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K2 系列

AC Servo Driver
User’s Manual 2015（V1.0）

http://www.acservomotor-xl.com
Preface

● Thank you for purchasing this AC servo driver.

● This Manual is the user manual for K2 series products.

● To use this series of servo drivers correctly, please carefully read this Manual before use and
keep this Manual properly for future reference. If this product is purchased for your customer,
please send this product to the final user together with this Manual.

☆ Warm tips:

◇ For the user who uses this product for the first time, please carefully read this Manual. If
there is any question with the function or performance of this product, please contact our
technical support staff for help in order to use this product correctly.

◇ We have tried our best to improve the contents of this manual. However, if you find any
problem in this Manual, please contact our technical support staff in time for us to make
timely corrections.

◇ As we will constantly improve our servo driver products, we may make changes to the
materials without prior notice.

◇ Without prior written consent of the Company, no part of this manual shall be reproduced.
Safety Precautions
Before product storage, installation, wiring, operation, check or maintenance, users must be
familiar with and observe the following important notes to ensure safety during use of the product.

1. Electric Shock Injury Warning

Warning

When the servo driver is powered on, the machine casing should not be opened so as to avoid
electric shock.
When the casing is opened, the servo driver should not be powered on so as to avoid electric
shock resulting from exposed high voltage wire.
In maintenance of the driver, wait for at least five minutes after cutting off the power, and
detect both ends of the high-voltage capacitor using a voltmeter. The maintaining operation is
allowed only when it is confirmed that the safe voltage range is reached.
Power on only after reliable installation of the driver.
Servo driver and servo motor must be reliably grounded.
Do not touch the driver with wet hands for fear of electric shock.
Wrong voltage or power supply polarity may cause an explosion or operational accidents.
Ensure that the wire is properly insulated to avoid squeezing the wire and electric shock.

2. Warning of Damage to Equipment

Warning
Do not directly connect power to the U, V or W terminals of the driver for fear of damaging
the driver.
The servo motor and servo driver should be directly connected. Do not connect the U, V or W
output ends of the driver to any capacitive element (e.g. noise suppression filter, pulse
interference limiter, etc.) for fear of improper work of the driver.
Connect the input end of the driver to a compliant power supply as required.
Please verify the correctness and reliability of the cable connections before energizing.
Please purchase and use motor as required, or damage to the driver or motor may occur.
The rated torque of the servo motor should be higher than the effective continuous load
torque.
The ratio between the load inertia and servo motor inertia should be less than the
recommended value.
3. Fire Warring

Warning

The driver should not be installed on the surface of a combustible and should be kept away
from flammable materials. Otherwise, a fire accident may occur.
Do not use it at a place which is damp, full of corrosive gas or flammable gas for fear of a
fire.
When any abnormal situation occurs while the driver operates, please immediately cut off the
power for repair. Long-time overloaded operation of the driver may cause damage and fire.
Contents

Contents ............................................................................................................................................ 4
Chapter I Function Overview ......................................................................................................... 1
1.1 Description of Servo Driver Models ................................................................................... 1
1.2 Appearance of servo driver .......................................................................................... 1
1.3 Basic Functions ................................................................................................................... 2
Chapter II Installation and Dimension .............................................................................................. 3
2.1 Servo Driver .................................................................................................................. 3
2.1.1 Storage Condition.............................................................................................. 3
2.1.2 Installation Site.................................................................................................. 3
2.1.3 Installation Direction ......................................................................................... 3
2.1.4 Installation of Several Servo Drivers ................................................................ 3
2.1.5 Dimension Description...................................................................................... 5
2.2 Servo Motor .................................................................................................................. 6
2.2.1 Storage Temperature.......................................................................................... 6
2.2.2 Direction............................................................................................................ 6
2.2.3 Installation Concentricity .................................................................................. 6
2.2.4 Installation Direction ......................................................................................... 7
2.2.5 Protection Measures Against Water and Oil ...................................................... 7
2.2.6 Cable Tension .................................................................................................... 7
Chapter III Wiring ............................................................................................................................. 8
3.1 Wiring of Main Circuit.................................................................................................. 8
3.1.1 Descriptions of Terminals ................................................................................. 8
3.1.2 Typical Examples for Main Circuit Wiring ....................................................... 9
3.2 Encoder Signal Wiring ................................................................................................ 10
3.2.1 Connection with Encoder Interface (CN1) and Processing of Output Signal
from CN2 ........................................................................................................................ 10
3.3 Input/Output Signal Wiring ......................................................................................... 13
3.3.1 Speed/Torque Control Mode ........................................................................... 13
3.3.2 Position Control Mode .................................................................................... 14
3.3.3 Signals and Their Functions for Input/Output Connector (CN2) .................... 15
3.3.4 Interface Circuit .............................................................................................. 15
3.4 Other wiring ................................................................................................................ 17
3.4.1 Precautions ...................................................................................................... 17
3.4.2 Anti-interference Wiring ................................................................................. 18
3.5 Wiring of Motor .......................................................................................................... 20
3.5.1 Connector Terminal Wiring for Motor Power Supply ..................................... 20
3.5.2 Connector Terminal Wiring for Motor Encoder .............................................. 21
Chapter IV Panel Operation ............................................................................................................ 22
4.1 Basic Operation ........................................................................................................... 22
4.1.1 Key Names and Functions............................................................................... 22
4.1.2 Selection and Operation of Basic Mode .......................................................... 22
4.1.3 Status Display.................................................................................................. 23
4.2 Auxiliary Function Mode (FA□□□) ....................................................................... 24
4.2.1 Execution Mode List of Auxiliary Functions .................................................. 24
4.2.2 Display of Software Version of Servo ............................................................. 25
4.2.3 Position Demonstration Operation .................................................................. 25
4.2.4 Identification of Inertia Percentage ................................................................. 25
4.2.5 Confirmation of Motor Model......................................................................... 26
4.2.6 Initialization of User Parameter Setup ............................................................ 26
4.2.7 Displaying History Alarm Data ....................................................................... 27
4.3 Operation under User Parameter Mode (PA□□□) .................................................. 27
4.3.1 User Parameter Setting .................................................................................... 28
4.3.2 Signal Distribution of Input Circuit ................................................................ 29
4.3.3 Signal Distribution of Output Circuit .............................................................. 31
4.4 Operation under Monitoring Mode (Un□□□) ......................................................... 33
4.4.1 List of Monitoring Mode ................................................................................. 33
Chapter V Operation ....................................................................................................................... 37
5.1 Trial Operation ............................................................................................................ 37
5.1.1 Trial Operation for Servo Motor Unit ............................................................. 37
5.1.2 Trial Operation for Servo Motor Unit with Superior Reference ..................... 38
5.1.3 Trial Operation Servomotor Connected to the Machine ................................. 41
5.1.4 Trial Operation of Servomotor with Brakes .................................................... 41
5.1.5 Position Controlled by Command Controller .................................................. 42
5.2 Selection of Control Mode .......................................................................................... 42
5.3 Setting of General Basic Functions ............................................................................. 43
5.3.1 Servo ON Setting ............................................................................................ 43
5.3.2 Rotation Direction Switching of Motor........................................................... 43
5.3.3 Overtravel Setting ........................................................................................... 44
5.3.4 Setting for Holding Brake ............................................................................... 46
5.3.5 Selection of Stop Methods in Servo OFF............................................................... 49
5.4 Use of Absolute Encoder............................................................................................. 50
5.4.1 Interface Circuit ..................................................................................................... 50
5.4.2 Selection of Absolute Encoder ............................................................................... 51
5.4.3 How to Use Battery ................................................................................................ 51
5.4.4 Giving and Receiving Sequence of Absolute Data ................................................ 52
5.4.5 Setting of Absolute Encoder (FA009/ FA010) ....................................................... 54
5.4.6 Clear of Multi-coil Data of Absolute Encoder .................................................... 54
5.4.7 Clear of Internal Errors of Bus Encoder................................................................. 55
5.5 Speed Control (Analog Voltage Reference) Operation ............................................... 55
5.5.1 User Parameter Setting .................................................................................... 55
5.5.2 Setting of Input Signal.................................................................................. 56
5.5.3 Adjustment of Reference Offset ...................................................................... 56
5.5.4 Soft Start ......................................................................................................... 58
5.5.5 Use of Zero Clamping Function ...................................................................... 59
5.5.6 Encoder Signal Output .................................................................................... 60
5.5.7 Same Speed Detection Output......................................................................... 61
5.6 Position Control Operation ......................................................................................... 62
5.6.1 User Parameter Setting .................................................................................... 62
5.6.2 Setting of Electronic Gear ............................................................................... 63
5.6.3 Position Reference .......................................................................................... 65
5.6.4 Smoothing ....................................................................................................... 68
5.6.5 Positioning Completed Output Signal ............................................................. 68
5.6.6 Low-frequency Jitter Suppression ................................................................... 69
5.6.7 Inhibition Function of Reference Pulse (INHIBIT Function) ......................... 70
5.7 Torque Control Operation ........................................................................................... 70
5.7.1 User Parameter Setting .................................................................................... 70
5.7.2 Torque Reference Input ................................................................................... 71
5.7.3 Adjustment of Reference Offset ...................................................................... 71
5.7.4 Speed Limit under Torque Control .................................................................. 73
5.8 Speed Control (Internal Speed Selection) Operation .................................................. 74
5.8.1 User Parameter Settings for speed control with an internally set speed .......... 75
5.8.2 Setting of Input Signal .................................................................................... 75
5.8.3 Operation at Internal Set Speed ....................................................................... 75
5.9 Torque Limit ............................................................................................................... 77
5.9.1 Internal Torque Limit (Limitation on Output Torque Maximum Value) ......... 77
5.9.2 External Torque Limit (through Input Signal)................................................. 78
5.9.3 Torque Limit Based on Analog Voltage reference........................................... 79
5.9.4 Torque Limit Based on External Torque Limit + Analog Voltage Reference.. 80
5.9.5 Confirmation under Input Torque Limit .......................................................... 81
5.10 Control Mode Selection .............................................................................................. 81
5.10.1 User Parameter Setting .................................................................................... 81
5.10.2 Shift of Control Mode ..................................................................................... 82
5.11 Other Output Signal .................................................................................................... 82
5.11.1 Servo Alarm Output (ALM) ............................................................................ 82
5.11.2 Rotation Detection Output (/TGON)............................................................... 83
5.11.3 Servo Ready Output (/S-RDY) ....................................................................... 83
5.12 Mode Motion Sequence Manner ................................................................................. 83
5.12.1 Single Data Set Manner................................................................................... 83
5.12.2 Data Set Sequence Mode................................................................................. 86
5.12.3 Operation of Seeking Reference Point (Return to Zero) ................................. 90
Chapter VI Communication ............................................................................................................ 93
6.1 Communication Wiring ............................................................................................... 93
6.2 User Parameter ............................................................................................................ 93
6.3 MODBUS Communication Protocol ................................................................................ 94
6.4 MODBUS Communication Address ............................................................................... 102
Chapter VII Maintenance and Inspection...................................................................................... 115
7.1 Abnormality Diagnosis and Treatment Methods ...................................................... 115
7.1.1 Overview of Alarm Display .......................................................................... 115
7.1.2 Alarm Displays and Their Causes and Treatment Measures ......................... 116
7.1.3 Causes and Treatment Measures of Other Abnormalities ............................. 126
7.2 Maintenance and Check of Servo Drive ................................................................... 130
7.2.1 Check of Servo Motor ................................................................................... 130
7.2.2 Check of Servo Drive ........................................................................................ 131
7.2.3 General Standards of Replacement of Internal Parts of Servo Drive ............ 131
Appendix A Summary of User Parameters ................................................................................... 132
Appendix B List of Alarm Display ............................................................................................... 164
Appendix C Guidelines for Motor Model by Users ...................................................................... 166
Motor Adaption Table ........................................................................................................... 167
1: M Series Motor ......................................................................................................... 167
2. H Series Motor .......................................................................................................... 169
K2 Series AC Servo Driver

Chapter I Function Overview

1.1 Description of Servo Driver Models

Naming rule of K2 series servo driver:

XXX – K2 A S 04 A A
Encoder type：A for 2500-line，B for 17 bit
Input signal：A for pulse，B for analog and C for CANopen
Power level：04 for 0.4kW，08 for 0.75kW,15 for 1.5kW
Output mode：S for single axis and D for dual axis
Voltage：A for three-phase 220V，B for three-phase 380V
Series code：K2 for K2 series products
Enterprise code：XXX for XXX Servo Driver

1.2 Appearance of servo driver

1
K2 Series AC Servo Driver

1.3 Basic Functions

Control mode Position control, JOG running, speed contact, etc.
Encoder feedback 2500-line incremental standard and 17 bit incremental encoders
Ambient/storage
Ambient temperature: 0~+50℃; storage temperature: -20~+85℃
temperature
Use
Ambient/storage humidity Under 90%RH (no freezing or condensation)
conditions
Vibration/impact
4.9m/s2/19.6m/s2
resistance strength
Analog Reference voltage DC±10V
speed
reference Input impedance Appx. 20KΩ
input
Analog Reference voltage DC±10V
torque
reference Input impedance Appx. 20KΩ
input
Point 8 points
Servo ON (/S-ON), P action (/P-CON), positive-side over travel prohibited (P-OT),
IO input negative-side over travel prohibited (N-OT), alarm reset (/ALM-RST), positive-side torque
signal Function (distributable) limit (/P-CL), negative-side torque limit (/N-CL), position deviation clear (/CLR), internal
set speed switch, etc.
Distribution of above signals and change of positive/negative logics are available
Point 6 points
IO output Servo alarm (ALM), position complete (/COIN), velocity compliance detection (/V-CMP),
servo motor rotation detection (/TGON), servo ready (/S-RDY), torque limit detection
Signal Function (distributable)
(/CLT), breaker (/BK), encoder zero point output (PGC)
Distribution of above signals and change of positive/negative logics are available
Encoder divided frequency output A-phase, B-phase and C-phase: linear drive output; divided pulse count: can be set freely
RS-485 Communication protocol MODBUS
communica 1:N communication N = 127 stations at maximum
tion Axial address setting Set by parameters
CAN Communication protocol CANOpen (DS301 + DS402 guild regulations)
communica 1:N communication N = 127 stations at maximum
tion Axial address setting Set by parameters
Display functions CHARGE indicator, 7-segment digital tube 5 bit
Regeneration processing Built-in or external regeneration resistor (optional)
Dynamic breaker (DB) stop, deceleration stop or free running stop during P-OT or N-OT
Overtravel (OT) prevention function
input action
Overcurrent, overvoltage, undervoltage, overload, overspeed, regeneration failure, encoder
Protection functions
feedback error, etc.
Rotation speed, current position, reference pulse accumulation, positional deviation, motor
Monitoring functions
current, operating status, input and output terminal signal, etc.
Auxiliary functions Gain adjustment, alarm record, JOG running, origin search, inertia detection, etc.
Intelligent function Built-in gain auto tuning function
Applicable load inertia Less than 5 times of the motor inertia
Feed-forward
0~100% (set unit: 1%)
compensation
Sign + pulse sequence, CW+CCW pulse sequence, 90 °phase difference two-phase pulse
Input pulse type
(A phase + B phase)
Position Input pulse type Linear drive and open connector supported
control Linear drive：
Sign + pulse sequence, CW+CCW pulse sequence: 500Kpps
Maximum input pulse 90 °phase difference two-phase pulse (A phase + B phase): 500Kpps
frequency Open connector：
Sign + pulse sequence, CW+CCW pulse sequence: 200Kpps
90 °phase difference two-phase pulse (A phase + B phase): 200Kpps

2
K2 Series AC Servo Driver

Chapter II Installation and Dimension

2.1 Servo Driver

K2 series servo drivers are base-mounted and improper installation may give rise to failures. Please
install the servo driver properly by following the instructions below.

2.1.1 Storage Condition

The servo driver should be kept in a place with an ambient temperature of [-20~+85]℃ when not used.

2.1.2 Installation Site

■ Temperature: 0～55°C;
■ Ambient humidity: not higher than 90% RH ( no condensation);
■ Sea level not higher than 1000 m;
■ Maximum vibration: 4.9m/s²;
■ Maximum Impact: 19.6m/s²;
■ Other installation precautions:
·Installed in a control cabinet
Attention should be paid to the size of the control cabinet, the placement mode of servo driver and cooling
mode, in order to ensure that the ambient temperature for the servo driver is under 55℃. Please refer to description
in Section 1.2.2 for operation details;
·Installed near heat source
The radiation of the heat source and temperature rise caused by convection should be under
control, in order to ensure that the ambient temperature for the servo driver is under 55℃;
·Installed near vibration source
A vibration isolation device should be installed to avoid vibration passing to the servo driver;
·Installed in a place exposed to corrosive air
Necessary measures should be taken to prevent the servo driver from exposing to corrosive air. Corrosive air
may not immediately affect servo driver but will obviously cause the failure of electronic components and relevant
elements of the contactor;
·Other occasions
Servo driver should not be put in occasions of high temperature, high humidity, condensation
dripping, oil splashing, dust, scrap iron or radiation;
Note: when cutting off the power to store the servo driver, please put the driver in a place with the following
environmental conditions: -20~85℃, 90% RH below (no condensation)

2.1.3 Installation Direction

The direction of installation should be vertical to the mounting surface and two mounting holes should be used
to reliably fix the servo driver on the installation base. If required, a fan should be installed to compulsorily cool the
servo driver.

2.1.4 Installation of Several Servo Drivers

If more than one servo driver should be installed in a control cabinet in parallel, the space

3
K2 Series AC Servo Driver

indicated below should be followed for installation and heat dissipation.

fan fan
Above 40mm

Above 40mm
Above 30mm Above 10mm

■ Installation direction of servo driver

The front (wiring side) of the servo driver should face the operator and should be vertical to the mounting
base.
■ Cooling
Adequate space should be reserved around the servo driver to ensure cooling through a fan or free convection.
■ Parallel installation
As shown above, a space of above 10 mm should be reserved at both sides of the horizontal direction and a
space of above 50mm should be reserved at both sides of the vertical direction. The temperature inside the control
cabinet should be kept even to avoid excess temperature in some parts of the servo driver. If necessary, a fan for
compulsory cooling and convection should be installed above the servo driver.
■ Environmental condition for normal operation of servo driver
1. Temperature: 0~ 55℃
2. Humidity: below 90%RH (no condensation)
3. Vibration: below 4.9m/s2
4. To ensure long-term stable use, it is recommended to use the servo driver under an environmental
temperature condition of 45℃ and below.

4
K2 Series AC Servo Driver

2.1.5 Dimension Description

Dimension of K2 series 400W、750W Dimension of K2 series 1.5kW

Apparent size of K2-400W Apparent size of K2-750W

Apparent size of K2-1.5kW 的外观尺寸：

5
K2 Series AC Servo Driver

2.2 Servo Motor

The servo motor can be installed in horizontal or vertical direction. The service life of the servo motor will be
shortened significantly or unexpected accident may occur if any mechanical mismatch occurs during installation.
Please follow the instructions below for correct installation.
Precautions before installation:
Antirust agent is applied at the motor axis end and should be wiped off using a soft cloth dipped in
diluent before installation.
When wiping off the antirust agent, attention should be paid to prevent the diluent from contacting
other parts of the servo motor.

2.2.1 Storage Temperature

The servo motor should be kept in a place with an ambient temperature of [-20~+60]℃ when not used.

2.2.2 Direction
Servo motor should be installed indoor and the indoor space should meet the following environmental
conditions.
 No corrosive, flammable or explosive air
 Good ventilation, little dust and dry environment
 Ambient temperature within 0~40℃
 Relative humidity within 26%~80%RH without condensation
 Easy for maintenance and cleaning

2.2.3 Installation Concentricity

Flexible coupling should be used as much as possible when connecting to machinery. In
addition, axis of servo motor should be placed in a straight line with that of mechanical load.
When installing servo motor, requirements for concentricity tolerance should be met as the following figure.

Measure at quarter of a circle to make sure that difference between max. value and min. value is lower
than 0.03 mm. (rotating with coupling)
 Mechanical vibration will be caused by large concentricity deviation
and therefore will lead to damages to servo motor bearing.
 When installing coupling, axial percussion is prohibited, otherwise
damages will be caused to encoder of servo motor.

6
K2 Series AC Servo Driver

2.2.4 Installation Direction

Servo motors can be installed horizontally, vertically or in random direction.

2.2.5 Protection Measures Against Water and Oil

When using in places containing water, oil or condensation, it is required to take special measures to motors as
per protection requirements; however, motors with oil seals should be used since protection requirements for shaft
penetrating portion should be satisfied when motors leaving factory. Shaft penetrating portion refers to interval
between extension of motor end and end flange.

Shaft penetrating portion

2.2.6 Cable Tension

Bending radius cannot be too small when connecting cables. It is also not suggested to exert too much tension
in cables. Specially, diameter for core wire of signal line is usually very fine (0.2 or 0.3 mm), therefore too much
tension cannot be exerted during wiring.

7
K2 Series AC Servo Driver

Chapter III Wiring

3.1 Wiring of Main Circuit

This section explains wiring examples of main circuit, functions of terminals in main circuit and power ON
sequence.

！attention
Notes
·Do not lead power lines and signal lines to the same pipe, nor bind them together. During wiring,
power lines should be kept over 30 cm away from signal line.
Otherwise, malfunction may be caused.
·Multi-stranded wires and multi-core shielded wire should be used as signal lines and feedback wires
for encoder (PG).
As for wire length, reference input wire should be 3m at most and 20 m at most for PG feedback wire.
·High voltage may be maintained in the servo driver even the power is turned off. Do not touch power
terminal within 5 minutes after power off.
Inspection operation should be carried out when CHARGE indicator light is confirmed to be off.
·Do not frequently turn on or off the power. If it is required to continuously turn on or off the power,
frequency should be limited to 1 time/min below.
Due to capacitance in power of servo unit, large charging current (charging for 0.2 s) will flow through
when power is ON. Therefore, performance of components in main circuit within servo unit will be
damaged if power is turned on/off frequently.

3.1.1 Descriptions of Terminals

Terminals and respective function and precaution for driver panel are as follows.

Terminal Functions Precautions for operation

L1、L2、L3 Input terminal of main circuit power Three phase AC 220V（-15%~10%，50/60Hz）
L1C、L2C Power input terminal of control loop Single phase AC 220V（-15%~10%，50/60Hz）
⊝1、⊝2 DC reactor ○
- 1and ○
- 2 are connected when at factory。

When using an external resistor, connect

bleeder resistor between B1/○ + and B2；Connect
B1/⊕、B2、B3 Terminal of bleeder resistor
B2 and B3 when use internal bleeder resistor,
(B2 and B3 is shorted at factory).
Terminal of motor power line and
U、V、W、  Must connected to the motor terminals UVW
earthing terminal
CN1 Terminal of motor encoder see instructions in 3.2
CN2 Terminal of input and output see instructions in 3.3.3
CN3 Notice the definition of the terminal， see
Communication terminal
CN4 instructions in 6.1

8
K2 Series AC Servo Driver

3.1.2 Typical Examples for Main Circuit Wiring

L1 L2 L3
Three phase 200 - 230V/ (50/60Hz)
Non-fuse breaker

Surge protection
1Ry 1PL (for display of servo alarm)
device
Power
Noise filter ON Power OFF 1KM

Connect surge protection device to

1KM 1Ry 1SUP coil of electromagnetic contactor
Servo motor
L1 U U

Electromagnetic L2 V
V
contactor
L3 M
W W
K2 Series PE
PE
Servo Drive

L1C Encoder
L2C PG
CN1

1
2

B1/
B2
B3

1、DC reactor is connected between 1 and 2,and the two

terminals are shorted when at factory。

2、400W has no internal brake resistor, 750W has internal

brake resistor, When using an external resistor, connect bleeder
resistor between B1 and B2；B2 and B3 is shorted at factory.

--------------------------------------------------------------------------------------------
Notes: design of power ON sequence
The following items should be considered during design of power ON sequence.
1. Design of power ON sequence: power should be OFF after output of signals of "servo alarm". (Refer to the above circuit
diagram.)
2. Press the POWER ON button for over 2 s. When control power of servo unit is ON, output 2s "servo alarm" signal (1Ry:
OFF). It is required to be done during initial setting of servo driver.

Control power 2.0s at most

Servo ALM output

3. Power specification for used parts should match with input power.
------------------------------------------------------------------------------------------------------------------------------------------

9
K2 Series AC Servo Driver

3.2 Encoder Signal Wiring

Connecting cables between encoder and servo driver and their wiring pin No. vary with servo motors.Signal
of side encoder interface (CN1) for servo driver:

Signal leads Signal leads

Terminal Terminal
Incremental Incremental
No. Bus encoder No. Bus encoder
encoder encoder
1 PA — 8 PU —
2 /PA — 9 /PU —
3 PB — 10 PV —
4 /PB — 11 /PV —
5 PC E+ 12 PW SD+
6 /PC E- 13 /PW SD-
7 5V 5V 14 GND GND
Casing Shielded wire

3.2.1 Connection with Encoder Interface (CN1) and Processing of Output Signal from CN2
In the figure: *1: connector wiring pin No. varies with used servo motor.
*2: refers to multi-stranded shielded wire.
(1) 2500 incremental wire-saving encoder
Wire-saving Servo drive
incremental encoder *2 Command controller (Client)
CN1 CN2
*1 19
Bus receiver
PA 1 Phase A
/PA 2 20 R Phase A

PB 3 Phase B 21
R Phase B
/PB 4 22

PC 5 Phase C 23
R Phase C
/PC 6 24
PG C
8 *3 Choke
9 +5V
25
10 0V
11

12 R(terminal resistance): 220 - 470Ω

13 C(decoupling capacitor): 0.1μF

+5V 7
GND 14

Connector housing (PE)

Shielded wire

10
K2 Series AC Servo Driver

(2) 2500 incremental standard encoder

Non-wire-saving Servo drive

incremental encoder *2 Command controller (Client)
CN1 CN2
*1 19
Bus receiver
PA 1 Phase A
/PA 2 20 R Phase A

PB 3 Phase B 21
R Phase B
/PB 4 22

PC 5
Phase C 23
24 R Phase C
/PC 6
PG C
PU 8 *3 Choke
/PU 9 +5V
25
PV 10 0V
/PV 11

PW 12 R (terminal resistance): 220 - 470Ω

/PW 13 C (decoupling capacitor): 0.1μF

+5V 7
GND 14

Connector housing (PE)

Shielded wire

(3) Bus incremental encoder

Servo drive
Bus incremental encoder Command controller (Client)
CN1 CN2
*1 19
Bus receiver
1 Phase A
2 20 R Phase A

3 Phase B 21
R Phase B
4 22

5 Phase C 23
R Phase C
6 24
PG C
8 *3 Choke
9 +5V
25
10 0V
*2
11

PW 12 R (terminal resistance): 220 - 470Ω

/PW 13 C (decoupling capacitor): 0.1μF

+5V 7
GND 14
Connector housing (PE)
Shielded wire

11
K2 Series AC Servo Driver

(4) Bus absolute encoder

Servo drive
Bus absolute encoder Command controller (Client)
CN1 CN2
*1 19
Bus receiver
1 Phase A
2 20 R Phase A

Phase B 21
*2 3
R
4 22 Phase B

5
Phase C 23
E+
R Phase C
E- 6 24
PG C
8 *3 Choke
9 +5V
25
10 0V
11

PS 12 R (terminal resistance): 220 - 470Ω

/PS 13 C (decoupling capacitor): 0.1μF

+5V 7
GND 14
Connector housing (PE)
Shielded wire

12
K2 Series AC Servo Driver

3.3 Input/Output Signal Wiring

3.3.1 Speed/Torque Control Mode

Speed (1) (2)

Command V-REF 5
LPF
(0 - ±10V)
GND 6 19 PAO＋
A/D
command 20 PAO－
Torque T-REF 18
LPF
Command 21 PBO＋
(0 - ±10V) GND 25 PG frequency dividing
22 PBO－ output

23 PCO＋
SEN 38
+5V
(5) 24 PCO－
SEN signal input GND 25
0V

DICOM＋ 13 3.3kΩ 25 GND

+24V IN1 14

7 OUT1＋

IN2 15 8 OUT1－

9 OUT2＋
Factory settings of
input signals 16 10 OUT2－
IN3 Factory settings of
IN1 /SON
11 OUT3＋ output signals
IN2 /PCON 17 12 OUT3－
(3) OUT1 ALM
IN3 POT IN4
OUT2 /COIN
IN4 NOT (4) 32 OUT4＋
OUT3 /TGON
IN5 /ALMRST
IN5 39 33 OUT4－ OUT4 /SRDY
IN6 /CLR
IN7 /PCL OUT5 /CLT
34 OUT5＋
IN8 /NCL OUT6 /BK
IN6 40 35 OUT5－

36 OUT6＋

41 37 OUT6－
IN7

42
IN8
Connector shell

(1) Refers to shielded twisted pair cable

(2) Time parameter is 47 us for first filtering
(3) Distribution change can be done by user parameter (PA509 - PA512) when inputting IN1 - IN8 signals
(4) Distribution change can be done by user parameter (PA513 - PA514) when outputting OUT1 - OUT6 signals
(5) With absolute encoder, connect to it when serial output is required for absolute data via PAO (PA001.0 = 0)

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K2 Series AC Servo Driver

3.3.2 Position Control Mode

Command controller (connected by bus differential mode)

PULS (1)
CW PULS＋ 1 150Ω
B-phase
A-axis PULS－ 2 19 PAO＋
position SIGN
command CCW SIGN＋ 3 150Ω 20 PAO－
A-phase
21 PBO＋
PG frequency dividing
SIGN－ 4
22 PBO－ output

23 PCO＋
SEN 38
24 PCO－
+5V GND 25
(5)
SEN signal input
DICOM＋ 13 3.3kΩ 25 GND
+24V IN1 14

7 OUT1＋

IN2 15 8 OUT1－

9 OUT2＋

16 10 OUT2－
Factory settings of IN3 Factory settings of
11 OUT3＋
input signals output signals
17 (3) 12 OUT3－
IN1 /SON
IN4 OUT1 ALM
IN2 /PCON
(4) 32 OUT4＋
IN3 POT OUT2 /COIN
IN4 NOT IN5 39 33 OUT4－ OUT3 /TGON
IN5 /ALMRST OUT4 /SRDY
IN6 /CLR 34 OUT5＋ OUT5 /CLT
IN7 /PCL OUT6 /BK
IN6 40 35 OUT5－
IN8 /NCL
36 OUT6＋

41 37 OUT6－
IN7

42
IN8
Connector shell

(1) Refers to shielded twisted pair cable

(2) When open collector is used as the input mode for position command pulse , external resistor should be connected:
Vcc=24V时，R1=R2=2.2KΩ
Vcc=12V时，R1=R2=1KΩ
Vcc=5V时， R1=R2=180Ω
(3) Distribution change can be done by user parameter (PA509 - PA512) when inputting IN1 - IN8 signals
(4) Distribution change can be done by user parameter (PA513 - PA514) when outputting OUT1 - OUT6 signals
(5) With absolute encoder, connect to it when serial output is required for absolute data via PAO (PA001.0 = 0)

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K2 Series AC Servo Driver

3.3.3 Signals and Their Functions for Input/Output Connector (CN2)

Terminal Terminal
Name Functions Name Functions
No. No.

1 APULS+ 26 BPULS+ Instruction pulse single-ended input

Reference pulse input
2 APULS- 27 Reserved
3 ASIGN+ 28 BSIGN+ Instruction pulse single-ended input
Reference sign input
4 ASIGN- 29 Reserved
5 AV-REF Speed reference input 30 BV-REF Reserved
6 GND Signal ground 31 GND Signal ground
7 OUT1+ Output port 1, which can be reallocated 32 OUT4+ Output port 4, which can be reallocated
8 OUT1- (Factory setting:ALM) 33 OUT4- (Factory setting:/S-RDY)

9 OUT2+ Output port 2, which can be reallocated 34 OUT5+ Output port 5, which can be reallocated
10 OUT2- (Factory setting:/COIN) 35 OUT5- (Factory setting:/CLT)

11 OUT3+ Output port 3, which can be reallocated 36 OUT6+ Output port 6, which can be reallocated
12 OUT3- (Factory setting:/TGON) 37 OUT6- (Factory setting:/BK)

13 DICOM Common port of input signal 38 SEN SEN signal input

Input port 1, which can be reallocated Input port 5, which can be reallocated
14 IN1 39 IN5
(Factory setting:/S-ON) (Factory setting:/ALM-RST)
Input port 2, which can be reallocated Input port 6, which can be reallocated
15 IN2 40 IN6
(Factory setting:/P-CON) (Factory setting:/CLR)
Input port 3, which can be reallocated Input port 7, which can be reallocated
16 IN3 41 IN7
(Factory setting: POT) (Factory setting: /PCL)
Input port 4, which can be reallocated Input port 8, which can be reallocated
17 IN4 42 IN8
(Factory setting: NOT) (Factory setting:/NCL)
18 AT-REF Torque reference input 43 Reserved Reserved
19 APAO+ 44 Reserved
Phase A of PG frequency dividing output Reserved
20 APAO- 45 Reserved
21 APBO+ 46 Reserved
Phase B of PG frequency dividing output Reserved
22 APBO- 47 Reserved
23 APCO+ 48 Reserved
Phase C of PG frequency dividing output Reserved
24 APCO- 49 Reserved
25 GND Signal ground 50 Reserved Reserved

Note:
1. Do not use any idle terminal.
2. Connect the shielded wires for input/output signal cables to connector shells.
3. The following input/output signals can change function distribution by setting user parameters
Output: OUT1, OUT2, OUT3, OUT4, OUT5, OUT6
The said output ports can change into ALM, /COIN, /TGON, /S-RDY, /CLT, /BK, /PGC
Input: IN1, IN2, IN3, IN4, IN5, IN6, IN7, IN8
By parameters, the said input ports can change into such signals as /S-ON, /P-CON, POT, NOT, /ALM-RST,
/CLR, /PCL, /NCL and /GSEL

3.3.4 Interface Circuit

Examples of connection of input/output signal of servo unit and its command controller are shown as below.
(1) Interfaces to reference input circuit
(a) Analog input circuit

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K2 Series AC Servo Driver

The following is to describe 5-6 (speed reference input) terminals and 18-25 (torque reference input) terminals
of CN2 connector.
Analog signal is the signal of speed reference or torque reference. Input impedance is shown as below.
·Speed reference input: appx. 20 KΩ
·Torque reference input: appx. 20 KΩ
Maximum allowable voltage of input signal is 12 V.

