SDD Series

AC Servo driver manual

Please read this manual carefully before installing/debugging /using

 Thank you for choosing SDD series servo driver. Please read this manual
before using. The main contents of this manual include:
* Servo driver inspection, installation and wiring steps.
* Digital panel operation steps, status display, trouble alarm and disposal.
* Servo system control mode, trial running and adjustment steps.
* List of all the parameters of the servo drives.
* Servo drives specifications.

For daily inspection, maintenance,finding the exception reasons and

countermeasures, please keep this manual for easy reference.
Note: Please give this manual to the end user so as to maximize the utility of
the servo drives.

●The manual contents may be changed due to the product improvements,

there will be no prior notice.
●Any changes made to the product by users, the company will not
undertake any responsibility and the product warranty will be invalid.
When reading this manual, please pay special attention to the following
warning signs

Indicates the wrong operation may cause disastrous

Warn
consequences—death or serious injury!

caution Indicates the wrong operation may hurt the operator

and also make damage to the equipment!

attention Indicates improper use may damage the product and

equipment!
 Contents
Chapter 1 Product inspection and installation
1.1 Product
inspection······················································· 1-4
1.2 Servo driver
specification················································· 5
1.3 Servo driver
installation················································· 6-7
Chapter2 Servo driver and motor wiring
2.1 Servo drive power supply and periphery device wiring
diagram·· 8-9
2.2 Position control mode wiring
diagram1································ 10
2.3 Position control mode wiring
diagram2································ 11
2.4 Position control mode wiring diagram
3··························· 12-14
2.5 Terminal electrical connection
····································· 15-19
2.6 The principle diagram of single interference
·····················19-22
Chapter 3 Operation and display
3.1 Keyboard
operation··················································· 23-24
3.2 Monitoring
approach··················································24-25
3.3 Parameter
setting······················································ 26-27
3.4 Parameter
management···············································27-29
3.5 F1 operation
mode························································ 30
3.6 F2 run
mode····························································30-31
3.7
Others·······································································
31
Chapter 4 Parameter
4.1 All parameters function and significance detail
Chapter 1 Product inspection and installation

5.8 Simulation torque control mode·········································66

9. Position and simulation speed hybrid control mode·················· 66
10. Position and simulation torque hybrid control mode················66
Chapter 6 RS485 Communication
6.1 RS485 communication hardware interface···························· 67
6.2 Communication protocol············································· 68-72
11. Communication error and data processing·····························72
12. SDD series drive debugging software specification and usage··73-75
6.5 Communication command example································ 76-77
Chapter 7.1
7 Alarm andlist···································································78
Alarm disposal
7.2 Alarm process method················································79-
7.3 82 Common problems in use or exception handling·················
Appendix A 82-87 SDD series drive and SM servo motor matching parameter
list
························································································· 88-90
Appendix B Product after-sales service explanation···························· 91

2
 Chapter 1 Product inspection and installation

Chapter 1 Product inspection and installation

Summarize
SDD series servo is our third generation servo. All the input and output port
can define itself, which is convenient to the user; standard RS485 communication
function, realize uploads and downloads network control; internal simple PLC
function, the PLC can be completely eliminated in some easy control occasions so
as to lower the cost. Compare with the second generation SDB series servo, it has
obvious improvement on the function and performance.

1. Product inspection
Our servo products have been done a completely functional test before leaving
factory, in order to prevent the product exception in the process of shipment, please
check the following items carefully when open the package:
1)Check the servo drive and motor model whether same as ordered. 2) Check
the servo drive and motor appearance whether with damage or scratch. If there is
any above mentioned defective or abnormal signs, please contact with local
distributors immediately.

1.1.1 Model confirmation

Servo drive model
SD D 08 N K8—A
Version identification number
SD series servo drive

Shape code
Sub-series:
Power supply K7:
A series:
B N ： 220V series K8:
series: Output power
H ： 380V series K9:
C series: 08 ： 800W
D 13 ： 1.3KW
series: 20 ： 2.0KW
E series:
1
Chapter 1 Product inspection and installation

1.1.2 SDD servo drive attached standard accessories

① CN1 plug （ DB25 1 set
hole ） 1
② 5CN2 plug （ DB25
pin power plug （ SDD04NK7/SDD08NK8
set ）1
pin ）
piece 3 pin power plug （ SDD04NK7/SDD08NK8 ）
③
1piece
④
RS485 communication line （ model CABLE01 ） 2
⑤ piece optional

1.1.3⑥ Debugging
Servo size line （ model CABLE02 ）
communication
drive installation
1 piece optional

SDD04NK7 servo drive installation dimensional

!!!!Notice: L N is 220V power supply , PD,C is external braking resistor
terminals. It can not be connected wrong ！

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 Chapter 1 Product inspection and installation

SDD08NK8 servo drive installation dimensional

!!!!Notice: L N is 220V power supply, PD,C is external braking resistor
terminals. It can not be connected wrong ！

3
Chapter 1 Product inspection and installation

SDD**NK9 servo drive installation dimensional

4
 Chapter 1 Product inspection and installation

1.2 Servo drive specifications

mode SDD04 SDD08 SDD13 SDD20 SDD50

10.7 10.7 12.7 18.0 25.0

Maximum current(A)
Basic
specificat single phase AC170~253V
ions Power supply 50/60Hz

Cooling method Natural cooling/ fan Cooling

Control method SVPWM control

Encoder Provincial line or incremental encoder

display and operation Six of seven-segment display LED: four function keys
position control / speed trial run / jog run /internal
Internal Control model positioning PLC function/RS485 communication/ speed/ torque
functions
Braking function Internally installed
Under voltage, over voltage, over load, over current,
Protection function encoder exception, braking, position error etc.
Command control model External pulse
External Form pulse+ direction cw/ccw A/B orthogonality
command Maximum
pulse Differential motion:1MHZ open collector: 200KHZ
Position input frequency
control
Electronic gear ratio 1 ～ 32767/1 ～ 32767
model
Speed control range speed ratio: 1:5000

Speed rate of change Speed fluctuation ratio: ＜ ±0.03 （ load 0 ～ 100% ） .

＜ ±0.05
（ power-15% ～ +10% ）
Command smooth way Linear time constant 1 ms ～ 10000ms （ 0r/min←→1000r/min ）
frequency characteristic 300HZ
output type ABZ phase line drive output/ Z open collector output
location
Frequency
signal output 1/225 ～ 1Frequency division
input division
ratio 5
/
output 7 points photoelectric
input signal Input point can be defined as any 21kinds, see parameter settings
isolation input
signal
Chapter 1 Product inspection and installation

3. Servo drive installation

1. Installation environment conditions

Servo drive installation environment has a direct effection to the servo
function and service life, therefore, the drive installation environment conditions
must comply with following conditions:
Items SDD servo drive
usage 0℃ ～ 55℃ （ no frozen frost ）
temperature/ 90%RH below （ no condensation ）
humidity
storage -20℃ ～ 80℃
temperature/ 90%RH （ no
humidity condensation ）

atmospheric In control cabinet, no corrosive gas, inflammable gas, oil mist or dust etc

environment
vibration
less than 0.5G （ 4.9m/s2 ） 10 Hz -60Hz （ not run continuously ）
Protection level IP54
When several drives installed in the control cabinet, please keep enough space for
sufficient heat dissipation; please add an additional cooling fan to keep the drive ambient
temperature below 55 ℃.
Please install the drive by vertical way, face forward, top up for heat
dissipation. Avoid any drilling cuttings or other things falling in the drive
during assembly. Please use M4 screws when installing.
If there is vibration source (punch) nearby and can not avoid it, please use vibration
absorber or add anti-vibration rubber gasket.
If there is a large magnetic switch, welding machine etc noise interference sources
nearby, the drive is easily interfered by outside and make wrong action, therefore, a noise
filter must be added; but the noise filter will increase leak current, so, an insulating
transformer must be installed at the input end of the drive.

6
 Chapter 1 Product inspection and installation

1.3.2 Servo installation direction and interval

Below chart shows a drive and multiple drives installation interval, the
interval should be larger enough for a good heat dissipation conditions.

7
Chapter 2 Servo drive and motor wiring

Chapter 2 Servo drive and motor wiring

2.1 Servo drive power supply and peripheral devices wiring

Power
single220V 1kw and below

Leakage
Circuit breakers

The linker CN1 wiring

Contact I/O speed,connect to
the controller
Link to the
power

Noise filter

W phase The linker CN2 wiring

V Connect to the encoder
phase
U phase

Connect to the phase and ground of the servo motor

SDD04NK7 servo drive peripheral devices wiring

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 Chapter 2 Servo drive and motor wiring

Power 1.0kw and above

Single220V

Leakage
Circuit breakers

Link to the
CN1 wiring
I/O speed,
Contact connect to
the controller
Link to the
power

W phase Noise filter

V phase
U phase
Link to the CN1
PE wiring
Connect to the
encoder

Connect to the phase and ground of the servo motor

SDD20NK9 servo drive peripheral devices wiring

9
Chapter 2 Servo drive and motor wiring

2.2 Position control mode wiring diagram 1

SDD04NK7D/SDD08NK8D position control mode wiring diagram

10
 Chapter 2 Servo drive and motor wiring

2.3position control mode wiring diagram 2

SDD13NK9D/SDD20NK9D/SDD50NK10D position control mode wiring

diagram

11
Chapter 2 Servo drive and motor wiring

2.4position control mode wiring diagram 3

SDD55HK12D/SDB75HK12D position control mode wiring diagram

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 Chapter 2 Servo drive and motor wiring

internal position control mode wiring diagram(simple PLC function)

Internal position control model wiring diagram

13
Chapter 2 Servo drive and motor wiring

locking type brake motor wiring diagram

5. Terminal electrical connection

1. 1 、 Definition of the power terminal (SDD04NK7

series) Terminal
signal definition function
marking

L power input terminal ～ 220V 50Hz

power
note: do not connect with motor output
N
supply terminal U, V, W.
Built-in braking resistor: P and D short circuit
P
external connect connection.

brake resistor With external braking resistor:P and D

D
select terminal open.The external resistance connection
C between P and C.

1 、 grounding terminal resistance ＜

PE System grounding 100Ω ； 2 、 Servo motor output and
power input with
one public point grounding.
W
Servo motor Servo motor output terminals must connect
V output with motor terminals W,V,U
14 U
 Chapter 2 Servo drive and motor wiring

2 、 Power terminal definition (SDD20NK9 series)

Terminal
signal definition function
marking

L1 power input terminal ～ 220V 50Hz,single

Power supply
L2 single-phase or phase connect L1 L2
three phase note: do not connect with motor output
L3
terminal U, V, W.
grounding terminal resistance ＜ 100Ω ；
PE System grounding Servo motor output and power input with
one
public point grounding
U
Servo motor Servo motor output terminals must connect
V output with motor terminals W,V,U
W
Built-in braking resistor::P and D short circuit
P
external connect connection.
D brake resistor With external braking resistor:P and D
select terminal
open.The external resistance connection
C
between P and C.

