Content

I Product Profile.................................................................................................... 2
1 Overview ........................................................................................................... 2
2 Technical features .............................................................................................. 2
MS-L3 Servo-Stepper Drive 3 Applications ....................................................................................................... 2
4 Naming rules...................................................................................................... 2
User Manual V1.2 II Electrical, mechanical, and environmental spec ............................................... 3
1 Electric spec ....................................................................................................... 3
2 Using the environment and parameters ............................................................. 3
3 Mechanical installation dimensions ( unit : mm) ............................................... 3
4 Enhance heat dissipation.................................................................................... 3
III Drive terminal and wiring introduction ........................................................... 4
1 Interface schematic diagram .............................................................................. 4
2 Terminal definition ............................................................................................ 4
IV Menu operation ................................................................................................ 6
1 Operation interface ............................................................................................ 6
2 Menu introduction ............................................................................................. 6
V YAKO warranty .............................................................................................. 12
1 Warranty for 12 months： ............................................................................... 12
2 Not covered under warranty： ........................................................................ 12
VI Version and change description ..................................................................... 12

All rights reserved

【Before use, please read this manual carefully to avoid damaging the drive】
 MS-L3 Servo-Stepper Drive User Manual Version1.2 MS-L3 Servo-Stepper Drive User Manual Version1.2

 Six-digit LED display, user friendly for setting and monitoring

I Product Profile
3 Applications
1 Overview
Suitable for high torque large automation equipments such as robots, engraving
MS-L3 series servo-stepper drive is the latest technology of YAKO. It machine, stripping machine, marking machine, cutting machine, plotter, CNC
combines 32-bit DSP motor control technology and power angle control technology, machine, automatic assembly equipment.
thus completely solved the problem of losing step.

MS-L3 increases high and low speed performance and torque utilization
efficiency, effectively reduce motor heat, thus to enhance machine's processing
efficiency/accuracy and reduce energy consumption. It has obvious advantage on
4 Naming rules
cost compared with traditional AC servo system.

2 Technical features MS - L 3 - xx
① ② ③ ④
 32 bit DSP control technology
① Series code Hybrid servo series (Servo-stepper)
 Advanced lead angle and vector control algorithm;
 Current automatically change according to load ② Power rate L：High power（AC220） S：Low power（AC80V）
 Microstep settings: continuously changeable from 400 to 60,000 Motor flange
③ 3:86mm 4:110mm
pulse per round size
 Suitable for 86~110mm (NEMA 34~42) close-loop motor Customize
④ 1—99
 Photoelectric isolated signal input/output, high anti-interference number
ability
 200Kpps pulse response frequency
 Input voltage range: AC220V
 Fault protection: over current, over voltage, low voltage protection,
position warning

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II Electrical, mechanical, and environmental spec 3 Mechanical installation dimensions ( unit : mm)

1 Electric spec

MS-L3
Spec Minimum Typical Maximu
Unit
value value m value
Continuous output current 0 - 6.0 A
Input power voltage 150 220 240 Vac
Logic input current 7 10 20 mA
Pulse frequency 0 - 200 kHz
Insulation resistance 500 MΩ

2 Using the environment and parameters

Cooling way Air cooled

Environment Try to avoid dust, mist and corrosive
Use environment gases
Temperature 0℃－50℃ 4 Enhance heat dissipation
Humidity 40－90%RH
Vibration 5.9 m/s2 Max （1）Drives reliable operating temperatures are usually under the 60 ℃, the motor
Storage temperature -20℃－+65℃ operating temperatures up to 80 ℃ or less;
Weight Around 1500g
（2）Please use upright side mount when installing the drive, to form strong
convection on the surface of the heatsink. If necessary install a fan near the drive, to
forced cooling, guarantee drives in safe operating temperature range.

