Servo

HSV-160B+ Series
Full Digital AC Servo Drive Unit

User's Manual
(Version 1.0)
Wuhan Huazhong Numerical Control Co., Ltd.

Nov. 2011
Contents
1. Safety Precautions................................................................................................. - 5 -
1.1 Warning Symbols on the Product............................................................. - 5 -
1.2 Meanings of Symbols for Warning........................................................... - 6 -
1.3 Explanation of Safety Concerned Symbols.............................................. - 6 -
1.4 Safety Notice.......................................................................................... - 6 -
2. Overview.............................................................................................................. - 12 -
2.1 Introduction to Product............................................................................ - 12 -
2.2 Introduction to Operating Mode.............................................................- 13 -
3. Specification......................................................................................................... - 15 -
3.1 Servo Drive Specifications........................................................................- 15 -
3.2 Isolating Transformer Specification........................................................- 19 -
4. Installation............................................................................................................- 21 -
4.1 Check on Delivery..................................................................................... - 21 -
4.2 Installation Environment..........................................................................- 22 -
4.2.1 Protection Requirements............................................................... - 22 -
4.2.2 Temperature Requirements.......................................................... - 22 -
4.2.3 Vibration and Shock Loading....................................................... - 22 -
4.3 Servo Drive Installation............................................................................- 22 -
4.3.1 Installation Method........................................................................ - 23 -
4.4 Installation of Servo Motors.....................................................................- 28 -
4.4 Installation of Servo Motors.....................................................................- 29 -
4.4.1 Installation Environment...............................................................- 29 -
4.4.2 Servo Motor Installation Method................................................. - 29 -
5. Wiring................................................................................................................... - 31 -
5.1 Standard Wiring........................................................................................ - 32 -
5.1.1 Position Control Mode...................................................................- 32 -
5.1.2 Speed and Torque Control Mode.................................................- 32 -
5.1.3 Conductor Configuration.............................................................. - 32 -
5.2 Signals and Functions............................................................................... - 36 -
5.2.1 HSV-160B+-010/020/030 AC Servo Drive Terminal Configuration
....................................................................................................................- 36 -
5.2.3 HSV-160B+-010 AC Servo Drive Mains Terminals.................... - 40 -
5.2.4 HSV-160B+ -050/075 Mains Terminals....................................... - 41 -
5.2.5 Serial-port Communication Interface (COM).............................- 42 -
5.2.6 Fault Interlock Terminals.............................................................. - 43 -
5.2.7 Control Signal Terminals (COMMAND).................................... - 44 -
5.2.8 Encoder Signal Terminals..............................................................- 47 -
5.3 Interface Circuit......................................................................................... - 49 -
5.3.1 Switch Value Input Interface........................................................ - 49 -
5.3.2 Switch Value Output Interface..................................................... - 49 -
5.3.3 Pulse Array Input Interface...........................................................- 51 -
5.3.4 Servo Motor Photoelectric Encoder Input Interface.................. - 52 -
5.3.5 Analog Command Input Interface............................................... - 52 -
5.3.6 Analog Command Output Interface............................................- 53 -
5.3.7 Position Feedback Signal Output Interface.................................- 54 -
5.3.8 Open Collector Output Interface for the Encoder Z-Phase Signal..-
55 -
6. Operation and Display....................................................................................... - 57 -
6.1 Keypad Operation and Display...............................................................- 57 -
6.2 Parameter Management........................................................................... - 65 -
-2-
Contents
6.2.1. Parameter Change and Saving.................................................... - 66 -

6.2.2. Parameter Recovery...................................................................... - 67 -
7. Parameter Setting................................................................................................ - 69 -
7.1 Function Menu...........................................................................................- 69 -
7.2 Motion Parameter Mode.......................................................................... - 69 -
7.2.1 Elaborate on Motion Parameter....................................................- 74 -
7.3 Expansion Parameter Mode...............................................................- 81 -
7.4 Control Parameter Mode..........................................................................- 85 -
8. Operation Tuning................................................................................................- 87 -
8.1 Power Connection..................................................................................... - 87 -
8.2 Trial Operation.......................................................................................... - 89 -
8.2.1 Checking Before Operation...........................................................- 89 -
8.2.2 Power-on Trial Operation............................................................. - 90 -
8.3 Simple Wirings in the Position Control Mode...................................... - 93 -
8.4 Simple Wirings in the Speed Control Mode.......................................... - 95 -
8.5 Simple Wirings in the Torque Mode...................................................... - 97 -
8.6 Tuning.......................................................................................................- 100 -
8.6.1 Basic Gain...................................................................................... - 100 -
8.6.2 Electronic Gear Setting................................................................ - 101 -
8.6.3 Tuning Start-up and Stop Characteristic...................................- 102 -
8.7 Frequently Asked Problems...................................................................- 104 -
8.7.1 Parameter Default Setting Recovery..........................................- 104 -
8.7.2 Deficient Output Contributions in the Process of Tuning...... - 105 -
8.7.3 Current Loop Tuning...................................................................- 105 -
8.7.4 Change of Parameters Regardless of the Motor and Drive
Combination Type.................................................................................- 106 -
9. Diagnostics and Troubleshooting................................................................... - 108 -
9.1 Protective Diagnostic Function..............................................................- 108 -
9.2 Troubleshooting.......................................................................................- 110 -
10. Service and Maintenance................................................................................- 117 -
10.1 Routine Maintenance............................................................................ - 117 -
10.2 Regular Maintenance............................................................................ - 118 -
10.3 Parts Replacemnt................................................................................... - 118 -
Annexure.................................................................................................................. - 118 -
-3-
Chapter 1 Safety Precautions
1. Safety Precautions
Thank you very much for your using AC Servo Drive Unit HSV-160B+. We
provide servo drives and motors for common industrial applications.
However, the following instructions must be strictly observed:
� Do not place the servo drive and motor in the environmental
conditions of strong vibration.
� Do not use the servo drive and motor for life safety concerned
medical equipment.
� Do not subject the servo drive to the rain or direct sunshine, since it
is not waterproof structured.
� Do not make any changes or modification to the servo drive and
motor.
Attention: Before installation and wiring, read through this manual carefully.
Before operation, you must have good knowledge of safety information and
precautions, and device usage.
1.1 Warning Symbols on the Product
△ !
Warning
� Be careful of electric
shock and personal
！
injury hazard.
� Wait 5 minutes for
wiring and cover
removal after power
shutdown.
-4-
1.2 Meanings of Symbols for Warning
！ Warning Safety sign board
� Be careful of
electric shock and
personal injury
Meaning of each
hazard.
� Wait 3 minutes for safety sign
wiring and cover
removal after power
shutdown.
Symbol
1.3 Explanation of Safety Concerned Symbols
Incorrect use of the product

Danger could result in hazards,
personal injuries and even
death.
Incorrect use of the product

could result in light or
Caution medium level personal
injuries and damages to the
product.
1.4 Safety Notice

1.4Safety
1. Check and confirm on delivery
-5-
� Do not install the damaged servo

Caution drives; otherwise, you may get
injured.
� Use the servo motor and drive in
the specified combination, otherwise, it
result in fire or fault.
� Lift the bottom of the device for

2. Installation
displacement. If you hold only
the panel, the servo drive host
may drop from your hand, and
Caution
you may get injured.
� This product should be fit to the
noncombustible flat surface, such
as metals. Failure to follow this
instruction could result in fire.
� Make sure the inlet and outlet of
the product are unobstructed.
Prevent foreign bodies from
entering the product. Failure to
follow this instruction could
result in aging of internal
components and thereby cause
fire and/or fault.
� Keep the specified space for
servo drive and the switching
cabinet and other devices when
carry out installation. Failure to
result in fire and/or fault.
3. Wiring
� Wiring is supposed to be done by
electrical engineers. Failure to follow this
instruction could result in electric shock
Danger and/or fire.
� Before wiring, confirm the power is
off. Failure to follow this instruction
could result in electric shock and/or
fire.
� Power terminal and motor connection
terminal should be fastened tightly.
Failure to follow this instruction could
result in electric shock and/or fire.
-6-
� Do not touch the output terminals

directly or connect the output
wires with the servo drive outside
shell. Never short the output
terminals. Failure to follow this
instruction could result in electric
shock and/or short circuit.
� Safety devices like breakers

Caution should be installed to avoid short
circuit of external layout. Failure
to follow this instruction could
result in fire hazard.
� Verify the power voltage of AC
main circuit is corresponding to
the nominal voltage of the servo
drive. Failure to follow this
instruction could result in
injuries and/or fire hazard.
� Do not do the voltage resistance
test to the servo drive; otherwise,
the semi-conductor components
of the servo drive could be
damaged.
� Do not connect the power cables
with output terminal U, V, W;
otherwise, when voltage adds on
the output terminal, the internal
parts of the servo drive could be
damaged.
� Do not connect capacitor and
(LC/LR) noise filter with
terminal U, V, W in the output
loop; otherwise, the servo drive
could be damaged.
� Do not connect electromagnetic
switch or contactor with terminal
U, V, W in the output loop. In
the load-operation, the surge
current could activate the over
current protection circuit of the
servo drive.
-7-
4. Debugging and Operation
� To avoid unexpected accidents,

servo motor test run should be
Danger
carried out respectively (free from
connection to the transmission
shaft). Failure to follow this
instruction could result in injuries.
� Do not disassemble the servo
drive with power present. Failure
result in electric shock.
� Do not approach to the machine in
trial operation with power present.
(Take personal safety into
consideration when perform
mechanical and electrical design).
� Do not touch the servo drive heat

sink, brake resistor or the motor
Caution
with power present or just
switched off, since the temperature
of them could be high. Failure to
follow this instruction could result
in burns.
� Before operating, reconfirm the
technical datum of the servo
motor and other devices. Failure
result in injuries.
� If it is necessary to use external
brakes, prepare separately; do not
touch the brakes in operation.
Failure to follow this instruction
could result in injuries.
� Do not check signals in operation;
otherwise, the servo drive could be
damaged.
-8-
5. Troubleshooting
� Wait 5 minutes for wire removal

after power shutdown of the
Danger
servo drive, since the voltage
may still remain high for some
time. Failure to follow this
instruction could result in electric
shock.
� Operations (such as wiring,
installation, running, disassembly
and maintenance) must be
performed by the specified
professional personnel. Failure to
result in risks of electric shock
and/or damages to the servo
drive.
� The control circuit board adopts

CMOS integrated circuit (IC),
Caution
therefore, you should take
anti-static measures in
maintenance; otherwise, the
electrostatic induction could
damage the control circuit board.
6. Adoption of servo motors

� The nominal voltage of the servo
motor must be greater than the
constant torque loads valid.
Caution Otherwise, the servo motor could
be damaged for long-time
overload.
� The ratio of load inertia and
servo motor inertia should be less
than the recommended value.
Otherwise, the device could be
damaged.
� Use the servo motor and drive in
the specified combination.
Failure to follow this instruction
could result in damages to the
device.
-9-
7. Others
� Do not make changes or

modifications to the device by
Danger yourself. Failure to follow this
instruction could result in risks of
electric shock and injuries.
- 10 -
Chapter 2 Overview
2. Overview
HSV-160B+ is a new product of full-digital AC servo drive after HSV-11,
HSV-16 and HSV-160 developed by Wuhan Huazhong Numerical Control
Co., ltd. (short for HNC). It features all characteristics of compact structure,
ease of use and high reliability.
2.1 Introduction to Product
HSV-160B+ AC servo drive adopts the latest technological designs, such as

Digital Signal Processing (DSP) for motion controller and Intelligent Power
Module (IPM). It features a few characteristics:
� Small size body
� Easy to install and operate
� High reliability
Highlights of HSV-160B+ AC servo drive:
� Easy and flexible control
To meet different work requirements and/or environmental conditions,
you can make revisions to the servo drive parameters to change its
operating mode and/or internal parameters. You can also preset a few
sets of characteristic parameters, and alternate automatically according
to the machining situations.
� Full status display
HSV-160B+ AC servo drive provides a series of status display. It enables
users to browse the related status parameters of the servo drive easily
during debugging and operation. And it also provides a series of fault
diagnostic information.
� Wide range of speed adjustment ratio (relative to the motor itself and the
feedback component selected)
The setpoint of maximum rotary speed of the motor can reach 12000
rpm in HSV-160B+ AC servo drive system, and the minimum is 1 rpm.
The range of speed adjustment ratio is 1:12000.
- 11 -
Chapter 2 Overview
� Small size, easy to instal

HSV-160B+ AC servo drive adopts a compact structure and a small size
body, which makes it easy to install and disassemble.
� Gain-switch function
To improve the transient characteristic of the operating motor with
dynamic loads, you can preset standby characteristic parameters, and
alternate automatically according to machining situations.
� User-defined Signal Inputs/Outputs function
HSV-160B+ AC servo drive system preset 13 types of input functions
and 10 output functions, of which, users can conveniently select 6 input
functions and 3 output functions for setting, and define the validity of
I/O signals high (low) level.
� Servo motor code setting and autotuning function of the motor
parameters
HSV-160B+ AC servo drive sets the motor code according to the motor
type, and accesses to the motor parameters via autotuning.
2.2 Introduction to Operating Mode
There are five control modes for HSV-160B+ AC servo drives:

� Position control mode (pulse interface): HSV-160B+ AC servo drive can
receive 3 types of pulse commands (orthogonal pulse, pulse + direction,
positive and negative pulse) via setting internal parameters.
� Speed control mode (analogue interface): HSV-160B+ servo drive can
receive analogs whose amplitudes are not higher than 10 v (that is from
-10 v to +10 v) via setting the internal parameters to switch to the speed
control mode.
� Torque control mode (analogue interface): HSV-160B+ AC servo drive
can receive analogues whose amplitudes are less than 10 v (from -10 v
to +10 v) via setting the internal parameters to switch to the torque
control mode.
� JOG control mode: In this mode, users can operate HSV-160B+ AC
- 12 -
Chapter 2 Overview
servo drive manually with a keypad. It is a way to check whether the

installation and connection of servo drive unit are correct or not.
� Internal speed control mode: In this mode, HSV-160B+ AC servo drive
can run at the internal preset speed.
- 13 -
Chapter 3 Specification
3. Specification
pecificationss
3.1 Servo Drive Specification
Denomination Explanation:
Table 3.1 Servo drive operating current

Momentary Withstand
Servo Continuous Current
Current
Drive (A/30 min)
min))
(A/1 min
Specification (virtual value)
(virtual value)
HSV-160B+-010 4.8 7.2

HSV-160B+-020 6.9 10.4
HSV-160B+-030 9.6 14.4
HSV-160B+-050 16.8 25.2
HSV-160B+-075 24.8 37.2
Table 3.2 Servo drive specifications

Power Input 3-phase AC 220 V (-15 to +10%, 50/60 Hz
Hz）
Ambient In operation: 0 to 55 ℃
temperature For storage: -20 ℃ to 80 ℃
Operating Relative
< 90 % (no icing)
environment humidity
< 0.5 G (4.9 m/S2), 10 to 60 Hz
Vibration
(noncontinuous operating)
Position control mode
Control Speed control mode
mode Internal speed control mode
JOG mode
- 14 -
internal\external
Regenerative
For selection and connection of brake resistors, see the
brake
Annexure
Speed
frequency 300 Hz or higher
response
< ±0.1 (load: 0 to 100%); < ±0.02 (Power
Speed
supply: -15 to +10%)
fluctuation
Characteristics (This value must be corresponding to the
ratio
nominal speed)
Speed
12000:1
adjustment
Pulse
≤ 500 kHz
frequency
1. Servo enable
2. Alarm clear
3. Deviation counter clear
Input control
4. Command pulse prohibition
5. CCW servo drive prohibition
6. CW servo drive prohibition
1. Servo ready for output
Output control 2. Servo alarm output
3. Output of target-position-achieve/ target-speed-achieve
1. Two-phase A/B orthogonal pulses
Mode of
2. Pulse + direction
input
3. CCW pulse/CW pulse
Position
Electronic
control 1 to 32767/1 to 32767
gear
Feedback Motor encoder windings: 1024 Pulse/r,
pulses 2000 Pulse/r, 2500 Pulse/r, 6000 Pulse/r
Ramp
function
Parameter setting: 1 to 10000 ms
(Acceleration
(0 to 2000 r/min or 2000 to 0 r/min)
and
deceleration)
� Motor rotary speed, current and torque monitoring
� Momentary position monitoring
� Position deviation monitoring
Monitoring
� Command pulse accumulation and frequency monitoring
function
� Rotor position monitoring
� Operating status monitoring
� Input/output terminal signals monitoring etc.
- 15 -
� Overspeed protection
� Mains overcurrent, overvoltage and undervoltage
protection
� Overload protection
Protective
� Braking malfunction protection
function
� Encoder malfunction protection
� Control mains undervoltage protection
� Overtemperature protection
� Positioning out-of-tolerance protection etc.
Operation
6 bit LED segment with 5 keys
panel
Adaptive
load < 5 times of motor inertia
inertia
Servo drive unit installation dimension (Unit: mm)
- 16 -
Figure 3.1 HSV-160B+-010 A servo drive installation dimension
AC SERVO
SERIES
R
HSV -160B+-010
M S
AL EN
COM
R
S
T
PE
COMMAND
ENCODER
U
V
W
PE
Figure 3.2 HSV-160B+-020/030 A servo drive installation dimension
82 174
6 70
6
AC SERVO
SERIES
HSV-160B+-030
M S
AL EN
COM
R
178
190
S
T
PE
COMMAND
1
2
ENCODER
U
V
W
PE
2-4.6
- 17 -
Figure 3.3 HSV-160B+-050/075 A servo drive installation dimension
AC SERVO
SERIES
HSV-160B+-050
R
M S
AL EN
T
COM
PE
BK 1
COMMAND
BK 2
V
ENCODER
PE
3.2 Isolating Transformer Specification

