Vector: VB Series Use's Manual

VECTOR
VB series Use’s manual
www.szvector.com
WARNING!
!
Attention to these warning signs on the drive or in this instruction book, they indicate
danger to human body or damage to the drive.
Before installing and putting the drive into operation, please read the safety precautions
and warnings following this page.
Safety precautions & warnings

Read carefully all the safety precautions included in these operating instructions and all the warning signs attached to the
drive. Make sure that the warning signs are kept in a legible condition and replace missing or damaged signs.
Before starting, familiarize yourself with the operation of the drive. It may be too late if you start working with the drive
before read this instruction manual.
Never permit unqualified personnel to operate the drive.
! WARNING
This drive produces dangerous electrical voltages and controls rotating mechanical parts. Death, severe injury or substantial
damage to property can occur if the instructions in this operating manual are not completed with.
Only personnel with appropriate qualifications should work with this drive. These personnel must be familiar with all the
warning signs and precautions laid out in these operating instructions for the transport, installation and operation of this
drive.
The successful and safe use of this drive depends on the correct installation, commissioning, operation and maintenance of
the drive.
This drive operates at high voltages.
 The DC-link capacitors remain charged to dangerous voltages even the power is removed. For this reason it is not
permissible to open the drive cover until five (5) minutes after the power has been turned off. When handling the open
drive it should be noted that live parts are exposed. Do not touch these live parts.
 The terminals R, S, T, U, V, W, P, N, B can carry dangerous voltages even if the motor is inoperative:
 Only qualified personnel may connect, start the system up and repair faults. These personnel must be thoroughly
acquainted with all the warnings and operating procedures contained with this manual.
 Certain parameter settings may cause the drive to start up automatically after power on or power recover.
DEFINITIONS
Qualified Person
For the purposes of this manual and product labels, a qualified person is one who is familiar with the installation,
construction, operation and maintenance of this drive and with hazards involved. In addition, the person must be:
 Trained and authorized to energize, de-energize, clear, ground and tag circuits and equipment in accordance with
established safety practices.
 Trained in the proper care and use of protective equipment in accordance with established safety practices.
 Trained in rendering first aid.
Danger
For the purposes of this manual and product labels, DANGER indicates that loss of life, severe personal injury or substantial
property damage WILL result if proper precautions are not taken.
Warning
For the purposes of this manual and product labels, WARNING indicates that loss of life, severe personal injury or
substantial property damage CAN result if proper precautions are not taken.
Caution
For the purpose of this manual and product labels, CAUTION indicates that minor personal injury or property damage CAN
result if proper precautions are not taken.
Note
For the purpose of this manual and product labels, NOTES merely call attention to information that is especially significant
in understanding and operating the drive.
1
! DANGER and WARNING
Make sure that the location selected for installation is safe, protected from moisture and splash and drip-proof!
Children and the general public must be prevented from accessing or approaching the equipment!
The equipment may only be used for the purpose specified by the manufacturer.
Unauthorized modifications and the use of spare parts and accessories that are not sold or recommended by the
manufacturer of the equipment can cause fires, electric shocks and injuries.
Keep these operating instructions within easy reach and give them to all users!
! WARNING
This is a Class A product. In a domestic environment this product may cause radio interference in which case the
user may be required to take adequate measures.
2
CONTENTS
1. DESCRIPTION OF VECTOR SERVO DRIVE................................................................................................................ 5
1.1 BRIEF FUNCTION DESCRIPTION..........................................................................................................................................5
1.2 PRODUCT CHECK................................................................................................................................................................5
1.4 MODEL DESCRIPTION.........................................................................................................................................................7
1.5 PERIPHERAL DEVICE CONNECTION DIAGRAM.....................................................................................................................7
1.6 DETAIL OF SYSTEM WIRING................................................................................................................................................ 7
1.6.1NPN digital signal.......................................................................................................................................................8
1.6.2 PNP digital signal...................................................................................................................................................... 8
1.6.3 Single phase 220V AC wiring example...................................................................................................................... 9
1.6.4 Three phase 380V AC wiring example..................................................................................................................... 10
1.7 CONTROL INPUT & OUTPUT CONFIGURATION...................................................................................................................11
1.7.1 Description of terminals in B-structure driver......................................................................................................... 11
1.7.2 Description of terminals in A-structure driver......................................................................................................... 14
1.7.3 Description of terminals in C-structure driver.........................................................................................................17
1.7.4 Digital Input (DI0~DI10).........................................................................................................................................21
1.7.5 Digital Output (DO0~DO6)..................................................................................................................................... 21
1.7.6 Analog input AI1, AI2 & AI3.................................................................................................................................... 21
1.7.7 Analog Output AO1, AO2 & AO3............................................................................................................................ 22
1.7.8 Hardware RESET (RST)........................................................................................................................................... 22
1.7.9 RS485 Communication Interface............................................................................................................................. 22
1.7.10 Standard Cables..................................................................................................................................................... 23
1.7.11 Option Field Bus Interface..................................................................................................................................... 23
2. INSTALLATION.................................................................................................................................................................24
2.1 OUTLINE DIMENSIONS..................................................................................................................................................... 24
2.1.1 B-Structure............................................................................................................................................................... 24
2.1.2 A-Structure............................................................................................................................................................... 25
2.1.3 C-structure（under 5.5KW）.................................................................................................................................. 26
2.2 POWER TERMINAL............................................................................................................................................................26
2.3 CONNECT POWER LINE INPUT TO DRIVER........................................................................................................................27
2.4 CONNECT DRIVER OUTPUT TO MOTOR............................................................................................................................ 27
2.5 CONTROL TERMINAL CONNECTION..................................................................................................................................27
2.6 DC BUS TERMINAL (P, N) OR BRAKE TERMINAL (B, P).................................................................................................27
3. CONTROL PANEL.............................................................................................................................................................28
3.1 CTL MODE...................................................................................................................................................................... 28
3.2 MON MODE..................................................................................................................................................................... 28
3.3 PAR MODE....................................................................................................................................................................... 28
3.4 ALM MODE......................................................................................................................................................................28
4. START-UP EXAMPLES.....................................................................................................................................................29
4.1 BASIC FUNCTION BLOCK................................................................................................................................................. 29
4.2 SETUP BASIC MOTOR PARAMETER.................................................................................................................................. 30
4.3 DEFAULT SETTING OF SOME SIMPLE EXAMPLES............................................................................................................. 30
4.3.1 V/F Constant Mode for Induction Motor................................................................................................................. 30
4.3.2 Speed Mode for Induction Servo Motor................................................................................................................... 31
4.3.3 Tracking Mode (Pcmd) for Induction Servo Motor..................................................................................................31
4.3.4 Auto Point-to-Point control Mode for Induction Servo............................................................................................32
4.3.5 Example for Brushless Servo Motor.........................................................................................................................32
4.4 AUTO TUNING FOR SERVO MOTORS................................................................................................................................. 33
4.4.1 Auto Tuning for Induction Servo Motor................................................................................................................... 33
4.4.2 Auto Tuning for Brushless Servo Motor................................................................................................................... 33
4.4.3 Auto Tuning Resolver BL Servo Motor.....................................................................................................................33
5. PARAMETERS................................................................................................................................................................... 34
5.1 PARAMETER LIST............................................................................................................................................................. 34
5.2 PARAMETER DESCRIPTION............................................................................................................................................... 38
5.2.1 Parameter Type........................................................................................................................................................ 38
5.2.2 Parameter Protection............................................................................................................................................... 38
5.2.3 Parameter Initalization............................................................................................................................................ 38
5.2.4 Speed & Acceleration/Deceleration Time................................................................................................................ 38
3
5.2.5 Control Function...................................................................................................................................................... 39
5.2.6 Analog Input/Output Function................................................................................................................................. 41
5.2.7 Factory Adjustment Parameters...............................................................................................................................42
5.2.8 Monitor Function..................................................................................................................................................... 42
5.2.9 XY Pulse Command Input Parameters.....................................................................................................................43
5.2.10 PID Function..........................................................................................................................................................45
5.2.11 Motor Parameter Groups....................................................................................................................................... 47
5.2.12 Auto Point-to-Point Control................................................................................................................................... 49
6. SELECTION OF SPEED SOURCE..................................................................................................................................51
6.1 SPEED SOURCE SELECTION TABLE.................................................................................................................................. 51
6.2 DESCRIPTION OF SPEED SOURCE..................................................................................................................................... 52
6.2.1 Speed Source from Memory & Panel....................................................................................................................... 52
6.2.2 Speed Source from Analog Input.............................................................................................................................. 52
6.2.3 Speed Source from Internal Up/Down Counter....................................................................................................... 54
6.2.4 Set Speed from Two Speed Sources Combination.....................................................................................................55
7. SELECTION OF DIGITAL INPUT FUNCTION............................................................................................................56
7.1 DIGITAL INPUT FUNCTION RELATED PARAMETERS..........................................................................................................56
7.2 SELECTION TABLE OF DIGITAL INPUT FUNCTION............................................................................................................ 56
7.3 DESCRIPTION OF DIGITAL INPUT FUNCTION.....................................................................................................................58
7.3.1 Control Function...................................................................................................................................................... 58
7.3.2 Protection Function..................................................................................................................................................58
7.3.3 Timer & Counter Function.......................................................................................................................................58
7.3.4 Flip/Flop Function................................................................................................................................................... 60
8. SELECTION OF DIGITAL OUTPUT FUNCTION........................................................................................................61
8.1 DIGITAL OUTPUT FUNCTION RELATED PARAMETERS...................................................................................................... 61
8.2 SELECTION TABLE OF DIGITAL OUTPUT FUNCTION......................................................................................................... 61
8.3 DESCRIPTION OF DIGITAL OUTPUT FUNCTION.................................................................................................................63
8.3.1 Speed Monitor Function...........................................................................................................................................63
8.3.2 ON/OFF Control Function.......................................................................................................................................63
8.3.3 Pulse Output Function............................................................................................................................................. 63
8.3.4 Running Status Monitor Function............................................................................................................................ 64
9. RS485 COMMUNICATION.............................................................................................................................................. 65
9.1 RS485 COMMUNICATION PORT RELATED PARAMETERS................................................................................................. 65
9.2 RS485 PORT CONFIGURATION.........................................................................................................................................65
9.3 VEC PROTOCOL & FORMAT............................................................................................................................................ 66
9.3.1 Computer to Drive....................................................................................................................................................66
9.3.2 Drive to Computer....................................................................................................................................................67
9.4 HMI PROTOCOL (MODBUS(RTU))...................................................................................................................................68
9.4.1 Parameter Setting.....................................................................................................................................................68
9.4.2 Definition of Modbus(RTU) and Drive.................................................................................................................... 68
10. BLOCK DIAGRAM OF VECTOR DRIVE....................................................................................................................70
4
1. Description of VECTOR Servo Drive
1.1 Brief Function Description
Drives Different Motor types
 Brushless Servo Motor
 Induction Servo Motor
 Open Loop Induction Motor
 Memorize Four Motor Parameter Groups
Varity Control Modes in Single Drive
 Open Loop V/F or Sensorless Speed Mode
 Close Loop Speed Mode
 Torque Control Mode
 Pulse Command Tracking Mode
 Auto Positioning Mode
Enhanced Communication
 Standard RS485 Communication Port
Simple and direct protocol embedded for Computer/PLC control.
Baud Rate up to 4800, 9600, 19200, 38400
 Option Field Bus Module
Many commonly used Fieldbus option board can be selected, such as:
 Modbus(RTU)
 Profibus-DP
 InterBus
 DeviceNet
 ControlNet
 CANopen
* Other systems planned
Multi-Functioned I/O
 11 Digital Inputs (Sink or Source selectable)
 7 Digital Outputs (Sink or Source selectable)
 3 Analog Inputs (±10V, +10V, +5V or 20mAselectable)
 3 Analog Output (±10V)
 Encoder Clock Input
 Pulse Command Clock Input
 Encoder Clock Buffered Output
1.2 Product check
Before you start running the driver, Please check the items listed below.
Items need to check How to check
Does the driver meet your needs Check whether the motor matches the driver or not through reading
their nameplate
Motor shaft is stable Rotate the motor shaft and check the motor shaft is stable and
smooth.Howerver, Motor with electromagnetic brake system cannot be
test by this method
Whether the appearance is damaged You can check this item through looking the appearance of the product
Is there any loosed screw Check the screw is loose or not
If any of the situation lists above occurs, please contact the agents to solve the problem.
B-structure driver kits contain the components as below:
 Motor driver and motor
 4 PIN connector: connect to R,T,Rb,Rb’
 3 PIN connecter: connect to U,V,W
 CN1: 4 PIN USB connector for the purpose of RS485 communication
 CN2: encoder signal input through this connector
 CN3: Miscellaneous input&output signal
 U,V,W motor driver power line and PG line: four lines are connected between motor driver and motor.. (Optional
product)
 Standard RS-485 cable( Optional product)
 Braking resistor( Optional product)
A-structure driver kits contain the components as below:
5
 3 PIN connector: connect to R,S,T
 CON6: RS485 communication line 5 PIN
 CON7: encoder signal input 16PIN
 CON8: XY pulse input7PIN
 CON9:AB signal input 8PIN
 Braking unit( Optional product)(except for the braking unit inside)
C-structure(under 5.5kW) non-economic driver kits contain the components as below:
 3 PIN connector:connect to R,S,T
 6 PIN connector:connect to P,Rb’,N,U,V,W
 4 PIN USB connector:connect to CN1
 15 PIN D-sub female connector:connect to CN2
 44 PIN D-sub male conncector:connect to CN3
 U,V,W motor driver power line and PG line:four lines are connected between motor driver and motor. (Optional
product)
 16 PIN shielded twisted pair cable: this line is connected between CN2 in driver and encoder in motor. ( Optional
product)
C-structure(under 5.5kW) economic driver kits contain the components as below:
 3 PIN connector: connect to R,S,T
 6 PIN connector: connect to P,Rb’,N,U,V,W
 4 PIN USB connector: connect to CN1
 15 PIN D-sub female connector: connect to CN2
 25 PIN D-sub male conncector: connect to CN3
 U,V,W motor driver power line and PG line: four lines are connected between motor driver and motor.. (Optional
product)
 16 PIN shielded twisted pair cable: this line is connected between CN2 in driver and encoder in motor. ( Optional
product)
1.3 Appearance of driver
B-structure:
A-structure
C-structure
6
1.4 Model Description
With 0.75Kw,220V driver as an example
1.5 Peripheral device connection diagram
7
1.6 Detail of system wiring
1.6.1NPN digital signal
8
1.6.2 PNP digital signal
9
1.6.3 Single phase 220V AC wiring example
1.6.4 Three phase 380V AC wiring example
Note:
10
 Make sure the phase sequence of UVW is correct. The motor cannot operate normally if phase sequence of UVW is
incorrect
 Add a resistor between Rb and Rb’ when need braking.
 Please wait about thirty seconds before touching power line(R,S,T,U,V,W,P,N)when power off for there are a large
capacity capacitor which contain large numbers of electric charge.
 Don’t put power line too close,the gap between each power line must greater than 30cm.
 Shielded twisted line should be used as encoder signal line.The line of encoder signal line should be shorter than 20m.
Terminal name Terminal Description
Connect to three-phase AC voltage source(connect R,T only when
R、S、T Power Input using single phase AC voltage source). Power Input level depends
on the rated power of driver.
U、V、W Motor terminal Connect to the motor
Rb、Rb' Braking resistor Connect to the resistor
P、N Braking unit Connect to the braking unit
The earth Connect to the earth
E
FG
1.7 Control input & output configuration
Main CPU Board
I/O & Feedback Option

FieldBus Option
ABC out RS485
Encoder
XY input
AO2,3 DI7~10 & DO4~6
AO1 & AI1,2,3 DI1~6 & DO1,2 Ry1,2
1.7.1 Description of terminals in B-structure driver

Postion&functi
Appearance Description
on
Connect to host controller
Pin Color definition description
CN1： 1 Black GND
Supply for communication
Communication 2 Red +5V
interface 3 Yellow SG+ RS-485 Signal+
4 Green SG- RS-485 Signal-
When multiple drives operate together in parallel, please add a 200ohm resistor between SG+
and SG- in the last driver.
Connect to encoder（Shielded twisted pair cable）
Pin Color definition description
7 Red
+5V
CN2： 9 White-Red
Supply for encoder
Encoder 8 Black
0V
interface 10 White-Black
1 Orange A+ A, B are quadrate signals,
2 White-Orange A- their phase difference is 90
3 Yellow B+ degree.
11
4 White-Yellow B- Z is zero-position signal
5 Green Z+
6 White-Green Z-
11 Blue U+
12 White-Blue U-
13 Purple V+
Detect the rotor position
14 White-Purple V-
15 Brown W+
16 White-Brown W-
17 NTC- Detection of motor
temperature；
19 NTC+
NTC R25℃=5.00KΩ±1%
18
Shield
20
PIN definition description

1 +24V
Internal Source
2 COM
3 DO6
4 DO5
5 DO4
Programmable digital output
6 DO3
7 DO2
8 DO1
9 DI10
10 DI9
11 DI8
12 DI7
14 DI6
15 DI5 Programmabl digital input
16 DI4
17 DI3
CN3： 18 DI2
Digtal/Anal 19 DI1
og 13 RST Reset
Input/Outp
20 XPH X Pull High Internal resistor for
ut
46 YPH Y Pull High XY-pulse input
21 +5
Internal analog power
23 AGND
22 AI3
24 AI2 Programmable analog input
25 AI1
48 AO1
49 AO2 Programmable analog output
50 AO3
27 oA+
29 oA-
31 oB+
Encoder signal output after amplification
33 oB-
35 oZ+
37 oZ-
39 X+
Position track pulse input
41 X-
12
43 Y+
45 Y-
26 28
30 GND
32 34
Internal 5V power for position track pulse
36 38
40 +5V
42 44
47 FG Connect to Earth
Jumpers in B-structure drivers as below
0～+5V
JP1A
Select the voltage range of AI1
JP1B
±10V
JP2A
JP2B 0～+10V
0～+5V