2. Power line terminals wiring

 L1, L2, L3, PE, U, V, W terminal, transversal area≥1.5mm2(AWG14-16). L, N

terminal, transversal area≥1.0 mm2(AWG16-18) 。

 Grounding: the grounding wire should be as thick as possible, drive and servo
motor grounding at PE terminal, grounding resistance ＜ 100Ω 。
 Suggest providing power supply by three-phase isolating transformer to reduce
the possibility of electric shock hurts.
 Suggest providing power supply by the noise filter to improve the anti-
interference ability.
 Please install non fuse type(NFB) circuit breakers, so that the external power supply
can be cut off promptly when the drive with failure.
3. Signal terminal definition
SDD servo drive unit interface terminal configuration as follows.CN1
signal

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 Chapter 2 Servo drive and motor wiring

control terminal is DB25 connector, the socket is pin type, plug is hole type; CN2
terminal feeder is DB25 connector, socket is 25 core hole type, plug is 25 core pin
type.
Control terminal CN1
Terminal No signal name mark I/O System default function

Control Power Power supply positive pole of input terminal

CN1-8 power Photoelectric coupler used for drive the input
supply COM+
positive terminals DC12 ～ 24V, electric
supply current≥100mA
System default ： input terminals of
CN1-21 Input port0 IN0 （ SON input Servo-enabled: SON ON ： allow the drive to

） work. SON OFF ： drive off, stop working,

the motor in free state.
System default ： servo alarm clear
CN1-9 Input port 1
IN1 input ON ： servo alarm output normally
（ ARST ）
OFF ：
remove the system alarm
CN1-3 Input port 2 IN2 （ CCW input System default ： Forward drive prohibition
）
CN1-17 Input port 3 IN3 （ CW input System default ： Reverse drive prohibition
）
System default ： position deviation
CN1-22 Input port 4 IN4 （ CLE input counter reset CLE ON: position control,
） position deviation counter reset
System default ： position command
pulse prohibit input terminals
CN1-10 Input port 5 IN5 （ INH input
INH ON: command pulse input prohibited
） INH OFF: Command pulse input
effective
System default ： electronic gear ratio
choose terminal （ default as OFF ）
Input port 6
IN6 input ON ： choose PN31 parameter as present
CN1-4 （ GEARI position control gear ratio OFF ：
） choose PN9 parameter as present
position control gear ratio
System default ： position
CN1-1 Output port 1
OUT1 output reach. position reach signal output ,
（ COIN ） when the servo position reach to the target
position （ Pn12 parameter value ） , output
ON
System default ： brake output
Output port 2 OUT2 Open-drain output, normal working,
16
CN1-14 output
（ HOLD ） optocoupler breakover. Output ON
No enable, drive prohibited. When
alarm,
optocoupler cut-off;
 Chapter 2 Servo drive and motor wiring

terminal No signal name mark I/O function

System default: servo alarm output
ALM ON: servo drive without alarm, servo
OUT3
CN1-15 Output port 3 output alarm output ON.
（ ALM ） ALM OFF: servo drive alarm, servo alarm
output OFF.

common
common Grounding common terminal of the control
CN1-16 terminal of the DG
signal output terminal(except CZ)
output terminal
encoder Z the encoder Z phase output terminals:
CN1-2 CZ+ output
phase output photoelectric code of the servo motor Z
phase
encoder Z
CN1-5 phase output
CZ- output pulse output
CZ ON: Z phase signal appear, optocoupler
collector open circuit output
CN1-18 PULS+ external Command pulse input terminals
Command
input Note 1: the parameter Pn8 set pulse input
pulse
CN1-6 PULS- model;
1. Command pulse+symbol mode;
CN1-19 command SIGN+
direction
input 2. CCW/CW Command pulse mode;
CN1-7 SIGN- 2. A/B orthogonal Command pulse mode
CN1-23 Output PEA output Each round of the motor with pulse output
encoder signal The output pulse is mainly used to return to
CN1-11 A PEAL output the upper machine. To achieve closed loop
control, the frequency of the output signal
CN1-24 Output PEB output can be set by PN41,PN42..
encoder signal
CN1-12 B PEBL output

CN1-25 Output PEZ output Each motor round output a signal, the width
encoder of the signal related to the speed of the
signal motor
CN1-13 Z PEZL output
External
If the pulse signal is 24 v, connect the power
public
CN1-20 power VP input supply can be without resistance
supply
CN1-PE Shield ground PE

17
Chapter 2 Servo drive and motor wiring

2) The feedback signal terminal CN2

terminal terminal
signal name I/O function
No mark
CN2-24 encoder signal A+ A+
CN2-12 encoder signal A- A-
Encoder ABZ signal
CN2-23 encoder signal B+ B+
CN2-11 encoder signal B- B-
CN2-22 encoder signal Z+ Z+
CN2-10 encoder signal Z- Z-
CN2-21 encoder signal U+ U+
CN2-09 encoder signal U- U-
CN2-20 encoder signal V+ V+ Match province line type motor, UVW
CN2-08 encoder signal V- V- encoder signal does not need to
CN2-19 encoder signal W+ W+ connect. And PN74=1

CN2-07 encoder signal W- W-

CN2-1.2
digital ground GND Digital
.3.4
CN2-5.6
+5V power VCC Power
.17.18
CN2-14 shielding ground FG
3) Serial communication terminal （ SDD**
terminal） CN5
NK**
signal name mark Model function
No.
RS485
3 485D- RS485 communication signal
communication signal SDD**
RS485 NK**
1 485D+ RS485 communication signal
communication signal

4) Serial communication terminal （ SDD**

terminal ） CN5
NK**D
signal name mark Model function
No.
RS485
3 485D- RS485 communication signal
communication signal SDD**
RS485
4 485D+ NK**D RS485 communication signal
communication signal

18
 Chapter 2 Servo drive and motor wiring

Terminal interface as shown below (SDD**NK** and SDD**NK**D ports):

SDD**NK** SDD**NK**D
4. signal terminals wiring
 Cable selection: use shield cable (It is better to choose twisted shielded

cable), wire core cross-sectional area≥0.12mm2(AWG24-26), shield

must connect with FG terminals.
 cable length: cable length as short as possible, CN1 control cable
should be less than 3meters, signal feedback CN2 cable should be less
than 20meters.
 Wiring: away from power cabling to prevent interference entering.
Please install surge absorber component in the relevant circuit inductor
components (coil); direct current coil anti-parallel free-wheeling diode,
AC coil in parallel and RC absorb return circuit.
6. The principle diagram of the signal interface
1. digital input interface circuit
Digital input interface circuit could be controlled by relay or open collector
transistor circuit. User provide power, DC12 ～ 24V, current≥100mA ； note: if the
current polarity reversed, the drive does not work. Input signal IN0-IN6 all
can refer to this connection mode.
Servo driver

Switch

19
Chapter 2 Servo drive and motor wiring

When input signal connect with OV, signal is ON input and effective. It can
be judged by display menu UN-17, when input ON, the corresponding nixie tube
will be light. Input OFF, the corresponding nixie tube will die out. Use this display
content properly, convenient for servo input signal debugging and maintenance.

Input terminal display

(The stroke is lit to indicate ON, and to be off to indicate OFF)
2.6.2 Servo motor photoelectric encoder input interface
In the differential output mode, use AM26LS32 、 MC3487 or similar line
drive RS422 as a receiver.

Servo motor Servo driver

2.6.3 The pulse signal input interface circuit

In order to transmit pulse data correctly, suggest to use differential drive way; in
differential drive mode, use AM26LS31 、 MC3487 or similar line driver RS422
as follow diagram Servo driver

Using single-ended drive mode will lower the operating frequency.

20
 Chapter 2 Servo drive and motor wiring

A ： Input circuit according to the pulse quantity. drive current 10 ～ 25mA

Limit external power maximum voltage as 24V, determine the value of resistance R.
experience data:VCC=24V ， R=1.3 ～ 2k ； VCC=12V ， R=510 ～
820Ω 。 External power supply provided by user, please note that if the power
polarity reversed, the servo drive unit will be damaged. Details as follow diagram.

Controller driver

pulse

direction

Controller driver
pulse

direction

B ： Don't concatenated resistance, with the internal resistance of the

drive
function implementation. The wiring method as diagram below.

Single
pulse
input Servo drive
controller
such as PLC

Position
commend

Direction
co m m e n d

21
Chapter 2 Servo drive and motor wiring

2.6.4 driver speed output interface

Servo driver

2.6.5 The digital output interface circuit

Please pay attention to the power polarity when using external power, reversed
polarity will damage the drive. Digital output is open collector mode, limit external
voltage maximum as 24V, maximum current is 10mA. In terms of load, when
using relay etc inductive load, a diode need be added to parallel with inductive load,
if the polarity of the diode is reversed, the drive will be damaged.The status of the
output signal can be observed by UN-18.

Servo driver

Maximum
Maximum 25V 25mA

Keep

Output terminal display

Light display ON, go out display OFF

22
 Chapter 3 operation and display

Chapter 3 operation and display

3.1 Keyboard operation
 Servo panel with 6 LED nixie tube display and 4 buttons to display various
status, parameter setting . Key functions as follows:
： number, value increase, or forward.
： number, value decrease, or back.
： return to upper menu or cancel the operation.
： enter the next layer operation menu or input confirmation.

Note: 、 keep press down, repeat operation, the longer the holding time,
the faster the repetition rate.
*** 6 section LED digital tube display all kinds of status and data of the
system, all digital tube or the decimal point of the rightmost digital tube blink, it
means alarm.
*** According to multiple-layer menu to operate, the first layer is main menu,
including 8 kinds operation mode, the second layer is the function menu of all
operation modes. The below diagram shows the main menu operation:
Display status meaning

Status surveillance

parameter

Parameter operation

Internal speed run

Jog operation

Encoder adjustment

23
Chapter 3 operation and display

Open loop run

3.2 Monitoring method

Choose “Un-” in the first layer, press entering monitoring mode; there are 22

display status, the user use 、 to choose the display mode.

Display status Display code Display meaning Example

Current motor
Motor speed
speed is 500 turn

present position low 5

present position high 5

Command pulse low 5

Command pulse high5

Position deviation low

Position deviation high

Motor torque

Motor current

24
 Chapter 3 operation and display

present linear speed

Control mode

pulse frequency

Speed command

Torque command

Rotor absolute position

Empty

Input signal status

Output signal status

Encoder signal status

Running status

Alarm code

Reserve

Display analog AD

value

25
Chapter 3 operation and display

3.3 Parameter setting

Choose “PN-” in the first layer, and press key to enter parameter setting
mode. Use 、 to choose parameter, press key , display the value of
the parameter, use 、 to modify parameter values. press or once,
parameter increase or decrease one, press and keep or , the parameter
can be increase or decrease continuously. When the parameter value is modified,
the rightmost LED digital tube lit up, press to make sure the modified value
effective, the LED digital tube decimal point of the right side go out, the modified
value will be reflected in the control immediately, then press or keep
on modify parameter, after modified press back to the parameter selection
status. If you are not satisfied with the value you are modifying, do not
press
, can press to cancel, restore original parameter value, and back to the
parameter selection status.

26
 Chapter 3 operation and display

3.4 Parameter management

Parameter management mainly deals with the operation between memory and
EEPROM, choose “Sn-” in the first layer, and press entering
parameter management mode. First, choose the operation mode, there are 5 modes,
use 、 to choose. Take “parameter write in” for example, choose
“Sn-Set”, press

27
Chapter 3 operation and display

and keep more than 2 seconds, if the write success, display “DONE”, if fail,
display “ERR”. Press again back to the operation mode selection status.

Sn － SEt parameter write in, it means to write the memory parameter to

the parameter area of EEPROM. When the users changed the parameters, only
the memory parameter values changed, next power supply will be restored to the
original value. If you want to change the parameter values permanently, need to
perform write in operation, write the memory parameter into parameter area of
EEPROM, next power supply will use the modified parameters.

 Sn － rd parameter read, it means read EEPROM data in parameter

area

into the memory. The process will perform automatically when power on, at
the beginning, the memory parameter and the EEPROM parameter is the
28
 Chapter 3 operation and display

same. But when the user modified the parameter, the memory parameter value
changed too. When the user is not satisfied with the modified parameter or the
parameter is messy, perform the parameter read operation, the data in the
ENPROM parameter area will read into the memory again and restore to the
original parameters when power on at the first time.
 Sn － SS backup parameters
 Sn － rS Restore backup area parameters to current memory
 Sn － dEF restore default value, it means to read all the parameter
default value(factory defaults) into the memory, and write in the EEPROM
parameter
area, next power on will use the default parameter. When the user messed the
parameter and can not work properly, use this operation can restore all
parameters to factory default. As different drive mode with different
parameter default values, when using restore default parameters, firstly have
to ensure the motor ID (parameter PN1) is correct.

