Tomatech k1 Manual

K1 series
AC Servo Driver
User’s Manual 2019（V2.5）
TOMATECH TECHNOLOGY CO.,LTD
All Rights Reserved
Website: www.tomatech-cnc.com
Support: info@tomatech-cnc.com
Tel/Whats App: +86 18617165968
Preface
● Thank you for purchasing this AC servo driver.
● This Manual is the user manual for K/iK series products.
● To use this series of servo drivers correctly, please carefully read this Manual before use and
keep this Manual properly for future reference. If this product is purchased for your customer,
please send this product to the final user together with this Manual.
☆ Warm tips:
◇For the user who uses this product for the first time, please carefully read this Manual. If
there is any question withthe function or performance of this product, please contact our
technical support staff for help in order to use this product correctly.
◇We have tried our best to improve the contents of this manual. However, if you find any
problem in this Manual, please contact our technical support staff in time for us to make
timely corrections.
◇As we will constantly improve our servo driver products, we may make changes to the
materials without prior notice.
◇Without prior written consent of the Company, no part of this manual shall be reproduced.
Safety Precautions
Before product storage, installation, wiring, operation, check or maintenance, users must be
familiar with and observe the following important notes to ensure safety during use of the product.
1. Electric Shock Injury Warning
Warning
When the servo driver is powered on, the machine casing should not be opened so as to avoid
electric shock.
When the casing is opened, the servo driver should not be powered on so as to avoid electric
shock resulting from exposed high voltage wire.
In maintenance of the driver, wait for at least five minutes after cutting off the power, and
detect both ends of the high-voltage capacitor using a voltmeter. The maintaining operation is
allowed only when it is confirmed that the safe voltage range is reached.
Power on only after reliable installation of the driver.
Servo driver and servo motor must be reliably grounded.
Do not touch the driver with wet hands for fear of electric shock.
Wrong voltage or power supply polarity may cause an explosion or operational accidents.
Ensure that the wire is properly insulated to avoid squeezing the wire and electric shock.
2. Warning of Damage to Equipment
Warning
Do not directly connect power to the U, V or W terminals of the driver for fear of damaging
the driver.
The servo motor and servo driver should be directly connected. Do not connect the U, V or W
output ends of the driver to any capacitive element (e.g. noise suppression filter, pulse
interference limiter, etc.) for fear of improper work of the driver.
Connect the input end of the driver to a compliant power supply as required.
Please verify the correctness and reliability of the cable connections before energizing.
Please purchase and use motor as required, or damage to the driver or motor may occur.
The rated torque of the servo motor should be higher than the effective continuous load
torque.
The ratio between the load inertia and servo motor inertia should be less than the
recommended value.
3. Fire Warring
Warning
The driver should not be installed on the surface of a combustible and should be kept away
from flammable materials. Otherwise, a fire accident may occur.
Do not use it at a place which is damp, full of corrosive gas or flammable gas for fear of a
fire.
When any abnormal situation occurs while the driver operates, please immediately cut off the
power for repair. Long-time overloaded operation of the driver may cause damage and fire.
Contents
Chapter I Function Overview...........................................................................................................1

1.1 Description of Servo Driver Models.....................................................................................1
1.2 Description of servo motor................................................................................................... 1
1.3 Basic Functions..................................................................................................................... 2
Chapter II Installation and Dimension................................................................................................3
2.1 Servo Driver....................................................................................................................3
2.1.1 Storage Condition............................................................................................... 3
2.1.2 Installation Site................................................................................................... 3
2.1.3 Installation Direction.......................................................................................... 3
2.1.4 Installation of Several Servo Drivers..................................................................3
2.1.5 Dimension Description....................................................................................... 5
2.2 Servo Motor.................................................................................................................... 7
2.2.1 Storage Temperature........................................................................................... 7
2.2.2 Direction............................................................................................................. 7
2.2.3 Installation Concentricity....................................................................................7
2.2.4 Installation Direction.......................................................................................... 8
2.2.5 Protection Measures Against Water and Oil.......................................................8
2.2.6 Cable Tension......................................................................................................8
Chapter III Wiring............................................................................................................................... 9
3.1 Profile of terminal........................................................................................................... 9
3.1.1 K series driver............................................................................................................ 9
3.1.2 iK series driver........................................................................ 错误！未定义书签。
3.1.3 K1、K2 series driver................................................................................................. 9
3.1.4 iK2 series driver.......................................................................................................10
3.2 Typical Examples for Main Circuit Wiring..................................................................... 10
3.2.1 K/iK series single axis 220V................................................................................... 10
3.2.2 K/iK series double axis 220V.................................................................................. 12
3.2.3 K/iK series single axis 380V................................................................................... 13
3.2.4 K1/K2 series............................................................................ 错误！未定义书签。
3.3 Control mode wiring........................................................................................................... 14
3.3.1 Control mode wiring of K/iK/K2............................................ 错误！未定义书签。
3.3.2 Control mode wiring of K1 series........................................................................... 14
3.3.3 Control mode wiring of iK2 series..........................................错误！未定义书签。
3.4 Encoder Signal Wiring........................................................................................................16
3.4.1 K/K2/iK2 series encoder......................................................... 错误！未定义书签。
3.4.2 iK series encoder..................................................................... 错误！未定义书签。
3.4.3 K1 series encoder.....................................................................................................17
3.4.4 Connection with Encoder Interface (CN1/CN2) and Processing of Output
Signal from CN3............................................................................................................... 17
3.5 Input/Output Signal Wiring.......................................................................................... 20
3.5.1 K/iK/K2 series input/output terminal..................................................................... 20
3.5.2 iK2 series input/output terminal..............................................错误！未定义书签。
3.5.3 K1 series input/output terminal............................................... 错误！未定义书签。
3.5.4 Interface Circuit................................................................................................ 21
3.6 Communication connection terminal signal definition...................................................... 23
3.7 Other wiring.................................................................................................................. 23
3.7.1 Precautions........................................................................................................23
3.7.2 Anti-interference Wiring...................................................................................25
3.8 Wiring of Motor............................................................................................................ 27
3.8.1 Connector Terminal Wiring for Motor Power Supply......................................27
3.8.2 Connector Terminal Wiring for Motor Encoder...............................................27
Chapter IV Panel Operation..............................................................................................................29
4.1 Basic Operation.............................................................................................................29
4.1.1 Key Names and Functions................................................................................ 29
4.1.2 Selection and Operation of Basic Mode...........................................................29
4.1.3 Status Display................................................................................................... 30
4.2 Auxiliary Function Mode (F□□□□)....................................................................... 32
4.2.1 Execution Mode List of Auxiliary Functions................................................... 32
4.2.2 Display of Software Version of Servo.............................................................. 32
4.2.3 Position Demonstration Operation................................................................... 33
4.2.4 Identification of Inertia Percentage.................................................................. 33
4.2.5 Confirmation of Motor Model..........................................................................34
4.2.6 Initialization of User Parameter Setup............................................................. 34
4.2.7 Displaying History Alarm Data........................................................................ 35
4.3 Operation under User Parameter Mode (P□□□□)..................................................35
4.3.1 User Parameter Setting..................................................................................... 35
4.3.2 Signal Distribution of Input Circuit..................................................................37
4.3.3 Signal Distribution of Output Circuit............................................................... 40
4.4 Operation under Monitoring Mode (Un□□□)..........................................................43
4.4.1 List of Monitoring Mode.................................................................................. 44
Chapter V Operation......................................................................................................................... 47
5.1 Trial Operation.............................................................................................................. 47
5.1.1 Trial Operation for Servo Motor Unit.............................................................. 47
5.1.2 Trial Operation for Servo Motor Unit with Superior Reference......................48
5.1.3 Trial Operation Servomotor Connected to the Machine.................................. 51
5.1.4 Trial Operation of Servomotor with Brakes..................................................... 52
5.1.5 Position Controlled by Command Controller...................................................52
5.2 Selection of Control Mode............................................................................................52
5.3 Setting of General Basic Functions.............................................................................. 53
5.3.1 Servo ON Setting.............................................................................................. 53
5.3.2 Rotation Direction Switching of Motor............................................................54
5.3.3 Overtravel Setting............................................................................................. 54
5.3.4 Setting for Holding Brake.................................................................................56
5.4 Use of Absolute Encoder.............................................................................................. 59
5.4.1 Interface Circuit....................................................................................................... 60
5.4.2 Selection of Absolute Encoder.................................................................................61
5.4.3 How to Use Battery..................................................................................................61
5.4.4 Giving and Receiving Sequence of Absolute Data................................................. 62
5.4.5 Setting of Absolute Encoder (F□009/ F□010)......................................................64
5.4.6 Clear of Multi-coil Data of Absolute Encoder........................................................ 64
5.4.7 Clear of Internal Errors of Bus Encoder..................................................................65
5.5 Speed Control (Analog Voltage Reference) Operation................................................ 65
5.5.2 Setting of Input Signal................................................................................... 66
5.5.3 Adjustment of Reference Offset....................................................................... 66
5.5.4 Soft Start........................................................................................................... 68
5.5.5 Use of Zero Clamping Function....................................................................... 70
5.5.6 Encoder Signal Output......................................................................................71
5.6 Position Control Operation........................................................................................... 73
5.6.2 Setting of Electronic Gear................................................................................ 74
5.6.3 Position Reference............................................................................................ 76
5.6.4 Smoothing......................................................................................................... 79
5.6.5 Positioning Completed Output Signal.............................................................. 79
5.6.7 Inhibition Function of Reference Pulse (INHIBIT Function)..........................81
5.7 Torque Control Operation............................................................................................. 82
5.7.2 Torque Reference Input.................................................................................... 82
5.7.3 Adjustment of Reference Offset....................................................................... 83
5.7.4 Speed Limit under Torque Control................................................................... 85
5.8 Speed Control (Internal Speed Selection) Operation................................................... 86
5.8.1 User Parameter Settings for speed control with an internally set speed.......... 86
5.8.2 Setting of Input Signal...................................................................................... 87
5.8.3 Operation at Internal Set Speed........................................................................ 87
5.9 Torque Limit................................................................................................................. 89
5.9.1 Internal Torque Limit (Limitation on Output Torque Maximum Value)..........89
5.9.2 External Torque Limit (through Input Signal)..................................................90
5.9.3 Torque Limit Based on Analog Voltage reference............................................91
5.9.4 Torque Limit Based on External Torque Limit + Analog Voltage Reference..92
5.9.5 Confirmation under Input Torque Limit...........................................................94
5.10 Control Mode Selection................................................................................................ 94
5.10.2 Shift of Control Mode.......................................................................................94
5.11 Other Output Signal...................................................................................................... 95
5.11.1 Servo Alarm Output (ALM)............................................................................. 95
5.11.2 Rotation Detection Output (/TGON)................................................................95
5.11.3 Servo Ready Output (/S-RDY).........................................................................96
5.12 Mode Motion Sequence Manner.................................................................................. 96
5.12.1 Single Data Set Manner.................................................................................... 96
5.12.2 Data Set Sequence Mode.................................................................................. 98
5.12.3 Operation of Seeking Reference Point (Return to Zero)................................103
Chapter VI Communication............................................................................................................ 107
6.1 Communication Wiring...............................................................................................107
6.2 User Parameter............................................................................................................107
6.3 MODBUS Communication Protocol................................................................................108
6.4 MODBUS Communication Address.................................................................................116
Chapter VII Maintenance and Inspection....................................................................................... 130
7.1 Abnormality Diagnosis and Treatment Methods........................................................130
7.1.1 Overview of Alarm Display............................................................................130
7.1.2 Alarm Displays and Their Causes and Treatment Measures..........................131
7.1.3 Causes and Treatment Measures of Other Abnormalities.............................. 141
7.2 Maintenance and Check of Servo Drive.....................................................................146
7.2.1 Check of Servo Motor.................................................................................... 146
7.2.2 Check of Servo Drive..................................................................................... 147
7.2.3 General Standards of Replacement of Internal Parts of Servo Drive............ 147
Appendix A Summary of User Parameters.....................................................................................149
Appendix B Table of iK Series M2 Drive Parameters................................................................... 185
Appendix C List of Alarm Display................................................................................................. 204
Appendix D Guidelines for Motor Model by Users....................................................................... 206
Motor Adaption Table............................................................................................................. 206
1、Universal type servo motor.......................................................................................207
2、A Series..................................................................................................................... 210
3、S Series......................................................................................................................211
4、HD-LFB series.......................................................................................................... 211
K1 Series AC Servo Driver
Chapter I Function Overview
1.1 Description of Servo Driver Models
Naming rule ofK / K1 / K2 servo driver:
E.g. K1AS08AA :
K1 Series 800W 220V single/three phase single axis output driver, encoder is incremental type
1.2 Description of servo motor
The description of universaltype servo motor:
1
1.3 Basic Functions

Control mode Position control, JOG running, speed contact, etc.
Encoder feedback 2500-line incremental standard and 17 bit incremental encoders
Ambient/storage
Ambient temperature: 0~+50℃; storage temperature: -20~+85℃
temperature
Use
Ambient/storage humidity Under 90%RH (no freezing or condensation)
conditions
Vibration/impact
4.9m/s2/19.6m/s2
resistance strength
Analog Reference voltage DC±10V
speed
reference Input impedance Appx. 20KΩ
input
Analog Reference voltage DC±10V
torque
reference Input impedance Appx. 20KΩ
input
Point 8 points
Servo ON (/S-ON), P action (/P-CON), positive-side over travel prohibited (P-OT),
IO input negative-side over travel prohibited(N-OT), alarm reset (/ALM-RST), positive-side torque
signal Function (distributable) limit (/P-CL), negative-side torque limit (/N-CL), position deviation clear (/CLR), internal
set speed switch, etc.
Distribution of above signals and change of positive/negative logics are available
Point 6 points
Servo alarm (ALM), position complete (/COIN), velocity compliance detection (/V-CMP),
IO output
Signal servo motor rotation detection (/TGON), servo ready (/S-RDY), torque limit detection
Function (distributable)
(/CLT), breaker (/BK), encoder zero point output (PGC)
Distribution of above signals and change of positive/negative logics are available
Encoder divided frequency output A-phase, B-phase and C-phase: linear drive output; divided pulse count: can be set freely
RS-485 Communication protocol MODBUS
communica 1:N communication N = 127 stations at maximum
tion Axial address setting Set by parameters
CAN Communication protocol CANOpen (DS301 + DS402 guild regulations)
communica 1:N communication N = 127 stations at maximum
tion Axial address setting Set by parameters
Display functions CHARGE indicator, 7-segment digital tube 5 bit
Regeneration processing Built-in or external regeneration resistor (optional)
Dynamic breaker (DB) stop, deceleration stop or free running stop during P-OT or N-OT
Overtravel (OT) prevention function
input action
Overcurrent, overvoltage, undervoltage, overload, overspeed, regeneration failure, encoder
Protection functions
feedback error, etc.
Rotation speed, current position, reference pulse accumulation, positional deviation, motor
Monitoring functions
current, operating status, input and output terminal signal, etc.
Auxiliary functions Gain adjustment, alarm record, JOG running, origin search, inertia detection, etc.
Intelligent function Built-in gain auto tuning function
Applicable load inertia Less than 5 times of the motor inertia
Feed-forward
0~100% (set unit: 1%)
compensation
Sign + pulse sequence, CW+CCW pulse sequence, 90 ° phase difference two-phase pulse
Input pulse type
(A phase + B phase)
Position Input pulse type Linear drive and open connector supported
control Linear drive：
Sign + pulse sequence, CW+CCW pulse sequence: 500Kpps
Maximum input pulse 90 ° phase difference two-phase pulse (A phase + B phase): 500Kpps
frequency Open connector：
Sign + pulse sequence, CW+CCW pulse sequence: 200Kpps
90 ° phase difference two-phase pulse (A phase + B phase): 200Kpps
2
Chapter II Installation and Dimension
2.1 Servo Driver
K series servo drivers are base-mounted and improper installation may give rise to
failures. Please install the servo driver properly by following the instructions below.
2.1.1 Storage Condition

The servo driver should be kept in a place with an ambient temperature of [-20~+85]℃ when
not used.
2.1.2 Installation Site

■ Temperature: 0～55°C;
■ Ambient humidity: not higher than 90% RH ( no condensation);
■ Sea level not higher than 1000 m;
■ Maximum vibration: 4.9m/s²;
■ Maximum Impact: 19.6m/s²;
■ Other installation precautions:
· Installed in a control cabinet
Attention should be paid to the size of the control cabinet, the placement mode of servo
driver and cooling mode, in order to ensure that the ambient temperature for the servo driver is
under 55℃. Please refer to description in Section 1.2.2 for operation details;
· Installed near heat source
The radiation of the heat source and temperature rise caused by convection should be under
control, in order to ensure that the ambient temperature for the servo driver is under 55℃;
·Installed near vibration source
A vibration isolation device should be installed to avoid vibration passing to the servo driver;
· Installed in a place exposed to corrosive air
Necessary measures should be taken to prevent the servo driver from exposing to corrosive
air. Corrosive air may not immediately affect servo driver but will obviously cause the failure of
electronic components and relevant elements of the contactor;
· Other occasions
Servo driver should not be put in occasions of high temperature, high humidity, condensation
dripping, oil splashing, dust, scrap iron or radiation;
Note: when cutting off the power to store the servo driver, please put the driver in a place
with the following environmental conditions:-20~85℃, 90% RH below (no condensation)
2.1.3 Installation Direction

The direction of installation should be vertical to the mounting surface and two mounting
holes should be used to reliably fix the servo driver on the installation base. If required, a fan
should be installed to compulsorily cool the servo driver.
2.1.4 Installation of Several Servo Drivers
3
If more than one servo driver should be installed in a control cabinet in parallel, the space
indicated below should be followed for installation and heat dissipation.
■ Installation direction of servo driver

The front (wiring side) of the servo driver should face the operator and should be vertical to
the mounting base.
■ Cooling
Adequate space should be reserved around the servo driver to ensure cooling through a fan or
free convection.
■ Parallel installation
As shown above, a space of above 10 mm should be reserved at both sides of the horizontal
direction and a space of above 50mm should be reserved at both sides of the vertical direction.
The temperature inside the control cabinet should be kept even to avoid excess temperature in
some parts of the servo driver. If necessary, a fan for compulsory cooling and convection should
be installed above the servo driver.
■ Environmental condition for normal operation of servo driver
1. Temperature: 0~ 55℃
2.Humidity: below 90%RH (no condensation)
3. Vibration: below 4.9m/s2
4. To ensure long-term stable use, it is recommended to use the servo driver under an
environmental temperature condition of 45℃ and below.
4
2.1.5 Dimension Description
（1）Installation dimension of K series：
Installation of K series-400W and 750W dimension:
（2）Dimension of 1.5kW /2.0kW（220V）and 2.0kW /3.5kW（380V）：
5
Dimension of 2.0kW：
Dimension of3.5kW /5.0kW（220V）和 5.0kW /7.5kW（380V）：
6
2.2 Servo Motor
The servo motor can be installed in horizontal or vertical direction. The service life of the
servo motor will be shortened significantly or unexpected accident may occur if any mechanical
mismatch occurs during installation. Please follow the instructions below for correct installation.
Precautions before installation:

Antirust agent is applied at the motor axis end and should be wiped off using a soft cloth dipped in
diluent before installation.
When wiping off the antirust agent, attention should be paid to prevent the diluent from contacting
other parts of the servo motor.
2.2.1 Storage Temperature

The servo motor should be kept in a place with an ambient temperature of [-20~+60]℃ when
not used.
2.2.2 Direction
Servo motor should be installed indoor and the indoor space should meet the following
environmental conditions.
 No corrosive, flammable or explosive air
 Good ventilation, little dust and dry environment
 Ambient temperature within 0~40℃
 Relative humidity within 26%~80%RH without condensation
 Easy for maintenance and cleaning
2.2.3 Installation Concentricity

Flexible coupling should be used as much as possible when connecting to machinery. In
addition, axis of servo motor should be placed in a straight line with that of mechanical load.
When installing servo motor, requirements for concentricity tolerance should be met as the
following figure.
Measure at quarter of a circle to make sure that difference between max. value and min.
value is lower than 0.03 mm. (rotating with coupling)
7
 Mechanical vibration will be caused by large concentricity deviation

and therefore will lead to damages to servo motor bearing.
 When installing coupling, axial percussion is prohibited, otherwise
damages will be caused to encoder of servo motor.
2.2.4 Installation Direction

Servo motors can be installed horizontally, vertically or in random direction.
2.2.5 Protection Measures Against Water and Oil
When using in places containing water, oil or condensation, it is required to take special
measures to motors as per protection requirements; however, motors with oil seals should be used
since protection requirements for shaft penetrating portion should be satisfied when motors
leaving factory. Shaft penetrating portion refers to interval between extension of motor end and
end flange.
2.2.6 Cable Tension

Bending radius cannot be too small when connecting cables. It is also not suggested to exert
too much tension in cables. Specially, diameter for core wire of signal line is usually very fine (0.2
or 0.3 mm), therefore too much tension cannot be exerted during wiring.
8
Chapter III Wiring
This section explains wiring examples of main circuit, functions of terminals in main circuit
and power ON sequence.
Notes
(1)Do not lead power lines and signal lines to the same pipe, nor bind them together. During wiring, power lines
should be kept over 30 cm away from signal line.Otherwise, malfunction may be caused.
(2)Multi-stranded wires and multi-core shielded wire should be used as signal lines and feedback wires for encoder
(PG).As for wire length, reference input wire should be 3m at most and 20 m at most for PG feedback wire.
(3)High voltage may be maintained in the servo driver even the power is turned off. Do not touch power terminal
within 5 minutes after power off.Inspection operation should be carried out when CHARGE indicator light is
confirmed to be off.
(4)Do not frequently turn on or off the power. If it is required to continuously turn on or off the power, frequency
should be limited to 1 time/min below.Due to capacitance in power of servo unit, large charging current (charging
for 0.2 s) will flow through when power is ON. Therefore, performance of components in main circuit within servo
unit will be damaged if power is turned on/off frequently.
3.1 Profile of terminal
3.1.1 K1 series driver (220V)
Terminal Functions Precautions for operation

Single/Three phase 220VAC
L1、L2、L3 Main circuit power (-15%~+10%) (50/60Hz):
If single phase, just connect L1&L3
Single phase 220VAC (-15%~+10%)
L1C、L2C Terminal of control power
(50/60Hz)
⊝1and⊝2are connected at
⊝1、⊝2 DC reactor
factory .
When using an external resistor,
connect bleeder resistor between
B1/⊕、B2、
Terminal of bleeder resistor B1/○+ and B2；Connect B2 and B3
B3
when use internal bleeder resistor, (B2
and B3 is shorted at factory).
Terminal of motor power line Must connected to the motor terminals
U、V、W、
and earthing terminal UVW
CN1 Terminal of motor encoder see instructions in 3.2
CN2 Terminal of input and output see instructions in 3.3.3
CN3 Notice the definition of the
Communication terminal
CN4 terminal，see instructions in 6.1
9
3.1.4 K1 series driver (380V)
Terminal Functions Precautions for operation

Three phase 380VAC (-15%~+10%)
L1、L2、L3 Main circuit power
(50/60Hz)
Single phase 380VAC (-15%~+10%)
L1C、L2C Terminal of control power
(50/60Hz)
When using an external resistor,
B1、B2 Terminal of bleeder resistor connect bleeder resistor between
B1/○+ and B2；
Terminal of motor power Must connected to the motor terminals

U、V、W、
line and earthing terminal UVW
24V, 0V Control power 20-32VDC
CN1 Terminal of motor encoder see instructions in 3.2
Terminal of input and
CN2 see instructions in 3.3.3
output
CN3 Notice the definition of the
Communication terminal
CN4 terminal，see instructions in 6.1
3.2 Typical Examples for Main Circuit Wiring
3.2.1 K1 series single axis 220V
10
P.S: if single phase connection, just connect L1 ,L2 and L1C , L2C
--------------------------------------------------------------------------------------------
Notes: design of power ON sequence
The following items should be considered during design of power ON sequence.
1. Design of power ON sequence: power should be OFF after output of signals of "servo alarm". (Refer
to the above circuit diagram.)
2. Press the POWER ON button for over 2 s. When control power of servo unit is ON, output 2s "servo
alarm" signal (1Ry: OFF). It is required to be done during initial setting of servo driver.
3. Power specification for used parts should match with input power.
------------------------------------------------------------------------------------------------------------------------------------------
11
3.2.2 K Series double axis 220V
12
3.2.3 K1 series single axis 380V
13
3.3 Control mode wiring
3.3.1 Control mode wiring of K1 series

（1）Position control mode
14
Brake connection:
CNC Controller connection (take TOMATECH CNC controller for example):
TOMATECH CNC Controller ------------- K1 Servo
Pin1 nCP+ Blue Pulse+ Pin1 Pulse+

Pin9 nCP- Gray Pulse- Pin14 Pulse-
Pin2 nDir+ White Direction+ Pin2 Sign+
Pin10 nDir- Brown Direction- Pin15 Sign-
Pin4 +24v red COM+ Pin6 COM+
Pin11 0v black 24V- Pin3 Alarm-
Pin11 0V black 24V- Pin25 Oz-
Pin5 nAlm green Alarm Pin16 Alarm+
Pin3 nPc yellow Z phase Pin13 Oz+
Pin7 En orange Servo On Pin19 Servo-on
Pin12 5V Purple
（2）Speed/torque control mode
15
3.4 Encoder Signal Wiring
Connecting cables between encoder and servo driver and their wiring pin No. vary with
servo motors.
16
3.4.1 K1 series encoder

K1 series’s encoder terminal (CN1) is DB15，Type：CD0515S21GO
K1series’s encoder
Terminal Signal name Terminal Signal name

No. 2500 17bit No. 2500 17bit
1 PG0V PG0V 8 V− —
2 A＋ — 9 U− —
3 A− — 10 C＋ E+
4 B＋ — 11 NC NC
5 B− — 12 W＋ SD+
6 PG5V PG5V 13 V＋ —
7 W− SD- 14 U＋ —
－－－ 15 C− E-
3.4.2 Connection with Encoder Interface (CN1/CN2) and Processing of Output

Signal from CN3
In the figure: *1: connector wiring pin No. varies with used servo motor.
*2: refers to multi-stranded shielded wire.
*3: connector wiring pin No. varies with used servo motor. 19 -25 is pin number for axis A of
single-axis or double axis motor; 44 - 49 is pin number of axis b of double-axis motor.
(1) 2500 incremental wire-saving encoder
17
(2) 2500 incremental standard encoder
18
(3) Bus incremental encoder
(4) Bus absolute encoder
19
3.5 Input/Output Signal Wiring
3.5.1 K1 series input/output terminal
K1 series I/O terminal（DB25，In the face of the plug welding）
Definition Terminal No Signal name Function description
Anode of the power supply of input terminal, used for driving

DICOM 6 Commom port of input signal the photoelectric coupler of the input terminal, DC12-24V, with
the current no less than 100mA.
Factory settings：
IN1 19
IN1：/SON；
IN2 7 Control sequence of input
IN2：/PCON
IN3 20 IO port command
IN3：POT
IN4 8
IN4：NOT
OUT1+ 16
OUT1- 3 Factory settings：
OUT2+ 17 Control sequence of OUT1：ALM
OUT2- 4 output IO port command OUT2：COIN
OUT3+ 18 OUT3：TGON(brake)
OUT3- 5
PULS+ 1 PULS+/SIGN+ is the positive end of differential pulse

PULS- 14 Pulse string input input.
SIGN+ 2 sequence PULS-/SIGN- is the negative end of differential pulse
SIGN- 15 input.
VREF / GNDis used as the speed reference input of
VREF 9
analog control
TREF 10 Analog control sequence
TREF / GND is used as the torque reference input of
GND 21
analog control
PAO+ 11
PAO- 23
PBO+ 12 Used for the frequency-dividing output of encoder
Encoder feedback
PBO- 24 feedback, which will be provided for the host
PCO+ 13
PCO- 25
CZ/DGND is used for Z signal output of the open
SEN 22 SEN signal input circuit of the collector, which will be provided for the
host.
20
3.5.2 Interface Circuit

Examples of connection of input/output signal of servo unit and its command controller are
shown as below.
(1) Interfaces to reference input circuit
(a) Analog input circuit
The following is to describe 5-6 (speed reference input) terminals and 18-25 (torque
reference input) terminals of CN3 connector.
Analog signal is the signal of speed reference or torque reference. Input impedance is shown
as below.
· Speed reference input: appx. 20 KΩ
· Torque reference input: appx. 20 KΩ
Maximum allowable voltage of input signal is 12 V.
(b) Position reference Input Circuit

The following is to describe 1-2 (reference pulse input) terminal and 3-4 (reference sign input)
terminal of CN3 connector.
Reference pulse output circuit at the side of command controller can be optional between bus
driver output and open-collector output, as classified as below.
(2) Interfaces to sequence control input circuit
21
The following is to describe IN1 - IN8 terminals of CN3 connector.

