DORNA

AC Servo Systems

EPS-EB Series
User Manual
(V1.00)

http://www.cn-dorna.com
1
 Safety Notice
Dangers
Input power
Input power of this driver is AC220V.
When it is installed to a machine and begins running, the motor shall be placed under
the state for emergency stop at any moment.
Otherwise, there may be personnel injuries and mechanical failure.
When the power is on, the housing of power supply's terminal block must be fixed.
Otherwise, there may be electric shocks.
After the power is turned off or after the voltage withstand test, when the indication
light of charge (CHARGE) is on, do not touch the power supply terminal.
Otherwise, there may be electric shocks caused by residual voltage.
Please conduct trial run according to the procedures and instructions in the product
user manual.
When the servo motor is installed to the machine, operation mistakes may not only cause
mechanical failures, but also cause personal injuries.
Do not make any changes to this product. No persons except the designated ones can set,
dismantle or repair this product.
Otherwise, there may be personnel injuries, mechanical failure or fire.
Please set a stop device on the machine side to ensure the safety.
The holding brake of the servo motor equipped with a brake is not a stop device used to
ensure safety.
Otherwise, there may be injuries.
Please ensure to connect the earth terminal of servo driver with the earth electrode
(the earth resistance of servo driver for power input is below 100) .
Otherwise, there may be electric shocks or fire.

Notices
This manual is an accompanying manual of EPS-EB Servo Driver, for detailed information,
please refer to the Technical Manual of EPS-EB Servo Driver.
Before installation, wiring and operation, please read thoroughly the Technical Manual of
EPS-B1 Servo Driver to understand relevant matters needing attention, so as to prevent loss
or danger caused by operational error.
During the commissioning and use of driver, please set the relevant safety protection device.
Our company will not bear any liability for the special losses, indirect losses and other
relevant losses caused by our products.
Information in this manual is general descriptions or characteristic introduction which may
not always be the case in practical use, or may not be completely applicable when the
products are further improved.

2
 Table of Contents
SAFETY NOTICE .................................................................................................................................. 2

CHAPTER I DIMENSIONS .......................................................................................................... 5

1.1 INSTALLATION DIRECTION AND SPACE ............................................................................................. 5

1.2 DIMENSIONS OF SERVO DRIVERS...................................................................................................... 6
1.3 DIMENSIONS OF SERVO MOTORS ...................................................................................................... 7
1.3.1 60/80 series servo motors ........................................................................................................ 7
1.3.2 90 series servo motors ............................................................................................................. 7
1.3.3 110 series servo motors ........................................................................................................... 8
1.3.4 130 series servo motors ........................................................................................................... 9

CHAPTER II WIRING................................................................................................................... 10

2.1 CONNECTOR AND TERMINAL OF SERVO DRIVER ............................................................................. 10

2.1.1 Appearance and signal of CN3 terminal ............................................................................... 10
2.1.2 Appearance and signal of CN2 terminal ............................................................................... 11
2.2 WIRING AT MOTOR SIDE ................................................................................................................. 13
2.2.1 Motor Encoder Terminal appearance and signal .................................................................. 13
2.2.2 Motor Power Terminal appearance and signal ..................................................................... 14
2.3 STANDARD WIRINGS ...................................................................................................................... 15
2.3.1 Position control wiring diagrams .......................................................................................... 15
3.2.2 Speed/torque control wiring diagrams .................................................................................. 16

CHAPTER III CONTROL & OPERATION ................................................................................ 17

3.1 CONTROL MODE SELECTION .......................................................................................................... 17

3.2 CONTROL SIGNALS ........................................................................................................................ 18
3.2.1 Input signals .......................................................................................................................... 18
3.2.2 Output signals ....................................................................................................................... 20

CHAPTER 4 MONITORING AND OPERATIONS ......................................................................... 22

4.1 PANEL OPERATOR ........................................................................................................................... 22

4.2 MODE SWITCH ............................................................................................................................... 22
4.3 MONITORING FUNCTIONS .............................................................................................................. 23

CHAPTER 5 TROUBLESHOOTING................................................................................................ 24

5.1 ERRORS ......................................................................................................................................... 24

CHAPTER 6 PARAMETERS ............................................................................................................. 27

6.1 PARAMETERS ................................................................................................................................. 27

6.1.1 Basic parameters ................................................................................................................... 27
6.1.2 Function selection parameter ................................................................................................ 27
6.1.3 Gain & filter parameters ....................................................................................................... 28
6.1.4 Position control parameters .................................................................................................. 30
6.1.5 Speed control parameters ...................................................................................................... 31
6.1.6 Torque control parameters .................................................................................................... 31
6.1.7 I/O parameters ...................................................................................................................... 32
6.1.8 Other function parameters .................................................................................................... 33
6.1.9 RS485 communication parameters ........................................................................................ 34

4
 Chapter I Dimensions

1.1 Installation direction and space

The installation direction must be appropriate; otherwise, it may cause troubles. In order to
ensure the fine cooling cycle effects, when the AC servo driver is installed, it must keep
adequate distance from the articles and boards (walls) in its four directions and near it;
otherwise, i it may cause troubles. The air inlet and outlet shall not be blocked or placed inversely
when the AC servo driver is installed; otherwise, it may cause fault.

C
N
2

C
N
2

N
C
N
C

3
2

WORNING
CAUTION
C
N
3

CAUTION WORNING

CORRECT WRONG

In order to lower the wind resistance to the radiator fan and let heat dissipation effectively,
users shall follow the recommended installation spacing distance of one or several AC servo drivers
(see the figure below) .

