DORNA EPS B2 (single M1) Servo User Manual

User Manual:

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AC SERVO SYSTEMS

EPS-B2 SERIES

USER MANUAL

DORNA

http://en.dorna.com.cn

(V1.05)

 
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Contents 
HOW TO READ THE PARAMETERS? ............................................................................................. 6 
SAFETY NOTICE .................................................................................................................................. 7 
CHAPTER 1 PRODUCT INTRODUCTION .................................................................................... 11 



 ................................................................................................................  



 .............................................................................................  
1.2.1 Description of nameplate ...................................................................................................... 12 
1.2.2
 Model identifications
 ........................................................................................................... 13 
 .................................................................................  
 .................................................................................................  
   ................................................................................  
CHAPTER 2 INSTALLATIONS
 ............................................................................................................ 17 



 ................................................................................................  
    ..............................................  
 ......................................................  
2.3.1 Installation of EMI filter ....................................................................................................... 19 
2.3.2 Connection of AC/DC reactor for suppression of higher harmonic ...................................... 19 
 .....................................................................................  
CHAPTER 3 WIRINGS ...................................................................................................................... 21 
..................................................................................................  
3.1.1 Servo system structure ........................................................................................................... 21 
3.1.2 Servo drive connectors & terminals ...................................................................................... 22 
3.1.3 Main circuit wirings .............................................................................................................. 22 
 .......................................................................  
3.2.1 Configurations & definitions of quick plug terminals ........................................................... 24 
3.2.2 Configurations and definitions of aviation plug terminals .................................................... 24 
 ................................................................................  
 ...................................................................................................  
3.4.1 Pin arrangement of CN2 connector ...................................................................................... 25 
3.4.2 CN2 signal descriptions ........................................................................................................ 27 
3.4.3 Allocation of I/O signals ....................................................................................................... 29 
3.4.4 Examples of connection with upper controllers .................................................................... 36 
 ..................................................  
3.5.1 Pin arrangement of CN3 connector ...................................................................................... 40 
3.5.2 Examples of CN3 connections ............................................................................................... 41 
 ......................................................................................................  
3.6.1 Position control ..................................................................................................................... 42 
3.6.2 Speed/torque control ............................................................................................................. 43 
CHAPTER 4 PANEL OPERATIONS ................................................................................................. 44 
 ..........................................................................................................................  

 
 
 .....................................................................................  
 ...................................................................................................................  
□□ .......................................................................................  
4.4.1 Contents of monitoring display mode .................................................................................... 46 
4.4.2 Example of operations at monitoring display mode (dP 00) ................................................. 46 
□□□ ..................................................................................................  
4.5.1 Remarks at parameter mode ................................................................................................. 47 
4.5.2 Example of operations at parameter mode (PA100) ............................................................. 48 
□□ .......................................................................................  
4.6.1 Contents of auxiliary function mode ..................................................................................... 49 
4.6.2 Example of operations at auxiliary function mode (AF 05) .................................................. 49 
CHAPTER 5 MONITORING DISPLAY PARAMETERS ............................................................... 50 
 .................................................................................  
 ..............................................................................................  
5.2.1 Operations of entering dP 12 ................................................................................................ 52 
5.2.2 Explanations of dP 12 LED displays ..................................................................................... 52 
5.2.3 Examples of dP 12 LED displays .......................................................................................... 53 
 ...........................................................................................  
5.3.1 Operations of entering dP 13 ................................................................................................ 54 
5.3.2 Explanations of dP 13 LED displays ..................................................................................... 54 
5.3.3 Examples of dP 13 LED displays .......................................................................................... 55 
 .................................................................................  
 ..................................................................................................  
CHAPTER 6 AUXILIARY FUNCTIONS .......................................................................................... 56 
 ..................................................................................  
............................................................................................  
 .....................................................................................................  
 ..........................................................................................................................  
 .....................................................................................................................  
 .....................................................................................  
 ............................................................................................  
 ................................................  
 ........................................................  
 ...................................................  
 ..............................................................  
 .................................................  
 ..................................................................................  
 ..........................................................................  
CHAPTER 7 JOG RUN ....................................................................................................................... 70 
 ..................................................................................................  
 ...................................................................................................  
 ....................................................................  

 
 
3.1 Wiring & status check of input signal circuit ........................................................................ 70 
3.2 JOG run in position control mode ......................................................................................... 71 
3.3 JOG run in speed control mode............................................................................................. 72 
 .................................................................................  
.................................................................................................  
CHAPTER 8 SERVO OPERATIONS ................................................................................................ 74 
 ........................................................................................................  
 ...........................................................................................................  
2.1 S-ON settings ......................................................................................................................... 75 
2.2 Switch of motor rotational directions .................................................................................... 76 
2.3 Overtravel (OT) settings........................................................................................................ 77 
2.4 Holding brake settings .......................................................................................................... 79 
2.5 Selection of servo stop patterns at servo OFF ...................................................................... 83 
2.6 Instantaneous power off settings ........................................................................................... 84 
2.7 Analog voltage output ........................................................................................................... 85 
 .........................................................................................................  
3.1 Absolute encoder selection .................................................................................................... 86 
3.2 Using battery for absolute encoder ....................................................................................... 86 
3.3 Battery replacement .............................................................................................................. 87 
3.4 Setting up absolute encoders (AF 11) .................................................................................... 87 
 ...................................................................................................  
4.1 Parameter settings ................................................................................................................ 88 
4.2 Electronic gear ...................................................................................................................... 89 
4.3 Position instructions .............................................................................................................. 90 
4.4 Smoothness ............................................................................................................................ 91 
4.5 Positioning completed signal (COIN) ................................................................................... 92 
4.6 Positioning near signal (NEAR) ............................................................................................ 93 
4.7 Pulse input inhibited (INHIBIT) ............................................................................................ 93 
 ........................................................................................................  
5.1 Parameter settings ................................................................................................................ 94 
5.2 Input signals .......................................................................................................................... 94 
5.3 Instruction offset adjustment ................................................................................................. 96 
5.4 Soft start ................................................................................................................................ 97 
5.5 Speed instruction filter time constant .................................................................................... 97 
5.6 Zero-speed clamp function .................................................................................................... 98 
5.7 Encoder signal output ........................................................................................................... 99 
5.8 Speed instruction reached (VCMP) ..................................................................................... 101 
 ...................................................................................................  
6.1 Parameter settings .............................................................................................................. 102 
6.2 Input signals ........................................................................................................................ 103 
6.3 Instruction offset adjustment ............................................................................................... 104 
6.4 Speed limit in torque control mode ...................................................................................... 105 
 ..........................................................................................................  
7.1 Parameter settings .............................................................................................................. 107 

 
 
8.7.2 Input signals ........................................................................................................................ 107 
 .....................................................................................................  
8.8.1 Parameter settings .............................................................................................................. 109 
8.8.2 Input signals ........................................................................................................................ 111 
8.8.3 Output signals ..................................................................................................................... 114 
 .....................................................................................................................  
 .........................................................................  
8.10.1 Parameter settings ............................................................................................................ 121 
8.10.2 Input signal ....................................................................................................................... 121 
CHAPTER 9 FAULT DIAGNOSIS .................................................................................................. 122 
 ......................................................................................................................................  
 ..................................................................................................................................  
CHAPTER 10 COMMUNICATIONS .............................................................................................. 127 
 ...................................................................................................  
.................................................................................................  
.....................................................................................................  
10.3.1 Encoding definitions .......................................................................................................... 128 
10.3.2 Byte structure .................................................................................................................... 129 
10.3.3 Communication data structure .......................................................................................... 130 
10.3.4 Communication troubleshooting ....................................................................................... 137 
 .......................................................................................................  
CHAPTER 11 PRODUCT SPECIFICATIONS ............................................................................... 140 
 ...................................................................................................  
11.1.1 Basic specifications ........................................................................................................... 140 
11.1.2 Position/speed/torque control specifications ..................................................................... 141 
11.1.3 Servo drive dimensions ...................................................................................................... 142 
 .........................................................................  
CHAPTER 12 APPENDIX ................................................................................................................ 146 
 ................................................................................  
 ..............................................................................  
 ................................................................................................................  
 
   



How to read the parameters?

 High place/Low place explanation















 Parameter 1/2/3/4 explanations

Parameter

PA200

Function

Position control switch

Range

d.0000～d.1232

Unit

－

Default

0000

Effective

Restart

Remarks

Writing

PA200.0 or d.×

Meaning

Place 0 of PA200

PA200.1 or d.×Place 1 of PA200

PA200.2 or d.× Place 2 of PA200

PA200.3 or d.× Place 3 of PA200

3 2 1 0

Setting range of each digit is 0~1

Setting range of each digit is 0~9

Setting range of each digit is 0~F

3 2 01

3 2 1 0



Safety Notice

            





DANGER

 Input power

           



 When installed to a machine, the servo motor shall be able to do emergency

stop at any moment.

Otherwise, there may be personnel injuries and mechanical failure.

 When the power is on, the power supply terminals must be properly housed.

Otherwise, there may be electric shocks.

 After power off or voltage withstand test, when the charge indication light

(CHARGE) is on, do not touch the power supply terminals.

Otherwise, there may be electric shocks caused by residual voltage.

 Please do trial run (JOG) following the procedures and instructions of this

user manual.

Otherwise, there may be personnel injuries and mechanical failure.

 Do not make any alterations to this product. Only qualified/designated

persons can configure, dismantle or repair this product.

Otherwise, there may be personnel injuries, mechanical failure or fire.

 Please install stop mechanisms on the machine side to ensure safety.

The holding brake of the servo motor is not a device designed to ensure safety.

Otherwise, there may be injuries.

 Please ensure to connect the earth terminal of servo drive with the earth

electrode (the earth resistance of servo drive for power input is below 100Ω).



ATTENTION: STORING & TRANSPORTING

 The product shall not be stored or used in below environment:

(Otherwise, there may be fire, electric shocks or machinery breakdown.)

 

 

 



 

 



 

 

 Please do not transport the product by grasping the cables, motor shafts or

encoders.





ATTENTION: INSTALLATIONS

 Please do not block the air inlet and outlet, and prevent alien matters entering

the product.

Otherwise, the inner components may be aged and cause failure or fire.

 Please install at correct directions.

Otherwise, there may be failure.

 During installation, please ensure there is enough space between the servo

drive and internal surface of control cabinet and other electrical parts.

Otherwise, there may be fire or machine breakdown.

 Please do not impose too big impacts.



ATTENTION: WIRING

 Please connect wires correctly and reliably.

Otherwise, there may be out-of-control of motor, personnel injuries or machine

fault.

 Please DO NOT connect commercial power supply to the UVW terminals of

the servo drive.

Otherwise, there may be personnel injuries or fire.

 Please connect the UVW terminals with the servo motor firmly.

Otherwise, there may be a fire.

 Please do not house the main circuit cables, input-output signal cables and

encoder cables with the same bushing, or tie them together. During wiring,

the main circuit cables shall be at least 30cm from the input-output signal

cable.

 Cables for input-output signal and encoder shall be twin strands or multiple-

core twinning bulk shielding strands.

 Maximum length of input-output signal cable: 3m;

Maximum length of encoder cable: 30m.

 Even when the power is turned off, there may still be residual high voltage

inside the servo drive, so when the charge indication light (CHARGE) is on,

do not touch the power terminals.

Please connect or check wirings after the charge indication light (CHARGE) is

off.

 Pleaseinstall circuit breakers to prevent external short-circuit.

Otherwise, there may be a fire.

 When used in the following places, please take appropriate measures for

shielding:

 

 

 

Otherwise, there may be machinery breakdown.

 When connecting to batteries, pay attention to the polarity.







ATTENTION: OPERATIONS

 In order to prevent accidents, please conduct trial run (JOG) before

connecting to mechanical parts.

Otherwise, there may be injuries.

 Before running, please set the appropriate parameters.

Otherwise, the machine may be out of control or have failure.

 Please do not turn on/off the power supply frequently.

Because the power section of servo drive has capacitors, when the power is on,

heavy charging current may flow through them. Therefore, if the power is

frequently turned on/off, perseverance of the main circuit components inside the

servo drive may decline.

 During JOG operation (AF 02) and manual load inertia detection (AF 15),

please note that the emergency stop will become ineffective at over-travel.

Otherwise, there may be machinery breakdown.

 When the servo motor is used on the vertical axis, please set a safety device,

in case workpiece drops when there is alarm or over-travel. Besides, please

set up zero-position fixation when there is over-travel.

Otherwise, the workpiece may drop when there is over-travel.

 Extreme or alternative parameter settings may cause the servo system to be

instable.

Otherwise, there may be personnel injuries and machinery breakdown.

 When there are alarms, please reset the alarm after finding out the causes

and ensure operation safety, and then start operation again.

Otherwise, there may be machinery breakdown, fire or personnel injuries.

 The holding brake (optional) of the servo motor is designed for maintaining

positions, NOT for servo motor braking at decelerations.

Otherwise, there may be machine fault.

 The servo motor and servo drive shall be used in combinations as specified.





ATTENTION: MAINTENANCE

 Please do not change the wiring when the power is on.

Otherwise, there may be electric shocks or personnel injuries.

 When replacing the servo drive, please copy parameters to the new servo

drive, and then start operation again.



ATTENTION: OTHERS

 







 



 





 







Chapter 1 Product Introduction

1.1

Product inspections

Please check the items listed in the table below carefully, in case there is

negligence

during the purchase and transport of the product.

Items to inspect

Reference

Whether the product received is the

right one

you intend to buy?

Check the product model on the motor and driver

nameplate respectively. Please refer to the notes to

model in following sections.

Whether the motor shaft runs smoothly?

Rotate the rotor shaft of the motor. If it can rotate

smoothly, the rotor shaft is normal.

Note

that the motor with electro-magnetic brake

(holding brake) can

ot be rotated with hands!

Check whether there are any appearance

damages?

Check visually whether there are any appearance

damages.

Whether there are loosened screws?

Check whether the mounting screws of servo

drive is loosened with a screw driver.

Please contact your vendor if anything above occurs.

A complete set of servo components shall include the following:

No.

Reference

Servo drive and its matching servo motor.

Motor power line: supplies power from servo drive to servo motor.

Motor encoder line: transmits signals from motor encoder to servo drive.

