YG-380V Servo Drive Manual

Contents
Chapter 1 Safety Information and Precautions
16DIHW\,QIRUPDWLRQDQG3UHFDXWLRQV.......................................................................... 3
Chapter 2 Precautions
2.1Precautions when confirming the arrival of the product.......................................................... 4
2.2Precautions for storage and transportation......................................................................... 4
2.4Notes on installation............................................................................................................... 4
2.5 Precautions when wiring....................................................................................................... 5
2.6 runtime considerations.......................................................................................................... 6
2.7 Precautions for maintenance and inspection........................................................................ 6
2.8 Check items and cycles......................................................................................................... 7
2.8.1 NRUPDOXVHFRQGLWLRQV................................................................................................ 7

2.8.2 3URKLELWHGPDWWHUV.................................................................................................... 7
2.8.3 Notes on disposal........................................................................................................ 8
2.9 General Notes................................................................................................................ 8
Chapter 3 Installation
3.1 Installation of Servo Drive................................................................................................... 9
3.1.1 I n s t a l l a t i o n L o c a t i o n ............................................................................................. 9
3.1.2 Installation Environment............................................................................................... 9
3.1.3 Installation Precautions............................................................................................... 10
3.2 Installation of Servo Motor.................................................................................................. 11
3.2.1 Installation Location..................................................................................................... 11
3.2.2 Installation Environment............................................................................................... 11
3.2.3 Installation Precautions................................................................................................. 12
Chapter 4 Wiring
4.1Wiring of Servo Drive
Main Circuit.........................................................................................15
4.1.1 Main Circuit Terminals............................................................................................... 15
4.1.2 Main Circuit Terminals................................................................................. 16
4.1.5 Recommended Models and Specifcations of Power Cables....................................... 17
4.4.1 Position Reference Input Signals................................................................................ 19
4.4.2 $QDORJLQSXWVLJQDOV................................................................................................ 27
4.4.3 Digit input/output signals............................................................................................. 28
4.4.4 Encoder Frequency-Division Output Circuit................................................................ 31
4.4.5 Wiring of the Motor Brake..............................................................................................33
Chapter 5 Operation and Display
5.1 Introduction to Keypad......................................................................................................... 34

5.2 Keypad Display.................................................................................................................... 34
5.2.1 Display Switchover....................................................................................................... 35
5.5 Common Functions............................................................................................................. 36

5.5.1 Jog Running..................................................................................................................... 36
&hapter 6 Control Modes
6.1 Basic Setting....................................................................................................38
6.1.1 Check Before Running.................................................................................39
6.1.2 Power Supply Connection............................................................................ 39
6.1.3 Jogging.................................................................................................... 40
6.1.4 Selection of Rotating Direction...................................................................... 41
6.1.5 Selection of Output Pulse Phase.............................................................. 41
6.1.6 Brake Setting............................................................................................ 42
6.1.8 Servo Running.......................................................................................... 46
6.1.9 Servo Stop............................................................................................... 52
6.2 Position Control Mode................................................................................... 54
6.2.1 Position Reference Input Setting.............................................................. 55
6.2.2 Electronic Gear Ratio.............................................................................. 64
6.2.3 Position Reference Filter......................................................................... 70
6.2.4 Position Deviation Cleared..................................................................... 71
6.2.5 Frequency-Division Output...................................................................... 72
6.2.6 Internal Reference Completed, Positioning Completed/Near Functions...... 74
6.2.7 Interrupt fixed length function.................................................................. 77
6.2.8 Homing.................................................................................................... 80
6.2.9 Position Function Code Block Diagram........................................................... 93
6.3.1 Speed Reference Input Setting..................................................................... 94
6.3.3 Zero Speed Clamp Function........................................................................ 100
6.3.4 Speed Reference Limit............................................................................... 101
6.3.5 Speed-related DO Signals...........................................................................102
6.
4 Torque Control Mode........................................................................................106
6.4.1Torque Reference Input Setting................................................................107
6.4.2 Torque Reference Filter.......................................................................... 113
6.4.3 Torque Reference Limit...........................................................................114
6.4.4 Speed Limit in Torque Control.................................................................120
6.4.5 Torque Reached Output..........................................................................124
6.5 Hybrid Control Mode......................................................................................125

6. 6 Descriptions of Absolute System.................................................................... 126
6.6.2 Relevant Parameter Setting....................................................................127
6.6.3 Precautions of Battery Box..................................................................... 130
6.6.4 Soft Limit Function................................................................................. 131
6.7 Auxiliary Functions........................................................................................132

6.7.1 Software Reset...................................................................................... 132
6.7.2 Motor Protection................................................................................... 132
6.7.3 DI Filter Time..... .... .............................................................................134
6.7.4 Brake Protection Detection Function.......................................................135
Chapter 6 Adjustment

7.1 Overview............................................................................................................................136
7.2 Inertia Auto-tuning..............................................................................................................138
7.2.1 Ofine Inertia Auto-tuning. ..........................................................................................139
7.2.2 Online Inertia Auto-tuning.........................................................................................141
7.3 Automatic Gain Tuning......................................................................................................142
7.4 Manual Gain Adjustment..................................................................................................144
7.4.2 Gain Switchover............................................................................................................146
7.4.3 Filter Comparison.....................................................................................................150
7.4.4 Feedforward Gain....................................................................................................151
7.4.5 Pseudo-Diferential Feedforward Control................................................................. 153
7.4.6 Torque Disturbance Observer................................................................................. 154
7.5 Parameter Adjustment in Diferent Control Modes........................................................... 155
7.5.1 Parameter Adjustment in Position Control Mode .................................................... 155
7.5.2 Parameter Adjustment in Speed Control Mode .......................................................156
7 .5.3 Parameter Adjustment in Torque Control Mode .....................................................156
7.6 Vibration Suppression.....................................................................................................157
7.6.1 Suppression of Mechanical Resonance...................................................................157
7.6.2 Suppression of Low-frequency Resonance.............................................................162
Chapter 7 Description of Parameters.
Group P02: Basic Control Parameters...................................................................................165
Group P06: Input Terminal Parameters................................................................................. 171
Group P07: Output Terminal Parameters ............................................................................. 180
Group P03: Position Control Parameters...............................................................................183
Group P04: Speed Control Parameters................................................................................. 197
Group P05: Torque Control Parameters................................................................................ 203
Group P08: Gain Parameters................................................................................................ 208
Group P09: Automatic Gain Tuning Parameters................................................................... 213
Group P0A: Fault and Protection Parameters....................................................................... 217
Group Un: Monitoring Parameters........................................................................................ 222
Group P0B: Communication Parameters.............................................................................. 226
Group Fn: Auxiliary Function Parameters............................................................................. 229
C hapter 8 Troubleshooting

During Startup .............................................................................................................
9.1 232
9.1.1 Position Control..................................................................................................... 232
9.1.2 Speed Control........................................................................................................ 235
9.1.3 Torque Control....................................................................................................... 237
9.2 During Running.............................................................................................................. 238
9.2.1 Fault and Warning Code List ................................................................................ 238
9.2.2 Troubleshooting of Faults...................................................................................... 242
9.2.3 Troubleshooting of Warnings..................................................................................... 258
9.2.4 Internal Faults........................................................................................................ 263
Chapter 1 safety reminder
Chapter 1 Safety Information and Precautions

The safety-related contents in this manual are marked as follows. The description of the work safety signs is very
important, please be sure to abide by the
Danger
Situations that could result in serious injury or even death due to hazards caused by failure to follow instructions
CAUTION
Moderate or minor injury, as well as equipment damage, may result due to the hazard caused by non-compliance.
1.1 Safety Precautions

This section describes important items that users must observe, such as product confirmation, storage, transportation,
installation, wiring, operation, inspection, and disposal
CAUTION
ƹ After the power is turned off for more than 5 minutes, after the power indicator is off, use a multimeter to confirm
the voltage between P and - , and then disassemble the driver. Other wise, electric shock may result from residual
voltage.
ƹ Please use the TN/TT power grid for the power supply of the servo drive, not the IT power grid, otherwise it may
cause electric shock.
ƹ Please never touch the inside of the servo drive, otherwise it may cause electric shock.
ƹ Please insulate the connection part of the power terminal, otherwise it may cause electric shock.
The ground terminal of the servo drive must be grounded (type D grounding), otherwise it may cause electric
shock.
ƹDo not damage or pull the cable too hard, and do not subject the cable to excessive force, place it.
under heavy objects, or pinch it. Otherwise, electric shock may occur, causing the product to stop working or burn
out.
ƹ Do not set up, disassemble, or repair unless you are authorized to do so, as this may result in electric
shock or injury.
ƹDo not remove covers, cables, connectors, and optional accessories while power is on, otherwise electric
shock may result.
ƹ Please follow the steps required in this manual for trial operation
ƹ When power on or off, the heat sink of the servo drive, the external braking resistor, the servo motor, etc. may
be high temperature, please do not touch it.
ƹIn the state where the servo motor and the machine are connected, if an operation error occurs, it will not
only cause mechanical damage, but may also lead to personal accidents.
Otherwise, burns may result. To prevent inadvertent contact with hands or parts (such as cables, etc.), take safety
measures such as installing a cover.
ƹDo not change the maximum speed value except for special purposes. Inadvertent changes may damage the
machine or cause injury.
1
YG Series Servo Design and Maintenance Manual
ƹWhen the servo motor is running, please never touch its rotating parts, otherwise you may be injured
ƹWhen installed and running, please put the servo motor in a state where it can be stopped at any time
in advance, otherwise it may be injured.
ƹPlease install a stop device on the mechanical side to ensure safety.

ƹThe holding brake of a brake motor is not a safety stop. Failure to provide a stop device may result in
injury.
ƹ If the power is restored after a momentary power failure during operation, the machine may restart
suddenly, so do not get close to the machine
ƹTake measures to ensure that personal safety is not endangered when restarting, otherwise injury
may result.
ƹPlease never modify this product, otherwise injury or mechanical damage may result.
ƹPlease install the servo drive, servo motor and external braking resistor on incombustible materials,
otherwise it may cause fire.
ƹ Between the power supply and the main circuit power supply of the servo drive (L1, L2 for single- phase, R, S, T
for three-phase), be sure to connect an electromagnetic contactor and a non-fuse circuit breaker.Otherwise, when
the servo drive fails, the large current cannot be cut off, resulting in a fire.
ƹIn the servo driver and servo motor, do not mix flammable foreign objects such as oil and grease, and
conductive foreign objects such as screws and metal pieces, otherwise it may cause a fire.
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When wiring, please remove the connector from the servo driver.
Only one wire can be inserted into one of the connector's wire sockets. When inserting wires, do not short-
circuit the core wire with adjacent wires.
Do not connect the 220V servo drive directly to the 380V power supply, otherwise the servo drive will be
damaged.
Please perform wiring correctly and reliably, otherwise it may cause loss of control, injury or
failure of the mot or.
Please use the specified power supply voltage, otherwise it may cause the machine to burn out.
When using it in a bad power condition, please make sure to supply the input power within the
specified voltage fluctuation range, otherwise the machine may be damaged.
Install safety devices such as circuit breakers to prevent external wiring from short-circuiting, otherwise
it may cause a fire.
Please take adequate shielding measures in the following places, otherwise the machine may be damaged:
When there is interference due to static electricity;

Places where strong electric or magnetic fields are generated ;
Where there may be radiation exposure;
Places with power lines nearby.
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28Check items and cycles
28.1 normaluseconditions

The environmental conditions are the annual average ambient temperature: 30°C, the average load
rate is below 80%, and the daily operating time is below 20 hours. Daily inspections and regular
inspections should be carried out according to the following points:
Inspection
TYPE cycle Inspectio item
Check the ambient temperature, humidity, dust, foreign matter, etc.
Whether there is abnormal vibration and noise
Power supply voltage normal or not
daily daily Any odor or not

inspection
Any filaments stuck to the vents or not
Cleanliness of the front of the drive, connectors
Whether foreign matter enters the load end
Fastening part loosen or not
Are there any signs of overheating

Periodic 1year
inspection Terminal block damaged or not
Whether the tightening part of the terminal block is loose
282Prohibited matters
Do not carry out disassembly and repair work other than our company.
The electronic components which inside the servo unit will undergo mechanical wear and aging. In order
to prevent and maintain the servo driver and motor, please replace it according to the standards in the
table below. When replacing, please contact our company or our agent. We will judge whether to replace
the parts after investigation.
Object Type Standard replacement cycle Note
Bus filter capacitor Around 5 years

Cooling fan
Aluminum electrolytic 2~3years10000~30000hours
capacitors for circuit
Around 5 years
boards
Driver Power-up buffer About 100,000 times Lifetime according
relay to usage)
around20000timesLifetime according The standard replacement cycle is for
Snubber resistor to usage reference only.
Even if the standard replacement cycle
Bearing
3~5 years20000~30000 hours is not full, it needs to be replaced once
abnormality occurs.
Oil seal 5000 hours
Encoder 3~5 years2~30000 hours

Motor
Life varies according to usage conditions.
Battery for absolute Please refer to the operating instructions
for the absolute encoder
7

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8
Chapter 3 Installation
3.1 Installation of Servo Drive
3.1.1 Installation Location
● Install the servo drive inside a cabinet free from sun light and rain.
● Install the servo drive in an environment free from corrosive or inflammable gases
or combustible goods, such as hydrogen sulfide, chlorine, anmonia, sulphur gas,
chloridize gas, acid, soda and salt.
● Install the servo drive in an environment free from high temperature, moisture, dust
and metal powder.
● Install the servo drive in a place with no vibration.
● The installation location must meet the pollution degree PD2.
3.1.2 Installation Environment
Table 2-1 Installation environment of servo drive
Item Description
0–55°C (average load ratio not exceeding 80% when ambient

Use ambient temperature
temperature is within 40–55°C) (non-freezing)
Use environment humidity Below 90% RH (no condensation)
Storage temperature -20 to 85°C (non-freezing)
Storage humidity Below 90% RH (no condensation)
Vibration Below 4.9 m/s2
Impact Below 19.6 m/s2
Ingress protection IP10
Pollution degree PD2
Overvoltage category OVCIII
Altitude Below 1000 m
3.1.3 Installation Precautions
,QVWDOODWLRQ0HWKRG
Make sure the installation direction of the servo drive is vertical to the wall. Cool the servo drive with
natural convection or via a cooling fan. Fix the servo drive securely on the mounting surface via two to four
mounting holes (number of such mounting holes depends on the capacity of the servo drive).
9
3 Installation
Figure Installation diagram of the servo drive is below:
Air outlet Air outlet Air outlet Air outlet
> 10 mm
> 50 mm
> 20 mm
> 20 mm
> 50 mm
Install the servo

drive vertically
upward.
Air inlet Air inlet Air inlet Air inlet
Install the servo drive vertical to the wall, making its front panel faces outward.
&RROLQJ
As shown in the above figure, keep sufficient clearances around the servo drive to
ensure cooling by cooling fans or natural convection. Install cooling fans above the servo
drive to avoid excessive temperature rise and maintain even temperature inside the
control cabinet.
,QVWDOODWLRQ6LGHE\6LGH
When installing multiple servo drives side by side, keep at least 10 mm between two
servo drives (if installation space is limited, such clearance between servo drives can be
ignored) and at least 50 mm above and below each servo drive.
*URXQGLQJ
The grounding terminal must be properly grounded. Failure to comply may cause electric
shock or malfunction due to interference.
&DEOH'LUHFWLRQ
Mount the drive with cable outlet facing downwards for water/oil countermeasure.
10
3 Installation
L1C
L2C
R
S
T
-
P+
D
C
U
V
W
PE
Make the cable outlet

face downward
3.2 Installation of Servo Motor
3.2.1 Installation Location
● Install the servo motor in an environment free from corrosive or inflammable gases
or combustible goods, such as hydrogen sulfide, chlorine, anmonia, sulphur gas,
chloridize gas, acid, soda and salt.
● Use the servo motor with oil sealing when the motor is to be used in a place with
grinding fluid, oil spra , iron powder or cuttings.
● Install the servo motor away from heat sources such as heating stove.
● Do not use the servo motor in an enclosed environment. Working in the enclosed
environment will lead to high temperature of the servo motor, which will shorten its
service life.
3.2.2 Installation Environment
Table Installation environment of servo motor
Item Description
Use ambient temperature 0 to 40°C (non-freezing)
Use environment humidity 20%–90% RH (no condensation)
Storage temperature -20 to 60°C (Peak temperature ensurance: 80°C for 72 hours)
Storage humidity 20%–90% RH (no condensation)
Vibration Below 49 m/s2
Impact Below 490 m/s2

H1/H4: IP65 (except for the through-shaft section and motor
connectors)
Ingress protection
Other: IP67 (except for the through-shaft section and motor
connectors)
Pollution degree PD2
Overvoltage category -
Altitude < 1000 m (de-rated if the altitude is above 1000 m)
11
3 Installation
3.2.3 Installation Precautions
Table Installation precautions
Item Description
Rust-proof Wipe up the antirust agent at the motor shaft extension before installing the
treatment servo motor, and then take rust-proof treatment.
Do not strike the shaft extension during installation. Failure to comply will
lead to damage to the internal encoder.
Use the screw hole at the shaft extension when mounting a pulley to the
servo motor shaft with a keyway. To fit the pulle , insert a double-end screw
into the screw hole of the shaft, put a washer against the coupling end, and
then use a nut to push the pulley in.
Encoder For the servo motor shaft without a keyway, use friction coupling or the like.
When removing the pulley, use a pulley remover to protect the shaft from
suffering severe impact from load.
To ensure safety, install a protective cover or similar device on the rotary
area such as the pulley mounted on the shaft.
Screw
Washer
Flange coupling,
pulley
Use the coupling for mechanical connection and align the axis of the servo
motor with the axis of the equipment. When installing the servo motor,
make sure that alignment accuracy satisfy the requirement as described
in the following figure. If the axes are not properly aligned, ibration will be
generated and may damage the bearings and encoder.
Alignment Measure the distance at four different

positions on the circumference. The difference
between the maximum and minimum
measurements must be 0.03 mm or less.
Installation
The servo motor can be installed horizontally or vertically.
direction
12
Item Description
Do not submerge the motor/cable to water or oil.
Confirm the I level of the servo motor when using it in a place with water
drops (except for the through-shaft section).
Flange face
Through-shaft section
(indicates the clearance of the
shaft extension portion from
the motor end face)
Drive shaft
Mount the motor with cable outlet facing downwards for water/oil
countermeasure (as shown in the following figure).
Oil and moisture

countermeasure
In the environment where the through-shaft section is exposed to oil drops,

use a servo motor with oil sealing.
Observe the following conditions when using the servo motor with oil sealing:
Make sure that the oil level is lower than the oil sealing lip during use.
Prevent oil accumulation on the oil sealing lip when the motor is installed
vertically upward.
Do not bend or apply tension to the cables, especially the signal cables
Stress of cables whose core wire is 0.2 or 0.3 mm thick. Do not pull the cables tightly during
wiring.
13
Item Description
Observe the following precautions:
When connecting the connectors, make sure that there is no waste or sheet
metal inside the connectors.
Connect the connectors to the power cable side of the servo motor first, and
make sure that the grounding cable of the power cables is reliably connected.
If the connectors are first connected to the encoder cable side the encoder
may become faulty due to the potential differences between PEs.
Connectors Make sure the pins are correctly arranged during wiring.
The connectors are made up of resins. Do not strike the connectors to
prevent them from being damaged.
Hold the servo motor body during transportation when the cables are well
connected, instead of catching the cables. Otherwise, the connectors may be
damaged or the cables may be broken.
If bent cables are used, do not attach stress on the cables during wiring.
Failure to comply may cause damage to the connectors.
14
Chapter 4 Wiring
Wiring must be performed by authorized and qualifie personnel.

:$51,1*
Check the power indicator becomes Rႇ fiv minutes after turning Rႇ the
power, and measure and check the voltage between P and - by using a
multimeter. Then, perform operations on the drive.
Perform wiring after the servo drive and motor are installed properly. Failure
to comply will result in electric shock.
Do not damage the cables, lay them under large tension or pressure, or hang
them. Failure to comply may result in electric shock.
Insulate the power terminal connectors to prevent electric shock.
The specification and installation method of external cables must comply
with the applicable local regulations.
The cables must be copper and the grounding cable must be yellow-green
cable in Table 4-5.
Ensure the entire system is grounded.
Carry out wiring correctly. Failure to comply will result in abnormal action of
&$87,21 the servo motor and even personal injury.
4
Do not mistake the terminal connection. Failure to comply may result in
damage to the terminals.
Make sure to connect the electromagnetic contactor between the power
supply and main circuit of the drive (L1, L2 for single-phase, R, S, T for three-
phase). If no electromagnetic contactor is connected, a fire ma occur when a
fault occurs and continuous large current flows through the dri e.
Use the ALM (fault signal) to cut off the main circuit power suppl . When the
braking transistor becomes faulty, the regenerative resistor may become
overheat, causing a fire.
Before power-on, check the voltage specifications of the drive. NEVER
connect the 380 V power supply to the 220 V drive. Failure to comply will
damage the drive.
15
4 Wiring
Do not reverse the directions of the flywheel diode. Failure to comply will
&$87,21 damage the drive and affect signal output
Servo drive
External 5-24 VDC
Relay
Incorrect polarity
23 DO1+
of flywheel diode
38 DO1-
External 0 V
Use a noise filter to reduce electromagnetic interference on el ctronic devices

around the drive.
For the power supply and main circuit connection, make sure that the main
circuit power supply is cut off and the servo ON state changes o OFF sate
after the alarm signal is detected.
Connect U, V, W cables of the drive to U, V, W terminals of the motor directly.
Do not connect a electromagnetic contactor. Failure to comply may result in
abnormalities and faults.
16
4.1 Wiring of Servo Drive Main Circuit
4.1.1 Main Circuit Terminals
Figure Terminal block arrangement
L1C
L2C
-1
-2
P+
PE
Names and functions of main circuit terminals
Terminal
Terminal Name Terminal Function
Symbol
Main circuit power
R, S, T Main circuit three-phase 380 V power input.
input terminals
Control power input Connect to control power input. For specific value, refer to th
L1C, L2C
terminals rated voltage on the nameplate.
Terminals P and D are shorted by default. Remove

Terminals for the jumper between P and D, and connect an external
connecting external regenerative resistor between P and C if the braking capacity
P , D, C regenerative is insufficient
resistor
The external regenerative resistor needs to be purchased
additionally.
17
Terminal
Terminal Name Terminal Function
Symbol
P , -1 Common DC bus They are used for common DC bus connection when multiple
/-2 terminal servo drives are used in parallel.
Terminals for Terminals - 1 and - 2 are shorted by default. When the power
- 1, - 2 connecting external harmonic current need to be restricted, remove the jumper and
reactor connect a reactor between - 1 and - 2 .
Servo motor
U, V, W connection Connect to U, V and W phases of the servo motor.
terminals
Two grounding terminals of the servo drive are respectively
PE Ground connected to those of the power supply and the servo motor.
The entire system must be grounded.
4.1.2 Examples of Regenerative Resistor Wiring
Figure Connection diagram of external regenerative resistor is below :
T
Remove the jumper between P and
P
D, and connect an external regen -

resistor between P and C.
P
Not connected to
P+ external regenerative T
resistor terminals
D -
C
P+
U D
C
Observe the following precautions when wiring the external regenerative resistor:
Do not directly connect the external regenerative resistor to the positive and
:$51,1* negative poles of the bus P and - . Failure to comply will lead to damage of
the servo drive or even cause a fire.
Remove the jumper between P and D before using the external regenerative resistor.
Failure to comply will cause overcurrent trip and thus damage the braking tube.
Do not select any resistor lower than the minimum resistance value. Failure to comply
will result fault Er201 or damage to the servo drive.
Make sure that the parameters related to the regenerative resistor, P02-25, P02-26 and
P02-27 are accurately set before using the servo drive.
Install the external regenerative resistor on incombustible objects (such as metal).
18
3RZHU6XSSO\:LULQJ([DPSOH,
Figure Main circuit wiring of three-phase 380 V servo drive is below :
Three-phase 380 VAC
Noise filter Servo drive

L1C
L2C
U
V
W
M
Stop P
button
D
Main circuit CN2
Run power input C
button contactors
1KM
PG
Surge R
suppressor S
T ALM-
COM
Alarm output 1D 24V
relay 1RY
ALM+
Alarm signal
output
Alarm
indicator
1. 1KM: electromagnetic contactor; 1RY: relay; 1D: flywheel diod

Note
2. DO4 is set as fault output (ALM+/-); when the servo drive alarms, the power
supply is cut off automatically and the alarm indicator becomes ON.
4.1.3 Precautions for Main Circuit Wiring
Do not connect the input power cables to the output terminals U, V and W. Failure to
comply will cause damage to the servo drive.
If the built-in regenerative resistor is used, P and D must be shorted (they are shorted
with a jumper at delivery).
- 1 and - 2 are shorted with a jumper by default. When the high order harmonics need to
be restricted, remove the jumper and connect a DC reactor between - 1 and - 2.
When cables are bundled in a duct, take current reduction into consideration since the
cooling condition becomes poor.
Ordinary cables become quickly aged in high temperature environment and easily
sclerotic and broken in low temperature environment. Thus, use heat resistance cables in
high temperature environment and take heat preservation measures in low temperature
environment.
19
The bending radius of a cable shall exceed 10 times that of its outer diameter to prevent
the internal wire core from breaking due to long time bending.
Select and use cables of rated voltage above 600 VAC and rated temperature above
75°C. Under the 30°C ambient temperature and normal cooling conditions, the
permissible current density of the cables shall not exceed 8 A/mm 2 when the total
current is below 50 A, or 5 A/mm2 when the total current is above 50 A. This value can
be adjusted when the ambient temperature is high or when the cables are bundled. The
permissible current density (A/mm2) is calculated as follows:
Allowable current density = 8 x Current reduction coefficient of conductor x Current

augmenting coefficie
Current augmenting coefficient = Max. allowable temperature of cable – Ambient temperature)/30
Duct
Current reduction coefficient of conduct
Number of Cables in Current Reduction

the Same Duct Coefficie
≤3 0.7
4 0.63
5 to 6 0.56
Cables 7 to 15 0.49
● Do not connect the regenerative resistor between terminals P and - . Failure to

comply may cause a fire.
● Do not bundle power cables and signal cables together or run them through the
same duct. Power and signal cables must be separated by at least 30 cm to prevent
interference.
● High residual voltage may still remain in the servo drive when the power supply is
cut off. Do not touch the power terminals within 5 minutes afte power-off.
● Do not frequently turn ON and OFF the power supply. If the power supply needs
to be turned on or off repeatedly, make sure that the time interval is at least one
minute. The servo drive contains a capacitor in the power supply, and a high
charging current flows for 0.2 seconds when the power supply is turned OFF.
Frequently turning ON and OFF the power supply will deteriorate performance of
the main circuit components inside the servo drive.
● Use a grounding cable with the same cross-sectional area as the power cable. If the
cross-sectional area of the power cable is less than 1.6 mm2, use a grounding cable
2
with a cross-sectional area of 2.0 mm .
● Ground the servo drive reliably.
● Do not power on the servo drive when any screw of the terminal block or any cable
becomes loose. Otherwise, a fire may occu .
20
Driver wiring
Standard wiring of
speed control mode
Analog AI1 1 Low-pass

speed filter
A/D
converter
Positive
AI2 2 Low-pass
analog Servo drive
torque limit GND 17 filter
AO1
Standard wiring of A
GND
position control mode 2.4kȍ
Internal 24 V power supply PULLHI 26 2.4kȍ
for open-collector output AO2
PULSE+ 19 240ȍ A
PULS GND
[CW phase A] PULSE- 4
Low-speed 2.4kȍ
pulse position
reference 2.4kȍ
SIGN+ 18 240ȍ
SIGN
[CCW phase B] SIGN- 3
23 DO1+
HPULSE HPULSE+ 42 38 DO1-

High-speed [CW phase A] HPULSE- 37
pulse position 6 DO2+
reference 43
HSIGN+ 21 DO2-
Max. 4 MHz HSIGN
[CCW phase B] HSIGN- 32
34 DO3+
GND 29 33 DO3-
GND
⌘2
5 DO4+
20 DO4-
Standard wiring of 36 DO5+

torque control mode
35 DO5-
AI1 1 Low-pass
Analog torque filter
A/D Encoder frequency-
converter division pulse
Positive analog AI2 2 Low-pass differential output
speed limit filter
GND 17 10 PAO+
+24V power 31 Phase A
24V 11 PAO- output
supply
COM+ 24
12 PBO+
4.7kȍ Phase B
DI1 9 13 PBO- output
DI2 8 4.7kȍ
14 PZO+
Phase Z
15 PZO- output
DI3 25 4.7kȍ
29 GND
GND
DI4 8 4.7kȍ
DI5 7 4.7kȍ
DI6 40 4.7kȍ 44 PZ-OUT Encoder phase Z

29 GND open-collector
output
DI7 41 4.7kȍ GND
DI8 30 4.7kȍ 5V
28 5V
+
4.7kȍ 29
DI9 22 GND
COM- 27 GND
PE shield connected
to connector housing
21
4.4.1 Position Reference Input Signals
Table Position reference signal description is below :
Signal Pin No. Function Description
19 Pulse input format:

PULSE+ Low-speed pulse input
4 mode Direction + Pulse
PULSE-
18 Differential drive mod Phase A + B quadrature
SIGN+
pulse
SIGN- 3 OC mode
CW/CCW pulse
Position HPULSE+ 42
reference High-speed reference pulse input
HPULSE- 37
HSIGN+ 43
High-speed position reference symbols
HSIGN- 32
PULLHI 26 External power input terminal of reference pulse
GND 29 Signal ground
The reference pulse and symbol signal output circuit on the host controller side can
either be differential drive output or OC output. The following table lists the maximum
input frequency and minimum pulse width of these output modes.
Table Correspondence between pulse input frequency and pulse width is below :
Pulse Mode Max. Frequency (pps) Min. Pulse Width (us)
Differentia 500 k 1
Low speed
OC 200 k 2.5
High-speed differentia 4M 0.125
Note If the output pulse width of the host controller is smaller than the minimum
value, a pulse receiving error occurs in the servo drive.
22
1)Low-speed Pulse Input
Ŷ 'LႇHUHQWLDOGULYHPRGH
Host controller Servo drive
26
PULSE+ 19 240ȍ
PULSE- 4
SIGN+ 18 240ȍ
SIGN- 3
GND 29
GND
Ŷ OC mode
When the internal 24 V power supply of the servo drive is used:
24V
+24V power supply 31
PULLHI 26 2.4kȍ
PULSE+ 19 240ȍ
PULSE- 4
2.4kȍ
SIGN+ 18 240ȍ
SIGN- 3
COM- 27
23
24V
31
PULLHI 26 2.4kȍ
PULSE+ 19 240ȍ
2.4kȍ
SIGN+ 18 240ȍ
COM- 27
Wrong connection: Pin 27 (COM-) is not connected, which cannot form a closed-loop
circuit.
24V
PULLHI 26 2.4kȍ
PULSE+ 19 240ȍ
PULSE- 4
2.4kȍ
SIGN+ 18 240ȍ
SIGN- 3
27
Pin 27 (COM-)
not connected
24
2) When the external power supply is used:
Scheme 1: Using the internal resistor of the servo drive (recommended)
External +24VDC
24V
31
PULLHI 26 2.4kȍ
PULSE+ 19 240ȍ
PULSE- 4
2.4kȍ
SIGN+ 18 240ȍ
SIGN- 3
27
External 0V
24V
External +24Vdc 31
External 0V PULLHI 26 2.4kȍ
PULSE+ 19 240ȍ
PULSE- 4
2.4kȍ
SIGN+ 18 240ȍ
SIGN- 3
27
25
Scheme 2: Using the external resistor
24V
31
External +24VDC
PULLHI 26
R1 PULSE+ 19 240ȍ
PULSE- 4
R1 SIGN+ 18 240ȍ
SIGN- 3
27
External 0V
24V
31
External +24VDC
PULLHI 26
R1 PULSE+ 19 240ȍ
PULSE- 4
R1 SIGN+ 18 240ȍ
SIGN- 3
27
External 0V
26
Value of resistor R1 is calculated according to the following formula:
VCC-1.5
10mA
R1+240
Table Recommended R1 resistance is below :
VCC Voltage R1 Power of R1
24 V 2.4 kΩ 0.5 W
12 V 1.5 kΩ 0.5 W
The following figures show the wrong wiring examples
Wrong connection 1: The current-limit resistor is not connected, resulting in burnout of

terminals.
24V
31
External +24VDC
Current-limit resistor
not connected
PULLHI 26
PULSE+ 19 240ȍ
PULSE- 4
SIGN+ 18 240ȍ
SIGN- 3
27
External 0V
27
+LJKVSHHG3XOVH,QSXW
High-speed reference pulse and symbol signals on the host controller side can only be
output to the servo drive via differential drive output.
HPULSE+ 42
HPULSE- 37
HSIGN+ 43
HSIGN- 32
GND 29
GND
Make sure the differential input is 5V. Otherwise, input pulses of the
&$87,21
servo drive are unstable, which will cause:
When inputting reference pulses, pulse loss occurs.
When inputting reference direction, the direction will reverse.
The 5 V ground of the host controller must be connected to the GND
terminal of the servo drive to reduce noise interference.
4.4.2 Analog Input Signals
Analog Input signal description
Signal Default Function Pin No. Function Description
AI2 2 Ordinary analog input signals

Resolution: 12 bit
Analog AI1 1 Input voltage: maximum ±12V
GND 17 Analog input signal ground
Speed and torque analog signal input terminals are AI1 and AI2, resolution of which is
12-bit. Corresponding voltage values are set via group P06 parameters.
Input voltage range: -10 to +10 V; resolution: 12 bit;
Maximum permissible voltage: ±12 V;
Input impedance: ≈ 9 kΩ
28
Servo drive
AI1 20 About 9 kȍ
-10~10 V
AI2 18 About 9 kȍ
-10~10 V
GND 19
4.4.3 DI/DO Signals
Table 4-29 DI/DO signal description
Signal Default Function Pin No. Function Description

DI1 P-OT 9 Positive limit switch
DI2 N-OT 39 Negative limit switch
DI3 INHIBIT 8 Pulse input inhibited
DI4 ALM-RST 25 Alarm reset (edge valid)
DI5 S-ON 7 Servo ON
DI6 ZCLAMP 40 Zero speed clamp
DI7 GAIN-SEL 41 Gain switchover
DI8 HomeSwitch 30 Home switch
DI9 Reserved 22 -
+24V 31 Internal 24 V power supply, voltage range: 20

COM- 27 to 28 V, maximum output current: 200 mA
General
COM+ 24 Power input (12 to 24 V)
DO1+ S-RDY+ 23
Servo ready
DO1- S-RDY- 38
DO2+ COIN+ 6
Position reached
DO2- COIN- 21
DO3+ ZERO+ 34
Zero speed
DO3- ZERO- 33
DO4+ ALM+ 5
Fault output
DO4- ALM- 20
DO5+ HomeAttain+ 36
Homing completed
DO5- HomeAttain- 35
29
'LJLW,QSXW&LUFXLW
DI1 to DI9 circuits are the same. The following takes DI1 circuit as an example.
■ Relay output
The host controller provides relay output.
When the internal 24 V power supply of the servo drive is used:
Servo drive
24V
COM+ 24
DI1(CMD1) 9 4.7kȍ
COM- 27
Relay
When the external power supply is used:
Servo drive Servo drive
External +24VDC
Two power
24V supplies mess up 24V
+24V power
External +24VDC 31 supply 31
COM COM+ 24
24
DI1(CMD1) 9 4.7kȍ DI1(CMD1) 9 4.7kȍ
Relay
27 COM- 27
Relay
External 0V External 0V
30
Digit Output Circuit
DO1 to DO5 circuits are the same. The following takes DO1 circuit as an example.
Ŷ Relay input
The host controller uses relay input.
Servo drive
External 5-24 VDC
Relay
23
DO1+
38 DO1-
External 0V
:KHQWKHKRVWFRQWUROOHUSURYLGHVUHOD\LQSXWDÀ\ZKHHOGLRGHPXVWEHLQVWDOOHG
Note
otherwise, the DO terminals may be damaged.
External 5-24 VDC External 5-24 VDC
Relay not used

Relay
Incorrect polarity
23 DO1+ 23 DO1+ of flywheel diode
38 DO1- 38 DO1-
- 93 -
31
■ Optocoupler input
The host controller uses optocoupler input.

External 5-24 VDC External 5-24 VDC
Current-limit
resistor not used
Optocoupler Optocoupler
23 DO1+ 23 DO1+
38 DO1- 38 DO1-
The maximum permissible voltage and current of the optocoupler output circuit inside the
servo drive are as follows:
Maximum voltage: 30 VDC
Maximum current: DC 50 mA
4.4.4 Encoder Frequency-Division Output Circuit
Table Encoder frequency-division output signal speci¿cations
Default
Signal Pin No. Function Description
Function
PAO+ 10
11 Phase A output signal
PAO- Phases A+B quadrature pulse
PBO+ 12 output signal
Phase B output signal
PBO- 13
PZO+ 14
Phase Z output signal Home pulse output signal
General PZO- 15
PZ-OUT 44 Phase Z output signal Home pulse OC output signal
GND 29 Home pulse OC output signal ground
+5V 28 5 V internal power supply

GND 16 Maximum output current: 200 mA
PE Housing
The encoder frequency-division output circuit outputs OC signals via the differential drive
Generally, it provides feedback signals to the host controller in the closed-loop position
control system. A differential or optocoupler circuit shall be used in the host controller to
receive feedback signals. The maximum output current is 20 mA.
32
Servo drive Host controller
Max. output current 20 mA
36ȍ 10 PAO+
11 PAO-
36ȍ
36ȍ 12 PBO+
13 PBO-
36ȍ
36ȍ 14 PZO+
15 PZO-
36ȍ
29 GND GND
Servo drive Host controller
Max. output current 20 mA
36ȍ 10 PAO+
11 PAO-
36ȍ
36ȍ 12 PBO+
13 PBO-
36ȍ
36 14 PZO+
ȍ
15 PZO-
36ȍ
29 GND GND
The encoder phase Z output circuit outputs OC signals. Generally, it provides feedback
signals to the host controller in the closed-loop position control system. An optocoupler
circuit, relay circuit, or bus receiver circuit shall be used in the host controller to receive
feedback signals.
33
Servo drive
External 5-24 VDC
Optocoupler
44 PZ-OUT
29 GND
GND
External 0V
To reduce noise interference, connect the 5V ground of the host controller to

&$87,21 the GND terminal of the servo drive, and use the shielded twisted-pair.
The maximum permissible voltage and current of the optocoupler output circuit inside the
servo drive are as follows:
Maximum voltage: 30 VDC
Maximum current: DC 50 mA
4.4.5 Wiring of the Motor Brake
In the applications where the motor drives the vertical axis, this brake would be used to
lock the motor in position, and hold and prevent the work (moving load) from falling by
gravity or moving by external force while the power to the servo is shut oႇ.
Figure Application diagram of the motor brake is below :
Prevent movement of work Servo motor (built-in

due to external force Servo motor (built-in Prevent falling due motor brake)
External force
motor brake) to gravity when the
power is off
34
Use this built-in brake for "Holding" purpose only, that is to hold the stalling
&$87,21 status. Never use this for "Brake" purpose to stop the load in motion.
The brake coil has no polarity.
After the servo motor stops, the S-ON signal must be off
When the servo motor with brake runs, the brake may generate lining sound,
which does not affect any functionalit .
When brake coils are energized (the brake is released), magnetic flux leakage
may occur at the shaft end. Thus, pay special attention when using magnetic
sensors around the servo motor.
The connector of the motor brake has no polarity. Customers needs to prepare a 24 V
external power supply. The following figur shows the standard wiring of the brake signal
(BK) and motor brake power supply.
Figure Wiring diagram of the motor brake is below :
Servo drive
R U Motor
Three-phase Noise V
220/380 VAC filter S M
W
T
Encoder
CN2 PG
L1C
Brake control relay
L2C
CN1 BK-RY
DO5+(/BK+) +24V Brake
+24V BK
DO5-(/BK-)
(Brake power supply)
35
5 Operation and Display
Chapter 5 Operation and Display
5.1 Introduction to Keypad
Figure Diagram of the keypad is below :
Drive model and barcode

5R 5
IS 6 2 0 P-S
Display
M SET
The keypad on the YG servo drive consists of the 5-digit 7-segment LEDs and keys.
The keypad is used for display, parameter setting, user password setting and
general functions operations. When the keypad is used for parameter setting, the
functions of the keys are described as follows.
Table Functions of keys on the keypad is below :
5 Key Name Function Description
Switch between all modes.

MODE
Return to the upper-level menu.
UP Increase the number indicated by the blinking digit.
DOWN Decrease the number indicated by the blinking digit.
Shift the blinking digit.

SHIFT
View the high digits of the number consisting of more than 5 digits.
Switch to the next-level menu.
SET
Execute commands such as storing parameter setting value.
5.2 Keypad Display
The keypad can display the running status, parameter, faults, and monitored information
during running of the servo drive.
● Status display: Displays the current servo drive status, such as servo ready or
running.
● Parameter display: Displays function codes and their values.
● Fault display: Displays the fault and warnings occurring in the servo drive.
● Monitoring display: Displays the current running parameters of the servo drive.
36
5 Operation and Display
5.2.1 Display Switchover
Figure Switching between differen display is below :
Fault display
SET
MODE
MODE Switch to
MODE group Un
Status Parameter Monitoring
Power-on
display display display
MODE MODE
After you set P02-32, the keypad switches over

the display automatically after motor rotation.
Motor static
● After the power is on, the keypad enters the status display mode.
● Press key MODE to switch over between different modes, as shown in the
preceding figure
● In status display mode, set P02-32 and select the monitored parameters. When the
motor rotates, the keypad automatically switches over to monitoring display. After
the motor becomes stopped, the keypad automatically restores to status display.
● In parameter display mode, set group Un and select the parameters to be

monitored, and the keypad switches over to the monitoring display mode.
● Once a fault occurs, the keypad immediately enters the fault display mode, and all
5-digit LEDs blink. Press key SET to stop blinking, and then press key MODE to
switch over to the parameter display mode.
5.2.2 Status Display
Display Name Condition Meaning
The servo drive is in initialization

or reset state.
Reset Moment at
servo power- After initialization or reset is
Servo
on completed, the servo drive
initialization
automatically switches over to
another state.
Nrd Initialization is The main circuit is not powered

completed, but on, and the servo drive is not
Servo not the servo drive ready for running.
ready is not ready.
Rdy The servo drive is ready for

The servo
running, and waits for the S-ON
Servo ready drive is ready.
signal from the host controller.
The servo ON
Run
(S-ON) signal
Servo being is active. The servo drive is in running state.
running
Jog The servo

can set jpg running
drive is in jog
Jog running running state.
37
5.3 Common Functions

5.3.1 Jog Running
When using the jog function, set the S-ON signal inactive. Otherwise, this
&$87,21 function cannot be used.
Use the jog running function to perform trial running on the servo motor and drive.
2SHUDWLRQ0HWKRG
Figure Keypad operation of jog running setting is below :
Start
Power-on
Enter Fn-11
setting interface
"SET"
Display initial jog

speed (*1)
"UP/DOWN"
Set and display jog

speed
"SET"
Display "JOG",
indicating motor
energized and jog
function enabled
"UP/DOWN"
UP DOWN
Make motor rotate
forward/reverse (*2)
End CCW CW
*1: Press key UP or DOWN to increase or decrease the motor speed for the jog
Note
running. If the system exits jog running, the motor speed restores to the initial
value.
*2: Press key UP or DOWN to make the servo motor rotates in forward or
reverse direction. After you release the key, the servo motor stops running
immediately.
([LWLQJ-RJ5XQQLQJ
Press key MODE to exit the jog running and return to the upper-level menu.
38
6 Control Modes
Chapter 6 Control Modes
The servo system consists of three major parts, servo drive, servo motor, and encoder.
Figure Control block diagram of servo system is below :
Servo drive
Reference input Position Motor

Current
+ × loop + Speed loop +
× × loop M
control control
- - - control
Position Speed
feedback Current
feedback feedback
Speed
calculation
Encoder
As the control core of the servo system, the servo drive performs accurate position,
speed, torque, or hybrid control on the servo motor by processing the input signals and
feedback signals. Position control is the most important and common mode of the servo
system.
Descriptions of the control modes are as follows:
● Position control
The servo drive controls the motor position based on position references. The position
reference sum determines the target motor position, and the position reference frequency
determines the motor speed. The position references can be input via external pulses or
internal position reference sum plus speed limit. With use of the internal encoder (that of the
servo motor) or external encoder (full closed-loop control), the servo drive implements quick and
accurate control on the mechanical position and speed. This control mode is applicable to
scenarios requiring positioning control, such as mechanical arm, mounter, engraving and milling
machine (pulse sequence reference), and computer numerical control (CNC) machine tool.
● Speed control
The servo drive controls the mechanical speed based on speed references.
Speed references are input via digital setting, analog voltage, or communication.
This control mode is applicable to scenarios in which speed control is required or the host
controller outputs speed references to the servo drive during position control. An application
example is analog engraving and milling machine.
● Torque control
Torque control is operated by controlling the current, as the current is in linear relationship with
the torque. The servo drive controls the motor output torque based
39
6 Control Modes
on torque references. Torque references are input via digital setting, analog voltage, or communication.
This control mode is mainly applicable to the winding and unwinding devices with strict tension
requirements. In these scenarios, the torque always changes with the winding radius so that the tension
will not change along with the change of the winding radius.
6.1 Basic Setting
Figure Servo drive setting flowchar is below :
Start
Check before x Check the wiring.

running x Check the environment and mechanical conditions.
Power supply x Connect the power of the control circuit and main circuit.
connection x Turn off the S-ON signal.
x Perform jogging on the keypad.

x Perform jogging via DI.
Jog
x Perform jogging on the interface of the
Inovance servo commissioning software.
Parameter setting x Set the common parameters.

x Set the relevant parameters in each control mode.
x Run the servo drive at low speed for first-time running.

Servo running x Set the relevant parameters to achieve the required effect.
x Commission the servo drive.
x Turn off the S-ON signal.

Servo stop x Stop the servo drive upon a fault.
x Stop the servo drive if the limit switch is reached.
x Perform emergency stop.
End
40
6 Control Modes
6.1.1 Check Before Running
Check the items in the following table before running the servo drive and motor.
Table Checklist before running is below :
Applicable Item Activity
Wiring
The servo drive’s control circuit power input terminals L1C, L2C and main
□ 1
circuit power input terminals R, S, T are connected correctly.
The main circuit output terminals U, V, W of the servo drive are properly
□ 2 connected to the power cables U, V, W of the servo motor in correct phase
sequence.
No short circuit exists in the main circuit power input terminals R, S, T and
□ 3
output terminals U, V, W of the servo drive.
The signal wires of the servo drive are connected correctly. The external
□ 4
signal wires such as brake and limit switch are connected reliably.
□ 5 The servo drive and motor are grounded reliably.
The jumper between terminals P and D has been removed when the
□ 6
external regenerative resistor is used.
□ 7 The cable tension is within the permissible range.
□ 8 The wiring terminals have been insulated.
Environment and mechanical conditions
No foreign objects, such as wire end or metal powder, which may cause
□ 1 short circuit of the signal wire and power cables, exist inside and outside of
the servo drive.
The servo drive or external regenerative resistor is not placed on flammable
□ 2
objects.
□ 3 Installation and shaft and mechanical connection are reliable.
The servo motor and connected machine are in conditions ready for
□ 4
running.
6.1.2 Power Supply Connection
1) Connect the power supply of the control circuit and main circuit.
Connect the power supply of the control circuit (L1C, L2C) and main circuit.The main
circuit power terminals are L1, L2 and R, S, T respectively for the single-phase 220 V
and three-phase 220/380 V models.
● After connecting the power supply of the control circuit and main circuit, if the bus
voltage indicator is in normal display and the keypad displays "Reset", "Nrd", and
"Rdy" in sequence, it indicates that the servo drive is ready for running and waiting
for the S-ON signal from the host controller.
● If the keypad always displays "Nrd", Please refer to "Treatment of Faults and
Warnings at Startup" to analyze and eliminate the cause of the fault.
● If the keypad displays the fault code, Please refer to the "Table of Fault and Warning
Codes" to analyze and eliminate the cause of the fault.
41
2) Turn off the S-ON signal
Set a DI terminal of the servo drive with function 1 (FunIN.1:S-ON, servo ON) and set the
terminal logic, and then set this DI to inactive via communication with the host controller
or external switch.
Relevant function No.:
Function
No. Function Name Description
Symbol
Invalid: Servo motor disabled
FunIN.1 S-ON Servo ON
Valid: Servo motor enabled
6.1.3 Jogging
Perform jogging to check whether the motor can rotate properly without abnormal
vibration or noise. This operation can be performed via the keypad, two external DIs, or
Inovance servo commissioning software (InoServoShop). The motor jogs at the speed
set in P04-04.
-RJJLQJYLDWKH.H\SDG
Switch to Fn-11 on the keypad to enter the jogging mode, and the keypad displays the
default jogging speed in P04-04.
Press key UP/DOWN to set the jogging speed, and press key SET to enter the jogging
state.
The keypad displays "JOG". Then, press key UP/DOWN to perform forward or reverse
jogging. After you press key MODE to exit the jogging mode, P04-04 is restored to the
default value without storing the setting.
Relevant parameters is below :
Function Parameter Setting Effective

Unit Function Property Default
Code Name Range Time
Jog speed 0 to Set the jogging During

P04-04 RPM Immediate 100
setting value 6000 speed value. running
-RJJLQJYLD',
Note Jogging via DI is permitted in any mode.
Set two external DI terminals respectively with functions FunIN.18 and FunIN.19. After
setting the jogging speed in P04-04, turn on the S-ON signal to perform jogging via DI.
42
6 Control Modes
Function
Symbol
Valid: Reference input

FunIN.18 JOGCMD+ Forward jog
Invalid: Reference input stopped
Valid: Input reverse to reference direction

FunIN.19 JOGCMD- Reverse jog
Invalid: Reference input stopped
6.1.4 Selection of Rotating Direction
Set P02-02 to change the motor rotating direction without changing the polarity of the
input reference.
Relevant parameters:
Function Parameter Effective

Setting Range Function Property Default
Code Name Time
0: CCW direction as Set the motor

Rotating the forward direction forward direction Power-on
P02-02 direction At stop 0
selection 1: CW direction as the viewed from the again
forward direction motor shaft.
The change of P02-02 setting does not affect the output pulse format and positive/
negative attribute of monitored parameters of the servo drive.
"Forward drive" in the limit switch function has the same direction set in P02-02.
6.1.5 Selection of Output Pulse Phase
The output of the servo drive is phase A + phase B quadrature pulse.
The phase relationship between phase A and phase B pulses can be changed by setting
P02-03 without changing the motor rotating direction.
6 Control Modes
Para-
Function Setting Effective
meter Function Property Default
Code Range Time
Name
Set the phase relationship of
output pulses
0: Phase A
Phase A
advancing
Output phase B Phase B
Power-
P02-03 pulse A advancing B by 90° At stop 0
1: Phase on again
phase
A lagging
Phase A
phase B
Phase B
A lagging B by 90°
43
6.1.6 Brake Setting
+DUGZDUH&RQQHFWLRQ
In the applications where the motor drives the vertical axis, this brake would be used to
lock the motor in position, and hold and prevent the work (moving load) from falling by
gravity or moving by external force while the power to the servo is shut off
Figure Application diagram of the motor brake
Prevent movement of work Servo motor (built-in

due to external force Servo motor (built-in Prevent falling due motor brake)
External force
motor brake) to gravity when the
power is off
Use this built-in brake for "Holding" purpose only, that is to hold the stalling
&$87,21 status. Never use this for "Brake" purpose to stop the load in motion.
The brake coil has no polarity.
After the servo motor stops, the S-ON signal must be off
When the servo motor with brake runs, the brake may generate lining sound,
which does not affect any functionalit .
When brake coils are energized (the brake is released), magnetic flux leakage
may occur at the shaft end. Thus, pay special attention when using magnetic
sensors around the servo motor.
The connector of the motor brake has no polarity. Customers needs to prepare a 24 V
external power supply. The following figure shows the standard wiring of the brake signal
(BK) and motor brake power supply.
Figure Wiring diagram of the motor brake
Servo drive
R U Motor
Three-phase Noise V
220/380 VAC filter S M
W
T
Encoder
CN2 PG
L1C
Brake control relay
L2C
CN1 BK-RY
DO5+(/BK+) +24V Brake
+24V BK
DO5-(/BK-)
(Brake power supply)
Pay attention to the following precautions at wiring:
When deciding the length of the cable on the motor brake side, consider voltage drop
caused by the cable resistance. The input voltage must be at least 21.6 V to make the
brake work.
Suggest to use above 0.5mm2 dia. brake cable
44
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For the servo motor with brake, set a DO terminal of the servo drive with function 9
(FunOUT.9: BK, brake output), and set the terminal logic.
Function
Symbol
Invalid: The power is on, the brake is applied, and
the motor is in position lock state.
FunOUT.9 BK Brake output
Valid: The power is off, the brake is released, and the
motor can rotate.
The operating time sequences of the brake are different between normal state and faulty
state of the servo drive.
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The brake time sequence in normal state of the servo drive includes two conditions:
motor static and motor rotating
Static: The actual motor speed is smaller than 20 RPM.
Rotating: The actual motor speed is equal to or larger than 20 RPM.
■ Brake time sequence at motor static
If the S-ON signal becomes OFF, and the current motor speed is smaller than 20 RPM,
the servo drive acts according to the brake time sequence for motor static state.
After the brake output signal changes from OFF to ON, do not input a position/
&$87,21 speed/torque reference within the time of H02-09. Otherwise, reference loss
or running error may occur.
When the motor drives the vertical axis, the load may move slightly due to the
gravity or external force. At motor static, if the S-ON signal becomes OFF, the
brake output becomes OFF immediately. However, within the time of H02-10,
the motor is still energized to prevent the load from moving due to the gravity
or external force.
45
Figure Brake time sequence at motor static
*1
ON
Servo ON (S-ON) OFF OFF
ON
Motor energized OFF OFF

*4 10
ON P02-
Brake output (BK) OFF OFF
*2 ON (brake released) *2
Brake trigger OFF (brake applied) OFF
Position/Speed/ *3
Torque reference
P02-09
ON
Stop at zero speed
OFF OFF
Motor speed
*1: When the S-ON signal is turned on, the brake output signal becomes ON,
Note
and the motor becomes energized.
*2: For the delay time of the action of the brake contact part, please refer to the
relevant specifications of the motor.
*3: The time interval from the moment when brake output becomes ON to the
moment when the command is input must be larger than P02-09.
*4: At motor static (motor speed smaller than 20 RPM), when the S-ON signal is
turned off the brake output signal becomes OFF. Set the delay for the motor to
become de-energized in P02-10 after the brake output signal becomes OFF.
46

Set the delay time from

the moment when the
brake output signal
Delay from becomes ON to the
brake output moment when the During
P02-09 ON to 0 to 500 ms servo drive receives the Immediate 250
running
command command.
received
If the brake output
function (BK) is not
used, P02-09 is invalid.
Set the delay from
the moment when the
brake output signal (BK)
Delay from becomes OFF to the
brake output moment when the motor During
1 to
P02-10 OFF to motor ms enters the de-energized Immediate 150
1000 running
de-energized state at motor static.
in static state
If the brake output
function (BK) is not
used, P02-10 is invalid.
■ Brake time sequence at motor rotating
If the S-ON signal becomes OFF, and the current motor speed is equal to or larger than
20 RPM, the servo drive acts according to the brake time sequence for motor rotating
state.
After the S-ON signal changes from OFF to ON, do not input a position/speed/
&$87,21 torque reference within the time in P02-09. Otherwise, reference loss or
running error may occur.
If the S-ON signal becomes OFF during servo motor rotation, the motor stops
at zero speed, but the brake output signal becomes OFF only after one of the
following conditions is met:
● The motor has decelerated to P02-11 when P02-12 time is not reached.
● The motor speed is still higher than P02-11 though P02-12 time is
reached.
After the brake output signal changes to OFF, the motor remains in energized
state within 50 ms to prevent the work from moving due to the gravity or
external force.
47
Figure Brake time sequence at motor rotating
*1
ON
Servo ON (S-ON) OFF OFF
ON
Motor energized OFF OFF

50ms
ON
Brake output (BK) OFF OFF
ON (brake released) P02-12

*2 *4
Brake trigger OFF (brake applied) OFF

*2
Position/Speed/ *3
Torque reference
P02-09
ON
Stop at zero speed OFF OFF
Motor speed
*4
P02-11
*1: When the S-ON signal is turned on, the brake output signal becomes ON,
&$87,21 and the motor becomes energized.
*2: For the delay time of the action of the brake contact part, please refer to the r
elevant specifications of the motor.
*3: The time interval from the moment when brake output becomes ON to the
moment when the command is input must be larger than P02-09.
*4: After the brake output signal changes to OFF during motor rotation, set the
delay from the moment when the S-ON signal becomes OFF to the moment
when the brake output signal becomes OFF in P02-11 and P02-12. The motor
enters the de-energized state after a 50 ms delay after the brake output signal
becomes OFF.

