■Warning and Alert:

Warning

Do not proceed to the assembly of the line while electrifying.

Circuit & change components between entering shutting down the power supply and stopping
showing CHARGE LED light of the Servo driver.

The output of Servo drive [U, V, W] must NOT touch the AC power.

! Alert

Install the fan if the temperature around is too high while the Servo driver is installed in the
Control Board.

Do not proceed to the Anti-Pressure-Test to the Servo driver.

Confirm the quick stop function is available before operate servo drive.

Matching up machine to change the user parameter setting before machine performs. If there is
no according correct setting number, it could lead to out of control or breakdown.

Safety proceeding:

Check the covering letter detail before installing, running, maintaining and examining. Furthermore, only
the profession-qualified people can proceed to the line-assembly.

Safety proceeding in the covering letter discriminate between “Warning”&”Alert”.

Alarm Indicating the possibility dangerous situation. It could cause the death or serious
damage if being ignored.

Indicating the possibility dangerous situation. It could cause smaller or lighter human

! Warning injured and damage of equipment.

Read this covering letter detail before using Servo driver.

1
First of all, thank you for using TECO Servo Driver JSDEP Series (“JSDEP” for short) and Servo Motors.
JSDEP can be controlled by digital board or PC, and provide excellent performance for a wide range of
applications and different requirement from customers.

Read this covering letter before using JSDEP. Contents of the letter comprises:

Servo System checking, installing and procedure of assembly line.

Controller procedure for digital board, status displaying, unusual alarm and strategy explanation.

Servo System control function, running testing and procedures adjusted.

Explanation for all parameter of Servo Driver.

Standard specification of JSDEP Series.

In order to daily examine, maintain and understand the reason of unusual situation and handle strategy,
please put this covering letter in safe place to read it anytime.

P.S: The end user should own this covering letter, in order to make the Servo Driver bring the best
performance .

2
 Contents
Chapter 1 Checking and Installing

1-1 Checking Products .............................................................................................................................5

1-1-1 Confirming with Servo Drives .................................................................................................5

1-1-2 Confirming with Servomotors.................................................................................................6

1-1-3 Servo motor Model Code display ...........................................................................................7

1-2 A Brief Introduction of Operation for Drives....................................................................................9

1-3 Conditions for Installation of Drives...............................................................................................10

1-3-1 Environmental Conditions.....................................................................................................10

1-3-2 Direction and Distance........................................................................................................... 11

1-4 Conditions for Installation of Servomotors ...................................................................................12

1-4-1 Environmental Conditions.....................................................................................................12

1-4-2 Method of Installation ............................................................................................................12

1-4-3 Notice for in stall motor .........................................................................................................13

Chapter 2 Wiring

2-1 Basic Wiring for Servo System .......................................................................................................14

2-1-1 Wiring for Main Circuit and Peripheral Devices ..................................................................14

2-1-2 Wiring for Servo Drives..........................................................................................................15

2-1-3 Specifications of Wiring.........................................................................................................16

2-1-4 Motor Terminal Layout ...........................................................................................................17

2-1-5 Typical Wiring for Motor and Main Circuit ...........................................................................19

2-1-6 TB Terminal .............................................................................................................................20

2-1-7 Wiring for Mechanical Brake ..................................................................................................20

2-2 I/O Terminal .......................................................................................................................................21

2-2-1 Output Signals from the Servo pack ....................................................................................22

2-2-2 Encoder Connector (CN2) Terminal Layout.........................................................................23

2-3 Typical Circuit Wiring Examples .....................................................................................................24

2-3-1 Position Control Mode (Pe Mode) (Line Driver) .................................................................25

2-3-2 Position Control Mode (Pe Mode) (Open Collector) ...........................................................26

3
 2-3-3 Position Control Mode (Pi Mode)..........................................................................................27

2-3-4 Speed Control Mode (S Mode) ..............................................................................................28

2-3-5 Torque Control Mode (T Mode) .............................................................................................29

Chapter 3 Panel Operator / Digital Operator

3-1 Panel Operator on the Drives. .........................................................................................................30

3-2 Trial Operation for Servomotor without Load................................................................................31

Chapter 4 Parameter Function

4-1 Explanation of Parameter Groups ................................................................................................. 32

4-2 Parameter Display Table ................................................................................................................. 32

Chapter 5 Troubleshooting

5-1 Alarm functions ................................................................................................................................67

5-2 Troubleshooting of Alarm and Warning .........................................................................................68

4
Chapter 1 Checking and Installing
1-1 Checking Products
Our Servo Pack have already completely been functionally examined before leaving the factory. In order to protect the
products from the damage during transportation, please check the items below before sealing off the pack:

Check if the models of servo driver and motor are the same with the models of ordering.
(About the model explanation, please check the chapters below)

Check if there are damage or scrape out side of the servo driver and motor.
(If there is any damage during transportation, do not power ON)

Check if there are any bad assembly or slipped component in the Servo Drive and Motor

Check if the Motor’s rotor and shaft can be rotated smoothly by hand
(The Servo Motor with Mechanical-Brake can not be rotated directly)

There must be the “QC”-seal in each servo drive, if not, please do not proceed Power ON.
If there is any bug or irregular under the situation above, please contact TECO’s Local sales representative or
distributor instantly.

1-1-1 Confirming with Servo Drives

JSD EP – 15 A 
TECO AC Servo
Product No. Input voltage phase:
□：Single / Three
3：3 Phase input
Drive Series:
EP Series

Drive Model: AC Input Voltage

15 / 20 / 30 / 50 / 75 A : AC 220V

P.S : Maximum output power

10 : 100 W 30 : 1 KW
15 : 400 W 50 : 2KW
20 : 750 W 75 : 3 KW

5
 1-1-2 Confirming with Servo Motors

JSM A–P S C 08 A H K B
TECO AC Servo M:Machinery BK
Product No. : No BK
B:BK
Motor Series:
Series A Encode Spline Grease Seal
 No No
IP67 (except shaft and connector) K Yes No
O No Yes

Motor Speed: A Yes Yes

A: 1000 rpm
B: 2000 rpm Encolder:
C: 3000 rpm B : 2500 ppr
H: 1500 rpm H : 8192 ppr

Motor Speed: Motor ratio power AC input voltage

A: 1000 rpm P5 : 50 W 20 : 2 KW A : AC 220V
B: 2000 rpm 01 : 100 W 30 : 3 KW
C: 3000 rpm 03 : 300 W
H: 1500 rpm 04 : 400 W
05 : 550 W
08 : 750 W
10 : 1 KW
15 : 1.5 KW

6
1-1-3 Servo motor Model Code display
dn-08 (Servo motor Model Code display)
Use dn-08 to display servo motor code and check the servo drive and motor compatibility according to the table below.
If the dn08 preset is not according to the list below then contact your supplier.
The motor model code is stored in parameter Cn30.

Motor Standards
dn-08 Display Encoder
Drive Model Motor Model
Cn030 Setting Watt Speed Specification
(KW) (rpm)
H1011 JSMA-PSCP5AB 2500
0.05 3000
H1012 JSMA-PSCP5AH 8192
JSDEP-10A
H1021 JSMA-PSC01AB 2500
0.1 3000
H1022 JSMA-PSC01AH 8192

H0121 JSMA-LC03AB
2500
H1121 JSMA-PLC03AB
0.3 3000
H0122 JSMA-LC03AH
8192
H1122 JSMA-PLC03AH
H1141 JSDEP-15A JSMA-SC04AB 0.4 2500
3000
H0142 JSMA-SC04AH (Rated 3.5A) 8192

H1151 JSMA-PSC04AB 0.4 2500

3000
H1152 JSMA-PSC04AH (Rated 2.5A) 8192

H0211 JSMA-LC08AB
2500
H1211 JSMA-PLC08AB
0.75 3000
H0212 JSMA-LC08AH
8192
H1212 JSMA-PLC08AH
JSMA-SC08AB
H1231 2500
JSMA-PSC08AB
0.75 3000
H0232 JSMA-SC08AH
JSDEP-20A 8192
H1232 JSMA-PSC08AH
H0241 JSMA-MA05AB
2500
H1241 JSMA-PMA05AB
3000
H0242 JSMA-MA05AH
8192
H1242 JSMA-PMA05AH
0.55
H0251 JSMA-MH05AB
1500 2500
H1251 JSMA-PMH05AB
H0252 JSMA-MH05AH
1500 8192
H1252 JSMA-PMH05AH
H1311 JSMA-(P)SC08AB 2500
0.75 3000
H0312 JSMA-SC08AH
8192
H1312 JSMA-PSC08AH
H1321 JSDEP-30A JSMA-PMA10AB 2500
1000
H1322 JSMA-PMA10AH 1.0 8192

H1331 JSMA-PMB10AB 2000 2500

7
 Motor Standards
dn-08 Display Encoder
Drive Model Motor Model
Cn030 Setting Watt Speed Specification
(KW) (rpm)
H1332 JSMA-PMB10AH 2000 8192

H1341 JSMA-PMH10AB 2500

1500
H1342 JSDEP-30A JSMA-PMH10AH 1.0 8192

H1351 JSMA-PMC10AB 2500

3000
H1352 JSMA-PMC10AH 8192

H1511 JSMA-PMA15AB 2500

1000
H1512 JSMA-PMA15AH 8192

H1521 JSMA-PMB15AB 2500

1.5 2000
H1522 JSMA-PMB15AH 8192

H1531 JSMA-PMC15AB 2500

JSDEP-50A 3000
H1532 JSMA-PMC15AH 8192

H1541 JSMA-PMB20AB 2500

2000
H1542 JSMA-PMB20AH 8192
2.0
H1551 JSMA-PMC20AB 2500
3000
H1552 JSMA-PMC20AH 8192

H1711 JSMA-PMB30AB 2500

2000
H1712 JSMA-PMB30AH 8192

H1721 JSDEP-75A JSMA-PMC30AB 3.0 2500

3000
H1722 JSMA-PMC30AH 8192

H1732 JSMA-PMH30AH 1500 8192

8
1-2 A Brief Introduction of Operation for Drives

There are many kinds of control-mode. The detail modes display as fellow:

Name Mode Explanation

Position Mode
Position control for the servo motor is achieved via an external
(External Pulse Pe
pulse command. Position command is input from CN1.
Command)

Position Mode Position control for the servo motor is achieved via by 16
(Internal Position Pi commands stored within the servo controller. Execution of the
Single Command) 16 positions is via Digital Input signals.
Mode Speed control for the servo motor can be achieved via
parameters set within the controller or from an external analog
Speed Mode S -10 ~ +10 Vdc command. Control of the internal speed
parameters is via the Digital Inputs. A maximum of three steps
speed can be stored internally.
Torque control for the servo motor can be achieved via
Torque Mode T parameters set or from an external analog -10 ~ +10 Vdc
command.
Pe-S Pe and S can be switched by digital-input-contact-point.
Pe-T Pe and T can be switched by digital-input-contact-point.
Multiple Mode Pi-S Pi and S can be switched by digital-input-contact-point.
Pi-T Pi and T can be switched by digital-input-contact-point.
S-T S and T can be switched by digital-input-contact-point.

9
1-3 Conditions for Installation of Drives

1-3-1 Environmental Conditions

The product should be kept in the shipping carton before installation. In order to retain the warranty coverage, the

AC drive should be stored properly when it is not to be used for an extended period of time. Some storage suggestions

are:

Ambient Temperature: 0 ~ + 55 ℃; Ambient Humidity: Under 90% RH (Under the condition of no frost).

