User Manual For SA Series: Smart & Accurate

User Manual
For SA Series
Smart & Accurate
Preface
Thank you for choosing Zapp Automations range of AC servo products.
This manual is a user guide that provides the information on how to install, operate and maintain
SA series AC servo drive. The contents of this manual include the following topics:
Chapter 1 Model and Specifications

1.1 Unpacking Check
After receiving the AC servo drive, please check for the followings in order to prevent mistake during purchase or
shipment：
● Check the following section about the model explanation of the servo drive and motor to ensure that the
product is what you have ordered.
● Rotate the motor shaft slightly by hand, a smooth rotation will indicate a good motor. However, a servo motor
with holding brake cannot be rotated manually unless give power to the holding brake to release the
shaft.
● Inspect the unit to insure it was not damaged during shipment.
If any items are damaged or incorrect, please inform the distributor whom you purchased the product from or your
local BONMET sales representative.
1.2 Model Explanation

1.2.1 SM Series Servo Motor
● Nameplate Explanation
Figure 1-1 Nameplate explanation of SM series servo motor

● Model Explanation
Model Holding Brake

Z- With holding brake
SM series servo motor None means without holding
brake
法兰规格
Flange size Shaft Type
42 42×42(mm)
40×40(mm)
40 B - No key
60 60×60(mm)
60 K1- With K1 type key
80 80×80(mm)
80 K2- With K2 type key
110 110×110(mm)
110
130 130×130(mm)
130
150 150×150(mm)
150 Encoder Specifications
180 180×180(mm)
F -Standard incremental
encoder (With halls wires)
Nominal torque F1- Lesswire incremental
The value multiplies 0.1 is the encoder (With- -out halls wires)
nominal torque value. For C - Absolute encoder
example：050×0.1=5N·m
Motor Voltage
Nominal rotation speed
D - Low power type
The value multiplies 100 is the L - 220 VAC type
nominal speed value. For H - 380 VAC type
example：30×100=3000rpm
Figure 1-2 Model explanation of SM series servo motor
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1.2.2 SA Series Servo Drive

● Nameplate Explanation
Figure 1-3 Nameplate explanation of SA series servo drive
● Model Explanation
Figure 1-4 Model explanation of SA series servo drive
1.3 Product Features

1.3.1 Servo Motor Features
● Parts Description of 42 ,60 and 80 Series Servo Motor
Figure 1-5 Parts description of 42, 60 and 80 series servo motor

● Parts Description of 110, 130 and 150 Series Servo Motor
Figure 1-6 Parts description of 110, 130 ,150 and 180 series servo motor
● Definition of The Motor Rotation Direction
Positive direction（CCW） Negative direction（CW）
Definition of the motor rotation direction：facing the motor shaft side, CCW (counterclockwise) direction is
positive direction, CW (clockwise) direction is negative direction.
1.3.2 Servo Drive Features

● SA3L04C
Figure 1-7 Parts description of SA3L04C

● SA3L06B/SA3L10B
Figure 1-8 Parts description of SA3L06B/SA3L10B

● SA3L25C
Figure 1-9 Parts description of SA3L25C

● SA3H10C
Figure 1-10 Parts description of SA3H10C

● SA3H25C
Figure 1-10 Parts description of SA3H25C

1.4 Technical Specifications
1.4.1 Input and Output Specifications
● 220V Type Servo Drive
Model SA3L04C SA3L06B SA3L10B SA3L25C
Applicable Servo Motor Max. Power kW 1.0 1.5 2.6 5.5
Nominal Current A 4.0 6.0 10.0 25.0
Peak Current A 12.0 20 30.0 75.0
Main Circuit V Single-phase/Three-phase 220VAC（-15～+10%）50/60Hz
Control Circuit V Single-phase/Two-phase 220VAC（-15～+10%）50/60Hz
Note: Recommended for the motor capacity of which more than 0.75 kW not use single phase electricity
supply, the specific wiring methods are in Chapter 3.3 explained
● 380V Type Servo Drive

Model SA3H10C SA3H25C
Applicable Servo Motor(220V type) Max. Power kW 2.6 5.5
Applicable Servo Motor(380V type) Max. Power kW 3.8 5.5
Nominal Current A 10.0 25.0
Peak Current A 30.0 75.0
Main Circuit V Three-phase 380VAC（-15～+10%）50/60Hz
Control Circuit V Two-phase 380VAC（-15～+10%）50/60Hz
1.4.2 General Specifications

Temperature Operation：0～40℃ Storage：-40℃～50℃
Operating
Ambient Humidity 40%～80%( free from condensation)
Conditions
Atmospheric pressure 86～106kPa
Control Method IGBT PWM Control
① Position control ②Speed control ③Torque control ④Position/Speed/Torque
Control Mode
control ⑤Torque-speed control ⑥Point to point control ⑦Bus control
Regeneration Brake Internal/External connection
Speed Frequency
400Hz or more
Response
Speed ±0.03 or less (Load 0～100%); ±0.02 or less (Power supply -15～+10%)
Characteristics Speed Fluctuation Rate
(Value corresponds to the nominal speed)
Speed Ratio 1:5000
Logic_Servo_Enable, Logic_Alarm_Clear, Logic_CCW_Disable,
Logic_CW_Disable, Logic_ExTLimit_Enable, Logic_POrder_Clear,
Logic Input Signal Logic_POrder_Inhibit, Logic_SOrder_Clamp, Logic_STOrder_Invert,
Input Signal Logic_IntPn_Sel[0], Logic_IntPn_Sel[1], Logic_IntPn_Sel[2], Logic_IntPn_Sel[3],
Logic_Mode_Sel[0], Logic_Mode_Sel[1], Logic_PID_Sel
Analog torque command input、analog speed command input、external pulse command
Command Input Signal
input
Servo ready output、Servo alarm output、Positioning complete output / speed arrival
Status Output Signal
Output Signal output、Holding brake release signal
Position Output Signal Differential output for A、B、Z pulse, Open collector output for Z pulse
Maximum Input Pulse
500KHz
Frequency
Input mode ① Differential output ②Open collector output
Position Control
Command mode ①Pulse + direction ②CCW+CW pulse ③A/B phase pulse (set by parameters)
Command Smoothing
Position command filter
Method

Electronic Gear 1～30000/1～300000（Recommended value：50～1/50）
①Set by parameters（CCW/CW）②Switched by digital input（16 species of command）
Torque Limit
③Controlled by analog command
Internal 16 speed command set by parameters, you can switch different command by switch
Command control signal
Comman Analog
0～±10VDC（Default：10VDC corresponds 3000rpm）
d mode Command
Speed Pulse
Control 0～500KHz（Default：500KHz corresponds 3000rpm）
Command
① Analog low-pass filter order ②Acceleration / deceleration time constant ③
Command Smoothing
Position command filter
Speed Limit Set by parameters
Command mode 0～±10VDC（Default：10VDC corresponds 100% nominal torque）
Torque Command Smoothing Torque command filter

Control Speed Limit Set by parameters
Torque Limit Set by parameters（CCW/CW）
Homing Method ① Positive homing mode ②Negative homing mode ③ Automatic homing mode
16 position command set by parameters, you can switch different command by switch
Command mode
control signal
Point to point 16 acceleration / deceleration command set by parameters，corresponds the position
Control Command Smoothing
command
Speed Command 16 speed command set by parameters，corresponds the position command
Torque Limit 16 torque Limit command set by parameters，corresponds the position command
B Type RS-232 port
Communication
C Type RS-232 port、RS-485 port
Bus Control Function Mod bus, CANOpen（Optional function），EtherCAT（Optional function）
Motor output torque, motor speed, feedback pulse, torque command, speed command,
Monitoring Function position command, motor current, absolute rotor position, position deviation, alarm
code, input and output signal status, etc.
Encoder signal abnormalities, Overload, Main circuit overvoltage, Main circuit under
Protective Function voltage, Motor overload, Over current, Speed tolerance, Brake overload, Over location
etc.
Applicable Load Inertia Less than five times of motor inertia


● Installation of AC servo drives and motors
● Configuration and wiring
● Trial run steps
● Control functions and adjusting methods of AC servo drives
● Parameter settings
● Inspection and maintenance
● Troubleshooting
● Application examples
Before using the product, please read this manual to ensure correct use. Users should thoroughly
understand all safety precautions (DANGERS and WARNINGS) before proceeding with the
installation, wiring and operation. If you still have any problem, please contact with the local
Bonmet sales representative. Place this user manual in a safe location for future reference.
Safety Precautions
● To prevent electric shock, note the following:
DANGEROUS
· Before wiring or inspection, switch power off and wait for more than 10 minutes. Then,
confirm the voltage is safe with voltage tester. Otherwise, you may get an electric shock.
· Wiring must be carried by electrical engineer.
· Connect the servo drive and servo motor to ground.
· Operate the switches with dry hand to prevent an electric shock.
· The cables should not be damaged, stressed, loaded, or pinched. Otherwise, you may get an
electric shock.
● To prevent fire, note the following:
CAUTION
· Do not install the servo drive, servo motor and regenerative brake resistor on or near
combustibles. Otherwise a fire may cause.
· When the servo drive has become faulty, switch off the main power. Continuous flow of a
large current may cause a fire.
· When there is a signal faulty as a regenerative brake resistor is used, please switch the main
power off. Otherwise, a regenerative brake transistor fault may overheat the regenerative
brake resistor and cause a fire.
1

● Wiring Precautions
CAUTION
· Wire the equipment correctly and securely.
· Connect the output terminals (U, V, W) correctly.
· Do not connect AC power directly to the servo motor.
● Operation and Adjustment Precautions
CAUTION
· Do not touch the radiator and the regenerative brake resistor as they are overheated.
· Do not set parameter value unduly. If so, system would be instable.
· Do not touch the rotating parts of the servo motor in operation. Doing so may cause injury.
● Others
CAUTION
· Do not attempt to remold the servo drive.
CONTENTS
Chapter 1 • • • • • • Model and Specifications
Chapter 2 • • • • • • Installation
Chapter 3 • • • • • • Wiring
Chapter 4 • • • • • • Display and Operation
Chapter 5 • • • • • • Operation
Chapter 6 • • • • • • Parameters
Chapter 7 • • • • • • Communication
Chapter 8 • • • • • • Protective Functions
2

Chapter 2 Installation
2.1 Notes for Installation
● Do not bend or strain the cables between servo drive and motor；
● When mounting the servo drive and servo motor, make sure to tighten all screws to secure the machine
in place；
● Motor shaft must be concentric with the axis of transmission;
● If the cable between drive and motor is longer than 10 meters, the cable must be a larger diameter.
2.2 Installation Environment

● Please install the servo system in the place without oil mist, dust or electrical control cabinet (ensure the
temperature below 50℃, relative humidity below 80%. The long-term safety temperature below 40℃)
● Please install the servo system in the place without radioactive matters and combustibles.
● Take an anti-vibration measure to guarantee that the servo drive is free from vibration impact, ensuring the
vibration under 0.5G (4.9m/s2).
● Please install the servo system in the place without direct sunlight.
● Interferential equipment nearby would take great effects to the power wire and control wire which will
cause mis-operation. For normal operation, a noise filter or any other anti-jamming measures is necessary
to be carried out. Leakage current would increase after installing a noise filter; therefore an isolation
transformer can be used to avoid this problem. Possessing a reasonable alignment and inhibit measures is
very important because the control signal wire is easy to be interfered.
2.3 Dimensions（Unit: mm）

2.3.1 Dimensions of SA3L04C
Figure 2-1 Dimensions of SA3L04C

2.3.2 Dimensions of SA3L06B /SA3L10B
Figure 2-2 Dimensions of SA3L06B/SA3L10B
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2.3.3 Dimensions of SA3L25C
Figure 2-3 Dimensions of SA3L25C

2.3.4 Dimensions of SA3H10C
Figure 2-4 Dimensions of SA3H10C

2.3.5 Dimensions of SA3H25C
Figure 2-5 Dimensions of SA3H25C
2.4 Installation Direction and Space

● The equipment must be installed in the specified direction. Otherwise, a fault may occur.
● Leave specified clearances between the servo drive and control box inside walls or other equipment.
● Leave a large clearance between the top of the servo drive and the internal surface of the control box, and
install a fan to prevent the internal temperature of the control box from exceeding the environmental
conditions.
● When using heat generating equipment such as the regenerative brake option, install them with full
consideration of heat generation so that the servo drive is not affected. Install the servo drive on a
perpendicular wall in the correct vertical direction.

2
Chaapter 2 Installation
Fig
gure 2-6 installaation schematic diagram for drrives
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pp Automationn Ltd | www.zap
ppautomation.co
o.uk
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Chapter 3 Wiring
Chapter 3 Wiring
3.1 Connections
3.1.1 Note
● All terminals and plugs must be screwed tight; poor contact or disconnection could lead to accidents.
● Check the input power wiring (R, S, T, r, t), do not give 380V power to a 220V drive, otherwise it will result
damage.
● The motor power terminal (U, V, W) should be connected to the output of the drive correspondingly, wrong
connection of phase sequence would cause lock of rotor or jump. You can not change the phase sequence to get
an opposite rotation direction.
● In order to prevent error movement caused by noise, please install isolation transformers and noise filter.
● The equipment must be grounded.
● Do not put power lines and signal lines in a same conduit or their binding them together, the distance between
power lines and signal lines should be 30cm at least, otherwise it may cause interference.
● Please use the shielded twisted wire as signal and encoder cable. The length of CN2 cable should be less than 2
meters; The length of encoder cable should be less than 20 meters , and when the length of motor power cable
and encoder cable is over 10 meters, the wire should be multi-line connection or use a coarser wire).
● Dangerously high voltage may still be present 10 minutes after the power is cut. Before wiring or inspection,
you should test the voltage with a multimeter and confirm that the voltage is already in a safe range.
● Do not switch power supply frequently. The maximum frequency should be no more than once per minute.
3.1.2 Cable Specifications

Main circuit Control circuit Motor power cable Encoder cable I/O cable
Model
(R,S,T) (r,t) (U,V,W,PE) (CN1) (CN2)
2 2
≥1.0mm2 ≥1.0mm ≥1.0mm2 ≥0.14mm ≥0.14mm2
SA3L04C
(AWG16-18) (AWG16-18) (AWG16-18) (AWG26) (AWG26)
2 2
≥1.5mm2 ≥1.0mm ≥1.5mm2 ≥0.14mm ≥0.14mm2
SA3L06B
2 2 2 2
≥1.5mm ≥1.0mm ≥1.5mm ≥0.14mm ≥0.14mm2
SA3L10B
2 2 2 2
≥2.5mm ≥1.0mm ≥2.5mm ≥0.14mm ≥0.14mm2
SA3L25C
(AWG11) (AWG16-18) (AWG11) (AWG26) (AWG26)
2 2 2 2
≥1.5mm ≥1.0mm ≥1.5mm ≥0.14mm ≥0.14mm2
SA3H10C
2 2 2 2
≥2.5mm ≥1.0mm ≥2.5mm ≥0.14mm ≥0.14mm2
SA3H25C
(AWG11) (AWG16-18) (AWG11) (AWG26) (AWG26)

Chapter 3 Wiring
3.1.3 Peripheral Connection of SA3L04C
Figure 3-1
Note：
① All terminals and plugs must be screwed well, poor contact or disconnection could lead to accidents.
② Main circuit and control circuit share the same power terminal, please ensure connecting the power terminal (R,
S, T) to three-phase AC 220V power. Please check chapter 3.3 for details of power connection.
③ Please ensure the phase sequence of U, V, W is correct, wrong connection of phase sequence would cause lock
of rotor or jump.
④ Connect terminal PC with terminal P1 and leave terminal P open when using internal braking resistor; connect
the braking resistor between terminal PC and terminal P and leave P1 open when using external resistor. Please
check chapter 3.4 for details.
Chapter 3 Wiring
3.1.4 Peripheral Connection of SA3L06B/SA3L10B
Figure 3-2
Note：
② Please ensure connecting the main circuit power terminal (R, S, T) to three-phase AC 220V power and control
circuit power terminal(r, t) to single-phase or two-phase AC 220V power. Please check chapter 3.3 for details.
of rotor or jump.
Chapter 3 Wiring
3.1.5 Peripheral Connection of SA3L25C
Figure 3-3
Note：
circuit power terminal(r, t) to single-phase or two-phase AC 220V power. Please check chapter 3.3 for details.
of rotor or jump.
Chapter 3 Wiring
3.1.6 Peripheral Connection of SA3H10C
Figure 3-4
Note：
circuit power terminal(r, t) to two-phase AC 380V power. Please check chapter 3.3 for details.
of rotor or jump.
Chapter 3 Wiring
3.1.7 Peripheral Connection of SA3H25C
Figure 3-5
Note：
circuit power terminal(r, t) to two-phase AC 380V power. Please check chapter 3.3 for details.
of rotor or jump.
Chapter4 Display and Operation


4.1 Description of the Digital Keypad
Figure 4-1 Operation panel

Name Function
The Display LED shows the monitor codes, parameter settings and operation values of the AC
Display LED
servo drive. Switch to error display screen when error occurs, and LED will flash.
Charge LED The Charge LED lights to indicate the power is applied to the circuit.
RUN LED The RUN LED lights to indicate the motor is energized（ON） or not（OFF）.
UP button UP and DOWN button. Pressing the UP and DOWN button can scroll through and change
DOWN button monitor codes, parameter codes and various parameter settings.
ENTER button Enter the next menu or determine the parameter value.
CANCEL button Exit current menu.
4.2 Operation instructions

4.2.1 Main menu introduction
Name Display Explanation
Default initial display. Customers can set Pn-3 to

Original state
select the content of boot screen.
Monitor each status of the servo drive and servo
Monitor function menu
motor.
Parameter setting menu Set the user’s parameter.
Save parameters, load parameters and restore the

Parameter management menu
default parameter.
Speed trial control menu Set command of speed trial control mode.
JOG control menu JOG control function.
Analog input drift

Analog input drift compensation function.
compensation function menu


4.2.2 Serve state monitoring menu

1． Submenu introduction
Comment [u1]: 7.28 修改


2． Torque command and motor output torque

Torque command motor output torque
⑴ The value is the percentage of torque, and the unit is “%”. Taking SM130-050-25LFB for example, the motor’s
nominal torque is 5N•m, 50 means 50% of the nominal torque, which is 2.5Nm;
⑵ If the value is a positive number, it indicates that the motor is running in positive (CCW) direction, as the value
is a negative number, it indicates that the motor is running in negative (CW) direction.
3． Speed command and motor speed

Speed command Motor speed
⑴ The value is speed, and the unit is “rpm” ;

⑵ If the value is a positive number, it indicates that the motor is running in positive (CCW) direction, as the value
4． Position command and feedback pulse

Low 5 bit of position command Low 5 bit of feedback pulse
High 5 bit of position command High 5 bit of feedback pulse
⑴ The position command would count as in analog input drift compensation mode (Pn4=5);
⑵ The value is the pulse number, and the unit is “pulse”. If the value is a negative number like -12345, then the
prompt symbol(“q”, “q.”, “p”, “p.”) will disappear;
⑶ The total pulse number may be a big value, so we separate it into high 5 bit part and low 5 bit part. The total
pulse number = high 5 bit of pulse x 100,000 + low 5 bit pulse. Taking the above chart for example, the total pulse
value = 1 x 100,000 + 23456 = 123456;


⑷ If the value is a positive number, it indicates that the motor is running in positive (CCW) direction, as the value
5． Position deviation
High 5 bit of position deviation Low 5 bit of position deviation
⑴ Position deviation is the differential value between position command pulse and feedback pulse;
⑵ The value is the pulse number, and the unit is “pulse”;
⑶ The total pulse number may be a big value, so we separate it into high 5 bit part and low 5 bit part. The total
pulse number = high 5 bit of pulse x 100,000 + low 5 bit pulse. Taking the above chart for example, the total pulse
value= 0×100000+123=123
⑷ If the value is a positive number, it indicates that the motor is running in positive (CCW) direction, as the value
6． Motor current
⑴ This function is used to monitor the motor current, the unit is “Ampere”;
⑵ The calculate method is:
1 2
I ( IU  IV2  IW2 )
3
It is the effective value of the phase current.
7． Absolute rotor position
⑴ This function is used to monitor the absolute rotor position, and the unit is “pulse”;
⑵ The counting range is decided by the encoder’s resolution. Taking SM130-060-25LFB for example, if the
encoder’s resolution is 10000 pulse/round, it means the counting range is 0 ~ 9999, and “0” is the home position of
encoder.
Note: For optical incremental encoder, the counting is wrong at the first round after power on, unless meet the “z”
pulse, the counting will be accurate.