Motor Set the motor speed

speed threshold when the brake
threshold output signal becomes
0 to During
P02-11 at brake RPM OFF at motor rotating. Immediate 30
3000 running
output OFF If the brake output
in rotating function (BK) is not used,
state P02-11 is invalid.
48

Set the delay from

the moment when the
Delay brake output signal (BK)
from brake becomes OFF to the
output OFF moment when the S-ON
1 to During
P02-12 to motor de- ms signal becomes OFF at Immediate 500
1000 running
energized motor rotating.
in rotating
state If the brake output
function (BK) is not used,
P02-12 is invalid.
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The servo faults are classified into class 1 faults (NO.1) and class 2 (NO.2) . The brake
time sequences in faulty state of servo drive includes two conditions:
For NO. 1 faults:

The brake output signal becomes OFF when one of the following conditions is met (same
as the brake time sequence at motor rotating in normal state of servo drive):
● The motor has decelerated to P02-11 when the P02-12 time is not reached.
● The motor speed is still higher than P02-11 though P02-12 time is reached.
For NO. 2 faults:
When a NO. 2 fault occurs and the brake is applied, the stop mode is forced to "Stop at
zero speed, keeping de-energized state".
The servo motor stops at zero speed first. When the motor speed is smaller than 20
RPM, the brake output signal immediately becomes OFF once the preceding condition is
met; but the motor is still in energized state within the time of P02-10.
49
6.1.8 Servo Running
1) Turn on the S-ON signal.
When the servo drive is ready for running, the keypad displays "Run"; but if there is no
reference input, the servo motor is in locked state.
2) After a reference is input, the servo motor starts to rotate.
Table 5-3 Servo running operations
Applicable No. Description
At first-time running, set a appropriate reference to make the otor run at

□ 1
low speed and check the motor rotation is correct.
Observe whether the motor rotating direction is correct. If the motor rotating
□ 2 direction is opposite to the expected direction, check the input reference and
reference direction.
If the motor rotating direction is correct, view the actual speed in H0B-
□ 3 00 and average load ratio in H0B-12 on the keypad or Inovance servo
commissioning software.
After checking the preceding running conditions, set relevant parameters to
□ 4
match the actual conditions.
Commission the servo drive
□ 5
3) Power-on time sequence
Figure Power-on time sequence
Control power Reset 200 to 400 ms *1 ON

L1C L2C OFF
Micro-processor Not
action operating Initialization 2s Normal operating
> 0s*2
Main power
OFF ON
R S T
200 ms
Servo ready
for RUN (Rdy) OFF *3 ON
Servo ON (S-ON) > 0s

OFF ON
(P02-18) + 3 ms
Motor energized OFF ON
Brake output (BK)

OFF ON
*4
Brake contact OFF (brake applied) ON (brake released)
P02-09 *5
Position/Speed/
Reference absent
Torque reference Reference present
50
*1: The reset time is determined by the +5V power setup time of the micro-
Note
processor.
*2: > 0s means that the time is determined by the main power connection
moment.
*3: When the control power and main power are connected at the same time,
the time is the same as the time from micro-processor initialization completed to
Rdy signal active.
*5: When DO function 9 (FunOUT.9:BK) is not used, P02-09 is invalid.
4) Stop time sequence at warning or fault
a. NO. 1 fault: Coast to stop, keeping de-energized state
Figure Time sequence of "coast to stop, keeping de-energized state" at NO. 1 fault
Fault occurs? Normal Faulty

About 0.1 to 3 ms
100 RPM
Absolute motor speed P02-11 *2 set speed value
0 RPM
Motor energized Energized De-energized
Non-faulty
Servo alarm output Faulty state
state
Delay for H02-12 *2
or speed smaller than P02-11 *2
Brake output (BK) OFF

ON
*1
Brake contact OFF (brake applied)

ON (brake released)
Note
*2: When DO function 9 (FunOUT.9:BK) is not used, P02-11 and P02-13 are
invalid.
51
b. NO. 2 fault (without brake): Coast to stop, keeping de-energized state
Figure Time sequence of "coast to stop, keeping de-energized state" at NO. 2 fault:
Fault occurs? Normal About 0.1 to 3 ms Faulty
100 RPM
Absolute motor speed
0 RPM
Non-faulty
state
c. NO. 2 fault (without brake): Stop at zero speed, keeping de-energized state
Figure Time sequence of "stop at zero speed, keeping de-energized state" at NO. 2 fault (without
brake)
Fault occurs? Normal About 0.1 to 3 ms Faulty
Absolute motor speed 100 RPM

0 RPM
Motor energized Energized

De-energized
ON
Stop at zero speed OFF OFF
Servo alarm output Non-faulty

state Faulty state
52
d. NO. 2 fault (with brake): Stop at zero speed, keeping de-energized state
Figure Time sequence of "stop at zero speed, keeping de-energized state" at NO. 2 fault (with brake)
Normal About 0.1 to 3 ms Faulty

Fault occurs?
Non-faulty
state
0 RPM
H 02-10 *1
ON
Stop at zero speed

OFF OFF
Brake output (BK) OFF

ON
*2
ON (brake
Brake contact released) OFF (brake applied)
Note *1: When DO function 9 (FunOUT.9:BK) is not used, H02-10 is invalid.

*2: For the delay time of the action of the brake contact part, please refer
to the relevant specifications of the motor.
53
When NO.3 warnings occur in the servo drive, such as Er.900 (DI emergency braking),
Er.950 (forward limit switch warning), and Er.952 (reverse limit switch warning), the servo
drive stops according to the following time sequence.
e. Limit switch warning, braking stop warning: Stop at zero speed, keeping position
locking state
Figure Time sequence at warnings that cause stop
About 0.1
Warning occurs? Normal About 0.1 to 3 ms Warning to 3 ms Normal

100 RPM
0 RPM
ON
Stop at zero speed

OFF OFF
ON
Position lock state
OFF OFF
Motor energized
Energized
Servo alarm output Warning

Non-warning Non-warning
Brake output (BK)

ON
Brake contact
ON (brake released)
54
The other warnings do not affect the servo running state. The time sequence at
occurrence of these warnings is as follows:
f. Warnings that do not cause stop
Figure Time sequence at warnings that do not cause stop
Warning occurs? Normal Warning Normal

Speed unchanged
Motor energized
Energized
About 0.1 to 3 ms About 0.1 to 3 ms
Servo alarm output Non-warning Warning Non-warning
Brake output (BK)

ON
Brake contact
ON (brake released)
55
g. Fault reset
Figure Time sequence of fault reset
Servo ON (S-ON) ON
O FF
*1
Fault reset Disabled Enabled Disabled
About 3 ms
Servo alarm output
Err faulty state Rdy state Run state
Motor energized De-energized Energized
Stop upon Stop upon fault

Stop upon fault
fault enabled disabled
Brake output (BK) O FF ON
*2
O FF (brake applied) ON (brake released)
Brake contact
P02-09 *3
Position/Speed/ Reference absent Reference present

Torque reference
Note *1: The DI fault reset signal (FunIN.2: ALM-RST) is valid at edge change.
*2: For the delay time of the action of the brake contact part, please refer
to the relevant specifications of the motor.
*3: When DO function 9 (FunOUT.9:BK) is not used, P02-09 is invalid.
56
6.1.9 Servo Stop
Servo stop includes coast to stop and zero-speed stop based on the stop mode, and de-
energized state and position lock based on the stop state.
Table Comparison of two stop modes
Stop Mode Description
The servo motor is de-energized and decelerates to stop gradually. The

deceleration time is affected by the friction inertia and mecha ical.
Coast to stop
This mode features smooth deceleration and small mechanical impact, but the
deceleration process is long.
The servo drive outputs the reverse braking torque and the motor decelerates to
Stop at zero 0 quickly.
speed
This mode features quick deceleration but a larger impact.
Table Comparison of two stop states
De-energized State Position Lock

The motor is not energized after stopping rotation, The motor shaft is locked and cannot
and the motor shaft can be rotated freely. rotated freely after the motor stops rotation.
The servo stops due to the following causes:
6WRSDW6216LJQDO2ႇ
Set a DI terminal with the S-ON function, and disable this terminal.

Code Name Time
0: Coast to stop,
keeping de-energized Set the stop mode
Stop mode state
of the servo motor
P02-05 at S-ON At stop Immediate 0
1: Stop at zero speed, when the S-ON
OFF
keeping de-energized signal is OFF.
state
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The stop mode varies according to the fault type.
57

Code Name Time
Set the motor stop
0: Coast to stop, mode when a NO.2
keeping default occurs.
Stop energized state Note:
P02-06 mode at At stop Immediate 0
NO.2 fault 1: Stop at zero When the brake is
speed, keeping applied, the servo drive
de-energized state executes the value "1"
forcibly.
Stop 0: Coast to stop, Set the motor stop
P02-08 mode at keeping de- mode when a NO.1 At stop Immediate 0
NO.1 fault energized state fault occurs.
6WRSDW/LPLW6ZLWFK6LJQDO$FWLYH
When the moving part moves beyond the range of safe movement, the limit switch
outputs level change, and the servo drive forcibly stops the motor.

Code Name Time
0: Coast to stop, keeping

de-energized state
Stop mode Set the motor
at limit 1: Stop at zero speed, stop mode
P02-07 switch keeping position locking when the limit At stop Immediate 1
signal state switch signal
active is active.
2: Stop at zero speed,
keeping de-energized state
To prevent the work from falling when the limit switch signal is active in the vertical axis
application, set P02-07 to 1. When the work moves in linear, make sure to connect the
limit switch to prevent mechanical damage. If the limit switch signal becomes active,
enter a reverse reference to make the motor (work) run in reverse direction.
Figure Installation diagram of limit switch
Load
Reduction
wheel
Motor
Servo drive
FunIN.14:
P-OT
DI
FunIN.15:
N-OT
DI
58
To use the limit switch function, set two DI terminals of the servo drive respectively with
function 14 (FunIN.14: P-OT, forward limit switch) and function 15 (FunIN.15: N-OT,
reverse limit switch) to receive the limit switch input level signals, and set the terminal
logics. The servo drive determines whether to enable or disable the limit switch function
based on the DI terminal level.
Function Function
No. Description
Symbol Name
When the mechanical movement is outside the movable
range, the servo drive implements the function of
Forward limit preventing the motor from sensing the limit switch.
FunIN.14 P-OT
switch
Invalid: Forward drive permitted
Valid: Forward drive inhibited
When the mechanical movement is outside the movable
range, the servo drive implements the function of
Reverse limit preventing the motor from sensing the limit switch.
FunIN.15 N-OT
switch
Invalid: Reverse drive permitted
Valid: Reverse drive inhibited
(PHUJHQF\6WRS
Two methods of enabling the emergency stop function are supported:
Using DI function 34 (FunIN.34: EmergencyStop)
Using the auxiliary emergency stop function in H0D-05
Function
No. Function Symbol Description
Name
Valid: Position lock after stop at zero speed,
Emergency reporting warning Er.900
FunIN.34 EmergencyStop
stop
Invalid: Current running state unaffecte

Code Name Time
0: Keeping current Set whether to enable

running state the emergency stop
Emergency function. The stop During
Fn-05 1: Enabled, stop Immediate 0
stop mode is the same as running
mode determined that at S-ON signal
in P02-05 OFF.
59
6.2 Position Control Mode
Reference unit: It means the minimum value the host controller input to the servo drive.
Encoder unit: It means that the value from the input reference processed with the
electronic gear ratio.
Figure Block diagram of the position control mode
Speed
feedforward
Input position Position +
Position + Current Motor
reference reference Electronic Deviation Position + Speed loop
source and reference × loop M
gear ratio - counter loop gain control
direction filter - control
Speed
feedback
Speed
calculation
Frequency-
Encoder
division output Encoder
frequency-division
output
Set P02-00 to 1 on the keypad or Inovance servo commissioning software to enable the
position control mode.
Set the servo drive parameters based on the mechanical structure and specifications.
The following part uses the basic parameter setting to describe the position control
mode.
60
6.2.1 Position Reference Input Setting
The position reference input setting includes position reference source, direction, and
inhibition.
Figure Block diagram of position reference input setting
Position
reference inhibited
FunIN.13
Position
reference direction
selection
FunIN.27
Position
reference
Reference
being 0
Reference
direction reversed
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Set the position reference source in P03-00.
Figure Setting of position reference source
Pulse
input terminal
selection
H05-01 Pulse
input inhibited
FunIN.37
Low-speed
pulse
High-speed 0: Pulse input

pulse
Pulse Input
being 0
Step reference
FunIN.20
Position
reference source
P03-00
Step amount 1: Step setting
H05-05
Multi-position
reference enable
FunIN.28
Multi-position function
2: Multi-position reference
parameters
Group H11
61
Function Parameter (ႇHFWLYH

Code Name Time
Set the position reference

0: Pulse input
source. Pulse input
Position 1: Step setting is external position
P03-00 reference reference, and step At stop Immediate 0
2: Multi-
source reference and multi-
position
position reference are
reference
internal ones.
Ŷ Pulse input as the source (P03-00 = 0)
Perform the following operations to obtain the correct pulse input format.
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Start
Select the pulse

Pulse input terminal selection (P03-01)
input terminal
Filter interference signals.

Filter time constant of low-speed
Filter pulse input pulse input terminal (P0A-24) or
filter time constant of high-speed
pulse input terminal (P0A-30)
Direction + pulse
Set pulse input
format Phase A + phase B quadrature pulse
CW + CCW
End
62
● Pulse input terminal
The servo drive provides two pulse input terminals.
Servo drive

Low-speed
pulse position
reference
18

High-speed

pulse position
reference

Max. 4 MHz

The low-speed pulse input terminal (PULSE+, PULSE-, SIGN+, SIGN-) receives
differential input (maximum frequency 500 kpps) and open-collector input (maximum
frequency 200 kpps).
The high-speed pulse input terminal (HPULSE+, HPULSE-, HSIGN+, HSIGN-) receives
only differential input (maximum frequency 4 Mpps).

Code Name Time
Pulse input 0: Low-speed terminals Set the

P03-01 terminal hardware pulse At stop Immediate 0
selection 1: High-speed terminals input terminal.
63
Table Pulse input specifications
Maximum Input
Pulse Type Voltage Forward Current
Frequency
High-speed pulse Differential signal 4M 5V < 25 mA
Differential signal 500 k 5V < 15 mA

Low-speed pulse
Open-collector signal 200 k 24 V < 15 mA
● Pulse input terminal filter
Set the filter time to filter the pulses from the low-speed/high-speed pulse input terminals
to prevent motor malfunction due to interference on the servo drive.

Parameter Name Unit Function Property Default
Code Range Time
Filter time
Set the filter time
constant of low- Power-
P0A-24 0 to 255 25 ns constant of low-speed At stop 30
speed pulse on again
pulse input terminal.
input terminal
Filter time Set the filter time
constant of high- constant of high- Power-
P0A-30 0 to 255 25 ns At stop 3
speed pulse speed pulse input on again
input terminal terminal.
If the filter time constant is tF, and the minimum width of input signals is tmin, the input
signal and filtered signal are as shown in the following figure. The filtered signal has a tF
delay over the input signal.
Figure Waveform example of signal filtering
Signal width < F, Signal width < F,

keeping original high keeping original low
level after filtering F level after filtering
F
Min. width of input signal < min
F
Input
signal
Filtered
signal
F F
The filter time constant t F must meet the requirement: t F ≤ (20%~25%)t min.
The recommended filter parameter setting based on the maximum frequency (minimum
width) of input pulses is described in the following table.
64
Table Recommended filter parameter setting
Corresponding Maximum Frequency of Recommended Filter Time

Pulse Input Terminal
Function Code Input Pulses Constant (25 ns)
< 167 k 30
Low-speed pulse
P0A-24 167 to 250 k 20
input terminal
250 to 500 k 10
High-speed pulse 500 k to 1 M 5

P0A-30
input terminal >1M 3
For example, if the time constant is set to 30, the actual filte r time is 30 x 25 = 750 ns.
● Pulse input format
The servo drive supports three pulse input formats:
Direction + pulse (positive or negative logic)
Phase A + phase B quadrature pulse, 4-frequency multiplication
CW + CCW
Select the pulse input format appropriate for the host controller or other pulse output
device.

Code Name Time
0: Direction + pulse, positive

logic
1: Direction + pulse, negative
Select the
Pulse input logic Power-on
P03-15 pulse input At stop 0
format 2: Phase A + phase B again
format.
quadrature pulse, 4-frequency
multiplication
3: CW + CCW
65

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The following table describes the maximum frequencies and widths of position pulses
from different terminals.
Table Pulse input specifications:
Max. Min. Time Width/us

Input Terminal
Frequency t1 t23 t3 t4 t5
High-speed pulse input terminal 4 Mpps 0.125 0.125 0.125 0.25 0.125 0.125
Low-speed Differential input 500 kpps 1 1 1 2 1

pulse input
Open collector
terminal input 200 kpps 2.5 2.5 2.5 5 2.5 2.5
The rising time and falling time of position pulses must be smaller than 0.1 us.
66
Ɣ Pulse frequency
Set the maximum position pulse frequency in P0A-09. If the actual input pulse frequency
is larger than P0A-09, Er.B01 will occur.
Function Setting (ႇHFWLYH

Code Range Time
Set the maximum

Maximum position 100 to Power-on
P0A-09 kHz frequency of At stop 4000
pulse frequency 4000 again
external pulses.
Ŷ Step setting as the source (P03-00 = 1)
When the servo drive is in running state (S-ON signal active), the motor
CAUTION
is in locked state if the step reference function is invalid, and rotates
if this function is valid. After the P03-05 reference is executed, the
function becomes invalid and the motor enters the locked state.
Step setting running means that the servo drive runs according to the internal fixed
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Start
Motor speed V = 24 x
Set motor speed by setting Electronic gear ratio (RPM)
electronic gear ratio
Must not exceed 1500 RPM.
Target displacement of motor running

Set target displacement
= P03-05 x Electronic gear ratio
Enable step reference Configure the DI terminal.

Enable FunIN.20.
End
67
Figure Motor running curve when P03-00 = 1
Vmotor (RPM)
1500
24 x Electronic
gear ratio
0 PosStep
Time
valid
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unit)
Motor speed and electronic gear ratio:
When the position reference source is step setting, the motor speed is set based on the
electronic gear ratio. The motor speed in this case must not exceed 1500 RPM.
Vmotor = 24 x Electronic gear ratio (RPM)
Motor displacement:
When the position reference source is step setting, the position reference sum (reference
unit) is set in P03-05. Positive or negative of P03-05 value determines positive or
negative of the motor speed.
Function Parameter Setting (ႇHFWLYH

Set the position

reference sum
when P03-00 = 1.
Step -9999 to Reference Positive or negative
P03-05 At stop Immediate 50
amount 9999 unit of the value
determines positive
or negative of the
motor speed.
Ɣ Step reference
When using step setting as the position reference source, set a DI of the servo drive with
function 20 (FunIN.20:PosStep, step reference), and set the DI terminal logic.
Function
Symbol
In servo running state
Valid: Execute step reference set in H05-05, servo
FunIN.20 PosStep Step reference
motor running
Invalid: Servo motor in locked state
68
FunIN.20 (Step reference) is edge valid. After executing the step position reference,
the servo motor enters the locked state. After FunIN.20 becomes valid again, the servo
motor executes the position reference set in P03-05.
3RVLWLRQ5HIHUHQFH'LUHFWLRQ
A DI terminal is used to change the position reference direction and further the motor
direction. Set a DI terminal of the servo drive with function 27 (FunIN.27:PosDirSel,
position reference direction selection), and set the terminal logic.
Function
Symbol
Valid: Actual position reference direction same
Position reference as given position reference direction
FunIN.27 PosDirSel
direction selection Invalid: Actual position reference direction
opposite to given position reference direction
The actual motor direction is related to the rotating direction in P02-02, positive/negative
of position reference, position reference direction (FunIN.27).
Table Motor rotating direction
Positive/Negative of
P02-02 FunIN.27 Actual Motor Rotating Direction
Position Reference
0 + Invalid Counterclockwise
0 + Valid Clockwise
0 - Invalid Clockwise
0 - Valid Counterclockwise
1 + Invalid Clockwise
1 + Valid Counterclockwise
1 - Invalid Counterclockwise
1 - Valid Clockwise
3RVLWLRQ5HIHUHQFH,QKLELWHG
The servo drive provides the position reference inhibited function (FunIN.13: Inhibit) and
pulse input inhibited function (FunIN.37:PulseInhibit).
■ Position reference inhibited function
The servo drive forces all position references to zero and does not respond to any
internal or external position reference, and make the motor in position lock state. In this
case, the servo drive can be switched over to other control modes.
When this function is enabled, the input position reference counter (Un-13) continues to
count the position references; when this function becomes disabled, the servo drive does
not respond to the references counted earlier.
To use this function, configure a DI terminal of the servo drive with function 13 (FunIN.13:
Inhibit, Position reference inhibited), and set the terminal logic. The high-speed DI
terminal (DI8 or DI9) is recommended.
69
Figure Waveform example of position reference inhibited function
Input
position
reference
Inhibit ON OFF ON
Position reference
actually responded to
Function Function
No. Description
Symbol Name
Invalid: The servo drive responds to position references
Position in position control mode.
FunIN.13 Inhibit reference
inhibited Valid: The servo drive does not respond to any internal or
external position reference in position control mode.
Ŷ Pulse input inhibited function
The servo drive forces pulses to zero and does not respond to pulses input from the
pulse input terminal, but responds to position references of other sources. In this case,
the servo drive can be switched over to other control modes.
When this function is enabled, if the position reference source is still pulse input in
position control mode and the pulse input terminal continues to input pulse signals, the
input position reference counter (Un-13) continues to count the pulses, but the servo
drive does not respond to them.
If the position reference source is other forms, the counter in Un-13 continues to count
the position references, and the servo drive executes these references.
7RXVHWKLVIXQFWLRQFRQ¿JXUHD',WHUPLQDORIWKHVHUYRGULYHZLWKIXQFWLRQ )XQ,1
PulseInhibit, pulse input inhibited), and set the terminal logic. The high-speed DI terminal
(DI8 or DI9) is recommended.
70
Figure Waveform example of pulse input inhibited function
External pulse
position reference
Internal pulse
position reference
Pulselnhibit ON OFF *1 ON
Actual pulse
position reference
*1: When using a low-speed DI terminal, ensure the delay from input to
Note
response of DI terminal signal is at least 3 ms; when using a high-speed DI
terminal, ensure the delay is at least 0.25 ms.
Function Function
No. Description
Symbol Name
When the position reference source is pulse input
(P03-00 = 0) in the position control mode:
Pulse input
FunIN.37 PulseInhibit
inhibited Invalid: Respond to pulse input
Valid: Not respond to pulse input
6.2.2 Electronic Gear Ratio
The electronic gear ratio must be within the following range:

&$87,21
0.001 x Encoder resolution B 4000 x Encoder resolution

< <
10000 A 10000
Otherwise, Er.B03 is detected, indicating electronic gear ratio setting incorrect.

Incorrect electronic gear ratio setting causes running errors. Set it again in
servo drive stop state.
([SODQDWLRQ
In position control mode, the input position reference (reference unit) defines the load
displacement; the motor position reference (encoder unit) defin s the motor displacement.
The electronic gear ratio is used to indicate the relationship between input position
reference and motor position reference.
71
By dividing (electronic gear ratio < 1) or multiplying (electronic gear ratio > 1) the
electronic gear ratio, the actual motor rotating or moving displacement within the input
position reference of one reference unit can be set.
Reference unit: It means the minimum value the host controller input to the servo drive.
Encoder unit: It means that the input reference processed with the electronic gear ratio.
6HWWLQJ)ORZFKDUW
The electronic gear ratio varies according to the mechanical structure. Set it according to
the following Àowchart.
Figure Setting Àowchart of electronic gear ratio :
Start
Check the reduction ratio, ball screw lead,

Check mechanical gear diameter in gear transmission and belt
parameters pulley diameter in belt pulley transmission,
etc.
Check the encoder Check the encoder resolution of the

resolution servo motor.
Check the parameters such as

Check the load mechanical specifications and positioning
displacement for one precision, and determine the load
position reference displacement corresponding to one
position reference of the host controller.
Calculate the position Calculate the position references required for

references required for one one load shaft revolution based on the
load shaft revolution mechanical parameters and load displacement
for one position reference.
Electronic gear ratio:
Calculate electronic gear B Encoder resolution

= x Reduction ratio
ratio A Position references for one load
shaft revolution (reference unit)
Set related parameters based on the electronic

Set related parameters
gear ratio.
End
72
7KHPHWKRGRISDUDPHWHUVHWWLQJLVVKRZQLQWKHIROORZLQJ¿JXUH
Figure Setting the electronic gear ratio
Electronic gear ratio

switchover condition
P03-39
Electronic gear
ratio switchover
FunIN.24
P03-02 = 0?
Electronic
gear ratio 1
Electronic
gear ratio 2
Encoder unit
P03-02
:KHQ3
Note
B Encoder resolution
Electronic gear ratio =
A P03-02
In this case, electronic gear ratio 1 and electronic gear ratio 2 are invalid.
Parameter Setting
Ŷ Setting of electronic gear ratio

Pulses per Set the number of

Power-
P03-02 one motor 0 to 1048576 P/r pulses required for Immediate 0
on again
revolution one motor revolution.
Electronic Set the numerator of
1 to During
P03-07 gear ratio 1 - electronic gear ratio Immediate 1048576
1072741824 running
(numerator) 1.
Electronic Set the denominator
1 to During
P03-09 gear ratio 1 - of electronic gear Immediate 10000
1073741824 running
(denominator) ratio 1.
1 to During
1073741824 running
(numerator) 2.
1 to During
1073741824 running
(denominator) 2.
73
■ Setting of electronic gear ratio switchover
Due to large real-time change of electronic gear ratio or large difference

&$87,21 between two electronic gear ratios, the motor speed fluctuates reatly during
the switchover. Use the first-order low-pass filter function (H05-04) to mak
smooth switchover of position references.
When P03-02 = 0, electronic gear ratio switchover is supported. Determine whether

switchover is necessary based on the mechanical running conditions and set the
switchover conditions. Only one electronic gear ratio is effe tive at a moment.
The effective time of real-time change on the current electronic gear ratio is also
restricted by the switchover conditions.

Code Name Time
Electronic 0: Switchover if position Set the

reference = 0 and the electronic
gear ratio
P03-39
switchover duration reaches 2.5 ms gear ratio At stop Immediate 0
switchover
condition 1: Real-time switchover conditions.
Set a DI terminal of the servo drive with function 24 (FunIN.27:GEAR_SEL, electronic

gear ratio switchover), and set the terminal logic.
Function
Symbol
Invalid: Electronic gear ratio 1
FunIN.24 GEAR_SEL Electronic gear ratio switchover
Valid: Electronic gear ratio 2
The selected electronic gear ratio is described in the following table.
Table Selection of electronic gear ratio
Level of DI terminal with

P03-02 P03-39 Electronic Gear Ratio
FunIN.24
P03-07
Invalid
P03-09
0
P03-11
Valid
P03-13
0
P03-07
Invalid
P03-09
1
P03-11
Valid
P03-13
1 to 1048576 - -
Resolution of serial encoder = 2n(P/r), where "n" is the bits of the serial encoder.
For example, resolution of Inovance 23-bit serial encoder = 223(P/r) = 8388608(P/r).
74
Resolution of quadrature incremental encoder = Encoder PPR x 4
For example, resolution of Inovance quadrature 2500-PPR incremental encoder =

10000(P/r).
&DOFXODWLRQRI(OHFWURQLF*HDU5DWLR
The following figure shows the relationship between the position reference (reference
unit), load displacement, and electronic gear ratio.
Figure Relationship between the position reference (reference unit), load displacement, and electronic gear
ratio :
Position reference
Position reference (reference unit) (encoder unit)
B Servo Servo Reduction Machine
A drive motor mechanism and load
Position reference sum: P(P)
position reference Frequency: f (Hz) Reduction ratio Load displacement: L
Electronic R
gear ratio Position feedback Load speed: VL
(encoder unit) Encoder
Resolution of 23-bit serial encoder:

PG = 8388608(P/r)
Take the load ball screw in linear movement as an example. Assume that the lead is pB
(mm), encoder resolution is PG, and reduction ratio is R.
Figure Ball screw diagram
Reduction
Load
wheel
Motor Ball screw
L pB
n revolutions of load shaft

Reduction ratio R =
m revolutions of motor shaft
Encoder resolution PG
● Known that a pulse of the servo drive corresponds to load displacement ΔL (mm):
L
When the mechanical displacement is ΔL, correspondingly the load shaft rotates pB
L 1
revolutions and the motor shaft rotates pB x R revolutions.
B = L x 1 x P
1x pB G
Then, A R
B L 1
= p x x PG
Electronic gear ratio A B R
● The load displacement L(mm) and position reference sum P(P) are known.
L
pB
When the mechanical displacement is L, correspondingly the load shaft rotates
75
L 1
x R
revolutions and the motor shaft rotates pB revolutions.
B L 1
Then, Px
A
= p x
B R
x PG Electronic gear ratio B = L x 1 x PG x 1
A pB R P
● The load moving speed V L (mm/s) and position reference frequency f (Hz) are
known.
vL
Load shaft rotating speed: pB (r/s)
vL 1
Motor speed: vM = p x
B R (r/s)
Relationship between position reference frequency, electronic gear ratio and motor
f x B = vM x PG
speed: A
B vM x PG
=
Electronic gear ratio A f
6HWWLQJ([DPSOH
Table Setting example of electronic gear ratio :
Mechanism
Ball Screw Transmission Belt Pulley Transmission Rotating Load
Step Item
Reduction ratio R: 5/1 Reduction ratio R: 10/1

Mechanical Reduction ratio R: 1/1
1 Diameter of belt pulley: 0.2 m Load rotating angle for one
parameters Lead: 0.01 m
(circumference: 0.628 m) load shaft revolution: 360°
Encoder
2 23 bit = 8388608P/r 23 bit = 8388608P/r 23 bit = 8388608P/r
resolution
Load
displacement
to one position
3 0.0001 m 0.000005 m 0.01°
reference
(reference
unit)
Position
references
0.01 0.628 360
required for = 100 = 125600 = 36000
4 one load shaft 0.0001 0.000005 0.01
revolution
(reference
unit)
B 8388608 1 B 8388608 5 B 8388608 10

5 Calculation = = x
A 100 1 A 125600 1 A 1
36000
P03-07 = 8388608 P03-07 =41943040 P03-07 = 83886080

6 Setting
P03-09 = 100 P03-09 = 125600 P03-09 = 36000
76
6.2.3 Position Reference Filter
This function filters the position references (encoder unit) divided or multiplied by the
electronic gear ratio. It involves the first-order filter and m ing average filte .
It is applicable to the following conditions:
Acceleration/Deceleration is absent on the position references from the host controller.
The pulse frequency is too low.
The electronic gear ratio is larger than 10.

Set the time constant of

Time constant
0 to first-order low-pass filte
P03-04 of first-order ms At stop Immediate 0.0
6553.5 for position reference
low-pass filte
(encoder unit).
Set the time constant
Time constant
0 to of moving average filter
P03-06 of moving ms At stop Immediate 0.0
128.0 for position reference
average filte
(encoder unit).
This function has no effect on the displacement (position refer nce sum).
Note
If the setting is excessive, the response delay may be too large. Set the filter
time constant based on actual conditions.
Figure First-order and moving average ¿lter of rectangular position reference
a: Input position reference

Position
c: First-order filter
reference
a b c b: Mean filter
Time
t t
3t
77
First-order and moving average ¿lter of trapezoid position reference
3t a: Input position reference

Position t
reference c: First-order filter
a b c b: Mean filter
t Time
3t
6.2.4 Position Deviation Cleared
Position deviation = Position reference – Position feedback (encoder unit)
This function enables the servo drive to clear the position deviation when certain
conditions are met (P03-16).

Code Name Time
0: When S-ON is turned off

or a fault occurs
Set the
1: When S-ON is turned off conditions
Clear
P03-16 or a fault occurs for clearing At stop Immediate 0
action
position
2: When S-ON is turned off
deviation.
and the ClrPosErr signal is
input from DI
When P03-16 = 2, set a DI terminal of the servo drive with function 35
(FunIN.35:ClrPosErr, position deviation cleared), and set the terminal logic.
The high-speed DI terminal (DI8 or DI9) is recommended.
Function
Symbol
Position deviation Valid: Position deviation cleared

FunIN.35 ClrPosErr
cleared Invalid: Position deviation not cleared
78
Table Setting of position deviation cleared
Setting Clear Conditions Clear Time
The position deviation is cleared when the Servo ON Servo ON

Servo
P03-16 = 0 S-ON signal is turned off or the servo state is OFF
not "run". Clear
The position deviation is cleared when the Servo ON Servo ON

Servo
P03-16 = 1 S-ON signal is turned off or a fault or warning fault
occurs. Clear
DI DI valid DI
invalid invalid
Clear
When position deviation is cleared when the

S-ON signal is turned off or the DI terminal (Rising edge valid)
P03-16 = 2 with this function is logic valid.
DI valid
The recommended logic is edge change valid. DI invalid DI invalid
Clear
(Falling edge valid)
79
6.2.5 Frequency-Division Output
In full closed-loop control mode, the frequency-division output function cannot

&$87,21 be used, and the frequency-division output terminal is used as the input
terminal of external scale signal.
In applications requiring high precision of Z signal frequency-division output,
the eႇective change edge of Z signal is recommended.
P03-41 = 0: The eႇective change edge is falling edge.
P03-41 = 1: The eႇective change edge is rising edge.
The frequency-division output function outputs the position reference pulses or encoder
feedback position references as A/B phase quadrature pulses.
Figure 6-38 Schematic diagram of frequency-division output
Servo drive
Internal processing
CN1 of drive
Servo pulse
2.4kȍ output source
PULLHI 26
200ȍ P03-38 Host
Low-speed PULSE+ 19 CN1
PULSE- 4 controller
pulse position 2.4kȍ
reference SIGN+ 18 200ȍ 10 PAO+
Pulse 1
SIGN- 3 11 PAO-
input 12 PBO+
GND 29 13 PBO-
14 PZO+
15 PZO-
High-speed HPULSE+ 4237
HPULSE- Frequency
pulse position HSIGN+ 43 29 GND GND
-division
reference HSIGN- 32 output
44 PZ-OUT
29 GND
CN4
0 GND
Encoder
feedback
Encoder
P03-17
U
Motor V
M
W
When pulse synchronous tracking of the multi-axis servo is required, pulse synchronous
output (P03-38 = 1) is recommended; when the host controller provides closed-loop
feedback, encoder frequency-division output (P03-38 = 0) is recommended.
The servo drive provides one frequency-division terminal, described in the following
table.
80
Maximum Output Pulse

Phase Terminal Output Format
Frequency
Phase A pulse PAO+, PAO- Differential outpu 2 Mpps
Phase B pulse PBO+, PBO- Differential outpu 2 Mpps
Phase Z pulse PZO+, PZO- Differential outpu 2 Mpps
PZ-OUT GND Open-collector output 100 kpps
When using the frequency-division output function, set the output pulse source (P03-38),
phase (P02-03), resolution (P03-17), and phase Z pulse polarity (P03-41) according to
requirements.
When the output source is encoder frequency-division pulse (P03-38 = 0), the phase A/
B output pulses per motor revolution are determined by P03-17 and P03-61; phase A/B
pulse width T is determined by the motor speed, and phase Z is synchronous with phase
A and its width is T; Z signal is output once per motor revolution.
Table Pulse diagram of encoder frequency-division output (P03-38 = 0)
P02-03 P03-41
(output (output Pulse Output Diagram of Forward Pulse Output Diagram of Reverse
pulse polarity of RUN RUN
phase) Z pulse)
T
Phase A Phase A
Phase B Phase B
Phase Z Phase Z
0
Phase A advancing phase B by Phase B advancing phase A by

90° . 90° .
0
Phase A Phase A
Phase B Phase B
Phase Z Phase Z
1
Phase A advancing phase B by Phase B advancing phase A by

90° . 90° .
Phase A Phase A
Phase B Phase B
Phase Z Phase Z
0
Phase B advancing phase A by Phase A advancing phase B by

90° . 90° .
1
Phase A Phase A
Phase B Phase B
Phase Z Phase Z
1
Phase B advancing phase A by Phase A advancing phase B by

90° . 90° .
81

Setting Range Unit Function Property Default
Code Name Time
0: Phase A advancing
phase B Set the phase relationship
Output pulse Power-on
P02-03 - between phase A pulse At stop 0
phase 1: Phase A lagging phase again
and phase B pulse.
B
Set the number of pulses
Encoder output by PAO or PBO
Power-on
P03-17 frequency- 35 to 32767 p/r (before 4-frequency At stop 2500
again
division pulses multiplication) per motor
revolution.
0: Encoder frequency-
division output
1: Pulse synchronous
Servo pulse Set the servo pulse output Power-on
P03-38 output - At stop 0
output source source. again
2: Frequency-division
or synchronous output
inhibited
0: Positive (high level

Output polarity when pulse Z is valid) Set the output level when Power-on
P03-41 - At stop 1
of Z pulse 1: Negative (low level the phase Z pulse is valid. again
when pulse Z is valid)
When P03-61 ≥ 35, Set the

Encoder number of pulses output
frequency- by PAO or PBO (before Power-on
P03-61 0 to 262143 p/r At stop 0
division pulses 4-frequency multiplication) again
(32-bit) per motor revolution when
P03-61 ≥ 35.
82
6.2.6 Internal Reference Completed, Positioning Completed/Near Functions
Internal reference completed: When the internal multi-position reference is 0, the servo
drive outputs the internal reference completed signal (CmdOk); after receiving this signal,
the host controller determines that all multi-position references are issued.
The following ¿gure shows the schematic diagram.
Diagram of internal reference completed function is below:
Multi-position
reference
0 Time
Reference
completed signal High level valid
(CmdOk)
Positioning completed: When the position deviation meets the condition set in P03-
20, the servo drive outputs the positioning completed signal (COIN); after receiving this
signal, the host controller determines that positioning is completed.
The following ¿gure shows the schematic diagram.
Diagram of positioning completed function is below :
Speed Position reference

Motor speed
Position
reference
Motor speed
0 Time
83
Position
deviation pulse
Threshold of positioning
completed (P03-21)
0 Time
Positioning
completed signal High level valid
(COIN)
Position deviation-related signals
Un-15
P0A-10
P03-22
P03-21
Range of
positioning
completed
P03-21
P03-22
P0A-10
Un-15: Encoder position deviation counter (encoder unit )

P0A-10: Threshold of position deviation excess
P03-22: Threshold of positioning near
P03-21: Threshold of positioning completed
The reference unit of positioning completed/near and position deviation excessive is

selected in P0A-17.
When the position deviation meets the condition set in P03-20, the servo drive also
outputs the positioning near signal (NEAR). The host controller sends the positioning
near signal to the servo drive before cRQ¿rming positioning completed, so that the servo
drive prepares for the positioning completed action.
84
Before using the positioning completed/near function, set the output condition, deviation
threshold, time window and holding time.
The following ¿gure shows the schematic diagram of positioning completed time window
and holding time.
Diagram of positioning completed time window and holding time is below :
Position deviation
Positioning
threshold
0 Time
Positioning complete
signal COIN
High level valid
(no time window, no
holding time)
signal COIN High level valid
(having time window, no
holding time) P03-59
Time
threshold
Position deviation
Positioning
threshold
0 Time
signal COIN
(no time window, no
holding time) High level valid
signal COIN
(no time window,
High level valid
having holding time) P03-60
Holding time
When the holding function for positioning completed output is used, the value 0 indicates
that the positioning completed signal remains active until the moment when the position
reference is received for the next time.
85

Code Name Time
Position setting 0: Encoder unit Select the unit of

P0A-17 - Immediate Immediate 0
unit selection 1: Reference unit position setting.
0: Absolute value of
position deviation is
smaller than setting of
P03-21/P03-22
P03-21/P03-22 and
position reference after
¿lter is 0 Set the output
Output condition
2: Absolute value of condition of
of positioning During
P03-20 - the positioning Immediate 0
completed/near position deviation is running
signal (COIN) smaller than setting of completed (COIN)or
P03-21/P03-22 and (Near )signal active
position reference is 0
P03-21/P03-22 and
position reference is 0,
positioning completed/
near signal holding time
determined by P03-60
Set the absolute
Position
threshold of
deviation Encoder/
position deviation During
P03-21 threshold of 1 to 65535 Reference Immediate 734
when servo drive running
positioning unit
outputs positioning
completed
completed signal.
Set the absolute
Position threshold of position
Encoder/
deviation deviation when During
P03-22 1 to 65535 Reference Immediate 65535
threshold of servo drive outputs running
unit
positioning near positioning near
signal.
Set the time
threshold when
Time threshold
the positioning During
P03-59 of positioning 0-30000 ms Immediate 0
completed signal running
completed
outputs the valid
level.
Set the holding time
Positioning
of the positioning During
P03-60 completed 0-30000 ms Immediate 0
completed signal running
holding time
being valid.
86
P03-22 > P03-21

&$87,21
P03-21 reÀects only the absolute threshold when the positioning completed
signal is active. It is irrelevant to the positioning precision.
When the speed feedforward gain (P08-19) is large or the servo drive is in low-
speed running, the absolute positioning deviation is relatively small. A large
setting of P03-21 in this case may cause positioning completed signal always
active. Decrease P03-21.
When both P03-21 and the position deviation are small, change the output
condition of positioning completed signal in P03-20.
When the S-ON signal is inactive, the positioning completed signal (COIN) and
positioning near signal (NEAR) are invalid.
To use the internal reference completed, positioning completed and positioning near
functions, set three DO terminals of the servo drive respectively with function 22
(FunOUT.22: CmdOk, reference completed), function 5 (FunOUT.5:COIN, positioning
completed) and function 6 (FunOUT.6:NEAR, positioning near), and set the terminal
logics.Relevant function No.:
Function Function
No. Description
Symbol Name
In the position control mode, when the position deviation

Positioning
FunOut.5 COIN pulses reach the value of P03-21, this signal is active.
completed
If non-active ,servo is undering position process
Positioning In the position control mode, when the position deviation

FunOut.6 NEAR
near pulses reach the value of P03-22, this signal is active.
If non-active ,servo is undering position process
87
6.2.7 Position Change on Fly
The position change on fly signal cannot be turned on when the oming
&$87,21 function is used.
)XQFWLRQ'HVFULSWLRQ
This function allows the servo drive to interrupt during running and execute the preset
position reference with fixed length in the position control mode. To be specific, when the
S-ON signal is active in the position control mode, if this function is enabled, the servo
motor runs the position reference for position change on fly in the original direction (before
the function is triggered).
During running of this function, the servo drive shields any other internal or external
position reference (including the position reference for this function triggered again), and
the input position reference counter in Un-13 counts only the position references for this
function.
After the running of this function is complete, the servo drive keeps shielding or responds
to position references according to the setting of P03-29, but discards the position
references input in the running process.
After the running of this function is complete, the servo drive outputs the position
change on fly completed signal (FunOUT.15:XintCoin) and positioning completed
signal (FunOUT.5:COIN) signal simultaneously. After receiving the position change
on fly completed signal, the host controller confirms that the running of this function is
complete. The output of the position change on fl completed signal is irrelevant to the
S-ON signal and DI9 terminal logic.
This function takes effect on the following conditions
Before this function is triggered, motor speed ≥ 10 RPM,P03-26 ≠ 0.
P03-24 ≠ 0
The DI FunIN.33 (Position change on fly inhibited) is not enabled or the logic of the
terminal with this function is invalid.
The moving average filter is invalid when the position change o fly function is
Note
used.
88
Figure Setting Àowchart of position change on Ày function
Start
P02-00 = 1 Select the position control mode.
P03-23 = 1
Configure the related

Set related parameters, DO terminal and
parameters DI terminal of the position
change on fly function.
Turn on
S-ON signal
Validate DI9 to Allocate DI9 with no function

run the function and set it to edge valid.
No Output the position change

Completed?
on fly completed signal.
Yes
No
P03-29 = 0?
Yes
FunIN.29 (Position change Allocate a DI with FunIN.29,
on fly unlock) valid and turn on the DI.
Exit the
function
End
89
3DUDPHWHU6HWWLQJ

Code Range Time
Position change on 0: Disabled Set whether to enable Power-on

P03-23 - At stop 0
fl 1: Enabled position change on fl . again
Displacement of
0 to Reference Set the displacement of During
P03-24 position change on Immediate 10000
1073741824 unit position change on fl . running
fl
Set maximum motor speed
Constant speed for
for position change on fl , During
P03-26 position change on 0 to 6000 RPM Immediate 200
irrelevant to the electronic running
fl
gear ratio.
Acceleration/
Set the time for motor to
Deceleration time During
P03--27 0 to 1000 ms accelerate from 0 to 1000 Immediate 10
of position change running
RPM.
on fl
Set the conditions of
responding to other position
references after the running
of the position change on Ày
Position change on 0: Disabled function is complete. During
P03-29 - Immediate 1
fly unloc 1: Enabled When P03-29 = 1, a DI with running
FunIN.29 (Position change
on Ày unlock) must be used
to exit the position change on
Ày function.
No. Function Symbol Function Name Description
Valid: The position change on fly state is unlocked, and

the servo drive can respond to other position references.
Position change on fly
FunIN.29 XintFree Invalid: The position change on fly signal is retained,
unlock
and the servo drive does not respond to other position
references.
Position change on fly Valid: Position change on fly inhibite

FunIN.33 XintInHibit
inhibited Invalid: Position change on fly permitte
Position change on fly Valid: Position change on fly complete

FunOut.15 XintCoin
completed Invalid: Position change on fly not complete
When using the position change on Ày function, the servo drive forces the
&$87,21 high-speed terminal DI9 as the triggering terminal; if allocated to other
terminal, this function will be invalid.
DI9 (P06-18) must not be allocated with other functions, and the terminal logic
(P06-19) must be set to edge change valid. If not, the servo drive forces it to
edge change valid.
90
Table DI9 logic for the position change on Ày function
P06-19 DI9 Logic Waveform
0/3 Falling edge
1/2 Rising edge
Rising edge and

4
falling edge
The constant speed for position change on Ày is shown in the following ¿gure.
Figure Motor running curve of position change on Ày :
Speed
P03-26 Motor displacement:

Motor speed before P03-24 x Electronic gear ratio
function triggered
DI9 logic Position change Time

valid on fly completed
signal active
Table Motor speed for position change on Ày :
Motor Speed Before Position Change

P03-26 Constant Speed
Function Triggered on Fly Function
< 10 Invalid -
0 Motor speed before the function is
≥ 10 Valid
triggered
1 to 6000 - Valid P03-26
91
6.2.8 Homing
The homing signal is shielded when the position change on fly o multi-position
&$87,21 function is running.
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Home: It means the mechanical home reference point, that is, the position of the home
switch or motor Z signal, determined by P03-31.
Zero: positioning target point, expressed as home + oႇset (set in P03-36). When P03-36
= 0, the zero position is the same as the home.
Homing function: When the S-ON signal is active in the position control mode, the servo
motor proactively searches for the zero position and completes positioning if the homing
function is triggered.
During the homing operation, the servo drive shields the other position references
(including the homing reference triggered again). After the homing operation is complete,
the servo drive can respond to other position references.
This function includes two actions:
● Home attaining: After receiving the homing signal, the servo drive proactively
locates the relative position between the motor shaft and the preset mechanical
home reference point; it finds the home and then moves through the offset from
the home reference point to the zero point. This mode is used for find ng the zero
position for the first time.
● Electric home attaining: After finding the absolute zero position, the servo drive
moves a certain displacement from the current position.
After the homing operation is completed (including home attaining and electric home
attaining), the absolute motor position (Un-07) is the same as the mechanical home o
ff et (P03-36).
After the homing operation is completed, the servo drive outputs the home attaining
completed signal (FunOUT.16: HomeAttain) or electric home attaining completed signal
(FunOUT.17: ElecHomeAttain). After receiving this signal, the host controller confirms
that the homing operation is completed. These two signals are irrelevant to the servo
mode and running state.
92
Table Comparison between home attaining and electric home attaining :
Homing
Actuation Direction,
Enabling
Action Deceleration Point, Signal Total Motor Displacement
Method
Home
(P03-30)
0 - - -
1 HomingStart signal Determined by the

Home Determined by mechanical home
3 S-ON signal
attaining P03-31 coordinate and offset
4 S-ON signal displacement
6 - - -
2 The actuation HomingStart signal

direction is
consistent with the
Electric motor displacement
symbol (+/-). (P03-36 – Un-07) x
home
5 S-ON signal Electronic gear ratio
attaining The deceleration
point and home
signals are not
required.
Both the moving average filter and low-pass filter are invalid en the homing
Note
function is used.
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To prevent the machine from being crashed due to the high speed during
&$87,21 the homing process, set the mechanical limit switches before using the
homing function; if homing with hit & stop is used and the mechanical oႇset is
involved, set the oႇset within the travel range.
If the motor reaches the limit switch during homing, the servo drive reports
Dr.950 (Forward limit warning) or Dr.952 (Reverse limit warning). If P03-40 = 0
or 1, the motor stops according to the mode set in P02-07.
The following part takes an example to describe homing attaining:
P03-31 = 0: Forward direction, deceleration point and home being home switch signal
P03-31 = 2: Forward direction, deceleration point and home being motor Z signal
P03-31 = 4: Forward direction, deceleration point being home switch signal and home being motor Z signal
P03-31 = 6: Forward direction, deceleration point and home being forward limit switch signal
P03-31 = 8: Forward direction, deceleration point being forward limit switch signal and home being motor Z signal
P03-31 = 10: Forward direction, deceleration point and home being mechanical ¿nal limit position
P03-31 = 12: Forward direction, deceleration point being mechanical ¿nal limit position, home being motor Z signal
The other home attaining modes are the same as the above except that the direction is opposite.
93
■ P03-31 = 0: Forward direction, deceleration point and home being home switch signal
a. The home switch (deceleration point) signal is inactive (0: inactive, 1: active) when the
motor starts to run, and the forward limit switch is not sensed in the entire process.
The running process is as follows:
The servo motor searches for the deceleration point signal in forward direction at high
speed set in P03-32.
After reaching the rising edge of the deceleration point signal, the motor decelerates to
-(P03-33) according to the time set in P03-34.
The motor searches for the falling edge of the deceleration point signal in reverse
direction at low speed of -(P03-33).
After reaching the falling edge of the deceleration point signal, the motor then changes
to forward direction, and searches for the rising edge of the home signal at the speed of
P03-33.
During forward acceleration or forward constant speed running, the motor stops
immediately after reaching the rising edge of the home signal.
Figure Motor running curve 1 and speeds in Mode 0 ; is below :
Deceleration
point/Home
Limit switch
Deceleration point signal

Speed rising edge
P03-32
Home signal
rising edge
Motion profile
Deceleration point signal 0 1 Time

-(P03-33)
Home signal 0
1 Signal Deceleration point signal
active falling edge
Forward limit switch 0
94
b. The home switch (deceleration point) signal is active when the motor starts to run, and
the forward limit switch is not sensed in the entire process.
The servo motor directly searches for the falling edge of the deceleration point signal in
reverse direction at low speed of -(P03-33).
After reaching the falling edge of the deceleration point signal, the motor changes to
forward direction, and searches for the rising edge of the home signal at low speed of
P03-33.
Figure Motor running curve 2 and speeds in Mode 0 ; is below:
Deceleration
point/Home
Limit switch
Speed
Home signal
rising edge
Motion profile
P03-33
1
Time
Deceleration point signal 0 1
-(P03-33)
Home signal 0 Deceleration
1 Signal
point signal
Forward limit switch 0 active
falling edge
95
c. The home switch (deceleration point) signal is inactive when the motor starts to run,
and the forward limit switch is sensed in the process.
The servo motor searches for the deceleration point signal in forward direction at high
speed of P03-32.
After sensing the forward limit switch, the servo drive implements immediate reverse
home attaining (P03-40 = 2 or 3) or stops and waits for the home attaining signal re-
issued by the host controller (P03-40 = 0 or 1).
After the condition is met, the motor searches for the falling edge of the deceleration
point signal in reverse direction at high speed of -(P03-32).
After reaching the falling edge of the deceleration point signal, the motor then decelerates
and restores to forward direction according to the time set in P03-34, and searches for
the rising edge of the home signal at the speed of P03-33.
Figure Motor running curve 3 and speeds in Mode 0 ; is below:
Deceleration Forward limit switch

point/Home Speed signal active
Limit switch P03-32

Home signal
rising edge
P03-33
Signal Time
Motion profile active
1
Deceleration point signal 0 1
-(P03-32)
Home signal 0
1 Deceleration point signal
Forward limit switch 0 falling edge
96
■ P03-31 = 2: Forward direction, deceleration point and home being motor Z signal
In the mode where Z signal is used to judge the deceleration point and home
&$87,21 (P03-31 = 2 or 3), the actual motor stop position may be on a diff rent side
from the rising edge of Z signal, and there is a deviation of ±1 pulse (encoder
unit).
a. The Z signal is inactive (0: inactive, 1: active) when the motor starts to run, and the
forward limit switch is not sensed in the entire process.
The servo motor searches for Z signal in forward direction at high speed of P03-32.
After reaching the rising edge of Z signal, the motor then decelerates and changes to
reverse direction according to the time set in P03-34, and accelerates to -(P03-33).
During reverse acceleration or reverse constant speed running, the motor immediately
stops after reaching motor Z signal rising edge of the other side.
Limit switch
Speed Z signal
rising edge
P03-32
Motion profile
Time
-(P03-33)
Z signal 0 Signal
1 Z signal
active
rising edge of
Forward limit switch 0 the other side
97
b. The Z signal is active when the motor starts to run, and the forward limit switch is not
sensed in the entire process.
The servo motor directly searches for the falling edge of Z signal in forward direction at
low speed of P03-33.
After reaching the falling edge of Z signal, the motor changes to reverse direction, and
searches for the rising edge of Z signal at low speed of -(P03-33).
During reverse acceleration or reverse constant speed running, the motor stops
immediately after reaching the rising edge of Z signal.
Limit switch
Speed
Z signal
falling edge
P03-32
Motion profile
Time
-(P03-33)
Z signal 0
1 Signal Z signal
active rising edge
Forward limit switch 0
98
c. The Z signal is inactive when the motor starts to run, and the forward limit switch is
sensed in the process.
The servo motor searches for Z signal in forward direction at high speed of P03-32.
After the condition is met, the motor searches for Z signal in reverse direction at high
speed of -(P03-32).
After reaching the rising edge of Z signal, the motor then decelerates and restores to
forward direction according to the time set in P03-34, and searches for Z signal rising
edge of the other side at low speed of P03-33.
immediately after reaching Z signal rising edge of the other side.
Figure Motor running curve 3 and speeds in Mode 2; is below :
Limit switch Speed
Forward limit
switch signal active
Z signal
P03-32 rising edge of the
other side
P03-33
Motion profile
Signal Time
active
-(P03-32)
Z signal 0
1 Z signal
Forward limit switch 0 rising edge
99
■ P03-31 = 4: Forward home direction, deceleration point being home switch signal
and home being motor Z signal
a. The home switch signal is inactive (0: inactive, 1: active) when the motor starts to run,
and the forward limit switch is not sensed in the entire process.
The servo motor searches for the home switch signal in forward direction at high speed
of P03-32.
After reaching the rising edge of the home switch signal, the motor then decelerates and
changes to reverse direction according to the time set in H05-34, and searches for the
falling edge of the home switch signal at low speed of -(P03-33).
After reaching the falling edge of the home switch signal, the motor decelerates and
restores to forward direction, and searches for the rising edge of the home switch signal
at low speed of P03-33.
After reaching the rising edge of the home switch signal, the motor continues to run and
immediately stops after reaching Z signal for the ¿rst time.

