SD Series

Digital AC Servo System

User Manual

Please read this manual before installing/debugging/using

 Thank you for choosing SD series servo driver system and servo motor. Please
read this manual before using, the main contents of this manual include：
* Servo driver inspection, installation and wiring steps；
* Digital panel operation steps, status display, trouble alarm and processing；
* Servo system control mode, trial running and adjustment steps；
* List of all the parameters in the servo drives；
* Servo drives specifications；

In order to facilitate the daily inspection, maintenance, and find the reasons
and countermeasures of the exceptions, please keep this manual for ready
reference。
Note: Please give this manual to the end user so as to maximize utility of the servo
drives。

● The manual contents may be changed due to the product improvements,

there will be no prior notice；
● Any changes made to the product by end users, the company will not bear
any responsibility and the product warranty will be invalid；

When reading this manual, please pay special attention to the following
warning signs。

warn
Indicate the wrong operation may cause disastrous

arning
consequences—death or serious injury!

caution Indicate the wrong operation may hurt the operator

and also make damage to the equipment!

notice Improper use may damage the product and

equipment!
 Contents
Chapter 1 Product inspection and installation
1.1 Product inspection···························································· 1-4
1.2 Servo driver specification····················································4-5
1.3 Servo driver installation······················································5-7
Chapter 2 Servo drive and motor wiring
2.1 Servo drive power supply and periphery device wiring diagram
8-9
2.2 Standard wiring of the position and speed control mode··········· 10-14
2.3 Electrical connection of the terminal··································· 14-19
2.4 Signal interface schematic diagram·····································19-23
Chapter 3 Display and operation
3.1 Keyboard operation························································24-24
3.2 Monitoring approach······················································ 25-25
3.3 Parameter setting··························································· 26-27
3.4 Parameter management··················································· 27-29
3.5 F1F2 operation mode······················································30-32
Chapter 4 Parameter
4.1 List of the function significance of each parameter··················35-43
4.2 Parameter debugging diagram model·································· 43-44
4.3 Servo key parameter description········································ 45-46
4.3 Parameter debugging steps in practical application··················45-46
Chapter 5 Operation and debugging
5.1 Power supply connection················································· 48-48
5.2 Position/speed control model············································ 48-48
5.3 Speed trial operation/Jog model operation···························· 49-49
Chapter 6 Alarm and processing
6.1 Alarm list···································································· 51-52
6.2 Alarm process method···················································· 52-55
6.3 Common problems and exception handling in use···················55-61
Appendix A SD series drive and ST servo motor match parameter setting
chart …………. 62-63
Appendix B Product after-sales service description…………………… 64-64
 Chapter 1 product inspection and installation

Chapter 1 Product inspection and installation

1.1 Product inspection
The servo products have done a complete functional test before leave factory,
in order to prevent the product exception in the process of shipment, please
check the following items carefully when open the package:
1) Check the servo drive and motor model whether is the same as ordered；
(model description please refer to the following chapters)
2) Check the servo drive and motor appearance whether with damage or
scratch； (If there is any damage during transportation, please do not connect wire
and give power!)
3) Check the servo motor rotor spindle whether rotated smoothly by hand。
(the mechanical brake servo motor can not be rotated directly!)
If there is any above mentioned failures or abnormal signs, please contact
local distributors immediately。

1.1.1 Model confirmation

Servo drive model
SD B 08 N K0—A
Function type code

SD series servo drive

Shape code
K0: low power
Sub-series: Encode type K3: middle power
A series: N: incremental K5: high power
B series: Output power
A: absolute type
C series: 08：800W
F: incremental
D series: 13：1.3KW
line type
20：2.0KW
.
A series: the basic type contains
. only the pulse control mode
B series: contains pulse control, simulation speed control mode, the brake unit is enhanced.
30：3KW
C series: Single board structure, performance equal to B series.
D series: High speed and high precision type match 17BIT absolute encoder, RS485
communication CAN communication function

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 Chapter 1 product inspection and installation

1.1.2 SD servo drive random standard accessories

① CN1 plug (DB25 hole) 1 set
② CN2 plug（DB25 pin） 1 set
③ 4 position black power plug（SD*08NK0 drive）1 piece
④ 4 position green power plug（SD*08NK0 drive）1 piece

1.1.3 Servo drive installation size

!!!!Notice: L N is 220V power input terminal, P D is external braking resistor

terminals. It can not be connected wrong.
SD*08NK0 servo drive installation dimensions chart

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 Chapter 1 product inspection and installation

SD*13NK3 and SD*20NK3 servo drive installation dimensions chart

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 Chapter 1 product inspection and installation

SD*50NK5 servo drive installation chart

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 Chapter 1 product inspection and installation

1．2 Servo drive specifications

1.2.1 SD drive specifications
model SD*08 SD*13 SD*20 SD*50

Current May(A) 7.2 10.5 13.5 22.0

Basic single phase or three phase AC170~253V

input power
specificat 50/60Hz
ions Cooling method Natural cooling

Control method SVPWM control

Encoder Incremental
display and operation Six seven-segment display LED: four function keys
Internal Control mode position control/analog voltage speed control/speed trial run/jog run

functions Braking function Internally installed

Under-voltage, overvoltage, excess load, excess current, encoder
Protection function exception, braking, position error etc.
position
control Instruction control mode External pulse
mode
Instruction control mode External pulse

External form pulse+ direction dipulse orthogonal pulse

Position command Maximum
control Differential motion: 500KHZ open collector: 200KHZ
pulse input frequency
mode
Electronic gear ratio 1～32767/1～32767

Instruction smooth way Smoothing time constant 0～2 sec

External Voltage range ±10V

analog
voltage Input impedance 10K
Speed
Speed control range Speed ratio: 1:5000
control Speed fluctuation ratio: ＜ ±0.03 （ load 0 ～ 100% ） . ＜ ±0.05
Speed rage of change
mode （power-15%～+10%）
Instruction smooth way Linear time constant 1 ms～10000ms（0r/min←→1000r/min）

frequency characteristic 300HZ

input location output type ABZ line drive output/ Z open collector output

/ signal output Frequency dividing 1/255/～1

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 Chapter 1 product inspection and installation

output ratio
signal 4 photoelectric 1)servo enable 2)alarm clear 3)deviation counter reset/speed option1
input signal
isolated input 4)command pulse prohibited/ speed option 2
1)location/speed reach 2)servo alarm output；3)Z signal output 4)brake
output signal 4 open collector
output
Usage temperature Operation:0℃～55℃ storage:-20℃～80℃

1.3 Servo drive installation

1.3.1 Installation environment conditions
Servo drive installation environment has a direct effect to the normal function
and service life of the drive, therefore, the drive installation environment must
meet following conditions:
Items SD servo drive
0℃～55℃（no frozen frost）
usage temperature/ humidity
90%RH below（no condensation）
-20℃～80℃
Storage temperature/ humidity
90%RH（no condensation）
atmospheric environment In control cabinet, no corrosive gas, inflammable gas, oil mist or dust etc
vibration less than 0.5G（4.9m/s2）10 Hz -60Hz（not run continuously）
Protection level IP54
When several drives installed in the control cabinet, please note the locating place and
keep enough space for sufficient heat dissipation; please add an additional cooling fan to
keep the drive ambient temperature below 55 ℃。
Please install the drive by vertical way, face forward, top up for heat dissipation。
Avoid any drilling cuttings or other things falling in the drive during assembly。
Please use M4 screws when installing。
If there is vibration source (punch) nearby and can not avoid it, please use vibration absorber
or add anti-vibration rubber gasket。
If there is a large magnetic switch, welding machine etc noise interference sources
nearby, the drive is easily interfered by outside and make wrong action, therefore, a noise
filter must be added; but the noise filter will increase leak current, so, an insulating
transformer must be installed at the input end of the drive。

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 Chapter 1 product inspection and installation

1.3.2 Servo installation direction and interval

Below chart shows a single drive and multiple drive installation interval, the
interval should be larger enough for a good heat dissipation conditions。

Ventilation direction Ventilation direction

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 Chapter 2 servo drive and motor wiring

Chapter 2 Servo drive and motor wiring

2.1 Servo drive power supply and Connections

SD*08NK0 servo drive Connections

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 Chapter 2 servo drive and motor wiring

SD*13NK3/SD*20NK3/SD*50NK5 series servo drive Connections

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 Chapter 2 servo drive and motor wiring

2.2Position/speed control mode Connection

Servo drive Servo

伺服电机 motor
伺服驱动器

L
U 1
单相AC220V
Single phase AC220V
N
V 2
W 3
PE 4
CN1
DC 12~24V CN2 Motor power
COM+ 8 5.1k 电机动力线
line 4PIN
Servo enable 5 5V 4PIN塑
plastic needle
伺服使能 SON 21 file料针座
Alarm
报警清除 clear 6 5V
ALRS 9
Position位置偏差清零
deviation clear CLE 22 17 5V
Pulse forbids
脉冲指令禁止 INH 10 18 5V
Brake抱闸释放信号
release signal
1 0V
HOLD 14 2 0V
Servo
伺服报警 alarm
ALM 15 3 0V Vcc 2
Position
位置到达 reach COIN 1 4 0V GND 3
Output common
输出公共端 terminal DG 3 24 A+ A+ 9
DG 16 12 A- A-
23 B+ B+ 4
B- 14
Receiver

