Gudi 380V

SERVO DRIVE
SG-BA*AR
USER MANUAL
Hooshmand System Apameh

Content
The manual outline................................

.......................................................................1
Announcement.............................................................................................................2
1 Brief............................................................................................................................. 6
1.1 The general specification................................
................................................... 6
1.2 All model power specification......................................................................14
1.3 Servo Driver each part name and instruction....................................... 15
1.4 Servo Driver size and installation size....................................................... 16
2 Open box and inspection........................................................................................ 19

If you find any damage to the servo drive or servo motor or optional parts,
please call your local dealer immediately................................................................ 20
3 installation................................................................................................................ 21
3.1 the servo driver running environment...... ................................................... 22
3.1.1 temperature and humidity..................................................................22
3.1.2 altitude.............................................................................................. 22
3.1.3 other requirement....................................... ......................................22
3.2 Servo driver installation direction and space.............................................23
3.2.1 Notes...................................................... ............................................23
3.2.2 installed direction and space............... ........................................... 25
3.2.3 Keep foreign matter out....................... .................... .......................26
4 Signal and wring...................................................................................................... 28
4.1 System specification.............................................. ................. ..................... 29
4.1.1 The wiring diagram between the servo driver and external
.
device.........................................
........................ .............................................................
........................ 29
4.2 Main loop wire............. .......................................................... 32
..................................
4.2.1 Brief...................................................................................................32
4.2.2 1 phase 220V power input wiring diagram..................................34
4.2.3 3 phase 220V power supply input wiring diagram......................37
4.2.4 3 phase 380V power input wiring diagram...................... .............38
II
4.3 Encoder diagram（CN2 plug）.......................................................... ...... 40
4.3.1 Brief ..................................................................................................40
4.3.2 Servo driver CN2Pin arrangement and signal definition............... 41
4.4 Communication signal wiring （CN3 plug）............................................42
4.5 Input and output signal wiring diagram（CN1 plug）........................... 44

4.5.1 Brief........................................................................................... ......44
4.5.2 CN1pin arrangement and signal definition................................. 46
4.5.2.4 Input signal name and function............................................. ...... 50
4.5.3 Position control mode wiring diagram............................................. ... ...56
4.5.4 Speed control mode wiring diagram..........................................................57
4.5.5 Torque control mode wiring diagram................................................. ...... 58
4.5.6 CN1 plug input,output introduction.. ......... .......................................... .. 59
4.5.7 Electromagnetic brake wiring..................... ............................................ 69
5 Running..................................................................................................................83
5.1 Test running.........................................................................................................83
5.2 The choice of control mode.................................................... ......................... 108
5.3 General basic function setting............................................... ...........................111
5.4 Speed control (analog voltage instruction)running.................................. 134
5.5 Position control run.................................................................
............................. 156
5.6 Torque control run............................................................................................197
5.7 Speed control(internal setting speed option) run.........................................207
5.8 Torque limitation................................................................................................ 211
5.9 Control mode switch......................................................................................... 218
5.10 Other output signal.......................................................................................... 219
5.11 Automatic resonant regulation running.............................. ....................... 229
5.12 Allowed inertia.................................................................................
.................. 234
6 The usage of panel operator........................................... ................................... 236

6.1 Basic operation.................................................................................. ............. 236
6.2 Operation of application................................................................................ 249
III
7 MODBUS communication function............................................................... 268
7.1 RS-485 communication wiring.......................................................................... 268
7.2 MODBUS .............................................................................................................. 270
7.3 MODBUS communication protocol................................................................ 271
Appendix A detailed parameters table................... .................................... 294
Appendix B auxiliary function list............................. .................................... 344
Appendix C monitor screen list...................................................................... 346
Appendix D alarm screen list......................................
......................................348
Anppendix E brief parameter list............................................................... 356
IV
The manual outline
Thank you for you choose our AC Permanent magnet synchronous motor
servo driver product.(in content we will call servo driver).To make sure using
correctly, please be serious read and understand the user before you use the
product.Otherwise, it will cause abnormal operation or short service life, or even
damage the product directly.
■The manual is aimed at users of the ASD620B ac servo series and

describes the following contents:
● Delivery confirmation with specification of servo driver withe motor
● The installation’s ways of servo driver with motor
● The wiring’s ways of servo driver with motor
● The operation ways of servo driver
● T he board using ways

● Communication protocol
● The technological specification and character of servo driver with servo motor
Announcement
■ Forbidden Connect the servo motor directly to the municipal power supply
It is strictly forbidden to connect the servo motor directly with the municipal
power supply, which can easily damage the servo motor.The servo motor
cannot rotate without servo driver support.
■ Forbidden connecting or pulling out connector of driver when the driver

connect power
Connecting or pulling out connector with the power will easily damage internal
circuit and encoder,please connect or pull out connector after cutting power.
■ To inspect the servo system,you need cutting power about 15min
Even though cutting power,the internal servo driver still have some current, In
order to prevent the occurrence of electric shock accident, it is recommended
that after confirming that the CHARGE indicator is off,you can start the
detection operation of the servo system after 5min.
■ The installation interval between the servo drive and other devices in the
cabinet shall be kept above 10mm.
1
The servo drive is easy hot, and the installation layout favorable for heat
dissipation should be selected as far as possible.The horizontal spacing between
the servo drive and other devices in the electric cabinet should be above 10mm,
and the vertical spacing should be above 50mm.The installation environment
should be free from condensation, vibration and impact.
■ Anti-interference processing and grounding.

It is easily make the machine vibration and abnormal running in signal’s
interference.please strictly observe the following regulations
1.high voltage cable and low voltage cable travel separately.
1.Shorten the length of the run as much as possible.
3.the installation with servo motor and driver shall be used one point
grounding,The grounding impedance under 100 Ω.
4.strictly forbidden using power input interference filter between the servo motor
and servo driver
■ The voltage test of the servo driver should meet the following conditions.
1.input voltage:AC1500Vrms,1min
2.cutting power:100mA
3:frequency:50/60Hz
4.add voltage point:between the R、S、T and connector
■ Leakage protector, should use the rapid reaction type leakage protector.
Please use the rapid reaction type leakage protector or specifies the leakage
protector used by the PWM inverter,Forbidden using delay type leakage
protector.
■ Avoid extreme adjustments or changes.

It is not appropriate to make extreme adjustment or change the parameters of the
servo drive, otherwise it will easily cause severe mechanical shock and
unnecessary property loss.
3
■ Do not use power on/off to run the servo motor.
Frequent switching/switching of power will cause rapid aging of internal
components of the servo drive and reduce the service life of the driver.Command
signals should be used to control the operation of the servo motor.
■ When you have to touch the circuit board,The following must be noted:
1.When you have to touch the circuit board,The body must first discharge itself
2.Circuit boards must not be exposed to highly insulating materials
3.Circuit boards are only allowed on conductive pads
4.Circuit boards and components can only be stored or transported in conductive
packaging (conductive foam rubber or household aluminum foil)
■ On/off current shall be following :
1. When the servo driver is energized, make sure to switch on the control power
before switching on the main power.
2. When the servo driver is energized, make sure to charge the main power before
controlling it.
4
1 Brief
1.1 The general specification
The AC permanent magnet synchronous servo driver:
Table 1-1 Servo driver specification
Specification
Servo driver
100W～2.0kW 1.0kW～15kW
main
phase(under 1.0 KW )/3phase 3phase 380V/50Hz
voltage level
circu
220V/50Hz
it
pow
input voltage AC 220V±15% AC 380V±15%
er
range
supp
ly
Input frequency 47Hz～63Hz 47Hz～63Hz
range
voltage level 1 phase 220V/50HZ 1phase 380V/50HZ
contr input voltage AC 220V±15% AC380V±15%
ol range
circu
it
pow
input frequency 47Hz～63Hz 47Hz～63Hz
er
range
supp
ly
voltage DC 12V～24V
±10%
6
specification
Servo driver
100W～2.0kW 1.0kW～15kW
inter allowed voltage
face change
pow
er
saver Power capacity ≥500mA(the machine 24V just provide 100mA)
SVPWM
control way
vector control，SVPWM
control
mode Position control,speed control,torque control
encoder Support 17bit,23 bit Multiloop absolute value encoder and 2500pair
increment encoder
Regenerative brake
unit internal brake unit,also has external brake unit
no
electric reactor
input 8 opticalcoupler isolation input

switch
quantity
output 4 open circuit collector out put
analog input 2circuit,range：DC -10V～+10V
quantity
output 2 circuit,range:：DC 0V～+10V
pulse input 2circuit,5V Differential input or open collector input
quantity
output
7
specification
Servo driver
100W～2.0kW 1.0kW～15kW
4 circuits,encoder ABZ phase 3 circuit divided frequency discretely
output,1 circuit Z phase open circuit collector output
protection over-current protection,over-voltage protection,overload protect,
function overtemperature protection,encoder broken protection,regeneration
broken protection,low voltage protection,overspeed protection,large
position error protection
input pulse 500kHz(different vibration input)，200kHz(open circuit collector
frequency input)
instruction
signal+pulse train90°phase difference two phase pulse
pulse model
internal site support 16 internal position contact instruction
po position
±1pulse
siti precision
on
co arrival position
±10pulse
ntr range setting
ol
error range
at ±5r range to set
torque control
Set DC 0-±10V by parameter setting or external analog input；Tm:
range
300% rated
frequency 2.5KHz
8
Servo specification
driver 100W～2.0kW 1.0kW～15kW
feedback
sp speed control
Speed max 5000r/min，Speed Min 1r/min，speed r1:5000
ee range
d
analog
co speed
instruction DC0-±10V/(max rotary speed)，12bit A/D
ntr input
ol
±0.03%
speed volatility
torque control
Set DC 0-±10V by parameter setting or external analog input；Tm:
range 300% rate
analog
torque
instruction
input DC 0～±10V/Tm，12bit A/D,DC0-±10V/(max rotary speed)，12bit A/D
torque linear ±10% under

tor
qu
co speed control Set DC 0-±10V by parameter setting or external analog input（Max
ntr range rotate speed）；
ol
allowed max inertial 30 multiple
CanOpen
support CanOpen
co
m
RS485
m main engine 1：n communication，n≤32
un
9
Servo specification
driver 100W～2.0kW 1.0kW～15kW
ica
tio
structure Protection grade: IP20, below 750W (including) self-cooling, above air
cooling
work
0～45℃
temperature
en Storage -20～80℃(no frozen)
vir temperature
on humidity work/storage:≤90% (no condensation)
me Indoor, not directly exposed to the sun, dust, corrosive gas, flammable
Other
nt gas, oil mist, water vapor, dripping or salt content
≤1000m
altitude
vibration ≤4.9m/s 2，10～60HZ（Not allowed to work at a common point）
1.2 All model power specification

Each model power specification:
Table 1-2 each model power specification table
Driver model voltage power Rated

current
SG-BS2AR 3 phase 380V 2.0KW 7.2A
SG-BS3AR 3 phase 380V 3.0KW 9A
SG-BS5AR 3 phase 380V 5.0KW 15A
SG-BS7AR 3 phase 380V 7.5KW 18.5A
10
1.3 Servo Driver each part name and instruction
15
Picture 1- 1 0.1kW-7.5kW servo driver part name and instruction
1.4 Servo Driver size and installation size
Picture 1- 2 1.0KW～1.5KW 3 phase 380V
Picture 1- 3 2.0KW～7.5KW 3 phase 380V size
16
2 Open box and inspection
note
●Do not install or run any damage or have broken part servo driver,if not, it maybe
hurt you.
Open box and take the servo driver and motor, please inspect :
1.Verify that the servo driver and servo motor are free of any damage (damage
or notch on the body) during transport.
2.Verify the manual and warranty card.
3.Inspect servo driver and motor’s nameplate and make sure it is your buying
product.
4. If you have ordered a servo drive option part, confirm that the option
received is what you need.
If you find any damage to the servo drive or servo motor or optional parts, please call
your local dealer immediately.
19
3 installation
warning
●Untrained person working on servo drive devices/systems or failing to
comply with the relevant provisions in the "warning" may cause serious personal
injury or major property damage.Only trained and certified professionals in the
design, installation, commissioning and operation of the equipment are allowed to
work on the device/system of the equipment.
●Input power cord only allows permanent fastening connection, and equipment must
be reliably grounded.
●even though the servo driver is not working,the terminal still have dangerous
voltage.
-power terminal R，S，T，L1C ，L2C
-the terminal with the motor U，V，W
-the terminal connect regenerative brake resistance P,D,C
●。After the power switch is turned off, you must wait 15 minutes for the servo driver
to discharge before starting the installation.
note
●Mount the servo drive onto flame retardant materials (such as metal), or it could
cause a fire.
●When two or more servo drive to install ,the cooling fan and control the air
temperature is lower than 45 ℃, or overheating will cause fire or damage of
equipment.
3.1 The servo driver running environment

3.1.1 Temperature and humidity
Running temperature:0-45℃
Humidity:≤90%， no condensation
21
3.1.2 Altitude
The servo driver installed below the altitude of 1000m can output rated
power.If the altitude is over 1000m, it should be used for derating.The magnitude of
the specific decrease is shown in the following figure:
Picture 3- 1 altitude and depression amplitude curve
3.1.3 Other requirement

10Hz～60Hz。The servo driver is not allowed to be installed where it is likely
to be subjected to frequent vibration and impact. The max frequency is no more than
5.88m/s2 (0.6g), 10Hz ~ 60Hz.
The servo driver is not allowed to be installed closing to the source of
electromagnetic radiation.
The servo drive is not allowed to be installed where water or condensation is
possible.
It is not allowed to install the servo driver in the environment where there is
atmospheric pollution, such as corrosive gas, oil mist, dust, etc.
The servo driver is not allowed to be installed in direct sunlight, with oil mist,
steam and vibration environment.
3.2 Servo driver installation direction and space

3.2.1 Notes
 installation direction must be in accordance with the rules, otherwise it
will be the cause of the problem.
22
23
 In order to make the cooling effect is well. installing a ac servo drive,
the up and down or so and the adjacent objects and baffle (wall) must
keep enough space, otherwise it will be the cause of the problem.
 When servo driver is installed, the suction vent is sealed, nor
dumping place, otherwise it will be the cause of the problem.
right fault
3- 2 servo driver installation direction
Driver installation
The ASD620B series servo drivers must be installed vertically on dry, sturdy,
nema-compliant platforms.In order to achieve a good ventilation and heat
dissipation cycle, adequate space must be maintained for both upper, lower,
left, right, and adjacent items and baffles (walls) (recommended value is
50mm, about 2 inches).If wiring is required, please reserve the space
required.In addition, the mounting of the driver or platforms must not be
made of materials with poor thermal conductivity to avoid overheating of the
driver and platforms.
Motor installed
The servo motor must be installed platform with dry and firm,please keep
good ventilation and heat circulation, and keep well grounded
24
3.2.2 Installed direction and space
Install the servo driver vertically and leave enough space around it for
ventilation.Please install the fan when necessary, make the control cabinet
temperature below 45 ℃.
1) install 1 pcs :
Picture 3- 3 1 driver around space
2) install more than one :
25
Picture 3- 4 more than one around space when installing
3.2.3 Keep foreign matter out

1） do not allow metal chips into the servo drive when installing the control
cabinet;
2） do not let oil, water, metal chip and other foreign matters enter the servo
driver from the slot of the control cabinet or fan;
3） The control cabinet should be installed in places where there are a lot of
harmful gas and dust, it should be forced ventilation (the clean air is fed
into the control cabinet, making the internal pressure higher than the external
pressure) to prevent these substances entering the control cabinet.
26
4 Signal and wring
warning
●To ensure the driver safe running,The operation must be carried out by certified
professional electrical personnel.
●It is prohibited to test the insulation of the cable connected to the servo drive with
high-voltage insulation test equipment.
●Even if the servo drive is not in operation, there may still be dangerous voltage on
its power input line, dc circuit terminals and motor terminals.Therefore, after
turning off the switch, you must wait 15 minutes to make sure that the servo driver
discharges and starts working again.
●The grounding terminal of the servo drive must be reliably grounded, otherwise
there is a risk of electric shock and fire.
●Do not wire or operate the servo drive with wet hands, or risk electric shock.
note
●make sure the servo driver’s rated voltage same as the AC power supply voltage
●the power line and motor line must permanent fastening connected.
28
4.1 System specification
4.1.1 The wiring diagram between the servo driver and external device
Picture 4- 1 the wiring diagram between the servo driver and external device
 please confirm grid power supply with the machine, nameplate

marking consistent with the input power supply specifications
29
after be connected.driver input power supply.
 。 Electromagnet is used to connect and dislocate the main power

source of the driving device.Do not use it to start and stop the servo
driver.
 In the picture, the internal regenerative braking resistance is used
by default. If the external regenerative braking resistance is used,
please refer to the corresponding wiring diagram.Regenerative
braking resistors should be installed on flame retardant materials
such as metals.
· please confirm to check whether the
input power voltage level and power
phase number are consistent with the
nameplate of the driver.

4.2 Main loop wire
· please use no-fuse breaker or leakage
4.2.1 Brief switch.
· please do not use this electromagnetic
contactor to start and stop the servo
driver.
·Please correctly connect the servo motor
to the U,V.W output of the driver
according to the motor line phase
sequence. The wrong phase sequence
will cause the driver to break
· Do not cut short connections between
P+, D unless using external
regenerative braking resistors

1. AC Power supply 2. breaker
3.MCTT
when using the external regenerative braking resistance, disconnect the short wiring between P+
and D and connect them according to the dotted line in the figure.
· please make sure that the servo driver is reliably grounded to avoid electrical damage accidents.
32
· please set the circuit that can make the electromagnetic brake move through both servo driver and
external emergency stop device, please refer to section 4.5.7.
· there is no positive or negative polarity of electromagnetic brake.
· the 24V power supply for the electromagnetic brake shall be provided by the user and shall not be
Shared with the control signal power supply.
1.motor 2.scram button
3.Surge absorber 4. fuse wire
5.yellow green(olivine)
The distance between the servo motor and the servo driver shall not exceed
20m.Maintain at least 30cm distance between the coder wire and the motor wire
and the power cord.
Picture 4-2 main circuit wiring diagram
4.2.2 1 phase 220V power input wiring diagram
1.断路器：breaker 2.EMI 滤波器：EMI filter
34
U
P+
motor
D
Olivine
urgency stop
butto n RY
.Surge absorber
fuse wire
DC 24V 10%
Picture 4-3 1 phase 220Vpower input wiring diagram
Please make this emergency stop to protect circuit.

·Electromagnetic contactor is provided with surge absorption device at both ends.
·main power supply and control circuit power input voltage range：220V±15%。
·please connect terminal R and T.
·Please correctly connect the drive U,V . W output according to the motor line
phase sequence of the servo motor. The phase sequence error will lead to the drive
failure.
·Do not disconnect short connections between P+ ,D unless external regenerative
braking resistance is used
·When using the external regenerative braking resistance, disconnect the short
wiring between P+ and D and connect them according to the dotted line in the
figure.
·Be sure to ground the servo driver reliably to avoid electrical damage.
·Please refer to section 4.5.7 for wiring of electromagnetic brake.

·The 24V power supply for electromagnetic braking shall be provided by users
themselves and shall be isolated from the 12-24v power supply for control signals.
36
4.2.3 3 phase 220V power supply input wiring diagram
P+
motor
MC D
ON OFF ALM
C
Breaker
R
EMI Olivine
fil MC
S
ter Scream
button RY
T
L1 Surge absorber
L2 Fuse wire
DC 24V 10%
X1
Picture 4-4 phase 220V power supply input wiring diagram
·Please user make this scream button to protect circuit

·Please add surge absorber The both end electromagnetic connector
·The range of main power and circuit power input:220V±15%.
failure.
figure.

themselves and shall be isolated from the 12-24v power supply for control signals.
37
4.2.4 3 phase 380V power input wiring diagram
MC
ON OFF ALM
breaker
R
EMI
fil MC
ter S
L1
L2
X1
P+
motor D
Olivine
Urgency stop
button RY
Surge absorber
Fuse wire
DC 24V 10%
Picture 4-5 3 phase 380V power supply input wiring diagram
·Please user make this scream button to protect circuit

·Please add surge absorber The both end electromagnetic connector
·The range of main power and circuit power input:3800V±15%.
39
failure.
figure.

themselves and shall be isolated from the 12-24v power supply for control signals.。
4.3 Encoder diagram（CN2 plug）

4.3.1 brief
·The distance between the servo motor and the
servo driver shall be not exceed 20m.
· Keep at least 30cm distance between the
encoder wire and the motor wire and the
power line;Don't put them in the same pipe,
and don't tie them together.
40
·The type of encoder plug can be divided into
aviation plug and cannon plug according to
the type of motor.
·If you want to make encoder wire by youself,
please choose the shielding wire with good
bending strength and the core diameter is
more than 0.18mm2 (AWG24).Please refer
to the figure below for the correct

1. 连接头 connect port
connection.
2. 编码器线：encoder wire
Picture 4-6 encoder signal wiring diagram

4.3.2 Servo driver CN2Pin arrangement and signal definition
CN2Pin arrangement
Incremental encoder wiring definition:
CN2 脚号 Incremental 1 2 3 4 5 6 7 8 9 10 11 12 13 14
CN2 脚号 encoder wiring
定义 definition V W A+ A- 5V U+ V- W- B- B+ U- GND Z- Z+
+ +
17 bit increment、absolute value encoder wiring definition:
CN2 脚号 CN2 Pin 3 4 5 12 13 14
定义 definition T- T+ 5V GND BAT- BAT
41
4.4 Communication signal wiring （CN3 plug）
Servo driver provide CanOpen ， RS485communication interface,All are
extracted through CN3 ports.CN3 Pin arrangement and signal
definition:
CN3 连接器 CN3 connector (total) 侧面图 profile 背面图 back

levation
Pin Signal name Terminal Function and introduction
No CN3 Pin arrangement
mark
1 Signal ground GND +5V and signal port ground

2 CAN data transfer CANH CAN communication terminal
3 - - keep
4 CAN data transfer CANL CAN communication terminal
5 RS-485 transfer RS-485(+) Drive side data transfer
differential＋port
6 RS-485 data RS-485(-) Drive side data transfer
transfer differential－port
42
4.5 Input and output signal wiring diagram（CN1 plug）
· Peripheral equipment such as the controller
from the servo driver should be within 3m.·控
The distance between the generator and the

4.5.1 Brief
power line and motor line should be at least
30cm.Do not tie them together or through the
same groove
· The controller signal is supplied with 12-24v
DC power supply by user provided , and the
capacity is more than 500mA.The 24V power
supply provided by this machine can only
provide 100mA current.
· pulse command input and encoder output
signal line require Shielded twisted pair
· Do not put voltage higher than 30V and load
more than 50mA on the switch output
terminal.
· When switching output signal directly drives
the relay and other inductive load, it is
necessary to parallel the relay diode at both
ends of the load.

1.电源 power supply 2.控制器 controller 3.伺服电机 servo motor
Picture 4-9 input and output signal wiring diagram
44
4.5.2CN1 pin arrangement and signal definition
4.5.2.1 CN1 terminal symbol definition
termi name function termi name function

nal nal
1 — keep 23 PULSE+ Instruction pulse+
2 DICOM DI input COM 24 PULSE- Instruction pulse-
3 P-CL External limit of 25 AO2 Analog output 2
forward torque
4 N-CL Reverse torque of 26 OCZ Z phase collector
external limit output
5 VA- Analog speed 27 OZ- Encoder Z phase
instruction- output-
6 — keep 28 OZ+ Encoder Z phase
output+
7 TA+ Analog torque 29 COIN+ Positioned +
nstruction +
8 TA- Analog torque 30 TGON- Motor rotary
i instruction- inspected output-
9 ALM- Malfunction output 31 OCS Instruction direction
input power supply
10 P-OT Forward drive 32 SIGN+ Instruction direction
prohibited input +
11 S-RDY+ ervo ready output+ 33 SIGN- Instruction direction
input -
S
12 COM- nternal 24V power- 34 ALMRST Alarm reset
13 S-RDY- Iervo ready output - 35 GND Signal ground
14 TGON+ S Motor rotary 36 — keep
inspected output+
15 ALM+ Malfunction+ 37 P-CON Proportional control

switching
16 S-ON Servo enable 38 OCP Instruction pulse
input power
17 CLR Position deviation 39 N-OT Reverse drive
pulse clearance prohibited
18 — keep 40 +24V Internal 24Vpower
47
supply
19 GND Signal ground 41 OB+ Encoder B phase out put -
20 VA+ Analog speed 42 OB- Encoder B phase out put +

instruction+
21 AO1 Analog output 43 OA- Encoder A phase output-
22 COIN- Positioned output- 44 OA+ Encoder A phase out put +
PS ： The following input and output can be changed by setting user parameters for
function allocation
Input: S-ON，P-CON，P-OT，N-OT，ALMRST，CLR，P-CL，N-CL，SHOM，
ORG
Output：TGON，S-RDY，COIN，RD，HOME
About other content, please refer parameter Pn509，Pn510 以及 Pn511。
4.5.2.2 CN1 pin arrangement：
CN1 plug pin arrangement

-
4.5.2.3 Power signal
Table4 6 power signal table
mark I/O name function

Internal Drive internal supply of 24V power, COM- fo
+24 24V 24V power ground.Capacity 100mA, the actua
40
V power load is greater than this value, please provider
supply+ power supply by user. l
Servo driver internal power ground(except 24V

GND 19, 35 Signal power supply), but also is the encoder Z phase
ground output collector open circuit signal and analog
output signal.It's isolated from COM-.
Internal
CO 12 24V The driver 24V ground
M- power
supply-
FG shell Shell CN1 terminal shell connect with driver shell

ground
48
4.5.2.4 Input signal name and function
Cont
rol Signal
I/O function
mod name
e
S-ON 16 Servo ON：The motor becomes energized
The function of the signal is selected by parameter
setting
Proportional Be ON ， Change the speed loop
control control mode from PI control to P
switching control
Rotate speed using “internal setting
switch speed”function,the signal can switch
Spee P-CON 37 rotary direction
d Control mode Switch control mode
Posit switching
ion Zero clamping When [speed control] is
torq ON,instruction speed is “0”
ue Instruction When [position control ] is ON,stop
pulse instruction pulse input
prohibited
Forward driver Over travel prohibited：be off,stop the
P-OT 10 prohibited servo motor running
N-OT 39 Reversed driver
prohibited
P-CL 3 The function of the signal is selected by parameter
N-CL 4 setting
50
Forward Be ON,the function is running
current limit
Reversed
current limit
Internal speed choose different internal setting to set
switch speed
ALMRST 34 alarm reset:clean servo alarm solution
DICOM 2 DI input COM
spee VA+ 20 Analog speed command differential input：±10V
d VA- 5
PULSE+ 23 Pulse input mode:
PULSE- 24 *symbol+pulse train
SIGN+ 32 *CCW+CW pulse
SIGN- 33 *2 Phase orthogonal pulse(90º phase difference)
OCP 38 Collector instruction open circuit power (servo drive
OCS 31 within respectively presetting 2 kΩ resistance)
posit
Returning to zero triggers the start signal(the rising edge
ion
SHOM — triggers the operation of returning to zero),allotted by
Pn509、Pn510.
zero-point rough reference originates (high voltage
ORG —
effective)，allotted by Pn509、Pn510
position deviation pulse clearance ： clear position
CLR 17
deviation pulse position controlling.
torq TA+ 7 analog torque command input different：±10V
ue TA- 8
4.5.2.5 Output signal name and function

Cont
rol Signal
I/O function
mod name
e
Spee TGON+ 14 Motor rotation detect: when the speed of the motor
d TGON- 30 rotates exceeds the set value, it is ON
52
posit ALM+ 15 servo alarm:
ion ALM- 9 when the servo is detected ,it is OFF
torq S-RDY+ 11 servo ready:after power on the control circuit and main
ue S-RDY- 13 circuit,If the servo does not alarm,it is ON
OA+ 44 A phase signal 2 phase pulse(AB phase) encoder
OA- 43 frequency dividing output signal
OB+ 41 B phase signal
OB- 42
OZ+ 28 Z phase signal Origin pulse (Z phase) signal
OZ- 27
V-CMP+ 29 consistent speed:
Spee
When the servo motor speed is consistent with
d V-CMP- 22
instruction speed, it is ON
posit COIN+ 29 Positioned,it is ON(The deviation pulse reaches the set
ion COIN- 22 value)
The “keep” can allot TGON 、 S-RDY 、 V-CMP(COIN)
I/O by changing parameter.
CLT
CLT:torque limited output ,when it reach the setting
value,it is ON
KEE
BK:brake chain output.,ON means relieved brake
P
PGC：Z pulse output
BK OT: Overshoot signal output
RD:Servo enabling motor excitation output
HOME:zero-backed output signal,zero-backed,it is ON
54
4.5.3 Position control mode wiring diagram
Picture 4-11 position control mode wiring diagram
56
4.5.4 Speed control mode wiring diagram
Picture 4-12 speed control mode wiring diagram
57
4.5.5 Torque control mode wiring diagram
Picture 4-13 Torque control mode wiring diagram
58
4.5.6 CN1 plug input,output introduction
4.5.6.1 Switch value input wiring：
Using self-matching power wiring ：
1.驱动器侧 driver side 2.S-ON 等开关量输入端子 S-ON switch

Picture 4-14 switch value input wiring（self-matching power）
Using servo power wiring:
1.驱动器侧 driver side 2.S-ON 等开关量输入端子 S-ON switch

Picture4-15 Using servo power wiring
59
Switch value input circuit has mechanical switch connect and open-circuit collector
connect of audion,like the picture.
·The 24V power can use the servo matching power supply ,the user also can using
power supply by self-matching(only providing 100mA current)
4.5.6.2 P ulse input circuit wiring：
1.differential mode:
Shielded wire
23 PULSE+
PULSE
24 PULSE-
32 SIGN+
SIGN
33 SIGN-
FG
Control model
side Driver side
Picture 4-16 Differential pulse input circuit wiring diagram
·Differential pulse input signal voltage±5V,max frequency 500kHz.