8． Control mode
This function is used to monitor the control mode

Code Definition
0 Torque control mode
1 Speed control mode
2 Position control mode
3 Speed trial control mode
4 JOG control mode
5 Analog input drift compensation mode
6 Point to point control mode
7 Torque/position/speed control mode
9． Alarm display
⑴ This function is used to monitor the alarm code.

⑵ As the servo drive alarms, the display will switch to error display screen, and LED will flash. As soon as clear the alarm, the
display will show “Err --”, which means there is no alarm, and customers can click “CANCEL” to exit.
10． Digital input status

● Low 4 bit of digital input status
● High 6 bit of digital input status
This function is used to monitor the digital input status, indicates “ON” and indicates “OFF”.


11． Digital output status
This function is used to monitor the digital output status, indicates “ON” and indicates “OFF”.
12． Encoder input status
This function is used to monitor the encoder input status, indicates “ON” and indicates “OFF”.
4. Parameter setting menu

⑴ Enter into parameter setting submenu
⑵ Select parameter
⑶ Parameter setting
Note: After change the parameters, there will be a little dots in the bottom right corner of the parameter


value. Click “Enter” key to confirm the setting and the parameter setting is succeed after confirming the
little dots is disappear.
5. Parameter management menu

In parameter management menu, customers can “Restore default parameters”, “Save the current
parameters to EEPROM”, “Load the parameters from EEPROM”, “Back up the current parameters” and
“ Load the parameters from backup”.
Customers can “save the current parameters to EEPROM” as the adjusting is finished, and the parameters
will keep as if reset the power.
1． Save the current parameters to EEPROM
Note：The parameters will be lost after power off if you don't save the parameters.
2． Load the parameters from #0


3． Back up the current parameters
4． Load the parameters from backup
Select parameter management menu;
Enter
Enter in to the sub-menu;
Select EE-Ld1 ;
Enter
Click Enter to load the parameters from backup;
After the operation, the display will show Finish as if

the operation is done, while the display will show Ereo
as if the operation fails.


5． Restore default parameters

⑴ Set the motor code by Pn-1. Taking SM110-020-30LFB（K1/K2） for example, set Pn-1 to 4;
⑵ Restore the default parameters of S, SM110-020-30LFB（K1/K2） by “EE-dEF” command.
Select parameter management menu;
Enter
Enter in to the sub-menu;
Select EE-dEF ;
Enter
Click Enter to restore the default parameters;
After the operation, the display will show Finish as if

the operation is done, while the display will show Ereo
as if the operation fails.
⑶ Reset the power of servo drive..
6. Speed trial control menu

Customers can set speed command in speed trial control mode, please refer to chapter 5 section 5.10 for operation
instructions.
Select Speed trial control menu;
Enter
Click Enter select speed command setting

option;
Click UP button or DOWN button to set the speed

command. A positive number indicates that the motor is
running in positive (CCW) direction, as a negative number
indicates that the motor is running in negative (CW) direction.


7. JOG control menu

Customers can operate JOG control in this menu, please refer to chapter 5 section 5.9 for operation instructions.
Select JOG control menu;
Enter
Click Enter , 1500 indicates current JOG

speed command;
Click UP button, the motor would run at JOG speed

command in positive (CCW) direction, and click DOWN
button, the motor would run at JOG speed command in
negative (CW) direction.
8. Analog input drift compensation function menu

Customers can use analog input drift compensation function in this menu.
Note：It is normal that there is deviation in analog input drift compensation operation. Often, customers need a
fine-tuning compensation by manual operation, please refer to chapter 5, section 4.3.4 and 4.6.4.

Chapter 5 Operation
Chapter 5 Operation
5.1 Operation steps
Item Content Reference
Please keep the motor shaft in a non-connection state, do not connect the motor
Installation Chapter 2
with mechanical system for servo action confirmation at first.
Wiring Connect servo drive with power and peripheral device Chapter 3
Preparation before Please confirm all the necessary items before turn on the power. And check if
Chapter 4
operation there is any alarm from the displaying.
Operate in JOG mode or trial speed mode to test the servo drive and servo
Action confirmation Chapter 5
motor without any load on the shaft.
Parameters settings Set parameters according to terms of use. Chapter 5
↓
Connect motor with mechanical systems, turn on the power, and check whether
Trial operation protective functions (such as emergency stop and stroke limit) are working. —
Check operation at both low speed and high speed.
↓
Gain adjustment Adjust the gain to get a good performance. Chapter 5
You can carry out normal operation now. If any faulty happens, please refer to
Normal operation Chapter 8
"Chapter 8 Protection."

Chapter 5 Operation
5.2 Position Control Mode
● Three type optional input pulse command (pulse & direction pulse, CCW+CW pulse, A /B phase pulse )
● Two types of input signal optional（open collector signal、differential signal）
● Optional electric gears
● The number of dividing pulse: Any setting ratio is available
● Speed limitation and torque limitation can be set
5.2.1 Terminal Diagram
PE BONMET Motor 4 core Pin

R
U 2
3-phase AC
S V 3
220V
W 4
T 1
r
t
P CN1 26LV32(Receiver)
PC
12 5V 2 Encoder 15
13 0V 3 Core Pin
P1
1 A 4
6 A 7
CN2 2 B 5
DC 7 B 8
VCC COM 18
12~24V 4.7K 3 Z 6
8 Z 9
Servo-ON input L_Servo_Enable 10
11 4 U 10
Alarm clear input L_Alarm_Clear
12 9 U 13
Positive direction over-travel inhibition input L_CCW_Disable
13 5 V 11
Negative direction over-travel inhibition input L_CW_Disable
Deviation counter clear input L_POrder_Clear 14 10 V 14

Command pulse inhibition input L_POrder_Inhibit 15 14 W 12
External Torque Limit Signal L_ExTLimit_Enable 16 15 W 15
None 17 Shell FG 1
CN2
SRDY 8
Servo-Ready output
SRDY 27 CN2 26LS31(Driver)
ALM 25
Servo-Alarm output 1 PhaseA
ALM 26
2 PhaseA
COIN 28
Positioning complete output 3 PhaseB
Differential signal of
COIN 29
4 PhaseB encoder feedback
BRK 30
Holing brake release signal 5 PhaseZ
BRK 31
6 PhaseZ
7 ZOC Open collector signal of Z-phase
9 EGND Encoder feedback grounding
CN2
Position Command PulseInv 32
PULS PulseInv 33 36 FG
Position Command SignInv 34
SIGN SignInv 35
Figure 5-1 Terminal diagram

Chapter 5 Operation
5.2.2 Parameters Settings
No. Parameter Function
Pn-4 Motor control mode Select position control mode(Value: 2)

Pn-48 Denominator of electric gear
Pn-49 Numerator 1 of electric gear
Two sets of electronic gear can be switched by the external trigger signal.
Dynamic electronic gear function
Pn-51
enable
Pn-52 External Pulse Input Type Select the pulse command type.
Invert of pulse command
Pn-53 The direction of position command can be inverted with this function.
direction
Range of positioning complete if the position error drops in the target position range, the output terminal
Pn-54
function COIN turns active, otherwise COIN remains inactive.
The drive will issue position tolerance alarm when the position offset counter
Pn-55 Position error detection range
value exceeds the selected value×100 in position control mode.
Pn-56 Position error detection function Set this parameter to enable the position error function or not.
Pn-57 Encoder output ratio The number of dividing pulse: Any setting ratio is available
The value is determined by the type of servo and the load condition. In general,
The first speed loop proportional larger load inertia needs larger value. It can be switched with the second speed
Pn-30
gain loop proportional gain automatically or manually (refer to chapter 5 section
4.10).
The first speed loop integral time larger load inertia needs larger value. It can be switched with the second speed
Pn-31
constant loop integral time constant automatically or manually (refer to chapter 5
section 4.10).
Normally, smaller value results in slower and smoother speed response. But
The first low-pass bandwidth of too much small value may cause system oscillation. It can be switched with the
Pn-32
speed loop second low-pass bandwidth of speed loop automatically or manually (refer to
chapter 5 section 4.10).
The first low-pass filter too much small value may cause system oscillation. It can be switched with the
Pn-33
bandwidth of torque command second low-pass filter bandwidth of torque command automatically or
manually (refer to chapter 5 section 4.10).
The second speed loop larger load inertia needs larger value. It can be switched with the first speed
Pn-36
proportional gain loop proportional gain automatically or manually (refer to chapter 5 section
4.10).
The second speed loop integral larger load inertia needs larger value. It can be switched with the first speed
Pn-37
time constant loop integral time constant automatically or manually (refer to chapter 5
section 4.10).
The second low-pass bandwidth too much small value may cause system oscillation. It can be switched with the
Pn-38
of speed loop first low-pass bandwidth of speed loop automatically or manually (refer to
The second low-pass filter too much small value may cause system oscillation. It can be switched with the
Pn-39
bandwidth of torque command first low-pass filter bandwidth of torque command automatically or manually
(refer to chapter 5 section 4.10).
Higher gain results in greater mechanical stiffness and less position tracking
The first Position loop error. Too large value may cause overshoot or oscillation. It can be switched
Pn-44
proportional gain with the second Position loop proportional gain automatically or manually
The first position loop differential
Pn-45 error. Too big value may cause overshoot or oscillation; This parameter is
proportional gain
usually set to zero unless very fast response is required. It can be switched with
Chapter 5 Operation
the second position loop differential proportional gain automatically or
The filter is used to increase the stability of compound position control. It can
The first cut-off frequency of
Pn-46 be switched with the second cut-off frequency of position feed forward filter
position feed forward filter
automatically or manually (refer to chapter 5 section 4.10).
①Smoothen filter for the command pulse with the accelerate of index form,
the value stands for time constant. The unit is ms;
Filter would not lose input pulse but may lead to delay;
The filter works in the follow conditions:
Constant of position command
Pn-47 ● Host controller has not acceleration and deceleration function;
filter
● Larger electronic gear ratio (＞10);
● Lower command frequency;
● Motor running with jumps or other unstable conditions;
Filter is inactive as set to 0.
The second Position loop error. Too large value may cause overshoot or oscillation. It can be switched
Pn-66
proportional gain with the first Position loop proportional gain automatically or manually (refer
to chapter 5 section 4.10).
error. Too big value may cause overshoot or oscillation; This parameter is
The second position loop
Pn-67 usually set to zero unless very fast response is required. It can be switched with
differential proportional gain
the first position loop differential proportional gain automatically or manually
The second cut-off frequency of
Pn-68 be switched with the first cut-off frequency of position feed forward filter
Enhancement of torque loop As set the value to 1, it can enhance the response of the torque, but it may
Pn-69
response function cause some current noise in the motor.

Chapter 5 Operation
5.2.3 Operation Flow Chart
Set Pn-4 to 2 ⑴ Select position control mode.
Select input
Select input pulse command type (support pulse/direction pulse ,
pulse command
type CCW/CW pulse, A phase/B phase pulse ) by Pn-52.
Select rotation
direction
⑶ Select rotation direction by Pn-53.
Select electronic Select electronic gear ratio by Pn-48, Pn-49, Pn-50.

gear function
Set signal “ServoEn”(CN2-Pin 10) ON or set Pn-8 to 100000,

Set ServoEn ON
then the RUN light would shine, and the motor get the power.
Host sends pulse ⑹ In no-load conition (leave the motor shaft free), send pulse command
command for a for forward, reverse, acceleration / deceleration and other operation
trial operation for a trial operation.
Adjust the servo ⑺ Make a trial processing and adjust the servo gain according to the
gain running status.
Figure 5-2 Operation flow chart
5.2.4 Function
1. Positioning completed output function（Related parameters：Pn-54）
⑴ The function is only effective in position mode and point to point mode, and the digital output signal “COIN” is
defined as the positioning completed output signal.
⑵ If the position error drops in the target position range, COIN output ON, otherwise COIN remains OFF.
2. Position error detection function（Related parameters：Pn-56, Pn-57）
⑴ The function is only effective in position mode and point to point mode, if the position deviation exceeds a
threshold value, it would occur Err-16;
⑵ Set Pn-56 to 0, enable the position error detection function;
⑶ Set the threshold alarm value by Pn-57, the servo drive would alarm as the position deviation (difference
between pulse command and actual stroke position) exceeds the threshold value.
The threshold alarm value = the value of Pn-57 *100pulse
3. Pulse command inhibit function
Establish a mapping between logic signal (Logic_POrder_Inhibit) and physical port，the default mapping is
“Logic_POrder_Inhibit”→“INH/SC2”. As “Logic_POrder_Inhibit” is OFF, the servo drive would receive the pulse
normally and drive the motor; however, if the “Logic_POrder_Inhibit” is ON, the servo drive would not drive the
motor.

Chapter 5 Operation
Figure 5-3 Pulse command inhibit function
4. Pulse counter clear function

Establish a mapping between logic signal (Logic_POrder_Clear) and physical port, the default mapping is
“POrder_Clear ”→“ CLE/SC1/ZEROSPD”. As “Logic_POrder_Clear” is OFF, the servo drive would receive the
pulse normally and drive the motor; however, if the “Logic_POrder_Clear” is ON, the cumulative position
command, actual stroke position and the accumulated error count will be forced to clear, and the motor shaft would
hold still.
5. Electronic gear function（Related parameters：Pn-48, Pn-49, Pn-50,Pn51）

⑴ G

Po：The required pulse number per round

P： Encoder resolution
G： Electronic gear ratio
For example：the encoder resolution of SM110-050-30LFB is 10000ppr, if you want count 1000pulse per round,
P 10000
G 10
Po 1000
Then you should set Pn-49 to 10 and Pn-48 to 1.
Figure 5-4 Electronic function
⑵ Set Pn-51 to 1 to enable dynamic electronic gear function, customers can switch two sets of electronic gear by
the logic control signal” Logic_IntPn_Sel [0]”.

Chapter 5 Operation
Figure 5-5 Dynamic electronic gear function
6. Encoder Output Pulses（Related parameters：Pn-57）

⑴ Customers can set the number of dividing pulse, any setting ratio is available（Refer to section 3.5 of chapter 3
for wring）：
N
R
P
R ：Ratio
N ：The required Encoder Output resolution（The required pulse number per round）
P ：Encoder resolution
Numerator should be less than denominator and not be set zero, otherwise, the ratio will forced to 1:1.
⑵ Convert P and N into five-bit binary number (P as a low-five and N as a high-five), and combine them into a
ten-bit binary number, then convert this ten-bit binary number into a decimal number, it is the value of Pn-57.
For example：The encoder resolution is 10000ppr, now we need encoder output resolution of 5000ppr, which means
N is 1 while P is 2.
Convert the number into five-bit binary number, then N is 00001 while P is 00010;
Combine P and N together into a ten-bit binary， then convert it into a decimal number 34, so we set Pn-57 to 34.
⑶ Any setting ratio is available, however, a decimal would reduce the resolution of encoder output.

Chapter 5 Operation
5.3 Speed-torque Control Mode
● ±10V Analog input, control the motor speed and torque simultaneously
● Analog input drift compensation function
● Control through the I / O port, switching the rotation direction by digital input terminal
● Acceleration / deceleration time setting
● Support encoder output, any setting ratio is available

R
U 2
3-phase AC
S V 3
220V
W 4
T 1
r
t
PC
12 5V 2 Encoder 15
13 0V 3 Core Pin
P1
1 A 4
6 A 7
CN2 2 B 5
DC 7 B 8
VCC COM 18
12~24V 4.7K 3 Z 6
8 Z 9
11 4 U 10
9 U 13
Positive direction over-travel inhibition input L_CCW_Disable 12
13 5 V 11
Speed zero clamp input L_SOrder_Clamp 14 10 V 14

Analog command direction switching input L_STOrder_Invert 15 14 W 12
None 16 15 W 15
None 17 Shell FG 1
CN2
SRDY 8
Servo-Ready output
ALM 25
ALM 26
2 PhaseA
COIN 28
Speed arrival output 3 PhaseB
COIN 29
BRK 30
BRK 31
6 PhaseZ
CN2
Analog speed command + ASPEED ＋ 22 -

10k
(-10V~+10V) ASPEED － 21 +
- AGEND 23
Analog torque command + ATORQUE ＋ 20 -

10k 36 FG
(-10V~+10V) ATORQUE － 19 +
- AGEND 24
Figure 5-6 Terminal Diagram

Chapter 5 Operation
Pn-4 Motor control mode Select speed control mode(Value: 1)

Gain of analog torque command
Pn-15 Set the ratio between the input voltage of analog torque and actual motor torque
input
Gain of analog speed command
Pn-18 Set the ratio between the input voltage of analog speed and actual motor speed.
input
Pn-19 Analog input drift compensation The zero-bias compensation for the analog speed input.
Direction inversion of analog
Pn-20 Set the rotation direction.(Effective in analog speed mode)
speed input
Low-pass bandwidth of analog
Pn-21 Set the response time of speed analog input.
speed input
Pn-34 Acceleration time constant Set the acceleration time constant.
Pn-35 Deceleration time constant Set the deceleration time constant.
Pn-40 Command type of speed control Select command type.（Value：1）
In speed control mode, if the motor speed exceeds the selected value, then
Pn-43 Target speed
COIN output ON, otherwise COIN output OFF.
Pn-30
4.10).
Pn-31
constant loop integral time constant automatically or manually (refer to chapter 5 section
4.10).
Normally, smaller value results in slower and smoother speed response. But too
The first low-pass bandwidth of much small value may cause system oscillation. It can be switched with the
Pn-32
Pn-33
Pn-36
4.10).
Pn-37
time constant loop integral time constant automatically or manually (refer to chapter 5 section
4.10).
The second low-pass bandwidth much small value may cause system oscillation. It can be switched with the first
Pn-38
of speed loop low-pass bandwidth of speed loop automatically or manually (refer to chapter 5
section 4.10).
Pn-39
Enhancement of torque loop As set the value to 1, it can enhance the response of the torque, but it may cause
Pn-69
response function some current noise in the motor.

