○ ○ ○ ○
PB22 NHD2 Machine resonance suppression attenuation 2 0 dB ○ ○ ○ ○
PB23(★) MVS Micro-vibration suppression option 0000h - ○ ○
PB24 VDC Speed differential compensation 980 - ○ ○ ○
109
 (3)Expansion parameters
Initial Control mode
NO Abbr. Name Unit
value Pt Pr S T
PC01 STA Acceleration time constant 200 mS ○ ○ ○
PC02 STB Deceleration time constant 200 mS ○ ○ ○
PC03 STC S-pattern acc./dec. time constant 0 mS ○ ○ ○
PC04 JOG JOG speed command 300 rpm ○ ○ ○ ○
PC05 SC1 Inner speed command/limit 1 100 rpm ○ ○
PC06 SC2 Inner speed command/limit 2 500 rpm ○ ○
PC07 SC3 Inner speed command/limit 3 1000 rpm ○ ○
PC08 SC4 Inner speed command/limit 4 200 rpm ○ ○
PC09 SC5 Inner speed command/limit 5 300 rpm ○ ○
PC10 SC6 Inner speed command/limit 6 500 rpm ○ ○
PC11 SC7 Inner speed command/limit 7 800 rpm ○ ○
PC12(▲) VCM Output speed of maximum analog command 3000 rpm ○ ○
PC13(▲) TLC Torque generated of maximum analog command 100 % ○ ○ ○ ○
PC14 MOD Analog monitor output 0100h - ○ ○ ○ ○
PC15(★) SVZR Speed analog zero voltage acknowledged range 10 mV ○ ○
PC16 MBR Electromagnetic brake output delay time 100 mS ○ ○ ○ ○
PC17 ZSP Zero speed acknowledged range 50 rpm ○ ○ ○ ○
PC18(★) COP1 Stop option and power interruption restart option 0010h - ○ ○ ○ ○
PC19(★) COP2 Alarm history clear option 0000h - ○ ○ ○ ○
PC20(★) SNO Communication device number 1 - ○ ○ ○ ○
PC21(★) CMS Communication mode option 0010h - ○ ○ ○ ○
PC22(★) BPS Communication protocol option 0010h - ○ ○ ○ ○
PC23 SIC Communication time-out process option 0 s ○ ○ ○ ○
PC24(★) DMD Status display option 0000h - ○ ○ ○ ○
PC25 TL2 Inner torque limit 2 100 % ○ ○ ○ ○
PC26 VCO Speed analog command/limit offset 0 mV ○ ○
PC27 TLO Torque analog command/limit offset 0 mV ○ ○
PC28 MO1 Analog monitor ch1 offset 0 mV ○ ○ ○ ○
PC29 MO2 Analog monitor ch2 offset 0 mV ○ ○ ○ ○
PC30 MOG1 Analog monitor ch1 output proportion 100 % ○ ○ ○ ○
PC31 MOG2 Analog monitor ch2 output proportion 100 % ○ ○ ○ ○
PC32 CMX2 Electronic gear numerator 2 1 - ○ ○
PC33 CMX3 Electronic gear numerator 3 1 - ○ ○
PC34 CMX4 Electronic gear numerator 4 1 - ○ ○
PC35(★) VCL VC voltage limit 0 mV ○ ○
PC36 BRP Built-in brake resistor protection 300 ms ○ ○ ○ ○
PC37(■) MCS Memory write-in protection 0 - ○ ○ ○ ○
110
(4)I/O setting parameters
Initial Control mode
NO Abbr. Name Unit
value Pt Pr S T
PD01(★) DIA1 Digital input signal auto-ON option 1 0000h - ○ ○ ○ ○
PD02(★) DI1 Digital input 1 option 0001h - ○ ○ ○ ○
PD03(★) DI2 Digital input 2 option 0007h - ○ ○ ○ ○
PD04(★) DI3 Digital input 3 option 0009h - ○ ○ ○ ○
PD05(★) DI4 Digital input 4 option 000Ah - ○ ○ ○ ○
PD06(★) DI5 Digital input 5 option 0002h - ○ ○ ○ ○
PD07(★) DI6 Digital input 6 option 0006h - ○ ○ ○ ○
PD08(★) DI7 Digital input 7 option 0012h - ○ ○ ○ ○
PD09(★) DI8 Digital input 8 option 0011h - ○ ○ ○ ○
PD10(★) DO1 Digital output 1 option 0003h - ○ ○ ○ ○
PD11(★) DO2 Digital output 2 option 0008h - ○ ○ ○ ○
PD12(★) DO3 Digital output 3 option 0007h - ○ ○ ○ ○
PD13(★) DO4 Digital output 4 option 0005h - ○ ○ ○ ○
PD14(★) DO5 Digital output 5 option 0001h - ○ ○ ○ ○
PD15(★) DIF Digital input filter time option 0002h - ○ ○ ○ ○
PD16(★) IOS Digital input on/off state control option 0000h - ○ ○ ○ ○
PD17(★) DOP1 LSP/LSN triggered stop option 0000h - ○ ○ ○
PD18(★) DOP2 CR signal clear option 0000h - ○ ○
PD19(★) DOP3 Alarm code output option 0000h - ○ ○ ○ ○
PD20(★) DOP4 Alarm reset triggered process 0000h - ○ ○ ○ ○
PD21(★) DIA2 Digital input signal auto-ON option 2 0000h - ○ ○ ○ ○

111
 Some parameter categories which are helpful to operate varied control mode are listed below.
Torque control related parameters
Initial Control mode
NO Abbr. Name Unit
value Pt Pr S T
PA01(★) STY Control mode option 1000h - ○ ○ ○ ○
PA05 TL1 Inner torque limit 1 100 % ○ ○ ○ ○

PC05 SC1 Inner speed command/limit 1 100 rpm ○ ○

PC06 SC2 Inner speed command/limit 2 500 rpm ○ ○
PC07 SC3 Inner speed command/limit 3 1000 rpm ○ ○
PC08 SC4 Inner speed command/limit 4 200 rpm ○ ○
PC09 SC5 Inner speed command/limit 5 300 rpm ○ ○
PC10 SC6 Inner speed command/limit 6 500 rpm ○ ○
PC11 SC7 Inner speed command/limit 7 800 rpm ○ ○
PC12(▲) VCM Output speed of maximum analog command 3000 rpm ○ ○
PC13(▲) TLC Torque generated of maximum analog command 100 % ○ ○ ○ ○
PC25 TL2 Inner torque limit 2 100 % ○ ○ ○ ○
PC26 VCO Speed analog command/limit offset 0 mV ○ ○
PC27 TLO Torque analog command/limit offset 0 mV ○ ○
PC35(★) VCL VC input voltage limit 0 mV ○ ○

Speed control related parameters

Initial Control mode
NO Abbr. Name Unit
value Pt Pr S T
PA01(★) STY Control mode option 1000h - ○ ○ ○ ○
PA05 TL1 Inner torque limit 1 100 % ○ ○ ○ ○
PA14(★) ENR Encoder output pulses 10000 pulse/rev ○ ○ ○ ○
PB18 SFLT Speed low-pass filter smooth time constant 0 mS ○ ○
PC05 SC1 Inner speed command/limit 1 100 rpm ○ ○
PC06 SC2 Inner speed command/limit 2 500 rpm ○ ○
PC07 SC3 Inner speed command/limit 3 1000 rpm ○ ○
PC08 SC4 Inner speed command/limit 4 200 rpm ○ ○
PC09 SC5 Inner speed command/limit 5 300 rpm ○ ○
PC10 SC6 Inner speed command/limit 6 500 rpm ○ ○
PC11 SC7 Inner speed command/limit 7 800 rpm ○ ○
PC12(▲) VCM Output speed of maximum analog command 3000 rpm ○ ○
PC25 TL2 Inner torque limit 2 100 % ○ ○ ○ ○
PC26 VCO Speed analog command/limit offset 0 mV ○ ○
PC35 VCL VC input voltage limit 0 mV ○ ○
112
 Position control related parameters
Initial Control mode
NO Abbr. Name Unit
value Pt Pr S T
PA01(★) STY Control mode option 1000h - ○ ○ ○ ○
PA04 HMOV Home moving option 0000h - ○
PA05 TL1 Inner torque limit 1 100 % ○ ○ ○ ○
PA06 CMX Electronic gear numerator 1 - ○ ○
PA07(▲) CDV Electronic gear denominator 1 - ○ ○
PA13(★) PLSS Command pulse option 0000h - ○
PA14(★) ENR Encoder output pulses 10000 pulse/rev ○ ○ ○ ○
PA15 PO1H Revolution of inner position command 1 0 rev ○
PA16 PO1L Pulse of inner position command 1 0 pulse ○
PA17 PO2H Revolution of inner position command 2 0 rev ○
PA18 PO2L Pulse of inner position command 2 0 pulse ○
PA19 PO3H Revolution of inner position command 3 0 rev ○
PA20 PO3L Pulse of inner position command 3 0 pulse ○
PA21 PO4H Revolution of inner position command 4 0 rev ○
PA22 PO4L Pulse of inner position command 4 0 pulse ○
PA23 PO5H Revolution of inner position command 5 0 rev ○
PA24 PO5L Pulse of inner position command 5 0 pulse ○
PA25 PO6H Revolution of inner position command 6 0 rev ○
PA26 PO6L Pulse of inner position command 6 0 pulse ○
PA27 PO7H Revolution of inner position command 7 0 rev ○
PA28 PO7L Pulse of inner position command 7 0 pulse ○
PA29 PO8H Revolution of inner position command 8 0 rev ○
PA30 PO8L Pulse of inner position command 8 0 pulse ○
PA31 POV1 Moving speed of inner position command 1 1000 rpm ○
PA32 POV2 Moving speed of inner position command 2 1000 rpm ○
PA33 POV3 Moving speed of inner position command 3 1000 rpm ○
PA34 POV4 Moving speed of inner position command 4 1000 rpm ○
PA35 POV5 Moving speed of inner position command 5 1000 rpm ○
PA36 POV6 Moving speed of inner position command 6 1000 rpm ○
PA37 POV7 Moving speed of inner position command 7 1000 rpm ○
PA38 POV8 Moving speed of inner position command 8 1000 rpm ○
PA39(★) POL Motor rotary direction option 0000h - ○ ○ ○ ○
PA43 OVPE Output of position error excess 3000 10 pulse ○ ○
PC25 TL2 Inner torque limit 2 100 % ○ ○ ○ ○
PC32 CMX2 Electronic gear numerator 2 1 - ○ ○
PC33 CMX3 Electronic gear numerator 3 1 - ○ ○
PC34 CMX4 Electronic gear numerator 4 1 - ○ ○

113
 Smoothing filter and resonance suppression related parameters
Initial Control mode
NO Abbr. Name Unit
value Pt Pr S T
PB01 NHF1 Machine resonance suppression filter 1 1000 Hz ○ ○ ○ ○
PB02 NHD1 Machine resonance suppression attenuation 1 0 dB ○ ○ ○ ○
PB03 NLP Resonance suppression low-pass filter 0 0.1mS ○ ○ ○ ○
PB04 PST Position command filter time constant 3 mS ○ ○
PB19 TQC Torque command filter time constant 0 mS ○
PB20 SJIT Speed feedback filter time constant 0 0.1mS ○ ○ ○ ○
PB21 NHF2 Machine resonance suppression filter 2 1000 Hz ○ ○ ○ ○
PB22 NHD2 Machine resonance suppression attenuation 2 0 dB ○ ○ ○ ○
PB23(★) MVS Micro-vibration suppression option 0000h - ○ ○
PC01 STA Acceleration time constant 200 mS ○ ○ ○
PC02 STB Deceleration time constant 200 mS ○ ○ ○
PC03 STC S-pattern acc./dec. time constant 0 mS ○ ○ ○
PD17(★) DOP1 LSP/LSN triggered stop option 0000h - ○ ○ ○

Control gain and gain switch related parameters

Initial Control mode
NO Abbr. Name Unit
value Pt Pr S T
PA02(▲) ATUM Gain tuning mode option 0002h - ○ ○ ○
PA03 ATUL Auto-tuning response level setting 0005h - ○ ○ ○
PB05 FFC Position feed-forward gain 0 0.0001 ○ ○
PB07 PG1 Position loop gain 35 rad/s ○ ○
PB08 VG1 Speed loop gain 817 rad/s ○ ○ ○
PB09 VIC Speed integral gain 48 mS ○ ○ ○
PB10 VFG Speed feed-forward gain 0 0.0001 ○
PB11(★) CDP Gain switch condition 0000h - ○ ○ ○
PB12 CDS Gain switch condition value 10 depends ○ ○ ○
PB13 CDT Gain switch time constant 1 mS ○ ○ ○
PB14 GD2 The ratio 2 of load inertia to motor shaft 70 0.1time ○ ○ ○
PB15 PG2 Position loop gain change ratio 100 % ○ ○ ○
PB16 VG2 Speed loop gain change ratio 100 % ○ ○ ○
PB17 VIC2 Speed integral gain change ratio 100 % ○ ○ ○
PB24 VDC Speed differential compensation 980 - ○ ○ ○

