Teco

－300～300【50】
Safety Precautions
 Thank you for choosing EPS2 series AC servo motor

drive.
 Please read the manual carefully before using the
drive and the following instruction.
Page·１
Content
● Safety Notification ●
(Please read carefully before using the drive)
Please read the manual carefully for installation, operation, maintenance and
inspection. Make sure learning the related information about the instruments, safety issues
and other notifications before using the drive. Please keep this manual properly for
command. Please contact us when you cannot solve problems.
 Some modification in the manual may not be notified for product improvement
and update.
 Our company is not responsible for the customer’s modification to the product
without our authorization and the warranty.
Please pay attention to the following cautions to avoid personal injury or device damaged.
 The following “DANGER” and “CAUTION” are listed based on their Hazardous
degree.
DANGER Indicates a potentially hazardous situation which, if

not avoided, will result in death or serious injury.
CAUTION Indicates a potentially hazardous situation which, if

not avoided, will result in minor injury or property damaged.
The following symbols represent "MUST NOT" or "MUST" operations which you have to
observe.
Represents "MUST" operation which has to be executed.
Represents "MUST NOT" operation which is inhibited.
Page·１
Content
CAUTION
Page·２
Content
Content
Chapter 1 Functions and Configuration…………………….………...……....1
1.1 EPS2 Series Drive Technical Specs……………………………....………..1
1.2 EPS2 Series Drive Functions…………………………………..…..………2
1.3 EPS2 Series EPS2 rules Drive…………………………………..….…….…3
1.4 EPS2 Series Drive Dimensions………………………………..…..……….4
1.5 EPS2 Motor Corresponding for EPS2 Series Dirve ………………………...5
1.6 Parts Description………………………………………………………….7
Chapter 2 Installation…………...................... ….............................................9
2.1 Environmental Conditions...........................................................................9
2.2 Installation Place........................................................................................10
2.3 Mounting Orientation and Space…………………………….….………..11
2.4 Motor Installation………………………………………………….……..12
2.5 Servo Motor Drive Installation Figures……………………...….…….…13
2.6 Cable Stress………………………………………………………..…….14
Chapter 3 Wiring……………………………………………………….……14
3.1 Drive Configuration and Connection to Peripheral Device…….…….….15
3.2 Standard Connection……………………………………………..………15
3.3 Terminal Functions………………………………………………….…...18
3.4 I/O Interface……………………………………………………………...25
3.5 Power Supply Circuit.................................................................................27
Chapter 4 Parameters…………………………………………..……………..28
4.1 Parameter Overview……………………………………………..………..28
4.2 Parameter Function………………………………………………….……35
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Content
Chapter 5 Monitoring and Operation…………………………………...………...51
5.1 Panel Operation……………………………………………………….………51
5.2 Monitoring Mode (DISP)…………………………………….……...………..52
5.3 Parameter Setup (SET-PA)……………………………….………….………..55
5.4 Parameter Management (EEP-OP)…………………………………..………..55
5.5 Speed Trial Run…………………………………………………………….…57
Chapter 6 Alarm and Handling……………………………………………….…...59
6.1 Drive Alarm.......................................................................................................59
6.2 Alarm Handling.................................................................................................59
Chapter 7 Servo Motor............................................ …..........................................67
7.1 Model Naming Format.....................................................................................67
7.2 Motor Installation Dimension..........................................................................68
※ Communication parameter setting…………………………………………….80
Appendix…………………………………………………………………..…….….85
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Chap.1 Functions and Configuration
Chapter 1 Functions and Configuration
1.1 Specification of EPS2 Series drive
Table 1.1 EPS2 Drive Specification
Power Supply AC 220V AC 380V 50／60Hz

Allowable Voltage -15% ~ +10%
Temperature Operation：0～55℃ Storage：-20℃～80℃
Humidity Less than 90%RH (without dew)

Impact load Less than 0.5G (4.9m/s2), 10~60Hz (non-continue running)
Control Method SVPWM
① Position control ② Speed control ③ Torque control

④ Position/speed control ⑤ Position/Torque control
Control Mode ⑥ Speed/Torque control ⑦ Internal position control
⑧ Internal speed control ⑨ Internal torque control
⑩ Test running control
① Servo control enable ② Alarm clear ③ Counter clear ④ Command
Control Input pulse invalid ⑤ CCW drive invalid ⑥ CW drive invalid ⑦ Control
mode ⑧ Zero speed clamp
① Servo ready ② Servo alarm ③ Brake control
Control Output ④ Position／Speed arrival ⑤ Zero-speed detection ⑥ Torque limit
⑦ Z phase output
Encoder Type ① 2500PPR increment ② 10000PPR increment
Communication
① RS232 ② RS485
mode
Display and
① 5-bit LED display ② 4 buttons
operation
Brake method Internal/External braking resistor
Cooling method Air cooling（Heat conductive material、High speed cooling fan）
Compatible for various type of motors (by adjusting the system
Motor model
parameters)
1．2 SC Series Drive Function List
Table 1.2 EPS2 Drive Function
Pluse + Direct, CW+ CCW pulse，

External input pulse
Position Control
A+B phase
Maximum command pulse 500Kpps differential mode
frequency 200Kpps one way mode
Electrical gear 1/100≦G≦100

Feedback compensation
Contro Function
Set by parameters.
/ Torque limit
Instuction control mode External pulse / Internal control
Analog input 0～±10V DC / 10Kohm / 2.2 u.S
Control
Speed
Command control range External analog / Internal registor

Speed control range 1:3000
Banwidith More than 300HZ
Analog input 0～±10V DC / 10Kohm / 2.2 u.S
Control
Torque
Overload time 200% rated output in 3 sec

Command control range External analog / Internal registor
Command smooth mode Low-pass smooth filter

When signal CCWL/CWL is active，motor keEPS2 zero-speed and
Drive invalid maintains the torque in CCW/CW direction.
Speed, position, command pulse accumulation, position error, motor

Monitoring
torque, motor current, rotor position, command pulse frequency,
Function operation status, input/output terminal signal
Protection Over-voltage, low-voltage, over-current, over-speed, over-load,

Function Z-pulse missing, encoder error, EEPROM error, position error exceed.
Alarm Output alarm signal when abnormal operation happens. All 5 LEDs’
Function decimal points keep blinking at the same time.
Signal Display Display ON/OFF status of the I/O signal

The gain tuning can be adjusted to improve the motor performance
Gain Tuning when motor is running or stops.
Alarm Record 4 alarm records included the present one is memorized.
Page·２
1．3 Name plate for EPS2 series drive
EPS2– T A 075 L 1 21
First number is voltage：2 for 220V 4 for 380V

Second number is the phase：
1 for sigle phase 3 for 3-phase
Encoder type
1:2500p/r 2:500p/r
Connection mode L: screw connector
Capacity
Output power = number*10 (W)
Software version
Machine version
Drive series
Page·３
1. 4 EPS2 series drive dimensions
Voltage KW L W H S K E F D
0.2~0.75KW 139.5 75.1 183 11.5 159 31 173 6
220V 1.0~2.0KW 191.7 96 190 10.5 162 30 176 6
2.5~5.5KW 201.9 117.1 277 0 242 50 261 6
1.0~2.5KW 202 100.5 197.4 0 170 30 183.4 6

380V
3.0~7.5KW 201 117.1 277 0 242 50 261 6
Page·４
1．5 EPS2 Series Drive for the Motor (220V)
Drive Code Motor Code Capacity (kw) Speed (rpm) Torque (nm)
EPS2-TA020L121 60HC1-02DB1AKS 0.2 3000 0.64
60HC1-04DB1AKS 0.4 3000 1.27
80HC1-05DB1AKS 0.4 3000 1.59
EPS2-TA040L121
90HC1-05DB1AMS 0.5 3000 1.59
110HC1-04CB1AKS 0.5 2000 1.91
130HC1-06AB1AMS 0.6 1000 5.73
80HC1-08DB1AKS 0.8 3000 2.37
EPS2-TA075L121 80HC1-08CB1AKS 0.8 2000 3.5
90HC1-08DB1AKS 0.8 3000 2.37
90HC1-08CB1AKS 0.8 2000 3.5
110HC1-09CB1AMS 0.9 2000 3.8
80HC1-10DB1AKS 1.0 3000 3.18
90HC1-10DB1AKS 1.0 3000 3.18
EPS2-TA100L123 130HC1-10DB1AMS 1.0 3000 3.18
130HC1-10CB1AMS 1.0 2000 4.8
130HC1-10BB1AMS 1.0 1500 6.37
130HC1-10AB1AMS 1.0 1000 9.55
110HC1-12DB1AMS 1.2 3000 3.8
PS-TA120L123 110HC1-12CB1AMS 1.2 2000 5.7
130HC1-12CB1AMS 1.2 2000 5.7
110HC1-15DB1AMS 1.5 3000 4.8
130HC1-15CB1AMS 1.5 2000 7.16
EPS2-TA150L123
130HC1-15BB1AMS 1.5 1500 9.55
130HC1-15AB1AMS 1.5 1000 14.33
110HC1-18DB1AMS 1.8 3000 5.7
130HC1-20CB1AMS 2.0 2000 9.55
EPS2-TA200L123 130HC1-20BB1AMS 2.0 1500 14.33
180HC1-20CB1AMS 2.0 2000 9.55
180HC1-20BB1AMS 2.0 1500 14.33
EPS2-TA270L123 180HC1-27BB1AMS 2.7 1500 17.2
130HC1-30DB1AMS 3.0 3000 9.55
130HC1-30CB1AMS 3.0 2000 14.33
EPS2-TA300L123 180HC1-30CB1AMS 3.0 2000 14.33
180HC1-30BB1AMS 3.0 1500 19.1
180HC1-30AB1AMS 3.0 1000 28.6
180HC1-37AB1AMS 3.7 1000 35
130HC1-40DB1AMS 4.0 3000 12.7
EPS2-TA400L123
180HC1-40CB1AMS 4.0 2000 19.1
180HC1-40BB1AMS 4.0 1500 25.5
130HC1-45DB1AMS 4.5 3000 14.33
EPS2-TA450L123 180HC1-45CB1AMS 4.5 2000 21.5
180HC1-45BB1AMS 4.5 1500 28.6
EPS2-TA500L123 180HC1-50CB1AMS 5 2000 23.8
EPS2-TA550L123 180HC1-55BB1AMS 5.5 1500 35
Page·５
1．5 EPS2 Series Drive for the Motor (380V)
Drive Code Motor Code Capacity (kw) Speed (rpm) Torque (nm)
110HC1-09CB1AMS 0.9 2000 3.8
130HC1-10DB1AMS 1.0 3000 3.18
EPS2-TA100L143 130HC1-10CB1AMS 1.0 2000 4.8
130HC1-10BB1AMS 1.0 1500 6.37
130HC1-10AB1AMS 1.0 1000 9.55
110HC1-12DB1AMS 1.2 3000 3.8
EPS2-TA120L143 110HC1-12CB1AMS 1.2 2000 5.7
130HC1-12CB1AMS 1.2 2000 5.7
110HC1-15DB1AMS 1.5 3000 4.8
130HC1-15CB1AMS 1.5 2000 7.16
EPS2-TA150L143
130HC1-15BB1AMS 1.5 1500 9.55
130HC1-15AB1AMS 1.5 1000 14.33
110HC1-18DB1AMS 1.8 3000 5.7
130HC1-20CB1AMS 2.0 2000 9.55
EPS2-TA200L143 130HC1-20BB1AMS 2.0 1500 14.33
180HC1-20CB1AMS 2.0 2000 9.55
180HC1-20BB1AMS 2.0 1500 14.33
EPS2-TA270L143 180HC1-27BB1AMS 2.7 1500 17.2
130HC1-30DB1AMS 3.0 3000 9.55
130HC1-30CB1AMS 3.0 2000 14.33
EPS2-TA300L143 180HC1-30CB1AMS 3.0 2000 14.33
180HC1-30BB1AMS 3.0 1500 19.1
180HC1-30AB1AMS 3.0 1000 28.6
EPS2-TA370L143 180HC1-37AB1AMS 3.7 1000 35
130HC1-40DB1AMS 4.0 3000 12.7
EPS2-TA400L143 180HC1-40CB1AMS 4.0 2000 19.1
180HC1-40BB1AMS 4.0 1500 25.5
130HC1-45DB1AMS 4.5 3000 14.33
EPS2-TA450L143 180HC1-45CB1AMS 4.5 2000 21.5
180HC1-45BB1AMS 4.5 1500 28.6
EPS2-TA500L143 180HC1-50CB1AMS 5 2000 23.8
EPS2-TA550L143 180HC1-55BB1AMS 5.5 1500 35
EPS2-TA750L143 180HC1-75BB1AMS 5.5 1500 47.7
Page·６
1.7 Parts Description
Heat sink base:

For mounting the drive and
heat sink Display part:
6 bit LED shows the
drive status
Control circuit power:

L1,L2 connect to single Operation part:
phase AC 220V, 50/60 Hz 4 buttons for
monitoring and setting
parameters
Main circuit power :
R,S,T connected to AC
220V,50/60Hz
External braking resistor: Communicationer:

Drive has its own braking Connect to PC or
resistor inside. program controller
Drive output: Control connector:

Connect to the motor. Connect to program
Never connect this to the controller
main power supply which
may damage the drive. Encoder connector:
Connect to servo motor
encoder
Fig.1-3 SC series drive illustration

Encoder connector
Motor installation aspect Motor connector
Motor axis Motor cover Encoder
Fig.1-4 Servo motor outer view
Page·７
Chap.2 Installation
Chapter 2 Installation
2.1 Environmental Conditions
Servo motor drive requires operation and storage environmental conditions are
shown as in Table 2.1.
Table 2.1 Drive environmental conditions
Environment Conditions
Operation 0ºC～＋55ºC（non-dew）
Temperature
Storage －20ºC～＋85ºC（non-dew）
Operation
Humidity ≤90％RH（non-dew）
Storage
Indoor（No direct sun beams）
Air condition
No corrosive and combustible atmosphere, no oil liquid, dust-free
Altitude Lower than 1000m

Impact load 6.03m/s2, 10~60Hz
2.2 Installation Site
1) Installation in cabinet
The drive lifetime is highly related to the conditions. When designing the electrical
cabinet, all the components and instruments should be considered together for better
allocation to meet the drive environmental and thermal condition requirements.
2) Heat source around the drive
Operation at high temperature may reduce the drive lifetime and cause accident.
Make sure the drive ambient temperature is lower than 55ºconsidering thermal
convection and thermal radiation.
3) Vibrating instruments around the drive
Try to keep the drive away from the vibration source and keep the vibration below
0.5G(4.9M/S2).
4) Drive operation under severe conditions
The drive may breakdown when it is opposed to the severe environments such as
corrosive gas, humidity, metal dust, water and processing liquids.
Some protection method must be used in the required working environment.
Chap.2 Installation
5) Disturbance instruments around the drive
EMI disturbance instruments around the drive may interfere with the power line and
signal line, interrupting the drive normal operation. Noise filter and other anti-disturbance
method can be used in normal operation. Adding filter may cause extra leakage current
which can be avoided by adding isolation transformer to improve the power quality. Note
that the control signal may easily be disturbed and proper wiring and shielding is needed.
2.3 Mounting orientation and space
1) Mounting orientation
The drive is supposed to be mounted vertically and kept proper height with the
operation panel in front.
2) Mounting method
Use screws for mounting.
3) Mounting space
A certain space should be left between two drives or between one drive and another
instrument when mounting two or more drives. The required space is: distance between
two drives should be larger than 25mm; distance between one drive and another
instrument should be larger than 100mm. Please try to keep enough space to ensure the
drive lifetime and performance.
4) Cooling
If the drive is mounted inside the electrical cabinet, cooling fans installation will be
suggested to provide vertical air flow for cooling the heat sink.
5) Prevent other objects from falling into the drive during mounting
Try to avoid drilling metal dust or cutting pieces falling into the drive when installing
the control cabinet. Inspect whether oil, water or metal dust can go inside the drive
through the gap or fans. If that happens, please use some protection method to ensure the
required environment.
Page·９
Chap.2 Installation
2.4 Motor installation
1) Do not submerge the motor cable to oil or water.
2) Do not apply direct impact to the shaft or encoder while attaching/detaching a

coupling to and from the motor shaft, otherwise, the encoder may be damaged. Please
align the shaft to the best position.
3) Do not let oil, water or metal dust into the motor connector. Certain protection
method should be adopted. Otherwise, the drive may not work properly and the encoder or
motor can be damaged permanently.
Page·１０
Chap.2 Installation
2.5 Servo motor drive installation figures
<1> Installation for single drive：
Fig.2-1 Installation for single drive

<2> Installation for more drives
Fig.2-2 Multiple drives installation
Page·１１
Chap.2 Installation
2.6 Cable stress
1) Avoid a stress application to the cable outlet and connecting portion by bending
or self-weight.
2) Especially in an application where the motor itself travels, the cable should have
enough length and bending diameter to minimize the stress.
3) Keep the cable cover away from sharp cutting, mechanical contact and
smashing.
Page·１２
Chap. 3 Wiring
Chapter 3 Wiring
【CAUTION】
 Please shut off the power before wiring or inspection. As there are lots of electrolytic
capacitors inside the drive which will maintain certain high voltage even if the power
is shut off. After shutting off the power, wait at least 10 minutes for the charging
indicator LED turning off, then start to wire or inspect the drive or motor to avoid the
electrical shock.
 Drive output terminal U,V,W must be connected to the corresponding motor terminal
U,V,W correctly. Do not try to change the sequence of the 3-phase terminal to reverse
the motor rotation direction and do not short the terminals. Phase sequence fault may
cause motor start-up failure, abnormal operation or other unexpected conditions.
 Make sure the connection between the encoder (on the motor shaft) and drive is
correct. In order to avoid disturbance, power line and encoder signal line should be
wired separately. Shielding wire is suggested for the encoder signal line.
3.1 Drive configuration and connection to peripheral device
Non-fusible breaker (NFB):
Noise Filter (NF)
Magnetic Contactor (MC) Communication

cable
Reactor (L) Control cable
Encoder cable
Servo
Line Regenerative Resistor motor
Fig. 3-1 Drive connection to peripheral device：

Chap. 3 Wiring
3.2 Standard connection
1. Wire requirement
(1) Power terminal TB
Wire size: R、S、T、U、V、W、PE terminal wire size≥1.5mm² (AWG14-16)，

L1、L2 terminal wire size≥1.0mm² (AWG16-18). Large power drive needs bigger TB
terminal wire size.
Grounding: Grounding wire (PE) size should be as large as possible. Drive
grounding wire and servo motor grounding wire should be connected to ground at a
single point and the grounding resistance should be less than 100Ω.
Terminal connection should be firm and reliable.
3-phase isolation transformer is suggested being used for improving power
quality and anti-noise ability.
Please install non-fusible breaker (NFB) to shut off the power during drive fault.
Noise filter (NF), Magnetic contactor (MC) and Reactor (L) are suggested
being added for filtering noise and improve EMI.
(2) Communication signal CN1, Control signal CN2, Encoder signal CN3
Wire size: Suggest using shielding wire (better to use twisted-pair shielding
wire). Wire size≥0.12mm² (AWG24-26)。
Wire length: Wire length should be as short as possible. Control signal wire
CN2 can not exceed 5 meters. Encoder signal wire should be less than 15m. Encoder
power wire and grounding wire should be used at least 4 set of wires in parallel
connection respectively.
Wiring: Keep away from power line for reducing noise.
Please add inrush current absorber circuit for inductive components (e.g. coil):
Dc-coil needs anti-parallel diode and ac-coil needs parallel RC absorber circuit.
(3) Note
Power line and signal line should be firm and reliable, kept away from the drive
heat sink and motor to avoid heat-caused insulation problem.
All circuits must be connected correctly before powering on.
Page·１４
Chap. 3 Wiring
2. Typical Wiring
Page·１５
Chap. 3 Wiring
3.3 Terminal functions
1. Power terminal TB
Table 3.1.1 EPS2□□-040 drive power terminal
Symbol Signal Name Function

R Main circuit power input terminal AC 220V，
Main circuit power
50Hz／60Hz
TBT-2
L1 Control circuit power input terminal AC220V，
Control Circuit Power
L2 50／60Hz
U These terminals should be connected to compatible

Connection to servo servo motor and terminals U,V,W should match
V motor
between drive and motor.（See Chap. 7.1）.
W
Grounding terminal; Grounding resistance<100Ω;
PE System grounding Servo motor and power input should be grounded
at single point.
Table 3.1.2 EPS2 EPS2□□-150-- EPS2□□-500 drive power terminal TB
Symbol Signal name Function

R
Main circuit power Main circuit power input terminal
S （single/three-phase） AC220V，50／60Hz
T
L1 Control circuit power Control circuit power input terminal
L2 （single phase） AC 220V，50Hz／60Hz
When drive output power is big and the internal
P External brake braking resistor is not enough for burning the
resistance excessive energy, an external braking resistor can
B be added between terminal P and B.
U
Connect to servo Drive output terminals must match the motor
V motor terminals U,V,W respectively（see Chap.7.1）.
W
Grounding terminal; grounding resistance<100Ω;
PE System grounding servo motor output and power input should be
grounded at a single point.
Page·１６
Chap. 3 Wiring
2. Communication terminal CN1

CN1 is communication connector for parameter read and set through
RS232 and RS485.
EPS2 drive communication terminal
Table 3.2 Communication terminal CN1

Input Signal Name Symbol Function I／O
CN1-6 Communication VCC +5V -
CN1-5 power supply GND GND -

Signal receiving, connect to RS 232
CN1-4 R1IN
RS232 transmission port of PC
-
communication Signal transmission, connect to RS
CN1-2 T1OUT
232 receiving port of PC
TxOUT/ Signal transmission differential
CN1-1
RS485 RxIN+ signal +
Type 3
communication TxOUT/ Signal transmission differential
CN1-3
RxIN- signal -
3. Control Terminal CN2

CN2 socket is male (needle) and plug is female. It is for communication with
upper-level controller.
Page·１７
Chap. 3 Wiring
EPS2 drive control signal terminal
Table 3.3 Control terminal CN2 functions
Pin Signal Symbol Function I／O

Analog torque Analog torque command input terminal；
CN2-31 T-Ref ――
command input Range：0~±10V DC.
Analog speed command input terminal;
Analog speed
CN2-33 command input
S-Ref Range：0~±10V DC. ――
With speed limit
CN2-35,
Analog ground GNDA Analog control signal input ground ――
36
CN2-17 OA+ Provide encoder differential signal output
Phase-A output
CN2-18 OA- from long distance drive（Phase A, B and
Z） non-isolated.
CN2-15 OB+ Parameter No. 25 can be used for
Phase B output Type5
changing phase A and B output frequency
CN2-16 OB-
divider coefficient.
CN2-14 OZ+ Parameter No.26 can be set to change the
Phase Z output logic relationship between phase A and B.
CN2-13 OZ-
Positive end of the input power supply，
Control power
CN2-22 COM+ which is for driving input optical-coupler. ――
supply（＋）
DC12～24V Current≥100mA.
1.In position mode:
When CLE signal(low effective) is valid，
this will clear the error counter into zero.
When INH signal(low effective) is valid，
Clear bias CLE this will disable the pulse command input.
CN2-1 counter / SPD01 No. 29 【invalid forbidden command
pulse input】for disabling the signal.
2.In speed mode：
SPD2 SPD1
Speed mode option
(CN2-2) (CN2-1) Type1
External analog Speed
1 1
command
Internal speed 1
1 0
(PA131)
Inhibition of INH
CN2-2 pulse command / SPD02 Internal speed 2
0 1
(PA132)
Internal speed 3
0 0
(PA133)
1：COM-disconnect 0：COM+connect
Page·１８
Chap. 3 Wiring
Alarm clear terminal (low effective)

