User Manual for ELD5 Servo(V1.

00)

User Manual Of ELD5 Servo

V1.00

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 User Manual for ELD5 Servo(V1.00)

Introduction
Thanks for purchasing Leadshine ELD5-series low-voltage AC servo drive, this instruction manual
provides knowledge and attention for using this driver.

Contact [email protected] for more technical service .

Incorrect operation may cause unexpected accident, please read this manual carefully before using
product.

 We reserve the right to modify equipment and documentation without prior notice.
 We won’t undertake any responsibility with customer’s any modification of product, and the warranty of
product will be cancel at the same time.

Be attention to the following warning symbol:

Warning indicates that the error operation could result in loss of life or serious injury.

Caution indicates that the error operation could result in operator injured, also make equipment
damaged.

Attention indicates that the error use may damage product and equipment.

Safety precautions
Warning
 The design and manufacture of product doesn’t use in mechanic and system which have a threat to operator.
 The safety protection must be provided in design and manufacture when using this product to prevent
incorrect operation or abnormal accident.

Acceptance
Caution
 The product which is damaged or have fault is forbidden to use.

Transportation
Caution
 The storage and transportation must be in normal condition.
 Don’t stack too high, prevent falling.
 The product should be packaged properly in transportation,
 Don’t hold the product by the cable, motor shaft or encoder while transporting it.
 The product can’t undertake external force and shock.

Installation

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 User Manual for ELD5 Servo(V1.00)

Caution
Servo Driver and Servo Motor:
 Don’t install them on inflammable substance or near it to preventing fire hazard.
 Avoid vibration, prohibit direct impact.
 Don’t install the product while the product is damaged or incomplete.
Servo Driver:
 Must install in control cabinet with sufficient safeguarding grade.
 Must reserve sufficient gap with the other equipment.
 Must keep good cooling condition.
 Avoid dust, corrosive gas, conducting object, fluid and inflammable, explosive object from invading.
Servo Motor:
 Installation must be steady, prevent drop from vibrating.
 Prevent fluid from invading to damage motor and encoder.
 Prohibit knocking the motor and shaft, avoid damaging encoder.
 The motor shaft can’t bear the load beyond the limits.

Wiring
Warning
 The workers of participation in wiring or checking must possess sufficient ability do this job.
 Ground the earth terminal of the motor and driver without fail.
 The wiring should be connected after servo driver and servo motor installed correctly.
 After correctly connecting cables, insulate the live parts with insulator.

Caution
 The wiring must be connected correctly and steadily, otherwise servo motor may run incorrectly, or damage
the equipment.
 We mustn’t connect capacitors, inductors or filters between servo motor and servo driver.
 The wire and temperature-resistant object must not be close to radiator of servo driver and motor.
 The freewheel diode which connect in parallel to output signal DC relay mustn’t connect reversely.

Debugging and running

Caution
 Make sure the servo driver and servo motor installed properly before power on, fixed steadily, power
voltage and wiring correctly.
 The first time of debugging should be run without loaded, debugging with load can be done after
confirming parameter setting correctly, to prevent mechanical damage because of error operation.

Using
Caution
 Install a emergency stop protection circuit externally, the protection can stop running immediately to
prevent accident happened and the power can be cut off immediately.
 The run signal must be cut off before resetting alarm signal, just to prevent restarting suddenly.
 The servo driver must be matched with specified motor.

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 User Manual for ELD5 Servo(V1.00)

 Don’t power on and off servo system frequently, just to prevent equipment damaged.
 Forbidden to modify servo system.

Fault Processing
Caution
 The reason of fault must be figured out after alarm occurs, reset alarm signal before restart.
 Keep away from machine, because of restart suddenly if the driver is powered on again after momentary
interruption(the design of the machine should be assured to avoid danger when restart occurs)

System selection
Attention
 The rate torque of servo motor should be larger than effective continuous load torque.
 The ratio of load inertia and motor inertia should be smaller than recommended value.
 The servo driver should be matched with servo motor.

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 User Manual for ELD5 Servo(V1.00)

Table of Contents
User Manual For ELD5 Servo ............................................................................................................................. 1
Introduction .......................................................................................................................................................... 2
Chapter 1 Introduction ......................................................................................................................................... 7
1.1 Product Introduction ............................................................................................................................... 7
1.2 Inspection of product .............................................................................................................................. 7
1.3 Product Appearance................................................................................................................................ 7
1.4 Quick selection ....................................................................................................................................... 9
Chapter 2 Installation ......................................................................................................................................... 10
2.1 Storage and Installation Circumstance ................................................................................................. 10
2.2 Servo Driver Installation ...................................................................................................................... 10
2.2.1 Installation Method.................................................................................................................... 10
2.2.2 Installation Space .......................................................................................................................11
2.3 Servo Motor Installation ....................................................................................................................... 12
Chapter 3 Wiring ................................................................................................................................................ 13
3.1 Wiring ................................................................................................................................................... 13
3.1.1 Wire Gauge ................................................................................................................................ 13
3.1.2 Position Control Mode ............................................................................................................. 14
3.1.3 Torque /Velocity Control Mode ................................................................................................. 15
3.2 Driver Terminals Function ................................................................................................................... 16
3.2.1 Control Signal Port-CN1 Terminal ............................................................................................ 16
3.2.2 Encoder Input Port-CN2 Terminal ............................................................................................ 17
3.2.3 Communication Port.................................................................................................................. 18
3.2.4 Power Port ................................................................................................................................. 18
3.2.5 Bus connector ............................................................................................................................ 18
3.3 I/O Interface Principle .......................................................................................................................... 19
3.3.1 Switch Input Interface ............................................................................................................... 19
3.3.2 Switch Output Interface............................................................................................................. 19
3.3.3 Pulse Input Interface .................................................................................................................. 20
3.3.4 Analog Value Input Interface ..................................................................................................... 21
3.3.5 Servo Motor Encoder Input Interface ........................................................................................ 21
Chapter 4 Parameter ........................................................................................................................................... 22
4.1 Parameter List ...................................................................................................................................... 22
4.2 Parameter Function .............................................................................................................................. 25
4.2.1【Class 0】Basic Setting ........................................................................................................... 25
4.2.2【Class 1】Gain Adjust ............................................................................................................. 29
4.2.3【Class 2】Vibration Suppression ............................................................................................. 33
4.2.4【Class 3】Velocity/ Torque Control......................................................................................... 34
4.2.5【Class 4】I/F Monitor Setting ................................................................................................. 38
4.2.6【Class 5】Extended Setup ....................................................................................................... 43
4.2.7【Class 6】Special Setup .......................................................................................................... 45
Chapter 5 Alarm and Processing ........................................................................................................................ 47
5.1 Alarm List............................................................................................................................................. 47

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5.2 Alarm Processing Method .................................................................................................................... 48

Chapter 6 Display and Operation ....................................................................................................................... 54
6.1 Introduction .......................................................................................................................................... 54
6.2 Panel Display and Operation ................................................................................................................ 55
6.2.1 Panel Operation Flow Figure..................................................................................................... 55
6.2.2 Driver Operating Data Monitor ................................................................................................. 55
6.2.3 System Parameter Setting Interface........................................................................................... 58
6.2.4 Auxiliary Function ..................................................................................................................... 61
6.2.5 Saving parameter ....................................................................................................................... 62
6.2.6 Abnormal Alarm ........................................................................................................................ 63
Chapter 7 Trial Run ............................................................................................................................................ 64
7.1 Inspection Before trial Run .................................................................................................................. 64
7.1.1 Inspection on wiring .................................................................................................................. 64
7.1.2 Timing chart on power-up ......................................................................................................... 65
7.1.3 Timing chart on fault ................................................................................................................. 65
7.1.4 holding brake ............................................................................................................................. 65
7.2 Trial Run............................................................................................................................................... 66
7.2.1 Jog Control ................................................................................................................................ 66
7.2.2 Position Control......................................................................................................................... 67
7.2.3 Velocity Control ........................................................................................................................ 68
7.2.4 Torque Control........................................................................................................................... 69
7.3 Automatic Control Mode Run .............................................................................................................. 70
7.3.1 Operation Mode Selection ......................................................................................................... 70
7.3.2 Position Mode ........................................................................................................................... 71
7.3.3 Velocity Mode ........................................................................................................................... 74
7.3.4 Torque Mode ............................................................................................................................. 77
Chapter 8 Product Specification ......................................................................................................................... 79
8.1 Driver Technical Specification ............................................................................................................. 79
8.2 Accessory selection .............................................................................................................................. 80
Chapter 9 Order Guidance.................................................................................................................................. 80
9.1 Capacity Selection ................................................................................................................................ 80
9.2 Electronic Gear Ratio ........................................................................................................................... 80
Appendix ............................................................................................................................................................ 81
Quick guide for tuning the servo ............................................................................................................................ 81
Contact us ........................................................................................................................................................... 81

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 User Manual for ELD5 Servo(V1.00)

Chapter 1 Introduction
1.1 Product Introduction
The ELD5 series AC servo motor &driver is the latest servo system that’s meets all demands for a variety of
machines which require high speed, high precision and high performance or which require simplified settings.

Talent feature:
◆Width ratio, constant torque
Speed ratio :1:5000, stable torque features from low speed to high speed
◆High-speed, high-precision
The maximum speed of the servo motor up to 5000rpm, rotation positioning accuracy up to 1/223r.
◆Simple, flexible to control
By modifying the parameters of the servo system, the operating characteristics make the appropriate setting to
suit different requirements.

1.2 Inspection of product

1. You must check the following thing before using the products :
a. Check if the product is damaged or not during transportation.
b. Check if the servo driver & motor are complete or not.
c. Check the packing list if the accessories are complete or not
2. Type meaning
a. ELD5 series servo driver
ELD5 -400

Maximum Output Power

400:400W

Low-voltage AC servo drive ( 24-60VDC)

b. Servo motor type
The ELD5 series AC servo driver can be matched with a variety of domestic and foreign servo motor.