29
Chapter 3 operation and display

3.5 F1 operation mode (panel test-run function)

Choose “F1-” in the first layer, press entering speed trial operation
mode. Speed trial prompt is “S”, value unit is r/min. Speed command provided
、 use
by keys, can change speed command. The motor operated at the given
speed. Control the speed positive increasing, control the
speed reducing (reverse increasing). When the speed value is positive, the
motor rotated in the forward direction; when the speed value is negative, the
motor rotated in the reverse direction. Note: the speed mode is a continuous
motion, please ensure
the motion axes with enough run distance to avoid impact and limit.

Note: if without outside enable signal, please set PN95 parameter as 1. Or the motor won’t

work.

3.6 F2 run mode(JOG run test function)

Choose “F2-”in the first layer, press entering jog operation mode. JOG run
prompt is “J”, value unit is r/min ， speed command provided by keys.
Enter F2 30
 Chapter 3 operation and display

operation, press key and keep, motor run at jog speed, release the button,
motor stop running, retain zero speed; press and keep, the motor inverted
running at jog speed, release the key, the motor stop running, retain zero speed, jog
speed set by parameter PN22.

Note: if without outside enable signal, please set PN95 parameter as 1. Or the motor won’t work.

3.7 Other
F4 is the photoelectric encoder zero set function, for motor manufactures use. The
user can not use it.
F5 function reserve.

31
Chapter 4 parameter

Chapter 4 parameter
SDD series servo with total 127 parameters can be adjusted, adjust the user parameters
can meet most requirements of the user. The motor mating parameters can not be modified
randomly, or there will be unpredictable results appear. Pn5-Pn16 are position control
parameters, Pn17-42 are speed control parameters, Pn43-Pn50 are current control
parameters, Pn51-Pn59 are I/O control parameters. Pn60-Pn96 are motor mating
parameters.Pn97- Pn127 are internal control parameters and communication control
parameters. Take the default parameters of the 130sm-m0425 motor as an example.
No. Name Value No. Name Value
position feed forward low pass
0 Parameter password 168 7 300
filter cut-off frequency
Position command pulse input
1 Motor ID 15 8 0
form
Position command pulse
2 Software version 1014 9 1
fractional frequency numerator
Position command pulse
3 initial display status 0 10 1
fractional frequency denominator
Position control motor rotation
4 control mode 0 11 0
direction
position
5 800 12 Positioning completion range 20
proportion
gain
position feed
Position out of tolerance
6 forward/Pulse 0 13 800
detection range
speed control mode
filter
Position out of
14 tolerance 0 27 Back to zero accredited range 30
error invalid
Position command Feedback output pulse A/B/Z
15 0 28 0
smoothing filter phase sequence
32 drive ban input Acceleration/ deceleration
16 1 29 200
invalid time constant in speed mode
 Chapter 4 parameter

speed proportion Acceleration/ deceleration

17 400 30 0
gain time constant in position mode

Position command pulse

speed integral time
18 50 31 fractional frequency numerator 2
constant
1
speed detection low Internal control
19 500 32 1
pass filter method selection
20 Rated speed 2500 33 Speed 1 -300
21 Arrive speed 500 34 Speed 2 -200
22 Jog speed 120 35 Speed 3 -100
23 Enable delayed 0 36 Speed 4 0
Back to zero absolute
24 positioning 100 37 Speed 5 100
pulse number
25 reserve 10 38 Speed 6 200
26 Back to zero speed -100 39 Speed 7 300
40 Speed 8 400 54 input port high 3 reverse 0
numerator of
41 1 55 output port reverse 7
the encoder output
pulse
Denominator of the Analog instruction, direction
42 1 56 1
encoder output reversal
pulse
Electric current loop The second position proportion
43 230 57 225
proportion gain gain
Electric current loop
44 integral time 100 58 Reserved 0
constant
45 Internal torque1 50 59 Z signal stretch ratio 0
46 Internal torque 2 -50 60 Reserved
47 Internal torque 3 100 61 current rated torque 40
48 Internal torque 4 -100 62 motor rated speed 2500
49 Torque setting 300 63 Motor maximum speed 3000 33
Chapter 4 parameter

Torque command
50 100 64 motor rated current 40
filter
Input port low 4 system allowed maximum
51 0 65 300
force effective overload capacity
Input port high 3 Current integral separation
52 0 66 800
force effective point
input port low 4
53 0 67 Analog voltage dead zone 30
reverse
Current
68 100 83 Key response time 20
command low pass
filter
Speed
69 200 84 Reserved
integral separation
point
output port
70 2 85 Position error clear method 234
1 function selection
output port
71 0 86 Encoder line number 2500
2 function selection
output
72 1 87 Encoder zero offset 2650
port
3 function selection
Input
73 0 88 Current when encoding disk is zero 60
analog selection
Encoder type
74 0 89 Motor thermal overload 105
selection
Overload
75 117 90 Motor thermal overload torque 130
torque detection
point
Overload point
76 200 91 Motor thermal overload time 900
torque
Maximum overload
77 time of the overload 1000 92 Motor pole pairs 4

34 point
Analog voltage filter
78 100 93 Reserved
factor
 Chapter 4 parameter

Speed amplifier
Torque to reach output signal
79 saturation detection 1500 94 150
ratio
time
80 Blocking speed 20 95 Forced enable 0
Blocking
81 1000
confirmation time
Input pulse filter
82 800 96 Reserved
frequency
Internal position 0 Acceleration and deceleration
97 0 109 1
turns of the internal position
Internal position 0
98 0 110 Input port 0 definition 1
pulse number
Speed at internal
99 position 0 1000 111 Input port 1 definition 2
positioning
Internal position 1
100 0 112 Input port 2 definition 14
turns
Internal position 1
101 0 113 Input port 3 definition 15
pulse number
Speed at internal
102 position 1 1000 114 Input port 4 definition 4
positioning
Internal position 2
103 0 115 Input port 5 definition 3
turns
Internal position 2
104 0 116 Input port 6definition 0
pulse number
Speed at internal
105 position 2 1000 117 RS485 communication address 1
positioning
Internal position 3
106 0 118 RS485 communication rate 5
turns

35
Chapter 4 parameter

Internal position 3 RS485 communication

107 0 119 0
pulse number agreement
Speed at internal
Position/speed integral
108 position 3 100 120 0
saturation fault detection
positioning
Input port is
121 0 122 Analog speed proportional gain 2048
controlled selection
Analog torque
123 2048 126 High speed torque coefficient 190
proportional gain
124 Analog zero point 2048 127 Analog control AD mode 0
Torque mode speed
125 20
limit

4.1 All parameters function and significance detail

list
parameter
No. name function
range
1 password with different level, corresponding to

parameter user parameters, system parameters

0 2 To modify the motor ID(Pn1) , must set this item 0~300

password to 0, user parameter password is 168. Please

consult the manufacture for system parameters.
For supporting motor model. Each motor with a
unique ID number, Set password Pn0 to be 0 firstly,
1 Motor ID then modify this parameter. After the setting is 0~100
completed, the SN-DEF needs to be executed to be
valid. Please operate this parameter with caution.

2 software ID Reserved by the manufacturer

Choose the display status when the drive power on

initial display
3 0: display motor rotation speed; 0~20
status
1: display current position low 5;

36
 Chapter 4 parameter

2: display current position high

5 8: display motor current;
11:display position command pulse frequency;
12:display speed command;
13:display torque command;
14:Display the rotor absolute
position
The drive control mode can be set by this
parameter:
0: position control mode;
1: internal position/speed/torque control
mode 2: internal speed control mode;
3: jog control
mode. 4:zero mode.
5:Open loop operation mode.
6:Automatic gain adjustment mode.
7:Analog speed mode
8:Analog torque mode

4 control mode 9:Position and Analog speed 0~12

mode. 10:Position and Analog
torque model. 11: pulse speed control
mode
12: Analog zero automatic
adjustment (after connecting the
upper computer system,
Setting this parameter can
automatically write the zero point of
the current analog and simplify the
debugging
of the analog.
11 and 12 functions are available in V519 or later,
and the product model suffix with D also has these
two functions.
The internal position/speed/torque is determined
by the I/O port.

Set the proportion gain of the location loop regulator.

position The greater the setting value, the higher the gain, and
37
proportion the greater the stiffness, under the same frequency 1~1000
5
gain command pulse condition, the location hysteresis will
be less. But if the value is too big may cause
oscillation or overshoot.
Chapter 4 parameter

This parameter is a multiplexing parameter (V1020).

In position control mode,it is position feedforward,
and the feedforward gain of the position loop is
increased, and the high-speed response characteristic
of the control system is improved, but it will make
the position loop of the system unstable and prone to
position feed oscillation. unless high response characteristics are
forward/ Pulse required, and the feedforward gain of the position
6 speed control loop is usually 0. 0~100
mode filter In the pulse speed control mode, the function is the
pulse speed control mode filter. Set pulse count filter
level:
PN6=0, corresponding sampling 8 times to average;
PN6=1, corresponding to sampling 7 times to
average, and so on; PN6=7 and above without
filtering;

position feed
forward set position loop feedforward low-pass filter cutoff
7 low-pass filter frequency, the high the cutoff frequency, the better 1~1200
cutoff the position tracking, but easy to vibrate.
frequency

Set the position command pulse input form

0: pulse ＋ sign;
1: CCW pulse/CW pulse;
position CCW is observed from the axial of servo motor,
8 command pulse counter clockwise rotate, it defined as forward 0~2
input form direction.
CW is observed from the servo motor axial,
clockwise rotate, it defined as reverse direction.
2 ： A/B orthogonal signal
position
command pulse
9 frequency electronic gear ratio numerator 1~32767
division
numerator

38
 Chapter 4 parameter
position
command pulse
10 electronic gear ratio denominator 1~32767
frequency
denominator

position control
0: normal;
11 motor rotate 0~1
1: direction reversed.
direction
set the positioning finish pulse range under the
position control;
Positioning
12 This parameter provide basis whether drive unit 0~30000
finished range
judgment finished positioning under the position
control mode.

set position tolerance alarm detection range;

Position Under the position control mode, when the count
13 tolerance value in the position deviation counters over this 0~30000
detection range parameter, the servo drive unit will give position
error alarm.

0: position error alarm detection valid;

position error
14 1: position error alarm detection invalid, stop 0~1
invalid
detecting location error.

smooth filtering command pulse, with exponential

form acceleration and deceleration, numerical value
position
means time constant; 0ms~2000
15 command
The filter will not lose input pulse, but there will be 0×0.1ms
smoothing filter
command delay phenomenon;
When set to 0, the filter doesn’t work.

drive ban input 0: CCW 、 CW input ban valid;

16 0~1
invalid 1: cancel CCW 、 CW input ban.
Set the speed loop regulator proportion gain. 1.The
speed proportion greater the setting value, the higher the gain, and the
17 5Hz ~2000Hz
gain greater stiffness. 2.The greater the load inertia, the
greater the setting value.
39
Chapter 4 parameter
Set speed loop regulator integral time constant;
1.The smaller the set value, the faster integral speed
speed integral and the greater stiffness. 2.The greater load inertia,
18 1ms ~1000ms
time the greater of set value. At the frequent start-stop
constant small power occasion, the set value is small to
prevent overshoot.

set speed test low pass filter characteristic;

1.The smaller value, the low cutoff frequency, the
smaller of the motor noise. If the load inertia is
speed detection large, could reduce the setting value. If the value is
19 1%~500%
low pass filter too small may cause to low response and vibration.
2.The larger the value, the higher the cutoff
frequency, the speed response faster. If high speed
response needed, could increase the setting value.

