Sv660n Series

SV660N Series Servo Drive Advanced User Guide
Advanced User Guide

SV660N Series Servo Drive
Shenzhen Inovance Technology Co., Ltd.
Add.: Building E, Hongwei Industry Park, Liuxian Road, Baocheng No. 70 Zone, Bao’an District, Shenzhen
Tel: +86-755-2979 9595
Fax: +86-755-2961 9897
Service Hotline: 400-777-1260
http: //www.inovance.com
Suzhou Inovance Technology Co., Ltd.

Add.: No. 16 Youxiang Road, Yuexi Town, Wuzhong District, Suzhou 215104, P.R. China
Tel: +86-512-6637 6666
User Guide
Fax: +86-512-6285 6720
Service Hotline: 400-777-1260 A00
http: //www.inovance.com Copyright 　 Shenzhen Inovance Technology Co., Ltd. Data code 19011236
Preface
Preface
Thank you for purchasing the SV660N series servo drive developed by Inovance.
The SV660N series high-performance AC servo drive covers a power range from 200 W to 7.5 kW. It
supports EtherCAT communication protocol and carries Ethernet communication interfaces to work with
the host controller in achieving a networked operation of multiple servo drives.
The SV660N series servo drive supports stiffness level setting, inertia auto-tuning and vibration
suppression to simplify the operation process. It allows a quiet and stable operation through
cooperating with the MS1 series medium- and small-inertia high-response servo motor configured with
a 23-bit single-turn absolute encoder or 23-bit multi-turn absolute encoder.
The SV660N series servo drive aims to deliver fast and accurate control in automation equipment such
as semi-conductor manufacturing equipment, chip mounters, PCB punching machines, transport
machineries, food processing machineries, machine tools, and transmission machineries.
This user guide provides product information and instructions on installation, wiring, commissioning,
and fault diagnosis. First-time users must read through this user guide. For concerns regarding product
functions or performance, contact Inovance for technical support.
Safety Instructions
◆◆ The drawings in the user guide are sometimes shown without covers or protective guards. Remember to
install the covers or protective guards as specified first, and then perform operations in accordance with the
instructions described in the user guide.
◆◆ The drawings in the user guide are shown for descriptions only and may not match the product you purchased.
◆◆ This user guide is subject to change without notice due to product upgrade, specification modifications as well
as efforts to improve the accuracy and convenience of the user guide.
◆◆ If the user guide is damaged or lost, contact our regional agents or customer service centers to order the user
guide.
◆◆ Contact our customer service centers for concerns during use.
Unpacking Inspection
Check the following items upon unpacking.
Items Description
Check whether the delivered product Check whether the motor model and specifications shown on the packing
complies with your order. box comply with your order.
Check whether the overall appearance of the product is intact. If there is any
Check whether the product is intact.
part missing or damaged, contact Inovance or your supplier immediately.
Revision History
Date Version Description
January 2020 A00 First edition
-1-
Preface
Standards Compliance
■■ The SV660N series servo drive and the MS1 series servo motor have passed CE certification and
comply with the following international standards.
Certification Mark Directive Standard
EN 61800-3
Servo drive IEC 61800-3
EMC directive 2014/30/EU IEC 61800-5-2
Servo motor EN 60034-1

CE
certification EN 61800-5-1
Servo drive
LVD directive 2014/35/EU IEC 61800-5-1
Servo motor EN 60034-1
RoHS directive 2011/65/EU EN 50581
◆◆ The preceding certification are complied with only when the EMC-related electrical installation
requirements described in this user guide are observed.
◆◆ The integrator who integrates this drive into other products and attaches the CE mark to the final
assembly has the responsibility of ensuring compliance with CE standards and the European
NOTE Norm.
◆◆ For more information on product certifications, contact our agents or sales representatives.
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Contents
Contents
Preface............................................................................................................................................ 1
Unpacking Inspection..........................................................................................................................1
Revision History...................................................................................................................................1
Standards Compliance........................................................................................................................2
Safety Instructions....................................................................................................................... 10
Safety Precautions.............................................................................................................................10
Safety Levels and Definitions............................................................................................................10
Safety Instructions.............................................................................................................................10
Safety Signs........................................................................................................................................14
1 Product Information................................................................................................................. 15
1.1 Introduction to the Servo Drive..................................................................................................15
1.1.1 Nameplate and Model Number..........................................................................................................15
1.1.2 Components........................................................................................................................................16
1.1.3 Technical Specifications.....................................................................................................................19
1.1.4 Specifications of the Regenerative Resistor......................................................................................23
1.2 Introduction to the Servo Motor.................................................................................................24
1.2.1 Motor Nameplate and Model Number...............................................................................................24
1.2.2 Components........................................................................................................................................25
1.2.3 Technical Specifications.....................................................................................................................26
1.3 Servo System Configurations......................................................................................................31
1.4 Cable Models................................................................................................................................32
1.5 Communication Cable Options..................................................................................................34
1.6 Connector Kit...............................................................................................................................34
1.7 Servo System Wiring Diagram.....................................................................................................35

2 Installation................................................................................................................................. 37
2.1 Installation of the Servo Drive.....................................................................................................37
2.1.1 Installation Location...........................................................................................................................37
2.1.2 Environment Conditions.....................................................................................................................38
2.1.3 Dimension Drawings...........................................................................................................................38
2.1.4 Installation...........................................................................................................................................40
2.2 Installation of the Servo Motor...................................................................................................42
2.2.1 Installation Location...........................................................................................................................42
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Contents
2.2.2 Environment Conditions.....................................................................................................................42
2.2.3 Installation Precautions......................................................................................................................43
2.2.4 Dimension Drawings...........................................................................................................................45
3 Wiring......................................................................................................................................... 49
3.1 Terminal Pin Layout.....................................................................................................................51
3.2 Wiring of the Main Circuit............................................................................................................52
3.2.1 Main Circuit Terminals........................................................................................................................52
3.2.2 Wiring Example of the Regenerative Resistor....................................................................................54
3.2.3 Recommended Models and Specifications of Main Circuit Cables.................................................54
3.2.4 Power Supply Wiring Example............................................................................................................57
3.2.5 Precautions for Main Circuit Wiring...................................................................................................58
3.2.6 Specifications of Main Circuit Options...............................................................................................59
3.3 Connection of the Servo Drive and Servo Motor Power Cables...............................................60
3.4 Connection of the Servo Drive and Servo Motor Encoder Cables............................................62
3.5 Connection of the Control Signal Terminal CN1........................................................................68
3.5.1 DI/DO signals.......................................................................................................................................69
3.5.2 Wiring of the Brake..............................................................................................................................72
3.6 Wiring of Communication Signals CN3/CN4..............................................................................74
3.6.1 Pin Definition of the Communication Signal Connector..................................................................75
3.6.2 Selection of Communication Cables.................................................................................................75
3.6.3 Communication Connection with PC (RS232 Communication)......................................................76
3.7 Definition and Connection of STO terminal...............................................................................78
3.8 Anti-interference Measures for Electrical Wiring.......................................................................80
3.8.1 Anti-interference Wiring Example and Grounding............................................................................81
3.8.2 Instructions for Use of the Noise Filter..............................................................................................82
3.9 Precautions for Use of Cables.....................................................................................................83

4 Keypad Display and Operations............................................................................................... 85
4.1 Introduction to the Keypad.........................................................................................................85
4.2 Display..........................................................................................................................................85
4.2.1Transition Relation Between Keypad Display and Operation Objects.............................................86
4.2.2 Display Mode Switchover...................................................................................................................86
4.2.3 Status Display......................................................................................................................................87
4.2.4 Parameter Display...............................................................................................................................87
4.2.5 Fault Display........................................................................................................................................89
4.2.6 Monitoring Display..............................................................................................................................90
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Contents
4.3 Parameter Setting........................................................................................................................97
4.4 User Password..............................................................................................................................98
4.5 General Functions........................................................................................................................99
4.5.1 Jog........................................................................................................................................................99
4.5.2 Forced DI/DO Signals....................................................................................................................... 100
5 Commissioning and Operation.............................................................................................. 108
5.1 Pre-running Check.....................................................................................................................109
5.2 Power-on....................................................................................................................................109
5.3 Jog...............................................................................................................................................109
5.4 General Parameter Settings......................................................................................................110
5.4.1 Rotation Direction.............................................................................................................................110
5.4.2 Brake Settings.................................................................................................................................... 111
5.4.3 Regenerative Resistor Settings.........................................................................................................116
5.5 Servo Running............................................................................................................................122
5.6 Servo Stop..................................................................................................................................128
5.7 Conversion Factor Setting.........................................................................................................132

6 Gain Tuning............................................................................................................................. 135
6.1 Overview.....................................................................................................................................135
6.2 Inertia Auto-tuning.....................................................................................................................136
6.2.1 Offline Inertia Auto-tuning............................................................................................................... 137
6.2.2 Online Auto-tuning........................................................................................................................... 139
6.3 Instructions for ETune Operations............................................................................................139
6.3.1 Overview........................................................................................................................................... 140
6.3.2 Description of Operations................................................................................................................ 140
6.3.3 Precautions....................................................................................................................................... 144
6.3.4 Troubleshooting............................................................................................................................... 145
6.4 Instructions for STune Operations............................................................................................145
6.4.1 Overview........................................................................................................................................... 145
6.4.2 Description of Operations................................................................................................................ 146
6.4.3 Precautions....................................................................................................................................... 147
6.5 Manual Gain Tuning...................................................................................................................149
6.5.1 Basic Parameters.............................................................................................................................. 149
6.5.2 Gain Switchover................................................................................................................................ 152
6.5.3 Comparison of Filters....................................................................................................................... 156
6.5.4 Feedforward Gain............................................................................................................................. 157
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Contents
6.5.5 Pseudo Derivative Feedback and Feedforward Control................................................................ 158
6.5.6 Torque Disturbance Observation.................................................................................................... 159
6.5.7 Speed observer................................................................................................................................. 160
6.5.8 Model Tracking................................................................................................................................. 162
6.5.9 Friction Compensation.................................................................................................................... 165
6.6 Parameter Adjustment in Different Control Modes.................................................................166
6.6.1 Parameter Adjustment in the Position Control Mode.................................................................... 166
6.6.2 Parameter Adjustment in the Speed Control Mode....................................................................... 168
6.6.3 Parameter Adjustment in the Torque Control Mode...................................................................... 168
6.7 Vibration Suppression...............................................................................................................168
6.7.1 Suppression of Mechanical Resonance.......................................................................................... 169
6.7.2 Low Frequency Suppression at the Mechanical End..................................................................... 173
6.8 Mechanical Characteristic Analysis...........................................................................................175
6.8.1 Overview........................................................................................................................................... 175
6.8.2 Operating Procedures...................................................................................................................... 176
7 Control Mode........................................................................................................................... 178
7.1 Servo Drive State Setting...........................................................................................................179
7.1.1 Control Word 6040h......................................................................................................................... 181
7.1.2 Status Word 6041h........................................................................................................................... 182
7.2 Servo Mode Setting....................................................................................................................183
7.2.1 Introduction to Servo Drive Modes................................................................................................. 183
7.2.2 Communication Cycle...................................................................................................................... 185
7.3 Cyclic Synchronous Position Mode (CSP)................................................................................185
7.3.1 Configuration Block Diagram.......................................................................................................... 185
7.3.2 Related Objects................................................................................................................................. 185
7.3.3 Related Function Settings................................................................................................................ 186
7.3.4 Recommended Configuration......................................................................................................... 186
7.3.5 Related Parameters.......................................................................................................................... 187
7.3.6 Function Block Diagram.................................................................................................................. 189
7.4 Cyclic Synchronous Velocity (CSV) Mode.................................................................................190
7.4.2 Related Objects................................................................................................................................. 190
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Contents
7.5 Cyclic Synchronous Torque Mode (CST)...................................................................................194
7.5.2 Related Objects................................................................................................................................. 194
7.6 Profile Position (PP) Mode.........................................................................................................199
7.6.2 Related Objects................................................................................................................................. 203
7.7 Profile Velocity Mode (PV).........................................................................................................209
7.7.2 Related Objects................................................................................................................................. 209
7.8 Profile Torque Mode (PT)...........................................................................................................215
7.8.2 Related Objects................................................................................................................................. 216
7.9 Homing Mode (HM)....................................................................................................................222
7.9.2 Related Objects................................................................................................................................. 222
7.9.4 Homing Operation............................................................................................................................ 225
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Contents
7.10 Auxiliary Functions...................................................................................................................267
7.10.1 Touch Probe Function (Latch Function))...................................................................................... 267
7.10.2 Software Limit................................................................................................................................ 270
7.10.3 Position Comparison...................................................................................................................... 272
7.11 Absolute System.......................................................................................................................278
7.11.1 Descriptions for Use of the Absolute System............................................................................... 278
7.11.2 Absolute Position Linear Mode..................................................................................................... 280
7.11.3 Absolute Position Rotation Mode.................................................................................................. 282
7.11.4 Single-Turn Absolute Mode........................................................................................................... 285
7.11.5 Precautions for Use of the Battery Box......................................................................................... 287
8 Communication Configurations............................................................................................ 288
8.1 Overview of the EtherCAT Protocol..........................................................................................288
8.2 System Parameters....................................................................................................................289
8.2.1 Parameter Address Structure.......................................................................................................... 289
8.2.2 System Parameter Settings.............................................................................................................. 289
8.3 EtherCAT Communication Basis...............................................................................................290
8.3.1 EtherCAT Communication Specifications...................................................................................... 290
8.3.2 Communication Structure............................................................................................................... 290
8.3.3 State Machine................................................................................................................................... 291
8.3.4 Process Data..................................................................................................................................... 292
8.3.5 Service Data Object (SDO)............................................................................................................... 296
8.3.6 Distributed Clock (DC)...................................................................................................................... 297
8.3.7 Status Indication.............................................................................................................................. 297
8.3.8 Overview of CiA402.......................................................................................................................... 299
8.3.9 Basic Characteristics........................................................................................................................ 300
9 Troubleshooting...................................................................................................................... 302
9.1 Faults and Warnings...................................................................................................................302
9.2 Communication Faults and Warning Codes............................................................................302
9.3 Solutions to Faults.....................................................................................................................305
9.4 Solutions to Warnings................................................................................................................328
9.5 Solutions to Communication Faults.........................................................................................334

10 Application Cases.................................................................................................................. 337
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Contents
Case 1 AM600 series controller as the host controller..................................................................337
Case 2 Omron NX1P2 controller as the host controller.................................................................343
Case 3 Beckhoff TwinCAT3 as the host controller.........................................................................355

11 Appendix................................................................................................................................ 370
11.1 Standards Compliance............................................................................................................370
11.1.1 CE Certification............................................................................................................................... 370
11.1.2 Low Voltage Directive Compliance................................................................................................ 370
11.1.3 EMC Directive Compliance............................................................................................................. 371
11.1.4 Definition of EMC Terms................................................................................................................ 372
11.1.5 Selection of EMC Filters................................................................................................................. 372
11.1.6 Cable Requirements and Routing................................................................................................. 377
11.1.7 Solutions to Leakage Current........................................................................................................ 378
11.1.8 Solutions to Common EMC Problems.......................................................................................... 379
11.1.9 UL Certification............................................................................................................................... 380
11.2 List of Object Groups...............................................................................................................381
Description of Object Groups................................................................................................................... 381
Object Group 1000h.................................................................................................................................. 381
Object Group 2000h.................................................................................................................................. 387
Object Group 6000h.................................................................................................................................. 405
SDO Abort Transfer Code ......................................................................................................................... 409
11.3 Safety Protection Function: STO.............................................................................................410
11.3.1 Description of Technical Terms..................................................................................................... 410
11.3.2 Standards Compliance................................................................................................................... 413
11.3.3 General Safety Information........................................................................................................... 414
11.3.4 Specifications ................................................................................................................................ 415
11.3.5 Installation...................................................................................................................................... 416
11.3.6 Terminal and Wiring....................................................................................................................... 416
11.3.7 Requirement for Commission, Operation and Maintenance...................................................... 416
11.3.8 Safety Function: STO...................................................................................................................... 418
11.3.9 Trouble Shooting............................................................................................................................ 421
11.3.10 Product Information.................................................................................................................... 421
11.3.11 Precautions................................................................................................................................... 423
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Safety Instructions
Safety Instructions
Safety Precautions
1) Before installing, using, and maintaining this equipment, read the safety information and
precautions thoroughly, and comply with them during operations.
2) To ensure the safety of humans and equipment, follow the signs on the equipment and all the safety
instructions in this user guide.
3) "CAUTION", "WARNING", and "DANGER" items in the user guide do not indicate all safety
precautions that need to be followed; instead, they just supplement the safety precautions.
4) Use this equipment according to the designated environment requirements. Damage caused by
improper usage is not covered by warranty.
5) Inovance shall take no responsibility for any personal injuries or property damage caused by
improper usage.
Safety Levels and Definitions
Indicates that failure to comply with the notice will result in severe personal
DANGER injuries or even death.
Indicates that failure to comply with the notice may result in severe personal
WARNING injuries or even death.
Indicates that failure to comply with the notice may result in minor or moderate
CAUTION personal injuries or equipment damage.
Safety Instructions
Unpacking
CAUTION
◆◆ Check whether the packing is intact and whether there is damage, water seepage, damp, and deformation.
◆◆ Unpack the package by following the package sequence. Do not hit the package with force.
◆◆ Check whether there are damage, rust, or injuries on the surface of the equipment or equipment accessories.
◆◆ Check whether the number of packing materials is consistent with the packing list.
WARNING
◆◆ Do not install the equipment if you find damage, rust, or indications of use on the equipment or accessories.
◆◆ Do not install the equipment if you find water seepage, component missing or damage upon unpacking.
◆◆ Do not install the equipment if you find the packing list does not conform to the equipment you received.
-10-
Safety Instructions
Storage and Transportation
CAUTION
◆◆ Store and transport this equipment based on the storage and transportation requirements for humidity and
temperature.
◆◆ Avoid transporting the equipment in environments such as water splashing, rain, direct sunlight, strong electric
field, strong magnetic field, and strong vibration.
◆◆ Avoid storing this equipment for more than three months. Long-term storage requires stricter protection and
necessary inspections.
◆◆ Pack the equipment strictly before transportation. Use a sealed box for long-distance transportation.
◆◆ Never transport this equipment with other equipment or materials that may harm or have negative impacts on
this equipment.
WARNING
◆◆ Use professional loading and unloading equipment to carry large-scale or heavy equipment.
◆◆ When carrying this equipment with bare hands, hold the equipment casing firmly with care to prevent parts
falling. Failure to comply may result in personal injuries.
◆◆ Handle the equipment with care during transportation and mind your step to prevent personal injuries or
equipment damage.
◆◆ Never stand or stay below the equipment when the equipment is lifted by hoisting equipment.
Installation
WARNING
◆◆ Thoroughly read the safety instructions and user guide before installation.
◆◆ Do not modify this equipment.
◆◆ Do not rotate the equipment components or loosen fixed bolts (especially those marked in red) on equipment
components.
◆◆ Do not install this equipment in places with strong electric or magnetic fields.
◆◆ When this equipment is installed in a cabinet or final equipment, protection measures such as a fireproof
enclosure, electrical enclosure, or mechanical enclosure must be provided. The IP rating must meet IEC
standards and local laws and regulations.
DANGER
◆◆ Equipment installation, wiring, maintenance, inspection, or parts replacement must be performed by only
professionals.
◆◆ Installation, wiring, maintenance, inspection, or parts replacement must be performed by only experienced
personnel who have been trained with necessary electrical information.
◆◆ Installation personnel must be familiar with equipment installation requirements and relevant technical
materials.
◆◆ Before installing equipment with strong electromagnetic interference, such as a transformer, install an
electromagnetic shielding device for this equipment to prevent malfunctions.
-11-
Safety Instructions
Wiring
DANGER
professionals.
◆◆ Never perform wiring at power-on. Failure to comply will result in an electric shock.
◆◆ Before wiring, cut off all equipment power supplies. Wait at least 15 minutes before further operations because
residual voltage exists after power-off.
◆◆ Make sure that the equipment is well grounded. Failure to comply will result in an electric shock.
◆◆ During wiring, follow the proper electrostatic discharge (ESD) procedures, and wear an antistatic wrist strap.
Failure to comply will result in damage to internal equipment circuits.
WARNING
◆◆ Never connect the power cable to output terminals of the equipment. Failure to comply may cause equipment
damage or even a fire.
◆◆ When connecting a drive with the motor, make sure that the phase sequences of the drive and motor terminals
are consistent to prevent reverse motor rotation.
◆◆ Wiring cables must meet diameter and shielding requirements. The shielding layer of the shielded cable must be
reliably grounded at one end.
◆◆ After wiring, make sure that no screws are fallen and cables are exposed in the equipment.
Power-on
DANGER
◆◆ Before power-on, make sure that the equipment is installed properly with reliable wiring and the motor can be
restarted.
◆◆ Before power-on, make sure that the power supply meets equipment requirements to prevent equipment
damage or even a fire.
◆◆ At power-on, unexpected operations may be triggered on the equipment. Therefore, stay away from the
equipment.
◆◆ After power-on, do not open the cabinet door and protective cover of the equipment. Failure to comply will result
in an electric shock.
◆◆ Do not touch any wiring terminals at power-on. Failure to comply will result in an electric shock.
◆◆ Do not remove any part of the equipment at power-on. Failure to comply will result in an electric shock.
Operation
DANGER
◆◆ Do not touch any wiring terminals during operation. Failure to comply will result in an electric shock.
◆◆ Do not remove any part of the equipment during operation. Failure to comply will result in an electric shock.
◆◆ Do not touch the equipment shell, fan, or resistor for temperature detection. Failure to comply will result in heat
injuries.
◆◆ Signal detection must be performed by only professionals during operation. Failure to comply will result in
personal injuries or equipment damage.
WARNING
◆◆ Prevent metal or other objects from falling into the device during operation. Failure to comply may result in
equipment damage.
◆◆ Do not start or stop the equipment using the contactor. Failure to comply may result in equipment damage.
-12-
Safety Instructions
Maintenance
DANGER
professionals.
◆◆ Do not maintain the equipment at power-on. Failure to comply will result in an electric shock.
◆◆ Before maintenance, cut off all equipment power supplies and wait at least 15 minutes.
WARNING
◆◆ Perform daily and periodic inspection and maintenance for the equipment according to maintenance
requirements and keep a maintenance record.
Repair
DANGER
professionals.
◆◆ Do not repair the equipment at power-on. Failure to comply will result in an electric shock.
◆◆ Before inspection and repair, cut off all equipment power supplies and wait at least 15 minutes.
WARNING
◆◆ Require for repair services according to the product warranty agreement.

◆◆ When the equipment is faulty or damaged, require professionals to perform troubleshooting and repair by
following repair instructions and keep a repair record.
◆◆ Replace quick-wear parts of the equipment according to the replacement guide.
◆◆ Do not operate damaged equipment. Failure to comply may result in worse damage.
◆◆ After the equipment is replaced, perform wiring inspection and parameter settings again.
Disposal
WARNING
◆◆ Dispose of retired equipment by following local regulations or standards. Failure to comply may result in
property damage, personal injuries, or even death.
◆◆ Recycle retired equipment by following industry waste disposal standards to avoid environmental pollution.
-13-
Safety Instructions
Safety Signs
■■ Description of safety signs in the user guide
i Read the user guide before installation and operation.
Reliably ground the system and equipment.
Danger!
High temperature!
Prevent personal injuries caused by machines.
High voltage!
Wait xx minutes before further operations.
15min
■■ Description of safety signs on the equipment
For safe equipment operation and maintenance, comply with safety signs on the equipment, and do not
damage or remove the safety labels. The following table describes the safety signs.
Safety Sign Description
危险 Never fail to connect the Protective Earth(PE) terminal.

Read the user guide and follow the safety instructions before use.
DANGER
To prevent the risk of electric shock, do not touch terminals within 15

高压注意
Hazardous minutes after cutting off the power supply.
Voltage
高温注意
To prevent the risk of burning, do not touch the heatsink when the power
supply is ON.
High
Temperature
-14-
1 Product Information
1.1 Introduction to the Servo Drive
1.1.1 Nameplate and Model Number
SV 660 N S 2R8 I - FH
Code Product Family Code Customized Function
SV Servo None Standard
FH High protection
Code Product Series
FS STO function
660 660 series
Code Product Type
N Network type Code Installation Mode
Baseplate installation
I
Code Voltage Class (standard)
S 220 V
T 380 V
Symbol 1R6 2R8 3R5 5R4 5R5 6R6
Rated output current 1.6 A 2.8 A 3.5 A 5.4 A 5.5 A 6.6 A
Symbol 7R6 8R4 012 017 021 026
Rated output current 7.6 A 8.4 A 12 A 17 A 21 A 26 A
Nameplate
Product Certifications
model
MODEL： SV660NS2R8I
Rated input INPUT： 1PH AC 200-240V 4.6A 50/60Hz
Rated
output OUTPUT： 3PH AC 0-240V 2.8A 0-400Hz 400W CN1
Serial No. S/N： 01050843xxxxxxxx
CN2
CHARGE
Figure 1-1 Nameplate and model number
-15-
1.1.2 Components
1
CN6
CN5
10
11
12
11
Figure 1-2 Layout of servo drives in size A
No. Name Description
CN6: Functional safety terminal mainly used for functional safety purpose and
Terminals
1 connected to the external functional safety signal
CN6 and CN5
CN5: Software tool communication port
A five-digit LED display used to show the servo drive running status and
2 LED display
parameter settings
MODE: Used to switch parameters in sequence.

△ : Used to increase the value of the blinking digit.
▽ : Used to decrease the value of the blinking digit.
3 Operation buttons
◁ ◁ : Used to shift the blinking digit leftwards.
(Hold down: Turning the page when the displayed number exceeds five digits)
SET: Used to save modifications and enter the next menu.
CN3, CN4
(EtherCAT CN3 (IN): Connected to the master or the last slave device.
4
communication CN4 (OUT): Connected to the next slave device.
terminals)
CN1
5 Used by reference input signal and other I/O signals.
(Control terminal)
CN2
6 (Encoder connecting Connected to motor encoder terminals.
terminal)
-16-
No. Name Description
Used to indicate that the bus capacitor carries electric charge.

When this indicator lights up, it indicates the electric charge may be still present
CHARGE in the internal capacitor of the servo unit even if the main circuit power supply
7
(Bus voltage indicator) is cut off.
To prevent electrical shock, do not touch the power terminals when this
indicator lights up.
L1, L2
See the nameplate for the power input of rated voltage class.
(Power input terminals)
8
P, N
Used as the common DC bus for multiple servo drives.
(DC bus terminals)
P, C
(Terminals for connecting
9 Connected between P and C when an external regenerative resistor is needed.
external regenerative
resistor)
U, V, W
10 (Servo motor connecting Connected to U, V, and W phases of the servo motor.
terminals)
PE
11 Connected to the grounding terminal of the power supply and the motor.
(Grounding terminal)
12 Battery location Used to hold the battery box of an absolute encoder.
1 CN6
CN5
7
8
10
11
12
Figure 1-3 Layout of servo drives in size B
SN Name Description
CN6: Functional safety terminal mainly used for functional safety purpose and
CN6, CN5
1 connected to external functional safety signal
terminals
CN5: Software tool communication port
A five-digit LED display used to show the servo drive running status and parameter
2 LED display
settings
-17-
SN Name Description
MODE: Used to switch parameters in sequence.

△ : Used to increase the value of the blinking digit.
Operation ▽ : Used to decrease the value of the blinking digit.

3
buttons ◁ ◁ : Used to shift the blinking digit leftwards.
(Hold down: Turning the page when the displayed number exceeds five digits)
SET: Used to save modifications and enter the next menu.
CN3, CN4
(EtherCAT CN3 (IN): Connected to the master or the last slave device.
4
communication CN4 (OUT): Connected to the next slave device.
terminals)
CN1
5 Used for reference input signal and other I/O signals.
(Control terminal)
CN2
(Encoder
6 Connected to motor encoder terminals.
connecting
terminal)
Used to indicate that the bus capacitor carries electric charge.

CHARGE When this indicator lights up, it indicates the electric charge may be still present in the
7 (Bus voltage internal capacitor of the servo unit even if the main circuit power supply is cut off.
indicator) To prevent electrical shock, do not touch the power terminals when this indicator lights
up.
See the nameplate for the power input of the rated voltage class.
Note:
L1, L2, L3 750 W servo drives: Single-phase 220 V input, with 220 V power supply connected to L1
(Power input and L2
terminals)
850 W servo drives: Single-phase/Three-phase 220 V input, with 220 V power supply
8
connected to L1, L2, and L3 during three-phase input or connected to any two phases
among L1, L2, and L3 during single-phase input (derate 80%)
P, N
(DC bus Used as the common DC bus for multiple servo drives.
terminals)
P, D, C
(Terminals for
connecting Connected between P and C when an external regenerative resistor is needed (Remove
9
external the jumper bar between P and D first).
regenerative
resistor)
U, V, W
(Servo motor
10 Connected to U, V, and W phases of the servo motor.
connecting
terminals)
PE
11 (Grounding Connected to the grounding terminals of the power supply and the motor.
terminal)
12 Battery location Used to hold the battery box of an absolute encoder.
◆◆ Built-in regenerative resistors or jumper bars are not included in S1R6 and S2R8 models. If an
external regenerative resistor is needed, connect it between terminals P and C.
◆◆ To connect an external regenerative resistor to S5R5 models, remove the jumper bar between
NOTE terminals P and D first and connect the resistor between terminals P and C.
-18-
1.1.3 Technical Specifications
1 Electrical specifications
■■ Single-phase 220 V servo drives
Item Size A Size B
Servo drive model: SV660N S1R6 S2R8 S5R5
Continuous output current (Arms) 1.6 2.8 4.8
Maximum output current (Arms) 5.8 10.1 16.9
Main circuit power supply Single-phase 200–240 VAC, -10% to +10%, 50/60 Hz
Control circuit power supply Single-phase 200–240 VAC, -10% to +10%, 50/60 Hz
External regenerative resistor available in size A

Braking function
Built-in regenerative resistor available in size B
■■ Three-phase 220 V servo drives
Item Size B Size C Size D
Servo drive model: SV660N S6R6 S7R6 S012
Continuous output current (Arms) 6.6 7.6 11.6
Maximum output current (Arms) 16.5 23 32
Main circuit power supply Three-phase 200–240 VAC, -10% to +10%, 50/60 Hz
Control circuit power supply Single-phase 200 VAC–240 VAC, +10 to –10%, 50/60 Hz
Braking function Built-in regenerative resistor
■■ Three-phase 380 V servo drives
Item Size C Size D Size E
Servo drive model: SV660N T3R5 T5R4 T8R4 T012 T017 T021 T026
Continuous output current (Arms) 3.5 5.4 8.4 11.9 16.5 20.8 25.7
Maximum output current (Arms) 11 14 20 29.75 41.25 52.12 64.25
Main circuit power supply Three-phase 380–440 VAC, -10% to +10%, 50/60 Hz
Control circuit power supply Single-phase 380–440 VAC, -10% to +10%, 50/60 Hz
Braking function Built-in regenerative resistor
-19-
2 General specifications
Item Description
IGBT PWM control, sine wave current drive mode
Control mode
220 V, 380 V: Single-phase/Three-phase full bridge rectification
Serial incremental type: 23-bit or 20-bit
Encoder feedback
23-bit absolute encoder
Operating/Storage 0℃ to 55℃ (If the ambient temperature exceeds 45℃ , derate
Basic temperature [1] 10% for every additional 5℃ .)/-20℃ to +70℃
specification Operating/Storage
Below 90% RH (without condensation)
humidity
Conditions for
Vibration/Impact
use 4.9 m/s2, 19.6 m/s2
resistance level
IP rating IP20 (Terminals (IP00) excluded)
Pollution degree PD2
Altitude Below 1000 m
1:6000 (The lower limit of the speed control range acts as the
Speed control range
condition for non-stop at rated torque load.)
Speed loop
2.5 kHz
bandwidth
Performance Torque control
Speed/ accuracy ±2%
Torque (Repetitiveness)
0s to 65s (The acceleration and deceleration can be set
control mode Soft startup time
separately.)
Speed reference
Source of network-type references: EtherCAT communication
Input signal
Local mode and local multi-speed supported
Torque reference
Performance Positioning time 1 ms to 10 ms
Source of network-type references: EtherCAT communication

Input signal Position reference
Local mode supported
5 DIs
P-OT (Positive limit switch)
Digital input (DI) Signal allocation N-OT (Negative limit switch)

Position
signal change available HomeSwitch (Home switch)
control mode
TouchProbe1 (Touch probe 1)
TouchProbe2 (Touch probe 2)
3 DOs
With-load capacity: 50 mA
Voltage range: 5 V to 30 V
Digital output Signal allocation S-RDY: Servo ready
(DO) signal change available TGON: Motor rotation output
Comparison output, brake output, DB output (above 3 kW),
EDM output
-20-
Item Description
Overtravel (OT) prevention Stop immediately when P-OT and N-OT activated
Protections against overcurrent, overvoltage, undervoltage,
Protective functions overload, main circuit detection error, heatsink overheat,
overspeed, encoder error, CPU error, and parameter error
LED display Main power CHARGE indicator, 5-digit LED display
Five notches (including two adaptive notches), 50 Hz to 5000
Vibration suppression
Hz
Connection protocol RS232
Built-in
Communication
functions EtherCAT
protocol
Multi-station
Communication Maximum number of slaves: 255
communication
function
Axis address setting No physical knob, set to 0 to 255 by software
Including status display, user parameter setting, monitoring
Functions information display, fault tracking display, jog and auto-tuning,
and speed/torque reference signal observation
Others Gain auto-tuning, fault log, jog
3 Technical specifications of EtherCAT communication
Item Specifications
Communication protocol EtherCAT protocol
Available services CoE (PDO, SDO)
Synchronization mode DC - Distributed clock
Physical layer 100BASE-TX
Baud rate 100 Mbit/s (100Base-TX)

Basic performance of EtherCAT slave station
Duplex mode Full duplex
Topological structure Ring and linear
Transmission medium Shielded Cat 5e network cable or better
Less than 100 m between two nodes (with proper environment and proper
Transmission distance
cables)
Number of slaves 65535 by protocol, equal to or less than 100 in actual use
EtherCAT frame length 44 bytes to 1498 bytes
Process data A maximum of 1486 bytes per Ethernet frame
Synchronous jitter of two

< 1 μs
slaves
About 30 μs for 1000 DI/DOs

Refresh time About 100 μs for 100 servo axes
Different refresh time for different interfaces
Communication code error

10-10 Ethernet standard
rate
Number of FMMU units 8

EtherCAT configuration unit
Number of storage
synchronization 8
management units
Process data RAM 8 KB
Distributed clock 64-bit
32 Kbit
EEPROM capacity
Initialization data written through EtherCAT master
[1] Install the servo drive in environments that meet the allowable ambient temperature range. When it is installed
inside an electric cabinet, the temperature inside the cabinet must also be within this range.
-21-
4 Basic functions
The servo drive functions are listed as follows. See details in corresponding chapters.
Function Description
Cyclic synchronous The host controller generates position references and sends the references cyclically
position mode through the bus. The servo drive performs positioning process.
Cyclic synchronous The host controller generates speed references and sends the references cyclically
velocity mode through the bus. The servo drive performs speed tracing.
Cyclic synchronous torque The host controller generates torque references and sends the references cyclically
mode through the bus. The servo drive performs torque output.
The host controller sets parameters through the bus, and the servo drive generates
Profile position mode
position references and performs positioning process.
Profile velocity mode
speed references and performs speed tracing.
Profile torque mode
torque references and performs torque output.
The host controller selects the homing mode through parameters, and the servo drive
Homing mode
performs homing automatically with the position feedback set to the preset value.
Latches the position information when an external DI signal or the motor phase-Z signal
Touch probe function
changes.
High-resolution encoder The encoder is of high performance with resolution up to 8388608 PPR.
Mechanical characteristics Analyzes the resonance frequency and mechanical system characteristics through a PC
analysis installed with Inovance software tool.
Generates gain parameters automatically to match present working condition through

Gain auto-tuning
just one parameter.
Different gains can be applied, stopped or switched through external terminals during
Gain switchover
running.
Torque disturbance Automatically estimates the disturbance torque suffered by the system to perform
observation compensation and reduce vibration.
Sets filter characteristics automatically to suppress mechanical system vibration after

Resonance suppression
detecting the resonance point.
Suppresses the mechanical resonance generated during high-speed response of the

Torque reference filter
servo drive.
Position first-order
Enables smooth acceleration and deceleration.
low-pass function
Torque limit Limits the output torque of the servo motor.
Speed limit Limits the servo motor speed.
External regenerative Intends to be used in cases where the braking capacity of the built-in regenerative
resistor resistor is insufficient.
Input signal selection Defines input functions such as emergency stop to corresponding pins.
Fault log Contains the latest ten faults or used to clear the previous faults.
Status display Displays the servo drive status through five LEDs.
External I/O display Displays ON/OFF status of external I/O signals.
-22-
Function Description
Forced output of output Implements forced signal output unrelated to the servo drive status and detects the
signals wiring of output signals.
Trial run mode Runs the servo motor directly through the keypad, removing the need for a start signal.
Inovance software tool Used to execute parameter settings, trial run and status display through a PC.
Warning code output Outputs a four-bit warning code when a warning occurs.
High-speed position Outputs a DO signal with designated width after the servo drive reaches the preset
comparison output target position.
Captures the data before and after the designated condition, and cooperates with the
Black box function
software tool to read the data for further analysis.
1.1.4 Specifications of the Regenerative Resistor
Built-in Regenerative Resistor Max. Braking

Minimum Allowable
Servo Drive Model Resistance Power Energy Absorbed by
Resistance (Ω)
(Ω) (W) Capacitor
SV660NS1R6I - - 50 9
Single-phase 220 V SV660NS2R8I - - 45 18
SV660NS5R5I 50 50 40 26
Three-phase 220 V SV660NS6R6I 50 50 40 26
Select the external regenerative resistor according to actual operating conditions.
NOTE
-23-
1.2 Introduction to the Servo Motor
1.2.1 Motor Nameplate and Model Number
MS1 H1 - 20B 30C B - A3 3 1 Z - S

Code Product Family Code Subseries No.
M Motor None Terminal type, natural

ventilation
Lead wire type, natural
Code Product Type S ventilation
S Servo：Servo motor
Code Product Generation Code Subseries No.
1 1st generation Z Z series
Code Type
Motor with max. speed larger
H than rated speed
Motor with max. speed Code Brake, Reducer, Oil Sealing
V equal to rated speed
0 None
Code Type
1 Oil sealing
1 Low inertia, small capacity
2 Brake
2 Low inertia, medium capacity
4 Oil sealing + Brake
Medium inertia, medium
3 capacity
Medium inertia, small
4 capacity
Code Rated Power (W)

Code Shaft Connection Mode
Comprised of a number and a letter
1 Plain shaft
B x10
Solid, with key and
3 threaded hole
C x100
Example: 40B: 400 W
Code Rated Speed (RPM) Code Encoder Type
Comprised of a number and a letter Comprised of a number and a letter
B x10 A3 23-bit multi-turn absolute

encoder
C x100
U3 23-bit single-turn encoder
Example: 30C: 3000 RPM
Code Voltage Class
B 220 V
D 380 V
Nameplate
AC Servo Motor
Product IEC60034
model Model:MS1H1-75B30CB-A331Z
Motor
parameters
0.75 kW 220 V 3000 r/min
2.39 N·m 250 Hz 4.8 A
Duty S1 Ins. F 3PHAC IP67
Motor
code
Motor Code: 14101 Weight:2.18 kg
Serial No. Made in China SN:0111************
Figure 1-4 Motor model and nameplate
◆◆ The preceding information only applies to motors in 40\60\80 frame sizes.

◆◆ The SV660N series servo drive can work with a motor installed with a 23-bit singl-turn absolute
NOTE encoder or a 23-bit multi-turn absolute encoder.
-24-
1.2.2 Components
■■ Terminal-type motor components
Encoder socket Encoder socket
Power socket Power socket
Flange mounting Flange mounting

surface surface
Screw mounting Screw mounting
hole hole
Shaft extension Shaft extension
(with key ) (with key )
Cable outlet direction : Front outlet Cable outlet direction : Rear outlet
Figure 1-5 MS1 series terminal-type motor components
■■ Lead wire-type motor components
Encoder socket
Power socket
Figure 1-6 MS1 series lead wire-type motor components
-25-
1.2.3 Technical Specifications
1 Specifications of mechanical characteristic parameters of the motor
Item Description
Duty type Continuous
Vibration level V15
Insulation resistance 500 VDC, above 10 MΩ
Ambient operating temperature 0° C to 40° C
Excitation mode Permanent magnetic
Installation mode Flange
Heat resistance level Level F
1500 VAC, 1 min (200 V)

Insulation voltage
1800 VAC, 1 min (400 V)
H1: IP67 (except the through shaft part and connectors)

IP rating of the enclosure
H4: IP67 (except the through shaft part and connectors)
Ambient operating humidity 20% to 80% (without condensation)
Rotating counterclockwise (CCW) when viewed from the load side at the
Rotating direction
forward run command
2 Motor ratings
Rated Output Rated Torque Max. Torque Rated Current Max. Current
Model
(kW)[1]] (N·m) (N·m) (Arms) (Arms)
MS1H1-10B30CB 0.1 0.32 1.12 1.3 4.7
MS1H1-20B30CB 0.2 0.64 2.24 1.5 5.8
MS1H1-40B30CB 0.4 1.27 4.46 2.8 10.1
MS1H4-40B30CB 0.4 1.27 4.46 2.8 10.1
MS1H1-75B30CB 0.75 2.39 8.36 4.8 16.9
MS1H4-75B30CB 0.75 2.39 8.36 4.8 16.9
MS1H3-85B15CB 0.85 5.39 13.5 6.60 16.5
Rated Speed Max. Speed Torque Coefficient Rotor Inertia Voltage

Model
(RPM) (RPM) (N·m/Arms) (10-4kg.m2) (V)
MS1H1-10B30CB 0.26 0.041 (0.043)[2]
MS1H1-20B30CB 0.46 0.207 (0.220)[2]
MS1H1-40B30CB 0.53 0.376 (0.390)[2]

3000 6000
MS1H4-40B30CB 0.53 0.657 (0.667)[2] 220 V
MS1H1-75B30CB 0.58 1.38 (1.43) [2]
MS1H4-75B30CB 0.58 2 (2.012)[2]
MS1H3-85B15CB 1500 3000 0.91 13.3 (14)[2]
[1] The motor with oil sealing must be derated 10% during use.
[2] Parameters inside the brackets "()" are for motors with brake.
◆◆ The items and torque-speed characteristic values in the preceding table are obtained in cases
where the motor is working with Inovance servo drive and the armature coil temperature is 20° C.
◆◆ The characteristic parameter values in the preceding table are obtained in cases where the motor is
installed with the following heatsink:
NOTE
MS1H1/MS1H4: 250 mm x 250 mm x 6 mm (aluminum)
-26-
3 Motor overload characteristics
Load Ratio (%) Running Time (s)

120 230
130 80
140 40
150 30
160 20
170 17
180 15
190 12
200 10
210 8.5
220 7
230 6
240 5.5
250 5
300 3
Running time (s)

1000
100
10
1
Load ratio (%)
100 150 200 250 300
Figure 1-7 Motor overload curve
The maximum torque of H1 and H4 models are three times the rated torque.
NOTE
-27-
4 Allowable radial and axial loads of the motor
Axial load A direction
Axial load B direction

3BEJBMMPBE1EJSFDUJPO
Figure 1-8 Radial and axial loads
Motor Model Allowable Radial Load (N) Allowable Axial Load (N)
MS1H1-10B30CB 78 54
MS1H1-20B30CB 245 74
MS1H1-40B30CB 245 74
MS1H4-40B30CB 245 74
MS1H1-75B30CB 392 147
MS1H4-75B30CB 392 147
MS1H3-85B15CB 686 196
5 Electrical specifications for the motor with brake
Holding Torque Supply Voltage (VDC) Backlash

Motor Model Release Time (ms) Close Time (ms)
(N·m) (±10%) (° )
MS1H1-05B/10B 0.32 24 ≤ 20 ≤ 35 < 1.7
MS1H1-20B/40B 1.5 24 ≤ 20 ≤ 50 < 1.5
MS1H4-40B 1.5 24 ≤ 20 ≤ 50 < 1.5
MS1H*-75B 2.5 24 ≤ 20 ≤ 60 < 1.7
MS1H3-85B 12 24 60 120 ≤ 0.5
◆◆ The brake cannot share the same power supply with other electrical devices. This is to prevent
malfunction of the brake due to voltage or current drop caused by other working devices.
NOTE ◆◆ It is recommended to use cables of 0.5 mm2 and above.
-28-
6 Motor torque-speed characteristics
■■ MS1H1 (low inertia, small capacity)
Continuous
A working area
Short-term
B working area
Speed MS1H1-10B30CB Speed MS1H1-20B30CB

(RPM) (RPM)
6000 6000
5000 5000
4000 4000
3000 A B
3000 A B
2000 2000
1000 1000
0 0
0 0.3 0.6 0.9 1.2 0 0.6 1.2 1.8 2.4
Torque (N·m) Torque (N·m)
MS1H1-40B30CB Speed MS1H1-75B30CB
Speed
(RPM) (RPM)
6000 6000
5000 5000
4000 4000
3000 A B
3000 A B
2000 2000
1000 1000
0 0
0 1.2 2.4 3.6 4.8 0 2.5 5 7.5 10
■■ MS1H3 (medium inertia, medium capacity)
Continuous
A working area
Short-term
B working area
-29-
MS1H3-85B15C*
3500
2800
Speed (RPM)
2100
1400
700
0
0 3 6 9 12 15
Torque (N·m)
■■ MS1H4 (medium inertia, small capacity)
Continuous
A working area
Short-term
B working area
Speed MS1H4-40B30CB MS1H4-75B30CB

Speed
(RPM) (RPM)
6000 6000
5000 5000
4000 4000
3000 A B
3000 A B
2000 2000
1000 1000
0 0
0 1.2 2.4 3.6 4.8 0 2.5 5 7.5 10
7 Derating characteristics
■■ Derating curve for altitude
120
100
Reduction rate
of ratings (%)
80
60
40
20
0
0 500 1000 1500 2000 2500
Altitude (m)
-30-
■■ Derating curve for high temperature
120
100
Reduction rate
of ratings (%)
80
60
40
20
0
0 10 20 30 40 50 60 70
Ambient temperature (°C)
1.3 Servo System Configurations

■■ 220 V:
Servo Drive Model

SV660N****I Size
Servo
Rated Maximum Motor of the
Capacity Servo Motor Model Drive SN
Speed Speed Frame Single- Three- Servo
(H01-02)
Phase Phase Drive
220 VAC 220 VAC
50 W 05B30CB 40 S1R6 A 00002
200 W 20B30CB 60 S1R6 A 00002
400 W MS1H1 40B30CB 60 S2R8 A 00003

(Low inertia, small
6000 RPM 550 W capacity) 55B30CB 80 S5R5 B 00005
3000 RPM
750 W 75B30CB 80 S5R5 B 00005
1000 W 10C30CB 80 S7R6 C 00006
1000 W MS1H2 10C30CB 100 S7R6 C 00006

(Low inertia,
5000 RPM 1500 W medium capacity) 15C30CB 100 S012 D 00007
S6R6 B 60005
850 W MS1H3 85B15CB 130
1500 RPM 3000 RPM (Medium inertia, S7R6 C 00006
medium capacity)
1300 W 13C15CB 130 S012 D 00007
400 W MS1H4 40B30CB 60 S2R8 A 00003

3000 RPM 6000 RPM (Medium inertia,
750 W small capacity) 75B30CB 80 S5R5 A 00005
◆◆ S6R6 models support single-phase 220 V power supply. Derate to 70% upon single-phase input.
◆◆ S7R6 and S012 models support single-phase 220 V power supply. Derating is not required upon
NOTE single-phase input.
-31-
■■ 380 V:
Servo Drive
Model Size
Servo Drive
Rated Maxiumum Motor SV660N****I of the
Capacity Servo Motor Model SN
Speed Speed Frame Servo
Three-phase (H01-02)
Drive
380 VAC
6000 RPM 1000 W 10C30CD 100 T5R4 C 10002
1500 W 15C30CD 100 T5R4 C 10002
2000 W 20C30CD 100 T8R4 D 10003

MS1H2
3000 RPM 2500 W (Low inertia, 25C30CD 100 T8R4 D 10003
5000 RPM medium capacity)
3000 W 30C30CD 130 T012 D 10004
4000 W 40C30CD 130 T017 E 10005
5000 W 50C30CD 130 T017 E 10005
850 W 85B15CD 130 T3R5 C 10001
1300 W 13C15CD 130 T5R4 C 10002
1800 W 18C15CD 130 T8R4 C 10003

MS1H3
1500 RPM 3000 RPM 2900 W (medium inertia, 29C15CD 180 T012 D 10004
medium capacity)
4400 W 44C15CD 180 T017 E 10005
5500 W 55C15CD 180 T021 E 10006
7500 W 75C15CD 180 T026 E 10007
1.4 Cable Models
Table 1-1 Cables for MS1 terminal-type (Z) motors with front cable outlet
Cable Length (m)

Cable Type
3.0 5.0 10.0
Power cable (without brake) S6-L-M107-3.0 S6-L-M107-5.0 S6-L-M107-10.0
Power cable (with brake) S6-L-B107-3.0 S6-L-B107-5.0 S6-L-B107-10.0
Absolute encoder cables S6-L-P124-3.0 S6-L-P124-5.0 S6-L-P124-10.0
Incremental encoder cables S6-L-P114-3.0 S6-L-P114-5.0 S6-L-P114-10.0
Table 1-2 Cables for MS1 terminal-type (Z) motors with rear cable outlet
Cable Length (m)

Cable Type
3.0 5.0 10.0
Incremental encoder cables S6-L-P115-3.0 S6-L-P115-5.0 S6-L-P115-10.0
-32-
Table 1-3 Flexible cables for MS1 terminal-type (Z) motors with front cable outlet
Cable Length (m)

Cable Type
3.0 5.0 10.0
Power cable (without brake) S6-L-M107-3.0-T S6-L-M107-5.0-T S6-L-M107-10.0-T
Power cable (with brake) S6-L-B107-3.0-T S6-L-B107-5.0-T S6-L-B107-10.0-T
Absolute encoder cables S6-L-P124-3.0-T S6-L-P124-5.0-T S6-L-P124-10.0-T
Incremental encoder cables S6-L-P114-3.0-T S6-L-P114-5.0-T S6-L-P114-10.0-T
Table 1-4 Flexible cables for MS1 terminal-type motors with rear cable outlet
Cable Length (m)

Cable Type
3.0 5.0 10.0
Incremental encoder cables S6-L-P115-3.0-T S6-L-P115-5.0-T S6-L-P115-10.0-T
Table 1-5 Cables for MS1 lead wire-type (S) motors with front cable outlet
Cable Length (m)

Cable Type
3.0 5.0 10.0
Incremental encoder cable S6-L-P110-3.0 S6-L-P110-5.0 S6-L-P110-10.0
Table 1-6 Flexible cables for MS1 lead wire-type (S) motors with front cable outlets
Cable Length (m)

Cable Type
3.0 5.0 10.0
Incremental encoder cable S6-L-P110-3.0-T S6-L-P110-5.0-T S6-L-P110-10.0-T
Table 1-7 Cables for MS1H3 motors
Cable Length (m)

Cable Type
3.0 5.0 10.0
Incremental encoder cable S6-L-P111-3.0 S6-L-P111-5.0 S6-L-P111-10.0
-33-
1.5 Communication Cable Options
Model Description
S6-L-T00-3.0 Cable for communication between the servo drive and PC
S6-L-T04-0.3 Cable for parallel communication of multiple servo drives
S6-L-T03-0.0 Cable for communication between the servo drive and the host controller
1.6 Connector Kit
Connector Kit Outline Drawing
S6-C6
(DB15C plug)
S6-C26
Insulated Crimping
6-pin male 9-pin connector Pin base terminal terminal
SUNCHU
SC-06
S6-C29
JST
2 1
Crimping Aviation
6-pin male Base
terminal plug
S6-C36
-34-
1.7 Servo System Wiring Diagram
CN5: Serial communication terminal, used

CN3 CN4
to connect the software tool Servo drive to PC communication cable
9 1
TD+ TD+
CN6: Functional safety terminal, connected to TD- TD-

external functional safety signal
RUN BF
ERR CANRUN
0 1 2 3 4 5 6 7
0 1 2 3 4 5 6 7
I
II RD + RD +
SF CANERR 0 1 2 3 4 5 6 7
40 39
- -
Servo drive to PLC communication cable
C N1 R S 485
RUN / STOP
RD - RD -
MFK
CN 3 Ethe r NE T CN 4 E ther CAT
CN5
Multi-drive communication - -
cable 16 8
C N2 C A N
2 1
CN3 Servo drive to PLC communication cable
Power supply
Single-phase 220 VAC CN4
Circuit breaker
Used to protect power cables
by cutting off the circuit upon CN1
Servo drive EtherCAT communication cable
overcurrent.
Noise filter
Used to prevent external
noise.
15 5
+24V 10 DO3+
Electromagnetic Servo drive I/O cable DI1

CN1 (Prepared by users)
contactor COM- DO3-
Used to switch on/off the DI2
power supply of the servo
drive. COM+ DO2+
Install a surge protection CN2 DI3
device during use.
- DO2-
CHARGE DI4
Servo motor encoder cable DI5 DO1+
Regenerative resistor D01-

Connected between P-C 11 1
6
terminals when the bus
capacitor is insufficient.
24 VDC
Brake power supply (24 VDC)
Used when the servo motor is
configured with brake. System
grounding
See the magnified
Electromagnetic contactor view at the
Brake control signal, used to turn Battery box
bottom left.
on/off the brake power supply.
Install a surge protection device
during use. Encoder signal terminal CN2
It is recommended to use an Main circuit cables of the servo motor
electromagnetic contactor
controlled by the DO terminals of PE: Motor grounding terminal
the servo drive.
1 +5V
2 GND
3 Reserved
4 Reserved
5 PS+
6 PS-
Enclosure PE
System
grounding
The servo drive is directly connected to an industrial power supply, with no isolation such as a
transformer. To prevent cross electric shock, install a fuse or a circuit breaker on the input power supply.
The servo drive is not configured with the built-in protective grounding circuit. For the sake of safety,
install a residual current device (RCD) to provide protections against overload and short circuit or install
a specialized RCD to match the protective grounding.
Do not run or stop the motor by using the electromagnetic contactor. As a high-inductance device, the
motor may generate high voltage instantaneously, which may damage the contactor.
-35-
Pay attention to the power capacity when connecting an external control power supply or a 24 VDC
power supply, especially when the power supply is used to power up multiple servo drives or brakes.
Insufficient power supply will lead to insufficient supply current, resulting in failure of the servo drive or
the brake. The brake must be powered by a 24 VDC power supply, and the brake power must match the
motor model and meet the brake power requirements.
-36-
2 Installation
2 Installation
8"3/*/(
Read through the safety instructions in "Safety Instructions" . Failure to comply may result in
i serious consequences.
$"65*0/
◆◆ Abide by the installation direction described in this chapter. Failure to comply may result in
device faults or damages.
◆◆ Do not run a damaged or defective device. Failure to comply will result in physical injuries.
◆◆ Do not install the device in an environment exposed to water or corrosive matters. Failure to
comply will result in device faults.
◆◆ Do not install the device near combustible gases or combustible materials. Failure to comply
will result in a fire or electric shock.
◆◆ Install the device inside a fire-proof cabinet with electrical protections. Failure to comply may
result in a fire.
◆◆ Ensure the specified spacing is reserved between the servo drive and the interior surface of the
electric cabinet and other machines. Failure to comply will result in a fire or device faults.
◆◆ Do not put heavy objects on the device. Failure to comply may result in physical injuries or
device damages.
◆◆ Do not exert large impact force on the device. Failure to comply may result in device damages.
◆◆ Do not block the air inlet/outlet port of the servo drive, or allow foreign matters to fall into the
device. Failure to comply may result in a fire or device faults.
2.1 Installation of the Servo Drive
2.1.1 Installation Location
■■ Install the servo drive into a cabinet free from sunlight and rain.
■■ Install the servo drive in a place that meets the following requirements:
a) Free from corrosive and inflammable gases and combustible materials, such as the hydrogen sulfide,
chlorine, anmonia, sulphur gas, chloridize gas, acid, soda and salt
b) Free from high temperature, humidity, dusts and metal powders
c) Free from vibration
d) Pollution degree: PD2
-37-
2 Installation
2.1.2 Environment Conditions
Table 2-1 Installation environment
Item Description
0℃ –55℃ (The average load ratio cannot exceed 80% when the ambient
Ambient operating temperature
temperature is within 45℃ to 55℃ .) (non-freezing)
Ambient operating humidity Below 90% RH (without condensation)
Storage temperature -20℃ to +70℃ (non-freezing)
Storage humidity Below 90% RH (without condensation)
Vibration Below 4.9 m/s2
Impact Below 19.6 m/s2
IP rating IP20
Altitude Below 1000 m
2.1.3 Dimension Drawings
■■ Size A: SV660NS1R6I, SV660NS2R8I
Front view Left view Rear view Top view

40 150 (75) 28
3.3 5
5
Ø 4.8
2- M4 screw
through hole
170 160 161
4.8
Retaining screw：2-M4；
Recommended tightneing torque：1.2 N·M
Figure 2-1 Outline dimensions of size A (unit: mm)
■■ Size B: SV660NS5R5I, SV660NS6R6I
50 173±1 (75) 37
48 5
5
Ø5
2-M4 screw
through hole
170 160 161
Ø5
Figure 2-2 Outline dimensions of size B (unit: mm)
-38-
2 Installation
■■ Size C：SV660NS7R6I, SV660NT3R5I, SV660NT5R4I

173±1 (75)
55±1
6 44
ø5
170
160
5
4
2-M4 screw through hole
Figure 2-3 Outline dimensions of size C (unit: mm)
■■ Size D：SV660NS012I, SV660NT8R4I, SV660NT012I

80±1 183 (75) 71
170 160
Ø5
4 3-M4 screw through hole
Figure 2-4 Outline dimensions of size D (unit: mm)
■■ Size E：SV660NT017I, SV660NT021I, SV660NT026I

90
230 (75)
78
4xø5.0
250 240.5
4.0
4 -M4 screw through hole
Figure 2-5 Outline dimensions of size E (unit: mm)
-39-
2 Installation
2.1.4 Installation
■■ Installation Method
Ensure the servo drive is installed vertically to the wall, with its front (actual mounting side) facing the
operator. Cool the servo drive down with natural convection or a cooling fan. Fix the servo drive securely
on the mounting surface through two to four mounting holes (number of mounting holes depends on
the capacity of the servo drive).
■■ Cooling
As shown in Figure 2-3, reserve sufficient space around the servo drive to ensure proper cooling by the
cooling fan or natural convection. Install the cooling fan on the upper part of the servo drive to avoid
excessive temperature rise in a certain region and maintain an even temperature inside the electric
cabinet.
■■ Installation
When installing multiple servo drives side by side, reserve a clearance of at least 10 mm between two
servo drives and at least 50 mm above and below each servo drive for heat dissipation purpose.
In compact installation, take the installation tolerance into account and reserve a clearance of at least
1 mm between every two servo drives. In this case, derate to below 75% of the actual load ratio during
use.
Air outlet Air outlet Air outlet Air outlet
≥ 60 mm
≥ 10 mm
≥ 20 mm
≥ 20 mm
≥ 50 mm
Vertically and
Air inlet Air inlet Air inlet Air inlet
upward
Regular installation
-40-
2 Installation
Air outlet Air outlet Air outlet Air outlet
≥ 60 mm
≥ 1 mm
≥ 20 mm ≥ 20 mm
≥ 50 mm
Vertically and
Air inlet Air inlet Air inlet Air inlet upward
Compact installation
Figure 2-6 Installation of the servo drive
■■ Grounding
The grounding terminal must be grounded properly. Failure to comply may cause electric shock or
malfunction due to interference.
■■ Cable Direction
As shown in the following figure, route the servo drive cables with outlet facing downwards to prevent
any liquid from flowing into the servo drive.
Route the cable Route the cable

downwards downwards
Figure 2-7 Cable layout of servo drives in size A and size B
■■ Dust-proof cover
Insert the dust-proof cover into the idle CN5 port. This is to prevent foreign objects (such as solids or
liquids) from falling into the servo drive and causing faults.
-41-
2 Installation
Each servo drive is equipped with two dust-proof covers in standard configuration. Such dust-proof
covers can be purchased separately as needed (model: NEX-02-N2B; manufacturer: PINGOOD).
Figure 2-8 Mounting of the dust-proof cover
◆◆ Dust-proof cover: Prevents foreign objects (such as solids or liquids) from falling into the product
and causing faults.
◆◆ The dust-proof cover is delivered along with the servo drive. Keep the dust-proof cover in a proper
NOTE
place.
2.2 Installation of the Servo Motor
2.2.1 Installation Location
■■ Install the servo motor in a place free from corrosive and inflammable gases and combustible
materials, such as the hydrogen sulfide, chlorine, anmonia, sulphur gas, chloridize gas, acid, soda
and salt.
■■ Use the servo motor with oil sealing when the motor is used in a place with grinding fluids, oil mists,
iron powders or cuttings.
■■ Install the servo motor away from heating sources such as a heating stove.
■■ Do not use the servo motor in an enclosed environment. Running in an enclosed environment may
cause motor overheat, shortening its service life.
2.2.2 Environment Conditions
Table 2-2 Installation environment
Item Description
Ambient temperature 0℃ to 40℃ (non-freezing)
Ambient humidity 20% to 80% RH (without condensation)
Storage temperature -20℃ to +60℃ (peak temperature: 80℃ for 72 hours)
Storage humidity 20% to 90% RH (without condensation)
Vibration Below 49 m/s2
Impact Below 490 m/s2
-42-
2 Installation
Item Description
H1: IP67 (shaft opening excluded, with power cables and encoder connectors
connected properly)
IP rating
H4: IP67 (shaft opening excluded, with power cables and encoder connectors
connected properly）
Altitude Below 1000 m (derating required for altitude above 1000 m)
2.2.3 Installation Precautions
Table 2-3 Installation instructions
Item Description
Rust-proof ◆◆ Wipe up the anti-rust agent applied at the motor shaft extension before installing the servo motor,
treatment and then take rust-proof treatment.
◆◆ Do not strike the shaft extension during installation. Failure to comply will damage the encoder.
◆◆ Use the screw hole at the shaft end when mounting a pulley to the servo motor shaft with a
keyway.
◆◆ To fit the pulley, insert a double-end screw into the screw hole of the shaft.
◆◆ Put a washer on the surface of the coupling end, and then use a nut to push the pulley in.
Encoder ◆◆ For the servo motor shaft with a keyway, use the screw hole at the shaft end.
◆◆ For the servo motor shaft without a keyway, use friction coupling or similar methods.
◆◆ When removing the pulley, use a pulley remover to protect the shaft from suffering severe impact
from the load.
◆◆ To ensure safety, install a protective cover or similar device on the rotary area such as the pulley
mounted on the shaft.
Screw
Washer
Flange coupling, pulley
-43-
2 Installation
Item Description
◆◆ When connecting the servo motor to a machine, use a coupling and keep the motor shaft center
and the machine shaft center in the same line.
◆◆ Make sure the servo motor fulfills the required alignment precision (as shown in the following
figure). Failure to comply will result in vibration or damage the bearing and the encoder.
Measure the distance at four different
positions on the circumference. The
difference between the maximum and the
minimum measured values must be less
than 0.03 mm.
Alignment
Installation
◆◆ The servo motor can be installed horizontally or vertically.
direction
◆◆ Do not submerge the motor/cable in water or oil.

◆◆ Check the IP rating of the servo motor when the application location is exposed to water drops
(except the shaft opening).
Flange surface
Shaft opening
Refers to the clearance of the shaft
extension
Shaft
Counter-
measures ◆◆ Mount the motor with cable connecting terminal facing downwards if the application location
against oil is exposed to liquid. This is to prevent the liquid from flowing into the motor along the cable (as
and liquid shown in the following figure).
◆◆ In environments where the shaft opening is exposed to oil drops, use a motor with oil sealing.
◆◆ Observe the following requirements when using a motor with oil sealing:
1) Make sure the oil level is lower than the oil sealing lip during use.
2) Avoid oil accumulation on the oil sealing lip when the motor is installed vertically upward.
Stress of ◆◆ Do not bend or apply tension to the cables, especially the signal cables whose core wire is only
cables 0.2 mm or 0.3 mm in thickness. Do not pull the cables too tight during wiring.
-44-
2 Installation
Item Description
◆◆ Observe the following requirements:

1) When connecting the connectors, make sure there is no waste or sheet metal inside the connector.
2) Connect the connector to the main circuit cable side of the servo motor first, and ensure the
grounding cable of the main circuit is connected properly. If the connector is connected to the
encoder cable side first, the encoder may become faulty due to the potential difference between
PE terminals.
Connectors
3) Ensure the pins are correctly arranged during wiring.
4) Do not strike the connector as they are made up of resins.
5) When moving a servo motor with cables connected, hold the servo motor by its main body instead
of by the cable. Failure to comply may damage the connector or cable.
6) If flexible cables are used, do not apply stress on the connector during wiring. Failure to comply
may damage the connector.
2.2.4 Dimension Drawings
1 Flange frame: 40
 
 
 
5


%JNFOTJPOTPG %JNFOTJPOTPG
UIFTIBGUFOE UIFTIBGUFOEXJUILFZ
Motor Model LL LC LR LA LZ LH LG LE LJ
MS1H1-10B30CB-**30Z 77.5 40 25±0.5 46 2-φ4.5 34 5 2.5±0.5 0.5±0.35
MS1H1-10B30CB-**32Z 109 40 25±0.5 46 2-φ4.5 34 5 2.5±0.5 0.5±0.35
Motor Model S LB TP LK KH KW W T Weight (kg)
MS1H1-10B30CB-**30Z 8 30 M3x6 15.5 6.2 3 3 3 0.45
MS1H1-10B30CB-**32Z 8 30 M3x6 15.5 6.2 3 3 3 0.64
◆◆ The unit for the dimensions in the preceding table is "mm".