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III Drive terminal and wiring introduction 2 Terminal definition

1）Power input terminal and output terminal for motor

1 Interface schematic diagram
Terminal
Abbreviation Name Definition
number
1 AC
Power input 110V~220V AC
2 AC
3 BRK+ Brake output+ Connect with external
4 BRK- Brake output- brake resistor or none
5 U U, V, W correspond to
black, blue, brown or
6 V
Motor cable correspond to red, blue,
7 W black
8 NC Not connected
9 PE Grounding Terminal Yellow-green line

2）Encoder feedback terminal

Encoder connection is provided by YAKO, use the encoder extension cord to

directly connecting the motor encoder and drive.

3）Control signal terminal

Control signal correspond as follows:

Terminal
Terminal name Terminal description Introductions
number
3 5PU+ Pulse 5V positive input
Pulse signal
4 PU- Pulse negative input
(Input signal)
19 24PU+ Pulse 24V Positive input
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5 5DR＋ Direction 5V positive input Encoder Z channel positive

Direction signal 34 Z+
6 DR－ Direction negative input output
(Input signal)
21 24DR＋ Direction 24V positive input Encoder Z channel negative
35 Z-
11 5MF+ Enable 5V positive input output
Enable signal
12 MF- Enable negative input 41 BK+ Motor brake positive output Brake control signal
(Input signal)
27 24MF+ Enable 24V positive input 42 BK- Motor brake negative output (Output signal)
Deviation alarm clear 5V Encoder Z collector open
13 5CLR_A+ 39 Z_OUT Encoder Z signal
positive input output
Deviation alarm single output
Deviation alarm clear 22 33 GND Signal ground
14 CLR_A- clear signals
negative input
(Input signal) In order to avoid malfunction and deviation, PU, DR, MF should meet certain
Deviation alarm clear 24V
29 24CLR_A+ requirements as follows shown:
positive input
Position reached signal
9 PEND+ Position reached
positive output
signal
Position reached signal
10 PEND- (Output signal)
negative output
Alarm signals positive
7 ALM+
output Alarm signals
Alarm signals negative (Output signal)
8 ALM-
output
Encoder A channel positive
16 A+
output
Encoder A channel negative
31 A- Encoder pulse 5）Communication terminal
output
differential output
Encoder B channel positive Not open to the public.
18 B+ signal
output
Encoder B channel negative 6）Status indicator
32 B-
output MS-L3 has six-digit LED display. When a drive has a malfunction, the drive

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 MS-L3 Servo-Stepper Drive User Manual Version1.2 MS-L3 Servo-Stepper Drive User Manual Version1.2

will stop, and displayed the corresponding faulty codes. When multiple faulty occur page ▼ . Press confirm button ← once, to go to the next menu. Long press ◀, to
at the same time, the fault code will display one by one. Drive saving the latest return to the previous menu.
failure in the drive's EEPROM according to the faulty queue, the drive can up to
save 10 recent history of faulty.
▼ dP–Display

IV Menu operation menu

▼ dE-History of ▲
failure
1 Operation interface ▼ Sr–Test ▲
▼ EE-Parameter ▲
There are four touch buttons in MS-L3 buttons display panel, to realize of up management
page, down page, shifting, cancel and confirm function, as shown in the following ▼ PA–Parameter ▲
figure: settings
dP–Display ▲
Buttons Name Function
menu
▲ up page Switch up in the menus at the same level or increase
parameter value
▼ down page Switch down in the menus at the same level or decrease
parameter value
shifting Short press this key to shift in parameter set 1）System monitor menu items dP–
◀ cancel Long press this key to return to the previous menu or cancel
dP–Under this menu, there’re total 14 second-level items, you can monitor 11
the operation
← confirm Enter the next menu or to confirm the operation system State. Under the first-level menu, press ▲ and ▼ to select dP–menu item,
and then press the ← to enter dP– menu secondary menu. Secondary menu as
2 Menu introduction shown in the following table:

There are three levels for system menu. Level 1 menu contains 5 item, the
menu items can be switched up and down by button up page ▲ and button down

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Level 07——Position deviation