JP3A
And the signal type of AI3
0～20mA
JP4 Select digital input signal type NPN
JP5 Select digital input signal type PNP
13
1.7.2 Description of terminals in A-structure driver
CON1：Keyboard interface
CON6：RS-485 communication interface, connect to the host controller
PIN definition color description

1 NC
2 SG- Green RS-485 Signal+
Yello
3 SG+ RS-485 Signal-
w
4 GND Black
Intern backup power, it can be used when 485 signal is isolated
5 +5V Red
JP6 :Select whether there exist a terminal resistor
TR：external terminal resistor NO：using internal terminal resistor
JP6
When multiple drives operate together in parallel, please add a 200ohm resistor
between SG+ and SG- in the last driver.
CON7：Encoder interface-connect to motor encoder
Optical encoder：
15P D-sub
Pin color definition description
male connector
Red/White-B
13 13 +5
lack
14 14 Black Supply for encoder
0V
15 15 White-Red
1 1 Orange A+
White-Orang
2 2 A-
e
3 3 Yellow B+ A, B are quadrate signals, their phase
White-Yello difference is 90 degree.
4 4 B-
w Z is zero-position signal
5 5 Green Z+
6 6 White-Green Z-
7 7 Blue U+
8 8 White-Blue U-
9 9 Purple V+
10 10 White-Purple V- Detect the rotor position
11 11 Brown W+
White-Brow
12 12 W-
n
16 shield shield
CON8：XY pulse signal input
14
For the purpose of position track
9 Pin D-sub
Pin female Color Definition Description
connector
1 1 Red X+ Refer to the following parameters:
2 2 White X- F.130: XY Clock type select
F.131: XY Input pin status
3 3 Yellow Y+ F.132: XY Direction change
4 4 Green Y- F.133~136: Multiply/Division rate
5 NC F.137: XY counter value
6 NC
5 7 Blue +5V
6 8 Black GND
9 NC
7 shield shield
CON9：AB pulse signal output

When master driver and slave driver need moving together, slave driver always track impulses(AB) which are
generated from master driver then input slave driver.
9P D-sub male
Pin Color Definition Description
connector
1 1 Red oA+ oA+ encoder signal after amplification
2 2 White oA- oA- encoder signal after amplification
3 3 Yellow oB+ oB+ encoder signal after amplification
4 4 Green oB- oB- encoder signal after amplification
5 5 Blue oC+ oC+ encoder signal after amplification
6 6 Blown oC- oC- encoder signal after amplification
7 NC
7 8 Black GND Encoder output signal are Line Drive type.
9 NC
8 shield shield
Analog signal input/output
TM1：
A01～AO3 Analog signal output terminal
AI1～AI3 Analog signal input terminal
5V、AGND Power supply for analog signal, max output current is 50mA
JP1A
Select the voltage range of AI1 0～+5V
JP1B
15
±10V
JP2A
JP2B
0～+10V
AI3 0～+5V
JP3A
And the signal type of AI3
JP3A AI3 0～20mA
JP3B
JP3B
Select analog signal source:
TER: From AI3 terminal
PAN: From potentiometer in keyboard(0-5V)
From potentiometer in
keyboard(0-5V)
Programmable digital input/output terminal
TM2:
TM3:
TM5:
DI1～DI10 Programmable Digital input

RST System reset input
DO1～DO6 Programmable Digital output； DO3 is a pulse signal
16
JP4 Select DIx digital signal type NPN
JP5 Select DOx digital signal type PNP
3.5.8 Isolated analog input signal interface(optional function)
TM4:
Common terminal of isolated analog input This terminal share a MCU pin with
F-
signal AI3,which means this terminal and AI3
FI+ Isolated analog current input signal，0-1A cannot be active together. Setting for this
FV+ Isolated analog voltage input signal，0-10V terminal is as same as AI3.
1.7.3 Description of terminals in C-structure driver

CN1:RS485 communication terminal
Postion&func
Appearance description
tion
Connect to the host
Definit
PIN Color Description
ion
CN1：
1 Black GND Supply for Communication
Communicati
2 Red +5V terminal
on terminal
3 Yellow SG+ RS-485 Signal+
4 Green SG- RS-485 Signal-
When multiple drives operate together in parallel, please add a 200ohm resistor between SG+ and
SG- in the last driver.
CN2:Encoder interface
Pin assignment of encoder interface(CN2)
Definition of encoder interface(CN2)
PIN Signal Name PIN Signal Name

1 A+ 2 A-
3 B+ 4 B-
5 Z+ 6 Z-
17
7 U+ 8 U-
9 V+ 10 V-
11 W+ 12 W-
13 +5V 14 0V
15 reserve shield shield
CN3: Digital input/output interface
a. Pin assignment and definition of VB-C economic driver
Pin assignment
Pin definition：
PIN Definition Description

4 +24V External 24V power, supply for DI DO
3 COM
6 DO1 Programmable digital output
5 DO2 Setting F.161-F.163 to define the function of each pin
8 DO3
13 DI1 Programmable digital input
12 DI2 Setting F.141-F.145 to define the function of each pin
11 DI3
10 DI4
9 DI5
1 X+ Position track pulse input
2 X- Input signal type is differential input or open collector input
14 Y+
15 Y-
16 XPH Internal resistor for X pulse input
17 YPH Internal resistor for Y pulse input
20 OA+ Encoder signal output after amplification
21 OA-
22 OB+
23 OB-
24 OZ+
25 OZ-
7 RST Reset
18 +5V Internal 5V source
19 AGND
shield shield Connect to the earth
Selection of signal type for DI/DO ：
Signal type of DI/DO can be selected by connecting the different jumper as below.
18
Jumper definition as below：
Position Definition Default
JP4 Select DI signal type NPN
JP5 Select DO signal type NPN
b. Pin assignment and definition of VB-C non-economic driver
Pin assignment：
Pin definition：
PIN Definition Description PIN Definition Description

10、26 +24V External DC24V source, supply for 21 RST Reset
9、25 COM DI/DO 13 +5 Internal analog 5V DC
3 DO1 Programmable digital output 12 AGND source
18 DO2 Setting F.161-F.166 to define the 14 AI1 Analog signal input
2 DO3 function of each pin 15 AI2
17 DO4 29 AI3
1 DO5 11 20mA Select the signal type of AI3
16 DO6 44 AO1 Programmable analog output
24 DI1 Programmable digital input 28 AO2 Setting F.210 F.220 F.230 to
8 DI2 Setting F.141-F.150 to define the 30 AO3 define the function of each
function of each pin pin
23 DI3 37 OA+ Encoder signal after
7 DI4 38 OA- amplification, max output
22 DI5 39 OB+ current is 20mA
6 DI6 40 OB-
5 DI7 41 OZ+
20 DI8 42 OZ-
4 DI9 43 KD Select signal type of encoder
19 DI10 35 +5V Internal 5V DC source
31 X+ Position track pulse input 36 0V
32 X- Input signal type is differential input 27 reserve
33 Y+ or open collector input shield shield Connect to the earth
34 Y-
Selection of signal type for DI/DO ：

Signal type of DI/DO can be selected by connecting the different jumper as below.
19
Jumper definition as below：
Position Definition Default
JP1A-JP1B Select the input voltage range of AI1 0-+5V
JP2A-JP2B Select the input voltage range of AI2 0-+5V
JP4 Select signal type of DI NPN
JP5 Select signal type of DO NPN
The input voltage range of AI3 cannot be selected. However, signal type of AI3 can be selected via PIN29 and
PIN11 in CN3,if PIN29 and PIN11 in CN3 are connected, the signal type of AI3 is 0-20mA current signal,
otherwise, the signal type of AI3 is 0-5V voltage signal.
The status of PIN29 and PIN11 in CN3 Signal type of AI3
disconnected（default） 0-+5V
connected 0-20mA
20
1.7.4 Digital Input (DI0~DI10)
 DI1~DI10 are all identical Bi-directional digital inputs.
24V +24V DI1~DI6 located at Main CPU board
 DI7~DI10 located at Feedback I/O board.
Sink/Source jumper
 DI0 do not connect to the user control terminal, and only
DCOM +24V internal connected with DO0.
 +24V is common power supply for all DIx.
 DCOM is the command reference for these digital
To CPU circuits.
 Each Digital Input can be configured individually by
GND corresponding parameter F.140~F.150.
 User can select Sink (NPN) type or Source (PNP) type by
DIx jumper JP4.
4.7k Note: The minimum input signal width is 5ms.
DCOM Common line of +24V
1.7.5 Digital Output (DO0~DO6)

 DO1, DO2, DO4~DO6 are open collector output,
 RY1, RY2 is voltage isolated “1a” contact of Relay output, RY1/RY2 named DO3 also.
 DO1, DO2, RY1/RY2 located at Main CPU board.
 DO4~DO6 located at Feedback I/O board.
 DO0 do not connect to the user control terminal, and only internal connected with DI0.
 Each Digital output can be configured individually by corresponding parameter F.160~F.166.
 User can select Sink (NPN) type or Source (PNP) type by jumper JP5.
Note: RY1, RY2 should drive 24V relay only
Open Collector output

5V
RY1
DO1,2 and RY2

Signal DO4,5,6
from CPU
Sink/Source Select jumper
 JP4 upper position select Source input

DI/DO select PNP or NPN type  JP5 upper position select Source output
 JP4 lower position select Sink input
JP4 JP5 JP4 JP5  JP5 lower position select Sink output
or
NPN type DI/DO PNP type DI/DO
1.7.6 Analog input AI1, AI2 & AI3

AI, AI2 signal must input from control terminal input, can select ±10V, +10Vor +5V of input signal range by Jumper.
21
AI1 range select by JP1A & JP1B AI2 range select by JP2A & JP2B
or or or or
JP1A JP1B JP1A JP1B JP1A JP1B JP2A JP2B JP2A JP2B JP2A JP2B
±10V 0 ~ +5V 0 ~ +10V ±10V 0 ~ +5V 0 ~ +10V
AI3 signal may input from control terminal or by VR of control panel, can select +5Vor 20mA of input signal and
input from control terminal or panel by Jumper.
AI3 selection by JP3A & JP3B
JP3A determine the signal type JP3B determine the AI3 input source
+5V input from Terminal JP3B

Control by Panel VR
JP3A
or or
20mA input from Terminal JP3B

Control by Terminal
JP3A
1.7.7 Analog Output AO1, AO2 & AO3

AO1, Ao2 & AO3 are all identical analog outputs.
AO1 located at Main CPU board.
From CPU AO1,2,3 AO2, AO3 located at Feedback I/O board.
OPamp Each Analog Output can be configured individually by corresponding
±10V parameters. (F.210~213, 220~223, 230~233)
1.7.8 Hardware RESET (RST)

The hardware structure of RST terminal is similar to Digit Inputs description in Sec. 1.2.1.
Terminal RST is used for reset the servo drive. Under any circumstances, when RST terminal is activated, will force
the drive execute REST, as if Power on again.
1.7.9 RS485 Communication Interface
 To use VEC protocol embedded for computer/ PLC control.
 To use Modbus(RTU) communication option, let drive simulate as Modicon PLC and can direct connect with
HMI. The HMI can direct control and monitor the drive.
22
1.7.10 Standard Cables
The specification and application of standard cables describe as following:
Part No. Application Connector(1) Connector(2) Length(M)
CABLE_MEI Encoder Input D-sub 15Pin (Male) JS091-16F 0.5
CABLE_ABCKO A.B.C. Output D-sub 9Pin (Male) SC25-08HG 0.5
CABLE_XYCKI X.Y. Input D-sub 9Pin (Female) SC25-07HG 0.5
CABLE_HMIEV HMI D-sub 9Pin (Male) SC25-05HG 0.5
CABLE_RS485 RS485 SC25-05HG SC25-05HG 2
CABLE_EXT2D9 Extension D-sub 9Pin (Male) D-sub 9Pin (Female) 2
CABLE_EXT2D15 Extension D-sub 15Pin (Male) D-sub 15Pin (Female) 2
HMI、PLC、COMPUTER
RS422/485 CABLE_HMIEV
CABLE_RS485 For EasyView’s HMI,
must check pin definition for other HMI
Con1
XY Clock Input ABC Clock Input

PDS
CABLE_XYC Con5 Con4 CABLE_ABC
KI Con3 KO
Customer Prepare
CABLE_ME
Customer Prepare PG MOTOR
1.7.11 Option Field Bus Interface

Many commonly used Fieldbus option board can be selected for complete data exchange with PLC or PC, such as:
 Profibus-DP
 InterBus
 DeviceNet
 ControlNet
 CANopen
Consult to our R&D department if needed.
! CAUTION
All the input/output control signal lines and communication lines must be laid separately from the high current
power/motor/brake lines. They must not be fed through the same cable conduit/trucking.
23
2. Installation
! WARNING
To guarantee the safe operation of the equipment it must be installed and commissioned properly by qualified
personnel in compliance with warnings laid down in these operating instructions.
Take particular note of the general and regional installation and safety regulations regarding work on high voltage
regulations, as well as the relevant regulations regarding the correct use of tools and personal protective gear.
Make sure that the unobstructed clearance for each of the cooling inlets and outlets above and below the driver is at
least 100mm.
Make sure that a space of 40mm is kept free at the sides of the driver to permit the cooling air to escape from the
side slits.
Ensure that the temperature does not exceed the specified level when the driver is installed in cubicle.
Avoid excessive vibration and shaking of the equipment.
NOTE:
Please consider the possible use of options, such as RFI suppression filters at the planning stage.
! WARNING
To prevent electrical shock, do not open cover for at least 5 minutes after removing AC power to allow capacitors to
discharge.
2.1 Outline Dimensions
2.1.1 B-Structure
Rated Power W1 W2 H1 H2 L D
0.4
0.75 7 78 164 179 127 6
1.5
2.2
380V
24
2.1.2 A-Structure
Machine type W1 W2 H1 H2 L D
25
2.1.3 C-structure（under 5.5KW）
⑴Single phase AC220Vservo driver
Single phase AC220Vservo driver

Name Power W1 W2 H1 H2 L D
(KW) (mm) (mm) (mm) (mm) (mm) (mm)
C1 0.4-1 72 65 166 158 130 5
C2 1.5-2.2 87.5 74.5 172 161 197 5
⑵Three pahse AC380V servo driver
Three pahse AC380V servo driver

Name Power W1 W2 H1 H2 L D
(KW) (mm) (mm) (mm) (mm) (mm) (mm)
C2 2.2-5.5 87.5 74.5 172 161 197 5
2.2 Power Terminal

The upper cover must be removed in order to connect the electrical leads.
Basically, the Power terminals are divided into three portions:
1. The Power line input, (R, S, T) receives power for the operation of the driver.
2. The Motor line output, (U, V, W) delivers Variable Frequency output to motor leads.
3. Brake resistor connect to B, P terminals
26
NOTE: Must connect Earth properly.
! WARNING: Never connect power line to U, V, W, P, N, B

2.3 Connect Power Line Input to Driver
! WARNING and CAUTION
 Between the power line and the driver, add NFB for system protection.
 There are static sensitive components inside the Printed Circuit Board. Avoid touching the boards or
components with your hands or metal objects.
 Only the terminal screws may be touched with the insulated screwdrivers when connecting the leads.
 Make sure to connect the power terminals tight and correctly.
 Make sure that the power source supplies the correct voltage and is designed for the necessary current.
 Make sure the motor is configured to match the input voltage.
 Protective EARTH terminal marked with must be connected properly.
 Take care that the appropriate circuit breakers with the specified current rating are connected between
the power supply and the driver.
2.4 Connect Driver Output to Motor
! WARNING
Do not insert contactors between driver output and motor.
For every model, "U, V, W " are the three phase output terminals, they should be connected to motor leads
directly.
2.5 Control Terminal Connection
! CAUTION
All the input/output control signal lines, or remote panel lines and communication lines must be laid separately
from the high current power/motor/brake lines. They must not be fed through the same cable
conduit/trucking.
2.6 DC BUS Terminal (P, N) or Brake Terminal (B, P)
! CAUTION
Some models with power terminal marked P and N, these models does not include Brake transistor inside the driver.
Customer may use extra Brake Transistor Module for discharge brake function.
For models that include braking transistor, the power terminal will mark P and B. User can connect suitable resistor
to the P & B terminals directly.
Here is the recommended table for discharge resistors:
Model Resistance (Ohm) Rating (Watt)
220V 2.2 60 250
3.7 40 300
5.5 30 500
7.5 20 600
11 15 1000
15 10 1500
400V 2.2 250 250
3.7 150 300
5.5 100 500
7.5 75 750
11 50 1000
15 40 1500
Discharge duty 10 ％-
! Warning: Never connect resistor to P & N terminal