Alarm clear A-CLR A-CLR effective: clear system alarm.
A-CLR ineffective: hold system alarm.
CN2-21 Type1
This is for setting if the speed signal gets
inverse.
Speed inverse SPD_INV
Disconnect Connect
Not change Inverse
When NO.4【control mode mode】＝3，

4 or 5，control modes are shown in the
following table：
CN2-26 Control mode C-MODE Type1
NO.4 Disconnect Connect
3 Position control Speed control
4 Position control Torque control
5 Speed control Torque control
When CCWL/CWL is on，motor stops at

CCW CCW/CW direction, it will keep zero
CN2-20 limit
CCWL speed and maintain output torque. When Type1
receiving CW/CCW direction from upper
level-controller control signal, it will start
rormally to run.
☆→Used for mechanical position limit

switch; when the signal is low, motor
CW stops by default setting.
CN2-19 limit
CWL ☆ → Parameter No.64 is used for Type1
setting the logic level.
☆→NO.06【Drive invalid input off】is
used to shield this signal.
ON：enable drive(low on)

OFF：invalid drive; output turn off;
drive stop running; motor idle.
CN2-24 Servo on S-ON ☆ →When S-ON is on, wait at least Type1
50ms，then start to enter the command.
☆ →Don’t use S-ON to start and stop the
motor frequently.。
Page·１９
Chap. 3 Wiring
Disconnect with COM; speed command is

taken as zero.
Parameter NO.08【zero speed input mode】
can invalid this signal.
When NO.4【control mode mode】＝3，
Zero speed ZEROSPD
CN2-23 4 or 5，control modes are shown in the
clamping / T-SEL2
following table：
NO.4 Disconnect Connect
3 Position control Speed control
4 Position control Torque control
5 Speed control Torque control
1：COM-disconnect 0：COM+connect Type1
T-SEL1 T-SEL2
Torque mode option
(CN2-26)(CN2-23)
External analog torque
1 1
command
Internal torque 1
C-MODE 0 1
CN2-26 Control mode (PA135)
/ T-SEL1
Internal torque 2
0 1
(PA136)
Internal torque 3
0 0
(PA137)
Control power Output terminal optical ―coupler

CN2-25 COM- ――
supply (－） common point.
Breaking BRK_ When mechanical brake release, this

CN2-7 release OFF output (transistor）will conduct.
Type2
S-RDY on: Control power and main

power condition is normal. No drive
CN2-4 Servo ready S-RDY alarm, servo output ready Type2
S-RDY off: drive alarm，servo
output not ready (high)
ALM alarm: When drive detects fault, it

outputs alarm signal (high).
CN2-5 Servo alarm ALM
ALM no-alarm: When drive has no fault,
Type2
no alarm signal output. ( low)。
Z-phase Servo motor encoder Phase-Z pulse

CN2-8 ZO Type2
output output, open collector (OC) output.
Page·２０
Chap. 3 Wiring
Coincidence When the positioning is complete, this

CN2-3 COIN Type2
position output (transistor) will conduct.
Torque limit The output will conduct when torque is

CN2-27 TLC Type2
command limiting.
When motor speed is below NO.51 (zero

Zero speed
CN2-34 ZSP speed) setting value, this output will Type2
detection
conduct.
CN2-9 PULS+
Command pulse input terminal.
Pulse command Command pulse can be input in three
CN2-10 PULS- different forms. Use No.28 to select one
of the following forms. Type3
1、Quadruple (A&B）input.
CN2-11 SIGN+
2、CW/CCW pulse input.
Pulse command
3、Command pulse/direction input.
CN2-12 SIGN-
4. Encoder signal terminal CN3

CN3 socket is female and plug is male (needle), which is used to connect the encoder.
Twisted-pair shielding wire is suggested. When the length exceeds 10 meters, power and
grounding cable is better to use multi-core wires and the wire size should be bigger than
0.15mm².
EPS2 drive encoder signal terminal
Page·２１
Chap. 3 Wiring
Table 3.4 Encoder signal terminal CN3
PIN Signal Symbol Function I／O
CN3-7
CN3-8 Servo motor encoder uses
VCC ――
CN3-17
＋5V power supply and the
CN3-18 Encoder power
wire size will increase when
supply
the cable length exceeds
CN3-9
10m.
CN3-10 GND ――
CN3-19
Motor, drive and cabinet

ground should connect
CN3-20 Shielding ground PE ――
together with the encoder
ground.
CN3-2 Encoder A+ input A+

encoder phase-A
CN3-1 Encoder A- input A-
CN3-4 Encoder B+ Input B+

encoder phase-B
CN3-3 Encoder B- Input B-
CN3-6 Encoder Z+ Input Z+

encoder phase-Z
CN3-5 Encoder Z- Input Z-
Type4
CN3-16 Encoder U+ Input U+

encoder phase-U
CN3-15 Encoder U- Input U-
CN3-14 Encoder V+ Input V+

encoder phase-V
CN3-13 Encoder V- Input V-
CN3-12 Encoder W+Input W+

encoder phase-W
CN3-11 Encoder W- Input W-
Page·２２
Chap. 3 Wiring
3.4 I/O interface
1. Switch signal input interface
Fig.3－4 Type 1 switch signal input interface
(1) External power source is provided by user. Please note if the power polarity is
misconnected, the drive may be damaged.
(2) Power supply requirement: DC 12~24V (Recommend: DC 24V),
current≥100mA.
2. Switch signal output interface
Fig.3-5 Type 2 switch signal output interface
(1) External power source is provided by user. Please note if the power polarity is
misconnected, the drive may be damaged.
(2) Open-collector (OC) output, the maximum current is 70mA and maximum
external power source voltage is 25V. If the rated value is exceeded or the output is
directly connected to power source, the drive may be damaged.
(3) If the load is relay or other inductive load, an anti-parallel diode is needed for
current free-wheeling. If the diode polarity is misconnected, the drive may be
damaged.
Page·２３
Chap. 3 Wiring
3. Pulse signal input interface
Fig.3-6 Type 3 pulse signal input interface in differential drive mode
1) For differential signal drive, RS422 drive, e.g. AM26LS31 is suggested.

2) In order to improve the pulse data anti-noise ability, the differential drive
mode is suggested.
4. Drive optical encoder input interface
Fig. 3-7 Type 4 servo drive optical encoder input interface
Receiving encoder output A、B、Z、U、V、W signal.
Page·２４
Chap. 3 Wiring
5. Long-wire drive(differential output) interface
Fig. 3-8 Type 5 long-wire drive output interface

(1) Long-wire drive output signal is non-isolated
(2) For long-wire signal receiver, in this case, a 330Ω resistor is connected at the
input.
『NOTE』
 Drive and motor must reliably be grounded reliably. Drive power feeds the
motor through power transistors. Improper wiring or grounding may introduce
noise to the system. For this, firmly grounding is required.
 To avoid electrical shock, drive protection ground (PE) terminal must be
connected to cabinet protection ground (PE).
 Symbol in this manual represents twisted-pair wires.
3.5 Power supply circuit

The following graph depicts the drive wire connection with 3-phase and single phase
power supply.
Page·２５
Chap. 3 Wiring
(1) 3-phase AC 220V power input
Fig. 3-9 3-phase 220V drive wire connection
(2) Single phase AC 220V power input
Fig. 3-10 single phase 220V servo drive wire connection
Page·２６
Chap.4 Parameters
Chap. 4 Parameters
【CAUTION】
 Inappropriate parameter setting may cause the system unstable.
Pleases be careful for it.
 Forward rotation means motor rotation is counter-clockwise seen from
the motor shaft direction. Reverse rotation means motor rotation is
clockwise seen from the motor shaft direction.
 Parameters with “※”can be modified and displayed, but is not on in
the control until written into EEPROM and then re-power on. Other
parameters value can be changed and become on in the control
immediately after changing.
 Parameters with “★” are read-only parameters, writing is invalid.
 Parameters with “▲” are under development for future function
extension.
3.1 Parameter overview
Table 4.1 User parameters (Password: 58)

No. Parameter Name Range Default
00 Drive password 0～9999 58
01 Carrier frequency 5～15 15
02★ Software version ―― ――
03※ LED display beginning status 0～30 0

Basic Function
04※ Control mode 0～8 0
05 Invalid limited torque input 0～1 0
06 Invalid forbidden drive input 0～1 1
07 Zero-speed input signal mode 0～1 1
08 Zero-speed input mode 0～1 0
09※ Drive version mode 0～50 15

10▲ Analog output channel mode 0～8 0
Chap. 4 Parameters
11 Position loop gain 500～8000 2200
12 Position feed-forward gain 0～100 0
Gain and Filter
13 Position feed-forward filtering time

0～8100 2
constant
14 Speed loop gain 500～8000 3000
15 Integral time constant of speed loop 500～6000 2000
16 Speed sampling filtering time

0～4096 0
constant
17 Speed command filter 0～8100 0
18▲ Speed loop differential gain 0～100 0
19 Reserved ―― ――
20 S type enable 0～1 1
21 S type constant 1～16 1
23～24 Reserved ―― ――
Feedback frequency-division ratio
25※ 1～250 1
of motor encoder
26※ Output pulse logic reverse 0～1 0
27※ Input pulse logic reverse 0～1 0
Position Control
28 Command pulse input mode 0～2 0

Invalid forbidden command pulse
29 0～1 1
input
31 Electrical gear numerator 1～9999 1
32 Electrical gear denominator 1～9999 1

34▲ Positing command filter coefficient 0～2048 0
loop time mode of Internal position
37 1～8 0
register
38 Gain constant of current loop 400～3000 700
Page·２８
Chap. 4 Parameters
39 Acceleration time constant 10～3000 200
40 Deceleration time constant 10～3000 200
Integral time constant of current

Speed and Torque Control
41 1～50 10
loop
42 Zero speed clamping 0～1000 0.1
43 Speed input gain 10～1000 200
44 Logic reverse of speed input 0～1 0

Zero-flutter compensation of speed -2048～
45 0
input 2048
46 Torque input gain 1～100 10

47 Logic reverse of Torque input 0～1 0
48 Torque limit setting 0～300 200
50 Positioning complete range 1～9999 50
51 Zero speed 0～2000 50
52 Speed arrival 0～3000 2000
53 Exceeding position error 1～9999 200
54 Unavailable position error 0～1 0
Related Logic Program
58 Brake action time 1～1000 10
60 Brake action speed 0～1000 10
61 Motor speed in the brake action 0～200 50
63 Motor stop mode 0～1 1
64 Input signal logic mode 0～255 0
66 Logic mode of output terminal 0～255 2
Page·２９
Chap. 4 Parameters
69※ Communication mode 0～2 0
70※ Communication format 0～1 0
Related parameters
Communication
72※ Communication address 0～255 0
73※ Speed ratio of communication port 0～6 0
Protocol mode of communication

74※ 0～5 0
port
78 Torque command filter 0 0~8100
Internal position command 1 speed - 9999～

83 1
setting 9999
Internal position command 1 pulse - 9999～

84 1
number setting 9999
Internal Positioning Control

85 1
setting 9999

86 1
number setting 9999

87 1
setting 9999

88 1
number setting 9999

89 1
setting 9999
Page·３０
Chap. 4 Parameters
90 1
number setting 9999

91 1
setting 9999

92 1
number setting 9999

93 1
setting 9999

94 1
number setting 9999

95 1
setting 9999

96 1
number setting 9999

97 1
setting 9999

98 1
number setting 9999

99 1
setting 9999

100 1
number setting 9999

101 1
setting 9999

102 1
number setting 9999

103 1
setting 9999

104 1
number setting 9999
Page·３１
Chap. 4 Parameters
105 1
setting 9999

106 1
number setting 9999

107 1
setting 9999

108 1
number setting 9999
Internal position
- 9999～
109 command 13 speed 9999
1
setting
110 1
number setting 9999

111 1
setting 9999

112 1
number setting 9999

113 1
setting 9999

114 1
number setting 9999
Internal position command 1

115 0～3000 100
moving speed
116 0～3000 100
moving speed
117 0～3000 100
moving speed
118 0～3000 100
moving speed