114
 Digital I/O settings related parameters
Initial Control mode
NO Abbr. Name Unit
value Pt Pr S T
PA12 INP In-position range 100 Pulse ○ ○
PC16 MBR Electromagnetic brake output delay time 100 mS ○ ○ ○ ○
PC17 ZSP Zero speed acknowledged range 50 rpm ○ ○ ○ ○
PD01(★) DIA1 Digital input signal auto-ON option 1 0000h - ○ ○ ○ ○
PD02(★) DI1 Digital input 1 option(CN1-14) 0001h - ○ ○ ○ ○
PD03(★) DI2 Digital input 2 option(CN1-15) 000Dh - ○ ○ ○ ○
PD04(★) DI3 Digital input 3 option(CN1-16) 0003h - ○ ○ ○ ○
PD05(★) DI4 Digital input 4 option(CN1-17) 0004h - ○ ○ ○ ○
PD06(★) DI5 Digital input 5 option(CN1-18) 0002h - ○ ○ ○ ○
PD07(★) DI6 Digital input 6 option(CN1-19) 000Fh - ○ ○ ○ ○
PD08(★) DI7 Digital input 7 option(CN1-20) 0012h - ○ ○ ○ ○
PD09(★) DI8 Digital input 8 option(CN1-21) 0011h - ○ ○ ○ ○
PD10(★) DO1 Digital output 1 option(CN1-41) 0003h - ○ ○ ○ ○
PD11(★) DO2 Digital output 2 option(CN1-42) 0008h - ○ ○ ○ ○
PD12(★) DO3 Digital output 3 option(CN1-43) 0007h - ○ ○ ○ ○
PD13(★) DO4 Digital output 4 option(CN1-44) 0005h - ○ ○ ○ ○
PD14(★) DO5 Digital output 5 option(CN1-45) 0001h - ○ ○ ○ ○
PD15(★) DIF Digital input filter time option 0002h - ○ ○ ○ ○
PD16(★) IOS Digital input on/off state control option 0000h - ○ ○ ○ ○
PD17(★) DOP1 LSP/LSN triggered stop option 0000h - ○ ○ ○
PD18(★) DOP2 CR signal clear option 0000h - ○ ○
PD19(★) DOP3 Alarm code output option 0000h - ○ ○ ○ ○
PD20(★) DOP4 Alarm reset triggered process 0000h - ○ ○ ○ ○
PD21(★) DIA2 Digital input signal auto-ON option 2 0000h - ○ ○ ○ ○

Communication related parameters

Initial Control mode
NO Abbr. Name Unit
value Pt Pr S T
PC20(★) SNO Communication device number 1 - ○ ○ ○ ○
PC21(★) CMS Communication mode option 0010h - ○ ○ ○ ○
PC22(★) BPS Communication protocol option 0010h - ○ ○ ○ ○
PC23 SIC Communication time-out process option 0 S ○ ○ ○ ○

115
 Monitor and status display related parameters
Initial Control mode
NO Abbr. Name Unit
value Pt Pr S T
PC14 MOD Analog monitor output 0100h - ○ ○ ○ ○
PC24(★) DMD Status display option 0000h - ○ ○ ○ ○
PC28 MO1 Analog monitor ch1 offset 0 mV ○ ○ ○ ○
PC29 MO2 Analog monitor ch2 offset 0 mV ○ ○ ○ ○
PC30 MOG1 Analog monitor ch1 output proportion 100 % ○ ○ ○ ○
PC31 MOG2 Analog monitor ch2 output proportion 100 % ○ ○ ○ ○

Other functions related parameters

Initial Control mode
NO Abbr. Name Unit
value Pt Pr S T
PA40(▲) SPW Special parameter write-enable 0000h - ○ ○ ○ ○
PA42(★) BLK Parameter write-inhibit 0000h - ○ ○ ○ ○
PB06 GD1 The ratio of load inertia to motor shaft 10 0.1time ○ ○ ○
PB14 GD2 The ratio 2 of load inertia to motor shaft 70 0.1time ○ ○ ○
PC18(★) COP1 Stop option and power interruption restart option 0010h - ○ ○ ○ ○
PC19(★) COP2 Alarm history clear option 0000h - ○ ○ ○ ○
PC36 BRP Built-in brake resistor protection 300 ms ○ ○ ○ ○
PC37(■) MCS Memory write-in protection 0 - ○ ○ ○ ○
PD20(★) DOP4 Alarm reset triggered process 0000h - ○ ○ ○ ○

116
7.3. Parameter details list
Control Setting
No Abbr. Function description Unit
mode range
PA01 STY Setting value of Control mode option:
u z y x
x：control mode select
0：position
1:position/speed
2:speed
3:speed/torque
4:torque
5:torque/position

y：position command select

0：external input Pt,Pr 0000h
-
1：inner register(absolute type) S,T ~1125h
2：inner register(incremental type)

z：electromagnetic brake enabled option

0：disabled
1：enabled. (Motor with electromagnetic brake applied)

u：DI/DO setting option

0：Functions of DI/DO are fixed as user defined no matter what
control mode switched.
1：Functions of DI/DO are changed as control mode switched.
Pin functions are decided by servo drive automatically.
PA02 ATUM Gain tuning mode option:
0 0 0 x
x：gain tuning mode option
0：manual-gain tuning(PI control) Pt,Pr 0000h
-
1: manual-gain tuning(PI control + interference compensator) S ~0004h
2: Auto-gain tuning(load inertia ratio and bandwidth estimated)
3: Auto-gain tuning(fixed load inertia ratio)
4:Interpolation mode(PB37 is fixed, other gain value estimated)
PA03 ATUL Auto-tuning response level setting:
0 0 0 x
x：response level setting

Response level Rigidity Response frequency

1 5Hz
2 10 Hz
3 low 15 Hz
4 20 Hz Pt,Pr 0001h
5 30 Hz -
6 40 Hz S,T ~000Fh
7 55 Hz
middle
8 70 Hz
9 85 Hz
A 100 Hz
B 130 Hz
C 160 Hz
high
D 200 Hz
E 250 Hz
F 300 Hz

117
 Control Setting
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mode range

PA04 HMOV Home moving option:

u z y x
x：origin detector and rotation option
0：ORGP detector in CCW rotation
1:ORGP detector in CW rotation
2:Encoder Z pulse detector in CCW rotation
3:Encoder Z pulse detector in CW rotation
y：origin attained shortcut moving option
0：motor turns back to last Z pulse to attain
1：motor goes ahead to next Z pulse to attain 0000h
Pr -
2：origin recognized right away ~2123h
z：origin recognized completion option
0：motor decelerates to stop then return to the mechanism origin
1：motor decelerates to stop

u：trigger option
0：home moving function disabled
1：automatically executes after power on
2:SHOM signal as the trigger source

PA05 TL1 Inner torque limit 1:

Motor generated torque is restricted by this parameter which
unit is %. The generated torque is calculated as below.
Torque limit value = maximum torque *PA05
TL signal is used to select PA05 or analog TLA as limit value.
TL1 signal enables the PC25 to compare with PA05 or TLA.
If the TL1 and SG are open-circuit, the valid torque limit is:
TL-SG The valid torque limit
open-circuit PA05
short-circuit If TLA < PA05, limit value=TLA Pt,Pr 0000h
-
If TLA > PA05, limit value=PA05 S ~0003h

If the TL1 and SG are short-circuit, the valid torque limit is:
TL-SG The valid torque limit
open-circuit If PC25 < PA05, limit value=PC25
If PC25 > PA05, limit value=PA05
short-circuit If PC25 < TLA, limit value=PC25
If PC25 > TLA, limit value=TLA

PA06 CMX Electronic gear numerator

See section 6.4.4 for more details. 1
Pt,Pr -
~32767

PA07 CDV Electronic gear denominator

The improper setting could lead to unexpected fast rotation so
make sure to set them in the state of SERVO OFF.
1
The proper range setting is: Pt,Pr -
~32767
1 CM X
≤ (electronic gear ratio) ≤ 200
50 CDV

118
 Control Setting
No Abbr. Function description Unit
mode range
PA08 HSPD1 Home moving high speed option 1
As home moving action is triggered, motor runs at the PA08 1
speed to search the origin. See section 13.2 for more details. Pr rpm
~2000

PA09 HSPD2 Home moving high speed option 2

As the origin is acknowledged, motor would keep running or 1
turns back at the PA09 speed to search the Z phase pulse. See Pr rpm
~500
section 13.2 for more details.
PA10 HOF1 Home moving revolution offset
If this value is not zero, the origin would be acknowledged after -30000
two conditions satisfied: 1. ORGP or Z pulse attained. 2. PA10 Pr rev
~+30000
offset value attained.
PA11 HOF2 Home moving pulse offset
If PA10 and PA11 are not zero, The total offset pulses are：
-30000
(HOF1 x 10000) + HOF2 pulses Pr rev
~+30000
After ORGP or Z phase pulse attained, this offset value should
be attained then the origin would be acknowledged.
PA12 INP In-position range
To define the permissible pulse error range of position pulse 0
commands. As positioning operation done, the INP signal of Pt,Pr pulse
~10000
DO would output.
PA13 PLSS Setting value of Control mode option:
0 z y x
x：pulse-train format select
0：forward/reverse rotation pulse train
1：pulse train + sign
2：A/B phase pulse train
y：acknowledged logic
0：positive logic
1：negative logic
z：permissible pulse frequency option
0：500kpps or less 0000h
Pt -
1：200kpps or less ~0112h
Here is an example.
Pulse format Forward Reverse

PP
y=0 x=0
NP

To see section 6.4.1 for more details.

119
 Control Setting
No Abbr. Function description Unit
mode range
PA14 ENR Encoder output pulses
Used to set the A/B-phase pulses encoder output by the drive.
Users could use parameter PA39 to choose the output pulse
setting or output division ratio setting. Set the value 4 times
greater than the A-phase or B-phase pulses. The number of
A/B-phase pulses actually output is 1/4 times greater than the
preset number of pulses. The maximum output frequency is
500kpps. (after multiplication by 4). Use this parameter within
this range.
For output pulse setting
Set " □0□□ " (initial value) in parameter PA39.
Set the number of pulses per servo motor revolution. Pt,Pr 1
pulse/rev
At the setting of 1024, for example, the actually output pulses S,T ~10000
per motor revolution is 1024.

For output division ratio setting

Set " □1□□ " in parameter PA39.
Set the output division ratio(PA14) per motor revolution.
Resolution per motor revolution
Output pulses =
PA14 setting value
At the setting of 2, for example, the actually output pulses per
motor revolution is (10000/2)=5000.

PA15 PO1H Revolution of inner position command 1

There are 8 sets of inner register position command. Every set
is composed of revolution and pulse. As PA15 and PA16 are -30000
Pr rev
applied, for example, the total pulses of inner position ~+30000
command is:
(PA15 x 10000) + PA16 pulses
PA16 PO1L Pulse of inner position command 1 -9999
Pr pulse
~+9999
PA17 PO2H Revolution of inner position command 2 -30000
Pr rev
~+30000
PA18 PO2L Pulse of inner position command 2 -9999
Pr pulse
~+9999
PA19 PO3H Revolution of inner position command 3 -30000
Pr rev
~+30000
PA20 PO3L Pulse of inner position command 3 -9999
Pr pulse
~+9999
PA21 PO4H Revolution of inner position command 4 -30000
Pr rev
~+30000
PA22 PO4L Pulse of inner position command 4 -9999
Pr pulse
~+9999

120
 Control Setting
No Abbr. Function description Unit
mode range
PA23 PO5H Revolution of inner position command 5
-30000
Pr rev
~+30000
PA24 PO5L Pulse of inner position command 5
-9999
Pr pulse
~+9999
PA25 PO6H Revolution of inner position command 6
-30000
Pr rev
~+30000
PA26 PO6L Pulse of inner position command 6
-9999
Pr pulse
~+9999
PA27 PO7H Revolution of inner position command 7
-30000
Pr rev
~+30000
PA28 PO7L Pulse of inner position command 7
-9999
Pr pulse
~+9999
PA29 PO8H Revolution of inner position command 8
-30000
Pr rev
~+30000
PA30 PO8L Pulse of inner position command 8
-9999
Pr pulse
~+9999
PA31 POV1 Moving speed of inner position command 1
There are 8 sets of inner register position command. Every set 1
Pr rpm
has its speed command to approach the goal position. ~3000

PA32 POV2 Moving speed of inner position command 2

1
Pr rpm
~3000
PA33 POV3 Moving speed of inner position command 3
1
Pr rpm
~3000
PA34 POV4 Moving speed of inner position command 4
1
Pr rpm
~3000
PA35 POV5 Moving speed of inner position command 5
1
Pr rpm
~3000
PA36 POV6 Moving speed of inner position command 6
1
Pr rpm
~3000
PA37 POV7 Moving speed of inner position command 7
1
Pr rpm
~3000
PA38 POV8 Moving speed of inner position command 8
1
Pr rpm
~3000

121
 Control Setting
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mode range
PA39 POL Motor rotary direction option
The relation among motor rotary direction and input command
pulse-train direction and encoder output pulse direction is
described below.
0 z y x
x：input pulse-train and motor rotary direction option
motor rotary direction
x
forward pulse-train input reverse pulse-train input
0 CCW CW
1 CW CCW
y：motor rotary direction and encoder pulse output option Pr, Pt 0000h
-
S,T ~0111h
y motor CCW rotation motor CW rotation

z：encoder output option

0：output pulse
1：output division ratio
PA40 SPW Special parameter write-enable
As this parameter is set as 0088h, the drive would take 2 Pr, Pt 0000h
seconds to recover factory-set. This change is valid by power -
S,T ~00FFh
off once and power on again.
PA42 BLK Parameter read/write inhibit option
Parameter group
PA42
PA□□ PB□□ PC□□ PD□□
0000h R/W enable
R/W enable
0001h R/W enable
0002h R/W enable R/W inhibit Pt,Pr 0000h
R/W inhibit -
S,T ~0006h
0003h R/W inhibit
0004h R enable
0005h W inhibit
R enable
0006h W inhibit(*) R/W inhibit
(*) PA42 is excepted, it is write-able.
PA43 OVPE Output of position error excess
When the position error is over this PA43 setting value, servo
0
drive would output the alarm of position error excess.(AL08) Pt,Pr 10 pulse
~32767

122
 Control Setting
No Abbr. Function description Unit
mode range

PB01 NHF1 Machine resonance suppression filter 1

To set a specific frequency which the control gain is decreased Pt,Pr 50
to suppress the mechanism resonance. Hz
S,T ~1000
See section 6.3.6 for more details.
PB02 NHD1 Machine resonance suppression attenuation 1
To set the attenuation at the frequency of PB01 setting. Pt,Pr 0
dB
The setting of “0” value denotes the disabled of this notch filter. S,T ~32

