C7 -13iC Absolute Value Series

AC servo driver
Design and debugging part

1
 Contents
Safety Instruction ............................................................................................ 6
Chapter Ⅰ Installation ....................................................................................... 8
1.1 Servo Driver Mounting Dimensions ..............................................8
1.2 Installation Situations ............................................................14
1.3 Installation Direction and Space ........................................ 15
Chapter II Functional Overview ....................................................................16
2.1 Servo C7 Series Basic Functions ................................................. 16
2.2 Servo Selection .............................................................................17
Chapter III Wiring ......................................................................................... 24
3.1 Notes .............................................................................................24
3.2 Wiring Requirements ................................................................... 24
3.3 Wiring Methods ............................................................................25
3.4 Typical Wiring ..............................................................................26
3.5 Servo Motor Brake Wiring Diagram ........................................... 30
Chapter IV Interfaces .................................................................................... 31
4.1 Servo Control Power Supply, Definition of High Power
Terminal ..............................................................................................31
4.2 Cn1 Interface, Control Signal Input/Output Definition ...............32
4.3 Cn2 Interface, Encoder Input Signal Definition .......................... 41
4.4 Cn3 Interface, 485 Interface Definition .......................................42
4.5 Principle of Switching Value Input Interface ...............................43
4.6 Principle of Switch Output Interface ........................................... 43
4.7 Principle of Pulse Quantity Input Interface ................................. 44
4.8 Pulse Input Form .......................................................................... 45
4.9 Principle of Analog Input Interface ............................................. 45
4.10 Feedback Interface Principle ......................................................47
2
 4.11 Second encoder interface definition ...........................................50
Chapter Ⅴ Display and Operation .................................................................51
5.1 Panel Operations .......................................................................... 51
5.2 Parameter Structure Composition ................................................ 52
5.3 Parameter Monitoring Mode（DP- -） .......................................53
5.4 Parameter Modification Mode（PA- -） .....................................56
5.5 Parameter Management Mode（EE- -） .................................... 56
5.6 JOG INCHING OPERATION MODE（Jr- -） ..........................58
5.7 Speed Test Operation Mode（Sr- -） ..........................................59
5.8 Analog Auto Zero Mode（AU- -） .............................................60
5.9 Encoder Auto Zero Mode（CO- -） ........................................... 61
5.10 Open Loop Operation Mode（OL- -） ..................................... 62
5.11 Encoder Write Mode（WR- -） ................................................ 62
Chapter VI Parameters .................................................................................. 53
6.1 Parameter List [PA Mode] ............................................................53
6.2 [Table of PE Functional Parameters] ........................................ 59
6.3 [PF Motor Parameter Table] ........................................................ 64
6.4 [Explanation of PA Functional Parameters] .................................69
6.5 [Detailed Explanation of PE Functional Parameters] ..................89
6.6 [Parameter Explanation of PF Motor] (Bus Drive does not
have this function at present) ............................................................. 93
Chapter VII Troubleshooting and Diagnosis ................................................ 96
7.1 Alarm List .....................................................................................96
7.2 Troubleshooting ............................................................................99
Chapter Ⅷ Debugging and Application ................................................... 108
8.1 Quick Debugging Note Item ...................................................... 108
8.2 Position Control (Quick Adjustment of Parameters
3
 After Power-on) ................................................................................109
8.3 Speed Control (Quick Adjustment of Parameters After
Power-on) ......................................................................................... 111
8.4 Torque Control (Quick Adjustment of Parameters After Power-on)
.......................................................................................................... 112
8.5 Dynamic Electronic Application ................................................113
8.6 Debugging Typical Problems ..................................................... 114
Chapter IX Servo Motor Part ...................................................................... 116
9.1 Servo Motor Plug Definition and Connection ........................... 116
9.2 Servo Motor Selection Instructions ........................................... 118
9.3 Size and Selection Parameters of Servo Motor ......................... 119

4
Appendix ......................................................................................................140
Appendix1 ........................................................................................ 140
Appendix 2 ....................................................................................... 152
Appendix 3 ....................................................................................... 153
Appendix 4 ....................................................................................... 154
Appendix 5 ....................................................................................... 156
Appendix 6 ....................................................................................... 158
Appendix 7 ....................................................................................... 159
Appendix 8 ....................................................................................... 160
Appendix 9 ....................................................................................... 161
Appendix 10 ..................................................................................... 162
Appendix 11 ..................................................................................... 163
Appendix 12 ..................................................................................... 164
Appendix 13 ..................................................................................... 165

5
 Safety Instruction
I. Personnel security
 This product is a high-voltage and high-current product, which ensures that
personnel are in the safe area of the moving mechanism when electrified.
 This product is high voltage and high current product, and wrong operation
may cause accidents such as arc burn and electric shock.
 It is forbidden not to operate the wiring and electrify according to the
instructions.

II. Safe occasions

 This product is high voltage, high current products, it is forbidden to use
electricity in combustible gas, corrosive gas, otherwise it may cause fire,
explosion.。
 It is forbidden to use electricity at the dripping place of flammable and
explosive materials, which may cause fire and explosion.
 It is forbidden to use it under the conditions of high humidity and moisture
metal powder, which may cause electric shock to oneself and others, and other
dangerous situations.

III. Safety of products and equipment

 This product is a high voltage and high current product, and wrong
connection will cause damage to the product.
 PE terminal must be grounded, and ensure that the ground wire is reliably
grounded.
 L Series of this product is suitable for AC220V power supply; H Series is
suitable for AC 380V power supply. Do not connect it incorrectly.
 Products U, V and W should be connected with the motor for output, please
do not connect with the input power supply.
 U, V, W products for three-phase output do not connect wrong sequence,
wrong connection may cause motor speed, equipment damage, and the product
over-current damage.
 Fasten all terminals, and all wiring specifications are strictly selected
according to power.
 It is forbidden to distribute power or touch terminals when the driver is
powered on.
 Do not touch the terminal within 5 minutes of power failure.
It is forbidden to touch the motor and cable when the motor is running to
prevent accidental injuries such as scald and sprain.

6
Remarks

7
 ChapterⅠInstallation

Chapter Ⅰ Installation

1.1 Servo Driver Mounting Dimensions

1.1.1 10A/22A/32A servo mounting dimensions (Unit: MM)
Side view
Front view

Rear view Axonometric

drawing

2-M4 screw hole

Recommended screw: 2-M4; Recommended locking torque: 1.2N.M

Fig.1.1.1 10A/22A/32A appearance dimension diagram

8
 ChapterⅠInstallation
1.1.2 20A/30AServo Driver Mounting Dimensions(Unit: MM)

Front view Side view

Axonometric
Rear view
drawing

2-M4 screw hole

Recommended screw: 2-M4; Recommended locking torque: 1.2N.M

Fig.1.1.2 20A/30A appearance dimension diagram

9
 ChapterⅠInstallation

1.1.3 35A servo mounting dimensions (Unit: MM)

Front view Side view

Axonometric
Rear view
drawing

2-M4 screw hole

正视图
Front view
侧视图
Side view

Recommended screw: 2-M4; Recommended locking torque: 1.2N.M

Fig.1.1.3 35A appearance dimension diagram

10
 ChapterⅠInstallation

1.1.4 25A/50A/75A Servo Driver Mounting Dimensions(Unit: MM)

Front view Side view

Rear view Axonometric

drawing

4-M4 screw hole

Recommended screw: 4-M4; Recommended locking torque: 1.2N.M

Fig.1.1.4 25A/50A/75A appearance dimension diagram

11
ChapterⅠInstallation

1.1.5 160A Servo Driver Mounting Dimensions(Unit: MM)

Front view Side view

Rear view Axonometric

drawing

4-M5 screw hole

Recommended screw: 4-M5; Recommended locking torque: 2N.M

Fig.1.1.5 160A installation dimension diagram

12
 ChapterⅠInstallation

1.1.6 200A Servo Driver Mounting Dimensions(Unit: MM)

Front view Side view

Axonometric
drawing
Rear view

4-M5 screw hole

Recommended screw: 4-M5; Recommended locking torque: 2N.M

Fig.1.1.6 200A installation dimension diagram

13
ChapterⅠInstallation

1.2 Installation Situations

1. To ensure the normal operation of the driver, it is necessary to ensure that

the temperature around the driver is below 50℃ and the relative humidity

is below 90%. Long-term safe working temperature below 40℃.

2. The servo driver is prone to failure when it is used in corrosive gas,

humidity, metal dust, water and processing liquid and harsh environment.

Therefore, the working environment of the drive should be fully

considered in the process of using and installing.

3. The vibration of the equipment directly or indirectly connected with the

servo driver should be guaranteed below 0.5 G (4.9 m/S2) or less, so as to

ensure the long-term stable operation of the servo driver.

4. The servo driver may be disturbed while interfering, so when installing the

electric cabinet or complete set of equipment, we must pay attention to the

wiring of strong electricity and weak electricity, because when the external

interference signal is very strong, when the influence on the power line and

control signal of the servo driver is serious, it will lead to the driver not

working normally, and it may also make the driver misoperate. When the

wiring is poor, the control equipment such as the upper computer will work

unstably under the interference of driving. Pay attention to installing

acoustic-magnetic rings, filters, isolation transformers, etc. at interference

sources and interfered places. Special attention should be paid to the

control signal lines of drivers which are easily disturbed, and reasonable

routing and shielding measures should be taken.

14
 ChapterⅠInstallation

1.3 Installation Direction and Space

1. Pay attention to the installation direction (see Fig.1.3).

2. Pay attention to the installation spacing (see Fig. 1.3).

3. 4 M5 screws can be fixed, and elastic pads need to be installed.

4. Servo must be installed in a relatively closed space, keep ventilation in the

electric cabinet, install filter screens at the vents to prevent dust from

entering, and clean them regularly to prevent blockage of airflow.

Upward ventilation

Over 100mm

Fig.1.3 Installation orientation map

15
Chapter II Functional Overview

Chapter II Functional Overview

2.1 Servo C7 Series Basic Functions
Model C7-13iC

Control power L: Power supply for single-phase or three-phase AC220V; H:

supply and main Three-phase 380V supply voltage fluctuation:-15 ~ +10%, 50/60
loop power supply Hz
Envi Temperatur Operation: 0 ~ 55 ° C Storage:-40 ° C ~ 80 ° C
ron e
men Humidity Not more than 90% (no condensation)
t Air index There is no dust in the electric cabinet (conductive medium such
as iron dust)
1: Position control 2: Speed control 3: Torque control 4: JOG
Control mode operation 5: Internal Speed Four Speed 6: Internal Position
Control 7: Internal Torque Control 8: Position & Speed Control 9:
Speed & Torque Control
1: Enable 2: Reset 3: Position deviation cleared 4: Pulse, CCW,
External I/O CW, Prohibited 5: Position Switch 6: Speed Selection 7: Zero
Speed Clamp 8: Second Return Zero 9: Extended functions such
as orientation and quasi-stop (option) 10: Positioning completed
Encoder feedback 10000p/r (standard), 17bit/23bit/biss/resolver (optional)

Communication RS485/MECHATROLINK/EtheCAT/CANopen (option)

mode
Load inertia Less than 5 times of motor inertia
Monitoring Rotating speed, current position, command pulse accumulation,
function position deviation, motor current, running state, input and output
terminals, Z pulse signal, etc.
Protection function Overvoltage, overcurrent, overspeed, overload, abnormal
feedback, etc.
Alarm function When the servo works abnormally, it is accompanied by alarm
output, LED flashing and red light
Gain adjustment When the motor is running or stopping, the gain can be adjusted
to match the motor performance
Adaptive motor See Tables 2.21, 2.22, 2.23, 2.24, 2.25

Table 2.1 List of Functions

16
 Chapter II Functional Overview

2.2 Servo Selection

W:Natural
cooling
F:Air Cooling
R:Resolver
S:Liquid
B: biss protocol Cooling

W: Built-in brake
Z: External brake

L:Single-phase/three-phase
220V
H:Three-phase 380V
B: Three-phase 220V

17
 Chapter II Functional Overview
Rated Rated
Adaptive driver Power
Model code Adaptive motor current torque
(AC 220V) (Kw)
(A) (Nm)

30 C7-13IC10L 40ST-M00130LMB 0.05 0.4 0.16

31 C7-13IC10L 40ST-M00330LMB 0.1 0.6 0.32
33 C7-13IC10L 60ST-M00630LMB 0.2 1.2 0.6
34 C7-13IC22L 60ST-M01330LMB 0.4 2.8 1.3
35 C7-13IC22L 60ST-M01930LMB 0.6 3.5 1.9
0 C7-13IC22L 80ST-M01330LMB 0.4 2.6 1.3
1 C7-13IC32L 80ST-M02430LMB 0.75 4.2 2.4
1 C7-13IC32L 80ST-M03330LMB 1.0 4.2 3.3
1 C7-13IC32L 80ST-M04030LMB 1.2 4.5 4
0 C7-13IC22L 90ST-M02430LMB 0.75 3 2.4
0 C7-13IC22L 90ST-M03520LMB 0.73 3 3.5
1 C7-13IC32L 90ST-M04025LMB 1 4 4
4 C7-13IC32L 110ST-M02030LMBB LMB 0.6 4 2
5 C7-13IC32L 110ST-M04030LMB 1.2 5 4
5 C7-13IC30L 110ST-M05030LMB 1.5 6 5
5 C7-13IC30L 110ST-M06020LMB 1.2 6 6
6 C7-13IC30L 110ST-M06030LMB 1.8 8 6
9 C7-13IC30L 130ST-M04025LMB 1 4 4
9 C7-13IC30L 130ST-M05025LMB 1.3 5 5
14 C7-13IC30L 130ST-M06025LMB 1.5 6 6
14 C7-13IC30L 130ST-M07720LMB 1.6 6 7.7
11 C7-13IC30L 130ST-M07725LMB 2.0 7.5 7.7
15 C7-13IC50B 130ST-M07730LMB 2.4 9 7.7
14 C7-13IC30L 130ST-M10015LMB 1.5 6 10

Table 2.21

18
 Chapter II Functional Overview
Rated
Model Adaptive driver Power Rated current
Adaptive motor torque
code (AC 220V) (Kw) (A)
(Nm)

15 C7-13IC50B 130ST-M10025LMB 2.6 10 10

15 C7-13IC50B 130ST-M15015LMB 2.3 9.5 15
15 C7-13IC50B 130ST-M12020LMB 2.4 10 12
14 C7-13IC50L 130ST-M07720LMB 1.6 6 7.7
11 C7-13IC50L 130ST-M07725LMB 2.0 7.5 7.7
15 C7-13IC50L 130ST-M07730LMB 2.4 9 7.7
14 C7-13IC50L 130ST-M10015LMB 1.5 6 10
15 C7-13IC50L 130ST-M10025LMB 2.6 10 10
15 C7-13IC50L 130ST-M15015LMB 2.3 9.5 15
48
17 C7-13IC50L 130ST-M15025LMB 3.9 17 15
17 C7-13IC50L 150ST-M12030LMB 3.6 16.5 12
17 C7-13IC50L 150ST-M15025LMB 3.8 16.5 15
17 C7-13IC50L 150ST-M18020LMB 3.6 16.5 18
19 C7-13IC50L 150ST-M23020LMB 4.7 20.5 23
19 C7-13IC50L 150ST-M27020LMB 5.5 20.5 27
15 C7-13IC50L 150ST-M12020LMB 2.4 10 12
12 C7-13IC50L 180ST-M17215LMB 2.7 10.5 17
12 C7-13IC50L 180ST-M19015LMB 3 12 19
13 C7-13IC50L 180ST-M21520LMB 4.5 16 21
12 C7-13IC75L 180ST-M27010LMB 2.9 12 27
13 C7-13IC75L 180ST-M27015LMB 4.3 16 27
13 C7-13IC75L 180ST-M35010LMB 3.7 16 35
19 C7-13IC75L 180ST-M35015LMB 5.5 24 35

Table 2.22

19
Chapter II Functional Overview

Rated
Model Adaptive driver Power Rated current
Adaptive motor torque
code (AC 220V) (Kw) (A)
(Nm)

103 C7-13IC25H 130ST-M07720HMB 1.6 4 7.7

109 C7-13IC25H 130ST-M07725HMB 2.0 5.5 7.7
109 C7-13IC25H 130ST-M07730HMB 2.4 6.5 7.7
112 C7-13IC25H 130ST-M10015HMB 1.5 4.5 10
113 C7-13IC25H 130ST-M10025HMB 2.6 7 10
113 C7-13IC25H 130ST-M15015HMB 2.3 7 15
116 C7-13IC50H 130ST-M15025HMB 3.9 11.5 15
116 C7-13IC50H 150ST-M12030HMB 3.6 11.5 12
116 C7-13IC50H 150ST-M15025HMB 3.8 11.5 15
116 C7-13IC50H 150ST-M18020HMB 3.6 10.5 18
120 C7-13IC50H 150ST-M23020HMB 4.7 13.5 23
120 C7-13IC50H 150ST-M27020HMB 5.5 13.5 27
109 C7-13IC25H 180ST-M17215HMB 2.7 6.5 17
113 C7-13IC25H 180ST-M19015HMB 3 7.5 19
114 C7-13IC50H 180ST-M21520HMB 4.5 9.5 21
113 C7-13IC50H 180ST-M27010HMB 2.9 7.5 27
114 C7-13IC50H 180ST-M27015HMB 4.3 10 27
114 C7-13IC50H 180ST-M35010HMB 3.7 10 35
116 C7-13IC75H 180ST-M35015HMB 5.5 12 35
125 C7-13IC75H 180ST-M48015HMB 7.5 20 48

Table 2.23

20
 Chapter II Functional Overview
Rated
Model Adaptive driver Power Rated current
Adaptive motor torque
code (AC 220V) (Kw) (A)
(Nm)

102 C7-13IC25H 130ST-M04025HMB 1.0 3 4

102 C7-13IC25H 130ST-M05020HMB 1.0 3 5

102 C7-13IC25H 130ST-M05025HMB 1.3 3.5 5

112 C7-13IC25H 130ST-M06025HMB 1.5 4.5 6

103 C7-13IC25H 130ST-M07720HMB 1.6 4 7.7

109 C7-13IC25H 130ST-M07725HMB 2.0 5.5 7.7

109 C7-13IC25H 130ST-M07730HMB 2.4 6.5 7.7

112 C7-13IC25H 130ST-M10015HMB 1.5 4.5 10

113 C7-13IC35H 130ST-M10025HMB 2.6 7 10

113 C7-13IC35H 130ST-M15015HMB 2.3 7 15

116 C7-13IC35H 130ST-M15025HMB 3.9 11.5 15

116 C7-13IC35H 150ST-M15025HMB 3.8 11.5 15

114 C7-13IC35H 150ST-M18020HMB 3.6 10.5 18

120 C7-13IC50H 150ST-M23020HMB 4.7 13.5 23

120 C7-13IC50H 150ST-M27020HMB 5.5 13.5 27

114 C7-13IC50H 180ST-M18020HMB 3.6 10 18

120 C7-13IC50H 180ST-M23020HMB 4.7 13.5 23

120 C7-13IC50H 180ST-M27020HMB 5.5 13.5 27

120 C7-13IC50H 180ST-M36015HMB 5.6 14 36

120 C7-13IC50H 180ST-M23020HMB 4.7 13.5 23

120 C7-13IC50H 180ST-M27020HMB 5.5 13.5 27

Table 2.24

21
 Chapter II Functional Overview
Powe Rated
Model Adaptive driver Rated current
Adaptive motor r torque
code (AC 220V) (A)
(Kw) (Nm)

120 C7-13IC75H 180ST-M36015HMB 5.6 14 36

118 C7-13IC75H 180ST-M45015HMB 7.0 16.5 45

125 C7-13IC160H 180ST-M55015HMB 8.6 20.5 55

127 C7-13IC160H 180ST-M70016HMB 12.5 38 70

116 C7-13IC75H 200ST-M38015HMB 6 11.6 38

X C7-13IC160H 200ST-M42020HMB 8.7 18.8 42

X C7-13IC160H 200ST-M55015HMB 20.2 16.6 55

X C7-13IC160H 200ST-M58020HMB 12 24.3 58

X C7-13IC160H 200ST-M74015HMB 26.5 26.5 74

X C7-13IC160H 200ST-M87020HMB 18.2 36.7 87

X C7-13IC160H 200ST-M103015HMB 16.4 33.2 103

X C7-13IC200H 200ST-M950020HMB 20.4 40.1 95

X C7-13IC200H 200ST-M12805HMB 20 41 128

X C7-13IC200H 200ST-M135020HMB 28.3 60.5 135

X C7-13IC200H 200ST-M186015HMB 29 61 186

X C7-13IC200H 200ST-M175020HMB 36.7 73.7 175

X C7-13IC200H 264ST-M215020HMB 49 96 215

X C7-13IC200H 264ST-M210015HMB 33 62 210

X C7-13IC200H 264ST-M220015HMB 37 72.73 220

Remarks: Model code X is manually set according to the parameters of servo motor, and there is no built-in code

Table 2.25
for driving;

22
 Chapter II Functional Overview

Remarks:

23
 Chapter III Wiring

Chapter III Wiring

3.1 Notes
Servo drive is a high-voltage and high-current product, and misconnection will cause
personal injury and equipment damage.
PE terminal must be grounded, and ensure that the ground wire is reliably grounded.
L Series of this product is suitable for AC220V power supply; H Series is suitable for
AC 380V power supply, do not connect wrong.
Products U, V and W should be connected with the motor for output, please do not
connect with the input power supply.
U, V, W products for three-phase output do not connect wrong sequence, wrong
connection may cause motor speed, equipment damage, and the product overcurrent
burn out.
Fasten all terminals, and all wiring specifications are strictly selected according to
power.
It is forbidden to distribute power or touch terminals when the driver is powered on.
Do not touch the terminal within 5 minutes of power failure.
It is forbidden to touch the motor and cable when the motor is running to prevent
accidental injuries such as scald and sprain.