119 0～3000 100
moving speed
Page·３２
Chap. 4 Parameters
Internal position command 6 moving
120 0～3000 100
speed

121 0～3000 100
speed

122 0～3000 100
speed
123 0～3000 100
speed
124 0～3000 100
moving speed
125 0～3000 100
moving speed
126 0～3000 100
moving speed
127 0～3000 100
moving speed
128 0～3000 100
moving speed
129 0～3000 100
moving speed
130 0～3000 100
moving speed
-3000～
Internal Speed
131 Internal speed command1 500

3000
Control
-3000～
3000
-3000～
3000
-3000～
134 Internal speed command 4 500
3000
Internal Torque
135 Internal torque command1 －300～300 50

Control
137 Internal torquecommand3 －300～300 50
Page·３３
Chap. 4 Parameters
139 Delay register 1 0～9999 100
Positioning Control Delay

153 Low voltage alarm ―― 200
154 Low voltage alarm (time) ―― 100
4.2 Parameter function
Table 4.2 Parameter function (Password: 58)

S/N: Name Function Default
Prevent the parameters from being changed by mistake. Before
changing other parameters, this parameter must be set to 58
0～9999
00 Password first. After setting other parameters, change this parameter to
【 58 】
be other values except 58 to avoid other parameters changed
by mistake.
Carrier 5~15
01 This parameter is for setting carrier frequency
【 15 】
Frquency
Software This parameter is for checking software version only, can not
02★ version be modified.
-- --
Page·３４
Chap. 4 Parameters
Mode for the initial LED display content after power on.
0：Display motor speed；
1：Display motor feedback pulse lower 4 bits；
2：Display motor feedback pulse higher 4 bits；
3：Display position receiving command lower 4 bits;
4：Display position receiving command higher 4 bits;
5：Display position error；
6：Display encoder resolution;
7：Display speed command input value；
9：Display torque command input value percentage[％]；
Initial display status
13：Display motor average current；

15：Display pulse input frequency；
16：Display main circuit voltage； 0～35
03※ 17：Display rotor position in a circle；【 0 】
18：Display input terminal status；
19：Display output terminal status；
20：Display encoder status；
21：Display control mode；
22：Display operation status；
23：Display Id；
24：Display Iq；
25：Display alarm record 1；
08，10，12，14，23~24, 29～35 are reserved；
Select drive control mode

Value Mode I Mode II
0 Position control mode ——
1 Speed control mode ——
Control mode mode
2 Torque control mode ——

3 Position mode Speed mode
0～8
04※ 4 Position mode Torque mode
【 0 】
5 Speed mode Torque mode
6▲ Internal position control mode ——
7 Internal speed control mode ——
8 Internal torque control mode ——
CN2-26（C-MODE）is used to switch between Mode I / II
Page·３５
Chap. 4 Parameters
input disable
Torque limit
To invalid analog torque limit signal input
（counter-clockwise or clockwise）。 0～1
05 1：input valid；Response to torque input signal normally；【 1 】
0：input disable. Mask off the torque input signal.
Control Connect to
Value Input Operation
input COM-
Connected（L）
Normal CW
limit switch
no action
CCWL
(CN2-20)
CCW direction
Open（H） Connected（L）
Operation is
prohibited, CW
direction is
Drive invalid input off
allowed
Valid
Normal，CW 0～1
6 【 1 】
limit switch
no action
CWL
(CN2-19)
CW direction
Open（H）
operation is
prohibited, CCW
direction is
allowed.
CCWL and CWL input are both

Invalid
1 Off. Clockwise and counter-clockwise

operation are both allowed.
If this parameter is set for zero, and CWL/CCWL are both

open circuit（not connect to COM-），drive will have alarm
23 【drive invalid abnormal】。
Page·３６
Chap. 4 Parameters
In speed control mode, ZEROSPD signal（Pin CN2-23）
function mode.
Zero-speed Value ZEROSPD signal function

input When ZEROSPD signal is valid , 0～1
07 0 【 1 】
function motor speed is clamped to be zero.
mode
When ZEROSPD signal is valid,
1
motor speed command is zero.
Enable and invalid zero-speed clamp ZEROSPD signal

（Pin CN2-23）
Switch between enable and invalid，this parameter is valid
Zero-speed for speed control mode. 0～1
08 Signal
【 1 】
Valid mode Value ZEROSPD signal valid and invalid mode
0 ZEROSPD input disable
1 ZEROSPD input enable
According to “1．5 SC series drive compatible motor”

Drive
set proper drive version number to this parameter. 0～50
09※ version
Make sure to choose the compatible drive for the motor, 【 15 】
mode otherwise, unexpected condition may be happened.
Analog output monitoring：

0：Motor speed（0～5V，5V for the maximum speed）
Analog 1：Motor torque（0～5V，5V for the maximum torque）
output 2：Motor current（0～5V，5V for the maximum current） 0～8
10▲ 3：input pulse frequency（0～5V corresponding to 0～500K）【 0 】
channel
mode 4：Speed command（0～5V corresponding to -10V～+10V）
5：Torque command（0～5V corresponding to -10V～+10V ）
6：Main circuit voltage（0～5V corresponding to 0～500V）
Set the position loop controller proportional gain to define the

position control response curve. Larger setting value means
500～
Position loop higher gain, higher stiffness, less delay. Faster positioning for
11 the same frequency pulse command.
8000
gain 【2200】
Too large value for this parameter may cause system unstable,
oscillation or overshoot.
Page·３７
Chap. 4 Parameters
This parameter can be set to change the speed
feed-forward term in the position control（%）. Larger
Speed feed setting value means faster and better position loop 0～100
12 forward response and position tracking. Too large value for this 【 0 】
parameter may cause system unstable, oscillation or
overshoot.
Feed This parameter can be used to set the time constant of the
0～8100
13 forward time filter for the speed feed-forward term. This function can
【 2 】
constant reduce the speed overshoot or detuning.
Setting the speed loop controller proportional gain.

Larger setting value means higher loop gain, higher fitness. 500～
Speed loop Usually, the bigger the load inertia is, the larger value should
14 gain
8000
be set. The gain is suggested to be set higher, as long as there 【3000】
is no system oscillation.
The smaller the setting value is, the faster the integration is,
Speed loop And he higher the stiffness is. Usually，the bigger the load 500～
15 integral time inertia is，the bigger the Setting Value should be。The value is 6000
constant suggested to be set smaller, as long as there is no system 【2000】
oscillation.
When the motor speed error is large, properly increasing

Speed the value of this parameter can get better performance.
0～4096
16 detection If the load inertia is large, the value can be increased.
【 0 】
filter Too large value will slow down the response and may
cause oscillation.
Speed
The bigger the setting value is, and the smoother the speed 0～8100
17 Command command is. Too large value will slow down the response. 【 0 】
filter
Speed loop
18 0～100
differential Speed loop differential gain parameter.
▲ 【 0 】
gain
0～1
20 S type enable It is valid under the speed control mode. 【 1 】
S type 1～16
21 constant
The more value you set, the more speed up/down in S type
【 1 】
Encoder
This parameter is used for setting the encoder output pulse
output
frequency division ratio. For example, if the encoder is 1～250
25※ Frequency 2500-line resolution, and this parameter is set to be 5, the A/B 【 1 】
division signal output will be 500 lines.
ratio
Page·３８
Chap. 4 Parameters
When the motor is rotating clockwise, phase-B pulse is

leading phase-A pulse. (When the motor is rotating
Pulse Output Logic reverse counter-clockwise, phase-B pulse is lagging phase-A
pulse) This parameter can be used for reversing the logic of
phase-B pulse, thus changing the phase relationship
CCW rotation CW rotation 0～1

26※ 【 0 】
Value Phase A
Phase B
0
not reverse
Phase B
1
reverse
Pulse Input reverse
When you want to change the motor rotation direction but do

not want to change the polarity of the command signal from
the controller, this parameter can be used.
0 ～ 1
27※ 【 0 】
Value Motor rotation direction
0 （＋） command, counter-clockwise rotation
1 （＋） command, clockwise rotation
This parameter is used for setting the command pulse type

given by the controller to the drive. There are three kinds
Command pulse Input Type mode
of command pulse type showing as follows:
Command Signal CCW CW

Value
pulse type name command command
Pulse/
PLUS
0 direction 0 ～ 2
28 SIGN
mode 【 0 】
CW/CCW
pulse PLUS
1
command SIGN
mode
A/B pulse
PLUS
2 command
SIGN
mode
Page·３９
Chap. 4 Parameters
This parameter determines the command pulse input disable.

Signal (SPD1, Pin CN2-2）is valid or invalid. When this
Command parameter is set to 1, even SPD1 is low. The command pulse
Pulse input is not invalid. 0～1
29 【 1 】
input disable Value SPD1 input
Invalid 0 invalid
1 valid
Input Command Pulse Frequency
multiplication numerator
Command pulse frequency multiplication function

（electrical gear）
Purpose：
A. The parameter can be used for setting the corresponding 1～9999
31 motor speed or position for the unit input command pulse. 【 1 】
B. The controller output frequency is not high enough to get
the required speed command; this parameter can be set to
multiple the frequency to achieve higher command frequency.
Division/multiplication function diagram
、
Numerator
Position (NO.13) position error
command ＋ counter
pulse
Input command pulse frequency multiplication
Denominator －
(NO.14)
Feedback pulse
Electrical gear ratio setting range：1/1800≦ G≦ 1800

denominator
Electrical gear ratio recommended range：1/50≦ G≦50

1～9999
32 【 1 】
Page·４０
Chap. 4 Parameters
When the position command frequency is divided or
multiplied too many times, (more than 10 times or less than
filtering coefficient
Positing command
1/10)，this parameter is used for reducing the motor speed
jump because of the frequency division or multiplication.
34 Value Time con tant
0～2048
▲ 【 0 】
0 No filtering function
1 ↓
～ Large time constant
2048 ↓
Internal
position
The mode range for the internal position register loop 1～8
37 register loop counter is 1~8.
【 0 】
counter
mode
Gain 400～
38 constant of The more value you adjust, the higher rigidy motor has 3000
current loop 【700】
Speed up
10～
time In speed control mode, the time duration for motor
39 constant accelerating/decelerating from zero to the rated speed (ms).
3000
【200】
(ms)
Speed command
Real speed
Speed down
10～
time The larger the parameter is, the longer the time duration
40 constant
3000
for accelerating/decelerating is; The smaller the parameter 【200】
(ms) is, the shorter the time duration for accelerating
/decelerating is.
Integral time
The more value you set, the slower response the motor does. 1～50
41 constant of In general, this parameter is not necessary to be set.
【10】
current loop
Page·４１
Chap. 4 Parameters
Zero speed In setting P4 = 1, if speed command voltage is less than the 0~1000
42 value of P42, speed of the servo motor will be zero. 【0.1】
clamping
This parameter can be used for setting the ratio between motor
speed and analog speed command voltage.（ Speed command
signal terminal is at pin CN2-33，signal ground is at CN2-35）
Speed
Speed control command ＝input voltage × parameter setting 10～500
43 command
value；【200】
input gain No.43 default value is 200. For example, if analog input is
10V, the speed command will be 2000rpm；If analog input
is 5V, speed command will be 1000rpm。
When you want to change the motor rotation direction, but not
Speed Command Input
change the analog speed command polarity, this parameter can

be used.
Logic inverse
Value Rotation dire tion 0～1

44 【 0 】
（＋） command, counter-clockwise rotation
0
（viewed from the shaft）
（＋） command, clockwise rotation (viewed
1
from the shaft)
Speed Command Zero
Drift Compensation
This parameter can be used for adjusting the external －2048

45 analog speed command zero-drift；Changing every unit of ～2048
this parameter can adjust 5mV of the drift. 【 0 】
This parameter can be used for setting the ratio between

motor torque and analog torque command voltage.
（Torque command signal terminal is at pin CN2-31. signal
Torque ground is at CN-36）
1～100
46 command Torque control command＝input voltage × parameter setting
value；【10】
input gain
No.46 default value is 10. If input is 10V，torque control
command will be 100％；If input is 5V，torque control
command will be 50％。
Page·４２
Chap. 4 Parameters
This parameter can be set to change the torque command

Torque Input polarity.
command 0～1
47 Value Motor torque direction 【 0 】
input
reverse 0 （＋） command, counter-clockwise torque
1 （＋）command, clockwise torque.
This parameter is used for limiting the maximum motor toque.