1.3 Product Appearance

1. ELD5 series servo driver appearance:

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6-bit LED

key

Connection to
Connection to PC
controller
for configuration

Power supply

Connection for Connection to encoder

motor power

2. Servo motor appearance:

3. Accessory
ELD5 series servo driver standard accessories
a. user manual
b.CN1 connector (DB26)
c. CN2 plug (DB15 pin)

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1.4 Quick selection

Servo driver Motor type Motor Specification
BLM series BLM series motor with 1000 line encoder
ACM6020V36H-A5 200w/60mm/36V/3000rpm/0.64Nm/1000line encoder
ACM6040V60H-A5 400w/60mm/60V/3000rpm/1.27Nm/1000line encoder
ACM4005V24-T-2500 50w/40mm/24V/3000rpm/0.16Nm/2500line encoder
ACM4005V24-T-BR-250 50w/40mm/24V/3000rpm/0.16Nm/2500line encoder/Brake
0ACM4010V24-T-2500 100w/40mm/24V/3000rpm/0.32Nm/2500line encoder
ELD5-400/ ACM4010V24-T-BR-250 100w/40mm/24V/3000rpm/0.32Nm/2500line encoder/Brake
0ACM601V36-T-2500 100w/60mm/36V/3000rpm/0.32Nm/2500line encoder
ELD5-400U
(Only for ACM601V36-T-BR-2500 100w/60mm/36V/3000rpm/0.32Nm/2500line encoder/Brake
encoder with ACM602V24-T-2500 200w/60mm/24V/3000rpm/0.64Nm/2500line encoder
5V TTL signal) ACM602V24-T-BR-2500 200w/60mm/24V/3000rpm/0.64Nm/2500line encoder/Brake
ACM602V36-T-2500 200w/60mm/36V/3000rpm/0.64Nm/2500line encoder
ACM602V36-T-BR-2500 200w/60mm/36V/3000rpm/0.64Nm/2500line encoder/Brake
ACM604V48-T-2500 400w/60mm/48V/3000rpm/1.27Nm/2500line encoder
ACM604V48-T-BR-2500 400w/60mm/48V/3000rpm/1.27Nm/2500line encoder/Brake
ACM604V60-T-2500 400w/60mm/60V/3000rpm/1.27Nm/2500line encoder
ACM604V60-T-BR-2500 400w/60mm/60V/3000rpm/1.27Nm/2500line encoder/Brake
ELDM6020V36HL-C5 200w/60mm/36V/3000rpm/0.64Nm/5000line encoder
ELDM6020V36HM-C5 200w/60mm/36V/3000rpm/0.64Nm/5000line encoder/Medium inertia
ELDM 6020V36GL-C5 200w/60mm/36V/3000rpm/0.64Nm/5000line encoder/Brake
ELDM 6040V48HL-C5 400w/60mm/48V/3000rpm/1.27Nm/5000line encoder
ELDM 6040V48HM-C5 400w/60mm/48V/3000rpm/1.27Nm/5000line encoder/Medium inertia
ELDM 6040V48GL-C5 400w/60mm/48V/3000rpm/1.27Nm/5000line encoder/Brake
ELDM 6040V60HL-C5 400w/60mm/60V/3000rpm/1.27Nm/5000line encoder
ELDM 6040V60GL-C5 400w/60mm/60V/3000rpm/1.27Nm/5000line encoder/Brake
ELDM 4005V24HL-E5 50w/40mm/24V/3000rpm/0.16Nm/17bit encoder
ELDM 4005V24GL-E5 50w/40mm/24V/3000rpm/0.16Nm/17bit encoder/Brake
ELDM 4010V24HL-E5 100w/40mm/24V/3000rpm/0.32Nm/17bit encoder
ELD5-400Z/ ELDM 4010V24GL-E5 100w/40mm/24V/3000rpm/0.32Nm/17bit encoder/Brake
ELD5-400UZ
ELDM 6020V36HL-E5 200w/60mm/36V/3000rpm/0.64Nm/17bit encoder
(Only for
ELDM 6020V36HM-E5 200w/60mm/36V/3000rpm/0.64Nm/17bit encoder/ Medium inertia
encoder with
serial signal) ELDM 6020V36GL-E5 200w/60mm/36V/3000rpm/0.64Nm/17bit encoder/Brake
ELDM 6040V48HL-E5 400w/60mm/48V/3000rpm/1.27Nm/17bit encoder
ELDM 6040V48HM-E5 400w/60mm/48V/3000rpm/1.27Nm/17bit encoder/ Medium inertia
ELDM 6040V48GL-E5 400w/60mm/48V/3000rpm/1.27Nm/17bit encoder/Brake
ELDM 6040V60HL-E5 400w/60mm/60V/3000rpm/1.27Nm/17bit encoder
ELDM 6040V60GL-E5 400w/60mm/60V/3000rpm/1.27Nm/17bit encoder/Brake
ELDM 6020V36HL-L5 200w/60mm/36V/3000rpm/0.64Nm/23bit encoder
ELDM 6020V36GL-L5 200w/60mm/36V/3000rpm/0.64Nm/23bit encoder/Brake
ELDM 6040V48HL-L5 400w/60mm/48V/3000rpm/1.27Nm/23bit encoder
ELDM 6040V48GL-L5 400w/60mm/48V/3000rpm/1.27Nm/23bit encoder/Brake
ELDM 6040V60HL-L5 400w/60mm/60V/3000rpm/1.27Nm/23bit encoder
ELDM 6040V60GL-L5 400w/60mm/60V/3000rpm/1.27Nm/23bit encoder/Brake
 “C” means 5000line incremental encoder with serial signal.
 “E” means 17bit single-turn absolute encoder.
 “L” means 23 bit multi-turn absolute encoder.

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Chapter 2 Installation
2.1 Storage and Installation Circumstance
Table 2.1 Servo Driver, Servo Motor Storage Circumstance Requirement
Item ELD5 series driver ACM/ELDM low voltage servo motor
Temperature -20-80℃ -25-70℃
Humility Under 90%RH (free from condensation) Under 80%RH(free from condensation)
Atmospheric Indoor(no exposure)no corrosive gas or Indoor(no exposure)no corrosive gas or
environment flammable gas, no oil or dust flammable gas, no oil or dust
Altitude Lower than 1000m Lower than 2500m
Vibration Less than 0.5G (4.9m/s2) 10-60Hz (non-continuous working)
Protection
IP00(no protection) IP54
level

Table 2.2 Servo Driver, Servo Motor Installation Circumstance Requirement

Item ELD5 series driver ACM/ELDM low voltage servo motor
Temperature 0-55℃ -25-40℃
Humility Under 90%RH(free from condensation) Under 90%RH(free from condensation)
Atmospheric Indoor(no exposure)no corrosive gas or Indoor(no exposure)no corrosive gas or
environment flammable gas, no oil or dust flammable gas, no oil or dust
Altitude Lower than 1000m Lower than 2500m
Vibration Less than 0.5G (4.9m/s2) 10-60Hz (non-continuous working)
Protection
IP00(no protection) IP54
level
Contact [email protected] for more technical service .

2.2 Servo Driver Installation

Notice
 Must install in control cabinet with sufficient safeguarding grade.
 Must install with specified direction and intervals, and ensure good cooling condition.
 Don’t install them on inflammable substance or near it to prevent fire hazard.

2.2.1 Installation Method

Install in vertical position ,and reserve enough space around the servo driver for ventilation.
Here is the installation diagram:

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Figure 2.1 installation method of driver ELD5-400(U)/ELD5-400(U)Z

2.2.2 Installation Space

Reserve enough surrounding space for effective cooling.

Figure 2.2 Installation Space for Single Driver

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Figure 2.3 Installation Space for several Drivers

2.3 Servo Motor Installation

Notice
 Don’t hold the product by the cable, motor shaft or encoder while transporting it.
 No knocking motor shaft or encoders, prevent motor by vibration or shock.
 The motor shaft can’t bear the load beyond the limits.
 Motor shaft does not bear the axial load, radial load, otherwise you may damage the motor.
 Use a flexible with high stiffness designed exclusively for servo application in order to make
a radial thrust caused by micro misalignment smaller than the permissible value.
 Install must be steady, prevent drop from vibrating.

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 User Manual for ELD5 Servo(V1.00)

Chapter 3 Wiring
Warning
 The workers of participation in wiring or checking must possess sufficient ability do this job.
 The wiring and check must be going with power off after five minutes.

Caution
 Ground the earth terminal of the motor and driver without fail.
 The wiring should be connected after servo driver and servo motor installed correctly

Contact [email protected] for more technical service .

3.1 Wiring
3.1.1 Wire Gauge
(1)Power supply terminal TB
● Diameter: Vdc , GND, PE, U, V, W terminals diameter ≥ 1.5mm2 (AWG14-16)
● Grounding: The grounding wire should be as thick as possible, drive servo motor the PE terminal point
ground, ground resistance <100 Ω.
●Use noise filter to remove external noise from the power lines and reduce an effect of the noise generated by
the servo driver.
● Install fuse (NFB) promptly to cut off the external power supply if driver error occurs.
(2) The control signal CN1 feedback signal CN2
● Diameter: shielded cable (twisting shield cable is better), the diameter ≥ 0.12mm2 (AWG24-26), the shield
should be connected to FG terminal.
● Length of line: cable length should be as short as possible and control CN1 cable is no more than 3 meters,
the CN2 cable length of the feedback signal is no more than 20 meters.
● Wiring: be away from the wiring of power line, to prevent interference input.
●Install a surge absorbing element for the relevant inductive element (coil),: DC coil should be in parallel
connection with freewheeling diode reversely; AC coil should be in parallel connection with RC snubber
circuit.

Attention
 Match the colors of the motor lead wires to those of the corresponding motor output terminals (U.V.W)
 Never start nor stop the servo motor with this magnetic contactor.

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3.1.2 Position Control Mode

DC power supply
- +

U
Vdc V
W
PE
GND

CN2
Use twisted wire with
shield for pulse input
PUL＋ 3 CN1
5V-24v pulse signal ，no PUL－ 4 220Ω
need to add resistor even
if voltage of pulse larger
than 5V
DIR＋ 5
DIR－ 6 220Ω

COM＋ 1 20 A＋
SRV-ON 2 4.7K 21 A－
22 B＋
POT 4.7K 23
7 B－
24 OCZ Encoder
4.7K signal output
NOT 8 25 GND
12~24Vdc 19 +5V
ZEROSPD 9 4.7K 26 GND
S-RDY 13
Use twisted wire with
shield for encoder signal
output
ALM 14

INP 15

CN3
BRK-OFF 16 Connection for
configuration with RS232
COM－ 18

Figure 3-1 Positional Control Mode Wiring

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3.1.3 Torque /Velocity Control Mode

DC power supply
- +

U
Vdc V
W
PE
GND

CN2

CN1

COM＋ 1
SRV-ON 4.7K
2
20 A＋

4.7K 21 A－
POT 7
22 B＋

4.7K
23 B－
NOT 8
24 OCZ Encoder
12~24Vdc signal output
ZEROSPD 4.7K 25 GND
9
19 +5V
S-RDY 13
26 GND

ALM 14
11 Vin+ +10V ~ -10V
12 Vin- analoginput
INP 15

BRK-OFF 16 CN3

COM－ 18
Connection for
configuration with RS232

Figure 3-2 Torque/Velocity Control Mode Wiring

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3.2 Driver Terminals Function

3.2.1 Control Signal Port-CN1 Terminal

The left on Figure 3.3 is control signal port CN1 of servo driver with DB26 connector; And, the right on
Figure 3.3 is SI input of the switch, SO output of the switch, analog A1 input, the A3 input from top to bottom.

Figure 3-3 Servo Driver Port Terminal

Table 3.1 Signal Explanation of Control Signal Port-CN1

CN1 pin Signal IO Detail
Power supply positive terminal of the external input control
1 COM+ Input
signal, 12V ~ 24V
Digital input signal 1, default value is servo on signal in
2 SI1-Svon Input position mode , low level available in default , the maximum
voltage is 24V input
3 PUL+ Input Positive and negative pulse input, respectively. TTL level
4 PUL- Input (5V), the rising edge available in default
5 DIR+ Input Positive and negative direction input, respectively. TTL level
6 DIR- Input (5V), optical coupling deadline available in default
CN1 Digital input signal 2, default value is forward run prohibited
7 SI2-FL Input (POT)signal in position mode , low level available in default ,
（DB26
max voltage is 24V input
） Digital input signal 3, default value is reverse run prohibited
8 SI3-RL Input (NOT) signal in position mode , low level available in default ,
max voltage is 24V input
Digital input signal 4, default value is zero-speed clamp
9 SI4-ZS Input (ZEROSPD) signal in position mode , low level available in
default , max voltage is 24V input
Digital input signal 5, default value is deviation counter clear
10 SI5-CLR Input input in position mode , low level available in default , max
voltage is 24V input
11 Vin+ Input Analog input , voltage input range : -10 - 10V , input resistor
12 Vin- Input 20KΩ

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Digital output signal 2 , default value is OC, the

13 SO1-RDY Output servo ready output (S-RDY) in position maximum
mode voltage/current
SO2- Digital output signal 1 , default value is is no more than
14 Output alarm output (ALM) in position mode 30V, 50mA .
ALM Recommend
Digital output signal 3 , default value is the voltage : 12
15 SO3- INP Output positioning complete (INP) in position V-24V.
mode Current :10mA
SO4- Digital output signal 4, default value is
16 Output external brake release output (BRK-OFF)
BRK in position mode
17 NC
18 COM- Output Digital output signal commonality ground
19 +5V Output encoder signal output +5V 50mA
20 A+ Output Positive/negative differential output terminal of motor encoder
21 A- Output A phase
22 B+ Output Positive/negative differential output terminal of motor encoder
23 B- Output B phase
24 Z+ Output Positive/negative differential output terminal of motor encoder
25 Z- Output Z phase
26 GND Output Power ground