Analog voltage command input circuit Analog voltage command input circuit (D/A example)

Servo drive Command controller Servo drive

Above 1.8 KΩ (1/2W)
V-REF or V-REF or
T-REF T-REF
12V
D/A
2KΩ Appx. 20 KΩ Appx. 20 KΩ

(b) Position reference Input Circuit

The following is to describe 1-2 (reference pulse input) terminal and 3-4 (reference sign input) terminal of
CN2connector.
Reference pulse output circuit at the side of command controller can be optional between bus driver output
and open-collector output, as classified as below.

Bus driver output (differential) circuit Open collector output

Command controller Servo drive Command controller Servo drive

i
150Ω Vcc 150Ω
R1

Tr1

2.8V (H level) - (L level) 3.7V Please refer to the following applicable examples for setting
of the working resistance R1 to maintain current i within 7
mA - 15 mA.
Applicable examples
Vcc on 24 V Vcc on 12 V Vcc on 5 V
R1=2.2 KΩ R1=1 KΩ R1=180 Ω
(2) Interfaces to sequence control input circuit
The following is to describe IN1 - IN8 terminals of CN2 connector.
Connect through the transistor circuit of relay or open connector. Please select relay for
small current when using relay for connection. If otherwise, bad contact will occur.

Example of relay circuit Example of open connector

Note: For
Servo drive Servo drive
interface of SEN signal
3.3KΩ 3.3KΩ
input circuit, DC24V DC24V please refer
+24VIN +24VIN

/S-ON, etc. 16 /S-ON, etc.

Tr1
K2 Series AC Servo Driver

to Chapter "Usage of Absolute Value Encoder".

(3) Absorption circuit and release circuit
Use two-way photocoupler as input circuit of servo driver. Please select absorption circuit connection and
release circuit connection according to the specification required for the machine.

Absorption circuit Release circuit

DC24V DC24V
+ - + -
Servo drive Servo drive

(4) Interfaces to output circuit

(a) Bus driver (differential) output circuit
The following is to describe 19-20 (A phase signal) terminals, 21-22 (B phase signal) terminals and 23-24 (C
phase signal) terminals of CN2 connector.
Output signal (PAO/PAO, PBO/PBO), origin pulse signal (PCO/PCO) and S phase rotation quantity signal
(PSO/PSO) that convert the 2 phases (A, B) of serial data for encoder are outputted by bus driver output circuit,
which is generally used when servo unit forms position control system at the side of command controller through
speed control. At the side of command controller, please use bus receiver circuit to receive.
(b) Photocoupler output circuit
Servo alarm (ALM), servo ready (/S - RDY) and other sequence signals are constituted by photocoupler
output circuit and are connected through relay circuit or bus receiver circuit.

Example of relay circuit Example of bus receiving circuit

DC5V~24V DC5V~24V
Servo drive Servo drive

0V
PE
0V
Note:
maximum allowable voltage and current capacity of photocoupler output circuit are shown as below.
• Maximum voltage: DC 30 V
• Maximum current: DC 50 mA

3.4 Other wiring

4-pin AMP 4 straight pin bent type 4 straight pin aviation type

1-PE，2-U，3-V，4-W
1-U， 2-V， 3-W，4-PE 1-U，2-V，3-W，4-PE

3.5.2 Connector Terminal Wiring for Motor Encoder

(1) Non-wire saving encoder socket (15-pin AMP) of series less than or equal to 90.
Terminal No. 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15
Signals PE 5V GND B+ Z- U+ Z+ U- A+ V+ W+ V- A- B- W-

(2) Non-wire saving encoder socket (15-pin) of series greater than or equal to 110. Vacancy of U+, U-, V+, V-,
W+,W- for wire-saving encoder.
Terminal No. 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15
Signals PE 5V GND A+ B+ Z+ A- B- Z- U+ V+ W+ U- V- W-

(3) Wire-saving encoder socket (3 rows and 9-pin AMP)

Terminal No. 1 2 3 4 5 6 7 8 9
Signals 5V GND A+ A- B+ B- Z+ Z- PE

(4) Motor absolute encoder socket (7-pin):

Terminal No. 1 2 3 4 5 6 7
Signals PE E- E+ SD- GND SD+ +5V

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K2 Series AC Servo Driver

Chapter IV Panel Operation

4.1 Basic Operation

4.1.1 Key Names and Functions

Through panel, such functions as display and operation, setting of various parameters, execution and status
display of JOG running reference can be achieved. The following is a list of key names and functions.

Symbol Name Functions

Basic function switch: status display, auxiliary function,
M Function key
parameter setting and monitoring
Press UP to increase set value
UP Functioning as start key of positive rotation during JOG
running in auxiliary function mode
Press DOWN to reduce set value
DOWN Functioning as start key of negative rotation during JOG
running in auxiliary function mode
Press the key to shift the selected bit (the decimal point of
Shift key
which flickers) one bit to the left
Press the key to display the setting and set value of parameters,
SET
and access parameter setting status and clear alarm
In the mode of status display, press SET to clear alarm, which can also be done by using alarm removal input
signal/ALMRST.
Note: in case of alarm ringing, first eliminate alarm causes and then remove alarm.

4.1.2 Selection and Operation of Basic Mode

Through switching the basic modes of panel operator, such operations as running status display, parameter
setting and running reference can be done.

Bit 1 digital tube
Bit 2 digital tube
Bit 3 digital tube
Bit 4 digital tube

■ Display content of bit data

Velocity/torque control mode Position control mode
Item
Bit data Display content Bit data Display content
Light on when servo ON Servo ON
① Running Running
(power being supplied to motor) (power being supplied to motor)
Light on when gap between motor Light on when offset of actual
speed and reference speed is motor position and position
Same speed Positioning completed
② lower than the specified value reference is lower than the
(/V-CMP) (/COIN)
Specified value: PA503 specified value
(Factory default: 10 rpm) Specified value: PA500

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K2 Series AC Servo Driver

(Factory default: 10 pulse)

Light on when motor speed is Light on when motor speed is
Rotation detection higher than the specified value On rotation detection higher than the specified value
③
(/TGON) Specified value: PA502 (/TGON) Specified value: PA502
(Factory default: 20 rpm) (Factory default: 20 rpm)
Servo on limit: Servo on limit:
Light on indicates P-OT status Light on indicates P-OT status
④ P-OT/N-OT Light off indicates N-OT status P-OT/N-OT Light off indicates N-OT status
Flickering indicates P-OT/N-OT Flickering indicates P-OT/N-OT
status status
Light on when main circuit power Light on when main circuit
Main power supply is normal； Main power supply power is normal；
⑤
Ready Light off when main circuit Ready Light off when main circuit
power is cut off power is cut off

■ Display content of abbreviated sign

Abbreviated signs Display content
Servos are OFF
(no power being supplied motors
Servo is ON
(power being supplied to motor)
Servo is P-OT/N-OT
(required to be judged depending on P-OT/N-OT bits in display)
Servo is in alarm state
displaying alarm number

4.2 Auxiliary Function Mode (FA□□□)

4.2.1 Execution Mode List of Auxiliary Functions

This part describes the application operation of digital operator for motor running and adjustment.
The following lists the user parameters of auxiliary function execution modes and their functions.
Auxiliary
Functions
function NO.
FA000 Display of software version of servo
FA001 Position demonstration (effective only in position mode)
FA002 Jogging (JOG) mode running
FA003 Identification of load inertia percentage (compared to inertia of motor body)
FA004 User password authentication
FA005 Motor model confirmation
FA006 Manual adjustment of speed reference offset
FA007 Manual adjustment of torque reference offset
FA008 Automatic adjustment of (speed, torque) reference offset
FA009 Clear of multi-coil information data of bus encoder

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K2 Series AC Servo Driver

FA010 Clear of internal errors of bus encoder

FA011 Initialization of user parameter setting
FA012 Display of history alarm data

4.2.2 Display of Software Version of Servo

The following are operation steps for display of software version.
Operation Operation
Operation instruction Display after operation
steps key
Press M function key and select auxiliary function mode to
1
set the current mode as auxiliary function mode.
M
Press SET and A-1.00 is displayed, which indicates processor
2
program version is V1.00.
Press Shift key and P-1.00 is displayed, which indicates
3
FPGA program version is V1.00.

4 Press SET key to return to the display of FA000.

4.2.3 Position Demonstration Operation

The following are operation steps for display of position demonstration.
Operation Operation
Operation instruction Display after operation
steps key
Press M function key (for more than 1 second)
1
which will display FA000.
M
Press UP or DOWN and select the desired auxiliary
2
function FA001.
Press SET and "2PCLr" is displayed and initiate
3
position demonstration operation.
Press SET (for more than 1 second) until the
4 display flickers “donE” to indicate position
demonstration operation has been completed.

5 Press SET to return to the display of FA001.

4.2.4 Identification of Inertia Percentage

The following are operations steps for display of A-axis inertia percentage detected in normal mode (by
turning 3 circles clockwise and another 3 circles counterclockwise).
Operation Operation
Operation instruction Display after operation
steps key
Press M function key to select parameter setting
1 mode for A-axis. If PA127 is not displayed, press UP M
or DOWN to set.
Press SET to display "H1341.", whose decimal point
2
in bit 0 flickers.

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K2 Series AC Servo Driver

Press shift key for three times and select Bit 3 of the
3 displayed number, after which "H1.341" is displayed
and the decimal point in Bit 3 flickers.

4 Press UP and change the data to display "H2.341".

5 Press SET to return to the previous menu.

Press M function key and select the desired auxiliary

6
function FA003.
M
Press SET to display the operation interface "-JIn-"
7 SET
for display of inertia identification percentage.
Press M function key, initiate inertia identification
operation by rotating motor 3 circles clockwise and
8
another 3 circles counterclockwise, after which
M
display flickers "donE".
After detection, inertia percentage currently detected
9 ——
is displayed.

10 Press SET to return to the display of Fb000.

4.2.5 Confirmation of Motor Model

It is the function for confirming the model, capacity and encoder model of servo motor being controlled by servo
driver.
Operation Operation
Operation instruction Display after operation
steps key
Press M function key to select auxiliary function
1 mode. If FA005 is not displayed, press UP or DOWN M
to set.

2 Press SET, and "A.0004" is displayed.

3 Press Shift key and "b.0220" is displayed.

4 Press Shift key and "C.0010" is displayed.

5 Press Shift key and "d.0020" is displayed.

6 Press SET, and "A.0004" is displayed.

7 Press SET to return to the display of Fb000.

4.2.6 Initialization of User Parameter Setup

Operation steps to initialize user parameter setup are as follows.

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K2 Series AC Servo Driver

Operation Operation
Operation instruction Display after operation
steps key
Press M function key to select auxiliary function
1 mode. In case of failing to display FA011, press
UP or DOWN to set.

2 Press SET to start parameter initialization.

Press SET (for more than 1 second) until the

3 display flickers “donE” to indicate user parameter
has been initialized.

4 Press SET to return to the display of FA011.

4.2.7 Displaying History Alarm Data

Ten previous alarms can be validated at most. The history alarm records can be cleared by a long press on
SET. The history alarm data will not be cleared by alarm reset or servo power-off. Moreover, the alarm history
data will not impact the operation.

The bigger the serial number See Alarm List for alarm codes
stands for the older alarm data

See "Abnormality Diagnosis and Treatment Methods" for alarm content.

1、 In case of continuous occurrence of the same alarm, the alarm history data will not update.
Validate the history alarm according to the following steps.

Operatio Operation
Operation instruction Display after operation
n steps key
Press M function key to select auxiliary function mode. In case of
1
failing to display FA012 press UP or DOWN to set.

2 Press SET to display "0-A03" and the previous alarms.

Press UP to display the last history alarm (press DOWN to

3
display the next new alarm).
Press UP to display the alarms in order.
4
* “A--” indicates "Zero Alarm".

5 Press SET to return to the display of FA012.

4.3 Operation under User Parameter Mode (PA□□□)

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K2 Series AC Servo Driver

Functions can be selected or adjusted by setting parameters. User parameters consist of "Parameter Setting"
and "Function Selection". Parameter Setting functions to change the parameter data to be adjusted in a certain range
and Function Selection works to select the functions distributed to bit numbers of penal operator.

4.3.1 User Parameter Setting

(1) Parameter setting
(a) Categories of “Parameter Setting”
See "List of User Parameters".
(b) Example to change "Parameter Setting"
The Parameter Setting based user parameters specify data by numerical values directly. The range of
change is validated by List of User Parameters.
For example: the operation steps to change user parameter PA100 (Speed loop gain) from "40" to "100"
are shown as follows.

Operation Operation
Operation instruction Display after operation
steps key

1 Press M function key to select parameter setting mode M

2 Press SET to display current PA100 data

Press shift key twice and select Bit 2 of the displayed

3 number. 000.40 is displayed and the decimal point in
Bit 2 flickers

4 Press UP to change the data and 001.40 is displayed

Press shift key for four times and select Bit 1 of the
5 displayed number. 0014.0 is displayed and the decimal
point in Bit 2 flickers
Press DOWN to change the data and 001.00 is
6
displayed
Press SET to return to the display of PA1.00. The
7 content of b axis speed loop gain, PA100, changes
from "40" to "100"
(2) Function selection
(a) Categories of "Function Selection"
Also See "List of User Parameters".
(b) Example to change "Function Selection"
Example: the operation steps to change the control method (PA000.1) of basic switch PA000 function
selection from speed to position are listed as follows.

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K2 Series AC Servo Driver

Operation Operation
Operation instruction Display after operation
steps key
Press M function key (for more than 1 second) and
1
PA0.00 is displayed
M
Press SET to display current PA000 data. The
2
decimal point in Bit 0 flickers
Press shift key and select Bit 1 of the displayed
3 number. H000.0 is displayed and the decimal point
in Bit 1 flickers
Press UP to change the data and H001.0 is
4
displayed
Press SET to return to the display of PA0.00 and
5 the control approach has changed to position
control

(c) User parametric representation of the Manual

The user parameters for function selection are represented with hexadecimal system and every bit of the set
value has respective meaning.
User parameters for function selection in the Manual are represented as follows.

The flickering bit is the current one to be edited

Bit 0
Bit 1
Bit 2
Bit 3
This bit is only displayed for hexadecimal number

PA000.0 or A.Hxxx□ stands for the set value "0-bit data" of user parameter "PA000".
PA000.1 or A.Hxx□x stands for the set value "1-bit data" of user parameter "PA000".
PA000.2 or A.Hx□xx stands for the set value "2-bit data" of user parameter "PA000".
PA000.3 or A.H□xxx stands for the set value "3-bit data" of user parameter "PA000".

4.3.2 Signal Distribution of Input Circuit

Input signals are distributed to the pins of input connector based on the user parameter setup. (Distribution list
is shown as follows.)
(1) Factory setting
The default distribution is indicated in bold as follows.
PA509 = H.4321 PA510 = H.8765 PA511 = H.0000 PA512 = H.0000
(2) Distribution change
User parameters are set based on the relation between use signal and input connector pin. Moreover, when
user parameters changes, the servo unit should be subject to "Power Off" → "Power Restart" to make the user
parameter take effect.

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K2 Series AC Servo Driver

(1)List of input circuit signal distribution:

No connection
Signal CN2 Pin no.
required
Input signal
14 15 16 17 39 40 41 42 Always Always
User parameter distribution
(IN1) (IN2) (IN3) (IN4) (IN5) (IN6) (IN7) (IN8) invalid valid
Servo ON
/S-ON 1 2 3 4 5 6 7 8 0 9
PA509.0 = H.xxx□
Proportional action reference
/P-CON 1 2 3 4 5 6 7 8 0 9
PA509.1 = H.xx□x
Positive-side over travel prohibited
POT 1 2 3 4 5 6 7 8 0 9
PA509.2 = H.x□xx
Negative over travel prohibited
NOT 1 2 3 4 5 6 7 8 0 9
PA509.3 = H.□xxx
Alarm reset
/ALM-RST 1 2 3 4 5 6 7 8 0 9
PA510.0 = H.xxx□
Deviation counter reset
/CLR 1 2 3 4 5 6 7 8 0 9
PA510.1 = H.xx□x
Positive-side external torque limit
/PCL 1 2 3 4 5 6 7 8 0 9
PA510.2 = H.x□xx
Negative side external limit
/NCL 1 2 3 4 5 6 7 8 0 9
PA510.3 = H.□xxx
Gain switch
/G-SEL 1 2 3 4 5 6 7 8 0 9
PA511.0 = H.xxx□
Select internal position setting
/POS0 1 2 3 4 5 6 7 8 0 9
PA511.1 = H.xx□x
Select internal position setting
/POS1 1 2 3 4 5 6 7 8 0 9
PA511.2 = H.x□xx
Select internal position setting
/POS2 1 2 3 4 5 6 7 8 0 9
PA511.3 = H.□xxx
Reference point switch
/HOME-REF 1 2 3 4 5 6 7 8 0 9
PA512.0 = H.xxx□
Allow position start
/POS-START 1 2 3 4 5 6 7 8 0 9
PA512.1 = H.xx□x
Position change step
/POS-STEP 1 2 3 4 5 6 7 8 0 9
PA512.2 = H.x□xx
Homing start
/START-HOME 1 2 3 4 5 6 7 8 0 9
PA512.3 = H.□xxx

Note:
1. When multiple signals are distributed to the same input circuit, the input signal level will influence all the distributed signals.
(2) Example of input signal distribution
The steps to change the servo ON (/S-ON) distributed by single-axis driver to CN2-14 and the positive-side
external torque limit (/PCL) distributed by single-axis driver to CN2-41 are listed as follows.
Before change After change

PA509:

PA510:
Operation Operation
Operation instruction Display after operation
steps key
Press M function key to select parameter setting
1 mode. In case of failing to display PA509, press UP M
or DOWN to set.
Press SET to display current PA509 data. (Distribute
2
/S-ON to CN2-14.)
Press shift key and select Bit 1 of the displayed
3 number. H.432.1 is displayed and the decimal point
in Bit 1 flickers.

30
K2 Series AC Servo Driver

4 Press UP or DOWN to set current bit as "7".

5 Press SET to return to the display of PA509.

6 Press UP or DOWN to set PA510.

Press SET to display current PA510 data. (Distribute

7
/PCL to CN2-41.)
Press shift key twice and select Bit 2 of the displayed
8 number. H.87.54 is displayed and the decimal point
in Bit 2 flickers.

9 Press UP or DOWN to set current bit as "1".

Press SET to return to the display of PA510 and

10 distribute /S-ON to IN7 (CN2-41) and /PCL to IN1
(CN2-14).

(4) Polarity reversal setting of input port active level

Single/double-axis driver can set active level parameters of input port signals (PA519 and PA520) to reverse
IN1-IN7 active level polarity.
Note:
1. When signals of Servo ON, Forward drive prohibited, and reverse drive Prohibited are used under "Polarity Reverse" setting, in
case of any abnormality caused by signal line-off, no action will be made to safe direction. If such setup has to be made, validation on
action and safety must be performed.
2. The reversal parameters of input port active level of double-axis driver are PA519, PA520, Pb519 and Pb520 with other setting
invalid.

4.3.3 Signal Distribution of Output Circuit

(1) Factory setting
PA513 = H.4321 PA514 = H.0065 PA521 = H.0000 PA522 = H.0000
(2) Distribution change
The output circuits for sequence signals as follows can be used for function distribution. Moreover, when user
parameters change, the servo unit should be subject to "Power Off" → "Power Restart" to make the user parameter
take effect. The default distribution is indicated in the following gray box.
List of output circuit signal distribution:
7/(8) 9/(10) 11/(12) 32/(33) 34/(35) 36/(37)
CN2 Pin no.
OUT1 OUT2 OUT3 OUT4 OUT5 OUT6
Polarity setting of signal output
User parameter
PA521=H.xxx□ PA521=H.xx□x PA521=H.x□xx PA521=H.□xxx PA522=H.xxx□ PA522=H.xx□x
distribution
0 1 0 1 0 1 0 1 0 1 0 1
0 Invalid
1 L H
Servo alarm 2 L H
(ALM) 3 L H
PA513.0=H.xxx□ 4 L H
5 L H
6 L H
Positioning completed 0 Invalid
/same-speed detection 1 L H

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K2 Series AC Servo Driver

(/COIN or /V-CMP) 2 L H
PA513.1=H.xx□x 3 L H
4 L H
5 L H
6 L H
0 Invalid
1 L H
Motor rotation
2 L H
detection
3 L H
(/TGON)
4 L H
PA513.2=H.x□xx
5 L H
6 L H
0 Invalid
1 L H
Servo ready 2 L H
(/S-RDY) 3 L H
PA513.3=H.□xxx 4 L H
5 L H
6 L H
0 Invalid
1 L H
Torque limit detection 2 L H
(/CLT) 3 L H
PA514.0=H.xxx□ 4 L H
5 L H
6 L H
0 Invalid
1 L H
Brake 2 L H
(/BK) 3 L H
PA514.1=H.xx□x 4 L H
5 L H
6 L H
0 Invalid
1 L H
Encoder origin pulse 2 L H
(/PGC) 3 L H
PA514.2=H.x□xx 4 L H
5 L H
6 L H

Note:
1、 When ALM signals and other signals are distributed to the same output circuit, the output circuit only output ALM signals.
2、 When PGC signals and other signals rather than ALM are distributed to the same output circuit, the output circuit only output PGC
signals.
3、 Multiple signals (except for ALM and /PGC) distributed to the same output circuit will be output through OR circuit.

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K2 Series AC Servo Driver

(2) Example of output signal distribution

Steps to invalidate the default setting to distribute rotation detection (/TGON) to CN2-11(12) and replace
CN2-11(12) with Brake Signal Distribution.
Operation Operation
Operation instruction Display after operation
steps key
Press M function key to select parameter setting mode. In case
1
of failing to display PA513, press UP or DOWN to set.
M
Press SET to display current PA513 data.
2
(Distribute /TGON to CN2-11(12).)
Press shift key twice and select Bit 2 of the displayed number.
3
H.43.21 is displayed and the decimal point in Bit 2 flickers.

4 Press UP or DOWN to set current bit as "0".

5 Press SET to return to the display of PA513.

6 Press UP or DOWN to set PA514.

Press SET to display current PA514 data.

7
(Distribute /BK to CN2-36(37).
Press shift key and select Bit 1 of the displayed number.
8
H.006.1 is displayed and the decimal point in Bit 5 flickers.

Press UP or DOWN to set current bit as "3". (Distribute TGON

9
to CN2-11(12)

Press SET to return to the display of PA514 and distribute

10
/TGON to OUT3:CN2-11(12).

4.4 Operation under Monitoring Mode (Un□□□)

Under monitoring mode, the reference value input to servo driver, status of input/output signals and servo internal
status can be monitored. Even though the servo motor is running, the monitoring mode can be changed.

4.4.1 List of Monitoring Mode

(1) Content displayed under monitoring mode

Monitor
Display content Unit
number
Un000 Motor speed 1r/min
Un001 Rotation angle (electric angle) 1deg

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K2 Series AC Servo Driver

Un002 Input reference pulse speed (only valid under position control mode) 1 KHz
Un003 Bus voltage 1V
Un004 Speed reference value of analogue input 1r/min
Un005 Torque reference percentage of analogue input (relative rated torque) 1%
Un006 Internal torque reference (relative rated torque or given motor currency) 1% or 0.1A
Un007 Input port signal monitoring —
Un008 Output port signal monitoring —
Un009 Encoder signal monitoring (only valid for incremental encoder) —
Un010 Input reference pulse counter (32-bit decimal display, only valid under position control mode) 1-reference pulse
Un011 Feedback pulse counter (four-octave frequency data of encoder pulse, 32-bit decimal display) 1-reference pulse
Un012 Position offset counter (only valid under position control mode) 1-reference pulse
Un013 Accumulative load rate (when rated torque is set as 100%) 1%
Un014 Ratio of moment of inertia (the ratio of load moment inertia to motor moment inertia) 1%
Un015 Actual encoder angle (32-bit decimal display) 1-reference pulse
Un016 Display rounds of encoder (only valid for turns of encoder) 1 circle
(2) Monitor display for input/output signals for sequence
Monitor display for input/output signals for sequence
(a) Monitor display of input signal status
Display the input/output status of the signals distributed to input/output terminals.
When input/output is OFF (open circuit), the upper display segment (LED) will be on.
When input/output is ON (short circuit), the lower display segment (LED) will be on.

Upper: OFF (H Level)

Lower: ON (L Level)

8 7 6 5 4 3 2 1 LED number
is displayed

Validate the relation between input terminals and input signals according to "7.3.2 Signal Distribution of Input
Circuit".

Monitor LED number is

Name of input terminal Factory settings
number displayed

1 IN1（CN2-14） /S-ON
2 IN2（CN2-15） /P-CON
3 IN3（CN2-16） POT
4 IN4（CN2-17） NOT
Un007
5 IN5（CN2-39） /ALM-RST
6 IN6（CN2-40） /CLR
7 IN7（CN2-41） /PCL
8 IN8（CN2-42） /NCL
(b) Monitor display of output signal status
Display the status of the output signals distributed to output terminals.
When output is OFF (open circuit), the upper display segment (LED) will be on.
When output is ON (short circuit), the lower display segment (LED) will be on.

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K2 Series AC Servo Driver

Monitor LED number is

Name of input terminal Factory settings
number displayed

1 OUT1 (CN2-7,-8) ALM

2 OUT2 (CN2-9,-10) /COIN or /V-CMP
3 OUT3 (CN2-11,-12) /TGON
Un008
4 OUT4 (CN2-32,-33) /S-RDY
5 OUT5 (CN2-34,-35) /CLT
6 OUT6 (CN2-36,-37) /BK
1 PW (CN1-12,-13) Encoder W-phase (□ represents for 1 or 2)
2 PV (CN1-10,-11) Encoder V-phase
3 PU (CN1-8,-9) Encoder U-phase
Un009 UVW off line detection
4 UVW off line detection
(Only valid for signal
incremental 5 PC (CN1-5,-6) Encoder C-phase
encoder) 6 PB (CN1-3,-4) Encoder B-phase
7 PA (CN1-1,-2) Encoder A-phase
ABC off line detection
8 UVW off line detection
signal

(3) Use of monitoring mode

Operation steps to display b axis Un000 data are listed as follows
Operation Operation
Operation instruction Display after operation
steps key

1 Press M mode key to select monitoring mode M

2 Press UP or DOWN and select the desired monitor number Un000

Press SET to display Un000. The decimal point of current Bit 0 is

3
off, so A axis Un000 is displayed
Press UP or Down, the decimal point of current Bit 0 is on, so b
4
axis Un000 is displayed

5 Press SET to return to the display of monitor number.

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K2 Series AC Servo Driver

(4) Monitor display of reference pulse, feedback pulse counter and actual angle of encoder
Operation steps to display b axis Un010 data are as follows.
Operation Operation
Operation instruction Display after operation
steps key
Press M function key to select monitoring mode. In
1 case of failing to display Un010, press UP or M
DOWN to set.
Press SET to display Un010. The decimal point of
2 current Bit 0 is off, so low 16-bit of A axis Un010 is
displayed.
Press UP or Down, the decimal point of current Bit
3
0 is on, so low 16-bit of b axis Un010 is displayed.
Press Shift key, the decimal point of current Bit 0 is
4
on, so high 16-bit of b axis Un010 is displayed.
Press SET to return to the display of monitor
5 SET
number.

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K2 Series AC Servo Driver

Chapter V Operation

5.1 Trial Operation

Perform trial operation after wiring.

5.1.1 Trial Operation for Servo Motor Unit

Notes
· Disconnect the servo motor and machinery and only fix the servo motor unit.
To avoid accident, based on the instruction, trial operation is performed on a servo motor under unloaded status
(where the servo motor unit connects with no coupling or belt).
Validate whether the power, motor main circuit and encoder cables are wired correctly. Usually, wiring mistake
may cause the motor fail to rotate smoothly in trial operation. Please validate again.
When the wiring is validated as correct, perform trial operation for servo motor units based on the following serial
number in order.
· Jogging (JOG) and mode running (FA002)
The following are operation steps for display of axis A JOG operation.
Operation Operation
Operation instruction Display after operation
steps key
Press M function key (for more than 1 second) and
1
switch to auxiliary function mode of axis A.
M
Press M function key to select auxiliary function
2 mode . In case of failing to display FA002, press UP
or DOWN to set.

3 Press SET to start JOG operation.

Press M function key to turn the servo ON (the

4
motor is powered on).
M
Press UP (turn anti-clockwise/ positive) or DOWN
5
(turn clockwise/ negative) to run the motor.
Press M function key to turn the servo OFF (the
6
motor is powered off).
M

7 Press SET to return to the display of FA002.

PA304 Jogging (JOG) speed Speed Position Torque

Setting range Setting unit Factory setting Power reboot

0 ~ 6000 1rpm 500 Not required

Set the motor speed command value for auxiliary function "Jogging (JOG) Mode Running (Fn002)".

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K2 Series AC Servo Driver

Pay attention, in the operation under jogging (JOG) mode, it is invalid to disable Forward Drive Prohibited (P-OT)
or Reverse Drive Prohibited (N-OT).

5.1.2 Trial Operation for Servo Motor Unit with Superior Reference
This item is to validate whether the servo motor moving reference and input/output signals from the command
controller to the servo unit are correctly set, whether the wiring and polarity between command controller and servo unit
are correct and whether the movement setting of servo unit is correct. This is the final validation before connecting the
servo motor to machinery.
(1) Servo ON reference based on superior reference
The following external input signal circuits and equivalent signal circuits must be configured.

Speed control (standard setting) Position control

[PA000=H. 0 ] [PA000=H. 1 ]
Servo drive Servo drive
CN2 CN2
13 13
+24V +24V
/S-ON 14 /S-ON 14

P-OT 16 P-OT 16

N-OT 17 N-OT 17

V-REF 5 PULS 1

SIGN 3
0V
0V

Step Content Verification methods and supplementary instruction

Form the input signal circuit required by servo ON. Please set as follows.
1. Input servo On and input signal (/S-ON)
To turn the servo ON, the minimum required signal 2. Turn On (L level) input signals of Forward Drive Prohibited
should be input. Please wire the input/output signal (P-OT) and Reverse Drive Prohibited (N-OT) (forward drive
connector (CN2) in the circuit equivalent to the circuit prohibited and reverse drive prohibited can be performed)
shown in the preceding page, power it off and connect 3. Do not input reference (0V reference or 0 pulse)
CN2 to servo unit. If the external wiring is to be omitted, the input signal
1
distribution function based on user parameters can be used to set the
function of input terminal as “Always Valid”, “Always Invalid”
without signal input. Please refer to “Signal Distribution of Input
Circuit”.
When absolute value encoder is used, if “Use Absolute Encoder
as Incremental Encoder (PA001=H.□□□2 )” is set temporarily,
wiring for SEN signals can be omitted.
Please power on to check whether the panel operator If the content is not displayed as shown in the left figure, the
displays content as follows. setting of the input signals is incorrect. Please validate the input
signals with input signal monitor (Un007).
For single-axis
2
For single-axis：Un007=

Turn the connected signal lines ON/Off to validate that the LED
display of the digital operator changes as follows.
Input servo ON input signal (/S-ON) and validate that When any alarm appears, see "Abnormality Diagnosis and Treatment
the display of panel operator is shown as follows.
Methods" to eliminate the alarm.
For single-axis In case of interference in reference voltage during speed control,
3 “-” in the upper left part of the panel operator will flash. When the
servo is ON, the servo motor might run at dead slow speed. For such
occasion, please refer to “Other Wiring” to take corresponding
measures.