PB03 NLP Resonance suppression low-pass filter

Pt,Pr 0
To set low-pass filter time constant to suppress resonance. 0.1mS
S,T ~10000
PB04 PST Position command filter time constant
Used to smooth the running of motor in position control mode. 0
Pt,Pr mS
See section 6.4.3 for more details. ~20000

PB05 FFC Position feed-forward gain

To reduce the position error and position settling time, but if the 0
value is set too large, a sudden acceleration or deceleration Pt,Pr 0.0001
~20000
may cause overshoots.
PB06 GD1 The ratio of load inertia to motor shaft (load inertia ratio)
Pt,Pr 0
See section 5.3.3 for more details. 0.1time
S ~1200
PB07 PG1 Position loop gain
Used to decide response level of position loop. Increasing PG1 4
improves traceability, but a too high value makes overshooting Pt,Pr rad/s
~1024
or vibration occurred. When auto-gain tuning mode is applied,
PB07 would be set according to the result of inertia estimation.
PB08 VG1 Speed loop gain
Increasing VG1 improves traceability to a speed command but Pt,Pr 40
a too high value will make machine resonance. rad/s
S ~4096
When auto-gain tuning mode is applied, PB08 would be set
according to the result of gain tuning.
PB09 VIC Speed integral gain
Pt,Pr 1
The PB09 is used to eliminate stationary deviation against a mS
S ~1000
command.
PB10 VFG Speed feed-forward gain
To set the proper gain would reduce the tracking time of speed Pt,Pr 0
command. Also, a too big value would cause overshoots during 0.0001
S ~20000
the sudden acceleration/deceleration command.
PB11 CDP Gain switch option
0 0 0 x
x：changing condition
0：Invalid
1：Gain switched as the CDP signal of DI is ON Pt,Pr 0000h
-
2:Position command frequency >= CDS(PB12) setting S ~0004h
3:Position command pulse error >= CDS(PB12) setting
4:Motor speed >= CDS(PB12) setting
See section 6.3.7 for more details.
PB12 CDS Gain switch condition value
Pt,Pr 0
The unit of CDS value is varied(kpps,pulse,rpm) according to the depends
S ~60000
settings of CDP.
123
 Control Setting
No Abbr. Function description Unit
mode range

PB13 CDT Gain switch time constant

Used to smooth the motor running at gain switching moment to Pt,Pr 0
mS
suppress vibration if the gain difference is large. S ~1000

PB14 GD2 The ratio 2 of load inertia to motor shaft

Set the demand ratio of load inertia to motor shaft after Pt,Pr 0
switching. This value is valid as gain switch function preformed. 0.1time
S ~1200

PB15 PG2 Position loop gain change ratio

The gain values would be changed as:
10
gain after switched = (PG1 or VG1 or VIC) x PB15(%) Pt,Pr %
~200
These changes are valid only if auto-gain tuning disabled.
PB16 VG2 Speed loop gain change ratio Pt,Pr 10
%
S ~200
PB17 VIC2 Speed integral gain change ratio Pt,Pr 10
%
S ~200
PB18 SFLT Speed low-pass filter smooth time constant
Larger value would make the response slow down obviously. If
it is set as zero, this function is disabled.

0
S,T mS
~1000

The required time to catch the command is 5-time of SELT.

PB19 TQC Torque command filter time constant
Larger value would make the response slow down obviously. If it
is set as zero, this function is disabled.

0
T mS
~5000

The required time to catch the command is 5-time of TQC.

124
 Control Setting
No Abbr. Function description Unit
mode range
PB20 SJIT Speed feedback filter time constant
Used to set the filter time constant of motor speed feedback. Pt,Pr 0
0.1mS
S,T ~1000

PB21 NHF2 Machine resonance suppression filter 2

The secondary option of notch filter frequency to suppress the Pt,Pr 50
Hz
mechanism resonance. S,T ~1000
See section 6.3.6 for more details.
PB22 NHD2 Machine resonance suppression 2
The secondary option of notch filter attenuation. Pt,Pr 0
dB
S,T ~32

PB23 MVS Micro-vibration suppression option

0 0 0 x
x：option 0000h
Pt,Pr -
0：default ~0002h
1：micro-vibration suppression enabled
2:micro-vibration suppression disabled
PB24 VDC Speed differential compensation
Pt,Pr 0
-
S ~1000

125
 Control Setting
No Abbr. Function description Unit
mode range
PC01 STA Acceleration time constant
This parameter is the time spent for the motor from 0 rpm to the Pr 0
rated speed and it is defined as “acceleration time constant”. mS
S,T ~20000
See section 6.3.3 for more details.

PC02 STB Deceleration time constant

The time spent for the motor to decelerate from the rated speed Pr 0
to 0 rpm is called “deceleration time constant”. mS
S,T ~20000

PC03 STC S-pattern acceleration/deceleration time constant

The S-pattern acceleration/deceleration function is to employ a Pr 0
three-step curve of acceleration or deceleration moving to mS
S,T ~10000
soothe the vibration during starting or stopping the motor.

PC04 JOG JOG speed command

As JOG mode applied, this PC04 is used as speed command. Pt,Pr 0
See section 4.5.3 for more details. rpm
S,T ~4500

PC05 SC1 Inner speed command/limit 1

For speed control, PC05 is used as inner speed command 1. -4500
For torque control, PC05 is the speed limit and directionless. S,T rpm
~+4500

PC06 SC2 Inner speed command/limit 2

For speed control, PC06 is used as inner speed command 2. -4500
S,T rpm
For torque control, PC06 is the speed limit and directionless. ~+4500

PC07 SC3 Inner speed command/limit 3

For speed control, PC07 is used as inner speed command 3. -4500
S,T rpm
For torque control, PC07 is the speed limit and directionless. ~+4500

PC08 SC4 Inner speed command/limit 4

For speed control, PC08 is used as inner speed command 4. -4500
S,T rpm
For torque control, PC08 is the speed limit and directionless. ~+4500

PC09 SC5 Inner speed command/limit 5

For speed control, PC09 is used as inner speed command 5. -4500
S,T rpm
For torque control, PC09 is the speed limit and directionless. ~+4500

PC10 SC6 Inner speed command/limit 6

For speed control, PC10 is used as inner speed command 6. -4500
S,T rpm
For torque control, PC10 is the speed limit and directionless. ~+4500

PC11 SC7 Inner speed command/limit 7

For speed control, PC11 is used as inner speed command 7. -4500
S,T rpm
For torque control, PC11 is the speed limit and directionless. ~+4500

126
 Control Setting
No Abbr. Function description Unit
mode range

PC12 VCM Output speed of maximum analog command

This value decides the output speed while the maximum
permissible voltage is applied.
0
applied voltage of speed command S
output speed = × PC12 ~30000
10

See section 6.3.2 for more details.

rpm
When torque mode is applied, this parameter would become
speed limit as the maximum permissible voltage applied.
applied voltage of torque command 0
speed limit = × PC12 T
10 ~30000
See section 6.2.5 for more details.

PC13 TLC Torque generated of maximum analog command

0
See section 6.2.1 for more details. S,T %
~2000

PC14 MOD Analog monitor output

There are 2 channels of analog monitor provided for users to Pt,Pr 0000h
-
check the required signals, see section 6.6.2 for more details. S,T ~0707h

PC15 SVZR Speed analog zero voltage acknowledged range

Treat the applied voltage which is less than PC15 as zero 0
S,T mV
speed command. ~1000

PC16 MBR Electromagnetic brake output delay time

The parameter PC16 could be used to decide the delay time of
Pt,Pr 0
the SON signal off to the MBR signal activated. mS
S,T ~1000
See section 6.6.3 for more details.

PC17 ZSP Zero speed acknowledged range

As motor feedback speed is less than the setting value of
Pt,Pr 0
PC17, the servo drive would treat it as zero speed and the ZSP rpm
S,T ~10000
of DO would be outputted.

PC18 COP1 Stop option and power interruption restart option

The voltage level drop would cause drive to alarm and stop.
Auto-restart function could be applied by the setting of PC18.
0 0 y x
x：power interruption restart option
Pt,Pr 0000h
0：invalid -
S,T ~0011h
1：valid
y：motor stop option
0：stops instantaneously
1：decelerates to stop

PC19 COP2 Alarm history clear option

0 0 0 x
x=0:does not clear Pt,Pr 0000h
-
x=1:to clear the histories after power off once and restart S,T ~0001h

127
 Control Setting
No Abbr. Function description Unit
mode range
PC20 SNO Communication device number
To set different device number for varied devices is necessary. Pt,Pr 1
If two drives occupy the same number, the communication -
S,T ~32
could not be performed.
PC21 CMS Communication mode option
0 0 y x
x：mode option
0：RS-232C Pt,Pr 0000h
1：RS-485 -
S,T ~0011h
y：communication reply delay time
0：reply within 1 mS
1：reply after 1 mS

PC22 BPS Communication protocol option Pt,Pr 0000h

See section 8.2 for more details. -
S,T ~0058h
PC23 SIC Communication time-out process option
Pt,Pr 0
Time-out inspection could be set from 1 to 60 seconds. If it is S
S,T ~60
set as 0, the inspection function is invalid.
PC24 DMD Status display option
0 0 y x
x：display option after power on
0：Motor feedback pulse
1：Motor feedback revolution
2: Cumulative pulses of command
3: Cumulative turns of command
4: Accumulative pulses error
5: Command pulse frequency
6: Motor speed
7: Speed analog command/limit voltage
8: Speed input command/limit
9: Torque analog command/limit voltage
A: Torque input command/limit
B: Effective load ratio
C: Peak load ratio
D: DC bus voltage Pt,Pr 0000h
-
E: The ratio of load inertia to motor shaft S,T ~001Fh
F: Instantaneous torque
y：assigned display after power on
0：display option according varied control modes
1：display option according the x-digit of PC24
Control mode Initial display after power on
position motor feedback pulse
position/speed motor feedback pulses/motor speed
speed motor speed
speed/torque motor speed / torque analog command
torque torque analog command
torque/position torque analog command/motor feedback pulse

128
 Control Setting
No Abbr. Function description Unit
mode range
PC25 TL2 Inner torque limit 2
Refer to description of PA05. Pt,Pr 0
%
S,T ~100

PC26 VCO Speed analog command/limit offset

Used to “compensate ” the analog offset for a zero command.
Speed analog command(VC) is corrected for speed control. -8000
S,T mV
Speed analog limit(VLA) is corrected for torque control mode. ~+8000
Refer to section 4.5.5 for more details.
PC27 TLO Torque analog command/limit offset
Used to “compensate ” the analog offset for a zero command.
Torque analog command(TC) is corrected for torque control -8000
S,T mV
mode. Torque output analog limit(TLA) is corrected for speed ~+8000
control mode. Refer to section 4.5.5 for more details.
PC28 MO1 Analog monitor ch1 offset Pt,Pr -999
See section 6.6.2 for more details. mV
S,T ~+999
PC29 MO2 Analog monitor ch2 offset
Pt,Pr -999
See section 6.6.2 for more details. mV
S,T ~+999
PC30 MOG1 Analog monitor ch1 output proportion
Pt,Pr 0
Used to set output ratio of monitor signal to be viewed. %
S,T ~100
See section 6.6.2 for more details.
PC31 MOG2 Analog monitor ch2 output proportion Pt,Pr 0
%
S,T ~100
PC32 CMX2 Electronic gear numerator 2 1
Refer to the description of PA06. Pt,Pr -
~32767
PC33 CMX3 Electronic gear numerator 3 1
Pt,Pr -
~32767
PC34 CMX4 Electronic gear numerator 4 1
Pt,Pr -
~32767
PC35 VCL VC input voltage limit
Used to limit the range of speed analog command(VC). “0”
denotes no limit. A 5000 setting of PC35 as an example: even 0
S,T mV
the actual analog command is 10V, the drive would recognize ~20000
that the maximum input voltage is only 5V.

PC36 BRP Built-in brake resistor protection

When the active time of brake resistor exceeds this PC36 value,
AL.04 would be occurred. If PC36 is set to 0, the protection is
invalid. Refer to section 10.2 for alarm troubleshooting. Pt,Pr 0
ms
(1) If the AL04 is occurred frequently, please refer to Section 10.2. S,T ~2000
(2) If external brake resistor is applied, please refer to section 14.2
to set the PC36 value with a chosen brake resistor capacity.
PC37 MCS Memory write-in protection
"0" means that parameter settings can be written into EEPROM.
"1" means that the settings will not be written into EEPROM. Once Pt,Pr 0
the drive is power off, the parameter modification will be vaporized. -
S,T ~1
It can prevent EEPROM damaged due to frequently operation. The
PC37 will recovered to "0" after power on.

129
 Control Setting
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mode range
PD01 DIA1 Digital input signal auto-ON option 1
u z y x
x：SON open/short option
0：controlled by external actual wiring
1：SON-SG is short-circuit without actual wiring
y：LSP open/short option
0：controlled by external actual wiring
Pt,Pr 0000h
1：LSP-SG is short-circuit without actual wiring -
S,T ~1111h
z：LSN open/short option
0：controlled by external actual wiring
1：LSN-SG is short-circuit without actual wiring
u：EMG open/short option
0：controlled by external actual wiring
1：EMG-SG is short-circuit without actual wiring

PD02 DI1 Digital input 1 option

The 8 DI input pins of CN1 are programmable. The preset pin Pt,Pr 0000h
functions are different corresponding to varied control modes. -
S,T ~001Fh
See section 3.3.2 for more details.
PD03 DI2 Digital input 2 option Pt,Pr 0000h
-
S,T ~001Fh
PD04 DI3 Digital input 3 option Pt,Pr 0000h
-
S,T ~001Fh
PD05 DI4 Digital input 4 option Pt,Pr 0000h
-
S,T ~001Fh
PD06 DI5 Digital input 5 option Pt,Pr 0000h
-
S,T ~001Fh
PD07 DI6 Digital input 6 option Pt,Pr 0000h
-
S,T ~001Fh
PD08 DI7 Digital input 7 option Pt,Pr 0000h
-
S,T ~001Fh
PD09 DI8 Digital input 8 option Pt,Pr 0000h
-
S,T ~001Fh
PD10 DO1 Digital output 1 option
The 5 DO output pins of CN1 are programmable. The preset Pt,Pr 0000h
pin functions are different corresponding to varied control -
S,T ~000Fh
modes. See section 3.3.2 for more details.