3.2.2 Encoder Input Port-CN2 Terminal

Table 3.2 Encoder Input Port-CN2 Terminal Signal for ELD5-400 or ELD5-400U
Pin Signal Name Terminal Arrangement Figure
1 EA+ Encoder channel A+ input
2 EB+ Encoder channel B+ input 1 EA+
6 FG
3 EGND Signal ground EA-
11
4 Hall W+ Hall sensor W+ input 2 EB+
5 Hall U+ Hall sensor U+ input 7 EZ+
6 FG Ground terminal for shielded 12 EB-
7 EZ+ Encoder channel Z+ input 3 GND
8 EZ-
8 EZ- Encoder channel Z- input 13
9 Hall V+ Hall sensor V+ input 4 +5V
HW+
10 Hall V- Hall sensor V- input 9 HV+
11 EA- Encoder channel A- input 14 HW-
12 EB- Encoder channel B- input 5 HU+
13 VCC +5V for encoder power supply 10 HV-
14 Hall W- Hall sensor W- input
15 HU-
15 Hall U- Hall sensor U- input

Table 3.3 Encoder Input Port-CN2 Terminal Signal for ELD5-400Z or ELD5-400ZU
Pin Signal Name
3 EGND Signal ground
9 SD+
Encoder signal
10 SD-
13 VCC +5V for encoder power supply
BAT+
Only available for multi-turn absolute encoder
BAT-

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3.2.3 Communication Port

Table 3.4 Signal Explanation of connection and debugging Port
connect PC or STU using dedicated series cable, prohibited to insert if power on.
RS232
and suggest to use twisted-pair or shielded wire. the length of wire is less than 2 meter
RS485 Recommend shield twisted-pair.
Terminal signal name
1 GND Power ground
2 TxD sending terminal of RS232
3 5V Reserved, the current is less than 50mA
4 RxD received terminal of RS232
5 RS485+ Reserve,RS485+/A
6 RS485- Reserve,RS485-/B

3.2.4 Power Port

Table 3.5 Main Power Input Port-CN4
CN4 Pin Signal Detail
1 VDC +24V ~ +60V
2 GND Power Ground
3 RBr Brake input
CN4
4 W Motor W
5 V Motor V
6 U Motor U
7 PE Shield

3.2.5 Bus connector

CN5 Pin Signal Detail
A-1 RS485+ 485data+
A-2 RS485- 485 data-
A-3 GND Ground
A-7 GND Ground
CN5
B-1 RS485+ 485data+
（RJ45）
B-2 RS485- 485 data-
B-3 GND Ground
B-7 GND Ground
Others NC 16pin totally

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3.3 I/O Interface Principle

3.3.1 Switch Input Interface
Driver side

12~24Vdc COM+

4.7K

Figure 3-4 Switch Input Interface

⑴The user provide power supply, DC 12-24V, current≥100mA
⑵Notice: if current polar connect reversely, servo driver doesn’t run.

3.3.2 Switch Output Interface

Driver side

Max 50mA
12~24Vdc

COM-

Figure 3.5 Switch Output Interface

(1) The user provide the external power supply . However, if current polarity connects reversely, servo driver
is damaged.
(2) The output of the form is open-collector, the maximum voltage is 25V, and maximum current is 50mA.
Therefore, the load of switch output signal must match the requirements. If you exceed the requirements or
output directly connected with the power supply, the servo drive is damaged.
(3) If the load is inductive loads relays, etc., there must be anti-parallel freewheeling diode across the load. If
the freewheeling diode is connected reversely, the servo drive is damaged.

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3.3.3 Pulse Input Interface

Driver side

DIR+ 270R

DIR-

PUL+ 270R

PUL-

Figure 3-6 Pulse Input Interface Differential Drive Mode

Figure3-7 Pulse Input Interface Single Terminal Drive Mode

(1) In order to transmit pulse data properly , we recommend using the differential drive mode.
(2) The differential drive mode, AM26LS31, MC3487 or similar RS422 line drive.
(3) Using of single-ended drive will cause reduction of the operation frequency.
(4) The user provide external power supply for single-ended drive. However, if current polarity connect
reversely, servo driver is damaged.
(5) The form of pulse input is the following form 3.7 below, while the arrows indicates the count .

Table 3.7 Pulse Input Form

Pulse command form CCW CW Parameter setting value

PUL

Pulse symbol DIR

Pulse + direction

The form of pulse input timing parameter is the following form 3.8 below. The 4 times pulse frequency ≤
500kH if 2-phase input form is used.

Table 3.8 the parameters of pulse input time sequence

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parameter Differential drive input Single-ended drive input

tck ＞2μs ＞5μs
th ＞1μs ＞2.5μs
tl ＞1μs ＞2.5μs
trh ＜0.2μs ＜0.3μs
trl ＜0.2μs ＜0.3μs
ts ＞1μs ＞2.5μs
tqck ＞8μs ＞10μs
tqh ＞4μs ＞5μs
tql ＞4μs ＞5μs
tqrh ＜0.2μs ＜0.3μs
tqrl ＜0.2μs ＜0.3μs
tqs ＞1μs ＞2.5μs

Figure 3.8 pulse + direction input interface timing (the maximum of pulse frequency : 500KHZ)

3.3.4 Analog Value Input Interface

Figure 3-9 Analog Input Interface

3.3.5 Servo Motor Encoder Input Interface

Driver side

Figure 3-11 Servo Motor optical-electrical Encoder Input Interface

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Chapter 4 Parameter
4.1 Parameter List
Mode Parameter Number Name
P S T Classify Number
P S T 【Class 0】 00 Model following control
Basic 01 control mode setup
setting
P S T 02 real-time auto-gain tuning
P S T 03 selection of machine stiffness at real-time auto-gain tuning
P S T 04 Inertia ratio
P 06 command pulse rotational direction setup
P 07 command pulse input mode setup
P 08 Command pulse counts per revolution
P 09 1st numerator of electronic gear
P 10 denominator of electronic gear
P S T 11 output pulse counts per one motor revolution
P S T 12 reversal of pulse output logic
P S T 13 1st torque limit
P 14 position deviation excess setup
P 【Class 1】 00 1st gain of position loop
Gain Adjust
P S T 01 1st gain of velocity loop
P S T 02 1st time constant of velocity loop integration
P S T 03 1st filter of velocity detection
P S T 04 1st time constant of torque filter
P 05 2nd gain of position loop
P S T 06 2nd gain of velocity loop
P S T 07 2nd time constant of velocity loop integration
P S T 08 2nd filter of velocity detection
P S T 09 2nd time constant of torque filter
P 10 Velocity feed forward gain
P 11 Velocity feed forward filter
P S 12 Torque feed forward gain
P S 13 Torque feed forward filter
P S T 14 2nd gain setup
P 15 Control switching mode
P 17 Control switching level
P 18 Control switch hysteresis
P 19 Gain switching time
P 35 Positional command filter setup
P S T 36 Encoder feedback pulse digital filter setup
P S 【Class 2】 00 adaptive filter mode setup

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P S T Vibration 01 1st notch frequency

Restrain
P S T 02 1st notch width selection
Function
P S T 03 1st notch depth selection
P S T 04 2nd notch frequency
P S T 05 2nd notch width selection
P S T 06 2nd notch depth selection
P 22 Positional command smooth filter
P 23 Positional command FIR filter
S 【Class 3】 00 Velocity setup internal/external switching
S Speed, 01 Speed command rotational direction selection
Torque
S T 02 Speed command input gain
Control
S 03 Speed command reversal input
S 04 1st speed setup
S 05 2nd speed setup
S 06 3rd speed setup
S 07 4th speed setup
S 08 5th speed setup
S 09 6th speed setup
S 10 7th speed setup
S 11 8th speed setup
S 12 time setup acceleration
S 13 time setup deceleration
S 14 Sigmoid acceleration/deceleration time setup
15 Speed zero-clamp function selection
S T 16 Speed zero-clamp level
T 18 Torque command direction selection
T 19 Torque command input gain
T 20 Torque command input reversal
T 21 Speed limit value 1
P S T 24 maximum speed of motor rotation
P S T 【Class 4】 00 input selection SI1
P S T I/F Monitor 01 input selection SI2
Setting
P S T 02 input selection SI3
P S T 03 input selection SI4
P S T 04 input selection SI5
P S T 10 output selection SO1
P S T 11 output selection SO2
P S T 12 output selection SO3
P S T 13 output selection SO4
P S T 22 Analog input 1(AI 1) offset setup
P S T 23 Analog input 1(AI 1) filter
P S T 28 Analog input 3(AI 3) offset setup
P S T 29 Analog input 3(AI 3) filter

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P 31 Positioning complete range

P 32 Positioning complete output setup
P 33 INP hold time
P S T 34 Zero-speed
S 35 Speed coincidence range
P S T 36 At-speed
P S T 37 Mechanical brake action at stalling setup
P S T 38 Mechanical brake action at running setup
P S T 39 Brake action at running setup
P 【Class 5】 00 2nd numerator of electronic gear
P Extended 01 3rd numerator of electronic gear
Setup
P 02 4th numerator of electronic gear
P S T 03 Denominator of pulse output division
P S T 06 Sequence at servo-off
P S T 08 Main power off LV trip selection
P S T 09 Main power off detection time
P S T 13 Over-speed level setup
P S T 15 I/F reading filter
P S T 28 LED initial status
P S T 29 RS232 baud rate setup
P S T 30 RS485 baud rate setup
P S T 31 Axis address
P S T 35 Front panel lock setup
P S T 【Class 6】 03 JOG trial run command torque
P S T Special 04 JOG trial run command speed
Setup
P S T 08 Positive direction torque compensation value
P S T 09 Negative direction torque compensation value
P 20 distance of trial running
P 21 waiting time of trial running
P 22 cycling times of trial running
P S T 【Class 7】 00 Current loop gain
P S T Factory 01 Current loop integral time
setting
P S T 02-14 Setting of motor parameter
P S T 15 Motor model input
16 Encoder selection

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4.2 Parameter Function

Here is the explanation of parameters, you can check them or modify the value using software Protuner or the
front panel of driver.
Contact [email protected] for more technical service .

4.2.1【Class 0】Basic Setting

Related
Range unit default control mode
Pr0.00 Model following control
0 -32767 0.1Hz 1 P
Set up the bandwidth of MFC , it is similar to the response bandwidth
Setup value Meaning
0 Disable the function.
Enable the function , set the bandwidth automatically ,
1
recommended for most application .
2-10 Forbidden and reserved .
11-20000 Set the bandwidth manually , 1.1Hz – 2000Hz
MFC is used to enhance the performance of dynamic tracing for input command , make
positioning faster , cut down the tracking error , run more smooth and steady . It is very useful for
multi-axis synchronous movement and interpolation, the performance will be better.

The main way to use this function :

a. Choose the right control mode : Pr001 = 20
b. Set up the inertia of ratio : Pr004
c. Set up the rigidity : Pr003
d. Set up the Pr000 :
1) If no multi-axis synchronous movement , set Pr000 as 1 or more than 10 ;
2) If multi-axis synchronous movement needed , set Pr000 as the same for all the axes .
3) If Pr000 is more than 10 , start with 100 , or 150 , 200 , 250 , …. .
Caution:
1. Set up the right control mode , the right inertia of ratio and rigidity firstly .
2. Don’t change the value of Pr000 when the motor is running , otherwise vibration occurs
3. Set up a small value from the beginning if using it in manual mode , smaller value means
running more smooth and steady , while bigger one means faster positioning

Related
Range unit default control mode
Pr0.01* Control Mode Setup
20 -28 - 20 P S T
Set using control mode
Content When you set up the combination mode of 23.24.25,
Setup value
1st mode 2nd mode you can select either the 1st or the 2nd with control
20 Position - mode switching input(C-MODE).
21 Velocity - When C-MODE is open, the 1st mode will be selected.
22 Torque - When C-MODE is shorted, the 2nd mode will be
23 Position Velocity selected.
24 Position Torque
25 Velocity Torque

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Related
Range unit default control mode
Pr0.02 Real-time Auto-gain Tuning
0 -2 - 0 P S T
You can set up the action mode of the real-time auto-gain tuning.
Setup value mode Varying degree of load inertia in motion
0 invalid Real-time auto-gain tuning function is disabled.
Basic mode. do not use unbalanced load, friction compensation or
1 standard
gain switching. It is usually for interpolation.
Main application is positioning. it is recommended to use this
mode on equipment without unbalanced horizontal axis, ball screw
2 positioning
driving equipment with low friction, etc. it is usually for point-to
point movement .
Caution: If pr0.02=1 or 2 , you can’t modify the values of Pr1.01 – Pr1.13, the values of them
depend on the real-time auto-gain tuning ,all of them are set by the driver itself.