20 rated speed rated speed of the motor 0~ 6000

21 reach speed Set the speed value when input signal reach effective 0~3000
-3000 ~3000
22 jog speed Set jog speed.
r/min
23 Enable delay 0-1000ms
Orientation
Precise position when external triggering orientation
24 absolute control 0-65535
positioning Actual operation position is set value *2
pulse
count
25 reserve reserve
The speed when external triggering orientation
Orientation 0~3000
26 control, by setting plus or minus speed to decide
speed r/min
rotation direction when positioning.
Orientation Identified range when external triggering orientation
27 0-10000
complete range control
Feedback output Drive motor output pulse A/B/Z phase sequence
28 pulse A/B/Z during initial power-up 0-7
phase sequence 0: Normal; 1: Phase A is inverted; 2: Phase B is
inverted; 3: A/B is reversed when it is the same;
40 4:
 Chapter 4 parameter
Phase Z is inverted; 5: A/Z is reversed
simultaneously; 6: B/Z is also Inverse; 7: A/B/Z
is also reversed
Set value means the motor acceleration/ deceleration
Acceleration/
time from 0r/min~1000r/min. Acceleration and
deceleration 0ms~32767m
29 deceleration are linear.
time constant in s
Only used for speed control mode, it is invalid for
speed mode
position control mode;

It means that when the motor is accelerating and

decelerating from 0~1000r/min, the acceleration and
Acceleration/ deceleration characteristics are linear. When set to 0,
deceleration position acceleration and deceleration have no 0ms~32767m
30 time constant in effect.When set to other values, it can effectively s
position mode
reduce the impact of position loop commutation and
acceleration and deceleration, and the operation is
more stable.It is only used in position mode.
Position
command pulse
31 frequency
Position control the second gear ratio numerator 1 ～ 65536
second
numerator

1. Internal speed and external pulse position

switching
2. Internal torque and external pulse
position switching
3. Internal position and external pulse position
Internal control switching
32 method selection It is only necessary to define the corresponding input 0～3
port as function 19 when switching. If only internal
speed or internal torque or internal position is used,
the corresponding input port is defined as function 19
when there is no need to switch functions.
At the same time, the input port is permanently set

41
Chapter 4 parameter
high or low according to the actual situation.
When working in multiple modes, you need to
observe what control mode is currently in progress.
You can check un-11 to determine the working status
and facilitate debugging.

-6000 ~6000
33 Speed 1
r/min
Internal speed control mode: by external I/O point
-6000 ~6000
34 Speed 2 status to control the speed. For example:
r/min
SC1 SC2 SC3
-6000 ~6000
35 Speed 3 Pn33 ： OFF OFF OFF
r/min
Pn34 ： ON OFF -6000 ~6000
36 Speed 4
OFF Pn35 ： OFF ON r/min
OFF -6000 ~6000
37 Speed 5
Pn36 ： ON ON r/min
OFF -6000 ~6000
38 Speed 6
Pn37 ： OFF OFF ON r/min
Pn38 ： ON OFF -6000 ~6000
39 Speed 7
r/min
ON Pn39 ： OFF
-6000 ~6000
40 Speed 8 ON
r/min
ON
Pn40 ： ON ON
numerator of the ON
Every loop feedback pulse encoder output after
41 encoder output 1~65536
through the gears within the drive unit.
pulse

Denominator of
Every loop feedback pulse encoder output after
42 the encoder 1~65536
through the gears within the drive unit.
output pulse

1.The higher the set value, the greater the gain, the
current loop current tracking error is smaller. But too much gain
43 1 ～ 500
proportion gain will produce vibration or noise, 2.it related with the
servo motor, 3. Independent of load

1.The smaller the set value, the faster the integral

current loop
speed, and the current tracking error is smaller. But
44 integral time 1~10000
42 constant too small integral will produce vibration or noise.2.
It related with servo motor, 3. Independent of load.
 Chapter 4 parameter

4.Try to set larger value under the condition of the

system without vibration.

45 Internal torque 1 Internal torque control mode: the size of the torque is 0%~300%
controlled by the status of the external I/O point.
46 Internal torque 2 For example: -300%~0%
T0
47 Internal torque 3 0%~300%
T1
Pn45 ： OFF OFF
48 Internal torque 4 Pn46 ： ON
-300%~0%

OFF Pn47 ： OFF

ON Pn48 ： ON

ON
49 torque set internal speed, jog speed torque 0~300%
1. Setting the torque command filter characteristics
can restrain the vibration which produced by torque
(the motor give out sharp vibration noise).
torque
2. The smaller of the value, the lower of the cutoff
50 command 1%~500%
frequency, the smaller noise produced by motor. If
filter
the load inertia is very big, can reduce the set value
properly. If the value is too small, may result in slow
response and may cause instability.

The lower four bits of the input signal are forced

ON. Invert the binary, set the value to decimal, for
Input low 4 example: 1 (0001) the lowest bit is forced to be
51 0~15
enforce effective valid, 2 (0010) the second bit is forced to be valid, 4

(0100)
the third bit is forced to be valid ,8 (1000) the
fourth bit is forced to be valid.
Input high 3
52 Input signal high 3 enforce ON 0~7
enforce effective
input low 4 input signal low 4 reverse, used to match the
53 0~15
reverse electrical level of the input signal contact spot
input high 3 input signal high 3 reverse, used to match the
54 0~7 43
reverse electrical level of the input signal contact
spot
output port Output signal reverse, used to match the electrical
55 0~15
Chapter 4 parameter

Analog instruction, direction reversal. Switch

56 Analog instruction,
0~1
direction reversal direction.
The function is same with PN5, which
The second
parameter used as position proportion gain in system,
57 position 1-65536
proportion gain is determined by external I/O, in default situation,
with PN5 as system internal position proportion gain.
58 Reserved Reserved

When using a host computer such as a PLC, if

Z signal stretch the Z signal reception is difficult, this parameter

59 can 0-31
ratio
be used to widen the output Z signal to facilitate
the use of the upper computer. When set to 0, no
stretch function

60 Reserved
Reserved

motor rated set motor rated torque

61 1 ～ 1000
torque

62
motor rated Set motor rated speed. 0 ～ 6000
speed r/min
Motor Set motor maximum speed 0 ～ 6000
63
maximum speed r/min
motor rated Set motor rated current. 1 ～ 500×
64
current Set value is valid. 0.1A
system allowed
maximum
65 Set system allowed maximum overload multiple 0 ～ 300%
overload
capacity
Current error over the set value, the current loop
Current integral
66 from PI change to P, value is the percentage of 0 ～ 800%
separation
rated current
point
Analog voltage dead zone AD value, set this value
Analog voltage
67 reasonable ， with the absence of the input 0 ～ 4096
dead zone
voltage, and solve the motor rotation produced
44
by the zero
 Chapter 4 parameter
voltage wave.

Set current command low pass filter cutoff

current frequency.
68 command low Used to limit the current command frequency band, 1 ～ 1500HZ
pass filter avoid the current shock and vibration, and make the
current response stably.

Speed integral When speed error over the set value, the speed
69
separation point change from PI to P 0 ～ 300

Set output port 1 function:

0: break output function
1: servo alarm output

Output port 2: position reach

70 1function 3: speed reach 0-7
selection 4: servo ready
5: back to zero complete
6: out of torque reach
7: Motor stall signal
output

Output port2
71 function Set Output 2 function: refer to Pn70 0-7
selection

Output port3
72 function Set output 3 function: refer to Pn70 0-7
selection
0: -10V~10V voltage analog input, the positive and
negative voltage determines the direction
Input analog 1: 0V~10V voltage analog input, IO input port
73 0-3
selection function is set to 22, 23, two channels of signal on
and off determine different directions
2: -10V~0V voltage analog input, IO input port

45
Chapter 4 parameter
function is set to 22, 23, two channels of signal on
and off determine different directions
3: 0V~10V voltage analog input, the IO input port
function is set to 22, and the direction is determined
by the on-off of a signal
The above functions are in the analog speed and
analog torque mode
Can be used

Encoder type 0; 15core 2500p normal encoder

74
selection 1; 9core line 2500p encoder 0～ 1

Set the start torque value of the overload protection,

rated percentage.
Overload torque
75 When the present torque over this value, the systerm 0-300%
detect point
internal overload counter work, counter exceeds,
system output overload alarm.

Set overload point torque, This parameter and Pn77

Overload feature make up the overload characteristic of the motor
76 0-300%
point torque together. Set by the motor overload characteristic
parameters. Note Pn76 》 Pn75
Maximum
overload time of 0-3000×10
77 refer to Pn76
the overload ms
point

Analog voltage filter coefficient, the larger the

setting, the more stable the speed;
Set PN78﹤10, and the filtering result is 1/Pn78;
Analog voltage Set PN78﹥10, the filtering result is 1/Pn78²;
78 filter Set PN78=10, and the filtering result is the same as 0-1000
coefficients the original one. (V1020)
The occasions <10 are occasions that require quick
response. Applications greater than 10 are used as
the
input module voltage fluctuation is unstable, but
46 the
 Chapter 4 parameter

motor speed is required to be stable, but there is no

potential for fast response.
In the case of speed regulation.
When the continuous saturation time of the system's
internal speed regulator exceeds this value, a speed
Speed amplifier 0-3000×10
79 saturation alarm is generated. Used to prevent
saturation time ms
mechanical jamming or other reasons caused the
continuous current larger.

When the torque control, the motor is blocked after

80 Blocking speed 0~100
the value is lower than the set value.
Output blocking signal from the time when the lock
Blocking
confirmation is confirmed to the set value
81 0.1ms
time When the stall signal is enabled, the output port
function is set to 7 to be effective.
Input pulse Set input pulse pass frequency, unit 1 means 1KHZ,
82 filtering set at 500, means the system maximum pass 1-10000
frequency frequency is 500KHZ.
83 Key period The key response time 2~200

84 Reserved Reserved

0 ： no enable status, position deviation command

Position
pulse accumulation reset
difference
removal 1 ： no enable status, position deviation command
85 0-500
method/pulse pulse accumulation is not reset, count continuously.
speed V519 version and product model with D version,
instruction filter this parameter function is pulse speed command
filter;
Encoder line
86 Encoder line number 1-65536
number
The encoder
87 The encoder zero division angle with U. 1-65536
zero offset
Encoder current Set current value when the encoder reset, the
88 0-300%
when reset percentage cannot too big to avoid motor

47
Chapter 4 parameter
overheating

Motor thermal
89 overload torque Thermal overload use I*I*T calculate method 10-300%
detect point

Motor thermal
90 Set this parameter bigger than Pn89 10-300%
overload torque
Motor
91 Set thermal overload maximum time 0-1000S
thermal
overload time
Set servo motor pole pairs, different manufacture
motor pole
92 and different model motor may with different pole 1~36
pairs
pairs, cannot change this parameter randomly

Position gain
93 Set the position gain attenuation factor. 1 ～ 100×
attenuation
0.1A
coefficient
Torque reached Simulation control torque reaches the set value,
94 output signal torque reach output signals effectively. The value is 0 ～ 300%
ratio the percentage of rated torque.