HSV-160B+ AC servo drive uses 3-phase or single phase AC 220 V power
supply. 3-phase 380/220 V servo isolating transformer is recommended, and
the capacity of isolating transformer depends on the servo drive system
capacity. When you select the isolating transformer, it is necessary to take the
servo drive system capacity for each axis into account comprehensively. You
can consider step by step in the following way:
1. Select suitable motors based on the mechanical load inertia, torque and
transmission method adopted.
2. Select the servo drive type based on the selected motors.
3. Calculate the servo isolating transformer capacity based on the motor
technical datum.
- 18 -
Example: If a system adopts three HSV-160 B+ AC servo drives whose

motor powers are P1, P2, P3, the servo isolating transformer power must
observe the following formula:
P0 > (P1+P2+P3) * η
("η" is a conversion coefficient, and generally, adopts a value 0.6 to 0.8)
4. Select the servo isolating transformer specification corresponds to the
calculated servo isolating transformer capacity.
- 19 -
Chapter 4 Installation
4. Installation
4.1 Check on Delivery
On receipt of products, users must check and confirm the following items:
Items to check Content (for reference)
Whether the products are Visual inspection to check whether the products
damaged or not damaged or not during transportation
Whether the products are
Check the nameplates of servo drive units and
delivered in accordance with
servo motors
the indent or not
Whether the accessories are Check the packing list and make sure that the
complete or not accessory type and quantity is correct.
Whether the motor rotor can Check and make sure that the motor rotor can be
be easily turned by hand easily turned by hand, except motors with brakes.
Note: For the items mentioned above, if there's any problem, please feel free
to contact with the supplier or us.
Attention
� Do not install servo drives and servo motors which are damaged
or with incomplete parts.
� Use the specified combination of servo drives and servo motors.
� Do not touch the motor rotor by hand directly; otherwise, it could

cause corrosion.
- 20 -
4.2 Installation Environment
� The servo drive is supposed to be

installed in the well protected
Caution switching cabinet to prevent dust,
corrosive gas, conductive foreign
bodies, fluids and inflammables from
entry.
� The servo drives are supposed to be
installed in accordance with the
specified direction and side distance
to ensure good heat dissipation
conditions.
� The servo drives and motors are
supposed to be free from vibration
and shock.
� The servo drives are not supposed to
be installed near combustibles, in
order to avoid fire hazard.
4.2.1 Protection Requirements

Structural protection are not specifically designed for the servo drives,
therefore, it is supposed to be installed in the well protected switching
cabinet to prevent corrosion, combustible gas, conductive foreign bodies,
metal powder, atomized oil and other fluids from entry of the servo drive.
4.2.2 Temperature Requirements
� Ambient temperature: 0℃ to 50℃
� Safety long-time operating temperature: below 45℃
� Ensure good heat dissipation.
4.2.3 Vibration and Shock Loading
Avoid vibration during servo drive installation, and adopt Vibration damping
measures to restrain the vibration below 0.5 G (4.9 m/S2). No vibration and
shock loading is permissible during servo drive installation.
4.3 Servo Drive Installation
Attention
� Servo drives are supposed to be installed in the well protected electrical
cabinets.
� Servo drives are supposed to be installed in accordance with the specified
- 21 -
direction and distance to ensure good heat dissipation conditions.

� The servo drives are not supposed to be installed adjacent to combustibles,
in order to avoid fire hazard.
4.3.1 Installation Method

Installing the device
Adopt base plate installation method, and install the device in a vertical
position. See Figure 4.1 (4.2, 4.3) for installing the device.
Installation spacing
Figure 4.4 (4.6) shows the installing spacing for a solo servo drive and
Figure 4.5 (4.7) shows the installing spacing for multiple units. In actual
installation, keep the spacing as large as possible to ensure good heat
dissipation conditions.
Ventilation
In the electrical cabinet, airflow to the heat sink must be maintained to
ensure adequate cooling of the ambient temperature of the device.
- 22 -
Figure 4.1 Schematic drawing of HSV-160B+-010 AC servo drive base plate

mounting
Combination of bolts with

washer: M4×14
Standard: GB/T9074.8-1988
Quantity: 4
- 23 -
Figure 4.2 Schematic drawing of HSV-160B+-020/030 AC servo drive base

plate mounting
Combination of bolts
with washer: M4×14
Standard:
GB/T9074.8-1988
Quantity: 4
- 24 -
Figure 4.3 Schematic drawing of HSV-160B+-050/075 AC servo drive base

plate mounting
Combination of bolts
with washer: M4×14
Standard:
GB/T9074.8-1988
Quantity: 4
- 25 -
Figure 4.4 Installation spacing for a solo HSV-160B+-020/030 AC servo

drive
AC SERVO
SERIES
R
HSV-160B+-050
M S
AL EN
T
COM
PE
BK 1
COMMAND
BK 2
V
ENCODER
PE
Figure 4.5 Installation spacing for the HSV-160B+-020/030 AC servo drive

multiple units
AC SERVO AC SERVO AC SERVO
SERIES SERIES SERIES
HSV-160B+-030 HSV-160B+-030 HSV-160B+-030
M S M S M S
AL EN AL EN AL EN
COM
COM
COM
R R R
S S S
T T T
PE PE PE
COMMAND
COMMAND
COMMAND
1 1 1
2 2 2
ENCODER
ENCODER
ENCODER
U U U
V V V
W W W
PE PE PE
- 26 -
Figure 4.6 Installation spacing for a solo HSV-160B+-050/075 AC servo

drive
AC SERVO
SERIES
HSV-160B+-050
R
M S
AL EN
T
COM
PE
BK 1
COMMAND
BK 2
V
ENCODER
PE
Figure 4.7 Installation spacing for the HSV-160B+-050/075 AC servo drive

multiple units
AC SERVO AC SERVO AC SERVO
SERIES SERIES SERIES

R
HSV-160B+-050
R
HSV-160B+-050
R
HSV-160B+-050
M S M S M S
AL EN AL EN AL EN
R R R
S S S
T T T
COM
COM
COM
PE PE PE
BK 1 BK 1 BK 1
COMMAND
COMMAND
COMMAND
BK 2 BK 2 BK 2
U U U
V V V
ENCODER
ENCODER
ENCODER
W W W
PE PE PE
- 27 -
4.4 Installation of Servo Motors

Attention
� To prevent the motor from vibration and impact, knocking on the motor
rotor or encoder is forbidden.
� When transport the motor, you must not drag at the motor rotor, the outlet
wires, or the encoder.
� Motor rotor cannot be overloaded, otherwise, the motor could be
damaged.
� Make sure the motors are fastened, and take measures to avoid loose or
drop out.
4.4.1 Installation Environment
Protection
If the servo motor is not waterproof type, you must prevent liquids splash on
the motor during installation and operation, especially avoid entry of grease
into the motor internal via lead wires or the motor rotor.
Note: If users demand for waterproof type servo motors, please declare in the
indent.
Temperature and relative humidity
Ambient temperature must be kept between 0 and 40 ℃ (No icing). The
motor temperature increases as the operating time last for long, therefore,
enforcing heat dissipation must be taken into account if the ambient space is
inadequate or other devices also heat the air. The relative humidity must not
be higher than 90% and no condensation.
Vibration
Avoid vibration for the servo motor installation. Vibration must be less than
0.5 G (4.9 m/S2).
4.4.2 Servo Motor Installation Method
1. Way of installation
GK6 motor series can be installed in a horizontal position or a vertical
- 28 -
position.
2. Installation instructions:
� When you assemble or disassemble the belt drive of the motor, do not
knock on the motor or rotor to avoid damage to the encoder. Use helical
drawing tools for thermal expansion joint assembly and disassembly.
� GK6 motors can't afford overload in the axial and radial direction.
Recommendation: Use resilient expansion joint to connect the loads.
� When mounting the motors, you need to use spring plug to fasten the
bolts, and thereby avoid loose of drop-out.
- 29 -
Chapter 5 Wiring
5. Wiring
Warning
� Wiring and checking personnel must be qualified for this job.
� Wait 5 minutes for wiring and checking after power off to avoid electric
shock.
Attention
� Wiring is supposed to be done according to the terminal voltage and
polarity to avoid damage to the device and/or personal injuries.
� The high frequency oscillated current flows through the servo motor, and
the leakage current will be heavy. Therefore, the servo motor ground
terminal and the servo drive ground terminal (PE) must be together
reliably grounded.
Attention
� When assemble/disassemble the mechanical connection parts of the motor
rotor, do not use the hammer to knock on the rotor directly, otherwise, the
motor encoder could be damaged.
� Align the end faces of the motor rotor to the best condition; otherwise,
vibration could arise or the motor bearing could be damaged.
- 30 -
Chapter 5 Wiring
5.1 Standard Wiring

The external connection of the servo drive depends on the selected control
mode.
5.1.1 Position Control Mode
For standard wiring (a) in the position control mode, see Figure 5.1; for
standard wiring (b), applicable to Siemens controller 801, in the position
control mode, see Figure 5.2.
5.1.2 Speed and Torque Control Mode
For standard wiring in the speed and torque control mode, see Figure 5.3.
5.1.3 Conductor Configuration
1) Mains terminals
� Cross section of the wires for terminal R, S, T, PE, U, V, W ≥ 1.5 mm2
(AWG14-16).
� Grounding: The cross section of the grounding wires must be as large as
possible. The servo drive and motor are supposed to be connected to the
PE terminal, and thereby grounded. Grounding resistor <4Ω.
� Adopt UT1.5-4 cold pressed pre-insulated terminals. Make sure the
terminals are tightly connected.
� It is recommended to use 3-phase isolating transformer for power supply,
in order to reduce the possibility of electric shock.
� It is recommended to use mains filter before supply to reduce
interference.
� Install No Fuse Breaker (NFB) to enable the power shutdown of the
external mains in the event of drive fault.
2) Command signals and encoder signals
� Cross section of the wires: Use shielded cables (shielded cables with
twisted-pair are recommended). The cross section of the wires must be
equal to or greater than 0.12 mm2 (AWG24-26). The shielding is
supposed to be connected with the PE terminal.
- 31 -
Chapter 5 Wiring
� Cable lengths: The cables must be as short as possible. Control cable

length ≤ 10 meters; feedback signal cable lenth must be equal to or less
than 40 meters.
� Wiring layout: The signal wirings must be kept away from the power
cables to prevent the entry of interference.
� Install surge absorbers with inductive components (coils) for related
circuits. Freewheeling diodes are antiparallelly connected to the DC
coils, and RC absorbed circuits are parallelly connected to the AC coils.
Caution
� U, V, W must be connected to the motor windings exactly in corresponding
order. Note that you cannot adjust the positions of the three terminals to
make the motor run in the reverse direction. This is different from the
asynchronous motors.
� Cables and lead wires are supposed to be fixed avoiding the heat sink of
the drive and the servo motor. Otherwise, the insulation property could be
reduced due to overtemperature.
� There is large-capacity of electrolytic capacitance storing in the servo
drive, even after power removal, the voltage supply will remain high for a
period of time. Do not touch the servo drive or motor within 5 minutes
after power removal.
- 32 -
Chapter 5 Wiring
Figure 5.1Standard wiring (a) in the position control mode
Figure 5.2 Standard wiring (b), applicable to Siemens controller 801

AC Servo Drive
AC Servo drive
交流伺服驱动器 Golden age motor
HSV--160
HSV 160BB-010/ 020/030
010/020/030 /050/075
020/030/050/075
Single phase Golden登奇电机

Age motor
or 3-phase
Single or R U U
M
单相或三相
3-phase AC S V W 3~
AC220V
220vbraking T W V
External NFB MC PE PE PE
resistor
External BK1
外接制动电阻
braking BK2
resistor
Encoder COMMAND ENCODER
signal
Z pulse output
16,17 +5V
feedback
Position
Z 脉冲输出
command Z 21 18,19 +5V
PLUS 位置指令 CP+(801) 26 23,24 GND 12 +5V
position
PLUS CP-(801) 25 25 GND 13 GND
command
Position
位置指令 DIR+(801) 29 1 A+ 2 A+
(plus)SIGN
Command DIR-(801) 30 2 A- 3 A-
SIGN24V 电源地 COM 19 3 B+ 4 B+
position 4 B- 5 B-
command
24v mains 5 Z+ 16 Z+
earthing
(sign) 6 Z- 17 Z-
7 U+ 6 U+
+24V ISO
1 4
8 U- 7 U-
�
2 3
Drive enable
伺服使能 EN 1 104 1N4148
9 V+ 8 V+
�
� Servo enable
Alarm cleared 2.7K
+24V ISO
1 4
10 V- 9 V-
� Deviation 2 3
报警清除 A-CL 2 104 1N4148

11 W+ 10 W+
counter clear 2.7K
�
�
Alarm cleared
Command pulse
+24V ISO
1
2
4
3
12 W- W-
11motor overheat
� 偏差计数器清零
Deviation CLEE 3 104 1N4148
13 OH1 14 电机过热
motor overheat
prohibition 2.7K
+24V ISO
� Command pulse
1 4
counter指令脉冲禁止
clear INH 4
2
104 1N4148
3
14,15 PE 1 PE
prohibition 2.7K
�
� Command
CCW drive
+24V ISO
1
2
4
3
pulse CCW 驱动禁止

prohibition L-CCW 5 2.7K
104 1N4148
+24V ISO
� CW drive 1 4
prohibition
CW 驱动禁止
prohibition L-CW 6
2
104 1N4148
3
�
2.7K
� CCW drive
24v mains Fault interlock terminals
earthing 故障连锁端子
prohibition � Drive ready
� 24V 电源地
Target-position-ac COM 20 4 READY � � mains
伺服准备好
24v Servo ready
earthing
� CW drive 电源地
hieve/target-speed 3 COM
� �
24V 24v mains
Fault interlock
prohibition 2 MC1 故障连锁 earthing
-achieve � Fault interlock
�
�
24v Mains
Drive ready
1 MC2
�故障连锁 Fault interlock
� earthing
Drive alarm
定位完成/速度到达 GET 7
� Fault interlock
� Target-position/
伺服准备好
Target-speed READY 8
achieve
伺服报警 ALM 9
� Drive ready
� Drive Alarm
- 33 -
Chapter 5 Wiring
Figure 5.3 Standard wiring in the speed and torque control mode
AC servo Drive
交流伺服驱动器
HSV--160
HSV 160BB-010/ 020/030
010/020/030 /050/075
020/030/050/075
Golden登奇电机
Age motor
R U U
single or单相或三相
3-phase M
S V W 3~
AC 220v AC220V T W V
NFB MC PE PE PE
External braking BK1

外接制动电阻 BK2
resistor
COMMAND ENCODER
A+ 32 16,17 +5V
Encoder A- 33 18,19 +5V
signal编码器信号 B+ 18 23,24 GND 12 +5V
feedback反馈 B- 36 25 GND 13 GND
Z+ 35 1 A+ 2 A+
Z- 34 2 A- 3 A-
Analogue AN+ 12 3 B+ 4 B+
模拟电压指令
voltage
-10V~+10V AN- 13 4 B- 5 B-
command GN 27 5 Z+ 16 Z+
-10 to +10v GN 28 6 Z- 17 Z-
7 U+ 6 U+
8 U- 7 U-
9 V+ 8 V+
+24V ISO
1
2
4
3
10 V- 9 V-
� Servo伺服使能 EN 1 11 W+ 10 W+
104 1N4148
enable 2.7K
+24V ISO
1 4
12 W- 11 W-
� Alarm cleared 2 3
motor
报警清除 A-CL 2 104 1N4148
� Deviation 2.7K
+24V ISO
1 4
26 OH2 15 电机过热 overheat
counter
偏差计数器清零
clear CLEE 3
2
104 1N4148
3
14,15 PE 1 PE
� Command pulse
2.7K
+24V ISO
1 4
2 3
prohibition
指令脉冲禁止 INH 4 2.7K
104 1N4148
�
+24V ISO
CCW drive 1
2
4
CCW 驱动禁止 L-CCW 5 104 1N4148
prohibition 2.7K
+24V ISO
1 4
� CW drive 2 3
Fault interlock terminals
故障连锁端子
CW 驱动禁止 L-CW 6 104 1N4148
prohibition 2.7K
4 READY 伺服准备好
Drive ready
� 24v mains COM 19 3 COM 24V 电源地
earthing 24v mains earthing
24V 电源地 COM 20 2 MC1 故障连锁
� Target-position Fault interlock
1 MC2 故障连锁
-achieve/ Fault interlock
定位完成/速度到达
target-speed-ac GET 7
hieve
伺服准备好 READY 8
� Drive ready
� Drive alarm
伺服报警 ALM 9
- 34 -
Chapter 5 Wiring
5.2 Signals and Functions

