DS5C2 series servo driver

User manual

WUXI XINJE ELECTRIC CO., LTD.

Data No. SC5 15 20240520EN 1.2
Basic explanation
 Thank you for purchasing XJNIE DS5C2 series servo driver products.
 This manual mainly introduces the product information of DS5C2 series servo driver and MS6
series servo motor.
 Before using the product, please read this manual carefully and connect the wires on the premise
of fully understanding the contents of the manual.
 Please deliver this manual to the end user.

This manual is suitable for the following users

 Designer of servo system
 Installation and wiring workers
 Commissioning and servo debugging workers
 Maintenance and inspection workers

Get the manual

 Please consult the supplier,agent and office who purchased the product.

Declaration of liability
 Although the contents of the manual have been carefully checked, errors are inevitable, and we
cannot guarantee complete consistency.
 We will often check the contents of the manual and make corrections in the subsequent
versions.We welcome your valuable comments.
 If there is any change to the contents introduced in the manual, please understand without
further notice.

Contact information
 Tel: 400-885-0136
 Fax: 0510-85111290
 Address: No.816, Jianzhu West Road, Binhu District, Wuxi City, Jiangsu Province, China
 Postcode: 214072
 Safety Precautions

The problems that may arise during the use of the product are basically listed in the safety precautions,
and all are indicated by the two levels of attention and danger. For other unmentioned matters, please
follow the basic electrical operation rules.

When used incorrectly, there may be danger, moderate injury or minor injury, and
Caution
property loss.

When used incorrectly, it may cause danger, personal casualties or serious injuries
Danger
as well as serious property losses.

Attention to product confirmation

1. Do not install damaged drives, drives that lack spare parts, or drives whose models do not meet the
requirements.

Transportation and storage

1. Do not place or store in a place where the ambient temperature exceeds the storage temperature, the
relative humidity exceeds the storage humidity, the temperature difference is large, and the
condensation occurs.
2. Do not contact corrosive and combustible gases or places with much dust.
3. Do not place in a place with large vibration or impact that is directly transmitted to the servo driver.
4. It is strictly forbidden to hold the motor cable when handling.

Installation notes
1. It is strictly forbidden to place near flammable gas,otherwise it will cause fire.
2. Be sure to follow the installation direction requirements to prevent drive failure.
3. It is forbidden to expose the product to water, corrosive gases, flammable gases and other
substances,causing electric shock and fire hazards.
4. Before installing wiring, be sure to disconnect the power supply to prevent electric shock.
5. Do not touch the conductive part of the product directly, which may cause misoperation and
malfunction.

Cautions for wiring

1. Please connect AC power to L/N, L1/L2/L3 or R/S/T on the dedicated power terminal of the driver.
Do not connect the output terminals U, V, W of the driver to the three-phase power supply.
2. Please connect the ground wire correctly. Poor grounding may cause electric shock. Please use 2
mm² wire to ground the ground terminal of the driver.
3. Please lock the fixed screw of the terminal, otherwise it may cause fire.
4. Be sure to disconnect all external power supply before wiring the driver.
5. Wiring, please ensure that the encode cable, power cable is loose, do not tighten, lest cable damage.
 Operation Cautions
1. Do not touch the rotating part of the motor after the driver is running.There is a danger of injury.
2. During the test run, please carry out the test run of the motor under the idle shaft state in order to
prevent the accidents,otherwise it may cause injury.
3. Please set appropriate parameters before operation, otherwise it may cause the machine out of
control or failure.
4. Please do not touch the radiator during operation. There is a risk of scalding.
5. Do not change the wiring when the power is on. There is a risk of injury.
6. Do not switch power frequently. If you need to switch power many times, please control it once in 2
minutes, otherwise the charging resistance of the driver may be damaged. Due to frequent switching,
the relay is energized before it is released, which may cause tripping.

Maintenance and inspection

1. Turn on and off the power supply by professionals.
2. It is strictly forbidden to use gasoline, acid, diluent and alkaline detergent to avoid shell damage or
discoloration.
3. If the driver is replaced, please transfer the parameters of the original driver to the new driver
before restarting the operation, otherwise mechanical damage or even personal injury will be caused.
4. It is strictly prohibited to change the wiring when the power is on, otherwise it will cause electric
shock or injury.
5. It is strictly forbidden to remove the servo motor during operation, otherwise electric shock or
injury may be caused.
6. It is strictly forbidden to touch the inside of servo driver and servo motor during operation,
otherwise electric shock or injury may be caused.
7. Do not touch the terminal within 10 minutes after the power is turned off, otherwise the residual
voltage may cause electric shock or injury.

Wiring attention
1. Do not cross the power line and the control signal line from the same pipeline, nor tie them
together. The power line and the control signal line are separated by more than 30 centimeters.
2. For signal wire and encoder (PG) feedback wire, please use multi stranded wire and multi-core
stranded overall shielded wire.
3. The longest signal input line is 3m, and the longest PG feedback line is 30m.
4. Please conduct wiring correctly and reliably, otherwise the motor will be out of control or failure,
and serious injury will be caused.
5. It is strictly forbidden to use it when the power supply is in poor condition or exceeds the specified
voltage variation range, otherwise it will cause mechanical damage.
6. Please take appropriate shielding measures when there is static electricity, strong electromagnetic
field, radiation, and nearby power lines.
 Catalog
►►CONFIRMATION ON PRODUCT ARRIVAL ................................................................................................................ 6
1 SELECTION OF SERVO SYSTEM ........................................................................................................................ 7
1.1 SELECTION OF SERVO DRIVER ............................................................................................................................................ 7
1.1.1 Model name ........................................................................................................................................................7
1.1.2 Description of each part ......................................................................................................................................7
1.1.3 Performance specifiation .................................................................................................................................... 9
1.1.4 Electrical specification ........................................................................................................................................ 9
1.2 SERVO MOTOR SELECTION .............................................................................................................................................. 10
1.2.1 Model name ......................................................................................................................................................10
1.2.2 Description of each part ....................................................................................................................................11
1.2.3 Axial force and radial force ...............................................................................................................................11
1.3 CABLE SELECTION ..........................................................................................................................................................12
1.3.1 Encoder cable ....................................................................................................................................................12
1.3.2 Power cable .......................................................................................................................................................12
1.3.3 EtherCAT communication cable ........................................................................................................................13
1.3.4 Connection cable of driver and motor .............................................................................................................. 13
1.4 SELECTION OF OTHER ACCESSORIES .................................................................................................................................. 18
2 INSTALLATION OF SERVO SYSTEM ................................................................................................................19
2.1 SERVO DRIVER INSTALLATION .......................................................................................................................................... 19
2.1.1 Installation site ................................................................................................................................................. 19
2.1.2 Environment condition ......................................................................................................................................19
2.1.3 Installation standard .........................................................................................................................................19
2.2 SERVO MOTOR INSTALLATION ..........................................................................................................................................20
2.2.1 Environment condition ......................................................................................................................................20
2.2.2 Installation cautions ......................................................................................................................................... 21
2.2.3 Installation environment ...................................................................................................................................22
2.3 SERVO CABLE INSTALLATION ............................................................................................................................................ 23
2.3.1 Cable selection .................................................................................................................................................. 23
2.3.2 Xinje cable specification ....................................................................................................................................24
2.4 SERVO DRIVER DIMENSION ............................................................................................................................................. 26
2.5 SERVO MOTOR DIMENSION .............................................................................................................................................29
3 SERVO SYSTEM WIRING ................................................................................................................................... 33
3.1 MAIN CIRCUIT TERMINAL ................................................................................................................................................34
3.1.1 Servo driver terminal layout ............................................................................................................................. 34
3.1.2 Main circuit terminals .......................................................................................................................................35
3.1.3 CN0, CN1, CN2, CN3 terminal description ........................................................................................................ 37
3.1.3.1 CN0 control terminal ..................................................................................................................................................... 37
3.1.3.2 CN1 communication terminal description .................................................................................................................... 37
3.1.3.3 CN2 encoder interface description ................................................................................................................................38
3.1.3.4 CN3 terminal (RS232) .................................................................................................................................................... 38
3.1.3.5 CN5 terminal ..................................................................................................................................................................39
3.2 SIGNAL TERMINAL ......................................................................................................................................................... 40
3.2.1 SI input signal ....................................................................................................................................................40
3.2.2 SO output signal ................................................................................................................................................41
4 PANEL OPERATION ............................................................................................................................................. 43
4.1 BASIC OPERATION ..........................................................................................................................................................43
4.1.1 Operating panel description ............................................................................................................................. 43
4.1.2 Button operation ...............................................................................................................................................43
4.2 OPERATION STATE DISPLAY .............................................................................................................................................. 44
4.3 GROUP U MONITOR PARAMETER ..................................................................................................................................... 46
4.4 GROUP F AUXILIARY PARAMETERS .................................................................................................................................... 49
4.4.1 F0-XX ................................................................................................................................................................. 49
4.4.2 F1-XX ................................................................................................................................................................. 49
 4.5 FAULT ALARM OPERATION ............................................................................................................................................... 50
4.6 PARAMETER EXAMPLE .................................................................................................................................................... 50
4.7 CHECK THE MOTOR CODE ............................................................................................................................................... 51
5 BASIC FUNCTIONS .............................................................................................................................................. 52
5.1 ABSOLUTE VALUE SYSTEM ...............................................................................................................................................52
5.1.1 Absolute system setting ....................................................................................................................................52
5.1.2 Replace the battery ...........................................................................................................................................52
5.1.3 The upper limit of turns .................................................................................................................................... 53
5.1.4 Absolute encoder position calibration .............................................................................................................. 54
5.1.4.1 Reset multi-turn absolute position ................................................................................................................................54
5.1.4.2 Zero calibration of absolute encoder ............................................................................................................................ 55
5.2 POWER-OFF BRAKE ....................................................................................................................................................... 55
5.3 STOP MODE ................................................................................................................................................................. 58
5.3.1 Servo OFF and alarm shutdown ........................................................................................................................59
5.3.2 Stop mode when overtravel in normal mode ................................................................................................... 61
5.3.3 Stop mode when overtravel in bus mode ......................................................................................................... 62
5.4 POSITION CONTROL ....................................................................................................................................................... 65
5.4.1 General position control ................................................................................................................................... 65
5.4.1.1 Electronic gear ratio .......................................................................................................................................................65
5.4.1.2 Positioning completion signal (/COIN, /COIN_HD) ........................................................................................................68
5.4.1.3 Positioning near signal (/NEAR) .....................................................................................................................................70
5.4.1.4 Command pulse prohibition (/INHIBIT) .........................................................................................................................71
5.4.1.5 Offset clear（/CLR） .....................................................................................................................................................71
5.4.1.6 Position pulse deviation ................................................................................................................................................ 72
5.4.1.7 Position command filter ................................................................................................................................................ 72
5.4.1.8 Reference origin .............................................................................................................................................................73
5.4.1.9 Homing function ............................................................................................................................................................75
5.4.2 Position control (external pulse command) ...................................................................................................... 92
5.4.2.1 External pulse position mode ........................................................................................................................................92
5.4.2.2 Pulse input specification ................................................................................................................................................92
5.4.2.3 Pulse command form selection ..................................................................................................................................... 92
5.4.2.4 Pulse command logic form ............................................................................................................................................ 93
5.4.2.5 Pulse command forward direction selection .................................................................................................................93
5.4.3 Position control (Internal command) ................................................................................................................ 94
5.4.3.1 Internal position mode .................................................................................................................................................. 94
5.4.3.2 Internal position mode setting ...................................................................................................................................... 94
5.4.3.3 Position segment 1 to 35 parameter settings ............................................................................................................... 99
5.4.3.4 Change step signal (/CHGSTP) ..................................................................................................................................... 101
5.4.3.5 Skip present segment signal (/ZCLAMP) ......................................................................................................................101
5.4.3.6 Set segment through communication ......................................................................................................................... 101
5.4.3.7 Motion start signal (/MRUN) ....................................................................................................................................... 101
5.5 SPEED CONTROL ......................................................................................................................................................... 102
5.5.1 Speed mode general control ........................................................................................................................... 102
5.5.1.1 Soft start ...................................................................................................................................................................... 102
5.5.1.2 Zero clamp (/ZCLAMP) .................................................................................................................................................102
5.5.1.3 Speed reach signal (/V-RDY) ........................................................................................................................................ 103
5.5.1.4 Speed command filter ................................................................................................................................................. 103
5.5.2 Speed control (internal speed) ........................................................................................................................ 105
5.5.2.1 Internal speed mode ................................................................................................................................................... 105
5.5.3 Speed control (pulse frequency command) .................................................................................................... 107
5.5.3.1 External pulse speed mode ......................................................................................................................................... 107
5.5.3.2 Pulse frequency command .......................................................................................................................................... 107
5.5.3.3 Command pulse frequency at rated speed ................................................................................................................. 107
5.5.3.4 Speed command pulse filter time ............................................................................................................................... 107
5.5.3.5 Speed command pulse direction .................................................................................................................................107
5.6 TORQUE CONTROL .......................................................................................................................................................108
5.6.1 Torque control (internal setting) ..................................................................................................................... 108
5.6.1.1 Internal torque command ........................................................................................................................................... 108
5.6.1.2 Internal speed limit of torque control ......................................................................................................................... 108
5.6.1.3 Speed reach signal output (/VLT) ................................................................................................................................ 109
5.7 STO SAFE TORQUE OFF ................................................................................................................................................ 109
5.7.1 STO function overview .................................................................................................................................... 109
 5.7.2 STO wiring diagram ........................................................................................................................................ 109
5.7.3 STO parameters .............................................................................................................................................. 110
5.7.4 STO working principle ..................................................................................................................................... 110
5.7.5 STO function precautions ................................................................................................................................110
5.8 WEAK MAGNETIC CONTROL .......................................................................................................................................... 111
5.8.1Weak magnetic function overview .................................................................................................................. 111
5.8.2 Weak magnetic related parameter settings ................................................................................................... 111
6 ETHERCAT BUS COMMUNICATION ..............................................................................................................112
6.1 ETHERCAT TECHNICAL OVERVIEW ..................................................................................................................................112
6.1.1 EtherCAT introduction .....................................................................................................................................112
6.1.2 System composition(master and slave station) ..............................................................................................112
6.2 ETHERCAT COMMUNICATION SPECIFICATION ...................................................................................................................112
6.2.1 Communication specification ......................................................................................................................... 112
6.2.2 EtherCAT frame structure ............................................................................................................................... 113
6.2.3 State machine ESM ......................................................................................................................................... 114
6.2.4 Slave station controller ESC ............................................................................................................................ 114
6.2.4.1 Principle overview ....................................................................................................................................................... 114
6.2.4.2 Address space ..............................................................................................................................................................115
6.2.5 SII area (0000h～003Fh) .................................................................................................................................116
6.2.6 SDO(Service Data Object) ............................................................................................................................... 116
6.2.6.1 Mailbox frame structure ..............................................................................................................................................117
6.2.6.2 Mailbox overtime ........................................................................................................................................................ 117
6.2.6.3 Alarm information ....................................................................................................................................................... 118
6.2.7 PDO(Process Data object) ...............................................................................................................................118
6.2.7.1 PDO mapping objects .................................................................................................................................................. 118
6.2.7.2 PDO distribution objects ............................................................................................................................................. 119
6.2.8 Communication synchronization mode .......................................................................................................... 119
6.2.8.1 DC(SYNC0 event synchronization) ............................................................................................................................... 120
6.2.8.2 SM2(SM2 event synchronization) ................................................................................................................................120
7 ETHERCAT BUS CONTROL MODE .................................................................................................................121
7.1 ETHERCAT OPERATION ................................................................................................................................................ 121
7.2 CSP MODE ................................................................................................................................................................ 122
7.2.1 Related parameters ........................................................................................................................................ 122
7.2.2 Common parameters ...................................................................................................................................... 126
7.3 CSV MODE ................................................................................................................................................................ 127
7.3.1 Related parameter ..........................................................................................................................................127
7.3.2 Common parameters ...................................................................................................................................... 130
7.4 CST MODE ................................................................................................................................................................ 131
7.4.1 Related parameter ..........................................................................................................................................131
7.4.2 Common parameters ...................................................................................................................................... 134
7.5 HM MODE ................................................................................................................................................................ 135
7.5.1 Related parameter ..........................................................................................................................................136
7.5.2 Related parameters ........................................................................................................................................ 143
7.5.3 Homing method .............................................................................................................................................. 143
7.6 PP MODE .................................................................................................................................................................. 151
7.6.1 Related parameters ........................................................................................................................................ 151
7.6.2 Common parameters ...................................................................................................................................... 158
7.7 PV MODE .................................................................................................................................................................. 160
7.7.1 Related parameters ........................................................................................................................................ 160
7.7.2 Common parameters ...................................................................................................................................... 165
7.8 TQ MODE ..................................................................................................................................................................166
7.8.1 Related parameters ........................................................................................................................................ 166
7.8.2 Common parameters ...................................................................................................................................... 169
7.9 MODE COMMON FUNCTION ......................................................................................................................................... 170
7.9.1 Mode mutual switching function ....................................................................................................................170
7.9.2 Stop mode ....................................................................................................................................................... 170
7.9.3 Touch Probe function(position clamp request/release) ................................................................................. 174
7.9.4 Digital input(60FDh) ....................................................................................................................................... 178
 7.9.5 Digital output (60FEh) .....................................................................................................................................179
7.9.6 Position information ....................................................................................................................................... 180
7.9.7 Overtravel function in Ethercat mode ............................................................................................................ 184
7.9.8 Remote I/O function ........................................................................................................................................189
7.9.9 Cascade alarm function .................................................................................................................................. 191
8 OBJECT DICTIONARY ...................................................................................................................................... 192
8.1 OBJECT DICTIONARY AREA ASSIGNMENT ..........................................................................................................................192
8.2 COE COMMUNICATION AREA (0X1000-0X1FFF) ............................................................................................................ 192
8.2.1 Object list ........................................................................................................................................................ 192
8.2.2 Device information ..........................................................................................................................................195
8.2.3 Sync manager communication type(1C00h) ...................................................................................................195
8.2.4 PDO mapping ..................................................................................................................................................196
8.2.5 Sync manager 2/3 synchronization (1C32h, 1C33h) .......................................................................................198
8.3 SERVO PARAMETER AREA (0X2000~0X2FFF) ................................................................................................................. 202
8.3.1 Object list ........................................................................................................................................................ 202
8.3.2 Object overview .............................................................................................................................................. 203
8.4 DRIVER PROFILE AREA(0X6000~0X6FFF) ...................................................................................................................... 204
8.4.1 Object list ........................................................................................................................................................ 204
8.4.2 PDS(Power Drive Systems)specification ..........................................................................................................206
8.4.3 Controlword (6040h) .......................................................................................................................................207
8.4.4 Statusword (6041h) ........................................................................................................................................ 208
8.5 CONTROL MODE SETTING ............................................................................................................................................. 209
8.5.1 Supported drive modes (6502h) ..................................................................................................................... 209
8.5.2 Modes of operation(6060h) ............................................................................................................................209
8.5.3 Modes of operation display(6061h) ................................................................................................................210
9 SERVO GAIN ADJUSTMENT ............................................................................................................................ 211
9.1 OVERVIEW OF SERVO GAIN ADJUSTMENT ........................................................................................................................ 211
9.1.1 Overview and process ..................................................................................................................................... 211
9.1.2 Differences between these adjustment modes .............................................................................................. 212
9.2 ROTARY INERTIA PRESUMPTION ..................................................................................................................................... 213
9.2.1 Overview ......................................................................................................................................................... 213
9.2.2 Notes ...............................................................................................................................................................213
9.2.3 Operation tool .................................................................................................................................................213
9.2.4 Operation steps ...............................................................................................................................................213
9.3 FAST ADJUSTMENT ...................................................................................................................................................... 217
9.3.1 Overview ......................................................................................................................................................... 217
9.3.2 Fast adjustment steps .....................................................................................................................................217
9.3.3 Rigidity level corresponding gain parameters ................................................................................................ 217
9.3.4 Notes: ..............................................................................................................................................................220
9.4 AUTO-TUNING ............................................................................................................................................................221
9.4.1 Overview ......................................................................................................................................................... 221
9.4.2 Notes ...............................................................................................................................................................221
9.4.3 Operation tools ............................................................................................................................................... 221
9.4.4 Internal instruction auto-tuning steps ............................................................................................................222
9.4.5 External instruction auto-tuning steps ........................................................................................................... 226
9.4.6 Related parameters ........................................................................................................................................ 231
9.5 MANUAL ADJUSTMENT ................................................................................................................................................ 233
9.5.1 Overview ......................................................................................................................................................... 233
9.5.2 Adjustment steps ............................................................................................................................................ 233
9.5.3 Gain parameter for adjustment ......................................................................................................................234
9.6 ADAPTIVE .................................................................................................................................................................. 235
9.6.1 Overview ......................................................................................................................................................... 235
9.6.2 Notes ...............................................................................................................................................................235
9.6.3 Operation steps ...............................................................................................................................................235
9.6.4 Inertia mode and related parameters ............................................................................................................ 235
9.6.5 Recommended inertia ratio parameters ........................................................................................................ 236
9.6.6 Adaptive parameter effect ..............................................................................................................................236
 9.6.7 Invalid parameters when adaptive effective .................................................................................................. 237
9.7 VIBRATION SUPPRESSION ..............................................................................................................................................238
9.7.1 Overview ......................................................................................................................................................... 238
9.7.2 Operation tools ............................................................................................................................................... 238
9.7.3 Vibration suppression (fast FFT) ..................................................................................................................... 238
9.7.4 Vibration suppression (PC software) .............................................................................................................. 239
9.7.5 Vibration suppression(manual setting) .......................................................................................................... 240
9.7.6 Notch filter ...................................................................................................................................................... 240
9.8 GAIN ADJUSTMENT APPLICATION ....................................................................................................................................242
9.8.1 Model loop control ..........................................................................................................................................242
9.8.2 Torque disturbance observation ..................................................................................................................... 244
9.8.3 Gain adjust parameters .................................................................................................................................. 244
9.8.4 Gain switch ..................................................................................................................................................... 245
9.8.5 Speed loop P-PI mode switching .....................................................................................................................249
9.9 GAIN ADJUSTMENT ......................................................................................................................................................250
9.9.1 Load shaking ................................................................................................................................................... 250
9.9.2 Vibration ......................................................................................................................................................... 250
9.9.3 Noise ............................................................................................................................................................... 250
10 ALARM ............................................................................................................................................................... 251
10.1 ETHERCAT RELATED COMMUNICATION ALARM CODE ......................................................................................................251
10.2 ETHERCAT COMMUNICATION UNRELATED ALARM .......................................................................................................... 255
10.3 ALARM READ ........................................................................................................................................................... 264
10.4 ALARM CLEAR .......................................................................................................................................................... 264
11 APPLICATIONS ................................................................................................................................................. 265
11.1 XINJE XG2/XDH AND DS5C2 ETHERCAT COMMUNICATION .......................................................................................... 265
11.1.1 System configuration .................................................................................................................................... 265
11.1.2 System topology ........................................................................................................................................... 265
11.1.3 Debugging steps ........................................................................................................................................... 265
11.2 BECKHOFF TWINCAT AND XINJE DS5C2 .................................................................................................................... 294
11.2.1 System configuration .................................................................................................................................... 294
11.2.2 System topology ........................................................................................................................................... 294
11.2.3 Commissioning steps: ................................................................................................................................... 294
11.3 CODESYS AND XINJE DS5C2 ETHERCAT COMMUNICATION EXAMPLE ............................................................................. 307
11.3.1 System topology ........................................................................................................................................... 307
11.3.2 System topology ........................................................................................................................................... 307
11.3.3 Debugging steps ........................................................................................................................................... 307
11.4 OMRON AND DS5C2 SERVO ETHERCAT COMMUNICATION EXAMPLE ............................................................................... 327
11.4.1 System configuration .................................................................................................................................... 327
11.4.2 System topology ........................................................................................................................................... 327
11.4.3 Debugging steps ........................................................................................................................................... 328
APPENDIX ...............................................................................................................................................................342
APPENDIX 1. DRIVER PARAMETERS ...................................................................................................................................... 342
Appendix 1.1 PX-XX ..................................................................................................................................................342
Appendix 1.2 FX-XX .................................................................................................................................................. 356
Appendix 1.3 U0-XX ................................................................................................................................................. 356
APPENDIX 2. OBJECT DICTIONARY ........................................................................................................................................360
Appendix 2.1 COE communication area (0x1000-0x1FFF) .......................................................................................360
Appendix 2.2 Servo parameter area ........................................................................................................................ 362
Appendix 2.3 Driver Profile area(0x6000~0x6FFF) .................................................................................................. 363
APPENDIX 3. GLOSSARY OF TERMS ...................................................................................................................................... 380
►►Confirmation on product arrival
After the product arrives, please confirm the integrity of the product in the following aspects.
Items Notes
Does the product on arrival match the Please confirm according to the nameplate of servo
specified model? motor and servo unit.
Does the servomotor shaft rotate smoothly? The servo motor shaft is normal if it can be turned
smoothly by hand. Servo motors with brakes, however,
cannot be turned manually.
Is there any damage? Check the overall appearance, and check for damage or
scratches that may have occurred during shipping.
Are there any loose screws? Check screws for looseness using a screwdrive.
Is the motor code the same with the code in Check the motor code marked on the nameplates of the
drive? servomotor and the parameter U3-70 on the servo
drive.
If any of the above is faulty or incorrect, contact Xinje or an authorized distributor.
1 Selection of servo system
1.1 Selection of servo driver
1.1.1 Model name

1.1.2 Description of each part

 0.1kW~7.5kW

0.1~0.75kW 1~3kW 5.5/7.5kW

The names of each part of the 0.1kW~7.5kW servo drive are as follows:
No. Name Explanation
Refer to driver nameplate rated voltage level input main
circuit power supply:
L/N, L1/L2/L3, R/S/T
L/N: single-phase 220V main circuit power supply;
(1) Main circuit power input
L1/L2/L3: single-phase/three-phase main circuit power
terminal
supply;
R/S/T: three-phase 380V main circuit power supply.
When using the built-in braking resistor, short-circuit the
P+, D, C brake resistor
(2) P+ and D terminals, and disconnect the P+ and C;
connection terminal
When using an external braking resistor, remove the P+
 and D short connection and connect the braking resistor
to the P+ and C terminals.
(3) P+, P- bus terminal Driver bus terminal.
(4) U, V, W servo motor power
Connect the servo motor phase U/V/W.
terminal
(5) Connect to the motor grounding terminal and perform
PE motor grounding terminal
grounding treatment.
(6) Connect to external ground stakes for grounding
treatment,
driver grounding terminal
Connect to the power grounding terminal and perform
grounding treatment.
(7) Used to indicate that the bus capacitor is in a charged
state. When the indicator light is on, even if the main
CHARGE Bus voltage circuit power is turned off, there may still be charges in
indicator light the internal capacitors of the servo unit. Therefore, do
not touch the power terminal when the light is on to
avoid electric shock.
(8) CN0: input output terminals Input/output control signal terminals.
(9) CN1: EtherCAT port EtherCAT communication ethernet cable port
(10) CN2: encoder port Connect to the motor encoder terminal.
(11) RS232 communication interface, connected to the servo
CN3: RS232 port
upper computer debugging software for communication.
(12) STO function safety terminal, used for application
CN5: STO Safety function
scenarios of safety functions, external safety function
terminal
signal access.
(13) 5-digit 8-segment LED digital tube, used to display the
Driver display panel
operating status and parameter settings of the servo.
(14) Used for installation and wiring assistance of needle
Wiring auxiliary buckle
terminals.

 15kW servo driver

The names of each part of the 15kW servo drive are as follows:
No. Name Explanation
R/S/T main circuit power Refer to driver nameplate rated voltage level input main
(1) circuit power supply:
supply input terminal
R/S/T: three-phase 380V main circuit power supply.
U, V, W servo motor power
(2) Connect the servo motor phase U/V/W.
terminal
 (3) Connect to the motor grounding terminal and perform
grounding treatment,
Connect to external ground stakes for grounding
PE grounding terminal
treatment,
Connect to the power grounding terminal and perform
grounding treatment.
(4) P+, P- bus terminal Driver bus terminals.
(5) When using an external braking resistor, connect the
PB terminal
braking resistor to the P+ and PB terminals.
(6) CN0: input output terminals Input/output control signal terminals.
(7) CN1: EtherCAT port EtherCAT communication ethernet cable port
(8) CN2: encoder port Connect to the motor encoder terminal.
(9) RS232 communication interface, connected to the servo
CN3: RS232 port
upper computer debugging software for communication.
(10) 5-digit 8-segment LED digital tube, used to display the
Driver display panel
operating status and parameter settings of the servo.
(11) Four panel operation buttons are used to view the
Panel buttons
operation status and set parameters of the servo.
(12) Used to indicate that the bus capacitor is in a charged
state. When the indicator light is on, even if the main
PWR Bus voltage indicator circuit power is turned off, there may still be charges in
light the internal capacitors of the servo unit. Therefore, do
not touch the power terminal when the light is on to
avoid electric shock.

1.1.3 Performance specifiation

Servo unit DS5C2 series servo driver
Applicable encoder Standard: 19bit/23bit communication encoder
DS5C2-2□P□-PTA: single phase/three phase AC200~240V, 50/60Hz
(If using single-phase 220V power supply, it is necessary to connect to L1
Input power supply
and L3, otherwise power failure will affect parameter memory)
DS5C2-4□P□-PTA: Three phase AC380~440V, 50/60Hz
Control mode IGBT PWM Control Sine Wave Current Drive Method
Using Using
-10~+40 ℃
condition temperature
Storage
-20~+60 ℃
temperature
Environment
Below 90% RH (no condensation)
humidity
Vibration
4.9m/s2
resistance
Not exceeding 1000m, please reduce the rating when exceeding 1000m (1%
Altitude
reduction for every 100m higher)

1.1.4 Electrical specification

Maximum Power
Driver Continuous
output input Cooling
Driver model power output Power supply
current current method
(kW) current (A)
(A) (A)
DS5C2-20P1-PTA 0.1 0.9 3.15 1.3 Single phase Self cooling
DS5C2-20P4-PTA 0.4 2.8 9.8 4 AC200~240V, Self cooling
DS5C2-20P7-PTA 0.75 4.8 16.8 5.5 50/60Hz Air cooling
 Maximum Power
Driver Continuous
output input Cooling
Driver model power output Power supply
current current method
(kW) current (A)
(A) (A)
DS5C2-21P0-PTA 1.0 6 18 9 Single Air cooling
DS5C2-21P5-PTA 1.5 8 20 9 phase/three-phase Air cooling
DS5C2-22P3-PTA 2.3 9 18 8 AC200~240V, Air cooling
DS5C2-22P6-PTA 2.6 10.5 29.93 10 50/60Hz Air cooling
DS5C2-41P0-PTA 1.0 3.2 9.6 2.6 Air cooling
DS5C2-41P5-PTA 1.5 5.5 13.75 2.6 Air cooling
DS5C2-42P3-PTA 2.3 8.5 21.75 6.8 Three-phase Air cooling
DS5C2-43P0-PTA 3.0 11 29.7 8 AC380~440V, Air cooling
DS5C2-45P5-PTA 5.5 20 50 16 50/60Hz Air cooling
DS5C2-47P5-PTA 7.5 25 62.5 20 Air cooling
DS5C2-415P0-PTA 15 35 87.5 30 Air cooling

1.2 Servo motor selection

1.2.1 Model name

 MS6 series motor

 At present, the selection of encoder types for DS5C2 series servo adaptation is only a
combination of CN and TH!

1.2.2 Description of each part

 40/60/80 base motor

 130/180 base motor

1.2.3 Axial force and radial force

Base
40ST 60ST 80ST 100ST 110ST 130ST 180ST 220ST/265ST
no.
Axial
54N 74N 147N ≤200N 250N 300N 400N ≤500N
force
Radial
78N 245N 392N 500N 500N 600N 800N 1000N
force
1.3 Cable selection
1.3.1 Encoder cable

1.3.2 Power cable

1.3.3 EtherCAT communication cable

Note: At present, the length of communication cables is 0.2 m, 0.3 m, 0.5 m, 1 m, 3 m, 5 m, 10 m, 20 m.

1.3.4 Connection cable of driver and motor

 Encoder cable interface

(1) Pin definition of encoder on servo driver side
Pin definition
No. Name No. Name
1 5V 4 /
2 GND 5 485-A
7.5kW and below 3 / 6 485-B
5 9 No. Name No. Name
1 Temperature sensor 6 GND
2 Temperature sensor 7 /
3 485-B 8 5V
4 485-A 9 /
1 6 - -
5 Shield wire
11kW and up
(2) Cable connection of encoder on motor side
Motor model Connector pins Interface pin definition
No. Name
1 5V
2 GND
3 BAT+
MS6-40, 60, 80 base B3 motor
4 BAT-
Positive outlet reverse outlet 5 485-A
(user’s view) 6 485-B
7 Shielding layer

No. Name
1 /
2 5V
3 GND
4 485-A
5 485-B
MS6-130 base B2 motor
6 Battery +
7 Battery -
8 /
9 /
10 Shielding wire
 No. Name
1 Shielding wire
2 /
3 485-B
4 485-A
MS6-180 base B2 motor 5 /
6 GND
7 Battery -
8 5V
9 Battery +
10-15 /
No. Name
1 Shielding wire
2 /
3 485-B
4 485-A
5 /
MS6-200 base B2 motor 6 GND
7 Battery -
8 5V
9 Battery +
10-13 /
14 Temperature -
15 Temperature +

Battery box description:

(1) The encoder including the cable definition of battery +, battery- is for the absolute motor, and the non-absolute
motor cable has no such pin.
(2) Only the cable of absolute value motor has external battery box, which contains a 3.6V/2.7Ah large capacity
battery, and has the function of replacing batteries when power off. The using life is more than two years. Please
refer to chapter 5.2 for battery replacing.
At present, the length of encoder cables is 2 meters, 3 meters, 5 meters, 8 meters, 10
meters, 12 meters, 16 meters, 20 meters, 25 meters, 30 meters, 35 meters, 40 meters, 45
meters, and 50 meters.
 Power cable
(1) Pin definition of power cable on servo driver side (Needle terminals are installed and wired using random
buckles)
Motor model Connector appearance Interface pin definition
Color Name
Red U
White V
Black W
MS6-40, 60, 80 base motor Yellow
PE
green
Blue BK+
Brown BK-
Color Name
Brown U
Black V
Blue W
MS6-130 base motor Yellow
PE
green
Red BK+
Black BK-
Color Name
Brown
U
/red
Black
V
/yellow
MS6-180 base motor Blue W
Yellow
PE
green
Red BK+
Black
BK-
/white
Color Name
Red U
Yellow V
MS6-200 base motor
Blue W
Yellow
PE
green
(2) Power cable connection on motor side
Motor model Connector pins Interface pin definition
No. Name
1 W
2 V
3 U
MS6-40 base B3 motor
4 PE
Positive outlet reverse outlet 5 BK+
(user’s view) 6 BK-
7 Shielding layer

No. Name
1 U
2 V
MS6-60, 80 base B3 motor 3 W
4 PE
Positive outlet reverse outlet A BK+
(user’s view) B BK-
No. Name
A W
MS6G-130 base non brake B V
motor C U
D PE
No. Name
A W
B V
MS6G-130 base brake motor C U
D PE
1 BK+
2 BK-
No. Name
A PE
MS6G-180 base non brake B W
motor C V
D U
No. Name
A PE
B W
MS6G-180 base brake motor C V
D U
1 BK+
2 BK-
No. Name
1 PE
MS6H-180 base non brake 2 U
motor 3 V
4 W
No. Name
A U
B V
MS6H-180 base brake motor C W
D PE
1 BK+
2 BK-
 Color Name
Red U
Yellow V
MS6H-200 base brake motor
Blue W
Yellow
PE
green

Brake pins:

The cable including pin BK+, BK- is used for the brake motor. The cable of the non-brake motor has no BK pins.
At present, the length of power cables is 2 meters, 3 meters, 5 meters, 8 meters, 10 meters, 12 meters, 16 meters,
20 meters, 25 meters, 30 meters, 35 meters, 40 meters, 45 meters, and 50 meters.
1.4 Selection of other accessories
When the servo motor is driven by the generator mode, the power returns to the servo amplifier side, which is
called regenerative power. The regenerated power is absorbed by charging the smooth capacitor of the servo
amplifier. After exceeding the rechargeable energy, the regenerative resistance is used to consume the regenerative
power.
 The deceleration stop period during acceleration and deceleration operation.
 Running vertically and axially.
 When the external load drives the motor to rotate.
Servo driver model Regenerative resistance connection terminals
(1) Using a built-in braking resistor, short circuit the P+ and D terminals,
and disconnect the P+ and C.
(2) When using an external braking resistor for drives with built-in braking
resistors of 7.5kW and below, connect the braking resistor to the P+ and C
DS5C2-P□-PTA terminals, remove the P+ and D short circuits, P0-25=power value, and
P0-26=resistance value.
(3) When using an external braking resistor for a 15kW driver, connect the
braking resistor to the P+ and PB terminals, P0-25=power value, and
P0-26=resistance value.
The following table is the recommended specifications of external regenerative resistance for each type of motor.
Minimum
External regenerative External regenerative
Bulit-in resistance(no
Servo driver model resistance(recommended resistance(recommended
brake unit less than this
resistance value) power value)
value)
DS5C2-20P1-PTA /
80Ω 80Ω-100Ω Above 200W
DS5C2-20P4-PTA /
DS5C2-20P7-PTA 80W50Ω 50Ω 50Ω-100Ω Above 600W
DS5C2-21P0-PTA 80W45Ω 35Ω 35Ω-75Ω Above 800W
DS5C2-21P5-PTA 80W50Ω
30Ω 30Ω-50Ω
DS5C2-22P3-PTA 80W50Ω Above 1000W
DS5C2-22P6-PTA 80W50Ω 25Ω 25Ω-50Ω
DS5C2-41P0-PTA 80W100Ω 120Ω 120Ω-150Ω Above 800W
DS5C2-41P5-PTA 80W100Ω 75Ω 75Ω-120Ω Above 1000W
DS5C2-42P3-PTA 80W60Ω 55Ω 55Ω-75Ω Above 1000W
DS5C2-43P0-PTA 80W60Ω 50Ω 50Ω-75Ω Above 1200W
DS5C2-45P5-PTA / 25Ω 25Ω-65Ω Above 2000W
DS5C2-47P5-PTA / 22Ω 22Ω-50Ω Above 2500W
DS5C2-415P0-PTA / 20Ω 20Ω-45Ω Above 3000W

Note:
1) When selecting external resistance, "resistance" - try to choose close to the "minimum resistance" in the
"recommended resistance". The smaller the resistance, the faster the discharge will be. The selection of "power"
should be based on the actual use on site, and the specific should depend on the calorific value. Generally, the
external regenerative resistor with higher power should be selected as far as possible.

2) The surface temperature of the regenerative resistance will be very high when it is frequently discharged. Please
use high-temperature resistant and flame-retardant wires when wiring, and note that the surface of the regenerative
resistance can not contact with the wire.
2 Installation of servo system
2.1 Servo driver installation
2.1.1 Installation site
 Please install it in the installation cabinet without sunshine or rain.
 Do not use this product near corrosive and flammable gas environments and combustibles such as hydrogen
sulfide, chlorine, ammonia, sulfur, chlorinated gas, acid, alkali, salt, etc.
 Do not install in high temperature, humidity, dust, metal dust environment.
 No vibration place.

2.1.2 Environment condition

Item Description
Using ambient temperature -10~40℃
Using ambient humidity 20~90%RH (no condensation)
Storage temperature -20~60℃
Storage humidity 20~90%RH (no condensation)
Vibration resistance Not more than 4.9m/s2
Not exceeding 1000m, please reduce
Altitude the rating when exceeding 1000m (1%
reduction for every 100m higher)

2.1.3 Installation standard

Please be sure to comply with the installation standard in the control cabinet shown in the figure below, which is
applicable to the situation where multiple servo drives are installed side by side in the control cabinet (hereinafter
referred to as "side by side installation").
 3kW and below drivers
 Servo driver orientation
When installing, please make the front of the servo driver (the actual installation surface of the operator) face the
operator and make it perpendicular to the wall. For drives with regenerative resistors at the bottom, please pay
attention to the heat dissipation of the mounting surface to avoid overheating and fire.
 Cooling
As shown in the figure above, allow sufficient space around each servo drive for cooling by fans or natural
convection.
 Side-by-side installation
As shown in the above figure, when installing drivers side by side in the installation cabinet:
Drivers with a power output of 3kW and below should have a space of at least 10mm on each side horizontally
and at least 50mm on each side longitudinally;
A 5.5kW~7.5kW drive should have a space of at least 40mm on each side horizontally and at least 80mm on each
side longitudinally;
The 15kW driver needs to be at least 50mm horizontally from the installation cabinet on both sides, and at least
100mm vertically from the installation cabinet on both sides.
In addition, in order to prevent local overheating of the servo drive environment, it is necessary to maintain a
uniform temperature inside the control cabinet.

 Environmental conditions in the control panel

 Servo driver working ambient temperature: -10~40℃.
 Humidity: Below 90%RH(relative humidity)
 Vibration: 4.9m/s2
 Please do not allow it to freeze or condense.
 In order to ensure the reliability of long-term use, please use it at an ambient temperature lower than
50℃.

2.2 Servo motor installation

MS6 series servo motors can be installed either horizontally or vertically.The service life of the servo motor can
be shortened or unexpected problems might occur if it is installed incorrectly or in an inappropriate location.
Follow the installation instructions carefully.

Caution

1． The shaft end is coated with antirust. Please wipe the "antirust" with a cloth soaked in "thinner" before
installing the motor.
2． Avoid getting thinner on other parts of the servo motor.

Antirust

2.2.1 Environment condition

When used in places with water droplets or oil droplets, the protection effect can be achieved through the
treatment of motors. However, in order to seal the through part of the shaft, please specify the motor with oil seal.
Connectors should be installed downward.
 Through part of the shaft

MS6 series servo motors are intended for indoor use. Please use them in an environment that meets the
following installation conditions.
Item Description
Using ambient temperature -10℃~40℃(no freeze)
Using ambient humidity 20%~90%RH(no condensation)
Storage temperature -20℃~60℃
Storage humidity 20%~90%RH(no condensation)
IP67 (MS6 series B3 motor, MS6G series B2 motor)
Protection level
IP65 (MS6H series B2 motor)

2.2.2 Installation cautions

Item Description
Antirust ◆ Please wipe the "antirust" on the shaft extension end of the servo motor before
treatment installation, and then do relevant rust prevention treatment.
◆ Do not hit the shaft extension end during installation, otherwise the internal encoder
will be broken.

Encoder
cautions ◆ When installing a pulley on a servo motor shaft with a keyway, a screw hole is used
at the shaft end. To install the pulley, first insert the stud into the screw hole of the
shaft, use a washer on the surface of the coupling end, and gradually lock the pulley
with a nut.
◆ For the servo motor shaft with keyway, use the screw hole at the end of the shaft to
install. For shaft without keyway, friction coupling or similar methods are used.
◆ When disassembling the pulley, use the pulley extractor to prevent the shaft from
bearing the strong impact of the load.
◆ To ensure safety, install protective covers or similar devices in the rotating area,
such as pulleys installed on shafts
◆When installing the servo motor, ensure that it meets the centering accuracy
requirements shown in the following figure. If the centering is not sufficient, vibration
Centering may occur and sometimes damage bearings and encoders. When installing the
coupling, please do not directly impact the motor shaft, otherwise it will damage the
encoder installed on the opposite side of the load shaft end.
 Item Description

Installation ◆ The servo motor can be installed in the horizontal or vertical direction.
direction
When using in places with water droplets, please confirm the protection level of the
servo motor before use. (Except for the shaft through part) When using in places where
oil droplets may drip onto the shaft through part, please specify a servo motor with oil
seal.
Oil and water
Service conditions for servo motors with oil seals:
countermeasures
◆ Please ensure that the oil level is below the lip of the oil seal when using.
◆ Please use the oil seal in a state where it can maintain good splashing of oil droplets.
◆ When installing the servo motor vertically upwards, please be careful not to
accumulate oil on the oil seal lip.
◆ Do not bend or apply tension to the wires, especially when the core wire of the
Stress condition
signal wire is 0.2mm or 0.3mm, which is very thin. Therefore, when wiring (using),
of cables
please do not tension it too tightly.
Regarding the connector section, please note the following:
◆When connecting the connector, please confirm that there is no garbage or foreign
objects such as metal sheets inside the connector.
◆When connecting the connector to the servo motor, be sure to first connect it from
one side of the main circuit cable of the servo motor, and the grounding wire of the
main cable must be reliably connected. If one side of the encoder cable is connected
first, the encoder may malfunction due to the potential difference between PE.
Handling of the
◆When wiring, please confirm that the pin arrangement is correct and error free.
connector
◆The connector is made of resin. Do not apply impact to avoid damaging the
section
connector.
◆When carrying out transportation operations while the cables are still connected, be
sure to hold the main body of the servo motor. If only the cable is grabbed for
handling, it may damage the connector or pull the cable.
◆If using bent cables, full attention should be paid during wiring operations to avoid
applying stress to the connector section. If stress is applied to the connector section, it
may cause damage to the connector.

2.2.3 Installation environment

 Do not use this product near corrosive and flammable gas environments and combustibles such as hydrogen
sulfide, chlorine, ammonia, sulfur, chlorinated gas, acid, alkali, salt, etc.
 Please choose motor with oil seal in places with grinding fluid, oil mist, iron powder, cutting, etc.
 In places with grinding fluid, oil mist, iron powder, cutting ,etc., please choose motor with oil seal.
 Keep away from furnaces and other heat sources.
 Do not use the motor in a closed environment. The enclosed environment will lead to high temperature of the
motor and shorten its service life.
2.3 Servo cable installation
DS5 series servo motor adopts communication encoder, which may cause uncertain influence due to improper use
and environmental factors. When installing power cable and encoder cable, please pay attention to the following
instructions.

2.3.1 Cable selection

Our regular cable materials include ordinary cable and high flexible cable. The adapter cable connector for motors
with 80 flange or less is divided into aviation plug and amp plug; the adapter cable connector for motors with 80
flange or more is aviation plug.
The cable selected by the customer needs to define the operating conditions on site.
If the cable is used in general occasions, please select the cable from other manufacturers (2.3.2 specifications of
Xinje cable) in strict accordance with the specifications given by Xinje. If the cable is used in unconventional
occasions, please select the cable according to the actual working conditions to be superior to the existing
specifications of Xinje.

1. In normal situations, the following points should be noted:

 For pulse command signal cable, please ensure wiring less than 3m.
 The encoder cable shall be within 20 meters. It is recommended to select special cable if it is more than
20 meters. The wire diameter of encoder cable depends on the length of encoder cable used on site. The
longer the cable is, the greater the wire resistance is, and the more severe the voltage attenuation or
signal distortion is, which is likely to cause pulse loss or no signal can be detected. Therefore, in general,
the customized special cable should be selected if it is more than 20 meters.
 The power cable diameter depends on the current condition of the motor. Generally, the wire diameter is
1/10 of the maximum current of the motor. For example, the maximum current of the motor is 60A, and
the wire diameter of 6mm² is selected.
 In case of interference, it is necessary to separate strong and weak current. It is recommended to
separate power cable from encoder cable and signal cable.
 Ensure the correct grounding of servo driver and servo motor. The grounding resistance is not more than
4Ω, and the grounding depth is more than 2m. It is recommended to use 4*40 angle galvanized steel or
40mm diameter galvanized steel pipe;
 If the customer makes the wire by himself, the cable specification please refer to chapter 2.3.2 Xinje
cable specification, the welding reliability shall be ensured when making the wire to avoid false welding,
bridge connection, wrong welding, missing welding, etc., and the continuity of both ends of the cable
can be tested after the welding is completed.

2. In unconventional occasions, the following items shall be noted:

(1) Occasions of dragging and bending cables
 Do not bend the cable or bear the tension. As the core diameter of signal cable is only 0.2mm or 0.3mm,
it is easy to break, please pay attention to it when using.
 When the cable needs to be moved, please use flexible cable. Ordinary cable is easy to be damaged after
long-term bending. Small power motor (motor below 80 flange) with its own cable can not be used for
cable movement.
 When using cable protection chain, please ensure that:
① The bending radius of the cable is more than 10 times of the outer diameter of the cable;② The
wiring in the cable protection chain shall not be fixed or bundled, only the two immovable wires end in
the cable protection chain shall be bound and fixed;
③ Do not twist the cable;
④ The duty cycle in the cable protection chain shall be less than 60%;
⑤ Do not mix the cables with too big difference in appearance. The thin wire will be broken by the
thick wire. If it is necessary to mix the wiring, partition device is arranged in the middle of the cable.
 (2) Greasy and humid occasions
 It is recommended to select cable with aviation plug as connector instead of AMP interface cable.
 It is necessary to make corresponding protection (glass glue/insulating cloth binding, etc.) for the used
AMP interface cable on site.
 Use special cable.

(3) Interference, high current / high power occasions (such as welding equipment)
 The motor is properly grounded.
 High current equipment shall be grounded separately.
 Reasonable wiring. Such as separation of strong and weak current cables.
 Use metal shielding layer to shield, add magnetic ring to the encoder cable to resist interference.

(4) Low / high temperature

 Select cables (special cables) that meet the use conditions.

2.3.2 Xinje cable specification

1. Material composition of Xinje cable
Cross section of cable (encoder, power cable), corresponding introduction of wire skin material, wire diameter,
wire core material shielding material, etc.
 2. Cable diameter specification
Encoder cable diameter Power cable diameter
Whole Brake
Base no. Single cable Whole cable diameter (non Cable core
cable cable core
diameter brake/brake) diameter
diameter diameter
40 base Normal, high flexibility: 5.2/5.8 mm 4*0.3 mm²
6 mm Below 30m:
3P*0.2 mm²
60, 80 base Normal, high flexibility: 6.2/6.5 mm 4*0.5 mm²
30 m~50 m: Normal: 9.4/9.4mm
130 base 2P*0.2 mm²+ 4*1.5 mm²
High flexibility: 9.6/9.6 mm
1P*0.34 mm² 2*0.3 mm²
Normal: 9.7/9.8 mm
180 base 3kW 6.2 mm 4*2.0 mm²
50m and High flexibility: 9.8/9.8 mm
180 base above above: Normal: 14.5/14.5 mm
3kW 2P*0.2 mm²+ High flexibility: 15.8/15.8 mm 3*6.0 mm²+
1P*0.4 mm² Normal: 14.5mm 1*2.5 mm²
200 base 7.9 mm
High flexibility: 15.5mm

The signal cables (485-A and 485-B) in encoder cables of 30m and above should have
thicker diameters to prevent long-distance signal attenuation and external interference from
affecting the encoder feedback signal.

3. Cable performance specification

Performance Normal cable High flexible cable
Ordinary temperature -20℃~80℃ -20℃~80℃
resistance
Encoder cable withstand 1000V/min 1000V/min
voltage
Power cable withstand 3000V/min 3000V/min
voltage
Bending Travel ＜10m，7.5*D； Travel ＜10m，7.5*D；
radius Travel ≥10m，10*D； Travel ≥10m，10*D；
Mobile Travel ＜10m, ≥1 million times； Travel ＜10m, ≥3 million
installation Bending
Travel ≥10m, ≥2 million times； times；
resistance
times Travel ≥10m, ≥5 million
times；
Fixed Bending 5*D 5*D
installation radius
Note: D represents the finished product cable diameter.
2.4 Servo driver dimension
 DS5C2-20P1/20P4-PTA unit: mm
45 163.6 4.5 33.23
5

4.5
169.25
168

 DS5C2-20P7-PTA unit: mm
55 174 4.5 43.25

5.4

4.65
181.55
180

5.4

 DS5C2-21P0/41P0/41P5-PTA unit: mm
 2- 50 5
60 174.6 5

4.7
160
169.4

.5
R2

 DS5C2-21P5/22P3/22P6/42P3/43P0-PTA unit: mm
2- 73 5
83 190.3 ∅
5

5
185

175
.5
R2
6

 DS5C2-45P5/47P5-PTA unit: mm
2-
∅
5. 76 5.5
87 230 2
5
239.5
249

.6
R2

5.5
 DS5C2-415P0-PTA unit: mm
120
150 209.7
15

9.5
417

402
.5
R3
2.5 Servo motor dimension
 40 series motor installation dimensions Unit: mm
0.06 A 2-Ø4.6
0.02 A
Ø46

29.2
28.8
30h7
8h6

A
15

0.04 A 35
25 LA 40
8
深
M3
3N9

6.2
LA±1
Inertia
Motor model With
Normal level
brake
MS6H-40CN30B□3-20A5-S 60.8 93.4
High
MS6H-40□□30B□3-20P1 79.4 112
inertia
MS6H-40CN30B□3-20P1-S 77.4 110

 60 series motor installation dimensions Unit: mm

A

0.06 A
Ø70
38.8
37.8

0.02 A
50h7
14h6
8
深

20
5N9

M5

3 4- 5.5
0.04 A A 6
30 LA □ 60
11
LA±1
Inertia
Motor model With
Normal level
brake
MS6H-60□□30B□3-20P2 76.4 99.15 High
MS6H-60CN30B□3-20P2-S 66.7 93.5 inertia
MS6S-60□□30B□3-20P4 98.4 121.15 Low
MS6S-60CN30B□3-20P4-S 88.7 115.5 inertia
MS6H-60□□30B□3-20P4 98.4 121.15 High
MS6H-60CN30B□3-20P4-S 80.2 106.95 inertia
 80 series motor installation dimensions Unit: mm
4-Ø6.50
0.06 A

49.3
48.8
0.02 A
70h7
19h6

25
10
A
6N9

深 1
M5
Ø90
3
35 8
15.5 0.04 A
LA 80

LA±1 Inertia
Motor model With
Normal level
brake
MS6S-80□□30B□3-20P7 107.1 132.1 Low
MS6S-80CN30B□3-20P7-S 95 126.9 inertia
MS6H-80□□30B□3-20P7 107.1 132.1 High
MS6H-80CN30B□3-20P7-S 89.2 121.1 inertia
Low
MS6S-80□□30B□3-21P0 117.6 142.6
inertia
MS6H-80□□30B□3-21P0 134 159 High
MS6H-80CN30B□3-21P0-S 112.5 144.4 inertia

 130 series motor installation dimensions Unit: mm

4-∅9
110.9 ∅145
A-A 1
1.5 : 1 A
M6 - 6H 12
Ø110h7
Ø22h6

5 15
8N9

A
40
5
0 12
18-0.1 55±0.5 LA □ 130

LA±1
Motor model With Inertia level
Normal
brake
MS6G-130CN25B□2-□1P0 119.5 148.5
MS6G-130CN20B□2-□1P5 133.5 162.5
MS6G-130CN15B□2-□1P5 151.5 180.5
MS6G-130CN15E□2-□2P3 181.5 210.5
Medium
MS6G-130TH15B□2-□0P8 150 179
inertia
MS6G-130TH25B□2-□1P0 136 165
MS6G-130TH20B□2-□1P5 150 179
MS6G-130TH15B□2-□1P5 168 197
MS6G-130TH15E□2-□2P3 198 227
 0.1 A

4-∅9

110.9
A-A
2 : 1 15 ∅145
深 A1

56.5
0.025
M6

Ø110h7
Ø24h6
8N9

A A
40
5 12
20 0.06 A 55 LA 130

LA±1
Motor model Inertia level
Normal With brake
MS6G-130CN15B□2-□2P3 181.5 210.5 Medium
MS6G-130TH15B□2-□2P3 198 227 inertia

 180 series motor installation dimensions Unit: mm

4-
∅1

0
3

20
.5
0.1 A

147.9

∅
0.08 A

90.15
Ø114.3h7

0.03 A
Ø35h6

M12深
10N9

16 A
65
3
79 20 LA
30 □180

LA±1
Motor model With Inertia level
Normal
brake
MS6H-180CN15B□2-43P0 215 255
High inertia
MS6H-180CN15B□2-44P4 247 287
4-
∅1

00
3

∅2
.5

0.1 A
147.9

0.08 A
90.15

M1
Ø114.3h7

6深
0.03 A
12N9

Ø42h6

32
A 96
3
37 19
113 LA □180

LA±1
Motor model With Inertia level
Normal
brake
MS6H-180CN15B□2-45P5 269 309
High inertia
MS6H-180CN15B□2-47P5 325 365
 4-∅13.

0
0.1 A

20
5

∅
147.9
0.08 A

90.15
0.03 A

Ø114.3h7
16

Ø35h6
深
N9

2
M1
10
A
65

3
30 79 20 LA
□180

LA±1
Motor model With Inertia level
Normal
brake
MS6H-180CN15E□2-45P5 269 309
High inertia
MS6H-180CN15E□2-47P5 325 365

∅200
4-∅14

130.9
74.13
114.30h
35h6

M12深16

66
10N9

3
30 19
79 LA
o180

LA±1
Motor model With Inertia level
Normal
brake
MS6G-180CN15B□2-43P0 162 206.5
MS6G-180CN15B□2-44P4 185 229.5 Medium
MS6G-180TH15B□2-43P0 176.5 221 inertia
MS6G-180TH15B□2-44P4 199.5 244

0.1 A ∅200
4-∅14
130.9
74.13

0.03 A
Ø114.30h7
Ø42h6

A-A
1 : 1
M12深16
12N9

A 96

0.08 A
3 19
37 113 LA 180
A

LA±1
Motor model With Inertia level
Normal
brake
MS6G-180CN15B□2-45P5 208 252.5
MS6G-180CN15B□2-47P5 256 300.5 Medium
MS6G-180TH15B□2-45P5 222.5 267 inertia
MS6G-180TH15B□2-47P5 270.5 315
3 Servo system wiring
The recommended wiring for each interface of the servo drive is shown in the table below:
Power supply wire- UVW power Ground cable Encoder
Driver model
diameter mm² cable-diameter mm² -diameter mm² cable-dimeter mm²
100W 2.0 0.3 0.3 0.2 (6 cores)
200~ 750W 2.0 0.5 0.5 0.2 (6 cores)
1 ~ 2.6kW 2.0 1.5 1.5 0.2 (6 cores)
3kW 2.0 2.0 2.0 0.2 (6 cores)
5.5~7.5kW 6.0 6.0 2.5 0.2 (6 cores)
15kW 6.0 6.0 2.5 0.2 (8 cores)

 Please do not pass the power cable and signal cable through the same pipeline, and do not
tie them together. When wiring, please keep the power cable and signal cable at least
30cm apart.
 For signal cables and encoder (PG) feedback cables, please use multi stranded wires and
multi-core twisted overall shielded wires.
 For the wiring length, the maximum length of the instruction input cable is 3m, and the
maximum length of the PG feedback cable is 20m.
 Even if the power supply to the driver is disconnected and the panel displays OFF, the
internal capacitance of the servo unit will still be stuck with high voltage. Please do not
touch the power terminal temporarily (within 10 minutes).
 Do not frequently turn on or off the power supply of the driver. When it is necessary to
repeatedly switch on and off the power supply continuously, it is necessary to ensure that
the power switch frequency is greater than 2 minutes per time. The servo drive has a large
capacitor inside, so when the power is turned on, the internal circuit of the drive will flow
a large charging current (charging time of 0.2 seconds). Therefore, if the power supply is
frequently switched on and off, it will cause a decrease in the performance of the main
circuit components inside the servo drive, affecting the service life of the drive.
3.1 Main circuit terminal

3.1.1 Servo driver terminal layout

Each part name:

(1): CN3 RS232 port (5): CN2 encoder port

(2): CN5 STO terminal (6): Power supply terminal
(3): CN0 I/O signal (7): Motor wiring terminal
(4): CN1 RJ45 port
3.1.2 Main circuit terminals

 DS5C2-20P1/20P4-PTA
L
According to the order from top to bottom, the main circuit terminal functions are as follows:
N Terminal Function Explanation
· Main circuit power
L, N Single phase AC200~240V, 50/60Hz
P+ input terminal
C ● Empty terminal -
Connect the braking resistor to the P+ and C
U Use external braking
P+, C terminals;
V resistor
P0-25=power value, P0-26=resistance value
W
Motor connection
U, V, W, PE Connect to the motor
PE terminal

 DS5C2-20P7-PTA
According to the order from top to bottom, the main circuit terminal functions are as follows:
L Terminal Function Explanation
N Main circuit power
L, N Single phase AC200~240V, 50/60Hz
· input terminal
P+ ● Empty terminal -
D Use built-in braking Short circuit P+ and D terminals,
C resistor disconnect P+ and C.
· Connect the braking resistor to the P+ and
U P+, D, C C terminals, and remove the P+ and D
Use external braking
V short circuits;
resistor
W P0-25=power value, P0-26=resistance
PE value
● Empty terminal -
Motor connection
U, V, W, PE Connect to the motor
terminal
 DS5C2-21P0/21P5/22P3/22P6-PTA
According to the order from top to bottom, the main circuit terminal functions are as follows:
Terminal Function Explanation
Single phase/three-phase AC200~240V,
50/60Hz
Main circuit power input
L1, L2, L3 (If single-phase power supply, please
terminal
connect L1/L3, otherwise power failure will
affect parameter memory)
Use built-in braking Short circuit P+ and D terminals, disconnect
resistor P+ and C.
Connect the braking resistor to the P+ and C
P+, D, C
Use external braking terminals, and remove the P+ and D short
resistor circuits;
P0-25=power value, P0-26=resistance value
Real time voltage of the busbar can be
P+, P- Bus terminal
measured, please be aware of the danger
Motor connection
U, V, W, PE Connect to the motor
terminal
The ground wire is on the heat sink. Please
Grounding terminal confirm good grounding before powering
on
 DS5C2-41P0/41P5/42P3/43P0-PTA
According to the order from top to bottom, the main circuit terminal functions are as follows:
Terminal Function Explanation
Main circuit power
R, S, T Three-phase AC380~440V, 50/60Hz
input terminal
Use built-in braking Short circuit P+ and D terminals, disconnect P+
resistor and C.
P+, D, C Connect the braking resistor to the P+ and C
Use external braking
terminals, and remove the P+ and D short circuits;
resistor
P0-25=power value, P0-26=resistance value
Real time voltage of the busbar can be measured,
P+, P- Bus terminal
please be aware of the danger
Motor connection
U, V, W, PE Connect to the motor
terminal
The ground wire is on the heat sink. Please confirm
Grounding terminal
good grounding before powering on

 DS5C2-45P5/47P5-PTA
According to the order from top to bottom, the main circuit terminal functions are as follows:
Terminal Function Explanation
Main circuit power
R, S, T Three-phase AC380~440V, 50/60Hz
input terminal
Short circuit P+ and D terminals, disconnect P+
Use built-in braking
and C. (This model does not have built-in braking
resistor
resistor)
P+, D, C
Connect the braking resistor to the P+ and C
Use external braking
terminals, and remove the P+ and D short circuits;
resistor
P0-25=power value, P0-26=resistance value
Real time voltage of the busbar can be measured,
P+, P- Bus terminal
please be aware of the danger
Motor connection
U, V, W, PE Connect to the motor
terminal
The ground wire is on the heat sink. Please confirm
Grounding terminal
good grounding before powering on

 DS5C2-415P0-PTA
According to the order from top to bottom, the main circuit terminal functions are as follows:
Terminal Function Explanation
Main circuit power
R, S, T Three-phase AC380~440V, 50/60Hz
input terminal
Use external braking When using an external braking resistor, connect
P+, PB
resistor the braking resistor to the P+ and PB terminals
Real time voltage of the busbar can be measured,
P+, P- Bus terminal
please be aware of the danger
Motor connection
U, V, W Connect to the motor
terminal
Perform grounding treatment, please confirm good
PE Grounding terminal
grounding before powering on
3.1.3 CN0, CN1, CN2, CN3 terminal description

3.1.3.1 CN0 control terminal

 CN0 terminal explanation(750W and below, 3 in/3 out)

No. Name Note No. Name Note
Input terminal 1(high
1 SI1 5 SO1 Output terminal 1
speed)
Input terminal 2(high
2 SI2 6 SO2 Output terminal 2
speed)
3 SI3 Input terminal 3 7 SO3 Output terminal 3
Output terminal
4 D+24V Open collector input 8 COM
(ground)
 CN0 terminal explanation(1~ 7.5kW, 5 in/3 out)
No. Name Note No. Name Note
Input terminal 1(high
1 SI1 6 +24V Input +24V
speed)
Input terminal 2(high
2 SI2 7 SO1 Output terminal 1
speed)
3 SI3 Input terminal 3 8 SO2 Output terminal 2
4 SI4 Input terminal 4 9 SO3 Output terminal 3
Output terminal
5 SI5 Input terminal 5 10 COM
ground
 CN0 terminal explanation(15kW, 5 in/4 out)
No. Name Note No. Name Note
1 P- Pulse - 11 +24V Input common terminal
2 P+5 Pulse +5v 12 SI1 Input terminal
3 P+24 Pulse +24v 13 SI2 Input terminal
4 D- Direction - 14 SI3 Input terminal
5 D+5 Direction +5v 15 SI4 Input terminal (high speed)
6 D+24 Direction +24v 16 SI5 Input terminal (high speed)
7 SO1+ Output terminal + 17 SO1- Output terminal -
8 SO2+ Output terminal + 18 SO2- Output terminal -
9 SO3+ Output terminal + 19 SO3- Output terminal -
10 SO4+ Output terminal + 20 SO4- Output terminal -

3.1.3.2 CN1 communication terminal description

100~750W, 15kW 1kW~7.5kW No. Name No. Name
1 TX A+ 9 TX B+
2 TX A- 10 TX B-
3 RX A+ 11 RX B+
4 - 12 -
5 - 13 -
6 RX A- 14 RX B-
7 - 15 -
8 - 16 -
3.1.3.3 CN2 encoder interface description
 7.5kW and below
The arrangement of the encoder socket terminals on the side of the CN2 driver body is as follows:
No. Definition
1 5V
2 GND
5 A
6 B

 15kW

5 9 No. Definition No. Definition

1 Temperature - 6 GND
2 Temperature + 7 GND
3 485-B 8 5V
4 485-A 9 5V
1 6 5 PE

3.1.3.4 CN3 terminal (RS232)

No. Name Note
1 TXD RS232 send
5
2 RXD RS232 receive
RS232 signal
1
3 GND
ground
Driver side-5-pin trapezoidal interface Note: Please use the dedicated cable provided
by XINJE company.

RS232 communication is full duplex communication, and the TXD (pin number 1) of the driver 232
communication port needs to be connected to the RX pin of USB to serial convertor. The RXD (pin number 2) of
the port needs to be connected to the TX pin of USB to serial convertor.
RS232 port default communication parameters: baud rate 19200bps, data bit is 8-bit, stop bit is 1-bit, even parity.
Suggest to use 115200 communication speed, internal hardware supports up to 250kHz, supports hot swapping.
Modbus station No.
Parameter Function Default setting Range Modify Effective
P7-10 Modbus station no. 1 1~255 Servo OFF At once
3.1.3.5 CN5 terminal

The terminal arrangement of the CN5 port of the driver is as follows (facing the driver), with a safe torque
shutdown STO, only supported on models with the suffix - FS:

No. Name Explanation No. Name Explanation

1 EDM+ EDM output + 4 EDM- EDM output -
2 24V 24V output 5 COM Common ground
3 STO1 STO1 circuit input 6 STO2 STO2 circuit input

In order to make the debugging process more user-friendly, the power supply voltage (2: 24V) pin has been added.
If the STO function is not required, please connect the STO1 and STO2 terminals to the 24V terminal.

The maximum allowed cable length between the driver and the safety switch is 30m.
3.2 Signal terminal

3.2.1 SI input signal

Please use a relay or an open collector transistor circuit to connect. When using relay connection, please select the
relay for small current. If the relay is not small current, it will cause bad contact.
Type Input terminal Function
Digital input SI1~SI5 Multifunctional input signal terminal

Defaulted assignment of input terminals

Terminal SI1 SI2 SI3 SI4 SI5
P-OT/forward
N-OT/reverse run
Function run Home signal Not distributed Not distributed
prohibition
prohibition

 0.1kW~7.5kW servo driver

Open collector type (750W and below, all the SI) Relay type (750W and below, all the SI)
Upper device servo drive Upper device servo drive

+24V +24V +24V +24V

+ +
0V SI 0V SI
R=3.3kΩ R=3.3kΩ
Y2 Y2

COM2 COM2

Open collector type (1kW~7.5kW, SI1/2) Relay type (1kW~7.5kW, SI1/2)

Upper device servo drive Upper device servo drive

+24V +24V +24V +24V

+ +
0V SI 0V SI
R=3.3kΩ R=3.3kΩ
Y2 Y2

COM2 COM2

Open collector type (1kW~7.5kW, SI3/4/5) Relay type (1kW~7.5kW, SI3/4/5)

Upper device servo drive Upper device servo drive

+24VV
+24 +24V
+24V +24
+24 VV +24V
+24V
++ ++
0V
0V SI
SI 0V0V SI SI
R=3.3K Ω
R=3.3K R=3.3K
R=3.3K
ΩΩ
Y2
Y2 Y2Y2

COM2
COM2 COM2
COM2

 SI1 and SI2 of 750W and below drivers are high-speed SI inputs, SI3 is low-speed, and
only supports NPN connection;
 The SI1 and SI2 channels of the 1~7.5kW driver are high-speed SI inputs with a response
speed of less than or equal to 2μs, and only support NPN connection; SI3, SI4, and SI5
are low-speed SI inputs with a response time of less than or equal to 2ms. They support
both NPN and PNP connections (SI1 to SI5 can only be NPN or PNP at the same time);
  Typical voltage DC24V, minimum not lower than DC18V, maximum allowable voltage
not higher than DC28V.

 15kW servo driver

Open collector type (15kW, SI1/2/3) Relay type (15kW, SI1/2/3)
Upper device servo drive Upper device servo drive

+24 VV
+24 +24V
+24V +24 VV
+24 +24V
+24V
++ ++
0V0V SISI 0V0V SISI
R=3.3K
R=3.3KΩΩ R=3.3K
R=3.3KΩΩ
Y2Y2 Y2Y2

COM2
COM2 COM2
COM2

Open collector type (15kW, SI4/5) Relay type (15kW, SI4/5)

Upper device servo drive Upper device servo drive

+24VV
+24 +24V
+24V +24V +24V
++ +
00VV SI
SI 0V SI

R=3.3k
R=3.3k
ΩΩ R=3.3kΩ
Y2
Y2 Y2

COM2
COM2 COM2

 A 15kW driver with three low-speed SI inputs of SI1, SI2, and SI3, with a response
time of less than or equal to 2ms, supporting NPN and PNP connections; SI4 and SI5
are high-speed SI inputs with a response speed of less than or equal to 2μs, and only
support NPN connection;
 Typical voltage DC24V, minimum not lower than DC18V, maximum allowable
voltage not higher than DC28V.

3.2.2 SO output signal

Type Output terminal Function

Optocoupler output SO1~SO3 Multifunctional output terminal

Defaulted assignment of output terminals

Terminal SO1 SO2 SO3 SO4 (15kW)
COIN/positioning
Function ALM/alarm Not distribute Not distribute
completion

Optocoupler type (7.5kw and below) Relay type (7.5kw and below)
 Servo driver upper device Servo driver upper device
+24V +24V

SO X3 SO X3

COM COM COM COM

0V 0V

Optocoupler type (15kw) Relay type (15kw)

Servo driver upper device Servo driver upper device

+24 V +24 V +24 V +24 V

SO1+ SO1+ X3 X3 SO1+ SO1+ X3 X3

SO1- SO1- COM COM SO1- SO1- COM COM

0V 0V 0V 0V

 SO1, SO2, and SO3 of 7.5kW and below driver only support NPN connection;
 15kW drive SO1, SO2, SO3, SO4 with + and - markings, SO1-, SO2-, SO3-, SO4- can be
connected together when using a common COM;
 Maximum load current:
400W and below:
SO1 DC 500mA (maximum), SO (other) DC 50mA (maximum), the current required by
the brake is relatively high. When directly controlling the brake motor through SO, please
use the SO1 terminal control and set the holding parameter P5-44=n.0001;
750W and above:
SO (all) DC 50mA (maximum), supporting 24VDC, with a maximum of 30VDC. The
required current for the brake is relatively high. When controlling the brake motor
through SO, please use an intermediate relay.
4 Panel operation
4.1 Basic operation

4.1.1 Operating panel description

Button Operation
STA/ESC Short press: state switch, state return

Short Press: The display data increases

INC Long press: The display data increases
continuously

Short Press: The display data decreases

DEC Long press: The display data decreases
continuously

Short press: shift.

ENTER
Long press: Set and view parameters.
Note: The panel will be self-checked, and all the display digital tubes and five decimal points will be lit for one
second at the same time.