RJ45 plug for CN1: RS485 communication (optional)

50-PIN plug for CN2 (3M simulation product) (optional)

20-PIN plug for CN3 (A, B type case only) (3M simulation product) (optional)

5-PIN plug for servo drive (A, B type case only) input power supply: L1. L2.

L3. L1C. L2C

5-PIN plug for external braking resistor and DC reactor (A, B type case only) :

(P, D, C, -1, -2)

Two metal pieces for short-circuiting (except E type case)

One copy of user manual



1.2

Product model identifications

1.2.1 Description of nameplate

 Description of the nameplates of EPS-B2 series servo drives

AC SERVO DRIVE

MODEL：EPS-B2-0D75AA-0000

Servo drive model

22G0D 7500157000004

Input voltage

Manufacturing codeRated output current

INPUT

VOLTS 200~230V

PHASE 1 or 3 PH

HZ 50/60Hz

OUTPUT

DORNA TECHNOLOGY CO. LTD MADE IN CHINA

VOLTS 0~210V

PHASE 3 PH

AMPS 4.0A



1.2.2

Model identifications





 Description of the models of EPS-B2 servo drive



 Description of the models of DORNA servo motors



1.3 Servo drive and motor matching table



Voltage

Class

Rated

power

Servo drive

Servo motor

Model

PA012

Value

Case

Type

Flange

(mm)

Model

Rated

speed

Rated

torque

220V

0.05KW

EPS-B2-

0D10AA

40DNMA2-

0D05D

3000rpm

0.16

N·M

0.1KW

EPS-B2-

0D10AA

40DNMA2-

0D10D

3000rpm

0.32

N·M

0.2KW

EPS-B2-

0D20AA

60DNMA2-

0D20D

3000rpm

0.64

N·M

0.4KW

EPS-B2-

0D40AA

60DNMA2-

0D40D

3000rpm

1.27

N·M

0.75KW

EPS-B2-

0D75AA

80DNMA2-

0D75D

3000rpm

2.37

N·M

1KW

EPS-B2-

0001AA

80DNMA2-

0001D

3000rpm

3.2

N·M

1KW

EPS-B2-

0001AA

130

130DNMA2-

0001C

2000rpm

5 N·M

1.2KW

EPS-B2-

01D5AA

110

110DNMA2-

01D2D

3000rpm

4 N·M

1.2KW

EPS-B2-

01D5AA

130

130DNMA2-

01D2C

2000rpm

6 N·M

1.5KW

EPS-B2-

01D5AA

130

130DNMA2-

01D5C

2000rpm

7.2

N·M

1.5KW

EPS-B2-

02D2AA

130

130DNMA2-

01D5C

2000rpm

7.2

N·M

1.8KW

EPS-B2-

01D5AA

110

110DNMA2-

01D8D

3000rpm

6 N·M

2.2KW

EPS-B2-

02D2AA

130

130DNMA2-

02D2C

2000rpm

10.5

N·M

3KW

EPS-B2-

0003AA

130

130DNMA2-

0003C

2000rpm

14.33

N·M

380V

2.2KW

EPS-B2-

02D2BA

130

130DNMB2-

02D2C

2000rpm

10.5

N·M

3KW

EPS-B2-

0003BA

130

130DNMB2-

0003C

2000rpm

14.33

N·M

3KW

EPS-B2-

0003BA

180

180DNMB2-

0003B

1500rpm

19.1

N·M



1.4 Maintenance and inspections



            



Type

Period

Items







 

 

 

 

 

 

        



 







 

 

 

1.5 Name of each part of the servo driver

 RS485 port

 Display area

 Power indication light

 Main circuit input power terminals

 PD: internal regenerative resistor

 PC: external regenerative resistor

 DC reactor terminals

 UVW: motor power supply terminals

 Grounding

 I/O terminals

 Motor encoder terminals

 Control circuit input power terminals



Chapter 2 Installations

2.1

Installation direction and space











Correct







>20mm>20mm

>50mm



2.2 Recommended specifications of circuit-breaker and fuse



220V class

Servo drive case type

Circuit-breaker

Fuse (class T)

10A

20A

40A

30A

80A



          



            



2.3 Countering noise interference and higher harmonics







 

 

 



 

             



 

              



 



2.3.1 Installation of EMI filter



Item

Reference



























2.3.2 Connection of AC/DC reactor for suppression of higher

harmonic

            



AC Reactor

DC Reactor

Servo drive

AC Reactor

Power

Servo drive

DC reactor



2.4 Selection of regenerative resistors

            





           





Servo drive

case type

Internal regenerative resistor specs

Minimum allowable

resistance value (Ohm)

Resistance (Ohm)

Capacity (Watt)























          



Item

Reference



















℃ 













Chapter 3 Wirings

3.1 System structure and wiring

3.1.1 Servo system structure

L1 C

L2 C

WORNI NG

CAUTION

CHARGE

Circuit-breaker

EMI filter

Electromagnetic

contactor

Input power

External

regenerative

resistor

RS485 cable

Computer

Control line: I/O signals

Upper controller

Encoder line

Power line

Battery box (for absolute encoders)

EPS-B1 servo drive



3.1.2 Servo drive connectors & terminals

Markings

Descriptions

Reference

L1, L2, L3









L1C, L2C







 

P, D, C





 



 



1, 2



    

U, V, W













CN1





CN2





CN3





3.1.3 Main circuit wirings

1) Cable diameter requirement

Mark

Name

Cable diameter: mm2 (AWG)

EPS-B1-

0D20A

0D40A

0D75A

0001A

01D5A

L1, L2, L3









L1C, L2C







U, V, W









P, D, C











2) Typical main circuit wiring example

 

 



 



 1PH 220VAC:

EMI Filter

Motor

Encoder

CN2

ALM

COM-

1 Ry +24V

L1C

L2C

1 MC

OFF ON

1 Ry

1 Ry PL

Peak voltage suppressor

1PH 200~230VAC

(50/60 Hz)

+10%

-15%

R T

1 MC

 3PH 220VAC/380VAC:

EMI Filter

Motor

Encoder

CN2

ALM

COM-

1 Ry +24V

L1C

L2C

1 MC

OFF ON

1 Ry

1 Ry PL

Peak voltage suppressor

1PH 200~230VAC

(50/60 Hz)

+10%

-15%

R T

1 MC



3.2 Wirings between servo drive & servo motor

3.2.1 Configurations & definitions of quick plug terminals

Encoder line Power line

CODE

DESCRIPTION

Motor power（4P）

CABLE CODE

DESCRIPTION

+5V

/PA

6 /PB

/PZ

DESCRIPTION

+5V

PD+

PD-

BAT+

BAT-

Communicational

DESCRIPTION

SIN+

SIN-

COS+

COS-

REF+

REF-

ResolverLine saving

3.2.2 Configurations and definitions of aviation plug terminals

CODE

DESCRIPTION

Motor power（4P）

CABLE CODE

DESCRIPTION

+5V

6 PZ

/PA

/PB

/PZ

Line saving

DESCRIPTION

+5V

PD+

BAT+

PD-

BAT-

Communicational

DESCRIPTION

COS-

SIN-

SIN+

REF+

COS+

REF-

Resolver



3.3 Wirings of CN1 (RS485 communication)

1) Terminal appearance

2) Signal definitions

Mark

Name

Function























































3.4 Wirings of CN2 (I/O signals)

3.4.1 Pin arrangement of CN2 connector

115

16 30













－



















+24V

24V Output





－

































－





















































































－



















24V-GND

24V Output

MON















1) 

2)             



3) 



4) 





 



3.4.2 CN2 signal descriptions

 Name and function of input signals (with default pin allocations)

Mode

Signal

Pin No.

Function













































































































 Name and function of output signals (with default pin allocations)

Mode

Signal

No.

Function























































±8V.





3.4.3 Allocation of I/O signals

1) Allocation of input signals

 

Description

Range

Unit

Default

Effective

PA500

DI 1 input signal selection

































































    











PA501









PA502









PA503









PA504









PA505









PA506









PA507









 

Parameter No.

Terminal name

CN2 pin

Default signal



















































 

Description

Range

Unit

Default

Effective

PA508

Level selection of input signal 0

b.0001: DI 1 input signal level selection;





b.0010: DI 2 input signal level selection;





b.0100: DI 3 input signal level selection;





b. 1000: DI 4 input signal level selection;













PA509

Level selection of input signal 1

b.0001: DI 5 input signal level selection;





b.0010: DI 6 input signal level selection;





b.0100: DI 7 input signal level selection;





b. 1000: DI 8 input signal level selection;















 











Servo drive

3.3K Ω

+24VIN

/S-ONetc.

DC24 V

Above 50 mA

Servo drive

3.3K Ω

+24VIN

/S-ON etc.

DC24 V

Above 50 mA

PC PC





            



 





 









2) Allocation of output signals

 



Description

Range

Unit

Default

Effective

PA510

Output signal selection

h.0001: DO 1 output signal selection

























 

































h.0010: DO 2 output signal selection



h.0100：DO 3 output signal selection



h.1000：DO 4 output signal selection







h.





PA511

Output signal level selection (negation)

b.0001: DO 1 (ALM) output signal level

selection







b.0010: DO 2 output signal level selection







b.0100: DO 3 output signal level selection







b.1000: DO 4 output signal level selection













 

Parameter No.

Terminal name

CN2 pin

Default signal



































 







Servo drive

DC5V~ 24V

Relay

Maximum allowable voltage: DC 30V

Opticalcoupler

S-RDY-

S-RDY+

Maximum allowable current: DC 50mA





 

 

 

  







3.4.4 Examples of connection with upper controllers

1) Input signal connections

 

150

SIGN

/ SIGN

PULS

2CN-37

2CN-39

2CN-41

2CN-43

150

Servo drive

Optocoupler

/ PULS

Line driver

Upper controller

Both ends grounding

 

HSIGN

/HSIGN

HPULS

2CN-40

2CN-42

2CN-36

2CN-38

Servo drive

Long line receiver

/HPULS

Line driver

Upper controller

Both ends grounding

390 









 

/ SIGN

2CN-37

2CN-41

2CN-35

Servo Drive

/ PULS

Upper Controller

Vcc i

 

150

SIGN

/ SIGN

PULS

1CN-37

1CN-39

2CN-41

2CN-43

150

Servo drive

Optocoupler

/ PULS

Upper controller

Vcc

Both ends grounding











 



 





 



V-REF or

T-REF

2CN-20/29

2CN- 18/19

Servo drive

Upper controller

Above 1.8K (1/2W)

Both ends grounding

AGND

12V Above 10K

 

            





Servo drive

3.3KΩ

+24VIN

/S-ON etc.

24VDC

Above 50mA

Servo drive

3.3KΩ

+24VIN

/S-ON etc.

Relay Open collector transistor

24VDC

Above 50mA



2) Output signal connections

 

ALM, S-RDY and other sequence of output signals are consisted of optocoupler.

Please connect with relays.

Servo drive

DC 5V～24V

Relay

Maximum DC voltage: 30VDC

Maximum DC current: 50mA

  

            



Servo drive Controller

Compatible line receiver:

SN75175 or equivalent

220

～

470

 

               









3.5 Wirings of CN3 (feedback from encoder to servo drive)

3.5.1 Pin arrangement of CN3 connector

1) Quick plug

CABLE CODE

DESCRIPTION

+5V

/PA

6 /PB

/PZ

DESCRIPTION

+5V

PD+

PD-

BAT+

BAT-

Communicational

DESCRIPTION

SIN+

SIN-

COS+

COS-

REF+

REF-

ResolverLine saving

20P CODE

DESCRIPTION

/PA

/PB

/PZ

6 /PZ

+5V

CN3 plug

10 0V

SIN+

SIN-

COS-

14 COS+

REF+

REF-

PD-

PD+

Housing FG

2) Aviation plug

20P CODE

DESCRIPTION

/PA

/PB

/PZ

6 /PZ

+5V

CN3 plug

10 0V

SIN+

SIN-

COS-

14 COS+

REF+

REF-

PD-

PD+

Housing FG

CABLE CODE

DESCRIPTION

+5V

6 PZ

/PA

/PB

/PZ

Line saving

DESCRIPTION

+5V

PD+

BAT+

PD-

BAT-

Communicational

DESCRIPTION

COS-

SIN-

SIN+

REF+

COS+

REF-

Resolver



3.5.2 Examples of CN3 connections

 

Line-saving

incremental encoder

Servo driveClient

PA+

PA-

PB+

PB-

PZ+

PZ-

PG5V

GND

PAO+

PAO-

PG5V

PG0V

Shielding cable

PMulti-strand shielding cable*

A phase pulse

Line driver

AM26LS31 etc.

CN2

CN3

Line receiver

SN75175 etc.

PBO+

PBO-

B phase pulse

PZO+

PZO-

Z phase pulse

 

17-bit serial encoder

Servo driveClient

PD+

PD-

PG5V

GND

PAO+

PAO-

PG5V

PG0V

Shield cable

PMulti-strand shield

cable

A phase pulse

Line driver

AM26LS31 etc.

CN2

CN3

Line receiver

SN75175 etc.

PBO+

PBO-

B phase pulse

PZO+

PZO-

Z phase pulse

BAT+

BAT-

BAT+, BAT- are used for absolute

encoders only.



