S Series Spindle System Manual: Hangzhou Bergerda Automation Technology Co., LTD

S Series Spindle System
Manual
Hangzhou Bergerda Automation Technology Co., Ltd

Please read this manual carefully before installing/debugging/using the product.
Thank you for choosing the S series induction asynchronous motor driver.
Please read this technical manual before use. The main contents of this manual
include:
* Check, install and wire the drive.
* Digital panel operation steps, status display, abnormal alarms and
processing.
* Servo system control mode, test run and adjustment steps.
* An overview of all the parameters of the drive.
* Model specifications of the drive.
In order to facilitate daily inspections, maintenance, and understanding of the

causes of abnormalities and countermeasures, please keep this manual in a safe
place for easy reference. Note: Please hand this manual to the final user to
maximize the effectiveness of the drive.
● Due to product improvements, the contents of the manual may change
without notice.
● The company will not be responsible for any changes to the product by the
user, and the warranty for the product will be void.
Please pay special attention to the following warning signs when reading this
manual.
An operation that indicates a mistake can have

警告
catastrophic consequences - death or serious injury!
小心 An operation that indicates an error may cause injury

to the operator and may damage the equipment!
注意 Indicates that improper use may damage the product

and equipment
Contents
Overview .................................................................................................... 1
1.1 Product inspection ................................................................................ 1
1.2 Drive specification ................................................................................ 4
1.3 Drive installation .................................................................................. 5
Chapter 2 Servo Drive and Motor Wiring ....................................................... 7
2.1 Driver power supply and peripheral wiring.......................................... 7
2.2 Standard control mode wiring diagram ................................................ 8
2.3 Electrical connection of the terminals .................................................. 9
2.4 Signal interface schematic .................................................................. 12
Chapter 3 Operation and Display .................................................................. 15
3.1 Keyboard operation ............................................................................ 15
3.2 Monitoring method ............................................................................. 16
3.3 Parameter settings .............................................................................. 18
3.4 Parameter management ...................................................................... 19
3.5 F1 Operation mode (panel test function) ............................................ 21
3.6 F2 Operation mode (jog test function) ............................................... 22
3.7 Others ................................................................................................. 22
Chapter 4 Parameters .................................................. 错误！未定义书签。
4.1 Detailed list of function meanings of each parameter ........................ 23
4.2 Parameter debugging block diagram model ....................................... 34
4.3 Servo key parameter description ........................................................ 35
4.4 Parameter debugging steps in practical applications .......................... 36
Chapter 5 Operation and Debugging ............................. 错误！未定义书签。
5.1 special attention for debugging: ......................................................... 37
5.2 Open loop operation ........................................................................... 37
5.3 Position control mode operation......................................................... 38
5.4 Speed trial run .................................................................................... 39
5.5 Jog operation ...................................................................................... 40
5.6 Simulated speed operation.................................................................. 41
5.7 Rigid tapping operation ...................................................................... 42
5.8 I/O internal speed control operation ................................................... 43
5.9 Positioning.......................................................................................... 44
Chapter 6 RS485 Communication................................. 错误！未定义书签。
6.1 RS485 Communication hardware interface........................................ 46
6.2 Communication protocol .................................................................... 47
6.3 Communication error message and data processing：....................... 50
6.4 S series spindle drive debugging software description and use.......... 51
6.5 Communication command example ................................................... 54
Chapter 7 Alarm and Processing ................................... 错误！未定义书签。
7.1 Alarm list ............................................................................................ 57
7.2 Alarm processing method................................................................... 58
7.3 Common problems or exception handling in use ............................... 60
Chapter 8 Motor Specifications and Selection .............. 错误！未定义书签。
8.1 Induction asynchronous motor storage and installation ..................... 66
8.2 Motor use ........................................................................................... 66
8.3 Motor model description .................................................................... 66
8.4 Socket cable definition ....................................................................... 67
Appendix A: Parameter setting table for S series driver and asynchronous AC

motor ................................................................................ 错误！未定义书签。
Appendix B: Product After-sales Service Instructions ..................................... 69

Chapter 1 Product Inspection and Installation

Overview
S series AC servo spindle drive is a high quality, multi-functional, low noise
which independently developed and produced by Hangzhou Bergerda Automation
Technology Co., Ltd. The S series AC servo spindle drive realizes full-closed servo
control of the spindle motor. It integrates speed control and position control. It can
easily control the position, speed, acceleration and output torque of the spindle
motor to achieve high-precision turning and milling. Processing such as grinding is
superior to traditional variable frequency drives in heavy cutting. Its unique control
function can meet the needs of machine tool spindles, textile machines, machining
centers and other applications. The wide application of the S series AC servo spindle
drive will bring infinite vitality to the field of machine spindle drive control.
1.1 Product inspection
This servo product has been fully functional tested before leaving the factory.
In order to prevent the product from being unusual due to negligence transport,
please check the following items after unpacking:
1)Check that the drive and motor models are the same as you ordered.
2) Check the appearance of the drive and motor for damage and scratches.
1.1.1 Drive model
1
Code Name Description

1 Servo drive series S1 type AC servo drive;
2 Voltage level L：220V； H：380V；
3 Rated power 5.5KW；
A：Incremental encoder；B：Absolute encoder；
4 Encoder model
C：Rotary encoder；D：Magnetic encoder；
5 version A：regular version；B：Special version；
1.1.2 S series drive standard accessories
① T1（6-position terminal）、T2（9-position terminal）、T3（5-digit A/B

terminal）、T4（3 rows of 15 pins）plug 1set
② Encoder cable T5 (3 rows of 15 holes) plug 1set
③ Motor power cable, encoder cable 1 set Optional
④ RS485 communication cabe （Model :CABLE01） 1 Optional
⑤ Braking resistor 1
⑥ Manual 1
1.1.3 Brake resistor model selection
S1-HXXPX 2P2 4P0 5P5 7P5 11P0 15P0 18P5

PowerW 300 600 800 1000 600 800 1000
Corrugated
Resistance
braking 100 50 40 32 50 40 32
Ω
resistor
Quantity 1 1 1 1 2 2 2
Filter IDφmm 15 15 18 18 23 23 23
magnetic Thickness
13 13 13 13 15 15 15
ring H mm
Note: The above attachment data is recommended by the manufacturer's
standard. If you have any special application, please contact the supplier.
1.1.3 Drive installation size
2
S series AC servo spindle drive installation dimension

drawing
!!!! Note: R/S/T is the 380V power input terminal; P D is shorted to
use the internal braking resistor, use external resistor to indirectly
connect the PC port to the external braking resistor, no wrong
connection!
3
1.2 Drive specification

Model S1
Basic Single-phaseAC342~418V
Input power
speci 50/60Hz
ficati Cooling method Natural cooling Cooling air cooling

on Control mode SVPWM control
Encoder Provincial line/incremental encoder
Display and operation Six-digit seven-segment display LED: four function operation keys.
Inter Position Control / Speed Test Run / Jog Run / Internal Positioning PLC
Control mode
nal Function / RS485 Communication / Internal Speed / Internal Torque.
functi Brake function Built in
on Undervoltage, overvoltage, overload, overcurrent, encoder anomaly,
Protection function braking, position error, etc.
Command control method External pulse
External modus Pulse + Direction CW/CCW A/B Orthogonal.
command
Maximum frequency Differential: 1MHZ Open collector: 200KHZ.
pulse input
Position
control Electronic gear ratio 1～32767/1～32767
mode Speed control range Speed ratio：1:5000
Speed change rate Speed volatility：＜±0.03（load 0～100%）＜±0.05（power supply -15%～+10%）.
Instruction smoothing Linear time constant 1 ms～10000ms（0r/min←→1000r/min）.
Frequency characteristics 300HZ
Position Output type ABZ phase line drive output / Z phase collector open circuit output.
signal
Frequency division ratio 1／255～1 Frequency division
Input / output
output input 8-point opto-isolated

Input points can be defined as any 12 kinds.See parameter settings
signal signal input
output 4-point open 1) Servo preparation; 2) Servo alarm output; 3) Positioning completed; 4) Zero speed
signal collector arrival; 5) Position arrival; 6) Speed arrival; Ports are freely definable.
Operating temperature Work:0℃～55℃，Storage:-20℃～80℃。
4
1.3 Drive installation
1.3.1 Installation environmental conditions
The environment in which the drive is installed has a direct impact on the
normal function of the drive and its service life. Therefore, the installation
environment of the drive must meet the following conditions:：
Item S series servo spindle drive
；
Use temperature 0℃～55℃（No frost）
/ humidity Below 90% RH (no condensation).
Storage -20℃～80℃；
temperature/hu 90%RH（No condensation）
midity
Atmospheric In the control cabinet, there is no corrosive gas, flammable gas,
Environment oil mist or dust;
Less than 0.5G (4.9m/s2) 10 Hz -60Hz (non-continuous
vibration
operation);
Protection level IP54
When installing several drives in a closed environment, please pay attention to the
space to ensure sufficient heat dissipation. Also, add a cooling fan to make the drive
temperature lower than 55 °C.
Install the drive in a vertical position with the front facing forward and the top
facing up for heat dissipation.
Take care during assembly to avoid drilling debris and other foreign objects
falling into the drive.
Use M5 screws to fix it during installation.
When there is a vibration source nearby (punch), if it is unavoidable, please use
a vibration absorber or install an anti-vibration rubber gasket.
When there is a large noise source such as a large magnetic switch or a fusion
splicer near the driver, it is easy to cause the driver to be erroneously operated by
external interference. In this case, a noise filter needs to be installed; however, the
noise filter increases the leakage current, therefore, an insulating transformer is
required at the input of the driver.
5
1.3.2 Servo mounting direction and spacing
The following shows the installation interval between a single unit and multiple drive units. In actual
installation, a large interval should be left as far as possible to ensure good heat dissipation conditions
6
Chapter 2 Servo Drive and Motor Wiring

2.1 Driver power supply and peripheral wiring
S1 type driver peripheral wiring
7
2.2 Standard control mode wiring legend
S1 type standard control mode wiring diagram
8
2.3 Electrical connection of the terminals