4.1.2 Button operation

By switching the basic state of the panel operator, it can display the running state, set parameters, run auxiliary
functions and alarm state. After pressing the STA/ESC key, the states are switched in the order shown in the
following figure.
State: BB indicates that the servo system is idle; run indicates that the servo system is running; RST indicates that
the servo system needs to be re-energized.

 Parametric setting PX-XX: The first X represents the group number, and the last two X represents the
parameter serial number under the group.
 Monitor status UX-XX: The first X represents the group number, and the last two X represents the
parameter number under the group.
 Auxiliary function FX-XX: The first X represents the group number, and the last two X represents the
parameter number under the group.
  Alarm state E-XX□: The first two X represents the alarm category, and the last □ represents the small
category under the category.

4.2 Operation state display

When powered on, the panel displays, which is set according to P8-25 parameters.
Default Suitable
Parameter Name Meaning Modify Effective
setting mode
0: normal display, power on display
“bb” or “run”
Panel
1: display the value of U-00 when At Repower
P8-25 display 0 All
powering on,speed feedback,unit:rpm once on
settings
2: display the value of U0-07 when
powering on, torque feedback, unit:%

 Speed, torque control mode

Digit display contents

Digit data Display contents
P5-39 When the actual speed of the motor is the same as the command speed,
Same speed turn on the light.
detection(/V-CMP) Detection Width of Same Speed Signal: P5-04 (Unit: rpm)
Speed control mode,when the torque exceeds the set value, turn on the
P5-42 light.
Torque limit(/CLT) Internal Forward Torque Limitation: P3-28
Internal Reverse Torque Limitation of: P3-29
P5-40 When the motor speed is higher than the rotating speed, turn on the lamp.
Rotate detection(/TGON) Rotation detection speed: P5-03 (unit: rpm)
P5-31
When the zero clamp signal starts to operate, turn on the light.
Zero clamp(/ZCLAMP)
Torque control mode
P5-43 When the speed exceeds the set value, turn on the light
Speed limit(/VLT) Forward speed limit in torque control: P3-16;
Reverse speed limit: P3-17.
Simplified code display content
Simplified code Display content
In standby mode
Servo OFF status. (The motor is in a non energized state)
Running
Servo enable status. (Motor in energized state)
Need to reset status
The servo needs to be re-powered on
Prohibit forward drive state
P-OT ON status.
Prohibit reverse drive state
N-OT ON status.
Control mode 2 is empty

 Position control mode

Digit display contents

Digit data Display contents
P5-38 In position control, when the given position is the same as the actual
Positioning position, turn on the light.
completion(/COIN) Location Completion Width: P5-00 (Unit: Instruction Pulse)
In position control, when the given position is the same as the actual
P5-46
position, turn on the light.
Near (/NEAR)
Near signal width: P5-06
P5-40
When the motor speed is higher than the rotating speed, turn on the lamp.
Rotate
Rotation detection speed: P5-03 (unit: rpm)
detection(/TGON)

Simplified code display content

Simplified code Display content
In standby mode
Servo OFF status. (The motor is in a non energized state)
Running
Servo enable status. (Motor in energized state)
Need to reset status
The servo needs to be re-powered on
Prohibit forward drive state
P-OT ON status.
Prohibit reverse drive state
N-OT ON status.
Control mode 2 is empty
4.3 Group U monitor parameter
 U0-21 input signal status

 U0-21 input signal 1 distribution

Segment Segment
Description Description
code code
1 /S-ON servo enable 2 /P-CON proportion action instruction
3 /P-OT prohibition of forward drive 4 /N-OT prohibition of reverse drive
/P-CL forward side external torque
5 /ALM-RST alarm reset 6
limit
/SPD-D internal speed direction
7 /N-CL reverse side external torque limit 8
selection
9 /SPD-A internal speed selection 10 /SPD-B internal speed selection
Note: When reading through communication, the binary numbers read from right to left correspond to the
position of /S-ON, /P-CON, 0 means that the position signal is not input, 1 means that the position signal has
input. Example: 0x0001 means /S-ON has input, 0x0201 means /S-ON and /SPD-B has input.

 U0-22 input signal status

 U0-22 input signal 2 distribution

Segment Segment
Description Description
code code
11 /C-SEL control mode selection 12 /ZCLAMP zero clamp
13 /INHIBIT instruction pulse prohibition 14 /G-SEL gain switch
15 /CLR pulse clear 16 /CHGSTPchange step
17 — 18 —
19 — 20 —
Note: When reading through communication, the binary numbers read from right to left correspond to the
position of /C-SEL, /ZCLAMP, 0 means that the position signal is not input, 1 means that the position signal
has input. Example: 0x0001 means /C-SEL has input, 0x0009 means /C-SEL and / G-SEL have input.
Note:“-” is for reserved display and does not represent any signal.The status bit is always 0.
 U0-23 output signal status

 U0-23 output signal 1 distribution

Segment Segment
Description Description
code code
1 Positioning completion hold(/COIN_HD) 2 Position completion(/COIN)
3 Same speed detection(/V-CMP) 4 Rotate detection(/TGON)
5 Ready (/S-RDY) 6 Torque limit(/CLT)
7 Speed limit detection(/VLT) 8 Break lock(/BK)
9 Warn (/WARN) 10 Output near(/NEAR)
Note: when reading status through communication,the binary from right to left correspond to the position of
/COIN_HD, /COIN. 0 means that the position signal is not output, 1 means that the position signal has output.
Example: 0x0001 means / COIN_HD has output, 0x0201 means /COIN_HD and / NEAR has output.

 U0-24 output signal status

 U0-24 output signal 2 distribution

Segment Segment
Description Description
code code
11 Alarm (/ALM) 12 Speed arrived (/V-RDY)
13 Customized output 1 14 Customized output 2
15 /Z phase 16 /MRUN
17 — 18 —
19 — 20 —
Note: When reading the status through communication, the binary numbers read correspond to the /ALM and
/V-RDY positions from right to left. 0 represents that the position signal has no input, and 1 represents that the
position signal has input. Example: 0x0001 indicates that/ALM has an output, and 0x0011 indicates that/ALM and
/Z have an output.
Note:“-” is for reserved display and does not represent any signal. The status bit is always 0.

 U0-88 Motor code reading status

 U0-88 display status Meaning

0001—— Reading encoder motor parameters successful, but

P0-33=0, use the motor parameters from the reading encoder.

0011—— Successfully read encoder motor parameters, P0-33 ≠

0, use motor parameters from the driver.

0021—— The encoder motor parameters were successfully

read, but the parameter value was 0. Please use after setting
P0-53 to 1.
0031—— The encoder motor parameters were successfully
read, but were damaged (CRC verification error). Set P0-53=1
before use.

0042—— Reading encoder motor parameters failed, set P0-53

to 1 before use.

 U4-18 Input signal status

SI1 SI2 SI3 U4-18 display
1 0 0 0x0001
0 1 0 0x0002
1 1 0 0x0003
0 0 1 0x0004
... ... ... ...
Note: U4-18 displays the state of SI terminal, Only after the function of corresponding terminal is set, the input
high level of this terminal will be displayed on U4-18.
For example, SI1 has no function allocation, and even if SI1 is set to high level, the 0th bit of U4-18 will not
display 1.
 U4-19 Output signal status
SO1 SO2 SO3 U4-19 display
1 0 0 0x0001
0 1 0 0x0002
1 1 0 0x0003
0 0 1 0x0004
... ... ... ...

Note: U4-19 displays the state of SO terminal, display as the bit.

4.4Group F auxiliary parameters
4.4.1 F0-XX

Function Function
code Explanation code Explanation
Panel external command auto
F0-00 Clear the alarm F0-08 tuning
Restore parameters to factory Panel internal command auto
F0-01 settings F0-09 tuning
F0-02 Clear position deviation F0-10 Panel vibration suppression 1
F0-04 Clear historical alarm records F0-11 Panel vibration suppression 2
Panel vibration suppression (fast
F0-07 Panel inertia identification F0-12 FFT)

4.4.2 F1-XX

Code Note
F1-00 Jog run
F1-01 Test run
F1-02 Current sampling zero-correction
F1-05 Software enable
F1-06 Reset turns of absolute encoder
1. Jog run(F1-00)
Before entering jog mode, please confirm that the motor shaft is not connected to the machine and the driver is in
bb idle status! The jog function is in speed mode, and P3-09 and P3-10 control the acceleration and deceleration
time!

P3-18 JOG speed

Unit Default Range Suitable Modify Effective
mode
1rpm 100 0~1000 JOG Servo At once
OFF
2. Test run(F1-01)
Before entering the test run mode, please confirm that the motor shaft is not connected to the machine!
When the servo driver is connected to the non-original encoder or power cable, it should first enter the test run
mode to verify that the encoder terminal or power terminal is connected correctly.

Test run mainly checks the power cable and the encoder cable to determine whether the connection is
normal.According to the following operation,the motor can normally achieve forward and reverse rotation. If the
motor shaft shakes or driver alarms, please immediately disconnect the power supply, and re-check the wiring
situation.
3.Current sampling zero-correction(F1-02)
When the servo driver is updated or the motor runs unsteadily after a long time, it is recommended that the user
automatically adjust the current detection offset, and carry out the following operations when the driver is bb idle.

Press STATUS/ESC to exit.It needs to repower on the driver.

4. Forced enable(F1-05)
Parameter Signal name Setting Meaning Modify Effective
P0-03 Enable 0 disable Servo OFF At once
mode 1 I/O enable/S-ON
Software enable(F1-05 or
2
communication )
3(default) Bus enable(Models supporting bus)
Set P0-03=2
F1-05 = 0: cancel enable, enter bb status.
F1-05 = 1: forced enable, servo is in RUN status.
Note:
After power on again, the forced enable set by F1-05 will fail.

5. Reset turns of absolute encoder(F1-06)

First turn the servo OFF, and then clear the number of turns of the absolute encoder.The operation is as follows:
Write 1 to F1-06 through panel operation to clear the number of turns of absolute encoder.
Writing 3 to F1-06 through panel operation can perform zero calibration on the absolute value encoder.

4.5Fault alarm operation

When a fault occurs, the alarm status will automatically pop up, displaying the alarm number. If there is no fault,
the alarm status will not be visible. In the alarm state, writing 1 to F0-00 through panel operation can reset the
fault.
If the servo alarm is casued by power supply turning off, there is no need to clear the alarm.

Note: When an alarm occurs, the cause of the alarm should be eliminated first, and then the alarm should be
released.

4.6Parameter example
Provide an example of the operation steps for changing the content of parameter P3-09 from 2000 to 3000.
Step Panel display Buttons Operation

STA/ESC INC DEC

1 No need any operations
ENTER
STA/ESC INC DEC Press STA/ESC to enter parameter
2
setting
ENTER
Press INC, press once to add 1,
STA/ESC INC DEC
3 increase the parameter to 3, and
ENTER display P3-00
STA/ESC INC DEC Short press the ENT key, and the last
4
0 on the panel will flash
ENTER
 5 STA/ESC INC DEC Press the INC key to add up to 9
ENTER

STA/ESC INC DEC Long press the ENT key to enter

6
P3-09 for numerical changes.
ENTER
Press the INC, DEC, and ENT keys
STA/ESC INC DEC
to add, subtract, and shift. After
7
ENTER making the changes, press and hold
the ENT key to confirm
END
8

When the set parameters exceed the range that can be set, the driver will not accept the set
value and will report E-021 (parameter setting exceeded). Parameter setting exceeding the
limit usually occurs when the upper computer writes parameters to the driver through
communication.

4.7Check the motor code

A servo driver can be matched with multiple motors with similar power levels, and different models of motors are
distinguished by the motor code on the motor nameplate. Before debugging the servo system, please make sure to
confirm whether the motor code U3-70 matches the motor nameplate label.
5 Basic functions
5.1 Absolute value system
5.1.1 Absolute system setting
In order to save the position data of absolute encoder, the battery unit needs to be installed.
Install the battery on the battery unit of the encoder cable with the battery unit.
If you do not use encoder cable with battery unit, please set P0-79 to 1, that is, multi-loop absolute value encoder
is used as incremental encoder.

Parameter Name Setting Meaning Range

Normally use absolute encoder and use battery to memorize
0
position.
Absolute As incremental encoder, no longer memorize the position of
1(default)
encoder battery multiple turns
P0-79 0~2
undervoltage
Use as absolute encoder, but ignores the multi turn overflow
alarm switch
alarm. Enable the recording of the number of turns and the
2
number of times of overflow, and power down memory (3770
version and above)
Note: when the E-222 alarm occurs after replacing the multi turn motor, the overflow times of the multi turn
number will be automatically cleared, otherwise serious position deviation will occur, causing danger.

5.1.2 Replace the battery

When replacing the battery, please replace the battery while keeping the driver and motor connected well and the
control power is connected. If the battery is replaced when the control power between the driver and the motor is
closed, the data stored in the encoder will be lost.

Note: Absolute Encoder Battery Model (This Battery can't Charge)

Battery unit for normal cable:CP-B-BATT
Battery unit for tank chain cable: CPT-B-BATT

Battery replacement steps

When using encoder cable with battery unit
(1) Only the control power of the servo unit is connected;
(2) Open the cover of the battery cell;

(3) Take out the old battery, install the new one.
(4) Close the cover of the battery unit

(5) After replacing the battery, in order to remove the "Encoder Battery Alarm (E-222)" display, please do clear
alarm twice (F0-00=1). (3770 version and above only need to be cleared once.)
(6) Connect the power supply of the servo unit again;
(7) Make sure the error display disappears and the servo unit can operate normally.

5.1.3 The upper limit of turns

The upper limit of rotating cycles can be used for position control of gyroscopes such as turntables.
For example, suppose there is a machine whose turntable moves only in one direction, as shown in the figure
below.

Because it can only rotate in one direction, after a certain period of time, the number of revolving cycles will
always exceed the upper limit of absolute value encoder.
 Resolution Rotating Circle Serial
Servo motor
(single-turn Data Operation of overtime
series
data) Output range
When exceeding the upper limit value of forward
rotation direction (+32767 * 219):
Rotation serial data=32767 * 219
CN 19 -32768~32767
When below the lower limit of the reverse direction
(-32768 * 219):
Rotation serial data=-32768 * 219

5.1.4 Absolute encoder position calibration

Parameter Name
Set to 1: Absolute value encoder clears multi
F1-06 turn positions
Set to 3: Absolute encoder zero calibration
U0-94
U0-95 Relative encoder feedback value which can be
U0-96 cleared
U0-97

5.1.4.1 Reset multi-turn absolute position

Encoder turns clearing should be done when servo driver is bb status. The clearing methods include servo panel
clearing and Ethercat communication clearing.Write 1 to F1-06, the current number of turns U0-91 of the multi
turn absolute value will be set to 0, and the current position feedback U0-57 ~ U0-59 of the absolute value
encoder will also change.
1. Servo panel clearing
Enter parameter F1-06 when servo is in bb state:

Press【INC】to 1, and keep press【ENT】to confirm and exit:

Clear the absolute encoder turns through F1-06 on the servo panel.

2. EtherCAT communication clearing

Method 1: In the servo bb state, write 1 to # 0x4106 through EtherCAT bus communication to clear the number of
turns.

Method 2: Via EC_ SDO instruction

Write 1 to D0 to clear the number of turns.

5.1.4.2 Zero calibration of absolute encoder
The zero calibration of the absolute value encoder needs to be completed in the servo bb state and can only be
calibrated through the servo panel. F1-06 write 3, the current position feedback of the absolute value encoder
U0-94~97 will calibrate the encoder position to 0 (note: absolute value encoder zero calibration through SDO
communication is not supported).
1. Calibrate through the servo panel
Enter F1-06 when servo is in bb status

Press【INC】to 3 and long press【ENT】to confirm and exit.

Calibrate the encoder current position as zero position through servo panel F1-06 parameter, U0-94~97 will show
the encoder position after calibration.

5.2 Power-off brake

When the servo motor controls the vertical load, the purpose of using the “brake servo motor” is: when the power
supply of the system is placed in the "OFF", the movable part will not move under the action of gravity.

Note: The brake built in the servo motor is a fixed special brake without excitation. It can not be used for dynamic
braking. Please use it only when the servo motor is in a stop state.

Related parameter
Parameter Meaning Default Unit Setting range Modify Effective
setting
P5-44 Brake interlock /BK n.0000 - 0~ffff Servo bb At once
P5-07 Servo OFF delay time 500 1ms -500~9999 Servo bb At once
P5-08 Brake command output speed 30 rpm 20~10000 Servo bb At once
P5-09 Brake command waiting time 500 ms 0~65535 Servo bb At once

1. Hardware wiring
The ON/OFF circuit of the brake is composed of the sequential output signal of the servo unit "/BK" and "brake
power supply". A typical connection example is shown below.
Note:
① The excitation voltage of the power-off brake is 24V.
② If the holding brake current is more than 50mA, please transfer it through the relay to prevent terminal burnt
out due to excessive current.

2. Software parameter settings

For the servo motor with holding brake, it is necessary to configure one SO terminal of servo driver as holding
brake output /BK function, and determine the effective logic of SO terminal, that is, parameter P5-44 needs to be
set.

Signal/BK terminal
Parameter setting Servo status Servo motor status
output logic
Servo bb Invalid Brake power off, motor in position locked state
P5-44=n.000□
Servo run Valid Brake power on, motor in rotatable state
Servo run Invalid Brake power off, motor in position locked state
P5-44=n.001□
Servo bb Valid Brake power on, motor in rotatable state
Note:
(1) When SO terminal is used to control holding brake, when servo enable is on, holding brake power is on and
motor is in rotatable state;
(2) If the motor fails to rotate during the debugging of the new machine, please confirm whether the holding brake
is open.

3. Time sequence of holding brake control

(1) Normal state holding brake timing
Due to the delay time of the brake action, the machinery undergoes slight movement under the influence of gravity,
etc. The P5-07 parameter is used to adjust the time to make the brake lag open or close in advance.
When using a servo motor with a brake, the output signal "/BK" of the control brake and the ON/OFF action time
of the servo SON signal are shown in the following figure. Before the output/BK signal holding brake is opened,
the servo motor has entered the energized enable state; The servo motor is only turned off when the brake is
locked without outputting the/BK signal.
 The setting made here is the time when the rotation detection TGON is invalid when the
motor is stopped.

(2) Abnormal state holding brake timing

When an alarm/power interruption occurs, the motor quickly becomes non energized. Due to gravity or inertia, the
machinery will move during the time until the brake is activated. To avoid this situation, the conditions for the/BK
signal during motor rotation to change from ON to OFF are as follows (any of the two conditions takes effect):
1 When the servo is turned off and the motor speed is below the set value of P5-08;
② When the servo is turned off and exceeds the set time of P5-09.

The timing chart is as follows:

As the brake of the servo motor is designed for position retention, it must be activated at the appropriate time
when the motor stops. While observing the mechanical movements, adjust the user parameters.

4. Brake connection
When the drive power is 400W and below, it can be directly connected through SO terminal, as shown in the
figure below., and set P5-44=0001.

When controlling the holding brake motor through SO for 400W and below, please use the SO1 terminal control
and set the holding brake parameter P5-44=n.0001 to prevent the terminal from being burnt out due to excessive
current or the brake from being worn out due to inability to open.
When the power of the driver is 750W and above, it needs to be connected through the intermediate relay. The
connection method is as follows. Set parameter P5-44=0001.

For motors with a current of 750W or above, if the holding brake current is greater than 50mA, please use a relay
to prevent the terminal from being burned due to excessive current, or the holding brake from being worn out due
to inability to open.
Note: it is recommended that SO terminal and intermediate relay do not share the same switching power supply.

5. When the holding brake slightly drops after power failure, the following solutions can be adopted:
① Appropriately reduce p5-07
② Directly set p0-69.2 to 1

5.3 Stop mode

Servo shutdown can be divided into free shutdown, deceleration shutdown, and dynamic braking (DB) shutdown
according to the shutdown methods. The following is an explanation of the servo shutdown methods.
Stop mode Free shutdown Decelerating shutdown DB shutdown
The servo drive is not enabled, the
servo motor is not powered on, and The servo driver outputs The servo motor
Shutdown it can freely decelerate to 0. The reverse braking torque, and operates in a
principle deceleration time is affected by the motor quickly short-circuit braking
mechanical inertia, equipment decelerates to 0. state.
friction, and other factors.
Advantages: Smooth deceleration,
low mechanical impact, but slow
Advantages: Short Advantages: Short
deceleration process, smooth
Shutdown deceleration time deceleration time
deceleration, low mechanical
characteristics Disadvantage: There is Disadvantage: There
impact
mechanical impact is mechanical impact
Disadvantage: Slow deceleration
process

According to the different scenarios of servo shutdown, it can be divided into servo OFF shutdown, alarm
shutdown, and overtravel shutdown.

Currently, only the 0.1kW~7.5kW models of DS5C2 support dynamic braking (DB) function.
5.3.1 Servo OFF and alarm shutdown

 Related parameters
Default
Parameter Meaning Unit Range Modify Effective
setting
P0-30 Stop timeout time 20000 1ms 0~65535 Servo bb At once
Servo turn off enable
P0-27 0 - 0~5 Servo bb At once
shutdown mode
P0-29 Alarm shutdown mode 2 - 0~5 Servo bb At once

Parameter Value Meaning

0 Free running stops and remains in a free running state after stopping.
1 Free running stops and maintains DB status after stopping.
Deceleration braking stops, and after stopping, it remains in a free
2
P0-27 running state.
3 Deceleration braking stops and maintains DB status after stopping.
4 DB stops and remains in a free running state after stopping.
5 DB stops and remains in DB state after stopping.
Turn off enable property alarm
0 Free running stops and remains in a free running state after stopping.
1 Free running stops and maintains DB status after stopping.
2 DB stops and remains in a free running state after stopping.
3 DB stops and remains in DB state after stopping.
4 DB stops and remains in a free running state after stopping.
5 DB stops and remains in DB state after stopping.
P0-29 Not turn off enable property alarm
0 Free running stops and remains in a free running state after stopping.
1 Free running stops and maintains DB status after stopping.
Deceleration braking stops, and after stopping, it remains in a free
2
running state.
3 Deceleration braking stops and maintains DB status after stopping.
4 DB stops and remains in a free running state after stopping.
5 DB stops and remains in DB state after stopping.

Note:
1. servo turn off enable shutdown mode (P0-27)
① When P0-27=0, if the servo OFF occurs, the motor starts to rely on free stop without any alarm.
② When P0-27=1, if the servo OFF occurs, the motor starts to rely on free stop and maintains the DB state after
stopping.
③ When P0-27=2, if the servo OFF occurs, the motor starts to rely on deceleration to stop, until the speed is less
than 50rpm before turning to free stop. At the same time, the servo will time the deceleration stop stage. If the
timing time has exceeded P0-30 and the motor speed has not dropped below 50rpm during the deceleration
process, an alarm E-262 will show.
④ When P0-27=3, if the servo OFF occurs, the motor starts to rely on deceleration to stop, until the speed is less
than 50rpm before turning to free stop. At the same time, the servo will time the deceleration stop stage. If the
timing time has exceeded P0-30 and the motor speed has not dropped below 50rpm during the deceleration
process, an alarm E-262 will show. Maintain DB status after stopping.
⑤ When P0-27=4, if the servo OFF occurs, the motor DB stops and remains in a free running state after stopping.
⑥ When P0-27=5, if servo OFF occurs, the motor DB stops and maintains the DB state after stopping.
1. Servo alarm shutdown mode (P0-29)
(1) Turn off enable property alarm
When P0-29=0, if a servo alarm occurs, the motor starts to rely on free stop.
When P0-29=1, if a servo alarm occurs, the motor starts to rely on free stop and remains in DB state after
stopping.
When P0-29=2, if a servo alarm occurs, the motor DB stops and remains in a free running state after stopping.
When P0-29=3, if a servo alarm occurs, the motor DB stops and maintains the DB state after stopping.
When P0-29=4, the motor DB stops and remains in a free running state after stopping.
When P0-29=5, if a servo alarm occurs, the motor DB stops and maintains the DB state after stopping.
(2) Not turn off enable property alarm
When P0-29=0, if a servo alarm occurs, the motor starts to stop freely.
When P0-29=1, if a servo alarm occurs, the motor starts to stop freely and remains in DB state after stopping.
When P0-29=2, if a servo alarm occurs, the motor starts to rely on deceleration to stop, until the speed is less than
50rpm before turning to a free stop. At the same time, the servo will time the deceleration stop stage. If the timing
time exceeds P0-30 during the deceleration process, the servo will directly stop freely. At this time, due to the
servo being in an alarm state, regardless of the value of P0-29, there will be no alarm E-262. Maintain free
running status after stopping.
When P0-29=3, if a servo alarm occurs, the motor starts to rely on deceleration to stop, until the speed is less than
50rpm before turning to a free stop. At the same time, the servo will time the deceleration stop stage. If the timing
time exceeds P0-30 during the deceleration process, the servo will directly stop freely. At this time, due to the
servo being in an alarm state, regardless of the value of P0-29, there will be no alarm E-262. Maintain DB status
after stopping.
When P0-29=4, if a servo alarm occurs, the motor DB stops and remains in a free running state after stopping.
When P0-29=5, if a servo alarm occurs, the motor DB stops and maintains the DB state after stopping.
(3) The servo drive SO terminal has been assigned a holding brake function, and the values set in
P0-27/P0-29 are invalid. They all stop in a deceleration manner.
Dynamic braking (DB) timing diagram (dynamic braking low-level indicates effective).

Power on Enable

DB stop
5.3.2 Stop mode when overtravel in normal mode

The overtravel prevention function of servo unit refers to the safety function that the servo motor is forced to stop
by inputting the signal of limit switch when the movable part of the machine exceeds the designed safe moving
range.
 Related parameter
Default Setting
parameter Meaning Unit Modify Effective
setting range
Servo override stop
P0-28 2 - 0~3 Servo bb At once
mode
P0-30 Stop timeout 20000 1ms 0~65535 Servo bb At once
Forward run Anytime
P5-22 n.0001 - 0~ff At once
prohibition /P-OT
Reverse run Anytime
P5-23 n.0002 - 0~ff At once
prohibition /N-OT
Be sure to connect the limit switch as shown in the figure below.

Rotary applications such as round tables and conveyors do not need the function of overrun prevention. At this
time, there is no need to connect the overrun prevention with input signals.
Signal /POT, terminal input Overtravel signal (/POT, /NOT) terminal
Parameter setting
status logic
No need to connect
P5-22/P5-23=n.0000
external input
SI□ terminal has no signal
P5-22/P5-23=n.000□ invalid
input
SI□ terminal has signal
P5-22/P5-23=n.001□
input
No need to connect
P5-22/P5-23=n.0010
external input
SI□ terminal has signal
P5-22/P5-23=n.000□ valid
input
SI□ terminal has no signal
P5-22/P5-23=n.001□
input
Parameter settings in forward limit signal /POT and reverse limit signal /NOT can not be set to the same terminal
input at the same time.
Direction Meet the limit Operation status
Forward positive limit is valid POT, set the servo overrun stop mode as P0-28
run negative limit is valid Alarm E-261
Reverse positive limit is valid Alarm E-261
run negative limit is valid NOT, set the servo overrun stop mode as P0-28

Parameter Value Meaning

The deceleration stops 1, the overrun direction moment is 0 after
0
stopping, and receiving instructions.
P0-28
Inertia stops, after stopping, overrun direction moment is 0,
1
receiving instructions.
 The deceleration stops 2, after stopping, the overrun direction does
2
not receive instructions.
3 Alarm (E-260)
Note:
(1) When P0-28 = 0/2, the motor starts to decelerate and stop after receiving the overtravel stop signal, and the
stop timeout also plays a role in the overtravel process.
(2) During position control, when the motor is stopped by over travel signal, there may be position deviation pulse.
To clear the position deviation pulse, the clear signal /CLR must be input. If the servo unit still receives pulses,
they will accumulate until the servo unit gives an alarm.
(3) During torque control, the SO terminal of servo drive has the function of holding brake, which can't be
distributed through the overtravel signal terminals P5-22 and P5-23.
(4) Servo driver SO terminal is assigned with holding brake function, P0-28 is automatically set to 2.

5.3.3 Stop mode when overtravel in bus mode

In the bus control modes PP, CSP, PV, CSV, TQ, and CST, according to the P0-28 setting value, when
encountering POT and NOT signals, the servo has different processing methods.
Default Setting
Parameter Meaning Unit Modify Effective
setting range
0: Direct alarm, using servo
deceleration shutdown method
1: Alarm triggered after deceleration 1|3|4|8|9|
P0-28.0 2 - 0~3 ○
and shutdown in 605Ah mode 10
2: Not using overtravel, controlled
by the master station

 The motor is in a prohibited state

Scenario 1: When the servo is in an enabled or disabled state and touches the reverse limit switch, the panel will
display NOT, cancel the reverse limit signal, and the panel will return to its previous state.

Scenario 2: When the servo is in an enabled or disabled state and touches the forward limit switch, the panel will
display POT, cancel the forward limit signal, and the panel will return to its previous state.

Scenario 3: When the servo is in an enabled or disabled state and simultaneously touches the forward and reverse
limit switches, the servo will report E-261. If two limit signals are cancelled, the panel will return to its previous
state; If any limit signal is cancelled, the panel will display another limit signal, which needs to be cancelled
before the panel can return to its previous state.

 The motor is in motion state

1. Mistakenly touching the reverse limit
Taking the initial movement direction of the motor as the left as an example, when accidentally touching the
forward limit switch, the servo will report E-261. If the forward limit switch is cancelled first, and then the alarm
is cleared, the shaft will return to a non enabled state, and both the forward and reverse directions of the shaft can
move; If the alarm is cleared first and the axis returns to the disabled state, but the panel still displays POT, the
axis is still in the forward limit restricted state. The forward limit signal needs to be cancelled in order to release
the forward overtravel prohibition.
 2. Limit overtravel state
When P0-28 is 1, servo will control the deceleration stop alarm.
(1) Initial movement direction to the left, triggering the overtravel signal without occurrence of offside
Scenario 1: Failure to touch the forward limit switch
The initial direction of movement is left. When touching the rising edge of the reverse limit switch, the panel
display changes from RUN to NOT, triggering the reverse overtravel deceleration stop. The shaft stops on the
reverse limit switch, and the servo will report E-260. The alarm must be cleared to move the axis in the forward
direction. When it touches the falling edge of the reverse limit switch, the panel display can change from NOT to
RUN, and the reverse overtravel prohibition can be released.

Scenario 2: In the case of offside, touch the forward limit switch before the axis deceleration stop is completed.
The initial direction of movement is left. When touching the rising edge of the reverse limit switch, the panel
display changes from RUN to NOT, triggering the reverse overtravel deceleration stop. However, the axis crosses
the reverse limit switch and triggers the falling edge of the reverse limit switch. Before the shaft stops, if the
forward limit switch is touched, the servo will report E-261. The forward limit switch must be cancelled in order
to clear the E-261 alarm. Otherwise, the alarm cannot be cleared. Then, the shaft moves forward and touches the
rising and falling edges of the reverse limit switch again. Only then can the panel display change from NOT to
RUN, and the reverse overtravel prohibition be released.
Scenario 3: In the case of offside, when the shaft stops, touch the forward limit switch.
The initial direction of movement is left. When touching the rising edge of the reverse limit switch, the panel
display changes from RUN to NOT, triggering the reverse overtravel deceleration stop. However, the axis crosses
the reverse limit switch and triggers the falling edge of the reverse limit switch. When the shaft stops, the servo
will report E-260. At this time, if the forward limit switch is touched, the servo will report E-261. The forward
limit switch must be cancelled before the E-261 alarm can be cleared. Otherwise, the alarm cannot be cleared.
Then, the shaft will move forward and touch the rising and falling edges of the reverse limit switch again. Only
then can the panel display change from NOT to RUN, and the reverse overtravel prohibition be released.
Scenario 4: In the case of offside, touching the forward limit switch during axial forward movement.
The initial direction of movement is left. When touching the rising edge of the reverse limit switch, the panel
display changes from RUN to NOT, triggering the reverse overtravel deceleration stop. However, the axis crosses
the reverse limit switch and triggers the falling edge of the reverse limit switch. When the shaft stops, the servo
will report E-260. After clearing the alarm to move the shaft forward, if the forward limit switch is touched, the
servo will report E-261. The forward limit switch must be cancelled before the E-261 alarm can be cleared.
Otherwise, the alarm cannot be cleared. Continue to move the shaft forward, touch the rising and falling edges of
the reverse limit switch again, and the panel display can change from NOT to RUN to release the reverse
overtravel prohibition.

5.4 Position control

5.4.1 General position control
5.4.1.1 Electronic gear ratio

1. Overview
The so-called "electronic gear" function has two main applications:
(1) Determine the number of command pulses needed to rotate the motor for one revolution to ensure that the
motor speed can reach the required speed.
As an example of 19-bit encoder motor, the pulse frequency sent by the upper computer PLC is 200kHz:
Pulses per revolution set to 10000 Set pulses per revolution to 5000
Electronic gear ratio set to 524288:10000 Electronic gear ratio set to 524288:5000

(2) In the precise positioning, the physical unit length corresponding to 1 command pulse is set for calculation.
For example: the object moves 1um per command pulse. The command pulses of load rotating one circle = 6mm /
1um = 6000. In the case of deceleration ratio is 1:1, set pulse per rotation P0-11=6000, P0-12=0. Then if the PLC
outputs 6000 pulses, the object will move 6mm.
 Encoder: 524288 (19-bit) ball screw pitch: 6mm

Do not change the electronic gear ratio Change the electronic gear ratio
Without changing the ratio of the electronic By changing the electronic gear ratio, the
gear to the motor, the rotating cycle is motor needs 6000 pulses to rotate one circle.
524288 pulses (P 0-11=0, P 0-12=0). If the If the workpiece moves 6 mm in one turn, the
workpiece is moved 6 mm in one turn, the number of pulses needed is 6 000. If the
number of pulses needed is 524288. If the workpiece is moved 10 mm, it needs
workpiece is moved 10 mm, it will need 10/6*6000 = 10000 pulses. When the pulse is
10/6*524288=873813.333 pulses. When the sent, the decimal number will not be produced
decimal number is omitted, the error will and the error will not be produced.
occur.
 Related parameters
Default Setting
Parameter Meaning Unit Modify Effective
setting range
P0-11 Pulse numbers per rotation *1 0 pul 0～9999 Servo At once
OFF
P0-12 Pulse numbers per rotation *10000 0 pul 0～9999 Servo At once
OFF
P0-13 Electronic gear ratio (numerator) 1 - 0～65535 √ At once

P0-14 Electronic gear ratio (denominator) 1 - 0～65535 Servo At once

OFF
Group 2 Electronic gear ratio Servo At once
P0-92 1 - 1～9999 OFF
(numerator) low bit*1
Group 2 Electronic gear ratio Servo At once
P0-93 0 - 0～65535 OFF
(numerator) high bit*10000
Group 2 Electronic gear ratio Servo At once
P0-94 1 - 1～9999 OFF
(denominator) low bit*1
Group 2 Electronic gear ratio Servo At once
P0-95 0 - 0～65535 OFF
(denominator) high bit*10000

Note:
(1) P0-11~P0-14 is all about the parameters of electronic gear ratio, P0-11, P0-12 is group 1, P0-13, P0-14 is
group 2, but the priority of P0-11 and P0-12 is higher than that of P0-13 and P0-14. Only when P0-11 and P0-12
are set to 0, the ratio of electronic gear P0-13 and P0-14 will take effect.
(2) When P0-11, P0-12, P0-13 and P0-14 are all set to 0, P0-92, P0-93, P0-94 and P0-95 will take effect.
 2. Calculation of Pulse Number per Rotation and Electronic Gear Ratio
Steps Content Description
Confirm the machine Confirm the deceleration ratio n:m(servo motor turns m
1 specification rotations while load turns n rotations), ball screw distance,
pulley diameter.
2 Confirm the encoder pulse Confirm the servo motor encoder accuracy
Set the command unit Determine the actual distance or angle corresponding to 1
3
pulse of the controller
Calculate the command pulses Based on the determined command unit, calculate the
4
the load shaft rotates 1 circle command quantity n of the load shaft rotating for 1 revolution.
Calculate the pulses per Command pulse number of motor shaft rotating for 1 turn
5
rotation M M=N/(m/n).
Set the pulses per rotation P0-11=M%10000 priority
(P0-11/P0-12) or P0-12=M/10000
6
Electronic gear ratio encoder encoder
P 0  13 resolution resolution  m
(P0-13/P0-14)/(P0-92~95) P 0  14

M

N  n
Note:
(1) In step 6, the effective priority of the number of pulses per revolution is higher than the electronic gear ratio,
that is, when P0-11 ~ P0-12 are all 0, P0-13 ~ P0-14 will take effect. In special cases, if the number of pulses per
revolution is calculated as a decimal, the electronic gear ratio should be considered.
(2) When P0-13 and P0-14 exceed the setting range, please divide the electronic gear ratio into numerator and
denominator. If the ratio still exceeds the parameter setting range, please use the second gear ratio P0-92~P0-95.
Only when P0-11~14 = 0, the second gear ratio takes effect.
(3) The resolution of DS5C2 series servo motor encoder is 524288 (19 bits).
(4) The command unit does not represent the machining accuracy. On the basis of the mechanical accuracy,
refining the instruction unit quantity can improve the positioning accuracy of the servo system. For example,
when using the lead screw, the mechanical accuracy can reach 0.01mm, so the unit equivalent of 0.01mm is more
accurate than the unit equivalent of 0.1mm.
3. Example of setting the electronic gear ratio
Ball screw Round table Belt + pulley

Load shaft
P Load shaft

steps Name Load

P: pitch
P shaft 360 °
1rotate = 1 rotate = D: pulley diameter
command unit command unit
1rotate = πD
command unit
Confirm Ball screw pitch: 6mm 1-circle rotate angle: Pulley diameter: 100mm
1 mechanical Machine deceleration ratio: 360° Deceleration ratio: 1:2
specifications 1:1 Deceleration ratio: 1:3
Confirm the Encoder resolution 131072 Encoder resolution Encoder resolution 131072
2 number of 131072
encoder pulses
Confirm the 1 command unit: 0.001mm 1 command unit: 0.1° 1 command unit: 0.02mm
3
command unit
Calculate the 6mm/0.001mm=6000 360/0.1=3600 314mm/0.02mm=15700
command
4 amount of 1
revolution of
load shaft
Calculate the M =6000/(1/1)=6000 M=3600/(3/1)=1200 M=15700/(2/1)=7850
pulse number
5 m of one
revolution of
motor shaft
 Set pulses per
P0-11=6000 P0-11=1200 P0-11=7850
rotation
P0-12=0 P0-12=0 P0-12=0
P0-11/P0-12
6 P0-13=131072 P0-14=7850
P0-13=131072 P0-13=131072
Set electronic After reduction
P0-14=6000 P0-14=1200
gear ratio P0-13=65536 P0-14=3925
After reduction After reduction
(P0-13/P0-14)/ Conver to second gear ratio
P0-13=8192 P0-13=8192
(P0-92~95) P0-92=5536 P0-93=6
P0-14=375 P0-14=75
P0-94=3925 P0-95=0

5.4.1.2 Positioning completion signal (/COIN, /COIN_HD)

In position control, the signal indicating the completion of servo motor positioning is used when the command
controller needs to complete positioning confirmation.
 Related parameters
Default
Parameter Meaning Unit Range Change Effective
setting
Positioning Command
P5-00 11 0~65535 Anytime At once
completion width unit
Positioning
P5-01 completion 0 - 0~3 Anytime At once
detection mode
Positioning
P5-02 completion hold 0 ms 0~65535 Anytime At once
time

Signal Default Suitable

Parameter Meaning Modify Effective
name setting mode
Positioning complete
P5-37 /COIN-HD n.0000 5|6 Anytime At once
holding
Positioning complete
P5-38 /COIN n.0000 5|6 Anytime At once
output
Refer to section 3.2.4 for hardware wiring details.
If it is necessary to output signal from SO2, P5-37 and P5-38 are set to n.0002/0012. Note that an SO
terminal can only be used as a signal function.

1. Conditions for positioning completion signal output

(1) /COIN-HD signal output conditions
When the positioning completion detection mode P5-01 is set to 3, the positioning completion holding /COIN-HD
signal can be output. When the /COIN signal holds P5-02 time, the COIN-HD signal can be output.
(2) /COIN signal output conditions
According to the positioning completion detection mode set in P5-01, output positioning completion /COIN signal.
The following is the precondition for positioning output and the output diagram.
P5-01 setting Content Diagram

If the absolute
deviation is below
0 P5-00, the COIN
signal will be
output.

After the
instruction is
finished, the
1
deviation is below
P5-00 and COIN
signal is output.

When the
instruction ends
and the motor
speed is under the
rotation detection
2 speed (P5-03) and
the absolute
deviation is less
than P5-00, the
COIN signal is
output.

At the end of
instruction, the
absolute deviation
value under P5-00,
3 it outputs COIN
signal. If COIN
maintains P5-02
time, COIN-HOLD
signal is output.
2. Description of positioning completion width
(1) The positioning completion width P5-00 changes proportionally due to the change of electronic gear ratio, and
the factory default is 11 command units.
The following table is an example:
Number of The positioning completion width P5-00 changes
command pulses positioning completion proportionally with the number of command pulses
required for one width P5-00 required for one revolution of the motor.
revolution of motor The output of the positioning completion signal
10000 (default) 11 (default) depends on the positioning completion width. The
20000 22 smaller the width is, the later the positioning
5000 6 completion signal output is, but the signal output
3000 4 does not affect the actual operation state of the
2000 3 motor.

(2) The positioning completion width can also be set separately, and its change will not affect the number of
command pulses required for one revolution of the motor.

5.4.1.3 Positioning near signal (/NEAR)

The servo motor is located near the positioning completion signal, so that the equipment can prepare the next
action in advance.
 Related parameters
Default
Parameter Meaning Unit Range Change Effective
setting
Near signal output Command
P5-06 50 0~65535 Anytime At once
width unit

Signal Default Suitable

Parameter Meaning Modify Effective
name setting mode
P5-46 /NEAR n.0000 5|6 Positioning near Anytime At once
Refer to section 3.2.2 for hardware wiring details.
If it is necessary to output from the SO2, P5-46 can be set to n.0002/0012.

1. Positioning approach signal output conditions

When the pulse deviation value U0-08 of the servo driver is lower than the P5-06 setting value, the positioning
approach signal (/NEAR) is output.

2. Description of approach signal output

(1) The approach signal output width P5-06 changes proportionally due to the change of the electronic gear ratio.
The default setting is 11 command units.
The following table is an example:
Number of The near signal output width P5-06 changes
command pulses Near signal output width proportionally with the number of command pulses
required for one P5-06 required for one revolution of the motor.
revolution of motor The output of the positioning completion signal
10000 (default) 50 (default) depends on the positioning completion width. The
 20000 100 smaller the width is, the later the positioning
5000 25 completion signal output is, but the signal output
3000 15 does not affect the actual operation state of the
2000 10 motor.

(2) The approach signal output width can also be set independently, and its change will not affect the number of
command pulses required for one revolution of the motor.
(3) Please set this parameter larger than the positioning completion width.

5.4.1.4 Command pulse prohibition (/INHIBIT)

Position command prohibition, including internal and external position commands. Stop the function of command
pulse input during position control. When the /INHIBIT signal is on, the pulse command is no longer counted.
 Related parameters
Signal Default Suitable
Parameter Meaning Modify Effective
name setting mode
P5-32 /INHIBIT n.0000 5|6 Command pulse prohibition Anytime At once
Parameter range n.0000-001A, assigned to other input terminals by parameter P5-32.
If it is necessary to input from SI2, P5-32 can be set to n.0002/0012. Refer to section 3.2.2 for hardware
wiring details.

1. /INHIBIT terminal effectiveness description

Parameter setting Signal/INHIBIT terminal
Signal/INHIBIT terminal input status
status logic
P5-32=n.0000 No external terminal input
P5-32=n.000□ SI□ terminal has no signal input Invalid
P5-32=n.001□ SI□ terminal has signal input
P5-32=n.0010 No external terminal input
P5-32=n.000□ SI□ terminal has signal input Valid
P5-32=n.001□ SI□ terminal has no signal input

2. The influence of /INHIBIT terminal signal on the running state of motor

Motor operation status
Control mode /INHIBIT terminal logic
/INHIBIT terminal logic invalid
valid
5- internal position /INHIBIT signal is from ON→OFF, continue
Pause current segment
control running from pause point.
/INHIBIT signal is from ON→OFF, continue
6- external pulse Pause pulse command
running from the pulse command received
position control reception
after OFF.

5.4.1.5 Offset clear（/CLR）

Position offset=(position command – position feedback)(encoder unit)
The position deviation clearing function means that the driver can clear the position deviation when the servo
is off or the /CLR signal is received.
 Related parameters
Signal Default Suitable
Parameter Meaning Modify Effective
name setting mode
P5-34 /CLR n.0000 All Pulse deviation clear Anytime At once
Parameter range n.0000-001A, assigned to other input terminals by parameter P5-34.
If it is necessary to input signal from SI2, P5-34 can be set to n.0002/0012. Refer to section 3.2.2 for
hardware wiring details.
1. /CLR signal effectiveness
 Signal /CLR terminal
parameter setting status Signal /CLR terminal input status
logic
P5-34=n.0000 No external terminal input
P5-34=n.000□ SI□ terminal has no signal input Invalid
P5-34=n.001□ SI□ terminal has signal input
P5-34=n.0010 No external terminal input
P5-34=n.000□ SI□ terminal has signal input Valid
P5-34=n.001□ SI□ terminal has no signal input

2. /CLR signal explanation

Send the pulse to the servo, execute the /CLR input signal, the servo will lock the current pulse counts, then
update the current position of the encoder to the position feedback in the control, at the same time, clear the
intermediate quantity of the position loop, speed loop and current loop.
/CLR signal is triggered by edge.

3. Other description of pulse position deviation clearing signal

Setting F0-02 to 1 can also clear the pulse position deviation.

5.4.1.6 Position pulse deviation

Pulse deviation value refers to the difference between command pulse of command controller (such as PLC) and
feedback pulse of servo unit in position mode. Its unit is 1 command unit, which is related to the command unit
determined by electronic gear ratio.
In position control, when the deviation pulse exceeds a certain limit value, an alarm will occur, and this threshold
value is the deviation pulse limit value.
 Related parameters
Default
parameter Meaning Unit Range Change Effective
setting
pulse deviation Anytime At once
P0-23 2000 0.01 turns 0~65535
limit value

When the deviation pulse limit is 0, the deviation pulse will not be detected.

5.4.1.7 Position command filter

 Related parameters
Default
Parameter Meaning Unit Range Change Effective
setting
Position command Servo
P1-24 acceleration and 0 0.1ms 0~65535 At once
OFF
deceleration filtering time
Position command Servo
P1-25 0 0.1ms 0~65535 At once
smoothing filtering time OFF
 Position command acceleration and
Position command smoothing filter
deceleration filter

5.4.1.8 Reference origin

1. Find the reference origin
To find out the physical origin of working table and make it as the coordinates origin of point position control.
Users can select finding reference origin at forward or reverse side.
Function setting:
Default
Parameter Meaning Unit Range Change Effective
setting
P4-00 Servo
Origin function 0 - 0~1 At once
n.xx□x OFF
Note: This function is applicable to position mode 5 and 6; when this parameter is set to 0, the
function of Origin-finding is invalid; when it is set to n.001x, the function of Origin-finding can be
used. (please set P9-21=0)

Signal setting
Parameter Signal Default Meaning Modify
Mode 3: internal speed Range: 0000-0014, distributes
selecting signal to input terminal through P5-28.
P5-28 /SPD-A n.0000 When it set to 0001, it means
Mode 5: find origin point at input signal from SI1.
forward direction
Mode 3: internal speed Range: 0000-0014, distributes
selecting signal to input terminal through P5-29.
P5-29 /SPD-B n.0000 When it set to 0001, it means
Mode 5: find origin point at
input signal from SI1.
reverse direction
Related parameter setting:
Default
Parameter Meaning Unit Range Change Effective
setting
P4-00 Z phase signal Servo
2 - 0~f At once
n.xxx□ numbers OFF
The speed hitting At once
Servo
P4-01 the proximity 600 rpm 0~65535
OFF
switch
The speed leaving At once
Servo
P4-02 the proximity 100 rpm 0~65535
OFF
switch
Note: The origin finding function is only applicable to single turn absolute value motors (multi-turn
absolute value motors P0-79=1 can also support the origin finding function)

Find reference origin diagram:

/P-OT /N-OT

① Speed P4-01 Speed P4-01

Direction CW Direction CCW
Stop mode Stop mode
② P0-28 P0-28
Speed P4-02 Speed P4-02
③
Direction CCW Direction CW
Z signal quantity Z signal quantity
P4-00 P4-00

Reference origin Reference origin

of forward side of reverse side

Sequential diagram of finding reference origin on forward side:

①
/SPD-A
②
/P-OT

/Z
③
V
P4-01 P4-00

t
P4-02

Steps:
(1) Install limit switch at forward and reverse side. At the rising edge of /SPD-A, motor runs forward at the speed
of P4-01 to find the reference origin on forward side.
(2) After the working table hit the limit switch, the motor stop as the mode set by parameter P0-28
(3) Motor leaves the limit switch at the speed of P4-02. After the working table left the limit switch, the motor run
at the Z phase signal position of No.n optical encoder. This position is considered as the coordinates origin, n is
decided by parameter P4-00.
5.4.1.9 Homing function
1. Function overview
The return to origin function refers to that when the servo enable is on in the position control mode, after the
return to origin function is triggered, the servo motor will find the origin and complete the positioning function.
The found origin can be used as the position reference point for subsequent position control.
During the homing operation, other position commands (including the retriggered homing signal) are shielded.
After the homing is completed, the servo driver can respond to other position commands.
After the homing is completed, the servo driver outputs the homing completion signal, and the upper computer
can confirm that the homing has been completed after receiving the signal.

1. Parameter setting
Set
Parameter Name Range Meaning Effective Default
time
P9-11.0=0: not find Z phase
Z phase P9-11.0=1: find one Z phase Servo Servo
P9-11.0 0~F 0
numbers P9-11.0=2: find two Z phases OFF ON
And so on
P9-11.1=0: not trigger homing
Homing
P9-11.1=1: trigger homing through SI terminal Servo Servo
P9-11.1 trigger 0~2 0
(P5-28) OFF ON
mode
P9-11.1=2: trigger homing after enabling
P9-11.2=0: homing mode 0
Homing P9-11.2=1: homing mode 1 Servo Servo
P9-11.2 0~7 0
mode P9-11.2=2: homing mode 2 OFF ON
And so on
Deceleration
mode when
P9-11.3=0: decelerate as the setting of P9-14 Servo Servo
P9-11.3 meeting the 0, 1 0
P9-11.3=1: decelerate at once OFF ON
overlimit
signal
Note: P9-11.0 can set up to 15 Z phases. P9-11.1 = 0 means that the homing function cannot be used. This
parameter can be understood as the enabling bit of the homing function. Homing modes 1, 3, 5 and 7 are the
opposite situation of homing modes 0, 2, 4 and 6 respectively.

Set Default
Parameter Name Range Unit Meaning Effective
time value
Return to the origin at high
Homing speed, find the deceleration Servo
P9-12 0~3000 rpm Servo ON 200
high speed point and execute the OFF
mechanical offset
Homing with low speed.
This low speed should be
Homing Servo
P9-13 0~1000 rpm low enough not to cause Servo ON 20
low speed OFF
mechanical shock when
stopping
The acceleration and
Homing
deceleration time here refers Servo
P9-14 acc/dec 0~1000 ms Servo ON 1000
to the time required for 0 to OFF
time
1000 rpm
If the time spent in the whole
Maximum process of homing exceeds
time the time set by this
Servo
P9-15 allowed to 0~12000 10ms parameter, an alarm will be Servo ON 0
OFF
return to given. When P9-15 = 0, the
the origin timeout alarm will be
shielded
Touch stop
This parameter is only
mode Servo
P9-16 0~1000 rpm available for home mode 6 Servo ON 2
homing OFF
and 7
speed
 Set Default
Parameter Name Range Unit Meaning Effective
time value
threshold
Touch stop This parameter is only
mode available for home mode 6
Servo
P9-17 homing 0~300% % and 7 Servo ON 100%
OFF
torque The base value of the
threshold percentage is the rated torque
Touch stop
mode This parameter is only
Servo
P9-18 homing 10~1500 ms available for home mode 6 Servo ON 500
OFF
time and 7
threshold
Quantitativ
Servo
P9-19 e pulses -9999~9999 - Quantitative pulses low bit Servo ON 0
OFF
low bit
Quantitativ
Servo
P9-20 e pulses -9999~9999 - Quantitative pulses high bit Servo ON 0
OFF
high bit
New/old P9-21=0: old homing
homing function Servo Power on
P9-21 0, 1 - 0
function P9-21=1: new homing OFF again
selection function
When the homing is about to
end, this filtering time is
required. Wait until the
New motor stops completely
Servo
P9-22 homing end 50~10000 ms before completely exiting the Servo ON 500
OFF
filter time homing mode. After this
filtering time, the return to
origin completion signal will
be output.
Note: Actual mechanical offset =P9-19 + P9-20×10000 ， P9-19 and P9-20 need same symbol (all positive or
negative value). The mechanical offset here is the absolute position of the servo after homing.

Parameter
Name Meaning Set time Effective Default
n.xxxx
Forward overtravel Operation Take effect
P5-22 Forward limit signal in homing mode 0
signal POT setting at once
Reverse overtravel Operation Take effect
P5-23 Reverse limit signal in homing mode 0
signal NOT setting at once
When the homing action and status are Take effect
completed, the homing completion signal will at once
be output. Even if other modes are executed
Homing completion Operation
P5-54 after the homing is completed, the homing 0
signal setting
completion signal will not disappear. When
the homing is started again, the homing
completion signal will disappear.
The origin switch signal is required in the Operation Take effect
P5-64 Homing switch signal 0
process of returning to the origin. setting at once
When P9-11.1=1, P5-28 distributed the SI Take effect
SI terminal start Operation
P5-28 terminal, the homing can be triggered by SI at once 0
homing setting
terminal.
2. New homing mode selection
To use the new homing function, first set P9-21=1, then set the overtravel switch (POT/NOT) and the origin
switch. If the mechanical offset (P9-19 and P9-20 are set), please set the offset within the travel range to ensure
that the mechanical equipment will not be damaged during the homing process!
The number of Z phases (P9-11.0) and the mechanical offset (P9-19, P9-20) can be valid at the same time. If the
number of Z phases (P9-11.0) and the mechanical offset (P9-19, P9-20) are not set to 0, the servo will find the
number of Z phases (P9-11.0) first, and then execute the mechanical offset (P9-19, P9-20). If the number of Z
phases (P9-11.0) is 0 and the mechanical offset (P9-19, P9-20) is not 0, the servo does not find the Z phase, but
executes the mechanical offset (P9-19, P9-20). If the number of Z phases is not 0 but the mechanical offset is 0,
the servo will find the Z phase (P9-11.0) without performing the mechanical offset.
There are 8 homing modes in total, as follows:
(1) Positive homing, the deceleration point is the origin switch, and the origin is the origin switch or motor Z
signal (P9-11.2 = 0)
(2) Reverse homing, the deceleration point is the origin switch, and the origin is the origin switch or motor Z
signal (P9-11.2 = 1)
(3) Positive homing, the deceleration point and origin are motor Z signal (P9-11.2 = 2)
(4) Reverse homing, the deceleration point and origin are the motor Z signal (P9-11.2 = 3)
(5) Forward homing, the deceleration point is the forward overtravel switch, and the origin is the forward
overtravel switch or motor Z signal (P9-11.2 = 4)
(6) Reverse homing, the deceleration point is the reverse overtravel switch, and the origin is the reverse overtravel
switch or motor Z signal (P9-11.2 = 5)
(7) Positive homing, the deceleration point is the mechanical limit position, and the origin is the mechanical limit
position or motor Z signal (P9-11.2 = 6)
(8) Reverse homing, the deceleration point is the mechanical limit position, and the origin is the mechanical limit
position or motor Z signal (P9-11.2 = 7)

Each homing mode is analyzed in detail below:

1. Homing mode 0 —— Positive homing, the deceleration point is the origin switch, and the origin is the
origin switch or motor Z signal (P9-11.2 = 0)
To use this mode, you need to connect pot, not and origin switches.
(1) When the motor starts to move, the signal of the origin switch (deceleration point) is invalid (P5-64 =
0-invalid, 1-valid), and the forward overtravel switch (POT) (P5-22) is not triggered in the whole process.
Firstly, the servo motor searches the deceleration point (origin) signal in the high-speed forward direction with the
set value of P9-12 (homing high speed) until it meets the rising edge of the deceleration point (origin) signal. After
gradually decelerating to -P9-13 (homing low speed) according to the setting of P9-14 (homing acceleration and
deceleration time), the servo motor searches the deceleration point(origin) signal falling edge in the reverse
direction at the low speed set by -P9-13 (homing low speed). When encountering the deceleration point (origin)
signal falling edge, it will reverse, and continue to search the deceleration point (origin) signal rising edge at low
speed with P9-13 (homing low speed). The next homing action can be divided into four cases:
(a) Z phase number (P9-11.0) is 0 and mechanical offset (P9-19, P9-20) is 0:
During the operation of continuing to search the rising edge of deceleration point (origin) signal at low speed with
P9-13 (homing low speed), stop immediately when encountering the rising edge of deceleration point (origin)
signal.

(b) Z phase number (P9-11.0) is 0 and mechanical offset (P9-19, P9-20) is not 0:
In the operation process of continuing to search the rising edge of deceleration point (origin) signal at low speed
with P9-13 (homing low speed), stop immediately when encountering the rising edge of deceleration point (origin)
signal. After the motor is completely stopped, the motor will move a quantitative pulse (P9-19, P9-20) with speed
P9-12 (homing high speed) according to the set number of mechanical offset pulses and direction (either positive
direction or negative direction), then the motor will stop.
(c) Z phase number (P9-11.0) is 1 and mechanical offset (P9-19, P9-20) is 0:
During the operation of continuing to search the rising edge of deceleration point (origin) signal at low speed
P9-13 (homing low speed), continue to run after encountering the rising edge of deceleration point (origin) signal,
and then find the first Z-phase signal and stop immediately.

(d) Z phase number (P9-11.0) is 1 and mechanical offset (P9-19, P9-20) is not 0:
During the operation of continuing to search the rising edge of the deceleration point (origin) signal at low speed
P9-13 (homing low speed), continue to run after encountering the rising edge of the deceleration point (origin)
signal, then find the first z-phase signal and stop immediately. After the motor is completely stopped, according to
the set number of mechanical offset pulses (P9-19, P9-20) and direction (it can be positive direction or negative
direction), the motor goes through a quantitative pulses (P9-19, P9-20) at the speed set by P9-12 (homing high
speed), and then the motor stops.

(2) When the motor starts to move, the origin switch (deceleration point) signal is valid (P5-64 = 0-invalid,
1-valid), and the forward overtravel switch (P5-22) is not triggered in the whole process:
The servo motor directly searches for the falling edge of the deceleration point (origin) signal at low speed -P9-13
(homing low speed). If it encounters the falling edge of the deceleration point (origin) signal, it will reverse (i.e.
forward), and continue to search for the rising edge of the deceleration point (origin) signal at low speed with
P9-13 (homing low speed). The next homing action can be divided into four cases:
(a) Z phase number (P9-11.0) is 0 and mechanical offset (P9-19, P9-20) is 0:
In the process of forward acceleration or forward constant speed operation, stop immediately when encountering
the rising edge of deceleration point (origin) signal.

(b) Z phase number (P9-11.0) is 0 and mechanical offset (P9-19, P9-20) is not 0:
In the process of positive acceleration or positive constant speed operation, stop immediately after encountering
the rising edge of the origin signal. After the motor is completely stopped, according to the set number of
mechanical offset pulses and direction (either positive or negative direction), the motor will move a quantitative
pulse (P9-19, P9-20) at the speed set by P9-12 (homing high speed), and then the motor will stop.
(c) Z phase number (P9-11.0) is 1 and mechanical offset (P9-19, P9-20) is 0:
In the process of forward acceleration or forward constant speed operation, continue to run after encountering the
rising edge of the origin signal, and then find the first Z-phase signal and stop immediately.
(d) Z phase number (P9-11.0) is 1 and mechanical offset (P9-19, P9-20) is not 0:
In the process of positive acceleration or positive constant speed operation, continue to run after encountering the
rising edge of the origin signal, and then find the first Z-phase signal and stop immediately. After the motor is
completely stopped, the motor will run a quantitative pulse (P9-19, P9-20) at the set speed P9-12 (homing high
speed) according to the set number of mechanical offset pulses (P9-19, P9-20) and direction (either positive or
negative direction), then the motor stops.

(3) When the motor starts to move, the signal of the origin switch (deceleration point) is invalid (P5-64 =
0-invalid, 1-valid), and the forward overtravel switch (P5-22) triggered in the process is valid.
Firstly, the servo motor forward searches for the deceleration point signal at high speed P9-12 (homing high
speed). After encountering the forward overtravel switch (POT) (P5-22), the driver immediately reverse searches
for the falling edge of the deceleration point (origin) signal at the speed -P9-12 (homing high speed) according to
the value set by P9-14 (homing acceleration and deceleration time). After encountering the falling edge of the
deceleration point (origin) signal, decelerate in the reverse direction (i.e. restore the forward direction) according
to the set value of P9-14 (homing acceleration and deceleration time). The servo motor forward searches the rising
edge of the deceleration point (origin) signal at low speed of P9-13 (homing low speed). The next action back to
the origin can be divided into four cases:
(a) Z phase number (P9-11.0) is 0 and mechanical offset (P9-19, P9-20) is 0:
In the process of forward acceleration or forward constant speed operation, stop immediately when encountering
the rising edge of the origin signal.

(b) Z phase number (P9-11.0) is 0 and mechanical offset (P9-19, P9-20) is not 0:
In the process of positive acceleration or positive constant speed operation, stop the machine immediately after
encountering the rising edge of the deceleration point (origin) signal. After the motor is completely stopped, the
motor will move a quantitative pulse (P9-19, P9-20) at the speed set by P9-12 (homing high speed) according to
the set number and direction of mechanical offset pulses (either positive direction or negative direction), then the
motor stops.
(c) Z phase number (P9-11.0) is 1 and mechanical offset (P9-19, P9-20) is 0:
In the process of forward acceleration or forward constant speed operation, continue to run after encountering the
rising edge of deceleration point (origin) signal, and then find the first Z-phase signal and stop immediately.
(d) Z phase number (P9-11.0) is 1 and mechanical offset (P9-19, P9-20) is not 0:
In the process of positive acceleration or positive constant speed operation, continue to run after encountering the
rising edge of the deceleration point (origin) signal, and then find the first Z-phase signal to stop immediately.
After the motor is completely stopped, the motor will run a quantitative pulse (P9-19, P9-20) at the set speed
P9-12 (homing high speed) according to the set number of mechanical offset pulses and direction (either positive
direction or negative direction), then the motor stops.

2. Homing mode 1——Reverse return to zero, the deceleration point is the origin switch, and the origin is
the origin switch or motor Z signal（P9-11.2=1）
It needs to connect POT, NOT, origin switch to use this mode.
(1) When the motor starts to move, the signal of origin switch (deceleration point) is invalid, and the reverse
overtravel switch (NOT)(P5-23) is not triggered in the whole process
Firstly, the servo motor searches for the deceleration point signal at high speed -P9-12 (homing high speed) in
reverse until it meets the rising edge of the deceleration point signal. After gradually accelerating to P9-13
(homing low speed) according to the setting of P9-14 (homing acceleration and deceleration time), the servo
motor forward searches for the falling edge of deceleration point (origin) signal at the low speed P9-13 (homing
low speed). When encountering the falling edge of deceleration point (origin) signal, it will reverse (resume
reverse), and continue to search the rising edge of the deceleration point (origin) signal at a low speed
-P9-13(homing low speed). The next back to origin action can be divided into four cases:
(a) Z phase number (P9-11.0) is 0 and mechanical offset (P9-19, P9-20) is 0:
During the operation of continuing to search for the rising edge of deceleration point (origin) signal at low speed
-P9-13 (homing low speed), stop immediately when encountering the rising edge of deceleration point (origin)
signal.

(b) Z phase number (P9-11.0) is 0 and mechanical offset (P9-19, P9-20) is not 0:
During the operation of continuing to search the rising edge of deceleration point (origin) signal at low speed
-P9-13 (homing low speed), stop the machine immediately after encountering the rising edge of deceleration point
(origin) signal. After the motor is completely stopped, the motor will run a quantitative pulse (P9-19, P9-20) at the
set speed P9-12 (homing high speed) according to the set number of mechanical offset pulses and direction (either
positive direction or negative direction), then the motor stops.
(c) Z phase number (P9-11.0) is 1 and mechanical offset (P9-19, P9-20) is 0:
During the operation of continue to search the rising edge of deceleration point (origin) signal at low speed -P9-13
(homing low speed), continue to run after encountering the rising edge of deceleration point (origin) signal, and
then find the first Z-phase signal and stop immediately.

(d) Z phase number (P9-11.0) is 1 and mechanical offset (P9-19, P9-20) is not 0:
During the operation of continue to search the rising edge of the deceleration point (origin) signal at low speed
-P9-13 (homing low speed), continue to operate after encountering the rising edge of the deceleration point (origin)
signal, then find the first Z-phase signal and stop immediately. After the motor stops completely, according to the
set number of mechanical offset pulses and direction (either positive direction or negative direction), the motor
goes through a quantitative pulse (P9-19, P9-20) at the speed P9-12 (homing high speed), and then the motor
stops.

(2) When the motor starts to move, the signal of origin switch (deceleration point) is valid (P5-64 = 0-invalid,
1-valid), and the reverse overtravel switch is not triggered in the whole process (NOT) (P5-23).
The servo motor directly forward searches for the falling edge of the deceleration point (origin) signal at low
speed P9-13 (homing low speed). If it encounters the falling edge of the deceleration point (origin) signal, it will
reverse (i.e. negative direction), and continue to search for the rising edge of the deceleration point (origin) signal
at low speed -P9-13 (homing low speed). The next action of returning to origin can be divided into four cases:
(a) Z phase number (P9-11.0) is 0 and mechanical offset (P9-19, P9-20) is 0:
In the process of negative acceleration or negative constant speed operation, stop immediately when encountering
the rising edge of the origin signal.

(b) Z phase number (P9-11.0) is 0 and mechanical offset (P9-19, P9-20) is not 0:
In the process of negative acceleration or negative constant speed operation, stop the machine immediately after
encountering the rising edge of the origin signal. After the motor is completely stopped, the motor will walk a
quantitative pulse (P9-19, P9-20) at the speed P9-12 (homing high speed) according to the set number and
direction of mechanical offset pulses (either positive direction or negative direction), and then stop the motor.

(c) Z phase number (P9-11.0) is 1 and mechanical offset (P9-19, P9-20) is 0:

During negative acceleration or negative constant speed operation, continue operation after encountering the
rising edge of deceleration point (origin) signal, and then stop immediately after finding the first Z-phase signal.
(d) Z phase number (P9-11.0) is 1 and mechanical offset (P9-19, P9-20) is not 0:
In the process of negative acceleration or negative constant speed operation, continue to operate after
encountering the rising edge of the deceleration point (origin) signal, and then find the first Z-phase signal to stop
immediately. After the motor stops completely, the motor will run a quantitative pulse (P9-19, P9-20) at the set
speed P9-12 (homing high speed) according to the set mechanical offset pulse numbers and direction (either
positive or negative direction), then the motor stops.

(3) When the motor starts to move, the signal of the origin switch (deceleration point) is invalid (P5-64 =
0-invalid, 1-valid), and the reverse overtravel switch triggered in the process is valid (NOT) (P5-23).
Firstly, the servo motor reverse searches for the deceleration point (origin) signal at high speed -P9-12 (homing
high speed). After encountering the reverse overtravel switch (NOT), the driver decelerates in reverse (i.e. forward)
according to the value set in P9-14 (homing acceleration and deceleration time), and immediately searches for the
falling edge of the deceleration point (origin) signal at high speed P9-12 (homing high speed) in the forward
direction. After encountering the falling edge of the deceleration point (origin) signal, decelerate in the reverse
direction (i.e. negative direction) according to the set value of P9-14 (homing acceleration and deceleration time),
and the servo motor searches the rising edge of the deceleration point (origin) signal in the reverse low speed
-P9-13 (homing low speed). The next homing action can be divided into four cases:
(a) Z phase number (P9-11.0) is 0 and mechanical offset (P9-19, P9-20) is 0:
In the process of reverse acceleration or reverse constant speed operation, stop immediately when encountering
the rising edge of the origin signal.

(b) Z phase number (P9-11.0) is 0 and mechanical offset (P9-19, P9-20) is not 0:
In the process of reverse acceleration or reverse constant speed operation, stop the machine immediately after
encountering the rising edge of the deceleration point (origin) signal. After the motor is completely stopped, the
motor will move a quantitative pulse (P9-19, P9-20) at the speed set by P9-12 (homing high speed) according to
the set number and direction of mechanical offset pulses (either positive direction or negative direction), then the
motor stops.
(c) Z phase number (P9-11.0) is 1 and mechanical offset (P9-19, P9-20) is 0:
In the process of reverse acceleration or reverse constant speed operation, continue the operation after
encountering the rising edge of the origin signal, and then stop immediately after finding the first Z-phase signal.
(d) Z phase number (P9-11.0) is 1 and mechanical offset (P9-19, P9-20) is not 0:
In the process of reverse acceleration or reverse constant speed operation, continue to operate after encountering
the rising edge of the deceleration point (origin) signal, and then find the first Z-phase signal to stop immediately.
After the motor is completely stopped, the motor will run a quantitative pulse (P9-19, P9-20) at the set speed
P9-12 (homing high speed) according to the set number of mechanical offset pulses and direction (either positive
direction or negative direction), then the motor stops.

3. Homing mode 2——forward homing, deceleration point and origin are motor Z signal (P9-11.2=2)
In this mode, the number of Z phases of the motor is not found. To use this mode, you need to connect POT and
NOT.
(1) When the motor starts to move, the Z signal is invalid or valid (P5-64 = 0-invalid, 1-valid), and the
forward overtravel switch (POT) is not triggered in the whole process.
Firstly, the servo motor forward searches the Z signal at the high-speed P9-12 (homing high speed). After
encountering the rising edge of the Z signal, it decelerates in the reverse direction according to the set value of
P9-14 (homing acceleration and deceleration time), accelerates to -P9-13 (homing low speed) and reverse
searches the Z signal at low speed. Next, the homing action is divided into two cases:
(a) Mechanical offset (P9-19, P9-20) is 0:
In the process of reverse acceleration or reverse constant speed operation, stop immediately when encountering
the rising edge of the other side of the motor Z signal.

(b) Mechanical offset (P9-19, P9-20) is not 0:

In the process of reverse acceleration or reverse constant speed operation, stop immediately when encountering
the rising edge on the other side of the motor Z signal. After the motor is completely stopped, the motor will walk
a quantitative pulse (P9-19, P9-20) at the speed set by P9-12 (homing high speed) according to the set number and
direction of mechanical offset pulses (either positive direction or negative direction), then the motor stops.

(2) When the motor starts to move, the Z signal is invalid or valid (P5-64 = 0-invalid, 1-valid), and the
forward overtravel switch is triggered in the process (POT) (P5-22).
Firstly, the servo motor searches for the Z signal in forward direction with the high speed P9-12 (homing
high-speed speed). After encountering the forward overtravel switch, the driver decelerates in the reverse direction
according to P9-14 (homing acceleration and deceleration time), and searches for the Z signal in the reverse
direction with the high-speed -P9-12 (homing high-speed) until encountering the rising edge of the Z signal. The
machine gradually decelerates in the reverse direction (i.e. returns to the forward direction) according to P9-14
(homing acceleration and deceleration time). The servo motor searches the rising edge of the other side of the Z
signal in the forward direction and low speed P9-13 (homing low speed). The next homing action is divided into
two cases:
(a) Mechanical offset (P9-19, P9-20) is 0:
In the process of forward acceleration or forward constant speed operation, stop immediately when encountering
the rising edge of the other side of the Z signal.

(b) Mechanical offset (P9-19, P9-20) is not 0:

In the process of positive acceleration or positive constant speed operation, stop immediately when encountering
the rising edge on the other side of the motor Z signal. After the motor is completely stopped, the motor will walk
a quantitative pulse at the speed set by P9-12 (homing high speed) according to the set number of mechanical
offset pulses and direction (either positive direction or negative direction), and then stop the motor.