If the terminals are P & N, must add external braking unit.
27
3. Control Panel
The control panel involves 4 digits 7-segment display and 4 Led-lamps, 8 keys and a potential meter (VR).
It has four possible operation modes: "CTL", "MON", "PAR" and "ALM modes, described below.
3.1 CTL Mode
Push the "CTL/MON" key, will change the keypad operation between
"CTL" and "MON" Mode. If both "HZ" and "I" Led are blank, it is under
"CTL" Mode.
Under "CTL" Mode, user can control the driver running in either direction
and may modify the desired running speed.
For normal run/stop control, use only the three keys:
FWD key is used for running the driver in forward direction.
REV key is used for running the driver in reverse direction.
STOP key is used to stop the driver.
If F.40 = 3 or 8, the running frequency shall be modified by keypad, then
these keys are enabled:
RD/WT key is used to read out the internal Panel Speed Set value.
▲ key is used to increase the Panel Speed Set value
▼ key is used to decrease the Panel Speed Set value
STOP key is used for cursor shift
Procedure:
a. Under normal CTL mode, push RD/WT will enter Panel Speed
Set mode, (if F.040=8, the display will show the value stored in
F.000) and blinking the data.
b. Push ▲ or ▼, the display starts to show the cursor position.
c. Push ▲ or ▼, in order to modify the Panel set frequency.
d. Push CTL/MON key will go back to normal CTL mode.
Note: If F.40=8, the new modified Panel Speed Set value will rewrite into F.000 automatically.
3.2 MON mode
Push the "CTL/MON" key, will change the keypad operation between "CTL" and "MON" Mode.
Under "MON" Mode, user can control the driver running in either direction and may monitor any two internal status
easily.
If "HZ" Led is on, it is under "MON" Mode and 7-segment shows the "HZ" data. (Or the desired parameter assigned
by F.099)
If "I" Led is on, it is under "MON" Mode and 7-segment shows the "I" data. (Or the desired parameter assigned by
F.098)
FWD key is used for running the driver in forward direction.
REV key is used for running the driver in reverse direction.
STOP key is used to STOP the driver.
▲ key is used to select "HZ" or "I" data shown on the 7-segment display.
▼ key is used to select "HZ" or "I" data shown on the 7-segment display.
3.3 PAR mode
Push the "PAR/ALM" key, will change the keypad operation between "PAR" or "ALM" mode.
If push PAR/ALM key, 7-segment shows "Pr.xxx", it is under "PAR" Mode, the HZ and I lamps all ON, user can
modify or monitor all the internal Parameters. To modify any parameter, follow the steps described below:
STEP 1: push "PAR/ALM" key, the 7-segment will show "Pr.nnn". (nnn is parameter number)
STEP 2: push ▲ or ▼ key to select desired parameter number, and "STOP" key used as cursor shift.
STEP 3: push "RD/WT" key to READ the content of the specified parameter. (The 7-segment now shows the value
of this parameter.)
STEP 4: push ▲ or ▼ key to modify the displayed value, and "STOP" key used as cursor shift.
STEP 5: push "RD/WT" key to WRITE the new value into parameter memory.
STEP 6: push "PAR/ALM" repeat STEP 1 to modify next parameter.
3.4 ALM mode
Push the "PAR/ALM" key, will change the keypad operation between "PAR" or "ALM" mode.
If push PAR/ALM key, 7-segment shows "0.-xx", it is under "ALM" Mode.
Under "ALM" Mode, the user can execute RESET function or monitor ALARM STATUS.
STOP/RESET key, the driver will execute RESET function.
▲ and ▼ key are used to check ALARM History.
28
4. Start-Up Examples
4.1 Basic Function Block
Speed Loop Torque Limit Current loop Vq

Standard Speed Cmd uvw
Spd cmd Spd err Tcmd Iq cmd Iq err Axis Vu,Vv,Vw
Vd
Internal Speed Cmd CSW0 P-I Gain P-I Gain Vector

(position mode) Id err
Transform
Iu,Iv,Iw
Pos. err Iq fb
P-I Gain Flux Control d-q
Id cmd Axis
Id fb
Feed Forward
Position/Angle
Position Loop( P-I-F controller) Pos. fb.
Counter
Pcmd/ CSW1 Clocks to Speed

Tracking Speed Feedback Encoder Fb.
Block
Pos. cmd
Pulse cmd
Buffered Output
Increment APTP Block
Note:
CSW0: Select Position or Speed mode
Absolute APTP Block
CSW2 CSW1: Select Pcmd or APTP mode
CSW2: Select Absolute or Incremental mode
29
4.2 Setup Basic Motor Parameter
Refer to section 5.2.11 for detail description of motor parameter groups (H.300~499).
For example, if an induction motor running under V/F constant mode, user must set up the V/F curve parameters
according to motor manufacturer’s data.
 Select motor characteristic group#0, set F.188=0
 Select induction motor under V/F control mode, setH.300=0
 Set motor rated speed in H.310 (RPM)
 Set motor maximum speed in H.315 (RPM)
 Set motor minimum speed in H.316 (RPM)
 Set motor rated voltage in H.307 (% of Input Line Voltage)
 Set motor peak voltage in H.308 (% of Input Line Voltage)
 Set Boost voltage in H.309 (% of motor rated voltage)
 Set motor rated current in H.311=(MotorRatingCurrent/DriverRatingCurrent)*100%
 Set motor peak current in H.312=(MotorPeakCurrent/MotorRatingCurrent)*100%
 Set motor pole number in H.314
Vout(%)
Motor Parameter Group #0
H.300~H.349
H.308
H.307
H.309
Speed (rpm)
H.316 H.310 H.315
4.3 Default Setting of some simple Examples

For user convenience, some default setting for different application is embedded in the firmware.
Execute RESET operation after setting F.094 to specified value; the CPU will set related parameters to perform the
desired operation mode.
F.094=201, simple V/F mode operation for induction motor
F.094=202, simple Induction Servo running under Speed mode
F.094=203, simple Induction Servo running under Pcmd mode
F.094=204, simple Induction Servo running under Auto Point-to-Point Positioning
F.094=205, Auto Tuning for Induction Servo Motor
F.094=232, simple Brushless Servo running under Speed mode
F.094=233, simple Brushless Servo running under Pcmd mode
F.094=234, simple Brushless Servo running under Auto Point-to-Point Positioning
F.094=235, Auto Tuning for Brushless Servo Motor
NOTE: Before above setting, select F.094=1, then execute RESET to initialize the R/W type parameters to default
value. (Refer to section 5.2.3)
4.3.1 V/F Constant Mode for Induction Motor
Select F.094=201, then execute RESET to initialize the parameters. After initialization, the CPU loads following
parameters, then the drive standby under V/F mode.
F.188=0 Choose pre-stored Group#0 motor parameters (F.300~F.349)
H.300=0 Let the motor operate under V/F constant mode
H.330~H.333=0 Always operate under open loop speed mode
H.141=102 DI1(102) Drive will Enable by DI1
H.145=73 DI5(73) FWD RUN (effective when control by terminal input)
H.146=74 DI6(74) REV RUN (effective when control by terminal input)
F.181=0 & F.039=0.2 FWD/REV command by LOCAL panel normally
F.040=0.25 Speed command by F.000 normally
F.000=500 Default speed = 500RPM
F.001=5.00 5 seconds ramp up from zero to maximum speed
F.002=5.00 5 seconds ramp down from maximum to zero speed
30
Procedure:
 Connect DI1 to DCOM (assume DI/DO is chosen to be SINK type) to enable the drive.
 Push FWD or REV key, then the motor speed will ramp up to 500RPM.
 Change F.039=2.2, transfer control to terminal input DI5 & DI6.
 Connect DI5 (or DI6) to DCOM; the motor will ramp up to 500RPM.
4.3.2 Speed Mode for Induction Servo Motor
parameters, then the drive standby under Speed mode.
F.188=0 Choose pre-stored Group#0 motor parameters (H.300~H.349)
H.300=2 Select Induction servo motor for close loop control *1
H.330=0 Select Speed control mode
H.331~H.333=0 Always operate under speed mode, no torque control
F.141=102 DI1(102) Drive will Enable by DI1
F.145=73 DI5(73) FWD RUN (effective when control by terminal input)
F.146=74 DI6(74) REV RUN (effective when control by terminal input)
F.001=5.00 5 seconds ramp up from zero to maximum speed
F.002=5.00 5 seconds ramp down from maximum to zero speed
Procedure:
 Try operations similar to section 4.3.1.
 Modify Pgain and Igain if necessary.
*1: before operation start, verify following parameters (refer to section 5)
H.302: PPR of Encoder
H.303: A/B clock Direction
H.313: Field Current%=(FieldCurrent/MotorRatedCurrent)*100%
H.317: Slip RPM
H.320: Pgain of Current loop
H.321: I gain of Current loop
H.323: P gain of Speed loop
H.324: I gain of Speed loop
4.3.3 Tracking Mode (Pcmd) for Induction Servo Motor
parameters, then the drive standby under tracking mode.
H.300=2 Select Induction servo motor for close loop control
H.330=1 Position control *2
H.331=1 Tracking mode by Pulse Command input from XY port
H.332~H.333=0 No torque control
F.145=73 DI5(73) FWD RUN (effective when control by terminal input)
F.146=74 DI6(74) REV RUN (effective when control by terminal input)
F.130=0 select quadrature input clock to XY input
F.133=1000 XY multiply rate =1000
F.134=1000 XY division rate = 1000
*2: before operation start, verify F.326 (Position loop P gain) and the parameters of *1 of section 4.3.2.
Procedure:
 Connect DI1 to DCOM
 Push FWD or REV key, then the drive is ready to accept clock input from XY port
 ChangeF.133 or F.134, and verify the effects.
31
4.3.4 Auto Point-to-Point control Mode for Induction Servo
parameters, then the drive standby under auto point-to-point mode.
H.300=2 Select Induction servo motor for close loop control
H.330=1 Position control (Refer to section 4.3.3 *2)
H.331=0 Auto Point-to-Point control
H.332=0 Select Incremental type APTP
H.333=0 No torque control
F.142=128 DI2(128) Start Home search
F.143=129 DI3(129) End Home search and stop at the desired offset point
F.144=118 DI4(118) APTP start trigger
F.145=119 DI5(119) Direction control
F.146=120 DI6(120) Point selection Bit0
F.001=0.50 0.5 seconds ramp up from zero to maximum speed
F.002=0.50 0.5 seconds ramp down from maximum to zero speed
L.568/569=00000001 Offset one clock after index catch
L.500/501=4*PPR One revolution when DL0 is selected
L.502/503=40*PPR Ten revolutions when DL1 is selected
Procedure:
 Connect DI1 to DCOM
 Push FWD or REV key, then the drive is ready to accept Home Search Command
 Trigger DI2, the motor start run to 500RPM
 Trigger DI3 (assume DOG sensor input), the drive start search index then stop at desired offset
 Use DI5 and DI6 to select desired DLn (Destination Length) and direction
 Trigger DI4, the motor run and stop at DLn.
 Try to use DI7~DI10 and set other DLn parameters to select different length.
 If Absolute type APTP is desired, set H.332=1, execute RESET, then try again
4.3.5 Example for Brushless Servo Motor