0 ： servo enable is controlled by external I/O

95 Force enable 0~1
1 ： automatic servo enable when forced power on,
do not need to connect external signal
96 Reserved reserve

Internal position Set internal position 0 precise position -65535~655

97
0 turn When the internal position control: target position 35
determine by these 2 parameters, position 0=
Pn97*10000+ Pn98
Internal position For example: Pn97=2 Pn98=1000
98 1~65535
0 pulse
Indicates internal position movement
=2*10000+1000=21000unit

Speed at internal
99 position 0 The speed of positioning to internal position 0 0 ～ 3000
positioning r/min

48
 Chapter 4 parameter

Internal position -65535~655

100
1 turn Set internal position 1 precise position 35
Internal position Refer to Pn97 Pn98
101 1~65536
1 pulse

Speed at internal
102 The speed of positioning to internal position 1 0 ～ 3000
position 1
r/min
positioning
Internal position -65535~655
103
2 turn Set internal position 2 precise position 35
Internal position Refer to Pn97 Pn98
104 1~65535
2 pulse
Speed at internal
105 position 2 The speed of positioning to internal position 2 0 ～ 3000
positioning r/min

Internal position -65535~655

106
3 turn Set internal position 3 precise position 35
Internal position Refer to Pn97 Pn98
107 1~65535
3 pulse
Speed at internal
108 The speed of positioning to internal position 3 0 ～ 3000
position 3
r/min
positioning
Acceleration of the Acceleration and deceleration time when internal positioning,
109 0~2000
internal position the greater the value, the faster the acceleration.

Input port 0 Servo enable function, this input port cannot define
110 1
definition other functions
Used to define the function of the input port, for the
convenience of customers
The set value and functions as follows:
Input port 1 0 ： no definition, no
111 0-23
definition
function 1 ： servo enable
2 ： alarm clear

3 ： input pulse prohibited 4 ：

position deviation counter reset 49
Chapter 4 parameter

5 ： speed command input 0

6 ： speed command input

1 7 ： speed command
input 2

8 ： Input point controls motor direction

reversal 9 ： position gain switch

10: position gear ratio numerator switch
11 ： Zero speed clamp
12 ： torque command input 0

13 ： torque command input 1 14 ：

positive drive prohibited 15 ：

reverse drive prohibited 16 ：

internal position command 0 17 ：

internal position command 1 18 ：

internal position running start 19 ：

internal control method option 0

20 ： internal control method option

1 21 ： directional control functions

22: Voltage analog input inversion
23: Voltage analog input forward
Note: V1014 version or above,
internal/analog speed and
pulse position switching; internal/analog torque and pulse
Input port 2
112 position switching; Refer to Pn111
after setting PN4 PN32, only need 0-23
definition
to set the switching input point function to 19
Input port 3
113 Refer to Pn111 0-23
definition
Input port 4
114 Refer to Pn111 0-23
definition
Input port 5 Refer to Pn111
115 0-23
definition
50
 Chapter 4 parameter

Input port 6
116 Refer to Pn111 0-23
definition
Communicate More than one drive communicate, set the station
117 0-127
address number
Communication rate
0 ： 4800

Communicatio
1 ： 9600
118 0-5
n rate 2 ： 19200
3 ： 38400
4 ： 57600
5 ： 115200
Transport protocol, use RTU mode
0 ： 8 O1 （ MODBUS ， RTU ）
Transport 1 ： 8 E1 （ MODBUS ， RTU ）
119 0-2
protocol
2 ： 8 N2
Note: 8 means 8 bits data, E means 1 even
O means 1 odd 1 means 1 end bit
position/speed
0 ： detect integral saturation fault
integral sa 0-1
120
turation fault 1 ： do not detect integral saturation
detect fault
Input port is Set I/O port as controlled object
121 controlled 0 ： controlled by external input terminal CN1 0-1
section
1 ： controlled by RS485 communication
control
Simulation
speed Certain input voltage, the bigger of the set values,
122 0-4096
proportional the higher speed got.

gain
Simulation
torque Certain input voltage, the bigger of the set values,
123 0-4096
proportional the bigger of the torque got.
gain
51
Chapter 4 parameter
Set up to simulate zero voltage, adjust the symmetry
124 Simulation zero of positive and negative direction of speed or 0-4096
torque.

The speed limit Torque control mode to limit the speed

125 0-4000
of torque
mode
High speed
126 torque Ascension of coefficient of high speed torque 0-500
coefficient
Analog control AD conversion mode:
0: When the voltage is higher than the dead zone,
start to accelerate and deceleration from0.

Analog AD 1: When the voltage is higher than the dead zone,

127 the speed starts to jump to the speed 0-2

conversion corresponding to the dead zone voltage start
method acceleration and deceleration.
2: When the voltage is lower than the dead zone,
add position control and lock the current position.

4.2 parameter adjust diagram model

52
 Chapter 4 parameter

4.3 Description of Servo key parameters

As the default motor mating parameters has been optimized, therefore, the
parameters (except electronic gear) do not need to adjust in most applications and
can be used directly. But the actual mechanic is complex. If abnormity appear or
needs high response when adjusting, then need to adjust the parameters to meet
requirement. The adjustment principle is first current loop, second speed loop, last
position loop.
The current loops do not need to adjust except for individual situation. The too fast
speed response results in current shock and AL11 alarm. It can adjust PN64 to
solve.
Speed loop: If high speed response needed, can increase PN17 or decrease PN18.
However, the PN17 setting too large will cause vibrate. In the occasion of too big
load inertia, if the load motor park unstably when decelerating and wag from side
to side, need to increase PN18 to solve.
Position loop: If high location response needed, can increase PN5. Some occasions
can increase PN6 to meet requirement. But PN5 PN6 is too large will cause
vibrate. The setting precondition is to adjust PN5 prior, only in the short distance
and high response occasion can use PN6.
electronic gear ratio: 1 ） if calculate from rotate speed angle, the below formula
can be used
f ×( PN9/PN10)=131072
in which f denotes the upper computer pulse, unit is KHZ/circle
If knows the pulse number from the upper computer and make the motor or load
turn a circle, the gear ratio set value can be calculated with the above formula.

53
Chapter 4 parameter

2 ） calculate according to the position accuracy directly

（ lead/pulse equivalent ） ×( PN9/PN10)=10000
For example: screw lead is 5mm, motor and screw lead connected directly, the
motor rotates a circle, the load move 5mm. If the accuracy need 0.001mm, there
are 5000 pulse needed for motor rotating a circle; that is: PN9=10 ， PN10=5
Pulse input form: support pulse with direction and double pulse (positive and
negative pulse), set PN8

4. parameter adjusting steps in actual application

In the process of adjusting or application, if there is vibration, noise or
cannot reach the control accuracy, can adjust system parameters and meet the
control requirement as the following methods.
When the motor is in static locking state, if there is vibration or sharp noise,
please decrease parameter Pn43; set this parameter as large as possible under the
condition without vibration. The larger the parameter, the better the current
tracking effect and the faster the motor response; but too large parameter results in
vibration or noise.
1 : speed control mode parameters adjustment
1 ） [speed proportion gain] （ parameter Pn17 ） set value, as large as
possible under the condition without vibration. Generally, the larger of the load
inertia, the larger of the set value.
2 ） [speed integral time constant （ ] parameter Pn18 ） set value, try to set as
small as possible according to the given condition. If the set value is too small, the
response speed will be increased, but easy to vibration. Try to set the value as small
as possible under the condition of no vibration. If the value is too large, when the
load changed, the speed will change bigger.
2 : position control mode parameter adjustment
1 ） according to the above method to set proper[speed proportion gain] and
[speed integral time constant].

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 Chapter 4 parameter

2) [position feed forward gain] （ parameter Pn6 ） set to 0%.

3)[position proportion gain] （ parameter Pn5 ） set value, set as large as
possible in the stable range. When the parameter is large, the position tracking will
be good and hysteresis error is small, but easy to produce vibration when stop
positioning. When the parameter is small, the system in stable state, but the
position tracking become worse and hysteresis error become larger.
4)If position tracking requirement quite high, can increase Pn6 set value; but
if it is too big, can lead to overshoot.

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Chapter 5 operation and adjustment

Chapter 5 operation and adjustment

1. special attention during debugging:
1) （ large/medium-power model suffix are K8 ） servo drive Connect the
three phase AC 220V power to input terminal. three phase connect L1 、
L2 、 L3, single phase connect L2 、 L1.
2) （ small power model suffix is K7 ） servo drive single phase connect L 、 N.
3) motor power line U ， V ， W ， PE ， the sequence cannot reverse.
4)Drive connection as above. The wrong connection may cause burning,
motor does not run, alarm etc. please check the line connection correct or not.
5.1.1 Power on sequence
1) When the power supply switch on, servo alarm signal output in 1S, after
1.5S signal output ready, after 10MS response to enable signal, less than 10MS
motor excitation lock; waiting for running.

2. Position control mode

1)Connect control circuit power and main circuit power, the display of the
drive lighten. If there is alarm, please check the line connection.
2) Set below parameters:
parameter No. parameter name definition Set value
0: position mode
Pn4 Control mode 0
1:internal position mode
Position 0: Single pulse
Pn8 command pulse 1: double pulse 0
input mode 2: A/B orthogonal pulse

Gear ratio 1
Pn9

numerator
Gear ratio 1
Pn10
denominator
0: external enable
Pn95 Servo enable 1
1: force enable

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 Chapter 5 operation and adjustment

3)Confirm there are no alarm and any abnormal situation, make enable servo
(SON) ON, at this time, the motor motivated, in a state of zero velocity. If enable
signal cannot connect wire, set Pn95 as 1 can make enable motor automatically.
4)Adjust the pulse frequency of the input signal; make the motor running
according to command.

3. speed trial run mode

1)Connect control circuit power and main circuit power, the display of the
drive lighten.If there is alarm, please check the line connection.
2) Set parameter as below:
parameter Set value
parameter No. definition
name
0: position mode
Control
Pn4 1:internal position mode 2
mode
2: trial run
0: external enable
Pn95 Servo enable 1
1: force enable

3)Confirm there are no alarm and any abnormal situation, make enable servo
(SON) ON, at this time, the motor motivated, in a state of zero velocity. If enable
signal cannot connect wire, set Pn95 as 1 can make enable motor automatically.
4)Through key operation enter F1 speed trial operation mode, speed trial
operation prompt “S“, value unit is r/min, system in the speed trial mode, speed
command provided by key, use change speed command, the motor run
based on the setting speed.

4. Jog operation
1)Connect control circuit power and main circuit power, the display of the
drive lighten. If there is alarm, please check the line connection.
2) Set parameter as below:

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Chapter 5 operation and adjustment

parameter No. parameter name definition Set value

0: position mode
Pn4 Control mode
1:internal position mode 3
2: trial run
3: jog run
0: external enable
Pn95 Servo enable 1
1: force enable

3)Confirm there are no alarm and any abnormal situation, make enable servo
(SON) ON, at this time, the motor motivated, in a state of zero velocity. If enable
signal cannot connect wire, set Pn95 as 1 can make enable motor automatically.
4)Through key operation enter F2 speed trial operation mode, JOG run
prompt “J”, value unit is r/min, system in the speed control mode, speed and
direction determined by parameter Pn22, press motor running according to the
speed and direction which determined by Pn22, press motor running opposite
direction according to the given speed.