·This kind of signal transmission method has the best anti-noise ability, and it is
recommended to give priority to this connection method.
2：Collector open circuit mode

NPN control model(both -terminal) 1：
Twisted-pair
Shielded wire
38 OCP
PULSE
Y0 24 PULSE-
31 OCS
SIGN
Y1 33 SIGN-
24V
FG
Control model side Drive side
Picture 4-17 collector open-circuit (NPN mode)pulse input wiring diagram
60
PNP control mode(common anode):
Picture 4-18 collector open-circuit (NPN mode)pulse input wiring diagram

PNP control mode(common anode)
·The max input pulse frequency is 200KHz,connect driver-matching 24V power

supply(only provided 100mA current),or use user-matching 24V power supply,
needn’t limited-current resistance. The Japanese series
PLC(Mitsubishi ,Panasonic ,Omron etc.) most is NPN, European series(like siemens
etc.) most PNP.the picture is external 24V power supply wring way, if need internal
power supply, the Pin of 24V positive end connect 24V Pin of driver(CN1 40
pin),the negative end pin of 24 V connect COM-(CN1 12 pin)
3：collector open circuit wiring mede2

NPN control model(common -cathode) 1：
Twisted-pair
Shielded wire
23 PULSE+
PULSE
Current-limiting
resistor R
Y0 24 PULSE-
32 SIGN+
SIGN
Current-limiting
resistor R
33 SIGN-
Y1 VDC FG
(12～24V)
Picture 4-19 collector open circuit wiring mede2

NPN control model(common -cathode)
62
PNP control model (common anode):
Shielded wire Twisted-pair
Current-limiting
Y0 resistor R 23 PULSE+
PULSE
24 PULSE-
Current-limiting
Y1 resistor R 32 SIGN+
SIGN
33 SIGN-
VDC FG
(12～24V)
Picture 4-20 collector open circuit wiring mede2

NPN control model(common -anode)
·The max input pulse frequency is 200KHz,connect driver-matching 24V power
supply(only provided 100mA current),or use user-matching 24V power supply,
needn’t limited-current resistance. The Japanese series
PLC(Mitsubishi ,Panasonic ,Omron etc.) most is NPN, European series(like siemens
etc.) most PNP.the picture is external 24V power supply wring way, if need internal
power supply, the Pin of 24V positive end connect 24V Pin of driver(CN1 40
pin),the negative end pin of 24 V connect COM-(CN1 12 pin)
VCC R
VCC-1.5
12V 1KΩ,1/4W ≈10mA
R+68
24V 2KΩ,1/3W
Three model both need shielded-twisted pair,an ≤3M。
4.5.6.3 Analog input circuit wiring :

Controller Servo drive
20 VA+
5 VA-
A
Twisted-pair D
C
7 TA+
8 TA-
Please connect shielded pair

following the request FG
of equipment
63
Picture4-21 analog input circuit wiring diagram
There are 2 model analog input circuit:VA and TA,input resistance 40KΩ;input
voltage range :-10V~+10V,exceed±11V，can be caused damage circuit
4.5.6.4 Switch value output wiring:

using user-matching power supply wiring:
1.各输出最大带载能力，30V，50mA .each output max load ability, 30V 50mA

Picture 4-22 switch value output wiring diagram(user-matching)
U sing driver-matching power supply wiring:
65
1. .E ach output max load ability, 30V 50mA
Picture 4-23switch value output wiring diagram(driver-matching)
There are 4pcs analog output circuit,all like the picture which it is the collector
output construction,it can be used of drive relay coil or optocoupler load. The load
ability following the picture.
Connecting relay coil or other inductive load , please be sure to install the
secondary diode as shown in the diagram, otherwise the driver will be damaged.
The 24V power supply of the machine can only provide 100mA current. If the
actual load current is greater than 100mA, users are required to provide their own
power supply with a recommended capacity of more than 500mA.
4.5.6.5 The encoder feedback signal frequency dividing output wiring:

differential mode:
Servo drive Twisted pair Terminal resistor AM26LS32 or same effective chip
OA+ 44
OA- 43
OB+ 41
OB- 42
OZ+ 28
OZ- 27
GND 19 GND
Please connect shielded pare

FG
Shielded wire following the request of equipment
Picture 4-24the encoder feedback signal frequency dividing output wiring diagram
67
collector mode:
Servo drive Controller
VCC
Max. 30V,50mA
OCZ 26 Please option high-speed

optocouple
GND 19
Twisted pair
Picture 4-25the encoder feedback signal frequency dividing output wiring diagram
·The A,B phase of encoder only provide differential output signal,Z phase
provide differential and open circuit collector signal.
·For differential output signal,recommend that users use AM26C32 or equivalent

difference receiving chip, and must be about 220 Ω termination resistor.
·For Z phase of open collector out put,the user need use high-speed optocouple to
accept signal.
·2 mode both aren’t isolated.
4.5.6.6 Analog output circuit wiring:

Servo driver Measuring instrument
Shielded pair
AO1 21
AI1
GND 19 GND
AO2 25
AI2
GND 19 GND
Please connect shielded pair
FG following the request of equipment
Twisted pair
Picture4-26 Analog output circuit wiring diagram

There are 2 analog value input circuit,output voltage range 0-10V,max output
current 3mA.
68
4.5.7 Electromagnetic brake wiring
When servo motors are used for vertical shafts, electromagnetic brakes can be
used to stop or keep the weight falling when the servo driver is out of power.The
connection of electromagnetic brake is as follows:
1.伺服驱动器 servo driver 2.使用 24V 电源时，连接图中虚线，并去掉外部电源 connect imaginary
line and delete external power supply when the servo use 24V power 3.EX 信号输出功能通过参数
Pn511 进行设定 EX output signal function set by parameter Pn 511 4.制动电阻，专用电源 brake
resistance special power supply 5.急停按钮 scream button 6.浪涌吸收器 surge absorber 7.保险 fuse
8.制动电阻 brake 9.电机 motor
Note: 1. Brake resistance must use a special 24V power supply, do not share with the control power
supply or relay coil power supply.Brake coil has polarity, please correctly connect according to the
motor nameplate 3. Brake pin function is set through the parameter Pn511
Picture4-27 electromagnetic brake wiring diagram

·The 24V power supply for the electromagnetic brake shall be provided with a
special power supply by the user, which shall not be Shared with the power supply for
the control signal.
·The RY is relay coil in the picture ,please note the direction of diode
·Electromagnetic brakes are used for holding, not for normal stopping.
·Although the electromagnetic brake has the function of preventing or keeping
the weight falling, the user should install the brake device externally at the same time.
· The BK signal can be allocated to the corresponding pin output through the
Pn511 setting.
69
4.6 Noise suppression
4.6.1 Noise and solution
Since the main loop of the servo driver uses high-speed switching elements, the
noise of switching elements may affect the wiring and grounding of the servo unit.
In order to prevent the occurrence of noise, according to the need, the following
noise countermeasures can be taken.
·Whenever possible, place the command input device and noise filter near the
servo driver.
· Be sure to connect surge suppressors to the coil of relays, solenoids, and
electromagnetic contactors.
·When wiring, the main circuit cable (the cable used in the main circuit of the
motor) and the input and output signal line should be away from more than
30cm.Do not put the same sleeve or bundle together.
· Do not use the same power supply as welding machine, edm machine,
etc.Connect a noise filter to the input side of the main loop cable when there is
a high frequency generator nearby, even if it is not of the same power

supply.Refer to "(1) noise filter" for the connection method of the noise filter.
·Please make proper grounding treatment.Refer to "(2) proper grounding
treatment" for grounding treatment.
Connect the noise filter to the appropriate location to avoid adverse effects of
noise on the servo driver.
The following are examples of wiring with noise countermeasures in
mind.
71
1.噪音滤波器 Noise filter 2.伺服驱动器 servo drive 3.操作继电器顺控回路 Operate relay direct
control circuit 4.用户信号发生回路 User signal generation loop 5.伺服电机 servo motor 6.噪音滤波
器 noise filter 7 DC 电源 DC power supply 8.大地接地--- 此为专用接地接地电阻 100Ω以下
ground--special ground, ground resistance≤100Ω 9. 3.5 mm2 的导线 cable ≥3.5mm2 10. 箱体 box
(2) Proper grounding treatment

In order to prevent misoperation caused by noise, the appropriate grounding
treatment method is described below.
■ Grounding of motor frame

When the servo motor is mechanically grounded, the switching interference
current will flow from the main loop of the servo unit through the parasitic
capacitance of the servo motor.To prevent this from happening, be sure to
connect the motor frame terminal (FG) of the servo motor with the grounding
terminal of the servo unit.otherwise,grounding terminal “ ” must ground
73
■ when the noise happen in input/output signal cable
In the case of noise in the input-output signal cable, single-point grounding shall
be implemented for the OV line (SG) of the input-output signal cable.When the
wiring sleeve of the main circuit of the motor has metal sleeve, single-point
grounding must be implemented on the metal sleeve and junction box.
■ When the servo driver is installed in the control cabinet, there should be a metal
back plate in the cabinet for fixing the servo driver and other peripheral
equipment.The filter shall be installed on the back plate and close to the power
line of the cabinet to be connected to the opening.Screw the filter housing to the
back plate and connect the grounding terminal of the filter to the grounding
terminal of the control cabinet.
■ The servo driver must be installed on the metal back plate and ensure that the
radiator surface is grounded. The grounding terminal of the servo driver should
be connected to the grounding terminal of the control cabinet.
4.6.2 The notice of connecting noise filter

Considerations for connecting noise filters are shown below.
(1) Noise filter for brake power supply

When using servo motor with brake, use SCHAFFNER noise filter in brake
power input.
The corresponding relationship between the power of the servo driver and the
current of the filter is as follows:
74
Servo driver power filter current
50W 0.7A
100W 1.4A
200W 1A
400W 2A
750W 4A
1KW 4A
1.5KW 6A
2KW 8A
3KW 12A
5KW 20A
7.5KW 30A
11KW 44A
15KW 60A
18.5KW 74A
22KW 88A
PS：1.Single-phase power supply driver should use a single-phase filter, 3 phase power
supply driver should use a 3 phase filter.
2. Please combine the required parameters (such as working voltage, working
current, manufacturer, etc.) to select the appropriate filter.
3 Filter brand and model of 380V servo driver are recommended as follows:
.
Driver power Erect filter model SCHAFFNER

model
1KW DL-5EB FN3025HP-10-71
2KW DL-10EB FN3025HP-10-71
3KW DL-15EB3 FN3025HP-20-71
5KW DL-25EB3 FN3025HP-30-71
7.5KW DL-30EB3 FN3025HP-30-71
(2) T he notice for installation and wiring of noise filters
Please observe the following notice for the installation and wiring of the noise filter.
Separate input wiring from output wiring.In addition, do not use the same casing for
input and output wiring, and do not tie them together
76
.
1.箱体 box 2.噪音滤波器 noise filter 3.将回路分离 separate the loop
The ground wire of the noise filter shall be set separately from the output wire.In
addition, the ground wire should not use the same sleeve as the output wire of the
noise filter and other signal wires, and should not be bundled together.
1.箱体 box 2.噪音滤波器 noise filter
77
The enclosure of the noise filter shall be installed on the ground floor and not directly
on the painted surface of the control cabinet.
1.噪音滤波器 noise filter 2.伺服驱动器 servo driver 3.屏蔽接地 shield ground 3.箱
体 box
When there is a noise filter inside the control cabinet, please connect the ground wire
of the noise filter and the ground wire of other equipment in the control cabinet to the
ground floor of the control cabinet before grounding.
1.控制柜 control cabinet 2.噪音滤波器 noise filter 3.伺服驱动器 servo driver 4.

接地 grounding
78
4.7 EMC setting condition
The following shows the EMC standard identification conditions for matching test of
servo motor and servo driver.
(1)EMC identification’s condition
EMC verification test conditions for servo drivers are described below.The EMC
setting conditions recorded here are the test conditions accepted by our company.
EMC levels will vary according to the actual device composition, wiring state and
other conditions.
1.电源：三相 AC220V power supply: 3 phase AC200V 2.箱位 slots 3.噪音滤波器

noise filter 4. 电缆长度约 2M the length of cable about 2m 5. 接地板 / 屏蔽箱
grounding plate/shielded box 6.伺服驱动器 servo driver 7.磁心 magnetic core 8.箱
位 slots 9. 电缆长度 5m the length of cable about 5m 10. 指令控制器 instruction
controller 11.制动器 brake 12. 伺服电机 servo motor 13.编码器 encoder
79
Mark Cable name type
① Input/output signal cable Shield cable
② Motor main loop cable Shield cable
③ Encoder cable Shield cable
④ Power supply special cable Shield cable
PS:The picture takes the three-phase 220VAC driver connection as an example

(2) The ferrite core on the cable shall be installed and fixed with the cable
(a) The installation of ferrite core
Wind the cable twice on the ferrite core (see the figure below).
The installation position of ferrite core of each cable is shown in the following table.
电缆，cable 铁氧体磁芯 ferrite core
Cable name The position of ferrite core

installation
Input/output signal Command controller with servo
cable driver near
Motor main circuit Nearby servo driver and servo
cable motor
Encoder cable Nearby servo driver and servo
motor
(b) Recommended ferrite core model

Cable name ferrite core model factory
Input/output signal cable ESD-SR-25 TOKIN
Encoder cable
≤400W
Motor main circuit ≥750W PC40T96 × 20 × 70 TDK
cable
81
(c) The fixation of cable
Fix the shielding layer part of the cable with a conductive fixer (cable clip) and
fix it on the ground floor.
Cable clip example
1.指令控制器 command controller 2. 接地板 grounding plate 3. 电缆 cable 4.电

缆夹 cable clip 5. 屏蔽部分（拨开电缆包皮）shielded part(Remove cable sheath)
6. 用导电金属部件固定电缆的屏蔽部分 Secure the cable shield with conductive
metal parts 7.请除去表面的涂层 remove the surface coating
(d) Shielded box
To shield electromagnetic interference (EMI) from the servo driver, a shielded box (a
closed metal case) is required.Shielded box must have a structure that can ground the
main body, door and cooling device of the shielded box.The opening of the shielded
box should be as small as possible.
82
5 Running
5.1 Test running

Please conduct the following 3 test runs in sequence.Speed control mode (standard
setting) and position control mode are described below.Without special instructions,
use the user parameters set at the factory.
(1) Servo motor single test running(refer 5.1.1)

■ purpose
Operate the servo motor when the servo motor shaft is not mechanically
connected.
be sure of right following :
· power supply circuit wire
· servo motor wire
· encoder wire
· the rotary direction and speed servo motor
(2) Single test running of servo motor by superior instruction(refer 5.2.1)

■ purpose
Operate the servo motor when the servo motor shaft is not mechanically
connected.
Be sure of right following :
· Wiring with input and output signals of the command controller
· Confirmation of rotary direction, rotary speed and rotary amount of servo
motor
· Confirm the actuation of brake, overpass and other protective functions
(3) Mechanical and servo motor supporting trial operation (please refer to 5.1.3)
■ purpose
Connect the servo motor to the machine for trial operation.
Adjust servo driver according to mechanical characteristics.
· The speed of the servo motor and the moving distance of the machine
· user parameter setting
83
step item content command
Set the servo motor and servo driver according to the
setting conditions.(please do not connect the servo motor

1 Set.install —
to the machine as the no-load operation confirmation is
required first.)
Please connect power circuit R, S, T, L1C, L2C, servo
motor wiring (U, V, W), input and output signal wiring
2 wiring·wring (CN1), encoder wiring (CN2).However, during the "(1) —
trial operation of the servo motor monomer", remove the
CN1 connector.
Please turn on the power.Please use the panel operator to
Switch on confirm that the servo driver is abnormal.When using

3 —
power servo motor with absolute value encoder, please set the
encoder.
4 JOG running Please JOG the operation of the single servo motor in JOG running
no-load state.
Connection
Connect the input/output signal (CN1) required for the test
5 of input —
run to the servo driver.
signal
Use internal monitoring to confirm incoming

Confirmatio
signals.Please switch on the power and confirm whether
6 n of input —
the urgency stop, brake, overshoot and other protective
signal
actions are carried out normally.
85
Servo ON
Input the servo ON signal and put the servo motor in the Superior
7 signal
energized state. instruction
input
Instruction Input the command of the control mode to be used ,to Superior
8
input confirm that the servo motor can operate normally. instruction
Please cut off the power.Please connect the servo motor to
the machine.When using a servo motor with an absolute

Protective
9 value encoder, set the absolute value encoder and the —
action
initial setting of the command controller to align with the
origin position of the machine.
The same as the instruction input in step 8, the operation

The setting
is carried out through the instruction controller and the
of required Superior
10 required user parameters are set to make the moving
user instruction
direction, moving distance and moving speed of the
parameters
machine conform to the instruction content.
Now you're ready to run.Please adjust the servo gain as Superior

11 running
required. instruction
5.1.1 Servo motor single test operation
Noticce
87
Cut off the connection part between the servo motor and the
machine, only keep the servo motor monomer in a fixed state.
the servo motor is placed in the no-load state (the state where the
coupling is separated from the belt and other servo motor monomer)
for trial operationin, the description of this item.
In this item, check whether the cables used for power supply and motor main
circuit and encoder cables are properly wired.There are many reasons why the servo
motor can not rotate smoothly in the test run state.So please confirm again.
After confirming the wiring is correct, please conduct the pilot run of the servo
motor monomer according to the serial number shown below.
Step content Confirm method and supplementary

instruction
Please fix the servo motor securely Fix the mounting surface (flange) of
the servo motor on the machine. The
servo motor may rotate left and
1
right
Please do not connect the servo
motor shaft to the machine.
2 When the connector (CN1) for input
89
Confirm the wiring of power supply and output signals is not connected,
2 circuit,servo motor and encoder please confirm the wiring of power
circuit and servo motor.
Please connect the control power and If power is supplied normally, the
main circuit power panel operator on the front of the
normal servo driver displays as shown in
the left image.Display content
means standby status.
The example in alarm When the alarm display as shown in
the "display example when alarm
occurs" in the figure on the left
appears, it may be considered that
3
there is something wrong with the
wiring of the power circuit, the
cable used in the main circuit of the
motor or the encoder cable.Please
cut off the power supply, determine
the location of the problem, and
take corrective measures to restore
the "normal state" as shown in the
left figure.。
When the servo motor has brake, it Refer “5.3.4” to confirm the setting
must to leave the brake before using of brake
the motor. Please refer “5.5”speed
4
When using the absolute value control(analog value voltage
encoder, the encoder must be set command)running
before driving the servo motor.
91
Operate the panel operator and JOG
mode (Fn002).
Use the INC key to confirm forward
rotation and the DEC key to confirm
reversal rotation.
If there is no alarm display and run
according to the set content, the
"test run of the servo motor unit" is
completed.End the JOG mode
5
(Fn002) and cut off the power
supply.
Refer to "how to use panel operators
in chapter 6" for instructions on how
to operate panel operators.
The rotary speed of the servo motor
can be changed through the user
parameter JOG speed (Pn304).The
factory setting is 500rpm.
92
step the display after operated Operated introduction
panel
“MODE”key Push “MODE”,choose
1
auxiliary function mode
“▲” or Push ▲▼ ， choose the
2 “▼”key function number of JOG
operation mode
“SET” Push SET ， JOG operation
3
mode.
“MODE” Push MODE ， servo ON
4
（motor energizing）.
Push▲（forward rotation）or
▼（reversal rotation），The
motor rotates during key
5
▲or▼ pressing.
MODE Push MODE ， Enter servo

6 OFF (motor power OFF)
state.
SET Press SET to return the
display of function
7 number.At this time, the
servo OFF (motor is not
energized).
Effective mode
JOG speed
Position,speed,torque
Pn304 Set range unit Factory Does it need to be
setting recharged
0～6000 rpm 500 No
Set the motor speed instruction value of the auxiliary function "JOG mode operation
(Fn002)".
93
The operation panel can also be used to run the servo motor without the instruction of
the command controller.
In addition, please note that in JOG mode, the forward rotation drive (p-ot) and
reversal rotation drive (n-ot) signals are not valid.
5.1.2 Through the superior instruction to carry monomer test running

on the servo motor
In this content,Confirmed whether the servo motor movement instructions and

input and output signals input from the command controller to the servo driver are set
correctly.Confirmed the wiring between instruction controller and servo driver are
set correctly ,the servo driver’s action are set correctly.This is final confirmation
before the motor connect machinery.
(1) T he servo ON instruction from superior instruction
The following external input signal circuit and equivalent signal circuit must be
configured.
(2)The running step off speed control mode(Pn000=H.□□0□)

The following external input signal circuit and equivalent signal circuit must be
configured.
95
伺服驱动器 servo driver
上位模拟量速度指令 superior analog value speed instruction
step content Confirmed method and supplementary

introduction
Please confirmed the power
Please refer the picture’s input signal
1 and input signal circuit,speed
circuit
instruction input is 0V.
If the servo motor is slightly rotated,
Please set servo ON(S-ON) please refer to "5.5.3 adjustment of
2
input signal to ON instruction offset" for the setting of
non-rotation of the servo motor.
Please input the speed
instruction (the voltage
3 between VA+ and VA-) and Factory setting is 150 R/V。
slowly increase the voltage
from 0V.
Please confirm the value of
Refer to "6.1.6 monitor mode operation"
4 servo driver in speed
for the display method.
instruction(Un001[min-1])
5 Please confirm the value of Refer to "6.1.6 monitor mode operation"
97
servo motor rotary for the display method.
speed(Un001[min-1)
Change the input voltage of speed
Please confirm the value is instruction to confirm whether
6
consistent with step 4 and 5. Un001=Un000 is valid when multiple
speed instruction values are set.
When changing the speed instruction
input gain (Pn300), please refer to the
following formula.
Un001＝(VA voltage)[V]×Pn300
Please confirm the speed If you want to change the motor rotation
7 nstruction input gain or motor direction without changing the polarity
i
rotation direction. of the input voltage of the speed
instruction, please refer to "5.3.2 motor
rotation direction switching".
After the changes, start again with step 2.
I f the speed input instruction is

set to 0V and enters the servo
8 OFF state, it indicates that the
test run of the single servo
motor has been completed.
(3) The running step of position control mode (Pn000=H.□□1□)

The following external input signal circuit and equivalent signal circuit must be configured.
98
上位模拟量速度指令 superior analog value speed instruction
confirmed method and supplementary

step content
introduction
Please confirm that the pulse
shape of the instruction pulse
The instruction pulse shape set by Pn200
1 is consistent with the pulse
bits
output shape of the superior
pulse instruction device.
99
Set instruction unit,set electric The (Pn201 or Pn203)/Pn202 determine
2
gear ratio by instruction device the electric gear ratio.
Please switch on the power and
3 set the servo ON(s-on) input
signal to ON.
The slow instruction pulse is
output from the instruction
Please set the instruction pulse speed as
controller by using the
4 the safe speed of motor speed at about
pre-confirmed motor rotation
100min -1..
(for example, motor rotation 1
turn).
Please confirm the number of
instruction pulses entered into
the servo driver with the Refer to "6.1.6 monitor mode operation"
5
change before and after the for the display method.
input instruction pulse counter
(Un013, Un014[pulse]).
Please confirm whether the
actual positions of motor
6 Un009 and Un010 are the
same as those of Un013 and
Un014.
Please confirm whether it is
Please confirm the polarity of the input
consistent with the rotary
7 pulse and the shape of the input
direction of the servo motor
instruction pulse.。
issuing instructions.
Please input big motor rotary
Please set the instruction pulse speed as
amount pulse instruction of a
8 the safe speed of motor speed at about
certain speed from instruction
100min -1.
controller
Please confirm whether input Refer to "6.1.6 monitor mode operation"
9
into the the instruction pulse for the display method.
101
frequency of servo driver is
normal by input pulse given
frequency (Un008[min-1]).
Please confirm motor speed by
10 motor rotary speed
(Un000[min-1]).
If you want to change the motor rotation
direction without changing the input
instruction pulse shape, please refer to
Please confirm the rotary
11 "5.3.2 motor rotation direction
direction of motor.
switching".
After the changes, start again with step
8.
If the pulse instruction input is
stopped and the servo OFF
state is entered, the test run of
12 the servo motor monomer
position control mode using
the superior position command
has been completed.
5.1.3 Machine and servo motor matching test run
Note
●Follow the instructions shown in this section.In the state of connection with
servo motor and machine, if the operation error occurs, it will not only cause
mechanical damage, sometimes may lead to personal injury accidents.
102
Please follow the step to test running
to power supply
The motor flange is fixed on the machine and installed on the load shaft by connecting the shaft
joint and so on
confirmed method and supplementary

step content
introduction
Please refer to "5.3 general basic
function Settings".
When using servo motor with brake,
Please switch on power,Carry
please confirm the action of brake in
out the setting of the
advance under the condition of taking
1 mechanical composition of the
measures to prevent mechanical natural
over travel and brake
fall and vibration caused by external
protection functions.
force.Please confirm the action of servo
motor and brake is normal.Please refer
“5.3.4 the setting of holding brake”
2 Please setting the user required According to the control mode ,please
104
parameter by control mode refer
“5.5 speed control(analog value voltage)
run”
“5.6 position control run”
“5.7 torque control run”
Please connect the servo motor
and the machine with
3
couplings and so on when the
power is cut off.
Please switch on the power of
the machine (instruction
controller) after confirming Please “5.3 general basic function
that the servo driver is turned Settings”
4 OFF(the servo motor is not You can do urgency stop of safe stop,if
energized).Please confirm subsequent steps have exceptions at run
again whether the protection time
function in step 1 is working
normally.
Please follow the "5.1.2
Through the superior
instruction to carry monomer Please confirm that the result is the same
test running on the servo as the servo motor monomer test run.In
5 motor" for each project, and addition, please confirm that the
conduct the test run under the instruction unit and other Settings are
state that the mechanical and consistent with the machine.
servo motor have been
installed.
Please confirm again that the
Please confirm whether the servo motor
user parameter setting is
6 running according to the mechanical
consistent with the control
action specification.
mode in step 2.
7 Adjust the servo gain as There may be insufficient "run-in" with
105
needed to improve the the machine during the test run, so
responsiveness of the servo please conduct full test run.
motor.
Then “Machine and servo
8 motor matching test run” is
completed
5.1.4 The servo driver test running with brake
The holding brake action of servo motor with brake is controlled by the brake
interlocking output (BK) signal of the servo driver.
When you confirm the working of brake action ,please make measure in advance
to prevent machinery falls naturally and external forces vibrate.Please confirm the
action of the servo motor and the action of the holding brake when the servo motor is
separated from the machine.If the respective actions are normal, the servo motor and
the machine are connected together and the test run is carried out.
the wiring、user parameter setting about the servo motor with brake,please refer “5.3.4
The setting of holding brake”
5.1.5 Position control by instruction controller
As mentioned above,Please be sure to separate the servo motor from the

machine before the test run of the monomer servo motor.Please refer to the following
table to confirm the servo motor action and specification in advance.
指令控制器 instruction controller 位置控制 position 、control 模拟量速度指令 analog value
speed instruction 伺服驱动器 servo driver 速度控制 speed control 伺服电机单体运行 servo motor
monomer test running
106
The instruction of
Confirmed items Confirmed method The revised method
instruction controller
JOG action (input servo motor rotary Use the following method Please determine
instruction of a certain speed to confirm the speed of whether the speed
speed by instruction the servo motor. command input gain
controller ) · motor speed monitoring Pn300 is correct by
using panel operator confirming the setting
(Un000) value of user
· try to run the servo parameters.
motor at low speed.For
example, enter the
60min-1 speed command
and confirm that it rotates
once every 1 second.
Please determine
Input the instruction
whether PG frequency
equivalent to 1 turn of the
Servo motor rotary division ratio Pn206 is
Easy setting servo motor and visually
value correct by confirming
confirm that the servo
the setting value of
motor shaft rotates 1 turn.
user parameters.
When the servo motor
over travel action rotates continuously, If servo motor don’t