◆◆ Angle R of the front end cover of Z (terminal-type) series motor in frame 40 is R1.
◆◆ The tightening torque for screws on the terminal is 0.19 N·m to 0.21 N·m, violation of which may
NOTE
damage the terminal.
-45-
2 Installation
2 Flange frame: 60
%JNFOTJPOTPG %JNFOTJPOTPG
UIFTIBGUFOE UIFTIBGUFOEXJUILFZ
MS1H1-20B30CB-**31Z 72.5 60 30±0.5 70 4-φ5.5 44 7.5 3±0.5 0.5±0.35
MS1H1-20B30CB-**34Z 100 60 30±0.5 70 4-φ5.5 44 7.5 3±0.5 0.5±0.35
MS1H1-40B30CB-**31Z 91 60 30±0.5 70 4-φ5.5 44 7.5 3±0.5 0.5±0.35
MS1H1-40B30CB-**34Z 119 60 30±0.5 70 4-φ5.5 44 7.5 3±0.5 0.5±0.35
MS1H4-40B30CB-**31Z 105 60 30±0.5 70 4-φ5.5 44 7.5 3±0.5 0.5±0.35
MS1H4-40B30CB-**34Z 128 60 30±0.5 70 4-φ5.5 44 7.5 3±0.5 0.5±0.35
MS1H1-20B30CB-**31Z 14 50 M5x8 16.5 11 5 5 5 0.78
MS1H1-20B30CB-**34Z 14 50 M5x8 16.5 11 5 5 5 1.16
MS1H1-40B30CB-**31Z 14 50 M5x8 16.5 11 5 5 5 1.11
MS1H1-40B30CB-**34Z 14 50 M5x8 16.5 11 5 5 5 1.48
MS1H4-40B30CB-**31Z 14 50 M5x8 16.5 11 5 5 5 1.27
MS1H4-40B30CB-**34Z 14 50 M5x8 16.5 11 5 5 5 1.62

NOTE damage the terminal.
-46-
2 Installation
3 Flange frame: 80
Aviation plug
Dimension of Dimension of
the shaft end the shaft end with key
MS1H1-75B30CB-**31Z 107 80 35±0.5 90 4-φ7 54 7.7 3±0.5 0.5±0.35
MS1H1-75B30CB-**34Z 140 80 35±0.5 90 4-φ7 54 7.7 3±0.5 0.5±0.35
MS1H4-75B30CB-**31Z 117.5 80 35±0.5 90 4-φ7 54 7.7 3±0.5 0.5±0.35
MS1H4-75B30CB-**34Z 147.5 80 35±0.5 90 4-φ7 54 7.7 3±0.5 0.5±0.35
MS1H1-75B30CB-**31Z 19 70 M6x20 25 15.5 6 6 6 2.18
MS1H1-75B30CB-**34Z 19 70 M6x20 25 15.5 6 6 6 2.82
MS1H4-75B30CB-**31Z 19 70 M6x20 25 15.5 6 6 6 2.40
MS1H4-75B30CB-**34Z 19 70 M6x20 25 15.5 6 6 6 3.04

NOTE damage the terminal.
-47-
2 Installation
4 Flange frame: 130
TP
Dimension of Dimension of the

the shaft end shaft end with key
Motor Model LC LL LR LA LZ LY KA1 KB1 KA2 KB2 LG
125
MS1H3- 85B15CB-****Z 130 146 (182) 55±1 145 4-Φ9 2-M5 103 72.5 74 14
(161)
Motor Model LE LJ LB S TP LK KH KW W T Weight (kg)
18-
MS1H3- 85B15CB-****Z 4 0.5±0.75 110 22 M6x20 36 8 8 7 7 (8)
0.2

◆◆ Values in the brackets "()" are for the motor with holding brake.
NOTE
-48-
3 Wiring
3 Wiring
8"3/*/(
◆◆ Read through the safety instructions in "Safety Instructions" . Failure to comply may result in
i serious consequences.
8"3/*/(
◆◆ Feed the servo drive with power from grounded (TN/TT) systems. Failure to comply may result in
electric shock.
◆◆ Connect an electromagnetic contactor between the input power supply and the main circuit power
supply of the servo drive (L1 and L2 for single-phase servo drives; L1, L2, and L3 for three-phase
servo drives) to form a structure that allows independent power cutoff on the servo drive power
side. This is to prevent fire accidents caused by continuous large current upon fault.
◆◆ Ensure the input power supply of the servo drive is within the specified voltage range. Otherwise,
the servo drive may become faulty.
◆◆ Do not connect output terminals U, V, and W of the servo drive to a three-phase power supply.
Failure to comply may cause physical injuries or fire accidents.
◆◆ Do not connect the motor connecting terminals U, V, and W to a mains frequency power supply.
Failure to comply may cause physical injuries or fire accidents.
◆◆ Use the ALM (fault signal) to cut off the main circuit power supply. When the braking transistor is
faulty, the regenerative resistor may be overheated, leading to a fire accident.
8"3/*/(
◆◆ Connect the PE terminal of the servo drive to the PE terminal of the control cabinet. Failure to
comply may cause electric shock.
◆◆ Ensure the entire system is grounded. Otherwise, malfunction may occur on the servo drive.
8"3/*/(
◆◆ After cutting off the power supply, wait for at least 15 minutes before further operations
because residual voltage is still present in the internal capacitor after power-off. Failure to
comply may result in electric shock.
15min
-49-
3 Wiring
$"65*0/
◆◆ The specifications and installation method of external cables must comply with applicable local
regulations.
◆◆ Abide by the following requirements when applying the servo drive on a vertical axis.
1) Set the safety device properly to prevent the workpiece from falling under such status as warning
and overtravel.
2) Ensure the polarity of the 24 V power supply is correct. Otherwise, the shaft may fall and cause
physical injuries or damage the servo drive.
◆◆ Abide by the following requirements when wiring the power supply and the main circuit:
1) When the main circuit terminal is a connector, remove the connector from the servo drive before
wiring.
2) Insert one cable to one terminal of the connector. Do not insert multiple cables to one cable terminal.
3) Insert the cable with enough care to prevent the conductor burrs from being short circuited to the
neighboring cable.
4) Insulate the connecting part of the power terminals to prevent electric shock.
5) Do not connect a 220 V servo drive to a 380 V power supply directly.
6) Install safety devices such as a circuit breaker to prevent fire accidents caused by short-circuit in
external circuits.
7) Cut off the main circuit power supply and switch from S-ON to S-OFF after a warning signal is
detected.
◆◆ Connect the servo drive to the motor directly. Do not use an electromagnetic contactor during wiring.
Failure to comply may cause faults.
◆◆ Do not put heavy objects onto the cables or pull the cable with large force. Otherwise electric shock
may occur due to cable damage.
◆◆ When connecting DO terminals to relays, ensure the polarity of the flywheel diode is connected
correctly. Otherwise, the servo drive will be damaged and the signal output may be abnormal.
◆◆ Reserve a clearance of at least 30 cm between main circuit cables and I/O signal/encoder cables.
Failure to comply may cause malfunction of the servo drive.
◆◆ Use twisted pair cables or multi-core shielded twisted cables as the I/O signal/encoder cables. Failure
to comply may cause malfunction of the servo drive.
◆◆ The maximum wiring length of the I/O signal cable and the encoder cable is 3 m and 20 m
respectively.
◆◆ Use a noise filter to reduce the electromagnetic interference on electronic devices surrounding the
servo drive.
◆◆ To prevent damage to the servo drive, take proper shielding measures when the servo drive is used
in the following application locations:
1) Locations suffering from interferences caused by static electricity
2) Locations suffering from strong electric field or strong magnetic field
3) Locations with radioactive rays
-50-
3 Wiring
3.1 Terminal Pin Layout
CN3 CN4
9 1
TD + TD +
TD - TD -
CN3 CN 4 RD + RD +
- -
RD - RD -
- -
16 8
CN1
Encoder signal
CN1
terminal CN2
15 5
+24V 10 DO3+
Main circuit input DI1
1 +5V
terminal CN8 COM- DO3-
DI2
2 GND
L1 COM+ DO2+
L2 3 Reserved
DI3
- DO2-
P 4 Reserved DI4
DI5 DO1+
C 5 PS+ D01-
11 1
N 6
6 PS-
U Enclo- PE
V sure
W
PE
Figure 3-1 Terminal pin layout of servo drives in size A
The preceding figure shows the pin layout of the servo drive terminals.
-51-
3 Wiring
CN3 CN4
9 1
TD + TD +
CN3/CN4 TD - TD -
RD + RD +
- -
RD - RD -
- -
16 8
CN1
Encoder signal terminal CN2
15 5
+24V 10 DO3+
Main circuit input 1 +5V DI1
terminal CN8 COM- DO3-

2 GND DI2
L1
3
COM+ DO2+
Reserved DI3
L2
4 Reserved - DO2-
L3 DI4
5 PS+ DI5 DO1+

p
D01-
D 6 PS- 11
6
1
Enclo-
C PE
sure
N
U
V
W
PE
Figure 3-2 Terminal pin layout of servo drives in size B
The preceding figure shows the pin layout of the servo drive terminals.
3.2 Wiring of the Main Circuit
3.2.1 Main Circuit Terminals
L1
L2
P
C
N
U
V
W
PE
Figure 3-3 Main circuit terminal pin layout of servo drives in size A
-52-
3 Wiring
Table 3-1 Names and functions of main circuit terminals of servo drives in size A
No. Component Name Description
L1, L2 See the nameplate for the control circuit power

1
(Power input terminals) input of the rated voltage class.
P, N Used as the common DC bus for multiple servo

(DC bus terminals) drives.
2
P, C Connected between P and C when an external
(Terminals for connecting external regenerative resistor) regenerative resistor is needed.
U, V, W Connected to U, V, and W phases of the servo

3
(Servo motor connecting terminals) motor.
PE Connected to the grounding terminals of the

4
(Grounding terminal) power supply and the motor.
L1
L2
L3
p
D
C
N
U
V
W
PE
Figure 3-4 Main circuit terminal pin layout of servo drives in size B
Table 3-2 Names and functions of main circuit terminals of servo drives in size B
No. Component Name Description
See the nameplate for the power input of the rated voltage
class.
Note:
L1, L2, L3 ◆◆ 750 W servo drives: Single-phase 220 V input, with 220 V
1 power supply connected to L1 and L2
(Power input terminals)
◆◆ 850 W servo drives: Single-phase/Three-phase 220 V input,
with 220 V power supply connected to L1, L2, and L3 during
three-phase input or connected to any two phases among
L1, L2, and L3 during single-phase input (derate 80%)
P, N Used as the common DC bus for multiple servo drives.

(DC bus terminals)
2 An external regenerative resistor is connected between P and C

P, D, C
as needed.
(Terminals for connecting external
The servo drive in size B is equipped with a built-in regenerative
regenerative resistor)
resistor and terminals P and D are shorted by default.
U, V, W
3 Connected to U, V, and W phases of the servo motor.
(Servo motor connecting terminals)
PE Connected to the grounding terminals of the power supply and

4
(Grounding terminal) the motor.
-53-
3 Wiring
3.2.2 Wiring Example of the Regenerative Resistor
L1
L2
PE
Figure 3-5 Connection of the external regenerative resistor
8"3/*/(
Abide by the following requirements when connecting the external regenerative resistor:
◆◆ Remove the jumper between P and D before using the external regenerative resistor. Failure to
comply will cause overcurrent and damage the braking transistor.
◆◆ Do not connect the external regenerative resistor to the positive/negative pole of the bus directly.
Failure to comply will damage the servo drive and cause a fire.
◆◆ Do not select any resistor with resistance lower than the minimum permissible value. Failure to
comply will result in E201 (Overcurrent) or damage the servo drive.
◆◆ Make sure parameters H02-25 (Regenerative resistor setting), H02-26 (Power of external
regenerative resistor) and H02-27 (Resistance of external regenerative resistor) are set properly
before use.
◆◆ Install the external regenerative resistor on incombustible objects such as metal.
3.2.3 Recommended Models and Specifications of Main Circuit Cables
L1
L2
PE
Figure 3-6 Main circuit terminal block of the servo drive
-54-
3 Wiring
Table 3-3 Current specifications of the servo drive
Maximum Output Current

Servo Drive Model SV660N****I Rated Input Current (A) Rated Output Current (A)
(A)
S1R6 2.3 1.6 5.8

SIZE-A
S2R8 4.0 2.8 10.1
S5R5 7.9 (Single-phase) 5.5 16.9

SIZE-B
S6R6 3.7 (Three-phase) 6.6 16.5
S7R6 5.1 7.6 23
SIZE C T3R5 2.4 3.5 11
T5R4 3.6 5.4 14
S012 8.0 11.6 32
SIZE D T8R4 5.6 8.4 20
T012 8.0 11.9 29.75
T017 12.0 16.5 41.25
SIZE E T021 16.0 20.8 52.12
T026 21.0 25.7 64.25
Table 3-4 Recommended main circuit cables and models
Servo Drive Rated Input L1, L2 Rated Output U, V, W PE

No. Series
Model Current (In) mm 2
AWG Current (Out) mm 2
AWG mm 2
AWG
Single-phase 220 V
1 SV660NS1R6I 2.30 2x0.5 20 1.60 2x0.5 20 0.50 20

Size A
2 SV660NS2R8I 4.00 2x0.5 20 2.80 2x0.5 20 0.50 20
3 Size B SV660NS5R5I 7.90 2x0.75 18 5.50 2x0.75 18 0.75 18
Three-phase 220 V
4 Size B SV660NS6R6I 3.70 2x0.75 18 6.60 2x0.75 18 0.75 18
See "3.2.5 Precautions for Main Circuit Wiring" for details.
Table 3-5 Recommended grounding cable lug of the main circuit
Servo Drive Model SV660N****I PE
S1R6 TVR 2-4

Size A
S2R8 TVR 2-4
S5R5 TVR 2-4

Size B
S6R6 TVR 2-4
Reference data for recommended cable lugs (Manufacturer: Suzhou Yuanli Metal Enterprise Co., Ltd)
Table 3-6 Dimensions and outline drawing of the grounding cable lug
Cable Lug D d2 B
Outline Drawing
Model (mm) (mm) (mm)
φ d2
B
TVR 2-4 4.5 4.3 8.5
φD
-55-
3 Wiring
Use the following types of cables for the main circuit.
Table 3-7 Recommended main circuit cables
Cable Type
Allowable Temperature (℃ )
Model Name
PVC General PVC cable -
IV PVC cable with a rated voltage of 600 V 60
HIV Special PVC cable with heat-resistance capacity 75
For three-cable applications, the relation between AWG specification and the allowable current is shown
in the following table.
Note that the values listed in the table cannot be exceeded during use.
Table 3-8 Specifications for three-cable applications
AWG Nominal Cross Sectional Allowable Current in Different Ambient Temperatures (A)
Specification Area (mm²) 30℃ 40℃ 50℃
20 0.519 8 7 6
19 0.653 9 8 7
18 0.823 13 11 9
16 1.31 18 15 12
14 2.08 26 23 20
12 3.31 32 28 26
10 5.26 48 43 38
8 8.37 70 65 55
6 13.3 95 85 75
-56-
3 Wiring
3.2.4 Power Supply Wiring Example
■■ Single-phase 220 V models: SV660NS1R6I, SV660NS2R8I, and SV660NS5R5I
Single-phase 220 VAC
660N servo drive

Noise filter
U
V
M
W
STOP P
button
C
CN2
RUN Main circuit
N
button power input
contactor PG
1KM
Surge
protection
device
L1
L2 ALM-
COM
Servo alarm 1D 24V
output relay 1Ry
ALM+
Servo alarm
signal output
Servo alarm
indicator
Figure 3-7 Main circuit wiring of single-phase 220 V models
◆◆ 1KM: Electromagnetic contactor; 1Ry: Relay; 1D: Flywheel diode

◆◆ DO is set as alarm output (ALM+/-). When the servo drive alarms, the power supply will be cut
off automatically. SV660NS1R6 and SV660NS2R8 are not configured with a built-in regenerative
NOTE resistor, connect an external regenerative resistor between P and C as needed.
-57-
3 Wiring
■■ Three-phase 220 V Models: SV660NS6R6I
Three-phase 220 VAC
Noise filter 660N servo drive
U
V
W
M
STOP P
button
D
Main circuit CN2
RUN power input C
button contactor
1KM
PG
Surge L1
protection
device L2
L3 ALM-
COM
Servo alarm 1D 24V
output relay 1Ry
ALM+
Servo alarm
signal output
Servo alarm
indicator
Figure 3-8 Main circuit wiring of three-phase 220 V models
◆◆ 1KM: Electromagnetic contactor; 1Ry: Relay; 1D: Flywheel diode

◆◆ DO is set as alarm output (ALM+/-). When the servo drive alarms, the power supply will be cut off
NOTE automatically and the alarm indicator will be turned on.
3.2.5 Precautions for Main Circuit Wiring
■■ Do not connect the input power cables to the output terminals U, V and W. Failure to comply will
damage the servo drive.
■■ When cables are bundled in a duct, the cooling effect will be deteriorated. In this case, take the
reduction ratio of the allowable current into consideration.
■■ When the temperature inside the cabinet is higher than the temperature limit of the cable, it is
recommended to use a Teflon cable with a higher temperature limit. As the surface of regular cables
may be easily hardened and cracked under a low temperature, take thermal insulation measures for
cables laid in a low-temperature environment.
■■ The bending radius of a cable must be 10 times longer than its outer diameter to prevent the
internal conductor from breaking due to long-time bending.
■■ Use cables with a rated voltage above 600 VAC and rated temperature above 75° C. Under 30° C
ambient temperature and normal cooling conditions, the allowable current density of the cable
cannot exceed 8 A/mm2 when the total current is below 50 A, or 5 A/mm2 when the total current is
above 50 A. The allowable current density (A/mm2) can be adjusted based on the following formula
in the case of high ambient temperature or bundled cables.
Allowable current density = 8 x Reduction coefficient of conductor current-carrying density x Current

correction coefficient
-58-
3 Wiring
Duct
Cable
Table 3-9 Reduction coefficient of current-carrying density of the conductor
Number of Cables in the Same Duct Current Reduction Coefficient
Less than 3 0.7
4 0.63
5–6 0.56
7–15 0.49
■■ Do not bundle power cables and signal cables together or route them through the same duct. Power
cables and signal cables must be separated by a distance of at least 30 cm to prevent interference.
■■ High voltage may be still present in the servo drive when the power supply is cut off. Do not touch
the power terminals within 5 minutes after power-off.
■■ Do not turn on/off the power supply frequently. If frequent ON/OFF is required, ensure the time
interval is at least one minute. The capacitor in the main circuit will be charged with a large current
for 0.2 seconds upon power on. Turning on/off the power supply frequently will deteriorate the
performance of the main circuit components inside the servo drive.
■■ Use a grounding cable with the same cross sectional area as the main circuit cable. If the cross
sectional area of the main circuit cable is less than 1.6 mm2, use a grounding cable with a cross
sectional area of 2.0 mm2.
■■ Ground the servo drive properly.
■■ Do not power on the servo drive when any screw of the terminal block or any cable is loosened.
Failure to comply may cause a fire.
3.2.6 Specifications of Main Circuit Options
The recommended circuit breakers and electromagnetic contactors are listed in the following table.
Table 3-10 Recommended circuit breakers and electromagnetic contactors
Main Circuit Power Recommended Circuit Breaker Recommended Contactor

Servo Drive Model
Supply Current (A) Schneider Model Current (A) Schneider Model
SV660NS1R6I 4 OSMC32N3C4 9 LC1 D09
Single-phase 220 V SV660NS2R8I 6 OSMC32N3C6 9 LC1 D09
SV660NS5R5I 6 OSMC32N3C6 9 LC1 D09
Three-phase 220 V SV660NS6R6 6 OSMC32N3C6 9 LC1 D09
-59-
3 Wiring
3.3 Connection of the Servo Drive and Servo Motor Power Cables
Figure 3-9 Example of the wiring between the servo drive and the servo motor
Table 3-11 Connectors for power cables on servo motor side
Outline Drawing of
Terminal Pin Layout Applicable Motor Frame [Note]
the Connector
Black 6-pin connector
5 6
4
3
2
1 Terminal-type motor:
40
Pin No. Signal Name Color 60
1 PE Yellow/Green
80
2 W Red
3 V Black
4 U White
5 Brake Polarity Brown
6 Brake insensitive Blue
◆◆ The motor frame refers to the width of the mounting flange.

◆◆ Power cable colors are subject to the colors of the actual product. The cable colors mentioned in
NOTE this user guide refer to Inovance's cable colors.
-60-
3 Wiring
Figure 3-10 Example of the wiring between the servo drive and the servo motor
Outline Drawing of the

Terminal Pin Layout Applicable Motor Frame [Note]
Connector
Black 6-pin connector
4 1
5 2
6 3
Lead wire-type motor:
Pin No. Signal Name Color 40
1 U White 60
2 V Black 80
4 W Red
5 PE Yellow/Green
3 Brake
6 (polarity insensitive)
Recommendations:
Plastic housing: MOLEX-50361736
Terminal: MOLEX-39000061
◆◆ The motor frame refers to the width of the mounting flange.

◆◆ Power cable colors are subject to the colors of the actual product. The cable colors mentioned in
NOTE this user guide refer to Inovance's cable colors.
-61-
3 Wiring
Outline Drawing of the Applicable Motor

Terminal Pin Layout
Connector Frame
MIL-DTL-5015 series 3108E20-18S aviation plug

BWJBUJPOQMVH
" ) (
# * '
$ % &
New Structure Old Structure

100
Signal Color
Pin No. Signal Name Pin No. 130
Name
B U B U Blue
I V I V Black
F W F W Red
Yellow/
G PE G PE
Green
C Brake
(polarity
E
insensitive)
3.4 Connection of the Servo Drive and Servo Motor Encoder Cables
1 Installing the absolute encoder battery box
■■ The S6-C36 battery box contains the following items:
One plastic box
One 3.6 V/2600 mAh battery
Terminal block and crimping terminal
■■ Installing the battery box:
Figure 3-11 Installation of the absolute encoder battery box (Bottom view)
-62-
3 Wiring
■■ Removing the battery box
The battery may have leakage liquids after a long-time use. It is recommended to replace the battery
every two years. Remove the battery box in steps in reverse to those in the preceding figure.
When closing the battery box cover, do not pinch the connector cables.
Do not pinch the

connector cables
when closing the
battery cover.
$"65*0/
Improper use of the battery may result in battery leakage, corroding the components or causing
battery explosion. Observe the following requirements during use:
◆◆ Insert the battery with correct +/- polarity.
◆◆ Leaving a battery in constant use or no longer useful inside the device can cause liquid leakage.
The electrolyte inside the battery is corrosive and conductive, not only corroding surrounding
components but also giving rise to the danger of short circuit. Therefore, replace the battery
periodically (recommended interval: every 2 years).
◆◆ Do not disassemble the battery because the internal electrolyte may spread out and cause
physical injuries.
◆◆ Do not throw a battery into the fire or heat up the battery. Failure to comply may cause an
explosion.
◆◆ Do not short circuit the battery or strip off the battery tube. If terminals + and - of the battery
come into contact with the metal, a large current will be generated, not only deteriorating the
battery power but also incurring the risk of explosion due to violent overheating.
◆◆ This battery is non-rechargeable.
◆◆ Dispose of the retired battery according to local regulations.
-63-
3 Wiring
■■ Selecting the battery model
Select an appropriate battery according to the following table.
Table 3-14 Description of the absolute encoder battery
Ratings
Battery Model and
Items Minimum Typical Maximum Condition
Specifications
Value Value Value
External battery
3.2 3.6 5 In standby mode[2]
voltage (V)
Circuit fault voltage
- 2.6 - In standby mode
(V)
Output: 3.6 V, 2500 mAh Battery warning
2.85 3 3.15 -
Recommended voltage (V)
manufacturer and - 2 - In normal status[1]
Current consumed
model: Shenzhen - 10 - In standby mode, shaft static
by circuit (µA)
Jieshun LS14500 - 80 - In standby mode, shaft rotating
Ambient operation
0 - 40
temperature (℃ ) Same as that required by the
Ambient storage motor
-20 - 60
temperature (℃ )
The preceding data is obtained under 20°C ambient temperature.
[1] During normal operation, the absolute encoder supports single-turn or multi-turn data counting and data
transmitting/receiving. A well-connected encoder will, upon switch-on of the servo drive, enter normal operation
status and transmit/receive data after a delay of 5s. Switching from standby mode to normal operation mode
upon power-on requires the motor to rotate at a speed less than 10 RPM. Otherwise, the servo drive reports E740
(Encoder fault), In this case, you need to power on the servo drive again.
[2] Standby mode means the servo drive is not powered on and the absolute encoder can perform multi-turn
counting by utilizing external battery power. In this case, the data transmitting/ receiving stops.
■■ Design life of the battery
The following calculation only covers the current consumed by the encoder.
Suppose that the servo drive works normally for T1 in a day, the motor rotates for T2 after the servo
drive is powered off, and the motor stops rotating for T3 after power-off (unit: hour (h)).
Example:
Table 3-15 Design life of the absolute encoder battery
Item Working Time 1 Working Time 2

Days of working in different operating conditions in 1 year (day) 313 52
T1 (hour H) 8 0
T2 (hour H) 0.1 0
T3 (hour H) 15.9 24
Capacity consumed in 1 year = (8 h x 2 μA + 0.1 h x 80 μA + 15.9 h x 10 μA) x 313 + (0 h x 2 μA + 0 h x 80 μA +24 h x 10 μA) x

52 ≈ 70 mAH
Design life = Battery capacity/Annual consumption = 2600 mAH/70 mAH = 37.1 years
-64-
3 Wiring
2 Connecting the absolute encoder
SUNCHU
SC-06
C端
2-黑色
1-棕色
Figure 3-12 Wiring example of absolute encoder signals[1]
[1] The preceding figure shows the wiring diagram of absolute encoder cables, which is similiar to that of incremental
encoder (without a battery box) cables. Incremental encoder cables need to be purchased separately.
The encoder cable color is subject to the color of the actual product. The cable colors mentioned in this
user guide refer to Inovance's cable colors.
NOTE
-65-
3 Wiring
Lead wires of the battery box:
Pin No. Color Definition
1 Red Power supply (+)
2 1
Pin No. Color Definition
2 Black Power supply (-)
Figure 3-13 Color of the lead wires of the absolute encoder battery
◆◆ Store the battery in environments within the required temperature range and ensure reliable
contact and sufficient battery power. Failure to comply may cause encoder data loss.
NOTE ◆◆ Model of the battery box (battery included): S6-C36
Table 3-16 Cable connectors of the terminal-type motor encoder
Outline Drawing and Pin Layout of the Connector Applicable Motor

Servo Drive Side Motor Side Frame [1]
6-pin male 7-pin connector
(Left: connecting side
Right: soldering side)
6 5
Terminal-type
4 3 motor:
2 1 40
Pin No. Signal Name Color Type 60
1 PS+ Blue Twisted 80
Pin No. Signal Name Color Type 2 PS- Purple pair
1 +5V Red Twisted 3 DC+ Brown Twisted
2 GND Orange pair 4 DC- Black pair
5 PS+ Blue Twisted 5 +5V Red Twisted
6 PS- Purple pair 6 0V Orange pair
Enclosure PE - - 7 PE - -
[1] The motor frame refers to the width of the mounting flange.
-66-
3 Wiring
Table 3-17 Cable connectors of the lead wire-type motor encoder (9-pin connector)
Applicable Motor
Outline Drawing and Pin Layout of the Connector
Frame [1]
$POOFDUPSPGUIF &ODPEFSMFBEXJSF
FODPEFSMFBEXJSF
$POOFDUFEUP$/
PGUIFTFSWPESJWF
9-pin connector
4 7 4 1
1 7
5
Lead wire-type
2 5 8 8 2
Viewed from
7JFXFEGSPN
UIJTTJEF
3 6 9 this side 9 6 3 motor:
40 (lead wire-type)
Signal Color 60 (lead wire-type)

Pin No. Signal Name Type Pin No. Type
Name 80 (lead wire-type)
1 Battery (+)
- 1 Battery (+) Blue
4 Battery (-)
4 Battery (-) Blue and black
3 PS+ Twisted
3 PS+ Yellow Twisted pair
6 PS- pair
Yellow and
9 +5V 6 PS-
black
8 GND -
9 +5V Red
7 Shield
8 GND Black -
Recommendations:
7 Shield -
Plastic housing: AMP 172161-1
Terminal: AMP 770835-1
[1] The motor frame refers to the width of the mounting flange.
-67-
3 Wiring
3.5 Connection of the Control Signal Terminal CN1
$ / $ /
15 5
15 5 +24V 10 DO3+
10 DI1
14 4 COM- DO3-
DI2
9
COM+ DO2+
13 3
DI3
8
- DO2-
12 2 DI4
7
DI5 DO1+
11 1 D01-
11 1
6 6
Figure 3-14 Pin layout of CN1 terminal connector
CN1 terminal: Plastic housing of the plug on the cable side: DB15P (SZTDK), black housing
Core: HDB15P (SZTDK)
◆◆ It is recommended to use 24AWG to 26AWG cables.

NOTE
-68-
3 Wiring
3.5.1 DI/DO signals
Table 3-18 Description of DI/DO signals

Signal Name Function Pin No. Function
DI1 P-OT 10 Positive limit switch
DI2 N-OT 9 Negative limit switch
DI3 HomeSwitch 8 Home switch
DI4 TouchProbe2 7 Touch probe 2
DI5 TouchProbe1 11 Touch probe 1
+24V 15 Internal 24 V power supply, voltage range: 20 V to 28 V, maximum

COM- 14 output current: 200 mA
General
COM+ 13 Power input terminal (12 V to 24 V)
DO1+ S-RDY+ 1
Servo ready
DO1- S-RDY- 6
DO2+ ALM+ 3
Fault
DO2- ALM- 2
DO3+ BK+ 5
Brake
DO3- BK- 4
1 DI circuit
DI1 to DI5 circuits are the same. The following description takes DI1 circuit as an example.
1) The host controller provides relay output.
■■ For use of the internal 24 V power supply of the servo drive
Servo drive
24 V
+24 V power
supply 15
COM + 13
DI1 (CMD 1) 10 4.7 kΩ
COM - 14
Relay
-69-
3 Wiring
■■ For use of an external power supply
Servo drive Servo drive
External +24 VDC
24 V Two power supplies

used +24 V power 24 V
External +24 VDC 15 supply 15
COM+ 13 COM+ 13
DI1 (CMD1) 10 4.7 kΩ DI1 (CMD1) 10 4.7 kΩ

Relay
14 COM- 14
Relay
External 0 V External 0 V
2) The host controller provides open-collector output.
■■ For use of the internal 24 V power supply of the servo drive
24 V 24 V
+24 V power +24 V power
supply 15 supply 15
PNP
COM+ 13 COM+ 13
DI1 (CMD1) 10 4.7 kΩ 4.7 kΩ

DI1 (CMD1) 10
NPN
COM- 14 COM- 14
-70-
3 Wiring
■■ For use of an external power supply
24 V 24 V
External +24 VDC 15 External +24 VDC 15
PNP
COM+ 13 COM+ 13
DI1 (CMD1) 10 4.7 kΩ DI1 (CMD1) 10 4.7 kΩ
NPN
14 14
External 0 V
External 0 V
PNP and NPN input cannot be used mixedly.

NOTE
2 DO circuit
DO1 to DO5 circuits are the same. The following description takes DO1 circuit as an example.
1) The host controller provides relay input.
Servo drive
External
5‒24 VDC
Relay
1 DO1+
6 DO1-
External 0 V
When the host controller provides relay input, a flywheel diode must be installed. Otherwise, the DO
terminals may be damaged.
NOTE
-71-
3 Wiring
Servo drive
Servo drive
External
External
5‒24 VDC
5‒24 VDC
Relay not connected
Relay
Wrong polarity of the

1 DO1+
1 DO1+ flywheel diode
6 DO1-
6 DO1-
External
External
0V
0V
2) The host controller provides optocoupler input.

Servo drive External Servo drive External
5‒24 VDC 5‒24 VDC
Current limiting
resistor not connected
Optocoupler Optocoupler
1 DO1+ 1 DO1+
6 DO1- 6 DO1-
External
External
0V
0V
The maximum allowable voltage and current of the optocoupler output circuit inside the servo drive are
as follows:
■■ Voltage: 30 VDC
■■ Current: DC 50 mA
3.5.2 Wiring of the Brake
The brake is used to prevent the servo motor shaft from rotating during non-operating status of the
servo drive. This is to keep the motor and the mechanical motion part in locked position.
Prevent the workbench from moving due to Servo motor

external forces (with built-in
External force Servo motor Prevent movement due to brake)
(with built-in brake) gravity when the power
supply is turned off
Figure 3-15 Application of the brake
-72-
3 Wiring
$"65*0/
◆◆ Use the built-in brake for position-lock in the stop state only.
◆◆ The brake coil has no polarity.
◆◆ Cut off the S-ON signal after the servo motor stops.
◆◆ When the servo motor with built-in brake runs, the brake may generate clattering sound. Such
sound does not affect the motor functions.
◆◆ When brake coils are energized (brake released), magnetic flux leakage may occur at the shaft
end. Be cautious when using magnetic sensors around the servo motor.
The connection of the motor brake input signal has no polarity. Users need to prepare a 24 V external
power supply. The following figure shows the standard wiring of the brake signal (BK) and the brake
power supply.
Servo drive
Three-phase L1 U Motor
220 VAC
Noise
L2 V
filter M
380 VAC W
L3
(Three-phase)
Encoder
CN2 PG
Brake control relay

CN1 BK-RY
DOx+(BK+) +24V Brake
+24V BK
DOx-(BK-)
(Brake power supply)
Figure 3-16 Wiring of the brake
Pay attention to the following precautions during wiring:
■■ When deciding the length of the motor brake cable, take the voltage drop caused by cable resistance
into consideration. The input voltage must be at least 21.6 V to enable the brake to work properly.
The following table lists brake specifications of Inovance servo motors.
Table 3-19 Brake specifications
Holding Torque Supplied Voltage Release Time

Motor Model Close Time (ms) Backlash (° )
(N·m) (VDC)±10% (ms)
MS1H1-10B 0.3 24 ≤ 20 ≤ 35 < 1.7
MS1H1-20B/40B 1.5 24 ≤ 20 ≤ 50 < 1.5
MS1H4-40B 1.5 24 ≤ 20 ≤ 50 < 1.5
MS1H*-75B 2.5 24 ≤ 20 ≤ 60 < 1.7
MS1H3-85B 12 24 60 120 ≤ 0.5
◆◆ The brake cannot share the same power supply with other electrical devices. This is to prevent
malfunction of the brake due to voltage or current drop caused by other working devices.
-73-
3 Wiring
3.6 Wiring of Communication Signals CN3/CN4
".
47/ 47/ 47/ 47/
Figure 3-17 Networking topology
RUN BF 0 1 2 3 4 5 6 7 I
0 1 2 3 4 5 6 7 II
EtherCAT
ERR CANRUN
SF CANERR 0 1 2 3 4 5 6 7
40 39
CN1 RS 485
RUN / STOP
MFK
CN3 Ether NET CN 4 E ther CAT
CN5
C N2 CAN
2 1
Servo drive to PLC communication cable
EtherCAT
Servo drive EtherCAT

communication cable
Figure 3-18 Wiring of communication cables
-74-
3 Wiring
3.6.1 Pin Definition of the Communication Signal Connector
Communication signal connectors (CN3 and CN4) are EtherCAT interface connectors. CN3 (IN) is
conneccted to the connecting terminal of the master. CN4 (OUT) is connected to the next slave device.
Table 3-20 Pin definition of the communication signal connector
Pin No. Definition Description Terminal Pin Layout
1 TD+ Data transmitting (+)
2 TD- Data transmitting (-)
3 RD+ Data receiving (+)
4 and 5 - - CN3 CN4
6 RD- Data receiving (-)

9 1
CN3/CN4 10 2
7 and 8 - - 11 3
9 TD+ Data transmitting (+) 12, 13 4, 5
10 TD- Data transmitting (-)

14 6
15, 16 7, 8
11 RD+ Data receiving (+)
12 and 13 - -
14 RD- Data receiving (-)
15 and 16 - -
3.6.2 Selection of Communication Cables
■■ Principle for cable selection
Cable Specifications Supplier

0.2 m to 10 m Inovance
Above 10 m Haituo
■■ Basic information of Inovance EtherCAT communication cables
Cable models are shown in the following figure.
S6-L-T04-3.0
Symbol Product Series Cable Length (unit: m)
S6 S6 series Symbol Length Symbol Length
0.2 0.2 m 2.0 2.0 m
0.3 0.3 m 3.0 3.0 m

Symbol Meaning
0.5 0.5 m 5.0 5.0 m
L Line
1.0 1.0 m 10.0 10.0 m
Symbol Meaning Symbol Meaning

Communication Multi-drive EtherCAT
T 04
cable communication cable
-75-
3 Wiring
■■ Cable ordering information
Material Code Cable Model Length (m)

15040261 S6-L-T04-0.3 0.3
15040262 S6-L-T04-3.0 3.0
15041960 S6-L-T04-0.2 0.2
15041961 S6-L-T04-0.5 0.5
15041962 S6-L-T04-1.0 1.0
15041963 S6-L-T04-2.0 2.0
15041964 S6-L-T04-5.0 5.0
15041965 S6-L-T04-10.0 10.0
■■ Specifications
Item Description
UL certification UL-compliant
Cat 5e cable Cat 5e cable
Double shield Braided shield (coverage: 85%), aluminum foil shield (coverage: 100%)
Environment Ambient temperature: -30℃ to +60℃ , resistant to industrial oil and corrosive acid and
adaptability alkali
EMC test standard GB/T 24808-2009
3.6.3 Communication Connection with PC (RS232 Communication)
Connect the servo drive and the PC by using the PC communication cable as shown below. It is
recommended to use the common communication interface RS232.
A B
Figure 3-19 Outline drawing of the PC communication cable
Table 3-21 Connection relation between the servo drive and PC communication cable pins
RJ45 on Servo Drive Side (A) DB9 on PC Side (B)
Signal Name Pin No. Signal Name Pin No.
RS232-TXD 6 PC-RXD 2
RS232-RXD 7 PC-TXD 3
GND 8 GND 5
PE (shield) Enclosure PE (shield) Enclosure
-76-
3 Wiring
The definition of DB9 terminal on PC side is shown in the following table.
Table 3-22 Pin definition of DB9 ("B" in the Figure 3-19) on PC side
Pin No. Definition Description Terminal Pin Layout
2 PC-RXD PC receiving end
3 PC-TXD PC transmitting end 1

6
2
5 GND Ground 3
7
8
4
9
5
Enclosure PE Shield
If the host controller provides only the USB interface, use the serial-to-USB cable for conversion.
Figure 3-20 Serial-to-USB conversion
Recommendation:
Manufacture: Z-TEK
Model: ZE551A, equipped with a 0.8 m USB extension cable
Chip model: FT232
-77-
3 Wiring
3.7 Definition and Connection of STO terminal

This section describes the definition and function of the I/O connecting terminal (CN6) for safe torque off
(STO).
1 Terminal layout
COM 1 2 24V
STO1 3 4 STO2
1) Pin map of the input connector
Terminal Pin No. Name Value Description
1 COM 0V STO reference ground
2 24V 24 V 24 V power supply for commissioning

CN6
3 STO1 - Control input for STO1
4 STO2 - Control input for STO2
2) Two isolated inputs are configured to dual-channel inputs of STO function: STO1/STO2.
3) To make it more user-friendly during commissioning, an additional pin with supply voltage (+24V)
is integrated. The bridging of the 24 volts is needed in case the safety circuit is installed but no STO
function is needed.
Remove the short-circuit jumper when STO is needed in actual applications.

NOTE
-78-
3 Wiring
24V shorted to STO1/STO2 Short-circuit jumper removed in normal use
2 Electrical specifications and connections of the input circuit
This section describes the characteristics of the input signals assigned to the CN6 connector.
■■ Specifications
The servo drive can operate normally only if the input status of STO1 and STO2 are both "1" or "H".
If the input status of either STO1 or STO2 (or both ) is "0" or "L", the servo drive cannot run.
■■ Electrical characteristics of the safety request input signal
Items Characteristics Description
Voltage range 24 VDC (±15%) -
Input current 4 mA (Typ.) Value per channel
Standards of logic levels "0"< 3 V, "1" >15 V -
Digital input impedance 5.78 kΩ -
■■ Example of external 24 V connection
7 $/ 4FSWPESJWF
450 LĒ
450 LĒ
450@(/%
-79-
3 Wiring
■■ Example of internal 24 V connection
7
$/
7QPXFSTVQQMZ 4FSWPESJWF
450
LĒ
$0.
450
LĒ
$0.
3 EMC requirements
■■ To avoid short circuit between two adjacent conductors, either use a shielded cable with its shield
connected to the protective ground or a flat cable with one earthed conductor between each signal
conductor.
■■ Double-shielded or single-shielded twisted multi-pair cables are strongly recommended.
■■ Fix and ground the cable shield using a piece of conductive metal.
Example of cable clamp:
■■ The maximum allowable cable length between the drive and the activation switch is 30 m.
4 Additional requirements
■■ All cables must be well protected, routed and clamped where practicable.
■■ Ensure that there is no pulling or pinching on the cables during installation.
■■ For cabling the DIs of the STO, to avoid the faults that commonly occur on the cables, route the
two channels through two separate routes, or the cable must be protected with double-shielded
methods.
Cable Description
Type Low voltage, double-shielded or single-shielded twisted multi-pair cable
Maximum size 0.8 mm2 (18 AWG)
Minimum size 0.3 mm2 (28 AWG)
Maximum length 30 m between STO inputs and the operating contact
3.8 Anti-interference Measures for Electrical Wiring

Take the following measures to suppress interference:
■■ Ensure the length of the reference input cable and the encoder cable is below 3 m and 20 m
respectively.
■■ Use a thick cable as the grounding cable (above 2.0 mm2).
-80-
3 Wiring
1) It is recommended to adopt D class (or higher) grounding (grounding resistance below 100 Ω).
2) Adopt single-point grounding.
■■ Use a noise filter to prevent radio frequency interferences. In domestic applications or an

unfavorable environment with strong power noise interference, install a noise filter on the input side
of the power cable.
■■ To prevent malfunction due to electromagnetic interference, take the following measures:
1) Install the host controller and the noise filter near the servo drive.
2) Install a surge protection device on the relay, solenoid and electromagnetic contactor coils.
3) Separate the electrical circuit from the electronic circuit during wiring and keep a distance of at least
30 cm between them. Do not put these cables in the same duct or bundle them together.
4) Do not share the same power supply with an electric welder or electrical discharge machine. When
the servo drive is placed near a high-frequency generator, install a noise filter on the input side of
the power cable.
3.8.1 Anti-interference Wiring Example and Grounding
The servo drive uses high-speed switch elements in the main circuit. The switch noise may affect the
normal operation of the system due to different peripheral wiring and grounding of the servo drive.
Therefore, the servo drive must be properly wired and grounded. A noise filter can be added if necessary.
1 Anti-interference wiring example
Servo drive
L1 U
Noise
filter L2 V M
L3 W
CN2 PG
Above
3.5 mm2
Above
3.5 mm2 Above
2.0 mm2
Grounded to earth Grounding plate
Figure 3-21 Anti-interference wiring example
For the grounding cable connected to the enclosure, use a cable of at least 3.5 mm2 (braided copper
cables recommended).
If a noise filter is used, abide by the precautions described in "3.8.2 Instructions for Use of the Noise Filter" .
2 Grounding
To prevent potential electromagnetic interferences, ground properly according to following instructions.
1) Grounding the motor enclosure
-81-
3 Wiring
Connect the grounding terminal of the servo motor to the PE terminal of the servo drive and ground the
PE terminal properly to reduce potential electromagnetic interferences.
2) Grounding the encoder cable shield
Ground both ends of the encoder cable shield.
3.8.2 Instructions for Use of the Noise Filter
To prevent interference from power cables and reduce impact of the servo drive to other sensitive
devices, install a noise filter on the input side of the power supply according to the magnitude of the
input current. In addition, install a noise filter on the power cable part of peripheral devices if necessary.
To ensure the filtering effect, abide by the following requirements when installing and wiring the noise
filter.
■■ Do not put the input and output cables of the noise filer in the same duct or bundle them together.
L1 L2 L3
L1 L2 L3
AC AC
power power Noise
filter
Noise
filter
L1 L2 L3
L1 L2 L3
AC AC Noise
Noise
power power filter
filter
Figure 3-22 Separate routing of input and output cables of the noise filter
■■ Do not put the grounding cable and the power output cable of the noise filer in the same duct.
L1
L1
Noise AC
AC L2 power Noise
filter L2
power filter
L3
L3
Figure 3-23 Separate routing of the grounding cable and the power output cable
■■ Use a separate, thick grounding cable as short as possible for the noise filter. Do not share the same
grounding cable with other grounding devices.
-82-
3 Wiring
L1 L1
AC AC
L2 L2
power Noise power Noise
filter filter
L3 L3
Servo Servo Servo Servo

drive drive drive drive
Shield grounded Shield grounded
Figure 3-24 Single-point grounding
■■ Ground the noise filter installed inside the control cabinet.
If the noise filter and the servo drive are installed in the same control cabinet, fix the noise filter and the
servo drive on the same metal plate. Make sure the contact part is in good conductive condition and well
connected, and ground the metal plate properly.
L1
AC
Noise L2 Servo
power filter drive
L3
Servo
drive
Shield grounded
Grounding
Figure 3-25 Grounding cable of the noise filter
3.9 Precautions for Use of Cables

■■ Do not bend or apply any tension to cables. The conductor of a signal cable is only 0.2 mm or
0.3 mm in diameter. Handle the cables carefully to prevent fracture.
■■ In cases where cables need to be moved, use flexible cables. Ordinary cables may be easily damaged
after being bent for a long time. Cables configured together with small-power servo motors do not
fit for drag chains.
If a cable drag chain is used, make sure the following requirements are fulfilled:
■■ The bending radius of the cable must be 10 times longer than its outer diameter.
■■ Do not fix or bundle the cables inside the cable drag chain. The cables can be bundled and fixed
only at the two fixed ends of the cable drag chain.
■■ Do not wind or twist the cables.
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3 Wiring
■■ Ensure the space factor inside the cable drag chain is below 60%.
■■ Do not use cables with different sizes together. This is to prevent thin cables from being crushed by
thick cables. If thick and thin cables need to be used together, use a spacer plate to separate them.
Cable drag chain
Cable
Cable end
Figure 3-26 Cable drag chain
-84-
4 Keypad Display and Operations

4.1 Introduction to the Keypad
Keypad display
MODE SET
Figure 4-1 Appearance of the LED keypad
The keypad on the SV660N servo drive consists of five LEDs and five push buttons. The keypad is used for
data display, parameter settings, password settings and general function executions. When the keypad is
used for parameter settings, the functions of the push buttons are described as follows.
Table 4-1 Functions of keys
Name Symbol Description
MODE Used to switch the mode and return to the previous menu.
UP Used to increase the value of the blinking digit.
DOWN Used to decrease the value of the blinking digit.
Used to shift the blinking digit to view the high digits of a number consisting of more
SHIFT
than 5 digits.
SET Used to enter the next menu and store parameter settings.
4.2 Display
The keypad displays the status, parameters, faults, and monitored information during servo drive
running.
■■ Status display: current servo drive status, such as servo ready or running
■■ Parameter display: parameters and their set values
■■ Fault display: faults and warnings that occur on the servo drive
■■ Monitoring display: present running parameters of the servo drive
-85-
4.2.1Transition Relation Between Keypad Display and Operation Objects
The mapping relation between the parameter (decimal) displayed by the keypad and the object
dictionary operated by the host controller (hexadecimal, "Index" and "Sub-index") is as follows:
Object dictionary index = 0x2000 + Parameter group number
Object dictionary sub-index = Hexadecimal offset within the parameter group + 1

Example:
Display Object Dictionary Operated by the Host Controller
H00-00 2000-01h
H00-01 2000-02h
… …
H01-09 2001-0Ah
H01-10 2001-0Bh
… …
H02-15 2002-10h
The following describes the displayed content and parameter settings on the keypad (decimal)
side, which are different from those displayed on the software tool (hexadecimal). Make necessary
NOTE conversions when performing operations through the software tool on the host controller.
4.2.2 Display Mode Switchover
Fault display
SET
MODE
MODE Switched to
MODE group H0B
Status Parameter Monitoring
Power on
display display display
MODE MODE
After you set H02-32, the keypad switches the
display mode automa tica lly after the motor starts
rotating.
Motor at standstill
Figure 4-2 Switchover between different types of display
■■ After power-on, the keypad enters status display mode.
■■ Press to switch between different modes, as shown in the preceding figure.

■■ In status display mode, set H02-32 (Default keypad display) and select the parameter to be
monitored. When the motor rotates, the keypad automatically switches to monitoring display. After
the motor stops, the keypad automatically reverts to status display.
■■ In parameter display mode, set parameters in group H0B to select the parameters to be
pre-monitored, and the keypad switches to the monitoring display mode.
■■ Once a fault occurs, the keypad enters the fault display mode immediately, and all five LEDs blink.
Press to stop blinking, and then press to switch to the parameter display mode.
-86-
4.2.3 Status Display
Display Name Display Condition Meaning
The servo drive is in initialization or

reset reset status.
(servo Upon power-on After initialization or reset is done, the
initialization) servo drive automatically switches to
other status.
Initialization done, The main circuit is not powered on, and

nr
but servo drive not the servo drive is not ready to run. See
(servo not ready)
ready "9 Troubleshooting" for details.
The servo drive is ready to run and waits

ry
Servo drive ready for the S-ON signal to be sent by the host
(servo ready)
controller.
rn S-ON signal
The servo drive is running.
(servo running) activated
Displays present running mode of the

servo drive in hexadecimal digits.
1: Profile position control
3: Profile velocity mode
1–A
- 4: Profile torque mode
(control mode)
6: Homing mode
8: Cyclic synchronous position mode
9: Cyclic synchronous velocity mode
A: Cyclic synchronous torque mode
Displays the status of the slave EtherCAT

state machine in the form of characters.
1–8
1: Initializing
(communication -
2: Pre-running
status)
4: Safe running
8: Running
-
EtherCAT output
CN4
connected
Solid OFF: No communication
(connection successfully
connection is detected in the physical
indication)
layer.
-
Solid ON: Communication connection is
EtherCAT input
CN3 detected in the physical layer.
connected
(connection successfully
indication)
4.2.4 Parameter Display
The SV660N servo drive parameters are divided into 14 groups based on parameter functions. The
parameter can be located quickly based on the group it belongs to. See "11.2 List of Object Groups" to
view the parameter table.
-87-
■■ Display of the parameter group
Display Name Description
XX: Parameter group No. (decimal)

HXX.YY Parameter group
YY: Parameter No. (hexadecimal)
For example, H02-00 is displayed as follows.
02: Parameter group No.

Parameter H02-00
00: Parameter No.
■■ Display of the negative numbers and the data in different lengths
1) Signed number of 4 digits and below or unsigned number of 5 digits and below
Such numbers are displayed in a single page (five LEDs). For the signed number, the highest bit "-"
indicates the negative symbol.
For example, -9999 and 65535 are displayed as follows.
2) Signed number of more than 4 digits or unsigned number of more than 5 digits
Such numbers are displayed from low to high digits through several pages with each page displaying five
digits. The display mode is shown in the following figure (current page + value on current page). Hold
down for more than 2s to switch to the next page.
For example, -1073741824 is displayed as follows.
Segment "–" in the first left LED indicates the current page.
SHIFT SHIFT
Four low bits First page Four middle bits Second page Four high bits Third page
The first “.”from the left of the four low/middle

bits lights up. The second bit from the left of the
four high bits displays the negative symbol "—".
Figure 4-3 Display of "-1073741824"
-88-
For example, 1073741824 is displayed as follows.
Segment "–" in the first left LED indicates the current page.
SHIFT SHIFT
Four low bits First page Four middle bits Second page Four high bits Third page
Figure 4-4 Display of "1073741824"
■■ Decimal point display
The segment "." of the ones position indicates the decimal point, and this segment does not blink.
Decimal point 100.0
■■ Parameter setting display
Display Name Display Condition Meaning
The parameter value is set and

Done
Parameter setting stored in the servo drive. The servo
(parameter setting
done drive is ready to execute other
completed)
operations.
The servo drive is in the process

F.InIt Parameter of parameter initialization. After
(parameter restored initialization in parameter initialization is done,
to default setting) progress (H02-31 = 1). switch on the control power supply
again.
User password (H02-

Error The password entered is wrong.
30) applied and wrong
(wrong password) Enter the password again.
password entered
One-button tuning
TunE The one-button tuning is in progress.
enabled
One-button tuning
FAIL The one-button tuning fails.
failed
4.2.5 Fault Display
■■ The keypad can display present or previous faults and warnings. For analysis and solutions to the
faults and warnings, see "9 Troubleshooting" .
■■ When an individual fault or warning occurs, the keypad displays the present fault or warning code
immediately. When multiple faults or warnings occur, the keypad displays the warning code of the
highest level.
-89-
■■ Set the fault record to be viewed in H0B-33 (Fault record). View the selected fault or warning code in
H0B-34.
■■ Set H02-31 (Parameter initialization) to 2 (Clear fault records) to clear the latest 10 faults or warnings
stored in the servo drive.
For example, E941.0 is displayed as follows.
E: A fault or warning occurs on the servo drive.

Present warning code
941.0: Warning code
4.2.6 Monitoring Display
Group H0B: Displays parameters used for monitoring the running state of the servo drive.
Set H02-32 (Default keypad display). After the servo motor runs, the keypad switches from servo status
display mode to parameter display mode and displays the parameter No. defined by H02-32 in group
H0B.
For example, if H02-32 is set to 00, the keypad displays the value of H0B-00 when the servo motor speed
is not 0 RPM.
The monitoring display of group H0B is as follows.
Para. No. Name Unit Meaning Display Example
Display of 3000 RPM:
Displays actual motor speed

Actual motor
H0B-00 RPM after round-off in unit of 1
speed Display of -3000 RPM:
RPM.
Displays present speed

H0B-01 Speed reference RPM
reference of the servo drive. Display of -3000 RPM:
Display of 100.0%:
Displays the percentage of the

Internal torque
H0B-02 0.1% actual motor output torque to
reference Display of -100.0%:
the rated motor torque.
-90-
Displays the corresponding In cases where DI1 is low level and DI2
level status of five DIs: to DI5 are high level, the corresponding
binary value is 11110, and the value
Upper LED segment turned
of H0B-03 read by the software tool is
on: High level (indicated by
0x001E, the corresponding display is
"1")
Monitored DI as follows.
H0B-03 - Lower LED segment turned
status
on: Low level (indicated by DI5
DI4
DI3
DI2
DI1
"0")
The value of H0B-03 read by
the software tool is a decimal
number.
High High High High Low
1 1 1 1 0
Displays the corresponding In cases where DO1 is low level

level status of the three DOs: and DO2 to DO3 are high level,
the corresponding binary value is
Upper LED segment turned
110, and the value of H0B-05 read
on: High level (indicated by
by the software tool is 0x0006, the
"1")
Monitored DO corresponding display is as follows.
H0B-05 - Lower LED segment turned
status
on: Low level (indicated by DO2
DO3 DO1
"0")
The value of H0B-05 read by
the software tool is a decimal
number.
High High Low
1 1 0
Display of 1073741824 referent units:
SHIFT
Absolute position
Displays the absolute position
H0B-07 counter (32-bit Reference unit
of the motor (reference unit).
decimal value)
SHIFT
Display of 360.0° :
Displays the present
H0B-09 Mechanical angle 0.1° mechanical angle of the
motor.
Display of 360.0° :
Rotation angle Displays the present electrical
H0B-10 0.1°
(Electrical angle) angle of the motor.
-91-
Speed
information Displays the speed
corresponding corresponding to the position
H0B-11 RPM
to the input reference in a single control Display of -3000 RPM:
position cycle.
reference
Display of 100.0%:
Displays the percentage of the
Average load
H0B-12 0.1% average load torque to the
ratio
rated motor torque.
Display of 10000 encoder units:
Encoder position Deviation of the encoder

deviation position = Sum of input
H0B-15 counter Encoder unit position references (encoder
(32-bit decimal unit) - Sum of pulses fed back SHIFT
value) by the encoder (encoder unit)
Counts and displays the

number of servo motor
encoder pulses (encoder unit).
Note:
Feedback pulse When an absolute motor is
SHIFT
H0B-17 counter (32-bit Encoder unit used, H0B-17 only shows the
decimal value) low 32-bit value of the motor
position feedback. To obtain
the actual motor position SHIFT
feedback, view H0B-77 and
H0B-79.
Display of 429496729.5s:
Total power- Counts and displays the total

)PMEEPXO
4)*'5
H0B-19 on time (32-bit 0.1s power-on time of the servo

decimal value) drive.
)PMEEPXO
4)*'5
Display of 4.60 A:
RMS value of Displays the RMS value of the

H0B-24 0.1 A
phase current servo motor phase current.
-92-
Display of 311.0 V rectified from

220 VAC:
Displays the main circuit DC

H0B-26 Bus voltage 0.1 V
bus voltage between P and -. Display of 537.0 V rectified from
380 VAC:
Display of 27℃ :
Displays the temperature of
Power module
H0B-27 °C the power module inside the
temperature
servo drive.
Displays the previous fault to

be viewed.
0-Display of present fault:
0: Present fault
H0B-33 Fault log - 1: Last fault

2: 2nd to last fault
…
9: 9th to last fault
If H0B-33 = 0, H0B-34 = Er.941, the

Displays the fault code present fault code will be 941.
defined by H0B-33. Corresponding display:
Fault code of the
H0B-34 -
selected fault. When there is no fault, H0B-34
displays "Er.000".
If H0B-34 = Er.941, and H0B-35 =

107374182.4, the present fault code
will be 941 and the total operating
time of the servo drive is 107374182.4s
when the fault occurs.
Displays the total operating

time of the servo drive when
Time stamp of the fault defined by H0B-35
H0B-35 s
the selected fault occurs. SHIFT
When there is no fault, H0B-35

displays "0".
SHIFT
-93-
Displays the servo motor

Motor speed
speed when the fault defined
upon occurrence
H0B-37 RPM by H0B-37 occurred
of the selected Display of -3000 RPM:
fault
displays "0".
Displays the RMS value of

phase U winding current Display of 4.60 A:
Motor phase U
of the servo motor when
current upon
H0B-38 0.1 A the fault defined by H0B-38
occurrence of the
occurred.
selected fault
displays "0".
Displays the RMS value of

Motor phase V phase V winding current of the Display of 4.60 A:
current upon servo motor when the fault
H0B-39 0.1 A
occurrence of the defined by H0B-39 occurred.
selected fault When there is no fault, H0B-39
displays "0".

220 VAC:
Displays the DC bus voltage of

Bus voltage upon the main circuit when the fault
H0B-40 occurrence of the V defined by H0B-40 occurred.
selected fault When there is no fault, H0B-40
380 VAC:
displays "0".
Displays the high/low level

In cases where the value of H0B-41
status of the five DIs when
read by the software tool is 0x0001,
the fault defined by H0B-41
and the corresponding binary code is
occurred.
Input terminal 0000 0000 0000 0001 .
The viewing method is the
status upon
H0B-41 - same as that of H0B-03. DI4 DI2
occurrence of the DI5 DI3 DI1
selected fault When there is no fault, all

the DIs are displayed as low
level by H0B-41, and the
corresponding hexadecimal
1 1 1 1 0
value is "0".
-94-
Displays the high/low level

status of the three DOs when
the fault defined by H0B-34 Display of H0B-43 = 0x0003:
occurred.
Output terminal DO2
The viewing method is the DO3 DO1
status upon
H0B-43 - same as that of H0B-05.
occurrence of the
selected fault When there is no fault, all
the DOs are displayed as Low High High
low level by H0B-43, and the 0 1 1
corresponding decimal value

is "0".
Display of 10000 reference units:
Position deviation = Sum of

Position
input position references
deviation counter
H0B-53 Reference unit (reference unit) - Sum of
(32-bit decimal
pulses fed back by the
value)
SHIFT
encoder (reference unit)
Display of 3000.0 RPM:
SHIFT
Actual motor Displays the actual motor

H0B-55 0.1 RPM
speed speed in unit of 0.1 RPM. Display of -3000.0 RPM:
SHIFT
Display of 12.0 V:
Control power Displays the control power DC

H0B-57 0.1 V
voltage voltage.
-95-
Displays the mechanical

Mechanical
SHIFT
absolute position (low 32 bits)

H0B-58 absolute position Encoder unit
when an absolute encoder is
(low 32 bits)
used.
SHIFT
Display of "-1" encoder unit:

Displays the mechanical
Mechanical
absolute position (high 32 bits)
H0B-60 absolute position Encoder unit
(high 32 bits)
used.
Display of 32767:
Number of the Displays the present number
H0B-70 absolute encoder Rev of revolutions of an absolute
revolutions encoder.
Single-turn
Displays the single-turn
position feedback
H0B-71 Encoder unit position feedback of an
of an absolute
absolute encoder.
encoder
SHIFT
Absolute encoder Displays the absolute position

SHIFT
H0B-77 position (low 32 Encoder unit (low 32 bits) of the motor when
bits) an absolute encoder is used.
SHIFT
Display of "-1" encoder unit:

Displays the absolute position
Absolute encoder
(high 32 bits) of the motor
H0B-79 position (high 32 Encoder unit
bits)
used.
-96-
Single-turn
Displays the position feedback
position feedback
SHIFT
of the mechanical load (low 32

H0B-81 of the load in Encoder unit
bits) when the absolute system
rotation mode
works in rotation mode.
(low 32 bits)
SHIFT
Single-turn Display of 1 encoder unit:

Displays the position feedback
position feedback
of the mechanical load (high 32
H0B-83 of the load in Encoder unit
bits) when the absolute system
rotation mode
works in rotation mode.
(high 32 bits)
Display of 1073741824 referent units:
Single-turn Displays the absolute SHIFT

position of the mechanical position when
H0B-85 Reference unit
load in rotation the absolute system works in
mode rotation mode.
SHIFT
4.3 Parameter Setting

Parameter settings can be performed through the keypad. For details on parameters, see "11.2 List of
Object Groups" . The following figure shows how to change from position control mode to speed control
mode after the power supply is switched on.
Servo status display
Servo ready
MODE
MODE
Parameter
group UP
MODE SET
Parameter
No.
SET
Parameter DOWN
MODE
SET
Parameter setting
completed
Figure 4-5 Procedures for parameter setting
-97-
■■ : Used to switch the keypad display mode and return to the previous menu.
■■ " "/" ": Used to increase or decrease the value of the blinking digit.
■■ " ": Used to shift the blinking digit.
■■ " ": Used to save present setting values or switch to the next menu.
After parameter setting is done, that is, "Done" is displayed on the keypad, press to return to
parameter group display (interface of "H02-00").
4.4 User Password

After user password (H02-30) is enabled, only the authorized user can perform parameter settings; other
operators can only view the parameter.
■■ Setting the user password
The following figure shows how to set the password to "00001".
Start
Power on
View the set

value of
H02-30.
SET
Last digit No "SET" button

"- - - - -"
blinking? displayed
"SET" button
UP Yes
Input the set

Set the password.
password.
"SET" button
SET "SET" button
Correct No "Error"
"Er.941" password? displayed
displayed
Yes
Power on again
User password "done"

activated displayed
"MODE" button
Return to the
End interface that
displays H02-30.
Figure 4-6 Procedures for user password setting
To change the user password, input the present password first to authorize the access to parameter
setting, and then enter H02-30 again to set a new password according to the method described in the
preceding figure.
If the last digit does not blink, the present password is protected. If the last digit blinks, no password is
set or a correct password has been entered.
NOTE
■■ Canceling user password
Enter the set user password, and set H02-30 to "00000" to cancel user password.
-98-
4.5 General Functions
4.5.1 Jog
$"65*0/
The jog function requires the S-ON signal to be deactivated. Otherwise, jogging
cannot be executed.
Users can perform trial running on the servo motor and the servo drive through jogging.
■■ Operating process
Start
Power on
Enter the
interface for
setting "H0D-11". SET
“SET” button
Set and display

the initial motor
jogging speed.[1]
SHIFT/UP
"UP/DOWN" button
Set and display

the motor jogging
speed.
SET
"SET" button
"JOG" displayed,
indicating motor
powered on and
jog function
available
"UP/DOWN" button
Make the motor

UP DOWN
rotate forwardly/
reversely.[2]
End
CCW CW
Figure 4-7 Procedures for setting the jog function
[1] Press or to increase or decrease the motor jogging speed. After exiting from the jog mode, the motor reverts
to the initial speed.
[2] Press or to make the servo motor rotate in forward or reverse direction. After you release the button, the
servo motor stops immediately.
-99-
■■ Exiting from jog
Press to exit from the jogging status and return to the previous menu.
4.5.2 Forced DI/DO Signals
There are five DI signals and three DO signals on terminal CN1 of SV660N. Users can allocate the DI/
DO function and terminal logic to parameters in group H03/H04 by using the keypad (or host controller
communication), so that the host controller can control corresponding servo functions through the DI or
the DO signal output by the servo drive.
The servo drive also provides forced DI/DO function. The forced DI can be used to test the DI function
of the servo drive, and the forced DO can be used to check the DO signal connection between the host
controller and the servo drive.
■■ Definition of DI/DO functions
Code Name Function Description Remarks

Consisting of two digits which indicate the terminal function
Input signal function description
The S-ON function is only valid

Invalid - Servo motor disabled in
in non-bus control mode.
local mode
01 S-ON Servo ON The logic of the corresponding
Valid - Servo motor enabled in
terminal must be set to level
local mode
valid.
This function is valid only in

Valid: Fault reset under local
non-bus control mode.
mode
02 ALM-RST Fault reset It is recommended that the
Invalid: Fault not reset under
logic of the corresponding
local mode
terminal be set to level valid.
When the mechanical

movement is beyond
the movable range, the
Positive limit Valid - Forward drive inhibited overtravel prevention will be
14 P-OT
switch Invalid - Forward drive permitted implemented.
It is recommended that the
When the mechanical

movement is beyond
the movable range, the
Negative limit Valid - Reverse drive inhibited overtravel prevention will be
15 N-OT
switch Invalid - Reverse drive permitted implemented.
Invalid - Mechanical load beyond

The logic of the corresponding
the home switch range
31 HomeSwitch Home switch terminal must be set to level
Valid - Mechanical load within
valid.
the home switch range
Valid: Position locked after stop

Emergency at zero speed
34 EmergencyStop logic of the corresponding
stop Invalid: Current running status
not affected
-100-
Code Name Function Description Remarks

The probe logic is only related
Invalid - Probe not triggered
38 TouchProbe1 Touch probe 1 to the probe function (60B8h)
Valid - Probe can be triggered
instead of the terminal logic.
The probe logic is only related

Invalid - Probe not triggered
39 TouchProbe2 Touch probe 2 to the probe function (60B8h)
Valid - Probe can be triggered
instead of the terminal logic.
Output signal function description
Valid - Servo ready

01 S-RDY Servo ready The servo drive is ready to run.
Invalid - Servo not ready
Invalid - Absolute value of the

filtered motor speed smaller
than the value of H06-16.
02 TGON Motor rotating -
Valid - Absolute value of the
filtered motor speed reaching
the value of H06-16.
Valid: Brake signal outputted

09 BRK Brake output Invalid: Brake signal not -
outputted
Valid - Warning occurs on the

servo drive
10 WARN Warning Invalid - No warning occurs on -
the servo drive or the warning
has been reset
Valid - Fault occurs on the servo

drive
11 ALM Fault Invalid - No fault occurs on the -
servo drive or the fault has been
reset
Valid: Servo drive passing the

target position comparison
Position point
25 CMP -
comparison Invalid: Servo drive not passing
the target position comparison
point
The EDM will output valid

Valid: STO function triggered
signals only when the 24 V input
32 EDM Safety status Invalid: STO function not
voltages for STO1 and STO2 are
triggered
disconnected simutaneously.
1 Forced DI signal
When this function is enabled, all DI levels will be controlled by H0D-18 (Forced DI value).
-101-
Start
Set the DI
function and logic
according to
group H03.
Set H0D-17 to 1 or
3 to enable forced
DI function.
Set H0D-18 to set

the high/low level
of the DI.
Monitor DI
terminal level
status through
H0B-03.
End
Figure 4-8 Procedures for forced DI signal setting
☆ Related parameters:
Parameter No.
Setting Effective
Software Name Value Range Function Default
Keypad Condition Time
Tool
0: No operation
1: Forced DI enabled, forced
DO disabled This parameter
Forced DI/DO is used to select During
H0D-17 200D-12h 2: Forced DO enabled, forced Immediately 0
selection the forced DI/ running
DI disabled
DO function.
3: Forced DI and DO enabled
4: Bus forced DO
H0D-18 is used to set the forced DI level. The keypad display is in hexadecimal, after being converted to
binary, the number "1" indicates high level and the number "0" indicates low level.
The DI logic is defined by parameters in group H03. H0B-03 is used to monitor the DI level status. The
keypad displays the level, and the value of H0B-03 (Monitored DI signal) read by the software tool is a
decimal number.
■■ Example
To activate the DI function allocated to DI1 and deactivate DI functions allocated to DI2 to DI5, set as
follows (logic of all the five DIs being "low level valid"):
As the number "1" indicates high level and "0" indicates low level, the binary value is "11110", which
correspond to the hexadecimal number "1E". Therefore, set the value of H0D-18 (Forced DI value) to "1E"
through the keypad.
-102-
SET
1 1 1 1 0 Level
DI5 DI4 DI3 DI2 DI1
Figure 4-9 Description of H0D-18 setting
■■ Monitoring the DI level status through H0B-03
If the DI function is normal, the displayed value of H0B-03 is always the same as that of H0D-18.
In this case, DI1 is displayed as low level and DI2 to DI9 are displayed as high level on the keypad, and
the value of H0B-03 read by the software tool is 1E (hexadecimal). The keypad display is as follows.
DI4 DI2
DI5 DI3 DI1

1 1 1 1 0
Figure 4-10 DI level status corresponding to H0B-03
■■ Exit
The forced DI function is not retentive upon power-off. Normal DIs apply after restart, or you can set
H0D-17 (Forced DI/DO selection) to 0 (No operation) to return to the normal DI mode.
2 Forced DO signal
After this function is enabled, all DO levels are controlled by H0D-19 (Forced DO value).
$"65*0/
In cases where the servo motor is used for vertical motion, if the brake output signal (FunOUT.9: BK,
brake output) is active, the brake will be released and the load may fall. Therefore, take protective
measures on the machine to prevent falling.
-103-
Start
Set the DO
function and logic
according to
group H04.
Set H0D-17 to 2 or
3 to enable forced
DO function.
Set H0D-19 to
activate or
deactivate the DO
function.
Monitor the DO
terminal level
status through
H0B-05.
End
Figure 4-11 Procedures for forced DO signal setting
H0D-19 (Forced DO value) is used to set whether the forced DO function is valid. The keypad displays the
value in hexadecimal, after being converted to binary, the number "1" indicates the DO function is valid
and "0" indicates the DO function is invalid.
Parameters in group H04 are used to set the DO logic. H0B-05 is used to monitor the DO level status. The
keypad displays the level, and the value of H0B-05 (Monitored DO signal) read by the software tool is a
decimal number.
Example: To activate the DO function allocated to DO1 and deactivate DO functions allocated to DO2 and
DO5, set as follows:
As the number "1" indicates the DO function is valid and "0" indicates the DO function is invalid, the
binary value will be "110", which corresponds to the hexadecimal number "6". Therefore, set H0D-19
(Forced DO value) to 6 through the keypad.
SET
1 1 0 Function
DO3 DO2 DO1
Figure 4-12 Description of H0D-19 setting
-104-
■■ Monitoring the DO level status through H0B-05
If the logic of all the three DO terminals are active at low level, the DO1 is high level and DO2 to DO5
terminals are low level, and the corresponding binary number is "001". In this case, the value of H0B-05
(Monitored DO signal) read by the software tool is 1 (decimal). The keypad display is as follows.
DO2
DO3 DO1
Low Low High

0 0 1
Figure 4-13 Display of H0B-05 when all DOs are "low level valid"
If the logic of all the three DOs are active at high level, the DO1 terminal is low level and DO2 to DO5
terminals are high level, the corresponding binary number is "110", and the value of H0B-05 (Monitored
DO signal) read by the software tool is 6 (decimal). The keypad display is as follows.
DO2
DO3 DO1
High High Low

1 1 0
Figure 4-14 Display of H0B-05 when all DOs are "high level valid"
■■ Exit
The forced DO function is not retentive upon power-off. Normal DOs apply after restart, or you can set
H0D-17 (Forced DI/DO selection) to 0 (No operation) to return to the normal DO mode.
3 Forced DO signals controlled by the bus
After this function is enabled, all DO signal levels are controlled by 60FE-01h (Physical output).
In cases where the servo motor is used for vertical motion, if the brake output signal (FunOUT.9: BK,
brake output) is active, the brake will be released and the load may fall. Therefore, take protective
measures on the machine to prevent falling.
-105-
Start
Set H0D-17 to 4 to
enable bus forced
DO function.
Select the DOs to bit16 to bit18 in 60FE-02h(Bit mask for

be set through enabling physical output) are used to set
communication whether to control the output level of DO1,
by 60FE-02h. DO2, and DO3 through communication.
Set the output bit16 to bit18 in 60FE-01h (Physical output)

level of the are used to set the output level of DO1, DO2
selected DO and DO3 through communication.
through 60FE-01h.
Monitor the DO
terminal level
status through
H0B-05.
End
Figure 4-15 Procedures for bus forced DO signal setting
When 200D-12h is set to 4, 60FE (Digital output) can be used to forcibly set the DO level through the bus.
Bit Related DO Physical output enabled: 60FE-02h Physical output: 60FE-01h
16 DO1 1: DO1 forced output enabled DO1 forced output (0: OFF, 1: ON)
When 200D-12h is set to 4 and any bit in bit16 to bit18 of 60FE-02h is 1, the corresponding forced DO is
OFF.
H0B-05 is used to monitor the DO level status. The keypad displays the level, and the value of H0B-05
(Monitored DO signal) read by the software tool is a decimal number.
Example: To make the output level of DO1 to DO3 be forcibly set by the bus, in which DO1 outputs low
level and DO2 to DO3 output high level, set as follows:
Set 200D-12h to 4, 60FE-02h to 0x00070000 and 60FE-01 to 0x00060000, and monitor the DO level status
through H0B-05 (Monitored DO signal). The keypad display is as follows.
DO2
DO3 DO1
High High Low

1 1 0
Figure 4-16 Display of H0B-05 when DO signals are controlled by the bus
-106-
■■ Exit
The bus-controlled forced DO signal is not retentive upon power-off. Normal DOs apply after restart, or
you can set H0D-17 (Forced DI/DO selection) to 0 (No operation) to return to the normal DO mode.
-107-
5 Commissioning and Operation
Start
• Check cable connections.

Pre-running • Check the ambient
check environment and the
machine.
Switch on the power supply.

Power on
•
• Switch off the S-ON signal.
• Perform jogging through the keypad.