Home switch
Limit switch
Speed
Home switch signal
rising edge Home switch signal
rising edge
P03-32
Z signal
Motion profile
1
Time
Home switch signal 0
-(P03-33)
Z signal 0
1 Signal
Home switch signal
active
100
b. The home switch signal is active when the motor starts to run, and the forward limit
switch is not sensed in the entire process.
The servo motor directly searches for the falling edge of the home switch signal in
After reaching the falling edge of the home switch signal, the motor decelerates and
restores to forward direction, and searches for the rising edge of the home switch signal
at low speed of P03-33.
After reaching the rising edge of the home switch signal, the motor continues to run in
forward direction at low speed of P03-33, and stops immediately after reaching Z signal
for the ¿rst time.
Figure 6-53 Motor running curve 2 and speeds in Mode 4 ; is below :
Home switch
Limit switch
Speed Home switch signal

rising edge
Z signal
rising edge
Motion profile
P03-33
1
Home switch signal 0 Time
-(P03-33)
Z signal 0
1
Signal Home switch signal
Forward limit switch 0 active falling edge
101
c. The home switch signal is inactive when the motor starts to run, and the forward limit
switch is sensed in the process.
The servo motor searches for the home switch signal in forward direction at high speed
of P03-32.
After the condition is met, the motor searches for the deceleration point signal in reverse
direction at high speed of -(P03-32).
After reaching the falling edge of the home switch signal, the motor then decelerates and
restores to forward direction according to the time set in P03-34, and searches for the
rising edge of the home switch signal at low speed of P03-33.
After reaching the rising edge of the home switch signal, the motor continues to run and
stops immediately after reaching Z signal for the ¿rst time.
Figure 6-54 Motor running curve 3 and speeds in Mode 4 ; is below:
Home switch
Limit switch
Speed
Forward limit Home switch signal
switch signal active rising edge
Z signal
P03-32
fising edge
P03-33
Motion profile
Signal Time
1 active
Home switch signal 0
-(P03-32)
Z signal 0
1 Home switch signal
102
Ŷ P03-31 = 6: Forward direction, deceleration point and home being forward limit
switch signal
a. The forward limit switch signal is inactive (0: inactive, 1: active) when the motor starts
to run.
The servo motor searches for the forward limit switch signal in forward direction at high
speed of P03-32.
After reaching the rising edge of the forward limit switch signal, the motor then
decelerates and changes to reverse direction according to the time set in P03-34, and
searches for the falling edge of the forward limit switch signal at low speed of -(P03-33).
After reaching the falling edge of the forward limit switch signal, the motor decelerates
and restores to forward direction, and searches for the rising edge of the forward limit
switch signal at low speed of P03-33.
immediately after reaching the rising edge of the forward limit switch signal.
Figure 6-55 Motor running curve 1 and speeds in Mode 6 ,is below :
Speed
Limit switch Forward limit
switch signal
rising edge Forward limit
switch signal
P03-32 rising edge
Motion profile
Time
-(P03-33)
Signal Forward limit
1
active switch signal
103
b. The forward limit switch signal is active when the motor starts to run.
The servo motor directly searches for the falling edge of the forward limit switch signal in
and changes to forward direction, and searches for the rising edge of the forward limit
immediately after reaching the rising edge of the forward limit switch signal.
Figure Motor running curve 2 and speeds in Mode 6; is below :
Limit switch Speed

Forward limit
switch signal
rising edge
P03-33
Motion profile Time

-(P03-33)
1 Signal Forward limit

active switch signal
104
■ P03-31 = 8: Forward direction, deceleration point being forward limit switch signal
and home being motor Z signal
a. The forward limit signal is inactive (0: inactive, 1: active) when the motor starts to run.
The servo motor searches for the forward limit switch signal in forward direction at high
speed of P03-32.
After reaching the rising edge of the forward limit switch signal, the motor then
decelerates and changes to reverse direction according to the time set in P03-34, and
searches for the falling edge of the forward limit switch signal at low speed of -(P03-33).
and restores to forward direction, and searches for the rising edge of the forward limit
After reaching the rising edge of the forward limit switch signal, the motor continues to
run and stops immediately after reaching Z signal for the ¿rst time.
Figure Motor running curve 1 and speeds in Mode 8 , is below :
Limit switch
Speed
Forward limit Forward limit
switch signal switch signal
rising edge rising edge
P03-32 Z signal
Motion profile
Time
1 -(P03-33)
Z signal 0 Signal Forward limit
1 active switch signal
105
b. The forward limit switch signal is active when the motor starts to run.
The servo motor directly searches for the falling edge of the forward limit switch signal in
and changes to forward direction, and searches for the rising edge of the forward limit
After reaching the rising edge of the forward limit switch signal, the motor continues to
run in forward direction at low speed of P03-33, and stops immediately after reaching Z
signal for the ¿rst time.
Figure Motor running curve 2 and speeds in Mode 8 ,is below:
Limit switch
Speed Deceleration point signal

rising edge
Z signal
rising edge
Motion profile
P03-33
Time
1 -(P03-33)
Z signal 0
1 Signal Deceleration point signal
Forward limit switch 0 active falling edge
■ P03-31 = 10: Forward direction, deceleration point and home being forward
mechanical ¿nal limit position
The servo motor runs in forward direction at low speed of P03-33.
After it meets the mechanical final limit position, if the servo motor keeps the running
state in which the torque reaches the limit of P03-58 and the speed is lower than P03-
56 for a period, the servo drive judges that the ¿nal limit switch is reached, and stops the
servo motor immediately.
Figure Motor running curve and speeds in Mode 10, is below :
Deceleration point signal

Speed rising edge
Mechanical final P03-33

limit position
Motion profile
1 Time
Deceleration point signal 0 1 Signal Home signal
Home signal 0 active falling edge
106
■ P03-31 = 12: Forward direction, deceleration point being forward mechanical fi al

limit position, home being motor Z signal
The servo motor runs in forward direction at low speed of P03-33.
After it meets the mechanical final limit position, if the servo motor keeps the running
state in which the torque reaches the limit of P03-58 and the speed is lower than P03-56
for a period, the servo drive judges that the ¿nal limit switch is reached. Then, the servo
motor runs in reverse direction at speed of P03-33, and stops after reaching Z signal
rising edge for the ¿rst time.
Figure Motor running curve and speeds in Mode 12 , is below :
Mechanical final
limit position
Speed
Mechanical final
limit position
rising edge
Motion profile
P03-33
1 Time
Z signal 0 -(P03-33)
1
Signal Z signal rising edge
Mechanical final
0 active on the other side
limit switch signal
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After homing attaining is completed, the mechanical zero position of the servo system is
obtained. P03-36 sets the distance for the servo motor to move from the current absolute
position (Un-07) to the speci¿ed position (P03-36). In the electric home attaining mode,
the servo motor keeps running at high speed of P03-32. The total motor displacement is
determined by the diffe ence between P03-36 and Un-07, and the running direction is
determined by position/negative of the total motor displacement.
After completing the displacement reference, the motor stops immediately.
Figure 6-61 Motor running curve and speed of electric homing attaining,is below :
Speed Motor displacement:

(P03-36 - Un-07) x Electronic gear ratio
P03-32
Signal Time
Motion profile active
Un-07 P03-36
107
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The following table takes P03-30 = 0 as an example to describe the diႇerence between
mechanical home reference point and mechanical zero.
Diႇerence between mechanical home reference point and mechanical zero ,is below:
Mechanical Zero Different From Mechanical Home Mechanical Zero Same As Mechanical Home Reference
Reference Point Point<
If the home offs t is set (P03-36 ≠ 0) and the mechanical

If the home offs t is set (P03-36 ≠ 0) and the mechanical
zero is different from the mechanical home reference
zero is the same as the mechanical home reference
point (P03-40 = 0 or 2), the motor stops immediately
point (P03-40 = 1 or 3), the motor continues to run after
after reaching the rising edge of the home signal during
reaching the rising edge of the home switch signal during
forward acceleration or forward constant speed running,
forward acceleration or forward constant speed running
and the motor absolute position (Un-07) is forced to
until the motor absolute position (Un-07) = P03-36.
P03-36.
Deceleration Deceleration
point/Home point/Home
Limit switch Limit switch
Motion profile Motion profile
1 1
Deceleration point signal 0 1 Deceleration point signal 0 1
Home signal 0 Home signal 0
1 1
Forward limit switch 0 Forward limit switch 0
Deceleration point signal Deceleration point signal

Speed
Rising edge Speed rising edge
P03-36
P03-32 P03-32
Home signal Home signal
Rising edge rising edge
Time Time
-(P03-33) -(P03-33)
Signal Deceleration point signal Signal Deceleration point signal

active Falling edge active falling edge
Note:Positive and negative limit switches have no effect on homing modes 10-13.
108
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■ Setting of homing mode

Code Name Time
0: Disabled
1: Input HomingStart signal from DI to enable
homing
Set the
2: Input HomingStart signal from DI to enable
Homing method of
electrical home attaining During
P03-30 enabling enabling Immediate 0
running
method 3: Start homing immediately upon power-on the homing
function.
4: Perform homing immediately
5: Start electrical home attaining
6: Take current position as the home
0: Forward direction, deceleration point and
home being home switch signal
1: Reverse direction, deceleration point and
home being home switch signal
home being motor Z signal
3: Reverse direction, deceleration point and
home being motor Z signal
4: Forward direction, deceleration point being
home switch signal and home being motor Z
signal
5: Reverse direction, deceleration point being
home switch signal and home being motor Z
signal
Set the
default
home being forward limit switch signal
motor
7: Reverse direction, deceleration point and rotating
Homing home being reverse limit switch signal direction,
mode deceleration
point and
forward limit switch signal and home being motor
home for
Z signal
home
9: Reverse direction, deceleration point being attaining
reverse limit switch signal and home being motor
Z signal
home being mechanical final limit position
11: Reverse, deceleration point and home being
mechanical final limit position
mechanical final limit position, home being motor
Z signal
13: Reverse direction, deceleration point being
mechanical final limit position, home being motor
Z signal
109
Function Parameter
Code Name Time
0: P03-36 as coordinate for homing, trigger Set the

homing and home reversely after reaching
limit switch mechanical
home
Mechanical 1: P03-36 as relative for homing, trigger reference
home homing and home reversely after reaching point and
limit switch mechanical
action after 2: P03-36 as coordinate for homing, zero and
reaching automatically zero reversely after reaching action after
limit switch limit switch reaching
limit switch
3: P03-36 as relative for homing, during the
automatically position reversely after homing
reaching limit switch operation.
■ Setting of running curve
If the home switch signal is turned on after the deceleration signal becomes active
but deceleration is insufficient, the positioning may be inaccurate. Fully consider the
displacement required for deceleration when setting:
● Deceleration point/Home switch signal input position
● Acceleration/Deceleration time for home searching (P03-34)
Function Parameter
Code Name Time
Set the high speed value of

searching for the deceleration
point signal during home
Low speed of attaining.
P03-32 0 to 3000 RPM At stop Immediate 100
homing
During electric home attaining,
the motor runs always at the
speed of P03-32.
Set the low speed value of
searching for the deceleration
High speed of point signal during home
P03-33 0 to 1000 RPM At stop Immediate 10
homing attaining. The value must
be low enough to prevent
mechanical impact at stop.
Acceleration/ Set the time for the motor to
P03-34 Deceleration 0 to 1000 ms change from 0 to 1000 RPM At stop Immediate 1000
time of homing during the homing operation.
Set the time limit of the
Duration limit of
P03-35 0 to 65535 ms homing operation. If the time At stop Immediate 10000
homing
is exceeded, Er.601 will occur.
-1073741824 Set the motor absolute
Mechanical Reference
P03-36 to position value (Un-07) after At stop Immediate 0
unit
1073741824 homing.
110
Function Function
No. Description
Symbol Name
Valid: current position being home
Logic of DI with Actual Valid

HomeSwitch Level
0 (low level) Low level
1 (high level) High level
FunIN.31 HomeSwitch Home switch 3 (rising edge) High level
4 (falling edge) Low level
5 (edge change) Low level
Set the logic of the DI terminal with this function

to high/low level valid according to the output of
the host controller.
Valid: Enabled (the function cannot be enabled
Homing repeatedly when running)
FunIN.32 HomingStart
function
Invalid: Disabled
Valid: Home attaining completed in position
Home attaining control mode
FunOUT.16 HomeAttain
output
Invalid: Home attaining not completed
Electrical Valid: Electrical home attaining completed in

FunOUT.17 ElecHomeAttain home attaining position control mode
output Invalid: Electrical home attaining not completed
■ Working time sequence
● P03-30 = 1 or 2
Figure Example of time sequence diagram, is below:
Speed
Motor speed
Time
ON
Servo ON
OFF OFF
ON
HomingStart
OFF OFF
(FunIN.32)
111
Turn on the S-ON signal and then HomingStart signal.
During the homing operation, the S-ON signal remains active and the HomingStart
signal change is shielded.
To enable the homing function again, turn on the S-ON signal and then HomingStart
signal.
If Er.601 indicating homing timeout occurs, the servo motor stops, and the S-ON
signal remains active. After the HomingStart signal is turned on again, and Er601 is
reset and the homing operation is carried out again.
The homing operation can be triggered repeatedly.
P03-30 = 3
The homing operation is carried out only when the S-ON signal is turned on for the
The servo motor stops when Er.601 occurs. Er601 can be reset after the S-ON
The homing operation cannot be triggered repeatedly after power-on again.
P03-30 = 4 or 5
The homing operation is carried out immediately if the S-ON signal is turned on after
power-on.
The homing function is enabled again if the S-ON signal is turned on again.
When Er.601 occurs, P03-30 becomes 0 and the servo motor stops. Er601 can be
P03-30.
After the homing operation is completed, P03-30 becomes 0. To enable the homing
function again, re-set P03-30.
P03-30 = 6
When using the current position as the home and home offset (P03-40 = 0 or 2,
n
n
After the homing operation is completed, P03-30 becomes 0. To enable the homing
function again, re-set P03-36 and set P03-30 to 6.
112
6.2.9 Position control Function Code Block Diagram
Pulse input
Pulse format P03-15
Input terminal P03-01
Position reference
Terminal filterP0A-24 (Reference unit) Position reference
P0A-30 (encoder unit)
Max. frequency P0A-09
Electronic gear ratio
Position reference
Pulses per one motor Position reference filter Gain switchover
Step reference revolution P03-02
Step amount P03-05 Position reference
1st group: P03-07/P03-09 Moving average filter
source (H05-00) 2nd gain mode P08-08
Function enable D I 2nd group: P03-11/P03-13 P03-06
Position reference Switchover condition P08-09
Low-pass filter P03-04
FunIN. 20 direction (DI FunIN.
Electronic gear ratio Delay P08-10
25)
switchover condition P03-39 Level P08-11
Hysteresis P08-12
Switchover time P08-13
Speed feedforward Torque feedforward

Source P03-19
Function enable P04-11
Filter time P08-18 Filter time P08-20
Gain P08-19 Gain P08-21
Position
Position Speed reference
deviation
deviation (RPM)
(Encoder unit)
(reference unit)
Position
Speed regulator Torque reference
regulator gain
Gain Integration Low-pass filter
1st: P08-00 P08-01 1st: P05-05
1st: P08-02
2nd: P08-03 P08-04 2nd: P05-06
2nd: P08-05
Speed feedback filter

Notch filter
Reverse calculation of Filter P08-22
electronic gear ratio Cutoff frequency P08-23 Frequency Width Attenuation
1st: P09-12 P09-13 P09-14
2nd: P09-15 P09-16 P09-17
3rd: P09-18 P09-19 P09-20
Position 4th: P09-21 P09-22 P09-23
feedback Motor speed
(encoder unit) (RPM)
Disturbance observer Torque limit
Speed detection
Compensation gain P09-30
Filter time P09-31
Internal torque
reference (%)
Frequency-division output
Encoder Motor Current control
Pulses P03-17
Frequency-division output
Output selection P03-38
A+ B+ Z+
A- B- Z-
Main
Load power
113
6.3 Speed Control Mode
Figure Block diagram of the speed control mode, is below :
Torque
feedforward
Input speed
Speed Speed Speed + Motor
reference + + Current
reference Speed
reference reference × × loop M
source and loop gain -
ramp function limit - control
direction Current
Speed
feedback feedback
Speed
calculation Encoder
speed control mode.
The following part uses the basic parameter setting to describe the speed control mode.
Figure 6-64 Signal exchange between the servo drive and the host controller
Servo drive
Speed
reference input Speed
Speed reference
reference input Reference ramp
limit
setting
SPDDirSel input
Speed reference direction selection
ZCLAMP input
Host Zero speed clamp function
controller Speed
V-LT output
regulator
Speed limit output
V-ARR output
Speed reached output
V-CMP output
Speed consistent output
114
6.3.1 Speed Reference Input Setting
6SHHG5HIHUHQFH6RXUFH
our
you can select one in P04-02.
Figure 6-65 Speed reference source selection, is below :
0: Main speed
Main speed
reference A
reference A source
P04-00
1: Auxiliary speed
Auxiliary speed reference B
reference B source
P04-01
2: A + B Speed reference
A+B source selection
P04-02
3: A/B switchover
A/B switchover
Function Parameter
Code Name Time
0: Main speed reference

A source
Speed 1: Auxiliary speed Select
reference reference B source the speed
P04-02 - At stop Immediate 0
source reference
2: A + B
selection source.
3: A/B switchover
4: Communication setting
Main speed reference A source
The main speed reference A sources include digital setting and analog voltage setting.
Digital setting produces the internal speed reference, and the analog voltage setting
produces the external speed reference.
115
Figure Main speed reference A source,is below :
Main speed
reference A source
H06-00
Keypad setting value 0: Digital setting

of speed reference
P04-03
Main speed
AI1 setting reference A source
1: AI1
P06-50 to P06-54
P06-80
AI2 setting
2: AI2
P06-55 to P06-59
P06-80
Function Parameter
Code Name Time
0: Digital setting
Select the
Main speed (P04-03)
source of main
P04-00 reference A - At stop Immediate 0
1: AI1 speed reference
source
A.
2: AI2
Digital setting
The speed reference is set in P04-03.
Function Parameter Setting

Keypad Set the value of

setting value -6000 to the internal speed During
of speed 6000 reference, in unit of 1 running
reference RPM.
Analog voltage setting
The analog voltage signal output by the host controller or other devices is processed and
then used as the speed reference.
Analog voltage input terminal:
The servo drive provides two analog input channels, AI1 and AI2, with maximum input
116
Analog input circuit:
Servo drive
Analog Low-pass
AI1 1
torque limit filter
A/D
conversion
speed input GND 17 filter
Operation method:
reference.
is below:
Start
P02-00 = 0 Enable the speed control mode.
Main speed reference A source: AI2

P04-00 = 2
Speed reference source selection:
P04-02 = 0
main speed reference A
Filter Set P06-56.
Set P06-59 or use the analog

Correct zero drift automatic adjustment function
in Fn-10.
Set offset Set P06-55.
Set dead zone Set P06-58.
Maximum forward speed

corresponding to +10 V: P06-80
Set speed reference
corresponding to ±10 V
Maximum reverse speed
corresponding to -10 V: -(P06-80)
End
117
Zero drift: value of the servo drive sampling voltage relative to GND when the input
voltage of the analog channel is zero
zero drift correction
Dead zone: input voltage range of the analog channel when the sampling voltage is zero
1 is the output voltage of the analog channel not processed, and

y6
Figure AI processing of servo drive , is below :
Servo drive Internal processing of

AI1 terminal servo drive
Output voltage
Input voltage of analog Calculate
AI2 channel y1 y2 y3 y4 Dead y5 speed y6
of analog Filter Zero drift Offset
channel x zone reference
GND
Figure 6-69 Example of sampling voltage and servo drive AI processing,is below :
y1: Voltage when analog input voltage is 0 V

y3: Voltage after zero drift correction
y4: Voltage after offset
Y (mV) y5: Voltage after dead zone setting
Sampling voltage
y1 y3 y4 y5
400
Offset
Zero drift
0 3200 4000 4800
Input voltage of analog
800 800 channel X (mV)
Dead Dead
zone zone
Filter:
in P06-56 prevents motor reference fluctuation due to instable analog input voltage
and eliminates motor malfunction due to signal interference. The filter function cannot
eliminate or suppress the zero drift or dead zone.
Zero drift correction:
It corrects the analog output voltage offset relative to the output for the actual input
voltage 0 V.
118
drive is shown as y1 06
2 = y 1.
That is, when the actual input voltage x =0, the output voltage y1 = 400 mV. Therefore,
the zero drift voltage is 400 mV.
Set P06-59 to 400.0 (mV). The sampling voltage after zero drift correction is shown as
y 3.
y3 = y1 – 400.0
Zero drift correction can also be carried out by using the analog automatic adjustment
function in H0D-10.
It sets the actual input voltage corresponding to sampling voltage 0.
Assume that the actual input voltage x = 4000 mV when the sampling voltage y 3 = 0. That
4 = x – 4000 = y3 – 4000
b. Dead zone correction:
not 0.
After the offset is set, if the sampling voltage is always 0 when the input voltage x is
within 3200 mV to 4800 mV, the dead zone is 800 mV.
Set P06-58 to 800.0 (mV). The sampling voltage after dead zone correction is shown as
y 5:
0 3200 x 4800
y5 =
y4 4800 < x 10000 or -10000 x < 3200
Speed reference calculation:
to 10 V (10000 mV) in P06-80 to obtain the actual speed reference y 6:
y5
y6 = x (H03-80)
10000
This value is used as the speed reference set via analog in the speed control mode.
The following figures show the relationship between analog input and speed values
view the sampling voltage of AI2 in Un-22 or the speed reference corresponding to a
nalog input in Un-01.
119
Figure is below :
Speed
Speed corresponding to
+10 V (+P06-80)
V_Ref
-10 V
Dead zone AI +10 V
(P06-58) Voltage
Speed corresponding
to -10 V (-P06-80)
Figure is below :
No-offset speed
reference curve
After-offset speed
Speed reference curve
(No-offset) Speed
(After offset)
+10 V (+P06-80)
-10V
+10V
Voltage
Dead zone
Offset (P06-58)
(P06-55)
Speed corresponding
to -10 V (-P06-80)
6 and the input voltage x is:
0 B-C x B+C
y6 =
x-B B + C < x 10000 or -10000 x<B-C
B: offset, C: dead zone

-5000 to During
P06-55 mV Immediate 0
5000 analog channel AI2. running
Set the moving

During
P06-56 0 to 655.35 ms Immediate 2.00
constant constant of the running
analog channel AI2.
120

Set the dead zone of

During
P06-58 AI2 dead zone 0 to 1000.0 mV the analog channel Immediate 10.0
running
AI2.
Set the zero drift of
-500.0 to During
P06-59 AI2 zero drift mV the analog channel Immediate 0.0
500.0 running
AI2.
Speed Set the speed
P06-80 corresponding 0 to 6000 RPM corresponding to At stop Immediate 3000
to 10 V analog input 10 V.
0: Disabled
Set whether to enable
Analog 1: AI1
automatic zero drift
Fn-10 automatic adjustment - At stop Immediate 0
correction of AI1 and
adjustment
2: AI2 AI2.
adjustment
The setting method of AI1 is the same as that of AI2 described above. For
Note
the detailed parameter descriptions, refer to Chapter 8 , P06-50 ~P06-
59 Description of Parameters.
Auxiliary speed reference B source
The auxiliary speed reference B sources include digital setting, analog setting, and multi-
speed references. Digital setting and multi-speed references produce the internal speed
reference, and analog setting produces the external speed reference.
Figure Auxiliary speed reference B source,is below :
Auxiliary speed
reference B source
P04-01
0: Digital
Keypad setting value setting
of speed reference
P04-03
AI1 setting 1: AI1

P06-50 to P06-54
P06-80
Auxiliary speed
reference B source
AI2 setting 2: AI2
P06-55 to P06-59
P06-80
121
Function Parameter
Code Name Time
0: Digital setting
(P04-03)
Auxiliary 1: AI1 Set the
speed 2: AI2 source of
P04-01 - At stop Immediate 1
reference B 3: 0 (Invalid) auxiliary speed
source 4: 0 (Invalid) reference B
5: Multi-speed
reference
Digital setting and analog setting are the same as those of main speed reference A
source.
6.3.3 Zero Speed Clamp Function
The zero speed clamp function is used in the system in which the host
&$87,21 controller does not construct the position loop in speed control mode.
If servo motor oscillation occurs in zero speed clamp state, adjust the position
loop gain.
In speed control, if DI function FunIN.12 (ZCLAMP) is enabled, and the speed reference
amplitude is smaller than or equal to the value of P04-15, the servo motor enters the
zero speed clamp state. At this moment, position loop is built inside the servo drive and
speed reference is invalid. The servo motor is clamped within ±1 pulse of the position at
which zero speed clamp becomes valid . Even if it rotates due to external force, it will
return to the zero position and be clamped.
When the speed reference amplitude is larger than the value of P04-15, the servo motor
exits the zero speed clamp state and continues running according to the input speed
reference. If the signal of the DI terminal with FunIN.12 (ZCLAMP) is inactive, the zero
speed clamp function is disabled.
Figure Zero speed clamp wiring and waveform, is below :
Servo drive
CN1
Speed by AI1 1 Low-pass
analog filter
A/D
conversion
Max.
forward AI2 2 Low-pass
torque limit GND 17 filter
by analog
24V
COM+ 24
DI configured (DI6) 40 4.7k

with zero
COM- 27
speed clamp
122
Speed reference
(RPM)
Speed threshold
for zero speed
clamp (P04-15)
Time( t)
FunIN.12
ZCLAMP ON OFF
Zero speed
clamp function ON OFF ON OFF

Set the speed

Speed threshold
0 to threshold for the During
P04-15 for zero speed RPM Immediate 10
6000 zero speed clamp running
clamp
function.
Valid: Zero speed clamp enabled

FunIN.12 ZCLAMP Zero speed clamp
Invalid: Zero speed clamp disabled
6.3.4 Speed Reference Limit
When the actual motor speed exceeds P0A-08 (Overspeed threshold), the
&$87,21 servo drive reports Er.500 indicating motor overspeed. The speed reference
must be smaller thanP0A-08.
The speed references in the speed control mode can be limited.
both the positive and negative speed limits of speed reference. If speed
reference exceeds the setting of P04-07, the speed reference will be limited as this value.
the positive speed limit. If positive speed reference exceeds the setting of
P04-08, the reference will be limited as this value .
negative speed limit. If negative speed reference exceeds the setting of

-09, the reference will be limited as this value. .
The maximum motor speed varies with the actual motor model.
123
Figure Speed reference limit, is below :
Speed reference
Maximum motor speed
Maximum speed limit (P04-07)
Positive speed limit (P04-08)
Actual speed
amplitude
Maximum speed limit (P04-07)
Negative speed limit (P04-09)

Maximum motor speed
The actual motor speed limit meets the following requirements:

Maximum Set the maximum During
P04-07 0 to 6000 RPM Immediate 6000
speed limit speed limit. running
Positive Set the positive During
Negative Set the negative During
6.3.5 Speed-related DO Signals
0RWRU5RWDWLRQ'26LJQDO
16, the motor can be considered to rotate. At this moment, the servo drive output
s the motor rotation signal (FunOUT.2: TGON) to confirm that motor has rotated. Whe
n the
the motor is considered not to rotate.
drive status and control mode.
124
Figure Motor rotation signal waveform,is below :
Speed
P04-16
Time
-(P04-16)
FunOUT.2: TGON, OFF ON OFF ON OFF

motor rotation output
Note
OFF indicates that the motor rotation DO signal is inactive.
Function Setting
Code Range Time
Set the speed

Speed threshold threshold at
During
P04-16 of motor rotation 0 to 1000 RPM which the motor Immediate 20
running
signal rotation signal is
active.
Set a DO terminal of the servo drive with function 2 (FunOUT.2: TGON, motor rotation
output) and set the terminal logic.
Function
Symbol
Motor rotation smaller than P04-16

FunOUT.2 TGon
output
equal to or larger than P04-16
6SHHG&RQVLVWHQW'26LJQDO
In speed control, when the absolute value of the difference between the motor speed
is considered to reach the speed reference. At this moment, the servo drive outputs the
04
17, the speed consistent signal is inactive.
If the servo drive is not in running status or in speed control, the speed consistent signal
(FunOUT.4: V-CMP) is always inactive.
125
Figure Speed consistent signal waveform
Speed reference
Threshold of speed
Speed Speed feedback consistent signal
(P04-17)
(P04-17) Servo Time

Servo Servo
running
OFF OFF
FunOUT.4: V-CMP, OFF OFF ON OFF

speed consistent
ON
Note
active. OFF indicates that the speed consistent DO signal is inactive.

Threshold Set the threshold

of speed at which the speed During
consistent consistent signal is running
signal active.
Set a DO terminal of the servo drive with function 4 (FunOUT.4:V-CMP, speed consistent)
and set the terminal logic.
Function Function
No. Description
Symbol Name
Speed than P04-17.

FunOUT.4 V-CMP
consistent
to or smaller than P04-17.
6SHHG5HDFKHG'26LJQDO
the motor speed is considered to reach the desired value. At this moment, the servo
drive outputs the speed reached signal (FunOUT.19: V-Arr). When the absolute value of
reached signal is inactive.
126
Figure Speed reached signal waveform
Speed reference
Speed Speed feedback
P04-18
Time
-(P04-18)
FunOUT.19: V-Arr,
speed reached OFF ON OFF ON OFF
Note
active. OFF indicates that the speed reached DO signal is inactive.

Set the threshold

Threshold of
10 to at which the speed During
P04-18 speed reached RPM Immediate 1000
6000 reached signal is running
signal
active.
Set a DO terminal of the servo drive with function 19 (FunOUT.19: V-Arr, speed reached)
and set the terminal logic.
Function Function
No. Description
Symbol Name
Invalid: The absolute value of the speed feedback after
Speed
FunOUT.19 V-Arr
reached Invalid: The absolute value of the speed feedback after
4) Zero speed DO signal
When the absolute value of the motor speed after filter is smaller than the setting of
P04-19, the motor speed is considered to be close to 0. At this moment, the servo drive
outputs the zero speed signal (FunOUT.3: V-Zero). When the absolute value of the motor
is inactive.
127
Judgment on the zero speed signal (FunOUT.3: V-Zero) is not influenced by the servo
When there is interference on the speed feedback, eliminate the interference by using the
Figure Zero speed signal waveform
Speed
P04-19
-(P04-19) Time
FunOUT.3: ZERO, OFF ON OFF

zero speed signal
Note
OFF indicates that the zero speed DO signal is inactive.

Threshold of Set the threshold at

1 to During
P04-19 zero speed RPM which the zero speed Immediate 10
6000 running
output signal signal is active.
Set a DO terminal of the servo drive with function 3 (FunOUT.3: ZERO, zero speed) and
set the terminal logic.
Function Function
No. Description
Symbol Name
Invalid: The absolute deviation between the motor speed
feedback and the speed reference is larger than the setting
Zero of P04-19.
FunOUT.3 V-Zero speed
signal Valid: The absolute deviation between the motor speed
feedback and the speed reference is smaller than or equal to
the setting of P04-19.
128
6.4 Torque Control Mode
Figure Block diagram of the torque control mode
Torque Torque
Torque Torque Current Motor
reference input reference +
reference reference × loop M
source and -
filter limit control
direction
Current
feedback
Encoder
torque control mode.
The following part uses the basic parameter setting to describe the torque control mode.
Figure Signal exchange between the servo drive and the host controller
Servo drive
Torque
reference input
Torque
Torque
reference input Reference filter
reference limit
setting
TOQDirSel input
Torque reference direction selection
Speed limit input
by external AI
Host Speed limit input
controller Torque
V-LT output regulator
Speed limit output
C-LT output
Torque limit output
Toq-Reach output
Torque reached output
129
6.4.1 Torque Reference Input Setting
7RUTXH5HIHUHQFH6RXUFH
and you can select one in P05-02.
Figure Selection of torque reference source ,is below :
0: Main torque
Main torque
reference A source
reference A source
P05-00
1: Auxiliary torque
Auxiliary torque reference B source
reference B source
P05-01
2: A + B Torque reference
A+B source
P05-02
3: A/B
A/B switchover
Function Parameter
Code Name Time
0: Main torque
reference A source
1: Auxiliary torque
Select the
Torque reference B source
torque
P05-02 reference - At stop Immediate 0
2: A + B reference
source
source.
3: A/B switchover
4: Communication
setting
Main torque reference A source
The main torque reference A sources include digital setting and analog voltage setting.
Digital setting produces the internal speed reference, and the analog voltage setting
produces the external speed reference.
130
Figure Main torque reference A source,is below :
Main torque
reference A source
P05-00
Keypad setting value 0: Digital setting

of torque reference
P05-03
Main torque
AI1 setting reference A
1: AI1 source
P06-50 to P06-54
P03-81
AI2 setting 2: AI2

P06-55 to P06-59
P06-81
Function Parameter
Code Name Time
0: Digital setting Select the

Main torque
(P05-03) source of main
P05-00 reference A - At stop Immediate 0
1: AI1 torque reference
source
2: AI2 A.
Digital setting
The torque reference is set in P03-03 as a percentage relative to the rated motor torque.

Keypad setting Set the torque

-300.0 to During
P05-03 value of torque % reference, in unit Immediate 0
300.0 running
reference of 0.1%.
Analog voltage setting
The analog voltage signal output by the host controller or other devices is processed and
then used as the torque reference.
Analog voltage input terminal:
The servo drive provides two analog input channels, AI1 and AI2, with maximum input
131
Analog input circuit:
Servo drive
Analog Low-pass
AI1 1
torque limit filter
A/D
conversion
speed input GND 17 filter
Operation method:
The following table takes AI1 as an example to describe the analog setting of the torque
reference.
is below :
Start
P02-00 = 2 Enable the torque control mode.
Main torque reference A source: AI1

P05-00 = 1
Torque reference source selection:
P05-02 = 0
main torque reference A
Filter Set P06-51.
Set P06-54 or use the analog

Correct zero drift automatic adjustment function
in Fn-10.
Set offset Set P06-50.
Set dead zone Set P06-53.
Maximum forward torque

corresponding to +10 V: P06-81
Set torque reference
corresponding to ±10 V
Maximum reverse torque
corresponding to -10 V: -(P06-81)
End
132
Zero drift: value of the servo drive sampling voltage relative to GND when the input
voltage of the analog channel is zero
zero drift correction
Dead zone: input voltage range of the analog channel when the sampling voltage is zero
1 is the output voltage of the analog channel not processed, and

y6
AI processing of servo drive is below :
Servo drive Internal processing of

AI1 terminal servo drive
Output voltage
Input voltage of analog Calculate
AI2 channel y1 y2 y3 y4 Dead y5 torque y6
of analog Filter Zero drift Offset
channel x zone reference
GND
Sampling voltage example for servo drive AI processing is below :
y1: Voltage when analog input voltage is 0 V

y3: Voltage after zero drift correction
y4: Voltage after offset
Y (mV) y5: Voltage after dead zone setting
Sampling voltage
y1 y3 y4 y5
400
Offset
Zero drift
0 3200 4000 4800
Input voltage of analog
800 800 channel X (mV)
Dead Dead
zone zone
Filter:
in P06-51 prevents motor reference fluctuation due to instable analog input voltage
and eliminates motor malfunction due to signal interference. The filter function cannot
eliminate or suppress the zero drift or dead zone.
Zero drift correction:
drive is y 1. Take the filter time constant P06-51 = 0.00 ms as an example, and the
133
2 is the same as y1.
That is, when the actual input voltage x = 0, the output voltage y 1 = 400 mV. Therefore,
the zero drift voltage is 400 mV.
Set P06-54 to 400.0 (mV). The sampling voltage after zero drift correction is shown as
y 3.
y3 = y1 – 400.0
Zero drift correction can also be carried out by using the analog automatic adjustment
function in Fn-10.
It sets the actual input voltage corresponding to sampling voltage 0.
Assume that the actual input voltage x = 4000 mV when the sampling voltage y 3 = 0. That
4 = y3 + 4000
Dead zone correction:
not 0.
After the offset is set, if the sampling voltage is always 0 when the input voltage x is
within 3200 mV to 4800 mV, the dead zone is 800 mV.
Set P06-53 to 800 (mV). The sampling voltage after dead zone correction is shown as y 5:
0 3200 x 4800
y5 =
y4 4800 < x 10000 or -10000 x < 3200
Speed reference calculation:
(10000 mV) in P06-81 to obtain the actual torque reference y 6:
y5
y6 = x (H03-80)
10000
This value is used as the torque reference set via analog in the torque control mode.
voltage of AI1 in Un-21 or the torque reference corresponding to analog input in Un-02.
134
is below :
Torque
+10 V (+P06-81)
T_Ref
-10 V
Dead zone AI +10 V Voltage
(P06-53)
Speed corresponding
to -10 V (-P06-81)
is below :
No-offset speed
reference curve
After-offset speed
Torque reference curve
(No-offset) Speed
(After offset)
+10 V (+P06-81)
-10V
+10V
Voltage
Dead zone
Offset (P06-53)
(P06-50
Speed corresponding
to -10 V (-P06-81)
6 and the input voltage x is:
0 B-C x B+C
y6 = P06-80
(x - B) x B+C<x 10000 or -10000 x< B - C
10
B: offset, C: dead zone
135

-5000 to During
P06-50 mV of the analog Immediate 0
5000 running
channel AI1.
Set the moving
During
P06-51 0 to 655.35 ms constant of the Immediate 2.00
constant running
analog channel
AI1.
Set the dead zone
During
P06-53 AI1 dead zone 0 to 1000.0 mV of the analog Immediate 10.0
running
channel AI1.
Set the zero drift
-500.0 to During
P06-54 AI1 zero drift mV of the analog Immediate 0.0
500.0 running
channel AI1.
1.00 to Set the torque
Torque
8.00 times corresponding to
P06-81 corresponding times At stop Immediate 1.00
of rated sampling voltage
to 10 V
torque 10 V.
0: Disabled
Set whether to
Analog 1: AI1 enable automatic
Fn-10 automatic adjustment - zero drift At stop Immediate 0
adjustment correction of AI1
2: AI2
and AI2.
adjustment
The setting method of AI2 is the same as that of AI1 described above.
Note
Auxiliary torque reference B source
The auxiliary torque reference B source is set in the same way as the main torque
reference A source. For the descriptions of related parameters, refer to P05
group. torque control parameters.
A/B switchover
When P05-02 = 3 (A/B switchover), set a DI terminal with FunIN.4 (CMD-SEL, main/
Auxiliary reference switchover). The signal of the DI terminal determines whether the main
or auxiliary reference source is valid.
Function
Symbol
Main/Auxiliary Valid: Current running reference being A

FunIN.4 CMD-SEL
reference switchover Invalid: Current running reference being B
136
7RUTXH5HIHUHQFH'LUHFWLRQ
A DI terminal with FunIN.25 (TOQDirSel, torque reference direction selection) is used
to change the torque reference direction.
Function
Symbol
Torque reference Valid: Forward direction

FunIN.25 ToqDirSel
direction selection Invalid: Reverse direction
The actual motor direction is related to the rotating direction in P02-02, positive/
negative of torque reference, torque reference direction (FunIN.25).
Actual motor rotating direction in torque control mode is below :
Positive/Negative of
P02-02 FunIN.25 Actual Motor Rotating Direction
Torque Reference
0 + Invalid Counterclockwise
0 + Valid Clockwise
0 - Invalid Clockwise
0 - Valid Counterclockwise
1 + Invalid Clockwise
1 + Valid Counterclockwise
1 - Invalid Counterclockwise
1 - Valid Clockwise
6.4.2 Torque Reference Filter
&$87,21 during the setting.
In the position, speed, torque and hybrid control modes, the servo drive can carry out
-ter is used.
-

Set the time

Time constant
constant of the 1st During
P05-05 of torque 0 to 30.00 ms Immediate 0.79
torque reference running
2nd time Set the 2nd time

constant constant of the During
P05-06 0 to 30.00 ms Immediate 0.79
of torque torque reference running
137
is below :
Input torque reference

Torque
reference First-order filter
3t Time (t)
is below :
Input torque reference

Torque
reference 3t First-order filter
3t Time (t)
6.4.3 Torque Reference Limit
Torque reference limit is mandatory in the position control, speed control,

&$87,21 torque control and hybrid control modes.
Torque references are limited to protect the servo drive and motor.
Torque setting and limit is below :
Torque Torque reference input

from host controller
Positive torque limit

Motor speed
Servo drive
torque reference
Internal Time
Torque Torque
speed
control control
control
Negative torque limit
When the absolute value of the torque reference input from the host controller or output
by the speed regulator is larger than the absolute value of the torque reference limit,
the actual torque reference of the servo drive is restricted to the torque reference limit.
Otherwise, the torque reference input from the host controller or output by the speed
regulator is used.
Only one torque reference limit is valid at a moment. Both positive and negative torque
limits does not exceed the maximum torques of the servo drive and motor and ±300.0%
of the rated torque.
138
Figure Torque limit example

Torque
Drive max. torque

Motor max. torque
+300.0% of rated torque
+ Internal limit (P05-09)
+ External limit (P05-11)
T-LMT
Time
- External limit (P05-12)
T-LMT
- Internal limit (P05-10)
-300.0% of rated torque
Motor max. torque

Drive max. torque
7RUTXH/LPLW6RXUFH
The torque limit source is set in P05-07. After the torque limit is set, the servo drive torque
reference is restricted to within the torque limit. After the torque reference reaches the
limit, the motor runs according to the torque limit. The torque limit must be set according
to the load conditions. If the setting is very small, it may cause longer acceleration/decel-
eration time of the motor, and the actual motor speed may not reach the required value at
constant speed running.
Function Parameter
Code Name Time
0: Internal positive/negative torque
limit
1: External positive/negative torque
limit (via P-CL, N-CL)
2: T-LMT as external torque limit Select the
Torque limit
P05-07 - torque limit At stop Immediate 0
source 3: Minimum of external positive/
source.
negative torque and external T-LMT
as torque limit (via P-CL, N-CL)
4: Switchover between internal
positive/negative torque limit and
T-LMT torque limit (via P-CL, N-CL)
139
Figure Torque limit source
Torque limit source

P05-07
Internal positive
torque limit 0: Internal positive/
P05-09 Internal Internal negative torque limit
Internal negative torque limit limit
torque limit
P05-10
External positive
torque limit
P05-11 External 1: External positive/
torque limit DI negative torque limit
External negative selection
torque limit
P0512
AI1 2: T-LMT as
External external torque limit Torque limit
torque limit AI limit source
AI2 (AI setting)
3: Minimum of external
positive/negative torque and
DI external T-LMT as torque limit
Min selection
4: Switchover between internal

positive/negative torque limit
DI and T-LMT torque limit
selection
from the host controller is larger than the torque limit.
P05-07 = 0 (Internal positive/negative torque limit)
The torque reference limit value is determined only by P05-09 and P05-10.
Torque limit curve whenP05-07 = 0 ,is below :

Internal positive
torque limit Motor speed
P05-09
Servo drive torque
reference
Time
Torque Internal Torque
control speed control
Internal negative control
torque limit
-(P05-10)
P05-07 = 1 (External positive/negative torque limit)
The torque reference limit value is determined by the logic state of external DI signals.
The positive limit value is selected between P05-09 and P05-11, and the negative limit
value is selected between P05-10 and P05-12.
140
Torque limit source P05-07 = 1 ,is below :
P-CL function
FunIN.16
External positive
torque limit
P05-11 External positive
torque limit P05-07 = 1
(P-CL)
Internal positive
torque limit
P05-09 1: External positive/
N-CL function negative torque limit
FunIN.17
External negative
torque limit Torque limit source
P05-12
External negative
torque limit
Internal negative (N-CL)
torque limit
P05-10
Descriptions of P05-07 = 1, is below :
State of DI P-CL
Signal ON OFF
Torque Torque reference input Torque Torque reference input

from host controller from host controller
Positive Positive
torque limit Motor speed torque limit Motor speed
P05-09 P05-11
Servo drive torque Servo drive torque
OFF reference reference
Time Time
Torque Internal Torque Torque Internal Torque
control speed control control speed control
Negative control Negative control
torque limit torque limit
-(P05-10) -(P05-10)
N-CL
Positive Positive
P05-09 P05-11
ON reference reference T
Time Time
-(P05-12) -(P05-12)
Set two DI terminals of the servo drive respectively with function 16 (FunIN.16: P-CL,
external positive torque limit) and function 17 (FunIN.17: N-CL, external negative
torque limit) and set the terminal logics.
141
Function Function
No. Description
Symbol Name
The torque limit source is switched over based on the
setting of P05-07.
P05-07 = 1:
Valid: External positive torque limit enabled
Invalid: Internal positive torque limit enabled
External
FunIN.16 P-CL positive P05-07 = 3 and AI limit larger than external positive limit
torque limit Valid: External positive torque limit enabled
Invalid: AI torque limit enabled
P05-07 = 4:
Valid: AI torque limit enabled
Invalid: Internal positive torque limit enabled
Function Function
No. Description
Symbol Name
The torque limit source is switched over based on the
setting of P05-07.
P05-07 = 1:
Valid: External negative torque limit enabled
Invalid: Internal negative torque limit enabled
External
FunIN.17 N-CL negative P05-07 = 3 and AI limit larger than external negative limit
torque limit Valid: External negative torque limit enabled
Invalid: AI torque limit enabled
P05-07 = 4:
Valid: AI torque limit enabled
Invalid: Internal negative torque limit enabled
P05-07 = 2 (T-LMT as external torque limit)
The torque limit is determined by the torque corresponding to the input voltage of the AI
terminal selected in P05-08.
Figure Torque limit source P05-07 = 2
T-LMT selection
P05-08 P05-07 = 2
AI1: 1-AI1
External positive/
negative torque limit 2: T-LMT as external
External positive/ torque limit
negative torque
AI2: 2-AI2 limit (AI setting)
External positive/ Torque limit
negative torque limit source
142
Torque limit curve when P05-07 = 2 , is below :