Input P-OT.N-OT
(when using P-OT and please confirm that the stop run,please adjust
signal,servo motor
N-OT servo motor stops running P-OT 、 N-OT pair
whether stop
signal) after P-OTand N-OT again
signals are set to ON.
5.2 The choice of control mode

The control mode (control mode) available for ASD620B servo driver is described
below.
108
User parameter Control mode reference
speed control mode(analog voltage

instruction)
Using the analog voltage speed instruction
Pn000 H.□□0□ 5.5
control the rotary speed of servo motor.Please
use it on the following occasions.
· want to control the speed
· use the encoder from the servo driver to
feedback the frequency division output and
configure the position loop in the instruction
controller for position control
Position control(pulse train instruction)
Using pulse train instruction control the position
of servo motor.
H.□□1□ 5.6
Using input pulse number control position,using
pulse frequency control speed.
Use when positioning action is required.
Torque control(analog value voltage
instruction)
The output torque of servo motor is controlled
H.□□2□ 5.7
by analog voltage torque instruction.Please use
when you want to output voltage and other
required torque.
Speed control (contact instruction) speed
control (zero instruction)
P-con, p-cl and n-cl are used for a total of 3 input
H.□□3□ signals, and the speed is controlled by preset 5.8
operating speed in the servo driver.Servo driver
can set 7 running speeds.(no analog
voltage-measuring instructions are required.)
H.□□4□
● It is a switching mode matched with the above 4
5.10
● control modes.Please select the appropriate
H.□□E□ control mode for customer use.
110
5.3 General basic function setting
5.3.1 Servo ON set

Set the servo ON signal (s-on) that sends out the servo motor ON/off state instruction.
(1) Servo ON signal (S-ON)
type signal CN1 Pin set meaning

CN1-16 ON=L the servo motor state is switch
（ factor voltage on(servo ON), can be run
setti level
输入 S-ON
ng） OFF=H the servo motor state is switch
voltage off(servo off), can’t be run.
level
■ attention ： Be sure to issue input instructions to start/stop the servo motor after
sending out the servo ON signal.Please do not issue input instructions before
starting/stopping the servo motor with the S-ON signal.If the AC power supply is
repeatedly ON and OFF, the internal components will age, leading to accidents.
The S-ON signal can assign the input connector pin number to another place through
user parameters. Please refer to "4.5.2 input and output signal name and its function".
(2)Choose use/not use servo ON signal

Servo ON is set by user parameters.There is no need for S-ON wiring at this time, but
since the servo driver becomes active at the same time as the power ON, please handle
with care.
User parameter meaning
b.□□□0 External S-ON effective(factory setting)
Pn004 b.□□□1 External S-ON invalid,S-RDY automatically turns on the
motor excitation signal after output.
· After changing this user parameter, the power must be restarted for the setting to
take effect.
111
5.3.2 The switch of motor rotary direction
Only the rotary direction of the servo motor can be reversald without changing
the polarity of the instruction pulse and instruction voltage sent to the servo driver.
At this time, the axis movement direction (+, -) is reversald, but the polarity of
the output signal from the servo driver, such as the encoder pulse output and analog
monitoring signal, remains unchanged.
The "forward direction" of the standard setting is "counterclockwise rotation"
when viewed from the load side of the servo motor.
instruction
User parameter name Forward rotation Reveres rotation
instruction instruction
Stand
setting
(CCW is
H.□□□0 forward
rotation)
(factory
Pn000
setting)
reversal
rotation
H.□□□1 mode
(CW is
forward
rotation)
When Switch P-OT，N-OT direction.Pn000=H.□□□0(stand setting)，CCW direction
is P-OT, when Pn000=H.□□□1(reversal rotation),CW direction is P-OT.
5.3.3 Over travel setting

Over travel refers to the state of limit switch action (ON) when the movable part
of the machine exceeds the movable setting area, and the over travel function of the
servo driver is the function of forced stop in this case.
(1)the connection of over travel
112
To use the over travel function, connect the input signal of the over travel limit
switch below correctly to the corresponding pin number of the servo driver CN1
connector.
type Signal CN1 Pin setting meaning

name
CN1-10 ON=L Can forward rotation
(factory voltage drive(general operation)
setting) level
Input P-OT
OFF=H Forbid forward lateral drive
voltage (forward lateral over travel)
level
CN1-39 ON=L Can reversal rotation lateral
(factory voltage drive(general operation)
Outp setting ) level
N-OT
ut OFF=H Forbid reversal rotation lateral
voltage drive(reversal rotation lateral
level over travel)
In the case of linear drive, in order to prevent mechanical damage, please be sure to
connect the limit switch as shown in the figure below.
伺服电机 servo motor 限位开关 limit switch 电机正转开关 motor forward

rotation switch 限位开关 limit switch 伺服驱动器servo driver
even in over travel state, also can reverse lateral drive
Example:in forward rotation lateral over travel state, can reversal rotation lateral
drive.
■ attention
Position control, using over travel stop the motor, There will be a position offset
pulse
Want to clear the position offset pulse,there are must clearing the CLR signal.
115
Note:
1、When the servo motor is used on the vertical axis, the workpiece may fall in the over
travel state.
2、In order to prevent the workpiece from falling down during the over travel, be sure
to set the bits of Pn001 to enter the zero clamping state after stopping.
(2)Choose use/not use over travel signal
If you don’t want to set over travel, you can set nonuse by set internal user
parameter of servo driver.
b.□□0□ Input forbidden forward rotation drive signal(P-OT) from
CN1-10
b.□□1□ Forbidden forward rotation signal is invalid.(can normally
forward rotation lateral drive)
Pn004
b.□0□□ Input forbidden reversal rotation drive signal (N-OT) from
CN1-39.
b.□1□□ Forbidden reversal rotation drive signal(N-OT) is invalid.(can
normally reverse lateral drive)
Effective control mode: speed control、position control、torque control
·After changing this user parameter, the power must be restarted for the setting to
take effect.
· P-OTt, N-OT signal can freely allocate input connector pin number through user
parameters.
(3)stop mode(S-0FF and Over travel)
It is stop way when the over travel (P-OT, N-OT) signal is input in the rotation
process of the servo moto
r.
Motor stop After meaning
User parameter mode motor
stop
Through DB(dynamic brake) to
stop quickly, the servo motor stops
H.□□□0 DB stop Inertial
and enters the inertial operation
Pn001 running
(non-energized) state.
state
Inertial to stop as the stop method with
H.□□□1
running servo OFF(inertia motion stop).it
117
stop will enter inertia run (switch off)
state after servo motor stop.
The DB will stop when servo OFF,
over travel reverse connect brake
H.□□□2
stop.it will enter inertia run (switch
Inertial off) state after servo motor stop.
running It will free stop when servo
state OFF,over travel reverse connect
H.□□□3 brake stop.it will enter inertia run
(switch off) state after servo motor
stop.
S-OFF/ove
The DB will stop when servo
r travel
OFF,over travel reverse connect
H.□□□4 brake stop.it will enter
zero-clamping state after servo
Zero-cla
motor stop
mping
It will free stop when servo
state
OFF,over travel reverse connect
H.□□□5 brake stop,it will enter
zero-clamping state after servo
motor stop
take effect.
· DB stop:using dynamic brake to brake、stop.
·· inertia operation stop: don’t brake,nature stop by force of friction when motor
rotate.
· reverse connected brake:the stop of using reverse brake to limit torque
· zero-clamping state:the state of using position instruction zero-matching position
loop
(4) The stop torque setting when over travel
119
Effective mode
reverse connected brake
Speed,position,torque
Pn406 Setting range unit Factory Whether need switch
setting on again
0～300 % 300 No
· the stop torque when setting input over travel signal(P-OT,N-OT).
· the set unit is compare with rated torque%.(rated torque is 100%)
· the factory setting reverse connected brake torque must set 300% enough value
like motor max torque. But the true input reverse connected brake torque is
depended on rated value of motor.
5.3.4 Holding brake setting

It will be used by servo motor drive in vertical axis.
When the power of servo driver is switch OFF,the servo motor holding moving
part will not move by gravity with brake.(refer “5.1.4” the test running of servo motor
with brake.)
垂直轴 Vertical axis 伺服电机 servo motor 保持制动器 holding brake 防止电源关闭时因自动
移动部分因自重而产生的移动Prevent the part of automatic movement due to weight when the
power is switch off 承受外力的轴伺服电机servo motor 外力 external force 防止工作台因外力而
产生移动Prevent table from moving due to external force
● The brakes embedded in the servo motor with brake are non-excitation action type
holding brake, which cannot be used for braking, but can only be used to hold the stop
state of the servo motor.
120
● Just using speed loop servo motor action,at brake action in the moment ,let the servo
OFF,set input instruction “0V”
● Matching speed loop, don’t let mechanical brake has action because the servo motor
stop is servo locked state.
（1）Connect example
It constitute ON/OFF circuit of brake from servo driver sequence input signal(BK) and
brake power.the stand wiring:
电源 power 伺服驱动器 servo driver 带制动器的电机 motor with brake
BK-RY：brake control relay
*1、*2：Input terminal number from user parameter Pn511 allotted.
（2）Brake interlocking output
type Signal name CN1 Pin set meaning

ON=L voltage
level Release brake
BK allotted
OFF=H Use brake
voltage level
when the servo motor with brake is used,the signal is output signal of controlling
brake.otherwise, This output signal is not used in the factory Settings.Output signal
allocation (Pn511 setting) is required.Do not connect motor without brake when
using.
122
（3）T he allocation of brake signal(BK)
The brake signal can’t be used in factory setting state.the allocation of output signal is
required .
CN1 Pin
User parameter +termina -terminal meaning
l
BK signal is output by 29 and
Pn511 H.□□□4 CN1-29 CN1-22
22 pins of CN1 interface.
Pn511 H.□□4□ CN1-14 CN1-30
Pn511 H.□4□□ CN1-11 CN1-13
■ attention(importance)
·The brake signal(BK) is invalid in factory setting.
Corresponding Pn511 signal pin function is defined as follows:
0 COIN(V-CMP) output
1 TGON Rotation detection output
2 S-RDY servo ready output
3 CLT torque limit-output
4 BK brake interlocking output
5 PGC encoder Z phase output
6 OT over travel signal output
7 RD servo enabled motor output
8 HOME zero-back accomplish
output
9 TCR torque detection output
relevant user parameter
Paramete Name and introduction unit Setting range Factory
r number setting
Pn505 servo ON latency ms -2000～2000 0
Pn506 basic latency procedure 10ms 0～500 0
123
Pn507 brake latency speed rpm 10～100 100
Pn508 brake latency 10ms 10～100 50
（4）Brake ON/OFF setting(servo motor stop rotate)

When factory setting, BK signal is output when s-on signal is set as ON/OFF, and the
timing of servo ON/OFF can be changed by user parameters.
Effective mode
Servo ON latency
Setting range unit Factory Whether recharge
setting
-2000～2000 ms 0 No
Introduction:
Pn505
Pn505 is +, when there is servo ON input, BK signal is first output,
and then the motor excitation signal is given after the parameter
setting time is delayed.
Pn505 is -,when there is servo ON input, excitation signal is first
output, then the BK signal is output after the parameter setting is
delayed.
Effective mode
Pn506 Basic latency procedure
125
setting
0～500 10ms 0 No
· when it is used in vertical axis, the mechanical moving part sometime will have a
little moving by gravity and external force because of brake ON/OFF setting.
This small amount of movement can be eliminated by adjusting the servo ON/OFF
action time through the above user parameters.
· about the brake action of servo motor rotary process,please refer in this content
“(5)brake ON/OFF setting (servo motor rotation)”
S-ON输入 S-ON input BK输出 BK output 伺服功能打开动作（电机通电状态）

servo function open action(motor energizing) 伺服ON servo ON 伺服OFF servo
OFF 伺服ON servo ON 制动器解除brake release 制动器制动brake braking 制
动器解除 brake release 电机通电 motor switch on 电机断电 motor switch off 电
机通电 motor switch on 基本等待流程Pn506 basic latency procedure 伺服ON等
待时间（Pn505＞0） servo ON latency(Pn505＞0)
■ attention(important)
·When the alarm occurs, the servo motor immediately enters the non-energized state
and has nothing to do with the setting of the above user parameters.
·Due to the influence of the movable part of the mechanical weight or external force,
and so on, sometimes the mechanical brake action in the time before has movement.
· when the brake is released but motor is non-excitation, do not input any external
instruction, to prevent motor overshoot solution.
127
（5） Brake ON/OFF setting (servo motor rotation)
The output condition of BK signal can be changed according to the following user
parameters when the servo OFF or warning is issued to the rotating servo motor send
stop instruction.
setting
10～100 1rpm 100 No
Effective mode
Brake latency
Pn508 Setting range unit Factory Whether recharge
setting
10～100 10ms 50 No
The output condition of BK signal in servo motor rotary process
When any of the following conditions is true, BK signal is set to H level (brake
braking).
· when the motor speed is below Pn507 after servo OFF
· when the setting time of Pn508 is exceeded after the servo OFF
S-ON 输入或者发生警报电源OFF S-ON input or alarm happening power OFF 伺

服ON servo ON 伺服OFF servo OFF 电机转速 motor rotary speed DB停止或者惯
性运动停止（Pn001）DB stop or inertial moving stop(Pn001) DB输出 DB output
制动器释放 brake release 制动器保持 brake holding
Pn507 Brake latency speed Effective mode
128
5.3.5 The processing setting of interrupt power-supply
When the voltage supply to the main circuit power supply of the servo driver is
OFF instantaneously, set it to continue running or set it as the servo alarm.

b.0□□□ The servo driver continues to operate after a period of
Pn004 instantaneous power failure
b.1□□□ Instant power failure cycle servo driver alarm
5.4 Speed control(analog voltage instruction)running

5.4.1 User parameter setting
Control model choose: speed control(analog voltage
Pn000 H.□□0□
instruction)
Effective mode
speed instruction input gain
setting
0～3000 rpm/v 150 No
Set the analog voltage level of the speed instruction (VA) required to run the servo
motor at the rated speed.
■ Example
Pn300300=150:it means motor’s given rotary speed is 150rpm,when input 1V
voltage(factory setting)
130
指令速度 instruction speed 设定该斜率 set the slope
指令电压instruction voltage
5.4.2 Input signal set

（1）Speed instruction input
The speed instruction in the form of analog voltage instruction to the servo driver,The
servo motor is controlled at a speed of proportional to the input voltage.
type Signal CN1 Pin name
name
VA+ CN1-20 speed instruction differential input
input
VA- CN1-5 speed instruction differential input
135
（3）Proportional motion instruction signal(P-CON)
type Signal CN1 Pin set meaning
name
ON=L E Run the servo driver in P
voltage level control mode
input P-CON CN1-37
OFF=H Run the servo driver in PI
voltage level control mode
· p-con signal is the signal that selects the speed control mode from
PI(proportion · integral) or P(proportion) control.
· if set to P control, motor rotation and slight vibration caused by drift of speed
command input can be reduced
· input instruction can reduce servo motor rotation by 0V drift,but the servo rigidity
(supporting force) decreases when the servo stops.
.P-CON signal can allocates the input connector pin number to another location by
user parameters.
5. 4.3The instruction offset adjust

When the speed control mode is used, as the analog instruction voltage,the motor
will rotate at a small speed,even if the 0V instruction is issued.
It will happen that the motor slight rotate as analog instruction voltage , even the
instruction is 0V,when the speed control mode is used.
The situation will happen when the superior control device or external circuit
instruction voltage have slight(mV) offset.In this situation,the instruction can be
automatic adjust or manually adjust by panel operator.(please refer”6.2 application
operated”)
The automatic adjustment of the analog (speed · torque) instruction offset is the
function of measuring the offset and automatically adjusting the voltage.
When the voltage instruction of the superior control device and the external
circuit is offset, the servo driver will automatically adjust the offset as follows.
136
指令电压 instruction voltage 偏移量速度指令 offset speed instruction
自动修正偏移量 automatically adjust offset 指令电压 instruction
voltage 速度指令 speed instruction 伺服驱动器内部自动调整偏移量 the
servo driver internal adjust offset
The offset will be recorded at internal servo driver, once the instruction offset has
automatically adjust. The offset can be confirmed by manual adjustment of speed
instruction offset.(please refer “5.53(2) speed instruction offset automatic adjustment)
(1) Speed instruction offset automatic adjustmen
When the offset pulse is set to zero when the command controller is configured
with position ring at servo lock stops , the instruction offset cannot be automatically
adjusted (Fn003).In this case, use manual adjustment of the speed instruction offset
(Fn004).
when the speed instruction is 0, It is also equipped with zero clamping speed
control function which can force servo lock.Please refer to "5.5.7 use of zero clamping
function".
Attention:
Please execute the automatic adjustment of analog 0 offset at servo OFF.
Please follow the step to set speed instruction offset automatic adjustment
1． please set the servo driver in servo OFF,Input 0V instruction voltage by instruction
controller or external circuit.
138
指令控制装置 instruction controller OV 速度指令 0V speed instruction 伺
服 OFF servo OFF 伺服驱动器 servo driver 伺服电机 servo motor 微小旋转
（伺服 ON 时）slight rotation(servo ON)
按MODE 键，选择辅助功能模式。
2． Click “MODE”,choose assistant function.
3． Click ▲ or ▼,choose the function number of speed instruction offset automatic

adjustment
4． Push “SET”,enter speed instruction automatic adjustment.
5． Press “MODE”,after the digital flicker 1S,the speed offset will be automatically
adjust.
139
6． Press “SET”, return the digital of function number
7． Then, the automatic adjustment of speed instruction offset is completed.
（2）Speed instruction offset manual adjustment
Please use manual adjustment of speed command offset (Fn004) in the following cases.
· the instruction controller is configured with a position ring to set the offset pulse
when the servo lock stops to zero
· consciously set the offset to a set quantity
· confirm that the offset data set is automatically adjusted
The basic function is same with analog(speed.torque) instruction offset automatic
adjustment(Fn300).You have to adjust at the same time at input offset when you
manually adjust(Fn004).
The setting range and setting unit of offset:
偏移量设定单位 offset setting unit 偏移量调整范围 offset setting range

速度指令 speed instruction 模拟量电压输入 analog voltage input 偏移量
调整范围:-1024--+1024 offset adjustment range:-1024--+1024
Please follow the step to enter manual adjustment of speed instruction

1． Click “MODE”,choose assistant function mode
2．Click ▲ or ▼,choose the function number of speed instruction offset manual
141
adjustment
3． Press SET,enter speed instruction offset manual adjustment.
4． Long press the SET key for 1 second to display the speed instruction offset.
5． Click ▲ or ▼,adjust offset.

6． Press SET, return display of step 3
7． Press “SET”, return the digital of function number
Then, the manual adjustment of speed instruction offset is completed.
5.4.4 Soft-start
Soft start refers to the function of converting internal discontinuity speed
instruction input into acceleration and deceleration instruction within the servo
driver.Soft start can be selected by parameter Pn309:
0：ramp；1：S curve；2：once filter；3、secondary filter
Effective mode
soft start accelerated time
speed
setting
0～10000 ms 0 No
Effective mode
Soft start decelerated time
Pn306 speed
143
setting
0～10000 ms 0 Effective mode
When inputted step speed instruction or optioned internal setting speed, smooth speed
control is available.(normally,please set the speed control “0”)
Each setting value:
· Pn305：the time from stop state to max rotation
· Pn306：the time from max rotation to stop state
软启动前 before soft start 软启动后 after soft start 电机最大转速 motor max
rotation
5.4.5 Speed filter time constant

Effective mode
Speed filter time constant
speed
Pn307
setting
0～10000 1ms 0 No
The analog speed instruction (VA) input is smoothed speed instruction by a delay
filter once.If the value is set too high, responsiveness will be decreases.
5.4.6 S curve risen time

Effective mode
S curve rise time
speed
setting
0～10000 1ms 0 No
144
5.4.7 Zero clamping function manual
(1) The definition of zero clamping

The zero clamping function refers to the function used in the case that the
instruction controller has not configured the position ring system in the speed control.
If the zero clamping(P-CON) is set ON,Then, when the input voltage of the speed
instruction (VA) reaches below the speed of Pn502(zero clamping speed), the position
ring is configured internal the servo driver, ignoring the speed instruction and making
the servo motor stop urgently to enter the servo lock state.
Servo motor position of zero clamping affecting is clamped with ± 1 pulse,the
zero clamping location will return even rotated by external force
上位装置 superior device 速度指令（VA）speed instruction(VA) 零钳位(P-CON)

接通 P-CON 信号，检测“Pn502”设定值以下的速度指令 connect P-CON signal,
inspect speed instruction under “Pn502” setting value
(2) User parameter setting
146
control mode: speed control(analog voltage
Pn000 H.□□A□
instruction) zero clamping
Zero clamping action switch condition
Set Pn000= H. /. / A., the following two conditions are true, then enter the zero clamp.
· P-CON is ON, L voltage level .
· speed instruction (VA) is lower than the set value of
Pn502
速度指令 speed instruction 零钳位 zero clamping 伺服驱动器 servo driver 零钳位
电平设定值 Pn502 zero clamping voltage setting value Pn502 “P-CON” 输入
“P-CON” input 零钳位动作 zero clamping action 速度 speed “ VA ” 速度指
令”VA”speed instruction 时间 time
Effective mode
the rotary speed of zero clamping
speed
setting
0～3000 rpm 10 No
Selecting speed control with zero clamping function (H.□□A□)), set the rotary speed
to enter the zero clamping action.Even if the max rotary speed of the servo motor
exceeds the value set in Pn502, the max rotary speed of the servo motor is still valid.
148
（4）Input signal setting
type Signal CN1Pin Setting meaning

name
input P-CON CN1-37 ON=L Clamping function
voltage ON(valid)
level
OFF=H
Clamping function
voltage
OFF(invalid)
level
There are not ON=L
Clamping function
this signal voltage
ON(valid)
output,can level
terminal output
ZCLAMP
by setting OFF=H
Clamping function
parameter voltage
OFF(invalid)
Pn509,Pn510 to level
option
P-CON and ZCLAMP are the input signals used to switch zero clamping input.
Important: when ZCLAMP signal has allocated, zero clamping function is effective
at speed control mode
5.4.8 Encoder signal output

The feedback pulse of encoder will output outside after the servo driver internal
process.
type Signal name CN1Pin Name

OA+ CN1-44 Encoder output A phase+
output
OA- CN1-43 Encoder output A phase-
OB+ CN1-41 Encoder output phase +
output
OB- CN1-42 Encoder output B phase-
OZ+ CN1-28 Encoder output Z phase+（original
output
pulse）
150
OZ- CN1-27 Encoder output Z phase-(original
pulse)
编码器 encoder 伺服驱动器 servo driver 分频电路 divided frequency circuit

输出说明 input introduction 指令控制器 instruction controller
* even under reverse mode(Pn000 bit setting is 1),the divided frequency phase
shape is same with standard setting(Pn000 bit setting is 0)
■ output phase shape
foreward rotation(B phase 90°lead)

reverse rotation(B phase 90°lead)
152
For the non-absolute value encoder motor, please rotate the servo motor twice,
then use the z-phase pulse output of the servo driver to reset the mechanical origin.
frequency division:It refers to the pulse density set by the user parameter (Pn206) and
output based on the pulse data of the encoder installed on the servo motor.The unit is
"pulse number /1 turn".
■ The setting of encoder pulse frequency dividing ratio
Effective mode
PG frequency division
setting
1～16384 pulse 2500 No
Set the output pulse number of PG output signals (OA+,OZ-,OB+,OB-) sent from the
servo driver to the outside.
Each loop of feedback pulse from the encoder is divided into Pn206 and output in the
servo driver.(please set according to the system specification of mechanical and
instruction controller.)
Note: the setting range varies depending on the number of encoder pulses used in the
servo motor.
For example: 2500 line incremental encoder, the effective setting range of Pn206 is 1
~ 2500
In 17 bit coding, the effective range of Pn206 is 16 ~ 16384
Pn206 is set as 2500 at the factory, which means that 10,000 pulses are output per
cycle (after dividing frequency).
■ output example
Pn206=16(each 16pulse output)
set value:16
153
5.4.9 Inspect output with same speed
When the speed of servo motor is consistent with the instruction speed, the same
speed detection output (v-cmp) signal is output.Use when interlocking with an
instruction controller.
type Signal CN1 Pin setting meaning
name
V-CMP CN1-29、22 ON=L Consistent speed state
(COIN) （factory voltage lever
output
setting） OFF=H Different speed state
voltage lever
Pn501 same speed error Effective mode

speed
setting
0～100 rpm 10 No
If the difference between the motor speed and the instruction speed is lower than the
Pn501 set value, the "V-CMP" signal is output.
■ example
Pn501=100 、 instruction speed is 2000min-1,if the motor rotary speed is under
1900~2100min-1,The “V-CMP” will be set “ON”
电机转速 motor rotary 指令速度 instruction speed 在此范围内输出

“V-CMP” output “V-CMP” under the range
■ supplement
The pin output COIN signal when mode is position mode; if the mode is speed
control mode ,the output V-CMP signal.
154
5.5 Position control run
Please set the following user parameter, using pulse train to make position control:
Pn000 H.□□1□ Control mode option:position control(pulse train
instruction)
The control frame of position control like the picture:
指令脉冲 instruction pulse 分频输出 frequency dividing output 伺服驱动器（位

置控制时）servo driver(position control mode) 微分 slight divide 平滑 smooth 前馈
feed-forward 偏差计数器 deviation counter 分频 frequency division 前馈滤波器
时间常数 feed-forward filter time constant 偏移 offset 定位完成 positioned 速度环
speed ring 电流环 current ring 伺服电机 servo motor 编码器 encoder
5.6.1 The basic set of position control

（1）The set of pulse instruction input signal
type Signal name CN1 Pin name
PULSE+ CN1-23 Instruction pulse input
input PULSE- CN1-24 Instruction pulse input
SIGN+ CN1-32 Instruction direction input
SIGN- CN1-33 Instruction direction input
156
when pulse is differential input,the servo can
H.0□□□
receive max pulse frequency ≤1M
Pn200 H.1□□□
receive max pulse frequency≤500K
H.2□□□
receive max pulse frequency≤150K
（3）pulse instruction input signal shape setting