Stored Temperature: - 20 ~ + 85 ℃; Stored Humidity: Under 90%RH (Under the condition of no frost).

Vibrating: Under 0.5 G.

Do not mount the servo drive or motor in a location where temperatures and humidity will exceed specification.

To avoid the insolation.

To avoid the erosion of grease and salt.

To avoid the corrosive gases and liquids.

To avoid the invading of airborne dust or metallic particles.

When over 1 Drives are installed in control panel, enough space have to be kept to get enough air to prevent the

heat; the fan also must be installed, to keep the ambient temperature under 55 ℃.

Please Install the drive in a vertical position, face to the front, in order to prevent the heat.

To avoid the metal parts or other unnecessary things falling into the drive when installing.

The drive must be stable by M5 screws.

When there were the vibrating items nearby, please using vibration-absorber or installing anti-vibration- rubber, if

the vibration can not be avoided.

When there is any big-size magnetic switch, welding machines or other source of interference. Please install the

filter. When the filter is installed, we must install the insulation transformer..

10
1-3-2 Direction and Distance

Fan Fan

Over 10mm

Over 30mm Over 25mm Over 25mm Over 25mm Over 30mm

Air flow Air flow Over 10mm

11
1-4 Conditions for Installation of Servo Motors
1-4-1 Environmental Conditions

Ambient Temperature: 0 ~ + 40 ℃; Ambient humidity: Under 90% RH (No Frost).

Storage Temperature: - 20 ~ + 60 ℃; Storage temperature: Under 90%RH (No Frost).

Vibration: Under 2.5 G.

In a well-ventilated and low humidity and dust location.

Do not store in a place subjected to corrosive gases, liquids, or airborne dust or metallic particles.

Do not mount the servo motor in a location where temperatures and humidity will exceed specification.

Do not mount the motor in a location where it will be subjected to high levels of electromagnetic radiation.

1-4-2 Method of Installation

1. Horizontal Install: Please let the cable-cavity downside to prevent the water or oil or other liquid flow into the servo
motor.

Attention

2. Vertical Install: If the motor shaft is side-up installed and mounted to a gear box, please pay attention to and avoid the
oil leakage from the gear box.

12
1-4-3 Notice for install motor

1. Please using oil-seal-motor to avoid the oil from reduction gear flowing into the motor through the motor shaft.

2. The cable need to be kept dry.

3. Please fixing the wiring cable certainly, to avoid the cable ablating or breaking.

4. The extending length of the shaft shall be enough, otherwise there will be the vibration from motor operating.

Wrong Example Correct Example

5. Please do not beat the motor when installing or taking it apart. Otherwise the shaft and the encoder of backside will
be damaged.

Attention:
Encoder
Brake

13
Chapter 2 Wiring
2-1 Basic Wiring for Servo System

2-1-1 Wiring for Main Circuit and Peripheral Devices

14
2-1-2 Wiring for Servo Drives

The wire material must go by “Wiring Specifications.”

Wiring Length: Command Input Wire: Less than 3m.

Encoder Input Wire: Less than 20m.

The Wiring goes by the shortest length.

Please wire according to the standard wiring schema. Don’t connect if no using.

Please use the NFB to meet IEC (or UL Certification) between power supplier and servo drive.

In the addition of supplying max. voltage, the capability of short circuit current must below 5000Arms, If there is

posibility t.

Drive output terminals (U,V,W) must be connected to motor correctly. Otherwise the servo motor will abnormally

function.

Shielded cable must be connected to FG terminal.

Don’t install the capacitor or Noise Filter at the output terminal of servo drive.

At the control-output-signal relay, the direction of surge absorb diode must be correctly connected, otherwise it

can not output signal, and cause the protect loop of emergency-stop abnormal.

Please do these below to avoid the wrong operation from noise:

Please install devices such as the insulated transformer and noise filter at the input power.

Keep more than 30 cm between Power wire (power cable or motor cable…etc.) and signal cable, do not

install them in the same conduit.

Please set “emergency-stop switch” to prevent abnormal operation.

After wiring, check the connection-situation of each joint (ex: loose soldering, soldering point short, terminal order

incorrect…etc.). Tighten the joints to confirm if surly connected to the servo drive, if the screw is tight. There can

not be the situations such as cable break, cable pulled and dragged, or be heavily pressed.

* Especially pay attention to the polarity between servo motor wiring and encoder.

There is no necessary to add extra regeneration resistance under general situation. If there is any need or

problem, please connect to distributor or manufacturer.

15
2-1-3 Specifications of Wiring

Servo Drives and Wire Specifications mm²

Connection Terminal
(AWG)
Connection Mark
Name of Connect Terminal 15 20 30 50 75
Terminal (Sign)
1.25 2.0
R, S, T Main Power Terminal 3.5
(16) (14)

1.25 2.0 3.5

U, V, W Motor Terminal
(16) (14) (12)

1.25
R,s Power-Control Terminal
Terminal (16)

External regeneration resistance 1.25 2.0

P、Pc
terminal (16) (14)
1
FG Ground Over 2.0(14)

26,27,28 Speed / Torque Command Input

30,31 Analog Monitor Output 1 & 2 0.2mm ² or 0.3mm ² -> Twisted-pair-cable

connecting to the Analog Grounding wire
33,34 Power Output +15V & -15V (including shield cable)

29,32,44 Analog Ground Terminal

CN1
1~13,47 General Analog Input
Joint Control
Signal 0.2mm ² or 0.3mm ² -> Twisted-pair-cable
18~25,43 General Analog Output connecting to the I/O Grounding wire (including
shield cable)
45,46, 24V Power &
48,49 I/O Ground

14~17,41 Position Command Input 0.2mm ² or 0.3mm ² -> Twisted-pair-cable

(including shield cable)
35~40 Encoder Signal Output

1,2 Output 5V
CN2 Output Grounding wire of power 0.2mm ² or 0.3mm ² -> Twisted-pair-cable
Joint of motor 3,4
supply (including shield cable)
encoder
5~18 Encoder Signal Input

2,3 Data transfer & receive

CN3 0.2mm ² or 0.3mm ² -> Twisted-pair-cable
CN4 (including shield cable)
5 Communication grounding wire
Communication
connector
1,4,6,8 Floating —
P.S.: 1. Please pay attention to the NFB and the capacity of noise filter when using multi-Drives.
2. CN1 ->25 Pins (D-SUB)
3. CN2 -> 9 Pins (D-SUB)
4. CN3/CN4-> 8 Pins Mini-Din type

16
2-1-4 Motor Terminal Layout

A Table of Motor-Terminal Wiring

(1) General Joint:

Terminal Symbol Color Signal

1 Red U

2 White V

3 Black W

4 Green FG

Fine red DC +24V

Brake control wire
Fine yellow 0V

(2)Military Specifications Joint (No Brake):

Terminal Color Signal

D A
A Red U

B White V
C B
C Black W

D Green FG

(3)Military Specifications Joint(Brake):

Terminal Color Signal

B Red U
F A
G White V
E G B
E Black W

C Green FG
D C
A Fine red DC +24V
BK control wire
F Fine yellow 0V

P.S.: The military joint with BK of servo motor has 9 Pins; and the encoder joint has also 9 Pins. Please
confirm before wiring.

17
Table of Motor-Encoder Wiring

(1)General Joint:

Terminal Symbol Color Signal

1 White +5V

2 Black 0V

3 Green A

4 Blue /A

5 Red B

6 Purple /B

7 Yellow Z

8 Orange /Z

9 Shield FG

(2) Military Specifications Joint

Terminal Symbol Color Signal

B White +5V

I Black 0V

A Green A

C Blue /A

H Red B

D Purple /B

G Yellow Z

E Orange /Z

F Shield FG

18
2-1-5 Typical Wiring for Motor and Main Circuit
* The Wiring Example of Single Phase Main Power (Less than 1KW)

* The Wiring Example of 3 Phase Main Power (More than 1KW)

Power ON
Power OFF MC

MC/a

Red
U
White
NFB MC/R
V M
R TB1 Black
MC/S
W
Power Filter S TB1 Green
MC/T FG
3 Phase 220V T
P PG
R
PC
External
Regeneration
BK Resistance
CN2

FG

19
2-1-6 TB Terminal
Terminal
Name Detail
Sign

R
Main circuit power input
S Connecting to external AC Power.
terminal Single / 3 Phase 200~230VAC +10 ~ -15% 50/60Hz ±5%
T

External regeneration
P Please refer to Cn012 to see resistance value, when using external
resistance terminal
regeneration resistance. After installing regeneration resistance, set the
Regeneration terminal resistance power in Cn012.
PC
common point

U Motor terminal wire is red

Motor-power output
V Motor terminal wire is white
terminal
W Motor terminal wire is black
Motor-case grounding
FG Motor terminal wire is green or yellow-green.
terminal

2-1-7 Wiring for Mechanical Brake

Uninstall BRAKE:

 JSMA-S/L series: Use Red wire and yellow wire connecting to DC +24V voltage(No polarity)

 JSMA-M/H series: BK outputs from A & F of Motor Power Joint, servo motor can operate normally after

uninstalling.
Encoder
Encoder

Brake
Brake

20
2-2 I/O Terminal
There are 4 group terminal, which control signal terminal(CN1), encoder terminal(CN2) and communication
connector(CN3/CN4). The diagram below displays all positions for the terminal.

CN3, CN4 (Female)

Communication
Connector
6 3
1

2
8 5

CN1 connector
(Male)
1
14

CN2 connector (Male) 25

13
1
6

9
5

21
2-2-1 Output Signals from the Servo pack

(1) Diagram of CN1 Terminal:

P.S.:
1. If there is unused terminal, please do not connect it or let it be the relay terminal.
2. The Shielded Wire of I/O cable should connect to the ground.

22
2-2-2 Encoder Connector (CN2) Terminal Layout
(1) Diagram of CN2 Terminal:

P.S.: Do not wire to the terminal, which is un-operated.

23
2-2-3 Communication Connector (CN3/CN4) Terminal Layout

8 6
5 3
2 1

1 1 RxD Serial data receive

2 2

3 3 GND Ground

4 4 TxD Serial data transmission

Serial data transmission Serial data transmission

5 Data + 5 Data +
+ +

6 6

7 Data - Serial data transmission - 7 Data - Serial data transmission -

8 8

24
2-3 Typical Circuit Wiring Examples
2-3-1 Position Control Mode (Pe Mode) (Line Driver)

Pe mode =External pulse positioning command

25
2-3-2 Position Control Mode (Pe Mode) (Open Collector)

Pe mode =External pulse positioning command

26
2-3-3 Position Control Mode (Pe Mode) (Pi Mode)

Pi mode =Internal position command

27
2-3-4 Speed Control Mode (S Mode)

28
2-3-5 Torque Control Mode (T Mode)

29
Chapter 3 Panel Operator / Digital Operator
3-1 Panel Operator on the Drives
The operator keypad & display contains a 5 digit 7 segment display, 4 control keys

and two status LED displays.

Power status LED (Green) is lit when the power is applied to the unit.

Charge LED (Red) Indicate the capacitor ‘s charge status of main circuit. power on to light up Charge LED and

gradual dark when internal power capacitors are discharged complete.