If select F.094=232~234, the functions are similar to F.094=202~204, Except
 F.188=3, the motor characteristic parameters are default to group#3(H.450~H.499)
 H.450=3, select brushless servo motor.
*User has to prepare other parameters in group#3 to match the brushless motor in use.
32
4.4 Auto Tuning for Servo Motors
4.4.1 Auto Tuning for Induction Servo Motor
If selectF.094=205, only few parameters is necessary to set by user, then after execute RESET, this drive can detect the
motor characteristic parameters itself.
For induction servo, use motor parameter group#0(H.300~H.349).
1. Set H.307=Rated motor Voltage=100%(Motor Rated Voltage/Line Voltage).
2. SetH.310=Rated motor Speed (RPM).
3. Set H.311=Rated motor Current=100%*(Motor Rated Current/Driver Rated Current).
4. Set H.094=205, inform the drive to execute Auto tuning after reset
5. Execute RESET to initiate Tuning Process.
After tuning process complete, the drive will set H.094=202, then reset again in order to preload the drive as
speed controller. (Refer to sec.4.3.2). The following parameters will be changed after tuning process, user should
verify again.
H.302- Encoder PPR, set to correct value
H.303- Encoder Direction, set to correct direction
H.308- Set equal to H.307
H.309- Boost Voltage (used when V/F control application)
H.312- Peak Current, set to 100%
H.313- Field Current, set to proper value (% of Motor Rated Current)
H.314- Pole, set to correct pole number
H.315- Maximum Speed, Set equal to H.310
H.316- Minimum Speed, set to 0RPM
H.317- SLIP RPM, set to 5% of Rated motor Speed(RPM)
H.320- ACR Pgain, Set to proper value
H.321- ACR I gain, Set to proper value
H.323- ASR Pgain, Set to proper value
H.324- ASR Igain, Set to proper value
4.4.2 Auto Tuning for Brushless Servo Motor
If select F.094=235, only few parameters is necessary to set by user, then after execute RESET, this drive can detect
the motor characteristic parameters itself.
For brushless servo, use motor parameter group#3(L.450~L.499).
1. Set L.460=Rated motor Speed (RPM).
2. Set L.461=Rated motor Current=100%*(Motor Rated Current/Driver Rated Current).
3. Set F.094=235, inform the drive to execute Auto tuning after reset
4. Execute RESET to initiate Tuning Process.
After tuning process complete, the drive will set F.094=232, then reset again in order to preload the drive as
speed controller. (Refer to sec.4.3.5). The following parameters will be changed after tuning process, user should
verify again.
L.452- Encoder PPR, set to correct value
L.453- Encoder Direction, set to correct direction
L.457=Rated motor Voltage, set to proper value
L.458- Set equal to L.457
L.459- Boost Voltage=0
L.462- Peak Current, set to 100%
L.463- Field Current=0
L.464- Pole, set to correct pole number
L.465- Maximum Speed, Set equal to L.460
L.466- Minimum Speed, set to 0RPM
L.467- SLIP RPM=0
L.470- ACR Pgain, Set to proper value
L.471- ACR I gain, Set to proper value
L.473- ASR Pgain, Set to proper value
L.474- ASR Igain, Set to proper value
4.4.3 Auto Tuning Resolver BL Servo Motor
If the servo motors use resolver as feedback element, then user must select resolver option card (under development).
After choosing correct feedback option card, then the drive will identify itself for controlling the resolver.
Auto tuning procedure and all parameters setting are the same as those described in section 4.4.2, except “Angle Shift”.
H.340/390/440/490 is defined as Resolver_Angle_Shift, indicates the angle shift between motor magnetic North
direction and resolver North mark.
33
5. Parameters
5.1 Parameter List
Pr.xxx Parameter Name Default Min. Max. Type Reference
000 Main Speed Set 0 rpm 0 8000 R/W
001 Main Acceleration Time 5.00 sec 0.00 650.0 R/W 5.2.4
002 Main Deceleration Time 5.00 sec 0.00 650.0 R/W
005 Brake Speed 5 0 8000 R/W 5.2.5
012 PWM Carrier 8.0 KHz 8 8 R 5.2.7
013 Alarm Code 0 0 9 M 5.2.8
019 Jog Speed 10 rpm 0 8000 R/W
5.2.4
020 Jog Acceleration/Deceleration Time 10.0 sec 0.1 25.0 R/W
021 SPD1 Speed Set 0 rpm 0 8000 R/W
022 SPD1 Acceleration Time 10.0 sec 0.1 6553.0 R/W 5.2.4
023 SPD1 Deceleration Time 10.0 sec 0.1 6553.0 R/W
031 Reverse Inhibit 0 0 1 R/W 5.2.5
033 Discharge Enable 0 0 2 R/W 5.2.5
034 UP/OP Restart Enable 0 0 1 R/W 5.2.5
039 Control Command Select 0.0 0.0 9.9 R/W 5.2.5
040 Speed Source Select 8.08 0.00 99.99 R/W SEC. 6
049 Detect RPM 300 rpm 0 8000 FR/W
8.3.1
050 Detect Tolerance 30 rpm 0 8000 FR/W
051 Thermal Trip Time 3 sec 0 120 R/W 5.2.5
053 Gear Ratio 100 % 0 100 R/W 5.2.8
054 Irms Select 0 0 27 R/W 5.2.8
057 HZ Hz 0.0 166.6 M
058 RPM rpm M
059 Vdc (Capacitor) Volts DC M
5.2.8
060 Vout (r.m.s. output) Volts AC M
061 Irms Amp M
062 Temperature ˚C 0 100 M
064 DI0~DI10 Input Status 0000 Hex 0000 07FF M
5.2.8
065 DO0~DO6 Output Status 0000 Hex 0 007F M
066 DI Simulation 0 0 2047 RAM 5.2.5
067 Torque Set 0.00% 0.00 100.0 RAM 5.2.5
068 DO Simulation 0 0 2047 RAM 5.2.5
070 Analog Input Gain 50% 0 100 R/W 6.2.4
071 Timer(1) Time 5.0 sec 0.2 6553.0 R/W
7.3.3
072 Timer(2) Time 5.0 sec 0.2 25.0 R/W
073 S-curve Time T1 0.00 sec 0.00 2.50 R/W
5.2.4
077 DO1 Pulse Output Ratio 1 1 100 R/W 8.3.3
083 IGBT Guard Time 3.0μsec 2.0 25.5 FR/W 5.2.7
084 Line Voltage Volts AC 40 1000 FR/W 5.2.7
085 Rated Current Amp 0.5 3000.0 FR/W 5.2.7
086 Irms Adjust 70 140 FR/W
5.2.7
087 Vdc Adjust 70 140 FR/W
089 AI1 Low 12 0 1023 FR/W
5.2.6
090 AI1 High 1012 0 1023 FR/W
091 AI2 Low 12 0 1023 FR/W
5.2.6
092 AI2 High 1012 0 1023 FR/W
34
094 Reload Parameter 0 0 255 R/W 5.2.3
095 Memory Protect 0 0 2 R/W
5.2.2
096 Factory Write Enable 0 0 1 R/W
097 Version R 5.2.7
098 Monitor(I) 61 0 999 R/W
5.2.8
099 Monitor(HZ) 58 0 999 R/W
108 Counter Value 0 0 65530 M 7.3.3
109 Counter Set 0 0 9999 R/W DIx(28)
116 Speed Set 0 rpm 0 8000 RAM 5.2.4
120 Protocol Select 0 0 2 FR/W
121 Baud Rate 2 0 3 FR/W
122 Stop Bit 1 0 1 FR/W
SEC. 9
123 ID 1 1 250 FR/W
124 Queue Status 0 0 31 M
125 Parity 0 0 2 FR/W
130 XY Clock Type Select 0 0 6 FR/W
131 XY Input Pin Status 0 0 3 M
132 XY Direction Change 0 0 1 FR/W
133 XY Multiply Rate 0 1 0 9999 FR/W
5.2.9
134 XY Division Rate 0 1 0 9999 FR/W
135 XY Multiply Rate 1 1 0 9999 FR/W
136 XY Division Rate 1 1 0 9999 FR/W
137 XY Counter Value 0000 Hex 0000 FFFF M
140 DI0 Select 0 0 250 R/W
141 DI1 Select 0 0 250 R/W
142 DI2 Select 0 0 250 R/W
143 DI3 Select 0 0 250 R/W
144 DI4 Select 0 0 250 R/W
145 DI5 Select 0 0 250 R/W SEC .7
146 DI6 Select 0 0 250 R/W
147 DI7 Select 0 0 250 R/W
148 DI8 Select 0 0 250 R/W
149 DI9 Select 0 0 250 R/W
150 DI10 Select 0 0 250 R/W
157 Line Speed(1) 0 0 65530 M
158 Line Speed(2) 0.00 0 655.30 M 5.2.8
159 Line Speed(3) 0.0 0 6553.0 M
160 DO0 Select 0 0 250 R/W
161 DO1 Select 0 0 250 R/W
162 DO2 Select 0 0 250 R/W
SEC. 8
163 DO3 Select 0 0 250 R/W
164 DO4 Select 0 0 250 R/W
165 DO5 Select 0 0 250 R/W
166 DO6 Select 0 0 250 R/W
180 Fan Control 10.50 sec 5.00 99.99 FR/W 5.2.5
181 Panel Command Priority 0 0 1 FR/W
5.2.5
182 Panel Speed Priority 0 0 1 FR/W
188 Motor Parameter Group Select 0 0 3 FR/W 5.2.5
189 PG Loss Check Enable 1 0 1 FR/W 5.2.5
191 AI3 Low 12 0 1023 FR/W
5.2.6
192 AI3 High 1012 0 1023 FR/W
193 Home Direction 1 0 2 FR/W
5.2.12
194 Home Speed and Acc/Dec 0 0 1 FR/W
195 Travel Limit 0 0 1 R/W 5.2.12
200 Iv A/D Value 0 1023 M
201 AI1 A/D Value 0 1023 M
202 AI2 A/D Value 0 1023 M
5.2.8
203 AI3 A/D Value 0 1023 M
204 Iw A/D Value 0 1023 M
205 Idc A/D Value 0 1023 M
35
206 Vcap A/D Value 0 1023 M
5.2.8
207 Temperature A/D Value 0 1023 M
210 AO1 Select 0 0 250 FR/W
211 AO1 Zero 0.00 0 1.99 FR/W 5.2.6
212 AO1 Span 100.0% 0 150.0 FR/W
221 AO2 Zero 0.00 0 1.99 FR/W 5.2.6
222 AO2 Span 100.0% 0 150.0 FR/W
231 AO3 Zero 0.00 0 1.99 FR/W 5.2.6
232 AO3 Span 100.0% 0 150.0 FR/W
240 PID Input Select 0.00 0 99.99 FR/W
241 PID Default Configuration 0 0 63 FR/W
242 PID Output Value 0 O FFFF M
243 PID Pgain 0 0 9999 FR/W
244 PID Igain 0 0 9999 FR/W
245 PID Dgain 0 0 9999 FR/W
246 PID FBgain 1.00 0 100.00 FR/W
5.2.10
247 PID Constant Reference 0 0 1000 FR/W
248 PID Limit 1000 0 1000 FR/W
249 PID Dtime 0.00 sec 0.00 2.50 FR/W
250 PID Set Value 0000 Hex 0000 FFFF M
251 PID FB Value 0000 Hex 0000 FFFF M
252 PID Error Value 0000 Hex 0000 FFFF M
253 PID Auto Gain Select 0 0 5 FR/W
300、350、400、450 Motor Type Select 0 0 5 FR/W
301、351、401、451 ABC Status 0 0 7 FR/W
302、352、402、452 Encoder PPR 1024 0 9999 FR/W
303、353、403、453 A-Lead/Lag-B 0 0 1 FR/W
304、354、404、454 AB Filter 2 0 5 FR/W
305、355、405、455 AB Counter 0000 Hex 0000 FFFF M
5.2.11
306、356、406、456 UVW Status 000 000 111 M
307、357、407、457 Motor Rated Voltage 100% 0 100 FR/W
308、358、408、458 Motor Peak Voltage 100% 0 100 FR/W
309、359、409、459 Boost Voltage 0.0% 0 25.0 FR/W
310、360、410、460 Motor Rated RPM 1800 0 8000 FR/W
311、361、411、461 Motor Rated Current 100% 10 100 FR/W
312、362、412、462 Motor Peak Current 100% 0 300 FR/W
313、363、413、463 Field Current 20% 0 100 FR/W
314、364、414、464 Pole 4 2 12 FR/W
315、365、415、465 Maximum RPM 1800 100 8000 FR/W
316、366、416、466 Minimum RPM 0 0 8000 FR/W
317、367、417、467 Slip RPM 100 0 8000 FR/W
320、370、420、470 P Gain (Current Loop) 100 0 2000 FR/W
321、371、421、471 I Gain (Current Loop) 50 0 2000 FR/W
323、373、423、473 P Gain (Speed Loop) 500 0 4000 FR/W
324、374、424、474 I Gain (Speed Loop) 50 0 2000 FR/W 5.2.11
326、376、426、476 P Gain (Position Loop) 200 0 2000 FR/W
330、380、430、480 Position/Speed Select 0 0 1 FR/W
331、381、431、481 Pcmd/APTP Select 0 0 1 FR/W
332、382、432、482 Absolute/Increment Select 0 0 1 FR/W
333、383、433、483 Torque Limit Source Select 0.0 0 9.9 FR/W
334、384、434、484 Length Conversion 0 0 16 FR/W
335、385、435、485 Length Compensation 0 0 1 FR/W
336、386、436、486 Compensation Polarity 0 0 1 FR/W
340、390、440、490 Resolver Shift Angle 0 0 4095 FR/W
36
341、391、441、491 Resolver Polarity 0 0 1 FR/W 5.2.11
500 DL0 (Low) 0 0 9999 FR/W
501 DL0 (High) 0 0 9999 FR/W
502 DL1 (Low) 0 0 9999 FR/W
503 DL1 (High) 0 0 9999 FR/W
504 DL2 (Low) 0 0 9999 FR/W
505 DL2 (High) 0 0 9999 FR/W
﹕ ﹕ ﹕ ﹕ ﹕ ﹕
﹕ ﹕ ﹕ ﹕ ﹕ ﹕ 5.2.12
﹕ ﹕ ﹕ ﹕ ﹕ ﹕
558 DL29 (Low) 0 0 9999 FR/W
559 DL29 (High) 0 0 9999 FR/W
560 DL30 (Low) 0 0 9999 FR/W
561 DL30 (High) /AI1 Detect Level 0 0 9999 FR/W
562 DL31 (Low) /AI2 Detect Level 0 0 9999 FR/W
563 DL31 (High) /AI3 Detect Level 0 0 9999 FR/W
564 Forward Travel Limit (Low) 0 0 9999 FR/W
5.2.12
565 Forward Travel Limit (High) 0 0 9999 FR/W
566 Reverse Travel Limit (Low) 0 0 9999 FR/W
5.2.12
567 Reverse Travel Limit (High) 0 0 9999 FR/W
568 Index Offset (Low) 0 0 9999 FR/W
5.2.12
569 Index Offset (High) 1 0 9999 FR/W
570 Position Error Limit 1000 0 9999 FR/W
5.2.12
571 In Position Range 10 0 9999 FR/W
574 μm Display BCD (Low) 0 0 9999 M
5.2.8
575 μm Display BCD (High) 0 0 9999 M
576 μm Revolution (Low) 0 0 9999 FR/W
5.2.12
577 μm Revolution (High) 0 0 9999 FR/W
578 Position BCD (Low) 0 0 9999 M
5.2.8
579 Position BCD (High) 0 0 9999 M
580 Position Hex (Low) 0000 Hex 0000 FFFF M
5.2.8
581 Position Hex (High) 0000 Hex 0000 FFFF M
582 μm Display Hex (Low) 0000 Hex 0000 FFFF M
5.2.8
583 μm Display Hex (High) 0000 Hex 0000 FFFF M
37
5.2 Parameter Description
5.2.1 Parameter Type
Type Description
R/W Type R/W parameters are stored in EAROM. They can be read/write and story in the memory permanently.
Type FR/W parameters are stored in EAROM. Generally, they are used for factory adjustment.
FR/W
Only authorized engineers should modify them.
RAM Type RAM parameters are store in RAM; they will be changed to default after RESET or power off.
M Type M is read only parameters for monitoring.
R Type R is constant parameters.
5.2.2 Parameter Protection
Pr.nnn Parameter Name Description
095 Memory Protect
F.095 F.096 說明
096 Factory Write Enable
1 -- All parameters (except F.000 and F.095) are not allow to change.
0 1 Parameters with R/W and FR/W type can be changed.
0 0 Parameters with R/W type can be changed..
5.2.3 Parameter Initalization
094 Reload Parameter F.094 is used to INITALIZE data into all parameters with R/W type.
Follow the process to execute memory initalization:
 Write F.095 = 0, and F.094＝1.
 Execute “ALM” RESET (press STOP/RESET key under “ALM” mode,
or Execute Hardware RESET,
or Execute Power-On RESET
After initialization process, the data of parameters with R/W type will change to
DEFAULT value listed in the PARAMETER LIST table (section 5.1).
Refer to section 4.2 for default setting of different application.
5.2.4 Speed & Acceleration/Deceleration Time
000 Main Speed Set
001 Main Acceleration Time F.027 SPD3 Speed
002 Main Decel Time Normal Speed
019 Jog Speed
F.021 SPD1 Speed
020 Jog Accel/Decel Time
021 SPD1 Speed F.024 SPD2 Speed
022 SPD1 Acceleration Time F.019 JOG Speed time
023 SPD1 Deceleration Time
024 SPD2 Speed
025 SPD2 Acceleration Time
DIx(5) JOG
026 SPD2 Deceleration Time
027 SPD3 Speed
DIx(4) SPD1
028 SPD3 Acceleration Time
029 SPD3 Deceleration Time DIx(3) SPD2
DIx(2) SPD3
DIx(73) RUN time