5.2.1 HSV-160B+-010/020/030 AC Servo Drive Terminal
Configuration
Figure 5.4 shows configuration of HSV-160B+-010/020/030 AC servo drive
interface terminals, including mains terminals, serial-port communication
terminals (COM), signal control socket (Command), encoder interface and
fault interlock terminals.
Figure 5.4 HSV-160B+-010/020/030 AC servo drive interface terminal

configuration
Mains terminals 4 3
电源端子
5 2
6 1
R
S COM
19 36
T
PE
BK1
BK2
1 18
C OM MA ND
14 26
U 1 13
V E NCODE R
W
PE
1 2 3 4
故障连锁端子（端子顺序是驱动安装后以
Faults interlock terminals (The
1-2-3-4 外向里为准）
terminal sequence is 1-2-3-4 looking
from the external to the internal after
drive installation.)
- 35 -
Chapter 5 Wiring
5.2.2 HSV-160B+-050/075 AC Servo Drive Terminal Configuration

Figure 5.5 shows HSV-160B+-050/075 servo drive interface terminal
configuration, including mains terminals, serial-port communication
terminals (COM), control terminals (Command), encoder signal terminals
and fault interlock terminals.
AC SERVO
S E R IE S
R
H S V -1 6 0 B +-0 5 0
M S
AL EN
T
COM
PE
BK 1
CO M M AND
BK 2
V
ENCO DER
PE
4 1
MC
- 36 -
Chapter 5 Wiring
Figure 5.5 HSV-160B+-020/030 AC servo drive interface terminal

configuration
4 3
电源端子
Mains terminals
5 2
1 R
6 1
2 S
3 T
COM
PE 19 36
4
5 BK1
6 BK2
1 18
7 U COMMAND
14 26
8 V
9 W
1 13
10 PE
ENCODER
1 2 3 4
故障连锁端子
Fault interlock terminals (The terminal
sequence is 1-2-3-4
（端子顺序是驱动安装后以 looking from the external
1-2-3-4 外向里 to
the internal
为准） after drive installation)
- 37 -
Chapter 5 Wiring
Plugs, lugs and pins of the COMMAND and ENCODER sockets are shown
as follows:
Figure 5.6 Lugs and pins of the (Command) control terminals (looking in the
face of the lugs)
Figure 5.7 Plug of the control terminals (Command) (looking in the face of
the plug)
Figure 5.8 Lugs of the encoder socket (looking in the face of the plug)
- 38 -
Chapter 5 Wiring
Figure 5.9 Plug of the encoder (looking in the face of the plug)
5.2.3 HSV-160B+-010 AC Servo Drive Mains Terminals

Table 5.1 HSV-160B+ -010/020/030 mains terminals
Terminal Terminal Signal
Description
No. Mark Designation
Main circuit power input terminal
1 R supply: AC 220 V/50 Hz
Main circuit Single phase power supply is not
2 S power recommended, which only can be
(Single or used in low power occasions.
3-phase) Note: Do not connect the mains
3 T input terminal with the motor output
terminal U, V, W.
Grounding terminal.
Grounding resistor : less than 4 Ω.
System
4 PE Motor output terminal and power
grounding
input terminal must share one
connection point.
The external and internal braking
resistor must be parallelly
5 BK1 connected. The internal braking
resistance is of HSV160B-030A is
External 200 W 70 Ω. For selection and
braking connection of the braking resistors
resistor see the Annexure.
6 BK2 Warning: Do not short circuit BK1
and BK2, otherwise, the drive could
be burnt.

Description
1 U The servo motor output
terminals must be
2 V Servo motor connected with the
output terminal U, V, W
3 W correspondingly in the
right order.
- 39 -
Chapter 5 Wiring
Grounding terminals.
Grounding resistance: less
than 4Ω
System
4 PE Servo motor output
grounding
terminal and power input
terminal must share one
connection point.
Grounding resistance: less
System than 4Ω
Servo motor output
grounding
terminal and power input
terminal must share one
connection point.
5.2.4 HSV-160B+ -050/075 Mains Terminals

Table 5.2 HSV-160B+ -050/075 mains terminals
Description
Main circuit power input
1 R terminal supply: AC 220
V/50 Hz
2 S Single phase power
Main circuit
supply is not
power
recommended, which
(single phase or
only can be used in low
three-phase)
power occasions.
3 T Note: Do not connect
the mains input terminal
with the motor output
terminal U, V, W.
Grounding resistance :
less than 4 Ω.
The servo motor output
4 PE Grounding
terminal and power
input terminal must
share one connection
point.
- 40 -
Chapter 5 Wiring
The external and

internal braking
resistance is supposed to
be connected parallelly.
The internal braking
resistance is 200 w 7 Ω.
External braking
5 BK1 For selection and
resistance
connection of, see the
Annexure.
Warning: Do not short
circuit BK1 and BK2,
otherwise, the drive
could be burnt.
6 BK2
7 U Servo motor output

terminals are supposed
8 V Servo motor to be connected with
output terminal U, V, W
9 W correspondingly in the
right order.
less than 4 Ω.
10 PE Grounding
terminal and power
input terminal must
point.
less than 4 Ω.
Grounding
terminal and power
input terminal must
point.
5.2.5 Serial-port Communication Interface (COM)

Table 5.3 Serial-port communication interface (COM)
Terminal Terminal Terminal
Description
This terminal must be
connected with the controller
Data
2 TXD or PC serial-port TXD to
receiving
realize serial-port
communication.
This terminal must be
Data
3 RXD connected with the controller
sending
or PC serial-port RXD to
- 41 -
Chapter 5 Wiring
realize serial-port
communication.
Signal Data signal grounding
1, 5 GND
grounding
If you want to use serial-port communication function, please contact our

after-sale service or development department for the communication
softwares. For connection of communication cables, see the drawing below:
PC 机串口端子
PCserial-port terminal 驱动器 COM
Drive COM 端子
terminal
RXD 2 2 RXD
TXD 3 3 TXD
GND 5 1,5 GND
DB9 头孔
DB9 pins 键盘插座
Keypad socket
5.2.6 Fault Interlock Terminals

Figure 5.4 Fault interlock terminals
Description
Drive ready for terminal
output
SRDY ON: It indicates that
power supply is normal, no
alarm occurs, and the drive is
Drive ready for
4 READY ready for the output of signal
output "ON";
SRDY OFF: It indicates that no
power supply is available or
alarm occurs, so the drive is
ready for the output of signal
"OFF".
Power supply of the input
3 COM 24 V power input terminal is used to drive the
optical coupler
DC 24 V, current ≥ 100 mA
Fault interlock output
2 MC1 Fault interlock terminals output relay.
- 42 -
Chapter 5 Wiring
1 MC2 Relay connection breaks off in

the event of drive fault.
5.2.7 Control Signal Terminals (COMMAND)

Table 5.5 Control terminals (COMMAND)
Description
Input terminal of drive
enable
EN ON: Servo drive
operating is permitted.
EN OFF: If the servo drive
shut off and operation
stops, the motor will be in
the free state.
Note 1: Before you change
1* EN Drive enable
the state from EN OFF to
signal
EN ON, the motor must be
at a standstill.
Note 2: After tuning to EN
ON state, wait at least 50
ms to input commands.
Note 3: You can shield this
signal via parameter
STA-6 or always keep the
switch "ON".
Input terminal of alarm
clear
2* A-CL Alarm clear ACL ON: System alarm
signal cleared
ACL OFF: Hold system
alarm
Input terminal of position
deviation counter clear
Deviation
3* CLEE CLEE ON: In the position
counter clear
control mode, position
signal
deviation counter is
cleared.
Input terminal of position
command pulse
Command
prohibition
4* INH pulse
INH ON: Command pulse
prohibition
input prohibition
signal
INH OFF: Command pulse
input effect
Input terminal of L-CCW
CCW servo
(counter-clockwise direction)
5* L-CCW drive
drive prohibition
prohibition
OFF: CCW drive permitted
signal
ON: CCW drive prohibited
- 43 -
Chapter 5 Wiring
Note 1: This signal is used

in the event of mechanical
limit exceed. In the
switch-ON condition,
motor torque outputs 0 in
CCW direction;
Note 2: You can shield this
switch "OFF".
Input terminal of L-CW
(clock wise direction) drive
prohibition
OFF: CW drive is permitted
ON: CW drive is prohibited
CW servo Note 1: This signal is used
6* L-CW drive for mechanical limit
prohibition exceed. In the switch-ON
signal condition, motor torque
outputs 0 in CW direction;
Note2:You can shield this
switch "OFF".
Output terminal of
Target-position
-achieve
Target-position- If the position deviation
achieve output counter value is within the
signal preset positioning area, the
target-position-achieve
7* GET terminal outputs signal
"ON".
Output terminal of
target-speed
Target-speed- -achieve
achieve output When the target-speed is
signal reached or exceeded, this
terminal outputs signal
"On".
Output terminal of drive
ready
SRDY ON: Power supply
is normal, no alarm occurs,
and the drive is ready for
8* READY Drive ready for
the output of signal "ON"
output signal
SRDY OFF: No power
supply is available or
alarm occurs, so the drive
is ready for the output of
signal "OFF".
9* ALM Drive alarm Output terminal of drive
output signal alarm
- 44 -
Chapter 5 Wiring
ALM OFF: When no drive

alarm occurs, this terminal
will output "OFF".
ALM ON: When drive
alarm occurs, this terminal
will output "ON".
10 Reserved
11 Reserved
Analog input command

Analog
12 AN+ positive.
input positive
Connect with PC analogue
signal
command output terminal
Analog Analog input command
13 AN- input negative negative
signal
14 CP+ Command pulse Input terminal of external
command pulses.
input signal
Note: Set pulse input mode
15 CP- (PLUS mode) via parameter PA22
1. Command pulse + Sign
16 DIR+ Command pulse mode.
2. CCW/CW command
17 input signal
pulse mode.
DIR-
(SIGN mode) 3. 2-phase command
pulse mode.
Encoder A+
32 A+ phase output Servo motor encoder A+
phase output terminal
signal
Encoder A-
33 A- phase output Servo motor encoder A-
signal
Encoder B+
18 B+ phase output Servo motor encoder B+
signal
Encoder B-
36 B- phase output Servo motor encoder B-
signal
Encoder Z+
35 Z+ phase output Servo motor encoder Z+
signal
Encoder Z-
34 Z- Servo motor encoder Z-
phase output phase output terminal
- 45 -
Chapter 5 Wiring
signal
31
26 Reserved
25 Reserved
29 Reserved
30 Reserved
27,28 GN Analog signal Analog signal ground

ground terminal
23,24 GD Mains output "-" Control circuit reference
signal ground
21,22 Z Z pulse output Encoder Z pulse output to
signal Siemens 801 System
Power ground of the input
terminal.
It is used to drive the
19,20 COM Power input
optoelectronic coupler of
signal ground
the input terminal.
DC 24 V power ground,
current ≥ 100 mA
5.2.8 Encoder Signal Terminals
Table 5.6 Encoder signal terminals

Description
Connect with servo
1 A+ Encoder A+ input motor optical encoder
A+
Connect with servo
2 A- Encoder A- input motor photoelectric
encoder A-
Connect with servo
3 B+ Encoder B+ input motor photoelectric
encoder B+
Connect with servo
4 B- Encoder B- input motor photoelectric
encoder B-
Connect with servo
5 Z+ Encoder Z+ input motor photoelectric
encoder Z+
Connect with servo
6 Z- Encoder Z- input motor photoelectric
encoder Z-
Connect with servo
7 U+ Encoder U+ input
motor photoelectric
- 46 -
Chapter 5 Wiring
encoder U+
Connect with servo
8 U- Encoder U- input motor photoelectric
encoder U-
Connect with servo
9 V+ Encoder V+ input motor photoelectric
encoder V+
Connect with servo
10 V- Encoder V- input motor photoelectric
encoder V-
Connect with servo
11 W+ Encoder W+ input motor photoelectric
encoder W+
Connect with servo
12 W- Encoder W- input motor photoelectric
encoder W-
13 OH1 Thermal resistor Servo motor thermal
26 OH2 Thermal resistor resistor output
Encoder power
feedback, the servo
Encoder power drive automatically
20, 21,
5V2 feedback performs voltage
22
compensation
according to the
encoder power.
16, 17, Servo motor
+5 V Power output "+"
18, 19 photoelectric encoder
uses +5 V power;
If the cable is long,
23,24,
GND Power output "-" you must use multiple
25
cables to connect
parallelly
Connect with the servo
14,15 PE Shielding layer
motor external shell
Note:
� Control signal terminals No.1 to No.6 are used to specify input terminal
signals. The details can be defined via parameter to
. Table 5.5 shows the default definition of the terminal signal.

� Control signal terminals No. 7 to 9 are used to specify terminal output
signals. The details can be defined via parameter to
. Table 5.5 shows the default definition of the terminal signal.

� You can customize the Input/Output signal of the control signal
terminals, either "low level access" or "high level access". If the
corresponding PB parameter is positive, it indicates "low level access";
- 47 -
Chapter 5 Wiring
If it is negative, it indicates "high level access". See 7.3 Expansion

Parameter Mode for details.
5.3 Interface Circuit

5.3.1 Switch Value Input Interface
Figure 5.10 Switch value input interface
PC device
上位装置 Servo drive
伺服驱动器
+24V +24V
2.7k 2.7k
104
GND
GND
� Power supply from servo drive internal is DC 24 V, current ≥ 100 mA.

� Pin 19 and 20 pins of the control terminal must be duly connected with
the PC 24 V ground.
Note: Incorrect connection of 24 V ground will result in the abnormal
function of the servo drive.
5.3.2 Switch Value Output Interface
- 48 -
Chapter 5 Wiring
Figure 5.11 Switch value output interface

A: Relay connection
上位装置
PC device Servo伺服驱动器
drive
+24V
20Ω
max50mA
24VG
B: Optoelectronic coupler connection

上位装置
PC device 伺服驱动器
Servo drive
+5V +24V
max50mA
20Ω
GND 24VG
� The external power supply DC 24V must be provided by users. Note:

If you invert the connection of power polarities, the servo drive
could be damaged.
� Output uses open collector circuit form. The maximum current is 50
mA and the external power supply is DC 24V. Therefore, switch
value output signal load must observe the limit. Exceeding the limit
or connecting the output with the mains directly will result in
damage of the servo drive.
� If you use relay like inductive load, the freewheeling diodes must be
connected with the load at both ends in inverted parallel. If the
freewheeling diodes connect reversely, the servo drive could be
damaged.
- 49 -
Chapter 5 Wiring
5.3.3 Pulse Array Input Interface
Figure 5.12 Differential drive mode of pulse input interface
PC 上位装置
device Servo伺服驱动器
drive
CP+ 100Ω
Ω
CP- 100Ω
Ω
DIR+ 100Ω
Ω
DIR- 100Ω
Ω
Figure5.13 Single-ended drive mode of pulse input interface

上位装置
PC Servo drive
伺服驱动器
VCC
CP+ 100Ω
Ω
R CP- 100Ω
Ω
DIR+ 100Ω
Ω
R DIR- 100Ω
Ω
� In order to send the pulse data correctly, it is suggested to select

differential drive mode for the input interface (especially when the
signal wires are long).
- 50 -
Chapter 5 Wiring
� In the differential drive mode, use AM26LS31 or RS422 line to

drive.
� Single-ended drive mode will lower the action frequency. As pulses
input in the circuit, the drive current varies between 10 and 15 mA.
The maximum external voltage supply must not be greater than 25
V, based on which, we can calculate the value of the resistance.
Data summarized with our experience (for your reference):
VCC = 24 V, R = 1.3 to 2 k
VCC = 12 V, R = 510 to 820 Ω
VCC = 5 V, R = 82 to 120 Ω
� Adopt single-ended drive mode, the external power must be
provided by the users. Note: If you invert the connection of power
polarities, the servo drive could be damaged.
5.3.4 Servo Motor Photoelectric Encoder Input Interface
Figure 5.14 Servo motor photoelectric encoder input interface
+5V
10K 10K
A+
(B+、Z+ )
+
A(B、Z)
100Ω
-
A-
(B-、 Z-)
5.3.5 Analog Command Input Interface

Figure 5.15 Analog command input interface
a: Analog differential input interface
Servo drive
PC上位装置伺服驱动器
+ AN+ 50K
AN CMD
+
-
AN- 50K
-
GN
10K
- 51 -
Chapter 5 Wiring
b: Analog single-ended input interface

PC Servo drive
上位装置伺服驱动器
+ AN+ 50K
AN CMD
+
-
AN- 50K
-
GN
10K
� If the analog input interface adopts differential mode, weather to use

differential input interface or single-ended input interface depends
on the connecting methods. The resistor is 765 KΩ and the input
voltage supply range from -10 V to + 10 V or 0 V to + 10 V.
� In the differential connection mode, the analog grounding wire and
the input terminal negative must be connected at the controller side.
Besides, three wires are required for the connection of controller
and the servo drive.
� In the single-ended mode, the analog grounding wire and the input
terminal negative must be connected at the controller side. Besides,
two wires are required for the connection of the controller and the
servo drive.
� Differential connection mode excels single-ended connection mode,
since it can inhibit interference of common mode.
� The input voltage supply cannot exceed the range: -10 V to +10 V,
otherwise, the drive could be damaged.
� It is suggested to use shielding cables for connection in order to
reduce noise interference.
� Existing of zero drift at the analog input interface is normal, but
zero drift compensation can be made via adjusting parameter PA8.
� The analog interface is not isolated (non-insulated).
5.3.6 Analog Command Output Interface
Figure 5.16 Analog command output interface