Do NOT wire or assemble to the servo drive before Charge LED is off.

Key Name Function Keys Description

1. To select a basic mode, such as the status display mode, utility

MODE/SET
function mode, parameter setting mode, or monitor mode.
2. Returning back to parameter selection from data-setting screen.

INCREMENT 1. Parameter Selection.

2. To increase the set value.
3. Press at the same time to clear ALARM.
DECREMENT

DATA SETTING 1. To confirm data and parameter item.

& 2. To shift to the next digit on the left.
DATA ENTER 3. To enter the data setting (press 2 sec.)

30
3-2 Trial Operation

Before proceeding with trial run, please ensure that all the wiring is correct.
Trial run description below covers the operation from keypad and also from an external controller such as a PLC. Trial

run with external controller speed control loop (analog voltage command) and position control loop (external pulse

command).

(1) No-load servo motor. Trial run (Reference:4-1)

A. Servo Drive wiring and motor installation B. Purpose of trial run

P o w e r W in in g
Confirm if the items below are correct:
．Drives power cable wiring
．Servo Motor wiring
．Encoder wiring
．Setting servo motor rotation direction and speed

S V - M o to r M o tio n T a b le

(2) No-load servo motor with a host controller. Trial run (Reference:4-2)

A. Servo drive wiring and motor installation B. Purpose of trial run

Confirm if the items below are correct:

．Control signal wiring between host controller and servo
P o w e r W in in g
C o n n e c t to H o s t drive.
C o n tro lle r
． Servo motor rotation direction, speed and rotating
number .
．Brake function, operation limit function and protection
function.
S V - M o to r M o to r T a b le

(3) Servo motor connected to load and controlled by a host controller. Trial run (Reference:4-3)

A. Servo drive wiring and motor installation B. Purpose of trial run

P ow e r W ining
Confirm if the items below are correct:
C onne ct to H ost
C ontroller ．Servo motor rotation direction, speed and
mechanical operation range.
．Set related control parameters.

S V - M oto r M o tio n T able

31
Chapter 4 Parameter
4-1 Explanation of Parameter groups.
There are 9 groups of parameters as listed below.

Alarm
Description Control Mode Code
Code
Un-xx Status Display Parameters. Signal Control Mode

dn-xx ALL All Control Mode

Diagnostics Parameters.
Pi Position Control Mode(Internal Positional Command )
AL-xx Alarm Parameters
Pe Position Control Mode(External Puls Command)
Cn-0xx System Parameters
S Speed Control Mode
Tn1xx Torque Control Parameters
T Torque Control Mode
Sn2xx Speed Control Parameters
Definition of Symbols.
Pn3xx Position Control Parameters
Internal Position Control Symbol Explanation
Pn4xx
Parameter
qn5xx Quick Set-up Parameters ★ Parameter becomes effective after recycling the power.

Hn6xx Multi-function I/O parameters ◆ Parameter is Effective without pressing the Enter key.

● Parameter is not effected by Cn029.

4-2 Parameter Display Table

Diagnosis Parameter
Parameter Name & Function Chapter
dn-01 Selected control mode
dn-02 Output terminal signal status.
dn-03 Input terminal signal status.
dn-04 Software version
dn-05 JOG mode operation 3-2-2

dn-06 Hold position.

dn-07 Auto offset adjustment of external analog command voltage.
dn-08 Servo model code.
dn-09 ASIC software version display

32
Display Parameter
Parameter
Display Unit Explanation
Signal
Un-01 Actual Motor Speed rpm Motor Speed is displayed in rpm.
It displays the torque as a percentage of the rated torue.
Un-02 Actual Motor Torque % Ex: 20 are displayed. It means that the motor torque output is 20% of
rated torque.
Value for the processable regenerative power as 100% .
Un-03 Regenerative load rate %
Displays regenerative power consumption in 10-s cycle.
Value for the rated torque as 100%.
Un-04 Accumulated load rate %
Displays effective torque in 10-s cyle.

Un-05 Max load rate % Max value of accumulated load rate

Un-06 Speed Command rpm Speed command is displayed in rpm.

Error between position command value and the actual position

Un-07 Position Error Value pulse feedback.

Un-08 Position Feed-back Value pulse The accumulated number of pulses from the encoder.

Un-09 ExternalVoltage Command V External analog voltage command value in volts.

(Vdc Bus)Main Loop

Un-10 V DC Bus voltage in Volts.
Voltage
External Spped Limit
Un-11 rpm External speed limit value in rpm.
Command Value

External CCW Torque Limit Ex: Display 100. Means current external CCW torque limit command is
Un-12 %
Command Value set to 100 %.

External CW Torque Ex: Display 100. Means current external CW toque limit command is set
Un-13 %
LimitCommand Value to 100%.
Motor feed back – Less
After power on, it displays the number of pulses for an incomplete
Un-14 then 1 rotation pulse pulse
revolution of the motor as a Low Byte value.
value(Low Byte)
Motor feed back – Less
After power on, it displays the number of pulses for an incomplete
Un-15 then 1 rotation pulse pulse
revolution of the motor as a High Byte value.
value(High Byte)
Motor feed back – Rotation
Un-16 rev After power on, it displays motor rotation number as a Low Byte value.
value (Low Byte)

Motor feed back – Rotation

Un-17 rev After power on, it displays motor rotation number as a High Byte value.
value (High Byte)

Pulse command – Less

After power on, it displays pulse command input for an incomplete
Un-18 then 1 rotation pulse pulse
rotation. pulse value is a Low Byte value.
value(Low Byte)
Pulse command – Less
After power on, it displays pulse command input for an incomplete
Un-19 then 1 rotation pulse pulse
rotation. pulse value is a High Byte value.
value(High Byte)

Pulse command – rotation After power on, it displays pulse command input rotation number in Low
Un-20 rev
value(Low Byte) Byte value.

Pulse command – rotation After power on, it displays pulse command input rotation number in High
Un-21 rev
value(High Byte) Byte value.

33
Parameter
Display Unit Explanation
Signal

Un-22 Position feedback pulse 2500/8192 ppr Encoder feedback (Absolute).

Un-23 Reserve ─ Reserve

Un-24 Reserve ─ Reserve

Un-25 Reserve ─ Reserve

Un-26 Reserve ─ Reserve

Un-27 Reserve ─ Reserve

It displays the torque command as a percentage of the rated torque.

Un-28 Torque command % Ex: Display. 50.Means current motor torque command is 50% of rated
torque.
When Cn002.2=0(Auto gain adjust disabled), it displays the current
preset load inertia ratio from parameter Cn025.
Un-29 Load inertia x0.1
When Cn002.2=1(Auto gain adjust enabled), it displays the current
estimated load inertia ratio.
The status of digital output contact (Do) represented in
Un-30 Digital Output status(Do) ─ hexadecimal.
Ex : H00XX (0000 0000 Do-8/7/6/5 Do-4/3/2/1)
The status of digital input contact (DI) represented in
Un-31 Digital Input status(Di) ─ hexadecimal.
Ex : HXXXX (000Di-13 Di-12/11/10/9 Di-8/7/6/5 Di-4/3/2/1)

34
System Parameters
Setting Address
Parameter Name & Function Default Unit
Range RS232 RS485
Control Mode selection
Setting Explanation
0 Torque Control
1 Speed Control
2 External Position Control (external pulse Command)
3 External Position/Speed Control Switching 0
★Cn001 2 X │ 510H 0001H
4 Speed/Torque Control Switching
A
5 External Position/Torque Control Switching
6 Internal Position Control (internal position Command)
7 Internal Position/Speed mode switching
8 Internal Position/Torque mode switching
A Internal/External Position switching
SON (Servo On) Input contact function
★Cn002.0 Setting Explanation 0
0 Input Contact, Enables SON (Servo On). 0 X │
Input Contact has no function. 1
1
(SON is enabled when Power on).
CCWL & CWL Input contact function.
Setting Explanation
Cn002.1 0
CCWL and CWL input contacts are able to control the drive
0 1 X │
inhibit of CCW and CW.
1
CCWL & CWL input contacts are not able to control CCW
1
and CW drive inhibit. CCW and CW drive inhibit is disable.
Auto Tuning
Cn002.2 0
Setting Explanation 51DH 0002H
0 X │
0 Continuously Auto Tuning is Disable
1
1 Continuously Auto Tuning is Enabled.
EMC reset mode selection
Setting Explanation
Reset EMC signal is only available in Servo Off condition
0 (SON contact is open) and reset AL-09 by ALRS signal.
★Cn002.3 P.S.) It is NOT allow to reset when SON is applied. 0
When EMC status is released, AL-09 can be reset on both 0 X │
Servo ON and Servo OFF conditions. 1
1
Attention!
Ensure that the speed command are removed before the
alarm is reset to avoid motor unexpected start.

35
 Setting Address
Parameter Name & Function Default Unit Range RS232 RS485
Output time setting for Mechanical Brake Signal
Brake Signal Timing Sequence：

-2000
Cn003 0 msec │ 511H 0003H
2000

Implementation a pin for dynamic brake signal(BI) as a output

signal before to perform this function. Refer to sequence
diagram above.
Note: Signal logic level status: 1 = ON. 0 = OFF.
Refer to section5-6-1 for setting contact the high & Low logic
levels.

Motor rotate direction.(Inspect from the load side)

CCW CW

When Torque or Speed Command value is Positive, the

setting of Motor retation direction are:
0
Cn004 Explanation 0 X │ 512H 0004H
Setting 3
Torque Control Speed Control
Counter
0 Counter ClockWise(CCW)
ClockWise (CCW)
Counter
1 ClockWise (CW)
ClockWise (CCW)
Counter
2 ClockWise(CW)
ClockWise (CCW)

3 ClockWise (CW) ClockWise (CW)

36
 Setting Address
Parameter Name & Function Default Unit
Range RS232 RS485
Encoder pulse output scale.
For default set to the rated encoder number of pulses per 1
revolution, such as 2500ppr. Encoder │
★Cn005 Encoder ppr can be scaled by setting a ppr in the range of 1 to pulse per pulse Encoder 513H 0005H
the rated ppr of the encoder for scaling purpose. rotation pulse per
PPR = Pulse per revolution. rotation
Ex:encorder rated precision is 2000 ppr, If you setting
Cn005 =1000, the output is 1000ppr.

Cn006 Reserve ─ ─ ─ ─ ─

Speed reached preset.