 Normal Speed: speed source defined in F.040.
 Acceleration Time: the period of time from 0 rpm ramp up to Maximum RPM.
 Deceleration Time: the period of time from Maximum RPM ramp down to 0rpm.
 The priority level for multi-speed operation is:
JOG＞SPD1＞SPD2＞SPD3＞16 STEP＞NORMAL SPEED
 When normal speed selected, F.001/002 determines the acceleration and
deceleration time.
 When JOG speed selected, F.020 determines the acceleration and deceleration
time
38
 When SPD1 speed selected, F.022 determines the acceleration and F.023
determines the deceleration time.
When DIX(2)~DIx(5) are all OFF (no JOG, SPD1, SPD2, SPD3 function),
DIx(80)~DIx(83) are used to assign 16-STEP speed , DIx(84)~DIx(87) can be used to
select acceleration and deceleration time.
 If any of DIx(80)~DIx(83) is ON, then set speed is:
Set Speed = DIx(83)*F.027+DIx(82)*F.024+DIx(81)*Pr021+DIx(80)*F.019
 When DIx(84) is ON, F.020 determines the acceleration and deceleration time
 When DIx(85) is O, F.022 determines the acceleration and F.023 determines the
deceleration time.
 When DIx(86) is ON, F.025 determines the acceleration and F.026 determines
the deceleration time
 When DIx(87) is ON, F.028 determines the acceleration and F.029 determines
the deceleration time.
S-curve Time T1 By setting an S-curve value, will smooth the motor transition at beginning and end of
073
(Begin Acceleration) the acceleration and deceleration perido from current running speed to another
S-curve Time T2 operation speed.
074 Speed
(End Acceleration)
S-curve Time T3
075
(Begin Deceleration)
076 S-curve Time T4
(End Deceleration)
Acceleration
T3 T4
T1 T2
116 Speed Set The Speed Set memorized in RAM, if Speed Source select F.040= 46, this parameter
will be used as the desired speed source. Usually, use this for speed setting by
communication and the application has to change speed often.
5.2.5 Control Function
005 Brake Speed While deceleration to stop, if the output speed is lower than this parameter, the output
speed change to 0 RPM directly.
031 Reverse Inhibit
F.031 Description
0 Drive may run in both direction
1 Reverse run is inhibited.
033 Discharge Enable
F.033 Description
0 Discharge circuit is Disabled.
The discharge transistor will ON if the following conditions are met:
 Drive is Running
1  Drive has no Alarm
 Vdc > F.084 * 1.414 * 117%
 Drive under deceleration
The discharge transistor will ON if the following conditions are met:
 Drive is Running
2
 Drive has no Alarm
 Vdc > F.084 * 1.414 * 117%
39
034 UP/OP Restart Enable
F.034 Description
0 UP/OP Restart function is Disabled.
After UP/OP alarm, when power comes back normal, the drive will
1
restart automatically.
039 Control Command Select This parameter is select the control command will come from panel or terminal.
If the control command come from terminal, then the terminals RUN DIx(73) and
REV DIx(74) are used to control the drive.
 Any digital input terminal assigned as DIX(73) will function as RUN terminal
input.
 Any digital input terminal assigned as DIX(74) will function as REV terminal
input.
F.039 Description
Control command comes from the Control Panel.
 Push FWD key, the drive will run forward direction.
0
 Push REV key, the drive will run reverse direction.
 Push STOP key, the drive will stop.
The RUN terminal DIx(73) determines the drive running or stop.
1 The REV terminal DIx(74) determines the running direction.
The RUN terminal DIx(73) is equivalent to FORWARD-RUN
2 The REV terminal DIx(74) is equivalent to REVERSE-RUN
Control command come from digital input terminal:
F.039 RUN REV Function
OFF --- STOP
1 ON OFF FORWARD RUN
ON ON REVERSE RUN
OFF OFF STOP
2 OFF ON REVERSE RUN
ON --- FORWARD RUN
Control command select F.039 = a.b, it is composed of two selection of “a” and
“b” in one parameter, if DIx(89)(Control Command SW) or DIx(90)(Speed &
Control SW) is ON, then control command select = “b”, otherwise control
command select = “a”.
051 Thermal Trip Time This parameter defines the OVER LOAD trip time of Internal Thermal Relay.
If F.051=0, the Thermal Relay function is disabled.
(Irms/Motor Rated Current)
200%
150%
110%
Time
F.051
066 DI Simulation This parameter is used for simulating the digital input signal from DIx terminal.
The input value is in BCD format; it is converted into Binary form to simulate each
digital input. For example:
If F.066=2(BCD)=00000000010(Binary), means DI1 ON.
If F.066=42(BCD)=00000101010(Binary), means DI1, DI3 and DI5 ON.
067 Torque Set If H.333/383/433/483 (Torque Limit Source Select) =4, means the torque limit is
controlled by this parameter.
068 DO Simulation This Parameter is used for simulating the digital output status.
The input value is in BCD format; it converted into Binary form to simulate each
digital output. For example:
F.068=2(BCD)= 0000010(Binary), means DO1 ON.
F.068=42(BCD)= 0101010(Binary), means DO1, DO3 and DO5 ON.
180 Fan Control When temperature ≧ 45˚C, Fan always ON.
F.180 = aa.bb, it is composed of two selection of “aa” and “bb” in one parameter,
when temperature < 45˚C, ON/OFF duty of fan is:
aa: ON time (seconds)
bb: OFF time (seconds)
40
181 Panel Command Priority
F.181 Control Command
0 From Control Panel
1 From RS485 communication port
182 Panel Speed Priority
F.182 Speed Command
0 From Control Panel
1 From RS485 communication port
188 Motor Parameter Group If none of all DIx select DIx(114)(MSB0) or DIx(115)(MSB1), then Motor Parameter
Select Group is selected by F.188
F.188 Motor Parameter Group
0 Use motor parameter group #0 (H.300~349)
If there exists any DIx(114)(MSB0) or DIx(115)(MSB1) selected, then Motor
Parameter Group is selected by Digital Input Terminal.
DIx(114) MSB0 DIx(115) MSB1 Motor Parameter Group
OFF OFF Use motor parameter group #0 (H.300~349)
OFF ON Use motor parameter group #1 (H.350~399)
ON OFF Use motor parameter group #2 (H.400~449)
ON ON Use motor parameter group #3 (H.450~499)
NOTE: This function in checked only when power ON or after reset.
189 PG Loss Check Enable
F.189 Description
0 No PG Loss check
PG Loss Check enabled.
1
When PG Loss, shown alarm message “PG” on control panel.
5.2.6 Analog Input/Output Function
Pr.nnn Parameter name Description
089 AI1 Low This parameter is used to record the A/D converter data read from F.201 when “AI1”
input terminal is connected to “ACOM” terminal. (AI1 select 0~ +5)
090 AI1 High This parameter is used to record the A/D converter data read from F.201 when “AI1”
input terminal is connected to “+5V” voltage source. (AI1 select 0~ +5)
210 AO1 Select
Setting Analog Output Function
220 AO2 Select
230 AO3 Select 0 0V
1 Positive Maximum (about 10V)
2 Negative Maximum (about –10V)負
3 Speed (Full-scale=Maximum RPM)
4 abs(Speed) (Full-scale=Maximum RPM)
5 Output Current (Full-scale=200% of Drive Rated Current)
6 Output Current (Full-scale=300% of Motor Rated Current)
7 PID Output
8 Torque (Full-scale=Maximum Torque)
9 abs(Torque) (Full-scale=Maximum Torque)
211 AO1 Zero
Setting Description
221 AO2 Zero
231 AO3 Zero 0.00~0.99 Positive Zero Compensation (resolution 0.01 volt)
1.00~1.99 Negative Zero Compensation (resolution 0.01 volt)
212 AO1 Span
Analog output span adjustment
222 AO2 Span
41
232 AO3 Span
42
5.2.7 Factory Adjustment Parameters
NOTE: Only authorized engineers should modify these parameters.
012 PWM Carrier Fixed frequency 8K Hz
IGBT Guard Time This parameter defines the guard time for preventing IGBT short between upper and lower
083
arm. Only factory can modify this parameter, consult factory if modification is necessary.
084 Line Voltage This parameter defines the normal working voltage of the drive.
According to this parameter, the drive calculates all voltage dependent values.
 OP Trip Voltage (Vdc) = 1.414 ＊ F.084 ＊ 130 ％
 UP Trip Voltage (Vdc) = 1.414 * F.84 * 70%
 OP Recover Voltage (Vdc) = 1.414 * F.84 * 120%
 UP Recover Voltage (Vdc) = 1.414 * F.84 * 80%
 Contactor ON Voltage (Vdc)＝1.414＊F.84＊69％
 Contactor OFF Voltage (Vdc)＝1.414＊ F.84＊65％
Note: The “contactor” means the device used to BY-PASS the charging resistor. It may a
RELAY or a SCR instead.
Discharge Start Voltage (Vdc)＝1.414＊F.84＊117％ (Refer to F.033)
085 Rated Current This parameter defines the rated output current of the drive.
086 Irms Adjust This parameter is used to adjust the Irms data reading.
087 Vdc Adjust This parameter is used to adjust the reading of internal DC BUS.
097 Version This parameter is indicating the software revision of this drive.
5.2.8 Monitor Function
013 Alarm Code Display the present alarm message.
Alarm Code Control Panel shows Message Description
0 no Normal
1 PG PG Loss
3 OC Over Current
4 OH Over Heat
5 OP Over Voltage
6 UP Under Voltage
7 OL Over Load
057 HZ Monitors the output frequency of the drive.
058 RPM For close loop control mode, monitors the motor rotating speed.
For V/F constant mode, RPM = 120 * Hz / POLE.
059 Vdc (Capacitor) Monitors the internal DC BUS voltage of the drive, Vdc = 1.414 * Vac (line input)
060 Vout (r.m.s. output) Monitors the output Vrms of the drive.
054 Irms Select Use F.054 to select the data type displays in F.061.
061 Irms F.054 F.061
0 Output Current Irms (Amp)
1 Output Current Irms (% of Drive rating)
2 Output Current Irms (% of motor rating)
11 OL accumulation level
28 abs(Output Torque) (% of Maximum Output Torque)
062 Temperature Monitors the temperature of internal heat sink. When the temperature exceeds
80 ˚C driver will STOP and show OH alarm.
064 DI0~DI10 Input Status Monitors the DI0~DI10, expressed in Hex form.
It is converted into Binary form to show the status of DI0~DI10. For example:
If F.064=0062(Hex)=00001100010(Binary), means DI1, DI5 and DI6 is ON.
065 DO0~DO6 Output Status Monitors the DO0~DO60, expressed in Hex form.
It is converted into Binary form to show the status of DO0~DO6. For example:
If F.065=0062(Hex)=1100010(Binary), means DO1, DO5 and DO6 is ON.
098 Monitor(I) While control panel is under “MON” mode, user can select which two statuses are to
099 Monitor(HZ) be monitored.
F.098 is used to assign the parameter to be monitored when “I” LED is ON. F.099
is used to assign the parameter to be monitored when “HZ” LED is ON.
For example, the default value in F.099=58 and F.098=61, that means, the panel will
show the value of F.058 (rpm) while “HZ” LED is ON. And push ▲ or ▼ key to
change to LED “I” ON, the panel will show the value of F.061 (Irms).
43
053 Gear Ratio According to F.053, the drive calculates Line Speed show in Pr157~159.
157 Line Speed(1) Pr.xxx Display Data Range
158 Line Speed(2) 157 RPM(F.058) * Gear Ratio(F.053) 0~65530
159 Line Speed(3) 158 RPM(F.058) * Gear Ratio (F.053) / 100 0.00~655.30
159 RPM(F.058) * Gear Ratio(F.053) / 10 0.0~6553.0
200 Iv A/D Value Monitors A/D converted data of Iv.
201 AI1 A/D Value Monitors A/D converted data of AI1.
204 Iw A/D Value Monitors A/D converted data of Iw.
205 Idc A/D Value Monitors A/D converted data of Idc.
206 Vcap A/D Value Monitors A/D converted data of Vcap.
207 Temperature A/D Value Monitors A/D converted data of Temperature.
574 μm Display BCD (Low)
Actual position expressed in μm (BCD format)
575 μm Display BCD (High)
578 Position BCD (Low)
Actual position expressed in clocks (BCD format)
579 Position BCD (High)
580 Position Hex (Low)
Actual position expressed in clocks (HEX format)
581 Position Hex (High)
582 μm Display Hex (Low)
Actual position expressed in μm (HEX format)
583 μm Display Hex (High)
5.2.9 XY Pulse Command Input Parameters
Pr.nnn Parameter Name Description Remark
130 XY Clock Type Select JP2 & JP3 select
F.130 XY Clock Type
line-driver input or
0 Two phase input clocks and X4 rate. open-collector type
1 CLOCK and DIRECTION signals
2 UP-clock and DOWN-clock pulses
3 Two phase input clocks and X2 rate.
131 XY Input Pin Status Monitors XY pulse input pins status.
132 XY Direction Change Change XY counter direction.
133 XY Multiply Rate 0 Use DIx(64)(XY Multiply) and DIx(65)(XY Division) to select
134 XY Division Rate 0 Multiply Rate and Division Rate, and input clock rate counts as
135 XY Multiply Rate 1 following:
136 XY Division Rate 1 DIx(64) DIx(65) Clock Rate
OFF OFF Multiply Rate 0 / Division Rate 0
OFF ON Multiply Rate 0 / Division Rate 1
ON OFF Multiply Rate 1 / Division Rate 0
ON ON Multiply Rate 1 / Division Rate 1
F.134=0 and F.136=0 means Division Rate = 10000
Monitors the content of pulses input to XY counter, expressed in
137 XY Counter Value Hex form.
F.137=XY-input* (XY-Multiply / XY-Divide) * XY-Direction
44
DIx(64) Pcmd/Tracking Function Block Diagram
F.135
F.133
MULTIPLY
Pcmd from Master Actual Position cmd.
DIVIDE
F.134
F.136
DIx(65) DIx(58) DIx(168)
Analog AI1 PID block

JOG*AI1 JOG*PID
DIx(59) DIx(169)
DIx(46) DIx(47)
JOG(Pcmd)
The following table lists the relative Digital Input function.

DIx Function Description
46 TRACK + JOG DIx(46), DIx(47), DIx(58), DIx(59), DIx(168) and DIx(169) are used to
47 TRACK – JOG assign the Set Speed under tracking mode, if the digital input terminal is
58 TRACK + (AI1 * JOG) ON, the Set Speed as following:
59 TRACK – (AI1 * JOG) DIx Set Speed
168 TRACK + (PID Output * JOG) 46 Tracking Speed + JOG Speed (F.019)
169 TRACK – (PID Output * JOG) 47 Tracking Speed – JOG Speed (F.019)
58 Tracking Speed + AI1 Input * JOG Speed (F.019)
59 Tracking Speed – AI1 Input * JOG Speed (F.019)
168 Tracking Speed + PID Output * JOG Speed (F.019)
169 Tracking Speed – PID Output * JOG Speed (F.019)
 Use these functions only under tracking mode.。
 AI1input range = +100% ~ –100%
45
5.2.10 PID Function
PID Function Block
Set Selection (aa) Set Polarity (Bit0) Auto Gain Select (Bit6) PID Limit (C.248) Output Polarity (Bit3)
Integrator Hold (Bit5)

C.247 ＋
AI-1 PID Set ×＋1
AI-2 Switch or
×－1 Set
AI-3
PID process
＋ Pgain or
Error Output ×＋1 PID Output
Σ I gain ＋ or
－ Dgain ×－1
FB Dtime
C.247
AI-1 PID FB ×＋1
Switch or FBgain
AI-2 －
×－1
AI-3
FB Selection (bb) FB Polarity (Bit1) PID Enable (Bit4) PID Range (Bit2)

240 PID Input Select This parameter composed by “aa” & “bb” separated by decimal point.
The aa value is used to select the PID Set signal source for PID block.
The bb value is used to select the PID FB signal source for PID block.
The equivalent source for selection value “aa” or “bb” is:
C.240 Description
0 Constant value defined by C.247 (0~100%)
1 Bipolar input from AI1
11 Unipolar input from AI1
241 PID Default Configuration C.241=N, the value N is composed of 7 different bit switches. While Power ON or
after RESET, the 7 bit switches are used to configure the PID block.
N = 64*Bit6 + 32*Bit5 + 16*Bit4 + 8*Bit3 + 4*Bit2 + 2*Bit1 + 1*Bit0
If any of these switches requires random change, use DIx(160)~DIx(165) for
equivalent bits.
Bit n Name Function Equivalent DIx
=0, Set = (+1) * PID Set
Bit0 Set Polarity DIx(160)
=1, Set = (–1) * PID Set
=0, FB = (+1) * PID FB
Bit1 FB Polarity DIx(161)
=1, FB = (–1) * PID FB
=0, Output with Bipolar value
Bit2 PID Range DIx(162)
=1, Output with Unipolar value
=0, PIDOutput = (+1) * Output
Bit3 Output Polarity DIx(163)
=1, PID Output= (–1) * Output
=0, PID block disabled
Bit4 PID Enable DIx(164)
=1, PID block enabled
=0, PID Integrator normal
Bit5 PID Hold DIx(165)
=1, PID Integrator Hold
=0, Auto Gain disabled
Bit6 Auto Gain DIx(166)
=1, Auto Gain Enabled
242 PID Output Value Monitors Output value of PID block, expressed in Hex form.
46
243 PID Pgain Error input
244 PID Igain
245 PID Dgain
249 PID Dtime
253 PID Auto Gain Select
time
PID output
Error*Igain*t
ΔError*Dgain
Error*Pgain
time
D-time
t
Pgain  Dgain Igain * 500
PID _ out  Error *  ( Error * e Dtime ) *  Error * *t
256 256 65536
Note: the PID block is calculated every 2ms
C.253 used to select Auto Gain of PID block,
Pgain, Igain, Dgain = Set value * AutoGain-coefficient.
C.253 Auto Gain Source Range
0 No Auto Gain 100%
1 AI1 Input 0~100%
2 AI2 Input 0~100%
3 AI3 Input 0~100%
4 Speed / Maximum RPM (1/16)~100%
Average Speed / Maximum RPM
5 (1/16)~100%
(Speed is average every 0.25 second))
246 PID FBgain PID Feedback Gain
247 PID Constant Reference Constant value used as PID Set or PID FB reference.
248 PID Limit Maximum output limit of PID block.
250 PID Set Value Monitors Set value of PID block.
251 PID FB Value Monitors Feedback value of PID block
252 PID Error Value Monitors Error value of PID block
Other information:
 When Torque Limit select (H.333/383/433/483) = 5, PID Output becomes the torque limit source. (Refer to H.333)
 When Analog Output Source Select = 7, PID Output becomes the AOx Output value. (Refer to section 5.2.6)
 When Speed Source Select (F.040) = 40, PID Output becomes the Main Speed Source. (Refer to section 6.2.1)
 When DIx(168) is selected, Set Speed = Tracking Speed + PID Output * JOG Speed (F.019). (Refer to section 5.2.9)
 When DIx(169) is selected, Set Speed = Tracking Speed – PID Output * JOG Speed (F.019). (Refer to section 5.2.9)
47
5.2.11 Motor Parameter Groups
Pr.nnn
Parameter Name Description
Group#0 Group#1 Group#2 Group#3
300 350 400 450 Motor Type Select
H.300 Description
0 Induction motor V/F control
1 Induction motor Sensor-Less mode
2 Induction motor Servo mode
3 Brushless servo motor
301 351 401 451 ABC Status Monitors encoder status
302 352 402 452 Encoder PPR Pulse per revolution of encoder
303 353 403 453 A-Lead/Lag-B Determine encoder feedback direction
304 354 404 454 AB Filter Determine sampling period of encoder
305 355 405 455 AB Counter Monitors counter value of encoder (Hex form)
306 356 406 456 UVW Status Monitors Brushless servo motor UVW status
307 357 407 457 Motor Rated Voltage (Motor Rated Voltage / Line Voltage) * 100%
308 358 408 458 Motor Peak Voltage (Motor Peak Voltage / Line Voltage) * 100%
309 359 409 459 Boost Voltage Minimum voltage while output speed is low.
For induction motor V/F mode only.
310 360 410 460 Motor Rated RPM Rated speed of motor
311 361 411 461 Motor Rated Current (Motor Rated current / Drive Rated Current) * 100%
312 362 412 462 Motor Peak Current (Motor Peak Current / Motor Rated Current) * 100%
313 363 413 463 Field Current (Motor Field Current / Motor Rated current) * 100%
314 364 414 464 Pole Pole number of motor
315 365 415 465 Maximum RPM Maximum speed of motor (RPM)
316 366 416 466 Minimum RPM Minimum speed of motor (RPM)
317 367 417 467 Slip RPM Slip speed of induction motor (RPM)
320 370 420 470 P gain (Current Loop) P gain constant for current loop
321 371 421 471 I gain (Current Loop) I gain constant for current loop
323 373 423 473 P gain (Speed Loop) P gain constant for speed loop
324 374 424 474 I gain (Speed Loop) I gain constant for speed loop
326 376 426 476 P gain (Position Loop) P gain constant for position loop
330 380 430 480 Position/Speed Select
Setting Mode
0 Speed Control Mode
1 Position Control Mode
If there exists any DIx(106) or DIx(107) selected, then
Position/Speed control mode is selected by Digital
Input Terminal.
DIx Status Mode
DIx(106) ON or DIx(107) OFF Speed Mode
DIx(106) OFF or DIx(107) ON Position Mode
331 381 431 481 Pcmd/APTP Select
Setting Mode
0 Auto Point to Point (APTP)
1 Pulse Command control (Pcmd)
If there exists any DIx(126) or DIx(127) selected, then
Pcmd/APTP control mode is selected by Digital Input
Terminal.
DIx Status Mode
DIx(126) ON or DIx(127) OFF Pcmd Mode
DIx(126) OFF or DIx(127) ON APTP Mode
48
332 382 432 482 Absolute/Increment
Setting Description
Select
0 Increment Position control for APTP
1 Absolute Position control for APTP
333 383 433 483 Torque Limit Source Torque Limit Source Select = a.b, it is composed of
Select two selection of “a” and “b” in one parameter, if
DIx(108)(Torque Limit SW) is ON, then Torque Limit
Source = “b”, otherwise Torque Limit Source = “a”.
DIx(109) is complementary function of DIx(108)
“a” or “b” Torque Limit Source
0 No torque limit
1 AI1
2 AI2
3 AI3
4 H.067
5 PID Output
334 384 434 484 Length Conversion If used micrometer as the unit of Destination
Location/Length, this parameter defines the number of
data to be converted micrometer into clocks. And
L.576/577 defines the conversion rate.
Setting Conversion
0 No conversion
1~16 Select total “n” data for conversion.
Example:
n=1, then DL16 convert to DL0
n=2, DL16DL0, DL17DL1
n=16, DL16DL0, DL17DL1,
DL18DL2,.….,DL31DL15
335 385 435 485 Length Compensation When power ON, the desired length is:
336 386 436 486 Compensation Polarity Length Compensation Desired
Compensation Polarity Length
0 0 or 1 DLn
1 0 DLn+DL1
1 1 DLn-DL1
After power ON, user can use DIx(147) and DIx(148)
to change the desired length.
DIx(147) DIx(148) Desired Length
OFF ON or OFF DLn
ON OFF DLn+DL1
ON ON DLn-DL1
337~339 387~389 437~439 487~489 Reserve These parameters reserved for special use, and must
set to 0 normally.
340 390 440 490 Resolver Shift Angle This parameter defines the shift angle between motor
and resolver.
341 391 441 491 Resolver Polarity This parameter defines the polarity of Sine Cosine
signal.
342~349 392~399 432~439 492~499 Reserve These parameters reserved for special use, and must
set to 0 normally.
49
5.2.12 Auto Point-to-Point Control
APTP Trapezoidal Speed Profile Generator
Example timing cahrt of Standard APTP function Block
Speed +DL3 time