3.2 Wiring Requirements

 It is best to use three-phase isolated transformer for power supply.
 The wire diameter of R, S, T, U, V, W and PE should be ≥ 1.5 mm2.
 All power terminals require cold pressing terminals to ensure firmness and
reliability.
 CN1 and CN2 are high-density signal plugs with shielded cables.
 PE terminal connection requires yellow-green wire diameter ≥ 2.5 mm2.

24
 Chapter III Wiring

3.3 Wiring Methods

It is best to use three-phase isolated transformer for power supply.
The wire diameter of R, S, T, U, V, W and PE should be ≥ 1.5 mm2.
All power terminals require cold pressing terminals to ensure firmness and reliability.
CN1 and CN2 are high-density signal plugs, and both ends of the shielding layer are
grounded and connected with the shell.
PE terminal wires should be connected to the ground of the connected equipment
housing and connected to the ground.

25
 Chapter III Wiring

3.4 Typical Wiring

3.4.1 Position control (pulse type)
Circuit breaker
Servo motor
Single-phase or three-phase AC220V

External braking resistor

Servo motor
socket

DC 12V to 24V
Servo enable
Alarm clearing
CCW Drive Disable
CW Drive Disable
Deviation count cleared
shield
Command pulse inhibition

Servo ready

Servo alarm

Positioning

complete/second return zero

Brake elasticity Bus servo motor socket

24V Pulse Command PULS

24V Pulse Command SIGN

5V Pulse Command PULS

5V Pulse Command SIGN

Feedback to the control Host computer

unit

Signal ground
Encoder 0V
Encoder Z signal
Device petty return

The shielding layer is connected with the

housing

Fig. 3.4. 1 Position control wiring

26
 Chapter III Wiring

3.4.2 Speed Control (Analog)

Circuit breaker
Servo motor
Single-phase or three-phase
AC220V

External braking resistor Servo motor socket

DC 12V to 24V

Servo enable
Alarm clearing
CCW Drive Disable
CW Drive Disable
Zero speed clamp/speed
selection 1
Speed selection 2

shield

Servo ready

Servo alarm
Positioning Bus servo motor socket

complete/second return zero

Brake elasticity

Feedback to the control unit

Host computer
Signal ground
Encoder 0V
Encoder Z signal
Device petty return

The shielding layer is connected with the housing

Fig. 3.4.2 Speed control wiring

27
 Chapter III Wiring

3.4.3 Torque Control (Analog)

cuit breaker

Servo motor
AC220V
Single-phase or three-phase

Servo motor
External braking resistor socket

DC 12V to 24V

Servo enable
Alarm clearing
CCW Drive Disable
CW Drive Disable
CCW torque limit
CW torque limit

shield

Servo ready

Servo alarm
Positioning Bus servo motor socket

complete/second return zero

Brake elasticity

Torque simulation command

(-10V to + 10V)

Feedback to the control unit

Signal ground
Encoder 0V
Host computer

Encoder Z signal
Device petty return

The shielding layer is connected with the housing

Fig. 3.4.3 Torque control wiring

28
 Chapter III Wiring

3.4.4 Wiring diagram of bus type motor encoder

Servo motor

Servo motor socket

shield

Bus servo motor socket

Battery case

Fig. 3.4.4 Wiring diagram of Domochuan multi-turn absolute value encoder

29
 Chapter III Wiring

3.5 Servo Motor Brake Wiring Diagram

DC12V to DC24V Switching Signal

Power Supply
Servo motor
KA relay Servo driver

Brake coil Brake power supply DC12V to DC24V

Fig. 3.5.1 Brake motor wiring diagram

Pin No. Pin identification Function description

1 DC+ DC power supply positive DC24V+
2 DC- DC power supply negative 0V
3 PE Shell grounding

Fig. 3.5.1 Internal contracting brake sockets for servo motors

It is required that the brake power supply should be separated from the DC power
supply of the upper computer and driver to prevent interference.
The braking power supply of the brake has positive and negative poles, which cannot
be connected to prevent short circuit.
In order to improve the braking effect and response, freewheeling diodes (pay
attention to positive and negative poles) can be added at both ends of the braking coil.

30
 Chapter IV Interfaces

Chapter IV Interfaces
4.1 Servo Control Power Supply, Definition of High

Power Terminal
Ident Signal name Function
ificat
ion
R Control loop, main R, S and T can be connected to three-phase or
S loop power supply single-phase 220V 50HZ power supply with any
T (connected by two terminals. The control power supply and main
isolation transformer) circuit power supply of this machine are designed
in an integrated way.
Note: It cannot be connected with motors U, V and
W
PE Input power It is connected with the equipment shell and the
grounding wire main power supply of the workshop.
B1 External braking Usually, it is not required, because the driver has
B2 resistor built-in resistance, and external braking resistance
is selected in case of large inertia load.
U Output to servo U, V and W on servo terminals must correspond to
V motor those on servo motors and cannot be misplaced. If
W the motor is connected incorrectly, the servo will
give an alarm, which may lead to damage to the
servo and motor.
Note: It cannot be connected to power supply R, S
and T.
PE Output motor ground It is connected with servo motor housing PE.
wire
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 Chapter IV Interfaces

4.2 Cn1 Interface, Control Signal Input/Output

Definition

Fig. 4.2 Solder pad facing CN1 36 core plug

Pin Identification Signal name Function

18 ＋24V Input power Common terminal of input terminal (connected to + 12V ~

supply is + 24V power supply)
positive
10 SON Servo enable Enable terminal:
OFF when 0V is disconnected: the drive stops the motor in
a free state.
When 0V is turned ON, it is ON: the driving working
motor is locked.
After 40MS is enabled, commands can be received.
This signal cannot be frequently switched on and off for
motor start and stop.
11 A－CLR Alarm Alarm Clear/Mode Switch Terminal:
Clear/Mode OFF when 0V is disconnected: normal state or keep alarm
Switch state.
ON when 0V is turned ON: clear the alarm.
 Mode switching is effective when PA32=1.
12 FSL CCW Drive Do not allow the servo motor to rotate the terminal
Disable counterclockwise:
 When parameter PA20=0:
OFF when 0V is disconnected: the servo motor can rotate
counterclockwise.

32
 Chapter IV Interfaces
ON when 0V is turned ON: the servo motor is forbidden to
rotate counterclockwise.
 Equivalent to the effect of limit switch, PA55 can be
set normally open and normally closed.
Used in conjunction with parameter PA20, this function is
blocked when it is 1.

33
Chapter IV Interfaces

Pin Identi Sign Function

ficatio al
n nam
e
13 FSR CW Do not allow the servo motor to rotate the terminal clockwise:
Driv  When parameter PA20=0:
e OFF when 0V is disconnected: the servo motor can rotate
Disa clockwise.
ble ON when 0V is turned ON: the servo motor is forbidden to
rotate clockwise.
 Equivalent to the effect of limit switch, PA55 can be set
normally open and normally closed.
 Used in conjunction with parameter PA20, this function
is blocked when it is 1.
14 CLE The Position deviation counter clearing terminal 1:
devi  In position control mode, that is, when PA4=0:
atio OFF when 0V is turned OFF: the counter value is maintained.
n ON when 0V is connected: the position deviation counter is
coun cleared.
ter
is
clear
ed
SC1 Inter Internal speed selection terminal:
nal  When parameters PA4=1 and PA22=0, it is the internal
Spee speed mode
d Four internal speeds are selected through the combination of
Sele SC1 (14 pins) and SC2 (15 pins) and the on-off of 0V:
ctor SC1 OFF, SC2 OFF: Internal speed 1;
Ter SC1 ON, SC2 OFF: Internal speed 2;
min SC1 OFF, SC2 ON: Internal Speed 3;
al 1 SC1 ON, SC2 ON: Internal Speed 4;
The four speeds can be changed by PA24, PA25, PA26 and
PA27.
ZERO Zero Speed command analog zero setting terminal:
spee  External analog speed mode when parameters PA4=1 and
d PA22=1:
clam OFF when 0V is turned OFF: the speed command is an analog
p input value.
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 Chapter IV Interfaces
ON when 0V is turned ON: the speed command is set to zero.
External analog control PA22=2, 0 ~ + 10V control forward
rotation
During torque control, limit the motor to rotate the terminal
clockwise:
The value of parameter PA38 is valid when 0V is turned on,
otherwise it is invalid.
In torque control, parameter PA34 always plays a limiting role.
CCW 0 ～ ■External analog control PA22=2, 0 ~ + 10V control forward
+10f rotation
orw
ard
rotat
ion
RIL CC During torque control, limit the motor to rotate the terminal
WC clockwise:
CW The value of parameter PA38 is valid when 0V is turned on,
torq otherwise it is invalid.
ue In torque control, parameter PA34 always plays a limiting role.
limit

35
Chapter IV Interfaces

Identificat Signal
Pin ion name Remarks
15 INH Command Command Pulse Disable Terminal:
pulse  Under external position control mode when
inhibition parameter PA4=0:
OFF when 0V is turned OFF: the command pulse
input is valid.
ON when 0V is turned ON: command pulse input is
prohibited.
Internal Speed Selector Terminal 2:
SC2 Internal Internal Speed Selector Terminal 2:
Speed When parameters PA4=1 and PA22=0, it is the
Selector internal speed mode
Terminal 2 Four internal speeds (set by PA24, ~ PA27) are
selected through the combination of SC1 (14 pins)
and SC2 (15 pins) and the on-off of 0V:

FIL CCW In torque control, parameter PA35 always plays a

torque limiting role.
limit External analog control PA22=2, 0 ~ + 10V control
inversion;
Example: 8 pins are connected to + 24V, and 25
pins are connected to the upper computer.
When the servo is normal, the upper function
receives the + 24V level.
CW 0 ~ +10 ■External analog control PA22=2, 0 ~ + 10V
inversion control inversion;
8 SRDY＋ Servo Example: 8 pins are connected to + 24V, and 25
ready to pins are connected to the upper computer.
25 SRDY－ output When the servo is normal, the upper function
receives the + 24V level.
When servo alarms, + 24V is disconnected from the
upper computer.
Example: 25 pins are connected to 0V, and 8 pins
are connected to the upper computer.
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 Chapter IV Interfaces
When the servo is normal, the upper function
receives 0V level.
When servo alarm, 0V is disconnected from the
upper computer (normally closed).
 Through the parameter PA57, the level can be
reversed or switched normally open and
normally closed

37
Chapter IV Interfaces

Identific
Pin ation Signal name Remarks
26 ALM＋ Servo alarm Example: 26 pins are connected to + 24V, and 27
27 ALM－ output pins are connected to the upper computer.
The upper function receives + 24V level when
servo alarm occurs.
When the servo is normal, + 24V is disconnected
from the upper computer.
Example: 27 pins are connected to 0V, and 26 pins
are connected to the upper computer.
When the servo is normal, the upper function
receives 0V level.
When servo alarm, 0V is disconnected from the
upper computer (normally closed).
 Through the parameter PA57, the level can
be reversed or switched normally open and
normally closed
28 COIN＋ The second Example: 28 pins are connected to + 24V, and 29
zero (used by pins are connected to the upper computer.
29 COIN－
Siemens) When the positioning is completed or the speed
Positioning reaches or zero, the upper function receives it
completed or + 24V level, otherwise + 24V is disconnected from
speed arrived the upper computer.
(PA42 switch) Example: 29 pins are connected to 0V, and 28 pins
are connected to the upper computer.
When the positioning is completed or the speed
reaches or zero, the upper function receives it
0V level, otherwise 0V is disconnected from the
upper computer.
 Through the parameter PA57, the level can
be reversed or switched normally open and
normally closed
 Most of the machine tool industry is Siemens
801 and 802 CNC petty use
30 BRK＋ Elasticity of Output of lock switch:
mechanical Example: 30-pin connection + 24V, 31-pin
31 BRK－ brake (lock connection relay coil positive.
brake) When the motor is enabled, the intermediate relay
coil can receive + 24V level, otherwise + 24V is
38
 Chapter IV Interfaces
disconnected from the intermediate relay coil.
Example: Pin 31 is connected to 0V, and Pin 30 is
connected to negative relay coil.
When the motor is enabled, the intermediate relay
coil can receive 0V level, otherwise 0V is
disconnected from the intermediate relay coil.
 Through the parameter PA57, the level can
be reversed or switched normally open and
normally closed
 PA47 Set Brake Delay Pass
 PA48 Set Enable Delay Off

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Chapter IV Interfaces

Identific
Pin ation Signal name Remarks
32/16 PULS＋ Command External command pulse input terminal:
pulse PLUS  PA36 and PA37 set pulse filter coefficients to
33 PULS－ input resist interference.
 Pulse Input Form is set by parameter PA14
34/17 SIGN＋ Command during position control
pulse PLUS PA14=0, pulse + direction (default).
35 SIGN－ input PA14=1, CCW/CW pulse mode.
PA14=2, two-phase command pulse mode.
19 DA＋ Analog speed External analog speed command input terminal.
20 DA－ command Speed control analog command input range-10V ~
input + 10V
23 GND Analog input Analog input ground
ground
21 AT＋ Analog torque External analog torque command input terminal.
command The input range of speed control analog command
22 AT－
input is-10V ~ + 10V.
24 GND Analog input Analog input ground
ground
1 OA+ Encoder
2 OA- Phase A
3 OB+ Encoder The ABZ signal of encoder is differential, and the
4 OB- Phase B output of driver is fed back to the upper computer.
5 OZ+ Encoder
6 OZ- Phase Z
7 CZ Encoder For setting zero-finding point, there is only one
Z-phase open Z-phase signal when the motor rotates once.
collector
output
9 GND Encoder 0V Encoder Z-phase signal is output by collector open
circuit, encoder Z-phase signal output is ON
(conduction state), otherwise output OFF (cut-OFF
state);
36 PE Shield layer Encoder 0V (common ground, or common ground
ground wire with 36 pins)

40
 Chapter IV Interfaces

4.3 Cn2 Interface, Encoder Input Signal Definition

Fig. 4. 3- Solder pad facing CN2 26 core plug

Pin Identification Signal name Remarks

14 ＋5V Encoder + 5V power supply Supply power to encoder with

20 0V Encoder 0V ground shielded cable

1 SD＋ Encoder positive input Connected to servo motor

encoder SD +
2 SD－ Encoder negative input Connected to servo motor
encoder SD-
26 PE Shield layer ground wire It is connected with the metal
shell to ensure reliable
connection to the earth.

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Chapter IV Interfaces

4.4 Cn3 Interface, 485 Interface Definition

2-pin 4-pin 6-pin

1-pin 3-pin 5-pin

Fig. 4. 4 CN3 interface facing the plug pad

1: Driver CN3 interface definition (modbus standard protocol)

Pin number 1，2 3 4 5 6
Identification GND 485+ 485- Empty Empty

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 Chapter IV Interfaces

4.5 Principle of Switching Value Input Interface

Servo driver

Fig. 4.5 Switch Value Input Interface

External DC12V-24V power supply is required, and the current is ≥ 105 MA.
If positive and negative connection will cause drive damage and can not work
normally.

4.6 Principle of Switch Output Interface

Servo driver

Fig. 4. 6 Switch Value Input Interface

Maximum output voltage 25V, Maximum current ≤ 55MA.
If positive and negative connection will cause drive damage and abnormal work.
The output load is an inductive element, and the reverse parallel freewheeling diode
is required (the polarity must be connected correctly or the driver will be damaged,
which is equivalent to short circuit).

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 Chapter IV Interfaces

4.7 Principle of Pulse Quantity Input Interface

Servo driver

Fig. 4. 7-a pulse differential output mode

Servo driver

Fig. 4. 7-b pulsed single-ended output mode

The differential pulse output form should be relatively reliable, and it is
recommended to use AM26LS31 and other similar RS422 line drivers.
The single-ended input mode is supplied with external power, and the working
frequency will be reduced. There are the following empirical data:
Input voltage Vcc Series resistance R
24V 1.4K~2K
12V 500Ω~820Ω
5V 80Ω~120Ω
44
 Chapter IV Interfaces

4.8 Pulse Input Form

Pulse form CCW operation CW operation Parameter
selection
Pulse plus PA14=0
direction
CCW pulse Parameter
CW pulse PA14=1

AB biphasic Parameter
PA14=2
orthogonal pulse
Fig. 4. 8 Pulse form

4.9 Principle of Analog Input Interface

Host computer Servo driver

Fig. 4.9-a Analog differential input interface

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Chapter IV Interfaces

Host computer Servo driver

Fig. 4. 9-b Analog single-ended input interface

Servo driver

Potentiometer

Fig. 4.9-c Analog Differential Potentiometer Input Interface

46
 Chapter IV Interfaces

Servo driver

Potentiometer

Fig. 4. 9-d Analog single-ended potentiometer input interface

The analog input voltage cannot exceed the range of-10V ~ + 10V, otherwise the
driver will be damaged.
Analog quantities are biased because of attenuation and interference in wires and
interface circuits. It is recommended to connect with shielded cable and ground at
both ends. Threshold voltage can be set for parameter PA49 (unit: rpm).
The deviation of analog quantity exists and must be adjusted. Parameter PA45 can
compensate the deviation.