Related
Selection of machine stiffness at real- Range unit default control mode
Pr0.03
time auto-gain tuning 50 -81 - 70 P S T
You can set up response while the real-time auto-gain tuning is valid.

Low Machine stiffness High

Low Servo gain High

81.80……………………………70.69.68…………………………51.50

Low Response High

Notice: Lower the setup value, higher the velocity response and servo stiffness will be obtained.
However, when decreasing the value, check the resulting operation to avoid oscillation or vibration.
Control gain is updated while the motor is stopped. If the motor can’t be stopped due to excessively
low gain or continuous application of one-way direction command ,any change made to Pr0.03 is not
used for update. If the changed stiffness setting is made valid after the motor stopped, abnormal
sound or oscillation will be generated. To prevent this problem, stop the motor after changing the
stiffness setting and check that the changed setting is enabled.

Related
Range unit default
Pr0.04 Inertia ratio control mode
0 -10000 % 250 P S T
You can set up the ratio of the load inertia against the rotor(of the motor)inertia.
Pr0.04=( load inertia/rotate inertia)×100%
Notice:
If the inertia ratio is correctly set, the setup unit of Pr1.01 and Pr1.06 becomes (Hz). When the inertia
ratio of Pr0.04 is larger than the actual value, the setup unit of the velocity loop gain becomes larger,
and when the inertia ratio of Pr0.04 is smaller than the actual value, the setup unit of the velocity
loop gain becomes smaller.

Related
Command Pulse Rotational Direction Range unit default
Pr0.06*
control mode
Setup 0-1 - 0 P
Set command pulse input rotate direction, command pulse input type, changing this value will

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reverse the direction of rotation

Related
Range unit default
Pr0.07* Command Pulse Input Mode Setup control mode
0 -3 - 0 P

Positive Negative
Pr0.06 Pr0.07 Command Pulse Format Signal Direction Direction
Command Command
0 Pulse
0 Pulse + sign
sign

90 phase difference
Pulse
1 or 3 2-phase pulse(A phase +B
sign
phase)

Positive direction pulse + Pulse

2
negative direction pulse sign

Pulse
1 0 Pulse + sign
sign

90 phase difference
Pulse
1 or 3 2-phase pulse(A phase +B
sign
phase)

Positive direction pulse + Pulse

2
negative direction pulse sign
Command pulse input signal allow largest frequency and smallest time width
PULS/SIGN Signal Input I/F Permissible Max. Smallest Time Width
Input Frequency t1 t2 t3 t4 t5 t6
Pulse Long distance interface 500kpps 2 1 1 1 1 1
series
interface Open-collector output 200kpps 5 2.5 2.5 2.5 2.5 2.5

Related
Command pulse counts per one motor Range unit default control mode
Pr0.08
revolution 0-32767 pulse 0 P
Set the command pulse that causes single turn of the motor shaft.
When this setting is 0 ,Pr009 1st numerator of electronic gear and Pr0.10 Denominator of electronic
Gear become valid.

Related
Range unit default
Pr0.09 1st numerator of electronic gear
control mode
1-32767 - 1 P

Set the numerator of division/multiplication operation made according to the command pulse input.
Related
Range unit default
Pr0.10 denominator of electronic gear control mode
1-32767 - 1 P
Set the denominator of division/multiplication operation made according to the command pulse
input.
Pr0.09 Pr0.10 Command division/multiplication operation

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Command pulse input 【Pr0.09 set value】 position command

1-32767 1-32767
【Pr0.10 set value】

Related
Output pulse counts per one motor Range unit default
Pr0.11* control mode
revolution 1-2500 P/r 2500 P S T

Set the numerator of division/multiplication operation made according to the command pulse input.
Related
Range unit default
Denominator of pulse output division
control mode
Pr5.03*
1-2500 - 2500 P S T
Combination of Pr0.11 Output pulse counts per one motor revolution and Pr5.03 Denominator of
pulse output division
Pr0.11 Pr5.03 Pulse output process
1-2500 1-2500
encoder pulse 【Pr0.11set value】 output pulse

【Pr5.03 set value】

Pulse output resolution after dividing double frequency 4 times

Pr0.11(pulse output divide frequency molecule)

Pulse output resolution =encoder ×4×
Pr5.03(pulse output divide frequency denominator)

Related
Range unit default
Pr0.12* Reversal of pulse output logic control mode
0 -1 - 0 P S T
You can set up the B phase logic and the output source of the pulse output. With this parameter, you
can reverse the phase relation between the A-phase pulse and B-phase pulse by reversing the B-phase
logic.
< reversal of pulse output logic >
Pr0.12 B-phase Logic CCW Direction Rotation CW Direction Rotation
0 Non-Reversal A phase A phase

B phase B phase
1 Reversal A phase A phase

B phase B phase

Related
Range unit default
Pr0.13 1st Torque Limit control mode
0 -500 % 300 P S T

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You can set up the limit value of the motor output torque, as motor rate current %, the value can’t
exceed the maximum of output current.

Related
Range unit default
Pr0.14 Position Deviation Excess Setup control mode
0 -500 0.1 rev 200 P
Set excess range of positional deviation by the command unit(default).Setting the value too small
will cause Err18.0 (position deviation excess detection)

4.2.2【Class 1】Gain Adjust

Related
Range unit default
Pr1.00 1st gain of position loop control mode
0 -30000 0.1/s 320 P
You can determine the response of the positional control system. Higher the gain of position loop you
set, faster the positioning time you can obtain. Note that too high setup may cause oscillation.

Related
Range unit default
1st gain of velocity loop
control mode
Pr1.01
0 -32767 0.1Hz 180 P S T
You can determine the response of the velocity loop. In order to increase the response of overall
servo system by setting high position loop gain, you need higher setup of this velocity loop gain as
well. However, too high setup may cause oscillation.

Related
1st Time Constant of Velocity Loop Range unit default control mode
Pr1.02
Integration 0 -10000 0.1ms 310 P S T
You can set up the integration time constant of velocity loop, Smaller the set up, faster you can
dog-in deviation at stall to 0.The integration will be maintained by setting to”9999”.The integration
effect will be lost by setting to”10000”.
Related
Range unit default control
Pr1.03 1st Filter of Velocity Detection mode
0 -31 - 15 P S T
You can set up the time constant of the low pass filter (LPF) after the speed detection, in 32 steps
(81 to 50).Lower the setup, larger the time constant you can obtain so that you can decrease the
motor noise, however, response becomes slow.
You can set the filter parameters through the loop gain, referring to the following table:
Set Speed Detection Filter Set Speed Detection Filter
Value Cut-off Frequency(Hz) Value Cut-off Frequency(Hz)
81 2500 65 750
80 2250 64 700
79 2100 63 650
78 2000 62 600
77 1800 61 550
76 1600 60 500
75 1500 59 450
74 1400 58 400
73 1300 57 350
72 1200 56 300
71 1100 55 250
70 1000 54 200
69 950 53 175
68 900 52 150

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67 850 51 125
66 800 50 100

Related
Range unit default
Pr1.04 2nd Time Constant of torque filter control mode
0 -2500 0.01ms 126 P S T
Related
Range unit default
2nd gain of position loop
control mode
Pr1.05
0 -30000 0.1/s 380 P
Related
Range unit default
2nd gain of velocity loop
control mode
Pr1.06
0 -32767 0.1Hz 180 P S T
Related
2nd Time Constant of Velocity Loop Range unit default control mode
Pr1.07
Integration 0 -10000 0.1ms 10000 P S T
Related
Range unit default
Pr1.08 2nd Filter of Velocity Detection control mode
50 -81 - 15 P S T
Related
Range unit default
Pr1.09 2nd Time Constant of torque filter control mode
0 -2500 0.01ms 126 P S T
Position loop, velocity loop, velocity detection filter, torque command filter have their 2 pairs of gain
or time constant(1st and 2nd).

Related
Range unit default
Velocity feed forward gain
control mode
Pr1.10
0 -1000 0.1% 300 P
Multiply the velocity control command calculated according to the internal positional command by
the ratio of this parameter and add the result to the speed command resulting from the positional
control process.

Related
Range unit default
Velocity feed forward filter
control mode
Pr1.11
0 -6400 0.01ms 50 P
Set the time constant of 1st delay filter which affects the input of speed feed forward.
(usage example of velocity feed forward)
The velocity feed forward will become effective as the velocity feed forward gain is gradually
increased with the speed feed forward filter set at approx.50 (0.5ms). The positional deviation during
operation at a constant speed is reduced as shown in the equation below in proportion to the value of
velocity feed forward gain.
Position deviation [ unit of command]=command speed [ unit of command /s]/position loop
gain[1/s]×(100-speed feed forward gain[%]/100

Related
Range unit default
Torque feed forward gain
control mode
Pr1.12
0 -1000 0.1% 0 P S
 Multiply the torque control command calculated according to the velocity control command by
the ratio of this parameter and add the result to the torque command resulting from the velocity
control process.
 To use torque feed forward, correctly set ratio of inertia. Set the inertia ratio that can be calculated
from the machine specification to Pr0.04 inertia ratio.
 Positional deviation at a constant acceleration/deceleration can be minimized close to 0 by
increasing the torque forward gain .this means that positional deviation can be maintained at near
0 over entire operation range while driving in trapezoidal speed pattern under ideal condition

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where disturbance torque is not active.

Related
Range unit default
Pr1.13 Torque feed forward filter control mode
0 -6400 0.01ms 0 P S
Set up the time constant of 1st delay filter which affects the input of torque feed forward.
zero positional deviation is impossible in actual situation because of disturbance torque. as with
the velocity feed forward, large torque feed forward filter time constant decreases the operating noise
but increases positional deviation at acceleration change point.

Related
Range unit default
Pr1.15 Mode of position control switching control mode
0 -10 - 0 P
Setting
Switching condition Gain switching condition
value
0 Fixed to 1st gain Fixed to the 1st gain (Pr1.00-Pr1.04)
1 Fixed to 2nd gain Fixed to the 2nd gain (Pr1.05-Pr1.09)
2 with gain switching  1st gain when the gain switching input is open.
input  2nd gain when the gain switching input is connected to com- .
 If no input signal is allocated to the gain switching input, the
1st gain is fixed.
3 Torque command is  Shift to the 2nd gain when the absolute value of the torque
large command exceeded (level + hysteresis)[%]previously with the
1st gain.
 Return to the 1st gain when the absolute value of the torque
command was kept below (level + hysteresis) [%]previously
during delay time with the 2nd gain.
4 reserve reserve
5 Speed command is  Valid for position and speed controls.
large  Shift to the 2nd gain when the absolute value of the speed
command exceeded (level + hysteresis)[r/min]previously with
the 1st gain.
 Return to the 1st gain when the absolute value of the speed
command was kept below (level + hysteresis) [r/min]
previously during delay time with the 2nd gain.
6 Position deviation is  Valid for position control.
large  Shift to the 2nd gain when the absolute value of the positional
deviation exceeded (level + hysteresis)[pulse] previously with
the 1st gain.
 Return to the 1st gain when the absolute value of the
positional deviation was kept below (level +
hysteresis)[r/min]previously during delay time with the 2nd
gain.
 Unit of level and hysteresis [pulse] is set as the encoder
resolution for positional control.
7 position command  Valid for position control.
exists  Shift to the 2nd gain when the positional command was not 0
previously with the 1st gain.
 Return to the 1st gain when the positional command was kept
0 previously during delay time with the 2nd gain.
8 Not in positioning  Valid for position control.
complete  Shift to the 2nd gain when the positioning was not completed
previously with the 1st gain.
 Return to the 1st gain when the positioning was kept in
completed condition previously during delay time with the
2nd gain.
9 Actual speed is  Valid for position control.