Servo driver’s input shape set user parameter PN200 bits by instruction control
specification
Input
Reverse
Instruction multi Foreward rotation
User parameter rotation
shape plicat instruction
instruction
ion
symbol+pulse
H.□□□0 (+logical) －
(factory setting)
CW+CCW
H.□□□1 －
Pn200 (+logical)
H.□□□2 90 ° phase ×1
H.□□□3 difference ×2
2 phase pulse
H.□□□4 ×4
(+logical)
■ supplement
90 ° phase difference 2 phase pulse instruction，Input multiplication can be set.
158
伺服处理 servo process 正转+rotation 反转-rotation 伺服电机的移动指令脉冲 servo
motor moving instruction pulse 1,2,4 倍 1,2,4times
（3）Control PULSE、SIGN whether negation
H.□□0□ PULS instruction does not negate, SIGN instruction does

not negate
Pn200 H.□□1□ PULS instruction does not negate, SIGN instruction negate
H.□□2□ PULS instruction negate, SIGN instruction does not negate
H.□□3□ PULS instruction negate, SIGN instruction negate
（4）The timing of instruction pulse input signal
Instruction pulse Electric specification

signal shape
Symbol + pulse train
input
(SIGN+PULSE
signal)
Max instruction
frequency：500kpps 正转指令 +rotation instruction 反转指令 -rotation
(collector open circuit instruction
output： 200kpps)
160
CW pulse+CCW
pulse
Max instruction
frequency：500kpps
(collector open circuit
output： 200kpps) 正转指令 +rotation instruction 反转指令 -rotation
instruction
90°相位差2相脉冲
90 ° phase
difference 2 phase
pulse(A+Bphase)
Max instruction
frequency：正转指令 +rotation instruction 反转指令 -rotation
×1 times：500kpps instruction B 相超前 A 相 90°B phase lead A phase
×2 times：400kpps 90° B 相滞后相 90°B phase lag A phase 90°
×4 times：200kpps
5.5.2 Reset signal shape option

（1）Cleaning input signal set
type Signal name CN1 PIN meaning
input CLR CN1-17 Deviation counter
cleared
The CLR signal is “L” voltage level,the deviation counter will be cleaning:
Servo driver internal deviation counter is “0”
·Position ring action is invalid
（2）Deviation counter cleaning set

When the position control is optioned, there will be retained pulse after the servo OFF,
so it is necessary to clear the retained pulse signal when the power is re-energized
(S-ON). At the same time, whether the position deviation pulse signal can be
automatically cleared when the servo OFF is set through the 100-bit setting of user
arameter Pn200.
162
H.□0□□ the deviation counter will be reset at S-OFF,do not
reset at overrun
Pn200 H.□1□□ no reset the deviation counter
H.□2□□ S-OFF or overrun(without zero clamping),the deviation
counter both reset
5.5.3 Electronic gear setting

（1） Electronic gear
Electronic gear function refer to set the workpiece movement equal to the input
pulse of the instruction controller to any value.
This instruction 1 pulse (min unit) is “1 instruction unit” from instruction
controller.
不使用电子齿轮 do not use electronic gear 编码器脉冲：32768 encoder pulse:32678 滚
珠丝扛节距：6mm Ball screw staff distance 要将工件移动 10mm need to move workpiece 10mm
由于一圈为 6mm,10/6=1.66666 圈，由于用 32678*4 脉冲转一圈；1.6666*32678*4=218445,运行
218445 的指令输入，这一换算必须在指令限制器上进行。 Because one circle is

6mm,10/6=1.66666 circles, because 32678*4 pulses are used to make one
circle;1.6666*32678*4=218445, run 218445 instruction input, this conversion must be
carried out on the instruction limiter. 使用电子齿轮 use electronic gear 指令单位：
1μm instruction unit:1μm 工作 work
要用“指令单位”将工件移动 10mm,由于将 1 指令单位设为 1μm，要将工作单位移动 10MM（10000
μm）10000*1=10000 脉冲，运行 10000 脉冲的指令输入 To move the workpiece 10mm with the
"instruction units", to move the work units 10mm *1= 10000ms, run the 10000ms input to
the instruction input.
163
（2）Related user parameter
Pn008 H.□□0□ use 16bit electronic gear parameter
H.□□1□ Use 32 bit electronic gear parameter
Effective mode
16bit electronic gear（member）
position
setting
1～65535 —— 1 need
Effective mode
16bit electronic gear（denominator）
position
setting
1～65535 —— 1 need
Effective mode
32 bit electronic gear（member,H）
position
setting
1～9999 10000 0 need
Effective mode
32 bit electronic gear（member,L）
position
setting
1～9999 1 1 need
Effective mode
32 bit electronic gear（denominator,H）
position
setting
1～9999 10000 0 need
Effective mode
32 bit electronic gear（denominator,L）
position
Pn708
setting
166
1～9999 1 1 need
If setting the mechanical decelerate ratio is m/n with motor axis and load side,
Then, the set value of electron tooth ratio can be obtained from the following
equation.
(servo motor rotated m ring, load axis rotated n ring)
electronic gear ratio B  Pn 201

A Pn 202
编码器脉冲数  4 m
 
负载轴旋转1圈的移动量 n
encoder pulsevalue  4 m
 
the1ringmovingamountofloadaxis n
编码器脉冲数 encoder pulse amount 负载轴旋转一圈的移动量 the 1ring
displacement of load axis rotated 1 ring
*enabled 32 bits electronic gear function, B  Pn705  10000  Pn706

A Pn707  10000  Pn708
*When exceeding the set range, divide the numerator and denominator into integers
within the set range.
*Be attention, do not change electronic gear ratio(B/A).
■ importance
the setting range of electronic gear ratio：0.01≤electronic gear ratio(B/A)≤100

Beyond the above range, the servo driver cannot operate normally.Please change the
mechanical composition or instruction unit.
（3）T he setting step of electronic gear ratio

Please follow the step to set electronic gear ratio:
167
step content introduction
Confirming machine Confirmed deceleration ratio,Ball screw staff
1
specification distance,pulley diameter
confirmed encoder confirmed encoder pulse amount of using servo
2
pulse amount motor
Determining 1 instruction unit from instruction
controller.
Determining
3 Please determine instruction unit based on
instruction unit
considering machine specification and position
precision.
Calculating g Based on determined instruction unit,
displacement which calculating instruction unit which load axis
4
load axis rotated 1 rotated 1 ring
ring
Calculating Based on electronic gear ratio calculation
5
electronic gear ratio formula to calculate electronic gear ratio(B/A).
Setting user Setting the electronic gear ratio from calculated
6
parameter value.
（4）The setting example of electronic gear ratio

Actually,the electronic gear ratio is determined by several examples.
Machine construction
Ball screw staff circular truncated cone belt+pulley
step content
指令单位：指令单位：0.01° 指令单位：
0.001mm instruction 0.001mm
instruction unit:0.01° 负载 instruction
unit:0.001mm 负轴 load axis 17 unit:0.001mm 负
168
载轴 load axis 位编码器 17 载轴 load axis 17
17 位编码器 17 bits encoder 减位编码器 17 bits
bits encoder 滚速比 3:1 encode 减速比
珠丝杠节距 ball deceleration 2:1 deceleration
screw staff ratio ratio 滑轮直径：
distance 100mm pulley
diameter 100mm
confirm Pulley diameter:100 mm
ball screw staff The Angle of rotation
machine (pulley perimeter:314
1 distance:6mm for 1 circle:360°
constructi mm)
Deceleration ratio:1/1 Deceleration ratio:3/1
on Deceleration ratio:2/1
2 encoder 17Bits：32768 P/R 17bits：32768 P/R 17bits：32768 P/R
Setting
1 instruction unit： 1 instruction unit： 1 instruction unit：
3 instructio
0.001mm(1um) 0.1° 0.01mm
n unit
displacem
ent which
314mm/0.01mm =
4 load axis 6mm/0.001mm = 6000 360°/0.1°= 3600
31400
rotated 1
ring
Calculati B 32768  4 1 B 32768  4 3 B 32768  4 2

     
ng A 6000 1 A 3600 1 A 31400 1
5
electronic
gear
Setting Pn201 131072 Pn201 393216 Pn201 262144

user
6
paramet Pn202 6000 Pn202 3600 Pn202 31400
er
Final Pn201 32768 Pn201 32768 Pn201 32768

7
result
Pn202 1500 Pn202 300 Pn202 3925
170
If the result is not in the set range, the numerator and denominator need reduction.
For example, if you reduce the numerator and denominator above by 4 or some other
number, you will get the values in step 7 respectively, and the setting is completed.
（5）The calculation formula of electronic gear
指令脉冲 instruction pulse 指令单位 instruction unit 编码器脉冲 encoder pulse

滚珠丝杠节距 ball screw staff distance 减速比 deceleration ratio 位置环 position
ring 速度环 speed ring 伺服电机 servo motor 节距 distance A 和 B 通过用户参数
设定 A and B through user parameter setting
5.5.4 Smooth function

Internal servo driver can filter to instruction pulse certain frequency
（1）The option of position instruction filter mode
User parameter content

0：once instruction filter
Pn205
1：secondary instruction filter
The power supply needs to be restarted after the user parameters change
171
（2）The filter of user parameter
Effective mode
Position instruction filter time constant
position
setting
0～32767 0.1ms 0 No
■ Importance
There will be effected by changed value without instruction pulse input and offset
pulse is 0,when changed position instruction filter time constant parameter(Pn204).To
truly reflect the value set, enter the clear signal (CLR) to disable the instruction pulse
of the instruction controller, or the servoff to clear the offset pulse.
Even in this condition, the motor also can be smooth run. Otherwise,there are no
effective by this setting for displacement(instruction pulse amount)
It can’t decelerate and accelerate by instruction controller of sending instruction
The instruction frequency is low state
the electronic gear ratio is a high state(10 times)
5.5.5 Low-frequency jitter suppression

（1） Main point
For the low rigidity load, it is easy to generate continuous low-frequency jitter at the
front end of the load when the load starts and stops quickly, which extends the
positioning time and affects the production efficiency.The servo driver internally
includes anti-jitter control function, which can suppress the low-frequency jitter by
calculating the load position and compensating it
172
伺服电机 servo motor 联轴器 coupler 低刚性负载发生抖动 the low rigidity load
has vibration 移动部件 moving part 工作台 workbench 滚珠丝杠 ball screw
staff
（2）Range of application
Low-frequency jitter suppression function both affect in speed control mode and
position control mode.
In this condition,the function maybe can’t normally work, or can’t achieve the
desired effect:
· intensified jitter by external force
· the jitter frequency beyond 5.0~50.0Hz
·Mechanical clearance exists in mechanical joint of vibration structural parts
· the moving time is less than one vibration period
（3）Operation
● Measurement of jitter frequency
If the jitter frequency can be measurement by machine(like laser
interferometer ),please write the measured frequency data (in 0.1hz) directly into
the parameter Pn412.
If there is no measuring device, the jitter frequency of load can be indirectly measured
by drawing function of upper computer software ASD620B or FFT analysis function.
position offset counter
173
● Relevant parameter

H.□0□□ 0：close(no open) low-frequency jitter
H.□1□□ suppression function
Pn006
1：start low-frequency jitter suppression
function
Effective mode
Low-frequency jitter frequency
Position,speed
setting
50～500 0.1Hz 100 No
Effective mode
Low-frequency jitter damping
Position,speed
setting
0～200 —— 25 No
· After the measured load jitter frequency is written into the parameter Pn412, Pn412
can be fine-tuned to obtain the best inhibitory effect.
·If the motor continues to vibrate when it stops, Pn413 can be appropriately
increased. Generally, the parameter Pn413 does not need to be modified.
· The parameters Pn412 and Pn413 are valid when the hundreds digit of Pn006 is set
to 1, and the parameter are valid when Pn006 is modified and reenergized.
175
5.5.6 Positioned signal
The signal means servo motor has positioned in position mode.Please use the signal
when the instruction controller proceed positioned confirmed interlock.
Type Signal CN1Pin set meaning

name
CN1-29、22 ON=L voltage positioned
（出厂设定） level
Output COIN
OFF=H No positioned
voltage level
Positioned signal can allocate to output terminal through user parameter
The factory setting is CN1-29,22 allocated.
Effective mode
Position error
Position
setting
0～5000 pulse 100 No
Effective mode
Position arriving time
Position
setting
0～60000 0.1ms 500 No
· If the difference with instruction pulse amount of instruction controller and the
displacement of servo motor is lower than the setting value of the user parameter ,
and the continued time is over the setting value of parameter Pn520, then input
positioned signal(COIN)
· Setting unit is instruction unit. It is depended on the instruction unit of electronic
gear ratio.
· If the setting value is too large, the low speed running will reduce offset,but the
COIN will be appeared frequently.
·This setting is not affect the final position precision.
177
速度 speed 指令 instruction 电机转速 motor rotary speed 偏移脉冲 offset pulse
■ Supplement
· “COIN” is position control signal

· speed control, the function automatically change “V-CMP”;torque control,the
function automatically change “OFF(H voltage level)”
5.5.7 Instruction pulse prohibited function(INHIBIT function)
(1) Instruction pulse prohibited function(INHIBIT function)

Instruction pulse function is to stop (prohibit) instruction pulse input count function
at position control mode.
During use of this function, enter servo locking (clamping) state.
指令脉冲 instruction pulse 伺服驱动器 servo driver 偏差计数器 offset counter

反馈脉冲 feedback pulse
179
(3) The user parameter setting

Pn000 H.□□B□ control mode:position control(pulse train
instruction) prohibit(INHIBIT)
■ Prohibit(INHIBIT) switch condition
·P-CON is ON(L voltage level)signal
此期间即使输入指令脉冲也不计数 at this time even input instruction pulse the

counter will be not count 指令脉冲 instruction pulse
(4) Input signal setting
type Signal CN1Pin set meaning

name
INHIBIT function
ON=L
ON
input P-CON CN1-37 Electronic
(stop
level
(prohibit)count of
instruction pulse)
INHIBIT功
OFF=H
function OFF
Electronic
(count the
level
instruction pulse)
181
5.5.8 Position contact control
Position control under parameter instruction(The parameterPn000 set to C) . In
this mode, driver has signal-axis position function, no need superior device control.
This mode has 16 bits position control, each bits can set displacement, running
speed, instruction filter time constant,position arriving stop time.
Find referent point 2 speed can be set:(1) speed of running in the direction of
travel switch "search travel speed";2. Speed of leaving stroke switch).
2 position mode:1. absolute position mode;2.relative position mode
2 running mode:1.circuit operated mode 2.single operated mode
2 step change mode:1.delay step change; 2.P-CON signal step change
2 find referent point mode:1.forward search;2.reverse search.
■ Set displacement
The displacement at each point corresponds to two parameters, the unit of which
is [* 10000 instruction pulse] and the other unit of which is [* 1 instruction pulse]. The
setting range of these two parameters is :(-9999) ~ (+9999), and the displacement is
equal to the algebraic sum of the two parameters.
Example:
Zero displacement matching parameter is Pn600(*10000 instruction pulse) and
Pn601(*1instruction pulse),set Pn600=100,Pn601=-100,then，
Zero displacement=Pn600*10000 instruction pulse+(-100)*1 instruction pulse
=100*10000 instruction pulse+(-100)*1 instruction pulse
=999900 instruction pulse.
Same point,want to get the same displacement, there are 1 parameter setting way:
Pn600=99，Pn601=9900
So, we can find as long as both parameters are not zero, there are two ways to set
the displacement, one is to set two parameters to the same sign, the other is to set two
parameters to the different sign.
■ Speed
The speed refers to the motor running in the steady speed stage of the speed , like
the external given pulse frequency in normal position mode .But, the speed is no
related with electronic gear, meaning the actual speed.
182
■ Position instruction filter time constant
Position instruction filter time constant Pn204 of the ordinary position control.
■ Step change time after position arriving
For this parameter to be effective, internal delay step change mode must be
adopted. Please refer to Pn681 parameter description.
tep changing time refers to the time when the positioning signal COIN is output,
or when the servo ON or the reference point is found, to the time when the servo starts
to execute the point bit control program, which is determined by the step changing
time of the last point bit number at the starting point of the program.
Running point bit control program,if setting offset counter to “Servo OFF no
cleaning offset counter”, the counter could overflow; if the counter haven’t
overflow,when user restart servo ON the motor maybe run at max rotary speed,so
please pay attention to the device safe to user.
H.□0□□ S-OFF,offset counter clean; over travel,no clean
Pn200 H.□1□□ offset counter clean
H.□2□□ S-OFF or over travel(without zero clamping), the offset
counter both clean.
■ Find reference point

In order to find the physical zero point of the workbench by finding referent point,
to be coordinate zero point of point position control.user can find reference point by
forward rotation side or reverse rotation side.
The find reference point method
Installed the limited switch on forward side or reverse side, find reference point
at forward side direction after connect PCL,find reference point at reverse side
direction after connect NCL. Motor will stop following the Pn001 parameter setting
stop mode, after the workbench attach the limited switch,then run as leaving limited
switch direction;after the workbench leave the limited switch,let the motor rotate first
encoder Z pulse position,this workbench position is coordinate zero point.
The related parameter of find reference point
The running speed of running to limited switch direction is referred “search
184
travel speed”,the running speed of leaving to limited switch direction is referred
“leave travel switch speed”. the 2 speed can be set by following parameter.
paramete r description unit Setting range factory

Pn685 Search travel speed rpm 0～3000 1500
Pn686 leave travel switch rpm 0～200 30
speed
Generally, "search travel speed" (Pn685) can be set to high speed, and "leave travel
switch speed" (Pn686) can be set to low speed.Note: the "leave travel switch speed"
is too high, which will affect the accuracy of finding reference points.
In addition, when looking for reference points, PCL and NCL are whether connected
no longer as external current limit control.
■ Related user parameter

single/circuit,start/reference point option
H.□□□0 Circuit run,PCL start signal,NCL reverse find reference
point
H.□□□1 Single run,PCL start signal,NCL reverse find reference
Pn681
point
H.□□□2 Circuit run,NCL start signal,PCL forward find reference
point
H.□□□3 Single run,NCL start signal,PCL forward find reference
185
point
Multi-point circuit,The next step will be executed from the starting point after step
change executed the end point is completed.When the multi-point single time, the
point control program will not change step until the end point.
step change and start way
H.□□0□ Delay step change,needn’t start signal,delay star after S-ON
PCON step change,needn’t start signal,delay PCON start
H.□□1□ after S-CON,but internal pulse can’t be stop just can’t
change step when the PCON signal is OFF
Pn681 Delay step change. Need start signal, Canceling the start
H.□□2□ signal can immediately turns off the internal pulse.when
restart, returns the program to its starting point
P-CON step change,need start signal canceling the start
H.□□3□ signal can immediately turns off the internal pulse.when
restart, returns the program to its starting point
When external P-CON signal need step change,Step change signal is only effective
after the driver outputs position arriving signal. If there is no position arriving signal,
step change signal is invalid.When the step change signal is valid, the steps are
changed in order from the starting point to the ending point.

the effective way of step change input signal
Pn681 H.□0□□ step change input signal voltage level way
H.□1□□ step change input signal pulse way
186
Program way
Pn682 0 increment program
1 absolute value program
Increment:relative displacement(a current position to next position)program;
Absolute value program:absolute displacement(workbench and reference point
displacement)program.
5.5.9 Position zero control (origin regression function)

In the position control, a lot of times need to start running in a fixed position, this
position is often referred to as the zero position, sometimes the superior computer
needs to operate once zero position,after the system power on, and before processing,
This is the reference point for each subsequent run.This zeroing operation can be done
through the servo driver.
（1） Zeroing mode option
User parameter 意义
b.□□□0 forward rotation direction to find origin
b.□□□1 reverse rotation direction to find origin
b.□□0□ When the Origin Regress ,return find Z pulse
Pn689 b.□□1□ When the Origin Regress ,don’t return and directly find Z
pulse
b.□0□□ Closed the origin regression function
b.□1□□ the origin regression is triggered by SHOW input signal
·Effective control mode: position control
·After Positioned signal COIN has affected , then the zero operation can be start.
·shielded superior device sent pulse at zero process.
·the zero operation is invalid at switching control mode, the control mode can’t be
switched at zero operation process.
take effect
﹡ SHOM and ORG signals can freely allocate the input pin number of the
connector through user parameters.
188
（2）Related user parameter
finding reference point speed (attach Effective mode

origin signal ORG) position
setting
0～3000 rpm 1500 No
Pn686 finding reference point speed (attach Effective mode
origin signal ORG) position

setting
0～200 rpm 30 No
Effective mode
origin regression offset pulse amount
position
setting
0～9999 10000P 0 No
Effective mode
origin regression offset pulse amount
position
setting
0～9999 1P 0 No
189
（3） Input/output signal set
type Signal CN1 Pin Setting meaning
name
ON=rising
By Pn509、 Start zero operation
edge
Input SHOM Pn510
OFF=no Zero operation is
allocated
rising edge invalid
Input ORG By Pn509、 ON=H The zero rough
Pn510 voltage level reference point is valid
allocated OFF=L The zero rough
voltage level reference point is valid
·After the Pn509 and Pn510 user parameter was changed, the power must be
restart for setting to take affect.
zeroed output signal allocation:
CN1 Pin
+terminal -terminal
Output zeroed signal by
Pn511 H.□□□8 CN1-29 CN1-22 output terminal
CN1-29,CN1-22.
Pn511 H.□□8□ CN1-14 CN1-30 Output zeroed signal by
output terminal
CN1-14,CN1-30.
Output zeroed signal by
Pn511 H.□8□□ CN1-11 CN1-13 output terminal
CN1-11,CN1-13.
·After the Pn509 and Pn511 user parameter was changed, the power must be
restart for setting to take affect.
·Zeroed output signal HOME use voltage level signal(low L is effective )
191
（4）Origin regression process description
In the position control mode, Pn689 parameter is selected according to the actual
operation requirements.If the origin regression function is started, the motor will run at
the speed of Pn685 after the rise edge of the zero signal SHOM is detected. After the
origin signal ORG is detected to be valid, the motor will run at the speed of Pn686
according to the ten-place setting Z pulse of the parameter Pn689 to find the way.When
the origin signal ORG is invalid and the Z pulse of the encoder is detected, the
zero-offset pulse number is calculated.After the offset pulse number is finished, the
motor stops and outputs the zeroed signal to complete HOME. Thus, the zero
operation is completed.
Normally,the high-speed can be set by “the impacting original signal ORG

speed”(Pn685),”the leaving original signal ORG”(Pn686) can set to low speed.Be
attention,it will influence the precision of mechanical zero point, if “the leaving
original signal speed(ORG)” is too high.
After encountering the origin signal ORG, the motor turns back to search the
corresponding timing sequence of Z pulse, as shown in the figure below:
192
电机转速 motor rotary speed 撞原点信号（Pn685） impacting original signal(Pn685)
离开原点信号（Pn686）leaving original signal(Pn 686) 返回寻找 C 脉冲 turn back
to search C pulse 回零偏移距离（ Pn690*10000*Pn691 ） zero-back offset
distance(Pn690*10000*Pn691) SHOW 回零触发启动信号 zero-back triggers the
start signal 上升沿信号 rising edge signal ORG 原点的粗略参考点信号 ORG
original rough reference point signal 编码器 C 脉冲 encoder C pulse 离开原点信
号后，第一个 C 脉冲产生后，开始计算偏移距离 After leaving the origin signal and
the first C pulse is generated, the offset distance is calculated
Corresponding position relation blow the picture:
机械轴 mechanical axis 机械移动，返回寻找 C 脉冲 machine moving,return to

search C pulse 电机减速，反转 motor deceleration,reverse rota 离开原点后，第
一个 C 脉冲产生，开始计算偏移距离 After leaving the origin signal and the first C
pulse is generated, the offset distance is calculated 编码器 C 脉冲 encoder C pulse
ORG 零点的初略参考点信号 ORG original rough reference point signal zero-back
triggers the start signal 上升沿信号 rising edge signal
After encountering the origin signal ORG, the motor don’t turns back to search the
corresponding timing sequence of Z pulse, as shown in the figure below:
194
电机转速 motor rotary speed 撞原点信号（Pn685） impacting original signal(Pn685)
离开原点信号（Pn686）leaving original signal(Pn 686) 不返回寻找 C 脉冲 don’t
turn back to search C pulse 回零偏移距离（Pn690*10000*Pn691）zero-back offset
distance(Pn690*10000*Pn691) SHOW 回零触发启动信号 zero-back triggers the
start signal 上升沿信号 rising edge signal ORG 原点的粗略参考点信号 ORG
original rough reference point signal 编码器 C 脉冲 encoder C pulse 离开原点信
号后，第一个 C 脉冲产生后，开始计算偏移距离 After leaving the origin signal and
the first C pulse is generated, the offset distance is calculated
Corresponding position relation blow the picture:
196
机械轴 mechanical axis 机械移动，不返回寻找 C 脉冲 machine moving, don’t
return to search C pulse 电机减速，反转 motor deceleration,reverse rota 离开原
点后，第一个 C 脉冲产生，开始计算偏移距离 After leaving the origin signal and the
first C pulse is generated, the offset distance is calculated 编码器 C 脉冲 encoder C
pulse ORG 零点的初略参考点信号 ORG original rough reference point signal
zero-back triggers the start signal 上升沿信号 rising edge signal
197
5.6 Torque control run
5.6. 1 The set of user parameter
Using analog voltage instruction to torque control run,setting the below user
parameter is required.

Pn000 H.□□2□ Control mode option:torque control(analog voltage
instruction)
Effective mode
Torque instruction gain
Pn400
setting
10～100 0.1V/100 33 no
%
Set the analog voltage level of the torque instruction (TA) required to operate the
servo motor at rated torque.
■ Example
Pn400=30：Represents the motor rated torque set to 3V input
指令扭矩 instruction torque 额定扭矩 rated torque 指令电压（V） instruction

voltage(V) 设定该电压指令 set the voltage instruction
198
5.6.2 Torque instruction input
The torque instruction in the form of analog voltage instruction is sent to the
servo driver, to torque control at torque of the servo motor in direct proportion to the
input voltage.
type Signal name CN1 Pin name

TA+ CN1-7 torque instruction differential input+
Input
TA- CN1-8 torque instruction differential input-
Using in torque control(analog voltage instruction).(Pn000’s 10 bits=2,6,8,9)
Using Pn400 to set torque instruction input gain.please refer “5.7.1 user parameter
set” to read the setting detailed description.
■ input specification
· input range:DC±0-10V/rated torque
· factory setting
200
Pn400=30：it’s rated torque under the 3V condition
+3V input：it’s rated torque when the direction isforward.
+9Vinput：it’s 300% rated torque when the direction is forward.
-0.3V input：it’s 10% rated torque when the direction is reverse
The voltage input range can be set by user parameter
指令扭矩（%）instruction torque(%) 出厂时的设定 factory setting 输入电压（V）

input voltage 用Pn400设定斜率 set the slope by Pn400.
■ the input circuit example
In order to take effective measures to prevent interference, be sure to use multiple
stranded wires in wiring.