PD11 DO2 Digital output 2 option Pt,Pr 0000h

-
S,T ~000Fh
PD12 DO3 Digital output 3 option Pt,Pr 0000h
-
S,T ~000Fh
PD13 DO4 Digital output 4 option Pt,Pr 0000h
-
S,T ~000Fh
PD14 DO5 Digital output 5 option Pt,Pr 0000h
-
S,T ~000Fh

130
 Control Setting
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mode range
PD15 DIF Digital input filter time option
0 0 0 x
x：filter time constant
0：invalid Pt,Pr 0000h
-
1：2mS S,T ~0003h
2: 4mS
3: 6mS

PD16 IOS Digital input on/off state control option

0 0 0 x
x：state control option Pt,Pr 0000h
-
0：controlled by external input signals S,T ~0001h
1: controlled by communication software

PD17 DOP1 LSP/LSN triggered stop option

0 0 0 x
x：motor stop option Pt,Pr 0000h
-
0：stops immediately S ~0001h
1：decelerates to stop according to PC02,PC03

PD18 DOP2 CR signal clear option

As CR signal is activated, the deference between position
pulses and motor feedback pulses would be cleared.
0 0 0 x
x：clear option
0：CR rising edge trigger
1: keeps clearing while CR=1
2:As CR is triggered, the motor would decelerate to stop. The
remainder of pulse commands would be neglected. If
CTRG signal triggered, the present commands would be
executed. Here is the process chart.
0000h
Pt,Pr -
~0002h

PD19 DOP3 Alarm code output option

0 0 0 x
x：output option Pt,Pr 0000h
-
0：output definition according to PD10 ~ PD14 S,T ~001Fh
1: to show alarm codes while alarms occurred；
see section 10.1 for detail

131
 Control Setting
No Abbr. Function description Unit
mode range
PD20 DOP4 Alarm reset triggered process
0 0 0 x
x：clear option Pt,Pr 0000h
0：PWM signal off(If the motor is running, it would coast to -
S,T ~001Fh
stop. If the motor is shaft-lock, it would become rotatable.)
1:invalid
PD21 DIA2 Digital input signal auto-ON option 2
0 0 y x
x：TL open/short option
0：controlled by external actual wiring Pt,Pr 0000h
-
1：TL-SG is short-circuit without actual wiring S,T ~0011h
y：SP1 open/short option
0：controlled by external actual wiring
1：SP1-SG is short-circuit without actual wiring

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Digital input(DI) function definition
Setting
Sign Functions/Applications description
Value

SON 0x01 As this signal is on, the servo drive is ready to be operated.

RES 0x02 As particular alarm occurred, this signal recover from an abnormal status.

PC 0x03 This signal could switch proportion-integral speed control to proportion one.

TL 0x04 This signal could switch torque limit from inner limit 1 to external analog limit.

TL1 0x05 Turn TL1-SG on to make inner torque limit 2 valid.

SP1 0x06 Speed command/limit option 1.

SP2 0x07 Speed command/limit option 2.

SP3 0x08 Speed command/limit option 3.

In speed control mode, drive will rotate “forward” when the signal activated.
ST1/RS2 0x09
In torque control mode, drive will rotate “reverse” when the signal activated.

In speed control mode, drive will rotate “ reverse” when the signal activated.
ST2/RS1 0x0A
In torque control mode, drive will rotate “ forward” when the signal activated.

In position control with inner registers, the arbitrary position could be assigned as the
ORGP 0x0B
origin when this signal activated.

SHOM 0x0C As this signal activated, the drive runs motor to return the present origin.

CM1 0x0D Electronic gear numerator option 1

CM2 0x0E Electronic gear numerator option 2

CR 0x0F Used to clear the position command pulse errors on its rising edge.

CDP 0x10 Turn CDP on to change the gain into the multiplier of PB14 to PB17.

LOP 0x11 It is used to switch varied mode as hybrid control mode applied.

EMG 0x12 Turn it off to bring to an emergency stop and turn it on to reset that state.

POS1 0x13 Position command option 1

POS2 0x14 Position command option 2

POS3 0x15 Position command option 3

CTRG 0x16 Used to switch the 8 inner register position commands.

HOLD 0x17 As this signal activated, the motor would stop running when the Pr mode is applied.

LSP 0x18 Limit of forward rotation route

LSN 0x19 Limit of reverse rotation route

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Digital output(DO) function definition
Setting
Sign Functions/Applications description
Value

RD 0x01 As the drive is ready to be operated, RD-SG would become conductive.

ALM-SG is isolated as power off or protection activated to cut off the main circuit.
ALM 0x02
Without alarm occurring, ALM-SG would turn on after power on 1 second latter.

In position mode, INP-SG is conductive as position errors is under permissible range.

INP/SA 0x03
In speed mode, SA-SG is conductive as the motor speed has nearly attained.

HOME 0x04 HOME-SG is on after the completion of home moving.

In speed mode, TLC-SG is on as motor generated torque reaches inner torque limit or
torque analog limit. TLC-SG is off when SON signal is turned off.
TLC/VLC 0x05
In torque mode, VLC-SG is on as motor speed reaches inner speed limit or speed
analog limit. VLC-SG is off when SON signal is turned off.

When using this signal, make it usable by setting parameter PA01 as □1□□. MBR
MBR 0x06
is off as the power is turned off or any alarm occurred.

WNG-SG is conductive as any warning occurred. Without warning occurring,

WNG 0x07
WNG-SG is isolated.

ZSP 0x08 When motor speed is under the preset of zero speed, ZSP-SG keeps conductive.

CMDOK 0x09 CMDOK-SG is conductive as the inner position command is completed or stopped.

134
8. Communication functions

8.1. Communication interface and wiring

The Shihlin servo drive equips the RS-232C, RS-485 and plug-play USB serial communication
functions. These functions could be used to perform servo operation, parameter changing, monitor
function, etc. However, the RS-232C and RS-485 communication could not be used simultaneously.
Use the parameter PC21 to select between RS-232C and RS-485. The wiring is demonstrated below.

RS-232C
(1) Outline：
One device applied.

(2) Wiring diagram：

(*1): CN3 connector is the RJ-45 type.

(*2): Suitable for the environment with less noise interference. If communication transmission
speed is higher than 38400bps, use the wires shorter than 3m.

135
RS-485
(1) Outline：
Up to 32 devices of servo drives from stations 1 to 32 could be operated on the same bus.

(2) Wiring diagram：

Recommendation: To connect ground terminal of RS-485/RS-232 converter and GND(pin4,pin5) of

CN3 could reduce communication failure if necessary.

USB
(1) Outline：
Use the standard Mini-USB cable to perform.

136
8.2. Relevant parameters of communication
As RS-232C/RS-485 communication is performed, the related settings are described below.
(1) Communication device number(PC20)
Setting
Name Abbr. Sign Description
range

1 If two drives occupy the same device number,

Communication device number SNO PC20
~32 the communication could not be performed.

(2) Mode option(PC21)

0 0 0 x
0：RS-232C
1：RS-485

(3) Communication reply time delay(PC21)

0 0 y 0
0：replay within 1mS
1：replay after 1mS

(4) Communication protocol option(PC22)

0 0 0 x
0：7 data bit， No parity， 2 stop bit (Modbus，ASCII Mode)
1：7 data bit，Even parity， 1 stop bit (Modbus，ASCII Mode)
2：7 data bit， Odd parity， 1 stop bit (Modbus，ASCII Mode)
3: 8 data bit， No parity， 2 stop bit (Modbus，ASCII Mode)
4: 8 data bit，Even parity， 1 stop bit (Modbus，ASCII Mode)
5: 8 data bit， Odd parity， 1 stop bit (Modbus，ASCII Mode)
6: 8 data bit， No parity， 2 stop bit (Modbus，RTU Mode)
7: 8 data bit，Even parity， 1 stop bit (Modbus，RTU Mode)
8: 8 data bit， Odd parity， 1 stop bit (Modbus，RTU Mode)

(5) Baud rate(PC22)

0 0 y 0
0： 4800 bps
1： 9600 bps
2： 19200 bps
3： 38400 bps
4： 57600 bps
5：115200 bps

NOTE：
As USB communication function is applied, it would work only to set the proper device number.

137
8.3. Modbus protocol
When communication between a computer and several drives is going to be performed, every
drive should has its device number of PC20 setting. Then the computer could control individual drive
according to its device number. The protocol of Shihlin drive is Modbus protocol. There are two modes :
ASCII(American Standard Code for information interchange) mode and RTU (Remote Terminal Unit)
mode，users could change the mode by setting the PC22 value.
A. ASCII mode
(a) Coding signification
A 8-bit data(a byte) is expressed with 2 ASCII character. For example, 75h is expressed with ASCII
code “37h” and ASCII code “35h”.The ASCII codes ‘0’ to ‘9’ and ‘A’ to ‘F’ are listed below.
Character ‘0’ ‘1’ ‘2’ ‘3’ ‘4’ ‘5’ ‘6’ ‘7’
ASCII code 30h 31h 32h 33h 34h 35h 36h 37h
Character ‘8’ ‘9’ ‘A’ ‘B’ ‘C’ ‘D’ ‘E’ ‘F’
ASCII code 38h 39h 41h 42h 43h 44h 45h 46h

(b) frame signification

11-bit frame(suitable for 8-bit data length)

10-bit frame(suitable for 7-bit data length)

138
(c) Data packet structure
Byte sign Name Description

STX Start code “：”(ASCII code 3Ah)

ADR Device number 1 byte is composed of 2 ASCII code bytes.
CMD Command code 1 byte is composed of 2 ASCII code bytes.
DATA(n-1)
The length of n words is equal to the one of 2n bytes.(n<=29)
……… Data code
So, there are 4n ASCII code bytes.
DATA(0)
LRC LRC check value 1 byte is composed of 2 ASCII code bytes.
End1 End code 1 “CR”(ASCII code 0Dh)
End0 End code 0 “LF”( ASCII code 0Ah)
Communication data formats are described below.
STX
“ : ” character
ADR
The address code is from 1 to 32. For example，the expression of number 18(hexadecimal 12h) is
divided into “1” and “2” in ASCII code. The address code 18 is expressed as 31h and 32h.
CMD and DATA
The DATA are varied according to different Command codes. To read 2 words which start address is
0100h from device number 1 as an example is described below.
Command code: 03h, read data
Command(host)： Response(slave)：
STX : STX ：
‘0’ ‘0’
ADR ADR
‘1’ ‘1’
‘0’ ‘0’
CMD CMD
‘3’ ‘3’
‘0’ ‘0’
byte length
‘1’ ‘4’
start address
‘0’ ‘0’
DATA

‘0’ content of ‘1’

address 0100h
DATA

‘0’ ‘0’
‘0’ ‘2’
word length
‘0’ ‘1’
‘2’ content of ‘2’
‘F’ address 0101h ‘2’
LRC
‘9’ ‘1’
End1 0Dh ‘C’
LRC
End0 0Ah ‘2’
End1 0Dh
End0 0Ah

139
Command code: 06h, write data
To write “100”(0064h) into the drive which device number is 17 and start address is 0150h.
Command(host)： Response(slave)：
STX : STX ：
‘1’ ‘1’
ADR ADR
‘1’ ‘1’
‘0’ ‘0’
CMD CMD
‘6’ ‘6’
‘0’ ‘0’
‘1’ ‘1’
start address start address
‘5’ ‘5’
DATA

DATA
‘0’ ‘0’
‘0’ ‘0’
written data ‘0’ written data ‘0’
(word) ‘6’ (word) ‘6’
‘4’ ‘4’
‘3’ ‘3’
LRC LRC
‘4’ ‘4’
End1 0Dh End1 0Dh
End0 0Ah End0 0Ah

LRC calculation：
ASCII mode uses LRC(Longitudinal Redundancy Check) to detect errors. LRC method computes the
2's complement of the sum from ADR code to the last data code. The 2's complement is a byte value
which the overflow part neglected. Here is an case to describe the rule.
‘1’ Calculation of LRC detection value:
ADR
‘1’ 1.To compute the sum of ADR code to last data code.
‘0’
CMD 11h+06h+C1h+2Ah+00h+64h=166h
‘6’ 2.If the sum is byte-overflow, neglect the overflow part.
‘C’ 166h=66h
3.Compute the 2's complement.
‘1’
start address 100h-66h=9Ah
‘2’ 4.”9Ah” is the LRC detection value.
DATA

‘A’
‘0’

data written ‘0’

(word) ‘6’
‘4’
‘9’
LRC
‘A’

End1,End0 (data packet ended):

Use “0Dh” and “0Ah” to denote the end of communication data packet.

140
 B. RTU mode
(a) Coding signification
Data are expressed in hexadecimal characters. For example, “168” is expressed as A8h, “99” is
expressed as 63h.
(b) Data packet structure
Byte sign Name Description
Start - To keep an idle more than 6mS
ADR Device number 1 byte
CMD Command code 1 byte
DATA(n-1)
……… Data code n words is equal to 2n bytes.(n<=29)
DATA(0)
CRC_L CRC value low byte Low byte of CRC check code
CRC_H CRC value high byte High byte of CRC check code
End - To keep an idle more than 6mS
Start
To keep an idle more than 6mS.
ADR
The address code is from 1 to 32. For example，number “17” is expressed as 11h.
CMD and DATA
The DATA are varied according to different Command codes.
Command code: 03h, read data
For example, to read 2 words which start address is 0200h from device number 1 is described below.