Connect through the transistor circuit of relay or open connector. Please select relay for
small current when using relay for connection. If otherwise, bad contact will occur.
Note: For interface of SEN signal input circuit, please refer to Chapter "Usage of Absolute
Value Encoder".
(3) Absorption circuit and release circuit
Use two-way photocoupler as input circuit of servo driver. Please select absorption circuit
connection and release circuit connection according to the specification required for the machine.
(4) Interfaces to output circuit

(a) Bus driver (differential) output circuit
The following is to describe 19-20 (A phase signal) terminals, 21-22 (B phase signal)
terminals and 23-24 (C phase signal) terminals of CN3 connector.
Output signal (PAO/PAO, PBO/PBO), origin pulse signal (PCO/PCO) and S phase rotation
quantity signal (PSO/PSO) that convert the 2 phases (A, B) of serial data for encoder are outputted
by bus driver output circuit, which is generally used when servo unit forms position control
system at the side of command controller through speed control. At the side of command
controller, please use bus receiver circuit to receive.
(b) Photocoupler output circuit
Servo alarm (ALM), servo ready (/S - RDY) and other sequence signals are constituted by
photocoupler output circuit and are connected through relay circuit or bus receiver circuit.
22
Note: maximum allowable voltage and current capacity of photocoupler output circuit are shown
as below.
• Maximum voltage: DC 30 V
• Maximum current: DC 50 mA
3.6 Communication connection terminal signal definition
Kseries communication connection terminal signal definitionare as follows：

Terminal No 1 2 3 4 5 6 7 8
CN3 CANH CANL GND GND RS485+ RS485- Reserved Reserved
mane
CN4 CANH CANL GND GND RS485+ RS485- Built in 120 ohm resistor
★ Note：
K1 series 485commumication terminalisCN3、CN4；
3.7 Other wiring
3.7.1 Precautions
1. For reference input and wiring leading to encoder, please use the specified cable. Please select
the cable with shortest connection distance.
2. Use heavy wire (above 2.0 mm2) whenever possible as grounding wire.
· Grounding superior to D type (with grounding resistance of below 100 Ω ) is
recommended.
· It must be one-point grounding.
· Please directly ground the servo motor when servo motor and machine are insulated from
each other.
3. Do not blend or impose tension on the wire.
Core wire thickness of cable for signal is only 0.2 mm or 0.3 mm, so be careful when using
it.
4. For radio frequency interference, please use noise filter.
23
· When it is used around residences or radio frequency interference is concerned, please

insert noise filter at the input side of power wire.
· Since servo unit is industrial equipment, no countermeasure is taken against radio frequency
interference.
To prevent misoperation due to noise, the following approaches are effective.
· Please locate reference input equipment and noise filter close to servo unit where possible.
· Please be sure to install surge suppressor on the coils of relay, solenoid and electromagnetic
contactor.
· Please separate power wire (high voltage circuit of power wire, servo motor wiring, etc.)
and signal wire while wiring, with the interval kept above 30 cm. Do not put them into the same
pipeline or bind them.
· Do not use the same power as electric welding machine, electrical discharge machine, etc.
Even if so, please insert noise filter at the input side of power wire when there is high frequency
generator around.
6. Use molded case circuit breaker (QF) or fuse to protect power wire.
· The servo driver is directly connected to industrial power wire. To protect servo system from
cross electric shock accident, please be sure to use molded case circuit breaker (QF) or fuse.
7. There is no built-in grounding protection circuit in servo driver. To form a safer system, please
configure residual-current circuit breaker for both overload and circuit protection, or
residual-current circuit breaker with supporting molded case circuit breaker for special
protection of ground wire.
------------------------------------------------------------------------------------------------------------------------------------------
24
3.7.2 Anti-interference Wiring

(1) Example of anti-interference wiring
"High speed switch element" is used for the main circuit of this servo driver, which may be
subject to the influence of switch and noise because of switch element depending on the peripheral
wiring and grounding processing of servo driver. Therefore, proper grounding and wiring process
are necessary.
Microprocessor (CPU) is built in the servo driver, so "noise filter" is required to be
configured in place to prevent as much external interference as possible.
(2) Proper grounding processing
(a) Grounding of motor framework
Please be sure to connect the motor frame terminal "FG" of servo motor to the grounding
terminal "PE" of servo unit. In addition, grounding terminal "PE" must be grounded.
When servo motor is grounded via a machine, switch interference current will flow from the
power part of servo unit through the stray capacitance of servo motor.
The above are precautions for such influence.
(b) When there is interference on reference input wire
When there is interference on reference input wire, please ground the OV wire (GND) of the
input wire. When passing the main circuit wiring of motor through a metal conduit, please ground
the conduit and its junction box.
Please conduct one-point grounding for the above grounding processing.
(3) Usage of noise filter
Use blocking noise filter to prevent interference from power wire. Besides, insert noise filter
for power wire of peripheral devices as required.
-------------------------------------------------------------------------------------------------------------------------------------
■ Noise filter for brake power
When using servo motor (below 400 W) with holding brake, please use the following
noise filter at the power input of brake.
Model: FN2070-6/07 (manufactured by SCHAFFNER)
■ Precautions for operation of noise filter
When installing and wiring noise filter, please follow the following precautions. In
case of misoperation, noise filter will be greatly less effective.
1. Please separate input wiring from output wiring and do not put them into the same pipeline or
bind them together.
25
2. Separate the grounding wire of noise filter from its output wiring.
Please do not put the output wiring of noise filter and other signal wires and grounding wires
into the same pipeline or bind them together.
3. Connect the grounding wire of filter alone with grounding plate and do not connect other
grounding wires.
4. Processing of grounding wire of noise filter within a device
26
When there is a noise filter within a certain device, please connect the grounding wire of this
filter and that of other machines to the bound grounding plate and then proceed to grounding.
3.8 Wiring of Motor
3.8.1 Connector Terminal Wiring for Motor Power Supply

(1) Power socket (4-pin AMP and 4 straight pin aviation type) of series less than or equal to 90:
Terminal pin NO. 1 2 3 4
Signal U V W PE
(3) Power socket (4-pin) ofseries greater than or equal to 100:

Terminal pin no. 1 2 3 4
Signal PE U V W
4-pin AMP 4 straight pin bent type 4 straight pin aviation type
1-PE，2-U，3-V，4-W
1-U，2-V，3-W，4-PE 1-U，2-V，3-W，4-PE
3.8.2 Connector Terminal Wiring for Motor Encoder

(1) Non-wire saving encoder socket (15-pin AMP) of series less than or equal to 90.
Terminal No. 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15
Signals PE 5V GND B+ Z- U+ Z+ U- A+ V+ W+ V- A- B- W-
(2) Non-wire saving encoder socket (15-pin) of series greater than or equal to 110.Vacancy of U+,
U-, V+, V-, W+,W- for wire-saving encoder.
27
Terminal No. 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15
Signals PE 5V GND A+ B+ Z+ A- B- Z- U+ V+ W+ U- V- W-
(3)Wire-saving encoder socket(3 rows and 9-pin AMP)

Terminal No. 1 2 3 4 5 6 7 8 9
Signals 5V GND A+ A- B+ B- Z+ Z- PE
(4) Motor absolute encoder socket (7-pin):

Terminal No. 1 2 3 4 5 6 7
Signals PE E- E+ SD- GND SD+ +5V
28
Chapter IV Panel Operation
4.1 Basic Operation
4.1.1 Key Names and Functions

Through panel, such functions as switch of A-axis and b-axis display and operation, setting of
various parameters, execution and status display of JOG running reference can be achieved. The
following is a list of key names and functions.
Symbol Name Functions

Basic function switch: status display, auxiliary function,
parameter setting and monitoring
Function key
Long press to switch between A-axis and b-axis display and
operation
Press UP to increase set value
UP Functioning as start key of positive rotation during JOG
running in auxiliary function mode
Press DOWN to reduce set value
DOWN Functioning as start key of negative rotation during JOG
running in auxiliary function mode
Press the key to shift the selected bit (the decimal point of
Shift key
which flickers) one bit to the left
Press the key to display the setting and set value of parameters,
SET
and access parameter setting status and clear alarm
In the mode of status display, press SET to clear alarm, which can also be done by using
alarm removal input signal/ALMRST.
Note: in case of alarm ringing, first eliminate alarm causes and then remove alarm.
4.1.2 Selection and Operation of Basic Mode

Through switching the basic modes of panel operator, such operations as running status
display, parameter setting and running reference can be done.
29
Basic modes include status display mode, parameter setting mode, monitoring mode and
auxiliary function mode. After Key M is pressed, the modes switch in the order as shown in the
following figure.
4.1.3 Status Display

Distinguishing method of status display is shown as below:
■ Display content of bit data

Velocity/torque control mode Position control mode
Item
Bit data Display content Bit data Display content
Light on when servo ON Servo ON
① A axisRunning A axisRunning
(power being supplied to motor) (power being supplied to motor)
② A axisSame speed Light on when gap between motor A axisPositioning Light on when offset of actual
30
(/V-CMP) speed and reference speed is completed motor position and position
lower than the specified value (/COIN) reference is lower than the
Specified value: PA503 specified value
(Factory default: 10 rpm) Specified value: PA500
(Factory default: 10 pulse)
Light on when motor speed is Light on when motor speed is
A axis A axis
higher than the specified value higher than the specified value
③ Rotation detection On rotation detection
Specified value: PA502 Specified value: PA502
(/TGON) (/TGON)
(Factory default: 20 rpm) (Factory default: 20 rpm)
Servo on limit: Servo on limit:
Light on indicates P-OT status Light on indicates P-OT status
A axis A axis
④ Light off indicates N-OT status Light off indicates N-OT status
P-OT/N-OT P-OT/N-OT
Flickering indicates P-OT/N-OT Flickering indicates P-OT/N-OT
status status
b axis Light on when servo ON b axis Light on whenservo ON
⑤
Running (power being supplied to motor) Running (power being supplied to motor)
Light on when offset of actual
Light on when gap between motor
motor position and position
b axis speed and reference speed is b axis
reference is lower than the
⑥ Same speed lower than the specified value Positioning completed
specified value
(/V-CMP) Specified value: PB503 (/COIN))
Specified value: PA500
(Factory default: 10 rpm)
(Factory default: 10 pulse)
Light on when motor speed is Light on when motor speed is
b axis b axis
higher than the specified value higher than the specified value
⑦ Rotation detection Rotation detection
Specified value: PA502 Specified value: PA502
(/TGON) (/TGON)
(Factory default: 20 rpm) (Factory default: 20 rpm)
Servo on limit: Servo on limit:
Light on indicates P-OT status； Light on indicates P-OT status；
b axis b axis
⑧ Light off indicates N-OT status； Light off indicates N-OT status；
P-OT/N-OT P-OT/N-OT
Flickering indicates P-OT/N-OT Flickering indicates P-OT/N-OT
status； status
Light on when main circuit power Light on when main circuit
Main power supply is normal； Main power supply power is normal；
⑨
Ready Light off when main circuit Ready Light off when main circuit
power is cut off power is cut off
■ Display content of abbreviated sign

Abbreviated signs Display content
A-axis and b-axis servos are OFF
(no power being supplied to A-axis and b-axis motors)
A-axis servo is ON
(power being supplied to A-axis motor)
b- axis servo is ON
(power being supplied to b-axis motor)
31
A-axis servo is P-OT/N-OT

(required to be judged depending on P-OT/N-OT bits in A-axis bit display)
b-axis servo is P-OT/N-OT
(required to be judged depending on positive and negative rotation in b-axis bit display)
A axis is in alarm state
displaying alarm number
b axis is in alarm state
displaying alarm number
4.2 Auxiliary Function Mode (F□□□□)
4.2.1 Execution Mode List of Auxiliary Functions

This part describes the application operation of digital operator for motor running and adjustment.
The following lists the user parameters of auxiliary function execution modes and their functions.
Auxiliary
Functions
function NO.
F□000 Display of software version of servo
F□001 Position demonstration (effective only in position mode)
F□002 Jogging (JOG) mode running
F□003 Identification of load inertia percentage (compared to inertia of motor body)
F□004 User password authentication
F□005 Motor model confirmation
F□006 Manual adjustment of speed reference offset
F□007 Manual adjustment of torque reference offset
F□008 Automatic adjustment of (speed, torque) reference offset
F□009 Clear of multi-coil information data of bus encoder
F□010 Clear of internal errors of bus encoder
F□011 Initialization of user parameter setting
F□012 Display of history alarm data
Note: in the list "□" displaying "A" indicates it is now in A-axis auxiliary function mode,
and displaying "b" indicates it is now in b-axis auxiliary function mode.
4.2.2 Display of Servo Software Version

The following are operation steps for display of A-axis software version.
Operation Operation
Operation instruction Display after operation
steps key
Press M function key and select auxiliary function mode to
1
set the current mode as A-axis auxiliary function mode.
Press M function key (for more than 1 second) and switch to
2
auxiliary function mode of b axis, which will display Fb000.
Press UP or DOWN and select the desired auxiliary function
3
Fb000.
32
Press SET and A-1.00 is displayed, which indicates processor

4
program version is V1.00.
Press Shift key and P-1.00 is displayed, which indicates
5
FPGA program version is V1.00.
6 Press SET key to return to the display of Fb000.
4.2.3 Position Demonstration Operation

The following are operation steps for display of A axis position demonstration.
Operation Operation
steps key
Press M function key (for more than 1 second) and
1 switch to auxiliary function mode of A axis, which
will display FA000.
Press UP or DOWN and select the desired auxiliary
2
function FA001.
Press SET and "2PCLr" is displayed and initiate
3
position demonstration operation.
Press SET (for more than 1 second) until the
4 display flickers “donE” to indicate position
demonstration operation has been completed.
5 Press SET to return to the display of FA001.
4.2.4 Identification of Inertia Percentage

The following are operations steps for display of A-axis inertia percentage detected in normal
mode (by turning 3 circles clockwise and another 3 circles counterclockwise).
Operation Operation
steps key
Press M function key to select parameter setting
1 mode for A-axis. If PA127 is not displayed, press UP
or DOWN to set.
Press SET to display "H1341.", whose decimal point
2
in bit 0 flickers.
Press shift key for three times and select Bit 3 of the
3 displayed number, after which "H1.341" is displayed
and the decimal point in Bit 3 flickers.
4 Press UP and change the data to display "H2.341".
5 Press SET to return to the previous menu.
33
Press M function key and select the desired auxiliary

6
function FA003.
Press SET to display the operation interface "-JIn-"
7
for display of inertia identification percentage.
Press M function key, initiate inertia identification
operation by rotating motor 3 circles clockwise and
8
another 3 circles counterclockwise, after which
display flickers "donE".
After detection, inertia percentage currently detected
9 ——
is displayed.
10 Press SET to return to the display of Fb000.
4.2.5 Confirmation of Motor Model

It is the function for confirming the model, capacity and encoder model of servo motor being
controlled by servo driver.
Operation Operation
steps key
Press M function key to select A-axis auxiliary
1 function mode. If FA005 is not displayed, press UP
or DOWN to set.
2 Press SET, and "A.0004" is displayed.
3 Press Shift key and "b.0220" is displayed.
4 Press Shift key and "C.0010" is displayed.
5 Press Shift key and "d.0020" is displayed.
6 Press SET, and "A.0004" is displayed.
4.2.6 Initialization of User Parameter Setup

Operation steps to initialize A axis user parameter setup are as follows.
Operation Operation
steps key
Press M function key to select auxiliary function
1 mode for A axis. In case of failing to display
FA011, press UP or DOWN to set.
2 Press SET to start parameter initialization.
34
Press SET (for more than 1 second) until the

3 display flickers “donE” to indicate A axis user
parameter has been initialized.
4.2.7 Displaying History Alarm Data

Ten previous alarms can be validated at most. The history alarm records can be cleared
by a long press on SET. The history alarm data will not be cleared by alarm reset or servo
power-off. Moreover, the alarm history data will not impact the operation.
See "Abnormality Diagnosis and Treatment Methods" for alarm content.

1、 In case of continuous occurrence of the same alarm, the alarm history data will not update.
2、 The alarm history data displayed as “A--” or “b--” indicate zero alarm.
Validate the history alarm according to the following steps.
Operation Operation
steps key
Press M function key to select auxiliary function mode for A axis.

1
In case of failing to display FA012 press UP or DOWN to set.
2 Press SET to display "0-A03" and the previous alarms.
Press UP to display the last history alarm (press DOWN to

3
display the next new alarm).
Press UP to display the alarms in order.
4
* “A--” or “b--” indicates "Zero Alarm".
4.3 Operation under User Parameter Mode (P□□□□)
Functions can be selected or adjusted by setting parameters. User parameters consist of

"Parameter Setting" and "Function Selection". Parameter Setting functions to change the
parameter data to be adjusted in a certain range and Function Selection works to select the
functions distributed to bit numbers of penal operator.
4.3.1 User Parameter Setting
35
(1) Parameter setting

(a) Categories of “Parameter Setting”
See "List of User Parameters".
(b) Example to change "Parameter Setting"
The Parameter Setting based user parameters specify data by numerical values directly.
The range of change is validated by List of User Parameters. For example: the operation steps
to change b axis user parameter Pb100 (Speed loop gain) from "40" to "100" are shown as
follows.
Operation Operation
steps key
1 Press M function key to select parameter setting mode
Press M function key (for more than 1 second). Pb000

2
is displayed and the decimal point in Bit 0 flickers
Press shift key twice and select Bit 2 of the displayed
3 number. Pb0.00 is displayed and the decimal point in
Bit 2 flickers
4 Press UP to change the data and Pb1.00 is displayed
5 Press SET to display current Pb100 data

6 number. 000.40 is displayed and the decimal point in
Bit 2 flickers
7 Press UP to change the data and 010.00 is displayed
Press SET to return to the display of Pb1.00. The

8 content of b axis speed loop gain, Pb100, changes from
"400" to "1000"
(2) Function selection

(a) Categories of "Function Selection"
Also See "List of User Parameters".
(b) Example to change "Function Selection"
Example: the operation steps to change the control method (PA000.1) of basic switch PA000
for A axis function selection from speed to position are listed as follows.
Operation Operation
steps key
1
PA0.00 is displayed
Press SET to display current PA000 data. The
2
decimal point in Bit 0 flickers
36
Press shift key and select Bit 1 of the displayed

3 number. H000.0 is displayed and the decimal point
in Bit 1 flickers
Press UP to change the data and H001.0 is
4
displayed
Press SET to return to the display of PA0.00 and
5 the control approach for A axis has changed to
position control
(c) User parametric representation of the Manual

The user parameters for function selection are represented with hexadecimal system and
every bit of the set value has respective meaning.
User parameters for function selection in the Manual are represented as follows.
PA000.0 or A.Hxxx□ stands for the set value "0-bit data" of A axis user parameter "PA000".
PA000.1 or A.Hxx□x stands for the set value "1-bit data" of A axis user parameter "PA000".
PA000.2 or A.Hx□xx stands for the set value "2-bit data" of A axis user parameter "PA000".
PA000.3 or A.H□xxx stands for the set value "3-bit data" of A axis user parameter "PA000".
Pb000.0 or b.Hxxx□ stands for the set value "0-bit data" of b axis user parameter "Pb000".
Pb000.1 or b.Hxx□x stands for the set value "1-bit data" of b axis user parameter "Pb000".
Pb000.2 or b.Hx□xx stands for the set value "2-bit data" of b axis user parameter "Pb000".
Pb000.3 or b.H□xxx stands for the set value "3-bit data" of b axis user parameter "Pb000".
4.3.2 Signal Distribution of Input Circuit

Input signals are distributed to the pins of input connector based on the user parameter setup.
(Distribution list is shown as follows.)
(1) Factory setting
The default distribution is indicated in bold as follows.
(a) Factory settings of single-axis driver
PA509 = H.4321 PA510 = H.8765 PA511 = H.0000 PA512 = H.0000
(b) Factory settings of double-axis driver
PA509 = H.4321 PA510 = H.0000 PA511 = H.0000 PA512 = H.0000
Pb509 = H.8765 Pb510 = H.0000 Pb511 = H.0000 Pb512 = H.0000
(2) Distribution change
37
User parameters are set based on the relation between use signal and input connector pin.
Moreover, when user parameters changes, the servo unit should be subject to "Power Off" →
"Power Restart" to make the user parameter take effect.
(a) List of input circuit signal distribution of single-axis driver:

No connection
Signal CN3 Pin no.
required
Input signal
14 15 16 17 39 40 41 42 Always Always
User parameter distribution
(IN1) (IN2) (IN3) (IN4) (IN5) (IN6) (IN7) (IN8) invalid valid
Servo ON
/S-ON 1 2 3 4 5 6 7 8 0 9
PA509.0 = H.xxx□
Proportional action reference
/P-CON 1 2 3 4 5 6 7 8 0 9
PA509.1 = H.xx□x
Positive-side over travel prohibited
POT 1 2 3 4 5 6 7 8 0 9
PA509.2 = H.x□xx
Negative over travel prohibited
NOT 1 2 3 4 5 6 7 8 0 9
PA509.3 = H.□xxx
Alarm reset
/ALM-RST 1 2 3 4 5 6 7 8 0 9
PA510.0 = H.xxx□
Deviation counter reset
/CLR 1 2 3 4 5 6 7 8 0 9
PA510.1 = H.xx□x
Positive-side external torque limit
/PCL 1 2 3 4 5 6 7 8 0 9
PA510.2 = H.x□xx
Negative side external limit
/NCL 1 2 3 4 5 6 7 8 0 9
PA510.3 = H.□xxx
Gain switch
/G-SEL 1 2 3 4 5 6 7 8 0 9
PA511.0 = H.xxx□
Select internal position setting
/POS0 1 2 3 4 5 6 7 8 0 9
PA511.1 = H.xx□x
/POS1 1 2 3 4 5 6 7 8 0 9
PA511.2 = H.x□xx
/POS2 1 2 3 4 5 6 7 8 0 9
PA511.3 = H.□xxx
Reference point switch
/HOME-REF 1 2 3 4 5 6 7 8 0 9
PA512.0 = H.xxx□
Allow position start
/POS-START 1 2 3 4 5 6 7 8 0 9
PA512.1 = H.xx□x
Position change step
/POS-STEP 1 2 3 4 5 6 7 8 0 9
PA512.2 = H.x□xx
Homing start
/START-HOME 1 2 3 4 5 6 7 8 0 9
PA512.3 = H.□xxx
Note: when multiple signals are distributed to the same input circuit, the input signal level will
influence all the distributed signals.
38
(b) List of input circuit signal distribution of double axis driver:

No connection
Signal CN3 Pin no.
required
Input signal
14 15 16 17 39 40 41 42 Always Always
User parameter distribution
(IN1) (IN2) (IN3) (IN4) (IN5) (IN6) (IN7) (IN8) invalid valid
Servo ON
/S-ON 1 2 3 4 5 6 7 8 0 9
PA509.0 = H.xxx□
/P-CON 1 2 3 4 5 6 7 8 0 9
PA509.1 = H.xx□x
POT 1 2 3 4 5 6 7 8 0 9
PA509.2 = H.x□xx
NOT 1 2 3 4 5 6 7 8 0 9
PA509.3 = H.□xxx
Servo ON
/S-ON 1 2 3 4 5 6 7 8 0 9
Pb509.0 = H.xxx□
/P-CON 1 2 3 4 5 6 7 8 0 9
Pb509.1 = H.xx□x
POT 1 2 3 4 5 6 7 8 0 9
Pb509.2 = H.x□xx
NOT 1 2 3 4 5 6 7 8 0 9
Pb509.3 = H.□xxx
Alarm reset
/ALM-RST 1 2 3 4 5 6 7 8 0 9
P□510.0 = H.xxx□
Positive-side external torque limit
/PCL 1 2 3 4 5 6 7 8 0 9
P□510.2 = H.x□xx
Negative side external limit
/NCL 1 2 3 4 5 6 7 8 0 9
P□510.3 = H.□xxx
Gain switch
/G-SEL 1 2 3 4 5 6 7 8 0 9
P□511.0 = H.xxx□
/POS0 1 2 3 4 5 6 7 8 0 9
P□511.1 = H.xx□x
/POS1 1 2 3 4 5 6 7 8 0 9
P□511.2 = H.x□xx
/POS2 1 2 3 4 5 6 7 8 0 9
P□511.3 = H.□xxx
Reference point switch
/HOME-REF 1 2 3 4 5 6 7 8 0 9
P□512.0 = H.xxx□
Allow position start
/POS-START 1 2 3 4 5 6 7 8 0 9
P□512.1 = H.xx□x
Position change step
/POS-STEP 1 2 3 4 5 6 7 8 0 9
P□512.2 = H.x□xx
Homing start
/START-HOME 1 2 3 4 5 6 7 8 0 9
P□512.3 = H.□xxx
Note:
1. When multiple signals are distributed to the same input circuit, the input signal level will influence all the
distributed signals.
2. The “□” of P□510、P□511、P□512 can be either "A" or "b".
(3) Example of input signal distribution
The steps to change the servo ON(/S-ON) distributed by single-axis driver to CN3-14and
the positive-side external torque limit (/PCL) distributed by single-axis driver to CN3-41 are listed
as follows.
39
Operation Operation
steps key
1 mode. In case of failing to display PA509, press UP
or DOWN to set.
Press SET to display current PA509 data. (Distribute
2
/S-ON to CN3-14.)
3 number. H.432.1 is displayed and the decimal point
in Bit 1 flickers.
4 Press UP or DOWN to set current bit as "7".
5 Press SET to return to the display of PA509.
6 Press UP or DOWN to set PA510.
Press SET to display current PA510 data. (Distribute

7
/PCL to CN3-41.)
8 number. H.87.54 is displayed and the decimal point
in Bit 2 flickers.
Press SET to return to the display of PA510 and

10 distribute /S-ON to IN7 (CN3-41) and /PCL to IN1
(CN3-14).
(4) Polarity reversal setting of input port active level

Single/double-axis driver can set active level parameters of input port signals (PA519 and
PA520) to reverse IN1-IN7 active level polarity.
Note:
1. When signals of Servo ON, Forward drive prohibited,and reverse driveProhibitedare used under "Polarity
Reverse" setting, in case of any abnormality caused by signal line-off, no action will be made to safe direction. If
such setup has to be made, validation on action and safety must be performed.
2. The reversal parameters of input port active level of double-axis driver are PA519, PA520, Pb519 and
Pb520 with other setting invalid.
4.3.3 Signal Distribution of Output Circuit

(1) Factory setting
(a) Factory settings of single-axis driver:
PA513 = H.4321 PA514 = H.0065 PA521 = H.0000 PA522 = H.0000
(b) Factory settings of double-axis driver:
PA513 = H.0321 PA514 = H.0000 Pb513 = H.0654 Pb514 = H.0000
(2) Distribution change
40
The output circuits for sequence signals as follows can be used for function distribution.
Moreover, when user parameters change, the servo unit should be subject to "Power Off" →
"Power Restart" to make the user parameter take effect. The default distribution is indicated in the
following gray box.
(a) List of output circuit signal distribution of single-axis driver:
7/(8) 9/(10) 11/(12) 32/(33) 34/(35) 36/(37)
CN3 Pin no.
OUT1 OUT2 OUT3 OUT4 OUT5 OUT6
Polarity setting of signal output
User parameter
PA521=H.xxx□ PA521=H.xx□x PA521=H.x□xx PA521=H.□xxx PA522=H.xxx□ PA522=H.xx□x
distribution
0 1 0 1 0 1 0 1 0 1 0 1
0 Invalid
1 L H
Servo alarm 2 L H
(ALM) 3 L H
PA513.0=H.xxx□ 4 L H
5 L H
6 L H
0 Invalid
Positioning 1 L H
completed/same-speed 2 L H
detection 3 L H
(/COIN or /V-CMP) 4 L H
PA513.1=H.xx□x 5 L H
6 L H
0 Invalid
1 L H
Motor rotation detection 2 L H
(/TGON) 3 L H
PA513.2=H.x□xx 4 L H
5 L H
6 L H
0 Invalid
1 L H
Servo ready 2 L H
(/S-RDY) 3 L H
PA513.3=H.□xxx 4 L H
5 L H
6 L H
0 Invalid
1 L H
Torque limit detection 2 L H
(/CLT) 3 L H
5 L H
6 L H
0 Invalid
1 L H
Brake 2 L H
(/BK) 3 L H
PA514.1=H.xx□x 4 L H
5 L H
6 L H
0 Invalid
1 L H
Encoder origin pulse 2 L H
(/PGC) 3 L H
5 L H
6 L H
Note:
1、 When ALM signals and other signals are distributed to the same output circuit, the output circuit only output
ALM signals.
2、 When PGC signals and other signals rather than ALM are distributed to the same output circuit, the output
circuit only output PGC signals.
3、 Multiple signals (except for ALM and /PGC) distributed to the same output circuit will be output through OR
circuit.
41
(b) List of output circuit signal distribution of double-axis driver:

7/(8) 9/(10) 11/(12) 32/(33) 34/(35) 36/(37)
CN3 Pin no.
OUT1 OUT2 OUT3 OUT4 OUT5 OUT6
Polarity setting of signal output
User parameter
PA521=H.xxx□ PA521=H.xx□x PA521=H.x□xx PA521=H.□xxx PA522=H.xxx□ PA522=H.xx□x
distribution
0 1 0 1 0 1 0 1 0 1 0 1
0 Invalid
1 L H
Servo alarm 2 L H
(ALM) 3 L H
5 L H
6 L H
0 Invalid
1 L H
Positioning completed
2 L H
/same-speed detection
3 L H
(/COIN or /V-CMP)
4 L H
PA513.1=H.xx□x
5 L H
6 L H
0 Invalid
1 L H
(/TGON) 3 L H
5 L H
6 L H
0 Invalid
1 L H
Servo alarm 2 L H
(ALM) 3 L H
Pb513.0=H.xxx□ 4 L H
5 L H
6 L H
0 Invalid
1 L H
Positioning completed
2 L H
/same-speed detection
3 L H
(/COIN or /V-CMP)
4 L H
Pb513.1=H.xx□x
5 L H
6 L H
0 Invalid
1 L H
(/TGON) 3 L H
Pb513.2=H.x□xx 4 L H
5 L H
6 L H
0 Invalid
1 L H
Servo ready 2 L H
(/S-RDY) 3 L H
P□513.3=H.□xxx 4 L H
5 L H
6 L H
0 Invalid
1 L H
Torque limit detection 2 L H
(/CLT) 3 L H
P□514.0=H.xxx□ 4 L H
5 L H
6 L H
0 Invalid
1 L H
Brake 2 L H
(/BK) 3 L H
P□514.1=H.xx□x 4 L H
5 L H
6 L H
0 Invalid
1 L H
Encoder origin pulse 2 L H
(/PGC) 3 L H
P□514.2=H.x□xx 4 L H
5 L H
6 L H
42
Note:
1、 When ALM signals and other signals are distributed to the same output circuit, the output circuit
only output ALM signals.
2、 When PGC signals and other signals rather than ALM are distributed to the same output circuit,
the output circuit only output PGC signals.
3、 Multiple signals (except for ALM and /PGC) distributed to the same output circuit will be output
through OR circuit.
(3) Example of output signal distribution
Steps to invalidate the default setting to distribute rotation detection (/TGON) to CN3-11(12) and
replace CN3-11(12) with Brake Signal Distribution.
Operation Operation
steps key
1 mode. In case of failing to display PA513, press
UP or DOWN to set.
Press SET to display current PA513 data.
2
(Distribute /TGON to CN3-11(12).)
Press shift key twice and select Bit 2 of the
3 displayed number. H.43.21 is displayed and the
decimal point in Bit 2 flickers.
5 Press SET to return to the display of PA513.
6 Press UP or DOWN to set PA514.
Press SET to display current PA514 data.