Chapter 5 Operation
Figure 5-7 Operation Flow Chart

Chapter 5 Operation
5.3.4 Function
1． Analog gain setting function（Related parameters：Pn-15, Pn-18）
Set the ratio between the input voltage of analog speed and actual motor speed.，they are proportional relationship.
Value of Pn-18=(Max. input/Max. speed command) 30000。The default value is 100，which means 10Vsupport
speed command of 3000rpm.
Item Pn-18=50 Pn-18=100 Pn-18=200
Speed command Speed command Speed command
3000 rpm 3000 rpm
Relationship 1500 rpm

of input 10V 10V
Analog 10V 0V Analog 10V 0V Analog
voltage and 5V 0V 5V
voltage voltage voltage
1500 rpm
output speed
3000 rpm 3000 rpm
Set the ratio between the input voltage of analog torque and actual motor torque.，they are proportional relationship.
Value of Pn-15=(Max. input/Max. torque command) 10。The default value is 100，which means 10Vsupport 100%
torque.
Item Pn-15=50 Pn-15=100 Pn-15=200
Torque command Torque command Torque command
100% 100%
Relationship
50%
of input
10V 10V
voltage and Analog Analog Analog
5V 0V 5V 10V 0V 10V 0V
output 50%
torque
100%
2． Analog input drift compensation function（Related parameters：Pn-19）

● Customers can use the analog input drift compensation function to deal with the analog input drift.
● There are two methods of analog input drift compensation operation, automatic compensation and manual
compensation. A little deviation is normal when using automatic compensation function, usually we need fine
tuning of manual operation by parameter.
⑴ Make a correct wiring and set the analog voltage to 0V.
⑵ Carry out a automatic compensation operation according to section 4.2.7 of chapter 4（you can skip this step
when using manual compensation operation）.
⑶ Check the motor speed by the drive monitor function, adjust the value of the parameter Pn-19 to compensate. As
the zero-drift speed is a positive value, the parameter should be set a positive value; while the zero-drift speed is a
negative value, the parameter should be set a negative value.

Chapter 5 Operation
Max. speed in
positive direction
10V 0V 10V
Max. speed in
nagetive direction
Figure 5-8 Analog input drift compensation function

3． Speed reached output function（Related parameters：Pn-43）
⑴ This function is only effective in speed control mode, and the digital output signal “COIN” is defined as the
speed reached output signal.
⑵ If the actual speed exceeds a threshold value (Pn-43), COIN output ON, otherwise COIN remains OFF.
4． Zero speed clamp function

Establish a mapping between logic signal（Logic_SOrder_Clamp）and physical port, the default mapping is
“Logic_SOrder_Clamp”→“CLE/SC1/ZEROSPD”, As “Logic_SOrder_Clamp” is ON, the speed command is
invalid, the motor shaft is free; however, if “Logic_SOrder_Clamp” is ON, the motor runs normally.
Figure 5-9 Zero speed clamp function
5． Acceleration / deceleration time setting（Related parameters：Pn-34，Pn-35）

⑴ In case of overloading, it is suggested to set the acceleration / deceleration time to avoid the impact of the
instantaneous large current to avoid error or failure.
⑵ Set the value of Pn-34 for acceleration time constant while Pn-35 for deceleration time constant, the unit is ms.
6． Direction inversion of analog speed input（Related parameters：Pn-20）

⑴ When the direction defined by the host or users is opposite from which by the drive, you can invert the direction
by parameter Pn-20.
⑵ Establish a mapping between logic signal（Logic_STOrder_Invert）and physical port ,then you can change the
direction by the digital input terminal.

Chapter 5 Operation
Analog command
10V 0V
from host 0V
Acceleration process
(controlled by Pn-34 )
0rpm 3000rpm 3000rpm 0rpm

Speed command
3000rpm
Deceleration process
Direction inversion signal OFF ON OFF
Figure 5-10 Direction inversion of analog speed input
7． Encoder Output Pulses（Related parameters：Pn-57）

⑴ Customers can connect the encoder output pulse to the host for position control by the host.
⑵ Please refer to section 4.2.4 in this chapter.

Chapter 5 Operation
5.4 Analog Speed Control Mode
● ±10V Analog input
● Support encoder output, any setting ratio is available

R
U 2
3-phase AC
S V 3
220V
W 4
T 1
r
t
PC
12 5V 2 Encoder 15
13 0V 3 Core Pin
P1
1 A 4
6 A 7
CN2 2 B 5
DC 7 B 8
VCC COM 18
12~24V 4.7K 3 Z 6
8 Z 9
11 4 U 10
9 U 13
13 5 V 11
Speed zero clamp input L_SOrder_Clamp 14 10 V 14

None 17 Shell FG 1
CN2
SRDY 8
Servo-Ready output
ALM 25
ALM 26
2 PhaseA
COIN 28
COIN 29
BRK 30
BRK 31
6 PhaseZ
CN2 9 EGND Encoder feedback grounding
Analog speed command + ASPEED ＋ 22 -

10k
(-10V~+10V) ASPEED － 21 + 36 FG
- AGEND 23

Chapter 5 Operation
Gain of analog speed command
Pn-18 Set the ratio between the input voltage of analog speed and actual motor speed.
input
Pn-19 Analog input drift compensation The zero-bias compensation for the analog speed input.
Pn-20 Set the rotation direction.(Effective in analog speed mode)
speed input
Low-pass bandwidth of analog
Pn-21 Set the response time of speed analog input.
speed input
Pn-40 Command type of speed control Select command type.（Value：1）
Pn-43 Target speed
Pn-30
4.10).
Pn-31
4.10).
Pn-32
Pn-33
Pn-36
4.10).
Pn-37
4.10).
Pn-38
section 4.10).
Pn-39
Pn-69

Chapter 5 Operation

Chapter 5 Operation
5.4.3 Function
8． Analog gain setting function（Related parameters：Pn-18）
Set the ratio between the input voltage of analog speed and actual motor speed.，they are proportional relationship.
Value of Pn-18=(Max. input/Max. speed command) 30000。The default value is 100，which means 10Vsupport
speed command of 3000rpm.
Item Pn-18=50 Pn-18=100 Pn-18=200
Speed command Speed command Speed command
3000 rpm 3000 rpm
Relationship 1500 rpm

of input 10V 10V
Analog 10V 0V Analog 10V 0V Analog
voltage and 5V 0V 5V
1500 rpm
output speed
3000 rpm 3000 rpm
9． Analog input drift compensation function（Related parameters：Pn-19）

⑶ Check the motor speed by the drive monitor function, adjust the value of the parameter Pn-19 to compensate. As
the zero-drift speed is a positive value, the parameter should be set a positive value; while the zero-drift speed is a
negative value, the parameter should be set a negative value.
Max. speed in
positive direction
10V 0V 10V
Max. speed in
nagetive direction
Figure 5-13 Analog input drift compensation function

10． Speed reached output function（Related parameters：Pn-43）
11． Zero speed clamp function

Establish a mapping between logic signal（Logic_SOrder_Clamp）and physical port, the default mapping is
Chapter 5 Operation
“Logic_SOrder_Clamp”→“CLE/SC1/ZEROSPD”, As “Logic_SOrder_Clamp” is ON, the speed command is
invalid, the motor shaft is free; however, if “Logic_SOrder_Clamp” is ON, the motor runs normally.
Figure 5-14 Zero speed clamp function
12． Acceleration / deceleration time setting（Related parameters：Pn-34，Pn-35）

13． Direction inversion of analog speed input（Related parameters：Pn-20）

by parameter Pn-20.
Analog command
10V 0V
from host 0V
Acceleration process
0rpm 3000rpm 3000rpm 0rpm

Speed command
3000rpm
Deceleration process
Direction inversion signal OFF ON OFF
Figure 5-15 Direction inversion of analog speed input
14． Encoder Output Pulses（Related parameters：Pn-57）

⑴ Customers can connect the encoder output pulse to the host for position control by the host.
⑵ Please refer to section 4.2.4 in this chapter.

Chapter 5 Operation
5.5 Internal Speed Control Mode
● 16 speed command input
● Switch commands by digital input terminal

Chapter 5 Operation
Pn-40 Command type of speed control Select command type.（Value: 0）
Pn-43 Target speed
Pn-88~
Internal speed command 1~ 16 Set the speed command, the unit is rpm.
Pn-103
Pn-30
4.10).
Pn-31
4.10).
Pn-32
Pn-33
Pn-36
4.10).
Pn-37
4.10).
Pn-38
section 4.10).
Pn-39
Pn-69

Chapter 5 Operation
Set Pn-4 to 1 ⑴ Select speed control mode.
Set Pn-40 to 0 ⑵ Select internal command as speed command by Pn-40.
Set internal
speed command ⑶ Set the internal speed command.
by Pn-88~Pn-103
Set the
acceleration and ⑷ Set Pn-34 for acceleration time and Pn-35 for deceleration time.
deceleration time
⑸ Set signal “ServoEn”(CN2-Pin 10) ON or set Pn-8 to 100000,

Set ServoEn ON
Host sends pulse ⑹ In no-load conition (leave the motor shaft free), send pulse command
Adjust the servo ⑺ Make a trial processing and adjust the servo gain according to the
5.4.4 Function
1. Acceleration / deceleration time setting（Related parameters: Pn-34，Pn-35）
2. Speed command switching function

⑴ Support 16 different speed commands, switched by logical signals “Logic_IntPn_Sel[0]”, “Logic_IntPn_Sel[1]”,
“Logic_IntPn_Sel[2]”, “Logic_IntPn_Sel[3]”.
⑵ Establish a mapping between logic signal（Logic_IntPn_Sel[0], Logic_IntPn_Sel[1], Logic_IntPn_Sel[2],
Logic_IntPn_Sel[3]）and physical port.
You will find the default mapping relationship in the following:
Logical signal Symbol Default physical port
Logic control signal input [0] Logic_IntPn_Sel[0] INH/SC2
Logic control signal input [1] Logic_IntPn_Sel[1] CLE/SC1/ZEROSPD
Logic control signal input [2] Logic_IntPn_Sel[2] CWTLtd
Logic control signal input [3] Logic_IntPn_Sel[3] CCWTLtd
Speed command mode switching signal is triggered as follows:

Chapter 5 Operation
Item Logic_IntPn_Sel[3] Logic_IntPn_Sel[2] Logic_IntPn_Sel[1] Logic_IntPn_Sel[0]
Internal speed command 1 0 0 0 0
Servo Enable OFF ON OFF
OFF OFF ON ON
Logic_IntPn_Sel [1]
Logic_IntPn_Sel [0]
OFF ON OFF ON
Speed 3
Speed
Speed 4
Speed 2
Speed 1
Time
Acceleration process Deceleration process
(controlled by Pn-34 ) (controlled by Pn-35 )
Figure 5-18 Speed command switching function
3. Speed reached output function（Related parameters：Pn-43）


Chapter 5 Operation
5.6 Pulse Speed Control Mode
● Three type optional input pulse command(pulse/direction pulse, CCW/CW pulse, A phase/B phase pulse )
● Two types of input signal optional（open collector signal、differential signal）
● Optional electric gears

R
U 2
3-phase AC
S V 3
220V
W 4
T 1
r
t
PC
12 5V 2 Encoder 15
13 0V 3 Core Pin
P1
1 A 4
6 A 7
CN2 2 B 5
DC 7 B 8
VCC COM 18
12~24V 4.7K 3 Z 6
8 Z 9
11 4 U 10
9 U 13
13 5 V 11
Deviation counter clear input L_POrder_Clear 14 10 V 14

Command pulse inhibition input L_POrder_Inhibit 15 14 W 12
None 17 Shell FG 1
CN2
SRDY 8
Servo-Ready output
ALM 25
ALM 26
2 PhaseA
COIN 28
COIN 29
BRK 30
BRK 31
6 PhaseZ
CN2
Position Command PulseInv 32
PULS PulseInv 33 36 FG
Position Command SignInv 34
SIGN SignInv 35
Figure 5-19 Terminal diagram

Chapter 5 Operation
4.5.2 Parameters Setting
Pn-40 Command type of speed control Select command type.（Value: 2）
Pn-43 Target speed
COIN turns to ON, otherwise COIN remains OFF.
Pn-48 Denominator of electric gear
Two sets of electronic gear can be switched by the external trigger signal.
Dynamic electronic gear function
Pn-51
enable
Pn-52 Input pulse command mode Select the pulse command type.
Invert direction of pulse
Pn-53 The direction of position command can be inverted with this function.
command
Pn-30
4.10).
Pn-31
4.10).
Pn-32
Pn-33
Pn-36
4.10).
Pn-37
4.10).
Pn-38
section 4.10).
Pn-39
Pn-69

Chapter 5 Operation
Set Pn-4 to 1 ⑴ Select speed control mode.
Set Pn-40 to 2 ⑵ Select pulse command as speed command by Pn-40.
Select input
⑶ Select input pulse command type (support pulse/direction pulse ,
pulse command
type CCW/CW pulse, A phase/B phase pulse ) by Pn-52.
Select rotation
direction
⑷ Select rotation direction by Pn-53.
Select electronic
gear function ⑸ Select electronic gear ratio by Pn-48, Pn-49, Pn-50.
⑹ Set signal “ServoEn”(CN2-Pin 10) ON or set Pn-8 to 100000,

Set ServoEn ON
Host sends pulse ⑺ In no-load conition (leave the motor shaft free), send pulse command
Adjust the servo ⑻ Make a trial processing and adjust the servo gain according to the

Chapter 5 Operation
4.5.4 Function
1. Acceleration / deceleration time setting（Related parameters: Pn-34，Pn-35）
2. Speed reached output function（Related parameters: Pn-43）

3. Pulse command inhibit function

motor.
Pulse command from host
Logic_POrder_Inhibit OFF ON
Speed command
Hold still Run by the position Run by the position

Status of motor Hold still
command command
4. Pulse counter clear function

hold still.
5. Electronic gear function（Related parameters: Pn-48, Pn-49, Pn-50,Pn51）

⑴ G

Po：The required pulse number per round

P： Encoder resolution
G： Electronic gear ratio
For example：the encoder resolution of SM110-050-30LFB is 10000ppr, if you want count 1000pulse per round,
P 10000
G 10
Po 1000
Then you should set Pn-49 to 10 and Pn-48 to 1.

Chapter 5 Operation
Figure 5-22 Electronic function
⑵ Set Pn-51 to 1 to enable dynamic electronic gear function, customers can switch two sets of electronic gear by
the logic control signal” Logic_IntPn_Sel [0]”.
Figure 5-23 Dynamic electronic gear function

Chapter 5 Operation
5.7 Analog Torque Control Mode
● ±10V Analog input

R
U 2
3-phase AC
S V 3
220V
W 4
T 1
r
t
PC
12 5V 2 Encoder 15
13 0V 3 Core Pin
P1
1 A 4
6 A 7
CN2 2 B 5
DC 7 B 8
VCC COM 18
12~24V 4.7K 3 Z 6
8 Z 9
11 4 U 10
9 U 13
13 5 V 11
None 14 10 V 14
None 17 Shell FG 1
CN2
SRDY 8
Servo-Ready output
ALM 25
ALM 26
2 PhaseA
No Connection 28
3 PhaseB
No Connection 29
BRK 30
BRK 31
6 PhaseZ
CN2 9 EGND Encoder feedback grounding
Analog torque command + ATORQUE ＋ 20 -

10k
(-10V~+10V) ATORQUE － 19 + 36 FG
- AGEND 24
5.7.2 Parameters Setting

Pn-4 Motor control mode Select torque control mode(Value: 0)
Gain of analog torque command
Pn-15 Set the ratio between the input voltage of analog torque and actual motor torque
input
Pn-16 Analog input drift compensation The zero-bias compensation for the analog torque input.
Pn-17 Set the rotation direction.(Effective in analog torque mode)
speed input
Limit the maximum speed in torque control mode to avoid overspeed when the
Pn-29 Speed limit in torque control
motor is unloaded, parameter unit is rpm.

Chapter 5 Operation
Figure 5-25 Operation Flow Chart
5.7.4 Function
1． Analog gain setting function（Related parameters：Pn-15）
Set the ratio between the input voltage of analog torque and actual motor torque.，they are proportional relationship.
Value of Pn-15=(Max. input/Max. torque command) 10。The default value is 100，which means 10Vsupport 100%
torque.
Item Pn-15=50 Pn-15=100 Pn-15=200
Torque command Torque command Torque command
100% 100%
Relationship
50%
of input
10V 10V
voltage and Analog Analog Analog
5V 0V 5V 10V 0V 10V 0V
output 50%
torque
100%

Chapter 5 Operation
2． Analog compensation function（Related parameters：Pn-16）
⑶ Check the output torque by the drive monitor function, adjust the value of the parameter Pn-16 to compensate.
As the zero-drift torque is a positive value, the parameter should be set a positive value; while the zero-drift torque
is a negative value, the parameter should be set a negative value.
Max. torque in
positive direction
10V 0V 10V
Max. torque in
nagetive direction
Figure 5-26
3． Direction inversion of analog speed input（Related parameters: Pn-20）

by parameter Pn-17.
Figure 5-27

Chapter 5 Operation
5.8 Point To Point Control Mode
● Single-axis positioning function by internal position command
● Switch position command by I/O port
● Three methods of homing operation
● Operation speed, Acceleration / deceleration and torque limitation can be set

Chapter 5 Operation
Pn-4 Motor control mode Select point to point control mode(Value: 6)
Pn-58 Homing mode Select homing method, three operation method in total.
Pn-59 Homing speed Set the speed command in homing operation.
Acceleration / deceleration in
Pn-60 Set the acceleration / deceleration in homing operation
homing operation
Pn-61 High bit of home position offset Set the home position offset, the command is formed with high bit command
Pn-62 Low bit of home position offset and low bit command.
Demo or point-to-point mode
Pn-63 Select the command type of point to point control mode.
selection
High bit of internal position
Pn-104
command 1 Set the position command 1 formed by high bit command and low bit
Low bit of internal position command.
Pn-105
command 1
Speed of internal position
Pn-106 Set the speed during the operation of position 1.
command 1
Acceleration/deceleration of
Pn-107 Set the acceleration/deceleration during the operation of position 1.
internal position command 1
Peak torque of internal position
Pn-108 Set the peak torque during the operation of position 1.
command 1
┇
High bit of internal position
Pn-179
command 16 Set the position command 16 formed by high bit command and low bit
Low bit of internal position command.
Pn-180
command 16
Speed of internal position
Pn-181 Set the speed during the operation of position 16.
command 16
Acceleration/deceleration of
Pn-182 Set the acceleration/deceleration during the operation of position 16.
internal position command 16
Peak torque of internal position
Pn-183 Set the peak torque during the operation of position 16.
command 16
Pn-30
4.10).
Pn-31
4.10).
Pn-32
Pn-33
Pn-36
4.10).
Pn-37
4.10).
Chapter 5 Operation
Pn-38
section 4.10).
Pn-39
The first Position loop error. Too large value may cause overshoot or oscillation. It can be switched
Pn-44
proportional gain with the second Position loop proportional gain automatically or manually
The first position loop differential
proportional gain
the second position loop differential proportional gain automatically or
The first cut-off frequency of
Pn-46 be switched with the second cut-off frequency of position feed forward filter
The second Position loop error. Too large value may cause overshoot or oscillation. It can be switched
Pn-66
proportional gain with the first Position loop proportional gain automatically or manually (refer
to chapter 5 section 4.10).
The second position loop
differential proportional gain
the first position loop differential proportional gain automatically or manually
The second cut-off frequency of
Pn-68 be switched with the first cut-off frequency of position feed forward filter
Pn-69

Chapter 5 Operation
Figure 5-29

Chapter 5 Operation
4.7.4 Function
1． Homing function
⑴ Operation Flow Chart
Ensure the
parameter ⑴ Ensure the operation mode is point to point control mode
Pn-4 is 6
Set the homing ⑵ There are three methods of homing opreation, negative homing mode,
method by Pn-58 positive homing mode, automatic homing mode.
Set Pn-59 to
select the motor
speed in homing
⑶ Set the motor speed in homing operation.
operation
Set the
acceleration /
deceleration
⑷ Set the acceleration and deceleration in homing operation.
byPn-60
Set the offset of

th home position ⑸ Set the offset of home position, the offset command is divided in
by Pn-61 and Pn- high part command and low part command.
62
⑹ Set signal “ServoEn”(CN2-Pin 10) ON or set Pn-8 to 100000,

Set ServoEn ON
Homing ⑺ The homing operation starts, and the motor will stop at the home
operation position.
Figure 5-30
⑵ Negative homing mode
As the initial direction of movement is negative and the limit switch is free, when meet the limit switch, the motor
starts the reverse movement immediately and stops as encountered the first Z pulse, this position is defined as the
homing location.
Figure 5-31
⑶ Positive homing mode
As the initial direction of movement is positive and the limit switch is free, when meet the limit switch, the motor
starts the reverse movement immediately and stops as encountered the first Z pulse, this position is defined as the
homing location.