Torque corresponding Motor speed
to AI voltage
Servo drive torque
reference
Time
Torque Internal Torque
control speed control
Negative torque limit control
- |Torque corresponding
to AI voltage|
For the setting of the relationship between the torque and the analog voltage for AI1 and
AI2, refer to Chapter 8 Description of Parameters P06-50~P06-54 and P06-81
P05-07 = 3 (Minimum of external positive/negative torque and external T-LMT as

torque limit)
Positive torque limit: based on the AI terminal selected in P05-08

When the logic of the external DI signal (P-CL) is invalid, the positive torque limit is
determined by the torque corresponding to the input voltage of the AI terminal.
When the logic of the external DI signal (P-CL) is valid, the positive torque limit is
determined by the smaller between P05-11 and the torque corresponding to the input
voltage of the AI terminal.
Negative torque limit: based on the AI terminal selected in P05-08
When the logic of the external DI signal (N-CL) is invalid, the negative torque limit is
When the logic of the external DI signal (N-CL) is valid, the negative torque limit is
determined by the smaller between P05-12 and the torque corresponding to the input
voltage of the AI terminal.
Figure Torque limit source P05-07 = 3 is below :
P-CL function
FunIN.16
Smaller of P05-11
and AI input limit
External positive
T-LMT external (P-CL)
positive torque limit: 3: Minimum of external
AI input positive/negative torque and
N-CL function external T-LMT as torque limit
FunIN.17
Smaller of P05-12 Torque limit source

and AI input limit
External negative
torque limit
T-LMT external (N-CL)
negative torque limit:
AI input
143
Table Descriptions of P05-07 = 3 is below :
State of DI P-CL
Signal ON OFF

Positive
torque limit Positive torque limit
Motor speed min -11, AI Motor speed
AI
Time Time
Negative control control
Negative torque limit
torque limit
-|AI |
-|AI |
N-CL
Torque reference input Torque Torque reference input
Torque
Positive torque limit min -11, AI
AI Motor speed Motor speed

ON reference reference
Time Time
Negative torque limit control Negative torque limit control
-min -12, |AI -min -12, |AI
P05-07 = 4 (Switchover between internal positive/negative torque limit and T-LMT

torque limit)
Positive torque limit: based on the AI terminal selected in P05-08
When the logic of the external DI signal (P-CL) is invalid, the positive torque limit is
determined by P05-09.
When the logic of the external DI signal (P-CL) is valid, the positive torque limit is
Negative torque limit: based on the AI terminal selected in P05-08
When the logic of the external DI signal (N-CL) is invalid, the negative torque limit is
determined by P05-10.
When the logic of the external DI signal (N-CL) is valid, the negative torque limit is
144
Figure Torque limit source P05-07 = 4, is below :
P-CL function
FunIN.16
T-LMT external
positive torque limit:
AI input External positive
(P-CL)
External positive
torque limit: P05-11 4: Switchover between internal
positive/negative torque limit
N-CL function and T-LMT torque limit
FunIN.17
T-LMT external Torque limit
negative torque limit: source
AI input
External negative
torque limit
(N-CL)
External negative
torque limit: P05-12
Table Descriptions of P05-07 = 4, is below :
State of DI P-CL
Signal ON OFF

Positive Positive
torque limit torque limit Motor speed
Motor speed
P05-09 AI
Time Time
-(P05-10) -(P05-10)
N-CL
Positive Positive
P05-09 AI
ON reference reference T
Time Time
-|AI | -|AI |

1: AI1 Select the analog input

T-LMT
P05-08 - channel of the torque limit At stop Immediate 2
selection 2: AI2 signal.
145

Internal Set the internal positive/
0 to During
P05-09 positive % negative torque limit value Immediate 300.0
300.0 running
torque limit (100.0% corresponds to
one time of rated motor
Internal
0 to torque). During
P05-10 negative % Immediate 300.0
300.0 running
torque limit
External
0 to Set the external positive/ During
P05-11 positive % Immediate 300.0
300.0 negative torque limit value running
torque limit
(100.0% corresponds to
External one time of rated motor
0 to During
P05-12 negative % torque). Immediate 300.0
300.0 running
torque limit
7RUTXH/LPLW'26LJQDO
When the torque reference reaches the torque limit, the servo drive outputs the torque
limit signal to the host controller. Set a DO terminal of the servo drive with function 7
(FunOUT.7: C-LT, torque limit) and set the terminal logic.
Function Function
No. Description
Symbol Name
Valid: Servo drive torque reference reaching the torque limit
Torque value and restricted to this value
FunOUT.7 C-LT
limit Invalid: Servo drive torque reference not reaching the torque
limit value
6.4.4 Speed Limit in Torque Control
In the torque control mode, if the torque reference is larger than the load torque on
mechanical side, the motor keeps accelerating, which may causes overspeed and
damages the machine. The motor speed needs to be limited to protect the machine.
Figure Diagram of speed limit in torque control is below :
Motor speed
(RPM)
Max. motor speed Overspeed may cause

mechanical damage.
Speed limit Speed limit ensures

safe running.
Time
146
6SHHG/LPLW6RXUFH
The speed limit source in torque control is selected in P05-17. After the speed limit is
set, the actual motor speed is restricted to within the speed limit. After the motor speed
reaches the speed limit, the motor keeps constant-speed running at the speed limit val-
ue. The speed limit must be set according to the load conditions.
Function Parameter
Code Name Time
0: Internal speed limit

Select the
1: V-LMT as external speed limit
Speed limit During
P05-17 speed limit - source in Immediate 0
source running
torque control
2: Speed limit
mode.
selected via DI
Figure Speed limit source is below :
Speed limit
source P05-17
Positive speed limit

P05-19
Internal 0: Internal speed limit
speed limit
Negative speed
limit
-(P05-20) V_LMT
P05-18
AI1 1: V-LMT as
External external speed limit Speed limit
speed limit source
(AI setting)
AI2
V_LmtSel
FunIN.36
Positive/Negative
speed limit 2: 1st or 2nd speed
P05-19 External limit selected via DI
speed limit
Positive/Negative (DI selection)
speed limit
P05-20
147
P05-17 = 0 (Internal speed limit)
Figure Speed limit curve when P05-17 = 0 is below:
Motor speed
(RPM)
Max. motor speed

P05-19
Time
Negative speed limit

-(P05-20)
-Max. motor speed
P05-17 = 1 (V-LMT as external speed limit)
The voltage for speed limit is input from the AI terminal selected in P05-18. When the
speed limit corresponding to the AI voltage is smaller than internal speed limit (H07-19/
P05-20), the speed limit corresponding to the AI voltage is valid. When the speed limit
corresponding to the AI voltage is larger than internal speed limit (P05-19/P05-20), the
internal speed limit is valid.
Figure Speed limit curve when P05-17 = 1, is below :
Motor speed
(RPM)
Max. motor speed

Internal limit P05-19
Speed corresponding to AI voltage
Time
Negative speed limit

-|Speed corresponding to AI voltage |
Internal limit -(P05-20)
-Max. motor speed
148
P05-17 = 2 (1st or 2nd speed limit selected via DI)
P05-19 or P05-20 is selected as the speed limit based on the logic of the DI signal.
To use this function, set a DI terminal of the servo drive with function 36 (FunIN.36:
V-LmtSel, internal speed limit source) and set the terminal logic.
Internal speed Valid: P05-20 as internal speed limit

FunIN.36 V_LmtSel
limit source Valid: P05-19 as internal speed limit
Table Speed limit descriptions is below :
V_LmtSel
OFF ON
Motor speed Motor speed

(RPM) (RPM)
Max. motor speed Max. motor speed

Positive speed limit Positive speed limit
P05-19
P05-20
Time Time
Negative speed limit Negative speed limit

-(P05-20) -(P05-19)
-Max. motor speed -Max. motor speed
Function Setting
Code Range Time
Select the analog input

1: AI1 channel when external
During
P05-18 V-LMT selection - analog (V-LMT) is Immediate 1
2: AI2 running
used as the speed limit
source.
Positive speed Set the positive speed
limit/1st speed 0 to limit/1st speed limit During
limit in torque 6000 in the torque control running
control mode.
Negative speed Set the positive speed
limit/2nd speed 0 to limit/2nd speed limit During
limit in torque 6000 in the torque control running
control mode.
149
6SHHG/LPLW'26LJQDO
In the torque control mode, when the actual motor speed exceeds the speed limit and
the duration lasts the time of P05-40, the servo drive considers that the motor speed is
limited and outputs the speed limit signal (FunOUT.8:V-LT) to the host controller. If any of
the conditions is not met, the speed limit signal is invalid.
The speed limit signal (FunOUT.8:V-LT) is judged only in the torque mode and servo
running status.
Set a DO terminal of the servo drive with function 8 (FunOUT.8:V-LT) and set the terminal
logic.
Figure Example of speed limit DO waveform .is below :
Speed Speed feedback

P05-40
Speed limit (speed limit window)
Time
Servo Servo ON Servo
OFF ON ON OFF
FunOUT.8: V-LT,
OFF OFF OFF
speed limit
Function Function
No. Description
Symbol Name
Invalid: Motor speed not reaching the speed limit
Speed
FunOUT.8 V-LT Valid: Motor speed reaching the speed limit and speed loop
limit
built internally based on the speed limit
150
6.4.5 Torque Reached Output
This function is used to determine whether the actual torque reference reaches the setting
range. When the actual torque reference reaches the threshold, the servo drive outputs
the related DO signal (FunOUT.18: ToqReach, torque reached) to the host controller.
Figure Example of torque reached output waveform,is below :
A: Actual torque reference (Un-02)

B: Base value for torque reached (P05-21)
C: Threshold of torque reached valid (P05-22)
Actual torque D: Threshold of torque reached invalid (P05-23)
C and D are offsets on the basis of B.
B+C
A: Actual torque reference
B+D
0
Time
-B
-(B+D)
-(B+C)
FunOUT.18: ToqReach, OFF OFF OFF

ON ON
torque reached
The torque reached signal becomes active when the actual torque reference meets the
condition:
Otherwise, the torque reached signal remains inactive.
The torque reached signal becomes inactive when the actual torque reference meets the
condition:
|A| < B + D
Otherwise, the torque reached signal remains active.
Figure Torque reached output ,is below :
Torque reached DO signal
ON ON
OFF OFF
OFF
-(B+C) -(B+D) 0 B+D B+C A
151

Set the base value for

Base value
0 to torque reached (100% During
P05-21 for torque % Immediate 0
300.0 corresponds to the rated running
reached
torque).
Threshold
of torque 0 to for torque reached valid During
P05-22 % Immediate 20.0
reached 300.0 (100% corresponds to the running
valid rated torque).
Threshold
of torque 0 to for torque reached invalid During
P05-23 % Immediate 10.0
reached 300.0 (100% corresponds to the running
invalid rated torque).
To use the torque reached function, set a DO terminal of the servo drive with function 18
(FunOUT.18: ToqReach, torque reached) and set the terminal logic.
Function Function
No. Description
Symbol Name
Valid: Absolute value of torque reference reaching
Torque setting value
FunOUT.18 ToqReach
reached Invalid: Absolute value of torque reference smaller than
setting value
152
6.5 Hybrid Control Mode
The hybrid control mode means that the servo drive can switch over between different
control modes when the S-ON signal is active and the servo status is "run". Switchover
between the following modes is supported:
Set P02-00 on the keypad or Inovance servo commissioning software to implement the
switchover.
Function Parameter
Code Name Time
0: Speed mode
1: Position mode
2: Torque mode
Set the
3: Torque mode/Speed mode
Control control
P02-00 mode 4: Speed mode/Position mode of At stop Immediate 1
selection mode the servo
drive.
5: Torque mode/Position
mode
6: Torque mode/Speed
mode/Position mode
Set the servo drive parameters of different control modes based on the mechanical
Chapter 8 Description of P02-00 Parameters.
P02-00 = 3/4/5: Set a DI terminal of the servo drive with function 10 (FunIN.10: M1_SEL,Mode
switchover 1), and set the terminal logic.
P02-00 = 6: Set two DI terminals of the servo drive respectively with function 10 (FunIN.10: M1_SEL,
Mode switchover 1) and function 11 (FunIN.11: M2_SEL, Mode switchover 2)and set the terminal
logics.
153
NO. Function Function Description

Symbol Name
Used to perform switchover between control
modes in servo "run" status.
M1_SEL terminal
02-00 Control mode
logic
invalid Torque mode
3
FunIN.10 M1_SEL Mode switchover 1 valid Speed mode
invalid Speed mode
4
valid Position mode
invalid Torque mode
5
valid Position mode
Used to perform switchover between control

modes in servo "run" status.
M2_ M1_
02-00 SEL terminal SELterminal Control mode
FunIN.11 M2_SEL Mode switchover 2 logic logic
valid Position mode
6 valid invalid Speed mode
invalid invalid Torque mode
154
6.6 Descriptions of Absolute System
6.6.1 Overview
The absolute encoder consists of a detector designed to detect a position within

one revolution and a cumulative revolution counter designed to detect the number
of revolutions. With 8388608 (223) resolution for single turn, the encoder can record
data of 16-bit multi-turn data. The absolute system composed of the absolute
encoder works in absolute position linear mode or absolute position rotating mode,
and can be used in position, speed, and torque control modes of the servo drive.
The system keeps data battery-backed at servo drive power-off and calculates the
mechanical absolute position after servo drive power-on, and therefore repeat homing
operation is not required.
When using the absolute encoder, set P02-01 (Absolute system selection) based on
actual conditions. Er.731
n fault and perform the homing operation.
When you change P02-02 (Rotating direction selection) or Fn-20 (Absolute encoder
reset), an abrupt change occurs in the encoder absolute position, causing change of
the absolute position reference. Therefore, you need to perform the homing operation.
When the homing function is used, the servo drive automatically calculates the deviation
between the mechanical absolute position and the encoder absolute position after
homing is completed and stores it in the EEPROM.
6.6.2 Relevant Parameter Setting
$EVROXWH6\VWHP6HWWLQJ
Function Parameter
Code Name Time
0: Incremental position
mode
Select one
Absolute
1: Absolute position linear absolute Power-on
P02-01 system At stop 0
mode position again
selection
mode.
2: Absolute position
rotating mode
NOTE: In absolute position mode, the system automatically detects the motor SN
to check
whether absolute encoder motor is used. If the setting is incorrect, Er.122 is reported.
155
$EVROXWH3RVLWLRQ/LQHDU0RGH
Function Setting
Parameter Name Function Property Default
Code Range Time
It displays the current
absolute position
Absolute position
Un-07 - (reference unit) of A display - 0
counter
the motor in absolute
mode.
Mechanical absolute It displays the

Un--58 - At display - 0
position (low 32 bits) mechanical position
Mechanical absolute feedback in absolute
Un--60 position (high 32 - position linear or At display - 0
bits) rotating mode.
Absolute position
Un-B-77 (low 32 bits) of - At display - 0
absolute encoder It displays the absolute
position feedback from
Absolute position the absolute encoder.
Un--79 (high 32 bits) of - At display - 0
absolute encoder
the encoder multi-turn data does not overflow, for example, ball screw transmission
machine.
Figure Diagram of ball screw transmission machine is below :
Assume that:
Mechanical absolute position (Un-58 and Un-60): P M
Encoder absolute position: PE [range: -238 to (238-1)]
Their relationship is: PM = PE - PO.

B
Assume that the electronic gear ratio is A , and the mechanical absolute position
(reference unit) is Un-07, then:
B
Un-07 = PM /
A
the homing operation is performed, the servo drive automatically calculates the deviation
between the encoder absolute position and the mechanical absolute position, grants
values to P03-46 and P03-48, and stores the values in EEPROM.
The encoder multi-turn data range of the absolute position linear mode is -32768 to
32767. If the number of forward revolutions is larger than 32767 or the number of reverse
revolutions is smaller than -32768, the servo drive trips Er.735, indicating the encoder
156
$EVROXWH3RVLWLRQ5RWDWLQJ0RGH
Function Setting
Code Range Time
Mechanical gear
Set the gear ratio
ratio in absolute
P03-50 1 to 65535 1 between the load At stop Immediate 65535
position rotating mode
and the motor
(numerator)
transmission in
Mechanical gear absolute position
ratio in absolute rotating mode. It is
P03-51 1 to 65535 1 valid when both P03- At stop Immediate 1
position rotating mode
(denominator) 52 and P03-53 are 0.
Pulses within one

revolution of load
0 to Encoder
P03-52 in absolute position At stop Immediate 0
4294967295 unit
rotating mode (low 32 Set the pulses when
bits) the load rotates one
revolution in absolute
Pulses within one position rotating
revolution of load mode.
Encoder
P03-54 in absolute position 0 to 127 At stop Immediate 0
unit
rotating mode (high 32
bits)
Mechanical absolute Encoder Set the motor position At

Un-58 - - 0
position (low 32 bits) unit converted from the display
load position in the
absolute position
Mechanical absolute Encoder linear or rotating At
Un-60 - - 0
position (high 32 bits) unit mode. display
Absolute position (low

Encoder At
Un-77 32 bits) of absolute - Set the absolute - 0
unit display
encoder position feedback
Absolute position (high from the absolute
Encoder encoder. At
Un-79 32 bits) of absolute - - 0
unit display
encoder
Rotating load single-

Encoder Set the motor position At
Un-81 turn position (low 32 - - 0
unit converted from the display
bits)
rotating load single-
turn position in the
Rotating load single- absolute position
Encoder At
Un-83 turn position (high 32 - rotating mode. - 0
unit display
bits)
Set the rotating load

Rotating load single- Reference single-turn position in At
Un-85 - - 0
turn position unit the absolute position display
rotating mode.
This mode is mainly applicable to the scenario where the load travel range is not limited
and the number of motor single-direction revolutions is smaller than 32767, as shown in
157
Figure Rotating load diagram is below :
Revolving
stage
Gear ratio M:N
Motor
The servo drive calculates the mechanical absolute position based on P03-52 and P03- 54
first. If P03-52 and P03-54 are 0, the servo drive carries out calculation based on P03-50
and P03-51. Assume that the encoder resolution RE = 223, and encoder pulses within one
revolution of the load is RM:
32
P03 P03 P03 P03
D0550
When P03-52 & P03-54 = 0, RM = RE x .
D0551
B
Assume that the electronic gear ratio is A , and the mechanical absolute position
(reference unit) is Un-07, then:
B
Un-07 = RM/ A
and the revolving stage position.

Figure Relationship between the rotating load single-turn position and the revolving
stage position. is below :
Number of
rotating turns of
revolving stage n+2
n+1
n
3
2
1
0
Revolving stage
(reference unit)
Rotating
0 amount
Rotating load
single-turn position
(encoder unit)
Rotating
amount
7KHIROORZLQJ¿JXUHVKRZVWKHUHODWLRQVKLSEHWZHHQWKHHQFRGHUIHHGEDFNSRVLWLRQDQG
the rotating load single-turn position.
Figure Relationship between encoder feedback position and rotating load single-turn
position is below :
158
Encoder
position
239-1
Forward
Reverse
0
Rotating amount
Rotating load
single-turn position
0
Rotating amount
The multi-turn data range is not limited in absolute position rotating mode, and Er.735
can be shielded.
Encoder Feedback Data

Display the
Number of
number of
Un-70 absolute - r At display - 0
absolute encoder
encoder turns
turns.
Display the
Position of
position feedback
absolute Encoder
Un-71 - of the absolute At display - 0
encoder within unit
encoder within
one turn
one turn.
fault.
Function Parameter
Code Name Time
Set whether
Encoder 0: Not shield to shield the
multi-turn fault
P0A-36 - encoder multi- At stop Immediate 0
selection 1: Shield fault

fault.
Absolute Encoder Reset

Set Fn-20 to determine whether to reset the encoder internal faults and encoder
feedback multi-turn data.
Function Parameter
Code Name Time
0: Disabled
Set whether to reset
Absolute
1: Reset faults the encoder internal
encoder
Fn-20 - faults and encoder At stop Immediate 0
reset 2: Reset faults
feedback multi-turn
function and multi-turn
data.
data
When you set Fn-20 to 2 and the faults and multi-turn data are reset, an abrupt change
occurs in the encoder absolute position, and you need to perform the homing operation.
159
fault.
Function Parameter
Code Name Time
Set whether
Encoder 0: Not shield to shield the
multi-turn fault
P0A-36 - encoder multi- At stop Immediate 0
selection 1: Shield fault

fault.
$EVROXWH(QFRGHU5HVHW
Set Fn-20 to determine whether to reset the encoder internal faults and encoder
feedback multi-turn data.
Function Parameter
Code Name Time
0: Disabled
Set whether to reset
Absolute
1: Reset faults the encoder internal
encoder
Fn-20 - faults and encoder At stop Immediate 0
reset 2: Reset faults
feedback multi-turn
function and multi-turn
data.
data
When you set Fn-20 to 2 and the faults and multi-turn data are reset, an abrupt change
occurs in the encoder absolute position, and you need to perform the homing operation.
6.6.3 Precautions of Battery Box
Set Fn-20 to 1 to reset the fault and perform the homing operation.
When the detected battery voltage is smaller than 3.0 V, Er.730 (encoder battery
warning) occurs. Replace the battery as follows:
Step 1. Power on the servo drive, and make it in non-running state.
Step 2. Replace the battery.
Step 3. The servo drive automatically resets Er.730. If there is no other warning, run the
servo drive in normal state.
again, Er.731 occurs and an abrupt change occurs in the multi-turn data. Set Fn-20 to 1
to reset the fault and perform the homing operation again.
6000 RPM so that the encoder position can be recorded correctly.
Store the battery in required temperature and ensure reliable contact and sufficient
electricity. Failure to comply may cause loss of the encoder position.
160
Chpter 6 Control Mode
Soft Limite Function
Traditional hardware limit function: In the traditional method, the limit position can only be given by an external signal,
and the external sensor signal is connected to the CN3 interface of the servo drive.
Over
Reduction load
Wheel
Motor
Servo driver
FunIN.14
P-OT DI
FunIN.15
N-OT DI
Limite Switch Installation Schematics
Soft limit function: refers to the comparison between the internal position feedback of the driver and the set limit
value. When the limit value is exceeded, it will alarm and stop operation immediately. This function can be used in
both absolute position mode and incremental position mode. In incremental position mode, P0A-40=2 needs to be
set. After the drive is powered on, it will first perform the origin return to find the machine origin, and then enable the
software limit function.
1 Comparison of advantages and disadvantages of traditional hardware limit and soft limit functions
Traditional hardware limit function Soft Limite Function

1 Only limited to linear motion, single-turn rotary motion 1 Not only can be used in linear motion, but also in rotary mode
2 Requires external installation of mechanical limit switches 2 No hardware wiring is required to prevent misoperation caused
by poor line contact
3 Unable to judge abnormal mechanical slip
3 Internal position comparison to prevent mechanical
Once power off, the machine moves out of the limit position slippage resulting in abnormal movement
, which cannot be judged or alarmed .
Relevant parameters of soft limit function
Function Parameter
Code Name Time
Soft limit Soft limit function selection

P0A-40 0 to 2 1 At stop Immediate 0
function
Soft limit -2147483648 Max datasheet of

to Reference absolute position Soft
P0A-41 maximum At stop Immediate 2147483647
unit limit function
value 2147483647
Soft limit -2147483648

to Reference Max datasheet of
P0A-43 minimum At stop Immediate -2147483648
unit absolute position Soft
value 2147483647 limit function
161
P0A-40 = 0: Soft limit function disabled

P0A-40 = 1: Soft limit function enabled immediately at power-on When the absolute position counter (Un-07) is larger
than P0A-41, the servo drive reports warning Er.950 and executes stop at forward limit. When the absolute position counter
(Un-07) is smaller than P0A-43, the servo drive reports warning Er.952 and executes stop at forward limit.
P0A-40 = 2: Soft limit function enabled after homing at power-on When the absolute position counter (Un-07) is larger than
P0A-41 after homing is completed, the servo drive reports warning Er.950 and executes stop at forward limit. When the
absolute position counter (Un-07) is smaller than P0A-43, the servo drive reports warning Er.952 and executes stop at
forward limit.
When P0A-41 P03-43 , The two value will be exchanged
6.7 Auxiliary Functions
The servo drive provides the following auxiliary functions to ensure proper running of the
system.
6.7.1 Software Reset
When a fault (not NO.1 non-resettable fault) occurs in the non-running state, the servo

Function Property Default
The servo drive
automatically performs
Software 0: Disabled program reset (similar to
Fn-00 At stop Immediate 0
reset 1: Enabled program reset at power-on)
on again.
162
6.7.2 Motor Protection
0RWRU2YHUORDG3URWHFWLRQ
After being energized, the servo motor generates heat and releases it to surrounding en-
protection to protect the motor against damage due to high temperature when the heat
generated exceeds the heat released.
Set the motor overload protection gain (P0A-04) to adjust the report time of fault Er.620.
Use the default value of P0A-04. Modify P0A-04 based on the actual motor heating situa-
tion when one of the following condition occurs:
The servo motor works in an environment of high temperature.
The servo motor keeps cyclic running with short time of single cycle and frequent acceler-
ation/deceleration.
Motor overload detection can be shielded (P0A-26 = 1) when you ensure that the motor
will not be damaged.
Take caution when using the motor overload shielding function as it may easily
&$87,21 lead to motor damage.

Motor Set the motor
overload overload duration
P0A-04 50 to 300 % At stop Immediate 100
protection before Er.620 is
gain detected out.
0: Not Set whether to shield

Motor
shield motor overload
P0A-26 overload - At stop Immediate 0
detection (Er.620 and
shielding 1: Shield Er.909).
163

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167
Gain adjustment owchart
Start
Inertia Use ofine inertia auto-

Auto-tuning tuning, or enable online
inertia auto-tuning.
Automatic
Auto-tuning Adjustment
tuning
Yes
Action Ok?
No
If automatic adjustment does not

Manual meet the requirements, perform
adjustment
manual adjustment.
Yes
Action Ok?
No
Vibration Vibration can be suppressed

suppression if vibration is encountered.
End
Tabel 7-2 gain adjustment procedure
Table 7-1 Descriptions of gain adjustment
procedure
Gain Adjustment Procedure Function
Ofine The drive calculates the inertia ratio automatically

Inertia
1
auto-tuning The host controller sends a command to make the motor rotate, and the drive
Online
calculates the inertia ratio in real time.
The drive automatically gives the gain parameters matching the inertia ratio
2 Automatic gain adjustment (it must be set correctly)
If the automatic gain adjustment result is not satisfactory, perform ne manual
Basic adjustment.
Reference lter Filter the position, speed, and torque references.
3 Manual gain Feedforward gain Enable this function to improve the follow-up characteristics.
adjustment
Pseudifferential Adjust the speed loop control mode and improve the low-frequency
regulator anti-interference capability
Torque disturbance
observer Enable this function to improve the anti-torque disturbance capability.
Mechanical
resonance Enable the notch function to suppress mechanical resonance.
4 Vibration
suppression Low-frequency
Enable the lter for suppressing low-frequency resonance.
resonance
168
7.2 Inertia Auto-tuning
The inertia ratio P08-15) is

Total Load Inertial of Machine
Inertia ratio =
Motor Rotor Inertia
The inertia ratio is an important parameter of the servo system, and quick commissioning can be implemented
with the correct setting of this parameter.
It can be set manually or auto-tuned automatically by the servo drive.
The servo drive supports two auto-tuning methods:
1)Offline auto-tuning
When the ofine inertia auto-tuning function is enabled in FN-02, press the keys
on the keypad of the servo drive to run the motor and obtain the inertia ratio. This method does not involve
the host controller;
2）Online auto-tuning
The servo drive instructs the motor to act according to the command from the host
controller, obtaining the inertia ratio 。
Warning
The following requirements must be met to ensure correct calculation of the inertia ratio：
•The actual maximum motor speed is larger than 150 RPM；
•The actual acceleration rate during acceleration/deceleration is higher than 3000 RPM/s；
•The load torque is stable without dramatic change.
•The actual inertia ratio does not exceed 120

If the actual inertia ratio is very large and the drive gain is low, motor action will be slow, which
cannot meet the requirements for maximum motor speed and actualacceleration rate. In this case,
increase the speed loop gain in P08-00 and perform inertia auto-tuning again.
If vibration occurs during auto-tuning, stop auto-tuning immediately and decrease the gain.
The auto-tuning may fail when the backlash of the transmission mechanism is large.
169
7.2.1 Ofine Inertia Auto-tuning
Conrm the following items before performing ofine auto-tuning
1 The movement travel of the motor meet the following requirements:

a The movement travel of above one revolution in either forward or reverse direction
is available between the mechanical limit switches:
Ensure the limit switches have been installed and the required movement travel is
reserved to prevent the condition that the motor senses the limit switches, causing
accidents during auto-tuning
b P09-09 (Motor revolutions for an inertia auto-tuning) is met:

View the maximum speed, acceleration time, and motor revolutions for inertia autotuning in P09-06, P09-07, and P09-09. Ensure the
movement travel for the motor in
the stop position is larger than P09-09; if not, decrease P09-06 or P09-07 until the requirements are met.
2)Evaluate the value of P08-15

If the default value of P08-15 (1.00) is used but the actual inertia ratio is 30.00, the
motor may run very slowly, resulting in auto-tuning failure. To solve this problem, take the
following measures
a)Preset a large initial value for P08-15:

The recommended preset value is 5.00,Increase P08-15 gradually, and record the value updated on the
keypad (the keypad display updates if auto-tuning succeeds)
b) Increase the stiffness level of the drive in H09-01 properly so that the actual motor speed can reach P09-06
The following gure shows the ofine inertia auto-tuning owchart
Start
S-ON signal inactive.

Servo ON The servo drive state is
inactive displayed as "Rdy".
Fn-02=1 FN-02 initial value displayed is

current value of P08-15
Hold down "UP/

DOWN" to run Operations are different according to the
the motor forward mode. Refer to the descriptions later
reverse
Display NO
Stable ？ The keypad display value tends to stable.
The nal display is the auto-tuned result.
yes
Hold down "SET" Hold down "SET" until the keypad displays
to save the setting
to P08-15
"SAVE", indicating the auto-tuned result
has been saved to P08-15
Press "MODE". Press "MODE" to exit FN-02 display.

Auto-tuning is The auto-tuning is completed
completed.
END
170
Ofine inertia auto-tuning includes two modes: positive/negative triangle wave and jog
Table 7-2 Descriptions of two ofine inertia auto-tuning modes
Item Positive and Negative Triangular Wave Mode(P09-05=0) JOGMode(P09-05=1)
Symmetric triangle wave Trapezoidal wave
Speed
Motor revolutions for Speed
(rpm) an inertia auto-tuning (rpm)
P09-09
Max
Speed Max
P09-06 Speed
P09-06
Reference
form T (ms)
T (ms) Accel
Waiting .time
Accel. time
time P09-08
Pres "UP": The motor Release the key: Pres "DOWN": The
rotates forward. The motor stops at motor rotates reverse.
Hold down "UP": Release the key: zero speed and enters
The motor rotates forward The motor stops in position lock state.
and then reverse at zero speed and
enters in position
lock state
Maximum
P 09-06 P 09-06
speed
Acceleration/
Deceleration P 09-07 P 09-07
time
Hold down key UP: The motor rotates forward and
then reverse. Press key UP: The motor rotates forward.
Keypad Hold down key DOWN: The motor rotates reverse Press key DOWN: The motor rotates reverse.
operation and then forward Release the key: The motor stops at zero speed
Release the key: The motor stops at zero speed
and enters in position lock state.
and enters in position lock state.
Interval P09-08 Interval between two key operations
Motor
revolu ≤P09-09 Manual control
tions
Application where the motor travel is long and
Application Application where the motor travel is short
manual control is allowed
☆ Relevant parameters ：
Effective
Function Name Setting Range Unit Function Property Time Default
Code
Ofine inertia 0-正反三角波模式 At

P 09-05 autotuning mod - Set the ofine inertia autotuning mode. Imme 0
1-JOG点动模式 Stop diate
Maximum speed Set the maximum speed reference for At

P 09-06 for inertia autotuning 100~1000 rpm Imme 500
ofine inertia auto-tuning. Stop diate
Time constant of Set the time for the motor to accelerate At Imme
P 09-07 ccelerating to max. speed 20~800 ms from 0 RPM to P09-06 in ofine inertia autotuning. 125
Stop diate
for inertia auto-tuning
Interval after an Set the interval between two consecutive speed refer At
P 09-08 inertia auto-tuning 50~10000 ms ences in positive/negative triangle wave mode Imme 800
Stop diate
Motor revolutions Set the number of motor revolutions in

P 09-09 for an inertia autotuning - r
positive/negative triangle wave mode.
- - 250
171
7.2.2 Online Inertia Auto-tuning
The following gure shows the general online inertia auto-tuning owchart.
Start
S-ON signal S-ON signal inactive.

OFF The servo drive state is
displayed as "Rdy".
Set P09-03 to a non-

zero value to
Set P09-03
enable the inertia auto
-tuning function.
Turn on the servo drive. Send a command

S-ON signal ON from the host controller to the
servo drive,
which instructs the motor to rotate
Host controller
sends a command
to make the motor
rotate
The servo drive calculates the

Calculate the inertia ratio
inertia in real time and stores the result
ratio in real time to P08-15
every 30 minutes
END
Figure 7-4 Online inertia auto-tuning owchart
Different P09-03 values indicate different updating speeds of the inertia ratio in P08-15:
• H09-03 = 1: Applicable to the scenario where the actual inertia ratio rarely changes, such as machine
tool and wood carving machine.
• H09-03 = 2: Applicable to the scenario where the inertia ratio changes slowly.
•H09-03 = 3: Applicable to the scenario where the actual inertia ratio changes rapidly, such as
transportation manipulator.
Property Effective
Function Name Setting Range Unit Function Default
Code Time
0: Disabled
1: Enabled, update
slowly Set the online inertia During Imme
Online inertia 2: Enabled, always 0
autotuning mode auto-tuning mode. Running diate
P 09-03 update -
3: Enabled, update
quickly
172
7.3 Automatic Gain Tuning
Automatic gain tuning means that the servo drive automatically produces the matching
gain parameters based on the setting of P09-01 (Stiffness level selection) to achieve fast
response and stability
Warning
• Ensure the correct inertia ratio has been obtained before enabling automatic gain tuning.
Start
S-ON Signal
OFF
Select automatic
tuning mode Set P09-00 to 1 or 2
P09-00
Enable servo Turn on the servo drive. Send a command from

ON and enter a the host controller via communication to the
command servo drive, which instructs the motor to rotate
Adjust P09-01 Observe the running effect, including the response

and view the quickness, positioning time, vibration
waveform during
motor rotation state. Adjust
P09-01 until the effect is satisfactory.
Yes
Action OK？
No
Perform manual
gain adjustment/ Manual gain adjustment
vibration Vibration suppression
suppression
END
Figure 7-5 Automatic gain tuning owchart
The setting range of P09-01 (Stiffness level selection) is 0–31. The level 0 indicates the weakest stiffness
and lowest gain and level 31 indicates the strongest stiffness and highest gain. The following table lists the
stiffness levels for different load types.
Table 7-3 Recommended stiffness levels
Recommended Stiffness Level Type of Load Mechanism

Level 4 to level 8 Large-scale machinery
Level 4 to level 8 Applications with low stiffness such as belt
Level 15 to level 20 Applications with high stiffness such as ball screw and
direct-connected motor
The servo drive supports two automatic gain adjustment modes
Warning
• The automatic gain tuning mode (P09-00 = 1) is applicable to most applications. In application where
positioning must be very quick, use the positioning mode (P09-00 = 2).
173
1)Automatic Gain Tuning Mode (P09-00=1)

The 1st gain parameters (P08-00 to P08-02, P07-05) are automatically updated according to the
stiffness level set in H09-01 and stored into the corresponding function codes：
Table 7-4 Parameters automatically updated in the automatic gain tuning mode
Function
Name
Code
P 08 00 Speed loop gain
P 08 01 Time constant of speed loop integration
P 08 02 Position loop gain
P0 5 05 Time constant of torque reference lter
2) Positioning Mode(P09-00=2)
a）On the basis of Table 7-4, the 2nd gain parameters (P08-03 to P08-05, P07-06) are also automatically updated:
according to the stiffness level set in P09-01 and stored into the corresponding function codes. In addition, the position
loop gain in the 2nd gain parameters has a higher stiffness level than that in the 1st gain parameters
Table 7-5 Parameters Automatically updated in the positioning mode
Function Code Name Description
P 08-03 2nd gain of speed loop

If P08-04 is set to remain at 512.00 ms, the 2nd speed
P 08-04 2nd time constant of speed loop integral action is invalid, and only proportional
loop integration control is used in the speed loop
P 08-05 2nd gain of position loop -
2nd time constant of torque
P05 -06
reference lter
b） The parameters related to speed feedforward are fixed at certain values

Table 7-6 Parameters with xed values in the positioning mode
Function
Name Value
Code
P 08-19 Speed feedforward gain 30.0%
Time constant of speed
P08-18 feedforward lter 0.50ms
c） The parameters related to gain switchover are fixed at certain values.

The gain switchover function is enabled automatically in the positioning mode.
Function
Name Value Description
Code
In the positioning mode, switchover between 1st gain
(P08-00 to P08-02, P07-05) and 2nd gain (P08-03 to
P 08-08 2nd gain mode 1 P08-05, P07-06) is valid.
setting In other modes, the original setting is used
Gain switchover In the positioning mode, the gain switchover condition is P08-09 = 10.
P 08-09 10 In other modes, the original setting is used
condition
Gain switchover In the positioning mode, the gain switchover delay is 5.0 ms.
P 08-10 delay 5.0ms In other modes, the original setting is used.
In the positioning mode, the gain switchover level is 50.

Gain switchover
P08-1 1 50 In other modes, the original setting is used.
level
In the positioning mode, the gain switchover hysteresis is 30

Gain switchover
P 08-12 30 In other modes, the original setting is used.
hysteresis
174
Warning
• In the automatic gain tuning mode, the parameters automatically updated along with P09-01 and
those with xed values do not allow modication. If you need to modify these parameters, set
P09-00 to 0 to exit the automatic gain tuning mode rst.
Effective
Function Name Setting Range Unit Function Property Default
Code Time
0: Disabled, gain
parameters set manually
1: Automatic gain tuning

Automatic mode, gain parameters
tuned automatically based Set the automatic Imme
P09-00 gain tuning
on stiffness table gain tuning mode.
During Running 0
mode selection diate
2: Positioning mode, gain
parameters automatically
tuned based on stiffness
table
Stiffness level During Running Imme

P09-01 selection 0~31 Set the stiffness level. diate 12
7.4 Manual Gain Adjustment
7.4.1 Basic Parameters
When the automatic gain adjustment result is not satisfactory, execute ne manual gain adjustment to
achieve better result. The servo system consists of three control loops, namely, position loop, speed loop,
and current loop from external to internal. The following gure shows the basic control block diagram.
Speed Torque
feedforward feedforward
Positionr
eference Motor
input + +
+ + ++ Current
× Position × Speed loop × × loop M
- loop gain gain + - control
-
Position Current
feedback Feedback
Speed Speed loop
feedback integral
lter time
constant
Speed
calculation
Encoder
Figure 7-6 Basic control block diagram of manual gain adjustment
The most internal loop must have the highest response. If it is not observed, the system may be unstable. The default current loop
gain of the servo drive ensures the response, and need not be adjusted. You only need to adjust the position loop gain, speed loop
gain and other auxiliary gains. When executing gain adjustment in the position control mode, increase the speed loop gain as well
after increasing the position loop gain, and ensure the response of the position loop is lower than that of the speed loop to keep the
system stable.
Table 7-7 Descriptions of gain parameters
175
Function
Step Name Adjustment Description
Code
Parameter function:
It determines the speed reference maximum frequency
followed by the speed loop.
When the average inertia ratio (P08-15) is correct,
it can be considered:
Maximum follow-up frequency of speed loop = P08-00 Speed
Reference
Increase P08-00 Actual
Speed
1 P 08-00 Speed
loop gain
◆ Adjustment method:
Increase the setting but ensure there is no noise or vibration.
This shortens the
positioning time and improves speed stability and follow-up
characteristics.
If noise occurs, decrease the setting. ；
If mechanical vibration occurs, enable the resonance suppression function by
referring to 7.6.
Function Name
Step Adjustment Description
Code
◆Parameter function:
It eliminates the speed loop deviation.
Decrease P08-01 Speed

Reference
Actual
Speed
Time
2 P 08-01 ◆ Adjustment method:
constant of
speed Select the value as follows:
loopintegration 500 ≤P08-00 x H08-01 ≤ 1000 For example, if P08-00 = 40.0 Hz, P08-01
must meet the condition:12.50 ms ≤ P08-01 ≤ 25.00 ms
Decreasing the setting strengthens the integral effect and shortens the
positioning time, but a very small setting may cause mechanical vibration.
A very large setting may cause the homing action under the speed loop
deviation. When P08-01 = 512.00 ms, the integral action is invalid.
It sets the position reference maximum frequency followed by the
position loop.
Maximum follow-up frequency of position loop = P08-02
Position
Reference
Increase P08-00
Increase P08-02 Actual
Speed
3 P 08-02 Position
loop gain ◆ Adjustment method:
To ensure system stability, the maximum follow-up frequency of the speed loop is
3 to 5 times of the maximum follow-up frequency of the position loop
2× π ×P08-00
3≤ ≤ 5
P 08-02
For example, when P08-00 = 40.0 Hz, P08-02 must meet the condition:
50.2 Hz ≤ P08-02 ≤ 83.7 Hz Adjust the setting based on the positioning time.
Increasing the setting shortens the acceleration time and improves the motor
capability of against external disturbance in static state.
A very large setting may cause system instability and oscillation
176
Step Function Name Adjustment Description

Code
◆ Parameter function:
It eliminates high-frequency noise and suppresses mechanical resonance.
Speed
Increase P05-05 Reference
Actual
Speed
Time
constant ◆ Adjustment method:
of torque Ensure the cutoff frequency of the torque reference low-pass lter is higher than 4
4 P 05-05
times of the maximum follow-up frequency of the speed loop:
reference 1000
≥ (P08-00)×4
2×π ×P05-05
lter For example, when P08-00 = 40.0 Hz, H07-05 must meet the condition:P05-05 ≤ 1.00ms
details, refer to 7.6.A very large setting weakens the response of the current loop.To suppress vibration
f vibration occurs when increasing H08-00, adjust the setting of H05-05 to suppress vibration. For I
when the motor is stopping, increase H08-00 and decrease
H05-05.To suppress vibration when the motor is in the stopped state, decrease H05-05
☆ Relevant parameters
Effective
Property Time
Code
Speed loop gain Set the proportional gain During Imme

P 08-00 0.1~2000.0 Hz Running 25.0
of the speed loop diate
Time constant of Set the integral time constant of During

P 08-01 speed loop integration 0.15~512.00ms Imme 31.83
the speed loop. Running diate
Position Set the proportional gain of During Imme

P 08-02 0.0~2000.0 Hz the position loop Running 40.0
loop gain diate
Time constant of Set the lter time

During Imme
P05 -05 torque reference lter 0.00~30.00 ms constant of the 0.79
Running diate
torque reference
7.4.2 Gain Switchover
By selecting appropriate gain based on the servo internal state or external DI signal
(supported only in position and speed control modes), the following effect can be achieved:
Switchover to lower gain in motor static state (servo ON) to suppress vibration
Switchover to higher gain in motor static state to shorten the positioning time
Switchover to higher gain in motor running state to achieve better reference
compliance performance
Switchover between different gains is performed based on the load condition
1) P08-08=0
The gain used is xed at the 1st gain (P08-00 to P08-02, P07-05), but switchover
between proportional control and proportional & integral control via DI function 3
((FunIN.3: GAIN_SEL, gain switchover) is supported for the speed loop.
177
Start
Set P08-08=0 P/PI control switchover for speed loop
Allocate a DI Allocate a DI with FunIN.3: GAIN-SEL gain

with FunIN.3 switchover, and set the active logic for
the DI.
No DI logic Yes
active?
PI control for P control for

speed loop speed loop
End
Figure 7-7 Gain switchover owchart when H08-08 = 0
2)P08-08=1
Switchover between 1st gain (P08-00 to P08-02, P07-05) and 2nd gain (P08-03 to P08-
05, P07-06) is implemented based on the setting of P08-09
Start
Set P08-08=1
Set the gain

switchover
condition in
P08-09
Yes
P08-09=0？
No
No
P08-09=1？
Yes
Allocate a DI
with FunIN.3
No Yes
DI logic active？
Fix at 1st SET P08-10~

Use 1st gain Use 2nd gain
gain P08-13
End
Figure 7-8 Gain switchover owchart when H08-08 = 1
178
Gain switchover has 11 conditions. The following table describes the diagrams and
relevant parameters of different conditions
Table 7-8 Descriptions of gain switchover conditions
Gain Switchover Condition Relevant Parameters

Gain Gain Gain
switchover switchover switchover
P08-09 Condition Diagram delay level hysteresis
(P08-10) (P08-11) (P08-12)
0 Fixed at 1st gain - Invalid Invalid Invalid
1 Switchover by DI - Invalid Invalid Invalid
Actual
Speed
Torque
Reference Switchover Switchover
delay delay
Valid Valid
2 Torque Valid
reference (%) (%)
Switchover
being large level
Switchover
level
1st 2nd 1st 2nd 1st
Speed Switchover
Reference delay
3 Speed Switchover level Valid Valid Valid

Reference
1st 2nd 1st
Speed
Reference
Switchover Switchover
Speed reference delay delay Valid Valid
change rate
4 Speed Valid
reference (10rpm/s) (10rpm/s)
change rate Switchover level
being large Switchover level
1st 2nd 1st 2nd 1st
Speed
Reference
Switchover
level + hysteresis
Speed
reference Switchover level
5 high-speed/ Invalid Valid Valid
Switchover l
low-speed evel + hysteresis (rpm) (rpm)
thresholds
1st 2nd 1st
Speed Reference
Position Switchover delay Valid Valid

6 Position deviation Valid
deviation (Encoderunit) (Encoderunit)
Switchover
being large level
1st 2nd 1st
179
Gain Switchover Condition Relevant Parameters

Position
Reference
Switchover
delay
7 Position Valid Invalid Invalid

reference
available
1st 2nd 1st
Position
Reference
Positioning
completion signal
8 Positioning Valid Invalid Invalid
completion Switchover
delay
1st 2nd 1st
Speed Switchover
Reference delay
Valid Valid
9 Motor speed Switchover Level Valid
being large (rpm) (rpm)
1st 2nd 1st
Position reference Valid Valid

10 available + See the "Note" Valid
Motor speed (rpm) (rpm)
Warning
● P08-10 is valid only when 2nd gain is switched over to 1st gain.
Reference pulse No reference pulse |Actual speed| <

Static available Action Continuous delay Stable Close to static 2nd gain
Switchover level
1st gain 2nd gain 2nd gain only for speed integral
control1st gain for others
|Actual speed| < (Switchover level- Switchover hysteresis)
|Actual speed| < (Switchover level –Switchover hysteresis)
180
☆ Relevant parameters:
Property Effective
Code Time
0: 1st gain xed, P/PI

switchover by DI
2nd gain During Immediate
P 08-08 1: Gain switchover - Set the 1
mode setting Running
based on P08-09 mode of the
2nd gain.
0: 1st gain xed

1: Switchover by DI
2: Torque reference
being large
3: Speed reference
being large
4: Speed reference
change
rate being large
5: Speed reference
highspeed During
P08-09 Gain switchover - Set the gain 0
condition /low-speed thresholds switchover running
6: Position deviation condition.
being large
7: Position reference
available
8: Positioning completion
9: Motor speed being
large
10: Position reference
available + Motor speed
Gain Set the gain During

P08-10 switchover 0~10 - switchover Immediate 5.0
running
delay delay
Based on Immediate
Gain Set the gain During
P08-11 1~1000 switchover 50
switchover switchover running
leve condition
level.
Gain Based on During

Set the gain Immediate
P08-12 switchover 0~20000 switchover switchover running 30
hysteresis condition hysteresis.
Position gain During Immediate

Set the gain switchover time of
P08-13 switchover 0.0~100.0 ms running 3.0
the position loop
time
7.4.3 Filter Comparison
Name Function Applicable Scenario Effect of Filter Excessive
Pulse It prevents the problem that the The system wiring is incorrect. The number of pulses received by the
input number of pulses received by the Strong interference exists in the servo drive is smaller than that sent by
servo drive is inaccurate due to
pin lter interference. environment. the host controller.
Acceleration/Deceleration is
It lters the position references absent on the position
Position (encoder unit) divided or multiplied references from the host
reference by the electronic gear ratio, controller.The pulse frequency The response delay
lter smoothe ning motor running and is too low.The electronic gear becomes large.
reduc ing impact to the machine. ratio is larger than 10.
It prevents motor command

uctuation due to instable The system wiring is
analog input voltage, and incorrect. Strong
Analog The response delay
reduces motor malfunction interference exists in
input lter becomes large.
due to interference signals the environment.
181
7.4.4 Feedforward Gain
1) SpeedFeedforward
Speed feedforward
control selection
P03-19
Speed
No speed 0 feedforward
controller
feedforward
Position Positionde
reference Internal speed 1
viation Motor
Source and feedforward
input direction Electronic Position + + Position Current loop
reference × × Speed loop M
ofposition gear ratio lter AI 1 speed 2 loop control control control
reference Position -
feedforward Feedback
Speed -
AI 2 speed 3 feedback
feedforward Speed
calculation
Encoder
Figure 7-9 Block diagram of speed feedforward control
When position control or full closed-loop is used, the speed feedforward function can be
used to improve speed reference response and reduce the position deviation at xed speed.
The speed feedforward operations are as follows

a）Set the source of the speed feedforward signal.
Set P03-19 (Speed feedforward control selection) to a non-zero value; then, this
function is enabled and a signal source is selected
Function Name Value Remarks

Code
0-No speed feedforward -
Use the speed corresponding to the position reference (encoder unit) as
1-Internal
the source of the speed feedforward signal.
Speed
feed Use the speed corresponding to AI1 input as the
P03-19 forward 2- AI1 source of the speed feedforward signal.
control For AI1 setting, see P06-80,P07-50,P06-51,P06-53,P06-54
selection
Use the speed corresponding to AI2 input as the source of the
3- AI2 speed feedforward signal.For AI2 setting, see P06-80.P06-55.
P06-56. P06-58. P06-59
b）Set the speed feedforward parameters
Function Adjustment Description

Code Name
Increase P08-00
Time IncreaseP08-19 Position
Increase P08-02
constant Reference
of speed Actual
Speed
P08-18 feed
forward
lter
Parameter function:
Increasing P08-19 improves response but may cause speed overshoot during acceleration/
deceleration.
Decreasing P08-18 suppresses speed overshoot during acceleration/deceleration.
Increasing P08-18 suppresses the noise in the case of long position reference update
period and drive control period and uneven position reference pulse frequency, and
Speed suppresses jitter of the positioning completion signal.
P08-19 Adjustment method:
feedfor
Set P08-18 to a xed value, and then increase P08-19 gradually from 0 to a certain
ward
value at which speed feedforward reaches the required effect.
gain Adjust P08-18 and P08-19 repeatedly to nd the balanced setting.
182
2)Torque Feedforward
Torque
feedforward
control Torque
selection feedback
P04-11 controller
Speed Speed
reference No torque 0 +
feedforward deviation Motor
input + + + ×
× Speed loop Current loop M
Internal torque 1 - control control
feedforward
Speed
Feedb
ack
Speed
calculation
Encoder
Figure 7-10 Block diagram of speed feedforward control

Torque feedforward used in the position control mode improves torque reference response and decreases
the position deviation during acceleration/deceleration. Torque feedforward used in the speed control
mode improves torque reference response and decreases the position deviation at xed speed.The torque
feedforward operations are as follows
a）Step 1. Set the signal source of the torque feedforward signal.

Set P04-11 (Torque feedforward control selection) to 1, and this function is enabled and a signal source is selected
Function
Name Value Remarks
Code
Torque 0-No torque feedforward -

feed
P04-11 forward Use the speed reference as the source of the torque feedforward signal.
1-Internal torque In the position control mode, the speed reference is the output from
selection
feedforward he position controller.
b) Step 2. Set the torque feedforward parameters.