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K2 Series AC Servo Driver

(2) Operation steps under speed control mode (PA000=H. □□0□)

The following external input signal circuits and equivalent signal circuits must be configured.
Servo drive
CN2
13
+24V
/S-ON 14

P-OT 16

N-OT 17

V-REF 5
0V
VE
6

VE: maximum voltage 12 V

Step Content Verification methods and supplementary instruction

Please check the power and input signal circuit again Please refer to the input signal circuit shown in the above figure.
1 and check the speed reference input (voltage between
V-REF and GND) is 0 V.
If the servo motor rotates at an extremely slow speed, see
2 Turn on the servo ON(/S-ON) input signal. “Adjustment of Reference Shift”,and use the reference voltage offset
to keep the servo motor from moving.
Increase the speed reference input voltage (between Factory setting: 150(r/min)/V.
3
V-REF and GND) slowly from 0 V with.
Please validate the speed reference (Un004[r/min]) See "Selection and Operation of Basic Mode" for relevant display
4
value input to servo driver. methods.
See "Selection and Operation of Basic Mode" for relevant display
5 Please validate servo motor speed (Un000[r/min]).
methods.
Please validate the values of Step 4 and 5 (Un004 and Change speed reference input voltage to validate whether Un004 =
6
Un000) are equivalent. Un000 is valid when there are multiple speed reference values.
Refer to the following equation when speed reference input gain
(PA300) changes.
Un004 ＝ PA300[rpm/V]×(V-REF voltage)[V]
Please validate the speed reference input or motor
7 To change the motor rotation direction without changing speed
rotation direction.
reference input voltage polarity, see “Rotation Direction Switching of
Motor”.
Start from Step 2 after change.
If the servo is OFF when the speed input reference is set
8 as 0 V, the trial operation of servo motor unit has
completed.
Note: The position control is configured in command controller
When servo is under speed control and subject to position control in command controller, please validate the following items after
the said “Operation Steps under Speed Control Mode”.
Step Content Verification methods and supplementary instruction
Please validate the power and input signal circuit again
9 and validate the speed command input (voltage between
V-REF and GND) is 0 V.
If the servo motor rotates at an extremely slow speed, see
10 Set servo ON(/S-ON) input signal as ON. “Adjustment of Reference Shift”,and use the reference voltage offset
to keep the servo motor from moving.
Give the motor rotation reference (e.g., the motor Motor rotation angle 1 (Un015[pulse]): the pulse count starting from
rotates 1 round) easy to validate in advance from original point.
11 command controller and validate the motor rotation
commanded and realized by visual inspection and
monitoring motor actual angle (Un015[pulse]).
12 In case of rotation difference of Step 11, please See "Encoder Signal Output" for relevant setting method.

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K2 Series AC Servo Driver

properly set the PG frequency dividing ratio (Pn201) PG frequency dividing ratio (Pn201[P/Rev]): the encoder pulse count
that outputs encoder pulse from servo unit. per rotation round.
If the servo is OFF when the speed input reference is set
13 as 0 V, the trial operation to set the reference control as
position control has completed.

(3) Operation steps under position control mode (PA000=H. □□1□)

The following external input signal circuits and equivalent signal circuits must be configured.
Servo drive
CN2
13
+24V
/S-ON 14

P-OT 16

N-OT 17

CLR 15

PULS+ 1

PULS- 2
Pulse
commander SIGN+ 3

SIGN- 4

Step Content Verification methods and supplementary instruction

Please validate the conformity between pulse shape and Reference pulse shape is set with PA200=H.××□×. Please refer to
1
the pulse output from the superior pulse commander. "Setting of User Parameter".
Set command unit and set electronic gear ratio based on Electronic gear ratio is set with (PA202/PA203). Please refer to
2
command controller. "Setting of Electronic Gear".
3 Power on and set servo ON(/S-ON) input signal as ON.
Use the motor rotation to be easily validated in advance
4 (e.g., motor rotates 1 round) to output slow reference Set the reference pulse rate as the safe rate around 100 r/min.
pulse from command controller.
Please validate the reference pulse count input to servo See "Selection and Operation of Basic Mode" for relevant display
5 unit with the variation before and after inputting the methods.
reference of reference pulse counter ((Un010[pulse]). Un010( input reference pulse counter [pulse])
Please validate the actual rotation of the motor See "Selection and Operation of Basic Mode" for relevant display
6 before/after change of feedback pulse counter methods. Feedback pulse counter (Un011 [pulse])
(Un011[pulse]).
Please validate that Step 5 and 6 meet the following
7 conditions.
Un011=Un010
Please validate the input pulse polarity and input reference pulse
Please validate the conformity of rotation direction with
8 shape.
the servo motor giving reference.
Please refer to "Selection of Pulse Reference shape".
To change the motor rotation direction without changing input
9 Please validate motor rotation direction. reference pulse shape, see “Rotation Direction Switching of
Motor”. Start from Step 9 after change.
If the servo will be OFF when the pulse reference input
stops, the trial operation under servo motor unit position
10
control mode using superior position reference has
completed.

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K2 Series AC Servo Driver

5.1.3 Trial Operation Servomotor Connected to the Machine

Danger
· Please carry out operations indicated in this section as per instructions.
Upon connection between servo motor and machinery, in case of operation mistake, not only damages to
machinery but also personal injuries will be caused therefrom.

The steps are specified on the condition that trial operation has been completed in each control.
Step Content Verification methods and supplementary instruction
Please refer to "Setting of General Basic Functions".
When using servo motor with brake, measures against natural falling
Switch on power and set mechanical configuration in of machinery and vibration caused by external force should be taken
1
respect of protection functions for overtravel and brake. prior to confirmation of brake operation. Please check whether
operations for servo motor and brake are normal.
Please refer to "Setting for Holding Brake".
Based on used control mode, please refer to:
Please set necessary parameters for users based on used the Speed Control (Analog Voltage Reference) Operation
2
control mode. the Position Control Operation
the Torque Control Operation
Please connect to servo motor and machinery via Please refer to "Installation Precautions for Servo Motor".
3
coupling with power being cut off.
When servo controller is turned to "Servo Off" mode Please refer to "Setting of General Basic Functions".
(de-energized state), switch on power of command In case of any abnormality during operation of following step,
4 controller of machinery. Please confirm once again emergency stop may be carried out to safely stop operation.
whether operation of protection functions in step 1 is
normal.
Please carry out trial operation in accordance with Please check whether results are in line with trial operation of servo
objectives specified in the Trial Operation for Servo motor unit. In addition, please check whether settings like reference
5
Motor Unit Based on Superior Reference upon unit conform to that of machinery.
completed installation of machinery and servo motor.
Please confirm once again whether user parameter Please check whether servo motor operates according to specification
6
settings conform to control mode in step 2. for machinery operation.
Please adjust servo gain as necessary to improve Trial operation should be fully completed since insufficient
7
responsiveness of servo motor. "running-in" with machinery may occur in the trial operation.
Please record the user parameters set for maintenance in

8 the 12.4 User Parameter Setting Memo.

At this point, the Supporting Trial Operation for
Machinery and Servo Motor is completed.

5.1.4 Trial Operation of Servomotor with Brakes

In terms of a servo motor with brake, operation for its holding brake should be controlled by interlocking output
(/BK) signals of the brake in servo driver.
Measures against natural falling of machinery and vibration caused by external force should be taken prior to
confirmation of brake operation. Please check operations of servo motor and holding brake upon disconnection between
servo motor and machinery. If operations are normal, servo motor may be connected to machinery for trial operation.
Please refer to "Setting for Holding Brake" for wiring of servo motor with brake and settings for user parameters.

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K2 Series AC Servo Driver

5.1.5 Position Controlled by Command Controller

According to the above mentioned, make sure that trial operation for servo motor unit should be conducted after
disconnection of servo motor and machinery, Please confirm operation and specification of servo motor first based on the
following table.

Analogue speed
command
Command Servo Trial Operation for servo
controller drive
M
motor without Load

Position control Velocity control

Commands of command Confirming

Confirming methods Re-corrected content Reference
controller matters
Confirm speed of servo motor by Please determine whether
the following methods. input gain (PA300) of speed
•RPM monitoring for motor using command is correct via
JOG operation panel operator (Un000) confirmation of setting values
(Reference with certain RPM of servo •Try to operate servo motor at a of user parameters.
speed input by command motor lower speed. For example, input
controller) a speed reference of 60r/min
and check whether the servo
motor rotates 1 round per
second.
After inputting a reference to order Please determine whether PG
the servo motor to rotate 1 round, divider ratio (PA201) is
Rotation amount
Simple positioning visually inspect whether the shaft correct via confirmation of
of servo motor
of servo motor rotates 1 round. setting values of user
parameters.
Overtravel operation Input POT and During continuous rotation of If it fails to be stopped,
(when using POT and NOT NOT signals and servo motor, make sure that servo correct wiring of POT and
signals) check whether motor stops after POT and NOT NOT again.
the servo motor signals is switched to be ON.
stops.

5.2 Selection of Control Mode

Control modes applicable to servo driver are explained as follows:

User Parameter Control modes Reference
PA000 H.□□0□ Speed control (analog voltage reference)
Control RPM of servo motor by reference of analog voltage speed in case of:
·required RPM control
·feedback from frequency dividing output by encoder of servo; setting position loop in command
controller; and implementation of position control
H.□□1□ Position control (pulse train reference)
Control position of servo motor via reference of pulse train position.
Control position via number of incoming pulse and control speed via frequency of incoming pulse.
Use it if in need of positioning operation.
H.□□2□ Torque control (analog voltage reference)
Control output torque of servo motor by analog voltage torque reference which should be used if
required amount of torque for operations such as pressing.

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K2 Series AC Servo Driver

H.□□3□ Speed control (selection of internal set speed)

With 3 input signals (/P-CON, /P-CL and /N-CL), speed is controlled by operation speed set by
servo in advance. 3 operation speeds can be set for the servo without analog voltage reference.
H.□□3□ It is supporting switching modes for the above 4 control modes. Please select an applicable
· switching mode of control mode for purposes of clients.
·
·
H.□□B□
H.□□C□ Motion control mode

5.3 Setting of General Basic Functions

5.3.1 Servo ON Setting

Set the servo ON signal (/S-ON) which sends out commands for energized/de-energized state of servo motor.
(1) Servo ON signal (/S-ON)
Pin No. of connector
Name Signal Set Meanings
(factory)
ON = L Level Servo motor can operate in energized state (servo ON state).
Input /S-ON CN2-14
OFF = H Level Servo motor cannot operate in de-energized state (servo OFF state).
■Attentions
Make sure that commands are input to start/stop servo motor after sending servo ON signal. Do not use /SON signal to start/stop servo
motor after inputting commands. In case of repeated switching between ON and OFF modes for AC power, accidents may be caused by
aging of internal components.
/S-ON signals may distribute inputted connector pin numbers to other places by user parameters.

(2) Select to use/disuse servo ON signal

Regular servo ON can be set by user parameters without wiring of /S-ON, however, servo driver is switched to
action state when power is on, therefore you should handle with care.
User Parameter Meanings
H.□□1□ Input /S-ON signal via the input terminal IN1(CN2-13) (factory setting)
PA509
H.□□9□ Set the /S-ON signal to be "valid " in regular time
·Power must be turned on again upon changes to the user parameter so as to effect the setting.
·When the signal is set to be "valid " in regular time, reset can be realized by power restarting in case of alarm (alarm reset is invalid).

5.3.2 Rotation Direction Switching of Motor

In this case, only reverse the rotation direction of motor without changes to pulse and voltage polarity of
commands being sent into servo driver.
At the same time, moving direction (+, -) of shaft is reversed but polarity for output signals from servo (such
as pulse output of encoder and analog monitor signal) is kept unchanged.
In standard setting, "forward direction" is observed to be "counterclockwise rotation" from the loading side of
servo motor.

43
K2 Series AC Servo Driver

Command
User Parameter Name
rotation reference Negative rotation reference
Standard setting
Positive rotation Negative rotation
(CCW refers to (CCW) (CW)
forward rotation)
(Factory setting)
H.□□□0

Encoder output pulse Encoder output pulse

PAO PAO
PBO A phase advance PBO B phase advance
PA000
Negative rotation
Negative rotation Positive rotation
mode （CW）
(CCW)
(CW refers to
forward rotation)
H.□□□1

Encoder output pulse Encoder output pulse

PAO PAO
PBO A phase advance PBO B phase advance

In terms of direction switching of POT and NOT, CCW direction is POT if PA000= H.□□□0 (standard setting) and CW
direction is POT if PA000= H.□□□1 (negative rotation mode).

5.3.3 Overtravel Setting

The overtravel limit function forces movable machine parts to stop if they exceed the allowable range of motion and
turn ON a limit switch.
(1) Connection of overtravel signal
In order to use overtravel function, connect input signals of the following overtravel limit switch to corresponding
pin numbers in CN2 connector of servo driver without fail.

Pin No. of
Type Signal Set Meanings
connector (factory)
ON = L Level Positive-side over travel allowed. (normal operation)
Input POT CN2-16
OFF = H Level Positive-side over travel prohicbited (overtravel in positive rotation side)
ON = L Level Negative-side over travel allowed. (normal operation)
Input NOT CN2-17
OFF = H Level Negative-side over travel prohibited (overtravel in negative rotation side)
In respect of linear drive, limit switches must be
Motor positive direction
connected according to the following figure so as to avoid
machinery damage. Servo drive
Even in case of overtravel, it can also drive to the Servo motor CN2
opposite side.For example, negative-side run can be enabled in
Limit switch Limit switch
case of positive-side overtravel. POT
16
NOT
17

■Attentions
During position control, position error pulse will occur if the motor is stopped by overtravel.
In order to clear position error pulse, clear signals (CLR) must be input.

Notes

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K2 Series AC Servo Driver

Workpieces may fall under the overtravel state when using servo motor in vertical shaft.
In order to prevent workpieces from falling in case of overtravel, make sure to set PA000= H.1□□□ so as to switch
on zero clamping state after stop. (Please refer to "Selection of Motor Stop Methods when Using Overtravel")

(2) Select to use/disuse overtravel signal

Internal user parameters of servo driver can be set to disuse overtravel signals. At this time, it is not required to use
wiring of input signals for overtravel.
User Parameter Meanings
H.□3□□ Input positive-side over travel prohibited (POT) signal from IN3 (CN2-13). (Factory setting)

H.□9□□
Disable the positive-side over travel prohibited (POT) signal (positive-side over travel can be conducted
frequently)
PA509
H.4□□□ Input negative-side over travel prohibited (NOT) signal from IN4 (CN2-14). (Factory setting)

H.9□□□
Disable the negative-side over travel prohibited (NOT) signal (negative-side over travel can be conducted
frequently)
·Effective control modes: speed control, position control and torque control
·Power must be turned on again upon changes to the user parameter so as to effect the setting.
* POT and NOT signals may freely distribute inputted connector pin numbers by user parameters. See the Signal Distribution of Input
Circuit for details.
(3) Motor stop method when using overtravel
Methods used to stop operation of motor when inputting overtravel signals (POT and NOT) during rotation of servo
motor.
Methods for motor
User Parameter After stop of motor Meanings
stop
Reduce speed to stop the servo motor by emergency
H.□0□□ Plug braking stopping stop torque (PA407). Servo motor will be in inertial
operation (de-energized) state after stop.
Inertial operation state
Inertial operation Stop the servo motor in the same manner as servo OFF
H.□1□□ (inertial operation stop). The servo motor will be in
stopping
inertial operation (de-energized) state after stop.
Reduce speed to stop the servo motor by emergency
PA000 H.0□□□ Plug braking stopping Inertial operation state stop torque (PA407). Servo motor will be in inertial
operation (de-energized) state after stop.
Reduce speed to stop the servo motor by emergency
H.1□□□ Plug braking stopping Zero clamping state stop torque (PA407). Servo motor will be in zero
clamping (servo locking) state after stop.
Inertial operation Stop the servo motor in the same manner as servo OFF
H.2□□□ Inertial operation state (inertial operation stop). The servo motor will be in
stopping
inertial operation (de-energized) state after stop.
·Power must be turned on again upon changes to the user parameter so as to effect the setting.
· During setting of inertial operation for H.□1□□, the servo motor may be controlled if servo ON signals are received.
■Words and expressions
·Inertial operation stopping: naturally stop the motor by friction resistance arising from motor rotation other than braking.
·Plug braking stopping: stop the motor via deceleration (brake) torque (PA407).
·Zero clamping state: use state of position loop in zero configuration of position reference.
* See the Selection of Stop Methods in Servo OFF for stop methods in servo OFF and alarm condition.

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K2 Series AC Servo Driver

(4) Setting for stop torque in overtravel

PA407 Limit of plug braking torque Speed Position Torque

Setting range Setting unit Factory setting Power reboot

0 ~ 300 1% 300 Not required
· Set the stop torque used for inputting overtravel signals (POT and NOT).
· Setting unit corresponds to a percent (%) of the rated torque. (rated torque is 100%)
· The factory setting is 300% so that the setting is large enough a value to operate the servomotor at
maximum torque. The maximum value of emergency stop torque that is actually available, however, is
limited to the maximum torque of the servomotor.

5.3.4 Setting for Holding Brake

When the vertical shaft is driven by servo motor, it should be used. When power state of servo driver is OFF, use the
servo motor with brake to prevent removable part from moving due to gravity. (Please refer to " Trial Operation for
Servo Motor with Brake".)

Vertical shaft Shaft with external force applied

Servo motor
Servo
Holding brake External force motor

Prevent removable
part from moving
due to gravity Prevents the servomotor
from rotating due to
external force

Note:
1. The brake built in the servo motor with brake should be a actuated-type holding brake without excitation, which cannot be
used for braking. It should only be used to maintain the stop state of servo motor. Brake torque is over 120 % of rated torque
of servo motor.
2. When operation of servo motor is enabled only by speed loop, servo and input reference should be set to OFF and "OV"
respectively during operation of brake.
3. In configuration of position loop, mechanical brakes cannot move since servo is locking during servo motor's stop.
(1) Connection example
Order output signal "/BK" of servo driver and brake power constitute ON/OFF circuit of brake. Standard connection
examples are as follows.

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K2 Series AC Servo Driver

Servo drive Servo motor with brake

Power
R L1 U

S L2 V
M
T L3 W

L1C

L2C
CN1 PG
CN2
BK-RY (/BK+) *9
+24V
(/BK-) *10
BK

Brake power
BK-RY Yellow or blue Red
White AC DC Black

BK-RY：Brake control relay

9*、10*：Output terminal number, Assigned through the user parameter P 514.1
(2) Brake interlocking output
Pin No. of connector
Name Signal Set Meanings
(factory)
ON = L Level Release brake.
Output /BK Distribution through PA514
OFF = H Level Use brake.
When using servo motor with brake, it is the output signal of control brake. In addition, this output signal is not used in factory
setting. Distribution for output signals is required (setting of PA514). Do not connect when using motor without brake.

(3) Distribution of brake signal (/BK)

Brake signals (/BK) cannot be used under the condition of factory setting. Therefore it is required to distribute
output signals.

User Parameter Pin No. of connector Meanings

PA514 H.□□0□ —— Do not use /BK signals. (factory setting)

H.□□1□ OUT1(CN2-7,8) Output /BK signal through output terminal of OUT1(CN2-7, CN2-8).
H.□□2□ OUT2(CN2-9,10) Output /BK signal through output terminal of OUT2(CN2-9, CN2-10).
H.□□3□ OUT3(CN2-11,12) Output /BK signal through output terminal of OUT3(CN2-11, CN2-12).
H.□□4□ OUT4(CN2-32,33) Output /BK signal through output terminal of OUT4(CN2-32, CN2-33).
H.□□5□ OUT5(CN2-34,35) Output /BK signal through output terminal of OUT5(CN2-34, CN2-35).
H.□□6□ OUT6(CN2-36,37) Output /BK signal through output terminal of OUT6(CN2-36, CN2-37).
■Attentions
Brake signals (/BK) set in factory delivery are invalid. When several signals are distributed to the same output terminal, OR
logic should be used for output. If you only want to enable /BK signal output, please distribute other signals of output terminal
for /BK signal distribution to other output terminals or set them as invalid. See the Signal Distribution of Output Circuit for
distribution methods of other output signals of servo unit.

(4) Timing setting of brake ON (after stop of servo motor)

During factory setting, /BK signals should be output while /S-ON signals are set as OFF (servo OFF), however,
timing of servo OFF can be changed by user parameters.

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K2 Series AC Servo Driver

PA506 Brake command - delay time for servo OFF Speed Positon Torque

Setting range Setting unit Factory setting Power reboot

0 ~ 500 10ms 0 Not required

· When used in vertical shaft, removable parts of machinery /S-ON Servo ON Servo OFF
may move slightly due to gravity or external force with
/BK Output Brake release Brake holding
timing of brake ON. Such slight movement can be eliminated
by servo OFF operation delay via this user parameter. Energized state Power to motor No power to
of motor motor
· This parameter changes the brake ON timing while the
servomotor is stopped.See the Timing Setting of Brake ON P 506

(after Stop of Servo Motor) for brake operation during rotation

of servo motor.

Attentions
In case of alarm, servo motor will come into de-energized state immediately, which is unrelated to setting
of user parameter.
Machinery may move within period before brake operation due to gravity of removable parts of
machinery or external force.

(5) Timing setting of brake ON (during rotation of servo motor)

If an alarm occurs while the servomotor is rotating, the servomotor will come to a stop and the brake signal
will be turned OFF. The timing of brake signal output can be adjusted by setting the following parameter.

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K2 Series AC Servo Driver

PA507 Brake Reference Output Speed Level Speed Position Torque

Setting range Setting unit Factory setting Power reboot

0 ~ 6000 1r/min 100 Not required
PA508 Servo OFF - waiting time of brake command Speed Position Torque

Setting range Setting unit Factory setting Power reboot

10 ~ 100 10ms 50 Not required

Output conditions for /BK signals during

Power is OFF for / Servo ON Servo OFF
rotation of servo motor. S-ON input or
BK signals should be set as H level alarm given
(brake initiates) if any of the following Plug braking or
condition is met: Motor speed P 507 inertial operation
· RPM of motor is lower than PA507 stopping
after servo OFF
· Setting time for PA508 is exceeded /BK output Brake release Brake holding
after servo OFF
P 508

Attentions
· Even PA507 is set as a value higher than maximum RPM of used servo motor, operation of the motor will
also be limited by its maximum RPM.
· Distribute motor rotation detection signal (/TGON) and brake signal (/BK) to other terminals.
· When brake signal (/BK) and motor rotation detection signal (/TGON) are distributed to the same output
terminal, /TGON signal is changed to L level due to falling speed in the vertical shaft . Even conditions for the
user parameter are met, /BK signal may also cannot be changed to H level. (Since output is completed by OR
logic when several output signals are distributed to the same output terminal ) Refer to "Signal Distribution of
Output Circuit" for details of distribution of output signals.

5.3.5 Selection of Stop Methods in Servo OFF

Select stop methods for servo unit in servo off.
Methods for After stop of
User Parameter Meanings
motor stop motor

Plug braking Reduce speed to stop the servo motor by emergency stop
H.□0□□ torque (PA407). Servo motor will be in inertial operation
stopping Inertial (de-energized) state after stop.
PA000
Inertial operation operation state Stop the servo motor in the same manner as servo OFF
H.□1□□ (inertial operation stop). The servo motor will be in
stopping
inertial operation (de-energized) state after stop.
Setting of user parameter is valid under the following conditions:
·/S-ON output signal OFF (servo OFF)
·Main power (L1, L2 and L3) OFF
■Words and expressions
·Plug braking stopping: stop the motor via deceleration (brake) torque (PA407).
·Inertial operation stopping: naturally stop the motor by friction resistance arising from motor rotation other than braking.
■Attentions
·When power of main circuit (L1, L2 and L3) or control power supply (L1C and L2C) is OFF, the following servo drivers will
force to execute plug braking stop despite of the above setting of user parameter.
·In case of alarm from servo driver, the servo driver will execute inertial stop.

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K2 Series AC Servo Driver

5.4 Use of Absolute Encoder

If a servo motor with absolute encoder is used, absolute value detection system can be configured in the command
controller (host system). Results indicate that it can operate again directly without need of origin reset when power is ON
again.
Resolution of absolute Output range of
Operation when exceeding limit
encoder multi-turn data
When upper limit value (+32767) for positive direction is
17 digit exceeded, multi-turn data is changed to -32768
-32768 ~ +32767
(*131072 pulse/circle) When upper limit value (-32768) for negative direction is
exceeded, multi-turn data is changed to +32767

5.4.1 Interface Circuit

Standard connection of absolute encoder installed in the servo motor is as follows:
Host system Servo drive Encoder
*1 CN2 CN1
*1
+5V *2
38 PG5V
7

25 GND
14
Bus receiver Equal to 7406
PS
12
19 PG
Serial interface circuit PA R
/PS
/PAO 20 13

Pulse count circuit 21

PB R
22

(Connector shell) (Shell)

23 Shielded wire
PC R
24
3.6 V lithium battery

Applicable bus receiver: TI SN75174 or MC3487 *1. refers to multi-stranded wire

Terminal resistance: 220 - 470Ω ■
Connection of SEN signal
Pin No. of
Name Signal Set Meanings
connector
FF = L level When power is supplied
Input ASEN CN2-38
ON = H level Absolute value is required
This input signal must be used to reference the servo driver to output absolute data. Please set the SEN signal
as H level after the power is connected for 3 seconds.
If SEN signal is switched between L level and H level, then multi-turn data and initial incremental pulse
should be output.
Before completion of these operations, the servo motor will not be energized even if servo ON signal (/S-ON) is in

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K2 Series AC Servo Driver

ON state. Operation panel displays "OFF".

Command controller About 1 mA Servo controller

for H level
+5V 100Ω
CN2-38
4.7kΩ

CN2-25
Equal to 7406
0V 0V

Notes: the PNP transistor is suggested.

Signal level (H level: above 4.0 V; L level: max. 0.8 V)
■ Attentions
In order to set the ON SEN signal as OFF and then ON, operation should be executed when H level is kept for
over 1.3 s as shown in the following figure.

SEN Signal：

OFF ON (H level) OFF ON

Above 1.3s

Above 15 ms

5.4.2 Selection of Absolute Encoder

Absolute encoder can also be used as incremental encoder.
User Parameter Meanings
Use absolute encoder as absolute encoder and enable serial output of absolute data
n.□□□0
(PG frequency dividing PAO 口)
PA001 n.□□□1 Use absolute encoder as incremental encoder
Use absolute encoder as absolute encoder and prevent serial output of absolute data
n.□□□2
(PG frequency dividing PAO 口)
● As an incremental encoder, SEN signal and battery is not required
● Power must be turned on again upon changes to the user parameter so as to effect the setting.

5.4.3 How to Use Battery

Recommended battery specification: ER36V
■Procedures for battery replacement
1. Please replace batteries when control power of servo unit is ON;
2. After batteries are replaced, use auxiliary function FA010 to remove alarm of absolute encoder so as to stop alarm
of absolute encoder battery.
3. If no abnormal operation is found after restart of servo driver power, it indicates that replacement of battery is
over
Attentions:

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K2 Series AC Servo Driver

Data of absolute encoder will be lost if control power of servo driver is set as OFF and wires(including encoder
cables) of battery is removed. At this time, setting operation for absolute encoder must be carried out. Please refer to
"2.3.4 Setting of Absolute Encoder (FA009)"

5.4.4 Giving and Receiving Sequence of Absolute Data

After receipt of output from absolute encoder, the sequence used for the driver to send absolute data to the
command controller is as follows.
(1) Summary of absolute signal
As shown below, serial data and pulse of absolute encoder are output by servo driver via "PAO, PBO and PCO".

Frequency
dividing circuit PAO
PS Serial data （P 201） PBO
PG
Pulse conversion PCO

Signal State Signal content

Serial data
At initialization
PAO Initial incremental pulse
Normal time Incremental pulse
At initialization Initial incremental pulse
PBO
Normal time Incremental pulse
PCO Always Origin pulse

(2) Sending sequence and content of absolute data

1、 Set SEN signal as H level
2、 After 100 ms, wait state for serial data acceptance starts. Reversible counters used for incremental pulse count
should be reset.
3、 Receive serial data in 8 bytes
4、 It will change to common incremental operation state after last serial data is received for 25 ms.

SEN signal

Initial
Rotation count Incremental
PAO Undefined incremental
serial data pulses
pulses
（Phase A）（Phase A）
Initial
Incremental
PBO Undefined incremental
pulses
pulses
（Phase B）（Phase B）
Above 60ms
Type 90ms 1~3ms
Max 260ms
50ms About 15ms Max 25ms

＊ Serial data
It indicates position of motor shaft after circuits of rotation from the reference position (as per setting value)
＊ Initial incremental pulse

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K2 Series AC Servo Driver

Pulse should be output at the same speed as pulse for rotation of 1250rpm (factory setting is used for 17 byte
frequency dividing pulse).

Reference position（setup） Current position

-1 0 +1 +2 +3
Coordinate value

±0 +1 +2 +3
Value M

M×R Po

PE
PS PM

Final absolute data PM can be calculated by the following formula:

P E = M × R + P0
PM = P E － P S
Notes: the following formula is used in negative rotation mode (Pn000.0 = 1)
PE = －M ×R + P0
PM = P E － P S
PE Current value read from encoder
M Multi-turn data (number of turns of encoder)
P0 Count of initial incremental pulse
PS Count of initial incremental pulse read from the set point (this value is subject to
storage and management of host)
PM Current value required in client system
R Pulse count for 1 circle of rotating encoder (value after frequency dividing and value
of PA201)

(3) Detailed specification of signal

(a) Specification of PAO serial data
Output rotation in 5 digits
Data transmission method Start-stop synchronism (ASYNC)
Baud rate 9600 bps
Start bit 1 bit
Stop bit 1 bit
Parity Even parity check
Character code ASCII 7-bits coder
Data format See the following figure for data in 5 characters.

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K2 Series AC Servo Driver

P + or - 0 ~ 9 CR

0 0 0 0 0 1 0 1 0 1

Data Stop bit

Start bit Even parity
Note:
1,Data is P+00000 (CR) or P-00000 (CR) when the number of
revolutions is zero.
2,The revolution range is +32767 to -32768 .When this range is
exceeded, the data changes from +32767 to -32768 or from -
32768 to +32767 .

5.4.5 Setting of Absolute Encoder (FA009/ FA010)

In addition, setting operation for absolute encoder must be carried out in case of:
＊ initial startup of machinery
＊ "Bus encoder multi-coil information error (A25)"
＊ "Bus encoder multi-coil information overflow (A26)"
＊ "Bus encoder battery alarm 1 (A27)"
＊ requiring to set multi-turn data of absolute encoder as 0
Implement setting by panel operator.

Attentions:
1、 Setting operation of encoder only can be implemented under servo OFF state.
2、 When absolute encoder alarm is displayed, auxiliary function FA010 should be executed to stop alarm. Alarm
reset (/ALM-RST) of servo driver cannot stop alarm.
＊ "Bus encoder multi-coil information error (A25)
＊ Bus encoder multi-coil information overflow (A26)
＊ Bus encoder battery alarm 1 (A27)
＊ Bus encoder battery alarm 2 (A28)
＊ Bus encoder overspeed (A41)

5.4.6 Clear of Multi-coil Data of Absolute Encoder

When using bus absolute encoder, the operation can be used to remove multi-coil information.
Operation Operation
Operation instruction Display after operation
steps key
Press M function key (for more than 1
1 second) and switch to auxiliary function M
mode , which will display FA000.
Press UP or DOWN and select the desired
2
auxiliary function FA010.

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K2 Series AC Servo Driver

Press SET to display "PoSCL" and clear

3
multi-coil position operation.
Press function key to display "CLFin"
4 which indicates that multi-coil position is M
completely cleared.

5 Press SET to return to the display of FA009.

5.4.7 Clear of Internal Errors of Bus Encoder

When using bus absolute encoder, the operation can be used to remove multi-coil information.
Operation Operation
Operation instruction Display after operation
steps key
Press M function key to select auxiliary
1 function mode. In case of failing to display M
FA010 press UP or DOWN to set FA010.

2 Press SET to display "ErrCL".

Press M function key to display "CLFIn" and

3 clear encoder multi-coil information M
completely.