Command(host)： Response(slave)：
ADR 01h ADR 01h

CMD 03h CMD 03h

02h byte length 04h

start address
00h 00h
DATA

content of
DATA

address 0200h
00h B1h
word length
02h 1Fh
content of
address 0201h
CRC_L C5h 40h

CRC_H B3h CRC_L A3h

CRC_H D4h

141
Command code: 06h, write data
For example, to write “100”（0064H） into the drive which device number 1 and start address 0200h.
Command(host)： Response(slave)：
ADR 01h ADR 01h

CMD 06h CMD 06h

02h 02h
start address start address
00h 00h
DATA

DATA
00h 00h
written data written data
64h 64h

CRC_L 89h CRC_L 89h

CRC_H 99h CRC_H 99h

CRC calculation：
RTU mode uses CRC(Cyclical Redundancy Check) to detect errors.
CRC method to decide the check value is described below.
Step 1: Load a 16-bit register (called CRC register) with FFFFh.
Step 2: Exclusive OR the first 8-bit byte of the command message with the lower byte of CRC register,
putting the result in the CRC register.
Step 3: Check the LSB of CRC register. If it is 0, shift the CRC register one bit to the right. If it is 1, shift
the CRC register one bit to the right then Exclusive OR the CRC register with A001h.
Step 4: Repeat step 3 until eight shifts have been performed. When this is done, a complete 8-
bit byte will have been processed, then perform step 5.
Step 5: Repeat step 2 to step 4 for the next 8-bit byte of the command message.
Continue doing this until all bytes have been processed. The final contents of the CRC register are the
CRC value. It should be noticed that the low-byte should be transmitted before high-byte.
For example, reading 2 words from address 0101h of the drive with address 01H. The final
content of the CRC register from ADR to last data character is 3794H, then the command message is
shown as follows. What should be noticed is that 94H have to be transmitted before 37H.
ADR 01h

CMD 03h

01h
start address
01h
DATA

00h
written data
02h

CRC_L 94h
CRC_H 37h
End:
To keep an idle more than 6mS.
142
CRC calculation example：
The following is an example of CRC generation using C language. The function takes two variables.
unsigned char* data;
unsigned char length
This function returns the CRC value as unsigned integer type.

unsigned int crc_chk(unsigned char* data, unsigned char length)

{
int j;
unsigned int reg_crc=0xFFFF;
while( length-- )
{
reg_crc^= *data++;
for (j=0; j<8; j++ )
{
if( reg_crc & 0x01 ) /*LSB(bit 0 ) = 1 */
reg_crc = (reg_crc >> 1)^0xA001;
else
reg_crc = (reg_crc>>1);
}
}
return reg_crc;
}

143
 (c) Command code and exception code

The Command code and exception code of Shihlin servo drive are described below.
Command code Description
03h read data
06h write data
Command code 03h denotes data reading, the maximum permissible length is 29 words.
Command code 06h denotes data writing, a word length writing.
Command code 08h denotes the diagnostic mode which could check if communication normal or not.

When the communication is performed between a host and the servo drives, wrong commands or
wrong address or over-range would cause the exception response with particular format.
Exception code
Description
(ECP)
01h Command code error
02h Parameter address error
03h Parameter range error
Exception code 01h denotes wrong command code transmitted from the host computer.
Exception code 02h denotes wrong parameter address transmitted from the host computer.
Exception code 03h denotes the over-range parameter setting request.

If the received data are wrong, the drive would send back the command code which is the original one
added to 80h.

(a)ASCII mode (b)RTU mode

STX ‘:’ ADR 01h
‘0’ CMD 86h
ADR
‘1’ ECP 02h
‘8’ CRC_L C3h
CMD
‘6’ CRC_H A1h
‘0’
ECP
‘2’
‘7’
LRC
‘7’
End1 CR
End0 LF

144
 C. Time-out process
After the PC has transmitted the request and 1000mS took, if there still was no response replied
from the servo drive, the PC would retransmit the request again. Time-out would occur if the drive does
not answer after the PC has performed the above operation three times.

D. Retry process
When a communication fault occurs between the PC and drives, the response data from the drive
is a exception code. In this case, the PC retransmits the same request which caused the last fault. A
communication error would occur if the above operation is repeated and results in the error three
consecutive times.

145
8.4. Communication parameter write-in and read-out
(1)Status monitor (read only)

Address Content Data length

0000h Motor feedback pulse (absolute value ) [pulse] 1 word

0001h Motor feedback revolution (absolute value) [rev] 1 word
0002h Cumulative pulses of command [pulse] 1 word
0003h Cumulative revolutions of command [rev] 1 word
0004h Accumulative pulses error [pulse] 1 word
0005h Command pulse frequency [kHz] 1 word
0006h Motor speed [rpm] 1 word
0007h Speed analog command voltage [V] 1 word
0008h Speed command [rpm] 1 word
0009h Torque analog command voltage [V] 1 word
000Ah Torque command [N-m] 1 word
000Bh Effective load ratio [%] 1 word
000Ch Peak load ratio [%] 1 word
000Dh DC bus voltage [V] 1 word
000Eh The ratio of load inertia to motor shaft [times] 1 word
000Fh Instantaneous torque [%] 1 word

(2)Digital IO monitor (read only)

(a) IO pin status

Address Content Data length

0203h The ON/OFF status of DI and DO. The pin location is as follows. 1 word

bit No. b0 b1 b2 b3 b4 b5 b6 b7
pin No. CN1_14 CN1_15 CN1_16 CN1_17 CN1_18 CN1_19 CN1_20 CN1_21
Signal name DI1 DI2 DI3 DI4 DI5 DI6 DI7 DI8

bit No. b8 b9 b10 b11 b12 b13 b14 b15

pin No. CN1_22 CN1_23 CN1_41 CN1_42 CN1_43 CN1_44 CN1_45 CN1_46
Signal name LSP LSN DO1 DO2 DO3 DO4 DO5 ALM

146
(b) IO pin function

Address Content Data length

0204h
To display the pin function programmed of DI and DO. 1 word
~0207h

Address : 0x0204
bit No. b0 b1 b2 b3 b4 b5 b6 b7 b8 b9 b10 b11 b12 b13 b14 b15

pin No CN1_42(DO2) CN1_43(DO3) CN1_44(DO4) CN1_45(DO5)

Function 00h to 09h(*) 00h to 09h 00h to 09h 00h to 09h

Address : 0x0205
bit No. b0 b1 b2 b3 b4 b5 b6 b7 b8 b9 b10 b11 b12 b13 b14 b15

pin No CN1_20(DI7) CN1_21(DI8) CN1_41(DO1)

Function 00 to 17h(**) 00h to 17h 00h to 09h

Address : 0x0206
bit No. b0 b1 b2 b3 b4 b5 b6 b7 b8 b9 b10 b11 b12 b13 b14 b15

pin No CN1_17(DI4) CN1_18(DI5) CN1_19(DI6)

Function 00h to 17h 00h to 17h 00h to 17h

Address : 0x0207
bit No. b0 b1 b2 b3 b4 b5 b6 b7 b8 b9 b10 b11 b12 b13 b14 b15

pin No CN1_14(DI1) CN1_15(DI2) CN1_16(DI3)

Function 00h to 17h 00h to 17h 00h to 17h

(*),(**) : Refer to section 3.3.2 for more details.

(c)Current control mode

Address Content Data length

To display current control mode of servo drive.

0: Pt mode(external pulse-train command)
1: Pr mode(inner register command in absolute type)
0208h 1 word
2: Pr mode(inner register command in incremental type)
3: S mode
4: T mode

147
(3)Alarm information (read only)

Address Content Data length

0100h Current alarm. 1 word

0101h The last alarm. 1 word
0102h The 2nd alarm in the past. 1 word
0103h The 3rd alarm in the past. 1 word
0104h The 4th alarm in the past. 1 word
0105h The 5th alarm in the past. 1 word
0106h The 6th alarm in the past. 1 word

(4) Alarm clear (readable and writable)

Address Content Data length

Clear current alarm if “1EA5h” is written into this address.

0130h 1 word
Transmit current alarm code back if this address is read.

Clear all alarm histories if “1EA5h” written data is address.

0131h 1 word
Transmit last alarm back if this address is read.

(5) Parameter write-in and read-out (readable and writable)

Address Content Data length

Parameter group:
PA□□: 45 parameters which address 0300h to 032Ch.(*1)
0300h 1 word
~0395h PB□□:30 parameters which address 032Dh to 034Ah.(*2) ~ 29 words
PC□□:45 parameters which address 034Bh to 0377h.(*3)
PD□□:30 parameters which address 0378h to 0395h.(*4)

(*1): PA41,PA44,PA45 are preserved parameters.

(*2): PB25~PB30 are preserved parameters.
(*3): PC37~PB45 are preserved parameters.
(*4): PD22~PB30 are preserved parameters.

(6) Factory-set recovery (readable and writable)

Address Content Data length

All parameters would be recover factory-set as 1 second latter after

0621h “1EA5h” being written. 1 word
To read this address, the result of “1” means the recovery is
processing. “0” means the completion of recovery.

148
(7) DI contact control (readable and writable)
Step 1: Select DI contact control option(write-in 0001h)
Address Content Data length

0: according to actual input state

0387h 1 word
1: controlled by communication command
Step 2: Write-in command to control ON/OFF state of each DI pin
Address Content Data length
Use bit value to control DI contact. Details are described below.
0201h Bit value 0 denotes OFF state. 1 word
Bit value 1 denotes ON state.

bit No. b0 b1 b2 b3 b4 b5 b6 b7 b8 b9 preserved

DI signal DI1 DI2 DI3 DI4 DI5 DI6 DI7 DI8 LSP LSN bit value must be “0”

Note: Consideration of test mode(DO forced output, JOG test, Positioning test)
As test mode is performed, check the following items or servo drive could not be operated normally.
1. As no alarm occurred nor Servo ON activated, test mode could be performed.
2. If communication is interrupted over 1 second during test mode, drive would quit this test mode. The
host could repeatedly read-out at “0900h” address to keep a continuous communication.

(8) DO forced output (readable and writable)

Step 1: To check if alarm occurred or Servo ON activated by reading at address “0900h”.
Address Content Data length

0900h 0 z y x 1 word
x=0 Servo OFF, x=1 Servo ON; zy：Alarm code
Step 2: To write-in 0002h at address “0901h” to perform this test.
Address Content Data length

0000h: To quit the test mode

0001h: Preserved
0901h 0002h: DO forced output 1 word
0003h: JOG test
0004h: Positioning test

Step 3: To write in test data at address “0202h” to enforce output.

Address Content Data length

0202h To control DO status by the written data. It is described as follows. 1 word

bit No. b0 b1 b2 b3 b4 b5 preserved

DI signal DO1 DO2 DO3 DO4 DO5 ALM bit value must be “0”

Step 4: To quit this mode by 0000h written at “0901h” address.

149
(9)JOG test (readable and writable)
Step 1: To check the drive without alarm occurred nor Servo ON activated.
Step 2: To write-in 0003h at address “0901h” to perform this mode.
Step 3: To set acceleration/deceleration time constant of JOG test(suitable for positioning test).
Address Content Data length

Acceleration/deceleration time constant [mS]

0902h 1 word
Setting range: 0~20000
Step 4: JOG speed command(suitable for positioning test)

Address Content Data length

JOG speed command [rpm]

0903h 1 word
Setting range: 0~6000
Step 5: JOG Forward/Reverse/Stop command

Address Content Data length

0: Written 0 to stop motor running.

0904h 1: Written 1 to make motor run forward rotation.(CCW) 1 word
2: Written 2 to make motor run reverse rotation.(CW)
Step 6: To quit this mode by 0000h written at address “0901h”.

(10) Positioning test (readable and writable)

Step 1: To check the drive without alarm occurred nor Servo ON activated.
Step 2: To write-in 0004h at address “0901h” to perform this positioning test.
Step 3: To set the acceleration/deceleration time constant of positioning test.
Step 4: To set speed command of positioning test.(Refer to JOG test mentioned above)
Step 5: To set the revolution of positioning test.
Address Content Data length

Revolution of positioning test [rev]

0905h 1 word
Setting range: 0~30000
Step 6: To set the pulse of positioning test.

Address Content Data length

Pulse of positioning test [pulse]

0906h 1 word
Setting range: 0~9999
Step 7: Positioning test Forward/Reverse/Stop command

Address Content Data length

0: Written 0 to pause/stop motor running.(twice pause command to

stop motor running)
0904h 1 word
1: Written 1 to make motor run forward rotation.(CCW)
2: Written 2 to make motor run reverse rotation.(CW)
Step 8: To quit this mode by 0000h written at address “0901h”.
150
9. Inspection and Maintenance

9.1. Basic Inspection

It is recommended for users to inspect the following items periodically. Operate the inspection after
the drive is power off and charge light of drive is off.
Inspect the screws of the drive, terminal block and the connection to mechanical system.
Tighten screws as necessary as they may be loosen.
Do not install the drive at location where closes to inflammable matters.
Ensure that oil, water, metallic particles or any foreign objects do not fall inside the drive. As
these would cause damage.
Avoid any naked wires or damaged, broken wires applied for the servo motor.
Ensure that all wiring terminals are correctly insulated.
Ensure that the external applied power voltage is AC 220V.
Ensure that all wiring instructions and recommendations are followed, otherwise damage to
the drive and or motor may result.

9.2. Maintenance
Users should not disassemble the servo drive or motor as maintenance performing.
Periodically clean the surface of servo drive and motor.
Operate the servo drive and motor within the specified environmental condition range.
Clean off any dust and dirt that accumulated on the ventilation holes of servo drive.