Start jogging • Perform jogging through Inovance
software tool.
• Set common parameters.

Parameter setting • Set parameters related to each control
mode.
• Run the servo drive at a low speed during

initial running.
Servo running • Set related parameters to achieve the
desired performance.
• Perform commissioning on the servo
drive.
• The S-ON signal is switched off.

Servo stop • A fault occurs.
• The limit switch signal is activated.
• The emergency-stop is applied.
End
Figure 5-1 Flowchart for servo drive settings
-108-
5.1 Pre-running Check

Check the following items before running the servo drive and the servo motor.
Table 5-1 Checklist before running
Record SN Description
Wiring
□ 1 The power input terminals ((L1, L2)/(L1, L2, L3)) of the servo drive are connected properly.
□ 2 The servo motor UVW cables are connected in the correct phase sequence at both ends.
No short circuit exists in the power input terminals ((L1, L2)/(L1, L2, L3)) and main circuit output
□ 3
terminals (U, V, W) of the servo drive.
□ 4 The control signal cables such as brake and limit switches are connected properly.
□ 5 The servo drive and the servo motor are grounded properly.
□ 6 The cable tension is within the permissible range.
□ 7 The connecting terminals are well insulated.
Environment and Mechanical Conditions
No foreign objects (such as the cable end or metal filings) which may cause short circuit exist inside
□ 1
or outside the servo drive.
□ 2 The servo drive and the external regenerative resistor are placed on inflammable objects.
□ 3 The servo motor installation and the shaft and mechanical connections are reliable.
□ 4 The servo motor and the machine that the servo motor is connected to are ready to run.
5.2 Power-on
■■ Switching on the input power supply
The input power terminals of single-phase 220 V models are L1 and L2.
After switching on the input power supply, if the bus voltage indicator is in normal status and the keypad
displays "reset" → "ry" in sequence, it indicates the servo drive is ready to run and waits for the S-ON
signal to be sent from the host controller.
If the keypad keeps displaying "nr", see "9 Troubleshooting" for solutions.
If the keypad displays the fault code, see "9 Troubleshooting" for solutions.
■■ Deactivating the S-ON signal
5.3 Jog
Perform jogging to check whether the servo motor can rotate properly without abnormal vibration or
noise. The jog function can be enabled through the keypad (jogging in speed mode/jogging in position
mode) and Inovance software tool (jogging in speed mode).
The acceleration/deceleration time constant of the speed/position reference can be set through
H06-12 (2006-0Dh) during jogging.
NOTE
-109-
■■ Through the keypad (jogging in speed mode)
Enter the jogging in speed mode by setting H0D-11 through the keypad, and the keypad displays the
default jogging speed, which can be modified by pressing / . Press to enter the jogging status,
and the keypad displays "JOG". Power on the servo motor, and hold down / to switch between
forward and reverse jog as needed. Press to exit from the jog mode.
■■ Through Inovance servo commissioning software (jogging in speed mode)
Open the "Speed JOG" interface (as indicated by the red square frame in the following figure) in the
software tool and set the jog speed. After switching the servo status to ON, press the forward/reverse
arrow displayed on the interface to switch between forward and reverse jog as needed.
■■ Through the keypad (jogging in position mode)
Enter the jogging in position mode by setting H0D-08 through the keypad, and the keypad displays the
default jogging speed, which can be modified by pressing / . Press to enter the jogging status,
and the keypad displays "JOG-P". Power on the servo motor, and hold down / to switch between
forward and reverse jog as needed. Press to exit from the jog mode.
Setting
Acceleration ramp time Condition Any condition Data Data
H06-12 Name - Uint16
of jog speed & Effective & Immediately Structure Type
Time
2006-0Dh Related 0 to 65535
Access RW Mapping Yes All Data Range Default 10
Mode (ms)
Used to set the time constant for the servo motor to accelerate from 0 RPM to 1000 RPM.
5.4 General Parameter Settings
5.4.1 Rotation Direction
Set H02-02 (2002-03h) (Rotation direction) to change the motor rotation direction without changing the
polarity of the input reference.
Setting
At stop
Condition Data
H02-02 Name Rotation direction & - Data Type Uint16
& Effective Structure
Next power-on
Time
Related Data
2002-03h Access RW Mapping - All 0–1 Default 0
Mode Range
-110-
Defines the forward direction of the motor when viewed from the motor axis side.
Value Rotation direction Remarks

CCW direction as the forward direction when forward run command is input,
CCW as the forward
0 indicating the motor rotates in CCW direction when viewed from the motor axis
direction
side
CW as the forward CW direction as the forward direction when forward run command is input,
1
direction indicating the motor rotates in CW direction when viewed from motor axis side
Reverse
direction
(CW)
Forward
direction
(CCW)
The value change of H02-02 (2002-03h) does not affect the pulse output form and the positive/negative
attribute of monitoring parameters.
The "Forward drive" and rotation direction in the overtravel prevention function is the same as the
setting in H02-02 (2002-03h).
5.4.2 Brake Settings
The brake is used to prevent the servo motor shaft from rotating during non-operating status of the
servo drive. This is to keep the motor and the mechanical motion part in locked position.
Prevent the workbench from moving due to Servo motor

external forces (with built-in
External Servo motor Prevent movement
brake)
force (with built-in due to gravity when
brake) the power supply is
turned off
Figure 5-2 Application of the motor brake
$"65*0/
◆◆ Use the built-in brake for position-lock in the stop state only.
◆◆ The brake coil has no polarity.
◆◆ After the servo motor stops, switch off the S-ON signal.
◆◆ When the servo motor with built-in brake runs, the brake may generate clattering sound. Such
sound does not affect the motor functions.
◆◆ When brake coils are energized (the brake is released), magnetic flux leakage may occur at the
shaft end. Pay special attention when using magnetic sensors around the servo motor.
1 Brake connection
The connection of the motor brake input signal has no polarity. Users need to prepare a 24 V power
supply. The following figure shows the standard wiring of the brake signal (BK) and motor brake power
supply.
-111-
Servo drive
L1 U Motor
Single-phase Noise V
220 VAC filter M
W
L2
Encoder
CN2 PG
Brake control relay

CN1 BK-RY
DOx+(BK+) +24V Brake
+24V BK
DOx-(BK-)
(Brake power
supply)
Figure 5-3 Wiring of the motor brake
Pay attention to the following precautions during wiring:
When deciding the length of the cable on the motor brake side, take the voltage drop caused by cable
resistance into consideration. The input voltage must be at least 21.6 V to enable the brake to work
properly. The following table lists brake specifications of Inovance MS1 series servo motors.
Table 5-2 Brake specifications
Holding Supply Voltage Resistance Supply Current Release Close Time

Motor Model
Torque (Nm) (±10%) (VDC) (Ω) ±7% Range (A) Time (ms) (ms)
MS1H1-10B 0.32 24 96 0.23–0.27 20 35
MS1H1-20B/40B 1.3 24 89.5 0.25–0.34 20 50
MS1H4-40B 1.3 24 89.5 0.25–0.34 20 50
MS1H1-75B 2.5 24 72 0.40–0.57 25 60
MS1H4-75B 2.5 24 50.1 0.40–0.57 25 60
MS1H3-85B 12 24 21.3 0. 95–1.33 60 120
◆◆ Do not share the same brake power supply with other devices. This is to prevent brake
malfunction due to voltage or current drop resulted from other working devices.
2 Brake software setting
For the servo motor with brake, allocate function 9 (FunOUT.9: BK, brake output) to a certain DO, and set
the valid logic of this DO.
Related function No.
Function No. Name Function Description
Invalid: The brake power supply is switched on, the brake acts, and the motor
Brake stays in position lock state.
FunOUT.9 BK
output Valid: The brake power supply is switched off, the brake is released, and the
motor can rotate.
Depending on the present state of the servo drive, the working time sequence of the brake mechanism
can be divided into brake time sequence in normal servo status and brake time sequence in servo fault
status.
-112-
3 Brake time sequence in normal servo status
The brake time sequence in normal servo status is divided into the following two conditions:
Motor at standstill: The actual motor speed is less than 20 RPM.
Motor rotating: The actual motor speed is equal to or higher than 20 RPM.
■■ Motor at standstill
If the S-ON signal is OFF, and the present motor speed is less than 20 RPM, the servo drive acts according
to the brake time sequence in motor at standstill.
$"65*0/
◆◆ After the brake output signal changes from ON to OFF, do not input a position/speed/torque
reference within the time defined by 2009-0Ah/2000-34h. Otherwise, reference loss or running
error may occur.
◆◆ When the motor drives a vertical axis, the load may move slightly due to the gravity or
external force. For the motor at standstill, if the S-ON signal is off, the brake output will be off
immediately. However, within the time defined by H02-10 (2002-0Bh), the motor is still energized
to prevent the mechanical motion part from moving due to the gravity or external force.
ON
OFF OFF
S-ON
ON
Motor OFF OFF

energized [3]
ON 2002-0Bh
Brake output OFF OFF

(BK)
[1] ON (brake deactivated)
[2]
OFF brake
Brake contactor activated OFF
Position/Speed/Torque [2]
reference
ON
Stop at zero
speed OFF OFF
Motor
speed
Figure 5-4 Brake time sequence in motor static status
[1] For the brake triggering delay time, see the motor specifications in "5 Electrical specifications for the motor
with brake" .
[2] The time interval from the moment when brake output becomes ON to the moment when the command is input
must be larger than the time defined by 2009-0Ah/2000-34h.
[3] For the motor at standstill (motor speed less than 20 RPM), when the S-ON signal is turned off, the brake output
signal is set to OFF. You can set the delay from brake output OFF to motor de-energized through 2002-0Bh.
-113-
Setting
Delay from brake Any condition
Condition Data Data
H02-09 Name output ON to & - Uint16
& Effective Structure Type
command received Immediately
Time
Related
2002-0Ah Access RW Mapping - All Data Range 0–500 (ms) Default 250
Mode
Defines the delay from the moment the brake output signal becomes ON to the moment when the servo drive starts
to receive input commands after power-on.
Within the time defined by 2002-0Ah, the servo drive does not receive position/speed/torque references.
Setting
Delay from brake Condition Any condition
Data Data
H02-10 Name output OFF to motor & & - Uint16
Structure Type
de-energized Effective Immediately
Time
Related
2002-0Bh Access RW Mapping - All Data Range 50–1000 (ms) Default 150
Mode
Defines the delay from the moment the brake output signal becomes OFF to the moment when the motor enters
de-energized status.
■■ Motor rotating
If the S-ON signal is OFF and present motor speed is equal to or higher than 20 RPM, the servo drive acts
according to the brake time sequence in motor rotating status.
$"65*0/
◆◆ After the S-ON signal changes from OFF to ON, do not input a position/speed/torque reference
within the time defined by 2009-0Ah/2000-34h. Otherwise, reference loss or running error may
occur.
◆◆ If the S-ON signal becomes OFF during servo motor rotating, the servo motor enters ramp-to-
stop state as defined by 6085h, but the brake output signal becomes OFF only after one of the
following conditions is met:
1) The motor has decelerated to the value defined by 2002-0Ch (Motor speed threshold at brake
output OFF in rotation state) when the time defined by 2002-0Dh (Delay from S-ON OFF to brake
output OFF in rotation state) is not reached.
2) The time defined by 2002-0Dh is reached, but the motor speed is still higher than the value of
2002-0Ch.
◆◆ After the brake output signal changes from ON to OFF, the motor remains in energized state
within the time defined by 2002-0B to prevent the mechanical motion part from moving due to
the gravity or external force.
-114-
ON
S-ON OFF OFF
ON
Motor OFF OFF

energized
2002-0Bh
ON
Brake output
OFF OFF
(BK)
ON (brake deactivated) 2002-0Dh
[1] [3]
Brake OFF (brake
contactor activated) OFF
[4]
Position/Speed/Torque [2]
reference
Motor [3]
speed 2002-0Ch
Figure 5-5 Brake time sequence at motor rotating
[1] For the delay of brake contactor actions, see "5 Electrical specifications for the motor with brake" for details.
[2] The time interval from the moment when brake output becomes ON to the moment when the command is input
must be larger than the value defined by 2009-0Ah/2000-34h.
[3] When the S-ON signal is switched off during motor rotating, you can set the delay for brake output OFF by
2002-0Ch and 2002-0Dh.
[4] The motor enters de-energized state only after the time defined by 2002-0Bh elapses upon brake output OFF.
Motor speed Setting

threshold at brake Condition Any condition Data Data
H02-11 Name - Uint16
output OFF in & Effective & Immediately Structure Type
rotation state time
Related
2002-0Ch Access RW Mapping - All Data Range 20–3000 (RPM) Default 30
Mode
Defines the motor speed threshold when the brake output signal becomes OFF during motor rotating.
Delay from S-ON Setting

Any condition
OFF to brake output Condition Data Data
H02-12 Name & - Uint16
OFF in rotation & Effective Structure Type
Immediately
status Time
Related 1–1000
2002-0Dh Access RW Mapping - All Data Range Default 500
Mode (ms)
Defines the delay from the moment the brake output signal becomes OFF to the moment when the S-ON signal
becomes OFF during motor rotating.
■■ Brake time sequence in quick stop
The states after quick stop can be divided into de-energized or position-lock depending on the stop
mode. For the de-energized state (605Ah ＜ 4), the brake output condition is the same as the brake time
sequence in normal servo status (motor rotating).
■■ Brake time sequence in fault status
The servo faults are classified into level 1 faults (No.1) and level 2 (No.2) faults. For details, see "9
Troubleshooting" . The brake time sequences in fault status are categorized into the following two
situations:
1) No. 1 faults:
-115-
When a No. 1 fault occurs and the brake is enabled, the stop mode upon No. 1 fault is forced to "DB stop,
keeping DB state", but the brake output condition is the same as the brake time sequence in normal
servo status (motor rotating).
2) No. 2 faults:
When a No. 2 fault occurs and the brake is enabled, the stop mode is forced to "Ramp to stop, keeping
DB state", but the brake output condition is the same as the brake time sequence in normal servo status
(motor rotating).
◆◆ Recommended setting value:

When the brake is applied, the setting value of 6085h (Stop deceleration) must meet the following
requirement:
Deceleration time ＜ 2002-0Dh
NOTE If the preceding requirement cannot be fulfilled, the deceleration command will be based on
2002-0Dh.
5.4.3 Regenerative Resistor Settings

When the motor torque direction is opposite to the speed direction, the energy is transmitted from the
motor to the servo drive, causing bus voltage rise. Once the bus voltage rises to the braking threshold,
the surplus energy must be consumed by a regenerative resistor. Otherwise, the servo drive will be
damaged.
The regenerative resistor can be a built-in or an external one. However, a built-in regenerative resistor
cannot be used together with an external regenerative resistor. The following table lists the specifications
of the regenerative resistor.
Table 5-3 Specifications of the regenerative resistor for SV660N series servo drive
Specifications of Built-in Regenerative Resistor Min. Permissible Resistance of External

Servo Drive
Regenerative Resistor (2002-16h)
Model Processable Power
Resistance (Ω) Power (W) (Ω)
Pa(W)
SV660NS1R6I - - - 50
SV660NS2R8I - - - 45
SV660NS5R5I 50 50 25 40
SV660NS6R6I 50 50 25 40
The models S1R6 and S2R8 do not have the built-in regenerative resistor. Users need to prepare an
external regenerative resistor as needed.
■■ No external load torque
The energy at braking of reciprocating motor movement is converted into electric energy and fed back
to the bus capacitor. When the bus voltage rises above the braking voltage threshold, the regenerative
resistor will consume the excessive feedback energy. The following figure takes no-load running from
3000 RPM to 0 RPM as an example to show the motor speed curve.
Motor
speed
3000 RPM
Motor
deceleration
0 T
t
Motor
deceleration
-3000 RPM
Reciprocating motor
movement cycle (T)
Figure 5-6 Motor speed curve without external load torque
-116-
■■ Energy data
The following table lists the energy data generated during no-load running of a 220 V motor from
3000 RPM to 0 RPM.
Rotor Max. Braking Energy

Servo Motor Model Braking Energy EO (J) Generated
Capacity Inertia J Absorbed by Capacitor
MS1H*-*******-***** from 3000 RPM to 0 RPM
(10-4kgm2) EC (J)
100 W 10B30CB 0.048 0.237 9
200 W H1 20B30CB 0.163 0.806 9

(low inertia,
400 W small capacity) 40B30CB 0.25 1.237 18
750 W 75B30CB 1.43 6.435 26
400 W H4 40B30CB 0.667 3.301 18

(medium inertia,
750 W small capacity) 75B30CB 2.012 10.063 26
H3
(medium
850 W 85B15CB 14 76.725 26
inertia, medium
capacity)
If the time needed by the whole braking process is known (T), you can determine whether an external
regenerative resistor is needed and and the power of the resistor (if needed) by using the following
flowchart and formula.
-117-
■■ Regenerative resistor selection
Start
Determine the
reciprocating Determine the cycle based on
movement cycle actual working conditions.
T (s).
Determine the speed based on

Determine the actual working conditions or
motor speed V through reading the value from
(RPM). Inovance software tool.
Determine the
inertia ratio. See Chapter 6 for details.
J×V2
EO=
Calculate the 182
braking energy
EO (J). J: Inertia ratio
V: Motor speed
Determine the
See the preceding table to determine
energy absorbed
the max. braking energy that can be
by the capacitor
absorbed by the capacitor.
EC (J).
Calculate the
regenerative 2 x [(N + 1) x EO - EC]
resistor power Pb =
T
(Pb)needed.
Yes No
Pb>Pa？
Use an external
regenerative Yes No
resistor. P b x T > Ec ？
Derate 70% and

Use built-in Regenerative
use an external
regenerative resistor not
regenerative
resistor. needed.
resistor (Pr).
End
Figure 5-7 Flowchart for selecting regenerative resistor
◆◆ Assume that the load inertia is N times the motor inertia, the braking energy is (N + 1) x EO when
the motor decelerates from 3000 RPM to 0 RPM, the energy consumed by the regenerative resistor
will be (N+1) x EO - EC (unit: J) after deducting the energy (EC) absorbed by the capacitor. Assume
the reciprocating movement period is T, the regenerative resistor power needed will be 2 x [(N + 1)
x EO - EC]/T.
NOTE ◆◆ Determine whether to use the regenerative resistor according to the preceding flowchart and set
H02-25 (Regenerative resistor type) accordingly.
◆◆ The resistor with aluminum housing is recommended.
-118-
☆ Related parameters
Parameter Setting
Name Value Range Function Effective Time Default
No. Condition
0- Reserved
Defines the mode
1: External, natural ventilation
Regenerative of absorbing and
2002h 1A 2: External, forced air cooling At stop Immediately 3
resistor type releasing the braking
3: No regenerative resistor energy.
needed
Take the H1 series 750 W model as an example. Assume the reciprocating movement period (T) is 2s,
the maximum speed is 3000 RPM, and the load inertia is four times the motor inertia, the required
regenerative resistor power will be as follows:
2x[(N+1) x EO -EC ] 2x[(4+1)x6.4-9]

P b= = = 23 W
T 2
The calculated value is smaller than the processable capacity (Pa = 25 W) of the built-in regenerative
resistor, so a built-in regenerative resistor is sufficient.
If the inertia ratio in preceding example is changed to 10 times the motor inertia, and other conditions
remain the same, the required regenerative resistor power will be as follows:
2x[(N+1) x EO-EC ] 2x[(10+1)x6.4-9]

Pb = = = 61.4 W
T 2
The calculated value is larger than the processable capacity (Pa = 25 W) of the built-in regenerative
resistor, so an external regenerative resistor is required. The recommended power of the external
regenerative resistor is EO/(1 - 70%) = 204.6 W.
1) Connection and setting of the regenerative resistor
■■ For use of an external regenerative resistor
Use the external regenerative resistor with 70% derated, that is, Pr = Pb/(1 - 70%), and ensure the
regenerative resistor is larger than the minimum permissible resistance. Remove the jumper between P
and D, and connect the external regenerative resistor between terminals P and C.
Connect the regenerative

resistor between P and C.
L1
L2
P
C
N
U
V
W
PE
Figure 5-8 Connection of an extenal regenerative resistor
See "Table 3-4 Recommended main circuit cables and models" for cable information on terminals P and C.
Set 2002-1Ah to 1 or 2 based on the cooling mode of the regenerative resistor and set the following
parameters properly.
-119-
Parameter Setting Effective

Name Value Range Unit Function Default
No. Condition Time
Minimum
Displays the minimum
permissible
permissible resistance of Model
2002h 16h resistance of Non-settable - At display -
the external regenerative dependent
regenerative
resistor.
resistor
Defines the power of the

external regenerative
resistor actually used.
Power of
Note:
external Model
2002h 1Bh 1–65535 W The power of the external At stop Immediately
regenerative dependent
resistor regenerative resistor used
cannot be smaller than
the calculated value of the
braking power.
Defines the resistance of

the external regenerative
resistor actually used.
Note:
Resistance The resistance of the

of external external regenerative Model
2002h 1Ch 1–1000 Ω resistor (2002-1Ch) used At stop Immediately
regenerative dependent
resistor cannot be smaller than
the minimum permissible
resistance of regenerative
resistor (2002-16h).
Otherwise, Er.922.0 will
occur.
$"65*0/
◆◆ Set the resistance (2002-1Ch) and power (2002-1Bh) of the external regenerative resistor
properly. Improper settings will impact the performance.
◆◆ When an external regenerative resistor is used, ensure the resistance of the external regenerative
resistor is larger than the minimum permissible resistance.
◆◆ In a natural ambient environment, when the regenerative resistor is used at its rated power
rather than the processable power (average value), the temperature of the resistor will rise to
above 120° C during continuous braking. To ensure safety, cool the resistor down by forced
air cooling or use a resistor with a thermal switch. For load characteristics of the regenerative
resistor, contact the manufacturer.
Set the heat dissipation coefficient based on the heat dissipation condition of the external regenerative
resistor.
-120-
Parameter Value Setting

Name Unit Function Effective Time Default
No. Range Condition
Used to set resistor heat dissipation

coefficient when an external
regenerative resistor is used.
Resistor heat The value cannot be larger than
2002h 19h dissipation 10–100 % 30% when natural ventilation is At stop Immediately 30
coefficient used.
The value cannot be larger than
50% when forced air cooling is
used.
◆◆ The larger the heat dissipation coefficient is, the better the braking efficiency is.
◆◆ When Pb < Pa and Pb x T > EC, use the built-in regenerative resistor. In this case, set H02-25 to 0.
◆◆ When Pb x T ＜ EC, no regenerative resistor is required because the bus capacitor is sufficient to
NOTE absorb the braking energy. In this case, set 2002-1Ah to 3.
2) External load torque exist and motor staying in generating state
When the motor torque direction is the same with the axis rotating direction, the motor outputs energy
to the outside. In some special applications where the motor torque output is opposite to the rotating
direction, the motor is in power generating status and feeds the electric energy back to the servo drive.
When the load is in continuous power-generating status, it is recommended to adopt the common DC
bus mode.
Motor
speed
External
load
torque
Motor
output
torque
Motor output Motor output Motor output Motor output

(generating) (motoring) (generating) (motoring)
Figure 5-9 Example of the curve under the existence of external load torque
Take the H1 series 750 W model (rated torque 2.39 N·m) as an example. When the external load torque is
60% of the rated torque and the motor speed is 1500 RPM, the power fed back to the servo drive is:
(60% x 2.39) x (1500 x 2π/60) = 225 W. As the regenerative resistor is derated by 70%, the power of the
external regenerative resistor is: 225/(1 - 70%) = 750 W, with resistance being 50 Ω.
-121-
5.5 Servo Running

1) Switch on the S-ON signal.
When the servo drive is ready to run, the keypad displays "rn", but if there is no command input, the
servo motor will not rotate and stay in the locked state.
2) After a command is input, the servo motor starts running.
Table 5-4 Operation of the servo drive
Record No. Description
At initial running, set an appropriate reference to make the motor run at a low speed and check
□ 1
whether the motor rotates properly.
Observe whether the motor rotates in the correct direction. If the rotation direction is opposite to
□ 2
the expected direction, check the input reference and reference direction.
If the rotation direction is correct, observe the actual motor speed in 200B-01h and average load
□ 3
ratio in 200B-0Dh through the keypad or Inovance software tool.
After checking the preceding running conditions, set related parameters properly to adapt the
□ 4
motor to actual working conditions.
□ 5 Perform commissioning on the servo drive according to the instructions in Chapter 6.
3) Power-on sequence
Power supply set up
Main power Reset 200‒400 ms [1] ON

supply OFF
L1, L2
Microprocessor Not Working normally

Initialization: 2s
action working
200 ms
Servo drive
OFF ON
ready to output
(ry)
Above 0s
OFF ON
S-ON
ON [2] OFF
DB brake
OFF About 100 ms ON

Motor
energized
OFF ON
Brake output
(BK)
OFF (Brake
Brake ON (Brake
activated) [3]
contactor deactivated)
[4]
Position/Speed/
Torque Without reference With reference
references
Figure 5-10 Power-on sequence
[1] The reset time is determined by the setup time of the +5V power of the microprocessor.
[2] The DB brake is included in the standard configuration.
[4] When the brake function is not enabled, the command delay time is invalid.
-122-
4) Time sequence for stop upon warning or fault
■■ Fault 1: Coast to stop, keeping de-energized state
Fault occurs? Normal Fault

About 0.1 ms to 4 ms
Absolute value of
the motor speed 0 RPM
Motor
Energized De-energized
energized
Servo alarm Non-fault

Err fault status
status output status
Figure 5-11 Time sequence of "coast to stop, keeping de-energized state" at No. 1 fault
■■ Fault 1 (without brake): DB stop, keeping de-energized state
About 0.1 ms Fault

Fault occurs？ Normal
to 4 ms
Absolute value of 10 RPM

Motor
energized Energized
De-energized
Servo alarm Non-fault Err fault

status output status status
Dynamic brake output ON O FF

O FF
(DB)
Figure 5-12 Time sequence of "DB stop, keeping de-energized state" at No. 1 fault
-123-
■■ Fault 1 (with brake): DB stop, keeping DB state
Fault occurs? Normal About 0.1 ms Fault

to 4 ms
Absolute value of 2002-0Ch

Motor
energized
Servo alarm Non-fault Err fault

status output status status
Dynamic brake
output (DB) O FF ON
Delay for 2002-0Dh or speed less

than 2002-0Ch
Brake output
(BK) ON O FF
[1]
Brake O FF (Brake
ON (Brake
contactor activated)
deactivated)
Figure 5-13 Time sequence of "DB stop, keeping DB state" at No. 1 fault (with brake)
■■ Fault 1: Without brake, DB stop, keeping DB state
Fault occurs? Normal About 0.1 ms to Fault

4 ms
Absolute value of
Motor
energized

Err fault status
Dynamic brake
output OFF ON
(DB)
Figure 5-14 Time sequence of "DB stop, keeping DB state" at No. 1 fault
■■ Fault 2
Without brake, ramp to stop, keeping de-energized state, same as "coast to stop upon No. 1 fault"
Without brake, DB stop, keeping DB state[1]
-124-
About 0.1 ms Fault

Fault occurs? Normal
to 4 ms
Absolute value of
Motor
energized Energized
De-energized

status output status Err fault status
Dynamic brake
output [1] OFF ON
(DB)
Figure 5-15 Time sequence of "Coast to stop, keeping de-energized state" at No. 2 fault
[1] After DB is enabled.

■■ Fault 2: Without brake, ramp to stop or stop at emergency torque, keeping de-energized/DB state[1]

to 4 ms
Absolute value of 10 RPM

the motor speed
0 RPM
Motor Energized
energized Stop De-energized

status output status Err fault status
ON
Dynamic brake OFF
output [1]
(DB)
Figure 5-16 Time sequence of "Ramp to stop or stop at emergency stop torque, keeping de-energized
state" at No. 2 fault (without brake)
[1] After DB is enabled.
-125-
■■ Fault 2 (with brake): Ramp to stop, keeeping DB state

to 4 ms
Absolute value of
2002-0Ch
Ramp to
stop
Motor 2002-0Bh
energized

Err fault status
Dynamic brake
output OFF ON
(DB)
Delay for 2002-0Dh or speed less
than 2002-0Ch
Brake output
(BK) ON O FF
[1]
Brake
O N (Brake O FF (Brake activated)
contactor
deactivated)
Figure 5-17 Time sequence of "Ramp to stop, keeping DB state" at No. 2 fault (with brake)
[1] For the delay of brake contact actions, see "5 Electrical specifications for the motor with brake" for details.
When a No. 3 warning occurs on the servo drive, such as Er.950.0 (Forward overtravel warning) and
Er.952.0 (Reverse overtravel warning), the servo drive stops as shown in the following figure.
■■ Overtravel warning
Stop at zero speed as defined by 6085h if the brake is enabled, keeping position lock state.
Stop at zero speed if the brake is not enabled, keeping position lock state.
About 0.1 ms
to 4 ms
Fault occurs？ Normal About 0.1 ms to 4 ms Warning
Normal
Absolute value of
the motor speed
10 RPM
0 RPM
ON
Ramp to stop/
Stop at zero speed OFF OFF
ON
Position lock
state OFF OFF
Motor
energized
Energized
Servo alarm
Non-warning Warning Non-warning
status output
status status status
Brake output
(BK) ON
Brake
contactor
ON (Brake deactivated)
-126-
Figure 5-18 Time sequence for warnings that cause stop
Except Er.950 and Er.952, the other warnings do not affect the servo running status. The time sequence
upon occurrence of these warnings is as follows:
■■ Warnings that do not cause stop
Warning occurs? Normal Warning Normal
Absolute value of
the motor speed Speed
unchanged
Motor
energized
Energized
About 0.1 ms to 4 ms About 0.1 ms to 4 ms
Servo alarm Non-warning Warning Non-warning

status output status status status
Brake output
(BK) ON
Brake
contactor O N (Brake deactivated)
Figure 5-19 Time sequence at warnings that do not cause stop
■■ Fault reset
ON
OFF
S-ON
[1]
Fault reset Not Not

Enabled
enabled enabled
About 3 ms
Servo fault Rdy Run

status output Err fault status status status
Motor De-energized Energized

energized
Stop upon “
Stop upon fault”
Stop upon fault fault cleared
Brake output OFF ON

(BK)
[2]
Brake ON (Brake deactivated)
OFF (Brake activated)
contactor
[3]
Position/Speed/ Without With
Torque reference reference reference
Figure 5-20 Time sequence of fault reset
[1] The fault reset signal is edge-triggered.

[3] The command delay is invalid when the brake is not enabled.
-127-
5.6 Servo Stop

The stop modes can be coast to stop, stop at zero speed, ramp to stop, stop at emergency torque, and DB
braking. The stop states can be de-energized state, position lock state, and DB state. See the following
table for details.
Table 5-5 Comparison of stop modes
Stop Mode Description Feature
The servo motor is de-energized and

This mode features smooth deceleration and small
decelerates to 0 gradually. The deceleration
Coast to stop mechanical impact, but the deceleration process is
time is affected by the mechanical inertia
slow.
and friction.
This mode features quick deceleration and fast

Stop at zero The servo motor decelerates immediately to
deceleration process, but the mechanical impact is
speed 0 RPM and stops.
large.
The servo motor decelerates to 0 smoothly This mode features smooth and controllable
Ramp to stop
upon position/speed/torque references. deceleration process with small mechanical impact.
Stop at This mode features quick deceleration and fast

The servo drive outputs a reverse braking
emergency deceleration process, but the mechanical impact is
torque to stop the motor.
torque large.
This mode features quick deceleration and fast

The servo motor works in dynamic braking
DB braking deceleration process, but the mechanical impact is
status.
large.
Table 5-6 Comparison of stop states
Stop States Description
The motor is de-energized after it stops rotating, and the motor shaft can be rotated
De-energized state
freely.
Position Lock state The motor shaft is locked and cannot be rotated freely after the motor stops rotating.
The motor is de-energized after it stop rotating, and the motor shaft cannot be rotated
DB state
freely.
The servo drive will stop under the following situations:
■■ S-ON OFF
Switch off the S-ON signal through communication, and the servo drive stops according to the stop
mode at S-ON OFF.
-128-
Setting
Any
Condition Data
Name Stop mode at S-ON OFF condition & - Data Type int16
605Ch At stop
Time
Related
Access RW Mapping No All Data Range -4 to 1 Default 0
Mode
Defines the deceleration mode of the servo motor from rotating to stop and the servo motor state after stop at S-ON
OFF.
Value Stop mode

-4 Ramp to stop as defined by 6085h, keeping DB state
-3 Stop at zero speed, keeping DB state
-2 Ramp to stop under all modes, keeping DB state
-1 DB stop, keeping DB statusstate
0 Coast to stop, keeping de-energized state
1 Ramp to stop under all modes, keeping de-energized state
Set a proper stop mode according to the mechanical state and running requirement.
After the brake output is enabled, the stop mode at S-ON off is forcibly set to "Ramp to stop as defined by 6085h,
keeping DB state".
■■ Stop at fault occurrence
The stop mode varies with the fault type. See "9 Troubleshooting" for details.
Setting
Stop mode at No. 1 Condition At stop & Data
H02-08 Name - Data Type Uint16
fault & Effective Immediately Structure
Time
Related
2002-09h Access RW Mapping RPDO All Data Range 0–2 Default 2
Mode
Defines the deceleration mode of the servo motor from rotating to stop and the servo motor state after stop at No. 1
fault.
Value Stop mode

1 DB stop, keeping de-energized state
2 DB stop, keeping DB state
After the brake output is enabled, the stop mode at No. 1 fault is forcicly set to "DB stop, keeping DB state".
■■ Stop at overtravel
Definition of terms:
"Overtravel": The distance of the mechanical movement exceeds the designed range of safe movement.
"Stop at overtravel": When the moving part moves beyond the range of safe movement, the limit switch
outputs a level change, and the servo drive forces the motor to stop.
-129-
Setting
Stop mode at At stop & Data Data
H02-07 Name Condition & - Uint16
overtravel Immediately Structure Type
Effective Time
2002-08h Access RW Mapping - Related Mode All Data Range 0–7 Default 1
Defines the deceleration mode of the servo motor from rotating to stop and the servo motor state after stop at
overtravel.
Value Stop mode

1 Stops at zero speed, keeping position lock state
2 Stop at zero speed, keeping de-energized state
3 Ramp to stop as defined by 6085h, keeping de-energized state
4 Ramp to stop as defined by 6085h, keeping position lock state
5 DB stop, keeping de-energized state
6 DB stop, keeping DB state
7 Not responding to overtravel
When the servo motor drives a vertical axis, for the sake of safety, set 2002-08h to 1 to make the motor shaft stay in
position lock state after overtravel occurs.
After the brake output is enabled, the stop mode at overtravel is forcibly set to "Stop as defined by 6085h, keeping
position lock state".
If the servo motor enters overtravel state when driving a vertical axis, the workpiece may fall. To prevent
such risks, set 2002-08h to 1. When the workpiece moves linearly, connect the limit switch to prevent
mechanical damage. In overtravel status, input a reverse run command to make the motor (workpiece)
run in the reverse direction.
Load
Reduction
gear
Motor
Servo drive
FunIN.14:
P-OT
DI
FunIN.15:
N-OT
DI
Figure 5-21 Installation of limit switches
To use the limit switch, allocate function 14 (FunIN.14: P-OT, positive limit switch) and function 15
(FunIN.15: N-OT, negative limit switch) to two DIs of the servo drive and set the valid logic of this DI.
This is to enable the servo drive to receive the level signals input from the limit switch. The servo drive
enables or cancels the stop-at-overtravel state based on the DI level status.
Function
Name Function Description
No.
When the mechanical movement is beyond the movable range, the overtravel
Positive prevention function will be applied.
FunIN.14 P-OT
limit switch Invalid: Forward drive permitted
Valid: Forward drive inhibited
-130-
Function
Name Function Description
No.
When the mechanical movement is beyond the movable range, the overtravel
Negative prevention function will be applied.
FunIN.15 N-OT
limit switch Invalid: Reverse drive permitted
Valid: Reverse drive inhibited
■■ Emergency stop
The emergency stop can be implemented through the following means:
DI function 34 (FunIN.34: EmergencyStop)
200D-06h (Emergency stop)
☆ Related function No.:
Function No. Name Function Description
Invalid: The servo drive stays in present running state.

FunIN.34 EmergencyStop Braking Valid: The servo drive stops according to the stop mode defined by
605Ah.
Setting
During running Data Data
H0D-05 Name Emergency stop Condition & - Uint16
& Immediately Structure Type
Effective Time
200D-06h Access RW Mapping - Related Mode - Data Range 0–1 Default 0
Operations upon emergency stop:
Value Description
0 No operation
1 Emergency stop enabled
When H0D-05 is enabled, the servo drive will stop in the stop mode defined by 605Ch regardless of the running state.
■■ Quick stop
Quick stop applies when bit2 (Quick stop) in the control word 6040h is set to 0 (Valid). The quick stop
mode is defined by 605Ah.
Setting
Any condition Data
Name Quick stop mode Condition & VAR Data Type int16
& At stop Structure
605Ah Effective Time
Access RW Mapping No Related Mode All Data Range 0–7 Default 2
Defines the deceleration mode of the servo motor from rotating to stop and the servo motor state after quick stop.
Value Stop mode

1 Ramp to stop as defined by 6084h/609Ah (HM), keeping de-energized state
2 Ramp to stop as defined by 6085h, keeping de-energized state
3 Stop at emergency torque, keeping de-energized state
4 N/A
5 Ramp to stop as defined by 6084h/609Ah (HM), keeping position lock state
7 Stop at emergency-stop torque, keeping position lock state
When the brake is enabled and the set value of 605Ah is less than 4, the stop mode is forced to "Ramp to stop as
defined by 6085h, keeping de-energized state".
-131-
■■ Halt
The halt function applies when bit8 in the control word 6040h is set to 1 (Valid). The halt mode is defined
by 605Dh.
Setting
Condition Any condition Data Data
Name Halt mode VAR int16
& Effective & At stop Structure Type
605Dh
Time
Related
Access RW Mapping No All Data Range 1–3 Default 1
Mode
Defines the deceleration mode of the servo motor from rotating to stop and the servo motor state after halt.
PP/PV/HM mode:
Value Stop mode

1 Ramp to stop as defined by 6084h/609Ah (HM), keeping position lock state
3 Stop at emergency-stop torque, keeping position lock state
PT mode:
Value Stop mode

1/2/3 Ramp to stop as defined by 6087h, keeping position lock state
$"65*0/
The acceleration/deceleration time cannot be set to a too small value. Otherwise, the stop distance
may be too long, causing the risk of collision.
5.7 Conversion Factor Setting

Gear ratio refers to the motor displacement (in encoder unit) corresponding to the load shaft
displacement of one reference unit.
The gear ratio is comprised of the numerator 6091-01h and denominator 6091-02h. It determines
the proportional relation between the load shaft displacement (in reference unit) and the motor
displacement (in encoder unit), as shown below.
Motor displacement = Load shaft displacement x Gear ratio
The motor is connected to the load through the reducer and other mechanical transmission mechanism.
Therefore, the gear ratio is related to the mechanical reduction ratio, mechanical dimensions and motor
resolution. The calculation formula is as follows.
Encoder resolution
Gear ratio =
Load shaft resolution
-132-
Setting
Data
Name Gear ratio Condition & - ARR Data Type Uint32
Index Structure
Effective Time
6091h
OD data OD default
Access - Mapping Yes Related Mode All Data Range Default
range value
Defines the proportional relation between the load shaft displacement designated by the user and the motor shaft
displacement.
The relation between motor position feedback (encoder unit) and load shaft position feedback (reference unit) is as
follows.
Motor position feedback = Load shaft position feedback x Gear ratio
The relation between the motor speed (RPM) and the load shaft speed (reference unit/s) is as follows.
Load shaft speed x Gear ratio 6091h

Motor speed (RPM) = x 60
Encoder resolution
The relation between motor acceleration (RPM/ms) and the load shaft speed (reference unit/s2) is as follows.
Load shaft acceleration x Gear ratio 6091h 1000

Motor acceleration = x
Encoder resolution 60
Number of Setting
Data
Sub- Name sub-indexes of the Condition & - - Data Type Uint8
Structure
index 0h gear ratio Effective Time
Access RO Mapping No Related Mode - Data Range - Default 2
Setting During
Data Data
Name Motor resolution Condition & running & - Uint32
Structure Type
Sub- Effective Time Immediately
index 1h Depending on
Data 1 to
Access RW Mapping RPDO Related Mode - Default encoder
Range (232-1)
resolution
Setting During
Data Data
Name Shaft resolution Condition & running & - Uint32
Sub- Structure Type
Effective Time Immediately
index 2h
Data 1 to
Access RW Mapping RPDO Related Mode - Default 1
Range (232-1)
Take the ball screw as an example:
Minimum reference unit fc = 1 mm
Lead pB = 10 mm/r
Reduction ratio n = 5:1
Inovance 20-bit serial encoder motor resolution P = 1048576 (PPR)
The position factor is calculated as follows:
-133-
Position Motor resolution P x n

=
factor PB
1048576 x 5
=
10
5242880
=
10
= 524288
Therefore, 6091-1h = 524288, 6091-2h = 1, which means when the load shaft displacement is 1 mm, the
motor displacement is 524288.
Reduce the values of 6091-1h and 6091-2h to a point where there is no common divisor, and take the
final value.
-134-
6 Gain Tuning
6 Gain Tuning
6.1 Overview
Set the gain parameters of the servo drive to proper values so that the servo drive can drive the motor as
quick and accurate as possible based on internal references or commands sent from the host controller.
Gain: Low Gain: High Gain: High+Feedforward
Position loop gain: 40.0 Hz Position loop gain: 80.0 Hz Position loop gain: 80.0 Hz
Speed loop gain: 25.0 Hz Speed loop gain: 50.0 Hz Speed loop gain: 50.0 Hz
Speed loop integral time constant: 50.00 ms Speed loop integral time constant: 25.00 ms Speed loop integral time constant: 25.00 ms
Speed feedforward gain: 0 Speed feedforward gain: 0 Speed feedforward gain: 50.0%
Load inertia ratio: 30 Load inertia ratio: 30 Load inertia ratio: 30
Figure 6-1 Example of gain settings

The gain is defined by the combination of multiple mutually-affected parameters (including position loop
gain, speed loop gain, filter and inertia ratio). Set these parameters to proper values to keep a balanced
performance.
Perform a trial run through jogging before gain tuning to ensure the motor can work normally.
NOTE
The following figure shows the general process of gain tuning.
Start
Use offline or online inertia

Inertia auto-
auto-tuning. See Chapter 6.2
tuning
for details.
Gain See Chapter 6.3 for details on

auto-tuning gain auto-tuning.
Yes
OK?
No
If gain auto-tuning cannot
Manual gain fulfill the application needs,
tuning perform manual gain tuning.
See Chapter 6.5 for details.
Yes
OK?
No
Vibration Perform vibration

suppression suppression upon vibration.
See Chapter 6.7 for details.
End
Figure 6-2 Process of gain adjustment
-135-
6 Gain Tuning
Table 6-1 Gain tuning process
Process of Gain Tuning Description Reference
Offline The servo drive calculates the inertia ratio automatically. 6.2.1
Inertia
1 The host controller sends a command to make the motor rotate,
auto-tuning Online 6.2.2
and the servo drive calculates the inertia ratio in real time.
The servo drive automatically generates the values of gain

2 Gain auto-tuning parameters that match the inertia ratio (the inertia ratio must be 6.3/6.4
set correctly).
If the gain auto-tuning cannot fulfill the application needs, adjust

Basic gain 6.5.1
the auto-tuned values manually.
Reference
Filters the position, speed, and torque references. 6.5.3
filter
Feedforward
Improves the following performance. 6.5.4
Manual gain gain
3
tuning
Pseudo
Improves the anti-interference capacity in the low frequency
differential 6.5.5
range through adjusting the speed loop control mode.
regulator
Torque
disturbance Improves the capacity in resisting the torque disturbance. 6.5.6
observer
Mechanical
The mechanical resonance is suppressed through the notch. 6.7.1
resonance
Vibration
4 Low-
suppression
frequency The low-frequency resonance is suppressed through the filter. 6.7.2
resonance
6.2 Inertia Auto-tuning

The load inertia ratio (2008-10h) is calculated by using the following formula.
Total mechanical load inertia

Load inertia ratio
Motor inertia
The load inertia ratio is a critical parameter of the servo system. A proper inertia ratio facilitates the
commissioning process.
The load inertia ratio can be set manually or set automatically through inertia auto-tuning of the servo
drive.
The servo drive supports two inertia auto-tuning methods:
1) Offline inertia auto-tuning
Enable the "Inertia auto-tuning function (200D-03h)", and make the motor rotate by pressing on the
keypad to perform inertia auto-tuning. This auto-tuning mode does not involve the host controller.
2) Online inertia auto-tuning
The host controller sends the auto-tuning command to the servo drive, and the servo motor executes
inertia auto-tuning. This kind of auto-tuning mode involves the host controller.
-136-
6 Gain Tuning
◆◆ The following requirements must be met to ensure correct calculation of the load inertia ratio:
1) The actual maximum motor speed is higher than 150 RPM.
2) The actual acceleration rate during acceleration/deceleration is higher than 3000 RPM/s.
3) The load torque is stable without dramatic changes.
4) The actual inertia ratio does not exceed 120.
NOTE ◆◆ If the actual inertia ratio is large but the gain is low, the motor may not be able to reach the maximum
speed and the acceleration rate required as motor actions are slowed down. In this case, increase the
speed loop gain (2008-01h) and perform auto-tuning again.
◆◆ If vibration occurs during auto-tuning, stop inertia auto-tuning immediately and reduce the gain.
◆◆ Inertia auto-tuning may fail if the backlash of the transmission mechanism is too large.
6.2.1 Offline Inertia Auto-tuning
1) In parameter display mode, switch to H0D-02 and press to enable offline inertia auto-tuning.
Offline inertia Setting Related

Name During running -
auto-tuning Condition Mode
H0D-02
Effective
Value Range - Unit - Immediately Default -
Time
In parameter display mode, switch to H0D-02 and press on the keypad to enable offline inertia auto-tuning.
Confirm the following items before performing offline inertia auto-tuning:
The motor stroke must meet the following requirements:
■■ A stroke of more than one revolutions in either forward or reverse direction is available between the
mechanical limit switches.
Before performing offline inertia auto-tuning, ensure the limit switches are installed on the machine and
a stroke of more than one revolutions is reserved for the motor. This is to prevent overtravel during auto-
tuning.
■■ The required number of revolutions (H09-09) is fulfilled.
View the value of H09-06 (Maximum speed of inertia auto-tuning), H09-07 (Time constant for accelerating
to the maximum speed during inertia auto-tuning), and H09-09 (Number of motor revolutions for a single
inertia auto-tuning) to ensure the motor stroke, based on where it stops, is larger than the value of
H09-09. If the motor stroke is smaller than the value of H09-09, decrease the value of H09-06 or H09-07
until the requirement is met.
2) Press / to execute offline auto-tuning.
To stop the servo drive, release / . To start auto-tuning again, press / again. The running
direction at start is determined by / . For applications requiring unidirectional movement, set H09-
05 (Offline inertia auto-tuning mode) to 1 (Unidirectional).
Increase the stiffness level (H09-01) of the servo drive properly so that the actual motor speed can reach
the value defined by H09-06 (Maximum speed for inertia auto-tuning).
The following figure shows the process of offline inertia auto-tuning.
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6 Gain Tuning
Start
The S-ON signal is set to OFF. The servo

S-ON switched off
drive is in "ry" status.
The value of H0D-02 displayed initially is

H0D-02=1
the present value of H08-15.
Press UP/DOWN to
make the motor Operations may vary with offline inertia
rotate in forward/ auto-tuning modes.
reverse direction.
Displayed No
value The stabilized value is the auto-tuned value.
stabilized?
Yes
Hold SET key Hold SET key down until the keypad displays
down to save the "SAVE", indicating the auto-tuned value is
value to H08-15. saved into H08-15.
Press MODE to Press MODE key to exit from the interface of

finish inertia auto- H0D-02, indicating the inertia auto-tuning is
tuning. done.
End
Figure 6-3 Process of offline inertia auto-tuning

Setting Effective
Para. No. Name Value Range Unit Function Default
Condition Time
0: Bidirectional
Defines the offline
Offline inertia auto- auto-tuning Immedia-
H09-05 - inertia At stop 0
tuning mode 1: Unidirectional tely
auto-tuning mode.
auto-tuning
Defines the maximum
Maximum speed of speed reference for Immedia-
H09-06 100 to 1000 RPM At stop 500
inertia auto-tuning offline inertia auto- tely
tuning.
Time constant for Defines the time
accelerating to the needed for the motor to Immedia-
H09-07 20 to 800 ms At stop 125
maximum speed during accelerating from tely
inertia auto-tuning 0 RPM to 1000 RPM.
Defines the interval
Interval after a single between two Immedia-
H09-08 50 to 10000 ms At stop 800
inertia auto-tuning consecutive speed tely
references.
Number of motor
Defines the maximum
H09-09 revolutions for a single 15 to 10000 0.01 r - - 100
number of revolutions.
inertia auto-tuning
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6 Gain Tuning
6.2.2 Online Auto-tuning
The servo drive supports online inertia auto-tuning. The following figure shows the process of online
inertia auto-tuning.
Start
The S-ON signal is switched off. The

S-ON switched off
servo drive is in "ry" status.
Set H09-03 to a non-zero value to

Set H09-03.
activate inertia auto-tuning.
The S-ON signal is switched on. The servo

S-ON switched on drive receives the command sent from the
host controller to drive the motor to run.
Motor rotates as
instructed by the
host controller.
Calculate the load

The servo drive calculates the average
inertia ratio in real
value of the load inertia ratio in real time
time
and saves the auto-tuned value into
automatically.
H08-15 every 30 minutes.
End
Figure 6-4 Process of online inertia auto-tuning

◆◆ Different values of H09-03 indicate different updating speeds of the load inertia ratio (H08-15) in real
time.
1) H09-03 = 1: Applicable to applications where the actual load inertia ratio rarely changes, such as
machine tools and wood carving machines.
2) H09-03 = 2: Applicable to applications where the load inertia ratio changes slowly.
NOTE 3) H09-03 = 3: Applicable to applications where the actual inertia ratio changes rapidly, such as
transportation manipulators.
◆◆ Do not use online inertia auto-tuning in applications involving hitting against limit switches and press
fitting.
Related parameters
Para. Setting Effective

No. Condition Time
0: Disabled
Defines the
Online inertia
1: Enabled, changing slowly online inertia During
H09-03 auto-tuning - Immediately 0
2: Enabled, changing normally auto-tuning running
mode
mode.
3: Enabled, changing quickly
6.3 Instructions for ETune Operations
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6 Gain Tuning
6.3.1 Overview
The ETune is a wizard-type function used to guide users to set corresponding curve trajectories and
response parameters for auto-tuning. After the curve trajectories and response parameters are set, the
servo drive performs auto-tuning to generate the optimal gain parameters. The auto-tuned parameters
can be saved and exported as a recipe for use in other devices of the same model.
The ETune function is intended to be used in applications featuring small load inertia changes.
6.3.2 Description of Operations
1 Operation flowchart
Initialize the servo

drive parameters.
Set the electronic gear

ratio to a proper value.
Click "易用性调整"
(Usibility adjustment)
on the menu bar and
click "ETUNE".
Reduce the
gain.
Yes
Yes
Set the positive/

negative limit position Vibration occurs
in the "位置设定" during jogging?
(Position setting)
interface.
No
No
Configure the mode

and the curve.
Click "下一步"(Next) to
start.
No
No
OK? Adjust the
response level.
Yes
Yes
Save parameters.
End
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6 Gain Tuning
2 Detailed descriptions
1) Click " 易用性调整 " (Usibility adjustment) on the software tool, and click "ETune".
2) There are two running modes, which can be selected according to the motion direction allowed by
the machine. In " 往复正反 " (Forward/Reverse reciprocating)mode, the motor keeps reciprocating
within the positive and negative limits. In " 单向正转 " (Unidirectional forward run) mode, the motor
keeps running forwardly and takes the difference between the positive and negative limits as the
maximum distance for a single action. The same applies to " 单向反转 " (Unidirectional reverse run)
mode.
3) Designate the positive and negative limits allowed by the motor, and the difference between the
positive and negative limits defines the position reference pulses for the motor, which is also the
value before multiplication/division by the electronic gear ratio.
To set the limit, click " 伺服使能 ON" (S-ON) in JOG, and click " 正转 " (Forward) to make the
motor moves to the positive limit. Next, click " 设定正转极限 " (Set forward limit). Follow the same
procedures for setting the negative limit and click " 伺服使能 OFF" (S-OFF). You can also enter the
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6 Gain Tuning
positive/negative limit position directly. The difference between the positive and negative limits
must be larger than 1/8 of one revolution. The larger the value of the limit position, the better the
adaptability of the auto-tuned parameters, and the longer time will ETune adjustment take.
4) Click " 下一步 " (Next) to switch to the mode parameter setting interface. The adjustment mode is
divided into " 定位模式 " (Positioning mode) and " 轨迹模式 " (Trajectory mode). The inertia ratio
auto-tuning is optional. If you choose not to perform inertia auto-tuning, set the correct inertia ratio
(the value of the inertia ratio can be modified directly).
Adjust the response level and position filter time constant based on the servo response performance
required by different applications and the position reference noise during actual motion. Then,
configure the running curve and set the maximum speed, acceleration/deceleration time and interval
for auto-tuning.
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6 Gain Tuning
5) Click " 下一步 " (Next) to start auto-tuning. If you choose to perform inertia auto-tuning, the servo
drive will perform inertia auto-tuning based on the set curve. After auto-tuning is done, the servo
drive starts gain tuning automatically. If you choose not to perform inertia auto-tuning on the Start
interface, the servo drive starts gain tuning directly after started.
6) During gain tuning, if you modify the final response and click " 更新 " (Update), gain tuning will be
continued based on the fine-tuning coefficient required. After gain tuning is done, you can click " 完
成 " (Done) to save the parameters to EEPROM and export the parameters as a recipe file.
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6 Gain Tuning
6.3.3 Precautions
■■ The maximum speed and acceleration/deceleration time of the running curve can be set based on
actual needs. You can also increase the acceleration/deceleration time properly to enable quick
positioning after auto-tuning is done.
■■ If the acceleration/deceleration time is set to a too small value, overload may occur. In this case,
increase the acceleration/deceleration time properly.
■■ For vertical axis applications, take anti-drop measures before execution and set the stop mode upon
fault to "Stop at zero speed".
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6 Gain Tuning
■■ For the ball screw applications, if the adjustment time is too long, shorten the stroke length.
6.3.4 Troubleshooting
Fault Symptom Cause Measure
1) The vibration cannot be 1) Enable vibration suppression manually to eliminate the

suppressed. vibration.
2) Check whether the positioning threshold is too low.

2) The positioning overshoot is
Er661: Increase the acceleration/deceleration time and lower the
too large.
Auto-tuned gain response level.
values too low 3) Modify the electronic gear ratio to improve the reference
3) The reference suffers from
resolution, or increase the reference filter time constant in
noise disturbance.
the " 参数配置 " (Parameter configuration) interface.
4) The current fluctuates. 4) Check whether the machine suffers periodic fluctuation.
1) The vibration cannot be 1) Enable vibration suppression manually to eliminate the

suppressed. vibration and perform ETune again.
2) Increase the maximum running speed and decrease

2) The auto-tuned values
the acceleration/deceleration time. For the ball screw
fluctuate dramatically.
applications, shorten the stroke length.
Er600: Inertia 3) The load mechanical

auto-tuning connectors become loose or 3) Check for the mechanical fault.
failure offset occurs to the machine.
4) Interruption occurs due to the

fault that occurs during 4) Clear the fault and perform ETune again.
auto-tuning.
5) The position reference filter 5) Decrease the set values of H05-04 to H05-06, and perform
time is set to a too large value. ETune again.
6.4 Instructions for STune Operations
6.4.1 Overview
STune refers to gain auto-tuning based on the set stiffness level. It aims to fulfill the requirements of
rapidity and stability.
The STune function is intended to be used in applications featuring small load inertia changes.
$"65*0/
Ensure the load inertia ratio is accurate before performing gain auto-tuning.
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6 Gain Tuning
6.4.2 Description of Operations
1) Operation flowchart
Start
Click "调整"
(Adjustment) on the
menu bar, and click
"STUNE".
Set the gain tuning

mode.
Input the inertia ratio directly or click "手动惯量识别" (Manual

inertia tuning) to start inertia tuning.
Set the inertia ratio. When H09-00 is set to 0, 1, or 2, manual inertia tuning is
required.When H09-00 is set to 3, 4, or 6, inertia auto-tuning
applies.
Switch on the S-ON

Enable the servo drive and input the command through the
signal and input the
host controller to make the motor rotate.
command.
Adjust the stiffness

level during motor Observe the running effect, running response time, positioning
rotating and observe time, and vibration status. Meanwhile, adjust the value of H09-
the running 01 until desired performance is achieved.
waveform.
Yes
OK?
No
Perform manual
gain tuning / Adjust the gain manually, see Chapter 6.5 for details. For
vibration details on vibration suppression, see Chapter 6.7.
suppression.
End
2) Detailed description
The auto-tuning mode can be set through the keypad or the software tool.
a) Select the auto-tuning mode. If H09-00 is set to 0, 1, or 2, set the inertia ratio before stiffness
adjustment. If the inertia is unknown, perform manual inertia tuning. If vibration occurs, reduce the
stiffness level before manual inertia tuning. If H09-00 is set to 3, 4, or 6, the inertia ratio needs no
setting. You can perform tuning through the wizard-type interface.
Mode Name Applicable Occasion
0 Invalid Manual gain tuning is needed.
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6 Gain Tuning
Mode Name Applicable Occasion
1 Standard stiffness table mode Gain auto-tuning is performed based on the set stiffness level.
Gain auto-tuning is performed based on the set stiffness level.

2 Positioning mode
This mode is applicable to occasions requiring quick positioning.

3 Interpolation mode+Inertia auto-tuning Inertia auto-tuning is performed to suppress vibration. This
mode is applicable to multi-axis interpolation.

4 Regular mode+Inertia auto-tuning
Inertia auto-tuning is performed to suppress vibration.

Quick positioning mode+Inertia auto-
6 Inertia auto-tuning is performed to suppress vibration. This
tuning
mode is applicable to occasions requiring quick positioning.
b) Adjust the stiffness level gradually during load running. The present stiffness level will be written to
the servo drive automatically. Keep monitoring the running waveform during modifying the stiffness
level (modify by one level each time) until the desired performance is delivered.
6.4.3 Precautions
The setting range of H09-01 (Stiffness level selection) is 0 to 41. The level 0 indicates the weakest stiffness
and lowest gain and level 41 indicates the strongest stiffness and highest gain. The following table lists
the stiffness levels for different load types.
Table 6-2 Application range of different stiffness levels (for reference only)
Recommended Stiffness Level Type of Load Mechanism
Level 4 to level 8 Large-scale machineries
Level 8 to level 15 Applications with low stiffness such as the conveyor
Applications with high stiffness such as the ball screw and direct-connected
Level 15 to level 20
motor
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6 Gain Tuning
The servo drive supports five gain auto-tuning modes.
$"65*0/
◆◆ If H09-00 (Gain auto-tuning mode) is set to 3, 4, or 6, the servo drive will suppress the vibration
and perform inertia auto-tuning automatically within 5 min (or other time defined by H09-37)
after power-on or stiffness level setting, and then it exits from auto-tuning. The inertia auto-
tuning function, once deactivated, cannot be activated again by setting H09-09 to 3, 4, or 6.
◆◆ In applications with slow acceleration/deceleration, large vibration, and unstable mechanical
connections, do not set H09-00 to 3, 4, or 6.
◆◆ The gain of modes 4 and 6 defined by H09-00 is weaker than other modes under the same
stiffness level.
◆◆ In applications where the inertia does not change, set H09-03 (Online inertia auto-tuning mode)
to 1 (Enabled, changing slowly). In applications where the inertia changes quickly, set H09-03 to 3
(Enabled, changing quickly).
■■ Gain auto-tuning mode (H09-00 = 1)
The values of the 1st group of gain parameters (H08-00 to H08-02, H07-05) are updated automatically
according to the stiffness level defined by H09-01 and saved into the corresponding parameters.
Table 6-3 Parameters updated during gain auto-tuning
Para. No. Name
H08-00 Speed loop gain
H08-01 Speed loop integral time constant
H08-02 Position loop gain
H07-05 Filter time constant of torque reference
■■ Positioning mode (H09-00 = 2)
On the basis of Table 6-3, the value of the 2nd group of gain parameters (H08-03 to H08-05, H07-06)
are also updated automatically according to the stiffness level defined by H09-01 and saved into the
corresponding parameters. In addition, the stiffness level of the position loop gain in the 2nd group of
gain parameters is higher than that in the 1st group of gain parameters by one level.
Table 6-4 Parameters updated automatically in the positioning mode
Para. No. Name Description
H08-03 2nd speed loop gain -
If H08-04 is set to 512.00 ms, the 2nd speed loop

2nd speed loop integral time
H08-04 integral action is invalid, and only proportional
constant
control is used in the speed loop.
H08-05 2nd position loop gain -
Filter time constant of the 2nd

H07-06 -
torque reference
The parameters related to speed feedforward are fixed to certain values.
Table 6-5 Parameters with fixed values in the positioning mode
Para. No. Name Value
H08-19 Speed feedforward gain 30.0%
Speed feedforward filter time

H08-18 0.50 ms
constant
Parameters related to gain switchover are fixed to certain values.
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6 Gain Tuning
Gain switchover is enabled automatically in the positioning mode.
Para. No. Name Value Description
In the positioning mode, switchover between the 1st gain (H08-00

to H08-02, H07-05) and the 2nd gain (H08-03 to H08-05, H07-06) is
H08-08 2nd gain mode 1
activated.
In other modes, the original setting is used.
In the positioning mode, gain switchover can be activated only if

H08-09 Gain switchover condition 10 H08-09 is set to 10.
In the positioning mode, the gain switchover delay is 5.0 ms.

H08-10 Gain switchover delay 5.0 ms
In the positioning mode, the gain switchover level is 50.

H08-11 Gain switchover level 50
In the positioning mode, the gain switchover hysteresis is 30.