4. Homing mode 3——reverse homing, the deceleration point and origin are motor Z signal
(P9-11.2=3)
In this mode, the number of Z phases of the motor is not found. To use this mode, you need to connect POT and
NOT.
(1) When the motor starts to move, the Z signal is invalid or valid (P5-64 = 0-invalid, 1-valid), and the
reverse overtravel switch is not triggered in the whole process (NOT).
Firstly, the servo motor searches for the Z signal in reverse direction with the high speed -P9-12 (homing high
speed). After encountering the rising edge of the Z signal, it decelerates and reverses according to the set value of
P9-14 (homing acceleration and deceleration time), accelerates to P9-13 (homing low speed) and searches for the
Z signal at low speed in forward direction. Next, the homing action is divided into two cases:
(a) Mechanical offset (P9-19, P9-20) is 0:
In the process of forward acceleration or forward constant speed operation, stop immediately when encountering
the rising edge of the other side of the motor Z signal.

(b) Mechanical offset (P9-19, P9-20) is not 0:

In the process of positive acceleration or positive constant speed operation, stop the machine immediately when
encountering the rising edge on the other side of the motor Z signal. After the motor is completely stopped, the
motor will walk a quantitative pulse (P9-19, P9-20) at the speed set by P9-12 (homing high speed) according to
the set number and direction of mechanical offset pulses (either positive direction or negative direction), then the
motor stops.

(2) When the motor starts to move, the Z signal is invalid or valid (P5-64 = 0-invalid, 1-valid), and the
reverse overtravel switch is triggered in the process (NOT)
The servo motor searches for the Z signal at high speed -P9-12 (homing high speed) in reverse direction. After
encountering the reverse overtravel switch, the driver decelerates and reverses according to P9-14, and then
searches for the Z signal at high speed P9-12 (homing high speed) in forward direction until encountering the
rising edge of the Z signal, and gradually decelerates and reverses (i.e. restores the reverse direction) according to
the set value of P9-14 (homing acceleration and deceleration time). The servo motor searches the rising edge on
the other side of the Z signal at low speed -P9-13 (homing low speed) in reverse direction. Next, the homing
action is divided into two cases:
(a) Mechanical offset (P9-19, P9-20) is 0:
In the process of reverse acceleration or reverse constant speed operation, stop immediately when encountering
the rising edge of the other side of the Z signal.

(b) Mechanical offset (P9-19, P9-20) is not 0:

In the process of reverse acceleration or reverse constant speed operation, stop immediately when encountering
the rising edge on the other side of the motor Z signal. After the motor is completely stopped, the motor will walk
a quantitative pulse (P9-19, P9-20) at the speed set by P9-12 (homing high speed) according to the set number and
direction of mechanical offset pulses (either positive direction or negative direction), then the motor stops.

5. Homing mode 4——forward homing, deceleration point and origin are forward overtravel switch
POT (P5-22) (P9-11.2=4)
To use this mode, it needs to connect NOT, POT.
(1) When the motor starts moving, the forward overtravel switch (POT) is invalid
Firstly, the servo motor searches the forward overtravel switch at high speed P9-12 (homing high speed). After
encountering the rising edge of the forward overtravel switch signal, it gradually decelerates in reverse according
to the setting of P9-14 (homing acceleration and deceleration time). The servo motor searches the falling edge of
the forward overtravel switch signal in reverse direction at low speed -P9-13 (homing low speed). After
encountering the falling edge of the forward overtravel switch signal, the next action of returning to the origin can
be divided into four cases:
(a) Z phase number (P9-11.0) is 0 and mechanical offset (P9-19, P9-20) is 0:
Decelerate in the reverse direction (i.e. restore the forward direction), and search for the rising edge of the forward
overtravel switch signal in the forward direction and low speed P9-13 (homing low speed). In the process of
forward acceleration or forward constant speed operation, stop immediately when encountering the rising edge of
the forward overtravel switch signal.

(b) Z phase number (P9-11.0) is 0 and mechanical offset (P9-19, P9-20) is not 0:
Decelerate in the reverse direction (i.e. restore the forward direction), and search the rising edge of the forward
overtravel switch signal in the forward with low speed P9-13 (homing low speed). In the process of forward
acceleration or forward uniform speed operation, stop immediately when encountering the rising edge of the
forward overtravel switch signal. After the motor is completely stopped, motor walks a quantitative pulse at the
speed set by P9-12 (homing high speed) according to the set number and direction of mechanical offset pulses (it
can only be in the negative direction, that is, it must move between the origin switch and NOT), and then the
motor will stop.

(c) Z phase number (P9-11.0) is 1 and mechanical offset (P9-19, P9-20) is 0:

Continue to operate in reverse at the low speed set by -P9-13 (homing low speed), and then stop immediately after
encountering the rising edge of the first Z-phase signal.

(d) Z phase number (P9-11.0) is 1 and mechanical offset (P9-19, P9-20) is not 0:
Continue to operate in the reverse direction at the low speed set by -P9-13 (homing low speed), and then stop
immediately after encountering the rising edge of the first Z-phase signal. After the motor stops completely, the
motor will move a quantitative pulse at the speed P9-12 (homing high speed) according to the set number of
mechanical offset pulses and direction (it can be negative or positive, but it must move between the origin switch
and NOT), and then the motor stops.

(2) Forward overtravel switch is valid when motor starts moving (POT) (P5-22)
The servo motor directly searches for the falling edge of the forward overtravel switch signal (POT) at a reverse
low speed -P9-13 (homing low speed). After encountering the falling edge of POT, the next homing action is
divided into four cases:
(a) Z phase number (P9-11.0) is 0 and mechanical offset (P9-19, P9-20) is 0:
Decelerate in the reverse direction (i.e. restore the forward direction), search for the rising edge of POT in the
forward low-speed P9-13 (homing low speed), and stop immediately when encountering the rising edge of POT
during forward acceleration or forward constant speed operation.

(b) Z phase number (P9-11.0) is 0 and mechanical offset (P9-19, P9-20) is not 0:
Decelerate in reverse direction (i.e. restore the positive direction), search the rising edge of POT at low speed and
positive direction with P9-13 (homing low speed). In the process of positive acceleration or positive constant
speed operation, stop immediately when encountering the rising edge of POT. After the motor stops completely,
the motor will move a quantitative pulse at the speed P9-12 (homing high speed) according to the set number of
mechanical offset pulses and direction (it only can be negative direction, but it must move between the origin
switch and NOT), and then the motor stops.

(c) Z phase number (P9-11.0) is 1 and mechanical offset (P9-19, P9-20) is 0:

Continue to operate in reverse at the low speed -P9-13 (homing low speed), and then stop immediately after
encountering the rising edge of the first Z-phase signal.
(d) Z phase number (P9-11.0) is 1 and mechanical offset (P9-19, P9-20) is not 0:
Continue to operate in the reverse direction at the low speed -P9-13 (homing low speed), and then stop
immediately after encountering the rising edge of the first Z-phase signal. After the motor stops completely, the
motor will move a quantitative pulse at the speed P9-12 (homing high speed) according to the set number of
mechanical offset pulses and direction (it can be negative or positive, but it must move between the origin switch
and NOT), and then the motor stops.

6. Homing mode 5——reverse homing, deceleration point and origin are reverse overtravel switch
NOT (P5-23) (P9-11.2=5)
To use this mode, please connect POT, NOT.
(1) When the motor starts moving, the reverse override switch (NOT) is invalid
Firstly, the servo motor searches for the reverse overtravel switch (NOT) at reverse high speed -P9-12 (homing
high speed). After encountering the rising edge of NOT, it gradually decelerates in reverse according to the setting
of P9-14 (homing acceleration and deceleration time). The servo motor searches for the falling edge of NOT at
forward low speed P9-13 (homing low speed). After encountering the falling edge of NOT, the next homing action
can be divided into four cases:

(a) Z phase number (P9-11.0) is 0 and mechanical offset (P9-19, P9-20) is 0:

Decelerate in the reverse direction (i.e. restore the reverse direction), and search for the rising edge of NOT at the
reverse low speed -P9-13 (homing low speed). In the process of reverse acceleration or reverse constant speed
operation, stop immediately when encountering the rising edge of NOT.

(b) Z phase number (P9-11.0) is 0 and mechanical offset (P9-19, P9-20) is not 0:
Decelerate in the reverse direction (i.e. restore the reverse direction), and search for the rising edge of the reverse
overtravel switch signal (NOT) at the reverse low speed -P9-13 (homing low speed). In the process of reverse
acceleration or reverse constant speed operation, stop immediately when encountering the rising edge of NOT.
After the motor stops completely, the motor will move a quantitative pulse at the speed P9-12 (homing high speed)
according to the set number of mechanical offset pulses and direction (it only can be positive, but it must move
between the origin switch and POT), and then the motor stops.

(c) Z phase number (P9-11.0) is 1 and mechanical offset (P9-19, P9-20) is 0:

Continue to operate in the forward low-speed P9-13, and then stop immediately after encountering the rising edge
of the first Z-phase signal.
(d) Z phase number (P9-11.0) is 1 and mechanical offset (P9-19, P9-20) is not 0:
Continue to operate in the forward low-speed P9-13, and then stop immediately after encountering the rising edge
of the first Z-phase signal. After the motor stops completely, the motor will move a quantitative pulse at the speed
P9-12 (homing high speed) according to the set number of mechanical offset pulses and direction (it can be
positive or negative), but it must move between the origin switch and POT), and then the motor stops.

(2) When the motor starts to move, the reverse overtravel switch (NOT) (P5-23) is valid
The servo motor directly searches for the falling edge of the reverse overtravel switch signal (NOT) at the forward
low speed P9-13 (homing low speed). After encountering the falling edge of NOT, the next homing action is
divided into four cases:
(a) Z phase number (P9-11.0) is 0 and mechanical offset (P9-19, P9-20) is 0:
Decelerate in reverse direction (i.e. resume reverse direction), search for the rising edge of NOT in reverse
direction at low speed -P9-13(homing low speed). During reverse acceleration or reverse constant speed operation,
stop immediately when encountering the rising edge of NOT.

(b) Z phase number (P9-11.0) is 0 and mechanical offset (P9-19, P9-20) is not 0:
Decelerate in reverse direction (i.e. recover in reverse direction), search for the rising edge of NOT in reverse
direction at low speed -P9-13 (homing low speed). During reverse acceleration or reverse constant speed
operation, stop immediately when encountering the rising edge of NOT. After the motor stops completely, the
motor will move a quantitative pulse at the speed P9-12 (homing high speed) according to the set number of
mechanical offset pulses and direction (it only can be positive), but it must move between the origin switch and
POT), and then the motor stops.

(c) Z phase number (P9-11.0) is 1 and mechanical offset (P9-19, P9-20) is 0:

Continue to operate at the forward low speed P9-13 (homing low speed), and then stop immediately after
encountering the rising edge of the first Z-phase signal.
(d) Z phase number (P9-11.0) is 1 and mechanical offset (P9-19, P9-20) is not 0:
Continue to operate at the forward low speed P9-13 (homing low speed), and then stop immediately after
encountering the rising edge of the first Z-phase signal. After the motor stops completely, the motor will move a
quantitative pulse at the speed P9-12 (homing high speed) according to the set number of mechanical offset pulses
and direction (it can be positive or negative, but it must move between the origin switch and POT), and then the
motor stops.

7. Homing mode 6——forward homing, deceleration point and origin are forward mechanical limit
position (P9-11.2=6)
To use this mode, no need to connect POT, NOT and origin switch.
Firstly, the servo motor runs forward at low speed P9-13 (homing low speed). After hitting the mechanical limit
position, if the absolute value of torque reaches the upper torque limit of P9-17 (touch stop homing mode torque
threshold), and the absolute value of speed is lower than the set value of P9-16 (touch stop homing mode speed
threshold), this state remains P9-18 (touch stop homing mode time threshold) After the set time, it is judged that
the mechanical limit position is reached, and the next homing action can be divided into four cases:
(a) Z phase number (P9-11.0) is 0 and mechanical offset (P9-19, P9-20) is 0:
Shut down immediately.

(b) Z phase number (P9-11.0) is 0 and mechanical offset (P9-19, P9-20) is not 0:
The servo motor stops immediately. After it stops completely, according to the set number of mechanical offset
pulses, the motor reverse moves a quantitative pulse (P9-19, P9-20) at the speed set by -P9-12 (homing high
speed), and then the motor stops.
 (c) Z phase number (P9-11.0) is 1 and mechanical offset (P9-19, P9-20) is 0:
Operate in reverse at the low speed set by -P9-13 (homing low speed), and then stop immediately after
encountering the rising edge of the first Z-phase signal.

(d) Z phase number (P9-11.0) is 1 and mechanical offset (P9-19, P9-20) is not 0:
Run in reverse at the low speed set by -P9-13 (homing low speed), then stop immediately after encountering the
rising edge of the first Z-phase signal, and then walk a quantitative pulse (it can run in positive direction or
negative direction, but it must be within the mechanical limit position) at the speed set by -P9-12 (homing high
speed) according to the set number of mechanical offset pulses after complete stop, and then the motor stops.

8. Homing mode 7——reverse homing, deceleration point and origin are reverse mechanical limit
position (P9-11.2=7)
To use this mode, no need to connect POT, NOT and origin switch.
Firstly, the servo motor runs in reverse direction with the low speed -P9-13 (homing low speed). After hitting the
mechanical limit position, if the absolute value of torque reaches the upper torque limit of P9-17 (touch stop
homing mode torque threshold), and the absolute value of speed is lower than the set value of P9-16 (touch stop
homing mode speed threshold), this state remains P9-18 (touch stop homing mode time threshold). After the set
time, it is judged that the mechanical limit position is reached, and the next action of returning to the origin can be
divided into four cases:
(a) Z phase number (P9-11.0) is 0 and mechanical offset (P9-19, P9-20) is 0:
Shut down immediately.
 (b) Z phase number (P9-11.0) is 0 and mechanical offset (P9-19, P9-20) is not 0:
The servo motor stops immediately. After it stops completely, the motor moves forward a quantitative pulse
(P9-19, P9-20) at the speed set by P9-12 (high speed back to the origin) according to the set number of
mechanical offset pulses, and then the motor stops.

(c) Z phase number (P9-11.0) is 1 and mechanical offset (P9-19, P9-20) is 0:

Operate in the forward direction at the low speed P9-13 (homing low speed), and then stop immediately after
encountering the rising edge of the first Z-phase signal.

(d) Z phase number (P9-11.0) is 1 and mechanical offset (P9-19, P9-20) is not 0:
Operate in the forward direction with low-speed P9-13 (homing low-speed), and then stop immediately after
encountering the rising edge of the first Z-phase signal. After complete stop, the motor will walk a fixed pulse
(P9-19, P9-20) at the speed set by P9-12 (homing high-speed) according to the set number of mechanical offset
pulses (it can operate in positive direction or negative direction, but it must be within the mechanical limit
position), and then the motor stops.
Note: only for homing mode 6 and 7.
For homing modes 6 and 7, once these two homing modes are triggered, the maximum torque during homing is
1.1 times of the set value of P9-17 (touch stop homing torque threshold). If the internal forward and reverse torque
limits P3-28 and P3-29 are smaller than 1.1 times of the set value of P9-17 (touch stop homing torque threshold),
the torque limit is the set value of P3-28 and P3-29. Similarly, if the external forward and reverse torque limits
P3-30 and P3-31 are enabled, the actual torque limit is the minimum of the internal torque limit, the external
torque limit and 1.1 times of the P9-17 set value.

Only when these two homing modes are triggered, 1.1 times of the set value of torque limit P9-17 (touch stop
homing torque threshold) will take effect. If only the homing is enabled and (homing mode) P9-11.2 is 6 or 7, but
the homing is not triggered, 1.1 times of the set value of torque limit P9-17 (touch stop homing torque threshold)
will not take effect.
5.4.2 Position control (external pulse command)
DS5C2 series only 15kW model support this function.
Parameter Overview Reference
chapter
P0-01 control mode selection Set to 6: external pulse mode 5.4.2.1
P0-10 pulse instruction form Set the pulse form 5.4.2.3
0-CW/CCW
1-AB
2-P+D
P0-11 Motor pulse numbers per rotation*1 Setting of command pulse number required 5.4.1.1
P0-12 Motor pulse numbers per for one revolution of motor
rotation*10000 P0-11 and P0-12=0, P0-13/P0-14 are
P0-13 Electronic gear ratio (numerator) effective
P0-14 Electronic gear ratio (denominator) P0-11～P0-14 are 0, P0-92~P0-95 are
P0-92~P0-93 32-bit electronic gear ratio valid
(numerator) 32-bit electronic gear ratio (numerator):
P0-94~P0-95 32-bit electronic gear ratio P0-92*1 + P0-93 *10000
(denominator) 32-bit electronic gear ratio denominator:
P0-94*1 + P0-95 *10000
P0-09 Pulse command setting You can set the command direction and 5.4.2.5
filter time of low-speed pulse respectively

5.4.2.1 External pulse position mode

Setting
Parameter Meaning Modify Effective
value
P0-01 6 Control the position by external pulse Servo OFF At once

5.4.2.2 Pulse input specification

Pulse specification Max input frequency Voltage Forward current
Open collector
Low speed 200Kpps 24V <25mA
signal
pulse
Differential signal 500Kpps 3.3~5V <25mA

5.4.2.3 Pulse command form selection

Set the pulse form received by the servo driver based on the upper computer or other pulse output devices:
 Double pulse (CW+CCW);
 A phase+B phase orthogonal pulse, 4-time frequency;
 Pulse+direction (positive or negative logic).

Parameter Meaning Setting Meaning Modify Take effect

Pulse 0 CW, CCW mode
P0-10
command 1 AB phase Servo OFF At once
n.xxx□
form 2 Pulse + direction (default)
P0-10 Pulse 0 Falling edge is effective (default)
n.xx□x signal
Servo OFF At once
effective 1 Rising edge is effective
edge
5.4.2.4 Pulse command logic form
P0-10.0 Forward rotation Reverse rotation

0：CW/CCW

1：AB

2：P+D

5.4.2.5 Pulse command forward direction selection

Default
Parameter Meaning Unit Range Change Effective
setting
P0-09.0 forward direction Servo Re-power
0 - 0/1
n.xxx□ of pulse instruction OFF on
P0-09 will change the counting direction of the internal counter in the servo system. The counting
direction determines the rotation direction of the motor. Therefore, this parameter can be adjusted if
the actual rotation direction of the motor is different from the expected direction in the position mode.

Default
Parameter Meaning Unit Range Change Effective
setting
P0-09.2 Pulse command filter Servo Re-power
2 4.167ns 0~4
n.x□xx time OFF on
Pulse filtering time can enhance the anti-interference ability of low-speed pulses (within 200K).
P0-09.2=0: Turn off the noise filter;
P0-09.2=1-4: Turn on the noise filter to filter out pulses with a pulse width less than 30*4^(n-1) ns.
5.4.3 Position control (Internal command)

Parameter Overview Reference chapter

P0-01 control mode selection Set to 5: internal position 5.4.3.1
mode
P4-03 internal position mode Control mode setting of 5.4.3.3
P4-04 valid segment number internal position mode:
P4-10~P4-254 internal position 1 including step change mode,
to 35 parameters positioning mode and
adjustment time
Configuration of pulse
displacement, speed,
acceleration and deceleration
time of each segment
P5-35 change step Common terminal function 5.4.3.4
signal/GHGSTP assignment 5.4.1.4
P5-32 pause present segment 5.4.3.5
signal /INHIBIT
P5-31 jump present segment
signal /Z-CLAMP
P4-00 number of Z-phase signal Internal position back to 5.4.1.8
after leaving limit switch origin setting parameters
P4-01 speed of hitting the
proximity switch
P4-02 speed of leaving proximity
switch
P5-28 /SPD-A: find reference
origin on forward side in position
mode
P5-29 /SPD-B: find reference
origin on reverse side in position
mode
F2-09 35 segments position Set segment no. by 5.4.3.6
setting communication

5.4.3.1 Internal position mode

Setting
Parameter Meaning Change Effective
value
Position control by preset values of internal registers
P0-01 5 Servo bb At once
in servo units

5.4.3.2 Internal position mode setting

Default Suitable
Parameter Function Unit modify Effective
setting mode
Internal position
— n.0000 5 Servo bb At once
mode setting
Default
Parameter setting Meaning Setting range
setting
n.□xxx No meaning
P4-03 Waiting
n.x□xx 0 0~1
mode
Change
n.xx□x 0 0~6
step mode
Positioning
n.xxx□ 0 0~1
mode
 1. waiting mode
n.x□xx Meaning
0 Wait for positioning completion
1 Not wait for positioning completion
Note: Waiting mode refers to whether the driver waits for the motor to be positioned after outputing a
position instruction in internal position mode. It takes effect in all Step-Changing modes.
Waiting mode=0, adjust time =0ms Waiting mode =0, adjust time >0ms

After the drive output 1-segment position After the drive output 1-segment position
command, it will wait for the completion of command, it will wait for the completion of
motor positioning, and then start the next position motor positioning, and pass the adjust time, then
command at once. T1 is positioning time, which start the next position command. T1 is
means the time from pulse output complete to the positioning time, t2 is adjust time. Refer to
output of positioning completion signal. parameter P4-16.
Wait mode = 1, adjust time = 0ms Wait mode = 1, adjust time > 0ms

After the drive output 1-segment position After the drive output 1-segment position
command, it will not wait for the completion of command, it will not wait for the completion of
motor positioning, and start the next position motor positioning, but pass the adjust time, and
command at once. then start the next position command. T2 is adjust
time. Refer to parameter P4-16.

2. change step mode

n.xx□x Description
t1=P4-16, t2=P4-23.
1. If the /CHGSTP signal is always on,
0: Change the servo unit will cycle the set position
the step segment all the time.
when signal
2. If the /CHGSTP signal is set to off
is ON,
recycling when executing a certain segment, the
servo will continue to complete the
execution of that segment without the
 execution of the next segment.
3. In this mode, the step change signal
/CHGSTP is triggered at high level.
4. When the servo enable is off during a
certain section of operation, the motor
stops according to the servo off shutdown
mode. After the shutdown, the positioning
is invalid.
5. After each operation completion,
positioning completion and positioning
approach signal are all effective.
6. In this mode, the adjustment time of
each period is valid.

n.xx□x Description
Take setting two segments as an example,
t1 = p4-16 in the figure.
1. Note that as shown in the figure, in this
mode, the set adjustment time actually
does not work. As long as the previous
position command has been sent out, the
next command will be entered
1: Change immediately when a new step change
the step at signal arrives.
the rising 2. In this mode, the step change signal
edge of the /CHGSTP is triggered by rising edge.
signal, 3. After each operation completion,
single-step positioning completion and positioning
execution approach signal are all effective.
4. When the servo enable is off during a
certain section of operation, the motor
stops according to the servo off shutdown
mode. After the shutdown, the
positioning is invalid.
5. The adjustment time is not valid in this
mode.
Take setting two segments as an example,
t1 = p4-16 in the figure.
1. The /CHGSTP signal before the
2: Start at completion of a cycle will not be
the rising counted, as shown in the second
edge of the /CHGSTP signal in the figure.
signal, 2. In this mode, the step change signal
sequential /CHGSTP is triggered by rising edge.
run all, not 3. After each operation completion,
recycling positioning completion and positioning
approach signal are all effective.
4. When the servo enable is off during a
certain section of operation, the motor
 stops according to the servo off shutdown
mode. After the shutdown, the
positioning is invalid.
5. The adjustment time is valid in this
mode.

3: set
segment no.
Servo is ON, set parameter P2-09=0, then set the running segment. The motor will run
through
the setting segment. Refer to chapter 5.4.3.6
communica
tion
t1 = p4-16 in the figure.
1. /CHGSTP rising edge triggers the first
segment and falling edge triggers the
second segment. Where, if the first
segment position is required to operate
completely, the /CHGSTP signal remains
on until the end of the first segment.
2. Only in this mode, the number of
p4-04 valid segments is invalid.
3. After each operation completion,
4:
positioning completion and positioning
/CHGSTP
approach signal are all effective.
double edge
4. When the servo enable is off during a
triggering
certain section of operation, the motor
stops according to the servo off shutdown
mode. After the shutdown, the
positioning is invalid.
5. The adjustment time is not valid in this
mode.
6. Before using this mode, p5-35
terminals need to be allocated first, but
not when using this mode.

/PREFC /PREFB /PREFA Segment no.

0 0 0 -
5:
0 0 1 1 (segment 1 position)
/PREFA(P5
0 1 0 2 (segment 2 position)
-57)
/PREFB(P5 1 0 0 3 (segment 3 position)
-58) 1. After each operation completion, positioning completion and positioning approach
/PREFC(P5 signal are all effective.
-59) 2. When the servo enable is off during a certain section of operation, the motor stops
Choose the according to the servo off shutdown mode. After the shutdown, the positioning is
segment invalid.
through 3. The adjustment time is valid in this mode.
terminal, 4. /CHGSTP signal is invalid only in this mode.
the range is 5. The segment number selection terminal can not only trigger the step change at the
segment edge, but also keep on state. This mode supports continuous and repeated triggering of a
1~3 certain segment. If the segment number selection terminal remains on, the motor stops
after encountering the overtravel signal, it is necessary to change the segment number
selection terminal to off, otherwise, the motor will execute the position segment after
the overtravel signal is cancelled.
 /PREFD /PREFC /PREFB /PREFA Segment no.
0 0 0 0 1 (segment 1 position)
0 0 0 1 2 (segment 2 position)
0 0 1 0 3 (segment 3 position)
0 0 1 1 4 (segment 4 position)
0 1 0 0 5 (segment 5 position)
0 1 0 1 6 (segment 6 position)
6: 0 1 1 0 7 (segment 7 position)
/PREFA(P5 0 1 1 1 8 (segment 8 position)
-57) 1 0 0 0 9 (segment 1 position)
/PREFB(P5
1 0 0 1 10 (segment 2 position)
-58)
1 0 1 0 11 (segment 3 position)
/PREFC(P5
-59) 1 0 1 1 12 (segment 4 position)
/PREFD(P5 1 1 0 0 13 (segment 5 position)
-60) 1 1 0 1 14 (segment 6 position)
Choose the 1 1 1 0 15 (segment 7 position)
segment 1 1 1 1 16 (segment 8 position)
through Note: the rising edge of P5-35 step change signal triggers each position (the rising
terminal, edge is invalid during operation).
the range is 1. When the servo enable is off during a certain section of operation, the motor stops
segment according to the servo off shutdown mode. After the shutdown, the positioning is
1~16. invalid.
2. The adjustment time is not valid in this mode.
3. After each operation completion, positioning completion and positioning approach
signal are all effective.
4. After the segment number is selected, the rising edge of P5-35/CHGSTP step change
signal is required to trigger to run the position segment, and the step change triggering
during segment operation is invalid.
5. Segment number selection terminal logic is voltage level valid. Input high voltage
level is valid, input low voltage level is invalid.

The following input signal can switch the segment 1 to 3 or 1 to 16:

Parameter Signal name Default Suitable Setting range Modify Effective
setting mode
/PREFA internal Range 0000-0014,
P5-57 position n.0000 5 distribute to input terminal
segment 1 through P5-57
/PREFB internal Range 0000-0014,
P5-58 position n.0000 5 distribute to input terminal
segment 2 through P5-58
Anytime At once
/PREFC internal Range 0000-0014,
P5-59 position n.0000 5 distribute to input terminal
segment 3 through P5-59
/PREFD Range 0000-0014,
P5-60 internal position n.0000 5 distribute to input terminal
segment 4 through P5-60

3. Positioning mode
n.xxx□ Meaning
0 Relative positioning
1 Absolute positioning
1: absolute positioning
0: relative positioning (take the reference origin as the absolute
positioning origin)
5.4.3.3 Position segment 1 to 35 parameter settings

Default
Parameter Meaning Unit Range Change Effective
setting
Pulse number
P4-10+（n-1）*7 0 1 pulse -9999～9999 Anytime At once
(low bit)
Pulse number Anytime At once
P4-11+（n-1）*7 0 10000 pulses -32767～32767
(high bit)
P4-12+（n-1）*7 Speed 0 0.1rpm 0～65535 Anytime At once
Trapezoid Anytime At once
P4-13+（n-1）*7 acceleration 0 ms 0～65535
time
Trapezoid Anytime At once
P4-14+（n-1）*7 deceleration 0 ms 0～65535
time
P4-15+（n-1）*7 Reserved -
P4-16+（n-1）*7 Adjust time 0 ms 0～65535 Anytime At once
Notes:
1. Set pulse number = pulse number (high bit) ×10000 + pulse number (low bit).
2. In formula P4-10+(n-1)*7, n is the segment no. of internal position; the range is 1~35. Segment 1~12 can
be set through the operate panel, segment 13~35 needs to write in parameters through communication
(RS232 or RS485).
3. In the relative positioning mode, if the pulse high position is set to 9999, the pulse low position is set to
9999, or the pulse high position is set to - 9999, and the pulse low position is set to - 9999, and p4-03.3 = 1
(do not wait for the positioning to be completed), the infinite pulse mode will be entered. On the contrary, the
number of pulses is limited.
4. If one of the segment speed is zero, servo will skip this segment and run the next segment.
5. In relative positioning mode, if one segment speed is not zero but the pulse number is zero, the motor will
not run, but the wait mode is effective. The servo will run the next segment when the adjust time is out.
6. In absolute positioning mode, if one segment speed is not zero but the pulse number is zero, the
motor will return to the reference origin with the speed of this segment.
7. In absolute positioning mode, if two consecutive segments speed are not zero, but the pulse number is
the same, the servo motor will not run but the wait mode is effective.
8. In the absolute positioning mode, the number of rotations of the motor is limited and cannot be unlimited.
9. At present, there are only two kinds of velocity in the internal position mode: step speed and slope speed.
When the trapezoidal acceleration time and trapezoidal deceleration time are set to 0, it is in the form of step
speed. When the trapezoidal acceleration time and trapezoidal deceleration time are greater than 0, it is in the
form of slope speed.
10. Trapezoidal acceleration time and trapezoidal deceleration time refer to the time required to change from
0 to rated speed.
11. If the speed of a certain parameter set is 0, the position command of this section will be ignored in the
step change mode of 0 / 1 / 2. However, in the mode of 4 / 5 / 6, the motor does not rotate when the step
change is triggered at this section.
12. In the internal position section parameters, the position commands of pulse settings are still affected by
the electronic gear ratio. The actual number of turns of the motor should be determined by combining the set
pulse command and the electronic gear ratio.
13. In the absolute positioning mode, the starting position of each step change is based on the starting
position of the first triggering step change. In the relative positioning mode, the starting position of each step
change is based on the position at the end of the last step change.
14. In the relative positioning mode, the infinite pulse position segment can be set in the 35 segment
positions. The motor will run continuously in this segment, unless the trigger skips the current segment.

Parameter Meaning Default setting Range Change Effective

P4-04 Effective segment 0 0～35 Servo bb At once
There are 35 sections in total in the internal position. If 10 sections need to be operated and 5 sections need to be
operated switched for use due to process requirements, the effective segment can be set. For example, parameters
are set for sections 1-10, and P4-04 is set to 5, that is, the position of section 1-5 is valid; if it is set to 10, the
position of section 1-10 is valid.

Default
Parameter Meaning Unit Range Modify Effective
setting
Internal position mode
P4-08 1 - 0～35 Servo bb At once
start segment number
P4-08 sets the starting operation section number after the first round, and it is valid when the change mode
P4-03.1 is set to 0 and 1. The settings are explained below, and valid values are set for No.1-No.8 sections.

Change
Setting Parameter Actions
step mode

P4-08=0 or P4-08=8
P4-08>P4-04 P4-04=4

P4-03.1=0

P4-08=2
1≤P4-08≤P4-04
P4-04=4

P4-08=0 or P4-08=8
P4-08>P4-04 P4-04=4

P4-03.1=1

P4-08=2
1≤P4-08≤P4-04
P4-04=4

When using skip current segment function, the SI terminal assigned by P5-31 needs rising edge trigger.
5.4.3.4 Change step signal (/CHGSTP)
Parameter Name Setting Meaning Range
Range: 0000-0014.
Change Defaulted is not distribute to input Distribute to input
P5-35 step signal n.0000 terminal. Refer to chapter 5.4.3.2. terminal through P5-35.
/CHGSTP When it set to 0001, it
means input from SI1.

5.4.3.5 Skip present segment signal (/ZCLAMP)

Parameter Signal name Setting Meaning Range
Skip the Range: 0000-0014. Distribute to
Defaulted is not
present input terminal through P5-31. When
P5-31 n.0000 distribute to input
segment it set to 0001, it means input from
terminal.
/Z-CLAMP SI1.

In different Step-Changing modes, the function of skipping the current segment will have different effects, as
follows:
Change step
Skip the present
mode Actions
segment
P4-03 n.xx□x
0 Cancel current segment, execute the next segment at once
Cancel current segment, execute the next segment when the
1
change step signal is ON
2 Cancel current segment, execute the next segment at once
3 Cancel current segment, set the F2-09 again
/Z-CLAMP
The current segment is cancelled and the next segment is
4
executed on the falling edge of the /CHGSTP step change signal
If the current segment is cancelled, the corresponding segment
5
will be executed after selecting other segments
The current segment is cancelled, the selected position segment
6
is executed at the rising edge of /CHGSTP step signal

5.4.3.6 Set segment through communication

Default
Parameter Meaning Unit Range Modify Effective
setting
Set the segment
F2-09 number through 0 - 0～35 Anytime At once
communication
If this parameter is set to a certain segment number, this segment position will be executed without
step change signal. Communication can be used to modify parameters.
For example: to execute the second segment position, set F2-09 = 0, and then F2-09 = 02.

5.4.3.7 Motion start signal (/MRUN)

Signal Default
Parameter Meaning Modify
name setting
Terminal output is not
assigned by default.
It is only valid in the internal Parameter range 0000-0014,
Motion position mode, similar to the assigned to the output interface
P5-50 start n.0000 positioning completion signal through parameter P5-50. When
/MRUN in the external pulse mode; it is set to 0001, the signal is
there is output when the motor output from SO1 terminal.
is running, and there is no
output when the motor stops.
5.5 Speed control
5.5.1 Speed mode general control

5.5.1.1 Soft start

Defaulted
Parameter Meaning Unit Range Modify Effective
setting
Soft Start
P3-09 200 ms 0～65535 Servo bb At once
Acceleration Time
Soft Start
P3-10 200 ms 0～65535 Servo bb At once
deceleration Time
Soft start acceleration and deceleration time is suitable for mode 3/4/7. Smooth speed control can be
carried out when step speed instruction is input or internal setting speed is selected.
P3-09: Time from stop to rated speed
P3-10: Time from rated speed to stop

5.5.1.2 Zero clamp (/ZCLAMP)

1. Overview
This function is used when host controller uses speed command input and the servo system isn’t configured the
position loop. In other words, the function will be used when the motor must stop and enter lock state even the
V-REF input voltage is not zero.
When set ON the zero clamp function, it will configure the position loop inside the servo, the motor will do zero
clamp within ±1 pulse at this position. The motor will return to zero clamp position even it is run by external
force.
The present speed must be smaller than zero clamp speed when using zero clamp function, it can clamp the motor
shaft from moving. The motor will switch from speed mode to position mode when starting the zero clamp
function. At this time, rotate the motor shaft, it will return to the original position. It will not return to original
position in speed mode, because it has no position feedback.

2. Input signal setting

Parame Signal Setting Meaning Range
ter
n.0000 Defaulted is not distribute to input /Z-CLAMP signal is
Zero clamp (default) terminal distributed to input
P5-31 terminal by parameter
/ZCLAMP
n.0002 Input signal from SI2 terminal P5-31, Range:
0000-0014.
3. Parameter setting
Default
parameter Meaning Unit Range Change Effective
setting
 P3-13 Zero clamp speed 10 rpm 0～300 Servo bb At once
P3-12 Zero clamp mode 0 - 0～3 Servo bb At once

P3-12 setting Contents

ZCLAMP input signal is ON, forced speed command is 0, when the speed below
0 P3-13, switch to position mode and the servo lock in this position.
1 ZCLAMP input signal is ON, forced set the speed command to 0.
ZCLAMP input signal is ON, the speed below P3-13, switch to position mode and
2 the servo lock in the position.
Note: after entering zero clamp mode, present setting speed is higher than P3-13,
motor doesn’t run, the ZCLAMP signal must be OFF, then motor will run again.
ZCLAMP signal is ON, the setting speed is less than P3-13, switch to position
3 control mode, and servo is locked at this position. At this time, if setting speed is
over P3-13, the motor will run again.

5.5.1.3 Speed reach signal (/V-RDY)

 Related parameter
Default Suitable Modify Effective
Parameter Signal Meaning
setting mode
P5-51 /V-RDY n.0000 3, 4, 7 Speed reach signal Anytime At once

Default Modify Effective

Parameter Meaning Unit Range
setting
P5-05 Reach speed 1000 rpm 0~10000 Anytime At once

Speed arrival signal output condition

When the actual motor speed is greater than P5-05, output speed reach signal (/V-RDY).

5.5.1.4 Speed command filter

 Related parameter
Default Modify Effective
Parameter Meaning Unit Range
setting
Speed command filter
P1-23 0 0.1ms 0~65535 Servo bb At once
time
P3-09 Acceleration time 200 1ms 0~65535 Servo bb At once
P3-10 Deceleration time 200 1ms 0~65535 Servo bb At once
Moving average
P3-11 0 0.1ms 0~65535 Servo bb At once
filtering time constant

Firstly, set P3-09 and P3-10. Plan the speed command acceleration and deceleration time.
Among them, the acceleration time Tacc=(target speed/rated speed) * P3-09 [ms], and the deceleration time
Tdec=(target speed/rated speed) * P3-10 [ms].
Set an appropriate sliding average filtering time constant P3-11 (S-type acceleration and deceleration time
constant). Ts=P3-11*0.1 [ms].

Note: The setting of the sliding average filtering time constant must meet the requirements, Ts<0.5 * Tacc,
Ts<0.5*Tdec. Otherwise, excessive sliding average filtering time will result in an increase in deceleration time,
which does not comply with the settings of P3-09 and P3-10.
When P3-09 and P3-10 are set to 0, setting the sliding average filtering time will change the speed command into
a trapezoidal acceleration/deceleration speed command. Set P1-23 (speed command filtering time constant) and
P1-24 (first-order low-pass filtering time constant), and the effect is as follows:

Note: If acceleration and deceleration are set, the first-order low-pass filtering will increase the lag of the speed
command.
5.5.2 Speed control (internal speed)
Parameter Overview Chapter
P0-01 Control mode selection Set to 3: internal speed control mode 5.5.2.1
P3-05 Internal speed 1 Speed value setting of internal 3-segment speed 5.5.2.1
P3-06 Internal speed 2 in rpm
P3-07 Internal speed 3
P5-28 internal speed selection /SPD-A The combination of terminals determines the 5.5.2.1
P5-29 internal speed selection /SPD-B speed of corresponding section
P5-27 internal speed direction selection Direction changing, default is n.0000 5.5.2.1
/SPD-D If the direction changing is given through SI2
terminal, P5-27 can be set to n.0002
P3-09 soft start acceleration time Set acceleration and deceleration time in ms 5.5.1.1
P3-10 soft start deceleration time

5.5.2.1 Internal speed mode

Parameter Set Meaning Modify Effective
value
P0-01 3 Speed control: internal speed selection Servo bb At once
Function: internal speed selection will set 3 motor speeds and select the speed by external signal. It is
no need to configure external speed generator or pulse generator.
Servo unit
/SPD-D
M
Input /SPD-A
Servo motor
/SPD-B
Speed selection
SPEED1 P3-05
SPEED2 P3-06

No need external speed or SPEED3 P3-07 Run the motor

pulse generator at set speed
User parameter

 Related parameter
Defaulted
Parameter Meaning Unit Range Modify Effective
setting
P3-05 Internal speed 1 0 rpm -9999～+9999 Anytime At once
P3-06 Internal speed 2 0 rpm -9999～+9999 Anytime At once
P3-07 Internal speed 3 0 rpm -9999～+9999 Anytime At once

Parameter Signal Default Range Modify Effective

setting
Internal Range: 0000-0014. Distribute to
P5-27 direction n.0000 input terminal through P5-27.
/SPD-D
Internal Range: 0000-0014. Distribute to
P5-28 speed n.0000 input terminal through P5-28. Anytime At once
/SPD-A
Internal Range: 0000-0014. Distribute to
P5-29 speed n.0000 input terminal through P5-29.
/SPD-B
 1. Correlation between running speed and terminal signal
Input signal
Running speed
SPD-D（P5-27） SPD-A（P5-28） SPD-B（P5-29）
0 0 Internal speed is zero
0 1 P3-05：SPEED1
0: forward run
1 1 P3-06：SPEED2
1 0 P3-07：SPEED3
0 0 Internal speed is zero
0 1 P3-05：SPEED1
1: reverse run
1 1 P3-06：SPEED2
1 0 P3-07：SPEED3
Note:
(1) /SPD-D signal is direction control, input SI terminal can be changed according to P5-27. The validity of the
terminal signal determines the direction of the motor.
(2) The combination of /SPD-A and /SPD-B input terminal effectiveness determines the multi segment speed
(3) 0/1 of the above table represent the validity of the signal. The 0-bit terminal input is invalid. 1 is the terminal
input valid.
2. Terminal effectiveness description
The following table takes /SPD-D as an example, /SPD-A, /SPD-B signals are the same.
Signal/SPD-D terminal
Parameter setting Signal/SPD-D terminal input status
logic
P5-27=n.0000 No need external terminal input
P5-27=n.000□ SI□ terminal no signal input Invalid
P5-27=n.001□ SI□ terminal has signal input
P5-27=n.0010 No need external terminal input
P5-27=n.000□ SI□ terminal has signal input Valid
P5-27=n.001□ SI□ terminal no signal input

3. Running example
Speed 3
+SPEED3 Speed up down is decided by
P3-09, P3-10
Speed 2
+SPEED2

Speed 1
+SPEED1

Stop stop Stop

0

-SPEED1
Speed 1

-SPEED2
Speed 2

-SPEED3
Speed 3

OFF OFF ON ON OFF OFF ON ON OFF

SPD-A

OFF ON ON OFF OFF ON ON OFF OFF

SPD-B

OFF OFF OFF OFF ON ON ON ON ON

SPD-D
5.5.3 Speed control (pulse frequency command)
DS5C2 series only 15kW model support this function.
Reference
Parameter Overview
chapter
P0-01 Control mode selection Set to 7: external pulse speed mode 5.5.3.1
P0-10 Pulse command form Set pulse form 5.3.2.2
0-CW/CCW
1-AB
2-P+D
P0-15 Command pulse frequency at Determine the linear relationship between the 5.5.3.3
rated speed command pulse frequency and the speed
P0-16 Speed command pulse filter When the command pulse frequency is relatively 5.5.3.4
time low, setting this parameter properly can reduce the
speed fluctuation
P5-71 Function selection of 5.5.3.5
direction terminal in pulse speed change the pulse direction
mode
5.5.3.1 External pulse speed mode
Setting
Parameter Meaning Modify Effective
value
P0-01 7 Speed control: pulse frequency speed command Servo bb At once
Function: speed command is decided by external pulse frequency, but not related to pulse quantity.
The wiring is the same as position command. Select CW, CCW mode or direction + pulse mode, AB
phase pulse mode.

5.5.3.2 Pulse frequency command

Pulse frequency command is the same as external pulse command position control, refer to chapter 5-3-2.

5.5.3.3 Command pulse frequency at rated speed

Default
Parameter Meaning Unit Range Modify Effective
setting
command pulse
P0-15 frequency at rated 1000 100Hz 0~10000 Servo bb At once
speed
Note: the unit is 100Hz.
Example: P0-15=300, command pulse frequency at rated speed=30kHz;
P0-15=1000, command pulse frequency at rated speed= 100kHz.

5.5.3.4 Speed command pulse filter time

Parame Default
Meaning Unit Range Modify Effective
ter setting
speed command pulse
P0-16 100 0.01ms 0~10000 Servo bb At once
filter time
When the command pulse frequency is low, setting a suitable value for this parameter can decrease the
speed fluctuation.

5.5.3.5 Speed command pulse direction

Default
Parameter Meaning Unit Range Modify Effective
setting
Function selection
of direction
P5-71 0 - 0~1 Servo bb At once
terminal in pulse
speed mode
5.6 Torque control
Reference
Parameter Overview
chapter
P0-01 Control mode selection Set to 1: internal torque mode 5.6.1
P3-33 Internal torque command The given value is the percentage of rated 5.6.1.1
torque
P3-16 Internal forward speed limit of Speed limit in torque mode 5.6.2.1
torque control
P3-17 Internal reverse speed limit of torque
control
P3-14 Forward max speed limit (MAX
speed)
P3-15 Reverse max speed limit (MAX
speed)
P5-27 Speed direction switch /SPD-D Change the direction, default is n.0000
If it is given through SI2 terminal, P5-27
can be set to n.0002

5.6.1 Torque control (internal setting)

Parameter Set value Function Modify Effective

P0-01 1 Torque control: internal setting Servo bb At once
Function: Control the torque by internal torque command.

5.6.1.1 Internal torque command

Parame Default Effe
Meaning Unit Range Modify
ter setting ctive
At
P3-33 Preset torque 1 0 1% rated torque -1000~+1000 Anytime
once
The unit of this parameter is 1% of the rated torque. Positive and negative values correspond to the
forward and reverse rotation of the motor.
For example: P3-33=50, motor forward run with 50% of the rated torque;
P3-33= -20, motor reverse run with 20% of the rated torque.
In addition to using the torque to control the direction of servo operation, it can also use / SPD-D to
control the direction.

5.6.1.2 Internal speed limit of torque control

Default
Parameter Meaning Unit Range Modify Effective
setting
internal forward Motor
P3-16 speed limit in torque rated rpm 5～65535 Anytime At once
control mode
internal reverse speed Motor
P3-17 limit in torque control rated rpm 5～65535 Anytime At once
mode
Note: Even if the setting speed of this parameter is greater than the speed limit of P3-14, the actual
effective speed limit is the lower speed limit. (The maximum speed is the smaller value in
P3-14/P3-15 and P3-16/P3-17)
5.6.1.3 Speed reach signal output (/VLT)
In torque mode, when the absolute value of the actual speed of the servo motor exceeds the speed limit value,
it is considered that the actual speed of the servo motor is limited. At this time, the servo driver can output
/VLT signal. Otherwise, if any condition is not met, the speed limit signal is invalid.
Signal Default Suitable
Parameter Meaning Modify Effective
name setting mode
P5-43 /VLT n.0000 1, 2 Speed limit detection Anytime At once
By default, no terminal is allocated, the parameter range is 0000-0014, and is allocated to the output
interface through parameter P5-43. When set to 0002, the signal is output from the SO2 terminal.
/VLT signal is only valid in torque mode.

5.7 STO safe torque off

5.7.1 STO function overview

STO (Safe Torque Off) function: refers to the safety function of cutting off motor current through hardware.
The STO safety function terminal (CN5) adopts a dual circuit design, with two safety signal input channels STO1
and STO2. If either terminal is triggered, it will enter the STO state. Through an independent circuit, it prevents
the power module that controls the motor current from outputting PWM control signals, thereby cutting off the
motor current and achieving a torque free state.

5.7.2 STO wiring diagram

Only FS models support this function.

5.7.3 STO parameters

Parameter Name Unit Range Effective Function Default

STO synchronous STO asynchronous alarm
P0-88 detection 100us 0-1000 At once detection time 60
configuration
STO buffer circuit At once STO buffer circuit
P0-89.0~1 Abnormal alarm 100us 0-255 Abnormal alarm detection 32
detection filtering filtering time
P0-89.2~3 STO input detection 100us 10-30 At once STO input detection
12
filtering filtering
EDM circuit At once EDM circuit abnormality
P0-90.0~1 100us 0-255 200
abnormality alarm alarm detection filtering

5.7.4 STO working principle

 STO triggering

The driver can only operate normally when both the input signals of STO1 and STO2 terminals are at high level.
In addition, when an STO alarm occurs, the current STO status can be determined based on the EDM output
signal status, as shown in the table below:
STO1 input STO2 input EDM output status PWM control signal
H H No output Normal
H L No output Prohibited
L H No output Prohibited
L L With output Prohibited

When either STO1 or STO2 is at a low level, the servo enters the STO state. At this time:
(1) PWM control signal prohibition;
(2) The servo stops as the turn off enable mode in P0-29 alarm stop mode;
(3) The servo/S-RDY signal output is 0;
(4) The panel displays STO.
When both STO1 and STO2 are at low levels, the EDM output circuit becomes conductive;
When the status of STO1 and STO2 is inconsistent and the time exceeds the set time of P0-88, alarm E-340: STO
status is not synchronized.
Ensure that the STO1 and STO2 pins do not respond to pulses below 1ms, and ensure that it responds to the pulse
higher than the setting in P0-89.2-3.
An alarm occurs in the STO state, and the panel displays the alarm information. However, the servo is still in the
STO state at this time, and the dynamic braking and holding brake configurations are configured according to the
STO state.

 STO release

When both STO1 and STO2 terminals are at high level and the enable signal is in a non enable state, the STO
state is released, the servo ready output signal/S-RDY is output according to P5-70 configuration, the dynamic
braking is output according to P0-27 or P0-29 configuration, and the holding brake is output according to the
effectiveness of the enable signal/S-ON.

5.7.5 STO function precautions

After the STO function is activated, the motor safely enters a torque free state, and the servo drive will no longer
have control over the motor. Therefore, before using the STO function, please evaluate the hazards that still exist
after the STO function is enabled:
 After the STO function is enabled, the servo cannot guarantee that the motor will move due to
external forces, such as the vertical axis;
 The STO function cannot cut off the power supply of the servo unit. The strong electrical part of the
driver is still charged, so there is still a risk of electric shock or other electrical hazards. When
 maintaining the servo unit, please be sure to cut off the power supply and other devices of the servo
unit;
 Please use the single power supply provided by the safety function terminal CN5 to supply power to
the STO signal input, otherwise the STO function may malfunction due to leakage current, making it
impossible to enter the STO cut-off state.
If the STO function is used to stop a running servo, the motor will gradually stop. If it is not acceptable, the
system should use the correct stop mode instead of using the STO function to stop.
All cables suitable for STO function must have good protection, wiring, and fixation. During installation, it is
necessary to ensure that the cables are not pulled or squeezed. The requirements for the cables used are as follows:
Cable Explanation
requirements
Type Double shielded or single shielded twisted pair multiple pair cables
Max length The maximum allowable cable length between the driver and safety switch is
30m
Max size 0.8mm2 (18 AWG)
Min size 0.3mm2 (28 AWG)

5.8 Weak magnetic control

5.8.1Weak magnetic function overview

The control method of servo driven permanent magnet synchronous motor, which operates above the rated speed
by reducing the motor magnetic field while meeting the maximum voltage and current limits of the inverter, is
called weak field control. Weak magnetic control can broaden the speed range of permanent magnet synchronous
motors.

When using the weak magnetic function, the motor speed must not exceed the maximum
motor speed to avoid motor failure or personal and property damage.

5.8.2 Weak magnetic related parameter settings

Servo weak magnetic control switch PE-01.3. 0 (default): indicates turning off the weak magnetic function, 1:
indicates turning on the weak magnetic function.
When activating the weak magnetic function of the servo, it is necessary to match the correct motor parameters,
such as back electromotive force coefficient, Ld, Lq, etc. For specific usage conditions and parameter settings,
please contact the technical support.
Parameter Name Unit Range Effective Default
PE-01.3 Weak magnetic control switch — 0-1 Anytime 0
PE-80 Weak magnetic control gain Kv Hz 10-1000 Anytime 30
PE-81 Weak magnetic control integration 10-1000 Anytime 16
%
time constant Ti
PE-82 Weak magnetic control integral limit % 0-200 Anytime 60
PE-83 Voltage command limit threshold % 50-150 Anytime 115
PE-84 IdRef limit % 50-150 Anytime 95
PE-85 Smooth filtering time of main cycle 0-1000 Anytime 20
0.1ms
voltage
6 EtherCAT bus communication
6.1 EtherCAT technical overview
This section mainly introduces the basic concept, system composition, communication specifications and
connection instructions of EtherCAT.
6.1.1 EtherCAT introduction
EtherCAT, the full name is Ethernet for Control Automation Technology, which is developed by Beckhoff
Atuomation GmbH. It is a kind of real-time Ethernet used for open network communication between master
station and slave station. As a mature industrial Ethernet technology, EtherCAT has the characteristics of high
performance, low cost and easy to use.
XG2, XDH or XLH series controller (master station) and DS5C2 servo driver (slave station) comply with the
standard EtherCAT protocol, supports the maximum 64-axis slave stations, 64-axis synchronization cycle is 4ms,
supports touch probe function, position, speed, torque and other control modes, is widely applicable to various
industries.

6.1.2 System composition(master and slave station)

The connection form of EtherCAT is: the network system of linear connection master station (FA controller)
and multiple slave stations.
The number of nodes that can be connected by the slave station depends on the processing or
communication period of the master station, the number of bytes transmitted, etc.

6.2 EtherCAT communication specification

This section mainly introduces EtherCAT's frame structure, state machine, ESC, SDO, PDO, SII area,
communication synchronization mode, etc.
6.2.1 Communication specification
Item Specification
Physical layer 100BASE-TX(IEEE802.3)
Baud rate 100[Mbps](full duplex)
Topology Line
Connection cable JC-CB/JC-CA twisted pair(shield twisted pair)
Cable length Maximum 50m between nodes
Com port 2 Port(RJ45)
[Run] RUN indicator
EtherCAT indicators (LED) [L/A IN] Port0 Link/Activity indicator(Green)
[L/A OUT] Port1 Link/Activity indicator(Green)
Setting range: 0~65535
Station Alias(ID)
Setting address:2700h
Explicit Device ID Not support
Mailbox protocol COE(CANopen Over EtherCAT)
SyncManager 4
FMMU 3
Modes of operation
Csp Cyclic synchronous position mode
Position PP Profile position mode
Hm Homing mode
Modes of operation Csv Cyclic synchronous velocity mode
Speed
Pv Profile velocity mode
Cst Cyclic synchronous torque mode
Torque
Tq Torque profile mode

Touch Probe 2 channels

Synchronization mode DC(SYNCO event synchronization mode)
Cyclic time 250, 500,1000,2000,4000, 8000, 10000[μs]
(DC communication period)
Communication object SDO[service data object], PDO[process data object]
Maximum PDO allocation per TxPDO:4 [piece] RxPDO:4 [piece]
station
Single station PDO Max bytes TxPDO:32[byte] RxPDO:32[byte]
Mailbox communication 1ms
interval in PreOP mode
Mailbox SDO request and SDO information
Note:SDO and PDO refer to chapter 6.2.3 state machine.

6.2.2 EtherCAT frame structure

EtherCAT is an industrial communication protocol based on real-time control of Ethernet. It only expands the
IEEE 802.3 Ethernet specification and does not change the basic structure, so it can transmit the data within the
standard Ethernet frame.
Because the EthernetType of the Ethernet Header is [88A4h], the subsequent Ethernet data is processed as the
EtherCAT frame.
The EtherCAT frame is composed of the EtherCAT frame header and more than one EtherCAT sub message,
which is further subdivided. Only the EtherCAT frame with type = 1 of the EtherCAT frame header is processed
according to ESC.
EtherNet/EtherCAT frame structure

*1:When Ethernet frame is shorter than 64byte, add 1～32byte.

(Ethernet Header + Ethernet Data + FCS)
6.2.3 State machine ESM
The EtherCAT state machine (ESM) is responsible for coordinating the state relationship between the master and
slave applications at initialization and runtime.
The state change request is executed by the master station, and the master station puts forward the control request
to the application layer service. The latter generates the application layer control event in the slave station, and the
slave station responds to the application layer control service through the local application layer state write service
after the state change request succeeds or fails. If the state change fails, the slave station keeps the state and shows
the error flag.
The figure below shows the state transformation diagram of ESM:

Init: Initialization status

Pre-Operational: Pre operation status
Safe-Operational: Safe operation status
Operational: Running state

Communication action
Slave station SDO(mailbox) PDO PDO
Actions in various states
status receive and send Send Receive
messages messages messages
Communication initialization, SDO, PDO
Init - - -
unable to receive and send messages
Pre-Operational
Only SDO receives and sends messages Yes - -
(PreOP)
Safe-Operational Only SDO receives and sends messages,
Yes Yes -
(SafeOP) PDO sends messages
Operational SDO receives and sends messages, PDO
Yes Yes Yes
(OP) receives and sends messages

Note: the access from the master station to the ESC register is independent of the above table and is available at
any time.
PDO (Process Data Object) Used to transmit periodic communication data.
SDO (Service Data Object) Used to transmit aperiodic communication data.
Command or interface operation during ESM state switching may cause abnormal communication error

6.2.4 Slave station controller ESC

6.2.4.1 Principle overview
ESC refers to the EtherCAT slave controller. The communication process is completely processed by ESC, which
has four data receiving and transmitting ports, each with a Tx and Rx. Each port can send and receive Ethernet
data frames. The data flow direction in ESC is fixed: port 0 →-port 3 → port 1 → port 2 →port 0 are transmitted
in sequence. If ESC detects that a port has no external PHY, it will automatically close the port and forward to the
next port through the internal loopback.
6.2.4.2 Address space
The DS5C2 series have 8 Kbyte of physical address space.
The first 4kbyte (0000h-0FFFh) is used as register space, and the other 4kbyte (1000h-1FFFh) is used as process
data PDO in RAM field. For details of registers, please refer to the data table of IP (ET1810 / ET1811 / ET1812).

ESC Register byte Initial value

Length (Byte) Description
address *1
ESC Information (Slave controller information)
0000h 1 Type 04h
0001h 1 Revision 02h
0002h~0003h 2 Build 0040h
0004h 1 FMMUs supported 03h
0005h 1 SyncManagers supported 04h
0006h 1 RAM Size 08h
0007h 1 Port Descriptor 0Fh
0008h~0009h 2 ESC Features supported 0184h
Station Address
0010h~0011h 2 Configured Station Address -
0012h~0013h 2 Configured Station Alias -
…
Data Link Layer
…
0100h~0103h 4 ESC DL Control -
…
0110h~0111h 2 ESC DL Status -
Application Layer
0120h~0121h 2 AL Control -
0130h~0131h 2 AL Status -
0134h~0135h 2 AL Status Code -
…
PDI process data interface
0140h 1 PDI Control 08h
0141h 1 ESC Configuration 0Ch
 ESC Register byte Initial value
Length (Byte) Description
address *1
0150h 1 PDI Configuration -
0151h 1 SYNC/LATCH PDI Configuration 66h
0152h~153h 2 Extend PDI Configuration -
…
Watchdog
0400h~0401h 2 Watchdog Divider -
0410h~0411h 2 Watchdog Time PDI -
0420h~0421h 2 Watchdog Time Process Data -
0440h~0441h 2 Watchdog Status Process Data -
0442h 1 Watchdog Counter Process Data -
0443h 1 Watchdog Counter PDI -
…
FMMU
0600h~062Fh 3x16 FMMUs[2:0] -
+0h~3h 4 Logical Start Address -
+4h~5h 2 Length -
+6h 1 Logical Start bit -
+7h 1 Logical Stop bit -
+8h~9h 2 Physical Start Address -
+Ah 1 Physical Start bit -
+Bh 1 Type -
+Ch 1 Activate -
+Dh~Fh 3 Reserved -
…
Distributed Clocks(DC)-SYNC Out Unit
0981h 1 Activation -
…
0984h 1 Activation Status -
098Eh 1 SYNCO Status -
…
0990h~0993h 4 Start Time Cyclic Operation/Next SYNC0 Pulse -
…
09A0h~09A3h 4 SYNC0 Cycle Time -
…

6.2.5 SII area (0000h～003Fh)

In the ESC configuration area (EEPROM word address 0000h-0007h), after the power of the driver is started, the
Configured Station Alias automatically reads and writes the ESC register according to ESC. When the value of SII
EEPROM is reflected in the ESC register, the power supply needs to be started again. In addition, the initial value
of IP core (ET1810 / ET1811 / ET1812) is set. Please refer to the data table of IP core (ET1810 / ET1811 /
ET1812) for details.

6.2.6 SDO(Service Data Object)

DS5C2 series supports SDO (Service Data Object). The data exchange of SDO uses mailbox communication, so
the data refresh time of SDO becomes unstable.
The master station reads and writes data in the records of the object dictionary, which can set the object and
monitor various states of the slave station. The response to a read-write action to SDO takes time. For objects
refreshed with PDO, please do not refresh with SDO, and overwrite with PDO value.
6.2.6.1 Mailbox frame structure
Mailbox/SDO frame structure is shown as below. Please refer to ETG specification book (ETG1000-5 and
ETG1000-6).

Frame Data area Data type Function

Length WORD Mailbox data length
Address WORD Sending source station address
Channel Unsigned6 (Reserved)
Prority Unsigned2 Priority
Type Unsigned4 Mailbox type
00h: error
01h: (Reserved)
MailBox Header 02h: EoE (no response)
03h: CoE
04h: FoE (no response)
05h: SoE (no response)
06h-0Eh: (Reserved)
0Fh: VoE (no response)
Cnt Unsigned3 Mailbox counter
Reserved Unsigned1 (Reserved)
Number Unsigned9 Reserved
CoE Header Reserved Unsigned3 Reserved
Service Unsigned4 Information type
Size Indicator Unsigned1 Data Set Size use license
Transfer Type Unsigned1 Normal Forwarding/Expedited Forwarding
Data Set Size Unsigned2 Specify data size
Complete Access Unsigned1 Object access method selection (not
corresponding)
Cmd specific
Command Specfier Unsigned3 Upload / download
Selection of requirements / responses, etc
Index WORD Object Index
Subindex BYTE Object Subindex
Object data or Abort message, etc.
6.2.6.2 Mailbox overtime
This servo driver performs the following timeout settings in mailbox communication.
Timeout of mailbox request: 100ms
The master station sends a request to the slave station (driver). If the WKC of the transmission data of the request
frame is updated, the slave station is considered to receive the request normally. Until WKC is updated, retry
again and again. However, if WKC is not updated until this set time, the master station will time out.Timeout for
mailbox response: 10s
The master receives a response from a request from a slave (driver), which is considered normal if the WKC is
updated. Until this set time, if the response of updated WKC cannot be received, the master station will time out.
The maximum time required for the response of the slave (driver) to complete.
6.2.6.3 Alarm information
1) Error code
Error code returns the same value as 603Fh (Error code).
0000h～FEFFh are defined as IEC61800-7-201.
FF00h～FFFFh are defined by manufacturer, shown as below.

Index Sub-index Name/Description Range Data type Access PDO Op-mode

603Fh 00h Error code 0-65535 U16 ro TxPDO All
Now the alarm of the servo driver (only the main number).
When the alarm does not occur, it will display 0000H.
When an alarm occurs, an alarm is displayed.
FF**h
Alarm (main) code (00h～FFh)
Eg. FF03h … 03h=3d E-030 (over voltage protection)
FF55h …55h=85d E-850 (TxPDO configuration error protection), E-851 (RxPDO
configuration error protection), any of them occurred.
As an exception, A000h is displayed in the case of E-817 (Syncmanager 2/3 setting error).
2) Error register
Error register returns same value as 1001h (Error register).
Index Sub-index Name/Description Range Data type Access PDO Op-mode
1001h 00h Error register 0-65535 U16 ro TxPDO All
Displays the type of alarm (status) that is occurring to the servo driver.
When the alarm does not occur, it will display 0000H.
Do not display warnings.

Bit Contents
0
1
Not support
2
3
4 AL status code defined alarm occured *1
5 Not support
6 Reserved
7 AL status code defined alarm occured*2
*1:“AL status code defined alarm” means EtherCAT communication related error E-800～
7, E-810～7, E-850～7.
*2:“AL status code not defined alarm” means EtherCAT communication related error
E-880～7 and except EtherCAT communication related error.

6.2.7 PDO(Process Data object)

DS5C2 series supports PDO (process data object).
The real-time data transfer based on EtherCAT is carried out through the data exchange of PDO (process data
object).
PDO has RxPDO transferred from master station to slave station and TxPDO transferred from slave station to
master station.
Send Receive
RxPDO Main station Slave station
TxPDO Slave station Main station
6.2.7.1 PDO mapping objects
PDO mapping refers to the mapping from object dictionary to application object of PDO.
Tables for DS5C2 series PDO mapping can use 1600h-1603h mapping objects for RxPDO and 1A00h-1A03h
mapping objects for TxPDO.
The maximum number of application objects that a mapping object can map is as follows:
RxPDO: 32 [byte] , TxPDO: 32 [byte]

The following is an example of setting up a PDO map.

< Setting example >
Allocation of application objects 6040h, 6060h, 607ah, 60b8h to 1600h (receive PDO mapping 1: RxPDO_1).

Index Sub Object contents

1600h 00h 04h
01h 6040 00 10 h
02h 6060 00 08 h
03h 607A 00 20 h
04h 60B8 00 10 h
05h 0000 00 00 h
…
18h 0000 00 00 h
6040h 00h Controlword U16
6060h 00h Mode of operation I8
607Ah 00h Target Position I32
60B8h 00h Touch probe function U16
6.2.7.2 PDO distribution objects
In order to exchange PDO data, a table for PDO mapping must be assigned to SyncManager. The relationship
between the table used for PDO mapping and SyncManager is described to PDO allocation object. DS5C2 series,
as PDO allocation object, can use 1C12h for RxPDO (SyncManager2) and 1C13h for TxPDO (SyncManager3).
The maximum number of application objects that a mapping object can map is as follows:
RxPDO：4 [Table] (1600h～1603h)
RxPDO：4 [Table](1A00h～1A03h)
Generally, since one mapping object is enough, no change is required by default.

Example of setting PDO assignment object:

Allocation mapping object 1600h to allocation object 1C12h (Sync Manager Channel 2).

Index Sub Object contents

1C12h 00h 01h
01h 1600h
02h 0000h
03h 0000h
04h 0000h
Allocation mapping object 1600h to allocation object 1C13h (Sync Manager Channel 3).
Index Sub Object contents
1C13h 00h 01h
01h 1A00h
02h 0000h
03h 0000h
04h 0000h

6.2.8 Communication synchronization mode

DS5C2 series can select the following synchronization modes.
Synchronization Contents Synchronization methods Features
modes
DC SYNC0 Event Synchronize the time High-precision
synchronization information of other slave Compensation treatment shall be carried out
stations based on the time at the main station
of the first axis
SM2 SM2 Event Synchronize according to No transmission delay compensation, poor
synchronization RxPDO's receiving time accuracy
Need to keep transmission time on controller
side (special hardware, etc.)
FreeRun Asynchronous Asynchronous Simple handling
Poor real-time performance
6.2.8.1 DC(SYNC0 event synchronization)
DS5C2 series have 64bit DC (Distributed Clock).
The synchronization of EtherCAT communication is based on this DC. According to the DC slave station,
synchronization is realized through the system time with the same reference. The local cycle of the slave station
starts with the SYNC0 event. Since the slave processing (servo processing) starts from the SYNC0 event cycle, it
is always synchronized with the SYNC0 event.
The master station needs to carry out transmission delay compensation (offset compensation) and regular
deviation compensation during communication initialization. The following figure shows the process of
synchronous completion from the input of control power to the event of SYNC0 and the processing of slave
station (servo processing).

6.2.8.2 SM2(SM2 event synchronization)

The local cycle of the slave station starts with SM2 events.
Since the processing of the slave station starts from the SM2 event cycle, it is always synchronized with SM2
events.
Because SM2 event occurs when PDO receiving is completed, it is necessary to ensure that the upper (Master)
side sends the message regularly. If the fluctuation (deviation) of sending time is too large, synchronization cannot
be completed, or an alarm occurs.
If this happens, please use DC (SYNC0 event synchronization).
7 EtherCAT bus control mode
7.1 EtherCAT operation

The following table shows the parameters that must be configured uniformly in CSP, CSV, CST, PP, PV and TQ
modes.
Register Explanation
RXPDO[0x6040] Controlword must be added to the PDO configuration. It is invalid to modify it through IO
mapping in CSP, CSV and CST modes. It is controlled by the NC module
RXPDO[0x6060] Modes of operation, must be added to the PDO configuration,and can be modified by IO
mapping in the task mode.
RXPDO[0x607A] Target position, the given location of the program, must be added to the PDO configuration
TXPDO[0x6041] Statusword, must be added to PDO configuration
TXPDO[0x6061] Modes of operation display, must be added to PDO configuration
TXPDO[0x6064] Position actual value, must be added to PDO configuration
TXPDO[0x606C] Velocity actual value,must be added to PDO configuration
7.2 CSP mode
CSP (periodic synchronous position mode), whose motion trajectory is calculated by the upper computer,
periodically sends the target position to the slave station.