7
(Distribute /BK to CN3-36(37).
8 number. H.006.1 is displayed and the decimal
point in Bit 5 flickers.
Press UP or DOWN to set current bit as "3".

9
(Distribute TGON to CN3-11(12)
Press SET to return to the display of PA514 and

10
distribute /TGON to OUT3:CN3-11(12).
4.4 Operation under Monitoring Mode (Un□□□)
43
Under monitoring mode, the reference value input to A axis or b axis servo driver, status of
input/output signals and servo internal status can be monitored. Even though the servo motor is running,
the monitoring mode can be changed.
4.4.1 List of Monitoring Mode

(1) Content displayed under monitoring mode
Monitor
Display content Unit
number
Un000 Motor speed 1r/min
Un001 Rotation angle (electric angle) 1deg
Un002 Input reference pulse speed (only valid under position control mode) 1 KHz
Un003 Bus voltage 1V
Un004 Speed reference value of analogue input 1r/min
Un005 Torque reference percentage of analogue input (relative rated torque) 1%
Un006 Internal torque reference (relative rated torque or given motor currency) 1% or 0.1A
Un007 Input port signal monitoring —
Un008 Output port signal monitoring —
Un009 Encoder signal monitoring (only valid for incremental encoder) —
Un010 Input reference pulse counter (32-bit decimal display, only valid under position control mode) 1-reference pulse
Un011 Feedback pulse counter (four-octave frequency data of encoder pulse, 32-bit decimal display) 1-reference pulse
Un012 Position offset counter (only valid under position control mode) 1-reference pulse
Un013 Accumulative load rate (when rated torque is set as 100%) 1%
Un014 Ratio of moment of inertia (the ratio of load moment inertia to motor moment inertia) 1%
Un015 Actual encoder angle (32-bit decimal display) 1-reference pulse
Un016 Display rounds of encoder (only valid for turns of encoder) 1 circle
(2) Monitor display for input/output signals for sequence
Monitor display for input/output signals for sequence
(a) Monitor display of input signal status
Display the input/output status of the signals distributed to input/output terminals.
When input/output is OFF (open circuit), the upper display segment (LED) will be on.
When input/output is ON (short circuit), the lower display segment (LED) will be on.
Validate the relation between input terminals and input signals according to "7.3.2 Signal
Distribution of Input Circuit".
Monitor LED number is Factory settings
Name of input terminal
number displayed Single-axis Double-axis
1 IN1（CN3-14） /S-ON A axis /S-ON
Un007
2 IN2（CN3-15） /P-CON A axis /P-CON
44
Monitor LED number is Factory settings

Name of input terminal
number displayed Single-axis Double-axis
3 IN3（CN3-16） POT A axis POT
4 IN4（CN3-17） NOT A axis NOT
5 IN5（CN3-39） /ALM-RST b axis /S-ON
6 IN6（CN3-40） /CLR b axis /P-CON
7 IN7（CN3-41） /PCL b axis POT
8 IN8（CN3-42） /NCL b axis NOT
(b) Monitor display of output signal status

Display the status of the output signals distributed to output terminals.
When output is OFF (open circuit), the upper display segment (LED) will be on.
When output is ON (short circuit), the lower display segment (LED) will be on.
LED Factory settings
Monitor
number is Name of input terminal
number Single-axis Double-axis
displayed
1 OUT1 (CN3-7,-8) ALM A axis ALM
2 OUT2 (CN3-9,-10) /COIN or /V-CMP A axis/COIN or /V-CMP
3 OUT3 (CN3-11,-12) /TGON A axis/TGON
Un008
4 OUT4 (CN3-32,-33) /S-RDY b axis ALM
5 OUT5 (CN3-34,-35) /CLT b axis/COIN or /V-CMP
6 OUT6 (CN3-36,-37) /BK b axis/TGON
1 PW (CN□-12,-13) □ axis encoder W-phase (□ represents for 1 or 2)
2 PV (CN□-10,-11) □ axis encoder V-phase
Un009 3 PU (CN□-8,-9) □ axis encoder U-phase
(Only valid for 4 UVW off line detection signal □ axis UVW off line detection
incremental 5 PC (CN□-5,-6) □ axis encoder C-phase
encoder) 6 PB (CN□-3,-4) □ axis encoder B-phase
7 PA (CN□-1,-2) □ axis encoder A-phase
8 ABC off line detection signal □ axis UVW off line detection
(3) Use of monitoring mode

Operation steps to display b axis Un000 data are listed as follows (when A axis and b axis servo
motor rotate at 1000 and 1500 r/min respectively)
Operation Operation
steps key
1 Press M mode key to select monitoring mode
Press UP or DOWN and select the desired monitor

2
number Un000
Press SET to display Un000. The decimal point of
3
current Bit 0 is off, so A axis Un000 is displayed
45
Press UP or Down, the decimal point of current Bit 0

4
is on, so b axis Un000 is displayed
5 Press SET to return to the display of monitor number.
(4) Monitor display of reference pulse, feedback pulse counter and actual angle of encoder
Operation steps to display b axis Un010 data are as follows.
Operation Operation
steps key
Press M function key to select A axis monitoring
1 mode. In case of failing to display Un010, press UP
or DOWN to set.
Press SET to display Un010. The decimal point of
2 current Bit 0 is off, so low 16-bit of A axis Un010 is
displayed.
Press UP or Down, the decimal point of current Bit
3
0 is on, so low 16-bit of b axis Un010 is displayed.
Press Shift key, the decimal point of current Bit 0 is
4
on, so high 16-bit of b axis Un010 is displayed.
Press SET to return to the display of monitor
5
number.
46
Chapter V Operation
5.1 Trial Operation
Perform trial operation after wiring.
5.1.1 Trial Operation for Servo Motor Unit
Notes
· Disconnect the servo motor and machinery and only fix the servo motor unit.
To avoid accident, based on the instruction,trial operationis performed on a servo motor under
unloaded status (where the servo motor unit connects with no coupling or belt).
Validate whether the power, motor main circuit and encoder cables are wired correctly. Usually,
wiring mistake may cause the motor fail to rotate smoothly intrial operation. Please validate again.
When the wiring is validated as correct, perform trial operation for servo motor units based on the
following serial number in order.
· Jogging (JOG) and mode running (F□002)
The following are operation steps for display of axis A JOG operation.
Operation Operation
steps key
1
switch to auxiliary function mode of axis A.
2 mode for A axis. In case of failing to display FA002,
press UP or DOWN to set.
3 Press SET to start JOG operation.
Press M function key to turn the servo ON (the

4
motor is powered on).
Press UP (turn anti-clockwise/ positive) or DOWN
5
(turn clockwise/ negative) to run the motor.
Press M function key to turn the servo OFF (the
6
motor is powered off).
47
Pay attention, in the operation under jogging (JOG) mode, it is invalid to disable Forward Drive
Prohibited (P-OT) or Reverse Drive Prohibited (N-OT).
5.1.2 Trial Operation for Servo Motor Unit with Superior Reference
This item is to validate whether the servo motor moving referenceand input/output signals from
the command controller to the servo unit are correctly set, whether the wiring and polarity between
command controller and servo unit are correct and whether the movement setting of servo unit is
correct. This is the final validation before connecting the servo motor to machinery.
(1) Servo ON reference based on superior reference
The following external input signal circuits and equivalent signal circuits must be configured.
Step Content Verification methods and supplementary instruction

Form the input signal circuit required by servo ON. Please set as follows.
To turn the servo ON, the minimum required signal 1. Input servo On and input signal (/S-ON)
should be input. Please wire the input/output signal 2. Turn On (L level) input signals of Forward Drive Prohibited
connector (CN3) in the circuit equivalent to the circuit (P-OT) and Reverse Drive Prohibited (N-OT)(forward drive
shown in the preceding page, power it off and connect prohibited andreverse drive prohibited can be performed)
CN3 to servo unit. 3. Do not input reference (0V reference or 0 pulse)
1 If the external wiring is to be omitted, the input signal
distribution function based on user parameters can be used to set the
function of input terminal as “Always Valid”, “Always Invalid”
without signal input. Please refer to “Signal Distribution of Input
Circuit”.
When absolute value encoder is used, if “Use Absolute Encoder
as Incremental Encoder (Pn001=H.□□□2 )” is set temporarily,
wiring for SEN signals can be omitted.
Please power on to check whether the panel operator If the content is not displayed as shown in the left figure, the
displays content as follows. setting of the input signals is incorrect. Please validate the input
signals with input signal monitor (Un007).
Turn the connected signal lines ON/Off to validate that the LED
display of the digital operator changes as follows.
Input servo ON input signal (/S-ON) and validate that When any alarm appears, see "Abnormality Diagnosis and Treatment
3 the display of panel operator is shown as follows.
Methods" to eliminate the alarm.
48
In case of interference in reference voltage during speed control,

“-” in the upper left part of the panel operator will flash. When the
servo is ON, the servo motor might run at dead slow speed. For such
occasion, please refer to “Other Wiring” to take corresponding
measures.
(2) Operation steps under speed control mode (P□000=H. □□0□)


Please check the power and input signal circuit again Please refer to the input signal circuit shown in the above figure.
1 and check the speed referenceinput (voltage between
V-REF and GND) is 0 V.
If the servo motor rotates at an extremely slow speed, see
2 Turn on the servo ON(/S-ON) input signal. “Adjustment of Reference Shift”,and use the reference voltage offset
to keep the servo motor from moving.
Increase the speed reference input voltage (between Factory setting: 150(r/min)/V.
3
V-REF and GND) slowly from 0 V with.
Please validate the speed reference (Un004[r/min]) See "Selection and Operation of Basic Mode" for relevant display
4
value input to servo driver. methods.
See "Selection and Operation of Basic Mode" for relevant display
5 Please validate servo motor speed (Un000[r/min]).
methods.
Please validate the values of Step 4 and 5 (Un004 and Change speed reference input voltage to validate whether
6 Un000) are equivalent. Un004=Un000 is valid when there are multiple speed reference
values.
Refer to the following equation when speed reference input gain
(P□300) changes.
Un004 ＝P□300[rpm/V]×(V-REF voltage)[V]
Please validate the speed reference input or motor
7 To change the motor rotation direction without changing speed
rotation direction.
reference input voltage polarity, see “Rotation Direction Switching of
Motor”.
Start from Step 2 after change.
If the servo is OFF when the speed input reference is set
8 as 0 V, the trial operation of servo motor unit has
completed.
Note: The position control is configured in command controller
When servo is under speed control and subject to position control in command controller, please validate the
following items after the said “Operation Steps under Speed Control Mode”.
49

Please validate the power and input signal circuit again
9 and validate the speed command input (voltage between
V-REF and GND) is 0 V.
If the servo motor rotates at an extremely slow speed, see
10 Set servo ON(/S-ON) input signal as ON. “Adjustment of Reference Shift”,and use the reference voltage offset
to keep the servo motor from moving.
Give the motor rotation reference (e.g., the motor Motor rotation angle 1 (Un015[pulse]): the pulse count starting from
rotates 1 round) easy to validate in advance from original point.
11 command controller and validate the motor rotation
commanded and realized by visual inspection and
monitoring motor actual angle (Un015[pulse]).
In case of rotation difference of Step 11, please See "Encoder Signal Output" for relevant setting method.
12 properly set the PG frequency dividing ratio (Pn201) PG frequency dividing ratio (Pn201[P/Rev]): the encoder pulse count
that outputs encoder pulse from servo unit. per rotation round.
If the servo is OFF when the speed input reference is set
13 as 0 V, the trial operation to set the reference control as
position control has completed.
(3) Operation steps under position control mode (P□000=H. □□1□)


Please validate the conformity between pulse shape and Reference pulse shape is set with P□200=H.××□×. Please refer to
1
the pulse output from the superior pulse commander. "Setting of User Parameter".
Set command unit and set electronic gear ratio based on Electronic gear ratio is set with (Pn202/Pn203). Please refer to
2
command controller. "Setting of Electronic Gear".
3 Power on and set servo ON(/S-ON) input signal as ON.
Use the motor rotation to be easily validated in advance
4 (e.g., motor rotates 1 round) to output slow reference Set the reference pulse rate as the safe rate around 100 r/min.
pulse from command controller.
Please validate the reference pulse count input to servo See "Selection and Operation of Basic Mode" for relevant display
5 unit with the variation before and after inputting the methods.
reference of reference pulse counter ((Un010[pulse]). Un010( input reference pulse counter [pulse])
Please validate the actual rotation of the motor See "Selection and Operation of Basic Mode" for relevant display
6 before/after change of feedback pulse counter methods. Feedback pulse counter (Un011 [pulse])
(Un011[pulse]).
7 Please validate that Step 5 and 6 meet the following
50
conditions.
Un011=Un010
Please validate the input pulse polarity and input reference pulse
Please validate the conformity of rotation direction with
8 shape.
the servo motor giving reference.
Please refer to "Selection of Pulse Reference shape".
To change the motor rotation direction without changing input
9 Please validate motor rotation direction. reference pulse shape, see “Rotation Direction Switching of Motor”.
Start from Step 9 after change.
If the servo will be OFF when the pulse reference input
stops, the trial operation under servo motor unit position
10
control mode using superior position reference has
completed.
5.1.3 Trial Operation Servomotor Connected to the Machine
Danger
· Please carry out operations indicated in this section as per instructions.
Upon connection between servo motor and machinery, in case of operation mistake, not only damages to
machinery but also personal injuries will be caused therefrom.
The steps are specified on the condition that trial operation has been completed in each control.
Please refer to "Setting of General Basic Functions".
When using servo motor with brake, measures against natural falling
Switch on power and set mechanical configuration in of machinery and vibration caused by external force should be taken
1
respect of protection functions for overtravel and brake. prior to confirmation of brake operation. Please check whether
operations for servo motor and brake are normal.
Please refer to "Setting for Holding Brake".
Based on used control mode, please refer to:
Please set necessary parameters for users based on used the Speed Control (Analog Voltage Reference) Operation
2
control mode. the Position Control Operation
the Torque Control Operation
Please connect to servo motor and machinery via Please refer to "Installation Precautions for Servo Motor".
3
coupling with power being cut off.
When servo controller is turned to "Servo Off" mode Please refer to "Setting of General Basic Functions".
(de-energized state), switch on power of command In case of any abnormality during operation of following step,
4 controller of machinery. Please confirm once again emergency stop may be carried out to safely stop operation.
whether operation of protection functions in step 1 is
normal.
Please carry outtrial operation in accordance with Please check whether results are in line with trial operation of servo
objectives specified in the Trial Operation for Servo motor unit. In addition, please check whether settings like reference
5
Motor Unit Based on Superior Reference upon unit conform to that of machinery.
completed installation of machinery and servo motor.
Please confirm once again whether user parameter Please check whether servo motor operates according to specification
6
settings conform to control mode in step 2. for machinery operation.
Please adjust servo gain as necessary to improve Trial operation should be fully completed since insufficient
7
responsiveness of servo motor. "running-in" with machinery may occur in thetrial operation.
Please record the user parameters set for maintenance in
8 the 12.4 User Parameter Setting Memo.

At this point, the Supporting Trial Operation for
Machinery and Servo Motor is completed.
51
5.1.4 Trial Operation of Servomotor with Brakes

In terms of a servo motor with brake, operation for its holding brake should be controlled by
interlocking output (/BK) signals of the brake in servo driver.
Measures against natural falling of machinery and vibration caused by external force should be
taken prior to confirmation of brake operation. Please check operations of servo motor and holding
brake upon disconnection between servo motor and machinery. If operations are normal, servo motor
may be connected to machinery for trial operation.
Please refer to "Setting for Holding Brake" for wiring of servo motor with brake and settings for
user parameters.
5.1.5 Position Controlled by Command Controller

According to the above mentioned, make sure that trial operation for servo motor unit should be
conducted after disconnection of servo motor and machinery, Please confirm operation and
specification of servo motor first based on the following table.
Commands of command Confirming

Confirming methods Re-corrected content Reference
controller matters
Confirm speed of servo motor by Please determine whether
the following methods. input gain (P□300) of speed
•RPM monitoring for motor using command is correct via
JOG operation panel operator (Un000) confirmation of setting values
(Reference with certain RPM of servo •Try to operate servo motor at a of user parameters.
speed input by command motor lower speed. For example, input
controller) a speed reference of 60r/min
and check whether the servo
motor rotates 1 round per
second.
After inputting a reference to order Please determine whether PG
the servo motor to rotate 1 round, divider ratio (P□201) is
Rotation amount
Simple positioning visually inspect whether the shaft correct via confirmation of
of servo motor
of servo motor rotates 1 round. setting values of user
parameters.
Overtravel operation Input POT and During continuous rotation of If it fails to be stopped,
(when using POT and NOT NOT signals and servo motor, make sure that servo correct wiring of POT and
signals) check whether motor stops after POT and NOT NOT again.
the servo motor signals is switched to be ON.
stops.
5.2 Selection of Control Mode
Control modes applicable to servo driver are explained as follows:

User Parameter Control modes Reference
52
P□000 H.□□0□ Speed control (analog voltage reference)

Control RPM of servo motor by reference of analog voltage speed in case of:
· required RPM control
· feedback from frequency dividing output by encoder of servo; setting position loop in command
controller; and implementation of position control
H.□□1□ Position control (pulse train reference)
Control position of servo motor via reference of pulse train position.
Control position via number of incoming pulse and control speed via frequency of incoming pulse.
Use it if in need of positioning operation.
H.□□2□ Torque control (analog voltage reference)
Control output torque of servo motor by analog voltage torque reference which should be used if
required amount of torque for operations such as pressing.
H.□□3□ Speed control (selection of internal set speed)
With 3 input signals (/P-CON, /P-CL and /N-CL), speed is controlled by operation speed set by
servo in advance. 3 operation speeds can be set for the servo without analog voltage reference.
H.□□3□ It is supporting switching modes for the above 4 control modes. Please select an applicable
· switching mode of control mode for purposes of clients.
·
·
H.□□B□
H.□□C□ Motion control mode
5.3 Setting of General Basic Functions
5.3.1 Servo ON Setting

Set the servo ON signal (/S-ON) which sends out commands for energized/de-energized state of
servo motor.
(1) Servo ON signal (/S-ON)
Pin No. of
connector
Name Signal Set Meanings
(factory)
A axis B axis
ON = L Level Servo motor can operate in energized state (servo ON state).
Input /S-ON CN3-14 CN3-39
OFF = H Level Servo motor cannot operate in de-energized state (servo OFF state).
■Attentions
Make sure that commands are input to start/stop servo motor after sending servo ON signal. Do not use /SON signal to start/stop servo
motor after inputting commands. In case of repeated switching between ON and OFF modes for AC power, accidents may be caused by
aging of internal components.
/S-ON signals may distribute inputted connector pin numbers to other places by user parameters.
(2) Select to use/disuse servo ON signal

Regular servo ON can be set by user parameters without wiring of /S-ON, however, servo driver
is switched to action state when power is on, therefore you should handle with care.
User Parameter Meanings
P□509 H.□□1□ Input /S-ON signal via the input terminal IN1(CN3-13) (factory setting)
A axis
H.□□9□ Set the /S-ON signal to be "valid " in regular time
H.□□5□ Input /S-ON signal via the input terminal IN5 (CN3-39) (factory setting)
B axis
H.□□9□ Set the /S-ON signal to be "valid " in regular time
· Power must be turned on again upon changes to the user parameter so as to effect the setting.
· When the signal is set to be "valid " in regular time, reset can be realized by power restarting in case of alarm (alarm reset is invalid).
53
5.3.2 Rotation Direction Switching of Motor

In this case, only reverse the rotation direction of motor without changes to pulse and voltage
polarity of commands being sent into servo driver.
At the same time, moving direction (+, -) of shaft is reversed but polarity for output signals
from servo (such as pulse output of encoder and analog monitor signal) is kept unchanged.
In standard setting, "forward direction" is observed to be "counterclockwise rotation" from
the loading side of servo motor.
Command
User Parameter Name
rotation reference Negative rotation reference
Standard setting
(CCW refers to
forward rotation)
(Factory setting)
H.□□□0
P□000
Negative rotation
mode
(CW refers to
forward rotation)
H.□□□1
In terms of direction switching of POT and NOT, CCW direction is POT if P□000= H.□□□0 (standard setting) and CW
direction is POT if P□000= H.□□□1 (negative rotation mode).
5.3.3 Overtravel Setting

The overtravel limit function forces movable machine parts to stop if they exceed the allowable
range ofmotion and turn ON a limit switch.
(1) Connection of overtravel signal
In order to use overtravel function, connect input signals of the following overtravel limit switch
to corresponding pin numbers in CN3 connector of servo driver without fail.
Pin No. of
Type Signal connector (factory) Set Meanings
A axis B axis
ON = L Level Positive-side over travelallowed.(normal operation)
Input POT CN3-16 CN3-41
OFF = H Level Positive-side over travel prohicbited(overtravel in positive rotation side)
ON = L Level Negative-side over travel allowed.(normal operation)
Input NOT CN3-17 CN3-42
OFF = H Level Negative-side over travel prohibited(overtravel in negative rotation side)
In respect of linear drive, limit switches must be
connected according to the following figure so as to avoid
machinery damage.
Even in case of overtravel, it can also drive to the
opposite side.For example, negative-side run can be enabled in
case of positive-side overtravel.
54
■Attentions
During position control, position error pulse will occur if the motor is stopped by overtravel.
In order to clear position error pulse, clear signals (CLR) must be input.
Notes
Workpieces may fall under the overtravel state when using servo motor in vertical shaft.
In order to prevent workpieces from falling in case of overtravel, make sure to set P□000= H.1□□□ so as to switch
on zero clamping state after stop. (Please refer to "Selection of Motor Stop Methods when Using Overtravel")
(2) Select to use/disuse overtravel signal

Internal user parameters of servo driver can be set to disuse overtravel signals. At this time, it is
not required to use wiring of input signals for overtravel.
H.□3□□ Input positive-side over travel prohibited(POT) signal from IN3 (CN3-13). (Factory setting)
A axis Disable the positive-side over travel prohibited(POT) signal (positive-side over travel can be
H.□9□□
conducted frequently)
H.□7□□ Input positive-side over travel prohibited(POT) signal from IN7 (CN3-41). (Factory setting)
B axis H.□9□□ Disable the positive-side over travel prohibited(POT) signal (positive-side over travel can be
P□509
H.4□□□ Input negative-side over travel prohibited(NOT) signal from IN4 (CN3-14). (Factory setting)
A axis Disable the negative-side over travel prohibited(NOT) signal (negative-side over travel can be
H.9□□□
H.9□□□ Input negative-side over travel prohibited(NOT) signal from IN8 (CN3-42). (Factory setting)
B axis H.9□□□ Disable the negative-side over travel prohibited(NOT) signal (negative-side over travel can be
· Effective control modes: speed control, position control and torque control
* POT and NOT signals may freely distribute inputted connector pin numbers by user parameters. See the Signal Distribution of Input
Circuit for details.
(3) Motor stop method when using overtravel
Methods used to stop operation of motor when inputting overtravel signals (POT and NOT)
during rotation of servo motor.
Methods for After stop of
motor stop motor
Plug braking Reduce speed to stop the servo motor by emergency stop torque
H.□0□□ (P□407). Servo motor will be in inertial operation (de-energized)
stopping Inertial operation state after stop.
Inertial operation state Stop the servo motor in the same manner as servo OFF (inertial
H.□1□□ operation stop). The servo motor will be in inertial operation
stopping
(de-energized) state after stop.
Plug braking Inertial operation Reduce speed to stop the servo motor by emergency stop torque
P□000 H.0□□□ (P□407). Servo motor will be in inertial operation (de-energized)
stopping state
state after stop.
Plug braking Zero clamping Reduce speed to stop the servo motor by emergency stop torque
H.1□□□ (P□407). Servo motor will be in zero clamping (servo locking)
stopping state
state after stop.
Inertial operation Inertial operation Stop the servo motor in the same manner as servo OFF (inertial
H.2□□□ operation stop). The servo motor will be in inertial operation
stopping state
(de-energized) state after stop.
55
· During setting of inertial operation for H.□1□□, the servo motor may be controlled if servo ON signals are received.
■Words and expressions
· Inertial operation stopping: naturally stop the motor by friction resistance arising from motor rotation other than braking.
· Plug braking stopping: stop the motor via deceleration (brake) torque (P□407).
· Zero clamping state: use state of position loop in zero configuration of position reference.
* See the Selection of Stop Methods in Servo OFF for stop methods in servo OFF and alarm condition.
(4) Setting for stop torque in overtravel
5.3.4 Setting for Holding Brake