>50mm

>20mm S C
N
> 20mm
T 2

L1

L2

V C
N
3

CAUTION WORNING

>50mm

5
1.2 Dimensions of servo drivers

EPS-EB Series AC Servo Driver dimensions (unit: mm)

100W~750W

1KW~1.5KW

1.8KW~3.0KW
6
1.3 Dimensions of servo motors

1.3.1 60/80 series servo motors

60/80 series servo motors installation dimensions (unit: mm)

Flange face dimensions Shaft end dimensions
Model LL LR LE LG
LC LA LB LZ S LJ J LF1 LF2
60DNMA1-0D20D 60 70 50 5.5 14 11 20 5 5 103 30 3 8
60DNMA1-0D40D 60 70 50 5.5 14 11 20 5 5 123 30 3 8
80DNMA1-0D75D 80 90 70 6.5 19 15.5 25 6 6 129.7 35 3 9.8

1.3.2 90 series servo motors

7
 90 series servo motors installation dimensions (unit: mm)
Flange face dimensions Shaft end dimensions
Model LL LR LE LG
LC LA LB LZ S LJ J LF1 LF2

90DNA-08D 90 100 80 6 16 13 20 5 5 152 35 3 12

90DNA-10D 90 100 80 6 16 13 20 5 5 162 35 3 12

1.3.3 110 series servo motors

110 series servo motors installation dimensions (unit: mm)

Flange face dimensions Shaft end dimensions
Model LL LR LE LG
LC LA LB LZ S LJ J LF1 LF2

110DNA-04C 110 130 95 9 19 15.5 25 6 6 164 40 5 14

110DNA-09C 110 130 95 9 19 15.5 25 6 6 184 40 5 14

110DNA-12D 110 130 95 9 19 15.5 25 6 6 184 40 5 14

110DNA-12C 110 130 95 9 19 15.5 25 6 6 204 40 5 14

110DNA-15D 110 130 95 9 19 15.5 25 6 6 204 40 5 14

110DNA-18D 110 130 95 9 19 15.5 25 6 6 204 40 5 14

8
1.3.4 130 series servo motors

130 series servo motors installation dimensions (unit: mm)

Flange face dimensions Shaft end dimensions

Model LL LR LE LG
LC LA LB LZ S LJ J LF1 LF2

130DNMA1-0D85C 130 145 110 9 22 18.5 36 6 6 163 57 5 13

130DNMA1-0001C 130 145 110 9 22 18.5 36 6 6 172 57 5 13
130DNMA1-01D2C 130 145 110 9 22 18.5 36 6 6 181 57 5 13
130DNMA1-01D5C 130 145 110 9 22 18.5 36 6 6 197 57 5 13

9
 Chapter II Wiring

2.1 Connector and terminal of servo driver

EPS-EB series servo driver connectors and terminals

Terminal mark Name Description

Main loop power input

R, S, T Connect with three-phase AC supply.
terminal
Control loop power input
L1, L2 Connect with single-phase AC supply.
terminal
Servo motor connecting
U, V, W Connected with the servo motor
terminal
It is connected with power earth terminal and motor
Earth terminal
earth terminal for grounding.

CN2 I/O connector Connected with upper controller or RS485

CN3 Encoder connector Connected with the motor encoder

2.1.1 Appearance and signal of CN3 terminal

9 15

1 8

Appearance of CN3 terminal

Signal of CN3 terminal

Terminal Terminal
Name Function Name Function
mark mark
9 A+ PG input A+ phase 6 U+ PG input U+ phase
1 A- PG input A- phase 14 U- PG input U- phase
2 B+ PG input B+ phase 5 V+ PG input V+ phase
10 B- PG input B- phase 13 V- PG input V- phase
3 Z+ PG input Z+ phase 12 W+ PG input W+ phase
11 Z- PG input Z- phase 4 W- PG input W- phase
7 +5V PG supply +5V
8 GND PG supply 0V 15 PE Shielding

10
2.1.2 Appearance and signal of CN2 terminal

31 44

16 30

1 15

Appearance of CN2 terminal

Arrangement of CN2 terminal

16 RS+
1 CLE 31
17 RS-
2 INH 32 AGND
18
3 COIN 33 S_REF
19 CCWL
4 S_RDY 34 T_REF
20 CWL
5 ALM 35 DAOUT
21 A_CLR
6 36 AGND
22 COM+
7 BRK_OFF 37
23 ZEROSPD
8 ZO 38 PULS24+
24 S_ON
9 PULS+ 39 SIGN24+
25 COM-
10 PULS- 40 COM-
26 C_MODE
11 SIGN+ 41
27 TLC
12 SIGN- 42
28 ZSP
13 OZ+ 43
29 OZ-
14 OB- 44 OA+
30
OA-
15 OB+
Notes:
1 Please do not use unoccupied terminal.
2 Please connect the shielding layer of input-output signal cable to the enclosure of connector. Conduct frame grounding
(FG) through the connector at servo driver side.
3 Above are default signal arrangements. Except ZO signal, all I/O signals can alter distributions through parameter
settings.
11
 Signal of CN2 terminal

Mode Signal Pin No. Functions

S-ON 24 Servo ON: The motor is powered on.