H08-12 Gain switchover hysteresis 30
$"65*0/
◆◆ In the gain auto-tuning mode, the parameters updated automatically along with H09-01 and
those with fixed values cannot be modified manually. If you need to modify these parameters, set
H09-00 to 0 to exit from the gain auto-tuning mode first.
6.5 Manual Gain Tuning
6.5.1 Basic Parameters
When gain auto-tuning cannot fulfill the application needs, perform manual gain tuning.
The servo system provides three control loops, which are position loop, speed loop, and current loop
from external to internal. The block diagram for basic control is shown in the following figure.
Speed Torque
feedforward feedforward
Position Motor
reference + +
input + Position Current
+ Speed loop + +
× loop × × × loop M
gain
- gain + Curre- control
-
nt
Position feedb
feedback ack
Speed Speed loop
feedback integral time
filter constant
Speed
calculation
Encoder
Figure 6-5 Manual gain tuning

The response level of the inner loop must be higher than that of the outer loop. Otherwise, the system
may become unstable.
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6 Gain Tuning
The default gain of the current loop is already designed with the highest level of response, removing the
need for adjustment. You only need to adjust the position loop gain, speed loop gain and other auxiliary
gains. When executing gain tuning in the position control mode, increase the speed loop gain as well after
increasing the position loop gain, and ensure the response level of the position loop is lower than that of
the speed loop to keep the system stable.
The following table shows how to adjust the basic gain parameters.
Table 6-6 Adjustment of gain parameters
Para.
Step Name Description
No.
◆◆ Parameter function:
It determines the maximum frequency of the speed loop in following the varying
speed references.
If the average load inertia ratio (H08-15) is set properly, the maximum following
frequency of the speed loop can be equal to the value of H08-00 (Speed loop gain).
Speed reference
Increase the value of H08-00 Actual speed
Speed
1 H08-00
loop gain
◆◆ Adjustment method:
Increase the value of H08-00 without incurring noise or vibration. This helps shorten
the positioning time and improve speed stability and following characteristics.
If noise occurs, decrease the value of H08-00.
If mechanical vibration occurs, enable the resonance suppression function (see "6.7
Vibration Suppression" ).
It eliminates the speed loop deviation.
Speed reference
Decrease the value of H08-01 Actual speed
Speed ◆◆ Adjustment method:

loop
Select the value according to the following formula:
2 H08-01 integral
time 500 ≤ H08-00 x H08-01 ≤ 1000
constant For example, if H08-00 is set to 40.0 Hz, H08-01 must meet the following condition:
12.50 ms ≤ H08-01 ≤ 25.00 ms
Decreasing the value of H08-01 strengthens the integral effect and shortens the
positioning time, but a too small value may cause mechanical vibration.
Do not set H08-01 to a too large value. Otherwise, the speed loop deviation cannot be
cleared to zero.
When H08-01 is set to 512.00 ms, the integral action is deactivated.
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6 Gain Tuning
Para.
Step Name Description
No.
It determines the maximum frequency of the position loop in following the varying
position references.
Maximum following angle frequency of position loop = H08-02
Increase the value of Position reference

H08-00 and H08-02 Actual speed
Position To ensure system stability, the maximum following frequency of the speed loop must
3 H08-02 be 3 to 5 times the maximum following frequency of the position loop.
loop gain
2 x π x H8-00
3≤ ≤5
H08-02
For example, when H08-00 is set to 40.0 Hz, the position loop must meet the following
condition:
50.2 Hz ≤ H08-02 ≤ 83.7 Hz
Adjust the setting based on the positioning time. Increasing the value of H08-02
shortens the acceleration time and improves the anti-interference capacity of a static
motor.
Do not set H08-02 to a too large value. Otherwise, system instability or oscillation may
occur.
It eliminates the high-frequency noise and suppresses mechanical resonance.
Increase the Speed reference

value of H07-05 Actual speed
Ensure the cutoff frequency of the torque reference low-pass filter is higher than 4
Filter time times the maximum following frequency of the speed loop.
constant 1000
4 H07-05 ≥ (H08-00) x 4
of torque 2 x π x H07-05
reference
For example, when H08-00 is set to 40.0 Hz, the set value of H07-05 must be less than
or equal to 1.00 ms.
If vibration occurs when you increase the value of H08-00, adjust the value of H07-05
to suppress vibration. For details, see "6.7 Vibration Suppression" .
Do not set H07-05 to a too large value. Otherwise, the responsiveness of the current
loop may be weakened.
To suppress vibration upon stop, increase the value of H08-00 and decrease the value
of H07-05.
If strong vibration occurs upon motor stop, decrease the value of H07-05.
Value Setting Effective

Para. No. Name Unit Function Default
Range Condition Time
0.1 to Defines the proportional gain During

H08-00 Speed loop gain Hz Immediately 40.0
2000.0 of the speed loop. running
Speed loop integral 0.15 to Defines the integral time During

H08-01 ms Immediately 19.89
time constant 512.00 constant of the speed loop. running
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6 Gain Tuning
Value Setting Effective

Para. No. Name Unit Function Default
Range Condition Time
0.0 to Defines the proportional gain During

H08-02 Position loop gain Hz Immediately 64.0
2000.0 of the position loop. running
Filter time constant 0.00 to Defines the filter time constant During
H07-05 ms Immediately 0.79
of torque reference 30.00 of the torque reference. running
6.5.2 Gain Switchover
Gain switchover, which is available only in position and speed control modes, can be triggered by the
internal status of the servo drive or by an external DI. The following actions can be achieved through gain
switchover.
■■ Switching to the lower gain at motor standstill (servo ON) to suppress vibration
■■ Switching to the higher gain at motor standstill to shorten the positioning time
■■ Switching to the higher gain at motor running to achieve better reference tracking performance
■■ Switching between different gain settings through an external signal to fit different conditions of the
load devices
1 H08-08 = 0
The first group of gain parameters (H08-00 to H08-02, H07-05) are used, but proportional/proportional
and integral control can be switched through DI function 3 (FunIN.3: GAIN_SEL, gain switchover) for the
speed loop.
Start
Switchover between P/PI control

Set H08-08 to 0.
available for the speed loop
DI allocated with FunIN.3 (GAIN-SEL,

Allocate FunIN.3
gain switchover) and configured with
to the DI.
DI valid logic
No Yes
DI logic valid?
Speed loop being Speed loop being

PI control P control
End
Figure 6-6 Gain switchover flowchart (H08-08 = 0)
2 H08-08 = 1
Switchover between 1st group of gain parameters (H08-00 to H08-02, H07-05) and 2nd group of gain
parameters (H08-03 to H08-05, H07-06) is activated based on the setting of H08-09 (Gain switchover
condition).
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6 Gain Tuning
Start
Set H08-00 to 1.
Set the gain

switchover
condition
(H08-09).
Yes
H08-09 = 0？
No
No
H08-09 = 1？
Yes
Allocate FunIN.3
to the DI.
No Yes
DI logic valid?
Fixed at the Use the 2nd Set

Use the 1st gain.
1st gain gain. H08-10–H08-13
End
Figure 6-7 Gain switchover flowchart (H08-08 = 1)

There are 11 conditions for gain switchover. The following table describes the diagrams and related
parameters of different conditions.
Table 6-7 Description of gain switchover conditions
Gain Switchover Condition Related Parameters
Gain Gain
Delay switchover switchover
H08-09 Condition Diagram
(H08-10) level hysteresis
(H08-11) (H08-12)
Fixed at 1st
0 - Invalid Invalid Invalid
gain
Switchover
1 by external - Invalid Invalid Invalid
DI
Actual speed
Torque Torque reference Switchover delay Switchover delay
2 Valid Valid (%) Valid (%)

reference
Switchover level
Switchover level
1st 2nd 1st 2nd 1st
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6 Gain Tuning
Gain Gain
(H08-11) (H08-12)
Speed reference
Switchover delay
Speed
3 Valid Valid Valid
reference
Switchover level
1st 2nd 1st
Speed reference
Speed Speed reference

change rate Switchover delay Switchover delay Valid Valid
4 reference Valid
(10 RPM/s) (10 RPM/s)
change rate Switchover level
Switchover level
1st 2nd 1st 2nd 1st
Speed reference
Speed Positive switchover hysteresis

Valid Valid
5 reference Invalid
Switchover level
Negative switchover hysteresis
(RPM) (RPM)
threshold
1st 2nd 1st
Speed reference
Valid Valid
Position Switchover delay
6 Valid
Position deviation
(encoder (encoder
deviation
Switchover level unit) unit)
1st 2nd 1st
Position reference
Switchover delay
Position
7 Valid Invalid Invalid
reference
1st 2nd 1st
Position reference
Positioning completion signal

Positioning
8 Valid Invalid Invalid
completed Switchover delay
1st 2nd 1st
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6 Gain Tuning
Gain Gain
(H08-11) (H08-12)
Speed reference
Switchover delay
Valid Valid
9 Actual speed Switchover level Valid
(RPM) (RPM)
1st 2nd 1st
Position
Valid Valid
10 reference + See the following note for details. Valid
(RPM) (RPM)
Actual speed
H08-10 (Gain switchover delay) is valid only during switching from the 2nd gain to the 1st gain.
NOTE
With reference Without reference pulse |Actual speed|< Close to static status
1st gain pulse 2nd gain continuous delay time 2nd gain Switchover level 2nd gain available for
in static during in stabilized
speed integral only/1st
status acting status
gain for others
|Actual speed|< (Switchover level - Switchover hysteresis)
|Actual speed|< (Switchover level - Switchover hysteresis)

No. Condition Time
0: Fixed at the 1st gain, P/PI
switchover through external
2nd gain Defines the mode During Immedi-
H08-08 DI - 1
mode of the 2nd gain. running ately
1: Gain switchover based on
H08-09
0: Fixed at the 1st gain
1: Switchover through
external DI
2: Torque reference too large
3: Speed reference too large
4: Speed reference change
Gain rate too large Defines the
During Immedi-
H08-09 switchover - gain switchover 0
5: Speed reference threshold running ately
condition condition.
6: Position deviation too large
7: Position reference available
8: Positioning completed
9: Actual speed too large
10: Position reference + Actual
speed
Gain
Defines the gain During Immedi-
H08-10 switchover 0 to 10 - 5.0
switchover delay. running ately
delay
Gain Based on the
Defines the gain During Immedi-
H08-11 switchover 1 to 1000 switchover 50
switchover level. running ately
level condition
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6 Gain Tuning

No. Condition Time
Gain Based on the Defines the
During Immedi-
H08-12 switchover 0 to 20000 switchover gain switchover 30
running ately
hysteresis condition hysteresis.
Defines the gain
Position gain
switchover time During Immedi-
H08-13 switchover 0.0 to 100.0 ms 3.0
of the position running ately
time
loop.
6.5.3 Comparison of Filters
Name Function Applicable Occasion Impact of Excessive Filter
The system wiring does not The number of pulses

Ensures the pulse number received
Pulse input comply with specifications. received by the servo drive
by the servo drive is accurate by
pin filter The ambient interference is is smaller than those sent
preventing interference.
strong. from the host controller.
The acceleration/deceleration
Filters the position references process is not performed on the
(encoder unit) divided or position references sent from the
Position
multiplied by the electronic gear host controller. The response delay is
reference
ratio to smoothen the running prolonged.
filter The pulse frequency is low.
process of the motor and reduce
the impact on the machine. The electronic gear ratio is larger
than 10.
Prevents motor command

The system wiring does not
fluctuation due to unstable
Analog comply with specifications. The response delay is
analog input voltage and reduce
input filter The ambient interference is prolonged.
the motor malfunction due to
strong.
interference signals.
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6 Gain Tuning
6.5.4 Feedforward Gain
1 Speed Feedforward
Speed
feedforward
selection
(H05-19)
Speed
No speed 0 feedforward
feedforward controller
Reference Position
Position Internal speed 1
position Position deviation + Motor
reference Electronic feedforward
input reference + Position + Speed loop Current
source and gear ratio × × M
filter 2 loop control control loop control
direction AI1 speed
- -
feedforward input
Position Speed
AI2 speed 3 feedback feedback
feedforward input Speed
calculation
Encoder
Figure 6-8 Operating procedures for speed feedforward control

Speed feedforward can be applied to the position control mode. When position control or full closed-
loop is used, the speed feedforward function can be used to improve speed reference responsiveness and
reduce the position deviation during constant speed.
Operating procedures for speed feedforward are as follows.
1) Setting the speed feedforward signal source
Set H05-19 to a non-zero value to enable speed feedforward, and the corresponding signal source will be
selected.
Para.
Name Value Range Description
No.
0: No speed feedforward -
Speed
H05-19 feedforward Defines the speed information corresponding to the
1: Internal speed
control selection position reference (encoder unit) as the speed feedforward
feedforward
signal source.
2) Setting the speed feedforward parameters (including H08-19 and H08-18)
Para.
Name Description
No.
Increase the
Increase the
value of H08-00 Position reference
value of H08-19
Speed and H08-02 Actual speed
feedforward
H08-18
filter time ◆◆ Parameter function:
constant
Increasing the value of H08-19 improves the responsiveness but may cause speed
overshoot during acceleration/deceleration.
Decreasing the value of H08-18 suppresses speed overshoot during acceleration/
deceleration. Increasing the value of H08-18 not only suppresses the noise in the case
of long position reference update period, long drive control period and uneven position
Speed reference pulse frequency, but also suppresses jitter of the positioning completion signal.
H08-19 feedforward
gain
Set H08-18 to a fixed value, and then increase the value of H08-19 gradually from 0 to a
certain value at which speed feedfoward reaches the required effect.
Adjust H08-18 and H08-19 repeatedly until reaching a well balanced performance.
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6 Gain Tuning
2 Torque feedforward
Torque
feedforward
selection Torque
(H06-11) feedforward
controller
Speed Speed
No torque 0 +
reference deviation Motor
feedforward +
input Speed loop + Current loop
× × M
control control
Internal torque 1 -
feedforward
Speed
feedback
Speed
calculation
Encoder
Figure 6-9 Operating procedures for torque feedforward control

The torque feedforward used in the position control mode improves torque reference responsiveness and
decreases the position deviation during acceleration/deceleration at a constant speed.
The torque feedforward used in the speed control mode improves torque reference responsiveness and
decreases the position deviation during constant speed.
Operating procedures for torque feedforward are as follows.
1) Setting the torque feedforward signal source
Set H06-11 to 1 to enable speed feedforward, and the corresponding signal source will be selected.
Para.
Name Value Range Description
No.
0: No torque feedforward -
Torque Defines the speed reference as the torque feedforward
H06-11 feedforward 1: Internal torque signal source.
control selection feedforward In the position control mode, the speed reference is
output from the position controller.
2) Setting torque feedforward parameters
Para.
Name Description
No.
Parameter function:
Increasing the value of H08-21 improves the responsiveness but may cause speed
overshoot during acceleration/deceleration.
Torque
Decreasing the value of H08-20 suppresses overshoot during acceleration/deceleration.
feedforward
H08-20 Increasing the value of H08-20 suppresses the noise.
filter time
Adjustment method:
constant
Keep H08-20 to the default value, and then increase the value of H08-21 gradually from 0
to a certain value at which torque feedforward reaches the required effect.
Adjust H08-20 and H08-21 repeatedly until reaching a well balanced performance.
Torque
H08-21 feedforward For details, see "6.5.4 Feedforward Gain" .
gain
6.5.5 Pseudo Derivative Feedback and Feedforward Control
In the non-torque control mode, pseudo derivative feedback and feedforward (PDFF) control can be used
to adjust the speed loop control mode.
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6 Gain Tuning
Position Position
reference deviation
H08-24 = 50%
t
20 ms
Position
reference Position
deviation
H08-24 = 100%
t
160 ms
Position
Position
reference
deviation
H08-24 = 80%
t
90 ms
Figure 6-10 Example
PDFF control enhances the anti-interference capacity of the speed loop and improves the performance in
following the speed reference through adjustment of the speed loop control mode.
Para.
Name Description
No.
It adjusts the control mode of the speed loop in non-torque control mode.
Do not set H08-24 to a too small value. Otherwise, the speed loop response may be
PDFF control
H08-24 slowed down.
coefficient
When speed feedback overshoot occurs, decrease the value of H08-24 gradually from
100.0 to a certain value at which the PDFF control achieves the desired effect.
When H08-24 is set to 100.0, the speed loop control mode does not change and the
default proportional integral control is used.
6.5.6 Torque Disturbance Observation
This function is intended to be used in the non-torque control mode.
1 Disturbance observer 1
The disturbance observer is used to observe external disturbance. The disturbance within the frequency
range can be observed and suppressed through the cutoff frequency and compensation setting.
Position of the disturbance observer 1 in the function block diagram is shown in the following figure.
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6 Gain Tuning
Position Speed loop Current loop

Motor
loop control control control
Disturbance
observer
I/S
◆◆ 1/S: Integral element

NOTE
Disturbance
H08-31 observation cutoff The higher the cutoff frequency is, the more easily will the vibration occur.
frequency
Disturbance
observation
H08-32 Defines the compensation percentage for observation.
compensation
coefficient
Disturbance
Set this parameter only if the set inertia does not fit the actual conditions. The
observation
H08-33 acting inertia is the result of multiplying the value of H08-33 by the set inertia. It is
inertia correction
recommended to use the default value of H08-33.
coefficient
Para. Value Setting Effective

Name Unit Function Default
No. Range Condition Time
Disturbance Defines the cutoff

During
H08-31 observation cutoff 10 to 1700 1 Hz frequency for disturbance Immediately 600
running
frequency observation.
Disturbance
Defines the compensation
observation During
H08-32 0 to 100 1% percentage for Immediately 0
compensation running
disturbance observation.
coefficient
Disturbance
Defines the coefficient for
observation During
H08-33 1 to 10000 1% correcting the disturbance Immediately 100
inertia correction running
observation inertia.
coefficient
6.5.7 Speed observer
The speed observer is intended to be used in applications with small load/inertia changes. It facilitates
quick positioning through improving the responsiveness and filtering high frequencies.
The block diagram for the speed observer is as follows.
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6 Gain Tuning
Speed
reference Speed loop Current
+ control + M Load
loop control
Speed Torque
feedback
observed
Speed
observer
Actual feedback speed
1 Commissioning procedures
Restore the default gain

values.
Cancel gain-autotuning,
gain switchover, and
feedforward.
Set a correct inertia

ratio.
Set the observer filter

(H08-29 = 60).
Turn on the speed

observer
(H08-40 = 1).
Increase speed loop gain

(H08-00) to a value not
exceeding 600.
No
The speed feedback
matches the speed
reference?
Yes
Increase position loop

gain (H08-00) to a value
not exceeding H08-00.
No Positioning
performance
satisfactory?
Yes
End
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6 Gain Tuning
2 Related parameters:
Min. Setting
Para. No. Name Value Range Default Effective Time
Unit Condition
During
H08-00 Speed loop gain 0.1 Hz 1 to 20000 40 Immediately
running
Speed observation cutoff During

H08-27 1 Hz 10 to 2000 170 Immediately
frequency running
Speed observation inertia During

H08-28 1% 10 to 10000 100 Immediately
correction coefficient running
During
H08-29 Speed observation filter time 0.01 ms 0 to 2000 80 Immediately
running
During
H08-40 Speed observation selection 1 0 to 1 0 Immediately
running
$"65*0/
◆◆ Before using the speed observer, set H08-15 (Load inertia ratio) to a proper value or perform
inertia auto-tuning. A wrong inertia ratio will cause vibration.
◆◆ Setting H08-27, H08-28, or H08-29 to a too small or too large value will cause motor vibration.
6.5.8 Model Tracking
The model tracking control, which is only available in the position control mode, can be used to improve
the responsiveness and shorten the positioning time.
Parameters used by model tracking are normally set automatically through ITune or ETune along with the
gain parameters. However, manual tuning is needed in the following situations:
■■ The auto-tuned results cannot fulfill the application needs.
■■ Improving the responsiveness takes priority over the auto-tuned values.
■■ Customized parameters for the gain or model tracking control are needed.
The block diagram for model tracking control is as follows.
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6 Gain Tuning
Speed
Speed mode Move
command
Model tracking control
mKp, mVFF, mLPF
Time
Speed Torque
feedforwrd feedforward
Position control
loop Speed control
loop
Speed Servo motor

reference
Position Speed control Tf Current Power M
Deviation
loop gain loop control conver
counter
Kp Kv, Ti loop sion
Current loop
Speed loop
PG
Position loop
Encoder
Servo unit
Host
controller Kp: Position loop gain (H08-02)
Kv: Speed loop gain (H08-00)
Ti: Speed loop integral time constant (H08-01)
Tf: Torque reference filter time constant (H07-05)
mKp: Model tracking control gain (H08-43)
mVFF: Model tracking control speed feedforward compensation (H08-46)
mLPF: Model filter time (H08-51)
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6 Gain Tuning
1 Commissioning procedures
Perform mechanical
characteristic analysis
and set a correct
resonance point..
Set a correct inertia

ratio.
Improve the speed

loop stiffness(H08-00
to H08-01) and reduce
the corresponding
torque filter(H07-05).
No
The speed feedback
matches the speed
reference ?
Enable the model

tracking function
(H08-42 = 1).
Yes
Set H08-46 to 920.

Set H08-51 to 100.
Set H08-02 ‒ H08-00.
Set H08-43 ‒ H08-02.
Increase the value of

H09-30 or decrease
the value of H08-43.
Yes
No
Excessive overshoot
occurs?
Increase H08-43 to a No Positioning

value not exceeding performance
6000. satisfactory?
Yes
End
2 Related parameters
Setting Effective
Para. No. Name Min. Unit Value Range Default
Condition Time
Torque reference filter time During

H07-05 0.01 ms 0 to 3000 79 Immediately
constant running
During
H08-00 Speed loop gain 0.1 Hz 1 to 20000 400 Immediately
running
Speed loop integral time During

H08-01 0.01 ms 15 to 51200 1989 Immediately
constant running
During
H08-02 Position loop gain 0.1 Hz 1 to 20000 640 Immediately
running
H08-42 Model control selection 1 0 to 1 0 At stop Immediately
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6 Gain Tuning
Setting Effective
Para. No. Name Min. Unit Value Range Default
Condition Time
During
H08-43 Model gain 0.1 0 to 10000 400 Immediately
running
During
H08-46 Feedforward gain 1 0 to 1024 950 Immediately
running
During
H08-51 Model filter time 2 0.01 ms 0 to 2000 0 Immediately
running
$"65*0/
Ensure the set inertia is accurate. Otherwise, motor vibration may occur.
6.5.9 Friction Compensation
The friction compensation is used to reduce the impact of the friction on the running effect during
mechanical transmission. Use different positive/negative compensation values according to the running
direction.
◆◆ Friction compensation is valid only in the position control mode.

NOTE
Para. No. Para. Name Value Range Function
Defines the constant compensation torque

H09-32 Gravity compensation –100% to +100.0%
of vertical gravity load.
Positive friction Defines the friction compensation for the

H09-33 –100% to +100.0%
compensation position reference in forward direction.
Negative friction Defines the friction compensation for the

H09-34 -100.0% to +100%
compensation position reference in reverse direction.
Friction compensation Defines the running speed after friction

H09-35 0 RPM to 30.0 RPM
speed threshold resistance.
0: Speed reference
1: Model speed (valid when
Friction compensation
H09-36 the model function is Defines the source of the speed threshold.
speed selection
enabled)
2: Speed feedback
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6 Gain Tuning
The diagram for friction compensation is as follows.
Speed
Forward
Gravity Positive friction

compensation compensation
(H09-32) (H09-33)
Time
Negative friction
compensation
(H09-34)
Reverse
Motor de-energized
Motor
OFF
energized ON
◆◆ When the speed is less than the speed threshold, static friction applies. When the speed exceeds the
speed threshold, dynamic friction applies. The compensation direction is determined by the direction
of the actual position reference. Forward direction requires positive compensation value. Reverse
NOTE direction requires negative compensation value.
6.6 Parameter Adjustment in Different Control Modes

Perform parameter adjustment in the sequence of "Inertia auto-tuning" => "Gain auto-tuning" => "Manual
gain tuning".
6.6.1 Parameter Adjustment in the Position Control Mode
1) Obtain the value of H08-15 (Load inertia ratio) through inertia auto-tuning.
2) Gain parameters in the position control mode are listed in the following tables.
■■ 1st group of gain parameters
Para. No. Name Function Default
Defines the filter time constant of the

H07-05 Torque reference filter time constant 0.79 ms
torque reference.
Defines the proportional gain of the speed

H08-00 Speed loop gain 40.0 Hz
loop.
Defines the integral time constant of the

H08-01 Speed loop integral time constant 19.89 ms
speed loop.
Defines the proportional gain of the

H08-02 Position loop gain 64.0 Hz
position loop.
■■ 2nd group of gain parameters
2nd torque reference filter time Defines the filter time constant of the 2nd
H07-06 0.79 ms
constant torque reference.
Defines the proportional gain of the speed

H08-03 2nd speed loop gain 40.0 Hz
loop.
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6 Gain Tuning
2nd speed loop integral time Defines the integral time constant of the
H08-04 20.00 ms
constant speed loop.
Defines the proportional gain of the

H08-05 2nd position loop gain 64.0 ms
position loop.
H08-08 2nd gain mode Defines the mode of the 2nd gain. 1
H08-09 Gain switchover condition Defines the gain switchover condition. 0
H08-10 Gain switchover delay Defines the gain switchover delay. 5.0 ms
H08-11 Gain switchover level Defines the gain switchover level. 50
H08-12 Gain switchover hysteresis Defines the gain switchover hysteresis. 30
Defines the gain switchover time of the

H08-13 Position gain switchover time 3.0 ms
position loop.
■■ Common gain
Speed feedforward filter time Defines the filter time constant of the
H08-18 0.50 ms
constant speed feedforward signal.
H08-19 Speed feedforward gain Defines the speed feedforward gain. 0.0%
Torque feedforward filter time Defines the filter time constant of the
H08-20 0.50 ms
constant torque feedforward signal.
H08-21 Torque feedforward gain Defines the torque feedforward gain. 0.0%
H08-22 Speed feedback filter selection Defines the speed feedback filter function. 0
Cutoff frequency of speed feedback Defines the cutoff frequency of the first-
H08-23 4000 Hz
low-pass filter order low-pass filter for speed feedback.
Defines the coefficient of the PDFF

H08-24 PDFF control coefficient 100.0%
controller.
Torque disturbance compensation Defines the gain of disturbance torque

H09-30 0.0%
gain compensation.
Filter time constant of torque Defines the filter time constant of the
H09-31 0.5 ms
disturbance observer disturbance observer.
Suppression mode for low- Defines the mode of suppressing low-

H09-04 0
frequency resonance frequency resonance.
Frequency for suppressing low- Defines the frequency of the filter used to
H09-38 100.0 Hz
frequency resonance suppress low-frequency resonance.
Low-frequency resonance filter Used to set the low-frequency resonance

H09-39 2
setting filter.
Defines the position deviation threshold

Position deviation threshold in low-
H0A-16 (in pulses) which can be judged as low- 0.0005 Rev
frequency resonance
frequency resonance.
3) Perform gain auto-tuning to obtain the initial values of the 1st gain (or 2nd gain) and common gain.
■■ Adjust the following gain parameters manually.
Para. No. Name Function
Filter time constant of torque

H07-05 Defines the filter time constant of the torque reference.
reference
H08-00 Speed loop gain Defines the proportional gain of the speed loop.
H08-01 Speed loop integral time constant Defines the integral time constant of the speed loop.
H08-02 Position loop gain Defines the proportional gain of the position loop.
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6 Gain Tuning
H08-19 Speed feedforward gain Defines the speed feedforward gain.
6.6.2 Parameter Adjustment in the Speed Control Mode
Parameter adjustment in the speed control mode is the same as that in the position control mode except
for the position loop gain (H08-02 and H08-05). See section "6.6.1 Parameter Adjustment in the Position
Control Mode" for details.
6.6.3 Parameter Adjustment in the Torque Control Mode
Parameter adjustment in the torque control mode are differentiated based on the following conditions:
■■ If the actual speed reaches the speed limit, the adjustment method is the same as that described in
section 6.6.2.
■■ If the actual speed does not reach the speed limit, the adjustment method is the same as that
described in section 6.6.2, except for the position/speed loop gain and speed loop integral time
constant.
6.7 Vibration Suppression

The block diagram for vibration control is as follows.
Position loop Speed loop Current loop

NTF1 NTF2 NTF3 NTF4 Motor
control control control
VIBSUP3
Disturbance
observer
I/S
■■ NTF1–4: 1st notch to 4th notch
■■ VIBSUP3: Suppression of medium- and low-frequency vibration featuring a frequency lower than
300 Hz
■■ 1/S: Integral element
Para. Max. Val- Setting Effective

Name Default Unit Min. Value
No. ue Condition Time
Medium- and low-

During
H08-53 frequency jitter suppression 0 0.1 Hz 0 6000 Immediately
running
frequency 3
Medium- and low-

During
H08-54 frequency jitter suppression 0 1% 0 200 Immediately
running
compensation 3
Medium- and low-

During
running
phase modulation 3
Medium- and low-

During
H08-59 frequency jitter suppression 0 0.1 Hz 0 3000 Immediately
running
frequency 4
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6 Gain Tuning
Para. Max. Val- Setting Effective

Name Default Unit Min. Value
No. ue Condition Time
Medium- and low-

During
running
compensation 4
Medium- and low-

During
running
phase modulation 4
◆◆ Vibration suppression phase modulation coefficient: synchronous phase adjustment of the

compensation value and vibration. It is recommended to use the default value. Adjustment is needed
only when the compensation phase deviates sharply from the vibration phase.
◆◆ Vibration suppression frequency: Defines the vibration frequency to be suppressed.
NOTE
◆◆ Vibration suppression compensation coefficient: Defines the magnitude of the suppression
compensation.
6.7.1 Suppression of Mechanical Resonance
The resonance frequency is present in the mechanical system. When the gain increases, resonance may
occur near the resonance frequency, disabling further increase of the gain.
Mechanical resonance can be suppressed in the following two methods:
1) Torque reference filter (H07-05, H07-06)
To suppress the mechanical resonance, set the filter time constant to allow the torque reference to be
attenuated in the frequency range above the cutoff frequency.
Filter cutoff frequency fc (Hz) = 1/[2 x H07-05 (ms) x 0.001]
2) Notch
The notch reduces the gain at certain frequencies to suppress the mechanical resonance. After the
vibration is suppressed by the notch, you can continue to increase the gain. The operating principle of the
notch is shown in the following figure.
Amplitude frequency
characteristic of the
mechanical system Mechanical resonance frequency
Frequency
Notch
characteristics
Notch width
Notch depth
fL fH
Notch center frequency fT Frequency
Figure 6-11 Operating principle of the notch

A total of four notches can be used, and each is defined by three parameters: frequency, width level, and
depth level. Parameters of the 1st and 2nd manual notches are set manually by the user. Parameters of
the 3rd and 4th notches can be either set manually or set automatically after being configured as the
adaptive notch (H09-02 = 1 or 2).
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6 Gain Tuning
Table 6-8 Description of the notch
Manual Notch Manual/Adaptive Notch

Item
1st Notch 2nd Notch 3rd Notch 4th Notch
Frequency H09-12 H09-15 H09-18 H09-21
Width level H09-13 H09-16 H09-19 H09-22
Depth level H09-14 H09-17 H09-20 H09-23
◆◆ When the "frequency" is the default value (4000 Hz), the notch is invalid.
◆◆ The adaptive notch is preferred for resonance suppression. The manual notch can be used in cases
NOTE where the adaptive notch cannot deliver desired performance.
Start
Yes Adaptive No
notch used?
One
Yes No
resonance
frequency?
Two
No Analyze the
resonance
frequencies? resonance frequency.
Set H09-02 to 1. Yes
Set H09-02 to 2.
Input notch
3rd notch parameters parameters.
3rd notch parameters
updated
updated
automatically
automatically
(H09-18 to H09-20)
(H09-18 to H09-20)
4th notch parameters

updated
automatically
(H09-21 to H09-23)
Yes Resonance No
suppressed?
Set H09-02 to 0 after Switch off the S-ON

the running is signal and use the
stabilized. manual notch.
End
Figure 6-12 Steps for setting the adaptive notch
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6 Gain Tuning
■■ Steps for setting the adaptive notch
1) Set H09-02 (Adaptive notch mode) to 1 or 2 based on the number of resonance frequency points.
2) When resonance occurs, set H09-02 to 1 to enable one adaptive notch first. If new resonance occurs
after the gain is adjusted, set H09-02 to 2 to enable two adaptive notches.
3) The parameters of the 3rd or 4th notch are updated automatically during running, and the values are
automatically stored to the corresponding parameters in group H09 every 30 minutes.
4) If the resonance is suppressed, it indicates the adaptive notch functions well. After the servo drive
keeps stable for a certain period, set H09-02 to 0 to keep the parameters of the adaptive notch fixed
to the latest values. This is to prevent notch parameters from being updated to the wrong values,
causing malfunction of the servo drive and exacerbating vibration.
5) If the vibration cannot be suppressed, switch off the S-ON signal.
6) If there are more than two resonance frequencies, use both the adaptive notch and manual notch to
suppress the resonance or use all the four notches as manual notches (H09-02 = 0).
◆◆ When adaptive notch is applied, if the S-OFF signal is activated within 30 min, the notch parameters
will not be stored into the corresponding parameter numbers.
◆◆ When the resonance frequency is below 300 Hz, the suppression effect of the adaptive notch may be
degraded.
NOTE
■■ Procedures for using the manual notch:
1) Step 1: Analyze the resonance frequency.
2) Step 2: When using the manual notch, set the frequency to the actual resonance frequency, which is
obtained by using the following methods:
a) Use the "Mechanical characteristic analysis" function in the software tool.
b) Calculate the resonance frequency based on the motor phase current displayed on the
oscilloscope interface of the software tool.
c) Set H09-02 (Adaptive notch mode) to 3. The servo drive detects the resonance frequency and stores
the detection result in H09-24 (Auto-tuned resonance frequency) automatically after start.
3) Step 3: Input the resonance frequency obtained in step 1 into the parameter of the selected notch,
and input the width level and depth level of this notch.
4) If the resonance is suppressed, it indicates the notch functions well and you can continue adjusting
the gain. If new resonance occurs, repeat steps 1 and 2.
5) If the vibration cannot be suppressed, switch off the S-ON signal.
■■ Width level of the notch
The width level indicates the ratio of the notch width to the center frequency of the notch.
Notch width level =

fH-fL
fT
In which:
f T: Center frequency of the notch, which is also the mechanical resonance frequency
fH-fL: Notch width, indicating the frequency width whose amplitude attenuation rate is -3 dB in relative to
the notch center frequency
The default value 2 applies to general applications.
■■ Depth Level of the notch
The notch depth level indicates the ratio of the input to the output at the center frequency.
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6 Gain Tuning
When the depth level is 0, the input is completely suppressed at the center frequency. When the depth
level is 100, the input can be fully received at the center frequency. Therefore, the smaller the depth level
is, the larger the notch depth is, and the stronger the suppression effect will be. Note that a too small
depth level may lead to system oscillation.
◆◆ If the amplitude frequency characteristic curve obtained through the mechanical characteristic
analysis tool does not have obvious spike but vibration does occur in actual operations, it indicates
the gain limit of the servo drive may be reached, which causes the vibration. Such vibration is not
NOTE mechanical resonance and can be suppressed only by reducing the gain or the torque reference filter
time.
Their relation is shown in the following figure.
10 Depth: 50 Width: 4
5 Depth: 0 Width: 4
0 Depth: 0 Width: 8
-5
-10
-15
-20
-25
-30
10 100 1000
Figure 6-13 Notch frequency characteristics

No. Condition Time
0: Parameters of the 3rd and 4th
notches not longer updated
1: One adaptive notch activated,
parameters of the 3rd notch
updated in real time based on the
vibration condition
2: Two adaptive notches activated,
Selection Defines the working
parameters of the 3rd and 4th During
H09-02 of adaptive - mode of the adaptive Immediately 0
notches updated in real time running
notch mode notch.
based on the vibration condition
3: Resonance frequency tested
only, displayed in H09-24
4: Adaptive notch cleared,
parameters of the 3rd and 4th
notches restored to default
settings
Frequency of Defines the frequency During
H09-12 50 to 4000 Hz Immediately 4000
the 1st notch of the 1st notch. running
Width level of Defines the width During
H09-13 0 to 10 - Immediately 2
the 1st notch level of the 1st notch. running
Defines the
Depth level of During
H09-14 0 to 99 - attenuation level of Immediately 0
the 1st notch running
the 1st notch.
the 2nd notch of the 2nd notch. running
the 2nd notch level of the 2nd notch. running
-172-
6 Gain Tuning

No. Condition Time
Defines the
the 2nd notch running
the 2nd notch.
the 3rd notch of the 3rd notch. running
the 3rd notch level of the 3rd notch. running
Defines the
the 3rd notch running
the 3rd notch.
the 4th notch of the 4th notch. running
the 4th notch level of the 4th notch. running
Defines the
the 4th notch running
the 4th notch.
Displays the auto-
Auto-tuned
tuned resonance
H09-24 resonance - Hz - - 0
frequency when H09-
frequency
02 is set to 3.
6.7.2 Low Frequency Suppression at the Mechanical End
End part
Motor
Workbench
Figure 6-14 Low frequency vibration at the mechanical end

If the mechanical load end is long and heavy, vibration may easily occur on this part during emergency
stop, affecting the positioning effect. Such vibration is called low frequency resonance as its frequency is
generally within 100 Hz, which is smaller than the mechanical resonance frequency mentioned in "6.7.1
Suppression of Mechanical Resonance". Use the low frequency resonance suppression function to alleviate
such vibration.
-173-
6 Gain Tuning
Start
Perform tests
(three modes optional).
Input the low frequency

resonance suppression
filter parameters.
(H09-38, H09-39,
H09-44 to H09-52)
End
Figure 6-15 Procedures for setting low frequency resonance suppression filter
First, collect the position deviation waveform in the motor positioning mode by using the oscilloscope
function of the software tool and calculate the position deviation fluctuation frequency, which is the low
frequency resonance frequency. Next, input H09-38 (or H09-44) and H09-49 manually, and keep the values
of other parameters to their default values. Observe the suppression effect after using the low frequency
resonance suppression filter.
Position
deviation
Before suppression
After suppression
Time (t)
Figure 6-16 Effect of low frequency resonance suppression


Low-frequency Defines the frequency for suppressing
1.0 to During
H09-38 resonance suppression Hz the low frequency resonance at the Immediately 100.0
100.0 running
frequency mechanical end.
Low-frequency Defines the low frequency resonance During
resonance suppression suppression level. running
Frequency of low- Defines the frequency for the 2nd
frequency resonance 0 to group of low frequency resonance During
H09-44 Hz Immediately 0
suppression 2 at the 200.0 suppression. If H09-44 is set to 0, this running
mechanical end function is disabled.
Defines the response of the 2nd
group of low frequency resonance
Response of low- suppression. Increasing the value of
frequency resonance 0.01 to H09-45 can reduce the delay caused During
H09-45 Hz Immediately 1.00
suppression 2 at the 10.00 by suppression and improve the running
mechanical end responsiveness. Note that setting
H09-45 to a too large value may incur
vibration.
-174-
6 Gain Tuning

Defines the width of the 2nd
Width of low-frequency
resonance suppression 0 to During
H09-47 Hz suppression. Increase the value of Immediately 1.00
2 at the mechanical 2.00 running
H09-47 in cases where the vibration
end
frequency changes during running.
Frequency of low- Defines the frequency of the 3rd
0 Hz to
frequency resonance group of low frequency resonance During
H09-49 200.0 Hz Immediately 0
suppression 3 at the suppression. If H09-49 is set to 0, this running
Hz
mechanical end function is disabled.
Defines the response of the 3rd
Response of low- suppression. Increasing the value of
frequency resonance 0.01 to H09-50 can reduce the delay caused During
H09-50 Hz Immediately 1.00
suppression 3 at the 2.00 by suppression and improve the running
mechanical end responsiveness. Note that setting
H09-50 to a too large value may incur
vibration.
Defines the width of the 3rd
Width of the low-
frequency resonance 0 to During
H09-52 Hz suppression. Increase the value of Immediately 1.00
suppression 3 at the 2.00 running
H09-52 in cases where the vibration
mechanical end
frequency changes during running.
6.8 Mechanical Characteristic Analysis
6.8.1 Overview
The mechanical characteristic analysis is used to determine the mechanical resonance point and system
bandwidth. An analysis of response characteristics up to 8 kHz is available and three modes including
mechanical characteristics, speed open loop and speed closed loop are supported.
-175-
6 Gain Tuning
6.8.2 Operating Procedures
Open the software tool, and click "机械特性分

析" (Mechanical characteristic analysis)
on the menubar.
Perform tests.
（three mode optional).
Excessive vibration Yes Reduce current Vibration

Reduce the gain
and distortion excitation
occurs ?
No
Yes
Motor overtravel
occurs?
No
Yes Increase the

Excessive waveform
smoothing
noise?
factor.
No
End
Figure 6-17 Operating procedures for mechanical characteristic analysis

◆◆ To avoid strong vibration during test, set the current excitation to 10% during initial execution.
◆◆ The analysis waveform may be distorted if the current excitation is too small.
◆◆ If the vibration generated during the test cannot be eliminated by reducing the current excitation, the
possible causes and solutions are as follows:
1) The gain is too high. Reduce the speed gain or set the notch based on the auto-tuned resonance
NOTE point.
2) The inertia is too large. Set a correct inertia.
◆◆ After setting the notch, the waveform under mechanical characteristic test mode is the same with that
before the setting, but the speed closed loop and open loop modes will be attenuated.
-176-
6 Gain Tuning
Figure 6-18 Example of the waveform
-177-
7 Control Mode
7 Control Mode
The servo system consists of three major parts: servo drive, servo motor, and encoder.
Servo drive
Reference Motor
input + Position loop + Speed loop + Current loop
× × × M
control control control
- - -
Position Speed Current
feedback feedback feedback
Speed
calculation
Encoder
Figure 7-1 Structure of a basic servo system

The servo drive, which is the core of a servo system, serves to perform accurate position, speed and
torque control on a servo motor. It supports four control modes, namely position control, speed control,
torque control, and hybrid (combination among position, speed and torque) control. Position control is
the most important mode of a servo system.
Descriptions of the control modes are as follows:
■■ Position control
In the position control mode, the target position of a motor is determined by the sum of position
references, and the motor speed is determined by the position reference frequency. The servo
drive performs quick and accurate position and speed control through the encoder installed on the
motor or an external encoder (full closed-loop control). The position control mode mainly applies
to applications requiring positioning control, such as the manipulator, SMT machine, engraving and
milling machine (pulse sequence reference), and CNC machine tool.
■■ Speed control
In the speed control mode, the servo drive performs quick and accurate speed control through
the speed reference sent through communication. The speed control mode mainly applies to
application requiring speed control or where a host controller is used for position control or the
commands sent from the host controller are used as the speed references for the servo drive, such
as the engraving and milling machine.
■■ Torque control
In the torque control mode, the motor current is in linear relationship with the torque. Therefore,
torque control is implemented through current control. The output torque of the motor is controlled
by the torque reference sent through communication. The torque control mode mainly applies in
applications requiring strict tension control. For example, in winding/unwinding devices, torque
references are used to prevent the material from being affected by the change in the winding radius.
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7 Control Mode
7.1 Servo Drive State Setting

Follow the process stipulated in the standard 402 protocol when operating the SV660N servo drive.
Failure to comply may cause the servo drive to run in the wrong state.
Start
13
0 Stop upon fault
14
Initialization
Fault
1
15
No fault
2 7
Ready to switch on
12 10 3 6
Waiting to be switched on 8 9
Quick stop
4 5
16 11
Running
Figure 7-2 CiA402 state machine switchover

See the following table for the descriptions of different states.
Initialization of the servo drive and internal self-check are done.

Initialization The servo drive parameters cannot be set. The driving functions cannot be
executed.
No fault exists in the servo drive or the fault has been cleared.
No fault
The servo drive parameters can be set.
The servo drive is ready to run.
Ready to switch on
The servo drive is waiting to be switched on.
Wait to switch on
The servo drive is running properly and a certain running mode has been
Running enabled. The motor is energized and starts to rotate when the reference is not 0.
Only the parameter whose attribute is "modifiable during running" can be set.
Quick stop is activated and the servo drive is in the process of quick stop.
Quick stop
A fault occurs and the servo drive is in the process of stop upon fault.
Stop upon fault
The stop process is done and all the driving functions are disabled. Parameters
Fault
of the servo drive can be modified for troubleshooting.
Switchover between the control commands and states
-179-
7 Control Mode
CiA402 State Switchover Control Word 6040h bit0 to bit9[1] of Status Word 6041h
Natural transition, control command

0 Power-on → Initialization 0x0000
not required
Natural transition, control command

not required
1 Initialization → No fault If an error occurs during initialization, 0x0250/0x270
the servo drive directly goes to state
13.
No fault -> Ready to switch

2 0x0006 0x0231
on
Ready to switch on -> Wait

3 0x0007 0x0233
to switch on
Wait to switch on->

4 0x000F 0x0237
Running
Running -> Wait to switch

5 0x0007 0x0233
on
Wait to switch on -> Ready

6 0x0006 0x0231
to switch on
Ready to switch on -> No

7 0x0000 0x0250
fault
Running -> Ready to switch

8 0x0006 0x0231
on
9 Running -> No fault 0x0000 0x0250
Wait to switch on -> No

10 0x0000 0x0250
fault
11 Running -> Quick stop 0x0002 0x0217
Set 605A to a value between 0 to 3.

Natural transition will be performed
12 Quick stop -> No fault 0x0250
after stop and no control command is
required.
Once a fault occurs in any state

other than "fault", the servo drive
13 -> Stop upon fault automatically switches to the stop- 0x021F
upon-fault state, requiring no control
command.
Natural transition is performed after

14 Stop upon fault -> Fault stop and no control command is 0x0218
required.
0x80
Bit7 is rising edge-triggered.
15 Fault -> No fault 0x0250
If the value of bit7 is 1, other control
commands are invalid.
Set 605A to a value between 5 to 7.

16 Quick stop -> Running 0x0237
0x0F will be sent upon stop.
bit10 to bit15 of 6041h are related to the running state of the servo drive, and their values are
represented as 0 in the preceding table. For details on the state of these bits, view the running modes of
NOTE the servo drive.
-180-
7 Control Mode
7.1.1 Control Word 6040h
Setting
During
Condition Data
Name Control word running & VAR Data Type Uint16
Index & Effective Structure
Immediately
6040h Time
Related
Access RW Mapping RPDO All Value Range 0 to 65535 Default 0
Mode
6040h is used to set the control command.
bit Name Description

0 Switch on 1: Valid, 0: Invalid
1 Enable voltage 1: Valid, 0: Invalid
2 Quick stop 0: Valid, 1: Invalid
3 Enable operation 1: Valid, 0: Invalid
4 to 6 Operation mode-specific Related to the servo drive modes.
0: Invalid
0 -> 1: Fault reset is implemented for faults and
7 Fault reset warnings that can be reset.
1: Other control commands are invalid.
1 -> 0: Invalid
8 Halt 1: Valid, 0: Invalid
9 Operation mode-specific Related to the servo drive modes.
10 Reserved Undefined
11 to 15 Manufacturer-specific Defined by the manufacturer.
Note:
◆◆ All bits in a control word constitute a control command. One bit is meaningless if it is set separately.
◆◆ The meaning of bit0 to bit3 and bit7 are the same in each mode of the servo drive. The servo drive switches to
the preset status according to the CiA402 state machine only when control words are sent in sequence. Each
command corresponds to a certain status.
◆◆ The meanings of bit4 to bit6 vary with each mode. For details, see parameters related to each mode.
◆◆ The bit9 is not defined.
-181-
7 Control Mode
7.1.2 Status Word 6041h
Setting
Condition Data
Name Status word - VAR Data Type Uint16
6041h Time
Related
Access RO Mapping TPDO All Value Range - Default 0
Mode
Shows the servo drive status.

15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0
ms osm ila tr rm ms w sod qs ve f oe so rtso
MSB LSB
Description：
ms=manufacturEr-specific；omS=operation mode sPecific；iLa=internal limit actIve；
tr=target rEach；rm=remote；w=warning；sod=switch on disabled；qs=quick stop；ve=voltage
enabled；f=fault；oe=operation enabled；so=switch on；rtso=ready to switch on

0 Ready to switch on 1: Valid, 0: Invalid
2 Operation enabled 1: Valid, 0: Invalid
3 Fault 1: Valid, 0: Invalid
4 Voltage enabled 1: Valid, 0: Invalid
6 Switch on disabled 1: Valid, 0: Invalid
7 Warning 1: Valid, 0: Invalid
8 Manufacturer-specific Undefined
1: Valid, control word activated
9 Remote
0: Invalid
10 Target reach 1: Valid, 0: Invalid
11 Internal limit active 1: Valid, 0: Invalid
12 to 13 Operation mode specific Related to the servo drive modes.
15 Home find 1: Valid, 0: Invalid
Binary Value Description

xxxx xxxx x0xx 0000 Not ready to switch on
xxxx xxxx x1xx 0000 Switch on disabled
xxxx xxxx x01x 0001 Ready to switch on
xxxx xxxx x01x 0011 Switched on
xxxx xxxx x01x 0111 Operation enabled
xxxx xxxx x00x 0111 Quick stop active
xxxx xxxx x0xx 1111 Fault reaction active
xxxx xxxx x0xx 1000 Fault
Note:
◆◆ The meanings of bit0 to bit9 are the same in each mode of the servo drive. After control commands in 6040h are
sent in sequence, the servo drive returns a certain status.
◆◆ The meanings of bit12 to bit13 vary with the servo drive modes. For details, see parameters related to each mode.
◆◆ The meanings of bit10, bit11, and bit15 are the same in each mode of the servo drive and indicate the servo drive
status after a certain control mode is implemented.
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7 Control Mode
7.2 Servo Mode Setting
7.2.1 Introduction to Servo Drive Modes
The SV660N supports seven modes, as defined in 6502h.
Setting
Condition Data
Name Supported drive modes - VAR Data Type UINT32
6502h Time
Related Value
Access RO Mapping No - - Default 0x000003ADh
Mode Range
Shows the servo drive modes supported.
Support or Not
bit Description (0: Not support
1: Support)
0 Profile Position Mode (PP) 1

1 Velocity Mode (VL) 0
2 Profile Velocity Mode (PV) 1
3 Profile Torque Mode (PT) 1
4 N/A 0
5 Homing Mode (HM) 1
Interpolated Position Mode
6 0
(IP)
Cyclic Synchronous Position
7 1
Mode (CSP)
Cyclic Synchronous Velocity
8 1
Mode (CSV)
Cyclic Synchronous Torque
9 1
Mode (CST)
10 to 31 Defined by the manufacturer Reserved
If the device supports 6502h, you can get the supported servo drive modes through 6502h.
The pre-running mode of the servo drive is set in 6060h. The present running mode of the servo drive
can be viewed in the object dictionary 6061h.
-183-
7 Control Mode
■■ 6060h (Modes of operation)
Setting
During
Condition Data Data
Name Modes of Operation running & VAR int 8
Index & Effective Structure Type
Immediately
6060h Time
Related Value
Access RW Mapping RPDO All 0 to 10 Default 0
Mode Range
Defines the mode of servo drive operation.
Value Modes of Operation

0 N/A Reserved
1 Profile Position Mode (PP) See "7.6 Profile Position (PP) Mode"
2 N/A Reserved
3 Profile Velocity Mode (PV) See "7.7 Profile Velocity Mode (PV)"
4 Profile Torque Mode (PT) See "7.8 Profile Torque Mode (PT)"
5 N/A Reserved
6 Homing Mode (HM) See "7.9 Homing Mode (HM)"
7 Interpolated Position Mode (IP) Not supported
8 Cyclic Synchronous Position Mode (CSP) See "7.3 Cyclic Synchronous Position Mode (CSP)"
9 Cyclic Synchronous Velocity Mode (CSV) See "7.4 Cyclic Synchronous Velocity (CSV) Mode"
10 Cyclic Synchronous Torque Mode (CST) See "7.5 Cyclic Synchronous Torque Mode (CST)"
If an unsupported operation mode is set through SDO, an SDO error will be returned. For details, see "11.2 List of
Object Groups" .
If an operation mode not supported is set through PDO, this operation mode is invalid.
■■ 6061h (Modes of operation display)
Setting
Condition Data
Name Modes of operation display - VAR Data Type int 8
6061h Time
Related Value
Access RO Mapping TPDO All 0 to 10 Default 0
Mode Range
Displays the present operation mode of the servo drive.
Value Modes of Operation

0 N/A Reserved
1 Profile Position Mode (PP) See "7.6 Profile Position (PP) Mode"
2 N/A Reserved
3 Profile Velocity Mode (PV) See "7.7 Profile Velocity Mode (PV)"
4 Profile Torque Mode (PT) See "7.8 Profile Torque Mode (PT)"
5 N/A Reserved
6 Homing Mode (HM) See "7.9 Homing Mode (HM)"
7 Interpolated Position Mode (IP) Not supported
8 Cyclic Synchronous Position Mode (CSP) See "7.3 Cyclic Synchronous Position Mode (CSP)"
9 Cyclic Synchronous Velocity Mode (CSV) See "7.4 Cyclic Synchronous Velocity (CSV) Mode"
10 Cyclic Synchronous Torque Mode (CST) See "7.5 Cyclic Synchronous Torque Mode (CST)"
-184-
7 Control Mode
7.2.2 Communication Cycle
SV660N series servo drives support a synchronization cycle of 125 µs (or an integral multiple of 125 μs).
7.3 Cyclic Synchronous Position Mode (CSP)

In this mode, the host controller generates the position references and sends the target position to the
servo drive cyclically. The position control, speed control, and torque control are performed by the servo
drive.
7.3.1 Configuration Block Diagram
CSP mode (0x6060=8)

Position offset (0x60B0)
Position actual value
Target position (0x607A) (0x6064)
Following error actual value

Velocity offset (0x60B1) (0x60F4)
Servo control
Velocity actual value
Torque offset (0x60B2)
(0x606C)
Torque actual value
(0x6077)
Figure 7-3 Cyclic synchronous position mode
7.3.2 Related Objects
Sub-index
Index (hex) Name Access Data Type Unit Value Range Default
(hex)
6040 00 Control word RW UINT16 - 0 to 65535 0
6041 00 Status word RO UINT16 - - 0
Modes of
6060 00 RW INT8 - 0 to 10 0
operation
Modes of
6061 00 operation RO INT8 - - 0
display
Position
6064 00 RO INT32 Position unit - -
actual value
Velocity Position
606C 00 RO INT32 - -
actual value unit/s
Target
607A 00 RW INT32 Position unit –231 to +(231–1) 0
position
607E 00 Polarity RW UINT8 - 0 to 255 0
Position
60B0 00 RW INT32 Position unit –231 to +(231–1) 0
offset
Velocity Velocity
60B1 00 RW INT32 –231 to +(231–1) 0
offset unit/s
60B2 00 Torque offset RW INT16 0.1% –3000 to +3000 0
-185-
7 Control Mode
7.3.3 Related Function Settings
1 Position deviation monitoring function
Setting
During
Condition Data Data
Name Following error window running & VAR UINT 32
Index Immediately
Time
6065h
0 to (232-1)
Related Value
Access RW Mapping RPDO PP HM CSP (position Default 3145728
Mode Range
unit)
Defines the threshold of excessive position deviation (position unit).

If 6065h is set to a too large value, the warning threshold of excessive position deviation will be 2147483647 encoder
units.
Setting
During
Condition Data Data UINT
Name Following error time out running & VAR
& Effective Structure Type 16
Index Immediately
Time
6066h
0 to
Related Value
Access RW Mapping RPDO PP HM CSP 65535 Default 0
Mode Range
(ms)

If the position deviation exceeds the threshold of excessive position deviation and such status persists after the
time defined by 6066h elapses, EB00.0 (Excessive position deviation) will occur.
2 Position reference polarity
You can change the position reference direction through setting the position reference polarity.
Setting
During
Condition Data Data
Name Polarity running & VAR Uint8
Immediately
607Eh Time
Related Value 0 to
Access RW Mapping RPDO All Default 0
Mode Range 255
Defines the polarity of the position, speed, and torque reference.
Bit Description
Position polarity
0: Multiply by 1
7
1: Multiply by -1
CSP: Invert the position reference (607Ah + 60B0h)
7.3.4 Recommended Configuration

The basic configuration for the CSP mode is described in the following table.
RPDO TPDO Description
6040: Control word 6041: Status word Mandatory
607A: Target position 6064: Position actual value Mandatory
6060: Modes of operation 6061: Modes of operation display Optional
-186-
7 Control Mode
7.3.5 Related Parameters
Setting
During
Condition Data
Immediately
6040h Time
Related Value
Mode Range
Defines the control commands.

The CSP mode only supports the absolute position references.
Setting
Condition Data
6041h Time
Related
Mode

9 Remote
0: Invalid
10 Target reach Not supported, always being 1
0: Position reference within the
limit
11 Internal limit active
1: Position reference beyond the
limit
12 Drive follow the command value Not supported, always being 1
0: EB00.0 (Excessive position
deviation) not reported
13 Following error
1: EB00.0 (Excessive position
deviation) reported
0: Homing not completed
15 Home find
1: Homing completed
-187-
7 Control Mode
Setting
During
Condition Data Data
Name Target position running & VAR int32
Immediately
Time
607Ah
Related Value -231 to +(231-1)
Access RW Mapping RPDO PP CSP Default 0
Mode Range (position unit)
Defines the target position in PP mode and CSP mode.

In CSP mode, 607Ah represents the absolute target position. In PP mode, 607Ah represents either incremental
position or absolute position as defined by the control word.
Setting
During
Condition Data Data
Name Position offset running & VAR int32
Index Immediately
Time
60B0h
-231 to +(231-1)
Related Value
Access RW Mapping RPDO CSP (position Default 0
Mode Range
unit)
Defines the position offset in CSP mode.
The sum of 607Ah and 60B0h determines the target position of the servo drive.
Target position = 607Ah + 60B0h
Setting
During
Condition Data Data
Name Velocity offset running & VAR int32
Immediately
Time
60B1h
Related Value –231 to +(231–1)
Access RW Mapping RPDO CSP/CSV Default 0
Mode Range (velocity unit/s)
Defines the external velocity feedforward signal of EtherCAT in the CSP mode (activated when 2005-14h is set to 2).
60B1h can be used to reduce the position deviation during positioning. After the positioning is done, set the velocity
offset to 0. Failure to comply will cause deviation between the positioning target position and position feedback.
You can set both the velocity offset and the velocity reference offset in the CSP mode through 60B1h.
Setting
During
Condition Data
Name Torque offset running & VAR Data Type int16
Immediately
60B2h Time
Related Value –3000 to

Access RW Mapping RPDO CSP/CSV/CST Default 0
Mode Range +3000 (0.1%)
Defines the external torque feedforward signal of EtherCAT in CSP and CSV modes (activated when 2006-0Ch is set
to 2).
You can set both the torque reference and the torque reference offset in CST mode through 60B2h.
Setting
Condition At Data
Name Position actual value VAR Data Type int32
& Effective display Structure
Index
Time
6064h
-
Related
Access RO Mapping TPDO All Value Range (position Default 0
Mode
unit)
Shows the absolute position feedback (position unit).

In the case of an absolute encoder used in the rotary mode, 6064h shows the single-turn position feedback (position
unit) of the mechanical load.
-188-
7 Control Mode
Setting
Condition At Data
Name Velocity actual value VAR Data Type int 32
Index
Time
606Ch
(unit:
Related Value
Access RO Mapping TPDO All velocity Default -
Mode Range
unit/s)
Shows the actual speed feedback value (velocity unit/s).
Setting
Condition
At Data
Name Torque actual value & VAR Data Type int16
Index display Structure
Effective
6077h Time
Related Value
Access RO Mapping TPDO All (unit: 0.1%) Default -
Mode Range
Shows the internal torque feedback of the servo drive.

The value 100.0% corresponds to the rated motor torque.
Setting
Following error actual Condition Data Data
Name At display VAR INT32
Index value & Effective Structure Type
60F4h Time
Related Value (unit: position

Access RO Mapping TPDO PP HM CSP Default -
Mode Range unit)
Shows the position deviation (position unit).
7.3.6 Function Block Diagram
Velocity
offset
(60B1h) Polarity
(607E)
Position
offset
Target (60B0h)
position
(607Ah) Gear ratio Position
Polarity
(6091-01h, regulator Speed limit
(607E)
6091-02h) (2008-03h)
Position actual
value (6063h)
Torque
offset
(60B2h)
Polarity
(607E)
Speed
regulator
(2008-01h,
2008-02h)
Speed
calcul-
ation
Filter Torque Torque

Motor Encoder
(2007-06h) limit regulator
Torque actual
value (6077h)
-189-
7 Control Mode
7.4 Cyclic Synchronous Velocity (CSV) Mode

In this mode, the host controller sends the target speed to the servo drive using cyclic synchronization.
Speed control and torque control are performed by the servo drive.
CSV mode (0x6060= 9)
Velocity offset (0x60B1)
Target velocity (0x60FF) Position actual value (0x6064)
Servo control
Torque offset (0x60B2) Velocity actual value (0x606C)
Torque actual value(0x6077)
Figure 7-4 CSV mode
Sub-index
(hex)
Modes of
6060 00 RW INT8 - 0 to 10 0
operation
Modes of
display
Position actual
value
Velocity actual
606C 00 RO INT32 Velocity unit/s - -
value
60B1 00 Velocity offset RW INT32 Velocity unit/s –231 to +(231–1) 0
60FF 00 Target velocity RW INT32 Velocity unit/s –2 to +(2 –1)

31 31
0
1 Velocity reference polarity
You can change the velocity reference direction through setting the velocity reference polarity.
-190-
7 Control Mode
Setting
During
Condition Data Data
Immediately
607Eh Time
Related Value
Mode Range
Bit Description
Velocity reference polarity
0: Multiply by 1
6 1: Multiply by -1
CSP: Invert the velocity offset 60B1h
CSV: Invert the speed reference (60FFh + 60B1h)
The basic configuration of the CSV mode is described in the following table.
6040: Control word 6041:Status word Mandatory
60FF: Target velocity Mandatory
6064: Position actual value Optional
606C: Velocity actual value Optional
Setting
During
Condition Data Data
Name Control word running & VAR Uint16
Immediately
6040h Time
Related Value 0 to
Mode Range 65535
Defines the control command.

-191-
7 Control Mode
Setting
Condition Data
6041h Time
Related Value
Access RO Mapping TPDO All - Default 0
Mode Range

9 Remote
0: Invalid
0: Position feedback within the limit
1: Position feedback over the limit
13 Following error Not supported, always being 0
15 Home find
1: Homing completed
Setting
During
Condition Data Data
Name Velocity offset running & VAR int32
Immediately
Time
60B1h
Access RW Mapping RPDO CSP/CSV Default 0
Defines the speed reference offset in CSV mode. After setting the velocity offset, the following formula applies:
Target speed = 60FFh + 60B1h
Setting
During
Condition Data
Name Torque offset running & VAR Data Type int16
Immediately
60B2h Time
Value –3000 to
Access RW Mapping RPDO Related Mode CSP/CSV/CST Default 0
Range +3000 (0.1%)
Defines the external torque feedforward signal of the EtherCAT in CSV mode (activated when 2006-0Ch is set to 2).
-192-
7 Control Mode
Setting
Condition At Data
Name Position actual value VAR Data Type int32
Index
Time
6064h
-
Related
Access RO Mapping TPDO All Value Range (unit: position Default 0
Mode
unit)
Represents the absolute position feedback (position unit).
In the case of an absolute encoder used in the rotary mode, 6064h represents the single-turn position feedback
(position unit) of the mechanical load.
Setting
Condition At Data Data
Name Velocity actual value VAR int 32
Index & Effective display Structure Type
606Ch Time
Related Value (unit: velocity

Access RO Mapping TPDO All Default -
Mode Range unit/s)
Represents the speed feedback value (velocity unit/s).
Setting
Condition
At Data
Name Torque actual value & VAR Data Type int16
Index display Structure
Effective
6077h Time
Related Value
Access RO Mapping TPDO All (0.1%) Default -
Mode Range
Represents the internal torque feedback of the servo drive.

Setting
During
Condition Data
Name Target velocity running & VAR Data Type int32
Immediately
Time
60FFh
Access RW Mapping YES PV/CSV Default 0
Mode Range (Velocity unit/s)
Defines the target speed in PV and CSV modes.

The maximum running speed of the motor in CSV mode is determined by the maximum motor speed.
Torque
offset
(60B2h)
607Eh
Velocity offset
(60B1h)
Target Speed
velocity regulator Filter Torque Encod-
607Eh Speed limit Torque limit Motor
(60FFh) (2008-01h, (2007-06h) regulator er
2008-02h)
Torque actual
value (6077h)
Speed
calculation
-193-
7 Control Mode
7.5 Cyclic Synchronous Torque Mode (CST)

In this mode, the host controller sends the target torque to the servo drive using cyclic synchronization.
Torque control is performed by the servo drive.
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Figure 7-5 SCT mode
Sub-index
(hex)
Modes of
6060 00 RW INT8 - 0 to 10 0
operation
Modes of
6061 00 RO INT8 - - 0
operation display
6071 00 Target torque RW INT16 0.1% –3000 to +3000 0
6072 00 Max torque RW UINT16 0.1% 0 to 3000 3000
Torque demand
6074 00 RO INT16 0.1% –3000 to +3000 0
value
Torque actual
6077 00 RO INT16 0.1% –3000 to +3000 0
value
Max profile Velocity

607F 00 RW UINT32 0 to (232–1) 104857600
velocity unit/s
Positive torque
60E0 00 RW UINT16 0.1% 0 to 3000 3000
limit value
Negative torque
60E1 00 RW UINT16 0.1% 0 to 3000 3000
limit value
-194-
7 Control Mode
1 Speed Limit in the torque control mode
In the torque control mode, 607Fh can be used to limit the maximum speed in forward/reverse running.
Note that the maximum speed cannot exceed the maximum running speed allowed by the motor.
+ max. motor speed
+ max. profile velocity 607Fh
- max. profile velocity

607Fh
- max. motor speed
Setting
During
Condition Data Data
Name Max. profile velocity running & VAR UINT32
Index Immediately
Time
607Fh
0 to (232–1)
Related PP PV PT HM Value
Access RW Mapping RPDO (Velocity Default 104857600
Mode CST Range
unit/s)
Defines the speed limit in PP, PV, PT, HM and CST modes.
2 Torque limit
To protect the mechanical devices, you can limit the torque references of the servo drive in the position,
speed, and torque control modes by setting 6072h (Max torque), 60E0h (Positive torque limit value), and
60E1h (Negative torque limit value). Note that the maximum torque allowed by the servo drive cannot
be exceeded.
-195-
7 Control Mode
T
+ max. drive torque
+ max. motor torque
+ max. torque (6072h)

+ Forward torque limit (60E0h)
- Reverse torque limit (60E0h)
- max. torque (6072h)
- max. motor torque

- max. drive torque
Setting
During
Condition Data Data
Name Max. torque value running & VAR Uint16
Immediately
6072h Time
Related Value 0 to 3000

Mode Range (0.1%)
Defines the maximum torque limit of the servo drive when running in the forward/reverse direction.
Setting
During
Name Condition Data Data
Index Positive torque limit value running & VAR Uint16
Immediately
60E0h Time
Access Related Value 0 to 3000

RW Mapping RPDO All Default 3000
Mode Range (0.1%)
Defines the maximum torque limit of the servo drive when running in the forward direction.
Setting
During
Condition Data
Name Negative torque limit value running & VAR Data Type Uint16
Immediately
60E1h Time

Mode Range (0.1%)
Defines the maximum torque limit of the servo drive when running in the reverse direction.
-196-
7 Control Mode
3 Torque reference polarity
You can change the torque reference direction through setting the torque reference polarity.
Setting
During
Condition Data
Name Polarity running & VAR Data Type Uint8
Immediately
607Eh Time
Related Value
Mode Range
Bit Description
Torque reference polarity:
0: Multiply by 1
5 1: Multiply by -1
CSP CSV: Invert torque offset 60B2h
CST: Invert the torque reference (6071h + 60B2h)
The basic configuration of cyclic synchronous torque (CST) mode is described in the following table.
6071: Target torque Mandatory
6077: Torque actual value Optional
Setting
During
Condition Data
Immediately
6040h Time
Related Value
Mode Range

-197-
7 Control Mode
Setting
Condition Data Data
Name Status word - VAR Uint16
6041h Time
Related Value
Mode Range

9 Remote
0: Invalid
13 Following error Not supported, always being 0
15 Home find
1: Homing completed
Setting
During
Condition Data Data
Name Target torque running & VAR int16
Immediately
6071h Time

Access RW Mapping RPDO PT/CST Default 0
Mode Range +3000 (0.1%)
Defines the target torque in PT and CST modes.
Setting
Condition Data Data
Name Torque demand value - VAR int16
6074h Time
Related Value -
Mode Range (0.1%)
Shows the torque reference output value during running.

-198-
7 Control Mode
Setting
Condition Data
Name Torque actual value - VAR Data Type int16
6077h Time
Related Value -
Mode Range (0.1%)
Shows the actual torque output of the servo drive.
Setting
During
Condition Data Data
Name Torque offset running & VAR int16
Immediately
60B2h Time

Access RW Mapping RPDO CSP/CSV/CST Default 0
Mode Range +3000 (0.1%)
Defines the torque offset in CST mode. After offset, the following formula applies:
Target torque = 6071h + 60B2h
Torque offset
(60B2h)
Target
torque 607Eh
(6071h)
Filter Torque Torque Enco-

Motor
Speed (2007-06h) limit regulator der
Speed regulator
limit (2008-01h,
2008-02h) Torque actual
value (6077h)
Speed
calculation
7.6 Profile Position (PP) Mode

The PP mode mainly applies to point-to-point positioning. In PP mode, the host controller defines the
target position, running speed, increasing deceleration, and deceleration. The position profile generator
inside the servo drive generates the position curve based on settings. The servo drive executes position
control, speed control, and torque control.
-199-
7 Control Mode
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Figure 7-6 PP mode

In PP mode, the target position is triggered and activated based on the time sequence of bit4 of the
control word (New set-point) and bit12 of the status word (Set-point acknowledge).
The controller sets the New set-point bit to 1 to inform the servo drive of the new target position. The
servo drive, after receiving the new target position, sets the Set-point acknowledge to 1. After the
controller sets the New set-point to 0 again, if the servo drive can receive the new target position, the
Set-point acknowledge bit will be set to 0. Otherwise, it is kept to 1.
Actual
speed
New target
position
(bit4)
t
New target
position
(setpoint) t
Target position
update (bit4)
t
Target position
reached (bit4)
t
The linkage mode of the position reference is determined by bit5 (Change set immediately) of the control
word. When bit5 is set to 1, sequential linkage applies between position references. When bit5 is set to 0,
linkage applies between position references after passing zero, which is called single-point mode.
1 Sequential mode:
The target position of present segment is in the process of positioning. After the new target position is
generated, the controller sets the New set-point bit to 1, and the servo drive performs positioning based
on the new target position.
-200-
7 Control Mode
In sequential mode, the time sequence of bit4 of the control word (New set-point) and bit12 of the status
word (Set-point acknowledge) is as follows.
① ②
Displacement
reference data
6040h bit4
6040h bit5
6041h bit12
Position
reference
②
①
6041h bit10: Position

reached
Note: To modify any parameter of the displacement reference, send a

trigger signal again.
Figure 7-7 Time sequence in sequential mode
2 Single-point mode:
The target position of present segment is in the process of positioning. After the new target position is
generated, the controller sets the New set-point bit to 1, and the servo drive performs positioning based
on the new target position after the position reference of present segment is transmitted.
The time sequence of bit4 of the control word (New set-point) and bit12 of the status word (Set-point
acknowledge ) is as follows.
-201-
7 Control Mode
① ②
Displacement
reference data
6040 bit4
6040 bit5
6041 bit12
Position
reference
②
①
6041 bit10: Position

reached
Note: To modify any parameter of the displacement reference, send a trigger signal again.
Figure 7-8 Time sequence in the single-point mode

In the single-point mode, the servo drive supports cache of one target position, which means the servo
drive can cache a new segment of target position when the present target position is running. The time
sequence is as follows.
New setpoint
(bit4)
Change set
immediately
(bit5)
Set position
Cache position
Position
during running
Setpoint
acknowledge
(bit12)
Target reached
(bit10)
① : If the cache position is empty, the set position will be executed immediately.
②③ : If the present position reference is running, the new set position will be stored in the cache. After
present position reference is transmitted, the cache value starts running. After the cache is empty, a new
set value can be received.
④⑤ : The new setpoint cannot be received if the cache is full. In this case, you can set the attribute bit
(Change set immediately) of the setpoint to 1 to activate the setpoint.
-202-
7 Control Mode
Sub-index
(hex)
Modes of
6060 00 RW INT8 - 0 to 10 0
operation
Modes of
display
Position actual
value
607A 00 Target position RW INT32 Position unit –231 to (231–1) 0
6081 00 Profile velocity RW UINT32 Velocity unit/s 0 to (232–1) 1747627
Profile Acceleration
6083 00 RW UINT32 0 to (232–1) 1747626667
acceleration unit/s2
Profile Acceleration
6084 00 RW UINT32 0 to (232–1) 1747626667
deceleration unit/s2
Max. profile
607F 00 RW UINT32 Velocity unit/s 0 to (232–1) 104857600
velocity
1 Positioning completed
Positioning completed: When the position deviation fulfills the set condition, the positioning process is
done. In this case, the servo drive sets the status word, and the host controller, once receives the signal,
confirms that the positioning is done.
Setting
During
Condition Data Uint
Name Position window running VAR Data Type
& Effective Structure 32
Index & At stop
Time
6067h
0 to (232–1)
Related Value
Access RW Mapping RPDO PP (position Default 734
Mode Range
unit)
Defines the threshold for position arrival.
When the position deviation is within ±6067h, and the time reaches the value defined by 6068h, the servo drive
considers the position is reached and sets bit10 of 6041h to 1.
This flag bit is valid only when the S-ON signal is valid in PP mode.
Setting
During
Condition Data
Name Position window time running & VAR Data Type Uint 16
At stop
Time
6068h
Access RW Mapping RPDO PP Default 0
Mode Range (ms)
Defines the time window for judging position arrival.
-203-
7 Control Mode
$"65*0/
The position arrival threshold only reflects the threshold of the absolute position deviation value
when the positioning completed signal is active. It is unrelated to the positioning accuracy.
2 Position deviation monitoring
Setting
During
Condition Data Data
Index Immediately
Time
6065h
0 to (232–1)
Related
Access RW Mapping RPDO PP HM CSP Value Range (position Default 3145728
Mode
unit)

If 6065h is set to a too large value, the warning threshold of excessive position deviation will be 2147483647 encoder
units.
Setting
During
Name Following error time out running & VAR
Index & Effective Structure Type 16
Immediately
Time
6066h
Access RW Mapping RPDO PP HM CSP Default 0
Mode Range (ms)

If the position deviation exceeds the warning threshold of excessive position deviation and such status persists after
the time defined by 6066h elapses, EB00.0 (Excessive position deviation) will occur.
3 Speed limit
In PP mode, 607Fh can be used to limit the maximum speed in forward/reverse running. Note that the
maximum speed cannot exceed the maximum running speed allowed by the motor.
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-204-
7 Control Mode
Setting
During
Condition Data Data
Index Immediately
Time
607Fh
0 to (232-1)
Related PP/PV/PT/HM/ Value
Access RW Mapping RPDO (Velocity Default 104857600
Mode CST Range
unit/s)
Defines the speed limit in PP, PV, PT, and CST modes.
4 Acceleration limit
In PP mode, the change rate of the position reference can be limited through the acceleration limit.
Setting
During
Condition Data Data
Name Max. acceleration running & VAR Uint32
Immediately
Index Time
60C5h 0 to
Related Value 4294967295
Mode Range (acceleration
unit/s2)
Defines the maximum limit value of acceleration.

In PP mode, if the value of 6083h exceeds that of 60C5h, the value of 60C5h will be used.
For 60C5h, the set value 0 will be forcibly changed to 1.
Setting
During
Condition Data Data
Name Max. deceleration running & VAR Uint16
Immediately
Index Time
60C6h 0 to
unit/s2)
Defines the maximum limit value of deceleration.

5 Polarity
You can change the position reference direction through setting the position reference polarity.
Setting
During
Condition Data
Immediately
607Eh Time
Related Value
Mode Range
-205-
7 Control Mode
Bit Description
Position reference polarity
0: Multiply by 1
7
1: Multiply by -1
PP: Invert the target position 607Ah
The basic configuration for PP mode is described in the following table.

607A: Target velocity 6064: Position actual value Mandatory
6081: Profile velocity - Mandatory
6083: Profile acceleration - Optional
6084: Profile deceleration - Optional
Setting
During
Condition Data
Immediately
6040h Time
Related Value
Mode Range

0 -> 1: Trigger new target position
4 New set-point
1 -> 0: Clear bit12 of the status word
0: Target position cannot be updated immediately
5 Change set immediately
1: Target position can be updated immediately
0: Target position being absolute position reference
6 abs/rel
1: Target position being relative position reference
0: Keep present running state
8 Halt
1: Halt
-206-
7 Control Mode
Setting
Condition Data
6041h Time
Related
Mode

9 Remote
0: Invalid
0: Target position not reached
10 Target reached
1: Target position reached
0: Position reference within the limit
1: Position reference over the limit
0: Set-point can be updated
12 Set-point acknowledge
1: Set-point cannot be updated
0: EB00.0 (Excessive position deviation) not
reported
13 Following error
1: EB00.0 (Excessive position deviation)
reported
15 Home find
1: Homing completed
Setting
During
Condition Data Data
Name Target position running & VAR int32
Index Immediately
Time
607Ah
–231 to +(231-1)
Related Value
Access RW Mapping RPDO PP CSP (position Default 0
Mode Range
unit)
Defines the target position of the servo drive in PP mode.

The target position type (absolute or relative) can be designated through bit6 of 6040h in PP mode.
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-207-
7 Control Mode
Setting
During
Condition Data Data
Name Profile velocity running & VAR UINT32
Index Immediately
Time
6081h
0 to (232-1)
Related Value
Access RW Mapping RPDO PP (velocity Default 174762
Mode Range
unit/s)
Defines the constant running speed for the target position in PP mode.
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Setting
During
Condition Data Data
Name Profile acceleration running & VAR UINT32
Index Immediately
Time
6083h
0 to (232-1)
Related Value
Access RW Mapping RPDO PP PV (acceleration Default 17476266667
Mode Range
unit/s2)
Defines the position reference acceleration in PP mode.