Confirmation of internal torque instruction
1. confirmed internal torque instruction by panel operator.
The internal torque instruction can be confirmed under the monitoring mode
(Un003).Please refer “6.1.6 monitor mode operation”
2. Monitored internal torque instruction by analog
The internal instruction torque can be monitored by analog voltage instruction.
201
5.6.3 Offset adjust
(1) Torque instruction offset turning
As the analog instruction voltage, the condition will be occurred which the motor
rotate with slight speed,even the instruction is 0V, when the torque control mode is
used. It will occur when the slight offset(offset amount) of superior control device
or external circuit instruction voltage.
I n this condition,the panel operation can be used to automatically adjust or manual

adjust to the instruction offset.The automatic adjustment (Fn003) of the analog
(speed · torque) instruction offset is a function of measuring the offset and
automatically adjusting the voltage.
The servo driver will automatically adjust to the offset,when the offset is occurred
from voltage instruction of superior control device or external circuit.below the
picture:
指令电压 instruction offset 偏移量 offset 转矩指令 torque instruction 自动修正

偏移量 automatically adjust the offset 指令电压 instruction voltage 转矩指令
torque instruction 伺服驱动器内部自动调整偏移量 servo driver internal
automatically adjust offset
Once the instruction offset was automatically adjust,the offset will be save at
internal driver.
The offset can be confirmed by manual adjustment of torque instruction offset.
When the instruction controller is configured with position ring, the offset pulse
is set to zero when the servo lock stops, the automatic adjustment of the instruction
offset cannot be used (Fn003).In this case, manually adjust the torque command offset
(Fn004).
Notice:Please perform automatic adjustment of zero offset of analog value in

servo OFF state
202
(2) The manual adjustment of torque instruction offset
Please use manual adjustment of torque command offset (Fn004) in the following
situations.
When the instruction controller is configured with position ring, the offset pulse
is set to zero when the servo lock stops
When the offset is consciously set to a setting quantity

Verify that the offset data set is automatically adjusted
The basic function is the same as the automatic adjustment (Fn003) of the analog
(speed · torque) instruction offset, but the manual adjustment (Fn004) must be carried
out while the offset is directly input.
The following picture shows the adjustment range and setting unit of the offset.
偏移量设定单位 offset set unit 偏移量调整范围 offset adjustment range 扭矩指

令 torque instruction 模拟量电压输入 analog voltage input 偏移量调整范围
-1024~+1024 offset adjustment range,-1024~+1024
203
5.6.4 The speed limited of torque control
Because the torque control need to control the servo motor to output the torque
issued instructions, so the motor speed is not managed.
If the relative instruction torque which the load torque of mechanical side is set
too large, it will exceed the mechanical torque, resulting in a significant increase in
motor speed.
As the protection measurement of mechanical side,the function which limited
servo motor rotate using torque control is matched.
无速度限制 no speed limited 电机转速最大转速 motor max rotary speed 超过机

械的速度会造成破坏 Exceeding the speed of machinery can cause damage 有速度
限制 have speed limited 电机转速限制速度 motor rotary speed limited speed 进行
速度限制即可安心运行 Speed limited can safely run
(1) Choice of speed limited mode for torque control
user parameter Content
b.□□□0 The Pn407 set to the speed limited value.(internal

speed limited function)
Pn002
Torque control takes the speed limit value
b.□□□1 corresponding to the smaller value beteween the VA
input analog voltage and the Pn407, and all the control
methods of this parameter are effective.(external speed
limited function)
204
(2) The speed limited of torque control
Effective mode
the speed limited of torque control
torque
unit
Pn407
setting range factory Whether recharge
setting
0～6000 rpm 1500 不需要
no
·Set the motor rotary speed limited value at torque limited
· Pn407 setting value is the motor rotary limited value at Pn000=H.□□2□
· Even the value exceed the max speed of the servo motor used at in Pn407 value,
the actual value is still limited to the max speed of the servo motor used.
(3) External speed limited function

type Signal name CN1Pin Name
VA+ CN1-20 external speed limited differential input +
Input
· Using the analog voltage instruction input the motor rotary speed limited value
at torque limited
· The value which it is smaller between speed limited input of VA and speed limited
of Pn407 torque control
· The PN300 setting value is the voltage and voltage level of limited input, is no
relative with polarity.
205
206
effective
speed instruction mode
input gain
Position, speed, torque
Pn300
Setting range Unit Factory Whether recharge

setting
0～3000 rpm/v 150 No
· Set the voltage and voltage level of external speed limited rotary speed at torque
control.
5.7 Speed control(internal setting speed option) run

The internal setting speed option is a function of pre-setting 7 motor speeds
through the user parameters inside the servo driver and using external input signals
to select their speeds for speed control running.It is effective for the speed control
action within the speed of 7 kinds of motor.
External matching speed generator or pulse generator is unnecessary.
伺服驱动器 servo driver 节点输入 point input 内部设定速度用户参数 internal

setting speed user parameter 速度指令 speed instruction 伺服电机 servo motor
5.7.1 User parameter setting

User parameter Meaning
Pn000 H.□□3□ Control model option: internal setting speed control(point

instruction)
207
effective
mode
Internal setting speed 1
speed
Pn301

setting
-6000～6000 rpm 100 No
effective
mode
speed
Pn302

setting
-6000～6000 rpm 200 No
effective
mode
speed
Pn303

setting
-6000～6000 rpm 300 No
effective
mode
speed
Pn319

setting
-6000～6000 rpm -100 No
208
effective
mode
speed
Pn320
setting
-6000～6000 rpm -200 effective
mode
speed
Whether recharge
Pn321 No
Setting range Unit Factory
setting
-6000～6000 rpm -300 effective
mode
effective
mode
speed
Pn322

setting
-6000～6000 rpm 500 No
(note) Even the above parameters exceed the maximum speed of the servo motor, the
actual value is still limited to the max speed of the servo motor.
5.7.2 Input signal setting
209
Use the below input signal to run the running speed switch
type Signal name CN1 Pin Name

P-CON CN1-37
input Internal setting speed option
P-CL CN1-3
N-CL CN1-4
5.7.3 Internal setting speed run

Using below input signal (ON/OFF),can be run by internal setting
Pn000=H.□□3□: set internal setting speed option at speed control(0 instruction)
Input signal
Run speed
P-CON P-CL N-CL
OFF(H) OFF(H)
Speed control(0 instruction)
OFF(H) OFF(H) ON(L) SPEED1
ON(L) OFF(H) SPEED2
ON(L) ON(L) SPEED3
OFF(H) OFF(H) SPEED4
OFF(H) ON(L) SPEED5
ON(L)
ON(L) OFF(H) SPEED6
ON(L) ON(L) SPEED7
(notice)signal OFF(H voltage level),signal ON(L voltage level)

■ Control mode is switch model
P-CON,PCL,NCL signal is OFF(H voltage level) at Pn000 = H.□□4□、H.□□5□、

H.□□6□,then enter the control mode switch
(
(example)Pn005=H.□□5□:set internal setting speed option at position
control(pulse train) (
210
Input signal
Run speed
P-CON P-CL N-CL
OFF(H) OFF(H)
Pulse train
instruction(position control)
OFF(H)
OFF(H) ON(L) SPEED1
ON(L) OFF(H) SPEED2
ON(L) ON(L) SPEED3
OFF(H) OFF(H) SPEED4
OFF(H) ON(L) SPEED5
ON(L)
ON(L) OFF(H) SPEED6
ON(L) ON(L) SPEED7
5.8 Torque limitation
To protect machine or other purpose, the input torque can be limited.there

are 3 torque limited mode in the servo driver.
Mode Limited mode Reference

1 5.9.1
Internal torque limited
2 5.9.2
External torque limited
3 5.9.3
The torque limited base on analog
voltage instruction
211
5.8.1 Internal torque limitation
Internal torque limited is a function by user parameter to limit max output torque.
Effective mode
Forward torque internal limitation
Pn402
Setting factory Unit Factory Whether recharge
setting
0～300 % 300
No
Effective mode
Reverse torque internal limitation
Pn403
setting
0～300 % 300
No
· The setting unit compare with present of motor rated torque.
212
· T he actual max value will be limited to be servo motor max torque,even the setting
exceed the servo motor max torque value.
\
无内部扭矩限制（可输出到最大扭矩）no internal torque limitation(can
arrive max torque) 最大扭矩max torque 速度 speed 有内部扭矩限制 have
internal torque limitation 限制扭矩 limited torque 速度 speed
Supplement:
· I f the Pn402,Pn403 is set too smaller, the torque will be not enough when the servo
motor accelerate or decelerate
5.8.2 External torque limited
External torque limitation is used when a certain amount of mechanical running

required torque limitation.For example, it can be used to press the stop action or hold
the robot workpiece.
The torque limited set in the user parameters in advance becomes effective
through input signals.
(1) Relative parameter
Pn404 Forward rotation torque external Effective mode

limitation Position,speed,torque
213
setting
0～300 % 300
No
Effective mode
Reverse rotation torque external
limitation
Pn405
setting
0～300 % 300
No
（notice）the setting unit compare with present of motor rated torque.(the limitation of
rated torque is 100%)
(2) Input signal
Limited
Type Signal CN1 Pin Setting meaning
value
name
ON=L
Forward rotation Pn404
CN1-3 Voltage level
side external
P-CL (factory
Input torque limitation
setting)
OFF=H
Pn402
Voltage level
Forward rotation
214
side internal
torque limitation
Reverse
ON=L
rotation side Pn405
Voltage level
external torque
CN1-4
limitation
N-CL (factory
Input
setting)
OFF=H
Reverse rotation Pn403
Voltage level
side internal
torque limitation
Using the external torque limitation, please confirm whether other signal match the
same terminal to P-CL,N-CL.
(3) Output torque change of external torque limitation
Internal torque limitation(Pn402,Pn403)=300%.
P-CL(forward rotation side external torque limited input)
H voltage level L voltage level

N-C
L
H
vo
lta torque torque
ge speed speed
215
lev
el
N-C
L(Re
verse
rotati L
on 电
side 平 torque torque
exter L speed speed
nal vo
torqu lta
e ge
limit lev
ed el
input
)
(Notice)option motor rotary direction when setting Pn000=H.□□□0(standard set

【CCW is forward rotary direction】)
5.8.3 To torque limitation by analog voltage instruction
This function arbitrarily impose torque limitation by analog voltage instruction.the

TA(CN1-7,8) be used of analog voltage instruction input terminal. So the function can’t
be used at torque control.The function just can be used at position control and speed control.
At situation of speed control,the picture is follow of using “to torque limitation

by analog voltage instruction”
216
扭矩限值 torque limitation value 速度指令 speed instruction 伺服驱动器 servo
drive 输入扭矩增益 input torque gain 输入速度指令增益 input speed
instruction gain 速度反馈 speed feedback 速度环增益 speed ring gain 速度环积分
定时 speed ring integral timing 反转扭矩限值 reverse rotation limited value 扭矩指
令 torque instruction 正转扭矩限值 forward rotation torque limitation value
Notice:the input voltage of using torque limited analog voltage instruction is not
polarity.
No matter “+” or “-” voltage , both choose absolute value,the torque limitation
based on the absolute value apply to forward and reverse direction.
Related user parameter

Pn002 b.□□1□
The TA is external torque limitation input
5.9 Control mode switch

The servo driver can switch all kinds of mode to use.
Then we will introduce the ways and condition
217
5.9 .1 User parameter setting
The following combinations can be selected for control mode.Please use it according
to the customer's purpose.
User parameter Control mode

H.□□4□
Internal setting speed option(point instruction) speed
control(Analog voltage instruction)
H.□□5□
Internal setting speed option(point instruction) position
control(pulse train instruction)
H.□□6□
Internal setting speed option(point instruction) torque
control(analog voltage instruction)
Pn000 H.□□7□
Position control(pulse train instruction) speed control(analog
voltage instruction)
H.□□8□
Position control(pulse train instruction) torque control(analog
voltage instruction)
H.□□9□
torque control(analog voltage instruction) speed
control(analog voltage instruction)
H.□□A□ Speed control(analog voltage instruction) zero clamping
Position control (pulse train instruction) position

H.□□B□
control(prohibited)
5.9 .2 Control mode switch
The switch between internal setting speed control(Pn000= H.□□4□、H.□□5□、H.□□6)
When the sequential input signal is the distribution at the factory setting, if P-CL and
218
N-CL one of the signals is set to OFF(H voltage level), the control mode will be
switched.
type Signal CN1 Pin set meaning

name
CN1-3
( factory
P-CL ON=L voltage
Input setting)
level
CN1-4 Control mode switch

( factory OFF=H
Input N-CL
setting) voltage level
5.10 Other output signal

5.10.1 Servo alarm output
“servo alarm output signal” basic connection way, follow the picture:
光耦输出 opticalcouple output 最大工作电压： DC 30V max work voltage:DC

30V 最大输出电流：DC 50mA Max output current:DC 50mA 伺服驱动器 servo
driver I/O 电源 I/O power
219
output→ALM+ CN1-15
Servo alarm out put
output→ALM- CN1-9
Servo alarm output using grounding
signal
The signal will be send when an exception is detected in the servo driver
伺服驱动器 servo driver 检测出异常 inspected abnormal ALM 输出切断主电路

电源 ALM output and cut off main circuit
The external circuit made up of ALM must achieve: the output of the
alarm can make the power supply to the servo driver off.
Signal State Output voltage level introduction

ON
CN-15、9：“L” voltage normal
ALM level
OFF
CN-15、9：“H” voltage level alarm
When the “servo alarm(ALM)” is occurred,The reason should be excluded

first, and then the input signal "ALMRST" should be placed in "ON" to clear the
alarm state.
220
signal state Output voltage level introduction
ON
CN-34: “L” voltage Clear the servo alarm
level
ALMRST
OFF
CN-34: “H” voltage Unclear servo alarm
level
Because the external circuit of construction usual, the power supply of the servo
driver can be OFF when the alarm occurs, and once the power supply of the servo driver
is OFF, the alarm can be cleared automatically.Therefore, it is usually unnecessary to
connect the alarm to clear the signal.
By the way,alarm clearance can be set by panel operator.
Notice:when the alarm occur, please be sure to exclude the reason before the clearing
operation.
221
5.10.2 （TGON） Rotation detection output
type Signal CN1 Pin Set Meaning

name
ON=L voltage Servo motor is rotating(the

CN1-14
level motor rotary speed exceed
CN1-30
Pn503 setting value)
TGON
output
（factory
setting）
OFF=H Servo motor is stop state(the
voltage level motor rotary speed is low
Pn503 setting value)
TONG is output signal meaning that servo motor is rotating at a speed higher than the
set value
· Related user parameter
Effective mode
Rotation detection rotary speed TGON Position,speed,torque
Pn503
setting
0～3000 rpm 20
No
· Set the output condition range of rotation detection rotary speed (TGON)
· If the speed of the servo motor reaches above the Pn503 value, it is judged as
"the servo motor is rotating", and the rotation detection output (TGON) is output.
222
5.10.3（S-RDY）Servo ready output

name
CN1-11 ON=L voltage
CN1-13 level Servo ready
( )
S-RDY CN1-11
Output OFF=H
CN1-13
voltage level Servo unready
(factory
setting)
· Means that the servo driver is ready to receive the servon signal.
· Output when the main circuit power supply is ON and no servo alarm occurs.
5.10.4 Encoder Z pulse output(PGC)
Type Signal CN1 Pin Set Meaning

name
PGC
Output ON=L voltage Has encoder Z pulse
223
level output
No this output at
factory setting, can
choose matching OFF=H No encoder Z pulse
port output by
voltage level output
setting parameter
Pn511
· Meaning the motor rotated to the Z pulse position, Z pulse width is related to the
motor rotary speed.
5.10.5（OT）Over travel signal output
type Signal CN1 Pin set Meaning

name
无正转驱动禁止（POT）
ON=L 和反转驱动禁止（NOT）
voltage 信号
No this output at level
OT
output factory setting, can
choose matching 有正转驱动禁止（POT）
port output by OFF=H 或反转驱动禁止（NOT）
setting parameter voltage 信号
Pn511 level
Output OFF when the motor drive machine meet the over travel signal;Superior device
can use the signal,stop instruction sent
Related user parameter
224
Function option switch Effective mode
Pn004 Position,speed,torque

setting
0～1111 —— 0110
Need
· Pn000=b.□□1□,external POT is invalid;Pn000 ＝ b.□1□□,external NOT signal
is invalid.
· Pn000＝b.□11□,OT signal output is ON.
5.10.6 Servo en motor excitation output (RD)

name
No this output at ON=L

RD Servo en motor has excited
output factory setting, can voltage
choose matching level
port output by
OFF=H
setting parameter Servo un-en,motor
voltage
Pn511 unexcited
level
· RD signal is changed On at servo en motor excitation state.
225
5.10.7（CLT）Torque limited detection output
The way of using output signal CLT(Torque limited detection output)
光耦输出 opticalcouple output 最大工作电压： DC 30V max work voltage:DC

30V 最大输出电流：DC 50mA 伺服驱动器 servo drive 24V 电源 24V power
supply
Motor output torque(current) is limited
Signal
type CN1 Pin Set Meaning
name
No this output at ON=L Motor output torque limited state

factory setting, can voltage (internal torque instruction
choose matching level is above the set value)
Output CLT
port output by OFF=H No torque limited(internal
setting parameter voltage torque instruction is below
Pn511 level the set value)
226
Please use below user parameter definition output signal and output pin.
CN1 Pin
+terminal -terminal
Pn511 H.□□□3 CN1-29 CN1-22

Output CLT signal by
CN1-29,CN1-22 output
terminal
Pn511 H.□□3□ CN1-14 CN1-30

terminal
Pn511 H.□3□□ CN1-11 CN1-13

terminal
227
5.10.8（TCR）Torque detection output

name
ON=L Motor output torque

No this output at
voltage limited state
factory setting, can (internal torque instruction
level
choose matching is above the set value)
Output TCR
port output by
No torque limited(internal
setting parameter
OFF=H
Pn511 torque instruction is below
voltage
the set value)
level
· The torque output of the motor under the current load exceeds the Pn529 value, and
the low level is output. When the torque is less than Pn529, the high level is output
· Torque monitor output time can be set by Pn530
The pin definition of Pn511 parameter setting:

0 COIN（V-CMP）output
1 TOGN rotation detection output
2 S-RDY servo ready output
3 CLT torque limited output
4 BK brake chain output
5 PGC encoder Z pulse output
6 OT over travel signal output
7 RD servo en motor excitation output
8 HOME zeroed output
9 TCR torque detection output
228
5.11 Automatic resonant regulation running
5.11.1 Automatic resonant regulation function
Automatic resonant regulation refer to the user setting function of calculating the
load inertia of the servo unit during running to achieve the servo gain set in the load
rigidity setting.
In below situation,Automatic resonant regulation may not work effectively

■ The max rotary speed is low 100rom in servo motor action process
■ The servo motor acceleration or deceleration is low 5000rpm/s
■ Load rigidity is easy to produce small amplitude vibration of machinery or friction big
■ The different speed load has big different during motion process
■ The mechanical clearance is large during the movement
When the above conditions are met or the normal action cannot be performed even if
automatic tuning is performed, please manually resonant regulation after setting
Pn103 (load inertia percentage).
5.11.2 Automatic resonant step
note
● Due to extreme adjustment, setting changes will lead to the servo system action
becoming unstable, so please do not do that.Otherwise, injury or mechanical
damage may result.
● When making gain adjustment, please gradually change the adjustment value
and confirm the action of the servo motor at the same time.
229
Start
as the factory setting to run
(Pn107=H.0011)
ACTION OK?
Real-time inertia detection was

Load inertia change?
performed Pn107=1
Pn107=4
Real-time inertia detection was performed
Pn107=2
Pn107=3
Pn107=5
Pn107=6
Action OK?
Real-time inertia tune based on load
rigidity Pn107=1 Pn107=2
Pn107=3 Pn108=0-36
Action OK?
Do not automatic resonant
regulation
End
231
5.11.3 Automatic resonant regulation set
Related parameter explain
param Setting Factory Whether

Name and explain Unit
eter range setting recharge
Real time automatic

resonant regulation
Unit :load inertia set
option
Pn107 Decade:automatic — 0～0x0036 0x0011 Need
resonant regulation mode
option
Hundreds:keep
Kilobit:keep
Pn108
— 0～36 5
Load rigidity setting No
5.12.4 The Load rigidity setting of automatic resonant regulation
232
There are 37 types of load rigidity Settings for automatic tune.If the load rigidity
setting is selected, the servo gain (speed ring gain, speed ring integral time parameter,
position ring gain) is automatically determined.Load rigidity factory value is set to
"5".
posit speed Positi Speed

ion speed ring on speed ring Positio Speed Speed
ring ring integr ring ring integr n ring ring ring
Mac gain gain ation gain gain ation gain gain gain
hine Pn107=H.□□1□ Pn107=H.□□2□ Pn107=H.□□3□
rigidi Standard parameter Standard parameter Position parameter
ty
settin Pn10 Pn10 Pn10 Pn10 Pn10 Pn10
g 2 0 1 2 0 Pn101 Pn102 Pn100 1
0 16 63 637 10 63 796 27 63 318
1 24 94 424 16 94 531 41 94 212
2 31 126 318 21 126 398 55 126 159
3 39 157 255 26 157 318 69 157 127
4 47 188 212 31 188 265 82 188 106
5 55 220 182 37 220 227 96 220 91
6 63 251 159 42 251 199 110 251 80
7 71 283 141 47 283 177 124 283 71
8 79 314 127 52 314 159 137 314 64
9 86 345 116 58 345 145 151 345 58
10 94 377 106 63 377 133 165 377 53
11 102 408 98 68 408 122 179 408 49
12 110 440 91 73 440 114 192 440 45
13 118 471 85 79 471 106 206 471 42
233
14 126 502 80 84 502 99 220 502 40
15 134 534 75 89 534 94 234 534 37
16 141 565 71 94 565 88 247 565 35
17 149 597 67 99 597 84 261 597 34
18 157 628 64 105 628 80 275 628 32
19 165 659 61 110 659 76 289 659 30
20 173 691 58 115 691 72 302 691 29
21 181 722 55 120 722 69 316 722 28
22 188 754 53 126 754 66 330 754 27
23 196 785 51 131 785 64 344 785 25
24 204 816 49 136 816 61 357 816 24
25 212 848 47 141 848 59 371 848 24
26 220 879 45 147 879 57 385 879 23
27 228 911 44 152 911 55 399 911 22
28 236 942 42 157 942 53 412 942 21
29 243 973 41 162 973 51 426 973 21
30 251 1005 40 168 1005 50 440 1005 20
31 259 1036 39 173 1036 48 454 1036 19
32 267 1068 37 178 1068 47 467 1068 19
33 275 1099 36 183 1099 45 481 1099 18
34 283 1130 35 188 1130 44 495 1130 18
35 291 1162 34 194 1162 43 509 1162 17
36 298 1193 34 199 1193 42 522 1193 17
5.12 Allowed inertia

When used in excess of 30 times the allowable load inertia , an overvoltage alarm may
occur when decelerating (a.13).In addition, improper selection of internal regenerative
resistor or external discharge resistor may result in abnormal alarm of regeneration
(A.16).In case of such alarm, please take any of the following measures:
234
Reduce torque limitation
Reduce deceleration curvature
Reduce max rotation
When the alarm still be cleared after this measurement,the external discharge
resistance,or contact the server.
235
6 The usage of panel operator
6.1 Basic operation

6.1.1 The function of panel operator
Panel operator is in front panel of servo driver,it is internal operator consisted of

panel display and panel switch
Panel operator can set various parameter ,display run instruction,state and so on.
This is the name and function of panel operator.
电源指示灯 power light MODE 键 “MODE” key 显示器 display SHIFT
236
Key
Key function
name
Pressing the key can option display

Mode key
mode,parameter setting mode,monitor mode,
auxiliary function mode.Pushed the key to save
setting and exit at setting parameter.
Pushed the key can display each parameter

Set key
setting and setting value,also can enter the
parameter setting state and clear alarm.
Up key
Pushed the key can display each set and setting

value of parameter.
Down key
Pressed INC can add setting value
Pressed DEC can reduce setting value
Moving Optioned need changing position at setting

key parameter
6.1.2 Clear servo alarm
At state display mode, press SET key, can clear servo alarm.Also can use
ALMRST input signal to clear alarm.If the power supply is OFF due to servo alarm, it
is not necessary to clear the alarm.
237
6.1.3 Basic mode switch
The run state display,setting parameter and running instruction and so on

operation can be done by switching basic mode of panel operator.
Basic mode include state display mode,parameter setting mode,monitor mode

and auxiliary function mode.After click MODE,each mode is switched in the order
shown in the figure below.
电源 ON Power ON 状态显示模式 state display mode 参数设定模式 parameter

setting mode 监视模式 monitor mode 辅助功能模式 auxiliary function mode
238
6.1.4 The operation of state display mode
Using bit and brief code show servo driver state at state display mode.
Option of state display mode
Power ON,displayed the state display mode.if state display mode isn’t
displayed,the mode can be switched by MODE key.
The display content of state display mode
The state display mode content is different at speed,torque control mode and
position control mode.
位数 bit 简码 brief code
Speed,torque control mode Position control mode

nu
mb Bit Display content Bit Display content
er parameter parameter
239
Lights up when the Light up when the
Speed motor speed and position instruction and
consistent instruction speed actual motor position
offset below the offset below the specified
① specified value. Position value
Specified value: Specified
Pn501(standard is value:Pn500(standard 10
10min-1) pulse)
Light when in torque
control mode
Stand by, light up Stand by, light up

② Stand by Stand by
Servo on,light off Servo on,light off
ON When the servo ON When the servo driver
③ Control driver control power Control control power ON,light
power ON ON,light up power ON up
Input speed instruction
exceeds the specified
value,light up Inputting instruction
Input
Below the specified Input pulse pulse light up
④ speed
value:light off instruction No input instruction
instruction
Specified value:set in pulse,light off
Pn503(standard
20min-1)
Input torque instruction

⑤
exceeds specified value,
Input light up Clear
Inputting clear signal ,
torque Below specified value, signal
light up
instruction light off input
Specified value:the
rated torque 10%
240
Main The main power is Main
The main power is
circuit normal,light up. circuit
⑥ normal,light up.
power The main power is power
The main power is
ready OFF,light off ready
OFF,light off
The motor rotary

speed exceeds The motor rotary speed
specified value,light exceeds specified value,
TGON up TGON light up
Rotation Below the specified Rotation Below the specified
⑦
detection value,light off detection value,light off
output Specified value:set in output Specified value: set in
Pn503(standard Pn503(standard 20min-1)
20min-1)
■ Brief code display content
Brief code Display content

stand by
Servo OFF state.(The motor is in a
non-energized state)
Running
Servo ON state(The motor is in energized
state)
Prohibit forward rotation drive state
CN1-10（P-OT）OFF state
Prohibit reverse rotation drive state

CN1-39（N-OT）OFF state
Alarm state
Display alarm number
The alarm state can be cleared by pushed SET, when the state is alarm
242
6.1.5 Parameter set mode operation
The function can be optioned and adjusted by setting the parameter.See appendix
for a list of parameters.
■ The data of parameter change step
Parameter Settings can be used to set the parameter data that you want to
adjust.The scope of modifications can be confirmed in the list of parameters.
Here are the steps to change the contents of the parameter Pn102 from 100 to 85.
1．Push the MODE key and choose the parameter set mode.
2．Push UP or DOWN to choose parameter number. In addition,the parameter can be

moving edit by pushing SHIFT 1S,then pushed UP or DOWN to
change corresponding bit. Exit moving state by pushing SET after changed.
3． Push SET key, display step 2optioned parameter data.
4． Push UP or DOWN ,change the parameter that you want.Press the button
continuously and the value changes faster.When the data reaches Max value(Min),
the data won’t change when you push the UP or DOWN. In addition,the parameter
can be moving edit by pushing SHIFT 1S,then pushed UP or DOWN to change
corresponding bit. Exit moving state by pushing SET after changed.
5． Push once SET or MODE, return the parameter number display.
243
6.1.6 Monitor mode operation
Monitor mode can be used to monitor the instruction value input to the servo driver,
the status of input/output signal and the internal state of the servo driver.
The monitor mode can be changed,even the motor is running.
■ The monitor mode usage
Take the data "1500" of monitoring number Un001 as an example to specify the
operation steps.
1．Pressed MODE,choose monitor mode
2．Pressed UP or DOWN,choose the monitoring number of demanded display
3．Pressed SET,then it will display monitoring data in step 2 option.
4．Pressed MODE,return the display of monitoring number.
5．The above is the operated procedure of displaying the data "1500" of

monitoring number Un001.
■ The display content of monitor mode
The content follow the table:
244
Monitor
Monitoring content
ing
number
Un000 Motor actual rotary speed r/min

Un001 Inputting speed instruction r/min
Inputting torque instruction
Un002
percent%(compare with rated torque)
Un003 Internal torque instruction

percent %(compared with rated torque)
Un004 Encoder rotary corner pulse amount
Un005 Input signal monitor
Un006 Encoder signal monitor
Un007 Output signal monitor
Un008 Pulse given frequency(unit:1kHz)
Un009 Motor rotated pulse amount
Un010 Motor rotated pulse amount(*10000)
Un011 Differential pulse counter low 16 bit
Un012 Differential pulse counter high 16 bit
Un013 Pulse amount of given
Un014 Pulse amount of given(*10000)
Un015 Load inertia percent
Un016 Motor overload ratio
Un017 Bus voltage(unit:V)
Un018 Keep
Un019 Keep
Un020 Temperature of driver(unit:℃)
Un021 Motor current:(unit:A)
246
■Un005、Un006、Un007 display state:
Monitoring Bit number Display content

number
0
T-ON(CN1-16 input)
1
Q-CON(CN1-37 input)
2
P-OT((CN1-10 input)
3
Un005 N-OT(CN1-39 input)
4
ALMRST (CN1-34 input)
5
CLR(CN1-17 input)
6
O-CL(CN1-3 input)
7 N-CL(CN1-4 input)
247
number
0 W phase
1 V phase
2 U phase
3 unused
Un006
4 Z phase
5 B phase
6 A phase
7 unused

number
0 CN1-14、CN1-30
1 CN1-15、CN1-9
Un007
2 CN1-11、CN1-13
3 CN1-29、CN1-22
248
6.2 Operation of application
Panel operators can be used to perform some application operations in auxiliary

function mode.The content of auxiliary functions is as follows:
Function content
number
Fn000 Display alarm history data

Fn001 Reset parameter factory value
Fn002 Jog (JOG) run mode
Fn003 Automatic adjustment of speed instruction
offset
Manual adjustment of speed instruction
Fn004
offset
Automatic adjustment of motor current
Fn005
detection offset
Manual adjustment of motor current
Fn006
detection offset
Fn007 Servo software version display
Fn008 Position teaching function
Fn009 Static inertia detection
Clear absolute value multiloop information

Fn010
and errors
Fn011 Clear absolute value encoder related error
note
Note: Only the motor encoder is absolute value encoder,the Fn010,Fn011 can be
used
249
6.2.1 The operation of displaying alarm history data
In the function of displaying the alarm history data, the recent occurrence of ten
alarms can seem.
Operated steps of displaying alarm history data in the below:
1．Pressed MODE ,choose auxiliary function mode.