7.2.1 Related parameters

1)CSP Control mode associated object(Command・setting)

Index Sub-index Name Unit Range Data type Access PDO

6040h 00h Control word - 0~65535 U16 rw RxPDO
Other positions control common associated objects.
Index Sub-index Name Unit Range Data type Access PDO
6072h 00h Max torque 0.1% 0~65535 U16 rw RxPDO
607Ah 00h Target position Command -2147483648~ I32 rw RxPDO
unit 2147483647
607Dh - Software position limit - - - - -
Index Sub-index Name Unit Range Data type Access PDO
00h Number of entries - 2 U8 ro No
01h Min position limit Command -2147483648~ I32 rw RxPDO
unit 2147483647
02h Max position limit Command -2147483648~ I32 rw RxPDO
unit 2147483647
607Fh 00h Max profile velocity Command 0~4294967295 U32 rw RxPDO
unit/s
6080h 00h Max motor speed r/min 0~4294967295 U32 rw RxPDO
60B1h 00h Velocity offset Command -2147483648~ I32 rw RxPDO
unit/s 2147483647
60B2h 00h Torque offset 0.1% -32768~32767 I16 rw RxPDO
Other related objects with common actions
Index Sub-inde Name Unit Range Data type Access PDO
x
605Ah 00h Quick stop option code - 0~7 I16 rw NO
605Bh 00h Shutdown option code - 0~1 I16 rw NO
605Ch 00h Disable operation option - 0~1 I16 rw NO
code
605Dh 00h Halt option code - 1~3 I16 rw NO
605Eh 00h Fault reaction option - 0~2 I16 rw NO
code
607Dh - Software position limit - - - - -
00h Number of entries - 2 U8 ro No
01h Min position limit Command -2147483648~ I32 rw RxPDO
unit 2147483647
02h Max position limit Command -2147483648~ I32 rw RxPDO
unit 2147483647
607Ch 00h Home offset Command -2147483648~ I32 rw RxPDO
unit 2147483647
607Eh 00h Polarity - 0~255 U8 rw NO
6085h 00h Quick stop deceleration Command 0~4294967295 U32 rw RxPDO
unit/s²
6086h 00h Motion profile type - -32768~32767 I16 rw RxPDO
608Fh - Position encoder - - - - -
resolution
00h Number of entries - 2 U8 ro No
01h Encoder increments pulse 1~4294967295 U32 ro No
02h Motor revolutions r(motor) 1~4294967295 U32 ro No
6091h - Gear ratio - - - - -
00h Number of entries - 2 U8 ro No
01h Motor revolutions r(motor) 1~4294967295 U32 ro No
02h Shaft revolutions r(shaft) 1~4294967295 U32 ro No
6092h - Feed constant - - - - -
00h Number of entries - 2 U8 ro No
01h Feed Command 1~4294967295 U32 ro No
unit
02h Shaft revolutions r(shaft) 1~4294967295 U32 ro No
60B8h 00h Touch probe function - 0~65535 U16 rw RxPDO

Controlword(6040h) < functions in CSP control mode>

Index Sub-index Name Unit Range Data type PDO Op-mode

Control
0~65535 U16 Rw RxPDO All
word
6040h 00h Set the control command for the servo driver such as PDS state conversion.
Bit information
 Index Sub-index Name Unit Range Data type PDO Op-mode

15 14 13 12 11 10 9 8
R om h
7 6 5 4 3 2 1 0
fr oms eo qs ev so
r r r
r = reserved(not corresponding) fr = fault reset
oms = operation mode specific eo = enable operation
(control mode is based on bit) qs = quick stop
h = halt ev = enable voltage
so = switch on
CSP mode does not use oms bit.
2) realted CSP control mode (monitor)
Index Sub-index Name Unit Range Data type Access PDO
6041h 00h Statusword - 0~65535 U16 ro TxPDO

Other associated objects with common position control

Index Sub-index Name Unit Range Data Access PDO

type
6062h 00h Position demand value Command -2147483648~ I32 ro TxPDO
unit 2147483647
6063h 00h Position actual internal value pulse -2147483648~ I32 ro TxPDO
2147483647
6064h 00h Position actual value Command -2147483648~ I32 ro TxPDO
unit 2147483647
6065h 00h Position deviation too large Command 0~4294967295 U32 rw RxPDO
threshold unit
6066h 00h Following error time out 1ms 0~65535 U16 rw RxPDO
6067h 00h Position window Command 0~4294967295 U32 rw RxPDO
unit
6068h 00h Position window time 1ms 0~65535 U16 rw RxPDO
606Ch 00h Velocity actual value Command -2147483648~ I32 ro TxPDO
unit/s 2147483647
6074h 00h Torque value 0.1% -32768~32767 I16 ro TxPDO
6076h 00h Motor rated torque Mn·m 0~4294967295 U32 ro TxPDO
6077h 00h Torque actual value 0.1% -32768~32767 I16 ro TxPDO
60F4h 00h Following error actual value Command -2147483648~ I32 ro TxPDO
unit 2147483647
60FAh 00h Control Command -2147483648~ I32 ro TxPDO
unit/s 2147483647
60FCh 00h Position demand internal value pulse -2147483648~ I32 ro TxPDO
2147483647
There are other related objects common to actions.
Index Sub-index Name Unit Range Data Access PDO
type
603Fh 00h Error code - 0~65535 U16 ro TxPDO
60B9h 00h Touch probe status - 0~65535 U16 ro TxPDO
60BAh 00h The rising edge clamping Command -2147483648~ I32 ro TxPDO
position of Touch probe 1 unit 2147483647
60BBh 00h The falling edge clamping Command -2147483648~ I32 ro TxPDO
position of Touch probe 1 unit 2147483647
60BCh 00h The rising edge clamping Command -2147483648~ I32 ro TxPDO
position of Touch probe 2 unit 2147483647
60BDh 00h The falling edge clamping Command -2147483648 I32 ro TxPDO
position of Touch probe 2 unit ~2147483647

Statusword (6041h) < functions in csp control mode >

Index Sub-index Name Range Data type Access PDO Op-mode
6041h 00h Statusword 0~65535 U16 Ro TxPDO All
Servo driver status
Bit information
15 14 13 12 11 10 9 8
r oms ila oms rm r
Following error Drive follow Command value r
7 6 5 4 3 2 1 0
w sod qs Ve f oe so rsto
r = reserved(not corresponding) w = warning
sod = switch on disabled
oms = operation mode specific qs = quick stop
(control mode is based on bit) ve = voltage enabled
ila = internal limit active f = fault
oe = operation enabled
rm = remote so = switched on
rtso = ready to switch on

bit13,12,10(operation mode specific):

Bit Name Value Definition
10 Reserved - unuse
12 Set-point 0 No action based on target location
acknowledge 1 Perform actions based on target location
13 Following 0 60F4h (Following error actual value)
error =6062h (Position demand value) – 6064h (Position actual value) is over the
setting range of 6065h (Following error window) or 60F4h value is over the
setting value of 6065h, not through the setting time of 6066h.
1 60F4h (Following error actual value)
is over the setting range of 6065h (Following error window) and above the
setting time of 6066h (Following error time out)
Note: the "performing actions according to the target position" means that if all the following conditions are met:
 PDS status is operation enabled
 Not in deceleration process(Halt, Quick stop, Shutdown, Disable operation, Fault)
 Non Halt stop status

Actions in CSP control mode

 The cyclic position control mode is to generate the action model (track) through the host rather than the
slave.
 The target position is the sum of 607Ah (target position) and 60B0h (position offset), which is
understood as absolute position.
 The update (sending) of action command is that after the servo enable command (operation enabled
command), please input after about 100 ms.
 60C2h (interpolation time period), which means updating the period of 607AH (target position) and
60B0h (position offset). This value is set to the same period as 1C32h-02h (cycle time). The upper
device (host) must update the target position through 60C2h (interpolation time period).
 The servo enable can be turned off. Please form 607Ah (target position) + 60B0h (position offset) to
follow the host processing of 6064h (position actual value). If the motor moves by external force during
the servo enable is turned off, if the servo enable is turned on next time, it is very dangerous because it
needs to return to the input target position. In addition, when switching from control mode other than
CSP control mode to CSP control mode, please also do the follow operation.
7.2.2 Common parameters
Register Explanation Unit
Target position, modification via IO mapping in CSP mode is invalid, which Command
RXPDO[0x607A]
is controlled by NC module unit
TXPDO[0x6064] Position feedback (motor actual position) Command
unit
TXPDO[0x606C] Velocity feedback Command
unit/s
RXPDO[0x6060] Control mode is CSP (Periodic synchronization position mode), set to 8 -
7.3 CSV mode
CSV (periodic synchronous speed mode) enables the motor to run at a constant speed through the speed given by
the upper computer.

7.3.1 Related parameter

1)CSV Object associated with control mode (Command ・ setting )
Index Sub-index Name Unit Range Data type Access PDO
6040h 00h Control word - 0~65535 U16 rw RxPDO
607Fh 00h Max profile Command 0~4294967295 U32 rw RxPDO
velocity unit/s
Other objects that are commonly associated with speed control.
Index Sub-index Name Unit Range Data type Access PDO
6072h 00h Max torque 0.1% 0~65535 U16 rw RxPDO
6080h 00h Max motor r/min 0~4294967295 U32 rw RxPDO
speed
60B1h 00h Velocity offset Command -2147483648~ I32 rw RxPDO
unit/s 2147483647
60B2h 00h Torque offset 0.1% -32768~32767 I16 rw RxPDO
60FFh 00h Target velocity Command 0~4294967295 U32 rw RxPDO
unit/s
Other related objects with common actions.
Index Sub-index Name Unit Range Data Access PDO
type
605Ah 00h Quick stop option code - 0~7 I16 rw NO
605Bh 00h Shutdown option code - 0~1 I16 rw NO
605Ch 00h Disable operation option - 0~1 I16 rw NO
code
Index Sub-index Name Unit Range Data Access PDO
type
605Dh 00h Halt option code - 1~3 I16 rw NO
605Eh 00h Fault reaction option code - 0~2 I16 rw NO
607Bh - Position range limit - - - - -
00h 607Bh sub index numbers - 2 U8 ro NO
01h Min position limit Command -2147483648~ I32 rw RxPDO
unit 2147483647
02h Max position limit Command -2147483648~ I32 rw RxPDO
unit 2147483647
607Ch 00h Home offset Command -2147483648~ I32 rw RxPDO
unit 2147483647
607Eh 00h Polarity - 0~255 U8 rw NO
6085h 00h Quick stop deceleration Command 0~4294967295 U32 rw RxPDO
unit/s²
6086h 00h Motion profile type - -32768~32767 I16 rw RxPDO
608Fh - Position encoder resolution - - - - -
00h 608Fh sub index numbers - 2 U8 ro NO
01h Encoder increments pulse 1~4294967295 U32 ro NO
02h Motor revolutions r(motor) 1~4294967295 U32 ro NO
6091h - Gear ratio - - - - -
00h 6091h sub index numbers - 2 U8 ro NO
01h Motor revolutions r(motor) 1~4294967295 U32 ro NO
02h Shaft revolutions r(shaft) 1~4294967295 U32 ro NO
6092h - Feed constant - - - - -
00h 6092h sub index numbers - 2 U8 ro NO
01h Command
Feed value 1~4294967295 U32 ro NO
unit
02h Shaft revolutions r(shaft) 1~4294967295 U32 ro NO
60B8h 00h Touch probe mode - 0~65535 U16 rw RxPDO

Controlword(6040h) < Function in csv control mode >

Index Sub-index Name Unit Range Data type Access PDO
Controlword 0~65535 U16 rw RxPDO All
Set the control command for the servo driver such as PDS state conversion.
Bit information

15 14 13 12 11 10 9 8
R om h
7 6 5 4 3 2 1 0
6040h 00h
fr oms eo qs ev so
r r r
r = reserved(not corresponding) fr = fault reset
oms = operation mode specific eo = enable operation
(control mode is based on bit) qs = quick stop
h = halt ev = enable voltage
so = switch on
Csv mode doesn’t use oms bit.
2)Objects associated with CSV control mode (monitoring)
Index Sub-index Name Unit Range Data type Access PDO
6041h 00h Statusword - 0~65535 U16 ro TxPDO
Other related objects common to speed control.

Index Sub-index Name Unit Range Data type Access PDO

6063h 00h Position actual pulse -2147483648~ I32 ro TxPDO
internal value 2147483647
6064h 00h Position feedback Command -2147483648~ I32 ro TxPDO
Index Sub-index Name Unit Range Data type Access PDO
unit 2147483647
606Bh 00h Velocity command Command -2147483648~ I32 ro TxPDO
unit/s 2147483647
606Ch 00h Velocity feedback Command -2147483648~ I32 ro TxPDO
unit/s 2147483647
6074h 00h Torque command 0.1% -32768~32767 I16 ro TxPDO
6076h 00h Motor rated torque Mn·m 0~4294967295 U32 ro TxPDO
6077h 00h Torque feedback 0.1% -32768~32767 I16 ro TxPDO

Other associated objects that share the same mode.

Index Sub-index Name Unit Range Data Access PDO
type
603Fh 00h Error Code - 0~65535 U16 ro TxPDO
60B9h 00h Touch probe status - 0~65535 U16 ro TxPDO
60BAh 00h The rising edge clamping Command -2147483648~ I32 ro TxPDO
position of Touch probe 1 unit 2147483647
60BBh 00h The falling edge clamping Command -2147483648~ I32 ro TxPDO
position of Touch probe 1 unit 2147483647
60BCh 00h The rising edge clamping Command -2147483648~ I32 ro TxPDO
position of Touch probe 2 unit 2147483647
60BDh 00h The falling edge clamping Command -2147483648~ I32 ro TxPDO
position of Touch probe 2 unit 2147483647
Statusword (6041h) < Function of csv control mode >
Index Sub-index Name Unit Range Data type Access PDO
6041h 00h Status word 0~65535 U16 ro TxPDO All
Servo driver status.
Bit information
15 14 13 12 11 10 9 8
r oms ila oms rm r
r follow drive command vaule r
7 6 5 4 3 2 1 0
w sod qs ve f oe so rsto
r = reserved(not corresponding) w = warning
sod = switch on disabled
oms = operation mode specific qs = quick stop
(control mode is based on bit) ve = voltage enabled
ila = internal limit active f = fault
oe = operation enabled
rm = remote so = switched on
rtso = ready to switch on
bit13,12,10(operation mode specific):
Bit Name Value Definition
10 Reserved - Unuse
12 0 Action not performed according to target speed
Reserved
1 Perform the action according to the target speed
13 Reserved - Unuse
The "performing actions according to target speed" should meet the following conditions:
 The PDS status is operation enabled
 Not in deceleration processing (halt, quickstop, shutdown, disable operation, falut)
 It is not a halt state.
 The torque limit does not occur

Actions in CSV control mode

 In the cyclic speed control mode, the motion model (trajectory) is generated not on the slave but on the
 master.
 The target speed is 60FFh (target velocity)
 The update (sending) of action command is that after the operation enabled command, please input it
after about 100 ms.
 60C2h (interpolation time period) means the period of updating 60FFh (target velocity) and 60B1h
(velocity offset). This value is set to the same period as 1C32h-02h (cycle time).
 As monitoring information, provide 606Ch (velocity actual value), etc.
 The 60FFh (target velocity) value is limited by 6080h (max motor speed).

7.3.2 Common parameters

Register Explanation Unit
RXPDO[0x60FF] Target velocity Command unit/s
TXPDO[0x6064] Position feedback Command unit
TXPDO[0x606C] Velocity feedback Command unit/s
Max motor speed, which can be modified through
RXPDO[0x6080] r/min
COE-Online
RXPDO[0x6060] Control mode is CSV (Periodic Synchronous Speed Mode), -
set its value to 9
7.4 CST mode
CST (periodic synchronous torque mode) allows the motor to run at a constant torque through the torque given by
the upper computer.

7.4.1 Related parameter

1)Objects associated with CST control mode (Command・setting)

Index Sub-index Name Unit Range Data type Access PDO

6040h 00h Controlword - 0~65535 U16 rw RxPDO
Other related objects with common torque control.
Index Sub-index Name Unit Range Data type Access PDO
6071h 00h Target torque 0.1% -32768~32767 I16 rw RxPDO
6072h 00h Max torque 0.1% 0~65535 U16 rw RxPDO
6080h 00h Max motor speed r/min 0~4294967295 U32 rw RxPDO
6087h 00h Torque slope 0.1%/S 0~4294967295 U32 rw RxPDO
60B2h 00h Torque offset 0.1% -32768~32767 I16 rw RxPDO
Other related objects with common actions.
Index Sub-index Name Unit Range Data type Access PDO
605Ah 00h Quick stop option code - 0~7 I16 rw NO
605Bh 00h Shutdown option code - 0~1 I16 rw NO
605Ch 00h Disable operation - 0~1 I16 rw NO
option code
605Dh 00h Halt option code - 1~3 I16 rw NO
605Eh Fault reaction option - 0~2 I16 rw NO
00h
code
607Bh - Position range limit - - - - -
00h 607Bh sub index - 2 U8 ro NO
Index Sub-index Name Unit Range Data type Access PDO
numbers
Command -2147483648 I32 rw RxPDO
01h Min position limit unit ~
2147483647
Command -2147483648 I32 rw RxPDO
02h Max position limit unit ~
2147483647
607Ch Command -2147483648 I32 rw RxPDO
00h Home offset unit ~
2147483647
607Eh 00h Polarity - 0~255 U8 rw NO
6085h Command 0~429496729 U32 rw RxPDO
00h Quick stop deceleration
unit / s² 5
6086h - -32768~3276 I16 rw RxPDO
00h Motion profile type
7
608Fh Position encoder - - - - -
-
resolution
608Fh sub index - 2 U8 ro NO
00h
numbers
pulse 1~429496729 U32 ro NO
01h Encoder increments
5
r(motor) 1~429496729 U32 ro NO
02h Motor revolutions
5
6091h - Gear ratio - - - - -
6091h sub index - 2 U8 ro NO
00h
numbers
r(motor) 1~429496729 U32 ro NO
01h Motor revolutions
5
r(shaft) 1~429496729 U32 ro NO
02h Shaft revolutions
5
6092h - Feed constant - - - - -
6092h sub index - 2 U8 ro NO
00h
numbers
Command 1~429496729 U32 ro NO
01h Feed value
unit 5
r(shaft) 1~429496729 U32 ro NO
02h Shaft revolutions
5
60B8h 00h Touch probe function - 0~65535 U16 rw RxPDO

Control word (6040h) <function in cst control mode>

Index Sub-index Name Range Data type Access PDO Op-mode
Controlword 0~65535 U16 Rw RxPDO All
Set the control command to the servo driver such as PDS state conversion.
Bit information

15 14 13 12 11 10 9 8
r om h
7 6 5 4 3 2 1 0
6040h 00h
fr oms eo qs ev so
r r r
r = reserved(not corresponding) fr = fault reset
oms = operation mode specific eo = enable operation
(control mode is based on bit) qs = quick stop
h = halt ev = enable voltage
so = switch on
Cst mode doesn’t use oms bit.
2)Objects associated with CST torque control (monitoring)
Index Sub-index Name Units Range Data type Access PDO
6041h 00h Statusword - 0~65535 U16 ro TxPDO
6073h 00h Max current 0.1% 0~65535 U16 ro NO

Other objects commonly associated with torque control (monitoring)

Index Sub-index Name Units Range Data Access PDO
type
6063h 00h Position actual pulse -2147483648~ I32 ro TxPDO
internal value 2147483647
6064h 00h Position actual value Command -2147483648~ I32 ro TxPDO
unit 2147483647
606Ch 00h Velocity actual value Command -2147483648~ I32 ro TxPDO
unit/s 2147483647
6074h 00h Torque demand 0.1% -32768~32767 I16 ro TxPDO
6075h 00h Motor rated current 1mA 0~4294967295 U32 ro TxPDO
6076h 00h Motor rated torque Mn·m 0~4294967295 U32 ro TxPDO
6077h 00h Torque actual value 0.1% -32768~32767 I16 ro TxPDO
6078h 00h Current actual value 0.1% -32768~32767 I16 ro TxPDO

Other associated objects that share the same mode.

Index Sub-index Name Units Range Data Access PDO
type
603Fh 00h Error Code - 0~65535 U16 ro TxPDO
60B9h 00h Touch probe status - 0~65535 U16 ro TxPDO
60BAh 00h The rising edge clamping Command -2147483648~ I32 ro TxPDO
position of Touch probe 1 unit 2147483647
60BBh 00h The falling edge clamping Command -2147483648~ I32 ro TxPDO
position of Touch probe 1 unit 2147483647
60BCh 00h The rising edge clamping Command -2147483648~ I32 ro TxPDO
position of Touch probe 2 unit 2147483647
60BDh 00h The falling edge clamping Command -2147483648~ I32 ro TxPDO
position of Touch probe 2 unit 2147483647
Statusword (6041h) < functions in tq control mode >
Index Sub-Index Name/Description Range DateType Access PDO Op-mode
6041h 00h Statusword 0~65535 U16 ro TxPDO All
Servo driver status.
Bit information
15 14 13 12 11 10 9 8
r oms ila oms rm r
r Drive following command vaule r
7 6 5 4 3 2 1 0
w sod qs ve f oe so rsto
r = reserved(not corresponding) w = warning
sod = switch on disabled
oms = operation mode specific qs = quick stop
(control mode is based on bit） ve = voltage enabled
ila = internal limit active f = fault
oe = operation enabled
rm = remote so = switched on
rtso = ready to switch on
bit13,12,10(operation mode specific):
Bit Name Value Definition
10 Reserved - Unuse
12 Torque 0 Action not performed according to target torque
 1 Perform the action according to the target torque
13 Reserved - Unuse
Performing actions according to target torque should meet the following conditions:
 The PDS status is operation enabled
 not in deceleration processing (halt, quickstop, shutdown, disable operation, falut)
 It is not a halt state

Actions of CST control mode

 In the cyclic torque control mode, the mode profile generation is not in the slave but in the host.
 The target torque is 6071h (target torque)
 The torque feedforward is 60B2h (torque offset), which is not supported temporarily.
 The update (sending) of action command, after the servo is on, please input after about 100ms.
 60C2h (interpolation time period) means updating the period of 6071h (target torque) and 60B2h
(torque offset). This value is set to the same period as 1C32h-02h (cycle time).
 As monitoring information, provide 6077h (torque actual value), etc.
 The 6071h (target torque) value is limited by 6072h (max torque), 2312h (P3-28), 2313h (P3-29), the
minimum value.
 The speed limit is 6080h (max motor speed).

7.4.2 Common parameters

Register Explanation Unit
RXPDO[0x6071] Target torque 0.1%
TXPDO[0x6064] Position feedback Command unit
TXPDO[0x606C] Velocity feedback Command unit /s
TXPDO[0x6077] Torque feedback 0.1%
RXPDO[0x6080] Max motor speed r/min
RXPDO[0x6060] Control mode is CST (Periodic -
Synchronous Torque Mode), set its
value to 10
7.5 HM mode
HM mode (i.e. home mode) is used for initialization of the slave station position. An origin reset method is a
position control mode that specifies an operation speed and generates a position command inside the servo driver
to perform an origin reset operation. If it is used in the incremental mode, after the control power is put into
operation, it is necessary to perform the zero point reset action before performing the position positioning work.
7.5.1 Related parameter
1)Related object of HM control mode(Command・setting)
Index Sub-index Name Units Range Data type Access PDO
6040h 00h ControlWord - 0~65535 U16 rw RxPDO
6098h 00h Homing method - -128~127 I8 rw RxPDO
6099h - Homing speeds - - - - -
00h Item numbers - 2 U8 ro NO
01h Homing switch Command 0~4294967295 U32 rw RxPDO
speed unit/s
02h Homing speed Command 0~4294967295 U32 rw RxPDO
unit/s
609Ah 00h Homing Command 0~4294967295 U32 rw RxPDO
acceleration unit/s²

Other related objects with common position control

Index Sub-index Name Units Range Data type Access PDO
6072h 00h Max torque 0.1% 0~65535 U16 rw RxPDO
607Fh 00h Max profile Command 0~4294967295 U32 rw RxPDO
velocity unit/s
6080h 00h Max motor r/min 0~4294967295 U32 rw RxPDO
speed
60B1h 00h Velocity offset Command -2147483648~ I32 rw RxPDO
unit/s 2147483647
60B2h 00h Torque offset 0.1% -32768~32767 I16 rw RxPDO
60C5h 00h Max Command 0~4294967295 U32 rw RxPDO
acceleration unit/ s²
60C6h 00h Max Command 0~4294967295 U32 rw RxPDO
deceleration unit/ s²
Other related objects with common actions
Index Sub-index Name Units Range Data Access PDO
type
605Ah 00h Quick stop option code - 0~7 I16 rw NO
605Bh 00h Shutdown option code - 0~1 I16 rw NO
00h Disable operation option - 0~1 I16 rw NO
605Ch
code
605Dh 00h Halt option code - 1~3 I16 rw NO
00h Fault reaction option - 0~2 I16 rw NO
605Eh
code
- Software position limit - - - - -
00h 607Dh sub index - 2 U8 ro NO
numbers
607Dh 01h Min position limit Command -2147483648~ I32 rw RxPDO
unit 2147483647
02h Max position limit Command -2147483648~ I32 rw RxPDO
unit 2147483647
00h Home offset Command -2147483648~ I32 rw RxPDO
607Ch
unit 2147483647
607Eh 00h Polarity - 0~255 U8 rw NO
00h Quick stop deceleration Command 0~4294967295 U32 rw RxPDO
6085h
unit/s²
6086h 00h Motion profile type - -32768~32767 I16 rw RxPDO
- Position encoder - - - - -
resolution
00h 608Fh sub index - 2 U8 ro NO
608Fh
numbers
01h Encoder increments Pulse 1~4294967295 U32 ro NO
02h Motor revolutions r(motor) 1~4294967295 U32 ro NO
Index Sub-index Name Units Range Data Access PDO
type
- Gear ratio - - - - -
00h 6091h sub index - 2 U8 ro NO
6091h numbers
01h Motor revolutions r(motor) 1~4294967295 U32 ro NO
02h Shaft revolutions r(shaft) 1~4294967295 U32 ro NO
- Feed constant - - - - -
00h 6092h sub index - 2 U8 ro NO
numbers
6092h
01h Set Feed Command 1~4294967295 U32 ro NO
unit
02h Shaft revolutions r(shaft) 1~4294967295 U32 ro NO
60B8h 00h Touch probe function - 0~65535 U16 rw RxPDO

Controlword (6040h) < Functions in HM control mode >

Index Sub-index Name Range Data type Access PDO Op-mode
6040h 00h Control 0~65535 U16 Rw RxPDO All
word
Set the control command to the servo driver such as PDS state conversion.
Bit information

15 14 13 12 11 10 9 8
r oms h
7 6 5 4 3 2 1 0
Fr oms eo qs ev so
r r start homing
r = reserved(not corresponding) fr = fault reset
oms = operation mode specific eo = enable operation
(control mode is based on bit) qs = quick stop
h = halt ev = enable voltage
so = switch on

bit9,6-4(operation mode specific):

Bit Name Value Definition
4 start homing 0 -> 1 Start the origin point reset action
5 (reserved) - not used
6 (reserved) - not used
9 (reserved) - not used

Through the opening of bit4 (start homing) of 6040h (control word), obtain the parameters (timing method, speed,
acceleration and deceleration, etc.) associated with the origin reset position control mode (HM), and start the
action.
In addition, in the origin reset action, even if a new origin reset action (bit4 of 6040h is started again), the new
origin reset action is ignored.
Homing method(6098h)
Index Sub-index Name Range Data type Access PDO Op-mode
Homing
-128~127 I8 rw RxPDO All
method
Set the zero point reset method
Value Definition
-2 Reverse hitting homing
-1 Forward hitting homing
0 No homing method assigned
1 -Ve LS & Index Pulse
2 +Ve LS & Index Pulse
3 +Ve HS & Index Pulse direction reversal
4 +Ve HS & Index Pulse no direction changed
5 -Ve HS & Index Pulse direction reversal
6 -Ve HS & Index Pulse no direction changed
7 On +Ve HS -Index Pulse
8 On +Ve HS +Index Pulse
9 After +Ve HS reverse +Index Pulse
10 After +Ve HS +Index Pulse
11 On -Ve HS -Index Pulse
12 On -Ve HS +Index Pulse
13 After -Ve HS reverse +Index Pulse
14 After -Ve HS +Index Pulse
15 Reserved
6098h 00h
16 Reserved
17 Same as 1 without Index pulse
18 Same as 2 without Index pulse
19 Same as 3 without Index pulse
20 Same as 4 without Index pulse
21 Same as 5 without Index pulse
22 Same as 6 without Index pulse
23 Same as 7 without Index pulse
24 Same as 8 without Index pulse
25 Same as 9 without Index pulse
26 Same as 10 without Index pulse
27 Same as 11 without Index pulse
28 Same as 12 without Index pulse
29 Same as 13 without Index pulse
30 Same as 14 without Index pulse
33 On Index Pulse +Ve direction
34 On Index Pulse –Ve direction
35 Current postion = home
37 Current postion = home
+Ve: positive LS: Limit switch
-Ve: negative HS: Home switch

Homing speeds(6099h)
Index Sub-index Name Range Data Access PDO Op-mode
type
6099h - Homing speeds - - - - -
Set the speed in the home reset position control mode (HM).
00h Number of entries 2 U8 ro NO HM
Sub-Index number of 6099h (Homing speeds)
01h Speed during search 0~4294967295 U32 rw RxPDO HM
Set the speed of the action to be detected by the switch signal.
The maximum value is limited by any smaller one of the internal processing of 6080h (max
motor speed) and 2147483647.
 02h Speed during search for 0~4294967295 U32 rw RxPDO HM
zero
Set the action speed to zero point detection.
If the edge of the switch signal is used as the origin detection position, in order to reduce the
detection error, please set a value as small as possible.
The maximum value is limited by the smaller side of the internal processing of 6080h (max
motor speed) and 2147483647.

Homing acceleration (609Ah)

Index Sub-index Name Range Data type Access PDO Op-mode
609Ah 00h Homing 0~4294967295 U32 rw RxPDO All
acceleration
Set the acceleration and deceleration in the origin reset position control mode (HM).
The deceleration of the home reset position control mode (HM) is also used for this object.
When each homing method is finally stopped (when the origin position is checked out), the
setting of this object is not needed, and the servo lock stops.
If set to 0, internal processing is treated as 1.
2) Objects associated with HM control mode (monitor)
Index Sub-index Name Unit Range Data type Access PDO
6041h 00h Statusword - 0~65535 U16 ro TxPDO
60E3h - Supported homing - - - - TxPDO
method
00h 60E3h sub index - 1~254 U8 ro TxPDO
numbers
01h Homing mode 1 - 0~32767 U16 ro TxPDO
.. .. .. .. .. .. ..
20h Homing mode 32 - 0~32767 U16 ro TxPDO
Other associated objects with common position control
Index Sub-index Name Unit Range Data Access PDO
type
6062h 00h Position command Command -2147483648~ I32 ro TxPDO
unit 2147483647
6063h 00h Actual internal position pulse -2147483648~ I32 ro TxPDO
feedback 2147483647
6064h 00h Position feedback Command -2147483648~ I32 ro TxPDO
unit 2147483647
6065h 00h Position offset too large Command 0~4294967295 U32 rw RxPDO
threshold unit
6066h 00h Error time out 1ms 0~65535 U16 rw RxPDO
6067h 00h Position reach the threshold Command 0~4294967295 U32 rw RxPDO
unit
6068h 00h Position reach window time 1ms 0~65535 U16 rw RxPDO
606Ch 00h Velocity feedback Command -2147483648~ I32 ro TxPDO
unit/s 2147483647
6074h 00h Torque command 0.1% -32768~32767 I16 ro TxPDO
6076h 00h Motor rated torque Mn·m 0~4294967295 U32 ro TxPDO
6077h 00h Torque feedback 0.1% -32768~32767 I16 ro TxPDO
60F4h 00h Position offset Command -2147483648~ I32 ro TxPDO
unit 2147483647
60FAh 00h Internal command speed Command -2147483648~ I32 ro TxPDO
(position loop output) unit/s 2147483647
60FCh 00h Internal position command pulse -2147483648~ I32 ro TxPDO
2147483647
Note: 6064h (position feedback) will reset after HM homing.
Other related objects with common actions
Index Sub-index Name Unit Range Data Access PDO
type
603Fh 00h Error Code - 0~65535 U16 ro TxPDO
60B9h 00h Touch probe status - 0~65535 U16 ro TxPDO
60BAh 00h The rising edge clamping Command -2147483648~ I32 ro TxPDO
position of Touch probe 1 unit 2147483647
60BBh 00h The falling edge clamping Command -2147483648~ I32 ro TxPDO
position of Touch probe 1 unit 2147483647
60BCh 00h The rising edge clamping Command -2147483648~ I32 ro TxPDO
position of Touch probe 2 unit 2147483647
60BDh 00h The falling edge clamping Command -2147483648~ I32 ro TxPDO
position of Touch probe 2 unit 2147483647
Statusword (6041h) < functions in hm control mode >
Index Sub-index Name Range Data type Access PDO Op-mode
6041h 00h Statusword 0~65535 U16 ro TxPDO All
Servo driver status
Bit information
15 14 13 12 11 10 9 8
r oms ila oms rm r
Homing error Homing attained Target reached
7 6 5 4 3 2 1 0
W sod qs ve f oe so rsto
r = reserved(not corresponding) w = warning
sod = switch on disabled
oms = operation mode specific qs = quick stop
(control mode is based on bit) ve = voltage enabled
ila = internal limit active f = fault
oe = operation enabled
rm = remote so = switched on
rtso = ready to switch on
bit13,12,10(operation mode specific):
Bit Name Value Definition
0 In action
10 target reached
1 Stop status
homing attained 0 Homing action not completed
12
1 Homing action completed
0 Homing abnormality does not occur
13 Homing error
1 Abnormal homing (the homing action cannot be executed normally)

bit13,12,10(operation mode specific):

Bit13 Bit12 Bit10 Definition
0 0 0 Homing in action
0 0 1 Homing action interrupted or not started
0 1 0 Homing action is completed, but the target position is not reached
0 1 1 Normal completion of homing
1 0 0 Detect out that the homing abnormality is still in operation
1 0 1 Detect out the abnormal homing and stop state

bit12 (homing attained) is 0 in the following states:

 When the power is on
 When the ESM state is transferred from Init to PreOP
 At the beginning of origin point reset
When the homing action (method35, method37) without motor action is started, the homing attached is also set to
0. However, the time set to 0 is short (about 2 ms).
Supported homing method (60E3)
Index Sub-index Name Unit Range Data type Access PDO
60E3h - Supported Homing method - - - - TxPDO
Indicates the supported homing method
00h Number of entries - 1~254 U8 ro TxPDO
Represents the number of homing methods supported by 60E3h (supported homing method).
01h 1st supported Homing method - 0~32767 U16 ro TxPDO
Indicates that the first home method is supported.
.. .. .. .. .. .. ..
20h 32nd supported Homing method - 0~32767 U16 ro TxPDO
Indicates that the 32nd home method is supported

Index Sub-index bit 15~8 bit 7~0

Reserved Supported Homing method
60E3 01h 0 1
02h 0 2
03h 0 3
04h 0 4
05h 0 5
06h 0 6
07h 0 7
08h 0 8
09h 0 9
0Ah 0 10
0Bh 0 11
0Ch 0 12
0Dh 0 13
0Eh 0 14
0Fh 0 17
10h 0 18
11h 0 19
12h 0 20
13h 0 21
14h 0 22
15h 0 23
16h 0 24
17h 0 25
18h 0 26
19h 0 27
1Ah 0 28
1Bh 0 29
1Ch 0 30
1Dh 0 33
1Eh 0 34
1Fh 0 35
20h 0 37
The relationship between * value and Homing method please refer to 6098h (Homing method).

3) The action of HM control mode (Homing action)

When using in incremental mode, in order to initialize the location information before starting the normal action,
please execute the homing action.
 After the origin position is detected, this position is used as the reference to initialize the following
objects (preset).
6062h(Position demand value)= 6064h(Position actual value)= 607Ch(Home offset)
 6063h(Position actual internal value)= 60FCh(Position demand internal value)= 0
 If the origin point reset is performed, the position information is initialized (preset). Therefore, it is
necessary to obtain the data based on the old location information again (touch probe location, etc.).
 Whether 607Ch (home offset) is changed or not in the homing action, it is not reflected in the executing
homing action. The next homing action will be reflected (initialization of position information upon
completion).
 607C (me offset) is only valid in homing mode 35 and 37.
 If the edge of the switch signal (T, NOT, HOME) is used as the detection position of the origin, please
assign each clamping compensation pin to SI1, SI2, SI3. If it is not allocated correctly, an error will be
reported in the origin reset. (Note: P5-22 of DS5C2 series servo is the setting address of positive limit,
the default value is 1, the corresponding servo terminal is SI1; P5-23 is the setting address of negative
limit NOT, the default value is 2, the corresponding servo terminal is SI2; P5-27 is the setting address of
origin, the default value is 3, the corresponding servo terminal is SI3.)
 In the Method diagrams described later, the meaning of below terms:
Index pulse Z phase signal of encoder
Home switch Theoretical signal state of near origin input(ME)
Positive limit Theoretical signal state of forward drive inhibit input(POT)
Negative limit Theoretical signal state of negative drive inhibit input(NOT)

 After the update (sending) of action command and the operation enabled command, please input after
about 100 ms.
 The following shows the timing of the HM control mode.

 Homing error occurrence condition

According to the homing action, the conditions for an exception (homing error = 1) are as follows.
Homing error occurrence Details
condition
Startup except Operation Start Homing when PDS status is not Operation enabled (except for method35,
enabled 37)
Startup Homing when 6099h-01h and 6099h-02h is set to 0
Startup under target speed 0 (except 6099h-02h of method33, 34 and 6099h-01h, 6099h-02h of method35, 37
are 0)
detected out two Limit Two limit switches of positive/negative are detected during the homing start or the
switch homing action.
Under the method reversed by limit switch, in the reverse deceleration action after
Use Limit switch the rising edge of limit switch is detected, the falling edge of limit switch is
detected
Home switch, Limit switch Not distribute IO terminal
not distributed
7.5.2 Related parameters
Register Explanation Unit
RXPDO[0x6040] Control word, modify the control word to enable the homing -
RXPDO[0x6098] Homing method -
RXPDO[0x609A] Homing acceleration Command unit/s2
RXPDO[0x6060] Set to 6 when the motor is not enabled -
SDO[0x6099] Homing speed, can be modified online through COE-Online Command unit/s
Control word (6040h)
Set it to (0x06 > 0x0f > 0x1f) in sequence, enable the driver and start the motor to operate, and homing is enabled.

7.5.3 Homing method

Now DS5C2 servo driver support 1~14, 17~30, 33, 34, 35, 37 and -1, -2 homing method.
If the slave station of other brands is used, the method of homing to the original point shall be subject to the slave
station Manual of the corresponding brands.

 Method -1:
The servo motor first runs at a forward low speed with the set value of 6099h:02 (low speed for homing). After
hitting the mechanical limit position, if the absolute value of the torque reaches the upper limit of P9-17 (touch
stop homing torque threshold), and the absolute value of the speed is lower than the set value of P9-16 (touch stop
homing speed threshold), this state is maintained for the set time of P9-18 (touch stop homing time threshold), and
it is judged to have reached the mechanical limit position. Then it can be divided into two situations:
1 P7-20=0, and the number of quantitative pulses is 0. At this point, immediately stop the machine and
calibrate it as zero (position reset);

2 P7-20>0, the number of quantitative pulses is 0, and it runs in reverse at the setting homing low speed.
When encountering the rising edge of P7-20 Z-phase signals, it immediately stops and calibrates the zero
point (position reset).

3 P7-20=0, and the number of quantitative pulses is not 0. First, run in the forward direction at low speed
(6099h: 02), and after touching the mechanical point, run in the reverse direction at homing high speed
(6099h: 01). After the quantitative pulse length is reached, stop the machine and calibrate it as the zero
point (Ecat position is reset to zero);
 4 P7-20>0, the number of quantitative pulses is not 0. First, run in the forward direction at low speed
(6099h: 02), and then run in the reverse direction at the set homing low speed (6099h: 02) when
encountering the mechnical origin, stop machine when encountering the rising edge of P7-20 Z-phase
signals. After stopping, run the quantitative pulse length at the homing high speed (6099h: 01), and then
stop the machine. Calibrate the zero point (Ecat position is reset).
Default Effective Suitable
Parameter Function Unit Range
value time mode
Ethercat homing find the Z phase EtherCAT
P7-20 - 1 -9999~9999 ○
numbers mode

The positive and negative values of the P7-20 parameters represent the direction of homing,
with positive values indicating the forward direction of finding the origin, negative values
indicating the reverse direction of finding the origin, and absolute values indicating the
number of Z-phase points for homing.

 Method -2:
Similar to the previous homing action, running in the opposite direction.

 Method 1:
When using this homing method 1, if the reverse limit switch is in a non triggered state, the initial direction of
movement is left. The first Z-phase pulse to the right of the position where the negative limit switch becomes
invalid at the origin position.

 Method 2:
When using method 2, if the forward limit switch is not triggered, the initial movement direction is to the right.
The origin position is at the first Z-phase pulse to the left of the position where the forward limit switch becomes
invalid.
  Method 3, 4:
Using method 3 or 4, the initial direction of movement depends on the state of the origin switch. The origin
position is on the reverse side of the origin switch or at the initial detected Z-phase position in the forward rotation
direction.

 Method 5, 6:
Using method 5 or 6, the initial direction of movement depends on the state of the origin switch. The origin
position is on the reverse side of the origin switch or at the initial detected Z-phase position in the forward rotation
direction.
  Method 7~14:
7-14 all use origin switches and Z-phase signals;
The initial action direction of modes 7 and 8 is negative if the origin switch is already activated at the beginning
of the action;
The initialization direction of modes 9 and 10 is positive if the origin switch is already activated at the beginning
of the action;
The initialization direction of modes 11 and 12 is positive if the origin switch is already activated at the beginning
of the action;
The initialization direction of modes 13 and 14 is negative if the origin switch is already activated at the beginning
of the action;
The final position returned to the origin is the Z-phase signal near the rising or falling edge of the origin switch.
  Method 17:
This method is similar to Method 1.
The difference is that the origin detection position is not the index pulse, but the position where the Limit switch
changes. (Please refer to the following figure)
When NOT is not assigned, Homing error=1.

 Method 18:
This method is similar to Method 2.
The difference is home detection position is not Index pulse. It is becoming the position where limit switch
changed.
When POT is not allocated, Homing error = 1.
(Please refer to the figure below)
  Method 19,20:
These methods is similar to Method 3 and 4.
The difference is home detection position is not Index pulse. It is becoming the position where Home switch
changed.
When HOME is not assigned, homing error = 1.
(Please refer to the figure below)

 Method 21,22:
These methods is similar to Method 5 and 6.
The difference is home detection position is not Index pulse. It is becoming the position where Home switch
changed.
When HOME is not assigned, homing error = 1.
(Please refer to the figure below)
  Method 23,24,25,26:
These methods is similar to Method 7, 8, 9, 10.
The difference is home detection position is not Index pulse. It is becoming the position where Home switch
changed.
When HOME,POT is not assigned, homing error = 1.
(Please refer to the figure below)

 Method 27,28,29,30:
These methods is similar to Method 11,12,13,14。
The difference is home detection position is not Index pulse. It is becoming the position where Home switch
changed.
When HOME,NOT is not assigned, homing error = 1.(Please refer to the figure below)
  Method 33, 34:
Using methods 33 or 34, homing direction with negative or positive values, respectively. The original position is
located near Z in the selected direction.

 Method 35, 37:

In modes 35 and 37, the position after power on is the home position.
7.6 PP mode
PP (profile position control mode) is the position control mode that specifies the target position, target speed,
acceleration/deceleration, etc., and acts after generating a position command in the servo driver. For this control
mode, please check the communication cycle 500 μs or more.

7.6.1 Related parameters

1)PP control mode related objects(Command ・settings)
Data
Index Sub-index Name Units Range Access PDO
type
6040h 00h Control word - 0~65535 U16 rw RxPDO
6072h 00h Max torque 0.1% 0~65535 U16 rw RxPDO
Command -2147483648~
607Ah 00h Target position I32 rw RxPDO
unit 2147483647
Software absolute
- - - - - -
607Dh position limit
00h 607Dh sub index - 2 U8 ro NO
 Data
Index Sub-index Name Units Range Access PDO
type
numbers
Command -2147483648~
01h Min position limit I32 rw RxPDO
unit 2147483647
Command -2147483648~
02h Max position limit I32 rw RxPDO
unit 2147483647
Command
607Fh 00h Max profle velocity 0~4294967295 U32 rw RxPDO
unit/s
6080h 00h Max motor speed r/min 0~4294967295 U32 rw RxPDO
Command
6081h 00h Profile velocity 0~4294967295 U32 rw RxPDO
unit/s
Command
6083h 00h Profile acceleration 0~4294967295 U32 rw RxPDO
unit/s²
Command
6084h 00h Profile deceleration 0~4294967295 U32 rw RxPDO
unit/s²
Command -2147483648~
60B1h 00h Velocity offset I32 rw RxPDO
unit/s 2147483647
60B2h 00h Torque offset 0.1% -32768~32767 I16 rw RxPDO
Command
60C5h 00h Max acceleration 0~4294967295 U32 rw RxPDO
unit/ s²
Command
60C6h 00h Max deceleration 0~4294967295 U3 rw RxPDO
unit/ s²
Other related objects with common actions
Index Sub-index Name Units Range Data type Access PDO
605Ah 00h Quick stop option code - 0~7 I16 rw NO
605Bh 00h Shutdown option code - 0~1 I16 rw NO
Disable operation
605Ch 00h - 0~1 I16 rw NO
option code
605Dh 00h Halt option code - 1~3 I16 rw NO
Fault reaction option
605Eh 00h - 0~2 I16 rw NO
code
- Software position limit - - - - -
607h sub index
00h - 2 U8 ro NO
numbers
607Dh Command -2147483648~
01h Min position limit I32 rw RxPDO
unit 2147483647
Command -2147483648~
02h Max position limit I32 rw RxPDO
unit 2147483647
Command -2147483648~
607Ch 00h Home offset I32 rw RxPDO
unit 2147483647
607Eh 00h Polarity - 0~255 U8 rw NO
Command
6085h 00h Quick stop deceleration 0~4294967295 U32 rw RxPDO
unit/s²
6086h 00h Motion profile type - -32768~32767 I16 rw RxPDO
Position encoder
- - - - - -
resolution
608Fh sub index
608Fh 00h - 2 U8 ro NO
numbers
01h Encoder increments pulse 1~4294967295 U32 ro NO
02h Motor revolutions r(motor) 1~4294967295 U32 ro NO
- Gear ratio - - - - -
6091 sub index
00h - 2 U8 ro NO
6091h numbers
01h Motor revolutions r(motor) 1~4294967295 U32 ro NO
02h Shaft revolutions r(shaft) 1~4294967295 U32 ro NO
- Feed constant - - - - -
6092h
00h 6092h sub index - 2 U8 ro NO
Index Sub-index Name Units Range Data type Access PDO
numbers
Command
01h Feed 1~4294967295 U32 ro NO
unit
02h Shaft revolutions r(shaft) 1~4294967295 U32 ro NO
60B8h 00h Touch probe function - 0~65535 U16 rw RxPDO

Controlword(6040h) <functions in PP control mode>

Index Sub-index Name Range Data type Access PDO Op-mode
Controlword 0~65535 U16 rw RxPDO All
Set the control command to the servo driver such as PDS state conversion.
Bit information
15 14 13 12 11 10 9 8
r om h
7 6 5 4 3 2 1 0
6040h 00h fr oms eo qs ev so
abs/rel Change set immediately New set-point
r = reserved(not corresponding) fr = fault reset
oms = operation mode specific eo = enable operation
qs = quick stop
h = halt ev = enable voltage
so = switch on
Bit6-4(operation mode specific):
Bit Name Value Definition
0 -> 1 Start the positioning action and trigger the setting value update.
4 new set-point Get the new location determination task (607Ah (Target position), 6081h
(Profile velocity), etc.).
0 Complete the currently running positioning action. That is, during the
movement, if the target position 607A, acceleration 6083, deceleration 6084 are
changed, and then the control command is sent, it will not operate according to
the new movement parameters. It is necessary to send a new command after the
last movement is completed to execute the new movement.
change set
5 1 Interrupt the current positioning action and immediately start the downward
immediately
positioning action. That is, during the movement, the target position 607A,
acceleration 6083 and deceleration 6084 are changed, and then the control
command is sent. For example, after the control word 0x6f (111) → 0x7F (127)
(relative mode) or 0x2F (47) → 0x3f (63) (absolute mode) is changed, the
system will immediately operate according to the new motion parameters.
0 607Ah(target position) Process as absolute position
6 absolute/relative
1 607Ah(target position) Process as absolute position
Note:
(1) please do not change the acceleration and deceleration during motor operation (*).
If the acceleration and deceleration are changed, please change bit4 (new set point) from 0 to 1 after the motor
stops.
6083h (Profile acceleration)
6084h (Profile deceleration)
60C5h (Max acceleration)
60C6h (Max deceleration)

(2) In the following status, if set point is executed (bit4 (new set-point) is changed from 0 to 1), please note that its
positioning task is revoked.
--6081h (profile speed) = 0.
(3) if the driving prohibition in deceleration is detected according to halt = 1, all the positioning tasks are invalid.
(4) start the PP action, and keep it for more than 2ms until the next PP action is started (new set-point changes
from 0 to 1).

2) Related objects in pp control mode(monitor)

 Index Sub-index Name Unit Range Data type Access PDO
6041h 00h Controlword - 0~65535 U16 ro TxPDO
Other related objects with common position control.
Index Sub-index Name Unit Range Data Access PDO
type
Position demand value Command -2147483648~ I32 ro TxPDO
6062h 00h
unit 2147483647
Position actual internal value pulse -2147483648~ I32 ro TxPDO
6063h 00h
2147483647
Position actual value Command -2147483648~ I32 ro TxPDO
6064h 00h
unit 2147483647
Threshold for excessive Command 0~4294967295 U32 rw RxPDO
6065h 00h
positional deviation unit
6066h 00h Error time out 1ms 0~65535 U16 rw RxPDO
Position reach the threshold Command 0~4294967295 U32 rw RxPDO
6067h 00h
unit
6068h 00h Position window time 1ms 0~65535 U16 rw RxPDO
Velocity feedback Command -2147483648~ I32 ro TxPDO
606Ch 00h
unit/s 2147483647
6074h 00h Torque command 0.1% -32768~32767 I16 ro TxPDO
6076h 00h Motor rated torque Mn·m 0~4294967295 U32 ro TxPDO
6077h 00h Torque feedback 0.1% -32768~32767 I16 ro TxPDO
Position deviation Command -2147483648~ I32 ro TxPDO
60F4h 00h
unit 2147483647
Internal command speed Command -2147483648~ I32 ro TxPDO
60FAh 00h
(position loop output) unit/s 2147483647
Internal position command pulse -2147483648 ~ I32 ro TxPDO
60FCh 00h
2147483647
Other related objects with common actions。
Index Sub-index Name Unit Range Data type Access PDO
603Fh 00h Error code - 0~65535 U16 ro TxPDO
60B9h 00h Touch probe status - 0~65535 U16 ro TxPDO
The rising edge Command -2147483648~ I32 ro TxPDO
60BAh 00h clamping position of unit 2147483647
Touch probe 1
The falling edge Command -2147483648~ I32 ro TxPDO
60BBh 00h clamping position of unit 2147483647
Touch probe 1
The rising edge Command -2147483648~ I32 ro TxPDO
60BCh 00h clamping position of unit 2147483647
Touch probe 2
The falling edge Command -2147483648~ I32 ro TxPDO
60BDh 00h clamping position of unit 2147483647
Touch probe 2
Statusword (6041h)< functions in pp control mode >
Index Sub-index Name Range Data type Access PDO Op-mode
Statusword 0~65535 U16 ro TxPDO All
Servo driver status
Bit information
15 14 13 12 11 10 9 8
r oms ila oms rm r
6041h 00h Following Error set- point acknowledge Target Reached
7 6 5 4 3 2 1 0
w sod Qs ve f oe so rsto
r = reserved(not corresponding) w = warning
sod = switch on disabled
oms = operation mode specific qs = quick stop
 (control mode is based on bit) ve = voltage enabled
ila = internal limit active f = fault
oe = operation enabled
rm = remote so = switched on
rtso = ready to switch on

bit13,12,10(operation mode specific):

Bit Name Value Definition
0 halt=0(normal): positioning incompleted
halt=1(stop as halt):shaft is decelerating
10 target reached
1 halt=0(normal):positioning completed
halt=1(stop as halt):shaft stop(shaft speed is 0)
0 The new-setpoint is 0, and the buffer is empty after the current target
12 set-point acknowledge position is executed (in execution)
1 The new location task puts data into the buffer, which is not empty.
0 60F4h(Following error actual value)
(= 6062h(Position demand value)– 6064h(Position actual value)), not
over the setting range of 6065h(Following error window), or the value
13 following error of 60F4h is over 6065h, not through the setting time of 6066h.
1 The value of 60F4h (Following error actual value), the status over the
setting range of 6065h (Following error window), above the setting
time of 6066h(Following error time out), continue.

bit10:target reached(Position reached)

When the servo enable state (operation effective state) and the set-points all give the completion instruction
generation state, the difference between 6062h (position required value) and 6064h (position actual value) is
within the range set in 6067h (position window). After the time set in 6068H (position window time), the bit10
(target reached) of 6041h (status word) changes to 1.

Bit Name Vlaue Definition

0 halt=0 (normal): positioning incompleted
halt=1 (stop as halt): shaft is decelerating
10 Target reached
1 halt=0 (normal): positioning completed
halt=1 (stop as halt): shaft stop (shaft speed is 0)

Location arrival diagram

Index Sub-index Name Units Range Data Access PDO OP-

type mode
Position reach Command 0~4294967295 U32 rw RxPDO PP
threshold unit
The difference between 6062h (Position command) and 6064h (Position feedback) is
6067h 00h
within the set value of this parameter. After the time set in 6068H (Position window time),
set the bit10 (Target reached) of 6041h (Status word) as the threshold value of 1.
If the difference is a value other than this parameter setting, bit10 of 6041h is 0.
Position window 1ms 0~65535 U16 rw RxPDO PP
time
6068h 00h The difference between 6062h (position command) and 6064h (position feedback) is the
time when the bit10 (target reached) of 6041h (status word) is set to 1 in the range of
6067h (position window) setting.
bit13:following error
The status that the value of 60F4h (position deviation) is over the setting range of 6065h (position offset too large
threshold). If continue the setting time of 6066h (error time out), bit13(following error) of 6041h (state word)
changes to 1.
Bit Name Value Definition
60F4h (position deviation)
(= 6062h (Position command) – 6064h(Position feedback)), not over the
0
setting range of 6065h (position offset too large threshold), or the value of
60F4h is over 6065h, not after the setting time of 6066h
The value of 60F4h (position offset) is over the setting range of
13 Following error
1 6065h (position offset too large threshold), above the setting time of 6066h
(error time out), continue.

Follow error function diagram

Index Sub-index Name Units Range Data Access PDO OP-

type mode
6065h 00h Position offset too Command 0~ 4294967295 U32 rw RxPDO PP
large threshold unit CSP
60F4h(Following error actual value): the condition except the setting value of this
parameter, set 6041h (statusword) bit 13 (following error) to 1.
6066h 00h error time out 1ms 0~65535 U16 rw RxPDO PP
CSP
The status that 60F4h (position offset) value is over the setting range of 6065h (position
offset too large threshold) is above this parameter, if continue, set 6041h (Statusword)
bit13(following error) to 1.

3) pp control mode action

Action example 1:(basic set-point)
(1) For the master station, after setting the value of 607Ah (Target position), change the bit4 (new set point) of
6040h (control word) from 0 to 1. At this time, please also set 6081h (profile velocity).
When 6081h (profile velocity) is 0, the motor does not act.
(2) For the slave station, confirm the rising edge (0 → 1) of bit4 (New set-point) of 6040h (control word), 607Ah
(target position) as the target position to start positioning. At this time, bit12 (set point acknowledge) of 6041h
(status word) is changed from 0 to 1.
(3) For the master station, confirm that bit12 (set-point acknowledge) of 6041h (status word) has changed from 0
to 1, bit4 (new set-point) of 6040h (control word) returns 0.
(4) For the slave station, confirm that the bit4 (new set-point) of 6040h (control word) has been 0, 6041h (status
word) bit12 (set-point acknowledge) has changed to 0.
(5) when the target position is reached, the bit10 (target reached) of 6041h (control word) is changed from 0 to 1.
Note:
(1) 6081h (profile velocity) is limited by the smaller one of 607fh (max profile velocity) and 6080h (max motor
speed).
(2) changing the set value of 607Fh (max profile velocity) or 6080h (max motor speed) in the action is not
reflected in the action.

Action example 2: (Action data change without buffer: single set-point)

When bit5 (change set immediately) of 6040h (control word) is 1, if the data used for positioning action in the
action has been changed, the current positioning action will be interrupted and the next positioning action will be
started immediately.
(1) For the master station, confirm that the bit12 (set-point acknowledge) of 6041h (status word) is 0. After
changing the value of 607Ah (target position), change the bit4 (New set-point) of 6040h (control word) from 0 to
Note: at this time, please do not change the acceleration and deceleration.
(2) For the slave station, confirm the rising edge (0 → 1) of bit4 (New set-point) of 6040h (control word), and
update 607Ah (target position) as the new target position immediately. At this time, bit12 (set-point acknowledge)
of 6041h (status word) is changed from 0 to 1.
(3) For master station, confirm that bit12 (set point acknowledge) of 6041h (status word) has changed from 0 to 1,
bit4 (new set-point) of 6040h (control word) returns 0.
(4) For slave station, confirm that the bit4 (new set point) of 6040h (control word) has been 0, the bit12 (set point
acknowledge) of 6041h (status word) is 0.
Note: 6081h (profile velocity) can be changed in the same steps (1) - (4).

After changing the 607Ah (target position) and 6081h (profile velocity), update the 607Ah (target position) and
6081h (profile velocity) simultaneously according to the above steps (1) - (4).
7.6.2 Common parameters
PP Control mode associated object(Command setting)
Register Explanation Unit
RXPDO[0x6040] Controlword -
RXPDO[0x6060] Control mode is PP(Profile position control
-
mode), set to 1
RXPDO[0x607A] Target position Command unit
RXPDO[0x6072] Max torque 0.1%
RXPDO[0x607F] Max profile velocity Command unit /s
RXPDO[0x6080] Max motor speed r/min
RXPDO[0x6081] Profile velocity Command unit /s
RXPDO[0x6083] Profile acceleration Command unit /s²
RXPDO[0x6084] Profile deceleration Command unit /s²
RXPDO[0x60C5] Max acceleration Command unit /s²
RXPDO[0x60C6] Max deceleration Command unit /s²
RXPDO[0x6065] Following error window Command unit
RXPDO[0x6066] Following error time out ms
RXPDO[0x6067] Position window Command unit
RXPDO[0x6068] Position window time ms
Note:
(1) 6081h (Profile velocity) is limited by the smaller of 607Fh (Max profile velocity) and 6080h (Max motor
speed.
(2) The set values of 607Fh (Max profile velocity) or 6080h (Max motor speed) are changed during the operation
and are not reflected in the operation.
PP control mode associated object(Command monitoring)
Register Explanation Unit
TXPDO[0x6041] Statusword -
TXPDO[0x6063] Position actual internal value Command unit
TXPDO[0x6064] Position feedback Command unit
TXPDO[0x606C] Velocity feedback Command unit /s
TXPDO[0x6077] Torque actual value 0.1%
TXPDO[0x60F4] Following error actual value Command unit
7.7 PV mode
PV(Profile speed control mode), specify the target speed, acceleration and deceleration, etc., and generate the
speed control mode of position command action in the servo driver.
Please use this control mode in the communication cycle of more than 500μs.

7.7.1 Related parameters

1)PV control mode related parameters(Command・setting)
Index Sub-index Name Unit Range Data type Access PDO
6040h 00h Controlword - 0~65535 U16 rw RxPDO
607Fh 00h Max profile Command 0~4294967295 U32 rw RxPDO
velocity unit/s
6083h 00h Profile Command 0~4294967295 U32 rw RxPDO
acceleration unit/s²
6084h 00h Profile Command 0~4294967295 U32 rw RxPDO
deceleration unit/s²
60C5h 00h Max Command 0~4294967295 U32 rw RxPDO
acceleration unit/s²
60C6h 00h Max Command 0~4294967295 U32 rw RxPDO
deceleration unit/s²
Other speed control common related objects
Index Sub-index Name Unit Range Data Access PDO
type
6072h 00h Max torque 0.1% 0~65535 U16 rw RxPDO
6080h 00h Max motor r/min 0~4294967295 U32 rw RxPDO
 speed
60B1h 00h Velocity Command -2147483648~2147483647 I32 rw RxPDO
offset unit/s
60B2h 00h Torque offset 0.1% -32768~32767 I16 rw RxPDO
60FFh 00h Target Command 0~4294967295 U32 rw RxPDO
velocity unit/s
Other related objects with common actions
Index Sub-index Name Unit Range Data Access PDO
type
605Ah 00h Quick stop option code - 0~7 I16 rw NO
605Bh 00h Shutdown option code - 0~1 I16 rw NO
605Ch 00h Diasble operation option - 0~1 I16 rw NO
code
605Dh 00h Halt option code - 1~3 I16 rw NO
605Eh 00h Fault reaction option - 0~2 I16 rw NO
code
607Bh - Position range limit - - - - -
00h 607Bh sub index - 2 U8 ro NO
numbers
01h Min position limit Command -2147483648~ I32 rw RxPDO
unit 2147483647
02h Max position limit Command -2147483648~ I32 rw RxPDO
unit 2147483647
607Ch 00h Home offset Command -2147483648~ I32 rw RxPDO
unit 2147483647
607Eh 00h Polarity - 0~255 U8 rw NO
6085h 00h Quick stop deceleration Command 0~4294967295 U32 rw RxPDO
unit/s²
608Fh - Position encoder - - - - -
resolution
00h 608Fh sub index - 2 U8 ro NO
numbers
01h Encoder increments pulse 1~4294967295 U32 ro NO
02h Motor revolutions r(motor) 1~4294967295 U32 ro NO
6091h - Gear ration - - - - -
00h 6091h sub index - 2 U8 ro NO
numbers
01h Motor revolutions r(motor) 1~4294967295 U32 ro NO
02h shaft revolutions r(shaft) 1~4294967295 U32 ro NO
6092h - Feed constant - - - - -
00h 6092h sub index - 2 U8 ro NO
numbers
01h Feed value Command 1~4294967295 U32 ro NO
unit
02h Shaft revolutions r(shaft) 1~4294967295 U32 ro NO
60B8h 00h touch - 0~65535 U16 rw RxPDO
Controlword (6040h)< functions in pv control mode>
Index Sub-index Name Range Data type access PDO Op-mode
6040h 00h Controlword 0~65535 U16 rw RxPDO All
Set the control command to the servo driver such as PDS state conversion.
Bit information
15 14 13 12 11 10 9 8
r om h
7 6 5 4 3 2 1 0
fr oms eo qs ev so
r r r
r = reserved(not corresponding) fr = fault reset
 oms = operation mode specific eo = enable operation
(control mode is based on bit) qs = quick stop
h = halt ev = enable voltage so = switch on
Pv mode doesn’t use oms bit.
Speed related parameters
Index Sub-index Name Unit Range Data access PDO OP-mode
type
607Fh 00h Max profile velocity Command 0~4294967295 U32 rw RxPDO PP
unit/s PV
HM
the speed limit value in profile position mode (PP), origin reset position mode (HM), profile
speed mode (PV).
The maximum value is limited by 6080h (max motor speed) for internal processing.
6080h 00h Max motor speed r/min 0~4294967295 U32 rw RxPDO PV
TQ
CSV
CST
Set the maximum speed of the motor.
When the control power is put into operation, the maximum speed read out from the motor
is set.
The maximum value is limited by the maximum speed read from the motor according to the
internal processing.
In TQ and CST, the speed is limited by the set value of this object.
Acceleration and deceleration related parameters
Index Sub-index Name Unit Range Data access PDO OP-
type mode
6083h 00h Profile acceleration Command 0~4294967295 U32 rw RxPDO PP
unit/s² PV
Set profile acceleration.
When set to 0, internal processing is treated as 1.
6084h 00h Profile deceleration Command 0~4294967295 U32 rw RxPDO PP
unit/s² PV
Set profile deceleration.
When set to 0, internal processing is treated as 1.
60C5h 00h Max acceleration Command 0~4294967295 U32 rw RxPDO PP
unit/s² PV
HM
Set the maximum acceleration.
When set to 0, internal processing is treated as 1.
60C6h 00h Min deceleration Command 0~4294967295 U32 rw RxPDO PP
unit/s² PV
HM
Set the maximum deceleration.
When set to 0, internal processing is treated as 1.
2)pv control mode related parameters(monitoring)
Index Sub-index Name Unit Range Data Access PDO
type
6041h 00h Statusword - 0~65535 U16 ro TxPDO
6065h 00h Position offset too large Command 0~4294967295 U32 rw RxPDO
threshold unit/s
6066h 00h Velocity time out 1ms 0~65535 U16 rw RxPDO
6067h 00h Velocity threshold Command 0~4294967295 U32 rw RxPDO
unit/s
6068h 00h Velocity threshold time 1ms 0~65535 U16 rw RxPDO
Other related objects with common speed control
Index Sub-index Name Unit Range Data type Access PDO
6063h 00h Position actual pulse -2147483648~ I32 ro TxPDO
Index Sub-index Name Unit Range Data type Access PDO
internal value 2147483647
6064h 00h Position actual value Command -2147483648~ I32 ro TxPDO
unit 2147483647
606Bh 00h Velocity demand Command -2147483648~ I32 ro TxPDO
value unit/s 2147483647
606Ch 00h Velocity actual value Command -2147483648~ I32 ro TxPDO
unit/s 2147483647
6074h 00h Torque demand 0.1% -32768~32767 I16 ro TxPDO
6076h 00h Motor rated torque Mn·m 0~4294967295 U32 ro TxPDO
6077h 00h Torque actual value 0.1% -32768~32767 I16 ro TxPDO
Other related objects with common modes
Index Sub-index Name Unit Range Data Access PDO
type
603Fh 00h Error code - 0~65535 U16 ro TxPDO
60B9h 00h Touch probe status - 0~65535 U16 ro TxPDO
60BAh 00h The rising edge clamping Command -2147483648~ I32 ro TxPDO
position of Touch probe 1 unit 2147483647
60BBh 00h The falling edge clamping Command -2147483648 I32 ro TxPDO
position of Touch probe 1 unit ~2147483647
60BCh 00h The rising edge clamping Command -2147483648~ I32 ro TxPDO
position of Touch probe 2 unit 2147483647
60BDh 00h The falling edge clamping Command -2147483648~ I32 ro TxPDO
position of Touch probe 2 unit 2147483647
Statusword (6041h) <functions of pv control mode >
Index Sub-index Name/description Range Data type Access PDO Op-mode
6041h 00h Statusword 0~65535 U16 ro TxPDO All
Servo driver status
Bit information
15 14 13 12 11 10 9 8
r oms ila oms rm r
r speed Target reached
7 6 5 4 3 2 1 0
w sod qs ve f oe so rsto
r = reserved(not corresponding) w = warning
sod = switch on disabled
oms = operation mode specific qs = quick stop
(control mode is based on bit) ve = voltage enabled
ila = internal limit active f = fault
oe = operation enabled
rm = remote so = switched on
rtso = ready to switch on

(1)bit10(target reached(Velocity reached)):

The difference between the total value of 60FFh (target velocity) and 60B1h (velocity offset) and 606Ch (velocity
actual value) is within the range set by 606Dh (velocity window). If the time set by 606Eh (velocity window time)
passes, the bit10 of 6041h (status word) becomes 1.

Bit Name Value Definition

10 Target reached 0 Halt = 0 (normal): speed control not completed
Halt = 1 (stop according to halt): shaft in deceleration
1 Halt = 0 (normal): speed control completed
Halt = 1 (according to halt stop): shaft stop (shaft speed is 0)
Index Sub-index Name Unit Range Data Access PDO OP-
type mode
606Dh 00h Velocity window Command unit 0~4294967295 U32 rw RxPDO PV
The difference between the total value of 60FFh (target velocity) and 60B1h (velocity
offset) and 606Ch (velocity actual value) is within the set value of this parameter. If the
time set by 606Eh (velocity window time) passes, set the bit10 (target reached) of 6041h
(status word) to 1 as the threshold value.
If the speed deviation is a value other than the set value of this parameter, bit10 of 6041h
becomes 0.
606Eh 00h Velocity window 1ms 0~65535 U16 rw RxPDO PV
time
Set the time from the point when the difference between the sum of 60FFh(target velocity)
and 60B1h (velocity offset),and 606Ch(velocity actual value), fall within the range set by
606Dh (Velocity window) to bit10 (target reached) of 6041h (Statusword) becomes 1.
(2)bit12(speed)
When 606Ch (Velocity actual value) exceeds the value set in 606Fh (Velocity threshold) and the time set by 6070h
(Velocity threshold time) has elapsed, bit 12 of 6041h (Statusword) changes to 0.
When 606Ch (Velocity actual value) becomes lower than the value set in 606Fh (Velocity threshold),
bit12 of 6041h (Statusword) changes to 1, which indicates that the motor has stopped.

Bit Name Value definition

10 speed 0 Motor is operating
1 Motor is not operating

Index Sub-index Name Unit Range Data PDO OP-

type mode
606Fh 00h Velocity threshold Command 0~4294967295 U32 rw RxPDO PV
unit
606Ch (speed feedback) exceeds the set value of this parameter. If 6070h (velocity threshold
time) has passed, set the threshold of bit12 (speed) for 6041h (status word) to 0.
If the speed is below the set value of this parameter, bit12 of 6041h becomes 1.
6070h 00h Velocity threshold 1ms 0~65535 U16 rw RxPDO PV
time
Set the time from the point when 606Ch (Velocity actual value) exceeds the value set to
606Fh (Velocity threshold) until the point when bit 12 of 6041h (Statusword) changes to 0.

4) PV operations
 Profile velocity control mode generates a velocity command value according to the following
parameters
  Target velocity(60FFh)
 Velocity offset(60B1h)
 Profile acceleration(6083h)
 Profile deceleration(6084h)
 Target speed is 60FFh(Target velocity)
 Speed feedforward is 60B1h(Velocity offset) cannot support now
 The update (sending) of action command is that after the servo enable is turned on, please input it after
about 100ms.
 As test information, provide 606Ch (velocity actual value), etc.

 The 60FFh (target velocity) is limited by 607Fh (max profile velocity) and 6080h (max motor speed).

7.7.2 Common parameters

PV control mode related objects(Command ・setting)
Register Explanation Unit
RXPDO[0x6040] Controlword -
RXPDO[0x6060] Set to 3 -
RXPDO[0x60FF] Target velocity Command unit/s
RXPDO[0x6072] Max torque 0.1%
RXPDO[0x607F] Max profile velocity Command unit/s
RXPDO[0x6080] Max motor speed r/min
RXPDO[0x6083] Internal acceleration Command unit/s²
RXPDO[0x6084] Internal deceleration Command unit/s²
RXPDO[0x60C5] Max acceleration Command unit/s²
RXPDO[0x60C6] Max deceleration Command unit/s²
RXPDO[0x606D] Velocity reached threshold Command unit/s
RXPDO[0x606E] Velocity timeout ms
RXPDO[0x606F] Velocity threshold Command unit/s
RXPDO[0x6070] Velocity threshold time ms

PV control mode realated objects(Command ・monitoring)

Register Explanation Unit
TXPDO[0x6041] Statusword -
TXPDO[0x6064] Position feedback (motor actual position) Command unit
TXPDO[0x606C] Velocity feedback Command unit/s
TXPDO[0x6077] Torque actual value 0.1%
7.8 TQ mode
TQ(Profile torque mode),specify target torque, acceleration and deceleration,etc.,this torque control mode after
generating position command in servo driver. Please use this control mode in the communication period of more
than 500μs.

7.8.1 Related parameters

1)TQ control mode related objects(Command・setting)
Index Sub-index Name Unit Range Data type Access PDO
6040h 00h Controlword - 0~65535 U16 rw RxPDO
6088h 00h Torque profile - -32768~32767 I16 rw RxPDO
type
Other related objects that are common to torque control
Index Sub-index Name Unit Range Data type Access PDO
6071h 00h Target torque 0.1% -3276~32767 I16 rw RxPDO
6072h 00h Max torque 0.1% 0~65535 U16 rw RxPDO
6080h 00h Max motor speed r/min 0~4294967295 U32 rw RxPDO
6087h 00h Torque slope 0.1%/S 0~4294967295 U32 rw RxPDO
60B2h 00h Torque offset 0.1% -32768~32767 I16 rw RxPDO
Other related objects with common actions
Index Sub-index Name Unit Range Data type Access PDO
605Ah 00h Quick stop option code - 0~7 I16 rw NO
605Bh 00h Shutdown option code - 0~1 I16 rw NO
605Ch 00h Disable operation option - 0~1 I16 rw NO
code
605Dh 00h Halt option code - 1~3 I16 rw NO
Index Sub-index Name Unit Range Data type Access PDO
605Eh 00h Fault reaction option - 0~2 I16 rw NO
code
607Bh - Position range limit - - - - -
00h 607Bh sub index - 2 U8 ro No
numbers
01h Min position limit Command -2147483648~ I32 rw RxPDO
unit 2147483647
02h Max position limit Command -2147483648~ I32 rw RxPDO
unit 2147483647
607Ch 00h Home offset Command -2147483648~ I32 rw RxPDO
unit 2147483647
607Eh 00h Polarity - 0~255 U8 rw NO
6085h 00h Quick stop deceleration Command 0~4294967295 U32 rw RxPDO
unit/s²
6086h 00h Motion profile type - -32768~32767 I16 rw RxPDO
608Fh - Position encoder - - - - -
resolution
00h 608Fh sub index - 2 U8 ro NO
numbers
01h Encoder increments pulse 1~4294967295 U32 ro NO
02h Motor revolutions r(motor) 1~4294967295 U32 ro NO
6091h - Gear ratio - - - - -
00h 6091h sub index - 2 U8 ro NO
numbers
01h Motor revolutions r(motor) 1~4294967295 U32 ro NO
02h Shaft revolutions r(shaft) 1~4294967295 U32 ro NO
6092h - Feed constant - - - - -
00h 6092h sub index - 2 U8 ro NO
numbers
01h Setting feed value Command 1~4294967295 U32 ro NO
unit
02h Shaft revolutions r(shaft) 1~4294967295 U32 ro NO
60B8h 00h Touch probe function - 0~65535 U16 rw RxPDO
Controlword (6040h)< functions in TQ control mode >
Index Sub-index Name Range Data type Access PDO Op-mode
6040h 00h Controlword 0~65535 U16 rw RxPDO All
Set the control command to the servo driver such as PDS state conversion.
Bit information
15 14 13 12 11 10 9 8
R om h
7 6 5 4 3 2 1 0
fr oms eo qs ev so
r r r
r = reserved(not corresponding) fr = fault reset
oms = operation mode specific eo = enable operation
(control mode is based on bit) qs = quick stop
h = halt ev = enable voltage
so = switch on
TQ mode doesn’t use oms bit.