3.6 Standard wiring diagrams

3.6.1 Position control

150

PZO

/PZO

CN2

S-ON

+24VIN

SIGN

PULS

SIGN+

SIGN-

PULS+

PULS-

PMulti-strand cables

Low speed

pulse inputs

Servo ON

Housing

Connect shield cable with housing

Optocoupler output

Maximum voltage: 30VDC

Maximum current: 50mA

C-MOD

Alarm reset

POT

Position deviation

clearance

Feedback

signal output

ALM+

Z pulse output

150

PBO

/PBO

PAO

/PAO

22 A pulse output

B pulse output

NOT

CLR

Forward prohibited

Reverse prohibited

COM+

External 24VDC should use double

insulation

Servo drive

Handle shield cable ends properly

Power

Brake

Encoder

24V

7，8

9，10

External brake resistor

CN3

PD+

PD-

BAT+

BAT-

L1C

L2C

MCCB

AC220V/380V

50/60HZ

CN1

RS485+ 1，9

RS485- 2，10

GND 3，11

GND 6，14

7，15

8，16

A-RST

INHIBIT

ZEROSPD

CN2

＋24V

ALM-

COIN+

COIN-

CZ+

CZ-

BK+

BK-

Mode switch

Input pulse prohibited

Zero speed clamp

HSIGN

HPULS

HSIGN+

HSIGN-

HPULS+

HPULS-

High speed

pulse inputs

EMGS

PL 35

44 MON

16 SG（GND）Analog output



3.6.2 Speed/torque control

PZO

/PZO

CN2

S-ON

+24VIN

Servo ON

Housing

Connect shield cable with housig

Optocoupler output:

Maximum voltage: 30VDC

Maximum current: 50mA

C-MOD

Alarm reset

POT

Feedback

signal output

ALM+

Z pulse output

PBO

/PBO

PAO

/PAO

22 A pulse output

B pulse output

NOT

Forward prohibited

Reverse prohibited

COM+

External 24VDC shall use double

insulation

Servo drive

Handle shield cable ends

properly

Power

Brake

Encoder

24V

7，8

9，10

External brake resistor

CN3

PD+

PD-

BAT+

BAT-

L1C

L2C

MCCB

AC220V/380V

50/60HZ

CN1

RS485+ 1，9

RS485- 2，10

GND 3，11

GND 6，14

7，15

8，16

A-RST

ZEROSPD

＋24V

ALM-

COIN+

COIN-

CZ+

CZ-

BK+

BK-

Mode switch

Zero speed clamp

EMGS

±10V 2K18

T-REF

AGND

±10V 2K20

V-REF

AGND

LFC A/D

CN2

44 MON

16 SG（GND）Analog output



Chapter 4 Panel operations

4.1 Panel operator





 Hold & press ↑ & ← keys together can clear

servo drive alarms. BUT please find out the cause of alarms first.

SET

MOD

Key

Function description





←



↑







4.2 Switch between different functions

Power ON

Status display

mode

Monitor mode

Parameter

setting

Auxiliary

functions

按键

SET



4.3 Status code display



Bit data Abbreviations



11987

1 5

Bit data

No.

Definition

Description in position control mode

Description in speed,

torque control mode



























 

















































































Abbreviations







    







 







4.4 Monitoring display mode (dP □□)

             



4.4.1 Contents of monitoring display mode



4.4.2 Example of operations at monitoring display mode (dP 00)

Step

Panel display

Keys

Operations



SETMOD

    





SETMOD



 





SETMOD

     





SETMOD











4.5 Parameter mode (PA □□□)

4.5.1 Remarks at parameter mode



             



Panel display

Remarks







       





Panel display

Remarks





        

















4.5.2 Example of operations at parameter mode (PA100)

Steps

Panel display

Keys

Operations



SETMOD







SETMOD







SETMOD





    





SETMOD

      





SETMOD

      





SETMOD







SETMOD

      





SETMOD

      

      

  





     

    





SETMOD









4.6 Auxiliary function mode (AF □□)





4.6.1 Contents of auxiliary function mode



4.6.2 Example of operations at auxiliary function mode (AF 05)

Ste

Panel display

Keys

Operations



SETMOD

      





SETMOD





SETMOD

        





        





SETMOD







      





 





SETMOD

       











Chapter 5 Monitoring display

parameters

5.1 List of monitoring display parameters

No.

Function

Unit

dP 00

Motor speed





dP 01

Motor feedback pulse number (encoder unit, lower 4 digits)







dP 02

Motor feedback pulse number (encoder unit, higher 5 digits)









dP 03

Input pulse number before electronic gear (user unit, lower 4

digits)









dP 04

Input pulse number before electronic gear (user unit, higher 5

digits)









dP 05

Deviation pulse number (encoder unit, lower 4 digits)









dP 06

Deviation pulse number (encoder unit, higher 5 digits)









dP 07

Speed instruction (analog voltage instruction)









dP 08

Internal speed instruction





dP 09

Torque instruction (analog voltage instruction)







dP 10

Internal torque instruction (value in relation to the rated torque)







dP 11

Torque feedback (value in relation to the rated torque)





dP 12

Input signal monitoring





dP 13

Output signal monitoring





dP 14

Instruction pulse frequency





dP 15

DC bus voltage





dP 16

Total operation time of the servo drive





dP 17

Rotation angle





dP 18

Exact position of absolute encoder (single-turn or multi-turn)







dP 19

Number of encoder turns (only for multi-turn absolute encoders)





dP 20

Cumulative load factor (take rated cumulative load as 100%)





dP 21

Regeneration load factor (take rated regeneration load as 100%)





dP 22

DB load factor (take rated DB load as 100%)





dP 23

Load inertial ratio





dP 24

Effective gain monitoring







dP 30

Subsidiary software version (refer to AF 10 for main software version)



dP 34







dP 35







dP 38







dP 39







dP 40

Voltage class (refer to PA000.3 for voltage class setting)



dP 46

IGBT temperature

℃



5.2 Input signal monitoring (dP 12)

5.2.1 Operations of entering dP 12

Steps

Panel display

Keys

Operations



SETMOD

    





SETMOD







SETMOD





SETMOD

      







5.2.2 Explanations of dP 12 LED displays



1248 7 6 5 3 DI number

Upper: corresponding signal

status

Lower: level of corresponding

signal

 

o 

o 

 

o 

o 

DI number

Pin (CN2)

Default signal

















































 





5.2.3 Examples of dP 12 LED displays

 

1248 7 6 5 3

 

1248 7 6 5 3

 

1248 7 6 5 3



5.3 Output signal monitoring (dP 13)

5.3.1 Operations of entering dP 13

Step

Panel display

Keys

Operations



SETMOD

    





SETMOD







SETMOD





SETMOD

      







5.3.2 Explanations of dP 13 LED displays



124 3 DO number

Upper: corresponding signal

status

Lower: level of corresponding

signal

 

o 

o 

 

o 

o 

DO number

Pin (CN2)

Default signal

























             



 



5.3.3 Examples of dP 13 LED displays

 

124 3

 

124 3

 

124 3

5.4 Initial monitoring display at power on

 



           





5.5 Display range of dP 01~dP 06

 



Number is negative.

 







Chapter 6 Auxiliary functions

6.1 List of auxiliary function parameters

No.

Function

Reference

AF 00





AF 01





AF 02





AF 03





AF 04





AF 05





AF 06





AF 07





AF 08





AF 09





AF 10





AF 11





AF 12





AF 15







6.2 Display of error logging (AF 00)



Steps

Panel display

Keys

Operations



SETMOD

    





SETMOD







SETMOD





Alarm sequence Alarm code

SETMOD



    

      



      





SETMOD









 

 

 



6.3 Position assignment (AF 01)







Steps

Panel display

Keys

Operations



SETMOD

    





SETMOD







SETMOD





SETMOD













SETMOD











6.4 JOG run (AF 02)









1) Preparing for JOG run



 

 



 

 

2) JOG run procedures

Steps

Panel display

Keys

Operations



SETMOD

    





SETMOD







SETMOD



This will show if the servo is

running or panel is locked (AF

03).



SETMOD





SETMOD







SETMOD

     





SETMOD









6.5 Panel lock (AF 03)



 

 

 



Steps

Panel display

Keys

Operations



SETMOD

    





SETMOD







SETMOD





SETMOD





SETMOD





SETMOD

    









6.6 Clearance of alarm logging (AF 04)

Steps

Panel display

Keys

Operations



SETMOD

    





SETMOD







SETMOD





SETMOD







    









SETMOD

      









6.7 Parameter initialization (AF 05)

             



Steps

Panel display

Keys

Operations



SETMOD

    





SETMOD







SETMOD



This will show if the servo is

running or panel is locked (AF

03).



SETMOD







    









SETMOD

      













6.8 Analog instruction automatic offset adjustment (AF 06)







Steps

Panel display

Keys

Operations



SETMOD

    





SETMOD







SETMOD





SETMOD















SETMOD











6.9 Speed instruction manual offset adjustment (AF 07)



Steps

Panel display

Keys

Operations



SETMOD

    





SETMOD









SETMOD











SETMOD

    





SETMOD





SETMOD

   







SETMOD

     









6.10 Torque instruction manual offset adjustment (AF 08)





Steps

Panel display

Keys

Operations



SETMOD

    





SETMOD







SETMOD









SETMOD

    





SETMOD





SETMOD

    





SETMOD

      









6.11 Overview of relevant motor parameters (AF 09)







Steps

Panel display

Keys

Operations



SETMOD







SETMOD

      





SETMOD









SETMOD









SETMOD





 

 



 







SETMOD









6.12 Display of main software version of servo drive (AF 10)

Steps

Panel display

Keys

Operations



SETMOD

    





SETMOD







SETMOD









SETMOD









SETMOD











6.13 Setting up absolute encoders (AF 11)



 

 

 



 

 

 

 



Steps

Panel display

Keys

Operations



SETMOD

    





SETMOD

  





SETMOD





SETMOD











SETMOD















6.14 Manual detection of load inertia (AF 15)



Preparations before operation

 

 



 



Steps

Panel display

Keys

Operations



SETMOD

    





SETMOD







SETMOD



This will show if the servo is

running or panel is locked (AF

03).



SETMOD

    





SETMOD







    





SETMOD











Chapter 7 JOG run

7.1 Preparations before JOG run



Item

What to check









          









7.2 JOG run by panel operations



7.3 Stand-alone JOG run with upper controllers



Item

What to check















7.3.1 Wiring & status check of input signal circuit

Steps

Operations

Reference





 

 





























7.3.2 JOG run in position control mode

Steps

Operations

Reference



































































         



        













7.3.3 JOG run in speed control mode

Steps

Operations

Reference























         















        







        





























7.4 JOG run with mechanical connections

            



Steps

Items

Operations

Reference

chapter







         













       









        























        









        

















 

7.5 JOG run with a holding brake

Item

Remarks



             





















Chapter 8 Servo operations

8.1 Control mode selections

Parameter

Control mode

Refere

nce

PA000.1

h.□□0□

Position control (pulse train instruction)











h.□□1□

Speed control (analog voltage instruction)



 

 

       





h.□□2□

Torque control (analog voltage instruction)







h.□□3□

Internal speed control









h.□□4□

Internal speed control  Position control



h.□□5□

Internal speed control  Speed control



h.□□6□

Internal speed control  Torque control



h.□□7□

Position control  Speed control



h.□□8□

Position control  Torque control



h.□□9□

Torque control  Speed control



h.□□A□

Internal position control





h.□□B□

Internal position control Position control



h.□□C□

Reserved

h.□□D□

Fully closed loop control





8.2 Basic function settings

8.2.1 S-ON settings

 

Type

Signal

Status

Level

Remarks

















 



Parameter

Remarks













8.2.2 Switch of motor rotational directions





          





Parameter

Instructions & rotational directions

Overtravel (OT)



h.

 Rotational direction at positive instruction

CCW

Time

Speed Encoder pulse output

PAO

PBO

POT

 Rotational direction at negative instruction

Time

Speed Encoder pulse output

PAO

PBO

NOT

h.

 Rotational direction at positive instruction

Time

Speed Encoder pulse output

PAO

PBO

NOT

 Rotational direction at negative instruction

CCW

Time

Speed Encoder pulse output

PAO

PBO

POT



8.2.3 Overtravel (OT) settings







Attention

Installation of limit switches

Limit switches must be installed in applications such as linear motions. When the



to ensure the motor moves to the safer side.

Use of servo motors in vertical axis

Work piece might fall when overtravel. To prevent this, please set the servo into

zero-speed clamp when overtravel.

(1) Wiring for overtravel

Type

Signal

Setting

Meaning

Input

POT

CN2-34

(default)

ON=L level

Can forward run

OFF=H level

Forward run prohibited (positive overtravel)

Input

NOT

CN2-8

(default)

ON=L level

Can reverse run

OFF=H level

Reverse run prohibited (negative overtravel)

When in overtravel, servo can still move in the opposite direction.

Positive direction

Limit switch

Servo motor Servo drive

POT

NOT

CN1

Limit switch

Important

 There might be position deviation pulse residual at overtravel in position

control. To clear the residual, use CLR signal.

 POT, NOT can be allocated to other Pins.

 To use POT, NOT, please set PA003.0 & PA003.1 to 0.



(2) Selection of servo stop patterns at overtravel

Parameter

During stop

After stop

Meaning

PA001

d.

d.

DB to stop

DB state





d.

d.

Free state





d.

d.

Coast to stop





d.

Decelerate to

stop

Zero-speed

clamp state







d.

Free state







 Please restart the servo drive after modifying this parameter.

 If the servo receives S-ON signal during coast to stop, the servo motor can only

be controlled after the speed has decelerated to 0.

 Definitions:

o DB: dynamic brake (internal short-circuit of servo drive). This feature is

optional.

o Coast to stop: stop using natural frictions.

o Zero-speed clamp: the state when position instruction is 0 and position

deviation is cleared.

(3) Enable overtravel signal

Parameter

Description



















(4) Stop torque setting during overtravel



Emergency Stop Torque

















 

 

 







8.2.4 Holding brake settings







 Vertical axis

Servo motor

Holding brake

Mechanical

moving part

To prevent

movement due to

gravity at power off

 Horizontal axis

To prevent movement due to external

force at power off

Holding brake

Mechanical

moving part

External

force

 



 



 



(1) Example of connection

  



电机

Encoder

L2C

L1C U

2CN

Servo drive

Servo motor

with brake

BK-RY

+24V

BK-RY

AC DC

+24V

BK+

BK-

Switching

power supply

Notes:

1. BK-RY: the relay for brake control

2. The current provided by switching power supply shall be determined by the brake;

different brakes have different working currents. Normally, the DC24V of switching power

supply shall be provide the current >1A;

3. DC24V input of the brake is not restricted by direction







S-RDY

S-ON

Holing brake status

OFF

OFF OFF

Holding

Brake release

Holding

*1 *2

*1. The time from BK signal active to brake release is different for different types of brakes.