11 B-
AM26LS32接收器

Z phase
Z相输出 output CZ+ 2 22 Z+ Z+ 7
Z phase output ground
Z相输出地 CZ- 5 10 Z- Z- 5 Encoder
编码器
Single-end
单端输入脉冲电 input pulse 21 U+ U+ 6 signal
信号
VP 20
common
源公共端 terminal 2k 9 U- U- 8
20 V+ V+ 10 15PIN
15PIN塑
Plastic
Position
位置指令 instruction PULS+ 18 8 V- V- 12 needle
料针座 file
PULS- 6 19 W+ W+ 11
Position
位置指令 instruction SIGN+ 19 7 W- W- 15
SIGN- 7 FG 1
14 FG
Pulse脉冲反馈C
feedback C PZOUT- 13 Z
PZOUT+ 25 15 FG
16 0V
Pulse脉冲反馈B
feedback B PBOUT- B
PBOUT+ 24
Pulse feedback A
脉冲反馈A PAOUT- 11
A
PAOUT+ 23

SD*08NK0 position control mode Connection

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 Chapter 2 servo drive and motor wiring

Servo motor
伺服驱动器
Servo drive 伺服电机

L
U 1
单相AC220V
Single phase AC220V N
V 2
W 3
PE 4
Motor power
CN1 CN2 电机动力线
line 4PIN
DC 12~24V 5 5V 4PIN塑
plastic needle
COM+ 8 5.1k file 料针座
6 5V
Servo
伺服使能 enable SON 21 17 5V
Alarm
报警清除 clear 18 5V
ALRS 9
Speed
速度1 1 SC1 22 1 0V
Speed
速度22 SC2 10 2 0V
Brake抱闸释放信号
release signal 3 0V Vcc 2
HOLD 14 4 0V GND 3
Servo
伺服报警 alarm
ALM 15 24 A+ A+ 9
Position
位置到达 reach COIN 1 A-
12 A-
Output common
输出公共端 terminal DG 3 23 B+ B+ 4
Receiver

DG 16 11 B- B- 14
AM26LS32接收器

22 Z+ Z+ 7
Encoder
编码器
10 Z- Z- 5
Z phase
Z相输出 output CZ+ 2 signal
Z phase output ground
21 U+ U+ 6 信号
Z相输出地 CZ- 5 9 U- U- 8 15PIN
15PIN塑
20 V+ V+ 10 Plastic
Speed
速度指令 instruction 8 V- V- 12 料针座
needle file
VCMD 4 W+ 11
(+10V-10VDC) 19 W+
SG 17 7 W- W- 15
FG 1
14 FG
Pulse脉冲反馈C
feedback C PZOUT- 13 Z
PZOUT+ 25
15 FG
16 0V
Pulse脉冲反馈B
feedback B PBOUT- B
PBOUT+ 24
Pulse脉冲反馈A
feedback A PAOUT- 11
A
PAOUT+ 23

SD*08NK0 speed control mode Connection

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 Chapter 2 servo drive and motor wiring

Servo motor
伺服驱动器
Servo drive 伺服电机

L1
U 2
3相或单相AC220V
Three phase or Single phase AC220V V 3
L2
W 4
L3
PE 1
CN1 Motor power
DC 12~24V CN2 电机动力线
COM+ 8 5.1k line 4PIN
5 5V 4PIN
aviation motor
Servo
伺服使能 enable SON 21
Alarm clear 6 5V 航空座
报警清除 ALRS 9
Position deviation clear 17 5V
位置偏差清零 CLE 22 18 5V
Pulse forbids
脉冲指令禁止 INH 10 1 0V
Brake抱闸释放信号
release signal 2 0V
HOLD 14
Servo
伺服报警 alarm
ALM 15
3 0V Vcc 2
Position
位置到达 reach COIN 1 4 0V GND 3
Output common
输出公共端 terminal 24 A+ A+ 4
DG 3
12 A- A-
DG 16
23 B+ B+ 5
Receiver

11 B- B- 8
AM26LS32接收器

Z Z相输出
phase output CZ+ 2 22 Z+ Z+ 6
Z phase output ground
Z相输出地 CZ- 5 10 Z- Z- 9 Encoder
编码器
21 U+ U+ 10 signal
信号
Single-end
单端输入脉冲电 input pulse
common terminal
VP 20 9 U- U- 13
源公共端 2k 15PIN
15PIN
20 V+ V+ 11 Aviation
PULS+ 18 8 V- V- 14 航空座
motor
Position
位置指令 instruction
PULS- 6 19 W+ W+ 12
Position
位置指令instruction SIGN+ 19 7 W- W- 15
SIGN- 7 FG 1
14 FG
Pulse feedback C
脉冲反馈C
PZOUT- 13 Z
15 FG
PZOUT+ 25
16 0V
Pulse feedback B
脉冲反馈B PBOUT- B
PBOUT+ 24
Pulse feedback A
脉冲反馈A PAOUT- 11
A
PAOUT+ 23

SD*13NK3/ SD*20NK3 / SD*50NK5 position control mode Connection

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 Chapter 2 servo drive and motor wiring

伺服驱动器
Servo drive Servo
伺服电机 motor

L1
U 2
3相或单相AC220V
Three phase or Single phase AC220V V 3
L2
W 4
L3
PE 1
CN1 CN2 Motor power
电机动力线
line 4PIN
DC 12~24V 5 5V 4PIN
aviation
COM+ 8 5.1k 6 5V motor
航空座
Servo
伺服使能 enable SON 21 17 5V
Alarm
报警清除 clear 18 5V
ALRS 9
Speed
速度1 1 SC1 22 1 0V
Speed
速度2 2 SC2 10 2 0V
Brake 抱闸释放信号
release signal
3 0V Vcc 2
HOLD 14 4 0V GND 3
Servo
伺服报警 alarm
ALM 15 24 A+ A+ 4
Position
位置到达 reach COIN 1 12 A- A-
Output common
输出公共端 terminal DG 3 23 B+ B+ 5
B- 8
Receiver

DG 16 11 B-
AM26LS32接收器

22 Z+ Z+ 6
10 Z- Z- 9 Encoder
编码器
Z Z相输出
phase output CZ+ 2 signal
Z phaseZ相输出地
output ground
21 U+ U+ 10 信号
CZ- 5 9 U- U- 13 15PIN
15PIN
Speed instruction 20 V+ V+ 11 Aviation
速度指令 VCMD 4 8 V- V- 14 航空座
motor
(+10V-10VDC) SG 17 19 W+ W+ 12
7 W- W- 15
FG 1
14 FG
Pulse脉冲反馈C
feedback C
PZOUT- 13 Z
PZOUT+ 25 15 FG
16 0V
Pulse脉冲反馈B
feedback B PBOUT- B
PBOUT+ 24
Pulse脉冲反馈A
feedback A PAOUT- 11
A
PAOUT+ 23

SD*13NK3/ SD*20NK3 / SD*50NK5 speed control Connection

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 Chapter 2 servo drive and motor wiring

24V power supply

Brake motor
relay

Brake coil
24V power supply

Brake release signal typical example

locking type brake Connection

2.3 Terminal electrical connection

2.3．1、Definition of the power terminal(SD*08*K0 series)
Terminal
signal definition function
marking

L main circuit power input terminal～220V 50Hz

main circuit power
note: do not connect motor output terminal U,
N single-phase
V, W.
external connect brake use in the situations that start and stop
P
resistor frequently or large inertia load
external connect brake use in the situations that start and stop
D
resistor frequently or large inertia load
grounding terminal resistance＜100Ω;
PE System grounding Servo motor output and power input one public
point grounding
W
Servo motor output terminals must connect
V Servo motor output
with motor W,V,U terminals
U

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 Chapter 2 servo drive and motor wiring

2、Power terminal definition(SD***K3/K5 series)

Terminal
signal definition function
marking

L1 main circuit power input terminal ～ 220V

main circuit power
50Hz, single phase connect L1 L2
L2 single-phase or three
note: do not connect motor output terminal U，
phase
L3 V，W。
grounding terminal resistance＜100Ω;
PE System grounding Servo motor output and power input one public
point grounding
U
Servo motor output terminals must connect
V Servo motor output
with motor W,V,U terminals
W

2.3．2 Power line terminals wiring

 L1, L2, L3, PE, U, V, W terminal, transversal area≥1.5mm2 (AWG14-16)。
 L, N terminal, transversal area≥1.0 mm2 (AWG16-18)。
 Grounding: the grounding wire should be as thick as possible, drive and servo motor
grounding at PE terminal, grounding resistance＜100Ω。
 Suggest providing power supply by three-phase isolating transformer to reduce the
possibility of electric shock hurts。
 Suggest providing power supply by the noise filter to improve the anti-interference
ability。
Please install non fuse type(NFB) circuit breakers, so that the external power supply can be cut
off promptly when the drive with failure。