2.3.1 Control terminal
The interface terminals of the S series servo spindle drive unit are configured
as shown in the following table. T1 is a control terminal containing communication
and analog quantity, analog quantity includes voltage and current analog quantity,
communication adopts 485 communication, interface is single row 6pin socket；T2
is the I/O signal output terminal, two I/O port optocoupler outputs, two I/O ports
are relay outputs, and the interface is a single row 9 pin socket. T3 is the I/O signal
input port. It adopts two-way optocoupler to meet the wiring of different upper
computers. The interface is a double-row 10pin socket. T4 is the encoder output
and pulse signal input port. The signal output includes ABZ position output and
single-ended Z signal output. The pulse input includes single pulse, CW/CCW and
AB quadrature pulse. The port uses 3 rows of 15pin sockets. T4 is the port
containing two encoder inputs, where the first encoder is the spindle motor encoder
and the second encoder is the external encoder, which also contains the motor
thermal protection input signal. It has 3 rows of 15pin sockets.
port species name Pin System default function Signal standard
FS 1 Internal power supply 10V for speed setting DC10V
FC 4 Analog common 0V
Analog input
FV 2 -10V ~ +10V Analog input
T1 Analog signal
FI 3 0~10V/4~20mA Optional analog input
485- 5 485 communication output negative

communication RS485
485+ 6 485 communication output positive
Control power
COM- 9 Signal output power supply DC24V common 0V
supply
Programmable Q1 1 Speed reached (default Pd14 setting)

DC24V Optocoupler
optocoupler
T2 output
Q2 2 Drive preparation (default Pd15 setting)
output
M0A/M0B/M0C 3/4/5 Positioning completed (default Pd16 setting) AC250V 1A

Relay output
M1A/M1B/M1C 6/7/8 Drive alarm output (set by Pd17) DC30V 1A
9
I1 1 Analog forward
I2 2 Analog inversion
I3 3 Quasi-stop positioning
Input port function

I4 4 Rigid tapping
Control signal can be customized
I5 5 External switch
input by PD6-PD13
T3
I6 6 Multi-function terminal
ST 7 Servo enable
I7 10 Zero speed
PV 8 External input power supply 24V (output signal) DC24V
Control power DC24V/0V

COM 9 External input power supply 24V (input signal)
supply
PV2/G2 3/4 5V DC power supply / common
OA+/OA- 5/15 Encoder A phase output
Encoder output OB+/OB- 10/14 Encoder B phase output RS422 standard
OZ+/OZ- 9/13 Encoder Z phase output
T4 CZ+/CZ- 12/11 Encoder single-ended Z output
VP 8 Single-ended input pulse power supply 24V 24V
PULS+ Quadrature pulse A phase input / CCW input /

Pulse signal 2/1
/PULS- single pulse puls input
input 5V pulse signal
SIGN+ Quadrature pulse B phase input / CW input /
7/6
/SIGN- single pulse sign input
PV1/G1 12/13 Encoder 5V power supply / power supply common
A1+/A1- 8/3 First encoder A phase input
B1+/B1- 9/4 First encoder B phase input

Same to encoder
Encoder input Z1+/Z1- 15/14 First encoder C phase input
standard
T5
A2+/A2 6/1 Second encoder A phase input
B2+/B2- 7/2 Second encoder B phase input
Z2+/Z2- 10/5 Second encoder C phase input
Thermal
T1 11 Motor thermal protection input signal
protection input
10
Wiring of signal terminals

  Wire selection: Use shielded cable (preferably stranded shielded cable), the cross-sectional area of the core
is ≥0.12mm2 (AWG24-26), and the shield must be connected to the FG terminal.
  Cable length: The cable length should be as short as possible. The CN1 cable should not exceed 3 meters,
and the feedback signal CN2 cable should not exceed 20 meters.
 Wiring: Keep away from power line wiring to prevent interference. Please install a surge absorbing element
for the inductive component (coil) in the relevant line; the DC coil is connected in parallel with the
freewheeling diode, and the AC coil is connected in parallel with the RC absorption circuit.
2.3.2 Power supply, power terminal definition (S series)
Terminal mark Signal definition Features
R
Main circuit power supply Main circuit power input terminal ~ 380V 50Hz;
S
three-phase Note: Do not connect to the motor output terminals U, V, W.
P Built-in braking resistor: P and D short circuit connection

External braking resistor selection
D With external braking resistor: P and D open, external resistor
terminal
C connected between P and C
1, grounding terminal grounding resistance <100Ω;
System ground 2. The servo motor output and power input are grounded at the same
point.
W
The servo motor output terminal must be connected to the motor W,
V Servo motor output
V, and U terminals.
U
2.3.3 Wiring of power line terminals
 L1、L2, L3, PE, U, V, W terminals, line cross-sectional area ≥ 2.5mm2 (AWG14-16). Grounding: The grounding wire
should be as thick as possible. The driver and servo motor should be grounded at the PE terminal one point, and the grounding
resistance is <100Ω.
 It is recommended to supply power from a three-phase isolation transformer to reduce the possibility of electric shock.
 It is recommended that the power supply be powered by a noise filter to improve the anti-interference ability.
Install a non-fuse (NFB) circuit breaker to shut off the external power supply in the event of a drive failure.
11
2.4 Signal interface schematic

2.4.1 Digital input interface circuit
 The digital input interface circuit can be controlled by a relay or open collector transistor
circuit. The power is supplied by the user, DC12~24V, current ≥100mA; note; if the
current polarity is reversed, the high and low level of the driver will be negated. Input
signals IN1-IN7 can refer to this connection
When the input signal is in communication with OV, the signal is ON and active. It can be judged by
checking the display menu UN-17. When the input point is ON, the corresponding digital tube bar will light.
When the input is OFF, the corresponding digital tube will be extinguished. The display content is reasonably
applied to facilitate debugging and maintenance of the servo input signal.
Input terminal display (stroke light is On, OFF is OFF)
2.4.2 Servo motor photoelectric encoder input interface
In the differential output mode, AM26LS32, MC3487 or similar RS422 line driver is
used as the receiver.
12
2.4.3 Pulse signal input interface circuit
In order to correctly transmit the pulse amount data, it is recommended to

use the differential driving method; in the differential driving mode, the
AM26LS31, MC3487 or similar RS422 line driver is used as the single-ended
driving mode as shown below, which will reduce the operating frequency.
Method 1: According to the pulse quantity input circuit, the driving current is
10 to 25 mA, and the condition that the maximum voltage of the external
power source is 24 V is determined, and the value of the resistance R is
determined. Empirical data: VCC = 24V, R = 1.3 ~ 2k; VCC = 12V, R = 510 ~
820Ω. The external power supply is provided by the user, but it must be noted
that if the polarity of the power supply is reversed, the servo drive unit will be
damaged. The details are as follows:
13
2.4.4 Drive speed output interface
2.4.5 Digital output interface circuit
When using an external power supply, be aware of the polarity of the

power supply. Conversely, the polarity will cause the drive to be damaged. The
digital output is open-collector mode. The external voltage is limited to 24V
and the maximum current is 10mA. In terms of load, when using an inductive
load such as a relay, it is necessary to add a diode in parallel with the inductive
load. If the polarity of the diode is opposite, the driver will be damaged. The
state of the output signal can be observed by UN-18.
14
Chapter 3 Operation and Display

3.1 Keyboard operation
The servo panel consists of 6 LED digital tube displays and 4 buttons for displaying various
statuses, setting parameters, and so on. The button functions are as follows:：
：The serial number, value is increased, or the option is forward.
：The serial number, value is reduced, or the option is back.
：Return to the previous operation menu, or cancel the operation.
：Go to the next level of operation menu or enter confirmation.
Note：、 Keep pressing, the operation is repeated, and the longer the hold time, the faster
the repetition rate.
*** The 6-digit LED digital tube displays various states and data of the system, the decimal point
display of all digital tubes or the rightmost digital tube flashes to indicate that an alarm has occurred.
*** The operation is performed according to the multi-layer operation menu. The first layer is the main
menu, including eight operation modes, and the second layer is the function menu under each operation
mode. The following figure shows the block diagram of the main menu operation:
Display state Display meaning
Status monitoring
parameter
Parameter operation
Internal speed operation
Jog operation
Open loop operation
15
3.2 Monitoring method

Select “Un-” in the first layer ，and press to enter the monitoring mode.；There
are 22 display states.，The user can select the desired display mode with 、 .
Display state Display code Display meaning example
Motor speed Motor speed 500
current position 5 digits lower
Current position 5 digits higher
Command pulse 5 digits lower
Command pulse 5 digits higher
Position deviation 5 digits lower
Position deviation 5digits higher
Motor torque
Motor current
Current line speed
control method
Pulse frequency
16
Speed command
Torque command
Absolute position of the rotor
Blank
Input signal status
Output signal status
Code wheel signal status
Operating status
Alarm code
U/V/W count display
Analog channel FV AD value
Analog channel FI AD value
DC bus voltage
Second code wheel speed
Absolute position of the second
code wheel
17
3.3 Parameter settings