4.10 Feedback Interface Principle

4.10.1 Encoder Signal Output CN1 Interface (Differential
Signal Driver to Host Computer)
Host computer reception Servo driver

Fig. 4.10.1 CN1 Encoder Output Interface

47
Chapter IV Interfaces
The encoder signal is output by differential driver AM26LS31 without isolation.
The upper computer can adopt AM26LS32 receiving or high-speed photoelectric
coupling receiving.

48
 Chapter IV Interfaces

4.10.2 Encoder Z signal output CN1 interface (pins 7 and 9

output to the upper computer for change)

Servo motor encoder

Servo driver

Fig. 4.10.2 CN1 Photoelectric Encoder Z Signal Output Interface

This Z signal is an open collector output non-isolated, and the encoder Z signal is on
or off.
A high-speed optocoupler is required to receive this signal.

49
Chapter IV Interfaces

4.11 Second encoder interface definition

Pin Identification Signal name Remarks

1 PE

2 +5V 5Voutput

3 NC Hang inthe air

4 GND 0Voutput

5 S_ENCA+ Second encodera + input

6 S_ENCA- Second encoderA-input

7 S_ENCB+ Second encoderB + input

8 S_ENCB- Second encoderB-input

9 S_ENCZ+ Second encoderZ + input

10 S_ENCZ- Second encoderZ-input

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 Chapter Ⅴ Display and Operation

Chapter Ⅴ Display and Operation

5.1 Panel Operations

The panel consists of six LED digital tube displays and four buttons "↑, ↓, ←,
Enter", a red light " Alm" and a green light " Run", which are used to display various
system states and set parameters.

Figure 5.1 Operation Panel

Operations are hierarchical operations, as follows:

←key indicates the retreat, exit and cancellation of the level;

Enter” key indicates that the hierarchy advances, enters, and determines;

↑、↓keys indicate increasing or decreasing serial numbers or numerical values.

Alm red indicator lights up, indicating alarm, digital tube and alarm display.

Run green indicator lights up to indicate that the motor is enabled.

When the decimal in the lower right corner of the digital tube is lit, it indicates that
the current parameter value is in a modified state
If the Alm red light is on and the alarm number "Err--xx" flashes, in order to drive
the alarm, it is necessary to cut off the power in time and find out the alarm reason.

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 Chapter Ⅴ Display and Operation

5.2 Parameter Structure Composition

The first layer selects the operation mode, and there are 9 modes. Press the ←key to
return to the main menu, use the↑and ↓keys to select the mode, press Enter to Enter the
second layer of the selected mode, and press the←key to return to the first layer.

DP-- ------ Monitor status mode

PA-- ------ Basic parameter mode

PE-- ------ Functional parameter mode

PF-- ------ Motor parameter mode

EE-- ------ Parameter Management Mode

Sr-- ------ Speed Test Operation Mode

Jr-- ------ JOG Operation Mode

AU-- ------ Automatic zero adjustment of analog quantity

Co-- ------ Encoder nulling mode

OL-- ------ Open Loop Operation Mode

Wr-- ------ Encoder Write Mode

HA-- ------ Alarm recording mode

Ft-- ------ Notch recognition mode

Jt-- ------ Inertia ratio recognition mode

Table 5.2 Mode Operation Diagram

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 Chapter Ⅴ Display and Operation

5.3 Parameter Monitoring Mode（DP- -）

DP-SPD -- Motor speed → r 1000 -- 1000 r/min

DP-POS -- The current position is 5 bits lower → P 8829 -- 8829 pulses

DP-POS.-- The current location is 5 bits higher → P 11 -- 11*10000 pulses

DP-CPO -- The position instruction is 5 bits lower → C 8141 -- 8141 pulses

DP-CPO.-- The position instruction is 5 bits higher → C 22 -- 22*10000 pulses

DP-EPO -- The position deviation is 5 bits lower → E 9 -- 9 pulses

DP-EPO.-- The position deviation is 5 bits higher → E 0 -- 0 pulses

DP-TRQ -- Motor torque (%) → T 60 -- Motor torque 60%

DP- I -- Motor current (A) → I 4.5 -- Motor current 4.5A

DP-ABS -- Single lap is 16-bit lower → 1072 -- 1072 pulses

DP-ABS.-- Multi-lap is 16-bit higher → 13 -- 13*10000 pulses

DP-ABM -- Multi-lap absolute position → 65536 -- 65536laps

DP- CS -- Speed command → r.35 -- Speed command 35 r/min

DP- Ct -- Torque command → t. 70 -- Torque command 70%

DP-APO -- Absolute rotor position → A 3325 -- 3325 pulses

DP--IN -- Input terminal state → lnhllhl-- Input terminal state

DP-Out -- Output terminal state → outllhl-- Output terminal state

DP-COD -- Encoder input signal → cod lh—Encoder signal

DP- RN -- Operation conditions → rn -on -- Motor in operation

DP-ERR -- Alarm code → Err39 -- Alarm number 39

DP-EId -- Encoder input signal → 17 -- Encoder bit

Table 5.3 Watch list diagram

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 Chapter Ⅴ Display and Operation
The input pulse quantity is the pulse amplified by the input electronic gear;
Pulse quantity unit is servo internal pulse unit, 131072 pulses/revolution;
The absolute position of the motor at one turn is represented by single-turn
low-position DP-ABS and high-position DP-ABS. Decimal;
The multi-turn signal of the motor is represented by DP-ABM decimal, which needs
to ensure the normal power supply of the battery and automatically clear when there
is no battery.

5.3.1 The status of the input terminal is displayed as shown in the following figure:
CLE (deviation counter
INH (Command Pulse Disable) cleared)
SC2 Speed Choice 2) SC1 (Speed Selection 1)
ZEROSPD (Zero Speed Slot)
FIL (CCW Torque Limit) RSTP (CW Drive Disabled)

STP (CCW Drive Disabled)

ALRS (Alarm Clear)
RIL (CW Torque Limit)

RIL (CW Torque Limit)

Figure 5.3. 1 Input terminal status display

(The signal input of stroke is ON when it is lit, and OFF when it is extinguished)

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 Chapter Ⅴ Display and Operation

5.3.2 Output terminal status display, as shown in the following figure:

COIN(Location
BRK (Brake Output)
Complete)
SCMP (Speed Arrive)
ALM (Servo Alarm)

SRDY servo
ready

Figure 5.3. 2 Output terminal status display

(The signal input of stroke is ON when it is lit, and OFF when it is extinguished)

5.3.3 Encoder status is displayed as shown in the following figure:

Encoder phase V
Encoder phase W
Encoder phase U Encoder phase Z
Encoder phase B

Encoder Phase A

Figure 5.3. 3 Encoder feedback signal status display

(The signal input of stroke is ON when it is lit, and OFF when it is extinguished)

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Chapter Ⅴ Display and Operation

5.4 Parameter Modification Mode（PA- -）

Press the “Enter” key to Enter the "PA-" Parameter Modification Mode, press the
↑ and ↓ keys to add and subtract Parameter No., press the “Enter” key to Enter the
modified parameter value, when the parameter is modified, the decimal point in the lower
right corner of the digital tube will light up, then press the “Enter” key to confirm that the
decimal point will go out, and press the ← key to return.

PA--0 -- Password parameters → 315 -- User password

PA--3 -- Initial status display → 0 -- Display motor revolutions

PA--4 -- Control mode selection → 0 -- Position control mode

Table 5.4 Modifying Parameter Mode Operations

5.5 Parameter Management Mode（EE- -）

Press the “Enter” key to enter the "EE-" Parameter Management Mode, press the ↑
and ↓ keys to add and subtract parameter items, find the menu that should be saved or
restored, press the “Enter” key for more than 3 seconds, and the "Finish" operation will
be successful, which will take effect after power failure. If it fails or the password is
incorrect, "Error-" will appear.

EE--SET -- Parameter saving → Enter – Press for more than 3 seconds

EE--RD -- Parameter reading → Enter – Press for more than 3 seconds

EE--BA -- Backup Parameters → Enter – Press for more than 3 seconds

EE--RS -- Restore Backups → Enter – Press for more than 3 seconds

EE--DEF -- Restore default → Enter – Press for more than 3 seconds

Table 5.5 Parameter Management Mode Operations

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 Chapter Ⅴ Display and Operation

5.5.1 EE-SET parameter is written, and the password of parameter PA-0 should be 315,
which is mainly for permanent preservation of parameters. When the preservation is
completed, it will not be affected by power failure. The modified parameters can be
used after power-on again.
5.5.2 EE-BD parameter backup is to write the parameters with good effect in the
existing servo state into the backup area of EEPROM and restore the backup.
5.5.3 EE-RS recovery backup is to restore the backup parameters of the backup area
from EEPROM to the parameter table.
5.5.4 EE-DEF restores the default value. In the process of driver debugging, or when
the parameters are confused and can't remember the modified parameters, the operation
of restoring the default value (i.e., the factory value) can be carried out.
■ This recovery will not affect the motor parameters, and the servo motor parameters are
read from the encoder;
Restore the default setting method
Steps Panel display Key Operation
Press the ←key twice to select the function.
1 ↑↓←Enter
If the parameter number does not display EE,
press↑↓ 。
Press Enter and then press the↑↓key to
2 ↑↓←Enter
display "EE-DEF".

Press the Enter key for 3 seconds and then

3 ↑↓←Enter
"FINISH" will be displayed.

Parameter saving setting method

Steps Panel display Key Operation
Press the←key twice to select the
1 ↑↓←Enter
function. If the parameter number does
not display EE, press the ↑↓.
Press Enter and then press the ↑↓ key
2 ↑↓←Enter
to display "EE-SET".

Press the Enter key for 3 seconds and

3 ↑↓←Enter
then "FINISH" will be displayed.

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 Chapter Ⅴ Display and Operation

5.6 JOG INCHING OPERATION MODE（Jr- -）

Steps Panel display Key Operation

Press the ←key twice to select the
1 ↑↓←Enter
function. If the parameter number does
not show "PA", press the ↑↓.
Press Enterand then press the ↑↓ key to
2 ↑↓←Enter
display "PA-4".

Press Enterto set the value "0" to "3" by

3 ↑↓←Enter
pressing the ↑↓ key, and press Enter to
confirm.
Press the ← key to select the function.
4 ↑↓←Enter

Press the ↑↓ key to display "PA-53".

5 ↑↓←Enter

Press Enter to set the value "0" to

6 ↑↓←Enter
"1", and press Enter to confirm.

Press the ← key twice to select the

10 ↑↓←Enter
function, press the↑↓ key to select "Jr"
and press Enter to confirm.
Press the ↑↓ key to reverse the motor
11 ↑↓←Enter
forward and backward.

5.6 JOG INCHING OPERATION MODE OPERATION

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 Chapter Ⅴ Display and Operation

5.7 Speed Test Operation Mode（Sr- -）

Steps Panel display Key Operation

Press the ←key twice to select the
1 ↑↓←Enter
function. If the parameter number does
not show "PA", press the ↑↓.
Press Enterand then press the ↑↓ key to
2 ↑↓←Enter
display "PA-4".

Press Enterto set the value "0" to "3" by

3 ↑↓←Enter
pressing the ↑↓ key, and press Enter to
confirm.
Press the ← key to select the function.
4 ↑↓←Enter

Press the ↑↓ key to display "PA-53".

5 ↑↓←Enter

Press Enter to set the value "0" to

6 ↑↓←Enter
"1", and press Enter to confirm.

Press the ← key twice to select the

7 ↑↓←Enter
function, press the↑↓ key to select "Jr"
and press Enter to confirm.
Press the ↑↓ key to reverse the motor
8 ↑↓←Enter
forward and backward.

5.7 Speed Test Operation Mode Operation

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Chapter Ⅴ Display and Operation
5.8 Analog Auto Zero Mode（AU- -）

5.8.1 Zero adjustment of speed analog quantity

Press the “Enter” key to Enter the "AU-spd" analog zero mode, and then press the
“Enter” key for more than 3 seconds to Enter the "Start" speed analog zero state. After
completion, "Finish" will be displayed and the zero drift value will be automatically
saved to PA45 (or PA39). After that, you can also manually modify the PA45 (or PA39)
zero drift value and save it manually.

AU--spd – Zero adjustment of speed analog → Enter – Start

Table 5.8.1 Speed Analog Zero Mode Operation

■ Parameter PA49 can set the threshold voltage (unit: rpm).

5.8.2 Torque analog zero adjustment

Press the “Enter” key to Enter the "AU-trq" analog zero mode, and then press the
“Enter” key for more than 3 seconds to Enter the "Start" speed analog zero state. After
completion, "Finish" will be displayed and the zero drift value will be automatically
saved to PA45 (or PA39). After that, you can also manually modify the PA45 (or PA39)
zero drift value and save it manually.

AU--trq – Zero adjustment of torque analog → Enter – Finish

Table 5.8.2 Torque Analog Zero Mode Operation

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 Chapter Ⅴ Display and Operation

5.9 Encoder Auto Zero Mode（CO- -）

5.9.1 The encoder automatically checks the zero bit

Parameter PA0=510: It is only used to check the zero adjustment accuracy of the motor.
Press the "Enter" key to Enter the zero adjustment mode of the "CO-" encoder, and then
press the "Enter" key for 3 seconds, showing "A.2000" as the locking process. The servo
motor is locked, and the zero deviation of the motor is displayed after completion;
● This function can't clear the zero point of bus encoder, only check the zero point
position with.

5.9.2 Encoder automatically checks zero position (this function is only

used by motor factory)
Parameter PA0=620: Set the bus encoder position to zero, press the "Enter" key to Enter
the "CO-" encoder zeroing mode, and then press the "Enter" key for 3 seconds. When
"A.2000" is displayed, it is indicated as locking process. After the servo motor is locked,
the zero deviation of the motor is displayed and set to zero immediately;
● Each motor more than a few cycles of operation can improve the motor
zero-setting accuracy, the function of zero and zero.

5.9.3 Settings related to zero adjustment mode

PPA4=4 Zero Mode, PA53=0001 Internal Enable.

CO-- – Automatic zero adjustment of encoder → Enter – A.2000

Table 5.9 Encoder Auto Zero Mode Operations

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Chapter Ⅴ Display and Operation

5.10 Open Loop Operation Mode（OL- -）

5.10.1 Open-loop operation

Press the " Enter" key to Enter the "OL-" Open Loop Operation Mode, and then
press the " Enter" key for more than 3 seconds, and the Open Loop Operation
Mode starts and the motor rotates. This function should not run for a long time

OL-- – Open Loop Operation → Enter – Finish

Figure 5.10 Open Loop Operation Mode Operation

5.11 Encoder Write Mode（WR- -）

5.11.1 The motor code is written into the encoder (refer to the code table
in Chapter 2)
Parameter PA0=620, PA1 set the corresponding code of the motor (corresponding
current value is enough)
Press " Enter" key to Enter "WR-" Encoder Write Mode, and then press " Enter"
key for more than 3 seconds, and the "Finish" operation will succeed, which will
take effect after power failure. If it fails or the password is incorrect, "Error-" will
appear.

WR-- Encoder Write Mode → Enter – Finish

Table 5.11 Encoder Write Mode Operation

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 Chapter Ⅴ Display and Operation

Remarks

63
 Chapter VI Parameters

Chapter VI Parameters
6.1 Parameter List [PA Mode]
Paramete Parameter name Unit Parameter Default
r No. range value
0 Parameter password * 0~9999 510
1 Motor model of incremental encoder * * *
2 Software version number * * *
3 Initial state display * 0~19 0
4 Selection of control mode * 0~6 0
5 Velocity proportional gain Hz 10~3000 150
6 Velocity integral time constant mS 1~3000 100
7 Torque filter % 20~3000 40
8 Velocity detection filter % 20~3000 40
9 Position proportional gain 1/S 1~500 80
10 Position feedforward gain % 0~100 0
11 Cut-off frequency of position Hz 1~1200 300
feedforward filter
12 Position command pulse divider * 1~32767 1
13 Position command pulse frequency * 1~32767 1
division denominator
14 Position command pulse input mode * 0~2 0
15 Position command pulse direction * 0~1 0
reversal
16 Location completion range Pulse 0~30000 20
17 Position out-of-tolerance detection range ×100 0~30000 400
Pulse
18 Invalid position out-of-tolerance error * 0~2 0
19 Position instruction smoothing filter 0.1m 0~3000 0
S
20 Invalid driver inhibit input * 0~2 1
21 JOG Running Speed r/min -3000~3000 120
22 Internal and external speed command * 0~2 1
selection

53
 Chapter VI Parameters
Paramete Parameter name Unit Parameter Default
r No. range value
23 Maximum speed limit r/min 0~6000 3600
24 Internal Velocity 1 r/min -3000~3000 0
25 Internal Speed 2 (Motor Zero Current) r/min -3000~3000 100
26 Internal Velocity 3 r/min -3000~3000 300
27 Internal Velocity 4 r/min -3000~3000 -100
28 Arrival speed r/min 0~3000 500
29 Analog torque command input gain 0.1V 10~100 50
/100
%
30 User torque overload alarm value % 50~300 200
31 User torque overload alarm detection mS 10~30000 0
time
32 Control mode switching allowed * 0~1 0
33 Analog torque input direction is * 0~1 0
reversed
34 Internal CCW torque limit % 0~300 300
35 Internal CW torque limit % -300~0 -300
36 Filter coefficient of command pulse 0~3 1
signal *
37 Filter coefficient of command direction 0~3 0
signal *
38 External CCW, CW torque limit % 0~300 100
39 Analog torque command zero drift * -2000~2000 0
compensation
40 Acceleration time constant mS 1~10000 100
41 Deceleration time constant mS 1~10000 100
42 Multi-function terminal switching Binar 0000~1111 0001
y
syste
m
43 Analog speed command gain (r/mi 10~3000 300
n) /
V
44 Analog speed command direction * 0~1 0
reversal
45 Analog speed command zero drift * -5000~5000 0
compensation

54
 Chapter VI Parameters
46 Analog speed command filter Hz 0~1000 300
47 Brake delay conduction setting when ×10 0~500 80
motor is enabled mS

55
 Chapter VI Parameters

Paramete Parameter name Unit Parameter Defaul

r No. range t value
Enable delayed off setting when the ×10mS 0~500 0
48
motor is closed
When analog voltage sill value speed r/min 0~3000 0
49
control
50 Speed limit in torque control r/min 0~5000 3600
51 Dynamic electronic gear is effective * 0~1 0
52 Second position command pulse divider * 1~32767 1
Forced ON input at low 4-bit input Binary 0000~1111 0000
53
terminal system
Forced ON input at the upper 4-bit input Binary 0000~1111 0000
54
terminal system
Inverse setting of low 4-bit input Binary 0000~1111 0000
55
terminal system
Inverse setting of high 4-bit input Binary 0000~1111 0000
56
terminal system
Output terminal reverses the control Binary 0000~1111 0010
57
word system
58 Demonstrate the time setting of mode 2 0.1S 1~30000 600
59 Demonstration mode selection * 0~2 0
60 Proportional gain of current loop * * 800
61 Integration time constant of current loop * * 5
62 Retain (modification is not allowed) * * *
63 Motor encoder zeroing offset value Pulse -32768~32768 16384
64 Retain (modification is not allowed) * * *
65 Incremental encoder line number Pulse 0~131072 2500
66 Encoder type selection * 0~2 2
67 Motor Rated current 0.1A 0~130 100
68 Velocity proportional gain coefficient * 0~500 100
Demonstration Mode 2 Maximum Speed r/min 0~6000 3000
69
Limit
70 Driver feedback pulse output setting Pulse 0~30000 10000
Output direction selection of feedback * 0~1 1
71
pulse