2．Pressed UP or DOWN,choose the function number of display alarm history data
3．Pressed SET,this moment,the lasted alarm code will be displayed.
报警序列号 alarm series number 报警代码 alarm code

4．Pressed UP or DOWN,display near time other alarm code.
5．Pressed SET,return function number display.
If user want to clear alarm history data,can press SET about 1S when displayed
alarm code.
251
6.2.2 Restore factory setting operation
Below is the operated step of restore factory setting

1．Pressed MODE,choose auxiliary function mode.
2．Pressed UP or DOWN,option function number of restore parameter factory setting.
3．Pressed SET,enter restore data factory setting mode.
4．Pressed SET about 1S,restore the factory setting.
5 Loosen SET ,return function number display
note
Note: brief code is display state,meaning servo ON,the motor is
energized state,the restore parameter factory setting can’t be done.
252
6.2.3 Jo g(JOG )run mode o peration
The following are the operating steps for running the motor in JOG run mode.
1．Pressed MODE,choose auxiliary function mode.
2．Pressed UP or DOWN, option function number of JOG run mode
3．Pressed SET,enter JOG run mode.
4． Pushed MODE, enter servo ON(motor energized)
5．Pressed MODE can switch servo ON and servo OFF.Want to run motor,Servo
ON is required.
6． Pressed UP or DOWN,during the pressing ,motor rotate.
Motor forward rotation
Motor reverse rotation

7． Pressed SET,return function number display.
253
6.2.4 The automatic adjustment of analog instruction offset
As analog instruction voltage,the motor will slight rotation even the instruction is
0V at speed.torque control(analog instruction).the condition will occur when the
voltage the superior device or external circuit instruction has slight(mV) offset.
The automatic adjustment mode of analog instruction offset calculate and

measure the offset automatically adjust the voltage.Speed instruction and torque
instruction can be adjusted.When the voltage instruction of the superior control device
and external circuit is offset (offset), the servo driver will automatically adjust the
offset as follows.
指令电压 instruction voltage 偏移量速度指令 offset speed instruction 自动修正

偏移量 automatically adjust offset 指令电压 instruction voltage 速度指令 speed
instruction 伺服驱动器内部自动调整偏移量 servo driver internal automatic
adjustment offset.
Once the instruction offset is automatically adjusted, the offset will be saved in
the servo drive.
T he offset can be confirmed by speed instruction offset manual mode.Please refer

“the manual adjustment of analog instruction offset ”
When the superior control device sets the offset pulse when the servo record
stops to zero with the position loop, the instruction offset automatic adjustment mode
cannot be used.At this point, Please use instruction offset manual adjustment mode .
Refer to "manual adjustment of analog instruction offset".
When the speed instruction is 0,speed control with zero clamping function can
force stop motor running .Please refer “Zero clamping”
254
note
Note:please automatically adjust analog instruction offset at servo OFF state
The following is operation steps of analog instruction offset automatic adjustment

1. Please input instruction voltage which can be set 0 from superor control device or
external circuit.
上位控制装置 superior control device 0V 速度指令 0V speed instruction 伺服 OFF

servo OFF 伺服驱动器 servo driver 伺服电机 servo motor 微小旋转（伺服 ON 时）
slight rotation(servo on)
2. Pressed MODE, option auxiliary function mode
3. Pressed UP or DOWN,option function number of speed instruction offset automatic

adjustment.
4. Pressed SET, enter automatic adjustment of speed instruction offset.
5. Pressed MODE,display will flicker 1S,speed instruction offset will be automatically

adjusted
256
6. Pressed SET, return function number display
6.2.5 Manual adjustment of analog instruction offset

The analog instruction offset manual adjustment is a function of speed.torque
control(analog instruction),Please use it on the following occasions.
■ When use superior control device,the offset pulse set to 0 at servo lock stop with
position ring.
■ When a certain offset amount will consciously be set.
Also verify that offset data is set with automatic adjustment.

Its basic function is the same as the automatic adjustment mode of analog
instruction offset, but the offset must be directly input and adjusted at the same
time.Offsets can be set to speed or torque instruction.
The picture to show the offset adjusting range and setting unit.
257
偏移量设定单位 offset set unit 偏移量调整范围 offset adjusting range 扭矩指令
torque instruction 模拟量电压输出 analog voltage output 偏移量调整范围
-1024~+1024 offset adjusting range -1024~+1024
Note
Note:the manual is invalid,when the automatic adjustment setting offset exceeds

manual adjustment range(-1024~+1024)
The following are the operation steps of analog instruction offset manual adjustment.
1. Pressed MODE,option auxiliary function mode
2. Pushed UP or DOWN,choose the function number of speed instruction offset
manual adjustment
3. Pressed SET,enter speed instruction offset manual adjustment mode.
4. Pressed SET about 2S,then display speed instruction mode.
258
5. Pressed UP or DOWN,adjust offset.Pushed SHIFT to shift edit
6. Pushed SET 1S,return step 3 display
7. Pushed SET again,return function number display
The the manual adjustment of speed instruction offset is finished.
6.2.6 The offset adjustment of motor current detection signal
Our company product has been adjusted to offset of

motor current detection signal
This section explains the automatic adjustment method and manual adjustment
method of offset.
Note
Note:
· Only in servo OFF state, offset of motor current detection signal cann be adjust
· When this function is started unintentionally, especially whe manual

adjustment is started unintentionally, the characteristics will deteriorate.
·When the torque pulse is obviously too large the offset should be
automatically adjusted,compared with other servo drivers.
259
■ The automatic adjustment of motor current detection signal
Please follow the step to adjust automatically for motor current detection signal
offset

2. Pressed UP or DOWN,choose function number of motor current detection signal
offset automatic adjustment
3. Pressed SET, enter automatic adjustment mode of motor current detection signal offset
4. Pressed MODE, display flicker 1S,the offset is automatically adjustment.
5. Pressed MODE,return function number display.
Then automatic adjustment of motor current detection signal is finished.
■ The manual adjustment of motor current detection signal
Please follow the step to adjust manually for motor current detection signal offset
260
2. Pressed UP or DOWN,choose function number of motor current detection signal
offset manual adjustment.
3. Pressed SET, enter manual adjustment mode of motor current detection signal offset
4. Pressed MODE,switch U phase(0_CuA) and V phase (1_Cub) motor current

detection signal offset adjustment mode.
5. Pressed SET about 2S,display detected data of phase current at present.
6. Pressed UP or DOWN , can adjust offset.Pressed SHIFT can edit shift.
7. Pressed SET about 1S,return display of step 3 or step 4
8. Pressed SET again,return function number display
Then,the offset manual adjustment of motor current detection signal is finished.
261
Note
Note:manual adjustment range of motor current detection offset:
6.2.7 Servo software version confirmation
The following are the steps shown in the server software version.
2. Pressed UP or DOWN,option function number of servo software version shown.
3. Pressed SET,display driver voltage level .
4. Pressed MODE,display DSP software version number.
5. Pressed MODE again,display FPGA software version number.
6. Pressed MODE again, switch voltage level display
7. Pressed SET, return function number display.
263
6.2.8 Position teaching function
The following are the operated step

1. Pressed MODE,option auxiliary function mode
2. Pushed UP or DOWN,option position teaching function number
3. Pressed SET ,display follow the picture.
4. Long pressed SET then display.
5. Teaching is finished then loosen SET key.
6.2.9 Static inertia detection

1. Pressed MODE,option auxiliary function mode.
2. Pressed UP or DOWN,chosen function number of inertia detection
3. Pressed SET then display:
4. Pressed MODE to start run,at present,display content is motor dynamic speed.
5. The total inertia unit of motor and load is kg.cm².

Then inertia detection is end.
6. Pushed SET again, return function number display.
265
Note
Note:The displacement travel of motor CCW(anticlockwise)direction has 6

loop after detected.
6.2.10 Clear absolute value multiloop information and error
1. Pressed MODE, Option auxiliary function mode

2. Pressed ▲ or ▼,option function number of clearing absolute value mutiloop
information and error.
3. Pushed SET then display:
4. Pressed MODE to cleared operate
5. Operated
Note
Note: this operation will clear the encoder absolute position, please note the
machine safe.In addition,it will clear multiloop data in the same time will clear
encoder other error.
266
6.2.11 Clear absolute value encoder related error
1. Pressed MODE,option auxiliary function mode.

2. Pressed ▲or▼,choose function number of cleared absolute value encoder related
error.
3. Pressed SET then display:
4. Pressed MODE to cleared operate
5. Operated
267
7 MODBUS communication function
7.1 RS-485 communication wiring

SG-BS*AR driver has MODBUS communication function of RS485 interface,Using
it can change parameter and monitor driver state and so on function. The servo driver
communication connector terminal definition:
CN3 terminal definition:
CN3 连接器（母） CN3 connector 侧面图 side picture 背面图 back picture 保
留 keep
CN3 Pin arrangement
Pin Terminal
No Signal name Function,specification
mark
1 Signal grounding GND +5V with signal side grounding
2 CAN data transfer CANH CAN communication terminal

3 - - keep
4 CAN data transfer CANL CAN communication terminal
5 CAN data transfer Driver port data transfer

RS-485(+)
difference+port
Driver port data transfer
6 CAN data transfer RS-485(-)
difference-port
268
Specification:
(1) in the environment with little interference, the cable length should be less than 100
meters. If the transmission speed is above 9600bps, please use the communication
cable within 15 meters to ensure the transmission accuracy.
(2) when using RS485, a max of 31 servo drivers can be connected at the same time,
and each end of the 485 network shall be connected with a 120Ω resistor.To connect
more devices, you must use Repeaters to extend the number of connections.
269
7.2 MODBUS
Paramet Which
Name and
er Whether control Function and meaning
explain
number recharge mode
effective
Bit:MODBUS communication
baud rate
[0] 4800bps
[1] 9600bps
[2] 19200bps
Decade: communication
protocol option
[0] 7，N，2（Modbus,ASCII）
[1] 7，E，1（Modbus,ASCII）
[2] 7，O，1（Modbus,ASCII）
Pn700 hexadecimal ALL
need [3] 8，N，2（Modbus,ASCII）
parameter
[4] 8，E，1（Modbus,ASCII）
[5] 8，O，1（Modbus,ASCII）
[6] 8，N，2（Modbus,RTU）
[7] 8，E，1（Modbus,RTU）
[8] 8，O，1（Modbus,RTU）
Hundreds:communication
protocol option
[0]no protocol SCI

communication
[1]MODBUS SCI communication

Kilobit:keep
Pn701 Axis address need Axis of MODBUS protocol

ALL
communicated
270
7.3 MODBUS communication protocol
MODBUS protocol communication can be used at Pn700 hundreds set 1 in
driver.
MODBUS communication has 2 model::ASCII(American Standard Code for

Information Interchange) mode or RTU(Remote Terminal Unit) mode.
The following two communication modes are briefly introduced.
7.3.1 Encode meaning

ASII mode:
Each 8-bit data consist of 2 ASCII character. Example:a 1-byte data 64H
(hexadecimal ).Represented by ASCII code "64", it contains ASCII code of '6' (36H)
and ASCII code of '4' (34H).
Number 0-9,letter A-F ASCII code ,following the table
‘0’ ‘1’ ‘2’ ‘3’ ‘4’ ‘5’ ‘6’ ‘7’

Character
symbol
30H 31H 32H 33H 34H 35H 36H 37H
Corresponding
ASCII code
‘8’ ‘9’ ‘A’ ‘B’ ‘C’ ‘D’ ‘E’ ‘F’
Character
symbol
38H 39H 41H 42H 43H 44H 45H 46H
Corresponding
ASCII code
RTU mode:
Each 8-bit date consist of 2 4-bit hexadecimal data,The number of hexadecimal

digits in general
Example: decimalism 100 is expressed 64H by RTU 1-byte.
272
data structure
10bit character format(be used of 7-bit data)
Decade of Pn700=0：7，N，2（Modbus，ASCII）
Decade of Pn700=1：7，E，1（Modbus，ASCII）
Decade of Pn700=2：7，O，1（Modbus，ASCII）
11bit character format(be used of 8-bit data)
8，N，2（Modbus，ASCII / RTU）
8，E，1（Modbus，ASCII / RTU）
273
8，O，1（Modbus，ASCII / RTU）
communication protocol structure

communication protocol data format:
ASCII mode:
STX Start character ‘：’≥(3AH)

ADR Communicated address ≥1-byte including 2 ASCII code
CMD Instruction code≥1-byte including 2 ASCII code

DATA(n-1) ≤
…… Data content ≥ n-word=2n-byte including 4n pcs ASCII CODE,n
DATA(0) 12
LRC Verify code≥1-byte including 2 ASCII code
End 1 End code1≥（0DH）（CR）
End 0 End code 0≥（0AH）（LF）
RTU mode
STX A stationary period of at least 4 byte transfer times
ADR Communicated address≥1-byte
CMD Instruction code≥1-byte
DATA(n-1)
……
Data content≥n-word=2n-byte,n≤12
DATA(0)
CRC CRC verify code≥1-byte
End 1 A stationary period of at least 4 byte transfer times
274
The following are specification of communication protocol data format.
STX(communication start)
ASCII mode: “:” character
RTU mode: stationary time of over 4 byte communication times(automatically changed
by different communication speed)
ADR(communication address)
Legal communication addresses range from 1 to 254.
Example:to communicate servo where is 32(hexadecimal 20)
ASCII mode: ADR=‘2’，‘0’ =＞ ‘2’=32H，‘0’=30H
RTU mode:ADR=20H
CMD(command instruction) and DATA (data)
Data format is determined by command code.Normal command code:
Command code:o.3h,read N word, N≤20
For example, two words starting from the initial address 0200 H are read from the
server whose address is 01H.
ASCII mode
Instruction information Feedback information

STX “:” STX ‘:’
ADR “0” ADR ‘0’
“1” ‘1’
CMD “0” CMD ‘0’
“3” ‘3’
Initial data “0” Data amount ‘0’
address “0” (by byte) ‘4’
“0” Initial data ‘0’
“0” address ‘0’
“0” 0200 H ‘B’
Data “0” content ‘1’
amount(by “0” Second data ‘1’
word) “2” address ‘F’
LRC verify “F” 0201 H ‘4’
“8” content ‘0’
275
End 1 (0DH)(CR) LRC verify “E”
End 0 (0AH)(LF) “8”
End 1 (0DH)(CR)
End 0 (0AH)(LF)
RTU mode

ADR 01H ADR 01H
CMD 03H CMD 03H
Initial data address 02H(address high) Data amount(by 04H
00H(address low) byte)
Data amount(by 00H Initial data address 00H(data high)
word) 02H 0200H content B1H(data low)
CRC verify low C5H(verify low) Second data 1F H(data high)
CRC verify high B3H(verify high) address 40H(data low)
0201H content
CRC verify low A3 H(verify low)
CRC verify high D3H(verify high)
Instruction code:06H, write 1 word

Example:write 100(0064H) to address 0200H of office number 01H servo
278
ASCII mode
STX ‘:’ STX ‘:’
ADR ‘0’ ADR ‘0’
‘1’ ‘1’
CMD ‘0’ CMD ‘0’
‘6’ ‘6’
Initial data address ‘0’ data address ‘0’
‘2’ ‘2’
‘0’ ‘0’
‘0’ ‘0’
‘0’ ‘0’
Data amount(by ‘0’ Data amount ‘0’
word) ‘6’ 0200H content ‘6’
‘4’ ‘4’
LRC verify ‘9’ LRC verify ‘9’
‘3’ ‘3’
End 1 (0DH)(CR) End 1 (0DH)(CR)
End 0 (0AH)(LF) End 0 (0AH)(LF)
RTU mode
ADR 01H ADR 01H
CMD 06H CMD 06H
Initial data address 02H(address high) Initial data address 02H(address high)
00H(address low) 00H(address low)
Data content 00H(data high) Data content 00H(data high)
64H(data low) 64H(data low)
CRC verify low 89H(address low) CRC verify low 89H(address low)
CRC verify high 99H(address high) CRC verify high 99H(address high)
LRC()ASCII mode) and CRC(RTU mode) detection error value calculation

LRC calculation of ACSII mode:
279
ASCII mode using LRC (Longitudinal Redunancy Check) detection error
value.The LRC detection error value is the sum from the ADR to the last batch of
data content, the result is 256 as the unit, and the excess part is removed (for example,
the total result is 128H in hexadecimal system, only 28H is taken), and then the
complement is calculated,finally,the result is the LRC detection error value.
Example:from 0201 address of office number 01H servo driver read 1 word
STX “:”
ADR “0”
“1”
CMD “0”
“3”
Initial data “0”
address “0”
“0”
“0”
“0”
Data “0”
amount(by “0”
word) “2”
LRC verify “F”
“8”
End 1 (0DH)(CR)
End 0 (0AH)(LF)
From the ADR data to the last data:

01H+03 H+02H+01 H+00H+01H=08 H
The complement of 2 for 08H is F8H, so LRC is' F ', '8'.
281
The CRC calculation of RTU mode
RTU mode use CRC(Cyclical Redundancy Check) detection error value
The following are CRC detection error value calculated steps .
1:Load a 16-bit register whose contents are FFFFH and call it the CRC register.
2:XOR operation is carried out between the first bit of the instruction message
(bit0) and the low bit of the 16-bit CRC register (LSB), and the result is
saved back to the CRC register.
3:detect CRC register lowest(LSB),if the bit is 0,then the CRC register move 1 bit
right ;if the bit is 1,then enter XOR calculated with A001H after the
CRC register move 1 bit right.
4:circuit the step 3,and the step 3 has been executed eight times, Then go to the
step 5.
5.Repeat steps 2 through 4 for the next bit of the instruction message until all bits
have been processed in this way, at which point the contents of the CRC
register are the CRC detection error values.
Explain:after calculated CRC detection error value,in instruction message ,need to

write CRC low first then write CRC high, please refer the example below.
Example:read 2 word from 0101H address of office number 01H servo.The final
content of CRC register calculated from ADR to the last bit of data number is
3794H, so its instruction message is shown below. It should be noted that 94H
is transmitted before 37H.
283
ADR 01H
CMD 03H
Initial data address 02H(address high)
00H(address low)
Data amount(by 00H(high)
word) 02H(low)
CRC verify low C5H(verify low)
CRC verify high B3H(verify high)
End1, End0(communicated detection finish)

ASCII mode
In this paper, (0DH), namely character '\r', "carload return" and (0AH), namely
character '\n', "new line" represent the end of communication.
RTU mode
The static period of 4 byte communication time exceeding the current

communication rate indicates the end of communication.
example:
Below produce CRC as C language,The FUNC has 2 parameter:

unsigned char * data;
unsigned char length;
The FUNC will pass back CRC value of unsigned integer type
unsigned int crc_chk(unsigned char * data,unsigned char length)
{
int i,j;
284
unsigned int crc_reg=oxFFFF;
While(length--)
{
crc_ reg ^=*data++;
for(j=0;j<8;j++)
{
if(crc_reg & 0x01)
{
crc_reg=( crc_reg >>1)^0xA001;
}
else
{
crc_reg＝crc_reg >>1;
}
}
}
return crc_reg;
}
7.3.2communicated error processing
At communicated process, some error will be occurred,the normal mistake below:
Reading parameter , data address is error.
Writing parameter,data exceeds max parameter or less than min parameter.

Communication is obstructed,data transfer error or verify code error.
the servo driver will feedback an error frame.When a third error occurs, the
transferred data is considered invalid and no frame is returned.
The error frame format is as follows:
285
Superior device data frame:
Slave
start Data address.data
station command verify
and so on
address
command
Servo drive feedback error frame:
start Feedback
Error code verify
code
Slave
station Command+8
address 0H
Error frame feedback code=command+80 H;
Error code ＝00H：normal communication；

＝01 H：servo driver can’t read the function required；
＝02 H：The data address given in the request does not exist in the servo
driver；
＝03H：The data given in the request is not allowed in the servo driver
(exceeding the maximum or minimum value of the parameter);
＝04 H：The server driver has started executing the request, but it cannot
complete the request.
Example:Servo driver axis number is 03H, write data 06H to Pn107,because the
parameter range of parameter Pn107 is 0`0x0036,so the data writing is not
allowed,servo driver will return a error frame,error code is 03H,(exceeding max and
min of parameter),structure below:
286
Superior device data frame:
Slave
start Data address.data
station command verify
and so on
address
03H 06H 0002H 0006H
Servo drive feedback frame:
从站地址
响应代码
Slave 错误代码校验
start Feedback
station Error code verify
code
address
03H 86H 03H
In addition, if the slave address in the data frame sent by the superior device is 00H,
indicating that the frame data is broadcast data, the servo driver will not return the
frame.
287
7.3.3 Servo state data communication address
SG-BS*ARA series servo all communication parameter address follow the table:
Communicati
on address meaning explain operation
hexadecimal
0000～02FD parameter region Corresponding written and
parameter in the table read
07F1～07FA Alarm information 10 history alarm Read and

stock region written
07FB Speed instruction zero Read and

offset written
07FC Torque instruction Read and
zero offset written
07FD Iu zero offset Read
07FE Iv zero offset Read
Monitor data
0806～0816 (same with display Read
data)
0806 Speed feedback Unit:r/min Read
0807 Input speed

Unit:r/min Read
instruction value
Input torque
0808 Relative rated torque Read
instruction percent
Internal torque Relative rated torque
0809 Read
instruction percent
Encoder rotation Read
080A pulse
080B Input signal state Read
080C Encoder signal state Read
080D Output signal state Read
080E Pulse given frequency Read
080F Current position low Unit:1 instruction pulse Read
288
0810
Current position high Unit:10000 instruction Read
pulse
Read
0811
Different pulse
counter low 16 bit
Read
0812
Different pulse
counter high 16 bit
0813
Given pulse counter Unit:1 instruction pulse Read
low
0814
Given pulse counter Unit:10000 instruction Read
high pulse
0815 %
Load inertia percent Read
0816 %
Motor overload Read
protocol
0817
Current alarm Read
0818 V
Bus voltage Read
0819 ℃
Driver temperature Read
0820 A
Motor current Read
0900
ModBus Power down no save Read and
290
communication IO written
signal
090E
DSP software version Using number to Read
represent version
090F
FPGA software Using number to Read
version represent version
1010
17 bit encoder Unit:1 loop

multiloop information
1011
17bit
17 bit encoder single Read
information low Only 17bit
1012 encoder,multi
Unit:1 pulse
loop data 16
17 bit encoder single bit,single
information high loop data
17bit
1021
Clear history alarm 01:clear written
1022
Clear current alarm 01:clear written
written
1023
JOG servo en 01:en
00:un-en
1024
JOG forward rotation written
291
01:forward rotation
00:stop
written
1025
JOG reverse rotation 01:reverse rotation
00:stop
written
1026 Contact position JOG
01:forward rotation
forward rotation(have
00:stop
set start signal)
written
1027 Contact position JOG
01:reverse rotation
reverse rotation(have
00:stop
set start signal)
written
1028 Contact position
01:pause
pause
00:delete pause
1040
Clear encoder alarm 01:clear
1041 Only
Clear encoder 01:clear written,only
multiloop data 17bit encoder
1070
Position teaching 01:start Only written
function
Definition:
292
1、Parameter region(the communicated address is 0000～02FDH)
Corresponding parameter in parameter table,example:the parameter which

communicated address is 0000H is Pn000;the parameter which communicated
address is 0065H is Pn101,read and written to 0000H address data is read and
written to parameter Pn000. If the data of communication transfer is not including
the parameter range,the data will be abandoned,and servo driver will pas back a
message which a failure operated.
2、 Alarm information saving area
History alarm Explain Communication address

number
0 07F1H
History alarm 1(last alarm)
1～8 07F2～07F9H
History alarm 1~9
9 07FAH
History alarm 10(earliest)
3、 Monitor data region(0806-0816 H)
This monitor data is corresponded servo driver panel display Un000~Un016
Example:the data which communication read address is 0807H(speed given) is
FB16H,then the speed given is -1258 r/min
4、 ModBus communication IO signal
293
Using communication control input number IO signal,the data isn’t saved after
power down.
t ACTS together with Pn512 and Pn513 as communication input IO signal.after
parameters set by Pn512 and Pn513 enable input IO bit, this IO bit can be controlled
by communication.
5、Software version(090F H)
Represent servo driver software version,using number to represent,example:read

a data is D201H, meaning the version is D-2.01.
Appendix A detailed parameters table
Paramet
Setting Factory
er name unit Whether
range value
number recharge
0000～
—— 0010
Function option switch 0 13E1 Need
Rotary direction option

0
H.□□□×
Pn000 Forward direction by CCW
1
Forward direction by CW(reverse rotation mode)
control mode
H.□□×□
0
Speed control(analog instruction)
294
Paramet
Setting Factory
range value
number recharge
P-CON：OFF，PI control；ON，P control
Position control(pulse train instruction)

1
P-CON：OFF，PI control；ON，P control
Torque control(analog instruction)

2
P-CON is invalid
Speed control(contact instruction)←→speed
control(0 instruction)
3
P-CON,P-CL,N-CL is OFF,switch the speed
control(0 instruction)
Speed control(contact instruction)←→speed
control(analog instruction)
4
P-CON,P-CL,N-CL is OFF,switch the speed
Speed control(contact instruction)←→position

5
P-CON,P-CL,N-CL is OFF,switch the position
295
Paramet
Setting Factory
range value
number recharge
Speed control(contact instruction)←→torque
6
P-CON,P-CL,N-CL is OFF,switch the torque
Position control(pulse train instruction)←→speed

7 control(analog instruction)
P-CON:0FF position control(pulse train instruction)
ON speed control(analog instruction)
Position control(pulse train instruction)←→torque

P-CON:OFF position control←→torque
P-CON: OFF position control(pulse train
instruction)
ON torque control(analog
instruction)
Torque control(analog instruction)←→speed
P-CON:OF torque control(analog instruction);
ON speed control(analog instruction)
Speed control(analog instruction)←→zero clamping