Chapter 5 Operation
Figure 5-32
⑷ Automatic homing mode
As receive the “Servoen” signal, the servo drive defines the current position as the home position.
Figure 5-33
2． Normal point to point control
⑴ Customers can adjust up to 16 position commands and the operation status(position command, operation speed,
acceleration/deceleration, peak torque), switch the position command by the logic signals: “Logic_IntPn_Sel[0]”,
“Logic_IntPn_Sel[2]”, “Logic_IntPn_Sel[3]”, “Logic_IntPn_Sel[4]”.
Logic_IntPn_Sel[3]）and physical port.
Logical control signal [0] Logic_IntPn_Sel[0] INH/SC2
Logical control signal [1] Logic_IntPn_Sel[1] CLE/SC1/ZEROSPD
Logical control signal [2] Logic_IntPn_Sel[2] CWTLtd
Logical control signal [3] Logic_IntPn_Sel[3] CCWTLtd
You can switch the position command by digital signals as follows:
Item Logic_IntPn_Sel[3] Logic_IntPn_Sel[2] Logic_IntPn_Sel[1] Logic_IntPn_Sel[0]
Position 1 0 0 0 0
Position 2 0 0 0 1
Position 3 0 0 1 0
Position 4 0 0 1 1
Position 5 0 1 0 0
Position 6 0 1 0 1
Position 7 0 1 1 0
Position 8 0 1 1 1
Position 9 1 0 0 0
Position 10 1 0 0 1
Position 11 1 0 1 0
Position 12 1 0 1 1
Position 13 1 1 0 0
Position 14 1 1 0 1
Position 15 1 1 1 0
Position 16 1 1 1 1

Chapter 5 Operation
⑶ In absolute control mode, you can trigger the position command by a digital signal, then the motor would run to
the position defined by the command, the position command is absolute command. For example, as you trigger the
P1 command by the digital signal, the motor would run to P1 form the current position.
Figure 5-34
⑷ In incremental control mode, you can trigger the position command by a digital signal, then the motor would run
the distance defined by the command, the position command is incremental command.
Figure 5-35
3． Trigger point to point control mode

⑴ Customers can adjust up to 16 position commands and the operation status(position command, operation speed,
acceleration/deceleration, peak torque), switch the position command by the logic signals: “Logic_IntPn_Sel[0]”,
“Logic_IntPn_Sel[2]”, “Logic_IntPn_Sel[3]”, “Logic_IntPn_Sel[4]”, and enable the position command by logic
signal “Logic_STOrder_Invert”.
Logic_IntPn_Sel[3], Logic_STOrder_Invert）and physical port.
Logical control signal input [0] Logic_IntPn_Sel[0] INH/SC2
Logical control signal input [1] Logic_IntPn_Sel[1] CLE/SC1/ZEROSPD
Logical control signal input [2] Logic_IntPn_Sel[2] CWTLtd
Logical control signal input [3] Logic_IntPn_Sel[3] CCWTLtd
Analog command direction switching input Logic_STOrder_Invert 0
You can switch the position command by digital signals as follows:
Item Logic_IntPn_Sel[3] Logic_IntPn_Sel[2] Logic_IntPn_Sel[1] Logic_IntPn_Sel[0] Logic_STOrder_Invert
Position 1 0 0 0 0 0→1
Position 2 0 0 0 1 0→1
Position 3 0 0 1 0 0→1
Position 4 0 0 1 1 0→1
Position 5 0 1 0 0 0→1
Position 6 0 1 0 1 0→1
Position 7 0 1 1 0 0→1
Position 8 0 1 1 1 0→1

Chapter 5 Operation
Position 9 1 0 0 0 0→1
Position 10 1 0 0 1 0→1
Position 11 1 0 1 0 0→1
Position 12 1 0 1 1 0→1
Position 13 1 1 0 0 0→1
Position 14 1 1 0 1 0→1
Position 15 1 1 1 0 0→1
Position 16 1 1 1 1 0→1
⑶ In trigger absolute control mode, as trigger the corresponding signals(Logic_IntPn_Sel[0], Logic_IntPn_Sel[1],

Logic_IntPn_Sel[2], Logic_IntPn_Sel[3]) and set Logic_STOrder_Invert from OFF to ON, then the motor would
run to the position defined by the command, the position command is absolute command.
Figure 5-36
⑷ In trigger incremental control mode, as trigger the corresponding signals(Logic_IntPn_Sel[0],
Logic_IntPn_Sel[1], Logic_IntPn_Sel[2], Logic_IntPn_Sel[3]) and set Logic_STOrder_Invert from OFF to ON,
then the motor would run the distance defined by the command, the position command is incremental command.
Figure 5-37
Logic_IntPn_Sel[3] OFF
Logic_IntPn_Sel[2] OFF
Logic_IntPn_Sel[1] OFF ON
Logic_IntPn_Sel[0] OFF ON OFF ON
Logic_STOrder_Invert OFF ON ON ON ON
OFF OFF OFF
Trigger Trigger Trigger Trigger

Position Position Position Position
command 1 command 2 command 3 command 4
Figure 5-38 Control timing diagram

Chapter 5 Operation
4． Positioning completed output function（Related parameters: Pn-54）
⑴ The function is only effective in position mode and point to point mode, and the digital output signal “COIN” is
defined as the positioning completed output signal.
⑵ If the position error drops in the target position range, COIN output ON, otherwise COIN remains OFF.
5． Position error detection function（Related parameters: Pn-56, Pn-57）

⑴ The function is only effective in position mode and point to point mode, if the position deviation exceeds a
threshold value, it would occur Err-16;
⑵ Set Pn-56 to 0, enable the position error detection function;
⑶ Set the threshold alarm value by Pn-57, the servo drive would alarm as the position deviation (difference
between pulse command and actual stroke position) exceeds the threshold value.
The threshold alarm value = the value of Pn-57 *100pulse
6． Pulse command inhibit function

motor.
7． Pulse counter clear function

hold still.

Chapter 5 Operation
5.9 JOG Control Mode
● Internal command for trial control
Figure 5-40

Pn-4 Motor control mode Select JOG control mode (Value: 3)
Anti-control of low-6-bit digital
Pn-8 Invert the digital signal to set “ServoEn” ON(Value: 100000)
input terminal
Speed command in JOG control Set the speed command in JOG control mode, the default value is 1500, the unit
Pn-41
mode is rpm.
Figure 5-33
4.8.4 Function
Operate by the panel, please refer to section 4.2.6 of chapter 4.

Chapter 5 Operation
5.10 Speed Trial Control Mode
● Internal command for trial control
Figure 5-32

Pn-4 Motor control mode Select speed trial control mode (Value: 4)
Anti-control of low-6-bit digital
Pn-8 Invert the digital signal to set “ServoEn” ON(Value: 100000)
input terminal
Figure 5-33
4.9.4 Function
Operate by the panel, please refer to section 4.2.5 of chapter 4.

Chapter 5 Operation
5.11 Gain Adjustment
● The purpose of adjusting the servo system is to minimize the level of inaccuracy of the servo motor when
operating under instructions and also shorten the time of travel. Doing so needs to adjust gain parameter and
compensation parameter.
● The wrong parameter settings may lead to equipment failure and accidents, users should confirm the
correctness of the parameters before operation.
● It is suggested that operate without load for testing firstly.
1． Speed adjust
Speed
Adju
stmen
laggi t for Speed
ng
Time
Speed
Time
Time
Figure 5-34
2． Position adjust
Figure 5-35
3． Function
■ Speed loop gain（KP_S; Related parameters: Pn-30，Pn-36）
The larger the value is, the greater the stiffness would be. The value is determined by the type of servo and the
load condition. In general, larger load inertia needs larger value. If there is no oscillation, the larger the value is
the better the servo system performs.
■ Speed loop integral time constant（TC_S; Related parameters: Pn-31, Pn-37）
The smaller the value is, the greater the stiffness is. The value is determined by the type of servo and the load
condition. In general, larger load inertia needs larger value. Set the parameter as small as possible without
oscillation.
■ Low-pass bandwidth of speed loop（LFP_S; Related parameters: Pn-32, Pn-38）
Normally, smaller value results in slower and smoother speed response. Too small value may cause system
oscillation.
■ Low-pass filter bandwidth of torque command（LFP_C; Related parameters: Pn-33, Pn-39）
Normally, smaller value results in slower and smoother speed response. But too much small value may cause

Chapter 5 Operation
system oscillation.
■ Position loop proportional gain（KP_P; Related parameters: Pn-44，Pn-66）
Higher gain results in greater mechanical stiffness and less position tracking error. Too large value may cause
overshoot or oscillation. The value is determined by the type and the load of servo drive.
■ Position loop differential proportional gain（Kd; Related parameters: Pn-45，Pn-67）
Higher gain results in greater mechanical stiffness and less position tracking error. Too big value may cause
overshoot or oscillation; This parameter is usually set to zero unless very fast response is required
■ The cut-off frequency of position feed forward filter（FLFP_P; Related parameters: Pn-46，Pn-68）
The filter is used to increase the stability of compound position control. Normally, users do not need to change
the default value.
■ Enhancements of the current loop response（Pn-69）
As requiring higher response, users can use this function to enhance current loop response by set Pn-69 to 1. It
will enhance the stiffness of the motor and may cause some noise.

Chapter 5 Operation
4． Adjust operation
Start operation
Runs well
NO
Reduce KP_P
（Pn44），general
300~500
The out put torque is not enough or Motor runs with vibration,could trigger
motor runs sometimes fast and the alarm ERR-6, ERR-10, ERR-13
sometimes slow
Rise KP_S(Pn30) and Reduce KP_S(Pn30) and

reduce TC_S（PN31） rise TC_S（PN31）
NO Runs well
Runs with noise

YES
Reduce LFP_S（Pn32）
Motor overshoot occurs (positioning
and LFP_C（Pn33）, the
vibration) a n d i t is still unable to
value of LFP_C（Pn33) meet the needs of system response,
should be larger than the overshoot may trigger the alarm
LFP_S（Pn32） ERR-6, ERR-10, ERR-13
YES
NO Noise die out
YES
Rise KP_P(Pn44)
Runs well
YES
Save parameters
End
Figure 5-36 Gain adjust flow chart

Note: in speed control mode, customers just need to adjust speed gain.

Chapter 5 Operation
5． Gain switching function
BONMET servo drive support two sets PID parameters for gain switching function.
The first set of PID parameter The second set of PID parameter
Number Name Number Name
Pn-30 Speed loop proportional gain（PID1） Pn-36 Speed loop proportional gain（PID2）
Pn-31 Speed loop integral time constant（PID1） Pn-37 Speed loop integral time constant（PID2）
Pn-32 Low-pass bandwidth of speed loop（PID1） Pn-38 Low-pass bandwidth of speed loop（PID2）
Low-pass filter bandwidth of torque command Low-pass filter bandwidth of torque command
Pn-33 Pn-39
（PID1）（PID2）
Pn-44 Position loop proportional gain（PID1） Pn-66 Position loop proportional gain（PID2）
Position loop differential proportional gain
Pn-45 Pn-67 Position loop differential scale factor（PID2）
（PID1）
The cut-off frequency of position feed forward The cut-off frequency of position feed forward
Pn-46 Pn-68
filter（PID1） filter（PID2）
① Fixed to the first set of PID parameters.
Set Pn-64 to 0.
② Fixed to the second set of PID parameters.
Set Pn-64 to 1.
③ Switch the PID parameters by digital input.
⑴ Set Pn-64 to 2 and build the mapping of the logic signal “Logic_PID_Sel” and the physical digital input (refer to
chapter 5 section 5.16.5).
⑵ As “Logic_PID_Sel” is OFF, the first set of PID parameters are valid, while as “Logic_PID_Sel” is ON, the
second set of PID parameters are valid.
④ Switch the PID parameters by position deviation.
⑴ Set Pn-64 to 3 for switch mode, and set the trigger value by Pn-65.
⑵ As the position deviation value (position deviation value = pulse commands – feedback pulse, the unit is pulse)
is less than trigger value, the first set of PID parameters are valid, while as the position deviation value is larger
than trigger value, the second set of PID parameters are valid.
⑤ Switch the PID parameters by speed deviation.
⑵ As the speed deviation value (speed deviation value = speed commands –motor speed, the unit is rpm) is less
than trigger value, the first set of PID parameters are valid, while as the speed deviation value is larger than trigger
value, the second set of PID parameters are valid.
⑥ Switch the PID parameters by motor speed.
⑵ As the motor speed (the unit is rpm) is less than trigger value, the first set of PID parameters are valid, while as
the motor speed is larger than trigger value, the second set of PID parameters are valid.
⑦ Switch the PID parameters by motor output torque.
⑵ As the motor output torque (the unit is %) is less than trigger value, the first set of PID parameters are valid,
while as the motor output torque is larger than trigger value, the second set of PID parameters are valid.
5.12 Speed limit function

1. Function
This function is valid in all control mode, the motor speed is limited under the threshold value set by Pn-42.
Chapter 5 Operation
2. Operation
Set the speed limit threshold value by Pn-42, the unit is rpm, and the default parameter value is the motor nominal
speed.
5.13 Torque Limit Function

There are three types of control mode for this function, and the function is valid in all control mode, the motor
output torque is limited under the threshold value.
1. Function
⑴ Internal torque limit control, the motor output torque is limited by the value of Pn-25(positive direction) and
Pn-26(negative direction).
⑵ External torque limit control, the motor output torque is limited by the internal torque command (Pn-72~Pn-87),
customers can switch the limit threshold value by digital input. It is effective in both directions.
⑶Analogue torque command limit control, the motor output torque is limited by analog torque command. It is
effective in both directions.
2. Operation
⑴ Internal torque limit control
① Set Pn-27 to 0(default value).
② Set Pn-25 to select the torque limit threshold value in positive direction and Pn-26 for negative direction.
⑵ External torque limit control
① Set Pn-27 to 1 and set “Logic_ExTLimit_Enable” to “ON” state.
② Customers can set 16 torque limit threshold value (Pn-72~Pn-87), and switch the limit threshold value by digital
input.
Threshold value Logic_IntPn_Sel[3] Logic_IntPn_Sel[2] Logic_IntPn_Sel[1] Logic_IntPn_Sel[0]
Threshold value 1 0 0 0 0
⑶ Analogue torque command limit control

① Set Pn-27 to 2
② Give 0~10V analog signal to analog torque input as the limit threshold value, it is valid in both directions.
Customers can set the analog gain by Pn-15, please refer to chapter5 section 5.6.4.

Chapter 5 Operation
5.14 Control Mode Switching Function
1. Function
Support control mode switching function for torque, speed and position control mode, customers can switch the
control mode by digital input.
2. Operation
⑴ Set Pn-4 to 7.
⑵ Build mapping relationship of the logic signal “Logic_Mode_Sel[0]” and “Logic_Mode_Sel[1]” with digital
input.
⑶ Switch the control mode by “Logic_Mode_Sel[0]” and “Logic_Mode_Sel[1]”.
Control mode Logic_Mode_Sel[1] Logic_Mode_Sel[0]
Torque control mode 0 0
Speed control mode 0 1
1 0
Position control mode
1 1
Figure 5-37 Control mode switching function
5.15 Overload Alarming Function

1. Function
When the motor output torque is over the alarming threshold value (Pn-22) and the last time is over the selected
testing time, the servo drive will alarm Err-18, the motor will stop.
2. Operation
⑴ Set the overload alarming threshold value by Pn-22
⑵ Set the overload testing time through by Pn-23

Chapter 5 Operation
Overload testing time
set by Pn-23
Alarm threshold value

set by Pn-22
Motor output torque 0% 50% 100%
Alarm output OFF ON ERR-18
Figure 5-38 Overload alarming function
3. Software（Servofly）operation instructions
4.15.1 Communication
⑴ Connect servo drive with PC through serial cable.
⑵ Click “Servofly.exe” and select the COM menu，click the defined COM port(can be modified by PC).
⑶ The communication succeeds as the following dialog appears.
⑷ The communication fails as the following dialog appears, please check the wiring.
⑸ The communication fails as the following dialog appears, it indicates that the software version does not match,
please select Pn-0 to check the version information, and download the right software on our website.
4.15.2 Basic function

1. Customers can use the basic function of the software in the “File” menu.

Chapter 5 Operation
2. Function
Item Function
Load Default Restore default parameters（equal with “EE-Def” in panel operation）
Save to EEPROM Save the current parameters to EEPROM
Parameters Setting… Parameter setting
Upload the parameters from servo drive to PC ( please name the parameter file as
Parameters Upload…
“xx.par”, otherwise the operation would be invalid)
Download the parameters from PC to servo drive(only “.par” file is acceptable,
Parameters Download…
and the different firmware edition's parameter cannot mix use)
Exit Exit the software
4.15.3 Monitoring function

1. Monitoring the serve state
⑴ “Servo State” choice under the “Monitor” menu is the monitoring choice of the serve state.

Chapter 5 Operation
⑵ Function
Item Function
Torque(A) Motor Q axis current（the value divided by 1.414 is motor current）
Motor Q axis current command （the value divided by 1.414 is motor current
Torque Instruction(A)
command）
Speed(RPM) Motor speed（this is a real time value ）
Speed Instruction(RPM) Speed command
Position(Pulse) Feedback pulse
Posiotn Instruction(Pulse) Pulse command
Position Erro(Pulse) Position deviation (pulse command minus feedback pulse)
Speed Erro(Pulse) Speed deviation（this is a real time value）
Alarm Number Alarm code(“0” means no alarm）
Mother Line DC Vlot(V) Mother line DC voltage
Drive Temperature The temperature of the heat sink inside part
② Physical port status monitoring function

⑴ The “Physical State” item under the “Monitor” menu is for the physical port status monitoring function.

Chapter 5 Operation
⑵ Function
Item Function
Monitor the digital input status, green light indicates “ON” and grey light indicates
CN2 Port Input
“OFF” , please refer to chapter 3 section 3.7 for details of CN2 connector
Monitor the digital output status, green light indicates “ON” and grey light indicates
CN2 Port Output
“OFF” , please refer to chapter 3 section 3.7 for details of CN2 connector
Encoder input signals, green light indicates “ON” and grey light indicates “OFF” ,
CN1 Port Input
please refer to chapter 3 section 3.6 for details of CN1 connector
③ Logical port status monitoring function

⑴ The “Logic State” item under the “Monitor” menu is for the logical port status monitoring function.
⑵ Function
Monitor the logical input status, green light indicates “ON” and grey light indicates “OFF” , please refer to
chapter 3 section 3.7 for details of logical input.
4.15.4 Oscillation control and running curve monitoring function

1. Oscillation control
In the picture, the items “Setting…”, “Current Loop Adjust…”, “Speed Loop Adjust…” and “Position
Loop Adjust…” are for oscillation control, this function is only for factory testing use, wrong operation may
cause damage, please DO NOT use this function.