56
 Chapter VI Parameters

Paramet Parameter name Unit Parameter Defaul

er No. range t value
72 Feedback pulse output electronic gear * 1~32767 1
molecule
73 Feedback pulse output electronic gear * 1~32767 1
denominator
74 Switching of frequency doubling * 0~1 0
coefficient of servo receiving pulse
75 The second feedback pulse is low Pulse * 0
76 High position of second feedback pulse Pulse * 1
77 The direction of the second feedback * 0~1 0
pulse is reversed
78 Retain (modification is not allowed) * * *
79 Retain (modification is not allowed) * * *
80 485 Communication Axis Address * 0~5000 1
Setting
81 Selection of 485 communication baud * 0~3 2
rate
82 485 communication parity check * 0~1 0
selection
83 Retain (modification is not allowed) * * *
84 Shielded battery alarm * 0~1 0
85 Allow alarm number 3 * 0~1 0
86 Retain (modification is not allowed) * * *
87 Retain (modification is not allowed) * * *
88 Parameter saving * 0~1 0
89 Retain (modification is not allowed) * * *
90 Encoder single turn low 16-bit memory Decimal 0~65536 0
91 Encoder single turn high 16-bit memory Decimal 0~1 0
92 Encoder multi-turn low 16-bit memory Decimal 0~65536 0
93 Scaling factor of speed proportional gain Percenta 20~300 100
coefficient ge
94 Current loop proportional gain scaling Percenta 20~300 100
multiple ge
95 Rotation monitoring r/min 0~5000 *

57
Chapter VI Parameters

Paramet Parameter name Unit Parameter Defau

er No. range lt
value
96 Current monitoring 0.1A 0~130 *
97 Alarm code monitoring * 1~32767 *
98 Current loop integration time constant Percentag 20~300 100
scaling multiple e
99 Reset Alarm No.40 (Battery Loss) * 0~1 0

58
 Chapter VI Parameters

6.2 [Table of PE Functional Parameters]

Paramete Parameter name Unit Parameter Defaul
range t value
r No.
0 Reservation * * *
1 Reservation * * *
2 Reservation * * *
3 Reservation * * *
4 Reservation * * *
5 Reservation * * *
6 Reservation * * *
7 Reservation * * *
8 Reservation * * *
9 Reservation * * *
10 Notch filter function switch Binary system 0000~0101 0000
Automatic adjustment switch Binary system 0000~0101 0101
11
of notch filter
Frequency of notch filter in Hz 50~4000 0
12
the first segment
Quality factor of notch filter in 0.01 50~500 80
13
the first segment
Depth of notch filter in section 0.001 0~1000 0
14
1
Frequency of notch filter in Hz 50~4000 0
15
the second segment
Quality factor of notch filter in 0.01 50~500 80
16
the second segment
17 Section 2 Notch Filter Depth 0.001 0~1000 0
Velocity deviation threshold of rpm 0~2000 50
18
automatic notch filter
19 Reservation * * *
20 Reservation * * *
21 Reservation * * *

59
Chapter VI Parameters
22 Reservation * * *
23 Reservation * * *
24 Reservation * * *

60
 Chapter VI Parameters

Parameter Parameter name Unit Parameter Defaul

range t value
No.
25 Reservation * * *
26 Reservation * * *
27 Reservation * * *
28 Reservation * * *
29 Reservation * * *
30 Reservation * * *
31 Reservation * * *
32 Reservation * * *
33 Reservation * * *
34 Reservation * * *
The first stage vibration Hz 10~1000 150
35 suppression filter vibration
suppression frequency
The first stage vibration % 1~1000 100
36 suppression filter vibration
suppression gain
Damping coefficient of % 0~300 0
37 vibration suppression filter in
the first stage
Time compensation value of 0.01ms 0~1000 0
38 the first stage vibration
suppression filter 1
Time compensation value of 0.01ms 0~1000 0
39 vibration suppression filter in
the first stage 2
Double-loop measuring * 0000~1111 1000
40 feed/friction compensation
function switch
41 Friction compensation gain % 10~1000 100
42 Reservation * * *
Friction compensation % 0~100 0
43
coefficient
61
Chapter VI Parameters
Friction compensation 0.1Hz -10000~10000 0
44
frequency compensation value
Friction compensation gain % 1~1000 100
45
compensation value
Double-loop feeder gain Hz 1~500 40
46
measurement
Gain compensation value of % 0~1500 150
47 double-loop measurement
feed
48 Reservation * * *

62
 Chapter VI Parameters

Parameter Parameter name Unit Parameter Defaul

No. range t value
49 Reservation * * *
Running number of motor in 0.1 round 1~300 30
50
inertia identification
Motor running speed in inertia r/min 1~300 1000
51
identification
Motor Running Acceleration r/min/1ms 1~300 10
52
in Inertia Identification
Inertia identification running 0.01S 0~1000 0
53
pause time
Initial moment of inertia ratio % 0~1000 200
54
in inertia identification
Proportional gain of velocity rad/s 10~3000 150
55
loop in inertia identification
Integral time constant of
56 velocity loop in inertia 0.1ms 2~5000 200
identification
Position feedforward gain in % 0~100 100
57
inertia identification
Velocity deviation threshold in rpm 0~3000 500
58
inertia identification
Proportional gain of position 1/s 1~1000 40
59
loop in inertia identification

63
Chapter VI Parameters

6.3 [PF Motor Parameter Table]

Parameter Parameter name Unit Parameter Defaul
No. range t value
Motor voltage grade 0-220V
0 0~3 *
1-380V
1 Rated power of motor 0.01Kw 0~32767 *
2 Rated current of motor 0.01A 0~32767 *
3 Rated torque of motor 0.01Nm 0~32767 *
4 Maximum torque of motor 0.01Nm 0~32767 *
5 Rated speed of motor 1rpm 0~32767 *
6 Maximum speed of motor 1rpm 0~32767 *
7 Motor moment of inertia 10-6Kgm2 0~32767 *
Magnetic pole logarithm of 0~32767 *
8 *
motor
9 Phase resistance of motor 0.001Ω 0~32767 *
10 D-axis inductance of motor 0.01mH 0~32767 *
11 Q-axis inductance of motor 0.01mH 0~32767 *
12 Back EMF constant of motor 0.01V/Krpm 0~32767 *
13 Motor torque constant 0.001Nm/A 0~32767 *
Electrical time constant of 0~32767 *
14 0.01ms
motor
Mechanical time constant of 0~32767 *
15 0.01ms
motor
Motor zero offset is 16 bits * 0~32767 *
16
lower
Motor zero offset is 16 bits * 0~32767 *
17
higher
18 Type of motor encoder * 0~32767 *
19 Motor encoder line number is * 0~32767 *

64
 Chapter VI Parameters
16 bits lower
Motor encoder line number is * 0~32767 *
20
low and high
Motor encoder data writing
21 * 0~3 *
control word

65
Chapter VI Parameters

Parameter Parameter name Unit Parameter Defaul

No. range t value
22 Reservation * * *
23 Reservation * * *
24 Reservation * * *
25 Reservation * * *
26 Reservation * * *
27 Reservation * * *
28 Reservation * * *
29 Reservation * * *
Molecular adjustment factor * 0~32767 1
30 of position command
electronic gear
Position command electronic * 0~32767 1
31 gear denominator adjustment
factor
Molecular adjustment factor * 0~32767 1
32 of position feedback
electronic gear
Position feedback electronic * 0~32767 1
33 gear denominator adjustment
factor
Velocity feedback filtering * 0~16 0
34
factor
35 Reservation * * *
36 Reservation * * *
37 Reservation * * *
38 Reservation * * *
39 Reservation * * *

66
 Chapter VI Parameters
40 Reservation * * *
Full closed-loop control * 0~1 0
41
parameters

67
Chapter VI Parameters

Parameter Parameter name Unit Parameter Defaul

No. range t value
42 Full closed loop feedback type * 0~3 0
Transmission bits of full * * 29
43 closed-loop absolute value
protocol

44
Mixed deviation detection % 1~1000 20
range
45
Mixed deviation detection ms 1~1000 100
time
Mechanical transmission * 1~32767 1
46
electronic gear molecule
Mechanical transmission * 1~32767 1
47
electronic gear denominator
48 Reservation * * *
49 Function switch * 0~15 0
Transmission bits of absolute * 0~32 26
50 value protocol of motor
encoder
51 Reservation * * *
52 Reservation * * *
53 Reservation * * *
54 Reservation * * *
55 Reservation * * *
56 Reservation * * *
57 Reservation * * *
58 Reservation * * *
59 Reservation * * *

68
 Chapter VI Parameters

6.4 [Explanation of PA Functional Parameters]

Para Param Detailed explanation of function Paramete
mete eter r range
r No. name [Default
value]
0 Param a. The user password is 315; 0~9999
eter b. Motor manufacturer code 510 (use with caution); [ 510 ]
c. Driver manufacturer password 620 (use carefully);
passw
ord
1 Model a. Use this function when incrementing the encoder; 0~9999
code b. This function is shielded in the bus encoder; [0]
2 Softwa a. Only display software version number, read-only 0~9999
re parameters; [ *]
b. This parameter is the integrated number of software
versio and hardware;
n
3 Initial The initial display state of the digital tube when the driver 0~19
state is powered on. [0]
0: Display motor speed;
display 1: Display 5 digits lower than the current position;
2: Display 5 digits higher than the current position;
3. Display position instruction (instruction pulse
accumulation) is 5 bits lower;
4. Display position command (command pulse
accumulation) 5 bits higher;
5: The display position deviation is 5 bits lower;
6: The display position deviation is 5 bits higher;
7: Display motor torque; 8: Display motor current;
9: The absolute position of a single lap is low;
10: The absolute position of a single lap is high;
11: Low absolute position for multiple laps;
12: Display speed command; 13: Display torque
command;
14: Display the absolute position of the rotor during one
revolution;
15: Display the status of the input terminal;
16: Display the state of the output terminal; 17: Display
the input signal of the encoder;
18: Display the running status; 19: Display the alarm
code;

69
Chapter VI Parameters

Para Param Detailed explanation of function Parameter

mete eter range
r No. name [Default
value]
4 Selecti 0: Position control mode; 1. Speed control mode; 0~6
on of A. The internal and external velocities are selected by [0]
parameter PA22;
control B. The internal speed is selected by the CN1 interface;
mode Four internal speeds were selected by combining 14-foot
SC1 and 15-foot SC2:
SC1 OFF, SC2 OFF: Internal speed 1; Speed setting PA24
SC1 ON, SC2 OFF: Internal speed 2; Speed setting PA25
SC1 OFF, SC2 ON: Internal Speed 3; Speed setting PA26
SC1 ON, SC2 ON: Internal Speed 4; Speed setting PA27
2. Test operation control mode;
3: JOG control mode;
The speed is set by parameter PA21.
4. Encoder zero adjustment mode; Used for motor factory
adjustment coding disk zero point.
5. Open-loop operation mode; Used for detecting motors
and encoders
6. Torque control mode;
5 Velocit a. Enhance the proportional gain of the rigid setting speed
y loop regulator; 10~3000
propor b. The greater the setting value, the higher the gain and the [ 150 ]
tional greater the stiffness. Parameter values are determined
gain according to the specific servo drive system model and
load conditions. In general, the greater the load inertia, the
greater the set value;
c. Set a larger value as far as possible under the condition
that the system does not generate oscillation;
6 Velocit a. Setting the integral time constant of the speed loop 1~3000
y regulator; [ 100 ]
integra b. The motor overshoot can be restrained. The smaller the
l time setting value, the faster the integration speed is, and the
consta overshoot is easy to occur. If the setting value is too small,
nt the response will slow down;
c. According to the specific driving model and load inertia
setting, the larger the load inertia, the larger the set
value;

70
 Chapter VI Parameters

Para Para Detailed explanation of function Parameter

mete meter range
r No. name [Default
value]
7 Torqu a.Noise-free setting of torque command filter 20~3000
e filter characteristics; [ 40 ]
b. for suppressing resonance caused by torque;
c. The larger the value, the greater the cut-off frequency,
and the smaller the vibration and noise generated by the
motor. If the load inertia is very large, the set value can
be appropriately increased. If the value is too large, the
response will slow down and may cause oscillation;
d. The smaller the value, the smaller the cut-off
frequency and the faster the response. If higher torque
response is needed, the set value can be appropriately
reduced;
8 Veloci a. De-noise setting speed detection filter characteristics; 20~3000
ty b. The greater the value, the greater the cut-off [ 40 ]
detecti frequency, and the smaller the noise generated by the
on motor. If the load inertia is very large, the set value can
filter be appropriately increased. If the value is too large, the
response will change, which may cause oscillation. The
smaller the value, the higher the cut-off frequency and
the faster the speed feedback response. If higher speed
response is needed, the set value can be appropriately
reduced;

71
Chapter VI Parameters
9 Positio a. Setting the proportional gain of the position loop 1~500
n regulator; [ 80]
propor b. The larger the setting value, the higher the gain, the
tional greater the stiffness, and the smaller the position lag
gain under the condition of the same frequency command
pulse. However, too large a value may cause oscillation
or overshoot;
c. The parameter value is determined according to the
specific servo drive system model and load condition;
10 Positio a. Set the feed-forward gain of the position loop; 0~100
n b. When it is set to 100%, it means that under the [0]
feedfo command pulse of any frequency, the position lag is
rward always 0;
gain c. The feed-forward gain of the position loop increases,
and the high-speed response characteristic of the control
system improves, but the position loop of the system is
unstable and prone to oscillation;
d. Unless high response characteristics are required, the
feedforward gain of the position loop is usually 0;

72
 Chapter VI Parameters

Par Parame Detailed explanation of function Parameter

ame ter range
ter name [Default
No. value]
11 Cut-off a. Set the cut-off frequency of the low-pass filter for the 1~1200
frequen feed-forward amount of the position loop. [ 300 ]
cy of b. The function of this filter is to increase the stability
position of compound position control.
feedfor
ward
filter
12 Position 1~32767
comman a. If the system is programmed to run 5 mm (5000 [1 ]
d pulse pulses), the motor needs to rotate once:
divider PA 12 Pulse molecule Actual feedback
PA 13 Pulse denominator Command pulse
Motor encoder line number (2500 lines) X frequency
multiplication number (4)
Number of command pulses (5000)
13 Position 1~32767
comman 10000 2 [1]
d pulse 5000 1
frequen b. If the motor is directly connected with the screw
cy screw, the screw screw pitch is 6 mm:
division
denomi PA12 10 5
nator PA13 Screw pitch (6) 3
Note: CNC machine tools can be set with
reference to b for more intuitive.
Gear ratio range: 1/100 ≤ G ≤ 100
14 Position You can configure 3 Pulse Input Forms: 0~2
comman 0: Pulse + symbol; [0]
d pulse 1: CCW pulse/CW pulse;
input 2. Two-phase quadrature pulse input;
mode See Fig. 4.7 Pulse Form on page 34

73
Chapter VI Parameters

Para Parameter Detailed explanation of function Parameter

mete name range
r No. [Default
value]
15 Position 0: Default direction; 0~1
command 1. The direction is reversed; [0]
pulse
direction
reversal
16 Location a. During position control, when the value in the 0~3000
completion position deviation counter is less than or equal to [ 20 ]
range the set value, the position is COIN ON or OFF;
b. Under other control modes, it is the speed arrival
signal;
17 Position In the position control mode, when the count value 0~3000
out-of-toler of the position deviation counter is greater than the [ 400 ]
ance set value of the parameter, the servo driver gives
detection an alarm;
range
18 Is the 0: The detection is effective; 1: Shielding No.4 0~2
position out alarm, PA17 is invalid; [0]
of tolerance 2: Shielding No.4 and No.6 alarms, PA17 is
detected invalid;
19 Position This parameter can filter the command pulse 0~3000
command smoothly and optimize the acceleration and [0]
smoothing deceleration when the upper computer has no
filtering acceleration and deceleration or exponential
acceleration and deceleration.
This filtering will not lose pulses, and the
execution speed may be delayed.
20 Invalid 0: CCW, CW input prohibition is valid; 0~2
driver 1: CCW and CW inputs are prohibited and invalid; [1]
inhibit 2: CCW and CW inputs are prohibited and valid,
input and there is no alarm prompt;
21 JOG Set forward and reverse speed settings when -3000~3000
Running setting JOG mode. [ 120 ]
Speed
22 Internal 0: Take the internal speed; 0~2
and 1: Take external analog quantity (-10V ~ + 10V); [1]
external 2: Take external analog quantity (0 ~ + 10V; 14, 15
speed feet control positive and negative);
selection
23 Maximum Setting the maximum speed limit of servo motor is 0~6000
speed limit related to servo motor, [ 3600 ]
Set the maximum speed of the motor according to
the parameter Motor model.
74
 Chapter VI Parameters

Para Param Detailed explanation of function Parameter

mete eter range
r No. name [Default
value]

24 Interna When PA4=1 and PA22=0: -3000~3000

l When CNISC1 foot is OFF, SC2 foot is OFF, the [0]
Velocit internal speed is 1;
y1

25 Interna a. When PA4=1 and PA22=0: -3000~3000

l When CNISC1 foot is ON and SC2 foot is OFF, the [ 100 ]
Velocit internal speed is 2;
y b. When PA4=4, set the percentage of motor
2/Zero zero-adjusting current;
Curren
t

26 Interna When PA4=1 and PA22=0: -3000~3000

l When CNISC1 foot is OFF and SC2 foot is ON, the [ 300 ]
Velocit internal speed is 3
y3

27 Interna When PA4=1 and PA22=0: -3000~3000

l When CNISC1 foot is ON, SC2 foot is ON, the internal [ -100 ]
Velocit speed is 4
y4

28 Arrival In non-location mode: 0~3000

speed When the motor speed is greater than this set value, [ 500 ]
COIN: ON, otherwise OFF.
This parameter only judges the motor speed, and has no
directivity.

29 Analo a. Set the proportional relationship between the input 10~100

g voltage of analog torque and the actual operating [ 50 ]
torque torque of the motor;
comm b. The unit of the set value is 0.1 V/100%;
and c. The default value is 50, corresponding to 5V/100%,
input that is, the input 5V voltage produces 100% Rated
gain torque;

30 User a. Set the user torque overload value, which is the 0~300
torque percentage of Rated torque, and the torque limit [200 ]
overlo value is protected in both forward and reverse
ad directions regardless of direction;

75
Chapter VI Parameters
alarm b. When PA31 > 0, when motor torque > PA30 and
value duration > PA31, the driver gives an alarm, the
alarm number is Err-29, and the motor stops
running. After the alarm, the driver must be
powered on again to clear the alarm;

76
 Chapter VI Parameters

Para Paramet Detailed explanation of function Parameter

mete er name range
r No. [Default
value]
31 Torque Torque overload detection time in milliseconds; 0~30000
overload When 0, the user torque overload alarm function is [0 ]
detection invalid;
time
32 Control 0: The 11 pins of CN1 (A-CLR) are only effective for 0~1
mode alarm clearing; [0]
switchin 1: When the parameter PA4=0, the 11 pins (A-CLR)
g of CN1 are only valid for position and speed
allowed switching (the default position is valid);
When parameter PA4=1, the 11-pin (A-CLR) of CN1
is only valid for speed and torque switching (default
speed is valid);
When parameter PA4=6, the 11-pin (A-CLR) of CN1
is only valid for torque and position switching. (The
default torque is valid);
33 Torque The polarity of analog torque input is reversed. 0~1
comman 0: The analog torque command is timing and the [0]
d torque direction is CCW;; 1: The analog speed
direction command is timing and the torque direction is CW;
reversal
34 Internal Set the internal torque limit percentage value of the 0~300
CCW motor in CCW direction. [ 250 ]
torque Example: Set to 2 times Rated torque, then set the
limit value to 200.
This setting value is always valid.
35 Internal Set the internal torque limit percentage value of the 0~-300
CW motor in CW direction. [ -250 ]
torque Example: If it is set to 2 times Rated torque, the value
limit is set to-200.
This setting value is always valid.
36 Filter PA4=0, valid for position control 0~3
coefficie The larger the setting value, the stronger the [1]
nt of anti-interference to the command pulse, and the
comman smaller the frequency of the received pulse, which
d pulse may also show that it cannot receive the pulse.
signal The timing lead or lag of pulse and direction signals
can be adjusted.