Name
Code
Parameter function:
Increasing H08-21 improves response but may cause speed overshoot during acceleration/deceleration.
Decreasing P08-20 suppresses overshoot during acceleration/
Time deceleration. Increasing P08-20 suppresses the noise.
constant
P08-20 Adjustment method:
of torque
feed Set P08-20 to a xed value, and then increase P08-21 gradually
forward from 0 to a certain value at which torque feedforward reaches
lter the required effect.
Adjust P08-20 and P08-21 repeatedly to nd the balanced setting.
Torque
feed
P08-21 forward Details refer to 7.4.4 FeedforwardGain
gain
183
7.4.5 Pseudo-DifferentialFeedforwardControl
In non-torque control mode, pseudo differential feedforward (PDFF) control can be used
to adjust speed loop control.
Position Position
Reference deviation
P08-24=50%
t
20ms
Position
Reference Position
deviation
P08-24=100%
t
160ms
Position
Reference Position
deviation
P08-24=80%
t
90ms
Figure 7-11 PDFF example

PDFF adjusts speed loop control, improving the anti-interference capability of the speed
loop and improves speed reference compliance

Name
Code
It adjusts the speed loop in non-torque control mode.
Adjustment method:
PDFF A very small setting of P08-24 makes the speed loop response slow.
P08-24 control When speed feedback overshoot occurs, decrease P08-24 gradually from 100.0 to a
coefcient certain value at which the PDFF effect is achieved.
P08-24 = 100.0, speed loop control does not change, that is, the default proportional/
integral control is used
184
7.4.6 Torque Disturbance Observer

This function is used in the non-torque control mode
Disturbance torque
Torque -
reference + +
× × Motor+Load
+
Added in Torque
the Motor
Reference Speed
direction
to cancel + -
the × Load
disturbance Mode
Gain
P09-30
Filter
Estimated P09-31
disturban
ce
torque
Figure 7-12 Block diagram of the disturbance observer
The disturbance observer detects and estimates the external disturbance torque on the system, and
compensates the torque reference, which reduces the effect of external disturbance on the servo system
and reduces vibration
Function
Code
Name Adjustment Description
Parameter function:
Torque Increasing P09-30 (that is, increase the proportion of the compensation torque
disturbance superpositioned to the torque reference) improves disturbance suppression
P09-30
compensation but increases the noise.
gain Increasing P09-31 reduces the noise. If P09-31 is decreased, the external
disturbance torque with small delay can be detected and estimated, improving
disturbance suppression but increasing the noise.
Adjustment method:
Time constant Set P09-31 to a larger value. Then, increase P09-30 gradually from
of torque 0 to a certain value at which the disturbance observer reaches the
P09-31 disturbance
observer lter effect. Then, gradually decrease P09-31 on the condition that the
disturbance observer keeps valid.
Adjust P09-30 and P09-31 repeatedly to nd the balanced setting
Function Property Effective

Code
Name Setting Range Unit Function Default
Time
Time constant of Set the lter time constant of During

P08-18 speed feed 0.00~64.00 ms 0.00
the speed feedforward gain Running
forwardlter
During Imme
P08-19 Speed feed 0.0~100.0 % Set the speed feedforward gain. 0.0
forward gain Running diate
Time constant of Set the lter time constant of During

P08-20 torque feed 0.00~64.00 ms Imme 0.50
the torque feedforward gain. Running
forward lter diate
During Imme
P08-21 Torque feed 0.0~200.0 ms Set the torque feedforward gain 0.0
forward gain Running diate
185
Function Property Effective

Name Setting Range Unit Function Default
Code Time
Set the pseudo differential
PDFF control During Immediate
P08-24 0.0~100.0 % feedforward (PDFF) control 100.0
coefcien Running
coefcient.
Torque disturbance Set the disturbance torque During

P09-30 compensation gain 0~100.0 % Running Immediate 0.0
compensation gain.
Time constant of Set the time constant of the During

P09-31 torque disturbance 0.00~25.00 Ms torque disturbance observer Immediate 0.50
Running
observer lter lter.
7.5 ParameterAdjustmentinDifferentControlModes
Perform parameter adjustment in the sequence of inertia auto-tuning, automatic gain tuning, and
manual gin adjustment
7.5.1 ParameterAdjustmentin PositionControlMode

Step 1. Obtain P08-15 (Load inertia ratio) through inertia auto-tuning.
Step 2. Perform gain adjustment
① 1st Gain:
Function
Code Name Function Default
Time constant of torque Set the torque reference lter time
P05 -05 0.79ms
reference lter constant.
Set the proportional gain of the speed
P08-00 Speed loop gain 25.0Hz
loop
Time constant of speed Set the integral time constant of the
P08-01 31.83ms
loop integration speed loop
Set the proportional gain of the
P08-02 Position loop gain 40.0Hz
position loop
② 2nd Gain:
Function Name Function Default
Code
2nd time constant of Set the torque reference
torque reference lter lter time constant. 0.79ms
P05-06
P08-03 Set the proportional gain

2nd gain of speed loop of the speed loop. 40.0Hz
P08-04 2nd time constant of Set the integral time constant

20.00ms
speed loop integration of the speed loop
P08-05 Set the proportional gain of
2nd gain of position loop 64.0ms
the position loop
P08-08 2nd gain mode setting Set the mode of the 2nd gain 1
P08-09 Gain switchover condition Set the gain switchover condition 0
P08-10 Gain switchover delay Set the gain switchover delay. 5.0ms
P08-11 Gain switchover level Set the gain switchover level. 50

Gain switchover
P08-12 hysteresis Set the gain switchover hysteresis. 30
Position gain Set the gain switchover time of

P08-13 switchover time 3.0ms
the position loop
186
③ Common gain
Function
Code Name Function Default
Time constant of speed Set the lter time constant of

P 08-18 0.50ms
feedforward lter the speed feedforward signal.
P08-19 Speed feedforward gain Set the speed feedforward gain. 0.0%
Time constant of torque Set the lter time constant of the

P08-20 0.50ms
feedforward lter torque feedforward signal
P08-21 Torque feedforward gain Set the torque feedforward gain 0.0%
P08-22 Speed feedback lter Set the speed feedback function 0

Cutoff frequency of Set the cutoff frequency of the rst-order
P08-23 speed feedback low-pass low-pass lter for speed feedback. 4000Hz
lter
P08-24 PDFF control coefcient Set the coefcient of the PDFF controller. 100.0%
Disturbance torque Set the disturbance torque

P09-30 compensation gain 0.0%
compensation gain
Time constant of torque
P09-31 disturbance observer lter Set the time constant of the torque 0.5ms
disturbance observer lter.
Suppression mode of Set the mode of suppressing
P09-04 low-frequency resonance 0
low-frequency resonance
Frequency of low Set the frequency of the low-frequency
P09-38 100.0Hz
frequency resonance resonance suppression lter.
Filter setting of low Set the width of the low-frequency
P09-39 2
frequency resonance resonance suppression lter
Position deviation Set the position deviation threshold (in
P0A-16 threshold in lowfrequency pulses) which can be judged as 0.0005Rev
resonance lowfrequency resonance.
Step 3. Perform automatic gain tuning to obtain the initial values of the 1st gain (or 2nd gain) and common gain.
Step 4. Manually adjust the following gain parameters
Function Name Function

Code
Time constant of torque
P05 -05 Set the torque reference lter time constant.
reference lter
P 08-00 Speed loop gain Set the proportional gain of the speed loop
Time constant of speed
P 08-01 Set the integral time constant of the speed loop
loop integration
P 08-02 Position loop gain Set the proportional gain of the position loop
P 08-19 Speed feedforward gain Set the speed feedforward gain.
7.5.2 Parameter Adjustment in Speed Control Mode

Parameter adjustment in the speed control mode is the same as that in the position control mode in section 7.5.1, except for the
position loop gain (P08-02 and P08-05).
7.5.3 Parameter Adjustment in Torque Control Mode

Parameter adjustment in torque control mode are classied into two types based on the condition:
When the actual speed reaches the speed limit (for the speed limit in torque control mode, refer to Chapter 6
Control Modes), the adjustment method is the same as that described in section 7.5.2.
If the actual speed does not reach the speed limit, the adjustment method is the same as that described in
section 7.5.2, except for the position/speed loop gain and time constant of the speed loop integration
187
7.6 Vibration Suppression

7.6.1 Suppression of Mechanical Resonance
Resonance may occur at vicinity of the mechanical resonance frequency when the servo gain is increased,
making the gain cannot be increased further.
Mechanical resonance can be suppressed in the following two methods:
1) Torque reference lter(P05-05,P05-06)
Set the lter time constant to damp the torque reference at above the cutoff frequency, suppressing
mechanical resonance.
Filter cutoff frequencyfc(Hz)=1/[2π×P05-05(ms)×0.001]
2) Notch:
The notch reduces the gain at certain frequencies to suppress mechanical resonance. After resonance
is suppressed with correct setting of the notch, attempt to increase the gain gradually. The following
gure shows the resonance suppression principle of the notch
Amplitude Mechanical
frequency resonance frequency
characteri
stic of
mechanical
system
Frequency
Characteristic
of notch
Notch width
Notch depth
fL fH
Notch center
frequency fT Frequency
Figure 7-13 Resonance suppression principle of the notch
A total of four notches can be used, and each is dened by three parameters, frequency, width level, and depth level.
The 1st and 2nd notches are manual ones, and their parameters are set manually by users. The 3rd and 4th notches
can be set manually or set as adaptive notches (P09-02 = 1 or 2); when they are used as adaptive notches, their
parameters are automatically set by the servo drive.
Table 7-9 Notch descriptions
Manual Notch Manual/Adaptive Notch

Item
1st Notch 2nd Notch 3rd Notch 4th Notch
Frequency P09-12 P09-15 P09-18 P09-21
Width level P09-13 P09-16 P09-19 P09-22
Depth level P09-14 P09-17 P09-20 P09-23
188
• When the frequency is the default value 4,000 Hz, the notch is actually invalid.
Warning
• The adaptive notch is preferred during the use. If the adaptive notch is invalid
or cannot produce satisfactory performance, use the manual notch
Start
Yes Use No
adaptive
notch？
1
Yes resonance No
frequency ？
2
No Analyze
Resonance
resonance
frequencies?
frequency
Set P09-02=1 Yes
Set P09-02=2
Enter notch
3rd notch parameters parameters
3rd notch parameters
updated automatically updated automatically
(P09-18~P09-20) (P09-18 to H09-20)
4th notch parameters

updated automatically
(P09-21 to H09-23)
Yes Resonance No
suppressed?
Set P09-02=0 Set servo ON

after running inactive, and
stable use manual notch
End
Figure 7-14 Setting procedure of the notch
189
Setting

Procedure of Adaptive Notch
The setting procedure of the adaptive notch is as follows:
Step 1. Set P09-02 (Mode selection of adaptive notch) to 1 or 2 based on the number of resonance frequencies.
When resonance occurs, rst set P09-02 to 1 to enable an adaptive notch. If new resonance occurs after the gain is adjusted,
set P09-02 to 2 to enable both adaptive notches.
Step 2. During servo running, the parameters of the 3rd or 4th notch are updated automatically, and the values are automatically
stored to the corresponding function codes in group H09 every 30 minutes.
Step 3. If resonance is suppressed, the adaptive notch functions well. After the servo remains stable for a certain period, set
P09-02 to 0, and the parameters of the adaptive notch are xed at the last updated values.
Otherwise, malfunction during servo running makes the notch parameters be changed to incorrect values, increasing vibration.
Step 4. If vibration fails to be suppressed, turn off the servo ON signal in time.
If there are more than two resonance frequencies, the problem cannot be solved by only using the adaptive notches. Additionally
use the manual notch, or use all the four notches as manual ones (P09-02 = 0).
Warning
• During use of the adaptive notch, the latest parameters will not be stored into the corresponding function codes
if the servo becomes OFF within 30 minutes.
When the resonance frequency is below 300 Hz, the suppression effect of the adaptive notch may degrade.
•
b) Setting Procedure of Manual Notch

The setting procedure of the manual notch is as follows:
Step 1. Analyze the resonance frequency.
When using the manual notch, set the frequency to the actual resonance frequency, which is obtained by using the following methods:
Use the "Mechanical analysis" function in Inovance servo commissioning software.
Calculate the resonance frequency based on the motor phase current displayed on the oscilloscope interface of servo commissioning
software.
Set P09-02 to 3. After starting running, the servo drive automatically detects the resonance frequency and stores it in P09-24.
Step 2. Enter the obtained resonance frequency in the parameter of the selected notch, and set the width level and depth level of the
notch.
Step 3. If resonance is suppressed, the notch functions well. Then, increase the gain. If new resonance occurs, repeat steps 1 and 2.
Step 4. If vibration fails to be suppressed, turn servo OFF in time.
190
c) Notch Width Level

The notch width level indicates the ratio of the notch width to the notch center frequency
f H-f L
Notch width level =
fT
Where:
f T: Notch center frequency, that is, mechanical resonance frequency
fH-fL: Notch width, indicating the ratio of -3dB attenuation frequency
band with respective
to the notch center frequency
The table shows the relationship between notch width and depth. Use the
default value 2.
d) Notch Depth Level

The notch depth level indicates the ratio of input to output at center frequency.
The input is completely shut with depth level 0 and fully received with depth level 100
at the center frequency. A smaller notch depth level indicates larger notch depth, which
produces stronger resonance suppression and makes the system instable. Pay attention
to this during use.
Warning
• If the amplitude frequency characteristic curve obtained through the mechanical analysis function does not have obvious
peak, it indicates that vibration occurs actually. Such vibration may not be mechanical resonance, and cannot be suppressed
by the notch. It occurs because the gain reaches the limit, and can be suppressed only by reducing the gain or the lter time
of torque reference
The following gure shows the relationship between notch width and depth.
Depth 50, Width 4

Depth 0, Width 4
Depth 0, Width 8
10
5
0
-5
-10
-15
-20
-25
-30
10 100 1000
Figure 7-15 Frequency characteristic curve of notch
191
Function
Name Setting Range Unit Function Property Effective Default
Code Time
0: Parameters not updated
1: Only one notch
(3rd notch) valid,
parameters updated in
real time
2: Both notches (3rd
and 4th notches) valid,
parameters updated in
During Imme
P 09-02 Mode selection real time - Set the working 0
Running diate
of adaptive notch 3: Only detect mode of the adaptive
resonance frequency
notches
(displayed in P09-24)
4: Clear 3rd and
4th notches, restore
parameters to default
setting
During
P 09-12 1st notch frequency 50~4000 Hz Set the frequency of Running Imme 4000
the 1st notch. diate
During
P 09-13 1st notch width level 0~10 - Set the width level of Running Imme 2
the 1st notch diate
Set the attenuation During
P 09-14 1st notch depth level 0~99 - Imme 0
level of the 1st notch Running
diate
Set the frequency of During
P 09-15 2nd notch frequency 50~4000 Hz Imme 4000
the 2nd not Running
diate
During
P09-16 2nd notch width level 0~10 - Set the width level of Imme 2
the 2nd notch. Running
diate
During
P 09-17 2nd notch depth level 0~99 - Set the attenuation Running Imme 0
level of the 2nd notch diate
During
P 09-18 3rd notch frequency 50~4000 Hz Set the frequency of Imme 4000
the 3rd not Running diate
P 09-19 3rd notch width level 0~10 - Set the width level of During Imme 2
the 3rd notch Running diate
P 09-20 3rd notch depth level 0~99 - Set the attenuation During Imme 0
level of the 3rd notch Running diate
During Imme
P 09-21 4th notch frequency 50~4000 Hz Set the frequency of Running 4000
the 4th notc diate
During Imme
P 09-22 4th notch width level 0~10 - Set the width level of Running 2
the 4th notch diate
During Imme
P 09-23 4th notch depth leve 0~99 - Set the attenuation 0
level of the 4th notch Running diate
Obtained Display the auto-tuned

P 09-24 resonance - Hz resonance frequency - 0
frequency when P09-02 = 3
192
7.6.2 SuppressionofLow-frequencyResonance
End
Motor
Workbench
Figure 7-16 Mechanical diagram of low-frequency resonance
If the mechanical load end is long and heavy, vibration may easily occur in this part at emergency stop, affecting the positioning.
Such vibration has a frequency about 100 Hz, lower than the mechanical resonance frequency, and is called low-frequency
resonance.
Use the low-frequency resonance suppression function to reduce such vibration.
Start
Position No
deviation>
P0A-16?
Yes
Yes No
P09-04=1?
Analyze resonance
frequency
Filter parameters
forlow-frequency
resonance
suppression updated
automatically Enter lter resonance
P09-38 P09-39 low-frequency
parameters fo
suppression
P09-39, P09-38
END
Figure 7-17 Setting procedure of low-frequency resonance suppression lter
193
1) Step 1. Set P0A-16 (Position deviation threshold in low-frequency resonance).

The system considers that low-frequency resonance occurs when the position deviation exceeds P0A-16. Resonance
may be detected more easily if this parameter is set to a small value.
2) Step 2. Set P09-04 (Suppression mode of low-frequency resonance).
The servo drive provides two methods, and the automatic method is preferred
a) P09-04 = 1 (Automatically set parameters of low-frequency resonance suppression lter)
The servo drive automatically detects the frequency and amplitude of the lowfrequency resonance, and automatically
sets P09-38 (Frequency of low-frequency resonance) and P09-39 (Filter setting of low-frequency resonance).

P09-04 = 0 (Manually set parameters of low-frequency resonance suppression lter)
Collect the position deviation waveform in motor positioning mode by using the oscilloscope function of the Inovance
servo commissioning software and calculate the position deviation uctuation frequency, that is, low-frequency
resonance frequency.
Then, manually input the value into P09-38, and use the default value of P09-39
3) Step 3. Observe whether the position deviation still exceeds P0A-16 after the lowfrequency resonance suppression
lter is used.
If yes, repeat steps 2 to 3; if not, it indicates that the low-frequency resonance suppression effect is achieved.
Position
deviation
No suppression
After suppression
Time t
Figure 7-18 Low-frequency resonance suppression effect
Effective
Function Name Setting Range Unit Function Property Time Default
Code
Suppression 0: Manually set parameters

mode of of lowfrequency resonance Set the mode of
suppression lter suppressing lowfrequency During Imme
P09-04 lowfrequency
1: Automatically set - 0
resonance resonance running diate
parameters of lowfrequency
resonance suppression lter
Frequency of Imme
P09-38 low-frequency 1.0~100.0 Hz Set the frequency of the During 100.0
resonance low-frequency resonance lter running diate
Filter setting of Set the width level of the
During Imme
P09-39 low-frequency 0~10 - lowfrequency resonance 2
resonance running diate
suppression lter.
Position deviation Set the position deviation threshold Imme
P0A-16 threshold in low- 1~1000 P (in pulses) which can be judged as During 5
frequency resonance lowfrequency resonance running diate
194
Chapter 8 DescriptionofParameters
Parameter
Group Description
P00 Servo driver parameter
P 01 Servo motor parameter
P 02 Basic control parameters
P 03 Position control parameters
P 04 Speed control parameters
P 05 Torque control parameters
P 06 Input terminal parameters
P07 Output terminal parameters
P08 Gain Parameters
P09 Automatic gain tuning parameters
P0A Fault and protection parameters
Fn Monitoring parameters
Un Auxiliary function parameters
POC Communicationparameters
195
Group P02 ：Basic Control Parameters
Name Control mode selection Property At stop Control -

Mode
P02-00
Setting Effective
Range 0 6 Unit - Time Immediate Default 1
It sets control mode of the servo drive
Value Control Mode Description

0 Speed mode For parameter settings in speed mode, refer to 6.3
1 Position mode For parameter settings in position mode, refer to 6.2
2 Torque mode For parameter settings in torque mode, refer to 6.4
Set a DI terminal for FunIN.10: M1_SEL (Mode switchover

1) and determine terminal logic
M1_SEL
3 Torque Mode ↔ Speed
mode
Control Mode
Terminal Logic
Invalid Torque mode
Valid Speed mode
Set a DI terminal for FunIN.10: M1_SEL (Mode

switchover 1) and determine terminal logic.
Speed mode ↔ Position mode M1_SEL

4 Control Mode
Terminal Logic
Invalid Speed mode
Valid Position mode
Set a DI terminal for FunIN.10: M1_SEL (Mode
switchover 1) and determine terminal logic.
Torque mode ↔ Position mode M1_SEL

5 Control Mode
Terminal Logic
Invalid Torque mode
Valid Position mode
Set two DI terminal for FunIN.10: M1_SEL (Mode

switchover 1) and FunIN.11: M2_SEL (Mode switchover 2)
, respectively and determine terminal logic.

M2_SEL M1_SEL
Torque ↔ Speed Mode Control Mode
6 Terminal Logic Terminal Logic
↔ Position mode
Invalid Invalid Torque mode
Valid Invalid Speed mode
- Valid Position mode
Only-COtype supports this function,details refer to

9 CANopenControl mode
3.10 CANopen communication
When P02-00=3 4 5 6 Parameter setting refer to
Control
Name Absolute system selection Property At stop PST
Mode
P02-01
Setting Effective Power-on
0 2 Unit 1 Default 0
Range Time again
196
It selects the absolute position function of the servo drive.
Value Absolute system selection Description

0 Incremental position the drive needs to perform the origin return to conrm the mechanical origin, and
mode there is no position memory function after the power is turned off.
Absolute position
Used for absolute encoder motor,When the drive is powered off Encoder backs
1 linear mode
up data via battery,After power-on, the drive calculates the mechanical absolute
2 Absolute position position through the absolute position of the encoder right position,details refer
rotating mode to 6.6 absolute system
Name Rotating direction selection Property At stop Control PST

mode
P02-02
Setting Effective Power-on again
Range 0∼ 1 Unit - Default 0
Time
It sets forward motor rotating direction seen from motor shaft side.
Value Meaning Description
CCW direction as When forward reference is input, motor rotates in CCW

0 direction seen from motor shaft side, that is, motor
forward direction rotates counterclockwise.
CW direction as When forward reference is input, motor rotates in CW
1 direction seen from motor shaft side, that is, motor
forward direction rotates clockwise
Clockwise
CW
Counterclockwise
CCW
Name Output pulse phase Property At stop Control PST

mode
P02-03
Setting Effective
0～1 Unit - Power-on again Default 0
Range Time
It sets relationship between phase A and phase B on the condition that motor rotating direction remains
unchanged when pulse output is enabled
Value Meaning Descrription

Phase A advances phase B by 90° in frequency-dividing output
pulses of encoder.
Phase A
0 advancing A Phase
phase B
B Phase
Phase A lags phase B by 90° in frequency-dividing output
pulses of encoder
1 Phase A lagging
phase B A Phase
B Phase
Stop mode at S-ON off Property At stop Control PST

Name
mode
P02-05
Setting Effective
0∼ 1 Unit - Immediate Default 0
Range Time
197
It selects deceleration mode of servo motor from rotation to stop and the servo motor status after stop when
S-ON signal is set to OFF
Value Meaning
0 Coast to stop, keeping de-energized state
1 Emergency stop, keeping de-energized state
It sets proper stop mode according to matching status and running requirement.
For comparison of stop modes, Please refer to“6.1.9 Servo Stop”
Name Stop mode at NO.2 fault Property At stop Control PST

mode
P02-06
Setting Effective
0 1 Unit - Immediate Default 0
Range Time
It selects deceleration mode of servo motor from rotation to stop and the servo motor status at occurrence of
NO.2 resettable fault.
Value Meaning
For details on NO.2 resettable fault,refer to“Chapter 9 Troubleshooting”

For comparison of stop modes,refer to,“1.6.9 Servo stop”
Note:
If NO.2 resettable fault occurs after the brake is enabled, P02-06 is set to 1 (emergency stop, de-energized) compulsively
Name Stop mode at limit switch signal Property At stop Control PST
Mode
P02-07
Setting Effective
0 2 Unit - Immediate Default 1
Range Time
It selects deceleration mode of servo motor from rotation to stop and the servo motor status when the limit
switch signal is active during motor running.
Value Meaning
1 Emergency stop, keeping position locking state
When servo motor drives vertical axis, you should set P02-07 = 1 to make motor axis in position locking
state after the limit switch signal is active to ensure safety
For comparison of stop modes，refer to“6.1.9Servo Stop”
Stop mode at NO.1 fault Control

Name Property At stop PST
mode
P02-08
Setting Effective
0 Unit - Immediate Default 0
Range Time
It selects deceleration mode of servo motor from rotation to stop and the servo motor status at occurrence of
NO.1 fault
Value Meaning
For details on NO.1 fault, refer to Chapter 9 Troubleshooting

For comparison of stop modes,refer to 6.1.9 servo stop
198
Delay from brake output ON to Control

Name Property During Running PS
command received mode
P02-09
Setting Effective
0~500 Unit ms Immediate Default 250
Range Time
It sets delay time from the time when the brake output signal becomes ON to the moment when the servo drive starts to receive commands
after power-on.
Within the setting of P02-09, the servo drive does not receive position/speed/torque reference
Refer to 6.1.6 Brake setting to view brake sequence diagram at motor standstill.
Delay from brake output OFF to Control

motor de-energized in static state mode
P02-10
Setting Effective
Range 1~1000 Unit ms Immediate Default 150
Time
It sets delay time from the moment when the brake output signal becomes OFF to the moment when the
motor enters power-off state when motor is static.
Motor speed threshold at brake Control

Name output OFF in rotating state Property During Running PS
mode
P02-11
Setting Effective
0~3000 Unit rpm Immediate Default 30
Range Time
It sets the motor speed threshold when the brake output signal becomes OFF in the motor rotating state
Delay from brake output OFF to motor Control

de-energized in rotating state mode
P02-12
Setting Effective
Time
It sets delay time from the moment when the S-ON signal is turned off to the moment when the brake output signal becomes OFF in the
motor rotating state.
Control
Name Warning display on keypad Property At stop PST
mode
P02-15
Effective
Setting Range 0~1 Unit - Immediate Default 0
Time
It sets whether keypad switches over to the fault display mode when NO.3 resettable warning occurs on the
servo drive
0 Output warning The keypad displays the warning code in real time once NO.3 resettable warning occurs.
information immediately
Not output warning The keypad displays only NO.1 fault and NO.2 fault and does not display NO.3 warning.
1
information To check whether NO.3 warning occurs for the recent 10 times, view Un-33 and Un-34.
For details on NO.3 warning, refer to Chapter 9 Troubleshooting.
Control
Name Filter time of S-ON signal Property At stop PST
mode
P02-18
Setting Effective
Range Time
It sets the lter time constant of the digital input function 1 (FunIN.1: S-ON).
When FunIn.1: S-ON is allocated to a low-speed DI terminal, the signal width must be larger than (P02-18) +3 ms.
Otherwise, the S-ON signal is inactive.
When FunIn.1: S-ON is allocated to a high-speed DI terminal, the signal width must be larger than (P02-18) + 0.25 ms.
When FunIn.1: S-ON is allocated to a VDI terminal, the signal width must be larger than (P02-18) + 1 ms.
The DI S-ON signal displayed on the oscilloscope does not require lter set in P02-18.
Permissible minimum resistance of Control

Name regenerative resistor Property At display PST
mode
P02-21
Setting Effective
- Unit Ω - Default -
Range Time
The permissible minimum value of regenerative resistor is dependent on drive model.
199
Name Power of built-in regenerative resistor Property At display Control PST

mode
P02-22
Setting Effective
- Unit W - Default -
Range Time
The power of built-in regenerative resistor is dependent on drive model and cannot be modied.
Resistance of built-in regenerative resistor Control

Name Property At display PST
Mode
P02-23
Setting Effective
Range - Unit - Default -
Time
The resistance of built-in regenerative resistor is dependent on drive model and cannot be modied.
When maximum braking energy absorbed by bus capacitors is smaller than the calculated value of maximum
braking energy, use regenerative resistor.
When using built-in regenerative resistor, connect a jumper link across terminals P and D.
When P01-02 (servo drive SN) = 1, 2, or 3, there is no built-in regenerative resistor.
Control
Name Resistor heat dissipation coefcient Property At stop PST
mode
P02-24
Setting Effective
Range 10~100 Unit % Immediate Default 30
Time
It sets heat dissipation coefcient of regenerative resistor, which is valid for both built-in
and external regenerative resistor.
Set this parameter properly according to dissipation condition of the actually used resistor.Recommendation:
Generally, the setting of P02-24 does not exceed 30% for naturally ventilated.
The setting of P02-24 does not exceed 50% for forcible cooling
Name Regenerative resistor type Property At stop Control PST

mode
P02-25
Setting
0~3 Unit - Effective Immediate Default 0
Range
Time
It sets the mode of absorbing and releasing braking energy.
Mode of Absorbing and

Value Releasing Braking Energy Description
It is used when calculated value of maximum braking energy >
0 Built-in maximum braking energy absorbed by capacitors and calculated
value of braking power ≤ builtin regenerative resistor power
1 External, naturally ventilated maximum braking energy absorbed by capacitors and calculated
value of braking power > builtin regenerative resistor power.
2 External, forcible cooling maximum braking energy absorbed by capacitors and calculated
value of braking power > builtin regenerative resistor power.
3 No resistor, using only It is used when calculated value of maximum braking energy
capacitor maximum braking energy absorbed by capacitors.
Power of external regenerative Control

Name resistor Property At stop PST
mode
P02-26
Setting Effective
1~65535 Unit W Immediate Defaut -
Range Time
It sets the power of external regenerative resistor of the servo drive.

Note:
The setting of this parameter cannot be smaller than the braking power calculated value.
169
200
Resistance of external regenerative Control

Name resistor Property At stop PST
mode
P02-27
Setting Effective
1~1000 Unit Ω Immediate Default -
Range Time
It sets the resistance of external regenerative resistor of the servo drive.
External regenerative resistor must be used when calculated value of maximum braking energy > maximum
braking energy absorbed by capacitors and calculated value of braking power > built-in regenerative resistor power.
WhenthesettingofP02-27istoolarge,Er.920(Regenerativeresistoroverload)orEr.400(Maincircuitovervoltage)willbedetected.
WhenthesettingofP02-27issmallerthanthesettingofP02-21,Er.922(Resistanceofexternalregenerativeresistortoosmall)willbe
detected.Continueusewilldamagetheservodrive.
Externalregenerativeresistorandbuilt-inregenerativeresistorcannotbeusedsimultaneously.Whenusingexternalregenerativeresistor,
removethejumperlinkacrossterminalsP andDandconnectbothendsto P andC,respectively

Control
Name User Password Property At stop PST
mode
P02-30
0-65535 Unit - again Default 0
Range Time
Control
Name Parameter initialization Property At stop PST
mode
P02-31
Setting Effective
0~2 Unit - Immediate Default 0
Range Time
It is used to restore parameter default setting or clear fault records.
Value Operation Description

0 No Operation -
1 Restore default setting Restore parameter default setting except the parameters in groups
P00 and P01.
2 Clear fault records Clear faults and warnings for the recent 10 times
Control
Name Default keypad display Property During Running -
mode
P 02-32
Setting Effective
Range 0~99 Unit - Time Immediate Default 50
According to the setting, the keypad can switch over to monitoring parameter display mode (parameters in
group FN) automatically. P02-32 is used to set offset in FN.
Value Parameterin FN Description

Motor speed is not zero, the keypad displays the setting of FN-00
0 Fn-00 (Actual motor speed).
1 Fn-01 The keypad displays the setting of FN-01 (Speed reference).
If non-existent parameter is set, the keypad does not switch over to FN parameter display
201
170
Name Property During Running Control -

Braking time at short-circuit
mode
P02-38
Setting Effective
Range Time
It sets the duration of braking at short-circuit due to faults
Name Maximum braking current at shortcircuit Property During Running Control -

P02-39 mode
Setting Effective
0~3000 Unit 0.1% Immediate Default 1000
Range Time
It sets maximum braking current at short-circuit.
Group P06:Input Terminal Parameters
DI function (active after power-on) Control

Name allocation 1 Property During Running -
mode
P06-00
0~0xFFFF Unit - again Default 0
Range Time
It determines whether a digital input function (FunIN.1 to FunIN.16) becomes active immediately after power-on
P06-00 is displayed in hexadecimal on the keypad. After converting to the decimal equivalent, bit(n) = 1
indicates that FunIN/(n+1) will become active after power-on
P06-00 is input and displayed in decimal on commissioning software.
For details of FunIN.1 to FunIN.16, refer to DI/DO Function Denations
Value DI Function to
Effective Bit Become Active Function
(HEX) after Power-on
0000 - 0 No function
0001 bit0 1 S-ON (Serv on)

0002 bit1 2 ALM-RST(Fault and warning reset)
0004 bit2 3 GAIN-SEL(Gain switchover)
CMD-SEL(Main/Auxiliary reference
0008 bit3 4 switchover)
0010 bit4 5 DIR-SEL(Multi-referencedirection)

0020 bit5 6 CMD1(Multi-reference switchover 1)
0200 bit9 10 M1-SEL(Mode switchover 1)
0400 bit10 11 M2-SEL(Mode switchover 2)
0800 bit11 12 ZCLAMP(Zero speed clamp)
1000 bit12 13 INHIBIT(Position reference inhibited)
2000 bit13 14 P-OT (Forward limit switch)
4000 bit14 15 N-OT (Reverse limit switch)
8000 bit15 16 P-CL (External positive torque limit)
Set P06-00 to the value recommended in the preceding table.

The setting of P06-00 cannot be duplicated with DI function allocation in group P06 and virtual DI
function allocation in group P06. Otherwise, the setting of H06-00 is valid. Whether a DI function is active is determined by logic of

the DI terminal that is set for this function in group P06.
Do not set DI terminal (edge valid) for the DI function (active after power-on), such as ALM-RST (fault and warning reset).
Do not set DI terminal that is switched over between active and inactive for the DI function (active after power-on)
202
Control
Name DI function (active after power-on) allocation 2 Property During Running -
mode
P06-01
0~0xFFFF Unit - again Default 0
Range Time
It determines whether a digital input function (FunIN.17 to FunIN.32) becomes
active immediately after power-on.
P06-01 is displayed in hexadecimal on the keypad. After converting to the
decimal equivalent, bit(n) = 1
indicates that FunIN/(n+1) will become active after power-on.
P06-01 is input and displayed in decimal on commissioning software.
For details of FunIN.1 to FunIN.16, refer to DI/DO Function Denations
(HEX) after Power-on
0000 - 0 No Function
0001 bit0 17 N-CL(External negative torque limit)

0002 bit1 18 JOGCMD+(Forward jog)
0004 bit2 19 JOGCMD- (Reverse jog)
0008 bit3 20 PosStep (Step reference)
0010 bit4 21 HX1(Handwheel multiplying factor 1)
0020 bit5 22 Hx2 (Handwheel multiplying factor 2)
0040 bit6 23 HX_EN (Handwheel signal)
0080 bit7 24 GEAR_SEL (Electronic gear ratio switchover)
0100 bit8 25 Toq DirSel (Torque reference direction selection)
0200 bit9 26 Spd DirSel (Speed reference direction selection)
0400 bit10 27 Pos DirSel (Position reference direction selection)
0800 bit11 28 PosInSen (Multi-position reference enable)
1000 bit12 29 XintFree (Position change on y unlock)
2000 bit13 30 No
4000 bit14 31 HomeSwitch (Home switch)
8000 bit15 32 HomingStart (Homing function)
Set P 06-01 to the value recommended in the preceding table.
203
Control
Name DI1 function selection Property During Running -
mode
P06-02
Setting Effective
0~37 Unit - At stop Default 14
range Time
It sets DI1 for DI function.
For details of DI function, refer to DI/DO Function Denations
The DI functions are described in the following table.
Value Function Value Function
0 No Function 19 JOGCMD-(Reverse jog)

1 S-ON (Servo on) 20 PosStep(Step reference)
2 ALM-RST(Fault and warning reset) 21 HX1(Handwheel multiplying factor 1)
3 GAIN-SEL(Gain switchover) 22 HX2(Handwheel multiplying factor 2)
4 CMD-SEL(Main/Auxiliary reference switchover) 23 HX_EN(Handwheel signal)

5 DIR-SEL(Multi-reference direction) 24 GEAR_SEL( Electronic gear ratio switchover)
6 CMD1(Multi-reference switchover 1) 25 ToqDirSel (Torque reference direction selection)
7 CMD2(Multi-reference switchover 2) 26 SpdDirSel (Speed reference direction selection)
8 CMD3(Multi-reference switchover 3) 27 PosDirSel (Position reference direction selection)
9 CMD4(Multi-reference switchover 4) 28 PosInSen (Multi-position reference enable)
10 M1-SEL(Mode switchover 1) 29 XintFree (Position change on y unlock)
11 M2-SEL(Mode switchover 2) 30 No
12 ZCLAMP(Zero speed clamp) 31 HomeSwitch (Home switch)
13 INHIBIT(Position reference inhibited) 32 HomingStart (Homing function)
14 P-OT(Forward limit switch) 33 XintInhibit (Position change on y inhibited)
15 N-OT(Reverse limit switch) 34 EmergencyStop (Emergency stop)
16 P-CL(External positive torque limit) 35 ClrPosErr(Position deviation cleared)
17 N-CL(External negative torque limit) 36 V_LmtSel (Internal speed limit source)
18 JOGCMD+(Forward jog) 37 PulseInhibit(Pulse input inhibited)
◆Note：
Set P06-02 to the value in the preceding table. 。
Different DI terminals cannot be set for the same DI function. Otherwise, Er.130 (Different DIs
allocated with the same function) will occur
After a DI function is allocated to a DI terminal and the logic and the DI terminal is set to active, do
not cancel the DI function allocation. Otherwise, the DI function will remain active.
DI1 to DI7 are low-speed DI terminals. The width of the input signal must be larger than 3 ms
DI8 and DI9 are high-speed DI terminals. The width of the input signal must be larger than 0.25 ms
204
DI1 logic selection Control

Name Property During Running -
mode
P06-03
Setting Effective
range Time
It sets the DI1 logic when the DI function allocated to DI1 is enabled.
DI1 to DI7 are low-speed DI terminals. The width of the input signal must be larger than 3 ms. Set the valid logic correctly
according to the host computer and peripheral circuits. The width of the input signal is shown in the following table
DI1 Logic when DI1
Value Description
Function Enabled
High Larger than 3ms
0 Low level
Valid
Low
Valid
High
1 High level Larger than 3ms
Low
Valid
High
2 Rising edge
Low
Larger than 3ms
High Larger than 3ms
3 Falling edge
Low
Valid
Rising edge and falling High Valid Valid

4 edge
Low Larger than 3ms
Name DI2 function selection Property During Running Control -

mode
P06-04
Setting Effective
range Time
Name DI2 logic selection Property During Running Control -

mode
P06-05
Setting Effective
0~4 Unit - Time At stop Default 0
range
DI3 function selection Control

mode
P06-06
Setting Effective
range 0~37 Unit - At stop Default 13
Time

mode
P06-07
Setting Effective
range Time

mode
P06-08
Setting Effective
range Time

mode
P06-09
Setting Effective
Time

mode
P06-10
Setting Effective
Time
Set DI5 for the required DI function.
The S-ON function must be allocated to a DI. Otherwise, the servo drive cannot operate. DI5 is set for
FunIN.1: S-ON by default.
205

mode
P06-11
Effective
Setting Range 0~4 Unit - Time At stop Default 0
When a low-speed DI is set for S-ON, the valid signal width must be larger than P02-18 + 3 ms.
After you re-allocate the S-ON function, Er.941 (Parameter modication taking effect only after re-poweron)
will occur. At this moment the servo drive must be re-powered on. Otherwise, the S-ON function is still
determined by the VDI.

mode
P06-12
Setting Effective
Range Time

mode
P06-13
Setting Effective
Range Time

mode
P06-14
Setting Effective
Range Time

mode
P06-15
Setting Effective
Range Time

mode
P06-16
Setting Effective
Range 0~37 Unit - At stop Default 31
Time
Set DI8 for the required DI function.

mode
P06-17
Setting Effective
Range Time
DI8 and DI9 are high-speed DI terminals. The width of the input signal must be larger than 0.25 ms. Set the
valid logic correctly according to the host computer and peripheral circuits. The width of the input signal is
shown in the following table.
Value DI8 logic when DI8 Function Enabled Description
High Larger than 0.25ms

0 Low level
Valid
Low
Valid
High
1 High level
Low
Larger than 0.25ms
Valid
High
2 Rising edge
Low
Larger than 0.25ms
High Larger than 0.25ms
3 Falling edge Low

Valid
Valid Valid
High
4 Rising edge
and falling edge Low
Larger than 0.25ms
206

mode
P06-18
Setting Effective
Range 0~37 Unit - Time At stop Default 0
Set DI9 for the required DI function

mode
P06-19
Setting Effective
Range Time
It sets the DI9 logic when the DI function allocated to DI9 is enabled

allocation 3 mode
P06-34
Setting Effective Power-on Factory
0~0xFFFF Unit - Time again 0
Range setting
It determines whether a digital input function (FunIN.33 to FunIN.37) becomes active immediately after
power-on
P06-34 is input and displayed in decimal on commissioning software. Please remember data conversion
during the use.
For details of FunIN.33 to FunIN.37, refer to DI/DO Function Denitions.
The setting values of P06-34 are described in the following table.
(HEX) After Power-on
0000 None 0 No DI function allocated
0001 bit0 33 XintInhibit (Position change on y inhibited)

0002 bit1 34 EmergencyStop (Emergency stop)
0004 bit2 35 ClrPosErr(position deviation cleared)
0008 bit3 36 V_LmtSel (Internal speed limit source)
0010 bit4 37 PulseInhibit(Pulse input inhibited)
0020 bit5 38
0040 bit6 39
0080 bit7 40
0100 bit8 41
0200 bit9 42
0400 bit10 43
0800 bit11 44
1000 bit12 45
2000 bit13 46
4000 bit14 47
8000 bit15 48
Set P06-34 to the value recommended in the preceding table
207

Name allocation 4 Property During Running mode -
P06-35
Effective Power-on
Setting Range 0~0xFFFF Unit - again Default 0
Time
It sets any digital input function (FunIN.49 to FunIN.64) to become active immediately after power-on.
The setting values of P06-35 are described in the following table
DI Function to
Value Effective Become Active Function
(HEX) Bit After Power-on
0000 None 0
0001 bit0 49
0002 bit1 50
0004 bit2 51
0008 bit3 52
0010 bit4 53
0020 bit5 54
0040 bit6 55
None
0080 bit7 56
0100 bit8 57
0200 bit9 58
0400 bit10 59
0800 bit11 60
1000 bit12 61
2000 bit13 62
4000 bit14 63
8000 bit15 64
Set H06-35 to the value recommended in the preceding table
Control
Name AI1 offset Property During Running -
mode
P06-50
Setting Effective
-5000~5000 Unit mV Immediate Default 0
Range Time
It sets the actual AI1 input voltage when the drive sampling voltage is 0 after zero drift correction.
AI1 lter time constant Control

mode
P06-51
Setting Effective
0~655.35 Unit ms Immediate Default 2.00
Range Time
It sets the lter time constant of voltage signal input from AI1.
The setting of this parameter can avoid motor reference uctuation caused by instable voltage input and
reduce motor maloperations caused by interference signal.
The lter function cannot eliminate or suppress zero drift and dead zone.
Control
Name AI1 dead zone Property During Running -
mode
P06-53
Setting Effective
0~1000.0 Unit mV Immediate Default 10.0
Range Time
It sets the AI1 input voltage range when the drive sampling voltage is 0
208
Name AI1 zero drift Property During Running Control -

mode
P06-54
Setting Effective
-500.0~500.0 Unit mV Time Immediately Default 0.0
Range
Zero drift: indicates the value of the servo drive sampling voltage relative to GND
Relationship Between Sampling Voltage and AI Input Voltage after Filter
No Offset With Offset (Offset > 0)
Sampling Sampling No offset

Voltage Voltage After offset
Offset
removal
-10V -(P06-54) -10V

+10V AI inpu
+(P06-54) +10V AI input
Dead Zone voltage
voltage after
Offset (P06-58)
after lter
lter (P06-55)
Set FN-10=1 (Analog automatic adjustment) = 1 (AI1 adjustment) to perform automatic adjustment of AI1 zero
drift. The adjusted AI1 zero drift will be restored in P06-54.
If zero drift is larger than 500.0 mV, Er.831 (AI zero drift too large) will occur.
If sampling voltage is larger than 11.5 V, Er.834 (AD sampling overvoltage) will occur.
In torque control, if the torque reference source is analog voltage, refer to 6.4.1 Torque Reference Input
Setting for details on the setting of AI1.
Control
Name AI2 offset Property During Running -
mode
P06-55
Setting Effective
Range -5000~5000 Unit mV Immediate Default 0
Time
AI2 lter time constant Control

mode
P 06-56
Setting Effective
0~655.35 Unit ms Immediate Default 2.00
Range Time
Control
Name AI2 dead zone Property During Running -
mode
P06-58
Setting Effective
Range 0~1000.0 Unit mV Immediate Default 10.0
Time
AI2 zero drift Control

Name Property During Running mode -
P06-59
Setting Effective
Range -500.0~500.0 Unit mV Immediate Default 0.0
Time
209
Control
Name Speed corresponding to 10 V Property At stop -
mode
P06-80
Setting Unit Effective Immediate Default
Range 0~6000 rpm 3000
Time
It set corresponding motor speed when sampling voltage is 10 V
Speed (rpm)
+P06-80)
-10V
0 Sampling
+10V
voltage (V)
-(P06-80)
Sampling
voltage
Speed reference= × (P06-80)
10
When speed feedforward is used and feedforward source is AI1 or AI2 (P03-19 = 2 or 3) in position control.
When speed reference source is AI (P04-00/P04-01 = 1 or 2) in speed control.
When speed limit source is AI (P05-18 = 1 or 2) in torque control
Name Torque corresponding to 10 V Property At stop Control -

P06-81 mode
Setting 1.00~8.00 Unit Times Effective Immediate Default 1.00
Range Time
It sets the torque level corresponding to sampling voltage 10 V
1.00 time indicates one time of rated motor torque.
Torque
Level
+(P06-81)
-10V
0
+10V Input voltage (V)
-(P06-81)
Sampling
Torque voltage
reference= × (P06-81)
10
When torque reference source is AI (P05-00/P05-01 = 1 or 2) in speed control.

When torque limit source is AI (P05-08 = 1 or 2) in torque control.
210
Group P07:Output Terminal Parameters
DO1 function selection Control

Name Property Duriing Runing -
mode
P07-00
Setting
Range 0~22 Unit - Effective At stop Default 1
Time
It sets DO1 for the required DO function.

For details of DO functions, refer to DI/DO Function Denitions.
The DO functions are described in the following tabl
Value DOFunction Value DOFunction

0 No Function 12 ALMO1:3-digit fault code output
1 S-RDY (Servo ready) 13 ALMO2:3-digit fault code output
2 TGON (Motor rotation output) 14 ALMO3:3-digit fault code output
3 ZERO (Zero speed signal) 15 Xintcoin:Position change on y completed
4 V-CMP (Speed consistent) 16 HomeAttain:Home attaining output
5 COIN (Positioning completed) 17 ElecHomeAttain:Electrical home attaining output
6 NEAR (Positioning near) 18 ToqReach:Torque reached
7 C-LT (Torque limit) 19 V-Arr:Speed reached
8 V-LT (Speed limit) 20 AngIntRdy:Angle tuning output
9 BK (Brake output) 21 DB :DB braking output
10 WARN:Warning output 22 CmdOk:Internal reference output
11 ALM:Fault output

Do not set different DO terminals including DO and VDO for
the same DO function
Name DO1 logic selection Property During Running Control -

mode
P07-01
Setting Effective
Time
It sets the DO1 logic when DO function allocated to DO1 is enabled.
DO1 to DO5 are low-speed DO terminals and the output signal width is 1 ms at minimum. The host
computer must have correct design and ensure that valid DO logic change is received.
Value DO1 Logic when DO1 Function Transistor State Min. Signal Width
Enabled
High 1ms
0 Low Level ON
Low Valid
High
1 High Level OFF Valid
Low
1ms
View the setting of P07-22 (DO source) before receiving DO logic change to check whether DO output level
is determined by the drive status or communication.

mode
P07-02
Setting
0~22 Unit - Effective At stop Default 5
Range Time
DO2 logic selection Control

P07-03
Setting
0~1 Unit - Effective At stop Default 0
Range
Time
211
Name DO3 function selection Property During Running Control -

mode
P07-04
Setting Effective
Time

mode
P07-05
Setting Effective
Time

mode
P07-06
Setting Effective
Range Time

mode
P07-07
Setting Effective
Range Time

mode
P07-08
Setting Effective
Time

mode
P07-09
Setting Effective
Range Time
DO source Control
Name Property At stop -
mode
P07-22
Setting Effective Immediate
Range 0~31 Unit - Default 0
Time
It sets whether the logic of DO terminals is determined by the drive status or communication.
P07-22 is displayed in decimal on the keypad. After converting to binary,
Bit(n) = 0 in P07-22 indicates that DO (n+1) logic is determined by the drive status.
Value (Binary) DO Logic Determined by

Value
bit4 bit3 bit2 bit1 bit0
(Decimal) Drive Status
DO5 DO4 DO3 DO2 DO1
0 0 0 0 0 0 DO1~DO5
1 0 0 0 0 1 DO2~DO5
… … … … … … …
31 1 1 1 1 1 NONE
212
Control
Name AO1 signal selection Property During Running -
mode
P07-50
Setting
Range 0~9 Unit - Effective Immediate Default 0
Time
It sets the AO1 output signal.
Value AO1Signal Description
Motor Speed
0 When actual motor speed is 1000 RPM, the AO1 output voltage in 1 V in theory
(1V/1000rpm)
The motor speed reference indicates the speed loop input

reference, including:
Speed
Position loop output in position control
1 Reference Speed reference in speed control
(1V/1000rpm)
When speed reference is 1000 RPM, AO1 output voltage in 1 V in theory.
Motor torque reference, including:

Torque reference Speed loop output in position or speed control

（1 V/1 time of rated Torque reference in torque control
2
motor torque) When
torque reference is one time of rated motor torque, AO1
output voltage is 1 V in theory.
Position deviation Position deviation without electronic gear ratio

3 When position deviation is one reference unit, AO1 output voltage
(0.05 V/1 reference unit) is 0.05 V in theory.
Position deviation Position deviation with electronic gear ratio

4 When position deviation is one encoder unit, AO1 output
(0.05 V/1 encoder unit) voltage is 0.05 V in theory.
It indicates the motor speed corresponding to the position reference output by
Position reference each position loop cyclically in position control.
5 When speed reference is 1000 RPM, AO1 output voltage in 1 V in theory.
speed (1 V/1000 RPM)
The time constant of position reference speed lter can be set in P0A-27
Positioning completed (COIN) signal

6 Positioning Active: AO1 output voltage is 5 V.
completed Inactive: AO1 output voltage is 0 V.
In position control, the output signal of speed feedforward control

Speed corresponds to some speed reference sources.
7 feedforward When speed reference of speed feedforward control output is 1000
(1V/1000rpm) RPM, AO1 output voltage is 1 V in theory.
8 AI1Voltage AI1 sampling voltage
9 AI2Voltage AI2 sampling voltage
Speed
feedforward
Speed Speed Torque

feedforward Reference Reference
control
Position +
Position Electronic + +
references × Position loop × Speed loop Current loop
Reference gear ratio mooth lter - -
Position Speed
feedback feedback
Position
deviation Position Position
(referenceunit) reference deviation Motor Speed
speed Encoder
(encoderunit) feedback
) + - Electronic
× gear ratio
213
Control
Name AO1 offset voltage Property During Running -
mode
P07-51
Setting Effective
Range Time
It sets the actual AO1 output voltage after offset when theoretical output voltage is 0 V
Control
Name AO1 multiplying factor Property During Running mode -
P07-52
Setting Effective
-99.99~99.99 Unit Times Immediate Default 1.00
Range Time
It sets the actual AO1 output voltage after amplication when theoretical output voltage is 1V.
For example, H04-50 = 0 (AO1 output is motor speed).
We pre-design when motor speed x varies between -3000 to 3000 RPM, the range of AO1 output voltage y
is 0 to 5000 mV.
-3000×k +b = 0
{
3000×k +b = 5000
In the preceding formula, k = 0.83 and b = 2500. Thus H07-51 = 2500 (mV) and H04-52 = 0.83 (time).
AO2 signal selection Control

P07-53
Setting Effective
Range 0~9 Unit - Immediate Default 0
Time
AO2 offset voltage Control

P07-54
Setting Effective
Range Time
AO2 multiplying factor Control

P07-55
Setting Effective
-99.99~99.99 Unit Times Immediate Default 1.00
Range Time
Group P03：Position Control Parameters
Control
Name Position reference source Property At stop P
mode
P03-00
Setting Effective
0∼ 2 Unit - Immediate Default 0
Range Time
It selects the position reference source in position control.

Host computer or another pulse generator generates
0 Pulse input pulses, which is input into the servo drive via hardware
terminal.The hardware terminal is selected in H03-01.
The step setting is set in P03-05.
1 Step setting The step reference is sent by the
DI set for function FunIN.20.
The pulse input is external position reference. The step reference and multi-position reference are internal
position references
214
Control
Name Pulse input terminal selection Property At stop P
mode
P03-01
Setting 0～1 Unit - Effective Immediate Default 0
Range Time
It selects the hardware input terminal according to input pulse frequency when P03-00 = 0 (position
reference source is pulse input) in position control.
Value Input Terminal Hardware Interface

Differential input terminals,：PULSE+、PULSE-、SIGN+、SIGN-
Servo drive
PULSE+ 19 200Ω
PULSE- 4
SIGN+ 18 200Ω
SIGN- 3
Max. pulse frequency 500kpps。

Open-collector input terminals：PULLHI、PULSE+、PULSE-、SIGN+、SIGN-
0 Low speed
terminals
Servo drive
2.4kΩ
PULLHI 26 2.4kΩ
PULSE+ 19 200Ω
PULSE- 4
2.4kΩ
2.4kΩ
SIGN+ 18 200Ω
SIGN- 3
COM- 27
Max. pulse frequency 200kpps
215
Name Pulse input terminal selection Property At stop Control P

P03-01 mode
Setting Effective
Range 0～1 Unit - Immediate Default 0
Time
It selects the hardware input terminal according to input pulse frequency when P03-00 = 0 (position
reference source is pulse input) in position control.
Value Input Terminal Hardware Interface

Differential input terminals：HPULSE+、HPULSE-、HSIGN+、HSIGN-
Servo drive
HPULSE+42
HPULSE- 37
1 High speed
HSIGN+ 43
HSIGN- 32
Max. pulse frequency 4Mpps
Name Pulses per one motor revolution Property At stop Control P

P03-02 mode
0~1048576 Unit P/r again Default 0
Range Time
It set the number of pulses required for one motor revolution
When P03-02 = 0, electronic gear ratio 1 and electronic gear ratio 2 (P03-07 to P03-13) and electronic
gear ratio switchover condition (P03-39) are valid.
P03-02 ≠ 0 ， Electronic B Motor resolution

=
gear ratio A P03-02
In this case, electronic gear ratio 1 and electronic gear ratio 2 are invalid
Time constant of rst-order low-pass Control

Name lter Property At stop P
mode
P03-04
Setting 0~6553.5 Unit ms Effective Immediate Default 0.0
Range Time
It sets the time constant of rst-order low-pass lter for position reference (encoder unit).
If position reference P is rectangular wave or trapezoidal wave, the position reference after rst-order
lowpass lter is as follows:
Input position reference Input position
First-order lter reference
Position
Reference Position 3t First-order lter
Reference
3t Time t 3t Time t
This function has no effect on displacement (position reference sum).