Chapter 5 Operation
2. Running curve monitoring function
“Random Capture” menu is for the running curve monitoring function, customers can check the current loop curve,
speed loop curve and position loop curve.
4.15.5 Config function

There are two items “Motor Config…” and “Logic I/O Config…” under the “Config” menu. The “Aux Encoder
Config…” item DOES NOT open to customers.
1. Motor parameters adaptive function

⑴ Click “Basic Information…” and the following dialog will appear:
⑵ Fill in the basic data (please don’t fill in other parameters)

Item Function
Rated Current(A) Motor nominal current
Rs（ohm） Phase resistance
Ls（mH） Phase inductance
Ke（V/Krpm） Back EMF
Note：This operation must be carried out by electrical engineer and the above parameters must be effective,
otherwise it would cause mistake or damage.
⑶ Adaption
Click “Auto Match” to start the adaption operation, as the following dialog appears, select the right direction(face
the motor shaft, “CCW direction” indicates counterclockwise direction and “CW direction” indicates clockwise0
direction), and then click “OK”.

Chapter 5 Operation
The following dialog will appear as if the adaption is successful, please save the parameters to EEPROM and
power off, then power on again.
⑷ If adption is not successful, maybe there is something wrong with the operation, please contact with out
technical staff.
2. Mapping function
⑴ Click “Logic I/O Config...” and the follow dialog will appear:

Chapter 5 Operation
⑵ The left side part which can not be modified is the logic signal name, the right side part which can be modified
by customers is the mapping port. Customers can use UP button and DOWN button to set the mapping method,
then click “OK”.
Note: “0” indicates OFF or invalid, “1” indicates ON or valid.
⑶ Please refer to chapter 3 section 3.7.2 for each logic input signal definition.
⑷ Please confirm that the mapping method is unique, otherwise it would cause abnormal conditions.

Chapter 6 Parameters
Chapter6 Parameters
6.1 Parameter List
● The parameter “R-1”~“R-34” only can be modified by bus function, can not be modified by panel.
● Control mode: “ALL” means for the parameter is valid for all control mode, “P” means for the parameter is
valid for position control mode, “S” means for the parameter is valid for speed control mode, “T” means for
the parameter is valid for torque control mode, “SP” means for the parameter is valid for point to point control
mode, “D” means for the parameter is valid for demo mode.
Control Control
No. Parameter No. Parameter
mode mode
Internal torque limit in negative (CW)
0 ALL Firmware version 25 ALL
direction
Internal torque limit in positive (CCW)
1 ALL Motor type code 26 ALL
direction
2 ALL User constants protection code 27 ALL Torque limit mode
3 ALL Drive status (Front Panel Display) 28 ALL Notch function
4 ALL Motor control mode 29 ALL Notch frequency

The first speed loop proportional gain
5 ALL Mechanical brake delay time 30 ALL
（PID1）
The first speed loop integral time constant
6 ALL Current turn off delay time 31 ALL
（PID1）
Threshold speed of current turn off The first low-pass bandwidth of speed
7 ALL 32 ALL
delaytime loop（PID1）
The first low-pass filter bandwidth of
8 ALL Anti-control of low-6-bit digital input 33 ALL
torque command（PID1）
9 ALL Anti-control of high-4-bit digital input 34 S Accelerationy time in speed control
10 ALL Anti-control of encoder feedback 35 S Deceleration time in speed control

The second speed loop proportional gain
11 ALL Force-ON of low-6-bit digital input 36 ALL
（PID2）
The second speed loop integral time
12 ALL Force-ON of high-4-bit digital input 37 ALL
constant（PID2）
The second low-pass bandwidth of speed
13 ALL Anti-control of high-4-bit digital output 38 ALL
loop（PID2）
The second low-pass filter bandwidth of
14 ALL Anti-control of low-3-bit digital output 39 ALL
torque command（PID2）
15 T Gain of analog torque command input 40 S Speed command mode
Analog input drift compensation of torque
16 T 41 S Speed command in JOGcaontrol mdoe
command
Invert the direction of analog torque
17 T 42 ALL Speed limit
command
18 S Gain of analog speed command input 43 S Theshold value of speed reached output
Analog input drift compensation of speed The first Position loop proportional gain
19 S 44 P
command （PID1）
Invert the direction of analog speed The first position loop differential
20 S 45 P
command proportional gain（PID1）
Low-pass bandwidth of analog speed The first cut-off frequency of position
21 S 46 P
input feed forward filter（PID1）
22 ALL Threshold value of torque overload alarm 47 P Constant of position command filter
23 ALL Testing time of torque over load alarm 48 P，S Denominator of electric gear ratio
Internal brake resistor temperature alarm
24 ALL 49 P，S Numerator 1 of electric gear ratio
function
1

Control Control
mode mode
50 P，S Numerator 2 of electric gear ratio 81 D Internal torque command 10
51 P，S Electric gear ratio switching function 82 D Internal torque command 11
52 P External pulse input type 83 D Internal torque command 12
53 P Invert of pulse command direction 84 D Internal torque command 13
54 P Range of positioning complete function 85 D Internal torque command 14
55 P Position error detection range 86 D Internal torque command 15
56 P Position error detection function 87 D Internal torque command 16
57 ALL Encoder output ratio 88 S，D Internal speed command 1
58 SP Homing mode 89 S，D Internal speed command 2
59 SP Homing speed 90 S，D Internal speed command 3

Acceleration / deceleration in homing
60 SP 91 S，D Internal speed command 4
operation
61 SP High bit of home position offset 92 S，D Internal speed command 5
62 SP Low bit of home position offset 93 S，D Internal speed command 6
63 SP，D Demo or point to point mode selection 94 S，D Internal speed command 7
64 ALL Gain (PID) parameter switching mode 95 S，D Internal speed command 8
Trigger value of gain (PID) parameter
65 ALL 96 S，D Internal speed command 9
switching function
The second position loop proportional
66 P 97 S，D Internal speed command 10
gain（PID2）
The second position loop differential
proportional gain（PID2）
The second cut-off frequency of position
feed forward filter（PID2）
Enhancement of torque loop response
69 ALL 100 S，D Internal speed command 13
function
70 — Reservation 101 S，D Internal speed command 14
71 — Reservation 102 S，D Internal speed command 15
72 D Internal torque command 1 103 S，D Internal speed command 16
73 D Internal torque command 2 104 SP，D High bit of internal position command 1
74 D Internal torque command 3 105 SP，D Low bit of internal position command 1
75 D Internal torque command 4 106 SP，D Speed of internal position command 1

Acceleration/deceleration of internal
76 D Internal torque command 5 107 SP，D
position command 1
Peak torque of internal position command
77 D Internal torque command 6 108 SP，D
1
78 D Internal torque command 7 109 SP，D High bit of internal position command 2
79 D Internal torque command 8 110 SP，D Low bit of internal position command 2
80 D Internal torque command 9 111 SP，D Speed of internal position command 2

2

Control Control
mode mode
Acceleration/deceleration of internal Peak torque of internal position command
112 SP，D 143 SP，D
position command 2 8
113 SP，D 144 SP，D High bit of internal position command 9
2
114 SP，D High bit of internal position command 3 145 SP，D Low bit of internal position command 9
115 SP，D Low bit of internal position command 3 146 SP，D Speed of internal position command 9
116 SP，D Speed of internal position command 3 147 SP，D
position command 9
117 SP，D 148 SP，D
3
position command 10
122 SP，D 153 SP，D
4
position command 11
127 SP，D 158 SP，D
5
position command 12
132 SP，D 163 SP，D
6
position command 13
137 SP，D 168 SP，D
7
position command 14
142 SP，D 173 SP，D
3

Control Control
mode mode
174 SP，D High bit of internal position command 15 R-10 ALL FPGA version
175 SP，D Low bit of internal position command 15 R-11 ALL Index Reset Status
176 SP，D Speed of internal position command 15 R-12 ALL Index reset encoder counts
177 SP，D R-13 ALL Real-time encoder counts
position command 15
178 SP，D R-14 ALL CN2 input terminal status
15
179 SP，D High bit of internal position command 16 R-15 ALL Encoder input terminal status
180 SP，D Low bit of internal position command 16 R-16 ALL CN2 output terminal status
181 SP，D Speed of internal position command 16 R-17 ALL The analog voltage of analog input port A
182 SP，D R-18 ALL The analog voltage of analog input port B
position command 16
183 SP，D R-19 ALL DC bus voltage
16
184 ALL Fieldbus selection R-20 ALL The current torque value
185 ALL Modbus address R-21 ALL The current speed value
186 ALL Modbus communication baudrate R-22 ALL The current high bit position value
187 ALL Modbus communication frame type R-23 ALL The current low bit position value
188 ALL CANOpen node ID R-24 ALL Torque error value
189 ALL CANOpen baudrate R-25 ALL Speed error value
R-1 ALL Index reset clear R-26 ALL High bit position error value
R-2 ALL Operation command for EEPROM R-27 ALL Low bit position error value
R-3 ALL Modbus synchronous command selection R-28 ALL Torque command
R-4 T Synchronous torque command R-29 ALL Speed command
R-5 S Synchronous speed command R-30 ALL High bit position command
High bit of synchronous position
R-6 P R-31 ALL Low bit position command
command
Low bit of synchronous position
R-7 P R-32 ALL Alarm code
command
R-8 ALL Synchronous command enable R-33 ALL BootRom version
The implementation state of EEPROM
R-9 ALL R-34 ALL Software version
operation

4

6.2 Details
● “RO” indicates read only, R/W indicates read and write, WC indicates write and clear.
Parameter Firmware version Modbus address 0x1C7D Unit －
Pn-0
Range － Default － CANbus object － Attrib RO
Control mode：All
Details：Firmware verion of servo drive, can not be modified.
Parameter Motor type code Modbus address 0x1240 Unit －

Pn-1
Range 0~21 Default － CANbus object 0x2241.0 Attrib R/W
Control mode：All
Details：Motor type ccode, customers must ensure the motor type code is correct when restore the default parameters.
Code Motor model Code Motor model Code Motor model
0 Factory parameters 8 SM110-060-30LFB 16 SM130-150-15LFB
1 SM80-013-30LFB 9 SM130-040-25LFB 17 SM130-150-25LFB
6 SM110-050-30LFB 14 SM130-100-15LFB
7 SM110-060-20LFB 15 SM130-100-25LFB
Parameter User constants protection code Modbus address 0x1241 Unit －

Pn-2
Range 0~32767 Default 28977 CANbus object 0x2242.0 Attrib R/W
Control mode：All
Details：It is used to prevent the parameters from being changed accidentally. The parameters can not be modified as the value is set
to any number except 28977.
Example：① After adjust the parameters, set Pn-2 to 28990，click “Enter” button, then the other parameters can not be modified.
Change the parameter value and click “Enter” button, the decimal point does not disappear, the parameter can not be
modified.
The parameters can be modified as Pn-2 is set to 28977.
Parameter Drive Status (Front Panel Display) Modbus address 0x1242 Unit －
Pn-3
Control mode：All
Details：Select the information displaying on the panel, customers can find the details in chapter 4 section 4.2.2
Value Display Unit Value Display Unit
0 Motor output torque (%) % 10 Reservation —
1 Motor speed (rpm) rpm 11 Low 5 bit of position deviation pulse
2 Low 5 bit of feedback pulse pulse 12 High 5 bit of position deviation pulse

5

3 High 5 bit of feedback pulse pulse 13 Control mode —

4 Torque command % 14 Alarm display —
5 Speed command rpm 15 Low 4 bit of digital input status —
6 Low 5 bit of position command pulse 16 High 6 bit of digital input status —
7 High 5 bit of position command pulse 17 Digital output status —
8 Motor current Amp 18 Encoder input status —
9 Absolute rotor position pulse
Example：① The default value of Pn-3 is 0, it indicates the display will show the motor output torque (%).
② Set Pn-3 to 1, now the display will show motor speed (rpm).
Parameter Motor control mode Modbus address 0x1243 Unit －

Pn-4
Control mode：All
Details：This parameter is used to select the control mode of servo drive, please refer to chapter 5 section 4.2~4.9 for details.
Value Control mode Function
0 Torque control mode Controled by analog command

Controled by internal command Controled by analog
1 Speed control mode
command Controled by external pulse command
2 Position control mode Controled by external pulse command
3 JOG control mode Controle by panel
4 Speed trial control mode Controle by internal command
5 Analog input drift compensation Used to analog input drift compensation function
6 Point-to-point control mode Controled by digital input

Switch the control mode among position control, speed control
7 Position/speed/torque control mode
and torque control.
Parameter Mechanical brake delay time Modbus address 0x1244 Unit ms

Pn-5
Control mode：All
Details：Set the delay time from the moment that ServoEn signal is OFF to the time mechanical brake available (output terminals
BRK changes from OFF to ON). This parameter should be bigger than mechanical braking delay time to avoid motor for
micro-displacement or falling.

6

Parameter Current turn off delay time Modbus address 0x1245 Unit ms
Pn-6
Control mode：All
Details：Customers can set up time from when detecting the off of Servo-ON input signal (Logic_Servo_Enable) is to when external
brake release signal (BRK-OFF) turns off, while the motor turns to servo off during the motor in motion.
The actual time is the minimum value between PN5 and the time speed falls to PN6.
Parameter Threshold speed of current turn off delaytime Modbus address 0x1246 Unit rpm
Pn-7
Control mode：All
Details：Set up the speed timing of brake output checking during operation.
The actual time is the minimum value between PN5 and the time speed falls to PN6.
Parameter Anti-control of low-6-bit digital input Modbus address 0x1247 Unit －

Pn-8
Control mode：All
Details：This parameter is expressed by a 6-bit binary number. It is used for anti-control of low 6 bit digital input, “0” indicates
original state, and “1” indicates anti-control for this signal.

7

Note：This function is used for physical port anti-control operation, please refer to chapter 3 section 3.7.2 and chapter 5 section 5.16.5
for details of digital input/output function and mapping function.
Example：As the physical port status of “ServoEn” signal is OFF：
Item Initial state Anti-control operation
Parameter setting
Signal status OFF ON
Parameter Anti-control of high-4-bit digital input Modbus address 0x1248 Unit －

Pn-9
Control mode：All
Details：This parameter is expressed by a 4-bit binary number. It is used for anti-control of high 4 bit digital input, “0” indicates
Note：
① This function is used for physical port anti-control operation, please refer to chapter 3 section 3.7.2 and chapter 5 section 5.16.5
for details of digital input/output function and mapping function.
② Please DO NOT take anti-control operation for “PulseInv” and “SignInv” signal for normal control, it may cause error.
Example：Please refer to the example of parameter “Pn-8”.
Parameter Anti-control of encoder feedback Modbus address 0x1249 Unit －

Pn-10
Control mode：All
Details：This parameter is expressed by a 6-bit binary number. It is used for anti-control of of encoder feedback, “0” indicates

8

Note：Normally, we do not suggest customers to use this function.

Parameter Force-ON of low-6-bit digital input Modbus address 0x1249 Unit －

Pn-11
Range 0~63 Default 0 CANbus object 0x224A.0 Attrib R/W
Control mode：All
Details：This parameter is expressed by a 6-bit binary number. It is used for forece-ON control of low-6-bit digital input, “0”
indicates original state, and “1” indicates force-ON control for this signal. As if customers carry out the force-ON control, the
signal will stay “ON” status.
Note：This function is used for physical port force-ON control operation, please refer to chapter 3 section 3.7.2 and chapter 5 section
5.16.5 for details of digital input/output function and mapping function.
Example：As the physical port status of “ServoEn” signal is OFF：
Item Initial state Anti-control operation
Parameter setting
Signal status OFF ON
Parameter Force-ON of high-2-bit digital input Modbus address 0x124B Unit －

Pn-12
Range 0~3 Default 0 CANbus object 0x224B.0 Attrib R/W
Control mode：All
Details：This parameter is expressed by a 2-bit binary number (“PulseInv” and “SignInv” can not be modified). It is used for
forece-ON control of high-2-bit digital input, “0” indicates original state, and “1” indicates force-ON control for this signal. As
if customers carry out the force-ON control, the signal will stay “ON” status.

9

Note：This function is used for physical port force-ON control operation, please refer to chapter 3 section 3.7.2 and chapter 5 section
5.16.5 for details of digital input/output function and mapping function.
Parameter Anti-control of high-4-bit digital output Modbus address 0x124C Unit －

Pn-13
Range 0~15 Default 0 CANbus object 0x224C.0 Attrib R/W
Control mode：All
Details：This parameter is expressed by a 4-bit binary number. It is used for anti-control of of digital output, “0” indicates original
state, and “1” indicates anti-control for this signal.
Note：As carry out anti-control of digital output, the signal status will change in very short time when power on, as the system resest.
Parameter Anti-control of low-3-bit digital output Modbus address 0x124D Unit －

Pn-14
Range 0~7 Default 0 CANbus object 0x224D.0 Attrib R/W
Control mode：All
Details：This parameter is expressed by a 3-bit binary number. It is used for anti-control of of digital output, “0” indicates original
state, and “1” indicates anti-control for this signal.
Parameter Gain of analog torque command input Modbus address 0x124E Unit －
Pn-15
Range 10~300 Default 100 CANbus object 0x224E.0 Attrib R/W
Control mode：Torque control mode
Details：This parameter is used to set the proportion relationship between analog torque input voltage and torque command.
Parameter value=(Max. input/Max. torque command) 10。The default value is 100，which means 10Vsupport 100% torque.
Example：Please refer to chapter 5 section 5.7.4 for details.

10

Analog input drift compensation of torque

Parameter Modbus address 0x124F Unit mV
Pn-16 command
Range -30000~30000 Default 0 CANbus object 0x224F.0 Attrib R/W
Details：This function is used to adjust the analog input drift compensation. As the zero-drift torque is a positive value, the parameter
should be set a positive value; while the zero-drift torque is a negative value, the parameter should be set a negative value.
Parameter Invert the direction of analog torque command Modbus address 0x1250 Unit －
Pn-17
Details：The analog torque command is a vector parameter.
Set the parameter to 0, as if the input voltage is a positive voltage, the motor will run in positive direction, while the input voltage is a
negative voltage, the motor will run in negative direction.
Set the parameter to 1, as if the input voltage is a positive voltage, the motor will run in negative direction, while the input voltage is
a negative voltage, the motor will run in positive direction.
Parameter Gain of analog speed command input Modbus address 0x1251 Unit －
Pn-18
Control mode：Speed control mode
Details：This parameter is used to set the proportion relationship between analog speed voltage and speed command.
Parameter value =(Max. input/Max. speed command) 30000。The default value is 100，which means 10Vsupport speed command of
3000rpm.
Analog input drift compensationof speed

Parameter Modbus address 0x1252 Unit mV
Pn-19 command
Range -30000~30000 Default 0 CANbus object 0x2252.0 Attrib R/W
Details：This function is used to adjust the analog input drift compensation. As the zero-drift speed is a positive value, the parameter
should be set a positive value; while the zero-drift speed is a negative value, the parameter should be set a negative value.
Parameter Invert the direction of analog speed command Modbus address 0x1253 Unit －
Pn-20
Details：The analog speed command is a vector parameter.
Set the parameter to 0, as if the input voltage is a positive voltage, the motor will run in positive direction, while the input voltage is a
negative voltage, the motor will run in negative direction.
Set the parameter to 1, as if the input voltage is a positive voltage, the motor will run in negative direction, while the input voltage is
a negative voltage, the motor will run in positive direction.
Parameter Low-pass bandwidth of analog speed input Modbus address 0x1254 Unit Hz
Pn-21
Details：This parameter is used to set the low-pass filter bandwidth of analog speed input. The greater the value is, it would bring
faster response of analog speed input and more signal noise; The smaller the value is, it would bring slower response of analog speed
input and less signal noise.