Torque limit 0～300
48 setting
Default value 200 means motor torque is limited within 200%
【200】
of the rated torque.
·This parameter can be used for setting the positioning

complete signal（COIN,CN2-3） output time sequence when
Positioning motor arrives at the command position is given by the 1～9999
50 complete command pulse.
【50】
range When the rest of the position error counter number is within
the value set by this parameter, the position complete signal
will output.
This parameter is used for setting the zero speed detection

（ZSP,CN2-34）output time sequence. 0～2000
51 Zero speed
When motor speed is below the setting value, signal ZSP will 【50】
be sent out.
In speed and torque control mode, this parameter is used for

Speed setting the speed arrival signal（COIN,CN2-3）output time
0～3000
52 arrival sequence.
【2000】
When motor speed exceeds the setting value, speed arrival
signal will be sent out.
This parameter can be used for setting the threshold value for
the position error overlarge.
Position
Parameter value ＝ [ Threshold value for position error
error 1～9999
53 overlarge
overlarge (Pulse number) ] / 256
【200】
If the position loop gain is small and the setting value of this
setting parameter is also too small, position error overlarge protection
(Alarm NO.9）will be activated even there is no position error.
Page·４３
Chap. 4 Parameters
Invalid the position error overlarge protection.

Position
error Value Position error overlarge protection
0～1
54 overlarge 0 Valid
【 0 】
protection Invalid. Even if the pulse number exceeds
off 1 the setting value of parameter No.53. the
motor will keep running
Define the process from mechanical brake break-off signal

to motor current cutting off(servo idle) for motor stop.
After servo-ON signal turns off, it will take about 6ms for
software calculation, then BRK signal will be sent out. As
the mechanical brake has delay time, after time duration Ta,
then, the brake will actually act. During this period, to avoid
Mechanical brake Action time for motor stop
motor minor shift or the working panel falling off, the motor
must be kept power on by electricity to maintain the torque.
Only after he mechanical brake actually acts, the electricity
can be turned off.
Value for this parameter should be larger than Ta (Mechanical

brake delay time），to avoid motor minor shift or component
falling off. 0～1000
58 【10】
·
No.58= (Given value) ×2ms.
Invalid
Valid
Servo-ON Brake hold
about 6ms
Brake release Brake hold
BRK Ta
Brake release
Actual brake
Idle (No electricity)
No.58
Motor Maintain electricity
current
Page·４４
Chap. 4 Parameters
Mechanical brake action time during motor running To define the processes from mechanical brake break off
signal to motor current cutting off (servo idle) during motor
running.
The value of Tb is either the value of parameter NO.60 or

the value of the motor speed in parameter NO.61, chosen
the smaller one from the above two values.
No.60=(Setting value)×2ms。 0～1000

60 【10】
Mechanical Brake
Motor Speed For
action
0～200
61 【50】
When S-ONis effective, motor stop mode：

Motor 0～1
63 stop mode
0：Motor will speed down to P61 ahead of P60
【 1 】
1：Motor will coast down to stop
T7 T6 T5 T4 T3 T2 T1 T0
Input signal logic
R_SPD SRV_ON SPD1 C_ ODE CWL CCWL CL ZEROSPD

mode
0～255
64 0 0 0 0 0 0 0 0 【 0 】
0:input low on 1：input high on
Example：P64 set for 64 when the servo needs internal contral
Page·４５
Chap. 4 Parameters
T7 T6 T5 T4 T3 T2 T1 T0
Output signal
logic mode
ZSP TLC COIN BRK_OFF ALM S-RDY

0～255
66 【 2 】
0 0 0 0 1 0
0: output low level 1：Output high level
Communication
Value 0 1 2
mode
0～2
69※ Mode No RS232 RS485 【 0 】
Communication
0: RTU format; 1: ASCII format

format
The start address is Parameter 131 (ADDR131) 0～1

70※ 【 0 】
The register is from 41001H on
Communication
Select for the communication drive address; have to be agreed

address
with the upper-level controller setting. 0～255

72※ 【 0 】
Value 0 1 2 3
communication
Speed ration of
Baud 2400 4800 9600 19200

port
0～6
73※ 【 0 】
Value 4 5 6
Baud 38400 5 600 115200
Page·４６
Chap. 4 Parameters
0 7bit，no parity check(n)，2 stop bit

Protocol mode of 1 7bit，even parity check(e)，1 stop bit
Communication
2 7bit，odd parity check(n)，1 stop bit

0～5
74※ 3 8bit，no parity check(n)，2 stop bit
【 0 】
4 8bit，even parity check(e)，1 stop bit
5 8bit，odd parity check(n)，1 stop bit
This parameter value has to correspond with upper controller.
Torque command
filter
The bigger the setting value is, the smoother the torque 0～8100
78 command is. Too large value will slow down the response. 【 0 】
Internal position command1
speed setting
－9999
83 ～9999
【 1 】
Internal position command（pulse number）＝

Internal position command setting value × motor pulse number
per rotate＋Internal position command pulse number setting
value。
command1 pulse setting
Internal position
－9999
84 ～9999
【 1 】
Page·４７
Chap. 4 Parameters
S/N: Function Default
85 Internal position command 2 speed setting
86 Internal position command 2 pulse number setting
98 Internal position command 8 pulse number setting －9999～9999
99 Internal position command 9 speed setting 【 1 】
100 Internal position command 9 pulse number setting －9999～9999
101 Internal position command 10 speed setting 【 1 】

115 Internal position command 1 moving speed 0~ 3000 【100】
116 Internal position command 2 moving speed
Page·４８
Chap. 4 Parameters
Internal speed In P4=1 (external speed command mode),
131
command 1 combine CN2_2 (SPD1) with CN2_1 (SPD0)
Speed command
SPD1 SPD0 Source proportion
Internal speed 1 (off) 1 (off) External
132 command 2
setting
1 (off) 0 (on) P131 value as No.43
Internal speed 0 (on) 1 (off) P132 －3000～3000
133 command 3 0 (on) 0 (on) P133 【500】
134 Internal speed command 4

135 Internal torque command 1 Torque ommand
proportion
136 Internal torque command 2 setting value as
137 Internal torque command 3 No.43
－3000～3000
138 Internal torque command 4 【50】
139 Delay register 1
142 Delay register 4 Delay time form
143 Delay register 5 Internal position
command n to
144 Delay register 6 Internal position
145 Delay register 7 Command n+1,
146 Delay register 8 delay time =
setting value *
147 Delay register 9 10ms
148 Delay register 10 0 ～ 9999
149 Delay register 11 【100】
153 Low voltage alarm
154 Low voltage alarm (time)
Page·４９
Chap. 5 monitoring and operation
Chapter 5 Monitoring and Operation

5.1 Panel operation
The panel is composed of 5 LEDs and 4 buttons,“MOD”“←”“↑” and “SET”. It is
used for displaying the system status and setting parameters.
The operation is based on different levels, which are described level by level as
follows:
Level 1: It is used to select one of the 4 operating modes with the button “MOD”.
Press “SET” to go into the second level. After typing the parameter number, press “SET”
going into the third level and the parameter value can be changed. Button “MOD” can be
used for returning to the upper level when you are at level 2 or level 3. When setting the
parameters, press “MOD”, the parameter value will not be changed. In short:
“MOD”：Mode mode/ cancellation

“←” ：Shifting bit position
“↑” ：Value increase
“SET” ：Confirm
During operation, the bit where the decimal point is blinking indicates this bit can be
modified. If all 5 LEDs’ decimal points are blinking, there is alarm and the alarm
number will be displayed. If press the same button continuously, the following
condition may be happened:
Button Possible Conditions

Switch between different control modes or keep
MOD
going back to the upper level
← Keep shifting the bit position to the left
Increase the bit value without carrying. After reaching 9,
↑
restart from 0.
If the operation is for EEPROM，it will keep writing
SET
EEPROM.
The operation mode diagram is shown as follows:
Fig. 5-1 Operation mode mode diagram (The first level)
5.2 Monitoring Mode (DISP)

1. Select the monitoring mode “dISP” from the first level, press “SET” to enter the
monitoring mode and LEDs display “dP0”.
2. In the monitoring mode, there are 35 monitoring variables. Press “↑” to increase
the value, press “←” to change the position. After choosing the needed display number,
press “SET” to enter the specific display.
3. If you want to display other variables, press “SET” or “MOD”(In monitoring

mode, these two buttons have the same function for return) to exit the present display and
return to level 2.
4. If you want to go to other operation modes, press “MOD”, and it will go back to
the upper level. When arriving at the first level, pressing “MOD” can switch between
different modes.
5. If there is alarm happened, the decimal point right to the 5 LEDs will blink. It
will not affect the button operation. When the alarm is clear, the display will return to
normal.
In monitoring mode, the operation code and corresponding display content is shown in Fig.
Page·５１
Table 5.1 Status Display

Code Display Example Description
Motor speed Motor reverse rotation speed
dP 0 -1000
（r/min） 1000r/min
Motor feedback At current position, motor has
dP 1 13C6
pulse lower 4 bits accumulated 2F13C6
Motor feedback (hexadecimal) pulses in the
dP 2 2F reverse direction.
pulse higher 4 bits
Position command Position command has
dP 3 A023
lower four（Pulse） accumulated 18A02
Position command （hexadecimal）pulses in the
dP 4 18 forward direction.
higher 4 bi（Pulse）
Position error Position error has
dP 5 101 Accumulated 101 pulses in the
（Pulse）
positive direction.
Motor encoder Motor encoder has 2500-line
dP 6 2500
lines resolution.
Speed command
dP 7 50 Speed command is 50（r/min）
input
Torque command
dP 9 100 Torque command input is 100％
input（％）
Motor average Motor average phase current is
dP 13 →SET→ 4.2
current（A） ←MOD← 4.2A
Command pulse ←SET← Position command pulse
dP 15 100
frequency（kHz） frequency is 100 kHz.
Main circuit
dP 16 330 Main circuit voltage is 330V.
voltage（V）
Rotor absolute position is
Rotor absolute
dP 17 1531 1531 in a circle （a full circle
position in a circle
corresponding to 10000）
Input terminal Input terminal signal, light
dP 18 ||||||||
status indicates there is input at this bit.
Output terminal Output terminal signal, light
dP 19 ||||||
signal indicates there is output at this bit.
Encoder status, light indicates
dP 20 Encoder status ||||||
there is input at this bit.
dP 21 Control mode C1 Control mode is 1
dP 22 Operation status cn-on Operation status：running
dP 23 Id d0 Current at field direction
Current in vertical to field
dP 24 Iq 8192
direction, rated torque operation.
dP 25 Alarm record 1 Err01 Alarm record 1 is No.1 alarm.
Page·５２
Note:
1. Input pulse is the one after the electrical gear.
2. Position command pulse frequency is the actual input pulse frequency before the
electrical gear. The minimum unit is 0.1 kHz. Forward rotation is displayed by
positive number, and reverse rotation is displayed by negative number.
3. Rotor absolute position represents the rotor position in a circle with respect to
the stator. One round is a circle and the value range is 0~9999.
4. Operation status display:
“Cn oFF” ： indicates the servo system is not running (Drive is not started, or
there is alarm) .
“Cn on”： indicates the servo system is running.
5. Terminal input status is shown in Fig. 5-2 and output status is shown in Fig.5-3.
Dotted lines at the upper part of the LEDs are the bits for monitoring the terminal
status.
A_CLR CWL CW
INH CCWL CCW