2.3．3 Signal terminal definition

SD servo drive unit interface terminal configuration as follows. CN1 signal
control terminal is DB25 connector, the socket is pin type, plug is hole type; CN2
terminal feeder is DB25 connector, socket is hole type, plug is pin type。

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 Chapter 2 servo drive and motor wiring

Control terminal CN1

Control mode abbreviation: (P stands for position control mode; S stand for speed control mode)
Terminal signal control
mark I/O function
No name mode
positive positive power supply of input terminal
power Photoelectric coupler used for drive the input
power
CN1-8 supply of COM+ S/P terminals DC12～24V,
supply
input current≥100mA
terminal
input pulse common power supply side（only when
Pulse use single end pulse can be used, like PLC）this pin
Pulse
CN1-20 VP comm S/P use is prohibited when using the differential input
common
on pulse signal, otherwise the product will be
damaged.
the servo enable to input terminals, SON ON:
CN1-21 SRV-ON SON input S/P allow the drive to work. SON OFF: drive off, stop
working, the motor in free state.
Alarm clear input terminals
Alarm
CN1-9 ALRS input S/P ALRS ON: remove the system alarm
clear
ALRS OFF: keep the system alarm
deviation position deviation counter reset input terminal
counter CLE input P CLE ON: position control, position deviation
reset counter reset
Speed choice 1 input terminal, in the mode of speed
control, SC1 and SC2 combinations used to
CN1-22 select different internal speed SC1 OFF, SC2
speed OFF: internal speed 1. SC1 ON ， SC2 OFF:
SC1 input S
choice 1 internal speed 2. SC1 OFF ， SC2 ON: internal
speed 3. SC1 ON， SC2 ON: internal speed 4.
Note: the value of internal speed 1~4 can be
modified by parameters.
Instruction position instruction pulse prohibit input terminals
pulse INH input P INH ON: instruction pulse input prohibited
prohibited INH OFF: Instruction pulse input effective
CN1-10
Speed choice 2 input terminal, in speed control
Speed
SC2 input S mode，SC1 and SC2 combinations used to select
choice 2
different internal speed SC1 OFF, SC2 OFF:

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 Chapter 2 servo drive and motor wiring

internal speed 1. SC1 ON: SC2 OFF: internal

speed 2. SC1 OFF, SC2 ON: internal speed 3. SC1
ON, SC2 ON: internal speed 4.
position/ position speed reach signal output terminals
CN1-1 speed COIN output S/P when the servo location close to the target position
reach （Pn12 parameter value）, output ON
servo alarm output terminals
servo ALM ON: servo drive without alarm, servo alarm
CN1-15 alarm ALM output S/P output ON.
output ALM OFF: servo drive with alarm, servo alarm
output OFF.
common comm
terminal of on Grounding common terminal of the control signal
CN1-3/16 DG S/P
the output termin output terminal(except CZ)
terminal al
the encoder Z phase output terminals
encoder Z
photoelectric code of the servo motor Z phase
CN1-2 phase CZ output S/P
pulse output
output
CZ ON: Z phase signal appear
encoder Z encoder Z phase output the common terminal of
CN1-5 CZCOM output S/P
phase the output terminal
CN1-18 instruction PULS+
P
pulse input external instruction pulse input terminals
CN1-6 PULS-
signal Note 1: the parameter Pn8 set pulse input mode;
CN1-19 instruction SIGN+ 1．Instruction pulse+symbol mode；
direction input P 2．CCW/CW instruction pulse mode。
CN1-7 SIGN-
signal
analog
CN1-4 voltage VCMD S
input analog voltage ±10V
signal input
input impedance 20K
Analog
CN1-17 SG S
voltage
brake
output drain open circuit output, normal working, optical
CN1-14 HOLD+ S/P
positive coupling breakover. output ON
output
end no enabled, drive prohibited. Alarm, optical
brake coupling close；output OFF
CN1-3 HOLD- S/P
output
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 Chapter 2 servo drive and motor wiring

negative
end
encoder PAOUT encoder give a feedback of output signal, standard
CN1-23 S/P
pulse A+ + is 2500/wire
encoder it can via output Pn41, Pn42 electronic gear to
CN1-11 PAOUT- S/P
pulse A- adjust output, example: encoder 2500 pulse each
output
encoder PBOUT circle, set Pn41/Pn42=4/5,
CN1-24 S/P
pulse B+ + from the drive unit output A, B phase signal is
encoder 2500 XPn41/Pn42=2000 pulse/circle
CN1-12 PBOUT- S/P
pulse B-
encoder PZOUT
CN1-25 S/P
pulse Z+ +
the motor rotate a circle, output a pulse
encoder
CN1-13 PZOUT- S/P
pulse Z-
CN1-PE shield PE

2) The feedback signal terminal CN2

terminal terminal mark colo
signal name function
No mark I/O method r
CN2-5-6-1 power pow Servo motor photoelectric encoder use ＋
+5V S/P
7-18 output+ er 5V power supply;
CN2-1-2-3 power output lan When the cable is long, should use multiple
OV S/P
-4 - d cores in parallel
encoder A ＋ connect with servo motor photoelectric
CN2-24 A+
input encoder A+
I S/P
encoder A － connect with servo motor photoelectric
CN2-12 A-
input encoder A-
encoder B ＋ connect with servo motor photoelectric
CN2-23 B+
input encoder B＋
I S/P
encoder B － connect with servo motor photoelectric
CN2-11 B-
input encoder B－
encoder Z ＋ connect with servo motor photoelectric
CN2-22 Z+
input encoder Z＋
I S/P
encoder Z － connect with servo motor photoelectric
CN2-10 Z-
input encoder Z－
encoder U ＋ connect with servo motor photoelectric
CN2-21 U+
input encoder U＋
I S/P
encoder U － connect with servo motor photoelectric
CN2-9 U-
input encoder U－
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 Chapter 2 servo drive and motor wiring

encoder V ＋ connect with servo motor photoelectric

CN2-20 V+
input encoder V＋
I S/P
encoder V － connect with servo motor photoelectric
CN2-8 V-
input encoder V－
encoder W＋ connect with servo motor photoelectric
CN2-19 W+
input encoder W＋
I S/P
encoder W－ connect with servo motor photoelectric
CN2-7 W-
input encoder W－
CN2-14 PE shield

2.3．4 signal terminals cabling

Cable selection: use shield cable (It is better to choose twisted shielded
cable): wire core cross-sectional area≥0.12mm2 (AWG24-26), shield
must connect with FG terminals。
cable length: cable length as short as possible, CN1 control cable
should be less than 3meters, signal feedback CN2 cable should be less
than 20meters。
Cabling: away from power circuit cabling to prevent interference
entering。Please install surge absorber component in the relevant circuit
inductor components (coil); direct current coil anti-parallel
free-wheeling diode, AC coil in parallel and RC absorb return circuit。

2.4 The principle diagram of the signal interface

2.4．1 digital input interface circuit
Digital input interface circuit could be controlled by relay or open collector
transistor circuit。User provide power, DC12～24V, current≥100mA; note; if the
current polarity reversed, the drive does not work。Input signal SON ALRS INH
CLR SC1 SC2 can refer to this connection mode。

Servo drive

Switch

19
 Chapter 2 servo drive and motor wiring

When input signal connect with OV, signal is ON input and effective. It
can be judged by display menu UN-16, when input ON, the corresponding
nixie tube will be light. Input OFF, the corresponding nixie tube will die out.
Use this display content properly, convenient for servo input signal debugging
and maintenance.