Speed preset level for ClockWise or Counter ClockWise 0
Rated
Cn007 rotation. rpm │ 515H 0007H
rpm × 1/3
When the speed is greater then preset level in Cn007 the Speed 4500
reached output signal INS will be activated..
Brake Mode
Selectable Brake modes for Servo off, EMC and CCW/CW drive
inhibit. 0
Cn008 Setting Explanation 0 X │ 516H 0008H
Dynamic brakes Mechanical brakes 3
0 No No
1 No Yes

37
 Setting Address
Parameter Name & Function Default Unit
Range RS232 RS485
CW/CCW drive inhibit mode
Setting Explanation
When torque limit reached the setting value of
0 (Cn010,Cn011), servo motor deceleration to stop in the
zero clamp condition. 0
★Cn009 Deceleration by using dynamic brake to stop then hold in 0 X │ 517H 0009H
dynamic brake status. Cn009 setting has priority over 2
1
Cn008 setting, it require re-cycling power to take effect
after setting changed.
Once max torque limit (± 300% ) is detected then
2
deceleration to stop, zero clamp is applied when stop.
CCW Torque command Limit. 300 0
Cn010 Ex: For a torque limit in CCW direction which is twice the rated / % │ 518H 000AH
torque, set Cn10=200. 200 300
CW Torque command Limit. -300 -300
Cn011 Ex: For a torque limit in CW direction which is twice the rated / % │ 519H 000BH
torque, set Cn11=-200. -200 0
Power setting for External Regeneration Resistor
0
Refer to section 5-6-7 to choose external Regen resister and set
Cn012 0 W │ 51AH 000CH
its power specification in Watts of Cn012.
10000
P.S.) This default value will change depend on servo model.
Frequency of resonance Filter ( Notch Filter). 0
Cn013 Enter the vibration frequency in Cn013, to eliminate system 0 Hz │ C40H 000DH
mechanical vibration. 1000
Band Width of the Resonance Filter. 1
Cn014 Adjusting the band width of the frequency, lower the band width 7 X │ C41H 000EH
value in Cn014, restrain frequency Band width will be wider. 100
PI/P control switch mode.
Setting Explanation
Switch from PI to P if the torque command is larger than
0
Cn016.
Cn015.0 Switch from PI to P if the speed command is larger than 0
1
Cn017. 4 X │
Switch from PI to P if the acceleration rate is larger than 4
2
Cn018.
Switch from PI to P if the position error is larger than
3
Cn019.
Switch from PI to P be the input contact PCNT.
4
Set one of the multi function terminals to option 03.
Automatic gain 1& 2 switch C07H 000FH

Setting Explanation
Switch from gain 1 to 2 if torque command is greater
0
than Cn021.
Switch from gain 1 to 2 if speed command is greater 0
Cn015.1 1
than Cn022. 4 X │
Switch from gain 1 to 2 if acceleration command is 4
2
greater than Cn023.
Switch from gain 1 to 2 if position error value is greater
3
than Cn024.
Switch from gain 1 to 2 by input contact G-SEL. Set one
4 of the multi function terminals to option 15.

38
 Setting Address
Parameter Name & Function Default Unit
Range RS232 RS485
PI/P control mode switch by Torque Command
0
Cn016 Set the Cn015.0=0 first. 200 % │ C4BH 0010H
If Torque Command is less than Cn016 PI control is selected. 399
If Torque Command is greater than Cn016 P control is selected.
PI/P control mode switch by Speed Command
0
Cn017 Set the Cn015.0=1 first. 0 rpm │ C4CH 0011H
If Speed Command is less than Cn017 PI control is selected. 4500
If Speed Command is greater than Cn017 P control is selected.
PI/P control mode switch by accelerate Command
0
Cn018 Set the Cn015.0=2 first. 0 rps/s │ C4DH 0012H
If Acceleration is less than Cn018 PI control is selected. 18750
If Acceleration is greater than Cn018 P control is selected.
PI/P control mode switch by position error number
0
Cn019 Set the Cn015.0=3 first. 0 pulse │ C4EH 0013H
If Position error value is less than Cn019 PI control is selected. 50000
If Position error value is greater than Cn019 P control is selected.
Automatic gain 1& 2 switch delay time.
0
x02
Cn020 0 │ 53CH 0014H
Speed loop 2 to speed loop 1, Change over delay, msec
10000
when two control speed loops ( P&I gains 1 & 2) are used.

Automatic gain 1& 2 switch condition (Torque command)

Set Cn015.1=0 first.
0
When torque command is less than Cn021 , Gain 1 is selected.
Cn021 200 % │ 53DH 0015H
When torque command is greater than Cn021, Gain 2 is selected
399
When Gain 2 is active and torque command becomes less than
Cn021 setting value, system will automatically switch back to
Gain 1 switch time delay can be set by Cn020.
Automatic gain 1& 2 switch condition (Speed Command)

Set the Cn015.1=1 first.

When speed command is less than Cn022 Gain 1 is selected. 0
Cn022 When speed command is greater than Cn022 Gain 2 is selected. 0 rpm │ 53EH 0016H
When Gain 2 is active and speed command becomes less than 4500
Cn022 setting value, system will automatically switch back to
Gain 1 the switch time delay can be set by Cn020.

39
 Setting Address
Parameter Name & Function Default Unit
Range RS232 RS485
Automatic gain 1& 2 switch condition
(Acceleration Command)
Set Cn015.1=2 first.
When accel. command is less than Cn023 Gain 1 is selected. 0
Cn023 When accel. command is greater than Cn023 Gain 2 is selected. 0 rps/s │ 53FH 0017H
When Gain 2 is active and acceleration command becomes less 18750
than Cn023 system will automatically switch back to Gain 1 the
switch time delay can be set by Cn020.
* accel. is acceleration
Automatic gain 1& 2 switch condition (Position error value)
Set Cn015.1=3 first.
When position error value is less than Cn024 Gain 1 is selected.
0
When position error value is greater than Cn024 Gain 2 is
Cn024 0 pulse │ 540H 0018H
selected.
50000
When Gain 2 is active and position error value becomes less
than Cn024 system will automatically switch back to Gain 1 and
the switch time delay can be set by Cn020.
Load-Inertia ratio
0
Cn025 LoadInertiaToMotor (J L ) 40 x0.1 │ 5FBH 0019H
LoadInertiaRatio = × 100%
MotorRotorInertia(J M ) 1000
Rigidity Setting
When Auto tuning is used, set the Rigidity Level depending on
the various Gain settings for applications such as those listed
below:
Explanation
Speed Loop
Setting Position Loop Speed Loop
Integral-Time
Gain Gain
Constant
Pn310 [1/s] Sn211 [Hz]
Sn212 [x0.2msec] 1
Cn026
1 15 15 300 4 X │ C32H 001AH
2 20 20 225 A
3 30 30 150
4 40 40 100
5 60 60 75
6 85 85 50
7 120 120 40
8 160 160 30
9 200 200 25
A 250 250 20

40
 Setting Address
Parameter Name & Function Default Unit
Range RS232 RS485

Cn027 Reserve ─ ─ ─ ─

Cn028 Reserve ─ ─ ─ ─
Reset parameters.
0
Setting Explanation
★Cn029 0 X │ 5FDH 001DH
0 Disabled 1
1 Reset all Parameters to default ( Factory setting)
Servo motor model code
Servo model code can be display and checked with parameter
★Cn030 dn-08, refer 3-2-2 dn-08 table for more information.
Default X X 50BH 001EH
Attention：Before operate your servo motor., check this parameter
setting is compatible for servo drive and motor. If there has any
incompatible problem contact supplier for more information.
Cooling fan running modes
(Available for JSDEP-50 & JSDEP-75)
Setting Explanation 0
Cn031 0 Auto-run by internal temperature sensor. 0 X │
1 Run when Servo ON 3
2 Always Running.
3 Disabled.
Low Voltage Protection(AL-01) auto-reset selection
This parameter(AL-01) could be set the method of Low Voltage 50EH 001FH
Protection.
Setting Explanation
Cn031.1 0
As servo on, it shows AL-01 low voltage alarm 0 X │
0 immediately when it detect low voltage, and after 1
eliminating the situation, to reset it, servo off is a must.
It shows BB(baseblock) immediately when it detect low
1 voltage, and after eliminating the situation, drive would be
auto-reset and displayed Run.
Speed feed back smoothing filter 1
Cn032 Restrain sharp vibration noise by the setting and this filter also 500 Hz │ 546H 0020H
delay the time of servo response. 2500
Speed Feed-forward smoothing filter 1
Cn033 500 Hz │ 51EH 0021H
Smooth the speed feed-forward command. 1000
Torque command smoothing filter 0
Cn034 Restrain sharp vibration noise by the setting and this filter delay 500 Hz │ C17H 0022H
the time of servo response. 5000

41
 Setting Address
Parameter Name & Function Default Unit
Range RS232 RS485
Panel display content selection
Select display content for LED panel for power on status.
Setting Explanation
0
Cn035 0 Display data set and drive status parameter. Refer 3-1 0 X │ 541H 0023H
Display Un-01 ~ Un-19 content. Refer 3-2-1 for more 31
1 information.
│
31 Ex：Set Cn035=1, when power on it display the actual
speed of motor. (content of Un-01)
Servo ID number
0
When using Modbus for communication,each servo units has to
Cn036 1 X │ 51BH 0024H
setting a ID number. repeated ID number will lead to
254
communication fail.
Modbus RS-485 braud rate setting
Setting Explanation
0 4800
Cn037.0 0
1 9600
1 bps │
2 19200
5
3 38400
4 57600
5 115200
PC Software RS-232 braud rate setting
Setting Explanation
Cn037.1 0 544H 0025H
0 4800
1 bps │
1 9600
3
2 19200
3 38400
Communication RS-485 selection
This parameter can be set to RS-485 communication written to
Cn037.2 the EEPROM or SRAM. 0
0 X │
Setting Explanation
1
0 Write to EEPROM
1 Write to SRAM
Communication protocol
Setting Explanation
0 7 , N , 2 ( Modbus , ASCII )
1 7 , E , 1 ( Modbus , ASCII )
2 7 , O , 1 ( Modbus , ASCII ) 0
Cn038 3 8 , N , 2 ( Modbus , ASCII ) 0 X │ 545H 0026H
4 8 , E , 1 ( Modbus , ASCII ) 8
5 8 , O , 1 ( Modbus , ASCII )
6 8 , N , 2 ( Modbus , RTU )
7 8 , E , 1 ( Modbus , RTU )
8 8 , O , 1 ( Modbus , RTU )
Communication time-out dection
Setting non-zero value to enable this function, communication 0
Cn039 Time should be in the setting period otherwise alarm message of 0 sec │ 567H 0027H
communication time-out will show. Setting a zero value to 20
disable this function.
Communication response delay time 0
0.5
Cn040 0 │ 5EDH 0028H
Delay Servo response time to master control unit. msec
255

42
Torque-Control Parameter
Setting Address
Parameter Name & Function Default Unit
Range RS232 RS485
Linear acceleration/deceleration method
Setting Explanation
0
★Tn101 0 Disabled. 0 X │ 520H 0101H
1 Enabled. 1
Enable Torque command smooth accel/decel time
2
Constant.
Linear accel/decel time period.
Time taken for the torque-command to linearly accelerate to the
rated torque level or Decelerate to zero torque .

1
★Tn102 1 msec │ 523H 0102H
50000

Analog Torque Command Ratio

Slope of voltage command / Torque command can be adjusted.
300
Torque
(%) 200
Command
% 0
100
Tn103 300 │ 521H 0103H
-10 -5
10V 300
5 10
Input
-100 (V)
Voltage

-200
Slope set by Tn103
-300

43
 Setting Address
Parameter Name & Function Default Unit
Range RS232 RS485
Torque Command, analog input voltage offset
The offset amount can be adjusted by this parameter.

-10000
Tn104 0 mV │ 522H 0104H
10000

Preset Speed Limit 1. ( Torque control mode)

In Torque control, input contacts SPD1 and SPD2 can be used to
select Preset speed limit 1. As follows:
0
Tn105 Input Contact SPD2 Input Contact SPD1 100 rpm │ 526H 0105H
0 1 3000

Note: Input contacts status “1” (ON) and “0” (OFF).