*2. PA518 value

(2) BK signal output

Type

Signal name

Setting

Meaning















              

     









(3) Allocation of BK signal





Parameter

Meaning

PA510

h

CN2-4

CN2-5

BK signal output from CN2-4, CN2-5

h

CN2-3

CN2-2

BK signal output from CN2-3, CN2-2

h

CN2-1

CN2-26

BK signal output from CN2-1, CN2-26

Please refer to Chapter 



(4) BK signal hysteresis time after Servo-OFF

              



PA518

BK signal hysteresis time after Servo-OFF

Range

Unit

Default



0~500

100





           



S-ON

Motor status

ON OFF

Power on

Power off

PA518









(5) Setting of BK signal timing during the rotation of servo motor







PA519

BK signal speed limit

Range

Unit

Default



0~1000

rpm

100



PA520

BK signal waiting time at Servo-OFF

Range

Unit

Default



100~1000

1ms

500





BK signal will be OFF (H level, nonconductive) in following situations:

• The motor speed is below PA519 after servo OFF

• The waiting time exceeds PA520 after servo OFF

S-ON

Brake status

OFF

Motor speed PA519

PA520

ON OFF







8.2.5 Selection of servo stop patterns at servo OFF

Parameter

During stop

After stop

Meaning

PA001



DB to stop

DB state







Free state







Coast to stop

Free state







Decelerate to

stop

DB state

Decelerate at rate of PA522, & stay in

DB state when speed is lower than

PA523.



Free state

Decelerate at rate of PA522, & coast to

stop when speed is lower than PA523.

 This parameter is valid in following situations:

o When S-ON signal is OFF;

o When there is an alarm output;

o When main power (L1, L2, L3) is off.

 In the above setting "DB state maintenance after DB stops" of "d.□□□0", if the

servo motor stops or rotates at a very low speed, no brake force will be generated.

 Definitions:

o DB: dynamic brake (internal short-circuit of servo drive). This feature is

optional.

o Coast to stop: stop using natural frictions.









            





8.2.6 Instantaneous power off settings





PA521

Instantaneous power off holding time

Range

Unit

Default



40~800

1ms























Instantaneous

power off

Power off time: t

Main

power

PA521>t

PA521<t

S-ON

Servo OFF

Keep on running

Stop running















8.2.7 Analog voltage output



            



Parameter

Meaning

PA021



Analog output is motor speed feedback. (default)



Analog output is motor torque feedback.



Output voltage is not negated. (default)



Output voltage is negated.

PA023

Analog voltage output gain

Range

Unit

Default





















 =motor speed

PA023























 =torque×1000

PA023













PA024

Analog voltage output zero calibration

Range

Unit

Default













8.3 Using absolute encoders



              



Encoder type

Resolution

Data

output

range

Action when exceed the limit

Absolute encoder

with multi-turn

memory

17-bit

-32768

~+32767













When multi-turn data overflows, E.58 will output. PA007.1 can disable this alarm

Parameter

Meaning

PA007



Multi-turn data overflows will output E.58 (default).



Multi-turn data overflows will not output E.58

8.3.1 Absolute encoder selection

Parameter

Meaning

PA002



Use absolute encoders as incremental encoders. (default)



Use absolute encoders as absolute encoders.

 When use absolute encoders as incremental encoders, no battery is needed.

 After modifying this parameter, restart the servo to take effect.

8.3.2 Using battery for absolute encoder





(1) Battery selection





(2) Battery installation







8.3.3 Battery replacement









  

 Procedures to replace the battery

 

 



               



Important









8.3.4 Setting up absolute encoders (AF 11)





 

 



 

 

 



After AF 11 is done, please restart the servo drive.



8.4 Position control operations

8.4.1 Parameter settings

When using pulses for position control, please pay attention to following parameters.

1) Control mode selection

Parameter

Meaning

PA000



Position control (pulse train)

2) Pulse form selection

Type

Signal

CN2 Pin

Input

Low speed channel

(<500 Kbps)

PULS+

PULS-

SIGN+

SIGN-

High speed channel

(<4 Mbps)

HPULS+

HPULS-

HSIGN+

HSING-

Parameter

Pulse

form

Forward rotation

Reverse rotation

PA200



PULS+

SIGN

PULS

（CN2-7/8）

SIGN

（CN2-11/12）

PULS

（CN2-7/8）

SIGN

（CN2-11/12）



CW+

CCW

PULS

（CN2-7/8）

SIGN

（CN2-11/12）

PULS

（CN2-7/8）

SIGN

（CN2-11/12）

PULS

（CN2-7/8）

SIGN

（CN2-11/12）

PULS

（CN2-7/8）

SIGN

（CN2-11/12）









PULS

（CN2-7/8）

SIGN

（CN2-11/12）

/2

PULS

（CN1-7/8）

SIGN

（CN1-11/12）

/2



3) Position deviation clearance





Parameter

Meaning

PA200



Clear position deviation when S-ON is off, power is off or by CLR signal.



Clear position deviation only by CLR signal.



Clear position deviation only when servo has alarm or by CLR signal.

4) Input pulse channel selection

User can select input pulse channel by PA200.3.

Parameter

Meaning

PA200



PULS+SIGN input: low speed pulse channel









HPULS+HSIGN input: high speed pulse channel





8.4.2 Electronic gear

1) Encoder resolutions

Parameter

Encoder type

Pulses per revolution

Resolution

PA002



Absolute encoder

32768

131072 (17-bit)



Incremental encoder

32768

131072 (17-bit)



Incremental encoder

5000

20000



Resolver

4096

16384 (15-bit)



Incremental encoder

262144

1048576 (20-bit)

Remarks: encoder resolution is 4 times (quadruple frequency) of encoder pulses per revolution.

2) Electronic gear ratio

The function of electronic gear is for setting the work-piece moving distance by 1

pulse instruction (1 instruction unit).

Instruction processing

PA205

PA206

Pulse input Position

instruction



8.4.3 Position instructions

Upper controller's output forms include the following:

 Field-bus output

 +24V open-collector output

 +12V open-collector output

 +5V open-collector output

Open-collector output signals can only connect to servo drive's CN2-43, 41, 39, 37,

and the parameter should be set to low speed pulse channel, i.e. PA200.3=0 (factory

default).

In case of open-collector pulse input, the interference tolerance for input signal will

decrease. In case of deviation due to interference, changes should be made in the

following user parameters.

1) Example of I/O signal time sequence

S-ON

Excited

t1 t2

CN2-11,12

CN2-7,8

SIGN+PULS

t3 40ms



t1 30ms

t2 6ms

ON ON

t4 t5 t6

Encoder

PAO

PBO

COIN

CLR

OFF

T4, t5, t62ms

t71ms

Motor excitation

 The interval between S-ON signal and input pulse instructions should be above

40ms. If this interval is less than 40ms, servo drive may fail to receive the pulse

instructions.

 Please set CLR signal to s.



Pulse

forms

Maximum

frequency

Specifications

SIGN+

PULS







SIGN

PULS

t1 t2

t5 t6

t3 t7

t1,t2 0.1us



t3,t7 0.1us



t4,t5,t6>3us

tt1.0us

Forward Reverse 50%<(t/T) 100%

CW+

CCW







t1 T

t2 t

Forward Reverse

CCW

t1,t2 0.1us



t3 ＞3us

t

1.0us

50%<(t/T) 100%

A phase+

B phase







t1 t2

Forward Reverse

A phase

B phase

t1,t2 0.1us



t1.0us

B phase ahead of A phase by π/2

50%<(t/T)100%

A phase ahead of B phase by π/2

2) Connection examples



8.4.4 Smoothness



PA214

Position instruction acceleration/deceleration time constant 1

Range

Unit

Default



0~1000





PA215

Position instruction acceleration/deceleration time constant 2

Range

Unit

Default



0~1000





PA216

Position instruction average-moving filter

Range

Unit

Default



0~500





If position instruction acceleration/deceleration time constants (PA214, PA215) are

simultaneous pulse input.

In order to truly reflect the set value, please input CLR signal to prohibit pulse

instructions.

Even in the following cases, motor can operate smoothly. Also this setting has no



effect on movement amount (instruction pulse count).

 The upper controller that sends the instructions 

 The frequency of instruction pulse is low

 The electronic gear ratio is relatively high (more than 10 times)

Effects of PA214, PA215, PA216 are shown as below:

Position instruction acceleration/deceleration

time constants (PA214, PA215)

Position instruction average-moving filter

(PA216)

Before

After

100%

PA214/PA215

63.2%

36.8%

Before

After

100%

PA216

Before

After

100%

PA216

8.4.5 Positioning completed signal (COIN)

This signal means that servo motor positioning is completed at position control.

Type

Signal

Level

Name

Output

COIN

CN2-5, 4

(default)

ON= L level

Positioning completed

OFF=H level

Positioning not completed

PA525

COIN signal width

Range

Unit

Default



0~65535





 If the 

 (deviation pulse) is lower than the set value

of this use parameter, then the COIN signal will output; this also depends on the

electronic gear setting.

 If the set value of PA525 is too high and servo is running in low speed, COIN

signal may still output even though positioning is not completed. Please pay

close attention to this.



 Setting of this user parameter does not affect the final positioning precision.

 Please refer to 3.4.3 Allocation of I/O signals.

8.4.6 Positioning near signal (NEAR)

8.4.7 Pulse input inhibited (INHIBIT)

This is a function that stops (inhibits) instruction pulse input counting in case of

position control.

It is in servo locking (clamping) state when this function is used.

Pulse

instruction

INHIBIT

Deviation

counter

Pulse

feedback

OFF

–



Type

Signal

Level

Name

Input

INHIBIT

CN2-31

(default)

ON=L level

INHIBIT is ON

OFF=H level

INHIBIT is OFF

INHIBIT is only valid in position control mode.



8.5 Speed control operations

8.5.1 Parameter settings

Parameter

Meaning

PA000



Control mode selection: speed control

When PA000.1 = 1, 5, 7, 9, speed control is being used.

PA301

Speed instruction gain

Range

Unit

Default

Effective

150~3000

0.01V/ rated speed

600

This parameter is for setting the instruction voltage (V-REF) at motor rated speed.

Rated speed

Default

4 8 12

-4-8-12

Rated speed

Input voltage (V)

The gradient is set

by PA301

Input voltage range: DC±2V ~ ±10V / rated speed

Examples:

 PA301=600 means that with 6V input, the motor will at the rated speed (default) ;

 PA301=1000 means that with 10V input, the motor will at the rated speed.

8.5.2 Input signals

1) Speed instruction input

If speed instruction is sent to the servo drive, servo motor will run at a speed

proportional to input voltage.

Type

Signal

Name

Input

V-REF

CN2-20

Speed instruction input

AGND

CN2-29

GND for speed instruction input

Please use multi-strand twisted wire to prevent interferences.

±10V 2K20

Servo drive

V-REF

CN2

AGND



Programmable controller and so on are used for connection with the instruction

controller's speed instruction output terminal in case of position control by

Upper controller Servo drive

V-REF

CN2

Speed

instruction

input

Feedback

pulse output

PAO

PBO

/PBO

/PAO

multi-strand twisted wire

AGND

PZO

/PZO

2) Proportional action instruction signal (P-CON)

Type

Signal

Level

Name

Input

P-CON

To be

allocate

ON=L level

Operate the servo drive in proportional (P)

mode;

OFF=H level

Operate the servo drive in proportional &

integral (PI) mode

 P-CON signal is a signal in respect of which speed control mode is selected

from PI (proportional and integral) or P (proportional) control.

 If it’s set to P, then control can relieve motor rotation and slight vibration

caused by speed instruction input drifting.

 Input instruction: It can progressively reduce servo motor rotation caused by

drifting at 0V, but servo rigidity (support strength) decreases at stop.

 This signal is temporarily unavailable.



8.5.3 Instruction offset adjustment

When in speed control mode, even with 0V instruction, the motor may still rotate at a

slight speed. This happens when instruction voltage of upper controller or external

circuit has slight (mV unit) deviation (offset). In this case, instruction offset can be

adjusted automatically or manually by using the panel operator. Please use automatic

or manual offset adjust by referring to Chapter 6.8 & 6.9.

Automatic offset adjustment is the function of offset measuring and automatic voltage

adjustment. When the voltage instruction of upper controller and external circuit is

deviated, the servo drive will adjust the offset automatically as follows:

Deviation

Speed

instruction

Instruction

voltage

Internal adjustment

value inside servo drive

Automatic offset

adjustment

Deviation range:

±2046

Instruction

voltage

Speed

instruction

1) Analog instruction automatic offset adjustment (AF 06)

Please refer to Chapter 6.8.

2) Speed instruction manual offset adjustment (AF 07)

Use AF 07 in following situations (Please refer to Chapter 6.9) :

 

 When user wants to set offset to a certain value;

 When the offset value is confirmed by AF 06.

Instruction

voltage

Speed

instruction

Offset

adjustment

range

Offset

adjustment

unit

Offset adjustment range: ±2046

Speed instruction: ±750mV

Offset adjustment unit

Speed instruction: 1= 0.05mV



8.5.4 Soft start

Soft start is the function that phase step speed instruction input is transformed to

instruction with certain acceleration and deceleration curves inside servo drive, thus to

achieve smooth operations.

PA303

Soft start acceleration time

Range

Unit

Default



0~5000

1ms



PA304

Soft start deceleration time

Range

Unit

Default



0~5000

1ms



 PA303: Acceleration time from 0rpm to 1000rpm;

 PA304: Deceleration time from 1000rpm to 0rpm.

After soft start

PA303 PA304

8.5.5 Speed instruction filter time constant

PA302

Speed instruction filter time constant

Range

Unit

Default

Effective

0~1000

0.01ms

Immed

Analog speed instruction (V-REF) is input through 1-time relay filter to smooth

speed instruction. The responsiveness will be reduced if the set value is too large.



8.5.6 Zero-speed clamp function

This is a function used when upper controller is not configured with position loop in

case of speed control.

If zero-speed clamp (ZEROSPD) (PA300.3=0) signal is set to be ON, or input voltage

of speed instruction (V-REF) (PA300.3 = 1) is below PA316 (zero-speed clamp

grade), servo drive is configured with position loop inside, and speed instruction is

ignored and servo motor is stopped in the servo locking state. The servo motor is

clamped to within ± 1 pulse at the position where zero-speed clamp is effective, and it

will return to the zero-speed clamp position even if turned by external force.