When the vertical shaft is driven by servo motor, it should be used. When power state of servo
driver is OFF, use the servo motor with brake to prevent removable part from moving due to gravity.
(Please refer to "Trial Operation for Servo Motor with Brake".)
Note:
1. The brake built in the servo motor with brake should be a actuated-type holding brake without excitation,
which cannot be used for braking. It should only be used to maintain the stop state of servo motor. Brake
torque is over 120 % of rated torque of servo motor.
2. When operation of servo motor is enabled only by speed loop, servo and input reference should be set to
OFF and "OV" respectively during operation of brake.
3. In configuration of position loop, mechanical brakes cannot move since servo is locking during servo
motor's stop.
(1) Connection example
Order output signal "/BK" of servo driver and brake power constitute ON/OFF circuit of brake.
Standard connection examples are as follows.
56
(2) Brake interlocking output

Pin No. of
connector
(factory)
A axis B axis
Distribution ON = L Level Release brake.
Output /BK
through P□514 OFF = H Level Use brake.
When using servo motor with brake, it is the output signal of control brake. In addition, this output signal is not used in factory
setting. Distribution for output signals is required (setting of P□514). Do not connect when using motor without brake.
(3) Distribution of brake signal (/BK)

Brake signals (/BK) cannot be used under the condition of factory setting. Therefore it is required
to distribute output signals.
User Parameter Pin No. of connector Meanings
P□514 H.□□0□ —— Do not use /BK signals. (factory setting)

H.□□1□ OUT1(CN3-7,8) Output /BK signal through output terminal of OUT1(CN3-7, CN3-8).
■Attentions
Brake signals (/BK) set in factory delivery are invalid. When several signals are distributed to the same output terminal, OR
logic should be used for output. If you only want to enable /BK signal output, please distribute other signals of output terminal
for /BK signal distribution to other output terminals or set them as invalid. See the Signal Distribution of Output Circuit for
distribution methods of other output signals of servo unit.
(4) Timing setting of brake ON (after stop of servo motor)

During factory setting, /BK signals should be output while /S-ON signals are set as OFF (servo
OFF), however, timing of servo OFF can be changed by user parameters.
57
(5) Timing setting of brake ON (during rotation of servo motor)

If an alarm occurs while the servomotor is rotating, the servomotor will come to a stop and
the brake signal will be turned OFF. The timing of brake signal output can be adjusted by setting
the following parameter.
58
5.3.5 Selection of Stop Methods in Servo OFF

Select stop methods for servo unit in servo off.
Methods for After stop of
motor stop motor
Plug braking Reduce speed to stop the servo motor by emergency stop
H.□0□□ torque (P□407). Servo motor will be in inertial
stopping Inertial operation (de-energized) state after stop.
P□000
Inertial operation operation state Stop the servo motor in the same manner as servo OFF
H.□1□□ (inertial operation stop). The servo motor will be in
stopping
inertial operation (de-energized) state after stop.
Setting of user parameter is valid under the following conditions:
· /S-ON output signal OFF (servo OFF)
· Main power (L1, L2 and L3) OFF
■Words and expressions
· Plug braking stopping: stop the motor via deceleration (brake) torque (P□407).
· Inertial operation stopping: naturally stop the motor by friction resistance arising from motor rotation other than braking.
■Attentions
· When power of main circuit (L1, L2 and L3) or control power supply (L1C and L2C) is OFF, the following servo drivers will
force to execute plug braking stop despite of the above setting of user parameter.
· In case of alarm from servo driver, the servo driver will execute inertial stop.
5.4 Use of Absolute Encoder
59
If a servo motor with absolute encoder is used, absolute value detection system can be configured
in the command controller (host system). Results indicate that it can operate again directly without
need of origin reset when power is ON again.
Resolution of absolute Output range of
Operation when exceeding limit
encoder multi-turn data
When upper limit value (+32767) for positive direction is
17 digit exceeded, multi-turn data is changed to -32768
-32768 ~ +32767
(*131072 pulse/circle) When upper limit value (-32768) for negative direction is
exceeded, multi-turn data is changed to +32767
5.4.1 Interface Circuit

Standard connection of absolute encoder installed in the servo motor is as follows:
■Connection of SEN signal

Pin No. of
connector
FF= L level When power is supplied
Input ASEN CN3-38
ON = H level Absolute value is required
FF= L level When power is supplied
Input BSEN CN3-50
ON = H level Absolute value is required
This input signal must be used to reference the servo driver to output absolute data. Please set the
SEN signal as H level after the power is connected for 3 seconds.
If SEN signal is switched between L level and H level, then multi-turn data and initial incremental
pulse should be output.
Before completion of these operations, the servo motor will not be energized even if servo ON signal
(/S-ON) is in ON state. Operation panel displays "OFF".
60
■ Attentions
In order to set the ON SEN signal as OFF and then ON, operation should be executed when H
level is kept for over 1.3 s as shown in the following figure.
5.4.2 Selection of Absolute Encoder

Absolute encoder can also be used as incremental encoder.
Use absolute encoder as absolute encoder and enable serial output of
n.□□□0
absolute data (PG frequency dividing PAO 口)
P□001 n.□□□1 Use absolute encoder as incremental encoder
Use absolute encoder as absolute encoder and prevent serial output of
n.□□□2
absolute data (PG frequency dividing PAO 口)
● As an incremental encoder, SEN signal and battery is not required
● Power must be turned on again upon changes to the user parameter so as to effect the setting.
5.4.3 How to Use Battery

Recommended battery specification: ER36V
■Procedures for battery replacement
1. Please replace batteries when control power of servo unit is ON;
2. After batteries are replaced, use auxiliary function F□010 to remove alarm of absolute encoder
so as to stop alarm of absolute encoder battery.
3. If no abnormal operation is found after restart of servo driver power, it indicates that
replacement of battery is over
Attentions:
Data of absolute encoder will be lost if control power of servo driver is set as OFF and
wires(including encoder cables) of battery is removed. At this time, setting operation for absolute
encoder must be carried out. Please refer to "2.3.4 Setting of Absolute Encoder (F□009)"
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5.4.4 Giving and Receiving Sequence of Absolute Data

After receipt of output from absolute encoder, the sequence used for the driver to send absolute
data to the command controller is as follows.
(1) Summary of absolute signal
As shown below, serial data and pulse of absolute encoder are output by servo driver via "PAO,
PBO and PCO".
Signal State Signal content

Serial data
At initialization
PAO Initial incremental pulse
Normal time Incremental pulse
At initialization Initial incremental pulse
PBO
Normal time Incremental pulse
PCO Always Origin pulse
(2) Sending sequence and content of absolute data

1、 Set SEN signal as H level
2、 After 100 ms, wait state for serial data acceptance starts. Reversible counters used for
incremental pulse count should be reset.
3、 Receive serial data in 8 bytes
4、 It will change to common incremental operation state after last serial data is received for 25
ms.
＊ Serial data
It indicates position of motor shaft after circuits of rotation from the reference position (as per
setting value)
＊ Initial incremental pulse
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Pulse should be output at the same speed as pulse for rotation of 1250rpm (factory setting is used
for 17 byte frequency dividing pulse).
Final absolute data PM can be calculated by the following formula:

PE = M × R + P0
PM = PE － PS
Notes: the following formula is used in negative rotation mode (Pn000.0 = 1)
PE = －M × R + P0
PM = PE － PS
PE Current value read from encoder
M Multi-turn data (number of turns of encoder)
P0 Count of initial incremental pulse
PS Count of initial incremental pulse read from the set point (this value is subject to
storage and management of host)
PM Current value required in client system
R Pulse count for 1 circle of rotating encoder (value after frequency dividing and
value of P□201)
(3) Detailed specification of signal

(a) Specification of PAO serial data
Output rotation in 5 digits
Data transmission method Start-stop synchronism (ASYNC)
Baud rate 9600 bps
Start bit 1 bit
Stop bit 1 bit
Parity Even parity check
Character code ASCII 7-bits coder
Data format See the following figure for data in 5 characters.
63
5.4.5 Setting of Absolute Encoder (F□009/ F□010)
In addition, setting operation for absolute encoder must be carried out in case of:
＊ initial startup of machinery
＊ "Bus encoder multi-coil information error (A25 / b25)"
＊ "Bus encoder multi-coil information overflow (A26 / b26)"
＊ "Bus encoder battery alarm 1 (A27 / b27)"
＊ requiring to set multi-turn data of absolute encoder as 0
Implement setting by panel operator.
Attentions:
1、 Setting operation of encoder only can be implemented under servo OFF state.
2、 When absolute encoder alarm is displayed, auxiliary function F□010 should be executed to
stop alarm. Alarm reset (/ALM-RST) of servo driver cannot stop alarm.
＊ "Bus encoder multi-coil information error (A25 / b25)
＊ Bus encoder multi-coil information overflow (A26 / b26)
＊ Bus encoder battery alarm 1 (A27 / b27)
＊ Bus encoder battery alarm 2 (A28 / b28)
＊ Bus encoder overspeed (A41 / b41)
5.4.6 Clear of Multi-coil Data of Absolute Encoder

When using bus absolute encoder, the operation can be used to remove multi-coil information.
Operation Operation
steps key
Press M function key (for more than 1
1 second) and switch to auxiliary function
mode of axis 1, which will display FA000.
64
Press UP or DOWN and select the desired

2
auxiliary function FA010.
Press SET to display "PoSCL" and clear
3
multi-coil position operation.
Press function key to display "CLFin"
4 which indicates that multi-coil position is
completely cleared.
5.4.7 Clear of Internal Errors of Bus Encoder

When using bus absolute encoder, the operation can be used to remove multi-coil information.
Operation Operation
steps key
Press M function key to select auxiliary
function mode for A axis. In case of failing
1
to display FA010 press UP or DOWN to set
FA010.
2 Press SET to display "ErrCL".
Press M function key to display "CLFIn" and

3 clear encoder multi-coil information
completely.
5.5 Speed Control (Analog Voltage Reference) Operation

P□000 H.□□0□ Selection of control mode: speed control (analog voltage reference)
65
5.5.2 Setting of Input Signal

(1) Speed reference input
If speed reference is sent to servo driver in the form of analog voltage reference, speed of servo
motor is controlled in proportion to input speed.
Pin No. of
Name Signal connector (factory) Meanings
A axis B axis
V-REF CN3-5 CN3-30 Speed reference input
Input
GND CN3-6 CN3-31 Signal ground for speed reference input
It should be used for speed control (analog voltage reference) (P□000.1 = 0, 4, 7, 9, A)
P□300 is used to set speed reference input gain. Please refer to "Setting of User Parameter for details".
■ Input specification
· Input voltage range: DC ± 10V
· Maximum allowable input voltage: DC ± 12V
(2) Proportional action reference signal (/P-CON)

Pin No. of
Name Signal connector (factory) Set Meanings
A axis B axis
ON = L Level Operate servo driver by P control mode.
Input /P-C0N CN3-15 CN3-40
OFF = H Level Operate servo driver by PI control mode.
/P-CON signal is a signal that selects speed control modes from PI (proportional and integral) or P (proportional) control.
If P control is set, motor rotation and slight vibration arising from input shift of speed reference can be reduced.
Input reference: servo motor rotation due to 0 V shift can be reduced, but servo rigidity (support force) will decrease when
rotation is stopped.
/P-CON signals may distribute inputted connector pin numbers to other places by user parameters. Please refer to “Signal
Distribution of Input Circuit”.
5.5.3 Adjustment of Reference Offset

In speed control mode, even if OV reference is sent under analog reference voltage, motor
will rotate with low speed in case of small reference voltage offset (unit: mV) of superior control
unit or in external circuit. In such case, reference offset can be automatically or manually adjusted
by panel operator. See "5.2 Operation in Auxiliary Function Execution Mode" for details.
66
Auto-adjustment of analog (speed · torque) or reference offset is the function for offset
measurement and auto-adjustment of voltage.
In case of voltage reference offset of the superior controller or in external circuit, servo driver
will make following adjustment towards the automatic offset.
Once auto-adjustment of reference offset begins, offset will be saved in the servo driver.
Offset can be confirmed through manual adjustment of speed referenceoffset (F□006). See
"5.5.3(2) Manual adjustment of speed referenceoffset" for details.
(1) Auto-adjustment of speed referenceoffset
When offset pulse is set as zero with the servo locked in the OFF state by the command
controller equipped with a position loop,auto-adjustment of reference offset (F□008) is not
available, instead, manual adjustment of speed reference offset (F□00A) should be applied.
Under speed referenceof zero, function of zero clamping speed control which can lock the
servo in a mandatory manner is provided. See "5.5.6 Use of Zero Clamping Function" for details.
Note: Auto-adjustment of zero analog offset should be conducted when the servo is OFF.
Auto-adjustment of speed referenceoffset of A axis is conducted as below.
Operation Operation
steps key
Set the servo unit as OFF,
and input OV
referencevoltage through
1 referencecontroller or
external circuit.
Press M function key to select auxiliary function mode

2 for A axis. In case of failing to display FA008, press
UP or DOWN to set.
3 Press SET, and "rEF_o" is displayed.
Press M function key to start auto-zeroing, and

4
flickering "donE" is displayed.
After completion of auto-zeroing, "rEF_o" instead of
5 ——
(2) Manual adjustment of speed referenceoffset
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Manual adjustment of speed referenceoffset (F□006) should be applied in case that:

· the referencecontroller is equipped with a position loop to set the offset pulse as zero when the
servo is locked in the OFF state
· offset is set as a certain value consciously
· offset set for auto-adjustment is applied
Basic function and auto-adjustment of analog (speed · torque) referenceoffset (F□008) are the
same. But for manual adjustment (F□006), adjustment must be made along with direct input of
offset.
Adjustment range of offset and setting unit are listed as below.
Auto-adjustment of speed referenceoffset of A axis is conducted as below.

Operation Operation
steps key
2 Press SET, and "A.SPd" is displayed.
3 Press SET for at least 1 s, and "0000" is displayed.
4 Press UP or DOWN to set offset.
5 Press SET for at least 1 s to save offset.
5.5.4 Soft Start

Soft start is the function to transfer step speed referenceinput to the referencewith certain
acceleration and deceleration in the servo driver.
(1) Trapezoidal start-up
P□309 H.□□□0 Trapezoidal start-up
68
(2) S-curved start-up

P□309 H.□□□1 S-curved start-up
H. □0□□ Close to linearity
H. □1□□ Low
Selection of S curve ratio
H. □2□□ Central
H. □3□□ Height
(3) Acceleration and deceleration filtering start-up

P□309 H. □□□2 Acceleration and deceleration filtering start-up
H. □□0□ First acceleration and deceleration filtering
H. □□1□ Second acceleration and deceleration filtering
69
5.5.5 Use of Zero Clamping Function

(1) Meaning of zero clamping function
Zero clamping function refers to the function in the system where command controller is not
equipped with position loops under speed control.
If the zero clamping (/P-CON) signal is set as ON, servo driver will be equipped with a
position loop, and servo motor will fall into emergency stop with servo in the locked state
regardless of speed referencewhen input voltage of speed reference(V-REF) is lower than the
value corresponding to the rotation speed of P□501 (zero clamping level).
Servo motor is clamped within ± 1 pulse at the position where zero clamping takes effect. Even
through external rotation, the servo motor will return to zero clamping.

P□000 H.□□A□ Control mode: speed control (analog voltage reference)  zero clamping
Condition for switching of zero clamping action
When P□000 is set as H.□□A□, zero clamping will be activated in case of any of the followings:
· /P-CON is ON (L level)
· Speed reference (V-REF) is lower than the setting value of P□501
70
(3) Setting of input signal

Pin No. of
A axis B axis
ON = L Level Zero clamping function ON (valid)
Input /P-C0N CN3-15 CN3-40
OFF = H Level Zero clamping function OFF (invalid)
It is the input signal to switch to zero clamping action.
Anyone of /P-CON signal can be switched to zero clamping action.
See "signal distribution of input circuit" for distribution
5.5.6 Encoder Signal Output

Feedback pulse of encoder is output after processing in servo unit.
Pin No. of connector
Name Signal Name
A axis B axis
APAO+ CN3-19 CN3-44 Encoder output Phase A+
Output
APAO- CN3-20 CN3-45 Encoder output Phase A-
APBO+ CN3-21 CN3-46 Encoder output Phase B+
Output
APBO- CN3-22 CN3-47 Encoder output Phase B-
APCO+ CN3-23 CN3-48 Encoder output Phase C+
Output
APCO- CN3-24 CN3-49 Encoder output Phase C-
SEN CN3-38 CN3-50 SEN signal input (valid when using absolute encoder)
Input
GND CN3-25 Signal ground
71
* Even in the negative rotation mode (P□000.0=1), frequency division output phase form is the same as that in the
standard setting (P□000.0=0).
■Output phase form
Note:
For bus encoder, C-phase pulse output of servo driver should be applied for mechanical origin reset after two
cycles of rotation of servo motor.
· Setting of frequency dividing ratio of encoder pulse
5.5.7 Same Speed Detection Output

Pin No. of
A axis B axis
CN3-9 CN3-34 ON = L Level State of same speed
Output /V-CMP
CN3-10 CN3-35 OFF = H Level State of different speed
72
The output signal can be distributed to other output terminals through user parameter P□513.
See "Signal distribution of output circuit" for distribution of output signal.
5.6 Position Control Operation

Following user parameters should be set for position control by pulse train.
(1) Control mode selection

P□000 H.□□1□ Control mode selection: position control (pulse train reference)

Name Signal Name
A axis B axis
PULS+ CN3-1 CN3-26 Reference pulse input
PULS- CN3-2 CN3-27 Reference pulse input
Input
SIGN+ CN3-3 CN3-28 Sign input
SIGN- CN3-4 CN3-29 Sign input
(2) Selection of pulse reference form

Reference Input
User Parameter Positive rotation reference Negative rotation reference
form multiple
P□200 Sign +
H.□□0□ ——
pulse train
H.□□1□ CW+CCW ——
H.□□2□ Two phase ×1

H.□□3□ pulse train ×2
with
H.□□4□ 90°phase ×4
difference
■Supplement
Input multiplication can be set in
thestate of90 phase difference under
two phase pulse reference.
(3) Pulse instruction input complement

P□200 H.□0□□ PULS input reverse, and SIGN input does not reverse
H.□1□□ PULS input does not reverse and SIGN input reverse
73
H.□2□□ PULS input reverse, and SIGN input does not reverse
H.□3□□ PULS input reverse, and SIGN input does not reverse
Logic reverse for pulse reference is available by setting the parameter.
(4) Selection of clear signal form

Name Signal (factory) Name
A axis B axis
Input /CLR Distribution through P□510 Clear input
If input is cleared, following actions can be performed.
· Offset counter in the servo driver is set as "0".
· Action of position loop is set in the invalid state.
→In clear state, servo clamping does not work, and servo motor may rotate with a low speed due to
drifting in the speed loop.
(5) Selection of clear action
In the condition other than clear signal CLR, regular clear of offset pulse can be selected
based on state of servo driver. Three types of action mode of clear offset pulse can be selected
through user parameter P□200.0.
P□200 H.□□□0 Under servo OFF, clear offset pulse; under over travel, not clear offset pulse
H.□□□1 Under servo OFF or over travel, not clear offset pulse
H.□□□2 Under servo OFF or over travel (excluding zero clamping), not clear offset pulse
5.6.2 Setting of Electronic Gear

(1) Encoder pulse
Encoder type Encoder pulse
Common incremental encoder 2500 P/R
Bus encoder 17 bits 32768 P/R
Note: Bits representing encoder resolution are different from pulse of signal output of
encoder (phase A and phase B), and are four times of encoder pulse.
(2) Electronic gear
Electronic gear is the function to set any value for movement of workpiece with 1 pulse input reference by
command controller. 1 pulse reference by command controller is "1 reference unit" as the smallest unit.
(3) Relevant user parameter
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(4) Procedure for setting the electronic gear ratio

Electronic gear ratio should be set as below.
Step Content Instruction
1 To confirm mechanical specifications Reduction ratio, ball screw pitch, pulley diameter, etc. should be confirmed.
2 To confirm encoder pulse Encoder pulse of servo motor should be confirmed.
1 reference unit by command controller should be determined.

3 To determine reference unit Reference unit should be determined based on mechanical specifications and
positioning accuracy.
To calculate movement of loading axis Reference units for 1 cycle of loading axis should be calculated based on
4
with 1 cycle of rotation determinate reference unit.
5 To calculate electronic gear ratio Electronic gear ratio (B/A) should be calculated according to the related formula.
6 To set user parameter The value calculated should be set as electronic gear ratio.
(5) Example for setting of electronic gear ratio

Electronic gear ratio is determined based on several examples.
Load configuration
Ball screw Disc table Belt + pulley
Step Content
Pulley diameter: 100 mm

Check mechanical · Ball screw pitch: 6 mm Rotation angle of 1 cycle: 360°
1 (Pulley perimeter: 341 mm)
structure · Gear ratio: 1/1 Gearratio: 3/1
·Gearratio: 2/1
2 Encoder 17-bit: 32768P/R 17-bit: 32768P/R 17-bit: 32768P/R
Determine the 1 reference unit: 0.001 mm
3 1 referenceunit: 0.1° 1 referenceunit: 0.02mm
reference unit used. (1 μm)
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Calculate movement
of loading axis
4 6mm/0.001mm=6000 360°/0.1°=3600 314 mm/0.02 mm=15700
with 1 cycle of
rotation
Calculate the B 32768 4 1 B 32768 4 3 B 32768  4 2
5
electronic gear ratio
     
A 6000 1 A 3600 1 A 15700 1
P□202 131072 * P□202 393216 P□202 262144
6 Set user parameter
P□203 6000 P□203 3600 P□203 15700
* Calculation result is not within the setting range. Hence numerator and denominator are reduced.
For example, numerator and denominator are reduced by 4. As a result, P□202 = 32768 and P□203 = 1500.
Then the setting is completed.
(6) Equation of electronic gear ratio
5.6.3 Position Reference

Position of servo motor is controlled by the reference in the form of pulse train.
Pulse train output forms of command controller are listed as below.
· Bus driver output
· +24V collector open circuit output
· +12 V collector open circuit output
· +5 V collector open circuit output
Note:
Note for collector open circuit output: when pulse output is conducted through collector open circuit,
noise margin of input signal will reduce. In case of offset caused by noise, following user parameters should
be changed.
P□200 H.1□□□ Reference input filtering for collector open-circuit signal
(1) Timing example for input/output signal
76
Note:
1. Interval between ON set for servo ON signal to input of reference pulse should be more than 40 ms;
Otherwise, the reference pulse may not be received by the servo driver.
2. Clear signal ON should be set more than 200 μs.
Table: Timing for reference pulse input signal
Reference pulse form Electrical specification Remarks
Sign + pulse train input t1,t2 ≤ 0.1μs

(SIGN + PULS signal) t3,t7 ≤ 0.1μs SIGN
Maximum reference frequency: 500 kpps t4,t5,t6 3 H = Forward reference
(In case of open-collector output, τ ≥ 1.0μs L = Reverse reference
maximum reference frequency: 200 kpps) τ/T × 100 ≤ 50%
CW pulse + CCW pulse t1,t2 ≤ 0.1μs

Maximum referencefrequency: 500 kpps t3 3
(In case of open-collector output, τ ≥ 1.0μs
maximum reference frequency: 200 kpps) τ/T × 100 ≤ 50%
Two phase pulse with 90°

phase difference
Multiplication mode
(Phase A + Phase B) t1,t2 ≤ 0.1μs can besetted through
Maximum reference frequency: τ ≥ 1.0μs user parameter
× 1multiplier: 500kpps
P□200.1.
τ/T × 100 ≤ 50%
(2) Connection example

(a) Connection example of line driver output
Applicable line driver: equivalent of TI SN75174 or MC3487
77
(b) Connection example of open-collector output

R1 value of limiting resistor should be selected to ensure that input current is within the
range below.
Input current i = 7mA ~ 15mA
(3) Chart of control box

Chart of control box is as below during position control.
78
5.6.4 Smoothing
Filtering is available in the servo unit through reference pulse input with certain frequency.
(1) Selection of position reference filter

P□206 H.□□□0 First acceleration and deceleration filtering
H.□□□1 Second acceleration and deceleration filtering
(2) User parameter related to filter
5.6.5 Positioning Completed Output Signal
79
The signal represents completion of servo motor positioning during position control, and should
be used when interlocking is confirmed by positioning completion of command controller.
Pin No. of
A axis B axis
CN3-9 CN3-34 ON = L Level Positioning completed
Output /COIN
CN3-10 CN3-35 OFF = H Level Positioning not completed
Positioning completed signal can be distributed to other output terminals through user parameter P□513.
See "Signal distribution of output circuit" for distribution of output signal.
5.6.6 Low-frequency Jitter Suppression

For low-rigidity load, rapid start-stop may produce continuous low-frequency jitter at early stage
of loading, resulting in longer positioning and affecting production efficiency. Servo driver is equipped
with jitter buffer control function which can suppress low-frequency jitter by estimating loading
position and compensation.
(1) Scope of Application

Low-frequency jitter suppression is available in speed control mode and position control mode.
Low-frequency jitter suppression may not work normally or reach expected effects in case of:
 Intensive vibration cause by external force
 Jitter frequency not within 5.0 Hz - 50.0 Hz
 Mechanical gap between mechanical joint parts of vibration structure
 Moving time lower than one vibration cycle
(2) Setting of user parameter

P□004 H. □0□□0 Disable low-frequency jitter suppression
H. □1□□1 Enable low-frequency jitter suppression
80
If jitter frequency can be directly measured by instrument, such as laser interferometer, frequency
measured should be directly input into parameter P□413 in the unit of 0.1 Hz.
In case of no measuring instrument available, drawing or FFT analysis function of PC
communication software can be used to measure jitter frequency of load indirectly.
5.6.7 Inhibition Function of Reference Pulse (INHIBIT Function)

(1) Inhibition function of reference pulse (INHIBIT function)
It is the function to stop (inhibit) referencecountinginput pulses during position control.
When the function is activated, servo locking (clamping) state is also activated.

P□000 H.□□B□ Control mode: position control (pulse train reference)  position inhibition
81
■Inhibit switching condition

· /P-CON signal is ON (L level)

Name Signal (factory) Set Meanings
A axis B axis
ON = L Level INHIBIT function ON (stop counting of reference pulse)
Input /P-CON CN3-15 CN3-40
OFF = H Level INHIBIT function OFF (counting of reference pulse)
5.7 Torque Control Operation

P□000 H.□□2□ Control mode: torque control (analog voltage reference)
5.7.2 Torque Reference Input

If torque reference is sent to servo driver in the form of analog voltage reference, torque of servo
motor is controlled in proportion to input voltage.
Name Signal Name
A axis B axis
T-REF CN3-18 CN3-43 Torque referenceinput
Input
GND CN3-25 CN3-50 Signal earth for torque referenceinput
It should be used for torque control (analog voltage reference) (P□000.1 = 2, 6, 8 or 9)
P□400 is used to set torque reference input gain. Please refer to "8.7.1 Setting of User Parameter" for details.
82
■ Input specification
· Input range: DC ± 1V ~ ± 10V/ rated torque
· Maximum allowable input voltage: DC ± 12V
· Factory settings
P□400 = 30: rated torque under 3 V
+3V input: rated torque in the positive direction
+9 V input: 300% of rated torque in the positive direction
-0.3 V input: 10 % of rated torque in the negative direction
Voltage input range can be changed through user parameter
P□400.
■Example of input circuit

To adopt effective measures to prevent interference,
multi-stranded wire should be used for wiring.
Note:
Internal torque can be confirmed under monitoring mode (Un005). See "Operation under Monitoring Mode".
5.7.3 Adjustment of Reference Offset

(1) Auto-adjustment of torque reference offset
In the torque control mode, the servomotor may rotate at a minute speed with an analog voltage
reference of 0 V, Thisoccurs because the reference voltage of the host controller or external circuit has
a minute offset of a few millivolts. In such case, the offset can be automatically or manually adjusted
by panel operator.
Auto-adjustment of analog (speed · torque) or reference offset is the function for offset
measurement and auto-adjustment of voltage.
In case of voltage reference offset of the host controller or in external circuit, servo driver will
make following adjustment towards the automatic offset.
After auto-adjustment of reference offset, the value of offset will be saved in the servo driver.
Offset can be confirmed through manual adjustment of speed reference offset (F□006). When
offset pulse is set as zero with the servo locked in the OFF state by the host controller equipped with a
position loop, auto-adjustment of reference offset (F□008) is not available, instead, please use manual
adjustment of speed reference offset (F□00A).
83
Under speed reference of zero, function of zero clamping speed control which can lock the servo
in a mandatory manner is provided. See "Use of Zero Clamping Function" for details.
Note: Auto-adjustment of zero analog offset should be conducted when the servo is OFF.
Auto-adjustment of torque reference offset of A axis is conducted as below.