Level 2
1 Meaning Remark protection
menu
menu dP – VEr Software version
dP – SPd Motor speed (r/min)
dP – SPr The given speed (r/min) After entering the secondary menu, by press ▲ and ▼ to select the item that
Current position high 4 bit encoder measurement you want to view the status, and then press the ← button, the display shows the
dP – PoS.
( Feedback pulse number) unit status value. If you want to exit, press ◀ key.
Current position low 4 bit encoder measurement
dP – PoS 2）Setting menu item PA-
( Feedback pulse number) unit
Position command high 4 bit Input pulse measurement PA- Menu has 63 second-level menu item, each second-level menu item
dP – CPo.
( Pulse command number) units corresponds to a system parameter. Adjustable parameters are listed in the table, the
Position command low 4 bit ( Pulse Input pulse measurement rest parameters are reserves. By press ▲ and ▼ to select the parameter that you
dP – CPo
command number) units
want to set, then press the ← key to enter parameter setup interface.
Encoder measurement
dP – EPo. Position deviation high 4 bit
units In the process of setting parameters, short press ◀ key to shift, by press ▲
dP - Encoder measurement and ▼ button to modify the value. the values displayed will not be applied
dP – EPo Position deviation low 4 bit
units
immediately, only after the user press the ← button, the values displayed are
dP – I Motor current (mA)
effective. When you need to exit the parameter setting, please press ◀.
dP –buS Drive busbar voltage（V）
dP –MtP Motor type 86 Motor; 110 Motor PA values specification:
00——No alarm
The
01——Memory read Parameter Parameter Parameter
default Range Remark
error sequence name description
value
02——Overvoltage
dP – Err Alarm code Operation 1 Open-loop
protection
PA-02 mode mode 2 1-2
04——Encoder fault
selection 2 Servo mode 0
05——Overcurrent
Initial 0 Motor speed
protection（IPM） PA-03 0 0-11
display state (r/min)
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1 The given numerator

speed (r/min) equal to the
2 Current encoder
position high E-gear ratio resolution,
PA-07 1600 1-60000
4 bit denominator E-gear ratio
3 Current denominator
position low equal to the
4 bit microsteps
4 Position Encoder
PA-08 4000 4000
command resolution
high 4 bit Track error
5 Position PA-09 alarm 4000 1-65535
command thresholds
low 4 bit Current loop
PA-10 1000 0-65535
6 Position Kp
deviation Current loop
PA-11 200 0-65535
high 4 bit Ki
7 Position Current loop
PA-12 256 0-1024
deviation low Kc
4 bit 0 Variances
8 Motor alert cleared
current (mA) CLR_ALM
1 Changing the
9 Drive busbar PA-13 function 0 0-1
direction of
voltage（V） select
the motor
10 Motor type rotation
11 Alarm code 0 Pulse
E-gear ratio When the MF function blocking
PA-06 4000 1-60000 PA-14 1 0-1
numerator E-gear ratio setting function
1 Release the
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motor axis 1 Effective

0 Enabled when pulse
when input optic-coupler
optic-coupler from on to off
MF input is on (falling edge)
PA-15 0 0-1
polarity 1 Enabled Motor 0 Counter
when input PA-19 rotation clockwise 1 0-1
optic -coupler direction 1 Clockwise
is off Impulse
0 When alarm, PA-20 bandwidth 10 1-128
output filter
optic-coupler 0 Output
ALM output is off when absolute
PA-16 1 0-1
polarity 1 When alarm, position
output deviation is
optic-coupler less than
is on PA-23
0 Pulse + 1 Output
Position
direction when absolute
reached
Single and （PU+DR） position
Re-power PA-21 signal 0 0-1
PA-17 double pulse 1 Double pulse 0 0-2 deviation is
needed （PEND）
options （CW/CCW） less than
output mode
2 Orthogonal PA-23,
（A/B） position
0 Effective command
Pulse when pulse before the
PA-18 effective optic-coupler 0 0-1 filter is 0, and
edge from off to on after the time
(rising edge) set in PA-24
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0 When coefficients
position Power-on
PA-31 5000 1-65535
reached, ramp time
output Starting
Position PA-45 50 0-65535Hz
optic-coupler speed
reached
is on Acceleration
PA-22 signal 0 0-1 PA-46 50 0-65535ms
1 When time
（PEND）
position Deceleration
level select PA-47 50 0-65535ms
reached, time
output PA-48 Target speed 1600 0-65535Hz
optic-coupler Running
is off pulse
The end PA-49 number 0 0-20000
PA-23 range of 5 1-100 Pulse
(high 2
positioning number =
bytes)
Positioning The unit is one high 2 bytes
Running
PA-24 completion interrupted cycle 10 0-1000 *65536+
pulse
time (62.5us) low 2 bytes
PA-50 number 1600 0-65535
0 Pulse (low 2
command bytes)
Pulse microstep Interval
command disable PA-51 100 0-65535 Unit：ms
PA-25 1 0-1 time
microstep 1 Pulse Repeat
enable command PA-52 10 0-65535
times
microstep 0 Running back
enable Cyclic and forth
Pulse PA-53 0 0-1
running 1 Running in
PA-28 instruction 256 1-512 single
filter
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 MS-L3 Servo-Stepper Drive User Manual Version1.2 MS-L3 Servo-Stepper Drive User Manual Version1.2