3.3.1 Parameter structure
Parameter structure
3.3.2 Parameter settings
Choose “PN” in layer 1，and press to enter the parameter setting mode. Optional PA-PH
parameters.Press enter the PA-PH arbitrary parameter list and use the 、 to select the parameter
number.Press ，display the value of this parameter,use 、 to modify the parameter value.Press
or once to increase or decrease the parameter by 1，Press and hold or ，the parameters
can be continuously increased or decreased. When the parameter value is modified, the decimal point of the
rightmost LED digital tube will be bright.Press to confirm that the modified value is valid，At this time,
the decimal point of the LED digital tube on the right is turned off. The modified value will be reflected in the
control immediately，After pressing or you can continue to modify the parameters. After the
modification, press to return to the parameter selection state. If you are not satisfied with the value being
modified, do not press to confirm,press to cancel,the parameter will return to the original value,
and return to the parameter selection state.
18
3.4 Parameter management
Parameter management mainly deals with operations between memory and EEPROM. Select "Sn-" in the first layer,and
press to enter the parameter management mode. First you need to select the operating mode. There are 5 modes, which
can be selected with the 、 key. Take “parameter write” as an example, select “Sn-Set”, and then press and hold
for more than 2 seconds. If the write operation is successful, the display will show “DONE”, if it fails, it will display
“ERR”.Press the again to return to the operating mode selection state.
 Sn－SEt parameter written It indicate that the parameters in the memory are written to the parameter area of the
EEPROM. The user modifies the parameters and only changes the value of the parameter in the memory. The next time
the power is turned on, the original value will be restored. If you want to change the parameter value permanently, you
need to perform the parameter write operation, write the parameters in the memory to the parameter area of the
EEPROM, and use the modified parameter after power-on.
19
 Sn－rd Parameter read. It indicates that the data of the parameter area of the EEPROM is read into the memory. This
process is automatically executed once at power-on. At the beginning, the memory parameter values are the same as in
the EEPROM parameter area. However, if the user modifies the parameters, the parameter values in the memory will be
changed. When the user is dissatisfied with the modified parameters or the parameters are disordered, the parameter
reading operation is performed, and the data in the parameter area of the EEPROM can be read into the memory again.
Restore to the parameters just power-on.
 Sn－SS Parameter backup
 Sn－rS Restore backup area parameters to current memory
 Sn－dEF Restore the default. Indicates that the default value (factory value) of all parameters is read into the
memory and written into the parameter area of the EEPROM. The default parameter will be used the next time the
power is turned on. When the user confuses the parameters and cannot work normally, all the parameters can be
restored to the factory state by using this operation. Because the default values of the parameters corresponding to
different drive models are different, the correctness of the motor ID (parameter PA1) must be guaranteed when using the
default parameters.
20
3.5 F1 Operation mode (panel test function)
Select “F1-” in the first layer and press to enter the speed trial mode. The speed test run prompt is “S” and the
value unit is r/min. The speed command is provided by the button. With the 、 keys, the speed command can be
changed and the motor runs at the given speed. control speed increases positively， control speed decreases
positively (inverse increase). When the display speed is positive; the motor rotates forward and the display speed is negative; the
motor reverses. Note: (1) The speed mode is continuous motion, please ensure that the motion axis has sufficient running
distance to avoid the impact limit. (2) If the external does not have an enable signal, set the PA6 parameter to 1. Otherwise the
motor will not rotate.
21
3.6 F2 operation mode (jog test function)
Select “F2-” in the first layer and press the key to enter the jog mode. The JOG run
prompt is "J", the value unit is r/min, and the speed command is provided by the button.
After entering the F2 operation, press the key and hold, the motor runs at the jog speed,
release the button, the motor stops, keeps the zero speed;Press and hold, the motor runs
in reverse according to the jog speed, release the button, the motor stops, keeps zero speed
The jog speed is set by parameter PC6.
Note: If there is no external enable signal, please set the PA6 parameter to 1.
Otherwise the motor cannot rotate
3.7 Other
F4 is the zero function of photoelectric encoder, which is used by motor manufacturers.
Users should not use it.
F5 open loop operation, Used when motor line sequence is not equal，Users are advised to
operate by professional technicians.

22
Chapter 4 Parameters
The S series AC servo spindle drive has multiple sets of parameters to adjust, and the user parameters can be adjusted to meet most needs. Do not
change the parameters of the motor, or unpredictable results. Among them, PA is a common parameter, PB is a position control parameter, PC is a speed
control parameter, PD is an I/O control parameter, PE is a positioning and rigid tapping parameter, and PG is a current control parameter. PH is the
matching parameter of the motor. PF communication control parameters.
4.1 Detailed list of function meanings of each parameter

PA Common parameters:
No. Name Features Parameter range
1, the password is divided into levels, corresponding to user
parameters, system parameters; 2, to modify the motor ID (PA1) must

PA0 user password 0~32767
be set to 0, the user parameter password is 168. System parameters,
please consult the manufacturer.
For the matching motor model. Each motor has only one unique ID
number. The password PA0 is first set to 0 to modify this parameter.

PA1 MotorID 0~1000
After the setting is completed, the SN-DEF needs to be executed to
be effective. Please operate this parameter with caution.
PA2 Software version View the current drive software version. 0~32767
Select the display status of the display after the
drive is powered on:
0：Display motor speed;
1：Display the current position 5 digits lower;

Initial
2：Display the current position 5 digits higher;
PA3 display 0~27
8：Display motor current;
status
11：Display position command pulse frequency;
12：Display speed command;
13：Display torque command;

14：Shows the absolute position of the rotor in one revolution.
control This parameter sets the drive control method:

PA4 0~5
method 0：Position control mode
23
1：Analog speed/tapping;
2：Speed test run;
3：Jog control mode;
4：I/O speed control;
5：Open loop operation mode;
PA5 FPGA version No. Displays the current FPGA version. 0-32767
0：Servo enable is controlled by external I/O;
PA6 Forced enable 0~1
1：Internal forced enablement;
PA7 alarm record Historical alarm record 0~100

PA8 Production Date 0~32767
PB Position control parameter：
Set the proportional gain of the position loop regulator:
Position The larger the setting value, the higher the gain and the greater
PB0 proportional the stiffness. Under the same frequency command pulse condition, the 1~6000
gain position lag is smaller. However, too large value may cause
oscillation or overshoot.
The feedforward gain of the position loop increases, and the
high-speed response characteristic of the control system increases,

Position feed
PB1 but the position loop of the system is unstable and oscillates 0~3000
forward gain
easily. The feedforward gain of the position loop is typically zero
unless a very high response characteristic is required.
Feedforward Set the low-pass filter cutoff frequency of the position loop
PB2 gain low pass feedforward. The higher the cutoff frequency, the better the 1~580
filtering position tracking, but it is easy to oscillate.
Set the input form of the position command pulse.
0：Pulse + direction；
Position
1：CCW/CW；
PB3 command pulse 0~2
CCW is viewed from the axial direction of the servo motor
form
and rotates counterclockwise, defined as positive;
CW is viewed from the axial direction of the servo motor
24
and rotates clockwise, defined as reverse;
2：A/B quadrature pulse.

Pulse gear
PB4 Electronic gear ratio molecule 1~32767
ratio molecule
Pulse gear ratio
PB5 Electronic gear ratio denominator. 1~32767
denominator
Position instruction 0：Normal；1：The direction is
PB6 0~1
reversed reversed.
Set the positioning completion pulse range under position control:
Location
PB7 This parameter provides the basis for the drive unit to determine 0~32767
reach
whether the positioning is completed in the position control mode.
Set the position error detection range: In the position

Position out
control mode, when the count value of the position
PB8 of tolerance 0~32767
deviation counter exceeds the value of this parameter, the
alarm range
servo drive unit gives a position error alarm.
Turn off the tolerance 0：Position alarm detection is valid;

PB9 0~1
alarm function 1：Position alarm detection is invalid;
Smoothing the command pulse, with exponential
Position acceleration and deceleration, the value represents the

0~20000
PB10 command pulse time constant; the filter will not lose the input pulse,
×0.1ms
filter but the instruction delay will occur; when set to 0, the
filter will not work.
Code wheel output pulse 0：Code wheel output pulse A/B phase is normal
PB11 0~1
A/B phase modulation 1：Code wheel output pulse A/B phase modulation
Position command Set the pulse pass frequency, set to 500 to indicate the
PB12 1~1000
FPGA filter maximum pass frequency of the system is 500KHZ.
Output electronic Each feedback pulse from the encoder is

PB13 1-32767
gear ratio molecule output through the gear in the drive unit.
Output electronic gear Each feedback pulse from the encoder is
PB14 1-32767
ratio denominator output through the gear in the drive unit.
25
PC Speed control parameters:
Set the proportional gain of the speed loop regulator:

Speed
1, the larger the setting value, the higher the gain, 5Hz
PC0 proportional
the greater the stiffness; 2, the larger the load ~2000Hz
gain
inertia, the larger the set value.
Set the integral time constant of the speed loop regulator:
1, the smaller the setting value, the faster the integration

Speed integral 1ms
PC1 speed, the greater the stiffness; 2, the larger the load inertia,
time constant ~1000ms
the larger the setting value. The setting of frequent low-power
occasions is relatively small, preventing overshoot.
Speed integral When the speed deviation exceeds the 100～800

PC2
separation point set value, the speed PI becomes P. r/min
Set the speed detection low-pass filter characteristics: 1, the
smaller the value, the lower the cutoff frequency, the smaller
the noise generated by the motor. If the load inertia is large,
the set value can be appropriately reduced. The value is too

Speed detection
PC3 small, causing the response to slow down, which may cause 1~580%
low pass
oscillation; 2. The larger the value, the higher the cutoff
frequency and the faster the speed feedback response. If a higher
speed response is required, the set value can be increased as
appropriate.
PC4 Maximum speed setting Maximum speed setting under analog speed operation 0~12000
PC5 Speed reaches the set value Set the speed value when the output signal reaches the valid state. 0~1000
PC6 Jog speed setting Set the jog speed. 1~3000r/min
0: FV channel (+-10V); 1: FI channel (0-10V)
Analog channel
PC7 2: FI channel (4-20MA); 3: FI channel (0-10V, 0~3
selection
direction control enabled);
Analog command When the analog voltage command is lower than this value, the 0~120
PC8
deadband range analog command input is invalid and the motor does not turn. *0.1V
PC9 Analog command zero Adjust the offset of the analog voltage to make it balanced -1000~1000
26
PC10 Blank
Analog command Analog command filtering setting,
PC11 1-1000
filter coefficient 1000 is not filtered
Analog command Adjust the maximum output speed
PC12 0~5000
gain corresponding to the maximum analog input
FV channel (+-10V) 0：FV channel (+-10V) polarity is normal
PC13 0-1
polarity is reversed 1：FV channel (+-10V) polarity is reversed
The set value is the acceleration time of the
acceleration
PC14 motor from 0r/min to 1000r/min. The 0~3000ms
time
acceleration characteristics are linear.
deceleration The set value is the deceleration time of the

PC15 0~3000ms
time motor from 0r/min to 1000r/min.
PC16 Zero speed approval range When the speed is less than the set value, it is recognized as 0 turn. 0~1000
PC17 Internal speed 1 Internal speed control mode: The
speed is controlled by the state of
PC18 Internal speed 2
the external I/O point.For example：
PC19 Internal speed 3 SC3 SC2 SC1：
PC17: OFF OFF OFF
PC18: OFF OFF ON -12000~120
PC21 Internal speed 5 PC19: OFF ON OFF 00
PC22 Internal speed 6 PC20: OFF ON ON
PC21: ON OFF OFF
PC22: ON OFF ON
PC23: ON ON OFF
PC24: ON ON ON
PC25 Off enable parking 0: Free stop; 1: Deceleration stop; 0～1
Can turn off the speed of Set the maximum allowable speed of 0～5000
PC26
the motor after enabling the motor *0.1rpm
PC27 Motor rated speed Motor rated speed 0～12000
PC28 Zero speed clamp Position gain in the zero speed 0～6000
27
position gain clamp state of the motor
Zero speed clamp Speed gain in the zero speed clamp
PC29 0～2000
speed gain state of the motor
Zero speed clamp speed Speed integral constant of the
PC30 0～10000
integral constant motor under zero speed clamp
PD IO Control parameters：
Input terminal low 4 Forced ON if the input signal is four