77
Chapter VI Parameters

Para Paramet Detailed explanation of function Parameter

mete er name range
r No. [Default
value]
37 Filter PA4=0, valid for position control 0~3
coefficie The timing lead or lag of pulse and direction signals [0]
nt of can be adjusted.
comman
d
direction
signal
External PA4=6, when pin 14 or 15 of CN1 is connected to 0~300
38 torque 0V: [ 100 ]
limit CCW, CW torque percentage limit, both positive and
negative.
PA38 is less than the set value of PA34 and PA35.
39 Analog The zero drift compensation for analog torque input -5000~5000
torque is positive and negative offset. [0]
comman
d zero
drift
compens
ation
40 Accelera The setting value indicates the acceleration time of 1~10000
tion time the motor from 0 to 1000r/min. [ 100 ]
constant Linear acceleration and deceleration characteristics
are only used in speed control mode.
If the upper machine has acceleration and
deceleration characteristics, this parameter should be
set to 1.
41 Decelera The setting value indicates the deceleration time of 1~10000
tion time the motor from 1000 ~ 0r/min. [ 100 ]
constant Linear acceleration and deceleration characteristics,
only for speed control mode.
If the upper machine has acceleration and
deceleration characteristics, this parameter should be
set to 1.
42 Multi-fu 0:15 alarm takes effect/1: Shield No.15 alarm; [0001] 0000~1111
nction 0: Select the second zero/1: Select the positioning to [ 0001 ]
terminal complete; [0010]
switchin 0: The PA50 parameter limits the maximum
g rotation/1: The second analog quantity limits the
maximum rotation/1; [0100]
43 Analog Set the proportional relationship between the input 10~3000
speed voltage of analog speed and the actual running speed [ 300 ]
comman of the motor.

78
 Chapter VI Parameters
d input Example: Positive and negative 10V voltage
gain corresponds to positive and negative 3000
revolutions, which can be set as 3000/10 = 300
r/min/v, that is, 1V corresponds to 300 revolutions

79
Chapter VI Parameters

Para Paramet Detailed explanation of function Parameter

mete er name range
r No. [Default
value]
44 Analog Inverse the polarity of analog speed input 0~1
speed 0: The analog speed command is timing and the [0]
comman speed direction is CCW;;
d 1: The analog speed command is timing and the
direction speed direction is CW;
reversal
45 Analog The zero drift compensation for analog speed input is -5000~5000
speed positive and negative offset. [0]
The value of this parameter will be automatically
changed and saved when the analog quantity is
automatically set to zero.
See table 5.7 a on page 41
46 Instructi Low-pass filter for analog speed input. 0~1000
on zero The larger the setting, the faster the response speed to [ 300 ]
drift the speed input analog quantity and the greater the
compens noise; The smaller the setting, the slower the
ation response speed and the smaller the noise;
47 Analog The maximum value of 500 is a delay of 5 seconds, 0~500
speed and the default value is 0.8 seconds. [ 80 ]
comman Refers to the normal power-on of the drive, the motor
d filter is enabled first, and then the BRK +, BRK-delay
conduction brake work, and it is not conductive when
giving an alarm.
48 Brake The maximum value of 500 is a delay of 5 seconds, 0~500
delay and the default value is 0 seconds. [0]
conducti Refers to the normal drive power-on, BRK +,
on BRK-first disconnect the brake does not work to
setting enable delay disconnect this period of time, alarm
when does not delay.
motor is
enabled

80
 Chapter VI Parameters
Para Paramet Detailed explanation of function Parameter
mete er name range
r No. [Default
value]
49 Analog Speed control: Positive and negative voltage sill 1~5000
voltage value setting of analog quantity.
sill value [0]
speed
control
50 Speed a: Torque control: corresponds to the maximum speed 1~5000
limit in limit. [ 2500 ]
torque Note: Overspeed is easy to occur when no load;
control b: Torque control: 10V corresponding speed, PA42
switches the second analog quantity to limit the
highest speed;
51 Dynamic 0: CN1 interface, the function of input terminal INH 0~1
electroni (command pulse prohibition) is effective; [0]
c gear 1: CN1 interface, the function of input terminal INH
(dynamic electronic gear switching) is effective,
when INH terminal OFF, the input electronic gear is
PA12/PA13; When the INH terminal is ON, the input
electronic gear is PA52/PA13;
52 Second When the PA51=1 command pulse is disabled: 0~32767
position When the INH terminal is OFF, the input electronic [1]
comman gear is PA12/PA13; When the INH terminal is ON,
d pulse the input electronic gear is PA52/PA13;
divider
53 Forced The following functions are ON and OFF with the 0000~1111
ON input change of parameters 0 and 1 without borrowing [ 0000 ]
at low external lines. PA53 and PA54 operate the same way.
4-bit SON: Servo enabled; [0001]
input A-CLR: Alarm clearing; [0010]
terminal FSTP: CCW Drive Prohibition; [0100]
RSTP: CW driver disable; [1000]

81
Chapter VI Parameters

Para Paramet Detailed explanation of function Parameter

mete er name range
r No. [Default
value]
54 Forced CLE/SC1/ZEROSPD: 0000~1111
ON input Deviation counter clearing/speed selection 1/zero [ 0000 ]
at the speed clamping; [0001]
upper INH/SC2: Command Pulse Disable/Speed Select 2;
4-bit [0010]
input FIL: CCW torque limit; [0100]
terminal RIL: CW torque limit; [1000]
55 Logic With the change of parameters 0, 1, to achieve the 0000~1111
reversal function of reverse (that is, the original external [ 0000 ]
of low switch circuit input reverse, normally open to
4-bit normally closed, normally closed to normally open.)
input SON: Servo enabled; [0001]
terminal A-CLR: Alarm clearing; [0010]
FSTP: CCW Drive Prohibition; [0100]
RSTP: CW driver disable; [1000]
56 High With the change of parameters 0, 1, to achieve the 0000~1111
4-bit function of reverse (that is, the original external [ 0000 ]
input switch input circuit is reversed, normally open to
terminal normally closed, normally closed to normally open.)
logic CLE/SC1/ZEROSPD: Error counter cleared/
inversion Speed selection 1/zero speed clamp; [0001]
INH/SC2: Command Pulse Disable/Speed Select 2;
[0010]
FIL: CCW torque limit; [0100]
RIL: CW torque limit. [1000]
57 Output With the change of parameters 0, 1, to achieve the 0000~1111
terminal function of reverse (that is, the original external [ 0010 ]
logic switch output circuit is reversed, normally open to
inversion normally closed, normally closed to normally open.)
SRDY: Servo ready; [0001]
ALM: Servo alarm; [0010]
COIN: Location completion/speed arrival; [0100]
BRK: Motor braking; [1000]

82
 Chapter VI Parameters

Para Paramet Detailed explanation of function Parameter

mete er name range
r No. [Default
value]
58 Demonst When demonstrating Mode 2: 1~30000
rate the The servo motor high-speed aging time setting, the [ 600 ]
time unit is 0.1 minutes.
setting of
mode 2
59 Demonst PA0=510 PA4=0 takes effect; 0~2
ration 0: Turn off the demo mode; 1: Slow demonstration; [0]
mode 2: Quick demonstration;
selection
60 Proportio The driver automatically adjusts this parameter 0~32767
nal gain according to the specification of the reading motor. [ 500 ]
of
current
loop
61 Integrati The driver automatically adjusts this parameter 0~32767
on time according to the specification of the reading motor. [5]
constant
of
current
loop
62 Reserva Retain (modification is not allowed) *
tion

63 Encoder When PA0=4 takes effect, the motor encoder zeroes -32767~
zero bias the offset value. 32767
value [0]
65 Incremen Incremental encoder line number; Bus encoder This 0~32767
tal parameter is invalid; [2500 ]
encoder
line
number
66 Encoder 0: ordinary incremental photoelectric encoder; 0~2
type 1. Ordinary incremental line-saving photoelectric [2]
selection encoder;
2: Tamochuan bus multi-turn absolute value encoder
(131072 lines);
67 Rated Rated current value for the motor: 0~130
current Example: 130ST-M03215LFB motor Rated [ 100 ]
of motor current is 4.5 A, corresponding to the value of this
parameter should be 45;

83
Chapter VI Parameters

Para Paramet Detailed explanation of function Paramete

mete er name r range
r No. [Default
value]
68 Velocity The driver automatically adjusts this parameter 0~500
proportio according to the specification of the reading motor; [ 100 ]
nal gain This parameter is the coefficient of PA5 parameter;
coefficie Gain of servo motor = PA5 * PA68;
nt
69 Demonst Demo Mode 2, maximum speed limit during fast 0~32767
ration demo. [ 3000 ]
mode
speed
limit
70 Driver Settable feedback pulse output 1~30000
feedback The number of feedback pulses output when the motor [ 10000 ]
pulse rotates once.
output
71 Pulse Output direction selection of feedback pulse 0~1
output 0: Positive A/B feedback signal output; [1]
direction 1. Output of A/B feedback signal in reverse direction;
selection
72 Pulse Effective when PA70=0 0~32767
output Feedback pulses output electronic gear molecules. [1]
molecule
73 Pulse Effective when PA70=0 0~32767
output Feedback pulse output electronic gear denominator. [1]
denomin
ator
74 Receivin Switching of frequency doubling coefficient of servo 0~1
g pulse driver receiving pulse [0]
frequenc 0: PA12/PA13 is 1/1 servo receiving 10000
y pulses/loop;
doubling 1: PA12/PA13 is 1/1 servo receiving 131072
switchin pulses/loop;
g
75 The Full closed loop feedback line number low PA76 * 0~32767
number 10000 + PA75 [ 2500 ]
of full
closed-lo
op
feedback
lines is
low

84
 Chapter VI Parameters
76 The Full closed loop feedback line number low PA76 * 0~32767
number 10000 [0]
of full
closed-lo
op
feedback
lines is
high
77 Full Whether the feedback of the second code wheel is 0~1
closed-lo reversed; [0]
op 0: Do not reverse;
feedback 1: Inverse;
inverse
control
word
80 485 a.485 Communication modbus rtu Protocol 1~32767
Commun Representative Address: 1, 2, 3...... [1]
ication b. When the machine tool is used, the absolute position
Axis corresponds to reading: X axis, Y axis, Z axis … …
Address

85
Chapter VI Parameters

Para Paramet Detailed explanation of function Parameter

mete er name range
r No. [Default
value]
81 485 The corresponding baud rate is 0: 4800; 1: 9600; 2: 0~3
communi 19200; 3:38 400; [2]
cation The data bit is 8; Stop bit is 1; RTU format; The
baud rate longest read length is 10;
82 485 0: Odd check; 1: Even check; 2: No check 0~2
communi [0]
cation
parity
check
selection
84 Shielded 0: When the absolute value encoder is used, the alarm 0~1
battery of No.40 battery is allowed to ensure the accuracy of [0]
40 # multi-turn signal, and the alarm can be cleared only
alarm when the parameter PA99 is set to 1; (Invalid
incremental encoder)
1: When the incremental encoder is used, the No.40
alarm is shielded, that is, it can be used when there is
no battery, and there is no multi-turn signal memory
at this time;
85 Allow 0: Default shielding undervoltage alarm; 1: Allow 0~1
alarm undervoltage No.3 alarm; [0]
number 3
88 Paramete Communication parameters: When the parameters are 0~1
r saving changed from 0 to 1, the parameters are saved once [0]
and restored to 0;
90 Encoder a. Decimal: displayed as 0, 1... 32767,-32768...-1, 0; 0~65536
single b. 485 Communication Unsigned Data Read 0, 1... [0]
turn 65535, 65536; (Invalid incremental encoder)
value is
16-bit
low
91 Encoder a. Decimal, one-cycle value = PA90+PA91*65536; 0~1
single b. Display as 0, 1; (Invalid incremental encoder) [0]
turn
value
high
16-bit

86
 Chapter VI Parameters

Para Parameter name Detailed explanation of function Parameter

mete range
r No. [Default
value]
92 Encoder multi-turn a. Decimal: displayed as 0, 1... 0~65536
value low 16-bit 32767,-32768...-1, 0; [0]
value b.485 Communication Unsigned Data
Read 0, 1... 65535, 65536;
c. If this parameter is lost due to battery
power loss, 40 # alarm will be given, and
only PA99 parameter will be cleared, and
power failure and CLR terminal cannot
be cleared;
d. Multi-turn value = PA92*131072;
(Invalid incremental encoder)
93 Scaling factor of Speed proportional gain PA5*PA93:
speed proportional
20~300
gain coefficient
[ 100]

94 Current loop Current loop proportional gain

20~300
proportional gain PA60*PA94:
[ 100 ]
scaling multiple
95 Rotation monitoring Communication can read the motor 0~5000
rotation value
96 Current monitoring Communication can read motor current 0~5000
value
97 Alarm code Communication can read servo drive 0~5000
monitoring alarm code

87
Chapter VI Parameters
98 Current loop Current loop integration time constant
integration time PA61*PA98: 20~300
constant scaling [ 100 ]
multiple
99 Reset battery power a. This parameter cannot be saved and is 0~1
loss No.40 alarm only used for battery alarm reset; [0]
b. This parameter only takes effect when
PA84=0;
c. PA84=0: When the battery is
disconnected from the motor encoder, an
alarm appears. After connection, only this
parameter is set to 1 to clear the alarm;
d. PA84=0: If the battery voltage is low,
the alarm cannot be cleared when there is
no battery, in order to ensure the
accuracy of multi-turn signals;
The battery voltage is normally stable at
3.6 V (incremental encoder is invalid)

88
 Chapter VI Parameters

6.5 [Detailed Explanation of PE Functional

Parameters]
Para Parameter name Detailed explanation of function Parameter
mete range
r No. [Default value]
Notch filter function 0000: Segment 1 and Segment 2
switch notch filters are invalid
0001: The first notch filter is effective 0000～0101
10
0100: Segment 2 notch filter active [ 0000 ]
0101: Segment 1 and Segment 2
notch filters are both valid
Automatic adjustment 0000: The notch filters in the first and
switch of notch filter second segments are not
automatically adjusted;
0001: Automatic adjustment of notch
filter in section 1 0000～0101
11
0100: Automatic adjustment of notch [ 0000]
filter in the second stage
0101: The notch filters in the first and
second segments are automatically
adjusted.
Frequency of notch
50～4000
12 filter in the first
[0]
segment
Quality factor of notch
50～500
13 filter in the first
[ 80 ]
segment
Depth of notch filter
in section 1 0～1000
14
[0]
Frequency of notch
50～4000
15 filter in the second
[0]
segment
Quality factor of notch
filter in the second 50～500
16
segment [ 80 ]
Section 2 Notch Filter
Depth 0～1000
17
[0]

89
Chapter VI Parameters

Para Parameter name Detailed explanation of Parameter

mete function range
r No. [Default value]
Velocity deviation
threshold of automatic 0～2000
18
notch filter [ 50 ]
The first stage 1～1000
vibration suppression [ 150 ]
35
filter vibration
suppression frequency
The first stage
vibration suppression 1～1000
36
filter vibration [ 100 ]
suppression gain
Vibration suppression
coefficient of the first 0～300
37
stage vibration [0]
suppression filter
The compensation
value of the first stage 0～1000
38
vibration suppression [0]
filter is 1
The compensation
value of the first stage 0～1000
39
vibration suppression [0]
filter is 2
Double-loop feeder 0000: Double loop feed
and friction measurement and friction
compensation function compensation closed
switch 0001: Double-loop measurement
feed is effective
0100: Friction compensation is 0000～0101
40
effective [1000 ]
0101: Both double-loop
measurement feed and friction
compensation are effective
1000: The vibration suppression
function in the first stage is effective
Friction compensation Percentage of proportional gain 10～1000
41
gain (bandwidth) of speed loop [ 100 ]
Friction compensation Percentage of friction compensation 0～100
43
coefficient torque [0]
Friction compensation
frequency -10000～10000
44
compensation value [0]

90
 Chapter VI Parameters

Para Parameter name Detailed explanation of function Parameter

mete range
r No. [Default value]
45 Friction compensation Friction compensation 1～1000
gain compensation value gain/friction compensation gain [ 100 ]
compensation
46 Double-loop feeder gain 1～500
measurement [ 40 ]

47 Gain compensation value 0～1500

of double-loop [ 150 ]
measurement feed
50 Running number of motor 1～300
in inertia identification [ 30 ]

51 Motor running speed in 1～3000

inertia identification [ 1000 ]

52 Motor Running 0～300

Acceleration in Inertia [ 10 ]
Identification
53 Inertia identification 0～1000
running pause time [0]

54 Initial moment of inertia 0～1000

ratio in inertia [ 200 ]
identification
55 Proportional gain of 10～3000
velocity loop in inertia [ 150 ]
identification
Integral time constant of 2～3000
56 velocity loop in inertia [ 200 ]
identification
Position feedforward gain
0～100
57 in inertia identification
[ 100 ]

91
 Chapter VI Parameters

Param Parameter name Detailed explanation of Parameter range

eter function [Default value]
No.