4 Press SET to return to the display of FA009.

5.5 Speed Control (Analog Voltage Reference) Operation

5.5.1 User Parameter Setting

User Parameter Meanings
PA000 H.□□0□ Selection of control mode: speed control (analog voltage reference)

PA300 Speed command input gain Speed Position Torque

Setting range Setting Unit Factory setting Power reboot

（r/min）/Vspeed.
0 ~ 3000 voltage — command
Set slope for analog command 150 Not required
Command speed
(r/min)
For example,
Set the slope
PA300=150：1 V voltage corresponds to inputting
efficiency
150r/min (factory setting)
PA300=300：1 V voltage corresponds to inputting
300r/min (factory setting) Command voltage
(V)

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K2 Series AC Servo Driver

5.5.2 Setting of Input Signal

(1) Speed reference input
If speed reference is sent to servo driver in the form of analog voltage reference, speed of servo motor is controlled
in proportion to input speed.
Name Signal Pin No. of connector (factory) Meanings
V-REF CN2-5 Speed reference input
Input
GND CN2-6 Signal ground for speed reference input
It should be used for speed control (analog voltage reference) (PA000.1 = 0, 4, 7, 9, A)
PA300 is used to set speed reference input gain. Please refer to "Setting of User Parameter for details".
■ Input specification
·Input voltage range: DC ±10V
·Maximum allowable input voltage: DC ±12V

(2) Proportional action reference signal (/P-CON)

Pin No. of connector

Name Signal Set Meanings
(factory)
ON = L Level Operate servo driver by P control mode.
Input /P-C0N CN2-15
OFF = H Level Operate servo driver by PI control mode.
/P-CON signal is a signal that selects speed control modes from PI (proportional and integral) or P (proportional) control.
If P control is set, motor rotation and slight vibration arising from input shift of speed reference can be reduced.
Input reference: servo motor rotation due to 0 V shift can be reduced, but servo rigidity (support force) will decrease when
rotation is stopped.
/P-CON signals may distribute inputted connector pin numbers to other places by user parameters. Please refer to “Signal
Distribution of Input Circuit”.

5.5.3 Adjustment of Reference Offset

In speed control mode, even if OV reference is sent under analog reference voltage, motor will rotate with low
speed in case of small reference voltage offset (unit: mV) of superior control unit or in external circuit. In such case,
reference offset can be automatically or manually adjusted by panel operator. See "5.2 Operation in Auxiliary
Function Execution Mode" for details.
Auto-adjustment of analog (speed ·torque) or reference offset is the function for offset measurement and
auto-adjustment of voltage.
In case of voltage reference offset of the superior controller or in external circuit, servo driver will make
following adjustment towards the automatic offset.

Reference Reference
voltage voltage
Auto-adjustment
Offset of offset in servo driver
speed Reference speed Reference
Auto-correction of offset

Once auto-adjustment of reference offset begins, offset will be saved in the servo driver.
Offset can be confirmed through manual adjustment of speed reference offset (FA006). See "5.5.3(2) Manual
adjustment of speed reference offset" for details.

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K2 Series AC Servo Driver

(1) Auto-adjustment of speed reference offset

When offset pulse is set as zero with the servo locked in the OFF state by the command
controller equipped with a position loop, auto-adjustment of reference offset (FA008) is not available, instead,
manual adjustment of speed reference offset (FA00A) should be applied.
Under speed reference of zero, function of zero clamping speed control which can lock the servo in a
mandatory manner is provided. See "5.5.6 Use of Zero Clamping Function" for details.
Note: Auto-adjustment of zero analog offset should be conducted when the servo is OFF.
Auto-adjustment of speed reference offset of A axis is conducted as below.
Operation Operation
Operation instruction Display after operation
steps key
Set the servo unit as OFF,
Servo drive Servo motor and input OV reference
0 V speed reference
voltage through reference
1 Reference controller or external
control unit
circuit.
Servo OFF Rotation with a narrow
scope (servo ON state)

Press M function key to select auxiliary function mode .

2 In case of failing to display FA008, press UP or DOWN M
to set.

3 Press SET, and "rEF_o" is displayed.

Press M function key to start auto-zeroing, and flickering

4
"donE" is displayed.
M
After completion of auto-zeroing, "rEF_o" instead of
5 ——
flickering "donE" is displayed.

6 Press SET to return to the display of FA008.

(2) Manual adjustment of speed reference offset

Manual adjustment of speed reference offset (FA006) should be applied in case that:
·the reference controller is equipped with a position loop to set the offset pulse as zero when the servo is locked in
the OFF state
·offset is set as a certain value consciously
·offset set for auto-adjustment is applied
Basic function and auto-adjustment of analog (speed ·torque) reference offset (FA008) are the same. But for
manual adjustment (FA006), adjustment must be made along with direct input of offset.
Adjustment range of offset and setting unit are listed as below.
Speed reference
Adjustment range of offset
Offset adjustment range: -9999 ~ +9999

Analog input voltage

Setting unit of offset

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K2 Series AC Servo Driver

Auto-adjustment of speed reference offset is conducted as below.

Operation Operation
Operation instruction Display after operation
steps key
Press M function key to select auxiliary function
1 mode. In case of failing to display FA006, press UP or M
DOWN to set.

2 Press SET, and "A.SPd" is displayed.

3 Press SET for at least 1 s, and "0000" is displayed.

4 Press UP or DOWN to set offset.

5 Press SET for at least 1 s to save offset.

6 Press SET to return to the display of FA006.

5.5.4 Soft Start

Soft start is the function to transfer step speed reference input to the reference with certain acceleration and
deceleration in the servo driver.
(1) Trapezoidal start-up
User Parameter Meanings
PA309 H.□□□0 Trapezoidal start-up

PA305 Acceleration time of soft start Speed

Setting range Setting unit Factory setting Power reboot

0 ~ 10000 1ms 0 Not required
PA306 Deceleration time of soft start Speed

Setting range Setting unit Factory setting Power reboot

0 ~ 10000 1ms 0 Not required
While inputting step speed reference or selecting internal speed setting, smooth speed control is available.
(set "0" for common speed control.)
Setting values are listed as below.
·PA305： time required from the OFF state to the speed of 1000r/min
·PA306：time required from the speed of 1000r/min to the OFF state
1000r/min

After soft start

Before soft start

P 305 P 306

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K2 Series AC Servo Driver

(2) S-curved start-up

User Parameter Meanings
PA309 H. □□□1 S-curved start-up
H. □0□□ Close to linearity
H. □1□□ Low
Selection of S curve ratio
H. □2□□ Central
H. □3□□ Height

PA308 Rise time of S curve Speed

Setting range Setting unit Factory s ettingPower reboot

0 ~ 10000 1ms 0 Not required
PA308 PA308

After soft start

Before soft start
PA309.2 setting of curve ratio

(3) Acceleration and deceleration filtering start-up

User Parameter Meanings
PA309 H. □□□2 Acceleration and deceleration filtering start-up
H. □□0□ First acceleration and deceleration filtering
H. □□1□ Second acceleration and deceleration filtering

PA307 Time parameter of speed reference filter Speed

Setting range Setting unit Factory s ettingPower reboot

0 ~ 10000 1ms 0 Not required

S m o o t h s p e e d r e f e r e n c e t h r o u g h a c c e l e r a t i. o n a n d d e c e l e r a t i o n f i l t e r
A o v e r l a r g e v a l u e s e t w i l l r e d u. c e r e s p o n s i v e n e s s Before filtering
After filtering
100%

63.2%

36.8%

t
PA308 PA308

5.5.5 Use of Zero Clamping Function

(1) Meaning of zero clamping function
Zero clamping function refers to the function in the system where command controller is not equipped with position
loops under speed control.
If the zero clamping (/P-CON) signal is set as ON, servo driver will be equipped with a position loop, and
servo motor will fall into emergency stop with servo in the locked state regardless of speed reference when input
voltage of speed reference (V-REF) is lower than the value corresponding to the rotation speed of PA501 (zero
clamping level).

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K2 Series AC Servo Driver

Servo motor is clamped within ± 1 pulse at the position where zero clamping takes effect. Even through external
rotation, the servo motor will return to zero clamping.

User Parameter Meanings

PA000 H.□□A□ Control mode: speed control (analog voltage reference)  zero clamping
Condition for switching of zero clamping action
When PA000 is set as H.□□A□, zero clamping will be activated in case of any of the followings:
·/P-CON is ON (L level)
·Speed reference (V-REF) is lower than the setting value of PA501

Speed V-REF speed reference

Servo drive
CN2
Setting value of
V-REF
Speed reference 5 zero clamping level
P 501
Time
/P-CON Open (OFF) Closed (ON)
Zero clamping 15 /P-CON input

Zero clamping action OFF OFF

ON
ON ON

PA501 Zero clamping level Speed

Setting range Setting unit Factory setting Power reboot

0 ~ 10000 1r/min 10 Not required

When speed control with zero clamping function(PA000=H. A ) is selected, rotation speed to activate
zero clamping should be set. Even if the value of PA501 exceeds the maximum rotation speed of the servo
motor, maximum rotation speed of servo motor still adopts valid value.

(3) Setting of input signal

Pin No. of
Name Signal Set Meanings
connector (factory)
ON = L Level Zero clamping function ON (valid)
Input /P-C0N CN2-15
OFF = H Level Zero clamping function OFF (invalid)
It is the input signal to switch to zero clamping action.
Anyone of /P-CON signal can be switched to zero clamping action.
See "signal distribution of input circuit" for distribution

5.5.6 Encoder Signal Output

Feedback pulse of encoder is output after processing in servo unit.

Name Signal Pin No. of connector Name

APAO+ CN2-19 Encoder output Phase A+

Output
APAO- CN2-20 Encoder output Phase A-
APBO+ CN2-21 Encoder output Phase B+
Output
APBO- CN2-22 Encoder output Phase B-
APCO+ CN2-23 Encoder output Phase C+
Output
APCO- CN2-24 Encoder output Phase C-
SEN CN2-38 SEN signal input (valid when using absolute encoder)
Input
GND CN2-25 Signal ground

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K2 Series AC Servo Driver

These outputs explained here.

Servo drive Host controller

CN2
Encoder *
DATA CN1 Phase A(PAO)
Frequency Phase B(PBO)
PG
dividing Phase C(PCO)
circuit

Note： Pulse width of the origin pulse varies by setting of frequency dividing ratio (P 201),
same as that of phase A.

* Even in the negative rotation mode (PA000.0=1), frequency division output phase form is the same as that in the
standard setting (PA000.0=0).
■Output phase form

Forward rotation (phase A leads by 90º) Reverse rotation (phase B leads by 90º)

90º 90º

A相 A相

B相 B相

C相 C相
t t

Note:
For bus encoder, C-phase pulse output of servo driver should be applied for mechanical origin reset after two cycles of rotation
of servo motor.
·Setting of frequency dividing ratio of encoder pulse
PA201 PG frequency dividing Speed Position Torque

Setting range Setting unit Factory setting Power reboot

16 ~ 32768 1P/rev 2500 Required
Set output pulse of PG output signal (PAO,PBO) sent from servo driver.
Frequency of each cycle of feedback pulse from encoder is divided into the setting value of PA201 in the
servo driver and output. (setting based on system specification of machinery and reference controller.)

Output example Setting value: 16

PAO
PA201=16(16 pulse output in each cycle )
PBO

1 cycle

5.5.7 Same Speed Detection Output

Pin No. of
Name Signal Set Meanings
connector (factory)
CN2-9 ON = L Level State of same speed
Output /V-CMP
CN2-10 OFF = H Level State of different speed

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K2 Series AC Servo Driver

The output signal can be distributed to other output terminals through user parameter PA513.
See "Signal distribution of output circuit" for distribution of output signal.

5.6 Position Control Operation

5.6.1 User Parameter Setting

Following user parameters should be set for position control by pulse train.

(1) Control mode selection

User Parameter Meanings
PA000 H.□□1□ Control mode selection: position control (pulse train reference)

Name Signal Pin No. of connector Name

PULS+ CN2-1 Reference pulse input

PULS- CN2-2 Reference pulse input
Input
SIGN+ CN2-3 Sign input
SIGN- CN2-4 Sign input

(2) Selection of pulse reference form

User Parameter Reference form Input multiple Positive rotation reference Negative rotation reference
PA200 PULS PULS
H.□□0□ Sign + pulse train ——
SIGN H level SIGN L level

PULS L level PULS

H.□□1□ CW+CCW ——
SIGN SIGN L level

H.□□2□ Two phase pulse ×1 90º 90º

H.□□3□ train with 90° ×2 PULS PULS

SIGN SIGN
H.□□4□ phase difference ×4
■Supplement Negative rotation
Positive rotation
Input multiplication can be set in PULS

the state of 90 phase difference under

two phase pulse reference. SIGN

×1 time

Internal ×2 time Movement Reference pulse

processing of servo driver
×4 time

(3) Pulse instruction input complement

User Parameter Meanings
PA200 H.□0□□ PULS input reverse, and SIGN input does not reverse
H.□1□□ PULS input does not reverse and SIGN input reverse
H.□2□□ PULS input reverse, and SIGN input does not reverse
H.□3□□ PULS input reverse, and SIGN input does not reverse
Logic reverse for pulse reference is available by setting the parameter.

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K2 Series AC Servo Driver

(4) Selection of clear signal form

Pin No. of connector

Name Signal Name
(factory)
Input /CLR Distribution through PA510 Clear input
If input is cleared, following actions can be performed.
·Offset counter in the servo driver is set as "0".
·Action of position loop is set in the invalid state.
→In clear state, servo clamping does not work, and servo motor may rotate with a low speed due to drifting in the speed
loop.
(5) Selection of clear action
In the condition other than clear signal CLR, regular clear of offset pulse can be selected based on state of
servo driver. Three types of action mode of clear offset pulse can be selected through user parameter PA200.0.
User Parameter Meanings
PA200 H.□□□0 Under servo OFF, clear offset pulse; under over travel, not clear offset pulse
H.□□□1 Under servo OFF or over travel, not clear offset pulse
H.□□□2 Under servo OFF or over travel (excluding zero clamping), not clear offset pulse

5.6.2 Setting of Electronic Gear

(1) Encoder pulse
Encoder type Encoder pulse
Common incremental encoder 2500 P/R
Bus encoder 17 bits 32768 P/R

Note: Bits representing encoder resolution are different from pulse of signal output of encoder (phase A and
phase B), and are four times of encoder pulse.
(2) Electronic gear
Electronic gear is the function to set any value for movement of workpiece with 1 pulse input reference by command controller.
1 pulse reference by command controller is "1 reference unit" as the smallest unit.

Wi t ho ut el e c t ro ni c g ea r Wi t h e l ec t r oni c ge a r
W o rk p ie c e W o rk p ie c e
Reference unit: 1 μm

E n c o d e r: 32768
p u ls e Ball screw pitch: 6 mm Encoder pulse: 32768 Ball screw pitch: 6 mm

Workpiece movement of 10 mm Workpiece movement of 10 mm by "Reference unit"

1 revolution is 6 mm. Therefore, 1 reference unit is calculated as 1 μm

10÷6＝1.6666 cycles Workpiece movement of 10 mm (equal to 10000 μm)
32768×4 pulses/cycle，Therefore, 1 pulse equal to 1 μm，Therefore,
1.6666×32768×4＝218448 pulses 10000/1＝10000 pulses
218448 pulses are input as reference pulses. Input 10000 pulses as reference pulses.
The equation must be calculated at the host controller.

(3) Relevant user parameter

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K2 Series AC Servo Driver

PA202 Electronic gear (numerator) Position

Setting range Setting unit Factory setting Power reboot

1 ~ 65535 — 1 Required
PA508 Electronic gear (denominator) Position

Setting range Setting unit Factory setting Power reboot

1 ~ 65535 — 1 Required

If the deceleration ratio of the motor and the load shaft is given as n/m. Setting value of electronic gear ratio
can be calculated by formula below.(M is the rotation of the motor and n is the rotation of the load shaft)

Electronic gear ratio： B = PA202 =

Encoder pulse × 4
×
m
A PA203 Movement of loading axis n
with 1 cycle of rotation
* In case of beyond the setting range, numerator and denominator should be reduced to the integer within the
setting range.
Note: electronic gear ratio (B/A) should not be changed.

Attentions
Setting range of electronic gear ratio: 0.01 electronic gear ratio (B/A) 100
In case of beyond the range, servo driver cannot work normally. In such case, mechanical structure or
command unit should be changed.

(4) Procedure for setting the electronic gear ratio

Electronic gear ratio should be set as below.
Step Content Instruction
1 To confirm mechanical specifications Reduction ratio, ball screw pitch, pulley diameter, etc. should be
confirmed.
2 To confirm encoder pulse Encoder pulse of servo motor should be confirmed.

1 reference unit by command controller should be determined.

3 To determine reference unit Reference unit should be determined based on mechanical specifications
and positioning accuracy.

To calculate movement of loading axis Reference units for 1 cycle of loading axis should be calculated based on
4
with 1 cycle of rotation determinate reference unit.
5 To calculate electronic gear ratio Electronic gear ratio (B/A) should be calculated according to the related
formula.
6 To set user parameter The value calculated should be set as electronic gear ratio.

(5) Example for setting of electronic gear ratio

Electronic gear ratio is determined based on several examples.

Load configuration
Ball screw Disc table Belt + pulley
Reference unit: 0.02 mm
Reference unit: 0.1°
Reference unit: 0.001 mm Loading shaft
Step Content Loading s haft

Gear ratio 3:1

17-bit encoder Ball screw pitch: 6 mm Pulley diameter: 100
Gear ratio 2:1
mm
Loading shaft
17-bit encoder
17-bit encoder

Pulley diameter: 100 mm

Check mechanical ·Ball screw pitch: 6 mm Rotation angle of 1 cycle: 360°
1 (Pulley perimeter: 341 mm)
structure ·Gear ratio: 1/1 Gear ratio: 3/1
·Gear ratio: 2/1
2 Encoder 17-bit: 32768P/R 17-bit: 32768P/R 17-bit: 32768P/R
Determine the 1 reference unit: 0.001 mm
3 1 reference unit: 0.1° 1 reference unit: 0.02mm
reference unit used. (1 μm)
4 Calculate movement 6mm/0.001mm=6000 360°/0.1°=3600 314 mm/0.02 mm=15700

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K2 Series AC Servo Driver

of loading axis
with 1 cycle of
rotation
Calculate the B 32768 4 1 B 32768  4 3 B 32768 4 2
5
electronic gear ratio
     
A 6000 1 A 3600 1 A 15700 1
PA202 131072 * PA202 393216 PA202 262144
6 Set user parameter
PA203 6000 PA203 3600 PA203 15700

* Calculation result is not within the setting range. Hence numerator and denominator are reduced.
For example, numerator and denominator are reduced by 4. As a result, PA202 = 32768 and PA203 = 1500. Then the setting is
completed.

(6) Equation of electronic gear ratio

Servo motor n
Pitch = P (mm/rev)
Reference pulse B + Position Speed
A - loop loop
m

：Reference unit ×4
PG(P/rev) ：Encoder resolution PG(P/rev)
P (mm/rev) ：Ball screw pitch

：Gear ratio

A and B should be set through user parameter:

A ：PA203 B ：PA202

5.6.3 Position Reference

Position of servo motor is controlled by the reference in the form of pulse train.
Pulse train output forms of command controller are listed as below.
·Bus driver output
·+24V collector open circuit output
·+12 V collector open circuit output
·+5 V collector open circuit output
Note:
Note for collector open circuit output: when pulse output is conducted through collector open circuit, noise margin of input
signal will reduce. In case of offset caused by noise, following user parameters should be changed.
User Parameter Meanings
PA200 H.1□□□ Reference input filtering for collector open-circuit signal

(1) Timing example for input/output signal

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K2 Series AC Servo Driver

Ser vo O N ON
Release
t1 t2 t1 30ms
Base b lock H
t2 6ms

t3
H (When PA506 is set to 0)
Sign + pulse train
L t3 40ms

H
PAO L
En cod er pu lses H
L t4，t5，t6 2ms
PBO t7 20µs
t5
/COIN t4 t6
ON ON
CLR
t7

Note:
1. Interval between ON set for servo ON signal to input of reference pulse should be more than 40 ms; Otherwise, the reference
pulse may not be received by the servo driver.
2. Clear signal ON should be set more than 200 μs.
Table: Timing for reference pulse input signal
Reference pulse form Electrical specification Remarks

Sign + pulse train input t1, t2 ≤ 0.1μs

(SIGN + PULS signal) t3, t7 ≤ 0.1μs SIGN
Maximum reference frequency: 500 kpps t4, t5, t6 > 3μs H = Forward reference
(In case of open-collector output, τ ≥ 1.0μs L = Reverse reference
maximum reference frequency: 200 kpps) (τ/T) × 100 ≤ 50%

CW pulse + CCW pulse t1, t2 ≤ 0.1μs

Maximum reference frequency: 500 kpps t3 > 3μs
(In case of open-collector output, τ ≥ 1.0μs
maximum reference frequency: 200 kpps) (τ/T) × 100 ≤ 50%

Two phase pulse with 90°

phase difference
(Phase A + Phase B) t1, t2 ≤ 0.1μs Multiplication mode
Maximum reference frequency: can be setted through
τ ≥ 1.0μs user parameter
× 1multiplier: 500kpps (τ/T) × 100 ≤ 50% PA200.1.
× 2multiplier: 400kpps
× 4multiplier: 200kpps

(2) Connection example

(a) Connection example of line driver output
Applicable line driver: equivalent of TI SN75174 or MC3487

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K2 Series AC Servo Driver

Command controller Servo drive

* 150Ω
PULS＋

PULS－

150Ω
SIGN＋

SIGN－

3.3kΩ

DC24V DICOM

CLR

* represents twisted-pair wires.

(b) Connection example of open- collector output

R1 value of limiting resistor should be selected to ensure that input current is within the range below.
Input current i = 7mA ~ 15mA
Command controller Servo drive
i
Vcc 150Ω
Please refer to the following applicable examples for setting of the
R1 working resistance R1 to maintain current i within 7 mA ~ 15 mA.

Applicable examples
Tr1 When Vcc is 24V When Vcc is 12V When Vcc is 5V
i R1=2.2KΩ R1=1KΩ R1=180Ω
Vcc 150Ω
R1

Tr1 (Note):

In case of open-collector outputs, noise margin of input signal will

DC24V DICOM reduce. In case of offset caused by interference, user parameter
PA200.3 should be set as "1".
CLR

* represents twisted-pair wires.

(3) Chart of control box

Chart of control box is as below during position control.

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K2 Series AC Servo Driver

Servo driver (in position control)

PA110
PA109 PA202
PA107
Feedforward
Feed-forward B
Differential filter Offset
gain A
time constant
PA108
PA203
Range of offset
superposition
PA200.1
PA202 PA102 Servo motor
Pulse PA205
input
×1 + +
B + + Speed loop Current loop
×2 Smoothing
A KP M
Error counter
×4
PA203 -

Encoder ×4 ENC
pulse PA201
output
Dividing Encoder

5.6.4 Smoothing
Filtering is available in the servo unit through reference pulse input with certain frequency.

(1) Selection of position reference filter

User Parameter Meanings
PA206 H.□□□0 First acceleration and deceleration filtering
H.□□□1 Second acceleration and deceleration filtering

(2) User parameter related to filter

PA205 Position reference acceleration/deceleration filter time constant Position

Setting range Setting unit Factory setting Power reboot

0 ~ 6400 0.1ms 0 Not required
A tt en ti o ns
C h a n g i n g o f p o s i t i o n r e f e r e/dneccee laecrca et li eo rna tt ii omne(PA2
c o 0n4
)swill
t a ntake
t effects with no
command pulse input and offset pulse of 0. To actually reflect the setting value, clear signal (CLR) should be
input to disable reference pulse from command controller or to clear offset pulse as servo ON.
Even in following conditions, motor can be operated smoothly. In addition, the setting has no impact on
movement (command pulse)
· When the host controller that outputs a reference cannot perform acceleration /deceleration processing.
· When the reference pulse frequency is too low.
· When the reference electronic gear ratio is too high (i.e., 10 times or more).

Before filter applied

After filter applied
100%

63.2%

36.8%

t
P 205 P 205

5.6.5 Positioning Completed Output Signal

The signal represents completion of servo motor positioning during position control, and should be used when
interlocking is confirmed by positioning completion of command controller.

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K2 Series AC Servo Driver

Pin No. of
Name Signal Set Meanings
connector (factory)
CN2-9 ON = L Level Positioning completed
Output /COIN
CN2-10 OFF = H Level Positioning not completed
Positioning completed signal can be distributed to other output terminals through user parameter P A513.
See "Signal distribution of output circuit" for distribution of output signal.

5.6.6 Low-frequency Jitter Suppression

For low-rigidity load, rapid start-stop may produce continuous low-frequency jitter at early stage of loading,
resulting in longer positioning and affecting production efficiency. Servo driver is equipped with jitter buffer control
function which can suppress low-frequency jitter by estimating loading position and compensation.
Low-frequency jitter under low-rigidity load

Movable parts Ball screw

Coupling

Workbench
Servo motor

(1) Scope of Application

Low-frequency jitter suppression is available in speed control mode and position control mode.
Low-frequency jitter suppression may not work normally or reach expected effects in case of:
 Intensive vibration cause by external force
 Jitter frequency not within 5.0 Hz - 50.0 Hz
 Mechanical gap between mechanical joint parts of vibration structure
 Moving time lower than one vibration cycle

(2) Setting of user parameter

User Parameter Meanings
PA004 H. □0□□0 Disable low-frequency jitter suppression
H. □1□□1 Enable low-frequency jitter suppression

P 413 B type vibration (low-frequency jitter) frequency Speed Position

Setting range Setting unit Factory setting Power reboot

10 ~ 1000 0.1Hz 1000 Not required

P 414 B type vibration (low-frequency jitter) damping Speed Position

Setting range Setting unit Factory setting Power reboot

0 ~ 200 — 25 Not required

After inputting load jitter frequency measured into parameter P 413, P 413 can be slightly adjusted to
obtain best suppression.
In case of continuous vibration of motor during shutdown , P 414 can be increased suitable. Ordinary,
parameter P 414 don't need modification .
If jitter frequency can be directly measured by instrument, such as laser interferometer, frequency measured should
be directly input into parameter PA413 in the unit of 0.1 Hz.
In case of no measuring instrument available, drawing or FFT analysis function of PC communication
software can be used to measure jitter frequency of load indirectly.

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K2 Series AC Servo Driver

Position offset counter

ΔT

0
t

f ＝ 1 / ΔT

5.6.7 Inhibition Function of Reference Pulse (INHIBIT Function)

(1) Inhibition function of reference pulse (INHIBIT function)
It is the function to stop (inhibit) reference counting input pulses during position control.
When the function is activated, servo locking (clamping) state is also activated.
Servo drive

P 000.1

P 000=H. 1
OFF +
Reference pulse
P 005=H. B Offset counter
ON -

/P-CON
/P-CON
Feedback pulse

(2) Setting of user parameter

User Parameter Meanings
PA000 H.□□B□ Control mode: position control (pulse train reference)  position inhibition
■Inhibit switching condition ON OFF ON
/P-CON
·/P-CON signal is ON (L level)

Refference pulse

t1 t2

t1，t2 0.5ms
Counting is not available even if
reference pulse is input during
this period.

(3) Setting of input signal

Pin No. of connector
Name Signal Set Meanings
(factory)
ON = L Level INHIBIT function ON (stop counting of reference pulse)
Input /P-CON CN2-15
OFF = H Level INHIBIT function OFF (counting of reference pulse)

5.7 Torque Control Operation

5.7.1 User Parameter Setting

User Parameter Meanings
PA000 H.□□2□ Control mode: torque control (analog voltage reference)

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K2 Series AC Servo Driver

PA400 Torque reference input gain Speed Position Torque

Setting range Setting unit Factory setting Power reboot
10 ~ 100 0.1V/rated torque 30 (3V/rated torque) Not required
Reference torque
S e t a n a l o g v o l t a g e l e v e l o f (T-R
t o r qE uF
) eforr e f e r e n c e
Rated torque
servo motor operation under rated torque.
For example, Reference
PA400=30：rated torque of motor under 3 V input (factory setting) voltage (V)
PA400=1000：rated torque of motor under 10 V input
PA400=200：rated torque of motor under 2 V input Set voltage reference

5.7.2 Torque Reference Input

If torque reference is sent to servo driver in the form of analog voltage reference, torque of servo motor is controlled
in proportion to input voltage.

Name Signal Pin No. of connector Name

T-REF CN2-18 Torque reference input

Input
GND CN2-25 Signal earth for torque reference input
It should be used for torque control (analog voltage reference) (PA000.1 = 2, 6, 8 or 9)
PA400 is used to set torque reference input gain. Please refer to "8.7.1 Setting of User Parameter" for details.
300

■ Input specification Reference torque (%) 200

·Input range: DC ±1V ~ ±10V/ rated torque
·Maximum allowable input voltage: DC ±12V 100

·Factory settings -12 -8 -4

PA400 = 30: rated torque under 3 V 0 3 4 8 12
Factory settings
+3V input: rated torque in the positive direction -100
Input voltage (V)

+9 V input: 300% of rated torque in the positive direction

Slope should be set by P 400.
-0.3 V input: 10 % of rated torque in the negative direction -200

Voltage input range can be changed through user parameter

-300
PA400.
Servo drive

470Ω 1/2W min.

■Example of input circuit CN2

To adopt effective measures to prevent interference,

T-REF+
multi-stranded wire should be used for wiring. 2KΩ
+12V

GND

Note:
Internal torque can be confirmed under monitoring mode (Un005). See "Operation under Monitoring Mode".

5.7.3 Adjustment of Reference Offset

(1) Auto-adjustment of torque reference offset
In the torque control mode, the servomotor may rotate at a minute speed with an analog voltage reference of 0 V,
This occurs because the reference voltage of the host controller or external circuit has a minute offset of a few millivolts.
In such case, the offset can be automatically or manually adjusted by panel operator.

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K2 Series AC Servo Driver

Auto-adjustment of analog (speed ·torque) or reference offset is the function for offset measurement and
auto-adjustment of voltage.
In case of voltage reference offset of the host controller or in external circuit, servo driver will make following
adjustment towards the automatic offset.
Reference volltage Reference voltage

Offset automatically
adjusted in servo drive
Offset
Torque reference Torque reference

Automatic offset adjustment

After auto-adjustment of reference offset, the value of offset will be saved in the servo driver.
Offset can be confirmed through manual adjustment of speed reference offset (FA006). When offset pulse is set as
zero with the servo locked in the OFF state by the host controller equipped with a position loop, auto-adjustment of
reference offset (FA008) is not available, instead, please use manual adjustment of speed reference offset (FA00A).
Under speed reference of zero, function of zero clamping speed control which can lock the servo in a mandatory
manner is provided. See "Use of Zero Clamping Function" for details.
Note: Auto-adjustment of zero analog offset should be conducted when the servo is OFF.

Auto-adjustment of torque reference offset of A axis is conducted as below.

Operation Operation
Operation instruction Display after operation
steps key

Servo motor
Turn OFF the servo drive, and input
0V torque Servo drive
reference OV refercnce voltage through host

Host controller or external circuit.

1 controller

Servo OFF Slow rotation

（servo ON）

Press M function key to select auxiliary function

2 mode. In case of failing to display FA008, press M
UP or DOWN to set.

3 Press SET, and "rEF_o" is displayed.

Press M function key to start auto-zeroing, and

4
flickering "donE" is displayed.
M
After completion of auto-zeroing, "rEF_o"
5 ——
instead of flickering "donE" is displayed.

6 Press SET to return to the display of FA008.

(2) Manual adjustment of torque reference offset

Manual adjustment of torque reference offset (FA007) should be applied in case that:
·the host controller is equipped with a position loop to set the offset pulse as zero when the servo is locked in
the OFF state

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K2 Series AC Servo Driver

·the offset is set as a certain value consciously

·check the offset data that was set in the auto-adjustment mode.
Basic function and auto-adjustment of analog (speed ·torque) reference offset (FA008) are the same. But for
manual adjustment (FA007), adjustment must be made along with direct input of offset.
Figure below shows adjustment range of offset and setting unit.
Torque command
Offset adjustment range
Offset adjustment range: -9999~+9999

Offset setting unit Analog input voltage

Auto-adjustment of torque reference offset is conducted as below.

Operation
Operation instruction Operation key Display after operation
steps
Press M function key to select auxiliary function mode.
1 In case of failing to display FA006, press UP or DOWN M
to set.

2 Press SET, and "A.Tcr" is displayed.

3 Press SET for at least 1 s, and "0000" is displayed.

4 Press UP or DOWN to set offset.

5 Press SET for at least 1 s to save offset.

6 Press SET to return to the display of FA007.

5.7.4 Speed Limit under Torque Control

Servo motor in torque control is controlled by the specified torque output,but the motor speed is not controlled.
If an excessive reference torque is set for the load torque on the mechanical side, then it will exceed the torque of
the machinery, which will lead to greatly increase of motor speed.
As a protective measure at the mechanical side, a function of limiting servo motor speed under torque control
is provided.
No speed limit Speed limit

Damage may be caused by

Motor speed exceeding s peed of machinery! Motor speed Safe operation with speed limited!
Maximum speed
Limit speed

t
t

73
K2 Series AC Servo Driver

(1) Selection of speed limit manner (torque limit option)

User Parameter Meanings
PA001 H.□0□□ Value set in PA408 is used as speed limit. (Internal speed limiting function)
H.□1□□ V-REF is used as external speed limit input.

(2) Internal speed limiting function

PA408 Speed Limit During Torque Control Torque

Setting range Setting unit Factory setting Power reboot

0 ~ 6000 1r/min 1500 Not required

T h i s p a r a m e t e r s e t t hne d le ir mti ot r sq pu ee .e cd o un t r o l
W h e PA001=H.
n 0 ，the setting in this parameter take effect.
The servomotor s maximum speed will be used when the setting in this parameter exceeds the maximum speed of the
servomotor used.