Too large setting of this parameter will cause an increase in response delay. Set
this parameter correctly according to actual condition.
216
Name Step amount Property At stop Control P

P03-05 mode
Setting Reference Effective
-9999~9999 Unit Time Immediate Default 50
Range unit
It sets position reference sum when P03-00 = 1 (position reference source is step setting).
Motor displacement = P03-05 x electronic gear ratio. Positive/negative of the setting of P03-05
decides forward/reverse rotation of the motor.
Control
Name Time constant of moving average lter Property At stop P
mode
P03-06
Setting 0~128.0 Unit ms Effective Immediate Default 0.0
Range Time
It sets the time constant of moving average lter for position references (encoder unit). If position reference
P is rectangular wave or trapezoidal wave, the position reference after lter of average value is as follows:
Position Reference Is Rectangular Wave Position Reference Is Trapezoidal Wave
Input position reference Input position reference
Position Moving average lter Position t Moving average lter
Reference Reference
Time t t Time t
t t
This function has no effect on displacement (position reference sum). Too large setting of this parameter will
cause an increase in response delay. Set this parameter correctly according to actual condition.
Electronic gear ratio 1 (numerator) Control

Name Property During Running P
mode
P03-07
Setting 1~1073741824 Unit - Effective Immediate Default 1048576
Range Time
It sets the numerator of electronic gear ratio 1 for frequency-division/multiplication of

position reference(reference unit).
It is valid when P03-02 (Pulses per one motor revolution) = 0.
Name Electronic gear ratio 1 (denominator) Property During Running Control P

P03-09 mode
Range Time
It sets the denominator of electronic gear ratio 1 for frequency-division/multiplication of

position reference (reference unit).
It is valid when P03-02 (Pulses per one motor revolution) = 0
Name Electronic gear ratio 2 (numerator) Property During Running Control P

P03-11 mode
Range Time
It sets the denominator of electronic gear ratio 2 for frequency-division/multiplication of position

reference(reference unit).
Name Electronic gear ratio 2 (denominator) Property During Running Control P

P03-13 mode
Setting Effective Factory
Range 1~1073741824 Unit - Time Immediate 10000
setting
It sets the denominator of electronic gear ratio 2 for frequency-division/multiplication of

position reference (reference unit).
217
Control
Name Pulse input format Property At stop P
mode
P 0 3 -15
Setting Effective Power-off
0~3 Unit - Time again Default 0
Range
It sets the input pulse format when P03-00 = 0 (position reference source is pulse input).
Maximum frequency and minimum time width of pulse position reference corresponding to different input
terminals are as follows:
Setting of Setting of
Pulse Signal Forward Pulse Diagram Reverse Pulse Diagram
P03-02 P03-15
PULSE PULSE
Pulse + PULSE
0 direction, t1 t2 t3 t1 t2 t3
positive logic SIGN SIGN
High SIGN Low
Pulse + PULSE PULSE

PULSE
negative logic SIGN SIGN Low SIGN High
Phase A + A Phase A Phase

PULSE
phase B t4 t4 t4 t4
0 quadrature (APhase
2 B Phase BPhase
pulse, SIGN t4 t4
t4 t4
4-frequency Phase A advancing Phase B advancing
multiplication (BPhase) phase B by 90° . phase A by 90° .
CW
t5 t5 t6 t5 t5
PULSE(CW) CCW
3 CW+CCW
SIGN(CCW) CW
t5 t5 t6 t5 t5
CCW
Pulse + PULSE PULSE

PULSE
0 direction t1 t2 t3 t1 t2 t3
positive logic SIGN SIGN Low SIGN High
Pulse + PULSE PULSE PULSE

negative logic SIGN SIGN High SIGN Low
Phase A + A Phase A Phase

phase PULSE t4 t4 t4 t4
B quadrature (A Phase)
1 2 pulse, B Phase B Phase
SIGN t4 t4 t4 t4
4-frequency Phase B advancing
multiplication (BPhase) Phase A advancing
phase A by 90° phase B by 90° .
CW
t5 t5 t6 t5 t5
PULSE(CW) CCW
3 CW+CCW
SIGN(CCW) CW
t5 t5 t6 t5 t5
CCW
Max. Min. Time Width/us

Input Terminals
Frequency t1 t2 t3 t4 t5 t6
High-speed pulse input terminal 4Mpps 0.125 0.125 0.125 0.25 0.125 0.125
Low-speed pulse Differential input 500kpps 1 1 1 2 1 1

input terminal Open-collector input 200kpps 2.5 2.5 2.5 5 2.5 2.5
The rise time and fall time of pulse position reference should be smaller than 0.1 us
218
Name Clear action Property At stop Control P

mode
P03-16
Setting Effective
0~2 Unit - Time Immediate Default 0
Range
It sets the condition of clearing position deviation.

Position deviation = (position reference – position feedback) (encoder unit)
Value Clearing Condition Description
Servo ON Servo ON
Clear position deviation when
0 S-ON is turned off or a fault Servo OFF
occurs.
Clear
Servo ON Servo ON
Clear position deviation pulses
1 Servo Fault
when S-ON is turned off or a
fault occurs. Clear
Set a DI terminal for FunIN.35: ClrPosErr

(Position deviation cleared).
It is recommended that high-speed DI terminal
be set for this function and the logic be edge valid.
DI Valid
DI Invalid DI Invalid
Clear position deviation when
2 S-ON is turned off and the
ClrPosErr signal is input Clear
from DI. (Rising edge valid)
DI Valid
DI Invalid DI Invalid
Clear
(Falling edge valid)
If absolute value of position deviation is larger than P0A-10 (Threshold of position deviation excess), Er.B00
(Position deviation being large) will occur.
Control
Name Encoder frequency-division pulses Property At stop -
mode
P03-17
Setting Effective
35~32767 Unit P/r Power-on again Default 2500
Range Time
It sets the number of pulses output by PAO or PBO per motor revolution.
After quadruple frequency, the pulse output resolution is:
Pulse output resolution per motor revolution = P03-17 x 4
219
Name Speed feedforward control selection Property At stop Control P

mode
P03-19
Setting Effective
Range Time
It sets the speed loop feedforward signal source.
Adopting speed feedforward control can improve position reference response in position control.
Speed feed
forward
control
+ Motor
Electronic Position + Position +
Position reference × × Speed loop Current loop M
Reference gear ratio smooth lter loop control control control
- -
Position Speed
Position
deviation feedback
feedback
Encoder
Speed
calculation

0 No speed feedforward -
Use speed corresponding to position reference (encoder unit) as speed
1 Internal
feedforward source.
2 AI1
Use speed corresponding to analog input of AI1 as speedfeedforward source.
Use speed corresponding to analog input of AI2 as speed feedforward

3 AI2
source.
For speed feedforward control parameters including P08-18 (Time constant of speed feedforward lter) and
P08-19 (Speed feedforward gain), refer to Chapter 7 Adjustment.
Output condition of positioning Control

Name completed/near signal (COIN/NEAR) Property At stop P
mode
P03-20
Setting Effective
Time
When the absolute value of the position deviation is within P03-21 during drive running in position
control, the servo drive outputs positioning completed signal (FunOUT.5: COIN) can be set by P03-20
Value Meaning
0 Absolute value of position deviation is smaller than P03-21
1 Absolute value of position deviation is smaller than P03-21 and position reference after lter is 0
2 Absolute value of position deviation is smaller than P03-21 and position reference before lter is 0
Absolute value of position deviation is smaller than setting of P03-21 and
3 position reference is 0, positioning completed/near signal holding time
determined by P03-60
220
Position deviation threshold of Control

Name positioning completed Property During Running mode P
P03-21
Setting Encoder/ Effective
1~65535 Unit Immediate Default 734
Range Reference unit Time
It sets the absolute threshold of the position deviation when servo drive outputs positioning
completed signal.Positioning completed signal: FunOUT.5: COIN
Position
deviation
pulse
P03-21
(positioning
completed
threshold) 0

Timet
Positioning
completed High level valid
signal COIN
The positioning completed signal is valid only when the servo drive is in running status in position control.
Control
Name Position deviation threshold of positioning near Property During Running P
mode
P03-22
Setting Encoder/ Effective
1~65535 Unit Immediate Default 65535
Range Reference unit Time
It sets the absolute threshold of the position deviation when servo drive outputs positioning near signal.
Positioning near signal: FunOUT.6: NEAR
Note:
The setting of P03-22 must be larger than that of P03-21 normally.
P03-21
(Threshold of positioning completed) indicates threshold of position deviation absolute when
positioning completed is valid. It is unrelated to positioning accuracy.
Too large setting of P08-19 (Speed feedforward gain) or drive running at low speed will result in small
position deviation absolute value. If the setting of P03-21 is too large, positioning completed will be
always valid. In this case, decrease the setting of P03-21 to improve efciency of positioning completed.
On the condition that the setting of P03-21 is small and position deviation is also small, change output
condition of positioning completed signal by setting P03-20.
Control
Name Position change on y Property At stop P
mode
P03-23
Setting Effective
0~1 Unit - Power-on again Default 0
Range Time
It sets whether to enable position change on y
Value Meaning
0 Disabled
1 Enabled
When using this function, DI9 is forcibly used for input the position change on y signal and its logic is edge valid.
When the homing function is enabled, the position change on y signal is shielded.
When position change on y is enabled, the other internal and external position references are shielded.
Once it is disabled, the condition of responding to the other position references is determined by the setting of P03-29.
221
Displacement of position change on y Control

mode
P03-24
Setting Reference Effective
0~1073741824 Unit unit Immediate Default 10000
Range Time
It sets the position reference for position change on y.
If P03-24 = 0, the position change on y function is disabled.
Actual position reference (encoder unit) for position change on y = P03-24 x electronic gear ratio
If position deviation is very large before position change on y is enabled and the setting of H05-24 is
too small, reverse motor rotation will occur.
Constant speed for position change Control

Name on y Property During Running mode P
P03-26
Setting Effective
Range 0~6000 Unit rpm Immediate Default 200
Time
It sets maximum motor speed for position change on y
Motor Speed Before Enabling Max. Speed for Position

Value Change on Fly Motor Rotating Direction for Position Change on Fly
Position Change on Fly
<1 1 -
0 Motor speed before enabling position Consistent with motor rotating direction before enabling
≥1 change on y position change on y
1~6000 - Settingof P03-26 Determined by P02-02 (rotating direction selection)
Name Acceleration/Deceleration time of position change on y Property During Running Control P

mode
P03-27
Setting Effective
Range 0~1000 Unit ms Time Immediate Default 10
It sets the time for motor to accelerate from 0 to 1000 RPM or decelerate from 1000 RPM to 0 for position
change on y.
Thus actual motor acceleration time "t" during position change on y is:
|P03-26-motor speed before
enabling position change on y |
t= ×( P 0 3 -27 )
1000
Control
Name Position change on y unlock Property During Running P
mode
P03-29
Setting Effective
Range Time
It sets whether to unlock position change on y signal.

After the running of position change on y is completed, the servo drive directly
0 Disabled responds to the other position references.
After the running of position change on y is completed, the servo
drive does not respond to the other position references.
1 Enabled
After you enable the DI function (FunIN.29: XintFree, position change on
y unlock), the servo drive can respond to the other position references.
Note:
Set P03-29 = 1 normally, which helps to prevent motor maloperation due to input
of interference position reference after positioning of position change on y
is completed.
222
Control
Name Homing enabling method Property During Running P
mode
P03-30
Setting Effective
Time
It sets the method of enabling the homing function.
Description
Value Description
Homing Signal source
0 Disabled The homing function is disabled.
Input HomingStart signal from
1 DI to enable homing Home attaining DI function FunIN.32: HomingStart, homing function
Input HomingStart signal from DI to Electrical home

2 enable electrical home attaining attaining DI function FunIN.32: HomingStart, homing function
S-ON signal active for the rst time after power-on

3 Start homing immediately upon power-on Home attaining
again in position control
S-ON signal active in position control
4 Perform homing immediately Home attaining
After the operation is successful, set P03-30 = 0.
S-ON signal in position control

5 Start electrical home attaining Electrical home
attaining After the operation is successful, set P03-30 = 0.
Take current position as the home The signal is not required.

6 Home attaining
After the operation is successful, set P03-30 = 0.
For details on the homing functi on, refer to 6.2.
Name Homing mode Property At stop Control P

mode
P03-31
Setting Effective
Range Time
It sets the default motor rotating direction, deceleration point and home for home attaining.
Homing Mode
Value Description
Actuation Direction Deceleration Point Home
0 Forward Home switch Home switch
1 Reverse Home switch Home switch
Motor Z signal Motor Z signal Forward/Reverse:
2 Forward
Motor Z signal Motor Z signal consistent with the setting
3 Reverse
Home switch Motor Z signal of P02-02 (rotating
4 Forward
Home switch Motor Z signal direction selection)
5 Reverse
Home switch: DI function
6 Forward Forward limit switch Forward limit switch
Reverse limit switch Reverse limit switch FunIN.31: HomeSwitch
7 Reverse
Forward limit switch: DI
8 Forward Forward limit switch Motor Z signal
Reverse limit switch Motor Z signal function FunIN.14 :P-OT
9 Reverse
Mechanical nal limit Mechanical nal limit Reverse limit switch: DI
10 Forward position position
Mechanical nal limit Mechanical nal limit function FunIN.15: N-OT
11 Reverse position position
12 Forward Mechanical nal limit Motor Z signal
position
13 Reverse Mechanical nal limit Motor Z signal
position
Control
Name Low speed of homing Property During Runnning P
mode
P03-32
Setting Effective
Range Time
It sets motor speed at searching the deceleration point signal when P03-30 =1/3/4.
It sets maximum motor speed when P03-30 = 2/5.
Too small setting of speed will cause too long time on searching home switch signal. In this case,
Er.601 will occur.
223
Name High speed of homing Property During Running Control P

P03-33 mode
Setting Effective
Time
It sets motor speed at searching the home signal when P03-30 =1/3/4.
If the motor has been close to home switch, it will immediately search the home at low speed set in P03-33
once the homing function is enabled.
P03-33 should be set as low as you can to avoid mechanical shock at stop.
Acceleration/Deceleration time of H oming Control

Name Property At stop P
mode
P03-34 Effective
Setting Unit Immediate Default
0~1000 ms Time 1000
Range
It sets the time for the motor to accelerate from 0 to 1000 RPM or decelerate from 1000 RPM to 0 when P03-30 = 1/2/3/4/5.
Thus actual motor acceleration time t during homing is:
P 03-32
t= × ( P03-34)
1000
Name Duration limit of homing Property At stop Control P

P03-35 mode
Setting Effective
Range Time
t sets maximum time for searching the home.
If the setting of P03-35 is too small or the home is not found within the time set in P03-35, Er.601 will occur
Control
Name Mechanical home offset Property At stop P
mode
P03-36 -1073741824
Setting Unit Reference Effective Immediate Default 0
Range ~1073741824 unit Time
It sets motor absolute position value (UN-07) after homing.
It sets the position relationship of mechanical home reference point and mechanical zero according to the
setting of P03-40.
It sets the displacement from target position from mechanical home reference point when electrical homing
attaining is enabled.
Name Servo pulse output source Property At stop Control P

P03-38 mode
Setting Effective
0~2 Unit - Power-on again Default 0
Range Time
It sets the output source of the pulse output terminal.
Frequency-division output function cannot be used in full closed-loop control. In this case, the
frequencydivision output terminal is used for input of external grating scale signal.

The encoder feedback signal is output after being divided based on the setting
Encoder frequency of P03-17 during motor rotation.Encoder frequency-division output mode is
0
division output recommended when host computer is used for closed-loop feedback.
Pulse synchronous Only when P03-00 = 0, the input pulse is synchronously output.
1 output When pulses of multi-axis servo is synchronously tracked,
pulse synchronous output is suggested.
Frequency-division or The pulse output terminal has no output. In this case, the
2 synchronous output frequency-division output terminal is used for input of external
inhibited grating scale signal
The pulse output terminals are as follows:
Signal Output Mode Output Terminal Max. Pulse Frequency

Phase A signal Differential output PAO+ 、 PAO- 2Mpps
Phase B signal Differential output PBO+ 、 PBO- 2Mpps
Differential output PZO+ 、 PZO- 2Mpps
Phase Z signal
Open-collector output PZ-OUT 、 GND 100kpps
Signal width of phase A/B pulse is determined by motor speed. Signal width of
phase Z pulse is half of that of phase A/B pulse.
Output polarity of phase Z signal is determined by the setting of P03-41.
224
Control
Name Electronic gear ratio switchover condition Property At stop mode P
P 0 3 -39
Setting Effective
Time
It sets the electronic gear ratio switchover condition

Switchover if position reference (reference unit)
0 =0 and the duration reaches 2.5 ms Set a DI terminal for FunIN.24: GEAR_
SEL (Electronic gear ratio selection).
1 Real-time switchover
It is valid when P03-02 (pulses per one motor revolution) = 0.
Mechanical home offset and action Control

Name Property At stop mode P
after reaching limit switch
P 0 3 -40
Setting Effective
Range Time
It sets the offset of mechanical home reference point and mechanical zero and action after reaching limit
switch during the homing operation.
Mechanical Home Offset Description

Value and Action After Reaching
Limit Switch Mechanical Home Reference Point Action After Reaching Limit Switch
P03-36 as coordinate for Mechanical zero different from mechanical

home reference point. After home After the homing enable signal is
homing, trigger homing and sent again, the servo drive
0 nd home reversely after attaining is completed, the motor stops at
mechanical home reference point and the performs homing reversely.
reaching limit switch
home coordinate is forced to P03-36.
Mechanical zero same as mechanical
P03-36 as relative offset for homing, home reference point. After positioning After the homing enable signal is
1 trigger homing and nd home reversely mechanical home reference point, the sent again, the servo drive
after reaching limit switch motor continues to move according to the performs homing reversely.
setting of P05-36 and then stops.
Mechanical zero different from mechanical
P03-36 as coordinate for homing, The servo drive automatically
home reference point. After home attaining is
2 automatically nd zero reversely after
completed, the motor stops at mechanical home continues to perform homingreversely.
reaching limit switch
and the home coordinate is forced to P03-36

Mechanical zero same as mechanical home
P03-36 as relative offset for homing, reference point. After positioning mechanical The servo drive
3 automatically nd zero reversely after home reference point, the motor continues automatically continues
reaching limit switch to move according to the setting of P03-36 to perform homing reversely.
andthen stops.
After the homing operation (including home attaining and electrical home attaining) is completed, the
absolute motor position (UN-07) is consistent with P03-36.
Home attaining completed signal (FunOUT.16: HomeAttain) or electrical home attaining signal (FunOUT.17:
ElecHomeAttain) is output only after UN-07 = P03-36 and is irrelevant to status of the S-ON signal.
For home triggering signal, see the homing function in 6.2.8 Homing.
225
Name Output polarity of Z pulse Property At stop Control P

mode
P03-41
Setting Effective
Range 0~1 Unit - Power-on again Default 1
Time
It sets the output level when phase Z is valid at pulse output.
P02-03 P03-41
Pulse Output Diagram for Pulse Output Diagram for
(output pulse phase) (output polarity
Forward RUN Reverse RUN
of Z pulse)
T
A phase A phase
B phase B phase
0
Z phase Z phase
Phase A advancing phase B by 90° Phase B advancing phase A by 90°

0
A phase A phase
B phase B phase
1 Z phase Z phase
Phase A advancing phase B by 90° Phase B advancing phase A by 90°
A phase A phase
B phase B phase
0
Z phase Z phase
Phase B advancing phase A by 90° Phase A advancing phase B by 90°

1
A phase A phase
B phase B phase
1 Z phase Z phase
Phase B advancing phase A by 90° Phase A advancing phase B by 90°
The output accuracy of signal Z frequency-division has higher requirement on applications. The valid edge
for signal Z output is as follows
Value Output Polarity of Z pulse
0 Positive (high level when pulse Z is valid)

1 Negative (low level when pulse Z is valid)

■ P03-41=0 The valid edge is falling edge.

■ P03-41=1 The valid edge is rising edge.
Control
Name Position pulse edge slection Property During Running PST
mode
P03-43
Setting Effective
0~1 Unit - Power onagain Default 0
Range Time
Value Meaning
0 Falling edge valid
1 Rising edge valid
Valid edge selection of pulse reference, when 0 is set, the calculation starts from the falling edge of the pulse, and
when 1 is set, it is calculated from the rising edge of the pulse input
。
Position offset in absolute position Control

linear mode (low 32 bits) mode
P03-46
Setting Effective
Range -2147483648~2147483647 Unit 1 encoder unit Power-on again Default 0
Time
Position offset in absolute position Control
linear mode (high 32 bits) mode
P03-48
Setting Effective
Range -2147483648~2147483647 Unit 1 encoder unit Power-on again Default 0
Time
When P02-01 = 1 (absolute position linear mode), position offset in absolute position linear mode equals
difference of current encoder absolute position and mechanical position (encoder unit).
226
Mechanical gear ratio in absolute Contro

position rotating mode (numerator) mode
P03-50
Setting Effective
Range 1-65535 Unit 1 Power-on again Default 65535
Time
Mechanical gear ratio in absolute Control
position rotating mode (denominator) mode
P03- 51
Setting Effective
Range 1-65535 Unit 1 Power-on again Default 1
Time
It is transmission ratio of rotating load of the mechanical structure to the motor when P02-01 = 2 (Absolute
position rotating mode).
Pulses within one revolution of load in absolute Control

Name position rotating mode (low 32 bits) Property At stop PST
mode
P03-52
Setting Effective
Range 0~ 4294967295 Unit 1 encoder unit Power-on again Default 0
Time
Pulses within one revolution of load in absolute Control
Name position rotating mode (high 32 bits) Property At stop PST
mode
P03-54
Setting Effective
Range 0~ 127 Unit 1 encoder unit Power-on again Default 0
Time
It indicates pulses per revolution of load when P02-01 = 2 (Absolute position rotating mode).
Judgment threshold of homing with Control

Name hit & stop Property During Running P
mode
P03-56
Setting Effective
Time
It sets the speed threshold for judging whether the load reaches the mechanical nal limit position when the
homing with hit & stop function is used.
Control
Name Torque limit of homing with hit & stop Property During Running P
mode
P03-58
Setting Effective
Range 0~300.0 Unit % Immediate Default 100.0
Time
It sets the positive/negative maximum torque limit when homing with hit & stop function is used.
Control
Name Time threshold of positioning completed Property During Running P
mode
P03-59
Setting Effective
Time
If the position deviation remains smaller than the position deviation threshold of positioning completed for
more than the time set in this parameter, the positoning completed signal can output the valid state.
Name Positioning completed holding time Property During Running Control P

mode
P03-60
Setting Effective
Range 0 ~30000 Unit ms Immediate Default 0
Time
It sets the valid time of the positioning completed signal (COIN) signal when P03-20 = 3. During the time,
the positioning completed signal (COIN) signal becomes invalid if the position reference is not 0.
Name Encoder frequency-division pulses (32-bit) Property At stop Control P

mode
P03-61
Setting Effective
Range 0~262143 Unit P/r Immediate Default 0
Time
When the value is smaller than 35, the encoder frequency-division pulses is determined by P03-17; when the
value is equal to or larger than 35, the encoder frequency-division pulses is determined by this parameter.
227
Group P04: Speed Control Parameters
Main speed reference A source Control

Name Property At stop S
mode
P04-00
Setting Effective
Range Time
It sets the source of main speed reference A

0 Digital setting Main speed reference A is set by P04-03
1 AI1 Main speed reference A is input from AI1.
2 AI2 Main speed reference A is input from AI2.

Note:
Digital setting is internal speed reference. AI1 and AI2 are external speed reference sources. For
details on AI1 and AI2, refer to Chapter4 Wiring.
Auxiliary speed reference B source Control

Name Property At stop mode S
P04-01
Setting Effective
Time
It sets the source of auxiliary speed reference B.

0 Digital setting Auxiliary speed reference B is set by P04-03.
1 AI1 Auxiliary speed reference B is input from AI1.
2 AI2 Auxiliary speed reference B is input from AI2.
3- Invalid
4- Invalid
Note:
Digital setting and multi-speed are internal speed references. AI1 and AI2 are external speed reference
sources. For details on AI1 and AI2, refer to Chapter 4 Wiring
228
Control
Name Speed reference source selection Property At stop S
mode
P04-02
Setting Effective
Range Time
It selects speed reference source

0 Main speed reference A source The speed reference is set in P04-00
1 Auxiliary speed reference B source The speed reference is set in P04-01.
2 A+B The speed reference is set in both P04-00 and P04-01.
A/B switchover is implemented through DI function FunIN.4: Cmd_SEL.
A/B switchover FunIN.4 (Cmd_SEL) State Speed Reference Selection

3 Main speed reference A source
Invalid
Valid Auxiliary speed reference B source
Keypad setting value of speed reference Control

Name Property During Running S
mode
P04-03
Setting Effective
Range -6000~6000 Unit rpm Immediate Default 200
Time
It sets the speed reference when P04-00/P04-01 = 0.
Control
Name Jog speed setting value Property During Running PST
mode
P04-04
Setting Effective
Time
It sets jog speed reference when DI jog function is used.
DI jog function can be enabled in normal drive running status. It
is unrelated to control mode.
Acceleration ramp time constant of Control

Name speed reference Property During Running S
mode
P04-05
Setting Effective
Time
Deceleration ramp time constant of Control

Name speed reference Property During Running S
mode
P04-06
Setting Effective
Time
It sets the deceleration ramp time constant of speed reference only.
Speed V
Motor speed
Step reference Ramp function referenceV1
t1 t2 Time t
Actual Actual
P04-05 time for speed reference to accelerate from 0 to 1000 RPM acceleration time deceleration time
P04-06 time for speed reference to decelerate from 1000 RPM to 0
Thus, actual acceleration/deceleration time calculation formulas are as follows:
Speed
Actual acceleration reference
time t1 = × acceleration ramp time
1000
Speed
Actual deceleration reference
= × Deceleration ramp time of speed reference
time t2 1000
229
Control
Name Maximum speed limit Property During Running S
mode
P04-07
Setting Effective
Time
Control
Name Positive speed limit Property During Running S
mode
P04-08
Setting Effective
Time
Control
Name Negative speed limit Property During Running S
mode
P04-09
Setting Effective
Time
It sets speed reference limit in speed control. The speed reference limit sources are as follows:
P04-07: It sets both the positive and negative speed limits of speed reference. If speed reference exceeds
the setting of H06-07, the speed reference will be limited as this value.
P04-08: It sets the positive speed limit. If positive speed reference exceeds the setting of P04-08, the
reference will be limited as this value.
P04-09: It sets the negative speed limit. If negative speed reference exceeds the setting of P04-09, the
reference will be limited as this value.
Max. motor speed (default limit) is determined by motor model
Speed reference
Maximum motor speed

Maximum speed limit P04-07
limit P04-08
Positive speed
Actual
speed
amplitude

Maximum speed limit P04-07
limit P04-09
Negative speed
Maximum motor speed
Thus, motor speed in positive/negative direction is limited as below:

|Positive speed limit| min {maximum motor speed, P04-07, P04-08}
|Negative speed limit| min {motor rotational speed, P04-07, P04-09}
230
Control
Name Torque feedforward control selection Property During Running PS
mode
P04-11
Setting Effective
Time
It sets whether to enable the internal torque feedforward function in non-torque control.
The torque feedforward function can improve torque reference response speed and reduce position deviation
during xed acceleration/deceleration.

0 No torque feedforward -
The torque feedforward signal source is
speed reference.
1 Internal torque feedforward From output of position controller in
position control
From user speed reference in speed control
Parameters of torque feedforward includes P08-20 (torque feedforward lter time constant) and P08-21
(torque feedforward gain). For details, refer to 7.4.4 Feedforward Gain.
In non-torque control, the control block diagram of torque feedforwad is as follows:
Torque
feedforward
control
Speed + Motor
reference + Speed loop + × Current
× control loop M
- control
Speed
feedback
Speed Encoder
detection
Name Speed threshold for zero speed clamp Property During Running Control S
mode
P04-15
Setting Effective
Time
Zero speed clamp: In speed control, if DI function FunIN.12 (ZCLAMP) function is enabled, and the speed reference amplitude is smaller
than or equal to the value of P04-15, the servo motor enters the zero speed clamp state. At this moment, position loop is built inside the
servo drive and speed reference is invalid. The servo motor is clamped within ±1 pulse of the position at which zero speed clamp becomes
valid . Even if it rotates due to external force, it will return to the zero position and be clamped.
When the speed reference amplitude is larger than the value of P04-15, the servo motor exits the zero speed clamp state. At this moment,
the servo motor continues to run according to the input speed reference.
If DI function FunIN.12 (ZCLAMP) is disabled, the zero speed clamp function is invalid
Speed V
Speed
corresponding to
P04-15
Time t
Zero Speed xed

FunIN.12 ON OFF
ZCLAMP
Zero Speed
ON OFF ON OFF
clamp
231
Speed threshold of motor rotation signal Control

mode
P04-16
Setting Effective
Time
When absolute value of the actual motor speed after lter reaches the setting of P04-16, the motor can be considered to rotate.
At this moment, the servo drive outputs the motor rotation signal (FunOUT.2: TGON) to conrm that motor has rotated.
When the absolute value of the actual motor speed after lter is smaller than the setting of P04-16, the motor is considered not to rotate.
Judgment on the motor rotation signal (FunOUT.2, TGON) is not inuenced by the servo drive status and control mode
Speed V
P04-16
Time t
-(P04-16)
FunOUT.2: TGON,
ON OFF ON OFF
motor rotation output

Note:
In the preceding gure, ON indicates that the motor rotation DO signal is active. OFF indicates that the motor
rotation DO signal is inactive.
The lter time constant of motor speed can be set in P0A-27 (speed DO lter time constant).
Control
Name Threshold of speed consistent signal Property During Running mode S
P04-17
Setting
Range 0~100 Unit rpm Effective Immediate Default 10
Time
In speed control, when the absolute value of the difference between the motor speed after lter and the speed reference
satises the setting of P04-17, the actual motor speed is considered to reach the speed reference. At this moment, the servo
drive outputs the speed consistent signal (FunOUT.4: V-CMP).
When the absolute value of the difference between the motor speed after lter and the speed reference exceeds the setting of
P04-17, the speed consistent signal is inactive.
If the servo drive is not in running status or in speed control, the speed consistent signal (FunOUT.4: V-CMP) is always inactive.
Speed reference
Speed Speed feedback P04-17
Threshold for speed
V consistent signal
Time t
Servo Servo Servo
Off running OFF
FunOUT.4: V-CMP, OFF OFF ON OFF

speed consistent
ON
◆ Note:
In the preceding gure, ON indicates that the speed consistent DO signal is valid. OFF indicates that
the speed consistent DO signal is invalid.
The lter time constant of motor speed can be set in H0A-27 (Filter time constant of speed DO)
232
Control
Name Threshold of speed reached signal Property During Running S
mode
P04-18
Setting Effective
Time
When the absolute value of the motor speed after lter exceeds the setting of P04-18, the motor speed is considered to reach
the desired value. At this moment, the servo drive outputs the speed reached signal (FunOUT.19: V-Arr).
When the absolute value of the motor speed after lter is smaller than or equal to the setting of P04-18, the
speed reached signal is inactive.
Judgment on the speed reached signal (FunOUT.19: V-Arr) is not inuenced by the servo drive status and
control mode. Speed reference
Speed feedback
SpeedV
P04-18
Time t
-(P04-18)
FunOUT.19: V-Arr,
speed reached output OFF ON OFF ON OFF

Note:
In the preceding gure, ON indicates that the speed reached DO signal is valid. OFF indicates that the speed
reached DO signal is invalid.
The lter time constant of motor speed can be set in H0A-27 (Filter time constant of speed DO)
Threshold of zero speed output signal Control

mode
P04-19
Setting Effective
Time
When the absolute value of the motor speed after lter is smaller than the setting of P04-19, the motor speed is considered
to be close to 0. At this moment, the servo drive outputs the zero speed signal (FunOUT.3: V-Zero).
When the absolute value of the motor speed after lter is smaller than or equal to the setting of P04-19, the zero speed signal is inactive.
Judgment on the zero speed signal (FunOUT.3: V-Zero) is not inuenced by the servo drive status and control mode.
Speed V
P04-19
-(P04-19) 时间t
FunOUT.3: ZERO OFF ON OFF

(zero speed signal)
Note:

In the preceding gure, ON indicates that the zero-speed DO signal is valid. OFF
indicates that the zerospeed DO signal is invalid.
The lter time constant of motor speed can be set in P0A-27 (Filter time
constant of speed DO)
233
Group P05: Torque Control Parameters
Main torque reference A source Control

Name Property At stop T
mode
P05-00
Setting Effective
Time
It sets the main torque reference A source.

0 Digital setting Main torque reference A is set by P05-03
1 AI1 Torque reference A is input from AI1
2 AI2 Torque reference A is input from AI2.
Note:
Digital setting is internal torque reference. AI1 and AI2 are external torque reference sources.
For details on AI1 and AI2, refer to Chapter 4 Wiring 。
Name Auxiliary torque reference B source Property At stop Control T

mode
P05-01
Setting Effective
Time
It sets the main torque reference B source.

0 Digital setting Auxiliary torque reference B is set by P05-03.
1 AI1 Torque reference B is input from AI1
2 AI2 Torque reference B is input from AI2.

◆Note:
Digital setting is internal torque reference. AI1 and AI2 are external
torque reference sources. For details on AI1 and AI2, refer to Chapter 4 Wiring
234
Control
Name Torque reference source Property At stop T
mode
P05-02
Setting Effective
Time
It selects torque reference source

0 Main torque reference A source The torque reference is set in P05-00
1 Auxiliary torque reference B source The torque reference is set in P05-01.
The torque reference is set in both P05-00

2 A+B
and P05-01
A/B switchover is implemented through DI function FunIN.4:

Cmd_SEL
3 A/B switchover FunIN.4(Cmd_Sel) Status Torque Reference Source Selection

Invalid Main torque reference A source
Valid Auxiliary torque reference B source
Keypad setting value of torque reference Control

Name Property During Running T
mode
P05-03
Setting Effective
Range -300.0~300.0 Unit % Immediate Default 0
Time
It sets the torque reference when P05-00/P05-01 = 0.

100.0% corresponds to one time of rated motor torque.
Time constant of torque reference Control

Name Property During Running PST
lter mode
P05-05
Setting Effective
Range 0~30.00 Unit ms Immediate Default 0.79
Time
2nd time constant of torque reference lter Control

mode
P05-06
Setting Effective
Range 0~30.00 Unit ms Immediate Default 0.79
Time
It sets the time constant of torque reference lter.
Low-pass lter of torque reference helps to make torque
reference more smooth and reduce vibration.
Too large setting of this parameter will slow response. Observe
the response when setting this parameter!
Input torque
Input torque reference reference
Torque First-order lter 3t First-order lter

Reference Torque
Reference
3t Time t 3t Time t
Note:
The servo drive provides two torque reference low-pass lters. Filter 1 is used by default.
In position or speed control, gain switchover can be used. Once certainconditionsare satised,the drive
switches over to lter 2. For details on gain switchover, refer to 7.4.2 Gain Switchover.
235
Control
Name Torque limit source Property At stop PST
mode
P05-07
Setting Effective
Time
It sets the source of torque limit. For details, refer to Chapter 6 Control Modes.
Value Meaning
0 Internal positive/negative torque limit
1 External positive/negative torque limit (via P-CL, N-CL)
2 T-LMT as external torque limit
Minimum of external positive/negative torque and external T-
3
LMT as torque limit (via P-CL, N-CL)
Switchover between internal positive/negative torque limit
4
and T-LMT torque limit (via P-CL, N-CL)

Note:
Torque limit is valid for position control, speed control, torque control and hybrid control.
Control
Name T-LMT selection Property At stop PST
mode
P05-08
Setting Effective
Time
It selects the analog input channel of torque limit when P 05-07 = 2/ 3/4 (external torque limit enabled)

1 AI1 AI1 used as external torque limit input channel
2 AI2 AI2 used as external torque limit input channel
For related settings of AI, refer to 6.4.1 Torque Reference Input Setting. For nal torque limit, refer to Chapter 6 Control Modes
Control
Name Internal positive torque limit Property During Running PST
mode
P05-09
Setting Effective
Range 0.0 ∼ 300.0 Unit % Immediate Default 300.0
Time
Control
Name Internal negative torque limit Property During Running PST
mode
P05-10
Setting Effective
Time
It sets the internal positive/negative torque limit value when P05-07 = 0 or 4. 100.0% corresponds to one
time of rated motor torque.
Note:
1. If the setting of P05-09 and P05-10 is too small, insufcient torque may occur during acceleration/deceleration of servo motor.
2. If the setting of P05-09 and P05-10 exceeds maximum torque of the servo drive and servo motor, actual torque will be limited
within the maximum torque.
3. For nal torque limit, refer to Chapter 6 Control Modes.
Name External positive torque limit Property During Running Control PST
mode
P05-11
Setting
Range 0.0 ∼ 300.0 Unit % Effective Immediate Default 300.0
Time
Control
Name External negative torque limit Property During Running PST
mode
P05-12
Setting
Range 0.0 ∼ 300.0 Unit % Effective Immediate Default 300.0
Time
It sets the external positive/negative torque limit value when P05-07 = 1 or 3. 100.0% corresponds to one
time of rated motor torque. For nal torque limit, refer to Chapter 5 Control Modes.
236
Control
Name Speed limit source Property During Running T
mode
P05-17
Setting Effective
Range 0∼ 2 Unit - Immediate Default 0
Time
It sets the source of speed limit in torque control.
After speed limit is set, motor speed will be limited within the setting value. After reaching
the limit value,servo motor will run at this value constantly

0 Internal speed limit Speed limit is set in P05-19 and P05-20.
Speed limit value in different directions is determined by minimum
1 V-LMT as external speed limit between speed corresponding to voltage input from AI and P05-19
(Positive speed limit)/P05-20 (Negative speed limit).
Speed limit selected FunIN.36 invalid: P05-19 used as positive/negative speed limit
2 via DI
FunIN.36 valid: P05-20 used as positive/negative speed limit
Note:
For speed limit in torque control, refer to Chapter 6 Control Modes.
Control
Name V-LMT selection Property During Running T
mode
P05-18
Setting Effective
Time
It selects the analog input channel when external analog (V-LMT) is used for speed limit in torque control

1 AI1 AI1 used as external speed limit input channel
2 AI2 AI2 used as external speed limit input channel
Positive speed limit/1st speed limit in Control

Name Property During Running T
torque control mode
P05-19
Setting Effective
Time
Negative speed limit/2nd

Control
Name speed limit Property During Running T
mode
P05-20 in torque control
Setting Effective
Time
It sets speed limit in torque control. For details, refer to Chapter 6 Control Modes.
Control
Name Base value for torque reached Property During Running PST
mode
P05-21
Setting Effective
Time
Control
Name Threshold of torque reached valid Property During Running mode PST
P05-22
Setting Effective
Time
237
Control
Name Threshold of torque reached invalid Property During Running PST
mode
P05-23
Setting Effective
Time
The torque reached function (FunOUT.18: ToqReach) is used to judge whether torque reference reaches the range of torque reached valid value.
When reaching this range, the servo drive outputs corresponding DO signal to the host computer

Actual torque B: Base value for torque reached (P05-21)

T C: Threshold of torque reached valid (P05-22)

D: Threshold of torque reached invalid (P05-23)
B+C
B+D
B
0
Timet
-B
-(B+D)
-(B+C)
FunOUT.18: ToqReach, OFF ON OFF ON OFF

torque reached
The torque reached signal becomes active when the actual torque
reference meets the condition:
|A| B + C
Otherwise, the torque reached signal remains inactive.
The torque reached signal becomes inactive when the actual torque
reference meets the condition::
|A| < B + D
Otherwise, the torque reached signal remains active
Speed limit window in the torque control mode Control

Name Property Property T
mode
P 05-40 Setting
Range 0.5~30.0 Unit ms Effective Immediate Default 1.0
Time
When absolute value of motor speed exceeds speed limit value (for speed limit setting in torque control,refer to 6.4.4 Speed
Limit in Torque Control) in torque control and this status lasts for the time set in this parameter, motor speed is considered to
be limited. At this moment, servo drive outputs FunOUT.8: V-LT (Speed limit). If either of the two conditions is not satised, the
speed limit signal is invalid.The speed limit (FunOUT.8: V-LT) signal is judged only in torque control and S-ON status
Speed feedback
P05-40
Speed V Speed limit (speed limit window)
Time t
Servo Servo ON Servo
Off ON ON Off
FunOUT.8: V-LT,
OFF OFF OFF
speed limit
Note:

In the preceding gure, ON indicates that the speed limit DO signal is valid.
OFF indicates that the speed limit DO signal is invalid.
238
Group P08: Gain Parameters
Control
Name Speed loop gain Property During Running PS
mode
P08-00
Setting Effective
0.1~2000.0 Unit Hz Immediate Default 25.0
Range Time
It sets proportional gain of speed loop.
This parameter determines response of speed loop. The larger the setting is, the quicker response will be.
But too large setting may cause vibration.
If position loop gain need be increased in position control, it is necessary to increase speed loop gain simultaneously.
Time constant of speed loop Control

Name integration Property During Running PS
mode
P08-01
Setting Effective
Range 0.15~512.00 Unit ms Immediate Default 31.83
Time
It sets the time constant of speed loop integration

The smaller the setting is, the better integration effect will be obtained and the deviation
value at stop will be close to 0 more quickly.
Note:

When P08-01 = 512.00, the integration function is disabled
Control
Name Position loop gain Property During Running P
mode
P08-02
Setting Effective
Range 0.0~2000.0 Unit Hz Immediate Default 40.0
Time
It sets proportional gain of position loop.
This parameter determines response of position loop. A large position loop gain can reduce positioning time.
But too large setting may cause vibration.
P08-00, P08-01, P08-02 and P05-05 (Time constant of torque reference lter) are called the 1st gain
Control
Name 2nd gain of speed loop Property During Running PS
mode
P08-03
Setting Effective
Time
2nd time constant of speed loop Control

Name integration Property During Running PS
mode
P08-04
Setting Effective
Time
Control
Name 2nd gain of position loop Property During Running P
mode
P08-05
Setting Effective
Time
It sets the 2nd gain of position loop and speed loop. P08-03. P08-04, P08-05 and P05-06 (2nd time constant of torque reference lter) are
called the 2nd gain.
For details on gain switchover, refer to 7.4.2 Gain
Control
Name 2nd gain mode setting Property During Running PST
mode
P08-08
Range Time
It sets switchover mode of the 2nd gain
Value Meaning
1st gain xed.
P/PI of speed control is switched over via DI function FunIN.3: GAIN_SEL.
0 GAIN_SEL invalid: PI control
GAIN_SEL valid: P control
Gain switchover based on P08-09

1 The 1st gain (P08-00 to P08-02, P05-05) and the 2nd gain (P08-03 to P08-05,
P05-06) is switched over according to the setting of P08-09.
239
Control
Name Gain switchover condition Property During Running PST
mode
P08-09
Setting Effective
Range Time
It sets the condition for gain switchover

0 Fixed at 1st gain Always use the 1st gain.
The gain is switched over by using the GAIN-SEL signal.

GAIN-SEL signal invalid: 1st gain (P08-00 to P08-02, P05-05)
1 Switchover via DI GAIN-SEL signal valid: 2nd gain (P08-03 to P08-05, P05-06)
If the GAIN-SEL signal cannot be allocated to a DI terminal,
always use the 1st gain.
When absolute value of torque reference exceeds (level + hysteresis, %) in the 1st gain, the drive
switches over to the 2nd gain.
2 Torque reference When absolute value of torque reference is smaller than or equal to (level – hysteresis, %) and this
being large status lasts within the delay (P08-10) in the 2nd gain, the drive returns to the 1st gain.
When absolute value of speed reference exceeds (level + hysteresis, RPM) in the 1st gain, the drive
3 Speed reference When absolute value of speed reference is smaller than or equal to (level - hysteresis, RPM) and this
It is valid only in non-speed control.

When absolute value of speed reference change rate exceeds (level + hysteresis, 10 RPM/s) in the
1st gain, the drive switches over to the 2nd gain.
4 Speed reference When absolute value of speed reference change rate is smaller than or equal to (level hysteresis, 10
change rate RPM/s) and this status lasts within the delay (P08-10) in the 2nd gain, the drive returns to the 1st gain.
being large The drive always uses the 1st gain in speed control.
Speed reference When absolute value of speed reference exceeds (level –hysteresis, RPM) in the 1st gain, the drive star
high-speed/ ts to switch over to the 2nd gain and the gain changes gradually. When absolute value of speed referenc
low-speed e exceeds (level + hysteresis, RPM), the drive completely switches over to the 2nd gain.
5 When absolute value of speed reference is smaller than (level + hysteresis, RPM) in the 2nd gain, the
thresholds drive starts to return to the 1st gain and the gain changes gradually. When absolute value of speed
reference reaches (level – hysteresis, RPM), the drive completely returns to the 1st gain.
It is valid only in position control and full closed-loop control.

When absolute value of position deviation exceeds (level + hysteresis,encoder unit) in the 1st gain,
the drive switches over to the 2nd gain.
6 Position When absolute value of position deviation is smaller than (level - hysteresis, encoder unit) and this
deviation being status lasts within the delay (P08-10) in the 2nd gain, the drive returns to the 1st gain.The drive always
large uses the 1st gain if the drive is not in position control or full closed-loop control.

When position reference is not 0 in the 1st gain, the drive switches over to the 2nd gain.
When position reference is 0 and this status lasts within the delay (P08-10) in the 2nd gain, the drive
7 Position returns to the 1st gain.
reference The drive always uses the 1st gain if the drive is not in position control or full closed-loop control.
available

When positioning is not completed in the 1st gain, the drive switches over to the 2nd gain.
When positioning is not completed and this status lasts within the delay (P08-10) in the 2nd gain, the
8 Positioning
drive returns to the 1st gain.
completion The drive always uses the 1st gain if the drive is not in position control or full closed-loop control.

When absolute value of motor speed exceeds (level + hysteresis, RPM) in the 1st gain, the drive
9 Motor speed When absolute value of motor speed is smaller than or equal to (level - hysteresis, RPM) and this
The drive always uses the 1st gain if the drive is not in position control or full closed-loop control.
240
Control
Name Gain switchover condition Property During Running PST
mode
P08-09
Setting Effective
Time

When position reference is not 0 in the 1st gain, the drive switches over to the 2nd gain.
When position reference is 0 and this status lasts within the delay (P08-10) in the 2nd gain, the drive
still uses the 2nd gain.
Position When position reference is 0 and the delay (P08-10) is reached, if absolute value of motor speed is
10 reference smaller than (level, RPM), the speed loop integration time constant is xed at the setting of H08-04
available + (2nd time constant of speed loop integration), the drive returns to the 1st gain on the other aspects.
Motor speed If absolute value of motor speed does not reach (level - hysteresis, RPM), the speed loop integration
time constant returns to the setting of P08-01 (Time constant of speed loop integration).
The drive always uses the 1st gain if the drive is not in position control or full closed-loop control.
Name Gain switchover delay Property During Running Control PST

mode
P08-10
Setting Effective
Time
It sets the delay when the servo drive returns to the 1st gain from the 2nd gain.
Control
Name Gain switchover level Property During Running PST
mode
P08-11
Setting Based on switchover Effective
Range 0~20000 Unit Immediate Default 50
condition Time
It sets the level for gain switchover.

Switchover is inuenced by both level and hysteresis. For details, see description of H08-09. The unit of gain
switchover level varies with switchover condition.
Control
Name Gain switchover hysteresis Property During Running PST
mode
P08-12
Setting Based on switchover Effective
condition Time
It sets the hysteresis for gain switchover.

Switchover is inuenced by both level and hysteresis. For details, see description of P08-09. The unit of gain
switchover hysteresis varies with switchover condition.
Note:
Please set P08-11 P08-12. If P08-11 < P08-12 is set, the servo drive will set P08-11 = P08-12.

241
Control
Name Position gain switchover time Property During Running P
mode
P08-13
Setting Effective
Time
If P08-05 (2nd position loop gain) is much larger than P08-02 (Position loop gain), set the time of switching over from P08-02 to P08-05.
This parameter can reduce the impact of an increase in position loop gain.
Position gain
switchover time
P 08-13
P08-05
P08-02
First Second First
If P08-05 is smaller than P08-02, this parameter is invalid and the servo drive switches over to the 2nd gain mediately
Control
Name Load/Rotor inertia ratio Property During Running PST
mode
P08-15
Setting Effective
Range 0.00~120.00 Unit Times Immediate Default 1.00
Time
It sets the ratio of the load inertia against the rotor (of the motor) inertia
Load inertia
Load inertia ratio =
Rotor Inertia
P08-15 indicates motor without load. P08-15 = 1.00 indicates that moment of inertial of load equals moment of inertia of motor.
The servo drive automatically calculates and updates the value of P08-15 through inertia auto-tuning (ofine and online).
When online inertia auto-tuning (P09-03 not 0) is used, the servo drive set this parameter automatically and
manual setting is not allowed. After P09-03 = 0 is set, manual setting is allowed.
Note:
If the value of P08-15 equals actual inertia ratio, the value of P08-00/P08-03 (Speed loop gain) can represent maximum follow-up

frequency of actual speed loop.
Time constant of speed feedforward Control

lter mode
P08-18
Setting Effective
Time
It sets time constant of speed feedforward lter.
Control
Name Speed feedforward gain Property During Running mode P
P08-19
Setting Effective
Range 0.0~100.0 Unit % Immediate Default 0.0
Time
Speed feedforward is obtained by multiplying speed feedforwad signal by P08-19 in position control and full
closed-loop control. It is part of speed reference.
Increasing this parameter can improve response to position response and reduce position deviation at xed speed.
During parameter adjustment, set P08-18 to a xed value rst and then increase H08-19 gradually from 0 until the speed feedforward
effect is obtained.
It is recommended that P08-18 and P08-19 be set repeatedly until the best feedforward effect is obtained.
Note:
For the speed feedforward function, refer to P08-19 (Speed feedforward control selection).
242
Time constant of torque feedforward Control

Name lter Property At stop PS
mode
P08-20
Setting 0.00~64.00 Unit ms Effective Immediate Default 0.50
Range Time
It sets time constant of torque feedforward lter.
Control
Name Torque feedforward gain Property During Running PS
mode
P08-21
Setting 0.0~200.0 Unit % Effective Immediate Default 0.0
Range Time
Torque feedforward is obtained by multiplying torque feedforwad signal by P08-21 in non-torque control. It is
part of torque reference.
Increasing this parameter can improve response to changing speed reference.
Increasing this parameter can improve response to position response and reduce position deviation at xed
speed.
During parameter adjustment, set P08-20 to the default value rst and then increase P08-21 gradually to
increase effect of torque feedforward. When speed overshoot occurs, keep P08-21 unchanged and increase
P08-20. It is recommended that P08-20 and P08-21 be set repeatedly until the best feedforward effect is
obtained.
Note:
For torque feedforward , refer to H06-11 (Torque feedforward control selection).
Name Speed feedback lter Property At stop Control PS

mode
P08-22
Range Time
It sets times of performing moving average lter on speed feedback.
The more the lter times are, the smaller speed feedback uctuation and the larger the feedback delay will be.
Value Meaning
0 Disabled
1 Moving average lter of 2 speed feedbacks

Note:
When P08-22 > 0, P08-23 (Cutoff frequency of speed feedback low-pass

lter) is invalid.
Cutoff frequency of speed feedback Control

Name low-pass lter Property During Running PS
mode
P08-23
Setting Effective
Range 100~4000 Unit Hz Immediate Default 4000
Time
It sets the cutoff frequency of speed feedback rst-order low-pass lter.

Note:
The smaller the setting of P08-23 is, the smaller speed feedback
uctuation and larger feedback delay will be caused.
If P08-23 = 4000 Hz, there is no lter effect
Control
Name PDFF control coefcient Property During Running PS
mode
P08-24
Setting Effective
Range 0.0~100.0 Unit - Immediate Default 100.0
Time
It sets speed loop control mode.