A-CLR 21 Alarm clear: release servo alarms.
CCWL 19 CCW prohibited Over-travel prohibited: Stop operation of servo motor
CWL 20 CW prohibited when it is on.
Universal
CLE 1 Position deviation clearance input during position control.
Input Signals
INH 2 Pulse inhibition input
ZEROSPD 23 Zero-speed signal input
C-MODE 26 Control mode switch: Switch of two control modes.
COM+ I/O signal electric power supply; user needs to provide 24VDC power
22
supply.
ALM 5 Servo alarm: OFF when abnormal state is detected.
S_RDY 4 Servo ready: ON before S-ON if there is no alarm.
BRK_OFF 7 Release holding brake output.
ZO 8 Z phase signal open collector output.
Universal
Positioning reached (in position control mode) ; speed reached (in speed
Output Signals COIN 3
control mode) .
TLC 27 Target torque reached.
ZSP 28 Zero speed output.
COM- 25, 40 Output signal common grounding terminal.
PULS+ 9 Pulse command input channel:

PULS- 10 Pulse command can have three different input forms and can be selected
using PA28.
SIGN+ 11
Position Control 0Signpulse train
SIGN- 12
1CCW+CW pulse train
PULS24+ 38
2AB pulse train
SIGN24+ 39 For 24VDC, use PULS24+ & PULS-, SIGN24+ & SIGN-.
OA+ 44 A phase
Encoder feedback pulse signal (A phase, B phase) and
OA- 30 signal
divided by the driver for output. Dividing parameter is
Position OB+ 15 B phase
PA25.
Feedback OB- 14 signal

OZ+ 13 Z phase Origin pulse (Z phase) signal, pulse width can be widened
OZ- 29 signal using PA30.

S-REF 33 Speed command voltage input (10VDC)

Speed/Torque
T_REF 34 Torque command voltage input (10VDC)
Control
AGND 32, 36 Analog ground signal.
Analog Output DAOUT 35 Analog signal output signal (0~10VDC)
RS485 RS+ 16
RS485 communication terminal.
Communication RS- 17
Notes: for I/O signals of unassigned pins, please refer to 3.2 CONTROL SIGNALS.

12
2.2 Wiring at motor side

2.2.1 Motor Encoder Terminal appearance and signal

Encoder type Terminal mark Name Function Appearance

PG power supply
2 5V
+5V
PG power supply
3 0V
+0V
4 A+ PG input A+ phase
14 A- PG input A- phase
9 B+ PG input B+ phase
13 B- PG input B- phase 5 4 3 2 1
Non line-saving
7 Z+ PG input Z+ phase 10 9 8 7 6
encoder
5 Z- PG input Z- phase 15 14 13 12 11
B
6 U+ PG input U+ phase
Compatible encoder
8 U- PG input U- phase
line: BD-002
11 V+ PG input V+ phase
15 V- PG input V- phase
10 W+ PG input W+ phase
12 W- PG input W- phase
1 PE Shielding
5V PG power supply
2
+5V
0V PG power supply
3
+0V
4 A+ PG input A+ phase
7 A- PG input A- phase
5 B+ PG input B+ phase 2 1

5 3
8 B- PG input B- phase
10
Non line-saving 6
6 Z+ PG input Z+ phase 13 11
encoder
9 Z- PG input Z- phase 15 14

B
10 U+ PG input U+ phase
13 U- PG input U- phase Compatible encoder
11 V+ PG input V+ phase line: BC-002
14 V- PG input V- phase
12 W+ PG input W+ phase
15 W- PG input W- phase
1 PE Shielding
PG power supply
1 +5V
+5V
PG power supply 3 2 1
2 0V
+0V
Line-saving 6 5 4
3 A+ PG input A+ phase
encoder 9 8 7
4 A- PG input A- phase
H, E, K
5 B+ PG input B+ phase
Compatible encoder
6 B- PG input B- phase
line: BA-017
7 Z+ PG input Z+ phase
13
 8 Z- PG input Z- phase
9 PE Shielding
PG power supply
2 5V
+5V
PG power supply
3 0V 1
+0V 2
5 3
4 A+ PG input A+ phase
10
Line-saving 6
7 A- PG input A- phase 13 11
encoder
5 B+ PG input B+ phase 15 14

H, K
8 B- PG input B- phase
6 Z+ PG input Z+ phase Compatible encoder
9 Z- PG input Z- phase line: BD-017
1 PE Shielding
Encoder types: B non line-saving 2500 line, H line-saving1024 line, E line-saving 2500 line, K line-saving 5000 line.

2.2.2 Motor Power Terminal appearance and signal

Motor Flange Terminal Mark Name Function Appearance

1 U Motor U phase power

2 1
2 V Motor V phase power
60/80/90 4 3
3 W Motor W phase power

Compatible power line:

4 PE Casing
DA-002

3 U Motor U phase power

1

2 V Motor V phase power 3 2

4
110/130
4 W Motor W phase power

Compatible power line:

1 PE Casing
DB-002, DC-002
DD-002, DE-002
Notes: The above table is based on the terminal at motor side, so please pay attention to it when connecting wire.

14
2.3 Standard wirings

2.3.1 Position control wiring diagrams

Servo Drive

MCCB MC

AC220V R
Three phase S
50/60HZ T
L1
L2
CN2 U
V
Power
RS485+ 16 W Supply
RS485 - 17 PE 24V
EMGS BRK Brake
0V
CANH 41
CANL 42 CN3 Encoder

5V
GND
UVW
PULS24+ 38 2K
ABZ
PULS+ 9 75
PULS Please handle shield wire stubs
P 10 properly
Position PULS - 75
Pulse
SIGN24 + 39 2K CN2
Command
SIGN+ 11 75 44
SIGN OA+ A phase pulse output
P 12 30 OA-
SIGN - 75
15
OB+ B phase pulse output Encoder feedback
P Means strand wire 14 signal output
OB-
13
OZ+ Z phase pulse output
Common power 29
OZ-
supply terminal COM+ 22
DC12~24V 3K
S_ON S_ RDY
Servo ON 24 4 Servo ready