C-MOD
ZREOSPD
CLE SRV-ON
Fig. 5-2 Input terminal display (If the dotted line is on, it means the
Corresponding input terminal is ON. If the dotted line is off, it means
the corresponding input terminal is OFF. )
Fig. 5-3 Output terminal display (If the dotted line is on, it means the
corresponding output terminal is ON. If the dotted line is off, it means
the corresponding output terminal is OFF. )
Page·５３
5.3 Parameter setup (SET-P)
【NOTE】
 Before changing other parameters, parameter No.0 （ NO.0
【Password】）must first be set for 58.
 Parameter setting will become on immediately after change.（Except
for the parameters needed system re-power on）. Wrong parameter
settings may cause the abnormal function of the drive and cause
accident.
 If the changed parameter is not written into EEPROM, it will not be
saved after the system power-off.
 If the system lost power during the EEPROM written, please set the
parameters again.
At the first level, select “SET-P”, press “SET” button to enter the parameter setting
mode. Use “↑”、“←” button to choose the parameter number, then press “SET” to enter
the parameter.
Use “↑”、“←” button to set up the parameter value. The decimal point of the right
most LED will be blinking. Press “SET” to confirm the parameter change and it will come
back to the upper level automatically.
If you are not satisfied with the parameter value, do not press “SET”, but press
“MOD” to cancel this operation and return to the upper level. The parameter will remain
the same value as before change.
After every change to the parameter value, please re-enter the parameter, double
check and make sure the parameter value has been changed.
Note: In the parameter table, the parameter with “※” in front needs to be written
into EEPROM after change and re-power on the system to let it on.
5.4 Parameter management (EEPOP)
Parameter management deals with the operation between DSP RAM and EEPROM.
At the first level, select “EEPOP”, press “SET” button, and then go into the parameter
management mode.
Parameter management has 3 modes, use “↑” to select the mode number, then press
“SET” to enter the corresponding parameter management.
Page·５４
Table 5.2 gives a brief explanation to the parameter management.
Table 5.2 Parameter management

Code Operation Explanation Correspondance
The parameter values in the RAM are
written into EEPROM.
RAM
If the user changes the parameter value,
only the value stored in DSP’s RAM will
EE- 0 Writing change temporarily and will return to the EEPROM region
original value after next power on. If
want to change the parameter value
permanently, you need to use this written
command and the parameter will remain
the changed value after next power on.
Read all the parameters’ default value to
Default
the RAM and write them into EEPROM
parameter region.
During next power on, the default RAM

EE – 1 Reading parameter values will be used. Please
note, different drive version has different
parameter values. Make sure EEPROM region
the drive version is correct before using
the default value.
The flowchart of parameter management is shown in Fig. 5-4.

1. Press “MOD” button to display “EEPOP”.
2. Press “SET” to enter the parameter management and select the operation code. The default
operation is parameter writing （“EE—0”）.
3. Press “SET” button again and LED displays “EEP － ”. Keep pressing button
“SET”.(About 4 seconds)
4. When LED displays “Finish”, indicating the operation is completed, release the button.
Page·５５
EEPOP
EE-0.
EEP -
EEP --
------
Fig. 5-4 Parameter management operation flowchart
 If you still keep pressing “SET” after the parameters written finished, the
operation will start from step 3 again.
 If you release the button before “Finish” is displayed, the operation will be
cancelled automatically.
5.5 Speed trial run

 Make sure terminal TB and encoder terminal (CN3) is connected correctly and
control terminal (CN2) is disconnected.
 Make sure selecting the correct 【Drive version mode】 parameter and other
parameters. Load is removed from the motor shaft.
 After entering the trial run mode, you can press “MOD” to exit the trial run mode.
 Before exiting the trial run, please reduce the motor speed, otherwise, the motor will
stop dramatically fast and may cause unexpected problems.
 If the servo enable signal (S-ON) is on, it is impossible to enter trial run mode.
 If speed trial run is OK, meaning the motor and drive status is fine, the connection is
good.
Page·５６
(1) At level 1, choose “t-SPd”.

(2) Press “SET” to enter the speed trial run mode and LEDs display
“S-rdy”.
(3) Press “SET” to start speed trial run. The speed unit is r/min
and the value can be set by button.
(4) Press “←” to increase the speed for reverse rotation and press “↑” to increase the
speed for forward rotation. If you release the button, the motor will run at the setting
speed.
Fig. 5-5 Speed trial run operation diagram
Page·５７
Chap.6 Alarm and handling
Chapter 6 Alarm and handling
6.l Drive alarm
EPS2 series drive has many protection functions. When one of the protections is
triggered, the drive will turn off the output with a certain sequence and generate the alarm
at the same time.
 When alarm occurs, LED panel will display an alarm number. The 5 LEDs’
decimal points will blink and the servo-on signal is turned off.
 When alarm occurs, please shut off the power immediately and clear the fault
according to the alarm number. If the problem is identified to be inside the
drive, please contact our company for solution.
Table 6.1 Alarm overview
Number Alarm name Reason

-------- Normal
1 Overload Motor stator current is overlarge for a long

time.
2 under voltage Main circuit is under voltage.
3 Over voltage Main circuit is over voltage.
Main circuit power losing Main circuit only has signal phase power
4
phase input.
Motor speed is over the rated value for a long
8 Motor over-speed
time.
Position error counter value exceed the
9 Position error over-large
threshold
setting value.
Command pulse frequency Command pulse frequency is higher than
11
abnormal 500kpps.
12 Serial communication error Serial communication error
14 CAN communication error CAN communication error
16 EEPROM parameter error EEPROM stored data is destroyed.
20 IPM alarm IPM protection pin is always high.
Page·５８
21 Phase V current abnormal The measured phase V current is too large
22 Phase W current abnormal The measured phase W current is too large
Both clockwise and counter-clockwise
23 Drive invalid abnormal
position limit invalid input is disconnected.
25 Encoder AB pulses missing Encoder AB pulses are lost
26 Encoder Z pulse missing Encoder Z pulse is lost
27 Encoder UVW signal is wrong Encoder U、V、W signal is wrong
The error between motor speed and speed
30 Speed tracking abnormal
command is too large.
6.2 Alarm handling

The followings list several non-alarm failures and give some handling method to
identify the problem.
 Motor do not run.
1. Parameter: Control mode mode is not proper.
2. Wire connection: Not receiving CN2 servo-on signal: CN2 counter clear zero is
always valid (short circuit). CN2 command pulse input disable is
valid------Monitoring input signal (dp 13) status via LED panel display, to identify
the problem.
3. Shaft is locked permanently: Shut off the power, disconnect the motor, turn the
motor shaft by hand to make sure the motor can rotate freely. If the motor has
lose-power brake, then, add a 24V DC power to the brake and try to turn the motor
shaft by hand.
 Rotation is not smooth.

Wire connection：
a) Servo- ON signal keEPS2 appearing intermittently.
b) CW/CCW signal of CN2 keEPS2 appearing intermittently.
c) Counter clear signal is valid
d) CN2 command pulse input disable signal is valid.
You can use LED panel to monitor input signal status （dp 13） to identify the
problem.
Page·５９
 Motor has noise or vibration.
1. Parameter：The gain is too high: speed gain or position gain is too high；Speed
detection filter is not set properly.
2. Installation: Machine and motor have resonance vibrations.
For every alarm, Table 6.3 gives some general handling methods.
Table 6.3 Alarm handling method
NO. Name Status Reason Handling methods

During System acceleration or
deceleration During system
①Increase the acceleration or

Over load protection
deceleration time；
Drive has sampled ②Make sure the drive version is
running
1 overlarge current compatible with the motor model.

several times. ③Replace the drive and motor
with a larger power rating one.
During Drive power-on
①Increase the main power

during system running
under-voltage
Main circuit
Main circuit power transformer rating, increase the

converter dc-link main power voltage；
2 ②Check the main power and
voltage is below the
setting value.。 control power connection time
sequence.
Page·６０
①Measure the terminal voltage

Main circuit over-voltage
system running
During Drive power-on during
Main power supply
between（R、S and T）to see
input voltage is higher
whether it is within the range.
than the rated
②Check whether the braking
acceptable voltage,
3 resistor is broken.
which causes the
dc-link voltage is
higher than the rated
value.
Make sure the main power

losing phase
Main circuit power
during system running

During drive power-on
terminal is connected to 3-phase

AC 220V power source or R、T
R、T has no input
terminal is connected to single
4 power，or the input
phase AC220 power source.
power is not enough.
① Reduce the speed command；

protection
Motor over-sped
During system running
② Make sure the motor model is

selected correctly.
Motor speed exceeds
③Decrease parameter NO.4
8 the rated speed for a
【Speed command input gain】
long time.。
value；
Make sure input pulse frequency
×electrical gear≦500KHz.
Increase parameter NO.11

protection
Position error
The number of
position error pulses 【Position loop gain】value；
is larger than Reduce the load and speed；
9 parameter NO.53 Increase parameter NO.53
【Position error 【Position error over-large

over-large setting 】 setting 】value.
value.
Page·６１
Command pulse frequency abnormal

① Set the proper command
pulse input frequency；
②Adjust parameter No.31、32
The command pulse
value，reduce the multiplication
frequency at the input
coefficient, to let the command
11 of position error
pulse frequency be lower than
counter is larger than 500 kpps. （ Command pulse
500kpps。 frequency ＝ input command
frequency×division/multiplication
coefficient）
During Communication
Serial communication error
The drive received

Check the communication line；
data is found out to be
Check the baud rate and serial
different from the one
12 port parameters setting；
upper –level controller Communication chip
has sent after CRT failure inside the drive
check.
EEPROM parameter error
Parameter Management operation

During
drive
Re-set the parameters or re-write

The data stored in the default parameter values. If
16
power-on
EEPROM are destroyed. this alarm happens frequently, the

drive may have problem.
During
Page·６２

Drive version
mode error
Drive version number

Re-set the drive motor model
19 is not within the given
mode parameter.
range.
① Check whether motor power

line and encoder line are
connected properly；
② Check whether the drive motor
IPM alarm
Drive power module model mode parameter is correct.

20
is damaged. ③ Check whether the drive IPM
module is ok；after checking,
re-power on the system, if the
alarm No.20 still exists, please
contact our company.
abnormal
Phase V
current
21
The reason could be Drive power supply damage or
unstable power other damage inside the drive.

supply, current sensor
current abnormal
Phase W
damage or
AD sampling circuit
damage which causes
22 the sampling error.
Page·６３

Drive invalid abnormal

① Check the related circuit
Clockwise and
wiring and power.
counter-clockwise
② Check parameter NO.06 value.
23 position limit
invalid inputs are both
disconnected.
PWM error
PWM output ① Check whether there is noise

source near the input power and
waveform abnormal around.
24 caused by power ② If this error happens requently,
supply or IPM module the drive may have problem.
damage.
Encoder AB pulse missing
①Check the encoder

Connection wire.
There is no Phase-A,B ②Do not put the encoder
signal between drive wire and motor cable together,
25 and encoder, or the connect the shielding wire to the
encoder has sent the motor cover.
wrong data. ③Increase the acceleration

and deceleration time
Page·６４
①Check the cable connection,

Encoder Z pulse
don’t put the encoder signal wire
missing
Z pulse signal together with the motor cable.

generated once ②Increase acceleration and
26
every circle is not deceleration time.
detected. ③Replace the servo motor.
①Check the encoder wire

error
Encoder U、 V、 W signal
system running
During drive power-on During
②Replace the servo motor

③Replace the drive
The detected encoder
U、V、W signal is off.
27
They are 0 or 1 at the
same time。
①Check whether the load

system running
During
Speed tracking abnormal
mechanical part is locked;

②Check whether the motor
drive
Motor speed can not power line and encoder line is

track the speed connected properly；
30
power-on
command for a long ③Check whether the drive

time. IPM module is ok After checking,
re-power on the system, if the
During
same No. 30 alarm happens,

please contact the company.
『Note』
 Explanation：“During diver power-on” means the servo system is under invalidd
condition（S-ON off）；
“During system running” means the servo system is under enabled condition
（S-ON on）.
Page·６５
Chapter 7 Servo motor
【NOTE】
 Servo drive must be compatible with the motor.
 Motor winding U、V、W phase sequence should agree with the drive terminal.
 Servo motor has precise feedback devices inside. Knocking or strong vibration is
prohibited during transportation and installation.
 If the user wants to choose the servo motor from other companies, please notified us
in the order and we will try our best to meet your requirement.
7.1 Model naming format