9.3. Life of consumable components

Some components inside servo drive are consumable and must be replaced periodically. The
life of consumable components are varied, which depend on operating methods and environmental
conditions. For parts replacement, please contact your sales agent. The life of particular components
are listed below.
Component Life guideline Description

The contact would wear due to switching currents. Relays reach the
Relay 100,000 times end of its life at cumulative 100,000 switching times, which depends
on the power supply capacity.

10.000~ The cooling fan bearings reach the end of their life in 10,000 to 30,000
Cooling fan
30.000hrs hours. It should be replaced if noise is found during inspection.

Affected by ripple currents and deteriorates in characteristic. Its life

greatly depends on ambient temperature and operating conditions.
Aluminum capacitor 10 years
The capacitor will reach the end of its life in 10 years of continuous
operation in normal air-conditioned environment.

151
10. Troubleshooting

When any alarm has occurred, eliminate its cause, ensure safety, then reset the alarm,
and restart operation. Otherwise, injury may occur.

10.1. Alarm list

The drive would display alarm or warning if some faults occurred during operation. As a alarm or a
warning occurred, please remedy the fault according to the instruction mentioned in section 10.2. When
parameter PD19 is set as □□□1, alarm codes could be output with the ON/OFF states of
DO1(CN1_41), DO2(CN1_42), DO5(CN1_45) terminals.
Alarm code Clear
Sign Name Press "SET" on
Power RES
CN1_41 CN1_42 CN1_45 current alarm
OFF ON signal
screen.
AL01 0 1 0 Over voltage ○
AL02 0 0 1 Low voltage ○ ○ ○
AL03 0 1 1 Over current ○
AL04 0 1 0 Abnormal regeneration ○ ○ ○
AL05 1 0 0 Overload 1 ○ ○ ○
AL06 1 0 1 Over speed ○ ○ ○
AL07 1 0 1 Pulse command abnormal ○ ○ ○
AL08 1 0 1 Position error excessive ○ ○ ○
Alarm

AL09 0 0 0 Communication abnormal ○ ○ ○

AL0A 0 0 0 Communication time-out ○ ○ ○
AL0B 1 1 0 Encoder error 1 ○
AL0C 1 1 0 Encoder error 2 ○
AL0D 1 1 0 Fan error ○
AL0E 0 0 0 IGBT overheat ○
AL0F 0 0 0 Memory error ○
AL10 0 0 0 Overload 2 ○
AL11 1 1 1 Motor mismatched ○
Warning

AL12 Emergency stop Removing the cause would clear the

AL13 LSP/LSN activated warning automatically.

152
10.2. Alarm cause and remedy
AL01 Over voltage
Definition： Main circuit bus voltage has exceeded its maximum allowable value.
Cause Inspection Remedy
Power supply voltage high. Review the power supply. Use proper power source.
Input power error (incorrect power). Review the power supply. Use proper power source.
Drive hardware damaged. Use voltmeter to check if the power Contact agent for proper service.
voltage is within rated voltage while
error still occurred.
Lead of built-in regenerative brake Check the P,D terminals connected Connect correctly.
resistor or regenerative brake well or not.
option is disconnected. Check built-in regenerative brake
resistor or regenerative brake
option is disconnected well.
Built-in regenerative brake resistor Check if it is burn out or damaged. Change the built-in resistor or
or regenerative brake option is option.
damaged.
Capacity of built-in regenerative Refer to section 6.6.1 to check if the Add regenerative brake option or
brake resistor or regenerative capacity insufficient. increase capacity.
brake option is insufficient.

AL02 Low voltage

Definition： Main circuit bus voltage is lower than its allowable value.
Cause Inspection Remedy
Input voltage of main circuit is lower Review the power supply. Use proper power source.
than permissible value.
Capacity of power supply is Check if it occurred as motor torque Increase power supply capacity.
insufficient. regenerated huge.
Input power error (incorrect power). Review the power supply. Use proper power source.

AL03 Over current

Definition： The motor output current has exceeded the allowance range of servo drive.
Cause Inspection Remedy
Improper motor wirings. Check the wirings. Correct the wirings.

Short occurred in drive output Check if the connection between Correct the wirings to prevent from
phases U, V and W. drive and motor is short. short-circuit or cable naked.
IGBT of servo drive faulty. AL03 occurs if power is switched on Contact agent for proper service.
after U,V and W are disconnected.
Improper parameters setting. Check relevant parameters which Recover factory-set then re-define
have modified. user’s demand.

153
AL04 Regenerative alarm
Definition： Regenerative energy suppression circuit faults.
Cause Inspection Remedy
Brake transistor fault. Set PC36 to be 0 and re-power on, Contact agent for proper service.
if AL04 is occurred soon, it means
the brake transistor broken.
Built-in brake resistor or brake Check the wirings. Correct the wirings.
option is disconnected.
The active time of brake resistor is when AL04 occurred, reset PC36 to Use the external brake resistor and
over the PC36 value. be zero and re-power on; if motor refer to section 14.2 to set a proper
runs a while then AL04 occurred PC36 value.
again, it means capacity of built-in
brake resistor is insufficient.

AL05 Overload 1
Definition： Load exceeded overload protection characteristic of servo drive.
Cause Inspection Remedy
Operate the servo drive in heavy Check if mechanism load is huge. Upgrade the capability of servo or
duty continually. reduce the duty.

Improper gain values setting. Check if vibration of mechanism is Re-operate the auto-gain tuning job
occurred. to obtain the proper gain value.
Servo system is instable. Check if acceleration/deceleration Extend these setting values.
time constant are proper.
Encoder faulty. As motor shaft is rotated slowly with Contact agent for proper service.
Servo OFF, the pulses feedback
should vary in proportion to rotary
angle. If the indication skips or
returns midway, it is faulty.

AL06 Over speed

Definition：Speed has exceeded the instantaneous permissible speed.
Cause Inspection Remedy
Input command pulse frequency Check if frequency of input pulse is Set pulses frequency correctly.
exceeded the permissible over the permissible speed range.
instantaneous speed frequency.
Improper acceleration/deceleration Check if these values are too small. Increase acceleration/deceleration
time constant settings. time constant.
Servo system is instable to cause Observe if the mechanism is with 1. Re-set proper servo gain value.
overshoot. vibration. 2. If gain could not be set to proper:
1) Reduce load inertia ratio; or
2) Set acceleration/deceleration
time constant to proper value.
Electronic gear ratio is large Check if the settings are proper. Set correctly.

154
AL07 Pulse command abnormal
Definition： Input pulse frequency of the command pulse is too high.
Cause Inspection Remedy
Pulse frequency of the command Check if input pulse frequency is 1.Set the command pulse frequency
pulse is too high. over range with frequency detector. to a proper value.
2. After RD output signal activated,
the host starts to send command.
Command device failure. Check if the command device is Change the command device.
normal or not.

AL08 Position error excessive

Definition： Position error has exceeded the permissible error range.
Cause Inspection Remedy
Improper acceleration/deceleration Check if these values are too small. Increase acceleration/deceleration
time constant settings. time constant.

Improper torque limit setting. Check if PA05 setting is too small. Increase the torque limit value.

Position loop gain value is small. Check if PB07 setting is too small. Increase the gain value and adjust
to ensure proper operation.

Mechanism load is huge. Check if mechanism load is huge. Reduce load, or to use servo drive
and motor provide larger output.

AL09 Communication abnormal

Definition： RS-232/485 communication error occurred between host device and servo drive.
Cause Inspection Remedy
Improper protocol setting. Check if the protocol is matched. Set the protocol correctly.

Improper address setting. Check the communication address. Set the address correctly.

Improper data content transmitted. Check the value accessed. Correct the data content accessed.

AL0A Communication time-out

Definition： RS-232/485 communication stopped for longer time exceeded the permissible range.
Cause Inspection Remedy
Cable broken or loosen. Check if cable broken or loosen. Replace or re-connect the cable.

Communication cycle is longer than Check if PC23 setting is proper. Set the PC23 correctly.
parameter PC23 setting.

155
AL0B Encoder error 1
Definition： Pulse signals abnormal between servo motor and servo drive.
Cause Inspection Remedy
Wirings are in wrong sequence. Check if wirings sequence is correct Correct the wirings.
or not.
CN2 connector is loosen or Check if CN2 connector is loosen or Re-connect CN2 connector.
disconnected. disconnected.

Encoder faulty Check the encoder feedback pulses Contact agent for proper service.
continuity of motor while Servo OFF

AL0C Encoder error 2

Definition： Pulse signals abnormal between servo motor and servo drive.
Cause Inspection Remedy
Initial magnetic polarity of encoder Rotate the motor shaft forward and backward then re-power on the drive.
is in wrong position If there is still no improvement, contact agent for proper service.
CN2 connector is loosen or Check if CN2 connector is loosen or Re-connect CN2 connector.
disconnected. disconnected.

AL0D Fan error

Definition： Abnormal operation of cooling fan.
Cause Inspection Remedy
Cooling fan stops working. Change the fan by user or contact agent for proper service.

AL0E IGBT overheat

Definition： Main circuit device overheat or fault.
Cause Inspection Remedy
Operate the drive in over-rate duty Check if mechanism is overload or Reduce load, or to use servo drive
continuously. motor current is huge. and motor provide larger output.
Servo drive fault. Check the output of servo drive. Contact agent for proper service.

AL0F Memory error

Definition： EEPROM fault.
Cause Inspection Remedy
Data read-out/write-in abnormally. To execute the parameter recovery Contact agent for proper service.
or power on reset and check if it still
null.

156
AL10 Overload 2
Definition： The output duration of maximum current is over 1 second while mechanical impact.
Cause Inspection Remedy
Mechanical impact Check if the moving route is proper. 1.Correct the moving route.
2.Install limit switches.

Wrong connection of servo motor. Check the wirings. Correct the wirings.

Mechanism vibration. Check if mechanism is instable and 1.Change response level setting.
humming. 2. Make gain adjustment manually.
Encoder faulty. To rotate motor shaft and check the Contact agent for proper service.
continuity of encoder feedback
pulses while Servo OFF.

AL11 Motor mismatch

Definition： The servo drive and servo motor match improperly.
Cause Inspection Remedy
The capacity of drive and motor are Check if they match for each other Use the proper combination.
not compatible. in capacity.

AL12 Emergency stop warning

Definition： The EMG signal of DI is activated.
Cause Inspection Remedy
EMG signal is activated. Check if EMG signal is applied and Release the trigger after removal
triggered. of some emergency conditions.

AL13 Limit switch activated warning

Definition： The LSP or LSN signal of DI is activated.
Cause Inspection Remedy
LSP activated. Check if the limit switch is activated. Release the activated cause of
limit switch.
LSN activated.

157
 11. Specifications

11.1. Specifications of servo drives

SDA-□□□A2 010 020 040 050 075 100 150 200 350

SMA-□□□□
L010 L020 L040 M050 L075 M100 M150 M200 M350
(matched motor)

Motor power 100W 200W 400W 500W 750W 1KW 1.5KW 2KW 3.5KW

3φ AC200~230V 50/60Hz or
Main circuit power

Voltage/Frequency 3φ AC200~230V 50/60Hz

1φ AC230V 50/60Hz

Allowable voltage 3φ AC200~230V AC:170 to 253VAC

3φ AC170~253V 50/60Hz
Range 1φ AC230V AC: 207 to 253VAC

Allowable frequency
Maximum ±5%
Range
Control circuit power

Voltage/Frequency 1φ AC200~230V 50/60Hz

Allowable voltage
AC:170 to 253VAC
Range
Allowable frequency
Maximum ±5%
Range

Power consumption(W) 30

Control mode 3φ full-wave rectification, IGBT-PWM control (SVPWM)

Dynamic brake Built-in

Over current, over voltage, overload, fan failure protection, output short-circuit
Protection protection, abnormal encoder protection, abnormal regeneration protection, low
voltage/power interruption protection, over speed protection, error excessive

Encoder type 2500ppr(10000 resolution) incremental type

Communication interface RS232/RS485, USB (Modbus protocol)
Input pulse frequency Max. 500Kpps(Line drive), Max. 200Kpps(Open collector)
Command pulse type Pulse + Direction, A phase + B phase, CCW pulse + CW pulse
Position control mode

Command source External pulse train input/Inner register

Command smoothing Low-pass filter/Linear acceleration and deceleration pattern/S-pattern smoothing
Electronic gear ratio A/B-time A: 1～32767; B:1～32767
Electronic gear ratio
1/50 < A/B < 200
In-position range setting 0~±10000pulses
Position error excessive ±3 revolutions
Torque limit Inner limit or torque analog limit (0~+10Vdc/Maximum torque)
Feed-forward function Internal parameter setting: 0~200%

158
 SDA-□□□A2 010 020 040 050 075 100 150 200 350

SMA-□□□□
L010 L020 L040 M050 L075 M100 M150 M200 M350
(matched motor)

Motor power 100W 200W 400W 500W 750W 1KW 1.5KW 2KW 3.5KW

Speed control range Speed analog command 1:2000; Inner speed command 1:5000
Command source Speed analog voltage input/ Inner register command
Speed control mode

Command smoothing Low-pass filter/Linear acceleration and deceleration pattern/S-pattern smoothing

Speed analog input 0~±10Vdc/Rated speed (Input impedance: 10~12kΩ)
Load change: 0~100% ; maximum ±0.01%,
Speed change rate Power source change: ±10%; maximum 0.01%,
Ambient temperature 0℃~55℃; Maximum ± 0.5% (Speed analog command)
Torque limit Inner limit or torque analog limit (0~+10Vdc/Maximum torque)
Bandwidth Maximum 450Hz
Command source Torque analog voltage input
Torque mode

Command smoothing Low-pass filter

Torque analog input 0~±10Vdc/Max torque generated(Input impedance: 10~12kΩ)
Speed limit Inner limit or speed analog limit (0~+10Vdc/Maximum speed)

Servo ON, forward and reverse rotation limit switch, pulse error clearing, torque
direction option, speed command option, position command option, forward and
Digital input/output signal

Digital input(DI) reverse rotation command, proportional control switched, torque limit switched,
abnormal alarm reset, emergency stop, control mode switching, electric gear
ratio options, gain switching

Torque limit attain, speed limit attain, ready signal, zero speed attained, position
Digital output(DO)
attained, speed attained, alarm signal, home moving completed

Analog input Speed analog command/limit, Torque analog command/limit,

Command pulse frequency, pulse error, current command, DC bus voltage,
Analog output
motor speed, generated torque
Cooling method(structure) Nature air convention(IP20) Fan force-cooling(IP20)
operating 0℃~ 55℃(If it is above 45℃ forced cooling would be required)
Temperature
storage -20～65℃(non-freezing)
Environment

operating 90%RH or less (non-condensing)

humidity
storage 90%RH or less (non-condensing)
Installation site Indoor(no direct sunlight), no corrosive gas, no oil mist or dust, no flammable gas
Altitude Max.1000m (3280ft) or lower above sea level
Vibration Maximum 59m/s2
Weight(kg) 1.4 1.4 1.4 1.4 1.7 1.7 2.6 2.6 2.6
Reference dimension figure Page 158 Page 158 Page 159
Approval IEC/EN 61800-5-1

159
11.2. Dimensions of servo drives
SDA-010A2、SDA-020A2、SDA-040A2、SDA-050A2 (100W~500W)
unit[mm]

Dimensions of the servo drive may be revised without prior notice.