Operation Operation
steps key
Turn OFF the servo drive, and input
OV refercnce voltage through host
controller or external circuit.
1

3 Press SET, and "rEF_o" is displayed.
Press M function key to start auto-zeroing, and

4
After completion of auto-zeroing, "rEF_o"
5 ——
instead of flickering "donE" is displayed.
(2) Manual adjustment of torque reference offset

Manual adjustment of torque reference offset (F□007) should be applied in case that:
· the host controller is equipped with a position loop to set the offset pulse as zero when the
servo is locked in the OFF state
· the offset is set as a certain value consciously
· check the offset data that was set in the auto-adjustment mode.
Basic function and auto-adjustment of analog (speed · torque) reference offset (F□008) are
the same. But for manual adjustment (F□007), adjustment must be made along with direct input
of offset.
Figure below shows adjustment range of offset and setting unit.
84
Auto-adjustment of torque reference offset of A axis is conducted as below.

Operation Operation
steps key
Press M function key to select auxiliary
1 function mode for A axis. In case of failing to
display FA006, press UP or DOWN to set.
2 Press SET, and "A.Tcr" is displayed.
Press SET for at least 1 s, and "0000" is

3
displayed.
4 Press UP or DOWN to set offset.
5 Press SET for at least 1 s to save offset.
5.7.4 SpeedLimit under Torque Control

Servo motor in torque control is controlled by the specifiedtorque output,but the motor speed
is not controlled. If an excessivereference torque is set for the load torque on the mechanical side,
then it will exceed the torque of the machinery, which will lead to greatly increase of motor speed.
As a protective measure at the mechanical side, a function of limiting servo motor speed
under torque control is provided.
No speed limit Speed limit
(1) Selection of speed limit manner (torque limit option)

P□001 H.□0□□ Value set in P□408 is used as speed limit. (Internal speed limiting function)
H.□1□□ V-REF is used as external speed limit input.
(2) Internal speed limiting function
85
(3) External speed limiting function

Name Signal Name
A axis B axis
V-REF CN3-5 CN3-30 External speed limit input
Input
GND CN3-6 CN3-31 Signal ground
Motor speed limit in case the torque limit is input under analog voltage reference.
When P□001=H.□1□□, the smaller one of V-REF speed limit input and P□408 (speed limit under torque control) is the valid
value.
The setting in Pn300 determines the voltage level to be input as the limit value and it is not related to polarity.
Note: Principle of speed limit.

If the speed is out of the range of speed limit, it may return to the range of speed limit through negative
feedback of torque proportional to the speed difference with the limited speed. Therefore, actual motor
speed limit will fluctuate based on loading conditions.
5.8 Speed Control (Internal Speed Selection) Operation
·Meaning of internal set speed selection

This function allows speed control operation by externally selecting an input signal from
among three servomotor speed settings made in advance with parameters in the servodrive.
There is noneed to provide a speed generator or pulse generator externally.
5.8.1 User Parameter Settings for speed control with an internally set speed
86

P□000 H.□□3□ Selection of control manner: internal set speed control (contact reference)
5.8.2 Setting of Input Signal

Name Signal Name
A axis B axis
/P-CON CN3-15 CN3-40 Shift of rotation direction of servo motor
Input /PCL Need to distribute Selection of internal set speed
/NCL Need to distribute Selection of internal set speed
■ As for input signal selection
For single-axis drive: /PCL and /NCL are respectively distributed to CN3-41 and CN3-42 when leaving factory.
For double-axis drive: /PCL and /NCL need to be distributed by parameter P□510.
Operation modes of the three input signals /P-CON, /P-CL and /N-CL are utilized (they are distributed in factory settings).
5.8.3 Operation at Internal Set Speed

Operation is allowed through internal settings by ON/OFF combination of the following input
signals.
Input signal Rotation
direction of
/P-CON /PCL /NCL
motor
OFF(H) OFF(H) Stop by the internal speed reference 0
OFF(H) ON(L) P□301: internal set speed 1 (SPEED1)
OFF(H) Positive rotation
ON(L) ON(L) P□302: internal set speed 2 (SPEED2)
ON(L) OFF(H) P□303: internal set speed 3 (SPEED3)
ON(L) Negative
Note:
87
In case that the control mode is switching mode

When P□000.1 = 4, 5, 6, if the signal of either /PCL or /NCL is OFF (H level), then the control mode is
shifted.
For example, P□000.1=5: when internal set speed is set to select position control (pulse train)
Input signal
Speed
/PCL /NCL
· Operation example based on internal speed setting selection
If soft start function is used, then the impact during speed shifting will decrease.
Please refer to "Soft start" for soft start.
Example: operation based on internal set speed + soft start
If "(P□000.1 = 5 internal set speed control" position control)" is set, the soft start function only works
when the internal set speed is selected. The soft start function is not available when pulse reference is input.
If it is shifted to pulse reference input during operation at any speed of speed 1-3, the servo drive will accept
the pulse reference after output of positioning completion signal (/COIN). Please start output of pulse
reference of user command controller only after output of positioning completion signal of servo drive.
(Internal set speed + soft start) based <--> position control (operation example of pulse train reference)
88
Note:
1. The soft start function is used in the figure above.
2. Value of t1 will not be affected by whether soft start function is used. Read-in of /PCL and
/NCL may delay at most 2 ms.
5.9 Torque Limit
The servo driver provides the following four methods for limiting output torque to protect the
machine.
Method Way of limit Reference
1 Internal torque limit 5.9.1
2 External torque limit 5.9.2
3 Torque limit by analog voltage reference 5.9.3
Torque limit by external torque limit + analog voltage
4 5.9.4
reference
5.9.1 Internal Torque Limit (Limitation on Output Torque Maximum Value)

The function limits the maximum output torque through user parameters.
89
5.9.2 External Torque Limit (through Input Signal)

Use this function to limit torque by inputting a signal from the host controller at a specific times
duringmachine operation, such as forced stop or hold operations for robot workpieces.
The torque limit value preset at the user parameter become valid through signal input.
(1) Related user parameter
Note: Setting unit corresponds to a percent (%) of the used servo motor rated torque. (Rated torque limitsis 100%.)
(2) Input signal
Name Signal Set Meanings Limit value
A axis B axis
90
ON = L Level Positive-side external torque The smaller value between Pn403 and Pn405
Different drives for
limit ON
Input /PCL single axis and double
OFF=H Level Positive-side external torque Pn403
axis
limit OFF
ON = L Level External torque limit at The smaller value between Pn404 and Pn406
negative side OFF
Input /NCL single axis and double
OFF=H Level Negative-side external torque Pn404
axis
limit OFF
When using external torque limit, please confirm whether to distribute other signals to the same terminal of /P-CL and /N-CL.
Since the logic becomes OR logic when several signals are distributed to a terminal, effects from ON/OFF of other signals distributed to the
same terminal may be inevitable. Please refer to "Signal distribution of input circuit" for distribution of input signal.
(3) Changes inoutput torque during external torque limit
When external torque limit (P□403, P□404)=800%
/PCL (positive external torque limit)

/N-CL status
H level L level
H
level
/NCL
(Reverse external
torque limit input)
L
level
Note: Select motor rotation direction when setting P□000=H. □□□ 0 ( standard setting [CCW as positive
rotation direction]).
5.9.3 Torque Limit Based on Analog Voltage reference

Torque limiting by analog voltage reference limits torque by assigning a torque limit in an analog
voltage tothe T-REF terminals. This function can be used only during speed or position control, not
duringtorque control.
Under speed control, the block diagram in the case of "torque limit based on analog voltage
reference" is shown as below.
91
Note:
Input voltage for analog voltage reference of torque limit does not have polarity. The value is absolute
value, no matter it is positive or negative, and the torque limit based on the absolute value is applicable
to both positive and negative directions.
P□001 H. □□1□ Speed control option: T-REF terminal is used as the external torque limit input.
If H. □□2□ is set, then T-REF terminal may also be used as the torque feed-forward input. However, please note that it
cannot serve for these two input functions simultaneously.
(2) Input signal

Name Signal Name
A axis B axis
T-REF CN3-18 CN3-30 Torque reference input
Input
P□400 is used to set torque reference input gain. Please refer to "Setting of user parameter".
5.9.4 Torque Limit Based on External Torque Limit + Analog Voltage Reference
Torque limit based on external input signal and torque limit based on analog voltage
reference can be used simultaneously.
For torque limit based on analog voltage reference, T-REF is used for input. Hence, it cannot
work under torque control. For torque limit based on external input signal, /P-CL or /N-CL is
used.
If signal of /P-CL (or /N-CL) is set to be ON, torque limit relies on the smaller one of torque
limit based on analog voltage reference and the set value of P□405(or P□406).
92

P□001 Speed control option: If /P-CL or /N-CL is valid, T-REF terminal is used as the external
H. □□3□
torque limit input.
If H. □□2□ is set, then T-REF terminal may also be used as the torque feed-forward input. However, please note that it
cannot serve for these two input functions simultaneously.
(2) Input signal

Name Signal Name
A axis B axis
T-REF CN3-18 CN3-30 Torque reference input
Input
P□400 is used to set torque reference input gain. Please refer to "Setting of user parameter".

Name Signal Set Meanings Limit value
A axis B axis
ON = L Level Positive-side external torque The smaller value at Pn403 and Pn405
limit ON
Input /PCL single axis and double
OFF=H Level Positive-side external torque Pn403
axis
limit OFF
ON = L Level External torque limit at The smaller value in Pn404 and Pn406
negative side OFF
Input /NCL single axis and double
OFF=H Level Negative-side external Pn404
axis
torque limit OFF
93
When using external torque limit + torque limit based on analog voltage reference, please confirm whether to distribute other
signals to the terminal same to /P-CL and /N-CL.
Since the logic becomes OR logic when several signals are distributed to a terminal, affect from ON/OFF of other signals
distributed to the same terminal may be inevitable. Please refer to "Signal distribution of input circuit" for distribution of input signal.
5.9.5 Confirmation under Input Torque Limit

Name Signal (factory) Set Meanings
A axis B axis
ON = L Level Motor input torque is under limiting
Output /CLT Need to distribute
OFF = H Level Not torque limit status
To use the signal in case of motor output torque limit, it is necessary to distribute output terminal through user parameter P□514.
Please refer to "Signal distribution of output circuit".
5.10 Control Mode Selection
The servo drive can be used with various control modes for shifting. The shifting method and
conditions are described as follows.

Control mode can be any of the following combination. Please select based on customers' usage.

P□000 H. □□4□ Internal set speed control (contact reference) ←→ Speed control (analog reference)
H. □□5□ Internal set speed control (contact reference) ←→ Position control (pulse train reference)
H. □□6□ Internal set speed control (contact reference) ←→ Torque control (analog reference)
H. □□7□ Position control (pulse train reference) ←→ Speed control (analog reference)
H. □□8□ Position control (pulse train reference) ←→ Torque control (analog reference)
H. □□9□ Torque control (analog reference) ←→ Speed control (analog reference)
H. □□A□ Speed control (analog reference) ←→ Zero clamping
H. □□B□ Position control (pulse train reference) ←→Position control (pulse prohibited)
5.10.2 Shift of Control Mode

(1) Shift between internal set speed control (P□00.1 = 4, 5, 6)
A axis B axis
Different drives for single
Input /PCL OFF = H Level
axis and double axis
Shift of control mode
Input /NCL OFF = H Level
(2) Shift beyond internal speed control (P□000.1=7, 8, 9, A, B)

Please use the following signal shift control mode. Conduct the following control mode shift
based on signal status.
Pin No. of connector Setting of P□000
Name Signal Set
A axis B axis H.□□7□ H. □□8□ H. □□9□ H. □□A□ H. □□B□
ON = L Level Speed Torque Speed Zero Prohibited
Input /PCON CN3-15 CN3-40 clamping
OFF = H Level Position Position Torque Speed Position
94
5.11 Other Output Signal
Describe other signals that can be output, although they have no direct relationship with various
control manners.
5.11.1 Servo Alarm Output (ALM)

(1) Servo alarm output (ALM)
Refer to signals output when the servo drive detects any abnormalities.
Pin No. of
A axis B axis
CN3-7 CN3-32 ON = L Level Normal status of servo drive
Output ALM
CN3-8 CN3-33 OFF = H Level Alarm status of servo drive
■Attentions
If constituting an external circuit, it is necessary to ensure the main circuit power supply of servo drive is set to be OFF
when the alarm is output.
(2) Reset alarm

Name Signal (factory) Name
A axis B axis
Input /ALM-RST
This signal may be distributed to other pin number through user parameter P□510. Please refer to "Signal distribution
of input circuit" for detailed procedures. /ALM-RST signal is set based on distribution of external input signal, so it cannot
be set to be "constantly valid". Please use the action of setting level from H to L to reset alarm.
In case of "servo alarm (ALM)", finish troubleshooting and set this signal (/ALM-RST) from OFF (H level) to ON
(L level) to reset to alarm status. In addition, alarm reset can also be done through panel operator or digital operator. Please
refer to "Name and function of key".
Note:
1. Sometimes alarms related encoder cannot reset after /ARM-RST signal input. In such cases, please cut
down control power supply to reset.
2. In case of alarm, please reset only after troubleshooting.
Troubleshooting methods for alarms are described in the "Alarm displays and treatment measures".
5.11.2 Rotation Detection Output (/TGON)

Pin No. of
A axis B axis
ON = L Level Servo motor is rotating (motor speed is larger than the set
CN3-11 CN3-36 value of P□502)
Output /TGON
CN3-12 CN3-37 OFF = H Level Servo motor stops rotating (motor speed is larger than the
set value of P□502)
■Attentions
When brake signal (/BK) and rotation detection signal (/TGON) are distributed to the same output terminal, /TGON signal
is changed to L level, but /BK signal may cannot change to H level.
(The reason is that OR logic prevails for output when several output signals are distributed to the same output terminal) Please
distribute (/TGON) signal and (/BK) signal to other terminals.
95
5.11.3 Servo Ready Output (/S-RDY)
Pin No. of
A axis B axis
Need P□513 for ON = L Level Servo ready status
Output /S-RDY
distribution OFF = H Level Servo not ready status
Indicate that servo unit is under the status ready for servo ON signal reception.
Output when the main circuit power supply is ON and under the status of no servo alarm.
5.12 Mode Motion Sequence Manner
The Product supports 15 data sets that can set parameters in the parameter manner, 32 data sets
that can set parameters in the communication manner. These data sets can start up independently
or in sequence.
Data sets that can set parameters contain the setting about data set types and the setting of
related goal value and subsequent data sets.
The following motion types are available in motion type:
• Invalid motion (null data)
• Absolute motion
• Relative motion
Data sets can start up through 2 different manners.
•Start up a single data set
For startup of a single data set, only the selected data set starts up. No other data
sets will start up upon successful execution of the data set. Time coordination
among several data sets is then completed through main control system (e.g. PLC).
•Start up a data set sequence (several data sets in sequence)
For startup of a sequence, the selected data set will start up first. When a data set is
executed successfully and the transitional conditions are fulfilled, subsequent data
sets will then start up. Time coordination among several data sets is then completed
through the product.
5.12.1 Single Data Set Manner

In the single data set manner, 15 sets of internal motion tasks are available. Mode of motion can
be incremental or absolute.
P□000 H.□□C□ Selection of control mode: mode motion sequence manner
P□764 H.□□□0 Selection of data set startup manner: single data set manner
96
97

Name Signal Name
A axis B axis
Input /POS-START Need P□512 for distribution Startup signal of mode motion sequence
Input /POS-STEP Need P□512 for distribution Step change signal of mode motion sequence
Input /POS0 Need P□511 for distribution Option switch 0 signal of data sets in mode motion sequence
Input /PCON Need P□509 for distribution Option switch 3 signal of data sets in mode motion sequence
In the single data set manner, when /POS-START signal is ON, the motor is allowed to operate; when it is OFF,
the motor stops operation.
For input signals (/POS-START, /POS-STEP, /POS0, /POS1, /POS2, /PCON), any of the 15 data sets
are available for selection as the current data set to be executed. The data sets are as follows:
Data set /POS2 /POS1 /POS0 /POS-START /POS-STEP Corresponding parameter

P0 OFF OFF OFF ON ↑ P□700 ~ P□703
P1 OFF OFF ON ON ↑ P□708 ~ P□711
P2 OFF ON OFF ON ↑ P□716 ~ P□719
P3 OFF ON ON ON ↑ P□724 ~ P□727
P4 ON OFF OFF ON ↑ P□732 ~ P□735
P5 ON OFF ON ON ↑ P□740 ~ P□743
P6 ON ON OFF ON ↑ P□748 ~ P□751
P7 ON ON ON ON ↑ P□756 ~ P□759
Sequence diagram of input signals and data sets is as below:
5.12.2 Data Set Sequence Mode

The data set sequence manner supports 8 data sets in the parameter manner and 32 data sets
in the communication manner. Mode of motion can be incremental or absolute.
98

P□000 H.□□C□ Selection of control mode: mode motion sequence manner
P□764 H.□□□0 Selection of data set startup manner: single data set manner

P□704 No step change condition, directly start up subsequent data sets; 2nd step change condition
H.□□□0
invalid.
H.□□□1 Delay step change, with delay time as "step change condition value 1" in the data set
Pulse edge step change, with "step change condition value 1" in the data set determining validity
H.□□□2
of rising edge or falling edge.
Level step change, with "step change condition value 1" in the data set determining validity of
H.□□□3
rising edge or falling edge.

P□704 H.□□0□ No step change condition, directly start up subsequent data sets.
H.□□1□ No step change condition, directly start up subsequent data sets.
Pulse edge step change, with "step change condition value 2" in the data set determining
H.□□2□
validity of rising edge or falling edge.
Level step change, with "step change condition value 2" in the data set determining validity of
H.□□3□
rising edge or falling edge.
99

P□704 H.□0□□ No conjunction, step change condition 2 invalid
H.□1□□ "And" conjunction between condition 1 and 2.
H.□2□□ "Or" conjunction between condition 1 and 2.

P□705 H.0□□□ Aborting: neglect step change condition, immediately interrupt motion, and start up subsequent
data sets.
H.1□□□ Standard: when the current motion is in place and the step change condition is fulfilled, start up
subsequent data sets.
H.2□□□ Standard: after reaching the goal position and if the step change condition is fulfilled, start up
subsequent data sets.
100
H.3□□□ BlendingLow: neglect step change condition, and after reaching the goal position, adjust speed
based on the speed of subsequent data set.
H.4□□□ BlendingPrevious: neglect step change condition, and after reaching the goal position, adjust
speed based on the speed of subsequent data set.
H.5□□□ BlendingNext: neglect step change condition, and after reaching the goal position, adjust speed
101
H.6□□□ BlendingHigh: neglect step change condition, and after reaching the goal position, adjust speed
102

Name Signal Name
A axis B axis
Need P□512 for Startup signal of mode motion sequence
Input /POS-START
distribution
Need P□512 for Step change signal of mode motion sequence
Input /POS-STEP
distribution
When /POS-START signal is from OFF  ON, the motor is allowed to operate; when it is OFF, the motor stops operation.
■Attentions
Every time after servo is OFF (or alarm is solved) and before data set sequence is rerun, it is necessary to set /POS-START
signal from ON to OFF and then ON so as to start up load data set.
5.12.3 Operation of Seeking Reference Point (Return to Zero)

Zero point can also be determined through reference point and it is the reference point in the
absolute motion in mode motion sequence manner.

103
P□770 H.□□□0 Current position is zero point

H.□□□1 For on-off operation of seeking NOT in the negative direction, C pulse is required
H.□□□2 For on-off operation of seeking POT in the negative direction, C pulse is required
H.□□□3 For on-off operation of seeking reference point in the negative direction, C pulse is required
H.□□□4 For on-off operation of seeking reference point in the positive direction, C pulse is required
H.□□□5 For on-off operation of seeking NOT in the negative direction, C pulse is not required
104
H.□□□6 For on-off operation of seeking POT in the negative direction, C pulse is not required
H.□□□7 For on-off operation of seeking reference point in the negative direction, C pulse is not required
H.□□□8 For on-off operation of seeking reference point in the positive direction, C pulse is not required
P□770 H.0□□□ Not return to zero automatically after power-on.

After power-on, return to zero automatically after 1st servo is enabled, with the return to zero
H.1□□□
manner determined by P□770.0.
105

Name Signal Name
A axis B axis
Need P□512 for Startup signal of mode motion sequence
Input /POS-START
distribution
Need P□512 for Zero reference on-off
Input /HOME-REF
distribution
Need P□512 for Start return to zero operation and seek for zero point as per
Input /POS-START-HOME
distribution P□770.0 setting.
When /POS-START signal is ON, the motor is allowed to operate (return to zero allowed); when it is OFF, the motor
suspends operation (return to zero suspended).
106
Chapter VI Communication
ZSD-K servo drives are equipped with standard MODBUS communication of RS485 interface
and optional CANopen of CAN interface (conforming to DS301 and DS402 standard protocols). The
Chapter mainly describes MODBUS communication.
6.1 Communication Wiring
Signal name and functions of communication connector are as follows:

Terminal No. 1 2 3 4 5 6 7 8
CN4 CANH- CANL GND GND RS485+ RS485- Reserved Reserved
Name Built-in 120 ohm
CN5 CANH- CANL GND GND RS485+ RS485-
resistance
Servo drive CN4 always acts as communication cable input terminal and CN5 always as
communication cable output terminal. Wiring diagram of several servo drives are as follows:
6.2 User Parameter

P□600 H.□□□0 RS485 communication baud rate: 4800 bps
H.□□□1 RS485 communication baud rate: 9600 bps
P□600 H.□□0□ ASCII, 7 data bits, no parity, 2 stop bits
H.□□1□ ASCII, 7 data bits, even parity bit, 1 stop bits
H.□□2□ ASCII, 7 data bits, odd parity bit, 1 stop bits
107
H.□□3□ ASCII, 8 data bits, no parity, 2 stop bits

H.□□4□ ASCII, 8 data bits, even parity bit, 1 stop bits
H.□□5□ ASCII, 8 data bits, odd parity bit, 1 stop bits
H.□□6□ RTU, 8 data bits, no parity, 2 stop bit
H.□□7□ RTU, 8 data bits, even parity bit, 1 stop bit
H.□□8□ RTU, 8 data bits, odd parity bit, 1 stop bit
6.3 MODBUS Communication Protocol
In case of RS-485 communication, every servo drive must have parameters P□600 ~ P□601 preset.
In case of MODBUS protocol for communication, the following two modes are available:
ASCII mode
RTU mode.
The following is the description of MODBUS communication.
■ Code meaning
ASCII mode:
Every 8-bit datum consists of two ASCII characters. For example, one 1-byte datum 64H
(sexadecimal notation). ASCII code "64" indicates it includes ASCII code (36 H) of ‘6’ and ASCII code
(34 H) of ‘4’. ASCII codes of digits 0-9 and alphabets A-F are as shown in the table below:
Character symbol ‘0’ ‘1’ ‘2’ ‘3’ ‘4’ ‘5’ ‘6’ ‘7’
Corresponding ASCII code 30 H 31 H 32 H 33 H 34 H 35 H 36 H 37 H
Character symbol ‘8’ ‘9’ ‘A’ ‘B’ ‘C’ ‘D’ ‘E’ ‘F’
Corresponding ASCII code 38 H 39 H 41 H 42 H 43 H 44 H 45 H 46 H
RTU mode:
Every 8-bit datum consists of two 4-bit sexadecimal data. For instance, decimal 100 presents to be
64 H when using 1-byte RTU data.
■ Character structure
10 bit character format (for 7-bit data)
108
11 bit
character format (for 8-bit data)
109
■ Communication data structure

ASCII mode:
STX Beginning character ':' =>(3A H)
ADR Communication address => 1-byte includes 2 ASCII codes
CMD Command code => 1-byte includes 2 ASCII codes
DATA(n-1)
... Data content => n-word=2n-byte includes 4n ASCII codes (n ≤ 12)
DATA(0)
LRC Check code => 1-byte includes 2 ASCII codes
End 1 End code 1 => (0D H) (CR)
End 0 End code 0 => (0A H) (LF)
RTU mode:
STX Rest time of at least four-byte transmission time
ADR Communication address => 1-byte
CMD Command code => 1-byte
DATA(n-1)
... Data content => n-word=2n-byte, n ≤ 12
DATA(0)
CRC CRC code => 1-byte
End 1 Rest time of at least four-byte transmission time
110
Data format of communication protocol is described as follows:

STX (Communication starting)
ASCII mode: ':' character.
RTU mode: rest time of communication time (automatically changed based on different
communication speed) for more than 4 bytes.
ADR (Communication address)

Legal communication address ranges from 1 to 254.
For example, communication for servo with address of 32 (sexadecimal 20):
ASCII mode: ADR=‘2’, ‘0’=>‘2’=32 H, ‘0’=30 H
RTU mode: ADR=20 H
CMD (Command) and DATA (Data)

Data format is determined based on command code. Common command codes are as follows:
Command code: 03 H, read N word (maximum of N is 20).
For example: Read 2 words from the starting address 0200 H in the servo with address of 01 H.
ASCII mode:
111
RTU mode:
Command code: 06 H, write in 1 word

For example: write 100(0064 H) in address 0200 H of servo with office number 01 H.
ASCII mode:
112
RTU mode:
Calculation of detection error values of LRC (ASCII mode) and CRC (RTU mode):
LRC calculation of ASCII mode:
ASCII mode adopts LRC (Longitudinal Redunancy Check) detection error value. LRC detection
error value is the sum of contents from ADR to the last data and the result is in the unit of 256 and
removes exceeding part (for example, the result after totaling is sexadecimal 128 H and 28 H is then
obtained), and then calculates its complement; thus the obtained results is the LRC detection error
value.
For example, read 1 word from 0201 address of servo with official number 01 H.
Add from ADR data to the last data:

01 H +03 H +02 H +01 H +00 H +01 H =08 H, 08 H becomes F8 H after applying complement of 2, so
LRC is ‘F’, ‘8’.
CRC calculation of RTU mode:

RTU mode adopts CRC (Cyclical Redundancy Check) detection error value.
113
Steps for calculation of CRC detection error value are as follows:

Step 1: download a 16-bit register with content of FFFF H (called as "CRC" register).
Step 2: conduct XOR operation on the first bit (bit0) of command massage and the low order bit
(LSB) of 16-bit CRC register, and save the result to CRC register;
Step 3: check the lowest order (LSB) of CRC register; if it is 0, right shift CRC register value a
bit; if it is 1, right shift CRC register value a bit and then conduct XOR operation with A001 H;
Step 4: return to Step 3, until 8 times of execution of Step 3, and then move to Step 5;
Step 5: repeat Step 2-4 for the next bit of the command massage, until all bits are processed; the
content of CRC register now is CRC detection error value.
Note: after CRC detection error value is calculated, it is necessary to fill the CRC low order in
the command massage and then CRC high order. Please refer to the following example.
For example: read 2 words from 0101 H address of servo with official number of 01 H. The final
content of CRC register calculated from ADR to the last bit of the data number is 3794 H, and then its
command massage is as shown below. Note that 94 H is transmitted prior to 37 H.
ADR 01 H
CMD 03 H
01H (address high order)
Starting data address
01H (address low order)
Data number 00 H (high order)
(Calculated based on
02H (low order)
word)
CRC check low order 94H (check low order)
CRC check high order 37H (check high order)
End1, End0 (communication detection completed)
ASCII mode:
(0D H) (i.e. character '\r' 『carriage return』) and (0A H) (i.e. ‘\n’『new line』) indicate end of
communication.
RTU mode:
Exceeding the rest time of 4-byte communication time at the current communication rate indicates
the end of communication.
Example:
The following uses C programming language to generate CRC value. The function needs
two parameters:
unsigned char * data;
unsigned char length;
/*The function will pass back the CRC value in unsigned integer type.*/
unsigned int crc_chk(unsigned char * data,unsigned char length){
int i,j;
unsigned int crc_reg = 0xFFFF;
while(length- -){
crc_ reg ^=*data++;
for(j=0;j<8;j++){
114
if(crc_reg & 0x01){

crc_reg=( crc_reg >>1)^0xA001;
}
Else
{
crc_reg＝crc_reg >>1;
}
}
}
return crc_reg;
}
■ Communication error
During communication, errors are possible, and common error sources are as follows:
 During parameters reading and writing, data address is wrong;
 During writing of a parameter, the data exceed the maximum of the parameter or
are smaller than the parameter;
 Communication is interrupted, data transmission is wrong or check code is wrong.
In case of the first two communication errors, operation of servo drive will not be affected and
meanwhile the servo drive will feedback an error frame. In case of the third error, transmitted data will
be considered to be invalid and abandoned, without feedback of frame.
Error frame format is as follows:
Upper computer data frame:
start Slave station address Command Data address, data, etc. Check
Command
Servo drive feedbacks error frame:

start Slave station address Response code Error code Check
Command + 80 H
Where the error frame response code = command + 80 H;