A_ CLR 5 ALM Servo alarm

Alarm clearance 21

CWL 7 BRK_ OFF Brake release

CW prohibited 20

CCWL 8 ZO Z Signal output

CCW prohibited 19

CLE 3 COIN Position reached

Reset deviation counter 1

INH TLC Torque reached

Pulse input prohibited 2 27

ZEROSPD
Zero-speed clamping 23 28 ZSP Zero speed detected

C_ MODE
Control mode switch 26 25,40 COM- Common ground terminal

Note: optical-coupler output

FG Connect enclosure Maximum use voltage: DC 30V
Maximum use current DC 50 mA
Shield wire

15
3.2.2 Speed/torque control wiring diagrams

Servo Drive
MCCB MC

AC220V R
Three phase S
50/60HZ T
L1
L2
CN2 U
V Power
RS485+ 16 W
RS485 - 17 PE 24V
EMGS BRK Brake
0V
CANH 41
CANL 42 CN3 Encoder

5V
GND
Speed reference CN2 UVW
ABZ
10V 2K S-REF 33
LFC A/D
Handle shield wire stubs
AGND 32 properly

Torque reference CN2

10V 2K T- REF 34 44
LFC A/D OA+ A Phase pulse output
30 OA-
AGND 32
Encoder
15
OB+ feedback signal
14 B Phase pulse output
OB- outputs
Handle shield wire tubs properly
13
OZ+
29 Z Phase pulse output
Common power OZ-
supply COM+ 22
DC12~24V 3K
S_ON S_ RDY
S_ON 24 4 Servo ready

A_ CLR ALM Servo alarm

5
A_CLR 21

CWL 7 BRK_ OFF Brake release

CW Prohibited 20

CCWL 8 ZO Z Signal output

CCW Prohibited 19
ZEROSPD COIN Speed reached
Zero speed 3
23
clamp
Control mode C_ MODE
26 27 TLC Torque reached
switch

28 ZSP Zero speed detected

25,40 COM- Common ground terminal

Connect Notes: optical coupler output

FG
enclosure Maximum voltage:DC30V
Maximum current DC50mA
Shield wire

16
 Chapter III Control & Operation

3.1 Control mode selection

EPS-EB series servo drive control modes

Parameter setting Control modes
External position control & internal speed control (JOG) switch:
External position control: use position command pulse train to control servo motor
positions. Position is set by the number of pulses; speed is set by the frequency of pulses.
PA110=0
This is used in applications where positioning are needed.
Internal speed control: use JOG1 and JOG2 to realize motor JOG forward & backward
movements. (Motor speed is set by PA131)

Internal position control & internal speed control (JOG) switch:

PA110=2 Internal speed control: used without upper controllers. Use PTRG to activate internal
PA04=0 position control. Position is set by PA83, PA84 and so on.

External position control & external speed control switch:

PA110=3 Use C_MODE to switch between position command pulse train inputs and external
analog speed command inputs.

External position control & internal torque control switch:

Use C_MODE to switch between position command pulse train inputs and external
PA110=4 analog torque command inputs.
Internal torque control: keep constant motor torque output. Torque output is set by
PA128; speed limit is set by PA45; TRQ_INV is torque command negation signal.

External speed control:

Use analog voltage input to control speed of servo motor.
Used in the following applications:
PA110=0 1) speed control;
2) Create a position loop between servo drive encoder pulse output & upper controller;
3) Use SPD1 & SPD2 to realize real time switch between analog signal & internal
THREE-level speed.
PA04=1
Torque control & speed control switch:
Use C_MODE to realize torque control & speed control switch. This is used in
applications when push & press or stretch is needed.
PA110=1 Torque control: use TRQ1 & TRQ2 to choose torque control mode (Analog voltage
command, PA128, PA129 or PA130).
Speed control: use SPD1 & SPD2 to choose speed control mode (Analog voltage
command, PA131, PA132 or PA133).

17
 Internal speed control:
PA04=7 Internal EIGHT-level speed: use SPD1, SPD2, SPD3 to select the pre-set speeds (set by
PA131~PA138) for speed control.

3.2 Control signals

3.2.1 Input signals

(1) Input signal configurations

Factory default input signal configurations can be modified by PA147~PA148.

Parameter Effective
Name Set range Default value
number time
Control terminal input signal PA147 =12816 (0x3210)
PA147~PA148 065535 Immediately
selections PA148 =30292 (0x7654)

Code Input signal functions

0 Control mode switch (C-MODE)

1 CCW prohibited (CCWL) /Torque command select 1 (TRQ1)

2 CW prohibited (CWL) /Torque command select 2 (TRQ2)

3 Reset deviation counter (CLE) /Speed command select 1 (SPD1)

4 Release alarms (A-CLR) /Speed command select 3 (SPD3)

5 Pulse Input prohibited (INH) /Speed command select 2 (SPD2)

6 Servo enabled (S-ON)

7 Zero speed clamp (ZEROSPD) /Internal position pause (PHOLD)

8 JOG forward (JOG1) /Speed command negation (SPD_INV)

9 JOG backward (JOG2) /Internal position select 1 (POS1)

A Internal position trigger (PTRG)

B Homing trigger (HOME)

External origin reference (ORG) /Torque command negation

C
(TRQ_INV)

D Internal position select 2 (POS2)

Electronic gear ratio switch (G-SEL) /Internal Position command

E
negation (POS_INV)

F Internal position select 3 (POS3)

PA147~PA148 correspond to 4 input signal pin respectively, as shown below:

18
 PA148 PA147
1

PA148=0x7654=30292
CN2 23 24 2 21 1 20 19 26 PA147=0x3210=12816

7 6 5 4 3 2 1 0

0 C_MODE

1 CCWL/TRQ1

2 CWL/TRQ2

3 CLE/SPD1

4 A-CLR/SPD3

5 INH/SPD2

6 S-ON

7 ZEROSPD/PHOLD

PA148 PA147 2

23

PA148=0xC654=50772
CN2 23 24 2 21 1 20 19 26
PA147=0x3210=12816
C 6 5 4 3 2 1 0

0 C_MODE

1 CCWL/TRQ1

2 CWL/TRQ2

3 CLE/SPD1

4 A-CLR/SPD3

5 INH/SPD2

6 S-ON

C TRQ_INV/ORG

(2) Input signal status selections

parameter Effective
Name Set range Default value
number time
Input signal status
PA64 0~65535 0 Immediately
selection

PA64 15 14 13 12 3 2 1 0

0 0 0 0 0 0 0 0

00:L 1:H

10:L 1:H

20:L 1:H

30:L 1:H

C0:L 1:H

D0:L 1:H

E0:L 1:H

F0:L 1:H

6S_ON1PA64 = 0100 0000 = 64

19
3.2.2 Output signals

(1) Output signal configurations

Factory default output signal configurations can be modified by PA149~PA150.

parameter Effective
Name Set range Default value
number time
Control terminal output PA149 =12816 (0x3210)
PA149~PA150 065535 Immediately
signal selectection PA150 =30292 (0x7654)

Code Output signal functions

0 Servo ready (S-RDY)

1 Servo alarm (ALM)

2 Brake release (BRK_OFF)

3 Position reached (COIN)

4 Torque reached (TLC)

5 Zero speed signal (ZSP)

6 Homing reached (RZ)

PA149~PA150 can configure 6 output signal pins except ZO, as shown below:

PA150 PA149

PA148=0x7654=30292
CN2 28 27 3 7 5 4 PA147=0x3210=12816

7 6 5 4 3 2 1 0

0 S_RDY

1 ALM

2 BRK_OFF

3 COIN

4 TLC

5 ZSP

6 RZ

(2) Output signal status selctions

parameter
Name Set range Default value Effective time
number
Output signal status
PA66 0~65535 6 Immediately
select

20
PA66 7 6 5 4 3 2 1 0

0 0 0 0 0 1 1 0

00:L 1:H

10:L 1:H

20:L 1:H

30:L 1:H

40:L 1:H

50:L 1:H

60:L 1:H

21
 Chapter 4 Monitoring and Operations

4.1 Panel operator

Panel operator can be used to monitor servo drives status and change parameters.

MOD SET

Explanations of keys are given below:

Mark Key name Functions

MOD Mode/Escape Switch between different modes or escape to last operation
Left Move to digits leftwards in loops
Increase Increase value or switch between + & -
SET Set/Confirm Confirm operations or value changes

4.2 Mode switch

Press MODE & SET keys to switch between modes.

ON

MOD SET

SET

22
4.3 Monitoring functions

No. Content Unit

dP 00 Motor speed r/min

dP 01 Motor pulse feedback quantity lower 4-place 1encoder pulse

dP 02 Motor pulse feedback quantity higher 5-place 10000encoder pulse

dP 03 Position command pulse quantity lower 4-place (before electronic gear) 1 command pulse

dP 04 Position command pulse quantity higher 5-place (before electronic gear) 10000encoder pulse

dP 05 Position deviation pulse quantity lower 4-place 1encoder pulse

dP 06 Position deviation pulse quantity higher 5-place 10000encoder pulse

dP 07 Speed command analog Input 0.0025V

dP 08 Speed command r/min

dP 09 Torque command analog Input 0.0025V

dP 10 Torque command %

dP 11 Internal Torque feedback %

dP 12 Input signal monitor

dP 13 Output signal monitor

dP 14 command pulse frequency 0.1KHz

dP 15 Load current A

dP 19 encoder number of revolutions

dP 20 encoder UVW signal

dP 25 Alarm log 1

dP 26 Alarm log 2

dP 27 Alarm log 3

dP 28 Alarm log 4

dP 34 encoder Z signal captured position

dP 35 encoder Z signal captured sum

dP 36 CPLD software version

dP 37 DSP software version

23
 Chapter 5 Troubleshooting

5.1 Errors

Err No. Error Name Cause Solutions

Main circuit Main power supply under-voltage or

Err.02 Check R, S, T input power
under-voltage over-fluctuate
Main power voltage over-voltage or
Check R, S, T input power
over-fluctuate
Main circuit Brake resistor broken Check Brake resistor
Err.03
over-voltage Re-confirm load status or replace a brake
Brake resistor insufficient power
resistor with higher rated power
Servo drive malfunction Replace Servo drive
Check L1, L2 input power voltage, or check
Control circuit power voltage too low
Control circuit cable terminal contact status
Err.04
under-voltage Control circuit power voltage
Increase PA153, PA154 value
over-fluctuate
Motor model parameter (PA9) not Contact DORNA directly
match
Check encoder line wiring, model and check
encoder line malfunction
cable terminal contact status
Check motor power line wiring, phase
motor power line malfunction sequence and check cable terminal contact
status
Err.01 Motor overload Motor encoder malfunction Replace servo motor
Re-confirm load status or replace a bigger
servo
Motor stall or overload;
Increase torque limit (PA48)
Motor torque is more than rated
Increase overload curve (PA81, PA82)
torque
Increase servo acceleration/deceleration time
constant (PA39, PA40)
Servo drive malfunction Replace Servo drive
Err.06 Motor overload Same as above Increase overload curve (PA120, PA121)
Err.07 Motor overload Same as above Increase overload curve (PA122, PA123)
Motor model parameter (PA9) not Contact DORNA
match
Check encoder line wiring, model and check
encoder line malfunction
Err.05 Motor over-speed cable terminal contact status
Check motor power line wiring, phase
motor power line malfunction sequence and check cable terminal contact
status