11

Parameter Threshold value of torque overload alarm Modbus address 0x1255 Unit %
Pn-22
Parameter Testing time of torque over load alarm Modbus address 0x1256 Unit ms
Pn-23
Control mode：All
Details：These two parameters are used to for the torque overload function. As the motor output torque is over the threshold
value(Pn-22) for a period time over the testing time(Pn-23), the drive will alarm Err-18.
Parameter Internal brake resistor temperature alarm function Modbus address 0x1257 Unit －
Pn-24
Control mode：All
Details：This function is used to enable the brake resistor temperature alarm function or not. As set the parameter to 1, internal brake
resistor temperature alarm enabled; set the parameter to 1, internal brake resistor temperature alarm disenabled.
Note：When using the external vrake resistor, we suggest to set the parameter to 0, and when using the internal resistor, we
suggesttoset the parameter to 1.
Parameter Internal torque limit in negative (CW) direction Modbus address 0x1258 Unit %
Pn-25
Range 1 ~ 400 Default 300 CANbus object 0x2258.0 Attrib R/W
Parameter Internal torque limit in positive (CCW) direction Modbus address 0x1259 Unit %
Pn-26
Range 1 ~ 400 Default 300 CANbus object 0x2259.0 Attrib R/W
Control mode：All
Details：These two parameters are used to set the torque limit in positive direction and negative direction, the motor output torque
will be limited under the parameter value.
Example：If customer want 2 times overload for the motor, which indicates that the max peak output will be 200% of motor norminal
torque, customer needs to set Pn-25 and Pn-26 to 200
Parameter Torque limit mode Modbus address 0x125A Unit －

Pn-27
Control mode：All
Details：This parameter is used for selecting the torque limit mode. Please refer to chapter 5 section 5.13 for details.
Parameter value Control mode Control mode
0 Internal torque limit Set by parameters（Pn-25，Pn-26）
1 External torque limit Switch the torque limit value(16 in all) from digital input（Pn72-~Pn-87）
2 Analog command torque limit Limit the torque output by analog command
Parameter Notch function Modbus address 0x125B Unit －

Pn-28
Control mode：All
Details：This parameter is used to enable the notch function or not.Set it to 0, the notch function is valid; set it to 1, the notch function
is invalid.
Pn-29 Parameter Notch frequency Modbus address 0x125C Unit －

12


Control mode：All
Details：This parameter is used to set the notch frequency.
Parameter The first speed loop proportional gain（PID1） Modbus address 0x125D Unit －
Pn-30
Range 0~1000 Default － CANbus object 0x225D.0 Attrib R/W
Control mode：All
Details：This parameter is used to set the first speed loop proportional gain, customers can switch it from the second speed loop
proportional gain, please refer to chapter 5 section 5.11 for gain switching function.
The larger the value is, the greater the stiffness would be. The value is determined by the type of servo and the load condition. In
general, larger load inertia needs larger value. If there is no oscillation, the higher the value is the better the servo system performs.
Note：For different motor, the default value is different.
Parameter The first speed loop integral time constant（PID1） Modbus address 0x125E Unit －
Pn-31
Range 1~8000 Default － CANbus object 0x225E.0 Attrib R/W
Control mode：All
Details：This parameter is used to set the first speed loop integral time constant, customers can switch it from the second speed loop
The smaller the value, the greater the stiffness. The value is determined by the type of servo and the load condition. In general, larger
load inertia needs larger value. Set the parameter as small as possible without oscillation.
The first low-pass bandwidth of speed loop

Parameter Modbus address 0x125F Unit Hz
Pn-32 （PID1）
Range 1~1500 Default 400 CANbus object 0x225F.0 Attrib R/W
Control mode：All
Details：This parameter is used to set the first low-pass bandwidth of speed loop, customers can switch it from the second speed loop
Normally, smaller value results in slower and smoother speed response. Too small value may cause system oscillation.
The first low-pass filter bandwidth of torque

Parameter Modbus address 0x1260 Unit Hz
Pn-33 command（PID1）
Control mode：All
Details：This parameter is used to set the first low-pass filter bandwidth of torque command, customers can switch it from the second
speed loop proportional gain, please refer to chapter 5 section 5.11 for gain switching function.
Normally, smaller value results in slower and smoother speed response. But too much small value may cause system oscillation.
Parameter Acceleration time in speed control Modbus address 0x1261 Unit 10ms
Pn-34
Parameter Deceleration time in speed control Modbus address 0x1262 Unit 10ms
Pn-35
Details：These two parameters are used to set the acceleration time and deceleration time from 0rpm to 1000rpm.
Note：It is suggested that set Pn-34 and Pn-35 to 0 in position control mode.
13

Parameter The second speed loop proportional gain（PID2） Modbus address 0x1263 Unit －
Pn-36
Control mode：All
Details：This parameter is used to set the second speed loop proportional gain, customers can switch it from the first speed loop
The larger the value is, the greater the stiffness would be. The value is determined by the type of servo and the load condition. In
general, larger load inertia needs larger value. If there is no oscillation, the higher the value is the better the servo system performs.
The second speed loop integral time constant

Parameter Modbus address 0x1264 Unit －
Pn-37 （PID2）
Control mode：All
Details：This parameter is used to set the second speed loop integral time constant, customers can switch it from the first speed loop
The smaller the value, the greater the stiffness. The value is determined by the type of servo and the load condition. In general, larger
load inertia needs larger value. Set the parameter as small as possible without oscillation.
The second low-pass bandwidth of speed loop

Pn-38 （PID2）
Control mode：All
Details：This parameter is used to set the second low-pass bandwidth of speed loop, customers can switch it from the first speed loop
Normally, smaller value results in slower and smoother speed response. Too small value may cause system oscillation.
The second low-pass filter bandwidth of torque

Pn-39 command（PID2）
Control mode：All
Details：This parameter is used to set the second low-pass filter bandwidth of torque command, customers can switch it from the first
Normally, smaller value results in slower and smoother speed response. But too much small value may cause system oscillation.
Parameter Speed command mode Modbus address 0x1267 Unit －

Pn-40
Details：This parameter is used to select the speed command mode.
Value Control mode Details
Set speed command by 16 parameters（Pn88~Pn103），customers can
0 Internal speed control mode
switch the speed command by digital input.
1 Analog speed control mode Receive external analog command as speed command.
2 Pulse speed control mode Receive external pulse command as speed command.

14

Parameter Speed command in JOGcaontrol mdoe Modbus address 0x1268 Unit rpm
Pn-41
Control mode：Speed control mode（JOG control）
Details：This parameter is used to set the speed command in JOG control mode.
Parameter Speed limit Modbus address 0x1269 Unit rpm

Pn-42
Control mode：All
Details：This parameter is used to set the speed limit, it is valid in both direction.
Note：
① If the parameter value is larger than the motor norminal speed, the motor only can run at a speed no more than norminal speed.
② The default value is different for each motors, and the default value is the motor nominal speed.
Parameter Theshold value of speed reached output Modbus address 0x126A Unit rpm
Pn-43
Details：This parameter is used to set the theshold value of speed reached output, it is valid in both positive direction and negative
irection. As if the motor speed is over the threshold value, the status of output signal “COIN” will be ON, otherwise, it will be OFF.
Note：The comparator has hysteresis characteristics.
Parameter The first Position loop proportional gain（PID1） Modbus address 0x126B Unit －
Pn-44
Range 1~32000 Default － CANbus object 0x226B.0 Attrib R/W
Control mode：Position control mode
Details：This parameter is used to set the first position loop proportional gain, customers can switch it from the second speed loop
Higher gain results in greater mechanical stiffness and less position tracking error. Too large value may cause overshoot or
oscillation.
The first position loop differential proportional

Parameter Modbus address 0x126C Unit －
Pn-45 gain（PID1）
Details：This parameter is used to set the first position loop differential proportional gain, customers can switch it from the second
Higher gain results in greater mechanical stiffness and less position tracking error. Too big value may cause overshoot or oscillation.
Note：This parameter is usually set to zero unless customers need very fast response.
The first cut-off frequency of position feed

Parameter Modbus address 0x126D Unit Hz
Pn-46 forward filter（PID1）
Range 1~1000 Default 400 CANbus object 0x226D.0 Attrib R/W
Details：This parameter is used to set the first cut-off frequency of position feed forward filter, the unit is Hz.
Customers can switch it from the second speed loop proportional gain, please refer to chapter 5 section 5.11 for gain switching
function.The filter is used to increase the stability of compound position control.

15

Parameter Constant of position command filter Modbus address 0x126E Unit ms

Pn-47
Details：Smoothen filter for the command pulse with the accelerate of index form, the value stands for time constant. The unit is
ms;Filter would not lose input pulse but may lead to delay. Filter is inactive as set to 0.
The filter works in the follow conditions:
● Host controller has not acceleration and deceleration function;
● Larger electronic gear ratio (＞10);
● Lower command frequency;
● Motor running with jumps or other unstable conditions;
Parameter Denominator of electric gear ratio Modbus address 0x126F Unit －

Pn-48
Parameter Numerator 1 of electric gear ratio Modbus address 0x1270 Unit －

Pn-49
Parameter Numerator 2 of electric gear ratio Modbus address 0x1271 Unit －

Pn-50
Parameter Electric gear ratio switching function Modbus address 0x1272 Unit －
Pn-51
Control mode：Position control mode，Speed control mode
Details：These parameters are used for the electric gear ratio function in position control mode or external speed control mode by
Pn-48, Pn-49, Pn-50.
Note：Please refer to chapter 5 section 5.2.4 for details.
Parameter External pulse input type Modbus address 0x1273 Unit －

Pn-52
Details：This parameter is used to set the pulse input command type：
Value Pulse type
0 Pulse+direction pulse
1 CCW+CW pulse
2 A /B phase pulse
Parameter Invert of pulse command direction Modbus address 0x1274 Unit －

Pn-53
Details：This function is used to set the inveting function of pulse command direction. “0” indicates normal direction while “1”
indicates reverse the direction of pulse command.
Parameter Range of positioning complete function Modbus address 0x1275 Unit pulse
Pn-54

16

Details：This parameter is used to set the range of positioning complete function. As the position deviation counting pulse is no more
than this parameter value, the digital output “COIN” will be ON, otherwise it will be OFF.
Parameter Position error detection range Modbus address 0x1276 Unit pulse
Pn-55
Details： This parameter is used to set the position error detection range. The threshold alarm value = the value of Pn-57 *100pulse,
as the position deviation counting pulse is over the threshold alarm value, the servo drive will alarm ERR-16
Parameter Position error detection function Modbus address 0x1277 Unit －

Pn-56
Details：This parameter is used to set enable the position error detection function. As set the parameter value to 0, the position error
detection function is valid; while set the parameter value to 1, the position error detection function is invalid.
Parameter Encoder output ratio Modbus address 0x1278 Unit －

Pn-57
Control mode：All
Details：This parameter is used to set the encoder output ratio.
N
R
P
R ：Ratio
N ：The required Encoder Output resolution（The required pulse number per round）
P ：Encoder resolution
Numerator should be less than denominator and not be set zero, otherwise, the ratio will forced to 1:1.
Convert P and N into five-bit binary number (P as a low-five and N as a high-five), and combine them into a ten-bit binary number,
then convert this ten-bit binary number into a decimal number, it is the value of Pn-57.
Example： Output ratio is 1:1
Output ratio is 1:4
Note：Please refer to chapter 5 section 5.3.4 for the details.
Parameter Homing mode Modbus address 0x1279 Unit －

Pn-58
Control mode：Point to point control mode

17

Details：This function is used to set the homing mode, we support three homing mode in all.
Parameter Homing speed Modbus address 0x127A Unit rpm

Pn-59
Details：This function is used to set the motor speed in homing operation in point to point control mode. It is valid in both directions.
Note：Too fast homing speed may cause mechanical damage at limit switch.
Parameter Acceleration / deceleration in homing operation Modbus address 0x127B Unit R / S2

Pn-60
Details：This function is used to set the acceleration / deceleration in homing operation. It is valid in both directions.
Note：Too fast acceleration / deceleration speed may cause mechanical damage at limit switch.
Parameter High bit of home position offset Modbus address 0x127C Unit pulse
Pn-61
Range -30000~30000 Default 0 CANbus object 0x227C.0 Attrib R/W
Parameter Low bit of home position offset Modbus address 0x127D Unit pulse
Pn-62
Range -9999~9999 Default 0 CANbus object 0x227D.0 Attrib R/W
Details：This function is used to set the offset of home position. The offset position is divided into high bit part and low bit
part.theoffset position = PN61×10000 ＋PN62.
Parameter Demo or point to point mode selection Modbus address 0x127E Unit －
Pn-63
Control mode：All
Details：This function is used to set the command type of demo mode or point to point mode.
Set the parameter value to 0, the drive will work in torque demo mode. From step 1 to 16（torque commands from parameters
Pn-72~ Pn-87）, servo runs each step one by one and loops forever. In every step torque value and lasting time can be set
independently.
Set the parameter value to 1, the drive will work in speed demo mode. From step 1 to 16（speed commands from parameters
Pn-88~ Pn-103）, servo runs each step one by one and loops forever. In every step torque value and lasting time can be set
independently.
Set the parameter value to 2, the drive will work in position demo mode, From step 1 to 16（position commands from parameters
Pn-104~ Pn-183）, servo runs each step one by one and loops forever. In every step position, speed, acceleration and maximum torque
value can be set independently.
Set the parameter value to 3, the drive will work in absolute value point to point mode.
Set the parameter value to 4, the drive will work in increment point to point mode.
Set the parameter value to 5, the drive will work in trigger absolute value point to point mode.
Set the parameter value to 6, the drive will work in trigger increment point to point mode.
Parameter Gain (PID) parameter switching mode Modbus address 0x127F Unit －
Pn-64
Control mode：All

18

Details：This parameter is used to set the gain parameter switching mode.

Value Switching mode
0 Fixed to the first set of PID parameters
1 Fixed to the second set of PID parameters
2 Switch the PID parameters by digital input（PID_Sel）
3 Switch the PID parameters by position deviation
4 Switch the PID parameters by speed deviation
5 Switch the PID parameters by motor speed
6 Switch the PID parameters by motor output torque
Note: Please refer to chapter 5 section 5.11 for details.
Trigger value of gain (PID) parameter switching

Pn-65 function
Control mode：All
Details： This function is used to set the trigger value of gain parameter switching function, it is valid while set Pn-65 to 3/4/5/6.
② The parameter unit depends on Pn-64. As set Pn-65 to 3, the unit is pulse; set Pn-65 to 4 or 5, the unit is rpm; set Pn-65 to 6, the
unit is %.
The second position loop proportional gain

Pn-66 （PID2）
Details：This parameter is used to set the second position loop proportional gain, customers can switch it from the second speed loop
Higher gain results in greater mechanical stiffness and less position tracking error. Too large value may cause overshoot or
oscillation.
The second position loop differential proportional

Pn-67 gain（PID2）
Details：Details：This parameter is used to set the second position loop differential proportional gain, customers can switch it from the
first speed loop proportional gain, please refer to chapter 5 section 5.11 for gain switching function.
Higher gain results in greater mechanical stiffness and less position tracking error. Too big value may cause overshoot or oscillation.
Note：This parameter is usually set to zero unless customers need very fast response.
The second cut-off frequency of position feed

Pn-68 forward filter（PID2）
Details：This parameter is used to set the second cut-off frequency of position feed forward filter, the unit is Hz.
Customers can switch it from the first speed loop proportional gain, please refer to chapter 5 section 5.11 for gain switching
function.The filter is used to increase the stability of compound position control.
Pn-69 Parameter Enhancement of torque loop response function Modbus address 0x1284 Unit －

19


Control mode：All
Details：This parameter is used to enable the enhancement of torque loop response function. As set the parameter value to 1, the
torque loop response will be enhanced, but it may cause little current noise.
Parameter Reservation Modbus address 0x1285 Unit －

Pn-70
Range － Default － CANbus object 0x2285.0 Attrib R/W
Control mode：Reservation
Details：Reservation.
Parameter Reservation Modbus address 0x1286 Unit －

Pn-71
Range － Default － CANbus object 0x2286.0 Attrib R/W
Control mode：Reservation
Details：Reservation.
Parameter Internal torque command 1 Modbus address 0x1287 Unit %

Pn-72
Control mode：Demo mode
Details：Internal torque command 1, the parameter value indicates the percentage of the nominal torque, the unit is %.

Pn-73
Range -400~400 Default -10 CANbus object 0x2288.0 Attrib R/W

Pn-74
Parameter Internal torque command 4 Modbus address 0 x128A Unit %

Pn-75
Range -400~400 Default -20 CANbus object 0x228A.0 Attrib R/W
Parameter Internal torque command 5 Modbus address 0x128B Unit %

Pn-76
Range -400~400 Default 30· CANbus object 0x228B.0 Attrib R/W
Parameter Internal torque command 6 Modbus address 0x128C Unit %

Pn-77
Range -400~400 Default -30 CANbus object 0x228C.0 Attrib R/W
20

Parameter Internal torque command 7 Modbus address 0x128D Unit %

Pn-78
Parameter Internal torque command 8 Modbus address 0x128E Unit %

Pn-79
Range -400~400 Default -40 CANbus object 0x228E.0 Attrib R/W
Parameter Internal torque command 9 Modbus address 0x128F Unit %

Pn-80
Range -400~400 Default 50 CANbus object 0x228F.0 Attrib R/W

Pn-81

Pn-82

Pn-83

Pn-84

Pn-85

Pn-86
21



Pn-87
Parameter Internal speed command 1 Modbus address 0x1297 Unit rpm

Pn-88
Control mode：Speed control mode，Demo mode
Details：Internal speed command 1，the unit is rpm.