Parameter

Meaning

PA300

Speed control switch 1: speed dead zone control

PA300.3=0: use input signal ZEROSPD

PA300.3=1: automatic, use PA316 setting

Servo drive

V-REF

CN2

ZEROSPD

AGND



Speed

Time

Zero-speed clamp

grade

V-REF

ZERPSPD signal input

Zero-speed clamp action ON OFF ON ON

OFF

ON OFF

PA316

Zero-speed clamp grade

Range

Unit

Default



1~2000





This is to set the motor into automatic zero-speed clamp state when speed is lower

than PA316 setting. PA316 should be lower than maximum motor speed.

Type

Signal

Level

Name

Input

ZERPSPD

To be

allocated

ON=L level

Zero-speed clamp function ON

OFF=H level

Zero-speed clamp function OFF

Please refer to 3.4.3 Allocation of I/O signals.



8.5.7 Encoder signal output

Pulse feedbacks from the encoder are processed inside the servo drive before

outputting to the upper controller.

Type

Signal

Name

Output

PAO

CN2-21

Encoder Output A Phase

/PAO

CN2-22

Encoder Output /A Phase

Output

PBO

CN2-25

Encoder Output B Phase

/PBO

CN2-23

Encoder Output /B Phase

Output

PZO

CN2-13

Encoder Output Z Phase (reference point)

/PZO

CN2-24

Encoder Output /Z Phase (reference point)

Frequency

division

Servo drive

A phase（PAO）

B phase（PBO）

Z phase（PZO）

Upper

controller

CN2

CN3

PG Data

Encoder

 Output phase status

Positive rotation

()

Negative rotation

(A B phase)

A phase

B phase

90。

Z phase

A phase

B phase

90。

Z phase

Please  phase pulse

output for mechanical reference point reset action. If this  due to the

structure of the mechanical system, please implement reference point reset action at

speed below 600rpm ().



 Frequency division

This is a transformation process of the encoder pulse feedbacks by changing the

density of pulses. The parameter is PA210.

 Encoder resolution (frequency-division) setting

PA210

Encoder resolution (frequency-division) setting

Range

Unit

Default



16~16384

1Pulse/ rev

16384



The setting range is dependent on the encoder resolution.

Encoder specification

Resolution

Pulse per revolution

Range

Line-saving encoder

20000

5000ppr

16~5000

17-bit

131072

32768ppr

16~16384

 Example: PA210=16

PAO

PBO

PA 210 Value: 16

1 revoluion



8.5.8 Speed instruction reached (VCMP)

When motor rotation speed is same as speed instruction, VCMP will output

Type

Signal

Level

Name

Output

VCMP

To be

allocated

ON=L level

Same speed

OFF=H level

Not same speed

VCMP needs to be allocated by PA510. Please refer to 3.4.3 Allocation of I/O

signals.

PA517

VCMP signal detection width

Range

Unit

Default



0~100





If the difference between motor speed and instruction speed is less than PA517

value, VCMP will output.

Motor speed

PA517

Speed

instruction

VCMP will output in

this range

For example, 





8.6 Torque control operations

8.6.1 Parameter settings



Parameter

Meaning

PA000



Control mode selection: torque control

PA400

Torque instruction gain

Range

Unit

Default











This parameter is for setting the instruction voltage (T-REF) at motor rated torque.

PA400

Instruction

voltage (V)

Torque

instruction

 Examples

PA400=30: Input 3VDC will output rated torque (Default)

PA400=100: Input 10VDC will output rated torque

PA400= 20: Input 2VDC will output rated torque



8.6.2 Input signals

               





Type

Signal

Name

Input

T-REF

CN2-18

Torque instruction input

AGND

CN2-19

GND for torque instruction input

When PA000.1 = 2, 6, 8, 9, torque control is being used.

Input voltage range: DC±2V ~ ±10V / rated torque

Torque

instruction (%)

Default

4 8 12

-4-8-12

Input voltage

(V)

100

200

300

-100

-200

-300

±10V2K9

Servo drive

T-REF

CN2

AGND







8.6.3 Instruction offset adjustment

When in torque control mode, even with 0V instruction, the motor may still output at

a slight torque. This happens when instruction voltage of upper controller or external

circuit has slight (mV unit) deviation (offset). In this case, instruction offset can be

adjusted automatically or manually by using the panel operator. Please use automatic

or manual offset adjust by referring to Chapter 6.8 & 6.10.

Automatic offset adjustment is the function of offset measuring and automatic voltage

adjustment. When the voltage instruction of upper controller and external circuit is

deviated, the servo drive will adjust the offset automatically as follows:

Deviation

Torque

instruction

Instruction

voltage

Internal adjustment

value inside servo drive

Automatic offset

adjustment

Deviation range:

±2046

Instruction

voltage

Torque

instruction

1) Analog instruction automatic offset adjustment (AF 06)

Please refer to Chapter 6.8.

2) Torque instruction manual offset adjustment (AF 08)

Use AF 08 in following situations (Please refer to Chapter 6.10) :

 When user wants to set offset to a certain value;

 When the offset value is confirmed by AF 06.

Instruction

voltage

Torque

instruction

Offset

adjustment

range

Offset

adjustment

unit

Offset adjustment range: ±2046

Torque instruction: ±750mV

Offset adjustment unit

Torque instruction: 1= 0.05mV



8.6.4 Speed limit in torque control mode

When servo motor needs to be output torque following torque instructions, motor's

rotating speed is not controlled. If instruction torque is too large due to the load torque

at mechanical side, motor's rotating speed may increase too much. As a protection

measure at mechanical side, servo motor's rotating speed needs to have limits in

torque control mode.

With no speed limit

With speed limit

Over mechanical speed

limit, may cause damage!

Motor speed

(rpm)

Maximum

speed

Wont be over

mechanical speed limit!

Motor speed

(rpm)

Speed limit

 Speed limit in torque control mode selection

Parameter

Meaning

PA002



Use PA407 as speed limit (internal speed limit)



Use V-REF & PA301 setting as speed limit (external speed limit)

 Speed limit in torque control mode

PA407

Speed limit in torque control mode

Range

Unit

Default



0~5000



1500







 External speed limit

Type

Signal

Name

Input

V-REF

CN2-5

External speed limit

AGND

CN2-6

GND for external speed limit



PA301

Speed instruction gain

Range

Unit

Default



150~3000

0.01 V/rated speed

600



 Output signal when speed is in limit

Type

Signal

Level

Name

Output

VLT+

To be allocated

ON=L level

In speed limit status

VLT

－

To be allocated

OFF=H level

Not in speed limit status

This signal is temporarily unavailable.



8.7 Internal speed control

Internal speed control is to set 8 speeds beforehand through parameters inside servo

drive and to select among them by using external input signals INSPD2, INSPD1 and

INSPD0.



Servo drive

INSPD0

INSPD1

INSPD2

SPEED0 PA307

Internal speed register

SPEED1 PA308

SPEED2 PA309

SPEED3 PA310

SPEED4 PA311

SPEED5 PA312

SPEED6 PA313

SPEED7 PA314

Speed

instruction

V-REF

AGND AD PA315.0

External analog

INSPD2

INSPD1

INSPD0

Internal speed selection

0 (Invalid)

Internal speed 0 (PA307)

0 (Invalid)

1 (Valid)

Internal speed 1 (PA308)

0 (Invalid)

1 (Valid)

0 (Invalid)

Internal speed 2 (PA309)

0 (Invalid)

1 (Valid)

Internal speed 3 (PA310)

1 (Valid)

0 (Invalid)

Internal speed 4 (PA311)

1 (Valid)

0 (Invalid)

1 (Valid)

Internal speed 5 (PA312)

1 (Valid)

0 (Invalid)

Internal speed 6 (PA313)

1 (Valid)

Internal speed 7 (PA314)



8.7.1 Parameter settings

Parameter

Meaning

PA000



Control mode selection: internal speed control

PA307

Internal speed 0

Range

Unit

Default



－5000~5000



100



PA308

Internal speed 1

Range

Unit

Default



－5000~5000



200



PA309

Internal speed 2

Range

Unit

Default



－5000~5000



300



PA310

Internal speed 3

Range

Unit

Default



－5000~5000



400



PA311

Internal speed 4

Range

Unit

Default



－5000~5000



500



PA312

Internal speed 5

Range

Unit

Default



－5000~5000



600



PA313

Internal speed 6

Range

Unit

Default



－5000~5000



700



PA314

Internal speed 7

Range

Unit

Default



－5000~5000



800



PA307~PA314 settings should not exceed maximum motor speed.

8.7.2 Input signals

Type

Signal

Definitions

Input

INSPD0

To be allocated

Internal speed register 0

INSPD1

To be allocated

Internal speed register 1

INSPD2

To be allocated

Internal speed register 2

Please refer to 3.4.3 Allocation of I/O signals.



8.8 Internal position control

PA000.1=A



              





 Internal position control switches & selections (PA700, PA770)

1)          

           

 

2) 



3) 



■ Internal position distance settings (PA701 to PA732)



       









 

1) 

2) 

3) 

 Internal position speeds (PA733 to PA748)



 Internal position acceleration/deceleration time (PA749 to PA764)



 Internal position stop (dead zone) time (PA765)

      ＝      









8.8.1 Parameter settings

Parameter

Meaning

PA000



Control mode selection: internal position control

Parameter

Meaning

PA700



INPOS selects internal position section.



PTRG triggers internal position run and in cycle.



Internal position runs in cycles at internal timing.



Incremental position



Absolute position



Cycle run starting position



Cycle run ending position

PA701

Internal position 0 distance low place

Range

Unit

Default



0x0000~0xFFFF



0x4E20



PA702

Internal position 0 distance high place

Range

Unit

Default



0x0000~0xFFFF



0x0000





PA731

Internal position 15 distance low place

Range

Unit

Default



0x0000~0xFFFF



0xE200



PA732

Internal position 15 distance high place

Range

Unit

Default



0x0000~0xFFFF



0x0004



PA733

Internal position 0 speed

Range

Unit

Default



0~5000



100





PA748

Internal position 15 speed

Range

Unit

Default



0~5000



100



PA749

Internal position 0 acceleration/deceleration time

Range

Unit

Default



0~500







PA764

Internal position 15 acceleration/deceleration time

Range

Unit

Default



0~500







PA765

Internal position dead zone time

Range

Unit

Default



0~65335



100



PA768

JOG speed in internal position control mode

Range

Unit

Default



0~5000



100



Value of PA733~PA748 shall not exceed maximum motor speed.

Parameter

Meaning

PA770

Internal position control switch 2

b. 3 2 1 0

Stop.

Pause.

Trigger signal selection

Use PTRG

Use internal position selection signals: INPOS0、INPOS1、INPOS2、INPOS3

Trigger time sequence selection

Only receive new trigger signal when current position is completed (CMD-OK)

Can receive new trigger even though current position is not completed

PZERO function selection

Software position limit enabling

No enabling.

Can enable. PA756, PA757 are positive limits; PA758, PA759 are negative limits.



8.8.2 Input signals

Type

Signal

Level

Meaning

Input

ZPS

To be

allocated

ON=L level

External zero switch signal ON

OFF=H level

External zero switch signal OFF

PZERO

To be

allocated

ON=L level

Internal position control stops: valid

OFF=H level

Internal position control stops: invalid

INPOS0

To be

allocated

ON=L level

INPOS0 signal valid

OFF=H level

INPOS0 signal invalid

INPOS1

To be

allocated

ON=L level

INPOS1 signal valid

OFF=H level

INPOS1 signal invalid

INPOS2

To be

allocated

ON=L level

INPOS2 signal valid

OFF=H level

INPOS2 signal invalid

INPOS3

To be

allocated

ON=L level

INPOS3 signal valid

OFF=H level

INPOS3 signal invalid

PTRG

To be

allocated

OFF (H level)

to ON (L level)

PTRG signal valid

P-POS

To be

allocated

ON=L level

P-POS signal valid

OFF=H level

P-POS signal invalid

N-POS

To be

allocated

ON=L level

N-POS signal valid

OFF=H level

N-POS signal invalid

SHOME

To be

allocated

OFF (H level)

to ON (L level)

SHOME signal valid

Please refer to 3.4.3 Allocation of I/O signals.

 External zero switch signal (ZPS)



Internal position control stops (PZERO)

When PZERO is valid in internal position control, the motor stops and stays in clamping

status. PA770.2 can select whether this is a stop or pause.

If PA770.2=0 (stop), homing process needs to restart after PZERO becomes invalid

again.

If PA770.2=1 (pause), homing process will continue after PZERO becomes invalid

again.



 Internal position register (INPOS0、INPOS1、INPOS2、INPOS3)

INPOS0, INPOS1, INPOS2, INPOS3 combines to achieve 16-position control

INPOS3

INPOS2

INPOS1

INPOS0

Internal position selection

















































































































This is illustrated as below:

Servo drive

INPOS0

INPOS1

INPOS3

Parameters

related to

position 0

Internal position register

Position

instruction

PA701 PA702

PA733 PA749

PA765

Parameters

related to

position 1

PA703 PA704

PA734 PA750

PA765

Parameters

related to

position 15

PA731 PA732

PA748 PA764

PA765



INPOS2



 Internal position control trigger (PTRG)

When PA700.0=0 or 1, and PA770.1=0 in internal positon control mode, the rising edge

is valid.

Time sequence of PTRG is illustrated below:

Target position

CMD_OK

COIN

MC_OK

OFF

Position X

Trigger signal:

（PTRG or INPOS）Rising edge

Null Position Y Null Position Z

OFF

OFF ON

Rising edge

Internal position control Forward JOG (P-POS)

In internal position control mode, even during homing or internal position sections,

when P-POS signal becomes valid, position instruction will cut to forward JOG

immediately and all current running instructions will be canceled and the cycle run will

restart to starting point. PA768 is JOG speed in internal position control mode.

 Internal position control Reverse JOG (N-POS)

 Internal position control homing start (SHOME)

In internal position control mode, when SHOME signal becomes valid, all current

running instructions will be canceled





8.8.3 Output signals

Type

Signal

Status

Meaning

Output



To be

allocated

Valid

Internal position control homing completed

Invalid

Internal position control homing not completed



To be

allocated

Valid

Internal position control instruction completed

Invalid

Internal position control instruction not completed



To be

allocated

Valid

Internal position control positioning & command

completed

Invalid

Internal position control positioning & command

not completed

Please refer to 3.4.3 Allocation of I/O signals.

Internal position control homing completion signal (HOME)

When homing is completed, and position coordinates are valid, and position counter is

valid, this signal is ON.