-DL1
DIx(119) Direction
DIx(120) Pt.Sel.Bit0
DIx(121) Pt.Sel.Bit1
(assume SelBit2~4 not used) Select Point3(+) Select Point1(-)
DIx(118) APTP trig.
DOx(124) Servo end

193 Home Direction
F.193 Home Search Direction
194 Home Speed and Acc/Dec
0 Forward
1 Reverse
2 DIx(119) OFF: Forward, DIx(119) ON: Reverse
F.194 Home Search Speed and Acc/Dec
0 Normal Speed and Main Acc/Dec
1 JOG Speed and JOG Acc/Dec
Home Search Process
DIx Description
128  For absolute position control mode, must execute Home
(Home Start) Search process before execute APTP function.
129  F.193 defines home search direction and F.194 defines
(Home Stop(1)) Home search speed and Acc/Dec.
170  If DIx(129) is OFF and DIx(128) is triggered, the drive
(Home Stop(2)) will start Home Search process until DIx(129) is ON.
After Dix(129) ON, the drive start to search encoder
index, and automatically stop at the Index Offset
(L.568/569) position.
 If DI1(170) is OFF and DIx(128) is triggered, the drive
will start Home Search process until DI1(170) is ON.
After DI1(170) ON, the drive automatically stop at the
Index Offset (L.568/569) position from current position.
 The DOx(56) will ON immediately after start Home
Search (DIx(128) is triggered). When Home Search
complete, the DOx(56) will OFF automatically.
 DOx(57) is complement function of DOx(56).
 If DOx(128) ON, indicating Home Search already
performed. DOx(128) will OFF after drive RESET or
change to Speed Mode.
NOTE:
1. Only DI1 input can select DI1(170) function.
2. Cannot select DIx(129) and DI1(170) simultaneously.
138 Under Absolute APTP mode, trigger DIx(138) will command
(Return Home) the motor return to HOME position.
50
500 DL0 (Low)  These parameters store 32 points data used in Auto Point-to-Point operation.
501 DL0 (High)  If select Incremental mode, these values mean the desired Destination Length.
502 DL1 (Low)  If select Absolute Mode, these values mean the desired Destination Location.
503 DL1 (High)  Each Destination Location/Length is composed by two parameters forming an
504 DL2 (Low) 8-digital value. Named as DL0、DL1、DL2………DL31。
505 DL2 (High) DL0 = L.501 * 10000 + L.500
﹕ ﹕ DL1 = L.503 * 10000 + L.502
﹕ ﹕ ﹕
﹕ ﹕ ﹕
558 DL29 (Low) ﹕
559 DL29 (High) DL30 = L.561 * 10000 + L.560
560 DL30 (Low) DL31 = L.563 * 10000 + L.562
561 DL30 (High) Auto Point-to-Point Process
562 DL31 (Low) DIx Description
563 DL31 (High)  After DLn (DIx(120)~DIx(124)) and its polarity
(DIx(119)) selected, the drive will execute APTP function
118 when DIx(118) is triggered.
(APTP Trigger)  DOx(126) APTP Busy, if DOx(126) is ON, indicating
APTP is processing.
After DLn (DIx(120)~DIx(124)) selected,
 If DIX(119) OFF, the drive will execute APTP function
119
using +DLn value.
(Negative DLn)
 If DIX(119) OFF, the drive will execute APTP function
using -DLn value.
DIx(120)~DIx(124) are used for DLn selection.
 DIx(120): PTS0 Point Selection Bit0
120~124  DIx(122): PTS2 Point Selection Bit2
(PTS0~PTS4)  DIx(123): PTS3 Point Selection Bit3
After PTS0~PTS4 are selected, then DLn is selected:
n = PTS4 * 16 + PTS3 * 8 + PTS2 * 4 + PTS1 * 2 + PTS0
In APTP mode, after APTP process is completed the
135
SERVO-END flag will set (DOx(124) will ON), and DIx(135)
(Clear Servo
is used to clear SERVO-END flag.
End Flag)
DOx(125) is complement function of DOx(124).
195 Travel Limit
F.195 Description
564 Forward Travel Limit
0 No software Travel Limit
(Low)
565 Forward Travel Limit Enable Forward/Reverse software Travel Limit.
(High) 1  L.564/565 defines Forward Travel Limit value.
566 Reverse Travel Limit  L.566/567 defines Reverse Travel Limit value.
(Low)  If DOx(130) ON, indicating present position already exceeds Forward or
567 Reverse Travel Limit Reverse Travel Limit.
(High)  If DOx(131) ON, indicating present position already exceeds Forward Travel
Limit.
 If DOx(132) ON, indicating present position already exceeds Reverse Travel
Limit.
The function of DOx(130)~DOx(132) is enabled if F.195=1 and Home Search
already performed.
568 Index Offset (Low)
L.568/569 defines index offset of Home position.
569 Index Offset (High)
570 Position Error Limit While the drive is working under position mode (Tracking or APTP), with this
571 In Position Range function user can monitor the status of internal position control loop.
L.570 defines the warning clocks limitation.
L.571 defines the tolerance clocks of In-Position judgement.
Position Error = Position Desired – Position Feedback
DOx(52) will ON when│Position Error│≦ In Position Range
DOx(53) will ON when│Position Error│＞ In Position Range
DOx(54) will ON when│Position Error│≧ Position Error Limit
DOx(55) will ON when│Position Error│＜ Position Error Limit
576 μm Revolution (Low) L.576/577 defines the actual physical length when motors on revolution.
577 μm Revolution (High) Expressed in clocks.
51
6. Selection of Speed Source
Speed Source Select Pr040 is used for speed input source selection. Through F.040 setting, the speed input sources may
come from Control Panel, Memory, Analog Input, Up/Down Counter, or the combination of the above sources.
Speed Source Select F.040=cc.dd is composed of two selection “cc” and “dd” in one parameter, if Speed command
SW DIx(88) or Speed & Control SW DIx(90) is ON then Speed Source =”dd”, otherwise Speed source=”cc”.
6.1 Speed Source Selection Table
F.040 Speed Source Reference
0 Set value in F.000 6.2.1
1 By AI1 Input
6.2.2
2 By AI2 Input
3 Set value from Panel 6.2.1
4 Both the output Speed and direction determined by AI1
6.2.2
5 Both the output Speed and direction determined by AI2
6 By internal Up/Down Counter
6.2.3
7 By internal Up/Down Counter, and will preload Up/Down counter from F.000 after RESET.
8 Set value from Panel, with PRELOAD from & AUTO WRITE to F.000 6.2.1
9 Both the output Speed and direction determined by AI1, with Minimum RPM
6.2.2
10 Both the output Speed and direction determined by AI2, with Minimum RPM
11 By internal Up/Down Counter 6.2.3
12 Speed Set = AI1* (1 ± (F.070*AI2)), with Minimum RPM 6.2.4
13 Speed Set = AI2 ± (F.015 * (F.070*AI1)), with Minimum RPM 6.2.4
17 By AI1 Input, with Minimum RPM
6.2.2
18 By AI2 Input, with Minimum RPM
19 By internal Up/Down Counter, with PRELOAD from & AUTO WRITE to F.000 6.2.3
20 By AI2 Input, but with Reverse Slope and Minimum RPM 6.2.2
21 Speed Set = Panel (or Computer) Set * (1 ± (F.070*AI2)), with Minimum RPM 6.2.4
22 Speed Set = Panel (or Computer) Set ± (Maximum RPM * (F.070*AI1)), with Minimum RPM 6.2.2
25 By AI3 Input 6.2.2
26 Both the output Speed and direction determined by AI3. 6.2.2
27 Both the output Speed and direction determined by AI3, with Minimum RPM 6.2.2
28 Speed Set = AI1 * (1 ± (F.070*AI3)), with Minimum RPM 6.2.4
29 Speed Set = AI3 ± (Maximum RPM * (F.070*AI1)), with Minimum RPM 6.2.4
30 By AI3 Input, with Minimum RPM 6.2.2
31 By AI3 Input, but with Reverse Slope and Minimum RPM
6.2.2
32 By AI1 Input, but with Reverse Slope and Minimum RPM
33 Speed Set = Panel (or Computer) Set * (1± (Pr0.70*AI1))
6.2.4
34 Speed Set = Panel (or Computer) Set * (1± (F.070*AI3))
35 Speed Set = Panel (or Computer) Set ± (Maximum RPM * (F.070*AI2)), with Minimum RPM
6.2.4
36 Speed Set = Panel (or Computer) Set ± (Maximum RPM * (F.70*AI3), with Minimum RPM
37 Forward by AI1, Reverse by AI2
6.2.2
38 Forward by AI2, Reverse by AI1
39 Set value in F.000, with Minimum RPM 6.2.1
40 By PID Output 6.2.1
46 Set value in F.116 6.2.1
52
6.2 Description of Speed Source
6.2.1 Speed Source from Memory & Panel
F.040 Speed Source Description
0 F.000  The speed value stored in F.000 determines the output speed of the drive while running.
 The direction of the output phase sequence determined by control command (F.039).
3 Panel  If F.182=0, the set speed comes from Control Panel directly.
 If F.182=1, if communication option is used, the set speed comes from RS485
communication port.
 While the desired output speed is lower than Minimum RPM (H.316/366/416/466), the actual
output speed will maintain at the Minimum RPM.
8 Panel This mode is similar to F.040=3, with only two differences:
 When power ON or after RESET, the data in F.000 will preload into internal set speed buffer
 When using Control Panel, after changing set speed, the value in set speed buffer will write
back into F.000 automatically.
 While the desired output speed is lower than Minimum RPM (H.316/366/416/466), the actual
output speed will maintain at the Minimum RPM.
40 PID Output The PID Output determines the output speed of the drive while running. Refer to section 5.2.10
This parameter stored in RAM instead of EAROM. Therefore, it can be modify randomly and
quickly. Usually, it is used for computer control application.
6.2.2 Speed Source from Analog Input
1 AI1 Speed  The voltage (or current) signal fed into Analog
2 AI2 Input Terminal will be used to determine the
25 AI3 Max RPM output speed of the drive while running.
 The direction of the output phase sequence
determined by control command (F.039).
 If the input signal reaches maximum level, the
set speed is equal to Maximum RPM
(H.315/365/415/465)
 If the desired set speed is lower than minimum
Analog RPM (H.316/366/416/466), the drive will
Min RPM Input stop.
0 +5V、 +10V、
±10V、 20mA
4 AI1 Speed (Forward)  The voltage (or current) signal fed into Analog
5 AI2 Max RPM Input terminal will be used to determine the
26 AI3 output speed and the direction of the output
phase sequence of the drive.
 If the input signal reaches maximum level, the
set speed is equal to Maximum RPM
(H.315/365/415/465) in forward direction.
Min Min RPM Analog Input
 If the input signal is Zero, the set speed is equal
Min RPM Max to Maximum RPM in reverse direction.
Center  If the input signal around center level, the drive
will stop.
Signal Max Center Min
+5V +5V +2.5V 0V
Max RPM +10V +10V +5V 0V
Speed (Reverse)
±10V +10V 0V -10V
20mA 20mA 10mA 0mA
53
9 AI1  The voltage (or current) signal fed into Analog Input
10 AI2 Speed (Forward) terminal will be used to determine the output speed
27 AI3 Max RPM and the direction of the output phase sequence of
the drive.
 If the input signal reaches maximum level, the set
speed is equal to Maximum RPM
(H.315/365/415/465) in forward direction.
Min Min RPM Analog Input  If the input signal is Zero, the set speed is equal to
Maximum RPM in reverse direction.
Min RPM Max  If the input signal around center level, the drive will
Center run at Minimum RPM (H.316/366/416/466).
Signal Max Center Min
+5V +5V +2.5V 0V
+10V +10V +5V 0V
Max RPM
±10V +10V 0V -10V
Speed (Reverse) 20mA 20mA 10mA 0mA
17 AI1 Speed  The voltage (or current) signal fed into
18 AI2 Analog Input Terminal will be used to
30 AI3 M ax R PM determine the output speed of the drive
while running.
 If the input signal reaches maximum level,
the set speed is equal to Maximum RPM
(H.315/365/415/465)
 If the desired set speed is lower than
M in R PM A nalog minimum RPM (H.316/366/416/466), the
Input
drive will run at Minimum RPM.
0 +5V 、 +10V 、
±10V 、 20m A
20 AI2 Speed  The voltage (or current) signal fed into
31 AI1 Analog Input Terminal will be used to
32 AI3 M ax R PM determine the output speed of the drive
while running.
 If the input signal is Zero, the set speed is
equal to Maximum RPM
(H.315/365/415/465)
 If the input signal reaches maximum
A nalog
M in R PM Input level, the drive will run at Minimum RPM
(H.316/366/416/466).
0 +5V 、 +10V 、
±10V 、 20m A
37 AI1 & AI2  If the motor run in FORWARD direction, it is same as F.040=17, use AI1 as input source.
 If the motor run in REVERSE direction, it is same as F.040=18, use AI2 as input source.
38 AI1 & AI2  If the motor run in FORWARD direction, it is same as F.040=18, use AI2 as input source.
 If the motor run in REVERSE direction, it is same as F.040=17, use AI1 as input source.
 Set Jumper to match the input signal type and range. (Refer to section 1.2.3)
 If necessary, use F.089/090/091/092/191/192 to modify the input range. (Refer to section 5.2.6)
54
6.2.3 Speed Source from Internal Up/Down Counter
6 Up/Down *2 *3
F.0 0 0
7 Counter
11
19 D Ix(1 9 ) U P P relo ad
*1
D Ix(2 0 ) D O W N
In tern a l
U p /D o w n S p eed D es ire
D Ix(1 6 ) L O A D
C o u n ter C o u n ter O u tp u t
D Ix(1 5 ) C L E A R
D Ix(1 7 ) H O L D
1. If F.40=6,7,11or 19, the up/down counter is used to determined the output speed.
2. If F.40=7 or 19, the data in F.000 will preload into the Up/Down counter when Power ON or
Reset.
3. If F.40=19, after Up/Down execution, the content of Up/Down counter will write into F.000
automatically.
The signals come from Digital Input (DIx) terminal describe as following:
If DIx(15) is triggered, the content of the internal Up/Down Counter will
15 Clear
be set to the value of Minimum RPM (H.316/366/416/466).
If DIx(16) is triggered, the content of the internal Up/Down Counter will
16 Load
be set to the value of Maximum RPM (H.315/365/415/465).
If DIx(17) is triggered, the value of present output speed will be loaded
17 Hold
into the internal Up/Down Counter.
If DIx(19) is ON, the content of the internal Up/Down Counter will
19 Up
increase according to the rate of F.001.
If DIx(20) is ON, the content of the internal Up/Down Counter will
20 Down
decrease according to the rate of F.002.
Speed
M ax R PM
M in R P M
LO A D
H O LD
CLEA R
UP
DOW N
RUN
55
6.2.4 Set Speed from Two Speed Sources Combination
Set Speed Description
Master Speed * (100% ±
F.040 Master Speed Source Proportional Rate Source
(F.070 * Proportional Rate))
12 AI1 AI2
28 AI1 AI3
33 Control Panel or RS485 Port AI1
 F.070 (Analog Input Gain) defines the gain of Proportional Rate when set speed
determine by the combination of two speed sources.
 If the signal level of proportional rate is maximum, the modification rate is
(100%+F.070).
 If the signal level of proportional rate is minimum, the modification rate is
(100%-F.070).
 If the desired set speed is lower than minimum RPM (H.316/366/416/466), the drive
will run at Minimum RPM.
Typical application is as follows:
Master Speed
To Other Drive
Rate 3 Rate 2 Rate 1
Drive 1 Drive 2 Drive 3