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large  Shift to the 2nd gain when the absolute value of the actual
speed exceeded (level + hysteresis) (r/min) previously with
the 1st gain.
 Return to the 1st gain when the absolute value of the actual
speed was kept below (level - hysteresis) (r/min) previously
during delay time with the 2nd gain.
10 Have position  Valid for position control.
command +actual  Shift to the 2nd gain when the positional command was not 0
speed previously with the 1st gain.
 Return to the 1st gain when the positional command was kept
at 0 during the delay time and the absolute value of actual
speed was kept below (level - hysteresis) (r/min) previously
with the 2nd gain.
In position control mode, setup Pr1.15=3,5,6,9,10;
In speed control mode, setup Pr1.15=3,5,9;

Related
Range unit default
Level of position control switching
control mode
Pr1.17 Mode
0 -20000 dependent 50 P
Unit of setting varies with switching mode.
switching condition: position :encoder pulse number ; speed : r/min ; torque : % .
Notice: set the level equal to or higher than the hysteresis.

Related
Hysteresis at position control Range unit default control mode
Pr1.18
switching 0 -20000 Mode
dependent 33 P
Combining Pr1.17(control switching level)setup
Notice: when level< hysteresis, the hysteresis is internally adjusted so that it is equal to level.

Related
Range unit default
Pr1.19 Position gain switching time control mode
0 -10000 0.1ms 33 P
For position controlling: if the difference between 1st gain and 2nd gain is large, the increasing rate
of position loop gain can be limited by this parameter.
<Position gain switching time>
Notice: when using position control, position loop gain rapidly changes, causing torque change and
vibration. By adjusting Pr1.19 position gain switching time, increasing rate of the position loop gain
can be decreased and variation level can be reduced.
Example: 1st (pr1.00) <-> 2nd (Pr1.05)

Related
Range unit default
Positional command filter setup
control mode
Pr1.35*
0 -200 0.05us 0 P
Do filtering for positional command pulse, eliminate the interference of the narrow pulse, over-large
setup will influence the input of high frequency positional command pulse, and make more

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time-delayed.

Related
pulse digital filter of encoder Range unit default control mode
Pr1.36*
feedback setup 0 -10000 0.1ms 33 P
Do filtering for pulse of encoder feedback, eliminate the interference of the narrow pulse, over-large
setup will influence the performance of motor in large speed, and influence the control performance
of motor causing by large time-delayed.

4.2.3【Class 2】Vibration Suppression

Related
Range unit default
Pr2.01 1st notch frequency control mode
50 -2000 HZ 2000 P S T
Set the center frequency of the 1st notch filter
Notice: the notch filter function will be invalidated by setting up this parameter to “2000”.
Related
Range unit default control
1st notch width selection
mode
Pr2.02
0 -20 - 2 P S T
Set the width of notch at the center frequency of the 1st notch filter.
Notice: Higher the setup, larger the notch width you can obtain. Use with default setup in normal
operation.
Related
Range unit default control
Pr2.03 1st notch depth selection mode
0 -99 - 0 P S T
Set the depth of notch at the center frequency of the 1st notch filter.
Notice: Higher the setup, shallower the notch depth and smaller the phase delay you can obtain.

Related
Range unit default
Pr2.04 2nd notch frequency control mode
50 -2000 HZ 2000 P S T
Set the center frequency of the 2nd notch filter
Notice: the notch filter function will be invalidated by setting up this parameter to “2000”.
Related
Range unit default control
Pr2.05 2nd notch width selection mode
0 -20 - 2 P S T
Set the width of notch at the center frequency of the 2nd notch filter.
Notice: Higher the setup, larger the notch width you can obtain. Use with default setup in normal
operation.
Related
Range unit default control
Pr2.06 2nd notch depth selection mode
0 -99 - 0 P S T
Set the depth of notch at the center frequency of the 2nd notch filter.
Notice: Higher the setup, shallower the notch depth and smaller the phase delay you can obtain.

Related
positional command smoothing Range unit default control mode
Pr2.22
filter 0 -32767 0.1ms 0 P
 Set up the time constant of the1st delay filter in response to the positional command.

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 When a square wave command for the target speed Vc is applied ,set up the time constant of the
1st delay filter as shown in the figure below.

Related
Range unit default
Pr2.23 positional command FIR filter control mode
0 -10000 0.1ms 0 P
 Set up the time constant of the1st delay filter in response to the positional command.
 When a square wave command for the target speed Vc is applied , set up the Vc arrival time as
shown in the figure below.

Note: For parameters which No. have a suffix of “*”,changed contents will be validated when you turn on
the control power.

4.2.4【Class 3】Velocity/ Torque Control

Related
Speed setup, Internal /External Range unit default control mode
Pr3.00
switching 0 -3 - 0 S
This driver is equipped with internal speed setup function so that you can control the speed with
contact inputs only.
Setup value Speed setup method
0 Analog speed command(SPR)
1 Internal speed command 1st to 4th speed(PR3.04-PR3.07)
Internal speed command 1st to 3rd speed (PR3.04-PR3.06),
2
Analog speed command(SPR)
3 Internal speed command 1st to 8th speed (PR3.04-PR3.11)
<relationship between Pr3.00 Internal/External switching speed setup and the internal
command speed selection 1-3 and speed command to be selected>
Setup selection 1 of selection 2 of internal selection 3 of selection of
value internal command command speed internal command Speed
speed(INTSPD1) (INTSPD2) speed (INTSPD3) command
1 OFF OFF NO effect 1st speed
ON OFF 2nd speed
OFF ON 3rd speed

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ON ON 4th speed
2 OFF OFF 1st speed
ON OFF 2nd speed
OFF ON NO effect 3rd speed
Analog speed
ON ON command
3 1st to 4th
The same as [Pr3.00=1] OFF
speed
OFF OFF ON 5th speed
ON OFF ON 6th speed
OFF ON ON 7th speed

Related
Speed command rotational Range unit default control mode
Pr3.01
direction selection 0 -1 - 0 S
Select the Positive /Negative direction specifying method
Setup Select speed command sign Speed command direction Position command
value (1st to 8th speed) (VC-SIGN) direction
0 + No effect Positive direction
- No effect Negative direction
1 Sign has no effect OFF Positive direction
Sign has no effect ON Negative direction

Related
Range unit default
Input gain of speed command
control mode
Pr3.02
10 -2000 (r/min)/v 500 S T
Based on the voltage applied to the analog speed command (SPR), set up the conversion gain to
motor command speed.
You can set up “slope” of relation between the command input voltage and motor speed, with Pr3.02.
Default is set to Pr3.02=500(r/min)/V, hence input of 6V becomes 3000r/min.
Notice:
1. Do not apply more than ±10V to the speed command input(SPR).
2. When you compose a position loop outside of the driver while you use the driver in velocity
control mode, the setup of Pr3.02 gives larger variance to the overall servo system.
3. Pay an extra attention to oscillation caused by larger setup of Pr3.02.

Related
Range unit default
Pr3.03 Reversal of speed command input control mode
0 -1 - 500 S

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Specify the polarity of the voltage applied to the analog speed command (SPR).
Setup value Motor rotating direction
0 Non-reversal [+ voltage] [+ direction] [- voltage] [-direction]
1 reversal [+ voltage] [- direction] [- voltage] [+direction]
Caution: When you compose the servo drive system with this driver set to velocity control mode and
external positioning unit, the motor might perform an abnormal action if the polarity of the speed
command signal from the unit and the polarity of this parameter setup does not match.

Related
Range unit default
Pr3.04 1st speed of speed setup control mode
-20000 -20000 r/min 0 S
Related
Range unit default
2nd speed of speed setup
control mode
Pr3.05
-20000 -20000 r/min 0 S
Related
Range unit default
Pr3.06 3rd speed of speed setup control mode
-20000 -20000 r/min 0 S
Related
Range unit default
4th speed of speed setup
control mode
Pr3.07
-20000 -20000 r/min 0 S
Related
Range unit default
Pr3.08 5th speed of speed setup control mode
-20000 -20000 r/min 0 S
Related
Range unit default
6th speed of speed setup
control mode
Pr3.09
-20000 -20000 r/min 0 S
Related
Range unit default
7th speed of speed setup
control mode
Pr3.10
-20000 -20000 r/min 0 S
Related
Range unit default
8th speed of speed setup
control mode
Pr3.11
-20000 -20000 r/min 0 S
Set up internal command speeds, 1st to 8th

Related
Range unit default
Pr3.12 time setup acceleration control mode
0 -10000 Ms(1000r/min) 100 S
Related
Range unit default control mode
Pr3.13 time setup deceleration
0 -10000 Ms(1000r/min) 100 S
Set up acceleration/deceleration processing time in response to the speed command input.
Set the time required for the speed command(stepwise input)to reach 1000r/min to Pr3.12
Acceleration time setup. Also set the time required for the speed command to reach from 1000r/min
to 0 r/min, to Pr3.13 Deceleration time setup.
Assuming that the target value of the speed command is Vc(r/min), the time required for
acceleration/deceleration can be computed from the formula shown below.
Acceleration time (ms)=Vc/1000 *Pr3.12 *1ms

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Deceleration time (ms)=Vc/1000 *Pr3.13 *1ms

Related
Sigmoid acceleration/deceleration time Range unit default control mode
Pr3.14
setup 0 -1000 ms 0 S
Set S-curve time for acceleration/deceleration process when the speed command is applied.
According to Pr3.12 Acceleration time setup and Pr3.13 Deceleration time setup, set up sigmoid time
with time width centering the inflection point of acceleration/deceleration.

Related
Range unit default
Speed zero-clamp function selection
control mode
Pr3.15
0 -3 - 0 S T
1. If Pr3.15=0, the function of zero clamp is forbidden. It means the motor rotates with actual
velocity which is controlled by the analog voltage input 1 even if the velocity is less than 10
rpm. The motor runs no matter what the value of Pr3.16 is. The actual velocity is controlled by
external the analog voltage input .
2. If Pr3.15=1 and the input signal of Zero Speed is available in the same time, the function of zero
clamp works. It means motor will stop rotating in servo-on condition no matter what the
velocity of motor is, and motor stop rotating no matter what the value of Pr3.16 is.
3. If Pr3.15=2 , the function of zero clamp belongs to the value of Pr3.16. If the actual velocity is
less than the value of Pr3.16, the motor will stop rotating in servo-on condition.

Related
Range unit default
Pr3.16 Speed zero-clamp level control mode
0 -20000 r/min 30 S T
When analog speed given value under speed control mode less than zero speed clamp level setup,
speed command will set to 0 strongly.

Related
Range unit default
Pr3.18 Torque command direction selection control mode
0 -1 - 0 T
Select the direction positive/negative direction of torque command

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Setup value designation

Specify the direction with the sign of torque command
0
Torque command input[+] positive direction, [-] negative direction
Specify the direction with torque command sign(TC-SIGN).
1
OFF: positive direction ON: negative direction

Related
Range unit default
Pr3.19 Torque command input gain control mode
0 -1 - 500 T
Based on the voltage (V) applied to the analog torque command (TRQR),set up the conversion gain
to torque command(%) .

 Unit of the setup value is [0.1V/100%] and

set up input voltage necessary to produce
the rated torque.
 Default setup of 30 represents 3V/100%

Related
Range unit default
Torque command input reversal
control mode
Pr3.20
0 -1 - 0 T
Set up the polarity of the voltage applied to the analog torque command(TRQR).
Setup value Direction of motor output torque
0 Non-reversal [+ voltage] [+ direction] [- voltage] [-direction]
1 reversal [+ voltage] [- direction] [- voltage] [+direction]

Related
Range unit default
Pr3.21 Speed limit value 1 control mode
0 -20000 r/min 0 T
Set up the speed limit used for torque controlling.
During the torque controlling, the speed set by the speed limit value cannot be exceeded.