When P08-24 = 100.0, PI control is used (default control mode in speed control). In this case, dynamic response is quick.
When P08-24 = 0.0, integration in speed control is enabled. In this case, low-frequency interference is ltered but dynamic response is slow.
Adjusting P08-24 helps to ensure quick response, minimize speed feedback overshoot and improve ability of ltering interference at low
frequency for speed loop.
243
Group P09 Automatic Gain Tuning Parameters
Automatic gain tuning mode selection Control

mode
P09-00
Setting Effective
Range Time
It sets gain tuning mode. Related gain parameters can be set manually or be automatically tuned according
to stiffness table.
0 Disabled,Gain parameters set manually
1 Automatic gain tuning mode, gain parameters The 2nd gain does not follow stiffness table to change
tuned automatically based on stiffness table automatically
Positioning mode, gain parameters tuned The 2nd gain follows stiffness table to change automatically.
2 It is one stiffness level higher than the 1st gain but does not
automatically based on stiffness table exceed the highest stiffness level.
Name Stiffness level selection Property During Running Control PST

mode
P09-01
Setting Effective
Time
It sets the stiffness level of servo system. The higher the stiffness level is, the stronger gain and quicker
response will be obtained. But too strong stiffness will cause vibration.
0 indicates the weakest stiffness, and 31 indicates the strongest stiffness
Control
Name Mode selection of adaptive notch Property During Running PST
mode
P09-02
Setting Effective
Time
It sets the working mode of adaptive notch
Value Meaning
0 Parameters not updated
1 Only one notch (3rd notch) valid, parameters updated in real time
2 Both notches (3rd and 4th notches) valid, parameters updated in real time
3
Only detect resonance frequency (displayed in H09-24)
4 Clear 3rd and 4th notches, restore parameters to default setting
Control
Name Online inertia auto-tuning mode Property During Running PST
mode
P09-03
Setting Effective
Time
It sets whether to enable online inertia auto-tuning and the inertia ratio update speed during online inertia auto-tuning
0 Disabled
Enabled, update slowly It is applicable to applications where load inertia ratio

1 almost doesnot change.
It is applicable to applications where load inertia ratio
2 Enabled, always update
changes slowly.
It is applicable to applications where load inertia
3 Enabled, update quickly
ratio changes quickly.
Suppression mode of low-frequency

Name Property During Running Control mode P
resonance
P09-04
Setting Effective
Time
It sets the suppression mode of low-frequency resonance.
Value Meaning
0 Manually set parameters of low-frequency resonance suppression lter (H09-38 and H09-39)
1 Automatically set parameters of low-frequency resonance suppression lter (H09-38 and H09-39)
244
Control
Name Ofine inertia auto-tuning mode Property At stop P ST
mode
P09-05
Setting Effective
Time
It sets the mode of ofine inertia auto-tuning. The ofine inertia auto-tuning function can be enabled in FN-02

0 Positive/Negative It is applicable to the application where motor moveable travel is short.
triangular wave mode
1 Jog mode It is applicable to the application where motor moveable travel is long.
For details on ofine inertia auto-tuning, refer to 7.2.1 Ofine Inertia Auto-tuning
Control
Name Maximum speed for inertia autotuning Property At stop P ST
mode
P09-06
Setting Effective
Time
It sets permissible maximum motor speed reference in ofine inertia auto-tuning mode.
The larger the motor speed is during inertia ratio, the more accurate auto-tuning result will be obtained.
Set this parameter to the default value normally.
Time constant of accelerating to Control

Name max. speed for inertia auto-tuning Property At stop PST
mode
P09-07
Setting Effective
Time
It sets the time for motor to accelerate from 0 to maximum speed for inertia auto-tuning (H09-06) in ofine
inertia auto-tuning mode.
Control
Name Interval after an inertia auto-tuning Property At stop PST
mode
P09-08
Setting Effective
Time
It sets time interval between two continuous speed references when P09-05 = 0 (positive and negativetriangular wave mode ) is used.
Motor revolutions for an inertia autotuning Control

Name Property At display PST
mode
P09-09
Setting Effective
Range 0.00~2.00 Unit r - Default -
Time
It sets motor revolutions for single inertia auto-tuning when P09-05 = 0 (positive and negative
triangular wave mode) is used.

Note:
When using ofine inertia auto-tuning, ensure motor moveable trip at the stop position is larger than
the setting of P09-09. Otherwise, decrease the setting of P09-06 or P09-07 appropriately until this
requirement is satised.
Control
Name 1st notch frequency Property During Running PS
mode
P09-12
Setting Effective
Time
It sets center frequency of the 1st notch, that is, mechanical resonance frequency.
If P09-12 = 4000 Hz in torque control, the notch function is disabled.
Control
Name 1st notch width level Property During Running PS
mode
P09-13
Setting Effective
Time
It sets width level of the 1st notch. Set this parameter to the default value normally.
Width level of notch is the ratio of notch width and notch center frequency
245
Name 1st notch depth level Property During Running Control mode PS
P09-14
Setting Effective
Range Time
It sets depth level of the 1st notch.
Depth level of notch is the ratio of input and output at notch center frequency.
The larger the setting of this parameter is, the smaller the notch depth is and the weaker
suppression result
on mechanical resonance will be. But too large setting may cause system instability.
For the use of notch, refer to Chapter 7 Adjustment
Control
Name 2nd notch frequency Property During Running PS
mode
P09-15
Setting Effective
Time
Control
Name 2nd notch width level Property During Running mode PS
P09-16
Setting Effective
Time
Control
Name 2nd notch depth level Property During Running mode PS
P09-17
Setting Effective
Time
Description of the 2nd group of notch parameters is the same as that of the 1st group of notch parameters
Control
Name 3rd notch frequency Property During Running PS
mode
P09-18
Setting Effective
Time
Control
Name 3rd notch width level Property During Running PS
mode
P09-19
Setting Effective
Time
Control
Name 3rd notch depth level Property During Running PS
mode
P 09-20
Setting Effective
Time
Refer to 09-12, P09-13 and P09-14 to understand the 3rd group of notch parameters.
Note:
The 3rd notch can be congured as adaptive notch (P09-02 = 1 or 2). In this case, notch parameters are
updated automatically by the servo drive and cannot be modied manually. If notch frequency is 4000 Hz,
the notch function is disabled.
Control
Name 4th notch frequency Property During Running PS
mode
P09-21
Setting Effective
Time
Control
Name 4th notch width level Property During Running PS
mode
P09-22
Setting Effective
Time
246
Name 4th notch depth level Property During Running Control PS

P09-23 mode
Setting
Range 0~99 Unit - Effective Immediate Default 0
Time
Refer to P09-12, P09-13 and P09-14 to understand the 4th group of notch parameters.
Note:
The 4th notch can be congured as adaptive notch (P09-02 = 1 or 2). In this case, notch parameters are set

automatically by the servo drive and cannot be modied manually. If notch frequency is 4000 Hz, the notch
function is disabled.
Control
Name Obtained resonance frequency Property At display PS
mode
P09-24
Setting Effective
Range 0~2 Unit Hz - Default 0
Time
When P09-02 (Mode selection of adaptive notch) = 3, the current mechanical resonance frequency is displayed
Name Torque disturbance compensation gain Property During Running Control mode PS
P09-30
Setting Effective
Range 0.0~100.0 Unit % Immediate Default 0.0
Time
非转矩控制模式下，设置扰动转矩补偿增益的大小。
扰动转矩补偿可抑制外部扰动转矩对速度的影响，此参数设置的越大补偿效果越强，抗扰能力也越强，但是如果设置的过大会
引起振动和噪声，需要和 P09-31 配合使用。
Time constant of torque disturbance observer lter Control

mode
P09-31
Setting Effective
0.00~25.00 Unit ms Immediate Default 0.50
Range Time
It sets torque disturbance compensation gain in non-torque control.
Torque disturbance compensation can suppress impact of external disturbance torque on speed. The larger
the setting of this parameter is, the better compensation effect and anti-interference performance will be
obtained. But too large setting will cause vibration and noise. It must be used together with P09-31.
Control
Name Frequency of low-frequency resonance Property During Running P
mode
P09-38
Setting Effective
Time
It sets frequency of low-frequency resonance suppression lter in position control and full closed-loop control. When P09-38 = 100.0 Hz, the lter is invalid.
When P09-04 (Suppression mode of low-frequency resonance) = 1 (Automatically set parameters of lowfrequency resonance
suppression lter), this parameter is set by the servo drive automatically
Filter setting of low-frequency resonance Control

mode
P09-39
Setting Effective
0~10 Unit - Time Immediate Default 2
Range
It sets width level of low-frequency resonance suppression notch in position control and full closed-loop
control. Set this parameter to the default value normally
Value Center Frequency for Suppression Width for Suppression

0 P09-38 0, only vibration at center frequency suppressed
1~10 P09-38 P09-38×P09-39×4%
A large setting of P09-39 can increase frequency range of low-frequency resonance suppression but cause long positioning time.
A small setting cannot suppress low-frequency resonance in the application (such as belt) where vibration frequency of load changes.
Thus, set this parameter repeatedly to seek the best effect.
When P09-04 (suppression mode of low-frequency resonance) = 1 (low-frequency resonance suppression parameters set automatically),
this parameter is set by the servo drive automatically.
When P09-38 (frequency of low-frequency resonance) = 100.0 Hz, the lter is invalid.
247
Group P0A: Fault and Protection Parameters
Control
Name Power input phase loss protection Property During Running -
mode
P0A-00
Setting Effective
Range Time
The main circuit power specications vary according to the servo drive model; for details, refer to P0A-00.
Our company provides servo drives of single-phase 220 V, three-phase 220 V, and three-phase 380 V voltage classes. When there is large
uctuation to the input voltage or phase loss occurs, the servo drive exibly selects the protection mode based on the setting of this parameter.
Value Protection mode Description

Enable faults and If the main circuit input voltage is single phase for the drive with rated power of 1 kW and above Er.420 occurs
0 inhibit warnings
Enable faults and If the main circuit input voltage is single phase for the drive with rated powerof 1 kW and above, Er.420 occurs.
1 If the main circuit input voltage is single phase for the drive with 0.75 kW rated power , Er.990 occurs.
warnings
Both Er.420 and Er.990 are not detected.
Inhibit faults In common bus mode, set P0A-00 to 2. Otherwise, the servo drive cannot enter "rdy" state after power-on.
2 and warnings Note that power-off discharge and power-off retentive are not supported
when P0A-00 = 2.
Note:
When P0A-00 = 2, the servo drive supports separate power-on/off of the main circuit, that is, switching off the
main circuit power supply, with the control circuit power being on.
When P0A-00 = 2, phase loss is not detected, and therefore, three-phase 220 V or three-phase 380 V input must
be correct so that the modules will not be damaged.
Control
Name Retentive at power failure Property During Running mode -
P0A-03
Setting
Range
Time
It sets whether to enable the function of retentive at power failure

0 Disabled The function of retentive at power failure is disabled
The function of retentive at power failure is enabled. The servo drive automatically
1 Enabled stores the encoder feedback pulse count (UN-17) at power failure, which can be
viewed in the corresponding function code after power-on again.
Name Motor overload protection gain Property At stop Control -

mode
P0A-04
Setting Effective
Range 50~300 Unit % Immediate Default 100
Time
It determines the motor overload duration before Er.620 is detected out.
Change the value to move up or delay the overload protection time based on the motor heating condition.
The value 50% indicates half of the base time, and 150% indicates 1.5 times of the base time.
The setting must be based on the actual heating condition, and take caution during use.
During Running Control

Name Overspeed threshold Property PST
mode
P0A-08
Setting Effective
Range Time
It sets the motor speed threshold at which the overspeed fault is detected
Value Overspeed threshold Er.500 Detecting Condition

0 Maximum motor speed×1.2
If P0A-08 (maximum motor speed x 1.2), After detecting that the feedback speed
the overspeed threshold is aximum motor is larger than the overspeed threshold
speed x 1.2 for several times, the servo drive
1~10000 determines that Er.500 (Overspeed
If P0A-08 < (maximum motor speed x 1.2), fault) occurs.
the overspeed threshold is H0A-08.
248
Control
Name Maximum position pulse frequency Property At stop P
mode
P0A-09
Setting Unit Effective Immediate Default
100~4000 kHz 4000
Range Time
It sets the maximum frequency of input pulses when the position reference source is pulse input (P03-00 = 0) in position control mode.
When the actual frequency exceeds P0A-09, the servo drive detects fault Er.B01
Threshold of position deviation excess Control

mode
P0A-10
Setting Encoder/
Range 1~1073741824 Unit Effective Immediate Default 3145728
Reference unit Time
It sets the threshold of the position deviation excess fault in the position control mode.
When the position deviation exceeds the value, the servo drive detects Er.B00.
Control
Name Runaway protection function Property During Running PST
mode
P0A-12
Setting Effective
Time
It sets whether to enable the runaway protection function

In the applications where the motor drives vertical axis or is driven
0 Disabled by load, set P0A-12 to 0 to disable runaway fault (Er.234) detection.
1 Enabled Enable the runaway protection function.
Position deviation threshold for Control

Name low frequency resonance suppression Property During Running P
mode
P0A-16
Setting Encoder Effective
unit Time
It sets the position deviation threshold at which the servo drive detects low-frequency resonance when the
automatic low-frequency resonance suppression function is used (P09-04 = 1).
When the speed deviation exceeds P0A-16, the servo drive determines that low-frequency resonance occurs.
Name Position setting unit Property At stop Control mode P

P0A-17
Setting Effective
Time
It sets the unit for the position setting in P03-21,P03-22, and P0A-10.
Value Meaning
0 Encoder unit
1 Reference unit
Name DI8 lter time constant Property At stop Control -

mode
P0A-19
Setting Effective
Range 0~255 Unit 25ns Power-on again Default 80
Time
Name DI9 lter time constant Property At stop Control -

mode
P0A-20
Setting Effective
Time
DI8 and DI9 are high-speed DI terminals. When peak interference exists on the external input signals, set P0A-19 or P0A-20
to eliminate peak interference.
249
Filter time constant of low-speed Control

Name pulse input terminal Property At stop P
mode
P0A-24
0~255 Unit 25ns Default 30
Range Time
It sets the lter time constant of low-speed pulse input terminal which is used (P03-01 = 0) when the
position reference source is pulse input (P03-00 = 0) in the position control mode.
When peak interference exists in the low-speed pulse input terminal, set this parameter to suppress peak
interference and prevent motor malfunction due to interference signal input to the servo drive.
Maximum Frequency Recommended Filter Time Constant

of Input Pulses (Unit: 25 ns)
<167k 30
167k~250k 20
250k~500k 10
Name Filter time constant of speed feedback display Property At stop Control -
mode
P0A-25
Setting Effective
Time
It sets the lter time constant of speed feedback signals to make the speed smoother.
Name Motor overload shielding Property At stop Control -

mode
P0A-26
Setting Effective
Time
It sets whether to shield motor overload detection.
Value Meaning
0 Motor overload detection enabled
1 Detection of motor overload warning (Er.909) and fault (Er.620) disabled

Note:
Take caution when using the motor overload shielding function as it may
easily lead to motor damage
Name Filter time constant of speed DO Property At stop Control -

mode
P0A-27
Setting Effective
Time
It sets the low-pass lter time constant of speed signals for the speed feedback and position reference.
This parameter is used for the speed-related DO signals (motor rotation output TGON, speed consistent V-CMP, speed reached V-ARR,
and zero speed signal ZERO). For details on the four DO signals, refer to 6.3.5 Speed-related DO Signals.
P0A-27 denes the lter time for the position reference to convert to speed.
Filter time constant of quadrature Control

Name encoder Property At stop -
mode
P0A-28
Setting Effective
Time
It is used to suppress peak interference on feedback signals from the incremental quadrature encoder.
The recommended lter time constants based on the actual motor speeds are listed as below:
Actual Motor Speed (RPM) Recommended Filter Time Constant (25 ns)
4000~6000 20
<4000 30
250
Control
Name Filter time constant of high-speed pulse input terminal Property At stop P
mode
P0A-30
0~255 Unit 25ns Default 3
Range Time
It sets the lter time constant of high-speed pulse input terminal which is used (P03-01 = 1) when the position reference source is pulse
input (P03-00 = 0) in the position control mode.
When peak interference exists in the high-speed pulse input terminal, set this parameter to suppress peak interference and prevent
motor malfunction due to interference signal input to the servo drive.
。
Maximum Frequency Recommended Filter Time

of Input Pulses
Constant (Unit: 25 ns)
500k~1M 5
>1M 3
Time threshold for locked rotor Control

Name overtemperature protection Property During Running -
mode
P0A-32
Setting Effective
Range 10 ∼ 65535 Unit ms Immediate Default 200
Time
It sets the time duration of locked-rotor over-temperature before it is detected by the servo drive.
Decreasing this parameter makes the servo drive detect the fault more easily.
Locked rotor over-temperature Control

Name protection Property During Running -
mode
P0A-33
Setting Effective
Time
It sets whether to enable detection of locked rotor over-temperature
protection (Er.630)
Value Meaning
0 Shield detection of locked rotor over-temperature protection (Er.630)
1 Enable detection of locked rotor over-temperature protection (Er.630)
Name Encoder multi-turn overow fault selection Property At stop Control PST
mode
P0A-36
Setting Effective
Time
Value Meaning
0 Not shield fault
1 When P02-01 = 1 and the multi-turn overow fault need not be
detected, set P0A-36 to 1 to shield this fault.
Control
Name Soft limit function Property At stop mode PST
P0A-40
Effective
Setting 0~2 Unit 1 Immediate Default 0
Time
Range
Value Meaning
0 Disabled
1 Enabled immediately at power-on
2 Enabled after homing at power-on
Control
Name Soft limit maximum value Property At stop PST
mode
P 0A-41 -2147483648~
Setting Unit 1 reference Effective Immediate Default 2147483648
Range 2147483647 unit Time
251
Control
Name Soft limit minimum value Property At stop PST
mode
P0A-43 -2147483648~
Setting Unit 1 reference Effective Immediate Default -2147483648
Range 2147483647 unit Time
The values of P0A-40 are described as follows.

When P0A-40is 0,Disable
When P0A-40 is 1,Enabled immediately at power-on. When the absolute position counter (UN-07) is larger than P0A-41, the servo drive
reports warning Er.950 and executes stop at forward limit. When the absolute position counter (UN-07) is smaller than P0A-42, the servo
drive reports warning Er.952 and executes stop at reverse limit.
When P0A-40 is 2,Enabled after homing at power-on.When the absolute position counter (UN-07) is larger than P0A-41 after homing is
completed, the servo drive reports warning Er.950 and executes stop at forward limit. When the absolute position counter (UN-07) is sm
aller than P0A-43 after homing is completed, the servo drive reports warning Er.952 and executes stop at reverse limit.
Control
Name Brake protection detection function Property During Running ALL
mode
P0A-47
Setting
Range
Time
It sets whether to enable the brake protection detection function.
0: Disabled
1: Enabled
Control
Name Gravity load detection value Property During Running ALL
mode
P0A-48
Setting Effective
Range 0~300.0 Unit % Immediate Default 30.0
Time
Z-shaft gravity load auto-tuning is performed if Fn-24 = 1.
The result is stored to P0A-48 after auto-tuning is successful.
You can also set this parameter manually
252
Group Un Monitoring Parameters
Contro
Name Actual motor speed mode PST
Un -00 Type Display
Setting
Range - Unit rpm Default -
It displays the actual speed of the servo motor after round-off, in

unit of 1 RPM.
Set in P0A-25 the lter time constant for Un-00.
Control
Name Speed reference mode PS
Un -01 Type Display
Setting
Range - Unit rpm Default -
It displays the current speed reference of the drive (in unit of 1 RPM) in the position and speed modes
Control
Name Internal torque reference mode PST
Un -02 Type Display
Setting
- Unit % Default -
Range
It displays the current torque reference, in unit of 0.1%. The value 100.0% corresponds to the rated
motor torque.
Monitored DI states Control

Name PST
mode
Un -03 Type Display
Setting
- Unit - Default -
Range
It displays the level states of the nine DI terminals without ltering.
The LED segment ON indicates high level ("1") and the lower LED segment ON
indicates low level ("0").
Display as as below
DI8 DI6 DI4 DI2
DI9 DI7 DI5 DI3 DI1
high high high high high high high high low

1 1 1 1 1 1 1 1 0
Control
Name Monitored DO states PST
mode
Un -05 Type Display
Setting
- Unit - Default -
Range
It displays the level states of the ve DO terminals without ltering.
The upper LED segment ON indicates high level ("1") and the lower LED segment ON indicates low level ("0").
For example, if DO1 is low level and DO2 to DO5 are high level, the binary value is 11110, H0B-05 value
read from the Inovance servo commissioning software is 30, and the keypad display is as below:
DO4 DO2
DO5 DO3 DO1
high high high high low

1 1 1 1 0
253
Name Absolute position counter Control PST

Un-07 Type Display mode
Setting - Unit Reference unit Default -
Range
It displays the current motor absolute position (reference unit) in the position control mode.
The setting is 32-bit data, and the keypad display is a decimal.
Name Mechanical angle Control PST

Setting
Range - Unit Encoder unit Default -
It displays the current motor mechanical angle (encoder unit), and the value means mechanical angle 0°
Un-09
Actual mechanical angle= ×360.0°
Un-09 max. +1
Value
Un-09 max. value: Encoder PPR x 4 – 1 (for example, for the 2500-PPR incremental encoder, the maximum
Un-09 value is 9999).
Maximum Un-09 value for absolute encoder: 65535
Name Electric angle Control PST

Setting
Range - Unit ° Default -
It displays the motor electric angle, in unit of 0.1°.

The electric angle change range is ±360.0° during motor rotation. If the motor has four pairs of poles, each
revolution produces four rounds of angle change from 0° to 359°. Similarly, if the motor has ve pairs of
poles, each revolution produces ve rounds of angle change from 0° to 359°.
Speed corresponding to input Control

Name position reference P
mode
Un-11 Type Display
Setting - Unit rpm Default -
Range
It displays the speed corresponding to the position references in one position control period in the position control mode.
P0A-27 denes the lter time for the position reference to convert to speed
Control
Name Average load ratio PST
mode
Un-12 Type Display
Setting - Unit % Default -
Range
It displays the percentage of the average load torque relative to the rated motor torque, in unit of 0.1%. The
value 100.0% corresponds to the rated motor torque.
Name Input position reference counter Control P

Setting
Range - Unit Reference unit Default -
It counts and displays the number of position references not divided or multiplied by the electronic gear ratio
during servo running in the position control mode.
Name Encoder position deviation counter Control P

mode
Un-15 Type Display
Setting
It counts and displays the position deviation value after being divided or multiplied by the electronic gear ratio in the position
control mode.
Note:

Clearing Un-15 is permissible when the condition dened in P03-16 is met
254
Control
Name Feedback pulse counter PST
mode
Un -17 Setting
Type Display
It counts the position pulses fed back by the encoder in any mode.
The setting is 32-bit data, and the keypad display is a decimal
Control
Name Total power-on time PST
mode
Un -19 Setting Type Display
Range - Unit s Default -
It displays the total operation time of the servo drive.

Note:
If multiple times of power-on/off occur in the servo drive within a short time, there may be one-hour deviation
between
Un-19 value and the actual time.
AI1 sampling voltage Control

Name PST
mode
Range - Unit V Default -
It displays the AI1 sampling voltage, in unit of 0.01 V
AI2 sampling voltage Control

Name PST
mode
It displays the AI2 sampling voltage, in unit of 0.01 V
Name Phase current effective value Control mode PST

Range - Unit A Default -
It displays the phase current effective value of the servo motor, in unit of 0.01 A
Control
Name Bus voltage PST
mode
Un -26 Type Display
Setting
It displays the DC bus voltage of the main circuit input voltage after rectication, in unit of 0.01 V
Control
Name Module temperature mode PST
Un -27 Type Display
Setting
Range - Unit ℃ Default -
It displays the temperature of the modules inside the servo drive, which can be used as the reference of
current servo drive temperature.
Control
Name Fault record Property During Running PST
mode
Un -33
Setting Effective
Time
It selects the fault to be viewed among the latest 10 servo drive faults.
Value Fault
0 Current fault
1 Latest fault
2 Last 2nd fault
…… ……
9 Last 9th fault
255
Control
Name Fault code of selected fault record PST
mode
Un -34 Type Display
Setting
Name Time stamp upon displayed fault Control PST

mode
Un -35 Type Display
Setting
- Unit s Default -
Range
Control
Name Motor speed upon displayed fault mode PST
Un -37 Type Display
Setting
- Unit rpm Default -
Range
Motor phase U current upon Control

Name displayed fault PST
mode
Un -38 Type Display
Setting
- Unit A Default -
Range
Control
Name Motor phase V current upon displayed fault PST
mode
Un -39 Type Display
Setting
- Unit A Default -
Range
Name Bus voltage upon displayed fault Control PST

mode
Un -40 Type Display
Setting
- Unit V Default -
Range
Control
Name Input terminal state upon displayed fault mode PST
Un -41 Type Display
Setting
- Unit - Default -
Range
Output terminal state upon displayed fault Control

Name PST
mode
Un -42 Type Display
Setting
Un-34 to Un-42 display the relevant data when the fault in Un-34 occurs.
Control
Name Position deviation counter P
mode
Un -53 Type Display
Setting Reference
- Unit unit Default -
Range
It displays the position deviation not processed by the electronic gear ration in the position control mode.
Control
Name Actual motor speed mode PST
Un -55 Type Display
Setting
- Unit rpm Default -
Range
It displays the actual motor speed, in unit of 0.1 RPM.
P0A-25 denes the lter time for the speed feedback.
Mechanical absolute position (low 32 bits) Control

Name PST
mode
Un -58 Type Display
Setting 1 encoder
Range - Unit Default 0
unit
It displays the low 32-bit data of the mechanical position feedback (encoder unit) when the absolute encoder is used.
256
Control
Name Mechanical absolute position (high 32 bits) mode PST
Un -60 Type Display
Setting
- Unit 1 encoder unit Default 0
Range
It displays the high 32-bit data of the mechanical position feedback (encoder unit) when the absolute encoder is used.
Real-time input position reference counter Control

Name PST
mode
Un -64 Type Display
Setting - Unit Reference unit Default -
Range
It displays the position reference counter before being divided or multiplied by the electronic gear ratio. It is
irrelative to the current servo state and control mode.
Control
Name Number of absolute encoder turns PST
mode
Un -70 Type Display
Setting
- Unit 1Rev Default -
Range
It displays the number of absolute encoder turns.
Position of absolute encoder within Control

Name mode PST
one turn
Un -71 Type Display
Setting
- Unit 1 encoder unit Default -
Range
It displays the position feedback of the absolute encoder within one turn
Control
Name Absolute position (low 32 bits) of absolute encoder mode PST
Un -77 Type Display
Setting
Range - Unit 1 encoder unit Default -
It displays the low 32-bit data of the position feedback of the absolute encoder.
Absolute position (high 32 bits) of Control

Name mode PST
absolute encoder
Un -79 Type Display
Setting
Range
It displays the high 32-bit data of the position feedback of the absolute encoder.
Rotating load single-turn position Control

Name (low 32 bits) mode PST
Un -81 Type Display
Setting
Range
It displays the low 32-bit data of the position feedback of the rotating load when the absolute system works in
rotating mode.
Rotating load single-turn position Control

Name mode PST
Un -83 (high 32 bits) Type Display
Setting
Range
It displays the high 32-bit data of the position feedback of the rotating load when the absolute system works
in rotating mode
Control
Name Rotating load single-turn position PST
mode
Un -85 Type Display
Setting
- Unit Referenceunit Default -
Range
It displays the position feedback data of the rotating load when the absolute system works in rotating mode
257
Group P0B: Communication Parameters
Name Servo axis address Property During Running Control mode PST
P0B-00
Setting Effective
Range 1 ∼ 247 Unit - Immediate Default 1
Time
It sets the axis address of the servo drive.
0: broadcast address. The host controller writes all servo drives through the broadcast address; the servo
drives act after receiving the frame with the broadcast address and do not return a response.
1 to 247: Each of the multiple servo drives networked must have a unique address; otherwise, communication
abnormality or failure will occur.
Control
Name Serial baud rate Property During Running PST
mode
P0B-02 Setting
Range 0∼ 5 Unit - Effective Immediate Default 5
Time
It sets the communication rate between the servo drive and the host controller.
Value Baud rate
0 2400 Kbp/s
1 4800 Kbp/s
2 9600 Kbp/s
3 19200 Kbp/s
4 38400 Kbp/s
5 57600 Kbp/s
The baud rate set in the servo drive must be the same as that in the host controller. Otherwise,
communication will fail.
Modbus data format Control

mode
P0B-03
Setting Effective
Time
It sets the data check format between the servo drive and the host controller.
Value Data Format

0 No check, 2 stop bits
1 Even parity check, 1 stop bit
2 Odd parity check, 1 stop bit

3 No check, 1 stop bit
The data format set in the servo drive must be the same as that in the host controller. Otherwise,
communication will fail.
Update function code values written via During Running Control

Name Property PST
communication to EEPROM mode
P 0B-13
Setting Effective Default
0~1 Unit - Immediate 1
Range Time
It sets whether to store the function codes written via communication to EEPROM
Value Meaning
0 Not update the function codes written via communication to EEPROM

1 Update the function codes written via communication, except groups Un
and Fn to EEPROM

Note:
The change of P0B-13 is always updated to EEPROM.
If the function codes changed need not be retentive at power failure, set P0B-13 to
0. Otherwise, frequently updating a large number of changed function codes to
EEPROM will damage EEPROM, and the servo drive detects Er.108.
258
Control
Name Modbus error code Property mode -
P0B-14 Display
Setting Effective
0~65535 Unit 1 Default -
Range Time
It displays the error code when a communication fault occurs. The error code is dened as below:
New Protocol (Standard) Old Protocol

0x0002: Command code not being 0x03/0x06/0x10

0x0001: Illegal command code 0x0004: CRC checksum received and calculated by servo
0x0002: Illegal data address different from checksum in data frame
0x0003: Illegal data 0x0008: Accessed function code not exist
0x0010: Written function code value exceed limits
0x0004: Slave device fault
0x0080: Written function code modiable only in stop state
but servo being in running state
The P0B-14 value displayed on the keypad is hexadecimal
Control
Name Modbus response delay Property During Running PST
mode
P0B-25
Setting Effective
0 ~ 5000 Unit 1 Immediate Default 1
Range Time
It sets the delay from the moment when the slave receives a command from the host controller to the moment
when the slave returns a response.
Modbus communication data sequence Control

mode
P0B-26
Setting Effective
0~1 Unit 1 Immediate Default 1
Range Time
It sets the 32-bit data transmission format of Modbus communication.
Value 32-Bit Data Sequence

0 High 16 bits before low 16 bits
1 Low 16 bits before high 16 bits
Name Modbus error frame format Property During Running Control mode PST
P0B-30
Setting Effective
Range 0~1 Unit 1 Immediate Default 1
Time
It sets the protocol for reporting communication errors.
Value Meaning
0 Old protocol
1 New protocol (standard)
259
Group Fn Auxiliary Function Parameters
Name Software reset Property At stop Control mode -

Fn -00
Setting
0∼ 1 Unit - Effective Immediate Default 0
Range Time
It sets whether to support software reset.
Value Meaning Descriptions

0 Disabled
The servo drive automatically performs program
1 Enabled reset (similar to program reset at power-on)
without requiring power-off/on again.
The conditions precedent are as below:

The servo is in OFF state.
is no non-resettable fault such as No. 1 fault.
There
No EEPROM operation is performed. The software reset

function is invalid when P0A-03 = 1.

Name Fault reset Property At stop Control mode -

Fn -01
Setting
0∼ 1 Unit - Effective Immediate Default 0
Range
Time
It sets whether to support fault reset.
Value Meaning Descriptions

0 Disabled
No. 1 and No. 2 resettable faults can be reset when the servo
drive is not in running state after the causes are eliminated.
Then,the servo drive do not display the faults and enters the "rdy"
1 Enabled state.
No. 3 warnings can be reset directly regardless of the servo state

Note:
For fault classication, refer to Chapter 9 Troubleshooting.
After fault reset, the keypad stops displaying the fault only, but parameter change still does not take effect.
This function is invalid to non-resettable faults. Take caution with this function if the fault causes are not removed.
Control
Name Ofine inertia auto-tuning enable Property At stop -
mode
Fn -02
Setting Effective
- Unit - Immediate Default -
Range Time
In parameter setting mode, after you switch to H0D-02 and press key SET, ofine inertia auto-tuning is enabled.
For details, refer to 7.2.1 Ofine Inertia Auto-tuning
Control
Name Reserved parameter Property - mode -
Fn -03
Setting Effective
Range - Unit - - Default -
Time
260
Control
Name Emergency stop Property During Running
mode
Fn -05
Setting Effective
Time
It sets whether to enable emergency stop
Value Meaning
0 Disabled
Enabled, stop mode determined

1 in P02-05 regardless of its state
Name Analog automatic adjustment Property At stop Control mode -

Fn -10
Setting Effective
Time
It sets whether to enable automatic adjustment of analogs and selects the analog to be adjusted.
Value Meaning
0 Disabled
1 AI1 adjustment
2 AI2 adjustment
When the analog automatic adjustment function is enabled, the servo drive automatically corrects the zero
drift of the analog to improve signal detection accuracy. The value after adjustment is automatically stored
into the corresponding function code (P06-54 or P06-59) in the servo drive.
Jog function Control

Name Property - mode -
Fn -11
Setting Effective
Range - Unit - - Default -
Time
In parameter setting mode, after you switch to H0D-11 and press key SET,
jog running is enabled. For details,
refer to 5.5.1 Jog Running.
This function is irrelevant to the servo control mode.
Control
Name Forced DI/DO setting Property During Running mode -
Fn -17
Setting Effective
Time
It sets whether to enable forced DI/DO.
Value Meaning
0 Disabled
1 Forced DI enabled, forced DO disabled
2 Forced DO enabled, forced DI disabled
3 Forced DI and DO enabled
261
Name DI 强制输入给定 Property During Running Control mode -

Fn -18
Setting Effective
0~0x01FF Unit - Immediate Default 0x01FF
Range Time
It sets the levels of the DI functions set in group H03 when forced DI is valid (Fn-17=1 or 3).
Fn-18 value displayed on the keypad is hexadecimal. In the converted binary value, bit(n) = 1 indicates that
the level of the DI function is high level, and bit(n) = 0 indicates that the level of the DI function is low level.
Example:
Fn-18 value is 0x01FE, and the corresponding binary value is 111111110, indicating that DI1 is low level and
DI2 to DI9 are high level. The nine DI levels can also be monitored through Un-03.
DI8 DI6 DI4 DI2

DI9 DI7 DI5 DI3 DI1
High High High High HighHigh High High Low

1 1 1 1 1 1 1 1 0
View also the DI terminal logic in group P06 when checking whether a DI function is valid
Name Forced DO setting Property During Running Control mode -

Fn -19
Setting Effective
Range 0~0x001F Unit - Immediate Default 0
Time
It sets whether the DO functions allocated in group P07 are valid when forced DO is valid (Fn-17= 2 or 3). Fn-19 value displayed on
the keypad is hexadecimal. In the converted binary value, bit(n) = 1 indicates that the DO function is valid, and bit(n) = 0 indicates
that the DO function is invalid..
Example:
If Fn-19 value is 0x1E, the corresponding binary is 11110, indicating that the DO1 function is invalid and functions of DO2 to DO5
are valid. The DO levels obtained based on the DO logics in group H04 and viewed in Un-05 is shown as below:
Assume that DO1 to DO5 logics in group P07 are: 0 indicating low level output at function valid.
DO4 DO2
DO5 DO3 DO1
Low Low Low Low High

0 0 0 0 1
Control
Name 绝对编码器复位使能 Property At stop ALL
mode
Fn -20
Setting Effective
Time
It sets whether to reset encoder internal faults or multi-turn data.
Note that if the encoder feedback multi-turn data is reset, the absolute position of the encoder changes

greatly, and the mechanical homing operation is required in this case.
Value Meaning
0 Disabled
1 Reset faults
2 Reset faults and multi-turn data
Name Gravity load auto-tuning Property During Running Control -

mode
Fn -24
Setting Effective
Range Time
When Fn-24 = 1, Z-shaft gravity load auto-tuning is performed.
The result is stored to H0A-48, and Fn-24 is restored to 0 after auto-tuning is successful.
262
第 9 章故障处理 YG Series Servo YG
Design and Maintenance Manual
系列伺服设计维护使用手册
Chapter 9 Troubleshooting
9.1 DuringStartup
9.1.1 PositionControl
During Startup Fault Symptom Cause Conrming Methods
1. The control power disconnecting CN1, CN2, CN3 and CN4, the fault persists.
After
voltage is abnormal. Measure AC voltage between L1C and L2C.

For single-phase 220 V model, measure AC voltage between L1

Connect and L2. When DC bus voltage amplitude (voltage between P + and
control The LED
-
)is lower than 200 V, "nrd" is displayed.
display is not
power
2. The main power voltage For three-phase 220/380 V model, measure AC voltage between R
L1C/L2C on or does
not display
is abnormal. ,S and T. When DC bus voltage amplitude (voltage between P+
and main
and-)is lower than 460V, "nrd" is displayed.
power “rdy”.
L1/L2
and 3. The program urning
R/S/T.
Check whether the program burning terminal is shorted
terminal is shorted
4. The servo drive is faulty. -

The operation panel
Refer to 9.2 During Running to remove the fault.
displays "Er.xxx".
After
the preceding causes are removed, the operation panel should display "rdy"
The operation panel
displays “Er.xxx”. Refer to 9.2 During Running to remove the fault
Set operation panel to servo status display and view whether the
operation panel displays "rdy" rather than "run".
Check whether any parameter in groups P06 is set for FunIN1(S-
ON). If yes, check that the corresponding DI is set to ON. If not,
allocate the function and set the corresponding DI to
1. The S-ON ON. See group P06 in Chapter 8 Description of Parameters for
Set the S-ON signal is invalid details on setting of input terminal parameters.
signal to ON. Shaft of the servo
motor is in free If a parameter in group P06 has been set for FunIN1(S-ON) and
running status corresponding DI is ON, but the operation panel still displays "rdy".
In this case, check whether the DI terminal is connected
correctly by referring to Chapter 4 Wiring.
2. Selection of control Check

whether P02-00 is set to1. If it is set to 2 (torque mode),
mode is incorrect. motor shaft must be in free running status because default torque
reference is 0.
the preceding causes are removed, the operation panel should display "run"
After
263
During Fault
Startup Symptom Cause Conrming Methods

High/low-speed pulse input terminal is wired
incorrectly.
When P03-00 = 0 (pulse is main position
reference source), check whether high/low-speed
pulse input terminal is wired correctly by referring

to Chapter 4 Wiring. Meanwhile, check whether
the setting of P03-01(reference pulse selection) is
matched.
Position reference is not input.
1. Check whether FunIN.13: INHIBIT (pulse
input forbidden) or FunIN.37: PulseInhibit (pulse
forbidden) is used.
Servo motor Input reference 2. When P03-00 = 0 (pulse is main position
does not pulse counter reference source), host computer or other pulse
rotate (UN-13) is 0. generator does not output pulses. Check whether
there are pulses into high/low-speed pulse input
terminal. Please refer to Chapter 4 Wiring.
3. When P03-00 = 1 (step reference is main
position reference source), check whether P03-
05 (step amount) is 0. If not, check whether
Input FunIN.20: PosStep (DI position step reference)
position has been allocated and whether logic of
reference. corresponding terminal is valid.
When P03-00 = 0 (pulse is main position reference source), check

whether the setting of P03-15 (reference pulse form) is consistent
with actual pulse input. If not, it indicates that P03-15 is set
incorrectly or terminal wiring is incorrect.
When P03-00 = 1 (step reference is main position reference ource

),check whether H05-05 (step amount) is positive or negative.
Input reference When P03-00 = 2 (multi-position reference is main position
Servo motor pulse counter
rotates in reference source), check whether each displacement is positive or
(Un-13) is negative.
reverse
direction. negative. When P03-00 = 2 (multi-position reference is main position

reference source), check whether each displacement is positive or
negative.
Check
whether P02-02 (rotation direction selection) is set rrectly
motor can rotate after preceding fault is removed.

Servo
Motor speed The gain is set Perform automatic gain tuning in accordance with
is not steady improperly 7.3 Automatic Gain Tuning.
The load inertia If servo

motor can run safely, perform inertia
Servo motor Motor shaft auto-tuning in accordance with 7.2 Inertia Autotuning and
ratio (P08-15)
jitters at vibrates left perform automatic gain tuning in
is too large.
low speed. and right. accordance with 7.3 Automatic Gain Tuning.
preceding causes are removed, servo motor can operate normally

After
Servo system Unsatisfactory position Conrm

input reference pulse counter (Un-13),
runs normally. Positioning inaccurate deviation is generated feedback pulse counter (Un-17) and mechanical
stop position according to the following steps.
264
The procedure of removing cause of positioning inaccurate is as follows:
Position reference Servo drive

output device
Input reference Machine

Count value of Electronic Servo Servo
output position pulse counter
Pin: Un-13(2) gear ratio control Motor
references Pout(1)
Mechanical stop
position PL
A (4)
C
Feedback pulse
counter
S-ON Pf: Un-17(3)
Encoder
Forward/Reverse limit switch
P-OT/ N-OT
B
Position deviation
clearing signal
Figure 9-1 Positioning control schematic diagram
When positioning is inaccurate, check the four signals in Figure 9-1.

Count value of output position references Pout of the position reference output device (host computer or
internal parameters of the drive)
Input reference pulse counter Pin received by the servo drive, corresponding to Un-13
Accumulative feedback pulses from the encoder, corresponding to Un-17 Mechanical stop position PL
There are three causes resulting in inaccurate positioning, corresponding to A, B and C in Figure 9-1.
A:
Counting of input position reference is incorrect because cable connecting host computer and the servo drive
is affected by noise.
Input position reference is interrupted during motor running. Cause: Servo ON
signal (S-ON) is set to OFF, the forward/reverse limit switch signal (P-OT or N-OT)
is ON and the position deviation clearing signal (ClrPosErr) is ON.
B: The encoder feedback position signal is wrong (signal suffers interference).
C: Mechanical position slides between machine and servo motor.
In ideal state (no position deviation), the following relationships exist:
Pout = Pin, count value of output position references = Input position reference
counter
Pin x electronic gear ratio = Pf, Input position reference counter x electronic gear
ratio = accumulative feedback pulses
Pf x L = PL, accumulative feedback pulses x corresponding load displacement of
one position reference = mechanical stop position
When inaccurate positioning occurs, perform the following checks:
1. Pout ≠ Pin
Cause: A
To solve issue A, do as follows:
Step 1. Check whether the pulse input terminal (low-speed or high-speed pulse input terminal, refer to Chapter
4 Wiring)
is connected with shielded twisted pair (STP) cable.
Step 2. If open-collector input of low-speed pulse input terminal is used, change it into differential input.
Step 3. Separate wirings of the pulse input terminal from wirings of main circuits (L1C/L2C, R/ S/ T, U/V/ W).
Step 4: If low-speed pulse input terminal is selected, increase lter time of low-speed pulse input pin (P0A-24).
If high-speed pulse input terminal is selected, increase lter time of high-speed pulse input pin (P0A-30).
2. Pin x electronic gear ratio ≠ Pf:
Cause: B
To solve issue B, do as follows:
Step 1. Check whether a fault occurs during running, which results in that not all
references are executed but servo drive stops.
Step 2. If the cause is that the position deviation cleared signal (ClrPosErr) is valid,
check whether the position deviation clearing mode (P03-16) is reasonable.
3. Pf x △ L is ≠ PL
Cause: C
To solve issue C, do as follows:
Check mechanical connections and nd the sliding position.
265
9.1.2 Speed Control
During Startup Fault Phenomenon Cause Conrming Methods

After disconnecting CN1, CN2, CN3 and
1. Control
power voltage CN4, the fault persists.
is abnormal.
Measure
AC voltage between L1C and L2C
For single-phase 220 V mode, measure AC voltage between L1
and L2. When DC bus voltage amplitude (voltage between P+
Connect control and - ) is lower than 200 V, "nrd" is displayed.
power L1C/ The LED display is 2. Main power For three-phase 220/380 V model, measure AC voltage between
L2C and not on or does not voltage is R, S and T. When DC bus voltage amplitude (voltage between
main power display “rdy”. abnormal P+ and - ) is lower than 460V, "nrd" is displayed.
L1/L2 and R/S/T.
3. The program burning Check whether the program burning terminal

terminal is shorted. is shorted
4. The servo drive is faulty -
The operation panel

Refer to 9.2 During Running to remove the fault
displays “Er.xxx”
the preceding causes are removed, the operation panel should display "rdy".
After
The operation panel

Refer to 9.2 During Running to remove the fault.
displays “Er.xxx”.
Set operation panel to servo status display and view whether the
operation panel displays "rdy" rather than "run".
Check whether any parameter in groups P06 is set for FunIN1(S-ON).

If yes, check that the corresponding DI is set to ON. If not, allocate the
function and set the corresponding DI to ON.
1. The S-ON See group P06 in Chapter 8 Description of Parameters for details on
Set the signal is invalid.
Shaft of the servo setting of input terminal parameters.
S-ON signal
to ON. motor is in free If a parameter in group H03 has been set for FunIN1(S-ON) and logic
running status.
of corresponding DI is logic, but the operation panel still displays
“rdy”. In this case, check whether the DI terminal is connected
correctly by referring to Chapter 4 Wiring.
Check
whether P02-00 is set to 0. If it is set to 2 (torque mode),
2. Selection of control
motor shaft must be in free running status because default torque
mode is incorrect.
reference is 0.
After
266
During Startup Fault Phenomenon Cause Conrming Methods
■ AI wiring is incorrect.

When speed reference is input from AI, check whether the analog
input channel is selected correctly and check whether the selected
AI terminal is wired correctly by referring to Chapter 4 Wiring.
■ Speed reference selection is incorrect.
Check whether P04-02 (speed reference selection) is set correctly.
■ Speed reference is not input or is abnormal.
1. When AI is selected to input speed reference, check whether AI
related parameters in group P06 are set correctly rst. Then check
whether input voltage is correct by observing voltage on scilloscope

or viewing AI sampling voltage in Un-21 or Un-22.
2. When digital setting is used to set speed reference, check hether
Servo motor P04-03 (keypad setting value of speed reference) is set correctly.
Input speed Speed
does not 3. When jog speed reference is used to set speed reference, check
reference reference (UN-
rotate or the whether P04-04 (jog speed setting value) is set correctly, whether
01) is 0. DI functions FunIN.18: JOGCMD+ (forward jog) and FunIN.19:
motor speed is
JOGCMD- (reverse jog) have been allocated and whether logic of
abnormal corresponding DIs is valid.
4. Check whether P04-05 (acceleration ramp time constant of speed
reference) and P04-06 (deceleration ramp time constant of speed
reference) are set correctly.
5. Check whether the DI function FunIN.12: ZCLAMP (zero speed
clamp function) is misallocated and whether valid logic of
corresponding DI is corrected.
1. When AI is selected to input speed reference, check whether

polarity of input signal is reverse.
2. When digital setting is used to set speed reference, check whether
P04-03 (keypad setting value of speed reference) is smaller than 0.
3.When jog speed reference is used to set speed reference, check
value of P04-04 (jog speed setting value). Then check whether
Speed effective logic of DI functions FunIN.18: JOGCMD+ (forward jog) and
Servo motor FunIN.19: JOGCMD- (reverse jog) matches the predicted rotating
rotates in
reference (Un-
Input speed direction.
reference reverse 01) is negative
4.Check whether DI function FunIN.26: SpdDirSel (speed reference
direction . direction)
has been allocated and whether logic of
corresponding DI is valid.
5.Check whether P02-02 (rotation direction selection) is set correctly

motor can rotate after preceding fault is removed.

Servo
Motor speed is The gain is set

Perform automatic gain tuning in 7.3 Automatic Gain Tuning.
not steady. unreasonably
Servo motor
jitters at low The load inertia
If servo motor can run safely, perform inertia auto-tuning in
Motor shaft vibrates accordance with 7.2 Inertia Auto-tuning and perform automatic gain
speed. left and right. ratio (P08-15)
is too large. tuning
in accordance with 7.3 Automatic Gain Tuning
267
9.1.3 TorqueControl
During Fault
Startup Phenomenon Cause Conrming Methods
1. The control disconnecting CN1, CN2, CN3 and CN4, the fault persists.
After
power voltage is
Measure
AC voltage between L1C and L2C.

abnormal.
For single-phase 220 V mode, measure AC
voltage between L1 and L2. When DC bus
voltage amplitude (voltage between P+ and - ) is lower than
Connect control 200 V, "nrd" is displayed.
power L1C/ The LED display 2. The main For three-phase 220/380 V model, measure
L2C and main is not on or does power voltage is AC voltage between R, S and T. When DC bus
power L1/L2 and not display Rdy. abnormal voltage amplitude (voltage between P+ and - ) is lower than
R/S/T. 460V, "nrd" is displayed.
3. The program burning

Check whether the program burning terminal is shorted.
terminal is shorted.
4. The servo drive is faulty -
The operation panel Refer to 9.2 During Running to remove the fault
displays "Er.xxx".

After the preceding causes are removed, the operation panel should display "rdy".
The operation panel
displays “Er.xxx”. Refer to 9.2 During Running to remove the fault.
Set operation panel to servo status display and view whether

the operation panel displays "rdy" rather than "run".
Check whether any parameter in groups P06 is set for FunIN1
(S-ON). If yes, check that the corresponding DI is set to ON.
allocate the function and set the corresponding DI to ON.
If not,
Set the Shaft of the If a parameter in group P06 has been set for
servo motor is 1. The S-ON
S-ON signal signal is invalid. FunIN1(S-ON) and logic of corresponding DI
to ON. in free running is logic, but the operation panel still displays “rdy”. In this case,
status. check whether the DI terminal is connected correctly by referring
to Chapter 4 Wiring.

After
AI wiring is incorrect.
When AI is selected to input torque reference, check
whether polarity of input signal is reverse.
Selection of torque reference is incorrect.Check whether
P05-02 (torque reference source) is set correctly.