INH(Instruction pulse forbids)

SC2(Speed option 2)
CLE(Deviation counter clear)
FIL (CCW torque limit) SC1(Speed option 1)
RSTP(CW drive forbids)
RIL (CW torque limit) FSTP(CCW drive forbids)
ALRS(Alarm clear)
SON(Servo enable)

Chart 6.3 Input terminal display (light display ON, go out display OFF)

2.4．2 Servo motor photoelectric encoder input interface

In the differential output mode, use AM26LS32 、 MC3487 or similar line drive
RS422 as a receiver。

Servo motor Servo drive

2.4．3 The pulse signal input interface circuit

In order to transmit pulse data correctly, suggest to use differential drive

way; in differential drive mode, use AM26LS31、MC3487 or similar line driver
RS422 as follow diagram：
20
 Chapter 2 servo drive and motor wiring

Servo drive

Using single-ended drive mode will lower the operating frequency。Based on the
design characteristics of this product， there are two modes of connection。
Mode 1: Outside series resistor ， input circuit according to the pulse
quantity。drive current 10～25mA，limit external power maximum voltage as
24V，determine the value of resistance R。experience data: VCC=24V，R=1.3～
2k； VCC=12V，R=510～820Ω. External power supply provided by user, please
note that if the power polarity reversed, the servo drive unit will be damaged。
Details as follow diagram：

21
 Chapter 2 servo drive and motor wiring

Mode 2: do not use series resistance, using the resistance function of the
internal drive to realize. Wiring method as below diagram

Single-end
单端脉冲输入类控 pulse input Servo
伺服驱动器 drive
controller
制器如PLC like PLC

+24V VP 20
2k
Position
位置指令 instruction PULS+ 18
Y0 PULS- 6
Direction
方向指令 instruction SIGN+ 19
Y1 SIGN- 7

2.4．4 The analog input interface

Analog input voltage can not more than ±10V, excessive voltage will damage
the drive；and suggest using twisted-pair cable to connect。

Servo drive

2.4．5 The drive speed output interface

Servo drive

22
 Chapter 2 servo drive and motor wiring

2.4．6 The digital output interface circuit

Please pay attention to the power polarity when using external power,
reversed polarity will damage the drive。 Digital output is open collector mode,
limit external voltage maximum as 24V, maximum current is 10mA. In terms of
load, when using relay etc inductive load, a diode need be added to parallel with
inductive load, if the polarity of the diode is reversed, the drive will be damaged。

Servo drive

Maximum
50mA
Maximum 25V

23
 Chapter 3 operate and display

Chapter 3 operate and display

3.1 Keyboard operation

 Servo panel with 6 LED nixie tube display and 4 buttons to display various
status, parameter setting etc. Key functions as follows:
：serial number, values increase, or option forward；
：serial number, values decrease, or option back；
：return to upper menu or cancel the operation；
：enter the next layer menu operation or input confirmation。
Note: 、 keep press down, repeat operation, the longer the holding time,
the faster the repetition rate。
*** 6 section LED digital tube display all kinds of status and data of the system,
all digital tube or the decimal point of the right digital tube blink, it means alarm。
***Operate according to multiple-layer menu, the first layer is main menu,
including 8 kinds operation mode, the second layer is the function menu of all
operation modes。The below diagram shows the main menu operation:

Monitored state

Parameter

Parameter
operation

Second
Internal speed Sub menu
operation

JOG operation

Automatic gain

Encoder adjustment

Open loop operation

24
 Chapter 3 operate and display

3.2 Monitoring method

Choose “Un-” in the first layer, press entering monitoring mode; there

are 21 display status， the user use 、 to choose the display mode。

Motor speed

Current position
low 5 bits
Current position
high 5 bits
Instruction pulse
low 5 bits
Instruction pulse
high 5 bits
Position deviation
low 5 bits
Position deviation
low 5 bits

Motor torque

Motor current

Current linear
velocity
Control mode

Pulse frequency

Speed instruction

Torque
instruction
Rotor absolute
position
Input signal state

Output
signal state
Encoder
signal state
Operating state

Alarm code

Reserve

25
 Chapter 3 operate and display

3.3 Parameter setting

Choose “PN-” in the first layer, and press key to enter parameter setting
mode. Use 、 to choose parameter, press key , display the value of
the parameter, use 、 to modify parameter values. press or
once, parameter increase or decrease one, press and keep or , the
parameter can be increase or decrease continuously 。 When the parameter value
changed, the LED digital tube decimal point of the right illuming, press to
make sure the modified value is effective, the LED digital tube decimal point of
the right side go out, the modified value will be reflected in the control
immediately, then press or keep on modify parameter, after modified
press back to the parameter selection status. If not satisfied with the
modified value, do not press , can press to cancel, restore original
parameter value, and back to the parameter selection status。

26
 Chapter 3 operate and display

Operation process

Operate Choose “PN” menu

In the first layer menu, and
Press Key

Operate Choose the parameter

Number needed to modify

Press “up” or “down” once and increase or decrease

1, press and keep “up” or “down” can increase or
Operate Display the original decrease setting value continuously. When modify
Value of this parameter parameters, the most right side LED digital tube
decimal point light

Operate Modify parameters

Press Cancel the

Modified value and restore
to the original value

No
Modify finished?

Yes

Determine the changed

Operate
Value

Yes Determine the changed

Re-modify? Value, the most right side
LED decimal point go out
No

Press Return to parameter

selection state

3.4

Parameter management

Parameter management mainly deal with the operation between memory and
EEPROM, choose “Sn-” in the first layer, and press entering parameter
management mode。First, choose the operation mode, there are 5 modes, use 、
to choose。Take “parameter write in” for example, choose “Sn-Set”, press
and keep more than 2 seconds, if the write success, display “DONE”, if fail,
display “ERR”. Press again back to the operation mode selection status。
27
 Chapter 3 operate and display

Sn－SEt parameter write in, it means to write the memory parameter to

the parameter area of EEPROM。 When the users changed the parameters, only
the memory parameter values changed, next power supply will be restored to the
original value。 If you want to change the parameter values permanently, need to
perform write in operation, write the memory parameter into parameter area of
EEPROM, next power supply will use the modified parameters。

Operation process

Operate Choose “SN” menu

In the first menu layer, and
Press Key

Operate Choose “set”

Press And keep more than

If not display “DONE”
Two seconds (include “ERR”), please
contact the distributor for
technical support.

No
Display DONE?

Yes

Press Return to the first menu

 Sn － rd parameter read, it means read the data in parameter area into the
memory 。 The process will perform automatically when power on, at the
beginning, the memory parameter and the EEPROM parameter is the same。
But when the user modified the parameter, the memory parameter value

28
 Chapter 3 operate and display

changed too。When the user is not satisfied with the modified parameter or the
parameter is messy, perform the parameter cancel operation, the data in the
ENPROM parameter area will read into the memory again and restore to the
original parameters when power on at the first time。
 Sn－SS retains
 Sn－rS retains
 Sn－dEF restore default value, it means to read all the parameter default
value(factory defaults) into the memory, and write in the EEPROM parameter
area, next power on will use the default parameter。When the user messed the
parameter and can not work properly, use this operation can restore all
parameters to factory default 。 As different drive mode with different
parameter default values, when using restore default parameters, must first
ensure the motor ID (parameter PN1) is correct。

Operation process

Operate Choose “SN” menu

In the first menu layer, and
Press key

Operate Choose dEF

Press key

Yes

Press Return to the first menu

29
 Chapter 3 operate and display

3.5 F1 Operation mode (panel test-run function)

Choose “F1-” in the first layer, press entering speed trial operation mode. Speed

trial prompt is “S”, value unit is r/min. Speed instruction provided by keys, use 、

can change speed instruction. The motor operated at the given speed。 Control the speed

positive increasing, control the speed reducing (reverse increasing). When the speed

value is positive, the motor rotated in the forward direction; when the speed value is

negative, the motor rotated in the reverse direction. Note: the speed mode is a continuous

motion, please ensure the motion axes with enough run distance to avoid impact and limit。

Operation process

Set PN4 to 2

Operate Choose “F1-” menu

In the first menu layer, and
Press key

Operate Increase forward speed Operate Reduce forward speed

Decrease negative speed Decrease negative speed

No
Test finished?

Yes

Press Return to the first menu

Note: if without outside enable signal, please set PN57 parameter as 1. Or the motor won’t work.

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 Chapter 3 operate and display

3.6 F2 Operation mode (jog test function)

Choose “F2-”in the first layer, press entering jog operation mode。JOG

run prompt is “J”, value unit is r/min，speed instruction provided by keys。Enter F2

operation, press key and keep, motor run at jog speed, release the button,

motor stop running, retain zero speed; press and keep, the motor inverted

running at jog speed, release the key, the motor stop running, retain zero speed, jog

Operation process

Set PN4 to 3

Operate Choose “F2-” menu

In the first menu layer, and
Press key

Operate Run forward, loose, Operate Run negative, loose,

The motor stop The motor stop

No
Test finished?

Yes

Press Return to the first menu

speed set by parameter PN22.