Related
Range unit default
Pr3.24* Motor rotate maximum speed limit control mode
r/min
0 -6000 3000 P S T
Set up motor running max rotate speed, but can’t be exceeded motor allowed max rotate speed.
Note: For parameters which No. have a suffix of “*”,changed contents will be validated when you turn on the
control power.

4.2.5【Class 4】I/F Monitor Setting

Related
Range unit default
Pr4.00* Input selection SI1 control mode
0-00FFFFFFh - 00030303h P S T

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Related
Range unit default
Pr4.01* Input selection SI2 control mode
0-00FFFFFFh - 00828282h P S T
Related
Range unit default
Input selection SI3
control mode
Pr4.02*
0-00FFFFFFh - 00818181h P S T
Related
Range unit default
Pr4.03* Input selection SI4 control mode
0-00FFFFFFh - 00919191h P S T
Related
Range unit default
Input selection SI5
control mode
Pr4.04*
0-00FFFFFFh - 00000007h P S T
S Set SI1 input function allocation.
This parameter use 16 binary system to set up the values, as following :
00- - - - * * h: position control
00- - * * - - h: velocity control
00* * - - - - h: torque control
Please at [**] partition set up function number
For the function number, please refer to the following Figure.
Set value
Signal name symbol
a-contact b- contact
Invalid - 00h Do not setup
Positive direction over-travel inhibition input POT 01h 81h
negative direction over-travel inhibition input NOT 02h 82h
Servo-ON input SRV-ON 03h 83h
Alarm clear input A-CLR 04h Do not setup
Control mode switching input C-MODE 05h 85h
Gain switching input GAIN 06h 86h
Deviation counter clear input CL 07h Do not setup
Command pulse inhibition input INH 08h 88h
Electronic gear switching input 1 DIV1 0Ch 8Ch
Electronic gear switching input 2 DIV2 0Dh 8Dh
Selection 1 input of internal command speed INTSPD1 0Eh 8Eh
Selection 2 input of internal command speed INTSPD2 0Fh 8Fh
Selection 3 input of internal command speed INTSPD3 10h 90h
Speed zero clamp input ZEROSPD 11h 91h
Speed command sign input VC-SIGN 12h 92h
Torque command sign input TC-SIGN 13h 93h
Forced alarm input E-STOP 14h 94h
Note:
1. a-contact means input signal comes from external controller or component ,for example: PLC .
2. b-contact means input signal comes from driver internally.
3. Don’t setup to a value other than that specified in the table .
4. Don’t assign specific function to 2 or more signals. Duplicated assignment will cause Err21.0 I/F
input multiple assignment error 1or Err21.1 I/F input multiple assignment error 2.

Related
Range unit default
Pr4.10* Output selection SO1 control mode
0-00FFFFFFh - 00010101h P S T
Related
Range unit control mode
Pr4.11* Output selection SO2 00020202h
0-00FFFFFFh - P S T
(131586)
Related
Range unit control mode
Pr4.12* Output selection SO3 00000704h
0-00FFFFFFh - P S T
(65793)

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Related
Range unit control mode
Pr4.13* Output selection SO4 00000303h
0-00FFFFFFh - P S T
(328964)
Assign functions to SO1 outputs.
This parameter use 16 binary system do setup, as following :
00- - - - * * h: position control
00- - * * - - h: velocity control
00* * - - - - h: torque control
Please at [**] partition set up function number.
For the function number, please refer to the following Figure.
Signal name symbol Setup value
Invalid - 00h
Alarm output Alm 01h
Servo-Ready output S-RDY 02h
Eternal brake release signal BRK-OFF 03h
Positioning complete output INP 04h
At-speed output AT-SPPED 05h
Zero-speed detection output ZSP 07h
Velocity coincidence output V-COIN 08h
Positional command ON/OFF output P-CMD 0Bh
Speed command ON/OFF output V-CMD 0Fh

Related
Range unit default
Pr4.22 Analog input 1 (AI1) offset setup control mode
-5578 -5578 - 0 S
Set up the offset correction value applied to the voltage fed to the analog input 1.

Related
Range unit default
Analog input 1 (AI1) filter
control mode
Pr4.23
0-6400 0.01ms 0 S
Set up the time constant of 1st delay filter that determines the lag time behind the voltage applied to
the analog input 1.

Related
Range unit default
Pr4.31 Positioning complete range control mode
0 -10000 Encoder unit 10 P
Set up the timing of positional deviation at which the positioning complete signal (INP1) is output.

Related
Range unit default
Pr4.32 Positioning complete range control mode
0 -3 command unit 10 P
Select the condition to output the positioning complete signal (INP1).
Setup value Action of positioning complete signal
0 The signal will turn on when the positional deviation is smaller than Pr4.31
[positioning complete range].
1 The signal will turn on when there is no position command and position
deviation is smaller than Pr4.31 [positioning complete range].
2 The signal will turn on when there is no position command, the zero-speed
detection signal is ON and the positional deviation is smaller than Pr4.31
[positioning complete range].
3 The signal will turn on when there is no position command and the positional

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deviation is smaller than Pr4.31 [positioning complete range].Then holds “ON”

states until the next position command is entered. Subsequently, ON state is
maintained until Pr4.33 INP hold time has elapsed. After the hold time, INP
output will be turned ON/OFF according to the coming positional command or
condition of the positional deviation.

Related
Range unit default
Pr4.33 INP hold time control mode
0-30000 1ms 0 P
Set up the hold time when Pr 4.32 positioning complete output setup=3.
Setup value State of Positioning complete signal
The hold time is maintained definitely, keeping ON state until next positional
0
command is received.
ON state is maintained for setup time (ms)but switched to OFF state as the
1-30000
positional command is received during hold time.

Related
Range unit default
Pr4.34 Zero-speed control mode
10 -20000 r/min 50 P S T
You can set up the timing to feed out the zero-speed detection output signal(ZSP or TCL) in rotate
speed (r/min).
The zero-speed detection signal(ZSP) will be fed
out when the motor speed falls below the setup of
this parameter, Pr4.34

 the setup of pr4.34 is valid for both positive and

negative direction regardless of the motor
rotating direction.
 There is hysteresis of 10[r/min].

Related
Range unit default
Pr4.35 Speed coincidence range control mode
10 -20000 r/min 50 S
Set the speed coincidence (V-COIN) output detection timing.
Output the speed coincidence (V-COIN) when the difference between the speed command and the
motor speed is equal to or smaller than the speed specified by this parameter.

Because the speed coincidence detection is associated with 10 r/min hysteresis, actual detection
range is as shown below.
Speed coincidence output OFF -> ON timing (Pr4.35 -10) r/min

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Speed coincidence output ON -> OFF timing (Pr4.35 +10) r/min

Related
Range unit default
At-speed(Speed arrival)
control mode
Pr4.36
10-20000 r/min 1000 S
Set the detection timing of the speed arrival output (AT-SPEED).
When the motor speed exceeds this setup value, the speed arrive output (AT-SPEED) is output.
Detection is associated with 10r/min hysteresis .

Related
Mechanical brake action at stalling Range unit default control mode
Pr4.37
setup 0 -10000 1ms 0 P S T
Motor brake delay time setup, mainly used to prevent servo on “galloping “phenomenon.
Set up the time from when the brake release signal(BRK-OFF) turns off to when the motor is
de-energized (servo-free),when the motor turns to servo-off while the motor is at stall

 Set up to prevent a micro-travel/drop of the motor

(work) due to the action delay time(tb) of the brake.
 After setting up Pr4.37>=tb, then compose the
sequence so as the driver turns to servo-off after the
brake is actually activated.

Related
Mechanical brake action at running Range unit default control mode
Pr4.38
setup 0 -10000 1ms 0 P S T
Mechanical brake start delay time setup, mainly used to prevent servo off “galloping “phenomenon.

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Set up time from when detecting the off of servo-on input signal(SRV-ON)is to when external brake
release signal(BRK-OFF)turns off, while the motor turns to servo off during the motor in motion.

 Set up to prevent the brake deterioration due to the

motor running.
 At servo-OFF during the motor is running , tb of
the right fig will be a shorter one of either Pr4.38
setup time, or time lapse till the motor speed falls
below Pr4.39 setup speed.

Related
Range unit default
Brake release speed setup
control mode
Pr4.39
30 -3000 1ms 30 P S T
When servo off, rotate speed less than this setup vale, and mechanical brake start delay time arrive,
motor lost power.

4.2.6【Class 5】Extended Setup

Related
Range unit default
2nd numerator of electronic gear
control mode
Pr5.00
1-32767 - 1 P S T
Related
Range unit default
Pr5.01 3rd numerator of electronic gear control mode
1-32767 - 1 P S T
Related
Range unit default
Pr5.02 4th numerator of electronic gear control mode
1-32767 - 1 P S T
Related
Range unit default
Pr5.03* Denominator of pulse output division
control mode
1-2500 - 2500 P S T
According to the command pulse input , set the 2nd to 4th numerator of electronic gear
DIV1 DIV2 numerator of electronic gear denominator of electronic gear
OFF OFF Pr0.09 Pr5.03
ON OFF Pr5.00 Pr5.03
OFF ON Pr5.01 Pr5.03
ON ON Pr5.02 Pr5.03
For details, refer to Pr0.11 .

Related
Range unit default
Pr5.06 Sequence at servo-off control mode
0-1 - 0 P S T
Specify the status during deceleration and after stop, after servo-off.
Setup value during deceleration After stop
0 emergency Free-run
1 Free-run Free-run

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Related
Range unit default
Pr5.08 LV trip selection at main power OFF control mode
0-1 - 0 P S T
You can select whether or not to activate Err0d.0 (main power under-voltage protection)function
while the main shutoff continues for the setup of Pr5.09(The main power-OFF detection time).
Setup value Action of main power low voltage protection
0 When the main power is shut off during Servo-On,Err0d.0 will not be triggered and
the driver turns to Servo-OFF. The driver returns to Servo-On again after the main
power resumption.
1 When the main power is shut off during Servo-On, the driver will trip due to
Err0d.0
Caution: Err0d.0(main power under-voltage protection) is trigged when setup of Pr5.09 is long and
P-N voltage of the main converter falls below the specified value before detecting the main power
shutoff , regardless of the Pr5.08 setup.

Related
Range unit default
The main power-OFF detection time
control mode
Pr5.09*
70-2000 1ms 70 P S T
You can set up the time to detect the shutoff while the main power is kept shut off continuously. The
main power off detection is invalid when you set up this to 2000.

Related
Range unit default
Pr5.13 Over-speed level setup control mode
0-20000 r/min 0 P S T
If the motor speed exceeds this setup value, Err1A.0 [over-speed protect] occurs.
The over-speed level becomes 1.2 times of the motor max, speed by setting up this to 0.

Related
Range unit default
Pr5.15* I/F reading filter control mode
0-255 0.1ms 0 P S T
I/O input digital filtering; higher setup will arise control delay.

Related
Range unit default
LED initial status
control mode
Pr5.28*
0-35 - 1 P S T
You can select the type of data to be displayed on the front panel LED (7-segment) at the initial
status after power-on.
Setup Setup Setup
content content content
value value value
0 Positional command 10 I/O signal status 27 Voltage across PN [V]
deviation
1 Motor speed 11 Analog input value 28 Software version
Positional command Error factor and
2 speed 12 reference of history 29 Driver serial number
Velocity control Inertia ratio Motor serial number
3 command 16 30
Factor of no-motor Accumulated operation
4 Torque command 17 running 31 time
Communication axis Temperature
5 Feedback pulse sum 23 address 33 information

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Encoder positional
6 Command pulse sum 24 deviation[encoder 36 Safety condition
unit] monitor
9 Control mode

Related
Baud rate setup of RS232 Range unit default control mode
Pr5.29*
communication 0-6 - 5 P S T
You can set up the communication speed of RS232.
Related
Baud rate setup of RS485 Range unit default control mode
Pr5.30*
communication 0-6 - 2 P S T
You can set up the communication speed of RS485.
Set value Baud rate Set value Baud rate
0 2400bps 4 38400bps
1 4800bps 5 57600bps
2 9600bps 6 115200bps
3 19200bps
Baud rate error is 2400-38400bps±5% ,57600-115200bps±2%

Related
Range unit default
Axis address
control mode
Pr5.31*
0-127 - 1 P S T
During communication with the host (e.g. PC) to control multiple shafts, the shaft being accessed by
the host should be identified.
Notice: when using RS232/RS485, the maximum valid value is 31.