 This signal is OFF at power on;

 When homing is completed, this signal is ON;

 After running one position section, this signal is OFF;

 When SHOME triggers, this signal is OFF;

 When homing is completed again, this signal is ON;

 When inputting PZERO to stop homing, this signal is OFF.

 Internal position control instruction completion signal (CMD-OK)

 

 

 

This signal only means the completion of instructions, not necessarily actual motor

positioning.

Internal position control positioning & command completion (MC-OK)







8.9 Homing function



          









■ Homing mode selections

Parameter

Meaning

PA771

d. 3 2 1 0

Forward rotation

Reverse rotation

Homing pattern selection

After contacting zero switch, look for Z pulse by rotating backward

After contacting zero switch, look for Z pulse by rotating forward

Homing rotational direction

Homing completion operation

Clear all position data

Not clear all position data

Homing signal selection

Use ZPS

Use Z pulse

After contacting zero switch, rotate backward, not look for Z pulse

After contacting zero point switch, rotate forward, not look for Z pulse

■ Other homing parameters

PA775

Homing speed before contacting zero signal

Range

Unit

Default



0~3000



500



PA776

Homing speed after contacting zero signal

Range

Unit

Default



0~500





PA777

Zero switch offset low place

Range

Unit

Default



0x0000~0xFFFF





PA778

Zero switch offset high place

Range

Unit

Default



0x0000~0x1FFF







Important

 When PA775, PA776 settings exceed maximum speed of the servo motor,

maximum speed.

 Zero position offset directions are determined by homing directions.

 Homing functions are suitable for internal position control (junction instruction)

and position control (pulse instruction).

 During homing, servo drive does not receive pulse commands.

■ Description of the homing process

- 



- 



- 



-            



- 





 PA771.1=0: After contacting zero switch, look for Z pulse by rotating

backward.

Motor speed

(rpm)

PA775

PA776

Zero-switch offset

(PA777 & PA778)

SHOME

ZPS

Z pulse

After ZPS is invalid, the first Z

pulse to start calculating offset

Rising edge

Invalid Invalid

Valid

Zero switch

Z pulse

ZPS

SHOME

Motor decelerates and

moves backward

Rising edge

After ZPS is

invalid, the first

Z pulse to start

calculating

offset

Invalid Invalid

Valid



 PA771.1=1: After contacting zero switch, look for Z pulse by rotating forward.

Motor speed

(rpm)

PA775

PA776

Zero-switch offset

(PA777 & PA778)

SHOME

ZPS

Z pulse

After ZPS is invalid, the first Z pulse

to start calculating offset

Rising edge

Invalid Invalid

Valid



Zero swtich

Z pulse

ZPS

SHOME

Motor

decelerates

Rising edge

Move forward to

look for Z pulse After ZPS is invalid,

the first Z pulse to start

calculating offset

Invalid Invalid

Valid



 PA771.1=2: After contacting zero switch, rotate backward, not look for Z pulse.

Motor speed

(rpm)

PA775

PA776

Zero switch offset

(PA777 & PA778)

SHOME

ZPS

Rising edge

Invalid Valid

Valid

After ZPS is invalid,

start calculating offset.



Zero swtich

ZPS

SHOME

Motor decelerates and

moves backward

Rising edge

After ZPS is invalid,

start calculating offset.

Invalid Invalid

Valid



 PA771.1=3: After contacting zero switch, rotate forward, not look for Z pulse.

Motor speed

(rpm)

PA775

PA776

Zero switch offset

(PA777 & PA778)

SHOME

ZPS

After ZPS is invalid, start

calculating offset.

Rising edge

Invalid Invalid

Valid



Zero switch

ZPS

SHOME

Motor decelerates and

moves forward

Rising edge

After ZPS is invalid,

start calculating offset.

Invalid Invalid

Valid



8.10 Combination of different control modes





8.10.1 Parameter settings

Parameter

Control mode combinations

PA000



Internal speed control  Position control



Internal speed control  Speed control



Internal speed control  Torque control



Position control  Speed control



Position control  Torque control



Torque control  Speed control

B



8.10.2 Input signal

 

 

C-MODE Invalid Valid Invalid

First control mode Second control mode First control mode

Above 10ms no instruction input



Chapter 9 Fault diagnosis

9.1 Alarms

Code

Symptom/Cause

Clear

Solutions



  









  





























  





1) 

2)       









1) 

2) 







1) 

2)       



3) 

4)      





























   





1) 

2) 

3) 







1) 

2) 







1) 

2) 

3)      





    





1) 

2)       



3) 



    



1) 





2) 

3) 







1) 

2) 

3) 







1) 

2)   

    

    



3) 

4) 







1)   

    

    



2) 

3) 









  





1) 

2) 

3) 

4) 



  





1) 

2) 

3) 

4) 



  





1) 

2) 



3)   

    

    









1) 

2) 

3)        









1) 

2) 

3) 

4) 





   



1) 





2) 









1) 

2) 







1) 

2) 



   











1) 



2)       























  





1) 

2) 

3) 



  

  





1) 

2)       



3) 

4) 



   









   









  









   





1)       



2) 

3) 



  





1)       



2) 









1)       



2) 



   







1)       



2) 



   





1) 

2) 





   





1) 

2) 









1) 

2) 













   





1) 

2) 













   





1) 

2)       



3) 





























1) 

2) 

3) 







1) 

2) 



9.2 Warnings

Code

Symptom/Cause

Solutions



   



1) 

2) 

3) 





1) 

2) 

3) 

4) 

5) 





1) 

2) 

3) 

4)      







1) 

2) 

3) 

4) 





1) 

2) 



 



1) 

2) 



Chapter 10 Communications

10.1 Communication terminals



1)             



2) 







3) 

10.2 Communication parameters

Parameter

Name

Range

Unit

Default

Effective

PA015









PA016









d. 3 2 01

2400bps

4800bps

9600bps

19200bps

38400bps

57600bps

Communicational protocal

8，N，1 (Modbus protocol, RTU mode)

8，N，2 (Modbus protocol, RTU mode)

8，E，1 (Modbus protocol, RTU mode)

8，O，1 (Modbus protocol, RTU mode)

7，N，2 (Modbus protocol, ASCII mode)

7，E，1 (Modbus protocol, ASCII mode)

7，O，1 (Modbus protocol, ASCII mode)

8，N，2 (Modbus protocol, ASCII mode)

8，E，1 (Modbus protocol, ASCII mode)

RS485 bit rate

9 8，O，1 (Modbus protocol, ASCII mode)

Reserved

Communicational data equivalent

0 Internal speed: 1rpm; internal torque: 1% rated torque.

1 Internal speed: 0.1rpm; internal torque: 0.1% rated torque.

6 115200bps



10.3 Communication protocol



        



10.3.1 Encoding definitions

 ASCII mode:

 

Byte symbol

‘0’

‘1’

‘2’

‘3’

‘4’

‘5’

‘6’

‘7’



















Byte symbol



































 RTU mode:





10.3.2 Byte structure

 10-bits byte box (used for 7-bits data)

Start

bit 0 1 2 3 4 5 6 Stop

bit

Stop

bit

7-data bits

10- bits character frame

7，N，2（Modbus，ASCII）

Start

bit 0 1 2 3 4 5 6 Even

parity Stop

bit

7-data bits

10- bits character frame

7，E，1（Modbus，ASCII）

Start

bit 0 1 2 3 4 5 6 Odd

parity Stop

bit

7-data bits

10- bits character frame

7，O，1（Modbus，ASCII）

 11-bits byte box (used for 8-bits data)

Start

bit 0 1 2 3 4 5 6 Stop

bit

8-data bits

11- bits character frame

8，N，2（Modbus，ASCII / RTU）

Stop

bit

Start

bit 0 1 2 3 4 5 6 Even

parity

8-data bits

11- bits character frame

8，E，1（Modbus，ASCII / RTU）

Stop

bit

Start

bit 0 1 2 3 4 5 6 Odd

parity

8-data bits

11- bits character frame

8，O，1（Modbus，ASCII / RTU）

Stop

bit



10.3.3 Communication data structure

 ASCII mode:

STX



ADR



CMD



DATA (n-1)









…….

DATA (0)

LRC



End 1



End 0



RTU mode

STX



ADR



CMD



DATA (n-1)







…….

DATA (0)

CRC



End 1





 STX (Communication starting)



：

 ADR (communication address)



 





 CMD (command code) & DATA (data content)





Command

Meaning

Remarks





















1) CMD：03H (Read N words, N≤29)





ASCII mode:

Command

Response

STX

‘:’

STX

‘:’

ADR

‘0’

ADR

‘0’

‘1’

CMD

‘0’

CMD

‘0’

‘3’

Starting address (high

to low)

‘0’

Data quantity (bytes)

‘0’

‘2’

‘4'

‘0’

Starting address 0200H

(high to low)

‘0’

Data quantity (WORD)

‘0’

‘B’

‘0’

‘1’

‘0’

Second address 0200H

(high to low)

‘1’

‘2’

‘F’

LRC Check (high to

low)

‘F’

‘4’

‘8’

‘0’

End 1

(0DH)

(CR)

LRC Check (high to low)

‘E’

End 0

(0AH)

(LF)

‘8’

End 1

(0DH)

(CR)

End 0

(0AH)

(LF)

RTU mode：

Command

Response

ADR

01H

ADR

01H

CMD

03H

CMD

03H

Starting address (high to

low)

02H

Data quantity (bytes)

04H

00H

Starting address 0200H (high to

low)

00H

Data byte number (high to

low)

00H

B1H

02H

Second address 0200H (high to

low)

1FH

CRC check low

C5H

40H

CRC check high

B3H

CRC check low

A3H

CRC check high

D4H





2) CMD: 06H (write one word)

 

ASCII mode:

Command

Response

STX

‘:’

STX

‘:’

ADR

‘0’

ADR

‘0’

‘1’

CMD

‘0’

CMD

‘0’

‘6’

Starting address (high to

low)

‘0’

Starting address 0200H (high

to low)

‘0’

‘2’

‘0’

Data content (high to low)

‘0’

Data content (high to low)

‘0’

‘6’

‘4’

LRC Check (high to low)

‘9’

LRC Check (high to low)

‘9’

‘3’

End 1

(0DH) (CR)

End 1

(0DH)

(CR)

End 0

(0AH) (LF)

End 0

(0AH) (LF)

RTU mode:

Command

Response

ADR

01H

ADR

01H

CMD

06H

CMD

06H

Starting address (high to

low)

02H

Starting address (high to

low)

02H

00H

Data content (high to low)

00H

Data content (high to low)

00H

64H

CRC check low

89H

CRC check low

89H

CRC check high

99H

CRC check high

99H



3) CMD: 10H (write N words, N≤29)



 

ASCII mode:

Command

Response

STX

‘:’

STX

‘:’

ADR

‘0’

ADR

‘0’

‘1’

CMD

‘1’

CMD

‘1’

‘0’

Starting address (high to

low)

‘0’

Starting address (high to

low)

‘0’

‘2’

‘2'

‘0’

Data word number (high

place)

‘0’

Data word number (high to

low)

‘0’

Data word number (low

place)

‘0’

‘2’

Data byte number

‘0’

LRC Check (high to low)

‘9’

‘4’

‘3’

Data 1 content (high to

low)

‘0’

End 1

(0DH)

(CR)

‘0’

End 0

(0AH) (LF)

‘6’

‘4’

Data 2 content (high to

low)

‘0’

‘6’

LRC Check (high to low)

‘1’

‘D’

End 1

(0DH) (CR)

End 0

(0AH) (LF)



RTU mode:

Command

Response

ADR

01H

ADR

01H

CMD

10H

CMD

10H

Starting address (high to

low)

02H

Starting address (high to

low)

02H

00H

Data word number (high to

low)

00H

Data word number (high to

low)

00H

02H

Data byte number

04H

CRC check low

40H

Data 1 content

00H

CRC check high

70H

64H

Data 2 content

00H

66H

CRC check low

50H

CRC check high

11H



 LRC (ASCII mode) & CRC (RTU mode) detected error value calculation

ASCII mode：









RTU mode：



  

  Exclusive OR



  

；

Exclusive OR

   

  





 





3) End1、End0 (communication end)

ASCII mode：

        



RTU mode：





10.3.4 Communication troubleshooting

 

 ；

 ；

 

          



 

Upper controller data frame:

Start

Slave address

Command

Data address

Verification

Servo drive feedback error frame:

Start

Slave address

Response code

Error code

Verification



＝  ；

＝  

＝  

＝  

＝  ；







Upper controller data frame:

Start

Slave address

Command

Data address

Verification







Servo drive feedback error frame:

Start

Slave address

Response code

Error code

Verification







If slave address is 00H, this is broadcast data and the servo drive will send no

feedback.



10.4 Communication address

Notes: W/R: writable/readable (R: readable only; W: writable only)

Address

Meaning

Unit

Data type

W/R





















  













    











    



































    











    











   





















   











    











 

































































    











     













     























































     











     











































Notes:











Chapter 11 Product specifications

11.1 Servo drive specifications

11.1.1 Basic specifications













 

 



 

 

 







 ℃

 ℃













 

 

 



























：





℃

















 

 

 



































































11.1.2 Position/speed/torque control specifications







：





















































































































11.1.3 Servo drive dimensions

A type case:

B type case:



C type case:



 

 

11.2 Servo motor specifications & dimensions

General specifications

Working system: S1 continuous

Heat resistance class: B

Vibration: 5G

Insulation voltage class: AC1500V, 1 minute



Installation mode: Flange

Working temperature: 0~40℃ (no freezing)

Operating humidity: 20%~80% (no dewing)

Altitude: Below 1000m

Protections: Full-enclosed IP65 (except the

shaft-through part)



60/80 Series

Servo Motor series

60 series

80 Series

Servo Motor model

















Input voltage

220VAC

Inertia

Medium

Rated power (W)









Rated torque (N*m)









Rated current (A)









Maximum current (A)









Rated speed (rpm)



Maximum speed (rpm)



Torque constant (N*m/Amp)









Back EMF constant (V/Krpm)







Rotary inertia (with brake) (10-4Kg*m2)









Resistance (line-line) ()









Inductance (line-line) (mH)









Mass (with brake) (kg)









LL (with brake) (mm)









LR (mm)





LE (mm)



LG (mm)



S (mm)





LJ1 (mm)



LJ (mm)





J (mm)





LF1 (mm)





LF2 (mm)





LM (mm)





LA (mm)





LB (mm)





LC (mm)





LZ (mm)







130 Series (220V class)

Servo Motor series

130 Series

Servo Motor model

















Input voltage

220VAC

Rated power (KW)

1.5

2.2

Rated torque (N*m)









Maximum torque (N*m)









Rated current (A)









Maximum current (A)



Rated speed (rpm)



Maximum speed (rpm)









Torque constant (N*m/Amp)









Back EMF constant (V/Krpm)









Rotary inertia (w/brake) (10-4Kg*m2)









Resistance (line-line) ()









Inductance (line-line) (mH)









Mass (with brake) (kg)









LL (with brake) (mm)



LR (mm)



LE (mm)



LG (mm)



S (mm)



LJ1 (mm)



LJ (mm)



J (mm)



LF1 (mm)



LF2 (mm)



LM (mm)



LA (mm)



LB (mm)



LC (mm)



LZ (mm)











Chapter 12 Appendix

12.1 List of monitoring display functions

No.