Pn-89
Pn-90
Parameter Internal speed command 4 Modbus address 0x129A Unit rpm

Pn-91
Range -6000~6000 Default 40 CANbus object 0x229A.0 Attrib R/W
Parameter Internal speed command 5 Modbus address 0x129B Unit rpm

Pn-92
Range -6000~6000 Default 50 CANbus object 0x229B.0 Attrib R/W
Parameter Internal speed command 6 Modbus address 0x129C Unit rpm

Pn-93
Range -6000~6000 Default 60 CANbus object 0x229C.0 Attrib R/W
Parameter Internal speed command 7 Modbus address 0x129D Unit rpm

Pn-94
Parameter Internal speed command 8 Modbus address 0x129E Unit rpm

Pn-95
Range -6000~6000 Default 80 CANbus object 0x229E.0 Attrib R/W
22


Parameter Internal speed command 9 Modbus address 0x129F Unit rpm

Pn-96
Range -6000~6000 Default -10 CANbus object 0x229F.0 Attrib R/W
Parameter Internal speed command 10 Modbus address 0x12A0 Unit rpm

Pn-97
Range -6000~6000 Default -20 CANbus object 0x22A0.0 Attrib R/W

Pn-98
Pn-99

Pn-100

Pn-101

Pn-102

Pn-103
Parameter High bit of internal position command 1 Modbus address 0x12A7 Unit pulse
Pn-104
Range -30000~30000 Default 50 CANbus object 0x22A7.0 Attrib R/W
23

Parameter Low bit of internal position command 1 Modbus address 0x12A8 Unit pulse
Pn-105
Range -9999~9999 Default 0 CANbus object 0x22A8.0 Attrib R/W
Control mode：Point to point control mode，Demo mode
Details：Set position command 1 in point to point control mode or demo mode, the unit is pulse. The position command=high bit
part×10000＋low bit part.
Parameter Speed of internal position command 1 Modbus address 0x12A9 Unit rpm
Pn-106
Range 1~6000 Default 2000 CANbus object 0x22A9.0 Attrib R/W
Details：Set the motor speed of internal position 1, the unit is rpm.
Acceleration/deceleration of internal position

Parameter Modbus address 0x12AA Unit R / S2
Pn-107 command 1
Range 1~1000 Default 25 CANbus object 0x22AA.0 Attrib R/W
Details：Set the acceleration and deceleration of internal position command 1.
Parameter Peak torque of internal position command 1 Modbus address 0x12AB Unit %
Pn-108
Range 0~400 Default 125 CANbus object 0x22AB.0 Attrib R/W
Details：Set the torque limit of internal position command 1, the unit is %.
Parameter High bit of internal position command 2 Modbus address 0x12AC Unit pulse
Pn-109
Range -30000~30000 Default 125 CANbus object 0x22AC.0 Attrib R/W
Parameter Low bit of internal position command 2 Modbus address 0x12AD Unit pulse
Pn-110
Range -9999~9999 Default 0 CANbus object 0x22AD.0 Attrib R/W
Parameter Speed of internal position command 2 Modbus address 0x12AE Unit rpm
Pn-111
Range 1~6000 Default 2000 CANbus object 0x22AE.0 Attrib R/W

Parameter Modbus address 0x12AF Unit R / S2
Pn-112 command 2
Range 1~1000 Default 25 CANbus object 0x22AF.0 Attrib R/W
Parameter Peak torque of internal position command 2 Modbus address 0x12B0 Unit %
Pn-113
Range 0~400 Default 125 CANbus object 0x22B0.0 Attrib R/W
24

Parameter High bit of internal position command 3 Modbus address 0x12B1 Unit pulse
Pn-114
Range -30000~30000 Default 90 CANbus object 0x22B1.0 Attrib R/W
Parameter Low bit of internal position command 3 Modbus address 0x12B2 Unit pulse
Pn-115
Parameter Speed of internal position command 3 Modbus address 0x12B3 Unit rpm
Pn-116

Parameter Modbus address 0x12B4 Unit R / S2
Pn-117 command 3
Parameter Peak torque of internal position command 3 Modbus address 0x12B5 Unit %
Pn-118
Parameter High bit of internal position command 4 Modbus address 0x12B6 Unit pulse
Pn-119
Parameter Low bit of internal position command 4 Modbus address 0x12B7 Unit pulse
Pn-120
Parameter Speed of internal position command 4 Modbus address 0x12B8 Unit rpm
Pn-121

Parameter Modbus address 0x12B9 Unit R / S2
Pn-122 command 4
25

Parameter Peak torque of internal position command 4 Modbus address 0x12BA Unit %
Pn-123
Range 0~400 Default 125 CANbus object 0x22BA.0 Attrib R/W
Parameter High bit of internal position command 5 Modbus address 0x12BB Unit pulse
Pn-124
Range -30000~30000 Default 50 CANbus object 0x22BB.0 Attrib R/W
Parameter Low bit of internal position command 5 Modbus address 0x12BC Unit pulse
Pn-125
Range -9999~9999 Default 0 CANbus object 0x22BC.0 Attrib R/W
Parameter Speed of internal position command 5 Modbus address 0x12BD Unit rpm
Pn-126
Range 1~6000 Default 2000 CANbus object 0x22BD.0 Attrib R/W

Parameter Modbus address 0x12BE Unit R / S2
Pn-127 command 5
Range 1~1000 Default 25 CANbus object 0x22BE.0 Attrib R/W
Parameter Peak torque of internal position command 5 Modbus address 0x12BF Unit %
Pn-128
Range 0~400 Default 125 CANbus object 0x22BF.0 Attrib R/W
Parameter High bit of internal position command 6 Modbus address 0x12C0 Unit pulse
Pn-129
Range -30000~30000 Default 80 CANbus object 0x22C0.0 Attrib R/W
Parameter Low bit of internal position command 6 Modbus address 0x12C1 Unit pulse
Pn-130
Parameter Speed of internal position command 6 Modbus address 0x12C2 Unit rpm
Pn-131
Range 1~6000 Default 2000 CANbus object 0x22C2.0 Attrib R/W
26


Parameter Modbus address 0x12C3 Unit R / S2
Pn-132 command 6
Parameter Peak torque of internal position command 6 Modbus address 0x12C4 Unit %
Pn-133
Parameter High bit of internal position command 7 Modbus address 0x12C5 Unit pulse
Pn-134
Parameter Low bit of internal position command 7 Modbus address 0x12C6 Unit pulse
Pn-135
Parameter Speed of internal position command 7 Modbus address 0x12C7 Unit rpm
Pn-136

Parameter Modbus address 0x12C8 Unit R / S2
Pn-137 command 7
Parameter Peak torque of internal position command 7 Modbus address 0x12C9 Unit %
Pn-138
Parameter High bit of internal position command 8 Modbus address 0x12CA Unit pulse
Pn-139
Range -30000~30000 Default 30 CANbus object 0x22CA.0 Attrib R/W
Parameter Low bit of internal position command 8 Modbus address 0x12CB Unit pulse
Pn-140
Range -9999~9999 Default 0 CANbus object 0x22CB.0 Attrib R/W
27

Parameter Speed of internal position command 8 Modbus address 0x12CC Unit rpm
Pn-141
Range 1~6000 Default 2000 CANbus object 0x22CC.0 Attrib R/W

Parameter Modbus address 0x12CD Unit R / S2
Pn-142 command 8
Range 1~1000 Default 25 CANbus object 0x22CD.0 Attrib R/W
Parameter Peak torque of internal position command 8 Modbus address 0x12CE Unit %
Pn-143
Range 0~400 Default 125 CANbus object 0x22CE.0 Attrib R/W
Parameter High bit of internal position command 9 Modbus address 0x12CF Unit pulse
Pn-144
Range -30000~30000 Default 10 CANbus object 0x22CF.0 Attrib R/W
Parameter Low bit of internal position command 9 Modbus address 0x12D0 Unit pulse
Pn-145
Range -9999~9999 Default 0 CANbus object 0x22D0.0 Attrib R/W
Parameter Speed of internal position command 9 Modbus address 0x12D1 Unit rpm
Pn-146
Range 1~6000 Default 2000 CANbus object 0x22D1.0 Attrib R/W

Parameter Modbus address 0x12D2 Unit R / S2
Pn-147 command 9
Parameter Peak torque of internal position command 9 Modbus address 0x12D3 Unit %
Pn-148
Parameter High bit of internal position command 10 Modbus address 0x12D4 Unit pulse
Pn-149

28

Parameter Low bit of internal position command 10 Modbus address 0x12D5 Unit pulse
Pn-150
Parameter Speed of internal position command 10 Modbus address 0x12D6 Unit rpm
Pn-151

Parameter Modbus address 0x12D7 Unit R / S2
Pn-152 command 10
Parameter Peak torque of internal position command 10 Modbus address 0x12D8 Unit %
Pn-153
Parameter High bit of internal position command 11 Modbus address 0x12D9 Unit pulse
Pn-154
Parameter Low bit of internal position command 11 Modbus address 0x12DA Unit pulse
Pn-155
Range -9999~9999 Default 0 CANbus object 0x22DA.0 Attrib R/W
Parameter Speed of internal position command 11 Modbus address 0x12DB Unit rpm
Pn-156
Range 1~6000 Default 2000 CANbus object 0x22DB.0 Attrib R/W

Parameter Modbus address 0x12DC Unit R / S2
Pn-157 command 11
Range 1~1000 Default 25 CANbus object 0x22DC.0 Attrib R/W
Parameter Peak torque of internal position command 11 Modbus address 0x12DD Unit %
Pn-158
Range 0~400 Default 125 CANbus object 0x22DD.0 Attrib R/W
29

Parameter High bit of internal position command 12 Modbus address 0x12DE Unit pulse
Pn-159
Range -30000~30000 Default 60 CANbus object 0x22DE.0 Attrib R/W
Parameter Low bit of internal position command 12 Modbus address 0x12DF Unit pulse
Pn-160
Range -9999~9999 Default 0 CANbus object 0x22DF.0 Attrib R/W
Parameter Speed of internal position command 12 Modbus address 0x12E0 Unit rpm
Pn-161
Range 1~6000 Default 2000 CANbus object 0x22E0.0 Attrib R/W

Parameter Modbus address 0x12E1 Unit R / S2
Pn-162 command 12
Parameter Peak torque of internal position command 12 Modbus address 0x12E2 Unit %
Pn-163
Parameter High bit of internal position command 13 Modbus address 0x12E3 Unit pulse
Pn-164
Range -30000~30000 Default 30 CANbus object 0x22E3.0 Attrib R/W
Parameter Low bit of internal position command 13 Modbus address 0x12E4 Unit pulse
Pn-165
Parameter Speed of internal position command 13 Modbus address 0x12E5 Unit rpm
Pn-166

Parameter Modbus address 0x12E6 Unit R / S2
Pn-167 command 13

30

Parameter Peak torque of internal position command 13 Modbus address 0x12E7 Unit %
Pn-168
Parameter High bit of internal position command 14 Modbus address 0x12E8 Unit pulse
Pn-169
Parameter Low bit of internal position command 14 Modbus address 0x12E9 Unit pulse
Pn-170
Parameter Speed of internal position command 14 Modbus address 0x12EA Unit rpm
Pn-171
Range 1~6000 Default 2000 CANbus object 0x22EA.0 Attrib R/W

Parameter Modbus address 0x12EB Unit R / S2
Pn-172 command 14
Range 1~1000 Default 25 CANbus object 0x22EB.0 Attrib R/W
Parameter Peak torque of internal position command 14 Modbus address 0x12EC Unit %
Pn-173
Range 0~400 Default 125 CANbus object 0x22EC.0 Attrib R/W
Parameter High bit of internal position command 15 Modbus address 0x12ED Unit pulse
Pn-174
Range -30000~30000 Default 100 CANbus object 0x22ED.0 Attrib R/W
Parameter Low bit of internal position command 15 Modbus address 0x12EE Unit pulse
Pn-175
Range -9999~9999 Default 0 CANbus object 0x22EE.0 Attrib R/W
Parameter Speed of internal position command 15 Modbus address 0x12EF Unit rpm
Pn-176
Range 1~6000 Default 2000 CANbus object 0x22EF.0 Attrib R/W

Pn-177 Parameter Modbus address 0x12F0 Unit R / S2
command 15
31

Range 1~1000 Default 25 CANbus object 0x22F0.0 Attrib R/W

Parameter Peak torque of internal position command 15 Modbus address 0x12F1 Unit %
Pn-178
Parameter High bit of internal position command 16 Modbus address 0x12F2 Unit pulse
Pn-179
Range -30000~30000 Default 50 CANbus object 0x22F2 Attrib R/W
Parameter Low bit of internal position command 16 Modbus address 0x12F3 Unit pulse
Pn-180
Range -9999~9999 Default 0 CANbus object 0x22F3 Attrib R/W
Parameter Speed of internal position command 16 Modbus address 0x12F4 Unit rpm
Pn-181
Parameter Modbus address 0x12F5 Unit R / S2
Pn-182 command 16
Parameter Peak torque of internal position command 16 Modbus address 0x12F6 Unit %
Pn-183
Parameter Fieldbus selection Modbus address 0x12F7 Unit －

Pn-184
Range 0~3 Default 0 CANbus object － Attrib R/W
Control mode：All
Details：Choose fieldbus interface between the following：
Value fieldbus interface
0 Modbus RS232 interface
1 Modbus RS485 interface
2 CANOpen interface
3 EtherCAT interface
Pn-185 Parameter Modbus address Modbus address 0x12F8 Unit －

32


Control mode：All
Details：Set the servo fieldbus address in ModBus communication, the range is 1~247;
Note：The address must be set to 1 to communicate with Servofly.
Parameter Modbus communication baudrate Modbus address 0x12F9 Unit Bps

Pn-186
Control mode：All
Details：Set Modbus communication rate; the following baudrates are supported:
Value 0 1 2 3 4
Baudrates 9600Bps 19200 Bps 38400 Bps 57600 Bps 115200 Bps
Note：The communication rate must be set to 115200bps when communicate with Servofly
Parameter Modbus communication frame type Modbus address 0x12FA Unit －

Pn-187
Control mode：All
Details：Set the frame type in modbus communication; three frame types are supported as following:
Value Frame type
0 8 bit, no parity bit, 2 stop bit
1 8 bit, odd parity bit, 2 stop bit
2 8 bit, even parity bit, 2 stop bit
Parameter CANOpen node ID Modbus address － Unit －

Pn-188
Control mode：All
Details：This parameter is used to set CANOpen node ID, the range is 1~247；
Parameter CANOpen baudrate Modbus address － Unit －

Pn-189
Control mode：All
Details：Set the communication baudrate for CANOpen comunication; the following baudrates are supported：
Value 0 1 2 3 4 5
Budrate 20Kbps 50Kbps 125Kbps 250Kbps 500Kbps 1000Kbps
Parameter Index reset clear Modbus address 0x1C51 Unit －

R-1
Range － Default － CANbus object 0x2C51.0 Attrib WC
Control mode：All
Details：This parameter is used to Clear the current index reset status, and start to search index;
Value Function
0x01 Clear the current index reset status
Others No effects

33

Parameter Operation command for EEPROM Modbus address 0x1C53 Unit －

R-2
Range － Default － CANbus object 0x2C53.0 Attrib WC
Control mode：All
Details：This parameter is used to adjust EEPROM,when dealing with user parameters.
Value Function
0 Termination current EEPROM operation
1 Read the data from EEPROM
2 Read the data from the backup area of EEPROM
3 Write the data into EEPROM
4 Write the data into the backup area of EEPROM
5 Restore default value
Parameter Modbus synchronous command selection Modbus address 0x1C27 Unit －

R-3
Range 0~2 Default 0 CANbus object － Attrib WC
Control mode：All
Details：This parameter is used to select the synchronous command selection for position/speed/torque control mode.
Value Function
Synchronous command invalid，drive would receive command through
0
traditional I/O mode only.
1 Manufacturer parameter, doesn’t open to customers.
Synchronous command valid, drive would receive synchronous command,
2
traditional I/O command is invalid.
Parameter Synchronous torque command Modbus address 0x1C28 Unit A

R-4
Range -65535~65535 Default 0 CANbus object － Attrib R/W
Details：This parameter is used to set the synchronous torque command in synchronous torque control mode, data format is _IQ7.
The corresponding physical quantity of data is Q-axis current of the motor, the unit is Amps.
Note：This parameter is valid in synchronous torque control mode, when modbus synchronous command is valid and set
“Synchronous command enable” ON.
Example：Synchronous torque command In 1.414 2
To：It indicates the torque command, the unit is N·m
Mn：It indicates the norminal torque, the unit is N·m
In：It indicates the norminal current，the Uunit is A
Parameter Synchronous speed command Modbus address 0x1C29 Unit 2 Rpm

R-5
Details：This parameter is used to set the synchronous speed command in synchronous speed control mode, data format is _IQ2. The
corresponding physical quantity of data is speed, the unit is rpm.
Note：This parameter is valid in synchronous speed control mode, when modbus synchronous command is valid and set
R-6 Parameter High bit of synchronous position command Modbus address 0x1C2A Unit Pulse

34

Parameter Low bit of synchronous position command Modbus address 0x1C2B Unit Pulse
R-7
Control mode：All
Details：This parameter is used to set the synchronous position command in synchronous position control mode, data format is _IQ0.
The corresponding physical quantity of data is the motor position, the unit is pulse. The parameter is directly spliced by (H, L) to
form a 32-bit position command.
Note：This parameter is valid in synchronous position control mode, when modbus synchronous command is valid and set
Parameter Synchronous command enable Modbus address 0x1C55 Unit －

R-8
Range -65535~65535 Default 0 CANbus object － Attrib WC
Control mode：All
Details：This parameter is used to trigger the parameters of synchronous torque, speed, position register effective. Write 0x55AA to
the register, “Synchronous command enable” is ON, other value is in invalid.
Parameter The implementation state of EEPROM operation Modbus address 0x1C62 Unit －
R-9
Control mode：All
Details：This parameter is used for DSP and application interaction, the application queries the value of the parameter to determine
the EEPROM operation is completed or not.
Value Function
0 Operation completed successfully
1 Operation in progress
2 Operation failed
Parameter FPGA version Modbus address 0x1C64 Unit －

R-10
Control mode：All
Details：FPGA version number is stored in this parameter for application inquiry
Parameter Index Reset Status Modbus address 0x1C65 Unit －

R-11
Control mode：All
Details：This parameter instructs encoder counter to complete index reset operation or not.
Value Function
0 Home position reset completed
1 W phase signal of encoder
2 V phase signal of encoder
3 U phase signal of encoder
Parameter Index reset encoder counts Modbus address 0x1C66 Unit －

R-12
35

Control mode：All
Details：This parameter is used to latch encoder count value when index reset operation carried out. The hardware carries out latch
operation during home position reset operation, the parameter is used to guarantee the coherence of pulse counting.
Parameter Real-time encoder counts Modbus address 0x1C67 Unit －

R-13
Control mode：All
Details：This parameter indicates the current value of the encoder counter, the unit is pulse. This parameter reflects the physical
location of the motor shaft
Parameter CN2 input terminal status Modbus address 0x1C68 Unit －

R-14
Control mode：All
Details：This parameter indicates the digital input status of CN2 input interface.
Value Function Value Function
0 PulseInv status 5 CCWLtd status
1 SignInv status 6 CWDis status
2 INH status 7 CCWDis status
3 CLE status 8 AlarmClr status
4 CWLtd status 9 ServoEn status
Parameter Encoder input terminal status Modbus address 0x1C69 Unit －

R-15
Control mode：All
Details：This parameter indicates the status of encoder input terminals.
Value Function Value Function

0 Z signal (Index) status 3 W Hall signal status;
1 B signal status 4 V Hall signal status
2 A signal status 5 U Hall signal status
Parameter CN2 output terminal status Modbus address 0x1C6A Unit －

R-16
Control mode：All
Details：This parameter indicates the signal terminal state of CN2 output interface.
Value 3 2 1 0
Function SRDY status Alarm status COIN status BRK status
Parameter The analog voltage of analog input port A Modbus address 0x1C6B Unit mV
R-17
Control mode：All
Details：This parameter indicates the actual input voltage of analog input port A (torque), the unit is mV.
R-18 Parameter The analog voltage of analog input port B Modbus address 0x1C6C Unit mV
36


Control mode：All
Details：This parameter indicates the actual input voltage of analog input port B (speed), The unit is mV.
Parameter DC bus voltage Modbus address 0x1C6D Unit V

R-19
Control mode：All
Details：This parameter indicates the current power supply board DC bus voltage, the unit is mV.
Parameter The current torque value Modbus address 0x1C6F Unit A

R-20
Control mode：All
Details：The corresponding physical quantity of data is the actual Q-axis current of the motor,the unit is Amps. Data format is
_IQ7
Example：The current torque value In 1.414 2
T：It indicates the motor output torque, the unit is 为 N·m
Mn：It indicatesthe norminal torque, the unit is 为 N·m
In：It indicatesthe norminalcurrent, the unit is A
Parameter The current speed value Modbus address 0x1C70 Unit 2 Rpm
R-21
Control mode：All
Details：The corresponding physical quantity of data is the current actual speed, the unit is 2 Rpm. Data format is _IQ2.
Parameter The current high bit position value Modbus address 0x1C71 Unit Pulse
R-22
Parameter The current low bit position value Modbus address 0x1C72 Unit Pulse
R-23
Control mode：All
Details：The corresponding physical quantity of data is the motor position, the unit is pulse. Data format is _IQ0, directly spliced by
(H, L) to form a 32-bit position command
Parameter Torque error value Modbus address 0x1C73 Unit A

R-24
Control mode：All
Details：The corresponding physical quantities of data is the difference between torque command and actual torque (Q-axis current),
the units is Amps. Data format is _IQ7
Parameter Speed error value Modbus address 0x1C74 Unit 2 Rpm

R-25
Control mode：All
Details：The corresponding physical quantities of data is the difference between speed command and actual speed, the units is
2 Rpm. Data format is _IQ2.