- 52 -
Chapter 5 Wiring
5.3.7 Position Feedback Signal Output Interface
Figure 5.17 Position feedback signal output interface (a)

PC device Servo drive
A+
A
A-
B+
B
B-
Z+
Z
Z-
AM26LS31
AM26LS32
GND
Figure 5.18 Position feedback signal output interface (b)

PC device Servo drive
- 53 -
Chapter 5 Wiring
220Ω A+
A
IN 4 1 4 8
A-
220Ω B+
B
IN 4 1 4 8
B-
220Ω Z+
Z
IN 4 1 4 8
Z-
6N137 A M 2 6 LS 3 1
� Encoder position feedback signals output via differential drive

AM26LS31.
� Controller input interface may use AM26LS32 receiver, which is
supposed to be connected with the terminal resistor about 330 Ω.
� The controller grounding wires must be reliably connected with the
servo drive grounding wires.
� Non-isolated output
� The controller input interface may also use photoelectric coupler for
receipt; however, it is supposed to be the high speed photoelectric
coupler like 6N137.
5.3.8 Open Collector Output Interface for the Encoder Z-Phase
ignall
Signa
� The encoder Z-phase signal outputs via open collector. When the
encoder Z-phase signal arises, it outputs "ON" signal to conduct the
access, otherwise, it outputs "OFF" signal to stop the access.
� Non-isolated output (not insulated).
� In PC, the width of the Z-phase signal pulse is normally narrow,
therefore, you must use high speed photoelectric coupler receiver
like 6N137.
Figure 5.19 Open collector output interface for the encoder Z-phase signal
- 54 -
Chapter 5 Wiring
上位装置
Host 伺服
Servo 驱动器
drive
+ 5V m ax 2 5 V
m ax 5 0 m A
Z
C OM
GND
- 55 -
Chapter 6 Operation and Display
6. Operation and Display

6.1 Keypad Operation and Display
Figure 6.1 shows the panel.
Figure 6.1 HSV-160B+-010/020/030/50/075A AC Servo drive panel
�,�
The drive panel comprises 6 LED segment displays and 5 keys (� �, �, M,
S), which are used to show various status of the system and parameter
settings etc. Functions of the keys:
M: Mode changing in the main menu category
S: Entry of the submenu, or return, or input saving
▲: Increase in serial number or value, or forward to the next option
▼: Decrease in serial number or value, or back to the previous option
: Replacement
� After connecting the drive power, the 6 LED segment will appear on the
display.
� Users are supposed to operate on the multi-level menus. The first-level
menu is the main menu which includes five operation modes. In each
operation mode, there's a function submenu. Figure 6.2 shows the main
menu diagram:
- 56 -
Figure 6.2 HSV-160B+ Series servo drive main menu
Status display mode
Motion parameter mode Press S

Press Submenu
M Expansion parameter mode
Press S
Auxiliary function mode
Status control mode
� Press M to change the operation mode in the main menu. By pressing

�,�, you can enter the function submenu.
� Select in the main menu, press �,�to enter the display
mode. HSV-160B+ AC servo drive has 19 displays (see table 6.1). Users
can select the required display usage by pressing �,�and then press S
to observe the status information of the servo drive in the selected
display mode. To quit the selected display mode, press S again; to return
to the main menu, press M.
- 57 -
Figure 6.3 Status monitoring mode menu and demonstrations
S Position deviation: -634 pulses
Actual speed: -463 r/min
Display of motor torque (Unit:

0.1%)
Target position command pulses:

1436875
Actual feedback position pulses:

1436875
Position command input

frequency: 75 Kpps
Target speed command: -463

r/min
Display of motor current: 1.2 A
Alarm code "0": No alarm

reported.
Input interface status
Output interface status
U-phase momentary current

feedback
Current position of motor

magnetic pole
Motor absolute position

mechanical angle
Pumping braking load ratio
Motor actual load ratio in the

past 10s.
S
Reserved
- 58 -
Table 6.1 Display modes list
S.N. Segment Display Description
1 Display of position tracking error (Unit: pulse)
2 Display of actual speed (Unit: 1 r/min)
3 Display of motor torque (Unit: 0.1%)
4 Display of position specified 4 bits (low)
5 Display of position specified 4 bits (high)
6 Display of position feedback 4 bits (low);
7 Display of position feedback 4 bits (high)

Display of position command input frequency:
8
(Unit: 0.1 Kpps);
9 Display of speed command (Unit: r /min);
10 Display of motor current (Unit: 0.1 A);
11 Display of alarm interface status;
12 Display of input interface status;
13 Display of output interface status;

Display of U-phase current feedback (Unit: digital,
14
"32767" indicates the max. positive current);
15 Display of motor magnetic pole position;
Display of motor absolute position mechanical
16
angle;
17 Display of pumping braking load ratio (Unit: %)
Display of motor actual load ratio in the past 10s
18
(Unit: %)
19 Reserved
Note:
1. When the motor operates in the clockwise direction (reverse), the
displayed value of is a decimal; when the motor operates in
the counter clockwise direction, the displayed value of is an

integer.
2. If the displayed value of increases 10000, the displayed

- 59 -
value of will increase 1.
3. If the display value of increases 10000, the displayed value
of will increase 1.
4. displays the command frequency, unit: 0.1 KPPS. For
example, the century star triggers pulses, displays 840,
value can be calculated by the following formula:

(840 × 0.1 × 1000 × 60) / 10000 = 840 × 0.1 × 6 = 84 × 6 = 504
5. displays speed command, unit: r/min. For example,
=100, will display 10 (when = 0).
6. displays hardware alarm interface status. When the lamp

(alarm indicator) on the panel is red, it means a servo drive hardware
alarm is reported. Alarms can be reported via this monitoring display, for
example . After trouble shooting and fault clearance, the

servo drive system can be recovered via alarm reset function in the
auxiliary mode or servo drive powerdown recovery.
7. displays the input interface status. It shows the input voltage

situations of the 6 pins, DIN1 to DIN6. For example, if the DIN1 input
voltage value = 24v (the input optical coupler is disconnect), the
corresponding segment displays lower parts blink; If the input voltage
value = 0v( the input optical coupler is connected), the corresponding
segment displays upper parts blink.
- 60 -
Figure 6.4 Indication of the input interface status

Bits:
Status
High level(1): lower
part blinks;
Low level(0): upper
part blinks
Note:
� High level (1) indicates the voltage value with which the optical coupler
cannot be connected. Generally, it is 24 V.
� Low level (0) indicates the voltage value with which the optical coupler
can be connected. Generally, it is 0 V.
� Input of which voltage value can affect the function depends on the
value of the 6 parameters, to . If the parameter

set values are positive, the function effects when input 0 V; if the
parameter values are negative, the function effects when input 24 V.
As for DIN1 to DIN6 represent which function, it depends on the
absolute values of the parameters to .
� indicates output interface status. When the corresponding

output function performs, the upper part of the digital segment displays.
Input of which voltage can affect the function depends on the positive or
negative of the set values of the parameters PB21 to PB23.
- 61 -
Figure 6.5 Indication of input interface status
Bits:
Status
ON: upper part blinks;
OFF: lower part blinks
� displays motor magnetic pole position. When the motor

operates counter clockwise at low speed, it blinks 3-1-5-4-6-2 sequential
numbers in turn; when the motor operates clockwise at low speed, it
blinks 2-6-4-5-1-3 invert sequential numbers in turn.
� You can select in the main menu, and then press �,� to
enter the motion parameter mode. HSV-160B+ AC servo drive has in
total 44 motion parameters.
Figure 6.6 Motion parameter mode menu
Press�
press M
� Select parameter in the motion parameters and set its value to
, and then you may enter expansion parameter mode.

HSV-160B+ AC servo drive has 28 expansion parameters (including 2
reserved parameters).
- 62 -
Figure 6.7 I/O parameter setting mode menu
Press�
Press M
� You can select in the main menu, and then press �,� to
enter the auxiliary mode. HSV-160B+ has 7 auxiliary operation
functions, see Table 6.2)
Figure 6.8 Auxiliary operation mode menu
Press�
Press M
Table 6.2 Auxiliary mode list

Display Mode Function
Control parameter Save the preset drive control
saving parameters to EEPROM
JOG operation Drive and motor operate at the preset
mode speed in the JOG mode
- 63 -
Alarm reset mode Drive reset, clear the history faults

Drive internal open loop testing
Internal testing
(Note: This mode is not applicable to
mode
long time operation)
Parameter defaults All PA parameters reset to factory
recovery default values
Calibrate the Calibrate the motor encoder 0
encoder 0 position position
Parameter Autotuning drive parameters to match
autotuning with the motor load inertia
� You can select in the main menu, and then press�,� to

enter the control parameter mode. HSV-160B+ AC servo drive has 16
control parameters including 6 reserved parameters.
Figure 6.9 Control parameter mode menu
Press
Press M
� 6-bit LED segment displays various status and datum of the servo drive
system. When "A" appears at the first bit, it indicates an alarm is
reported, and the rest segment indicates the alarm number.
Figure 6.7 Alarm display
� After trouble shooting and fault clearance, the servo drive system can be
recovered via alarm reset function in the auxiliary mode or servo drive
powerdown recovery.
6.2 Parameter Management

Attention
� After parameter revision, you must select "EE-WRI" in the auxiliary
- 64 -
mode, and then press S to activate the revised parameter.

� Parameter setting takes effect immediately, so wrong setting could
result in unexpected actions of the device or even accidents.
6.2.1. Parameter Change and Saving

1. Motor and drive code & expansion parameter changing and saving
To change the paramter and the expansion parameters from
to , select in the first layer, and then

� to select
press �,� . Press S, the parameter value is displayed.
�,�
Press� � to change the parameter value. Pressing �or � once, the
parameter value changes 1; Keep pressing �or �, the parameter value
�, the modifying position moves one bit left
changes continuously. Press�
(left cycle). When you change the parameter, the LED display right end
decimal point is bright. If you set = , you can
change the value of the parameter via operating ditto. Press M
to switch to expansion parameter , and you can modify
expansion parameters via operating ditto; Otherwise, press S to return to
parameter selection menu without effecting. To save the parameter
modification or setting, first you need to input the password
to the parameter , and then press M to switch to

mode. Press S to save the modification or set value to the drive EEPROM.
After saving complete, the segment displays ; If it fails, the
segment displays . Press M, you can switch to other modes;

Press �, � to change the motion parameters.
2. Modifying and saving motion parameters
To modify and save the control parameters: to ,
to , to , and control status
parameter to . First, select in the first

layer, press �, � to select the parameter number. Press S to view the
- 65 -
�、�
parameter value. Press� � to change the parameter value. Press �or �
once, the parameter value changes 1; Keep pressing �or �, the parameter
�, the modified position moves one bit
value changes continuously. Press�
left (left cycle). When you change the parameter, the LED display right
end decimal point is bright. And then you can change the parameter via
operating ditto. Press S to return to the parameter selection menu without
effecting. To save the parameter modification or setting, first you need to
input the password to the parameter , and then
press M to switch to mode. Press S to save the modification

or set value to the drive EEPROM. After saving complete, the segment
displays ; if it fails, the segment displays . Press M,

you can switch to other modes. Press �, � to change the motion
parameters.
6.2.2. Parameter Recovery
Press M to switch to mode, select in the first
layer, and press �, �to select the parameter . Press S, the
segment displays .The parameter recovery is completed.

However, it takes effect only after saving. Press S again, and then press M
to switch to . Press �or � to select the parameter, and set or

change its value. Press S to return to the parameter without effecting.
To save the parameter modification or setting, first you need to input the
password to the parameter , and then press M to
switch to mode. Press S to save the modification or set value

to the drive EEPROM. After saving complete, the segment displays
. Parameter recovery saving is complete. Reconnect the power

supply after powerdown, the parameters will recover to defaults. If the
saving fails, the segment displays . Parameter recovery saving

fails. Reconnect the power supply after powerdown, the parameters can
- 66 -
not recover to defaults.

Parameter defaults depend on the servo motor brands selected. Now we
use Huada servo motors and Golden servo motors. The servo motor brand
can be told via the kilobit value of the parameter . If you use
Huada servo motors, the parameters recover to Huada motor parameter
defaults; if you use Golden servo motors, the parameters recover to Golden
motor parameter defaults.
- 67 -
Chapter 7 Parameter Setting
7. Parameter Setting
Attention
� The technical persons who attend parameter adjustment must
understand the indications of the parameters. Wrong setting could
result in damages and/or injuries.
� Suggestion: After parameter adjustment, first carry out the free-load
test run of the motor.
7.1 Function Menu
HSV-160 B+ has various parameters, with which you can adjust or set the
drive performance and functions. In this chapter, it describes the usages and
functions of various parameters. It is crucial to master the optimal use of the
parameters and the operation of the drive.
HSV-160B+ parameters can be divided into three categories: First, motion
parameters; Secondly, expansion parameters; thirdly, control parameters.
These three categories respectively corresponding to the three parameter
modes, namely, motion parameter mode, expansion parameter mode and
control parameter mode. And the parameters can be checked, set and
adjusted via drive panel keys or computer serial ports.
Table 7.1 Explanation of parameter categorizing
Parameter Brief
Category Display
No. Description
Motion You can ajust various characteristics,
parameter 0 to 43 set control operation methods and
mode motor related parameters.
Expansion You can set the second gain, the
parameter 0 to 23 third gain, and the I/O interface
mode function etc.
Control You can select alarm shielding
parameter 0 to 15 function or selection methods of
mode internal control function etc.
7.2 Motion Parameter Mode

HSV-160 B+ type servo drive has 44 motion parameters (thereof, 1 is
- 68 -
reserved). The definitions are as follows:

� Table 7.2 shows the drive factory defaults when it is in combination with
Golden Age motor GK 6060-6 (3 Nm, 2000 rpm). If combined with
other motor type, the usage and value of the parameters marked with "*"
may be different.
� In the column "control modes applicable": "P" stands for position
control mode; "S" stands for speed control mode; "T" stands for torque
control mode.
Table 7.2 Motion parameter list
Range
Control
Parameter Name of the of Factory
Modes Unit
No. Parameter Parameter Defaults
Applicable
Value
Position
loop
0 P 20 to 10000 400* 0.1 Hz
proportional
gain
Position
loop 0 to
1 P 0 %
feedforward 150
gain
Velocity
loop 200 to
2 P, S 2500*
proportional 20000
gain
Velocity
loop
3 P, S 5 to 500 20* ms
integral time
constant
Velocity
4 feedback filter P, S 0 to 7 0
factor
Max. torque
5 P, S, T 30 to 500 250 1%
output value
Acceleration
6 P, S 1 to 32000 200 ms
time constant
Velocity
7 command S 1 to 9000 2000
input gain
Velocity
command zero -1023
8 S 0
drift to 1023
compensation
Torque
9 command T 1 to 300 200 1%
input gain
- 69 -
Torque
command zero -1023 to
10 T 0
drift 1023
compensation
Range
11 of positioning P 0 to 32767 20 Pulse
completion
Range of
12 positioning P 1 to 32767 20000 Pulse
out-of-tolerance
Position
command
13 pulse P 1 to 32767 1
numerator
frequency
Position
command
14 pulse P 1 to 32767 1
denominator
frequency
Max. torque
output value in
15 P, S, T 0 to 500 250 1%
the positive
direction
Max. torque
output value in
16 P, S, T -500 to 0 -250 1%
the negative
direction
Max. 100 to
17 P, S, T 2500 1 r/min
velocity limit 12000
System
18 overload P, S, T 10 to 120 120 0.1 %
torque setting
Software
19 overtemperature P, S 40 to 32000 4000 1 ms
time setting
-32000 to
20 Internal speed S 0 0.1 r/min
32000
JOG mode 1
21 P, S 0 to 2000 300
operation r/min
Position
command
22 P 0 to 2 1
pulse input
method5)
Control
23 method P, S, T 0 to 3 0
selection4)
- 70 -
Servo
motor
24 P, S, T 1 to 4 3
magnetic pole
logarithm3)
Encoder
25 P, S, T 0 to 3 2
resolution2）
Encoder
-32767 to
26 zero position P, S, T 150 Pulse
32767
offset1）
Current
control
27 P, S 10 to 32767 2500
proportional
gain
Current
28 control integral P, S 1 to 2047 45 0.1 ms/unit
time
The second
position
command
29 P 1 to 32767 1
pulse
numerator
frequency
The third
position
command
30 P 1 to 32767 1
pulse
numerator
frequency
31 Reserved
Torque
32 command filter P, S 0 to 500 1 0.1 ms
time constant
Position
feedforward
33 P, S 0 to 3000 0 1 ms
filter time
constant
1. Password
for modifying
expansion
parameters or
motor related
Software
parameters:
34 version/user's P, S 0 to 2806 100 2003.
password 2. Password
for
parameter
saving:
1230.
- 71 -
Position
command for
35 smoothing P 0 to 3000 0 1 ms
filter
time
Communicatio
36 0 to 3 2
n baud rate
37 Axis address P, S 1 to 15 1
Deceleration
38 S 1 to 32000 200 ms
time constant
The fourth
position
command
39 P 1 to 32767 1
pulse
numerator
frequncy
Brake output
40 P, S 10 to 2000 200 Unit: ms
delay
Velocity
Unit: 1
threshold
41 P, S 10 to 300 100 rpm
allowed for
brake output
Range of
Unit: 1
42 target-speed- P, S 1 to 500 10
rpm
achieve
Kilobit: "1"
indicates
"Huada
motor";
"2"indicates
"Golen Age
motor";
Hundred bit:
"0" = 10 A
Drive type 1000 to
43 P, S 2206 "1" = 20 A
code 2550 "2" = 30 A
"3" = 50 A
"4" = 75 A
"5" = 100 A
tens place
and units
order
indicate the
motor type.
Note:
To enable the parameters marked with 1), 2), 3), 4), 5) after changing, you
must save the changes first and then restart. To enable other parameters, you
can direct make changes on-line. However, the changes cannot be
automatically saved.
- 72 -
7.2.1 Elaborate on Motion Parameter