A
P-CON:OF speed control(analog instruction);
ON zero clamping control
296
Paramet
Setting Factory
range value
number recharge
Position control(pulse train instruction)←→position
B control(pulse prohibit)
P-CON:OF position control(pulse train instruction);

ON position control(pulse prohibit)
Position control(contact instruction)

C P-CON: Be changed foot
P-CL,NCL: be search referent point and start
Speed control(parameter instruction)

D
P-CON is invalid,Pn312 set the running speed
E Special control(factory used)
torque feedforward mode
External analog TA feedforward input is

0
invalid,using normal torque feedforward

1
effective ,using normal torque feedforward
H.□×□□

2
invalid,using high speed torque feedforward

3
effective ,using high speed torque feedforward
H.×□□□ Reservation parameters(do not change)
297
Paramet
Setting Factory
range value
number recharge
0000～
—— 0000
Function option switch 1 3115 need
stop way
0 DB brake and release brake after stop rotation
1 stop freely
Servo OFF,DB,reverse connect brake to stop servo

2
OFF at over travel
OFF
H.□□□×
3 Servo OFF,stop freely,reverse connect brake to stop
servo OFF at over travel
Servo OFF,DB,zero clamping after reverse connect

Pn001 4
brake and stop
Servo OFF,stop freely,zero clamping after reverse

5 connect brake and stop
AO1 analog input option
0 Motor rotary speed
H.□□×□
1 Output torque
2 Output current
H.□×□□ AO2 analog input option
298
Paramet
Setting Factory
range value
number recharge
1 Output torque
2 Output current
Position over different alarm en
0 Over different alarm unen
Over different alarm en, when different counter

1
H.×□□□ exceeds Pn504 value, the alarm occur
2 Reservation parameters(do not change)
3 Reservation parameters(do not change)
0000～
Function option switch 2 —— 0000
1111 Need
Analog speed limited en
When torque control, the internal parameter Pn407

Pn002 0
is taken as the limit value of speed.
b.□□□×
299
Paramet
Setting Factory
range value
number recharge
When torque is controlled, the speed limited value is
the value corresponding to the VA input analog
voltage and the smaller value in the Pn407 setting
value. All control methods of this parameter are
effective.
Analog torque limited en
0 Pn402~Pn405 is torque limited

b.□□×□
1 TA input corresponding value as the torque limited
Option of absolute value encoder
The absolute value encoder is used absolute value

0
encoder
b.□×□□
The absolute value encoder is used incremental

1
encoder
Torque control torque given source option
0 Analog TA given
b. ×□□□
1 Given by Pn401
0000～
—— 1000
Pn003 1111
300
Paramet
Setting Factory
range value
number recharge
b.□□□× Reservation parameter(do not change)
b.□□×□ Reservation parameter(do not change)
low speed compensation
0 No low speed verify
b.□×□□
Low speed verify , to prevent motor creep,but
1 sometime the motor will low speed vibration,the
verified strong or weak depend on Pn129 value
Overload strengthen
0 No this function(overload strengthen)
Has this function,This function can enhance the

b.×□□□
overload capacity for the overload with
1 instantaneous more than 2 times the rated load, and
is used in some frequent starting and stopping
situations.
0000～
—— 0110
Function option switch 4 1111 Need
Pn004
b.□□□× Parameter servo ON
301
Paramet
Setting Factory
range value
number recharge
0 External S-ON effective
External S-ON invalid,after SRDY output the motor

1
exciting signal will automatically open
Prohibit forward input signal(P-OT)
External P-OT effective,when the travel limited was

0
b.□□×□ occurred,as Pn001=H.□□□× to set time sequence
1 External P-OT invalid
Prohibit reverse input signal(N-OT)
External N-OT effective,when the travel limited was

0
b.□×□□ occurred,as Pn001=H.□□□× to set time sequence
1 External P-OT invalid
Interrupt power supply alarm output(ALM)
0 Interrupt power supply a circuit no alarm

b.×□□□
1 Interrupt power supply a circuit alarm
302
Paramet
Setting Factory
range value
number recharge
motor model —— 0～100 0 need

Pn005
Reservation parameter(do not change)
0000～
Function option switch —— 0000 need
3111
Soft limited position function
0
H.□□□× invalid
1
effective
H.□□×□ Reservation parameter(do not change)
Low frequency vibration suppression switch
0 Closed low frequency vibration suppression function

Pn006 H.□×□□
1 Start low frequency vibration suppression function
Bus model
0 No bus
H.×□□□ 1 Reservation parameter(do not change)
2 Reservation parameter(do not change)
3 CANopen
Pn007 —— 0000～ 0120
303
Paramet
Setting Factory
range value
number recharge
Function option switch 6 1131 Need
H.□□□× Reservation parameter(do not change)
H.□□×□ Reservation parameter(do not change)
Serial encoder burr removed
0 removed
H.□×□□
1 unremoved
Z pulse breadth expanded
0 Initial Z pulse breadth

H.×□□□
1 Expanded Z pulse breadth
0000～
Function option switch 7 —— 0000 Need
1115
Electrify default monitor option
0 Run state
Pn008
H.□□□×
2 Load percent
304
Paramet
Setting Factory
range value
number recharge
Electric gear option
0 Option 16 bit electric gear parameter

H.□□×□
1 Option 32 bit electric gear parameter
Second electric gear en
Second electric gear invalid,P-CON signal switch as

0
P/PI
H.□×□□
Second electric gear effective,P-CON signal switch

1
signal as second electric.
Electric gear switch mode
Corresponding time sequence
0
H.×□□□
electric gear member 1 PCON invalid
electric gear member 2PCON effective
instruction pulse
1 Corresponding time sequence
305
Paramet
Setting Factory
range value
number recharge
电子齿轮分子1PCON 无效 electric gear member 1 PCON
invalid 电子齿轮分子2PCON有效electric gear member
2PCON effective
指令脉冲 instruction pulse
Set the timing to either 0 or 1
Error time sequence
electric gear member 1 PCON invalid
electric gear member 2PCON effective

instruction pulse
306
Paramet
Setting Factory
range value
number recharge
Speed ring gain rad/s 1～4000 250 No
Pn100
This value determine the speed ring gain magnitude,load inertia percent
Speed ring integral time 0.1ms 1～4096 200 No
Pn101
Reduced this value can shorten position time,improve the speed feedback.
Position ring gain 1/S 0～1000 40 No
Pn102
The value determine position gain magnitude, increased this value can prove position
control servo rigidity, too large maybe cause vibration.
Load inertia percent % 0～20000 100 No
Pn103
The ratio is load inertia to motor rotor inertia.Unit:%
Setting value=(load inertia/rotor inertia)
Pn104 Second speed ring gain rad/s 1～4000 250 No
Pn105 Second speed ring integral 0.1ms 1～4096 200 No
Pn106 Second position ring gain 1/S 0～1000 40 No
Real-time automatic tune set 0000～

—— 0011 Need
0036
Pn107
H.□□□×
307
Paramet
Setting Factory
range value
number recharge
Load inertia setting option
0 Manual set load inertia percent
Inertia online identification of conventional patterns,

1
load inertia does not change

2
load inertia change a little.

3
load inertia change a lot.
Inertia online identification of vertical mode, load

4
inertia does not change

5
inertia change is very small.

6
inertia change is very large.
Automatic tune mode option
0 Manually adjust parameter
H.□□×□
1 Automatically tune standard parameter
2 Automatically tune stability parameter
308
Paramet
Setting Factory
range value
number recharge
3 Automatically tune polarization parameter
H.□×□□ Reservation parameter(does not change)
H.×□□□ Reservation parameter(does not change)
Note: automatic tuning may not work effectively in the following situations:
1. the max rotary speed less than 1000rpm at servo run process
2. The deceleration or acceleration of servo motor less than 5000 rmp/s
3. Load rigidity is easy to produce small amplitude vibration of machinery or friction is
large
4. In the process of movement, different speed loads vary greatly
5. When the mechanical clearance is large during the movement
Load rigidity set —— 0～36 5 No
This value determine feedback speed of servo system,In general, the rigidity should be set
Pn108
as large as possible, but if set too large, it is easy to cause mechanical impact.This value
should be set lower when there is a larger mechanical vibration.This value is only valid
for automatic tuning.
feedforward % 0～100 0 No
Pn109
Used to set the position feedforward value, the value is higher, the position response is
309
Paramet
Setting Factory
range value
number recharge
faster, the position deviation is smaller.
Setting this value too high is easy to cause overshoot and vibration..
0.1ms 0～640 0
Feedforward filter No
Pn110 For mechanical impact caused by feedforward at gentle position, if this value is set too
high, the feedforward quantity lags too much, which is easy to cause vibration.unit:0.1ms
Torque feedforward % 0～100 0 No
Pn111 Used to set torque feedforward value,improve speed feedback.To use this function in
manual tuning mode, set the load inertia ratio Pn103 correctly.
Torque feedforward filter 0.1ms 0～640 0 No
Pn112
Gentle mechanical impact of torque feedforward.
Speed partial value rpm 0～300 0 No
Pn113 Setting this value purpose is shorten positioned time,but if set too large ,it will cause
vibration,the relationship with speed instruction, difference count,Pn500(position error)
follow the picture:
310
Paramet
Setting Factory
range value
number recharge
Torque instruction filter constant 0.01ms 0～2500 4 No
Pn114
Setting torque filter can eliminate or reduce mechanical vibration, but sometimes
mechanical vibration is introduced when setting is unreasonable.
Pn115 Second torque instruction filter 0.01ms 0～2500 100

constant No
P/PI switch requirement —— 0～4 0 Need
P/PI switch requirement
Pn116 0 Torque instruction percent
1 offset counter amount
311
Paramet
Setting Factory
range value
number recharge
Given acceleration value
3 Given speed value
4 Fixed PI
Torque switch threshold % 0～300 200 No
Pn117
The threshold value of torque controlled by P is changed from PI control.
Instruction 0～10000 0
offset counter switch threshold No
pulse
Pn118
The threshold value of offset counter controlled by P is changed from PI control.
Given acceleration switch threshold 10rpm/s 0～3000 0 No
Pn119
The threshold value of acceleration controlled by P is changed from PI control.
Given speed switch threshold rpm 0～10000 0 No
Pn120
The threshold value of speed controlled by P is changed from PI control.
Gain switch requirement —— 0～8 0 No
Gain switch requirement

Pn121
0 Fixed first gain
1 External switch gain switch(G-SEL)
312
Paramet
Setting Factory
range value
number recharge
2 Torque percent
3 offset counter value
4 Given acceleration value(10rpm)
5 Given speed value
6 Has position instruction input
7 Motor actual rotary speed
8 Position instruction(Pn123)+actual speed(Pn124)
Switch delay time 0.1ms 0～20000 0 No
Pn122
Switching condition is satisfied,delay how much time gain switch?
Switch threshold level —— 0～20000 0 No
Pn123
The trigger level of gain switch
Actual speed threshold rpm 0～2000 0 No
Pn124
Pn121=8,effective.unit:rpm
Pn125 Position gain switch time 0.1ms 0～20000 0 No
313
Paramet
Setting Factory
range value
number recharge
If the change is large between 2 group, it can smoothly transit by the parameter
—— 0～20000 0 No
Switch hysteresis
Pn126
The value is used to set gain switch action hysteresis.
0.1ms 0～100 10 No
Low speed test speed filter
Pn127
The value is used to set filter when absolute value encoder low speed test speed, wet too
large low speed,the test speed will hysteresis.
Real-time tuning,speed gain add —— 0～3 3 No

relation
Pn128
In the case of real-time automatic tuning, the speed loop gain is increased by multiple
under the same rigidity. The value is larger , the speed loop gain is higher.
—— 0～30000 0 No
Pn129
0.1%
0～3000 0 No
Friction load
Pn130
Friction load or fixed load compensation
Friction compensated speed rpm 0～100 0 No

hysteresis loop area
Pn131
Friction start compensated threshold
314
Paramet
Setting Factory
range value
number recharge
0.1%/1000
rpm 0～1000 0
Viscous friction load No
Pn132
Viscous damping directed ratio to speed.
Pn146 —— 0～1000 100

Analog output AO1 voltage gain No
—— 0～1000 100
Analog output AO2 voltage gain No
Output signal The corresponding meaning of voltage

gain default 100
p
Motor rotary 100trpm corresponding AO output 1V
speed
Pn147
Output torque 100*0.1% rated torque corresponding AO
output 1V
Output current 100*0.1% rated current corresponding AO

output 1V
Hypothesis::need to observe output actual speed from analog output AO1 terminal,require
10V corresponding 3000r/min rotary speed, 0V corresponding 0,Pn001 = H.□□0□ ,Pn146
= 300 should be set.
Pn148 10mV -200～200 0

Analog output AO1 offset voltage No
10mV -200～200 0
Analog output AO2 offset voltage No
Pn149
315
Paramet
Setting Factory
range value
number recharge
It can slightly adjust to analog output 1,analog output 2 based on demand by the
parameter, to improve effective precision of analog output.For analog output, due to
analog output device zero drift or ambient environment
Induced voltage and other reasons will result in the deviation between the actual analog
output corresponding amount and the expected value
Eliminates analog output offsets by setting them.
——
0000～
Position control configuration 1000
2234 No
option switch
instruction pulse type
0
Mark+pulse
1 CW+CCW
H.□□□× 2
A+B(orthogonal 1 times frequency)
3
A+B(orthogonal 2 times frequency)
4
A+B(orthogonal time frequency)
Pn200
Instruction pulse negation
0 PULSE instruction don’t negation,SIGN instruction
don’t negation
1 PULSE instruction don’t negation,SIGN instruction

H.□□×□
negation
2 PULSE instruction negation,SIGN instruction don’t
negation
3
PULSE instruction negation,SIGN instruction
316
Paramet
Setting Factory
range value
number recharge
negation
offset counter cleared mode
S-OFF,offset counter is cleared,over travel isn’t

0
cleared
H.□×□□
1 offset counter isn’t cleared
S-OFF or over travel(without zero clamping) ,the

2
counter both is cleared
Collector open circuit signal instruction input filter
When Pulse is differential input,the max pulse

0
frequency reception of servo is ≤1M
H.×□□□ When Pulse is differential input,the max pulse

1
frequency reception of servo is ≤500K
When Pulse is differential input,the max pulse

2
frequency reception of servo is ≤ 150K
Pn201 16bit first electronic gear member —— 1～65535 1 Need
Pn202 —— 1～65535 1
317
Paramet
Setting Factory
range value
number recharge
16bit electronic gear denominator Need
16bit second electronic gear —— 1～65535 1

need
member
Pn008 is set to H0 When selecting 16-bit electronic gear parameters, the electronic
gear can be used to correspond the instruction pulse to the motor corresponding motor
movement amount, so that the superior device does not need to pay attention to the
Pn203 mechanical deceleration ratio and the number of encoder pulse, it is essentially the
instruction pulse for frequency doubling or frequency division Settings.
frequencyDoubingMember ( Pn 201orPn 203)
Instructio nPulseFrequencyDoubdingDeno min ator ( Pn 202)
Position instruction filter time 0.1ms No

0～32767 0
constant
Pn204
The value is used to smoothness of input pulse,the value is higher, smooth affect is
better,but too large will be hysteresis.
Position instruction filter mode —— 0～1 0 No

option
Pn205
Position instruction filter mode option
0 Once filter
318
Paramet
Setting Factory
range value
number recharge
1 Secondary filter
Pulse 1～16384 2500

PG frequency dividing Need
Analog encoder input orthogonal differential pulse,meaning is orthogonal pulse amount
when motor rotated one ring analog encoder input.

Pn206
Note:setting range depend on encoder pulse amount of servo motor
Example:2500pairs increment encoder,the effective setting range of Pn206 is 1-2500
17 bit encoder,the effective range is 16~16384.
Z phase signal input extended width —— 1～100 4

factor Need
Pn207
The parameter is affected when the Pn007 is set extend Z pulse breadth,Z pulse extended
breadth=initial breadth*Pn007
Forward soft-limited multiloop

Pn208 —— 0～65535 100 No
position value
Forward soft limited single loop

Pn209 —— 0～9999 0 No
position high
Pn210 Forward soft-limited single loop —— 0～9999 0 No
319
Paramet
Setting Factory
range value
number recharge
position low
Reverse soft-limited multiloop

Pn211 —— 0～65535 65435 No
position value
Reverse soft-limited single loop

Pn212 —— 0～9999 0 No
position high
Reverse soft-limited single loop

—— 0～9999 0 No
position low
Pn213
The soft limited function is only effective when the 17-bit or 23-bit multi-loop absolute
value encoder is used. When the soft limited function is used, Pn006 needs to be set to
turn on the soft limit function.When the soft limited is valid, the external P-OT and N-OT
are invalid and cannot be used simultaneously.
Motor position ＞ Pn208*resolution+Pn209*10000+Pn210,the motor stop to forward
rotation
Motor position ＜ Pn211*resolution+Pn212*10000+Pn213,the motor stop to reverse
rotation
Speed instruction input gain rpm/v 0～3000 150 No
Pn300
Each analog input corresponding speed value
-6000～
Pn301 Internal speed 1 rpm 100 No
6000
-6000～
6000
-6000～
6000
320
Paramet
Setting Factory
range value
number recharge
Input signal
Run speed
P-CON P-CL N-CL
OFF(H OFF(H)
) 0 speed or switch other control
mode
OFF(H )
OFF(H ON(L) SPEED1
ON(L) OFF(H) SPEED2
ON(L) ON(L) SPEED3
OFF(H OFF(H) SPEED4
OFF(H ON(L) SPEED5

ON(L)
)
ON(L) OFF(H) SPEED6
ON(L) ON(L) SPEED7
rpm 0～6000 500

JOG speed No
Pn304
JOG run speed magnitude, direction is determined by the key.
ms 0～10000 0
Soft start accelerated time No
Pn305
The time what the trapezoidal acceleration accelerates at 1000rpm
ms 0～10000 0
soft start decelerated time
Pn306
321
Paramet
Setting Factory
range value
number recharge
The time what the trapezoidal deceleration decelerates at 1000rpm
ms 0～10000 0
Speed filter time constant No
Pn307
Once filter time constant
ms 0～10000 0
S curve risen time No
Pn308
The time form a speed point transit another speed point as S curve transited
—— 0～3 0
Speed instruction curve mode need
Speed instruction curve mode
0
slope
Pn309
1
S curve
2
Once filter
3
Secondary filter
—— 0～3 0
S form option No
Pn310
The value depend the transited form of S curve
-1000～
Analog speed given zero point 10mv 0
1000
polarization
Pn311
322
Paramet
Setting Factory
range value
number recharge
Set analog speed given zero point polarization,the parameter is related with speed
instruction input gain(Pn300);after set,analog speed instruction counted way:speed
instruction=(external speed given input analog-analog speed given zero point
polarization)*speed instruction input gain.unit:10mV.
-6000～
rpm 500
Parameter speed 6000 No
Pn312
The parameter can be set +or-,the value determine motor rotary speed when control mode
is set to D.
-6000～
rpm 500
Communication JOG speed 6000
Pn313
Bus JOG communication speed,the value can be set +or-
Pn314～
Reservation parameter(does not —— —— —— ——
Pn317
change)
Analog speed dead zone rotary rpm 0～100 0

No
speed
Pn318
in analog velocity mode, this parameter is used to avoid the phenomenon that the motor
rotates slightly when the analog voltage is 0.Under the dead zone speed set by Pn318, the
motor is zero speed.
-6000～
Pn319 rpm -100
Internal speed 4 6000 No
-6000～
Pn320 rpm -200
-6000～
Pn321 rpm -300
-6000～
Pn322 rpm 500
Pn400 0.1V/100% 10～100 33
323
Paramet
Setting Factory
range value
number recharge
Torque instruction gain No
This parameter means the voltage value of the analog input required to achieve the
rated torque
-300～
% 100
Internal torque instruction set 300 No
Pn401
Torque control,setting internal torque instruction
Forward rotation torque internal % 0～300 300

No
limited
Pn402
Motor forward rotation output internal limited amount(based on actual overload function
to setting parameter range)
Reverse rotation torque internal % 0～300 300

No
limited
Pn403
Motor reverse output torque internal limited value(parameter set range is depended on
overload power)
% 0～300 100
Forward external torque limited No
Pn404
Motor forward output torque external limited amount(parameter set range is depended on
overload power)
% 0～300 100
Reverse external torque limitation No
Pn405
Motor reverse rotation output external amount (parameter set range is depended on
overload power)
Reverse connected brake torque % 0～300 300

No
limited
Pn406
Reverse connected brake motor output torque limited amount (parameter set range is
depended on overload power)
Pn407 rpm 0～6000 1500
324
Paramet
Setting Factory
range value
number recharge
The speed limited at torque control No
Pn408 Hz 50～5000 5000

Wave trap 1 frequency No
Pn409 —— 0～23 1
Wave trap 1 depth No
Pn410 Hz 50～5000 5000

Wave trap frequency No
—— 0～23 1
Wave trap 2 depth No
Pn411
1.In some condition,it maybe increase mechanical vibration and response hysteresis after
setting wave trap.
2.when trapper is set to 5000, trapper is invalid.
0.1Hz 50～500 100

Low frequency jitter frequency No
Pn412
Load low frequency vibration frequency value.
—— 0～200 25
Low frequency jitter damping No
Pn413
The damp damping of load low frequency vibration, usually,the parameter needn’t to
change.
0.1ms 1～2000 100

Torque control delay time No
Pn414
When the control mode is torque control,the parameter is valid.
rpm 10～1000 50
Torque control speed hysteresis No
Pn415
When the control mode is torque control,the parameter is valid.
-1000～
Pn416 Analog torque given zero point 10mv 0
1000 No
polarization
325
Paramet
Setting Factory
range value
number recharge
Set analog torque given zero point polarization value, the parameter relate with torque
instruction gain(Pn400);Set the value,the counted way of analog torque instruction:torque
instruction=(external torque given input analog value - analog torque given zero point
polarization value)* torque instruction gain
pulse 0～5000 100

Position error No
Pn500
offset counter value less than this value, then output COIN signal.Unit:pulse
rpm 0～100 10
Same speed error No
Pn501
If the error value between speed instruction and speed feedback value less than the set
value of the parameter, then output VCMP.
rpm 0～3000 10
Zero clamping rotary speed No
Pn502
When the speed corresponding to the input analog is less than the set value of this
parameter, the motor is locked in a temporary position ring.
Rotation detection rotary speed rpm 0～3000 20

No
(TGON)
Pn503
When the motor speed exceeds the set value of this parameter, the motor is considered to
have rotated stably and the TGON signal is output.
Pn504 256pulse 1～32767 1024

offset counter overflow alarm No
326
Paramet
Setting Factory
range value
number recharge
The value of offset counter is more than setting value,it can be considered offset counter
alarm and output alarm signal.unit:256 pulse.
-2000～
Pn505 ms 0
Servo ON waiting time 2000 No
Pn506 10ms 0～500 0

Basic waiting process No
Pn507 rpm 10～100 100

Brake waiting speed No
10ms 10～100 50
Brake waiting time No
This parameter are affected only matching the BK output at terminal output parameter.
This parameter is controlled holding brake time sequence(to prevent gravity sliding or
continuous external force on the motor)
Pn508
Servo ON waiting time:
1. the parameter is+,output BK signal firstly when has servo ON input,then delay time
of setting parameter give motor excitation signal.
2. The parameter is -, give motor excitation signal firstly when has servo ON input,
then delay time of setting parameter and output BK signal.
327
Paramet
Setting Factory
range value
number recharge
Basic waiting process:
Standard set:BK(brake action) output and Servo OFF.at this moment,based on
mechanical structure and brake character,some time the machine will have slight
movement under the action of gravity .the displacement can be eliminated by using user
parameter to delay servo OFF action.The parameter just have action at motor stop state or
low speed state.
Brake waiting speed:
After servo OFF,output BK signal when motor speed is reduced below the set value of
this parameter.
Brake waiting time
After servo OFF,output BK signal when delayed time is reduced over the set value of this
parameter
Brake waiting time and waiting speed:

Output BK signal as long as one of these conditions is true
0～
Pn509 —— 0x3210
Allocate input signal to port 0xFFFF Need
0～
—— 0x7654
Allocate input signal to port 0xFFFF Need
Pn510
328
Paramet
Setting Factory
range value
number recharge
Pn509 = H.□□□× corresponding port CN1_16
Pn509 = H.□□×□ corresponding port CN1_37
Pn509 = H.□×□□ corresponding port CN1_10
Pn509 = H.×□□□ corresponding port CN1_39
Pn510 = H.□□□× corresponding port CN1_34
Pn510 = H.□□×□ corresponding port CN1_17
Pn510 = H.□×□□ corresponding port CN1_3
Pn510 = H.×□□□ corresponding port CN1_4
Ports have priorities, and when signals are repeatedly assigned to more than one port, port
priorities arrange from low to high as follows:CN1_16< CN1_37< CN1_10< CN1_39<
CN1_34< CN1_17< CN1_3< CN1_4
The corresponding signal of each bit of data is as follows:
0：S-ON
1：P-CON
2：P-OT
3：N-OT
4：ALMRST
5：CLR
6：P-CL
7：N-CL
8：G-SEL
9：JDPOS-JOG+
A：JDPOS-JOG-
B：JDPOS-HALT
C：HmRef
D：SHOM
E：ORG
329
Paramet
Setting Factory
range value
number recharge
0～
—— 0x0210
Allocate signal to port 0x0999 Need
Pn511 = H.□□□× corresponding port CN1_29，CN1_22
Pn511 = H.□□×□ corresponding port CN1_14，CN1_30
Pn511 = H.□×□□ corresponding port CN1_11，CN1_13
Pn511
The corresponding signal of each bit of data is as follows:
0：COIN/VCMP
1：TGON
2：S-RDY
3：CLT
4：BK
5：PGC
6：OT
7：RD
8：HOME
9: TCR
Pn512 Bus controls low - level enabled of —— 0～1111 0

No
input contacts
Bus controls high - level enabled of

—— 0～1111 0
input contacts No
Pn513
Bus communication input port enabled
330
Paramet
Setting Factory
range value
number recharge
[0]: unenabled
[1]:enabled
Pn512 = b. □□□× CN1_16
Pn512 = b. □□×□ CN1_37
Pn512 = b. □×□□ CN1_10
Pn512 = b. ×□□□ CN1_39
Pn513 = b. □□□× CN1_34
Pn513 = b. □□×□ CN1_17
Pn513 = b. □×□□ CN1_3

Pn513 = b. ×□□□ CN1_4
0.2ms 0～1000 1
Input port filter No
Pn514
Input port filter time,set too long will cause input port signal hysteresis.
0.2ms 0～3 1
Alarm port filter No
Pn515
Alarm port filter time,set too long will cause input port signal hysteresis.
Pn516 —— 0～1111 0
Input port signal negation No
—— 0～1111 0
Pn517
[0]:don’t negation
[1]:negation
Pn516 = b. □□□× CN1_16取反
331
Paramet
Setting Factory
range value
number recharge
Pn516 = b. □□□× CN1_16 negation
Pn516 = b. □□×□ CN1_37negation
Pn516 = b. □×□□ CN1_10 negation
Pn516 = b. ×□□□ CN1_39 negation
Pn517 = b. □□□× CN1_34 negation
Pn517 = b. □□×□ CN1_17 negation
Pn517 = b. □×□□ CN1_3 negation

Pn517 = b. ×□□□ CN1_4 negation
ms 50～2000 125
Dynamic brake time No
Pn518
Motor dynamic brake time
0.1ms 0～10000 3
Serial encoder error allowed time No
Pn519
No alarm of a serial encoder related error is given within this parameter time.
position arriving time 0.1ms 0～60000 500

No
Pn520
The value set positioned time.
Pn521～
Pn524
change)
Pn525 % 100～150 100
332
Paramet
Setting Factory
range value
number recharge
Overload alarm threshold
When the load percent is greater than the set threshold, overload alarm A04 will be
generated after a certain time;The recommended value of this parameter is below 120,
otherwise the driver and motor may be damaged.
Pn526～
Pn527
change)
—— 0～1111 0 NO
Output port signal negation
[0]:don’t negation
[1]:negation
Pn528 = b. □□□× CN1_14,30取反
Pn528 = b. □□×□ CN1_15,9取反