Torque type
Index Sub-index Name Unit Range Data type access PDO OP-mode
6087h 00h Torque slope 0.1 % 0~4294967295 U32 rw RxPDO tq
cst
• Set a parameter value for giving slope to a torque command.
• In the cyclic synchronous torque mode (cst), torque slope is effective only during the
deceleration stop sequence.
 • When 0 has been set, the setting is regarded as 1 internally.
6088h 00h Torque profile type - -32768~32767 I16 rw RxPDO tq
Set the torque profile type used for changing in the torque
0:linear slope
1:Not supported
2)TQ control mode related objects(monitoring)
Index Sub-index Name Unit Range Data type Access PDO
6041h 00h Statusword - 0~65535 U16 ro TxPDO
6073h 00h Max current 0.1% 0~65535 U16 ro NO
Other objects commonly associated with torque control (monitoring)
Index Sub-index Name Unit Range Data Access PDO
type
6063h 00h Actual internal position pulse -2147483648~ I32 ro TxPDO
feedback 2147483647
6064h 00h Position feedback Command -2147483648~ I32 ro TxPDO
unit 2147483647
606Ch 00h Velocity feedback Command -2147483648~ I32 ro TxPDO
unit/s 2147483647
6074h 00h Torque command 0.1% -32768~32767 I16 ro TxPDO
6075h 00h Motor rated current 1mA 0~4294967295 U32 ro TxPDO
6076h 00h Motor rated torque Mn·m 0~4294967295 U32 ro TxPDO
6077h 00h Torque actual value 0.1% -32768~32767 I16 ro TxPDO
6078h 00h Current actual value 0.1% -32768~32767 I16 ro TxPDO
Other associated objects that share the same mode
Index Sub-index Name Unit Range Data access PDO
type
603Fh 00h Error code - 0~65535 U16 ro TxPDO
60B9h 00h Touch probe status - 0~65535 U16 ro TxPDO
60BAh 00h The rising edge clamping position Command -2147483648~ I32 ro TxPDO
of Touch probe 1 unit 2147483647
60BBh 00h The falling edge clamping position Command -2147483648~ I32 ro TxPDO
of Touch probe 1 unit 2147483647
60BCh 00h The rising edge clamping position Command -2147483648~ I32 ro TxPDO
of Touch probe 2 unit 2147483647
60BDh 00h The falling edge clamping position Command -2147483648~ I32 ro TxPDO
of Touch probe 2 unit 2147483647

Statusword (6041h) < functions of TQ control mode >

Index Sub-index Name Range Data type Access PDO Op-mode
6041h 00h Statusword 0~65535 U16 ro TxPDO All
Servo driver status
Bit information
15 14 13 12 11 10 9 8
r oms ila oms rm r
r r target reached
7 6 5 4 3 2 1 0
w sod qs ve f oe so rsto
r = reserved(not corresponding) w = warning
sod = switch on disabled
oms = operation mode specific qs = quick stop
(Control mode is based on bit) ve = voltage enabled
ila = internal limit active f = fault
oe = operation enabled
rm = remote so = switched on
rtso = ready to switch on
bit13,12,10(operation mode specific):
Bit Name Value Definition
10 Target reached 0 halt=0 (normal): 6074h (Torque demand) not reach the target torque
halt=1 (stop as halt): shaft is decelerating
1 halt=0 (normal): 6074h (Torque demand) reach the target torque
halt=1 (stop as halt): shaft stops (shaft speed is 0)
12 reserved - Not used
13 reserved - Not used

Action of TQ control mode

 The profile torque control mode generates torque command values based on the following parameters.
 Target torque(6071h)
 Torque offset(60B2h)(cannot support)
 Torque slope(6087h)
 For the operation command update(transmission),do input when approx 100ms has elapsed after the
servo ON(operation enabled command)
 As monitoring information,we provide 6077h(Torque actual value) etc.

 The 6071h (target torque) value is 6072h (max torque), 2312h (P3-28), 2313h (P3-29), which is limited
by the minimum value.
 The speed is limited by 6080h (max motor speed).

7.8.2 Common parameters

TQ control mode related objects(Command ・setting)
Register Explanation Unit
RXPDO[0x6040] Controlword -
RXPDO[0x6060] Set to 4 -
RXPDO[0x6071] Target torque 0.1%
RXPDO[0x6072] Max torque 0.1%
RXPDO[0x6080] Max motor speed r/min
RXPDO[0x6087] Torque slope 0.1%/S
RXPDO[0x6088] Torque Profile type -
TQ control mode related objects(Command ・monitoring)
Register Explanation Unit
TXPDO[0x6041] Statusword -
TXPDO[0x6064] Position feedback (motor actual position) Command unit
TXPDO[0x606C] Velocity feedback Command unit/s
TXPDO[0x6077] Torque actual value 0.1%
TQ mode does not use oms bit.
7.9 Mode common function
7.9.1 Mode mutual switching function
DS5C2 supports mode switching during runtime, with a mode switching time of 2ms. In the servo enabled state, it
supports position mode switching to speed mode, position mode switching to torque mode, and speed mode
switching to torque mode, making it convenient for users to achieve multi-mode switching control in project
engineering.

7.9.2 Stop mode

PDS is a motor deceleration stop method for setting the main power supply interruption or alarm occurrence in the
operation enabled state (servo enabled state).
The deceleration function (selection code) defined by COE (CIA402) and the deceleration function (free running
stop, deceleration stop) on the servo (DS5C2) side are combined.
PDS code list
Index Sub-index Name Unit Range Data type Access PDO
605Ah 00h Quick stop option code - 0~7 I16 rw NO
605Bh 00h Shutdown option code - 0~1 I16 rw NO
605Ch 00h Disable operation option - 0~1 I16 rw NO
code
605Dh 00h Halt option code - 1~3 I16 rw NO
605Eh 00h Fault reaction option code - 0~2 I16 rw NO
Related object list
Index Sub-index Name Unit Range Data Access PDO OP-
type mode
PP
PV
Profile Command
0~4294967295 U32 rw RxPDO HM
deceleration unit/s²
6084h 00h CSP
CSV
Set profile deceleration.
When set to 0, internal processing is treated as 1.
PP
PV
Quick stop Command
0~4294967295 U32 rw RxPDO HM
deceleration unit/s²
CSP
CSV
6085h 00h
・ If 605Ah (Quick stop option code) is "2" or "6", set the deceleration parameter of motor
deceleration stop when quick stop.
・ 605Dh (Halt option code) and 605Eh (Fault reaction option code) are also used when
they are "2".
Index Sub-index Name Unit Range Data Access PDO OP-
type mode
TQ
Torque slope 0.1% 0~4294967295 U32 rw RxPDO
CST
6087h 00h
・Set the parameter value to give the inclination torque command.
・Only deceleration stop time is valid in cyclic synchronous torque mode (CST).
Homing Command 0~4294967295 U32 rw RxPDO HM
acceleration unit /s²
・Set the acceleration and deceleration of the origin point reset position control mode (HM).
609Ah 00h
・The deceleration of the origin reset position control mode (HM) is also used for this object.
・when each homing method finally stops(when the origin position is detected), it is
unnecessary to use the set value of this object, and the servo lock stops.
PP
Max Command
0~4294967295 U32 rw RxPDO HM
deceleration unit /s²
CSP
60C6h 00h
・Set the maximum deceleration.
・If it is set to 0, internal processing is operated as 1.

1) Quick stop option code (605Ah)

Set the motor deceleration stop method when PDS command [Quick stop] is received.
Index Sub-index Name Unit Range Data type Access PDO OP-mode
Quick stop option code - 0~7 I16 rw NO ALL
pp,csp,csv,pv
0: after motor stop through servo side (Sequence at Servo-off), migrate to Switch on
disabled.
1: after motor stop through 6084h (Profile deceleration), migrate to Switch on disabled.
2: after motor stop through 6085h (Quick stop deceleration), migrate to Switch on disabled.
3: after motor stop through 60C6h (Max deceleration), migrate to Switch on disabled.
5: after motor stop through 6084h (Profile deceleration), migrate to Quick stop active.
6: after motor stop through 6085h (Quick stop deceleration), migrate to Quick stop active.
7: after motor stop through 60C6h (Max deceleration), migrate to Quick stop active.

hm
0: after motor stop through (Sequence at Servo-off), migrate to Switch on disabled.
605Ah 00h 1: after motor stop through 609Ah (Homing acceleration), migrate to Switch on disabled.
2: after motor stop through 6085h (Quick stop deceleration), migrate to Switch on disabled.
3: after motor stop through 60C6h (Max deceleration), migrate to Switch on disabled.
5: after motor stop through 609Ah (Homing acceleration), migrate to Quick stop active.
6: after motor stop through 6085h (Quick stop deceleration), migrate to Quick stop active.
7: after motor stop through 60C6h (Max deceleration), migrate to Quick stop active.

cst, tq
0: after motor stop through servo side (Sequence at Servo-off), migrate to Switch on
disabled.
1, 2: after motor stop through 6087h (Torque slope), migrate to Switch on disabled.
3: after motor stop through torque 0, migrate to Switch on disabled.
5, 6: after motor stop through 6087h (Torque slope), migrate to Quick stop active.
7: after motor stop through torque 0, migrate to Quick stop active.
Deceleration stop examples according to the Quick stop command:
A: if 6040h: bit2 (control word: quick stop) changes from 1 to 0, it starts to slow down and stop.
The PDS status in deceleration changes to quick stop active.
B: the motor stops when the actual speed is less than 10r / min.
The PDS status after stopping is switch on disabled, or it changes to quick stop active.

2) Shutdown option code (605Bh)

Set the motor deceleration stop method when PDS command [Shutdown] and [Disable voltage] are received.
 Data
Index Sub-index Name Units Range Access PDO OP-mode
type
Shutdown option code - 0~1 I8 rw RxPDO ALL
Set the timing when PDS command [shutdown] and [disable voltage] are received. It is
different according to the definition of control mode.
The settings except the following values are not allowed.
(1) receiving PDS command「Shutdown」
pp, csp, csv, pv
0: after motor stop through servo side (Sequence at Servo-off), migrate to Ready to switch
on.
1: after motor stop through 6084h (Profile deceleration), migrate to Ready to switch on.

hm
0: after motor stop through servo side (Sequence at Servo-off), migrate to Ready to switch
on.
1: after motor stop through 609Ah (Homing acceleration), migrate to Ready to switch on.

cst, tq
0: after motor stop through servo side (Sequence at Servo-off), migrate to Ready to switch
on.
605Bh 00h
1: after motor stop through 6087h (Torque slope), migrate to Ready to switch on.

(2) receiving PDS command「Disable voltage」

pp, csp, csv, pv
0: after motor stop through servo side (Sequence at Servo-off), migrate to Switch on
disabled.
1: after motor stop through 6084h (Profile deceleration), migrate to Switch on disabled.

hm
0: after motor stop through servo side (Sequence at Servo-off), migrate to Switch on
disabled.
1: after motor stop through 609Ah (Homing acceleration), migrate to Switch on disabled.

cst, tq
0: after motor stop through servo side (Sequence at Servo-off), migrate to Switch on
disabled.
1: after motor stop through 6087h (Torque slope), migrate to Switch on disabled.

The slowing down stop examples according to shutdown command:

A: if receiving PDS command "shutdown" to deceleration stop.
PDS status in deceleration remains operation enabled.
B: the motor stops when the actual speed is less than 10r / min.
The PDS status after stopping is Ready to switch on.

3) Disable operation option code(605Ch)

Set the motor deceleration stop method when receiving the PDS command 「Disable operation」.
Index Sub- Name Units Range Datatype Access PDO OP-mode
index
605Ch 00h Disable operation option code - 0~1 I8 rw RxPDO ALL
Set the timing when PDS command [disable operation] is received. It is different according to
the definition of control mode.
The settings except the following values are not allowed.
pp, csp, csv, pv
0: after motor stop through servo side (Sequence at Servo-off), migrate to Switched on.
1: after motor stop through 6084h (Profile deceleration), migrate to Switched on.

hm
0: after motor stop through servo side (Sequence at Servo-off), migrate to Switched on.
 1: after motor stop through 609Ah (Homing acceleration), migrate to Switched on.

cst, tq
0: after motor stop through servo side (Sequence at Servo-off), migrate to Switched on.
1: after motor stop through 6087h (Torque slope), migrate to Switched on.
The slowing down stop examples according to Disable operation command:
A: if receiving PDS command "Disable operation" to deceleration stop.
PDS status in deceleration remains operation enabled.
B: the motor stops when the actual speed is less than 10r / min.
The PDS status after stop is Switched on.

5) Halt option code(605Dh)

Set motor decelerating stop method when bit8 of 6040h(controlword)is 1.
Index Sub- Name Units Range Data Access PDO OP-
index type mode
605Dh 00h Halt option code - 1~3 I16 rw NO ALL
Set the timing when PDS command [disable operation] is received. It is different according to
the definition of control mode.
・set the timing of Halt action. It is different according to the definition of control mode.
The settings except the following values are not allowed.

pp, csp, csv, pv

1: after motor stop through 6084h (Profile deceleration), keep Operation enabled.
2: after motor stop through 6085h (Quick stop deceleration), keep Operation enabled.
3: after motor stop through 6072h (Max torque), 60C6h (Max deceleration) keeps Operation
enabled.

hm
1: after motor stop through 609Ah (Homing acceleration), keep Operation enabled.
2: after motor stop through 6085h (Quick stop deceleration), keep Operation enabled.
3: after motor stop through 6072h (Max torque), 60C6h(Max deceleration), keep Operation
enabled.

cst, tq
1, 2: after motor stop through 6087h (Torque slope), keep Operation enabled.
3: after motor stop through torque 0, keep Operation enabled.

Examples of slowing down and stop according to the halt function

A: if 6040h: bit8 (control word: halt) changes from 0 to 1, it deceleration stops. PDS status in deceleration
remains operation enabled.
B: the motor stops when the actual speed is less than 10 r/min. The PDS state after stop remains operation
enabled.

6) Fault reaction option code(605Eh)

Set the motor stop method when alarm occurs.
Index Sub- Name Units Range Data Access PDO OP-
index type mode
605Eh 00h Fault reaction option code - 0~2 I16 rw NO ALL
Set the timing when the alarm occurs. It is different according to the definition of control
mode.
The settings except the following values are not allowed.
(1) When the Err80.0～80.7, 81.0～81.7, 85.0～85.7, 88.0～88.7 occured
pp, csp, csv, pv
0: after motor stop through servo side (Sequence at alarm), migrate to Fault.
1: after motor stop through 6084h (Profile deceleration), migrate to Fault.
2: after motor stop through 6085h (Quick stop deceleration), migrate to Fault.
hm
0: after motor stop through servo side (Sequence at alarm), migrate to Fault.
 1: after motor stop through 609Ah (Homing acceleration), migrate to Fault.
2: after motor stop through 6085h (Quick stop deceleration), migrate to Fault.
cst, tq
0: after motor stop through servo side (Sequence at alarm), migrate to Fault.
1, 2: after motor stop through 6087h (Torque slope), migrate to Fault.

(2) alarm except above (1) listed occurred

0, 1, 2: after motor stop through servo side (Sequence at alarm), migrate to Fault.
Deceleration stop examples according to alarm
A: if there is an alarm, it starts to slow down and stop. PDS status in deceleration is Fault reaction active.
B: the motor stops when the actual speed is less than 10 r / min. PDS status after stop is Fault.

7.9.3 Touch Probe function(position clamp request/release)

The probe function is the position locking function. When the trigger condition (EXT1 / EXT2) is met, the probe
function is triggered and the motor encoder value when the condition is triggered is locked. According to the
setting of probe control word 60B8, single or multiple triggering can be realized.

Note:
(1) Probe function is not supported in HM mode.
(2) Currently, only external signals are supported as trigger sources.

1) Touch probe function composition

60B8h:Touch probe function

60BAh:Touch probe pos1 pos value
60BBh:Touch probe pos1 neg value
60BCh:Touch probe pos2 pos value
60BDh:Touch probe pos2 neg value
If the trigger position is at the same point of one rotation of the motor, theoretically, the difference between the
two latched probe values shall be the number of pulses sent by the motor encoder for one rotation.
It should be noted that it takes a certain time from the generation of the external trigger signal to the driver
receiving the signal and performing the latch operation. Therefore, the latch value of the probe must have an error
with the actual value. The error is related to the motor speed, hardware performance and software processing.

Notes for function use:

Default value Set when using probe function
Product model P5-62
P5-62 P5-63 P5-63 (terminal)
(terminal)
DS5C2 (7.5kw and
0 0 1 (SI1) 2 (SI2)
below)
DS5C2 (15kw) 6 7 6 (P-) 7 (D-)

(1) The clamping trigger signal uses external inputs (EXT1/EXT2), and P5-62 and P5-63 are terminal assignment
parameters for Touch Probe1 and Touch Probe2 functions. The default parameters for the driver probe function are
shown in the table above.
 60B8h (Touch probe function)
Bit10 LT2 Bit2 LT1
0 EXT2 0 EXT1
1 Z phase 1 Z phase

(2) if the touch probe is executed to an unassigned port, E-883 (abnormal action protection) will occur.
(3) when the clamping trigger signal is an external input (EXT1/EXT2), the acquisition error occurs. Make the
speed near the clamp signal input as low as possible.
(4) the width of input ON and OFF of clamping trigger signal shall be more than 2ms respectively.
(5) in the following cases, touch probe is invalid (cancelled). (the value of 60B9h is cleared).
① when ESM status is init
② switch to HM mode
(6) for the same touch probe, please do not set the rising edge and the falling edge at the same time. The action of
setting the situation at the same time is unknown.
(7) it should be noted that it takes a certain time from the generation of external trigger signal to the reception of
signal by driver and the execution of latch operation. Therefore, the value of probe latch must have error with the
actual value, and the difference is related to the motor speed, hardware performance and software processing.

2) Touch probe objects

Index Sub- Name Units Range Data Access PDO
index type
60B8h 00h Touch probe function - 0~65535 U16 rw RxPDO
60B9h 00h Touch probe status - 0~65535 U16 ro TxPDO
The rising edge clamping Command -2147483648~
60BAh 00h I32 ro TxPDO
position of Touch probe 1 unit 2147483647
The falling edge clamping Command -2147483648~
60BBh 00h I32 ro TxPDO
position of Touch probe 1 unit 2147483647
The rising edge clamping Command -2147483648~
60BCh 00h I32 ro TxPDO
position of Touch probe 2 unit 2147483647
The falling edge clamping Command -2147483648~
60BDh 00h I32 ro TxPDO
position of Touch probe 2 unit 2147483647
3) Touch probe function (60B8h)
Index Sub- Name Units Range Data Access PDO OP-mode
index type
60B8h 00h Touch probe function - 0~65535 U16 rw RxPDO ALL
Execute the function setting of Touch probe.

Related bit information

bit Value Note
0 0 Switch off touch probe 1 Touch Probe 1
1 Enable touch probe 1 execute/stop
1 0 Trigger first event Touch Probe 1
1 Continuous event mode selection
2 0 Trigger with touch probe 1 input Touch Probe 1
1 Trigger selection (external
Trigger with zero impulse signal of position encoder input/Z phase)
3 - Reserved Not used
4 0 Switch off sampling at positive edge of touch probe 1 Touch Probe 1
1 Enable sampling at positive edge of touch probe 1 Rising edge selection
5 0 Switch off sampling at negative edge of touch probe 1 Touch Probe 1
1 Enable sampling at negative edge of touch probe 1 Falling edge selection
6-7 - Not Supported Not used
8 0 Switch off touch probe 2 Touch Probe 2
1 Enable touch probe 2 execute/stop
9 0 Trigger first event Touch Probe 2
1 Continuous event mode selection
10 0 Trigger with touch probe 2 input Touch Probe 2
 1 Trigger selection (external
Trigger with zero impulse signal of position encoder
input/Z phase)
11 - Reserved Not used
12 0 Switch off sampling at positive edge of touch probe 2 Touch Probe 2
1 Enable sampling at positive edge of touch probe 2 Rising edge selection
13 0 Switch off sampling at negative edge of touch probe 2 Touch Probe 2
1 Enable sampling at negative edge of touch probe 2 Falling edge selection
14-15 - Not Supported Not used
Note:
under the same probe, do not set the rising edge and the falling edge at the same time.

4) Touch probe status (60B9h)

Index Sub-index Name Units Range Data type Access PDO OP-mode
Touch probe status - 0~65535 U16 ro TxPDO ALL
60B9h 00h
Touch probe function status.
Related bit information
Bit Value Note
0 Touch probe 1 is switch off Touch Probe 1 action stop
0
1 Touch probe 1 is enabled Touch Probe 1 in action
Touch probe 1 no positive edge value stored Rising edge touch probe 1 incomplete
0
status
1
Touch probe 1 positive edge value stored Rising edge touch probe 1 complete
1
status
Touch probe 1 no negative edge value stored Falling edge touch probe 1 incomplete
0
status
2
Touch probe 1 negative edge value stored Falling edge touch probe 1 complete
1
status
3-5 - Reserved Not used
6-7 - Not Supported Not used
0 Touch probe 2 is switch off Touch Probe 2 action stop
8
1 Touch probe 2 is enabled Touch Probe 2 in action
Touch probe 2 no positive edge value stored Rising edge touch probe 2 incomplete
0
status
9
Touch probe 2 positive edge value stored Rising edge touch probe 2 complete
1
status
Touch probe 2 no negative edge value stored Falling edge touch probe 2 incomplete
0
status
10
Touch probe 2 negative edge value stored Falling edge touch probe 2 complete
1
status
11-13 - Reserved Not used
14-15 - Not Supported Not used
5) Obtained clamping position (0x60BA~0x60BD)
Index Sub- Name Units Range Data Access PDO OP-
index type mode
60BAh 00h Touch probe pos1 pos value Command -2147483648~ I32 ro TxPDO ALL
unit 2147483647
Touch probe1 rising edge clamp position.
60BBh 00h Touch probe pos1 neg value Command -2147483648~ I32 ro TxPDO ALL
unit 2147483647
Touch probe1 falling edge clamp position.
60BCh 00h Touch probe pos2 pos value Command -2147483648~ I32 ro TxPDO ALL
unit 2147483647
Touch probe2 rising edge clamp position.
60BDh 00h Touch probe pos2 neg value Command -2147483648~ I32 ro TxPDO ALL
unit 2147483647
Touch probe2 falling edge clamp position.
6) Startup of Touch probe action
When bit0 / bit8 of 60B8h (touch probe function) is from "0 (stop) → 1 (start)", obtain various setting conditions
(60B8h: bit1 ~ 7 / bit9 ~ 15), and start Touch probe action.
To make the changes of various setting conditions valid, bit0 / bit8 return "0 (stop)" and then to "1 (start)" again.
To switch the control mode and then use the probe function, also bit0 / bit8 return "0 (stop)" and then to "1 (start)"
again.

7) Touch probe event mode

According to 60B8h (Touch probe function) bit1/bit9 (event mode selection), “0(Trigger first event mode)” and
“1(Continuous mode)” can be selected.

(1) < Trigger first event mode>(60B8h:bit1=0 / bit9=0)

After starting, this mode only clamps position for the first trigger signal. In order to get it again, it is necessary to
start touch probe again.

Positive edge

Negtive edge
(2) < Continuous mode >(60B8h:bit1=1 / bit9=1)
After startup, this mode clamps position for every trigger signal. The obtained value will be kept for the next
Probe signal.

Positive edge
 Negtive edge

7.9.4 Digital input(60FDh)

The bits of digital input 60FDh are represent the input status of positive limit switch (POT), negative limit switch
(NOT), home switch (HOME), Touch probe 1 (Probe 1), and Touch probe 2 (Probe 2) through the functional
signals assigned to the DS5C2 series servo parameters P5-22 (POT setting address), P5-23 (NOT setting address),
P5-27 (HOME origin setting address), P5-62 (Probe 1 setting address), and P5-63 (Probe 2 setting address).

Digital inputs (60FDh) (version before 3791)

Index Sub-index Name/description Range Data Access PDO Op-mode
type
60FDh 00h Digital inputs 0~4294967295 U32 ro TxPDO All
Represents the theoretical input state to an external input signal.
Bit information
31 30 29 28 27 26 25 24
r
23 22 21 20 19 18 17 16
r
15 14 13 12 11 10 9 8
r
7 6 5 4 3 2 1 0
r tp2 tp1 hs pls nls
r = reserved(not corresponding) pls= positive limit switch
nls = negative limit switch hs=home switch
tp1=Touch probe 1 tp2=Touch probe 2
Bits details:
Value Description
0 Input status OFF
1 Input status ON
The values of bit0 (reverse overtravel switch), bit1 (forward overtravel switch), bit2 (origin switch), bit3 (probe 1),
bit4 (probe 2) and bit5 (Z phase output), bit16 (remote SI input1), bit17(remote SI input2), bit18 (remote SI input3)
for 60FD (digital input) represent the positive signal states of driving limit input, negative driving limit input, near
origin input, probe 1 input, and probe 2 input, Z phase output, remote SI input1, remote SI input2, remote SI
input3 respectively.
The Z-phase output holding time is modified by the driver parameters:
Default
Parameter Meaning Unit Range Modify Effective
value
Z-phase output
P5-19 2 ms 1~65535 Anytime At once
holding time
The Z-phase output is affected by the EtherCAT communication cycle and its own software processing, resulting
in poor consistency.
7.9.5 Digital output (60FEh)
The bit0 in sub object word 1 of digital output 60FEh represents the zero crossing Z-phase output status bit, and
the bit0 in sub object word 2 represents the zero crossing Z-phase output enable bit. Set the Z-phase output enable
bit to 1. When the encoder crosses zero, the Z-phase output status bit changes from 0 to 1. After the holding time
set in P5-19, the Z-phase output status bit changes from 1 to 0. If the Z-phase output enable bit is set to 0, there is
no Z-phase output state, and the value of the Z-phase output state bit is 0.
Digital output (60FEh)
Sub
Index Name Range Data type Accessibility PDO Op-mode
index
Number of entries 2 U8 ro NO All
00h
The number of Sub Index for 60FEh.
Physical outputs 0~4294967295 U32 rw RxPDO All
Indicates the output status of the external output signal for operation.
Bit information
31 30 29 28 27 26 25 24
r
23 22 21 20 19 18 17 16
r ros3 ros2 ros1
01h 15 14 13 12 11 10 9 8
r
7 6 5 4 3 2 1 0
r
r = reserved (Not corresponding)
ros1= remote output state1 (remote SO output status 1)
ros2= remote output state2 (remote SO output status 2)
60FEh
ros3= remote output state3 (remote SO output status 3)
Bit mask 0~4294967295 U32 rw RxPDO All
Indicates the output operation host function for setting external output signals.
Bit information
31 30 29 28 27 26 25 24
r
23 22 21 20 19 18 17 16
r roe3 roe2 roe1
02h 15 14 13 12 11 10 9 8
r
7 6 5 4 3 2 1 0
r
r = reserved (Not corresponding)
roe1= remote output enable1 (remote SO1 output enable 1)
roe2= remote output enable2 (remote SO1 output enable 2)
roe3= remote output enable3 (remote SO1 output enable 3)
The details of each bit are as follows:
Subindex 01h: Physical outputs
bit Name Value Description
0 Remote SO1 status OFF
16 Remote SO1 output status bit
1 Remote SO1 status ON
0 Remote SO2 status OFF
17 Remote SO2 output status bit
1 Remote SO2 status ON
0 Remote SO3 status OFF
18 Remote SO3 output status bit
1 Remote SO3 status ON
Subindex 02h: Bit mask
bit Name Value Description
0 Remote SO1 output enable OFF
16 Remote SO1 output enable bit
1 Remote SO1 output enable ON
0 Remote SO2 output enable OFF
17 Remote SO2 output enable bit
1 Remote SO2 output enable ON
 bit Name Value Description
0 Remote SO3 output enable OFF
18 Remote SO3 output enable bit
1 Remote SO3 output enable ON
The bits 16, 17, and 18 in Subindex 01h (sub object word 1) of digital output 60FEh represent the remote SO1
output status bit, remote SO2 output status bit, and remote SO3 output status bit, respectively. The bits 16, 17, and
18 in Subindex 02h (sub object word 2) represent the remote SO1 output enable bit, remote SO2 output enable bit,
and remote SO3 output enable bit.

7.9.6 Position information

1) Initialization time of location information
The servo driver initializes (presets) the position information related objects in the following time sequence.
 Initialization sequence (condition):
・When the power is put into operation
・ When communication is established (ESM status Init → OP migration)
・ When the original point is reset
・ Absolute multi-turn zero clearing
 Initialization objects
・6062h(Position demand value)
・6063h(Position actual internal value)
・6064h(Position actual value)
・60FCh(Position demand internal value)
The object here is based on the Position actual internal value (6063h) that represents the feedback position of the
motor, the electronic gear function described later will add Home offset, etc. according to the polarity change
symbol, and initialize (preset) when the communication is established.
In addition, the changes of the set values of electronic gear ratio, Polarity and Home offset are reflected by the
time sequence described later in this chapter.
Note: please refer to "initialization of absolute encoder" in Section 4 of this chapter for details of precautions for
using absolute encoder.

2) Electronic gear ratio

(1) Function overview
The electronic gear is a function of multiplying the position command input from the upper computer by the
electronic gear ratio set by the object as the position command of the position control unit. According to the use of
this function, the motor rotation and movement amount of each command unit can be set arbitrarily.
(2) DS5C2 series electronic gear ratio setting method
Method 1: set the electronic gear ratio according to the internal parameters of the servo, please refer to chapter
5.4.1.1 for details.
Method 2:
DS5C2 series servo driver can set electronic gear ratio through the object 608Fh (Position encoder resolution),
6091h (Gear ratio), 6092h (Feed constant) specified by CoE (CiA402).

The following is mainly about setting the electronic gear ratio according to COE (CiA402).
The relationship between user-defined units (instruction units) and internal units (pulse) is calculated according to
the following equation.
Calculation formula of electronic gear ratio:
Note:
(1) The ratio of electronic gear is valid in the range of 8000 to 1/1000 times.
If the out of range value is saturated within the range, E-883 (abnormal action abnormal protection) occurs.

(2)608FH-01h (encoder increments) is automatically set according to the resolution of the encoder. The factory
value of 6092h-01h (feed) is set according to the resolution of encoder.

(3) The setting of electronic gear ratio is reflected by the following time sequence.
・When the power is put into operation
・When communication is established (ESM status Init → OP migration)
・When the original point is reset
・Absolute multi-turn zero clearing
(4) Please note that it does not reflect whether the set value of the associated object changes or not.
The position information initialization when Init ⇒ OP in absolute mode, please set the value of absolute encoder
position [pulse / unit] / electronic gear ratio within the range of - 2 ^ 31 (- 2147483648) ～ + 2 ^ 31-1
(2147483647). Actions outside this range are not guaranteed.
Please confirm the action range of absolute encoder position and gear ratio.

(5) Try to use the electronic gear ratio setting in Cia402 protocol.
 Related parameter
Position encoder resolution(608Fh)
Index Sub-index Name Units Range Data Access PDO OP-
type mode
608Fh - Position encoder - - - - - -
resolution
The resolution of encoder is set automatically.
00h Highest sub-index - 2 U8 ro NO ALL
supported
Represents the Sub-Indexes of 608FH.
01h Encoder increments Pulse 1~4294967295 U32 ro NO ALL
Indicates the amount of encoder movement. Value is set automatically by the encoder
resolution.
02h Motor revolutions r(motor) 1~4294967295 U32 ro NO ALL
Indicates the number of motor rotations. The value is fixed to 1.
This object defines the encoder resolution for each revolution of the motor.
Position encoder resolution = Encoder increments(608Fh-01h)/ Motor revolutions (608Fh-02h)
This object is automatically set according to the information read out from the motor connected to the servo
driver.
Example: connection of 17 bit/r encoder
608Fh-01h(Encoder increments)= 130172
608Fh-02h(Motor revolutions)= 1
Position encoder resolution = 131072 / 1 = 131072
Gear ratio (6091h)
Index Sub- Name Units Range Data Access PDO OP-
index type mode
6091h - Gear ratio - - - - - -
Set gear ratio
00h Highest sub-index - 2 U8 ro NO ALL
supported
Represents the Sub-Indexes of 6091H.
01h Motor revolutions Pulse 1~4294967295 U32 rw NO ALL
Motor rotation numbers.
02h Shaft revolutions r(motor) 1~4294967295 U32 rw NO ALL
Shaft rotation numbers.
This object defines the number of motor revolutions and the number of shaft revolutions after gearbox output.
Gear ratio = Motor shaft revolutions(6091h-01h)/ Driving shaft revolutions(6091h-02h).
Feed constant(6092h)
Index Sub- Name Units Range Data Access PDO OP-
index type mode
Feed constant - - - - - -
-
Set the feed constant.
Highest sub-index
- 2 U8 ro NO ALL
00h supported
Represents the Sub-Indexes of 6091H.
6092h
Command
Feed 1~4294967295 U32 rw NO ALL
01h unit
Set the feed quantity.
Shaft revolutions r (motor) 1~4294967295 U32 rw NO ALL
02h
Set the shaft rotation number.
This object represents the action amount of shaft each revolution after the gearbox outputs.
Feed constant =Feed(6092h-01h)/ Driving shaft revolutions(6092h-02h).

3) Polarity function (607Eh)

For position commands, speed commands, torque commands, and their offsets, polarity (motor rotation direction)
can be set. The DS5C2 series sets the rotation direction based on the object Polarity command polarity (607Eh)
specified by CoE (CiA402). But the polarity of the Polarity command (607Eh) specified by CoE (CiA402) will
change with the change of the rotation direction of parameter P0-05 (rotation direction setting). If P0-05 is set
from 0 to 1 and Cia402 object word 607Eh becomes 0xE0, the driver can move in the opposite direction. P0-05 is
set from 1 to 0, its object word 607Eh becomes 0, and the drive returns to the default specified positive direction
motion.
In addition, the Polarity instruction polarity (607Eh) of the object is not the object of the original replacement
parameter P0-05 (rotation direction setting). It is valid when transferring object data corresponding to the table
below between the CoE (CiA402) processing unit and the motor control processing unit.

Index Sub- Name Units Range Data Access PDO OP-mode

index type
607Eh 00h Polarity - 0~255 U8 rw NO ALL
Set the polarity when the values of position instruction, speed instruction, torque instruction
and position offset, speed offset (speed addition) and torque offset (torque addition) are
transferred from the object to the internal processing, and the polarity when the values of
position feedback, speed feedback and torque feedback are transferred from the internal
processing to the object.
Note: for the setting value of this object, please set the polarity of position, speed and torque to
0 or 224 (bit 7-5 = 1).
Actions under other settings cannot be guaranteed.
Setting value Contents
0 Symbol of position, speed and torque has no reversal
224 Symbol of position, speed and torque has reversal
Others Cannot support (do not set)
 bit7: position polarity
0: symbol no reversal 1: symbol has reversal
bit6: speed polarity
0: symbol no reversal 1: symbol has reversal
bit5:torque polarity
0: symbol no reversal 1: symbol has reversal
bit4-0: Reserved, please set to 0

object <command・setting> ・607Ah (Target position)

・60B0h (Position offset)
・60FFh (Target velocity)
・60B1h (Velocity offset)
・6071h (Target torque)
・60B2h (Torque offset)
<monitor> ・6062h(Position demand value)
・6064h(Position actual value)
・606Bh(Velocity demand value)
・606Ch(Velocity actual value)
・6074h(Torque demand)
・6077h(Torque actual value)
・6078h(Current actual value)
Symbol no reversal: for the positive direction command, the motor rotation reverse direction is CCW direction;
Symbol has reversal: for the positive direction command, the motor rotation reverse direction is CW direction.
When the rotation direction of the motor is viewed from the shaft end of the load side, CW is defined as clockwise
and CCW is defined as anticlockwise.

4) Initialization of absolute encoder

If the absolute encoder is used in the position control mode, the zero point reset action is not required (except for
the case that the absolute encoder is used as an incremental encoder). After the installation of the battery, it is
necessary to clear the data of multiple turns at the initial start-up of the device.
(1) Absolute data
Among the data read out from the absolute encoder, there are the built-in single turn data within one turn of the
motor and the multi-turn data which are counted once per revolution. Among them, multi-turn data needs to be
backed up by batteries because it is an electrical count. Both data are increased when rotating from the CCW
direction of the motor shaft end. E-228 alarm (absolute counter overflow protection) occurs when the multi-turn
data overflows.

(2) Absolute data to 32-bit data mapping

The servo drive initializes the position information. If it is a 23-bit encoder, the single turn data is 23 bits and the
multi turn data is 16 bits. The synthesized position information is 39 bits width, but as position information, the
value set to the object is 32 bits width. Because 6063h only sets the lower 32 bits of absolute encoder data as
position information, the effective bit length of multi turn data becomes 9 bits (the upper 7 bits of 16 bits
disappear). 6064h calculates the position information based on the following equation, and the calculated position
information becomes a 32-bit width. Therefore, the effective bit length of multi turn data varies according to the
inverse transformation value of the electronic gear.
607Eh (Polarity) Position information (take an example of 19-bit encoder motor)
607Eh = 0 (CCW is the forward 6063h=M*2^19 +S
direction) 6064h= (6063h* inverse transformation value of the electronic gear)
607Eh = 224 (CW is the forward 6063h=﹣(M*2^19 +S)
direction) 6064h=(6063h* inverse transformation value of the electronic gear)
M:multi-turn data
S: single turn data

5) Position range limit (607Bh)

The DS5C2 series servo driver does not support wrap-around。
Infinite rotation mode acts as 607Bh-01h=80000000h, 607Bh-02h=7FFFFFFFh in the interior. Modifying this
object is not affected either.

7) Homing offset(607Ch)
Set the offset quantity of the mechanical origin offset after returning to the mechanical origin, and use this
position as the mechanical zero point. If it is set to 0, the mechanical origin will coincide with the mechanical zero
point. The origin offset can be set as a positive or negative number to indicate the left or right deviation from the
mechanical origin.

This object can be updated at any time, but it needs to reflect the actual location information through the following
time sequence.
・When the power is put into operation
・When communication is established (when ESM status is Init → OP migration)
・When the original point is reset
The position under the above time sequence is used as the reference to initialize(preset) the following objects
・ When the origin position is detected
6063h(Position actual internal value)＝60FCh(Position demand internal value)＝0
6062h(Position demand value)＝6064h(Position actual value)＝607Ch(Home offset)

・Initialization (preset) in time sequence other than the origin position is detected
6063h(Position actual internal value)＝60FCh(Position demand internal value)
6062h(Position demand value)＝6064h(Position actual value)
＝6063h(Position actual internal value)＋607Ch(Home offset)
Note: the above is the case when the electronic gear ratio is 1:1 and there is no polarity reversal.

Home offset definition

Home position: Index pulse position (origin position)
Zero position: Incremental system＝0 (The position when the power is on, or the position from hm detected index
pulse substract by Home offset position)
Absolute system＝Zero position of absolute encoder.

7.9.7 Overtravel function in Ethercat mode

Default
Parameter Meaning Unit Range Modify Effective
value
0: Direct alarm, using servo
deceleration shutdown method
P0-28.0 1: Alarm after decelerating and 2 - 0~3 ○ 1|3|4|8|9|10
stopping as 605Ah mode
2: Do not use overtravel
  Prohibited status
Scenario 1:
When the servo is in an enabled not motion or disabled state and touches the reverse limit switch, the panel will
display NOT, cancel the reverse limit signal, and the panel will return to its previous state.
Scenario 2:
When the servo is in an enabled not motion or disabled state and touches the forward limit switch, the panel will
display POT, cancel the forward limit signal, and the panel will return to its previous state.
Scenario 3:
When the servo is in an enabled not motion or disabled state and simultaneously touches the forward and reverse
limit switches, the servo will report E-261. If two limit signals are cancelled, the panel will return to its previous
state; If any limit signal is cancelled, the panel will display another limit signal, which needs to be cancelled
before the panel can return to its previous state.

 Normaly operation status

(1) Initial movement direction to the left
The initial direction of movement is left. When touching the forward limit switch, the servo will report E-261. If
the forward limit switch is cancelled first, and then the alarm is cleared, the shaft will return to a non enabled state,
and both the forward and reverse directions of the shaft can move; If the alarm is cleared first and the axis returns
to the disabled state, but the panel still displays POT, the axis is still in the forward limit restricted state. The
forward limit signal needs to be cancelled in order to release the forward overtravel prohibition.

 Overtravel status
P0-28 set to 1 (Alarm deceleration stop)
(1) Initial movement direction to the left, triggering the overtravel signal without occurrence of offside
Scenario 1: Failure to touch the forward limit switch
The initial direction of movement is left. When touching the rising edge of the reverse limit switch, the panel
display changes from RUN to NOT, triggering the reverse overtravel deceleration stop. The shaft stops on the
reverse limit switch, and the servo will report E-260. The alarm must be cleared to move the axis in the
forward direction. When it touches the falling edge of the reverse limit switch, the panel display can change
from NOT to RUN, and the reverse overtravel prohibition can be released.
Scenario 2: Before the axis deceleration stops, touch the forward limit switch
The initial direction of movement is left. When touching the rising edge of the reverse limit switch, the panel
display changes from RUN to NOT, triggering the reverse overtravel deceleration stop. Before the shaft stops,
if the forward limit switch is touched, the servo will report E-261. The forward limit switch must be
cancelled in order to clear the E-261 alarm. Otherwise, the alarm cannot be cleared. Then, the shaft moves
forward and touches the falling edge of the reverse limit switch. Only then can the panel display change from
NOT to RUN, and the reverse overtravel prohibition be released.

Scenario 3: When the shaft stops at the negative limit switch and touches the positive limit switch
The initial direction of movement is left. When touching the rising edge of the reverse limit switch, the panel
display changes from RUN to NOT, triggering the reverse overtravel deceleration stop. When the shaft stops
on the reverse limit switch, the servo will report E-260. At this time, if the forward limit switch is touched,
the servo will report E-261. The forward limit switch must be cancelled before the E-261 alarm can be
cleared. Otherwise, the alarm cannot be cleared. Then, when the shaft moves forward and touches the falling
edge of the reverse limit switch, the panel display can change from NOT to RUN, and the reverse overtravel
prohibition can be released.
 Scenario 4: When touching the forward limit switch during axis forward movement
The initial direction of movement is left. When touching the rising edge of the reverse limit switch, the panel
display changes from RUN to NOT, triggering the reverse overtravel deceleration stop. When the shaft stops
on the reverse limit switch, the servo will report E-260. After clearing the alarm to make the shaft move
forward, if the forward limit switch is touched, the servo will report E-261. The forward limit switch must be
cancelled before the E-261 alarm can be cleared. Otherwise, the alarm cannot be cleared. Continue to move
the shaft forward, touch the falling edge of the reverse limit switch, and the panel display can change from
NOT to RUN to release the reverse overtravel prohibition.

(2) The initial movement direction is to the left, triggering an overtravel signal and out of range occured
Scenario 1: Without touching the forward limit switch while offside
The initial direction of movement is to the left. When touching the rising edge of the reverse limit switch, the
panel display changes from RUN to NOT, triggering the reverse overtravel deceleration stop. However, the
axis crosses the reverse limit switch and triggers the falling edge of the reverse limit switch. The axis stops
outside the limit, and the servo will report E-260. The alarm must be cleared to make the axis move forward.
Touch the rising and falling edges of the reverse limit switch again before the panel display can change from
 NOT to RUN, and the reverse overtravel prohibition can be released.

Scenario 2: In the case of offside, touch the forward limit switch before the axis deceleration stop is completed
The initial direction of movement is left. When touching the rising edge of the reverse limit switch, the panel
display changes from RUN to NOT, triggering the reverse overtravel deceleration stop. However, the axis crosses
the reverse limit switch and triggers the falling edge of the reverse limit switch. Before the shaft stops, if the
forward limit switch is touched, the servo will report E-261. The forward limit switch must be cancelled in order
to clear the E-261 alarm. Otherwise, the alarm cannot be cleared. Then, the shaft moves forward and touches the
rising and falling edges of the reverse limit switch again. Only then can the panel display change from NOT to
RUN, and the reverse overtravel prohibition be released.

Scenario 3: In the case of offside, when the shaft stops, touch the forward limit switch
The initial direction of movement is left. When touching the rising edge of the reverse limit switch, the panel
display changes from RUN to NOT, triggering the reverse overtravel deceleration stop. However, the axis
crosses the reverse limit switch and triggers the falling edge of the reverse limit switch. When the shaft stops,
the servo will report E-260. At this time, if the forward limit switch is touched, the servo will report E-261.
The forward limit switch must be cancelled before the E-261 alarm can be cleared. Otherwise, the alarm
cannot be cleared. Then, the shaft will move forward and touch the rising and falling edges of the reverse
limit switch again. Only then can the panel display change from NOT to RUN, and the reverse overtravel
 prohibition be released.

Scenario 4: In the case of offside, touching the forward limit switch during axis forward movement
The initial direction of movement is left. When touching the rising edge of the reverse limit switch, the panel
display changes from RUN to NOT, triggering the reverse overtravel deceleration stop. However, the axis
crosses the reverse limit switch and triggers the falling edge of the reverse limit switch. When the shaft stops,
the servo will report E-260. After clearing the alarm to move the shaft forward, if the forward limit switch is
touched, the servo will report E-261. The forward limit switch must be cancelled before the E-261 alarm can
be cleared. Otherwise, the alarm cannot be cleared. Continue to move the shaft forward, touch the rising and
falling edges of the reverse limit switch again, and the panel display can change from NOT to RUN to release
the reverse overtravel prohibition.

7.9.8 Remote I/O function

 General related parameters

Parameter Meaning Default Setting
0: Invalid
1: Input positive signal from SI1
P5-72 Remote SI input 1 0 2: Input positive signal from SI2
3: Input positive signal from SI3
16: Always set as valid
Parameter Meaning Default Setting
17: Input reverse signal from SI1
18: Input reverse signal from SI2
19: Input reverse signal from SI3
0: Invalid
1: Input positive signal from SI1
2: Input positive signal from SI2
3: Input positive signal from SI3
P5-73 Remote SI input 2 0
16: Always set as valid
17: Input reverse signal from SI1
18: Input reverse signal from SI2
19: Input reverse signal from SI3
0: Invalid
1: Input positive signal from SI1
2: Input positive signal from SI2
3: Input positive signal from SI3
P5-74 Remote SI input 3 0
16: Always set as valid
17: Input reverse signal from SI1
18: Input reverse signal from SI2
19: Input reverse signal from SI3
0: Do not output to terminals
1: Output positive signal from SO1
2: Output positive signal from SO2
Remote SO
P5-76 0 3: Output positive signal from SO3
output 1
17: Output reverse signal from SO1
18: Output reverse signal from SO2
19: Output reverse signal from SO3
0: Do not output to terminals
1: Output positive signal from SO1
2: Output positive signal from SO2
Remote SO
P5-77 0 3: Output positive signal from SO3
output 2
17: Output reverse signal from SO1
18: Output reverse signal from SO2
19: Output reverse signal from SO3
0: Do not output to terminals
1: Output positive signal from SO1
2: Output positive signal from SO2
Remote SO
P5-78 0 3: Output positive signal from SO3
output 3
17: Output reverse signal from SO1
18: Output reverse signal from SO2
19: Output reverse signal from SO3
 Remote I/O related dictionary objects
Object Meaning Unit Explanation
Bit0: N-OT signal
Bit1: P-OT signal
Bit2: SPDD signal
Bit3: Probe 1 signal
Bit4: Probe 2 signal
60FDh Digital inputs -
Bit5: Z-phase signal output
Bit6~Bit15 reserved
Bit16: Remote SI input 1
Bit17: Remote SI Input 2
Bit18: Remote SI input 3
Bit0~Bit15 reserved
Bit16: Remote SO output 1
60FEh:01 Physical outputs -
Bit17: Remote SO output 2
Bit18: Remote SO output 3
When using, Bit16~Bit18 should
60Feh:02 Bit mask -
correspond to position 1

For specific information on 60FDh, please refer to Chapter 7.9.4 Digital Input (60FDh)
For specific information on 60FEh, please refer to Chapter 7.9.5 Digital Output (60FEh)

7.9.9 Cascade alarm function

3770 and later versions have added an external terminal emergency alarm function. When this function is
enabled, if the terminal signal is conductive, the driver will generate an alarm E-320. The driver can be used
in cascade, and by connecting the alarm output to this functional terminal of the next driver, a cascade alarm
can be triggered.
New function parameter P5-68, default setting of P5-68 to 0:
Default
Parameter Meaning Unit Range Modify Effective
value
Terminal emergency
P5-68 0 - 00~ff Anytime At once
alarm function
8 Object dictionary
This chapter mainly introduces the object dictionary area allocation, COE communication area, driver profile area
and so on.

8.1 Object dictionary area assignment

All objects are configured in the object dictionary of each group through 4 digits 16-bit index configuration
address.
The object dictionary of CoE (CANopen over EtherCAT) specified by CiA402 and the object dictionary of
DS5C2 series are as follows:
Object dictionary specified by CiA402 DS5C2 series object dictionary
Index Content Index Content
0000h～0FFFh Data type area 0000h～0FFFh Data type area
1000h～1FFFh COE communication area 1000h～1FFFh COE communication area
2000h～5FFFh 2000h～2FFFh Servo parameter area
3000h～3FFFh Reserved
Factory custom area
4000h～4FFFh Reserved
5000h～5FFFh Reserved
6000h～9FFFh 6000h～6FFFh Driver Profile area
Profile area
7000h～9FFFh Reserved
A000h～FFFFh Reserved A000h～FFFFh Reserved

8.2 COE communication area (0x1000-0x1FFF)

8.2.1 Object list

1) Device information object:
Index Sub-index Name
1000h 00h Device type
1001h 00h Error register
1008h 00h Manufacturer device name
1009h 00h Manufacturer hardware version
100Ah 00h Manufacturer software version
- Identity object
00h Number of entries
01h Vendor ID
1018h
02h Product code
03h Revision number
04h Serial number
2） RxPDO object mapping
Index Sub-index Name
- Receive PDO mapping 1
00h Number of entries
01h 1st receive PDO mapped
02h 2nd receive PDO mapped
1600h 03h 3rd receive PDO mapped
04h 4th receive PDO mapped
05h 5th receive PDO mapped
… …
18h 24th receive PDO mapped
- Receive PDO mapping 2
1601h 00h Number of entries
01h 1st receive PDO mapped
 Index Sub-index Name
02h 2nd receive PDO mapped
03h 3rd receive PDO mapped
04h 4th receive PDO mapped
05h 5th receive PDO mapped
… …
18h 24th receive PDO mapped
- Receive PDO mapping 3
00h Number of entries
01h 1st receive PDO mapped
02h 2nd receive PDO mapped
1602h 03h 3rd receive PDO mapped
04h 4th receive PDO mapped
05h 5th receive PDO mapped
… …
18h 24th receive PDO mapped
- Receive PDO mapping 4
00h Number of entries
01h 1st receive PDO mapped
02h 2nd receive PDO mapped
1603h 03h 3rd receive PDO mapped
04h 4th receive PDO mapped
05h 5th receive PDO mapped
… …
18h 24th receive PDO mapped
3） TxPDO object mapping:
Index Sub-index Name
- Transmit PDO mapping 1
00h Number of entries
01h 1st transmit PDO mapped
02h 2nd transmit PDO mapped
1A00h 03h 3rd transmit PDO mapped
04h 4th transmit PDO mapped
05h 5th transmit PDO mapped
… …
18h 24th transmit PDO mapped
- Transmit PDO mapping 2
00h Number of entries
01h 1st transmit PDO mapped
02h 2nd transmit PDO mapped
1A01h 03h 3rd transmit PDO mapped
04h 4th transmit PDO mapped
05h 5th transmit PDO mapped
… …
18h 24th transmit PDO mapped
- Transmit PDO mapping 3
00h Number of entries
01h 1st transmit PDO mapped
02h 2nd transmit PDO mapped
1A02h 03h 3rd transmit PDO mapped
04h 4th transmit PDO mapped
05h 5th transmit PDO mapped
… …
18h 24th transmit PDO mapped
- Transmit PDO mapping 4
1A03h 00h Number of entries
01h 1st transmit PDO mapped
 Index Sub-index Name
02h 2nd transmit PDO mapped
03h 3rd transmit PDO mapped
04h 4th transmit PDO mapped
05h 5th transmit PDO mapped
… …
18h 24th transmit PDO mapped
4） PDO object distribution:
Index Sub-Index Name
- Sync manager channel 2
00h Number of assigned PDOs
01h Assigned RxPDO 1
1C12h
02h Assigned RxPDO 2
03h Assigned RxPDO 3
04h Assigned RxPDO 4
Index Sub-Index Name
- Sync manager channel 3
00h Number of assigned PDOs
01h Assigned TxPDO 1
1C13h
02h Assigned TxPDO 2
03h Assigned TxPDO 3
04h Assigned TxPDO 4
5） PDO synchronous management channel
Index Sub-Index Name
- Sync manager 2 synchronization
00h Number of sub-objects
01h Sync mode
02h Cycle time
03h Shift time
04h Sync modes supported
05h Minimum cycle time
06h Calc and copy time
1C32h
08h Command (not support)
09h Delay time (not support)
0Ah Sync0 cycle time
0Bh Cycle time too small (not support)
0Ch SM-event missed (not support)
0Dh Shift time too short (not support)
0Eh RxPDO toggle failed (not support)
20h Sync error
- Sync manager 3 synchronization
00h Number of sub-objects
01h Sync mode
02h Cycle time
03h Shift time
04h Sync modes supported
05h Minimum cycle time
06h Calc and copy time
1C33h
08h Command (not support)
09h Delay time (not support)
0Ah Sync0 cycle time
0Bh Cycle time too small (not support)
0Ch SM-event missed (not support)
0Dh Shift time too short (not support)
0Eh RxPDO toggle failed (not support)
20h Sync error
8.2.2 Device information
This section describes the equipment information.
Index Sub-index Name/Description Range DateType Access PDO Op-mode
1000h 00h Divece type 0~4294967295 U32 ro NO All
Indicates the device type. In case of servo driver, the value is fixed to 04020192h.
1001h 00h error register 0~65535 U16 ro TxPDO All
Displays the type (status) of alarm that is occurring in the servo drive.
When the alarm does not occur, it will display 0000H.
Do not display warnings.

Bit Contents
0 Not support
1
2
3
4 AL status code defined alarm occured*1
5 Not support
6 Reserved
7 AL status code undefined alarm occured*2
*1: “AL status code defined alarm” refers to abnormal communication association of
EtherCAT E-800~7, E-810~7, E-850~7.
*2: “AL status code undefined alarm” refers to abnormal communication association of
EtherCAT E-880~7 and abnormal except EtherCAT communication association.
1008h 00h Manufacturer Device name - - ro TxPDO All
Represents the device name.
1009h 00h Manufacturer Hardware - - ro TxPDO All
version
Indicates the hardware version.
Index Sub-index Name/Description Range DateType Access PDO Op-mode
1018h 00h Number of entries 0~255 U8 ro TxPDO All
Represents the object subindexes. The value is fixed to 04H.
01h vendor ID 0~4294967295 U32 ro TxPDO All
Indicates the manufacturer ID of EtherCAT. The value is fixed to 00000556h.
02h product code 0~4294967295 U32 ro TxPDO All
Represents the product code. The value is 10305070h.
03h Revision umber 0~4294967295 U32 ro TxPDO All
Indicates the product version number. The value is 02040608h.
04h Divece type 0~4294967295 U32 ro TxPDO All
Indicates the product serial number. The value is 00000000h.

8.2.3 Sync manager communication type(1C00h)

The action mode assigned to each SyncManager is set by 1C00h object.
The value is fixed for the servo driver.
Index Sub-index Name/Description Range DateType Access PDO Op-mode
1C00h 00h Number of used sync manager 0~255 U8 ro TxPDO All
channels
Represents the object subindexes. The value is fixed to 04H.
01h Communication type sync manager 0 0~4 U8 ro TxPDO All
Set the purpose of SYNC Manager 0.
0: unused
1: Mailbox receive message (master station→slave station)
2: Mailbox send message (slave station→master station)
3: RxPDO (master station→slave station)
4: TxPDO (slave station→master station)
Because SYNC Manager0 uses mailbox to receive messages, the value is fixed to 1.
 02h Communication type sync manager 1 0~4 U8 ro TxPDO All
Set the purpose of SYNC Manager 1.
0: unused
1: Mailbox receive message (master station→slave station)
2: Mailbox send message (slave station→master station)
3: RxPDO (master station→slave station)
4: TxPDO (slave station→master station)
Because SYNC Manager1 uses mailbox to send messages, the value is fixed to 2.
03h Communication type sync manager 2 0~4 U8 ro TxPDO All
Set the purpose of SYNC Manager 2.
0: unused
1: Mailbox receive message (master station→slave station)
2: Mailbox send message (slave station→master station)
3: RxPDO (master station→slave station)
4: TxPDO (slave station→master station)
Because SYNC Manager2 uses Process data output (RxPDO), the value is fixed to 3.
04h Communication type sync manager 3 0~4 U8 ro TxPDO All
Set the purpose of SYNC Manager 3.
0: unused
1: Mailbox receive message (master station→slave station)
2: Mailbox send message (slave station→master station)
3: RxPDO (master station→slave station)
4: TxPDO (slave station→master station)
Because SYNC Manager3 uses Process data output (RxPDO), the value is fixed to 4.

8.2.4 PDO mapping

1. PDO distribution object (1C12h ~ 1C13h)
The table for PDO mapping allocated by the syncmanager is set by the objects 1C12h to 1C13h.
Index Sub-index Name/Description Range DateType Access PDO Op-mode
1C12h 00h Number of assigned PDOs 0~4 U8 rw NO All
Represents the subindexes for this object.
01h Assigned RxPDO 1 1600h~1603h U16 rw NO All
Specifies the RxPDO mapping object.
02h Assigned RxPDO 2 1600h~1603h U16 rw NO All
Specifies the RxPDO mapping object.
03h Assigned RxPDO 3 1600h~1603h U16 rw NO All
Specifies the RxPDO mapping object.
04h Assigned RxPDO 4 1600~1603 U16 rw NO All
Specifies the RxPDO mapping object.
1C13h 00h Number of assigned PDOs 0~4 U8 rw NO All
Represents the object subindexes. The value is fixed to 04H.
01h Assigned TxPDO 1 1A00h~1A03h U16 rw NO All
Specifies the TxPDO mapping object.
02h Assigned TxPDO 2 1A00h~1A03h U16 rw NO All
Specifies the TxPDO mapping object.
03h Assigned TxPDO 3 1A00h~1A03h U16 rw NO All
Specifies the TxPDO mapping object.
04h Assigned TxPDO 4 1A00h~1A03h U16 rw NO All
Specifies the TxPDO mapping object.
Sub-index 01h-04h of 1C12h and 1C13h can only be changed when the ESM state is PreOP and sub-index 00h =
0. Other status will return port code (06010003h).
After the settings changed, set the Sub-index number of Sub-index 00h. PDO allocation object settings are
reflected by changing ESM status to SafeOP.
2.PDO mapping object (1600h~1603h, 1A00h~1A03h)
As a table for PDO mapping objects, 1600h-1603h for RxPDO and 1A00h-1A03h for TxPDO can be used. After
subindex 01h, it represents the information of the mapped application layer object.
Index Sub-Index Name/Description Range DateType Access PDO Op-mode
1600h 00h Number of entries 0~4294967295 U8 rw NO All
Represents the subindexes for this object.
01h 1st receive PDO mapped 0~4294967295 U32 rw NO All
Set the first mapping object.
bit 31 …16 15 ….8 7 ….0
Index number Sub-index number Bit length
02h 2nd receive PDO mapped 0~4294967295 U32 rw NO All
The setting method is same to Subindex01h.
03h 3rd receive PDO mapped 0~4294967295 U32 rw NO All
The setting method is same to Subindex01h.
04h 4th receive PDO mapped 0~4294967295 U32 rw NO All
The setting method is same to Subindex01h.
05h 5th receive PDO mapped 0~4294967295 U32 rw NO All
The setting method is same to Subindex01h.
06h 6th receive PDO mapped 0~4294967295 U32 rw NO All
The setting method is same to Subindex01h.
… …
16h 16th receive PDO mapped 0~4294967295 U32 rw NO All
The setting method is same to Sub-index01h.
1601h - Receive PDO mapping 2, Sub-index specification is same to 1600h.
1602h - Receive PDO mapping 3, Sub-index specification is same to 1600h.
1603h - Receive PDO mapping 4, Sub-index specification is same to 1600h.
Do not map duplicate objects. The change of repeated setting is not guaranteed.
Sub-index 01h-18h of 1600h-1603h can only be changed when the ESM state is PreOP and Sub-index 00h = 0.
Other status will return Abort Code (06010003h).
After the settings changed, set the Sub-index number of Sub-index 00h. PDO allocation object settings are
reflected by changing ESM status to SafeOP.

Index Sub-Index Name/Description Range DateType Access PDO Op-mode

1A00h 00h Number of entries 0~4294967295 U8 rw NO All
Represents the subindexes for this object.
01h 1st transmit PDO mapped 0~4294967295 U32 rw NO All
Set the first mapping object.
bit 31 …16 15 ….8 7…0
Index number Sub-index number Bit length
02h 2nd transmit PDO mapped 0~4294967295 U32 rw NO All
The setting method is same to Subindex01h.
03h 3rd transmit PDO mapped 0~4294967295 U32 rw NO All
The setting method is same to Subindex01h.
04h 4th transmit PDO mapped 0~4294967295 U32 rw NO All
The setting method is same to Subindex01h.
05h 5th transmit PDO mapped 0~4294967295 U32 rw NO All
The setting method is same to Subindex01h.
06h 6th transmit PDO mapped 0~4294967295 U32 rw NO All
The setting method is same to Subindex01h.
… …
16h 16th transmit PDO mapped 0~4294967295 U32 rw NO All
The setting method is same to Subindex01h.
1A01h - Transmit PDO mapping 2, Subindex specification is same to 1600h.
1A02h - Transmit PDO mapping 3, Subindex specification is same to 1600h.
1A03h - Transmit PDO mapping 4, Subindex specification is same to 1600h.
Do not map duplicate objects. The change of repeated setting is not guaranteed.
Subindex 01h-18h of 1A00h-1A03h can only be changed when the ESM state is PreOP and Subindex00h = 0.
Other status will return Abort Code (06010003h).
After the settings changed, set the Subindex number of Subindex00h. PDO allocation object settings are reflected
by changing ESM status to SafeOP.

8.2.5 Sync manager 2/3 synchronization (1C32h, 1C33h)

Sync manager2 setting is executed according to 1C32h (Sync maneger 2 synchronization).
Sync manager3 setting is executed according to 1C33h (Sync maneger 3 synchronization).
Sync manager 2 synchronization(1C32h)
Index Sub-Index Name / Description Range DateType Access PDO Op-mode
1C32 00h Number of entries 0~20h U8 ro NO All
Represents the number of subindexes for this object. The value is fixed at 20h.
01h Sync mode 0-65535 U16 rw NO All
Set Sync Manager 2 synchronization mode.
00h:FreeRun(not synchronized)
01h:SM2(synchronized with SM 2 Event)
02h:DC SYNC0(synchronized with Sync0 Event)
02h Cycle time 0~4294967295 U32 rw NO All
Set Sync Manager period.
Set one of 1000000 (1ms), 2000000 (2ms), 4000000 (4ms), 8000000 (8ms), 10000000
(10ms). If set other value, it will show E-810 (Abnormal protection of synchronization
cycle setting).
03h Shift time 0~4294967295 U32 rw NO All
Offset time.
04h Sync modes supported 0~65535 U16 ro NO All
Set the supported synchronization type.
BIT0:FreeRun mode supported
0:not supported；1:FreeRun mode supported
This servo driver is set to 1.
BIT1:SM synchronization mode supported
0:not supported；1:SM2 event synchronization supported
This servo driver is set to 1.
BIT4-2:DC synchronization mode supported
000b:not supported
001b:DC sync0 event supported
This servo driver is set to 001b.
BIT6-5: output offset supported
00b:not supported
01b:local clock offset supported
This servo driver is set to 00b.
BIT15-7:Reserved
1C32 05h Minimum cycle time 0~4294967295 U32 ro NO All
The minimum value of the communication cycle that can be set.
06h Calc and copy time 0~4294967295 U32 ro NO All
From SM2 event, SYNC0 event to ESC read completion time.
This time can also be extended when there is a deviation in the signal.
08h Command 0~65535 U16 ro NO All
Not support
09h Delay time 0~4294967295 U32 ro NO All
Not support
0Ah Sync0 cycle time 0~4294967295 U16 ro NO All
When DC SYNC0 (1C32h-01h=02h), ESC register 09A0h value is set.
Except DC SYNC0, please set to 0.
0Bh Cycle time too small 0~65535 U16 ro NO All
Not support
0Ch SM-event missed 0~65535 U16 ro NO All
Not support
0Dh Shift time too short 0~65535 U16 ro NO All
Not support
 Index Sub-Index Name / Description Range DateType Access PDO Op-mode
0Eh RxPDO toggle failed 0~65535 U16 rw NO All
Not support
20h Sync error 0~1 BOOL ro NO All
Sync error
This setting value is a reference value, not a guaranteed value.
Sync manager 3 synchronization (1C33h)
Index Sub-Index Name/Description Range DateType Access PDO Op-mode
1C33h 00h Number of entries 0~20h U8 ro NO All
Represents the subindexes for this object. The value is fixed at 20h.
01h Sync mode 0~65535 U16 rw NO All
Set Sync Manager 3 synchronization mode.
00h:FreeRun (not synchronized)
01h:SM2 (synchronized with SM 2 Event)
02h:DC SYNC0 (synchronized with Sync0 Event)
02h Cycle time 0~4294967295 U32 rw NO All
Set Sync Manager period.
Set one of the 1000000(1ms), 2000000(2ms), 4000000(4ms), 8000000(8ms),
10000000(10ms). If set other value, it will show E-810 (Abnormal protection of
synchronization cycle setting).
03h Shift time 0~4294967295 U32 rw NO All
Offset time
04h Sync modes supported 0~65535 U16 ro NO All
Set the supported synchronization type.
BIT0: FreeRun mode supported
0:not supported; 1:FreeRun mode supported
This servo driver is set to 1.
BIT1:SM synchronization mode supported
0:not supported; 1:SM2 event synchronization supported
This servo driver is set to 1.
BIT4-2:DC synchronization mode supported
000b:not supported
001b:DC sync0 event supported
This servo driver is set to 001b.
BIT6-5:output offset supported
00b:not supported
01b:local clock offset supported
This servo driver is set to 00b.
BIT15-7:Reserved
1C33h 05h Minimum cycle time 0~4294967295 U32 ro NO All
The minimum value of the communication cycle that can be set.
06h Calc and copy time 0~4294967295 U32 ro NO All
From SM2 event, SYNC0 event to ESC read completion time.
This time can also be extended when there is a deviation in the signal.
08h Command 0~65535 U16 ro NO All
Not support
09h Delay time 0~4294967295 U32 ro NO All
Not support
0Ah Sync0 cycle time 0~4294967295 U16 ro NO All
The same value to 1C32h-0Ah.
0Bh Cycle time too small 0~65535 U16 ro NO All
Not support
0Ch SM-event missed 0~65535 U16 ro NO All
Not support
0Dh Shift time too short 0~65535 U16 ro NO All
Not support
0Eh RxPDO toggle failed 0~65535 U16 rw NO All
Index Sub-Index Name/Description Range DateType Access PDO Op-mode
Not support
20h Sync error 0~1 BOOL ro NO All
Sync error
This setting value is a reference value, not a guaranteed value.
1)DC (SYNC0 event synchronization)
Synchronization method Features
Based on the time of the first axis High-precision
synchronize time information of Compensation treatment shall be carried out at
other slave stations the main station side
The specification of DC synchronous mode in this servo driver is as follows:

2)SM2 (SM2 event synchronization)

Synchronization method Features
Synchronize with RxPDO No transmission delay compensation accuracy
receiving time difference
Ensure the transmission time at the upper device
side (special hardware, etc.)

The specification of SM2 synchronous mode in this servo driver is as follows:

8.3 Servo parameter area (0x2000~0x2FFF)
8.3.1 Object list
The object of 2000h – 5FFFh is distributed servo parameters. (servo parameter please refer to appendix of this
manual).
Index Sub-index Name Index Sub-index Name
2000h 00h P0-00 2500h 00h P5-00
2001h 00h P0-01 2501h 00h P5-01
2002h 00h P0-02 2502h 00h P5-02
2003h 00h P0-03 2503h 00h P5-03
... ... ... ... ... ...
205Fh 00h P0-95 2547h 00h P5-71

2100h 00h P1-00 2700h 00h P7-00

2101h 00h P1-01 2701h 00h P7-01
2102h 00h P1-02 2702h 00h P7-02
2103h 00h P1-03 2703h 00h P7-03
... ... ... ... ... ...
214Ah 00h P1-74 2715h 00h P7-21

2200h 00h P2-00 2800h 00h P8-00

2201h 00h P2-01 2801h 00h P8-01
2202h 00h P2-02 2802h 00h P8-02
2203h 00h P2-03 2803h 00h P8-03
... ... ... ... ... ...
2263h 00h P2-99 281Ah 00h P8-26

2300h 00h P3-00

2301h 00h P3-01
2302h 00h P3-02
2303h 00h P3-03
... ... ...
232Eh 00h P3-46

Index Sub-index Name Index Sub-index Name

3000h 00h U0-00 3100h 00h U1-00
3001h 00h U0-01 3101h 00h U1-01
3002h 00h U0-02 ... ... ...
... ... ...
3061h 00h U0-97

Index Sub-index Name

4000h 00h F0-00
... ... ...
4106h 00h F1-06

Index Sub-index Name Unit Data range Data type Flag PDO
Encode Single turn Position -2147483648
5000h 00h - I32 ro TxPDO
~ 2147483647
Encode MultRevolutions -2147483648~
5001h 00h - I32 ro TxPDO
2147483647
 Index Sub-index Name Unit Data range Data type Flag PDO
ModeSwitch Deceleration
5002h 00h - 0~65535 U16 rw RxPDO
time

8.3.2 Object overview

For example: P1-04, EtherCAT distributes to 2104h.
P3-10, EtherCAT distributes to 230Ah.

12-15bit : 2 represents servo parameter area

8-11 bit : 0-F represents group P number
0-7 bit : 00-FF represents parameters in group P
8.4 Driver Profile area(0x6000~0x6FFF)
8.4.1 Object list
Index Sub-index Name
603Fh 00h Abort connection option code
6040h 00h Control word
6041h 00h Status word
605Ah 00h Quick stop option code
605Bh 00h Shutdown option code
605Bh 00h Disable operation option code
605Bh 00h Halt option code
605Eh 00h Fault reaction option code
6060h 00h Modes of operation
6061h 00h Modes of operation display
6062h 00h Position demand value
6063h 00h Position actual internal value
6064h 00h Position actual value
6065h 00h Following error window
6066h 00h Following error time out
6067h 00h Position window
6068h 00h Position window time
6069h 00h Velocity sensor actual value
606Bh 00h Velocity demand value
606Ch 00h Velocity actual value
606Dh 00h Velocity window
606Eh 00h Velocity window time
606Fh 00h Velocity threshold
6070h 00h Velocity threshold time
6071h 00h Target torque
6072h 00h Max torque
6073h 00h Max current
6074h 00h Torque demand
6075h 00h Motor rated current
6076h 00h Motor rated torque
6077h 00h Torque actual value
6078h 00h Current actual value
6079h 00h DC link circuit voltage
607Ah 00h Target position
- Position rang limit
00h Number of entries
607Bh
01h Min position range limit
02h Max position range limit
607Ch 00h Home offset
- Software position limit
00h Number of entries
607Dh
01h Min position limit
02h Max position limit
606Eh 00h Polarity
607Fh 00h Max Profile velocity
6080h 00h Max motor speed
6081h 00h Profile velocity
6082h 00h End velocity
6083h 00h Profile acceleration
6084h 00h Profile deceleration
6085h 00h Quick stop deceleration
6086h 00h Motion profile type
Index Sub-index Name
6087h 00h Torque slope
6088h 00h Torque profile type
- Position encoder resolution
00h Number of entries
608Fh
01h Encoder increments
02h Motor revolutions
- Gear ratio
00h Number of entries
6091h
01h Motor revolutions
02h Shaft revolutions
- Feed constant
00h Number of entries
6092h
01h Feed
02h Shaft revolutions
6098h 00h Homing method
- Homing speeds
00h Number of entries
6099h
01h Speed during search for switch
02h Speed during search for zero
609Ah 00h Homing acceleration
60A3h 00h Profile jerk use
- Profile jerk
00h Number of entries
60A4h
01h Profile jerk1
02h Profile jerk2
60B0h 00h Position offset
60B1h 00h Velocity offset
60B2h 00h Torque offset
60B8h 00h Touch probe function
60B9h 00h Touch probe status
60BAh 00h Touch probe pos1 pos value
60BBh 00h Touch probe pos1 neg value
60BCh 00h Touch probe pos2 pos value
60BDh 00h Touch probe pos2 neg value
- Interpolation time period
00h Number of entries
60C2h
01h Interpolation time period value
02h Interpolation time index
60C5h 00h Max acceleration
60C6h 00h Max deceleration
- Supported Homing method
00h Number of entries
60E3h 01h 1st supported Homing method
.. ..
20h 32nd supported Homing method
60F2h 00h Positioning option code
60F4h 00h Following error actual value
60FAh 00h Control effort
60FCh 00h Position demand internal value
60FDh 00h Digital inputs
- Digital outputs
00h Number of entries
60FEh
01h Physical outputs
02 Bit mask
60FEh 00h Target velocity
6502h 00h Supported drive modes
8.4.2 PDS(Power Drive Systems)specification
According to the user command or abnormal detection, the state transition of the PDS associated with the power
control of the servo driver is defined as follows.