Error code = 00 H; communication is normal;
= 01 H: servo drive fails to identify the requested function;
= 02 H: data address given in request does not exist in servo drive;
= 03 H: data address given in request is not allowed in servo drive (due to exceeding the
maximum or minimum value of parameter);
= 04 H: servo drive has started to execute request, but fails to complete the request;
For example: the axis number of servo drive is 03H and datum 06H is written in parameter Pn100;
since the range of parameter Pn100 is 0-6, the written data will not be allowed and the servo drive will
return a error frame, with error code of 03H ( exceeding the maximum or minimum value of parameter)
and the structure as below:
Upper computer data frame:
115
start Slave station address Command Data address, data, etc. Check
03H 06H 0002H 0006H
Servo drive feedbacks error frame:

start Slave station address Response code Error code Check
03H 86H 03H
In addition, if the slave station address in data frame sent by upper computer is 00H,
indicate that the data of the frame are broadcast data and the servo drive will not
return any frame.
6.4 MODBUS Communication Address
Communication
data address
Meaning Instruction Operation
Hexadecimal
system
Correspond to parameters in
0000h ~ 03FFh Parameter area Read and write
parameter table
0400h ~0409h Alarm information storage area 10 history alarms Read only
0410h Speed reference zero offset Read only

0411h Torque reference zero offset Read only
0412h Iu zero offset Read only
0413h Iv zero offset Read only
0420h ~ 0437h Monitoring data Read only

0420h Motor speed Unit: 1 r/min Read only
0422h Rotation angle (electric angle) Unit: 1deg Read only
0424h Input reference pulse speed Unit: 1kHz Read only
0426h Bus voltage Unit: 1 V Read only
Speed reference value of
0428h Unit: 1 r/min Read only
analogue input
Analog input torque reference
042Ah Unit: 1% Read only
percent
042Ch Internal torque reference percent Unit: 1% or 0.1A Read only
042Eh Input signal monitoring —— Read only
0430h Output signal monitoring —— Read only
0432h Encoder signal monitoring —— Read only
0434h Input reference pulse counter Unite: 1 reference pulse Read only
0436h Feedback pulse counter Unite: 1 reference pulse Read only
0438h Position error counter Unite: 1 reference pulse Read only
043Ah Accumulated load Unit: 1% Read only
116
Communication
data address
Hexadecimal
system
043Ch Rotational inertia percent Unit: 1% Read only
043Eh Actual angle of encoder Unite: 1 reference pulse Read only
0440h Encoder multi-circle position Unit: 1 circle Read only
044Ah Current alarm Read only

0451h Communication IO signal *1
Power failure not saved Read and write
Communication output port
0452h Power failure not saved Read and write
reverse
0457h Servo operation status *2 Read only
045Eh Software version Read only
045Fh FPGA version number Read only
0520h Clear history alarm 1: Clear history alarm Read and write
0521h Clear current alarm 1: Clear current alarm Read and write
0522h Clear bus encoder alarm 1: Clear bus encoder alarm Read and write
Clear bus encoder 1: Clear bus encoder
0523h Read and write
multi-circledata multi-circledata
BIT15:1 JOG servo enable

Speed JOG (speed as set in
0528h BIT01:1 JOG- (JOG positive) Read and write
P□304)
BIT00:1 JOG+ (JOG negative)
BIT15:1 Enter position jog
Position JOG (speed as set in mode
0529h Read and write
P□304) BIT01:1 JOG-
BIT00:1 JOG+
0540h Factory reset 1: Factory reset Writable

0541h Reset 1: Reset Writable
Number of data set under

05F0h Read only
operation
Number of data set to be
05F1h Read only
operated
05F2h Actual position is 16 bits lower Position contacts position after Read only
05F3h Actual position is 16 bits higher electronic gear Read only
05F4h Position node manner 0: Task 1: External Read only
05F5h Acceleration 10rpm/s/s Read and write
05F6h Deceleration 10rpm/s/s Read and write
05F7h Emergency deceleration 10rpm/s/s Read and write
117
Communication
data address
Hexadecimal
system
Position contact electronic gear
05F8h Read and write
numerator
Position contact electronic gear
05F9h Read and write
denominator
05FAh Reference point seeking manner Read and write
Reference point seeking on-off
05FBh 0~6000 rpm Read and write
speed
On-off speed to leave reference
05FCh 0~6000 rpm Read and write
point
05FDh Demonstration position low byte Read and write
05FEh Demonstration position high byte Read and write
Data set 0 parameter:

0600 h Destination position low byte Read and write
0601 h Destination position high byte Read and write
0602 h Target speed rpm Read and write
0603 h Step change attribute *3
Read and write
0604 h Step change condition 1 value Read and write
0606 h Subsequent data set number Read and write
0: NULL; 1: Absolute; 2:
0607 h Data set type Read and write
Relative

0608h Destination position low byte Read and write
0609h Destination position high byte Read and write
060Ah Target speed rpm Read and write
060Bh Step change condition attribute Read and write
060Ch Step change condition 1 value Read and write
060Dh Step change condition 2 value Read and write
060Eh Subsequent data set number Read and write
060Fh Data set type Read and write
Relative

0610 h Destination position low byte Read and write
0611 h Destination position high byte Read and write
0612 h Target speed rpm Read and write
0613 h Step change condition attribute Read and write
118
Communication
data address
Hexadecimal
system
0616 h Subsequent data set number Read and write
0617 h Data set type Read and write
Relative

Relative

0622h Target speed rpm Read and write
0623h Step change condition attribute Read and write
0624h Step change condition 1 value Read and write
0626h Subsequent data set number Read and write
0627h Data set type Read and write
Relative

Relative
119
Communication
data address
Hexadecimal
system
Relative

Relative

Relative

120
Communication
data address
Hexadecimal
system
Relative

Relative

Relative

Relative
121
Communication
data address
Hexadecimal
system
Relative

Relative

Relative

122
Communication
data address
Hexadecimal
system
Relative

Relative

Relative

Relative

06A0h Destination position low byte Read and write
123
Communication
data address
Hexadecimal
system
06A1h Destination position high byte Read and write
06A2h Target speed rpm Read and write
06A3h Step change condition attribute Read and write
06A4h Step change condition 1 value Read and write
06A5h Step change condition 2 value Read and write
06A6h Subsequent data set number Read and write
06A7h Data set type Read and write
Relative

06A8h Destination position low byte Read and write
06A9h Destination position high byte Read and write
06AAh Target speed rpm Read and write
06ABh Step change condition attribute Read and write
06ACh Step change condition 1 value Read and write
06ADh Step change condition 2 value Read and write
06AEh Subsequent data set number Read and write
06AFh Data set type Read and write
Relative

06B0h Destination position low byte Read and write
06B1h Destination position high byte Read and write
06B2h Target speed rpm Read and write
06B3h Step change condition attribute Read and write
06B4h Step change condition 1 value Read and write
06B5h Step change condition 2 value Read and write
06B6h Subsequent data set number Read and write
06B7h Data set type Read and write
Relative

06B8h Destination position low byte Read and write
06B9h Destination position high byte Read and write
06BAh Target speed rpm Read and write
06BBh Step change condition attribute Read and write
06BCh Step change condition 1 value Read and write
06BDh Step change condition 2 value Read and write
06BEh Subsequent data set number Read and write
124
Communication
data address
Hexadecimal
system
06BFh Data set type Read and write
Relative

06C0h Destination position low byte Read and write
06C1h Destination position high byte Read and write
06C2h Target speed rpm Read and write
06C3h Step change condition attribute Read and write
06C4h Step change condition 1 value Read and write
06C5h Step change condition 2 value Read and write
06C6h Subsequent data set number Read and write
06C7h Data set type Read and write
Relative

06C8h Destination position low byte Read and write
06C9h Destination position high byte Read and write
06CAh Target speed rpm Read and write
06CBh Step change condition attribute Read and write
06CCh Step change condition 1 value Read and write
06CDh Step change condition 2 value Read and write
06CEh Subsequent data set number Read and write
06CFh Data set type Read and write
Relative

06D0h Destination position low byte Read and write
06D1h Destination position high byte Read and write
06D2h Target speed rpm Read and write
06D3h Step change condition attribute Read and write
06D4h Step change condition 1 value Read and write
06D5h Step change condition 2 value Read and write
06D6h Subsequent data set number Read and write
06D7h Data set type Read and write
Relative

06D8h Destination position low byte Read and write
06D9h Destination position high byte Read and write
125
Communication
data address
Hexadecimal
system
06DAh Target speed rpm Read and write
06DBh Step change condition attribute Read and write
06DCh Step change condition 1 value Read and write
06DDh Step change condition 2 value Read and write
06DEh Subsequent data set number Read and write
06DFh Data set type Read and write
Relative

06E0h Destination position low byte Read and write
06E1h Destination position high byte Read and write
06E2h Target speed rpm Read and write
06E3h Step change condition attribute Read and write
06E4h Step change condition 1 value Read and write
06E5h Step change condition 2 value Read and write
06E6h Subsequent data set number Read and write
06E7h Data set type Read and write
Relative

06E8h Destination position low byte Read and write
06E9h Destination position high byte Read and write
06EAh Target speed rpm Read and write
06EBh Step change condition attribute Read and write
06ECh Step change condition 1 value Read and write
06EDh Step change condition 2 value Read and write
06EEh Subsequent data set number Read and write
06EFh Data set type Read and write
Relative

06F0h Destination position low byte Read and write
06F1h Destination position high byte Read and write
06F2h Target speed rpm Read and write
06F3h Step change condition attribute Read and write
06F4h Step change condition 1 value Read and write
06F5h Step change condition 2 value Read and write
06F6h Subsequent data set number Read and write
06F7h Data set type 0: NULL; 1: Absolute; 2: Read and write
126
Communication
data address
Hexadecimal
system
Relative

06F8h Destination position low byte Read and write
06F9h Destination position high byte Read and write
06FAh Target speed rpm Read and write
06FBh Step change condition attribute Read and write
06FCh Step change condition 1 value Read and write
06FDh Step change condition 2 value Read and write
06FEh Subsequent data set number Read and write
06FFh Data set type Read and write
Relative
Data set 32 parameter (next data set of operating data set):

0707h Data set type Relative Read and write
Address description:
*1. Communication IO input (0451h)
Input signal can be given through communication IO input (0451h) register of MODBUS
communication. The definition of the register is as follows:
Signal input in the register is valid only when the signal is not input from CN3 (signal distribution
parameter is set to be "Null").
For example: to input /POS-START through communication IO input register, it is necessary to set
P□512.1=0first,and thenmodifybit13 of communication IO input (0451h) register valid.
*2. Servo operation status（0456h）
127
*3. Step change condition attribute
128
129
Chapter VII Maintenance and Inspection
7.1 Abnormality Diagnosis and Treatment Methods
7.1.1 Overview of Alarm Display

Relationship between alarm display and alarm code output ON/OFF is as shown in the table
below. The method to stop motor in case of alarm: free-running stop: without braking, natural stop by
friction resistance at the time of motor rotation.
Alarm ALM Alarms Alarm contents Clear or
display output not
□01 H Encoder PA, PB, PC disconnection Encoder disconnection or cable welding problem. Clear
□02 H Encoder PU, PV, PW disconnection Encoder disconnection or cable welding problem. Clear
Continuous running at a certain torque exceeding the

□03 H Overload Clear
rated value
□04 H A/D switch channel abnormal A/D switch channel abnormal Clear
□05 H PU, PV, PW false code PU, PV, PW signals are all high or low Clear
□06 H PU, PV, PW phases incorrect PU, PV, PW signals are all high or low Clear
Set the locked-rotor torque by P□148，Set the

locked-rotor time by P□149. The servo driver
□07 H Alarm of locked-rotor, will alarm 07 when the motor torque is greater No
than the locked-rotor torque and the speed is
less than 10RPM
□08 H The BOOTLOADER is abnormal Contact manufacturer No
□08 H The motor model is abnormal Contact manufacturer No
□10 H Overcurrent Servo drive IPM module current is overlarge. Clear
□11 H Overvoltage Servo drive main circuit voltage is too high. No
□12 H Undervoltage Servo drive main circuit voltage is too low. No
□13 H Parameter damage EEROM data in servo drive is abnormal. Clear
□14 H Over-speed Servo motor speed is extremely high Clear
□15 H Deviation counter overflow Internal position deviation counter overflow Clear
Position deviation pulse exceeds the set value of

□16 H Position deviation is overlarge Clear
parameter P□504.
Electronic gear is unreasonably set or pulse frequency is

□17 H Electronic gear fault Clear
too high
□18 H 1st channel of current detection is abnormal Current detection abnormal Clear
□19 H 2nd channel of current detection is abnormal Current detection abnormal Clear
□22 H Motor model is incorrect Servo drive parameters do not match with those of motor Clear
□23 H Servo drive does not match with motor Servo drive does not match with motor Clear
□25 H Bus encoder multi-circle information error Multi- circle information error Clear
Bus encoder multi-circle information

□26 H Multi- circle information overflow Clear
overflow
130

display output not
Battery voltage is lower than 2.5 V, multi-circle
□27 H Bus encoder battery alarm 1 Clear
information is lost
Battery voltage is lower than 3.1 V, battery voltage is

□28 H Bus encoder battery alarm 2 Clear
relatively low
□30 H Bleeder resistor disconnection alarm Braking resistor damage. Clear
□31 H Regeneration overload Regeneration processing circuit is abnormal. No
There is outage of over one power cycle under AC

□33 H Momentary outage alarm. Clear
current.
□34 H Rotary transformer is abnormal Rotary transformer communication is abnormal. Clear
□40 H Bus encoder communication is abnormal Servo drive and encoder cannot realize communication. Clear
□41 H Bus encoder overspeed When power is ON, encoder rotates at high speed Clear
□42 H Bus encoder absolute status error Encoder damage or encoder decoding circuit damage Clear
□43 H Bus encoder counting error Encoder damage or encoder decoding circuit damage Clear
Encoder signal is interrupted or encoder decoding circuit

□44 H Check error in bus encoder control field Clear
damage
Check error in bus encoder communication Encoder signal is interrupted or encoder decoding circuit
□45 H Clear
data damage

□46 H Stop bit error in bus encoder status field Clear
damage

□47 H Stop bit error in bus encoder SFOME Clear
damage
□48 H Bus encoder data are not initialized Bus encoder SFOME data are null Clear
□49 H Sum check error in bus encoder data Sum check in bus encoder EEPROM data is abnormal Clear
Drive fails to accept data normally at the set time in

□60 H MODBUS communication timeout Clear
P□602
Drive fails to accept master station heartbeat massage

□61 H CANopen master station heartbeat timeout Clear
normally at the set time
□70 H Drive overheat alarm Drive internal IPM module temperature is too high Clear
Parameter is wrongly set or software does not match

□90 H Software does not match with hardware No
with hardware
□-- L No error display Display normal action status Clear
Note:
1. "□" in alarm display may be "A" or "b", referring to A axis alarm or b axis alarm respectively.
2. Alarms of □25, □26, □27, □41 can be reset only after alarms in encoder is cleared through auxiliary
function mode.
7.1.2 Alarm Displays and Their Causes and Treatment Measures

In case of abnormalities of the servo drive, the panel operator will display alarm information
of A□□ or b□□. Alarm displays and their treatment measures are as follows:
If the abnormal condition still exists after treatment, please contact with service department of our
company.
131
(1) List of alarm displays

Alarm Alarm contents Circumstance Cause Treatment measures
Wiring of encoder is wrong Correct wiring of encoder
Change cable specifications to
stranded wire or stranded

Encoder cables are interfered due to different
shielded wire with core wire
specifications
over 0.12 mm2 and stranded
wire made of tined soft copper
The max. wiring distance

Encoder cables are interfered due to overlength
should be 20 m.
Signal lines are interfered due to engaging-in Correct layout of encoder

Incremental encoder When power supply is
□01 and damage in sheath of encoder cables cables
ABC disconnects on or during operation
Encoder cables are bound with high current Lay encoder cables at places
line or their distance is too close free from surge voltage
Connect equipment ground wire

Change in FG potential due to influence by
to prevent shunting to FG at PG
motor side equipment (welding machine, etc.)
side
Take anti-interference measures

Signal line of encoder is interfered
for encoder wiring.
Encoder failure Replace servo motor
Servo drive circuit board develops fault Replace the servo drive

specifications
shielded wire

should be 20 m.
and damage in sheath of encoder cables cables

Incremental encoder When power supply is
□02 Encoder cables are bound with high current Lay encoder cables at places
UVW disconnects on or during operation

side

for encoder wiring.
When control power

□03 Overload supply is on
During servo ON Motor wiring is abnormal (poor condition in Revise motor wiring
132
wiring and connection)
Encoder wiring is abnormal (poor wiring and

Correct wiring of encoder
connection)
Motor wiring is abnormal (poor condition in

Revise motor wiring
wiring and connection)
Encoder wiring is abnormal (poor wiring and

When the servo motor Correct wiring of encoder
connection)
fails to rotate during
Review loading condition,
inputting of commands
Starting torque exceeds the max. torque operation condition or motor
capacity
Effective torque exceeds rated torque or Review loading condition,
starting torque exceeds rated torque operation condition or motor
Normally during substantially capacity
operation Temperature within storage tray of the servo Reduce the temperature within
drive is high storage tray below 55
Incremental encoder When control power Wiring of encoder is wrong Correct wiring of encoder
□05 UVW signal is supply is on Encoder failure Replace servo motor
abnormal Servo drive circuit board develops fault Replace the servo drive
Overload alarm reset for several times due to

When control power Change reset method of alarms
power off
supply is on
A faulty connection occurs between U, V, W

Check wiring and connect
and ground wire.
correctly.
Ground wire wraps around other terminals
A short circuit occurs between U, V, W used
by main circuit of motor and ground wire Revise or replace the cables
A short circuit occurs between U, V, and W used by main circuit of motor
used by main circuit of motor
□10 Overcurrent When main power Check wiring and connect

An error occurs to regenerative resistor wiring.
circuit is on or correctly.
overcurrent during A short circuit occurs between U, V, W of the
motor operation servo drive and ground wire

Replace the servo drive
Servo drive develops fault (current feedback
circuit, power transistor or circuit board fault)
A short circuit occurs between U, V, W used
by main circuit of motor and ground wire

Replace servo motor
A short circuit occurs between U, V, and W
Overload alarm reset for several times due to Change reset method of alarms
133
power off
Position speed reference changes violently Re-evaluate reference value.
Review loading condition and

Whether the load is too much and whether
operation condition (check
regeneration handling capacity is exceeded
specifications of inertia of load)
The installation (direction, interval with other
parts) of servo drive is improper (whether there Reduce ambient temperature of
is storage disk is releasing heat while the the servo drive to below 55 °C
surrounding is heating )
Encoder slips Replace servo motor
Servo unit fan stops rotating

Replace the servo drive
Servo drive circuit board develops fault
When control power

supply is on
Adjust AC supply voltage to

When main circuit AC supply voltage is too high
normal range
power is on
Check AC supply voltage (whether voltage Adjust AC supply voltage to

Overvoltage
changes substantially) normal range
□11 * Detect when main
Normally during Number of turns is high and moment of inertia Review loading condition and
circuit power is on
operation of load is too large (insufficient regeneration operation condition (check
capacity) specifications of inertia of load)
When the servo motor

Number of turns is high and moment of inertia Review loading condition and
decelerates
of load is too large operation condition
Occurrence
When control power

supply is on
Adjust AC supply voltage to

AC supply voltage is too low
normal range
Servo unit fuse burns out Replace the servo drive
When main circuit Limiting resistor of surge current disconnects Replace servo unit (confirm
power is on (whether power voltage is abnormal and power voltage and reduce
Undervoltage
whether limiting resistor of surge current is frequency of main circuit
□12 * Detect when main
overload) ON/OFF)
circuit power is on
AC supply voltage is low (whether there is Adjust AC supply voltage to
oversized voltage drop) normal range
Normally during Power failure occurs instantaneously. Restart operation through reset
operation Revise or replace the cables

Cable short circuit of motor main circuit
Servo motor short circuit Replace servo motor
134
Power is turned off when parameters are being
set Execute user parameters

When control power
□13 Parameter damage Power is turned off when alarm is being initialization (F□011)
supply is on
entered
When control power

supply is on
The phase sequence of U, V and M of motor

Correct motor wiring
wiring is at fault

During servo ON
Encoder wiring is malfunctioned due to Take anti-interference measures
interference for encoder wiring.
□14 Over-speed The phase sequence of U, V and M of motor

Correct motor wiring
wiring is at fault

Encoder wiring is malfunctioned due to Take anti-interference measures
starts operation or
interference for encoder wiring.
during high-speed
Input value of position/speed reference is too
rotation Lower reference value
much
Speed reference input gain setting is wrong Correct reference input gain
When the servo motor Motor stalling Check the load
Position counter starts operation or Reduce frequency of command

□15 Input reference frequency is abnormal
overflow during high-speed computer
rotation Wiring is wrong Correct wiring
Excessive position offset alarm level (P□504) Set value of user parameter
When control power
is incorrect P□504 to any value other than 0
supply is on
Wiring of U, V and W of the servo motor is Correct motor wiring

During high-speed
abnormal (incomplete connection) Correct wiring of encoder
Position error is too rotation
large (position error
When the servo motor Wiring of U, V and W of the servo motor is
with servo ON Revise motor wiring
□16 fails to rotate after poor
exceeds user
sending position
parameter overflow Servo drive circuit board develops fault Replace the servo drive
reference
level P□504 setting)
Increase speed loop gain
Gain adjustment of servo drive is poor (P□100) and position loop gain
During long reference
(P□102)
with normal action
Slow reduce position reference
Position reference pulse frequency is too high
frequency
135
Add smoothing function
Reassess electronic gear ratio
Excessive position offset alarm level (P□504) Set user parameter P□504 to
is incorrect correct value
Load conditions (torque and moment of inertia) Review reassessed load or
inconsistent with motor specifications motor capacity
When control power
supply is on
□17 Electronic gear fault Setting of electronic gear is incorrect Reset P□202 and P□203
starts operation
When control power
1st channel of current supply is on

□18 Servo drive circuit board develops fault Replace the servo drive
detection is abnormal When the servo motor
starts operation
When control power
1st channel of current supply is on

detection is abnormal When the servo motor
starts operation
Drive motor parameter setting is abnormal Replace the servo drive
Motor model is When control power Replace the servo motor

□22 Parameters written into encoder are abnormal
incorrect supply is on (encoder)
Servo unit capacity and motor capacity are not Match servo unit capacity with
suitable for motor capacity servo motor capacity
Drive does not match When control power Replace the servo motor
□23 Parameters written into encoder are abnormal
with motor supply is on (encoder)
Drive motor parameter setting is abnormal Replace the servo drive
When control power Execute bus encoder multi-coil

Multi-circle data of
supply is on Multi-circle data of absolute encoder is position cleanout (F□09) and
□25 bus encoder goes
During operation of abnormal bus encoder alarm register
wrong
servo motor cleanout (F□010)
When control power Execute bus encoder multi-coil
Bus encoder multi- supply is on Multi-circledata of absolute encoder is position cleanout (F□09) and
□26
circledata overflow During operation of abnormal bus encoder alarm register
servo motor cleanout (F□010)
Bus encoder battery When control power

□27
alarm 1 supply is on
Bus encoder battery When control power

□28
alarm 2 supply is on
Regeneration is When control power

abnormal supply is on
136
Circumscribed regenerative resistor is not Connect circumscribed
connected regenerative resistor
Revise the wiring of

When main circuit Check whether the wiring of regenerative
circumscribed regenerative
power is on resistor is in good condition or broken
resistor
Jumper wire between B2 and B3 comes off

Correct wiring
(when using built-in regenerative resistor)
Revise the wiring of

Check whether the wiring of regenerative
circumscribed regenerative
resistor is in good condition or comes off
resistor
Replace regenerative resistor or

Normally during Regenerative resistor disconnects (whether
servo drive (review load and
operation regeneration energy is too much)
operation conditions)
Servo drive develops fault (fault in
regenerative transistor and voltage detecting Replace the servo drive
part)
When control power

supply is on
When main circuit

Power supply voltage exceeds 270 V Correct voltage
power is on
Normally during Regenerative energy is too much

Reselect regenerative resistor
operation (regenerative
capacity or review load and
resistor temperature Under continuous regeneration status
Regeneration operation conditions.
□31 increases significantly)
overload
Normally during
operation (regenerative
resistor temperature
increases slightly)
Reselect regenerative resistor

Regenerative energy is too much capacity or review load and
decelerates
operation conditions.
When control power

supply is on
Power supply has
Three-phase electric wire has poor wiring Correct wiring
open phase
Correct unbalance of power
(When main power When main power
Three-phase electric wire is unbalanced supply (exchange of phase
supply is ON, any of supply is on
position)
□32 L1, L2 and L3 phases
is under low voltage
Three-phase electric wire has poor wiring Correct wiring
for over 1 s)
Correct unbalance of power
* Detect when main When the servo motor is
Three-phase electric wire is unbalanced supply (exchange of phase
circuit power is on actuated
position)
137
Momentary outage Normally during There is outage of over one power cycle under
□33 Check supply circuit
alarm. operation AC current

When control power
supply is on

specifications
over 0.12 mm2 and stranded
wire made of tined soft copper

Bus encoder is should be 20 m.
□40
abnormal Signal lines are interfered due to engaging-in Correct layout of encoder
During operation and damage in sheath of encoder cables cables

side

for encoder wiring.
PG power is set ON when servo

Servo motor rotates at a speed of over 100
rotating speed is less than 100
When control power r/min when PG power is on
r/min
Bus encoder supply is on
□41 Encoder failure Replace servo motor
overspeed

During operation
Bus encoder FS status Normally during Encoder failure Replace servo motor
□42
is wrong operation Servo drive circuit board develops fault Replace the servo drive
Bus encoder counter Normally during

goes wrong operation

Checkout in bus When control power shielded wire with core wire
specifications
□44 encoder control field supply is on or during over 12 mm2 and stranded wire
is wrong operation made of tined soft copper

should be 20 m.
138

side

for encoder wiring.

specifications
over 12 mm2 and stranded wire
made of tined soft copper

should be 20 m.
Bus encoder When control power Signal lines are interfered due to engaging-in Correct layout of encoder
□45 communication data supply is on or during and damage in sheath of encoder cables cables
checkout is wrong operation Encoder cables are bound with high current Lay encoder cables at places

side

for encoder wiring.

specifications
Cut-off position in When control power The max. wiring distance

□46 bus encoder status supply is on or during should be 20 m.
field is wrong operation Signal lines are interfered due to engaging-in Correct layout of encoder

side
139

for encoder wiring.

specifications

should be 20 m.
When control power When control power Signal lines are interfered due to engaging-in Correct layout of encoder
□47 supply is on or during supply is on or during and damage in sheath of encoder cables cables
operation operation Encoder cables are bound with high current Lay encoder cables at places

side

for encoder wiring.
When control power

Bus encoder data is
□48 supply is on or during Encoder EEROM is not initialized Replace servo motor
not initialized
operation

specifications

When control power should be 20 m.
Sum check of bus
□49 supply is on or during Signal lines are interfered due to engaging-in Correct layout of encoder
encoder data is wrong
operation and damage in sheath of encoder cables cables

side

for encoder wiring.
140
When control power
Overload alarm reset for several times due to
supply is on Change reset method of alarms
power off
Review loading condition,
□70 Overheating Cooling fin is Load exceeds rated load. operation condition or motor
overheated when main capacity
power supply is ON or Ambient temperature of the servo drive Reduce ambient temperature of
during motor operation exceeds 55 °C the servo drive to below 55 °C
Software does not When control power

match with hardware supply is on
7.1.3 Causes and Treatment Measures of Other Abnormalities