Note: if without outside enable signal, please set PN57 parameter as 1. Or the motor won’t work。

31
 Chapter 3 operate and display

3.7 Other

Motor aging function: set Pn4 as 6, set Pn57 as 1. Servo performs automatic

forward inversion process. Rotation speed can be set by Pn23 。 The cycle of

forward and reversed rotation is 2S. Used to aging motor or drive。

F4 is the photoelectric encoder zero set function, for motor manufactures use。The

user can not use it。

F5 function reserve。

32
 Chapter 4 parameter

Chapter 4 parameter
SD series servo with total 96 parameters can be adjusted, it can be divided to
three levels according to application object, Pn1-Pn59 is user parameters,
Pn60-Pn96 is a complete set of motor parameters; adjust the user parameters can
meet most requirements of the user 。 The motor mating parameters can not be
modified randomly, or there will be unpredictable results appear. Pn5-Pn16 are
position control parameters, Pn17-42 are speed control parameters, Pn43-Pn50
are current control parameters, Pn51-Pn59 is I/O control parameters。Pn60-Pn96
are motor mating parameters。

Serial No. Name No. Name

0 user password 29 acceleration time constant

1 motor ID 30 deceleration time constant

2 System software 31 simulation speed/moment of

force instruction gain
version
3 initial display status 32 zero speed range

4 control mode selection 33 simulation speed/torque filter

5 position proportion 34 simulation speed/torque zero set

gain mode
6 position feedforward 35 zero offset 1
gain
7 position feedforward 36 zero offset 0
low pass filter
8 position instruction 37 simulation speed /torque motor
pulse input mode rotation direction
9 position instruction 38 simulate instruction convert
gear ratio numerator mode
10 position instruction 39 simulation instruction slope
gear ratio denominator
11 position instruction 40 speed mode selection
reverse
12 location finish range 41 speed output electronic gear
ratio numerator
33
 Chapter 4 parameter

13 position error range 42 speed output electronic gear

denominator
14 position error invalid 43 current loop proportion gain

15 location smoothing 44 current loop integral time

filter constant
16 drive ban input invalid 45 interior CCW torque limitation

17 speed proportion gain 46 interior CW torque limitation

18 speed integral time 47 external CCW torque limitation

constant
19 speed detection low 48 external CW torque limitation
pass filter
20 maximum speed limit 49 internal speed, JOG torque

21 arrival speed 50 torque instruction filter

22 jog running speed 53 input terminal low 4 reverse

23 interior speed 1 54 input terminal high 4 reverse

24 interior speed 2 55 output terminal reverse

25 interior speed 3 56 I/O entrance filter time constant

26 interior speed 4 57 automatic enable motor

27 less line motor polarity encoder break line detection

position 58 invalid
28 reserve 59 drive production date

60 motor inertial ratio 61 current rated torque

62 motor rated speed 64 motor rated current

65 the system allowed 68 current instruction low pass

maximum overload filter
capacity
86 encoder line number 87 encoder zero

92 motor pole pairs 95 automatic enable valid

34
 Chapter 4 parameter

4.1 All parameters function and significance detail list

parameter
No. name function
range
1 password with different level, corresponding
to user parameters, system parameters
parameter 2 To modify the motor ID(Pn1), must set this
0 0~300
password item to 0, set user password to 168。 Please
consult the manufacture for system
parameters.

Used to form a complete set of motor model.

Each motor with a unique ID number, if want to
1 Motor ID 1~100
modify this parameter, must set password Pn0
to 0 and then modify this parameter.

software
2 reserve manufacture use
ID

Choose the display status when the drive power

on
0: display motor rotation speed;
1: display current position low 5;
initial
2: display current position high 5
3 display 0~20
8: display motor current;
status
11:display position instruction pulse frequency;
12:display speed instruction;
13:display torque instruction;
14:Display rotor absolute position

35
 Chapter 4 parameter

parameter
No. Name function
range
The drive control mode can be set by this
parameter:
0: position control mode;
control
4 1: speed control mode; 0~6
mode
2: internal speed control mode;
3: jog control mode.
6: aging test mode
Set the proportion gain of the position loop
regulator。
position The greater the setting value, the higher the
5 proportion gain, and the greater the stiffness, under the 1~1000
gain same frequency instruction pulse condition, the
position hysteresis will be less. But if the value
is too big may cause oscillation or overshoot。
When the feedforward gain of the location
loop increase, the high-speed response
characteristics of the control system will be
position enhanced, but it make the system location
6 0~100
feedforward loop unstable and easy to vibrate. Unless very
high response characteristics needed, the
location loop feedforward gain usually set to
0。
location
Set location loop feedforward low-pass filter
feedforward
cutoff frequency, the high the cutoff frequency,
7 low-pass 1~1200
the better the position tracking, but easy to
filter cutoff
vibrate。
frequency
Set the location instruction pulse input form
0: pulse＋sign;
location 1: CCW pulse/CW pulse;
instruction CCW is observed from the axial of servo
8 0~1
pulse input motor, counter clockwise rotate, it define as
form forward direction。
CW is observed from the servo motor axial,
clockwise rotate, it define as reverse direction。

36
 Chapter 4 parameter

location
instruction
pulse
9 electronic gear ratio numerator 1~32767
frequency
division
numerator
location
instruction
10 pulse electronic gear ratio denominator 1~32767
frequency
denominator
location
control 0: normal;
11 0~1
motor rotate 1: direction reversed。
direction
set the location finish pulse range under the
location location control;
12 finished This parameter provide basis whether drive 0~30000
range unit judge finished location under the location
control mode。
location set location tolerance alarm detection range;
tolerance under the location control mode, when the
13 count value in the position deviation counter 0~30000
detection over this parameter, the servo drive unit will
range give position error alarm.
0: location error alarm detection valid;
location
14 1: location error alarm detection invalid, stop 0~1
error invalid
detecting location error。
smooth filtering instruction pulse, with
exponential form acceleration and
location
deceleration, numerical value means time 0ms
instruction
15 constant; ~20000×0.1
smoothing
The filter will not lose input pulse, but there ms
filter
will be instruction delay phenomenon;
When set to 0, the filter doesn’t work。

37
 Chapter 4 parameter

Parameter
No. Name function
range
drive ban input 0: CCW、CW input ban valid;
16 0~1
invalid 1: cancel CCW、CW input ban。
Set the speed loop regulator proportion
gain;
speed The greater the setting value, the higher the 5Hz
17
proportion gain gain, and the greater stiffness. The greater ~2000Hz
the load inertia, the greater the setting
value。
Set speed loop regulator integral time
constant;
The smaller the set value, the faster integral
speed integral 1ms
18 speed and the greater stiffness. The greater
time constant ~1000ms
load inertia, the greater the set value. At the
frequent start-stop small power occasion,
the set value is small to prevent overshoot。
set speed test low pass filter characteristic;
The smaller value, the low cutoff frequency,
the smaller the motor noise. If the load
inertia is large, could reduce the setting
speed detection value. The value is too small may lead to
19 1%~500%
low pass filter low response and vibration。
The larger the value, the high the cutoff
frequency, the speed response faster. If high
speed response needed, could increase the
setting value。

20 rated speed rated speed of the motor 0~ 4000

Set the speed value when input signal reach
21 reach speed 0~3000
effective
-3000 ~3000
22 jog speed Set jog speed.
r/min
38
 Chapter 4 parameter

parameter
No. Name function
range
under the speed control mode, when SC1
-3000 ~3000
23 defined speed 1 OFF，SC2 OFF , choose internal speed 1 as
r/min
speed instruction。
under the speed control mode, when SC1
-3000 ~3000
24 defined speed 2 ON，SC2 OFF , choose internal speed 2 as
r/min
speed instruction。
When SC1 OFF, SC2 ON, choose internal -3000 ~3000
25 defined speed 3
speed 3 as speed instruction. r/min
under the speed control mode, when SC1
-3000 ~3000
26 defined speed 4 ON ， SC2 ON, choose internal speed 4 as
r/min
speed instruction。
motor magnetic magnetic pole position of the line type
27 1~7
pole position motor
Set value means the motor acceleration
time from 0r/min~1000r/min. Acceleration
and deceleration are linear。
acceleration time 0ms
29 Only used for speed control mode, it is
constant ~1000ms
invalid for location control speed. If the
drive unit combined with external location
loop, this parameter should be set to 1。
Set value means the motor deceleration
time from 1000r/min~0r/min. Acceleration
and deceleration are linear。
deceleration 0ms
30 Only used for speed control mode, it is
time constant ~1000ms
invalid for location control speed. If the
drive unit combined with external location
loop, this parameter should be set to 1。
Simulate the gain when the instruction
simulation transfered to speed/ torque. The larger the
31 speed/torque gain, the unit voltage corresponding motor 20～3000HZ
instruction gain speed is higher (the bigger the torque). The
speed curve slope is bigger。

39
 Chapter 4 parameter

parameter
No. Name function
range
zero speed When external simulate voltage sampling
32 value lower than this parameter, motor zero 0~1023
range speed。
Filtering the simulation instruction, the
larger the setting value, the motor run more
simulation
smoothly, but the tracking effect is worse.
33 speed/torque 0~1500
The smaller the setting value, the better the
instruction filter
speed tracking ability (torque more stable).
But easy to vibrate。
0: high and low speed set zero separately;
simulation
34 1:high and low speed both with high speed 0~1
speed/torque
set to zero
Under the simulation speed control mode,
no voltage input, but the motor also with
simulation zero tiny rotation. Adjust this parameter can
36 412~1600
correction 0 make the motor keep zero speed （ adjust
zero speed corresponding analog voltage
offset）。
0: Normal;
simulation
1: simulation instruction reverse;
speed/torque
37 2: output encoder pulse reverse; 0~3
motor rotate
3: simulation instruction and output
direction
encoder pulse reverse。
simulation 0: straight line
instruction
38 conversion
1: exponent 0~1
mode
39 reserve simulation instruction slope 1~1023
speed Under the speed mode, the speed from
40 instruction internal speed or simulation instruction. 0~1
option 0 internal speed 1 simulation instruction