Table 7.3 Parameter function list
Range
S.N Parameter
Function Default of the
. Name
Parameter
1. Set position controller proportional gains
2. The gain and rigidity increase as the set
value increases, and in the same frequency 20 to
Position loop
command pulse condition, the position lag is 10000
0 proportional 400
less. But if the set value is too great, the Unit:
gain
oscillation or overshooting may arise. 0.1 Hz
3. Parameter values depend on the drive type
and load conditions.
1. Set position loop feedforward gain.
2. When set 100%, it indicates the position
lag is zero in any command pulse frequency
condition.
0 to 150
Position loop 3. As the position loop feedforward gain
indicates
1 feedforward increases, the position controller response 0
the range
gain speed enhances, but the oscillation may occur
0 to 150 %
easily.
4. When no fast response characteristic is
required, the parameter value is normally set
to 0.
1. Set the velocity controller proportional gain.
2. The gain and rigidity increase as the set
value increases. The parameter values depend
Velocity loop
on the drive system type and load conditions. 200 to
2 proportional 20000
In general, the set value must increase as the 20000
gain
load inertia increases.
3. Set a great value as possible, provided no
oscillation of the system occurs.
1. Set velocity controller integral time
constant.
2. The integral speed increases as the set
Velocity loop value decreases. The parameter values depend
5 to 500
3 integral time on the drive system type and load conditions. 5
mS
constant In general, the set value must increase as the
load inertia increases.
3. Set a small value as possible, provided no
oscillation of the system occurs.
1. Set speed feedback low pass characteristic.
2. As the set value increases, the cut-off
frequency lowers, and the motor noise
decreases. If the load inertia is great, the set
Speed value can be duly reduced. If the set value is
4 feedback filter too great, the response slows down and the 0 0 to 9
factor oscillation could arise.
3. As the set value reduces, the cut-off
frequency increases, and the response speed
enhances. If high speed response is required,
the set value can be duly reduced.
1. Set the internal torque limit of the servo
motor.
Max. output
2. The set value is the maximum permissible
torque 30
5 nominal input current of the motor. 300
percentage to 500
3. Whensoever, the limit is valid.
setting
4. "30 to 500" indicates the set range: 30 % to
500 % of the drive's maximum output current.
- 73 -
Max. output torque = IRmotor*PA5

Thereof, IRmotor indicates the motor
nominal current (expansion parameter PB24).
In general, you can select Maximum output
current = 3*IR. Unit of parameter PA5: 1%.
1. The set value indicates the acceleration
time required by the motor to speed up from 0
Acceleration
6 to 2000 r/min. 200 1 to 32000 ms
time constant
2. The characteristic of acceleration and
deceleration is linear.
1. Set the relation between analog speed
command voltage and rotary speed.
Velocity The set value indicates the corresponding
7 command rotary speed when the voltage supply is +10 2000 0 to 9000
input gain V. (Unit: 1 r/min)
2. It is available only under analog speed
input mode.
In the analog speed control mode, via this
parameter, you can adjust the analog speed
Velocity
command input zero drift. Adjusting methods
command zero -1023 to
8 are as follows: 0
drift 1023
1. Shorting the analog control input terminal
compensation
and the signal ground terminal.
2. Set the parameter value to stop the motor.
1. Set the relation between analog torque
command voltage and the torque. The set
value indicates the corresponding torque
Torque
when the voltage supply is +10 V.
9 command 200 10 to 300
2. It is available only in the analog torque
input gain
input mode.
3. "0 to 300" indicates the range: 0 to 300%
of the drive's maximum output current.
In the torque control mode, use this parameter
to adjust the analog torque command input
Torque
zero drift. The adjusting methods are as
command -1024 to
10 follows: 0
zero drift 1023
1. Shorten the analog control input terminal
compensation
and the signal ground terminal.
2. Set this parameter value to stop the motor.
1. Set pulse range of positioning completion
in the position control mode.
2. This parameter provides a basis for the
drive to judge whether positioning is
completed or not in the position control
Range of mode. If the remaining pulse quantity
0 to 30000
11 positioning displays on the position deviation counter is 20
Pulses
completion not greater than the set value, the drive takes
it as positioning completed. The positioning
complete switch outputs signal "ON";
Otherwise, it outputs signal "OFF".
3. In the position control mode, it outputs
positioning completion signal.
1. Set the positioning deviation
Positioning out-of-tolerance.
deviation 2. In the position control mode, if the display 1 to 32767
12 20000
out-of-tolerance of the positioning deviation counter excelled Pulses
detection range this parameter value, the alarm of positioning
deviation out-of-tolerance is reported.
- 74 -
1. Set the position command pulse

fractional-octave-band. (electronic gear)
2. In the position control mode, via setting the
parameter No.13 and No. 14, the device can
be matched with various pulse types, and the
optimal control resolution (angle/pulses) can
be achieved.
3. P×G=N×C×4
P: Input command pulses;
G: Electronic gear ratio
G= Frequency division numerator/ frequency
Position
division denominator
command
N: Number of turns of the motor
13 pulse 1 1 to 32767
C: Photoelectricity encoder winding/round,
numerator
for this system
frequency
C=2500
4. For example, if the input command pulse
is 6000, the servo motor rotates per
revolution. Set the value of parameter No.13
= 5, and No. 14 = 3.
N ×C ×4 1×2500×4 5
G= = =
P 6000 3
5. The recommended range for the electronic
gear ratio must be: 1 ≤ G ≤ 50
50
Position
command
14 pulse 1. See the parameter No. 13 1 1 to 32767
denominator
frequency
motor in the CW direction.
2. The set value is the max. input current of
the servo motor.
3. If the set value excels the maximum output
torque permitted by the system, the actual
torque limit must be the max. output torque
permitted by the system.
CCW torque 4. "0 to 500" corresponds to the range "0 to 250
15 0 to 500
limit 500%" of the drive max. output current in the
positive direction.
CCW torque max. output current =
IRmotor*PA15
Thereof, IRmotor indicates the motor nominal
current (expansion parameter PB24). In general,
the max. output current in the positive direction
= 3 * IRmotor. The unit of the PA15 is 1%.
motor in the CW direction.
2. The set value is the maximum input
current of the servo motor.
3. .If the set value excels the max. output
torque permitted by the system, the actual
CW torque torque limit must be the max. output torque
16 permitted by the system. -250 -500 to 0
limit
4. "-500 to 0" correspond to the range:"-500%
to 0" of the maximum output current of the
servo drive in the negative direction.
CW torque maximum output current =
IRmotor * PA16
Thereof, IRmotor indicates the motor
- 75 -
nominal current. In general, the maximum

output current in the negative direction = 3 *
motor nominal current.
1. Set the max. speed limit of the servo motor.
2. Regardless of the rotatory direction
Max. speed 3. If the set value is greater than the nominal 100 to
17 2500
limit rotatory speed, the nominal rotary speed will 12000
be taken as the actual max. speed limit.
Unit: 1 r/min
1. Set the servo motor torque value for
overload protection.
2. The set value indicates the long-time
overload input current permitted by the motor.
3. Whensoever, this limit is valid.
4. The set value is the motor nominal torque
Overload
18 percentage. 200 10 to 200
tolerance
Motor max. output torque = IRmotor * PA 18
Thereof, IRmotor indicates the nominal current
of the motor. In general, motor maximum output
torque = 2 * motor nominal current. Unit of
PA18
is 1%.
1. Set the permissible overload time by the
system.
Software 2. The set value indicates the quantity counted in
40 to
19 overload time a onetime unit, and the unit of the value is 1 ms, 4000
32000
setting i.e.: the set value=1000, it indicates that overload
time permissible is 1s.
3. Whensoever, this limit is applicable.
1. Internal speed setting
2. In the internal speed control mode, select -32000 to
20 Internal speed 0
the internal speed as the speed command. 32000
Unit: 0.1 r min
JOG operation 1. Set the operation speed in the JOG mode
21 300 0 to 2000
speed 2. Unit: 1 r/min
1. Set the form of the position command input

pulse.
2. Select one of the 3 input methods via
parameter setting:
Position
0: 2-phase orthogonal pulse input
command
22 1: Pulse + direction (P or N) 1 0 to 2
pulse input
2: CCW pulses/CW pulses
method
3. Looking from the axial direction of the
motor, CCW is defined as positive direction;
4. Looking from the axial direction of the
motor, CW is defined as negative direction.
Use this parameter to select the control mode
of the servo drive:
"0" indicates position control mode. In this
mode, the drive can receive position pulse
input command;
"1" indicates analog speed control mode. In
Control modes this mode, the drive can receive analog speed
23 0 0 to 3
selection command;
"2" indicates analog torque control mode. In
this mode, the drive can receive analog torque
command;
"3" indicates internal speed control mode. In
this mode, set the digital speed command via
Parameter 20.
- 76 -
Set the motor magnetic pole logarithm:

1: the magnetic pole logarithm of the servo
motor is 1;
Motor 2: the magnetic pole logarithm of the servo
24 magnetic pole motor is 2; 4 1 to 4
logarithm 3: the magnetic pole logarithm of the servo
motor is 3;
4: the magnetic pole logarithm of the servo
motor is 4.
Set the motor photoelectricity windings:
0 indicates the encoder resolution is 1024
pulse/r;
1 indicates the encoder ;
Encoder
25 resolution is 2000 pulse/r 2 0 to 3
resolution
pulse/r;
pulse/r.
Set encoder zero position offset:
For Golden age motor, the set value is 150
Encoder zero -32767 to
26 For Huada motor, the set value is -1650 150
position offset 32767
"-32767 to 32767" correspond to the angle
range "-180 to 180".
1. Set the current control loop proportional
gain.
Current
2. If the current noise is too big whilst the
control loop 10
27 motor operation, the set value can be duly 25000
proportional to 32767
reduced.
gain
3. If the set value is too small, the speed
response could lag behind.
1. Set the current control loop integral time.
2. If the current noise is too big whilst the
Current 1
motor operation, the set value could be duly
28 control loop 45 to
increased.
integral time 2047
3. If the set value is too big, the speed
response could lag behind.
The second
position
1
command Set the second position command pulse
29 1 to
pulse numerator frequency.
32767
numerator
frequency
The third
position
1
command Set the third position command pulse
30 1 to
32767
numerator
frequency
31 Reserved
1. Set the filter time constant in the torque

command mode
2. As the time constant decreases, the
Torque 0 to 255
response speed of the controller increases, but
command indicates
32 it could result in instability and oscillation of 0
filter time the range 0
the system.
constant to 25.5 ms
3. If low response characteristic is not
required, this parameter value is normally set
to 0.
- 77 -
1. Set the filter time constant of the position

loop feedforward.
2. As the time constant decreases, the
Position loop 0 to 255
response speed of the controller increases, but
feedforward indicates
33 it could result in instability and oscillation of 0
filter time the range 0
the system.
constant to 25.5 ms
3. If low response characteristic is not
required, this parameter value is normally set
to 4.
Display of default software version;
Software For parameter saving, the password is 1230
0 to
34 version/user's For checking and changing PB expansion 100
2806
password parameters and the servo motor type, the
password is 2003
1. Set the filter time constant in the position
Position command mode.
command 2. As the filter time constant decreases, 0 to
35 0
smoothing response speed of the controller increases. 3000
filter time 3. As the filter time constant increases,
response speed of the controller slows down.
Set the communication baud rate:
0: 2400 bps
Communication
36 1: 4800 bps 2 0 to 3
baud rate
2: 9600 bps
3: 19200 bps
37 Axis address Set the axis address 1 1 to 15
1. The set value indicates the deceleration

time required by the motor to reduce the
Deceleration 1 to 32000
38 speed from 2000 to 0 r/min. 200
time constant ms
2. The characteristic of acceleration and
deceleration is linear.
The fourth
position
1
command Set the fourth position command pulse
39 1 to
32767
numerator
frequency
10 to
Brake output Output brake time delay after the drive shut
40 200 2000
delay down.
ms
Speed 10
threshold Brake activates when the actual value is under to
41 100
permitted for the set value. 300
brake output rpm
1. Set the target speed.
2. In the speed control mode, if the actual
motor speed is lower than the set value, the
target-speed-achieve switch outputs signal
Range of
"On"; Otherwise, it outputs signal "OFF". 1 to 500
42 target-speed- 10
3. In the position control mode, this parameter rpm
achieve
is invalid.
4. This parameter is regardless of rotary
direction.
Unit: 1 r/min
- 78 -
Kilobit Hundred Tens place and unit

indicates the bit indicates the motor
motor brand indicates size Digit on
the drive kilobit:
type 1: Huada
Motor
1 Huada 0: 10 A 2：
2 Golden Age 1: 20 A Golden
2: 30 A Motor
3: 50 A The digit
4: 75 A on the
5: 100 A hundred:
For example: 0: 10 A
43 Drive type code 110ST-M06020LFBindicates Huada motor 1206 1: 20 A
configuring HSV-160B+-30A AC servo drive, 2: 30 A
set the parameter PA-43 = 1206 ("06"for 3: 50 A
Huada motor). 4: 75 A
GK6083-6AC31 Golden Age motor 5: 100 A
configuring HSV-160B+-50 A AC servo the digit on
drive, set the parameter PA-43 = 2411 ("11" the unit
for Golden Age motor). order and
For the servo motor type, see the table 7.4, tens place
and table 7.5. indicates
Note: To change the drive type code and the the servo
motor related parameters, first, you need to motor type
set PA34 = 2003. To save the changes, set the
PA34 = 1230.
Table 7.4 Code parameter list for Huada motors

Rated Rated Rated Motor Servo Drive P43 Matching Code
Huada Motor Type Torque Speed Current Code Code Setting
(1) (Nm) (Rpm) (A) Configurable (Recommended
Combination)
110ST-M02030LFB 2.0 3000 4.0 03 1 (20 A) 1103
110ST-M04030LFB 4.0 3000 5.0 04 1204
110ST-M05030LFB 5.0 3000 6.0 05 1205
110ST-M06020LFB 6.0 2000 6.0 06 1206
110ST-M06030LFB 6.0 3000 8.0 07 2 (30 A) 1207
130ST-M04025LFB 4.0 2500 4.0 08 1208
130ST-M05020LFB 5.0 2000 5.0 09 1209
130ST-M05025LFB 5.0 2500 5.0 10 1210
130ST-M06025LFB 6.0 2500 6.0 11 1211
130ST-M07720LFB 7.7 2000 6.0 12 1212
130ST-M07725LFB 7.7 2500 7.5 13 1313
130ST-M07730LFB 7.7 3000 9.0 14 1314
130ST-M10015LFB 10 1500 6.0 15 3 (50 A) 1315
130ST-M10025LFB 10 2500 10.0 16 1316
130ST-M15015LFB 15 1500 9.5 17 1317
130ST-M15025LFB 15 2500 17.0 18 1418
150ST-M15025LFB 15 2500 16.5 19 1419
150ST-M18020LFB 18 2000 16.5 20 4 (75 A) 1420
150ST-M23020LFB 23 2000 20.5 21 1421
150ST-M27020LFB 27 2000 20.5 22 1422
- 79 -
Table 7.5 Code parameter list for Golden motors

Static Rated Phase Motor Servo Drive P43 Matching
Golden Motor Torque Speed Current Code Code Code
Type (Nm) (Rpm) (A) Configurable Setting
(2) (Recommended
Combination)
0
GK6023-8AF31 0.8 3000 1.8 00 2000
(10 A)
GK6025-8AF31 1.6 3000 3.6 01 1 2101
GK6031-8AF31 3.2 3000 4.7 02 (20 A) 2102
GK6032-8AF31- 4.3 3000 6.3 03 2203
GK6042-6AC31 3.2 2000 3.0 04 2204
2
GK6064-6AC31 4.5 2000 3.7 05 2205
(30 A)
GK6061-6AC31 6 2000 5.5 06 2206
GK6062-6AC31 7.5 2000 6.2 07 2207
GK6063-6AC31 11 2000 9.0 08 3 2308
GK6080-6AC31 16 2000 16 09 (50 A) 2309
GK6081-6AC31 21 2000 20 10 2310
GK6083-6AC31 27 2000 26.5 11 2411
4
GK6085-6AA31 33 1200 19.8 12 2412
(75 A)
GK6087-6AA31 37 1200 22.2 13 2413
GK6089-6AA31 42 1200 25.2 14 2414
7.3 Expansion Parameter Mode

� Select the parameter in the motion parameter mode, set
= to enter the expansion parameter mode.