Refer to 5-6-1 to set high or low input logic levels.
Preset Speed Limit 2. ( Torque control mode)
In Torque control, input contacts SPD1 and SPD2 can be used to
select Preset speed limit 2. As follows:
0
Tn106 Input Contact SPD2 Input Contact SPD1 200 rpm │ 527H 0106H
1 0 3000
Note: Input contacts status “1” (ON) and “0” (OFF)
Refer to 5-6-1 to set high or low input logic levels.
Preset Speed Limit 3. ( Torque control mode)
In Torque control, input contacts SPD1 and SPD2 can be used to
select Preset speed limit 3. As follows:- 0
Tn107 300 rpm │ 528H 0107H
Input Contact SPD2 Input Contact SPD1
3000
1 1
Note: Input contacts status “1” (ON) and “0” (OFF)
Refer to 5-6-1 to set high or low input logic levels.
Torque output monitor value 0
Tn108 When the torque level in CW or CCW direction become greater 0 % │ C30H 0108H
then this value setting, the output contact INT operate. 300
Analog Speed Limited Proportion Controller
This function used for adjusted analog voltage command
compared with the slope of speed limit command.

100
rpm
Tn109 3000 │ C0DH 0109H
/10V
4500

44
Speed-Control Parameter
Setting Address
Parameter Name & Function Default Unit
Range RS232 RS485
Internal Speed Command 1
In Speed control, input contacts SPD1 and SPD2 can be used to
select 3 sets of internal speed command, select for speed -4500
Sn201 command 1 contact status shows below: 100 rpm │ 536H 0201H
Input Contact SPD2 Input Contact SPD1
4500
0 1
Note: Input contacts status “1” (ON) and “0” (OFF)
Refer to 5-6-1 to set high or low input logic levels.
Internal Speed Command 2
In Speed control, input contacts SPD1 and SPD2 can be used to
select 3 sets of internal speed command, select for speed -4500
Sn202 command 2 contact status shows below: 200 rpm │ 537H 0202H
Input Contact SPD2 Input Contact SPD1
4500
1 0
Note: Input contacts status “1” (ON) and “0” (OFF)
Refer to 5-6-1 to set high or low input logic levels.
Internal Speed Command 3
In Speed control, input contacts SPD1 and SPD2 can be used to
select 3 sets of internal speed command, select for speed -4500
Sn203 command 3 contact status shows below: 300 rpm │ 538H 0203H
Input Contact SPD2 Input Contact SPD1
4500
1 1
Note: Input contacts status “1” (ON) and “0” (OFF).
Refer to 5-6-1 to set high or low input logic levels.
Zero Speed selection Enable or Disable the zero speed
preset parameter Sn215. 0
Sn204 Setting Explanation 0 X │ 529H 0204H
0 No Action. ( Sn215 zero preset is not effective). 1
1 Set the preset value in Sn215 as zero speed.
Speed command accel/decel smooth method.
Setting Explanation
0 By Step response 0
Sn205 Smooth Acceleration/deceleration according to the curve 0 X │ 52AH 0205H
1 3
defined by Sn206.
2 Linear accel/decel time constant .Defined by Sn207
3 S curve for Acceleration/deceleration. Defined by Sn208.

45
 Setting Address
Parameter Name & Function Default Unit
Range RS232 RS485
Speed command smooth accel/decel time Constant.
Set Sn205=1 to enable this function then set the time period for
the speed to rise to 63.2% of the full speed.

1
Sn206 1 msec 52BH 0206H
│
10000

Speed command linear accel/decel time constant.

Set Sn205=2 to enable this function then set the time period for
the speed to rise linearly to full speed.
Speed Command (%)

Ratio Speed
100

1
Sn207 1 msec │ 52CH 0207H
Speed Command 50000
50

Time (ms)
Sn207

46
 Setting Address
Parameter Name & Function Default Unit
Range RS232 RS485
S curve speed command acceleration and deceleration time
setting.
Set Sn205=3 to enable this function.
In the period of Acc/Dec , drastic speed changing might cause
vibration of machine. S curve speed command acc/dec time
setting has the effect to smooth acc/dec curve.

1
Sn208 1 msec │ C44H 0208H
1000

ta t
：
Rule for the setting： > ts ， d > ts
2 2
S curve speed command acceleration time setting. 0
Sn209 200 msec │ C45H 0209H
Refer Sn208
5000
S curve speed command deceleration time setting. 0
Sn210 200 msec │ C46H 020AH
Refer Sn208
5000
Speed loop Gain 1
Speed loop gain has a direct effect on the frequency response
bandwidth of the Speed-control loop.
10
Without causing vibration or noise Speed-loop-gain can be
Sn211 40 Hz │ 530H 020BH
increased to obtain a faster speed response.
450
If Cn025 (load Inertia ratio) is set correctly, the
speed-loop-bandwidth will equal to speed-loop-gain.
Speed-loop Integral time 1

Speed loop integral element can eliminate the steady speed error
and react to even slight speed variations.
1
Decreasing Integral time can improve system rigidity. x0.2
Sn212 100 │ 531H 020CH
The formula below shows the relationship between Integral time ms
500
and Speed loop Gain.
1
SpeedLoopI ntegration TimeCons tan t ≥ 5 ×
2π × SpeedLoopG ain

47
 Setting Address
Parameter Name & Functions Default Unit
Range RS232 RS485
Speed loop Gain 2 10
Sn213 40 Hz │ 53AH 020DH
Refer to Sn211
450
Speed loop Integral time 2 1
x0.2
Sn214 100 │ 53BH 020EH
Refer to Sn212 msec
500
Value of zero speed
0
Set the zero speed range in Sn215
Sn215 50 rpm │ 532H 020FH
When the actual speed is lower than Sn215 value, Output
4500
contact ZS is activated.
Analog Speed Command Ratio
Slope of voltage command / Speed command can be adjusted.
4500
Speed Command
(rpm) 3000

1500 100
rpm
Sn216 -10 -5 Rate rpm │ 533H 0210H
/10V
4500
5 10
Input
-1500
Voltage (V)

-3000
Slope set by
-4500 Sn216
Analog Speed Command offset adjust
The offset amount can be adjusted by this parameter.

-10000
Sn217 0 mV │ 534H 0211H
10000

Analog speed command limited 100

Rate rpm
Sn218 Setting Sn218 for limit the highest speed command of analog x 1.02 rpm │ C11H 0212H
input. 4500

48
Position Control Parameter
Setting Address
Parameter Name & Function Default Unit
Range RS232 RS485
Position pulse command selection
Setting Explanation
★Pn301.0 0
0 (Pulse)+(Sign)
0 X │
1 (CCW)/(CW) Pulse 3
2 AB-Phase pulse x 2
3 AB-Phase pulse x 4
Position- Pulse Command Logic
★Pn301.1 0
Setting Explanation
0 X │
0 Positive Logic
1
1 Negative Logic
Selection for command receive of drive inhibit mode 550H 0301H
Setting Explanation
★Pn301.2 0
When drive inhibit occurs, record value of position 0
0 X │
command input coherently.
1
When drive inhibit occurs, ignore the value of
1
position command.
Pulse command filter band width selection
★ Setting Explanation Setting Explanation
0
Pn301.3 0 4000KHz 4 375KHz
1 X │
1 2150KHz 5 190KHz
7
2 1100KHz 6 95KHz
3 700KHz 7 48KHz
Electronic Gear Ratio Numerator 1
Use input contacts GN1 & GN2 to select one of four electronic
Gear Ratio Numerators.
To select Numerator 1, the statue of the input-contacts
1
GN1 & GN2 should be as follows:
Pn302 1 X │ 560H 0302H
50000
Input Contact GN2 Input Contact GN1
0 0
Note: Input contacts status “1” (ON) and “0” (OFF).
Refer to 5-6-1 to set high or low input logic levels.
Electronic Gear Ratio Numerator 2
Use input contacts GN1 & GN2 to select one of four electronic
Gear Ratio Numerators.
To select Numerator 2, the statue of the input-contacts
1
GN1 & GN2 should be as follows:
Pn303 1 X │ 561H 0303H
50000
Input Contact GN2 Input Contact GN1
0 1
Note: Input contacts status “1” (ON) and “0” (OFF).
Refer to 5-6-1 to set high or low input logic levels.
Electronic Gear Ratio Numerator 3
Use input contacts GN1 & GN2 to select one of four electronic
Gear Ratio Numerators.
To select Numerator 3, the statue of the input-contacts 1
Pn304 GN1 & GN2 should be as follows: 1 X │ 562H 0304H
Input Contact GN2 Input Contact GN1 50000
1 0
Note: Input contacts status “1” (ON) and “0” (OFF).
Refer to 5-6-1 to set high or low input logic levels.

49
 Setting Address
Parameter Name & Function Default Unit
Range RS232 RS485
Electronic Gear Ratio Numerator 4
Use input contacts GN1 & GN2 to select one of four electronic
Gear Ratio Numerators.
To select Numerator 4, the statue of the input-contacts 1
Pn305 GN1 & GN2 should be as follows: 1 X │ 563H 0305H
Input Contact GN2 Input Contact GN1 50000
1 1
Note: Input contacts status “1” (ON) and “0” (OFF).
Refer to 5-6-1 to set high or low input logic levels.
Electronic Gear Ratio Denominator
Set the calculated Electronic Gear Ratio Denominator
in Pn 306. ( Refer to section 5-4-3). 1
★Pn306 Final Electronic Gear Ratio should comply with the formula 1 X │ 554H 0306H
below. 50000
1
≤ ElectronicGearRatio ≤ 200
200
Position complete value
0
Set a value for In position output signal. 552H
Pn307 10 pulse │ 0307H
When the Position pulse error value is less then Pn307 553H
50000
output-contact INP (In position output signal) will be activated.
“Incorrect position” Error band Upper limit.
0
When the Position error value is higher then number of pulses 556H
Pn308 50000 pulse │ 0308H
set in Pn308, an Alarm message 557H
50000
AL-11(Position error value alarm) will be displayed.
Incorrect position” Error band lower limit.
0
When the Position error value is lower then number of pulses 558H
Pn309 50000 pulse │ 0309H
set in Pn309, an Alarm message 559H
50000
AL-11(Position error value alarm) will be displayed.
Position Loop Gain 1
Without causing vibration or noise on the mechanical system
the position loop gain value can be increased to speed up
response and shorten the positioning time. 1
Pn310 Generally, the position loop bandwidth should not be higher then 40 1/s │ 55AH 030AH
speed loop bandwidth. The relationship is according to the 450
formula below:
SpeedLoopGain
PositionLoopGain ≤ 2π ×
5
Position Loop Gain 2 1
Pn311 40 1/s │ 551H 030BH
Refer to Pn310
450
Position Loop Feed Forward Gain
It can be used to reduce the track error of position control and
speed up the response. 0
Pn312 If the feed forward gain is too large, it might cause speed 0 % │ 55BH 030CH
Overshoot and in position oscillations which result in 100
the repeated ON/OFF operation of the output contact
INP(“In Position”output signal).