Related
Range unit default
Front panel lock setup
control mode
Pr5.35*
0-1 - 0 P S T
Lock the operation on the front panel.
Setup value content
0 No limit on the front panel operation
1 Lock the operation on the front panel

4.2.7【Class 6】Special Setup

Related
Range unit default
JOG trial run command torque
control mode
Pr6.03
0 -100 % 0 T
You can set up the command speed used for JOG trial run (torque control).

Related
Range unit default
Pr6.04 JOG trial run command speed control mode
0-500 r/min 300 P S T
You can set up the command speed used for JOG trial run (velocity control).

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Related
Range unit default
Pr6.07 JOG trial run command speed control mode
-100-100 % 0 P S T
Related
Range unit default control
Pr6.08 JOG trial run command speed mode
-100-100 % 0 P S T
Related
Range unit default control
Pr6.09 JOG trial run command speed mode
-100-100 % 0 P S T
This three parameters may apply feed forward torque superposition directly to torque command.

Related
Range unit default
Pr6.20 Trial run distance control mode
0-200 0.1rev 10 P
The distance of running each time in JOG run(position control)

Related
Range unit default
Trial run waiting time
control mode
Pr6.21
0-30000 Ms 1000 P
The waiting time after running each time in JOG run(position control)

Related
Range unit default
Trial run cycle times
control mode
Pr6.22
0-32767 - 10 P
The cycling times of JOG run(position control)

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Chapter 5 Alarm and Processing

5.1 Alarm List
Protection function is activated when an error occurs, the driver will stop the rotation of servo motor, and the
front panel will automatically display the corresponding fault error code. The history of the error can be
viewed on data monitoring mode. error logging submenu displays like:“ ”.
The error code displays like:
Er---
Figure 5-1 Panel Alarm Display

Table 5.1 Error Code List

Error code Attribute
content Immediate Can be
Main Sub history
stop cleared
~ FPGA communication error ●
~ Current detection circuit error ●
~ Analog input circuit error ●
DC bus circuit error ●
Temperature detection circuit error ●
Control power under-voltage ●
DC bus over-voltage ● ●
DC bus under-voltage ● ●
Over-current ●
over -current of intelligent power ●
module(IPM)
Driver over-heat ● ●
Motor over-load ● ●
Resistor discharged circuit overload ● ●
Encoder wiring error ●
Encoder initial position error ●
Encoder data error ● ●
Too large position pulse deviation ● ● ●
Too large velocity deviation ● ● ●
Over-speed 1 ● ● ●
I/F input interface allocation error ● ●
I/F input interface function set error ● ●

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I/F output interface function set error ● ●

CRC verification error when EEPROM
parameter saved
Positive/negative over-range input valid ● ● ●
Compulsory alarm input valid ● ●
Save: save this error history record
Emergency: error, driver will stop immediately
May remove: may through SI input/panel/software ACH Series remove alarm

5.2 Alarm Processing Method

When appear error, please clear error reason, renew power on

Main Extra
Error Display: “ ”--“ ”
code
~ Content: FPGA communication error

Cause Confirmation Solution

Vdc/GND under-voltage Check the voltage of Make sure voltage of Vdc/GND in proper range
Vdc/GND terminal
Driver internal fault / replace the driver with a new one

Main Extra
Error Display:’ ”--“ ”
code
~ Content: current detection circuit error

Cause Confirmation Solution

Wiring error of motor output Check wiring of motor output Make sure motor U,V,W terminal wiring
U,V,W terminal U,V,W terminal correctly
Vdc/GND under-voltage Check the voltage of Make sure voltage of Vdc/GND in
Vdc/GND terminal proper range
Driver inner fault / replace the driver with a new one

Main Extra
Error Display: “ ”--“ ”
code
~ Content: analog input circuit error

Cause Confirmation Solution

Analog input Wiring error Check wiring of analog input Make sure analog input wiring correctly
Driver inner fault / replace the driver with a new one

Main Extra Display: “ ”

Error
code Content: DC bus circuit error

Cause Confirmation Solution

Vdc/GND under-voltage Check the voltage of Vdc/GND Make sure voltage of Vdc/GND in
terminal proper range

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Driver inner fault / replace the driver with a new one

Main Extra Display: “ ”

Error
code Content: temperature detection circuit error

Cause Confirmation Solution

Vdc/GND under-voltage Check the voltage of Make sure voltage of Vdc/GND in proper range
Vdc/GND terminal
Driver inner fault / replace the driver with a new one

Main Extra Display: “ ”

Error
code Content: control power under-voltage

Cause Confirmation Solution

Vdc/GND under-voltage Check the voltage of Make sure voltage of Vdc/GND in proper range
Vdc/GND terminal
Driver inner fault / replace the driver with a new one

Main Extr Display: “ ”

Error
a
code Content: DC bus over-voltage

Cause Confirmation Solution

Vdc/GND over-voltage Check the voltage of Vdc/GND Make sure voltage of Vdc/GND in
terminal proper range
Inner brake circuit damaged / replace the driver with a new one
Driver inner fault / replace the driver with a new one

Main Extra Display: “ ”

Error
code Content: DC bus under-voltage

Cause Confirmation Solution

Vdc/GND under-voltage Check the voltage of Vdc/GND Make sure voltage of Vdc/GND in
terminal proper range
Driver inner fault / replace the driver with a new one

Main Extra Display: “ ”

Error
code Content: over-current

Cause Confirmation Solution

Short of driver output wire, whether Assure driver output wire no short
Short of driver output wire
short circuit to PG ground or not circuit, assure motor no damage
Abnormal wiring of motor Check motor wiring order Adjust motor wiring sequence
Cut off driver output wiring, make
Short of IGBT module srv_on available and drive motor, replace the driver with a new one
check whether over-current exists
abnormal setting of control
Modify the parameter Adjust parameter to proper range
parameter
abnormal setting of control Check control command whether Adjust control command: open
command command changes too violently or filter function

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not

Main Extra Display: “ ”

Error
code Content: IPM over-current

Cause Confirmation Solution

Short of driver output wire, whether Assure driver output wire no short
Short of driver output wire
short circuit to PG ground or not circuit, assure motor no damage
Abnormal wiring of motor Check motor wiring order Adjust motor wiring sequence
Cut off driver output wiring, make
srv_on available and drive motor,
Short of IGBT module replace the driver with a new one
check whether over-current exists or
not
Short of IGBT module / replace the driver with a new one
abnormal setting of control
Modify the parameter Adjust parameter to proper range
parameter
Check control command whether
abnormal setting of control Adjust control command: open
command changes too violently or
command filter function
not

Main Extra Display: “ ”

Error
code Content: driver over-heat

Cause Confirmation Solution

the temperature of power Check driver radiator whether Strengthen cooling conditions, promote
module have exceeded the temperature is too high or the capacity of driver and motor, enlarge
upper limit not acceleration/deceleration time, reduce load

Main Extr Display: “ ”

Error
a
code Content: motor over-load

Cause Confirmation Solution

Check actual load if the value of
Load is too heavy Decrease load, adjust limit parameter
parameter exceed maximum or not
Oscillation of Check the machine if oscillation exists Modify the parameter of control loop;
machine or not enlarge acceleration/deceleration time
wiring error of Check wiring if error occurs or not, if Adjust wiring or replace encoder/motor
motor line breaks or not for a new one
electromagnetic
Check brake terminal voltage Cut off brake
brake engaged

Main Extra Display: “ ”

Error
code Content: Resistance discharge circuit over-load

Cause Confirmation Solution

Regenerative energy has Check the speed if it is too lower motor rotational speed; decrease load
exceeded the capacity of high. Check the load if it is inertia ,increase external regenerative resistor,
regenerative resistor . too large or not. improve the capacity of the driver and motor
Resistance discharge / Increase external regenerative resistor, replace
circuit damage the driver with a new one

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Main Extra Display: “ ”

Error
code Content: encoder line breaked

Cause Confirmation Solution

Encoder line disconnected check wiring if it steady or not Make encoder wiring steady
Check encoder wiring if it is correct
Encoder wiring error Reconnect encoder wiring
or not
Encoder damaged / replace the motor with a new one
Encoder measuring circuit
/ replace the driver with a new one
damaged

Main Extr Display: “ ”

Error
a
code Content: initialized position of encoder error

Cause Confirmation Solution

Check encoder power voltage if it is Ensure power voltage of encoder
DC5V  5% or not; check encoder cable normally, ensure encoder cable and
Communication data
and shielded line if it is damaged or not; shielded line well with FG ground,
abnormal
check encoder cable whether it is ensure encoder cable separated with
intertwined with other power wire or not other power wire
Encoder damaged / replace the motor with a new one
Encoder measuring
/ replace the driver with a new one
circuit damaged

Main Extra Display: “ ”

Error
code Content: encoder data error

Cause Confirmation Solution

Check encoder power voltage if it is Ensure power voltage of encoder
DC5V  5% or not ; check encoder cable normally, ensure encoder cable and
Communication data
and shielded line if it is damaged or not; shielded line well with FG ground,
abnormal
check encoder cable whether it is ensure encoder cable separated with
intertwined with other power wire or not other power wire
Encoder damaged / replace the motor with a new one
Encoder measuring
/ replace the driver with a new one
circuit damaged

Main Extra Display: “ ”

Error
code Content: position error over-large error

Cause Confirmation Solution

Unreasonable set of Check parameter PA_014 value if it is too Enlarge the value of PA_014
position error parameter small or not
Check parameter PA_100, PA_105 value Enlarge the value of PA_100,
Gain set is too small
if it is too small or not PA_105
Check parameter PA_013, PA_522 value Enlarge the value of PA_103,
Torque limit is too small
whether too small or not PA_522
Check acceleration/ deceleration time if it Increase acceleration/
Outside load is too large
is too small or not , check motor rotational deceleration time decrease

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speed if it is too big or not ; check load if speed, decrease load

it is too large or not

Main Extra Display: “ ”

Error
code Content: velocity error over-large error

Cause Confirmation Solution

The deviation of inner position Enlarge the value of PA_602, or set the
Check the value of PA_602 if
command velocity is too large value to 0, make position deviation
it is too small or not
with actual speed over-large detection invalid
The acceleration/ decelerate Enlarge the value of PA_312, PA_313.
Check the value of PA_312,
time Inner position command adjust gain of velocity control, improve
PA_313 if it is too small or not
velocity is too small trace performance.

Main Extra Display: “ ”

Error
code Content: motor vibration

Cause Confirmation Solution

Current vibration Current vibration Cut down the value of Pr003. Pr004
Stiffness is too strong Stiffness is too strong

Main Extra Display: “ ”

Error
code Content: over-speed 1

Cause Confirmation Solution

Check speed command if it is too large or not; Adjust the value of input speed
check the voltage of analog speed command if it command, enlarge the value
Motor speed has
is too large or not; check the value of PA_321 if PA_321 value, modify command
exceeded the first
it is too small or not; check input frequency and pulse input frequency and
speed limit
division frequency coefficient of command pulse division frequency coefficient,
(PA_321)
if it is proper or not; check encoder if the wiring assure encoder wiring correctly
is correct or not

Main Extra Display: “ ”

Error
code Content: I/F input interface allocation error

Cause Confirmation Solution

Check the value of PA_400, Assure the value of PA_400, PA_401,
The input signal are assigned
PA_401, PA_402,PA_403,PA_404 PA_402, PA_403, PA_404 set
with two or more functions.
if it is proper or not correctly
Check the value of PA_400, Assure parameter PA_400, PA_401,
The input signal aren’t
PA_401,PA_402,PA_403,PA_404 PA_402,PA_403,PA_404 set
assigned with any functions.
if it is proper or not correctly

Main Extra Display: “ ”

Error
code Content: I/F input interface function set error

Cause Confirmation Solution

Signal allocation error Check the value of PA_400, PA_401, Assure the value of PA_400,

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PA_402,PA_403,PA_404 if it is proper PA_401, PA_402, PA_403, PA_404

or not set correctly

Main Extra Display: “ ”

Error
code Content: I/F input interface function set error

Cause Confirmation Solution

Check the value of PA_410, Assure the value of PA_410,
The input signal are assigned
PA_411, PA_412, PA_413, if it is PA_411, PA_412,PA_413 set
with two or more functions.
proper or not correctly
Check the value of PA_410, Assure the value of PA_410,
The input signal aren’t
PA_411, PA_412, PA_413, if it is PA_411,PA_412,PA_413 set
assigned with any functions.
proper or not correctly

Main Extra Display: “ ”

Error
code Content: CRC verification error when EEPROM parameter is saved

Cause Confirmation Solution

Vdc/GND under-voltage Check the voltage of Vdc/GND Make sure voltage of Vdc/GND in
terminal proper range
save the parameters for several
Driver is damaged replace the driver with a new one
times
The setting of driver maybe
Check the setting of driver if it is Download the suitable project file to
default setting which isn’t
suitable for your motor driver for motor
suitable for motor .