Motor model name is composed of frame number, product number and performance
specs number:
7.2 Motor installation Dimension
Fig. Servo System for 60, 80, and 90 series
Page·６７
Fig. Servo System for 110 series
Page·６８
Page·６９
Page·７０
220V Servo Motor

60 Frame 80 Frame 90 Frame
Model 60HC1A 60HC1A 80HC1A 80HC1A 80HC1A 90HC1A 90HC1A 90HC1A- 90HC1A-
-02DB1 -04DB1 -05DB1 -08DB1 -10DB1 -05DB1 -08DB1 08CB1A 10DB1A
AKS AKS AKS AKS AKS AKS AKS KS KS
Rated Power
200 400 500 750 1000 500 750 750 1000
(W)
Rated
0.64 1.27 1.59 2.37 3.18 1.59 2.37 3.5 3.18
Torque (nm)
Rated
2 2.8 2.3 4 4.5 2.3 4 4.5 4.5
Current (A)
Rated Speed
3000 3000 3000 3000 3000 3000 3000 2000 3000
(RPM)
Instant Max
1.92 3.81 4.8 7.2 9.6 4.8 7.2 10.5 9.6
Torque
Instant Max
3.8 6.7 6.9 11.4 13.6 6.9 11.4 13.5 13.6
Current
Rotor 0.21x 0.27x 1.08x 1.4 x 1.63x 2.5x 3.0x 3.5x 1.63x
Inertia 10-4 10-4 10-4 10-4 10-4 10-4 10-4 10-4 10-4
Torque
0.455 0.455 0.66 0.8 0.74 0.66 0.7 0.92 0.74
Constant
Encoder: 2500 P/r
Usage Temperature: 0~40℃
Storage Temperature: Less than 90% RH (non-dew)
Anti-Vibration: 2.5G
IP65 (except Axis and connection)
LL 121 131 145 160 170 154 152 162 162
+ Brake 164 174 183 198 208 191 189 199 199
LR 10 35 35
LE 3 3 3
LG 10 18.5 12
S 14 19 16
LJ1 0 3 3
Axis Size
LJ 11 15.5 13
J 20 25 20
LF1 5 6 5
LF2 5 6 5
Frame Size
LA 70 90 100
LB 50 70 80
LC 60 80 90
LZ 6 6.5 6
Page·７１
110 Frame Size

Model 110HC1A-04 110HC1A-09 110HC1A-12 110HC1A-12 110HC1A-15 110HC1A-18
CB1AMS CB1AMS DB1AMS CB1AMS DB1AMS DB1AMS
Rated Power
400 800 1200 1200 1500 1800
(W)
Rated
1.91 3.8 3.82 5.7 4.77 5.7
Torque (nm)
Rated
2.3 3.5 5.6 5.6 6.5 7
Current (A)
Rated Speed
2000 2000 3000 2000 3000 3000
(RPM)
Instant Max
5.75 11.4 11.5 15.4 14.3 17.1
Torque
Instant Max
7 11 16.8 15.7 20 22
Current
Rotor
0.31x 10-3 0.54x 10-3 0.54x 10-3 0.76x 10-3 0.63x 10-3 0.76x 10-3
Inertia
Torque
0.8 1.18 0.8 1.33 0.83 1.0
Constant
Encoder: 2500 P/r
LL c 184 184 204 204 204
+Brake 213 233 233 253 253 253
LR 40 55 40
LE 5
LG 14
S 19
LJ1 3
Axis Size
LJ 15.5
J 25
LF1 6
LF2 6
LA 130
Frame Size
LB 95
LC 110
LZ 9
Page·７２
130 Frame Size
Model 130HC1A 130HC1A 130HC1A 130HC1A 130HC1 130HC1A 130HC1A 130HC1A

-06AB1A -10DB1A -10CB1A -10BB1A A-10AB1 -12CB1A -15DB1A -15CB1A
MS MS MS MS AMS MS MS MS
Rated Power
600 1000 1000 1000 1000 1200 1500 1500
(W)
Rated
5.73 3.18 4.77 6.37 9.55 5.73 4.77 7.16
Torque (nm)
Rated
2.8 4.5 4.5 4.5 4.5 5.6 6.5 6.5
Current (A)
Rated Speed
1000 3000 2000 1500 1000 2000 3000 2000
(RPM)
Instant Max
18.1 9.6 14.3 19.1 27.2 17.2 14.3 21.5
Torque
Instant Max
8.6 13.6 13.7 13.6 13.8 17 19.8 19.8
Current
1.98x 1.42x 1.42x 1.98x 2.84x 1.98x 2.26x 2.26x
Rotor Inertia
10-3 10-3 10-3 10-3 10-3 10-3 10-3 10-3
Torque
1.0 1.0 1.0 1.2 2.27 1.03 1.0 1.2
Constant
Encoder: 2500 P/r
LL 189 168 168 189 223 189 168 203
+Brake 247 226 226 247 281 247 226 261
LR 57
LE 5
LG 14
S 22
LJ1 5
Axis Size
LJ 18.5
J 36.5
LF1 6
LF2 6
Frame Size
LA 145
LB 110
LC 130
LZ 9
Page·７３
130 Frame Size
Model 130HC1 130HC1 130HC1 130HC1 130HC1 130HC1 130HC1 130HC1

A-15BB A-15AB A-20CB A-20BB A-30DB A-30CB A-40DB A-45DB
1AMS 1AMS 1AMS 1AMS 1AMS 1AMS 1AMS 1AMS
Rated Power
1500 1500 2000 2000 3000 3000 4000 4500
(W)
Rated
9.55 14.33 9.55 12.7 9.55 14.33 12.7 14.3
Torque (nm)
Rated
6.5 6.5 7.5 7.5 11.5 11.5 15 17
Current (A)
Rated Speed
1500 1000 2000 1500 3000 2000 3000 3000
(RPM)
Instant Max
28.7 42.99 28.7 38 28.7 34.3 38.11 34.3
Torque
Instant Max
19.8 19.5 22.8 22.8 34.5 28.8 45.8 34.3
Current
Rotor 1.94x 2.77x 1.94x 1.94x 1.85x 2.52x 1.94x 2.77x
Inertia 10-3 10-3 10-3 10-3 10-3 10-3 10-3 10-3
Torque
1.67 1.5 1.28 1.67 1.0 0.88 1.0 0.88
Constant
Encoder: 2500 P/r
LL 223 273 223 273 223 273 273 273
+Brake 281 331 281 331 281 331 331 331
LR 57
LE 5
LG 14
S 22
LJ1 5
Axis Size
LJ 18.5
J 36.5
LF1 6
LF2 6
Frame Size
LA 145
LB 110
LC 130
LZ 9
Page·７４
380V Servo Motor

130 Frame Size
Model 130HC1 130HC1 130HC1 130HC1 130HC1 130HC1 130HC1 130HC1 130HC1
B-10AB B-10CB B-10BB1 B-10AB B-12CB1 B-15DB B-15CB B-15BB1 B-15AB1
1AMS 1AMS AMS 1AMS AMS 1AMS 1AMS AMS AMS
Rated Power
1000 1000 1000 1000 1200 1500 1500 1500 1500
(W)
Rated
3.18 4.77 6.37 9.55 5.73 4.77 7.16 9.55 14.33
Torque (nm)
Rated
2.3 2.3 2.3 2.3 2.7 3.4 3.4 3.4 3.4
Current (A)
Rated Speed
3000 2000 1500 1000 2000 3000 2000 1500 1000
(RPM)
Instant Max
9.6 14.3 19.1 27.2 17.2 14.3 21.5 28.7 42.99
Torque
Instant Max
6.9 9.9 9.9 6.9 8.1 10.2 10.2 10.2 10.2
Current
1.94
Rotor 0.85x 0.85x 0.85x 1.94x 1.94x 1.94x 1.94x 2.77x
x
Inertia 10-3 10-3 10-3 10-3 10-3 10-3 10-3 10-3
10-3
Torque
1.67 2.5 3.3 5 2.4 1.6 2.4 3.2 5
Constant
Encoder: 2500 P/r
LL 168 168 189 223 189 168 203 223 273
+Brake 226 226 247 281 247 226 261 281 331
LR 57
LE 5
LG 14
S 22
LJ1 5
Axis Size
LJ 18.5
J 36.5
LF1 6
LF2 6
Frame Size
LA 145
LB 110
LC 130
LZ 9
Page·７５
130 Frame Size

Model 130HC1B-20 130HC1B-20 130HC1B-30 130HC1B-30 130HC1B-40 130HC1B-45
CB1AMS BB1AMS DB1AMS CB1AMS DB1AMS DB1AMS
Rated Power
2000 2000 3000 3000 4000 4500
(W)
Rated
9.55 12.7 9.55 14.33 12.7 14.3
Torque (nm)
Rated
4 4 6.8 6.8 9.2 10.3
Current (A)
Rated Speed
2000 1500 3000 2000 3000 3000
(RPM)
Instant Max
28.7 38 28.7 34.3 38.11 34.3
Torque
Instant Max
12 12 28.65 20.4 27.6 30.9
Current
Rotor
1.94x 10-3 2.77x 10-3 1.94x 10-3 2.77x 10-3 2.77x 10-3 2.77x 10-3
Inertia
Torque
2.87 3.8 2.24 2.4 1.57 1.53
Constant
Encoder: 2500 P/r
LL 223 273 223 273 273 273
+ Brake 281 331 281 331 331 331
LR 57
LE 5
LG 14
S 22
LJ1 5
Axis Size
LJ 18.5
J 36
LF1 6
LF2 6
LA 145
Frame Size
LB 110
LC 130
LZ 9
Page·７６
180 Frame Size

Model 180HC1B-20 180HC1B-20 180HC1B-2 180HC1B-3 180HC1B-37
BB1AMS CB1AMS 7BB1AMS 0BB1AMS AB1AMS
Rated Power (W) 2000 2000 2700 3000 3700

Rated Torque (nm) 12.7 9.55 17.2 19.1 35
Rated Current (A) 4 4 6.2 6.8 8.5
Rated Speed (RPM) 1500 2000 1500 1500 1000
Instant Max Torque 38.1 28.65 43 47 88
Instant Max Current 12 12 21.2 24 32
42.5x
Rotor Inertia 35.4x 10 -4 3.4x 10 -3 3.8x 10-3 8.4x 10-3
10-4
Torque Constant 3.5 2.6 1.62 1.58 2.18
Encoder: 2500 P/r
LL 202 192 212 212 272
+ Brake 277 267 287 287 347
LR 65
LE 3.2
LG 18
S 35
LJ1 3
Axis Size
LJ 30
J 51
LF1 8
LF2 10
LA 200
Frame Size
LB 114.3
LC 180
LZ 13
Weight
Page·７７
180 series
Model 180HC1B-45 180HC1B-45B 180HC1B-50 180HC1B-55 180HC1B-75A
CB1AMS B1AMS CB1AMS BB1AMS B1AMS
Rated Power (W) 4500 4500 5000 5500 7500