50
 Setting Address
Parameter Name & Function Default Unit
Range RS232 RS485
Position command smooth Acceleration/Deceleration Time
Constant
Set the time period for the Position command pulse frequency to
rise from 0 to 63.2%.
Position Pulse Command Frequency (%)

Position Pulse Command Frequency

100
0
★Pn313 10 msec │ 55CH 030DH
10000
63.2
50

Time (ms)
Pn313
Positioning Command Direction Definition
CCW CW

0
★Pn314 1 X │ 55DH 030EH
1
Setting Explanation
0 (CW) .Clockwise
1 (CCW). Counter Clockwise
Pulse Error Clear Modes.
Setting Explanation
Once CLR signal is activated, it eliminates,
0
the Pulse error amount.
Once CLR signal is activated, following takes place:
• The position command is cancelled. 0
Pn315 1 • Motor rotation is interrupted 0 X │ 51FH 030FH
• Pulse error amount is cleared. 2
• Machine home reference is reset
Once CLR signal is activated, following takes place:-
• The position command is cancelled.
2
• Motor rotation is interrupted
Pulse error amount is cleared.

51
 Communication
Setting Control
Parameter Name & Function Default Unit Address
Range Mode
RS232 RS485
Internal Position Command Mode
★Pn316.0 Setting 0
Explanation
0 X │ Pi
0 Absolute Position 1
1 Incremental Position
Internal Position Command Hold (PHOLD) program
select
Setting Explanation
★Pn316.1 When PHOLD is active then received PTRG 0
0 signal. Servomotor will be proceed internal 0 X │ Pi
posistion command from PHOLD position. 1
When PHOLD is active then received PTRG 50DH 0310H
1 signal. Servomotor will operate interal position
command of current selection.
Encoder Feedback Dividing Phase Leading Selection
★Pn316.2 Setting
0
Explanation 0 X │ Pi
0 Encoder feedback phase A leading phase B. 1
1 Encoder feedback phase B leading phase A.
Encoder Feedback Dividing
★Pn316.3 Setting 0
Explanation
0 X │ ALL
0 According to Cn005
1
1 According to Cn005/4
Setting for HOME routine
Setting Explanation
Once the home routine is activated, motor will search
st
for Home Position switch in 1 speed in CCW direction.
Input contacts CCWL or CWL can be used as the
Home Reference Switch.
Once Home reference switch is detected, then input
0 Contacts CCWL and CWL will act as normal Max
limits again.
Note:
When using this function, Pn365.1 can not be set to
or 2. Cn002.1 (selection for CCWL and CWL)
must be set to set to 0.
Once the home routine is activated, motor will
search for Home
st
Position switch in 1 speed in CW direction.
Pn317.0 Input contacts CCWL or CWL can be used as the 0
Pi
Home Reference Switch. 0 X │ 54AH 0311H
Pe
Once Home position is detected, then input 5
1 contacts CCWL and CWL will act as normal max.
limits again.
Note:
When using this function, Pn365.1 can not be set
to 1 or 2.
Cn002.1 (selection for CCWL and CWL) must
be set to 0.
Once the home routine is activated , motor will
st
search for Home position switch in 1 speed in
CCW direction and sets the Home
reference position as soon as the input contact
2 ORG is activated.
If Pn365.1=2, it will directly find the closest
Rising-Edge of ORG to be the Home position
(without a need for Home Reference),
then it stops in accordance with Pn365.3 setting.

52
 Communication
Setting Control
Parameter Name & Function Default Unit Address
Range Mode
RS232 RS485
Once the home routine is activated , motor will
search for Home
st
Position switch in 1 speed in CW direction and
sets the reference Home position as soon as the
3 input contact ORG is activated.
If Pn365.1=2, it will directly find the closest rising
-Edge of ORG to be the Home position (without a
need for Home reference), then it stops in
accordance with Pn365.3 setting.
Once the home routine is activated , motor will
search for Home
st
Pn317.0 position in 1 speed in CCW direction and sets 0
Pi
the Home reference position as soon as the 0 X │
4 Pe
nearest Z (marker pulse) is detected. 5
When using this function, set Pn365.1=2.
After setting the Z Phase to be the Home, it stops
in accordance with the setting of Pn365.3.
Once the home routine is activated, motor will
st
search for Home position in 1 speed in CW
direction and sets the Home reference position
as soon as the nearest Z (marker pulse) is
5
detected.
When using this function, set Pn365.1=2.
After setting the Z Phase to be the Home, it stops 54AH 0311H
in accordance with the setting of Pn365.3.
Once Reference Home switch or Signal, is found it
sets the search method for the Home position.
Setting Explanation
Once the Home Reference switch or signal is
nd
detected, motor reverses direction in 2 speed
to find the nearest Z. Phase pulse and sets this as
0
the Home position,
then stops in accordance with Pn317.3 setting
method.
Pn317.1 Once the Home Reference switch or signal is 0
detected, motor Continues in its direction in 2
nd 0 X │
1 speed to find the nearest Z Phase pulse and sets 2
this as the Home position, then stops in
accordance with Pn317.3 setting method.
When Pn317.0=2 or 3, it finds the rising edge of
ORG to be the Home position, then stops in
accordance with Pn317.3.
2
When Pn317.0=4 or 5, it finds Z Phase pulse to be
the Home, then stops in accordance with
Pn317.3.

53
 Communication
Setting Control
Parameter Name & Function Default Unit Address
Range Mode
RS232 RS485
Setting of Home Routine Start method
Setting Explanation
0 Homing routine is Disabled.
On power up and activation of Servo on the home
routine is started automatically. 0
Pn317.2 1 This method is useful for applications that do not 0 X │
require repeated home routines. No external 2
home reference switch is required.
Use SHOME input contactor to start a home
routine.
2
In position mode, SHOME can be used to start a
home routine at any moment.
Setting of stopping mode after finding Home signal.
Setting Explanation 54AH 0311H
After detecting the Home signal, it sets this
position to be the Home reference (Un-14
encoder feed back rotating number and Un-15
encoder feed back pulse number are all 0), motor
0
Pn317.3 decelerates and stops. 0
nd
Then it reverses direction in 2 speed to detect 0 X │
the Home Position again then it decelerates and 1
stops..
After detecting the Home signal, it sets this
position to be the Home reference (Un-14
1 encoder feed back rotating number and Un-15
encoder feed back pulse number are all 0), motor
decelerates and stops.
Machine Home reference search speed. 1 speed
st
0 Pi
Pn318 ( Fast) 100 rpm │ Pe 54BH 0312H
HOME Refeence search speed. Speed 1. 2000
nd
Machine Home position search speed. 2 Speed 0
Pn319 (Slow) 50 rpm │ 54CH 0313H
Home position search speed. Speed 2. 500
Home position offset. Number of revolutions.
Once the searched home position is found in accordance
-30000
with Pn317 (Home routine mode), then it will search by a
Pn320 0 rev │ 54DH 0314H
number of revolutions and pulses set in parameters
30000
Pn320 and Pn 321 to find the new (off set) Home
position.
Home position offset. Number of Pulses.
-32767
Pn321 Home Offset position = Pn320(Rotate Number) x 0 pulse │ 54EH 0315H
Number of Encoder Pulse per Rotation x 4 32767
+ Pn321(Pulse Number)

54
 Communication
Setting Control
Parameter Name & Function Default Unit Address
Range Mode
RS232 RS485
S-Curve Time Constant for Internal Position
command(TSL)
S-curve time constant generator can smoothen the
command, it provides continuous speed and
acceleration which not only better the motor
characteristic of acc/dec but also helps the motor to
operate more smoothly in machinery structure.S-curve
time constant generator is only applicable to the mode
of internal position command input. When position
command input switch to external position pulse, the
speed and acceleration are already constant, so it
doesn’t use the S-curve time constant generator.

0
Pi
Pn322 0 x0.4ms │ 52DH 0316H
Pe
5000

Notes :
≧Pn322(TSL).
1. Rule of setting: Pn323 (TACC)≧
2. When Pn322 sets as 0, the S-curve time constant
will be disabled.
S-Curve Time Constant for Internal Position 1
Pn323 command(TACC) 1 x0.4ms │ Pi 52EH 0317H
Please refer to Pn370 5000
Pulse command smoothing filter 0
x
Pn329 0 │ Pe C78H 031EH
This parameter can set the integration times. 2mesc
2500
Pulse command moving filter 0
x
Pn330 0 │ Pe C79H 031FH
This parameter can set the moving times 0.4mesc
250

55
 Communication
Setting Control Address
Parameter Name & Function Default Unit
Range Mode
RS232 RS485
Internal Position Command 1 – Rotation Number
-16000
Pn401 Set the Rotation number of the internal Position 0 rev │ Pi 568H 0701H
Command 1 16000
Use input contacts POS1~POS5 to select Refer to 5-4-2.
Internal Position Command 1 - Pulse Number
Set the rotation pulse number of internal position -131072
56AH 0702H
Pn402 Command 1 0 pulse │ Pi
56BH 0703H
Internal Position Command 1 =Pn401(Rotation Number) x 131072
Pulse number of One Rotate x 4 + Pn402(Pulse number)
Internal Position Command 1 - Move Speed 0
Pn403 0 rpm │ Pi 569H 0704H
Setting the Move Speed of internal Position Command 1
3000
Internal Position Command 2-Rotation Number -16000
Pn404 0 rev │ Pi 56CH 0705H
Please refer to Pn401
16000
Internal Position Command 2-Pulse Number -131072
56EH 0706H
Pn405 0 pulse │ Pi
Please refer to Pn402 56FH 0707H
131072
Internal Position Command 2-Move Speed 0
Pn406 0 rpm │ Pi 56DH 0708H
Please refer to Pn403
3000
Internal Position Command 3-Rotation Number -16000
Pn407 0 rev │ Pi 570H 0709H
Please refer to Pn401
16000
Internal Position Command 3-Pulse Number -131072
572H 070AH
Pn408 0 pulse │ Pi
Please refer to Pn402 573H 070BH
131072
Internal Position Command 3-Move Speed 0
Pn409 0 rpm │ Pi 571H 070CH
Please refer to Pn403
3000
Internal Position Command 4 -Rotation Number -16000
Pn410 0 rev │ Pi 574H 070DH
Please refer to Pn401
16000
Internal Position Command 4-Pulse Number -131072
576H 070EH
Pn411 0 pulse │ Pi
Please refer to Pn402 577H 070FH
131072
Internal Position Command 4-Move Speed 0
Pn412 0 rpm │ Pi 575H 0710H
Please refer to Pn403
3000
Internal Position Command 5 -Rotation Number -16000
Pn413 0 rev │ Pi 578H 0711H
Please refer to Pn401
16000
Internal Position Command 5-Pulse Number -131072
57AH 0712H
Pn414 0 pulse │ Pi
Please refer to Pn402 57BH 0713H
131072
Internal Position Command 5-Move Speed 0
Pn415 0 rpm │ Pi 579H 0714H
Please refer to Pn403
3000
Internal Position Command 6 -Rotation Number -16000
Pn416 0 rev │ Pi 57CH 0715H
Please refer to Pn401
16000
Internal Position Command 6-Pulse Number -131072
57EH 0716H
Pn417 0 pulse │ Pi
Please refer to Pn402 57FH 0717H
131072