For 6083h, the set value 0 will be forcibly changed to 1.
Setting
During
Condition Data Data
Name Profile deceleration running VAR UINT32
Index & At stop
Time
6084h
0 to (232-1)
Related Value
Mode Range
unit/s2)
Defines the position reference deceleration in PP mode.
For 6084h, the set value 0 will be forcibly changed into 1.
-208-
7 Control Mode
Speed feedforward Speed feedforward

gain filter
(2008-14h) (2008-13h)
Target position (607Ah)

Profile velocity (6081h)
Profile acceleration (6084h)
Profile deceleration (6084h)
Polarity (607Eh)
Profile Electronic gear
position ratio Position loop gain
trajectory (6091-01h, (2008-03h)
generator 6091-02h) Position actual value
(6063h)
Torque feedforward Torque feedforward

filter (2008-15h) gain (2008-16h)
Speed regulator
Limit on max.
(2008-01h,
motor speed
2008-02h)
Speed feedback
(200B-01h [RPM])
Speed reference
(200B-02h[rpm])
Speed
calcula
tion
Torque filter Torque

Torque limit Motor
(2007-06h) regulator
7.7 Profile Velocity Mode (PV)

In PV mode, the host controller sends the target speed, acceleration, and deceleration commands to the
servo drive. The servo drive generates the speed reference curve and executes speed control and torque
control.
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Figure 7-9 PV mode
Index Sub-index Data

Name Access Unit Value Range Default
(hex) (hex) Type
6060 00 Modes of operation RW INT8 - 0 to 10 0
-209-
7 Control Mode

(hex) (hex) Type
6061 00 Modes of operation display RO INT8 - - 0
606C 00 Velocity actual value RO INT32 Velocity unit/s - -
606D 00 Velocity window RW UINT16 RPM 0 to 65535 10
606E 00 Velocity window time RW UINT16 ms 0 to 65535 0
606F 00 Velocity threshold RW UINT16 RPM 0 to 0xFFFF 10
6070 00 Velocity threshold time RW UINT16 ms 0 to 65535 0
607F 00 Max. profile velocity RW UINT32 Velocity unit/s 0 to (2 -1)32

104857600
6083 00 Profile acceleration RW UINT32 Acceleration unit/s2 0 to (232-1) 1747626667
6084 00 Profile deceleration RW UINT32 Acceleration unit/s2 0 to (232-1) 1747626667
60FF 00 Target velocity RW INT32 Velocity unit/s –2 to +(2 –1)

31 31
0
1 Speed arrival monitoring
Speed arrival monitoring is used to confirm whether the speed reference of the servo drive matches the
speed feedback of the motor.
Setting
During
Condition Data Data
Name Velocity window running & VAR Uint 16
Immediately
Time
606Dh
Access RW Mapping RPDO PV Default 10
Mode Range (RPM)
Setting
During
Condition Data Data
Name Velocity window time running & VAR Uint 16
Index Immediately
Time
606Eh
Mode Range (ms)
606Dh is used to set the threshold for speed arrival. 606Eh is used to set the window time for speed arrival.
Speed Speed
reference feedback Velocity window (606Dh)
Speed V
Servo Off Servo Run Servo Off t

6041 bit10
OFF OFF ON OFF
ON— Speed reach valid OFF — Speed reach invalid

t
If the difference value between the speed reference and speed feedback is within ±606D and the time reaches the
value defined by 606E, the speed is reached, and bit10 (target reached) of 6041h is set to 1.
This flag bit is valid only when the servo drive is enabled in PV mode.
-210-
7 Control Mode
2 Zero speed monitoring
Zero speed monitoring is used to confirm whether the absolute value of motor speed feedback is less
than the set threshold. If yes, the motor is approaching static state (zero speed).
Setting
During
Condition Data Data
Name Velocity threshold running & VAR Uint 16
Immediately
Time
606Fh
Mode Range (RPM)
Setting
During
Condition Data Data
Name Velocity threshold time running & VAR Uint 16
Immediately
Time
6070h
Mode Range (ms)
Defines the threshold for zero speed.
Speed
V
feedback
Forward
606Fh
－606Fh t
Reverse
6041h bit12
OFF ON OFF
t
ON — Zero speed signal valid OFF — Zero speed signal invalid
When the speed feedback is within ±606F and the time defined by 6070 is reached, it indicates the motor speed is 0,
and bit12 of 6041 is set to 1.
This flag bit is valid only in PV mode.
-211-
7 Control Mode
3 Speed limit
In PV mode, 607Fh can be used to limit the maximum speed in forward/reverse running. Note that the
maximum speed cannot exceed the maximum running speed allowed by the motor.
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Setting
During
Condition Data Data
Name Max profile velocity running & VAR UINT32
Index Immediately
Time
607Fh
0 to (232-1)
Related PP PV PT HM
Access RW Mapping RPDO Value Range (Velocity Default 104857600
Mode CST
unit/s)
Defines the speed limit in PP, PV, PT, and torque control modes.
In PV mode, the change rate of the speed reference can be limited through acceleration limit.
Setting
During
Condition Data Data
Immediately
Index Time
60C5h 0 to
unit/s2)
Defines the maximum limit value of acceleration.
Setting
During
Condition Data
Name Max deceleration running & VAR Data Type Uint16
Immediately
Index Time
60C6h 0 to
unit/s2)
Defines the maximum limit value of deceleration.
-212-
7 Control Mode
5 Polarity
You can change the velocity reference direction through setting the velocity reference polarity.
Setting
During
Condition Data
Immediately
607Eh Time
Related Value
Mode Range
Bit Description
Velocity reference polarity
0: Multiply by 1
6
1: Multiply by -1
PV: Invert the target torque 60FFh
The basic configuration for PV mode is described in the following table.

60FF: Target Velocity Mandatory
6083: Profile acceleration Optional
6084: Profile deceleration Optional
Setting
During
Condition Data
Immediately
6040h Time
Related
Mode

8 Halt
1: Halt
-213-
7 Control Mode
Setting
Condition Data
6041h Time
Related Value
Mode Range

9 Remote
0: Invalid
0: Target velocity not reached
10 Target reached
1: Target velocity reached
0: Speed not being 0
12 Speed
1: Speed being 0
13 N/A No meaning, always being 0
15 Home find
1: Homing completed
Setting
During
Condition Data Data
Name Target velocity running & VAR int32
Immediately
60FFh Time
Related Value –231 to +(231-1)

Access RW Mapping Yes PV CSV Default 0
Defines the target speed in PV and CSV modes.
Setting
During
Condition Data Data
Name Profile acceleration running VAR UINT32
Index Immediately
Time
6083h
0 to (232-1)
Related Value
Mode Range
unit/s2)
Defines the speed reference acceleration in PV mode.

-214-
7 Control Mode
Setting
During
Condition Data Data
Name Profile deceleration running & VAR UINT32
Index At stop
Time
6084h
0 to (232-1)
Related Value
Access RW Mapping RPDO PP/PV (acceleration Default 17476266667
Mode Range
unit/s2)
Defines the speed reference deceleration in PV mode.

Torque Torque
feedforward feedforward
gain filter
(2008-16h) (2008-15h)
Torque actual value
(6077h)
Target
velocity Profile
(60FFh) acceleration/ Max. profile Speed regulator Torque limit
Filter Torque
607Eh deceleration velocity (2008-01h, (60E0h, Motor Encoder
(6083h, (607Fh) 2008-02h) 60E1h)
6084h)
7.8 Profile Torque Mode (PT)

In PT mode, the host controller sends the target torque defined by 6071h and the torque slope defined
by 6087h to the servo drive. The servo drive generates the torque reference curve and executes torque
control.
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Figure 7-10 PT mode
-215-
7 Control Mode
Sub-index
(hex)
Modes of
6060 00 RW INT8 - - 0
operation
Modes of
display
–3000 to
6071 00 Target torque RW INT16 0.1% 0
+3000
6072 00 Max. torque RW UINT16 0.1% 0 to 3000 3000
Torque
6074 00 RO INT16 0.1% - -
demand value
Torque actual
6077 00 RO INT16 0.1% - -
value
6087 00 Torque slope RW UINT32 0.1%/s 0 to (232–1) 232–1
Max. profile
607F 00 RW UINT32 Velocity unit/s 0 to (232–1) 104857600
velocity
Positive
60E0 00 torque limit RW UINT16 0.1% 0 to 3000 3000
value
Negative
60E1 00 torque limit RW UINT16 0.1% 0 to 3000 3000
value
1 Speed Limit in the torque control mode
In the torque control mode, 607Fh can be used to limit the maximum speed in forward/reverse running.
Note that the maximum speed cannot exceed the maximum running speed allowed by the motor.
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-216-
7 Control Mode
Setting
During
Condition Data Data
Index Immediately
Time
607Fh
0 to (232-1)
Related PP PV PT HM Value
Access RW Mapping RPDO (velocity Default 104857600
Mode CST Range
unit/s)
Defines the speed limit in PP, PV, PT, and CST modes.
2 Torque limit
To protect the mechanical devices, you can limit the torque references of the servo drive in the position,
speed, and torque control modes by setting 6072h (Max. torque), 60E0h (Positive torque limit value), and
60E1h (Negative torque limit value). Note that the maximum torque allowed by the servo drive cannot
be exceeded.
5PSRVF 5

ESJWFNBYUPSRVF
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NBYUPSRVF I
QPTJUJWFUPSRVFMJNJUWBMVF &I
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ǊNPUPSNBYUPSRVF
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Setting
During
Condition Data Data
Name Max. torque running & VAR Uint16
Immediately
6072h Time

Mode Range (0.1%)
Defines the maximum torque limit of the servo drive when running in the forward/reverse direction.
-217-
7 Control Mode
Setting
During
Condition Data Data
Name Positive torque limit value running & VAR Uint16
Immediately
60E0h Time
Mode Range (unit: 0.1%)
Defines the maximum torque limit of the servo drive when running in the forward direction.
Setting
During
Condition Data Data
Name Negative torque limit value running & VAR Uint16
Immediately
60E1h Time
Mode Range (unit: 0.1%)
Defines the maximum torque limit of the servo drive when running in the reverse direction.
3 Torque reference polarity
You can change the torque reference direction through setting the torque reference polarity.
Setting
During
Condition Data Data
Immediately
607Eh Time
Related Value
Mode Range
Bit Description
Torque reference polarity:
0: Multiply by 1
5 1: Multiply by -1
CSP CSV: Invert the torque offset 60B2h
CST: Invert the torque reference (6071h + 60B2h)
4 Torque arrival monitoring
Torque arrival monitoring is used to determine whether the torque reference value reaches the set
torque base value. If yes, a corresponding torque reached signal will be output to the host controller.
-218-
7 Control Mode
SFGFSFODF 5

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If the absolute difference value between the torque reference and 2007-16h (Base value for torque
reached) is larger than 2007-17h (Torque output value when torque arrival DO signal turned on), the
torque reached signal is valid. Otherwise, the original status applies.
If the absolute difference value between the torque reference and 2007-16h (Base value for torque
reached) is smaller than 2007-17h (Threshold of valid torque arrival), the torque reached signal is invalid.
Otherwise, the original status applies.
Setting
During
Condition Data Data
Sub- Name Base value for torque reached running & - Uint16
index Immediately
Time
16h
Related Value 0 to 300.0
Access RW Mapping - PT Default 0
Mode Range (unit: %)
Setting
During
Threshold of torque reached Condition Data Data
Sub- Name running & - Uint16
valid & Effective Structure Type
index Immediately
Time
17h 0 to 300.0
Related Value
Access RW Mapping - PT Default 20.0
Setting
During
Threshold of torque reached Condition Data Data
Sub- Name running & - Uint16
invalid & Effective Structure Type
index Immediately
Time
18h
Related Value 0 to 300.0
Access RW Mapping - PT Default 10.0
-219-
7 Control Mode
Setting
During
Condition Data
Immediately
6040h Time
Related Value
Mode Range

8 Halt
1: Halt
Setting
Condition Data
6041h Time
Related Value
Mode Range

9 Remote
0: Invalid
0: Target torque not reached
10 Target reached
1: Target torque reached
12 to
N/A No meaning, always being 0
14
15 Home find
1: Homing completed
Setting
During
Condition Data Data
Name Target torque running & VAR int16
Immediately
6071h Time

Access RW Mapping RPDO PT CST Default 0
Mode Range +3000 (0.1%)
Defines the target torque in PT and CST modes.
-220-
7 Control Mode
Setting
Condition Data
Name Torque demand value - VAR Data Type int16
6074h Time
Value -
Access RO Mapping TPDO Related Mode All Default -
Range (0.1%)
Represents the torque reference output value during running.
Setting
Condition Data
Name Torque actual value - VAR Data Type int16
6077h Time
Related Value -
Mode Range (0.1%)
Represents the actual torque output of the servo drive.
Setting
During
Condition Data Data
Name Torque slope running & VAR UINT32
Immediately
6087h Time
Related Value 0 to (232–1)

Access RW Mapping RPDO PT CST Default 232-1
Mode Range (0.1%/s)
Defines the acceleration (torque increment per second) of the torque reference in PT mode.
The basic configuration for the PT mode is described in the following table.
6071: Target torque Mandatory
6087: Torque slope Optional
6077: Torque actual value Optional
Speed Max.
regulator speed
2008-01h limit
2008-02h 607Fh
Torque actual value
6077h
Target torque
6071h Selection during
Torque slope speed limit
Max.
6087h Filter Torque Enco-
607Eh torque Motor
2007-06h regulator der
limit
-221-
7 Control Mode
7.9 Homing Mode (HM)

The homing mode is used to search for the mechanical home and determine the position relation
between the mechanical home and mechanical zero.
■■ Mechanical home: a fixed position on the machine, which can correspond to a certain home switch
or a motor Z signal.
■■ Mechanical zero: absolute zero position on the machine
After homing is done, the motor stops at the mechanical home. The relation between the mechanical
home and mechanical zero is defined by 607Ch.
Mechanical home = Mechanical zero + 607Ch (Home offset)
When 607Ch is 0, the mechanical home overlaps with the mechanical zero.
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Figure 7-11 HM mode
Sub-index
(hex)
Modes of
6060 00 RW INT8 - 0 to 10 0
operation
Modes of
6061 00 operation RO INT8 - 0 to 10 0
display
Position actual
value
6098 00 Homing method RW INT8 - 1 to 35 1
Speed during
01 RW UINT32 Velocity unit/s 0 to (232–1) 1747627
search for switch
6099
Speed during
02 RW UINT32 Velocity unit/s 10 to (232–1) 174763
search for zero
Homing Acceleration
609A 00 RW UINT32 0 to (232–1) 1747626667
acceleration unit/s2
-222-
7 Control Mode
Sub-index
(hex)
607C 00 Home offset RW INT32 Position unit –231 to +(231–1) 0
2005 24 Timeout RW UINT16 10 ms 100 to 65535 50000
1 Homing timeout
When the homing duration exceeds the value defined by 2005-24h (Duration limit of homing), the servo
drive reports E601.0 (Homing timeout).
E601.0 can be used to determine whether the homing speed, the set acceleration value, and connections
of the switch signal and homing signal are proper.
Setting
During
Name Duration limit of homing running & -
Index & Effective Structure Type 16
Immediately
2005-24h Time

Access RW Mapping RPDO HM Default 50000
Mode Range (100 ms)
Defines the duration of homing and used to detect E601.0 (Homing timeout).
2 Current position calculation method
After homing, the calculation method for the present mechanical position can be defined by 60E6h.
Setting
During
Actual position calculation Condition Data Data
Name running & VAR Uint8
Index method & Effective Structure Type
Immediately
60E6h Time
Related Value
Access RW Mapping NO HM 0 to 1 Default 0
Mode Range
Defines the calculation method for the mechanical position after homing.
Value Actual position calculation method

Absolute position homing
0 After homing is done, the following formula applies:
6064h (Position actual value) = 607Ch (Home offset)
Relative position homing
1 After homing is done, the following formula applies:
6064h (Position actual value) = Present position feedback value + 607Ch (Home offset)
After homing is triggered, the modification of 60E6h will be blocked.
-223-
7 Control Mode
Setting
During
Condition Data Data
Name Home offset running VAR int32
& At stop
Time
607Ch
Access RW Mapping RPDO HM Default 0
Defines the physical distance between the mechanical zero and the motor home in homing mode.
The home offset takes effect on the condition that the homing operation is done upon power-on and bit15 of 6041h
is set to 1.
The home offset has the following effect:
◆◆ It determines the present position after homing based on 60E6h.
◆◆ If 607Ch is set to a value beyond the limit defined by 607Dh (Software position limit), Er.D10 (Improper homing
offset setting) will occur.
3 Position deviation monitoring
Setting
During
Condition Data Data
Index Immediately
Time
6065h
0 to (232-1)
Related Value
Access RW Mapping RPDO PP HM CSP (position Default 3145728
Mode Range
unit)
For 6065h, a set value beyond 2147483647 will be forcibly changed to 2147483647.
Setting
During
Condition Data Data
Name Following error time out running & VAR UINT 16
Immediately
6066h Time

Access RW Mapping RPDO PP HM CSP Default 0
Mode Range (ms)
Defines the time threshold of excessive position deviation.
When the position deviation (position unit) exceeds ±6065h and such status persists after the time defined by
6066h elapses, EB00.0 (Excessive position deviation) will occur.
4 Speed limit
In the homing mode, 607Fh can be used to limit the maximum speed in forward/reverse running. Note
that the maximum speed cannot exceed the maximum running speed allowed by the motor.
-224-
7 Control Mode
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ǊNBYNPUPSTQFFE
Setting
During
Condition Data Data
Name Max profile velocity running & VAR UINT32
Index Immediately
Time
607Fh
0 to (232–1)
Related PP/PV/PT/HM/ Value
Access RW Mapping RPDO (velocity Default 104857600
Mode CST Range
unit/s)
Defines the speed limit in PP, PV, PT, HM and CST modes.
In the homing mode, the change rate of the position reference can be limited through the acceleration
limit.
Setting
During
Condition Data Data
Immediately
Index Time
60C5h 0 to
unit/s2)
Defines the maximum limit of acceleration.
In the homing mode, if the value of 6083h exceeds that of 60C5h, the value of 60C5h will be used.
7.9.4 Homing Operation
■■ Homing mode
1) 6098h = 1
Mechanical home: Z signal
Deceleration point: negative limit switch (N-OT)
-225-
7 Control Mode
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Figure 7-12 N-OT signal inactive at start

Note: In the figure, "H" represents 6099-1h (Speed during search for switch), and "L" represents 6099-2h
(Speed during search for zero).
The N-OT signal is inactive at start, and the motor starts homing in the reverse direction at a high speed.
After reaching the rising edge of the N-OT signal, the motor decelerates and changes to run in the
forward direction at a low speed until it stops at the first Z signal upon reaching the falling edge of the
N-OT signal.
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Figure 7-13 N-OT signal active at start
The N-OT signal is active at start, and the motor starts homing in the forward direction at a low speed.
After reaching the falling edge of the N-OT signal, the motor stops at the first Z signal.
-226-
7 Control Mode
2) 6098h = 2
Home: Z signal
Deceleration point: positive limit switch (P-OT)
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Figure 7-14 P-OT signal inactive at start

The P-OT signal is inactive at start, and the motor starts homing in the forward direction at a high speed.
After reaching the rising edge of the P-OT signal, the motor decelerates and changes to run in the reverse
direction at a low speed until it stops at the first Z signal upon reaching the falling edge of the P-OT
signal.
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Figure 7-15 P-OT signal active at start

The P-OT signal is active at start, and the motor starts homing in the reverse direction at a low speed.
After reaching the falling edge of the P-OT signal, the motor stops at the first Z signal.
-227-
7 Control Mode
3) 6098h = 3
Home: Z signal
Deceleration point: home switch (HW)
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Figure 7-16 HW signal inactive at start

The HW signal is inactive at start, and the motor starts homing in the forward direction at a high speed.
After reaching the rising edge of the HW signal, the motor decelerates and changes to run in the reverse
direction at a low speed until it stops at the first Z signal upon reaching the falling edge of the HW signal.
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Figure 7-17 HW signal active at start
The HW signal is active at start, and the motor starts homing in the reverse direction at a low speed. After
reaching the falling edge of the HW signal, the motor stops at the first Z signal.
-228-
7 Control Mode
4) 6098 = 4
Home: Z signal
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direction at a low speed. Then, after reaching the falling edge of the HW signal, the motor decelerates
and changes to run in the forward direction until it stops at the first Z signal upon reaching the rising
edge of the HW signal again.
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The HW signal is active at start, and the motor starts homing in the reverse direction at a low speed.
After reaching the falling edge of the HW signal, the motor decelerates and changes to run in the forward
direction until it stops at the first Z signal upon reaching the rising edge of the HW signal.
-229-
7 Control Mode
5) 6098h = 5
Home: Z signal
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The HW signal is inactive at start, and the motor starts homing in the reverse direction at a high speed.
After reaching the rising edge of the HW signal, the motor decelerates and changes to run in the forward
direction at a low speed until it stops at the first Z signal upon reaching the falling edge of the HW signal.
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The HW signal is active at start, and the motor starts homing in the forward direction at a low speed.
After reaching the falling edge of the HW signal, the motor stops at the first Z signal.
-230-
7 Control Mode
6) 6098 = 6
Home: Z signal
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direction at a low speed. Then, after reaching the falling edge of the HW signal, the motor changes to run
in the reverse direction until it stops at the first Z signal upon reaching the rising edge of the HW signal
again.
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After reaching the falling edge of the HW signal, the motor decelerates and changes to run in the reverse
direction until it stops at the first Z signal upon reaching the rising edge of HW signal
-231-
7 Control Mode
7) 6098 = 7
Home: Z signal
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Figure 7-24 HW signal inactive at start, not hitting the positive limit switch
If the motor does not hit the limit switch, it decelerates and changes to run in the reverse direction after
reaching the rising edge of the HW signal. Then, after reaching the falling edge of the HW signal, the
motor stops at the first Z signal.
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Figure 7-25 HW signal inactive at homing start, hitting the positive limit switch
If the motor hits the limit switch, it changes to run in the reverse direction. After reaching the rising edge
of the HW signal, the motor decelerates and runs in the reverse direction at a low speed. Then, after
reaching the falling edge of the HW signal, the motor decelerates and changes to run in the forward
direction until it decelerates and changes to run in the reverse direction again upon reaching the rising
edge of HW signal. Finally, the motor stops at the first Z signal after reaching the falling edge of the HW
signal again.
-232-
7 Control Mode
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8) 6098 = 8
Home: Z signal
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If the motor does not hit the limit switch, it decelerates and changes to run in the reverse direction at a
low speed after reaching the rising edge of the HW signal. Then, after reaching the falling edge of the HW
signal, the motor changes to run in the forward direction at a low speed until it stops at the first Z signal
upon reaching the rising edge of the HW signal.
-233-
7 Control Mode
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Figure 7-28 HW signal inactive at homing start, hitting the positive limit switch
of HW signal, the motor decelerates and runs in the reverse direction. Then, after reaching the falling
edge of the HW signal, the motor changes to run in the forward direction until it stops at the first motor Z
signal upon reaching the rising edge of the HW signal.
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reaching the falling edge of HW signal, the motor changes to run in the forward direction until it stops at
the first Z signal upon reaching the rising edge of HW signal.
-234-
7 Control Mode
9) 6098 = 9
Home: Z signal
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If the motor does not hit the limit switch, it decelerates and runs in the forward direction at a low speed
after reaching the rising edge of the HW signal. Then, after reaching the falling edge of the HW signal,
the motor changes to run in the reverse direction at a low speed until it stops at the first Z signal upon
reaching the rising edge of the HW signal again.
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Figure 7-31 HW signal inactive at start, hitting the positive limit switch
of the HW signal, the motor decelerates and changes to run in the forward direction again. Then after
reaching the falling edge of the HW signal, the motor changes to run in the reverse direction at a low
speed. Finally, the motor stops at the first Z signal upon reaching the rising edge of HW signal again.
-235-
7 Control Mode
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After reaching the falling edge of the HW signal, the motor changes to run in the reverse direction until it
stops at the first Z signal upon reaching the rising edge of the HW signal.
10) 6098 = 10
Home: Z signal

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If the motor does not hit the limit switch, it decelerates and runs in the forward direction at a low speed
upon reaching the rising edge of HW signal. After reaching the falling edge of the HW signal, the motor
decelerates and changes to run in the reverse direction until it decelerates and changes to run in the
forward direction again after reaching the rising edge of the HW signal. Finally, it stops at the first Z
signal upon reaching the falling edge of the HW signal again.
-236-
7 Control Mode
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The HW signal is inactive at start, and the motor starts homing in the forward direction at a high speed. If
the motor hits the limit switch, it changes to run in the reverse direction. After reaching the rising edge of
the HW signal, the motor decelerates and changes to run in the forward direction until it stops at the first
Z signal upon reaching the falling edge of the HW signal.
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After reaching the falling edge of HW signal, the motor stops at the first Z signal.
-237-
7 Control Mode
11) 6098 = 11
Home: Z signal
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Figure 7-36 HW signal inactive at start, not hitting the negative limit switch
The HW signal is inactive at start, and the motor starts homing in the reverse direction at a high speed. If
the motor does not hit the limit switch, it decelerates and changes to run in the forward direction after
motor stops at the first Z signal.
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Figure 7-37 HW signal inactive at start, hitting the negative limit switch
the motor hits the limit switch, it changes to run in the forward direction. After reaching the rising edge
of the HW signal, the motor decelerates and runs in the forward direction. Then, after reaching the falling
edge of the HW signal, the motor decelerates and changes to run in the reverse direction until reaching
the rising edge of the HW signal where it decelerates and changes to run in the forward direction. Finally,
the motor stops at the first Z signal upon reaching the falling edge of the HW signal again.
-238-
7 Control Mode
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After reaching the falling edge of the HW signal, the motor stops at the first Z signal.
12) 6098 = 12
Home: Z signal
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If the motor does not hit the limit switch, it decelerates and changes to run in the forward direction at
a low speed after reaching the rising edge of the HW signal. Then, after reaching the falling edge of HW
signal, the motor changes to run in the reverse direction until it stops at the first Z signal upon reaching
the rising edge of the HW signal again.
-239-
7 Control Mode
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If the motor hits the limit switch, it changes to run in the forward direction. After reaching the rising
edge of HW signal, the motor decelerates and runs in the forward direction at a low speed. Then, after
reaching the falling edge of HW signal, the motor changes to run in the reverse direction until it stops at
the first Z signal upon reaching the rising edge of the HW signal again.
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13) 6098 = 13
Home: Z signal
-240-
7 Control Mode
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)PNFTXJUDI
TJHOBM
/FHBUJWFMJNJUTXJUDI
TJHOBM
motor changes to run in the forward direction until it stops at the first Z signal upon reaching the rising
)PNFTXJUDI
/FHBUJWFMJNJUTXJUDI
)
.PUJPOQSP珝MF
)
-
;TJHOBM
)PNFTXJUDI
TJHOBM
/FHBUJWFMJNJU
TXJUDITJHOBM
the motor hits the limit switch, it changes to run in the forward direction at a high speed. After reaching
the rising edge of the HW signal, the motor decelerates and changes to run in the reverse direction. Then,
after reaching the falling edge of the HW signal, the motor changes to run in the forward direction until it
stops at the first Z signal upon reaching the rising edge of the HW signal again.
-241-
7 Control Mode
)PNFTXJUDI
/FHBUJWFMJNJUTXJUDI
-
.PUJPOQSP珝MF
-
;TJHOBM
)PNFTXJUDI
TJHOBM
/FHBUJWFMJNJU
TXJUDITJHOBM

After reaching the falling edge of the HW signal, the motor changes to run in the forward direction until it
14) 6098 = 14
Home: Z signal
)PNFTXJUDI
/FHBUJWFMJNJUTXJUDI
- )
.PUJPOQSP珝MF
;TJHOBM
)PNFTXJUDI
TJHOBM
/FHBUJWFMJNJUTXJUDI
TJHOBM
If the motor does not hit the limit switch, it decelerates and runs in the reverse direction after reaching
the rising edge of HW signal. Then, after reaching the falling edge of HW signal, the motor decelerates
and changes to run in the forward direction until reaching the rising edge of the HW signal again where it
decelerates and changes to run in the reverse direction. Finally, the motor stops at the first Z signal upon
reaching the falling edge of the HW signal.
-242-
7 Control Mode
)PNFTXJUDI
/FHBUJWFMJNJUTXJUDI
)
.PUJPOQSP珝MF -
;TJHOBM
)PNFTXJUDI
TJHOBM
/FHBUJWFMJNJU
TXJUDITJHOBM
the motor hits the limit switch, it changes to run in the forward direction at a high speed. After reaching
the rising edge of the HW signal, the motor decelerates and changes to run in the reverse direction until
it stops at the first Z signal upon reaching the falling edge of the HW signal.
)PNFTXJUDI
/FHBUJWFMJNJUTXJUDI
.PUJPOQSP珝MF -
;TJHOBM
)PNFTXJUDI
TJHOBM
/FHBUJWFMJNJUTXJUDI
TJHOBM

-243-
7 Control Mode
15) 6098h = 17
Home: negative limit switch
/FHBUJWFMJNJUTXJUDI
)
.PUJPOQSP珝MF
-
/FHBUJWFMJNJU
TXJUDITJHOBM
Figure 7-48 N-OT signal inactive at start

The N-OT signal is inactive at start, and the motor starts homing in the reverse direction at a high speed.
After reaching the rising edge of the N-OT signal, the motor decelerates and changes to run in the
forward direction until it stops upon reaching the falling edge of the N-OT signal.
/FHBUJWFMJNJUTXJUDI
-
.PUJPOQSP珝MF
/FHBUJWFMJNJU
TXJUDITJHOBM
Figure 7-49 N-OT signal active at start
The N-OT signal is active at start, and the motor starts homing in the forward direction at a low speed.
After reaching the falling edge of the N-OT signal, the motor stops.
-244-
7 Control Mode
16) 6098h = 18
Home: positive limit switch
1PTJUJWFMJNJUTJHOBM
)
.PUJPOQSP珝MF
-
1PTJUJWFMJNJUTXJUDI
TJHOBM
Figure 7-50 P-OT signal inactive at start

The P-OT signal is inactive at start, and the motor starts homing in the forward direction at a high speed.
After reaching the rising edge of the P-OT signal, the motor decelerates and changes to run in the reverse
direction until it stops upon reaching the falling edge of the P-OT signal.
1PTJUJWFMJNJUTXJUDI
-
.PUJPOQSP珝MF
1PTJUJWFMJNJU
TXJUDITJHOBM
Figure 7-51 P-OT signal active at start

The P-OT signal is active at start, and the motor starts homing in the reverse direction at a low speed.
After reaching the falling edge of the P-OT signal, the motor stops.
17) 6098h = 19
Home: home switch (HW)
)PNFTXJUDI
)
.PUJPOQSP珝MF
-
)PNFTXJUDI
TJHOBM
-245-
7 Control Mode
direction until it stops upon reaching the falling edge of the HW signal.
)PNFTXJUDI
-
.PUJPOQSP珝MF
)PNFTXJUDI
TJHOBM

reaching the falling edge of the HW signal, the motor stops.
18) 6098 = 20
)PNFTXJUDI
)
.PUJPOQSP珝MF
-
-
)PNFTXJUDI
TJHOBM

direction. Then, after reaching the falling edge of the HW signal, the motor decelerates and changes to
run in the forward direction again until it stops upon reaching the rising edge of the HW signal.
-246-
7 Control Mode
)PNFTXJUDI
-
)PNFTXJUDITJHOBM
After reaching the falling edge of the HW signal, the motor decelerates and changes to run in the forward
direction until it stops upon reaching the rising edge of the HW signal.
19) 6098h = 21
)PNFTXJUDI
)
.PUJPOQSP珝MF
-
)PNFTXJUDITJHOBM

direction until it stops upon reaching the falling edge of the HW signal.
-247-
7 Control Mode
)PNFTXJUDI
-
.PUJPOQSP珝MF
)PNFTXJUDITJHOBM

After reaching the falling edge of the HW signal, the motor stops.
20) 6098 = 22
)PNFTXJUDI
)
.PUJPOQSP珝MF
-
)PNFTXJUDI
TJHOBM

direction. Then, after reaching the falling edge of the HW signal, the motor decelerates and changes to
run in the reverse direction again until it stops upon reaching the rising edge of the HW signal.
-248-
7 Control Mode
)PNFTXJUDI
-
.PUJPOQSP珝MF -
)PNFTXJUDITJHOBM

After reaching the falling edge of the HW signal, the motor decelerates and changes to run in the reverse
direction until it stops upon reaching the rising edge of the HW signal.
21) 6098 = 23
)
.PUJPOQSP珝MF -
)PNFTXJUDI
TJHOBM
1PTJUJWFMJNJU
TXJUDITJHOBM
motor stops.
-249-
7 Control Mode
)PNFTXJUDI
1PTJUJWFMJNJUTXJUDI
.PUJPOQSP珝MF - )
)PNFTXJUDI
TJHOBM
1PTJUJWFMJNJU
TXJUDITJHOBM
If the motor hits the limit switch, it changes to run in the reverse direction at a high speed until it
decelerates after reaching the rising edge of the HW signal. Then, after reaching the falling edge of the
HW signal, it decelerates and changes to run in the forward direction until it decelerates and changes to
run in the reverse direction upon reaching the rising edge of the HW signal. Finally, the motor stops upon
reaching the falling edge of the HW signal again.
.PUJPOQSP珝MF -
)PNFTXJUDI
TJHOBM
1PTJUJWFMJNJU
TXJUDITJHOBM
The HW signal is active at start, and the motor starts homing in the reverse direction at a low speed until
it stops after reaching the falling edge of the HW signal.
-250-
7 Control Mode
22) 6098 = 24
)
.PUJPOQSP珝MF -
)PNFTXJUDI
TJHOBM
1PTJUJWFMJNJU
TXJUDITJHOBM
motor changes to run in the forward direction at a low speed until it stops upon reaching the rising edge
of the HW signal again.
)
.PUJPOQSP珝MF - )
)PNFTXJUDI
TJHOBM
1PTJUJWFMJNJU
TXJUDITJHOBM
If the motor hits the limit switch, it changes to run in the reverse direction until it decelerates upon
motor changes to run in the forward direction. Finally, the motor stops after reaching the rising edge of
the HW signal again.
-251-
7 Control Mode
.PUJPOQSP珝MF -
)PNFTXJUDI
TJHOBM
1PTJUJWFMJNJU
TXJUDITJHOBM

stops upon reaching the rising edge of the HW signal.
23) 6098 = 25
) -
.PUJPOQSP珝MF
-
)PNFTXJUDI
TJHOBM
1PTJUJWFMJNJU
TXJUDITJHOBM
If the motor does not hit the limit switch, it decelerates and runs in the forward direction after reaching
the rising edge of the HW signal. Then, after reaching the falling edge of the HW signal, the motor
changes to run in the reverse direction until it stops upon reaching the rising edge of the HW signal
again.
-252-
7 Control Mode
)
.PUJPOQSP珝MF
)
-
)PNFTXJUDI
TJHOBM
1PTJUJWFMJNJU
TXJUDITJHOBM
of the HW signal, the motor decelerates and changes to run in the forward direction until reaching the
falling edge of the HW signal where it changes to run in the reverse direction again. Finally, the motor
stops after reaching the rising edge of the HW signal.
-
.PUJPOQSP珝MF
-
)PNFTXJUDI
TJHOBM
1PTJUJWFMJNJU
TXJUDITJHOBM

-253-
7 Control Mode
24) 6098 = 26
) -
)PNFTXJUDI
TJHOBM
1PTJUJWFMJNJU
TXJUDITJHOBM
If the motor does not hit the limit switch, it decelerates and runs in the forward direction after reaching
decelerates and changes to run in the reverse direction until reaching the rising edge of the HW signal
again where it decelerates and changes to run in the forward direction. Finally, the motor stops after
reaching the falling edge of the HW signal again.
)
.PUJPOQSP珝MF
)
)PNFTXJUDI
TJHOBM
1PTJUJWFMJNJU
TXJUDITJHOBM
of the HW signal, the motor decelerates and changes to run in the forward direction until it stops upon
reaching the falling edge of the HW signal.
-254-
7 Control Mode
.PUJPOQSP珝MF -
)PNFTXJUDI
TJHOBM
1PTJUJWFMJNJU
TXJUDITJHOBM

25) 6098 = 27
)PNFTXJUDI
/FHBUJWFMJNJUTXJUDI
)
.PUJPOQSP珝MF
-
)PNFTXJUDI
TJHOBM
/FHBUJWFMJNJU
TXJUDITJHOBM
The HW signal is inactive at start. The motor starts homing in the reverse direction at a high speed.
If the motor does not hit the limit switch, it decelerates and changes to run in the forward direction after
reaching the rising edge of the HW signal. Then, the motor stops after reaching the falling edge of the HW
signal.
-255-
7 Control Mode
/FHBUJWFMJNJUTXJUDI
)
) -
.PUJPOQSP珝MF
)PNFTXJUDI
TJHOBM
/FHBUJWFMJNJU
TXJUDITJHOBM
the motor hits the limit switch, it changes to run in the forward direction. After reaching the rising edge
of the HW signal, the motor decelerates and keeps running in the forward direction until reaching the
falling edge of the HW signal where it decelerates and changes to run in the reverse direction. Then, after
reaching the rising edge of the HW signal again, the motor decelerates and changes to run in the forward
direction until it stops upon reaching the falling edge of the HW signal again.
)PNFTXJUDI
/FHBUJWFMJNJUTXJUDI
-
.PUJPOQSP珝MF
)PNFTXJUDI
TJHOBM
/FHBUJWFMJNJU
TXJUDITJHOBM

-256-
7 Control Mode
26) 6098 = 28
)PNFTXJUDI
/FHBUJWFMJNJUTXJUDI
)
-
.PUJPOQSP珝MF
-
)PNFTXJUDI
TJHOBM
/FHBUJWFMJNJU
TXJUDITJHOBM
If the motor does not hit the limit switch, it decelerates and changes to run in the forward direction
after reaching the rising edge of the HW signal. Then, after reaching the falling edge of the HW signal,
the motor changes to run in the reverse direction until it stops upon reaching the rising edge of the HW
signal again.
)PNFTXJUDI
/FHBUJWFMJNJUTXJUDI
)
) -
.PUJPOQSP珝MF
-
)PNFTXJUDI
TJHOBM
/FHBUJWFMJNJU
TXJUDITJHOBM
If the motor hits the limit switch, it changes to run in the forward direction until it decelerates upon
reaching the rising edge of the HW signal. Then, after reaching the falling edge of HW signal, the motor
decelerates and changes to run in the reverse direction. Finally, the motor stops after reaching the rising
-257-
7 Control Mode
)PNFTXJUDI
/FHBUJWFMJNJUTXJUDI
.PUJPOQSP珝MF -
)PNFTXJUDI
TJHOBM
/FHBUJWFMJNJU
TXJUDITJHOBM
27) 6098 = 29
)PNFTXJUDI
/FHBUJWFMJNJUTXJUDI
- )
.PUJPOQSP珝MF -
)PNFTXJUDI
TJHOBM
/FHBUJWFMJNJU
TXJUDITJHOBM
If the motor does not hit the limit switch, it decelerates and runs in the reverse direction after reaching
changes to run in the forward direction until it stops upon reaching the rising edge of the HW signal
again.
-258-
7 Control Mode
)PNFTXJUDI
/FHBUJWFMJNJUTXJUDI
)
.PUJPOQSP珝MF
)
-
)PNFTXJUDI
TJHOBM
/FHBUJWFMJNJU
TXJUDITJHOBM
If the motor hits the limit switch, it changes to run in the forward direction. After reaching the rising edge
of the HW signal, the motor decelerates and changes to run in the reverse direction until it changes to
run in the forward direction again upon reaching the falling edge of the HW signal. Finally, the motor
stops upon reaching the rising edge of the HW signal again.
)PNFTXJUDI
/FHBUJWFMJNJUTXJUDI
-
.PUJPOQSP珝MF
-
)PNFTXJUDI
TJHOBM
/FHBUJWFMJNJU
TXJUDITJHOBM

-259-
7 Control Mode
28) 6098 = 30
)PNFTXJUDI
/FHBUJWFMJNJUTXJUDI
- )
.PUJPOQSP珝MF
)PNFTXJUDI
TJHOBM
/FHBUJWFMJNJU
TXJUDITJHOBM
The HW signal is inactive at start, and the motor starts homing in the reverse direction at a high speed
If the motor does not hit the limit switch, it decelerates and keeps running in the reverse direction after
motor decelerates and changes to run in the forward direction until reaching the rising edge of the HW
signal where it changes to run in the reverse direction. Finally, the motor stops upon reaching the falling
)PNFTXJUDI
/FHBUJWFMJNJUTXJUDI
)
.PUJPOQSP珝MF -
)PNFTXJUDI
TJHOBM
/FHBUJWFMJNJU
TXJUDITJHOBM
If the motor hits the limit switch, it changes to run in the forward direction at a high speed. After reaching
the rising edge of the HW signal, the motor decelerates and changes to run in the reverse direction until
it stops upon reaching the falling edge of the HW signal.
-260-
7 Control Mode
)PNFTXJUDI
/FHBUJWFMJNJUTXJUDI
-
.PUJPOQSP珝MF
)PNFTXJUDI
TJHOBM
/FHBUJWFMJNJU
TXJUDITJHOBM

The HW signal is active at start, and the motor starts homing in the reverse direction at a low speed and
stops after reaching the falling edge of the HW signal.
29) 6098h = 31/32
This mode is not defined in the standard 402 protocol. It can be used for extension purpose.
30) 6098h = 33/34
Home: Z signal
Deceleration point: None
Homing mode 33: The motor runs in the reverse direction at a low speed and stops at the first Z signal.
Homing mode 34: The motor runs in the forward direction at a low speed and stops at the first Z signal.
-

-

;TJHOBM
31) 6098h = 35
Homing mode 35: The present position is taken as the mechanical home, after homing is triggered
(control word 6040: 0x0F → 0x1F):
60E6h = 0 (Absolute homing):
6064h (Position actual value) is equal to 607Ch (Home offset) after homing is done.
60E6h = 1 (Relative homing):
6064h is the sum of the original value plus the home offset (607Ch) after homing is done.
32) 6098 = –1
The servo motor runs in the reverse direction at a high speed first. If the torque reaches the limit and
the speed is near zero after the motor hits the mechanical limit, and such status persists, it indicates the
motor reaches the mechanical limit position. In this case, the motor runs in the forward direction at a
low speed and stops upon reaching the rising edge of the Z signal for the first time.
-261-
7 Control Mode
.FDIBOJDBMMJNJU
.PUJPOQSP珝MF )
-
;TJHOBM
.FDIBOJDBMMJNJU
33) 6098 = –2
The servo motor runs in the forward direction at a high speed first. If the torque reaches the limit and
the speed is near zero after the motor hits the mechanical limit, and such status persists, it indicates the
motor reaches the mechanical limit position. In this case, the motor runs in the reverse direction at a low
speed and stops upon reaching the rising edge of the Z signal for the first time.
.FDIBOJDBMMJNJU
.PUJPOQSP珝MF )
-

;TJHOBM

.FDIBOJDBMMJNJU
$"65*0/
Keep sufficient clearance between the positive limit switch and negative limit switch, and set a
proper acceleration rate. Failure to comply may cause collision.
-262-
7 Control Mode
Setting
During
Condition Data
Immediately
6040h Time
Related
Mode

3 Running 1: Valid, 0: Invalid
0 -> 1: homing
4 New set-point
1 -> 0: homing
8 Halt
1: Halt
Setting
Condition Data
6041h Time
Related Value
Mode Range

9 Remote
0: Invalid
0: Home not located
10 Target reached
1: Home located
0: Home not found
12 Homing attained
1: Home found
0: No homing error
13 Homing error
1: Homing error occurs
0: Home not located
15 Home find
1: Home located
-263-
7 Control Mode
Setting
During
Condition Data Data
Name Homing method running & VAR int8
At stop
6098h Time
Related
Access RW Mapping RPDO HM Value Range –2 to +35 Default 0
Mode
Defines the homing method.
Mode Description
Forward homing:
–2 Home: Z signal
Deceleration point: forward mechanical limit
Reverse homing:
–1 Home: Z signal
Deceleration point: reverse limit position
Reverse homing:
Home: Z signal
1
The falling edge of the N-OT signal must be reached before reaching the Z signal.
Forward homing:
Home: Z signal
2
The falling edge of the P-OT signal must be reached before reaching the Z signal.
Forward homing:
Home: Z signal
3
The falling edge on the same side of the HW signal must be reached before reaching the Z signal.
Reverse homing:
Home: Z signal
4
The rising edge on the same side of the HW signal must be reached before reaching the Z signal.
Reverse homing:
Home: Z signal
5
Forward homing:
Home: Z signal
6
The rising edge of the HW signal on the same side must be reached before reaching the Z signal.
Forward homing:
Home: Z signal
7
Forward homing:
Home: Z signal
8
Forward homing:
Home: Z signal
9
The rising edge on the other side of the HW signal must be reached before reaching the Z signal.
Forward homing:
Home: Z signal
10
The falling edge on the other side of the HW signal must be reached before reaching the Z signal.
-264-
7 Control Mode
Setting
During
Condition Data Data
Name Homing method running & VAR int8
At stop
6098h Time
Related
Access RW Mapping RPDO HM Value Range –2 to +35 Default 0
Mode
Reverse homing:
Home: Z signal
11
Reverse homing:
Home: Z signal
12
Reverse homing:
Home: Z signal on the other side of the home switch
13
The rising edge on the other side of the HW signal must be reached before reaching the Z signal.
Homing in the reverse direction:
Home: Z signal on the other side of the home switch
14
The falling edge of the HW signal on the other side must be reached before reaching the Z signal.
15 to 16 N/A
17 to 32 Similar to 1 to 14. However, the deceleration point overlaps with the home.
33 Reverse homing. The home is the Z signal.
34 Forward homing. The home is the Z signal.
35 The present position is used as the home.
Setting
Condition Data
Name Homing speeds - ARR Data Type Uint32
6099h Time
Related OD default
Access - Mapping Yes HM Value Range OD data range Default
Mode value
Defines the two speed values used in the homing mode.

◆◆ Speed during search for switch
◆◆ Speed during search for zero
Setting
Number of homing speed sub- Condition Data Data
Sub- Name - - Uint8
indexes & Effective Structure Type
index Time
0h
Related Value
Access RO Mapping NO - 2 Default 2
Mode Range
-265-
7 Control Mode
Setting
During
Speed during search for Condition Data Data
Name running & - Uint 32
Sub- switch & Effective Structure Type
At stop
index Time
1h 0 to (232-1)
Related Value
Access RW Mapping RPDO HM (Velocity Default 1747627
Mode Range
unit/s)
Defines the speed during searching for the deceleration point signal. A large setting value helps prevent E601.0
(Homing timeout) caused by a prolonged homing process.
◆◆ Note: After finding the deceleration point, the slave decelerates and blocks the change of the home signal
during deceleration. To prevent encountering the home signal during deceleration, set the switch position of the
deceleration point signal properly to leave sufficient deceleration distance or increase the homing acceleration
rate to shorten the deceleration time.
Setting
During
Condition Data Data
Name Speed during search for zero running & - int32
Sub- & Effective Structure Type
At stop
index Time
2h 10 to (232-1)
Related Value
Access RW Mapping RPDO HM (velocity Default 100
Mode Range
unit/s)
Defines the speed during searching for the home signal. A small setting value helps avoid overshoot during stop at a
high speed, which prevents large deviation between the stop position and the preset mechanical home.
Setting
During
Condition Data Data
Name Homing acceleration running & VAR DUINT32
Index At stop
Time
609Ah
0 to (232-1)
Related
Access RW Mapping RPDO HM Value Range (Acceleration Default 100
Mode
unit/s2)
Defines the acceleration rate in the homing mode and indicates the position reference (position unit) increment per
second.
The setting value takes effect after homing is started.
In the homing mode, if 605Dh (Halt option code) is set to 2, the servo drive decelerates to stop as defined by 609Ah.
For 609Ah, the setting value 0 will be forcibly changed into 1.
The basic configuration for the homing mode is shown in the following table.
6098: Homing method Optional
6099-01: Speed during search for switch Optional
6099-02: Speed during search for zero Optional
609A: Homing acceleration Optional
-266-
7 Control Mode
Speed Speed
feedforward gain feedforward filter
(2008-14h) (2008-13h)
Home method (6098h)
Homing speeds (6099h)
Homing acceleration (6098h)
Homing timeout (2005-36h)
Homing Gear ratio

Position loop
trajectory (6091-01h,
gain (2008-03h)
generator 6091-02h)
Position actual
value (6063h)
Torque feedforward Torque

filter feedforward gain
(2008-15h) (2008-16h)
Speed regulator Limit on

(2008-01h, max. motor
2008-02h) speed
Speed feedback
(200B-01h [RPM]
Speed reference
200B-02h [RPM]
Speed
calcul-
ation
Torque filter Torque

Torque limit Motor
7.10 Auxiliary Functions

The servo drive offers the following auxiliary functions:
■■ Motor protection
■■ DI filter time setting
■■ Touch probe function (latch function)
7.10.1 Touch Probe Function (Latch Function))
The latch function latches the position actual value (position unit) when an external latch input signal or
the Z signal changes.
The SV660N offers two touch probes to record the positions corresponding to the rising edge or fall edge
of each touch probe signal, which means four positions can be latched. Use DI5 when a DI terminal is to
be used as the probe trigger signal.
$"65*0/
◆◆ No specific DI logic is required when a DI terminal is used as the probe trigger signal.
◆◆ You can set the filter window for the probe signal through 200A-14h and 200A-15h when a DI
terminal is used as the touch probe trigger signal.
-267-
7 Control Mode
■■ Related Objects

(HEX) (HEX) Type
2003 03 DI1 function selection RW Uint16 - 0 to 65535 14
2003 0B DI5 function selection RW Uint16 - 0 to 65535 39
Touch probe function (latch

60B8 00 RW Uint16 - 0 to 65535 0
Function)
60B9 00 Touch probe status RO Uint16 - - 0
60BA 00 Touch probe 1 positive edge RO int32 Position unit - 0
60BB 00 Touch probe 1 negative edge RO int32 Position unit - 0
60BC 00 Touch probe 2 positive edge RO int32 Position unit - 0
60BD 00 Touch probe 2 negative edge RO int32 Position unit - 0
Touch probe 1 positive edge

60D5 00 RO Uint16 - - 0
counter
Touch probe 1 negative edge

60D6 00 RO Uint16 - - 0
counter

60D7 00 RO Uint16 - - 0
counter

60D8 00 RO Uint16 - - 0
counter
■■ Operation procedures
Observe the following procedures when using DI5 as the probe trigger signal.
Requirement: continuous latching of the touch probe 1 positive value
1) Set the function of DI5 by setting 0x2003-0B to 38.
2) Set the touch probe function in 0x60B8.
The definition of each bit of the touch probe function (0x60B8) is shown in the following table.
Bit Description Remarks
Touch probe 1 function selection

0 0: Switch off touch probe 1
1: Enable touch probe 1
Touch probe 1 trigger mode

0: Single trigger mode (Latches the position at the
1
first trigger event.)
Bit0 to Bit5: settings related to touch probe 1
1: Continuous trigger mode
When the DI terminal is used as the touch
Touch probe 1 trigger signal selection
probe triggering signal, the DI source is non-
2 0: DI signal modifiable once the touch probe is enabled.
1: Z signal For an absolute encoder, the Z signal refers
3 N/A to the zero point of the single-turn position
feedback of the motor.
4 0: Switch off sampling at positive edge
1: Enable sampling at positive edge

5 0: Switch off sampling at negative edge
1: Enable sampling at negative edge
-268-
7 Control Mode
6 to 7 N/A

Touch probe 2 trigger mode

0: Single trigger mode (Latches the position at the
9
first trigger event.)
1: Continuous trigger mode
Touch probe 2 trigger signal selection

10 0: DI signal Bit8 to Bit13: settings related to touch probe 2
1: Z signal
11 N/A

12 0: Switch off sampling at positive edge
1: Enable sampling at positive edge

13 0: Switch off sampling at negative edge
1: Enable sampling at negative edge
14 to 15 N/A
Set 0x60B8 to 0x0013 in this example.
3) Read the touch probe status through 0x60B9.
The definition of each bit of the touch probe status (0x60B9) is shown in the following table.

Touch probe 1 positive edge value

1 0: No positive edge value stored
1: Positive edge value stored Bit0 to Bit7: status of touch probe 1
Touch probe 1 negative edge value

2 0: No negative edge value stored
1: Negative edge value stored
3 to 7 N/A

8 0: Switch off Touch probe 2
Touch probe 2 positive edge value

9 0: No positive edge value stored
1: Positive edge value stored Bit8 to Bit15: status of touch probe 2
Touch probe 2 negative edge value

10 0: No negative edge value stored
1: Negative edge value stored
11 to 15 -
In this example, you can read bit1 of 0x60B9 to check whether the function of position latch at positive
edge of touch probe 1 is enabled.
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7 Control Mode
4) Read the latch position of the touch probe.
The four position values of the touch probe are saved in 0x60BA to 0x60BD.
In this example, if the function of position latch at positive edge of touch probe 1 is executed, you can
read the position value through 0x60BA (Touch probe 1 positive edge, position unit). The latch times can
be obtained through 0x60D5.
The following figure shows the function setting sequence and status feedback of the touch probe in the
preceding example, which takes DI5 as the trigger signal and adopts positive edge latch.
Set the trigger mode, signal

source, and active latch edge
of touch probe 1. 60B8 BIT1/2/4/5
Enable touch probe 1.

60B8 BIT0
A valid latch edge

is detected. Touch probe 1
signal
Read the status of touch

60B9 BIT0
probe 1.
60D5
Read the latch position
information.
60BA
Figure 7-84 Procedures for use of the touch probe
7.10.2 Software Limit
Traditionally, the limit is defined by the external sensor signal connected to CN1, which is known as the
hardware limit.
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Figure 7-85 Installation of limit switches
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7 Control Mode
■■ Comparison between the hardware limit and software limit
Hardware limit Software limit
Restricted to linear movement and single-turn Applicable to linear movement and rotation
1 1
rotation movement. movement.
Removes the need for hardware wiring,

2 External mechanical limit switches are required. 2
preventing malfunction due to poor contact.
3 Suffered from the risk of mechanical slip.

Prevents malfunction due to mechanical slip
Fails to judge or alarm the out-of-limit situation 3
4 through internal position comparison.
after power-off.
The software limit works by comparing the set limit value with the internal feedback value. If the latter
exceeds the former, a warning will be reported and the servo drive stops. This function is available in
both absolute and incremental position modes. To use this function in the incremental position mode,
set 200A-02h to 2 to make the servo drive perform homing upon power-on before the software limit
applies.
Related objects:
Setting
Condition At stop & Data
Name Absolute position limit - Data Type Uint16
200A-02h & Effective Immediately Structure
H0A-01 Time
Related Value
Access RW Mapping - All 0 to 2 Default 0
Mode Range
This object determines whether the absolute position limit is activated and the conditions for activation.
Value Absolute Position Limit Selection

0 Disabled
1 Enabled
2 Enabled after homing
If the absolute position limit is enabled, the servo drive stops according to the setting of 2002-08h (Stop mode at
overtravel) when the absolute position feedback reaches the limit value.
Setting
During
Condition Data
Name Min. position limit running & - Data Type int32
607D-01h At stop
Time
Access RW Mapping RPDO All Default -231
This object defines the minimum software position limit relative to the mechanical zero point.
Setting
During
Condition Data
Name Max. position limit running & - Data Type int32
607D-02h At stop
Time

Access RW Mapping RPDO All Default 231-1
This object defines the maximum software position limit relative to the mechanical zero point.
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◆◆ Ensure the value of 607D-01h is less than or equal to 607D-02h. If 607D-01h is set to a value larger
than 607D-02h, the servo drive reports EE09.0 (Wrong software position limit).
◆◆ In the absolute rotation mode or single-turn mode, ensure 607D-01 and 607D-02 are within the
mechanical position limit. Otherwise, the servo drive reports EE09.0.
◆◆ Ensure the value of 607Ch (Home offset) is within the software limit range. Otherwise, the servo
drive reports EE09.0.
7.10.3 Position Comparison
The position comparison works by comparing the instantaneous position data with the value pre-
stored in the data array and, once available, outputs a DO signal with pulse width settable for use in
subsequent motion control. Such comparison is implemented through FPGA, removing the risk of
software communication delay between different chips. Accurate comparison can also be performed on
the motion axis rotating at a high speed.
For position comparison, you can select“active high”or“active low”for the DO terminal. When“active
high”is selected, the corresponding DO is activated when it is connected to the common terminal and
deactivated when it is disconnected from the common terminal. When“active low”is selected, the
corresponding DO is deactivated when it is connected to the common terminal and activated when it is
disconnected from the common terminal. There are three DO terminals for the SV660N servo drive.
1 Applicable conditions
Position comparison is available only when the following conditions are fulfilled.
Conditions for Position Comparison
Control mode All the control modes
◆◆ After EtherCAT communication is confirmed

◆◆ After homing is done
Others
◆◆ Motor rotating normally with critical parameters (control parameters
included) set properly
2 Related Objects
The configurable DO logic functions are listed as follows:
■■ 0: No definition
■■ 1: Servo ready (SRDY)
■■ 2: Motor rotating
■■ 9: Brake
■■ 10: Warning (WARN)
■■ 11: Alarm (ALRM)
■■ 25: Position Comparison (CMP)
■■ 32: STO EDM
When position comparison is enabled, you can allocate function 25 (Position comparison) to any one of
the three DOs, and the DO you select will act as the position comparison output signal.
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7 Control Mode
■■ Parameters for position comparison
Group H18: Position comparison output
H18: Position Comparison Output
H18-00 Position comparison switch 1: Enabled
Defines the number of pulses per revolution. For example, if H18-02 is

set to 2, the number of pulses per revolution is 223.
0: 24-bit
1: 23-bit
Position comparison 2: 22-bit

H18-02
resolution 3: 21-bit
4: 20-bit
5: 19-bit
6: 18-bit
7: 17-bit
0: Single comparison
H18-03 Position comparison mode
1: Cyclic comparison
H18-04 Present position as zero 1: Enabled
Position comparison output Defines the active pulse width of the DO when the comparison point is
H18-05
width reached. The value range is 0 to 2047 (unit: 0.1 ms).
Start point of position

H18-07 Activated when H18-00 is set to 1 again.
comparison
End point of position

H18-08 Activated when H18-00 is set to 1 again.
comparison
Present status of position 0: No comparison

H18-09
comparison n: Waiting for No. N comparison point
Displays the present position value during position comparison.

H18-10 Real-time position feedback
Value range: –231 to 231–1
Defines the offset value after the present position is taken as the zero
Zero offset of position
H18-12 point.
comparison
Value range: –231 to +231–1
Target position comparison Defines the comparison value of the first target position.
H19-00
point 1 Value range: –231 to 231–1
Defines the attribute of the first comparison point.

0: Skip this point
1: Output DO active signal if current position changes from less than to
Attribute of position
H19-02 more than the comparison point
comparison point 1
2: Output DO active signal if current position changes from more than to
less than the comparison point
3: Output DO active signal in both situations
Target position comparison Defines the second target position comparison value.
H19-03
Defines the attribute of the second comparison point.

0: Skip this point
comparison point 2
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7 Control Mode
Target position comparison Defines the 3rd target position comparison value.
H19-06
Defines the attribute of the third comparison point.

0: Skip this point
comparison point 3
Target position comparison Defines the 4th target position comparison value.
H19-09
Defines the attribute of the 4th comparison point.

0: Skip this point
comparison point 4
H19-12

0: Skip this point
comparison point 5
H19-15
Defines the attribute of the 6th comparison point:

0: Skip this point
comparison point 6
H19-18

0: Skip this point
comparison point 7
H19-21
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0: Skip this point
comparison point 8
3 Run
1) Description
■■ Position comparison switch (H18-00)
When the value of H18-00 changes from 0 to 1, position comparison starts and the value of H18-09
(Present status of position comparison) is updated to the start point of position comparison. When the
value of H18-00 changes to 0, position comparison stops and the present comparison status is cleared.
■■ Position comparison resolution (H18-02)
The comparison resolution defines the number of pulses per revolution. Given the maximum and
minimum limits on the target position (defined by group H19), you can reset the resolution when data
overflow occurs on the comparison value. For example: H18-02 = 7-17bit
The maximum value of the target position is 231–1, and the motor rotates by 231–1/217 circles.
The target position in group H19 is only related to the set resolution.
■■ Single comparison mode (H18-03 = 0)
In the single comparison mode, when comparison of the end point is done, the comparison function
is switched off automatically and the present comparison value is cleared to zero. The comparison
function can be enabled again only when the position comparison switch is switched on again.
The real-time position feedback in the single comparison mode is an absolute value, which means
it is an accumulative value based on the preceding comparison point. Such value will not be cleared
automatically.
■■ Cyclic comparison mode (H18-03 = 1)
In the cyclic comparison mode, the comparison function will not be switched off when the comparison
of the end point is done, and the present comparison value will be set as the start point for comparison.
Each time the comparison of a certain point is done, the value of H18-10 (Real-time position feedback) is
cleared and re-counted for cyclic comparison.
In the cyclic comparison mode, the target position is a relative and incremental value. Each time the
comparison of a certain point is done, the real-time position feedback is cleared and re-counted to be
compared with the new target point.
■■ Position comparison output width (H18-05)
When the position comparison conditions are fulfilled, the servo drive outputs DO active level signal.
The width of the active signal can be set by H18-05 (value range: 1 to 2047 x 0.1 ms).
When the DO output is active, the comparison logic is suspended and no comparison will be performed.
In this case, ensure the operating time between two target points is larger than the DO output width.
■■ Target position comparison point
There are eight target position comparison points in total. The comparison point is a 32-bit signed
number. The target position comparison value and the comparison attribute value must be updated to
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7 Control Mode
the related parameters in group H19 in advance.
■■ Start point for comparison (H18-07)
The start point indicates the position of the first comparison point. For example, if the start point is set
to 5, the comparison starts from the fifth target position point.
■■ End point for comparison (H18-08)
The end point indicates the position of the last comparison point. For example, if the end point is set to
7, the comparison stops or restarts from the start point after the comparison of the 7th target position
point is done.
■■ Zero offset of position comparison (H18-12)
The value of H18-10 (Real-time position feedback) will be changed to the offset value defined by H18-12
(Zero offset of position comparison) at the rising edge (0 → 1) of H18-04 (Present position as zero).
2) Running
■■ When the position feedback of the encoder passes the target position comparison values (H19-00
to H19-21), the DO outputs the time width pulse defined by H18-05 (Position comparison output
width), as shown in the following figure.
Position
Actual position
Position comparison value 2

Time
Position comparison output
Pulse output width when Pulse output width when

current position changing current position changing
from less than to more than from more than to less than
the comparison point the comparison point
When the attribute of the target point is set to 1 (Output DO active signal if current position changes
from less than to more than the comparison point), the DO outputs the position comparison signal when
the encoder passes the target position comparison value with position changing from less than to more
than the comparison point.
When the attribute of the target point is set to 2 (Output DO active signal if current position changing
from more than to less than the comparison point), the DO outputs the position comparison signal when
the encoder passes the target position comparison value with position changing from more than to less
than the comparison point.
When the attribute of the target point is set to 3 (Output DO active signal under both situations), the DO
outputs position comparison signal when the encoder passes the target position comparison value with
position changing in either way.
■■ When the action direction reverses and multiple position comparison values are set, no comparison
will be performed once the position comparison DO output is active. Therefore, ensure the
operating time between two target points is larger than the pulse output width. As shown in the
following figure, no comparison is performed because the pulse output width is larger than the
operating time between the two target points.
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7 Control Mode
Position
Actual position
Time
Position comparison output
Pulse output width
■■ Only one pulse will be output when the stop position is the same with the position comparison
value, as shown in the following figure.
Position
Actual position
Position comparison
value
Time
Position comparison
output
Pulse output width
3) Interface of the software tool
For the convenience of setting the target position comparison value, the software tool provides the
function of division setting. Set a proper comparison mode, start point, and end point first.
■■ In the single comparison mode, set the total running distance and number of comparison points.
After clicking " 等分设定 " (Division setting), the target value of the first point is updated to“Distance
x 1/Number of comparison points”,the target value of the second point is updated to“Distance x 2/
Number of comparison points”,and the target value of the Nth point is updated to“Distance x N/
Number of comparison points”.
■■ In the cyclic comparison mode, " 距离长度 " (Distance length) is used to set the operating distance
between two adjacent point. " 比较点数 " (Comparison points) is used to set the numbers of points
to be compared cyclically. After clicking " 等分设定 " (Division setting), the target values of the 1st to
the Nth comparison points are updated to the values set in " 距离长度 " (Distance length).
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7 Control Mode
7.11 Absolute System

For the wiring and battery installation of the absolute encoder, see "3.4 Connection of the Servo Drive and
Servo Motor Encoder Cables".
7.11.1 Descriptions for Use of the Absolute System
■■ Overview
The absolute encoder records the single-turn position and the number of revolutions. With a single-turn
resolution up to 8388608 (223), the encoder can record 16-bit multi-turn data. The absolute system works
in the position, speed, and torque control modes. When the servo drive is powered off, the encoder
performs data backup using the power supplied by the battery. The servo drive therefore can calculate
the absolute mechanical position through the encoder after power-on, removing the need for homing.
When using the absolute encoder, set 2000-01h (Motor code) to 14101 (Inovance 23-bit absolute encoder)
and set 2002-02h (Absolute system selection) based on actual conditions. Er.731 will be reported when
the battery is connected for the first time. Set 200D-15h (Absolute encoder reset selection) to 1 (Reset
the encoder fault) to reset the encoder fault, and then perform the homing operation.
When the value of 2002-03h (Rotation direction), 200D-15h (Absolute encoder reset selection)
or the mechanical gear ratio is modified, an abrupt change will occur on the mechanical
position, requiring a homing operation. After homing is done, the servo drive calculates
NOTE the difference value between the absolute mechanical position and the encoder absolute
position and stores the difference value in the EEPROM.
■■ Related objects
■■ Absolute system setting
Set 2000-01h (Motor code) to 14101 (Inovance 23-bit absolute encoder), and select the absolute position
mode through 2002-02h (Absolute system mode).
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7 Control Mode
Setting
At stop
Condition Data
2000-01h Name Motor code Next - Data Type Uint16
power-on
Time
H00-00 Related Value 0 to

Access RW Mapping - - Default 14101
Mode Range 65535
Defines the motor code.
Value Motor SN Description

14000 Inovance motor with incremental encoder Encoder resolution: 1048576 (220)
14101 Inovance motor with absolute encoder Encoder resolution: 8388608 (223)
Setting
At stop
Condition Data
H02-01 Name Absolute system mode & Next - Data Type Uint16
power-on
Time
Related Value
2002-02h Access RW Mapping - All 0 to 4 Default 0
Mode Range
Defines the mode of the absolute system.
Absolute
Value Description Remarks
system mode
Incremental The encoder is used as a bus-type incremental encoder Battery not needed
0
position mode without power-off memory. No multi-turn fault
The encoder is used as an absolute encoder with
power-off memory. Battery needed, battery fault
Absolute This mode is applicable to applications where the load reported upon occurrence
1 position linear movement range is fixed and multi-turn data overflow Multi-turn counting error and
mode will not occur. overflow fault reported upon
The multi-turn data range in the absolute position occurrence
linear mode is –32768 to +32767.
The encoder is used as an absolute encoder with
Battery needed, battery fault
Absolute power-off memory.
reported upon occurrence
2 position This mode is mainly applicable to the applications
Multi-turn overflow fault not
rotation mode where the load movement range is unlimited and only
reported upon occurrence
single-turn position feedback is needed.
The encoder is used as an absolute encoder with Battery needed, battery fault
Absolute
power-off memory. reported upon occurrence
3 position linear
This mode is applicable to applications where the Multi-turn overflow fault not
mode 2
multi-turn data overflow fault can be left unattended. detected
Single-turn In this mode, only the single-turn position of the Battery not needed
4
absolute mode encoder is recorded. No multi-turn fault
■■ Encoder feedback data
The feedback data of an absolute encoder is divided into the number of revolutions and the encoder
position within one turn. For the incremental position mode, there is no feedback data concerning the
number of revolutions.
H0B-70 Setting
Number of revolutions of the Condition Data
Name - - Data Type Uint16
absolute encoder & Effective Structure
200B-47h
Time
Related Value
Access RO Mapping TPDO All - Default -
Mode Range
Represents the number of revolutions of the absolute encoder.
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7 Control Mode
H0B-71 Setting
Single-turn position feedback of Condition Data
the absolute encoder & Effective Structure
200B-48h
Time
-
Related Value
Access RO Mapping TPDO All (unit: encoder Default -
Mode Range
unit)
Represents the single-turn position feedback of the encoder. If the encoder resolution is RE (for example, RE = 223), the
range is 0 to (RE–1).
H0B-77 Setting
Absolute position (low 32 Condition Data
bits) of absolute encoder & Effective Structure
200B-4Eh
Time
-
Access RO Mapping TPDO Related Mode All (unit: Default -
encoder unit)
H0B-79 Setting
Absolute position (high 32 Condition Data
Name - - Data Type int32
bits) of absolute encoder & Effective Structure
200B-50h
Time
-
Value
Access RO Mapping TPDO Related Mode All (unit: encoder Default -
Range
unit)
Represents the absolute position feedback of the encoder.
7.11.2 Absolute Position Linear Mode
This mode is applicable to applications where the load movement range is fixed and multi-turn data
overflow will not occur.
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Figure 7-86 Application of the linear mode