Rated Torque (nm) 21.5 28.6 23.8 35 47.7
Rated Current (A) 10.3 10.3 11.4 12.5 17.5
Rated Speed (RPM) 2000 1500 2000 1500 1500
Instant Max Torque 53 85.8 71.4 88 143.1
Instant Max Current 30.9 30.9 34.2 37.5 52.5
Rotor Inertia 4.7x 10-3 77.9x 10-4 63.7x 10-4 90x 10-4 104x 10-4
Torque Constant 1.26 2.67 2.27 3 2.9
Encoder: 2500 P/r
LL 212 252 232 272 332
+ Brake 287 327 307 347 407
LR 65
LE 3.2
LG 18
S 35
LJ1 3
Axis Size
LJ 30
J 51
LF1 8
LF2 10
LA 200
Frame Size
LB 114.3
LC 180
LZ 13
Page·７８
※ Communication Mode
1. Communication parameter setting
P69：Communication mode
Parameter values 1 2
Communication mode RS232 RS485
P70：Communication format
Parameter values 0 1
Communication format RTU ASCII
P72：Communication address 1~255
P73：Speed ratio of communication port
Parameter 0 1 2 3 4 5
values
Speed ratio 2400 4800 9600 19200 38400 57600
P74：Protocol mode of communication port
0 7,N,2
1 7,E,1
2 7,O,1
3 8,N,2
4 8,E,1
5 8,O,1
2. Communication protocol：
When using RS485, it is necessary for each servo system to set the
communication address. Therefore, the computer can control the servo system
according to the communication address.
2.1 Communication format：
1）RTU（Remote Terminal Unit）mode
RTU mode：
Every 8-bit data consists of two 4-bit Hexadecimal characters, for example: 64H
2）ASCII（American Standard Code for Information Interchange）mode
Character 0 1 2 3 4 5 6 7
ASCII 30H 31H 32H 33H 34H 35H 36H 37H
Page·７９
ASCII mode：
Every 8-bit data consists of two ASCII characters, for example: A 1-bit data 64
（Hexadecimal）represented by ASCII “64” which includes 6（36H）and 4
（34H）
Character 8 9 A B C D E F
ASCII 38H 39H 41H 42H 34H 44H 45H 46H
2.2 Communication data format

2.2.1 ASCII mode
Communication data format
STX DATA(N-1) END
“:” ADDR FUNC LEN ````````` LRC CR(0DH)
(3AH) DATA(0) LF(0AH)
（1） STX：Start unit “：”（）3AH
（2） ADDR communication address 8-bit includes 2 ASCII。
1~255：Corresponding servo address
（3） FUNC：Function code 8-bit includes 2 ASCII。
03：Read from register
06：Write in register
10：Multi-write in register
2.2.1.1 Function code as 03 mode

03 Read from register
Upper controller format：
“：“ ADDRESS 03 ADDRH ADDRL NUMH NUML LRC 0X0D
0X0A
Servo returning correct data format：
“：“ ADDRESS 03 BYTECOUNT DATA1 DATA2 DATA3 DATAN
LRC 0D 0A
Servo returning incorrect data format：
“：“ ADDRESS 0X83 01 or 02 or 03 0r 04 LRC 0X0D 0X0A
For example：read the value ADDR131 of servo functional code (supposing 500）
Send the data：“：” 01 03 03E8 0001 01 CR LF（Hexadecimal）, and change into
Page·８０
ASCII mode
3A 30 31 30 33 30 33 45 38 30 30 30 31 30 31 0D 0A（ASCII）
Return the data：“：” 01 03 03E8 0001 01 CR LF（Hexadecimal）, and change
into ASCII
mode：3A 30 31 30 33 30 33 45 38 30 30 30 31 30 31 0D 0A（ASCII）
The returning data is“01 03 03E8 0001 01F4 CR LF” （Hexadecimal）and
change into decimal number as 3A 30 31 30 33 30 33 45 38 30 30 30 31 30 31 46
34 0D DA
The returinig data“01F4” （Hexadecimal）and change into decimal number as

‘‘500’’ means ADDR131 setting value is 500.

06 Write in register
Upper controller format：
“：” ADDRESS 06 ADDRH ADDRL DATAH DATAL LRC 0X0D
0X0A
Servo returning correct data format：
” ADDRESS 06 ADDRH ADDRL DATAH DATAL LRC 0X0D
0X0A
Servo returning incorrect data format：
“：” ADDRESS 0X86 01 or 02 or 03 0r 04 LRC 0X0D 0X0A
For example：write servo function code ADDR131 into 0000

Send the data：“：” 01 06 03E8 0000 0E 0D 0A（Hexadecimal）, and change into
ASCII
mode as 3A 30 31 30 36 30 33 45 38 30 30 30 30 30 45 0D 0A（ASCII）
Return the data：“：” 01 06 03E8 0000 0E 0D 0A（Hexadecimal）, and change into
ASCII mode
3A 30 31 30 36 30 33 45 38 30 30 30 30 30 45 0D 0A（ASCII）
The returning data is “0000”（Hexadecimal）and change into decimal number as
“000” means ADDR setting value is 000.
Page·８１

10 Multi-wrote reserving function
Upper controller data sending mode：
“：”ADDRESS 0x10 ADDRH ADDRL NUMH NUML BYTECOUNT
DATAH1 DATAL1 DATA2H DATA2L-------DATANH DATANL LRC
0X0D 0X0A
Under correct situation the servo returning data mode：
“：”ADDRESS 0x10 ADDRH ADDRL NUMH NUML LRC 0X0D
0X0A
Under incorrect situation the servo returning data mode：
“：”ADDRESS 0X90 01 or02 or 03 0r 04 LRC 0X0D 0X0A
As well as ADDR000 to write into at the same time, to write 1100 into ADDR001
To send information：“：”01 10 00 00 00 02 04 0B B8 04 4C D6 0D 0A
（Hexadecimal）, and
change to ASCII mode：
3A 30 31 31 30 30 30 30 30 30 30 30 32 30 34 30 42 42 38 30 34 34 43 44 36 0D
0A（ASCII）
Servo return the information：“：“01 10 00 00 00 02 45 44 0D 0A（Hexadecimal）,
and
change to ASCII mode：3A 30 31 31 30 30 30 30 30 30 30 30 32 34 35 34 34 0D
0A（ASCII）
Which going to send should be wrote into Hexadecimal number “0BB8”and“04
4C” then change to Decimal number as 3000 and 1100 , means both of ADDR000
and ADDR001 are writing into 3000 and 1100 data.
2.2.2 RTU mode

Communication information format
Mute ADDR FUNC DATAH DATAL CRCH CRCL Mute
>50ms >50ms
RTE format have same bit address and function code as ASCII mode
Page·８２

03 Read reserving function
For example：To read the servo function code ADDR000 setting value（suppose is
3000）
To send information：03 00 00 00 01 CRC（Hexadecimal）
Servo return the information：01 03 02 0B B8 CRC（Hexadecimal）
The returning information bit as “0BB8”（ Hexadecimal）and change to decimal
number as 3000 means ADDR000 setting value is 3000

06 Write reserving function
For example：To write servo function code ADDR000 into 3000
To send information：01 06 00 00 0B B8 36 0D 0A（Hexadecimal）
Servo return the information：01 06 00 00 0B B8 36 0D 0A（Hexadecimal）
The returning information bit as “0BB8”（ Hexadecimal）and change to decimal
number as 3000 means ADDR000 setting value is 3000
2.2.2.3 Function code as 10 mode（Decimal is 16）

10 Multi-wrote reserving function
To write 3000 into ADDR000 at the same time, and to write 1100 into ADD001.
To send information：01 10 00 00 00 02 04 0B B8 04 4C CRC（Hexadecimal）
Servo return the information：01 10 00 00 00 02 45CRC（Hexadecimal）
Which going to send should be wrote into Hexadecimal number “0BB8”and“04
4C” then change to Decimal number as 3000 and 1100 , means both of ADDR000
and ADDR001 are writing into 3000 and 1100 data.
Page·８３
Appendix
Appendix
1. Motor power calculation
Based on motor rated speed and rated torque, the servo motor power can be
calculated by the following equation:
2π
W NM
60
W：Motor power，unit: W；
M：Motor torque，unit : Nm；
N：Motor speed, unit: rpm。
For example：130ST-M10015 motor，its torque is 10N·M and speed is 1500rpm；
Based on the above equation, the power is: W=(10×1500) ×2×3.14÷60÷1000=1.57
（KW）
2. Electrical gear ratio

The meaning of electrical gear ratio and its adjustment method:
In position control mode, the load actual speed is:
Command pulse speed ×G × mechanical reduction gear ratio
In the diver with mechanical gears, the electrical gear ratio G is calculated by the
following equation:
G
P pulse
Mi
L
P pulse
：The number of pulses for every motor cycle; it represents the number of
pulses feed back by feedback device for the motor rotating one round. For a 2500
pulse incremental encoder, the number of pulses feed back to the drive is
2500×4=10000 a round；
M： Pulse calculation equivalent (mm). It refers to the upper-level controller

resolution；
L： Lead screw pitch (mm)；
i： Mechanical gear ratio
i= driven gear teeth number (machine side)
driving gear teeth number(motor side)
For example：If the upper-level controller pulse equivalent is 0.001mm；Mechanical

reduction gear ratio is i=driven gear/ driving gear＝36／24；Lead screw pitch is
6mm；Motor encoder is 2500P/r，the number of encoder feedback pulses per round is
2500×4＝10000.
Based on the above equation:
36
1 0 0 0 0  0 .0 0 1 
G  24  5
6 2
『Note』
 When the electrical gear ratio is not 1, there may be remainder after division
operation. In this case, there will be position error; the maximum error will be
motor minimum movement. (Minimum resolution 1/10000 per round )
 For direct connection (without mechanical gear), the calculation will be the
same as above except that the mechanical gear ratio is i=1.
This manual is not an assurance for the industrial

proprietary and not a promise to any execution right.
In addition, for the issues concerning the industrial
proprietary caused by using this manual, our
company will not be responsible for that.
Page·2
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－300～300【50】

 Thank you for choosing EPS2 series AC servo motor

DANGER Indicates a potentially hazardous situation which, if

CAUTION Indicates a potentially hazardous situation which, if

Represents "MUST" operation which has to be executed.

Represents "MUST NOT" operation which is inhibited.

※ Communication parameter setting…………………………………………….80

Table 1.1 EPS2 Drive Specification

Power Supply AC 220V AC 380V 50／60Hz

Humidity Less than 90%RH (without dew)

① Position control ② Speed control ③ Torque control

Encoder Type ① 2500PPR increment ② 10000PPR increment

Table 1.2 EPS2 Drive Function

Pluse + Direct, CW+ CCW pulse，

Electrical gear 1/100≦G≦100

Command control range External analog / Internal registor

Overload time 200% rated output in 3 sec

Command smooth mode Low-pass smooth filter

Speed, position, command pulse accumulation, position error, motor

Protection Over-voltage, low-voltage, over-current, over-speed, over-load,

Signal Display Display ON/OFF status of the I/O signal

Alarm Record 4 alarm records included the present one is memorized.

First number is voltage：2 for 220V 4 for 380V

Connection mode L: screw connector

1. 4 EPS2 series drive dimensions

0.2~0.75KW 139.5 75.1 183 11.5 159 31 173 6

220V 1.0~2.0KW 191.7 96 190 10.5 162 30 176 6

2.5~5.5KW 201.9 117.1 277 0 242 50 261 6

1.0~2.5KW 202 100.5 197.4 0 170 30 183.4 6

1.7 Parts Description

Heat sink base:

Control circuit power:

External braking resistor: Communicationer:

Drive output: Control connector:

Fig.1-3 SC series drive illustration

Motor axis Motor cover Encoder

Fig.1-4 Servo motor outer view

Table 2.1 Drive environmental conditions

Altitude Lower than 1000m

2.2 Installation Site

2.3 Mounting orientation and space

1) Do not submerge the motor cable to oil or water.

2) Do not apply direct impact to the shaft or encoder while attaching/detaching a

<1> Installation for single drive：

Fig.2-1 Installation for single drive

Fig.2-2 Multiple drives installation

2.6 Cable stress

3.1 Drive configuration and connection to peripheral device

Non-fusible breaker (NFB):

Noise Filter (NF)

Magnetic Contactor (MC) Communication

Reactor (L) Control cable

Fig. 3-1 Drive connection to peripheral device：

(1) Power terminal TB

Wire size: R、S、T、U、V、W、PE terminal wire size≥1.5mm² (AWG14-16)，

All circuits must be connected correctly before powering on.

Table 3.1.1 EPS2□□-040 drive power terminal

Symbol Signal Name Function