After migrating to Operation enabled, please increase the time to more than 100ms and input the action command.
The following table shows the PDS state migration events (migration conditions) and actions during migration.
For the migration of PDS, the status migration is performed at the same time as the handshake is obtained
(through 6041h: Statusword, confirm the status has been converted, and then send the next migration instruction).

PDS conversion Event Action

0 After the power supply is put into operation, or after After the power supply is put
the application layer is reset, it will automatically into operation, or after the
Auto skip 0
migrate. application layer is reset, it will
automatically migrate.
1 Automatic conversion after initialization. Communications are
Auto skip 1
established.
2 Shut down The condition of receiving the Shutdown instruction. Nothing special
3 When the power supply is on, the condition of
Switch on Nothing special
receiving the Switch on command.
4 The condition of receiving the Enable operation The driver function is effective.
Enable operation instruction. In addition, all previous Set
point data are cleared.
5 The condition of receiving the Disable operation
Disable operation Invalid driver function.
instruction.
6 When the power supply is on, the condition of
Shutdown receiving Shutdown command. Nothing special
Check out the condition of the power supply is off.
7 the condition of receiving Disable voltage
instruction.
Disable voltage the condition of receiving Quick stop instruction. Nothing special
When ESM status is PreOP, SafeOP, OP, the
condition of migrating to Init.
8 When the power supply is on, the condition of
Shutdown Driver function is invalid
receiving the Shutdown instruction.
9 The condition of receiving the Disable voltage
Disable voltage Driver function is invalid
command.
10 The condition of receiving the Disable voltage
command.
Disable voltage The condition of receiving the Quick stop command. Nothing special
When ESM status is PreOP, SafeOP, OP, the
condition of migrating to Init.
11 Quick stop The condition of receiving Quick stop command. Execute Quick stop function.
12 When Quick stop selected code is 1, 2, 3 and the
condition of Quick stop action completion.
When Quick stop code is 5, 6, 7, and the action of
Disable voltage Driver function is invalid.
Quick stop is completed, the condition of receiving
Disable voltage command.
Check out the condition of power OFF.
13 Error occurs Abnormal detection. Execute Fault reaction function.
14 After the abnormal detection and deceleration
Auto skip 2 processing is completed, it will be migrated Driver function is invalid.
automatically.
15 After the removal of abnormal factors, the condition The fault factor does not exist,
Fault reset of receiving the Fault reset instruction. Excute the reset of the Fault
state.
16 When Quick stop selected code is 5, 6, 7, the
Enable operation Driver function is effective.
condition of receiving Enable operation command.

8.4.3 Controlword (6040h)

The command to control the slave station (servo driver) such as PDS status migration is set through 6040h
(control word).
Index Sub-index Name Range Data type Access PDO Op-mode
6040h 00h Controlword 0~65535 U16 rw RxPDO All
Set the servo driver control command for PDS status conversion.
Bit information
15 14 13 12 11 10 9 8
R oms h
7 6 5 4 3 2 1 0
fr R eo qs ev so
r = reserved(not corresponded) fr = fault reset
oms = operation mode specific eo = enable operation
(control mode is based on bit) qs = quick stop
h = halt ev = enable voltage
so = switch on

bits of the controlword

bit7 bit3 bit2 bit1 bit0 PDS
Command
Fault reset Enable quick Enable Switch conversion
operation stop voltage on
Shutdown 0 - 1 1 0 2,6,8
Switch on 0 0 1 1 1 3
Switch on + 0 1 1 1 1 3+4
Enable operation
Enable operation 0 1 1 1 1 4,16
Disable voltage 0 - - 0 - 7,9,10,12
Quick stop 0 - 0 1 - 7,10,11
Disable operation 0 0 1 1 1 5
Fault reset 0->1 - - - - 13

① Bit logic of quick stop command is effective under 0.

Please note that other bit logic and the opposite actions are performed.
② Bit8 (halt): When it is 1, motor decelerating and stop are performed through 605Dh (Halt select code)
After the pause, the enable must be turned off to restart the action.
③ Bit9, 6-4 (operation mode specific):
The following shows the change of OMS bit inherent in the control mode (OP mode). (for details, please refer to
the chapter of related objects of each control mode.)
Op-mode Bit9 Bit6 Bit5 Bit4
pp change on set-point absolute / relative change set immediately new set-point
pv - - - -
tq - - - -
hm - - - start homing
csp - - - -
csv - - - -
cst - - - -

8.4.4 Statusword (6041h)

The status confirmation of slave station (servo driver) is carried out by 6041h (status word).
Index Sub-index Name Range Data type Access PDO Op-mode
6041h 00h Status word 0~65535 U16 ro TxPDO All
Indicates the status of the servo driver.
Bit information
15 14 13 12 11 10 9 8
r oms ila oms rm r
7 6 5 4 3 2 1 0
w sod qs ve f oe so rsto
r = reserved (not corresponded) w = warning
sod = switch on disabled
oms = operation mode specific qs = quick stop
(control mode is based on bit) ve = voltage enabled
ila = internal limit active f = fault
oe = operation enabled
rm = remote so = switched on
rtso = ready to switch on
Bit6,5,3-0 (switch on disabled/quick stop/fault/operation enabled/switched on/ready to switch on): confirm the
PDS status based on this bit. The following is the relationship between status and related bit.
StatusWord PDS State
xxxx xxxx x0xx 0000 b Not ready to switch on Initialize incompleted state
xxxx xxxx x1xx 0000 b Switch on disabled Initialize completed state
xxxx xxxx x01x 0001 b Ready to switch on Initialize completed state
xxxx xxxx x01x 0011 b Switched on Servo enable OFF/servo ready
xxxx xxxx x01x 0111 b Operation enabled Servo enable ON
xxxx xxxx x00x 0111 b Quick stop active Stop at once
xxxx xxxx x0xx 1111 b Fault reaction active Abnormal (alarm) judgment
xxxx xxxx x0xx 1000 b Fault Abnormal (alarm) state
Bit4 (voltage enabled) = 1: power supply is ON PDS.
Bit5 (quick stop) = 0: PDS receives quick stop request. The bit logic of quick stop is effective under 0. Please note
that other bit logic and the opposite actions are performed.
Bit7 (warning) = 1, warning occurs. When warning, PDS status will not change and motor will continue to
operate.
Bit9 (remote) = 0(local), the status that 6040(Controlword) cannot operate.
Bit9 =1(remote), the status that 6040(Controlword) can operate. The ESM state changes to 1 when the state
transforms above PreOP.
Below bit13,12,10 (operation mode specific): change of OMS bit inherent in control mode. (for details, please
refer to the chapter of related objects of each control mode.)

Op-mode Bit13 Bit12 Bit10

pp following error set-point acknowledge target reached
pv - speed target reached
tq - - target reached
hm homing error homing attained target reached
csp following error drive follows command value -
csv - drive follows command value -
cst - drive follows command value -

Bit11(internal limit active): the main reason for the internal limit is that the bit11 (internal limit active) of 6041h
(status word) changes to 1.
Bit15,14(reserved): This bit is not used (fixed 0).

8.5 Control mode setting

8.5.1 Supported drive modes (6502h)
This servo driver can confirm the supported modes of operation according to 6502h (supported drive modes).
Index Sub-index Name / Description Range Data type Access PDO Op-mode
6502h 00h Supported drive modes 0~4294967295 U32 ro TxPDO All
supported control mode (Mode of operation).
When the value is 1, it represents the supported mode in this mode.
Bit information
31…16 15…10 9 8
r r cst csv
0 0 1 1
7 6 5 4 3 2 1 0
csp r hm r tq pv r pp
1 0 1 0 1 1 0 1

Bit Mode of operation Abbr. Corresponding

0 Profile position mode (Profile position control mode) pp YES
2 Profile velocity mode(Profile speed control mode) pv YES
3 Torque profile mode(Profile torque control mode) tq YES
5 Homing mode(origin reset position mode) hm YES
7 Cyclic synchronous position mode(Cyclic position control csp YES
mode)
8 Cyclic synchronous velocity mode(Cyclic speed control csv YES
mode)
9 Cyclic synchronous torque mode (Cyclic torque control cst YES
mode)
8.5.2 Modes of operation(6060h)
Set the control mode through 6060h (Modes of operation).
Index Sub-index Name/Description Range DateType Access PDO Op-mode
6060h 00h Mode of operation -128~127 I8 rw RxPDO All
 Set the control mode of servo driver.
Non corresponding control mode setting is inhibited.
bit Mode of operation Abbr. Corresponding
-128~ Reserved - -
-1
0 No mode changed/No mode assigned - -
(no control mode changed/no control mode
distribution)
1 Profile position mode (Profile position control mode) pp YES
3 Profile velocity mode (Profile speed control mode) pv YES
4 Torque profile mode (Profile torque control mode) tq YES
6 Homing mode (origin reset position mode) hm YES
8 Cyclic synchronous position mode (Cyclic position csp YES
control mode)
9 Cyclic synchronous velocity mode (Cyclic speed csv YES
control mode)
10 Cyclic synchronous torque mode(Cyclic torque cst YES
control mode)
11~127 Reserved - -

Because 6060h (modes of operation) is default = (no mode change / no mode assigned), please set the control
mode value to be used after the power is put into operation. When the set value of 6060h is 0 and the set value of
6061h is 0, if the PDS state is migrated to Operation enabled, E-881 (control mode setting fault protection) occurs.
After the initial state of 6060h = 0 (no mode assigned) is transferred to the supported control mode (PP, PV, TQ,
HM, CSP, CSV, CST), set 6060h = 0 is seemed as "no mode changed", and the control mode can not be switched.
(keep the previous control mode).

8.5.3 Modes of operation display(6061h)

The confirmation of the control mode inside the servo driver is performed according to 6061h (modes of operation
display). After 6060h (modes of operation) is set, please confirm whether it is feasible to set this object action
through detection.
Index Sub-index Name/Description Range DateType Access PDO Op-mode
6061h 00h Mode of operation display -128~127 I8 ro TxPDO All
The current control mode.
bit Mode of operation Abbr. Corresponding
-128~ Reserved - -
-1
0 No mode changed/No mode assigned - -
(no control mode changed/no control mode
distribution)
1 Profile position mode (Profile position control mode) pp YES
3 Profile velocity mode (Profile speed control mode) pv YES
4 Torque profile mode (Profile torque control mode) tq YES
6 Homing mode (origin reset position mode) hm YES
8 Cyclic synchronous position mode (Cyclic position csp YES
control mode)
9 Cyclic synchronous velocity mode (Cyclic speed csv YES
control mode)
10 Cyclic synchronous torque mode (Cyclic torque cst YES
control mode)
11~127 Reserved - -
9 Servo gain adjustment
9.1 Overview of servo gain adjustment
9.1.1 Overview and process
The servo driver needs to drive the motor as fast and accurately as possible to track the instructions from the upper
computer or internal settings. In order to meet this requirement, the servo gain must be adjusted reasonably.
Servo gain factory value is adaptive mode, but different machines have different requirements for servo
responsiveness; the following figure is the basic process of gain adjustment, please adjust according to the current
machine status and operation conditions.
9.1.2 Differences between these adjustment modes
Adjustment modes are divided into adaptive and auto-tuning, and their control algorithms and parameters are
independent. Among them, the auto-tuning mode is divided into three functions: fast adjustment, automatic
adjustment and manual adjustment. The three functions are the same in essence but different in implementation.
Refer to the corresponding chapters of each function.
Mode Type Parameters Rigidity Responsiveness Related parameters
P2-05 adaptive speed loop gain
P2-10 adaptive speed loop integral
Automatic P2-11 adaptive position loop gain
Adaptive P2-01.0=1 Middle 150ms
adaptation P2-07 adaptive inertia ratio
P2-08 adaptive speed observer gain
P2-12 adaptive stable max inertia ratio
Fast P0-07 First inertia ratio
High 10 ~50ms P1-00 Speed loop gain
adjustment
P1-01 Speed loop integral
Automatic
Auto-tuning P2-01.0=0 High 10ms P1-02 Position loop gain
adjustment
P2-35 Torque instruction filtering time
Manual Determined by constant 1
adjusting High
parameters P2-49 Model loop gain
9.2 Rotary inertia presumption
9.2.1 Overview
Rotational inertia estimation is the function of automatic operation (forward and reverse) in the driver and
estimate the load inertia in operation.
Rotational inertia ratio (the ratio of load inertia to motor rotor inertia) is a benchmark parameter for gain
adjustment, and it must be set to the correct value as far as possible.
Default
Parameter Meaning Unit Setting range Modification Effective
setting
P0-07 First inertia ratio 500 % 0～50000 anytime At once

9.2.2 Notes

Occasions where inertia cannot be presumed

 Mechanical systems can only operate in one direction
The occasion where inertia presumption is easy to fail
 Excessive load moment of inertia
 The running range is narrow and the travel is less than 0.5 circles.
 The moment of inertia varies greatly during operation.
 Mechanical rigidity is low and vibration occurs when inertia is presumed.
Notes of inertia presumption
 Since both directions are rotatable within the set range of movement, please confirm the range or
direction of movement; and ensure that the load runs in a safe journey.
 If the presumed inertia under default parameters runs jitter, indicating that the present load inertia is too
large. It is also possible to set the initial inertia to about twice the current one and execute again under
larger loads.
 Driver inertia ratio recognition upper limit is 500 times (parameter upper limit is 20000). If the
estimated inertia ratio is exactly 20000, it means that the inertia ratio has reached the upper limit and
can not be used, please replace the motor with larger rotor inertia.
Other notes
 At present, the inertia switching function is not supported, and the second inertia ratio is invalid.
 The inertia ratio upper limit changes to 500 times for the driver firmware 3700 and higher version
(parameter upper limit value is 50000).

9.2.3 Operation tool

The presumptive tools of load moment of inertia are driver panel and XinjeServo software.
Operation tool Description
Driver panel Driver firmware needs version 4200
XinjeServo software All versions of software supported

Note: driver firmware version can be checked through U2-07.

9.2.4 Operation steps

Estimate the inertia through the driver panel

1. Parameter setting
Default
Parameter Setting Unit Range Modification Effective
setting
Inertia configured
P2-15 100 0.01 circle 1～300 Anytime At once
trip
 Inertia
identification and
internal
P2-17 / rpm 0～65535 Anytime At once
instruction
auto-tuning max
speed
Inertia
P2-18 identification 500 % 1～20000 Anytime At once
initial inertia ratio
The recommended parameters of P2-17 are 500rpm or more. Low instruction speed will lead to inaccurate
identification of inertia ratio.

2. Execute the inertia identification

Before inertia identification, please confirm the direction of servo rotation by using F1-00 jog motion function.
Initial direction of servo operation is determined by INC or DEC at the beginning of inertia identification.
Servo entering parameter F0-07 in BB state:

Press ENTER, servo is enabled:

Press INC or DEC to run forward or reverse (select one of them):

or
At this point, start action, under the condition of P0-05 = 0 (initial positive direction), if press INC, then turn
forward and then reverse; if press DEC, turn reverse and then forward. If the inertia identification is successful,
the load inertia ratio is prompted and written to P0-07 automatically after several forward and reverse operations.
If the inertia identification error occurs, the error code will be displayed. Press STA/ESC key to exit the panel
inertia identification operation.

 Alarm for inertia identification of panel

Error
Meaning Reasons and solutions Reasons
code
①Initial inertia is too small; in adaptive mode, switch to
large inertia mode P2-03.3=1 or the initial inertia of
inertia identification P2-18 set to 2 times of the present Initial inertia too
value. small; Maximum
Motor torque
Err-1 ②The maximum speed is too high (P2-17), but it is speed too large;
saturation
recommended not to be less than 500 rpm. Low Torque limit too
instruction speed will lead to inaccurate identification of small
inertia ratio.
③Torque limit too small（P3-28/29）
①The maximum speed limit is too small (P2-17), but it is
recommended not to be less than 500 rpm. Low The maximum
instruction speed will lead to inaccurate identification of speed limit is too
Value error is too inertia ratio. small;
large when ②The presumed inertia trip is too small. It is suggested the travel is too
Err-2
calculating the that the minimum for P2-15 should no be less than 50 (0.5 small; the friction
inertia cycles). If the trip is too small, the identification of inertia of the mechanism is
ratio will be inaccurate. too large;
③mechanism friction too large the overrun occurs
④overshoot
Driver internal trip ①The presumed inertia trip is too small. It is suggested
Err-3 Contact us
calculation error that the minimum for P2-15 should no be less than 50 (0.5
 cycles). If the trip is too small, the identification of inertia
ratio will be inaccurate.
Unrestrained
Vibration in the Unhandled
Err-5 Unhandled vibration occurs
Process of Inertia vibration occurs
Identification
Driver is not ①Enable have been opened. P5-20 can be set to 0 first Will occur when
Err-6 currently in BB ②When the driver alarms, it will appear. Press ESC key enable is turned on
state to exit the auto-tuning interface to see if there is an alarm. or driver has alarm
The driver alarms in Driver has alarm, press ESC key to exit the auto-tuning
Err-7 the process of interface, check the alarm code, first solve the alarm and Driver has alarm
inertia identification then make inertia estimation.

Estimate the inertia through XinJeServo software

1. Click “Gain adjustment---Self tuning” on the main interface of XinjeServo

2. Choose 【Jog configuration】 or 【Manual setting】 to configure the trip.

3. Auto-tuning configuration setting

 4. Click OK, Start to estimate inertia.

Note:
(1) If the auto-tuning interface is closed directly, the driver only configures inertia ratio parameters.
(2) The detailed steps of XinJeServo's presumptive inertia refer to XinJeServo's help document.
9.3 Fast adjustment
9.3.1 Overview
Fast adjustment needs to set the moment of inertia of load first, then turn off the adaptive function. If the inertia
does not match, it will cause oscillation alarm. Servo firmware version 3640 and later versions support this
function, and the version is viewed through U2-07. Fast adjustment of gain parameters belongs to auto-tuning
mode.

9.3.2 Fast adjustment steps

1. Estimate the load inertia through servo driver panel or XinJeServo software, refer to chapter 9.2 Rotary inertia
presumption；
2. Set the rigidity level P0-04

Note: P2-01.0 is the first bit of P2-01

9.3.3 Rigidity level corresponding gain parameters

The rigidity level should be set according to the actual load. The larger the P0-04 value, the greater the servo gain.
If there is vibration in the process of increasing the rigidity level, it is not suitable to continue to increase. If
vibration suppression is used to eliminate vibration, it can try to continue to increase. The following is the
recommended rigidity level of the load for reference.

Supports three types of rigidity levels, selected through P6-00.0:

(1) P6-00.0=0: Standard mode [default]
Rigid level P0-04, associated with 4 parameters, P1-00, P1-01, P1-02, P2-35;
(2) P6-00.0=1: Positioning mode, also known as soft mode
By balancing responsiveness and using gain switching, the overshoot at the end of positioning is minimized, with
a rigidity level of P0-04 and associated with 7 parameters, P1-00, P1-01, P1-02, P2-35, P1-05, P1-06, P1-07. Bind
to force gain switching, P1-14=0x00A1;
(3) P6-00.0=2: Quick positioning mode
Enable model loop and disturbance observer Dob, rigidity level P0-04, associate 5 parameters, P1-00, P1-01,
P1-02, P2-35, P2-49. Forcefully bind P2-00.0 and P2-41 of the disturbance observer Dob, as well as P2-47.0 and
P2-49 of the model loop.

Rigid level table for standard mode (P6-00.0=0)

Torque command
Speed loop integral
Rigid grade Speed loop gain Position loop gain filtering time
time constant
P0-04 P1-00 P1-02 constant 1
P1-01
P2-35
0 15 50000 24 1326
1 20 39789 32 995
2 25 31831 40 796
3 30 26526 48 663
4 35 22736 56 568
5 45 17684 72 442
6 60 13263 96 332
7 75 10610 120 265
8 90 8842 144 221
9 110 7234 176 181
10 140 5684 224 142
11 180 4421 288 111
12 250 3183 400 80
13 300 2653 480 66
 Torque command
Speed loop integral
Rigid grade Speed loop gain Position loop gain filtering time
time constant
P0-04 P1-00 P1-02 constant 1
P1-01
P2-35
14 350 2274 560 57
15 400 1989 640 50
16 500 1592 800 40
17 600 1326 960 33
18 750 1061 1200 27
19 900 884 1440 22
20 1150 692 1840 17
21 1400 568 2240 14
22 1700 468 2720 12
23 2100 379 3360 9
24 2500 318 4000 8
25 2800 284 4480 7
26 3100 257 4960 6
27 3400 234 5440 6
28 3700 215 5920 5
29 4000 199 6400 5
30 4500 177 7200 5
31 5000 159 8000 5
32 5500 145 8800 3
33 6000 133 9600 3
34 6500 123 10400 3
35 7000 114 11200 0
36 7500 106 12000 0
37 8000 100 12800 0
38 8500 94 13600 0
39 9000 88 14400 0
40 9500 84 15200 0
41 10000 80 16000 0

Rigid level table for positioning mode (P6-00.0=1)

Torque
Speed Speed loop Second speed Second
Rigid Position command Second
loop integral time loop integral position
grade loop gain filtering time speed loop
gain constant time constant loop gain
P0-04 P1-02 constant 1 gain P1-05
P1-00 P1-01 P1-06 P1-07
P2-35
0 15 50000 24 1326 15 51200 40
1 20 39789 32 995 20 51200 48
2 25 31831 40 796 25 51200 56
3 30 26526 48 663 30 51200 72
4 35 22736 56 568 35 51200 96
5 45 17684 72 442 45 51200 120
6 60 13263 96 332 60 51200 144
7 75 10610 120 265 75 51200 176
8 90 8842 144 221 90 51200 224
9 110 7234 176 181 110 51200 288
10 140 5684 224 142 140 51200 400
11 180 4421 288 111 180 51200 480
12 250 3183 400 80 250 51200 560
13 300 2653 480 66 300 51200 640
14 350 2274 560 57 350 51200 800
15 400 1989 640 50 400 51200 960
16 500 1592 800 40 500 51200 1200
17 600 1326 960 33 600 51200 1440
 Torque
Speed Speed loop Second speed Second
Rigid Position command Second
loop integral time loop integral position
grade loop gain filtering time speed loop
gain constant time constant loop gain
P0-04 P1-02 constant 1 gain P1-05
P1-00 P1-01 P1-06 P1-07
P2-35
18 750 1061 1200 27 750 51200 1840
19 900 884 1440 22 900 51200 2240
20 1150 692 1840 17 1150 51200 2720
21 1400 568 2240 14 1400 51200 3360
22 1700 468 2720 12 1700 51200 4000
23 2100 379 3360 9 2100 51200 4480
24 2500 318 4000 8 2500 51200 4960
25 2800 284 4480 7 2800 51200 5440
26 3100 257 4960 6 3100 51200 5920
27 3400 234 5440 6 3400 51200 6400
28 3700 215 5920 5 3700 51200 7200
29 4000 199 6400 5 4000 51200 8000
30 4500 177 7200 5 4500 51200 8000
31 5000 160 8000 5 5000 51200 8000
32 5500 145 8800 3 5500 51200 8000
33 6000 133 9600 3 6000 51200 8000
34 6500 123 10400 3 6500 51200 8000
35 7000 114 11200 0 7000 51200 8000
36 7500 106 12000 0 7500 51200 8000
37 8000 100 12800 0 8000 51200 8000
38 8500 94 13600 0 8500 51200 8000
39 9000 88 14400 0 9000 51200 8000
40 9500 84 15200 0 9500 51200 8000
41 10000 80 16000 0 10000 51200 8000

Fast positioning mode rigidity level table (P6-00.0=2)

Torque
Speed loop
Speed loop Position loop command
Rigid grade integral time Model loop
gain gain filtering time
P0-04 constant gain P2-49
P1-00 P1-02 constant 1
P1-01
P2-35
0 71 50000 24 20 24
1 80 39789 32 20 32
2 89 31831 40 20 40
3 100 26526 48 20 48
4 112 22736 56 20 56
5 125 17684 72 20 72
6 140 13263 96 20 96
7 157 10610 120 20 120
8 176 8842 144 20 144
9 198 7234 176 20 176
10 221 5684 224 20 224
11 248 4421 288 20 288
12 278 3183 400 20 400
13 311 2653 480 20 480
14 349 2274 560 20 560
15 390 1989 640 20 640
16 437 1592 800 20 800
17 490 1326 960 20 960
18 549 1061 1200 20 1200
19 615 884 1440 20 1440
20 689 692 1840 20 1840
 Torque
Speed loop
Speed loop Position loop command
Rigid grade integral time Model loop
gain gain filtering time
P0-04 constant gain P2-49
P1-00 P1-02 constant 1
P1-01
P2-35
21 771 568 2240 20 2240
22 864 468 2720 20 2720
23 968 379 3360 20 3360
24 1084 318 4000 8 4000
25 1214 284 4480 7 4480
26 1360 257 4960 6 4960
27 1523 234 5440 6 5440
28 1705 215 5920 5 5920
29 1910 199 6400 5 6400
30 2139 177 7200 5 7200
31 2396 160 8000 5 8000
32 2684 145 8800 3 -
33 3006 133 9600 3 -
34 3367 211 10400 3 -
35 3771 189 11200 0 -
36 4223 168 12000 0 -
37 4730 150 12800 0 -
38 5298 134 13600 0 -
39 5934 107 14400 0 -
40 6646 95 15200 0 -
41 6646 95 16000 0 -

9.3.4 Notes:
 In the fast adjustment mode, the gain parameters corresponding to the rigidity level can be
independently fine tuned.
 The quick adjustment mode will be configured with a rigid level by default. If the gain does not meet
the mechanical requirements, please gradually increase or decrease the setting.
 To ensure stability, the model loop gain is given relatively small at low rigidity levels. When there are
high response requirements, this parameter value can be increased separately.
 When vibration occurs during rapid adjustment, the torque command filter P2-35 can be modified. If
there is no effect, mechanical characteristic analysis can be used to set relevant notch parameters (refer
to 9.7 Vibration Suppression).
9.4 Auto-tuning
9.4.1 Overview
Auto-tuning is divided into internal instruction auto-tuning and external instruction auto-tuning.
Auto-tuning (internal instruction) refers to the function of automatic operation (forward and reverse reciprocating
motion) of servo unit without instructions from the upper device and adjusting according to the mechanical
characteristics in operation.
Auto-tuning (external instruction) is the function of automatically optimizing the operation according to the
instructions from the upper device.
The automatic adjustments are as follows:
 Load moment of inertia
 Gain parameters (speed loop, position loop, model loop gain)
 Filter (notch filter, torque instruction filter)

9.4.2 Notes
Untunable occasions
 Mechanical systems can only operate in one direction.

Setting the occasion prone to failure

 Excessive load moment of inertia
 The moment of inertia varies greatly during operation.
 Low mechanical rigidity, vibration during operation and failure of detection positioning.
 The running distance is less than 0.5 circles.
Preparations before auto-tuning
 Use position mode;
 Driver in bb status;
 Driver without alarm;
 The matching of the number of pulses per rotation and the width of positioning completion should be
reasonable.

9.4.3 Operation tools

Internal instruction auto-tuning and external instruction auto-tuning can be executed by driver panel and
XinJeServo software.
Auto-tuning mode Operation tools Limit item
Internal instruction XinJeServo software All the versions support
auto-tuning Driver firmware needs 4200 and higher
external instruction Driver panel versions
auto-tuning
Note: please check the driver firmware version through U2-07.
9.4.4 Internal instruction auto-tuning steps
Driver panel auto-tuning steps
1. The inertia identification is carried out, and the inertia estimation steps please refer to chapter 9.2.4.
2. Enter F0-09, panel display iat-;

3. Press ENTER, panel display iat--; servo is in enabled status right now;

4. Press INC or DEC, panel display is tune and flashing, enter auto-tuning status.

5. Driver will automatically send pulse instructions, if the auto-tuning is successful, the panel shows done and
flashing.

6. Press STA/ESC to exit internal instruction auto-tuning.

Note: In the process of auto-tuning, press STA/ESC will exit the auto-tuning operation and use the gain
parameters at the exit time. If auto-tuning fails, it is necessary to initialize the driver before auto-tuning again.

 Panel alarm in auto-tuning process

Error code Meaning Reasons
Too large inertia ratio; too weak rigidity of
Err-1 Failure to search for optimal gain mechanism
Please make sure that there is no overrun
Err-2 Overtrip alarm in auto-tuning process and alarm before auto-tuning.
Driver is not in "bb" state at the time of Please make sure the present status of
Err-6 operation driver.
Err-7 Driver alarmed in auto-tuning process The driver alarm occurs.

XinJeServo software auto-tuning steps

1. Click auto-tuning on the XinJeServo software main interface.
2. Set the auto-tuning trip in jog mode or manually.
3.Set the auto-tuning interface

4.Click OK to estimate the inertia.

5.Set the auto-tuning parameters

Auto-tuning Description
mode
Make a soft gain adjustment. Besides gain adjustment, notch filter is automatically
Soft adjusted.
Make special adjustment for positioning purpose. Besides gain adjustment, the
Fast positioning model loop gain and notch filter are automatically adjusted.
 Fast positioning In the use of positioning, we should pay attention to adjusting without overshoot.
(control Besides gain adjustment, the model loop gain and notch filter are automatically
overshoot) adjusted.

Load type Description

Synchronous Fit for the adjustment of lower rigidity mechanism such as synchronous belt
belt mechanism.
It is suitable for adjustment of higher rigidity mechanism such as ball screw
Screw rod mechanism. If there is no corresponding mechanism, please choose this type.

Rigid It is suitable for the adjustment of rigid body system and other mechanisms with
connection higher rigidity.

6. Start auto-tuning

7. Wait for the end of the auto-tuning.

9.4.5 External instruction auto-tuning steps
Driver panel auto-tuning steps
The inertia identification is carried out and the step of inertia estimation please refers to the driver panel inertia
estimation (9.2.4 Operation steps)
Enter parameter F0-08, it will show Eat-（Exteral Refrence Auto-tuning）

Press ENTER, if the enable is not open, the panel displays Son and flickers, waiting for the enabler to open, if the
enabler has been opened, skip this step;

Servo enable, the panel displays tune and flickers, enter auto-tuning status.

The upper device starts to send pulse, if the auto-tuning is successful, it displays done and flickers.

1. Press STA/ESC to exit the external instruction auto-tuning.

Note: in the auto-tuning process, press STA/ESC will exit the auto-tuning, and use the gain parameters at the exit
moment.
 Panel error alarm in auto-tuning process
Error code Meaning Reasons
The inertia ratio is too large; Too weak
Err-1 Failure to search for optimal gain
rigidity of mechanism
①Overrun/alarm occurs during Please make sure that there is no overrun
auto-tuning
Err-2 and alarm before auto-tuning.
②External instruction
auto-tuning/Vibration suppression Make sure that the enable is not closed
 mode: servo shut down the enabler during auto-tuning
during auto-tuning
Err-3 Current non-position control mode Please auto-tune in position mode
Err-4 Unclosed adaptive function Set P2-01.0 to 0 before auto-tuning
Err-7 Driver alarm during auto-tuning Driver alarmed
Positioning completion signal Short instruction interval
Err-8
instability

XinJe Servo software auto-tuning steps

1. Click auto-tuning on the main interface of XinJeServo software

2. Select jog or manual setting to configure the trip of inertia identification.

3. Set the auto-tuning interface

4. Click OK to start the inertia identification.

5. Configure the auto-tuning parameters

Auto-tuning Description
mode
Make a soft gain adjustment. Besides gain adjustment, notch filter is automatically
Soft adjusted.
Make special adjustment for positioning purpose. Besides gain adjustment, the model
Rapid
positioning loop gain and notch filter are automatically adjusted.
 Rapid In the use of positioning, we should pay attention to adjusting without overshoot.
positioning Besides gain adjustment, the model loop gain and notch filter are automatically
(control adjusted.
overshoot)

Load type Description

Synchronous Adjustment of lower rigidity mechnaism such as synchronous belt.
belt
It is suitable for adjusting higher rigidity mechanism such as ball screw mechanism. If
Screw there is no corresponding mechanism, please choose this type.

Rigid It is suitable for the adjustment of rigid body system and other mechanisms with
connection higher rigidity.
6. Start auto-tuning automatically

7. Auto-tuning is finished, click ok.

9.4.6 Related parameters
The following parameters may be modified during auto-tuning. Do not change them manually during auto-tuning.

Effect of value on gain after

Parameter Name Property
setting
P0-07 First inertia ratio
P1-00 First speed loop gain
Integral time constant of the first speed
P1-01
loop
P1-02 First position loop gain
P2-00.0 Disturbance observer switch
P2-01.0 Adaptive mode switch
P2-35 Torque command filter time constant 1
P2-41 Disturbance observer gain
P2-47.0 model loop switch
P2-49 model loop gain
P2-55 model speed feedforward gain
P2-60.0 Active vibration suppression switch
P2-61 Active vibration suppression frequency Gain
P2-62 Active vibration suppression gain performance
Yes
P2-63 Active vibration suppression damping parameters
Active vibration suppression filtering
P2-64
time 1
Active vibration suppression filter time
P2-65
2
The second group of active vibration
P2-66
damping
The second group of active vibration
P2-67
suppression frequencies
P2-69.0 First notch switch
P2-69.1 Second notch switch
 Effect of value on gain after
Parameter Name Property
setting
P2-71 First notch frequency
P2-72 First notch attenuation
P2-73 First notch band width
P2-74 Second notch frequency
P2-75 Second notch attenuation
P2-76 Second notch band width
Inertia identification and internal
P2-17
instruction auto-tuning max speed
P2-86 auto-tuning jog mode
Auto-tuning
P2-87 auto-tuning min limit position
setting No
P2-88 auto-tuning max limit position parameters
P2-89 auto-tuning max speed
auto-tuning acceleration/deceleration
P2-90
time

Note: P2-60~P2-63 are automatically modified in auto-tuning process. Users are not allowed to modify them
manually. Manual modification may lead to the risk of system runaway.
9.5 Manual adjustment
9.5.1 Overview

Position control loop diagram (shut down the model loop)

Position control loop diagram (turn on the model loop)

Servo unit consists of three feedback loops (current loop, speed loop and position loop) from inside to outside.
The more inner loop, the more responsive it is. Failure to comply with this principle will result in poor response or
vibration. Among them, the current loop parameters are fixed values to ensure adequate responsiveness, and users
do not need to adjust.
Please use manual adjustment in the following occasions:
 When the expected effect can not be achieved by fast adjusting the gain
 When the expected effect is not achieved by automatically adjusting the gain

9.5.2 Adjustment steps

In position mode, if the soft mode (P2-02.0=1) is selected by auto-tuning, the function of model loop will be
turned off; in speed mode, the gain of position loop will be invalid.

Increasing response time

1. Reducing the filter time constant of torque instruction (P2-35)
2. Increasing Speed Loop Gain (P1-00)
3. Reducing Integral Time Parameter of Speed Loop (P1-01)
4. Increasing the gain of position loop (P1-02)
5. Improving Model Loop Gain (P2-49)

Reduce response, prevent vibration and overshoot

1. Reduce the Speed Loop Gain (P1-00)
2. Increase Integral Time Constant of Speed Loop (P1-01)
3. Reduce the gain of position loop (P1-02)
4. Increase the filter time constant of the torque instruction (P2-35)
5. Reduce Model Loop Gain (P2-49)

9.5.3 Gain parameter for adjustment

The gain parameters that need to be adjusted:
P1-00 Speed loop gain
P1-01 Integral Time Constant of Speed Loop
P1-02 Position loop gain
P2-35 Torque instruction filter time constant
P2-49 Model loop gain
 Speed loop gain
Because the response of the speed loop is low, it will become the delay factor of the outer position loop, so
overshoot or vibration of the speed command will occur. Therefore, in the range of no vibration of mechanical
system, the larger the setting value, the more stable the servo system and the better the responsiveness.
Parame Modificat
Name Default setting Unit Range Effective
ter ion
P1-00 Speed loop gain 200 0.1Hz 10～20000 Anytime At once
 Speed loop integration time constant
In order to respond to small inputs, the speed loop contains integral elements. Because this integral element is a
delay element for the servo system, when the time constant is set too large, overshoot will occur, or the
positioning time will be prolonged, resulting in poor responsiveness.
The gain of the speed loop and the integral time constant of the speed loop roughly meet the following
relationship: P1-00 × P1-01 = 636620.

Parame Default
Name Unit Range Modify Effective
ter setting
Speed loop integration
P1-01 3300 0.01ms 15～51200 Anytime At once
time constant
 Position loop gain
When the model loop is invalid (P2-47.0=0), the responsiveness of the position loop of the servo unit is
determined by the gain of the position loop. The higher the position loop gain is, the higher the responsiveness is
and the shorter the positioning time is. Generally speaking, the gain of position loop cannot be increased beyond
the natural vibration number of mechanical system. Therefore, in order to set the position loop gain to a larger
value, it is necessary to improve the rigidity of the machine and increase the number of inherent vibration of the
machine.

Default
Parameter Meaning Unit Range Modify Effective
setting
P1-02 Position loop gain 200 0.1/s 10～20000 Anytime At once
 Torque command filtering time constant
When machine vibration may be caused by servo drive, it is possible to eliminate vibration by adjusting the
filtering time parameters of the following torque instructions. The smaller the numerical value, the better the
response control can be, but it is restricted by the machine conditions. When vibration occurs, the parameter is
generally reduced, and the adjustment range is suggested to be 10-150.

Parameter Name Default Unit Range Modify Effective

 setting
Torque command
P2-35 100 0.01ms 0～65535 Anytime At once
filtering time constant
 Model loop gain
When the model loop is valid (P2-47.0=1), the response of the servo system is determined by the gain of the
model loop. If the gain of the model loop is increased, the responsiveness is increased and the positioning time is
shortened. At this time, the response of the servo system depends on this parameter, not P1-02 (position loop gain).
The gain of the model loop is only valid in position mode.

Parameter Meaning Default setting Unit Range Modify Effective

P2-49 Model loop gain 500 0.1Hz 10～20000 Anytime At once

9.6 Adaptive
9.6.1 Overview
Adaptive function means that no matter what kind of machine and load fluctuation, it can obtain stable response
through automatic adjustment. It starts to automatically adjust when servo is ON.

9.6.2 Notes
 When the servo unit is installed on the machine, it may produce instantaneous sound when the servo is
ON. This is the sound when the automatic notch filter is set, not the fault. For the next time the servo is
ON, no sound will be emitted.
 When the inertia of the motor exceeds the allowable load, the motor may produce vibration. At this time,
please modify the adaptive parameters to match the present load inertia.
 In adaptive operation, in order to ensure safety, the adaptive function should be executed at any time
when the servo enablement can be stopped or turned off urgently.

9.6.3 Operation steps

The factory settings are self-adaptive effective without modifying other parameters. The effectiveness of
self-adaptation is controlled by the following parameters.

Default
Parameter Meaning Modify Effective
setting
n.□□□0 Adaptive shutdown Re-power
P2-01 n.□□□1 Servo bb
n.□□□1 Adaptive open on

9.6.4 Inertia mode and related parameters

The adaptive default parameter is defined as small inertia mode. If the load inertia far exceeds the allowable load
inertia of the motor (such as 60 times inertia of the 60 motor), the adaptive large inertia mode can be turned on.

Default
Parameter Meaning Modify Effective
setting
n.0□□□ Adaptive small inertia mode
P2-03 n.0□□□ Servo bb Re-power on
n.1□□□ Adaptive large inertia mode

Default
Parameter Meaning Modify Effective
setting
P2-05 Adaptive speed loop gain 400Note 1 Servo bb Re-power on
P2-10 Adaptive speed loop integral 500 Servo bb Re-power on
P2-11 Adaptive position loop gain 100 Servo bb Re-power on
P2-07 Adaptive inertia ratio 0 Servo bb Re-power on
 P2-08 Adaptive speed observer gain 60 Servo bb Re-power on
P2-12 Adaptive stable max inertia ratio 30 Servo bb Re-power on
P2-16 Adaptive motor rotor inertia coefficient 100 Servo bb Re-power on
P2-19 Adaptive bandwidth 50 Note 2
Anytime At once
P6-05 Adaptive large inertia mode speed loop gain 200 Servo bb Re-power on
P6-07 Adaptive large inertia mode inertia ratio 50 Servo bb Re-power on
Adaptive large inertia mode speed observer
P6-08 40 Servo bb Re-power on
gain
P6-12 Adaptive large inertia mode max inertia ratio 50 Servo bb Re-power on
Note 1:The default value of 750W and below DS5series servo is 400. The default value of other power is 200.
Note 2: The default value of 400W and below DS5 series servo drivers is 70; The default value of other power is
50.

9.6.5 Recommended inertia ratio parameters

Under the adaptive default parameters, the load can only run steadily under a certain moment of inertia. If the load
inertia is large, some parameters need to be adjusted. The recommended parameters are as follows (the parameters
are modified under the default parameters).

Motor
Inertia Parameter
flange
Within 20 times inertia Adaptive small inertia mode(default parameters)
20～30 times inertia Set P2-08=50, P2-12=40
40～90 30～40 times inertia Set P2-08=50, P2-12=40, P2-07=10
flange 40～50 times inertia Set P2-08=50, P2-12=40, P2-07=30
Switch to adaptive large inertia mode or set
50～80 times inertia
P2-08=40,P2-12=50,P2-07=50
Within 10 times inertia Adaptive small inertia mode (default parameters)
110, 130 10～15 times inertia Set P2-08=50, P2-12=40
flange Switch to adaptive large inertia mode or set P2-08=40, P2-12=50,
15～20 times inertia
P2-07=50
Within 5 times inertia Adaptive small inertia mode (default parameters)
180 and
5～10 times inertia Set P2-08=50, P2-12=40
above
flange Switch to adaptive large inertia mode or set P2-08=40, P2-12=50,
10～20 times inertia
P2-07=50
Note: The large inertia parameters can still drive a smaller inertia load. For example, when the parameters of 50
times inertia are used in the mechanism of 20 times inertia, only the response will become worse.

9.6.6 Adaptive parameter effect

Parameter
Default
small /large Name Range Effect
value
inertia
Decreasing can improve the inertia
Adaptive speed capacity, but will reduce the
P2-05/P6-05 400/200 200～400
loop gain responsiveness, which has a great impact
on the responsiveness
Increase can greatly improve the inertia
Adaptive load capacity, and will not affect the
P2-07/P6-07 0/50 0～200
inertia ratio responsiveness. Too large will cause
oscillation
Speed observer Decreasing P2-08 and increasing P2-12
P2-08/P6-08 60/40 30～60
gain can greatly improve the inertia capability,
Adaptive stable but will reduce the responsiveness, which
P2-12/P6-12 30/50 30～60
max inertia ratio has a great impact on the responsiveness
 Adaptive speed Adjust according to need, generally
P2-10 loop integral time 500 200～larger increase
coefficient
Adaptive position Adjust according to the need, increasing
P2-11 loop gain 100 50～200 will make the response fast, reducing will
coefficient make the response slow
Adaptive motor Increasing can improve the servo rigidity,
P2-16 rotor inertia 100 100～200 enhance the anti-interference ability, and
coefficient solve the running jitter
Increasing will slightly improve the inertia
Adaptive capacity of the belt, which has little
P2-19 50～70 40～80
bandwidth impact on the responsiveness, as an
auxiliary parameter

9.6.7 Invalid parameters when adaptive effective

When the adaptive function is effective (P2-01.0=1), the invalid parameters are shown as below:

Item Parameters Name

P1-00 First speed loop gain
P1-05 Second speed loop gain
P1-01 First speed loop integral time constant
P1-06 Second speed loop integral time constant
P1-02 First position loop gain
Gain
P1-07 Second position loop gain
P2-49 Model loop gain
P0-07 First inertia ratio
P0-08 Second inertia ratio
P5-36 /I-SEL inertia ratio switch
9.7 Vibration suppression
9.7.1 Overview
The mechanical system has a certain resonance frequency. When the servo gain is increased, the continuous
vibration may occur near the resonance frequency of the mechanical system. Generally in the range of 400Hz to
1000Hz, it caused the gain can not continue to increase. Vibration can be eliminated by automatically detecting or
manually setting the vibration frequency. After the vibration is eliminated, if the responsiveness needs to be
improved, the gain can be further improved.

Note:
(1) Servo responsiveness will change after vibration suppression operation.
(2) Please set the inertia ratio and gain parameters correctly before performing the vibration suppression operation,
otherwise it can not be controlled properly.

9.7.2 Operation tools

Adjustment
Operation tools Control mode Operation steps Limitation
mode
9.7.4Vibration
Adaptive XinJeServo Mechanical All software versions
Suppression (PC
mode Characteristic Analysis support
Software)
9.7.3 Vibration
Panel vibration suppression Suppression (fast None
Auto-tuning Position FFT)
mode XinJeServo Mechanical mode 9.7.4 Vibration All software versions
Characteristic Analysis Suppression (PC support
Software)
Auto-tuning Panel vibration suppression 9.7.3 Vibration None
/adaptive suppression (fast
mode FFT)

9.7.3 Vibration suppression (fast FFT)

The function can analyze the mechanical characteristics through the parameter F0-12 on the servo operate panel,
find out the mechanical resonance frequency and realize the vibration suppression.
The complete operation process is shown in the figure below:

The operation steps are described as follows:

1. F0-12, long press【ENTER】to enter quick FFT function, it will show “E_FFt”.

2. Press 【ENT】 to enter torque setting interface, it will show the current setting torque, which is the value of
P6-89. Press【▲】,【▼】to increase or decrease torque command. When increasing the torque command, it is
recommended to increase it a little bit to avoid severe vibration of the equipment.

3. After setting the torque command, long press【ENT】, enter “read to enable” status, it will show ‘F”.

4. Press【ENT】, enable, it will show “..run”.

5. Press【▲】【▼】 , to run forward or reverse and find the resonance frequency. “E_FFt” will shining on the panel
when operation. If the resonance frequency is found, it will show “Fxxxx”, “xxxx” is the resonance frequency. If
failed, it will show “F----”.

6. Whatever it shown “Fxxxx” or “F----”, press【 ▲】,【▼ 】 can find the resonance frequency again. If the
resonance frequency is found, long press【EN】to set the resonance frequency in the notch filter of servo driver.

Note: for above each step, press STA/ESC can return to the last step, press STA to exit.

9.7.4 Vibration suppression (PC software)

1. Open XinJeServo software, click mechanical properties.
2. Click measure

3.Set the measure conditions, then click execute;

1. Select amplitude and phase;

2. Set the filter width (to see resonance frequencies clearly), find the resonance frequency;
3. Notch parameters need to be set manually. Refer to 9.7.6 notch filter for details.

As an example, through the analysis of mechanical characteristics, the resonance frequency is 328 Hz, and the
third notch filter can be used. The parameters are as follows:
P2-69 = n.1000 , P2-77 = 328

Note: In both adaptive and auto-tuning modes, if mechanical characteristic analysis is used, the notch can be set
manually. If there are multiple resonance points, the third to fifth notch can be configured in turn.

9.7.5 Vibration suppression(manual setting)

If the resonance frequency of the mechanical system is known, the vibration can be eliminated by setting the
vibration frequency manually. Please configure the third to fifth notches. The related parameters are detailed in
9.7.6 notch filter.

9.7.6 Notch filter

Notch filter can suppress mechanical resonance by reducing the gain at a specific frequency. After the notch filter
is set correctly, the vibration can be effectively suppressed and the servo gain can be continuously increased.
The principle diagram of notch filter is as follows:
 Principle diagram of notch filter

The servo driver has five sets of notch filters, each with three parameters, notch frequency, notch attenuation and
notch bandwidth. The first and second notches are set automatically, and the third, fourth and fifth are set
manually.

The torque instruction filter and notch filter are in series in the system. As shown in the figure below, the switch of
the notch filter is controlled by P2-69 and P2-70.

Default
Parameter Meaning Modify Effective
setting
n.□□□0 First notch off
n.□□□0 Anytime At once
n.□□□1 First notch on
n.□□0□ Second notch off
P2-69 n.□□0□ Anytime At once
n.□□1□ Second notch on
n.0□□□ Third notch off
n.0□□□ Anytime At once
n.1□□□ Third notch on
n.□□□0 Fourth notch off
n.□□□0 Anytime At once
n.□□□1 Fourth notch on
P2-70
n.□□0□ Fifth notch off
n.□□0□ Anytime At once
n.□□1□ Fifth notch on
 Default
Parameter Meaning Unit Range Modify Effective
setting
P2-71 First notch frequency 5000 Hz 50～5000 Anytime At once
P2-72 First notch attenuation 70 0.1dB 50～1000 Anytime At once
P2-73 First notch bandwidth 0 Hz 0～1000 Anytime At once
P2-74 Second notch frequency 5000 Hz 50～5000 Anytime At once
P2-75 Second notch attenuation 70 0.1dB 50～1000 Anytime At once
P2-76 Second notch bandwidth 0 Hz 0～1000 Anytime At once
P2-77 Third notch frequency 5000 Hz 50～5000 Anytime At once
P2-78 Third notch attenuation 70 0.1dB 50～1000 Anytime At once
P2-79 Third notch bandwidth 0 Hz 0～1000 Anytime At once
P2-80 Fourth notch frequency 5000 Hz 50～5000 Anytime At once
P2-81 Fourth notch attenuation 70 0.1dB 50～1000 Anytime At once
P2-82 Fourth notch bandwidth 0 Hz 0～1000 Anytime At once
P2-83 Fifth notch frequency 5000 Hz 50～5000 Anytime At once
P2-84 Fifth notch attenuation 70 0.1dB 50～1000 Anytime At once
P2-85 Fifth notch bandwidth 0 Hz 0～1000 Anytime At once

Note:
1. In the adaptive mode, if the vibration is detected, the second notch filter will be automatically configured.

2. In the auto-tuning mode, the second and first notches will be automatically configured if the vibration is
detected (the second notches will be preferentially opened when there is only one vibration point).

3. Whether in self-adaptive or auto-tuning mode, if the mechanical characteristic analysis is sued, it belongs to
manual setting of notches, please configure the third to fifth notches.

9.8 Gain adjustment application

9.8.1 Model loop control
In the self-tuning mode, in addition to the gain of speed loop and position loop, there is also the gain of
model loop, which has a great influence on the servo response. When the model loop is not open, the
servo responsiveness is determined by the position loop gain. When the model ring is open, the servo
responsiveness is determined by the model loop gain. The model loop is equivalent to the feedforward
function in the driver control loop.

When the self-tuning mode is soft, the model loop function will be automatically off. When the
self-tuning mode selects fast positioning or fast positioning (control overshoot), the model loop
function will be automatically turned on.

Self-tuning mode
Defult
Parameter Meaning Modify Effective
setting
n.□□□1 Soft
n.□□□2 Fast positioning
P2-02 n.□□□3 Anytime At once
Quick positioning (control
n.□□□3
overshoot)
Selection of self-tuning mode:
(1) Soft(P2-02.0=1)
This mode does not turn on the gain of the model loop, and the operation is soft. It is suitable for
occasions with insufficient mechanical rigidity and low response requirements.
(2) Quick positioning (P2-02.0 = 2)
This method has the fastest response to setting parameters, but has no special suppression on overshoot.
(3) Quick positioning (control overshoot) (P2-02.0 = 3):
In this way, the setting parameter response is fast, which will inhibit the overshoot.

Load type Explanation

Synchronous The adjustment is suitable for the mechanism with lower rigidity such as
belt synchronous belt mechanism.
It is suitable for the adjustment of high rigidity mechanism such as ball screw
Lead screw
mechanism. Please select this type when there is no corresponding structure.
Rigid The adjustment is suitable for rigid body system and other mechanisms with high
connection rigidity.

Self-tuning Explanation
mode
Soft gain adjustment. In addition to gain adjustment, the notch filter is also adjusted
Soft
Automatically.
Fast Make special adjustment for positioning purpose. In addition to gain adjustment, the
positioning model loop gain and notch filter are also adjusted automatically
Fast Pay attention to the adjustment of no overshoot in the positioning purpose. In
positioning addition to gain adjustment, the model loop gain and notch filter are also adjusted
(control automatically.
overshoot)

Default
Parameter Meaning Modify Effective
setting
n.□□□1 Soft
P2-02 n.□□□2 Fast positioning n.□□□3 Anytime At once
n.□□□3 Fast positioning(control overshoot)

Model loop function

Default
Parameter Meaning Modify Effective
setting
n.□□□0 Model loop turn off
P2-47 Anytime At once
n.□□□1 Model loop turn on n.□□□0

Taking DS5 series servo auto-tuning mode and using 750W servo 5 times load inertia as an example:
 Model loop function turns off (soft mode)
Low rigidity and low response High rigidity and medium response

Load inertia ratio P0-07:500%

Speed loop gain P1-00:200 Speed loop gain P1-00:800
Speed loop integral P1-01:3300 Speed loop integral P1-01:825
Position loop gain P1-02:200 Position loop gain P1-02:700
Phenomenon: Running jitter, slow response Phenomenon: smooth operation and fast response
  Model loop function turns on (fast positioning or fast position(control overshoot))
Low rigidity and low response High rigidity and low response High rigidity and high response

Load inertia ratio P0-07:500%

Speed loop gain P1-00:200 Speed loop gain P1-00:800 Speed loop gain P1-00:800
Speed loop integral P1-01:3300 Speed loop integral P1-01:825 Speed loop integral P1-01:825
Position loop gain P1-02:200 Position loop gain P1-02:700 Position loop gain P1-02:700
Model loop gain P2-49:300 Model loop gain P2-49:300 Model loop gain P2-49:4000
Phenomenon: Running jitter, Phenomenon: smooth operation Phenomenon: smooth operation
slow response and slow response And fast response
Note: The above curves only show the effect of the parameters, not the real running curves.

9.8.2 Torque disturbance observation

Disturbance observer can reduce the influence of external disturbance on servo system and improve the
anti-disturbance ability by detecting and estimating the external disturbance torque of the system and
compensating the torque command.
If the soft mode is selected in the auto-tuning mode, the disturbance observer will be closed
automatically, and the gain of the disturbance observer will not change. If the fast positioning or fast
positioning (control overshoot) is selected, the disturbance observer will be opened automatically, and
the gain of the disturbance observer will be modified to 85. The relevant parameters of this function no
need to be set manually by users.

Default
Parameter Meaning Modify Effective
setting
n.□□□0 Turn off disturbance observer
P2-00 n.□□□0 Servo bb At once
n.□□□1 Turn on disturbance observer

Default Setting
Parameter Meaning Unit Modify Effective
setting range
Disturbance
P2-41 85 % 0～100 Anytime At once
observer gain

9.8.3 Gain adjust parameters

Default Setting
Parameter Meaning Unit Modify Effective
setting range
<=20P7:300 Servo
P1-00 First speed loop gain 0.1Hz 10~20000 At once
>=21P0:200 bb
Integral time constant
<=20P7:2122 Servo
P1-01 of the first velocity 0.01ms 15~51200 At once
>=21P0:3183 bb
loop
First position loop <=20P7:300 Servo
P1-02 0.1/s 10~20000 At once
gain >=21P0:200 bb
Second speed loop Servo
P1-05 200 0.1Hz 10~20000 At once
gain bb
Second velocity loop Servo
P1-06 3300 0.01ms 15~51200 At once
integral constant bb
Second position loop Servo
P1-07 200 0.1/s 10~20000 At once
gain bb
 9.8.4 Gain switch
Default
Parameter Meaning Modify Effective
setting
0-SI terminal switching gain is
valid(the gain switching condition
parameter is not valid)
n.□□□0
1-Perform gain switching according
to gain switching conditions
2-Reserved
n.□□X□: Gain switching condition
selection
0- First gain fixed
1- Switching by external SI
P1-14 terminals 0 Servo bb At once
2- Large torque command
3- Large speed command
n.□□□1 4 - Speed command changes greatly
5 - [Reserved]
6 - Large position deviation
7 - Position command
8 - Positioning completed
9 - Large actual speed
A - Position command + actual
speed
P1-15 Gain switching waiting time 5 Servo bb At once
P1-16 Gain switching level threshold 50 Servo bb At once
Hysteresis of gain switching level 30
P1-17 Servo bb At once
threshold
P1-18 Position loop gain switching time 2 Servo bb At once
Note:
(1) The gain switching waiting time is effective only when the second gain is switched back to the first gain.
(2) The definition of gain switching level threshold hysteresis:

(3) The definition of position gain switching time:

(4) Gain switching conditions:

Gain switching condition Related parameters
P1-
Condition Diagram Notes P1-15 P1-16 P1-17
14.1
 Gain switching condition Related parameters
The first
0 - - Invalid Invalid Invalid
gain fixed
Switch the gain through
G-SEL signal:
Terminal G-SEL invalid, first group
1 Valid Invalid Invalid
switching of gain,
G-SEL valid, second
group of gain
When the absolute value of
torque command exceeds
(level + hysteresis) [%] at
the last first gain, switch to
the second gain.
Torque At the last second gain, the Valid
2 Valid Valid (%)
command absolute value of the (%)
torque command is less
than (level - hysteresis)
[%], and then wait until
P1-15 remain in this state,
return to the first gain.
When the absolute value
of the speed command
exceeds (level +
hysteresis) [RPM] at the
last first gain, switch to
the second gain.
Speed At the last second gain,
3 Valid Valid Valid
command when the absolute value
of the speed command is
less than (level -
hysteresis) [RPM], wait
until P1-15 remain in this
state, and return to the
first gain.
At the last first gain, when
the absolute value of the
speed command change
rate exceeds (level +
hysteresis) [10rpm/s],
switch to the second gain.
Speed Valid
At the last second gain, Valid
4 command Valid (10rpm
when the absolute value of (10rpm/s)
change rate /s)
the speed command change
rate is less than (level-
hysteresis) [10rpm/s], wait
until P1-15 remain in this
state, and return to the first
gain.
At the last first gain, when
the absolute value of the
speed command exceeds
Speed
(level-hysteresis) [RPM],
command
switch to the second gain,
high and
and the gain gradually Valid Valid
5 low speed Invalid
changes. When the (rpm) (rpm)
threshold
absolute value of the speed
[not
command reaches (level +
supported ]
hysteresis) [RPM], the gain
completely changes to the
second gain.
 Gain switching condition Related parameters
At the last second gain,
when the absolute value of
the speed command is
lower than (level +
hysteresis) [RPM], it starts
to return to the first gain,
and the gain changes
gradually. When the
absolute value of the speed
command reaches
(level-hysteresis) [RPM],
the gain completely returns
to the first gain.
Valid only in position
mode (other modes are
fixed as the first gain)
When the absolute value of
position deviation exceeds
(level + hysteresis)
[encoder unit] at the last
Valid Valid
Position first gain, switch to the
6 Valid (Encoder (Encod
offset second gain.
unit) er unit)
When the absolute value of
the position deviation is
less than (level-hysteresis)
[encoder unit] at the last
second gain, wait until
P1-15 remain in this state,
and return to the first gain.
Valid only in position
mode (other modes are
fixed as the first gain)
At the last first gain, if the
position command is not
0, switch to the second
Position
7 gain. Valid Invalid Invalid
command
At the last second gain, if
the position command is
in the state of 0 which
remains in the waiting
time P1-15, it returns to
the first gain.
Valid only in position
mode (other modes are
fixed as the first gain)
At the last first gain, if the
positioning is not
completed, switch to the
second gain.
At the last second gain, if
Positioning
8 the state of positioning Valid Invalid Invalid
completion
completion remains in
this state for the waiting
time P1-15, the first gain
is returned. Note: it is
necessary to set the
positioning completion
detection mode according
to P5-01.
 Gain switching condition Related parameters
Valid only in position
mode (other modes are
fixed as the first gain):
At the last first gain, the
absolute value of the
actual speed exceeds
(level + hysteresis)
Actual [RPM], switching to the Valid Valid
9 Valid
speed second gain. (rpm) (rpm)
At the last second gain,
when the absolute value
of the inter speed is less
than (level-hysteresis)
[RPM], wait until P1-15
remain in this state, and
return to the first gain.
Valid only in position
mode (other modes are
fixed as the first gain):
At the last first gain, if the
position command is not 0,
switch to the second gain.
At the last second gain, the
state in which the position
command is 0 within the
waiting time P1-15,
maintains the second gain.
When the position
command is 0 and the
Position waiting time P1-15
Valid Valid
A command+ reached, if the absolute Valid
(rpm) (rpm)
actual speed value of the actual speed is
less than (level) [RPM], the
speed integral time
constant is fixed at the
second speed loop integral
time constant (P1-07), and
the others return to the first
gain. If the absolute value
of the actual speed is less
than (level-hysteresis)
[RPM], the speed integral
also returns to the integral
time constant of the first
speed loop (P1-02).
9.8.5 Speed loop P-PI mode switching
(1) Speed control mode switching
Default
Parameter Meaning Modify Effective
setting
0: Do not use mode switching
1: Switching condition based on internal torque
command
<=22P6:
2: Switching condition based on speed
n.□□□0 1
command
Others: 0 Servo
P1-26 3: Switching condition based on acceleration At once
bb
4: Switching condition based on position
deviation
0: Clear the integral of 0asr
n.□□0□ 1: Keep the speed loop integral unchanged and 1
no longer accumulate
Mode Switching - Torque command threshold 200 Servo At once
P1-27
bb
Mode Switching - Speed command threshold 0 Servo At once
P1-28
bb
Mode Switching - Acceleration threshold 0 Servo At once
P1-29
bb
Mode switching - Position deviation threshold 0 Servo At once
P1-30
bb

For power ranges of 22P6 and below, Asr P/PI mode switching is enabled by default, i.e. P1-26.0=1, and Asr P/PI
mode switching is performed based on P1-27 torque command exceeding 200%.

(2) IP control selection

Default
Parameter Meaning Modify Effective
setting
0: PI control Servo
P2-03 n.□0□□ 0 At once
1: IP control bb
P1-31 I-P control switching threshold 100 Servo
At once
bb

Note: P1-31=0, the speed loop is equivalent to PI control; P1-31=100, the speed loop is equivalent to IP control.
9.9 Gain adjustment
9.9.1 Load shaking
The following reasons cause load to shake
1. The instruction is not smooth enough when the load inertia is too large.

Solutions:
(1) Use position instruction smoothing filter P1-25;
(2) Optimizing the instructions of the upper device to reduce the acceleration of the instructions;
(3) Replace the motor with greater inertia.

2. Servo gain is too small, resulting in insufficient rigidity

Solutions:
(1) Increase the gain parameters and rigidity to enhance the anti-disturbance ability.

3. Insufficient rigidity of mechanism and equipment sloshing

Solutions:
(1) Reducing gain parameters;
(2) Optimize the instructions of the upper device and reduce the acceleration of the instructions.

9.9.2 Vibration
The following causes cause machine vibration:
(1) Vibration due to inappropriate servo gain
Solutions: Reduce gain

(2) Mechanical resonance point

Solutions: Setting notch parameters manually or through mechanical characteristic analysis

9.9.3 Noise
In adaptive mode:
(1) Inappropriate servo gain
Solutions: Reduce the adaptive control bandwidth (P2-19).

In auto-tuning mode:
(1) Inappropriate servo gain
Solutions: Under the mode of rapid adjustment, reduce the rigidity level.

Automatic Adjustment Mode: Reducing Model Loop Gain P2-49

(1) Noise due to mechanical resonance
Solutions: Refer to 9.9.2 vibration.
10 Alarm
10.1 EtherCAT related communication alarm code
Alarm
Reasons Solution
code
E-800 Inaccurate ESM The change state demand which cannot Check the change state request of
demand error change from the present state was received. host controller.
protection Init→Safeop The servo alarm can be cleared by
Init→OP setting SM2013+20 * (N-1) or by
PreOP→OP servo panel F0-00=1.

- When the present state is other then OP:

It remains in the present ESM state.
- When the present state is OP: SafeOP
ESC register AL Status Code:0011h
E-801 ESM undefined The change state request which does not have Check the change state request of
request error a definition (except the following) was host controller.
protection received.
The servo alarm can be cleared by
1:Request Init State setting SM2013+20 * (N-1) or by
2:Request Pre-Operational State servo panel F0-00=1.
3:Request Bootstrap State
4:Reauest Safe-operational State
8:Request Operational State

- When the present state is other then OP:

It remains in the present ESM state.
- When the present state is OP: SafeOP
ESC register AL Status Code:0012h
E-802 Bootstrap The following change state request was Check the change state request of
requests error received. host controller.
protection *1) 3:Request Bootstrap State The servo alarm can be cleared by
ESM state after alarm: Init setting SM2013+20 * (N-1) or by
ESC register AL Status Code:0013h servo panel F0-00=1.
E-803 Incomplete PLL Phasing servo and communication(PLL lock) - Check setting of DC mode.
error protection could not be completed even after the lapse of -Check whether propagation delay
1s after the start of the synchronization compensation or drift compensation
process. is correct.
ESM state after alarm:PreOP The servo alarm can be cleared by
ESC register AL Status Code:002Dh setting SM2013+20 * (N-1) or by
servo panel F0-00=1.
E-804 PDO watchdog Bit10 of AL Event Request(0220h) did not
error protection turn on within the time set by the ESC register 1. Check whether the transmitting
addresses 0400h(Watchdog Divider) and timing of PDO from host controller
0420h (Watchdog Time Process Data) during is
PDO communication constant(not stop).
(SafeOP or OP). 2. Check whether the PDO
watchdog detection delay value is
ESM state after alarm: Safe OP too large;
ESC register AL Status Code:001Bh 3. Check whether there is a problem
PDO communication disconnection with the wiring of the EtherCAT
communication cable and whether
there is excessive noise on the
cable. Replace the high-quality
network cable;
4. The communication cable is
reconnected, and the network cable
is suspended and separated from the
Alarm
Reasons Solution
code
power cable;
5. Turn off the interfering
equipment such as welding machine
and then run it again,
To eliminate interference problems;
Cross test to determine the fault
point;
The servo alarm can be cleared by
setting SM2013+20 * (N-1) or by
servo panel F0-00=1.
E-806 PLL error Servo phasing and communication(PLL lock) - Check setting of DC mode.
protection separated during operation in the state of - Check whether propagation delay
SafeOP or OP. compensation or drift compensation
ESM state after alarm: SafeOP is correct.
ESC register AL Status Code:0032h
The alarm can be cleared through
the servo panel F0-00=1 or the
control power can be disconnected
for reset.
E-807 Synchronization After the synchronization processing is - Check setting of DC mode.
signal error completed, the SYNC0 or IRQ interrupt - Check whether propagation delay
protection processing occurs above the set threshold compensation or drift compensation
ESM state after alarm:SafeOP is correct.
ESC register AL Status Code:002Ch
The alarm can be cleared through
the servo panel F0-00=1 or the
control power can be disconnected
for reset.
E-810 Synchronization If set to cycle synchronization(SYNC0 cycle) Set up a synchronous period
cycle error is not supported correctly.
protection The servo alarm can be cleared by
Set synchronization cycle except 500us,1ms, setting SM2013+20 * (N-1) or by
2ms, 4ms servo panel F0-00=1.(Supported
ESM state after alarm: PreOP after 3770)
ESC register AL Status Code: 0035h
E-811 Mailbox error A setup of SM0/1 was set as the unjust value. Set the Sync manager correctly in
protection accordance with the ESI file
The sending and receiving area of the mailbox descriptions.
overlaps with SM2/3, and the address of the
sending and receiving area is odd; The servo alarm can be cleared by
Start address of mailbox: setting SM2013+20 * (N-1) or by
SyncManager0:1000h~10FFh, servo panel F0-00=1.
SyncManager1:other than 1200h~12FFh

Length (ESC register:0802h, 0803h/080Ah,

080Bh) set up of SyncManager0/1 is
inaccurate
SyncManager0:other than 32~256byte
SyncManager1:other than 40~256byte

Control Register(ESC register:0804h/080Ch)

set up of SyncManager0/1is inaccurate
Set code other than 0110b in 0804h: bit5-0
Set code other than 0110b in 080Ch:bit5-0
ESM state after alarm: Init
ESC register AL Status Code:0016h
E-814 PDO watchdog A setup of the watchdog timer of PDO is Set up detection timeout value of
error protection wrong. watchdog timer correctly
Alarm
Reasons Solution
code
Although PDO watch dog trigger is effective
(SyncManager: Bit6 which is the register The servo alarm can be cleared by
0804h set to 1), when the detection timeout setting SM2013+20* (N-1) or by
value servo panel F0-00=1.
of PDO watchdog timer cycle setup (registers
0400h and 0420h) was less than
"communication cycle *2".
ESM state after alarm: PreOP
ESC register AL Status Code:001Fh
E-815 DC error DC setting is wrong. Check setting of DC mode.
protection A value other than the following was set to bit The servo alarm can be cleared by
2-0 of 0981h (Activation) of the ESC register: setting SM2013+20 * (N-1) or by
servo panel F0-00=1.
bit2-0=000b; bit2-0=011b
ESM state after alarm: PreOP
ESC register AL Status Code:0030h
E-816 SM event mode SM event mode which is not supported was - 1C32h-01h(Sync mode) should set
error protection set up. up 00h(FreeRun), 01h(SM2),
1C32/1C33-01 Set values other than 00, 01 or 02h(DC SYNC0).
and 02. - 1C33h-01h(Sync mode) should set
- When 000b was set to bit 2-0 of 0981h of the up 00h(FreeRun), 02h(DC SYNC0),
ESC register, SM2 setting was set to only or 22h (SM2).
either 1C32h-01h or 1C33h-01h. - Set same value to 1C32h-01h and
ESM state after alarm:PreOP 1C33h-01h.
ESC register AL Status Code:0028h The servo alarm can be cleared by
setting SM2013+20*(N-1) or by
servo panel F0-00=1.
E-817 SyncManager2/3 A setup of SyncManager3 was set as the The servo alarm can be cleared by
error protection unjust value. setting SM2013+20*(N-1) or by
- A Physical Start Address (ESC register servo panel F0-00=1.
0818h) setup of SyncManager3 is inaccurate.

-Receiving area overlaps with the area for the

transmission.
- The area for transmission/reception of
Mailbox overlaps the
area for transmission/reception of
SyncManager2/3
- Addressing transmission and reception area
is an odd number.
- Start addresses is out of range.
- A Length (ESC register 0812h/081Ah) setup
of SyncManager2 is inaccurate.
- Different from RxPDO size.
- A Control Register (ESC register
0814h/081Ch) setup of SyncManager2 is
inaccurate.
Set other than 100110b to bit5-0
ESM state after alarm: PreOP
ESC register AL Status Code:001Dh/001Eh
E-850 TxPDO The data size of TxPDO map is set up TxPDO data size is set up within 24
assignment error exceeding 24 bytes bytes.
protection The servo alarm can be cleared by
ESM state after alarm: PreOP setting SM2013+20 * (N-1) or by
ESC register AL Status Code: 0024h servo panel F0-00=1.

E-851 RxPDO The data size of RxPDO map is set up RxPDO data size is set up within 32
assignment error exceeding 24 bytes. bytes.
Alarm
Reasons Solution
code
protection The servo alarm can be cleared by
ESM state after alarm: PreOP setting SM2013+20 * (N-1) or by
ESC register AL Status Code:0025h servo panel F0-00=1.
E-881 Control mode - The PDS state was changed to “Operation Check preset value of 6060h(Modes
setting error enabled” when the value set to 6060h (Modes of operation).
protection of operation) is 0 and the value set to 6061h The servo alarm can be cleared by
(Modes of operation display) is 0. setting SM2013+20 * (N-1) or by
servo panel F0-00=1.
Unsupported control mode is set to 6060h
(Modes of operation).
A control mode other than position control is
set to 6060h (Modes of operation) in
full-closed control.

ESM state after alarm: It remains in the

present ESM state.
ESC register AL Status Code:0000h
E-882 ESM - When a PDS state was "Operation enabled" Check the state transition request
requirements or "Quick stop active", the transition from higher rank equipment.
during operation command to other ESM state was received. The servo alarm can be cleared by
error protection setting SM2013+20 * (N-1) or by
ESM state after alarm: A state transition servo panel F0-00=1.
request from host contoller is followed.

ESC register AL Status Code: 0000h

E-883 Improper - When EXT1/EXT2 is not assigned to input The servo alarm can be cleared by
operation error signal, EXT1/EXT2 was selected in trigger setting SM2013+20 * (N-1) or by
protection selection of a touch probe (60B8h (Touch servo panel F0-00=1.
probe function)).
The calculation result of electronic gear ratio
fell outside the range of 1/1000 to 1000 times;

- In the calculation process of electronic gear

ratio, the denominator or numerator exceeds
an unsigned 64-bit size.
- In the final calculation result of electronic
gear ratio, the denominator or numerator
exceeds an unsigned 32-bit size.

- When Z-phase is chosen by trigger selection

of a touch probe (60B8h(Touch probe
function)) at the time of absolute mode of full
closed.
- When the software limit function is enabled,
a wraparound occurred to
the actual position or command position.