(3) External speed limiting function

Name Signal Pin No. of connector Name

V-REF CN2-5 External speed limit input

Input
GND CN2-6 Signal ground
Motor speed limit in case the torque limit is input under analog voltage reference.
When PA001=H.□1□□, the smaller one of V-REF speed limit input and PA408 (speed limit under torque control) is the valid
value.
The setting in Pn300 determines the voltage level to be input as the limit value and it is not related to polarity.

PA300 Speed reference input gain Speed Position Torque

Setting range Setting unit Factory setting Power reboot
0 ~ 3000 （r/min）/V 150 Not required
Under torque control, voltage level is set for the rotation speed for external speed limiting.
When PA300=150 (factory setting), if the voltage input to the V-REF is 6 V, the actual speed limit is 900
r/min.
Note: Principle of speed limit.
If the speed is out of the range of speed limit, it may return to the range of speed limit through negative feedback of torque
proportional to the speed difference with the limited speed. Therefore, actual motor speed limit will fluctuate based on loading
conditions.

5.8 Speed Control (Internal Speed Selection) Operation

·Meaning of internal set speed selection

This function allows speed control operation by externally selecting an input signal from among three
servomotor speed settings made in advance with parameters in the servodrive.
There is no need to provide a speed generator or pulse generator externally.

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K2 Series AC Servo Driver

Servo drive
Internal set speed
CN2
User Parameter
Servo motor
/P-CON SPEED1 P 301

Speed reference
SPEED2 P 302 M
Contact inputs
/P-CL
SPEED3 P 303

/N-CL

5.8.1 User Parameter Settings for speed control with an internally set speed
User Parameter Meanings
PA000 H.□□3□ Selection of control manner: internal set speed control (contact reference)

PA301 Internal set speed 1 Speed

Setting range Setting unit Factory setting Power reboot
0 ~ 6000 1r/min 100 Not required
PA302 Internal set speed 2 Speed
Setting range Setting unit Factory setting Power reboot
0 ~ 6000 1r/min 200 Not required
PA303 Internal set speed 3 Speed
Setting range Setting unit Factory setting Power reboot
0 ~ 6000 1r/min 300 Not required
N o t：e
Even through the value set in PA301~PA303 is larger than the maximum speed of the used servo motor,
the actual value is still limited to the maximum speed of the servo motor.

5.8.2 Setting of Input Signal

Name Signal Pin No. of connector Name

/P-CON CN2-15 Shift of rotation direction of servo motor

Input /PCL Need to distribute Selection of internal set speed
/NCL Need to distribute Selection of internal set speed
■ As for input signal selection
For single-axis drive: /PCL and /NCL are respectively distributed to CN2-41 and CN2-42 when leaving factory.
For double-axis drive: /PCL and /NCL need to be distributed by parameter P □510.
Operation modes of the three input signals /P-CON, /P-CL and /N-CL are utilized (they are distributed in factory settings).

5.8.3 Operation at Internal Set Speed

Operation is allowed through internal settings by ON/OFF combination of the following input signals.
Input signal Rotation
direction of
/P-CON /PCL /NCL
motor
OFF(H) OFF(H) OFF(H) Positive rotation Stop by the internal speed reference 0

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K2 Series AC Servo Driver

OFF(H) ON(L) PA301: internal set speed 1 (SPEED1)

ON(L) ON(L) PA302: internal set speed 2 (SPEED2)
ON(L) OFF(H) PA303: internal set speed 3 (SPEED3)
OFF(H) OFF(H) Stop by the internal speed reference 0
OFF(H) ON(L) PA301: internal set speed 1 (SPEED1)
ON(L) Negative
ON(L) ON(L) PA302: internal set speed 2 (SPEED2)
ON(L) OFF(H) PA303: internal set speed 3 (SPEED3)

Note:
In case that the control mode is switching mode
When PA000.1 = 4, 5, 6, if the signal of either /PCL or /NCL is OFF (H level), then the control mode is shifted.
For example, PA000.1=5: when internal set speed is set to select position control (pulse train)
Input signal
Speed
/PCL /NCL
OFF(H) OFF(H) Stop by the internal speed reference 0
OFF(H) ON(L) PA301: internal set speed 1 (SPEED1)
ON(L) ON(L) PA302: internal set speed 2 (SPEED2)
ON(L) OFF(H) PA303: internal set speed 3 (SPEED3)
· Operation example based on internal speed setting selection
If soft start function is used, then the impact during speed shifting will decrease.
Please refer to "Soft start" for soft start.
Example: operation based on internal set speed + soft start

Motor speed
3rd speed
+SPEED3
Acceleration and deceleration are set
2nd speed through P 305 and P 306 (soft start time)
+SPEED2
1st speed
+SPEED1

Stop Stop
0
Stop

-SPEED1
1st speed
-SPEED2
2nd speed
-SPEED3
3rd speed

/P-CL ON ON ON ON
OFF OFF OFF OFF OFF

/N-CL ON ON ON ON
OFF OFF OFF OFF OFF

ON ON ON OFF OFF OFF OFF OFF

/P-CON

If "(PA000.1 = 5 internal set speed control" position control)" is set, the soft start function only works when the internal set
speed is selected. The soft start function is not available when pulse reference is input. If it is shifted to pulse reference input
during operation at any speed of speed 1-3, the servo drive will accept the pulse reference after output of positioning completion
signal (/COIN). Please start output of pulse reference of user command controller only after output of positioning completion
signal of servo drive.
(Internal set speed + soft start) based <--> position control (operation example of pulse train reference)

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K2 Series AC Servo Driver

Signal timing in case of position control

Motor speed
0min-1

/COIN

Pulse reference
t1 t1
/P-CL OFF ON ON OFF OFF
/N-CL ON ON OFF OFF ON
Selected speed 1st speed 2nd speed 3rd speed Pulse reference 1st speed

t1>2ms

Note:
1. The soft start function is used in the figure above.
2. Value of t1 will not be affected by whether soft start function is used. Read-in of /PCL and /NCL may delay at most
2 ms.

5.9 Torque Limit

The servo driver provides the following four methods for limiting output torque to protect the machine.
Method Way of limit Reference
1 Internal torque limit 5.9.1
2 External torque limit 5.9.2
3 Torque limit by analog voltage reference 5.9.3
Torque limit by external torque limit + analog voltage
4 5.9.4
reference

5.9.1 Internal Torque Limit (Limitation on Output Torque Maximum Value)

The function limits the maximum output torque through user parameters.

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K2 Series AC Servo Driver

PA403 Positive torque limit Speed Position Torque

Setting range Setting unit Factory setting Power reboot
0 ~ 300 1% 300 Not required
PA404 Negative torque limit Speed Position Torque
Setting range Setting unit Factory setting Power reboot
0 ~ 300 1% 300 Not required

S e t v a l u e isoparameter
f th is constantly valid. Set unit corresponds to a percent (%) of motor rated
torque.
Even through the value is set to exceed the maximum torque of the used servo motor, it will still be
limited to be the actual maximum torque of the servo motor. Factory setting: equivalent to 300%.
No internal torque limit
(Maximum torque can output) With internal torque limit

P 404

t t
P 403
speed speed
Maximum torque Limited torque

Supplement
Please note that if values of PA403 and PA404 are set to be too small, then torque may be insufficient
during acceleration and deceleration of servo motor.

5.9.2 External Torque Limit (through Input Signal)

Use this function to limit torque by inputting a signal from the host controller at a specific times during machine
operation, such as forced stop or hold operations for robot workpieces.
The torque limit value preset at the user parameter become valid through signal input.

(1) Related user parameter

PA405 Positive-side external torque limit Speed Position Torque
Setting range Setting unit Factory settingPower reboot
0 ~ 300 1% 100 Not required
PA406 Negative-side external torque limit Speed Position Torque
Setting range Setting unit Factory setting Power reboot
0 ~ 300 1% 100 Not required
Note: Setting unit corresponds to a percent (%) of the used servo motor rated torque. (Rated torque limits is 100%.)
(2) Input signal

Name Signal Pin No. of connector Set Meanings Limit value

ON = L Level Positive-side external torque The smaller value between

limit ON PA403 and PA405
Input /PCL CN2-41
OFF=H Level Positive-side external torque PA403
limit OFF
Input /NCL CN2-42 ON = L Level External torque limit at The smaller value between

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K2 Series AC Servo Driver

negative side OFF PA404 and PA406

OFF=H Level
Negative-side external torque PA404
limit OFF
When using external torque limit, please confirm whether to distribute other signals to the same terminal of /P-CL and
/N-CL.
Since the logic becomes OR logic when several signals are distributed to a terminal, effects from ON/OFF of other signals
distributed to the same terminal may be inevitable. Please refer to "Signal distribution of input circuit" for distribution of
input signal.

(3) Changes in output torque during external torque limit

When external torque limit (PA403, PA404)=800%
/PCL (positive external torque limit)
/N-CL status
H level L level

PA404 PA404

torque torque

H
0 0
level

PA405
speed speed
PA403 PA403
/NCL
(Reverse external
torque limit input) PA404 PA404

PA406 PA406
torque
torque
L
0 0
level

PA405
speed speed
PA403 PA403

Note: Select motor rotation direction when setting PA000=H. □□□ 0 ( standard setting [CCW as positive rotation direction]).

5.9.3 Torque Limit Based on Analog Voltage reference

Torque limiting by analog voltage reference limits torque by assigning a torque limit in an analog voltage to the
T-REF terminals. This function can be used only during speed or position control, not during torque control.
Under speed control, the block diagram in the case of "torque limit based on analog voltage reference" is shown as
below.

Servo drive

PA403
T-REF I n p u t t o r qe fu ee r e ng ca ei n (Positive torque
Torque limit limit value)
（PA400)

Speed V-REF Input speed reference gain + + Torque

Speed loop gain reference
reference （PA300) +
— (PA100)

Speed loop integral

time constant
(PA101)
PA404
Speed feedback (Negative torque limit value)

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K2 Series AC Servo Driver

Note:
Input voltage for analog voltage reference of torque limit does not have polarity. The value is absolute value, no matter it is
positive or negative, and the torque limit based on the absolute value is applicable to both positive and negative directions.
(1) Relevant user parameter
User Parameter Meanings
PA001 H. □□1□ Speed control option: T-REF terminal is used as the external torque limit input.
If H. □□2□ is set, then T-REF terminal may also be used as the torque feed-forward input. However, please note that it
cannot serve for these two input functions simultaneously.

(2) Input signal

Name Signal Pin No. of connector Name

T-REF CN2-18 Torque reference input

Input
GND CN2-25 Signal ground
PA400 is used to set torque reference input gain. Please refer to "Setting of user parameter".

5.9.4 Torque Limit Based on External Torque Limit + Analog Voltage Reference
Torque limit based on external input signal and torque limit based on analog voltage reference can be used
simultaneously.
For torque limit based on analog voltage reference, T-REF is used for input. Hence, it cannot work under
torque control. For torque limit based on external input signal, /P-CL or /N-CL is used.
If signal of /P-CL (or /N-CL) is set to be ON, torque limit relies on the smaller one of torque
limit based on analog voltage reference and the set value of PA405(or PA406).

Servo drive
/PCL

/NCL
P 403
T-REF Input torque reference gain (Positive torque
Torque limit limit value)
（P 400)
P 405
(/PCL:ON)

Speed V-REF Input speed reference gain + + Torque

Speed loop gain
reference （P 300) + reference
— (P 100)

Speed loop integral

time constant
(P 101) P 406
(/NCL:ON) P 404
Speed feedback (Negative torque limit value)

(1) Relevant user parameter

User Parameter Meanings
PA001 Speed control option: If /P-CL or /N-CL is valid, T-REF terminal is used as the external
H. □□3□
torque limit input.
If H. □□2□ is set, then T-REF terminal may also be used as the torque feed-forward input. However, please note that it
cannot serve for these two input functions simultaneously.

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K2 Series AC Servo Driver

PA405 Positive-side external torque limit Speed Position Torque

Setting range Setting unit Factory settingPower reboot
0 ~ 300 1% 100 Not required
PA406 External torque limit at negative side Speed Position Torque
Setting range Setting unit Factory setting Power reboot
0 ~ 300 1% 100 Not required

(2) Input signal

Name Signal Pin No. of connector Name

T-REF CN2-18 Torque reference input

Input
GND CN2-25 Signal ground
PA400 is used to set torque reference input gain. Please refer to "Setting of user parameter".

Pin No. of
Name Signal Set Meanings Limit value
connector
ON = L Level Positive-side external torque limit ON The smaller value at Pn403 and Pn405
Input /PCL CN2-41
OFF=H Level Positive-side external torque limit OFF Pn403
ON = L Level External torque limit at negative side OFF The smaller value in Pn404 and Pn406
Input /NCL CN2-42
OFF=H Level Negative-side external torque limit OFF Pn404
When using external torque limit + torque limit based on analog voltage reference, please confirm whether to distribute other
signals to the terminal same to /P-CL and /N-CL.
Since the logic becomes OR logic when several signals are distributed to a terminal, affect from ON/OFF of other signals
distributed to the same terminal may be inevitable. Please refer to "Signal distribution of input circuit" for distribution of input signal.

5.9.5 Confirmation under Input Torque Limit

Pin No. of connector

Name Signal Set Meanings
(factory)
ON = L Level Motor input torque is under limiting
Output /CLT Need to distribute
OFF = H Level Not torque limit status
To use the signal in case of motor output torque limit, it is necessary to distribute output terminal through user parameter PA514.
Please refer to "Signal distribution of output circuit".

5.10 Control Mode Selection

The servo drive can be used with various control modes for shifting. The shifting method and conditions are
described as follows.

5.10.1 User Parameter Setting

Control mode can be any of the following combination. Please select based on customers' usage.

User Parameter Meanings

PA000 H. □□4□ Internal set speed control (contact reference) ←→ Speed control (analog reference)
H. □□5□ Internal set speed control (contact reference) ←→ Position control (pulse train reference)
H. □□6□ Internal set speed control (contact reference) ←→ Torque control (analog reference)
H. □□7□ Position control (pulse train reference) ←→ Speed control (analog reference)

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K2 Series AC Servo Driver

H. □□8□ Position control (pulse train reference) ←→ Torque control (analog reference)
H. □□9□ Torque control (analog reference) ←→ Speed control (analog reference)
H. □□A□ Speed control (analog reference) ←→ Zero clamping
H. □□B□ Position control (pulse train reference) ←→Position control (pulse prohibited)

5.10.2 Shift of Control Mode

(1) Shift between internal set speed control (PA00.1 = 4, 5, 6)

Name Signal Pin No. of connector Set Meanings

Input /PCL CN2-41 OFF = H Level

Shift of control mode
Input /NCL CN2-42 OFF = H Level

(2) Shift beyond internal speed control (PA000.1=7, 8, 9, A, B)

Please use the following signal shift control mode. Conduct the following control mode shift based on signal status.
Setting of PA000
Name Signal Pin No. of connector Set
H.□□7□ H. □□8□ H. □□9□ H. □□A□ H. □□B□
ON = L Level Speed Torque Speed Zero Prohibited
Input /PCON CN2-15 clamping
OFF = H Level Position Position Torque Speed Position

5.11 Other Output Signal

Describe other signals that can be output, although they have no direct relationship with various control manners.

5.11.1 Servo Alarm Output (ALM)

(1) Servo alarm output (ALM)
Refer to signals output when the servo drive detects any abnormalities.

Pin No. of
Name Signal Set Meanings
connector (factory)
CN2-7 ON = L Level Normal status of servo drive
Output ALM
CN2-8 OFF = H Level Alarm status of servo drive
■Attentions
If constituting an external circuit, it is necessary to ensure the main circuit power supply of servo drive is set
to be OFF when the alarm is output.

(2) Reset alarm

Pin No. of connector
Name Signal Name
(factory)
Input /ALM-RST Different drives
/PCL and /NCL are respectively distributed to CN2-41 and CN2-42 when leaving factory.
This signal may be distributed to other pin number through user parameter PA510. Please refer to "Signal distribution
of input circuit" for detailed procedures. /ALM-RST signal is set based on distribution of external input signal, so it cannot
be set to be "constantly valid". Please use the action of setting level from H to L to reset alarm.
In case of "servo alarm (ALM)", finish troubleshooting and set this signal (/ALM-RST) from OFF (H level) to ON
(L level) to reset to alarm status. In addition, alarm reset can also be done through panel operator or digital operator. Please
refer to "Name and function of key".

Note:
1. Sometimes alarms related encoder cannot reset after /ARM-RST signal input. In such cases, please cut down control power
supply to reset.

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K2 Series AC Servo Driver

2. In case of alarm, please reset only after troubleshooting.

Troubleshooting methods for alarms are described in the "Alarm displays and treatment measures".

5.11.2 Rotation Detection Output (/TGON)

Pin No. of
Name Signal Set Meanings
connector (factory)
Servo motor is rotating (motor speed is larger than the set
ON = L Level
CN2-11 value of PA502)
Output /TGON
CN2-12 Servo motor stops rotating (motor speed is larger than the
OFF = H Level
set value of PA502)
■Attentions
When brake signal (/BK) and rotation detection signal (/TGON) are distributed to the same output terminal, /TGON signal
is changed to L level, but /BK signal may cannot change to H level.
(The reason is that OR logic prevails for output when several output signals are distributed to the same output terminal) Please
distribute (/TGON) signal and (/BK) signal to other terminals.

5.11.3 Servo Ready Output (/S-RDY)

Pin No. of
Name Signal Set Meanings
connector (factory)
Need PA513 for ON = L Level Servo ready status
Output /S-RDY
distribution OFF = H Level Servo not ready status
Indicate that servo unit is under the status ready for servo ON signal reception.
Output when the main circuit power supply is ON and under the status of no servo alarm.

5.12 Mode Motion Sequence Manner

The Product supports 15 data sets that can set parameters in the parameter manner, 32 data sets that can set
parameters in the communication manner. These data sets can start up independently or in sequence.
Data sets that can set parameters contain the setting about data set types and the setting of related goal value
and subsequent data sets.
The following motion types are available in motion type:
• Invalid motion (null data)
• Absolute motion
• Relative motion
Data sets can start up through 2 different manners.
• Start up a single data set
For startup of a single data set, only the selected data set starts up. No other data sets will start up
upon successful execution of the data set. Time coordination among several data sets is then
completed through main control system (e.g. PLC).
• Start up a data set sequence (several data sets in sequence)
For startup of a sequence, the selected data set will start up first. When a data set is executed
successfully and the transitional conditions are fulfilled, subsequent data sets will then start up. Time
coordination among several data sets is then completed through the product.

5.12.1 Single Data Set Manner

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K2 Series AC Servo Driver

In the single data set manner, 15 sets of internal motion tasks are available. Mode of motion can be incremental or
absolute.
(1) Setting of user parameter
User Parameter Meanings
PA000 H.□□C□ Selection of control mode: mode motion sequence manner
PA764 H.□□□0 Selection of data set startup manner: single data set manner

(2) Setting of input signal

PA700 Type of data set 0 Position

Setting range Setting unit Factory setting Power reboot
0~2 —— 0 Required
0：Data set is invalid.
1：The data set is an absolute movement.
2：The data set for the relative movement.

P 701 Low position of data set 0 Position

Setting range Setting unit Factory setting Power reboot
－9999 ~＋9999 1-reference pulse 0 Required
P 702 High position of data set 0 Position
Setting range Setting unit Factory setting Power reboot
－9999 ~＋9999 10000-reference pulse 0 Required
P 703 Speed of data set 0 Position
Setting range Setting unit Factory setting Power reboot
0 ~ 6000 1r/min 0 Required
1、Data set 1 parameters P 708 ~ P 711; Data set 2 parameters P 716 ~ P 719;
Data set 3 parameters P 724 ~ P 727; Data set 4 parameters P 732 ~ P 735;
Data set 5 parameters P 740 ~ P 743; Data set 5 parameters P 748 ~ P 751;
Data set 7 parameters P 756 ~ P 759。

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K2 Series AC Servo Driver

PA765 Acceleration of data set Position

Setting range Setting unit Factory setting Power reboot
1 ~ 60000 10r/min/s 10000 Required
PA766 Deceleration of data set Position
Setting range Setting unit Factory setting Power reboot
1 ~ 60000 10r/min/s 10000 Required
PA767 Emergency deceleration of data set Position
Setting range Setting unit Factory setting Power reboot
1 ~ 60000 10r/min/s 60000 Required
PA768 Electronic gear of data set (numerator) Position
Setting range Setting unit Factory setting Power reboot
1 ~ 65535 —— 2 Required
PA769 Electronic gear of data set (denominator) Position
Setting range Setting unit Factory setting Power reboot
1 ~ 65535 —— 1 Required

Name Signal Pin No. of connector Name

Input /POS-START Need PA512 for distribution Startup signal of mode motion sequence
Input /POS-STEP Need PA512 for distribution Step change signal of mode motion sequence
Input /POS0 Need PA511 for distribution Option switch 0 signal of data sets in mode motion sequence
Input /POS1 Need PA511 for distribution Option switch 1 signal of data sets in mode motion sequence
Input /POS2 Need PA511 for distribution Option switch 2 signal of data sets in mode motion sequence
Input /PCON Need PA509 for distribution Option switch 3 signal of data sets in mode motion sequence
In the single data set manner, when /POS-START signal is ON, the motor is allowed to operate; when it is OFF,
the motor stops operation.

For input signals (/POS-START, /POS-STEP, /POS0, /POS1, /POS2, /PCON), any of the 15 data sets are available for
selection as the current data set to be executed. The data sets are as follows:

Data set /POS2 /POS1 /POS0 /POS-START /POS-STEP Corresponding parameter

P0 OFF OFF OFF ON ↑ PA700 ~ PA703
P1 OFF OFF ON ON ↑ PA708 ~ PA711
P2 OFF ON OFF ON ↑ PA716 ~ PA719
P3 OFF ON ON ON ↑ PA724 ~ PA727
P4 ON OFF OFF ON ↑ PA732 ~ PA735
P5 ON OFF ON ON ↑ PA740 ~ PA743
P6 ON ON OFF ON ↑ PA748 ~ PA751
P7 ON ON ON ON ↑ PA756 ~ PA759
Sequence diagram of input signals and data sets is as below:

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K2 Series AC Servo Driver

P7
P6
P5
P4
Data set P3
P2
P1

P0
>1ms
OFF ON OFF ON OFF ON OFF ON
POS0

OFF OFF ON ON OFF OFF ON ON

POS1

OFF OFF OFF OFF ON ON ON ON

POS2
External
input signal
POS-STEP

ON
POS-START
POS-STEP
ON
SON >2ms

5.12.2 Data Set Sequence Mode

The data set sequence manner supports 8 data sets in the parameter manner and 32 data sets in the
communication manner. Mode of motion can be incremental or absolute.
(1) Setting of user parameter
User Parameter Meanings
PA000 H.□□C□ Selection of control mode: mode motion sequence manner
PA764 H.□□□0 Selection of data set startup manner: single data set manner

User Parameter Meanings

PA704 No step change condition, directly start up subsequent data sets; 2nd step change condition
H.□□□0
invalid.
H.□□□1 Delay step change, with delay time as "step change condition value 1" in the data set
Pulse edge step change, with "step change condition value 1" in the data set determining validity
H.□□□2
of rising edge or falling edge.
Level step change, with "step change condition value 1" in the data set determining validity of
H.□□□3
rising edge or falling edge.

User Parameter Meanings

PA704 H.□□0□ No step change condition, directly start up subsequent data sets.
H.□□1□ No step change condition, directly start up subsequent data sets.
Pulse edge step change, with "step change condition value 2" in the data set determining
H.□□2□
validity of rising edge or falling edge.
Level step change, with "step change condition value 2" in the data set determining validity of
H.□□3□
rising edge or falling edge.

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K2 Series AC Servo Driver

PA705 Step change condition value of data set 0 Position

Set range Set unit Factory setting Power reboot
0 ~ 65535 —— 0 Required
The parameter significance depends on the types of data set step change condition 1, as below:
No step change condition
— Insignificant
Delay step change
— Delay time 0 ~ 65535, unit: ms
Pulse edge step change
— Value 0: rising edge step change
— Value 1: falling edge step change
— Value 2: rising edge or falling edge step change
— Other value: invalid
Pulse edge step change
— Value 3: H level step change
— Value 4: L level step change
— Other value: invalid

PA706 Step change condition value of data set 2 Position

Set range Set unit Factory setting Power reboot
0 ~ 65535 —— 0 Required
The parameter significance depends on the types of data set step change condition 2, as below:
No step change condition
— Insignificant
Delay step change
— Delay time 0 ~ 65535, unit: ms
Pulse edge step change
— Value 0: rising edge step change
— Value 1: falling edge step change
— Value 2: rising edge or falling edge step change
— Other value: invalid
Pulse edge step change
— Value 3: H level step change
— Value 4: L level step change
— Other value: invalid
User Parameter Meanings
PA704 H.□0□□ No conjunction, step change condition 2 invalid
H.□1□□ "And" conjunction between condition 1 and 2.
H.□2□□ "Or" conjunction between condition 1 and 2.

User Parameter Meanings

PA705 H.0□□□ Aborting: neglect step change condition, immediately interrupt motion, and start up subsequent
data sets.

Immediately stop data set 1 and execute date set 2

V
Date set 2

Date set 1 t

H.1□□□ Standard: when the current motion is in place and the step change condition is fulfilled, start up
subsequent data sets.

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K2 Series AC Servo Driver

V
Data set 1 Data set 2

Presume that step change t

Positioning completed
condition is fulfilled
(COIN)

H.2□□□ Standard: after reaching the goal position and if the step change condition is fulfilled, start up
subsequent data sets.

V
Data set 1 Data set 2

t
Presume that step change condition is fulfilled

H.3□□□ BlendingLow: neglect step change condition, and after reaching the goal position, adjust speed
based on the speed of subsequent data set.

V
v2 > v1 Data set 2
v2
v1

Data set 1 t

V
v2 < v1 Data set 2
v1
v2

Data set 1 t

H.4□□□ BlendingPrevious: neglect step change condition, and after reaching the goal position, adjust
speed based on the speed of subsequent data set.

V
v2 > v1 Data set 2
v2
v1

Data set 1 t

V
v2 < v1 Data set 2
v1
v2

Data set 1 t

H.5□□□ BlendingNext: neglect step change condition, and after reaching the goal position, adjust speed
based on the speed of subsequent data set.

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K2 Series AC Servo Driver

V
v2 > v1 Data set 2
v2
v1

Data set 1 t

V
v2 < v1 Data set 2
v1
v2

Data set 1 t

H.6□□□ BlendingHigh: neglect step change condition, and after reaching the goal position, adjust speed
based on the speed of subsequent data set.

V
v2 > v1 Data set 2
v2
v1

Data set 1 t

V
v2 < v1 Data set 2
v1
v2

Data set 1 t

PA707 Subsequent data set number after data set 0 Position

Setting range Setting unit Factory setting Power reboot
0~7 1r/min 0 Required
1、D a t a s1eparameters
t PA708 ~ PA715; Data set 2 parameters PA716 ~ PA713;
Data set 3 parameters PA724 ~ PA731; Data set 4 parameters PA732 ~ PA739;
Data set 5 parameters PA740 ~ PA747; Data set 6 parameters PA748 ~ PA755;
Data set 7 parameters PA756 ~ PA763。

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K2 Series AC Servo Driver

PA765 Acceleration of data set Position

Setting range Setting unit Factory settingPower reboot
1 ~ 60000 10r/min/s 10000 Required
PA766 Deceleration of data set Position
Setting range Setting unit Factory setting Power reboot
1 ~ 60000 10r/min/s 10000 Required
PA767 Emergency deceleration of data set Position
Setting range Setting unit Factory setting Power reboot
1 ~ 60000 10r/min/s 60000 Required
PA768 Electronic gear of data set (numerator) Position
Setting range Setting unit Factory setting Power reboot
1 ~ 65535 —— 2 Required
PA769 Electronic gear of data set (denominator) Position
Setting range Setting unit Factory setting Power reboot
1 ~ 65535 —— 1 Required

(2) Setting of input signal

Name Signal Pin No. of connector Name

Need PA512 for Startup signal of mode motion sequence

Input /POS-START
distribution
Need PA512 for Step change signal of mode motion sequence
Input /POS-STEP
distribution
When /POS-START signal is from OFF  ON, the motor is allowed to operate; when it is OFF, the motor stops operation.
■Attentions
Every time after servo is OFF (or alarm is solved) and before data set sequence is rerun, it is necessary to set /POS-START
signal from ON to OFF and then ON so as to start up load data set.

5.12.3 Operation of Seeking Reference Point (Return to Zero)

Zero point can also be determined through reference point and it is the reference point in the absolute motion in
mode motion sequence manner.
(1) Setting of user parameter
User Parameter Meanings
PA770 H.□□□0 Current position is zero point
H.□□□1 For on-off operation of seeking NOT in the negative direction, C pulse is required

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K2 Series AC Servo Driver

C pulse

NOT

H.□□□2 For on-off operation of seeking POT in the negative direction, C pulse is required

C pulse

POT

H.□□□3 For on-off operation of seeking reference point in the negative direction, C pulse is required

C pulse

/HOME-REF

H.□□□4 For on-off operation of seeking reference point in the positive direction, C pulse is required

C pulse

/HOME-REF

H.□□□5 For on-off operation of seeking NOT in the negative direction, C pulse is not required

NOT

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K2 Series AC Servo Driver

H.□□□6 For on-off operation of seeking POT in the negative direction, C pulse is not required

POT

H.□□□7 For on-off operation of seeking reference point in the negative direction, C pulse is not
required

/HOME-REF

H.□□□8 For on-off operation of seeking reference point in the positive direction, C pulse is not
required

/HOME-REF

PA770 H.0□□□ Not return to zero automatically after power-on.

After power-on, return to zero automatically after 1st servo is enabled, with the return to zero
H.1□□□
manner determined by PA770.0.

PA771 On-off speed to meet reference point Position

Setting range Setting unit Factory s ettingPower reboot
0~6000 1r/m i n 100 Required
PA772 On-off speed to leave reference point Position
Setting range Setting unit Factory setting Power reboot
0 ~ 6000 1r/min 30 Required

(2) Setting of input signal

Name Signal Pin No. of connector Name
Input /POS-START Need PA512 for distribution
Startup signal of mode motion sequence
Input /HOME-REF Need PA512 for distribution
Zero reference on-off
Start return to zero operation and seek for zero point
Input /POS-START-HOME Need PA512 for distribution
as per PA770.0 setting.
When /POS-START signal is ON, the motor is allowed to operate (return to zero allowed); when it is OFF, the motor

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K2 Series AC Servo Driver

suspends operation (return to zero suspended).

Chapter VI Communication

ZSD-K servo drives are equipped with standard MODBUS communication of RS485 interface and optional
CANopen of CAN interface (conforming to DS301 and DS402 standard protocols). The Chapter mainly describes
MODBUS communication.

6.1 Communication Wiring

Signal name and functions of communication connector are as follows:

Terminal No. 1 2 3 4 5 6 7 8
CN4 CANH- CANL GND GND RS485+ RS485- Reserved Reserved
Name Built-in 120 ohm
CN5 CANH- CANL GND GND RS485+ RS485-
resistance

6.2 User Parameter

User Parameter Meanings

PA600 H.□□□0 RS485 communication baud rate: 4800 bps
H.□□□1 RS485 communication baud rate: 9600 bps
H.□□□2 RS485 communication baud rate: 19200 bps
H.□□□3 RS485 communication baud rate: 38460 bps
H.□□□4 RS485 communication baud rate: 57600 bps
PA600 H.□□0□ ASCII, 7 data bits, no parity, 2 stop bits
H.□□1□ ASCII, 7 data bits, even parity bit, 2 stop bits
H.□□2□ ASCII, 7 data bits, odd parity bit, 2 stop bits
H.□□3□ ASCII, 8 data bits, no parity, 1 stop bits
H.□□4□ ASCII, 8 data bits, even parity bit, 1 stop bits
H.□□5□ ASCII, 8 data bits, odd parity bit, 1 stop bits
H.□□6□ RTU, 8 data bits, no parity, 1 stop bit
H.□□7□ RTU, 8 data bits, even parity bit, 1 stop bit
H.□□8□ RTU, 8 data bits, odd parity bit, 1 stop bit

PA601 RS-485 communication axis address Speed Position Torque

Setting range Setting unit Factory setting Power reboot
1 ~ 127 —— 1 (A axis),2 (b axis) Required
PA602 RS-485 communication timeout Speed Position Torque
Setting range Setting unit Factory setting Power reboot
0 ~ 1000 100ms 0 Not required
· When PA602 is set to be zero, shut down communication timeout detection;；
· WhenPA602 is set to be larger than zero, indicate that communication shall be done within a set time,
or else communication error will appear. For example, if P 602 is set to be 50, indicate that one time of
communication with servo drive every 5 seconds is necessary.