PD0 0~15
bits forced ON bits lower.
Input terminal high Forced ON if the input signal is five
PD1 0~31
5 bits forced ON digits higher.
Input terminal low 4 The lower four bits of the input signal are inverted to match
PD2 0~15
bits negated the level of the input signal contact.
Input terminal high The upper five bits of the input signal are inverted to match
PD3 0~31
5 bits reverse the level of the input signal contact.
PD4 Output terminal 4 bit inversion The output signal is inverted to match the level of the output signal. 0~15
0、Do not use port；
PD5 Input terminal 7 definition 0~13
1、Enable；
PD6 Input terminal 1 definition 2、Rigid tapping； 0~13
3、Orientation；
PD7 Input terminal 2 definition
4、Zero speed clamp； 0~13
5、Analog control direction setting；
6、Analog control direction setting (10
inversion, 01 forward, other invalid)；
7、Internal speed selection（SC1）；
PD10 Input terminal 5 definition 8、Internal speed selection（SC2）； 0~13
9、Internal speed selection（SC3）；
PD11 Input terminal 6 definition
10、Reduction ratio selection； 0~13
11、Reduction ratio selection (00 first
gear, 01 second gear, 10 third gear, 11
28
Thermal alarm terminal fourth gear)；
PD13 0~13
definition 12、Alarm clear；
Set the function of output port 1:
PD14 Output terminal 1 definition 0~6
0：Servo ready
PD15 Output terminal 2 definition

1：Servo alarm output 0~6
2：Positioning completed
3：Zero speed
4：Location arrival
5：Speed arrival
6：Position/speed status output
PD18 Set IO with RS485 0:Port customization; 1: RS485 definition. 0~1
PE Positioning and rigid tapping parameters：
Whether the rigid tapping is

PE0 0: speed, 1: position 0~1
in the position mode
Position proportional Position proportional gain

PE1 1~6000
gain for rigid tapping setting during rigid tapping
Speed proportional gain Speed proportional gain setting
PE2 5~2000Hz
for rigid tapping during rigid tapping
Speed integral time constant Speed integral time constant gain
PE3 1~10000ms
for rigid tapping setting during rigid tapping
Choose a Targeting method:
0：The first code wheel is quickly positioned;

1: The first code wheel is positioned in the forward direction;
2: One-way positioning of the first code wheel;
PE4 Targeting 3: The second code wheel is quickly positioned; 0~7

4: The second code wheel is positioned in the forward direction;
5: One-way positioning of the second code wheel;
6：Inductive switch positioning;

7：Inductive switch unidirectional positioning;
29
PE5 Positioning position Set the desired location 0~32767
PE6 Positioning speed Set the desired positioning speed 0~3000rpm
Positioning completed Set the positioning tolerance
PE7 0~1000
recognition range range
Position proportional Set position proportional gain
PE8 0~2000
gain when positioning
Positioning speed Set the speed proportional gain
PE9 5~2000Hz
proportional gain when positioning
Speed integral time constant Set the speed integral time
PE10 1~10000ms
for positioning constant during positioning
Position proportional gain Set position proportional gain
PE11 0~6000
for positioning completion after positioning is completed
Positioning completion Set the speed proportional gain
PE12 5~2000Hz
speed proportional gain after positioning is completed
Positioning completion Set the speed integral time constant
PE13 1~1000ms
speed integral time constant after positioning is completed
Find the speed of the sensor
Set the speed when looking for the
PE14 switch after finding the
sensor switch 0~1000rpm
deceleration point
Forward positioning Set the forward positioning

PE15 0~1000
allows overshoot range position tolerance range
First gear reduction Set the first gear reduction ratio
PE16 1~32767
ratio molecule molecule
First gear reduction Set the first gear reduction ratio
PE17 1~32767
ratio denominator denominator
Second gear reduction Set the second gear reduction
PE18 1~32767
ratio molecule ratio molecule
Second gear reduction Set the second gear reduction
PE19 1~32767
ratio denominator ratio denominator
Third gear reduction Set the third gear reduction ratio
PE20 1~32767
ratio molecule molecule
30
Third gear reduction Set the third gear reduction ratio
PE21 1~32767
ratio denominator denominator
Fourth gear reduction Set the fourth gear reduction
PE22 1~32767
ratio molecule ratio molecule
Fourth gear reduction Set the fourth gear reduction
PE23 1~32767
ratio denominator ratio denominator
PE24 Deceleration position Set the deceleration point position 0~65536
The second code wheel
PE25 0: normal; 1: direction reversal 0~1
direction is reversed
Inductive switching Inductive switching signal FPGA

PE26 1~10000
signal FPGA filtering filtering
PF Communication parameters：
PF0 RS485 address Multiple drive setting station number 0-255

Communication frequency selection：
0:4800；
1:9600；
Communication
PF1 2:19200； 0~5
frequency
3:38400；
4:57600；
5:115200；
PF2 Check form 0: odd parity; 1: even parity; 0~1
Whether to set 0: Port customization, 1: RS485
PF3 0~1
IO with RS485 definition.
PG Current loop parameter：
1, the larger the setting value, the higher the gain,

Current
the smaller the current tracking error, but the gain
PG0 proportional 1～500
will cause oscillation or noise; 2, related to servo
gain
and motor; 3, independent of load.
31
1, the smaller the setting value, the faster the
integration speed, the smaller the current tracking
Current error. However, if the integral is too small,
PG1 integration oscillation or noise will occur; 2, related to servo 1~10000

time constant and motor; 3, independent of load. 4. Under the
condition that the system does not oscillate, it
should be set as large as possible.
Motor rated Set the rated motor current. 1～

PG2
current The set value is a valid value. 500×0.1A
PG3 Overload multiple Set the maximum overload factor allowed by the system. 0～300%
Split point of When the current error exceeds the set value, the
PG4 current current loop changes from PI to P, and the value is 100~10000
integration a percentage of the rated current.
PG5 Excitation current The magnetic field holds current when the motor is stopped. 0~300
Set the current command low pass filter cutoff
Current command
frequency. It is used to limit the current command
PG6 low pass filter 1~1500Hz
frequency band, avoid current surge and
coefficient
oscillation, and make the current response smooth.
PG7 Excitation time constant Motor parameters 1~20000

Current detection Current detection coefficient, system
PG8 1~10000
coefficient setting, cannot be changed arbitrarily;
Proportional coefficient
PG9 multiplier after current Set multiple 0~300%

integral separation
1, set the current command filter characteristics. It can suppress
the resonance generated by the torque (the motor emits sharp
Current command vibration noise);
PG10 low pass filter 2. The smaller the value, the lower the cutoff frequency and the 1~1500
setting lower the noise generated by the motor. If the load inertia is large,
the set value can be appropriately reduced. The value is too small,
causing the response to slow down and may cause instability.
32
Zero speed clamp Percentage of excitation current
PG11 1~300%
excitation current using zero speed clamp
Rigid tapping Rigid tapping excitation current
PG12 1~300%
excitation current percentage
Directional Use positioning excitation
PG13 1~300%
excitation current current percentage
Weak magnetic Start weakening magnetic after
PG14 0~3000rpm
control speed point reaching the set speed
PH Motor and protection parameters：
PH0 Motor inertia Set the motor inertia parameter. 1~32767

PH1 Motor rated torque Set the rated motor torque. 1~32767
PH2 Motor rated speed Set the rated motor speed. 300～6000 r/min
Maximum motor 0～12000

PH3 Set the maximum motor speed。
speed r/min
Set the maximum overload factor
PH4 Overload multiple 0～400%
allowed by the system.
Set the starting torque value of the overload protection, the
rated percentage.
Overload torque
PH5 When the current torque of the motor is higher than this value, 0～200%
detection point
the internal overload counter of the system works. After the
count value is exceeded, the system outputs an overload alarm.
Set the torque of the overload point. This parameter

Overload
and PH7 together form the overload characteristic of
PH6 characteristic 0～500%
the motor. It is set according to the motor overload
point torque
characteristic parameter. Pay attention to PH6>PH5.
Maximum overload time of

PH7 Refer to PH6. 1~32767
the overload point
PH8 Speed amplifier A speed saturation alarm is generated when the system internal 1～30000
33
saturation speed regulator continuous saturation time exceeds this
fault detection value. Used to prevent mechanical jamming or other causes,
time resulting in excessive current.
Do not detect speed integral

PH9 0: detection; 1: no detection; 0～1
saturation error
PH10 Maximum braking time Set a single maximum braking time 2～500ms
PH11 Number of code lines Enter the number of code lines 500~10000
PH12 Number of 2nd code lines Enter the number of 2nd code lines 500~10000
Motor thermal overload Thermal overload is calculated 100～
PH13
detection starting point using the I*I*T method. 300%
Motor thermal overload This parameter setting is greater 100～
PH14
characteristic torque than PH13。 300%
PH15 Thermal overload time Set the maximum time for thermal overload. 1～30000S
Set the number of magnetic poles of the
Motor pole servo motor. Different models of different

PH16 1～8
number manufacturers may have different motors.
You cannot change this parameter at will.
PH17 Module current limit Set the module's maximum output current value 1～3000
Motor overheat 0: Software protection;
PH18 0～1
protection 1: IO protection;
4.2 Parameter debugging block diagram model
34
4.3 Servo key parameter description
Since the default motor matching parameters have been optimized, in most applications it is not necessary
to adjust the parameters (except for the electronic gear ratio) and can be used directly. But the actual
machinery is complex and diverse. If an exception occurs during debugging or requires a very high response,
you will need to adjust the parameters to meet your needs. The principle of debugging is the first current
loop, then speed loop, and the last position loop. Current loops are generally not adjusted unless in individual
cases. The speed response is too fast, causing a current surge. Causes AL11 alarm. Then can adjust PG2 to
solve.
Speed loop：Where a higher speed response is required, PC0 can be increased or PC1 can be reduced. But the
PC0 setting is too large to easily vibrate. In the case where the load inertia is too large, if the load motor
motion decelerates, it will stop unstable and shake left and right. At this time, PC1 needs to be increased
to solve it.
Position loop：Where a higher position response is required, PB0 can be increased to obtain. In some occasions,
PB1 needs to be enlarged to meet. However, the PB0 PB1 setting is too large to easily vibrate. The premise
of setting is to debug PB0 first, and PB1 is only used when it is short distance and high response.
Electronic gear ratio: 1) If calculated from the speed angle, the following formula can be used:
f ×( PB4/PB5)=10000
Where f is the pulse sent by the host computer, the unit should be the number of pulses / per revolution.
That is, if you know that the host computer emits a certain number of pulses and rotates the motor or load
for one revolution, the electronic gear ratio setting number can be calculated according to the above formula.
2）Calculate directly by positional accuracy:
(Lead/pulse equivalent) × (PB4/PB5) = 10000
If the lead screw lead is 5mm, the motor and the lead screw are directly connected, and the motor moves 5mm
in one turn. If the required accuracy is 0.001mm, the motor will take 5,000 pulses to make one revolution;
that is, PB4=10 and PB5=5.
35
Pulse input form: support pulse plus direction and CW/CCW (positive and reverse pulse) input, set PB3.
4.4 Parameter debugging steps in practical applications