Velocity deviation
0～3000
58 threshold in inertia
[ 500 ]
identification
Proportional gain of
1～1000
59 position loop in inertia
[40 ]
identification

92
 Chapter VI Parameters

6.6 [Parameter Explanation of PF Motor] (Bus Drive

does not have this function at present)

Param Parameter name Detailed explanation of Parameter range
eter function [Default value]
No.
0 Motor voltage grade 0-220V 0～32767
1-380V [ 0]
1 Rated power of motor 0～32767
0.01Kw
[ 0]
2 Rated current of motor 0～32767
0.01A
[ 0]
3 Rated torque of motor 0～32767
0.01Nm
[ 0]
4 Maximum torque of 0～32767
0.01Nm
motor [ 0]
5 Rated speed of motor 0～32767
1rpm
[ 0]
6 Maximum speed of motor 0～32767
1rpm
[ 0]
7 Motor moment of inertia 0～32767
10-6Kgm2
[ 0]
8 Magnetic pole logarithm 0～32767
of motor 0.001Ω [ 0]
9 Phase resistance of motor 0～32767
0.01mH
[ 0]
10 D-axis inductance of 0～32767
0.01mH
motor [ 0]
11 Q-axis inductance of 0～32767
0.01mH
motor [ 0]

93
Chapter VI Parameters

Param Parameter name Detailed explanation of Parameter range

eter function [Default value]
No.
12 Back EMF constant of 0～32767
motor 0.01V/Krpm [ 0]

13 Motor torque constant 0～32767

0.001Nm/A [ 0]
14 Electrical time constant of 0～32767
motor 0.01ms [ 0]
15 Mechanical time constant 0～32767
of motor 0.01ms [ 0]
16 Motor zero offset is 16-bit 17BIT encoder: 16384 0～32767
low 23BIT encoder: 16384 [ 0]
17 Motor zero offset high 17BIT encoder: 0 0～32767
16-bit 23BIT encoder: 0 [ 0]
18 Type of motor encoder 17BIT encoder: 16 0～32767
23BIT encoder: 17 [ 0]

19 Motor encoder line 17BIT encoder: 0 0～32767

number low 16-bit 23BIT encoder: 0 [ 0]
20 Motor encoder line 17BIT encoder: 2 0～32767
number is low and high 23BIT encoder: 128 [ 0]
21 Manual setting or serial
debugging software to write
the relevant parameters of
the motor into PF-0-PF-20;
Then PF21 is set to 1, and
the driver starts to write the
motor parameters to the
encoder;
In the parameter writing
Motor encoder data 0～3
process, PF21 indicates the
writing control word [0]
writing state; PF21 becomes
2, indicating that the
parameter is being written;
When PF21 is changed to 3,
the parameter writing is
completed;
A change of PF21 to 15
indicates an error in
parameter writing;
94
 Chapter VI Parameters

Param Parameter name Detailed explanation of Parameter range

eter function [Default value]
No.
41 Full closed loop feedback 0: Close 0～1
type 1: Open [ 0]

42 Full closed loop feedback 1. The full closed-loop 0～3

type feedback type is square [ 0]
wave pulse;
2: The full closed-loop
feedback type is BissC
absolute value protocol;
3. The full closed-loop
feedback type is EnDat
absolute value protocol;
43 Transmission bits of full Full closed-loop absolute 1～32
closed-loop absolute value protocol transmits [ 29]
value protocol bits, and absolute value
encoder is available
44 Mixed deviation detection The number of feedback 0～1000
range lines in full closed loop is%, [20]
the deviation exceeds the
number of lines in one circle
of motor by 20%, and the
driving report is 35 #
45 Mixed deviation detection Full closed loop feedback 0～1000
time deviation detection time, [ 100]
when the deviation exceeds
100MS, drive alarm 35 #
46 Mechanical transmission 0～32767
Mechanical transmission
electronic gear [ 1]
electronic gear molecule
denominator
47 Full closed loop feedback Mechanical transmission 0～32767
type electronic gear denominator [ 1]
If the mechanical
transmission reduction ratio
is 2, set PF46 to 1 and PF47
to 2
49 Function switch 0～15
[ 0]

50 Transmission bits of 1～32

Absolute value encoder
absolute value protocol of [ 26]
protocol transmission bit
motor encoder

95
Chapter VII Troubleshooting and Diagnosis

Chapter VII Troubleshooting and Diagnosis

7.1 Alarm List
(Table 7.1)
Alarm Alarm name Fault analysis
No.
1 Overspeed The speed of servo motor exceeds the set value
2 Overvoltage of main Three-phase or two-phase power supply voltage
circuit is too high or braking does not work
3 Main circuit undervoltage Three-phase or two-phase supply voltage is too
low
4 Position out of tolerance The value of position deviation counter exceeds
the set value and the voltage is too low
5 Motor overheating Motor temperature is too high
6 Motor locked rotor The motor is stuck, the transmission is not
smooth, or the load is too large
7 Driver prohibition CCW, CW have no input or parameter PA20 is
exception not 1
11 IPM module failure IPM Intelligent Module Failure
12 Overcurrent Excessive motor current
13 Overload Drive and motor overload (instantaneous
overcurrent), transmission is not smooth
14 Brake failure Brake resistance is broken or brake circuit is
faulty
16 Thermal overload of motor The electric calorific value of the motor exceeds
the set value
17 Speed response fault The speed error is too large for a long time
20 EEPROM error EEPROM error, parameter save failed
22 Wire arrangement fault Poor cable connection between control board and
power board
29 User torque overload Motor load exceeds the value and duration set by
alarm the user
34 Software version Software burning error or failure to restore
mismatch factory value
35 The synchronization error Synchronization error of full closed loop
of the second encoder is feedback and motor feedback is larger than PA78
too large
36 Bus Encoder Receive Check the encoder wire, and pay attention to

96
 Chapter VII Troubleshooting and Diagnosis
Error double-ended grounding of shielded wire
37 Data comparison error Check the encoder wire, and pay attention to
checking of bus encoder double-ended grounding of shielded wire
39 Bus encoder feedback Loose or disconnected encoder line connection
disconnection
40 Bus Encoder Battery Loss Battery disconnection or low voltage
of Power
42 Error in reading motor Incomplete reading of motor parameters in motor
parameters encoder

97
Chapter VII Troubleshooting and Diagnosis

Alarm Alarm name Fault analysis

No.
43 Motor power mismatch The rated current of the servo motor exceeds the
rated current of the driver
44 Parameter exception PF16 is not set correctly
45 MODBUS communication Check RS485 connection and parameter format
anomaly to eliminate interference
60 IPM module temperature is IPM temperature is higher than PA103 set value
too high
111 The second encoder is The second encoder incremental encoder ABZ
broken has broken line
112 Loss of Z pulse of second Z pulse loss of incremental encoder with second
encoder encoder

98
 Chapter VII Troubleshooting and Diagnosis
7.2 Troubleshooting
(Table 7.2)
Alar Alarm Running Causes Solution
m name status
No.
1 Overspee Power on  Drive or motor  Replace the drive
d state failure
 Check parameters  See if it is enabled
internally
When  Short circuit  Check the motor
enabled between UVW of connection
motor
 Encoder 0 bit  Zero adjustment
deviation of motor encoder
 Incorrect servo  Restore servo
parameters parameters
During the  Short circuit of  Whether there is
operation of motor joint water inlet in the
the motor motor joint
 Command speed  Reduce command
is too fast speed
 Unstable  Adjust
acceleration and acceleration and
deceleration deceleration
constant
 Excessive load  Reduce the load
2 Overvolta Power on  Power supply  Reduce the supply
ge of state voltage is too voltage
main high
circuit  Power waveform  Replace the power
is abnormal supply
 Server failure  Replace the server
At runtime  Circuit board  Replace the server
failure
 Brake circuit  Check brake
failure resistance
3 Main Power on  The main supply  Change the power
circuit state voltage is too low supply
undervolt  Circuit board  Replace the server
99
Chapter VII Troubleshooting and Diagnosis
age failure
 Soft start circuit is  Replace the server
broken
At runtime  Insufficient  Increase
transformer transformer
capacity
 Loose power  Fasten the
supply wiring terminal
 Circuit board  Replace the server
failure
4 Position At runtime  Command speed  Reduce command
out of is too fast speed
tolerance  Input voltage is  Check R/S/T
too low power supply
 Parameter PA17 is  Appropriate
too small increase of
parameters
 Loose or  Check fastening
overloaded wiring
connection

100
 Chapter VII Troubleshooting and Diagnosis

Alar Alarm Running Causes Solution

m name status
No.
5 Motor Power on  Motor damage  Replace the motor
overheating state  Sensor  Check the line and
connection is change the sensor
disconnected
At runtime  Motor power is  Replace high-power
too low motor
 Short circuit of  Do a good job of
motor waterproof and
interface dustproof
 Incorrect servo  Adapt to the Motor
parameters model
6 Motor At runtime  The  Disengage the
locked transmission mechanical part
rotor part is stuck
 Excessive load  Reduce the load
 Motor fault  Replace the motor
7 Prohibit Power on  Check  PA20, CW and
exceptions state parameters and CWW wiring
wiring
8 Position At runtime  Motor locked  Check the load
deviation rotor
counter  Abnormal  The speed of the
overflow command upper computer is
frequency reduced
 Wiring error  Check the line and
connect the shielding
layer
 Encoder  It is fragile and needs
damage to be replaced
 Encoder 5V  Shorten the
Low Voltage connection or change
the drive
At runtime  CN2 Plug  Fastening CN2 plug
Contact Bad

101
Chapter VII Troubleshooting and Diagnosis
 Hidden danger  Replace the cable
of cable virtual
welding
 Circuit board  Check interference
chip failure and change servers
11 IPM Power on  Circuit board  Replace the server
module state failure
failure  Short circuit  Check the line and
between UVW replace the motor
of motor
At runtime  Motor fault  Check the line and
replace the motor
 Poor electrical  Check the line and
connection prevent interference
12 Overcurr Power on  The motor is  Replace the motor
ent state or at broken
runtime  Short circuit  Check the line and
between UVW replace the server
 Overload  Change the
high-power drive
motor

102
 Chapter VII Troubleshooting and Diagnosis

Alar Alarm Running Causes Solution

m name status
No.
13 Overloa Power on  Motor damage  Replace the motor
d state water inflow
 Bad circuit board  Replace the server
At runtime  Excessive  Load reduction
mechanical load
 Mechanical  Check mechanical
transmission is not transmission parts
smooth
 Short circuit  Check the cable
between UVW
 The brake is not  Ensure the
released stability of brake
power supply
14 Brake Power on  Circuit board  Replacement
failure state failure servo
At runtime  Bad brake  Check the brake
resistance resistance
connection
 Insufficient braking  Extend
capacity acceleration and
deceleration time
 Excessive  Reduce
mechanical inertia mechanical
inertia
 Encoder UVW  Check the
connection is connection and
incorrect replace it
 Unstable encoder  It is required that
power supply the voltage of 5V
should be stable
 Wrong number of  Adjust the number
encoder lines of lines
corresponding to
parameters
16 Therma Power on  Servo parameter  Restore the

103
Chapter VII Troubleshooting and Diagnosis
l state error factory value
overloa At runtime  Poor mechanical  Increase
d of transmission lubrication and
motor reduce load
 Long overload time  Reduce load and
smooth start and
stop
17 Speed At runtime  Long-term error is  Adjust parameter
respons too large position
e fault feedforward
 Start-stop time is  Adjust
too short acceleration and
deceleration time
20 ROM At runtime  Parameter storage  Recovery
alarm alarm parameter
replacement servo
22 Wire Power on  Replace cable  Plug and unplug
arrange state the cable from the
ment new
fault
29 Insuffici At runtime  Exceeding the set  Check the
ent torque parameters PA30
torque and PA31
 Check motor  Refit motor
selection
 Mechanical  Unload and try
overload again
34 Softwar Power on  Software burning  Replace the drive
e state error
version  Factory value not  DEF recovery
mismat restored parameters
ch

104
 Chapter VII Troubleshooting and Diagnosis

Alar Alarm Running Causes Solution

m name status
No.
35 The Runtime  Encoder feedback  The feedback
synchroni direction direction of
zation  Too heavy a load DP-POS and
error of DP-SPO should
the be consistent
second  Check mechanical
encoder is load
too large
36 Bus Power on  Encoder line  Tighten the
Encoder state disconnected encoder line
Receive  Bad encoder  Replace encoder
Error
 Encoder line error  Replace the
correct encoder
line
37 Data Power on  Encoder line  Tighten the
comparis state disconnected encoder line
on error  Bad encoder  Replace encoder
checking
 Encoder line error  Replace the
of bus
correct encoder
encoder
line
39 Bus Power on  Encoder line  Tighten the
encoder state disconnected encoder line
feedback  Bad encoder  Replace encoder
disconnec
 Encoder line error  Replace the
tion
correct encoder
line
40 Bus Power on  Loose battery line  Check battery
Encoder state wiring
Battery  Battery life expires  Replace the
Loss of battery
Power  Bad encoder  Replace encoder
42 Error in Power on  Incorrect encoder  Replace the motor
reading state parameters
motor  Loose encoder line  Replace encoder

105
Chapter VII Troubleshooting and Diagnosis
parameter line
s
43 Motor Power on  Excessive motor  Replace the low
power state selection power motor
mismatch  Low driving current  Replace the high
power driver
44 PF16 Power on  Correctly match
anomaly state the encoder

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 Chapter VII Troubleshooting and Diagnosis

Alar Alarm Running Causes Solution

m name status
No.
MODBUS Power on  Detect RS485 communication baud rate and
45 communic state check bit setting; 2. Detect whether the station
address setting of the slave station RS485
ation communication is set
anomaly
 There are repetitions; 3. Detecting whether the
baud rate of the slave station is consistent with
that of the master station; 4. Whether the
communication cable uses double-ended
shielding;

At runtime  Detect RS485 communication baud rate and

check bit setting;
 Detecting whether the station address setting of
the slave station RS485 communication is
duplicated;
 Detecting whether the baud rate of the slave
station is consistent with that of the master
station; 4. Whether the communication cable
uses double-ended shielding;
60 IPM At runtime  PIM temperature is too high
module
temperatur
e is too
high
111 The At runtime  Second feedback disconnection
second
encoder is
broken
112 Loss of Z At runtime  Loss of Z pulse of second encoder
pulse of
second
encoder
■ If the Alm red light is on and the alarm number "Err--xx" in the digital tube flashes, it
is a driving alarm, so it is necessary to cut off the power in time and find out the alarm
reason.

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Chapter Ⅷ Debugging and Application

Chapter Ⅷ Debugging and Application

8.1 Quick Debugging Note Item

8.1.1 Make sure the connection is correct

 R, S, T and U, V, W cannot be connected in reverse or loosened.
 L Series input voltage is three-phase 220V, H Series input voltage is
three-phase 380V.
 Check that 18 pins in interface CN1 are connected with + 24V, and 36 and 9
pins are connected with 0V correctly, and the polarity cannot be reversed.
 Check whether + 5V in interface CN2 is correct, and the polarity cannot be
reversed.
 Check that pin 1 or 2 in interface CN3 must be connected with upper computer
0V.
 Whether the motor connecting cable is short-circuited or grounded.
 The wiring of the same motor must correspond to the same driver.

8.1.2 Determine the power-on sequence

 C7-13I Serial Servo High Power and Control Power are energized at the same
time.
 If the brake with lock brake motor does not need servo control, it must be
satisfied that the brake is electrified more than 1 second after servo is enabled,
so as to ensure the position accuracy and safety of the equipment.
 Because of the integrated design of high-voltage and control of C7-13I series
servo, the design of power-off and delayed discharge of control and display
circuit is adopted, and the internal high-voltage is cut off immediately after the
power supply is cut off, and the display and control circuit is automatically cut
off after delayed discharge for several seconds.
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 Chapter Ⅷ Debugging and Application
In order to use the drive smoothly, please read the following timing diagram carefully:

Control loop and main loop power supply Power on

Power outage

Servo Alarm Output (ALM) No alarm

Alarm

Unprepared 10 ms
Servo Ready for Output (SRDY)

Get ready

Not enabled
Servo Enable (SON) 10ms

Enable
Power off
1 second

Power on (motor locked)

Motor current

Electricity (lock brake loose)

Motor braking
No electricity (hold the brake tightly)

Motor braking

Fig. 8.1 Power-on and Alarm Sequence Diagram

8.2 Position Control (Quick Adjustment of Parameters After

Power-on)
Example: C7-13iC30L drive with 110ST-M05415LMB motor (position control)
1. There is no problem in determining the three-phase 220V voltage between R, S
and T after being electrified.
2. Do not turn on the servo enable signal temporarily, check whether there is an
alarm, and observe the red light (ALM). If there is no red light, it works normally, so you
can proceed to the next step.
3. When powered on, the driver will automatically adapt parameters through the bus
encoder.
a. Enter Parameter Management Mode "EE-", adjust to "EE-def", press and
hold the Enter key for 3 seconds, and then "Finish" appears, indicating that all other
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Chapter Ⅷ Debugging and Application
parameters of the driver except motor parameters have recovered to the factory default
values.
b. After restarting and powering on, check that several key parameters of
position control (Table 8.1 below) are confirmed to be correct, the upper computer can
give an enable signal (or internal enable), and give a pulse after the (Run) green light is
on. And observe the dynamic effect of the motor, and modify the gain appropriately to
adjust the motor characteristics.

PA-4 – Control mode → Factory value is 0

PA-12 – Electronic gear molecule → Factory value is 1

PA-13 – Electronic gear denominator → Factory value is 1

PA-20 – Invalid driver prohibition → Factory value is 1

PA-5 – Velocity proportional gain → Factory value is 150

PA-6 – Velocity proportional gain → Factory value is 20

PA-7 – Torque filter → Factory value is 100

PA-8 – Velocity detection filter → Factory value is 100

PA-9 – Position proportional gain → Factory value is 80

PA-10 – Position feedforward gain → Factory value is 0

Table 8.2 Adjustment of key parameters of position control

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 Chapter Ⅷ Debugging and Application

8.3 Speed Control (Quick Adjustment of Parameters After

Power-on)
Example: C7-13iC30L drive with 110ST-M05415LMB motor (speed control)
1. There is no problem in determining the three-phase 220V voltage between R, S
and T after being electrified.
2. Determine the differential input or single-ended input wiring of speed analog.
3. Do not turn on the servo enable signal temporarily, check whether there is an
alarm, and observe the red light (ALM). If there is no red light, it works normally, so you
can proceed to the next step.
4. When powered on, the driver will automatically adapt parameters through the bus
encoder.
a. Enter Parameter Management Mode "EE-", adjust to "EE-def" and hold down the
Enter key for 3 seconds. After "Finish" appears, it means that all parameters of the driver
except motor parameters have been restored to the factory default values.
b. After re-energizing, several key parameters of speed control (Table 8.2 below) can
be checked to be correct, and the upper computer can give an enable signal (or internal
enable). After the (Run) green light is on, an analog signal can be given after automatic
zero adjustment. And observe the dynamic effect of the motor, and modify the gain and
zero drift value appropriately.
PA-4 – Control mode → Setting is 1

PA-20 – Invalid drive ban → Factory value is 1

PA-22 – Internal and external speed instruction selection → Setting is 1

PA-40 – Acceleration time constant → Set as needed

PA-41 – Deceleration time constant → Set as needed

PA-43 – Analog speed instruction gain → Set as needed

PA-45 – Simulated speed zero drift compensation → Set as needed

PA-49 – Simulated zero speed sill → Set as needed

Table 8.3 Adjustment of key parameters of speed control

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Chapter Ⅷ Debugging and Application

8.4 Torque Control (Quick Adjustment of Parameters After

Power-on)
Example: C7-13iC30Lc drive with 110ST-M05415LMB motor (torque control)
1. There is no problem in determining the three-phase 220V voltage between R, S
and T after being electrified.
2. Determine the differential input or single-ended input connection of improved
torque analog.
3. Do not turn on the servo enable signal temporarily, check whether there is an
alarm, and observe the red light (Alm). If there is no red light, the work is normal, and the
next step can be proceeded.
4. When powered on, the driver will automatically adapt parameters through the bus
encoder.
a. Enter Parameter Management Mode "EE-", adjust to "EE-def" and hold down
the Enter key for 3 seconds. After "Finish" appears, it means that all parameters of the
driver except motor parameters have been restored to the factory default values.
b. After re-energizing, several key parameters of torque control (Table 8.3 below)
can be checked to be correct, and the upper computer can give an enable signal (or
internal enable). After the (Run) green light is on, an analog signal can be given after
automatic zero adjustment. And observe the dynamic effect of the motor, and modify the
gain and zero drift value appropriately.