40
 Chapter 4 parameter

speed output
Every circle feedback pulse from encoder in
41 electronic gear 1~255
the drive unit output by gear。
ratio numerator
speed output
electronic gear Every circle feedback pulse from encoder in
42 1~255
ratio the drive unit output by gear。
denominator
The higher the set value, the greater the
gain, the current tracking error is smaller.
current loop
43 But too much gain will produce vibration 1～500
proportion gain
or noise, it related with the servo motor,
with nothing to do with the load。
The smaller the set value, the faster the
integral speed, and the current tracking
current loop error is smaller. But too small integral will
44 integral time produce vibration or noise. It related with 1~10000
constant servo motor, with nothing to do with the
load. Try to set larger value under the
condition the system do not with vibration。
interior CCW Set the internal torque limitation value of
45 torque the servo motor CCW direction; the set 0%~300%
limitation value is the percentage of the rated torque.
interior CW Set the internal torque limitation value of
46 torque the servo motor CW direction; the set value -300%~0%
limitation is the percentage of the rated torque。
interior CCW Set the external torque limitation value of
47 torque the servo motor CCW direction; the set 0%~300%
limitation value is the percentage of the rated torque。
interior CW Set the external torque limitation value of
48 torque the servo motor CW direction; the set value -300%~0%
limitation is the percentage of the rated torque。
49 torque set internal speed, jog speed torque 0~300%

41
 Chapter 4 parameter

Set the torque instruction filter

characteristics. It can restrain the vibration
which produced by torque (the motor give
out sharp vibration noise). The smaller the
torque value, the lower the cutoff frequency, the
50 1%~500%
instruction filter smaller noise produced by motor. If the
load inertia is very big, can reduce the set
value properly. If the value is too small,
may result in slow response and may cause
instability。
input low 4 input signal XX XX ALRS SON
53 0000~1111
reverse bitwise reverse。
input high 4 input signal XX XX INH CLE bitwise
54 0000~1111
reverse reverse。
output port input signal CZ COIN ALM XX bitwise
55 0000~1111
reverse reverse。
IO port 1~1000*0.1
56 IO signal sampling time。
sampling time ms
57 automatic enable motor automatic enable motor。 0~1
encoder break
58 0: test break line 1: do not test break line 0~1
line test invalid
59 production date indicate drive production date present
motor inertia
60 set motor inertia ratio 1～32767
ratio
motor rated
61 set motor rated torque 1～1000
torque
motor rated 0～4000
62 Set motor rated speed.
speed r/min
motor rated Set motor rated current.
64 1～500×0.1A
current Set value is valid.
system allowed
maximum Set system allowed maximum overload
65 0～300%
overload multiples。
capacity
42
 Chapter 4 parameter

Set current instruction low pass filter

cutoff frequency。
current
Used to limit the current instruction
68 instruction low 1～1500HZ
frequency band, avoid the current shock
pass filter
and vibration, make the current response
stably。
encoder line 1～
86 Set encoder each rotate line number
number 10000line/turn
Set the encoder zero and can not be 0～9999
87 encoder zero
changed。 pulse
Set motor pole-pairs number。
motor number Different manufacture and different
92 1～6
of pole-pairs series, the motor pole-pairs number may
different。
When set to 0, SON decided by the I0
automatic port input signal; when set to 1, SON will
95 0～1
enable effective be forced to ON（has nothing to do with the
I0 input signal）。

4.2 parameter adjust diagram model

4.3 Servo key parameters

As the default motor mating parameters has been optimized, therefore, the
43
 Chapter 4 parameter

parameters (except electronic gear) do not need to adjust in most applications and
can be used directly. But the actual mechanic is complex。 If abnormity appear or
needs high response when adjusting, then need to adjust the parameters to meet
requirement。The adjustment principle is first current loop, second speed loop, last
location loop。
The current loops do not need to adjust except for individual situation。The
too fast speed response results in current shock and AL11 alarm 。 It can adjust
PN64 to solve。
speed loop: If high speed response needed, can increase PN17 or decrease
PN18. But PN17 is too large to vibration。In the occasion of too big load inertia,
if the load motor park unstably when decelerating and wag from side to side, need
to increase PN18 to solve。
Location loop: If high location response needed, can increase PN5. Some
occasions can increase PN6 to meet requirement. But PN5 PN6 is too large to
vibration. The setting precondition is to adjust PN5 prior, only in the short
distance and high response occasion can PN6 be used。
electronic gear ratio: 1）if calculate from rotate speed angle, the below formula
can be used
f ×( PN9/PN10)=10000
in which f denotes the upper computer pulse, unit is KHZ/circle
If knows the pulse number from the upper computer and make the motor or load
turn a circle, the gear ratio set value can be calculated with above formula。
2） calculate according to the location accuracy directly
（lead/pulse equivalent）×( PN9/PN10)=10000
For example: screw lead is 5mm, motor and screw lead connected directly, the

44
 Chapter 4 parameter

motor rotates a circle, the load move 5mm. If the accuracy need 0.001mm, there
are 5000 pulse need for rotating a circle; that is: PN9=2，PN10=1
Pulse input form: support pulse with direction and double pulse (positive and
negative pulse), set PN8。

4.4 parameter adjusting steps in actual application

In the process of adjusting or application, if there is vibration, noise or can not
reach the control accuracy, following methods can be used to adjust system
parameters and meet the control requirement。
When the motor is in static locking state, if there is vibration or sharp noise,
please decrease parameter Pn43; set this parameter as large as possible under the
condition of no vibration. The larger the parameter, the better the current tracking
effect and the faster the motor response; but the too large parameter results in
vibration or noise。
（1）: speed control mode parameters adjustment
① [speed proportion gain]（parameter Pn17）set value, as large as possible
under the condition of no vibration。 Generally, the large the load inertia, the set
value should be large；
② [speed integral time constant]（parameter Pn18）set value, try to set small
according to the given condition。 If the set value is too small, the response speed
will be increased, but prone to vibration. Try to set the value as small as possible
under the condition of no vibration. If the value is too large, when the load changed,
the speed will change greatly；
（2）: position control mode parameter adjustment
①according to above method to set proper[speed proportion gain] 和 [speed
integral time constant]；
② [position feedforward gain]（parameter Pn6）set to 0%；
③ [position proportion gain] （ parameter Pn5 ） set value, set as large as
possible in the stable range。When the parameter is large, the position tracking will
be good and hysteresis error is small, but easy to produce vibration when stop

45
 Chapter 4 parameter

positioning 。 When the parameter is small, the system in stable state, but the
position tracking become worse and hysteresis error become larger；
④If require position tracking quite high, can increase Pn6 set value; but if it
is too big, can lead to overshoot。

46
 Chapter 5 operation and adjustment

Chapter 5 operation and adjustment

5.1 power connection

① Connect the three phase AC 220V power to input terminal

(SD***K3/K5servo drive three phase connect L1、L2、L3, single phase connect
L2、L1),（SD***K0servo drive single phase connect L、N）
；
② when the power on, delay about 2 seconds, servo motor ready, the signal is
ON, at this time, can receive servo enable(SON) signal. Detected the servo
enable is effective, the drive output is effective, motor incentive, in operating
state. Detected the servo enable is invalid or alarmed, the motor in free state。
③ Frequently off-on power supply, may damage the soft start circuit and
energy consumption braking circuit, it is better to limit the off-on frequency below
10 times each hour and 50 times a day。 If the servo drive or motor overheating,
after excluded failure cause, must cool 5 minutes and then can switch on again。
5.1.1 Power on sequence
① When the power supply switch on, 1S servo alarm signal output, 10MS
response to enable signal, less than 10MS motor excitation lock; waiting for
running。
5．2 Position control mode
① Connect CN1, input the pulse signal from host computer connect into CN
1 pin18, 6, 19, 7, servo enable (SON) OFF；
② Connect control circuit power and main circuit power, the display of the
drive lighten；
If there is alarm, please check the line connection。
③ Choose control mode（parameter Pn4）set to position running mode（set to
0 ） , Pn8 Set parameter Pn8 according to controller output signal mode, and set
suitable electronic gear ratio (Pn9, Pn10)；
④ Confirm there is no alarm and any abnormal situation, make enable servo
(SON) ON, at this time, the motor motivated, in a state of zero velocity；
⑤ Adjust the pulse frequency of the input signal, make the motor running
according to instruction。

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 Chapter 5 operation and adjustment