ESM state after alarm: It remains in the

present ESM state.
ESC register AL Status Code:0000h
E-899 The program The EEPROM of the bus is not updated 1. Update the EEPROM of the bus
cannot access correctly (updated at the factory) 2.Contact the agent or manufacturer
the bus Bus driver related hardware error
peripherals
correctly
10.2 EtherCAT communication unrelated alarm
DS5 alarm code format is E-XX□,“XX”means main type, “□” means sub-type.
Alarm
Type Description Reasons Solutions
code
1 EEEE1 ① The power supply
① Stable power supply to ensure the
2 EEEE2 voltage fluctuates greatly,
stability of power supply voltage;
3 EEEE3 and the panel refresh fails
Communication ② Power off and power on again. If the
due to the low voltage
EEEE error between panel alarm cannot be removed, please contact
② The panel program is
and CPU the agent or manufacturer;
4 EEEE4 damaged
③ Check the operation after unplugging
③ Communication enters
the communication terminal
into an endless loop
Firmware version Downloaded firmware Please contact the agent or the
0 E-010
mismatch version error manufacturer
FPGA loading ①Program damaged Please contact the agent or the
3 E-013
error ②Device damaged manufacturer
①Program damage
FPGA Access ②Device damage Please contact the agent or the
4 E-014
error ③Serious external manufacturer
01
interference
Program running Please contact the agent or the
5 E-015 Program damage
error manufacturer
Processor Please contact the agent or the
7 E-017 Program damage
Running Timeout manufacturer
System password Please contact the agent or the
9 E-019 Program damage
error manufacturer
Re-energizing can restore default
Parameter loading Faliure of parameter parameters, if there are repeated
0 E-020
error self-checking problems, please contact the agent or
manufacturer.
Parameter range Setting values are not
1 E-021 Check parameters and reset them
beyond limit within the prescribed range
① Check whether the parameter settings
Conflict of TREF or VREF meet the requirements;
2 E-022 Parameter conflict
Function Settings ② Under P0-01=4 mode, P3-00 will
alarm when set to 1
Error setting of custom
Sampling channel
3 E-023 output trigger channel or Check that the settings are correct
setting error
02 data monitoring channel
(1) If it is single-phase 220V power
supply, please connect L1 and L3.
Low voltage of power
4 E-024 Parameter conflict (2) show E-024 immediately after power
grid
failure
(3) Resetting parameters
E-025 Erase FLASH Abnormal parameter
Please contact the agent or the
5 error preservation during
manufacturer
power failure
E-026 Initialization Power supply instability Please contact the agent or the
6
FLASH error of FLASH chip manufacturer
E-028 EEPROM write in Voltage instability or chip Please contact the agent or the
8
error abnormality manufacturer
Bus voltage U0-05 Check the fluctuation of power grid,
is higher than the 220V driver normal voltage range 200V
actual preset ~ 240V, 380V driver normal voltage
High voltage of power
03 0 E-030 threshold, 220V range 360V ~ 420V. If the voltage
grid
Power Supply fluctuation is large, it is recommended
Machine to use the correct voltage source and
(U0-05≥402V) regulator.
 Alarm
Type Description Reasons Solutions
code
(1) Connect external regenerative
380V Power resistor, (220V: bus voltage U0-05 =
Supply Machine 392 discharge starts, U-05 = 377
(U0-05≥780V) discharge ends;
380V: U-05 = 750 discharge starts, U-05
= 720 discharge ends;)
Excessive load moment (2) Increase Acceleration and
of inertia (insufficient Deceleration Time
regeneration capacity) (3) Reduce load inertia
(4) Reduce start-stop frequency
(5) Replacement of larger power drivers
and motors

Brake resistance damage Check the regenerative resistor and

or excessive resistance replace the external resistor with the
value appropriate resistance value.
Acceleration and
Extending Acceleration and
deceleration time is too
Deceleration Time
short
The AC gear of the multimeter measures
the input value of the servo LN (R/S/T),
which is 220V ± 10% of the normal
value. If the power supply voltage is
more than 220V+10% (380V+10%),
Hardware Fault of Driver check the power supply voltage; if the
Internal Sampling Circuit power supply voltage is normal, then the
servo BB state, monitor U0-05, the
voltage measured by the multimeter *
1.414 < U0-05 (within 10V error), then
the servo driver is faulty and needs to be
sent back for repair.
(1) Check the fluctuation of power grid.
The normal voltage range of 220V
driver is 200V~240V. If the voltage
low voltage of power grid
fluctuation is large, the voltage regulator
when normal power on
is recommended.
(2) Replacement of larger capacity
Bus voltage U0-05
transformers
is lower than the
Instantaneous power
actual preset Re-energize after voltage stabilization
failure
threshold.
The AC gear of the multimeter measures
0 E-040 220V power
supply machine the input value of the servo LN (R/S/T),
which is 220V ± 10% of the normal
(U0-05 ≤ 150V)
value. If < 220V + 10% (380V + 10%),
04 380V power
then check the supply voltage; if the
supply machine Hardware Fault of Driver
supply voltage is normal, then servo BB
(U0-05 ≤ 300V) Internal Sampling Circuit
state, monitoring U0-05, multimeter
measurement voltage * 1.414 > U0-05
(error within 10V), then the servo driver
is faulty and needs to be sent back for
repair
Driver power
1 E-041 Driver power off Check the power supply
down
low voltage of power grid low voltage of power grid when normal
Bus Voltage when normal power on power on
3 E-043
Charging Failure When the driver is on, please pay
Hardware damage
attention to whether there is relay
 Alarm
Type Description Reasons Solutions
code
actuation sound
Three phase
Three phase input power
4 E-044 voltage input Check the power supply
supply is lack of phase
phase loss
Re-consider the capacity of the motor,
monitor the U0-02 torque during
Running under heavy operation, whether it is in the value of
load for a long time more than 100 for a long time, if yes,
Module please chose the large-capacity motor
temperature is too or load reduction.
high(Module
0 E-060 (1) Enhance ventilation measures to
temperature U-06 ≥
90℃ alarm, U-06 ≥
reduce ambient temperature;
70℃ Warning) Excessive ambient (2) Check whether the fan rotates when
temperature the servo is enabled; when the module
temperature U-06 ≥45℃, the fan
opens.
06
Fan damage Replace the fan
Alarm when motor ① Check whether the motor fan is
1 E-061 Motor overheat temperature is higher abnormal
than 95℃ ② Contact the manufacturer
① The motor
thermocouple of 11kw
and above power is Check the external thermocouple
Thermocouple
disconnected connection;
3 E-063 disconnection
② False opening Shield thermocouple disconnection
alarm
detection and alarm: P0-69.1 = 1
disconnection alarm of
motor below 11kw
Check if the driver P0-33 is identical
with the motor code of the motor label
Motor code not match (the number after MOTOR CODE), if
not, please change to the same one, then
power on again.
Inspection of motor UVW wiring, need
UVW wiring error
to be connected in phase sequence.
(1) The maximum speed limit value
P3-21/P3-22 was reduced.
Overspeed (actual
(2) To confirm whether the external
speed ≥
Motor speed too fast force makes the motor rotate too fast,
P3-21/P3-22)
whether the pulse input frequency is too
The maximum
0 E-080 high, and whether the electronic gear
forward speed is
ratio is too large.
08
P3-21 and the
(1) Check the encoder cable or change a
maximum reverse
new one
speed is P3-22.
(2) Set the servo driver to BB state and
the driver to U-10. Rotate the motor
Encoder fault
shaft slowly by hand to see if the value
of U-10 changes normally, increasing in
one direction and decreasing in one
direction (0-9999 cycle display).
When the actual speed is greater than
Parameter setting the P3-21/P3-22 value, an alarm will be
given
Causes of UVW ① Check whether the three phases of the
Encoder zero
three-phase wrong wiring, power line are connected according to the
2 E-082 position deviation
motor encoder zero phase sequence of UVW
protection 1
position deviation, etc ② Check the encoder zero position,
 Alarm
Type Description Reasons Solutions
code
please contact the manufacturer's technical
support
(1) Observe whether the motor is
In position control, the
blocked or not.
difference between the
Position offset too (2) Reducing the given speed of
0 E-100 given position and the
large position;
actual position exceeds
(3) Increase the deviation pulse limit
10 the limit value
P0-23.
The position difference
Sudden change of every 6K cycle exceeds ① Check and modify the procedure;
1 E-101
position command the command difference ② Set appropriate P0-70 value
alarm value set in P0-70
External UVW ①Check UVW wiring, need to be in
Short Circuit phase sequence (brown U, black V, blue
0 E-110
Discovered in W)
Self-Inspection ②Measure whether the UVW phase
U phase current resistance of the motor is balanced. If
2 E-112
overcurrent the phase resistance is unbalanced,
replace the motor.

Measure whether there is short circuit

between UVW and PE of the motor. If
there is short circuit, replace the motor.

①U, V, W wiring error Measure the driver side UVW output

②Driver UVW output through multimeter (diode gear), black
Short Circuit or motor pen P+, red pen to measure UVW; red
Failure pen P-, black pen to measure UVW; if
11
③Load part is blocked anyone is 0 in 6 groups of value, replace
④High-speed start-stop the driver.
V phase current instantaneous alarm ③It is suggested that the motor should
3 E-113 ⑤Encoder problem
overcurrent be operated on an empty shaft to
eliminate the load problem.
④Increase Acceleration and
Deceleration Time

⑤Check the encoder cable or change a

new one.
Set the servo driver to BB state and the
driver to U-10. Rotate the motor shaft
slowly by hand to see if the value of
U-10 changes normally, increasing in
one direction and decreasing in one
direction (0-9999 cycle display).
Disconnect the power supply of the
driver and check the connection of the
Any phase in UVW of
Power cable power cable. It is suggested that the
15 0 E-150 driver, cable or motor
disconnection multimeter be used to test the
broken
condition. After clearing the errors, the
driver should be re-energized.
Overload, the actual
operating torque exceeds
Increase the capacity of drivers and
the rated torque, and
motors. Extend the acceleration and
Driver thermal continuous operation for
16 1 E-161 deceleration time and reduce the load.
power overload a long time. (Monitor
Monitor the U-00, whether it is running
U0-02 to check the actual
over speed.
operating torque. If the
motor is in normal
 Alarm
Type Description Reasons Solutions
code
operation, it will not jam
or jitter. If the U0-02 is
longer than 100, it will be
considered improper
selection of the motor.)
Mechanisms are
Eliminate mechanical distortion. Reduce
impacted, suddenly
load
weighted and distorted.
Measure the voltage of the brake
terminal and decide to open the brake.
It is suggested to use servo BK signal to
Motor action when motor
control the brake lock. If it is not servo
brake is not opened
control, attention must be paid to the
timing of brake opening and motor
action.
Check the UVW connection of power
cable to see if there is any phase
Wrong wiring of encoder sequence error.
cable, power cable or The multimeter is used to measure
broken wire or loose pin whether all the encoder cable are on.
of connector plug Check whether the plug is loose, for
machine vibration, whether the plug has
shrinkage pin, virtual welding, damage.
In multiple mechanical
wirings, incorrect Detection of servo wiring, the motor
connection of motor cable, encoder cable are correctly
cable to other shafts leads connected to the corresponding shaft.
to incorrect wiring.
Poor gain adjustment
results in motor vibration,
Readjustment of gain parameters
back and forth swing and
abnormal noise.
There are servo cross test or motor
empty shaft on site, F1-01 trial
Driver or motor hardware
operation, F1-00 jog run can not rotate
failure
uniformly;
Replace the new driver or motor
(1) Eliminate the factors of mechanical
Anti-blocking distortion. Reduce load
alarm (2) Measure the voltage of the brake
Judging that the terminal and determine the opening of
current motor (1) Machinery is the brake;
output torque is impacted, suddenly It is suggested to use servo BK brake
greater than becomes heavier and signal to control the brake lock. If it is
P3-28/P3-29 distorted; not servo control, attention must be paid
5 E-165 (internal (2) When the brake of the to the timing of brake opening and
forward/reverse motor is not opened, the motor action.
torque limit), and motor moves; (3) Monitor the actual output torque
the time reaches (3) The parameter setting range of U0-02 and check whether the
P0-74 (unit ms), is unreasonable. setting of P3-28/29 torque limit is
and the speed is reasonable. (After version 3760, the
lower than P0-75 output torque limit setting parameters of
(unit 1 rpm). anti locked rotor alarm are P3-38 and
P3-39)
Regenerative High Voltage Fluctuation
Stable the input voltage
20 0 E-200 resistance in Power Grid
overload Selection of regenerative Replacement of higher power
 Alarm
Type Description Reasons Solutions
code
resistance is too small regenerative resistors (refer to chapter
1.4.1)
Acceleration and
Extending Acceleration and
deceleration time is too
Deceleration Time
short
The AC gear of the multimeter measures
the input value of the servo LN (R/S/T),
which is 220V ± 10% of the normal
value. If the power supply voltage is
more than 220V+10% (380V+10%),
check the power supply voltage; if the
Hardware damage
power supply voltage is normal, then in
servo BB state, monitor U0-05, the
voltage measured by the multimeter *
1.414 < U0-05 (within 10V error), then
the servo driver is faulty and needs to be
sent back for repair.
Motor matching error Check if the motor matches correctly
Check whether the value of U0-54
increases rapidly. If yes, the encoder
circuit is disconnected.Disconnect the
power supply of the driver, check the
connection of the encoder cable, if there
Unconnected encoder is cable loosening, it is recommended to
cable or poor contact use the multimeter to test the conduction
condition; after eliminating errors,
Communication power on again
error of absolute Hot plugging is strictly prohibited, and
0 E-220
servo encoder special cables are required for tank
chains.
Check whether the value of U0-79 and
U0-54 increase. If yes, the encoder is
Received encoder data interfered. Encoder wire and strong
errors, and the number of power do not have the same pipeline
errors exceeds the wiring; install filter on servo driver
number of error retries of power input side; encoder wire sleeves
encoder registers P0-56 magnetic ring; shut down welding
22
machine type of equipment with large
interference
The received encoder
data is wrong and the
Too many CRC
number of errors exceeds Encoder interfered, isolate interference
1 E-221 errors in encoder
the value in encoder error source
communication
retry number register
P0-56
Please replace the battery while keeping
the power supply ON of the servo driver
Battery Voltage in
in order to avoid the error of encoder
Battery Box of Encoder
position information. Battery
Absolute value cable is less than 2.75V
specification: No.5 battery, 3.6V (model
servo encoder
CP-B-BATT, CPT-B-BATT)
2 E-222 battery low
(1) When the absolute value motor is
voltage alarm (can
powered off, the memory position
shield this alarm)
Power on alarm for new depends on the battery on the encoder
machine cable. Once the encoder cable and the
motor are disconnected, the power
supply can not be carried out, which will
 Alarm
Type Description Reasons Solutions
code
lead to the loss of the current position of
the motor, it will alarm 222. Please set
F0-00=1 to clear the alarm, it can be
used normally.
(2) The alarm can be shielded by using
F0-79. When P0-79 is set to 1, it will be
used as a single-loop absolute value
motor, and the current position will not
be remembered when power off.
Encoder cable with
battery box is not used
for multi-turn absolute
motor
Generally, it is the
problem of the encoder
itself, or the power
①Please use encoder cable with battery
supply of the encoder is
box;
Data access alarm unstable
② Power off and power on again (the
3 E-223 of absolute value Abnormal power on of
driver panel shall be completely off). If
servo encoder main control chip of
the alarm cannot be removed, please
multi-turn absolute value
contact the agent or manufacturer
servo encoder
ADC sampling is out of
range, some resistance
and capacitance devices
have problems or the
signal consistency of
magnetic sensor is poor
Generally, it is the
Power on encoder problem of the encoder
In the case of no battery, unplugging the
7 E-227 multi turn signal itself, or the power
encoder cable may cause this alarm.
data error supply of the encoder is
unstable
The motor runs in one ① Set F1-06 = 1, clear the absolute
Absolute value
direction continuously, encoder's multiple turns;
8 E-228 servo encoder
the encoder data value is ② Set P0-79 = 2, the alarm can be
value overflow
too large, overflow shielded.
When the encoder zero
position is offset, or the
motor power line phase
sequence is connected
incorrectly, the motor
gets wrong data during
Encoder electrical control calculation due to ① Check whether the three phases of the
angle zero position power line are connected according to the
9 E-229 the large electrical angle
deviation phase sequence of UVW
deviation used for
protection ② Check the encoder zero position.
control, which may cause
the motor to gallop and
cause the electrical angle
zero position deviation
alarm if it cannot work
normally。
① The number of ① Restart driver
Timing error in consecutive errors in ② Check the arrangement of
24 0 E-240 fetching encoder encoder data update transmission cables to ensure that the
position data sequence is greater than strong and weak current are wired
the value in P0-68 separately.
 Alarm
Type Description Reasons Solutions
code
② CPU timer fluctuates ③ High current equipment is supplied
separately.
④ The grounding is good.
① Check the arrangement of
The received encoder
transmission cables to ensure that the
data is wrong and the
Encoder strong and weak current are wired
number of errors exceeds
1 E-241 responding data separately.
the value in encoder error
scrambling ② High current equipment is supplied
retry number register
separately.
P0-56
③ The grounding is good.
Overrun signal was If you do not want to alarm immediately
detected and the overrun when the overrun occurs, you can
0 E-260 Over range alarm
processing mode was change the overrun signal processing
configured to alarm mode.
(1) When the motor is in
forward rotation, it
encounters reverse
Overrun signal overrun signal. Check over-run signal connection and
1 E-261
connection error (2) When the motor is in over-run terminal allocation.
reverse rotation, it
encounters forward
overrun signal.
(1) Excessive inertia
(1) Reduce inertia or use brake motor;
(2) Stop timeouts too
Control stop (2) Increase the stop timeout time
2 E-262 short
timeout P0-30;
(3) The setting of braking
(3) Increase braking torque P3-32.
torque is too small.
26 (1) Check the source of external force to
see if there are any problems in
mechanical installation;
(2) Increase the servo gain to improve
(1) Oscillation caused by the anti-disturbance ability;
external forces (3) Acquisition speed curve analysis;
(2) Load inertia is large When the first three peaks are
Excessive and the setting of load convergenced after pulse instruction
4 E-264
vibration inertia ratio is wrong or completed (0.8* | first peak | > | second
the gain is too small, peak | and 0.8* | second peak | > | third
which leads to the peak |), the driver should not alarm,
oscillation of positioning. which can adjust the relevant threshold.
When the first three peaks speed are not
less than 300 rpm for three consecutive
times after the completion of the pulse
instruction, the driver will alarm.
Excessive motor
5 E-265 Mechanical vibration Check the motor installation
vibration
On the premise that the driver and motor
are matched and can be used together,
Failed to read Request to read
0 E-280 read the alarm shielding position of
motor parameters EEPROM failed
motor parameters through P0-53, and set
the motor code of P0-33 correctly
28
On the premise that the driver and motor
Error writing data are matched and can be used together,
Request to write
1 E-281 to encoder read the alarm shielding position of
EEPROM failed
EEPROM motor parameters through P0-53, and set
the motor code of P0-33 correctly
Power mismatch Such as 750W driver Match the correct motor and driver, and
31 0 E-310
between driver with 200W motor use it after setting the P0-33 motor code
 Alarm
Type Description Reasons Solutions
code
and motor correctly
When the motor
On the premise that the driver and motor
code is read
are matched and can be used together,
automatically, the
1 E-311 Motor code not set read the alarm shielding position of
motor parameter is
motor parameters through P0-53, and set
0, and the driver
the motor code of P0-33 correctly
P0-33 = 0
On the premise that the driver and motor
Reading motor are matched and can be used together,
Parameter CRC
2 E-312 parameter is read the alarm shielding position of
verification failed
damaged motor parameters through P0-53, and set
the motor code of P0-33 correctly
① Update driver firmware to maximize
current motor parameter performance
② Read the alarm shielding position of
Encoder software Encoder software version motor parameters through p0-53, and set
3 E-313
version mismatch mismatch the motor code of P0-33 correctly. At
this time, the motor parameters are in
the driver, which can work normally, but
may affect some performance
Motor code does Encoder hardware
Contact the manufacturer's technical
4 E-314 not match version is higher than
support to update the driver firmware
software version driver firmware version
When the motor
On the premise that the driver and motor
code is read
are matched and can be used together,
automatically, the
5 E-315 Read the motor code is 0 read the alarm shielding position of
motor parameter is
motor parameters through P0-53, and set
0, and the driver
the motor code of P0-33 correctly
P0-33 ≠ 0
Check U3-00 and motor label.
① If the two values are the same,
The auto read motor code change P0-33 motor code or set P0-33
Auto-read code
6 E-316 is inconsistent with the to 0 to read motor code automatically;
error
motor code set in P0-33 ② If the two values are different,
contact the manufacturer for technical
support
Check if there are alarm output signals
from other drivers connected to the SI
Driver cascading Terminal emergency
32 0 E-320 input terminal of the driver, and
alarm alarm function
prioritize processing this alarm.
Correctly setting parameters P5-68
① Ensure that STO1 and STO2 are
disconnected simultaneously;
STO status is not STO1 and STO2 input ② If a certain STO is still in a high
0 E-340
synchronized states are inconsistent level state after disconnecting the 24V
power supply, please contact the original
34
factory technical support.
STO buffer circuit STO buffer circuit Please contact the original factory
2 E-342
abnormal alarm abnormality technical support.
Please contact the original factory
3 E-343 EDM circuit error EDM output signal error
technical support.
10.3 Alarm read
0000H ~ FEFFh is defined according to IEC61800-7-201.
FF00h ~ FFFFh can be defined according to users, as follows.
The lower 8 bits of the defined value (FF00h ～ FFFFh) shown in the following table indicates the main code of
the alarm number of the servo abnormal (alarm). (the secondary code of the alarm number is not read.)
In addition, the main code of alarm number is represented by hexadecimal number.
Index Sub-Index Name/Description Range DateType Access PDO Op-mode
603Fh 00h Error code 0~65535 U16 ro TxPDO All
Now the alarm of the servo driver (only the main number).
When the alarm does not occur, it will display 0000H.
When an alarm occurs, an alarm is displayed.

FF**h
Alarm (main) No. (00h ～ FFH)
(Example) FF03h … 03h = 3d E-030 (overvoltage protection) occurs
FF55h … 55h = 85d E-850 (TxPDO configuration error protection), E-851 (RxPDO
configuration error protection)
any one of them occurs
As an exception, A000h is displayed in the case of E-817 (Syncmanager 2/3 setting error).

Alarm code can also be read through SDO instruction. U1-00 corresponding object dictionary is 0x3100. The
command is as follows:

Read the value in slave object dictionary 0x3100: 00 (current alarm code) with station number 0 to register D0.
(Refer to XDH/XLH motion control manual for the specific use of this instruction)

10.4 Alarm clear

Reset method of protection function associated with EtherCAT that can be cleared in case of abnormal (alarm)
The following methods ①②③④ can be used for abnormal (alarm) clearing no matter which method.
In addition, for protection functions other than EtherCAT association, please refer to the basic function
specifications of technical manual.

Method ①: bit4 (Error Ind ACK) of AL control is set to "1".

After that, bit7 of 6040h (control word) is cleared by setting 0→1 (sending Fault result command).
After the alarm is cleared, the PDS status is converted from Fault to Switch on disabled.

Method ②: carry out abnormal (alarm) clearing by servo driver (panel F0-00, upper computer software).
After the alarm is cleared, the PDS status is transferred from Fault to Switch on disabled.

Method ③: the external alarm clear input (A-CLR) of servo driver changes from OFF state to ON state.
After the alarm is cleared, the PDS status is migrated from Fault to Switch on disabled.

Method ④: Clear the alarm through SDO instruction. The object dictionary corresponding to F0-00 is 0x4000.
The command is as follows:

When an alarm occurs, write 1 to D0 to clear the alarm.

(Refer to XDH/XLH motion control manual for the specific use of this instruction)
11 Applications
11.1 XINJE XG2/XDH and DS5C2 Ethercat communication
11.1.1 System configuration
Name Model Quantity Note
Software Xinje PLC software 1
Xinje servo DS5C2-41P0-PTA 1
Cable JC-CB-3 some Connect servo and PC

11.1.2 System topology

The DS5C2 driver's network interface plug-in follows the standard of bottom in and top out. For example, the
network cable from the master station is connected to the second network interface in front of the first driver, and
the network cable from the first network interface is connected to the second network interface in front of the
second driver, and so on.

11.1.3 Debugging steps

1) CSP mode operation example

Register Note Unit
Position setting, Modification via IO mapping in CSP mode is invalid, which Command
RXPDO[0x607A]
is controlled by NC module unit
TXPDO[0x6064] Position feedback (motor actual position) Command
unit
TXPDO[0x606C] Speed feedback Command
unit /s
RXPDO[0x6060] Set to 8 -
① Click【scan】or【add】in the EtherCAT interface,【general】interface please use default settings.

② Click【Expert process data】→【PDO assign】, select 1600, 1A00. (The default configuration can meet the basic
use of CSP. If necessary, other PDO parameters can be added.)
③ Confirm 6060h value is 8 in【Lauch parameters】.

There are three default configurations in the startup parameters, among which 6060h is the slave operation mode,
with a default value of 8 (CSP mode); 60C2-1 and 60C2-2 are synchronization unit cycles, 60C2-1 is the value of
synchronization unit cycle, and 60C2-2 is the unit of synchronization unit cycle. For example, the default
synchronization unit cycle is 100 × 10-5s, which is 1000us. (This parameter will automatically change with the
synchronization cycle of the main station configuration and does not require manual modification).

④【IO mapping】default start address is HD10000, which can be changed if necessary.

⑤ After setting all the parameters, click【write】→【activate】→【OK】. The parameters will take effect after
the activation is successful.

⑥ After the activation is completed, the slave station state machine (SD8021) will change state from 1 → 2 → 4
→ 8, 8 means OP state. At this time, both SDO and PDO can receive and send messages.
⑦ Confirm that the instruction channel (SFD8001+300*N) in the axis configuration parameters is Ethercat
(register value is 0).

⑧ In CSP mode, the current given position can be monitored through HD10002 (mapping of 607Ah), the current
actual position of the motor can be monitored through HD10012 (mapping of 6064h), and the current actual speed
can be monitored through HD10014 (mapping of 606Ch).
 When M20 goes from OFF to ON, perform periodic position control on the axis specified by HD300. After
successful execution, M21 is set to ON to indicate that the axis is in a periodic control state. By periodically
assigning values to HD300, control of the axis is achieved.
 Before triggering the command, please ensure that the value of HD300 is the same as the current position,
otherwise the position will generate a step.
 Periodic position control requires periodic writing of the target position value into the register, with no
significant changes in position, to avoid causing the axis to fly due to a large difference between the given
cycle position and the previous cycle position.

2) CSV mode operation example

Register Explanation Unit
RXPDO[0x60FF] Target velocity Command
unit/s
TXPDO[0x6064] Position actual value Command unit
TXPDO[0x606C] Velocity actual value Command unit
/s
RXPDO[0x6080] Max motor speed ,can be modified online through COE-Online r/min
RXPDO[0x6060] Set to 9 -

① Click【scan】or【add】in the EtherCAT interface,【general】interface please use default settings.

② Click 【Expert process data】→【PDO list】, select 1600, 1A00. (The default configuration can meet the basic
use of CSV. If necessary, other PDO parameters can be added.)
③ Confirm 6060h value in【Launch parameters】is 9.

④【IO mapping】default start address is HD10000, which can be changed if necessary.

⑤ After setting all the parameters, click【write】→【activate】→【OK】. The parameters will take effect after
the activation is successful.
⑥ After the activation is completed, the slave station state machine (SD8021) will change state from 1 → 2 → 4
→ 8, 8 means OP state. At this time, both SDO and PDO can receive and send messages. After the state is
switched to OP, 6080h (maximum motor speed) can be modified through COE-Online.

⑦ After enabling ON, HD10000 (mapping of 6040h) will indicate the slave enable status from 6 → 7 → 15,
which can be assigned a value to HD10004 (mapping of 60FFh) as the given speed in CSV mode (real-time speed
interpolation can be achieved by modifying HD1004 in I9900 interrupt).

⑧ In CSV mode, the current given speed can be monitored through HD10004 (mapping of 60FFh), the current
actual position of the motor can be monitored through HD10012 (mapping of 6064h), and the current actual speed
can be monitored through HD10014 (mapping of 606Ch).
3) CST mode operation example
Register Explanation Unit
RXPDO[0x6071] Target torque 0.1%
TXPDO[0x6064] Position actual value Command unit
TXPDO[0x606C] Velocity actual value Command unit/s
TXPDO[0x6077] Torque actual value 0.1%
RXPDO[0x6080] Max motor speed r/min
RXPDO[0x6060] Set to 10 -

① Click【scan】or【add】in the EtherCAT interface,【general】interface please use default settings.

② Click【Expert process data】→【PDO list】, select 1600, 1A00. The default configuration can meet the basic
use of CST. If necessary, other PDO parameters can be added. For example, add 6080h to modify max motor
speed and limit the torque.
③ Confirm 6060h value in【Launch parameters】is 10.

④【IO mapping】default start address is HD10000, which can be changed if necessary.

⑤ After setting all the parameters, click【write】→【activate】→【OK】. The parameters will take effect after
the activation is successful.
⑥ After the activation is completed, the slave station state machine (SD8021) will change state from 1 → 2 → 4
→ 8, 8 means OP state. At this time, both SDO and PDO can receive and send messages.

⑦ After enabling ON, HD10000 (mapping for 6040h) will indicate the slave enable state from 6 → 7 → 15,
which can be assigned a value to HD10006 (mapping for 6071h) as the given torque in CST mode.

⑧ In CST mode, the current given torque can be monitored through HD10006 (mapping of 6071h), the current
actual position can be monitored through HD10012 (mapping of 6064h), the current actual speed can be
monitored through HD10014 (mapping of 606Ch), the current actual torque can be monitored through HD10016
(mapping of 6077h), and the maximum motor speed can be limited through 6080h.
Note: After adding the speed limit parameter, ensure that the speed limit is within the appropriate range during
operation.
4) HM mode operation example
HM control mode related objects
Register Explanation Unit
RXPDO[0x6040] Control word, modify control word to enable homing -
RXPDO[0x6098] Homing mode -
RXPDO[0x609A] Homing acceleration speed Command
unit/s²
The control mode is HM mode (i.e. homing mode), and its value is
RXPDO[0x6060] -
set to 6 when the motor is not enabled
SDO[0x6099] Homing speed, modify online through COE-Online Command
unit/s

① Terminal assignment is performed. P5-22 is the positive limit setting address, and the default value is 1, related
to servo terminal SI1. P5-23 is the setting address of the reverse limit, and the default value is 2, related to servo
terminal SI2, P5-27 is the origin setting address, and the default value is 3, related to servo terminal SI3.
② Click【scan】or【add】in the EtherCAT interface,【general】interface please use default settings.

③【Expert process data】→【PDO list】select 1600, 1A00, add 6098h in 1600.

④ Confirm 6060h value in【Launch parameters】is 6.

⑤【IO mapping】default start address is HD10000, which can be changed if necessary.

⑥ After setting all the parameters, click【write】→【activate】→【OK】. The parameters will take effect after
the activation is successful.
⑦ After the activation is completed, the slave station state machine (SD8021) will be from 1 → 2 → 4 → 8, 8
means OP status. At this time, both SDO and PDO can receive and send messages.

⑧ After the state is switched to OP, the homing speed and acceleration can be modified through COE-Online.
⑨ Set the homing mode (6098h).
This setting range is -2~37 (currently supports methods -2~14, 17~30, 33, 34, 35, 37).

⑩ After enabling ON, HD10000 (6040h mapping) will go from 6 → 7 → 15 to indicate the slave station's
enabled state, and then HD10000 (6040h mapping) will go from 15 → 31 to enable the homing. During the
homing process, if the origin signal is triggered, it will slow down and stop according to the corresponding way of
homing. To homing again, first change 6040h to 15, and then HD10000 (mapping of 6040h) 15 → 31.

5) PP mode operation example

PP control mode related object (command・setting)
Register Explanation Unit
RXPDO[0x6040] Control word -
RXPDO[0x6060] Set to 1 -
RXPDO[0x607A] Target position Command unit
RXPDO[0x6072] Max torque 0.1%
RXPDO[0x607F] Max Profile velocity Command unit/s
RXPDO[0x6080] Max motor speed r/min
RXPDO[0x6081] Profile velocity Command unit/s
RXPDO[0x6083] Profile acceleration Command unit/s²
RXPDO[0x6084] Profile deceleration Command unit/s²
RXPDO[0x60C5] Max acceleration Command unit/s²
RXPDO[0x60C6] Max deceleration Command unit/s²
RXPDO[0x6065] Following error window Command unit
RXPDO[0x6066] Following error time out ms
RXPDO[0x6067] Position windows Command unit
RXPDO[0x6068] Position window time ms
Note:
(1) 6081h (profile speed) is limited by the smaller one of 607Fh (maximum internal speed) and 6080h (maximum
motor speed).
(2) Changing the set value of 607Fh (maximum internal speed) or 6080h (maximum motor speed) during the
operation is not reflected in the operation.

pp control mode related object (command・monitor)

Register Explanation Unit
TXPDO[0x6041] Status word -
TXPDO[0x6063] Position actual internal value Command unit
TXPDO[0x6064] Position actual value Command unit
TXPDO[0x606C] Speed feedback Command unit /s
TXPDO[0x6077] Actual torque 0.1%
TXPDO[0x60F4] Following error actual value Command unit

① Click【scan】or【add】in the EtherCAT interface, function module please set to user define in【general】
interface.

② Click【Expert process data】→【PDO list】, select 1600, 1A00. PDO parameters associated with the mode can
be added (1600 and 1A00 can not add more than 32 bytes respectively).
③ Confirm 6060h value【launch parameters】is 1.

④ 【IO mapping】default start address is HD10000, which can be changed if necessary.

⑤ After parameter configuration is completed, click 【write】→【activate】→【OK】. After activation, the
parameters will take effect.

⑥ After the activation is completed, the slave station state machine (SD8021) will from 1 → 2 → 4 → 8, 8
means OP status. At this time, both SDO and PDO can receive and send messages.

⑦ Modify the control word 6040 (absolute mode: 6 → 15 → 31, relative mode: 6 → 79 → 95) to enable the
slave station to move the motor by setting the target position, target speed, acceleration and deceleration and other
parameters.

⑧ In PP mode, data can be monitored through I/O mapping address setting. For example, the control word of
axis 1 can be modified through HD10000 (mapping of 6040h), the motor can be enabled or disabled, and the
given position of current axis 1 can be monitored through HD10004 (mapping of 607Ah).
6) PV mode operation example
pv control mode related object (command・setting)
Register Explanation Unit
RXPDO[0x6040] Control word -
RXPDO[0x6060] Set to 3 -
RXPDO[0x60FF] Target velocity Command unit/s
RXPDO[0x6072] Max torque 0.1%
RXPDO[0x607F] Max Profile velocity Command unit /s
RXPDO[0x6080] Max motor speed r/min
RXPDO[0x6083] Profile acceleration Command unit /s²
RXPDO[0x6084] Profile deceleration Command unit /s²
RXPDO[0x60C5] Max acceleration Command unit /s²
RXPDO[0x60C6] Max deceleration Command unit /s²
RXPDO[0x606D] Velocity window Command unit /s
RXPDO[0x606E] Velocity window time ms
RXPDO[0x606F] Velocity threshold Command unit /s
RXPDO[0x6070] Velocity threshold time ms

pv control mode related object (command・monitor)

Register Explanation Unit
TXPDO[0x6041] Status word -
TXPDO[0x6064] Position actual value Command unit
TXPDO[0x606C] Velocity actual value Command unit /s
TXPDO[0x6077] Torque actual value 0.1%
① Click【scan】or【add】in the EtherCAT interface, function module please set to user define in【general】
interface.

② Click【Expert process data】→【PDO list】, select 1600, 1A00. PDO parameters associated with the mode can
be added (1600 and 1A00 can not add more than 32 bytes respectively)
③ Confirm the 6060h value in【Lanuch parameter】is 3.
④【IO mapping】The starting address can be customized and modified.
⑤ After configuring the parameters, click【write】→【activate】→【OK】, the parameters will take effect after
the activation is successful.

⑥ After the activation is completed, the slave station state machine (SD8021) will from 1 → 2 → 4 → 8, 8
means the OP status. At this time, SDO and PDO can receive and send messages
⑦ Modify the control word 6040 (6 → 15) to enable the slave station and move the motor by setting the target
speed, acceleration and deceleration and other parameters
⑧ In PV mode, data can be set and monitored through I/O mapping addresses. For example, the control word of
axis 1 can be modified through HD10000 (6040h mapping) to enable or disable the motor. The actual position of
the current motor on axis 1 can be monitored through HD10012 (6064h mapping), and the actual speed of axis 1
can be monitored through HD10014 (606Ch mapping).
7) TQ mode operation example
TQ control mode related objects (command・setting)
Register Note Unit
RXPDO[0x6040] Control word -
RXPDO[0x6060] Control mode is tq (Profile torque control mode), set its value to
-
4
RXPDO[0x6071] Target torque given 0.1%
RXPDO[0x6072] Max torque 0.1%
RXPDO[0x6080] Maximum motor speed r/min
RXPDO[0x6087] Set torque slope 0.1%/S
RXPDO[0x6088] Set the type of torque profile to use -

TQ control mode related objects (command・monitoring)

Register Note Unit
TXPDO[0x6041] Status word -
TXPDO[0x6064] Position feedback (actual motor position) Command unit
TXPDO[0x606C] Speed feedback Command unit /s
TXPDO[0x6077] Actual torque 0.1%

① Click 【 scan】or【add】 slave on EtherCATconfig interface, function module please set to user define in
【general】 interface.
② Select 1600, 1A00 in【expert process data】→【PDO list】, PDO parameters associated with the mode can be
added (1600 and 1A00 cannot add more than 32 bytes respectively).

③ Confirm 6060h value in【Launch parameter】is 4.

④【IO mapping】the starting address can be customized and modified.

⑤ After configuring the parameters, click【write】→【activate】→【OK】, the parameters will take effect after
the activation is successful.
⑥After activation, the slave station state machine (SD8021) will change from 1 → 2 → 4 → 8, 8 indicating the
OP state. At this time, both SDO and PDO can receive and send messages.
⑦Modify the control word 6040 (6 → 15) to enable the slave station to move the motor by setting the target
torque, torque slope and other parameters.
⑧ In TQ mode, data can be set and monitored through I/O mapping addresses. For example, the control word of
axis 1 can be modified through HD10000 (6040h mapping) to enable or disable the motor. The actual torque of
the current motor on axis 1 can be monitored through HD10016 (6077h mapping), and the torque slope of axis 1
can be set through HD10038 (6087h mapping).

8) Probe function example (take DS5C2-20P4-PTA as an example)

Probe function related object
Index Sub index Name Unit
60B8h 00h Probe function settings -
60B9h 00h Indicates the status of the Touch probe function -
Indicates the clamping position of the rising edge of
60BAh 00h Command unit
Touch probe1
Indicates the clamping position of the falling edge of Command unit
60BBh 00h
Touch probe1
Indicates the clamping position of the rising edge of Command unit
60BCh 00h
Touch probe2
Indicates the clamping position of the falling edge of Command unit
60BDh 00h
Touch probe2
① External wiring and probe terminal assignment: P5-62 and P5-63 are used for terminal assignment of probe
function, probe 1 is assigned to SI1, probe 2 is assigned to SI2, 1 is written in P5-62 when SI1 is assigned, and 2 is
written in P5-63 when SI2 is assigned.
② Click【scan】or【add】slave on EtherCATconfig interface, use default settings for【general】interface.

③ When the level signal connected to the driver SI1 or SI2 jumps, the probe function is triggered, and the probe
value is locked in the corresponding COE object words 0x60BA to 0x60BD. When reading the probe value, you
need to add the corresponding probe value object (0x60BA-0x60BD) to TxPDO to facilitate data collection.

Select 1600, 1A00 in【Expert process data】→【PDO list】, add 60B8h in 1600, add 60BAh in 1A00, 60BCh (take
the rising edge of the two probe signals as an example. If the falling edge is collected, 60BBh and 60BDh can be
added).
④【IO mapping】The default starting address is HD10000, which can be changed if necessary
⑤ After configuring the parameters, click【write】→【activate】→【OK】, the parameters will take effect after
the activation is successful.
⑥ After activation, the slave station state machine (SD8021) will change from 1 → 2 → 4 → 8, 8 indicating the
OP state. At this time, both SDO and PDO can receive and send messages.

⑦ After enabling the slave station, the probe function can be activated by modifying HD10024 (60B8h
mapping).

⑧ After activating the probe function, the rising edge clamping value of probe 1 can be monitored through
HD10022 (60BAh mapping), the rising edge clamping value of probe 2 can be monitored through HD10024
(60BCh mapping), the current probe status can be monitored through HD10026 (60B9h mapping), the current
actual position of the motor can be monitored through HD10012 (6064h), and the current actual speed can be
monitored through HD10014 (606Ch mapping).
11.2 Beckhoff TWINCAT and Xinje DS5C2
Beckhoff TwinCAT control software is used as the master station and Xinje servo is used as the slave station to
realize EtherCAT motion control.

11.2.1 System configuration

Name Model Quantity Explanation
Upper Application version used in this
computer TWINCAT XAE(VS 2013) 1 example:
software TC31-FULL-Setup.3.14022.27
Xinje servo DS5C2-41P0-PTA 1
For connection between
Network cable JC-CA-3 some
computer and servo driver
11.2.2 System topology

DS5C2 servo driver has two communication network ports, which follow the principle of "bottom in and top out"
shall be followed when connecting. The master station must be connected with the network port under the CN1
port of the first servo, and then the network port above the first servo is connected with the network port below the
second servo, and so on.

11.2.3 Commissioning steps:

1) Add XML file
Before opening the software operation, we need to copy the DS5C2 XML file to the TwinCAT installation
directory, and the default path is C:\TwinCAT\3.1\Config\Io\EtherCAT.

2) New project
Open the TwinCAT XAE(VS 2013) software and new a project.

(1)FILE—NEW—Project:
(2)Select TwinCAT Project, enter the project name and the project saving path, and click OK.
The following interface will appear:
3) Hardware scanning
If the controller is not in config mode,click to switch the controller to config mode first. Then right click
“Device” and click “Scan” to scan the slave station of EtherCAT.

Click “NC Configuration” .

After the scanning is completed, Axis1 can be seen in “Motion-NC axis”, corresponding to the servo motor
connected to the servo driver, and DS5C2 can be seen in the “Device”.
4) Connect NC axis and physical axis
Method 1:Click “Axis1-Settings-Link to I/O ...” to select the physical axis associated with the NC axis.This link
will be automatically added when scanning the hardware.

Method 2: Manually right click Axis and click Append axis. Link the NC axis to the physical axis manually.
In this window, you can see the corresponding relationship between the NC axis and the physical axis

5) Debugging through NC-Online interface

(1)Switch TwinCAT to the running mode, and then click “MOTION- Axis1- Online” to debug the servo axis.
(Note: if you don’t see the current position of the shaft in the “Online”, please make sure that the motor model
addition and activation configuration are completed normally.)

(2)Click Set, manually check Controller, Feed Fw, Feed Bw and set Override(%), then click OK.
Or directly click “All” to enable the axis, and automatically set the Override to 100%.

(3) If the Ready status is checked, it means that the motor is enabled. Then the axis can be inched through F1 ~ F4.
The inching speed is set in the “Manual Velocity” in the “Parameter”. The default speed is 100mm/s and 600mm/s,
respectively corresponding to slow inching and fast inching.

(4) After setting “Target position” and “Target Velocity”, press F5 to realize position control. The motor will move
to the target position with the set target. This positioning is absolute position positioning, and F6 can be used to
stop during positioning.

(5) When the NC reports an error, there will be an error code in the “Error”.
F8 is the reset button. Press F8 to reset the error.
F9 is the origin finding button. After pressing F9, the axis position will change to 99999... And move slowly.
However, the origin signal requires external hardware signal, which cannot be captured in the Online window.
Therefore, F9 is not used to return to the origin generally, but realized through programming in the program.
Note: Refer to "TC3 training material V1.1.0" for more single axis debugging functions.

6) Control DS5C2 servo motor by PLC control programming

(1)Add motion control library files and axis type variables
Create a new project under PLC and click “PLC-References-Add library...”. In the pop-up dialog box, find
“Motion -- PTP -- TC2_MC2” and select Add.

Click POUs -MAIN(PRG) ,create an Axis_ref type at the main program. Axis_ Ref is a structure, mainly used for
data exchange between NC and PLC. It also contains some other structures. We call this Axis_ref variable the axis
variable.
After the program is written, compile it to see if it is wrong. The project of this instance is named Twincattest, so
find Twincattest project, right-click it, and then select “Build” and click it.

The corresponding variables can be seen in the Instance directory after compile successfully.
After successful compilation, you can bind two variables under PlcTask Inputs and PlcTask Outputs
respectively.
(2)Connect variable between NC and PLC
Click “Motion-Axes”,double click Axis 1, find “Settings-Link to PLC...” from the interface on the right.
Link Axis1 to the corresponding PLC, and then NC and PLC can interact with each other through this link.

(3)Call function block to control the axis motion

On the POUs-MAIN (PRG) interface, declare one MC_POWER function block and one MC_MoveAbsolute
function block, where MC_Power is used to control shaft enable, MC_ Moveabsolute is used to control the
absolute position of the axis.

Press F2 in the program writing window and select power and move_absolute in “Categories——Instance Calls”
to call the defined function block into the program.
Fill in all the parameters in the function block. Enable represents the enable position, Enabled_Positive represents
allowing forward rotation, Enabled_Negative represents allowing reverse rotation, Override represents the speed
ratio, Axis represents the corresponding axis, Position represents the positioning position, Velocity represents the
positioning speed, Acceleration represents acceleration, and Deceleration represents deceleration. Additionally,
declare two boolean type variables power_do and move_do as trigger bits for the enable and absolute position
motion function blocks, and declare an Lreal type variable as the position, velocity, and acceleration/deceleration
for absolute position motion.
Right click “PLC-VISUs”, click Add from the pop-up menu, and then select Visualization from the new menu to
create a visual interface.

Select the rectangle in the toolbar of the added VISU interface and drag a control.
Double click the rectangle box control to set.

Double click the control, and set parameters in Property as shown in the figure.
Set Texts——Text-axis_ pos: %.2f, %.2f represents the data type of floating-point number, display the value of
the associated variable (that is, the variable pointed to by “Text variables——Text variable”, and only two
decimal places are reserved.
Enter MAIN.axis.NcToPlc.ActPos in Text variable, indicating that the control points to the actual position in the
axis variable.

Make another control to represent the current speed of the shaft, enter MAIN.axis.NcToPlc.ActVelo in Text
variable.

Add a rectangular control to input the target position value of the absolute position movement.
The specific operations are as follows: create a rectangular control, and enter MAIN.move_position in Text
variable(lreal type variable added in the program), click “Inputconfiguration - OnMouseClick”, select “Write a
Variable” in the pop-up interface, click “>” to add the function, and select “Use another variable” on the right to
point to the variable MAIN.move_position.
In the same way, create the controls of speed, acceleration and deceleration pointing to the absolute position.
Create two button controls to control the enable and axis motion.

Enter “MAIN.power_do” in “Inputconfiguration——Toggle——Variable”, click once to set 1, and click again to

set 0.
Enter “MAIN.move_do” in “Inputconfiguration——Tap——Variable” of the trigger control of axis motion_ Do,
set 1 only when clicked, and 0 when released.

Create an indicator control to show whether the power function block is enabled successfully.
First, drag an LED icon from the Toolbox on the right, and then bind the “Position——Variable” to the
MAIN.axis.NcToPlc.StateDWord.20 variable, where StateDWord “.20” represents the enabled state of the axis
variable.
After the program is written, it needs to be activated, and then click Login to run the program. Click the run
button to see the value of the specified variable in the visual interface.

Click move_ Position and other input type controls can modify the value of the variable in real time.
11.3 CODESYS and XINJE DS5C2 Ethercat communication example
This example will explain how Codesys motion control software realizes EtherCAT motion control when it is used
as EtherCAT master station (Xinje XS3 series PLC is only used as a hardware platform) and Xinje DS5C2 series
servo is used as slave station.
11.3.1 System topology
Name Model Quantity Note
Software CODESYS 1 Software version: V3.5 SP13
Patch 1
Hardware XS3 series PLC 1
Servo DS5C2-41P0-PTA 3
Network cable JC-CA-3 Some Connect PC and servo

11.3.2 System topology

This is a Codesys control system based on traditional hard PLC. In this scheme, the PLC development system
generally runs on an ordinary PC, while the traditional hard PLC only serves as a hardware platform. The
real-time core of the soft PLC is installed in the traditional hard PLC, and the system program compiled by the
development system is downloaded into the hard PLC. The control system diagram is shown in the above figure.

XS3 series PLC has upper and lower network ports. The upper network port is Ethernet/IP, which is used to
connect the Codesys upper computer. The lower network port is an EtherCAT connection port, which is used to
connect Xinje DS5C2 series servo to realize EtherCAT communication. The two communication network ports of
Xinje DS5C2 series servo drivers should follow the principle of "bottom in and top out".

11.3.3 Debugging steps

1)New project

Double click to open Codesys. Click New Project, input project name and save path.
2)Add XML file
Open Tools/device repository, add XML file of master and slave station. First, add the XML file of the master
station device. Click Tools -- device repository in turn, click install in the pop-up dialog box, select the path where
the XML file is located, find the XML file, select it, and click open.
After opening, the installation is completed, as shown in the following figure. Similarly, install the slave XML file
(Xinje-DS5-C_rev1.1) in the same way.
3)Add master station device
Right click Untitled, click Add Device, select PLCs--SoftMotion PLCs--Xinje –Cortex-Linux-SM-CNC, click
Add Device to add the PLC.
After adding a PLC, the device manager will appear on the right side of the interface. Select Xinje – Cortex Linux
SM CNC, right-click, and click Add device.

Select "EtherCAT / master/ EtherCAT master" in the "add device" dialog box, and finally click Add device.
Add the device, as shown in the following figure:
4)Gateway communication settings
Double click Xinje_ Cortex_ Linux_ SM_ CNC, click Scan netwook in the communication settings tab, search for
PLCs in the same network segment, and click OK after finding them. As shown in the figure below, the equipment
name of the PLC is XINJE-XS3.
Note: Ethernet connection requires that the IP address of the connected device (PC) and the IP address of the PLC
are in the same network segment, so confirm whether the IP address setting of the PC meets the requirements
before connecting.

After successful communication, see the following figure:

5)Scan the slave station device

In the device engineering bar, right-click EtherCAT_ Master, click Scan for devices.
In this example, three DS5C2 series servos are connected. The scanning results are shown in the figure below.
Click Copy All to Project to add all the slave stations scanned to the project.
After the slave station equipment is successfully added, the "devices" is shown in the following figure.

6)Add motion control axis

Select slave axis device XINJE_DS5_C_CoE_Drive, right-click, click Add SoftMotion CiA 402 Axis.

Similarly, add an axis for each slave station. After adding, it is shown in the following figure:
7)Master station device select source address
Double click “EtherCAT_Master”, click Browse… in general tab, select corresponding MAC address, click OK,
now the source address is selected.

8) Make the program

Add POU. Right click application in the devices column and select Add object -- POU. Name the POU to be
added and select the programming method, then click Add. In this example, the form of continuous function
diagram (CFC) is selected for programming.
Double click the added POU to program in the POU interface.
Note: POU should be added to the task, because subsequent compilation commands only compile the programs
added to the task. If the created POU is not added to the task, the compile command does not perform syntax
check for the POU. Right click EtherCAT_ Task, select Add object -- Program call, fill in "POU" in the dialog box
“Add Program Call”, and finally click Add.
Call the function block
On the POU interface, calling an MC_POWER function block to control the axis enable. Select the box in the
toolbar, drag it into the programming interface, and enter MC_ POWER.
Link this function block to the variable of the first slave station axis, as shown in the figure, enter MC_ POWER_
0, the programming interface will automatically generate variables to be declared.

Add input and link the function block to the first slave station axis. Select Input, drag it in the programming

interface, double click this object, click , select IoConfig_Globals-- SM_Drive_GenericDSP402 in the
Input Assistant, click OK.
 Connect the added input function block and the enable function block with wires.

Similarly, continue to add the relative movement function block MC_ MoveRelative, Stop function block MC_
Stop, Reset function block MC_Reset. The procedure is shown in the figure below.
 9) Add visualization
Right click application in the devices column and select Add object - visualization. After naming and selecting the
programming method, click Add.

Double click visualization in the devices column to add the required visualization. For example, you can search
for power in the toolbar and drag the visualization object into the screen.

When you drag the control object into the editing area, the dialog box Assign parameters < VISU_MC_Power>
will pop up automatically, link the control object to the corresponding declared variable. Double click the value
column.

Click , at this time, select the declared variable in the newly pop-up dialog box, and then click OK. The
linked variable name will appear in the value column. Finally, click OK, that is, the variable linking is completed.
Similarly, other control object follow suit.
Add an object that simulates the rotation of the motor and link it to the motor axis. Add it in the same way as
above.

The created view is as follows:

10) Online control
Parameter setting of axis. Double click axis 1 to set axis parameters in the Scaling/Mapping tab. ① To set the
encoder accuracy, a 19-bit encoder is connected in this example, so 524288 is filled in.
The relationship between settings and output: coefficient =(④*⑤*⑥)/(②*③)

Example: when the input-output relationship coefficient is 10, the distance in the MC_MoveRelative function
block is set to 100, then 100/10*524288 = 5242880, that is, the set operating distance is 5242880 pulses, and the
motor will rotate for 10 revolutions.
At this time, set the velocity value in the function block to 10, then 10/10* 524288 = 524288, that is, the motor
will run at the speed of 524288/s.
Set the acceleration value to 1000, then 1000/10*524288 = 52428800, that is, the acceleration of the motor is
52428800/s², the deceleration setting is the same.
After setting parameters, compile the program for syntax check, and log in and run the program after no error is
reported. Login enables the application to establish a connection with the target device and enter the online state.
The precondition for correct login is to correctly configure the communication settings of the device and the
application must be free of compilation errors.
Execute compile, login, run, the normal operation status is shown in the figure below:

At this time, the distance, speed and other parameters that the motor needs to move can be set in the visualization.
Click bDriveStart—bRegulatorOn—Enable in turn in the MC_Power function block to enable the motor normally.
Finally, click Execute in MC_MoveRelative function block to start relative position movement.
11.4 OMRON and DS5C2 servo Ethercat communication example
This example will explain how Omron PLC is used as EtherCAT master station and Xinje servo is used as slave
station to realize EtherCAT motion control.

11.4.1 System configuration

Name Model Quantity Note
Upper Omron software
Sysmac Studio 1
computer
Controller OMRON NJ501-1500 series 1
Xinje
DS5C2-41P0-PTA 1
servo
Network Used for connection between computer and
JC-CA-3 Some
cable PLC or between PLC and servo

11.4.2 System topology

The NJ501 CPU module has two network ports, the red marked is Ethernet/IP, which are used to connect the
Omron host computer SYSMAC studio to monitor and write data to the PLC. The yellow marked is EtherCAT,
and the other end is connected to Xinje DS5C2 series servo to realize EtherCAT communication.

Each network port is equipped with three indicators, RUN/ERROR/ACT. After the network cable is correctly
connected, RUN should be on and ACT should be on. When the communication is established and there is data
interaction at the network interface, ACT flashes. Error will not light up unless it is abnormal.
11.4.3 Debugging steps
1)New project
If "new project" is selected for the first time, select model: NJ501-1500, version 1.02 in the project attribute
interface, and click "create" to generate the programming interface.

2)Add XML file

Double click "EtherCAT" on the main interface to call up the EtherCAT configuration interface. For the first time,
you need to add XML files to the library. Right click "master device" and select "display ESI library".

Then we need to add the XML file of DS5C2 to the pop-up ESI library. Select "this folder" to display the path of
the storage folder, and put the "Xinje-DS5C2-rev1.1" XML type file in the path folder.

Finally, close SYSMAC studio and restart the software, browse the "ESI library" again, and the
Xinje-DS5C2 slave station description file already exists in the library.

3)Add device
Find “XINJE-DS5C2 CoE Drive Rev” on the right side of the interface, double click it to add to the node under
master device.
After adding a node, select the node with the cursor to display the PDO configuration of the current node. Select
Edit PDO mapping settings. The pop-up interface will display the current output PDO mapping on the left and the
PDO items on the right. You can add or delete PDO as required.
Select "add PDO item" to add PDO, and the pop-up window will show the PDO objects that can be added. After
selecting, click "OK", and then click "apply", and the addition is successful.
After adding, it is shown in the following figure:

4)Motion control axis settings

Double click "motion control settings", right-click "axis settings", and select "add - motion control axis".

Double click " MC_Axis000" to display the axis setting interface. The interface is divided into multiple sub
interfaces.
Select "axis type - servo axis" in the "axis basic settings" interface, and select "node 1: DS5C2" in the "input
device".
Click detailed settings, expand the configuration module. The function name needs to be mapped to the PDO
mapping item on the device. It needs to be added manually here. Missing or wrong addition will affect the
subsequent use of this parameter.
In "unit conversion setting", the number of motor encoder lines is correctly filled in the "number of command
pulses per motor revolution". If 19-bit encoder is used in this example, it is modified to 524288. "Working stroke
of motor for one revolution" is the equivalent stroke of motor for one revolution. The example here is modified to
524288, and the default gear ratio is 1:1.
5)Write "round trip" program
Description of programming interface: select "programming / POUs / program / program0/ section0" and
double-click "section0" to show the programming interface. By default, program0 is ladder programming. If ST
programming is selected, right click "program / add / ST". The "toolbox" allows you to add various ladder
elements.

Select "contact" and drag it directly into the ladder node.

Click "input variable" to write the variable name. If it is a new variable name, a new variable will be generated. If
it is an existing variable, you can directly select a variable to fill in. New variables can be viewed in the variable
table. Right click variable X0 and select "jump to variable table" to expand the variable table. In the variable table,
you can create variables of various data types for calling, or view all variables that have been defined.

Add a "function block" in the same way as in the ladder diagram.

Enter a function block name to call this function block parameter. If "MC_Power" is input, the calling
function block is declared as MC_ Power.
 Function block "Axis" pin connected variable, input MC_ Axis000 indicates that the function block is
applied to the axis "MC_Axis000".

Add function block “MC_MoveAbsolute” in the same way, and define the variable name for the pins
“Position”“Velocity”“Acceleration”“Deceleration” to “Pos_1”“Vel_1”“Acc_1”“Dec_1”.

The defined variables can be written with initial values in the variable table, and the initial values take effect when
the PLC is running.

The same way to write a complete round-trip motion ladder program.

6)Gateway communication settings
First, check the IP address of the PLC: in the multiview browser, select "controller settings - built-in Ethernet / IP
port settings" to show the "TCP / IP settings" interface on the right. The fixed IP address setting of the current
project can be viewed in the configuration interface. For a new program, the default IP address is 192.168.250.1.

Communication configuration path: "controller - communication settings".

Select "Ethernet - direct connection" in the "communication setting" interface, and then click "OK" to close the
interface.
Note: Ethernet connection requires that the IP address of the connected device (PC) is automatically obtained or in
the PLC IP address network segment. Therefore, before connecting, confirm whether the IP address setting of the
PC meets the requirements.
7)Compile program and prepare connection
Find "compile controller" in the toolbar to compile the project. If there is any error, check the cause of the error.

After the compilation is passed, find "online" in the toolbar and click it. If the pop-up window "failed to connect
to the controller" appears, check whether the communication configuration is correct. After successful online, the
upper computer switches to online status.
Select "synchronize" in the toolbar, and the pop-up window compares the local project with the project in the
controller. The local project and the project in the controller display "out of sync". Click "transfer to controller" to
download the local project and overwrite the original project of the controller.

After synchronization, click "recompare" to view the synchronization items of each local project and the
controller project. When the subsequent modified project is synchronized again, the different items from the
controller project will be marked in detail.
8)Online control
On the "section0" interface, right-click the variable "X0", select "Edit variable value", switch BOOL to the state
"True", the function block "MC_Power" takes effect, and the servo enable is turned on. Change the state of the
variable "X1" to "True" in the same way to realize the round-trip movement of the program.
PDO object data can be monitored by "IO mapping".
Appendix
Appendix 1. Driver parameters
Appendix 1.1 PX-XX
Modification and effective:
“○” means modifying when servo OFF and take effect at once.
“√” means modifying anytime and take effect at once.
“●” means modifying when servo OFF and take effect when power on again.
“△” means modifying anytime and take effect when the motor doesn’t rotate.
For parameters set in hexadecimal system, the prefix "n." is added to the setting value to indicate that the current
setting value is hexadecimal number.

(1) P0-XX
Default Suitable
Parameter Function Unit Range Effective
value mode
Driver type
P0-00 0:General type - 1 0～1 ○ All
1:EtherCAT type
P0-00=0:General type
1-Internal Torque Mode
3-Internal speed Model
5-Internal Location Mode
P0-00=1:EtherCat type
1-Profile position control mode(PP)
3-Profile speed control mode(PV)
P0-01 4-Profile torque control mode(TQ) - 0 1～10 ○ All
6-Homing mode(HM)
8-Cyclic synchronous position
control mode(CSP)
9-Cyclic synchronous velocity
control mode(CSV)
10-Cyclic synchronous torque
control mode(CST)
Control mode 2 (ditto) -
When the/C-SEL signal is valid, the
P0-02 servo system will switch to the 0 1～10 ○ All
mode selected by P0-02 for
operation
Enabling mode -
0:not enabled
1:IO /SON enable
P0-03 3 0~3 ○ All
2:Software enable(Panel/Modbus)
Write 1 to panel F1-05;
3:Bus Enable
<=20P7: 13
P0-04 Rigidity grade - 0~41 △ All
>=21P0: 11
Definition of rotation direction
P0-05 - 0 0~1 ● All
0- positive mode
 Default Suitable
Parameter Function Unit Range Effective
value mode
1- negative mode
P0-07 First inertia ratio 1% 200 0~50000 √ All
Input pulse command positive -
direction
P0-09.0 0 0~1 ● 6, 7
0: Positive pulse counting
1: Reverse pulse counting
P0-09.2 Input pulse command filtering time - F 0~F ● 6, 7
0: CW/CCW -
P0-10.0
1: AB 2 0~2 ○ 6, 7
xxx□
2: P+D
P0-11 Low bit of pulses per cycle ×1 - 0 0~9999 ○ 5, 6
High bit of pulses per cycle × -
P0-12 0 0~65535 ○ 5, 6
10000
P0-13 Electronic Gear Numerator - 1 1~65535 √ 5, 6
P0-14 Denominator of Electronic Gear - 1 1~65535 ○ 5, 6
Pulse frequency corresponding to 100Hz
P0-15 1000 0~10000 ○ 7
rated speed in speed mode
Speed command pulse filtering 0.01ms
P0-16 100 0~10000 ○ 7
time
0.01
P0-23 Pulse offset limit 2000 0~65535 √ 5, 6
turn
0 - cumulative discharge time -
P0-24 1 - average power mode 1 0 0~2 ○ All
2-average power mode 2
Power Value of Discharge W
P0-25 0~65535 ○ All
Resistance Set as model
P0-26 Discharge resistance value Ω 1~500 ○ All
Servo shutdown the enable stop -
mode
0: Free stop, maintain free running
state after stopping
1: Free stop, maintain DB state
after stopping
2: Slow down and stop, maintain
P0-27 0 0~5 ○ All
free running state after stopping
3: Slow down and stop, maintain
DB status after stopping
4: DB stops and maintains a free
running state after stopping
5: DB stops, maintains DB state
after stopping
Servo Overrun Stop Mode -
(P0-28.0)
0-Deceleration stop 1
1-Inertial Stop
2-Deceleration stop 2
2 0~3 ○ All
3-Alarm Stop
Overtravel alarm shield switch
(P0-28.1)
P0-28
0-Not shield the alarm
1-Shield the alarm
EC bus overtravel stop mode -
(P0-28.0)
0: Direct alarm, using servo 1|3|4|8|9
2 0~3 ○
deceleration shutdown method |10
1: Alarm after decelerating and
stopping as 605Ah mode
 Default Suitable
Parameter Function Unit Range Effective
value mode
2: Do not use overtravel
Servo alarm stop mode -
0: Free stop, maintain free running
state after stopping
1: Free stop, maintain DB state
after stopping
2: DB/deceleration stop, maintain
P0-29 free running state after stopping 2 0~5 ○ All
3: DB/deceleration stop, maintain
DB state after stopping
4: DB stops and maintains a free
running state after stopping
5: DB stops, maintains DB state
after stopping
P0-30 Stop timeout time 1ms 20000 0~65535 ○ All
P0-31 Deceleration stop time 1ms 25 0~5000 ○ All
P0-33 Set the motor code - 0000 0~65535 ● All
Automatic reading of motor -
parameters alarm shielding switch
P0-53 0: Do not block alarms 0 0/1 ● All
1: Block alarm for not reading valid
motor parameters
- -6000~600
P0-55 Open loop rotation speed 0 ○ All
0
Number of encoder communication -
P0-56 10 1~65535 ○ All
attempts
Selection of encoder speed -
measurement algorithm
0: K-type speed measurement
(default)
1: Speed measurement method 1, S
method
P0-63.0 (Used in conjunction with P0-63.1) 0 0~3 ○ All
2: Speed measurement method 2, P
method
(Used in conjunction with P0-63.2)
3: Speed measurement method 3, T
method (parameter configuration
P0-76,%)
Original position differential right -
P0-63.1 0 0~f ○ All
shift bit numbers in S method
Speed measurement zone total -
P0-63.2~3 0 4~17 ○ All
length L in P method
P0-68.0~ Number of consecutive error -
P0-68.1 alarms in the update sequence of 0x05 0x01~0xFF ● All
xx□□ coded data
P0-68.2~ -
P0-68.3 E-241 Alarm filtering times 0 0~0xFF ● All
□□xx
Fan switch (P0-69.0) -
0- Turn on the fan when the
temperature greater than 45℃ and
turn off the fan when less than
P0-69 1 0/1 √ All
42℃ (hysteresis 3℃)
1 - Turn on the fan after enabling,
turn off the fan when not enabling
 Default Suitable
Parameter Function Unit Range Effective
value mode
Large motor thermocouple break
alarm shield switch (P0-69.1)
0-not shield thermocouple
disconnection alarm
1-shield thermocouple
disconnection alarm
0.01
P0-70 Pulse command offset limit value 200 0~65535 √ 8
turns
Selection of bus CSP position -
interpolation mode
P0-71 1 0~1 √ 8
0: Advanced interpolation
1: Normal interpolation
Bus Sync0 offset time
After setting the parameters, the
upper computer needs to be [%]
P0-72 30 0~60 √ 8
reactivated to take effect, and the
modification effect can be observed
through U5-19
1ms As the
P0-74 Blocking alarm time 0-65535 √ All
model
P0-75 Blocking alarm speed 1rpm 50 5~9999 √ All
Battery undervoltage alarm switch -
of absolute encoder (firmware
version 20160304 and later)
P0-79 0 - Used as absolute encoder 1 0~2 ● All
1 - Used as incremental encoder
2 - Used as absolute value encoder,
ignoring multi turn overflow alarm
Motor thermal power protection -
mode
0- Current protection
P0-80 1- Average thermal power 2 0~2 ● All
protection
2 - Analog thermal power
protection
STO status asynchronous alarm
P0-88 0.1ms 60 0~1000 √ All
detection time
STO buffer circuit abnormal alarm
P0-89.0~1 0.1ms 10 0~255 √ All
detection filtering time
P0-89.2~3 STO input detection filtering 0.1ms 12 10~30 √ All
EDM circuit abnormal alarm
P0-90.0~1 0.1ms 200 0~255 √ All
detection filtering
32-bit electronic gear ratio -
1 1~9999
P0-92~P0- numerator.
○ 5, 6
93 take effect when P0-11~P0-14 is 0.
1 1~65535
P0-92*1 + P0-93 *10000
32-bit electronic gear ratio -
1 1~9999
P0-94~P0- denominator.
P0-11~P0-14 is 0. ○ 5, 6
95
1 1~65535
P0-94*1 + P0-95 *10000
(2) P1-XX
Suitable
Parameter Function Unit Default value Range Effective
mode
P1-00 First speed loop gain 0.1Hz 200 10~20000 √ All
P1-01 Integral Time Constant of the First 0.01ms 2653 15~51200 √ All
 Suitable
Parameter Function Unit Default value Range Effective
mode
Speed Loop
P1-02 First position loop gain 0.1/s 480 10~20000 √ All
P1-05 Second speed loop gain 0.1Hz 200 10~20000 √ 1|3|5|6|7|
Integral Time Constant of the second
P1-06 0.01ms 3300 15~51200 √ 1|3|5|6|7|
Speed Loop
P1-07 Second position loop gain 0.1/s 200 10~20000 √ 1|3|5|6|7|
P1-10 Speed feedforward gain 1% 0 0~300 √ 5|6|7
P1-11 Speed feedforward filter time 0.01ms 50 0~10000 √ 5|6|7
P1-14 Gain switching mode setting - 0 0~0x00A2 √ All
P1-15 Gain switching waiting time - 5 0~1000 √ All
P1-16 Gain switching level threshold - 50 0~20000 √ All
P1-17 Gain switching level hysteresis - 30 0~20000 √ All
P1-18 Position loop gain switching time - 3 0~1000 √ All
Gap compensation function direction All
P1-19.0 0: Positive direction - 0 0~1 √
1: Reverse direction
Gap compensation function switch All
P1-19.1 0: Close - 0 0~1 √
1: Open
P1-20 Gap compensation quantity 0.1Pref 0 0~65535 √ All
P1-21 Gap compensation filtering time 0.01ms 0 0~65535 √ All
P1-23 Speed instruction filter time 0.1ms 0 0~65535 ○ 3
Position command acceleration and
P1-24 0.1ms 0 0~65535 △ 5|6
deceleration filtering time
Position instruction smooth filter
P1-25 0.1ms 0 0~65535 △ 5|6
time
Switching conditions for speed
control mode
[P-PI switching]
0: Do not use mode switching
1: Switching condition based on
internal torque command <=22P6: 1
P1-26.0 - 0~4 △ All
2: Switching condition based on Others: 0
speed command
3: Switching condition based on
acceleration
4: Switching condition based on
position deviation
Speed control mode switching All
integral holding selection
P1-26.1 0: Clear the integral of 0 Asr - 1 0~1 △
1: Keep the points unchanged and no
longer accumulate
Mode Switching - Torque Command % 200 0~800 △ All
P1-27
Threshold
Mode Switching - Speed Command rpm 0 0~10000 △ All
P1-28
Threshold
Mode Switching - Acceleration rpm/s 0 0~30000 △ All
P1-29
Threshold
Mode switching - Position deviation Command 0 0~10000 △ All
P1-30
threshold unit
 Suitable
Parameter Function Unit Default value Range Effective
mode
P1-31 I-P control switching threshold % 100 0~100 △ All
Encoder zero position deviation
P1-74 - 1000 0~65535 √ All
detection cycle
Encoder zero deviation detection
P1-75.0~1 - 0A 0~500 √ All
threshold
Electric angle deviation detection
P1-75.2~3 - 06 0~500 √ 1|2|3|4|5|6|7
filtering frequency