5. Internal position/speed/torque control mode

1)Connect control circuit power and main circuit power supply, the drive
display light. If there is alarm, please check the line connection.
2) Set parameter as below:
parameter No. parameter name definition Set value

0: position mode
Pn4 Control mode 1
1:internal position mode
0: external enable
Pn95 Servo enable 1
1: force enable

Pn111 IN1 definition Define as position trigger 18

Pn112 IN2 definition Define as orientation start 21

Define internal mode 19

Pn113 IN3 definition
selection 0
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 Chapter 5 operation and adjustment

16
Pn114 IN4 definition Define internal position 0

17
Pn115 IN5 definition Define internal position 1

Define internal mode 20

Pn116 IN6 definition
selection 1
3)Power off, re-up electricity, Confirm there are no alarm and any abnormal
situation, make enable servo (SON) ON, at this time, the motor motivated, in a
state of zero velocity. If enable signal cannot connect wire, set Pn95 as 1 can make
enable motor automatically.
4)By switching the status of IN3 IN6 can switch under the mode position,
speed and torque
Corresponding method as follows:
IN3. IN6 input signal Internal control
status mode
OFF OFF position
ON OFF speed
OFF ON torque

5) By switching the status of IN4 IN5 can realize 4 point positioning movement,
the speed of 4 point positioning movement and accurate position set by Pn97-
Pn109.
IN4 IN5 input signal Internal control
status mode
OFF OFF Position A
ON OFF Position B
OFF ON Position C
ON ON Position D

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Chapter 5 operation and adjustment

5.5.1 Internal position application example

Use internal position control to realize the belowing 4 point movement mode.

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 Chapter 5 operation and adjustment

The framework consists of one of the simplest microcontrollers and this

servo system. The one-chip computer is used to send three control signals to
the servo to trigger the servo's internal position control mode and the precise
positioning of the operation. This example can be omitted high-end computer
such as: PLC motion controller. At the same time, interference during pulse
transmission is eliminated. More accurate servo positioning. In the case of
repeated positioning within four points, it has a very economical cost and
excellent control performance.
Control detailed description: IN3 IN6 signal connect with OV signal, it means
choose internal position control mode. IN0 signal connect with OV signal, it
means choose servo automatic enable after power on. Singlechip control
process: system power on, the singlechip send a low level signal to servo IN2
signal, start servo and orientation back to the origin point A. carry out every
time when starting up, it means wherever the origin position is, will be back to
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Chapter 5 operation and adjustment

the fixed position before work. When servo position back to point A, the
singlechip send two level signal to servo IN4 IN5 so as to control servo move
from point A to point B, C, D and back to point A, complete a circulation.
Every time start and trigger are done by IN2 signal. Rising edge effective.
This system has the characteristics of simple control, accurate
positioning, and strong anti-interference ability. The run speed and precise
position set by Pn97- Pn109. The parameters needed to be set as below:
parameter No. parameter name definition Set value
0: position mode
Pn4 Control mode 1
1:internal position mode
Pn111 IN1 definition Define as position trigger 18
Pn112 IN2 definition Define as orientation start 21
Define internal mode
Pn113 IN3 definition 19
selection 0
Pn114 IN4 definition Define internal position 0 16
Pn115 IN5 definition Define internal position 1 17
Define internal mode
Pn116 IN6 definition 20
selection 1
Pn 97 Internal position 0 turns
Pn 98 Internal position 0 pulse

Pn 99 Internal position speed

Set relevant
of 0 positioning
parameters
Pn 100 Internal position 1 turns
according
Pn 101 Internal position 1 pulse to the actual
Internal position speed ABCD four
Pn 102
of 1positioning coordinates
Pn 103 Internal position 2 turns
Pn 104 Internal position 2 pulse

Pn 105 Internal position speed

of 2 positioning
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 Chapter 5 operation and adjustment

Pn 106 Internal position 3 turns

Pn 107 Internal position 3 pulse

Pn 108 Internal position speed of

3 positioning
Acceleration and
Pn 109 deceleration time
constant of internal
control
5.5.2 internal speed application example

As shown in the figure, according to this example, 8 kinds of internal

speed control and 2 types of internal torque control can be realized. And can be
switched to each other. IN1 IN2 and IN3 are internal speed switch signals.
Internal speed value set by parameters Pn33- Pn40. IN4 IN5 are internal speed
and torque mode switch signals. Internal torque value set by parameters Pn45-
Pn46.
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Chapter 5 operation and adjustment

Servo relevant parameters set as below:

parameter No. parameter name definition Set value
0: position mode
Pn4 Control mode 1
1:internal position mode
0: external enable
Pn95 Servo enable 1
1: force enable
Pn110 IN0 definition Servo enable 1

Pn111 IN1 definition Define as speed 0 5

Pn112 IN2 definition Define as speed 1 6

Pn113 IN3 definition Define as speed 2 7

Define internal 19
Pn114 IN4 definition
selection mode 0
Define internal 20
Pn115 IN5 definition
selection mode 1
Define as moment of 13
Pn116 IN6 definition
force 1

Pn 33 Speed 1

Pn 34 Speed 2

Pn 35 Speed 3 Set relevant

parameters
Pn 36 Speed 4 according to
the actual run
speed and
Pn 37 Speed 5
moment of
force
Pn 38 Speed 6

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 Chapter 5 operation and adjustment

requirements
Pn 39 Speed 7

Pn 40 Speed 8

Pn 45 Internal torque 1

Pn 46 Internal torque 2

6. Servo features application

Servo start orientation function
when input port set as servo start orientation function, only set input signal
as ON, the orientation function will start automatically(except torque control
mode). Rotate direction of orientation is determined by Pn 26. precise position
of orientation is determined by Pn 24 Pn 25. if set single turn orientation, the
precise position is determined by Pn 24; if set multi turns orientation, the
precise position is determined by （ Pn 25*131072 ） + Pn 24. when input
signal OFF, orientation function turnoff.
1. Position gear ratio switch function
When input port set as position gear ratio switch function, and input signal set
as ON, the system use parameters of Pn 31 as present input pulse electronic
gear. When input signal set as OFF, the system use the parameters of Pn9 as
present input pulse electronic gear. This function mainly used to the
occasions that dynamic electronic gear ratio needed.
2. Position gain switch function
When input port set as position gain switch function and input signal set as
ON, the system use the parameters of Pn57 as present position loop control gain.
When input signal set as OFF, the system use parameters of Pn5 as present position
loop control gain. This function mainly used to the occasions that dynamic position
gain needed.
3. Input pulse command filter
In the practice industry application sit, there is much interference, the input
pulse command may caused the servo counting error because of the external
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Chapter 5 operation and adjustment

interference. Therefore, affect the servo repositioning accuracy. Setting this

filter can prevent the interference into the servo system. Improve the ability of
anti-interference of the system.
The relationship of set value and the passable frequency as below:
Pn 82 set value The maximum passable pulse frequency

1000 1MHZ
500 500KHZ
250 250KHZ
100 50KHZ

7. Simulation speed control mode

Input analog voltage signal by the CN6, and set PN4 to be 7,Servo work in
analog speed. We can control the speed of motor by adjust the size of voltage.

8. Simulation torque control mode

Input analog voltage single by the CN6, and set PN4 to be 8.Servo work in
analog torque. We can control the torque of motor by adjust the size of voltage.

9. Position and simulation speed hybrid control mode

Input analog voltage single by CN6, and set PN4 to be 9,pulse command
input from the control port. Servo work in position and analog speed hybrid
control mode. Can be realized the switch between position and analog speed by
I/O port control. Typical applications such as machine main axis.

10. Position and simulation torque hybrid control mode

Input analog voltage single by CN6, and set PN4 to be 10,pulse commend input
from the control port.Servo work in position and analog torque hybrid control
mode. Can be realized the switch between position and analog torque by I/O port
control. Typical applications such as: Injection molding machine, screw machine.

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 Chapter 6 RS485 communication

Chapter 6 RS485 communication

1. RS485 communication hardware interface
1. This servo drive added RS485 communication function; it can drive servo
system, change parameters, monitoring servo system status etc. So as to adapt to
specific application.

2. External connection diagram

External thumbnails
HMI/PLC controller

6.1.3 Several external connection diagrams:

NO.N NO.4 NO.3 NO.2 NO.1

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Chapter 6 RS485 communication

2. Communication protocol
This servo system uses a standard asynchronous serial master-slave MODBUS
communication protocol. Only one device host in the network can establish a protocol.
Other device slaves can respond to the host's commands only by providing data or perform
corresponding actions according to the host's commands. The host computer refers to a
personal computer, an industrial control device or a PLC, etc. The slave refers to the servo
system.
When the transmitting equipment(host) send communication command to the receiving
equipment(device), the device which conform to corresponding address code receive the
communication command and read message according to function code and relevant
requirements. If CRC verify is correct, carry out the corresponding tasks and send the
execution result (data) to the host. The returned information include address code, function
code, execution data and CRC verify code. If CRC verify error, there will be no return
information.
Communication form structure use RTU mode
1. Communication code and data description
Function
definition operation （ binary system ）
code
03 Read register data Read one or several register data
06 Write one way register Write the binary system data in single register
Write multichannel
10 Write the binary system data in multi- register
register

6.2.2 Function code“03”: read multiplex register input

For example: host read address is 01, initial address is 3 device register data of 0116.
Bdevice （ PDM ） data register address and data is:
Register address Register data （ hexadecimal ） Corresponding PDM electricity
0116 1784 UA
0117 1780 UB
0118 178A UC
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 Chapter 6 RS485 communication

Message format sent by host:

Host send bytes number Sent message remark
Send to the device which the
bdevice address 1 01
address is 01
Function code 1 03 Read register
Initial address 2 0116 Initial address is 0116
Data length 3 0003 Read 3 registers （ total 6
bytes ）
CRC code 2 E5F3 Get CRC code from the host
Bdevice （ PDM ） response the returned message
format Returned
Bdevice response bytes number remark
message
Bdevice address 1 01 From bdevice 01
Function code 1 03 Read register
Read data 1 06 3 registers total 6 bytes
Register data 1 2 1784 Address is 0116 memory content
Register data 2 2 1780 Address is 0117 memory content
Register data 3 2 178A Address is 0118 memory content
CRC code 2 5847 Get CRC code from the bdevice
6.2.3 function code“06” ： write one way register
For example: The host wants to save the data 07D0 to the slave register with address 002C
(the slave address code is 01). After the communication data is saved, the PDM table with
the address 002C with the original stored information as below.
address Original stored data （ hexadecimal ）
002C 04B0
Message format sent by host:
bytes
Host send Sent message For example
number
Bdevice
1 01 Send to the bdevice which address is01
address

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Chapter 6 RS485 communication
Function code 1 06 Write one way register
Initial address 2 002C Register address need to write in
Write in data 2 07D0 Corresponding new data
CRC code 2 4BAF CRC code get from the host
bdevice(PDM) response to the returned message format:
Message format and data are exactly the same with those sent from host.