� HSV-160B+ has 28 expansion parameters, and thereof, 3 are reserved.
Table 7.7 Expansion parameter list
Control
Parameter Range of the Factory
S. N. Modes Unit
Designation Parameters Default
Applicable
0 The second P 20 to 10000 400* 0.1 Hz
position
proportional gain
1 The second speed P, S 200 to 25000 2000*
proportional gain
2 The second speed P, S 1 to 500 20* ms
integral time
constant
3 The second torque P, S 0 to 500 0 0.1 ms
command filter
time constant
4* Gain changeover P 0 to 5 0 0: Fixed first
condition gain;
1: Fixed second
gain
2: Switch control
changeover
3: Command
frequency
control
4: Deviation
- 80 -
pulse control
5: Motor rotary
speed control
5 Gain threshold P 0 to 10000 10 Command
changeover frequency: 0.1
Kpps/unit;
pulse deviation
Motor rotary
speed: 1 rpm
6 Hysteresis band P 1 to 10000 5 Unit ditto
width of the gain
changeover
7* Hysteresis time of P 0 to 10000 ms 2 ms
the gain
changeover
8* Hysteresis time for P 0 to 1000 ms 5 ms
position gain shift
9 Checking range P, S 1 to 100 10 1 rpm
when the output
speed is 0
Motor powerdown P, S 0 to 3000 0 Unit: ms
10* delay after the
enable turned off.
11 Starting speed of 1000 to 4500 1800 1 r/m
the weak magnetic
field
12 Torque inertia ratio 100 to 20000 1253
13 load inertia ratio P, S 10 to 400 10 Unit: Nm/Kgm2
14 Norm current of 100 to 2000 800 0.1 %
the weak magnetic
15 Digital input P, S -12 to +12 1
function I1
function I2
function I3
function I4
19 Digital input P, S -12 to +12 -5
function I5
20 Digital input P, S -12 to +12 -6
function I6
function O1
function O2
function O3
24 Motor nominal
P, S, T 550 0.01 A
current
25 Motor nominal
P, S, T 2000 1 r/min
rotary speed
26 Motor rotatory
P, S, T 870 10-6 Kgm2
inertia
27 Motor nominal
P, S, T 600 0.01 Nm
torque
� To effect the gain changeover function of the parameter , you
- 81 -
must set = 1. The mapping relation is listed below:

"0 "is defined as the first gain.
"1" is defined as the second gain.
"2" is defined as switch control changeover.
The mapping of the corresponding switch value input, for example, set
= 8, if this switch value is effective, after setting delay time
via parameter , the gain value will shift from the first gain
value to the second gain value, and vice versa.
"3" is defined as command frequency control.
When ≥( + ), after setting the delay time
via prameter , the gain value will shift from the first gain
value to the second gain value;
When <( - ), after setting the delay time
via the parameter , the gain value will shift from the first
gain value to the second gain value.
"4" is defined as deviation pulse control.
via the prameter , the gain value will shift from the second
gain value to the first gain value.
When <( - ), after setting the delay time
via the parameter , the gain value will shift from the second
"5" is defined as motor rotary speed control.
via the parameter , the gain value will shift from the first
gain value to the second gain value.
When <( - ) after setting the delay time
via the parameter , the gain value will shift from the second
- 82 -
� indicates the gain changeover threshold.
� indicates the hysteresis band width of gain changeover.

The meanings of the above-mentioned 2 parameters are influenced by
the set value of the parameter . When set the
parameter = "3", "4", "5" respectively, these 2 parameters

indicate "command frequency", "deviation pulse" and "motor speed"
correspondingly.
� Parameter indicates the gain changeover lag time or the

duration between gain changeover preparation ready and changeover
starts.
� Parameter indicates position loop gain changeover delay

function. Via this parameter, you can set a first-order low pass filter for
position loop gain at the time of gain changeover. The gain value will
not shift abruptly from parameter PA to PB, instead, after calculation of
the slope based on this parameter, and step by step converting to another
set of parameters (For calculating changeover step length).
� Parameter indicates motor powerdown delay after the enable

is turned off, or PWM close time delay after enable is turned off. Note
that this parameter is not applicable when the enable is turned off due to
the alarm.
Input function mapping relations:
Input Pin Mapping Parameter Function
DIN1 If the parameter set value is positive, it functions when

input 0 V.
DIN2 If the parameter set value is negative, it functions
DIN3 when input 24 V.

0: Input invalid
DIN4 1: Drive enable
2: Alarm clear
DIN5
3: Deviation clear
4: Pulse prohibition
DIN6 5: Over travel in the positive direction
6: Over travel in the opposite direction
- 83 -
7: Zero speed hold 8: Gain shift switch

9: Electronic gear changeover switch 0
10: Electronic gear changeover switch 1
11: Torque limit in the positive direction
12: Torque limit in the negative direction
In the parameter to , if the set values (absolute values)

of 2 parameters are the same, the parameter with a larger serial number takes
the priority. However, you'd better avoid setting the same values to the
parameters to .
Output function mapping relations:

Output Mapping
Remark
Pin Parameter
If the parameter set value is positive, it
DOUT1 functions when input 0 V;
If the parameter set value is negative, it
DOUT 2 functions when input 24 V.

0: Invalid
1: Force effective
2: Servo ready
3: Alarm output
4: Reaching zero speed
DOUT 3 5: Positioning completed
6: Reaching the set speed
7: Under torque limit
8: Electromagnetic brake output
9: Zero speed hold
Of these three parameters to , if the set values of 2

parameters are the same, and the functions of the corresponding pins are the
same.
7.4 Control Parameter Mode

Table 7.7 Control parameter list
Parameter
Function Default Value Explanation
Designation
Reserved 0
Position command pulse 0 0: Normal
direction or speed command 1: Opposite direction
- 84 -
input in the reverse

direction
Whether it allows response 0: Allow
0
off alarm. 1: Not allow
Whether it allows system 0: Allow
0
overspeed alarm. 1: Not allow
Whether it allows over 0: Allow
0
position tolerance alarm. 1: Not allow
Whether it allows software 0: Allow
0
overtemperature alarm. 1: Not allow
Whether it allows start of 1: Allow
0
SVR-ON control from the
internal system. 0: Not allow
Whether it allows main 0: Allow
0
power under voltage alarm. 1: Not allow
Whether it allows switch 0: Not allow
0
input of over travel in the 1: Allow
positive direction.
Whether it allows switch 0: Not allow
0
input of over travel in the
negative direction. 1: Allow
0: Not allow
Whether it allows positive
0
and negative torque limit 1: Allow
0: Use no weak magnetic field
Allow weak magnetic field control
0
control. 1: Use weak magnetic control
Whether it allows servo 0: Allow
1
motor overheat alarm. 1: Not allow
0: Not allow dynamic switch
Dynamic switch selection of selection of electronic gear ratio
0
electronic gear ratio 1: Allow dynamic switch
selection of electronic gear ratio
0: Not allow gain changeover
Gain changeover enable 0
1: Allow gain changeover
0: Use the first-order low pass
filter
Speed low pass filter 0
1: Use the second-order low
pass filter
- 85 -
Chapter 8 Operation Tuning
8. Operation Tuning
Attention
� The servo drive and motor are supposed to be reliably grounded.
PE terminal must be reliably connected with the grounding
terminal of the equipment.
� It is suggested that servo drive power be supplied via isolation
transformer or power filter to ensure safety and avoid interference.
� The wirings must be checked and confirmed before power
connection.
� An emergency stop circuit must be set to enable immediate power
removal in the event of malfunctions.
� If the malfunction alarm is reported, before restart, you need to
confirm that the error is eliminated and the drive enable input
signal is disabled.
� Do not touch the servo drive or motor within 5 minutes after
power removal, otherwise, it could result in electric shock.
� Be cautious to prevent burnt, since the temperature may go up
after the servo drive and motor operate for a period of time.
8.1 Power Connection

See Figure 8.1 for the power connection wirings. Connect the power supply
in the following sequence:
1. Connect the mains to the main circuit power input terminal (3-phase
connect with R, S, T respectively) via electromagnetic contactor.
Note: Terminals R, S, T must be correctly connected with the
corresponding terminals U, V, W; otherwise, the servo drive could be
damaged.
2. After the main circuit power connected, if no alarm is reported from the
- 86 -
drive, the signal of servo ready must be valid. The time of delay is 1.5
seconds. At this moment, the enable signal can be received. If the
detected servo enable signal is valid, the servo drive output will be
effective, and the motor can be excitated and operate. If the detected
servo enable signal is invalid or the alarm is reported, the control circuit
will shut down, and the motor will be in the free status.
Figure 8.1 Power connection wirings
HSV-160B-010/030/050/075 A
MC
3-phase三相 AC220V Golden Age

伺 R U 登奇电机
motor
服
变 V
压 S
Drive 器 W
transformer T
PE
ON
MC OFF External braking
外接制动电阻。警告：
resistor.
OFF Warning: Do not
切勿短接 BK1 和BK2，
short BK1 and
BK1
BK2, otherwise,
否则会烧坏驱动器。
+24V ALM the drive could be
BK2 burnt.
急停按钮
Emergency Stop COMMAND
ALM
9
COM
19、20
PE
Note:
� When the drive enable and the mains are connected, the control circuit is
supposed to be generated after about 1.5 seconds.
� Frequent power on and off could damage the soft start circuit.
� For the main circuit and energy consumption braking circuit, the power
on and off frequency is limited to 15 times per minute. If the drive or
motor is overtemperature, you must first eliminate the faults, and wait 30
minutes for connecting the power again.
Mains connection sequence
sequence:
- 87 -
Figure 8.2 Mains connection sequence
3-phase AC 220
三相 AC220 电源
Power
ON
Drive enable
伺服使能输入 OFF
input 50ms
ON
伺服准备好输出
Drive ready OFF
output
Free
自由状态status
Motor
电机电流 current 通电状态
Power-on status
Position/Speed
位置/速度指令
command
50ms
Alarm sequence
sequence:
Figure 8.3 Alarm sequence
报警输出
Alarm output OFF ON
Drive
伺服准备好ready ON
OFF
Drive enable input

伺服使能输入 ON
OFF
Free status
通电状态自由状态
Motor status
电机状态 Power-on status
1S
Note: When the alarm is reported, the main power must be cut off
immediately via the external control circuit when the output alarm signal is
generated.
8.2 Trial Operation

8.2.1 Checking Before Operation
After completion of the installation and connection, you must check the
following items before connecting the power:
- 88 -
� Are all the power terminal wirings correct and reliable? Is the input
voltage correct?
� Is there any short-circuit of power cables or servo motor wires? Are they
grounded?
� Are the encoder cable connections correct?
� Are the control signal terminal connections correct? Are the mains
polarity and power correct?
� Are the servo drive and motor fixed firmly?
� Is the motor shaft not connected to the loads?
8.2 .2 Power-on Trial Operation

.2.2
1. Before power-on
� Free the motor from all loads.
� Fix the motor tightly to reduce the impact of acceleration and
deceleration.
2. Wirings
See Figure 8.4 for wirings.
� The main circuit terminals are 3-phase AC 220V, and must be well
connected with the terminal R, S, T;
� Encoder signal wire connect with encoder plug-in and servo motors;
� See the figure below for connection of control signal wire and encoder
plug-in
- 89 -
Figure 8.4 Trial operation wiring diagram
AC交流伺服驱动器
Servo Drive
HSV-- 160
HSV 160BB - 010/020/030/050/075
登奇电机
R U U
单相或三相 M
S V W 3~
AC220V T W V
NFB MC PE PE PE
ENCODER
16,17 +5V
18,19 +5V
23,24 GND 12 +5V
25 GND 13 GND
1 A+ 2 A+
2 A- 3 A-
3 B+ 4 B+
4 B- 5 B-
5 Z+ 16 Z+
6 Z- 17 Z-
COMMAND 7 U+ 6 U+
8 U- 7 U-
9 V+ 8 V+
+24 V ISO
1
2
4
3
10 V- 9 V-
伺服使能 EN 1 11 W+ 10 W+
104 1N4148
2.7K
+24 V ISO
1
2
4
3
12 W- 11 W-
A-CL 2 2.7K
104 1N4148
+24 V ISO
1
2
4
3
CLEE 3 2.7K
104 1N4148
14,15 PE 1 PE
+24V ISO
1 4
2 3
INH 4 2.7K
104 1N4148
+24 V ISO
1 4
2 3
L-CCW 5 2.7K
104 1N4148
+24 V ISO
1 4
2 3
L-CW 6 2.7K
104 1N4148
COM 19
24V 电源地 COM 20
3. JOG mode Operation

� Connect the main power supply and command terminals. Disconnect the
motor power cable U, V, W. For setting and saving the
parameter , see 6.2 Parameter Saving and Power Removal.

� Connect the motor power cable U, V, W to conduct the main circuit
power supply. Activate the drive enable, and it outputs control signal
"ON". The drive display indicator is on. However, if an alarm is reported,
you must check the wirings.
� Set a value (other than 0) to the "JOG mode operation speed parameter
� , and the unit is 1 r/min.
� Make sure that no alarm is reported and no fault occurs. Turn on the
drive enable. When the indicator of the enable is bright, the motor is
excited and operates at the 0 speed.
- 90 -
� Press S, and then M to enter the auxiliary mode menu . Press�

to select the operation status in JOG operation mode . Press S,
the segment displays . Keep pressing�, the motor operates at

the speed and direction specified by the parameter PA-21. Keep
pressing�, the motor operates at the specified speed in the opposite
direction.
� If the external enable is not convenient to use, press S and then M to
enter the control parameter mode menu . Press � to
select ; Press S, the segment displays , press �to
change the value to . See 6.2 for saving. After power removal, to
restart the drive, see the operation described in 4).
4. Manual control mode for speed
� Connect the main circuit power and command terminals. Disconnect
the motor power cable U, V, W. Setting of the parameter

depends on the motor type. See 6.2 for parameter saving and power
removal.
� Connect the motor power cable U, V, W to conduct the main circuit
power supply. Connect the command terminals. Activate the drive
enable, and it outputs control signal "ON". The indicator lamp “EN”
on the drive is on. If an alarm is reported, you must check the
wirings.
� In the motion parameter mode, to set the value of the parameter
(control method selection) to 3, it switches to the

internal speed control mode. See 6.2 for the operation method.
� Shut down the main circuit power supply, and wait 30 seconds
before switching on again. After verifying that no alarm is reported
and no fault occurs, the indicator lamp “EN” on the drive is on.
� In the motion parameter mode, the motor operates at the set speed
via parameter (internal speed). Press S to set the motor
- 91 -
testing speed, the motor will operate at the set speed. It is not
necessary to save this setting. See 6.2 for the operation method.
� In particular conditions, if you need to start the motor immediately
after power switching on, save the parameter ( ) setting in

the motion parameter mode. See 6.2 for the operation method. Wait
30 seconds for switching on the drive again. The servo drive
operates at the set speed via parameter . Generally, this

method is not recommended.
8.3 Simple Wirings in the Position Control Mode

Wiringss
Wiring
See figure 8.4 for the wirings.
1. Main circuit terminals, 3-phase AC 220v, to be connected with
terminals R, S, T.
2. Connect the encoder signal plug-in and the servo motor.
3. Connect the control signal plug-in unit according to the drawing
Figure 8.4 Simple wiring in position control mode
AC Servo Drive
H S V - 1 6 0 B - 0 1 0 /0 2 0 /0 3 0 /0 5 0 /0 7 5
登奇电机
R U U
单相或三相 M
S V W 3 ~
A C 220V T W V
N FB MC PE PE PE
ENCODER
1 6 ,1 7 +5V
1 8 ,1 9 +5V
2 3 ,2 4 GND 12 +5V
25 GND 13 GND
COMMAND 1 A+ 2 A+
2 A- 3 A-
位置指令 CP+ 14 3 B+ 4 B+
PLUS CP- 15 4 B- 5 B-
位置指令 D IR + 16 5 Z+ 16 Z+
S IG N D IR - 17 6 Z- 17 Z-
GD 23 7 U+ 6 U+
GD 24 8 U- 7 U-
9 V+ 8 V+
+24 V ISO
1
2
4
3
10 V- 9 V-
伺服使能 EN 1 2 .7 K
1 04 1 N41 4 8
11 W+ 10 W+
12 W- 11 W-
1 4 ,1 5 PE 1 PE
COM 19
- 92 -
Operation
1. Connect the main power and Command terminals. Disconnect the power
cable terminal U, V, W. Setting of the parameter depends

on the motor type. See 6.2 for the operation method of parameter saving
and power removal.
2. Connect the power cable terminal U, V, W to conduct the main circuit
power. Connect the command terminals. Activate the drive enable, and it
outputs control signal "ON". The indicator lamp "EN" on the drive is on.
If an alarm is reported, you must check the wirings.
3. Set and save the parameters in accordance with the following list. See
6.2 for the operation method.
Parameter No. Description Parameter Value Factory Default
Control mode
0 0
selection
Table 8.1 User-defined
Pulse input method 0
parameter list
Electronic gear
Defined by users 1
numerator
Electronic gear
Defined by users 1
denominator
Table 8.1 Position command pulse
Pulse Form Position