Pn528
Pn528 = b. □×□□ CN1_11,13取反
Pn528 = b. ×□□□ CN1_29,22取反
Pn528 = b. □□□× CN1_14,30 negation
Pn528 = b. □□×□ CN1_15,9 negation
Pn528 = b. □×□□ CN1_11,13 negation

Pn528 = b. ×□□□ CN1_29,22 negation
Torque detection output signal % 3～300 100

No
threshold
Pn529
TCR is output when torque output exceeds this threshold and the signal port is allocated.
Pn530 ms 1～1000 10
Torque detection output signal time Need
Pn600 10000P -9999～ 0
333
Paramet
Setting Factory
range value
number recharge
JPOS 0 point control position pulse 9999 No
high
-9999～
JPOS 0 point control position pulse 1P 0
9999 No
low
Pn601 These two parameters are used in combination, and their algebraic sum is the position that
the point position of JPOS0 needs to reach (how much the motor actually rotates is also
related to the programming mode of point position control).
Pn600 unit:10000P
Pn601 unit:1P
-9999～
Pn602 JPOS1point position control 10000P 0
9999 No
position pulse high
-9999～
Pn603 JPOS1point position control 1P 0
9999 No
position pulse low
Pn604～ -9999～
P 0
Pn629 JPOS2~JPOS14 point position 9999 No
control position pulse
-9999～
Pn630 JPOS15 point position control 10000P 0
9999 No
position pulse high
-9999～
Pn631 JPOS15 point position control 1P 0
9999 No
position pulse low
Pn632 rpm 0～4500 500

JPOS0 point position control speed No
Pn633 rpm 0～4500 500

Pn634～
JPOS2~JPSO14 point position rpm 0～4500 500
Pn646 No
control speed
Pn647 rpm 0～4500 500

Pn648 0.1ms 0～32767 0

JPOS0 point position control once No
334
Paramet
Setting Factory
range value
number recharge
filter time
The once filter time of point position,can be gentle to the motor start or stop.
Pn649 JPOS1 point position control once 0.1ms 0～32767 0

No
Pn650～
JPOS2~JPOS14 point position 0.1ms 0～32767 0 No
Pn662
control once
Pn663 0.1ms 0～32767 0

JPOS15 point position control once No
Pn664 JPOS0 point position control stop 50ms 0～300 10

No
time

No
time
Pn666～
50ms 0～300 10
Pn678 JPOS2~JPOS14 point position No
control stop time

No
time
Pn680 Reservation parameter(does not —— —— —— ——

change)
0000～
Hexadecimal parameter —— 0000
0133 No
Single/circulation
Pn681
0 Circular run,P-CL start signal,N-CL reverse search
H.□□□×
reference point
1
Single run,P-CL start signal,N-CL reverse search
335
Paramet
Setting Factory
range value
number recharge
reference point
2 Circular run,N-CL start signal,P-CL reverse search
reference point
3 Single run,N-CL start signal,P-CL reverse search
reference point
Closed change and start way
0 Delay closed change, needn’t start signal,After
S-ON delay start
P-CON closed change,needn’t start signal,After

1
S-ON delay start
P-CON to do start,but when P-CON signal

H.□□×□ OFF,internal pulse can’t be stop only can’t closed
change
2
Delay closed change,need start signal,eliminated
start signal can closed internal pulse immediately.At
restart ,return program initial point to work.
336
Paramet
Setting Factory
range value
number recharge
P-CON closed change,need start signal,eliminated
start signal can closed internal pulse immediately.At
restart ,return program initial point to work.
Closed change input signal effective mode
0
H.□×□□ Closed input signal voltage level mode
1
Closed input signal pulse mode
H.×□□□
Reservation parameter(does not change)
Programmatically —— 0～1 0
No
Programmatically
Pn682
0
Increment program
1
Absolute value program
—— 0～15 0
Program initial step No
Pn683
Option initial point of point position control
—— 0～15 1
Program end step No
Pn684
337
Paramet
Setting Factory
range value
number recharge
Option end point of point position control
rpm 0～3000 1500

Position contact control is “search No
Pn685 travel speed”
Position back zero control is “search
reference point speed”(rush original
signal ORG)
The motor speed of searching reference to travel switch direction.unit:rpm
rpm 0～200 30
Position contact control is “leaving No
Pn686 travel speed”
Position back zero control is “search
reference point speed”(leave
original signal ORG)
The motor speed of leaving reference to travel switch direction.unit:rpm
-9999～
Pn687 10000P 0
Teaching position pulse high 9999 No
-9999～
1P 0
Teaching position pulse low 9999 No
Pn688
The combination of these two parameters is used, their algebraic sum is the current
position of the teaching, and the auxiliary function of the teaching is to assign the
algebraic sum of these two parameters to the current position
Pn687 unit:10000P
Pn688 unit:1P
Pn689 —— 0～0111 0
338
Paramet
Setting Factory
range value
number recharge
Zero Back set Need
Back zero direction
0
b.□□□× Forward rotation search origin
1
Reverse rotation search origin
Z pulse searching mode
0
When the origin return,return search Z pulse
b.□□×□
1 When the origin return,does not return, go ahead to
search Z pulse.
Back zero trigger start mode
0
b.□×□□ Closed origin return function
1
Triggered origin return function by SHOM input
b.×□□□
Pn690 10000P 0～9999 0

Origin returning offset pulse high No
Pn691 1P 0～9999 0
Origin returning offset pulse low No
0～
—— 0x0161
Hexadecimal parameter 0x0182 Need
Pn700
H.□□□×
339
Paramet
Setting Factory
range value
number recharge
MODBUS communication baud rate

0 4800bps
1 9600bps
2 19200bps
3 38400bps
4 57600bps
5 115200bps
Communication data format option

0 7，N，2（Modbus,ASCII）
1 7，E，1（Modbus,ASCII）
2 7，O，1（Modbus,ASCII）
3 8，N，2（Modbus,ASCII）
H.□□×□ 4 8，E，1（Modbus,ASCII）
5 8，O，1（Modbus,ASCII）
6 8，N，2（Modbus,RTU）
7 8，E，1（Modbus,RTU）
8 8，O，1（Modbus,RTU）
9 8，N，1（Modbus,RTU）
Communication protocol option
0
H.□×□□ No protocol SCI communication
1
MODBUS SCI communication
H.×□□□
Pn701 —— 1～247 1
MODBUS axis address Need
340
Paramet
Setting Factory
range value
number recharge

change)
0～
—— 0x0014
CAN communication speed rate 0x0015 Need
CAN communication baud rate

0 50Kbps
1 100Kbps
H.□□□× 2 125Kbps
Pn703
3 250Kbps
4 500Kbps
5 1Mbps
H.□□×□
Reservation parameter (does not change)
Pn704 —— 1～127 1
CAN communication node Need
Pn705 32 bit first electronic gear —— 0～9999 0

Need
member(H)

Need
member(L)

Need
denominator(H)

Need
denominator(L)
Pn709 32 bit second electronic gear —— 0～9999 0

Need
member(H)
Pn710 32 bit second electronic gear —— 0～9999 1

Need
member(L)
341
Paramet
Setting Factory
range value
number recharge
Pn008 = h1. The selection of 32-bit electronic gear parameters is effective,

used electronic gear can use the instruction pulse corresponding to the motor
corresponding motor movement, so that the superior device does not need to pay
attention to the mechanical deceleration ratio and the encoder pulse amount, it
is essentially the instruction pulse for frequency doubling or frequency division
Settings.
frequency doubling member（Pn 705 *10000  Pn 706 orPn 709 *10000  Pn107）
Instructio nPulseFreq uencyDoubl ingMember ( Pn 707 *10000  Pn 708)
0～
—— ——
Factory parameter(doesn’t change) 0x0F0F Need
0
2500 pairs ABZUVW increment encoder
1
2
Pn840 3
17 bit absolute value encoder
H.□□□×
4
17 bit increment encoder
5
Rotary transformer
6
7
342
Paramet
Setting Factory
range value
number recharge
9
A
B
Magnet encoder
H.□□×□
Driver type option

0 200W
1 400W
2 750W
3 1.0KW
4 1.5KW
5 2.0KW
6 3.0KW
7 5.0KW
H.□×□□
8 7.5KW
9 11KW
A 15KW
B 18.5KW
C
D
E 50W
343
Paramet
Setting Factory
range value
number recharge
F 100W
H.×□□□
Appendix B auxiliary function list
Function content
number
Fn000
Display alarm history data
Fn001
Recover parameter factory setting
Fn002
JOG run mode
Fn003
The automatic adjustment of speed
instruction offset
Fn004
The manual adjustment of speed instruction
344
offset
Fn005 The automatic adjustment of motor current
detection offset
The manual adjustment of motor current
Fn006
detection offset
Fn007 Servo software version display
Fn008 Position teaching function
Fn009 Static inertial detection
Clear absolute value multiloop information
Fn010
and error
Clear absolute value encoder information
Fn011 and error
Appendix C monitor screen list
Monitor Monitor content

number
Un000
Motor actual rotary speed r/min
Un001
Input speed instruction value r/min
Un002
Input torque instruction percent%(to rated
torque)
Un003
Internal torque instruction percent%(to rated
torque)
Un004
345
Encoder rotary corner pulse amount
Un005
Input signal monitor
Un006
Encoder signal monitor
Un007
Output signal monitor
Un008
Pulse given frequency(unit:1kHz)
Un009
Motor rotated pulse amount
Un010
Motor rotated pulse amount(*10000)
Un011
Offset pulse counter low 16 bit
Un012
Offset pulse counter high 16 bit
Un013
Given pulse amount
Un014
Given pulse(*10000)
Un015
Load inertial percent
Un016
Motor overload ratio
Un017
Bus voltage (unit:V)
Un018
keep
Un019
keep
Un020
347
Driver temperature(unit:℃)
Un021
Motor current(unit:A)
Appendix D alarm screen list
Alarm Alarm name Alarm explain

code
A.01 Parameter broken The “sum verify” result

abnormal of parameter
AD related circuit damage

A.02 ADC transform
channel problem
Over speed
A.03 Motor lose control
overload
A.04 Over rated torque continue
run
Position offset
A.05 Internal counter overflow
counter overflow
348
Position offset pulse Position offset exceeded
A.06
overflow Pn504
A.07
Electronic gear Electronic gear setting
setting and given unreasonable or pulse
pulse frequency frequency is too high
matching
unreasonable
A.08
Current detection first First channel current detection
channel has problem 0 is too large or current
detection circuit has problem
A.09
Current detection Second channel current
second channel has detection 0 is too large or
problem current detection circuit has
problem
Increment encoder No insert encoder or broken

A.11
broken line line
A.12
Over current Current is too large
Over voltage
A.13
Bus voltage is too high,rake
resistance will be overvoltage
when it is not suitable for
349
deceleration
A.14 undervoltage
Power supply voltage is too
low
A.16 Brake overload
The brake resistance is too

large or power is too
low,suggest external
connecting suitable resist
A.17 Rotated transformer
abnormal Rotated transformer
communication abnormal
A.18 Model overheat
Model temperature is overheat
A.19 Motor overheat
Motor temperature is overheat
A.20 Power line default
phase Power supply does not
connect one phase
A.21 Immediately interrupt
current alarm
In AC, a power failure that
occurs more than one power
cycle
A.23 Brake overcurrent
The discharge resistance is too

small or the discharge model
is damaged
A.24 Model short circuit
Over current or output short
350
circuit
A.42 Motor model error
Motor model setting error or

driver parameter mismatching
with motor
A.43
Servo driver/encoder Driver parameter mismatching
model error with motor
A.44
Written encoder
EEPROM timeout
A.45
Absolute value Multiloop information error
encoder multiloop
information error
A.46
Absolute value Multiloop information
encoder multiloop overflow
information
overflow
A.47 Battery voltage ＜

2.5V Multiloop information has
loosen
A.48 Battery voltage ＜
3.1V Battery voltage is too low
A.50
351
Series encoder
communication
timeout The encoder is disconnected,
the encoder signal is
interfered, the encoder is
damaged or the encoder
decoding circuit is damaged
A.51
Absolute value
encoder detected over
speed alarm
Multiloop information maybe

error.
Reason:
1. disconnect battery or
insufficient voltage
2. Driver disconnect power
at battery nomal,motor rotary
speed is to high because of
external reason
A.52
Series encoder Encoder damage or encoder

absolute state error decoding circuit damage
A.53
Series encoder count
error Encoder damage or encoder
decoding circuit damage
352
A.54
Series encoder control Encoder signal is interfered or
field parity bit, cutoff encoder decoding circuit is
bit error damage
A.55
Series encoder Encoder signal is interfered or
communication data encoder decoding circuit is
verified error damage
A.56
Series encoder state Encoder signal is interfered or
field cutoff bit error encoder decoding circuit is
damage
Series encoder data is

A.58
empty Series encoder EEPROM data
is empty
A.59
Series encoder data Series encoder EEPROM data
format error is wrong
Can’t detect
A.60
communication No insert communication
module module or the communication
has problem
communication module CPU

A.61
Connect fault with work abnormal
353
communication
module
A.62
Servo driver is unable There is a problem with the

to receive periodic servo driver data receiving
data of channel or communication
communication module sending channel
module
A.63
Communication module error
Communication
module can’t receive
the feedback data of
servo driver
A.64 接 there are no

connection between Bus communication is
communication abnormal
module and bus
A.66 CAN communication

error
CAN communication error is
caused by abnormal
communication connection or
interference
A.67 Receive heartbeat
timeout The primary station sends a
heartbeat timeout
A.69
354
The synchronization The offset time set does not
signal monitoring match the period of the
period is too long synchronization signal
compared with the
setting period
A.80
External data
pair,address pair or
RAM error
A.00
No error display Display normal action state
It can be restoration to alarm,among them, A.45, A.46, A.47, A.48 and A.51 need to
clear the absolute value alarm.
Because the multiloop has been wrong,so that the multiloop information need to be
cleared.
355
Anppendix E brief parameter list
Paramete Whethe
name unit Setting range Effective r
r code
mode recharg
e
Pn000 —— 0000～13E1 P、S、T

Function option switch 0 Need
Pn001 —— 0000～3115 P、S、T

Function option switch1 Need
Pn002 —— 0000～1111 P、S、T

Pn003 —— 0000～1111 P、S、T

Pn004 —— 0000～1111 P、S、T

Pn005 —— 0～100 P、S、T

Motor model Need
Pn006 —— 0000～3111 P、S、T

Pn007 —— 0000～1131 P、S、T

Pn008 —— 0000～1115 P、S、T

Pn100 rad/s 1～4000 P、S

Speed loop gain No
Pn101 0.1ms 1～4096 P、S

Speed loop integral time No
Pn102 1/S 0～1000 P

Position loop gain No
Pn103 % 0～20000 P、S

Load inertial percent No
Pn104 rad/s 1～4000 P、S

No
356
Paramete Whethe
r code
mode recharg
e
Second speed gain
Pn105 0.1ms 1～4096 P、S

Second speed loop integral time No
Pn106 1/S 0～1000 P

Second position gain No
Pn107 Real-time automatic resonant —— 0000～0036 P、S

Need
regulation set
Pn108 —— 0～36 P、S

Load rigidity set No
Pn109 % 0～100 P
feedforward No
Pn110 0.1ms 0～640 P

Feedforward filter No
Pn111 % 0～100 P、S

Torque feedforward No
Pn112 0.1ms 0～640 P、S

Torque feedforward filter No
Pn113 rpm 0～300 P

Speed polarization No
Pn114 Torque instruction filter 0.01ms 0～2500 P、S、T

No
constant
Pn115 Second torque instruction filter 0.01ms 0～2500 P、S、T

No
constant
Pn116 —— 0～4 P、S

P/PI switch condition Need
Pn117 % 0～300 P、S

Torque switch threshold No
Pn118 指令脉冲 0～10000 P

Offset counter switch threshold No
Pn119 Given acceleration switch 10rpm/s 0～3000 P、S

No
threshold
Pn120 rpm 0～10000 P、S

Given speed switch threshold No
357
Paramete Whethe
r code
mode recharg
e
Pn121 —— 0～8 P、S

Gain switch condition Need
Pn122 0.1ms 0～20000 P、S

Switch delay time No
Pn123 —— 0～20000 P、S

Switch threshold level No
Pn124 rpm 0～2000 P、S

Actual speed threshold No
Pn125 0.1ms 0～20000 P

Position gain switch time No
Pn126 —— 0～20000 P、S

Switch hysteresis No
Pn127 0.1ms 0～100 P、S

Low speed detected speed filter No
Pn128 Real-time resonant regulation —— 0～3 P、S

No
speed gain adding relationship
Pn129 —— 0～30000 P、S

Low speed adjusted coefficient No
0.1%
Pn130 0～3000 P、S
Friction load No
rpm
Pn131 Friction compensates for speed 0～100 P、S
No
hysteresis
0.1%/1000
Pn132 rpm 0～1000 P、S
Viscous friction load No
——
Pn200 Position control configuration 0000～2234 P
Need
option switch
Pn201 16 bit first electronic gear —— 1～65535 P

Need
member
Pn202 —— 1～65535 P
16 bit electronic gear Need
358
Whethe
r code
mode recharg
e
denominator
Pn203 16 bit second electronic gear —— 1～65535 P

Need
member
0.1ms
Pn204 Position instruction filter time 0～32767 P
No
constant
——
Pn205 Position instruction filter 0～1 P
Need
configuration option
Pn206 Pulse 1～16384 P、S、T

PG frequency dividing Need
Pn300 rpm/v 0～3000 S

Speed instruction input gain No
Pn301 rpm -6000～6000 S

Internal speed 1 No
Pn302 rpm -6000～6000 S

Internal speed 2 No
Pn303 rpm -6000～6000 S

Internal speed 3 No
Pn304 rpm 0～6000 S

JOG speed No
Pn305 ms 0～10000 S
Soft start accelerated time No
Pn306 ms 0～10000 S
Soft start decelerated time No
间
Pn307 ms 0～10000 S
Speed filter time constant No
Pn308 ms 0～10000 S
S curve risen time No
Pn309 Speed instruction curve —— 0～3 S

Need
configuration
Pn310 —— 0～3 S
359
Paramete Whethe
r code
mode recharg
e
S configuration option No
Pn311 Analog speed given zero point 10mv -1000～1000 S No

polarization
Pn312 rpm -6000～6000 S

Parameter speed No
Pn313 rpm -6000～6000 S

Communication point speed No
Pn314～
Pn318
change)
Pn319 rpm -6000～6000 S

Internal speed 4 No
Pn320 rpm -6000～6000 S

Internal speed 5 No
Pn321 rpm -6000～6000 S

Internal speed 6 No
Pn322 rpm -6000～6000 S

Internal speed 7 No
Pn400 0.1V/100% 10～100 T

Torque instruction gain No

change)
Pn402 Forward rotation torque internal % 0～300 P、S、T

No
limited
Pn403 Reverse rotation torque internal % 0～300 P、S、T

No
limited
Pn404 Forward rotation external torque % 0～300 P、S、T

No
limited
Pn405 Reverse rotation external torque % 0～300 P、S、T

No
limited
Pn406 % 0～300 P、S、T
360
Paramete Whethe
r code
mode recharg
e
Reverse brake torque limited No
Pn407 rpm 0～6000 T

Limited speed of torque control No
Pn408 Hz 50～5000 P、S、T

Band trap 1 frequency No
Pn409 —— 0～23 P、S、T

Band trap 1 depth No
Pn410 Hz 50～5000 P、S、T

Band trap 2 frequency No
Pn411 —— 0～23 P、S、T

Band trap 2 depth No
Pn412 Low -frequency vibration 0.1Hz 50～500 P、S

No
frequency
Pn413 Low-frequency vibration —— 0～200 P、S

No
damping
Pn414 0.1ms 1～2000 T

Torque control delay time No
Pn415 rpm 10～1000 T

Torque control speed hysteresis No
Pn416 Analog torque given zero point 10mv -1000～1000 T

No
polarization
Pn500 pulse 0～5000 P

Position error No
Pn501 rpm 0～100 S、T

Same speed error No
Pn502 rpm 0～3000 S

Zero clamping rotary speed No
Pn503 Rotation detection rotary speed rpm 0～3000 P、S、T

No
TGON
Pn504 256pulse 1～32767 P

Offset counter overflow alarm No
Pn505 ms -2000～2000 P、S、T
361
Paramete Whether
name unit Setting range Effective
r code
mode recharge
Servo ON waiting time No
Pn506 10ms 0～500 P、S、T

Basic waiting process No
Pn507 rpm 10～100 P、S、T

Brake waiting speed No
Pn508 10ms 10～100 P、S、T

Brake waiting time No
Pn509 Input signal is allocated to the —— 0～0xFFFF P、S、T

Need
port
Pn510 Input signal is allocated to the —— 0～0xFFFF P、S、T

Need
port
Pn511 Output signal is allocated to the —— 0～0x0999 P、S、T

Need
port
Pn512 Bus control input contact low —— 0～1111 P、S、T

No
enabled
Pn513 Bus control input contact high —— 0～1111 P、S、T

No
enabled
Pn514 0.2ms 0～1000 P、S、T

Input port filter No
Pn515 0.2ms 0～3 P、S、T

Alarm port filter No
Pn516 Input port signal negation —— 0～1111 P、S、T

No
Pn517 —— 0～1111 P、S、T

Pn518 ms 50～2000 P、S、T

Dynamic brake time No
Pn519 Series encoder error allowed 0.1ms 0～10000 P、S、T

No
time
Pn520 0.1ms 0～60000 P

Positioned time No
362
Paramete Whether
r code
mode recharge
Pn521～
Pn524
change)
Pn525 % 100～150 P、S、T

Overload alarm threshold No
Pn526～
Pn527
change)
Pn528 —— 0～1111 P、S、T

Output port signal negation No
Pn529 Torque detection output signal % 3～300 P、S、T

No
threshold
Pn530 Torque detection output signal ms 1～1000 P、S、T

Need
time
Pn600 JPOS 0 point control position 10000P -9999～9999 P

No
pulse high
Pn601 JPOS 0 point control position 1P -9999～9999 P

No
pulse low
Pn602 JPOS1point position control 10000P -9999～9999 P

No
position pulse high
Pn603 JPOS1point position control 1P -9999～9999 P

No
position pulse low
Pn604～
P -9999～9999 P
control position pulse
Pn630 10000P -9999～9999 P

JPOS15 point position control No
position pulse high
Pn631 1P -9999～9999 P
No
JPOS15 point position control
363
Paramete Whether
r code
mode recharge
position pulse low
Pn632 JPOS0 point position control rpm 0～4500 P

No
speed

No
speed
Pn634
JPOS2~JPSO14 point position rpm 0～4500 P
Pn646 No
control speed

No
speed
Pn648 JPOS0 point position control 0.1ms 0～32767 P

No
once filter time
Pn649 JPOS1 point position control 0.1ms 0～32767 P

once No
Pn650～
JPOS2~JPOS14 point position 0.1ms 0～32767 P
Pn662 No
control once
Pn663 间 0.1ms 0～32767 P

JPOS15 point position control No
once
Pn664 JPOS0 point position control 50ms 0～300 P

No
stop time

No
stop time
Pn666～
50ms 0～300 P
control stop time

No
stop time
364
Paramete Whether
r code
mode recharge

change)
Pn681 —— 0000～0133 P
Hexadecimal parameter No
Pn682 —— 0～1 P
Programmatically No
Pn683 —— 0～15 P
Program initial step No
Pn684 —— 0～15 P
Program end step No
Pn685 Position contact control is rpm 0～3000 P

No
“search travel speed”
Position back zero control is
“search reference point
speed”(rush original signal
ORG)
Pn686 ORG）” rpm 0～200 P

Position contact control is No
“leaving travel speed”
Position back zero control is
“search reference point
speed”(leave original signal
ORG)
Pn687 10000P -9999～9999 P

Teaching position pulse high No
Pn688 1P -9999～9999 P
Teaching position pulse low No
Pn689 —— 0～0111 P
Back zero set Need
Pn690 Origin return offset pulse high 10000P 0～9999 P No
365
Paramete name unit Setting range Effective Whether
r code mode recharge
Pn691 1P 0～9999 P
Origin return offset pulse low No
Pn700 —— 0～0x0182 P、S、T

hexadecimal Need
Pn701 —— 1～247 P、S、T

MODBUS axis address Need

change)
Pn703 —— 0～0x0015 P、S、T

CAN communication speed rate Need
Pn704 —— 1～127 P、S、T

CAN communication node Need
Pn705 32 bit first electronic gear —— 0～9999 P、S、T

Need
member(H)

Need
member(L)

Need
denominator(H)

Need
denominator(L)
Pn709 32 bit second electronic gear —— 0～9999 P、S、T

Need
member(H)
Pn710 32 bit second electronic gear —— 0～9999 P、S、T

Need
member(L)
Pn840 Reservation parameter(does not —— 0～0x0F0F P、S、T

Need
change)
366
Hooshmand System Apameh
ADD:No.45 - 22th street-Chahar dangeh industrial
Zone-Tehran-Iran
Tel:55265031-2
Fax:55265033

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SERVO DRIVE

Hooshmand System Apameh

The manual outline................................

2 Open box and inspection........................................................................................ 19

4.5 Input and output signal wiring diagram（CN1 plug）........................... 44

6 The usage of panel operator........................................... ................................... 236

■The manual is aimed at users of the ASD620B ac servo series and

● The operation ways of servo driver

● T he board using ways

■ Forbidden connecting or pulling out connector of driver when the driver

■ Anti-interference processing and grounding.

■ Avoid extreme adjustments or changes.

■ On/off current shall be following :

voltage level 1 phase 220V/50HZ 1phase 380V/50HZ

contr input voltage AC 220V±15% AC380V±15%

inter allowed voltage

saver Power capacity ≥500mA(the machine 24V just provide 100mA)

unit internal brake unit,also has external brake unit

input 8 opticalcoupler isolation input

analog input 2circuit,range：DC -10V～+10V

output 2 circuit,range:：DC 0V～+10V

pulse input 2circuit,5V Differential input or open collector input

4 circuits,encoder ABZ phase 3 circuit divided frequency discretely

output,1 circuit Z phase open circuit collector output

protection over-current protection,over-voltage protection,overload protect,

function overtemperature protection,encoder broken protection,regeneration

broken protection,low voltage protection,overspeed protection,large

position error protection

input pulse 500kHz(different vibration input)，200kHz(open circuit collector

internal site support 16 internal position contact instruction

driver 100W～2.0kW 1.0kW～15kW

torque linear ±10% under

co speed control Set DC 0-±10V by parameter setting or external analog input（Max

ntr range rotate speed）；

allowed max inertial 30 multiple

driver 100W～2.0kW 1.0kW～15kW

en Storage -20～80℃(no frozen)

on humidity work/storage:≤90% (no condensation)

vibration ≤4.9m/s 2，10～60HZ（Not allowed to work at a common point）

1.2 All model power specification

Table 1-2 each model power specification table

Driver model voltage power Rated

SG-BS2AR 3 phase 380V 2.0KW 7.2A

SG-BS3AR 3 phase 380V 3.0KW 9A

SG-BS5AR 3 phase 380V 5.0KW 15A

SG-BS7AR 3 phase 380V 7.5KW 18.5A

1.4 Servo Driver size and installation size

Picture 1- 2 1.0KW～1.5KW 3 phase 380V

Picture 1- 3 2.0KW～7.5KW 3 phase 380V size

3.1 The servo driver running environment

Picture 3- 1 altitude and depression amplitude curve

3.1.3 Other requirement

3.2 Servo driver installation direction and space

Picture 3- 3 1 driver around space

2) install more than one :

3.2.3 Keep foreign matter out

 please confirm grid power supply with the machine, nameplate

 。 Electromagnet is used to connect and dislocate the main power

· please confirm to check whether the

CN3 连接器 CN3 connector (total) 侧面图 profile 背面图 back