24
 Wrong speed loop gain Adjust speed loop gain
Err.08 Motor stall Same as above. Same as above.
Input pulse frequency too high or
accelerate/decelerate too fast
Motor model parameter (PA9) not match
Relevant parameter setting not Increase position loop gain and speed loop
appropriate gain (PA11, PA14), or increase position
Position over-proof
Err.09 over-proof threshold (PA53)
(out of tolerance)
encoder line , motor power line
Check encoder line , motor power line
malfunction
Re-confirm load status, increase motor torque
Load inertia too high
output (PA48) , or replace a bigger servo
(If can be ignored) Set PA54=1 can ignore this error
Motor model parameter (PA9) not Contact DORNA
match
Err.10 Current deviation Relevant parameter setting not Adjust current loop PID parameter, to achieve
appropriate faster current loop responsiveness
(If can be ignored) PA113=8192 to ingore
Cannot read correct value from Reset to factory default (EE-1)
Err.16 parameter mistake
EEPROM
encoder line, motor power line Check encoder line , motor power line
malfunction
Motor model parameter (PA9) not Contact DORNA
match
Power module
Err.20 Adjust position loop gain and speed loop gain
(IGBT) alarm parameter setting not appropriate
(PA11, PA14)
Re-confirm load status, or replace a bigger
Load inertia too high
servo
Servo drive malfunction Replace Servo drive
Current-sensing
Err.21 channel 1
malfunction Internal Current-sensing circuit If error persists after rebooting servo, replace
Current-sensing broken Servo drive
Err.22 channel 2
malfunction
Confirm encoder line model , Check
encoder line malfunction
encoder wiring
Conduct appropriate encoder line cable
encoder signal interference too high
management and correct servo grounding
encoder AB pulse
Err.26 Motor model parameter (PA9) Contact DORNA
lost
not match
Internal encoder signal processing Replace Servo drive
circuit broken
Motor encoder malfunction Replace servo Motor

25
 Same as above., also can use dP20 to
Err.27 encoder UVW error Same as above.
monitor UVW signal
encoder UVW encoder line malfunction Check encoder wiring
Err.28
disconnection
encoder ABZ encoder line malfunction Check encoder wiring
Err.29
disconnection
encoder line malfunction Check encoder wiring
Err.30 encoder Z pulse lost Motor encoder malfunction Replace servo motor
(If can be ignored) Set PA113=8 to ignore
Magnetic encoder Check motor nameplate to confirm whether
Motor encoder error
Err.31 initialization status the encoder is magnetic encoder
error encoder line malfunction Check encoder wiring
Electronic gear ratio Adjust electronic gear ratio (PA31 , PA32)
Err.32 Electronic gear ratio value overflow
protection
Input signal Input signal pin configuration Confirm Input pin configuration parameter
Err.33
configuration error duplicates or un-defined (PA147, PA148)
Output signal Output signal pin configuration Confirm Output pin configuration parameter
Err.34
configuration error duplicates or un-defined (PA149, PA150)

26
 Chapter 6 Parameters

6.1 Parameters

6.1.1 Basic parameters

paramet parameter Name & functions Set range unit Default Effective
er code value
PA000 password 0~9000 58
PA001 Carrier frequency 5~10 KHz 8 re-power
on
PA003 Initial display status 0~40 0 re-power
To select display status when power on. on
PA004 Control mode selection 0~7 0 re-power
Refer to 3.1 on
PA110 Function selection parameter 0~10 0
Refer to 3.1
PA009 Motor model select 0280 re-power
on

6.1.2 Function selection parameter

param parameter Name & functions Set range unit Default Effective
eter value
code

PA006 Function selection parameter 0~65535 0 re-power

on
Status setting
Place Definition
0 1
signal signal
bit0 CWL & CCWL control signal
valid invalid
invalid valid
bit1 Input direction signal (SIGN) negation
operation operation
invalid valid
bit2 Input pulse signal (PULSE) negation
operation operation
Save 2 parameters to EEPROM when invalid valid
bit3
power off operation operation
invalid valid
bit4 Save motor turns when power off
operation operation
invalid valid
bit5 Speed display DP[0] negation
operation operation
signal signal
bit6 ZEROSPD control signal
valid invalid

27
 param parameter Name & functions Set range unit Default Effective
eter value
code

signal signal
bit7 INH control signal
valid invalid
invalid valid
bit8 Z pulse signal logic negation
operation operation
Zero speed clamp at speed control Speed Position
bit9
mode clamp clamp
PA019 Function selection parameter 0~65535 0
Status setting
Place Definition
0 1
Input
bit0 Torque analog Input selection Input valid
invalid
Input
bit1 Speed analog Input selection Input valid
invalid
Input
bit2 Electronic gear ratio switch signal Input valid
invalid
PA029 Input trigger mode selection 0~65535 0
bit0CLE signal Input selection
0electrical level trigger mode
1edge trigger mode