SDA-075A2、SDA-100A2 (750W、1KW)
unit[mm]

Dimensions of the servo drive may be revised without prior notice.

160
SDA-150A2、SDA-200A2、SDA-350A2 (1.5KW~3KW)
unit[mm]

5.7 4
(80) 195
6

156
168
6
6
6
95 FAN風向

Dimensions of the servo drive may be revised without prior notice.

161
11.3. Specifications of low inertia motors SMA－L R30A series
SMA-L□□□(B) 010 020 040 075
Capacity of power supply (kVA) 0.3 0.5 0.9 1.3
Rated output power (W) 100 200 400 750
Rated torque (N-m) 0.32 0.64 1.27 2.4
Maximum torque (N-m) 0.96 1.92 3.81 7.2
Rated speed (r/min) 3000
Maximum speed (r/min) 4500
Instantaneous allowable speed (r/min) 5175
Power rating (kW/S) 18.29 19.69 46.08 47.21
Rated current (A) 0.93 1.32 2.44 4.8
Max. instantaneous current (A) 2.79 3.96 7.32 14.7
-4 2
Rotor inertia J (x10 kg.m ) 0.055 0.204 0.335 1.203
[ ] with electromagnetic brake [0.058] [0.224] [0.355] [1.245]
Torque constant KT (N-m/A) 0.344 0.485 0.5205 0.490
Voltage constant KE (mV/(r/min)) 39.97 54.53 56.6 56.25
Armature resistance Ra(Ohm) 41.75 11.70 5.66 1.38
Armature inductance La(mH) 29.13 42.87 24 10.02
Mechanical constant (mS) 1.780 0.964 0.704 0.640
Electric constant (mS) 0.7 3.66 4.24 7.26
Insulation class F
Insulation resistance 100MΩ,DC500V
Insulation strength AC1500V,60Hz,60sec
Encoder 2500ppr
Protection structure (IP) 65
operating 0~40℃
Environment

Temperature
storage -15～70℃
operating 80%RH or less (non-condensing)
Humidity
storage 90%RH or less (non-condensing)
Vibration grade (µm) 15
2
Vibration capacity x,y direction: 49 m/ S
Weight (kg) 0.55 1.01 1.46 2.89
[ ] with electromagnetic brake [0.75] [1.44] [1.89] [3.63]

Approval

162
11.4. Specifications of medium inertia motors SMA－M R20A series
SMA-M□□□(B) 050 100 150 200 350
Capacity of power supply (kVA) 1.0 1.7 2.5 3.5 5.5
Rated output power (W) 0.5 1.0 1.5 2.0 3.5
Rated torque (N-m) 2.39 4.78 7.16 9.55 16.7
Maximum torque (N-m) 7.16 14.4 21.6 28.5 50.1
Rated speed (r/min) 2000
Maximum speed (r/min) 3000 2500
Instantaneous allowable speed (r/min) 3450 2850
Power rating (kW/S) 8.6 18.2 27.7 23.5 37.3
Rated current (A) 3.0 5.8 8.5 10 16
Max. instantaneous current (A) 9.0 16.8 25.5 31.5 48
Rotor inertia J (x10-4kg.m2) 6.59 12.56 18.52 38.8 74.8
[ ] with electromagnetic brake [8.55] [14.54] [20.61] [49.2] [85.2]
Torque constant KT (N-m/A) 0.912 0.941 0.948 1.141 1.175
Voltage constant KE (mV/(r/min)) 95.34 98.48 99.32 119.49 123.18
Armature resistance Ra(Ohm) 3.77 1.48 0.885 0.758 0.311
Armature inductance La(mH) 19.2 9.12 5.79 8.17 3.99
Mechanical constant (mS) 2.988 2.094 1.824 2.262 1.690
Electric constant (mS) 5.091 6.179 6.542 10.751 12.788
Insulation class F
Insulation resistance 100MΩ,DC500V
Insulation strength AC1500V,60Hz,60sec
Encoder 2500ppr
Protection structure (IP) 65
operating 0~40℃
Temperature
Environment

storage -15～70℃
operating 80%RH or less (non-condensing)
Humidity
storage 90%RH or less (non-condensing)
Vibration grade (µm) 15
2
Vibration capacity x, y : 24.5 m/s
Weight (kg) 4.8 6.9 9.0 11.6 17.7
[ ] with electromagnetic brake [6.6] (8.7) (10.8) (16.9) (23)

Approval

163
11.5. Dimensions of low inertia motor
【SMA-L010】

【SMA-L010B】

164
【SMA-L020】

【SMA-L020B】

165
【SMA-L040】

【SMA-L040B】

166
【SMA-L075】

【SMA-L075B】

11.6. Permissible shaft load of low inertia motor

Motor type SMA-L010 SMA-L020 SMA-L040 SMA-L075
L (mm) 25 30 30 40
Permissible load in radial direction N(kgf) 68.6(7) 245(25) 245(25) 392(40)
Permissible load in axial direction N(kgf) 39.2(4) 98(10) 98(10) 147(15)

167
11.7. Dimensions of medium inertia motors

【SMA-M050】

【SMA-M100】

168
【SMA-M150】

【SMA-M200】

169
【SMA-M350】

unit [mm]
Dimensions of servo motors may be revised without prior notice.

11.8. Permissible shaft load of medium inertia motor

Motor type SMA-M050 SMA-M100 SMA-M150 SMA-M200 SMA-M350

L (mm) 55 55 55 79 79
Permissible load in radial direction N(kgf) 490(50) 490(50) 490(50) 980(100) 980(100)
Permissible load in axial direction N(kgf) 196(20) 196(20) 196(20) 392(40) 392(40)

170
11.9. Precision of motor shaft
Precision of motor shaft varies with the dimensions such as right angle grade, deflection degree,
concentric grade, etc. The table below provides more details.
Motor frame size
Precision (mm)
□100 or less □130 □176
Right angle grade of frame to shaft ○
a 0.05 0.06 0.08
Shaft deflection degree ○
b 0.02 0.02 0.03
Concentric grade of outer diameter to shaft ○
c 0.04 0.04 0.06

11.10. Electromagnetic compatible filter (EMC Filter)

If the drive and motor need to comply with EN/EMC rules, filters are recommended.
Drive Power Recommended filter
SDA-010A2 100W
SDA-020A2 200W
FN3258-7-45
SDA-040A2 400W
SDA-050A2 500W
SDA-075A2 750W
FN3258-16-45
SDA-100A2 1KW
SDA-150A2 1.5KW
SDA-200A2 2KW FN3258-30-47
SDA-350A2 3.5KW
The filter is option.
As an operating servo drive or motor interfere with peripheral equipment by radiation or
conduction, it is recommended to use the filter. Here is a wiring diagram for the filter application.

If the single phase power is applied, T terminal of drive is idle.

171
12. Motor characteristic

12.1. Speed-torque curves of low inertia motor

【SMA-L010】 【SMA-L020】

Torque-speed curve Torque-speed curve

2
1

Instantaneous operation Instantaneous operation

0.75 1.5
Torqu e(N -m )

Torque(N-m)
0.5 1

0.25
0.5
Continuous operation Continuous operation

0
0
0 1000 2000 3000 4000
0 1000 2000 3000 4000
Speed(rpm) Speed(rpm)

【SMA-L040】 【SMA-L075】

Torque-speed curve Torque-speed curve

4
8

Instantaneous operation
Instantaneous operation
3
6
Torque(N-m)

Torque(N-m)

2 4

1 2
Continuous operation
Continuous operation

0 0
0 1000 2000 3000 4000 0 1000 2000 3000 4000
Speed(rpm) Speed(rpm)

These characteristic curves are plotted with AC 3φ 200~230V power applied.

172
12.2. Speed-torque curves of medium inertia motor

【SMA-M050】 【SMA-M100】

Torque-speed curve Torque-speed curve

16
8

Instantaneous operation Instantaneous operation

6 12

Torque(N-m)
Torque(N-m)

4 8

2 4
Continuous operation Continuous operation

0 0
0 5 00 10 00 1 500 2 000 2 500 3000 0 500 1000 1500 2000 2500 3000

Speed(rpm) Speed(rpm)

【SMA-M150】

Torque-speed curve

24

Instantaneous operation
18
Torque(N-m)

12

6
Continuous operation

0
0 500 1000 1500 2000 2500 3000
Speed(rpm)

【SMA-M200】 【SMA-M350】

Torque-speed curve Torque-speed curve

32 54

28 48
Instantaneous operation 42 Instantaneous operation
24
Torque(N-m)
Torque(N-m)

36
20
30
16
24
12
18
8 12
Continuous operation Continuous operation
4 6
0 0
0 500 1000 1500 2000 2500 0 500 1000 1500 2000 2500
Speed(rpm) Speed(rpm)

These characteristic curves are plotted with AC 3φ 200~230V power applied

173
12.3. Overload protection
Overload protection is to prevent motor from damage during instantaneous over rated operation.
Some cases are described as follows.
(1) The ratio of load inertia to motor shaft is too large.
(2) During acceleration or deceleration process, the time constant is set too small.
(3) The operating time which torque generated is over rated torque is too long.
(4) Mechanism vibration occurred due to improper gain is ignored but the motor is still performed.
(5) Wrong connection between drive and motor, or the encoder is faulty.
If case mentioned above met, the permissible operating time is plotted below.
【SMA-L010】 【SMA-L020/L040/L075】
［sec］ ［sec］

1000 1000

100 100

10 10

1 1
0 50 100 150 200 250 300 0 50 100 150 200 250 300
轉矩［％］ 轉矩［％］

As load torque is 300%，operating time is 1.25S. As load torque is 300%，operating time is 3.51S.

【SMA-M050/M100/M150】 【SMA-M200/M350】
［sec］ ［sec］

1000 1000

100 100

10 10

1 1
0 50 100 150 200 250 300 0 50 100 150 200 250 300
轉矩［％］ 轉矩［％］

As load torque is 300%，operating time is 6.43S. As load torque is 300%，operating time is 5.79S.
174
13. Application examples

13.1. Position control example with inner registers

There are 8 sets of inner registers related to position control. The positioning operation could be
categorized into relative type and absolute type. The relevant parameter settings are listed below.
Name Initial
Name Sign Setting range Unit
Abbr. value
Control mode option STY PA01 0000h~1125h 1000h -

Revolution of inner position command 1 PO1H PA15 -30000~+30000 0 rev

Pulse of inner position command 1 PO1L PA16 -9999~+9999 0 pulse

Revolution of inner position command 2 PO2H PA17 -30000~+30000 0 rev

Pulse of inner position command 2 PO2L PA18 -9999~+9999 0 pulse

Revolution of inner position command 3 PO3H PA19 -30000~+30000 0 rev

Pulse of inner position command 3 PO3L PA20 -9999~+9999 0 pulse

Revolution of inner position command 4 PO4H PA21 -30000~+30000 0 rev

Pulse of inner position command 4 PO4L PA22 -9999~+9999 0 pulse

Revolution of inner position command 5 PO5H PA23 -30000~+30000 0 rev

Pulse of inner position command 5 PO5L PA24 -9999~+9999 0 pulse

Revolution of inner position command 6 PO6H PA25 -30000~+30000 0 rev

Pulse of inner position command 6 PO6L PA26 -9999~+9999 0 pulse

Revolution of inner position command 7 PO7H PA27 -30000~+30000 0 rev

Pulse of inner position command 7 PO7L PA28 -9999~+9999 0 pulse

Revolution of inner position command 8 PO8H PA29 -30000~+30000 0 rev

Pulse of inner position command 8 PO8L PA30 -9999~+9999 0 pulse

Moving speed of inner position command 1 POV1 PA31 1~3000 1000 rpm

Moving speed of inner position command 2 POV2 PA32 1~3000 1000 rpm

Moving speed of inner position command 3 POV3 PA33 1~3000 1000 rpm

Moving speed of inner position command 4 POV4 PA34 1~3000 1000 rpm

Moving speed of inner position command 5 POV5 PA35 1~3000 1000 rpm

Moving speed of inner position command 6 POV6 PA36 1~3000 1000 rpm

Moving speed of inner position command 7 POV7 PA37 1~3000 1000 rpm

Moving speed of inner position command 8 POV8 PA38 1~3000 1000 rpm
Acceleration time constant STA PC01 0~20000 200 mS
Deceleration time constant STB PC02 0~20000 200 mS
S-pattern acc/dec time constant STC PC03 0~10000 0 mS

175
The following example describes the application of position mode with inner registers. During a route,
the load will stop at two fixed locations then return. See the schematic diagram below.