5.3 Speed control mode running

Speed control mode divided to external analog voltage speed control and
internal speed control:
1) External analog voltage speed control mode:
① connect CN1, input the analog voltage signal from the host computer
intoCN1 pin 17,4, set servo enable (SON) OFF；
②Connect control circuit power and main circuit power supply, the drive
display light. If there is alarm, please check the line connection；
③Set control mode（parameter Pn4）to speed operation mode (set to 1), and
set Pn40 parameter to 1；
④ Confirm there is no alarm and any abnormal situation, make servo enable
(SON) ON, at this time, the motor motivated, in the state of external analog
voltage control speed, the motor will with small rotation。Adjust PN36 parameter,
make the motor rotate speed as zero；
⑤ If change the controller output analog voltage size, can change the rotate
speed and change the analog voltage polarity, and also the rotate direction。
2）internal speed control mode:
① Connect CN1 ， make input control signal: servo enable (SON), speed
option 1 (SC1), speed option 2 (SC2) OFF；
②Connect control circuit power and main circuit power supply, the drive
display light。If there is alarm, please check the line connection；
③Set control mode（parameter Pn4）to speed operation mode (set to 1), and
set Pn40 parameter to 0 , set speed parameter Pn23～Pn26 based on the need；
④Confirm there is no alarm and any abnormal situation, make servo enable
（ SON ） ON, at this time, the motor motivated, in the state of internal speed 1
running 。 Change CN1 input terminal signal state, and let the motor run as the
setting speed。
5.4 Speed trial operation mode
① Connect CN1, input control signal: servo enable（SON）set OFF；
② Connect control circuit power and main circuit power supply, the drive
display light. If there is alarm, please check the line connection；
③Set control mode（parameter Pn4）to speed operation mode（set to 2）
；
④Confirm there is no alarm and any abnormal situation, make servo enable
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 Chapter 5 operation and adjustment

（SON）ON ,at this time, the motor motivated, in a state of zero speed；
⑤ Through key operation enter F1 speed trial operation mode, speed trial
operation prompt is “S“, value unit is r/min, system in the speed trial mode, speed
instruction provided by key, use change speed instruction, the motor run
based on the setting speed。
5．5 jog operation
①Connect CN1, input control signal: servo enable（SON）set OFF；
② Connect control circuit power and main circuit power supply, the drive
display light. If there is alarm, please check the line connection；
③Set control mode（parameter Pn4）to JOG operation（set to 3）
；
④Confirm there is no alarm and any abnormal situation, make servo enable
（SON）ON, at this time, the motor motivated, in a state of zero speed；
⑤ Through key operation enter F2 jog operation state, JOG prompt is “J”,
value unit is r/min，system in the speed control mode. The speed, direction decided
by parameter Pn22, press , the motor run based on the speed and direction of
Pn22 parameter, press , the motor rotate based on the setting speed。

49
 Chapter 6 alarm and processing

Chapter 6 Alarm and processing

If the servo with failure in use, the display will show: Al—xx, please operate
according to the contect of this chapter, get rid of the corresponding and can be
put into use again。
6.1 alarm list
alarm code alarm name alarm reason

AL-0 normal
AL-1 overspeed servo motor speed exceeds the set value
main circuit main circuit voltage too high
AL-2
overvoltage
main circuit main circuit voltage too low
AL-3
undervoltage
position tolerance motor with deviation over parameter Pn13
AL-4
setting value
speed amplifier speed amplifier saturated a long time
AL-6
saturation
AL-9 encoder abnormal encoder with break line or short circuit
Control power control the power below±15V
AL-10
undervoltage
AL-11 excess current 1 IPM module output current is too large
AL-12 excess current 2 DSP detection current is too large
AL-13 excess load servo output torque over the allowed value
AL-14 braking abnormal braking circuit abnormal
encoder count encoder AB signal abnormal
AL-15
abnormal
memory abnormal servo inside EEPROM read-write
AL-16
abnormal
encoder Z pulse motor rotate 2 circle, the encoder find no
AL-17
abnormal Z pulse
AL-18 encoder UVW signal encoder UVW signal wrong or the
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 Chapter 6 alarm and processing

abnormal encoder doesn’t match

encoder UVW signal UVW signal with high level or low level
AL-19
illegal code
CPLD communication CPLD communication abnormal
AL-20
abnormal

6.2 Alarm processing method

alarm alarm
reason
code name processing method
input pulse frequency is too set correct input pulse
high instruction
input electronic gear ratio is set correct Pn9 Pn10
too large parameter
AL-1 overspeed
ask the factory to reset the
encoder zero error
encoder zero
motor U 、 V 、 W lead wire confirm the wiring
wrong sequence

input L1 L2 L3 power voltage

reduce power voltage
higher than AC260V
main
prolong control system
AL-2 circuit brake circuit capacity is not
acceleration and
overvoltage enough
deceleration time
(tend to occur in the occasion that
contact manufacturer to
frequently and rapidly start and stop and
increase braking resistance
the load inertia is large)
capacity
input L1 L2 L3 power voltage
find out the external reason
less than AC170V
main of low voltage
AL-3 circuit
undervoltage
servo protection action replace a new servo drive

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 Chapter 6 alarm and processing

confirm UVW wire phase

sequence correct or not
perform operation, the motor confirm if the input pulse
does not turn any angle, frequency is too high
immediately alarm pulse electronics gear
setting it too large, set
parameter Pn9 Pn10.
position
AL-4 alarm when rotating （ input pulse confirm input pulse
error
abnormal） frequency and width
alarm when rotating （ error
set parameter Pn13 larger
detection range is too small）
alarm when rotating （ position increase position gain Pn5
proportion gain is too small） set value
alarm when rotating （ lack of
higher power servo motor
torque）
check the load mechanical
motor mechanically locked
speed part
AL-6 amplifier decrease load, change a
saturation the load is too large higher power drive and
motor
encoder wiring wrong or line check or change encoder
break wire
encoder caused by interference set Pn58 to 1
AL-9
failure the encoder cable is too long,
lead to the encoder power shorten the cable
voltage a little low
±15Vcont
rol power
AL-10 ±15V control power is low replace a new servo drive
undervolt
age
grounding defective grounding correctly
motor insulation damaged replace a new motor
motor winding with short
Over-current 1

replace a new motor

circuit
AL-11 servo motor parameters do not Correctly set motor ID
match number Pn1
increase the host computer
deceleration time is too short acceleration and
deceleration time

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 Chapter 6 alarm and processing

decrease parameter Pn43

Pn5 value
current surge
increase parameter Pn64
value
pulse input is not increase pulse smoothing
well-distributed parameter Pn15 value
servo protection action replace a new servo drive
motor insulation damaged replace a new motor
Over-curr
grounding defective grounding correctly
AL-12 ent 2
servo protection action Replace a new servo drive
mechanically locked or
resistance is large, motor
excess servo output torque over the
AL-13 type is not good, change to
load allowed value
higher power drive and
motor
servo protection action replace servo drive unit
increase
acceleration/deceleration
brake circuit capacity is not
braking time constant
AL-14 enough
abnormal replace a larger power
servo and motor
check the AC input power
main circuit power is too high
supply
check or replace the motor
encoder encoder connection errors
encoder line
AL-15 count
grounding defective grounding correctly
abnormal
servo motor defective replace servo motor
EEPROM servo inside EEPROM
AL-16 replace servo drive
abnormal read-write abnormal
Z pulse not exist, encoder check the encoder line
encoder Z
damaged, inserted or not
AL-17 pulse
cable shielding defective, check or replace the
abnormal
encoder interface circuit fault encoder line。
check the encoder line
encoder
encoder UVW signal damaged, inserted or not,
UVW
AL-18 encoder Z signal damaged, check or replace the
signal
cable shielding defective, encoder line, replace servo
abnormal
drive。

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 Chapter 6 alarm and processing

encoder
check the encoder line
UVW encoder UVW signal damaged
inserted or not, replace the
AL-19 signal cable defective
encoder line, replace servo
illegal cable shielding defective
drive.
code
CPLD CPLD communication
AL-20 change servo drive
abnormal abnormal

Special explanation: if the servo drive alarm, but after power on again, the
alarm will disappear。Generally, it is considered that the servo drive outside parts
with problem or the parameter adjusted improperly, please check the servo
peripheral parts。For example: power voltage, controller, mechanical load, motor
etc。 If the peripheral parts without problem, please consult the manufacture about
parameter adjustment。
If the alarm can not clear after power on, please replace the servo drive and
observe。

6.3 Common problems in use or exception handling

1 、 No-load operation motor vibrate strongly or scream, load with noise or

position error。
Handling method: confirm the servo drive PN 1 parameter whether match
with the connected motor, set correct parameter based on table 7.2, then restore to
factory value。
For example: the current motor is 60ST-M01330
1）Check table 7.1, motor ID =1；
2）Operate drive, set PN0 to 0；
3）Set PN1 to motor ID number, that is PN1=1；
4）Operate drive and enter SN-DEF interface, press the ENTER key on the
display panel for 2 seconds, when display DONE, indicates success；
5）Turn off and power on again, done。
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 Chapter 6 alarm and processing