Function

Unit

dP 00

Motor speed





dP 01

Motor feedback pulse number (encoder unit, lower 4 digits)





dP 02

Motor feedback pulse number (encoder unit, higher 5 digits)









dP 03

Input pulse number before electronic gear (user unit, lower 4

digits)







dP 04

Input pulse number before electronic gear (user unit, higher 5

digits)







dP 05

Deviation pulse number (encoder unit, lower 4 digits)









dP 06

Deviation pulse number (encoder unit, higher 5 digits)









dP 07

Speed instruction (analog voltage instruction)





dP 08

Internal speed instruction



dP 09

Torque instruction (analog voltage instruction)





dP 10

Internal torque instruction (value in relation to the rated torque)



dP 11

Torque feedback (value in relation to the rated torque)







dP 12

Input signal monitoring





dP 13

Output signal monitoring





dP 14

Instruction pulse frequency



dP 15

DC bus voltage





dP 16

Total operation time of the servo drive





dP 17

Rotation angle





dP 18

Exact position of absolute encoder (single-turn or multi-turn)





dP 19

Number of encoder turns (only for multi-turn absolute encoders)





dP 20

Cumulative load factor (take rated cumulative load as 100%)





dP 21

Regeneration load factor (take rated regeneration load as 100%)





dP 22

DB load factor (take rated DB load as 100%)





dP 23

Load inertial ratio





dP 24

Effective gain monitoring







dP 30

Subsidiary software version (refer to AF 10 for main software version)



dP 34

External linear encoder feedback pulse counts low place





dP 35

External linear encoder feedback pulse counts high place





dP 38

Hybrid deviation low place





dP 39

Hybrid deviation high place





dP 40

Voltage class (refer to PA000.3 for voltage class setting)



dP 46

IGBT temperature

℃



12.2 List of auxiliary function parameters

No.

Function

Reference

AF 00





AF 01





AF 02





AF 03





AF 04





AF 05





AF 06





AF 07





AF 08





AF 09





AF 10





AF 11





AF 12





AF 15







12.3 List of parameters

Legends:

 

 

 

 

 

 

 

 

 















PA000

Basic function selection 1







h. 3 2 0

Positive mode

Negative mode

Control mode selection

Position control (pulse train)

Speed control (analog instruction)

Torque control (analog instruction)

Internal speed control

Internal speed control Position control

Internal speed control Speed control

Internal speed control Torque control

Position control Speed control

Position control Torque control

Torque control Speed control

Internal position control

Reserved

Direction selection

Input voltage of servo drive

B Internal position control Position control

C Reserved

D Fully closed loop control

220V class

380V class

Notes:

 220V class: PA000.3=0;

 380V class: PA000.3=1;

 Execute AF 05 (parameter initialization) after modifying PA000.3.

















PA001

Basic function selection 2







d. 3 2 1 0

DB (dynamic brake) to stop

DB (dynamic brake) to stop, then release DB

Coast to stop, DB not used

Servo stop patterns at OT (Overtravel)

DB or coast to stop, same as PA001.0 (1~2)

Stop by torque set in PA406, then enter lock state

Stop by torque set in PA406, then coast to stop

Stop by torque set in PA406, after fully stopped, then enter DB state

AC/DC input power selection

AC input: Single phase 220VAC among L1, L2, L3

AC input: Three phase 220VAC among L1, L2, L3

DC input: 310VDC between P+, (-)

Enabling selection

Servo stop patterns at servo OFF or alarms

Decelerate at rate of PA522, & stay in DB state when speed is lower than PA523

Decelerate at rate of PA522, & coast to stop when speed is lower than PA523

Stop by torque set in PA406, decelerate at rate of PA522, then enter lock state

Stop by torque set in PA406, decelerate at rate of PA522, then coast to stop

Stop by torque set in PA406, decelerate at rate of PA522, then enter DB state

External enable from I/O or communication

Internal enable

















PA002

Basic function selection 3







b. 3 2 1 0

Invalid

Use T-REF as external analog torque limit input

Use PCL, NCL as external analog torque limit input

Speed limit in torque control mode selection

Use PA407 as speed limit (internal speed limit)

Use V-REF & PA301 setting as speed limit (external speed limit)

Use of absolute encoders

Use absolute encoders as incremental encoders

Use absolute encoders as absolute encoders

Encoder type selection

Absolute encoder (single-turn 17-bit, multi-turn 16-bit)

Single-turn absolute encoder (single-turn 17-bit, resolution 131072)

Torque limit in position control & speed control modes selection

2 Line-saving encoder (5000ppr, resolution 20000ppr)

PA003

Basic function selection 4







b. 3 2 1 0

Valid

Invalid

Reverse rotation prohibited (NOT) (OT)

Valid

Invalid

OT alarm selection

No alarm at POT/NOT input

E.35 alarm at POT/NOT input

Forward rotation prohibited (POT) (OT)

Z pulse signal negation

Not negated

Negated

PA004

Reserved























PA005

Basic function selection 6







d. 3 2 1 0

0～4

The higher this value, the less responsive to speed instructions

Speed feedback responsive grade

The higher this value, the less responsive to speed feedbacks

Reserved

E.29 alarm grade

Speed instruction responsive grade

0～5 The higher this value, the less sensitive to E.29. When the value is 5, E.29 is disabled.

PA007

Basic function selection 8







d. 3 2 1 0

Battery voltage alarm/warning selection

E.61 if battery voltage is less than 3.1V

A.97 if battery voltage is less than 3.1V

Warning detection selection

Warning can be detected but will not affect motor running until alarm is detected.

Warning cannot be detected.

Multi-turn data overflow alarm (E.58)

Multi-turn data overflows will output E.58 (default).

Multi-turn data overflows will not output E.58.

Reserved

2 Detected warning will stop the motor at enabled state and output warning signal (Position control mode only)

















PA009

Basic function selection 10







b. 3 2 1 0

Detect. E.17 will output if there are problems.

Not detect.

Regenerative resistor selection

Use internal resistor

Use external resistor. Make sure to set PA537, PA538 correctly.

IGBT temperature detection

Motor temperature detection

Regenerative circuit detection

Not detect.

Detect (only valid for 380V class models).

Not detect.

Detect (only applicable to certain models).

PA010

Basic function selection 11







d. 3 2 01

0～5

0～9

Analog instruction input delay

The larger this va lue, the more delay of analog instruction sampling, but the more accurate the measurement is.

Regenerative resistor load ratio selection

The larger this value, the longer overload time.

0～9

Motor overload grade

The larger this value, the longer overload time.

Speed detection filter grade

0～3 The larger this va lue, the longer detection time. Sometimes this par ameter can increase gain and reduce vibrations.

PA011

Reserved







PA012

Motor model selection

Please refer to chapter 1.3 for correct matching

parameter.









PA013

Reserved

Status code display























Please refer to chapter 4.3 & 5.4 for details.

PA015

RS485 communication address







PA016

RS485 communication function selection







d. 3 2 01

2400bps

4800bps

9600bps

19200bps

38400bps

57600bps

Communicational protocal

8，N，1 (Modbus protocol, RTU mode)

8，N，2 (Modbus protocol, RTU mode)

8，E，1 (Modbus protocol, RTU mode)

8，O，1 (Modbus protocol, RTU mode)

7，N，2 (Modbus protocol, ASCII mode)

7，E，1 (Modbus protocol, ASCII mode)

7，O，1 (Modbus protocol, ASCII mode)

8，N，2 (Modbus protocol, ASCII mode)

8，E，1 (Modbus protocol, ASCII mode)

RS485 bit rate

9 8，O，1 (Modbus protocol, ASCII mode)

Reserved

Communicational data equivalent

0 Internal speed: 1rpm; internal torque: 1% rated torque.

1 Internal speed: 0.1rpm; internal torque: 0.1% rated torque.

6 115200bps

PA017

Reserved





PA018

Reserved





PA019

Reserved

PA020

Reserved

















PA021

Analog output signal selection







d. 3 2 01

Output voltage negation

Not negated

Negated

Analog output signal selection

Reserved

Motor speed feedback

Motor torque feedback

PA022

Reserved

PA023

Analog voltage output gain



















 =motor speed

PA023























 =torque×1000

PA023













PA024

Analog voltage output zero calibration



























PA025

Basic function selection 12







d. 3 2 01

If there is no high voltage (220VAC or 380VAC) input, no alarm will output, S-RDY invalid.

If there is no high voltage input within 1 second after power on, an alarm will output.

If there is high voltage input after power on, but power is lost with 1 second during operation , an

alarm will output.

Reserved

Main circuit input power alarm selection

PA100

First position loop proportional gain









This parameter determines the responsiveness of position control systems. The higher this value, the

shorter positioning time. But if this value is set too high, vibrations can be caused.

PA101

First speed loop proportional gain









This parameter determines the responsiveness of speed control loops. If PA100 is increased, PA101

also has to be increased accordingly. But if this value is set too high, vibrations can be caused.

PA102

First speed loop integral time constant









The lower this value, the stronger integral effects & counter-interference effects. But if this value is set

too high, vibrations can be caused.

PA103

First speed detection filter









This is the time constant of low pass filter. The higher this value, the higher time constant. This can

reduce motor noise but will also reduce system responsiveness.

PA104

First torque filter









This is to set the first grade hysteresis filter time constant of the torque instructions and can regulate

vibrations caused by distorted resonance. The higher this value, the higher time constant. This can

reduce motor noise but will also reduce system responsiveness.

PA105

Second position loop proportional gain









PA106

Second speed loop proportional gain









PA107

Second speed loop integral time constant









PA108

Second speed detection filter

























PA109

Second torque filter









PA 110

Speed feedforward gain









The combination of the value of speed control instruction processed from position control, and the

value of speed control instruction processed from internal position control multiplying this parameter.

PA 111

Speed feedforward filter









This is to set the first grade hysteresis filter time constant of the speed feedforward.

PA 114

Friction compensation gain









PA 115

Friction compensation smoothness constant









PA 116

Friction compensation threshold speed









PA 118

Load inertia ratio















PA 119

Reserved







PA120

Gain switchover selection 1







d. 3 2 01

Use internal torque instructions PA121

Use speed instructions PA122

Use accelerations PA123

Use position deviations PA124

No mode switching.

Reserved

Mode switching condition selections

















PA121

Mode switch (internal torque instructions)









PA122

Mode switch (speed instructions)









PA123

Mode switch (accelerations)









PA124

Mode switch (position deviations)









PA125

Gain switchover selection 2







d. 3 2 01

No gain switchover

Manual gain switchover

Automatic gain switchover:

When gain switch condition A is valid, switch from 1st gain to 2nd gain.

When gain switch condition A is invalid, switch from 2nd gain to 1st gain

Gain switchover condition A

COIN is ON

COIN is OFF

NEAR is ON

NEAR is OFF

Position instruction filter output is 0 and instruction pulse input OFF

Position instruction pulse input ON

Torque instruction value is greater than PA126

Speed instruction value is greater than PA127

Speed instruction variation value is greater than PA128

Position deviation value is greater than PA129

Gain switchover selections

Reserved

PA126

Gain switchover grade (torque instruction)









PA127

Gain switchover grade (speed instruction)









PA128

Gain switchover grade (speed instruction

variation)









PA129

Gain switchover grade (position deviation)

























PA130

Gain switchover time 1









PA131

Gain switchover time 2









PA132

Gain switchover waiting time 1









PA133

Gain switchover waiting time 2









PA134

Reserved





PA137

Reserved





PA138

Reserved





PA139

Reserved





PA140

Reserved





PA200

Position control switch 1







d. 3 2 01

PULS + SIGN

CW + CCW

A phase + B phase (quadruple frequency)

Pulse (PULS+SIGN) negations

Neither negates

PULS not negates, SIGN negates

PULS negates, SIGN not negates

Both negate

Position deviation clearance

Clear position deviation when S-ON is off, power is off or by CLR signal.

Clear position deviation only by CLR. CLR also clears OT lock.

Clear position deviation only when servo has alarm or by CLR signal.

Input pulse channel

Low speed channel (Pin 7/8, 11/12)

Input pulse form

1 High speed channel (Pin 16/17, 23/24)

















PA201

Position control switch 2







d. 3 2 01

0～7 The higher this value, the longer filter time, the lower chop frequency. 0 means no filter.

AB pulse output negation

Not negate.

Negate.

Low speed (pulse input) channel filter grade

0～7 The higher this value, the longer filter time, the lower chop frequency. 0 means no filter.

High speed (pulse input) channel filter grade

Z pulse output expansion

No expansion. (Communicational type) encoder Z pulse width is defined by one A pulse

width, i.e. the smaller the value of PA210, the wider Z pulse width.

Expand. (Non-communicational type) encoder Z pulse is A pulse width.



【】









 



 































PA202

Position control switch 3







d. 3 2 01

When position deviation is less than PA525.

When position deviation is less than PA525 AND position instruction is 0 after filtering.

When position deviation is less than PA525 and position instruction is 0.

Positioning completion (COIN) signal output condition

External linear encoder signal negation in fully closed loop mode

Not negate.

Negate.

Switchover between internal & external loops in fully closed loop mode

C-MOD (0: external; 1: internal)

When electronic gear switch.(1:external; others:internal)

Pulse residual in fully closed loop mode

0~9 When pulse residual is less than this value, fully closed loop control is finished.

