Parameter
Signal Input Pin Rotation in the Rotation in the Command Pulse
No.
pos. direction neg. direction Input Setting
A A 0
CP
B B （orthogonal）
Control terminal
CP CP 1
-14，15
22 DIR DIR （Pulse +
DIR
direction）
control terminal
CW CW 2
-16，17
CCW CCW （CW+CCW）
- 93 -
The parameter value setting can be saved to EEPROM. See 6.2 for the
operation method.
4. Shut down the main circuit power supply, and wait 30 seconds.
5. Connect the main circuit power supply. After verifying that no alarm is
reported and no fault occurs, the indicator lamp “EN” on the drive is on.
The motor is excited, and in the free status.
6. Operate the position controller, and it triggers output signal to enable the
motor to rotate according to the command.
Electronic Gear Setting
The encoder installed in this servo drive features 10000 PPR (pulse per
revolution). Via setting the electronic gear parameter PA13 and PA14, any
pulse equivalent can be obtained.
Table 8.2 The relationship between input pulse quantity and rotary
revolutions
Input pulse Motor rotary Electronic Electronic Gear

Quantity Revolutions Gear Numerator
Pulsses × PA13
(Pul )/(
PA13)/( 10000 ×
)/(10000
Pulsses
(Pul es))
PA14))
PA14
Denominator PA14
20000 1 1 2
5000 1 2 1
10000 1 1 1
8.4 Simple Wirings in the Speed Control Mode

Wiringss
Wiring
1. Main circuit terminals are 3-phase, AC 220V, to be connected with the
terminals R, S, T.
2. The encoder signal plug-in unit must be well connected with the servo
motor.
3. Connect the command signal plug-in unit according to the drawing.
Figure 8.5 Simple wiring in the speed control mode
- 94 -
AC Servo Drive
HSV--160
HSV 160BB-010/ 020/030
010/020/030 /050/075
020/030/050/075
登奇电机
R U U
单相或三相 M
S V W 3~
AC220V T W V
NFB MC PE PE PE
ENCODER
16,17 +5V
18,19 +5V
23,24 GND 12 +5V
25 GND 13 GND
COMMAND 1 A+ 2 A+
2 A- 3 A-
AN+ 12 3 B+ 4 B+
模拟电压指令 AN- 13 4 B- 5 B-
-10V~+10V GN 27 5 Z+ 16 Z+
GN 28 6 Z- 17 Z-
7 U+ 6 U+
8 U- 7 U-
9 V+ 8 V+
+24V ISO
1
2
4
3
10 V- 9 V-
伺服使能 EN 1 11 W+ 10 W+
104 1N4148
2.7K
+24V ISO
1
2
4
3
12 W- 11 W-
A-CL 2 2.7K
104 1N4148
电机过热
+24 V ISO
1
2
4
3
26 OH2 15
CLEE 3 2.7K
104 1N4148
14,15 PE 1 PE
+24V ISO
1 4
2 3
INH 4 2.7K
104 1N4148
+24V ISO
1 4
2 3
L-CCW 5 2.7K
104 1N4148
+24V ISO
1 4
2 3
L-CW 6 2.7K
104 1N4148
COM 19
Operation
1. Connect the main circuit power and Command terminals. Disconnect the
motor power cable terminal U, V, W. Setting of the parameter
depends on the motor type. See 6.2 for the operation

method of the parameter saving and power removal.
2. Connect the motor power cable terminal U, V, W to conduct the main
circuit power supply. Connect the Command terminals. Activate the
drive enable, and it outputs control signal "ON". The indicator lamp
“EN” on the drive is on.
If an alarm is reported, you must check the wirings.
- 95 -
Parameter Parameter Factory

Description
No. Value Default
Control method selection 1 0
Setting
according to
Command input gain 2000
the
requirement
Command zero compensation 0 0
Defined by
Acceleration time 200
users
Defined by
Deceleration time 200
users
operation method.
4. Shut down the main circuit power, and wait 30 seconds. After verifying
that no alarm is reported and no fault occurs, the indicator lamp “EN” on
the drive is on. The motor is excited, and operating at zero speed.
5. Add one adjustable DC voltage supply to the analog speed input
terminal, the voltage increases from 0 to the greater. Make sure the
motor speed varies with the set command.
If you set a negative voltage, the motor operates reversely.
6. Set the analog command voltage to 0, the motor still operates at low
speed.
You can adjust the parameter to stop the motor.
7. Operate the analog controller output signal, and it triggers output signal
to enable the motor to rotate according to the command speed.
iringss in the Torque Mode

8.5 Simple Wiring
Wiringss
Wiring
1. Main circuit terminals are 3-phase, AC 220V, to be connected with the
- 96 -
terminals R, S, T;
2. The encoder signal plug-in unit must be well connected with the servo
motor;
3. Connect the command signal plug-in unit according to the drawing.
Operation
Figure 8.6 Simple wiring diagrams in the torque control mode
AC 交流伺服驱动器
Servo Drive
HSV--160
HSV 160BB-010/ 020/030
010/020/030 /050/075
020/030/050/075
登奇电机
R U U
单相或三相 M
S V W 3~
AC220V T W V
NFB MC PE PE PE
ENCODER
16,17 +5V
18,19 +5V
23,24 GND 12 +5V
25 GND 13 GND
COMMAND 1 A+ 2 A+
2 A- 3 A-
AN+ 12 3 B+ 4 B+
模拟电压指令 AN- 13 4 B- 5 B-
-10V~+10V GN 27 5 Z+ 16 Z+
GN 28 6 Z- 17 Z-
7 U+ 6 U+
8 U- 7 U-
9 V+ 8 V+
+24 V ISO
1
2
4
3
10 V- 9 V-
伺服使能 EN 1 11 W+ 10 W+
104 1N4148
2.7K
+24 V ISO
1
2
4
3
12 W- 11 W-
A-CL 2 2.7K
104 1N4148
+24 V ISO
1
2
4
3
CLEE 3 2.7K
104 1N4148
14,15 PE 1 PE
+24 V ISO
1 4
2 3
INH 4 2.7K
104 1N4148
+24 V ISO
1 4
2 3
L-CCW 5 2.7K
104 1N4148
+24 V ISO
1 4
2 3
L-CW 6 2.7K
104 1N4148
COM 19
1. Connect the main power circuit and COMMAND terminals. Disconnect

the motor power cable terminal U, V, W. Setting of the parameter
depends on the motor type. See 6.2 for the operation

method of parameter saving and power removal.
2. Connect the motor power cable terminal U, V, W to conduct the main
circuit power supply. Connect the COMMAND terminals. Activate the
- 97 -
drive enable, and it outputs control signal "ON". The indicator lamp
“EN” on the drive is on. If an alarm is reported, you must check the
wirings.
Parameter
Description Parameter Value Factory Default
No.
Control mode selection 2 0
To be defined as per
Command input gain 20000
requirements
Command zero
0 0
compensation
Highest speed limit Defined by users 2500
operation method.
4. Shut down the main circuit power, and wait 30 seconds.
5. Connect the main circuit power supply. After verifying that no alarm is
reported and no fault occurs, the indicator lamp “EN” on the drive is on.
The motor is excited, and operating at zero speed.
6. Add one adjustable DC voltage supply to the analog speed input
terminal, the voltage increases from 0 to the greater. Make sure the
motor output torque varies with the set command.
If you set a negative voltage, the motor outputs torque in the reverse
direction.
7. Set the analog command voltage to 0, the motor still triggers torque
output. You can adjust the parameter to reduce the output

torque to 0.
8. Note that motor could easily run over speed when the load is too light.
Motor speed limit can be set via parameter to prevent motor
over speed with light load.
System overload occurs if the torque exceeds the nominal torque, and
- 98 -
the servo drive can run only for a short period. For details about
overload, see system overload features.
8.6 Tuning
Attention
� Wrong parameter setting could result in device faults and
accidents; therefore, before starting, make sure the parameters
are correctly set.
� It is suggested that testing be done without load first, and then
with load.
8.6.1 Basic Gain

� Speed control
1. Set the parameter [Speed proportional gain] ( ). As the

parameter set value grows, the gain and stiffness increase. The parameter
set value depends on the servo drive type and the load conditions. Set a
greater value as possible, when no oscillation occurs. In general, the
parameter set value increases as the load inertia grows.
2. Set the parameter [Speed integral time constant] ( ).As the
parameter set value decreases, the integral speed becomes faster.
According to the given conditions, set a smaller value as possible. If the
parameter set value is too small, the response speed is improved, but it
easily produces oscillation. Therefore, set a smaller value as possible when
no oscillation occurs. If the parameter set value is too great, the motor
speed change greatly as the load varies. In general, the parameter set value
must be greater as the load inertia increases.
� Position control
1. Set the appropriate values to the parameters [speed ratio gain] and
[speed integral time constant] in the same operation method.
If the parameter value of [position loop feedforward gain]
- 99 -
is great, the response speed of the system will be improved, but it

easily leads to the systematic position instability and the oscillation.
Normally, we set 0 to this parameter value.
2. Set the value of the parameter [Position loop proportional

gain]. If the set value of the parameter becomes greater, the gains
and stiffness also increase. In the same frequency command pulse
conditions, the hysteresis decreases. The parameter set value
depends on the servo drive type and the load conditions. Set a
greater value as possible, when no oscillation occurs. But if the set
value of the parameter [Position loop proportional gain] is too great,
it easily produces oscillation in spite of good tracking characteristic
of position command and less hysteresis.
If the requirement for position tracking characteristic is high, the set
value of [position loop feedforward gain] can be increased. But if
the set value is too great, it leads to overshooting and oscillation.
Note: See the following list for the setting of the parameter [position
loop proportional gain]
Table 8.2 Recommended settings of the position loop proportional gain
Stiffness [Position Loop Proportional Gain]
Low stiffness 100 to 300 /(0. 1 Hz)
Medium stiffness 3000 to 500/(0. 1 Hz)
High stiffness 5000 to 700/(0. 1 Hz)
8.66.2 Electronic Gear Setting

8.
In the position control mode, via setting the parameter [Position
command pulse numerator frequency] and the parameter

[Position command pulse denominator frequency], it can easily adapt to the
various controller pulses to achieve the optimal position control resolution.
The position resolution depends on the travel of the servo motor per
revolution (the stroke per pulse⊿S), and the encoder feedback pulse quantity
(Pt) per revolution. The relationship can be explicit by the following
- 100 -
formula:
∆S
∆l =
Pt
Therefore:
⊿l indicates the travel length of a pulse (mm).
⊿S indicates the travel length of the servo motor per revolution
(mm/revolution).
Pt indicates the encoder feedback pulse quantity per revolution (Pulses per
revolution).
The quadruple frequency circuit exists in the system unit, so Pt= 4 × C, and
"C" stands for encoder windings per revolution. In this system, C = 2500
windings/revolution. This value can be set via the parameter PA-25[Encoder
Resolution]. Via calculation, we know that Pt = 10000 pulses/revolution.
The command pulse can be converted into position control pulse via
multiplying the electronic gear ratio G. Therefore, one pulse command travel
⊿l* can be calculated as follows:
∆S
∆l * = ×G
Pt
Therefore,
position control pulse frequency division numerator
G=
position control pulse frequency division denominator
8.6.3 Tuning Start-up and Stop Characteristic
The drive system start-up and stop characteristic is namely the acceleration
and deceleration time. It depends not only on the load inertia, start-up and
stop frequency but also on the servo motor and drive performance limitation.
Frequent start-up and stop, too short periods for acceleration and
deceleration, and too great load inertia, all these factors could result in
alarms of drive and motor over temperature, or main circuit over voltage etc.
Therefore, the tuning must be done in accordance with the actual situations.
1. Load inertia & start-up and stop frequency
- 101 -
In case of frequent start-up and stop frequency occasions, you must first
check whether the frequency is permitted by the drive. The permitted
frequency range varies with the motor type, capacity, load inertia and the
motor rotary speed. In the condition "load inertia = m * motor inertia", the
permissible start-up and stop frequency of the motor and the recommended
settings of the acceleration and deceleration time parameter (
) are listed below:

Table 8.3 Load inertia factor and the permissible start-up and stop frequency
Load Inertia Factor Permissible Start-up and Stop Frequency
m≤3 > 100 times per min.: Acceleration and deceleration time
≤ 60 mS
m≤5 60 to 100 times per min.: Acceleration and deceleration
time ≤ 150 mS
m>5 < 60 times per min.: Acceleration and deceleration time
> 150 mS
2. Motor type influence

The permissible start-up and stop frequency and the acceleration and
deceleration time depend on the motor type, load conditions, operating time,
load occupying ratio, and ambient temperature etc. Tuning is supposed to be
done in accordance with the actual situations with reference to the motor
manual. Avoid over temperature alarms or other influences; otherwise, the
drive and motor service life will be shortened.
3. Tuning method
In general, the value of the load inertia must be within 5 times of the motor
rotor inertia. If the load inertia is great, during deceleration, the overvoltage
or unconventional braking could occur in the main circuit. You can use the
following method to deal with it:
� Increase the acceleration and deceleration time via the parameters
and . First set a greater value, and then gradually

reduce to an appropriate one.
� Reduce the maximum output torque setting value via parameter
- 102 -
and lower the current limit.
� Lower the motor max. speed limit via parameter .

� Install an external regenerative braking device.
� Replace a motor with greater power and inertia. (Note: The motor must
be configurable with the drive.)
8.7 Frequently Asked Problems
8.7.1 Parameter Default Setting Recovery
Use the parameter default setting (factory setting) recovery function in the
event of following situations:
� If the parameter settings are incorrect, the drive system cannot operate
normally.
� If the system power shuts down when you are saving the parameter
settings, the system parameter settings will automatically recover to
defaults. The drive and motor type code parameter cannot be

matched with the motor.
� Use the original motor to configure with the drive. If the new motor type
is different from that of the original, you must recover the parameter
default settings following the approaches below:
1. Press M to switch to mode. Select in the first
layer. Press �, � to select the parameter . Press S, the
segment displays . The parameter setting recovery is completed,

but it takes effect only after saving.
2. �, � to select the parameter

Press S again, and then M. Press� .
�, � once, the parameter value changes 1. Keep pressing�
Press� � or�
�,
the parameter value changes continuously. Press S to return to the
parameter selection menu without saving. To save the changes or
settings, you must input the password to the
- 103 -
parameter . Press M to switch to mode. Press S to

save the changes and settings to the drive EEPROM. After saving
complete, the segment displays ; otherwise, it
displays .
3. After parameter recovery saving complete, the parameter values will be
recovered to defaults after switching on again.
4. Parameter recovery values depend on the parameter . The

kilobit of the parameter indicates the motor brand (Huada motor or
Golden Age motor). If you use Huada motors, the parameter values will
be recovered to Huada motor defaults; if you use Golden Age motors,
the parameter values will be recovered to Golden Age motor defaults.
8.7.2 Deficient Output Contributions in the Process of Tuning
With the default values of the parameters , , ,
and , the drive output contribution is not satisfying, but the drive
alarm already reports software over temperature ( ). You must
adjust the parameter [Motor Overload Factor], provided the setting
of the parameter is correct.
8.7.33 Current Loop Tuning

8.7.
If the drive and motor code parameter is correct, the parameters
, , , , will be automatically tuned.

It is not necessary to set the parameters manually unless some special
occasions as follows:
1. In the operation, the motor current produces loud noises. You can lower
the value of the parameter [Current control loop proportional
gain], and increase the value of the parameter [Current

control loop integral time]. If the effect is not obvious, you can change
- 104 -
the value of the parameter [Speed feedback filter factor] to

the range of 0 to 2. In the ordinary course of events, do not change the
parameter .
2. When the motor is operating at 0 speed, the drive is enabled and the
motor is excited. If the motor shaft produces low frequency vibration
noise, you must lower the value of the parameter [Current

control loop proportional gain] and increase the value of the parameter
[Current control loop integral time]. If the effect is not
obvious, you can change the value of the parameter [Torque

command loop filter time constant] to the range of 4 to 15. Besides, you
can set the value of the parameter [Speed feedback filter

factor] to the range of 0 to 2. In the ordinary course of events, do not
change the parameter .
8.7.
8.7.44 Change of Parameters Regardless of the Motor and Drive
Combination Type
In the particular conditions, the relationship between the drive and motor is
not listed in the table 7.4 or table 7.5 or there is no corresponding motor
code. If the ratio of the motor nominal current and the drive effective
current is not greater than 1.2, to change the parameter values, you can
follow the procedure below:
1. Connect the drive power cable terminal R, S, T and the motor encoder
terminals. (Note: Do not connect the motor terminal U, V, W).
2. Set the value of the parameter = 2003, and change the motor
related parameters: [Nominal current], [Nominal
rotary speed], [Motor rotary inertia], [Nominal
torque], [Motor pole logarithm], [Motor encoder
- 105 -
resolution], [Motor deviation]. See 6.2.1 for the operation

method.
3. Set the parameter : PA18×PB24 ≤ Effective current of the

drive (listed on the nameplate).
4. Set the parameter : PA27=L×103×Kfc×1240/106.