Assume the absolute mechanical position (200B-3Bh and 200B-3Dh) is PM, the encoder absolute position
is PE, the position offset in the absolute position linear mode (2005-2Fh and 2005-31h) is PO, their relation
will be: PM = PE - PO
Assume the electronic gear ratio is B/A, and the mechanical absolute position (reference unit) is
200B-08h, then the following formula applies:
200B-08h = PM/(B/A)
The multi-turn data range in the absolute position linear mode is –32768 to +32767. If the number of
forward revolutions is larger than 32767 or the number of reverse revolutions is smaller than –32768,
E735.0 (Encoder multi-turn counting overflow) will occur. In this case, set 200D-15h (Absolute encoder
reset selection) to 2 (Reset the encoder fault and multi-turn data) to reset the multi-turn data and
perform homing again. In special occasions, you can set 200A-25h (Multi-turn overflow fault of absolute
encoder) to 1 (Hide) to hide E735.0 or use absolute position linear mode 2.
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7 Control Mode
Setting
At stop
Position offset in the absolute Condition Data
2005-2Fh Name & Next - Data Type Uint32
position linear mode (low 32 bits) & Effective Structure
power-on
Time
–231 to
Related Value +(231–1)
H05-46 Access RW Mapping - All Default 0
Mode Range (encoder
unit)
Setting
At stop
Position offset in the absolute Condition Data
2005-31h Name & Next - Data Type int32
position linear mode (high 32 bits) & Effective Structure
power-on
Time
–231 to
Related Value +(231–1)
H05-48 Access RW Mapping - All Default 0
Mode Range (encoder
unit)
These parameters define the offset of the absolute mechanical position (encoder unit) relative to the absolute
position (encoder unit) of the encoder in the linear mode (2002-02 = 1).
Position offset in the absolute position linear mode = Encoder absolute position - Mechanical absolute position
Note:
◆◆ The offset of the absolute position linear mode (2005-2Fh and 2005-31h) is 0 by default. If homing is performed,
the servo drive automatically calculates the deviation between the encoder absolute position and the mechanical
absolute position after homing, assigns the value to 2005-2Fh and 2005-31h, and stores the value to EEPROM.
Setting
Condition At stop & Data
200B-08h Name Absolute position counter - Data Type int32
& Effective Immediately Structure
Time
-231 to +231
Related Value
H0B-07 Access RO Mapping - All (encoder Default 0
Mode Range
unit)
Represents the current absolute position (reference unit) of the motor in the position mode.
Setting
Mechanical absolute position Condition Data
200B-3Bh Name - - Data Type Uint32
(low 32 bits) & Effective Structure
Time
-
Related Value (unit:
H0B-58 Access RO Mapping - All Default -
Mode Range encoder
unit)
Setting
Mechanical absolute position Condition Data
200B-3Dh Name - - Data Type int32
(high 32 bits) & Effective Structure
Time
(unit:
Related Value
H0B-60 Access RO Mapping - All encoder Default -
Mode Range
unit)
Represents the mechanical absolute position.
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7 Control Mode
Setting
Condition Data Data
Name Position actual value* - VAR int 32
Index Time
6063h -
Access RO Mapping TPDO All Default 0
Mode Range encoder
unit)
Represents the absolute position of the motor (encoder unit). The value is equal to 200B-3Bh in the absolute
position mode.
Setting
Condition Data Data
Name Position actual value - VAR int 32
6064h Time
Related Value -
Mode Range (unit: position unit)
Represents the absolute position feedback in user defined units.
Position actual value (6064h) x Gear ratio (6091h) = Position actual value* (6063h)
Setting
Absolute encoder multi-turn Condition At stop & Data Data
Name - Uint16
overflow fault & Effective Immediately Structure Type
200A-25h Time
Related Value
Access RW Mapping No All 0 to 1 Default 0
Mode Range
This object is used to hide E735.0 (Encoder multi-turn overflow fault) in the absolute position linear mode.
Value Description
0 0: Not hide
1 1: Hide
7.11.3 Absolute Position Rotation Mode
This mode is mainly applicable to applications where the load movement range is unlimited. The
number of unidirectional revolutions of the motor is less than 32767 upon power failure, as shown in the
following figure.
Figure 7-87 Rotating load

The single-turn position range of the rotating load is 0 to (RM–1) (RM: Encoder pulses per load revolution).
When the gear ratio is 1:1, the variation law of the target position and the single-turn position of the
rotating load during forward running is shown as follows.
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7 Control Mode
Target position
Single-turn position RM-1

of the rotating load
0 Magnitude of rotation
The variation law of the target position and the single-turn position of the rotating load during reverse
running is shown as follows.
Target position
0
Rotation amount
Single-turn position RM-1

of the rotating load
0 Magnitude of rotation
When the motor works in the absolute rotation mode while the servo drive works in the HM mode, the
setting range of the home offset is 0 to (RM–1). If the home offset is set to a value outside this range, the
servo drive reports EE09.1 (Home setting error).
The multi-turn data range is unlimited in the absolute position rotation mode. Therefore, E735.0 (Encoder
multi-turn counting overflow) is hidden automatically.
Related parameters
Setting
Mechanical gear ratio in the
Condition At stop & Data Data
Name absolute position rotation mode - Uint16
& Effective Immediately Structure Type
2005-33h (numerator)
Time
Related Value
Mode Range
Setting
Mechanical gear ratio in the
2005-34h (denominator)
Time
Related Value
Mode Range
Setting
Pulses per load revolution in the
(low 32 bits)
2005-35h Time
0 to (232-1)
Related Value
Access RW Mapping - All (encoder Default 0
Mode Range
unit)
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7 Control Mode
Setting
Position offset in the absolute
Name position rotation mode (high 32 - int32
bits)
Time
2005-37h
0 to 127
Access RW Mapping - All Default 0
Mode Range encoder
unit)
This parameter defines the ratio of the feedback pulses (encoder unit) per load revolution to the absolute position
feedback of the encoder when the absolute system works in the rotation mode (2002-02 = 2).
Assume the encoder resolution is RE, the encoder pulses per revolution is RM:
when 2005-35h or 2005-37h are set to 0:
RM = RE x 2005-33h/2005-34h
when 2005-35h or 2005-37h are set to 0:
RM = 2005-37h x 232 + 2005-35h
Note:
◆◆ The servo drive calculates the mechanical absolute position based on 2005-35h and 2005-37h first. If 2005-35h
and 2005-37h are set to 0, the servo drive performs calculation based on 2005-33h and 2005-34h.
Setting
Single-turn position of the rotating Condition Data
Name - - Data Type int 32
load (low 32 bits) & Effective Structure
200B-52h Time
(unit:
Related Value
Access RO Mapping TPDO All encoder Default -
Mode Range
unit)
Setting
Single-turn position of the rotating Condition Data
load (high 32 bits) & Effective Structure
Time
200B-54h
-
Mode Range encoder
unit)
Represents the single-turn position (encoder unit) of the rotating load.
Value range: (-RM+1) to (RM–1)
Setting
Single-turn position of the Condition Data
Name - - Data Type int 32
rotating load & Effective Structure
Time
200B-56h
-
Mode Range position
unit)
Represents the single-turn position of the rotating load (position unit).
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7 Control Mode
Setting
Condition Data Data
Name Position actual value* - VAR int 32
Index Time
6063h -
Mode Range encoder
unit)
Represents the absolute single-turn position of the rotating load (encoder unit). This value is equal to 200B-52h in
the absolute position mode.
Setting
Condition Data Data
Name Position actual value - VAR int 32
Index Time
6064h -
Mode Range position
unit)
Represents the single-turn absolute position feedback of the rotating load in real time. This value is equal to
200B-56h in the absolute position mode.
Position actual value (6064h) x Gear ratio (6091h) = Position actual value* (6063h)
7.11.4 Single-Turn Absolute Mode
This mode is mainly applicable to applications where the load movement range is within the single-turn
range of the encoder. In this case, the absolute encoder needs no battery as it records the single-turn
data only.
1) Target position input range of EtherCAT communication
If a 23-bit absolute encoder is used in the single-turn absolute mode, the servo drive works in the CSP or
PP mode, and the electronic gear ratio is 1:1:
When 607Ch (Home offset) is set to 0, the target position range is 0 to (223–1).
After homing is done, the target position range is 607Ch to (223–1 + 607Ch).
If the target position is set to a value outside the preceding range, EB01.4 (Target position beyond upper/
lower limit) will be reported.
2) Example
When the gear ratio is 1:1, and 607Ch is set to 0, the diagram is shown as follows.
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1PTJUJPOVQPOQPXFSPO

&ODPEFSQPTJUJPO Ǌ
"DUVBMQPTJUJPO Ǌ

QPTJUJPOVOJU
When the gear ratio is 1:1, and 607Ch is set to 10000, the diagram is shown as follows.
-285-
7 Control Mode
.PUPS -PBE
1PTJUJPOVQPOQPXFSPO

&ODPEFSQPTJUJPO Ǌ Ǌ
"DUVBMQPTJUJPO 琬Ǌ琭

QPTJUJPOVOJU
3) Precaution for the motor position upon power-on
The motor movement range is determined by the motor position upon power-on. (Take the 23-bit
absolute encoder as an example)
a） Position upon power-on: The motor movement range shown in the following figure is derived from
the single-turn data range at the power-on position.
Ǌ
4JOHMFUVSO
EBUB
1PTJUJPO

1PTJUJPOVQPOQPXFSPO
&#PDDVSSFE .PUPSNPWFNFOUSBOHF &# PDDVSSFE
b） To change the motor movement range, turn off the power supply at the position shown in the
preceding figure, and turn on the power supply again after the motor moves to the position shown
in the following figure.
Ǌ
.PWFBGUFSQPXFSP珜
4JOHMFUVSOEBUB
1PTJUJPO

1PTJUJPOVQPOQPXFSPO
&#PDDVSSFE .PUPSNPWFNFOUSBOHF &#PDDVSSFE
c） Note: When the power supply is switched on near the motor movement range, EB01.4 (Target
position beyond the limit) may easily occur.
-286-
7 Control Mode
Ǌ
4JOHMFUVSOEBUB
1PTJUJPO

1PTJUJPOVQPOQPXFSPO
&#PDDVSSFE .PUPSNPWFNFOUSBOHF &# PDDVSSFE
7.11.5 Precautions for Use of the Battery Box
E731.0 (Encoder battery fault) will be reported when the battery is connected for the first time. Set
200D-15h (Absolute encoder reset selection) to 1 (Reset the encoder fault) to reset the fault, and then
perform homing.
When the battery voltage detected is smaller than 3.0 V, Er.730 (Encoder battery warning) occurs.
Replace the battery according to the following procedures:
Step 1: Power on the servo drive and keep it in non-running state.
Step 2: Replace the battery.
Step 3: The servo drive automatically remove E730.0 (Encoder battery warning). If there is no other
warning, make the servo drive run normally.
If you replace the battery after power-off, E731.0 (Encoder battery fault) will be reported and an abrupt
change will occur on the multi-turn data. In this case, set 200D-15h to 1 to reset the fault, and then
perform homing again.
When the servo drive is in the power-down state, ensure the maximum motor speed does not exceed
6000 RPM so that the encoder position can be recorded accurately.
Keep the battery box in environments within the required ambient temperature range and ensure the
battery is in reliable contact and has sufficient power capacity. Otherwise, encoder data loss may occur.
Related parameter
Setting
Absolute encoder reset At stop & Data Data
Name Condition & - Uint16
selection Immediately Structure Type
200D-15h Effective Time
Value
Access RW Mapping - Related Mode All 0 to 2 Default 0
Range
This parameter is used to reset the encoder fault or the multi-turn data.
Value Description
0 No operation
1 Reset the encoder fault
2 Reset the encoder fault and multi-turn data
The absolute position of the encoder changes abruptly after reset of the multi-turn data feedback. In
this case, perform mechanical homing.
NOTE
-287-
8 Communication Configurations
Start
Import XML. • See the corresponding host controller

documents for details.
Set system See section 8.2 for details.

parameters.
•
Configure
communication • See section 8.3 for details.
parameters.
Configure PDO. • See section 8.3 for details.
Start remote
• Observe the communication state
node. according to section 8.3.7.
End
8.1 Overview of the EtherCAT Protocol

EtherCAT features high-performance, low cost, easy use and flexible topology. It is applicable to industrial
applications requiring ultra-high speed I/O network. EtherCAT adopts standard Ethernet physical layer
with twisted pairs or optical fibers (100Base-TX or 100Base-FX) used as the transmission media.
An EtherCAT system includes the master and the slave. The master requires a common network adapter,
and the slave requires a special slave control chip, such as ET1100, ET1200, and FPGA.
EtherCAT can process data at the I/O layer, without any subbus or gateway delay：
■■ One system covers all devices, including input/output devices, sensors, actuators, drives, and
displays.
■■ Transmission rate: 2 x 100 Mbit/s (high-speed Ethernet, full duplex mode).
■■ Synchronization: number of nodes between two devices: 300, cable length: 120 m, synchronization
jitter: < 1 µs
■■ Refresh time:
256 DI/DOs: 11 μs
1000 DI/DOs distributed in 100 nodes:30 µs = 0.03 ms
200 AI/AOs (16-bit): 50 μs, sampling rate: 20 kHz
100 servo axes (8 byte IN+OUT for each): 100 µs = 0.1 ms
12000 DI/DOs: 350 μs
-288-
To support more types of devices and applications, the following EtherCAT-based application protocols
are established:
■■ CANopen over EtherCAT (CoE)
■■ Safety over EtherCAT (SoE, servo drive safety compliant with IEC 61800-7-204)
■■ Ethernet over EtherCAT (EoE)
■■ File over EtherCAT (FoE)
The slave only needs to support the most suitable application protocol.
RTU
Programmable controller Max. RTU: 5

AM600
Hybrid in one RTU: 1 Analog = 4 Digital
RUN BF 0 1 2 3 4 5 6 7 I
0 1 2 3 4 5 6 7 II
ERR CANRUN
RTU
SF CANERR 0 1 2 3 4 5 6 7
40 39
CN 1
RUN / STOP
MFK
RS485
CN3
Max. analog modules in one RTU: 4

CN5
EtherNE T
CN4
RTU
CN2
E therCAT
C AN
2 1
Max. digital modules in one RTU: 16
SV660N SV660N SV660N SV660N

A maximum of 64 slaves can
be connected.
Figure 8-1 EtherCAT networking
8.2 System Parameters
8.2.1 Parameter Address Structure
Parameter access address: Index + Subindex, both are hexadecimal data.
The CiA402 protocol imposes the following limits on the parameter address.
Index (Hex) Description
0000-0FFF Data type description
1000-1FFF CoE communication object
2000-5FFF Manufacturer-specific object
6000-9FFF Sub-protocol object
A000-FFFF Reserved
8.2.2 System Parameter Settings
Necessary parameter settings are required for the SV660N servo drive to be connected to the EtherCAT
fieldbus network.
-289-
Sub-
Index Name Value Range Default
index
0: Speed mode
1: Position mode
2002 01h Control mode 2: Torque control mode 9
9: EtherCAT mode
255: This axis is not used.
0: Not save
Save parameter values
modified through 1: Save 2XXXh series parameters
200E 02h 3
communication to 2: Save 6XXXH series parameters
EEPROM
3: Save all parameters
200E 16 EtherCAT slave alias 0 to 65535 0
$"65*0/
Before saving parameters to EEPROM, set 200E-02h to a proper value. Otherwise, the parameters
will be restored to the default values at next power-on.
8.3 EtherCAT Communication Basis
8.3.1 EtherCAT Communication Specifications
Item Specifications
Communication protocol IEC 61158 Type 12, IEC 61800-7 CiA 402 Drive Profile
SDO SDO request, SDO response
Mapping Variable PDO mapping
Profile position mode (PP)
Profile velocity mode (PV)
Application layer Profile torque mode (PT)
CiA402 Homing mode (HM)
Cyclic synchronous position mode (CSP)
Cyclic synchronous velocity mode (CSV)
Cyclic synchronous torque mode (CST)
Transmission protocol 100BASE-TX (IEEE802.3)
Physical layer Maximum distance 100 m
Interface RJ45 x 2 (INT, OUT)
8.3.2 Communication Structure
Multiple protocols can be transmitted using the EtherCAT. The IEC 61800-7 (CiA 402)-CANopen motion
control sub-protocol is used for the SV660N servo drive.
The following figure shows the EtherCAT communication structure at CANopen application layer.
-290-
Application Object dictionary

layer
CoE
EtherCAT
state machine
SDO PDO
Register Mailbox Process data
ESC DPRAM
Link layer
Physical layer
Figure 8-2 EtherCAT communication structure at CANopen application layer

The object dictionary in the application layer contains communication parameters, application process
data and PDO mapping data. The process data object (PDO) contains the real-time data generated during
running, which is read and written cyclically. In the SDO mailbox communication, the communication
parameter objects and PDO objects are accessed and modified non-cyclically.
8.3.3 State Machine
The following figure shows the state transition diagram of the EtherCAT state machine.
Init
(IP) (PI)
Pre-Operational (SI)
(PS) (SP)
(OI)
(OP) Safe-Operational
(SO) (OS)
Operational
Figure 8-3 EtherCAT state machine

The EtherCAT state machine must support the following four states and coordinate the state relation
between the master and slave applications during initialization and operation.
The four states are Init (I), Pre-Operational (P), Safe-Operational (S), and Operational (O).
Transition from Init state to Operational state must be in the sequence of "Init → Pre-Operational → Safe-
Operational → Operational". During transition from Operational state to Init state, certain steps can be
skipped. The following table lists the state transition and initialization process.
Status SDO RPDO TPDO Description
Communication initialization
No communication is available in the application layer, and the
Init (I) No No No
master can only read and write the EtherCAT slave controller (ESC)
register.
-291-
Status SDO RPDO TPDO Description
The master configures the slave addresses, mailbox, and

IP No No No distributed clock (DC).
The master requests the Pre-Operational state.
Pre-Operational (P) Yes No No Mailbox data communication in the application layer (SDO)
The master uses the process data mapping of SDO initialization.

The master configures the SM channel used by the process data
PS Yes No No communication.
The master configures the FMMU.
The master requests the Safe-Operational state.
Safe-Operational (S) Yes No Yes SDO, TPDO, and distributed clock mode can be used.
The master sends valid output data to request the Operational

SO Yes No Yes
state.
Normal operational state

Operational (O) Yes Yes Yes Both the input and output are valid.
Mailbox communication can still be used.
8.3.4 Process Data
The real-time data transmission of EtherCAT is achieved through PDO. The PDO can be divided into RPDO
(Reception PDO) and TPDO (Transmission PDO) based on the data transmission direction. The RPDO
transmits the master data to the slave, and TPDO returns the slave data to the master.
RxPDO：
control word, target
position
Master Slave
TxPDO：
status word, position
feedback
The SV660N servo drive allows users to assign the PDO list and define the PDO mapping object.
1 PDO mapping
The PDO mapping is used to establish the mapping relation between the object dictionary and the PDO.
1600h to 17FFh are RPDOs, and 1A00h to 1BFFh are TPDOs. The SV660N series servo drive provides six
RPDOs and five TPDOs, as listed in the following table.
RPDO 1600h Variable mapping

(Six) 1701h to 1705h Fixed mapping
TPDO 1A00h Variable mapping

(Five) 1B01h to 0x1B04h Fixed mapping
2 Fixed PDO mapping
The SV660N provides five fixed RPDOs and four fixed TPDOs.
The following table lists the typical instances of the RPDOs and TPDOs.
-292-
Control Mode PP CSP
Mapping objects (four, 12 bytes)
6040h (Control word)

1701h
607Ah (Target position)
(Outputs)
60B8h (Touch probe function)
60FEh sub-index 1 (Physical outputs)
Mapping objects (nine, 28 bytes)
603Fh (Error code)

6041h (Status word)
6064h (Position actual value)
1B01h 6077h (Torque actual value)
(Inputs) 60F4 (Following error actual value)
60B9 (Touch probe status)
60BA (Touch probe 1 positive edge)
60BC (Touch probe 2 positive edge)
60FD (Digital inputs)
Control Mode PP/PV/PT/CSP/CSV/CST
Mapping objects (7, 19 bytes)

1702h 60FFh (Target velocity)
(Outputs) 6071h (Target torque)
6060h (Modes of operation)
607Fh (Max profile velocity)
603Fh (Error code)

6041h (Status word)
(Inputs) 6061h (Modes of operation display)
Control Mode PP/PV/CSP/CSV

1703h 60FFh (Target velocity)
(Outputs) 6060h (Modes of operation)
60E0h (Positive torque limit value)
60E1h (Negative torque limit value)
-293-
603Fh (Error code)

6041h (Status word)
6077h (Torque actual value)
1B03h
60F4 (Following error actual value)
(Inputs)
6061h (Modes of operation display)
Control Mode PP/PV/PT/CSP/CSV/CST

60FFh (Target velocity)
1704h 6071h (Target torque)
(Outputs) 6060h (Modes of operation)
607Fh (Max profile velocity)
603Fh (Error code)

6041h (Status word)
(Inputs) 6061h (Modes of operation display)
Control Mode PP/PV/CSP/CSV

60FFh (Target velocity)
1705h
6060h (Modes of operation)
(Outputs)
60B2h (Torque offset)
-294-
603Fh (Error code)

6041h (Status word)
6077h (Torque actual value)
1B04h
6061h (Modes of operation display)
(Inputs)
60F4 (Following error actual value)
606C (Velocity actual value)
3 Variable PDO mapping
The SV660N provides one fixed RPDO and one fixed TPDO.
Max. Number
Variable PDO Index of Mapping Max. Byte Length Default Mapping Object
Objects

RPDO1 1600h 10 40 607Ah (Target position)
60B8 (Touch probe function)
603F (Error code)

6041h (Status word)
TPDO1 1A00h 10 40 60BC (Touch probe 2 positive edge)
4 Sync Manager PDO Assignment
Several PDO mapping objects are included during EtherCAT cyclic data communication. The CoE defines
the PDO mapping object list of the sync manager with 0x1C10 to 0x1C2F. The PDOs can be mapped to
different sub-indexes.
The SV660N series servo drive supports assignment of one RPDO and one TPDO, as described in the
following table.
Index Sub-index Description
0x1C12 01h One of 0x1600 and 0x1701 to 0x1705 used as the actual RPDO
0x1C13 01h One of 0x1A00 and 0x1B01 to 0x1B04 used as the actual TPDO
5 PDO configuration
PDO mapping parameters contain the indicators of the process data for PDOs, including the index, sub-
index and mapping object length. The sub-index 0 indicates the number (N) of mapping objects in
the PDO, and the maximum length of each PDO is 4 x N bytes. One or multiple objects can be mapped
simultaneously. Sub-indexes 1 to N indicate the mapping content, as defined below:
Bits 31 ... 16 15 ... 8 7 ... 0
Meaning Index Sub-index Object Length
-295-
The index and sub-index define the position of an object in the object dictionary. The object length
indicates the bit length of the object in hexadecimal, as shown below:
Object Length Bit Length
08h 8-bit
10h 16 bit
20h 32-bit
For example, the mapping parameter of the 16-bit control word 6040h-00 is 60400010h.
■■ Observe the following procedures for PDO mapping:
1) Invalid PDO: Write 0 to sub-index 00h of 1C12h (or 1C13h).
Clear the original mapping content: All the original mapping content of the PDO is cleared when 0 is
written to the sub-index 00h of the mapping object.
Write the PDO mapping content: Write the content in sub-indexes 1 to 10 according to the preceding
mapping definition.
Write the total number of PDO mapping objects: Write the number of mapping objects written to sub-
indexes 0–10 to the sub-index 0 of the mapping object.
2) Valid PDO: Write 1 to sub-index 00h of 1C12h (or 1C13h).
Configure the PDO only when the EtherCAT state machine is in Pre-Operation state ("2" displayed on the
keypad). Otherwise, an error is reported.
Do not save PDO configuration parameters to EEPROM. Configure the mapping objects again every time
upon power-on. Otherwise, the mapping objects are the default parameters.
An SDO fault code is returned during the following operations:
■■ Modify PDO parameters in non Pre-Operational state.
■■ Write a value outside 1600/1701–1705 to 1C12h, and write a value outside 1A00/1B01–1B04 to 1C13h.
8.3.5 Service Data Object (SDO)
EtherCAT SDO is used to transfer non-cyclic data, such as communication parameter configuration and
servo drive running parameter configuration. The CoE service types include:
■■ Emergency message
■■ SDO request
■■ SDO response
■■ TxPDO
■■ RxPDO
■■ Remote TxPDO transmission request
■■ Remote RxPDO transmission request
■■ SDO message
The SV660N supports SDO request and SDO response.
-296-
8.3.6 Distributed Clock (DC)
The DC enables all EtherCAT devices to use the same system time and allows synchronous task execution
of the slaves. A slave can generate synchronous signals according to the synchronized system time. The
SV660N series servo drive supports the DC synchronization mode only. The synchronization cycle, which
is controlled by SYNC0, varies with different motion modes.
8.3.7 Status Indication
Control mode
1：Profile position control
3：Profile velocity control
4：Profile torque mode
6：Homing mode
8：Cyclic synchronous position mode
9：Cyclic synchronous velocity mode
PORT1 connection
indicator
A：Cyclic synchronous torque mode
PORT0 connection Communication state

indicator
0：No meaning [1] Servo drive state:
1：Initialization nr：Not ready
2：Pre-Operational ry：Ready
4：Safe-Operational rn：Run
8：Operational
[1] If the value 0 is displayed, it indicates no value or the value 0 is written to 0x6060h.
Figure 8-4 Status indication

■■ Communication connection status
The connection status of the two RJ45 ports are indicated by the "-" on the upper and lower part of the
first LED on the keypad. The upper "-" corresponds to PORT1, and the lower "-" corresponds to PORT0.
Solid OFF: No communication is detected in the physical layer.
Solid ON: Communication is detected in the physical layer.
■■ Communication running status
The 2nd LED indicates the status of the EtherCAT state machine of the slave, as described in the following
table.
Status SDO RPDO TPDO Description Display
Init No No No Communication initialization "1", solid ON
Network configuration initialized

Pre-Operational Yes No No "2", blinking at a interval of 400 ms
SDO available
SDO and TPDO available, "4", blinking at a interval of 1200 ms,

Safe-Operational Yes No Yes
distributed clock mode available ON for 200 ms and OFF for 1000 ms
Operational Yes Yes Yes Normal operational state "8", steady on
-297-
■■ Servo mode display
The 3rd LED indicates the control mode of the servo drive, as described in the following table.
Modes of operation (6060h) Display
1: Profile position mode 1
3: Profile velocity mode 3
4: Profile torque mode 4
6: Homing mode 6
8: Cyclic synchronous position mode 8
9: Cyclic synchronous velocity mode 9
10: Cyclic synchronous torque mode A
■■ Servo status display
The 4th and 5th LEDs indicate the slave servo status, as described in the following table.
Status Description Display

Reset Init "Reset"
Initialization is done. The
Not control power is turned on but
"nr"
ready the main power is still off.
Not ready
"ry"
The character "y" blinks when the motor speed is not 0 RPM.
The main power is turned
on but the S-ON signal is When the communication layer is in Pre-Operational or Safe-Operational
Ready state, the blinking frequency is the same as that of characters "2" or "4"
deactivated.
(communication status).
Ready
When the communication layer is in Init or Operational state, the blinking
frequency is 2 Hz.
"rn"
The character "n" blinks when the motor speed is not 0 RPM.
The S-ON signal is activated When the communication layer is in Pre-Operational or Safe-Operational
Run and the motor is energized. state, the blinking frequency is the same as that of characters "2" or "4"
Run (communication status).
When the communication layer is in Init or Operational state, the blinking
frequency is 2 Hz.
-298-
8.3.8 Overview of CiA402
The SV660N servo drive can run in the specified status only when it is instructed according to the
flowchart defined in the standard CiA402 protocol.
Start 13
0 Stop upon fault
14
Initialization
Fault
1
15
No servo fault
2 7
Ready to switch on
12 10 3 6
Wait to switch on 8 9
Quick stop
4 5
16 11
Servo running
Figure 8-5 Switchover of CiA402 state machine

The states are described in the following table.
Initialization of the servo drive and internal self-check are done.

Init
Parameters cannot be set. Functions cannot be executed.
No fault exists in the servo drive or the fault is cleared.

No fault
Parameters can be set.
The servo drive is ready.

Ready to switch on
The servo drive is waiting to be switched on.

Wait to switch on
The servo drive is running properly and a certain running mode is enabled. The motor is
Running powered on and starts running when the speed reference is not 0.
Parameters with the setting condition of "During running" can be set.
The quick stop function is activated and the servo drive is in the process of quick stop.
Quick stop
A fault occurs on the servo drive and the servo drive is in the process of stop.
Stop at fault
The stop process is done and all the functions are prohibited. Parameters can be modified for
Fault
the convenience of troubleshooting.
-299-
8.3.9 Basic Characteristics
■■ Interfaces
The EtherCAT cables are connected to the network ports (including IN and OUT) equipped with metal
shield. The electrical characteristics are compliant with IEEE 802.3 and ISO 8877 standards.

*/ 065
Pin Definition Description
1 TX+ Data transmitting (+)
2 TX- Data transmitting (-)
3 RX+ Data receiving (+)
4 NULL Not connected
6 RX- Data receiving (-)
■■ Topology connection
The EtherCAT features flexible topological structure, as shown in the following figures.
■■ Linear connection
Master
1 8 1 8 1 8 1 8 1 8 1 8 1 8
IN OUT IN OUT IN OUT
■■ Redundancy ring connection
Master
1 8 1 8
1 8 1 8 1 8 1 8 1 8 1 8
IN OUT IN OUT IN OUT
■■ Communication cable
The Ethernet Category 5 (100BASE-TX) network cable or high-strength shielded network cable is used as
the EtherCAT communication cable. The network cables used for the servo drive must also be shielded
with cable length less than 100 m. The shielded network cable enhances the anti-interference capacity of
the system.
-300-
■■ EMC standard
The servo drive complies with the following standards:

IEC/EN61800-3:2004 (Adjustable speed electrical power drive systems---part 3:EMC requirements and
specific test methods)
-301-
9 Troubleshooting
9 Troubleshooting
9.1 Faults and Warnings
Faults and warnings are divided into the following three levels based on severity: No.1 > No.2 > No.3.
■■ No. 1 non-resettable fault
■■ No. 1 resettable fault
■■ No. 2 resettable fault
■■ No. 3 resettable warning
"Resettable" means the keypad stops displaying the fault/warning status once a reset signal is input.
To reset a fault/warning, use one of the following two methods:
■■ Set 200D-02h to 1 (Fault reset).
■■ Set the rising edge of bit7 of the control word 0x6040 through the host controller.
To reset a No. 1 fault and a No. 2 fault, turn off the S-ON signal and input the fault reset signal.
For the No. 3 warnings, the servo drive resets warnings automatically after the warning source is cleared.
Related parameter
Para. Setting Effective Default

Name Value Range Function
No. Condition Time Value
Stops the fault display when a

0: No operation
200Dh- Fault resettable fault/warning occurs.
1: Reset the fault At stop Immediately 0
02h reset Restores to "0: No operation"
and warning
immediately after fault reset.
9.2 Communication Faults and Warning Codes

■■ List of fault codes
Resettable
Fault Display Name Type Fault Range
or Not
E101.0 System parameter error No.1 No Servo drive fault

E101 Parameters in group 2000h/2001h
E101.1 No.1 No Servo drive fault
being abnormal
E102.0 Logic configuration fault No.1 No Servo drive fault

E102
E102.8 Software version mismatch No.1 No Servo drive fault
E104.1 MCU running timeout No.1 No Servo drive fault
E104 E104.2 Current loop running timeout No.1 No Servo drive fault
E104.4 Reference update timeout No.1 No Servo drive fault
E105 E105.0 Internal program error No.1 No Servo drive fault
E108.0 Parameter write timeout No.2 Yes Servo drive fault
E108.1 Parameter read timeout No.2 Yes Servo drive fault

E108 Invalid check on data written in
E108.2 No.2 Yes Servo drive fault
EEPROM
E108.3 Invalid check on data read in EEPROM No.2 Yes Servo drive fault
-302-
9 Troubleshooting
Resettable
or Not
E120.0 Unknown encoder type No.1 No Axis fault
E120.1 Unknown motor model No.1 No Axis fault
E120.2 Unknown drive model No.1 No Axis fault

E120
Mismatch of the motor current and
E120.5 No.1 No Axis fault
drive current
E120.6 Mismatch of FPGA and motor model No.1 No Axis fault
Multi-turn absolute encoder setting

E122.0 No.2 Yes Axis fault
error
E122 (set by
Different DIs allocated with the same
software) E122.1 No.2 Yes Axis fault
function
E122.3 Upper limit invalid No.2 Yes Axis fault
E136.0 Encoder parameter error No.1 No Axis fault

E136
E136.1 Encoder communication error No.1 No Axis fault
E150.0 STO signal input protection activated No.1 Yes Servo drive fault
E150.1 STO signal input error No.1 Yes Servo drive fault
E150.2 Abnormal voltage detected No.1 Yes Servo drive fault

E150
STO upstream optocoupler detection
E150.3 No.1 Yes Servo drive fault
failure
E150.4 PWM Buffer detection failure No.1 Yes Servo drive fault
E201.0 Phase-P overcurrent No.1 No Servo drive fault
E201.1 Phase-U overcurrent No.1 No Axis fault

E201
E201.2 Phase-V overcurrent No.1 No Axis fault
E201.4 Phase-N overcurrent No.1 No Servo drive fault
MCU position reference updated

frequently
E208 E208.2 Encoder communication timeout No.1 Yes Axis fault
E208.3 Current sampling fault No.1 Yes Axis fault
E208.4 FPGA current loop operation timeout No.1 Yes Axis fault
E210 E210.0 Output shorted to ground No.1 No Axis fault
E234 E234.0 Runaway protection No.1 No Axis fault
E400 E400.0 Main circuit overvoltage No.1 Yes Servo drive fault
E410 E410.0 Main circuit undervoltage No.1 Yes Servo drive fault
E420.0 Phase loss No.2 Yes Servo drive fault

E420
E420.1 PL signal error No.2 Yes Servo drive fault
E500.0 Motor overspeed No.1 Yes Axis fault

E500
E500.1 Speed feedback overflow No.1 Yes Axis fault
E602.0 Angle auto-tuning error No.1 Yes Axis fault

E602 Wrong UVW phase sequence detected
during angle auto-tuning
E620 E620.0 Motor overload No.1 Yes Axis fault
E630 E630.0 Locked rotor No.1 Yes Axis fault
E640 E640.0 IGBT over-temperature No.1 Yes Axis fault
E650 E650.0 Heatsink over-temperature No.1 Yes Axis fault
E661 E661.0 Auto-tuned gain values too low No.2 Yes Axis fault
-303-
9 Troubleshooting
Resettable
or Not
E731 E731.0 Encoder battery failure No.2 Yes Axis fault
E733 E733.0 Encoder multi-turn counting error No.2 Yes Axis fault
E735 E735.0 Encoder multi-turn counting overflow No.2 Yes Axis fault
E740.2 Absolute encoder error No.1 No Axis fault
Absolute encoder single-turn

E740 E740.3 No.1 No Axis fault
calculation error
E740.6 Encoder write error No.1 No Axis fault
EB00.0 Position deviation too large No.2 Yes Axis fault

EB00
EB00.1 Position deviation overflow No.2 Yes Axis fault
EA33 EA33.0 Encoder read/write check error No.1 No Axis fault
Position reference increment too large

EB01.1 No.2 Yes Axis fault
for once
Position reference increment too large

EB01 continuously
EB01.3 Reference overflow No.2 Yes Axis fault
Reference value beyond the single-turn

position limits in the absolute mode
EE09.0 Software limit setting error No.2 Yes Axis fault
EE09.1 Home setting error No.2 Yes Axis fault
EE09 EE09.2 Gear ratio over the limit No.2 Yes Axis fault
EE09.3 No synchronization signal No.2 Yes Axis fault
EE09.5 PDO mapping over the limit No.2 Yes Axis fault
EE08.0 Synchronization loss No.2 Yes Servo drive fault
EE08 EE08.1 Network status switchover error No.2 Yes Servo drive fault
EE08.2 IRQ loss No.2 Yes Servo drive fault
EE11.0 ESI check error No.2 Yes Servo drive fault
EE11 EE11.1 Unsuccessful reading of EEPROM No.2 Yes Servo drive fault
EE11.2 Unsuccessful update of EEPROM No.2 Yes Servo drive fault
External devices of EtherCAT being

EE12 EE12.0 No.1 No Servo drive fault
abnormal
EE13 EE13.0 Synchronization cycle setting error No.2 Yes Servo drive fault
EE15 EE15.0 Synchronization cycle error too large No.2 Yes Servo drive fault
■■ List of warning codes
Resettable
Warning Display Name Type Fault Range
or not
E121 E121.0 Invalid S-ON command No.3 Yes Warning
E600 E600.0 Inertia auto-tuning failure No.3 Yes Warning
E601.0 Homing warning No.3 Yes Warning

E601
E601.1 Home switch error No.3 Yes Warning
E730 E730.0 Encoder battery warning No.3 Yes Warning
E900 E900.0 Emergency stop No.3 Yes Warning
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9 Troubleshooting
Resettable
Warning Display Name Type Fault Range
or not
E902.0 Invalid DI setting No.3 Yes Warning
E902 E902.1 Invalid DO setting No.3 Yes Warning
E902.2 Invalid torque reached setting No.3 Yes Warning
E908 E908.0 Invalid check byte of model identification No.3 Yes Warning
E909 E909.0 Motor overload No.3 Yes Warning
E920 E920.0 Regenerative resistor overload No.3 Yes Warning
Resistance of external regenerative resistor

E922 E922.0 No.3 Yes Warning
too small
E924 E924.0 Braking transistor over-temperature No.3 Yes Warning
E941 E941.0 Parameter modifications not activated No.3 Yes Warning
E942 E942.0 Parameter saved frequently No.3 Yes Warning
E950 E950.0 Forward overtravel No.3 Yes Warning
E952 E952.0 Reverse overtravel No.3 Yes Warning
EE09 EE09.4 Homing method setting error No.3 Yes Warning
9.3 Solutions to Faults

■■ E101.0: System parameter error
Direct cause:
The total number of parameters changes, which generally occurs after software update.
Values of parameters in groups 2002h and above exceed the limit, which generally occurs after software
update.
Root Cause Confirming Method Solution
Check whether the voltage drops during

Restore the default setting (2002-20h = 1),
control power (L1C, L2C) cutoff or whether
and write the parameters again.
instantaneous power failure occurs.
Measure whether the control power voltage

on the non-drive side fulfills the following
specifications:
1. The control 220 V servo drive:
power voltage drops Increase the power capacity or replace by a
Effective value: 220 V to 240 V
instantaneously. power supply of larger capacity. Restore the
Allowable deviation: –10% to +10%
default settings (2002-20h = 1) and write the
(198 V to 264 V)
parameters again.
380 V drive:
(342 V to 484 V)
2. Instantaneous
Power on the system again, restore the
power failure occurs Check whether instantaneous power failure
default settings (2002-20h = 1) and write the
during parameter occurs during parameter storage.
parameters again.
storage
3. The number of
Check whether parameter update is Change the parameter writing method and
parameter-write
performed frequently from the host write parameters again.
operations exceeds
controller. If the servo drive is faulty, replace it.
the limit.
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9 Troubleshooting
Reset the servo drive model and the servo

4. The software is
Check whether the software is updated. motor model, and restore default settings
updated.
(2002-20h = 1).
If the fault persists after several times of

5. The servo drive is
restart and parameter initialization, the Replace the servo drive.
faulty.
servo drive is faulty.
■■ E101.1: Parameters in group 2000h/2001h being abnormal
Direct cause:
The total number of parameters changes, which generally occurs after software update.
Parameter values in group 2000h/2001h exceed the limit, which generally occurs after software update.
Set the servo drive model (2001-0Bh) to

1. Instantaneous power
Check whether instantaneous power failure a wrong value first and power on again,
failure occurs during
occurs during parameter storage. and then set the servo drive model to a
parameter storage.
correct value and power on again.
2. Instantaneous power
failure occurs during Check whether instantaneous power failure Write the motor parameters using the
motor parameter occurs during motor parameter writing. software tool.
writing.
Set the servo drive model (2001-0Bh) to

3. The software is a wrong value first and power on again,
Check whether the software is updated.
updated. and then set the servo drive model to a
correct value and power on again.
If the fault persists after repeated execution of

steps 1 and 2 and restart of the servo drive, it Replace the servo drive.
faulty.
indicates the servo drive is faulty.
■■ E102.0: Logic configuration fault
Direct cause:
The FPGA- or MCU-related hardware is damaged, resulting in communication failure between the MCU
and FPGA.
The fault persists after the servo drive is

The FPGA is faulty. Replace the servo drive.
powered off and on several times.
■■ E102.8: Software version mismatch
Cause Confirming Method Solution
Check whether the MCU firmware

version (H01-00) is 9xx.x (the fourth
Contact Inovance for technical
The software version of MCU or FPGA digit displayed on the keypad is 9).
support and update the software
is wrong. Check whether the FPGA firmware
version.
version (H01-01) is 9xx.x (the fourth
digit displayed on the keypad is 9).
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9 Troubleshooting
■■ E104.1: MCU running timeout
Direct cause:
Access to MCU times out.
1. The FPGA is faulty.
2. The communication handshake The fault persists after the servo

between FPGA and host is abnormal. drive is powered off and on several Replace the servo drive.
times.
3. Access timeout occurs between
the host and the coprocessor.
■■ E104.2: Current loop running timeout
Direct cause:
The running time of the current loop exceeds the scheduling time. This fault is reported only in the
commissioning stage.
The fault persists after the servo

The time interval of MCU torque
drive is powered off and on several Replace the servo drive.
interrupt scheduling is abnormal.
times.
■■ E104.4: Command update timeout
Direct cause:
Take the moment of entering the interrupt as the starting time, if the duration of command writing in
MCU is longer than the FPGA starting position and speed regulator time, a warning will be reported.
Check whether the interrupt time of

The interrupt time of the current
the torque loop is too long by using Hide the unnecessary functions.
loop is too long.
the software tool.
■■ E105.0: Internal program error
Direct cause:
The total number of parameters is abnormal during parameter reading/writing through the EEPROM.
The parameter value range is abnormal, which generally occurs after software update.
Restore the default settings (2002-

Check the causes according to the
1. An EEPROM fault occurs. 20h = 1) and power on the servo
method described in E101.0.
drive again.
The fault persists after the servo

2. The servo drive is faulty. drive is powered off and on several Replace the servo drive.
times.
■■ E108.0: Parameter write timeout
Direct cause:
Parameter values cannot be written to EEPROM.
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9 Troubleshooting
Modify a certain parameter value, If the modified value is not saved

An error occurs when writing power on the servo drive again, and and the fault persists after the servo
parameters to EEPROM. check whether the modified value is drive is powered off and on again,
saved. replace the servo drive.
■■ E108.1: Parameter read timeout
Direct cause:
Parameter values cannot be read in EEPROM.
Modify a certain parameter

An error occurs when value, power on the servo If the modified value is not saved and the fault persists
reading parameter values drive again, and check after the servo drive is powered off and on again,
in EEPROM. whether the modified value replace the servo drive.
is saved.
■■ E108.2: Invalid check on data written in EEPROM

value, power on the servo If the modified value is not saved and the fault persists
The check on the data
drive again, and check after the servo drive is powered off and on again,
written in EEPROM fails.
whether the modified value replace the servo drive.
is saved.
■■ E108.3: Invalid check on data read in EEPROM

value, power on the servo If the modified value is not saved and the fault
The check on the data read
drive again, and check persists after the servo drive is powered off and on
in EEPROM fails.
whether the modified value is several times, replace the servo drive.
saved.
■■ E120.0: Unknown encoder type
Direct cause:
The servo drive detects the encoder type during initialization upon power-on. If the encoder type does
not comply with the requirement, the servo drive reports E120.0.
The encoder type does not Check whether the encoder

Replace the encoder.
match the servo drive. model is correct.
■■ E120.1: Unknown motor model
Direct cause:
The servo drive detects the motor model (H00-00) during initialization upon power-on. If the motor
model does not exist, the servo drive reports E120.1.
The motor model is set Check whether H00-00 (Motor Set H00-00 to a proper value that matches the
improperly. code) is set properly. motor model.
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9 Troubleshooting
■■ E120.2: Unknown drive model
Direct cause:
The servo drive detects the servo drive model (H01-10) during initialization upon power-on. If the servo
drive model does not exist, the servo drive reports E120.2.
The servo drive model is set Check whether H01-10 (Servo drive Set H01-10 to a proper value that matches the
improperly. series No.) is set properly. servo drive model.
■■ E120.5: Mismatch of the motor current and drive current
Direct cause:
The rated output current of the servo drive is higher than the rated current of the motor.
Check whether the servo drive model

Replace with a servo drive of lower
The internal scaling value is is correct. If the set current sampling
rated output current or a motor with
abnormal. coefficient is too large, calculation
higher rated current.
overflow will occur.
■■ E120.6: Mismatch of FPGA and motor model
Direct cause:
1. The motor model is set improperly, causing mismatch and malfunction of the servo drive.
2. The motor model is set properly, but the motor encoder is not supported by the servo drive.
Check whether the FPGA firmware

The FPGA does not support the Update the program or replace the
version (H01-01) supports the motor
motor encoder. motor.
encoder.
■■ E122.0: Multi-turn absolute encoder setting error
Check the motor nameplate to see

The motor does not match the whether the motor is equipped with Set 200D-01h (Motor code) correctly
absolute position mode or the motor an absolute encoder. according to the motor nameplate or
cide is set improperly. Check whether 200D-01h (Motor replace with a matching motor.
code) is set properly.
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9 Troubleshooting
■■ E122.1: Different DIs allocated with the same function
Allocate different DI functions to

View 2003-03h, 2003-05h to
the parameters that have been
2003-15h, 2017-01h, and 2017-03h to
1. The same function is allocated to allocated with the same DI function.
2017-1Fh to check whether they are
different DIs. To activate the allocation, restart the
allocated with the same DI function
control circuit or turn off the S-ON
No..
signal and send a "RESET" signal.
Restore default settings (2002-20h

2. The DI function No. exceeds the Check whether the MCU firmware is
= 1) and power on the servo drive
number of DI functions. updated.
again.
■■ E122.3: Upper limit invalid
Reset the mechanical gear ratio, the

Check the setting of the mechanical
upper limit of the mechanical single-
The upper limit value of the gear ratio, the upper limit of the
turn position and the electronic gear
mechanical single-turn position mechanical single-turn position
ratio to ensure the upper limit of
exceeds 231 in the absolute position and the electronic gear ratio when
the mechanical single-turn position
rotation mode. the servo drive runs in the absolute
(reference range) does not exceed
position rotation mode (H02-01 = 2).
231.
■■ E136.0: Encoder parameter error
Direct cause:
When the servo drive reads parameters in the encoder ROM, no parameters are saved there or parameter
values are inconsistent with the agreed values.
View the servo drive and servo motor

1. The servo drive model does
nameplates to check whether the Replace with the mutually-matching servo
not match with the servo
devices used are Inovance SV660N drive and servo motor.
motor model.
series servo drive and servo motor.
Check whether the encoder cable

provided by Inovance is used. For Use the encoder cable provided by
cable specifications, see "1.4 Cable Inovance. Ensure the cable is connected to
Models" . Ensure the cable is intact the motor securely and tighten the screws
2. A parameter check error
and in good contact at both ends to on the servo drive side. Use a new encoder
occurs or no parameter
allow reliable connection. cable if necessary.
is stored in the serial
Measure signals PS+, PS-, +5V and Do not bundle the encoder cables with the
incremental encoder ROM.
GND at both ends of the encoder power cables (RST, UVW). Route encoder
cable and observe whether signals cables and power cables through different
at both ends are consistent. For routes.
definition of signals, see "3 Wiring"
The fault persists after servo drive is

3. The servo drive is faulty. Replace the servo drive.
powered off and on again.
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9 Troubleshooting
■■ E136.1: Encoder communication error
Direct cause:
1. The encoder cable is disconnected.
2. The encoder communication is disturbed.
Check whether the encoder cables are

connected properly.
The FPGA and motor encoder
Check whether the motor model is set
communication is faulty Observe the value of H0B-28 to see
properly.
during initialization upon whether it is not 0.
power-on. Check whether H01-00 (MCU firmware
version) and H01-01 (FPGA firmware
version) are set properly.
■■ E150.0: STO signal input protection activated
Direct cause:
The STO input protection applies (safety state).
There is no need to take any actions. Clear

Check whether the STO function is
1. The STO is activated. the fault through fault reset after the STO
activated.
terminal is restored.
2. The STO power supply is Check whether the 24 V power Tighten the cables that are loosened or
abnormal. supply for the STO is stable. disconnected.
The fault persists after preceding

3. The STO is deactivated. Replace the servo drive.
actions are taken.
■■ E150.1: STO signal input error
Direct cause:
The single-channel input of STO is invalid.
1. The STO power supply is Check whether the 24 V power Tighten the cables that are loosened or
abnormal. supply for the STO is stable. disconnected.
The 24 V power supply is

disconnected due to resistor drift
2. The STO input resistor is
after the STO function is enabled, Replace the servo drive.
abnormal.
but the single-channel STO input is
normal.
The fault persists after preceding

3. The STO is deactivated. Replace the servo drive.
actions are taken.
■■ E150.2: Abnormal voltage detected
Direct cause:
The MCU monitors the 5 V power supply provided to the PWM Buffer to detect whether overvoltage and
undervoltage occurs. If the voltage is abnormal, E150.2 will be displayed.
The 5 V power supply provided to

Check the 5 V power supply. Replace the servo drive.
the Buffer is abnormal.
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9 Troubleshooting
■■ E150.3: STO upstream optocoupler detection failure
Direct cause:
Short circuit occurs on the optocoupler of the upstream hardware circuit of STO.

The servo drive does not display
Short circuit occurs on the upstream
E150.0 when the 24 V power supply is Replace the servo drive.
optocoupler of STO1 or STO2.
■■ E150.4: PWM Buffer detection failure
Direct cause:
An errors occurs on the PWM Buffer chip during initialization detection upon power-on (the PWM signal
cannot be blocked).
This fault persists after the servo

The Buffer fails to block the PWM
drive is powered off and on several Replace the servo drive.
waves.
times.
■■ E201.0: Phase-P overcurrent
Direct cause:
High current flows through the positive pole of the DC-AC circuit.
◆◆ The motor parameters are set

improperly, adjust the motor
parameters.
◆◆ The current loop parameters are
Collect the current feedback using set improperly, adjust the current
High current flows through the
the software tool to check whether loop parameters.
positive pole of the DC-AC circuit.
the current is abnormal. ◆◆ The speed loop parameters are
set improperly, adjust the speed
loop parameters.
◆◆ If the servo drive runs improperly,
replace it.
■■ E201.1: Phase-U overcurrent
◆◆ Check whether H01-38 is set

properly.
◆◆ Check whether the motor
A current higher than the threshold Check the phase-U current (H0B-38) parameters are set properly.
is collected in the phase-U current. when the fault occurs. ◆◆ Check whether the current loop
parameters are set properly.
◆◆ Check whether the servo drive
runs properly.
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9 Troubleshooting
■■ E201.2: Phase-V overcurrent
◆◆ Check whether H01-38 is set

properly.
◆◆ Check whether the motor
A current higher than the threshold Check the phase-V current (H0B-39) parameters are set properly.
is collected in the phase-V current. when the fault occurs. ◆◆ Check whether the current loop
parameters are set properly.
◆◆ Check whether the servo drive
runs properly.
■■ E201.4: Phase-N overcurrent
Direct cause:
Overcurrent is detected in phase-N of the hardware.
◆◆ The motor parameters are set

improperly, adjust the motor
parameters.
◆◆ The current loop parameters are
Collect the current feedback using set improperly, adjust the current
High current flows through the
the software tool to check whether loop parameters.
negative pole of the DC-AC circuit.
the current is abnormal. ◆◆ The speed loop parameters are
set improperly, adjust the speed
loop parameters.
◆◆ If the servo drive runs improperly,
replace it.
■■ E208.0: MCU position reference updated frequently
Find the fault cause through the internal fault code (200B-2Eh).
200B-2Eh = 1208:
1. MCU communication times out.
The internal chip is damaged.
200B-2Eh = 0208: Replace the servo drive.

2. FPGA operation times out. Find the cause according to
preceding cause 1.
■■ E208.2: Encoder communication timeout
Direct cause:
The servo drive fails to receive the data fed back by the encoder in three consecutive cycles.
◆◆ Check the bit12 of H0B-30. ◆◆ Check whether the motor model

◆◆ The encoder cables are connected is correct.
improperly. ◆◆ Check whether encoder cables
The servo drive fails to receive the
◆◆ The encoder cables are loosened. are in proper condition.
data returned by the encoder in
◆◆ The encoder cables are too long. ◆◆ Check whether the encoder
three consecutive cycles.
◆◆ The encoder communication version (H00-04) is set properly.
suffers from interference. ◆◆ If servo drive runs improperly,
◆◆ The encoder is faulty. replace it.
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9 Troubleshooting
■■ E208.3: Current sampling fault
Check whether there is large ◆◆ Check whether the servo drive

equipment generating interferences and motor are grounded and
on site and whether there are shielded properly.
The phase-U and phase-V current
multiple interference sources in the ◆◆ Install magnetic ring on the
sampling are abnormal.
cabinet. motor power cables and encoder
The internal current sampling chip is cables.
damaged. ◆◆ Replace the servo drive.
■■ E208.4: FPGA current loop operation timeout
Cause:
The operation time of the current loop exceeds the interval threshold.
■■ E210.0: Output shorted to ground
Direct cause:
The servo drive detects abnormal motor phase current or bus voltage during self-check upon power-on.
1. Power (UVW) cables

Disconnect UVW cables from the motor and
of the servo drive Re-connect or replace the servo drive
check whether the UVW cables are short
are short-circuited to power cables.
circuited to ground (PE).
ground.
After ensuring power cables of the servo drive

and motor cables are connected securely,
2. The motor is short
check whether the insulation resistance Replace the servo motor.
circuited to ground.
between UVW terminals of the servo drive and
the grounding cable (PE) is at MΩ-level.
Remove power cables from the servo drive.

The fault persists after the servo drive is Replace the servo drive.
faulty.
■■ E234.0: Runaway Protection
Direct cause:
The torque reference direction is in reverse to the speed feedback direction in the torque control mode.
The speed feedback direction is in reverse to the speed reference direction in the position or speed
control modes.
Check whether UVW phase sequence on the

1. The UVW cables are Connect UVW cables according to the
servo drive is consistent with that on the motor
connected improperly. correct phase sequence.
side.
2. The initial phase

detection on the motor
The UVW phase sequence is correct, but E234.0
rotor is incorrect due to Power on the servo drive again.
occurs when the servo drive is enabled.
interference signals upon
power-on.
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9 Troubleshooting
Replace with the mutually-matching

servo drive and servo motor. If you use
View the servo drive and servo motor
3. The encoder model Inovance SV660N series servo drive
nameplates to check whether the devices used
is wrong or the wiring is and servo motor, ensure that 2000-01h
are Inovance SV660N series servo drive and
improper. is set to 14000. Re-confirm the motor
servo motor.
model, encoder type, and encoder cable
connections.
Check whether the encoder cable provided by

Inovance is used. Check whether the cable is
4. The encoder
worn out, corroded or loosened.
cables are connected Re-weld, tighten or replace the encoder
Switch off the S-ON signal, rotate the motor
improperly, corroded or cable.
shaft manually, and check whether the value
loosened.
of 200B-0Bh (Electrical angle) changes as the
motor rotates.
Check whether the load of the vertical axis is Reduce the load of the vertical axis,
5. The gravity load is too
too heavy. Adjust brake parameters 2002-0Ah improve the stiffness level or hide
heavy in vertical axis
to 2002-0Dh and then check whether the fault this fault without affecting the safety
applications.
can be removed. performance or normal use.
6. Improper parameter
The stiffness level is set too high and causes Set a proper stiffness level to avoid
settings cause excessive
excessive vibration. excessive vibration.
vibration.
■■ E400.0: Main circuit overvoltage
Direct cause:
The DC bus voltage between P and N exceeds the overvoltage threshold.
220 V servo drive:

Normal value: 310 V
Overvoltage threshold: 420 V
380 V servo drive:

Normal value: 540 V
Overvoltage threshold: 760 V
Check the power input specification of the

servo drive and measure whether the RST
voltages on the servo drive side complies
with the following specifications:
◆◆ 220 V servo drive:
1. The main circuit Effective value: 220 V to 240 V Replace or adjust the power supply according
input voltage is too
Allowable deviation: –10% to +10% to the specifications.
high.
(198 V to 264 V)
(342 V to 484 V)
2. The power supply Check whether the power input to the servo Connect a surge protection device and then
is unstable or affected drive is unstable, affected by lightning strike switch on the power supply. If the fault
by the lightning strike. or complies with preceding specifications. persists, replace the servo drive.
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9 Troubleshooting
◆◆ If the resistance is " ∞ " (infinite), the

regenerative resistor is disconnected
internally.
If an internal regenerative resistor is used ◆◆ If an internal regenerative resistor is used,

(2002-1Ah = 0), check whether P and D are replace with an external regenerative
jumpered. If yes, measure the resistance resistor (2002-1Ah = 1, 2) and remove
between C and D. the jumper between P and D. Select an
external regenerative resistor of the same
3. The regenerative If an external regenerative resistor is used
resistance and power as the internal one.
resistor fails. (2002-1Ah = 1, 2), measure the resistance
between P and C. ◆◆ If an external regenerative resistor is used,
replace with a new external regenerative
For the specification of the regenerative
resistor and connect it between P and C.
resistor, see "1.1.4 Specifications of the
Set 2002-1Bh (Power of external regenerative
Regenerative Resistor" .
resistor) and 2002-1Ch (Resistance of external
regenerative resistor) properly according to
the specifications of the external regenerative
resistor used.
4. The resistance Connect a new external regenerative resistor of

of the external recommended resistance between P and C.
Measure the resistance of the external
regenerative resistor Set 2002-1Bh (Power of external regenerative
regenerative resistor between P and C,
is too large, and resistor) and 2002-1Ch (Resistance of external
and compare the measured value with the
energy absorption regenerative resistor) properly according to
recommended value.
during braking is the specification of the external regenerative
insufficient. resistor actually used.
5. The motor is in
abrupt acceleration/
Confirm the acceleration/deceleration time
deceleration status Ensure the voltage input to the main circuit is
during running and measure whether the DC
and the maximum within the specified range, and then increase
bus voltage between P and N exceeds the
braking energy the acceleration/deceleration time if allowed.
fault threshold during deceleration.
exceeds the energy
absorption value.
Check whether the bus voltage (200B-1Bh)

complies with the following specifications:
6. The bus voltage 220 V servo drive: 200B-1Bh > 420 V

sampling value 380 V servo drive: 200B-1Bh > 760 V
Contact Inovance for technical support.
deviates greatly from
Measure whether the DC bus voltage
the measured value.
between P and N is within the normal range
and smaller than the value defined by
200B-1Bh.
7. The servo drive is The fault persists after main circuit is

Replace the servo drive.
faulty. powered off and on several times.
■■ E410.0: Main circuit undervoltage
Direct cause:
The DC bus voltage between P and N is lower than the undervoltage threshold.
220 V servo drive:

Normal value: 310 V
Undervoltage threshold: 200 V
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9 Troubleshooting
1. The main circuit Check the specifications of the main circuit power
power supply is supply. Measure whether the input voltage of the main
unstable or fails. circuit on the non-drive side and the drive side (L1, L2)
complies with the following specifications:
220 V servo drive:
2. Instantaneous Effective value: 220 V to 240 V
power failure occurs. Increase the power capacity.
Allowable deviation: –10% to +10% (198 V to 264 V)
All the three phases must be measured.
Observe the input voltage of the servo drive to check

3. Voltage drop occurs whether the same power supply is used to power up
during running. other devices, resulting in insufficient power capacity
and voltage drop.
4. Phase loss: A single-

Check whether the wiring of the main circuit is proper Replace the cables and connect
phase power supply is
and whether the phase loss fault detection (200A-01h) is the main circuit cables properly.
used for a three-phase
hidden. Three-phase: L1, L2, L3
servo drive.
Check whether the bus voltage (200B-1Bh) complies

220 V servo drive: 200B-1Bh < 200 V Replace the servo drive.
faulty.
The fault persists after the main circuit (L1, L2) is
■■ E420.0: Phase loss
Direct cause:
One-phase or two-phase loss occurs on a three-phase servo drive.
1. The three-
Check whether main cables (L1, L2, L3) on
phase input cables Replace the cables and connect the main
the drive side and non-drive side are in good
are connected circuit cables properly.
condition and connected properly.
improperly.
2. A single-phase Measure whether the input voltage of the

power supply is main circuit complies with the following
A three-phase servo drive of 0.75 kW
applied to a three- specifications.
(2001-03h = 5) is allowed to run under a
phase servo drive. ◆◆ 220 V servo drive:
single-phase power supply.
If the input voltage complies with the
Allowable deviation: –10% to +10% specifications, set 200A-01h to 2 (Power
3. The three-phase (198 V to 264 V) input phase loss warning and fault
power supply is inhibited).
unbalanced or the
If input voltage does not comply with the
voltage of all the three Effective value: 380 V to 440 V
specifications, replace or adjust the power
phases are too low. Allowable deviation: –10% to +10%
supply.
(342 V to 484 V)
All the three phases must be measured.
4. The servo drive is The fault persists after the main circuit (L1, L2,
faulty. L3) is powered off and on several times.
■■ E420.1: PL signal error
The power voltage The fault persists after the servo drive is It is recommended to use the standard
signal is abnormal. powered off and on several times. voltage signal.
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9 Troubleshooting
■■ E500.0: Motor overspeed
Direct cause:
The actual speed of the servo motor exceeds the overspeed threshold.
1. The UVW phase Check whether UVW phase sequence on the

Connect UVW cables according to the
sequence of motor servo drive side is consistent with that on the
correct phase sequence.
cables is incorrect. motor side.
Check whether the overspeed threshold is

smaller than the maximum motor speed
required in actual applications.
2. 200A-09h is set Overspeed threshold = 1.2 times the maximum Reset the overspeed threshold according
improperly. motor speed (200A-09h = 0) to actual mechanical requirements.
Overspeed threshold = 200A-09h (the set value
of 200A-09h is not 0 and less than 1.2 times
the maximum motor speed).
Check whether the motor speed

corresponding to the input reference exceeds ◆◆ Position control mode
the overspeed threshold. CSP: Decrease the position reference
◆◆ Position control mode increment for a single synchronization
In CSP mode, view the gear ratio cycle. The host controller should cover the
6091-01h/6091-02h to check the position ramp when generating references.
speed reference increment for a single PP: Decrease the value of 6081h or increase
synchronization cycle and convert it to the the acceleration/deceleration ramp (6083h,
corresponding speed value. 6084h).
In PP mode, view the gear ratio HM: Decrease 6099-01h and 6099-02h, or
6091-01h/6091-02h and define the value of increase the acceleration/deceleration
3. The input reference 6081h (Profile velocity). ramp (609Ah).
is higher than the
In HM mode, view the gear ratio Decrease the gear ratio according to actual
overspeed threshold.
6091-01h/6091-02h, and define the value of conditions.
6099-01h and 6099-02h. ◆◆ Speed mode:
◆◆ Speed control mode: Decrease the target velocity, speed limit,
View the gear ratio (6091h), the target velocity gear ratio. In PV mode, increase the speed
(60FFh), the speed limit values (2006-09h and ramp in 6083h and 6084h. In CSV mode,
2006-0Ah), and the maximum profile velocity the host controller should cover the speed
(607Fh). ramp.
◆◆ Torque control mode: ◆◆ Torque control mode:
View the speed limits defined by 2007-14h and Set the speed limit to a value smaller than
2007-15h and check the corresponding speed the overspeed threshold.
limit value.
Check whether the speed feedback exceeds

4. The motor speed
the overspeed threshold by using the software Adjust the gain or running conditions.
overshoots.
tool.
5. The servo drive is The fault persists after servo drive is powered
faulty. off and on again.
■■ E500.1: Speed feedback overflow
Direct cause:
The FPGA speed measurement overflows.
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9 Troubleshooting
◆◆ The speed feedback is abnormal,

check whether the encoder
version (H00-04) is proper.
The FPGA speed measurement is ◆◆ Replace the encoder cables.
Check whether the bit9 of H0B-30 is 1.
abnormal. ◆◆ The encoder cables suffer from
interference. Re-connect the
grounding cable and the shielded
cable or install a magnetic ring.
■■ E602.0: Angle auto-tuning error
Direct cause:
Abnormal jitter occurs on the encoder feedback during angle auto-tuning.
Check if the encoder communication Check the wiring of the encoder

An encoder feedback error occurs.
suffers from interference. hardware.
■■ E602.2: Wrong UVW phase sequence detected during angle auto-tuning
Direct cause:
A wrong UVW phase sequence is detected during angle auto-tuning.
The UVW cables are connected

Exchange the cables of any two
reversely, which is detected during -
phases and perform auto-tuning again.
angle auto-tuning.
■■ E620.0: Motor overload
Direct cause:
The accumulative heat of the servo motor reaches the fault threshold.

Connect cables according to the
correct wiring diagram.
Check the wiring among the servo It is recommended to use the cables
1. The motor and encoder cables are drive, servo motor and encoder provided by Inovance.
connected improperly. according to the correct wiring If you use customized cables, ensure
diagram. such cables are made and connected
based on the hardware wiring
instructions.
Check the overload characteristics of Replace with a high-power servo
2. The load is too heavy. The motor
the servo drive or servo motor. drive and a matching servo motor.
keeps outputting the effective torque
Check whether the average load ratio Reduce the load and increase the
higher than the rated value.
(200B-0DH) keeps exceeding 100.0%. acceleration/deceleration time.
Calculate the mechanical inertia ratio
or perform inertia auto-tuning, and
3. The acceleration/deceleration is Increase the acceleration/
view the value of 2008-10h (Load
too frequent or the load inertia is too deceleration time during single
inertia ratio).
large. running.
Confirm the single running cycle when
the servo motor runs cyclically.
Observe whether the motor vibrates
4. The gain is improper or the stiffness
and generates abnormal noise during Adjust the gain.
level is too high.
running.
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9 Troubleshooting

View the servo drive nameplate and
View the serial encoder motor model set the servo drive model in
5. The servo drive or motor models
in 2000-06h and servo drive model in 2001-0Bh and use a matching servo
are set improperly.
2001-0Bh. motor according to "1.1 Introduction
to the Servo Drive" .
Check the RUN command and
motor speed (200B-01h) through the
software tool or the keypad:
◆◆ RUN command in the position
control mode: 200B-0Eh
(Position reference counter)
6. Locked-rotor occurs due to ◆◆ RUN command in the speed

mechanical factors, resulting in control mode: 200B-02h Eliminate mechanical factors.
overload during running. (Speed reference)
◆◆ RUN command in the torque
control mode: 200B-03h
(Internal torque reference)
Check whether the RUN command in
the corresponding mode is not 0 but
the motor speed is 0.
The fault persists after servo drive is
■■ E630.0: Locked rotor
Direct cause:
The actual motor speed is lower than 10 RPM but the torque reference reaches the limit, and such status
persists for the duration defined by 200A-21h.

1. Power output phase (UVW) loss or Perform motor trial run without load Re-connect the cables according to
incorrect phase sequence occurs on and check cable connections and the the correct wiring diagram or replace
the servo drive. phase sequence. the cables.
Read parameters in group H00 to
check whether the pole pairs are set
2. The motor parameters (especially
properly.
the pole pairs) are set improperly and
Perform angle auto-tuning on the Modify the motor parameter values.
the motor angle auto-tuning is not
motor several times and check
performed.
whether the value of H00-28 is
consistent during angle auto-tuning.
Check whether jitter occurs on
Check whether the communication
the commands sent from the host
3. The communication commands circuit between the host controller
controller and whether EtherCAT
suffer from interference. and the servo drive suffers from
communication suffers from
interference.
interference.
-320-
9 Troubleshooting

Check the RUN command and motor
speed (H0B-00) through the software
tool or the keypad.
◆◆ RUN command in the position
control mode: H0B-13
◆◆ RUN command in the speed
4. The motor rotor is locked due to Check whether any mechanical part
(Speed reference)
mechanical factors. gets stuck or eccentric.
◆◆ RUN command in the torque
the corresponding mode is not 0 but
the motor speed is 0.
Check the current feedback (torque
reference) waveform.
■■ E640.0: IGBT over-temperature
Direct cause: The IGBT temperature reaches the fault threshold defined by H0A-18 (IGBT over-
temperature threshold).
■■ E650.0: Heatsink over-temperature
Direct cause:
The power module temperature of the servo drive is higher than the over-temperature protection
threshold.
1. The ambient temperature is too Improve cooling conditions to lower

Measure the ambient temperature.
high. down the ambient temperature.
Change the fault reset mode and

View the fault records: Check for perform reset 30s after overload.
2. The servo drive is powered off overload fault (set 200B-22h and view Increase the capacity of the servo
frequently to reset the overload fault. 200B-23h) or warning (E3.610, E3.620, drive and servo motor. Increase the
E3.630, E3.650). acceleration/deceleration time and
reduce the load.
Check whether the fan rotates during

3. The fan is damaged. Replace the servo drive.
running.
4. The installation direction and

Check whether the servo drive is Install the servo drive according to
clearance of the servo drive are
installed properly. the installation standards.
improper.
The fault persists after power-off for

five minutes and restart.
■■ E661.0: Auto-tuned gain values too low
Direct cause:
1. The vibration cannot be suppressed. Enable vibration suppression manually to eliminate the vibration.
2. Excessive positioning overshoot occurs. Check whether the positioning threshold is too low. Increase
the acceleration/deceleration time and lower the response level.
3. The command suffers from noises. Modify the electronic gear ratio to improve the command
resolution, or increase the command filter time constant in the "Parameter configuration" interface.
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9 Troubleshooting
4. The current fluctuates. Check whether the machine suffers periodic fluctuation.
5. The vibration cannot be suppressed if the load carries large inertia. In this case, increase the
acceleration/deceleration time to ensure the motor current is unsaturated.
■■ E731.0: Encoder battery failure
Direct cause:
The battery voltage of the absolute encoder is lower than 2.8 V.
The battery is not connected during Check whether the battery is

Set 200D-15h to 1 to clear the fault.
power-off. connected during power-off.
The battery voltage of the encoder is Replace with a new battery of the
Measure the battery voltage.
too low. matching voltage.
■■ E733.0: Encoder multi-turn counting error
Direct cause:
The encoder multi-turn counting is wrong.
Set 200D-15h to 2 to clear the fault.