See the following table for causes and proper treatment measures of other abnormalities without
alarm display. In case such abnormalities cannot be resolved after treatment, please contact agents or
service technicians of the Company.
Check method Treatment measures
Abnormalities Cause Note: Checking and treatment should only be made after power supply of servo
system is set to OFF.
Control power supply is not Check voltage between control Correct control power supply ON circuit
connected power supply terminals
Main circuit power is not Check voltage between main circuit Correct main circuit power ON circuit
connected power terminals
Input/Output (CN3 connector) Check installation and wiring of Correctly wire CN3 connector
wiring is wrong or comes off CN3 connector
Wiring of servo motor and Inspect wiring Connect wiring
encoder comes off
Overload occurs Conduct no-load trial operation Reduce load or replace with servo motor
Servo motor with larger capacity
fails to start Speed/position reference is not Check input pin Correctly input speed/position reference
input
Setting of input signal selection Check setting of input signal Correctly set input signal selection
P□509 - P□512 is wrong selection P□509 - P□512 P□509 - P□512
Servo ON (/S-ON) input Confirm set value of user parameter Correctly set user and set servo ON
remains OFF P□50A.0 (/S-ON) input to ON
SEN input remains OFF Check SEN signal input (when Set SEN signal input to ON
using absolute encoder)
Mode selection for reference Check use parameters setting and Correctly set user parameter P□200.1
pulse is wrong reference pulse shape
141
Speed reference input is Confirm control method and input Correctly set or input control parameter
improper during speed control are consistent or check between
V-REF and GND
Torque reference input is Confirm control method and input Correctly set or input control parameter
improper during torque control are consistent or check between
T-REF and GND
Position reference input is Check P□200.1 reference pulse Correctly set or input control parameter
improper during position control signal shape or sign or sign+ pulse
signal
Shift pulse cleanout input (CLR) Check CLR input Set CLR input signal to OFF
remains ON
Positive rotation drive Check POT or NOT input signal Set POT or NOT input signal to ON
prohibited (P-OT)and negative
rotation drive prohibited (N-OT)
input signal remains OFF
Servo drive fault Servo drive circuit board develops Replace the servo drive
fault
Servo motor Motor wiring is wrong Check motor wiring Correctly wire motor
stops after surge Encoder wiring is wrong Check encoder wiring Correctly wire encoder
Motor stops Alarm reset (ALM-RST) signal Check alarm reset signal Remove cause of alarm and set alarm
suddenly during remains ON and alarm goes off reset signal from ON to OFF
operation and
becomes
motionless
Motor rotates Servo motor wiring is in bad Power line (U, V and W phases) Tighten loose fastening part between
unstably contact and encoder connector are in treatment terminal and connector
unstable connection
Motor rotates Speed reference input is Confirm control method and input Correctly set or input control parameter
when no improper during speed control are consistent or check between
reference has V-REF and GND
been sent Torque reference input is Confirm control method and input Correctly set or input control parameter
improper during torque control are consistent or check between
T-REF and GND
Speed reference offset Offset adjustment of servo drive is Adjust offset of servo drive
poor
Position reference input is Check P□200.1 reference pulse Correctly set or input control parameter
improper during position control signal shape or sign or sign+ pulse
signal
Servo drive fault Servo drive circuit board develops Replace the servo drive
fault
Motor sounds Machines are improperly Whether mounting screws of servo Tighten mounting screws
142
abnormally installed motor are loosed?
Whether coupling core is aligned? Align coupling core
Whether coupling is unbalanced? Restore coupling to balance
Bearing is abnormal inside Check sounds and vibration near Please contact service technicians of the
bearing Company in case of any abnormality
Supporting machines have Whether any moving part at Please inquire relevant manufacturers
vibration source machine side has foreign objects or
is damaged or deformed?
Input signal lines are interfered Whether stranded wire or stranded Enable input signal line meet relevant
due to different specifications shielded wire has core wire over specifications
0.12 mm2 and is made of tined soft
copper?
Input signal line is interfered due Confirm that the max. wiring length Enable length of input signal line meet
to length beyond range of is 3 m and its impedance is less relevant specifications
application than 100 Ω
Encoder cables are interfered Whether stranded wire or stranded Enable encoder cables meet relevant
copper?
Encoder cables are interfered The max. wiring distance should be Enable encoder cables meet relevant
due to length beyond range of 20 m. specifications
application
Encoder cables are interfered Signal lines are interfered due to Correct layout of encoder cables
due to damages engaging-in and damage in sheath
of encoder cables
Interference to encoder cable is Whether encoder cables are too Lay encoder cables at places free from
too great close with high current line? surge voltage
Change in FG potential due to What is grounding state (not Connect equipment ground wire to
influence by servo motor side grounded or incomplete grounding) prevent shunting to FG at PG side
equipment (welding machine, of welding machine, etc. at servo
etc.) motor side?
Servo drive pulse counter goes Whether signal line of encoder is Take anti-interference measures for
wrong due to interference interfered? encoder wiring.
Encoder is affected by excessive Mechanical vibration or motor Reduce mechanical vibration or properly
vibration shock) installation is not in condition install servo motor
(Accuracy, fastening and core shift
of mounting surface)
Encoder failure Encoder failure Replace servo motor
Motor with Speed gain P□100 is set too high Factory setting: Kv = 40.0 Hz Correctly set speed loop gain P□100
frequency Position loop gain P□102 is set Factory setting: Kp = 40.0/s Correctly set position loop gain P□102
around 200 - 400 too high
143
Hz vibrates Speed loop integral time Factory setting: Ti = 20.00 ms Correctly set speed loop integral time
constant P□101 is improperly set parameter P□101
Machine stiffness is improperly Reassess selection of machine Correctly select machine stiffness
set during autotune stiffness setting setting
Ratio of moment of inertia is Check ratio f moment of inertia Correct ratio f moment of inertia P□103
inappropriate when not suing P□103
autotune
Starting and Speed gain P□100 is set too high Factory setting: Kv = 40.0 Hz Correctly set speed loop gain P□100
stopping rotating Position loop gain P□102 is set Factory setting: Kp = 40.0/s Correctly set position loop gain P□102
overtravel is too too high
large Speed loop integral time Factory setting: Ti = 20.00 ms Correctly set speed loop integral time
parameter P□101 is improperly parameter P□101
set
Machine stiffness is improperly Reassess selection of machine Correctly select machine stiffness
set during autotune stiffness setting setting
Ratio of moment of inertia is Check ratio f moment of inertia Correct ratio f moment of inertia P□103
inappropriate when not using P□103 Use module switch function
autotune
Position offset of Encoder cables are interfered stranded wire or stranded shielded Enable encoder cables meet relevant
absolute encoder due to different specifications wire has core wire over 0.12 mm2 specifications
is wrong and is made of tined soft copper
(Position saved Encoder cables are interfered The max. wiring distance should be Enable encoder cables meet relevant
by command due to length beyond range of 20 m. specifications
controller during application
outage is Encoder cables are interfered Signal lines are interfered due to Correct layout of encoder cables
different from due to damages engaging-in and damage in sheath
position when of encoder cables
the power Interference to encoder cable is Whether encoder cables are bound Lay encoder cables at places free from
supply is on next too great with high current line or their surge voltage
time) distance is too close?
Fluctuation of FG potential due What is grounding state (not Connect equipment ground wire to
to interference by motor side grounded or incomplete grounding) prevent shunting to FG at PG side
etc.) motor side?
Servo drive pulse counter goes Whether signal line of encoder is Take anti-interference measures for
vibration shock installation is not in condition install servo motor
(Accuracy, fastening and core shift
Encoder failure Encoder failure (no change in Replace servo motor
144
pulse)
Servo drive fault Servo drive fails to send multi-turn Replace the servo drive
data
Command controller multi-turn Check error detection of command Restore error detection function of
data read error controller command controller
Whether data (odd-even) check is Execute odd-even check of multi-turn
executed on command controller? data
Signal line between servo drive and Interference effect occurs when no
command controller is interfered checkout is done (above)
Overtravel (OT) Positive/negative rotation drive Whether external power supply Correct external power supply of +24 V
(Exceeding prohibited input signal reaches (+24 V) of input signal is correct?
scope specified (POT or NOT is at H level) Whether action state of overtravel Correct state of overtravel limit SW
by command limit SW is correct?
controller) Whether wiring of overtravel limit Correct wiring of overtravel limit SW
SW is correct?
Positive/negative rotation drive Whether external power supply Remove cause of change in external
prohibited input signal is (+24 V) of input signal changes? power supply of +24 V
malfunctioning (POT or NOT Whether action of overtravel limit Make action of overtravel limit SW
changes constantly) SW is unstable? unstable
Whether wiring of overtravel limit Correct wiring of overtravel limit SW
SW is correct?
(Cable damage and screw
fastening)
Positive/negative rotation drive Check POT signal selection Correct POT signal selection P□510.2
prohibited input signal P□510.2
P-OT/N-OT signal selection is Check NOT signal selection Correct NOT signal selection P□510.3
wrong P□510.3
Motor stop method selection is What is the selection for inertial Check P□000.2 and P□000.3
wrong operation stop when servo is OFF?
What is the setting for inertial Check P□000.2 and P□000.3
operation during torque control?
Overtravel position is not proper OT position is shorter than Properly set Ot position
operation distance
Encoder cables are interfered Whether stranded wire or stranded Enable encoder cables meet relevant
0.12 mm and is made of tined soft

2
copper?
Encoder cables are interfered The max. wiring distance should be Enable encoder cables meet relevant
due to length beyond range of 20 m. specifications
application
Encoder cables are interfered Signal lines are interfered due to Correct layout of encoder cables
145
due to damages engaging-in and damage in sheath
of encoder cables
Interference to encoder cable is Whether encoder cables are bound Lay encoder cables at places free from
too great with high current line or their surge voltage
distance is too close?
Change in FG potential due to What is grounding state (not Connect equipment ground wire to
influence by servo motor side grounded or incomplete grounding) prevent shunting to FG at PG side
etc.) motor side?
Servo unit pulse counter goes Whether signal line of encoder is Take anti-interference measures for
vibration shock installation is not in condition install servo motor
(accuracy, fastening and core shift
Encoder failure Encoder failure (no change in Replace servo motor
pulse)
Servo drive fault Servo drive fails to send multi-turn Replace the servo drive
data
Position offset Coupling between machine and Whether coupling between machine Correctly connect coupling between
(alarm fails and servo motor is abnormal and servo motor has offset? machine and servo motor
causes position Input signal lines are interfered Whether stranded wire or stranded Enable input signal line meet relevant
offset) due to different specifications shielded wire has core wire over specifications
copper?
Input signal line is interfered due Confirm that the max. wiring length Enable length of input signal line meet
to length beyond range of is 3 m and its impedance is less relevant specifications
application than 100 Ω
Encoder failure (no change in Encoder failure (no change in Replace servo motor
pulse) pulse)
7.2 Maintenance and Check of Servo Drive
7.2.1 Check of Servo Motor

Since AC servo motor is not equipped with electric brush, only simple daily check is required.
The table lists general standards of checking period which should be properly determined based on
actual using conditions and environment.
Check item Check period Tips for check and Remarks
maintenance
146
Confirmation of Everyday Determine based on Compare with normal

vibration and feeling and hearing condition to detect any
sound increase
Appearance Based on contamination Clean up with brush or air —
inspection gun
Measurement of Once every year Disconnect from servo Please contact local dealer
insulation unit and measure in case the resistance is
resistance insulation resistance with less than 10 MΩ.
500 V megameter.
Resistance over 10 MΩ is
considered as normal.
Replacement of Once at least every 5000 h Please contact local Only for servo motor with
oil seal dealer. oil seal
Comprehensive Once every five years or at least Please contact local —
check every 20000 h dealer.
7.2.2 Check of Servo Drive

Daily check is not required, but more than one check is needed every year.
Check item Check period Tips for check and Remarks
maintenance
Cleaning of main body Please contact local dealer.
and circuit board
Loosening of screws Mounting screws of Please further secure screws.
Once every year
terminal board and
connector should be firmly
secured without loosening.
7.2.3 General Standards of Replacement of Internal Parts of Servo Drive

Mechanical abrasion and aging will occur to electric and electronic parts. Therefore, regular
check is required for safety purpose. In need of replacement of parts, local dealer should be
contacted. Use parameters of servo drives overhauled by the Company will be restored to factory
setting and user parameters for using should be set before operation.
Part Name Years of revision of standards Use conditions
Cooling fan 4-5 years Ambient temperature: annual
Smoothing capacitor 7 - 8 years average of 30 °C
Relays — Load rate: below 80%
Fuse 10 years Operating ratio: less than 20 h
Aluminium electrolytic 5 years every day
capacitor on PCB
147
148
Appendix A Summary of User Parameters
Parameter Power
Name Setting range Setting unit Factory setting Remarks
No. reboot
P□000 Basic function selection switch —— —— 0010 Y
P□001 Basic function selection switch 1 —— —— 0001 Y
149
Parameter Power
No. reboot
150
Parameter Power
No. reboot
P□006 Set the motor manufacturers and encoder

Y
type
151
Parameter Power
No. reboot
P□008 Set the line of incremental encoder,For
exampleset P□008 to 5000,it
0~ 8192 0 Y
indicates that the line of incremental encoder
is5000
P□100 Speed loop gain 1 ~ 2500 0.1 Hz 400 N
P□101 Speed loop integral time constant 1 ~ 4000 0.01ms 2000 N
P□102 Position loop gain 1 ~ 2000 0.1/s 400 N
P□103 Moment of inertia ratio 0 ~ 20000 1% 0 N
P□104 Second speed loop gain 1 ~ 2500 0.1 Hz 400 N
P□105 Second speed loop integral time constant 1 ~ 4000 0.01ms 2000 N
P□106 Second position loop gain 1 ~ 2000 0.1/s 400 N
P□107 Offset (speed offset) 0 ~ 450 1r/min 0 N
P□108 Scope of offset stack 0 ~ 5000 1referencepulse 10 N
P□109 Feedforward gain 0 ~ 100 1% 0 N
P□110 Feedforward filter time constant 0 ~ 640 0.1ms 0 N
P□111 Accelerated speed freeforward percentage 0 ~ 100 1% 0 N
P□112 Accelerated speed feedforward filter time
0 ~ 640 0.1ms 0 N
constant
P□113 Application function for gain select switch 0000 ~ 0064 —— 0000 Y
P□114 Mode switch (torque reference) 0 ~ 300 1% 200 N

P□115 Mode switch (speed reference) 0 ~ 10000 1r/min 0 N
P□116 Mode switch (accelerated speed reference) 0 ~ 3000 10 r/min/s 0 N
P□117 1-reference
Mode switch (offset pulse) 0 ~ 10000 0 N
pulse
0.1 ms (single 0.2 ms (double
P□118 Gain switch delay time 0 ~ 20000 0 N
axis) axis)
152
Parameter Power
No. reboot
P□119 Gain switch range 0 ~ 20000 free 0 N
When P□113.1 = 2, the unit is 1%
When P□113.1 = 3, the unit is 1 reference pulse
When P□113.1 = 4, the unit is 10 r/min/s
When P□113.1 = 5, the unit is 1 r/min
0.1 ms (single 0.2 ms (double
P□120 Position gain switch time 0 ~ 20000 0 N
axis) axis)
P□121 1-reference
Gain switch hysteresis 0 ~ 20000 0 N
pulse
P□122 Friction load 0 ~ 3000 1‰ 0 N
P□123 Friction compensation speed hysteresis area 0 ~ 100 1r/min 0 Y
P□124 Viscous friction load 0 ~ 20000 1 ‰/1 krpm 0 N
P□125 Friction gain 0 ~ 30000 0 N
P□126 Speed observer period 0 ~ 100 0.1ms 0/35/70 N
P□127 Online autotune switches —— —— 1340 Y/N
153
Parameter Power
No. reboot
P□145 Function select
P□146 Set the torque arrival value 0~3000 1% rated torque 100
P□147 Set the lasting time of torque arrival time 0~3000 ms 100
P□148 Set the locked-rotor torque 0~3000 1% rated torque 100
P□149 Set the locked-rotor time 0~6000 ms 300
P□200 Position control reference form selection
—— —— 0000 Y
switch
P□201 PG frequency dividing 16 ~ 32768 1 P/rev 2500 Y
154
Parameter Power
No. reboot
P□202 First electronic gear ratio (numerator) 1 ~ 65535 —— 1 Y
P□203 First electronic gear ratio (denominator) 1 ~ 65535 —— 1 Y
P□204 Second electronic gear ratio (numerator) 1 ~ 65535 —— 1 Y
P□205 Position reference acceleration/deceleration
0 ~ 6400 0.1ms 0 N
time constant
P□206 Position reference filter form selection 0~1 —— 0 Y
P□212 Electronicgearnumerator adjustment factor 1 ~ 65535 1
This parameter×P□202=Electronicgearnumerator
P□213 Electronicgeardenominator adjustment factor 1 ~ 65535 1
This parameter×P□203 =Electronicgeardenominator
P□300 Speed reference input gain 0 ~ 3000 (r/min)/V 150 N
P□301 Internal set speed 1 0 ~ 6000 1r/min 100 N
P□304 Jogging (JOG) speed 0 ~ 6000 1r/min 500 N
P□305 Acceleration time of soft start 0 ~ 10000 1 ms 0 N
P□306 Deceleration time of soft start 0 ~ 10000 1 ms 0 N
P□307 Speed reference filter constant 0 ~ 10000 1 ms 0 N
P□308 Rise time of S curve 0 ~ 10000 1 ms 0 N
P□309 Speed reference curve form —— —— 0000 Y
P□400 Torque reference input gain 10 ~ 100 0.1V/rated torque 30 N

P□401 Torque reference filter time constant 0 ~ 250 0.1ms 4 N
P□402 Second torque reference filter time constant 0 ~ 250 0.1ms 4 N
P□403 Forward torque limit 0 ~ 300 1% 300 N
P□404 Reverse torque limit 0 ~ 300 1% 300 N
P□405 Forward external torque limit 0 ~ 300 1% 100 N
155
Parameter Power
No. reboot
P□406 Reverseexternal torque limit 0 ~ 300 1% 100 N
P□407 Plug braking torque limit 0 ~ 300 1% 300 N
P□408 Speed limit during torque control 0 ~ 6000 1r/min 1500 N
P□409 Frequency of notch filter section 1 50 ~ 5000 1Hz 5000 N
P□410 Depth of notch filter section 1 0 ~ 100 —— 10 N
P□411 Frequency of notch filter section 2 50 ~ 5000 1 Hz 5000 N
P□413 Vibrationfrequency of B type 10 ~ 1000 0.1 Hz 1000 N
P□414 Vibration damping of B type 0 ~ 200 —— 25 N
P□500 Positioning completion width 0 ~ 5000 1 reference unit 10 N
P□501 Zero clamping level 0 ~ 3000 1r/min 10 N
P□502 Rotation detection of electric level 0 ~ 3000 1r/min 20 N
P□503 Same-speed signal detection width 0 ~ 100 1r/min 10 N
P□504 256 reference
Offset pulse overflow level 1 ~ 32767 1024 N
unit
P□505 Waiting time of servo ON 0 ~ 2000 ms 0 N
P□506 Brake command - delay time of servo OFF 0 ~ 500 10ms 0 N
P□507 Level for output speed of brake command 0 ~ 6000 1r/min 100 N
P□508 Brake command wait time when servo is
10 ~ 100 10ms 50 N
OFF
P□509 8765 (double
Input signal selection 1 —— —— 9901 Y
axis/b)
Parameter of K/K2 series：
156
Parameter Power
No. reboot
157
Parameter Power
No. reboot
Parameter of K1 series：
158
Parame Power
ter No. reboot
P□510 8765 (single 0000 (double
Input signal selection 2 —— —— Y
axis) axis)
P□511 Input signal selection 3 —— —— 0000 Y
159
Parame Power
ter No. reboot
P□513 0321 (double axis/A)

Output signal selection 1 —— —— 4321 Y
0654 (double axis/b)
160
Parame Power
ter No. reboot
P□514 Output signal selection 2 —— —— 0065 Y 0000 (double axis)
P□515 Output signal selection 3 —— —— 0000 Y
P□516 Reserved —— —— —— N
P□517 Input port filter time constant 0 ~ 1000 0.1ms 1 N
P□518 Alarm input filter time constant 0~3 0.1ms 1 N
P□519 Active input port signal level
—— —— 0000 N
selection 1
161
Parame Power
ter No. reboot
Parameter of K1 series
P□520 Input port signal logic selection 2 —— —— 0000 N
P□521 Output port signal reverseselect 1 —— —— 0000 N

162
Parame Power
ter No. reboot
P□522 Output port signal inverseselect 2 —— —— 0000 N
P□523 Select initial status display content
163
Parame Power
ter No. reboot
P□600 RS-485 communication parameter

—— —— 0151 Y
selection switch
RS-485 communication axis

P□601 1 ~ 127 —— 1 (A axis) Y 2 (b axis)
address
P□602 RS-485 communication timeout
0 ~ 1000 100 ms 0 N
parameter
P□603 Reserved —— —— 0000 N
P□604 Reserved —— —— 0000 N
P□605 Reserved —— —— 0000 N
P□606 Reserved —— —— 0000 N
164
Parame Power
ter No. reboot
P□607 Reserved —— —— 0000 N
P□608 Reserved —— —— 0000 N
P□609 Reserved —— —— 0000 N
P□610 Type of data set 8 0~2 —— 0 Y
0: data set is null
1: data set is in absolute motion
2: data set is in relative motion
P□611 1-reference
Low byte value of Data Set 8 -9999~+9999 0 Y
pulse
P□612 10000-reference
High byte value of Data Set 8 -9999~+9999 0 Y
pulse
P□613 Speed of data set 8 0 ~ 6000 rpm 100 Y
P□614 Step change attribute in Data Set 8 —— —— 0000 Y
P□615 Step change condition value 1 in

0 ~ 65535 —— 0 Y
data set 8
-Unconditional: no transitional condition value
- Delay: value 0 ~ 65535: latency time 0 ~ 65535, unit: ms
- Pulse edge required for step change:
Value 0: rising edge
Value 1: falling edge
Value 2: rising edge or falling edge
165
Parame Power
ter No. reboot
- Level required for step change:
Value 3: 1 level
Value 4: 0 level
0 ~ 65535 —— 0 Y
data set 8
Ditto
P□617 Follow-up data set number of data
0 ~ 14 —— 9 Y
set 8
0: data set is null
P□619 1-reference
Low bytevalue of Data Set 9 -9999~+9999 0 Y
pulse
High bytevalue of Data Set 9 -9999~+9999 0 Y
pulse

0 ~ 65535 —— 0 Y
data set 9
166
Parame Power
ter No. reboot
- Unconditional: no transitional condition value
- Delay: value 0 ~ 65535: latency time0 ~ 65535, unit: ms
Value 3: 1 level
Value 4: 0 level
0 ~ 65535 —— 0 Y
data set 9
Ditto
0 ~ 14 —— 10 Y
set 9
0: data set is null
P□627 1-reference
pulse
pulse
P□630 Step change attribute in Data Set
—— —— 0000 Y
10
167
Parame Power
ter No. reboot

0 ~ 65535 —— 0 Y
data set 10
Value 3: 1 level
Value 4: 0 level
0 ~ 65535 —— 0 Y
data set 10
Ditto
0 ~ 14 —— 11 Y
set 10
0: data set is null
P□635 Low bytevalue of Data Set 11 -9999~+9999 1-referencepulse 0 Y
168
Parame Power
ter No. reboot
pulse
—— —— 0000 Y
11

0 ~ 65535 —— 0 Y
data set 11
Value 3: 1 level
Value 4: 0 level
0 ~ 65535 —— 0 Y
data set 11
Ditto
0 ~ 14 —— 12 Y
set 11
169
Parame Power
ter No. reboot
0: data set is null
P□643 1-reference
pulse
pulse
—— —— 0000 Y
12

0 ~ 65535 —— 0 Y
data set 12
Value 3: 1 level
170
Parame Power
ter No. reboot
Value 4: 0 level
0 ~ 65535 —— 0 Y
data set 12
Ditto
0 ~ 14 —— 13 Y
set 12
0: data set is null
P□651 1-reference
pulse
pulse
—— —— 0000 Y
13

0 ~ 65535 —— 0 Y
data set 13
171
Parame Power
ter No. reboot
Value 3: 1 level
Value 4: 0 level
0 ~ 65535 —— 0 Y
data set 13
Ditto
0 ~ 14 —— 14 Y
set 13
0: data set is null
P□659 1-reference
pulse
pulse
—— —— 0000 Y
14
172
Parame Power
ter No. reboot

0 ~ 65535 —— 0 Y
data set 14
Value 3: 1 level
Value 4: 0 level
0 ~ 65535 —— 0 Y
data set 14
Ditto
0 ~ 14 —— 0 Y
set 14
0: data set is null
P□701 Low byte value of Data Set 0 -9999~+9999 1-referencepulse 0 Y
173
Parame Power
ter No. reboot
pulse

0 ~ 65535 —— 0 Y
data set 0
Value 3: 1 level
Value 4: 0 level
0 ~ 65535 —— 0 Y
data set 0
Ditto
0 ~ 14 —— 1 Y
set 0
174
Parame Power
ter No. reboot
0: data set is null
P□709 1-reference
pulse
pulse

0 ~ 65535 —— 0 Y
data set 1
Value 3: 1 level
Value 4: 0 level
P□714 Step change condition value 2 in 0 ~ 65535 —— 0 Y
175
Parame Power
ter No. reboot
data set 1
Ditto
0 ~ 14 —— 2 Y
set 1
0: data set is null
P□717 1-reference
pulse
pulse

0 ~ 65535 —— 0 Y
data set 2
176
Parame Power
ter No. reboot
Value 3: 1 level
Value 4: 0 level
0 ~ 65535 —— 0 Y
data set 2
Ditto
0 ~ 14 —— 3 Y
set 2
0: data set is null
P□725 1-reference
pulse
pulse

0 ~ 65535 —— 0 Y
data set 3
177
Parame Power
ter No. reboot
Value 3: 1 level
Value 4: 0 level
0 ~ 65535 —— 0 Y
data set 3
Ditto
0 ~ 14 —— 4 Y
set 3
0: data set is null
P□733 1-reference
pulse
pulse
178
Parame Power
ter No. reboot

0 ~ 65535 —— 0 Y
data set 4
Value 3: 1 level
Value 4: 0 level
0 ~ 65535 —— 0 Y
data set 4
Ditto
0 ~ 14 —— 5 Y
set 4
0: data set is null
P□741 Low bytevalue of Data Set 5 -9999~+9999 1-referencepulse 0 Y
179
Parame Power
ter No. reboot
10000-reference
P□742 High bytevalue of Data Set 5 -9999~+9999 0 Y
pulse
Step change attribute in Data Set 5 —— —— 0000 Y
P□744

0 ~ 65535 —— 0 Y
data set 5
Value 3: 1 level
Value 4: 0 level
0 ~ 65535 —— 0 Y
data set 5
Ditto
Follow-up data set number of data
P□747 0 ~ 14 —— 6 Y
set 5
180
Parame Power
ter No. reboot
0: data set is null
1-reference
P□749 Low bytevalue of Data Set 6 -9999~+9999 0 Y
pulse
10000-reference
P□750 High bytevalue of Data Set 6 -9999~+9999 0 Y
pulse
Step change attribute in Data Set 6 —— —— 0000 Y
P□752

0 ~ 65535 —— 0 Y
data set 6
Value 3: 1 level
Value 4: 0 level
P□754 Step change condition value 2 in 0 ~ 65535 —— 0 Y
181
Parame Power
ter No. reboot
data set 6
Ditto
0 ~ 14 —— 7 Y
set 6
0: data set is null
P□757 1-reference
pulse
pulse

0 ~ 65535 —— 0 Y
data set 7
182
Parame Power
ter No. reboot
Value 3: 1 level
Value 4: 0 level
0 ~ 65535 —— 0 Y
data set 7
Ditto
0 ~ 14f —— 0 Y
set 7
P□764 Data set start method 0~1 —— 0 Y
0: internal method (single data set method)
1: task mode (data set sequence)
P□765 Acceleration of data set 0 ~ 60000 10 rpm/s 10000 Y
P□766 Deceleration of data set 0 ~ 60000 10 rpm/s 10000 Y
P□767 Emergency deceleration of data set 0 ~ 60000 10 rpm/s 60000 Y
Data set position electronic gear
P□768 1 ~ 65535 —— 1 Y
ratio (numerator)
Data set position electronic gear
P□769 1 ~ 65535 —— 1 Y
ratio (denominator)
Zero returning method selection
P□770 —— —— 0000 Y
switch
183
Parame Power
ter No. reboot
P□771 On-off speed to meet reference