6.2.4 Function code“10”: write multi-channel register

The host using this function code to save multiple data into data memory of the PDM sheet
Modbus communication protocol register is 16 bit( 2 bytes), and MSB first. Such PDM
memory is 2 bytes. As the Modbus communication protocol allows to save maximum 60
registers each time, therefore, PDM is allowed to save maximum 60 data registers each
time.
for example: the host want to save 0064, 0010 into bdevice memory with address 002C,
002D （ bdevice address code 01 ） . After the communication data is saved, the PDM table
with the address 002C/002D with the original stored information as below.
address Original stored data （ hexadecimal ）
002C 04B0
002D 1388
Message format send by host:
Host send Bytes Send example
number message
Bdevice address 1 01 send to bdevice 01
Function code 1 10 write multi-channel register
Initial address 2 002C The register initial address needed to write in
Saved data bytes length 2 0002 Save data bytes length （ total 2 bytes ）
Saved data bytes length 1 04 Save data bytes length （ total 4 bytes ）
Save data 1 2 04B0 data address 002C
Save data 2 2 1388 data address 002D
CRC code 2 FC63 CRC code get from the host

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 Chapter 6 RS485 communication

bdevice （ PDM ） respond returned message format:

Bytes Bytes
Bdevice response example
number number
Bdevice address 1 01 Come from bdevice 01
Function code 1 10 write multi-channel register
Initial address 2 002C Initial address is 002C
Saved data bytes length 2 0002 Save 2 bytes length data
CRC code 2 8001 CRC code get from bdevice

6.2.5 error verify code （ CRC verify ）：

Ths host or bdevice can use check code to judge whether the received message is correct or
not. Due to the electroic noise or other interference, the information may wrong during
transmission, error verify code （ CRC ） can verify whether the information of the
host or bdevice is correct in the process of transmission, the wrong data can be given
up （ whether
send or receive ） ,which increased the safety and efficiency of the system. MODBUS
protocol CRC(redundancy cycle code) include 2 bytes, namely 16 bit binary number. CRC
code calculated by transmitting equipment(host), place to the end of send information frame.
The receive information equipment (bdevice) re-calculate the received CRC of the
information, and compare the calculated CRC with the received CRC, if they are not
consistent, then means wrong.
When doing CRC calculation, use only 8 data bits. start bit and stop bit, if there is a parity
bit also including the parity bit, do not participate in the CRC calculation.
● CRC code calculation method is:
1 ． Preset a 16-bit register as hexadecimal FFFF （ that is all 1 ） ; called this register as
CRC register;
2 ． The first 8-bit binary data (ie, the first byte of the communication message
frame) is XORed with the lower 8 bits of the 16-bit CRC register, and the result is placed in
the CRC register.
3 ． Right shift the content of CRC register a bit ( forward the low bit ) use 0 fill the highest
bit, and check the shift bit after the right shift;
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4 ． If the shift bit is 0: repeat the third step(right shift a bit again); if shift bit is 1:
CRC register XORed with polynomial A001 （ 1010 0000 0000 0001 ） ;
5 ． Repeat step 3 and 4, until right shift 8 times, then, all the 8 bits data are
processed entirely;
6 ． Repeat Step 2 to Step 5 to process the next byte of the communication information
frame; 7 ． When calculated all the bytes of the communication frame according to above
steps, exchange the high and low bytes get from 16-bits CRC register;
8 ． At last the result of CRC register content is: CRC code.

3. Communication error and data process:

When PDM table detected other errors except CRC code error, must return the
information to the host, the highest bit of the function code is 1, the function code from
bdevice return to the host is on the basis of the host function code add 128. The following
code indicates that an unexpected error has occurred
PDM received information from the host with CRC error, will be ignored by PDM
table.
PDM returned error code format as below (except CRC code)
Address code: 1 byte
Function code: 1 byte （ the highest bit is 1 ）
Error code: 1 byte
CRC code: 2 bytes
PDM response and return below error code:
81. Illegal function code.
PDM table do not support the received
function code.
82. Illegal data position
Specified data position beyond PDM table
range.
83. Illegal data value
Received the host sending data values exceed
the PDM corresponding data range.

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6.4 SDD series drive debugging software description and usage

This servo debugging software is green software and does not require installation. After
obtaining the software from the manufacturer and storing it on the computer, it can be run
directly. To connect the computer with the servo driver, you must use the manufacturer's
special debug communication cable model (CABLE02). Using other communication lines
can result in damage to the drive or inability to communicate.
1.Double click BGD Servo get in the first interface. As following:

2.Click on the serial port Settings software will automatically identify COM port. Choosing
baud rate accord to the drive settings. If don’t match that will cause communication error.
The default baud rate of software and drive is 9600. The station number is based on the
driver setting. The driver model is selected the other parameters are default.Save the
parameter and then click the “ 链 接 ” button. Now this software and drive can be
normal communication. Offline mode is used to check other information of the software
without connect the drive.

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Chapter 6 RS485 communication

Serial port Settings interface

Parameter Settings interface

3.Click the parameter setting. This interface mainly used for viewing and modifying the
drive parameters. It Can be modified individually or in batches. It’s greatly improve the
efficiency of derive debugging.

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 Chapter 6 RS485 communication

Functional specifications:
Reading: Read the external parameter list file to the current computer software.
Save as: Save the parameter in current software as other files. Providing download.
Upload: Upload the parameter in servo drive to the software in computer.
Download: Download the parameter in software to the servo drive.
Each issued: Download the parameter in software to the servo drive. Single data processing.
Save: Saving the modify parameter in current software to EEPROM in servo drive directly.

Running test interface

4. Running the test icon can make four-way acquisition of the motor speed, position,
command position, torque and current to facilitate the debugging of the driver. For specific
commands, please refer to the commands for use in the debug software. This manual is no
longer discussed.

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6.5 Communication commend example

RTU command: 03 read single or multiple register
06 write single register
10 write multiple registers
6.5.1 application example:
Read multi-channel register （ for example: read PN9 PN10 electronic gear
ratio ）
01 03 00 09 00 02 14 09
Station No. read command No.9 address 2 datas check bit
return
01 03 04 00 01 00 01 6A 33
Return result: 4 bytes, two parameters are 01 01. that is PN9 PN10=1
Write multi-channel register （ for example: write PN9 PN10 electronic gear
ratio ）
01 10 00 09 00 02 04 00 05 00 22 07
04
Station write No. 9 2 datas 4 bytes data 5 and 4 check code
Number command address
return
01 10 00 09 00 02 91 CA
Return result: already wrote in 2 bytes parameters, check the drive, PN9=5 PN10=4
Read single register （ like read current magnitude of the servo output, namely UN-I
address is 148 ）
01 03 00 94 00 01 C5 E6
return ： 01 03 02 00 03 F8 45 indicates the read data is 03 means 0.3A
For example: read present motor position UN-2 UN-3
01 03 00 8D 00 02 54 20
return ： 01 03 01 F5 B1 00 03 D9 D9
F5B1=62897 0003=03
so, present position is 0362897
Read present motor absolute position
01 03 00 9A 00 02 E4 24
return ： 01 03 04 C4 C8 00 03 06
FC
C4C8=50376 actual should X2 ,
therefore, it is 100753

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 Chapter 6 RS485 communication

So, the present absolute position is: 03 100753

If read negative number of turns, the actual pulse number should be: read pulse number
-65536 or read pulse number -
256. Communication control I/O
01 06 00 80 00 01 49 E2 ： use
communication to control motor
enable signal
01 06 00 04 00 02 49 CA ： use communication modify
PN4=2 Note:
①read monitoring menu address, mainly by 485 communication, let the upper computer to
read, transmit the servo status to the upper computer.
②.monitoring address: 140 ～ 160 ， the sequency is the same with original drive, only
insert motor turns after 154, the absolute position do not display the lowest bit(display bit is
not enough).
③.write input port IO48-IO54 address, used to control input point by
communication. Input port address is 128 ～ 134, export port address is 135/136/137.
④.communication port standard use SDE servo software to debug, or use computer serial
debugging. If use a computer to debug, must use the convertor from USB transfer RS485
can then proceed.
6.5.2 servo system communicate address list
Communicate items Communicate address
Read/write status
Servo parameters 0-00FFH Can read and write
input port status 0080H-0086H Can write only
output port status 0087H-0089H Can read only
monitoring menu content 008CH-00A1H Can read only
note:
1 ） if communication control input port status needed , should set PN121 to 1, otherwise, it
is invalid.
2 ） Only 16 bits of information are displayed in the absolute position 009BH of the
motor, and *2 is required to read out the correct position information.

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Chapter 7 Alarm and disposal

Chapter 7 Alarm and processing

If the servo with failure in use, the display will show: Al—xx, if there are
various alarms, different alarm message will display by turns. For fault
diagnosis, please operate according to the content of this chapter, get rid of the
corresponding fault and can be put into use again.
7.1 Alarm l i s t
alarm code alarm name alarm reason
AL-0 normal
AL-1 overspeed servo motor speed exceeds the set value
AL-2 main circuit overvoltage main circuit voltage too high
AL-3 main circuit undervoltage main circuit voltage too low
motor with deviation over parameter
AL-4 Position out of tolerance
Pn13 setting value
AL-6 speed amplifier saturation speed amplifier saturated a long time
AL-9 encoder abnormal encoder with break line or short circuit
AL-11 excess current 1 IPM module output current is too large
AL-12 excess current 2 DSP detection current is too large
servo output torque over the allowed
AL-13 excess load
value
AL-14 braking abnormal braking circuit abnormal
AL-15 encoder count abnormal encoder AB signal abnormal
AL-16 motor thermal overload Motor overload long time
AL-20 EPROM error servo inside EEPROM read-write abnormal
AL-24 FPGA communication abnormal FPGA communication abnormal
AL-32 encoder UVW invalid Encoder sign error
AL-45 ADC error ADC error
servo power sign
AL-46 servo power sign abnormal
abnormal

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 Chapter 7 Alarm and disposal

7.2 Alarm processing method

alarm alarm
reason
code name disposal method
input command pulse frequency Set input command
is too high pulse
correct
AL-1 overspeed input electronic gear ratio is set Pn9 Pn10 parameter
too large correct
encoder zero point error ask the factory to reset the
encoder zero
motor U 、 V 、 W lead
confirm the wiring sequence
connect wrong

input L1 L2 L3 power
voltage higher than reduce power voltage
AC260V
main
circuit
AL-2 overvolta brake circuit capacity is not 1.prolong control system
ge enough acceleration
(Usually occur in the occasion that
and deceleration time
2.contact manufacturer to
frequently and rapidly start and stop
and the load inertia is large)
increase braking resistance
capacity
input L1 L2 L3 power find out the external reason
main voltage of low voltage
circuit less than AC170V
AL-3 undervolt
age servo protection action replace a new servo drive

1.confirm UVW wire phase

sequence correct or not
operation, the motor does not 2.confirm if the input pulse
turn any angle, immediately frequency is too high
alarm 3.pulse electronics gear setting
position
AL-4 error it too large, set parameter Pn9
Pn10 correctly
alarm when rotating （ input confirm input
pulse abnormal ） pulse frequency and width
alarm when rotating （ error
set parameter Pn13 larger
detection range is too small ） 79
Chapter 7 Alarm and disposal
alarm when rotating increase position gain Pn5
（ position proportion gain is set value
too small ）
alarm when rotating （ lack
higher power servo motor
of torque ）
motor mechanically locked check the load mechanical
part
speed
AL-6 amplifier 1. decrease load,
saturation the load is too large 2.change a higher power
drive and motor

encoder wiring wrong or line check or change encoder

break wire
encoder caused by interference set Pn58 to 1
AL-9
failure the encoder cable is too long,
lead to the encoder power shorten the cable
voltage a little low
grounding defective grounding correctly
motor insulation damaged replace a new motor
motor winding with short replace a new motor
circuit
servo motor parameters doCorrectly set motor
not match ID number Pn1
Over-curr increase the upper computer
AL-11 ent 1 deceleration time is too short acceleration
and deceleration time
1.decrease parameter Pn43
current surge Pn5 value
2.increase parameter Pn64
value
input pulse is increase pulse smoothing
not well-distributed parameter Pn15 value
servo protection action replace a new servo drive
motor insulation damaged replace a new motor
Over-curr
AL-12 ent 2 grounding defective grounding correctly
servo protection action Replace a new servo drive

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 Chapter 7 Alarm and disposal
1.mechanically locked or
excess servo output torque over the resistance is large,
AL-13 2.motor type is not good,
load allowed value
change to higher power
drive and motor
servo protection action Increase the
external braking unit
1.increase
brake circuit capacity is not acceleration/deceleration
braking
AL-14 enough time constant
abnormal
2.replace a larger power servo
and motor
check the AC input power
main circuit power is too high
supply
check or replace the motor
encoder Encoder wiring error
AL-15 count encoder wire
abnormal grounding defective grounding correctly
servo motor defective replace servo motor
motor
AL-16 thermal motor over load long time replace servo drive
overload
AL-20 EEPROM servo inside
abnormal EEPROM read-write abnormal replace servo drive
FPGA
AL-24 FPGA communication error replace servo drive
error
encoder
AL-32 UVW Encoder cable or
replace servo drive
abnorma encoder damage
l
AL-45 ADC ADC error replace servo drive
error
servo
power servo power
AL-46 replace servo drive
sign sign
abnormal abnormal

Special explanation: if the servo drive alarm, but after power on again, the alarm
will disappear. Generally, it is considered that the servo drive outside parts with
problem or the parameter adjusted improperly; please check the servo peripheral
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Chapter 7 Alarm and disposal

parts. For example: power voltage, controller, mechanical load, motor etc. if the
peripheral parts without problem, please consult the manufacture about parameter
adjustment.
If the alarm cannot clear after power on, please replace the servo drive and
observe.