The encoder is faulty. E733.0 persists after the servo drive is Replace the servo motor.
■■ E735.0: Encoder multi-turn counting overflow
Direct cause:
The multi-turn counting overflow occurs on the absolute encoder.
Check whether the value of H0B-

Set H0D-20 (Absolute encoder reset
70 (Number of absolute encoder
The number of forward revolutions selection) to 2 (Reset the encoder
revolutions) is 32767 or 32768
exceeds 32767 or the number of fault and multi-turn data) and
when the servo drive works in the
reverse revolutions exceeds 32768. power on the servo drive again.
absolute position linear mode (H02-
Perform homing if necessary.
01 = 1).
■■ E740.2: Absolute encoder error
Direct cause:
Communication timeout occurs on the absolute encoder.
◆◆ Check whether H00-00 (Motor

code) is set properly.
◆◆ Check whether encoder cables are
The communication between the Check whether the value of H0B-28 connected properly.
servo drive and the encoder is (Absolute encoder fault information ◆◆ Check whether the servo drive
abnormal. given by FPGA) is not 0. and servo motor are grounded
properly. You can install a
magnetic ring on the encoder to
reduce interference.
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9 Troubleshooting
■■ E740.3: Absolute encoder single-turn calculation error
◆◆ Check whether the encoder

version (H00-04) is proper.
An internal fault occurs on the
Check whether bit7 of H0B-28 is 1. ◆◆ Check whether encoder cables are
encoder.
in proper condition.
◆◆ Replace the servo motor.
■■ E740.6: Encoder write error
Direct cause:
A write error occurs on the encoder.
An error occurs during writing the Check whether the encoder cable
position offset after angle auto- - shield and the grounding cable are
tuning. connected properly.
■■ EB00.0: Position deviation too large
Direct cause:
The position deviation is larger than the value defined by 6065h in the position control mode.
1. Power output (UVW) phase loss or Re-connect the cables according

Perform motor trial run without load
incorrect phase sequence occurs on to the correct wiring diagram or
and check the cable connections.
the servo drive. replace the cables.
Re-connect the UVW cables. The

UVW phase sequence on the servo
drive side must be consistent with
2. The servo drive UVW cables or the
Check the cable connections. that on the motor side. Replace
encoder cables are disconnected.
with new cables if necessary and
ensure the cables are connected
properly.
Check the RUN command and

motor speed (200B-01h) through
the software tool or the keypad:
RUN command in the position
control mode: 200B-0Eh
RUN command in the speed control
3. The motor rotor is locked due to
mode: 200B-02h Eliminate mechanical factors.
mechanical factors.
(Speed reference)
RUN command in the torque control
mode: 200B-03h
Check whether the RUN command
in the corresponding mode is not 0
but the motor speed is 0.
Check the position loop gain and

speed loop gain of the servo drive. Adjust the gain manually or perform
4. The servo drive gain is low.
1st gain: 2008-01h to 2008-03h gain auto-tuning.
2nd gain: 2008-04h to 2008-06h
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9 Troubleshooting
◆◆ CSP: Decrease the position

Position control mode:
reference increment for a single
◆◆ In CSP mode, view the gear ratio synchronization cycle. The host
6091-01h/6091-02h to check the controller should cover the
speed reference increment for a position ramp when generating
single synchronization cycle and references.
convert it to the corresponding
◆◆ PP: Decrease the value of 6081h
speed value.
5. The position reference increment or increase the acceleration/
◆◆ In PP mode, view the gear ratio deceleration ramp (6083h,
is too large.
6091-01h/6091-02h and define 6084h).
the value of 6081h (Profile
◆◆ HM: Decrease 6099-01h and
velocity).
6099-02h, or increase the
◆◆ In HM mode, view the gear ratio acceleration/deceleration ramp
6091-01h/6091-02h, and define (609Ah).
the value of 6099-01h and 6099-
Decrease the gear ratio according
02h.
to actual conditions.
6. The value of 6065h (Following

Check whether the value of 6065h is
error window) is too small in relative Increase the value of 6065h.
too small.
to the running condition.
Monitor the running curves through

the oscilloscope function of the
If the position reference is not 0,
7. The servo drive or servo motor is software tool:
but the position feedback is always
faulty. position reference, position
0, replace the servo drive/motor.
feedback, speed reference, and
torque reference
■■ EB00.1 (Following error actual value)
Direct cause:
The position deviation is too large.
1. Power output (UVW)

Re-connect the cables according to the
phase loss or incorrect Perform motor trial running without load
correct wiring diagram or replace the
phase sequence occurs and check the cable connections.
cables.
on the servo drive.
Re-connect the UVW cables. The UVW

2. The servo drive phase sequence on the servo drive side
UVW cables or the must be consistent with that on the motor
Check the wiring.
encoder cables are side. Replace with new cables if necessary
disconnected. and ensure the cables are connected
properly.
-324-
9 Troubleshooting
Check the RUN command and motor

speed (200B-01h) through the software
tool or the keypad:
◆◆ RUN command in the position control
mode: 200B-0Eh
3. The motor rotor ◆◆ RUN command in the speed control

is locked due to mode: 200B-02h Eliminate mechanical factors.
mechanical factors. (Speed reference)
◆◆ RUN command in the torque control
mode: 200B-03h
Check whether the RUN command in the
corresponding mode is not 0 but the motor
speed is 0.
Check the position loop gain and speed

The servo drive gain is loop gain of the servo drive. Adjust the gain manually or perform gain
low. 1st gain: 2008-01h to 2008-03h auto-tuning.
2nd gain: 2008-04h to 2008-06h
◆◆ CSP: Decrease the position reference

Position control mode:
increment for a single synchronization
◆◆ In CSP mode, view the gear ratio cycle. The host controller should cover
6091-01h/6091-02h to check the the position ramp when generating
speed reference increment for a single references.
synchronization cycle and convert it to
5. The position ◆◆ PP: Decrease the value of 6081h or
the corresponding speed value.
reference increment is increase the acceleration/deceleration
◆◆ In PP mode, view the gear ratio ramp (6083h, 6084h).
too large.
6091-01h/6091-02h and define the
◆◆ HM: Decrease the value of 6099-01h and
value of 6081h (Profile velocity).
6099-02h or increase the acceleration/
◆◆ In HM mode, view the gear ratio deceleration ramp (609Ah).
6091-01h/6091-02h, and define the
Decrease the gear ratio according to actual
value of 6099-01h and 6099-02h.
conditions.
6. The value of 6065h

(Following error
Check whether the value of 6065h is too
window) is too small in Increase the value of 6065h.
small.
relative to the running
condition.
Monitor the running curves through the

7. The servo drive or If the position reference is not 0 but the
oscilloscope function of the software tool:
the servo motor is position feedback is always 0, replace the
position reference, position feedback,
faulty. servo drive or the servo motor.
speed reference, and torque reference
■■ EA33.0: Encoder read/write check error
Direct cause:
Internal parameters of the encoder are abnormal.
Check for wrong connection, disconnection and

1. The serial incremental
Check the encoder cable poor contact of the encoder cable. Route the
encoder cable is
connection. motor cable and encoder cable through different
disconnected or loosened.
routes.
-325-
9 Troubleshooting
2. An error occurs when If the fault persists after the servo

reading/writing the RS485 drive is powered off and on several Replace the servo motor.
encoder parameters. times, the encoder is faulty.
■■ EB01.1: Position reference increment too large for once
1. Check whether the maximum motor speed

fulfills the application requirement. If yes, reduce
the target position reference increment, which
is to lower the profiled reference speed. If not,
Check the variation value replace the servo motor.
1. The target position between two adjacent target 2. Before switching the modes or enabling the
increment is too large. positions by using the software servo drive, check whether the target position is
tool. aligned with current position feedback.
3. The communication time sequence of the host
controller is abnormal, leading to slave data
receiving error. Check the communication time
sequence of the host controller.
■■ EB01.2: Position reference increment too large continuously
Direct cause:
The target position increment exceeds the limit value N times consecutively.
1. Check whether the maximum motor speed

fulfills the application requirement. If yes, reduce
the target position reference increment, which
is to lower the profiled reference speed. If not,
Check the variation value replace the servo motor.
1. The target position between two adjacent target 2. Before switching the modes or enabling the
increment is too large. positions by using the software servo drive, check whether the target position is
tool. aligned with current position feedback.
3. The communication time sequence of the host
controller is abnormal, leading to slave data
receiving error. Check the communication time
sequence of the host controller.
■■ EB01.3: Command overflow
The target position is still in

Detect the servo limit signal (bit0 and bit1 of 60FD
the process of transmission Check whether the host controller
recommended) through the host controller and
when the servo limit or keeps outputting commands
stop the host controller from transmitting the limit
software limit signal is when the overtravel warning
direction command after the servo limit signal is
activated and the 32-bit occurs.
activated.
upper/low limit is reached.
-326-
9 Troubleshooting
■■ EB01.4: Reference value beyond the single-turn position limits in the absolute mode

The target position exceeds
Check whether the set value of
the upper/lower limit of the Set the target position to a value within the upper/
the target position is within the
unit position in the single- lower limit.
single-turn upper/lower limit.
turn absolute mode.
■■ EE09.0: Software limit setting error

The lower limit of the
Check the value of 607D-01 and Reset the value of 607D-01 and 607D-02 and
software is larger than or
607D-02. ensure the former is smaller than the latter.
equal to the upper limit.
■■ EE09.1: Home setting error
Direct cause:
The home offset exceeds the upper/lower limit.

The home offset is beyond the
software limit when the encoder
1. The home offset is Set the home offset to a value within the
works in the incremental mode,
beyond the software limit. software limit.
absolute linear mode, or single-
turn absolute mode.
The home offset is beyond the

2. The home offset is
mechanical single-turn upper/
beyond the upper/lower Set the home offset to a value within the limit.
lower limit when the encoder
limit in the rotation mode.
works in the rotation mode.
■■ EE09.2: Gear ratio over the limit
Direct cause:
The electronic gear ratio exceeds the limit: (0.001 x Encoder resolution/10000, 4000 x Encoder
resolution/10000)
Check whether the ratio of 6091-01h

The set electronic gear ratio exceeds Set the gear ratio to a value within
to 6091-02h exceeds the preceding
the preceding limit. the preceding range.
range.
■■ EE09.3: No synchronization signal
Direct cause:
The MCU does not receive the synchronization signal when the servo communication is switched to OP
state.

Replace with another master (such
1. The communication
as Beckhoff, Omron PLCs) and Solve the problem of improper
synchronization clock is configured
perform tests to compare between configuration.
improperly.
different masters.
2. The IN/OUT port for EtherCAT

Check whether the IN/OUT port is Connect the IN and OUT ports
communication is connected
connected reversely. according to the correct sequence.
reversely.
-327-
9 Troubleshooting

If the problem persists after
master replacement, measure the
3. The slave controller chip is synchronization signal generated
Replace the slave controller chip.
damaged. from the slave controller chip with
an oscilloscope. If there is no signal,
the slave controller chip is damaged.
Test the synchronization signal

generated from the slave controller
4. The MCU pins are damaged. chip with an oscilloscope. If there is Replace MCU chip.
a signal, the pin of the MCU chip is
damaged.
■■ EE09.5: PDO mapping over the limit

The number of the mapping objects Check the number of self-index The number of the mapping objects
in TPDO or RPDO exceeds 10. configured by 1600h or 1A00h. in TPDO or RPDO cannot exceed 10.
9.4 Solutions to Warnings

■■ E121.0: Invalid S-ON command
Direct cause:
The S-ON signal is set repeatedly.

1. The servo drive is enabled Check whether the S-ON signal is
internally the same time when the sent from the host controller when Switch off the S-ON signal sent from
S-ON signal is activated through the auxiliary functions (200D-03h, the host controller.
communication. 200D-04h, 200D-0Ch) are used.
Check whether the S-ON signal is sent
The S-ON signal is sent from the DI Switch off the redundant S-ON
from the DI terminal and the software
and the software tool simultaneously. signal.
tool simultaneously.
■■ E600.0: Inertia auto-tuning failure
Direct cause:
1. The vibration cannot be suppressed. Enable vibration suppression manually to eliminate the vibration.
2. The auto-tuned values fluctuate dramatically. During ETune operations, the stroke of the lead screw
can be shortened by increasing the maximum running speed and reducing the acceleration/deceleration
time.
3. Mechanical connections of the load are loosened or eccentric. Remove the mechanical fault.
4. A warning occurs during auto-tuning and causes interruption. Clear the fault and perform inertia auto-
tuning again.
5. The vibration cannot be suppressed if the load carries large inertia. In this case, increase the
acceleration/deceleration time to ensure the motor current is unsaturated.
■■ E601.0: Homing warning
Direct cause:
The home is not found within the time defined by 2005-24h.
-328-
9 Troubleshooting

If a hardware DI is used, check whether
FunIN.31 (HomeSwitch) has been allocated
to a certain DI in group 2003h and then
There is only high-speed search but no
check the wiring of the DI.
low-speed search during homing.
Manually change the DI logic and observe
1. The home switch fails. After high-speed search for the home, the
whether the servo drive receives DI level
servo drive keeps low-speed search in the
change through 200B-04h. If not, the
reverse direction.
wiring of the DI is incorrect. If yes, a fault
occurs during the homing. Carry out the
homing operation correctly.
2. The set homing Check whether the value of 2005-24h

Increase the value of 2005-24h.
duration is too short. (Duration limit of homing) is too small.
Check the distance between the initial

3. The speed in high-
position of homing and the home switch.
speed search for the
Then check whether the value of 6099- Increase the value of 6099-01h.
home switch signal is
01h is too small, resulting in a prolonged
too low.
homing process.
■■ E601.1: Homing switch error

Check whether the limit signals at both
sides are activated simultaneously.
The home switch is set Set the position of the hardware switch
Check whether the limit signal and the
improperly. properly.
deceleration point signal/home signal are
activated simultaneously.
■■ E730.0: Encoder battery warning

The encoder battery Replace with a new battery of matching
Measure the battery voltage.
voltage is lower than 3.0 V. voltage.
■■ E900: Emergency stop
Direct cause:
The logic of the DI (including hardware DI and VDI) allocated with FunIN.34 (EmergencyStop) is valid.

The DI function 34 Check the running mode and clear the DI
Check whether the logic of the DI allocated
(FunIN.34: Emergency braking signal without affecting the safety
with FunIN.34 is valid.
stop) is triggered. performance.
-329-
9 Troubleshooting
■■ E902.0: Invalid DI setting
Direct cause:
The DI function is set to a invalid value.
Check whether the logics of 2003-03h,

The logics of DI1 to DI5
2003-05h, 2003-07h to 2003-09h and 2003- Set the DI logic to a valid value.
are set to invalid values.
0Bh are set to invalid values.
■■ E902.1: Invalid DO setting
Direct cause:
The DO function is set to a invalid value.

Check whether the logics of 2004-01h,
The logics of DO1 to DO3
2004-03h, and 2004-05h are set to invalid Set the DO logic to a valid value.
are set to invalid values.
values.
■■ E902.2: Invalid torque reached setting

The torque reached
Check whether the value of 2007-17h is
DO parameter setting The value of 2007-17h must be larger than
smaller than or equal to the value of 2007-
is invalid in the torque the value of 2007-18h.
18h (unit: 0.1%).
control mode.
■■ E908.0: Invalid check bit of model identification
Direct cause:
The first two check bits of model identification are incorrect, indicating the model identification fails.

1. The model identification 1. Write the model identification
parameters are not written. parameters again.
The warning persists after restart.
2. The check bits of model 2. Set H01-72 to 1 to hide the model
identification are incorrect. identification function.
■■ E909.0: Motor overload warning
Direct cause:
The accumulative heat of the motor reaches the warning threshold (90% of the maximum allowable
heat).

Connect cables based on the correct
wiring diagram.
1. The motor and
Check the wiring among the servo drive, It is recommended to use the cables
encoder cables are
servo motor and encoder according to the provided by Inovance.
connected improperly
correct wiring diagram. If you use customized cables, ensure such
or in poor contact.
cables are made and connected based on
the hardware wiring instructions.
2. The load is too

Check the overload characteristics of the Replace with a high-power servo drive and
heavy. The motor keeps
servo drive or servo motor. a matching servo motor.
outputting the effective
Check whether the average load ratio Reduce the load and increase the
torque higher than the
(200B-0Dh) keeps exceeding 100.0%. acceleration/deceleration time.
rated value.
-330-
9 Troubleshooting

Check the mechanical inertia ratio or
3. The acceleration/
perform inertia auto-tuning. Then view the
deceleration is too Increase the acceleration/deceleration
value of 2008-10h (Load inertia ratio).
frequent or the load time.
Confirm the single running cycle when the
inertia is too large.
servo motor runs cyclically.
4. The gain is improper

Observe whether the motor vibrates and
or the stiffness level is Adjust the gain.
generates abnormal noise during running.
too high.
5. The servo drive or View the servo drive nameplate and set
View the motor model in 2000-06h and the
motor models are set the servo drive model in 2001-03h. Update
servo drive model in 2001-03h.
improperly. the motor model to a proper value.
Check the RUN command and the motor

speed (200B-01h) through the software
tool or the keypad:
◆◆ RUN command in the position control
mode: 200B-0Eh
6. Locked-rotor occurs
due to mechanical ◆◆ RUN command in the speed control
factors, resulting mode: 200B-02h Eliminate mechanical factors.
in overload during (Speed reference)
running.
◆◆ RUN command in the torque control
mode: 200B-03h
the corresponding mode is not 0 but the
motor speed is 0.
7. The servo drive is If the fault persists after restart, replace

Power off and on the servo drive again.
faulty. the servo drive.
■■ E920.0: Regenerative resistor overload
Direct cause:
The accumulative heat of the regenerative resistor reaches the warning threshold (90% of the maximum
allowable heat).
Replace with a new external regenerative

1. The external Remove the external regenerative resistor
resistor and measure its resistance. If the
regenerative resistor is and measure whether the resistance of the
resistance is consistent with the nominal
connected improperly, resistor is " ∞ " (infinite).
value, connect it between P and C.
disconnected or Measure whether the resistance between P
loosened. Select a new cable and connect it between
and C is " ∞ " (infinite).
P and C.
2. The jumper between

terminals P and D is
shorted or loosened Measure whether the resistance between P Select a new cable and connect it between
when an internal and D is " ∞ " (infinite). P and D.
regenerative resistor is
used.
-331-
9 Troubleshooting
Set 2002-1Ah to a proper value according

3. The setting of 2002- to "5.4.3 Regenerative Resistor Settings" :
1Ah is incorrect when View the set value of 2002-1Ah.
2002-1Ah = 1 (External, naturally
an external regenerative Measure the resistance of the external
ventilated)
resistor is used. regenerative resistor connected between
P and C. Check whether the resistance 2002-1Ah = 2 (External, forcible cooling)
4. The resistance of the is too large by comparing it with value

Select a proper regenerative resistor
external regenerative listed in "Table 5-3 Specifications of the
according to Table 5-3.
resistor used is too large. regenerative resistor for SV660N series
5. The value of 2002-1Ch servo drive" .
(Resistance of external Check whether the value of 2002-1Ch is
regenerative resistor) larger than the resistance of the external Set 2002-1Ch according to the resistance
is larger than the regenerative resistor connected between P of the external regenerative resistor
resistance of the external and C. actually used.
regenerative resistor
actually used.
Check whether the input voltage of the

main circuit on servo drive side complies
6. The input voltage of Effective value: 220 V to 240 V Replace the power supply or adjust
the main circuit exceeds Allowable deviation: –10% to +10% the power voltage according to the
the specification. (198 V to 264 V) specification.
(342 V to 484 V)
Perform inertia auto-tuning according to

"6.2 Inertia Auto-tuning" , or calculate
7. The load inertia ratio the total mechanical inertia according to
is too large. mechanical parameters.
Check whether the actual load inertia Select an external regenerative resistor of
ratio exceeds 30. large capacity and set 2002-1Bh (Power of
external regenerative resistor) according
8. The motor speed to the actual value.
is too high, and
Select a servo drive of large capacity.
deceleration is not
View the motor speed curve during cyclic Reduce the load if allowed.
completed within the
motion and check whether the motor is in
required time. The Increase the acceleration/deceleration
the deceleration status for a long time.
motor is in continuous time if allowed.
deceleration status Increase the motor running cycle if
during cyclic motion. allowed.
9. The capacity of View the single-cycle speed curve

the servo drive or of the motor and calculate whether
regenerative resistor is the maximum braking energy can be
insufficient. absorbed completely.

- Replace the servo drive.
faulty.
■■ E922.0: Resistance of the external regenerative resistor too small
Direct cause:
The value of 2002-1Ch (Resistance of external regenerative resistor) is smaller than the value of 2002-16h
(Minimum permissible resistance of regenerative resistor).
-332-
9 Troubleshooting
When an external ◆◆ If yes, connect an external regenerative

regenerative resistor is resistor that matches the servo drive
used (2002-1Ah = 1, 2), between P and C and set 2002-1Ch
Measure the resistance of the external
ensure the resistance of (Resistance of external regenerative
regenerative resistor connected between P
the external regenerative resistor) according to the actual
and C and check whether it is smaller than
resistor is smaller than resistance.
the value of 2002-16h.
the minimum value ◆◆ If not, set 2002-1Ch according to the
allowed by the servo resistance of the external regenerative
drive. resistor actually used.
■■ E924.0: Braking transistor over-temperature
Cause:
The estimated temperature of the braking transistor is higher than H0A-38 (Maximum protection
threshold)
■■ E941.0: Parameter modifications not activated
The parameters modified

Check whether the modifications of these
are those whose
parameters are activated at next power- Power on the servo drive again.
"Effective time" is "Next
on.
power-on".
■■ E942.0: Parameter saved frequently
Direct cause:
The total number of parameters modified simultaneously exceeds 200.

A large number of Check the running mode. For parameters
Check whether parameters are modified
parameters are modified and that need not be saved in EEPROM, set
quickly and frequently through the host
saved frequently to EEPROM 200E-02h to 0 before the write operation
controller.
(200E-02h = 1, 3). of the host computer.
■■ E950.0: Forward overtravel warning
Check whether a DI in group 2003h Check the running mode and on the
1. The logic of the DI
is allocated with FunIN.14 and check prerequisite of ensuring safety, send a
allocated with FunIN.14
whether the DI logic of the corresponding reverse run command or rotate the motor
is valid (Forward driving
bit of 200B-04h (Monitored DI status) is to deactivate the logic of the DI allocated
inhibited).
valid. with FunIN.14.
2. The servo drive

Check whether the position feedback
position feedback Ensure the load stroke is within the
(0x6064) is close to the value of
reaches the positive software limit range.
0x607D-02.
software limit.
-333-
9 Troubleshooting
■■ E952.0: Reverse overtravel warning
Check whether a DI in group Check the running mode and on the

The logic of the DI allocated with 2003h is allocated with FunIN.15 prerequisite of ensuring safety, send
FunIN.15 (Reverse driving inhibited) and check whether the DI logic of a reverse run command or rotate the
is valid. the corresponding bit of 200B-04h motor to deactivate the logic of the DI
(Monitored DI status) is valid. allocated with FunIN.15.
■■ EE09.4: Homing method setting error
Direct cause:
The homing method (0x6098h) is set improperly.
The homing method (0x6098) is set to a

value outside the range of [-2 to 14] when Set 0x6098 to a value within the
Check the set value of 0x6098.
the absolute position single-turn mode is specified range.
used (H02-01 = 4).
The homing method (0x6098) is set to a

value outside the range of [-2, 14], [17, 30], Set 0x6098 to a value within the
Check the set value of 0x6098.
and [33,35] when the absolute position specified range.
single-turn mode is not used.
9.5 Solutions to Communication Faults

This section describes solutions to communication faults.
■■ EE08.0: Synchronization loss
Direct cause:
Synchronous signal loss occurs on the master during synchronous communication.

Check whether the shielded
twisted pair is used as the ◆◆ Use the shielded twisted pairs.
1. The data received by communication cable. ◆◆ Connect the cables according to the wiring
the slave is abnormal
Check whether the servo drive is instructions.
during synchronous
grounded properly. ◆◆ Check the network connection status through the
communication.
Check whether the Ethernet port first LED on the keypad.
of the servo drive is damaged.
◆◆ Measure the synchronization cycle by using the

oscilloscope function of the software tool or an
actual oscilloscope.
◆◆ If the synchronization cycle is 0, the
synchronization clock of the host controller is not
The synchronization clock of the activated. In this case, check whether the Ethernet
2. The data sent by the
host controller is not activated. cable connected to each slave comes in from the
master is abnormal
Excessive error occurs on the IN port and out from the OUT port. If yes, restart
during synchronous
synchronization clock of the the network. If the network cables are connected
communication.
host controller. in the correct sequence, without the need for prior
check, restart the network directly. .
◆◆ If the synchronization cycle is within the
permissible fluctuation range (2 µs) of the servo
drive, increase the value of 200E-21h (Threshold of
EtherCAT synchronization error) of the slave.
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9 Troubleshooting
■■ EE08.1: Network status switchover error

When the servo is enabled, the
Check whether the network status Check the network status switchover
network status switches from OP to
switches from OP to non-OP. program of the host controller.
non-OP.
■■ EE08.2: IRQ loss
Direct cause:
Synchronization signal loss occurs on the master during synchronous communication.

Check whether the shielded twisted
Use the shielded twisted pairs.
pair is used as the communication
cable. Connect the cables according to the
1. The data received by the slave
wiring instructions.
is abnormal during synchronous Check whether the servo drive is
communication. grounded properly. Check the network connection
status through the first LED on the
Check the Ethernet port of the servo
keypad.
drive is damaged.
Check the synchronization

2. The data sent by the master is performance of the host controller
The synchronization performance of
abnormal during synchronous and increase the value of
the host controller is unsatisfactory.
communication. 200E-21h (Threshold of EtherCAT
synchronization error) of the slave.
■■ EE11.0: ESI check error
Direct cause:
Uploading of the XML file fails during EtherCAT communication.

1. The XML file is not written to the
EEPROM. Check whether the XML version
Write the XML file to the EEPROM.
2. The XML file in the EEPROM is displayed in H0E-96 is normal.
modified unexpectedly.
■■ EE11.1: Unsuccessful reading of EEPROM
Direct cause:
The EEPROM communication of external EtherCAT devices fails.
The EtherCAT data in the EEPROM This fault persists after the servo drive
cannot be read. is powered off and on several times.
■■ EE11.2: Unsuccessful update of EEPROM
Direct cause:
The communication is normal but the message error or loss occurs on the EEPROM.
The EtherCAT data in the EEPROM This fault persists after the servo drive is
cannot be updated. powered off and on several times.
-335-
9 Troubleshooting
■■ EE12.0: External devices of EtherCAT being abnormal
Direct cause:
The EtherCAT network cannot be initialized.

1. The FPGA firmware is not Check whether the value of 2001-02h
Program the FPGA firmware.
programmed. is 09xx.Y.
Connect to the master and check

2. The servo drive is faulty. Replace the faulty servo drive.
whether the servo drive is faulty.
■■ EE13.0: Synchronization cycle setting error
Check the setting of the Set the value of synchronization

The synchronization cycle is not a
synchronization cycle in the cycle to an integral multiple of
integral multiple of 125 µs or 250 µs.
controller. 125 µs or 250 µs.
■■ EE15.0: Synchronization cycle error too large
Direct cause:
The synchronization cycle error exceeds the threshold.
Measure the synchronization cycle

Excessive synchronization cycle error of the controller by using a digital
Increase the value of 200E-21h.
occurs on the controller. oscilloscope or the oscilloscope
function of the software tool.
-336-
10 Application Cases
Case 1 AM600 series controller as the host controller
This section describes how to configure the SV660N series servo drive in working with the AM600 series
controller.
1) Opening the software and creating an AM600 project
Select "AM600-CPU1608TP" as shown below.
2) Adding an SV660N servo drive as a slave
Open the network configuration and import the ECT file of SV660N. Add an SV660N servo drive as a slave,
as shown below.
-337-
3) PDO mapping
Select " 使能专家设置 " (Enable expert setting) and perform PDO mapping in the process data according
to the control needs. In Case 1, CSP is used as the control mode and the default values of 1600 and 1A00
are used for PDO parameters.
-338-
4) Configuring axis parameters
Set the software limit and the running mode in basic axis settings.
Select 16#800000 for the 23-bit encoder and 16#100000 for the 20-bit encoder during unit conversion. In
Case 1, the single-circle stroke is set to 60 mm, and 1 mm/s equals to 1 RPM of the motor.
Select the homing mode according to actual needs. See "7.9.4 Homing Operation" for details on the homing
mode.
-339-
5) Adding a program
Add a program to control the servo axis position, as shown below.
Implement the basic functions such as homing and positioning through adding the function block.
To implement directional motion through the logic program, call variables through different POUs and
set the variables as global variables.
-340-
After editing the program, click " 编译 " (Compile) to detect whether the program is correct.
6) Downloading and performing commissioning on the program
After the program detection is done, download the program to PLC. The program can be activated upon
running. Before downloading, scan the PLCs first to select the target PLC, and then click the download
icon, as shown below.
After log-in, ensure the servo drive and the axis are in normal state.
-341-
Monitor critical parameters through the monitoring function. Start the testing procedures to perform
basic tests such as homing and positioning.
After the testing is done, perform directional running program.
-342-
Case 2 Omron NX1P2 controller as the host controller

This section describes how to configure the SV660N series servo drive in working with Omron NX1P2
controller.
1) Installing the Sysmac Studio software
It is recommended to install the Sysmac Studio software of V1.10 or later.
2) Importing the device description file (V2.5 or later recommended)
Use the device description file of "SV660_1Axis_V0.04-0506.xml" or later version. The file path is as
follows:
OMRON\Sysmac Studio\IODeviceProfiles\EsiFiles\UserEsiFiles
If the file is stored in this path for the first time, the Sysmac Studio software must be restarted.
3) Setting the network connection attribute of the computer
If the computer is connected to the controller through an USB , this step can be skipped.
If the computer is connected to the controller through the Ethernet, set the TCP/IP attribute of the
computer, as shown below.
4) Configuring the servo drive
Recommended version:
The MCU version of the PCB software is "H0100 = 0900.1" or higher.
The FPGA version of the PCB software is "H0100 = 0902.1" or higher.
Pay attention to the setting of H0E-21.
Value Related Setting Effective

Para. No. Name Unit Default Value
Range Mode Condition Time
H0E 21 EtherCAT slave alias 0-65535 - 0 - At stop Immediately Any value but 0
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Value Related Setting Effective

Para. No. Name Unit Default Value
Range Mode Condition Time
When an Omron controller is used, set the EtherCAT communication station number in H0E-21. It is recommended to
set the station number according to the actual physical connection sequence to facilitate management.
SV660N network configuration station No.

Host controller
setting (for reference only)
SV660N SV660N SV660N SV660N SV660N
Ecat Ecat Ecat Ecat Ecat

OUT OUT OUT OUT OUT
Omron ……
NX1P2
Ecat Ecat Ecat Ecat Ecat
IN IN IN IN IN
Ecat
200E-21h = 1 200E-21h = 2 200E-21h = 3 200E-21h = N 200E-21h = N+1
5) Creating a project
Device: Select the device according to the actual controller model.
Version: Use V1.09 or later versions. NX1P2-1140DT supports V1.13 only.
6) Communication setting
After entering the main interface, set the connection mode between the computer and the controller in
" 控制器 " (Controller)" 通讯设置 " (Communication setting).
Select "USB 远程连接 " (USBRemote connection) to perform "USB 通讯测试 " (USB communication
test). If the test is passed, go to the next step.
Select "EthernetHub 连接 " (EthernetHub connection), set the IP to 192.168.250.1 (IP controlled by
NX), and then perform "Ethernet 通讯测试 " (Ethernet communication test). If the test is passed, go to the
next step.
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7) Scanning the device
Switch the controller to the online running mode.
Observe the controller status in the lower right corner: online, running mode.
A prompt is displayed if it is a new controller.
Click " 是 " (Yes). The name here is the project name.
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Scan the devices and add slaves.
Right click " 配置和设置 " (Configuration and setting)"EtherCAT"" 主设备 " (Master device), and select
" 与物理网络配置比较和合并 " (Compare and merge with physical network configurations). The controller
scans all the slaves within the network (an error will be reported if the station number is 0). After scanning,
click " 应用物理网络配置 " (Apply physical network configurations) in the pop-up window to add the slave.
You can view in the main page for the slaves added .
-346-
8) Setting parameters
Switch the controller to the offline mode and set PDO mapping, axis parameters, and the DC clock.
8-1) Setting PDO mapping
Select the editable RPDO and TPDO provided by SV660N for configuration.
-347-
Modify the PDO mapping object through " 添加 PDO 条目 " (Add PDO entries) and " 删除 PDO 条目 " (Delete
PDO entries). The frequently used mapping parameters are shown below.
RPDO
TPDO
8-2) Setting axis parameters
Right click " 运动控制设置 " (Motion control setting)" 轴设置 " (Axis setting) and add " 轴设置 " (Axis
setting) as shown below.
-348-
"MC_Axis000" can be renamed through a simple click. For example, if it is named as " 卷针轴 " (Rewind
axis), the axis variable " 卷针轴 " (Rewind axis) used in the NX program represents control on this SV660N
servo axis.
Double-click "MC_Axis000" and configure the SV660N device of the corresponding station in the
corresponding basic axis setting interface.
1) Axis allocation
轴号 (Axis No.): Represents the Ethernet communication station No. of the servo drive, which is also the
value of H0E-21.
轴使用 (Axis used): Represents the axis in use.
轴类型 (Axis type): Represents the servo axis.
输出设备 1 (Output device 1): Select the SV660N servo drive.
2) Detailed settings
Select the PDO mapping objects according to step 8-1, which is to allocate the output parameters
(controller to device) and input parameters (device to controller). Note that the object name, node
number, and index number must be set correctly. Each mapping object selected in step 8-1 must be
allocated correctly. Otherwise, an error will be reported.
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60FDh must be mapped to objects by bit. The mapping must be consistent with that in the Omron
controller. SV660N only support the positive/negative limit switch and home switch.
$"65*0/
The axis configuration of SV660N needs to be performed manually.
8-3) Unit conversion setting
Set " 电机转 1 圈的指令脉冲数 " (Pulses per motor revolution) based on the resolution of the motor in use
(example: 8388608 pulses for 23-bit motor). To facilitate commissioning, set to 60 mm per revolution,
indicating 1 mm/s equals to 1 RPM of the motor.
-350-
Select the " 显示单位 " (Display unit) based on the actual running unit when setting the gear ratio. All the
position-type parameters in the host controller will be displayed in this unit.
8-4) Operation settings
■■ 速度 / 加速度 / 减速度 (Speed/Acceleration/Deceleration): Set the maximum speed of the load

according to actual conditions. If the motor speed converted from the set value exceeds 6000 RPM, a
prompt will be displayed in the form of a red box.
If the acceleration/deceleration rate is 0, the running curve will be generated based on the maximum
acceleration/deceleration rate. If there is no special requirement, this parameter needs no setting.
■■ 扭矩 (Torque): If the warning value is set to 0, no warning will be reported. If there is no special
requirement, this parameter needs no setting.
■■ 监测 (Monitoring): Set " 定位范围 " (Positioning range) and " 零位置范围 " (Zero position range) based
on actual motor and mechanical conditions. If the set value is too small, positioning or homing may
not be completed.
8-5) Software limit
The set software limit will be activated after homing.
-351-
8-6) Homing
The homing mode involves the servo drive and the host controller. Set the homing mode according to the
following table.
Description of NX Software Servo Drive Function Terminal Configuration
Home proximity signal Home switch (FunIN.31) -
Positive limit input P-OT (FunIN.14) DI1
Negative limit input N-OT (FunIN.15) DI2
Select the homing mode of the host controller and set the homing speed, acceleration, and home offset
based on actual mechanical conditions.
■■ Introduction to homing
Function block: MC_Home and MC_HomeWithParameter
1) Set MC_Home in the preceding figure and MC_HomeWithParameter in the function block.
2) The two function blocks both include 10 kinds of homing modes.
MC_Home MC_HomeWithParameter
Designates the homing action to be modified.
0: Promixity reverse turn/home proximity input OFF
1: Proximity reverse turn/home proximity input ON
4: Home proximity input OFF
5: Home proximity input ON
8: Limit input OFF
9: Proximity reverse turn/home input mask distance
11: Limit inputs only
12: Proximity reverse turn/holding time
13: No home proximity input/holding home input
14: Zero position preset
■■ Home proximity input OFF: The host controller searches for the home signal after reaching the falling
edge of the home proximity switch.
■■ Home proximity input ON: The host controller searches for the home signal after reaching the rising
edge of the home proximity switch.
■■ Proximity reverse turn: If the home proximity signal is ON when homing is enabled, the host
controller reverses the running direction immediately after reaching the falling edge of the home
proximity signal.
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■■ Home input mask distance: The host controller masks the homing signal within a set distance after
receiving the home proximity signal (for example, edge change of home proximity signal) and starts
to receive the home signal only after the set distance is passed.
■■ Holding time/Contact time: The host controller masks the home signal within a set period after
receiving the home signal (for example, edge change of home proximity signal) and starts to receive
the home signal only after the set period elapses.
■■ Zero position/Home preset: The host controller uses the current position as the home and the motor
does not act. The host controller writes the home offset to the position reference/position feedback.
$"65*0/
The home signal is searched at a low speed in all the homing modes. If the motor runs at a high
speed, the home signal is masked when it decelerates from high speed to low speed.
8-7) DC clock
The default clock is 1 ms. The synchronization clock (cycle of primary fixed-cycle tasks) named "PDO
communication cycle" can be modified in the " 任务设置 " (Task setting) interface. The modification will
be activated after switching to the online state at next power-on.
9) Program control
After configurations are done, you can control the servo drive operations through the PLC program. If
the "MC_POWER" module is used, it is recommended to add the servo status bit "MC_Axis000.DrvStatus.
Ready" (MC_Axis000 is the axis name). This is to prevent the situation where the PLC program is running
but the communication configuration is not done.
-353-
10) Online running
After all the settings and programming procedures are done, switch to the online state, and click to
download the program to the controller.
Click to use the synchronization function. This function serves to compare the difference between
the current program and the program in the controller, allowing users to determine whether to download
the program to the controller, upload it from the controller " " or leave it unchanged based on the
difference.
You can monitor the data through the monitoring list or collect the data waveform by using the data
tracking function during running.
-354-
Case 3 Beckhoff TwinCAT3 as the host controller

The following section describes how to configure the SV660N servo drive in working with Beckhoff
TwinCAT3.
1) Installing the TwinCAT software
The TwinCAT3 software, which supports Win7 32-bit or 64-bit systems, can be downloaded from the
official website of Beckhoff.
$"65*0/
The Ethernet adapter must be 100M-Ethernet adapter with Intel chip. If the Ethernet adapter of other
brands is used, the EtherCAT operation may fail.
a） Copy the SV660N EtherCAT configuration file (SV660_1Axis_V0.04-0506) to the TwinCAT installation
directory: TwinCAT\3.1\Config\Io\EtherCAT.
b） Open TwinCAT3 and create a New Twincat3 Project.
-355-
2) Installing the TwinCAT network adapter drive
Open "Show Real Time Ethernet Compatible Devices…" in the menu shown in the preceding figure. In
the displayed dialog box, select the local website in "Incompatible devices", and click "Install". After
installation is done, the installed network adapter will be displayed in "Installed and ready to use devices".
-356-
3) Searching for devices
a） Create a project and start searching for devices. Select " " , and
click " " as shown below.
b） Click " 确定 " (OK).
-357-
c） Click "OK".
d） Click " 是 " (Yes).
-358-
e） Click "OK".
f） Click " 否 " (No).
-359-
g） The device search is done, as shown below.
SV660N slave searched and one axis added
4) Configuring servo drive parameters
Configure the parameters through SDO communication in "CoE-Online" interface. When 200E-01h is set
to 3, the parameter values modified through SDO communication will be saved upon power failure.
To modify 6060h to the CSP mode (8), follow the procedures shown in the following image.
This operation is available only when H02-00 (Control mode) is set to 9 (EtherCAT mode).
NOTE
5) Configuring PDO
Select 0x1600 and 0x1A00 as shown in the following figure. Change the current PDO only if it does not
fulfill your needs. To modify the PDO, right click the PDO Content window, click "Delete" to delete the
redundant PDO or click "Insert" to add the PDO needed.
-360-
-361-
6) Activating the configuration and switching to the running mode
a） Click .
b） Click " 确定 " (OK).
c） After clicking " 确定 " (OK), the device enters OP status as shown in the "Online" interface, and the 3rd
LED on the keypad displays 8, the keypad display_88RY.
-362-
7) Controlling the servo drive through NC controller or PLC program
7-1) Servo drive running in the CSP mode
a） Set the unit.
The unit is "mm" during testing.
b） Set the scaling factor.
■■ Scaling factor: distance corresponding to the encoder pulses per position feedback
For example, 8388608 pulses per motor revolution corresponds to the distance of 60 mm, and the scaling
factor is: 60/8388608 = 0.000007152557373 mm/Inc.
-363-
c） Set the encoder feedback mode to "PosVelo".
Descriptions for "Other Settings":
■■ Encoder mode: There are three encoder modes: Pos, PosVelo, and PosVeloAcc.
■■ Pos: The encoder only calculates the position and is used when the position loop is in the servo drive.
■■ PosVelo: The encoder only calculates the position and speed and is used when the position loop is in
TWinCAT NC.
■■ PosVeloAcc: The TWinCAT NC uses the encoder to determine the position, speed, and acceleration.
d） Jogging test
Hide the system deviation temporarily.
Click "Set" to display a dialog box and then click "All" to enable the servo drive. Perform jogging through
F1 to F4. The jog speed is set as follows.
-364-
7-2) Controlling the servo operations through the PLC
a） Create a PLC program.
-365-
b） Add a motion control library for the convenience of calling the motion control function block.
c） Create a POU program.
d） Call the motion module to implement some simple actions of the servo drive and input the final
program to PLCtask.
-366-
e） Link the axis to the variable defined in the PLC.
f） Compile the program. If there is not fault, activate the configuration and log onto the PLC.
g） Click "Start" to make the servo drive run.
-367-
8) Adding the HMI interface to control the servo drive through the HMI interface
9) Using the scope view function of Beckhoff.
a） Add a scope view project as shown in the following figure.
-368-
b） Add parameters to be monitored to monitor these parameters during PLC running.
-369-
11 Appendix
11 Appendix
11.1 Standards Compliance
11.1.1 CE Certification
■■ CE Mark
Figure 11-1 CE Mark
1) The CE mark indicates compliance with European safety and environmental regulations. The
European Norm includes the Machinery Directive for machinery manufacturers, the Low Voltage
Directive for electronics manufacturers, and EMC directive for electromagnetic interference control.
2) The CE mark is required for engaging in commercial business (production, importation, and
distribution) in Europe.
3) This servo drive carries the CE mark and complies with the following directives:
■ Low Voltage Directive: 2014/35/EU
■ EMC Directive: 2014/30/EU
4) Machines and devices integrated with this servo drive must also be CE certified.
5) The integrator who integrates this servo drive into other products and attaches CE mark to the final
assembly has the responsibility of ensuring compliance with CE standards and the European Norm.
11.1.2 Low Voltage Directive Compliance
This servo drive has been tested according to IEC 61800-5-1, and it complies with the Low Voltage Direc-
tive.
Abide by the following requirements to enable machines and devices integrated with this servo drive to
comply with the Low Voltage Directive.
■■ Installation location
Install the servo drive in places with overvoltage and pollution respectively not higher than category 3
and severity 2 in accordance with IEC60664.
■■ Fuse on the input side (primary side)
To prevent accidents caused by short circuit, connect an UL-compliant fuse on the input side. Select the
fuse according to the following table.
-370-
11 Appendix
Table 11-1 Recommended fuse model
Servo Drive Series Servo Drive Model Rated Input Current Bussmann FWH Series (UL-compliant)
Single-phase 220 V
SV660NS1R6I 2.3 FWP-15B

Size A
SV660NS2R8I 4 FWP-20B
Size B SV660NS5R5I 7.9 FWP-20B
Three-phase 220 V
Size B SV660NS6R6I 3.7 FWP-20B
◆◆ When the fuse burns or the wiring breaker trips, do not switch on the power supply or operate the
machine immediately. Check the cable connections and the models of peripherals to identify the
cause. If the cause cannot be identified, contact Inovance. Do not switch on the power supply or
operate the machine without permission before identifying the cause.
NOTE ◆◆ Each input cable of the servo drive must be connected to a fuse. When a fuse burns, replace all
the fuses.
■■ In-cabinet installation to prevent entry of foreign objects
The SV660N series servo drive must be installed in a cabinet with the fire-proof housing that provides
effective electrical and mechanical protection. The installation must conform to local laws and
regulations and related IEC requirements.
■■ Grounding
For a servo drive of class 400 V, connect the neutral point of the servo drive power supply to the ground.
11.1.3 EMC Directive Compliance
Electromagnetic compatibility (EMC) describes the ability of electrical and electronic devices to work
properly in the electromagnetic environment without introducing electromagnetic interferences that
disturb the operation of other local devices or systems. In other words, EMC includes two aspects:
1) The electromagnetic interference generated by a device during normal operation cannot exceed a
certain limit.
2) The device must have sufficient immunity to the electromagnetic interference in the environment.
Abide by the following requirements to make SV660N series servo drives comply with the European EMC
directive 2014/30/EU, EN 61800-3 C2, IEC 61800-3, and IEC 61800-5-2:
1) Install the recommended external EMC filter on the servo drive’s input end and the shielded cable
on the output end. Ensure that the filter is reliably grounded and the output cable shield is
grounded 360 degrees with a cable gland. See section 11.1.5 for selection of the EMC filter.
2) Install the recommended AC reactor on the input end. See section 11.1.5 for selection of the reactor.
3) Use a shielded cable between the servo drive and the motor. See "3 Wiring" for selection and layout
of the cables.
4) Install and wire the servo drive according to the recommended wiring method. See "3 Wiring" for
details.
5) Install a common mode filter if necessary.
-371-
11 Appendix
◆◆ When applied in the first environment, the servo drive may generate radio interference. In addi-
tion to the CE compliance requirements described in this chapter, take measures to prevent the
radio interference if necessary.
◆◆ The manufacturer of the system integrated with this drive is responsible for compliance of the
NOTE system with the European EMC directive and standard EN 61800-3:2004 +A1:2012 according to
the system application environment.
11.1.4 Definition of EMC Terms
First environment: Environment that includes domestic premises, and establishments directly
connected without intermediate transformers to a low-voltage power supply network which supplies
buildings used for domestic purposes
Second environment: Environment that includes all establishments other than those directly connected
to a low-voltage power supply network which supplies buildings used for domestic purposes
Category C1 drive: Power drive system (PDS) with rated voltage less than 1000 V, intended for use in the
first environment
Category C2 drive: PDS with rated voltage less than 1000 V, which is neither a plug-in device nor a
movable device and, when used in the first environment, is intended to be installed and commissioned
only by professionals
Category C3 drive: PDS with rated voltage less than 1000 V, intended for use in the second environment
and not intended for use in the first environment
Category C4 drive: PDS with rated voltage equal to or above 1000 V, or rated current equal to or above
400 A, or intended for use in complex systems in the second environment
11.1.5 Selection of EMC Filters
■■ EMI filter
The following series of filters fulfill the EN 61800-3 C2 emission requirement of CE certification. Connect
the filter and the servo drive to the same grounding reference surface to enable reliable grounding of the
filter. The cable between the filter and the servo drive must be shielded cable with length less than
30 cm.
1) Appearance
Figure 11-2 Schaffner FN3258 series filter
Figure 11-3 Schaffner FN2080 series filter
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11 Appendix
■■ Recommended Model Selection
The recommended Schaffner models are listed in the following table.
Table 11-2 Recommended EMC input filters
Rated Input Current Filter Model

Series Servo Drive Model
(In) (Manufactuer: Schaffner)
Single-phase 220 V
SV660NS1R6I 2.3 FN2090-3-06

Size A
SV660NS2R8I 4 FN2090-4-06
Size B SV660NS5R5I 7.9 FN2090-8-06
Three-phase 220 V
Size B SV660NS6R6I 3.7 FN 3258-7-44
2) Mounting dimensions (FN2080 and FN3258)
Multiple servo drives can be connected to the same external EMI filter if the following conditions are
met:
■■ The single-phase device is connected to a single-phase EMI filter, and the three-phase device is
connected to a three-phase EMI filter.
■■ The total power consumption of the connected device must be equal to or less than the rated
current allowed by the EMI filter.
■■ Dimensions of Schaffner FN2080 series filters (1-16 A)
A I
F
D H
K
B E G
J
N
L M
C
Figure 11-4 Dimensions of FN2080 series filters (1–16 A) (unit: mm)
Table 11-3 Dimensions of FN2080 series filters (1-16 A) (unit: mm)
Rated
Current A B C D E F G H I J K L M N
(A)
1 85 54 30.3 64.8 49.8 75 27 12.3 20.8 19.9 5.3 6.3 0.7 6.3 x 0.8
3 85 54 40.3 64.8 49.8 75 27 12.3 29.8 11.4 5.3 6.3 0.7 6.3 x 0.8
6 113.5±1 57.5±1 45.4±1 94±1 56 103 25 12.4 32.4 15.5 4.4 6 1 6.3 x 0.8
10 156±1 57.5±1 45.4±1 130.5±1 56 143 25 12.4 32.5 15.5 5.3 6 1 6.3 x 0.8
12 156±1 57.5±1 45.4±1 130.5±1 56 143 25 12.4 32.5 15.5 5.3 6 1 6.3 x 0.8
16 119±1 85.5±1 57.6±1 98.5±1 84.5 109 40 15.6 - 42.25 4.4 7.4 1.2 6.3 x 0.8
-373-
11 Appendix
■■ Dimensions of Schaffner FN3258 series filters (7-180 A)
D I
C
J
L
H
K
A
B
G
F
Figure 11-5 Dimensions of FN3258 series filters (7-180 A) (unit: mm)
Table 11-4 Dimensions of FN3258 series filters (7-180 A)
Rated Input
A B C D E F G H I K L
Current J
(mm) (mm) (mm) (mm) (mm) (mm) (mm) (mm) (mm) (mm) (mm)
(A)
7 190 40 70 160 180 20 4.5 1 22 M5 20 29.5
16 250 45 70 220 235 25 5.4 1 22 M5 22.5 29.5
30 270 50 85 240 255 30 5.4 1 25 M5 25 39.5
42 310 50 85 280 295 30 5.4 1 25 M6 25 37.5
55 250 85 90 220 235 60 5.4 1 39 M6 42.5 26.5
75 270 80 135 240 255 60 6.5 1.5 39 M6 40 70.5
100 270 90 150 240 255 65 6.5 1.5 45 M10 45 64
130 270 90 150 240 255 65 6.5 1.5 45 M10 45 64
180 380 120 170 350 365 102 6.5 1.5 51 M10 60 47
3) Safety capacitance box and ferrite core
To filter out part of the interference generated during running, connect a safety capacitance box and
wind a ferrite core around the input/output cable in some applications.
The safety capacitance box must be grounded to the grounding terminal of the servo drive with a
grounding cable as short as possible (within 15 cm).
-374-
11 Appendix
-
-
-
1
%
D
/
6
- 7
-
- 8
1&
1&
$BCMFMFOHUI $BCMFMFOHUI
NN NN
$YZ
'FSSJUFDPSF
4BGFUZDBQBDJUBODFCPY
XJOECZUISFFDJSDMFT
Figure 11-6 Installation of the capacitance box and the ferrite core
■■ Dimension drawing of the safety capacitance box
6.5±0.2 4.5±0.2
Brown
Brown
75±0.5
65±2
85±2
Brown Yellow-green
38±2
45±0.5
65±2
72±2
Figure 11-7 Dimensions of the safety capacitance box
-375-
11 Appendix
Table 11-5 Dimensions of the safety capacitance box
Safety Capacitance Box Dimension (Width x Mounting Dimension (Width x

Code
Model Depth x Height) (mm) Depth) (mm)
Cxy-1-1 11025018 85 x 72 x 38 45 x 75
■■ Selection of the output ferrite core
To reduce the noise current and the interference to neighboring devices, install the output ferrite core
around the U/V/W power cables (PE excluded) near the servo drive side.
-
-
-
1
%
D
/
6
7
8
1&
6
7 8
$BCMFMFOHUI
1& NN
'FSSJUFDPSF
XJOECZUISFFDJSDMFT
Figure 11-8 Installation of the output ferrite core (external)
-376-
11 Appendix
Figure 11-9 Appearance of the output ferrite core (external)
Table 11-6 Model selection of the output ferrite core (external)
Dimension (Outer Diameter x Inner

Ferrite Core Model Code
Diameter x Thickness) (mm)
CTRC 0930 -1B 11013003 19.5 x 9 x 35
7427122S 11013046 32.8 x 13.5 x 28
DY644020H 11013031 64 x 40 x 20
DY805020H 11013032 80 x 50 x 20
DY1207030H 11013033 120 x 70 x 30
■■ AC input reactor
The AC input reactor is an option used to suppress the harmonics in the input current. In applications
where strong suppression of harmonics is required, install an external AC input reactor.
11.1.6 Cable Requirements and Routing
■■ Requirements on Power Cables
To fulfill the EMC requirements of CE marking, use shielded cables. Shielded cables are classified into
three-conductor cables and four-conductor cables. If the conductivity of the cable shield cannot meet
the requirement, add a separate PE cable, or use a four-conductor shielded cable, of which one phase
conductor is PE cable. The cable shield, which serves to suppress the emission and conduction of the
radio frequency interference, must be made of co-axial copper braids with a weaving density larger than
85% to enhance shielding and conductivity performance.
Power cables recommended are shielded cables, as shown in the following figure.
PE and shield Shield Shield Shield
PE PE
PE
■■ Requirements on wiring
1) The motor cables and PE shielded cables (twisted) must be as short as possible. For motor cables
over 100 meters, install an output filter or a dv/dt reactor.
2) It is recommended to adopt shielded cables as control cables.
3) It is recommended to adopt shielded cables as motor brake cables.
-377-
11 Appendix
4) The motor cables must be routed away from other cables. The motor cables of several servo drives
can be routed in parallel.
5) It is recommended that the motor cables, power input cables and control cables be routed in
different cable duct. The motor cables and other cables cannot be routed in parallel for a long
distance. This is to prevent the electromagnetic interference caused by rapid change of the drive
output voltage.
6) If the control cable must pass through the power cable, make sure the angle between them is close
to 90 degrees. Other cables cannot pass through the servo drive.
7) Power input and output cables and signal cables (such as control cables) of the servo drive should,
if possible, be laid vertically rather than in parallel.
8) Cable ducts must be in good connection and well grounded. Aluminum cable ducts can be used to
improve equal potential.
9) The grounding plane of different equal potential must be connected properly with cables of above
16 mm2.
10) The filter, the servo drive and the motor must be properly connected to systems, with the
conductive metal kept in full contact.
■■ The recommended wiring diagram is shown below.
Main circuit cable
Control cable Min.: 300 mm

Power cable
Min.: 200 mm
Min.: 500 mm
Main circuit cable Communication cable
Min.: 500 mm
Communication cable Servo drive
Control cable
90 ° Min.: 500 mm Regenerative

resistor cable
Power cable
Min.: 500 mm
Control cable 90 °
Main circuit cable Encoder cable
11.1.7 Solutions to Leakage Current
The servo drive outputs high-speed pulse voltage, which may generate high-frequency leakage current.
It is recommended to use a residual current device (RCD) with action current no less than 100 mA. If
multiple servo drives share the same RCD, the action current of this RCD must be no less than 300 mA.
Factors that affect the leakage current are listed as follows:
■■ Distributed capacitance of the motor
■■ Carrier frequency
■■ Type and length of the motor cables.
■■ EMI filter
-378-
11 Appendix
When the leakage current generated by the servo drive triggers the RCD to act, take the following
measures:
■■ Increase the rated action current of the RCD.
■■ Replace the original RCD with a time-delay type-B RCD.
■■ Reduce the carrier frequency.
■■ Shorten the length of the output drive cables.
■■ Wind the ferrite core around the power cables (PE cable excluded). Recommended RCD brands are
Chint and Schneider.
11.1.8 Solutions to Common EMC Problems
The servo drive generates strong interferences. Although EMC measures are taken, interference may still
exist due to improper wiring or grounding during use. When the servo drive interferes with other devices,
adopt the following solutions.
Table 11-7 Solutions to common EMC interference problems
Interference Type Solution
◆◆ Reduce the carrier frequency without compromising the performance.

◆◆ Shorten the servo drive cable length.
◆◆ Wind the ferrite core around the power cables (PE cable excluded).
◆◆ For tripping at the moment of power-on, disconnected the capacitor that carries
RCD tripping larger capacity (disconnect the grounding end of the external or internal filter and
the grounding end of the grounding Y capacitor of the input terminal).
◆◆ For tripping during running or enabling, take leakage current
suppression measures (install a leakage current filter, or install a safety capacitor
and wind the ferrite core, or wind the ferrite core).
◆◆ Connect the motor housing to the PE terminal of the servo drive.

◆◆ Connect the PE terminal of the servo drive to the PE terminal of the mains power
supply.
◆◆ Route the power cables (main circuit cables，power cables, and
regenerative resistor cables), control cables, and signal cables through different
routes.
◆◆ Wind the ferrite core around the power cables (PE cable excluded).
Interference generated ◆◆ Install a capacitor to the interfered signal port or wind the ferrite core around this
during running port.
◆◆ Install a matching resistor between the communication cable source and the load
end.
◆◆ Add an auxiliary reference ground wire if the differential cable pair are used for
communication.
◆◆ Adopt shielded cables as communication cables
◆◆ Apply additional common-ground connection between devices and
cabinets.
-379-
11 Appendix
11.1.9 UL Certification
Figure 11-10 UL/cUL mark
The UL/cUL mark is commonly applied to products in the United States and Canada. It indicates that UL
has performed product tests and evaluations, and determined that their stringent standards for product
safety have been met. For a product to receive UL certification, the main components inside that product
must also be UL certificated.
This series of servo drives have been tested in accordance with UL standard UL508C and comply with
UL standards. Abide by the following requirements to enable machines and devices integrated with this
servo drive to comply with UL standards.
■■ Installation location
Install the servo drive in a place with pollution degree 1 or 2 (UL standard).
■■ Ambient temperature
Run the servo drive in an ambient temperature not higher than 50° C.
■■ Wiring example
See "3 Wiring" or the wiring diagram that complies with the Low Voltage Directive.
■■ Wiring of main circuit terminals
To meet UL standard, use UL-compliant crimping terminals to crimp the cables on main circuit terminals
with the tools recommended by the terminal manufacturer for crimping. Use crimping terminals with
insulated cladding or insulated sleeves.
Adopt UL-compliant insulated copper cables as main circuit cables, and the continuous maximum
allowable temperature of such cables is 75° C.
Select the cable dimension and tightening torque according to "3 Wiring" during wiring.
（Note: “ “ indicates the grounding terminal defined in IEC/EN60417-5019)

■■ Fuse on the input side (primary side)
To prevent accidents caused by short circuit, connect a fuse that complies with UL standards on the
input side. See "Table 11-1 Recommended fuse model" for fuse selection.
See the specifications and model selection of the servo drive for the input and output current of the
servo drive.
See "Table 11-1 Recommended fuse model" for fuse model recommendations.
◆◆ When the fuse burns or the wiring breaker trips, do not switch on the power supply or operate the
machine immediately. Check the wiring and the models of peripherals to identify the cause. If the
cause cannot be identified, contact Inovance. Do not switch on the power supply or operate the
machine without permission before identifying the cause.
NOTE ◆◆ Each input cable of the servo drive must be connected to a fuse. When a fuse burns, replace all
the fuses.
-380-
11 Appendix
■■ Short-circuit withstand capacity
This series of servo drives adopt the Bussmann FWH series fuses, which can be used in a 480 V (400 V
class) and below mains circuit with short-circuit current less than 100,000 A.
11.2 List of Object Groups
Description of Object Groups
Parameter access address: Index + subindex, both are hexadecimal data.
The CiA402 protocol establishes the following constraints on the parameter address.
Index (Hex) Description
0000-0FFF Data type description
1000-1FFF CoE communication object
2000-5FFF Manufacturer-defined object
6000-9FFF Sub-protocol object
A000-FFFF Reserved
Object Group 1000h
Index Sub-index PDO Data

Name Accessibility Unit Data Range Default
(hex) (hex) Mapping Type
1000 00 Device Type RO NO UINT32 - - 0x00020192

Manufacturer device
1008 00 RO NO - - - SV660N-ECAT
name
Determined by
Manufacturer
1009 00 RO NO - - - the software
hardware version
version
Determined by
Manufacturer
100A 00 RO NO - - - the hardware
software version
version
ID object
Highest sub-index
00 No. included in the ID RO NO UINT8 - - 0x04
object
1018
01 Vendor ID RO NO UINT32 - - 0x00100000
02 Product code RO NO UINT32 - - 0x000C010D
03 Revision number RO NO UINT32 - - 0x00010001
04 Serial No. RO NO UINT32 - - 0x00000000
Manufacturer software version
Number of Sync
00 RO NO UINT8 - - 0x04
Manager channels
Communication type
01 RO NO UINT8 - - 0x01
SM0
1C00 Communication type
02 RO NO UINT8 - - 0x02
SM1
Communication type
03 RO NO UINT8 - - 0x03
SM2
Communication type
04 RO NO UINT8 - - 0x04
SM3
-381-
11 Appendix

RPDO mapping object in group 1600

Number of mapped
00 application objects in RW NO UINT8 - 0–0x0A 0x03
group 1600
01 1st application object RW NO UINT32 - 0–0xFFFFFFFF 0x60400010
2nd application
02 RW NO UINT32 - 0–0xFFFFFFFF 0x60600008
object
03 3rd application object RW NO UINT32 - 0–0xFFFFFFFF 0x60B80010
1600
04 4th application object RW NO UINT32 - 0–0xFFFFFFFF -
10th application
0A RW NO UINT32 - 0–0xFFFFFFFF -
object
RPDO mapping objects in group 1701
Number of mapped
00 application objects in RO NO UINT8 - - 0x04
group 1701
1701 01 1st application object RO NO UINT32 - - 0x60400010
2nd application
02 RO NO UINT32 - - 0x607A0020
object
03 3rd application object RO NO UINT32 - - 0x60B80010
04 4th application object RO NO UINT32 - - 0x60FE0120
Number of mapped
group 1702
01 1st application object RO NO UINT32 - - 0x60400010
2nd application
1702 02 RO NO UINT32 - - 0x607A0020
object
03 3rd application object RO NO UINT32 - - 0x60FF0020
04 4th application object RO NO UINT32 - - 0x60710010
06 6th application object RO NO UINT32 - - 0x60B80010
07 7th application object RO NO UINT32 - - 0x607F0020
Number of mapped
00 application objects in RO NO UINT8 - 0x07
group 1703
01 1st application object RO NO UINT32 - 0x60400010
2nd application
1703 02 RO NO UINT32 - 0x607A0020
object
03 3rd application object RO NO UINT32 - 0x60FF0020
04 4th application object RO NO UINT32 - 0x60600008
05 5th application object RO NO UINT32 - 0x60B80010
06 6th application object RO NO UINT32 - 0x60E00010
07 7th application object RO NO UINT32 - 0x60E10010
-382-
11 Appendix


Number of mapped
group 1704
01 1st application object RO NO UINT32 - - 0x60400010
2nd application
02 RO NO UINT32 - - 0x607A0020
object
1704
03 3rd application object RO NO UINT32 - - 0x60FF0020
08 8th application object RO NO UINT32 - - 0x60E00010
09 9th application object RO NO UINT32 - - 0x60E10010
Number of mapped
00 application objects in RW NO UINT8 - - 0x08
group 1705
01 1st application object RW NO UINT32 - - 0x60400010
2nd application
02 RW NO UINT32 - - 0x607A0020
1705 object
03 3rd application object RW NO UINT32 - - 0x60FF0020
04 4th application object RW NO UINT32 - - 0x60600008
05 5th application object RW NO UINT32 - - 0x60B80010
06 6th application object RW NO UINT32 - - 0x60E00010
07 7th application object RW NO UINT32 - - 0x60E10010
08 8th application object RW NO UINT32 - - 0x60B20010
Mapping objects in group 1A00
Number of mapped
00 application objects in RW NO UINT8 - 0–0x0A 0x07
group 1A00
01 1st application object RW NO UINT32 - 0–0xFFFFFFFF 0x60410010
2nd application
02 RW NO UINT32 - 0–0xFFFFFFFF 0x60640020
object
03 3rd application object RW NO UINT32 - 0–0xFFFFFFFF 0x60B90010
1A00 04 4th application object RW NO UINT32 - 0–0xFFFFFFFF 0x60BA0020
05 5th application object RW NO UINT32 - 0–0xFFFFFFFF 0x60BC0020
06 6th application object RW NO UINT32 - 0–0xFFFFFFFF 0x603F0010
07 7th application object RW NO UINT32 - 0–0xFFFFFFFF 0x60FD0010
10th application
0A RW NO UINT32 - 0–0xFFFFFFFF -
object
-383-
11 Appendix

Mapping objects in group 1B01

Number of mapped
group 1B01
01 1st application object RO NO UINT32 - - 0x603F0010
2nd application
02 RO NO UINT32 - - 0x60410010
object
1B01
03 3rd application object RO NO UINT32 - - 0x60640020
07 7th application object RO NO UINT32 - - 0x60BA0020
08 8th application object RO NO UINT32 - - 0x60BC0020
09 9th application object RO NO UINT32 - - 0x60FD0010
Number of mapped
group 1B02
2nd application
02 RO NO UINT32 - - 0x60410010
object
1B02
09 9th application object RO NO UINT32 - - 0x60FD0010
Number of mapped
00 application objects in RO NO UINT8 - - 0x0A
group 1B03
2nd application
02 RO NO UINT32 - - 0x60410010
object
1B03
10th application
0A RO NO UINT32 - - 0x60FD0010
object
-384-
11 Appendix


Number of mapped
00 application objects in RO NO UINT8 - - 0x0A
group 1B04
2nd application
02 RO NO UINT32 - - 0x60410010
object
1B04
10th application
0A RO NO UINT32 - - 0x606C0020
object
Sync Manager 2_RPDO assignment
Number of assigned
00 RW NO UINT8 - 0–0x01 0x01
RPDOs
1C12
1st PDO mapping
01 object index of RW YES UINT16 - 0–0xFFFF 0x1701
assigned RPDO
Sync Manager 2_TPDO assignment
Number of assigned
00 RW NO UINT8 - 0–0x1 0x01
TPDOs
1C13
1st PDO mapping
01 object index of RW YES UINT16 - 0–0xFFFF 0x1B01
assigned TPDO
Sync Manager 2 Synchronization output
Number of
00 synchronization RO NO UINT8 - - 0x20
parameters
01 Synchronization type RO NO UINT16 - - 0x0002
02 Cycle Time RO NO UINT32 ns - 0
1C32 Synchronization
04 RO NO UINT16 - - 0x0004
types supported
05 Minimum cycle time RO NO UINT32 ns - 0x0003D090
Calculation and copy
06 RO NO UINT32 ns - -
time
09 Delay time RO NO UINT32 ns - -
20 Synchronization error RO NO BOOL - - -
-385-
11 Appendix

Sync Manager 2 Synchronization input

Number of synchroni-
00 RO NO UINT8 - - 0x20
zation parameters
01 Synchronization type RO NO UINT16 - 0x0002
02 Cycle Time RO NO UINT32 ns - 0
Synchronization
1C33 04 RO NO UINT16 - - 0x0004
types supported
05 Minimum cycle time RO NO UINT32 ns - 0x0003D090
Calculation and copy
06 RO NO UINT32 ns - -
time
09 Delay time RO NO UINT32 ns - -
20 Synchronization error RO NO BOOL - - -
-386-
11 Appendix
Object Group 2000h
Parameter Group
Hexadecimal Decimal Min. Setting Effective
Name Option Description Value Range Default Width
Index Para. unit Condition Time
Group
Code No.
2000h/H00 Servo motor parameters
Next
01h H00-00 Motor code - 0–65535 14101 1 16 bits At stop
power-on
Customized
03h H00-02 - 0–0xFFFFFFFF 0 1 32 bits - -
software version
05h H00-04 Encoder version - 0–65535 0 0.1 16 bits - -
Serial encoder
2000 06h H00-05 - 0–65535 0 1 16 bits - -
motor code
FPGA customized
07h H00-06 - 0–65535 0 1 16 bits - -
No.
08h H00-07 STO version 0–65535 0 1 16 bits - -
Serial encoder Next
09h H00-08 - 0–65535 0 1 16 bits At stop
type power-on
2001h/H01: Servo drive parameters
MCU firmware
01h H01-00 - 0–65535 0 0.1 16 bits - -
version
FPGA firmware
02h H01-01 - 0–65535 0 0.1 16 bits - -
version
2: 1R6
3: S2R8
5: S5R5
60005: S6R6
6: S7R6
7: S012
Next
0Bh H01-10 Servo series No. 10001: T3R5 0–65535 3 1 16 bits At stop
power-on
10002: T5R4
10003: T8R4
10004: T012
10005: T017
2001
10006: T021
10007: T026
Voltage class of
0Ch H01-11 - 0–65535 220 1V 16 bits - -
the drive unit
Rated power of
0Dh H01-12 - 0–1073741824 40 0.01 kW 32 bits - -
the servo drive
Max. output power
0Fh H01-14 - 0–1073741824 40 0.01 kW 32 bits - -
of the servo drive
Rated output
11h H01-16 current of the servo - 0–1073741824 280 0.01 A 32 bits - -
drive
Max. output current
13h H01-18 - 0–1073741824 1010 0.01 A 32 bits - -
of the servo drive
DC bus overvoltage
29h H01-40 protection - 0–2000 420 1V 16 bits - -
threshold
2002h/H02 Basic control parameters
0: Speed mode
1: Position mode Immedi-
2002 01h H02-00 Control mode 0–9 9 1 16 bits At stop
2: Torque mode ately
9: EtherCAT mode
-387-
11 Appendix
Parameter Group
Group
Code No.
0: Incremental mode
1: Absolute position
linear mode
rotation mode
Absolute system Next
02h H02-01 3: Absolute position 0–4 0 1 16 bits At stop
selection power-on
linear mode, no
encoder overflow
alarm
single-turn mode
0: CCW direction as the

forward direction Next
03h H02-02 Rotation direction 0–1 0 1 16 bits At stop
1: CW direction as the power-on
forward direction
0: Coast to stop,
keeping de-energized
state
1: Stop at zero speed,
keeping position lock
state
2: Stop at zero speed,
state
3: Ramp to stop as
defined by 6085h/609Ah,
Stop mode upon Immedi-
08h H02-07 state 0–7 1 1 16 bits At stop
overtravel ately
2002 4: Ramp to stop as
defined by 6085h/609Ah,
keeping position lock
state
5: DB stop, keeping
de-energized state
6: DB stop, keeping DB
state
7: Not responding to
overtravel, displaying
the alarm only
0: Coast to stop,
state
Stop mode at No. Immedi-
09h H02-08 1: DB Stop, keeping 0–2 2 1 16 bits At stop
1 fault ately
de-energized state
2: DB Stop, keeping DB
state
Delay from brake
output ON to During Immedi-
0Ah H02-09 - 0–500 250 1 ms 16 bits
command running ately
received
Delay from brake
output OFF to During Immedi-
0Bh H02-10 - 50–1000 150 1 ms 16 bits
motor running ately
de-energized
Motor speed
threshold at brake During Immedi-
0Ch H02-11 - 20–3000 30 1 RPM 16 bits
output OFF in the running ately
rotation status
-388-
11 Appendix
Parameter Group
Group
Code No.
Delay from S-ON
OFF to brake During Immedi-
0Dh H02-12 - 1–1000 500 1 ms 16 bits
output OFF in the running ately
rotation state
0: Output warning
information
Warning During Immedi-
10h H02-15 immediately 0–1 0 1 16 bits
display on keypad running ately
1: Not output warning
information
0: Disable During Immedi-