(3) P2-XX
Suitable
Parameter Function Unit Default value Range Effective
mode
Disturbance observer switch
P2-00.0 0- OFF - 0 0~1 ○ All
1- ON
Selection of speed observer
0: Close
P2-00.1 - 0 0~2 ○ All
1: EhVobs
2: Vobs
Electric angle compensation switch
P2-00.3 0: Close - 0 0~1 ○ All
1: Open
Adaptive mode switch
P2-01.0 0- OFF - 0 0~1 ● All
1- ON
Adaptive level
P2-01.1 0-High response - Set as model 0~1 ● All
1-Low noise
Auto-tuning mode
1-Soft
P2-02.0 2-Fast positioning - 3 1~3 √ All
3-Fast positioning, control the
overshoot
Load type (valid only during
auto-tuning)
P2-02.2 1-Synchronous belt - 2 1~3 √ All
2-Screw rod
3-Rigid Connection
Enable speed loop IP control
P2-03.2 0: Close - 0 0~1 √ All
1: Open
Adaptive load type
P2-03.3 0-Small Inertia Mode - 0 0~1 ● All
1-Large Inertia Mode
Adaptive mode speed loop gain
P2-05 0.1Hz 200 1~65535 ○ All
(standard)
P2-07 Adaptive mode inertia ratio (standard) % 0 0~10000 ○ All
Gain of adaptive mode speed observer
P2-08 Hz 30 10~1000 ○ All
(standard)
Maximum Inertia Ratio of Adaptive
P2-12 - 30 1~10000 ○ All
Mode (Standard)
P2-15 Inertia identification and internal 0.01r 100 1~3000 √ All
 Suitable
Parameter Function Unit Default value Range Effective
mode
instruction self-tuning maximum
travel
Inertia identification and internal
P2-17 instruction self-tuning maximum - 0 0~65535 √ All
speed
Initial inertia ratio of inertia
P2-18 % 500 1~20000 √ All
identification
P2-19 Adaptive mode bandwidth % 50 1~100 ○ All
Torque command filtering time
P2-35 0.01ms 66 0~65535 √ All
constant 1
Torque command filtering time
P2-36 0.01ms 100 0~65535 √ All
constant 2
Disturbance torque compensation
P2-41 coefficient % 85 0~100 √ All
(Non adaptive mode is valid)
Cut off frequency of disturbance
P2-42 0.1Hz 0 -1000~1000 √ All
torque low-pass filter
Disturbance observer inertia
P2-43 % 100 1~1000 √ All
coefficient
Model Loop Switch
P2-47.0 0-OFF - 1 0~f √ All
1-ON
P2-49 Model loop gain 0.1Hz 480 10~20000 √ 3|4|5|6|7
Active Vibration Suppression Switch
P2-60.0 0-OFF - 0 0~1 √ 3|4|5|6|7
1-ON
Active Suppression Auto-tuning
Switch
0-Active Vibration Suppression is not
P2-60.1 - 1 0~1 √ 3|4|5|6|7
Configured in auto-tuning
1- Configure the Active Vibration
Suppression when auto-tuning
Active Vibration Suppression
P2-61 0.1Hz 10000 10~20000 √ All
frequency
P2-62 Active Vibration Suppression gain % 100 1~1000 √ All
Active Vibration Suppression
P2-63 % 100 0~300 √ All
damping
Filtering time of active vibration
P2-64 - 0 -10000~10000 √ All
suppression 1
Filtering time of active vibration
P2-65 - 0 -10000~10000 √ All
suppression 2
P2-69.0 Notch filter 1 switch - 0 0~1 √ All
P2-69.1 Notch filter 2 switch - 0 0~1 √ All
P2-69.3 Notch filter 3 switch - 0 0~1 √ All
P2-70.0 Notch filter 4 switch - 0 0~1 √ All
P2-70.1 Notch filter 5 switch - 0 0~1 √ All
P2-71 First notch frequency Hz 5000 50~5000 √ All
P2-72 First notch attenuation % 71 50~1000 √ All
P2-73 First notch band width 0.1dB 0 0~1000 √ All
P2-74 Second notch frequency Hz 5000 50~5000 √ All
 Suitable
Parameter Function Unit Default value Range Effective
mode
P2-75 Second notch attenuation % 71 50~1000 √ All
P2-76 Second notch band width 0.1dB 0 0~1000 √ All
P2-77 Third notch frequency Hz 5000 50~5000 √ All
P2-78 Third notch attenuation % 71 50~1000 √ All
P2-79 Third notch band width 0.1dB 0 0~1000 √ All
P2-80 Fourth notch frequency Hz 5000 50~5000 √ All
P2-81 Fourth notch attenuation % 71 50~1000 √ All
P2-82 Fourth notch band width 0.1dB 0 0~1000 √ All
P2-83 Fifth notch frequency Hz 5000 50~5000 √ All
P2-84 Fifth notch attenuation % 71 50~1000 √ All
P2-85 Fifth notch band width 0.1dB 0 0~1000 √ All
(4) P3-XX Speed control parameters
Suitable
Parameter Function Unit Default value Range Effective
mode
P3-05 Preset speed 1 rpm 0 -9999~9999 √ 3
P3-06 Preset speed 2 rpm 0 -9999~9999 √ 3
P3-07 Preset speed 3 rpm 0 -9999~9999 √ 3
P3-09 Acceleration time ms 0 0~65535 ○ 3|4|7
P3-10 Deceleration time ms 0 0~65535 ○ 3|4|7
P3-12 Zero-speed clamping mode - 0 0~3 ○ 3|4|7
P3-13 Zero-speed clamping speed rpm 10 0~300 ○ 3|4|7
Forward Maximum Speed Instruction
P3-14 rpm 4000 0~10000 ○ All
Limit
Reverse Maximum Speed Instruction
P3-15 rpm 4000 0~10000 ○ All
Limit
Internal Forward Speed Limitation in
P3-16 rpm 2000 5~10000 √ 1|2
Torque Control
Internal Reverse Speed Limitation in
P3-17 rpm 2000 5~10000 √ 1|2
Torque Control
P3-18 Jogging speed rpm 100 0~1000 ○ All
P3-19 Forward warning speed rpm 3000 0~10000 ○ All
P3-20 Reverse warning speed rpm 3000 0~10000 ○ All
P3-21 Forward alarming speed rpm 4000 0~10000 ○ All
P3-22 Reverse alarming speed rpm 4000 0~10000 ○ All
0~ Motor
P3-28 Internal forward torque limit % As the model overload √ All
multiple
As the model 0~ Motor
P3-29 Internal reverse torque limit % overload √ All
multiple
As the model 0~ Motor
P3-30 External forward torque limit % overload √ All
multiple
External reverse torque limit As the model 0~ Motor
P3-31 % √ All
overload
 Suitable
Parameter Function Unit Default value Range Effective
mode
multiple
P3-33 Preset torque % 0 -1000~1000 √ 1
P3-37 Delay in switching torque mode ms 40 0~9999 √ 1|2
0~ Motor All
P3-38 Anti blockage forward torque limit % As the model overload √
multiple
0~ Motor All
P3-39 Anti blockage reverse torque limit % As the model overload √
multiple
P3-40.0 Friction compensation switch - 0 0~1 √ All
Selection of Friction Compensation All
P3-40.1 - 0 0~2 √
Speed Source
P3-45 Friction compensation speed threshold 0.1rpm 20 0~200 √ All
P3-46 Dynamic braking delay enable ms 10 0~50 √ All
(5)P4-XX Internal position parameters
Suitable
Parameter Function Unit Default value Range Effective
mode
Z phase signal numbers
P4-00.0 The Z phase signal numbers after - 2 0~f ○ 5|6
leaving the limit switch (note: stop
when N+1 Z phase signal reached)
Search the origin function
P4-00.1 0-OFF - 0 0~1 ○ 5|6
1-ON
Return to zero overrun prohibition
P4-00.2 0-not prohibit - 0 0~1 ○ 5|6
1-prohibit
P4-01 Speed of hitting the proximity switch rpm 600 0~65535 ○ 5|6
P4-02 Speed of leaving proximity switch rpm 100 0~65535 ○ 5|6
Internal Location Given Mode Sets
Location Monm,de
P4-03.0 - 0 0~1 ○ 5
0-Relative positioning
1-Absolute positioning
Internal position setting mode Set step
change mode
0 - Step change when signal is ON,
recyclable
1 - Step change on the rising edge of
the signal, single step execution
2 - The rising edge of the signal is
started, and all the signals are
P4-03.1 executed in sequence without - 0 0~5 ○ 5
circulation
3 - Communication setting section
number
4 -/CHSTP bilateral edge trigger
5- Terminal/PREFA (P5-57),/PREFB
(P5-58),/PREFC (P5-59) select
segment number, and 1~3 segments
can be selected
 Suitable
Parameter Function Unit Default value Range Effective
mode
Internal position mode sets waiting
mode
P4-03.2 - 0 0~1 ○ 5
0-wait positioning completion
1-not wait positioning completion
P4-04 Valid segment number - 0 0~35 ○ 5
-327689999~
P4-10~P4-11 First segment pulse 1pul 0 √ 5
327679999
P4-12 First segment speed 0.1rpm 0 0~65535 √ 5
P4-13 First segment acceleration time 1ms 0 0~65535 √ 5
P4-14 First segment deceleration time 1ms 0 0~65535 √ 5
P4-16 Adjusting time 1ms 0 0~65535 √ 5
P4-10+(n-1)*7
Segment 1 to 35 pulse parameters (n
~ - - - √ 5
is segment number)
P4-16+(n-1)*7
Note:
1) Set pulse number=pulse number (high bit) × 10000+pulses (low order);
2) 35 sections in total; The parameters of sections 1 to 12 can be set through the panel, and the parameters of
sections 13 to 35 need to be written through communication (RS232 and RS485).
(6)P5-XX Signal parameter setting
Default Suitable
Parameter Function Unit Range Effective
value mode
P5-00 Positioning completion width/COIN Command unit 11 1~65535 √ 5|6
Location Completion Detection
P5-01 - 0 0~3 √ 5|6
Mode
P5-02 Location completion retention time ms 0 0~65535 √ 5|6
P5-03 Rotation Detection Speed rpm 50 0~10000 √ All
P5-04 Same speed detection speed rpm 50 0~10000 √ All
P5-05 Reached detection speed rpm 1000 0~10000 √ All
P5-06 Positioning near output width Command unit 50 0~65535 √ 5|6
P5-07 Servo OFF delay time ms 500 -500~9999 ○ All
P5-08 Brake instruction output speed rpm 30 20~10000 ○ All
P5-09 Brake instruction waiting time ms 500 0~65535 ○ All
User-defined output 1 trigger
P5-10 - 0 0~ffff √ All
condition
Set a value that compares with the Related to trigger
P5-11 0 -9999~9999 √ All
trigger condition of custom output 1 condition
P5-12 Select custom output 1 mode - 0 0~3 √ All
Related to trigger
P5-13 Setting custom output 1 hysteresis 0 0~65535 √ All
condition
P5-14 Custom Output 2 Trigger Condition - 0 0~ffff √ All
Set a value that compares with the Related to trigger
P5-15 0 -9999~9999 √ All
trigger condition of custom output 2 condition
P5-16 Select custom output 2 mode - 0 0~3 √ All
Related to trigger
P5-17 Setting custom output 2 hysteresis 0 0~65535 √ All
condition
 Default Suitable
Parameter Function Unit Range Effective
value mode
P5-18 IO filter time multiple - 1 0~10000 √ All
P5-19 Z-phase output holding time ms 2 1~65535 √ All
/S-ON: servo signal
00: Set the signal to be invalid all
the time.
01: Input positive signal from SI1
terminal.
02: Input positive signal from SI2
terminal.
03: Input positive signal from SI3
terminal.
04: Input positive signal from SI4
P5-20.0~1 terminal. - 0 0~ff √ All
10: Set the signal to always be
"valid".
11: Inverse signal is input from SI1
terminal.
12: Inverse signal is input from SI2
terminal.
13: Inverse signal is input from SI3
terminal.
14: Inverse signal is input from SI4
terminal.
P5-20.2 SI terminal filtering time ms 0 0~f √ All
/P-CON proportion action
P5-21.0~1 - 00 0~ff √ All
instruction
P5-21.2 SI terminal filtering time ms 0 0~f √ All
In non EtherCAT mode:
/P-OT: Forward drive prohibited
P5-22.0~1 EtherCAT mode: - 01 0~ff √ All
Control mode 6 (return to zero
mode), POT inhibit signal
P5-22.2 SI terminal filtering time ms 0 0~f √ All
In non EtherCAT mode:
/N-OT: Reverse drive prohibited
P5-23.0~1 EtherCAT mode: - 02 0~ff √ All
Control mode 6 (return to zero
mode), NOT inhibit signal
P5-23.2 SI terminal filtering time ms 0 0~f √ All
P5-24.0~1 /ALM-RST: alarm clear - 0 0~ff √ All
P5-24.2 SI terminal filtering time ms 0 0~f √ All
/P-CL: External Torque Limitation
P5-25.0~1 - 00 0~ff √ All
at Forward Rotation Side
P5-25.2 SI terminal filtering time ms 0 0~f √ All
/N-CL：External Torque Limitation
P5-26.0~1 - 00 0~ff √ All
at Reverse Rotation Side
P5-26.2 SI terminal filtering time ms 0 0~f √ All
In non EtherCAT mode:
/SPD-D: Internal Speed Direction
Selection
P5-27.0~1 - 03 0~ff √ 1|2|3|4|7
In EtherCAT mode:
Control mode 6 (return to zero
mode), Home Origin signal
P5-27.2 SI terminal filtering time ms 0 0~f √ 1|2|3|4|7
 Default Suitable
Parameter Function Unit Range Effective
value mode
/SPD-A: Internal Setting Speed
P5-28.0~1 - 00 0~ff √ 3|5
Selection
P5-28.2 SI terminal filtering time ms 0 0~f √ 3|5
/SPD-B: Internal Setting Speed
P5-29.0~1 - 00 0~ff √ 3|5
Selection
P5-29.2 SI terminal filtering time ms 0 0~f √ 3|5
P5-30.0~1 /C-SEL: control mode selection - 00 0~ff √ All
P5-30.2 SI terminal filtering time ms 0 0~f √ All
P5-31.0~1 /ZCLAMP: zero position clamping - 00 0~ff √ 3
P5-31.2 SI terminal filtering time ms 0 0~f √ 3
/INHIBIT: Instruction pulse
P5-32.0~1 - 00 0~ff √ 5
prohibition
P5-32.2 SI terminal filtering time ms 0 0~f √ 5
P5-33.0~1 /G-SEL: gain switching - 00 0~ff √ All
P5-33.2 Filtering time of SI terminal ms 0 0~f √ All
P5-34.0~1 /CLR: pulse offset clear - 00 0~ff √ 5|6
P5-34.2 SI terminal filtering time ms 0 0~f √ 5|6
/CHGSTP:internal position mode
P5-35.0~1 - 00 0~ff √ 5
change step signal
P5-35.2 SI terminal filtering time ms 0 0~f √ 5
P5-36.0~1 /I-SEL:Inertia ratio switching - 00 0~ff √ All
P5-36.2 SI terminal filtering time ms 0 0~f √ All
/COIN_HD: Location Completion
Maintenance
00: No output to terminal
01: Output positive signal from SO1
terminal
02: Output positive signal from SO2
terminal
P5-37 03: Output positive signal from SO3 - 0000 0~ffff √ 5|6
terminal
11: Output reverse signal from SO1
terminal
12: Output reverse signal from SO2
terminal.
13: Output reverse Signal from SO3
terminal
P5-38 /COIN: positioning completion - 0001 0~ffff √ 5|6
P5-39 /V-CMP: same speed detection - 0000 0~ffff √ 3|4|7
P5-40 /TGON: rotation detection - 0000 0~ffff √ All
P5-41 /S-RDY: ready - 0000 0~ffff √ All
P5-42 /CLT: torque limit - 0000 0~ffff √ All
P5-43 /VLT: speed limit detection - 0000 0~ffff √ 1|2
P5-44 /BK: brake locking - 0000 0~ffff ○ All
P5-45 /WARN: warning - 0000 0~ffff √ All
P5-46 /NEAR: near - 0000 0~ffff √ 5
P5-47 /ALM: alarm - 0002 0~ffff √ All
P5-48 /Z: encoder Z phase signal output - 0000 0~ffff √ All
/MRUN: internal position mode
P5-50 - 0000 0~ffff √ 5
motion starting signal
P5-51 /V-RDY: speed reached - 0000 0~ffff √ 3|4|7
P5-52 /USER1: User-defined output 1 - 0000 0~ffff √ All
 Default Suitable
Parameter Function Unit Range Effective
value mode
P5-53 /USER2: User-defined output 2 - 0000 0~ffff √ All
/PREFA: Intenral position selection ※1 √ 5
P5-57 - 0
signal A
/PREFB: Intenral position selection - 0 ※1 √ 5
P5-58
signal B
/PREFC: Internal position selection - 0 ※1 √ 5
P5-59
signal C
/TRAJ-START: Motion start trigger - 00 0~ff √ 5
P5-61.0~1
signal
- 0 0005 ○ EtherCAT
P5-62 Probe function 1
mode
- 0 0006 ○ EtherCAT
P5-63 Probe function 2
mode
P5-68.0~1 Terminal emergency alarm function - 00 0~ff √ All
P5-68.2 SI terminal filtering time ms 0 0~f √ All
/SRDY: Output Conditions
Selection
0: This terminal is turned on after
P5-70 initialization of the driver is - 0 0~1 √ All
completed
1: This terminal will not turn on
until enabled.
Function Selection of Directional - 0 0~1 √ 7
P5-71
Terminal of Pulse Speed Mode
- 0 EtherCAT
P5-72 Remote input of SI input 1 0~ff √
mode
- 0 EtherCAT
P5-73 Remote input of SI input 2 0~ff √
mode
- 0 EtherCAT
P5-74 Remote input of SI input 3 0~ff √
mode
- 0 EtherCAT
P5-76 Remote input of SO output 1 0~ff √
mode
- 0 EtherCAT
P5-77 Remote input of SO output 2 0~ff √
mode
- 0 EtherCAT
P5-78 Remote input of SO output 3 0~ff √
mode

Table 1 Input signal allocation

Input terminal Servo model Setting range
parameter
P5-20~P5-36
n.0000~n.0003
P5-57~P5-59 DS5C2 series
n.0010~n.0013
P5-72~P5-74
Table 2 Output signal allocation
Output terminal Servo model Setting range
parameter
P5-37~P5-53 n.0000~n.0003
DS5C2 series
P5-76~P5-78 n.0010~n.0013

(7)P6-XX Signal parameter settings(Some parameters are reserved)

 Default
Parameter Function Unit Range Effective Suitable mode
value
Rigid setting mode
0: Standard mode
P6-00 - 0 0~2 ○ All
1: Positioning mode
2: Quick positioning mode
Adaptive Mode Speed Loop Gain (Large 1|3|5|6|7
P6-05 0.1Hz 200 1~65535 ○
Inertia)
P6-07 Adaptive mode inertia ratio (Large inertia) % 50 0~10000 ○ 1|3|5|6|7
Gain of adaptive mode speed observer (large 1|3|5|6|7
P6-08 Hz 40 10~1000 ○
inertia)
Maximum Inertia Ratio of Adaptive Mode 1|3|5|6|7
P6-12 - 50 1~10000 ○
(Large Inertia)

(8)P7-XX Communication parameter setting(485 communication is not supported temporarily)

Parameter Function Unit Default value Range Effective Suitable mode
0 EtherCAT
P7-00 Slave station no. - 0~100 ○
mode
P7-10 RS232 station no. - 1 0~100 √ 1|3|5
RS232 baud rate
00:300
01:600
02:1200
03:2400
04:4800
05:9600
06:19200
07:38400
08:57600
09:115200
0A:192000 1|3|5
P7-11.0~1 Baud rate 09 0~16 √
0B:256000
0C:288000
0D:384000
0E:512000
0F:576000
10:768000
11:1M
12:2M
13:3M
14:4M
15:5M
16:6M
RS232 stop bit 1|3|5
P7-11.2 0:2 bit Stop bit 2 0~2 √
2:1 bit
RS232 stop bit 1|3|5
0: no parity
P7-11.3 Parity bit 2 0~2 √
1: odd parity
2: even parity
Ethercat homing find Z EtherCAT
P7-20 - 1 -9999~9999 ○
phase numbers mode
Filter time after EtherCAT
P7-21 Scan period 400 1~65535 ○
homing mode
(9)P8-XX
 Default
Parameter Function Unit Range Effective Suitable mode
value
P8-17 Sampling interval - 25 1~65535 ▲ 1|3|5
P8-25 Panel display selection - 0 0~2 ▲ 1|3|5
(10) P9-XX
Default
Parameter Function Unit Range Effective Suitable mode
value
Touch stop homing speed EtherCAT mode
P9-16 rpm 2 0~1000 ○
threshold
P9-17 Touch stop homing torque EtherCAT mode
% 100 0~300 ○
threshold
P9-18 Touch stop homing time EtherCAT mode
ms 500 10~1500 ○
threshold
P9-19 Quantitative pulse number low EtherCAT mode
- 0 -9999~9999 ○
bit
P9-20 Quantitative pulse number EtherCAT mode
- 0 -9999~9999 ○
high bit

(11) PE-XX
Default Suitable
Parameter Function Unit Range Effective
value mode
PE-01.3 Weak magnetic control switch — 0 0-1 √ All
PE-80 Weak magnetic control gain Kv Hz 30 10-1000 √ All
PE-81 Weak magnetic control 16 10-1000 √ All
%
integration time constant Ti
PE-82 Weak magnetic control integral 60 0-200 √ All
%
limiting
PE-83 Voltage command limit 115 50-150 √ All
%
threshold
PE-84 IdRef limit % 95 50-150 √ All
PE-85 Smooth filtering time of main 20 0-1000 √ All
0.1ms
cycle voltage

Appendix 1.2 FX-XX

Code Contents
F0-00 Clear the alarm
F0-01 Restore to out of factory settings
F0-02 clear the position offset
F1-00 Jog run
F1-01 Test run
F1-02 Current sampling zero calibration
F1-05 Panel enable
F1-06 Absolute encoder clearing cycles
Appendix 1.3 U0-XX
U0-XX:
Parameter Content Unit
U0-00 Current speed of servo motor Rpm
U0-01 Input speed instruction Rpm
U0-02 Torque instruction % rated
U0-03 Mechanical angle 1°
U0-04 Electric angle 1°
Parameter Content Unit
U0-05 Bus voltage V
U0-06 IPM temperature 0.1℃
U0-07 Torque feedback % rated
U0-08 (-9999～9999)*1 Instruction pulse
Pulse offset
U0-09 (-65536～65535)*10000
U0-10 Encoder feedback (0000～9999)*1 Encoder pulse
U0-11 Encoder feedback (0000～65535)*10000 Encoder pulse
U0-12 Input instruction pulse (-9999～9999)*1
Instruction pulse
U0-13 numbers (-32768~32767)*10000
U0-14 (-9999～9999)*1
Position feedback Instruction pulse
U0-15 (-32768~32767)*10000
U0-18 Torque current 0.01A
U0-21 Input signal status 1 -
U0-22 Input signal status 2 -
U0-23 Output signal status 1 -
U0-24 Output signal status 2 -
U0-25 (0000~9999)*1
Input pulse frequency Hz
U0-26 (0000~9999)*10000
U0-41 Instantaneous output power 1W
U0-42 Average output power 1W
U0-43 Instantaneous thermal power 1W
U0-44 Average thermal power 1W
U0-49 Position feedforward 1 Command unit
U0-50 Speed feedforward rpm
U0-51 Torque feedforward % rated
U0-52 Instantaneous Bus Capacitor Power 1W
U0-53 Average Bus Capacitor Power 1W
U0-54 Encoder error count -
U0-55 Instantaneous regenerative braking discharge power 1W
U0-56 Average regenerative braking discharge power 1W
U0-57
Absolute encoder present position feedback low 32-bit Encoder Position
U0-58
U0-59
Absolute encoder present position feedback high 32-bit Encoder Position
U0-60
U0-89 Position command end flag -
U0-91 Multi-turn absolute motor circles -
U0-94
Calibrate the absolute value encoder position low 32 bits
U0-95
Encoder position
U0-96
Calibrate the absolute value encoder position high 32 bits
U0-97
U0-98 High power motor temperature 0.1℃
U1-XX:
Parameter Contents Unit
U1-00 Current alarm code -
U1-01 Current warning code -
U1-02 U phase current when alarming 0.01A
U1-03 V phase current when alarming 0.01A
U1-04 Bus voltage when alarming V
U1-05 IGBT temperature when alarming 0.1℃
U1-06 Torque current when alarming 0.01A
U1-07 Excitation current when alarming A
U1-08 Position offset when alarming Instruction pulse
U1-09 Speed value when alarm occurs rpm
U1-10 Seconds(low 16-bit) when alarming, cumulated seconds from the first time s
Parameter Contents Unit
power-on
Seconds(high 16-bit) when alarming, cumulated seconds from the first time
U1-11 s
power-on
U1-12 The number of errors in this operation is calculated after this power on -
U1-13 The number of warnings for this operation is calculated after this power on -
U1-14 Historical alarm amounts -
U1-15 Historical warning amounts -
U1-16 Recent 1st alarm code -
U1-17 Recent 2nd alarm code -
U1-18 Recent 3rd alarm code -
U1-19 Recent 4th alarm code -
U1-20 Recent 5th alarm code -
U1-21 Recent 6th alarm code -
U1-22 Recent 7th alarm code -
U1-23 Recent 8th alarm code -
U1-24 Recent 9th alarm code -
U1-25 Recent 10th alarm code -
U2-XX:
Parameter Contents Unit
U2-00 Power on times -
U2-01 Series -
U2-02 Model (low 16-bit) -
U2-03 Model (high 16-bit) -
U2-04 out of factory date: year -
U2-05 out of factory date: month -
U2-06 out of factory date: day -
U2-07 Firmware version -
U2-08 Hardware version -
U2-09 Total running time (from the first time power on) hour
U2-10 Total running time (from the first time power on) minute
U2-11 Total running time (from the first time power on) second
U2-12 This time running time (from this time power on) hour
U2-13 This time running time (from this time power on) minute
U2-14 This time running time (from this time power on) second
Average output power (from the first time enabled, average power in the process
U2-15 1W
of enabling)
Average thermal power (from the first time enabled, average power in the
U2-16 1W
process of enabling)
Average bus capacitor filter power (from the first time power on, average power
U2-17 1W
in the process of power on)
U2-18 (0000～9999)*1 turn
Accumulated motor turns
U2-19 (0000～9999)*10000 turn
U2-20 Device serial no.: low 16-bit -
U2-21 Device serial no.: high 16-bit -
U2-22 Firmware generation date: year -
U2-23 Firmware generation date: month/day -
U2-24 Firmware generation date: hour/minute -
U3-XX:
Parameter Contents Unit
U3-00 Motor code automatically read by drive (including thermal power parameters) -
U3-01 Motor version -
U3-02 Encoder version -
Automatically read the motor code of the encoder in the motor parameters
U3-70 -
(only related to the motor code)
U4-XX:
Parameter Contents Unit
U4-10 Resonance frequency detected by fast FFT Hz
U4-16 Thermal power protection continuous overload operation accumulation value -
U4-17 Thermal power protection instantaneous overload operation accumulation value -
U4-18 SI terminal effective status -
U4-19 SO terminal effective status -
U5-XX:
Parameter Contents Unit
U5-00 Sync0 period time us
U5-05 Port0 RX Error Count (Stop counting until 255) -
U5-07 Port1 RX Error Count (Stop counting until 255) -
U5-12 Port0 Link loss count (stop counting until 255) -
U5-13 Port1 Link loss count (stop counting until 255) -
U5-19 Synchronous offset time us
Appendix 2. Object dictionary
All objects are configured in the object dictionary of each group through 4 digits 16-bit index configuration
address.
The object dictionary of CoE (CANopen over EtherCAT) specified by CiA402 and the object dictionary of
DS5C2 series are as follows:
Object dictionary specified by CiA402 DS5C2 series object dictionary
Index Content Index Content
0000h～0FFFh Data type area 0000h～0FFFh Data type area
1000h～1FFFh COE communication area 1000h～1FFFh COE communication area
2000h～5FFFh 2000h～2FFFh Servo parameter area
3000h～3FFFh Reserved
Factory custom area
4000h～4FFFh Reserved
5000h～5FFFh Reserved
6000h～9FFFh 6000h～6FFFh Driver Profile area
Profile area
7000h～9FFFh Reserved
A000h～FFFFh Reserved A000h～FFFFh Reserved

Appendix 2.1 COE communication area (0x1000-0x1FFF)

Index subindex Name Unit Data range Data type Flag PDO
1000h 00h device type - 0~429496795 U32 RO NO
1001h 00h error register - 0~65535 U16 RO NO
1008h 00h Device - - - RO NO
1009h 00h Hardware version - - - RO NO
100Ah 00h software version - - - RO NO
00h Identity - - - RO -
01h vendor ID - 0~255 U8 RO NO
1018h 02h product code - 0~429496795 U32 RO NO
03h Revision - 0~429496795 U32 RO NO
04h Serial number - 0~429496795 U32 RO NO
00h 1st RxPDO mapping - 0~24 U8 RW NO
01h 1st mapping object - 0~4294967295 U32 RW NO
02h 2nd mapping object - 0~4294967295 U32 RW NO
1600h
03h 3rd mapping object - 0~4294967295 U32 RW NO
... ... - 0~4294967295 U32 RW NO
18h 24th mapping object - 0~4294967295 U32 RW NO
00h 2nd RxPDO mapping - 0~24 U8 RW NO
01h 1st mapping object - 0~4294967295 U32 RW NO
02h 2nd mapping object - 0~4294967295 U32 RW NO
1601h
03h 3rd mapping object - 0~4294967295 U32 RW NO
... ... - 0~4294967295 U32 RW NO
18h 24th mapping object - 0~4294967295 U32 RW NO
00h 3rd RxPDO mapping - 0~24 U8 RW NO
01h 1st mapping object - 0~4294967295 U32 RW NO
02h 2nd mapping object - 0~4294967295 U32 RW NO
1602h
03h 3rd mapping object - 0~4294967295 U32 RW NO
... ... - 0~4294967295 U32 RW NO
18h 24th mapping object - 0~4294967295 U32 RW NO
00h 4th RxPDO mapping - 0~24 U8 RW NO
1603h
01h 1st mapping object - 0~4294967295 U32 RW NO
Index subindex Name Unit Data range Data type Flag PDO
02h 2 mapping object
nd
- 0~4294967295 U32 RW NO
03h 3rd mapping object - 0~4294967295 U32 RW NO
... ... - 0~4294967295 U32 RW NO
18h 24th mapping object - 0~4294967295 U32 RW NO
00h 1st TxPDO mapping - 0~24 U8 RW NO
01h 1st mapping object - 0~4294967295 U32 RW NO
02h 2nd mapping object - 0~4294967295 U32 RW NO
1A00h
03h 3rd mapping object - 0~4294967295 U32 RW NO
... ... - 0~4294967295 U32 RW NO
18h 24th mapping object - 0~4294967295 U32 RW NO
00h 2nd TxPDO mapping - 0~24 U8 RW NO
01h 1st mapping object - 0~4294967295 U32 RW NO
02h 2nd mapping object - 0~4294967295 U32 RW NO
1A01h
03h 3rd mapping object - 0~4294967295 U32 RW NO
... ... - 0~4294967295 U32 RW NO
18h 24th mapping object - 0~4294967295 U32 RW NO
00h 3rd TxPDO mapping - 0~24 U8 RW NO
01h 1st mapping object - 0~4294967295 U32 RW NO
02h 2nd mapping object - 0~4294967295 U32 RW NO
1A02h
03h 3rd mapping object - 0~4294967295 U32 RW NO
... ... - 0~4294967295 U32 RW NO
18h 24th mapping object - 0~4294967295 U32 RW NO
00h 4th TxPDO mapping - 0~24 U8 RW NO
01h 1st mapping object - 0~4294967295 U32 RW NO
02h 2nd mapping object - 0~4294967295 U32 RW NO
1A03h
03h 3rd mapping object - 0~4294967295 U32 RW NO
... ... - 0~4294967295 U32 RW NO
18h 24th mapping object - 0~4294967295 U32 RW NO
00h Sync mangager communication type - 0~255 U8 RO NO
01h Subindex 001 - 0~4 U8 RO NO
1C00h 02h Subindex 002 - 0~4 U8 RO NO
03h Subindex 003 - 0~4 U8 RO NO
04h Subindex 004 - 0~4 U8 RO NO
00h RxPDO assign - 0~4 U8 RW NO
01h Subindex 001 - 1600h~1603h U16 RW NO
1C12h 02h Subindex 002 - 1600h~1603h U16 RW NO
03h Subindex 003 - 1600h~1603h U16 RW NO
04h Subindex 004 - 1600h~1603h U16 RW NO
00h TxPDO assign - 0~4 U8 RW NO
01h Subindex 001 - 1A00h~1A03h U16 RW NO
1C13h 02h Subindex 002 - 1A00h~1A03h U16 RW NO
03h Subindex 003 - 1A00h~1A03h U16 RW NO
04h Subindex 004 - 1A00h~1A03h U16 RW NO
00h Sync manager 2 synchronization - 0~20h U8 RO NO
01h Number of sub-objects - 0~65535 U16 RW NO
02h Sync mode ns 0~4294967295 U32 RW NO
1C32h 03h Cycle time ns 0~4294967295 U32 RW NO
04h Shift time - 0~65535 U16 RO NO
05h Sync modes supported ns 0~4294967295 U32 RO NO
06h Minimum cycle time ns 0~4294967295 U32 RO NO
Index subindex Name Unit Data range Data type Flag PDO
08h Calc and copy time ns 0~65535 U16 RO NO
09h Command (cannot support) ns 0~4294967295 U32 RO NO
0Ah Delay time (cannot support) - 0~4294967295 U32 RO NO
Sync0 cycle time
0Bh When DC SYNC0 (1C32h-01h=02h), ESC register - 0~65535 U16 RO NO
09A0h is set. Except DC SYNC0, set to 0
0Ch Cycle time too small (cannot support) - 0~65535 U16 RO NO
0Dh SM-event missed (cannot support) - 0~65535 U16 RO NO
0Eh Shift time too short (cannot support) - 0~65535 U16 RW NO
20h RxPDO toggle failed (cannot support) - 0~1 BOOL RO NO
00h Sync manager 3 synchronization - 0~20h U8 RO NO
01h Number of sub-objects - 0~65535 U16 RW NO
02h Sync mode ns 0~4294967295 U32 RW NO
03h Cycle time ns 0~4294967295 U32 RW NO
04h Shift time - 0~65535 U16 RO NO
05h Sync modes supported ns 0~4294967295 U32 RO NO
06h Minimum cycle time ns 0~4294967295 U32 RO NO
08h Calc and copy time ns 0~65535 U16 RO NO
1C33h 09h Command (cannot support) ns 0~4294967295 U32 RO NO
0Ah Delay time (cannot support) - 0~4294967295 U32 RO NO
Sync0 cycle time
0Bh When DC SYNC0 (1C32h-01h=02h), ESC register - 0~65535 U16 RO NO
09A0h is set. Except DC SYNC0, set to 0
0Ch Cycle time too small (cannot support) - 0~65535 U16 RO NO
0Dh SM-event missed (cannot support) - 0~65535 U16 RO NO
0Eh Shift time too short (cannot support) - 0~65535 U16 RW NO
20h RxPDO toggle failed (cannot support) - 0~1 BOOL RO NO

Appendix 2.2 Servo parameter area

Index Sub-index Name Index Sub-index Name
2000h 00h P0-00 2500h 00h P5-00
2001h 00h P0-01 2501h 00h P5-01
2002h 00h P0-02 2502h 00h P5-02
2003h 00h P0-03 2503h 00h P5-03
... ... ... ... ... ...
205Fh 00h P0-95 2547h 00h P5-71

2100h 00h P1-00 2700h 00h P7-00

2101h 00h P1-01 2701h 00h P7-01
2102h 00h P1-02 2702h 00h P7-02
2103h 00h P1-03 2703h 00h P7-03
... ... ... ... ... ...
214Ah 00h P1-74 2715h 00h P7-21

2200h 00h P2-00 2800h 00h P8-00

2201h 00h P2-01 2801h 00h P8-01
2202h 00h P2-02 2802h 00h P8-02
2203h 00h P2-03 2803h 00h P8-03
... ... ... ... ... ...
2263h 00h P2-99 281Ah 00h P8-26
 2300h 00h P3-00
2301h 00h P3-01
2302h 00h P3-02
2303h 00h P3-03
... ... ...
232Eh 00h P3-46

Appendix 2.3 Driver Profile area(0x6000~0x6FFF)

Error code (603Fh)

Index Sub Name Range Data type Accessibility PDO
Suitable
index mode
Error code 0~65535 U16 ro TxPDO ALL
603Fh 00h Display the main number of alarms that are occurring in the servo drive. (for 3791 and
later versions, universal alarm displays complete error codes)

Control word (6040h)

Index Sub Name Range Data type Accessibility PDO Suitable
index mode
Controlword 0~65535 U16 rw RxPDO ALL
6040h 00h
Set control commands for servo drivers such as PDS state transitions.
Bit information of 6040h:
Bit Name Note
0 switch on Servo ready -
Connect the main
1 enable voltage -
circuit power supply
The logic is valid under 0. Please note to
2 quick stop Quick stop
execute other bit logic and reverse actions
3 enable operation Servo running -
PP：new set-point
Control mode
4 operation mode specific HM：start homing
dependency bit
In other modes: this bit is undefined
Control mode PP：change set immediately
5 operation mode specific
dependency bit In other modes: this bit is undefined
Control mode PP：absolute /elative
6 operation mode specific
dependency bit In other modes: this bit is undefined
7 fault reset fault reset -
When bit8=1, execute motor deceleration
8 halt halt pause through 605Dh (Halt selection code).
After pausing, the enable must be turned off to
restart the action
Control mode
9 operation mode specific In other modes: this bit is undefined
dependency bit
10~15 Reserved Reserved -
6040h bit0~3, bit7 information:
6040h bit
bit7 bit3 bit2 bit1 bit0
PDS
Command Connect main
Servo Quick Servo conversion
Fault reset circuit power
running stop ready
supply
Shutdown 0 - 1 1 0 2, 6, 8
 Switch on 0 0 1 1 1 3
Switch on +
0 1 1 1 1 3+4
Enable operation
Enable operation 0 1 1 1 1 4, 16
Disable voltage 0 - - 0 - 7, 9, 10, 12
Quick stop 0 - 0 1 - 7, 10, 11
Disable
0 0 1 1 1 5
operation
Fault reset 0→1 - - - - 13

Status word (6041h)

The commands for PDS state migration and control of the slave station are set through 6040h (control word).
Index Sub Name Range Data type Accessibility PDO Suitable
index mode
6041h 00h Statusword 0~65535 U16 ro TxPDO ALL
6041h bit information:
Bit Name Note
Main circuit power off
0 ready to switch on -
status
1 switched on Servo ready status -
2 operation enabled Servo running -
3 fault Fault -
Main circuit power on 1: Indicates that the power supply voltage is
4 voltage enabled
status printed onto the PDS
0: Indicates that PDS receives a quick stop
request. The bit logic of quick stop is valid at 0.
5 quick stop quick stop
Please note to execute other bit logic and
reverse actions
6 switch on disabled Servo cannot run -
1: Indicates that a warning is occurring. When
7 warning warning warned, the PDS status remains unchanged and
the motor continues to operate.
8 reserved reserved -
0: Indicates that 6040h is in an unprocessed
state.
9 remote Remote control 1: Indicates that 6040h is in a manageable state.
The ESM state changes to 1 when transitioning
above PreOP.
operation mode Control mode PP, PV, TQ, HM：target reached
10
specific dependency bit In other modes: this bit is undefined
The internal position
The main reason for internal limitations is that
11 internal limit active of the software
the bit11 of 6041h becomes 1 when it occurs
exceeds the limit
PP：set-point acknowledge
PV：speed
operation mode Control mode
12 HM：homing attained
specific dependency bit
CSP, CSV, CST：drive follows command value
TQ：this bit no definition
PP：following error
operation mode Control mode HM：homing error
13
specific dependency bit CSP：following error
In other modes: this bit is undefined
14~15 reserved reserved Value fixed to 0
6041h bit6~5, bit3~0 information:
6041h PDS status
xxxx xxxx x0xx 0000 b Not ready to switch on Incomplete initialization status
xxxx xxxx x1xx 0000 b Switch on disabled Initialization completion status
xxxx xxxx x01x 0001 b Ready to switch on Initialization completion status
xxxx xxxx x01x 0011 b Switched on Servo enable off/servo ready
xxxx xxxx x01x 0111 b Operation enabled Servo enable on
xxxx xxxx x00x 0111 b Quick stop active Stop immediately
xxxx xxxx x0xx 1111 b Fault reaction active Abnormal (alarm) judgment
xxxx xxxx x0xx 1000 b Fault Abnormal (alarm) state

Quick stop mode (605Ah)

Index Sub Name Unit Range Data type Accessibility PDO Suitable
index mode
605Ah 00h Quick stop option code - 0~7 I16 rw NO ALL
605Ah information:
Control mode Value Effective deceleration PDS status after stop
0 Free stop on servo side
1 6084h
Switch on disabled
2 6085h
pp, csp, csv, pv mode 3 60C6h
5 6084h
6 6085h Quick stop active
7 60C6h
0 Free stop on servo side
1 609Ah
Switch on disabled
2 6085h
Hm mode 3 60C6h
5 609Ah
6 6085h Quick stop active
7 60C6h
0 Free stop on servo side
1, 2 6087h Switch on disabled
cst, tq mode 3 Torque set to 0
5, 6 6087h
Quick stop active
7 Torque set to 0
Example of deceleration stop action based on Quick stop command:
A: If 6040h: bit2 (Controlword: quick stop) changes from 1 to 0, start decelerating stop.
The PDS status during deceleration changes to Quick stop active.
B: The motor stops when the actual speed is detected to be below 10r/min.
The PDS status after stopping is Switch on disabled or changed to Quick stop active.

Stop mode selection (605Bh)

Index Sub Name Unit Range Data type Accessibil PDO Suitable
index ity mode
605Bh 00h Shutdown option code - 0~1 I8 rw RxPDO ALL
605Bh information:
(1) When PDS command「Shutdown」is receiving
Control mode Value Effective deceleration PDS status after stop
0 Free stop on servo side
pp, csp, csv, pv mode
1 6084h
0 Free stop on servo side
Hm mode Ready to switch on
1 609Ah
0 Free stop on servo side
cst, tq mode
1 6087h
 (2) When PDS command「Disable voltage」is receiving
Control mode value Effective deceleration PDS status after stop
0 Free stop on servo side
pp, csp, csv, pv mode
1 6084h
0 Free stop on servo side
Hm mode Switch on disabled
1 609Ah
0 Free stop on servo side
cst, tq mode
1 6087h
An example of slowing down and stop based on the Shutdown command:
A: If you receive the PDS command "Shutdown" to start deceleration and stop.
The PDS status during deceleration remains Operation enabled.
B: The motor stops when the actual speed is detected to be below 10r/min.
The PDS status after stopping is Ready to switch on.

Servo OFF shutdown mode selection (605Ch)

Index Sub Name Unit Range Data type Accessibility PDO Suitable
index mode
605Ch 00h Servo OFF shutdown - 0~1 I8 rw RxPDO ALL
mode
605Ch value information:
Current control mode Value Effective deceleration PDS status after shutdown
0 Servo side free stop
pp, csp, csv, pv mode
1 6084h
0 Servo side free stop
Hm mode Switched on
1 609Ah
0 Servo side free stop
cst, tq mode
1 6087h
An example of slowing down and stop based on the Disable operation command.
A: If you receive the PDS command "Disable operation", start deceleration and stop.
The PDS status during deceleration remains Operation enabled.
B: Motor stops when the actual speed is below 10 r/min.
The PDS status bit after stop is Switched on.

Pause shutdown mode selection (605Dh)

Index Sub Name Unit Range Data type Accessibility PDO Suitable
index mode
Pause shutdown mode - 1~3 I16 rw NO ALL
605Dh 00h
selection
605Dh value information:
Current control mode Value Effective deceleration PDS status after shutdown
1 6084h
pp, csp, csv, pv mode 2 6085h
3 6072h, 60C6h
1 609Ah
Operation enabled
Hm mode 2 6085h
3 6072h, 60C6h
1, 2 6087h
cst, tq mode
3 Torque set to 0
Examples of deceleration and stop based on the Halt function
A: If 6040h: bit8 (Controlword: halt) changes from 0 to 1, start decelerating and stop. The PDS status during
deceleration remains Operation enabled.
B: the motor stops when the actual speed is below 10 r/min. After stopping, the PDS status remains in Operation
enabled.

Alarm shutdown mode selection (605Eh)

Index Sub Name Unit Range Data type Accessibility PDO Suitable
index mode
605Eh 00h Fault reaction option code - 0~2 I16 rw NO ALL
 605Eh value information:
(1) When EtherCAT communication association abnormal alarm occurs (E-800~E-899):
Current control mode Value Effective deceleration PDS status after shutdown
0 Servo side free stop
pp, csp, csv, pv mode 1 6084h
2 6085h
0 Servo side free stop
Fault
Hm mode 1 609Ah
2 6085h
0 Servo side free stop
cst, tq mode
1, 2 6087h
(2) When EtherCAT communication is not associated with abnormal alarms (not E-800~E-899):
Current control mode Value Effective deceleration PDS status after shutdown
pp, csp, csv, pv
0, 2, 3 Servo side free stop Fault
hm, cst, tq
Examples of deceleration and stop based on alarms.
A: If an alarm occurs, start decelerating and stop. The PDS status during deceleration is Fault reaction active.
B: the motor stops when the actual speed is below 10 r/min. The PDS status after stopping is Fault.

Control mode setting (6060h)

The control mode is set through 6060h.
Index Sub Name Range Data type Accessibility PDO Suitable
index mode
6060h 00h Mode of operation -128~127 I8 rw RxPDO All
6060h bit information:
bit Definition abbr correspond
-128~ -1 - - -
0 No mode changed/No mode assigned - -
1 Profile position mode pp YES
3 Profile velocity mode pv YES
4 Torque profile mode tq YES
6 Homing mode hm YES
8 Cyclic synchronous position mode csp YES
9 Cyclic synchronous velocity mode csv YES
10 Cyclic synchronous torque mode cst YES
11~127 - - -
Since 6060h is the default = (no mode change/no mode assigned), be sure to set the control mode value used
after power input. When the set value for 6060h is 0 and the set value for 6061h is 0, an E-881(Control Mode
Set Exception Protection) occurs if the PDS state migrates to Operation enabled.
After the initial state is converted from 0 to the supported control mode (pp, pv, tq, hm, csp, csv, cst), set
6060h to 0 again, the previous control mode will be maintained as "No mode changed", and the switch of
control mode cannot be performed.
Control mode display (6061h)
The confirmation of the internal control mode of the servo drive is performed according to 6061h. After
setting 6060h, please confirm whether it is feasible to set this object action by detection.
Index Sub Name Range Data type Accessibility PDO Suitable
index mode
6061h 00h Mode of operation display -128~127 I8 ro TxPDO All
6061h bit information:
bit Definition abbr correspond
-128~ -1 - - -
0 No mode changed/No mode assigned - -
1 Profile position mode pp YES
3 Profile velocity mode pv YES
 bit Definition abbr correspond
4 Torque profile mode tq YES
6 Homing mode hm YES
8 Cyclic synchronous position mode csp YES
9 Cyclic synchronous velocity mode csv YES
10 Cyclic synchronous torque mode cst YES
11~127 - - -

Position command (6062h)

Index Sub Name Range Data Accessibility PDO Suitable
Unit
index type mode
PP
Command -2147483648~
6062h 00h Position command I32 ro TxPDO CSP
unit 2147483647
HM

Internal actual position feedback (6063h)

Index Sub Name Range Data Accessibility PDO Suitable
Unit
index type mode
Internal actual Command -2147483648~
6063h 00h I32 ro TxPDO ALL
position feedback unit 2147483647

Position feedback (6064h)

Index Sub Name Range Data Accessibility PDO Suitable
Unit
index type mode
Command -2147483648~
6064h 00h Position feedback I32 ro TxPDO ALL
unit 2147483647

Position deviation too large threshold (6065h)

Index Sub Name Range Data Accessibility PDO Suitable
Unit
index type mode
Position deviation too Command 0~ PP
U32 rw RxPDO
large threshold unit 4294967295 CSP
6065h 00h
When the difference between the position instruction 6062h and the position feedback
6064h exceeds 6065h and the time reaches 6066h, the bit 13 of 6041h will be set to 1.

Excessive position deviation timeout (6066h)

Index Sub Name Range Data Accessibility PDO Suitable
Unit
index type mode
Excessive position PP
1ms 0~65535 U16 rw RxPDO
deviation timeout CSP
6066h 00h
When the difference between the position instruction 6062h and the position feedback
6064h exceeds 6065h and the time reaches 6066h, the bit 13 of 6041h will be set to 1.

Position reach threshold (6067h)

Index Sub Name Unit Range Data Accessibility PDO Suitable
index type mode
Position Command
reach unit 0~4294967295 U32 rw RxPDO PP
threshold
6067h 00h
When the difference between the position instruction 6062h and the position
feedback 6064h is within the set range of 6067h, and the time reaches 6068h,
the bit 10 of 6041h will be set to 1.
Position command reached threshold time (6068h)
Index Sub Name Range Data Access PDO Suitable
Unit
index type ibility mode
Position command
6068h 00h 1ms 0~65535 U16 rw RxPDO PP
reached threshold
 time
When the difference between the position instruction 6062h and the position feedback
6064h is within the set range of 6067h, and the time reaches 6068h, the bit 10 of 6041h will
be set to 1.

Speed command (606Bh)

Index Sub Name Range Data Acce PDO Suitable
index Unit type ssibili mode
ty
606Bh 00h Speed command Command unit /s -2147483648~ I32 RO TxPDO PV
2147483647 CSV

Speed feedback (606Ch)

Index Sub Name Range Data Accessibility PDO Suitable
Unit
index type mode
Command -2147483648~
606Ch 00h Speed feedback I32 ro TxPDO ALL
unit /s 2147483647

Speed reached threshold (606Dh)

Index Sub Name Range Data Acces PDO Suitable
index Unit type sibilit mode
y
Speed reached command
0~4294967295 U32 rw RxPDO PV
threshold unit
606Dh 00h When the difference between the speed command 606Bh and the speed feedback 606Ch is
within the set range of 606Dh, and the time reaches 606Eh, the bit 10 of 6041h will be set
to 1.

Speed reached threshold time (606Eh)

Index Sub Name Range Data Accessi PDO Suitable
Unit
index type bility mode
Speed reached
1ms 0~65535 U16 rw RxPDO PV
threshold time
606Eh 00h When the difference between the speed command 606Bh and the speed feedback 606Ch is
within the set range of 606Dh, and the time reaches 606Eh, the bit 10 of 6041h will be set to
1.

Speed threshold (606Fh)

Index Sub Name Range Data Accessibility PDO Suitable
Unit
index type mode
Command
Velocity threshold unit 0~4294967295 U32 rw RxPDO PV
606Fh 00h
When the value of speed feedback 606Ch exceeds the set value of 606Fh and the time reaches
6070h, the threshold value of bit 12 for 6041h is set to 0.
If the speed is below the set value of this parameter, the bit12 of 6041h becomes 1.

Speed threshold time (6070h)

Index Sub Name Range Data Accessibility PDO Suitable
Unit
index type mode
Velocity threshold time 1ms 0~65535 U16 rw RxPDO PV
6070h 00h When 606Ch exceeds the set value of 606Fh, set the time for bit12 of 6041h to become
0.

Target torque (6071h)

Index Sub Name Range Data Accessibility PDO Suitable
Unit
index type mode
6071h 00h Target torque 0.1% -32768~32767 I16 rw RxPDO TQ
Max torque (6072h)
Index Sub Name Range Data type Accessibility PDO Suitable
Unit
index mode
6072h 00h Max torque 0.1% 0~65535 U16 rw RxPDO ALL

Max current (6073h)

Index Sub Name Range Data type Accessibility PDO Suitable
Unit
index mode
6073h 00h Max current 0.1% 0~65535 U16 ro NO ALL

Torque command (6074h)

Index Sub Name Range Data Accessibility PDO Suitable
Unit
index type mode
6074h 00h Torque command 0.1% -32768~32767 I16 ro TxPDO ALL

Motor rated torque (6076h)

Index Sub Name Range Data Accessibility PDO Suitable
Unit
index type mode
0~
6076h 00h Motor rated torque Mn·m U32 RO TxPDO ALL
4294967295

Torque feedback (6077h)

Index Sub Name Range Data Accessibility PDO Suitable
Unit
index type mode
6077h 00h Torque feedback 0.1% -32768~32767 I16 ro TxPDO ALL

Current feedback (6078h)

Index Sub Name Range Data Accessibility PDO Suitable
Unit
index type mode
Current
6078h 00h 0.10% -32768~32767 I16 RO TxPDO ALL
feedback

Bus voltage (6079h)

Index Sub Name Range Data Accessibility PDO Suitable
Unit
index type mode
DC link
6079h 00h circuit mV 0~4294967295 U32 RO TxPDO ALL
voltage

Target position (607Ah)

Index Sub Name Range Data Acce PDO Suitable
index Unit type ssibi mode
lity
PP
Command -2147483648~
607Ah 00h Target position I32 rw RxPDO CSP
unit 2147483647
HM

Position range limit (607Bh)

Index Sub Name Range Data Accessibility PDO Suitable
Unit
index type mode
Min position range command -2147483648~
01h I32 rw RxPDO ALL
limit unit 2147483647
607Bh
Max position range command -2147483648~
02h I32 rw RxPDO ALL
limit unit 2147483647
This parameter modification has no effect.
 Home offset (607Ch)
Index Sub Name Range Data Acce PDO Suitable
index Unit type ssibil mode
ity
command -2147483648~
607Ch 00h Home Offset I32 rw RxPDO NO
unit 2147483647

Soft limit (607Dh)

Index Sub Name Range Data Acces PDO Suitable
index Unit type sibilit mode
y
command -2147483648~
01h Min position limit I32 rw RxPDO NO
unit 2147483647
607Dh
command -2147483648~
02h Max position limit I32 rw RxPDO NO
unit 2147483647

Command polarity (607Eh)

Index Sub Name Range Data type Accessibility PDO Suitable
Unit
index mode
607Eh 00h Command Polarity - 0~255 U8 rw NO ALL
607Eh bit information
bit Name value note note
0-4 - 0 - Reserved, please set to 0
Torque 0 Symbol without inversion 0: No inversion of symbols
5
polarity 1 Symbol has inversion 1: The symbol has inversion
Speed 0 Symbol without inversion 0: No inversion of symbols
6
polarity 1 Symbol has inversion 1: The symbol has inversion
Position 0 Symbol without inversion 0: No inversion of symbols
7
polarity 1 Symbol has inversion 1: The symbol has inversion

The position, speed, and torque polarity must be exactly the same, that is, bit7-5 must all be set
to 0 or bit7-5 must all be set to 1.

Max profile speed (607Fh)

Index Sub Name Range Data Accessibility PDO Suitable
Unit
index type mode
PP
Max profile command
0~4294967295 U32 rw RxPDO PV
velocity unit/s
607Fh 00h HM
Speed limit values in pp, hm, and pv mode.
The maximum value is limited by 6080h through internal processing.

Max motor speed (6080h)

Index Sub Name Range Data Accessibility PDO Suitable
Unit
index type mode
PV
Max motor TQ
r/min 0~4294967295 U32 rw RxPDO
speed CSV
CST
6080h 00h Set the maximum speed of the motor.
When power supply input, the maximum speed read from the motor is set.
The maximum value is limited by the maximum speed read from the motor based on
internal processing.
During tq and cst, the speed is limited by the set value of this object.
Profile speed (6081h)
Index Sub Name Range Data Acces PDO Suitable
Unit
index type sibility mode
command
6081h 00h Profile velocity 0~4294967295 U32 rw RxPDO PP
unit/s

Profile acceleration (6083h)

Index Sub Name Range Data Accessibility PDO Suitable
Unit
index type mode
command PP
Profile acceleration 0~4294967295 U32 rw RxPDO
unit/s² PV
6083h 00h
Set profile acceleration.
When set to 0, internal processing is processed as 1.

Profile deceleration (6084h)

Index Sub Name Range Data Accessibility PDO Suitable
Unit
index type mode
PP
PV
Profile command
0~4294967295 U32 rw RxPDO HM
deceleration unit/s²
6084h 00h CSP
CSV
Set the profile deceleration.
When set to 0, internal processing is processed as 1.

Fast stop deceleration (6085h)

Index Sub Name Range Data Acces PDO Suitable
index Unit type sibilit mode
y
PP
PV
Fast stop command
6085h 00h 0~4294967295 U32 rw RxPDO HM
deceleration unit/s²
CSP
CSV

Motor rated current (6075h)

Index Sub Name Range Data Accessibility PDO Suitable
Unit
index type mode
PP
PV
6075h 00h Motor rated current 1mA 0 ~4294967295 U32 RO TxPDO HM
CSP
CSV

Position trajectory planning type (6086h)

Index Sub Name Range Data Accessi PDO Suitable
Unit
index type bility mode
Position trajectory
6086h 00h - -32768~32767 I16 rw RxPDO HM
planning type
This parameter 0: Step type; 1: Slope type.
This parameter is only applicable to HM mode. In PP and PV modes, slope types are directly used within
trajectory planning.
In CSP and CSV modes, this parameter is not required and trajectory planning is completed at the main
station.
Torque slope (6087h)
Index Sub Name Range Data Access PDO Suitable
Unit
index type ibility mode
TQ
6087h 00h Torque slope 0.1% 0~4294967295 U32 rw RxPDO
CST
 Index Sub Name Range Data Access PDO Suitable
Unit
index type ibility mode
Set the parameter values to give a bias torque command.
In CST mode, it is only effective in deceleration stop time.

Torque planning type (6088h)

Index Sub Name Range Data Accessi PDO Suitable
Unit
index type bility mode
6088h 00h Torque planning type - 0~65535 I16 rw RxPDO TQ
This parameter 0: Step type; 1: Slope type.
In TQ mode, the slope type directly used for torque planning, modifying this parameter has no effect.
Electronic gear ratio (6091h)
Index Sub Name Range Data Access PDO Suitable
index Unit type ibility mode
Turns
01h Motor revolutions 1~4294967295 U32 rw NO ALL
(motor)
6091h
Turns
02h Shaft revolutions 1~4294967295 U32 rw NO ALL
(shaft)
This object defines the content related to the motor turns and the shaft turns after the gearbox output.
Gear ratio = 6091h-01h/ 6091h-02h
Encoder division ratio (6092h)
Index Sub Name Range Data Accessi PDO Suitable
Unit
index type bility mode
command
Feed 1~4294967295 U32 rw NO ALL
01h unit
Set feed quantity
6092h
Turns
Shaft revolutions 1~4294967295 U32 rw NO ALL
02h (shaft)
Set shaft turns
This object represents the amount of action for each rotation of the shaft after the gearbox output.
Feed constant =6092h-01h/ 6092h-02h

Homing mode (6098h)

Index Sub Name Range Data type Accessibility PDO Suitable
index mode
6098h 00h Homing method -128~127 I8 rw RxPDO All
6098h value information:
value definition
-2 Searching for reverse limits
-1 Searching for positive limits
0 Not specify the homing method
Reverse homing, the deceleration point is the reverse limit switch, and the origin is the motor Z
1 signal. Before encountering the Z signal, the descending edge of the reverse limit must be
encountered first
Forward homing, deceleration point is the forward limit switch, origin is the motor Z signal, and the
2
falling edge of the forward limit must be encountered before encountering the Z signal
Positive homing, deceleration point is the origin switch, and the origin is the motor Z signal. Before
3 encountering the Z signal, it is necessary to first encounter the falling edge on the same side of the
origin switch
Positive homing, deceleration point is the origin switch, and the origin is the motor Z signal. Before
4 encountering the Z signal, it is necessary to first encounter the rising edge on the same side of the
origin switch
Reverse homing, deceleration point is the origin switch, and the origin is the motor Z signal. Before
5 encountering the Z signal, it is necessary to first encounter the falling edge on the same side of the
origin switch
Reverse homing, deceleration point is the origin switch, and the origin is the motor Z signal. Before
6 encountering the Z signal, it is necessary to first encounter the rising edge on the same side of the
origin switch
value definition
Positive homing, deceleration point is the origin switch, and the origin is the motor Z signal. Before
7 encountering the Z signal, it is necessary to first encounter the falling edge on the same side of the
origin switch
Positive homing, deceleration point is the origin switch, and the origin is the motor Z signal. Before
8 encountering the Z signal, it is necessary to first encounter the rising edge on the same side of the
origin switch
Positive homing, deceleration point is the origin switch, and the origin is the motor Z signal. Before
9 encountering the Z signal, you must first encounter the rising edge on the other side of the origin
switch
Positive homing, deceleration point is the origin switch, and the origin is the motor Z signal. Before
10 encountering the Z signal, it is necessary to first encounter the falling edge on the other side of the
origin switch
Reverse homing, deceleration point is the origin switch, and the origin is the motor Z signal. Before
11 encountering the Z signal, it is necessary to first encounter the falling edge on the same side of the
origin switch
Reverse homing, deceleration point is the origin switch, and the origin is the motor Z signal. Before
12 encountering the Z signal, it is necessary to first encounter the rising edge on the same side of the
origin switch
Reverse homing, deceleration point is the origin switch, and the origin is the motor Z signal on the
13 other side of the origin switch. Before encountering the Z signal, the rising edge on the other side of
the origin switch must be encountered first
Reverse homing, deceleration point is the origin switch, and the origin is the Z signal of the motor on
14 the other side of the origin switch. Before encountering the Z signal, the falling edge on the other
side of the origin switch must be encountered first
15 No meaning
16 No meaning
17 Homing action is the same as 1, but the origin is at the reverse limit position
18 Homing action is the same as 2, but the origin is at the forward limit position
19 Homing action is the same as 3, but the origin is at the origin switch
20 Homing action is the same as 4, but the origin is at the origin switch
21 Homing action is the same as 5, but the origin is at the origin switch
22 Homing action is the same as 6, but the origin is at the origin switch
23 Homing action is the same as 7, but the origin is at the origin switch
24 Homing action is the same as 8, but the origin is at the origin switch
25 Homing action is the same as 9, but the origin is at the origin switch
26 Homing action is the same as 10, but the origin is at the origin switch
27 Homing action is the same as 11, but the origin is at the origin switch
28 Homing action is the same as 12, but the origin is at the origin switch
29 Homing action is the same as 13, but the origin is at the origin switch
30 Homing action is the same as 14, but the origin is at the origin switch
31 No meaning
32 No meaning
33 Reverse homing, with the origin at the Z-phase signal of the motor
34 Forward homing, with the origin at the Z-phase signal of the motor
35 Take the current position as the origin
37 Take the current position as the origin

Homing speed (6099h)

Index Sub Name Range Data Acce PDO Suitable
index Unit type ssibili mode
ty
Speed during search command
01h 0~4294967295 U32 rw NO HM
for deceleration point unit/s
Speed during search command
6099h 0~4294967295 U32 rw NO HM
for zero unit/s
02h
If the edge of the Switch signal is used as the origin detection position, please set a value
as small as possible to reduce detection error.
 The speeds of 6099-01h and 6099-02h are limited by the minimum values of 6080h and
607Fh.

Homing acceleration (609Ah)

Index Sub Name Range Data Acces PDO Suitable
index Unit type sibilit mode
y
command
Homing acceleration 0~4294967295 U32 rw RxPDO HM
unit/s²
609Ah 00h Set the acceleration and deceleration during HM mode.
At the final stop of each homing mode (when the origin position is detected), there is no
need to use the set value of this object, and the servo lock stops.

Position feedforward (60B0h)

Index Sub Name Range Data Acce PDO Suitable
index Unit type ssibili mode
ty
Position command -2147483648~
I32 rw RxPDO ALL
feedforward unit 2147483647
60B0h 00h This parameter is used for the position loop control of the drive. As the servo underlying
algorithm does not support feedforward control, this parameter is temporarily not used.
Modifying it does not affect the effect.

Speed feedforward (60B1h)

Index Sub Name Range Data Accessibility PDO Suitable
Unit
index type mode
Velocity command -2147483648~
I32 rw RxPDO ALL
feedforward unit/s 2147483647
60B1h 00h This parameter is used for the speed loop control of the drive. As the servo underlying
algorithm does not support feedforward control, this parameter is temporarily not used.
Modifying it does not affect the effect

Torque feedforward (60B2h)

Index Sub index Name Range Data Access PDO Suitable
Unit
type ibility mode
Torque -2147483648~
0.1% I32 rw RxPDO ALL
feedforward 2147483647
60B2h 00h This parameter is used for the current loop control of the drive. As the servo underlying
algorithm does not support feedforward control, this parameter is temporarily not used.
Modifying it does not affect the effect

Touch Probe function (60B8h)

Index Sub Name Range Data Accessibility PDO Suitable
Unit
index type mode
Touch probe
60B8h 00h - 0~65535 U16 rw RxPDO ALL
function
60B8h bit information:
bit value Note
0 Probe 1 not enabled
0 Probe 1 enabled
1 Probe 1 enabled
0 Single triggering
1 Probe 1 trigger mode selection
1 Continuous triggering
0 External input signal Probe 1 trigger method
2
1 Z phase signal (not support) selection
 3 - - -
0 Rising edge not latched
4 Probe 1 rising edge selection
1 Rising edge latched
0 Falling edge not latched
5 Probe 1 falling edge selection
1 Falling edge latched
6-7 - - -
0 Probe 2 not enabled
8 Probe 2 enabled
1 Probe 2 enabled
0 Single triggering
9 Probe 2 trigger mode selection
1 Continuous triggering
0 External input signal Probe 2 trigger method
10
1 Z phase signal (not support) selection
11 - - -
0 Rising edge not latched
12 Probe 2 rising edge selection
1 Rising edge latched
0 Falling edge not latched
13 Probe 2 falling edge selection
1 Falling edge latched
14-15 - - -

 At present, Z-phase triggering mode is not supported, only external signals are supported
as triggering sources;
 Do not set the rising and falling edges simultaneously under the same probe.

Touch probe status (60B9h)

Index Sub Name Range Data Acces PDO Suita
index Unit type sibilit ble
y mode
60B9h 00h Touch probe status - 0~65535 U16 ro TxPDO ALL
60B9h bit information:
bit value Note
0 Probe 1 not executed
0 Probe 1 execution status
1 Probe 1 is executing
0 Probe 1 rising edge latch not completed
1 Probe 1 rising edge latch state
1 Probe 1 rising edge latch completed
0 Probe 1 falling edge latch not completed
2 Probe 1 falling edge latch state
1 Probe 1 falling edge latch completed
3-7 - - -
0 Probe 2 not executed
8 Probe 2 execution status
1 Probe 2 is executing
0 Probe 2 rising edge latch not completed
9 Probe 2 rising edge latch state
1 Probe 2 rising edge latch completed
0 Probe 2 falling edge latch not completed
10 Probe 2 falling edge latch state
1 Probe 2 falling edge latch completed
11-15 - - -

probe 1 rising edge latch position value (60Bah)

Index Sub Name Range Data Accessibility PDO Suitable
Unit
index type mode
probe 1 rising edge latch Command -2147483648~
60BAh 00h I32 ro TxPDO ALL
position value unit 2147483647

probe 1 falling edge latch position value (60BBh)

Index Sub Name Range Data Accessibility PDO Suitable
Unit
index type mode
probe 1 falling edge latch Command -2147483648~
60BBh 00h I32 ro TxPDO ALL
position value unit 2147483647
probe 2 rising edge latch position value (60BCh)
Index Sub Name Range Data Accessibility PDO Suitable
Unit
index type mode
probe 2 rising edge latch Command -2147483648~
60BCh 00h I32 ro TxPDO ALL
position value unit 2147483647

probe 2 falling edge latch position value (60BDh)

Index Sub Name Range Data Accessibility PDO Suitable
Unit
index type mode
probe 2 falling edge latch Command -2147483648~
60BDh 00h I32 ro TxPDO ALL
position value unit 2147483647

Max acceleration (60C5h)

Index Sub Name Range Data Accessibility PDO Suitable
Unit
index type mode
PP
command
Max acceleration 0~4294967295 U32 rw RxPDO PV
unit/s²
60C5h 00h HM
Set the maximum acceleration.
When set to 0, internal processing is processed as 1.

Min deceleration (60C6h)

Index Sub Name Range Data Accessibility PDO Suitable
Unit
index type mode
PP
command
Min deceleration 0~4294967295 U32 rw RxPDO PV
unit/s²
60C6h 00h HM
Set the min deceleration.
When set to 0, internal processing is processed as 1.

Forward torque limit (60E0h)

Index Sub Name Range Data Accessibility PDO Suitable
Unit
index type mode
PP
Positive torque
60E0h 00h 0.1% 0~65535 U16 rw RxPDO PV
limited
HM

Reverse torque limit (60E1h)

Index Sub Name Range Data Accessibility PDO Suitable
Unit
index type mode
PP
Negtive torque
60E1h 00h 0.1% 0~65535 U16 rw RxPDO PV
limited
HM

Position offset (60F4h)

Index Sub Name Range Data Accessibility PDO Suitable
Unit
index type mode
PP
command -2147483648
60F4h 00h Position offset I32 RO TxPDO CSP
unit ~2147483647
HM

Internal command speed (60Fah)

Index Sub Name Range Data Accessibility PDO Suitable
Unit
index type mode
command -2147483648
60FAh 00h Internal command speed I32 RO TxPDO ALL
unit/s ~2147483647
 Internal command position (60FCh)
Index Sub Name Range Data Accessibility PDO Suitable
Unit
index type mode
-2147483648 PP
Internal command command
60FCh 00h – I32 RO TxPDO CSP
position unit
2147483647 HM

Digital input (60FDh)

Index Sub Name Range Data Acce PDO Suitable
index Unit type ssibili mode
ty
60FDh 00h Digital inputs - 0~4294967295 U32 ro TxPDO ALL

60FDh bit information

bit name value note
0 No reverse overtravel switch signal detected
0 negative limit switch
1 Reverse overtravel switch signal detected
0 No forward overtravel switch signal detected
1 positive limit switch
1 Forward overtravel switch signal detected
0 No origin switch signal detected
2 home switch
1 Origin switch signal detected
0 No input signal detected for probe 1
3 EXT1 probe1
1 Detected input signal from probe 1
0 No input signal detected for probe 2
4 EXT1 probe2
1 Detected input signal from probe 2
0 No Z-phase output signal detected
5 Z phase signal output
1 Z-phase output signal detected
6-15 Reserved - -
0 Remote SI1 input signal not detected
16 Remote input SI1
1 Remote SI1 input signal detected
Remote input SI2 0 Remote SI2 input signal not detected
17
1 Remote SI2 input signal detected
Remote input SI3 0 Remote SI3 input signal not detected
18
1 Remote SI3 input signal detected
19-31 Reserved - -

Digital output (60FEh)

Index Sub Name Range Data Accessibility PDO Suitable
Unit
index type mode
- Digital outputs - - - - - -
Output of operating the
01h - - - - - -
external output signal
60FEh
Set output operation host
02h machine function of external - - - - - -
output signal

60FEh bit information:

index Bit name value note
0-15 Reserved - -
0 Remote SO1 output signal not detected
16 Remote SO1 output status
1 Remote SO1 output signal detected
01h
0 Remote SO2 output signal not detected
17 Remote SO2 output status
1 Remote SO2 output signal detected
18 Remote SO3 output status 0 Remote SO3 output signal not detected
 index Bit name value note
1 Remote SO3 output signal detected
0-15 Reserved - -
0 Turn off remote SO1 output
16 Remote SO1 output enable
1 Turn on remote SO1 output
02h 0 Turn off remote SO2 output
17 Remote SO2 output enable
1 Turn on remote SO2 output
0 Turn off remote SO3 output
18 Remote SO3 output enable
1 Turn on remote SO3 output

Target speed (60FFh)

Index Sub Name Range Data Accessibility PDO Suitable
Unit
index type mode
Target command
60FFh 00h -4294967296~4294967295 U32 RW RxPDO PV
velocity unit/s

Supported drive mode (6502h)

This servo driver can confirm the supported control mode based on 6502h.
Index Sub Name Range Data Accessibility PDO Suitable
Unit
index type mode
Supported drive -2147483648~
6502h 00h - I32 ro TxPDO ALL
modes 2147483647

6502h bit information:

bit definition abbr correspond
0 Profile position mode pp YES
2 Profile velocity mode pv YES
3 Torque profile mode tq YES
5 Homing mode hm YES
7 Cyclic synchronous position mode csp YES
8 Cyclic synchronous velocity mode csv YES
9 Cyclic synchronous torque mode cst YES
10~31 - - -
Appendix 3. Glossary of Terms
Term/abbreviation Full name
EtherCAT Ethernet for Control Automation Technology
COE CANopen Over EtherCAT
FMMU Fieldbus Memory Management Unit
SM Sync Manager
pp Profile position
pv Profile velocity
tq Torque profile
csp Cyclic synchronous position mode
hm Homing mode
csv Cyclic synchronous velocity mode
cst Cyclic synchronous torque mode
DC Distributed Clock
SDO Service Data Object
PDO Process Data Object
TxPDO -
RxPDO -
ESM EtherCAT State Machine
ESC EtherCAT Salve Controller
Physical layer device that converts data from the Ethernet controller to
PHY
electric or optical signals.
PDI Process Data Interface or Physical Device Interface
EEPROM Electrically Erasable Programmable Read Only Memory
EtherCAT Slave Information, stored in ESI EEPROM(formerly known as
ESI
SII)

In TQ mode, modifying the slope type directly used for torque planning has no effect.
 WUXI XINJE ELECTRIC CO., LTD.

Address: 816 Jianzhu West Road, Binhu District, Wuxi City, Jiangsu Province
Tel: 0510-85134136 Fax: 0510-85111290
Website: www.xinje.com
Email: [email protected], [email protected]