It is known that 2 position commands are necessary. And the ball screw rod could transform one
revolution into one centimeter moving. Both absolute type and relative type could achieve this route.
We assume that absolute type is performed and relevant parameters could be set as follows.
Name
Name Sign Setting value Unit
Abbr.
Control mode option STY PA01 1010 -

Revolution of inner position command 1 PO1H PA15 10 rev

Revolution of inner position command 2 PO2H PA17 60 rev

Pulse of inner position command 1 PO1L PA16 0 pulse

Pulse of inner position command 2 PO2L PA18 0 pulse

As the parameter setting is completed and there is no alarm occurred, turn on SON signal. The
following steps are plotted sequentially for users to understand easily.

176
13.2. Home moving examples
Relevant parameters of home moving function
As home moving function is performed, the origin position could be determined when the encoder
Z phase pulse or ORGP signal activated. Also, the rotary direction of motor is related to this function.
Control Setting
Sign Abbr. Function description Unit
mode range
Home moving option:
u z y x
x：origin detector and rotation option 0000h
PA04 HMOV
y：origin attained shortcut moving option Pr -
~2123h
z：origin recognized completion option
u：trigger option

1
PA08 HSPD1 Home moving high speed option 1 Pr rpm
~2000
1
PA09 HSPD2 Home moving high speed option 2 Pr rpm
~500
-30000
PA10 HOF1 Home moving revolution offset Pr rev
~+30000
-30000
PA11 HOF2 Home moving pulse offset Pr rev
~+30000
Pr 0
PC01 STA Acceleration time constant mS
S,T ~20000
Pr 0
PC02 STB Deceleration time constant mS
S,T ~20000
Pr 0
PC03 STC S-pattern acceleration/deceleration time constant mS
S,T ~10000

Description of home moving function

x. Origin detector and rotation option
Origin detector could be assigned to ORGP signal which is connect to the output signal of a
sensor(e.g., proximity switch or optical sensor). If the positioning range is within a servo motor
revolution, the encoder Z pulse could be used as origin detector.
x = 0：ORGP detector in CCW rotation
The drive runs motor counterclockwise to detect the ORGP signal at PA08 speed.
x = 1：ORGP detector in CW rotation
The drive runs motor clockwise to detect the ORGP signal at PA08 speed.
x = 2：Encoder Z pulse detector in CCW rotation
The drive runs motor counterclockwise to detect the encoder Z pulse at PA08 speed. In this
case, external sensor is not necessary.
x = 3：Encoder Z pulse detector in CW rotation
The drive runs motor clockwise to detect the encoder Z pulse at PA08 speed. In this case,
external sensor is not necessary.

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y. Origin attained shortcut moving option
y = 0：Motor turns back to last Z pulse to attain
Once the ORGP signal or encoder Z pulse is obtained, motor would turn back at PA09
speed to search for last Z pulse as the mechanism origin.
y = 1：Motor goes ahead to next Z pulse to attain
Once the ORGP signal or encoder Z pulse is obtained, motor keeps going ahead at PA09
speed to search for next Z pulse as the mechanism origin.
y = 2：Origin recognized right away
Once the ORGP signal or encoder Z pulse is obtained, motor would decelerate to stop and
recognize current position as the mechanism origin.
If x is set as 2 or 3, y should be set as 2 or the servo motor would not work.

z. Origin recognized completion option

z = 0：Motor decelerates to stop then return to the mechanism origin
As the next Z pulse or the last Z pulse is obtained, motor would decelerate to stop and return
to the mechanism origin.
z = 1：Motor decelerates to stop
As the next Z pulse or the last Z pulse is obtained, motor would decelerate to stop and there
are position overshoot between current position and the mechanism origin.
No matter z is 0 or 1, it does not affect the inner counts of the mechanism origin.

u. Trigger option
This code is to determine if home moving function enabled or not. As this function is enabled,
there are 2 modes which are “power on auto-execution” and “ SHOM signal triggered” could be
selected.
u = 0：Home moving function disabled
While u is set as 0，the home moving function is disabled.
u = 1：Automatically executed after power on
While u is set as 1，the home moving function would be executed automatically after power
on. If users operate their mechanism which only one time home position reset required, this
option is helpful to save a DI contact.
u = 2：SHOM signal as the trigger source
While u is set as 2，the SHOM function should be assigned to one of 8 DI by the setting of
PD02 to PD09. As SHOM signal is activated, home moving function would be executed.

A table recommended for using the home moving function

Users could set u and z according to requirement, but refer to the combinations of x and y.
y x 0 1 2 3

0 ○ ○

1 ○ ○

2 ○ ○ ○ ○

○ denotes home moving function valid, denotes a invalid setting.

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Offset value of home moving
Users could use parameter PA10 and PA11 to set the recognized origin offset values. After the
completion of origin positioning, a new origin could be redefine to the nonzero settings of parameter
PA10 and PA11. The equation is as follows:
New origin counts = Primary origin counts + (PA10×10000 + PA 11) [pulse]

Sequence diagram of home moving operation

During home moving operation, if SON signal is off or any alarm occurred, the home moving
sequence would be interrupted and the HOME output signal would not work.
1. Automatically executed after power on (u = 1)
Set one of DO pins as HOME signal output by the setting of PD10 to PD14. After the completion of
home moving, HOME signal would turn on.

2. SHOM signal as the trigger source (u = 2)

Set one of DI pins as SHOM signal input by the setting of PD02 to PD09.

Sequence diagram of home moving speed vs. position

The same conditions of following sequence diagram are “SHOM signal as the trigger source(u=2)”
and “Motor decelerates to stop then return to the origin(z=0) “. The combinations of x and y and their
corresponded sequence diagrams are described as follows.

y x 0 1 2 3

0 Plot(1) Plot (2)

1 Plot (3) Plot (4)
2 Plot (5) Plot (6) Plot (7) Plot (8)

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Plot(1) x = 0：ORGP detector in CCW rotation
y = 0：Motor turns back to last Z pulse to attain

Plot(2) x = 1：ORGP detector in CW rotation

y = 0：Motor turns back to last Z pulse to attain

Plot(3) x = 0：ORGP detector in CCW rotation

y = 1：Motor goes ahead to next Z pulse to attain

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Plot(4) x = 1：ORGP detector in CW rotation
y = 1：Motor goes ahead to next Z pulse to attain

Plot(5) x = 0：ORGP detector in CCW rotation

y = 2：Origin recognized right away

Plot(6) x = 1：ORGP detector in CW rotation

y = 2：Origin recognized right away

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Plot(7) x = 2：Encoder Z pulse detector in CCW rotation
y = 2：Origin recognized right away

Plot(8) x = 3：Encoder Z pulse detector in CW rotation

y = 2：Origin recognized right away

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14. Appendix A: Accessories

14.1. Connector and cable

Encoder connectors
Shihlin part number: SDA-ENCNL (for low inertia motor)

Shihlin part number: SDA-ENCNM (for medium inertia motor)

Encoder cable
Shihlin part number: SDA-ENLCBL2M-L, SDA-ENLCBL5M-L, SDA-ENLCBL10M-L

Type Part number L (mm)

2M low inertia encoder cable SDA-ENLCBL2M-L 2000±100
5M low inertia encoder cable SDA-ENLCBL5M-L 5000±100
10M low inertia encoder cable SDA-ENLCBL10M-L 10000±100

Shihlin part number: SDA-ENMCBL2M-L, SDA-ENMCBL5M-L, SDA-ENMCBL10M-L

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 Type Part number L (mm)
2M medium inertia encoder cable SDA-ENMCBL2M-L 2000±100
5M medium inertia encoder cable SDA-ENMCBL5M-L 5000±100
10M medium inertia encoder cable SDA-ENMCBL10M-L 10000±100

Power connectors
Shihlin part number: SDA-PWCNL1( for 100W, 200W, 400W, 750W)
SDA-PWCNL2 (for 100W, 200W, 400W, 750W with electromagnetic brake)

Shihlin part number: SDA-PWCNM1 ( for 500W, 1KW, 1.5KW)

Shihlin part number: SDA-PWCNM2 ( for 2KW, 3.5KW)

Power line
Shihlin part number: SDA-PWCNL1-2M-L, SDA-PWCNL1-5M-L, SDA-PWCNL1-10M-L
SDA-PWCNL2-2M-L, SDA-PWCNL2-5M-L, SDA-PWCNL2-10M-L

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 Type Part number L (mm)
Low inertia power line 1 (without electromagnetic brake) SDA-PWCNL1-2M-L 2000±100
Low inertia power line 2 (without electromagnetic brake) SDA-PWCNL1-5M-L 5000±100
Low inertia power line 3 (without electromagnetic brake) SDA-PWCNL1-10M-L 10000±100
Low inertia power line 1 (with electromagnetic brake) SDA-PWCNL2-2M-L 2000±100
Low inertia power line 2 (with electromagnetic brake) SDA-PWCNL2-5M-L 5000±100
Low inertia power line 3 (with electromagnetic brake) SDA-PWCNL2-10M-L 10000±100

RS232/RS485 communication cable

Shihlin part number: SDA-RJ45-3M

Type Part number L (mm)

RS232/RS485 communication cable SDA-RJ45-3M 3000±10

USB communication cable

Shihlin part number: SDA-USB3M

CN1 I/O connector

Shihlin part number: SDA-CN1

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 CN1 I/O control cable
Shihlin part number: SDA-TBL05M, SDA-TBL1M, SDA-TBL2M

Type Part number L (mm)

CN1 I/O control cable 1 SDA-TBL05M 500±10
CN1 I/O control cable 2 SDA-TBL1M 1000±10
CN1 I/O control cable 3 SDA-TBL2M 2000±10

CN1 I/O terminal block

Shihlin part number: SDA-TB50

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14.2. Brake resistor
(1) Specification of built-in brake resistor
To confirm that P and D terminal are in short-circuit status and that P and C terminal are open.

Built-in resistor
Drive type
Resistance(Ω) Capacity(W)

SDA-010A2 100 20
SDA-020A2 100 20
SDA-040A2 100 20
SDA-050A2 100 20
SDA-075A2 40 40
SDA-100A2 40 40
SDA-150A2 13 100
SDA-200A2 13 100
SDA-350A2 13 100

(2) Relevant parameter setting and specification of external brake resistor

To confirm that P and D terminal are in open-circuit status and that P and C terminal are connected
with the external brake resistor.

Permissible Min. resistance Capacity Recommended Brake resistor

Drive type
(Ω) (W) PC36 part No.

SDA-010A2
SDA-020A2
100 300 900 (*) ABR-300W100
SDA-040A2
SDA-050A2
SDA-075A2
40 500 500 (*) ABR-500W40
SDA-100A2
SDA-150A2
SDA-200A2 13 1000 400 (*) ABR-1000W13
SDA-350A2
Please refer to the table above to choose the brake resistor. To the same servo drive, a bigger PC36
value is permissible when the huge capacity brake resistor is chosen.
(*)： When a brake resistor capacity which mentioned above is applied but the PC36 value is
bigger than the recommended value, there is a risk to burn out the brake resistor after a
long term operation.

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15. Appendix B: Parameters communication address

The address is expressed in hexadecimal.

PA group:
NO Address NO Address NO Address NO Address NO Address
PA01 0300 PA10 0309 PA19 0312 PA28 031B PA37 0324
PA02 0301 PA11 030A PA20 0313 PA29 031C PA38 0325
PA03 0302 PA12 030B PA21 0314 PA30 031D PA39 0326
PA04 0303 PA13 030C PA22 0315 PA31 031E PA40 0327
PA05 0304 PA14 030D PA23 0316 PA32 031F PA41 0328
PA06 0305 PA15 030E PA24 0317 PA33 0320 PA42 0329
PA07 0306 PA16 030F PA25 0318 PA34 0321 PA43 032A
PA08 0307 PA17 0310 PA26 0319 PA35 0322 PA44 032B
PA09 0308 PA18 0311 PA27 031A PA36 0323 PA45 032C

PB group:
NO Address NO Address NO Address NO Address NO Address
PB01 032D PB07 0333 PB13 0339 PB19 033F PB25 0345
PB02 032E PB08 0334 PB14 033A PB20 0340 PB26 0346
PB03 032F PB09 0335 PB15 033B PB21 0341 PB27 0347
PB04 0330 PB10 0336 PB16 033C PB22 0342 PB28 0348
PB05 0331 PB11 0337 PB17 033D PB23 0343 PB29 0349
PB06 0332 PB12 0338 PB18 033E PB24 0344 PB30 034A

PC group:
NO Address NO Address NO Address NO Address NO Address
PC01 034B PC10 0354 PC19 035D PC28 0366 PC37 036F
PC02 034C PC11 0355 PC20 035E PC29 0367 PC38 0370
PC03 034D PC12 0356 PC21 035F PC30 0368 PC39 0371
PC04 034E PC13 0357 PC22 0360 PC31 0369 PC40 0372
PC05 034F PC14 0358 PC23 0361 PC32 036A PC41 0373
PC06 0350 PC15 0359 PC24 0362 PC33 036B PC42 0374
PC07 0351 PC16 035A PC25 0363 PC34 036C PC43 0375
PC08 0352 PC17 035B PC26 0364 PC35 036D PC44 0376
PC09 0353 PC18 035C PC27 0365 PC36 036E PC45 0377

PD group:
NO Address NO Address NO Address NO Address NO Address
PD01 0378 PD07 037E PD13 0384 PD19 038A PD25 0390
PD02 0379 PD08 037F PD14 0385 PD20 038B PD26 0391
PD03 037A PD09 0380 PD15 0386 PD21 038C PD27 0392
PD04 037B PD10 0381 PD16 0387 PD22 038D PD28 0393
PD05 037C PD11 0382 PD17 0388 PD23 038E PD29 0394
PD06 037D PD12 0383 PD18 0389 PD24 038F PD30 0395

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16. Appendix C: Version information

Version: V1.20
Issue date: June. 2015
Proofreader: Yaochou Shu

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