11h H02-16 Brake switch 0–1 1 1 16 bits
1: Enable running ately
Permissible
min. resistance
16h H02-21 - 1–1000 40 1Ω 16 bits - -
of regenerative
resistor
Power of built-
17h H02-22 in regenerative - 0–65535 0 1W 16 bits - -
resistor
Resistance of
built-in
18h H02-23 - 0–65535 0 1Ω 16 bits - -
regenerative
resistor
Resistor heat
During Immedi-
19h H02-24 dissipation - 10–100 30 1% 16 bits
running ately
coefficient
0: Built-in
2002 1: External, naturally
ventilated
Regenerative During Immedi-
1Ah H02-25 2: External, forced air 0–3 3 1 16 bits
resistor type running ately
cooling
3: No regenerative
resistor needed
Power of
external During Immedi-
1Bh H02-26 - 1–65535 40 1 kW 16 bits
regenerative running ately
resistor
Resistance of
external During Immedi-
1Ch H02-27 - 1–1000 50 1Ω 16 bits
regenerative running ately
resistor
During Immedi-
1Fh H02-30 User password - 0–65535 0 1 16 bits
running ately
0: No operation
System parameter 1: Restore default Immedi-
20h H02-31 0–2 0 1 16 bits At stop
initialization settings ately
2: Clear fault records
Group H0B
During Immedi-
21h H02-32 parameter - 0–99 50 1 16 bits
running ately
selection
Keypad data During Immedi-
24h H02-35 - 0–20 0 1 Hz 16 bits
refresh rate running ately
During Immedi-
2Ah H02-41 Factory password - 0–65535 0 1 16 bits
running ately
-389-
11 Appendix
Parameter Group
Group
Code No.
2003h/H03 Terminal input parameters
0: No definition
1: S-ON
2: Fault reset
14: Positive limit switch
DI1 function 15: Negative limit During Immedi-
03h H03-02 0–65535 14 1 16 bits
selection switch running ately
31: Home switch
34: Emergency stop
38: Touch probe 1
39: Touch probe 2
0: Normally open During Immedi-
04h H03-03 DI1 logic selection 0–1 0 1 16 bits
1: Normally closed running ately
0–39
DI2 function During Immedi-
05h H03-04 See the description of 0–65535 15 1 16 bits
selection running ately
H03-02 for details.
0–1
During Immedi-
06h H03-05 DI2 logic selection See the description of 0–1 0 1 16 bits
running ately
H03-03 for details.
0–39
H03-02 for details.
0–1
During Immedi-
08h H03-07 DI3 logic selection See the description of 0–1 0 1 16 bits
2003 running ately
H03-03 for details.
0–39
H03-02 for details.
0–1
During Immedi-
0Ah H03-09 DI4 logic selection See the description of 0–1 0 1 16 bits
running ately
H03-03 for details.
0–39
0Bh H03-10 See the description of 0–65535 38 1 16 bits
H03-02 for details.
0–1
During Immedi-
0Ch H03-11 DI5 logic selection See the description of 0–1 0 1 16 bits
running ately
H03-03 for details.
During Immedi-
3Dh H03-60 DI1 filter time - 0–50000 50 0.01 ms 16 bits
running ately
During Immedi-
3Eh H03-61 DI2 filter time - 0–50000 50 0.01 ms 16 bits
running ately
During Immedi-
3Fh H03-62 DI3 filter time - 0–50000 50 0.01 ms 16 bits
running ately
During Immedi-
40h H03-63 DI4 filter time - 0–50000 50 0.01 ms 16 bits
running ately
During Immedi-
41h H03-64 DI5 filter time - 0–50000 50 0.01 ms 16 bits
running ately
-390-
11 Appendix
Parameter Group
Group
Code No.
2004h/H04 Terminal Output Parameters
0: No definition
1: Servo ready
2: Motor rotating
DO1 function 9: Brake output During Immedi-
01h H04-00 0–32 1 1 16 bits
selection 10: Warning running ately
11: Fault
25: Comparison output
32: STO EDM
DO1 logic selec- 0: Normally open During Immedi-

02h H04-01 0–1 0 1 16 bits
tion 1: Normally closed running ately
2004
0–32
DO2 function During Immedi-
H04-00 for details.
0–1
DO2 logic selec- During Immedi-
tion running ately
H04-01 for details.
0–32
DO3 function During Immedi-
H04-00 for details.
0–1
DO3 logic selec- During Immedi-
tion running ately
H04-01 for details.
2005h/H05 Position control parameters
First-order low-
Immedi-
05h H05-04 pass filter time - 0–65535 0 0.1 ms 16 bits At stop
ately
constant
Average filter time Immedi-
06h H05-05 - 0–1280 0 0.1 ms 16 bits At stop
constant 1 ately
Average filter time Immedi-
07h H05-06 - 0–1280 0 0.1 ms 16 bits At stop
constant 2 ately
0: No speed
feedforward
Speed 1: Internal speed
feedforward Immedi-
14h H05-19 feedforward 0–3 1 1 16 bits At stop
ately
control selection 2: 60B1 as speed
feedforward
3: Zero phase control
Duration limit of During Immedi-
2005 24h H05-35 - 0–65535 50000 0.1s 16 bits
homing running ately
Numerator of the
mechanical gear
Immedi-
33h H05-50 ratio in absolute - 1–65535 1 1 16 bits At stop
ately
position rotation
mode
Denominator of
mechanical gear
Immedi-
34h H05-51 ratio in absolute - 1–65535 1 1 16 bits At stop
ately
position rotation
mode
Pulses per
revolution of the
load in absolute Immedi-
35h H05-52 - 0–4294967295 0 1p 32 bits At stop
position rotation ately
mode (low 32
bits)
-391-
11 Appendix
Parameter Group
Group
Code No.
Pulses per
revolution of the
load in absolute Immedi-
2005 37h H05-54 - 0–4294967295 0 1p 32 bits At stop
position rotation ately
mode (high 32
bits)
2006h/H06 Speed control parameters
During Immedi-
04h H06-03 Speed reference - -6000 to +6000 200 1 RPM 16 bits
running ately
Acceleration ramp
During Immedi-
06h H06-05 time of speed - 0–65535 0 1 RPM 16 bits
running ately
reference
Deceleration
During Immedi-
07h H06-06 ramp time of - 0–65535 0 1 RPM 16 bits
running ately
speed reference
Forward speed During Immedi-
09h H06-08 - 0–6000 6000 1 RPM 16 bits
limit running ately
Reverse speed During Immedi-

0Ah H06-09 - 0–6000 6000 1 RPM 16 bits
limit running ately
Deceleration unit 0: x 1
Immedi-
0Bh H06-10 under emergency 1: x 10 0–2 0 1 16 bits At stop
ately
stop 2: x 100
2006
0: No torque
feedforward
Torque
1: Internal torque During Immedi-
0Ch H06-11 feedforward 0–2 1 1 16 bits
feedforward running ately
control selection
2: 60B2 as external
torque feedforward
Jog speed
During Immedi-
0Dh H06-12 acceleration ramp - 0–65535 10 1 ms 16 bits
running ately
time
Speed
During Immedi-
0Eh H06-13 feedforward - 0–2000 0 1 16 bits
running ately
smoothing filter
Motor speed During Immedi-
11h H06-16 - 0–1000 20 1 RPM 16 bits
threshold running ately
Spline torque
0: Disable During Immedi-
1Dh H06-28 compensation 0–1 1 1 16 bits
selection
2007h/H07 Torque control parameters
Torque reference
During Immedi-
04h H07-03 value set through - -3000 to +3000 0 0.1% 16 bits
running ately
keypad
Torque reference
During Immedi-
06h H07-05 filter time - 0–3000 79 0.01 ms 16 bits
running ately
constant 1
Torque reference
During Immedi-
07h H07-06 filter time - 0–3000 79 0.01 ms 16 bits
running ately
constant 2
2007
Forward internal During Immedi-
0Ah H07-09 - 0–3000 3000 0.1% 16 bits
torque limit running ately
Reverse internal During Immedi-
0Bh H07-10 - 0–3000 3000 0.1% 16 bits
torque limit running ately
Emergency stop During Immedi-
10h H07-15 - 0–3000 1000 0.1% 16 bits
torque running ately
During Immedi-
12h H08-17 Zero phase delay - 0–40 0 1 ms 16 bits
running ately
-392-
11 Appendix
Parameter Group
Group
Code No.
Forward internal
During Immedi-
14h H07-19 speed limit in - 0–6000 3000 1 RPM 16 bits
running ately
torque control
Reverse internal
During Immedi-
15h H07-20 speed limit in - 0–6000 3000 1 RPM 16 bits
running ately
torque control
Base value for During Immedi-
16h H07-21 - 0–3000 0 0.1% 16 bits
torque arrival running ately
Torque output
value when During Immedi-
17h H07-22 - 0–3000 200 0.1% 16 bits
torque arrival DO running ately
2007 signal turned on
Torque output
value when During Immedi-
18h H07-23 - 0–3000 100 0.1% 16 bits
torque arrival DO running ately
signal turned off
Time constant of During Immedi-
25h H07-36 - 0–10000 0 0.01 ms 16 bits
low-pass filter 2 running ately
Torque reference 0: First-order filter During Immedi-
26h H07-37 0–1 0 1 16 bits
filter selection 1: Biquad filter running ately
Attenuation ratio Immedi-
27h H07-38 - 0–50 16 1 16 bits At stop
of biquad filter ately
2008h/H08 Gain parameters
During Immedi-
01h H08-00 Speed loop gain - 1–20000 400 0.1 16 bits
running ately
Speed loop
During Immedi-
02h H08-01 integral time - 15–51200 1989 0.01 ms 16 bits
running ately
constant
During Immedi-
03h H08-02 Position loop gain - 1–20000 640 0.1 Hz 16 bits
running ately
2nd speed loop During Immedi-
04h H08-03 - 1–20000 750 0.1 Hz 16 bits
gain running ately
2nd speed loop
2008 During Immedi-
05h H08-04 integral time - 15–51200 1061 0.01 ms 16 bits
running ately
constant
2nd position loop During Immedi-
06h H08-05 - 1–20000 1200 0.1 Hz 16 bits
gain running ately
0: Fixed at the 1st
gain, P/PI switchover
through bit26 of 60FE
2nd gain mode During Immedi-
09h H08-08 1: 1st/2nd gain 0–1 1 1 16 bits
setting running ately
switchover valid, with
H08-09 as the
switchover condition
-393-
11 Appendix
Parameter Group
Group
Code No.
0: Fixed at 1st gain (PS)
1: Switchover through
bit26 of 60FE
2: Torque
reference too large (PS)
3: Speed
reference too large (PS)
4: Speed
reference change ratio
too large (PS)
Gain switchover 5: Speed reference During Immedi-
0Ah H08-09 high/low-speed 0–10 0 1 16 bits
condition running ately
threshold (PS)
6: Position
deviation too large (P)
7: Position reference
available (P)
8: Positioning
unfinished (P)
9: Actual speed (P)
10: Position reference
existed + Actual speed
(P)
Gain switchover During Immedi-
0Bh H08-10 - 0–10000 50 0.1 ms 16 bits
delay running ately
0Ch H08-11 - 0–20000 50 1 16 bits
level running ately
0Dh H08-12 - 0–20000 30 1 16 bits
hysteresis running ately
Position gain During Immedi-
0Eh H08-13 - 0–10000 30 0.1 ms 16 bits
switchover time running ately
2008
During Immedi-
10h H08-15 Load inertia ratio - 0–12000 100 0.01 16 bits
running ately
During Immedi-
12h H08-17 Zero phase delay - 0–40 0 1 ms 16 bits
running ately
Speed
During Immedi-
13h H08-18 feedforward filter - 0–6400 50 0.01 ms 16 bits
running ately
time constant
Speed During Immedi-
14h H08-19 - 0–1000 0 0.1% 16 bits
feedforward gain running ately
Torque
During Immedi-
15h H08-20 feedforward filter - 0–6400 50 0.01 ms 16 bits
running ately
time constant
Torque During Immedi-

16h H08-21 - 0–3000 0 0.1% 16 bits
feedforward gain running ately
0: Average filter on speed

feedback inhibited
1: 2 times of average filter
on speed feedback
Speed feedback 2: 4 times of average filter Immedi-
17h H08-22 0–4 0 1 16 bits At stop
filter option on speed feedback ately
on speed feedback
on speed feedback
Cutoff frequency
During Immedi-
18h H08-23 of low-pass filter 100–4000 4000 1 Hz 16 bits
running ately
of speed feedback
PDFF control During Immedi-
19h H08-24 0–1000 1000 0.1% 16 bits
coefficient running ately
-394-
11 Appendix
Parameter Group
Group
Code No.
Speed observer During Immedi-
1Ch H08-27 - 10–2000 170 1 Hz 16 bits
cutoff frequency running ately
Speed observer
During Immedi-
1Dh H08-28 inertia correction - 10–10000 100 0.01% 16 bits
running ately
coefficient
Speed observer During Immedi-
1Eh H08-29 - 2–2000 80 0.01 ms 16 bits
filter time running ately
Disturbance
During Immedi-
1Fh H08-30 compensation - 2–10000 20 0.01 ms 16 bits
running ately
time
Disturbance
During Immedi-
20h H08-31 observation - 10–1700 600 1 Hz 16 bits
running ately
cutoff frequency
Disturbance
During Immedi-
21h H08-32 compensation - 0–100 0 1% 16 bits
running ately
gain
Disturbance
observer inertia During Immedi-
22h H08-33 - 1–10000 100 0.01% 16 bits
correction running ately
coefficient
Speed observer 0: Disabled During Immedi-
29h H08-40 0–1 0 1 16 bits
selection 1: Enabled running ately
Model control 0: Disabled During Immedi-
2Bh H08-42 0–1 0 1 16 bits
selection 1: Enabled running ately
During Immedi-
2Ch H08-43 Model gain - 0–20000 400 0.1 16 bits
running ately
Feedforward During Immedi-
2Fh H08-46 - 0–1024 950 0.1 16 bits
2008 value running ately
Medium and low
frequency During Immedi-
36h H08-53 - 0–300 0 0.1 Hz 16 bits
jitter suppression running ately
frequency 3
Medium- and low-
frequency jitter During Immedi-
37h H08-54 - 0–200 0 1% 16 bits
suppression running ately
compensation 3
Medium- and
low- frequency
During Immedi-
39h H08-56 jitter suppression - 0–600 100 1% 16 bits
running ately
phase
modulation 3
Medium- and low-
frequency During Immedi-
3Ch H08-59 - 0–300 0 0.1 Hz 16 bits
jitter suppression running ately
frequency 4
Medium- and low-
frequency jitter During Immedi-
3Dh H08-60 - 0–200 0 1% 16 bits
suppression running ately
compensate 4
Medium- and
low- frequency
During Immedi-
3Eh H08-61 jitter suppression - 0–600 100 1% 16 bits
running ately
phase
modulation 4
Position loop
During Immedi-
3Fh H08-62 integral time - 15–51200 51200 0.01 16 bits
running ately
constant
-395-
11 Appendix
Parameter Group
Group
Code No.
2nd position loop
During Immedi-
40h H08-63 integral time - 15–51200 51200 0.01 16 bits
running ately
constant
2008
Speed 0: Disable During Immedi-
41h H08-64 observation 0–1 0 1 16 bits
feedback source
2009h/H09 Gain auto-tuning parameters
0: Invalid, gain
parameters adjusted
manually
1: Standard gain
auto-tuning mode
2: Positioning mode
Gain auto-tuning During Immedi-
01h H09-00 3: Interpolation mode + 0–7 0 1 16 bits
mode running ately
Inertia auto-tuning
4: Normal mode +
Inertia auto-tuning
6: Quick positioning
mode + Inertia
auto-tuning
Stiffness level During Immedi-

02h H09-01 - 0–41 15 1 16 bits
0: Adaptive notch no
longer updated
1: One adaptive notch
activated (3rd notch)
2: Two adaptive
notches activated (3rd
and 4th notches)
Adaptive notch During Immedi-
03h H09-02 3: Resonance point 0–4 0 1 16 bits
mode selection running ately
tested only, displayed
2009 in H09-24
4: Adaptive notch
cleared, values of the
3rd and 4th notches
restored to default
settings
0: Online auto-tuning
turned off
turned on, changing
slowly
Online inertia During Immedi-
04h H09-03 2: Online auto-tuning 0–3 0 1 16 bits
auto-tuning mode running ately
turned on, changing
normally
turned on, changing
quickly
Offline inertia 0: Bidirectional Immedi-
06h H09-05 0–1 0 1 16 bits At stop
auto-tuning mode 1: Unidirectional ately
Maximum speed
Immedi-
07h H09-06 of inertia - 100–1000 500 1 RPM 16 bits At stop
ately
auto-tuning
Time constant
for accelerating
to the maximum Immedi-
08h H09-07 - 20–800 125 1 ms 16 bits At stop
speed during ately
inertia
auto-tuning
-396-
11 Appendix
Parameter Group
Group
Code No.
Inertia
Immedi-
09h H09-08 auto-tuning - 50–10000 800 1 ms 16 bits At stop
ately
interval
Number of motor
revolutions per
0Ah H09-09 - 0–65535 0 0.01 16 bits - -
inertia
auto-tuning
Vibration During Immedi-

0Ch H09-11 0–1000 0 0.1% 16 bits
1st notch During Immedi-

0Dh H09-12 - 50–4000 4000 1 Hz 16 bits
frequency running ately
Width level of the During Immedi-
0Eh H09-13 - 0–20 2 1 16 bits
1st notch running ately
Depth level of the During Immedi-
0Fh H09-14 - 0–99 0 1 16 bits
1st notch running ately
2nd notch During Immedi-
10h H09-15 - 50–4000 4000 1 Hz 16 bits
11h H09-16 - 0–20 2 1 16 bits
2nd notch running ately
12h H09-17 - 0–99 0 1 16 bits
2nd notch running ately
3rd notch During Immedi-
13h H09-18 - 50–4000 4000 1 Hz 16 bits
14h H09-19 - 0–20 2 1 16 bits
3rd notch running ately
15h H09-20 - 0–99 0 1 16 bits
3rd notch running ately
4th notch During Immedi-
2009 16h H09-21 - 50–4000 4000 1 Hz 16 bits
17h H09-22 - 0–20 2 1 16 bits
4th notch running ately
18h H09-23 - 0–99 0 1 16 bits
4th notch running ately
Auto-tuned
19h H09-24 resonance - 0–2000 0 1 Hz 16 bits - -
frequency
Gravity During Immedi-
21h H09-32 - -1000 to +1000 0 0.1% 16 bits
compensation running ately
Forward friction During Immedi-
22h H09-33 - -1000 to +1000 0 0.1% 16 bits
Reverse friction During Immedi-
23h H09-34 - -1000 to +1000 0 0.1% 16 bits
Friction
During Immedi-
24h H09-35 compensation - 10–300 20 0.1 16 bits
running ately
speed
0x00: Slow mode +
Speed reference
0x01: Slow mode +
Model speed
0x02: Slow mode +
Friction Speed feedback During Immedi-
25h H09-36 compensation 0–0x12 0 1 16 bits
0x10: Quick mode + running ately
speed selection
Speed reference
0x11: Quick mode +
Model speed
0x12: Quick mode +
Speed feedback
-397-
11 Appendix
Parameter Group
Group
Code No.
Vibration During Immedi-
26h H09-37 - 0–65535 1200 1 16
monitoring time running ately
Low-frequency
resonance
During Immedi-
27h H09-38 suppression - 1–1000 1000 0.1 Hz 16 bits
running ately
frequency 1 at the
mechanical end
Low-frequency
resonance
Immedi-
28h H09-39 suppression 1 at - 0–3 2 1 16 bits At stop
ately
the mechanical
end
5th notch During Immedi-
2Ah H09-41 - 50–8000 5000 1 Hz 16 bits
Width level of the Immedi-
2Bh H09-42 - 0–20 2 1 16 bits At stop
5th notch ately
Depth level of the Immedi-
2Ch H09-43 - 0–99 0 1 16 bits At stop
5th notch ately
Low-frequency
resonance
During Immedi-
2Dh H09-44 suppression - 0–2000 0 0.01 16 bits
running ately
frequency 2 at the
mechanical end
2009 Low-frequency
resonance
During Immedi-
2Eh H09-45 suppression - 1–1000 100 0.01 16 bits
running ately
response 2 at the
mechanical end
Low-frequency
resonance
During Immedi-
30h H09-47 suppression - 0–200 100 0.01 16 bits
running ately
width 2 at the
mechanical end
Low-frequency
resonance
During Immedi-
running ately
frequency 3 at the
mechanical end
Low-frequency
resonance
During Immedi-
running ately
response 3 at the
mechanical end
Low-frequency
resonance
During Immedi-
running ately
width 3 at the
mechanical end
200Ah/H0A Fault and Protection Parameters
0: Enable
1: Hide
Note: In common-bus
Power input connection mode, set During Immedi-
200A 01h H0A-00 phase loss 200A-01h to 1. 0–1 0 1 16 bits
running ately
protection Otherwise, the servo
drive cannot enter
"rdy" state after
power-on.
-398-
11 Appendix
Parameter Group
Group
Code No.
0: Disable
Absolute position 1: Enable Immedi-
02h H0A-01 0–2 0 1 16 bits At stop
limit selection 2: Enabled after ately
homing
Motor overload Immedi-

05h H0A-04 - 50–300 100 1 16 bits At stop
protection gain ately
Overspeed During Immedi-

09h H0A-08 - 0–10000 0 1 RPM 16 bits
Runaway 0: Disable During Immedi-
0Dh H0A-12 0–1 1 1 16 bits
protection 1: Enable running ately
IGBT over-
During Immedi-
13h H0A-18 temperature - 100–175 120 1℃ 16 bits
running ately
threshold
Probe 1 filter time During Immedi-
14h H0A-19 - 0–630 200 0.01 μs 16 bits
constant running ately
Probe 2 filter time During Immedi-
15h H0A-20 - 0–630 200 0.01 μs 16 bits
constant running ately
TZ signal filter Next pow-
18h H0A-23 - 0–31 15 125 ns 16 bits At stop
time er-on
Filter time
constant of speed Immedi-
1Ah H0A-25 - 0–5000 50 1 ms 16 bits At stop
feedback display ately
value
0: Not hide motor
overload warning
Motor overload Immedi-
1Bh H0A-26 1: Hide motor overload 0–1 0 1 16 bits At stop
selection ately
warning (E909.0) and
fault (E620.0)
200A Speed DO filter During Immedi-
1Ch H0A-27 - 0–5000 50 1 ms 16 bits
time constant running ately
Time threshold
for locked rotor During Immedi-
21h H0A-32 - 10–65535 200 1 ms 16 bits
over-temperature running ately
protection
Locked rotor
0: Hide During Immedi-
22h H0A-33 over-temperature 0–1 1 1 16 bits
protection
Encoder multi-
0: Not hide During Immedi-
25h H0A-36 turn overflow 0–1 0 1 16 bits
1: Hide running ately
fault
0: Compensation
Overtravel activated Immedi-
29h H0A-40 compensation 0–1 0 1 16 bits At stop
1: Compensation ately
switch
inhibited
Regenerative
resistor During Immedi-
32h H0A-49 - 100–175 115 1℃ 16 bits
over-temperature running ately
threshold
Encoder
communication During Immedi-
33h H0A-50 - 0–31 3 1 16 bits
fault tolerance running ately
threshold
Phase loss
During Immedi-
34h H0A-51 detection filter - 3–36 20 55 ms 16 bits
running ately
times
Encoder
During Immedi-
35h H0A-52 over-temperature - 0–150 0 1℃ 16 bits
running ately
threshold
-399-
11 Appendix
Parameter Group
Group
Code No.
Runaway current During Immedi-
38h H0A-55 - 1000–4000 2000 0.1% 16 bits
Runaway speed During Immedi-

3Ah H0A-57 - 1–1000 50 1 RPM 16 bits
200A
Runaway speed During Next pow-
3Bh H0A-58 - 1–1000 20 0.1 ms 16 bits
filter time running er-on
Runaway
During Immedi-
3Ch H0A-59 protection - 10–1000 30 1 ms 16 bits
running ately
detection time
200Bh/H0B Monitoring parameters
-32767 to
01h H0B-00 Speed feedback - 0 1 RPM 16 bits - -
+32767
-32767 to
02h H0B-01 Speed reference - 0 1 RPM 16 bits - -
+32767
Internal torque
03h H0B-02 - -3000 to +3000 0 0.1% 16 bits - -
reference
Monitored DI
04h H0B-03 - 0–0x00FFFFFF 0 1 32 bits - -
status
Monitored DO
06h H0B-05 - 0–0xFFFF 0 1 16 bits - -
status
Absolute position -2147483648 to
08h H0B-07 - 0 1p 32 bits - -
counter +2147483647
0Ah H0B-09 Mechanical angle - 0–3600 0 0.1° 16 bits - -
0Bh H0B-10 Electrical angle - 0–3600 0 0.1° 16 bits - -
0Dh H0B-12 Average load ratio - 0–65535 0 0.1% 16 bits - -
Position following
-2147483648 to
10h H0B-15 deviation - 0 1p 32 bits - -
+2147483647
(encoder unit)
-2147483648
Feedback pulse to
12h H0B-17 - 0 1p 32 bits - -
counter
+2147483647
200B Accumulative
14h H0B-19 - 0–4294967295 0 0.1s 32 bits - -
power-on time
RMS value of
19h H0B-24 - 0–65535 0 0.01 A 32 bits - -
phase current
1Bh H0B-26 Bus voltage - 0–65535 0 0.1 V 16 bits - -
Power module
1Ch H0B-27 - 0–65535 0 1℃ 16 bits - -
temperature
Absolute encoder
1Dh H0B-28 fault information - 0–0xFFFF 0 1 16 bits - -
given by FPGA
Axis status
1Eh H0B-29 information given - 0–0xFFFF 0 1 16 bits - -
by FPGA
Axis fault
1Fh H0B-30 information given - 0–0xFFFF 0 1 16 bits - -
by FPGA
Encoder fault
20h H0B-31 - 0–0xFFFF 0 1 16 bits - -
information
During Immedi-
22h H0B-33 Fault log - 0–9 0 1 16 bits
running ately
Fault code of the
23h H0B-34 selected fault - 0–0xFFFF 0 1 16 bits - -
record
-400-
11 Appendix
Parameter Group
Group
Code No.
Time stamp upon
24h H0B-35 occurrence of the - 0–4294967295 0 0.1s 32 bits - -
selected fault
Motor speed upon
26h H0B-37 occurrence of the - -9999 to +9999 0 1 RPM 16 bits - -
selected fault
Motor phase U
current upon -32768 to
27h H0B-38 - 0 0.01 A 16 bits - -
occurrence of the +32767
selected fault
Motor phase V
current upon -32768 to
28h H0B-39 - 0 0.01 A 16 bits - -
occurrence of the +32767
selected fault
Bus voltage upon
29h H0B-40 occurrence of the - 0–65535 0 0.1 V 16 bits - -
selected fault
Input terminal
state upon
2Ah H0B-41 - 0–0x00FFFFFF 0 1 32 bits - -
occurrence of the
selected fault
Output terminal
state upon
2Ch H0B-43 - 0–0xFFFF 0 1 16 bits - -
occurrence of the
selected fault
Internal fault
2Eh H0B-45 - 0–0xFFFF 0 1 16 bits - -
code
Absolute encoder
fault information
given by FPGA
2Fh H0B-46 - 0–0xFFFF 0 1 16 bits - -
200B upon occurrence
of the selected
fault
System state
information given
30h H0B-47 by FPGA upon - 0–0xFFFF 0 1 16 bits - -
occurrence of the
selected fault
System fault
information given
31h H0B-48 by FPGA upon - 0–0xFFFF 0 1 16 bits - -
occurrence of the
selected fault
Encoder fault
information upon
32h H0B-49 - 0–0xFFFF 0 1 16 bits - -
occurrence of the
selected fault
Internal fault code
upon occurrence
34h H0B-51 - 0–0xFFFF 0 1 16 bits - -
of the selected
fault
Position following
-2147483648 to
36h H0B-53 deviation - 0 1p 32 bits - -
+2147483647
(reference unit)
Actual motor -60000 to
38h H0B-55 - 0 0.1 RPM 32 bits - -
speed +60000
Bus voltage of
3Ah H0B-57 - 0–65535 0 0.1 V 16 bits - -
control circuit
Mechanical
3Bh H0B-58 absolute position - 0–4294967295 0 1p 32 bits - -
(low 32 bits)
-401-
11 Appendix
Parameter Group
Group
Code No.
Mechanical -2147483648
3Dh H0B-60 absolute position - to 0 1p 32 bits - -
(high 32 bits) +2147483647
0: None
1: Abnormal control
power
40h H0B-63 NotRdy status 2: Abnormal phase loss 0–4 0 1 16 bits - -
detection
3: Abnormal main
circuit power detection
Encoder
43h H0B-66 - -100 to +200 0 1℃ 16 bits - -
temperature
Regenerative
44h H0B-67 - 0–2000 0 0.1% 16 bits - -
resistor load ratio
Number of
47h H0B-70 absolute encoder - 0–65535 0 1 16 bits - -
revolutions
Position of the
48h H0B-71 absolute encoder - 0–2147483647 0 1p 32 bits - -
within one turn
Encoder position
200B 4Eh H0B-77 - 0–4294967295 0 1p 32 bits - -
(low 32 bits)
Encoder position -2147483648 to
50h H0B-79 - 0 1p 32 bits - -
(high 32 bits) +2147483647
Single-turn
position of the
52h H0B-81 - 0–4294967295 0 1p 32 bits - -
rotating load (low
32 bits)
Single-turn
position of the -2147483648 to
54h H0B-83 - 0 1p 32 bits - -
rotating load +2147483647
(high 32 bits)
Single-turn
position of the -2147483648 to
56h H0B-85 - 0 1p 32 bits - -
rotating load +2147483647
(reference unit)
Group No. of the
5Bh H0B-90 abnormal - 0–0xFFFF 0 1 16 bits - -
parameter
Offset within the
group of the
5Ch H0B-91 - 0–65535 0 1 16 bits - -
abnormal
parameter
200Dh/H0D Auxiliary function parameters
0: No operation Immedi-
01h H0D-00 Software reset 0–1 0 1 16 bits At stop
1: Enable ately
0: No operation Immedi-
02h H0D-01 Fault reset 0–1 0 1 16 bits At stop
1: Enable ately
Encoder initial 0: No operation Immedi-
04h H0D-03 0–1 0 1 16 bits At stop
angle auto-tuning 1: Enable ately
0: No operation
200D Encoder ROM Immedi-
05h H0D-04 1: Write ROM 0–2 0 1 16 bits At stop
read/write ately
2: Read ROM
0: No operation During Immedi-

06h H0D-05 Emergency stop 0–1 0 1 16 bits
1: Emergency stop running ately
UV phase current 0: Disable

During Immedi-
0Ch H0D-12 balance 0–1 0 1 16 bits
correction
-402-
11 Appendix
Parameter Group
Group
Code No.
0: No operation
1: Forced DI enabled,
forced DO disabled
2: Forced DI disabled,
Forced DI/DO During Immedi-
12h H0D-17 forced DO enabled 0–4 0 1 16 bits
selection switch running ately
3: Forced DI and DO
enabled
4: EtherCAT forced DO
enabled
200D Forced DI setting During Immedi-
13h H0D-18 - 0x00–0x1F 0 1 16 bits
value running ately
Forced DO setting During Immedi-

14h H0D-19 - 0x00–0x07 0 1 16 bits
value running ately
0: No operation
1: Reset the encoder
Absolute encoder fault Immedi-
15h H0D-20 0–2 0 1 16 bits At stop
reset selection 2: Reset the encoder ately
fault and multi-turn
data
200Eh/H0E Auxiliary function parameters
During Immedi-
01h H0E-00 Node address - 0–127 1 1 16 bits
running ately
0: Not save parameters
and object dictionaries
written through
communication to
EEPROM
1: Save parameters
written through
Save objects communication to
written through EEPROM During Immedi-
02h H0E-01 0–3 3 1 16 bits
communication 2: Save object dictio- running ately
to EEPROM naries written through
communication to
EEPROM
3: Save parameters
and object dictionaries
written through
200E communication to
EEPROM
EtherCAT slave
15h H0E-20 - 0–65535 0 1 16 bits - -
name
EtherCAT slave Immedi-

16h H0E-21 - 0–65535 0 1 16 bits At stop
alias ately
Number of
synchronization
During Immedi-
17h H0E-22 interrupts - 1–20 9 1 16 bits
running ately
allowed by
EtherCAT
Synchronization
19h H0E-24 - 0–65535 0 1 16 bits - -
loss count
Maximum value
of invalid frames
1Ah H0E-25 and errors of - 0–0xFFFF 0 1 16 bits - -
EtherCAT port 0
per unit time
-403-
11 Appendix
Parameter Group
Group
Code No.
Maximum value
of invalid frames
1Bh H0E-26 and errors of - 0–0xFFFF 0 1 16 bits - -
EtherCAT port 1
per unit time
Maximum value
of transfer errors
1Ch H0E-27 - 0–0xFFFF 0 1 16 bits - -
of EtherCAT port
per unit time
Maximum value
of EtherCAT data
1Dh H0E-28 frame processing - 0–0x0255 0 1 16 bits - -
unit errors per unit
time
Maximum value
of link loss of
1Eh H0E-29 - 0–0xFFFF 0 1 16 bits - -
EtherCAT port 0
per unit time
EtherCAT
Next
20h H0E-31 synchronization - 0–2 1 1 16 bits At stop
power-on
mode setting
EtherCAT
Immedi-
21h H0E-32 synchronization - 100–4000 3000 1 μs 16 bits At stop
ately
error threshold
Connection state
between EtherCAT
22h H0E-33 - 0–65535 0 1 16 bits - -
state machine and
the port
Excessive CSP
200E During Immedi-
23h H0E-34 position reference - 0–7 1 1 16 bits
running ately
increment count
EtherCAT AL 0: Disable During Next
25h H0E-36 enhanced link 0–1 0 1 16 bits
1: Enable running power-on
selection
EtherCAT reset 0: Disable During Next

26h H0E-37 0–1 0 1 16 bits
XML selection 1: Enable running power-on
0: 300 bps
1: 600 bps
2: 1200 bps
3: 2400 bps
4: 4800 bps During Immedi-
51h H0E-80 Modbus baud rate 0–9 9 1 16 bits
5: 9600 bps running ately
6: 19200 bps
7: 38400 bps
8: 57600 bps
9: 115200 bps
0: No parity, 2 stop bits

(8-N-2)
1: Even parity, 1 stop
Modbus data bit (8-E-1) During Immedi-
52h H0E-81 0–3 3 1 16 bits
format 2: Odd parity, 1 stop bit running ately
(8-O-1)
3: No parity, 1 stop bit
(8-N-1)
Modbus response During Immedi-

53h H0E-82 - 0–20 0 1 ms 16 bits
delay running ately
-404-
11 Appendix
Parameter Group
Group
Code No.
Modbus
During Immedi-
54h H0E-83 communication - 0–600 0 1 ms 16 bits
running ately
timeout
Modbus version
5Bh H0E-90 - 0–65535 0 0.01 16 bits - -
200E No.
EtherCAT CoE
5Eh H0E-93 - 0–65535 0 0.01 16 bits - -
version No.
61h H0E-96 XML version No. - 0–65535 0 0.01 16 bits - -
Object Group 6000h
The object group 6000h contains objects supported and related to sub-protocol DSP 402.
Sub-
Index PDO Data Setting Effective
index Name Accessibility Unit Data Range Default
(hex) Mapping Type Condition Time
(hex)
603F 00 Error code RO TPDO UINT16 - - - - -
During Immedi-
6040 00 Control word RW RPDO UINT16 - 0–0xFFFF 0
running ately
6041 00 Status word RO TPDO UINT16 - - - - -
Quick stop option During
605A 00 RW NO INT16 - 0–0x07 0x02 At stop
code running
Disable operation During
605C 00 RW NO INT16 - 0xFFFD–0x01 0 At stop
option code running
During
605D 00 Stop option code RW NO INT16 - 0x01–0x03 0x01 At stop
running
Fault reaction During
605E 00 RW NO INT16 - 0xFFFB–0x03 0x02 At stop
option code running
Modes of During Immedi-
6060 00 RW RPDO INT8 - 0–0x0A 0
operation running ately
Modes of
6061 00 RO TPDO INT8 - - - - -
operation display
Position demand Reference
6062 00 RO TPDO INT32 - - - -
value unit
Position actual Encoder
6063 00 RO TPDO INT32 - - - -
value unit
Position actual Reference
6064 00 RO TPDO INT32 - - - -
value unit
Following error Reference During Immedi-
6065 00 RW RPDO UINT32 0–0xFFFFFFFF 0x00300000
window unit running ately
Following error During Immedi-

6066 00 RW RPDO UINT32 ms 0–0xFFFF 0
time out running ately
Reference During Immedi-

6067 00 Position window RW RPDO UINT32 0–0xFFFFFFFF 0x000002DE
unit running ately
Position window During Immedi-
time running ately
Velocity actual Reference
606C 00 RO TPDO INT32 - - - -
value unit/s
During Immedi-
606D 00 Velocity window RW RPDO UINT16 RPM 0–0xFFFF 0x0A
running ately
-405-
11 Appendix
Sub-
(hex)
Velocity window During Immedi-
606E 00 RW RPDO UINT16 ms 0–0xFFFF 0
time running ately
Velocity During Immedi-
606F 00 RW RPDO UINT16 RPM 0–0xFFFF 0x0A
Velocity During Immedi-
threshold time running ately
0xF448– During Immedi-
6071 00 Target torque RW RPDO INT16 0.1% 0
0x0BB8 running ately
During Immedi-
6072 00 Max torque RW RPDO UINT16 0.1% 0–0x0BB8 0x0BB8
running ately
Torque demand
6074 00 RO TPDO INT16 0.1% - 0 - -
value
Torque actual
6077 00 RO TPDO INT16 0.1% - 0 - -
value
Reference 0x80000000– During Immedi-
607A 00 Target position RW RPDO INT32 0
unit 0x7FFFFFFF running ately

607C 00 Home offset RW RPDO INT32 0
Software absolute position limit
Highest sub-index
00 RO NO UINT8 - - 0x02 - -
supported
607D Reference 0x80000000– During Immedi-
01 Min position limit RW RPDO INT32 0x80000000

02 Max position limit RW RPDO INT32 0x7FFFFFFF
During Immedi-
607E 00 Polarity RW RPDO UINT8 - 0–0xFF 0
running ately
Max profile Reference During Immedi-
607F 00 RW RPDO UINT32 0–0xFFFFFFFF 0x06400000
velocity unit/s running ately
User speed During Immedi-
6081 00 Profile velocity RW RPDO UINT32 0–0xFFFFFFFF 0x001AAAAB
unit running ately
Profile Reference During Immedi-
6083 00 RW RPDO UINT32 0–0xFFFFFFFF 0x0A6AAAAA
acceleration unit/s2 running ately
Profile Reference During Immedi-
6084 00 RW RPDO UINT32 0–0xFFFFFFFF 0x0A6AAAAA
deceleration unit/s2 running ately
User ac-
Quick stop During Immedi-
6085 00 RW RPDO UINT32 celeration 0–0xFFFFFFFF 0x7FFFFFFF
deceleration running ately
unit
Motion profile 0x8000– During Immedi-

6086 00 RW RPDO INT16 - 0
type 0x7FFF running ately
During Immedi-
6087 00 Torque slope RW RPDO UINT32 0.1%/s 0–0xFFFFFFFF 0xFFFFFFFF
running ately
Gear ratio
Highest sub-index
00 RO NO UINT8 Uint8 - 0x02 - -
supported
6091 During Immedi-
01 Motor revolutions RW RPDO UINT32 - 0–0xFFFFFFFF 1
running ately
During Immedi-
02 Shaft revolutions RW RPDO UINT32 - 1–0xFFFFFFFF 1
running ately
During Immedi-
6098 00 Homing method RW RPDO INT8 - -2 to 35 0x01
running ately
-406-
11 Appendix
Sub-
(hex)
Homing speed
Highest
00 sub-index RO NO UINT8 - - 0x02 - -
supported
6099
Speed during Reference During Immedi-
01 RW RPDO UINT32 0–0xFFFFFFFF 0x001AAAAB
search for switch unit/s running ately
Speed during Reference 0– During Immedi-
02 RW RPDO UINT32 0x0002AAAB
search for zero unit/s 0xFFFFFFFF running ately
Homing Reference During Immedi-
609A 00 RW RPDO UINT32 0–0xFFFFFFFF 0x0A6AAAAA
acceleration unit/s2 running ately
60B0h 00 Position offset RW RPDO INT32 0

60B1h 00 Velocity offset RW RPDO INT32 0
unit/s 0x7FFFFFFF running ately
0xF448– During Immedi-
60B2h 00 Torque offset RW RPDO INT16 0.1% 0
0x0BB8 running ately
Touch probe During Immedi-
60B8h 00 RW RPDO UINT16 - 0–0xFFFF 0
function running ately
Touch probe
60B9h 00 RW TPDO UINT16 - - 0 - -
status
Touch probe 1 Reference
60BAh 00 RW TPDO INT32 - 0 - -
positive edge unit
60BBh 00 RW TPDO INT32 - 0 - -
negative edge unit
60BCh 00 RW TPDO INT32 - 0 - -
positive edge unit
60BDh 00 RW TPDO INT32 - 0 - -
negative edge unit
User ac-
During Immedi-
60C5h 0 Max acceleration RW RPDO UINT32 celeration 0–0xFFFFFFFF 0xFFFFFFFF
running ately
unit
User ac-
During Immedi-
60C6h 0 Max deceleration RW RPDO UINT32 celeration 0–0xFFFFFFFF 0xFFFFFFFF
running ately
unit
Touch probe 1 pos-
60D5h 0x00 RO TPDO UINT16 - - 0 - -
itive edge counter
Touch probe 1
60D6h 0x00 negative edge RO TPDO UINT16 - - 0 - -
counter
Touch probe 2
60D7h 0x00 positive edge RO TPDO UINT16 - - 0 - -
counter
Touch probe 2
60D8h 0x00 negative edge RO TPDO UINT16 - - 0 - -
counter
Positive torque Immedi-
60E0h 00 RW RPDO UINT16 0.1% 0–0x0BB8 0x0BB8 -
limit value ately
Negative torque Immedi-

60E1h 00 RW RPDO UINT16 0.1% 0–0x0BB8 0x0BB8 -
limit value ately
-407-
11 Appendix
Sub-
(hex)
Supported Homing Methods
Highest
00 sub-index RO NO UINT8 - - 0x1F - -
supported
1st supported
01 RO NO UINT16 - - 0x0301 - -
homing method
2nd supported
02 RO NO UINT16 - - 0x0302 - -
homing method
3rd supported
03 RO NO UINT16 - - 0x0303 - -
homing method
4th supported
04 RO NO UINT16 - - 0x0304 - -
homing method
5th supported
05 RO NO UINT16 - - 0x0305 - -
homing method
6th supported
06 RO NO UINT16 - - 0x0306 - -
homing method
7th supported
07 RO NO UINT16 - - 0x0307 - -
homing method
8th supported
08 RO NO UINT16 - - 0x0308 - -
homing method
9th supported
09 RO NO UINT16 - - 0x0309 - -
homing method
10th supported
0A RO NO UINT16 - - 0x030A - -
homing method
11th supported
0B RO NO UINT16 - - 0x030B - -
homing method
60E3h
12th supported
0C RO NO UINT16 - - 0x030C - -
homing method
13th supported
0D RO NO UINT16 - - 0x030D - -
homing method
14th supported
0E RO NO UINT16 - - 0x030E - -
homing method
15th supported
0F RO NO UINT16 - - 0x030Fh - -
homing method
16th supported
10 RO NO UINT16 - - 0x0310 - -
homing method
17th supported
11 RO NO UINT16 - - 0x0311 - -
homing method
18th supported
12 RO NO UINT16 - - 0x0312 - -
homing method
19th supported
13 RO NO UINT16 - - 0x0313 - -
homing method
20th supported
14 RO NO UINT16 - - 0x0314 - -
homing method
21th supported
15 RO NO UINT16 - - 0x0315 - -
homing method
22th supported
16 RO NO UINT16 - - 0x0316 - -
homing method
23th supported
17 RO NO UINT16 - - 0x0317 - -
homing method
24th supported
18 RO NO UINT16 - - 0x0318 - -
homing method
-408-
11 Appendix
Sub-
(hex)
25th supported
19 RO NO UINT16 - - 0x0319 - -
homing method
26th supported
1A RO NO UINT16 - - 0x031A - -
homing method
27th supported
1B RO NO UINT16 - - 0x031B - -
homing method
28th supported
60E3h 1C RO NO UINT16 - - 0x031C - -
homing method
29th supported
1D RO NO UINT16 - - 0x031D - -
homing method
30th supported
1E RO NO UINT16 - - 0x031E - -
homing method
31th supported
1F RO NO UINT16 - - 0x031F - -
homing method
Additional
position encoder
During Immedi-
60E6h 00 resolution – RW NO UINT16 - 0–1 0
running ately
encoder
increments
Following error Reference
60F4h 00 RO TPDO INT32 - - - -
actual value unit
Position demand Encoder
60FCh 00 RO TPDO INT32 - - - -
internal value unit
60FDh 00 Digital inputs RO TPDO UINT32 - - - - -
Digital output
Highest sub-index
00 RO NO UINT8 - - 0x02 - -
supported
60FEh During Immedi-
01 Physical outputs RW RPDO UINT32 - 0–0xFFFFFFFF 0
running ately
During Immedi-
02 Bit mask RW NO UINT32 - 0–0xFFFFFFFF 0
running ately
60FFh 00 Target velocity RW RPDO INT32 0
unit/s 0x7FFFFFFF running ately
Supported drive
6502h 00 RO NO UINT32 - - 0x000003AD - -
modes
SDO Abort Transfer Code
Abort Code Function Description
0503 0000 Trigger bits are not alternated.
0504 0000 Timeout occurs in the SDO protocol.
0504 0001 The client/server command word is invalid or unknown.
0504 0005 Memory overflow occurs.
0601 0000 Access to objects is not supported.
0601 0001 Attempt to read a write-only object
0601 0002 Attempt to write a read-only object
0602 0000 The object does not exist in the object dictionary.
0604 0041 The object cannot be mapped to the PDO.
0604 0042 The number and length of mapped objects exceed the PDO length.
-409-
11 Appendix
Abort Code Function Description
0604 0043 General parameters are incompatible.
0604 0047 General device content is incompatible.
0606 0000 Accessing objects fails due to an hardware error.
0607 0010 The data type does not match and the service parameter length does not match.
0607 0012 The data type does not match and the service parameter is too long.
0607 0013 The data type does not match and the service parameter is too short.
0609 0011 The sub-index does not exist.
0609 0030 The value exceeds the parameter value range.
0609 0031 The parameter value entered is too large.
0609 0032 The parameter value entered is too small.
0609 0036 The maximum value is smaller than the minimum value.
0800 0000 General error
0800 0020 Data cannot be transmitted or stored to the application.
0800 0021 Data cannot be transmitted or stored to the application due to local control.
0800 0022 Data cannot be transmitted or stored to the application due to current device status.
0800 0023 An error occurs in the object dictionary or the object dictionary does not exist.
0800 0024 The value does not exist.
11.3 Safety Protection Function: STO
11.3.1 Description of Technical Terms

■■ Terms and abbreviations:
Terms/Abbreviations Description
Classification of the safety-related parts of a control system. The categories are: B,1,2,3,4
Cat.
(EN 13849-1).
CCF Common cause failure
DC Diagnostic coverage (%)
DTI Diagnostic test interval time
SFF Safe failure fraction
HFT Hardware fault tolerance
PFH Average frequency of dangerous failures per hour
PL Performance level
SC Systematic capability
SIL Safety integrity level
T1 Proof test interval
T2 Diagnostic test interval
DI Digital input
DO Digital output
PCB Printed circuit board
MCU Micro computer unit
FPGA Center processor unit
-410-
11 Appendix
■■ Description of technical terms:
Terms Description
The STO function brings the machine safely into a no-torque state and prevents it from
Safe Torque Off (STO ) unexpected starting. If the motor is running when STO function is activated, it coasts to a
stop.
Safe state Used to disable the PWM gating signal of the drive.
System reset Reset the servo system by shutting off the power or executing software reset.
Proof test Used to detect the failure of the safety-related system, not applied to STO circuits.
Refers to the specified cumulative operating time of the safety-related parts of the servo
Mission time
drive during its overall lifetime.
Overview of the safety drive with safety function is shown in Fig 11-1. The parts marked in the orange
dashed line is the safety-related. They are integrated in the control board of the drive.
-411-
11 Appendix
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Figure 11-11 Overview of the safety drive
-412-
11 Appendix
11.3.2 Standards Compliance
■■ North American Standards (UL)
UL 61800-5-1
CSA C22.2 No. 274
■■ European Directives
Low Voltage Directive 2014/35/EU EN 61800-5-1 and IEC 61800-5-1
Electromagnetic Compatibility Directive 2014/30/EU EN 61800-3, IEC 61800-3, and IEC 61800-5-2
Machinery Directive 2006/42/EC (functional safety)
■■ Safety Standards
Model Safety Standards Standards
ISO 13849-1: 2015

Safety of machinery
IEC 60204-1: 2016
IEC 61508: 2010, parts 1-7

Functional Safety IEC 62061: 2015
SV660NXXX
IEC 61800-5-2: 2016
IEC 61326-3-1
Electromagnetic Compatibility (EMC) IEC 61800-3
IEC 61800-5-2
■■ Safety Performance
Items Standards Performance level
IEC 61508 SIL3

Safety integrity level
IEC 62061 SILCL3
Probability of Dangerous Failure per IEC 61508 PFH ≤ 0.1 x 10-7 [1/h]
Hour (PFH) IEC 62061 (10% of SIL3)
Performance level (PL) ISO 13849-1 PL e (category 3)
Mean time to dangerous failure of

ISO 13849-1 MTTFd: High
each channel
Ave. diagnostic coverage ISO 13849-1 DCave: Medium
Stop category IEC 60204-1 Stop category 0
Safety function IEC 61800-5-2 STO
Mission time IEC 61508 5 years
Hardware fault tolerance (HFT) IEC 61508 1
Systematic capability (SC) IEC 61508 3
Application mode IEC 61508 High demand or continuous mode
-413-
11 Appendix
11.3.3 General Safety Information
This section contains the warning symbols used in this user guide and the safety instructions which
you must obey when you install, use or maintenance a safety option module of a servo drive. If you
ignore the safety instructions, injury, death or damage may occur. Read this section before you start the
installation.
Any illustrations, photographs, or examples used in this manual are provided as examples only and may
not apply to all products to which this user guide is applicable.
The products and specifications described in this user guide or the content and presentation of the user
guide may be changed without notice to improve the product and/or the user guide.
■■ Warnings, Cautions and Notes
Pictogram Signal word Meaning Consequences In Case of Disregard
Example:
DANGER Imminent danger Severe or fatal injuries
General danger
WARNINGS Possible dangerous situation Severe or fatal injuries
Specific danger CAUTION Possible dangerous situation Minor injuries

(such as electric shock)
Damage to the drive system or its

STOP! Possible high dangerous
environment
A Note containing information

NOTE or tip which helps ensure correct -
NOTE operation of the product
WARNING
◆◆ High attention is required for electrical installation and at the system design to avoid hazards
either in normal operation or in the event of equipment malfunction.
◆◆ System design, installation, commissioning and maintenance must be carried out by personnel
who have the necessary training and experience. They must read the operating instruction and
this safety information.
It is the responsibility of the machine builder/OEM/system integrator to make sure that the essential
health and safety requirements specified in the Machinery Directive are met. Risk analysis and risk
assessment is needed before using a product. Make sure that adequate measures are taken to eliminate/
reduce the relating risks and components chosen must meet the safety requirements.
-414-
11 Appendix
11.3.4 Specifications
■■ Electrical safety complies with IEC 618:00-5-1:2016, over voltage category II.
■■ The environment test requirement complies with IEC 618:00 -5-1:2016.
■■ The operating conditions are as follows.
Items Description
Surrounding air/Storage temperature 0℃ to 55℃ /-20℃ to +70℃
Ambient/Storage humidity 20%–95% RH (without condensation)
Subject Test conditions
Test reference Test Fc of IEC 60068-2-6 4.6
Conditions The EUT is powered up and operating normally.
Motion Sinusoidal
Vibration ampli-
-
tude/acceleration
Vibration
10 Hz ≤ f ≤ 57 Hz 0,075 mm amplitude
57 Hz < f ≤ 150 Hz 1g
10 sweep cycles per axis on each of three mutu-

Vibration duration
ally perpendicular axes
Axes X, Y, Z
Detail of mounting According to manufacturer's specification
Subject Test conditions
Test reference Test Ea of IEC 60068-2-27: 2008 Table 17
Conditions The EUT is powered up and operating normally.
Motion Half-sine pulse
Shock resistance Shock amplitude/

50 m/s2 (5 g) 30 ms
time
3 per axis on each of three mutually perpendicu-

Number of shocks
lar axes
Axes ±X, ±Y, ±Z
Detail of mounting According to manufacturer's specification
IP 20
IP rating/Pollution degree (PD) PD 2: free of corrosive or explosive gases; free of exposure to water, oil or
chemicals; free of dust, salts or iron dust
Altitude 2000 m or below
Cooling method Dry clean air (natural convection)
Free of static electricity, strong electromagnetic fields, magnetic fields or

Others
exposure to radioactivity
■■ The servo drive follows the EMC standards IEC 61800-3:2017, IEC 61326-3-1, and IEC 61800-5-2.
-415-
11 Appendix
■■ Others
Items Description
SV660NS1R6I-FS SV660NS2R8I-FS
SV660NS5R5I-FS SV660NS6R6I-FS
SV660NS7R6I-FS SV660NS012I-FS
Applicable Servo Drive SV660NT3R5I-FS SV660NT5R4I-FS
SV660NT8R4I-FS SV660NT012I-FS
SV660NT017I-FS SV660NT021I-FS
SV660NT026I-FS
Placement Integrated in the control board of the servo drive
Safety function - Inputs 2 channels: STO1/STO2
The STO subsystem elements must always be likely to operate within the range of temperature,
humidity, corrosion, dust, vibration, and other items specified above.
11.3.5 Installation
Since the STO function is integrated in the control board of the servo drive, its installation requirements
are consistent with the servo drive. Observe the installation requirements of the servo drive.
Designers and installers must be trained to understand the requirements and principles of designing and
installing safety-related systems.
11.3.6 Terminal and Wiring
This section describes the definition and function of the I/O connecting terminal (CN6) for STO.
See details in "3.7 Definition and Connection of STO terminal"
11.3.7 Requirement for Commission, Operation and Maintenance
1 General
■■ Technicians must be trained to understand the requirements and principles of designing and
commissioning safety-related systems.
■■ Those performing the maintenance must be trained to understand the requirements and principles
of designing and operating safety-related systems.
■■ Operators must be trained to understand the requirements and principles of designing and
operating safety-related systems.
■■ If the safety-related circuits on the control board fails to operate, replace it with a new one because
it is not repairable.
2 Commissioning checklists
■■ Start-up test and validation
IEC 61508, EN IEC 62061 and EN ISO 13849 require that the final assembler of the machine validates the
operation of the safety function with an acceptance test. The acceptance tests for the standard safety
functions of the drive are described in the drive manuals. The tests for the optional safety functions are
described in the appropriate option manuals.
-416-
11 Appendix
The acceptance test must be performed:
1) at initial start-up of the safety function
2) after any changes related to the safety function (including wiring, components, and settings)
3) after any maintenance work related to the safety function.
The acceptance test of the safety function must be carried out by an authorized person with expertise
and knowledge of the safety function. The test must be documented and signed by the authorized
person.
Signed acceptance test reports must be stored in the logbook of the machine. The report shall include
documentation of start-up activities and test results, references to failure reports and resolution of
failures. Any new acceptance tests performed due to changes or maintenance need to be logged into the
logbook.
■■ Start-up checklist
Step Action Result
1 Ensure that the servo drive can run and stop freely during the commissioning.
Stop the servo drive (if running), switch the input power off and isolate the drive
2
from the power line by a disconnector.
3 Check the STO circuit connections against the circuit diagram.
4 Check that the shield of the STO input cable is grounded to the drive frame.
5 Close the disconnector and switch the power on.
Test the STO signal #1 when the motor is stopped.

Set STO1 and STO2 to "H".
Give a stop command for the drive (if running) and wait until the motor shaft is at
standstill.
5.1
Awake the STO function by disconnecting (low state or open-circuit) the STO input
signal #1 and give a start command for the drive.
Ensure that the motor stays at standstill and the LED display of the servo drive
displays "E150.1".
Set STO1 to "H", disable the ON/RUN command of the drive, then automatically
5.2 reset the drive, enable ON/RUN command of the drive and check that the motor runs
normally.
Test the STO signal #2 when the motor is stopped.

Give a stop command for the drive (if running) and wait until the motor shaft is at
standstill.
5.3
signal #2 and give a start command for the drive.
displays "E150.1".
normally.
-417-
11 Appendix
Step Action Result
Test the STO channel #1 when the motor is running.

Start the drive and ensure the motor is running.
6.1 signal #1.
Ensure that the motor stops and the drive trips.
Reset the fault and try to start the drive.
displays "E150.1".
normally.
Test the STO channel #2 when the motor is running.

Start the drive and ensure the motor is running.
6.3 signal #2.
Ensure that the motor stops and the drive trips.
Reset the fault and try to start the drive.
displays "E150.1".
normally.
Document and sign the acceptance test report which verifies that the safety function
7
is safe and accepted to operation.
3 Special requirements
To fulfill SIL 3 PL e (cat3), power off the servo drive once per 3 months to perform the power-on
diagnostic.
11.3.8 Safety Function: STO
1 Description of safety function
Safe Torque Off (STO) is a safety function that complies with IEC 61800-5-2:2016. It is built into Inovance
SV660N series servo drives.
The STO function prohibits the control signal of the power semiconductors of the drive output end,
preventing the drive from generating torque at the motor shaft end.
The STO function prevents the movement of the motor by two redundant external hardware signals:
STO1 and STO2 that block the PWM signals to be transmitted to the power layer of the drive. These two
+24VDC signals must be active to enable the drive’s normal operations.
If either one or both signals are set low, the PWM signals are blocked within a time of 20 ms.
-418-
11 Appendix
5&9&@."9
4BGFUZSFRVFTUJOQVU
4FSWPTUBUF 0QFSBUJOH 450
4BGFUZGVODUJPO 4UBOECZ "DUJWBUFE
■■ The STO function table is as follows.
STO1 Input STO2 Input PWM Signal
H H Normal
L H Inhibited
H L Inhibited
L L Inhibited
STO (Safe Torque Off)
Definition Cuts off the force-producing power to the motor.
The STO function brings the machine safely into a no-torque state and prevents it from
Description unexpected starting. If the motor is running when STO function is activated, it coasts to
a stop.
Safe state Used to disable the PWM gating signal of the drive.
Operating mode High demand mode or continuous mode
2 Application example of safety function
■■ Example 1: Direct Stop, stop category 0, safety stop: STO
&NFSHFODZQVTICVUUPO EPVCMFDPOUBDUT
$BUFHPSZ*&$

7 450
.BY4*-1-F

450

7 $0.

7%$
3 Monitoring of safety function
The LED display of the servo drive displays the selected mode, the status, and the error information of
the servo drive.
Error: Displays drive fault code.
You can select and modify the configuration through the keypad. See "4 Keypad Display and Operations"
for the definition of the keypad.
-419-
11 Appendix
■■ Fault codes related to the STO function are shown below.
Fault code Status Description
E150.0 STO activated by external request Both of STO1/STO2 in "Low" state
Only one of STO1/STO2 in "Low" state, status of

E150.1 Status of STO1/STO2 not consistent
STO1/STO2 inconsistent
E150.2 STO activated by diagnosis OV/UV of 5 V power supply detected
E150.3 STO activated by diagnosis Input circuits of STO working abnormally
E150.4 STO activated by diagnosis Buffer circuits of STO working abnormally
4 STO status during exceptional operations
The exceptional operation refers to the duration of power-on and initialization, and how to return from
the STO state.
1) The PWM buffer is disabled through pulling-up of the enable terminal during power-on, so the PWM
signal is prohibited.
2) The PWM buffer is disabled through pulling-up of the enable terminal during initialization of MCU,
so the PWM signal is prohibited. This condition is relieved once the initialization phase is finished
and servo drive works normally.
3) When servo system enters safe state through the STO function, the safe state can be cleared to
return to normal operation after auto-reset of the drive when all of the following conditions are met:
■■ The input state of the STO request must be "high".
■■ The S-ON or RUN command must be inactive.
■■ No dangerous faults exist.
IJHI
450JOQVU
450JOQVU IJHI
"DUJWF 3FBDUJWF
4FSWP0/DPNNBOE
3FUVSODPOEJUJPOT /PUNFU .FU
4FSWPTUBUF
450 /PSNBM
%FMBZ
Figure 11-12 Return condition of S-ON/RUN command
MPX IJHI
450 JOQVU
450 JOQVU MPX IJHI
4FSWP0/DPNNBOE 3FBDUJWF
3FUVSODPOEJUJPOT /PUNFU .FU
4FSWPTUBUF 450 /PSNBM

%FMBZ
Figure 11-13 Return condition of external STO request state
-420-
11 Appendix
11.3.9 Trouble Shooting
See the following table to identify the fault cause and the action to be taken. Contact your Inovance
representative if the problem cannot be solved by the described corrective actions. Fault codes related
to the STO function are shown below.
Fault Code Cause Action
STO1/STO2 not connected to the

E150.0 Connect the STO1 and STO2 to the 24 V input voltage signal.
24 V input voltage
1) Ensure the requests for disconnecting the voltage of STO1

and STO2 are triggered
Input states of STO1/STO2 being
E150.1 simultaneously.
inconsistent
2) The input circuit is abnormal and a certain STO input signal
is still in "High" status after the 24 V signal is disconnected.
E150.2 OV/UV of 5 V power supply detected Restore the 5 V power supply to normal state.
Input circuit of STO working

E150.3 Fix the input circuit fault.
abnormally
Buffer circuit of STO working

E150.4 Fix the buffer circuit fault.
abnormally
11.3.10 Product Information
1 Nameplate and model number
See "1.1.1 Nameplate and Model Number" for details.
2 Applicable servo drive
STO applies to the servo drives in the following two kinds of physical structures.
Size Power Range Physical Structure W x H x D (mm3)
A 200 W to 400 W Integrated structure 40 x 160 x 150
B 750 W to 850 W Integrated structure 50 x 160 x 173
C 1 kW to 1.5 kW Separated structure 55 x 170 x 173
D 1.8 kW to 3 kW Separated structure 75 x 170 x 183
E 5 kW to 7.5 kW Separated structure 90 x 250 x 230
-421-
11 Appendix
Integrated structure means that the control parts and power parts are on the same PCB.
NOTE
Separated structure means that the control parts and power parts are on different PCBs.
NOTE
-422-
11 Appendix
11.3.11 Precautions
This section describes the information needed before starting operation. Be sure to read the following
safety instructions, risk assessment information, and limitations before starting operation. Safety
function: use the STO function after properly understanding all of these information.
1 Safety protective measures
Carefully read the following important precautions and observe them when using the safety function
STO.
■■ The STO function is not intended as a replacement for an Emergency Stop function (E-stop). In
an emergency situation, the power supply cannot be cut off if no other measure is taken, and the
electrical parts of the motor and drive are still energized, incurring the risk of electric shock or other
risks. Therefore, maintenance work on electrical parts of the drive or motor can only be carried out
after isolating the drive system from the main power supply.
■■ Depending on the standards and requirements for a particular application, it may be possible to
use STO as an integral part of an E-stop system. However, its main purpose is for use in a dedicated
safety control arrangement whose purpose is to prevent any hazard from occurring, not for the use
of an E-stop.
■■ An E-stop is often provided in a machine to allow for unexpected situations where an operator sees
a hazard and can take action to prevent an accident.
■■ The design requirement for an E-stop differs from that of a safety interlock. Generally, the
E-stop is required to be independent from any complex or intelligent control. It may use purely
electromechanical devices to either disconnect the power or initiate a controlled quick stop through
other means such as dynamic or regenerative braking.
In the use of permanent-magnet motors, reluctance motors, and salient-pole induction motors, in spite
of the activation of the STO function, a possible (although highly unlikely) failure mode may cause two
power devices in the drive to conduct incorrectly. The drive system can produce an alignment torque
which maximally rotates the motor shaft by 180º electrical angle for a permanent-magnet motor, or by
NOTE 90º electrical angle for a salient pole induction motor or reluctance motor. This possible failure mode
must be allowed for in the machine system design.
8"3/*/(
360º electrical angle

Max. rotating angle of the motor shaft =
Motor poles number
-423-
11 Appendix
8"3/*/(
◆◆ The design of safety-related systems requires specialist knowledge. To ensure that a complete
control system is safe, the whole system needs to be designed according to recognized safety
principles. The use of individual sub-systems such as drives with STO function, which are
intended for safety-related applications, does not in itself ensure the safety of the complete
system.
◆◆ The STO function can be used for stopping the servo drive in emergency stop situations.
◆◆ In normal operating mode, it is recommended not to stop the servo drive by using the STO
function. If a drive running is stopped by using STO, the drive perform a coast to stop. If this is
not acceptable, the system must be stopped using the correct mode instead of the STO function.
◆◆ This publication is a guide to the application of Inovance STO function, and also on the design of
safety-related systems for machinery control.
◆◆ It is the responsibility of the designer of the end product or application to ensure that it is safe
and in compliance with the relevant regulations.
2 Risk assessment
■■ When using the safety function STO, be sure to perform risk assessment of the servo system in
advance. Make sure that the safety integrity level of the standards is met.
■■ The following residual risks can be present even when the safety functions operate. Therefore,
safety must always be given consideration during risk assessment.
■■ If external forces (such as gravitational force with a vertical axis) are applied when the safety
functions are operating, the motor will rotate due to the action of these external forces. Use a
separate mechanical brake to secure the motor.
■■ If the servo drive fails, the motor may operate within a range of 180 electrical degrees. Make sure
that safety is ensured even in hazardous situations.
■■ The number of rotations and movement distance for each type of motor are listed below.
Rotational motor: 1/6 rotation max. (rotation angle at motor shaft conversion)
Direct drive motor: 1/20 rotation max. (rotation angle at motor shaft conversion)
Linear servo motor: 30 mm max.
-424-
SV660N Series Servo Drive Advanced User Guide
Advanced User Guide

SV660N Series Servo Drive
Shenzhen Inovance Technology Co., Ltd.
Add.: Building E, Hongwei Industry Park, Liuxian Road, Baocheng No. 70 Zone, Bao’an District, Shenzhen
Tel: +86-755-2979 9595
Fax: +86-755-2961 9897
Service Hotline: 400-777-1260
http: //www.inovance.com

Add.: No. 16 Youxiang Road, Yuexi Town, Wuzhong District, Suzhou 215104, P.R. China
Tel: +86-512-6637 6666
User Guide
Fax: +86-512-6285 6720
Service Hotline: 400-777-1260 A00
http: //www.inovance.com Copyright 　 Shenzhen Inovance Technology Co., Ltd. Data code 19011236

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SV660N Series Servo Drive Advanced User Guide

Advanced User Guide

Suzhou Inovance Technology Co., Ltd.

Date Version Description

January 2020 A00 First edition

Certification Mark Directive Standard

Servo motor EN 60034-1

Servo motor EN 60034-1

RoHS directive 2011/65/EU EN 50581

Safety Levels and Definitions............................................................................................................10

1.1 Introduction to the Servo Drive..................................................................................................15

1.1.1 Nameplate and Model Number..........................................................................................................15

1.1.3 Technical Specifications.....................................................................................................................19

1.1.4 Specifications of the Regenerative Resistor......................................................................................23

1.2 Introduction to the Servo Motor.................................................................................................24

1.2.1 Motor Nameplate and Model Number...............................................................................................24

1.2.3 Technical Specifications.....................................................................................................................26

1.3 Servo System Configurations......................................................................................................31

1.4 Cable Models................................................................................................................................32

1.5 Communication Cable Options..................................................................................................34

1.6 Connector Kit...............................................................................................................................34

1.7 Servo System Wiring Diagram.....................................................................................................35

2.1 Installation of the Servo Drive.....................................................................................................37

2.1.1 Installation Location...........................................................................................................................37

2.1.2 Environment Conditions.....................................................................................................................38

2.1.3 Dimension Drawings...........................................................................................................................38

2.2 Installation of the Servo Motor...................................................................................................42

2.2.1 Installation Location...........................................................................................................................42

2.2.2 Environment Conditions.....................................................................................................................42

2.2.3 Installation Precautions......................................................................................................................43

2.2.4 Dimension Drawings...........................................................................................................................45

3.1 Terminal Pin Layout.....................................................................................................................51

3.2 Wiring of the Main Circuit............................................................................................................52

3.2.1 Main Circuit Terminals........................................................................................................................52

3.2.2 Wiring Example of the Regenerative Resistor....................................................................................54

3.2.3 Recommended Models and Specifications of Main Circuit Cables.................................................54

3.2.4 Power Supply Wiring Example............................................................................................................57

3.2.5 Precautions for Main Circuit Wiring...................................................................................................58

3.2.6 Specifications of Main Circuit Options...............................................................................................59

3.5 Connection of the Control Signal Terminal CN1........................................................................68

3.5.1 DI/DO signals.......................................................................................................................................69

3.5.2 Wiring of the Brake..............................................................................................................................72

3.6 Wiring of Communication Signals CN3/CN4..............................................................................74

3.6.1 Pin Definition of the Communication Signal Connector..................................................................75

3.6.2 Selection of Communication Cables.................................................................................................75

3.6.3 Communication Connection with PC (RS232 Communication)......................................................76

3.7 Definition and Connection of STO terminal...............................................................................78

3.8 Anti-interference Measures for Electrical Wiring.......................................................................80

3.8.1 Anti-interference Wiring Example and Grounding............................................................................81

3.8.2 Instructions for Use of the Noise Filter..............................................................................................82

3.9 Precautions for Use of Cables.....................................................................................................83

4.1 Introduction to the Keypad.........................................................................................................85

4.2.1Transition Relation Between Keypad Display and Operation Objects.............................................86

4.2.2 Display Mode Switchover...................................................................................................................86

4.2.3 Status Display......................................................................................................................................87

4.2.4 Parameter Display...............................................................................................................................87

4.2.5 Fault Display........................................................................................................................................89

4.2.6 Monitoring Display..............................................................................................................................90

4.3 Parameter Setting........................................................................................................................97

4.4 User Password..............................................................................................................................98

4.5 General Functions........................................................................................................................99

4.5.2 Forced DI/DO Signals....................................................................................................................... 100

5 Commissioning and Operation.............................................................................................. 108

5.1 Pre-running Check.....................................................................................................................109