37

Parameter High bit position error value Modbus address 0x1C75 Unit Pulse
R-26
Parameter Low bit position error value Modbus address 0x1C76 Unit Pulse
R-27
Control mode：All
Details：The corresponding physical quantities of data is the difference between position command and actual position, the units is
pulse. Data format is _IQ0, directly spliced by (H, L) to form a 32-bit position command.
Parameter Torque command Modbus address 0x1C77 Unit A

R-28
Control mode：All
Details：The corresponding physical quantities of data is the Q-axis current command, the units is Amps。 Data format is _IQ7.
Example：Please refer to R-4.
Parameter Speed command Modbus address 0x1C78 Unit 2 Rpm

R-29
Control mode：All
Details：The corresponding physical quantities of data is the speed command, the units is 2 Rpm. Data format is _IQ2
Parameter High bit position command Modbus address 0x1C79 Unit Pulse
R-30
Parameter Low bit position command Modbus address 0x1C7A Unit Pulse
R-31
Control mode：All
Details：The corresponding physical quantities of data is the position command, the units is pulse. Data format is _IQ0, directly
spliced by (H, L) to form a 32-bit position command。
Parameter Alarm code Modbus address 0x1C7B Unit Pulse

R-32
Control mode：All
Details：This parameter indicates the current alarm code, please refer to chapter 8 for details.
Note：When the value is 0, indicating there is no warning
Parameter BootRom version Modbus address 0x1C7C Unit －

R-33
Control mode：All
Details：BootRom version number is stored in this parameter for application inquiry.
Parameter Software version Modbus address 0x1C7D Unit －

R-34
Control mode：All
38

Details：Software version number is stored in this parameter for application inquiry.

39

6.3 Motor adaption list

Basic information Adaption
Norminal Norminal Norminal Norminal High
Code Model SFC SFC+
torque current speed power voltage
0 Factory parameter — — — — — — —
1 SM80-013-30LFB 1.3 N·m 2.6 A 3000 Rpm 0.4 kW SA3L04C SA3L10B SA3H05C
4 SM110-020-30LFB 2.0 N·m 4.0 A 3000 Rpm 0.6 kW SA3L06B SA3L10B SA3H10C
8 SM110-060-30LFB 6.0 N·m 8.0 A 3000 Rpm 1.6 kW SA3L10B SA3L15C SA3H10C
17 SM130-150-25LFB 15.0 N·m 17.0 A 2500 Rpm 3.8 kW SA3L15C SA3L25C SA3H25C
Configurartion explanation：SFC series suit for low overload, low on-off frequency in unit time, low speed and small load moeds;
SFC+ series suit for high overload, high on-off frequency in unit time, high speed and large load moeds; High voltage series suit for
the high voltage application (380V).

40

Chapteer 7 Commun
nication
Chapter7
C 7 Commu
unication
n
7.1 Comm
munication Hardware
H Interface
Bonmet SA Series servo drives have three t commuunication mod des: RS-232, RS-485 andd CANOpen.A All aspects of
o
control, opeeration and monitoring as well as programmin ng of the controller caan be achieeved throughh
communicatiion. However, only one communicatiion mode can n be used att a time. Useers can selecct the desiredd
communicatiion mode by parameter
p Pnn184.
Please refer tto the followiing sections for
f connectionns and limitattions.
■ RS-232
■ RS-485
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Chapteer 7 Commun
nication
■ CANOp
pen
7.2 ModBu
us Commu
unication Prrotocol
When using R RS-232/485 serial
s commu S series AC servo drive hhas a pre-assigned
unication inteerface, each SA
communicatiion address sppecified by parameter Pn1185. The com mputer then
controls eachh AC servo drrive according to its comm
munication ad ddress. SA serries AC servoo drives can be
b set up to
communicatee on a MODB BUS network ks using on RT TU(Remote Terminal
T Unit)mode.
7.1.1Code DDescription:
When controollers are setuup to communicate on a M Modbus netw work using RT TU(Remote T Terminal Unitt) mode, eachh
8–bit byte inn a message contains two o 4–bit hexaddecimal charaacters. The mainm advantagge of this moode is that its
greater charaacter density allows betterr data throughhput than AS SCII for the same
s baud raate. Each messsage must bee
transmitted inn a continuouus stream.
for each byte in RTU modee is:
The format fo
Error Check k Field: Cyclicaal Redundanccy Check (CR RC)
Coding Systtem: 8–bit binary,
b hexadeecimal 0–9, A–FA
Two heexadecimal chharacters con ntained in eacch
8–bit field
fi of the meessage
Bits per Byte: 1 start bit
8 data bits,
b least siggnificant bit seent first
1 bit fo
or even/odd pparity; no bit for
f no parity
b if parity iss used; 2 bits if no parity
1 stop bit
Error Check k Field: Cyclicaal Redundanccy Check (CR RC)
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2
Chapter 7 Communication
7.1.2RTU Framing
In RTU mode, messages start with a silent interval of at least 3.5 character times. This is most easily implemented
as a multiple of character times at the baud ratethat is being used on the network (shown as T1–T2–T3–T4 in the
figure below).The first field then transmitted is the device address.
The allowable characters transmitted for all fields are hexadecimal 0–9, A–F.Networked devices monitor the
network bus continuously, including during the‘silent’ intervals. When the first field (the address field) is received,
each devicedecodes it to find out if it is the addressed device.
Following the last transmitted character, a similar interval of at least 3.5 character times marks the end of the
message. A new message can begin after this interval.The entire message frame must be transmitted as a continuous
stream. If a silent interval of more than 1.5 character times occurs before completion of the frame, the receiving
device flushes the incomplete message and assumes that the next byte will be the address field of a new message.
Similarly, if a new message begins earlier than 3.5 character times following a previous message, the receiving
device will consider it a continuation of the previous message. This will set an error, as the value in the final CRC
field will not be valid for the combined messages. A typical message frame is shown below.
START ADDRESS FUNCTION DATA CRC END
CHECK
T1–T2–T3–T4 8 BITS 8 BITS n x 8 BITS 16 BITS T1–T2–T3–T4
7.1.3CRC Checking
In RTU mode, messages include an error–checking field that is based on a Cyclical Redundancy Check (CRC)
method. The CRC field checks the contents of the entire message. It is applied regardless of any parity check
method used for the individual characters of the message.
The CRC field is two bytes, containing a 16–bit binary value. The CRC value is calculated by the transmitting
device, which appends the CRC to the message. The receiving device recalculates a CRC during receipt of the
message, and compares the calculated value to the actual value it received in the CRC field. If the two values are
not equal, an error results.
The CRC is started by first preloading a 16–bit register to all 1’s. Then a process begins of applying successive
8–bit bytes of the message to the current contents of the register. Only the eight bits of data in each character are
used for generating the CRC. Start and stop bits, and the parity bit, do not apply to the CRC.
During generation of the CRC, each 8–bit character is exclusive ORed with the register contents. Then the result is
shifted in the direction of the least significant bit (LSB), with a zero filled into the most significant bit (MSB)
position. The LSB is extracted and examined. If the LSB was a 1, the register is then exclusive ORed with a preset,
fixed value. If the LSB was a 0, no exclusive OR takes place.
This process is repeated until eight shifts have been performed. After the last (eighth) shift, the next 8–bit byte is
exclusive ORed with the register’s current value, and the process repeats for eight more shifts as described above.
The final contents of the register, after all the bytes of the message have been applied, is the CRC value.
When the CRC is appended to the message, the low-order byte is appended first, followed by the high-order byte.

3
In ladder logic, the CKSM function calculates a CRC from the message contents. For applications using host
computers, a detailed example of CRC generation is contained in Appendix C.
7.1.4Communication Parameter Write-in and Read-out

■ 03 (0x03) Read Holding Registers
Description
Reads the binary contents of holding registers (4X references) in the slave.Broadcast is not supported.Appendix B
lists the maximum parameters supported by various controller models.
Query
The query message specifies the starting register and quantity of registers to be read. Registers are addressed
starting at zero: registers 1–16 are addressed as 0–15.
Here is an example of a request to read registers 40108–40110 from slave device 17:
QUERY
Example
Field Name (Hex)
Slave Address 11
Function 03
Starting Address Hi 00
Starting Address Lo 6B
No. of Points Hi 00
No. of Points Lo 03
Error Check (CRC) ––
Response
The register data in the response message are packed as two bytes per register, with the binary contents right
justified within each byte. For each register, the first byte contains the high order bits and the second contains the
low order bits.
Data is scanned in the slave at the rate of 125 registers per scan for 984–X8X controllers (984–685, etc), and at the
rate of 32 registers per scan for all other controllers. The response is returned when the data is completely
assembled.
Here is an example of a response to the query on the opposite page:

RESPONSE
Example
Field Name (Hex)
Function 11
Byte Count 03
Data Hi (Register 40108) 06
Data Lo (Register 40108) 2B
Data Lo (Register 40109) 00
Data Lo (Register 40110) 64
The contents of register 40108 are shown as the two byte values of 02 2B hex, or 555 decimal. The contents of

4
registers 40109–40110 are 00 00 and 00 64 hex, or 0 and 100 decimal.
■ 16 (0x10) Preset Multiple Registers
Description
Presets values into a sequence of holding registers (4X references). When broadcast, the function presets the same
register references in all attached slaves.
Note The function will override the controller’s memory protect state. The preset values will remain valid in the
registers until the controller’s logic next solves the register contents. The register values will remain if they are not
programmed in the controller’s logic.
Appendix B lists the maximum parameters supported by various controller models.
Query
The query message specifies the register references to be preset. Registers are addressed starting at zero: register 1
is addressed as 0. The requested preset values are specified in the query data field. M84 and 484 controllers use a
10–bit binary value, with the six high order bits set to zeros. All other controllers use 16–bit values. Data is packed
as two bytes per register. Here is an example of a request to preset two registers starting at 40002 to 00 0A and 01
02 hex, in slave device 17:
QUERY
Example
Field Name (Hex)
Slave Address 11
Function 10
Starting Address Lo 01
No. of Registers Hi 00
No. of Registers Lo 02
Byte Count 04
Data Hi 00
Data Lo 0A
Data Hi 01
Data Lo 02
Response
The normal response returns the slave address, function code, starting address, and quantity of registers preset.
Here is an example of a response to the query shown above.
RESPONSE
Example
Field Name (Hex)
Slave Address 11
Function 10
Starting Address Lo 01
No. of Registers Hi 00
No. of Registers Lo 02

5
Chapter 8 Protective Function
Chapter8 Protective Function

8.1 Alarm List
Alarm code Protective function
0 Normal state
1 System error
2 Z phase error protection
3 Hall(U/V/W phase) signal error protection
4 A/B phase signal error protection
5 Encoder counter missing error
6 Overcurrent protection of power module
7 Main circuit relay disconnected
8 Overvoltage
9 Undervoltage
10 Motor (IR2) overheat protection
11 Motor phase current gain error
12 EEPROM operation error
13 Drive overheat protection
14 Over-regeneration load protection
15 Over-travel inhibition error
16 Excessive deviation
17 Reservation
18 Torque overload alarm
8.2 Details
8.2.1 Err-1_system initialization
Probable causes Conforming method Measures
System initialization error — Update the firmware.
Failure of servo drive — Repair or replace the drive with a new one.
8.2.2 Err-2_ Z phase error protection

Encoder disconnected Check if the encoder is connected or not Connect the encoder with drive.
Wiring error Check the wiring Rewiring.

Check the encoder cable according to the
Failure of encoder cable Repair or replace the cable with a new one.
wiring diagram
Communication error caused ① Separate the encoder cable and the power
— cable if they are bound together
by interference ② Use shielded twisted wire.
Repair or replace the servo motor with a new
Failure of encoder —
one.

8.2.3 Err-3_ Hall(U/V/W phase) signal error protection

Encoder disconnected Check if the encoder is connected or not Connect the encoder with drive
Wrong motor parameter — Restores the default parameter of the motor
Wiring error Check the wiring Rewiring according to operation manual

Failure of encoder cable Repair or replace the cable with a new one
wiring diagram
by interference ② Use shielded twisted wire
one
8.2.4 Err-4_ A/B phase signal error protection


wiring diagram
by interference ② Use shielded twisted wire
one
8.2.5 Err-5_Encoder counter missing error


wiring diagram
① Separate the encoder cable and the power
Communication error caused
by interference
② Use shielded twisted wire
Incorrect installation of
— Reinstall the encoder
encoder
one
8.2.6 Err-6_Overcurrent protection of power module

Wrong wiring of the power
Check the wiring Rewiring according to operation manual
cable (U, V, W, PE)
Wrong wiring of the encoder
cable.
wiring diagram
Restores the default parameter of the motor and
Incorrect gain adjustment —
adjusts it according to the operation manual
Machine failure Check the mechanical connection Improve the mechanical transmission parts

Increase the capacity of the driver and motor.

Overloaded Check if the motor output torque is too large Set up longer acceleration/deceleration time.
Lower the load
Power capacity is not enough Check power specifications Use three-phase power supply
① Separate the input command cable and the
Input command error caused
Use the internal command to test the machine power cable if they are bound together
by interference
Communication error caused
by interference
Measure the resistance among the motor power Repair or replace the servo motor with a new
Failure of motor
terminal U,V,W and PE one
Failure of encoder — Repair or replace the encoder with a new one
Repair or replace the servo drive with a new
Failure of servo drive —
one
8.2.7 Err-7_ Main circuit relay disconnected

Use voltmeter to check whether input voltage at
Power supply disconnected Rewiring according to operation manual
main circuit is normal
Supply voltage is too low or Use voltmeter to check whether input voltage at
Use a regulator
unstable main circuit is normal
Failure of motor —
one
one
8.2.8 Err-8_ Overvoltage

Supply voltage is too high or Use voltmeter to check whether input voltage at
Use a regulator.
The motor brake frequently
and the brake resistance is not — Connect the brake resistor
connected
Failure of motor brake
Check the resistance of the resistor Replace the brake resistance with a new one
resistor
one
8.2.9 Err-9_ Undervoltage

No input voltage at main Use voltmeter to check whether input voltage at
Rewiring according to operation manual.
circuit. main circuit is normal
Failure of main circuit
Check the connector Replace the connector with a new one
connector
Supply voltage is too low or Use voltmeter to check whether input voltage at
Use a regulator
Instantaneous power-off. — Use a regulator
one

8.2.10 Err-10_ Motor (IR2) overheat protection

cable (U, V, W, PE)
cable.
wiring diagram
Incorrect gain parameters
— adjusts gain parameters according to the
setting
operation manual.
Lower the load
Power capacity is not enough Check power specifications Use three-phase power supply
Failure of motor
one
8.2.11 Err-11_ Motor phase current gain error

Wrong update of firmware — Update the firmware.

wiring diagram
Failure of motor
one
8.2.12 Err-12_ EEPROM operation error

Wrong update of firmware — Update the firmware.

one
8.2.13 Err-13_ Drive overheat protection

The internal temperature of Use air-cooling to decrease the temperature of
Measure the temperature
drive is over 80℃ the drive.
cable (U, V, W, PE)
cable.
wiring diagram
Incorrect gain parameters
— adjusts gain parameters according to the
setting
operation manual.


Lower the load
Failure of motor
Motor fault survey the U,V,W line of the motor Repair or change the motor.
one
8.2.14 Err-14_ Over-regeneration load protection

Supply voltage is too high or Use voltmeter to check whether input voltage at
Use a regulator.
Lower the load
Failure of motor brake
Check the resistance of the resistor Replace the brake resistance with a new one
resistor
one
8.2.15 Err-15_ Over-travel inhibition error

Check CN2 cable according to the wiring
CN2 cable wrong wiring Repair or replace the cable with a new one
diagram
The positive over-travel inhibition and negative
Wrong Parameters Check Parameter Pn-14 and Pn-15 over-travel inhibition should not be valid at the
same time
Communication error caused Check the digital input status through monitor
cable if they are bound together
by interference function
8.2.16 Err-16_ Excessive deviation

Check the maximum deviation parameter
Maximum deviation
setting and observe the position error value Increases the parameter setting value of Pn-55
parameter setting is too small
when the motor is running
Gain value is too small Check for proper gain value Correctly adjust gain value
Torque limit is too low Check torque limit value Correctly adjust torque limit value
Input pulse command over Check the input pulse frequency whether it is
Reduce the pulse frequency.
frequency over 500kHz
Incorrect electric gear ratio Check the input pulse frequency whether it is
Reduce the ratio.
setting over 500kHz after set the electric gear ratio
8.2.17 Err-18_ Torque overload alarm

Maximum overload testing Check the maximum overload testing parameter Increases the parameter setting value of Pn-22,
parameter setting is too small setting usually we suggest customer to set it under 150.
The drive has exceeded its Check if the drive is overloaded by monitoring
rated load during continuous the motor torque, 100% or less continuous Increase motor capacity or reduce load
operation. motor output torque is OK
The wiring of drive and
Check the wiring of U, V, W and encoder Ensure all wiring is correct
encoder is in error

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Smart & Accurate

Chapter 1 Model and Specifications

1.2 Model Explanation

Figure 1-1 Nameplate explanation of SM series servo motor

Model Holding Brake

Figure 1-2 Model explanation of SM series servo motor

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1.2.2 SA Series Servo Drive

Figure 1-3 Nameplate explanation of SA series servo drive

Figure 1-4 Model explanation of SA series servo drive

1.3 Product Features

Figure 1-5 Parts description of 42, 60 and 80 series servo motor

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1.3.2 Servo Drive Features

Figure 1-7 Parts description of SA3L04C

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Figure 1-8 Parts description of SA3L06B/SA3L10B

Figure 1-9 Parts description of SA3L25C

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Figure 1-10 Parts description of SA3H10C

Figure 1-10 Parts description of SA3H25C

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● 380V Type Servo Drive

1.4.2 General Specifications

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Torque Command Smoothing Torque command filter

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● To prevent fire, note the following:

● Operation and Adjustment Precautions

Chapter 1 • • • • • • Model and Specifications

Chapter 4 • • • • • • Display and Operation

Chapter 8 • • • • • • Protective Functions

2.2 Installation Environment

2.3 Dimensions（Unit: mm）

Figure 2-1 Dimensions of SA3L04C

Figure 2-2 Dimensions of SA3L06B/SA3L10B

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2.3.3 Dimensions of SA3L25C

Figure 2-3 Dimensions of SA3L25C

Figure 2-4 Dimensions of SA3H10C

Figure 2-5 Dimensions of SA3H25C

2.4 Installation Direction and Space

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3.1.2 Cable Specifications

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Chapter4 Display and Operation

Figure 4-1 Operation panel

4.2 Operation instructions

Name Display Explanation

Default initial display. Customers can set Pn-3 to

Parameter setting menu Set the user’s parameter.

Save parameters, load parameters and restore the

JOG control menu JOG control function.

Analog input drift

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4.2.2 Serve state monitoring menu

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2． Torque command and motor output torque