56
 Communication
Setting Control
Parameter Name & Function Default Unit Address
Range Mode
RS232 RS485
Internal Position Command 6-Move Speed 0
Pn418 0 rpm │ Pi 57DH 0718H
Please refer to Pn403
3000
Internal Position Command 7 -Rotation Number -16000
Pn419 0 rev │ Pi 580H 0719H
Please refer to Pn401
16000
Internal Position Command 7-Pulse Number -131072
582H 071AH
Pn420 0 pulse │ Pi
Please refer to Pn402 583H 071BH
131072
Internal Position Command 7-Move Speed 0
Pn421 0 rpm │ Pi 581H 071CH
Please refer to Pn403
3000
Internal Position Command 8 -Rotation Number -16000
Pn422 0 rev │ Pi 584H 071DH
Please refer to Pn401
16000
Internal Position Command 8-Pulse Number -131072
586H 071EH
Pn423 0 pulse │ Pi
Please refer to Pn402 587H 071FH
131072
Internal Position Command 8-Move Speed 0
Pn424 0 rpm │ Pi 585H 0720H
Please refer to Pn403
3000
Internal Position Command 9 -Rotation Number -16000
Pn425 0 rev │ Pi 588H 0721H
Please refer to Pn401
16000
Internal Position Command 9-Pulse Number -131072
58AH 0722H
Pn426 0 pulse │ Pi
Please refer to Pn402 58BH 0723H
131072
Internal Position Command 9-Move Speed 0
Pn427 0 rpm │ Pi 589H 0724H
Please refer to Pn403
3000
Internal Position Command 10 -Rotation Number -16000
Pn428 0 rev │ Pi 58CH 0725H
Please refer to Pn401
16000
Internal Position Command 10-Pulse Number -131072
58EH 0726H
Pn429 0 pulse │ Pi
Please refer to Pn402 58FH 0727H
131072
Internal Position Command 10-Move Speed 0
Pn430 0 rpm │ Pi 58DH 0728H
Please refer to Pn403
3000
Internal Position Command 11 -Rotation Number -16000
Pn431 0 rev │ Pi 590H 0729H
Please refer to Pn401
16000
Internal Position Command 11-Pulse Number -131072
592H 072AH
Pn432 0 pulse │ Pi
Please refer to Pn402 593H 072BH
131072
Internal Position Command 11-Move Speed 0
Pn433 0 rpm │ Pi 591H 072CH
Please refer to Pn403
3000
Internal Position Command 12-Rotation Number -16000
Pn434 0 rev │ Pi 594H 072DH
Please refer to Pn401
16000
Internal Position Command 12-Pulse Number -131072
596H 072EH
Pn435 0 pulse │ Pi
Please refer to Pn402 597H 072FH
131072
Internal Position Command 12-Move Speed 0
Pn436 0 rpm │ Pi 595H 0730H
Please refer to Pn403
3000

57
 Communication
Setting Control Address
Parameter Name & Function Default Unit
Range Mode
RS232 RS485
Internal Position Command 13 -Rotation Number -16000
Pn437 0 rev │ Pi 598H 0731H
Please refer to Pn401
16000
Internal Position Command 13-Pulse Number -131072
59AH 0732H
Pn438 0 pulse │ Pi
Please refer to Pn402 59BH 0733H
131072
Internal Position Command 13-Move Speed 0
Pn439 0 rpm │ Pi 599H 0734H
Please refer to Pn403
3000
Internal Position Command 14 -Rotation Number -16000
Pn440 0 rev │ Pi 59CH 0735H
Please refer to Pn401
16000
Internal Position Command 14-Pulse Number -131072
59EH 0736H
Pn441 0 pulse │ Pi
Please refer to Pn402 59FH 0737H
131072
Internal Position Command 14-Move Speed 0
Pn442 0 rpm │ Pi 59DH 0738H
Please refer to Pn403
3000
Internal Position Command 15 -Rotation Number -16000
Pn443 0 rev │ Pi 5A0H 0739H
Please refer to Pn401
16000
Internal Position Command 15-Pulse Number -131072
5A2H 073AH
Pn444 0 pulse │ Pi
Please refer to Pn402 5A3H 073BH
131072
Internal Position Command 15-Move Speed 0
Pn445 0 rpm │ Pi 5A1H 073CH
Please refer to Pn403
3000
Internal Position Command 16 -Rotation Number -16000
Pn446 0 rev │ Pi 5A4H 073DH
Please refer to Pn401
16000
Internal Position Command 16-Pulse Number -131072
5A6H 073EH
Pn447 0 pulse │ Pi
Please refer to Pn402 5A7H 073FH
131072
Internal Position Command 16-Move Speed 0
Pn448 0 rpm │ Pi 5A5H 0740H
Please refer to Pn403
3000
Internal Position Command 17 -Rotation Number -16000
Pn449 0 rev │ Pi 5A8H 0741H
Please refer to Pn401
16000
Internal Position Command 17 - Pulse Number -131072
5AAH 0742H
Pn450 0 pulse │ Pi
Please refer to Pn402 5ABH 0743H
131072
Internal Position Command 17 - Move Speed -131072
Pn451 0 pulse │ Pi 5A9H 0744H
Please refer to Pn403
131072
Internal Position Command 18 -Rotation Number -16000
Pn452 0 rev │ Pi 5ACH 0745H
Please refer to Pn401
16000
Internal Position Command 18 - Pulse Number -131072
5AEH 0746H
Pn453 0 pulse │ Pi
Please refer to Pn402 5AFH 0747H
131072
Internal Position Command 18 - Move Speed 0
Pn454 0 rpm │ Pi 5ADH 0748H
Please refer to Pn403
3000
Internal Position Command 19 -Rotation Number -16000
Pn455 0 rev │ Pi 5B0H 0749H
Please refer to Pn401
16000

58
 Communication
Setting Control Address
Parameter Name & Function Default Unit
Range Mode
RS232 RS485
Internal Position Command 19 - Pulse Number -131072 5B2H 074AH
Pn456 0 pulse │ Pi
5B3H 074BH
Please refer to Pn402
131072
Internal Position Command 19 - Move Speed 0
Pn457 0 rpm │ Pi 5B1H 074CH
Please refer to Pn403
3000
Internal Position Command 20 -Rotation Number -16000
Pn458 0 rev │ Pi 5B4H 074DH
Please refer to Pn401
16000
Internal Position Command 20 - Pulse Number -131072
5B6H 074EH
Pn459 0 pulse │ Pi
Please refer to Pn402 5B7H 074FH
131072
Internal Position Command 20 - Move Speed 0
Pn460 0 rpm │ Pi 5B5H 0750H
Please refer to Pn403
3000
Internal Position Command 21 -Rotation Number -16000
Pn461 0 rev │ Pi 5B8H 0751H
Please refer to Pn401
16000
Internal Position Command 21 - Pulse Number -131072
5BAH 0752H
Pn462 0 pulse │ Pi
Please refer to Pn402 5BBH 0753H
131072
Internal Position Command 21 - Move Speed 0
Pn463 0 rpm │ Pi 5B9H 0754H
Please refer to Pn403
3000
Internal Position Command 22 -Rotation Number -16000
Pn464 0 rev │ Pi 5BCH 0755H
Please refer to Pn401
16000
Internal Position Command 22 - Pulse Number -131072
5BEH 0756H
Pn465 0 pulse │ Pi
Please refer to Pn402 5BFH 0757H
131072
Internal Position Command 22 - Move Speed 0
Pn466 0 rpm │ Pi 5BDH 0758H
Please refer to Pn403
3000
Internal Position Command 23 -Rotation Number -16000
Pn467 0 rev │ Pi 5C0H 0759H
Please refer to Pn401
16000
Internal Position Command 23 - Pulse Number -131072
5C2H 075AH
Pn468 0 pulse │ Pi
Please refer to Pn402 5C3H 075BH
131072
Internal Position Command 23 - Move Speed 0
Pn469 0 rpm │ Pi 5C1H 075CH
Please refer to Pn403
3000
Internal Position Command 24 -Rotation Number -16000
Pn470 0 rev │ Pi 5C4H 075DH
Please refer to Pn401
16000
Internal Position Command 24 - Pulse Number -131072
5C6H 075EH
Pn471 0 pulse │ Pi
Please refer to Pn402 5C7H 075FH
131072
Internal Position Command 24 - Move Speed 0
Pn472 0 rpm │ Pi 5C5H 0760H
Please refer to Pn403
3000
Internal Position Command 25 -Rotation Number -16000
Pn473 0 rev │ Pi 5C8H 0761H
Please refer to Pn401
16000
Internal Position Command 25 - Pulse Number -131072
5CAH 0762H
Pn474 0 pulse │ Pi
Please refer to Pn402 5CBH 0763H
131072

59
 Communication
Setting Control Address
Parameter Name & Function Default Unit
Range Mode
RS232 RS485
Internal Position Command 25 - Move Speed 0
Pn475 0 rpm │ Pi 5C9H 0764H
Please refer to Pn403
3000
Internal Position Command 26 -Rotation Number -16000
Pn476 0 rev │ Pi 5CCH 0765H
Please refer to Pn401
16000
Internal Position Command 26 - Pulse Number -131072
5CEH 0766H
Pn477 0 pulse │ Pi
Please refer to Pn402 5CFH 0767H
131072
Internal Position Command 26 - Move Speed 0
Pn478 0 rpm │ Pi 5CDH 0768H
Please refer to Pn403
3000
Internal Position Command 27 -Rotation Number -16000
Pn479 0 rev │ Pi 5D0H 0769H
Please refer to Pn401
16000
Internal Position Command 27 - Pulse Number -131072
5D2H 076AH
Pn480 0 pulse │ Pi
Please refer to Pn402 5D3H 076BH
131072
Internal Position Command 27 - Move Speed 0
Pn481 0 rpm │ Pi 5D1H 076CH
Please refer to Pn403
3000
Internal Position Command 28 -Rotation Number -16000
Pn482 0 rev │ Pi 5D4H 076DH
Please refer to Pn401
16000
Internal Position Command 28 - Pulse Number -131072
5D6H 076EH
Pn483 0 pulse │ Pi
Please refer to Pn402 5D7H 076FH
131072
Internal Position Command 28 - Move Speed 0
Pn484 0 rpm │ Pi 5D5H 0770H
Please refer to Pn403
3000
Internal Position Command 29 -Rotation Number -16000
Pn485 0 rev │ Pi 5D8H 0771H
Please refer to Pn401
16000
Internal Position Command 29 - Pulse Number -131072
5DAH 0772H
Pn486 0 pulse │ Pi
Please refer to Pn402 5DBH 0773H
131072
Internal Position Command 29 - Move Speed 0
Pn487 0 rpm │ Pi 5D9H 0774H
Please refer to Pn403
3000
Internal Position Command 30 -Rotation Number -16000
Pn488 0 rev │ Pi 5DCH 0775H
Please refer to Pn401
16000
Internal Position Command 30 - Pulse Number -131072
5DEH 0776H
Pn489 0 pulse │ Pi
Please refer to Pn402 5DFH 0777H
131072
Internal Position Command 30 - Move Speed 0
Pn490 0 rpm │ Pi 5DDH 0778H
Please refer to Pn403
3000
Internal Position Command 31 -Rotation Number -16000
Pn491 0 rev │ Pi 5E0H 0779H
Please refer to Pn401
16000
Internal Position Command 31 - Pulse Number -131072
5E2H 077AH
Pn492 0 pulse │ Pi
Please refer to Pn402 5E3H 077BH
131072
Internal Position Command 31 - Move Speed 0
Pn493 0 rpm │ Pi 5E1H 077CH
Please refer to Pn403
3000