Torque reference is not input.
Internal torque 1. When AI is selected to input torque reference, check
Servo motor whether AI related parameters in group P06 are set correctly
does not reference (Un-
rst. Then check whether input voltage is correct by
rotate. 02) is 0
observing voltage on oscilloscope or reading the value of Un
-21 or Un-22.
2. When digital setting is used to set torque reference, check
whether P05-03 (keypad setting value of torque reference)
Input torque is set correctly.
reference

1. When AI is selected to input torque reference, check whether
polarity of external voltage input signal is reverse. Youcan conrm
it by using an oscilloscope or viewing Un-21 or Un-22.
2. When
digital setting is used to set torque reference, check
Internal torque whether P05-03 (keypad setting value of torque reference) is
Servo motor smaller than 0.
reference (Un-
rotates in 4. Check whether DI function FunIN.25: ToqDirSel (torque reference
02) is negative
reverse
direction) has been allocated and whether logic of corresponding DI
direction. is valid.
5. Check whether p02-02 (rotation direction selection) is set correctly

motor can rotate after preceding fault is removed
Servo
Motor speed The gain is set
is not steady.
Perform automatic gain tuning in 7.3 Automatic Gain Tuning
unreasonably
Servo motor If servo
motor can run safely, perform inertia auto-tuning in accordance
jitters at low Motor shaft The load inertia with 7.2 Inertia
speed. vibrates left ratio (P08-15) Auto-tuning and perform automatic gain tuning in accordance with
and right. is too large. Online Inertia Auto-tuning
7.2.2
268
9.2 DuringRunning
9.2.1 FaultandWarningCodeList
1）Faults and alarms are graded into the following four levels based on degree of severity:
伺服驱动器的故障和警告按严重程度分级，可分为三级，第1类、第2类、第3类，严重等级：第1类>第
2类>第3类，具体分类如下：
● NO.1 non-resettable fault
● NO.1 resettable fault

● NO.2 resettable fault
● NO.3 resettable warning

"Resettable"
means that the operating panel stops display of fault/warning once the reset signal is input.
To reset a fault/warning, set Fn-01 = 1 (fault reset enabled) or set DI terminal allocated
with function FunIN.2 (ALM-RST) to ON.
To reset NO.1 fault and NO.2 fault, set S-ON to OFF and then set Fn-01 = 1 or set the
DI terminal allocated with function FunIN.2 (ALM-RST) to ON.
To reset NO.3 warning, set Fn-01 = 1 or set the DI terminal allocated with the function
FunIN.2 (ALM-RST) to ON.
Warning
• Some faults/warnings can only be reset after issue is solved. Parameter modication will not become effective
until you re-connect control power (L1C, L2C) or stop servo drive. In scenario where you need to stop servo drive
set S-ON to OFF. Once modication becomes effective, the servo drive can run normally.
Relevant parameters
Property Effective
Function Name Setting Range Function Default
Code Time
0: No When a resettable fault/warning occurs,

set Fn-01 to 1 to reset it. Atstop Imme
Fn -01 Fault reset operation diate 0
1: Enabled When resetting is completed,
immediately set Fn-01 to 0.
Relevant function No.：
Function
Symbol
This DI function is edge valid rather than high/low level valid.
The servo drive can continue to operate after fault/warning reset.
When this function is allocated to a low-speed DI and logic of the ID is
level valid, the servo drive will forcibly changes it to edge logic. The
valid level change must last for more than 3 ms; otherwise, the fault
FunIN.2 ALM-RST Fault/Warning reset function becomes invalid.
reset signa Do not allocate this function to high-speed DI. Otherwise,fault/warning
reset will be invalid.
Invalid: not reset fault/warning
Valid: reset fault/warning
269
2）Fault and Warning Record

Servo drive has the function of recording faults and warnings. It can record names of recent ten faults and warnings and drive status
parameters at fault/warning occurrence.
If a fault or a warning occurs ve times recently, servo drive records it only once.
After fault/warning reset is successful, servo drive still records the fault/warning. To clear record, use system initialization
P02-31 = 1 or 2).
You can select fault/warning record No. in Un-33, view corresponding fault/warning code in Un-34 and view drive status parameters
in Un-35 to Un-42. For details of these parameters, refer to Chapter 8 Description of Parameters. If no fault occurs, the operation
panel displays "Er.000" in Un-34.
When you view fault/warning code in Un-34, the operation panel displays "Er.xxx", where "xxx" is fault/warning code. When you
read Un-34 through Inovance servo commissioning software or communication, the decimal data must be converted to
hexadecimal equivalent. The following table gives examples of data conversion.
Er.xxx Un-34 (Decimal) Un-34(HEX) Description
0: NO.1 non-resettable fault

Er.101 257 0101 101: Fault code
2: NO.1 resettable fault

Er.130 8496 2130 130: Fault code
6: NO.2 resettable fault

Er.121 24865 6121 121: Fault code
E: NO.3 resettable warning

Er.110 57616 E110 110: Warning code
3）Fault/Warning Code Output

Servo drive can output current highest-level fault/warning code.
To implement fault/warning output, set three DO terminals for FunOUT.12: ALMO1 (3-digit fault code output), FunOUT.13: ALMO2
(3-digit fault code output) and FunOUT.14:
ALMO3 (3-digit fault code output). When different faults/warnings occur, level of the three DOs changes.
NO.1 non-resettable fault
DO Output
Display Fault name Type Resettable
AL3 AL2 AL1
Er.101 Groups P02 and above parameters abnormal NO.1 No 1 1 1
Er.102 Programmable logic conguration fault NO.1 No 1 1 1
Er.104 Programmable logic interruption NO.1 No 1 1 1
Er.105 Internal program abnormal NO.1 No 1 1 1
Er.108 Parameter storage fault NO.1 No 1 1 1
Er.111 Internal fault NO.1 No 1 1 1
Er.120 Product model matching fault NO.1 No 1 1 1

Product matching fault in
Er.122 absolute position mode NO.1 No 1 1 1
Data check error or no parameter
Er.136 stored in the motor ROM NO.1 No 1 1 1
270
DO Output
AL3 AL2 AL1
Er.201 Overcurrent 2 NO.1 No 1 1 0
Er.208 FPGA system sampling operation timeout NO.1 No 1 1 0
Er.210 Output short-circuit to ground NO.1 No 1 1 0
Er.220 Phase sequence incorrect NO.1 No 1 1 0
Er.234 Runaway NO.1 No 1 1 0
Er.740 Encoder interference NO.1 No 1 1 1
Er.A33 Encoder data abnormal NO.1 No 0 1 0
Er.A34 Encoder communication check abnormal NO.1 No 0 1 0
Er.A35 Z signal lost NO.1 No 0 1 0
• 1 indicates valid and 0 indicates invalid. They do not indicate high/low level of DO terminals.
b）NO.1 resettable fault
DO Output
AL3 AL2 AL1
Different DIs allocated with the same
Er.130 NO.1 Yes 1 1 1
function
Er.131 Number of DO functions exceeding the limit NO.1 Yes 1 1 1
Er.207 Shaft D/Q current overow NO.1 Yes 1 1 0
Er.400 Main circuit overvoltage NO.1 Yes 0 1 1
Er.410 Main circuit undervoltage NO.1 Yes 0 1 1
Er.602 Angle auto-tuning failure NO.1 Yes 0 0 0
271
c）NO.2 resettable fault
Type DO Output
Display Fault name Resettable
AL3 AL2 AL1
Er.121 Invalid S-ON command NO.2 Yes 1 1 1
Er.420 Power cable phase loss NO.2 Yes 0 1 1
Er.430 Control power undervoltage NO.2 Yes 0 1 1
Er.500 Servo motor overspeed NO.2 Yes 0 1 0
Er.510 Pulse output overspeed NO.2 Yes 0 1 0
Er.610 Servo drive overload NO.2 Yes 0 0 0
Er.620 Motor overload NO.2 Yes 0 0 0
Er.625 Brake applied abnormally NO.2 Yes 0 0 0
Er.626 Brake released abnormally NO.2 Yes 0 0 0
Er.630 Motor rotor locked NO.2 Yes 0 0 0
Er.650 Heatsink overheat NO.2 Yes 0 0 0
Er.731 Encoder battery failed NO.2 Yes 1 1 1
Er.733 Encoder multi-turn counting error NO.2 Yes 1 1 1
Er.735 Encoder multi-turn counting overow NO.2 Yes 1 1 1
Er.834 AD sampling overvoltage NO.2 Yes 1 1 1
Er.835 High-accuracy AD sampling fault NO.2 Yes 1 1 1
Er.B00 Position deviation being large NO.2 Yes 1 0 0
Er.B01 Pulse input abnormal NO.2 Yes 1 0 0

Position deviation being too large in full
Er.B02 NO.2 Yes 1 0 0
closedloop
Er.B03 Electronic gear ratio setting exceeding the limit NO.2 Yes 1 0 0
Er.B04 Full closed-loop function parameter setting error NO.2 Yes 1 0 0
Er.D03 CAN communication interrupted NO.2 Yes 1 0 1
d）Warning resettable
DO Output
Display Warning name Fault Resettable
Type AL3 AL2 AL1
Setting error of frequency-division
Er.110 NO.3 Yes 1 1 1
pulse output
Er.601 Homing timeout NO.3 Yes 0 0 0
Er.730 Encoder battery warning NO.3 Yes 1 1 1
Er.831 AI zero drift too large NO.3 Yes 1 1 1
Er.900 DI emergency braking NO.3 Yes 1 1 1
Er.909 Motor overload warning NO.3 Yes 1 1 0
Er.920 Regenerative resistor overload NO.3 Yes 1 0 1

Resistance of external braking
Er.922 NO.3 Yes 1 0 1
resistor too smal
272
DO Output
Display Warning name Fault Resettable
Type AL3 AL2 AL1
Er.939 Motor power cable breaking NO.3 Yes 1 0 0

Parameter modication taking effect
Er.9 99 only after re-power-on NO.3 Yes 0 1 1
Er.942 Parameter storage too frequent NO.3 Yes 0 1 1
Er.950 Forward limit switch warning NO.3 Yes 0 0 0
Er.952 Reverse limit switch warning NO.3 Yes 0 0 0
Er.980 Encoder internal fault NO.3 Yes 0 0 1
Er.990 Power input phase loss warning NO.3 Yes 0 0 1
Er.994 CAN address conict NO.3 Yes 0 0 1
Er.A40 Internal fault NO.3 Yes 0 1 0
9.2.2 TroubleshootingofFaults
1）Er.101：Groups P02 and above parameters abnormal
●Total number of function codes changes, which generally occurs after software update.
Actual values of groups P02 and above parameters exceed the limit, which
generally occurs after software update.
Cause Conrming Methods Corrective Action
Check whether it is in the process of cutting Restore default setting (P02-31 =

off control power (L1C, L2C) or whether 1), and write the parameters again
instantaneous power failure occurs.
Measure whether the control

power voltage on the nondrive side is
within the following
specications:
1. The control
power voltage drops 220 VAC drive:
Valid value: 220 to 240 V Increase power capacity or replace
instantaneously. with large-capacitance power
Allowed error: -10% to 10% (198
to 264 V) supply, restore default setting (P02-
380 VAC drive: 31 = 1), and write the parameters
Valid value 380 to 480 V again.
Allowed error: -10% to 10% (342
to 528 V)
2. Instantaneous power failure Check whether instantaneous power failure Re-power on the system, restore
occurs during parameter occurs during parameter storage. default setting (P02-31 = 1), and
storage write the parameters again
3. The times of arameter writing Check whether parameter update is performed Change parameter writing method
within a certain period exceeds frequently from the host controller. and write parameters again.
the limit. If servo drive is faulty, replace it
Set servo drive model and servo
4. The software is upgraded Check whether software is upgraded. motor model again, and restore
default setting (P02-31 = 1).
If the fault persists after you power on servo
5. The servo drive is faulty. drive several times and restore default setting, Replace the servo drive.
it indicates that the servo drive is faulty.
273
2）Er.102：Programmablelogiccongurationfault Cause:
The FPGA software version and the MCU software version do not match.
The FPGA or MCU related hardware is damaged, resulting in communication failure
between the MCU and FPGA.
3）Er.104：Programmablelogicinterruption
To distinguish fault symptom, the servo drive displays different internal fault codes under
the same fault code. You can view these internal fault codes in Un-45.Cause：
4）Er.105：Internalprogramabnormal Cause：
●Total number of parameters is abnormal at EEPROM reading/writing operation.
●Setting range of parameters is abnormal, which generally occurs after software update.
5）Er.108:Parameter storage fault Cause：

●Parameter values cannot be written to EEPROM.
●Parameter values cannot be read from EEPROM
1. EEPROM writing is abnormal

Modify a parameter, power on If modication is not saved and the
servo drive again, and check fault persists after servo drive is
2. EEPROM reading is abnormal. whether modication is saved powered on several times, replace
6）Er.120：Productmodelmatchingfault Cause：
●Rated motor current is larger than rated current of the servo drive
7）Er.121：S-ON signalinvalid Cause：
●When some auxiliaryfunctions are used, redundant S-ON signal is given.

Check
whether auxiliary functions
When servo drive is nabled (Fn-02,Fn-03,Fn-12) are used Set DI function FunIN.1: S-ON (both hardware
internally, external S-ON and whether DI function FunIN.1: DI and virtual DI) to OFF.
signal is valid. S-ON is ON.
8）Er.122：Productmatchingfaultinabsolutepositionmode Cause：
●The motor in absolute position mode does not match or motor SN is set incorrectly
The motor in absolute

Check whether motor nameplate is
position mode does not multiturn absolute encoder motor. replace matching motor
match or motor SN is set according to motor
incorrectly. nameplate.
274
9）Er.130：Different DIs allocated with the same function Cause：

●The same function is allocated to different DIs, including hardware DI and virtual DI.
●The DI function No. exceeds the number of DI functions

Re-allocate the parameters that have been allocated
Check whether parameters in groups P06 with the same non-zero DI function with different DI
1. The same function is functions. Then re-connect control power to make
(P06-02 to P06-20) are set for the same
allocated to different DIs. modication take effect. Or set the S-ON signal to
nonzero DI function
OFF and give the reset signal to make modication
take effect
2. The DI function No. exceeds Restore default setting (P02-31 = 1), and
Check
whether MCU program
the number of DI functions. power on the servo drive again
is updated
10) Er.131: Number of DO functions exceeding the limit Cause

●The DO function No. exceeds the number of DO functions

1.The DO function No.
exceeds the number of DO
Check whether MCU Restore default setting (P02-31 = 1),
and power on the servo drive again.
functio ns.. program is updated.
11） Er.136：Data check error or no parameter stored in the motor ROM Cause：
●When servo drive reads parameters from encoder ROM, it nds that no parameters are
saved there or parameter value is inconsistent with the agreed value.
View
servo drive and servo motor nameplates Replace matched servo drive and
1. Servo drive model and servo to check that the equipment you are using is servo motor and power on the system
motor model do not match YG series servo drive and 23bit absolute again.
servo motor
Check whether encoder cable you use is
standard conguration. For cable specication,
Ensure that encoder cable you use is congured by
refer to Chapter 2.4 Wiring. The cable must
2. A parameter check error Inovance as standard.
not scratch, break or be in poor contact. The
occurs or no parameter is Ensure that the cable is connected to the motor
cable must be connected reliably.
stored in the serial encoder securely and tighten the screw on the drive side.
Measure signals PS+, PS-, +5V and GND at
ROM memory If necessary, use a new encoder cable.
both ends of encoder cable and observe
Never bundle encoder cable and power cables
whether signals at both ends are consistent.
(RST, UVW) together.
For denition of signals, refer to Chapter 2.4
Wiring
3. Servo drive faulty. The

fault persists after servo drive is powered Replace the servo drive.
on again
12） Er.201：Overcurrent 2 Cause：
275
● Hardware overcurrent is detected
Cause Conrming Methods Correctivee Action
The time sequence is: after the keypad

1. References are input displays "rdy", set the S-ON signal to ON and
Check whether an reference is
simultaneously at servo then input reference.
input before the keypad displays
startup or reference If allowed, add reference lter time constant
"rdy".
input is too quick or increase acceleration/deceleration time.
If internal regenerative resistor is used and the

resistance is 0, use external regenerative resistor
If internal regenerative resistor (P02-25 = 1/2) and remove cable between P and
is D. select external regenerative resistor of the same
used (H02-25 = 0), check whether
resistance and power as internal regenerative resistor.
P+ and D are connected with a
cable reliably. If yes, measure If external regenerative resistor is used and the
2. The regenerative resistance between C and D. resistance is smaller than P02-21 (allowed minimum
resistor is too small If external regenerative resistor value of regenerative resistor), connect a new regenerative
or short circuited is used (P02-25 = 1/2), measure resistor between P + and - by referring to the
resistance between P + and - . regenerative resistor specicationMakeP02-26
(power of external regenerative resistor) and P02-27
(resistance of external regenerative resistor) consistent
with external regenerative resistor specication
Check whether power cables of

3.Motor cables are servo drive and motor UVW cables Fasten the cables that become loose
in poor contact. are loose. or are disconnected.
After ensuring power cables of servo
drive and motor cables are connected
securely, measure insulation resistance
4.Motor cables Replace motor if insulation is poor.
between UVW of servo drive and ground
are grounded
cable (PE) and check whether insulation
resistance is MΩ-level
5.Motor UVW Disconnect motor cables and check whether
cables are short motor cables (U, V, W) are short circuited Connect motor cables correctly
circuited. and whether burrs exist.
Disconnect motor cables and measure
6.Motor is damaged. whether resistance between motor Replace motor if resistance is
cables UVW is balanced unbalanced.
Check whether motor oscillates or generates

7.The gain setting a shrill noise during motor startup and running. Adjust the gain by referring to
is improper and You can view current feedback by using the
motor oscillates Chapter 7 Adjustment.
drive Inovance servo commissioning software
Check whether encoder cable you use is standard
8.Encoder cable conguration of Inovance. check whether cable is
is incorrectly aging, corrosive or is connected loosely. Set the
wired, corrosive, or S-ON signal to OFF and rotate motorshaft Re-weld, fasten or replace encoder
connected loosely cable.
manually. Check whether Un-10 (electric angle)
changes as motor rotates
The fault persists after motor cables are disconn-
9.Servo drive faulty ected and servo drive is powered on again Replace the servo drive.
13） Er.207：Shaft D/Q current overow Cause
● Abnormal current feedback results in overow of internal register of servo drive.

●Abnormal encoder feedback results in overow of internal register of servo drive
If the fault persists after you power on servo

1. Shaft D/Q current drive several times and restore default setting, Replace the servo drive.
overows. it indicates that the servo drive is faulty
276
14） Er.208：FPGA system sampling operation timeout Cause:
● Find the cause through internal fault code H0B-45 when Er.208 occurs
Internal fault code Un-45 = 1208.

1.MCU communication Replace the servo drive.
times out Internal chip is damaged.
Use encoder cable that is congured as

standard by Yuhai. If not, check whether
encoder cable comply with specication and
Encoder wiring is incorrect. whether it is shielded twisted pair cable.
Check
whether plugs at both ends of encoder
Encoder cable becomes loose.
are in good contact and whether any pin
2. Communication Encoder cable is too long. retracts.
with encoder
Contact the manufacturer.
times out. Communication with encoder is
Do not bundle motor cables and encoder
interrupted.
cables together. Ensure servo motor and
The encoder is faulty servo drive are well grounded.
Replace servo motor

Check whether there is large equipment
generating interference on site and whether ■ Separate heavy current from light
3. Current there are multiple interference sources in current and do not bundle them together.
sampling times out. Replace the servo drive
the cabinet.
Internal current sampling chip is damaged.
■Internal fault code Un-45 =4208.

4.High-accuracy Interference exists in high-accuracy Use shielded twisted pair cable and
AD conversion AI channel. Check AI wiring according shorten cable length
times out. to correct wiring diagram
■ Internal fault code Un-45 = 0208.

5.FPGA operation Perform corrective action according
Remove the cause according to
times out to preceding 1/2/3/4
preceding 1/2/3/4.
15） Er.210：Output short-circuit to ground Cause:
● Servo drive detects motor phase current or bus voltage abnormal during self-check at power-on
1. Power output cables Disconnect UVW cables from motor, and

Re-connect these cables or replace them
(UVW) of servo drive are measure whether motor UVW cables are
short-circuited to ground short-circuited to ground
After ensuring power cables of servo
drive and motor cables are connected
securely, measure insulation resistance
2. Motor is short- between UVW of servo drive and ground Replace servo motor.
circuited to ground.
cable (PE) and check whether insulation
resistance is MΩ-level
Remove power cables from servo drive
3. Servo drive faulty The fault persists after the drive Replace the servo drive.
is powered on several times
277
16） Er.220：Phase sequence incorrectCause：
●After angle auto-tuning, the servo drive nds that the UVW phase sequence is
inconsistent with that of the motor
Cause Conrming methods Corrective Action
The UVW phase sequence Carry

out power-off and poweron for Perform the wiring again and then angle
of the drive is inconsistent several times, and Er.220 persists
to auto-tuning
with that of the motor after auto-tuning.
17） Er.234：RunawayCause:
●Torque referencedirection is reverse to speed feedback direction in torque control

●Speed feedback direction is reverse to speed reference direction in position or speed control.

Check whether UVW phase sequence Connect UVW cables according to
1. UVW phase on servo drive is consistent with correct phase sequence.
sequence is incorrect that on motor side
2. Motor rotor initial phase phase sequence is correct. But

UVW Re-power on the servo system
detection is incorrect due
Er.234 occurs once servo drive is enabled
to interference at Poweron.
3. Encoder type is set

incorrectly or wiring is
incorrect.
Check whether encoder cable you use is standard

4. Encoder cableis incorrectly conguration of Inovance. check whether cable
wired, corrosive, or connected is aging, corrosive or is connected loosely. Re-weld, fasten or replace
loosely Set the S-ON signal to OFF and rotate motor
shaft manually. Check whether Un-10 (electric encoder cable
angle) changes as motor rotates.
5.When controlling a Check whether load of vertical shaft is too Reduce load of vertical shaft, improve rigidity
vertical shaft, gravity large. Adjust brake parameters P02-09 to or shield this fault on the prerequisite of
load is too large. P02-12 and then see whether the fault is not affecting safety and use
removed.
Warning
• On working condition of controlling a vertical shaft or one motor dragging the

other, set P0A-12 = 0 to shield the runaway fault.
278
18） Er.400：Main circuit overvoltage Cause:
● DC bus voltage between P + and - exceeds overvol tage level.
220 VAC drive: normal value: 310 V, overvoltage level: 420 V

380 VAC drive: normal value: 540 V, overvoltage level: 760 V
Check power input specication of servo drive.

Measure RST input voltage on servo drive side
and check whether input voltage complies with
the following specication.
220 VAC drive:
Replace power supply or adjust
Valid value: 220 to 240 V
1. Main circuit input power voltage according to
Allowed error: -10% to 10% (198 to 264 V)
voltage is too high specication on the left.
380 VAC drive:
2. Power supply is Check whether power supply is instable, Connect a surge suppressor and then
instable or affected affected by lightning strike or satises connect power supply. If the fault persists,
by the lightning strike preceding specication. replace the servo drive.
If resistance is , wire breaking occurs.

If internal regenerative resistor is used and
If internal
regenerative resistor is used resistance is 0, use external regenerative resistor
(P02-25 = 0), check whether P + and - P02-25 = 1/2) and remove cable between P + and -
are connected with a cable reliably. Select external regenerative resistor of the same
If yes, measure resistance between resistance and power as internal regenerative resistor.
3.The regenerative + and - If external regenerative resistor is used, connect a new
resistor fails If external regenerative resistor regenerative resistor between P+ and C.Make P02-26
is used (P02-25 = 1/2), measure (power of external regenerative resistor) and P02-27
. resistance between P + and - . (resistance of external regenerative resistor) consistent
with external regenerative resistor specication.
4. Resistance of the Connect a new external regenerative resistor of

regenerative resistor Measure resistance of the external recommended resistance between P + and - .
is too large, and
regenerative resistor between P + and - . Make P02-26 (power of external regenerative
energy absorption Compare themeasured value with resistor) and P02-27 (resistance of external
during braking is the recommended value. regenerative resistor) consistent with external
insufcient regenerative resistor specication
5.Motor is in abrupt acceleration/ Conrm acceleration/deceleration time

during running and measure DC bus First, ensure that input voltage of main circuit is
deceleration status. Maximum withinspecication. Then increase acceleration/
braking energy exceeds energy voltage between P + and - . Check hether
voltage exceeds fault level during eceleration deceleration time in allowed range.
absorption value.
Check
whether Un-26 (bus voltage)
is within the following specication:
6. Bus voltage sampling 220 V drive: Un-26 > 420 V
value has a large deviation 380 V drive: Un-26 > 760V Contact Inovance for technical support.
from the measured value Measure the DC bus voltage between
P + and - . Check whether the DC bus
voltage is normal and smaller than Un-26.
The fault persists after main

7. The servo drive is faulty. circuit is powered on several times. Replace the servo drive.
279
19） Er.410：Main circuit undervoltage Cause:
● DC bus voltage between P + and - is lower than undervoltage level.
220 VAC drive: normal value: 310 V, undervoltage level: 200 V
Check power input specication of servo drive.

Measure RST input voltage on servo drive
side and check whether input voltage
1. The main power
complies with the following specication.
is unstable or fails.
220 VAC drive:
Increase power capacity.
380 VAC drive:
2. Instantaneous Allowed error: -10% to 10% (342 to 528 V)
power down occurs All the three phases must be measured.
Check power input voltage and check

3. Voltage dip occurs
whether main power is applied to other
during running
devices, resulting insufcient power
capacity and voltage dip
4.Phase loss exists: Check whether main circuit RST wiring is 更换线缆并正确连接主回路电源线：
Single-phase power is correct and reliable, and whether phase 三相： R S T
applied to three-phase loss fault detection (P0A-00) is shielded
servo drive 单相： L1 L2
Check whether Un-26 (bus voltage) is

within the following specication:
5.The servo 220V drive: H0B-26 < 200 V Replace the servo drive
drive is faulty. 380 V drive: H0B-26 < 380 V
The fault persists after main circuit is
powered on several times.
20） Er.420：Power cable phase loss Cause:

● Phase loss occurson three-phase servo drive
Check
whether RST cables on servo drive side
1. The RST cables are not Replace cables and connect
and non-servo drive side are in good condition
connected well main circuit correctly.
and connected securely
Conrm power input specication and actual

2.Single-phase power is input voltage. Check whether input voltage of
applied to three-phase each phase of main circuit satises the
servo drive. following specication: For servo drive of 0.75 kW it can be applied
220 VAC drive: by single-phase power supply.
Valid value: 220 to 240 V If input voltage satises specication on the
Allowed error: -10% to 10% (198 to 264 V) left, set P0A-00 = 2 (forbid faults and warnings).
380 VAC drive: If input voltage does not satisfy specication on
3. Threephase voltage is Valid value: 380 to 480 V the left, replace or adjust power capacity
unbalanced or voltages of Allowed error: -10% to 10% (342 to 528 V)
all three phases are too low All the three phases must be measured
The fault persists after main circuit

4.The servo drive is faulty (R, S, T) is powered on several times. Replace the servo drive
280
21） Er.430：Control power undervoltage Cause:

Check
whether it is in the process of cutting Re-power on the servo drive. If the fault
off the control power (L1C, L2C) or is abnormal power failure, keep power
instantaneous power failure occurs supply stable.

Check whether input voltage of control cables
satises the following specication:
220 VAC drive:
1. The control power is Valid value: 220 to 240 V
unstable or fails Allowed error: -10% to 10% (198 to 264 V)
380 VAC drive: Increase power capacity
Check whether control cables are well

2. The control power cables connected and whether voltage of control Re-connect or replace
are in poor contact cables (L1C, L2C) satises preceding control power cables
specication
22） Er.500：OverspeedCause：
● Actual speed of servo motor exceeds overspeed level
1. UVW phase Check whether UVW phase sequence

on servo drive is consistent with Connect UVW cables according to
sequence is incorrect correct phase sequenc
that on motor side
Check whether overspeed level is smaller

actual maximum motor speed.
Overspeed level = 1.2 times of maximum
2. The setting of P0A-08 motor speed (P0A-08 = 0) Reset overspeed level according to
is incorrect. Overspeed level = P0A-08 (P0A-08 ≠0, actual mechanical requirement
and H0A-08 < 1.2 times of maximum motor
speed)

Check whether motor speed corresponding
to input reference exceeds overspeed level. In position control:
When the reference source is pulse in When reference source is pulse, reduce pulse
the position control mode: frequency in the prerequisite of ensuring accurate
positioning or decrease the electronic gear ration
Motor speed (RPM) = if motor speed allows.
Input pulse frequency (Hz) In speed control:
3. Input reference is higher Electronic
than overspeed level. 60 View speed reference and speed limit
Encoder gear ratio
(P04-06 to P04-09) and conrm that they are within
resolution the overpseed level.
In torque control:
Set speed limit within the overspeed level.
For speed limit in torque control, refer to 6.4.4
Speed Limit in Torque Control.
4. Motor speed overshoots
The fault persists after servo drive is

5.The servo drive is faulty
repowered on.
Replace the servo drive
281
23） Er.510:Pulse output overspeed Cause：
●When pulse output functionis used (P03-38 = 0 or 1), the output pulse frequency
exceeds frequency upper limit allowed by the hardware (2 MHz)
When P03-38 = 0 (encoder frequencydivision

output), calculate pulse frequency Decrease P03-17 (Encoder
corresponding to motor frequency-division pulses), making
speed at occurrence of fault and check output pulse frequency below
whether the pulse frequency exceeds limit. frequency upper limit allowed
Output pulse frequency (Hz) = by hardware in the speed range
motor speed(rpm) required by mechanical condition.
P03-17
60
When P03-38 = 1 (reference pulse Decrease input pulse frequency to within frequency
synchronous output), input pulse frequency upper limit allowed by hardware.
exceeds 2 MHz or interference exists on In this case, if you do not modify electronic gear
pulse input pin. ratio, motor speed will slow down.
Low-speed pulse input pin: Differential input If input pulse frequency is very high but is still within
Output pulse
terminals, PULSE+, PULSE-, SIGN+, frequency upper limit allowed by hardware, take
frequency antiinterferencemeasures (use STP cable for pulse
SIGNMax. pulse frequency: 500 kpps
exceeds input and set pin lter parameters P0A-24 or P0A-
Open-collector input terminals, PULLHI,
frequency upper PULSE+, PULSE-, SIGN+, SIGNMax. 30), which prevents interference pulse adding to
pulse frequency: 200 kbps High-speed pulse and resulting in fault misreported.
limit allowed
pulse input pin: Differential input
by hardware (2
terminals: HPULSE+, HPULSE-, HSIGN+,
MHz). HSIGNMax. pulse
frequency: 2 Mpps
24） Er.602：Angle auto-tuning failure
25） Er.610：Servo drive overload Cause:

●Heat accumulation of the servo drive reaches the fault level.
1. Parameter setting Check whether the gain parameters (group

Adjust the parametersbased on the current
is incorrect P08) or the stiffness (P09-00 and P09-01)
set correctly.
are
feedback effect.
2. The servo drive Check whether Un-12 (average load ratio) is excessive
load ratio is too large (over 80%) and then whether the inertia is excessive Use a drive model of higher power
(load inertia excessive). through inertia autotuning
3.The servo drive Check whether Un-12 (average load ratio) is excessive
load ratio is too large (over 80%) and then whether stuck occurs during load Eliminate the mechanical stuck problem.
(mechanical stuck) running
Check whether P0A-33 (locked rotor overtemperature

4. Locked rotor protection) is 0. If yes, the drive trips Er.610 when locked Take actions for Er.630.
occurs in the motor rotor occurs.
282
26） Er.620：Motor overloadCause：
●Heat accumulation of the servo motor reaches the fault level.

Connect wirings based on correct wiring diagram.
Prefer to use the cable congured by Inovance as
1. Wiring of motor and Check wirings between servo drive, standard.
encoder is incorrect servo motor and encoder according When self-made cable is used, make and
or poor to correct wiring diagram. connect wirings according to hardware
wiring guidance.
2. The load is too heavy.

Conrm overload ch aracteristic of serv Replace a large servo drive and matching servo
The motor keeps output of o drive or servo motor. motor.
effective torque higher than
Check whether average load rate (Un- Reduce the load and increase acceleration/
rated torque for a long time. 12) is greater than 100.0% for long time deceleration time.
Calculate
the load inertia ratio or perform
3. Acceleration/deceleration is the load inertia ratio auto-tuning. Then view Increase acceleration/
too frequent or the load inertia P08-15 (load inertia ratio). deceleration time during
is too large. Conform single running cycle when servo single running.

motor runs in circular.
4. The gain is improper, Observe whether motor vibrates and Adjust the gain by referring
causing too high rigidity
generates noise during running. to Chapter 7 Adjustment.
5. The servo drive or

motor model is set incorrectly.

Check running reference and motor
speed (Un-00)
6. Locked-rotor occurs due to Running reference in position control:
mechanical factors, resulting Un-13 (input reference pulse counter)
in very heavy load during Running reference in speed
running.
control: Un-01 (speed reference)
Eliminate mechanical
Running reference in torque factors
control: Un-02 (internal torque reference)
Check running reference in corresponding
mode is not 0 but the motor speed is 0.
The fault persists after servo drive is

7. The servo drive is fault Replace the servo drive
powered on again.
Warning
• You can clear the fault or re-power on the system 30s after overload occurs.
283
27） Er.625：Brake applied abnormallyCause:
●The output torque is smaller than 70% of the gravity load detected within the rst 100 to
500 ms when brake protection is enabled, the brake output signal is active, and the input reference is 0.

Check whether the motor brake
The motor brake is Perform the wiring again
signal is active and whether the
not released. or replace the motor.
brake switch is damaged.
28） Er.626：Brake released abnormally Cause：
● After brake protectionis enabled, the brake output signal is inactive, but it is detected that the motor
rotates for two revolutions.

Check whether the motor brake
The motor brake is Perform the wiring again
signal is active and whether the
released or replace the motor
brake switch is damaged.
29） Er.630：Overheat protection of locked-rotor motor Cause：
● Actual motor speed is lower than 10 rpm but torque reference reaches the limit. The
duration reaches the value set in P0A-32

1.Power output phase (UVW)
Perform motor trial running when
loss or incorrect phase sequence there is no load and check motor Connect motor cables correctly again or
occurs on servo drive wirings replace them
2. UVW cable or enc Connect wirings correctly again or

oder cable breaks.
Check wirings
replace them.

speed (Un-00) by using Inovance
servo commissioning software or
operating panel.
Running reference in the positioncontrol
mode: Un-13 (input reference pulse
counter)
3. Motor rotor is locked Running reference in speed Eliminate
due to mechanical factors control: Un-01 (speed reference) mechanical factors
Running reference in torque control:
Un-02 (internal torque reference)
Check running reference in
corresponding mode is
not 0 but the motor speed is 0.
284
30） Er.650：Heatsink overheatCause：
●Temperatureof power module of servo drive is higher than the overtemperature protection level.

1. Ambient temperature is too high
Measure ambient temperature Improve cooling conditions to reduce ambient temperature.
View the fault records (set Un-33 and view Change fault reset method. After overload occurs,
2. Servo drive is Un-34) and check whether overload fault wait 30s and then perform reset operation. Increase
powered off to reset (Er.610, Er.620, Er.630, Er.650, Er.909, capacity of servo drive and servo motor, increase
overload fault. Er.920, Er.922) occurs acceleration/deceleration time, and reduce load.
3. The fan is damaged

Observe whether the fan rotates during running Replace the servo drive
4. Installation direction
and clearance of the Check whether installation of
Install servo drive according to mounting
servo drive are improper servo drive is proper
requirements
5. The servo drive is faulty The fault persists after restart 5 minutes Replace the servo drive.
after power-off.
31） Er.731:Encoder battery failure Cause
● Battery voltage of absolute encoder is lower than 3.0 V

1.The battery is not connected Check whether battery is
during power-off. Set Fn-20 = 1 to remove the fault.
connected during power-of

2.The encoder battery voltage Replace a new battery with
is too low Measure the battery voltage. matching voltage
32） Er.733：Encoder multi-turn counting errorCause：

●Encoder multi-turn counting is wrong
Set Fn-20 = 1 to remove the fault.

1. The encoder is fault y Er.733 persists after power-on again. Replace servo motor.
33） Er.735：Encoder multi-turn counting overow Cause：

●Encoder multi-turn counting overows.
1. Encoder multi-turn
counting overow is - SetFn-20=1andpoweronthesystemagain
detected when P02-01 = 1
285
34） Er.740：Encoder interference Cause：
●The encoder Z signal suffers interference, resulting in too large change of corresponding
electrical angle of Z signal
Re-connect the encoder according to correct

1.Encoder wiring is incorrect.
Check encoder wiring
wiring diagram.

Check whether on-site vibration is
2. Encoder cable becomes too large, which loosens encoder Re-connect encoder cable securel
loose. cable and even damages the encoder
Check on-site wirings:

Check whether there is large equipment
generating interference around servo system
or whether there are several variablefrequency Prefer to use the cable
power devices inside the cabinet. congured by Inovance as standard.
Make servo drive in "rdy" status and rotate If non-standard cable is used, check whether
motor shaft counterclockwise (CCW) manually the cable meets requirements and is STP cable.
and observer whether Un-10 (rotation angle/ Do not bundle motor cables and encoder cables
electrical angle) increases/decreases smoothly. together.
3. The encoder Z signal Ensure servo motor and servo drive are well
Turning one circle corresponds to ve 0-360°
suffers interference grounded.
(for Z series motor).
For X series motor, turning one circle corresponds Check whether plugs at both ends of encoder
are in good contact and whether any pin retracts.
to four 0-360°. If Un-10 changes abnormally
during rotation, it indicates that a fault occurs
on encoder.
If there is no alarm during rotation but the
system alarms during servo running, it is
extremely possible that interference exists.
Replace a new encoder cable. If thefault no

longer occurs after replacement, it indicates
that the original encoder is damaged Replace a new encoder cable.
Place motor at the same position, power on If not, it indicates that the
4. The encoder is faulty
the system several times and observe encoder is damaged. You
change of Un-10. The electrical angle must need to replace servo motor.
be within ±30°
35） Er.834：AD sampling overvoltageCause：
● AI sampling value isgreater than 11.5 V.
Measure
voltage input from AI and
check whether AI sampling voltage Adjust AI input voltage and view AI
1. AI voltage is too (Un-21 or Un-22) is greater than sampling voltage until AI sampling
high. 11.5 V. voltage does not exceed 11.5 V
Use shielded twisted pair cable and
Check AI wiring according to shorten cable length.

2. AI wiring is
incorrect or correct wiring diagram. Increase AI lter time constant:
interference exists.
AI1 lter time constant: P06-51

36） Er.835：High-accuracy AD sampling fault Cause：
● High-accuracy AD circuit suffers interference.
1. Interference exists on Check AI wiring according to Use shielded twisted pair cable and
high-accuracy AI correct wiring diagram. shorten cable length.
286
37） Er.A33：Encoder data abnormal Cause:
●Encoder internal parameters are abnormal
1. The serial Check connection of encoder cable to see whether

encoder cable incorrect connection, wire breaking, or poor contact

Check wirings. exists. If motor cables and encoder cable are bundled
breaks or
together, separate them
becomes loose
2.Serial encoder parameters If the fault persists after you power on

servo drive several times, it indicates Replace servo motor
read-write is a bnormal. that the encoder is faulty.
38） Er.A34：Encoder communication check abnormal Cause：
● After power-on, reading initial phase information of rotor of 2500-PPR

incremental encoder error occurs.
1. Servo drive model and

servo motor model do not Replace matching
match servo drive and servo motor.
Check whether encoder cable breaks and

Replace a new encoder
2. Encoder cable breaks. whether connection of servo drive and
cable and secure wirings.
connection of servo motor are secure
39） Er.A35：Z signal lost Cause
●Z signal of 2500-PPR incremental encoder gets lost or edge of A, B signals changes simultaneously
1. Z signal gets lost Use a new encoder cable and connect

wirings correctly. Then rotate motor shaft Replace servo motor.
because of encoder fault. manually and check whether the fault persists.
2.Poor contact or incorrect Check whether encoder cable is in
Rotate
motor shaft manually and check
connection results in Z good contact. Reconnect wirings or
whether the fault persists. replace encoder cable
signal lost.
287
40） Er.B00：Position deviation being large Cause：
●Position deviation is larger than the setting of P0A-10 in position control.

1. Power output phase UVW) Perform motor trial running when
loss or incorrect phase sequen Connect wirings correctly
there is no load and check motor wirings again or replace them
ce occurs on servo drive
Reconnect the UVW cable. Power cables of servo
2. UVW cable or motor and power cables UVW of servo drive must
encoder cable breaks.
Check wirings
be one-to-one correspo ndence. If necessary,
replace a new cable and ensure reliable connection

speed (Un-00)
Running reference in the position
control mode: Un-13 (input reference
pulse counter)
Running reference in speed control:
3.Motor rotor is locked Un-01 (speed reference) Eliminate mechanical factors
due to mechanical factors.
Running reference in torque control:
Un-02 (internal torque reference)
Check servo drive position Adjust gain manually or

loop gain and speed loop gain. perform automatic gain
4. Servo drive gain is low. 1st gain: P08-00 to P08-02 auto-tuning according to
2nd gain: P08-03 to P08-05 Chapter 7 Adjustment.
Reduce position reference frequency or decrease

electronic gear ratio.
Check whether input pulse frequency is too When host computer is used to output position
5. Input pulse frequency is high high if position reference source is pulse. pulses, set acceleration/deceleration time in host
Acceleration/deceleration time is 0 or too computer.
small. If host computer is not allowed to set acceleration/
deceleration time, iuncrease parameters P03-04
and P05-06 to smoothen position reference.
6. Relative to running condition, Check whether the setting of
P0A-10 (threshold of position Increase the setting of P0A-10
deviation fault) is too small. P0A-10 is too small.
7. The servo drive/motor

is faulty
288
41） Er.B01：Pulse input abnormal Cause：
●Input pulse frequency is greater than P0A-09 (Maximum position pulse frequency)
1. Input pulse frequency is Check whether P0A-09 is Reset P0A-09 correctly according to the actual
greater than P0A-09 smaller than maximum input requirement.
(Maximum position pulse pulse frequency required by If output pulse frequency of host computer is larger
frequency) normal machine running than 4 MHz, decrease it.
First, use an STP cable for pulse input and separate

pulse input cable from servo drive power cables.
Then, when differential input is selected on the condition
of using low-speed pulse input terminal (P03-01 = 0),
ground of host computer must be connected to GND of
servo drive reliably. If opencollector input is selected,
ground of host computer must be connected to COM of
2.Input pulse suffers check grounding
servo drive reliably. Only differential input can be
interference. situation of connecting cables.
selected on the condition of using high-speed pulse
input terminal (P03-01 = 1), ground of host computer
must be connected to GND of servo drive reliably.
Finally, according to selected hardware input terminal,
increase pin lter time of pulse input terminal in
P0A-24 or P0A-30
43）Er.B03：Electronic gear ratio setting exceeding limit Cause
●Any electronic gear ratio exceeds limit: 0.001 x encoder resolution/10000, 4000 x
encoder resolution/10000
If P03-02 = 0, check the ratios of P03- The ratios of encoder

encoder resolution/P03-02, P03-07/P03 resolution /P03-02,P03-
Electronic gear ratio 07/P03-09 and P03-11/P03-13 07/P03-09, and P03-11/P03-13 must
setting exceeds If P03-02 > 0, check the ratios of be within
-09 and P03-11/P03-13. preceding limit.
preceding limit.
When modifying electronic gear ration

Parameter related parameters P03-02,P03-07/P03-
modication 09, and P03-11/P03-13, modifying
Reset the fault or re-power
sequence is sequence is unreasonable, which results on the system
unreasonable. in electronic gear ratio exceeding limit
during calculation of electronic gear ratio
.
9.2.3 Troubleshooting of Warnings
1）Er.110：Setting error of frequency-division pulse output Cause：

● When using the frequency-division output function of encoder (P03-38 = 0), setting of the number of
frequency-division pulses of encoder does not match the threshold decided by encoder specication.
The number of For incremental encoder, the number of

frequency frequencydivision pulses cannot Reset P03-17
division pulses of exceed encoder resolution (Encoder frequencydivision pulses)
encoder does not For absolute encoder, the number of correctly according
conform to the frequencydivision pulses cannot to the specication
specication
exceed one fourth of encoder resolution.
289
2）Er.601：Homing timeout Cause：
●When using the Homing function (P03-30 = 1 to 5), home is not found within time set in P03-35.
1. The home
There is only high-speed searching and no low-speed
searching during operation of returning to home.After high- Increse P03-34
switch fails
speed searching of eturning to home, the drive keeps
reverse low-speed searching.
2. The search Check whether time for Homing Change homing setting positioin

time is too short set in P03-35 is too short.
3. Speed of highspeed Check distance from initial position of returning to home to

home switch. Then check whether P03-32 (speed of home Change the offset setting to ensure
searching home switch that the setting direction is opposite
switch signal at high-speed searching) is too small, resulting
signal is too small. in too long time of nding home switch. to the zero return direction
3）Er.730：Encoder battery warning Cause:

● Battery voltage of absolute encoder is lower than 3.0 V
1.Battery voltage of absolute Replace a new battery with

encoder is lower than 3.0 V Measure battery voltage
matching voltage
4）Er.831：AI zero drift too large Cause：

● When input voltage of AI(AI1 and AI2) is 0 V, sampling voltage of servo drive is greater than 500 mV.
Use shielded twisted pair cable and

shorten cable length.
1. AI wiring is incorrect
Check wiring by referring Increase AI lter time constant:
to correct wiring diagram AI1 lter time constant: P06-51
or interference exists
Disconnect
AI cable (input voltage is 0). If AI sampling value exceeds
2. The servo drive is faulty Check whether AI sampling value in group 500 mV, replace the servo drive
H0B exceeds 500 mV
5）Er.900：DI emergency braking Cause:

●Logic of DI (including hardware DI and virtual DI) set for FunIN.34: EmergencyStop is valid
Check whether logic of DI set Check the running mode and clear
DI function FunIN.34: for FunIN.34: EmergencyStop DI braking valid signal on the
EmergencyStop is triggered is valid. prerequisite of ensuring safety
290
6）Er.909：Motor overload warning Cause:

●Accumulative heat of 60Z series 200 W and 400W motor reaches the warning level
Connect wirings based on correct wiring diagram.

Prefer to use the cable congured by Inovance as
1. Wiring of motor and
Check wirings between servo
encoder is incorrect or poor. drive, servo motor and encoder standard.
according to correct wiring When self-made cable is used, make and connect
diagram. wirings according to hardware wiring guidance.
Conrm overload characteristic

2.The load is too heavy. Replace a large servo drive and matching
of servo drive or servo motor.
The motor keeps output of Check whether average load rate servo motor.
effective torque higher than Reduce the load and increase acceleration/
(Un-12) is greater than 100.0%
rated torque for a long time for long time. deceleration time.
Calculate
load inertia ratio or
3.Acceleration/deceleration is
perform load inertia ratio autotuning.
too frequent or load inertia is
Then view Un-15 (load inertia ratio). Increase acceleration/deceleration time
too large
Conform single running cycle
servo motor runs in circular
when
4.The gain is improper, Observe whether motor vibrates Adjust the gain by referring to
causing too high rigidity generates noise during running
and Chapter 7 Adjustment.
5.The servo drive or

motor model is set
incorrectly.

Check running reference and motor speed
(Un-00) by using Inovance servo commissioning
software or operating panel.
Running reference in the position control
mode: Un-13 (input reference pulse counter)
Running reference in speed control: Un-01 Eliminate mechanical factors.
6.Locked-rotor occurs due to (speed reference)
mechanical factors, resulting in Running reference in torque control: Un-02
very heavy load during running.
(internal torque reference)
7.The servo Power off the servo drive and If the fault persists after re-poweron, replace

drive is faulty. then power it on again. the servo drive.
291
7）Er.920：Regenerative resistor overload Cause：
●Accumulative heat of regenerativeresistor is greater than the setting value

Disconnect external Replace a new external regenerative resistor and
1.Wiring of external regenerative regenerative resistor and measure its resistance. If the resistance is consiste
resistor is in poor connection, measure whether resistance of nt with nominal value, connect it between P + and -
becomes loose or breaks. the resistor is Select a new cable and connect it
Measure whether resistance between P + and - .
between P+ and C is
2. Jumper across terminals
P + and - is shorted or
Measure whether resistance Select a new cable and
disconnected when the internal connect it between P + and - .
regenerative resistor is used. between P and D is
3. Setting of P02-25 is incorrect P02-25 = 1 (external regenerative resistor used,

when external regenerative View setting value of P02-25Measure resistance naturally ventilated)P02-25 = 2 (external
resistor is used. of external regenerative resistor connected regenerative resistor used, forcible cooling)
between P + and - . Check whether the resistance
4. Resistance of the used is too large by comparing it with the regenerative
external regenerative resistor resistor specication. Select a proper regenerative resistor
is too large. Check whether setting value of P02-27 is greater
than resistance of external regenerative resistor
5. P02-27 (resistance of external Set P02-27 (resistance of external regenerative
regenerative resistor) is larger connectedbetween P + and - . resistor) consistent with the resistance of the
than resistance of the used
external regenerative resist selected external regenerative resistor.

Check whether input voltage of main
circuit on servo drive side satises
the following specication:
220 VAC drive:
6. Input voltage of main circuit Allowed error: -10% to 10%
exceeds specication Replace power supply or adjust
(198 to 264 V) power voltage according to
380 VAC drive: specication on the left.
Allowed error: -10% to 10%
(342 to 528 V))
Select a large external regenerative

7.The load inertia is too large calculate total inertia of machine according resistor and set P02-26 (power
to mechanical parameters.Check whether of external regenerative resistor)
load inertia ratio exceeds 30.
actual
consistent with actual value.
8.Speed is too high, and View speed curve of motor Select a large servo drive.
eceleration is not completed for cycle running and
If allowed, reduce the load.
within required time. check whether motor is in
The regenerative resistor is in deceleration status for a long If allowed, increase acceleration/
continuous deceleration status period. deceleration time.
9. Capacity of servo drive or View
single cycle speed curve of motor If allowed, increase motor running
regenerative resistor is and calculate whether maximum braking cycle
insufcient energy can be absorbed completely
10. The servo drive is faulty - Replace a new servo drive
8)Er.922：Resistance of external braking resistor too small Cause:

●P02-27 (resistance of external regenerative resistor) is smaller than P02-21 (Allowed
minimum value of regenerative resistor).

When an external regenerative If yes, connect an external regenerative resistor
Measure resistance of the external regenerative
resistor is used (P02-25 = 1 or 2), matching servo drive between P + and - and set
resistor between P+ and - and check whether it
resistance of the external P02-27 (resistance of external regenerative resistor)
is smaller than P02-21 (allowed minimum value
regenerative resistor is smaller to resistance of the selected regenerative resistor.
of regenerative resistor)
than minimum value required by If not, set P02-27 to resistance of the selected
servo drive. regenerative resistor.
292
9）Er.939：Motor power cable breaking Cause:
● Actual phase current of motor is smaller than 10% of rated motor current, actual motor
speed is small but internal torque reference is very large.

Check whether difference between Un- Check the motor power cable
24 (phase current valid value) and Un-02 connection and reconnect
Motor power (internal torque reference) reaches over 500%. wirings. If necessary, replace
cable breaking Meanwhile, H0B-00 (actual motor speed) is a new cable.
smaller than one fourth of rated motor speed.
10） Er.999：Parameter modication taking effect only after re-power-on Cause：

●Modication of some parameters takes effect only after servo drive is powered on again.
After these parameters are modied, servo drive reminds of re-power-on
Modify parameters, whose Check

whether you modify parameters
modication takes effect , whose modication takes effect Re-power on the
only after re-power-on. only after repower-on servo system
11） Er.942：Parameter storage too frequent Cause：

●The number of parameters that are being modied simultaneously exceeds 200
A great number of Check whether host controller Check the running mode. For the
parameters are modied
performs frequent and fast parameters that need not be stored
and stored frequently to parameter modication on in EEPROM, set P0B-13 to 0 before
EEPROM (P0B-13 = 1). servo drive. writing operation of host controller
12） Er.950：Forward limit switch warning Cause：
●Logic of DI set for FunIN.14: P-OT (forward limit switch) is valid.
Logic of DI set for ■ Check whether a parameter in group

FunIN.14: P-OT P06 is set for FunIN14 (P-OT). Check the running mode. Send a reverse reference
(forward limit switch) or rotate motor on the prerequisite of ensuring safety
Check whether logic of corresponding to make logic of the forward overshoot switch
is valid DI is valid in Un-03
(monitored DI states). terminal invalid.
293
12）Er.952：Reverse limit switch warning Cause:
Logic of DI set for FunIN.15: N-OT (reverse limit switch) is valid
Check
whether a parameter in group Check the running mode. Send a
Logic of DI set for P06 is set for FunIN15 (N-OT). reverse reference or rotate motor on
Check whether logic of corresponding the prerequisite of ensuring safety to
FunIN.15: N-OT make logic of the reverse overshoot
DI is valid in Un-03 (monitored DI
(reverse limit switch terminal invalid.
states).
switch) is valid.
13）Er.980：Encoder internal faultCause
●Encoder algorithm error occurs
If the
fault persists after you power on servo
It is encoder drive several times, it indicates that the Replace servo motor.
internal fault encoder is faulty
14）Er.990：Power input phase loss warning Cause
●Three-phase servo drive of 1 kW below is allowed to run under single-phase power

but the fault and warning of power input phase loss (P0A-00) is enabled.
When P0A-00 = 1 (allow

faults and warnings at If the warning persists when a
power input phase loss threephase servo drive is connected to
protection), three-phase three-phase power, troubleshoot it as
servo drive (0.75 kW) can
Check whether
Er.420 (power cable phase loss).
run under single-phase it is a threephase servo
drive allowed to If the warning persists when a
power. When single-phase threephase servo drive is connected to
run under singlephase power.
power is connected, this single-phase power, set P0A-00 to 0
warning is reported.
9.2.4 InternalFaults
When any of the following fault occurs, contact Yuhai for technical support.
Er.602: Angle auto-tuning failure
Er.220: Phase sequence incorrect
Er.A40: Motor auto-tuning failure
Er.111: Servo internal parameters abnormal
294

YG-380V Servo Drive Manual

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

Chapter 5 Operation and Display 

5.1 Introduction to Keypad......................................................................................................... 34

Chapter 6 Adjustment 

Chapter 1 Safety Information and Precautions

1.1 Safety Precautions

ƹPlease install a stop device on the mechanical side to ensure safety.

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When there is interference due to static electricity;

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28Check items and cycles

Check the ambient temperature, humidity, dust, foreign matter, etc.

Whether there is abnormal vibration and noise

Power supply voltage normal or not

daily daily Any odor or not

Cleanliness of the front of the drive, connectors

Whether foreign matter enters the load end

Fastening part loosen or not

Are there any signs of overheating

Whether the tightening part of the terminal block is loose

Object Type Standard replacement cycle Note

Bus ﬁlter capacitor Around 5 years

Encoder 3~5 years2~30000 hours

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3.1 Installation of Servo Drive

3.1.1 Installation Location

● Install the servo drive in a place with no vibration.

● The installation location must meet the pollution degree PD2.

3.1.2 Installation Environment

Table 2-1 Installation environment of servo drive

0–55°C (average load ratio not exceeding 80% when ambient

Storage temperature -20 to 85°C (non-freezing)

Storage humidity Below 90% RH (no condensation)

Vibration Below 4.9 m/s2

Impact Below 19.6 m/s2

Ingress protection IP10

Pollution degree PD2

Overvoltage category OVCIII

Altitude Below 1000 m

3.1.3 Installation Precautions

Figure Installation diagram of the servo drive is below:

Air outlet Air outlet Air outlet Air outlet

Install the servo

Make the cable outlet

3.2 Installation of Servo Motor

3.2.1 Installation Location

3.2.2 Installation Environment

Table Installation environment of servo motor

Use ambient temperature 0 to 40°C (non-freezing)

Use environment humidity 20%–90% RH (no condensation)

Chapter 5 Operation and Display

Chapter 6 Adjustment

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Encoder 3~5 years2~30000 hours

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