Master Speed ± (Max RPM *
F.040 Master Speed Source Auxiliary Input
(F.070 * Auxiliary Input))
13 AI2 AI1
29 AI3 AI1
4
 F.070 (Analog Input Gain) defines the gain of Auxiliary Input when set speed
determine by the combination of two speed sources.
 If the signal level of Auxiliary Input is maximum, the modification quantity is
+(Maximum RPM * F.70).
 If the signal level of Auxiliary Input is minimum, the modification quantity is
-(Maximum RPM * F.70).
 If the desired set speed is lower than minimum RPM H.316/366/416/466), the drive
will run at Minimum RPM.
Typical application is as follows:
M1 M2
Position
D rive 1 D etector D rive 2
A uxiliary Input
M aster Speed Set To O ther D rive

inverters
56
7. Selection of Digital Input Function
7.1 Digital Input Function Related Parameters
140 DI0 Select  The configuration of Digital Input refer to section 1.2.1
141 DI1 Select  All Digital Input terminals are scanned every 2.0ms.
142 DI2 Select  Each Digital Input terminal can be configured individually by corresponding
143 DI3 Select DIx Select parameters.
144 DI4 Select  DI0 is connected to the Digital Output DO0 internally.
145 DI5 Select
146 DI6 Select
147 DI7 Select
148 DI8 Select
149 DI9 Select
150 DI10 Select
7.2 Selection Table of Digital Input Function
DIx Function Comment Reference
0 NULL No function
1 EMS Emergency Stop 7.3.1
2 SPD3 SPD3 Speed Set
5.2.4
5 JOG JOG Speed Set
6 OH Over Heat Alarm (Normal Open) 7.3.2
7 TMIA(1) Timer(1) Input (OFF-Delay Type) 7.3.3
9 FJR Forward JOG Run
7.3.1
10 RJR Reverse JOG Run
11 TMIB(1) Timer(1) Input (ON-Delay Type) 7.3.3
15 U/D CLEAR Set Up/Down Counter to Minimum RPM
16 U/D LOAD Set Up/Down Counter to Maximum RPM
17 U/D HOLD Hold Output Speed to Up/Down Counter 6.2.3
19 U/D UP Increase Up/Down Counter
20 U/D DOWN Decrease Up/Down Counter
21 ALARM CLEAR Clear Alarm when Alarm Occur 7.3.1
22 SET1(FF1) SET Input of Flip/Flop-1
23 CLR1(FF1) CLEAR Input of Flip/Flop-1
24 SET2(FF2) SET Input of Flip/Flop-2
7.3.4
25 CLR2(FF2) CLEAR Input of Flip/Flop-2
26 SET(FF1&FF2) SET Input to both Flip/Flop-1 and Flip/Flop-2
27 CLR(FF1&FF2) CLEAR Input to both Flip/Flop-1 and Flip/Flop-2
28 COUNTER INPUT Clock Input of Timer/Counter Block
7.3.3
29 COUNTER CLEAR Clear Input of Timer/Counter Block
30 /OH Over Heat (Normal Close) 7.3.2
36 TMIC(1) Timer(1) Input (ON/OFF Type) 7.3.3
46 TRACK + JOG Tracking Speed plus JOG Speed
47 TRACK – JOG Tracking Speed minus JOG Speed
5.2.9
58 TRACK + (AI1 * JOG) Tracking Speed plus (AI1*JOG Speed)
59 TRACK – (AI1 * JOG) Tracking Speed minus (AI1*JOG Speed)
64 XY MULTIPLY Select Multiply Rate of XY Input Clock 5.2.9
65 XY DIVISION Select Division Rate of XY Input Clock (F.133~136)
73 RUN FUNCTION Select RUN Function
5.2.5 (F.039)
74 REV FUNCTION Select REV Function
80 SPEED SW 1
81 SPEED SW 2
16 Step Speed Select 5.2.4
82 SPEED SW 3
83 SPEED SW 4
57
DIx Function Comment Reference
84 JOG ACC/DEC TIME
85 SPD1 ACC/DEC TIME
Acceleration/Deceleration Time Select 5.2.4
88 SPEED COMMAND SW Speed Command Select Switch Sec. 6
89 CONTROL COMMAND SW Control Command Select Switch 5.2.5 (F.039)
90 SPEED & CONTROL SW Speed and Control Command Select Switch 5.2.5、Sec.6
91 /TMIA(1) Complement of Timer(1) Input (OFF-Delay Type)
92 /TMIB(1) Complement of Timer(1) Input (ON-Delay Type)
93 /TMIC(1) Complement of Timer(1) Input (ON/OFF Cycle Type)
94 TMIA(2) Timer(2) Input (OFF-Delay Type)
95 TMIB(2) Timer(2) Input (ON-Delay Type) 7.3.3
96 TMIC(2) Timer(2) Input (ON/OFF Type)
97 /TMIA(2) Complement of Timer(2) Input (OFF-Delay Type)
98 /TMIB(2) Complement of Timer(2) Input (ON-Delay Type)
99 /TMIC(2) Complement of Timer(2) Input (ON/OFF Type)
100 DRIVE ENABLE & RUN Enable Drive and Assert RUN Command
7.3.1
101 /(DRIVE ENABLE & RUN) Complement of DIx(100)
102 DRIVE ENABLE Enable Drive to Standby State
7.3.1
103 /(DRIVE ENABLE) Complement of DIx(102)
106 POSITION/SPEED MODE Change between Position and Speed mode
5.2.11 (H.330)
107 /(POSITION/SPEED MODE) Complement of DIx(106)
108 TORQUE LIMIT SW Select Torque Limit Source
5.2.11 (H.333)
109 /(TORQUE LIMIT SW) Complement of DIx(108)
114 MSB0
Motor Parameter Group Select 5.2.5 (F.188)
115 MSB1
118 APTP TRIGGER Trigger start Auto Point-to-Point Function 5.2.12
119 NEGATIVE DLn VALUE Use Negative DLn for ATPT Position 5.2.12
120 PTS0 Point Select Bit0
122 PTS2 Point Select Bit2 5.2.12
126 TRACK/ATPT SW Change between TRACK and APTP mode
5.2.11 (H.331)
127 /(TRACK/ATPT SW) Complement of DIx(126)
128 HOME START Start Home Search Process
5.2.12
129 HOME STOP (1) Stop Home Search Process Type 1
135 CLEAR SERVO END FLAG Clear SERVO END Flag in APTP mode 5.2.12
138 RETURN HOME Command Motor return to Home Position 5.2.12
140 FWD TRAVEL LIMIT Forward Travel Limit Switch (Normal Open)
7.3.2
141 /(FWD TRAVEL LIMIT) Forward Travel Limit Switch (Normal Close)
142 REV TRAVEL LIMIT Reverse Travel Limit Switch (Normal Open)
7.3.2
143 /(REV TRAVEL LIMIT) Reverse Travel Limit Switch (Normal Close)
147 ENABLE DL1 COMPENSATION Desired Length=DLn plus (or minus) DL1
5.2.11 (H.335)
148 SELECT DL1 POLARITY Determine Plus or Minus DL1
149 LATCH EMS Emergency Stop and Latched until Drive Reset 7.3.1
160 PID SET POLARITY BIT Select PID Set Polarity
161 PID FB POLARITY BIT Select PID FB Polarity
162 PID RANGE BIT Select PID Range
163 PID OUTPUT POLARITY BIT Select PID Output Polarity 5.2.10
164 PID ENABLE BIT Enable PID Function
165 PID HOLD BIT Select PID Hold
166 PID AUTO GAIN ENABLE BIT Enable PID Auto Gain
168 TRACK + (PID OUTPUT * JOG) Tracking Speed plus (PID Output * JOG Speed)
5.2.9
169 TRACK – (PID OUTPUT * JOG) Tracking Speed minus (PID Output * JOG Speed)
170 HOME STOP (2) Stop Home Search Process Type 2 5.2.12
58
7.3 Description of Digital Input function
7.3.1 Control Function
1 EMS While drive running, if the DIx(1) is ON, then drive will stop the motor to ZERO
Speed immediately. If DIx(1) OFF, the drive will run at original Set Speed.
149 LATCH EMS While drive running, if the DIx(149) triggered, then drive will stop the motor to
ZERO Speed until the drive RESET or Power OFF.
9 FJR When DIx(9) is ON, the drive execute Forward-Jog-Run without RUN command.
10 RJR When DIx(10) is ON, the drive execute Reverse-Jog-Run without RUN command.
21 ALARM CLEAR If DIx(21) is ON, will RESET the drive only when ALARM had occurred.
Note: the RST terminal is used to RESET the drive no matter ALARM
occurred or not.
100 DRIVE ENABLE & RUN If DIx(100) is ON, enabled the drive and assert RUN command.
101 /(DRIVE ENABLE & RUN) DIx(101) is complement input of DIx(100).
102 DRIVE ENABLE If DIx(102) is ON, enabled the drive. RUN command is separately controlled.
103 /(DRIVE ENABLE) DIx(103) is complement input of DIx(102).
7.3.2 Protection Function
6 OH If DIx(6) ON or DIx(30) OFF, the drive will disable the output transistors, and
30 /OH show OH alarm message on control panel.
140 FWD TRAVEL LIMIT Under Absolute APTP mode, DIx(140) can connect to Forward Travel Limit
141 /(FWD TRAVEL LIMIT) Switch, if DIx(140) is ON, then the motor will not rotate any further toward
FORWARD direction.
DIx(141) is complement input of DIx(140).
142 REV TRAVEL LIMIT Under Absolute APTP mode, DIx(142) can connect to Reverse Travel Limit
143 /(REV TRAVEL LIMIT) Switch, if DIx(142) is ON, then the motor will not rotate any further toward
REVERSE direction.
DIx(143) is complement input of DIx(142).
7.3.3 Timer & Counter Function
7 TMIA(1) The drive built in two general purpose TIMERs. For example of Timer(1):
91 /TMIA(1)  Digital input DIx assigned to TMIA(1) function DIx(7), it serves as input of the
94 TMIA(2) OFF-DELAY timer.
97 /TMIA(2)  To assign a digital output DOx, which select TMOA(1) function DOx(14) to serve as
output of this timer.
 To define the timer time in F.071.
When the timer input TMIA(1) DIx(7) is ON, the timer output TMOA(1) DOx(14) will be
ON immediately. If the timer input TMIA(1) DIx(7) become OFF, the timer will start
counting time. After waiting the specified time period of F.071 then TMOA DOx(14)
become OFF.
 DIx(91) /TMIA(1) is complement input of DIx(7) TMIA(1).
 DOx(40) /TMOA(1) is complement output of DOx(14) TMOA(1).
TMIA(1)
DIx(7) The function of Timer(2) is same as Timer(1)
orPr.71  F.072 defines the timer time for Timer(2).
/TMIA(1)  DIx(94) TMIA(2) is the input of Timer(2).
DIx(91)  DIx(97) /TMIA(2) is complement input of
DIx(94) TMIA(2).
TMOA(1)  DOx(94) TMOA(2) is the output of Timer(2).
DOx(14)
F.071  DOx(97) /TMOA(2) is complement output of
DOx(94) TMOA(2).
/TMOA(1)
DOx(40)
59
11 TMIB(1) The drive built in two general purpose TIMERs. For example of Timer(1):
92 /TMIB(1)  Digital input DIx assigned to TMIB(1) function DIx(11), it serves as input of the
95 TMIB(2) ON-DELAY timer.
98 /TMIB(2)  To assign a digital output DOx, which select TMOB(1) function DOx(20) to serve
as output of this timer.
 To define the timer time in F.071.
When the timer input TMIB(1) DIx(11) is OFF, the timer output TMOB(1) DOx(20)
will be OFF too. Until the timer input TMIB(1) DIx(20) is ON and continue ON for a
specified time period of F.071 then TMOB DOx(14) become ON.
 DIx(92) /TMIB(1) is complement input of DIx(11) TMIB(1).
 DOx(41) /TMOB(1) is complement output of DOx(20) TMOB(1).
TMIB(1) The function of Timer(2) is same as Timer(1)
DIx(11)
 F.072 defines the timer time for
or Timer(2).
/TMIB(1)  DIx(95) TMIB(2) is the input of
DIx(92) Timer(2).
 DIx(98) /TMIB(2) is complement input
F.071 of DIx(95) TMIB(2).
TMOB(1)
DOx(20)  DOx(95) TMOB(2) is the output of
Timer(2).
/TMOB(1)  DOx(98) /TMOB(2) is complement
DOx(41) output of DOx(95) TMOB(2).
28 COUNTER INPUT F.108 (Counter Value) Monitors the value of clock input to counter.
29 COUNTER CLEAR F.109 (Counter Set) defines maximum clock input value of counter.
 Digital input DIx assigned to Counter Input DIx(28), it serves as input of Counter.
If DIx(28) triggered, the content of F.108 (Counter Value) will increase of 1.
 Digital input DIx assigned to Counter Input DIx(29), it serves as clear of Counter.
If DIx(29) triggered, the content of F.108 (Counter Value) will clear to zero.
 To assign a digital output DOx, which select Counter Over function DOx(140) to
serve as output of this counter, if Pr108≧F.109, then DOx(140) become ON.
 The minimum width of trigger signal is 5ms.。
 DOx(141) is complement output of DOx(140).
36 TMIC(1) The drive built in two general purpose TIMERs. For example of Timer(1):
93 /TMIC(1)  Digital input DIx assigned to TMIC(1) function DIx(36), it serves as input of the
96 TMIC(2) ON/OFF timer.
99 /TMIC(2)  To assign a digital output DOx, which select TMOC(1) function DOx(42) to serve
as output of this timer.
 To define the period of time for one ON/OFF cycle in F.071.
When the timer input TMIC(1) DIx(36) is OFF, the timer output TMOC(1) DOx(42) is
always under ON state. If the TMIC(1) DIx(36) is ON, then the TMOC DOx(42) will
start the stable ON/OFF cycle.
 DIx(93) /TMIC(1) is complement input of DIx(36) TMIC(1).
 DOx(43) /TMOC(1) is complement output of DOx(42) TMOC(1).
The function of Timer(2) is same
TMIC(1) as Timer(1)
DIx(36)
 F.072 defines the timer time
or
for Timer(2).
/TMIC(1)  DIx(96) TMIC(2) is the input
DIx(93)
of Timer(2).
 DIx(99) /TMIC(2) is
TMOC(1) complement input of DIx(96)
DOx(42)
TMIC(2).
 DOx(96) TMOC(2) is the
/TMOC(1) output of Timer(2).
DOx(43)  DOx(99) /TMOC(2) is
complement output of
F.071 F.071
DOx(96) TMOC(2).
60
7.3.4 Flip/Flop Function
22 SET1(FF1) DIx(26)
23 CLR1(FF1) Set A DOx(32) The drive built in two general purpose Flip/Flops .
DIx(22) Q
24 SET2(FF2) Set B Each Flip/Flop block has two SET inputs, two
25 CLR2(FF2) DIx(27) FF1 CLEAR inputs and two complementary outputs
Clr A _ DOx(33)
26 SET(FF1&FF2) DIx(23) for free selection.
Clr B Q
27 CLR(FF1&FF2)  If triggered Set A or Set B, will cause Q ON
DIx(26) and /Q OFF.
Set A DOx(34)
DIx(24) Q  If triggered Clr A or Clr B, will cause Q
Set B
FF2
OFF and /Q ON.
DIx(27)
Clr A _ DOx(35)
DIx(25) Q
Clr B
Application example: Use DI1, DI2, DO1 and DO2 as LATCH RELAY.
F.141=22 F.161=4
START
Driver F.142=23 F.162=32
DI1 F.143=23
STOP
DI2
DI3
ALARM Start
DO1
DO2 Stop or Alarm
RUN
RUN
Run
DCOM
61
8. Selection of Digital Output Function
8.1 Digital Output Function Related Parameters
Pr.nnn Function Description
161 DO0 Select  The configuration of Digital Output refer to section 1.2.2
161 DO1 Select  Each Digital Output terminal can be configured individually by corresponding DOx
162 DO2 Select Select parameters.
163 DO3 Select  DO0 is connected to the Digital Input DI0 internally.
164 DO4 Select  RY1 and RY2 pair terminals are NORMAL OPEN (1a) contacts of the output RELAY,
165 DO5 Select and named DO3.
166 DO6 Select Note: All of the Digital Outputs will go OFF for a short period when power ON or RESET.
8.2 Selection Table of Digital Output Function