PA-4 –Control mode → Setting is 6

PA-20 –Invalid drive ban → Factory value is 1

PA-40 –Acceleration time constant → Set as needed

PA-41 – Deceleration time constant → Set as needed

PA-43 – Analog speed instruction gain → Set as needed

PA-45 – Simulated speed zero drift compensation → Set as needed

PA-49 – Simulated zero speed sill → Set as needed

Table 8.4 Adjustment of key parameters of torque control

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 Chapter Ⅷ Debugging and Application
8.5 Dynamic Electronic Application
Mainly for position control applications.
The so-called dynamic electronic gear:
It refers to the dynamic switching of electronic gear ratio through the on-off of input
terminals in servo drive operation.
Mainly reflected in: the upper computer maximum output frequency limit, when the
electronic gear ratio value is very small, the pulse resolution is high, the maximum
speed can not be reached. However, in order to meet the maximum speed, the
proportion of electronic gears in the upper computer will be very large, and the
position resolution will be low. When the position resolution is low, the transmission
accuracy will be affected (the system will send out a pulse only when the system
command is 2 microns). In order to improve the speed and transmission accuracy, a
number of electronic gear ratios with different ratios are added to switch, so as to
achieve better results.
Example: In the application of CNC machine tools, the first electronic gear ratio is
set as "1/1", "PA12/PA13" and the second electronic gear ratio is "10/1",
"PA52/PA13".
G91 G01 X 10 F100//First gear ratio 1: 1 is 10mm
M 16//NC Machine Tool M Code PLC Outputs a Point to Make INH Signal
G91 G01 X10 F100//Second gear ratio 10: 1 is 100mm
M17//NC machine tool M code PLC turns off INH signal
M30//End of program

PA--4 –Control mode → Setting is 0

PA--20–Invalid drive ban → Factory value is 1

PA-12 – Electronic gear molecule → 1

PA-13 – Electronic gear denominator → 1

PA-52 – The second electronic gear ratio molecule → 1

Table 8.5 Electronic Gear Ratio Parameter Adjustment

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Chapter Ⅷ Debugging and Application

8.6 Debugging Typical Problems

1. (Run) Enable the green light is not on
a. Check whether the three-phase R, S and T voltages are normal.
b. CN1 Interface 18 pins, + 24V is correct.
c. CN1 Interface 10 pins, whether and 0V connected.
d. If the lamp is not on, try again with internal enable PA53=0001.
2. "Err-36, Err-37, Err-39, Err-40, Err-44" alarm appears
Photoelectric encoder is a typical fragile sensitive element, which needs to be
protected in every link
a. The above alarm indicates that there is a problem with the encoder or encoder
connection.
b. Whether the shielding layer is well grounded at both ends, and the plug has
water or impurities.
c. Whether the long connection will attenuate the encoder power supply at 5V.
d. Interference problem, whether there is a strong magnetic and strong electrical
line next to it, and if so, isolate it as much as possible.
3. Jitter of servo motor
a. Determine whether the load and inertia of the servo motor are within the
allowable range of the motor.
b. Adjust parameters PA-5, PA-6 and PA-9.
c. Observe the difference of motor jitter at high speed and low speed to add and
subtract parameters.
4. Noise in servo motor
a. Determine the load and inertia of the servo motor within the allowable range of
the motor.
b. Adjust parameters PA-5, PA-7, PA-8 and PA-9.
c. Observe the difference of motor noise at high speed, low speed and stop to add
and subtract parameters.

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 Chapter Ⅷ Debugging and Application
5. Setting of electronic gear ratio
Take CNC machine tools as an example:
a. The servo motor is directly connected with the screw (the motor rotates 1
revolution and the screw rotates 1 revolution)
If the numerical control system is programmed to 10MM, it will send out 10000
pulses
The photoelectric encoder is 2500 lines
The screw pitch is 6MM
PA12 / PA13:
= (command value mm) * (number of encoder lines) * (quadruple frequency)/(pitch)
* (number of pulses)
= 10*2500*4/6*10000
= 5/3
Namely: PA12=5, PA13=3 ；

b. There is a reducer between the servo motor and the screw (the motor rotates
5 times and the screw rotates 2 times)
If the numerical control system is programmed to send out 10000 pulses at 10MM
The photoelectric encoder is 2500 lines
The screw pitch is 6MM
PA12 / PA13:
= (command value mm) * (number of encoder lines) * (quadruple frequency) *
(number of motor turns)/(pitch) * (number of pulses) * (number of screw turns)
= 10*2500*4*5/6*10000*2
= 25/6
Namely: PA12=25, PA13=6 ；

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Chapter IX Servo Motor Part

9.1 Servo Motor Plug Definition and Connection

I. Power socket (4 cores):

Winding
U V W
lead
Socket
2 3 4 1
No.
U, V and W are the lead ends of servo motor winding coils. Round butt plugs are used for
80-stand motors.

II. Feedback element socket:

■Standard incremental encoder (F) socket (15 cores):

+5
Signal 0V A+ A- B+ B- Z+ Z- U+ U- V+ V- W+ W-
V
Socket
2 3 4 7 5 8 6 9 10 13 11 14 12 15 1
No.
A +, B +, Z +, A-, B-, Z-, U +, U-, V +, V-, W +, W-signals are incremental encoder
output signals.
■ Wire -saving incremental encoder (F1) socket (9 cores):
+5
Signal 0V A+ A- B+ B- Z+ Z-
V
Socket
2 3 4 7 5 8 6 9 1
No.
A +, B +, Z +, A-, B-, Z-signals (composite signals) are output signals of line-saving
encoder.Round butt plugs are used for 80-stand motors.
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 Chapter IX Servo Motor Part

■ Bus Encoder (M) socket (7 cores):

Signal +5V 0V SD+ SD- E+ E-

Socket No. 7 5 6 4 3 2 1

SD + and SD-are data output signals; E + and E-are battery leads.

■Resolver (R) socket (7 cores):

Signal R1 R2 S1 S3 S2 S4

Socket No. 2 3 4 5 6 7 1

R1-R2 is the primary signal; S1-S3 and S2-S4 are secondary signals.

III. Power loss brake (lock brake) socket:

VDC (DC Power Supply), non-polar
Power supply
access requirements.

Socket No. 1 2 3

Parameters of 110 frame equipped with power loss brake:

Working voltage: 24VDC (-15% ~ + 10%), working current: ≤ 0. 6A, braking torque:
≥ 8 Nm.
Parameters of 130 frame equipped with power loss brake:
Working voltage: 24VDC (-15% ~ + 10%), working current: ≤ 0. 6A, braking torque:
≥ 12 Nm.
Parameters of 150 frame equipped with power loss brake:
Working voltage: 100VDC (-15% ~ + 10%), working current: ≤ 0. 4A, braking torque:
≥ 30 Nm.

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Chapter IX Servo Motor Part

9.2 Servo Motor Selection Instructions

■Parametric characteristics
Frame (mm): 40 ~ 264 Rated torque （Nm）：1.3～27
Rated speed (rpm): 1500 ~ 6000 Rated power （Kw）：0.05～37
Standard Feedback Component: Loss of power brake: optional
Incremental Encoder (2500C/T)
Insulation grade: B Protection level: sealed self-cooling
IP65
Pole pair: 4 Installation method: flange
Ambient temperature: 0 ~ 55 ℃ Ambient humidity: less than 90% (no
condensation)
Excitation mode: permanent magnet type Adaptive driver operating voltage
(VAC): 220

■Description of servo motor model number:

110 ST – M 020 30 L F B Z
⑴ ⑵ ⑶ ⑷ ⑸ ⑹ ⑺ ⑻ ⑼

⑴ Base number
⑵ AC permanent magnet synchronous servo motor
⑶ Feed element type: photoelectric encoder
⑷ Rated torque: Three digits × 0.1Nm
⑸ Rated speed: Two digits × 100rpm
⑹ Driver working voltage (VAC): L 220V; H 380V ；
⑺ Optional encoder code: S-sine cosine encoder (131072 C/T)
F - Incremental encoder (2500 C/T) F1- Provincial incremental encoder (2500C/T)
M-Absolute R-Rotational
⑻ Medium inertia
⑼ Installed a power loss brake
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 Chapter IX Servo Motor Part

9.3 Size and Selection Parameters of Servo Motor

■ 40 bases
Motor model 40ST-M00130LMB 40ST-M00330LMB

Power 0.05Kw 0.1 Kw

Rated torque 0.16Nm 0.32Nm
Rated speed 3000 rpm 3000 rpm
Rated current 0.4A 0.6 A
Rotor inertia 0.025×10 Kgm
-4 2
0.025×10-4 Kgm2
Maximum
1.2A 1.8 A
current
Maximum torque 0.48Nm 0.96 Nm

Fr≤50N
Maximum radial
and axial forces: Fs≤5N

Type A Key Type B Key Type C Key

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 Chapter IX Servo Motor Part

40 bases:

Model A (mm) B (mm) L (mm) L1 (mm) d (mm) b (mm) t (mm)

Φ8 0 3.5 0
40ST-M00130LMB 75 54.1 22 19 0 -0.1
-0.013 -0.03
Φ8 0 3.5 0
40ST-M00330LMB 90 54.1 22 19 0 -0.1
-0.013 -0.03

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 Chapter IX Servo Motor Part
■ 60 bases
Motor model 60ST-M00630LMB 60ST-M01330LMB 60ST-M01930LMB

Power 0.2 Kw 0.4 Kw 0.6 Kw

Rated torque 0.64Nm 1.3Nm 1.9 Nm
Rated speed 3000 rpm 3000 rpm 3000 rpm
Rated current 1.2A 2.8A 3.5A
Rotor inertia 0.175×10-4 Kgm2 0.29×10-4 Kgm2 0.39×10-4 Kgm2
Maximum current 3.6 A 8.4 A 10.5A
Maximum torque 1.9 Nm 3.9 Nm 5.7 Nm

Fr≤100N

Maximum radial Fs≤20N

and axial forces:

Type A Key Type B Key Type C Key

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60bases:

Model A (mm) B (mm) L (mm) L1 (mm) d (mm) b (mm) t (mm)

Φ14 0 5.5 0 11 0
60ST-M00630LMB 116 54.1 25 20
-0.013 -0.03 -0.1
Φ14 0 5.5 0 11 0
60ST-M01330LMB 141 54.1 25 20
-0.013 -0.03 -0.1
Φ14 0 5.5 0 11 0
60ST-M01930LMB 169 54.1 25 20
-0.013 -0.03 -0.1

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 Chapter IX Servo Motor Part
■ 80 bases
Motor model 80ST-M01330LMB 80ST-M02430LMB 80ST-M03330LMB

Power 0.4 Kw 0.75 Kw 1.0 Kw

Rated torque 1.3 Nm 2.4 Nm 3.3 Nm
Rated speed 3000 rpm 3000 rpm 3000 rpm
Rated current 2.6 A 4.2 A 4.2 A
Rotor inertia 0.74×10-4 Kgm2 1.2×10-4 Kgm2 1.58×10-4 Kgm2
Maximum current 7.8 A 12.6 A 12.6 A
Maximum torque 3.9 Nm 7.2 Nm 9.9 Nm

Fr≤200N
Maximum radial
and axial forces: Fs≤50N

TYPE A KEY TYPE B KEY TYPE C KEY

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80bases:

Model A (mm) B (mm) L (mm) L1 (mm) d (mm) b (mm) t (mm)

Φ19 0 15.5 0
80ST-M01330LMB 128 500 30 25 6 0 -0.03
-0.013 -0.1
Φ19 0 15.5 0
80ST-M02430LMB 150 500 30 25 6 0 -0.03
-0.013 -0.1
Φ19 0 15.5 0
80ST-M03330LMB 165 500 30 25 6 0 -0.03
-0.013 -0.1

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 Chapter IX Servo Motor Part
■ 110 bases
Motor 110ST-M02030 110ST-M04030 110ST-M05030 110ST-M06020 110ST-M06030
model LMB LMB LMB LMB LMB
Power 0.6 Kw 1.2 Kw 1.5 Kw 1.2 Kw 1.6 Kw
Rated
2.0 Nm 4.0 Nm 5.0 Nm 6.0 Nm 6.0 Nm
torque
Rated speed 3000 rpm 3000 rpm 3000 rpm 2000 rpm 3000 rpm
Rated
4.0 A 5.0 A 6.0 A 6.0 A 8.0 A
current
0.425×10-3 0.828×10-3 0.915×10-3 1.111×10-3 1.111×10-3
Rotor Kgm2 Kgm2 Kgm2 Kgm2 Kgm2
inertia （0.489×10-3 （0.892×10-3 （0.979×10-3 （1.175×10-3 （1.175×10-3
Kgm2） Kgm2） Kgm2） Kgm2） Kgm2）
Maximum
12.0 A 15.0 A 18.0 A 18.0 A 24.0 A
current
Maximum
6.0 Nm 12.0 Nm 15.0 Nm 18.0 Nm 18.0 Nm
torque

Maximum Fr≤600N
radial and
axial forces: Fs≤180N

TYPE A KEY TYPE B KEY TYPE C KEY

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110 bases:

A1 L L1 L2
Model A (mm) B (mm) d (mm) b (mm) t (mm)
(mm) (mm) (mm) (mm)
110ST-M02030L Φ19 0 15.5
158 200 76 48 40 3 6 0 -0.03
MB -0.013 0 -0.1
110ST-M04030L Φ19 0 15.5
185 227 102 48 40 3 6 0 -0.03
MB -0.013 0 -0.1
110ST-M05030L Φ19 0 15.5
200 242 118 48 40 3 6 0 -0.03
MB -0.013 0 -0.1
110ST-M06020L
MB Φ19 0 15.5
217 259 134 48 40 3 6 0 -0.03
110ST-M06030 -0.013 0 -0.1
LMB

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 Chapter IX Servo Motor Part

■ 130 bases
130ST-M04025L 130ST-M05020 130ST-M05025 130ST-M06025L
Motor model
MB LMB LMB MB
Power 1.0 Kw 1.0 Kw 1.3 Kw 1.5 Kw
Rated torque 4.0 Nm 5.0 Nm 5.0 Nm 6.0 Nm
Rated speed 2500 rpm 2000 rpm 2500 rpm 2500 rpm
Rated current 4.0 A 5.0 A 5.0 A 6.0 A
1.333×10-3 1.333×10-3
1.101×10-3 Kgm2 1.544×10-3 Kgm2
Kgm2 Kgm2
Rotor inertia （1.268×10-3 （1.711×10-3
（1.50×10-3 （1.50×10-3
Kgm2） Kgm2）
Kgm2） Kgm2）
Maximum
12.0 A 15.0 A 15.0 A 18.0 A
current
Maximum
12.0 Nm 15.0 Nm 15.0 Nm 18.0 Nm
torque

Maximum Fr≤900N
radial and
Fs≤300N
axial forces:

TYPE A KEY TYPE B KEY TYPE C KEY

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130 bases:

A1 B L L1 L2
Model A (mm) d (mm) b (mm) t (mm)
(mm) (mm) (mm) (mm) (mm)
130ST-M04025 Φ22 0 60 18.5 0
163 205 80 50 40 5
LMB -0.013 -0.03 -0.1
130ST-M05020
LMB Φ22 0 6 0 18.5 0
171 213 89 50 40 5
130ST-M05025 -0.013 -0.03 -0.1
LMB
130ST-M06025 Φ22 0 60 18.5 0
181 223 98 50 40 5
LMB -0.013 -0.03 -0.1

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 Chapter IX Servo Motor Part

■ 130 bases
130ST-M07720 130ST-M07725 130ST-M07730 130ST-M1001
Motor model
LMB LMB LMB 5LMB
Power 1.6 Kw 2.0 Kw 2.4 Kw 1.5 Kw

Rated torque 7.7 Nm 7.7 Nm 7.7 Nm 10Nm

Rated speed 2000 rpm 2500 rpm 3000 rpm 1500 rpm

Rated current 6.0 A 7.5 9.0 6.0

2.017×10-3 2.017×10-3 2.017×10-3 2.595×10-3

Kgm2 Kgm2 Kgm2 Kgm2
Rotor inertia -3 -3 -3
（2.184×10 （2.184×10 （2.184×10 （2.762×10-3
Kgm2） Kgm2） Kgm2） Kgm2）
Maximum
18.0 A 20.7 A 27.0 A 18.0 A
current
Maximum
23.1Nm 23.1 Nm 23.1 Nm 30.0 Nm
torque

Maximum Fr≤900N
radial and
Fs≤300N
axial forces:

Type A Key Type B Key Type C Key

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130 bases:

A A1 B L L1 L2 b
Model d (mm) t (mm)
(mm) (mm) (mm) (mm) (mm) (mm) (mm)
130ST-M07720
LMB
130ST-M07725 Φ22 0 60 18.5 0
LMB 195 237 112 50 40 5
-0.013 -0.03 -0.1
130ST-M07730
LMB
130ST-M10015 Φ22 0 6 0 18.5 0
219 261 136 50 40 5
LMB -0.013 -0.03 -0.1

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■ 130 bases
Motor model 130ST-M10025LMB 130ST-M15015LMB 130ST-M15025LMB

Power 2.6 Kw 2.3 Kw 3.9 Kw

Rated torque 10.0 Nm 15.0 Nm 15.0 Nm
Rated speed 2500 rpm 1500 rpm 2500 rpm
Rated
10.0 A 9.5 A 17.0 A
current
2.595×10-3 Kgm2 4.32×10-3 Kgm2 4.32×10-3 Kgm2
Rotor inertia
（2.762×10-3 Kgm2） （4.487×10-3 Kgm2） （4.487×10-3 Kgm2）
Maximum
30.0 A 28.5 A 51.0 A
current
Maximum
30.0 Nm 45.0 Nm 45.0 Nm
torque

Type A Key Type B Key Type C Key

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130 bases:

L2
A A1 B L L1
Model (mm d (mm) b (mm) t (mm)
(mm) (mm) (mm) (mm) (mm)
)
130ST-M10025 Φ22 0 60 18.5 0
219 261 136 50 40 5
LMB -0.013 -0.03 -0.1
130ST-M15015
LMB Φ22 0 60 18.5 0
267 309 184 50 40 5
130ST-M15025 -0.013 -0.03 -0.1
LMB

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■ 150 bases
Motor model 150ST-M15025LMB 150ST-M18020LMB

Power 3.8 Kw 3.6 Kw

Rated torque 15.0 Nm 18.0 Nm
Rated speed 2500 rpm 2000 rpm
Rated current 16.5 A 16.5 A
6.15×10 Kgm
-3 2
6.33×10-3 Kgm2
Rotor inertia
（6.75×10-3 Kgm2） （6.93×10-3 Kgm2）
Maximum current 49.5 A 49.5 A
Maximum torque 45.0 Nm 54.0 Nm

■ 150 bases
Motor model 150ST-M23020LMB 150ST-M27020LMB

Power 4.7 Kw 5.5 Kw

Rated torque 23.0 Nm 27.0 Nm

Rated speed 2000 rpm 2000 rpm

Rated current 20.5 A 20.5 A

8.94×10-3 Kgm2 11.19×10-3 Kgm2

Rotor inertia
（9.54×10-3 Kgm2） （11.79×10-3 Kgm2）

Maximum current 61.5 A 61.5 A

Maximum torque 69.0 Nm 81.0 Nm

Type A key Type B key Type C key

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150 bases:

L2
A A1 L L1
Model d (mm) b (mm) t (mm)
(mm) (mm) (mm) (mm)
(mm)
60 (Type B) Φ28 0 24 0
150ST-M15025LMB 231 293 72 5 8 0 -0.03
55 (Type C) -0.013 -0.1

60 (Type B) Φ28 0 24 0
150ST-M18020LMB 250 312 72 5 8 0 -0.03
55 (Type C) -0.013 -0.1

60 (Type B) Φ28 0 24 0
150ST-M23020LMB 280 342 72 5 8 0 -0.03
55 (Type C) -0.013 -0.1

60 (Type B) Φ28 0 24 0
150ST-M27020LMB 306 368 72 5 8 0 -0.03
55 (Type C) -0.013 -0.1

134
 Chapter IX Servo Motor Part

■180 bases:
Motor model Rated power Rated Rated torque Rated speed
Kw current A Nm Rpm
180-027020HMB 5.5 13.5 27 2000
180-036020HMB 7.5 20 36 2000
180-045018HMB 9 23.5 45 1800
180-055018HMB 11 30 55 1800
180-070016HMB 12.5 38 70 1600

■200 bases:
Motor model Rated power Rated Rated torque Rated speed
Kw current A Nm Rpm
200-038015HMB 6 11.6 38 1500
200-042020HMB 8.7 18.8 42 2000
200-055015HMB 20.2 16.6 55 1500
200-058020HMB 12 24.3 58 2000
200-074015HMB 26.5 26.5 74 1500
200-087020HMB 18.2 36.7 87 2000
200-103015HMB 16.4 33.2 103 1500
200-095620HMB 20.4 40.1 95.6 2000
200-128015HMB 20 41 128 1500
200-135020HMB 28.3 60.5 135 2000
200-186015HMB 29 61 186 1500
200-175020HMB 36.7 73.7 175 2000

135
Chapter IX Servo Motor Part

■264 bases:
Motor model Rated Rated Rated torque Rated speed
power Kw current A Nm Rpm
264-220015HMB 37 72.73 220 1500
264-215020HMB 49 96 215 2000
264-210015HMB 33 62 210 1500
264-269020HMB 56.3 120.7 269 2000
264-380015HMB 60 106 380 1500
264-349017HMB 62 145 349 1700
264-450015HMB 70 130 450 1500
264-481018HMB 91 196 481 1800

136
 Chapter IX Servo Motor Part

180 ~ 264 bases:

Key key key

137
Chapter IX Servo Motor Part

138
Chapter IX Servo Motor Part

139
Appendix

Appendix
Appendix1
Example of communication between driver and Mitsubishi
plc485

1. Driver moC7bus communication settings (driver needs 485

communication function model)
Before communication, the parameters related to communication in the driver should
be set in advance, and the upper computer will communicate with the driver according to
the corresponding communication setting parameters.
485
485 communication modbus rtu protocol 1~32767
PA--80 communication
representative address: 1, 2, 3...... [1]
axis address
The corresponding baud rate is 0: 4800; 1:
485
9600; 2: 19200; 3:38 400; 0~3
PA--81 communication
The data bit is 8; Stop bit is 1; RTU format; [2]
baud rate
The longest read length is 10;
485
0~2
PA--82 communication 0: Odd check; 1: Even check; 2: No check
[0]
parity check

2. Data frame format

The driver MoC7Bus communication from our company uses RTU mode, and the
characters sent are expressed in hexadecimal numbers. The specific frame format is
defined as follows:
Substati Function Data CRC CHECK CODE
on No. code
1 byte 1 byte N bytes 2 bytes, Low byte in front
Where, the data format (11 bits) when each byte is transmitted is as follows:
Start bit Data bit Parity bit Stop bit
0-bit (no parity), 1-bit (odd
1-bit 8-bit 2-bit (no check), 1-bit (check)
parity or even parity)
When data is sent, the low bit is before and the high bit is after.