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K2 Series AC Servo Driver

6.3 MODBUS Communication Protocol

In case of RS-485 communication, every servo drive must have parameters PA600 ~ PA601 preset. In case of
MODBUS protocol for communication, the following two modes are available:
ASCII mode
RTU mode.
The following is the description of MODBUS communication.
■ Code meaning
ASCII mode:
Every 8-bit datum consists of two ASCII characters. For example, one 1-byte datum 64H (sexadecimal notation).
ASCII code "64" indicates it includes ASCII code (36 H) of ‘6’ and ASCII code (34 H) of ‘4’. ASCII codes of digits 0-9
and alphabets A-F are as shown in the table below:
Character symbol ‘0’ ‘1’ ‘2’ ‘3’ ‘4’ ‘5’ ‘6’ ‘7’
Corresponding ASCII code 30 H 31 H 32 H 33 H 34 H 35 H 36 H 37 H
Character symbol ‘8’ ‘9’ ‘A’ ‘B’ ‘C’ ‘D’ ‘E’ ‘F’
Corresponding ASCII code 38 H 39 H 41 H 42 H 43 H 44 H 45 H 46 H

RTU mode:
Every 8-bit datum consists of two 4-bit sexadecimal data. For instance, decimal 100 presents to be 64 H when using
1-byte RTU data.

■ Character structure
10 bit character format (for 7-bit data)

7，N，2（Modbus，ASCII）

Start Stop Stop

0 1 2 3 4 5 6
bit bit bit

7-data bits
10- bits character frame

7，E，1（Modbus，ASCII）

Start Even Stop

0 1 2 3 4 5 6 parity
bit bit

7-data bits
10- bits character frame

7，O，1（Modbus，ASCII）

Start Odd Stop

0 1 2 3 4 5 6 parity
bit bit

7-data bits
10- bits character frame
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K2 Series AC Servo Driver

11 bit character format (for 8-bit data)

8，N，2（Modbus，ASCII / RTU）

Start Stop Stop

0 1 2 3 4 5 6 7
bit bit bit

8-data bits
11- bits character frame

8，E，1（Modbus，ASCII / RTU）

Start Even Stop

0 1 2 3 4 5 6 7 parity
bit bit

8-data bits
11- bits character frame

8，O，1（Modbus，ASCII / RTU）

Start Odd Stop

0 1 2 3 4 5 6 7 parity
bit bit

8-data bits
11- bits character frame

■ Communication data structure

ASCII mode:
STX Beginning character ':' =>(3A H)
ADR Communication address => 1-byte includes 2 ASCII codes
CMD Command code => 1-byte includes 2 ASCII codes
DATA(n-1)
... Data content => n-word=2n-byte includes 4n ASCII codes (n ≤ 12)
DATA(0)
LRC Check code => 1-byte includes 2 ASCII codes
End 1 End code 1 => (0D H) (CR)
End 0 End code 0 => (0A H) (LF)

RTU mode:
STX Rest time of at least four-byte transmission time
ADR Communication address => 1-byte
CMD Command code => 1-byte
DATA(n-1)
... Data content => n-word=2n-byte, n ≤ 12
DATA(0)

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K2 Series AC Servo Driver

CRC CRC code => 1-byte

End 1 Rest time of at least four-byte transmission time

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K2 Series AC Servo Driver

Data format of communication protocol is described as follows:

STX (Communication starting)
ASCII mode: ':' character.
RTU mode: rest time of communication time (automatically changed based on different communication speed) for
more than 4 bytes.

ADR (Communication address)

Legal communication address ranges from 1 to 254.
For example, communication for servo with address of 32 (sexadecimal 20):
ASCII mode: ADR=‘2’, ‘0’=>‘2’=32 H, ‘0’=30 H
RTU mode: ADR=20 H

CMD (Command) and DATA (Data)

Data format is determined based on command code. Common command codes are as follows:
Command code: 03 H, read N word (maximum of N is 20).
For example: Read 2 words from the starting address 0200 H in the servo with address of 01 H.

ASCII mode:

Command information Respond information

STX : STX :
(0DH)(CR)
0 (0DH)(CR)
0
ADR ADR
1 1
(0DH)(CR)
0 (0DH)(CR)
0
CMD CMD
3 3
(0DH)(CR)
0 Number of data (0DH)(CR)
0
2 (calculated by byte) 4
Starting data position
(0DH)(CR)
0 (0DH)(CR)
0
0 Content of starting 0
(0DH)(CR)
0 data address (0200H) (0DH)(CR)
B
0 1
Number of data
(0DH)(CR)
0 (0DH)(CR)
1
2 Content of second data F
F address (0201H) (0DH)(CR)
4
LCR Check
8 0
End 1 (0DH)(CR) E
LCR Check
End 0 (0AH)(LF) 8
End 1 (0DH)(CR)
End 0 (0AH)(LF)

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K2 Series AC Servo Driver

RTU mode:
Command code: 06 H, write in 1 word

Command information Respond information

ADR 01H ADR 01H
CMD (0DH)(CR)
03H CMD 03H
02H(high byte) Number of data
Starting data position 04H
00H(low
(0DH)(CR)
byte) (calculated by byte)
Number of data 00H Content of starting 00H(high byte)
(calculated by word) (0DH)(CR)
02H data address (0200H) B1H(low byte)
CRC Check Low C5H(low byte) Content of second data 1FH(high byte)
CRC Check High B3H(high
(0DH)(CR)
byte) address (0201H) 40H(low byte)
CRC Check Low A3H(low byte)
CRC Check High D4H(high byte)

For example: write 100(0064 H) in address 0200 H of servo with office number 01 H.

ASCII mode:

Command information Respond information

STX : STX :
(0DH)(CR)
0 (0DH)(CR)
0
ADR ADR
1 1
(0DH)(CR)
0 (0DH)(CR)
0
CMD CMD
6 6
(0DH)(CR)
0 (0DH)(CR)
0
2 2
Starting data position Starting data position
(0DH)(CR)
0 (0DH)(CR)
0
0 0
(0DH)(CR)
0 (0DH)(CR)
0
0 0
Content of data Content of data
(0DH)(CR)
6 (0DH)(CR)
6
4 4
9 9
LCR Check LCR Check
3 3
End 1 (0DH)(CR) End 1 (0DH)(CR)
End 0 (0AH)(LF) End 0 (0AH)(LF)

RTU mode:

Command information Respond information

ADR 01H ADR 01H
CMD (0DH)(CR)
06H CMD (0DH)(CR)
06H
02H(high byte) 02H(high byte)
Starting data position Starting data position
00H(low
(0DH)(CR)
byte) 00H(low
(0DH)(CR)
byte)
00H(high byte) 00H(high byte)
Content of data Content of data
64H(low
(0DH)(CR)
byte) 64H(low
(0DH)(CR)
byte)
CRC Check Low 89H(low byte) CRC Check Low 89H(low byte)
CRC Check High 99H(high
(0DH)(CR)
byte) CRC Check High 99H(high
(0DH)(CR)
byte)

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Calculation of detection error values of LRC (ASCII mode) and CRC (RTU mode):
LRC calculation of ASCII mode:
ASCII mode adopts LRC (Longitudinal Redunancy Check) detection error value. LRC detection error value is the
sum of contents from ADR to the last data and the result is in the unit of 256 and removes exceeding part (for example,
the result after totaling is sexadecimal 128 H and 28 H is then obtained), and then calculates its complement; thus the
obtained results is the LRC detection error value.
For example, read 1 word from 0201 address of servo with official number 01 H.
STX :
(0DH)(CR)
0
ADR
1
(0DH)(CR)
0
CMD
3
(0DH)(CR)
0
2
Starting data position
(0DH)(CR)
0
1
(0DH)(CR)
0
0
Number of data
(0DH)(CR)
0
1
F
LCR Check
8
End 1 (0DH)(CR)
End 0 (0AH)(LF)

Add from ADR data to the last data:

01 H +03 H +02 H +01 H +00 H +01 H =08 H, 08 H becomes F8 H after applying complement of 2, so LRC is ‘F’, ‘8’.

CRC calculation of RTU mode:

RTU mode adopts CRC (Cyclical Redundancy Check) detection error value.
Steps for calculation of CRC detection error value are as follows:
Step 1: download a 16-bit register with content of FFFF H (called as "CRC" register).
Step 2: conduct XOR operation on the first bit (bit0) of command massage and the low order bit (LSB) of 16-bit
CRC register, and save the result to CRC register;
Step 3: check the lowest order (LSB) of CRC register; if it is 0, right shift CRC register value a bit; if it is 1, right
shift CRC register value a bit and then conduct XOR operation with A001 H;
Step 4: return to Step 3, until 8 times of execution of Step 3, and then move to Step 5;
Step 5: repeat Step 2-4 for the next bit of the command massage, until all bits are processed; the content of CRC
register now is CRC detection error value.
Note: after CRC detection error value is calculated, it is necessary to fill the CRC low order in the command
massage and then CRC high order. Please refer to the following example.

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K2 Series AC Servo Driver

For example: read 2 words from 0101 H address of servo with official number of 01 H. The final content of CRC
register calculated from ADR to the last bit of the data number is 3794 H, and then its command massage is as shown
below. Note that 94 H is transmitted prior to 37 H.
ADR 01 H
CMD 03 H
01H (address high order)
Starting data address
01H (address low order)
Data number 00 H (high order)
(Calculated based on
02H (low order)
word)
CRC check low order 94H (check low order)
CRC check high order 37H (check high order)
End1, End0 (communication detection completed)

ASCII mode:
(0D H) (i.e. character '\r' 『carriage return』) and (0A H) (i.e. ‘\n’『new line』) indicate end of communication.
RTU mode:
Exceeding the rest time of 4-byte communication time at the current communication rate indicates the end of
communication.

Example:
The following uses C programming language to generate CRC value. The function needs two parameters:
unsigned char * data;
unsigned char length;
/*The function will pass back the CRC value in unsigned integer type.*/
unsigned int crc_chk(unsigned char * data,unsigned char length){
int i,j;
unsigned int crc_reg = 0xFFFF;
while(length- -){
crc_ reg ^=*data++;
for(j=0;j<8;j++){
if(crc_reg & 0x01){
crc_reg=( crc_reg >>1)^0xA001;
}
Else
{
crc_reg＝crc_reg >>1;
}
}
}
return crc_reg;
}
■ Communication error
During communication, errors are possible, and common error sources are as follows:
 During parameters reading and writing, data address is wrong;

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 During writing of a parameter, the data exceed the maximum of the parameter or are smaller than
the parameter;
 Communication is interrupted, data transmission is wrong or check code is wrong.

In case of the first two communication errors, operation of servo drive will not be affected and meanwhile the servo
drive will feedback an error frame. In case of the third error, transmitted data will be considered to be invalid and
abandoned, without feedback of frame.
Error frame format is as follows:
Upper computer data frame:
start Slave station address Command Data address, data, etc. Check
Command

Servo drive feedbacks error frame:

start Slave station address Response code Error code Check
Command + 80 H

Where the error frame response code = command + 80 H;

Error code = 00 H; communication is normal;
= 01 H: servo drive fails to identify the requested function;
= 02 H: data address given in request does not exist in servo drive;
= 03 H: data address given in request is not allowed in servo drive (due to exceeding the maximum or minimum
value of parameter);
= 04 H: servo drive has started to execute request, but fails to complete the request;

For example: the axis number of servo drive is 03 H and datum 06H is written in parameter Pn100; since the range of
parameter Pn100 is 0-6, the written data will not be allowed and the servo drive will return a error frame, with error code
of 03H ( exceeding the maximum or minimum value of parameter) and the structure as below:

Upper computer data frame:

start Slave station address Command Data address, data, etc. Check
03H 06H 0002H 0006H

Servo drive feedbacks error frame:

start Slave station address Response code Error code Check
03H 86H 03H

In addition, if the slave station address in data frame sent by upper computer is 00H, indicate that
the data of the frame are broadcast data and the servo drive will not return any frame.

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6.4 MODBUS Communication Address

Communication
data address
Meaning Instruction Operation
Hexadecimal
system
Correspond to parameters in
0000h ~ 03FFh Parameter area Read and write
parameter table
0400h ~0409h Alarm information storage area 10 history alarms Read only

0410h Speed reference zero offset Read only

0411h Torque reference zero offset Read only
0412h Iu zero offset Read only
0413h Iv zero offset Read only

0420h ~ 0437h Monitoring data Read only

0420h Motor speed Unit: 1 r/min Read only
0422h Rotation angle (electric angle) Unit: 1deg Read only
0424h Input reference pulse speed Unit: 1kHz Read only
0426h Bus voltage Unit: 1 V Read only
Speed reference value of
0428h Unit: 1 r/min Read only
analogue input
Analog input torque reference
042Ah Unit: 1% Read only
percent
042Ch Internal torque reference percent Unit: 1% or 0.1A Read only
042Eh Input signal monitoring —— Read only
0430h Output signal monitoring —— Read only
0432h Encoder signal monitoring —— Read only
0434h Input reference pulse counter Unite: 1 reference pulse Read only
0436h Feedback pulse counter Unite: 1 reference pulse Read only
0438h Position error counter Unite: 1 reference pulse Read only
043Ah Accumulated load Unit: 1% Read only
043Ch Rotational inertia percent Unit: 1% Read only
043Eh Actual angle of encoder Unite: 1 reference pulse Read only
0440h Encoder multi-circle position Unit: 1 circle Read only

044Ah Current alarm Read only

*1 Power failure not saved Read and write
0451h Communication IO signal
Communication output port
0452h Power failure not saved Read and write
reverse
0457h Servo operation status *2 Read only
045Eh Software version Read only
045Fh FPGA version number Read only

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K2 Series AC Servo Driver

Communication
data address
Meaning Instruction Operation
Hexadecimal
system

0520h Clear history alarm 1: Clear history alarm Read and write
0521h Clear current alarm 1: Clear current alarm Read and write
0522h Clear bus encoder alarm 1: Clear bus encoder alarm Read and write
Clear bus encoder multi-circle 1: Clear bus encoder
0523h Read and write
data multi-circle data

BIT15:1 JOG servo enable

Speed JOG (speed as set in
0528h BIT01:1 JOG- (JOG positive) Read and write
PA304)
BIT00:1 JOG+ (JOG negative)
BIT15:1 Enter position jog
Position JOG (speed as set in mode
0529h Read and write
PA304) BIT01:1 JOG-
BIT00:1 JOG+

0540h Factory reset 1: Factory reset Writable

0541h Reset 1: Reset Writable

Number of data set under

05F0h Read only
operation
Number of data set to be
05F1h Read only
operated
05F2h Actual position is 16 bits lower Position contacts position after Read only
05F3h Actual position is 16 bits higher electronic gear Read only
05F4h Position node manner 0: Task 1: External Read only
05F5h Acceleration 10rpm/s/s Read and write
05F6h Deceleration 10rpm/s/s Read and write
05F7h Emergency deceleration 10rpm/s/s Read and write
Position contact electronic gear
05F8h Read and write
numerator
Position contact electronic gear
05F9h Read and write
denominator
05FAh Reference point seeking manner Read and write
Reference point seeking on-off
05FBh 0~6000 rpm Read and write
speed
On-off speed to leave reference
05FCh 0~6000 rpm Read and write
point
05FDh Demonstration position low byte Read and write
05FEh Demonstration position high byte Read and write

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K2 Series AC Servo Driver

Communication
data address
Meaning Instruction Operation
Hexadecimal
system

Data set 0 parameter:

0600 h Destination position low byte Read and write
0601 h Destination position high byte Read and write
0602 h Target speed rpm Read and write
0603 h Step change attribute *3 Read and write
0604 h Step change condition 1 value Read and write
0605 h Step change condition 2 value Read and write
0606 h Subsequent data set number Read and write
0: NULL; 1: Absolute; 2:
0607 h Data set type Read and write
Relative

Data set 1 parameter:

0608h Destination position low byte Read and write
0609h Destination position high byte Read and write
060Ah Target speed rpm Read and write
060Bh Step change condition attribute Read and write
060Ch Step change condition 1 value Read and write
060Dh Step change condition 2 value Read and write
060Eh Subsequent data set number Read and write
0: NULL; 1: Absolute; 2:
060Fh Data set type Read and write
Relative

Data set 2 parameter:

0610 h Destination position low byte Read and write
0611 h Destination position high byte Read and write
0612 h Target speed rpm Read and write
0613 h Step change condition attribute Read and write
0614 h Step change condition 1 value Read and write
0615 h Step change condition 2 value Read and write
0616 h Subsequent data set number Read and write
0: NULL; 1: Absolute; 2:
0617 h Data set type Read and write
Relative

Data set 3 parameter:

0618h Destination position low byte Read and write
0619h Destination position high byte Read and write
061Ah Target speed rpm Read and write
061Bh Step change condition attribute Read and write

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K2 Series AC Servo Driver

Communication
data address
Meaning Instruction Operation
Hexadecimal
system
061Ch Step change condition 1 value Read and write
061Dh Step change condition 2 value Read and write
061Eh Subsequent data set number Read and write
0: NULL; 1: Absolute; 2:
061Fh Data set type Read and write
Relative

Data set 4 parameter:

0620h Destination position low byte Read and write
0621h Destination position high byte Read and write
0622h Target speed rpm Read and write
0623h Step change condition attribute Read and write
0624h Step change condition 1 value Read and write
0625h Step change condition 2 value Read and write
0626h Subsequent data set number Read and write
0: NULL; 1: Absolute; 2:
0627h Data set type Read and write
Relative

Data set 5 parameter:

0628h Destination position low byte Read and write
0629h Destination position high byte Read and write
062Ah Target speed rpm Read and write
062Bh Step change condition attribute Read and write
062Ch Step change condition 1 value Read and write
062Dh Step change condition 2 value Read and write
062Eh Subsequent data set number Read and write
0: NULL; 1: Absolute; 2:
062Fh Data set type Read and write
Relative

Data set 6 parameter:

0630h Destination position low byte Read and write
0631h Destination position high byte Read and write
0632h Target speed rpm Read and write
0633h Step change condition attribute Read and write
0634h Step change condition 1 value Read and write
0635h Step change condition 2 value Read and write
0636h Subsequent data set number Read and write
0: NULL; 1: Absolute; 2:
0637h Data set type Read and write
Relative

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K2 Series AC Servo Driver

Communication
data address
Meaning Instruction Operation
Hexadecimal
system
Data set 7 parameter:
0638h Destination position low byte Read and write
0639h Destination position high byte Read and write
063Ah Target speed rpm Read and write
063Bh Step change condition attribute Read and write
063Ch Step change condition 1 value Read and write
063Dh Step change condition 2 value Read and write
063Eh Subsequent data set number Read and write
0: NULL; 1: Absolute; 2:
063Fh Data set type Read and write
Relative

Data set 8 parameter:

0640h Destination position low byte Read and write
0641h Destination position high byte Read and write
0642h Target speed rpm Read and write
0643h Step change condition attribute Read and write
0644h Step change condition 1 value Read and write
0645h Step change condition 2 value Read and write
0646h Subsequent data set number Read and write
0: NULL; 1: Absolute; 2:
0647h Data set type Read and write
Relative

Data set 9 parameter:

0648h Destination position low byte Read and write
0649h Destination position high byte Read and write
064Ah Target speed rpm Read and write
064Bh Step change condition attribute Read and write
064Ch Step change condition 1 value Read and write
064Dh Step change condition 2 value Read and write
064Eh Subsequent data set number Read and write
0: NULL; 1: Absolute; 2:
064Fh Data set type Read and write
Relative

Data set 10 parameter:

0650h Destination position low byte Read and write
0651h Destination position high byte Read and write
0652h Target speed rpm Read and write
0653h Step change condition attribute Read and write
0654h Step change condition 1 value Read and write

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K2 Series AC Servo Driver

Communication
data address
Meaning Instruction Operation
Hexadecimal
system
0655h Step change condition 2 value Read and write
0656h Subsequent data set number Read and write
0: NULL; 1: Absolute; 2:
0657h Data set type Read and write
Relative

Data set 11 parameter:

0658h Destination position low byte Read and write
0659h Destination position high byte Read and write
065Ah Target speed rpm Read and write
065Bh Step change condition attribute Read and write
065Ch Step change condition 1 value Read and write
065Dh Step change condition 2 value Read and write
065Eh Subsequent data set number Read and write
0: NULL; 1: Absolute; 2:
065Fh Data set type Read and write
Relative

Data set 12 parameter:

0660h Destination position low byte Read and write
0661h Destination position high byte Read and write
0662h Target speed rpm Read and write
0663h Step change condition attribute Read and write
0664h Step change condition 1 value Read and write
0665h Step change condition 2 value Read and write
0666h Subsequent data set number Read and write
0: NULL; 1: Absolute; 2:
0667h Data set type Read and write
Relative

Data set 13 parameter:

0668h Destination position low byte Read and write
0669h Destination position high byte Read and write
066Ah Target speed rpm Read and write
066Bh Step change condition attribute Read and write
066Ch Step change condition 1 value Read and write
066Dh Step change condition 2 value Read and write
066Eh Subsequent data set number Read and write
0: NULL; 1: Absolute; 2:
066Fh Data set type Read and write
Relative

Data set 14 parameter:

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K2 Series AC Servo Driver

Communication
data address
Meaning Instruction Operation
Hexadecimal
system
0670h Destination position low byte Read and write
0671h Destination position high byte Read and write
0672h Target speed rpm Read and write
0673h Step change condition attribute Read and write
0674h Step change condition 1 value Read and write
0675h Step change condition 2 value Read and write
0676h Subsequent data set number Read and write
0: NULL; 1: Absolute; 2:
0677h Data set type Read and write
Relative

Data set 15 parameter:

0678h Destination position low byte Read and write
0679h Destination position high byte Read and write
067Ah Target speed rpm Read and write
067Bh Step change condition attribute Read and write
067Ch Step change condition 1 value Read and write
067Dh Step change condition 2 value Read and write
067Eh Subsequent data set number Read and write
0: NULL; 1: Absolute; 2:
067Fh Data set type Read and write
Relative

Data set 16 parameter:

0680h Destination position low byte Read and write
0681h Destination position high byte Read and write
0682h Target speed rpm Read and write
0683h Step change condition attribute Read and write
0684h Step change condition 1 value Read and write
0685h Step change condition 2 value Read and write
0686h Subsequent data set number Read and write
0: NULL; 1: Absolute; 2:
0687h Data set type Read and write
Relative

Data set 17 parameter:

0688h Destination position low byte Read and write
0689h Destination position high byte Read and write
068Ah Target speed rpm Read and write
068Bh Step change condition attribute Read and write
068Ch Step change condition 1 value Read and write
068Dh Step change condition 2 value Read and write

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K2 Series AC Servo Driver

Communication
data address
Meaning Instruction Operation
Hexadecimal
system
068Eh Subsequent data set number Read and write
0: NULL; 1: Absolute; 2:
068Fh Data set type Read and write
Relative

Data set 18 parameter:

0690h Destination position low byte Read and write
0691h Destination position high byte Read and write
0692h Target speed rpm Read and write
0693h Step change condition attribute Read and write
0694h Step change condition 1 value Read and write
0695h Step change condition 2 value Read and write
0696h Subsequent data set number Read and write
0: NULL; 1: Absolute; 2:
0697h Data set type Read and write
Relative

Data set 19 parameter:

0698h Destination position low byte Read and write
0699h Destination position high byte Read and write
069Ah Target speed rpm Read and write
069Bh Step change condition attribute Read and write
069Ch Step change condition 1 value Read and write
069Dh Step change condition 2 value Read and write
069Eh Subsequent data set number Read and write
0: NULL; 1: Absolute; 2:
069Fh Data set type Read and write
Relative

Data set 20 parameter:

06A0h Destination position low byte Read and write
06A1h Destination position high byte Read and write
06A2h Target speed rpm Read and write
06A3h Step change condition attribute Read and write
06A4h Step change condition 1 value Read and write
06A5h Step change condition 2 value Read and write
06A6h Subsequent data set number Read and write
0: NULL; 1: Absolute; 2:
06A7h Data set type Read and write
Relative

Data set 21 parameter:

06A8h Destination position low byte Read and write

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K2 Series AC Servo Driver

Communication
data address
Meaning Instruction Operation
Hexadecimal
system
06A9h Destination position high byte Read and write
06AAh Target speed rpm Read and write
06ABh Step change condition attribute Read and write
06ACh Step change condition 1 value Read and write
06ADh Step change condition 2 value Read and write
06AEh Subsequent data set number Read and write
0: NULL; 1: Absolute; 2:
06AFh Data set type Read and write
Relative

Data set 22 parameter:

06B0h Destination position low byte Read and write
06B1h Destination position high byte Read and write
06B2h Target speed rpm Read and write
06B3h Step change condition attribute Read and write
06B4h Step change condition 1 value Read and write
06B5h Step change condition 2 value Read and write
06B6h Subsequent data set number Read and write
0: NULL; 1: Absolute; 2:
06B7h Data set type Read and write
Relative

Data set 23 parameter:

06B8h Destination position low byte Read and write
06B9h Destination position high byte Read and write
06BAh Target speed rpm Read and write
06BBh Step change condition attribute Read and write
06BCh Step change condition 1 value Read and write
06BDh Step change condition 2 value Read and write
06BEh Subsequent data set number Read and write
0: NULL; 1: Absolute; 2:
06BFh Data set type Read and write
Relative

Data set 24 parameter:

06C0h Destination position low byte Read and write
06C1h Destination position high byte Read and write
06C2h Target speed rpm Read and write
06C3h Step change condition attribute Read and write
06C4h Step change condition 1 value Read and write
06C5h Step change condition 2 value Read and write
06C6h Subsequent data set number Read and write

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K2 Series AC Servo Driver

Communication
data address
Meaning Instruction Operation
Hexadecimal
system
0: NULL; 1: Absolute; 2:
06C7h Data set type Read and write
Relative

Data set 25 parameter:

06C8h Destination position low byte Read and write
06C9h Destination position high byte Read and write
06CAh Target speed rpm Read and write
06CBh Step change condition attribute Read and write
06CCh Step change condition 1 value Read and write
06CDh Step change condition 2 value Read and write
06CEh Subsequent data set number Read and write
0: NULL; 1: Absolute; 2:
06CFh Data set type Read and write
Relative

Data set 26 parameter:

06D0h Destination position low byte Read and write
06D1h Destination position high byte Read and write
06D2h Target speed rpm Read and write
06D3h Step change condition attribute Read and write
06D4h Step change condition 1 value Read and write
06D5h Step change condition 2 value Read and write
06D6h Subsequent data set number Read and write
0: NULL; 1: Absolute; 2:
06D7h Data set type Read and write
Relative

Data set 27 parameter:

06D8h Destination position low byte Read and write
06D9h Destination position high byte Read and write
06DAh Target speed rpm Read and write
06DBh Step change condition attribute Read and write
06DCh Step change condition 1 value Read and write
06DDh Step change condition 2 value Read and write
06DEh Subsequent data set number Read and write
0: NULL; 1: Absolute; 2:
06DFh Data set type Read and write
Relative

Data set 28 parameter:

06E0h Destination position low byte Read and write
06E1h Destination position high byte Read and write

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K2 Series AC Servo Driver

Communication
data address
Meaning Instruction Operation
Hexadecimal
system
06E2h Target speed rpm Read and write
06E3h Step change condition attribute Read and write
06E4h Step change condition 1 value Read and write
06E5h Step change condition 2 value Read and write
06E6h Subsequent data set number Read and write
0: NULL; 1: Absolute; 2:
06E7h Data set type Read and write
Relative

Data set 29 parameter:

06E8h Destination position low byte Read and write
06E9h Destination position high byte Read and write
06EAh Target speed rpm Read and write
06EBh Step change condition attribute Read and write
06ECh Step change condition 1 value Read and write
06EDh Step change condition 2 value Read and write
06EEh Subsequent data set number Read and write
0: NULL; 1: Absolute; 2:
06EFh Data set type Read and write
Relative

Data set 30 parameter:

06F0h Destination position low byte Read and write
06F1h Destination position high byte Read and write
06F2h Target speed rpm Read and write
06F3h Step change condition attribute Read and write
06F4h Step change condition 1 value Read and write
06F5h Step change condition 2 value Read and write
06F6h Subsequent data set number Read and write
0: NULL; 1: Absolute; 2:
06F7h Data set type Read and write
Relative

Data set 31 parameter:

06F8h Destination position low byte Read and write
06F9h Destination position high byte Read and write
06FAh Target speed rpm Read and write
06FBh Step change condition attribute Read and write
06FCh Step change condition 1 value Read and write
06FDh Step change condition 2 value Read and write
06FEh Subsequent data set number Read and write
06FFh Data set type 0: NULL; 1: Absolute; 2: Read and write

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K2 Series AC Servo Driver

Communication
data address
Meaning Instruction Operation
Hexadecimal
system
Relative

Data set 32 parameter (next data set of operating data set):

0700h Destination position low byte Read and write
0701h Destination position high byte Read and write
0702h Target speed rpm Read and write
0703h Step change condition attribute Read and write
0704h Step change condition 1 value Read and write
0705h Step change condition 2 value Read and write
0706h Subsequent data set number Read and write
0: NULL; 1: Absolute; 2:
0707h Data set type Relative Read and write

Address description:
*1. Communication IO input (0451h)
Input signal can be given through communication IO input (0451h) register of MODBUS communication. The
definition of the register is as follows:
bit15 bit14 bit13 bit12 bit11 bit10 bit9 bit8
/START-HOME /POS-STEP /POS-START /POS-REF /POS2 /POS1 /POS0 /G-SEL

bit7 bit6 bit5 bit4 bit3 bit2 bit1 bit0

/N-CL /P-CL /CLR /ALM-RST N-OT P-OT /P-CON /SON

Signal input in the register is valid only when the signal is not input from CN2 (signal distribution parameter is set
to be "Null").
For example: to input /POS-START through communication IO input register, it is necessary to set PA512.1=0
first,and then modify bit13 of communication IO input (0451h) register valid.
*2. Servo operation status（0456h）
ALM REF-PASS RES S-RDY WAIT COIN AC-IN PS-IN PA-ST TGON N-OT P-OT
Servo alarm sign: '1' - alarm Position overtravel: '1' - P-OT is valid
Reference point seeking: '1' - reference point is found Position overtravel: '1' - N-OT is valid
Reserved
Rotation detection: '1' - motor speed is higher than specified value
Servo ready sign: '1' - it is ready
Position control: '1' - alarm clear signal ALM-RST input
Servo waiting sign (motor disable): '1' - waiting Speed control: '1' - motor torque is 10% larger than its rated value

Position control: '1' - positioning is completed Position control: '1' - pulse input is performing
Speed control: '1' - motor speed reaches given speed Speed control: '1' - given speed is higher than its specified value
Power supply input sign: '1' - power input at R and T terminals of drive

*3. Step change condition attribute

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K2 Series AC Servo Driver

bit15-12 bit11-8 bit7-5 bit3-0

Data set step change condition 1 type

0 No condition
1 Delay
2 Pulse edge of signal input (/POS-STEP)
3 Level of signal input (/POS-STEP)

Data set step change condition 2 type

0 No condition
1 Delay
2 Pulse edge of signal input (/POS-STEP)
3 Level of signal input (/POS-STEP)

Logic between step change condition 1 and 2

0 No connection
1 AND
2 OR

Step change transitional manner

0 Aborting
1 Standard
2 Buffered
3 BlendingLow
4 BlendingPrevious
5 BlendingNext
6 BlendingHigh

PA503 Width of same-speed detection signal Speed

Setting range Setting unit Factory setting Power reboot
0 ~ 100 1r/min 10 Not required

If the difference between motor speed and reference Motor speed

speed is smaller than the set value of P 503,
then "/V-CMP" signal is output. PA503
For example,
At PA503=100 and reference speed of 2000 r/min,
if motor speed ranges from 1900 to 2100r/min, Reference speed
"/V-CMP" is set to be ON.
Output "/V-CMP" in this range.

Supplement
"/V-CMP" is the output signal under speed control. In case of position control, then the function will
automatically change to "/COIN"; in case of torque control, it will automatically change to "OFF(H
level)".

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K2 Series AC Servo Driver

Chapter VII Maintenance and Inspection

7.1 Abnormality Diagnosis and Treatment Methods

7.1.1 Overview of Alarm Display

Relationship between alarm display and alarm code output ON/OFF is as shown in the table below. The method to
stop motor in case of alarm: free-running stop: without braking, natural stop by friction resistance at the time of motor
rotation.
Alarm ALM Alarms Alarm contents Clear or
display output not
A01 H Encoder PA, PB, PC disconnection Encoder disconnection or cable welding problem. Clear

A02 H Encoder PU, PV, PW disconnection Encoder disconnection or cable welding problem. Clear

Continuous running at a certain torque exceeding the Clear

A03 H Overload
rated value

A04 H A/D switch channel abnormal A/D switch channel abnormal Clear

A05 H PU, PV, PW false code PU, PV, PW signals are all high or low Clear

A06 H PU, PV, PW phases incorrect PU, PV, PW signals are all high or low Clear

A10 H Overcurrent Servo drive IPM module current is overlarge. Clear

A11 H Overvoltage Servo drive main circuit voltage is too high. No

A12 H Undervoltage Servo drive main circuit voltage is too low. No

A13 H Parameter damage EEROM data in servo drive is abnormal. Clear

A14 H Over-speed Servo motor speed is extremely high Clear

A15 H Deviation counter overflow Internal position deviation counter overflow Clear

Position deviation pulse exceeds the set value of Clear

A16 H Position deviation is overlarge
parameter PA504.