PA203

Position control switch 4：Reserved







PA204

Reserved

PA205

First electronic gear ratio numerator







PA2

Electronic gear ratio denominator







PA207

Second electronic gear ratio numerator







PA208

Third electronic gear ratio numerator







PA209

Fourth electronic gear ratio numerator







PA210

Encoder resolution (frequency-division) setting











 





 When value of PA210 exceeds number of encoder structural lines, this value becomes invalid and

the actual number of encoder structure lines will be used. For example, if a 5000-line incremental

encoder is used, and PA210 is set to 6000, the valid value is still 5000.

 For communicational encoders, Z pulse width is set to be the width of one A pulse. Thus the

smaller PA210 value, the wider Z pulse given the same speed settings.

PA214

Position instruction acceleration/deceleration

time constant 1









PA215

Position instruction acceleration/deceleration

time constant 2









PA216

Position instruction average-moving filter

























PA300

Speed control switch 1







PA300

d. 3 2 01

Linear filter

S-curve

First grade filter

Reserved

Manual load inertia detection operating distance

1 turn

2 turns

4 turns

8 turns

Speed dead zone control

Use input signal: ZEROSPD

Automatic: use PA316 setting

Speed instruction filter selection

PA301

Speed instruction gain



0.01 









PA302

Speed instruction filter time constant









PA303

Soft start acceleration time









PA304

Soft start deceleration time









PA305

Speed instruction S-curve linear

acceleration/deceleration time









PA306

JOG speed









PA307

Internal speed 0









PA308

Internal speed 1









PA309

Internal speed 2









PA310

Internal speed 3









PA311

Internal speed 4









PA312

Internal speed 5

























PA313

Internal speed 6









PA314

Internal speed 7









PA315

Speed control switch 2







d. 3 2 1 0

After the zero-speed clamp signal is active based on PA300.3, speed instruction is forced to be 0

and when motor speed is below PA316, switch to position control mode and lock the servo in this

position. When ZEROSPD signal is inactive or control mode is switched, exit this zero-speed clamp

status.

Instruction source selection when INSPD2=INSPD1=INSPD0=0 in internal speed control

PA307 setting

External analog input

Reserved

Zero-speed clamp selection

2 After the zero-speed clamp signal is active based on PA300.3, decelerate at rate of PA522 and when

motor speed is below PA316, switch to position control mode and lock the servo in this position.

When ZEROSPD signal is inactive or control mode is switched, exit this zero-speed clamp status.

This stop pattern is only suitable when PA300.0=0.

PA316

Zero-speed clamp grade









PA317

Reserved

PA318

Reserved

PA400

Torque instruction gain











PA401

Torque instruction filter time constant









PA402

Forward rotation torque limit









PA403

Reverse rotation torque limit

























PA404

Forward rotation external torque limit









PA405

Reverse rotation external torque limit









PA406

Emergency stop torque









PA407

Speed limit in torque control mode









PA408

Reserved

PA409

Torque instruction reached (VCMP)









PA410

Grade 1 notch filter frequency









PA411

Grade 1 notch filter attenuation rate









PA412

Grade 2 notch filter frequency









PA413

Grade 2 notch filter attenuation rate









PA414

Internal torque register 0



























































PA415

Internal torque register 1









PA416

Internal torque register 2









PA417

Reserved

PA418

Torque control switch 1







d. 3 2 0

No deceleration control

Use PA522 setting

Torque compensation

Reserved

Deceleration control of speed limit in torque control mode

Reserved

No torque compensation

Torque compensation in position or speed control mode. Compensation value is in

accordance with torque instruction. (Analog input or internal torque registers)

PA500

DI 1 input signal selection





















































































PA501

DI 2 input signal selection (same as PA500)







PA502

DI 3 input signal selection (same as PA500)







PA503

DI 4 input signal selection (same as PA500)







PA504

DI 5 input signal selection (same as PA500)







PA505

DI 6 input signal selection (same as PA500)







PA506

DI 7 input signal selection (same as PA500)







PA507

DI 8 input signal selection (same as PA500)







PA508

Input signal level selection 1























b. 3 2 01

L level active (optocoupler conductive)

H level active (optocoupler not conductive)

DI 2 input signal level selection

L level active (optocoupler conductive)

H level active (optocoupler not conductive)

DI 3 input signal level selection

L level active (optocoupler conductive)

H level active (optocoupler not conductive)

DI 4 input signal level selection

L level active (optocoupler conductive)

H level active (optocoupler not conductive)

DI 1 input signal level selection

PA509

Input signal level selection 2







b. 3 2 01

L level active (optocoupler conductive)

H level active (optocoupler not conductive)

DI 6 input signal level selection

L level active (optocoupler conductive)

H level active (optocoupler not conductive)

DI 7 input signal level selection

L level active (optocoupler conductive)

H level active (optocoupler not conductive)

DI 8 input signal level selection

L level active (optocoupler conductive)

H level active (optocoupler not conductive)

DI 5 input signal level selection

PA510

Output signal selection

























h. 3 2 0

DO 1 output signal selection

Positioning completed (COIN): position deviation is less than PA525.

Z pulse open-collector signal (CZ)

Brake release signal (BK): can be adjusted by PA518.

Servo ready signal (S-RDY): active when servo is in proper status.

Speed instruction reached (VCMP): speed deviation is less than PA517.

Motor rotation detection (TGON): active when rotational speed exceeds PA516.

0～D

Torque limited signal (TLC): active when load torque reaches PA402/PA403.

Zero-speed detection signal (ZSP): active when rotational speed is less than PA515.

DO 2 output signal selection

same allocation method as DO 1

DO 3 output signal selection

same allocation method as DO 1

0 Alarm signal output (ALM)

9 Warning output (WARN)

Internal position control homing completion signal (HOME)

Internal position control position instruction completion signal (CMD-OK)

C Internal position control positioning & command completion signal (MC-OK)

D Torque reached (TREACH): load torque exceeds PA404 or PA405.

0～D

DO 4 output signal selection

same allocation method as DO 1

PA511

Output signal level selection







b. 3 2 01

H level active (optocoupler not conductive)

L level active (optocoupler conductive)

DO 2 output signal level selection

L level active (optocoupler conductive)

H level active (optocoupler not conductive)

DO 3 output signal level selection

L level active (optocoupler conductive)

H level active (optocoupler not conductive)

DO 4 output signal level selection

L level active (optocoupler conductive)

H level active (optocoupler not conductive)

DO 1 output signal level selection

PA512

Input signal filter time

(DC bus voltage compensation)









PA513

Serial encoder communicational alarm time

























PA514

Reserved

PA515

Zero position fixed value









PA516

Rotation detection value









PA517

VCMP signal detection width









PA518

BK signal hysteresis time after Servo-OFF









PA519

BK signal speed limit









PA520

BK signal waiting time at Servo-OFF









PA521

Instantaneous power off holding time









PA522

Deceleration at Servo OFF

 



 











PA523

Servo OFF stop threshold









PA525

COIN signal width









PA526

NEAR signal width









PA527

Position over-deviation WARN threshold at S-















PA528

Position over-deviation ERR threshold at S-ON









PA529

Speed deviation ERR detection time

























PA530

Speed deviation ERR threshold grade











PA531

Overload WARN threshold









PA532

Speed increment threshold









PA533

ALM clearance input setting







PA534

Main power off detection time













PA535

Special switch 1







b. 3 2 1 0

ADC detection at power on

Detect.

Not detect.

Torque limit at stop

Invalid.

Torque limit at stop is PA404 & PA405.

Reserved

PA536

High voltage compensation of pumping process









PA537

Resistance of external regenerative resistor









PA538

Capacity of external regenerative resistor









PA542

Low voltage compensation of pumping process









PA543

IGBT temperature adjustment amplitude 



℃





















PA544

Dynamic brake (DB) start time









PA545

S-RDY time









PA600

Adjustment switch 1







d. 3 2 01

Auto-tuning selection

Invalid

1 Valid

0～F

Load inertia estimation pace at auto-tuning

The larger this value, the faster auto-tuning pace but the less accurate.

Load inertia estimation pattern selection

Invalid.

Minor change. When load inertia changes, respond with minute instructions.

Small change. When load inertia changes, respond with second instructions.

Drastic change. When load inertia changes, respond with the fastest instructions.

Reserved

PA601

Reserved





PA602

Reserved





PA603

Adjustment switch 4







b. 3 2 01

PA118 (load inertia ratio) adjustment after load inertia detection

Automatic adjustment

Manual adjustment

Load inertia value at auto-tuning

Use estimated value

Use PA118 value

Reserved

PA604

Reserved





















PA605

Reserved





PA606

Inertia stabilization criteria











PA608

Reserved







PA609

Reserved







PA610

Bandwidth setting at auto-tuning













PA612

Reserved





PA613

Reserved







PA700

Internal position control switch 1







h. 3 2 01

INPOS selects internal position section; PTRG trigger.

Internal position runs in cycles but each position needs PTRG signal. (Step by step)

Internal position runs in cycles at internal timing automatically.

Incremental or absolute position selection

Incremental position

Absolute position

0～F

Cycle run starting position

To select the starting position

Cycle run ending position

To select the ending position

Internal position running pattern

2 PAbs selects incremental or absolute position.

PA701

Internal position 0 distance low place

























PA702

Internal position 0 distance high place







PA703

Internal position 1 distance low place









PA704

Internal position 1 distance high place







PA705

Internal position 2 distance low place









PA706

Internal position 2 distance high place







PA707

Internal position 3 distance low place









PA708

Internal position 3 distance high place







PA709

Internal position 4 distance low place









PA710

Internal position 4 distance high place







PA711

Internal position 5 distance low place









PA712

Internal position 5 distance high place







PA713

Internal position 6 distance low place









PA714

Internal position 6 distance high place







PA715

Internal position 7 distance low place









PA716

Internal position 7 distance high place







PA717

Internal position 8 distance low place









PA718

Internal position 8 distance high place























PA719

Internal position 9 distance low place









PA720

Internal position 9 distance high place







PA721

Internal position 10 distance low place









PA722

Internal position 10 distance high place







PA723

Internal position 11 distance low place









PA724

Internal position 11 distance high place







PA725

Internal position 12 distance low place









PA726

Internal position 12 distance high place







PA727

Internal position 13 distance low place









PA728

Internal position 13 distance high place







PA729

Internal position 14 distance low place









PA730

Internal position 14 distance high place







PA731

Internal position 15 distance low place









PA732

Internal position 15 distance high place







PA733

Internal position 0 speed









PA734

Internal position 1 speed









PA735

Internal position 2 speed

























PA736

Internal position 3 speed









PA737

Internal position 4 speed









PA738

Internal position 5 speed









PA739

Internal position 6 speed









PA740

Internal position 7 speed









PA741

Internal position 8 speed









PA742

Internal position 9 speed









PA743

Internal position 10 speed









PA744

Internal position 11 speed









PA745

Internal position 12 speed









PA746

Internal position 13 speed









PA747

Internal position 14 speed









PA748

Internal position 15 speed









PA749

Internal position 0 acceleration/deceleration

time









PA750

Internal position 1 acceleration/deceleration

time









PA751

Internal position 2 acceleration/deceleration

time









PA752

Internal position 3 acceleration/deceleration

time

























PA753

Internal position 4 acceleration/deceleration

time









PA754

Internal position 5 acceleration/deceleration

time









PA755

Internal position 6 acceleration/deceleration

time









PA756

Internal position 7 acceleration/deceleration

time









PA757

Internal position 8 acceleration/deceleration

time









PA758

Internal position 9 acceleration/deceleration

time









PA759

Internal position 10 acceleration/deceleration

time









PA760

Internal position 11 acceleration/deceleration

time









PA761

Internal position 12 acceleration/deceleration

time









PA762

Internal position 13 acceleration/deceleration

time









PA763

Internal position 14 acceleration/deceleration

time









PA764

Internal position 15 acceleration/deceleration

time









PA765

Internal position dead zone time









PA766

Position demonstration low place









PA767

Position demonstration high place







PA768

JOG speed in internal position control mode









PA769

Switch of incremental/absolute position in

internal position control mode



























BIT15

Position 15

BIT14

Position 14

BIT2

Position 2

BIT1

Position 1

BIT0

Position 0

 

 







PA770

Internal position control switch 2







b. 3 2 1 0

Stop.

Pause.

Trigger signal selection

Use PTRG

Use internal position selection signals: INPOS0、INPOS1、INPOS2、INPOS3

Trigger time sequence selection

Only receive new trigger signal when current position is completed (CMD-OK)

Can receive new trigger even though current position is not completed

PZERO function selection

Software limit switch selection

Invalid. No software limit switch.

Valid. PA756, PA757 are positive limits; PA758, PA759 are negative limits.

PA771

Internal position control switch 3







d. 3 2 1 0

Forward rotation

Reverse rotation

Homing pattern selection

After contacting zero switch, look for Z pulse by rotating backward

After contacting zero switch, look for Z pulse by rotating forward

Homing rotational direction

Homing completion operation

Clear all position data

Not clear all position data

Homing signal selection

Use ZPS

Use Z pulse

After contacting zero switch, rotate backward, not look for Z pulse

After contacting zero point switch, rotate forward, not look for Z pulse

PA772

Internal position control switch 4























b. 3 2 1 0

Use feedback position

Use reference position

Reserved

Calculating absolute positions

Use of electronic gear for communication position feedback

Feedback data 0x0783, 0x0784 as data after electronic gear.

Feedback data 0x0783, 0x0784 as motor feedback data to be used with dP 00 and dP 01.

High/low switchover

Same as user manual, 32-bit data not negate

Contrary to user manual, 32-bit data negate

PA773

Internal position control switch 5







b. 3 2 1 0

CLR signal function

Only clear position deviation.

Clear all position data

Reserved

Homing position limit

Valid

Invalid. Only valid when homing completed after run backwards and find zero point.

PA774

Reserved

PA775

Homing speed before contacting zero signal









PA776

Homing speed after contacting zero signal









PA777

Zero switch offset low place









PA778

Zero switch offset high place







PA779

Positive software limit switch low place

























PA780

Positive software limit switch high place







PA781

Negative software limit switch low place









PA782

Negative software limit switch high place







DORNA EPS B2 (single M1) Servo User Manual

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