6.1.3 Gain & filter parameters

param parameter Name & functions Set range unit Default Effective
eter value
code
PA011 Position loop gain 1009000 2000
It decides the responsiveness characteristics of position
control system. Positioning time can be shorted, if
larger position loop gain value is set. However,
vibration may be caused, if the set value is too large, so
please pay attention to this problem in modification.
PA012 Speed feedforward gain 0100 % 0
In the speed control instruction calculated based on
internal position instruction, add the value got by
multiplying this parameter ratio into the speed
instruction from position control processing
PA013 Speed feedforward filter 08150 0.1ms 6000
Set the time constant of first-order lag filter required
for speed feed-forward input.
PA014 Speed loop gain 4008000 1000
It decides the responsiveness characteristics of speed
loop. In order to increase position ring gain and
improve servo systems total responsiveness, the speed

28
param parameter Name & functions Set range unit Default Effective
eter value
code
ring gain setting should be increased. However,
vibration may be caused, if the set value is too large, so
please pay attention to this problem in modification.
PA015 First speed loop integral time constant 02000 0.1 ms 200
Time constant is used to set speed loop integral time
constant. The smaller the set value, the greater the
integrals function, and the stronger the
anti-disturbance capability, but too large setting may
cause vibration.
PA023 Second speed loop integral time constant 01000 0.1 ms 10
PA016 Speed detection filter time constant 0~9000 0
After speed detection, time constant of low-pass filter
can be set. The greater the set value, the larger the time
constant, but the responsiveness will decrease, despite
the reduced motor noise.
PA022 Pulse input filter time constant 1~127 5 re-power
on
The larger this parameter, the more obvious filter effect for commands, however the lower cut-off frequency.
parameter Cut-off parameter Cut-off
set value frequency (KHz) set value frequency (KHz)
20 200 80 50
40 100 100 40
60 67 120 33
PA079 Speed analog input filter parameter 1~32 10
The larger this value, the more obvious filter effects
however over-large value will cause slow speed
response.
PA080 Torque analog input filter parameter 1~32 10
The larger this value, the more obvious filter effects
however over-large value will cause slow torque
response.
PA035 Pulse Input filter parameter 1~1000 1
The larger this value, the more obvious filter effects
PA017 Speed Input filter time constant 08150 0
The larger this value, the more smooth speed changes
however can also result in worse responsiveness.
PA018 Torque Input filter time constant 08150 0
The larger this value, the more smooth torque changes
however can also result in worse responsiveness.
PA020 Speed filter mode selection 0~1 0
0Linear acceleration/deceleration
1S-curve
PA021 S-curve coefficient 1~100 1
The larger this value, the faster

29
 param parameter Name & functions Set range unit Default Effective
eter value
code
acceleration/deceleration for S-curves.

6.1.4 Position control parameters

param Set range unit Default Effective

eter parameter Name & functions value
code
PA025 Encoder pulse output frequency division coefficient 1~255 1 re-power
on
PA026 Encoder pulse output logic negation 0~1 0 re-power
on
PA027 command pulse Input logic negation 0~1 0
PA028 command pulse Input mode selection 0~2 0 re-power
0 pulse /direction on
1CW/CCW pulse
2A/B pulse
PA031 First Electronic gear ratio numerator 1~65535 1
PA032 First Electronic gear ratio denominator 1~65535 1
Electronic gear ratio Set range1/200 ~ 200
PA141 Second Electronic gear ratio numerator 1~65535 1
PA142 Second Electronic gear ratio denominator 1~65535 1
PA083 Internal position0 first place -9999~9999 r 0
PA084 Internal position0 second place -9999~9999 pulse 0
PA085 Internal position1 first place -9999~9999 r 0
PA086 Internal position1 second place -9999~9999 pulse 0
PA087 Internal position2 first place -9999~9999 r 0
PA088 Internal position2 second place -9999~9999 pulse 0
PA089 Internal position3 first place -9999~9999 r 0
PA090 Internal position3 second place -9999~9999 pulse 0
PA091 Internal position4 first place -9999~9999 r 0
PA092 Internal position4 second place -9999~9999 pulse 0
PA093 Internal position5 first place -9999~9999 r 0
PA094 Internal position5 second place -9999~9999 pulse 0
PA095 Internal position6 first place -9999~9999 r 0
PA096 Internal position6 second place -9999~9999 pulse 0
PA097 Internal position7 first place -9999~9999 r 0
PA098 Internal position7 second place -9999~9999 pulse 0
PA099 Internal position sections to execute 1~8 1
PA102 Internal position Speed 0 0~5000 rpm 120
PA103 Internal position Speed 1 0~5000 rpm 130
PA104 Internal position Speed 2 0~5000 rpm 140
PA105 Internal position Speed 3 0~5000 rpm 150
PA106 Internal position Speed 4 0~5000 rpm 160

30
 param Set range unit Default Effective
eter parameter Name & functions value
code
PA107 Internal position Speed 5 0~5000 rpm 170
PA108 Internal position Speed 6 0~5000 rpm 180
PA109 Internal position Speed 7 0~5000 rpm 190
PA160 Internal position0 stop time 1~9000 0.1ms 100
PA161 Internal position1 stop time 1~9000 0.1ms 100
PA162 Internal position2 stop time 1~9000 0.1ms 100
PA163 Internal position3 stop time 1~9000 0.1ms 100
PA164 Internal position4 stop time 1~9000 0.1ms 100
PA165 Internal position5 stop time 1~9000 0.1ms 100
PA166 Internal position6 stop time 1~9000 0.1ms 100
PA167 Internal position7 stop time 1~9000 0.1ms 100