Electronic gear is unreasonably set or pulse frequency is Clear

A17 H Electronic gear fault
too high

1st channel of current detection is Clear

A18 H Current detection abnormal
abnormal

2nd channel of current detection is Clear

A19 H Current detection abnormal
abnormal

A22 H Motor model is incorrect Servo drive parameters do not match with those of motor Clear

Servo drive does not match with Servo drive does not match with motor Clear
A23 H
motor

Bus encoder multi-circle information Clear

A25 H Multi- circle information error
error

Bus encoder multi-circle information Clear

A26 H Multi- circle information overflow
overflow

Battery voltage is lower than 2.5 V, multi-circle Clear

A27 H Bus encoder battery alarm 1
information is lost

Battery voltage is lower than 3.1 V, battery voltage is Clear

A28 H Bus encoder battery alarm 2
relatively low

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K2 Series AC Servo Driver

Alarm ALM Alarms Alarm contents Clear or

display output not
A30 H Bleeder resistor disconnection alarm Braking resistor damage. Clear

A31 H Regeneration overload Regeneration processing circuit is abnormal. No

There is outage of over one power cycle under AC Clear

A33 H Momentary outage alarm.
current.

A34 H Rotary transformer is abnormal Rotary transformer communication is abnormal. Clear

Bus encoder communication is Servo drive and encoder cannot realize communication. Clear
A40 H
abnormal

A41 H Bus encoder overspeed When power is ON, encoder rotates at high speed Clear

A42 H Bus encoder absolute status error Encoder damage or encoder decoding circuit damage Clear

A43 H Bus encoder counting error Encoder damage or encoder decoding circuit damage Clear

Check error in bus encoder control Encoder signal is interrupted or encoder decoding circuit Clear
A44 H
field damage

Check error in bus encoder Encoder signal is interrupted or encoder decoding circuit Clear
A45 H
communication data damage

Stop bit error in bus encoder status Encoder signal is interrupted or encoder decoding circuit Clear
A46 H
field damage

Encoder signal is interrupted or encoder decoding circuit Clear

A47 H Stop bit error in bus encoder SFOME
damage

A48 H Bus encoder data are not initialized Bus encoder SFOME data are null Clear

A49 H Sum check error in bus encoder data Sum check in bus encoder EEPROM data is abnormal Clear

Drive fails to accept data normally at the set time in Clear

A60 H MODBUS communication timeout
PA602

CANopen master station heartbeat Drive fails to accept master station heartbeat massage Clear
A61 H
timeout normally at the set time

A70 H Drive overheat alarm Drive internal IPM module temperature is too high Clear

Software does not match with Parameter is wrongly set or software does not match No
A90 H
hardware with hardware

A-- L No error display Display normal action status Clear

Note:
1. Alarms of A25, A26, A27, A41 can be reset only after alarms in encoder is cleared through auxiliary function mode.

7.1.2 Alarm Displays and Their Causes and Treatment Measures

In case of abnormalities of the servo drive, the panel operator will display alarm information of A□□. Alarm
displays and their treatment measures are as follows:
If the abnormal condition still exists after treatment, please contact with service department of our company.
(1) List of alarm displays
Alarm Alarm contents Circumstance Cause Treatment measures

Wiring of encoder is wrong Correct wiring of encoder

Change cable specifications to

Incremental encoder When power supply is stranded wire or stranded

A01 Encoder cables are interfered due to different
ABC disconnects on or during operation shielded wire with core wire
specifications
over 0.12 mm2 and stranded

wire made of tined soft copper

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K2 Series AC Servo Driver

Alarm Alarm contents Circumstance Cause Treatment measures

The max. wiring distance

Encoder cables are interfered due to overlength
should be 20 m.

Signal lines are interfered due to engaging-in Correct layout of encoder

and damage in sheath of encoder cables cables

Encoder cables are bound with high current Lay encoder cables at places

line or their distance is too close free from surge voltage

Connect equipment ground wire

Change in FG potential due to influence by
to prevent shunting to FG at PG
motor side equipment (welding machine, etc.)
side

Take anti-interference measures

Signal line of encoder is interfered
for encoder wiring.

Encoder failure Replace servo motor

Servo drive circuit board develops fault Replace the servo drive

Wiring of encoder is wrong Correct wiring of encoder

Change cable specifications to

Encoder cables are interfered due to different
stranded wire or stranded
specifications
shielded wire

The max. wiring distance

Encoder cables are interfered due to overlength
should be 20 m.

Signal lines are interfered due to engaging-in Correct layout of encoder

and damage in sheath of encoder cables cables

Incremental encoder When power supply is
A02 Encoder cables are bound with high current Lay encoder cables at places
UVW disconnects on or during operation
line or their distance is too close free from surge voltage

Connect equipment ground wire

Change in FG potential due to influence by
to prevent shunting to FG at PG
motor side equipment (welding machine, etc.)
side

Take anti-interference measures

Signal line of encoder is interfered
for encoder wiring.

Encoder failure Replace servo motor

Servo drive circuit board develops fault Replace the servo drive

When control power

Servo drive circuit board develops fault Replace the servo drive
supply is on

Motor wiring is abnormal (poor condition in

Revise motor wiring
wiring and connection)

During servo ON Encoder wiring is abnormal (poor wiring and

Correct wiring of encoder
connection)
A03 Overload
Servo drive circuit board develops fault Replace the servo drive

Motor wiring is abnormal (poor condition in

Revise motor wiring
When the servo motor wiring and connection)

fails to rotate during Encoder wiring is abnormal (poor wiring and

Correct wiring of encoder
inputting of commands connection)

Starting torque exceeds the max. torque Review loading condition,

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K2 Series AC Servo Driver

Alarm Alarm contents Circumstance Cause Treatment measures

operation condition or motor

capacity

Servo drive circuit board develops fault Replace the servo drive

Effective torque exceeds rated torque or Review loading condition,

starting torque exceeds rated torque operation condition or motor

Normally during substantially capacity

operation Temperature within storage tray of the servo Reduce the temperature within

drive is high storage tray below 55

Servo drive circuit board develops fault Replace the servo drive

Incremental encoder When control power Wiring of encoder is wrong Correct wiring of encoder

A05 UVW signal is supply is on Encoder failure Replace servo motor

abnormal Servo drive circuit board develops fault Replace the servo drive

Overload alarm reset for several times due to

When control power Change reset method of alarms
power off
supply is on
Servo drive circuit board develops fault Replace the servo drive

A faulty connection occurs between U, V, W

Check wiring and connect
and ground wire.
correctly.
Ground wire wraps around other terminals

A short circuit occurs between U, V, W used

by main circuit of motor and ground wire Revise or replace the cables

A short circuit occurs between U, V, and W used by main circuit of motor

used by main circuit of motor

Check wiring and connect

An error occurs to regenerative resistor wiring.
correctly.

A short circuit occurs between U, V, W of the

servo drive and ground wire

Replace the servo drive
Servo drive develops fault (current feedback
A10 Overcurrent When main power
circuit, power transistor or circuit board fault)
circuit is on or
A short circuit occurs between U, V, W used
overcurrent during
by main circuit of motor and ground wire
motor operation Replace servo motor
A short circuit occurs between U, V, and W

used by main circuit of motor

Overload alarm reset for several times due to

Change reset method of alarms
power off

Position speed reference changes violently Re-evaluate reference value.

Review loading condition and

Whether the load is too much and whether
operation condition (check
regeneration handling capacity is exceeded
specifications of inertia of load)

The installation (direction, interval with other

parts) of servo drive is improper (whether there Reduce ambient temperature of

is storage disk is releasing heat while the the servo drive to below 55 °C

surrounding is heating )

118
K2 Series AC Servo Driver

Alarm Alarm contents Circumstance Cause Treatment measures

Encoder slips Replace servo motor

Servo unit fan stops rotating

Replace the servo drive
Servo drive circuit board develops fault

When control power

Servo drive circuit board develops fault Replace the servo drive
supply is on

Adjust AC supply voltage to

When main circuit AC supply voltage is too high
normal range
power is on
Servo drive circuit board develops fault Replace the servo drive

Check AC supply voltage (whether voltage Adjust AC supply voltage to

Overvoltage
changes substantially) normal range
A11 * Detect when main
Normally during Number of turns is high and moment of inertia Review loading condition and
circuit power is on
operation of load is too large (insufficient regeneration operation condition (check

capacity) specifications of inertia of load)

Servo drive circuit board develops fault Replace the servo drive

When the servo motor

Number of turns is high and moment of inertia Review loading condition and
decelerates
of load is too large operation condition
Occurrence

When control power

Servo drive circuit board develops fault Replace the servo drive
supply is on

Adjust AC supply voltage to

AC supply voltage is too low
normal range

Servo unit fuse burns out Replace the servo drive

When main circuit Limiting resistor of surge current disconnects Replace servo unit (confirm

power is on (whether power voltage is abnormal and power voltage and reduce

Undervoltage whether limiting resistor of surge current is frequency of main circuit

A12 * Detect when main overload) ON/OFF)

circuit power is on Servo drive circuit board develops fault Replace the servo drive

AC supply voltage is low (whether there is Adjust AC supply voltage to

oversized voltage drop) normal range

Power failure occurs instantaneously. Restart operation through reset

Normally during
Revise or replace the cables
operation Cable short circuit of motor main circuit
used by main circuit of motor

Servo motor short circuit Replace servo motor

Servo drive circuit board develops fault Replace the servo drive

Power is turned off when parameters are being

set Execute user parameters

When control power
A13 Parameter damage Power is turned off when alarm is being initialization (FA011)
supply is on
entered

Servo drive circuit board develops fault Replace the servo drive

When control power

Servo drive circuit board develops fault Replace the servo drive
A14 Over-speed supply is on

During servo ON The phase sequence of U, V and M of motor Correct motor wiring

119
K2 Series AC Servo Driver

Alarm Alarm contents Circumstance Cause Treatment measures

wiring is at fault

Wiring of encoder is wrong Correct wiring of encoder

Encoder wiring is malfunctioned due to Take anti-interference measures

interference for encoder wiring.

Servo drive circuit board develops fault Replace the servo drive

The phase sequence of U, V and M of motor

Correct motor wiring
wiring is at fault

Wiring of encoder is wrong Correct wiring of encoder

When the servo motor
Encoder wiring is malfunctioned due to Take anti-interference measures
starts operation or
interference for encoder wiring.
during high-speed
Input value of position/speed reference is too
rotation Lower reference value
much

Speed reference input gain setting is wrong Correct reference input gain

Servo drive circuit board develops fault Replace the servo drive

When the servo motor Motor stalling Check the load

Position counter starts operation or Reduce frequency of command

A15 Input reference frequency is abnormal
overflow during high-speed computer

rotation Wiring is wrong Correct wiring

Set value of user parameter

Excessive position offset alarm level (PA504)
When control power PA504 to any value other than
is incorrect
supply is on 0

Servo drive circuit board develops fault Replace the servo drive

Wiring of U, V and W of the servo motor is Correct motor wiring

During high-speed
abnormal (incomplete connection) Correct wiring of encoder
rotation
Servo drive circuit board develops fault Replace the servo drive

When the servo motor Wiring of U, V and W of the servo motor is

Revise motor wiring
Position error is too fails to rotate after poor

large (position error sending position

Servo drive circuit board develops fault Replace the servo drive
with servo ON reference
A16
exceeds user Increase speed loop gain

parameter overflow Gain adjustment of servo drive is poor (PA100) and position loop gain

level PA504 setting) (PA102)

Slow reduce position reference

frequency
During long reference Position reference pulse frequency is too high
Add smoothing function
with normal action
Reassess electronic gear ratio

Excessive position offset alarm level (PA504) Set user parameter PA504 to

is incorrect correct value

Load conditions (torque and moment of inertia) Review reassessed load or

inconsistent with motor specifications motor capacity

When control power

A17 Electronic gear fault Setting of electronic gear is incorrect Reset PA202 and PA203
supply is on

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K2 Series AC Servo Driver

Alarm Alarm contents Circumstance Cause Treatment measures

When the servo motor

starts operation

When control power

1st channel of current supply is on

A18 Servo drive circuit board develops fault Replace the servo drive
detection is abnormal When the servo motor

starts operation

When control power

1st channel of current supply is on

A19 Servo drive circuit board develops fault Replace the servo drive
detection is abnormal When the servo motor

starts operation

Drive motor parameter setting is abnormal Replace the servo drive

Motor model is When control power Replace the servo motor

A22 Parameters written into encoder are abnormal
incorrect supply is on (encoder)

Servo drive circuit board develops fault Replace the servo drive

Servo unit capacity and motor capacity are not Match servo unit capacity with

suitable for motor capacity servo motor capacity

Drive does not match When control power Replace the servo motor
A23 Parameters written into encoder are abnormal
with motor supply is on (encoder)

Drive motor parameter setting is abnormal Replace the servo drive

Servo drive circuit board develops fault Replace the servo drive

When control power Execute bus encoder multi-coil

Multi-circle data of
supply is on Multi-circle data of absolute encoder is position cleanout (FA09) and
A25 bus encoder goes
During operation of abnormal bus encoder alarm register
wrong
servo motor cleanout (FA010)

When control power Execute bus encoder multi-coil

Bus encoder multi- supply is on Multi-circle data of absolute encoder is position cleanout (FA09) and
A26
circle data overflow During operation of abnormal bus encoder alarm register

servo motor cleanout (FA010)

Bus encoder battery When control power

A27
alarm 1 supply is on

Bus encoder battery When control power

A28
alarm 2 supply is on

When control power

Servo drive circuit board develops fault Replace the servo drive
supply is on

Circumscribed regenerative resistor is not Connect circumscribed

connected regenerative resistor

Regeneration is Revise the wiring of

A30 When main circuit Check whether the wiring of regenerative
abnormal circumscribed regenerative
power is on resistor is in good condition or broken
resistor

Jumper wire between B2 and B3 comes off

Correct wiring
(when using built-in regenerative resistor)

Normally during Check whether the wiring of regenerative Revise the wiring of

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K2 Series AC Servo Driver

Alarm Alarm contents Circumstance Cause Treatment measures

operation resistor is in good condition or comes off circumscribed regenerative

resistor

Replace regenerative resistor or

Regenerative resistor disconnects (whether
servo drive (review load and
regeneration energy is too much)
operation conditions)

Servo drive develops fault (fault in

regenerative transistor and voltage detecting Replace the servo drive

part)

When control power

Servo drive circuit board develops fault Replace the servo drive
supply is on

When main circuit

Power supply voltage exceeds 270 V Correct voltage
power is on

Normally during Regenerative energy is too much

Reselect regenerative resistor
operation (regenerative
capacity or review load and
resistor temperature Under continuous regeneration status
Regeneration operation conditions.
A31 increases significantly)
overload
Normally during

operation (regenerative
Servo drive circuit board develops fault Replace the servo drive
resistor temperature

increases slightly)

Reselect regenerative resistor

When the servo motor
Regenerative energy is too much capacity or review load and
decelerates
operation conditions.

When control power

Servo drive circuit board develops fault Replace the servo drive
supply is on
Power supply has
Three-phase electric wire has poor wiring Correct wiring
open phase
Correct unbalance of power
(When main power When main power
Three-phase electric wire is unbalanced supply (exchange of phase
supply is ON, any of supply is on
position)
A32 L1, L2 and L3 phases
Servo drive circuit board develops fault Replace the servo drive
is under low voltage
Three-phase electric wire has poor wiring Correct wiring
for over 1 s)
Correct unbalance of power
* Detect when main When the servo motor is
Three-phase electric wire is unbalanced supply (exchange of phase
circuit power is on actuated
position)

Servo drive circuit board develops fault Replace the servo drive

Momentary outage Normally during There is outage of over one power cycle under
A33 Check supply circuit
alarm. operation AC current

Wiring of encoder is wrong Correct wiring of encoder

When control power
Encoder failure Replace servo motor
supply is on
Bus encoder is Servo drive circuit board develops fault Replace the servo drive
A40
abnormal Wiring of encoder is wrong Correct wiring of encoder

During operation Encoder cables are interfered due to different Change cable specifications to

specifications stranded wire or stranded

122
K2 Series AC Servo Driver

Alarm Alarm contents Circumstance Cause Treatment measures

shielded wire with core wire

over 0.12 mm2 and stranded

wire made of tined soft copper

The max. wiring distance

Encoder cables are interfered due to overlength
should be 20 m.

Signal lines are interfered due to engaging-in Correct layout of encoder

and damage in sheath of encoder cables cables

Encoder cables are bound with high current Lay encoder cables at places

line or their distance is too close free from surge voltage

Connect equipment ground wire

Change in FG potential due to influence by
to prevent shunting to FG at PG
motor side equipment (welding machine, etc.)
side

Take anti-interference measures

Signal line of encoder is interfered
for encoder wiring.

Encoder failure Replace servo motor

Servo drive circuit board develops fault Replace the servo drive

PG power is set ON when servo

Servo motor rotates at a speed of over 100
rotating speed is less than 100
When control power r/min when PG power is on
r/min
Bus encoder supply is on
A41 Encoder failure Replace servo motor
overspeed
Servo drive circuit board develops fault Replace the servo drive

Encoder failure Replace servo motor

During operation
Servo drive circuit board develops fault Replace the servo drive

Bus encoder FS status Normally during Encoder failure Replace servo motor
A42
is wrong operation Servo drive circuit board develops fault Replace the servo drive

Bus encoder counter Normally during

A43 Servo drive circuit board develops fault Replace the servo drive
goes wrong operation

Change cable specifications to

stranded wire or stranded

Encoder cables are interfered due to different
shielded wire with core wire
specifications
over 12 mm2 and stranded wire

made of tined soft copper

The max. wiring distance

Encoder cables are interfered due to overlength
Checkout in bus When control power should be 20 m.

A44 encoder control field supply is on or during Signal lines are interfered due to engaging-in Correct layout of encoder

is wrong operation and damage in sheath of encoder cables cables

Encoder cables are bound with high current Lay encoder cables at places

line or their distance is too close free from surge voltage

Connect equipment ground wire

Change in FG potential due to influence by
to prevent shunting to FG at PG
motor side equipment (welding machine, etc.)
side

Signal line of encoder is interfered Take anti-interference measures

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K2 Series AC Servo Driver

Alarm Alarm contents Circumstance Cause Treatment measures

for encoder wiring.

Wiring of encoder is wrong Correct wiring of encoder

Change cable specifications to

stranded wire or stranded

Encoder cables are interfered due to different
shielded wire with core wire
specifications
over 12 mm2 and stranded wire

made of tined soft copper

The max. wiring distance

Encoder cables are interfered due to overlength
should be 20 m.

Bus encoder When control power Signal lines are interfered due to engaging-in Correct layout of encoder

A45 communication data supply is on or during and damage in sheath of encoder cables cables

checkout is wrong operation Encoder cables are bound with high current Lay encoder cables at places

line or their distance is too close free from surge voltage

Connect equipment ground wire

Change in FG potential due to influence by
to prevent shunting to FG at PG
motor side equipment (welding machine, etc.)
side

Take anti-interference measures

Signal line of encoder is interfered
for encoder wiring.

Encoder failure Replace servo motor

Servo drive circuit board develops fault Replace the servo drive

Wiring of encoder is wrong Correct wiring of encoder

Change cable specifications to

stranded wire or stranded

Encoder cables are interfered due to different
shielded wire with core wire
specifications
over 12 mm2 and stranded wire

made of tined soft copper

The max. wiring distance

Encoder cables are interfered due to overlength
should be 20 m.

Cut-off position in When control power Signal lines are interfered due to engaging-in Correct layout of encoder

A46 bus encoder status supply is on or during and damage in sheath of encoder cables cables

field is wrong operation Encoder cables are bound with high current Lay encoder cables at places

line or their distance is too close free from surge voltage

Connect equipment ground wire

Change in FG potential due to influence by
to prevent shunting to FG at PG
motor side equipment (welding machine, etc.)
side

Take anti-interference measures

Signal line of encoder is interfered
for encoder wiring.

Encoder failure Replace servo motor

Servo drive circuit board develops fault Replace the servo drive

Wiring of encoder is wrong Correct wiring of encoder

When control power When control power
Change cable specifications to
A47 supply is on or during supply is on or during Encoder cables are interfered due to different
stranded wire or stranded
operation operation specifications
shielded wire with core wire

124
K2 Series AC Servo Driver

Alarm Alarm contents Circumstance Cause Treatment measures

over 12 mm2 and stranded wire

made of tined soft copper

The max. wiring distance

Encoder cables are interfered due to overlength
should be 20 m.

Signal lines are interfered due to engaging-in Correct layout of encoder

and damage in sheath of encoder cables cables

Encoder cables are bound with high current Lay encoder cables at places

line or their distance is too close free from surge voltage

Connect equipment ground wire

Change in FG potential due to influence by
to prevent shunting to FG at PG
motor side equipment (welding machine, etc.)
side

Take anti-interference measures

Signal line of encoder is interfered
for encoder wiring.

Encoder failure Replace servo motor

Servo drive circuit board develops fault Replace the servo drive

When control power

Bus encoder data is
A48 supply is on or during Encoder EEROM is not initialized Replace servo motor
not initialized
operation

Wiring of encoder is wrong Correct wiring of encoder

Change cable specifications to

stranded wire or stranded

Encoder cables are interfered due to different
shielded wire with core wire
specifications
over 12 mm2 and stranded wire

made of tined soft copper

The max. wiring distance

Encoder cables are interfered due to overlength
should be 20 m.

When control power Signal lines are interfered due to engaging-in Correct layout of encoder
Sum check of bus
A49 supply is on or during and damage in sheath of encoder cables cables
encoder data is wrong
operation Encoder cables are bound with high current Lay encoder cables at places

line or their distance is too close free from surge voltage

Connect equipment ground wire

Change in FG potential due to influence by
to prevent shunting to FG at PG
motor side equipment (welding machine, etc.)
side

Take anti-interference measures

Signal line of encoder is interfered
for encoder wiring.

Encoder failure Replace servo motor

Servo drive circuit board develops fault Replace the servo drive

Servo drive circuit board develops fault Replace the servo drive
When control power
Overload alarm reset for several times due to
supply is on Change reset method of alarms
power off
A70 Overheating
Cooling fin is Review loading condition,

overheated when main Load exceeds rated load. operation condition or motor

power supply is ON or capacity

125
K2 Series AC Servo Driver

Alarm Alarm contents Circumstance Cause Treatment measures

during motor operation Ambient temperature of the servo drive Reduce ambient temperature of

exceeds 55 °C the servo drive to below 55 °C

Servo drive circuit board develops fault Replace the servo drive

Software does not When control power

A90 Servo drive circuit board develops fault Replace the servo drive
match with hardware supply is on

7.1.3 Causes and Treatment Measures of Other Abnormalities

See the following table for causes and proper treatment measures of other abnormalities without alarm display. In
case such abnormalities cannot be resolved after treatment, please contact agents or service technicians of the Company.
Check method Treatment measures

Abnormalities Cause Note: Checking and treatment should only be made after power supply of servo system is set to

OFF.

Control power supply is not connected Check voltage between control power Correct control power supply ON circuit

supply terminals

Main circuit power is not connected Check voltage between main circuit power Correct main circuit power ON circuit

terminals

Input/Output (CN2 connector) wiring Check installation and wiring of CN2 Correctly wire CN2 connector

is wrong or comes off connector

Wiring of servo motor and encoder Inspect wiring Connect wiring

comes off

Overload occurs Conduct no-load trial operation Reduce load or replace with servo motor with

larger capacity

Speed/position reference is not input Check input pin Correctly input speed/position reference

Setting of input signal selection Check setting of input signal selection Correctly set input signal selection PA509 -

PA509 - PA512 is wrong PA509 - PA512 PA512

Servo ON (/S-ON) input remains OFF Confirm set value of user parameter Correctly set user and set servo ON (/S-ON)

Servo motor fails PA50A.0 input to ON

to start SEN input remains OFF Check SEN signal input (when using Set SEN signal input to ON

absolute encoder)

Mode selection for reference pulse is Check use parameters setting and reference Correctly set user parameter PA200.1

wrong pulse shape

Speed reference input is improper Confirm control method and input are Correctly set or input control parameter

during speed control consistent or check between V-REF and

GND

Torque reference input is improper Confirm control method and input are Correctly set or input control parameter

during torque control consistent or check between T-REF and

GND

Position reference input is improper Check PA200.1 reference pulse signal shape Correctly set or input control parameter

during position control or sign or sign+ pulse signal

Shift pulse cleanout input (CLR) Check CLR input Set CLR input signal to OFF

remains ON

Positive rotation drive prohibited Check POT or NOT input signal Set POT or NOT input signal to ON

126
K2 Series AC Servo Driver

Check method Treatment measures

Abnormalities Cause Note: Checking and treatment should only be made after power supply of servo system is set to

OFF.

(P-OT)and negative rotation drive

prohibited (N-OT) input signal

remains OFF

Servo drive fault Servo drive circuit board develops fault Replace the servo drive

Servo motor stops Motor wiring is wrong Check motor wiring Correctly wire motor

after surge Encoder wiring is wrong Check encoder wiring Correctly wire encoder

Motor stops Alarm reset (ALM-RST) signal Check alarm reset signal Remove cause of alarm and set alarm reset signal

suddenly during remains ON and alarm goes off from ON to OFF

operation and

becomes

motionless

Motor rotates Servo motor wiring is in bad contact Power line (U, V and W phases) and Tighten loose fastening part between treatment

unstably encoder connector are in unstable terminal and connector

connection

Motor rotates Speed reference input is improper Confirm control method and input are Correctly set or input control parameter

when no during speed control consistent or check between V-REF and

reference has GND

been sent Torque reference input is improper Confirm control method and input are Correctly set or input control parameter

during torque control consistent or check between T-REF and

GND

Speed reference offset Offset adjustment of servo drive is poor Adjust offset of servo drive

Position reference input is improper Check PA200.1 reference pulse signal shape Correctly set or input control parameter

during position control or sign or sign+ pulse signal

Servo drive fault Servo drive circuit board develops fault Replace the servo drive

Motor sounds Machines are improperly installed Whether mounting screws of servo motor Tighten mounting screws

abnormally are loosed?

Whether coupling core is aligned? Align coupling core

Whether coupling is unbalanced? Restore coupling to balance

Bearing is abnormal inside Check sounds and vibration near bearing Please contact service technicians of the

Company in case of any abnormality

Supporting machines have vibration Whether any moving part at machine side Please inquire relevant manufacturers

source has foreign objects or is damaged or

deformed?

Input signal lines are interfered due to Whether stranded wire or stranded shielded Enable input signal line meet relevant
2
different specifications wire has core wire over 0.12 mm and is specifications

made of tined soft copper?

Input signal line is interfered due to Confirm that the max. wiring length is 3 m Enable length of input signal line meet relevant

length beyond range of application and its impedance is less than 100 Ω specifications

Encoder cables are interfered due to Whether stranded wire or stranded shielded Enable encoder cables meet relevant

different specifications wire has core wire over 0.12 mm2 and is specifications

made of tined soft copper?

127
K2 Series AC Servo Driver

Check method Treatment measures

Abnormalities Cause Note: Checking and treatment should only be made after power supply of servo system is set to

OFF.

Encoder cables are interfered due to The max. wiring distance should be 20 m. Enable encoder cables meet relevant

length beyond range of application specifications

Encoder cables are interfered due to Signal lines are interfered due to Correct layout of encoder cables

damages engaging-in and damage in sheath of

encoder cables

Interference to encoder cable is too Whether encoder cables are too close with Lay encoder cables at places free from surge

great high current line? voltage

Change in FG potential due to What is grounding state (not grounded or Connect equipment ground wire to prevent

influence by servo motor side incomplete grounding) of welding machine, shunting to FG at PG side

equipment (welding machine, etc.) etc. at servo motor side?

Servo drive pulse counter goes wrong Whether signal line of encoder is interfered? Take anti-interference measures for encoder

due to interference wiring.

Encoder is affected by excessive Mechanical vibration or motor installation is Reduce mechanical vibration or properly install

vibration shock) not in condition servo motor

(Accuracy, fastening and core shift of

mounting surface)

Encoder failure Encoder failure Replace servo motor

Motor with Speed gain PA100 is set too high Factory setting: Kv = 40.0 Hz Correctly set speed loop gain PA100

frequency around Position loop gain PA102 is set too Factory setting: Kp = 40.0/s Correctly set position loop gain PA102

200 - 400 Hz high

vibrates Speed loop integral time constant Factory setting: Ti = 20.00 ms Correctly set speed loop integral time parameter

PA101 is improperly set PA101

Machine stiffness is improperly set Reassess selection of machine stiffness Correctly select machine stiffness setting

during autotune setting

Ratio of moment of inertia is Check ratio f moment of inertia PA103 Correct ratio f moment of inertia PA103

inappropriate when not suing autotune

Starting and Speed gain PA100 is set too high Factory setting: Kv = 40.0 Hz Correctly set speed loop gain PA100

stopping rotating Position loop gain PA102 is set too Factory setting: Kp = 40.0/s Correctly set position loop gain PA102
overtravel is too high
large Speed loop integral time parameter Factory setting: Ti = 20.00 ms Correctly set speed loop integral time parameter

PA101 is improperly set PA101

Machine stiffness is improperly set Reassess selection of machine stiffness Correctly select machine stiffness setting

during autotune setting

Ratio of moment of inertia is Check ratio f moment of inertia PA103 Correct ratio f moment of inertia PA103

inappropriate when not using autotune Use module switch function

Position offset of Encoder cables are interfered due to stranded wire or stranded shielded wire has Enable encoder cables meet relevant
2
absolute encoder different specifications core wire over 0.12 mm and is made of specifications

is wrong tined soft copper

(Position saved Encoder cables are interfered due to The max. wiring distance should be 20 m. Enable encoder cables meet relevant
by command length beyond range of application specifications

128
K2 Series AC Servo Driver

Check method Treatment measures

Abnormalities Cause Note: Checking and treatment should only be made after power supply of servo system is set to

OFF.

controller during Encoder cables are interfered due to Signal lines are interfered due to Correct layout of encoder cables

outage is different damages engaging-in and damage in sheath of

from position encoder cables

when the power Interference to encoder cable is too Whether encoder cables are bound with Lay encoder cables at places free from surge
supply is on next great high current line or their distance is too voltage
time) close?

Fluctuation of FG potential due to What is grounding state (not grounded or Connect equipment ground wire to prevent

interference by motor side equipment incomplete grounding) of welding machine, shunting to FG at PG side

(welding machine, etc.) etc. at servo motor side?

Servo drive pulse counter goes wrong Whether signal line of encoder is interfered? Take anti-interference measures for encoder

due to interference wiring.

Encoder is affected by excessive Mechanical vibration or motor installation is Reduce mechanical vibration or properly install

vibration shock not in condition servo motor

(Accuracy, fastening and core shift of

mounting surface)

Encoder failure Encoder failure (no change in pulse) Replace servo motor

Servo drive fault Servo drive fails to send multi-turn data Replace the servo drive

Command controller multi-turn data Check error detection of command Restore error detection function of command

read error controller controller

Whether data (odd-even) check is executed Execute odd-even check of multi-turn data

on command controller?

Signal line between servo drive and Interference effect occurs when no checkout is

command controller is interfered done (above)

Overtravel (OT) Positive/negative rotation drive Whether external power supply (+24 V) of Correct external power supply of +24 V

(Exceeding scope prohibited input signal reaches (POT input signal is correct?

specified by or NOT is at H level) Whether action state of overtravel limit SW Correct state of overtravel limit SW

command is correct?

controller) Whether wiring of overtravel limit SW is Correct wiring of overtravel limit SW

correct?

Positive/negative rotation drive Whether external power supply (+24 V) of Remove cause of change in external power

prohibited input signal is input signal changes? supply of +24 V

malfunctioning (POT or NOT changes Whether action of overtravel limit SW is Make action of overtravel limit SW unstable

constantly) unstable?

Whether wiring of overtravel limit SW is Correct wiring of overtravel limit SW

correct?

(Cable damage and screw fastening)

Positive/negative rotation drive Check POT signal selection PA510.2 Correct POT signal selection PA510.2

prohibited input signal Check NOT signal selection PA510.3 Correct NOT signal selection PA510.3

P-OT/N-OT signal selection is wrong

Motor stop method selection is wrong What is the selection for inertial operation Check PA000.2 and PA000.3

stop when servo is OFF?

129
K2 Series AC Servo Driver

Check method Treatment measures

Abnormalities Cause Note: Checking and treatment should only be made after power supply of servo system is set to

OFF.

What is the setting for inertial operation Check PA000.2 and PA000.3

during torque control?

Overtravel position is not proper OT position is shorter than operation Properly set Ot position

distance

Encoder cables are interfered due to Whether stranded wire or stranded shielded Enable encoder cables meet relevant

different specifications wire has core wire over 0.12 mm2 and is specifications

made of tined soft copper?

Encoder cables are interfered due to The max. wiring distance should be 20 m. Enable encoder cables meet relevant

length beyond range of application specifications

Encoder cables are interfered due to Signal lines are interfered due to Correct layout of encoder cables

damages engaging-in and damage in sheath of

encoder cables

Interference to encoder cable is too Whether encoder cables are bound with Lay encoder cables at places free from surge

great high current line or their distance is too voltage

close?