In the process of debugging or application, if vibration, noise or control accuracy is
not enough, the parameters of the system can be adjusted to meet the control
requirements as follows.
When the motor is in the static lock state, if there is vibration or sharp noise,
please adjust the current proportional gain parameter value smaller; if the oscillation
does not occur, the parameter should be set as large as possible. The larger the
current, the better the current tracking effect and the faster the motor response;
however, if too large will easy to cause vibration or noise.
（1）
：Speed control mode parameter adjustment:
1）The set value of [Speed Proportional Gain] is set as large as possible without
oscillation. In general, the larger the load inertia, the larger the set value should be;
2）The set value of [Speed integral time constant] is set as small as possible
according to the given conditions. When the setting is too small, the response speed
will increase, but it will easily oscillate. Therefore, as long as the oscillation does not
occur, try to set it smaller. When the setting is too large, the speed will change
greatly when the load changes.
（2）
：Position control mode parameter adjustment:
1）First set the appropriate [speed proportional gain] and [speed integral time
constant] according to the above method;
2) [Position feed forward gain] is set to 0%;
3) The set value of [Position Proportional Gain] is set as large as possible
within the stable range. When the setting is too large, the tracking characteristic of
the position command is good, and the hysteresis error is small, but when the
positioning is stopped, the oscillation is easily to occur. When the setting is small,
the system is in a stable state, but the position tracking characteristics are
deteriorated, and the hysteresis error is large;
4) If the position tracking feature is required to be particularly high, the
position feed forward gain setting can be increased; however, if it is too large, it will
cause overshoot.
36
Chapter 5 Operation and Debugging
5.1 Special precautions for debugging：

1)The servo spindle driver connects the AC three-phase 380V power supply
to the power input terminal three-phase connection L1, L2, L3;；
3) Motor power line U, V, W, PE, line sequence can not be reversed, external
braking resistor is connected to P and D terminals;
4) The above part is the connection mode of the spindle drive. If the
connection is wrong, it may cause burnt, the motor does not turn, alarm, etc. Please
check the connection carefully to avoid wrong connection and reverse.
5.1.1 Power-on sequence
After the power is turned on, the servo alarm signal is output after 1S, and the
signal output is ready after 1.5S. After 10ms, the response is enabled. The motor is
energized and locked within 10ms; waiting for operation.
5.2 Open loop operation
1) Turning on the control circuit power and the main circuit power, and the
display of the driving unit is lit;If an alarm appears, check the connection.
2) Set the following parameters:
Parameter No. parameter name Definition Set value
PA0 Parameter password Special commissioning 12
PA4 Control mode 5: Open loop mode 5
0：External enable
PA6 Servo enable 1
1：Forced enable
3) After confirming that there is no alarm and any abnormal conditions, the
servo enable (SON) is turned ON, and the motor is energized at zero speed. If the
enable signal is not wired, you can set PA6 to 1 to automatically enable the motor.
4) Adjust the pulse frequency of the input signal to make the motor run as
commanded.
37
5.3 Position control mode operation

1) Turning on the control circuit power and the main circuit power, and the
display of the driving unit is lit;If an alarm appears, check the connection.
2) Set the following parameters：
PA4 Control mode 0：Position mode 0
0：Single pulse
Position
1：CW/CCW
PB3 command pulse 0
2：A/B quadrature
input mode
pulse
Gear ratio
PB4 1
molecule
Gear ratio
PB5 1
denominator
0: External enable
PA6 Servo enable 1
1: Forced enable
3）Related parameters: See the PB parameter list for details;
enable signal is not wired, you can set PA6 to 1 to automatically enable the motor;
5) Adjust the pulse frequency of the input signal to make the motor run as
commanded.
38
5.4 Speed trial run
1) The control circuit power and the main circuit power are turned on, and the
display of the drive unit is lit. If an alarm occurs, please check the connection;
0: position mode;
PA4 Control mode 1: analog speed / tapping; 2
2: Speed trial run
0: external enable;
PA6 Servo enable 1
1: Forced enable.
4) Through the key operation, enter the F1 speed trial running operation state,
the speed trial running prompt is “S”, the numerical unit is r/min, the system is in
the speed trial running mode, the speed command is provided by the button, the
speed command is changed by the key , the motor should be run at a given
speed.
39
5.5 Jog operation

display of the drive unit is lit. If an alarm appears, check the connection.
0: position mode
1: analog speed / tapping
PA4 Control mode 3
2: Speed trial run
3: Jog control mode
0: external enable;
PA6 Servo enable 1
1: Forced enable.
4) Through the key operation, enter the F2 jog running operation state, the
JOG running prompt is “J”, the numerical unit is r/min, the system is in the speed
control mode, and the speed magnitude and direction are determined by the
parameter PC6. Press the key motor to run at the speed and direction
determined by the PC6 parameter. Press the key to reverse the motor at the
given speed.
40
5.6 Simulated speed operation

2) Setting function parameters：
0: position mode;
PA4 Control mode 1
1: analog speed / tapping;
0: external enable;
PA6 Servo enable 1
1: Forced enable;
0: FV channel (+-10V);
Analog channel
PC7 1: FI channel (0-10V); Optional
selection
2: FI channel (4-20mA);
3）Port definition:
When the PC7 selects the FV channel, the analog input is connected to the 2
port of T1, and when the PC7 selects the FI channel, the analog port is connected
to the 3 port of T1. The analog input can be observed through UN23 and UN24.
4) Analog speed control related parameters：
PC13：FV channel (+-10V) polarity is reversed, the polarity is used to control
the rotation direction; PC8: analog command dead zone range, determine the
effective command minimum voltage value; PC9: analog command 0 point,
specify the analog voltage corresponding to zero speed. PC12: Analog command
gain, which adjusts the maximum output speed corresponding to the maximum
analog input. For other related parameters, please refer to the PC parameter list.
5）When using the analog FI channel, the motor rotation direction enable is
determined by the I/O input signal. The default is T3 port 1 and 2; you can also
input the PD6-PD12 parameter to customize the rotation direction enable port.
7) Control the simulation speed by adjusting the amount of analog;
41
5.7 Rigid tapping operation

2) Set the function parameters:
0: position mode;
PA4 Control mode 1
1: analog speed / tapping；
0: external enable;
PA6 Servo enable 1
1: Forced enable;
Rigid tapping
0: speed mode;
PE0 method Optional
1: position mode;
selection
When the position tapping mode is used, PE0=1, the tapping is controlled
according to the external input pulse; when the speed tapping mode is used, PE0=0,
the analog control speed is used for tapping, and the analog speed control process
is detailed in the section 5.6 Simulating speed operation. The tapping mode is
started according to the I/O port. The startup I/O port can be customized. The
default is the port 4 of T3.
4）Rigid tapping related parameters:
PE1: position proportional gain for rigid tapping, PE2: speed
proportional gain for rigid tapping; PE3: speed proportional integral time constant
for rigid tapping;
42
5.8 I/O internal speed control operation

2) Set the function parameters:
PA4 Control mode 4：I/O speed control; 4
0: external enable;
PA6 Servo enable 1
1: Forced enable;
Internal speed
PC17-PC24 Set the corresponding speed
1-8
The input port of SC1/SC2/SC3 is defined by setting the value of PD6-PD13,
and the PC17-PC24 is selected according to the level signal of SC1/SC2/SC3 to set
the speed;
4) I/O port internal speed control related parameters:
See PC parameter list;
6) The speed is switched by adjusting the signal corresponding to
SC1/SC2/SC3;
43
5.9 Positioning
2) Set the function parameters and related parameters:
Positioning 0-7: Total 8 positioning
PE4 Optional
method selection methods are selected
0: external enable;
PA6 Servo enable 1
1: Forced enable;
The corresponding port is defined as a positioning signal input port by setting
a value of PD6-PD13 to 3. When there is a signal input, the positioning is
performed according to the setting requirements; the sensor switch positioning
signal input port T3 of port 5, the PD10 needs to be set to 0 when using.
PE4 positioning mode selection has 0-7 total 8 ways to choose, where in the
first code wheel is positioned as a motor encoder and the second code wheel is
positioned as an external encoder. The inductive switch positioning signal is input
into the drive by the defined I/O port feedback.
4) I/O port internal speed control related parameters:
PE5 Positioning position Set the desired location Set value
PE6 Positioning speed Set the speed required for positioning --
Positioning completed
PE7 Set the positioning tolerance range --
recognition scope
Position proportional Set position proportional gain when

PE8 --
gain positioning
Positioning speed Set the speed proportional gain when

PE9 --
proportional gain positioning
Speed integral time Set the speed integral time constant during
PE10 --
constant for positioning positioning
Position proportional gain Set the position proportional gain at zero

PE11 --
for positioning completion speed after positioning is completed.
44
Positioning completion Set the speed proportional gain at zero speed

PE12 --
speed proportional gain after positioning is completed
Positioning completion
Set the speed integral time constant at zero
PE13 speed integral time --
speed after positioning is completed.
parameter
Forward positioning Set the forward positioning position tolerance