60
 Communication
Setting Control Address
Parameter Name & Function Default Unit
Range Mode
RS232 RS485
Internal Position Command 32 -Rotation Number -16000
Pn494 0 rev │ Pi 5E4H 077DH
Please refer to Pn401
16000
Internal Position Command 32 - Pulse Number -131072
5E6H 077EH
Pn495 0 pulse │ Pi
Please refer to Pn402 5E7H 077FH
131072
Internal Position Command 32 - Move Speed 0
Pn496 0 rpm │ Pi 5E5H 0780H
Please refer to Pn403
3000

61
Quick Set-up Parameters
Communication
Setting Control
Parameter Name & Function Default Unit Address
Range Mode
RS232 RS485
Speed Loop Gain 1. ( Same function as Sn211)
Speed loop gain has a direct effect on the frequency
response bandwidth of the Speed-control loop. 10 Pi
◆qn501 Without causing vibration or noise Speed-loop-gain can 40 Hz │ Pe 530H 0401H
be increased to obtain a faster speed response. 450 S
If Cn025 (load Inertia ratio) is correctly set, the
speed-loop-bandwidth will equal to speed-loop-gain.
Speed-loop Integral time 1. (Same function as Sn212)
Speed loop integral element can eliminate the steady
speed error
and react to even slight speed variations.
Decreasing Integral time can improve system rigidity. 1 Pi
x0.2
◆qn502 The formula below shows the relationship between 100 │ Pe 531H 0402H
Integral time and Speed loop Gain. ms
500 S
1
SpeedLoopIntegrationTimeCons tan t ≥ 5 ×
2π × SpeedLoopGain

Speed Loop Gain 2. (Same function as Sn213) 10 Pi

◆qn503 40 Hz │ Pe 53AH 0403H
Refer to qn401
450 S
Speed Loop Integration Time Constant 2. 1 Pi
x0.2
◆qn504 (Same function as Sn214) 100 │ Pe 53BH 0404H
ms
Refer to qn402 500 S
Position Loop Gain 1. (Same function as Pn310)
Without causing vibration or noise on the mechanical
system the position loop gain value can be increased to
speed up response and shorten the positioning time. 1
Pi
◆qn505 Generally, the position loop bandwidth should not be 40 1/s │ 55AH 0405H
higher then speed loop bandwidth. The relationship is Pe
1000
according to the formula below:

Position Loop Gain 2 (Same function as 1

Pi
◆qn506 Pn311) 40 1/s │ 551H 0406H
Pe
Please refer to qn405 1000
Position Loop Feed Forward Gain
It can be used to reduce the follow up error of position
control and speed up the response. 0
Pi
◆qn507 If the feed forward gain is too large, it might cause speed 0 % │ 55BH 0407H
Pe
Overshoot and in position oscillations which result in 100
the repeated ON/OFF operation of the output contact
INP(“In Position” output signal).

62
 Multi-Function Input Parameters
Communication
Setting Control
Parameter Name & Function Default Unit Address
Range Mode
RS232 RS485
DI-1 Function
Seting Explanation
Signal Functions
01 SON Servo On
02 ALRS Alarm Reset
03 PCNT PI/P Switching
04 CCWL CCW Limit
05 CWL CW Limit
06 TLMT External Torque Limit
07 CLR Clear Pulse Error Value
08 LOK Servo Lock
09 EMC Emergency Stop
0A SPD1 Speed 1
0B SPD2 Speed 2
0C MDC Control Mode Switch
0D INH Position Command Inhibit 01
★ Refer to │
0E SPDINV Speed Inverse
Hn601.0 the cross 1F
0F G-SEL Gain Select X ALL C23H 0501H
Hn601.1 reference ︵
10 GN1 Electronic Gear Ratio Numerator 1 table on
11 GN2 Electronic Gear Ratio Numerator 2 HEX.
page 77.
12 PTRG Position Trigger ︶
13 PHOLD Position Hold
14 SHOME Start Home
15 ORG Home Position Reference (Origin)
16 POS1 Internal Position select 1
17 POS2 Internal Position select 2
18 POS3 Internal Position select 3
19 POS4 Internal Position select 4
1A TRQINV Torque Inverse
1B RS1 Torque CW Selecting
1C RS2 Torque CCW Selecting
1D MDC2 Control mode selection for tool turret
Internal position command selection
1E POS5 5
(Tool NO. selection 5)
1F POS6 Tool NO. selection 6
★New setting will become effective after re-cycling the power.

Warning! If any of programmable Inputs of DI-1 ~ DI-13 are set for the same type of function
then the logic state selection ( NO or NC selection) for these inputs must be the same type.
Otherwise an Alarm will be displayed. AL-07 (Abnormal DI/DO programming).

63
 Communication
Setting Control
Parameter Name & Function Default Unit Address
Range Mode
RS232 RS485
★ DI-1 Active Level
0
Hn601.2 Seting Explanation
0 X │ ALL C23H 0501H
0 Low Active (short with IG24) 1
1 High Active
DI-2 001
★Hn602 --- X │ ALL C24H 0502H
Plearse refer to Hn601
11F
DI-3 001
★Hn603 --- X │ ALL C25H 0503H
Plearse refer to Hn601
11F
DI-4 001
★Hn604 --- X │ ALL C26H 0504H
Plearse refer to Hn601
11F
DI-5 001
★Hn605 --- X │ ALL C27H 0505H
Plearse refer to Hn601
11F
DI-6 001
★Hn606 --- X │ ALL C28H 0506H
Plearse refer to Hn601
11F
Hn607 Reserve --- --- --- --- --- ---

Hn608 Reserve --- --- --- --- --- ---

Hn609 Reserve --- --- --- --- --- ---

Hn610 Reserve --- --- --- --- --- ---

Hn611 Reserve --- --- --- --- --- ---

Hn612 Reserve --- --- --- --- --- ---

★New setting will become effective after re-cycling the power.

Warning! If any of programmable Inputs of DI-1 ~ DI-13 are set for the same type of function
then the logic state selection ( NO or NC selection) for these inputs must be the same type.
Otherwise an Alarm will be displayed. AL-07 (Abnormal DI/DO programming).

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 Communication
Setting Control
Parameter Name & Function Default Unit Address
Range Mode
RS232 RS485
DO-1 Functions
Setting Explanation
Signal Functions
01 RDY Servo Ready
02 ALM Alarm
03 ZS Zero Speed
★ 04 BI Brake Signal Refer to
Hn613.0 05 INS In Speed the cross 01
Hn613.1 06 INP In Position reference X │ ALL
07 HOME HOME table on 0E
08 INT In Torque page 77. C47H 050DH
09 P1 Position Display 1 for Tool Turret mode
0A P2 Position Display 2 for Tool Turret mode
0B P3 Position Display 3 for Tool Turret mode
0C P4 Position Display 4 for Tool Turret mode
0D P5 Position Display 5 for Tool Turret mode
0E P6 Position Display 6 for Tool Turret mode
★ DO-1 Active Level
0
Hn613.2 Setting Explanation
0 X │ ALL
0 Close, when the output is activated.
1
1 Open, when the output is activated.
DO-2 001
★Hn614 --- X │ ALL C48H 050EH
Plearse refer to Hn614
10E
DO-3 001
★Hn615 --- X │ ALL C49H 050FH
Plearse refer to Hn614
10E
New setting will become effective after re-cycling the power.

Warning! If any of programmable Inputs of DI-1 ~ DI-13 are set for the same type of function
then the logic state selection ( NO or NC selection) for these inputs must be the same type.
Otherwise an Alarm will be displayed. AL-07 (Abnormal DI/DO programming).

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 The default value of Hn601~Hn616 on difference control mode

Cn 001
0 1 2 3 4 5 6 7 8 9 A

Hn 6XX
Hn 601 0001 0001 0001 0001 0001 0001 0001 0001 0001 0001 0001
Hn 602 0002 0002 0002 0002 0002 0002 0002 0002 0002 0002 0002
Hn 603 0003 0003 0003 0003 0003 0003 0016 0016 0016 0016 0003
Hn 604 0104 0104 0104 0104 0104 0104 0017 0017 0017 0017 0104
Hn 605 0105 0105 0105 0105 0105 0105 0018 0018 0018 0018 0105
Hn 606 001B 0006 0006 0006 001B 001B 0019 0019 0019 0019 0006
Hn 613 0001 0001 0001 0001 0001 0001 0001 0001 0001 0001 0001
Hn 614 0002 0002 0002 0002 0002 0002 0002 0002 0002 0002 0002
Hn 615 0008 0003 0007 0003 0008 0008 0007 0003 0008 000E 0007

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 Chapter 5 Troubleshooting
5-1 Alarm functions
The Alarm codes are displayed in a format such as that shown below. For any Alarm messages, refer to this section for
identify the cause and dispel the error. to reset the Alarm message by following pages description.
If this is not possible for any reason then contact your local supplier for assistance.

：
Alarm Status Display：

For Alarm List refer to the section 5-2. In the example above AL-01 indicate (Under Voltage)

There is also an Alarm history which can record ten entry of alarm record.
History record is listed as alarm history record table shows.

Alarm Reset Methods

1. Carry out the suggestions below to reset Alarm.
(a) Reset by input signal: Once the cause of Alarm is rectified,
disable SON signal (Switch off Servo ON), then activate input signal ALRS.
Alarm condition should be cleared and the drive will be ready for operation.
Reference 5-6-1 for setting SON and Alarm signal.
(b) Reset from Keypad : Once the cause of Alarm is rectified,

disable SON signal (Switch off Servo ON), then press the buttons at the same time to reset Alarm and the drive
will be ready for operation.

2. Power reset: Once the cause of Alarm is rectified, disable SON signal (Switch off Servo ON) and re-cycling power.
Alarm condition can be reset and the drive will be ready for operation.

Waning!
1) Before applying power rest, ensure that SON is off (SON signal is removed first) to prevent danger.
2) Ensure that the speed commands are removed before the alarm is reset, otherwise the motor may run
abruptly once the alarm signal is reset.

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5-2 Troubleshooting of Alarm and Warning

Fault Status Digital Output

Alarm Alarm Name Reset
Code and Description Method CN1-25 CN1-24 CN1-23 CN1-22
BB/A3 ST/A2 PC/A1 LM/A0
If there is no Alarm, CN1-22~CN1-25 operates in
00 Normal — accordance with default function. Please refer to
2-2-1.
Turn
01 Under-voltage 1 1 1 0
ALRS(DI) ON
Over-voltage Turn
02 1 1 0 1
(Regeneration error) ALRS(DI) ON
Turn
03 Motor Over-load 1 1 0 0
ALRS(DI) ON
Reset Power
04 Drive Over-current 1 0 1 1
Supply
Reset Power
05 Encoder ABZ phase signal error 1 0 1 0
Supply
Reset Power
06 Encoder UVW phase signal error 1 0 0 1
Supply

Reset Power
07 Multi-function contact setting error 1 0 0 0
Supply
Reset Power
08 Memory Error 0 1 1 1
Supply
Turn ALRS(DI)
09 Emergency Stop 0 1 1 0
ON
Turn ALRS(DI)
10 Motor over-current 0 1 0 1
ON
Turn ALRS
11 Position error 0 1 0 0
(DI) ON
Turn ALRS
12 Motor over speed 0 0 1 1
(DI) ON
Reset Power
13 CPU Error 0 0 1 0
Supply
Turn ALRS
14 Drive disable 0 0 0 1
(DI) ON
Turn ALRS
15 Drive overheat 0 0 0 0
(DI) ON

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