6.1.5 Speed control parameters

paramet parameter Name & functions Set range unit Default Effective
er code value
PA039 Acceleration time constant 1~9999 ms 200
PA040 Deceleration time constant 1~9999 ms 200
PA042 Speed command Input zero speed clamp place 1~300 0.1rpm 0
threshold
PA043 Speed command Input gain 10~1000 200
PA044 Speed command Input logic negation 0~1 0
PA045 Speed command Input offset compensation -9000~9000 0.1rpm 0
PA118 Maximum speed multiplier 50~300 % 150
Percentage of motor maximum speed to rated
speed.
PA131 Internal Speed 0 -5000~5000 rpm 500
PA132 Internal Speed 1 -5000~5000 rpm 500
PA133 Internal Speed 2 -5000~5000 rpm 500
PA134 Internal Speed 3 -5000~5000 rpm 500
PA135 Internal Speed 4 -5000~5000 rpm 500
PA136 Internal Speed 5 -5000~5000 rpm 500
PA137 Internal Speed 6 -5000~5000 rpm 500
PA138 Internal Speed 7 -5000~5000 rpm 500

6.1.6 Torque control parameters

param parameter Name & functions Set range unit Default Effective
eter value
code
PA046 Torque command Input gain 10~1000 100
PA047 Torque command Input logic negation 0~1 0

31
 param parameter Name & functions Set range unit Default Effective
eter value
code
PA048 Torque restraint constant 0~300 % 200
Used to limit output torque. Default is 200, i.e.
within 200% of rated torque.
PA049 Torque command Input offset compensation -9000~9000 0
PA128 Internal Torque 0 0~300 % 0
PA129 Internal Torque 1 0~300 % 0
PA130 Internal Torque 2 0~300 % 0

6.1.7 I/O parameters

param parameter Name & functions Set range unit Default Effective
eter value
code
PA064 Input signal logic electrical level select 0~65535 0
PA066 Output signal logic electrical level select 0~65535 6
PA147 Terminal Input signal select1 0~65535 12816
PA148 Terminal Input signal select2 0~65535 30292
PA149 Terminal Output signal select1 0~65535 12816
PA150 Terminal Output signal select2 0~65535 30292
PA030 Z pulse Output width 1~6500 4000 re-power
on
The larger, the wider Z pulse.
parameter Z pulse width parameter set Z pulse width
set value (ms) value (ms)
500 4 4000 32
1000 8 6000 48
2000 16
PA050 Position reached signal Output threshold 0~9000 pulse 50
Position control mode, position deviation is less than
this value, COIN valid.
PA078 Speed reached signal Output threshold 1~3000 rpm 50
Speed control mode, speed deviation is less than this
value, COIN valid.
PA051 ZSP signal set value 0~3000 rpm 50
When motor speed is less than this set value, ZSP
signal valid.
PA052 ZSP signal time set value 0~9000 0.1ms 50
PA055 Torque reached output signal threshold 0~300 % 100
When motor torque is larger than this value, TLC
signal valid.
PA056 Torque reached output time set value 0~9000 ms 100
PA065 Brake release output signal time set value 0~9000 ms 150
Delay of BRK_OFF output signal after servo on.

32
6.1.8 Other function parameters

param parameter Name & functions Set range unit Default Effective
eter value
code
PA063 Stop mode after servo OFF 0~1 1
0Motor decelerates to speed of PA61, then power off
after delay PA60;
1Motor coast to stop.
PA061 Motor speed at mechanical brake 0~100 rpm 10
When motor speed is lower than this set value,
BRK_OFF signal invalid.
PA060 Power off delay time after servo Off 0~9000 ms 150
After S_ON signal is invalid, motor power will be off
after delay of PA060
PA053 Position deviation over-large alarm threshold 0~500 0.01 r 300
To set motor position deviation over-large detection
level, unit is 0.01r. Relevant pulse number is related to
encoder resolution.
PA054 Position deviation over-large alarm invalid 0~1 0
PA111 Stall alarm threshold 0~9000 0.1rpm 3000
PA112 Stall alarm time 0~9000 0.1ms 30
PA119 Over-speed alarm threshold 50~300 % 150
PA081 Over-load alarm threshold 1 0~300 % 130
PA082 Over-load alarm time 1 0~9000 ms 3000
PA120 Over-load alarm threshold 2 0~300 % 150
PA121 Over-load alarm time 2 0~9000 ms 1000
PA122 Over-load alarm threshold 3 0~300 % 180
PA123 Over-load alarm time 3 0~9000 ms 500
PA151 Brake loop release duty cycle 0~80 % 10
PA153 Control loop under-voltage alarm delay time 1~2000 ms 40
PA154 Control loop under-voltage alarm delay time 0~2000 0.5ms 75
threshold
PA139 Power off save parameter 1 0~249 0
PA140 Power off save parameter 2 0~249 1
PA005 Analog output signal deviation 0~9000 0
When Output is speed, unit is rpm;
When output is torque, unit is percentage.
PA007 Analog Output monitor selection 0~1 0
0Motor speed
1Motor Torque
PA008 Analog Output signal proportion coefficient 1~300 100

33
6.1.9 RS485 communication parameters

param parameter Name & functions Set range unit Default Effective
eter value
code
PA070 RS485 communication mode 0~1 0
0RTU
1ASCII
PA072 RS485 communication address 1~127 1
PA073 RS485 bit rate 0~6 2
02400bps
14800bps
29600bps
319200bps
438400bps
557600bps
6115200bps
PA074 RS485 protocol (Modbus protocol) setting 0~6 3
07, N, 2
17, E, 1
27, O, 1
38, N, 2
48, E, 1
58, O, 1
68, N, 1
NNo verification, EEven verification, OOdd
verification

34