PE15 --
allows overshoot range range
PE14-PE24 position positioning deceleration point and deceleration gear

setting parameters;
45
Chapter 6 RS485 Communication

6.1 RS485 communication hardware interface
6.1.1 communication
This driver adds RS485 communication function, which can drive servo system,
change parameters, monitor servo system status and many other functions. To suit
specific application needs.
6.1.2 External connection diagram
External sketch
Controller such as HMI/PLC
6.1.3 Multiple external connection diagrams
46
6.2 Communication protocol
The servo system adopts the standard asynchronous serial master-slave MODBUS communication protocol. Only one device host in the network can
establish a protocol. The other device slaves can only respond to the host by providing data or according to the commands of the host. The host refers to
a personal computer, an industrial control device or a PLC, and the slave refers to the servo system.
When the communication command is sent by the sending device (host) to the receiving device (slave), the slave device that meets the
corresponding address code receives the communication command, and reads the information according to the function code and related requirements.
If the CRC check is correct, the corresponding task is executed, and the execution result (data) is returned to the host. The returned information
includes the address code, function code, executed data, and CRC check code. If the CRC check error occurs, no information will be returned.。
Communication frame structure adopts RTU mode
6.2.1 Communication command code and data description
function code Definition Operation (binary)
03 Read register data Read data from one or more registers
06 Write one-way register Write a set of binary data to a single register
10 Write multiple registers Write multiple sets of binary data to multiple registers
6.2.2 Function code "03": Read multiple register input
For example, the host should read the three slave register data with address 01 and start address 0116.
The address and data of the slave (PDM) data register are:
Register address Register data (hexadecimal) Corresponding to PDM power
0116 1784 UA
0117 1780 UB
0118 178A UC
The format of the packet sent by the host:
Host sending Number of bytes Message sent Remarks
Slave address 1 01 Send to slave at address 01
function code 1 03 Read register
initial address 2 0116 Starting address is 0116
Data length 3 0003 Read 3 registers (6 bytes total)
CRC code 2 E5F3 The CRC code is calculated by the host
47
The format of the message returned by the slave (PDM) response:
Slave response Number of bytes Returned Mesage Remarks
Slave address 1 01 From slave 01
function code 1 03 Read register
Read word 1 06 3 registers total 6 bytes
Register data 1 2 1784 Content with address 0116 memory
Register data 2 2 1780 Content with address 0117 memory
Register data 3 2 178A Content with address 0118 memory
CRC code 2 5847 The CRC code is calculated by the slave
6.2.3 Function code "06": write one-way register
For example, the host should save the data 07D0 to the slave register with the address 002C (the slave address code
is 01). After the communication data is saved, the original storage information of the PDM table with the address 002C is:
address Originally stored data (hexadecimal)
002C 04B0
Host sending Number of bytes Message sent For Example
Slave address 1 01 Send to slave at address 01
function code 1 06 Write one-way register
initial address 2 002C Register address to be written
data input 2 07D0 Corresponding new data
CRC code 2 4BAF CRC code calculated by the host
The format of the message returned by the slave (PDM) response is exactly the same as the format and data content of the
message sent by the host.
6.2.4 Function code "10": Write multiple registers
The host uses this function code to save multiple data to the data memory of the PDM table. The registers in the Modbus
communication protocol refer to 16 bits (ie 2 bytes) with the high order first. Thus the memory of the PDM is two bytes.
Since the Modbus communication protocol allows up to 60 registers to be saved at a time, PDM allows up to 60 data
registers to be saved at a time.
For example, the host should save 0064, 0010 to the slave register at address 002C, 002D (slave address code is 01).
48
After the communication data is saved, the information stored in the PDM table with the address 002C/002D is:
address Originally stored data (hexadecimal)

002C 04B0
002D 1388
Host sending No. of bytes send Message Example
Slave address 1 01 Send to slave 01
function code 1 10 Write multiple registers
initial address 2 002C The starting address of the register to be written
Save data word length 2 0002 Word length of the saved data (2 words total)
Save data byte length 1 04 Byte length of the saved data (4 bytes total)
Save data 1 2 04B0 Data address 002C

Save data 2 2 1388 Data address 002D
CRC code 2 FC63 CRC code calculated by the host
The format of the message returned by the slave (PDM) response:
Slave response No. of bytes send Message Example
Slave address 1 01 From slave 01
function code 1 10 Write multiple registers
initial address 2 002C Starting address is 002C
Save data word length 2 0002 Save 2 words of data
CRC code 2 8001 CRC code calculated by the slave
6.2.5 Error check code (CRC check):

The master or slave can use the check code to determine whether the received information is correct. Due to electronic noise or
some other interference, the information sometimes has an error during transmission. The error check code (CRC) can check whether
the information of the host or the slave during the transmission of the communication data is incorrect, and the wrong data can be
discarded (regardless of Whether it is sent or received), which increases the security and efficiency of the system.
The CRC (redundant cyclic code) of the MODBUS communication protocol contains 2 bytes, that is, a 16-bit binary
number. The CRC code is calculated by the transmitting device (host) and placed at the end of the transmitted information
frame. The device receiving the information (slave) recalculates the CRC of the received message, and compares whether
the calculated CRC matches the received one. If the two do not match, it indicates an error.
49
Only 8 data bits are used in the CRC calculation.The start bit and the stop bit, if
there is a parity bit and a parity bit, do not participate in the CRC calculation.
●The calculation method of the CRC code is:
1．Preset a 16-bit register to be hexadecimal FFFF (that is all 1); call this register a CRC register;
2．The first 8-bit binary data (the first byte of the communication information frame) is differentiated
from the lower 8 bits of the 16-bit CRC register, and the result is placed in the CRC register;
3．Move the contents of the CRC register one bit to the right (toward the lower bits),
pad the highest bit with 0, and check the shifted out bit after the right shift;
4．If the shift bit is 0: repeat step 3 (shift one bit to the right again);If the shift bit
is 1: the CRC register is XORed with the polynomial A001 (1010 0000 0000 0001);
5．Repeat steps 3 and 4 until the right shift is 8 times, so that the entire 8-bit data is processed.
6．Repeat steps 2 through 5 to process the next byte of the communication information frame;
7．After all the bytes of the communication information frame are calculated according to the above
steps, the high and low bytes of the obtained 16-bit CRC register are exchanged;
8．The final CRC register content is: CRC code.

6.3 Communication error information and data processing:
When the PDM table detects an error other than the CRC code error, it must send back information to the host. The
highest position of the function code is 1, that is, the function code returned by the slave to the host is 128 based on the
function code sent by the host. The following codes indicate that an unexpected error has occurred.
If the information received by the PDM from the host has a CRC error, it will be ignored by the PDM table.
The format of the error code returned by PDM is as follows (except CRC code):
Address code: 1 byte
Function code: 1 byte (the highest bit is 1)
Error code: 1 byte
CRC code: 2 bytes.
The PDM response returns the following error code:
81. Illegal function code. The received function code PDM table is not supported.
82. Illegal data location. The specified data location is outside the
scope of the PDM table.
83. Illegal data value. Received the data value sent by the host beyond
the data range of the corresponding address of the PDM.
50
6.4 S series spindle drive debugging software description and use

This servo debugging software is green software and does not need to be installed. After obtaining the
software from the manufacturer, it can be stored directly on the computer. To connect the computer to
the drive, you must use the factory-specific debug communication line (model CABLE02). Using other
communication lines can result in damage to the drive or inability to communicate.
1. Double-click BGD Servo to enter the first interface as shown below:
2. Click the serial port setting software to automatically identify the COM
port. The baud rate should be selected according to the drive settings. If
there is no match, a communication error will occur. The default baud rate
of the software and the drive is 9600. The station number is selected
according to the drive settings.Once the drive model is selected, Other
parameters default, save, and then click the "Connect" button, the
software and the drive can communicate normally. Offline mode is used to
not connect to the drive and view other software information.
51
Serial port setting interface
Parameter setting interface
52
3. Click Parameter Settings. This interface mainly views and modifies the drive parameters. It can be
modified individually or in batches to greatly improve the debugging efficiency of the drive.
Function Description:
Read: Read the external parameter file to the current computer software.
Save: Store the parameter table in the current computer software to another file for download.
Upload: Upload the parameters in the drive to the computer software.
Release: Download the parameters in the computer software to the drive. Parameter batch processing
One by one: download the parameters in the computer software to the drive. Single parameter processing
Save: Save the parameters modified in the current computer software directly to the EEPROM of the
drive.
Running test interface

4. Run the test icon to perform four-way acquisition of motor speed, position, command position, torque and current to facilitate debugging of the
drive. Please refer to the instructions in the debugging software for instructions on how to use it. This manual not discusses.
53
6.5 Communication command example

RTU command： 03 Read single or multiple registers
06 Write a single register
10 Write multiple registers
6.5.1 Application example
Read multiple registers (for example, read PB4 PB5 electronic gear ratio)
01 03 00 09 00 02 14 09
Station No Read command Address 9 2 data Check Digit
Return
01 03 04 00 01 00 01 6A 33
Return result: 4 bytes The two parameter data are 01 01 respectively. PB4 PB5=1
Write multiple registers (for example, write PB4 PB5 electronic gear ratio)
01 10 00 09 00 02 04 00 05 00 04 22 07
Station No Write command Address 9 2data 4 bytes Data 5 and 4 Check code
Return
01 10 00 09 00 02 91 CA
Return result: Two bytes have been written to view the drive, PB4=5 PB5=4
Read a single register（For example,read the magnitude of the current output by the servo, that is, the UN-I address is 148.）
01 03 00 94 00 01 C5 E6
Return：01 03 02 00 03 F8 45 Indicates that the data read is 03 for 0.3A.
For example: read the current motor position UN-2 UN-3

01 03 00 8D 00 02 54 20
Return：01 03 01 F5 B1 00 03 D9 D9
F5B1=62897 0003=03
So the current position is 0362897
54
Read the current motor absolute position
01 03 00 9A 00 02 E4 24
Return：01 03 04 C4 C8 00 03 06 FC
C4C8=50376 actually needs X2, so it is 100753
So the current absolute position is：03 100753
If you are reading a negative number of turns, the actual number of pulses should
be: the number of pulses read - 65536 or the number of pulses read - 256.
Communication control I/O

01 06 00 80 00 01 49 E2：Control motor enable signal with communication
01 06 00 04 00 02 49 CA：Modify PA4=2 with communication
Note：
①. Read the address of the monitoring menu, mainly through the 485 communication, let
the host computer read, used to transfer the servo status to the host computer.
②. Monitoring menu address: 140 ~ 160, the sequence is the same as the original drive,
only the number of motor turns is inserted behind 154, the absolute position does not display
the lowest bit (display digits are not enough).
③. Write the address of input port IO48-IO54 for controlling the input point through
communication.
The input port address is 128～134, and the output port address is 135/136/137.
④. The communication port standard is debugged by S series servo software, and can also
be debugged by computer serial port. Use a computer to debug the converter that needs to be
connected to the USB to RS485.
55
6.5.2 Servo system communication address list
Communication project Communication address Read/write status