2、The motor run positional accuracy and the required accuracy deviation is
very large and regular
Handling method: Set position pulse electronic gear ratio correctly。This servo
system default 10000 pulse rotate a circle。If the host computer requires 3000 pulse
for motor to rotate a circle, need to set gear ratio to meet requirement。
It can be calculated by below format:
3000 *（PN9 / PN10）=10000
get PN9=10 PN10=3
Set gear ratio refer to section 4.3
3、drive input, output signal level reversed
1）Set parameter PN53 PN54 PN55 to set input/output suitable high level or low
level so as to adapt to different input/output level requirement of the controller。
4、host computer pulse motor not running
Make sure PN4=0, check UN-12 monitoring value， if there is digital shows
the drive received pulse ， it indicates the control signal connection without
problem。Please refer to method 1 to clear trouble。If display F 0.0，it indicates the
drive do not received pulse 。Please refer to method 2 to clear trouble。 UN-12
display unit is KHZ, like display F150, it indicates the present drive received pulse
frequency is 150KHZ。
Method:
Set below two parameters: PN95=1 PN4=3 in F2 model performs JOG
function 。 If the motor can rotate, it indicates the motor, the motor power line,
encoder wire connected correct, there is no problem。
Check CN1 signal if with INH signal or CLE signal with ON or not。 It can be
found by check UN-16。

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 Chapter 6 alarm and processing

If the motor can not run, please do following inspection：

1）Check the drive with enable motor or not, and turn the motor shaft by hand。If it
can not be rotated, indicates the motor enable locked 。 If it can be rotated,
indicates there is no enable, please check if CN1 input enable signal correct
connected or not 。 If the enable signal do not need to control by the host
computer。CN1 input enable signal not connected, can set PN95=1, drive motor
automatically enable locked；
2）Check if the power cable which between drive and motor connected correctly or
not, and the socket loose or not。Drive output terminal U V W PE and motor U V
W PE whether corresponding 。 Power cable U V W PE must be connected
correctly, can not change the order randomly；
3）Please contact the factory technical personnel。
Method 2:
1 ） Check the pulse amplitude input to drive, the standard is 5V 。 If the pulse
amplitude is 12V, must series 1K resistance; if the pulse amplitude is 24K, must
series 2K resistance。The drive input circuit will be burned if not series resistance
according to the requirements。 Lead to the servo can not receive pulse；
2）Confirm the pulse connection mode is correct, the connection mode: differential
connection mode and single end connection mode。Specific see below chart。

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 Chapter 6 alarm and processing

Typical application: NC system, motion controller

Typical application: PLC, SCP controller

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 Chapter 6 alarm and processing

5、The motor can only turn to one direction

1）Confirm the input to drive pulse type, pulse and direction setting PN8=0; double
pulse setting PN8=1; A/B orthogonal pulse setting PN8=1, and confirm the drive
model is SDxxx-D；
2 ） Observe UN-12 display state, host computer send corotation signal should
display F xx. Reversal signal should display F –xx. If the host computer send
corotation signal or reversal signal both display F xx or F –xx. Please check the
direction signal SIGN from host computer to drive；
3）Please contact the factory technical personnel。
6、high speed stop or from top to down does negative work, the drive display
AL－3
1）modify the host computer deceleration time；
2）reduce motor speed；
3）small power drive access external braking resistance；
4）high power drive please contact the factory technical personnel。
7、there is no display when power on
1）Confirm power connecting line and input power；
2）Please contact the factory technical personnel。
8、Power on drive display “。 。。” or “888888”
。。。。。
1）the input power lack phase, check each phase power line；
2 ） servo drive damaged by short circuit, and lead to servo drive damaged. The
motor damage can be judged by motor shaft under the no-load situation, rotate a
circle, if the shaft is not smooth, can be concluded that the motor is damaged。
9、Motor position is not accurate
1）disorder, check motor mechanical parts；

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 Chapter 6 alarm and processing

2）orderly, monitor and analyse UN-02 UN-03 UN-04 UN-05 can get results；
3）Screening interference, the signal wire use shield wire and grounding, add core。
Motor cable change to shield wire。 Electronic control system wiring again, and
strong and weak electricity line separately. Install filter etc。
The effect of the servo monitoring menu in analysis and adjustment processes：
1）UN-01 motor speed observe the motor actual speed；
2 ） UN-02 UN-03 motor current location: used to observe the current motor
position, it is in the form of pulse number, like control the fixed trajectory. Each
time run repeatedly, when go to the same position, the displayed value should be
the same, which indicated each position is correct；
3）UN-04 UN-05 pulse instruction count, used to monitoring the pulse from the
host computer whether correct。For example, control to run the fixed trajectory,
each time run repeatedly. When go to the same position, the displayed value
should be the same, which indicates the pulse from host computer is correct；
4）UN-08 motor present torque, used to observe motor actual operate situation. If
this value over 90 for a long time, the motor type is small；
5 ） UN-12 input pulse frequency, used to observe pulse frequency from host
computer and stability state；
6）UN-16 input signal state, used to judge whether the input signal is normal；
7）UN-17 output signal state, used to judge whether the output signal is normal。

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 Chapter 6 alarm and processing

INH(Instruction pulse forbids)

SC2(Speed option 2)
CLE(Deviation count clear)
FIL (CCW torque limit) SC1(Speed option 1)
RSTP(CW drive forbids)
FRIL (CCW torque limit) FSTP(CCW drive forbids)
ALRS(Alarm clear)
SON(Servo enable)

Chart 6.3 Input terminal display (light display ON, go out display OFF)

COIN(Position finished )
SCMP(Speed reached)
Reserve
ALN(Servo alarm)
SRDY(Servo ready)

Chart 6.4 Output terminal display (light display ON, go out display OFF)

60
 Appendix A

Appendix A: SD* series drive and ST servo matching parameter list

SD*series servo and ST motor matching and PN1 parameter (motor ID)
setting
motor motor servo drive
motor model No. ID No.
flange power model No.
200W 60ST-M00630 MAL 0
60
400W 60ST-M01330 MAL 1
600W 60ST-M01930 MAL 4
400W 80ST-M01330 MAL 5
SD*08NK0
80 750W 80ST-M02430 MAL 2
730W 80ST-M03520 MAL 6
750W 90ST-M02430 MAL 7
90
730W 90ST-M03520 MAL 8
80 1.0KW 80ST-M04025 MAL 3
90 1.0KW 90ST-M04025 MAL 9
600W 110ST-M02030 MAL 10
110 1.2KW 110ST-M04030 MAL SD*13NK3 11
1.5KW 110ST-M05030 MAL 12
1.0KW 130ST-M04025 MAL 15
130
1.3KW 130ST-M05025 MAL 16
1.2KW 110ST-M06020 MAL 13
110
1.8KW 110ST-M06030 MAL 14
1.5KW 130ST-M06025 MAL 17
2.0KW 130ST-M07725 MAL 18
1.0KW 130ST-M10010 MAL SD*20NK3 20
130 1.5KW 130ST-M10015 MAL 20
2.5KW 130ST-M10025 MAL 21
2.3KW 130ST-M15015 MAL 22
3.8KW 130ST-M15025 MAL 23
150 3.8KW 150ST-M15025 MAL SD*50NK5 24

61
 Appendix A

150 3.0KW 150ST-M15020 25

3.6KW 150ST-M18020 26
4.7KW 150ST-M23020 27
5.5KW 150ST-M27020 28
2.7KW 180ST-M17215 SD*50NK5 29
3.0KW 180ST-M19015 30
180 4.5KW 180ST-M21520 31
2.9KW 180ST-M27010 32
4.3KW 180ST-M27015 32
2.7KW 180ST-M17215MAH 60
3.0KW 180ST-M19015MAH 61

4.5KW 180ST-M21520MAH 62
180 SDB55HK6
2.9KW 180ST-M27010MAH 63
380V
4.3KW 180ST-M27015MAH 64
Series
3.7KW 180ST-M35010MAH 65
5.5KW 180ST-M35015MAH 66
SDB75HK6
7.5KW 180ST-M48015MAH 67

In order to achieve the best control effect, the drive and motor must be matched to
use (Pn1 motor ID matched to corresponding model number). Otherwise, it may
vibrate, scream, position error etc。
matching method:
1）change Pn0 to 0；
2）Set Pn1 to the needed motor ID value；
3）enter SN-DEF menu, press “Enter” key for 2 seconds till display DONE；
4）power off, power on again can work normally。

62
 Appendix B

Appendix B: product after-sales service explanation

According to the correct using method to use ， this product will have a long
service life 。 If the using method is improper or the environmental severity
exceeds the allowed range，this product will be failure。 The standard warranty
period for this product is 12 months。Due to improper use or failure after more than
12 months will be charge for maintenance。
Please note the following items about repair service
1） Product labels are important documents for the maintenance， please do not
tear，damage。 Otherwise no warranty；
2） Warranty period of 12 months is from the date of purchase ， if the purchase
vouchers can’t be offered within the warranty period ， the warranty period
will be 13 months since the factory date on the label；
3） Maintenance service needed，please contact the agency or distributors；
4）Please pack well after the maintenance service so as to prevent damage again。

The following circumstances are out of warranty service：

*Because of improper use ， like wrong power-line connection, non-professional
dismounting、 rebuild、water seepage、oil in etc damage caused by human factors；
*The damage caused by natural disasters，such as lightning, earthquake etc。

Oct. 2012, the sixth edition

All rights reserved, reprint is forbidden

63