Note:
� Motor inductance (Unit: mH)
� Current feedback factor Kfc
HSV-160B+-010 Kfc: = 120
HSV-160B+-020 Kfc: = 187
HSV-160B+-030 Kfc: = 250
HSV-160B+-050 Kfc: = 465
HSV-160B+-075 Kfc: = 667
5. Set the parameter : PA28 = L (Motor inductance, unit: mH)/R

(Motor resistor, unit:Ω) (unit: ms) × 10
6. Set the value of the parameter = 1230. Connect the motor

power cable U, V, W to carry out the test operation. In this situation, do
not perform the parameter recovery function, otherwise, the parameters
will be recovered to the default settings.
- 106 -
Chapter 9 Diagnostics and Troubleshooting
9. Diagnostics and Troubleshooting

Attention
� Only qualified personnel who have the corresponding professional
knowledge and capabilities can work on the drive system.
� To touch the driver and motor, you must wait at least 5 minutes after power
removal. Failure to follow this instruction could result in electric shock and
burnt.
� If the drive triggers an error response in the event of a fault, you must clear
the error depending on the error code. After that, you can use the drive.
� Before the alarm reset, verify that the "EN" signal is disabled. Otherwise,
the abruptly started motor could cause unexpectable accidents.
9.1 Protective Diagnostic Function
� HSV-160B+ type drives provide 18 protective functions and

diagnostics.
� When one of the protective functions is activated, the segment on
the drive panel displays the corresponding error response, and a
drive alarm will be reported.
� When use the drive, the alarm output and fault interlock output
circuit must be connected in the emergency stop loop. If the drive
protective function is activated, the main power supply can be cut
off in time (Cut off the 3-phase main power supply, but the control
power supply is still on).
� After troubleshooting, switch on the drive power again to clear the
alarms; or pressing keys on the operation panel to enter the auxiliary
mode, and clear the alarms via alarm reset function.
� Some of the alarms cannot be eliminated via alarm reset function.
You can cut off the power supply, after troubleshooting, switch on
the power again to clear the alarms.
- 107 -
Table 9.1 Alarm list
Alarm Code Error Response Description
Normal
Main circuit under voltage The main circuit power is under voltage.
Main circuit overvoltage The main circuit power is overvoltage.
IPM module fault IPM (intelligent power module) fault

occurs.
Braking fault Braking circuit fault occurs.
Fuse blowing out The main circuit fuse blows out.
Motor over temperature The motor is over temperature.
Encoder signal fault Absolute encoder signal fault occurs.
Encoder U, V, W signal Encoder U, V, W signal faults occur.

fault
Reserved
Over current The motor is over current.
System over speed The servo motor speed exceeds the set
value.
Tracking error is great. The actual value displayed on the

position deviation counter exceeds the
set the value.
Motor long-time over The actual current value exceeds the set
temperature and overload value (via I2t detection)
Control parameter reading EEPROM parameters cannot be read

error correctly.
Control panel hardware The processor peripheral logic circuit

fault fault occurs.
- 108 -
AD conversion fault AD conversion circuit or current sensor

fault occurs.
Reserved
Reserved
Command frequency fault The position loop pulse command

frequency is too high.
System operating over Limit switch in the positive direction

travel in the positive disconnects
direction
System operating over Limit switch in the negative direction

travel in the negative disconnects.
direction
Parameter autotuning Motor parameter setting is incorrect or

failure the inertia cannot be recognized due to
great load connection elasticity.
Wrong combination of The settings of motor and drive codes

motor and drive are not appropriate.
9.2 Troubleshooting
Table 9.2 Error causes and troubleshooting

Alarm Operating
Error Cause Troubleshooting
Code Status
1. Circuit board failure
2. Mains fuse blows out
3. Soft-start circuit
Occurring Change the servo drive.
failure
when
4. Commutator is
connecting
damaged
the main
1. Power supply is under
power
Main circuit voltage.
supply Check the power supply.
1 under 2. Temporary power
voltage down for more than 20
mS
1. Mains capacity is
Occurring
inadequate.
in the Check the power supply.
2. Instantaneously power
process of
down
motor
The heat sink is over
operation Check the load conditions.
temperature.
- 109 -
Occurring
when 1. Power supply is
connecting overvoltage.
Check the power supply.
the main 2. Mains voltage wave is
power unconventional.
supply
Check the external braking
External braking resistor
circuit, do the wirings
wires disconnect.
again.
1. Braking transistors are
damaged. 1. Change the servo
2. Internal braking drive.
Main circuit resistors are damaged.
2
overvoltage 2.
Lower the start-up and
Occurring
stop frequency.
in the
3. Increase the time
process of
constant for
motor
acceleration and
operation
deceleration.
3. Braking circuit
4. Reduce the torque
capacity is inadequate.
limit.
5. Reduce the load
inertia.
6. Change a drive and
motor with a greater
power.
Occurring Circuit board failure Change the servo drive.
when
connecting
the main
power
supply
1. Voltage supply is low. 1. Check the servo drive.
2. Servo drive is over 2. Switch on the power
temperature. again.
3. Change the servo
drive.
Short-circuit exists in the Check the wirings.
3 IPM fault drive line U, V, W.
Occurring Not well grounded Correct the wirings.
in the Motor insulation is Change the motor.
process of damaged.
motor Drive output current is too 1. Increase the time
operation great. constant for
acceleration and
deceleration.
limit.
Interference 1. Add line filters.
2. Be away from the
interference source.
External braking resistor
Occurring Wire again.
wires disconnect.
in the
4 Braking fault process of 1. Braking transistors are
motor damaged.
Change the servo drive.
operation 2. Internal braking resistors
are damaged.
- 110 -
1. Lower the start-up and

stop frequency.
2. Increase the time
constant for
acceleration and
Braking circuit capacity is
deceleration.
inadequate.
limit.
motor with greater
power.
Main circuit voltage is too Check the main power
great. supply.
drive external line U, V, W.
Not well grounded Correct the wirings.
Motor insulation is Change the motor.
damaged.
Drive is damaged. Change the servo drive.
Occurring 1. Check the loads.

in the 2. Lower the start-up and
5 Fuse blowing process of stop frequency.
out motor Operation in the over 3. Reduce the torque
operation torque condition. limit.
motor with greater
power.
One of the phases in the line Check the wirings.
U, V, W disconnects.
Incorrect Encoder
wiring
Motor overheat protective
Occurring Shielding this alarm
wire is not connected.
when
Circuit board fault Change the servo drive.
connecting
1. Cables disconnect.
the main
2. Motor internal 1. Check the wirings.
power
temperature relay is 2. Check the motor.
supply
damaged.
1. Reduce the load.
stop frequency.
limit.
Motor overload
4. Reduce the related
Motor gains.
6
overtheat 5. Change a drive and
Occurring motor with greater
in the power.
process of 1. Check the load.
motor 2. Lower the start-up and
operation stop frequency.
Long-time operation in the
condition of over nominal
limit.
torque
motor with greater
power.
Mechanical transmission is Check the mechanical
not in good condition. parts.
- 111 -
Motor internal faults Change the servo motor.
Encoder wirings are Check the wirings.

incorrect.
Encoder is damaged. Change the motor.
External interference 1. Add line filters.
2. Be away from the
Encoder Encoder cables are not in Change the cables.
7
signal fault the good condition.
1. Shorten the cable
length.
Encoder cables are too
2. Use multi core cables
long, so the voltage supply
in the parallel
to the encoder is reduced.
connection for power
supply.
Encoder wirings are Check the wirings.
incorrect.
Encoder is damaged. Change the motor.
External interference 1. Add line filters.
2. Be away from the
Encoder U, interference source.
8
V, W fault Encoder cables are not in Change the cables.
the good condition.
1. Shorten the cable
Encoder cables are too
length.
long, so the voltage supply
2. Use multi core cables
to the encoder is reduced.
for the power supply.
9 Reserved

drive line U, V, W.
1. Reduce the load.
stop frequency.
limit.
Motor overload
4. Reduce the related
10 Over current
gains.
motor with greater
power.
Not well grounded Correct the grounding.
Motor insulation is Change the motor.
damaged.
Drive is damaged. Change the servo drive.
Occurring
1. Change the servo
when 1. Control circuit board
drive.
connecting fault.
2. Change the servo
the main 2. Encoder failure
motor.
power supply
System Input command pulse Set the correct input

11
overspeed Occurring frequency is too high. command pulse.
in the
process of Acceleration and
motor deceleration time constant Increase the time constant
operation value is too small, and the for acceleration and
speed overshooting is too deceleration.
great.
- 112 -
Input electronic gear ratio

Correct the setting.
value is too great.
Encoder failure Change the servo motor.
Encoder cables are not in
Change the encoder cables.
the good condition.
Drive system is instable 3. Reset the related gains.
which causes overshooting. 4. If changing the gain
setting cannot reduce
the system instability,
you can reduce the
load rotary inertia
ratio.
1. Reduce the load
inertia.
Load inertia is too great. 2. Change a drive and
motor with greater
power.
Occurring
1. Change the motor.
when the
Encoder zero point error 2. Tune the encoder zero
motor is
point.
started
1. Incorrect wiring of
motor U, V, W
2. Incorrect wiring of Correct wirings.
encoder cable
down-lead
Occurring
when
connecting
Circuit board failure Change the servo drive.
the main
power
supply
Connecting 1. Incorrect wiring of
the power motor U, V, W
supply and 2. Incorrect wiring of Correct wirings.
the control encoder cable
wires, input down-lead
the
command
Tracking error pulses, Encoder failure Change the servo motor.
12 motor
overtolerance
stands still
Set the range of positioning Widen the range of
out-of-tolerance. positioning out-of-tolerance
Position loop proportional
Increase the gain.
gain is too small.
Occurring
1. Check the torque limit.
in the
2. Reduce the load
process of
capacity.
motor Torque deficient
operation
motor with greater
power.
Command pulse frequency Lower the frequency.
is too high.
Torque deficient 1. Check the torque limit.
2. Reduce the load
capacity.
Motor
13 3. Change a drive and
overload
motor with greater
power.
Servo drive failure Change the servo drive.
- 113 -
Interference 1. Increase the line filters.

2. Be away from the
Instability of the input 1. Check mains voltage.
power supply 2. Check the mains power.
Control
Servo drive failure Change the servo drive.
14 parameters
reading error Interference Increase line filters.
Be away from the
Instability of the input 1. Check the mains voltage.

power supply 2. Check the mains power.
15 DSP fault Servo drive failure Change the servo drive.

Interference 3. Increase the line filters.
4. Be away from the
Instability of the input 1. Check the mains
power voltage.
2. Check the mains
power.
16 Alarm
Servo drive failure Change the servo drive
1. Increase the line filters.
Interference 2. Be away from the
17 Reserved
18 Reserved
Lower the frequency
19 Command
Position command pulse command pulse:
frequency
frequency is too high. Use the orthogonal command
failure
pulse form.
System Positive limit switch
operating disconnect.
Check the positive limit
20 over travel in
switch status.
the positive
direction
System Negative limit switch

operating disconnect.
over travel in Check the negative limit
21
the negative switch status.
direction
Parameter Incorrect motor parameter Check and reset the motor

autotuning or incorrect recognition of parameter or the load
22
failure the inertia due to great load device.
connection elasticity
Incorrect Inappropriate motor and Reset the motor and drive

motor and drive type code settings. type code.
drive
23 combination.
- 114 -
Contents
- 115 -
Chapter 10 Service and Maintenance
10.. Service and Maintenance

10
The drive guarantee period:
18 months after out-of-factory date or 1 year from the handover date to users.
Attention
● You cannot carry out the repairs yourself. Power connection/switch
off must be carried out by a certified customer service operator.
● Even after power removal, the circuit still maintains high voltage
charging status for a period of time. Wait 5 minutes for checking
after power is removed and the LED light is off.
● Do not carry out the insulation resistance measuring. This can
damage the drive.
10.1 Routine Maintenance
When the system operates in common conditions, check the followings

items:
1. Whether the ambient temperature and humidity are normal and
whether dust, particles and foreign bodies exist
2. Whether motor produces abnormal noises and vibration
3. Whether it gives off heat and peculiar smell abnormally
4. Whether the ambient temperature is too high
5. Whether the panel is clean
6. Whether loose connections or incorrect pin positions exist
7. Whether the common current figures and the output current
monitoring figures are quite different
8. Whether the cooling fan under the servo drive operates normally
The cooling fan temperature is controlled by the temperature relay,
and it operates only when the heat sink temperature is equal to or
greater than 35°C.
- 116 -
10.2 Regular Maintenance
When carry out the regular service, please check the following items:
� Whether loose bolts exists
� Whether over temperature exists
� Whether burnt terminals exist
10.3 Parts Replacemnt

Replacemnt
Attention
For checking or repairs, the parts removal must be carried out by our
technical personnel or our agent.
Parts replacing cycle depends on the actual operating conditions and device
using conditions. Disabled parts must be repaired or replaced immediately.
Device Parts Standard Replacing Remark
Cycle
Filter capacitor About 5 years
Cooling fan About 3 years This standard replacing
Aluminum cycle is only for
Drive
electrolytic reference. The disabled
About 3 years
capacitor on the parts must be repaired
PCB board or replaced
Bearing 3 to 5 years immediately once
Motor Oil seal 5000 hours found out.
Encoder 3 to 5 years
Annexure
Selection and Connection of the Braking Resistor
The braking voltage of the HSV-160B+ AC servo drive is DC 400 V, and the
maximum braking currents are listed in the table 12.1. The internal braking
resistor of the drive is 70 Ω/200 W, and the maximum overload permitted is
1.5 times of the internal braking resistor (for 5 seconds continuously). When
the drive loads or the inertias are great, external braking resistors must be
- 117 -
installed. Generally, as the loads and inertias increase, the braking time will
be shortened. If the selected braking resistor value decreases, the resistor
power will be increased, but the maximum braking current must not exceed
the maximum braking current of the drive.
If only use the internal braking resistor, the mains terminal BK1 and BK2 of
the drive must be disconnected (the drive factory default indicates only
internal braking resistor). Warning: Short-circuit of the mains terminal BK1
and BK2 will result in drive burnt.
If you use external braking resistors, the external braking resistors must be
connected to the drive mains terminal BK1 and BK2. The internal braking
resistor and the external braking resistors are connected in parallel. The
recommended values of the external braking resistors are listed in the table
12.1:
Table 12.1 The recommended values of the external braking resistors
Max. Braking External Braking Resistor
Specification
Current (A) (Recommended Value)
HSV-160B+-010 20 68 Ω 200 W
HSV-160B+-020 20 56 Ω 500 W
HSV-160B+-030 20 56 Ω 500 W
HSV-160B+-050 50 35 Ω 500 W
HSV-160B+-075 75 35 Ω 500 W
- 118 -

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HSV-160B+ Series

Full Digital AC Servo Drive Unit

Wuhan Huazhong Numerical Control Co., Ltd.

6.2.1. Parameter Change and Saving.................................................... - 66 -

1.1 Warning Symbols on the Product

1.2 Meanings of Symbols for Warning

！ Warning Safety sign board

1.3 Explanation of Safety Concerned Symbols

Incorrect use of the product

Incorrect use of the product

1.4 Safety Notice

1. Check and confirm on delivery

� Do not install the damaged servo

� Lift the bottom of the device for

� Do not touch the output terminals

� Safety devices like breakers

4. Debugging and Operation

� To avoid unexpected accidents,

� Do not touch the servo drive heat

� Wait 5 minutes for wire removal

� The control circuit board adopts

6. Adoption of servo motors

� Do not make changes or

2.1 Introduction to Product

HSV-160B+ AC servo drive adopts the latest technological designs, such as

� Small size, easy to instal

2.2 Introduction to Operating Mode

There are five control modes for HSV-160B+ AC servo drives:

servo drive manually with a keypad. It is a way to check whether the

Table 3.1 Servo drive operating current

HSV-160B+-010 4.8 7.2

Table 3.2 Servo drive specifications

Servo drive unit installation dimension (Unit: mm)

Figure 3.1 HSV-160B+-010 A servo drive installation dimension

Figure 3.2 HSV-160B+-020/030 A servo drive installation dimension

Figure 3.3 HSV-160B+-050/075 A servo drive installation dimension

3.2 Isolating Transformer Specification

Example: If a system adopts three HSV-160 B+ AC servo drives whose

� Use the specified combination of servo drives and servo motors.

� Do not touch the motor rotor by hand directly; otherwise, it could

4.2 Installation Environment

� The servo drive is supposed to be

4.2.1 Protection Requirements

direction and distance to ensure good heat dissipation conditions.

4.3.1 Installation Method

Figure 4.1 Schematic drawing of HSV-160B+-010 AC servo drive base plate

Combination of bolts with

Figure 4.2 Schematic drawing of HSV-160B+-020/030 AC servo drive base

Figure 4.3 Schematic drawing of HSV-160B+-050/075 AC servo drive base

Figure 4.4 Installation spacing for a solo HSV-160B+-020/030 AC servo

Figure 4.5 Installation spacing for the HSV-160B+-020/030 AC servo drive

SERIES SERIES SERIES

HSV-160B+-030 HSV-160B+-030 HSV-160B+-030

Figure 4.6 Installation spacing for a solo HSV-160B+-050/075 AC servo

Figure 4.7 Installation spacing for the HSV-160B+-050/075 AC servo drive

AC SERVO AC SERVO AC SERVO

SERIES SERIES SERIES

4.4 Installation of Servo Motors

4.4.1 Installation Environment

4.4.2 Servo Motor Installation Method

5.1 Standard Wiring

� Cable lengths: The cables must be as short as possible. Control cable

Figure 5.1Standard wiring (a) in the position control mode

Figure 5.2 Standard wiring (b), applicable to Siemens controller 801