Servo parameter 0-00FFH Readable and writable
Input port status 0080H-0086H only write
Output port status 0087H-0089H Only read
Monitor menu content 008CH-00A1H Only read
Note:
1) Only 16-bit information is displayed in the absolute position of the motor 009BH. It is
necessary to *2 to be the correct position information after reading.
56
Chapter 7 Alarm and Processing

If the servo drive fails during use, the display will show: Al-xx, please follow the
instructions in this section; remove the corresponding fault before you can use it again.
7.1 Alarm list
Alarm
Alarm name Alarm reason
code
AL-0 normal
AL-1 Speeding Servo motor speed exceeds the set value
AL-2 Main circuit overvoltage Main circuit voltage is too high
AL-3 Main circuit undervoltage Main circuit voltage is too low
AL-4 Location out of tolerance Motor following deviation exceeds parameter PB8 setting
AL-6 Speed amplifier saturation Speed regulator is saturated for a long time
AL-9 Encoder exception The encoder has a wire break or short circuit
AL-11 Overcurrent 1 IPM module output current is too large
AL-12 Over current 2 DSP detects excessive current
AL-13 Overload Servo output torque exceeds the allowable value
AL-14 Brake abnormality Abnormal brake circuit
AL-15 Encoder count is abnormal Encoder AB count deviation is too large
AL-16 Motor thermal overload Motor overload for a long time
AL-19 Second code wheel short line Bad second code wheel line
AL-20 EPROM error Servo internal EEPROM read and write exception
AL-24 FPGA communication is abnormal FPGA communication is abnormal
AL-32 Encoder UVW is invalid Encoder signal error
AL-45 ADC error ADC error
AL-46 Servo power down signal is abnormal Servo power down signal is abnormal
AL-47 Second code wheel counter error Second code wheel line error
57
7.2 Alarm processing method

Alarm Alarm
Alarm reason Processing method
code name
The input command pulse frequency is too high; Set the input command pulse correctly.
The input electronic gear ratio is too large; Set the PB4 and PB5 parameters correctly.
AL-1 Speeding
Encoder zero error; Please re-adjust the encoder zero.
The motor U, V, W leads are connected wrong Confirm the wiring phase sequence.
Input L1 L2 L3 power supply voltage Reduce the power supply
is higher than AC260V; voltage.
Main
Brake circuit capacity is not enough 1, extend the control system acceleration
AL-2 circuit
(More often occurs when the fast start and deceleration time;
overvoltage
and stop is frequent and the load 2. Contact the manufacturer to increase
inertia is relatively large). the braking resistor capacity.
Main Input L1 L2 L3 power supply Look for external causes of
AL-3 circuit voltage is lower than AC170V; low voltage.
overvoltage Servo drive protection action. Replace the drive.
1，Confirm that the phase sequence
of the motor UVW line is correct;
Execute the motor, the motor 2，Check if the input pulse
does not turn any angle, frequency is too high;
immediately alarm； 3，The pulse electronic gear ratio
setting is too large, and set the PB4
Location
and PB5 parameters correctly .
AL-4 out of
Rotating alarm (input pulse Confirm the input pulse
tolerance
abnormal); frequency and width.
Alarm in rotation (the detection range Set parameter PB8 to be
of the tolerance is too small); larger.
Alarm in rotation (position Increase the position gain
proportional gain is too small); PB0 setting value
Alarm in rotation (insufficient torque); Change to larger power motor
The motor is mechanically stuck; Check the load mechanical part.

Speed
AL-6 amplifier 1, reduce the load;
saturation The load is too large. 2, replace the drive and
motor of higher power
The encoder is wired incorrectly or disconnected; Check or replace the code wheel line。
Encoder Caused by on-site interference； Set P n58 to 1.
AL-9
exception The encoder cable is too long, causing
Shorten the cable.
the encoder supply voltage to be low.
58
Poor grounding; Correct grounding;
Motor insulation damage; Replace the motor；
The motor winding has a short circuit; Replace the motor
The servo matching motor parameters do not match; Correctly set the motor ID number PA1;
Over
AL-11 Increase the acceleration and deceleration
current 1 Acceleration and deceleration time is too short;
time of the upper computer;
1, reduce the parameter PG0 PB0;
Current surge
2, increase the parameter PG2 value;
Servo drives protection action. Replace the drive.
1，Motor insulation damage; Replace the motor;
Over
AL-12 2, poor grounding; Correct grounding;
current 2
Servo drives protection action. Replace the drive.
1, the machine is stuck or resistant;
The servo output torque is
AL-13 Overload 2, motor selection is not reasonable,
outside the allowable value.
replace the larger power drive and motor.
Servo drive protection action; Add external brake unit
1, increase the acceleration /
Brake The brake circuit capacity is deceleration time constant;
AL-14
abnormality not enough; 2. Replace the servo and
motor with higher power;
The main circuit power supply is too high. Check the AC input power.
Encoder Encoder wiring error; Check or replace the motor code wheel line;
AL-15 count is Poor grounding; Correct grounding;

abnormal Defective servo motor. Replace the servo motor.
Motor thermal
AL-16 Motor overload for a long time Replace the drive.
overload
Motor The second encoder is wired

Replace the encoder cable.
AL-19 thermal incorrectly or disconnected;
The motor is grounded.
overload Caused by on-site interference;
EPROM Servo internal EPROM read
AL-20 Replace the drive.
error and write exception
FPGA FPGA communication is
AL-24 Replace the drive.
error abnormal
Encoder
AL-32 UVW is Encoder line or encoder is bad Replace the drive.
invalid
59
ADC
AL-45 ADC error Replace the drive.
error
Servo power
Power failure detection
AL-46 down signal Replace the drive.
abnormal
is abnormal
The second encoder is wired

Second code
incorrectly or short-circuited; Replace the encoder cable;
AL-47 wheel counter
The encoder line is too long to Shorten the cable length;
error
cause insufficient power supply;
Special note: If the drive displays an alarm, but the alarm is cleared after the power is turned back
on. It is generally considered to be caused by problems with components other than the driver or
improper adjustment of parameters. Please check the servo peripheral components. Such as: power
supply voltage, controller, mechanical load, motor, etc. Check the peripheral components no problem,
please consult the manufacturer to adjust the parameters.
If the power-on alarm cannot be eliminated, replace the drive and observe.
7.3 Common problems or exception handling in use
1、The no-load running motor vibrates or screams strongly, and the load is noisy or misaligned.
Remedy: Confirm that the drive ID (PA1 parameter) matches the connected motor, set the correct ID
parameter according to the table in Appendix A, and then perform the factory reset operation (SN-DEF).
For example: the current motor is AMZ-200AH055AAA
1）Obtain the motor ID=24 by looking up Appendix A of the table;
2）To operate the driver, first set PA0 to 0;
3）Set PA1 to the motor ID number, ie PA1=24;
4）Operate the driver to enter the SN-DEF interface, press and hold the ENTER button on the
display panel for two seconds, when the display shows DONE, it means success;
5) Shut down and power on again.

2、Motor running positioning accuracy and demand accuracy deviation greatly, and regular
Processing method: Set the position pulse electronic gear ratio correctly.
60
This servo system defaults to 10,000 pulse motors for one revolution. If the upper machine control
requirement is 3000 pulses that the motor needs to rotate one turn, and then the gear ratio needs to be set
to meet the requirements. It can be calculated by the following formula:
3000 *（PA9 / PA10）=10000

Can be found that PA9=10 PA10=3
3、Driver input and output signal levels are opposite
1）Set parameters PD2, PD3, PD4 to set the appropriate high or low level of input/output to
accommodate the input/output level requirements of different controllers.
4、The host computer sends a pulse but the motor does not run.
Please confirm the UN-12 monitoring value after PA4=0. If there is a digital display indicating that
the driver has received the pulse, it can be explained that there is no problem with the control signal
connection line. Then please refer to Method 1 to troubleshoot. If the display is F 0 means the drive
does not receive a pulse. Please refer to Method 2 for troubleshooting. The unit displayed by UN-12 is
KHZ. For example, F 150 indicating that the current drive receives a pulse frequency of 150KHZ.
Method 1:
Set the following two parameters: PA6=1 PA4=3 Perform the jog function in F2 mode. If the motor
can rotate, it means that the motor, motor power line and encoder line are connected correctly.
Mainly check whether the T4 signal has an INH signal or the CLE signal is ON. Can be found by
observing UN-16.
If the motor cannot be turned, do the following checks:
1）Detect if the drive has an enable motor can turn the motor shaft by hand. If it does not move, the
motor is enabling locked. If the motor can be turned on, it means that it is not enabled. Please check if
the T3 input enable signal is connected correctly. If the enable signal does not require host computer
control. Moreover, the T3 input enable signal is not connected, set PA6=1,then the drive power-on
motor is automatically enabled to lock.