3. FAQ or exception handling in use

1 、 No-load operation motor vibrate strongly or scream, load with noise or position
error.

Handling method: confirm the servo drive PN 1 parameter whether match with the
connected motor, set correct parameter based on table 7.2, then restore to factory
value.

For example: the current motor is 60ST-M01330MEL 1 ）

check table appendix A, and get the motor ID=1

2 ） operate drive, set PN0 to 0

3 set PN1 to motor ID number, that is PN1=1

4operate drive and enter SN-DEF interface, press the ENTER key on the
display panel for 2 seconds, when display DONE, indicates success.

5 turn off and power on again, done.

2 、 The motor run positional accuracy and the required accuracy deviation is
very large but regular

Handling method: Set position pulse electronic gear ratio correctly.

This servo system default 10000 pulses rotate a circle. If the upper computer
requires 3000 pulses for motor to rotate a circle, need to set gear ratio to meet
requirement.

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 Chapter 7 Alarm and disposal

It can be calculated by below format:

3000 * （ PN9 /

PN10 ） =10000 Get PN9=10

PN10=3

3 、 drive input, output signal

level reversed
1 ） Set parameter PN53 PN54 PN55 to set input/output suitable high level or low
level so as to adapt to different input/output level requirement of the controller.
4 、 upper computer pulse but motor not running
Make sure PN4=0, check UN-12 monitoring value, if there is digital shows that
means the drive received pulse, it indicates the control signal connection without
problem. Please refer to method 1 to clear fault. If display F 0.0 it indicates
the drive do not received pulse. Please refer to method 2 to clear fault .UN-12
display unit is KHZ , like display F150, it indicates the present drive received
pulse frequency is 150KHZ.
Method1:
Set below two parameters: PN95=1 PN4=3 in F2 model performs JOG function. If
the motor can rotate, it indicates the motor, the motor power line, encoder wire
connected correct, there is no problem.
Check CN1 signal if with INH signal or CLE signal with ON or not. It can be found
by check UN-16.
If the motor can not run, please do following inspection
1 ） Check the drive with enable motor or not, and turn the motor shaft by hand. If
it can not be rotated, indicates the motor enable locked. If it can be rotated,
indicates there is no enable, please check if CN1 input enable signal correct
connected or not. If the enable signal do not need to control by the upper
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Chapter 7 Alarm and disposal

computer. CN1 input enable signal not connected, can set PN95=1, drive motor
automatically enable locked.
2 Check if the power cable which between drive and motor connected correctly or

not, and the socket loose or not. Drive output terminal U V W PE and motor U
V W PE whether corresponding. Power cable U V W PE must be
connected correctly, can not change the sequence randomly.
3 Please contact the factory technical personnel.

Method 2:
4Check the pulse amplitude input to drive, the standard is 5V. If the pulse amplitude
is 12V, must series 1K resistance; if the pulse amplitude is 24K, must series 2K
resistance. The drive input circuit will be burned if not series resistance according
to the requirements. Lead to the servo can not receive pulse.

5 Confirm the pulse connection mode is correct, the connection mode: differential

connection mode and single end connection mode. Specific see below chart

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 Chapter 7 Alarm and disposal

Typic application: numerical control system, motion

Controller Driver
pulse
pulse
directio
directio

Typic application: PLC, SCM controller

Controller Driver

pulse

direction

Controller Driver
pulse

direction

5 、 The motor can only turn to one direction

1 Confirm the input pulse type to drive, pulse and direction setting PN8=0;

Double pulse setting PN8=1; A/B orthogonal pulse setting PN8=1 ， and confirm
the drive model is SDxxx-D 。
2 Observe UN-12 display state, upper computer send forward signal should display

F xx. Reversal signal should display F –xx. If the upper computer send forward
signal or reversal signal both display F xx or F –xx. Please check the direction
signal SIGN from upper computer to drive.
3 Please contact the factory technical personnel.

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Chapter 7 Alarm and disposal

6 、 high speed stop or from top to down does negative work, the drive
display
AL － 3
1 modify the upper computer deceleration time
2 reduce motor speed
3 small power drive access external braking resistance
4 medium high power drive please contact the factory technical personnel.
7 、 there is no display when power on
1 ） Confirm power connecting wire and input
power 2 ） Please contact the factory technical
personnel.
8 、 Power on drive display “ 。。。。。。。。” or
“888888” 1 ） the input power lack phase, check each phase
power line
2 ） servo drive damaged by short circuit, and lead to servo drive damaged.
The motor damage can be judged by rotate motor shaft under the no-load
situation, rotate a circle, if the shaft is not smooth, can be concluded that the motor
is damaged.
9 、 Motor position is not accurate
5 Irregular, check motor connection mechanical part
6 Regular, monitor and analyse UN-02 UN-03 UN-04 UN-05 can get results
7Screening interference, the signal wire use shield wire and grounding, add

magnetic coiling. Motor cable change to shield wire. Electronic control system
wiring again, make the strong and weak electricity line separately. Install filter etc.
The effect of the servo monitoring menu in analysis and adjustment processes.
8 UN-01 motor speed observe the motor actual speed
9UN-02 UN-03 The current position of the motor: used to observe the current
position of the motor. It is represented by the number of pulses. For example, if the
control takes a fixed trajectory, the displayed value should be the same when each
 Chapter 7 Alarm and disposal

repeat operation is performed. Indicates accurate positioning each time.

3 UN-04 UN-05 Pulse command count, used to monitor whether the pulse from the
host computer is accurate. For example, if the control traverses a fixed trajectory,
the displayed value should be the same when it comes to the same position each
time it repeats its operation, indicating that the pulse sent by the host computer is
accurate.
4 UN-08 motor present torque, used to observe motor actual operate situation. If this
value over 90 for a long time, means the current motor type is small.
5 ） UN-12 input pulse frequency, used to observe pulse frequency from upper
computer and stability state
6 UN-17 input signal state, used to judge whether the input signal is normal
7 UN-18 output signal state, used to judge whether the output signal is normal
8UN-23 input model voltage AD value ， used to indicate the level of the input
voltage ， it’s 2048 with no input.

Input terminal display

Light display ON, go out display OFF

Keep

Output terminal display

Light display ON, go out display OFF
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 Appendix A

Appendix A: SDD series drive and servo motor matching parameter list
SDD series servo and SM motor matching and PN1 parameter （ motor
ID ） setting
Bergerda MAL NAL series motor ID (driver PN1
Torque Speed Power parameter)
Motor Model
N.m rpm KW SDD50NK10
SDD04NK7 SDD08NK8 SDD13NK9 SDD20NK9
SDD50NK11

40ST-M00330 0.32 3000 0.1 38 (39)

60ST-M00630 0.6 3000 0.2 0 (40)
60ST-M0130 1.3 3000 0.4 1 (41)
80ST-M0230 2.4 3000 0.75 2 (42)
80ST-M0425 4.0 2500 1.0 3 (43)
60ST-M0230 1.9 3000 0.6 4
80ST-M0130 1.3 3000 0.4 5
80ST-M0320 3.5 2000 0.73 6
90ST-M0230 2.4 3000 0.75 7
90ST-M0320 3.5 2000 0.7 8
90ST-M0425 4.0 2500 1.0 9
110ST-M0230 2.0 3000 0.6 10
110ST-M0430 4.0 3000 1.2 11
110ST-M0530 5.0 3000 1.5 12
110ST-M0620 6.0 2000 1.2 13
110ST-M0630 6.0 3000 1.8 14
130ST-M0425 4.0 2500 1.0 15 (50)
130ST-M0525 5.0 2500 1.3 16 (51)
130ST-M0625 6.0 2500 1.5 17 (52)
130ST-M0825 7.7 2500 2.0 18 (53)
130ST-M0830 7.7 3000 2.3 19
130ST-M1015 10.0 1500 1.5 20 (54)
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 Appendix A

130ST-M1025 10.0 2500 2.5 21 (55)

130ST-M1515 15.0 1500 2.3 22 (56)
130ST-M1525 15.0 2500 3.8 23 （ 57 ）
150ST-M1525 12.0 2500 3.8 24
150ST-M1520 15.0 2000 3.0 25
150ST-M1820 18.0 2000 3.6 26
150ST-M2320 23.0 2000 4.7 27
150ST-M2720 27.0 2000 5.4 28
180ST-M1715 17.2 1500 2.7 29
180ST-M1915 19.0 1500 3.0 30
180ST-M2220 21.5 2000 4.5 31
180ST-M2710 27.0 1000 2.7 32
180ST-M2715 27.0 1500 4.3 33
180ST-M3510 35.0 1000 3.5 34

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Appendix A

Appendix A2: SDD Series Driver and Motor Parameter Matching Table (380V Series)

SDD series servo and SM motor matching and setting of PN1 parameter (motor

ID) Bergerda MAH NAH series motor ID (driver

Torque Speed Power PN1
Motor Model
N.m rpm KW parameter)

SDD30HK10 SDD55HK11

130ST-M0625 6.0 2500 1.5 110 110

130ST-M0825 7.7 2500 2.0 111 111

130ST-M1025 10.0 2500 2.5 112 112

130ST-M1525 15.0 2500 3.8 113 113

180ST-M1715 17.2 1500 2.7 60

180ST-M1915 19.0 1500 3.0 61

180ST-M2220 21.5 2000 4.5 62

180ST-M2710 27.0 1000 2.7 63

180ST-M2715 27.0 1500 4.3 64

180ST-M3510 35.0 1000 3.5 65

180ST-M3515 35.0 1500 5.5

180ST-M4815 48.0 1500 7.5

Note: When the SDD series driver is equipped with the line-saving type motor, it is necessary to set
PN74

to 1, and re-commission the zero position, and write it into the PN87 parameter before it can

operate normally. The zero position of the company's MDL line-saving servo motor is 1253.

In order to achieve the best control effect, the driver and motor must be matched to use (Pn1

motor ID matched with corresponding model number). Otherwise, it may vibrate, scream, position

error etc

Matching method:

1 change Pn0 to 0.

2 Set Pn1 to the needed motor ID value

3 enter SN-DEF menu, press “Enter” key for 2 seconds till display DONE

4 ） power off, power on again can work normally.

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 Appendix B: product after-sales service explanation

According to the correct using method to use, this product will have a long
service life. If the using method is improper or the environmental severity exceeds
the allowed range, this product will be failure. The standard warranty period for
this product is 12 months. Due to improper use or failure after more than 12
months will be charged for maintenance. Please note the following items about
repair service
1 Product labels are important documents for the maintenance, please do not tear,
damage. Otherwise no warranty repair.
2 Warranty period of 12 months is from the date of purchase, if the purchase
vouchers can’t be offered within the warranty period, the warranty period
will be within 13 months since the factory date on the label.
3 Maintenance service needed, please contact the agency or distributors.
4 Please pack well after the maintenance service so as to prevent damage again.

The following circumstances are out of warranty service.

*Because of improper use, like wrong power-line connection, non-professional
dismounting, rebuild, water seepage, oil in etc damage caused by human factors.
* The damage caused by natural disasters, such as lightning, earthquake etc

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