140
 Appendix

3. Read and write of driver parameters

(1) Read of parameters (continuous read of multiple parameters)

Request:

Function
Substation No. Start address Register bytes（N） CRC CHECK CODE
code
1 byte 1 byte 2 bytes 2 bytes 2 bytes

Drive station High High

0x03 Low byte Low byte Low byte High byte
address byte byte

Response:

Substation Function CRC CHECK

Register bytes（N*2） Register contents
No. code CODE

1 byte 1 byte 2 bytes N*2 bytes 2 bytes

Drive
High Low High Low Low High
station 0x03 ........
byte byte byte byte byte byte
address

(2) Write of parameters

Request:

Substation No. Function Start address Register contents CRC CHECK CODE
code
1 byte 1 byte 2 bytes 2 bytes 2 bytes

Drive station High High High

0x06 Low byte Low byte Low byte
address byte byte byte

Response:
Function
Substation No. Start address Register contents CRC CHECK CODE
code

1 byte 1 byte 2 bytes 2 bytes 2 bytes

Drive station High High

0x06 High byte Low byte Low byte Low byte
address byte byte

141
Appendix

4. Drive parameter modobus address

The PA mode parameters of the driver can be viewed or modified through
communication, and the modobus address of the parameter register in the sending
message is in hexadecimal format of Parameter No. For example, read the PA-95 motor
speed, and convert 95 to 5F in hexadecimal.

5. PLC hardware description (the plc model used in this example is

FX3U, and the driver is with 485 communication model. Refer to the
basic program prepared by Mitsubishi Communication Manual. If the
configuration is different, please change it according to Mitsubishi
Communication Manual)
Channel 1

European terminal

6. Connection of RS-485 Communication

Driver

Built-in resistor of FX3U-485ADP is set to 110 ohm position

142
 Appendix

7. Grounding
1 Please implement the following contents when grounding
2 Please use Class D grounding. (Ground resistance below 100 ohms)
3 Please use special grounding as much as possible.
4 If special grounding cannot be used, please use "common grounding" in
the following figure
5 Please use grounding wire with thickness above AWG14 (2MM)

Programmable controller Other equipment Programmable controller Other equipment Programmable controller Other equipment

Dedicated earthing (best) Common grounding (allowed) Common grounding (not allowed)

8. Mitsubishi FX3U PLC uses 485 communication related software

components
Soft component number Name Content
M8063 Serial Channel Set ON when a communication error occurs
Error (Channel 1) When serial communication error (M8063) is ON, save
the error code in D8063.
M8120 Used to maintain Maintain the communication setting state. (for FXov
communication programmable controller).
settings
M8121 Wait to send flag Set ON while waiting to send
bit
M8122 Send a request After setting the send request, start sending.
M8123 End of reception It can be ON at the end of reception. When the reception
flag bit end flag bit (M8123) is ON, no more data can be
received.
M8124 Flag bit of wave Set ON synchronously with CD signal
cutting detection
M8129*1 Flag bit for
When the data is received, it is within the time set in
judging timeout
timeout time setting D8129). Set ON when the data to be
received is not received
M8161 8-bit processing Sending and receiving data is switched between 16-bit
mode data and 8-bit data.
00: 8-bit mode
OFF: 16-bit mode
*1. FXoN FX2 (FX), FX2c, and FX2N (below Ver.2. 00) have not yet corresponded.

143
Appendix

Soft component Name Content

number
D8063 Display error code When the serial pass estimation error (6063) is 0, the error
code is saved in D8063.
D8120 Setting of You can set the communication format.
communication format
D8122 Remaining points of Save the remaining points of the sent data.
transmitted data
D8123 Monitoring of Save the points of received data.
receiving points
D8124 Header Set header, machine start value: STX (HO2)
D8125 End of report No final report, initial value: ETX (HO3)
D8129*1 Setting of timeout time Set the timeout time.
D8045* 2 Display general Save the communication parameters set in the
estimation parameters programmable controller.
D8419*2 Display running mode Save the executing communication function
* 1. FXoN FX2 (FX), FX2c, FX2N (below Ver.2. 00) are not yet corresponding
* 2. Only FX3U and FX3uc programmable controllers correspond

9. Use of RS instruction
1. Instruction interpretation

Points to send data: 0 ~ 4096

0 ~ 256 in FX2FX, FX2c, FXow, FX1s, FXxw,
FXxc)
Starting soft element for transmitting data

Starting soft element for storing received data

Points to send data: 0 ~ 4096
(0 ~ 256 in FX2 (FX), FXx, FXow, FX1s, FXIN,. FXINC)

144
 Appendix

2. Use of instructions

Instruction
After the command contact (M0) is
ON, it changes to the waiting state
of sending and receiving.
Refer to Section 6.2. 3 for the
processing of transmitted and
received data
Send command

(pulse)

Please set the send instruction (0M1) to

0N and write the data to be sent to the
soft component (specified point area)
starting with D100.
Please execute the send instruction in
pulse mode.
After writing the send data, please set
Send a request
the send request (048122) ON. The
transmission of data is performed.

End of reception At the end of sending, the send request

(M8122 will be automatically reset. Do not
reset it by program.
Refer to section 6.2. 4 for actions when
sending

After receiving data from the connected device,

the end of reception flag bit (0M8123) is set ON.
After M8123 is ON, please move the received data
saved in D200 to another save area.

After moving the received data, please reset the end of reception flag bit (M8123).
When MB123 is ON, the next data to be received cannot be fetched.
Refer to Section 6.2. 5 for actions when receiving

145
 Appendix
3. Choice of 16-bit 8-bit mode
8-bit processing mode when M8161 is ON and 16-bit processing mode when M8161
is OFF. As shown in the following figure, when M8161 is set, only the lower 8-bit of the
first 4 bytes of D200 are sent as valid data. Only low 8-bit is valid when receiving. This
communication example uses 8-bit mode.
16-bit data

8-bit mode

Ignore
Low 8 bits

The upper 8 bits are ignored, and only

the lower 8 bits are regarded as valid
Header of report Low Low Low data.

Start address specified in S

Number of bytes sent specified in m
Send data
(Programmable Logic Controller →
External Devices)
Header of report Low Low Low Low Low Low End of report

Start address specified in D

Receive data
(Peripherals → Programmable Logic
Controller)

Does not exceed the maximum number of points (bytes) specified in n.

The end of reception is judged according to the reception of the tail ETX
or n point.

146
 Appendix

4. Setting of D8120 (modify as needed)

Bit number Name Content
0 (bit OFF) 1 (bit ON)
b0 Data length 7-bit 8-bit
b1b2 Parity check b2, b1 (0.0): None (0.1): Odd Check (00D) (1, 1): EVEN Check
(EVEN)
b3 Stop bit 1-bit 2 -bit
b4b5b6b7 Baud rate (bps) b7,b6,b5,b4 b7,b6,b5,b4
(0,0,1,1):300 (0,1,1,1):4,800
(0,1,0,0):600 (1,0,0,0):9,600
(0,1,0,1):1,200 (1,0,0,1)19,200
(0,1,1,0):2,400
b8 Header of report N/A Yes (08124),Initial value:
STX (02H)
b9 End of report N/A Yes (08125),Initial value:
ETX (03H)
b10b11 Control line No agreement b11,b10
(0, 0): No < RS-232C interface >
(0.1): Normal mode < RS-232C interface >
(1.0): Interlink mode < RS-232C interface >
(FX2N, FX3U, FX2NC, FX3UC above Ver.2.
00)
(1.1) : Modem mode
< RS-232C Interface, RS-485/RS-422 Interface
*2
Computer link b11,b10
(0, 0): RS-485/RS-422 interface
(1.0): RS-232C interface
b12 Can't be used
b13*1 And check Do not attach Additional

b14*1 Agreement. No agreement Private protocol

b15*1 Control Protocol Format 1 Protocol Format 4

sequence

1. When using protocol-free communication, please be sure to use it in "0" state.

2. RS2 instruction can set up to 4 headers and trailers.

3. When RS2 instruction is used to execute protocol-free communication, sum check is attached after the

end of the report.

In the case of additional sum check, please be sure to set the end of the report.

147
 Appendix

The program used to set up the communication function is as follows.

Initial pulse

Data length 7 -bit

Parity check EVEN check (EVEN)
Stop bit 1-bit
Baud rate 9,600bps
Agreement No agreement
Header of report None
None None
Control line RS-485 communication

148
 Appendix

9. MoC7bus-rtu protocol message description

Send message format:

Slave station CRC-16 check CRC-16 check

Function code Data area
No. low bit high bit
8-bit 8-bit N*8-bit 8-bit 8-bit

Data format returned:

Returns the
Slave station CRC16
Function code number of Return data
No. CHECKSUM
bytes of data
8-bit 8-bit 8-bit N*8-bit 16-bit

The slave number is 1 byte, and its value ranges from 0 to FFH. Exceptionally, if this
value is 0, it is used as the broadcast message identification of the master station.
Therefore, the slave number used physically can only be between 01H and FFH (i.e.
between 1 and 255).
The function code is 1 byte, which is used to select a command (read, write or answer to
check whether it is correct, etc.), and the valid function code range is between 1 ~ 255.
This drive supports 03H read and 06H write commands.
The data area records the address and number of registers read. For example, this
example reads the parameters of pa0, and the data area is 00 00 00 01. (The data type is
hexadecimal. The first 16 bits are the address, and the last 16 bits are the number of
reads.)
Please refer to modobus-rtu protocol CRC calculation method, or use software
calculation.

149
Appendix
10. Sample program

150
 Appendix

1 This example reads the driver pa0 parameters

2 D100 places the moC7bus address of the drive, corresponding to the drive
pa80 here 0X01.
3 D101 places the function code, where 0X03 is the read function.
4 The address of the drive register read by D102 D103 is 0X00 here.
5 The number of D104 D105 placed and read is 0X01 here.
6 D106 D107 is CRC check, which can be calculated by software or with
reference to crc-16/moC7nus calculation method.
7 Set m8122 to read driver parameters when X2 is executed.

151
Appendix

Appendix 2
Driver with Siemens CNC system
(With Siemens 802S/801/802C/808D)

1: Drive parameter setting requirements are as follows

Parame Parameter name Unit Parameter Default

ter No. range value
5 Velocity proportional gain Hz 50~2000 150
36 Filter coefficient of command pulse signal % 0～3 1

Note:
■ The driving parameters PA36=1 and PA37=0 when Siemens system is equipped,
otherwise the repeated positioning accuracy will be affected.
■ If the deviation of returning to zero is inconsistent, the driving No.5 parameter can be
appropriately increased.
■ Pins 36 and 9 of the driver CN1 interface must be connected with the shielding layer
and the metal shell of the system. Otherwise, the return to zero accuracy will be affected.

2: Siemens system parameter setting requirements are as follows

Parameter No. Parameter name Required value

34040 Search of Z pulse velocity 500～2000
Note:
■ If there is a large deviation back to zero, the system parameter 34040 can be
appropriately increased.

152
 Appendix

Appendix 3
Wiring diagram of driver with Siemens 801/802S system

Siemens 801 (X4

SBF Drive (Door
interface)
Speciality)
Z-axis x-axis
X-axis Z-axis

SBF Drive (Door Speciality) Shielding

SBF Drive (Door Speciality) Encoder
Signal ground
layer

Siemens 801 (X20 interface)

Z-axis X-axos

External +24 power supply

Upper and external 0V power supply

153
 Appendix

Appendix 4
Wiring diagram of driver with Siemens 808D system

Siemens 808D X51\ X52\ X53 (DB15 core hole) Driver CN1 port (36 cores high density)

Green Green
Yellow Yellow
Grey Grey
Pink Pink
Black Black
Purple Purple
Red blue Red blue
Blue Blue
Red Red

White yellow White yellow

Pink Pink
gray gray

Metal shell 0.3mm2

The cable is
Metal shell
extended by 2 m

154
 Appendix

When making wires in pairs, one should be made as shown in the above drawings, and one 30, 31 legs

should not be welded with extension wires.

Driver parameter modification: PA-36 is changed to 2,

PA-57 Modification method: When the system shows the driver alarm, but the driver does not actually

alarm, you can modify this parameter. The method is to reverse the penultimate bit 0000 of this parameter,

that is, 1 to 0, 0 to 1.

155
 Appendix

Appendix 5
Wiring diagram of driver with Siemens 802C system

CNC system side X7, X3\ X4X5

SIEMENS 802CX7 (Speed Command and Enable

Driver side CN1

Driver

Y Enable 1 Z Enable 1
Y Enable 1 Z Enable 1
X Enable 1
X Enable 1

Y given + Zgiven +
Y given - Z given -
X given +
X given -

SIEMENS 802C (Axis Encoder Feedback Signal)

OB + (original
signal OB +)
OB-(original
signal OB-)
OA + (original
signal OA +)
OA-(original
signal OA-)

Driver parameter adjustment: PA-4 is adjusted to 1, PA-22 is adjusted to 1, and PA-43 is set as required

Siemens 802C system parameter adjustment: The parameter 30130 of the 802C system should be changed

to "1".

156
 Appendix
After connecting the wires according to the above wiring diagram, adjust the above parameters first, then

power up the system, power up the driver, open the driver to enable, keep the system in zero speed state,

and adjust the driver AU-Spd (automatic adjustment of analog speed bias). The adjustment method is: find

AU in the--layer menu interface of the drive, press Enter again to display AU-Spd, hold Enter again, and

keep it for 3 seconds, then FINISH will be displayed, and finally save the parameters.

157
 Appendix

Appendix 6
Wiring diagram of driver with GSK 928 system
GSK928TE (X5) X-axis DB pin plug
GSK928TE (X5) X-axis

Red
Red and black
Orange
Orange black
Yellow

Yellow black
Green
Green and white
Blue
Blue and white

Drive (Z axis)
Red
Red and
black
Orange
Orange
black
Yellow

Yellow
black
Green
Green and
white
Blue
GSK928TE (X4) DB Hole Plug Metal shell grounding
Blue and
X-axis null white
Z-axis null

Forward rotation signal

of tool rest
+ 24V power supply

Knife No. 1

Knife No. 3

Tool rest reversal signal Add casing logo on line!

Knife No. 2

Knife No. 4

158
 Appendix

Appendix 7
Wiring diagram of driver with GSK 980 system

GSK980 Series (X, Z Axis) Driver

159
Appendix

Appendix 8
Wiring diagram of driver with KND CNC system

Numerical control system side Driver side

Signal name Pin Numerical control system side SBF Series Driver Side Pin Signal name

Metal shell grounding

160
 Appendix

Appendix 9
Wiring diagram of driver with Syntec EZ4 system
Syntec numerical control system Servo driver
15-pin DB plug

A, B orthogonal pulse

Using A/B orthogonal

pulse signal, the
resolution of each axis
of the system should
be adjusted to 2500.
And then quadruple
the frequency

Be sure to use twisted

pair shielded wire, and
both ends of shielding
layer must be
grounded!

Enable relay Metal shell

ground Wiring diagram of position control

mode

161
Appendix

Appendix 10
Wiring diagram of driver with HNC 21/22 system in driver
distribution

HNC 21/22 system Driver

XS10 interface
XS11 interface

Input

XS20 interface
output

Wiring diagram of position control

Wiring diagram
mode of position control
Wiring diagram
mode of position control
mode
Enable

Wiring diagram of position control

162
 Appendix

Appendix 11
Wiring diagram of driver with HNC 18/19 system
HNC 18/19 system X-axis Y-axis Z-axis Driver

华中 18/19 系统Enable

Huazhong 18/19 system

Wiring diagram of position control mode

163
Appendix

Appendix 12

Absolute value CN3 port wiring diagram

(Drivers and Syntec Systems)

Syntec System Driver

CN3 port-485 communication

Note: GND must be welded, otherwise communication will be interrupted.

164
 Appendix

Appendix 13
Wiring diagram of driver with Guangzhou Keyuan series
system

KY Series Driver

Pin Signal Pin Signal

Metal shell

Resistance 2K 0. 5W

Wiring diagram of position control mode

165
 It is st r i c t l y fo r b i d d e n to re p r o d u c e al l or pa r t of th i s ma nu a l
wi t h o u t th e pe r m i s s i o n of ou r co m p a n y .
As th e pr od u c t s ar e co n s t a n t l y up d a t e d , if th e r e is an y ch a n g e ,
it wi l l no t be no t i f i e d se p a r a t e l y .
 Th i s pr od u c t an d in s t r u c t i o n s ar e for ge n e r a l in d u s t r i a l us e .
Pl e a s e co n t a c t th e ma n u f a c t u r e r wh e n it in v o l v e s me d i c a l ,
av i a t i o n , ae r o s p a c e , nu c l e a r en e r g y an d ot he r eq u i p m e n t di r e c t l y
re l a t e d to li f e sa f e t y .
National Service Hotline: 400-990-2388
Service mobile phone: 13356091818
Fax: +86-573-82750721
Website: www.dealour.cn

Zhejiang Dealour Electric Technology Co., Ltd.

Address: No.868 Xinnong Road, Xiuzhou District, Jiaxing, Zhejiang