61
2）Check if the power cable between the drive and the motor is connected and the plug is loose.
Whether the output of the driver U V W PE corresponds to the motor U V W PE . The U V W PE of the
power cable must be connected properly, and the order of the V V PE must not be changed at will;
3）Please contact the factory technician.
Method 2:
1）Check the pulse amplitude input to the drive, the standard is 5V. If the pulse amplitude is 12V,
the 1K resistor must be connected in series. If the pulse amplitude is 24V, the 2K resistor must be
connected in series. Failure to follow the string resistance will burn the driver input circuit. Causing the
servo can’t receive pulses;
2) Confirm that the pulse wiring mode is correct, and the wiring mode: differential wiring mode
and single-ended wiring mode. See the picture below for details:
Typical applications: CNC systems, motion controllers
Typical application: PLC; microcontroller controller
62
5、The motor can only be turned in one direction
1) Confirm the pulse type input to the driver, pulse plus direction setting PB3=0; CW/CCW setting
PB3=1; A/B quadrature pulse setting PB3=2, and confirm the driver model;
2) Observe the UN-12 display status. F xx should be displayed when the host computer sends a
forward signal. F – xx should be displayed when the signal is inverted. If the host computer sends a
forward or reverse signal, both are F xx or F – xx. Please check the direction signal SIGN of the host
computer to the drive;
3) Please contact the factory technician.
6、Drive shows AL-3 when stopped at high speed or when moving from top to bottom for negative work
1）Modify the deceleration time of the upper computer;
2）Reduce the speed of the motor;
3）The low power driver is connected to an external braking resistor;
4）Please contact the factory technician. for medium and high power drivers.
7、No display after power on
1）Confirm the power cable and input power;
2）Please contact the factory technician.
8、Powered on drive displays "....." or "888888"
1）Input power phase loss, check each phase power line;
2）The servo motor has been short-circuited and damaged, causing damage to
the drive. The damage of the motor can be judged by rotating the motor shaft
under no-load conditions. If the shaft is rotated for one turn, the shaft is not
smooth, and there is a stuck phenomenon to determine that the motor is broken.
9、Motor positioning is not accurate
1) Irregular, check the mechanical connection of the motor;
2) Regular, monitoring UN-02 UN-03 UN-04 UN-05 analysis can produce results;
63
3) Check the on-site interference, use the shielded wire and ground for the signal line, and
install the magnetic ring. Use a shielded cable for the motor cable. The electric control
system is re-wired, and the strong and weak electricity are separated. Add filters and so on.
The role of servo monitoring menu in analysis and debugging
1）UN-01 Motor speed Observe the actual running speed of the motor;
2）UN-02 UN-03 The current position of the motor: used to observe the
current position of the motor, expressed in the form of the number of pulses, such
as controlling the fixed trajectory, then repeating each time. When going to the
same position, the displayed value should be the same, indicating that each time
accurate positioning;
3）UN-04 UN-05 Pulse command count is used to monitor whether the pulse
from the host computer is accurate.
For example, if you control a fixed trajectory, you will repeat it each time.
When going to the same position, the displayed value should be the same,
indicating that the pulse sent by the host computer is accurate;
4）UN-08 The current torque of the motor is used to observe the actual running
force of the motor. If the value exceeds 90 for a long time, it means that the motor
selection is too small;
5）UN-12 Input pulse frequency, used to observe the pulse frequency and
stability of the host computer;
6）UN-17 The state of the input signal is used to judge whether the input signal
is normal; the first digit of the decimal point is an alarm signal;
7）UN-18 The output signal status is used to judge whether the output signal is
normal.
8) UN-23 The analog input voltage AD value is used to indicate the input
voltage level. 2048 when there is no input.
9) UN-24 Analog input current AD value is used to indicate the input voltage
level. 0 when there is no input.
10）UN-25 Displays the current DC bus voltage.
11）UN-26 The current speed of the second dial is displayed.
12）UN-27 The second code wheel absolute position is displayed for detecting the second code wheel positioning position.
64
Chapter 8 Motor Specifications and Selection
65

8.1 Induction asynchronous motor storage and installation
Storage:（1）The storage place of the motor shall be kept dry, air circulated, and free from corrosive gases;
（2）The ambient temperature of the motor storage should be between -20 ° C ~ +50 ° C;
（3）The ambient humidity of the motor storage place should be 20-80%;
Installation：（1）First check whether the motor nameplate data is the motor to be
used and whether it meets the requirements for use;
（2）Check the fasteners for looseness and damage to the accessories;
（3）If the motor is left for too long, measure the insulation resistance in a suitable range
with a megohmmeter.
（4）Ensure that the motor shaft line is parallel to the input shaft line of the load mechanism during installation;
（5）Ensure that the motor is well ventilated;
（6）Ensure that the grounding terminal in the motor terminal box is properly grounded;
（7）Motors with fans pay attention to the fan power supply separately;
8.2 Motor use
（ 1 ） The U, V, W terminals of the motor must be in one-to-one
correspondence with the U, V, and W terminals of the driver;
（2）The cable plug of the encoder must be plugged in firmly;
（3）When the fan is wired, the wind direction must be correct;
（4）The motor must be running smoothly without abnormal noise;
（5）The surface temperature of the motor is high during operation, avoiding
the touch by hand to prevent burns;
8.3 Motor model description
Take model AMZ-200AH055AAA as example：
66
Code Name Description

1 Motor type Asynchronous AC servo motor;
2 Motor manufacturer Factory code
3 Motor flange 200：200 flange；
4 Installation method A：Horizontal installation B：Vertical installation
5 Voltage level L：220V； H：380V；
6 Motor Power 5.5KW；
A: 2500 line incremental encoder; B: 1024 line
7 Encoder type incremental encoder; C: absolute encoder; D: rotary
encoder; E: magnetic encoder;
8 Shaft structure A: With key; B: optical axis; C: flat axis; D: tapered axis;
Motor rated / A：1500rpm/6000rpm；
9
maximum speed B：1500rpm/8000rpm；
8.4 Socket cable definition
1、Motor end:
AMM motor：
Pin 5 10 4 9 3 8 2 7 6 1
signal PV1 G1 A+ A- B+ B- Z+ Z- T1 shield
AMZ Motor：
See motor identification.
2、Drive end：
See the standard control mode wiring diagram.
67
Appendix A: Parameter setting table for S series driver and asynchronous AC motor
Matching of S series servo and asynchronous AC motor and setting of

PA1 parameter (motor ID)
Bergerda asynchronous
Max. Current spindle servo motor ID
Torque power
Motor Model speed A (PA1 parameter)
N.m KW
rpm
S1-H5P5AA S1-H15P0AA
AMZ-180AH022AAA 14.0 6000 2.2 4.8 20

AMZ-180AH022AAB 10.5 8000 2.2 4.6 21
AMZ-180AH040AAA 25.5 6000 4.0 8.2 22
AMZ-180AH040AAB 19.0 8000 4.0 8.0 23
AMZ-200AH055AAA 35.0 6000 5.5 11.4 24
AMZ-200AH055AAB 26.0 8000 5.5 11.1 25
AMZ-200AH075AAA 48.0 6000 7.5 15.3 26 26
AMZ-200AH075AAB 36.0 8000 7.5 15.0 27 27
AMZ-200AH110AAA 70.0 6000 11.0 22.2 28
AMZ-200AH110AAB 52.5 8000 11.0 22.0 29
AMZ-264AH150AAA 96.0 6000 15.0 28.8 30
AMZ-264AH185AAA 118.0 6000 18.5 36.8 31
In order to achieve the best control effect, the drive and the motor must be paired
(the PA1 motor ID is assigned to the corresponding model). Otherwise, vibration,
screaming, and inaccurate positioning may occur.
Pairing method： 1）First change PA0 to 0;
2）Set PA1 to the ID number of the desired motor;
3）After entering the SN-DEF menu, press and hold the Enter key for
about 2 seconds until DONE appears;
4） Power off, you can work normally when you re-power on.
68
Appendix B
Appendix B: Product After-sales Service Instructions

According to the correct method of use, this product can have a
long service life. If the method of use is not appropriate, or the
environmental damage is beyond the allowable range. This product
will malfunction. This product has a standard warranty period of 18
months. Repairs will be charged due to improper use or failure over
18 months. Please pay attention to the following matters regarding
repair service:：
1） The product label is an important document for maintenance. Do not tear or
damage it at will. Otherwise no warranty is given;
2） Warranty period within 18 months from the date of purchase, If the proof of
purchase cannot be provided, it shall be counted within 19 months from the
date of manufacture on the product label;
3）During product maintenance and transportation, please pack it to prevent
secondary damage.
The following conditions are not covered by the warranty:
*Because of the wrong use, such as the wrong power supply, self-disassembly,
transformation, water, oil and other human factors caused by damage;
* Damage caused by natural disasters, such as lightning, earthquakes, etc.
69
Hangzhou Bergerda Automation Technology Co., Ltd.
Address: Building 8, Sitai Science and Technology Park, No. 493
Linping Avenue, Yuhang Economic Development Zone, Hangzhou
Hot tell：0571-88326782/ 0086-15906666401(Whatsapp)
Service：0571-89719501
Web：www.bergerda.com
Second Edition 2018-V2.0

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S Series Spindle System

Hangzhou Bergerda Automation Technology Co., Ltd

In order to facilitate daily inspections, maintenance, and understanding of the

An operation that indicates a mistake can have

小心 An operation that indicates an error may cause injury

注意 Indicates that improper use may damage the product

Appendix A: Parameter setting table for S series driver and asynchronous AC

Appendix B: Product After-sales Service Instructions ..................................... 69

Chapter 1 Product Inspection and Installation

1.1.1 Drive model

Code Name Description

1.1.2 S series drive standard accessories

① T1（6-position terminal）、T2（9-position terminal）、T3（5-digit A/B

1.1.3 Brake resistor model selection

S1-HXXPX 2P2 4P0 5P5 7P5 11P0 15P0 18P5

S series AC servo spindle drive installation dimension

1.2 Drive specification

ficati Cooling method Natural cooling Cooling air cooling

Encoder Provincial line/incremental encoder

functi Brake function Built in

on Undervoltage, overvoltage, overload, overcurrent, encoder anomaly,

Protection function braking, position error, etc.

Command control method External pulse

External modus Pulse + Direction CW/CCW A/B Orthogonal.

Speed change rate Speed volatility：＜±0.03（load 0～100%）＜±0.05（power supply -15%～+10%）.

Instruction smoothing Linear time constant 1 ms～10000ms（0r/min←→1000r/min）.

Frequency characteristics 300HZ

output input 8-point opto-isolated

Operating temperature Work:0℃～55℃，Storage:-20℃～80℃。

1.3.2 Servo mounting direction and spacing

Chapter 2 Servo Drive and Motor Wiring

S1 type driver peripheral wiring

2.2 Standard control mode wiring legend

S1 type standard control mode wiring diagram

2.3 Electrical connection of the terminals

FS 1 Internal power supply 10V for speed setting DC10V

485- 5 485 communication output negative

Programmable Q1 1 Speed reached (default Pd14 setting)

M0A/M0B/M0C 3/4/5 Positioning completed (default Pd16 setting) AC250V 1A

Input port function

PV 8 External input power supply 24V (output signal) DC24V

Control power DC24V/0V

PV2/G2 3/4 5V DC power supply / common

OA+/OA- 5/15 Encoder A phase output

Encoder output OB+/OB- 10/14 Encoder B phase output RS422 standard

OZ+/OZ- 9/13 Encoder Z phase output

T4 CZ+/CZ- 12/11 Encoder single-ended Z output

VP 8 Single-ended input pulse power supply 24V 24V

PULS+ Quadrature pulse A phase input / CCW input /

PV1/G1 12/13 Encoder 5V power supply / power supply common

A1+/A1- 8/3 First encoder A phase input

B1+/B1- 9/4 First encoder B phase input

B2+/B2- 7/2 Second encoder B phase input

Z2+/Z2- 10/5 Second encoder C phase input

Wiring of signal terminals

is ≥0.12mm2 (AWG24-26), and the shield must be connected to the FG terminal.

2.3.2 Power supply, power terminal definition (S series)

Terminal mark Signal definition Features

P Built-in braking resistor: P and D short circuit connection