Change in FG potential due to What is grounding state (not grounded or Connect equipment ground wire to prevent

influence by servo motor side incomplete grounding) of welding machine, shunting to FG at PG side

equipment (welding machine, etc.) etc. at servo motor side?

Servo unit pulse counter goes wrong Whether signal line of encoder is interfered? Take anti-interference measures for encoder

due to interference wiring.

Encoder is affected by excessive Mechanical vibration or motor installation is Reduce mechanical vibration or properly install

vibration shock not in condition (accuracy, fastening and servo motor

core shift of mounting surface)

Encoder failure Encoder failure (no change in pulse) Replace servo motor

Servo drive fault Servo drive fails to send multi-turn data Replace the servo drive

Position offset Coupling between machine and servo Whether coupling between machine and Correctly connect coupling between machine and

(alarm fails and motor is abnormal servo motor has offset? servo motor

causes position Input signal lines are interfered due to Whether stranded wire or stranded shielded Enable input signal line meet relevant
offset) different specifications wire has core wire over 0.12 mm2 and is specifications

made of tined soft copper?

Input signal line is interfered due to Confirm that the max. wiring length is 3 m Enable length of input signal line meet relevant

length beyond range of application and its impedance is less than 100 Ω specifications

Encoder failure (no change in pulse) Encoder failure (no change in pulse) Replace servo motor

7.2 Maintenance and Check of Servo Drive

7.2.1 Check of Servo Motor

Since AC servo motor is not equipped with electric brush, only simple daily check is required. The table lists
general standards of checking period which should be properly determined based on actual using conditions and
environment.

130
K2 Series AC Servo Driver

7.2.2 Check of Servo Drive

Check item Check period Tips for check and Remarks

maintenance
Confirmation of Everyday Determine based on Compare with normal
vibration and feeling and hearing condition to detect any
sound increase
Appearance Based on contamination Clean up with brush or air —
inspection gun
Measurement of Once every year Disconnect from servo Please contact local dealer
insulation unit and measure in case the resistance is
resistance insulation resistance with less than 10 MΩ.
500 V megameter.
Resistance over 10 MΩ is
considered as normal.
Replacement of Once at least every 5000 h Please contact local Only for servo motor with
oil seal dealer. oil seal
Comprehensive Once every five years or at least Please contact local —
check every 20000 h dealer.

Daily check is not required, but more than one check is needed every year.
Check item Check period Tips for check and Remarks
maintenance
Cleaning of main body Please contact local dealer.
and circuit board
Loosening of screws Mounting screws of Please further secure screws.
Once every year
terminal board and
connector should be firmly
secured without loosening.

7.2.3 General Standards of Replacement of Internal Parts of Servo Drive

Mechanical abrasion and aging will occur to electric and electronic parts. Therefore, regular check is required
for safety purpose. In need of replacement of parts, local dealer should be contacted. Use parameters of servo drives
overhauled by the Company will be restored to factory setting and user parameters for using should be set before
operation.
Part Name Years of revision of standards Use conditions
Cooling fan 4-5 years Ambient temperature: annual
Smoothing capacitor 7 - 8 years average of 30 °C
Relays — Load rate: below 80%
Fuse 10 years Operating ratio: less than 20 h
Aluminium electrolytic 5 years every day
capacitor on PCB

0 Disable overload enhancement function
Enable overload enhancement function (enhance overload capacity, suitable for
1
occasion with frequent start and stop)

PA004 Basic function selection switch 4 —— —— 0100 Y

133
K2 Series AC Servo Driver

Parame Power
Name Setting range Setting unit Factory setting Remarks
ter No. reboot
Bit 3 Bit 2 Bit 1 Bit 0

H
Preset constant (do not change)
0 Reserved
1 Reserved

Preset constant (do not change)

0 Reserved

Low-frequency jitter suppression enable switch

0 Disable low-frequency jitter suppression
1 Enable low-frequency jitter suppression

Out-of-tolerance alarm enable switch

0 Disable out-of-tolerance alarm detection
Enable out-of-tolerance alarm detection (alarm will be given when offset counter
1
value exceeds PA504)
PA100 Speed loop gain 1 ~ 2500 0.1 Hz 400 N
PA101 Speed loop integral time constant 1 ~ 4000 0.01ms 2000 N
PA102 Position loop gain 1 ~ 2000 0.1/s 400 N
PA103 Moment of inertia ratio 0 ~ 20000 1% 0 N
PA104 Second speed loop gain 1 ~ 2500 0.1 Hz 400 N
PA105 Second speed loop integral time
1 ~ 4000 0.01ms 2000 N
constant
PA106 Second position loop gain 1 ~ 2000 0.1/s 400 N
PA107 Offset (speed offset) 0 ~ 450 1r/min 0 N
PA108 Scope of offset stack 0 ~ 5000 1-reference pulse 10 N
PA109 Feedforward gain 0 ~ 100 1% 0 N
PA110 Feedforward filter time constant 0 ~ 640 0.1ms 0 N
PA111 Accelerated speed freeforward
0 ~ 100 1% 0 N
percentage
PA112 Accelerated speed feedforward
0 ~ 640 0.1ms 0 N
filter time constant
PA113 Application function for gain select
0000 ~ 0064 —— 0000 Y
switch

134
K2 Series AC Servo Driver

Parame Power
Name Setting range Setting unit Factory setting Remarks
ter No. reboot

Bit 3 Bit 2 Bit 1 Bit 0

H
Module switch selection
0 Use internal torque reference as the condition (level setting: PA114)
1 Use speed as the condition (level setting: PA115)
2 Use acceleration as the condition (level setting: PA116)
3 Use position error pulse as the condition (level setting: PA117)
4 No mode switch function

Selection of auto gain switch conditions

0 Non-auto gain switch (fixed to first group gain)
1 External switch gain switch (G-SEL signal)
2 Torque percentage switch
3 Switch only under position offset
4 Given accelerated speed value (10 r/min/s)
5 Given speed value
6 With position reference input

Reserved

PA114 Mode switch (torque reference) 0 ~ 300 1% 200 N

PA115 Mode switch (speed reference) 0 ~ 10000 1r/min 0 N
PA116 Mode switch (accelerated speed
0 ~ 3000 10 r/min/s 0 N
reference)
PA117 Mode switch (offset pulse) 0 ~ 10000 1-reference pulse 0 N
PA118 Gain switch delay time 0 ~ 20000 0.1 ms 0 N
PA119 Gain switch range 0 ~ 20000 free 0 N
When PA113.1 = 2, the unit is 1%
When PA113.1 = 3, the unit is 1 reference pulse
When PA113.1 = 4, the unit is 10 r/min/s
When PA113.1 = 5, the unit is 1 r/min
When PA113.1 = 6, the unit is 1 reference pulse
PA120 Position gain switch time 0 ~ 20000 0.1 ms 0 N
PA121 Gain switch hysteresis 0 ~ 20000 1-reference pulse 0 N
PA122 Friction load 0 ~ 3000 1‰ 0 N
PA123 Friction compensation speed
0 ~ 100 1r/min 0 Y
hysteresis area
PA124 Viscous friction load 0 ~ 20000 1 ‰/1 krpm 0 N
PA125 Friction gain 0 ~ 30000 0 N
PA126 Speed observer period 0 ~ 100 0.1ms 0/35/70 N
PA127 Online autotune switches —— —— 1340 Y/N

135
K2 Series AC Servo Driver

Parame Power
Name Setting range Setting unit Factory setting Remarks
ter No. reboot

Bit 3 Bit 2 Bit 1 Bit 0

H
Real-time auto gain setting Power reboot
0 Non-real-time auto gain adjustment
1 Normal mode (suitable for operations without change in load inertia)
2 Normal mode (suitable for operations with little change in load inertia)
3 Normal mode (suitable for operations with great change in load inertia) Y
4 Vertical load (suitable for operations without change in load inertia)
5 Vertical load (suitable for operations with little change in load inertia)
6 Vertical load (suitable for operations with great change in load inertia)

Selection of machine stiffness for real-time auto gain Power reboot

0 Machine stiffness during real-time auto gain adjustment may be selected.

The larger the parameter value is, the quicker the response will be.
If this parameter is set very high all at once, system gain will change
... N
significantly, leading to great shock to machine.
It is recommended to set a small value and gradually select larger stiffness
F while monitoring operating status of machine.

Reserved

Normal auto adjustment mode setting Power reboot

0 Rotating circles: 1; direction: CCW CW
1 Rotating circles: 2; direction: CCW CW
2 Rotating circles: 3; direction: CCW CW
3 Rotating circles: 4; direction: CCW CW
N
4 Rotating circles: 1; direction: CW CCW
5 Rotating circles: 2; direction: CW CCW
6 Rotating circles: 3; direction: CW CCW
7 Rotating circles: 4; direction: CW CCW

PA200 Position control reference form

—— —— 0000 Y
selection switch

136
K2 Series AC Servo Driver

Parame Power
Name Setting range Setting unit Factory setting Remarks
ter No. reboot
Bit 3 Bit 2 Bit 1 Bit 0

H
Offset pulse clearing method
0 Clear error pulse(servo OFF); Does not clear error pulse(over travel)
1 Does not clear offset pulse(servo OFF or over travel)
2 Clear offset pulse (servo OFF or over travel ,except for zero clamping position)

Reference pulse form

0 Sign + pulse
1 CW+CCW
2 A phase + B phase (1x frequency)
3 A phase + B phase (2x frequency)
4 A phase + B phase (4x frequency)

Reverse setting of reference pulse signal

0 Does not reverse PULS and SIGN
1 Does not reverse PULS, reverse SIGN
2 Reverse PULS , does not reverse SIGN
3 Reverse PULS and SIGN

Filter selection
0 Bus driver signal reference input filter
1 Collector open-circuit signal reference input filter

PA201 PG frequency dividing 16 ~ 32768 1 P/rev 2500 Y

PA202 First electronic gear ratio
1 ~ 65535 —— 1 Y
(numerator)
PA203 First electronic gear ratio
1 ~ 65535 —— 1 Y
(denominator)
PA204 Second electronic gear ratio
1 ~ 65535 —— 1 Y
(numerator)
PA205 Position reference
acceleration/deceleration time 0 ~ 6400 0.1ms 0 N
constant
PA206 Position reference filter form
0~1 —— 0 Y
selection
PA300 Speed reference input gain 0 ~ 3000 (r/min)/V 150 N
PA301 Internal set speed 1 0 ~ 6000 1r/min 100 N
PA302 Internal set speed 2 0 ~ 6000 1r/min 200 N
PA303 Internal set speed 3 0 ~ 6000 1r/min 300 N
PA304 Jogging (JOG) speed 0 ~ 6000 1r/min 500 N
PA305 Acceleration time of soft start 0 ~ 10000 1 ms 0 N
PA306 Deceleration time of soft start 0 ~ 10000 1 ms 0 N
PA307 Speed reference filter constant 0 ~ 10000 1 ms 0 N
PA308 Rise time of S curve 0 ~ 10000 1 ms 0 N
PA309 Speed reference curve form —— —— 0000 Y

137
K2 Series AC Servo Driver

Parame Power
Name Setting range Setting unit Factory setting Remarks
ter No. reboot
Bit 3 Bit 2 Bit 1 Bit 0

H
Soft start method
0 Trapezoid
1 S curve
2 Acceleration and deceleration filter

Acceleration and deceleration filter form

0 First filter
1 Second filter

Selection of S curve ratio

0 Close to linearity
1 Low
2 Medium
3 High

Reserved
PA400 Torque reference input gain 10 ~ 100 0.1V/rated torque 30 N
PA401 Torque reference filter time
0 ~ 250 0.1ms 4 N
constant
PA402 Second torque reference filter time
0 ~ 250 0.1ms 4 N
constant
PA403 Forward torque limit 0 ~ 300 1% 300 N
PA404 Reverse torque limit 0 ~ 300 1% 300 N
PA405 Forward external torque limit 0 ~ 300 1% 100 N
PA406 Reverse external torque limit 0 ~ 300 1% 100 N
PA407 Plug braking torq ue limit 0 ~ 300 1% 300 N
PA408 Speed limit during torque control 0 ~ 6000 1r/min 1500 N
PA409 Frequency of notch filter section 1 50 ~ 5000 1Hz 5000 N
PA410 Depth of notch filter section 1 0 ~ 100 —— 10 N
PA411 Frequency of notch filter section 2 50 ~ 5000 1 Hz 5000 N
PA412 Depth of notch filter section 2 0 ~ 100 —— 10 N
PA413 Vibration frequency of B type 10 ~ 1000 0.1 Hz 1000 N
PA414 Vibration damping of B type 0 ~ 200 —— 25 N
PA500 Positioning completion width 0 ~ 5000 1 reference unit 10 N
PA501 Zero clamping level 0 ~ 3000 1r/min 10 N
PA502 Rotation detection of electric level 0 ~ 3000 1r/min 20 N
PA503 Same-speed signal detection width 0 ~ 100 1r/min 10 N
PA504 Offset pulse overflow level 1 ~ 32767 256 reference unit 1024 N
PA505 Waiting time of servo ON 0 ~ 2000 ms 0 N
PA506 Brake command - delay time of
0 ~ 500 10ms 0 N
servo OFF
PA507 Level for output speed of brake
0 ~ 6000 1r/min 100 N
command

Bit 3 Bit 2 Bit 1 Bit 0

H
/G-SEL signal distribution
0-9 Same with /S-ON signal conversion

/POS0 signal distribution

0-9 Ditto

/POS1 signal distribution

0-9 Ditto

/POS2 signal distribution

0-9 Ditto

PA512 Input signal selection 4 —— —— 0000 Y

Bit 3 Bit 2 Bit 1 Bit 0

H
/HOME-REF
0-9 Same with /S-ON signal conversion

/POS-START
0-9 Same with /S-ON signal conversion

/POS-STEP
0-9 Same with /S-ON signal conversion

/POS-START-HOME
0-9 Same with /S-ON signal conversion

140
K2 Series AC Servo Driver

Parame Power Remark

Name Setting range Setting unit Factory setting
ter No. reboot s
PA513 Output signal selection 1 —— —— 4321 Y

Bit 3 Bit 2 Bit 1 Bit 0

H
Servo alarm signal distribution (ALM)
0 Inactive (not using the signal)
1 Output such signal via OUT1 (CN2-7 and CN2-8)
2 Output such signal via OUT2 (CN2-9 and CN2-10)
3 Output such signal via OUT3 (CN2-11 and CN2-12)
4 Output such signal via OUT4 (CN2-32 and CN2-33)
5 Output such signal via OUT5 (CN2-34 and CN2-35)
6 Output such signal via OUT6 (CN2-36 and CN2-37)

Positioning completion signal distribution (/COIN)/same-speed detection signal

distribution (/V-CMP)
0-6 Ditto

Name Setting range Setting unit Factory setting
ter No. reboot s
Bit 3 Bit 2 Bit 1 Bit 0

H
Current data set number bit 0 signal distribution when internal position control
is in place (/InPosNum0)
0-6 Ditto

Current data set number bit 1 signal distribution when internal position control
is in place (/InPosNum1)
0-6 Ditto

Current data set number bit 2 signal distribution when internal position control
is in place (/InPosNum2)
0-6 Ditto

Current data set number bit 3 signal distribution when internal position control
is in place (/InPosNum3)
0-6 Ditto

PA516 Reserved —— —— —— N
PA517 Input port filter time constant 0 ~ 1000 0.1ms 1 N
PA518 Alarm input filter time constant 0~3 0.1ms 1 N
PA519 Active input port signal level
—— —— 0000 N
selection 1
Bit 3 Bit 2 Bit 1 Bit 0

H
CN3-14 active input level selection
0 Active when input signal is ON (L level)
1 Active when input signal is OFF (H level)

CN3-15 active input level selection

0-1 Ditto

CN3-16 active input level selection

0-1 Ditto

0-1 Ditto

PA522 Output port signal inverse select 2 —— —— 0000 N

Bit 3 Bit 2 Bit1 Bit 0

H
OUT5 (CN2-34 and CN2-35) output reverse select
0-1 Ditto

OUT6 (CN2-36 and CN2-37) output reverse select

0-1 Ditto

Reserved
PA600 RS-485 communication parameter
—— —— 0151 Y
selection switch
Bit 3 Bit 2 Bit 1 Bit 0

H
Communication baud rate select
0 4800 bps
1 9600 bps
2 19200 bps
3 38400 bps
4 57600 bps

Communication protocol select

0 7，N，2
1 7，E，1
2 7，O，1
Modbus，ASCII
3 8，N，2
4 8，E，1
5 8，O，1
6 8，N，2
7 8，E，1 Modbus，RTU
8 8，O，1

Reversed

RS-485 communication axis

PA601 1 ~ 127 —— 1 Y
address
PA602 RS-485 communication timeout 0 ~ 1000 100 ms 0 N

143
K2 Series AC Servo Driver

Parame Power Remark

Name Setting range Setting unit Factory setting
ter No. reboot s
parameter
PA603 Reserved —— —— 0000 N
PA604 Reserved —— —— 0000 N
PA605 Reserved —— —— 0000 N
PA606 Reserved —— —— 0000 N
PA607 Reserved —— —— 0000 N
PA608 Reserved —— —— 0000 N
PA609 Reserved —— —— 0000 N
PA610 Type of data set 8 0~2 —— 0 Y
0: data set is null
1: data set is in absolute motion
2: data set is in relative motion
PA611 Low byte value of Data Set 8 -9999~+9999 1-reference pulse 0 Y
PA612 10000-reference
High byte value of Data Set 8 -9999~+9999 0 Y
pulse
PA613 Speed of data set 8 0 ~ 6000 rpm 100 Y
PA614 Step change attribute in Data Set 8 —— —— 0000 Y
Bit 3 Bit 2 Bit 1 Bit 0

H
Data set step change condition 1 type
0 No condition
1 Delay
2 Pulse edge of signal input (/POS-STEP)
3 Level of signal input (/POS-STEP)

Data set step change condition 2 type

0 No condition
1 Delay
2 Pulse edge of signal input (/POS-POS0)
3 Level of signal input (/POS-POS0)

Logic between step change condition 1 and 2

0 No conjunction
1 AND
2 OR

Step change transitional manner

0 Aborting
1 Standard
2 Buffered
3 BlendingLow
4 BlendingPrevious
5 BlendingNext
6 BlendingHigh

PA615 Step change condition value 1 in

0 ~ 65535 —— 0 Y
data set 8
-Unconditional: no transitional condition value
- Delay: value 0 ~ 65535: latency time 0 ~ 65535, unit: ms

144
K2 Series AC Servo Driver

Parame Power Remark

Name Setting range Setting unit Factory setting
ter No. reboot s
- Pulse edge required for step change:
Value 0: rising edge
Value 1: falling edge
Value 2: rising edge or falling edge
- Level required for step change:
Value 3: 1 level
Value 4: 0 level
PA616 Step change condition value 2 in
0 ~ 65535 —— 0 Y
data set 8
Ditto
PA617 Follow-up data set number of data
0 ~ 14 —— 9 Y
set 8
PA618 Type of data set 9 0~2 —— 0 Y
0: data set is null
1: data set is in absolute motion
2: data set is in relative motion
PA619 Low byte value of Data Set 9 -9999~+9999 1-reference pulse 0 Y
PA620 10000-reference
High byte value of Data Set 9 -9999~+9999 0 Y
pulse
PA621 Speed of data set 9 0 ~ 6000 rpm 100 Y
PA622 Step change attribute in Data Set 9 —— —— 0000 Y
Bit 3 Bit 2 Bit 1 Bit 0

H
Data set step change condition 1 type
0 No condition
1 Delay
2 Pulse edge of signal input (/POS-STEP)
3 Level of signal input (/POS-STEP)

Data set step change condition 2 type

0 No condition
1 Delay
2 Pulse edge of signal input (/POS-POS0)
3 Level of signal input (/POS-POS0)

Logic between step change condition 1 and 2

0 No conjunction
1 AND
2 OR

Step change transitional manner

Name Setting range Setting unit Factory setting
ter No. reboot s
0: internal method (single data set method)
1: task mode (data set sequence)
PA765 Acceleration of data set 0 ~ 60000 10 rpm/s 10000 Y
PA766 Deceleration of data set 0 ~ 60000 10 rpm/s 10000 Y
PA767 Emergency deceleration of data set 0 ~ 60000 10 rpm/s 60000 Y
Data set position electronic gear
PA768 1 ~ 65535 —— 1 Y
ratio (numerator)
Data set position electronic gear
PA769 1 ~ 65535 —— 1 Y
ratio (denominator)
Zero returning method selection
—— —— 0000 Y
switch

Bit 3 Bit 2 Bit 1 Bit 0

H
Zero returning method setting
0 DS402 METHOD 35 (set current position as zero point)
DS402 METHOD 1 (for on-off operation of seeking for NOT switch in the
1
reverse direction, C pulse is required)
DS402 METHOD 2 (for on-off operation of seeking for POT switch in the
2
forward direction, C pulse is required)
DS402 METHOD 3 (for on-off operation of seeking for reference point switch in
3
the forward direction, C pulse is required)
DS402 METHOD 4 (for on-off operation of seeking for reference point switch in
4
the forward direction, C pulse is required)
DS402 METHOD 5 (for on-off operation of seeking for reference point switch in
5
the reverse direction, C pulse is required)
DS402 METHOD 6 (for on-off operation of seeking for reference point switch in
6
PA770 the reverse direction, C pulse is required)
DS402 METHOD 17 (for on-off operation of seeking for NOT switch in the
7
reverse direction, C pulse is not required)
DS402 METHOD 18 (for on-off operation of seeking for POT switch in the
8
forward direction, C pulse is not required)
DS402 METHOD 19 (for on-off operation of seeking for reference point switch
9
in the forward direction, C pulse is not required)
DS402 METHOD 20 (for on-off operation of seeking for reference point switch
10
in the forward direction, C pulse is not required)
DS402 METHOD 21 (for on-off operation of seeking for reference point switch
11
in the reverse direction, C pulse is not required)
DS402 METHOD 22 (for on-off operation of seeking for reference point switch
12
in the reverse direction, C pulse is not required)

Reserved

Enable back zero switch when powering on

0 Do not switch on back zero when powering on
1 Switch on back zero automatically after the first SON when powering on

PA771 On-off speed to meet reference

0 ~ 6000 rpm 100 Y
point
PA772 On-off speed to leave reference 0 ~ 6000 rpm 30 Y

162
K2 Series AC Servo Driver

Parame Power Remark

Name Setting range Setting unit Factory setting
ter No. reboot s
point
Low byte of speed/position
PA773 0 ~ 9999 1-reference pulse 0 N
switching reference point
High byte of speed/position 10000-reference
PA774 0 ~ 9999 0 N
switching reference point pulse

163
K2 Series AC Servo Driver

Appendix B List of Alarm Display

Alarm ALM Alarms Alarm contents Clear or

display output not
A01 H Encoder PA, PB, PC disconnection Encoder disconnection or cable welding problem. Clear

A02 H Encoder PU, PV, PW disconnection Encoder disconnection or cable welding problem. Clear

Overload Continuous running at a certain torque exceeding the

A03 H Clear
rated value

A04 H A/D switch channel abnormal A/D switch channel abnormal Clear

A05 H PU, PV, PW false code PU, PV, PW signals are all high or low Clear

A06 H PU, PV, PW phases incorrect PU, PV, PW signals are all high or low Clear

A10 H Overcurrent Servo drive IPM module current is overlarge. Clear

A11 H Overvoltage Servo drive main circuit voltage is too high. No

A12 H Undervoltage Servo drive main circuit voltage is too low. No

A13 H Parameter damage EEROM data in servo drive is abnormal. Clear

A14 H Over-speed Servo motor speed is extremely high Clear

A15 H Deviation counter overflow Internal position deviation counter overflow Clear

Position deviation is overlarge Position deviation pulse exceeds the set value of
A16 H Clear
parameter PA504.

Electronic gear fault Electronic gear is unreasonably set or pulse frequency is

A17 H Clear
too high

1st channel of current detection is Current detection abnormal

A18 H Clear
abnormal

2nd channel of current detection is Current detection abnormal

A19 H Clear
abnormal

A22 H Motor model is incorrect Servo drive parameters do not match with those of motor Clear

Servo drive does not match with Servo drive does not match with motor
A23 H Clear
motor

Bus encoder multi-coil information Multi-coil information error

A25 H Clear
error

Bus encoder multi-coil information Multi-coil information overflow

A26 H Clear
overflow

Bus encoder battery alarm 1 Battery voltage is lower than 2.5 V, multi-coil
A27 H Clear
information is lost

Bus encoder battery alarm 2 Battery voltage is lower than 3.1 V, battery voltage is
A28 H Clear
relatively low

A30 H Bleeder resistor disconnection alarm Braking resistor damage. Clear

A31 H Regeneration overload Regeneration processing circuit is abnormal. No

Momentary outage alarm. There is outage of over one power cycle under AC
A33 H Clear
current.

A34 H Rotary transformer is abnormal Rotary transformer communication is abnormal. Clear

Bus encoder communication is Servo drive and encoder cannot realize communication.
A40 H Clear
abnormal

A41 H Bus encoder overspeed When power is ON, encoder rotates at high speed Clear

164
K2 Series AC Servo Driver

Alarm ALM Alarms Alarm contents Clear or

display output not
A42 H Bus encoder absolute status error Encoder damage or encoder decoding circuit damage Clear

A43 H Bus encoder counting error Encoder damage or encoder decoding circuit damage Clear

Check error in bus encoder control Encoder signal is interrupted or encoder decoding circuit
A44 H Clear
field damage

Check error in bus encoder Encoder signal is interrupted or encoder decoding circuit
A45 H Clear
communication data damage

Stop bit error in bus encoder status Encoder signal is interrupted or encoder decoding circuit
A46 H Clear
field damage

Stop bit error in bus encoder SFOME Encoder signal is interrupted or encoder decoding circuit
A47 H Clear
damage

A48 H Bus encoder data are not initialized Bus encoder SFOME data are null Clear

A49 H Sum check error in bus encoder data Sum check in bus encoder EEPROM data is abnormal Clear

MODBUS communication timeout Drive fails to accept data normally at the set time in
A60 H Clear
PA602

CANopen master station heartbeat Drive fails to accept master station heartbeat massage
A61 H Clear
timeout normally at the set time

A70 H Drive overheat alarm Drive internal IPM module temperature is too high Clear

Software does not match with Parameter is wrongly set or software does not match
A90 H No
hardware with hardware

A-- L No error display Display normal action status Clear

165
K2 Series AC Servo Driver

Appendix C Guidelines for Motor Model by Users

Display after
steps Operation instruction key
operation

1 After energizing, gently press M function key to switch to auxiliary function mode. M

2 Gently press “UP” key for four times and set FA004.

3 Gently press SET key to enter password operation.

4 Long press (continuously for over 1 s) SET key to set password.

5 Import password 26753 and set password at each bit with Shift key.

6 Long press (continuously for over 1 s) SET key to confirm password.

7 Gently press SET key to exit password operation.

Gently press M function key for several times to switch to A axis parameter setting
8 M
mode.

9 Gently press “UP” key for six times and set FA006.

Press SET key to display current PA000 data. The decimal point in bit 0 currently
displayed flickers. Set motor manufacturer and encoder type with Shift key and "UP"
key.
Bit 3 Bit 2 Bit 1 Bit 0

H
Set encoder type
10 0: non wire-saving encoder
1: TAMAGAWA wire-saving encoder
Set motor manufacturer
0: H Series Motor
2: M Series Motor

Reserved

11 Press SET to return to the display of FA006.

12 Gently press “DOWN” key once to set FA005.

13 Gently press SET key to start motor model code setting.

Modify the value according to appendix (motor adaption table) and set value at each
14
bit with Shift key.

15 Gently press SET key to exit motor model code setting.

Note:
After setting motor model code, it is required to turn off and reboot servo drive to make modified parameters
effective.

166
K2 Series AC Servo Driver

Motor Adaption Table

Note: Before selecting motor model, please set motor manufacturer and encoder type first which can
both be set via PA006.

1: M Series Motor
If the motor is M Series Motor, refer to PA006 setting below:
Bit 3 Bit 2 Bit 1 Bit 0

H 0 0 2

Set encoder type

0: non wire-saving encoder
1: TAMAGAWA wire-saving encoder

Torque Rotation speed Power Motor Code

Motor model
N•m rpm kW Pn005
60ST-M00630 0.637 3000 0.2 0

60ST-M01330 1.27 3000 0.4 1

60ST-M01930 1.91 3000 0.6 2

80ST-M01330 1.27 3000 0.4 3

80ST-M02430 2.39 3000 0.75 4

80ST-M03520 3.5 2000 0.73 5

80ST-M04025 4.0 2500 1.0 6

90ST-M02430 2.4 3000 0.75 7

90ST-M03520 3.5 2000 0.73 8

90ST-M04025 4.0 2500 1.0 9

110ST-M02030 2.0 3000 0.6 10

110ST-M04020 4.0 2000 0.8 11

110ST-M04030 4.0 3000 1.2 12

110ST-M05030 5.0 3000 1.5 13

110ST-M06020 6.0 2000 1.2 14

110ST-M06030 6.0 3000 1.8 15

130ST-M04025 4.0 2500 1.0 16

130ST-M05025 5.0 2500 1.3 17

130ST-M06025 6.0 2500 1.5 18

130ST-M07725 7.7 2500 2.0 19

130ST-M10010 10.0 1000 1.0 20

130ST-M10015 10.0 1500 1.5 21

130ST-M10025 10.0 2500 2.6 22

167
K2 Series AC Servo Driver

Torque Rotation speed Power Motor Code

Motor model
N•m rpm kW Pn005
130ST-M15015 15.0 1500 2.3 23

130ST-M15025 15.0 2500 3.8 24

180ST-M17215 17.2 1500 2.7 25

180ST-M19015 19.0 1500 3.0 26

180ST-M21520 21.5 2000 4.5 27

180ST-M27010 27.0 1000 2.9 28

180ST-M27015 27.0 1500 4.3 29

180ST-M35010 35 1000 3.7 30

180ST-M35015 35.0 1500 5.5 31

130ST-M05015 5 1500 0.75 32

180ST-M17230 17.2 3000 5.4 33

130ST-M10030 10 3000 3 40

40ST-M00130 0.16 3000 0.05 41

40ST-M00330 0.32 3000 0.1 42

80ST-M03530 3.5 3000 1.0 43

130ST-M15010 15 1000 1.5 44

80ST-M03230 3.2 3000 1.0 45

110ST-M08020 8 2000 1.7 46

110ST-M10020 10 2000 2.0 47

130ST-M04010 4 1000 0.4 48

130ST-M07720 7.7 2000 1.6 49

150ST-M18010 18 1000 1.8 53

150ST-M18020 18 2000 3.6 54

150ST-M23020 23 2000 4.7 55

150ST-M27020 27 2000 5.5 56

100ST-M03230 3.2 2000 1.0 60

100ST-M06430 6.4 3000 2.0 61

130AST-M04025 4 2500 1.0 62

130AST-M05025 5 2500 1.3 63

130AST-M06025 6 2500 1.5 64

130AST-M07725 7.7 2500 2 65

130AST-M10015 10 1500 1.5 66

130AST-M15015 15 1500 2.3 67

168
K2 Series AC Servo Driver

Torque Rotation speed Power Motor Code

Motor model
N•m rpm kW Pn005
130AST-M10025B 10 2500 2.6 68

2. H Series Motor
If the motor is H Series Motor, refer to PA006 setting below:
Bit 3 Bit 2 Bit 1 Bit 0

H 0 0 0

Set encoder type

0: non wire-saving encoder
1: TAMAGAWA wire-saving encoder

Torque Rotation speed Power Motor Code

Motor model
N•m rpm kW Pn005

80ST-M01330LF1B 1.3 3000 0.4 0

80ST-M02430LF1B 2.4 3000 0.75 1

80ST-M03330LF1B 3.3 3000 1.0 2

110ST-M02030LFB 2.0 3000 0.6 3

110ST-M04030LFB 4.0 3000 1.2 4

110ST-M05030LFB 5.0 3000 1.5 5

110ST-M06020LFB 6.0 2000 1.2 6

110ST-M06030LFB 6.0 3000 1.8 7

130ST-M04025LFB 4.0 2500 1.0 8

130ST-M05025LFB 5.0 2500 1.3 10

130ST-M06025LFB 6.0 2500 1.5 11

130ST-M07720LFB 7.7 2000 1.6 12

130ST-M07725LFB 7.7 2500 2.0 13

130ST-M07730LFB 7.7 3000 2.4 14

130ST-M10015LFB 10 1500 1.5 15

130ST-M10025LFB 10.0 2500 2.5 16

130ST-M15015LFB 15.0 1500 2.3 17

130ST-M15025LFB 15.0 2500 3.8 18

150ST-M15025LFB 15.0 2500 3.8 19

150ST-M18020LFB 18.0 2000 3.6 20

150ST-M23020LFB 23.0 2000 4.7 21

150ST-M27020LFB 27.0 2000 5.4 22

169

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