DOx Function Comment Reference
0 OFF Always OFF 8.3.2
1 /(ENABLE) Not Enable 8.3.4
2 SPE Speed Equal
8.3.1
3 SPNE Speed Not Equal
4 ALM Alarm
8.3.4
5 NALM No Alarm
7 ENABLE Drive Enabled 8.3.4
8 SPO Speed Over
8.3.1
9 SPNO Speed Not Over
10 SPA Speed Arrive
8.3.1
11 SPNA Speed Not Arrive
14 TMOA(1) Timer(1) Output (OFF-Delay Type) 7.3.3 DIx(7)
15 SPZ Zero Speed
8.3.1
16 SPNZ Speed Not Zero
20 TMOB(1) Timer(1) Output (ON-Delay Type) 7.3.3 DIx(11)
32 Q1(FF1) Output of Flip/Flop-1
33 /Q1(FF1) Complement Output of Flip/Flop-1
7.3.4
34 Q2(FF2) Output of Flip/Flop-2
35 /Q2(FF2) Complement Output of Flip/Flop-2
38 ON Always ON 8.3.2
39 DO1 CLOCK Clock output (for DO1 only) 8.3.3
40 /TMOA(1) Complement of Timer(1) Output (OFF-Delay Type) 7.3.3 DIx(7)
41 /TMOB(1) Complement of Timer(1) Output (ON-Delay Type) 7.3.3 DIx(11)
42 TMOC(1) Timer(1) Output (ON/OFF Type)
7.3.3 DIx(36)
43 /TMOC(1) Complement of Timer(1) Output (ON/OFF Type)
52 IN POSITION Position Error <= In Position Range
53 /(IN POSITION) Position Error > In Position Range
5.2.12 (L.570)
54 ERROR OVER Position Error > Error Limit
55 /(ERROR OVER) Position Error <= Error Limit
56 SEARCHING HOME Drive is Searching Home Position
5.2.12 (DIx(128))
57 /(SEARCHING HOME) Drive is Not Searching Home position
70 (ENABLE) & (AI1>L.561) Drive Enabled and AI1 Input Level > L.561
71 (ENABLE) & (AI1<L.561) Drive Enabled and AI1 Input Level < L.561
72 (ENABLE) & (AI2>L.562) Drive Enabled and AI2 Input Level > L.562
8.3.4
73 (ENABLE) & (AI2<L.562) Drive is Enabled and AI2 Input Level < L.562
74 (ENABLE) & (AI3>L.563) Drive is Enabled and AI3 Input Level > L.563
75 (ENABLE) & (AI3<L.563) Drive is Enabled and AI3 Input Level < L.563
78 OL WARNING Over Load Level > 50%
8.3.4
79 /(OL WARNING) Over Load Level < 50%
80 AI1>L.561 AI1 Input Level > L.561
81 AI1<L.561 AI1 Input Level < L.561
8.3.4
62
DOx Function Comment Reference
86 ACCELERATING Under Acceleration status for Speed mode 8.3.4
87 DECELERATING Under Deceleration status for Speed mode 8.3.4
94 TMOA(2) Timer(2) Output (OFF-Delay Type) 7.3.3 DIx(7)
95 TMOB(2) Timer(2) Output (ON-Delay Type) 7.3.3 DIx(11)
96 TMOC(2) Timer(2) Output (ON/OFF Type) 7.3.3 DIx(36)
97 /TMOA(2) Complement of Timer(2) Output (OFF-Delay Type) 7.3.3 DIx(7)
98 /TMOB(2) Complement of Timer(2) Output (ON-Delay Type) 7.3.3 DIx(11)
99 /TMOC(2) Complement of Timer(2) Output (ON/OFF Type) 7.3.3 DIx(36)
123 ENCODER ZERO Pass Through Encoder Zero Point 8.3.3
124 SERVO END APTP Process is Completed
5.2.12 DIx(135)
125 /SERVO END Complement Output of DOx(124)
126 APTP BUSY APTP is Processing
5.2.12 (DIx(118))
127 /APTP BUSY Complement Output of DOx(126)
128 HOME EXIST Home Search is Completed
5.2.12 (DIx(128))
129 /HOME EXIST Complement Output of DOx(128)
130 TRAVEL LIMIT Position Exceeds Limit in Both Direction
131 FWD TRAVEL LIMIT Position Exceeds Forward Direction 5.2.12 (L.565)
132 REV TRAVEL LIMIT Position Exceeds Reverse Direction
140 COUNT OVER Counter Input Exceeds Counter Set Value
7.3.3 DIx(28)
141 /COUNT OVER Complement Output of DOx(140)
63
8.3 Description of Digital Output Function
8.3.1 Speed Monitor Function
DOx Function Description
2 SPE F.049 (Detect RPM) defines the threshold level for Speed Detector module.
3 SPNE F.050 (Detect Tolerance) defines the allowable tolerance for Speed Detector module.
8 SPO  If abs(Output Speed – F.049) < F.050, DOx(2) will ON.
9 SPNO  DOx(3) is complement output of DOx(2).
10 SPA  If Output Speed > F.049, DOx(8) will ON.
11 SPNA  DOx(9) is complement output of DOx(8).
15 SPZ  If (Set Speed - Output Speed) < F.050, DOx(10) will ON.
16 SPNZ  DOx(11) is complement output of DOx(10).
 If Output Speed < F.050, DOx(15) will ON.
 DOx(16) is complement output of DOx(15).
O utput Speed
Set Speed F.050
F.050
F.049 F.050
F.050 tim e
D O x(2)SPE
tim e
D O x(8)SP O
tim e
D O x(15)SP Z
tim e
D O x(10)S PA
tim e
8.3.2 ON/OFF Control Function
0 OFF When Digital Output DOx assigned to ON function DOx(0), the output status of DOx
38 ON will always OFF.
When Digital Output DOx assigned to OFF function DOx(38), the output status of DOx
will always ON.
This function is useful to control these Digital Outputs for other peripheral, independent
to the drive operation.
8.3.3 Pulse Output Function
39 DO1 CLOCK F.077 (DO1 Pulse Output Ratio) defines DO1 Pulse Output ratio, it used for DO1 Clock
frequency calculation.
If Digital Output DOx assigned to DO1 CLOCK function DOx(39), it serves as CLOCK
Generator. And Output Frequency = (Motor Speed (RPM)/60)*(POLE)/2)*(F.077)
 This function for DO1 only.
 Maximum output frequency is 1500Hz.
123 ENCODER ZERO If Digital Output DOx assigned to ENCODER ZERO function DOx(123), when the
motor rotates pass through Encoder Index, DOx(123) will be ON for 4ms, then change to
OFF state automatically.
64
8.3.4 Running Status Monitor Function
1 /(ENABLE) The output status of DOx(7) will be ON when the IGBT is triggered (drive is
7 ENABLE enabled), otherwise DOx(7) is OFF.
DOx(1) is complement output of DOx(7).
4 ALM The output status of DOx(4) is normally OFF when the drive detects No Alarm.
5 NALM If Alarm occurs, the output DOx(4) will ON immediately.
70 (ENABLE) & (AI1>L.561) If Digital Output DOx select DOx(70)~DOx(75) or DOx(80)~DOx(85), DOx are
71 (ENABLE) & (AI1<L.561) used to detect the input level of AIx respectively. If the comparison result is meet
72 (ENABLE) & (AI2>L.562) the condition of follows table, the output DOx will be ON, otherwise DOx is OFF.
73 (ENABLE) & (AI2<L.562) DOx Condition
74 (ENABLE) & (AI3>L.563) 70 AI1 > L.561 and drive is enabled
75 (ENABLE) & (AI3<L.563) 71 AI1 < L.561 and drive is enabled
80 AI1 > L.561 72 AI2 > L.562 and drive is enabled
81 AI1 < L.561 73 AI2 < L.562 and drive is enabled
82 AI2 > L.562 74 AI3 > L.563 and drive is enabled
83 AI2 < L.562
75 AI3 < L.563 and drive is enabled
84 AI3 > L.563
80 AI1 > L.561
85 AI3 < L.563
81 AI1 < L.561
82 AI2 > L.562
83 AI2 < L.562
84 AI3 > L.563
85 AI3 < L.563
 AI1 input level can be monitored by F.201.
 AI2 input level can be monitored by F202.
 AI3 input level can be monitored by F.203.
 Under this application, the value of L.561~L.563 should set in the range of
0~1023.
78 OL WARNING When F.054 =11, the OL level can be monitored by F.061.
79 /(OL WARNING) When DOx assigned to OL Warning function DOx(39), if OL level > 0%, then
DOx(78) will ON.
86 ACCELERATING When DOx assigned to ACCELERATING function DOx(86), if drive is
increasing its output speed, then DOx(86) will ON.
87 DECELERATING When DOx assigned to DECELERATING function DOx(87), if drive is
decreasing its output speed, then DOx(87) will ON.
65
9. RS485 Communication
9.1 RS485 Communication Port Related Parameters
The following parameters must pre-assigned before use RS485 communication function.
120 Protocol Select
F.120 Protocol
0 VEC Protocol
1 Modbus(RTU)
2 Profibus-DP
x Reserve
121 Baud Rate
F.121 Baud Rate
0 4800
1 9600
2 19200
3 38400
122 Stop Bit
F.122 Stop Bit
0 1
1 2
123 ID This parameter is used to assign the Communication Address while this drive
controlled RS485 communication port. Computer may control any drive by select
its corresponding ID.
124 Queue Status Monitors the number of data is queue up to write into EAROM memory.
125 Parity
F.125 Parity
0 Even
1 Odd
2 None
9.2 RS485 Port Configuration
The drive has a build in RS485 communication port on CON1 of Feedback I/O board, the definition of the connector
pins are:
CON1 (JAM-SC25-05WS)
Pin Number Pin Definition
PIN1 +5V
PIN2 0V
PIN3 A(SIG+)
PIN4 B(SIG-)
PIN5 N.C.
JP1 JP1 jumper of Feedback I/O board is used to select With/Without Terminal Resistor.
 JP1 on TR position, select with Terminal Resistor.
TR
 JP1 on NO position, select without Terminal Resistor.
O.C.
NO
O.C.
 RS485 Port can use to control multiple drives by connect the signal pin in parallel.
 The option of standard cable (CABLE_RS485) is used to transform JAM connector (CON1) into standard 9 pin
D-sub Male connector. The definition of the D-sub connector is:
9pin D-sub Male Connector Definition JAM Connector (CON1)
PIN1 N.C.
PIN2 N.C.
PIN3 N.C.
PIN4 A(SIG+) PIN3
PIN5 B(SIG-) PIN4
PIN6 0V PIN2
PIN7 N.C.
PIN8 N.C.
PIN9 N.C.
66
9.3 VEC Protocol & Format
All code transfer between Computer and Drive are ASCII code, and the “CR” code (0x0D) must add to the end of each
command string.
9.3.1 Computer to Drive
Computer may send three types of message to drive.
9.3.1.1 Control Command (No response will send back from drive)
Format: “C,uu,cc,fffff”
C : Head of COMMAND String.
uu : ID of drive, from 00 to 99.
If the “uu” code in command string is “00”, all drives can be controlled at the same time.
cc : Control command code, from 00 to 15.
The “cc” number is actually converted from four bits binary data.
cc= 8 * Bit-3(JOG) + 4 * Bit-2(Reverse) + 2 * Bit-1(RUN) + Bit-0(Reset)
Control Code Function
cc=00 Stop
cc=01 Reset
cc=02 Forward Run
cc=06 Reverse Run
cc=10 Forward JOG Run
cc=14 Reverse JOG Run
fffff : Set speed, from 00000 to 08000.
9.3.1.2 Write Command (No response will send back from drive)
format: “W,uu,nnn,ddddd”
W : Head of WRITE String.
If the “uu” code in command string is “00”, all drives can be controlled at the same time.
nnn : Parameter number, from 000 to 999.
ddddd : data value, from 00000 to 65535.
If data exceed upper or lower limit (shown in parameter table) will be trimmed within
boundary automatically.
9.3.1.3 Read Command (Drive will send back P-string after receive this string)
Format: “R,uu,nnn”
R : Head of READ String
Do not specify uu=00 for Read Command while multiple drives are under control.
67
9.3.2 Drive to Computer
Drive will send back Parameter data and its Status after receive Read Command from computer.
Format: “P,uu,nnn,tt,ddddd,s,aaaa”
P : P stands for PARAMETER String
This number is defined in F.093 of each drive.
tt : Data type of this parameter, from 00 to 22.
tt Data Type Data Range Format
0 Read/Write, store in EAROM 00000~65535 999.99
2 Read/Write, store in EAROM 00000~65535 99999
7 Read/Write, store in RAM 00000~65535 99999
999.99, if data >32767 which is
8 Read only, store in RAM 00000~65535
-(65536-ddddd)
9 Read only, store in RAM 00000~65535 999.99
11 Read only, store in RAM 00000~65535 99999
16 Read only, store in RAM 00000~00015 99999, (Binary)
20 Read only, store in RAM 00000~00001 99999, (Hex)
22 Read only, store in RAM 00000~00001 99999, (Hex)
ddddd : Data value, from 00000 to 65535.
s : Drive output status, from 0 to 9.
s = 1 : Drive Reverse Running
s = 2 : Drive Forward Running.
s = 3 : Drive Stop
else, undefined.
aaaa : Alarm history, from 0000 to 9999
The drive can record 4 Alarm messages.
Most significant digit stands for oldest Alarm message.
Least significant digit stands for present Alarm message.
Refer to section 5.2.8 (F.013) for Alarm code.
68
9.4 HMI Protocol (Modbus(RTU))
The option of Modbus(RTU) interface let drive simulate as Modicon PLC and can connect with HMI directly. Up to 8
drives can be controlled by one HMI for direct control and monitor.
9.4.1 Parameter Setting
9.4.1.1 HMI Setting
In fact, the drive simulate as Modicon PLC when connect with HMI, so communication protocol is similar to standard
Modus(RTU).
 Select Modbus(RTU)
 HMI serves as Master, address select “0”
 Drive serves as Slave, address select “1”.
 Data Bit select 8 bit data.
 Select Baud, Stop Bit and Parity。(8bit data)
9.4.1.2 Drive Setting
 F.120 = 1, select Modbus(RTU).
 F.121 = 0/1/2, select Baud Rate. 0 : 4800, 1 : 9600, 2 : 19200
 F.122 = 0/1, select Stop Bit. 0 : 1 stop bit, 1 : 2 stop bits
 F.123 = ID, ID selection as:
Drive 1, select ID=01
﹕
﹕
 F.125 = 0/1/2., select Parity. 0 : Even 1 : Odd, 2 : No Parity
NOTE: These parameters only effect after RESET.
9.4.2 Definition of Modbus(RTU) and Drive
When HMI communicate with Slave of Modbus(RTU), the address definition is:
 0x 1 ~ 0x 10000, Bit for Read/Write
 1x 1 ~ 1x 10000, Bit for Read only
 3x 1 ~ 3x 10000, Word for Read only
 4x 1 ~ 4x 10000, Word for Read/Write
 4L 1 ~ 4L 10000, Long Word for Read/Write
9.4.2.1 Corresponding Table of Read/Write Bit
HMI Address Digital Input Description
0x 1 DI 0  If HMI input Bit (0x 1 ~ 0x 11) = 1, means
0x 2 DI 1 the corresponding DIx is ON.
0x 3 DI 2  If HMI input Bit (0x 1 ~ 0x 11) = 0, means
0x 4 DI 3 the corresponding DIx is OFF.
0x 5 DI 4
0x 6 DI 5
0x 7 DI 6
0x 8 DI 7
0x 9 DI 8
0x 10 DI 9
0x 11 DI 10
0x 12 ~ 0x 15 Reserve
0x 16 RESET 0x 16 =1, drive execute RESET.
69
9.4.2.2 Corresponding Table of Read Only Bit
HMI Address Status Description
1x 1 DI 0  If the reading of HMI Bit = 1, means the
1x 2 DI 1 input states of corresponding DIx is ON.
1x 3 DI 2  If the reading of HMI Bit = 0, means the
1x 4 DI 3 input states of corresponding DIx is OFF.
1x 5 DI 4
1x 6 DI 5
1x 7 DI 6
1x 8 DI 7
1x 9 DI 8
1x 10 DI 9
1x 11 DI 10
1x 17 DO 0  If the reading of HMI Bit = 1, means the
1x 18 DO 1 Output states of corresponding DOx is ON.
1x 19 DO 2  If the reading of HMI Bit = 0, means the
1x 20 DO 3 Output states of corresponding DOx is OFF.
1x 21 DO 4
1x 22 DO 5
1x 23 DO 6
 1x 32 =0, Drive is normal
1x 32 Status
 1x 32 =1, Drive under Alarm
9.4.2.3 Corresponding Table of Read Only Word
HMI Address Parameter number
3x1 F.000
3x 2 F.001
3x 3 F.002
﹕ ﹕
﹕ ﹕
3x998 L.997
3x999 L.998
3x1000 L.999
9.4.2.4 Corresponding Table of Read/Write Word
4x1 F.000
4x 2 F.001
4x 3 F.002
﹕ ﹕
﹕ ﹕
4x998 L.997
4x999 L.998
4x1000 L.999
9.4.2.5 Corresponding Table of Read/Write Long Word
4L1 F.001(H)/F.000(L)
4L 2 F.002(H)/F.001(L)
4L 3 F.003(H)/F.002(L)
﹕ ﹕
﹕ ﹕
4L998 L.998(H)/L.997(L)
4L999 L.999(H)/L.998(L)
4L1000 Not Allow
70
10. Block Diagram of VECTOR Drive
R U
POWER S V
NFB IGBT Motor PG
SOURCE
T W
*1
E P
*1 B
15pin
BRAKE
N D-sub
X,Y pulse input command

9pin D-sub CON5 CON3 Feed Back
A,B pulse output
PC,MMI, RS485 CON1 CON4 9pin D-sub
PLC, etc.
Feed Back
DI7 Option AO2
DI8 AO3
DI9 ACOM
DI10
DO4
DO5
DO6
CON
AI1 AO1
AI2
AI3
Field Bus Option
5V
ACOM CON Master
DI1 JP5
CON DO select
DI2
type1
DI3 (NPN)
DI4
JP4 DI5 DO1 JP5
DI select DO2 DO select
DI6
type2 type2
RST CPU (PNP)
(PNP)
BOARD RY1
24V Relay
DCOM RY2 Output
JP4
DI select
type1
Shield
(NPN)
*1 Drive and Motor must connect Earth properly and separately.
71

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VECTOR

VB series Use’s manual

Safety precautions & warnings

1.5 Peripheral device connection diagram

1.6.4 Three phase 380V AC wiring example

1.7 Control input & output configuration

Main CPU Board

I/O & Feedback Option

AO2,3 DI7~10 & DO4~6

AO1 & AI1,2,3 DI1~6 & DO1,2 Ry1,2

1.7.1 Description of terminals in B-structure driver

PIN definition description

Select the voltage range of AI3

JP4 Select digital input signal type NPN

JP5 Select digital input signal type PNP

CON6：RS-485 communication interface, connect to the host controller

PIN definition color description

CON8：XY pulse signal input

CON9：AB pulse signal output

Analog signal input/output

Programmable digital input/output terminal

DI1～DI10 Programmable Digital input

JP5 Select DOx digital signal type PNP

3.5.8 Isolated analog input signal interface(optional function)

1.7.3 Description of terminals in C-structure driver

Definition of encoder interface(CN2)

PIN Signal Name PIN Signal Name

PIN Definition Description

b. Pin assignment and definition of VB-C non-economic driver

PIN Definition Description PIN Definition Description

Selection of signal type for DI/DO ：

1.7.5 Digital Output (DO0~DO6)

Open Collector output

DO1,2 and RY2

Sink/Source Select jumper

 JP4 upper position select Source input

NPN type DI/DO PNP type DI/DO

1.7.6 Analog input AI1, AI2 & AI3

±10V 0 ~ +5V 0 ~ +10V ±10V 0 ~ +5V 0 ~ +10V

+5V input from Terminal JP3B

20mA input from Terminal JP3B

1.7.7 Analog Output AO1, AO2 & AO3

1.7.8 Hardware RESET (RST)

XY Clock Input ABC Clock Input

Customer Prepare PG MOTOR

1.7.11 Option Field Bus Interface

⑴Single phase AC220Vservo driver

Single phase AC220Vservo driver

⑵Three pahse AC380V servo driver

Three pahse AC380V servo driver

2.2 Power Terminal

! WARNING: Never connect power line to U, V, W, P, N, B

! Warning: Never connect resistor to P & N terminal

Speed Loop Torque Limit Current loop Vq

Internal Speed Cmd CSW0 P-I Gain P-I Gain Vector

Pcmd/ CSW1 Clocks to Speed

4.3 Default Setting of some simple Examples