0 ~ 6000 rpm 100 Y
point
P□772 On-off speed to leave reference
0 ~ 6000 rpm 30 Y
point
Low byte of speed/position 1-reference
P□773 0 ~ 9999 0 N
switching reference point pulse
High byte of speed/position 10000-reference
P□774 0 ~ 9999 0 N
switching reference point pulse
Set wether read the motor encoder
P□858
184
Appendix B Table of iK Series M2 Drive Parameters
Paramete Setting Power

Name Setting unit Factory setting Remarks
r No. range reboot
P□000 Basic function selection switch —— —— 0010 Y
185

r No. range reboot
P□006 Set the motor manufacturers and

encoder type
186

r No. range reboot
P□100 Speed loop gain 1 ~ 2500 0.1 Hz 400 N

P□101 Speed loop integral time constant 1 ~ 4000 0.01 ms 2000 N
P□102 Position loop gain 1 ~ 2000 0.1/s 400 N
P□103 Ratio of moment of inertia 0 ~ 20000 1% 0 N
P□104 Second speed loop gain 1 ~ 2500 1 Hz 40 N
P□105 Second speed loop integral time
1 ~ 4000 0.1ms 200 N
constant
P□106 Second position loop gain 1 ~ 2000 1/s 40 N
P□107 Offset (speed offset) 0 ~ 450 1r/min 0 N
P□108 Scope of offset stack 0 ~ 5000 1-reference pulse 10 N
P□109 Feedforward 0 ~ 100 1% 0 N
P□110 Feedforward filter time constant 0 ~ 640 0.1ms 0 N
P□111 Accelerated speed freeforward
0 ~ 100 1% 0 N
percentage
P□112 Accelerated speed feedforward filter
0 ~ 640 0.1ms 0 N
time constant
P□113 0000 ~
Gain application switch —— 0000 Y
0064
187

r No. range reboot
P□114 Mode switch (torque reference) 0 ~ 300 1% 200 N

P□115 Mode switch (speed reference) 0 ~ 10000 1r/min 0 N
P□116 Mode switch (accelerated speed
0 ~ 3000 10 r/min/s 0 N
reference)
P□117 Mode switch (offset pulse) 0 ~ 10000 1-reference pulse 0 N
0.2 ms
P□118 Gain switch delay time 0 ~ 20000 0.1 ms (single axis) 0 N (double
axis)
P□119 Gain switch range 0 ~ 20000 free 0 N
When P□113.1 = 2, the unit is 1%
When P□113.1 = 4, the unit is 10 r/min/s
When P□113.1 = 5, the unit is 1 r/min
0.2 ms
P□120 Position gain switch time 0 ~ 20000 0.1 ms (single axis) 0 N (double
axis)
P□121 Gain switch hysteresis 0 ~ 20000 1-reference pulse 0 N
P□122 Friction load 0 ~ 3000 1‰ 0 N
P□123 Friction compensation speed hysteresis
0 ~ 100 1r/min 0 Y
area
P□124 Viscous friction load 0 ~ 20000 1 ‰/1 krpm 0 N
P□125 Friction gain 0 ~ 30000 0 N
P□126 Speed observer cycle 0 ~ 100 0.1ms 0/35/70 N
P□127 Online autotune switches —— —— 1340 Y/N
188

r No. range reboot
P□145 Function select
189

r No. range reboot
P□146 Set the torque arrival value 0~3000 1% rated torque 100
Set the lasting time of torque arrival
P□147 0~3000 ms 100
time
P□148 Set the locked-rotor torque 0~3000 1% rated torque 100
P□149 Set the locked-rotor time 0~6000 ms 300
P□200 Position control reference form
—— —— 0000 Y
selection switch
P□201 PG frequency dividing 16 ~ 1 P/rev 2500 Y
190

r No. range reboot
32768
P□202 First electronic gear ratio (numerator) 1 ~ 65535 —— 1 Y
P□203 First electronic gear ratio (denominator) 1 ~ 65535 —— 1 Y
P□204 Second electronic gear ratio
1 ~ 65535 —— 1 Y
(numerator)
P□205 Position reference
acceleration/deceleration time 0 ~ 6400 0.1ms 0 N
parameter
P□206 Position reference filter form selection 0~1 —— 0 Y
P□212 Electronicgearnumerator adjustment
1 ~ 65535 1
factor
This parameter×P□202=Electronicgearnumerator
P□213 Electronicgeardenominator adjustment
1 ~ 65535 1
factor
This parameter×P□203 =Electronicgeardenominator
P□300 Speed reference input gain 0 ~ 3000 (r/min)/V 150 N
P□301 Internal speed 1 0 ~ 6000 1r/min 100 N
P□304 Jogging (JOG) speed 0 ~ 6000 1r/min 500 N
P□305 Acceleration time of soft start 0 ~ 10000 1 ms 0 N
P□306 Deceleration time of soft start 0 ~ 10000 1 ms 0 N
P□307 Speed reference filter constant 0 ~ 10000 1 ms 0 N
P□308 Rise time of S curve 0 ~ 10000 1 ms 0 N
P□309 Speed reference curve form —— —— 0000 Y
P□400 Torque reference input gain 10 ~ 100 0.1V/rated torque 30 N

P□401 Torque reference filter time constant 0 ~ 250 0.1ms 4 N
191

r No. range reboot
P□402 Second torque reference filter time
0 ~ 250 0.1ms 4 N
constant
P□403 Forward torque limit 0 ~ 300 1% 300 N
P□404 Reverse torque limit 0 ~ 300 1% 300 N
P□405 Forward external torque limit 0 ~ 300 1% 100 N
P□406 Reverseexternal torque limit 0 ~ 300 1% 100 N
P□407 Plug braking torque limit 0 ~ 300 1% 300 N
P□408 Speed limit during torque control 0 ~ 6000 1r/min 1500 N
P□413 B type vibration frequency 10 ~ 1000 0.1 Hz 1000 N
P□414 B type vibration damping 0 ~ 200 —— 25 N
P□500 Positioning completion width 0 ~ 5000 1 reference unit 10 N
P□501 Zero clamping level 0 ~ 3000 1r/min 10 N
P□502 Rotation detection of electric level 0 ~ 3000 1r/min 20 N
P□503 Same-speed signal detection width 0 ~ 100 1r/min 10 N
P□504 Offset pulse overflow level 1 ~ 32767 256 reference unit 1024 N
P□505 Latency time for servo to turn on 0 ~ 2000 ms 0 N
P□506 Waiting time of servo ON 0 ~ 500 10ms 0 N
P□507 Brake command - delay time of servo
0 ~ 6000 1r/min 100 N
OFF
P□508 Brake command wait time when servo
10 ~ 100 10ms 50 N
is OFF
192
Parameter Power
No. reboot
P□509 8765 (double
Input signal selection 1 —— —— 4321 Y
axis/b)
Parameter of iK series：
193
Parameter Power
No. reboot
Parameter of iK2 series：
194
Parame Power
ter No. reboot
P□510 8765 (single 0000 (double
Input signal selection 2 —— —— Y
axis) axis)
195
Parame Power
ter No. reboot
196
Parame Factory Power

Name Setting range Setting unit Remarks
ter No. setting reboot
P□513 0321 (double axis/A)
Output signal selection 1 —— —— 4321 Y
0654 (double axis/b)
P□514 Output signal selection 2 —— —— 0065 Y 0000 (double axis)
197

P□515 Output signal selection 3 —— —— 0000 Y
P□516 Reserved —— —— —— N
P□517 Input port filter time constant 0 ~ 1000 0.1ms 1 N
P□518 Alarm input filter time constant 0~3 0.1ms 1 N
P□519 Active input port signal level
—— —— 0000 N
selection 1
198

P□520 Input port signal logic selection 2 —— —— 0000 N

199


200

P□523 Select initial status display content
P□600 RS-485 communication parameter

—— —— 0151 Y
selection switch
RS-485 communication axis

P□601 1 ~ 127 —— 1 (A axis) Y 2 (b axis)
address
P□602 RS-485 communication timeout
0 ~ 1000 100 ms 0 N
parameter
P□603 CANopen communication
—— —— 0004 Y
parameter selection switch
201

CANopen communication axis

P□604 1 ~ 127 —— 1 (A axis) Y 2 (b axis)
address
P□605 Metratrolink communication
—— —— 0011 Y
parameter
P□606 Metratrolink station address 0000 - 001F —— 0001 Y 0001 (b axis)

P□620 Linear acceleration 1 ~ 65535 10000 p/s/s 100 N
P□621 Linear deceleration 1 ~ 65535 10000 p/s/s 100 N
P□622 Emergency deceleration 1 ~ 65535 10000 p/s/s 10000 N
P□623 External positioning displacement －1073741823 ~
1 reference unit 100 N
distance +1073741823
P□625 Zero return mode setting —— —— 1 Y
202

P□626 Reference point seeking switch
0 ~ 65535 100 p/s 150 Y
speed
P□627 Zero return closing speed 0 ~ 65535 100 p/s 50 Y
P□628 Zero return displacement distance Y
P□858 Set wether read the motor encoder
Remarks:
1. Parameter mode
Standard mode (P□605.2 = 0):
Parameter access address is parameter No. in the table (decimal)
2. YASKAWA mode (P□605.2 = 1):
Parameter access address reflects partly YASKAWA common parameters and the remaining
addresses use parameter No. in the table (hexadecimal)
Reflection Parameter Table:
Reflection Name Original Reflection Name Original
Parameter No. parameter No. Parameter No. parameter No.
(P□605.2=1) (P□605.2=0) (P□605.2=1) (P□605.2=0)
P□100 Speed loop gain P□100 P□506 Brake command latency P□508
time when servo is OFF
P□101 Speed loop integral P□101 P□50A Input signal selection 1 P□509
P□102 Position loop gain P□102 P□50B Input signal selection 2 P□510
P□212 Encoder frequency divider P□201 P□50E Output signal selection 1 P□513
P□203 Electronic gear numerator P□202 P□50F Output signal selection 2 P□514
P□210 Electronic gear denominator P□203 P□510 Output signal selection 3 P□515
Examples:
In standard mode (P□605.2 = 0), speed loop gain parameter access address is 100 (hexadecimal 0x0064)
and torque reference filtering time parameter access address is 401 (hexadecimal 0x0191);
In YASKAWA mode (P□605.2 = 1), speed loop gain parameter access address is 256 (hexadecimal
0x0100) and torque reference filtering time parameter access address is 1025 (hexadecimal 0x0401).
203
Appendix C List of Alarm Display

display output not
□01 H Encoder PA, PB, PC disconnection Encoder disconnection or cable welding problem. Clear
□02 H Encoder PU, PV, PW disconnection Encoder disconnection or cable welding problem. Clear
Overload Continuous running at a certain torque exceeding the
□03 H Clear
rated value
□04 H A/D switch channel abnormal A/D switch channel abnormal Clear
□05 H PU, PV, PW false code PU, PV, PW signals are all high or low Clear
□06 H PU, PV, PW phases incorrect PU, PV, PW signals are all high or low Clear
Set the locked-rotor torque by P □ 148 ， Set the
locked-rotor time by P□149. The servo driver will alarm
□07 H Alarm of locked-rotor, No
07 when the motor torque is greater than the locked-rotor
torque and the speed is less than 10RPM
□08 H The BOOTLOADER is abnormal Contact manufacturer No
□09 H The motor model is abnormal Contact manufacturer No
□10 H Overcurrent Servo drive IPM module current is overlarge. Clear
□11 H Overvoltage Servo drive main circuit voltage is too high. No
□12 H Undervoltage Servo drive main circuit voltage is too low. No
□13 H Parameter damage EEROM data in servo drive is abnormal. Clear
□14 H Over-speed Servo motor speed is extremely high Clear
□15 H Deviation counter overflow Internal position deviation counter overflow Clear
Position deviation is overlarge Position deviation pulse exceeds the set value of
□16 H Clear
parameter P□504.
Electronic gear fault Electronic gear is unreasonably set or pulse frequency is
□17 H Clear
too high
1st channel of current detection is Current detection abnormal
□18 H Clear
abnormal
2nd channel of current detection is Current detection abnormal
□19 H Clear
abnormal
□22 H Motor model is incorrect Servo drive parameters do not match with those of motor Clear
Servo drive does not match with Servo drive does not match with motor
□23 H Clear
motor
Bus encoder multi-coil information Multi-coil information error
□25 H Clear
error
Bus encoder multi-coil information Multi-coil information overflow
□26 H Clear
overflow
Bus encoder battery alarm 1 Battery voltage is lower than 2.5 V, multi-coil
□27 H Clear
information is lost
Bus encoder battery alarm 2 Battery voltage is lower than 3.1 V, battery voltage is
□28 H Clear
relatively low
□30 H Bleeder resistor disconnection alarm Braking resistor damage. Clear
□31 H Regeneration overload Regeneration processing circuit is abnormal. No
204

display output not
Momentary outage alarm. There is outage of over one power cycle under AC
□33 H Clear
current.
□34 H Rotary transformer is abnormal Rotary transformer communication is abnormal. Clear
Bus encoder communication is Servo drive and encoder cannot realize communication.
□40 H Clear
abnormal
□41 H Bus encoder overspeed When power is ON, encoder rotates at high speed Clear
□42 H Bus encoder absolute status error Encoder damage or encoder decoding circuit damage Clear
□43 H Bus encoder counting error Encoder damage or encoder decoding circuit damage Clear
Check error in bus encoder control Encoder signal is interrupted or encoder decoding circuit
□44 H Clear
field damage
Check error in bus encoder Encoder signal is interrupted or encoder decoding circuit
□45 H Clear
communication data damage
Stop bit error in bus encoder status Encoder signal is interrupted or encoder decoding circuit
□46 H Clear
field damage
Stop bit error in bus encoder SFOME Encoder signal is interrupted or encoder decoding circuit
□47 H Clear
damage
□48 H Bus encoder data are not initialized Bus encoder SFOME data are null Clear
□49 H Sum check error in bus encoder data Sum check in bus encoder EEPROM data is abnormal Clear
MODBUS communication timeout Drive fails to accept data normally at the set time in
□60 H Clear
P□602
CANopen master station heartbeat Drive fails to accept master station heartbeat massage
□61 H Clear
timeout normally at the set time
□70 H Drive overheat alarm Drive internal IPM module temperature is too high Clear
Software does not match with Parameter is wrongly set or software does not match with
□90 H No
hardware hardware
□-- L No error display Display normal action status Clear
Note: 1. "□" in alarm display may be "A" or "b", referring to A axis alarm or b axis alarm
respectively
205
Appendix D Guidelines for Motor Model by Users
Operation Display after

Steps Operation instruction
key operation
Gently press M function key for several times to switch to A axis
1
parameter setting mode.
2 Gently press “∧” key for six times and set FA006.
Press SET key to display current PA000 data. The decimal point in bit 0
currently displayed flickers. Set motor manufacturer and encoder type
with Shift key and "∧" key.
5 Gently press “∨” key once to set FA005.
6 Gently press SET key to start motor model code setting.
Modify the value according to appendix (motor adaption table) and set
7
value at each bit with Shift key.
8 Gently press SET key to exit motor model code setting.
Note:
1. In case of double-axis servo drive, M function key should be press for a long time
(continuously for above 1 s) during setting of b axis motor model to switch to b axis
parameter and then follow step 9-12.
2. After setting motor model code, it is required to turn off and reboot servo drive to make
modified parameters effective.
Motor Adaption Table
206
Note: Before selecting motor model, please set motor manufacturer and encoder type
first which can both be set via PA006.
1、Universal type servo motor

If the motor is universal type servo motor，refer to PA006 setting below:
（1）220Vservo motor
Voltage Torque Rotation speed Power Motor type
Motor model
V N•m rpm kW Pn005
Torque Speed Power Cutrrent Motor manufacturer code Motor type

Motor model
N•m rpm kW A Pn006 Pn005
40ST-M00130 0.16 3000 0.05 0.4 2 41
40ST-M00330 0.30 3000 0.1 0.6 2 42
40ED-A1013050D4B 0.318 3000 0.1 1.1 8 1
60EST-M00630 0.64 3000 0.2 1.7 2 58
60EST-M00630B 0.6 3000 0.2 1.7 2 94
60ST-M00630 0.637 3000 0.2 1.2 2 0
60ST-M01330 1.27 3000 0.4 2.8 2 1
60ST-M01930 1.91 3000 0.6 3.5 2 2
60ED-A4013050D4B 1.27 3000 0.4 3.3 8 2
80ST-M01330 1.27 3000 0.4 2 2 3
80ST-M03520 3.5 2000 0.73 3 2 5
80EST-M02430B 2.39 3000 0.75 5 2 95
80ST-M02430 2.39 3000 0.75 3 2 4
80ST-M03230 3.2 3000 1.0 4 2 45
80ST-M03530 3.5 3000 1.0 4.5 2 43
80ST-M04025 4.0 2500 1.0 4.4 2 6
80ST-AM04030 4.0 3000 1.2 5.2 2 38
90ST-M03520 3.5 2000 0.73 3 2 8
90ST-M02430 2.4 3000 0.75 3 2 7
207

Motor model
90ST-M04025 4.0 2500 1.0 4 2 9
100ST-M03230 3.2 3000 1.0 5 2 60
100ST-M06430 6.4 3000 2.0 9.9 2 61
110ST-M02030 2.0 3000 0.6 2.5 2 10
110ST-M04020 4.0 2000 0.8 3.5 2 11
110ST-M04030 4.0 3000 1.2 5.0 2 12
110ST-M06020 6.0 2000 1.2 4.5 2 14
110ST-M05030 5.0 3000 1.5 6.0 2 13
110ST-M08020 8 2000 1.6 6.5 2 46
110ST-M06030 6.0 3000 1.8 6.0 2 15
110ST-M10020 10 2000 2.0 8.5 2 47
130ST-M04010 4 1000 0.4 2.5 2 48
130ST-M05015 5 1500 0.75 4.0 2 32
130ST-M06015 6 1500 0.9 4.3 2 39
130ST-M04025 4.0 2500 1.0 4.0 2 16
130AST-M04025 4.0 2500 1.0 4.5 2 62
130ST-M05020 5 2000 1 4 8 0
130ST-M10010 10.0 1000 1.0 4.5 2 20
130ST-M04030 4 3000 1.2 5.5 2 50
130ST-M06020 6 2000 1.2 4.5 2 70
130AST-M05025 5.0 2500 1.3 5.3 2 63
130ST-M05025 5.0 2500 1.3 5.0 2 17
130ED-A1021520D4B 6.4 1500 1 5 8 4
130ED-A2022030D4B 9.6 2000 2 13.8 8 3
130ST-M05030 5 3000 1.5 5.8 2 51
130AST-M06025 6.0 2500 1.5 5.9 2 64
130ST-M06025 6.0 2500 1.5 6.0 2 18
130AST-M10015 10 1500 1.5 6 2 66
130ST-M10015 10.0 1500 1.5 6.0 2 21
130ST-M15010 15 1000 1.5 7.3 2 44
130ST-M07720 7.7 2000 1.6 6.5 2 49
130ST-M06030 6 3000 1.8 7 2 85
208

Motor model
130AST-M07725 7.7 2500 2 7.5 2 65
130ST-M07725 7.7 2500 2.0 7.5 2 19
130AST-M15015 15 1500 2.3 9.4 2 67
130ST-M15015 15.0 1500 2.3 9.5 2 23
130ST-M07730 7.7 3000 2.5 10 2 86
130ST-M17015 17 1500 2.6 11.5 2 57
130AST-M10025B 10 2500 2.6 10 2 68
130ST-M10025 10.0 2500 2.6 10 2 22
130ST-M15025 15.0 2500 3.8 13.5 2 24
130ST-M15030 15 3000 4.7 19 2 96
150ST-M18010 18 1000 1.8 8 2 53
150ST-M23010 23 1000 2.3 11 2 71
150ST-M15020 15 2000 3.0 14 2 52
150ST-M18020 18 2000 3.6 17 2 54
150ST-M15025 15 2500 3.8 17 2 73
150ST-M23020 23 2000 4.7 21 2 55
150ST-M27020 27 2000 5.5 27 2 56
180ST-M17215 17.2 1500 2.7 10.5 2 25
180ST-M19015 19.0 1500 3.0 12 2 26
180ST-M21520 21.5 2000 4.5 16 2 27
180ST-M27010 27 1000 2.9 12 2 28
180ST-M27015 27.0 1500 4.3 16 2 29
180ST-M35010 35 1000 3.7 16 2 30
180ST-M35015 35.0 1500 5.5 24 2 31
180ST-M17230 17.2 3000 5.5 19 2 33
（2）380V servo motor

Motor model
80HST-M03520 3.5 2000 0.73 1.8 2 93
130HST-M04025 4 2500 1.0 2.6 2 69
130HST-M10010 10 1000 1.0 2.5 2 87
130HST-M05025 5 2500 1.3 3 2 80
209

Motor model
130HST-M06025 6 2500 1.5 3.7 2 81
130HST-M10015 10 1500 1.5 3.5 2 97
130HST-M07725 7.7 2500 2.0 4.7 2 82
130HST-M15015 15 1500 2.3 5 2 98
130HST-M10025 10 2500 2.5 5.9 2 59
130HST-M15025 15.0 2500 3.8 7.4 2 83
150HST-M15020 15 2000 3.0 6.8 2 99
150HST-M18020 18 2000 3.6 8.5 2 88
150HST-M15025 15.0 2500 3.8 9.5 2 84
150HST-M23020 23 2000 4.7 12 2 89
150HST-AM23025 23 2500 6 14.5 2 75
150HST-M27020 27 2000 5.5 14.5 2 90
180HST-M17215 17.2 1500 2.7 6.5 2 91
180HST-M27010 27 1000 2.9 7.5 2 35
180HST-M19015 19 1500 3.0 7.5 2 34
180HST-M35010 35 1000 3.5 10 2 72
180HST-M27015 27 1500 4.3 10 2 77
180HST-M21520 21.5 2000 4.5 9.5 2 78
180HST-M35015 35 1500 5.5 12 2 76
180HST-M48015 48 1500 7.2 20 2 79
180HST-M21520 21.5 2000 4.5 9.5 2 92
200HST-AM30015 30 1500 4.7 9.2 2 74
2、A Series
Motor model
130AD-A1521530 9.6 1500 1.5 10 0 41
130AD-A1321530 8.4 1500 1.3 9.5 0 42
130AD-A6511530 4.2 1500 0.65 5.5 0 43
130AD-A8511530 5.4 1500 0.85 6.5 0 44
130AD-A1021530 6.4 1500 1.0 8.0 0 45
130AD-A1221530 7.5 1500 1.2 9.0 0 46
130AD-A1821520 11.5 1500 1.8 9.0 0 47
210
130AD-A1821530 11.5 1500 1.8 12.5 0 48

130AD-A2321520 14.6 1500 2.3 11.0 0 49
130AD-A2321530 14.6 1500 2.3 16.0 0 50
110AD-A8812030 4.2 2000 0.88 4.5 0 51
110AD-A1122030 5.4 2000 1.1 5.5 0 52
110AD-A1322030 6.4 2000 1.3 6.5 0 53
110AD-A1622030 7.5 2000 1.6 8.0 0 54
3、S Series
Motor model
60SS-A4013050 1.27 3000 0.4 2.8 6 80
80SS-A7513050 2.39 3000 0.75 4.0 6 81
130SD-A1022030 4.77 2000 1.0 6.0 6 82
130SD-A2022030 9.55 2000 2.0 10.5 6 83
60SS-A2013050D4 0.64 3000 0.2 1.9 6 84
130SD-A3022030D4 14.3 2000 3 13.8 6 85
130SD-A1522030D1 7.16 2000 1.5 8.2 6 86
130SD-A1521015 14.3 1000 1.5 7.2 6 87
4、HD-LFB series
Motor model
80ST-M01330LB 1.3 3000 0.4 2.6 0 0
80ST-M02430LB 2.4 3000 0.75 4.2 0 1
80ST-M03330LB 3.3 3000 1.0 4.2 0 2
110ST-M02030LB 2.0 3000 0.6 4.0 0 3
110ST-M04030LB 4.0 3000 1.2 5.0 0 4
110ST-M05030LB 5.0 3000 1.5 6.0 0 5
110ST-M06020LB 6.0 2000 1.2 6.0 0 6
110ST-M06030LB 6.0 3000 1.6 8.0 0 7
130ST-M04025LB 4.0 2500 1.0 4.0 0 8
130ST-M05020LB 5.0 2000 1.0 5.0 0 9
130ST-M05025LB 5.0 2500 1.3 5.0 0 10
130ST-M06025LB 6.0 2500 1.5 6.0 0 11
130ST-M07720LB 7.7 2000 1.6 6.0 0 12
211
130ST-M07725LB 7.7 2500 2.0 7.5 0 13

130ST-M07730LB 7.7 3000 2.4 9.0 0 14
130ST-M10015LB 10 1500 1.5 6.0 0 15
130ST-M10025LB 10 2500 2.6 10.0 0 16
130ST-M15015LB 15 1500 2.3 9.5 0 17
130ST-M15025LB 15 2500 3.8 17.0 0 18
150ST-M15025LB 15 2500 3.8 16.5 0 19
150ST-M18020LB 18 2000 3.6 16.5 0 20
150ST-M23020LB 23 2000 4.7 20.5 0 21
150ST-M27020LB 27 2000 5.5 20.5 0 22
130ST-F06025LFC 6.0 2500 1.0 0 23
130ST-F07720LFC 7.7 2000 0 24
130ST-F10015LFC 10 1500 1.5 0 25
130ST-F15015LFC 15 1500 0 26
110ST-M05030LFC 5.0 3000 1.5 0 27
212

Tomatech k1 Manual

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K1 series

TOMATECH TECHNOLOGY CO.,LTD

All Rights Reserved

● Thank you for purchasing this AC servo driver.

● This Manual is the user manual for K/iK series products.

1. Electric Shock Injury Warning

2. Warning of Damage to Equipment

Chapter I Function Overview...........................................................................................................1

Chapter I Function Overview

1.1 Description of Servo Driver Models

Naming rule ofK / K1 / K2 servo driver:

1.2 Description of servo motor

The description of universaltype servo motor:

1.3 Basic Functions

Chapter II Installation and Dimension

2.1 Servo Driver

2.1.1 Storage Condition

2.1.2 Installation Site

2.1.3 Installation Direction

2.1.4 Installation of Several Servo Drivers

■ Installation direction of servo driver

2.1.5 Dimension Description

（1）Installation dimension of K series：

Installation of K series-400W and 750W dimension:

（2）Dimension of 1.5kW /2.0kW（220V）and 2.0kW /3.5kW（380V）：

Dimension of3.5kW /5.0kW（220V）和 5.0kW /7.5kW（380V）：

2.2 Servo Motor

Precautions before installation:

2.2.1 Storage Temperature

2.2.3 Installation Concentricity

 Mechanical vibration will be caused by large concentricity deviation

2.2.4 Installation Direction

2.2.5 Protection Measures Against Water and Oil

2.2.6 Cable Tension

Chapter III Wiring

3.1 Profile of terminal

3.1.1 K1 series driver (220V)

Terminal Functions Precautions for operation

3.1.4 K1 series driver (380V)

Terminal Functions Precautions for operation

Terminal of motor power Must connected to the motor terminals

3.2 Typical Examples for Main Circuit Wiring

3.2.1 K1 series single axis 220V

3.2.2 K Series double axis 220V

3.2.3 K1 series single axis 380V

3.3 Control mode wiring

3.3.1 Control mode wiring of K1 series

CNC Controller connection (take TOMATECH CNC controller for example):

TOMATECH CNC Controller ------------- K1 Servo

Pin1 nCP+ Blue Pulse+ Pin1 Pulse+

（2）Speed/torque control mode

3.4 Encoder Signal Wiring

3.4.1 K1 series encoder

Terminal Signal name Terminal Signal name

3.4.2 Connection with Encoder Interface (CN1/CN2) and Processing of Output

(1) 2500 incremental wire-saving encoder

(2) 2500 incremental standard encoder

(3) Bus incremental encoder

(4) Bus absolute encoder