direction 3）Parameter management menu item EE-

Open-loop Maximum current
EE- Menu has 6 second-level menu item, as shown in the following table:
PA-56 current for open loop 100 0-100
percentage operation Level 2
Level 1 menu Function
Closed-loop menu
basic Write parameters, it would write parameters from
PA-57 40 0-100
current drive memory to EEPROM parameter area. If you
EE-SEt
percentage do not do this, the drive will restore to previous
Closed-loop value after re-power.
maximum Parameters read, read EEPROM parameter data into
PA-58 100 0-100 EE-rd
current memory.
percentage Parameter backup, write parameters from drive
Position EE-bA
EE- memory to EEPROM backup area.
PA-60 deviation 2048 0-65535 （Parameters Restore the backup to memory. This operation does
ratio factor Management） not write parameter to EEPROM parameter area. If
Speed EE-rS users want to permanently use EEPROM backup
PA-61 deviation 409 0-65535 zone data, you need to perform write operations
ratio factor (EE-SEt).
Speed Restore the default value of the parameter, it resets
PA-62 feedback 20 0-100 EE-dEF all parameters to the default values are read into
coefficient memory and write to EEPROM.
Integral EE-ACL Clearing the history fault
PA-64 0 0-10000
coefficient
To save parameters, you need to do the following:
Note: 1 ) PA-17 need to be re-powered to be effective, others effective immediately.
1) Find level 1 menu of EE-
2）After parameter was changed, it is needed to save parameter by EE-SEt
menu, otherwise, the drive will restore to previous value. 2) Enter to the level 2 menu of EE-SET

3) Long press the ← button, StArt will be displayed on the screen. About 2
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 MS-L3 Servo-Stepper Drive User Manual Version1.2 MS-L3 Servo-Stepper Drive User Manual Version1.2

seconds later, appears FInISH, which represent the parameters

V YAKO warranty
successfully saved.

1 Warranty for 12 months：

4）The running test menu item Sr-
YAKO provide 12 months warranty from date of delivery for the product of
Level 2 raw material and processing defects. YAKO provide free maintenance service during
Level 1 menu Function
menu
the warranty period for defective products.
Test running started, motor running in
Sr- (Running test Sr-On
begin with a fixed speed
mode） 2 Not covered under warranty：
Sr-Off End test run, the motor stops running.

5）History fault display dE- ●Inappropriate wiring, such as power and motor cables reversed.

To view the latest 10 history of faults saved in drive EEPROM: ●Unauthorized changes to internal components

Level 2 ●Beyond the electrical and environmental requirements

Level 1 menu Function
menu ●Environmental heat dissipation environment is too bad
dE-1
dE-2 VI Version and change description
dE-3
dE-4 Displays the latest fault code in dE-01; V1.0 The initial version
dE-（Historical dE-5 Displays the second latest fault code in V1.1 Modified PA-02 , PA-16 , PA-19 default parameters, modified PA-05
troubleshooting） dE-6 dE-02; default to 40, modified PA-29 default to 6000.
dE-7 … V1.2 Modify the parameters to the same with MS-S3.
dE-8
dE-9
dE-10

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