Main Extra Display: “ ”

Error
code Content: positive negative over-travel input valid

Cause Confirmation Solution

positive /negative over-travelling Check the state of positive
/
input signal has been conducted negative over-travel input signal

Main Extra Display: “ ”

Error
code Content: forced alarm input valid

Cause Confirmation Solution

Forced-alarm input signal
Check forced-alarm input signal Assure input signal wiring correctly
has been conducted

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Chapter 6 Display and Operation

6.1 Introduction
The operation interface of servo driver consists of six LED nixie tubes and five key , which are used for servo
driver’s status display and parameter setting. The inter face layout is as follows :

Figure 6-1 front panel

Table 6.1 The name and function of keys
Name Key Function
Display / There are 6 LED nixie tubes to display monitor value, parameter value and set value
Press this key to switch among 4 mode:
Key of
M 1.data monitor mode 2.parameter setting mode
mode switch
3.auxiliary function mode 4.EEPROM written mode
Confirming key ENT Entrance for submenu, confirming input
Up key ▲ Press this key to increase the set value of current flash bit
Down key ▼ Press this key to decrease the set value of current flash bit
Left key ◄ Press this key to shift to the next digit on the left

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6.2 Panel Display and Operation

6.2.1 Panel Operation Flow Figure

Power on

Display one second

“000000'

Panel initial
display content
ENT
Data monitor mode
ENT Display
doouEP d01SPd d35 SF parameter value

M
Parameter ENT
Parametersetting mode
set mode
Display Modify
PA_000 PA_001 PA_639 parameter value parameter value

M
Auxiliary function mode ENT
Display Modify
AF_Jog AF_ini AF_oF3
parameter value parameter value

M
EEPROMwritten
EEPROM write ENT Ready to
mode Ready write
write Write
mode
M

Figure 6-2 the flow diagram of panel operation

(1) The front panel display for about one second firstly after turning on the power of the driver.
Then if no abnormal alarm occurs, monitor mode is displayed with the value of initial parameter ; otherwise,
abnormal alarm code is displayed.
(2) Press M key to switch the data monitor mode → parameter setting mode → auxiliary function mode →
EEPROM written mode.
(3) If new abnormal alarm occurs, the abnormal alarm will be displayed immediately in abnormal mode no
matter what the current mode is, press M key to switch to the other mode.
(4) In data monitor mode, press or to select the type of monitor parameter; Press ENT to enter the
parameter type , then press to display the high 4 bits “H” or low 4 bits “L” of some parameter values.
(5) In parameter setting mode, press to select current editing bit of parameter No, press or to change
current editing bit of parameters No. Press ENT key to enter the parameter setting mode of corresponding
parameters No. Press to select current bit of parameter value when editing it, press or to change the value
of the bit. Press ENT to save it and switch to the interface of parameter No.

6.2.2 Driver Operating Data Monitor

Table 6.2 Function List of Driver Monitor
Serial Data Format
Name Specification Display Unit
Number (x, y is numerical value)

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Positional command Low-bit “L xxxx”

0 d00uEP pulse
deviation High-bit ”H xxxx”

1 d01SPd Motor speed r/min “r xxxx”

Positional command
2 d02cSP r/min “r xxxx”
speed
Velocity control
3 d03cuL r/min “r xxxx”
command

4 d04trq Torque command % “r xxxx”

Low-bit “L xxxx”
5 d05nPS Feedback pulse sum pulse
High-bit”H xxxx”
Low-bit “L xxxx”
6 d06cPS Command pulse sum pulse
High -bit”H xxxx”

7 d07 / / “ xxxx”

External scale Low-bit “L xxxx”

8 d08FPS pulse
feedback pulse sum High -bit”H xxxx”
Position:“ ”
Speed:” ”
9 d09cnt Control mode / Torque:” ”
Composite mode”
”
Input:”In0x y”
(x:interface number,
arbitrary value between1-8)
(y:invalid -,valid A)
10 d10Io I/O signal status /
output:”ot0x y”
(x:interface series number,
arbitrary value between1-8)
(y:invalid -,valid A)
“x yyyy”
11 d11Ain Analog input value v
x:AI1 A,AI2 b,AI3 c
Error factor and
12 d12Err / “Er xxx”
reference of history

13 d13 rn Alarm display / “m xxx”

Regeneration load factor

14 d14 r9 % “rg xxx”

15 d15 oL Over-load factor % “oL xxx”

16 d16Jrt Inertia ratio % “J xxx”

Factor of no-motor
17 d17 ch / “cP xxx”
running

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No. of changes in I/O

18 d18ict / “n xxx”
signals

19 d19 / / “ xxxx”

Low-bit “L xxxx”
20 d20Abs Absolute encoder data pulse
High-bit”H xxxx”
Absolute external scale Low-bit “L xxxx”
21 d21AES pulse
position High -bit”H xxxx”
No of Encoder/external
22 d22rEc scale communication times “n xxx”
errors monitor
Communication axis “id xxx”
23 d23 id /
address “Fr xxx”
Encoder positional Low-bit “L xxxx”
24 d24PEP pulse
deviation(encoder unit) High -bit”H xxxx”
Encoder scale deviation Low-bit “L xxxx”
25 d25PFE pulse
(external scale unit) High -bit”H xxxx”
hybrid deviation Low-bit “L xxxx”
26 d26hyb pulse
(command unit) High -bit”H xxxx”

27 d27 Pn Voltage across PN [V] V “u xxx”

“d xxx”
28 d28 no Software version / “F xxx”
“P xxx”

29 d29ASE Driver serial number / “n xxx”

Low-bit “L xxxx”
30 d30NSE Motor serial number /
High -bit”H xxxx”
Accumulated operation Low-bit “L xxxx”
31 d31 tE /
time High -bit”H xxxx”
Automatic motor
32 d32Aud / “r xxx”
identification

33 d33Ath Driver temperature ℃ “th xxx”

34 d34 / / “t xxx”

Safety condition
35 d35 SF / “xxxxxx”
monitor

Table 6.3 “d17 ch” Motor No Rotate Reason Code Definition

Code Display Code Specification Content

1 DC bus under-voltage /

The Servo-ON input (SRV-ON) is not connected to

2 No entry of Srv-On input
COM-

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PA_504=0,POT is open , speed command is positive

3 POT/NOT input is valid direction
NOT is open , speed command is negative direction

4 Driver fault /

The relay inside the

5 /
driver isn’t closed
Pulse input prohibited
6 PA_518=0,INH is open
(INH)
PA_517=0,deviation counter clear is connected to
8 CL is valid
COM-

9 speed zero-clamp is valid PA_315=1, speed zero-clamp is open

6.2.3 System Parameter Setting Interface

Table 6.4 Setup Interface of System Parameter
Class No Name Display Code
0 01 control mode setup
0 02 real-time auto-gain tuning
0 03 selection of machine stiffness at real-time auto-gain tuning

0 04 Inertia ratio
0 06 command pulse rotational direction setup
0 07 command pulse input mode setup
0 09 1st numerator of electronic gear
0 10 denominator of electronic gear
0 11 output pulse counts per one motor revolution
0 12 reversal of pulse output logic
0 13 1st torque limit
0 14 position deviation excess setup
1 00 gain of 1st position loop
1 01 gain of 1st velocity loop
1 02 time constant of 1st velocity loop integration
1 03 filter of 1st velocity detection
1 04 time constant of 1st torque filter
1 05 gain of 2nd position loop
1 06 gain of 2nd velocity loop

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1 07 time constant of 2nd velocity loop integration

1 08 filter of 2nd velocity detection
1 09 time constant of 2nd torque filter
1 10 Velocity feed forward gain
1 11 Velocity feed forward filter
1 12 Torque feed forward gain
1 13 Torque feed forward filter
1 14 2nd gain setup
1 15 Control switching mode
1 17 Control switching level
1 18 Control switch hysteresis
1 19 Gain switching time
1 33 filter time constant of velocity command

1 35 Positional command filter setup

1 36 Encoder feedback pulse digital filter setup

00 adaptive filter mode setup

2
2 01 1st notch frequency
2 02 1st notch width selection
2 03 1st notch depth selection
2 04 2nd notch frequency
2 05 2nd notch width selection
2 06 2nd notch depth selection
2 22 Positional command smooth filter
2 23 Positional command FIR filter
3 00 Velocity setup internal/external switching
3 01 Speed command rotational direction selection
3 02 Speed command input gain
3 03 Speed command reversal input
3 04 1st speed setup
3 05 2nd speed setup
3 06 3rd speed setup
3 07 4th speed setup

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3 08 5th speed setup

3 09 6th speed setup
3 10 7th speed setup
3 11 8th speed setup
3 12 Acceleration time setup
3 13 Deceleration time setup
3 14 Sigmoid acceleration/deceleration time setup
3 15 Speed zero-clamp function selection
3 16 Speed zero-clamp level
3 17 torque setting switch

3 18 Torque command direction selection

3 19 Torque command input gain
3 20 Torque command input reversal
3 21 Speed limit value 1
3 24 maximum speed of motor rotation
4 00 SI 1 input selection
4 01 SI 2 input selection
4 02 SI 3 input selection
4 03 SI 4 input selection
4 04 SI 5 input selection
4 10 SO 1 output selection
4 11 SO 2 output selection
4 12 SO 3 output selection
4 13 SO 4 output selection
4 22 Analog input 1(AI 1) offset setup
4 23 Analog input 1(AI 1) filter
4 28 Analog input 3(AI 3) offset setup
4 29 Analog input 3(AI 3) filter
4 31 Positioning complete range
4 32 Positioning complete output setup
4 33 INP hold time
4 34 Zero-speed

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4 35 Speed coincidence range

4 36 At-speed
4 37 Mechanical brake action at stalling setup
4 38 Mechanical brake action at running setup
4 39 Brake action at running setup
5 00 2nd numerator of electronic gear
5 01 3rd numerator of electronic gear
5 02 4th numerator of electronic gear
5 03 Denominator of pulse output division
5 06 Sequence at servo-off
5 08 Main power off LV trip selection
5 09 Main power off detection time
5 13 Over-speed level setup
5 15 I/F reading filter
5 28 LED initial status
5 29 RS232 baud rate setup
5 30 RS485 baud rate setup
5 31 Axis address
6 03 JOG trial run command torque
6 04 JOG trial run command speed
6 08 Positive direction torque compensation value
6 09 Negative direction torque compensation value
6 20 distance of trial running
6 21 waiting time of trial running

6 22 cycling times of trial running

6.2.4 Auxiliary Function

Table 6.5 setting interface System parameter
No Name Specification Display Code Operation Flow
0 AF_jog Trial run Please refer to the chapter of“trial run”
1. press ENT to enter operation,
Initialization of
display“ ”。
1 AF_InI parameter
2.press ▲ once to display “ ”,
indicated initialization; after finishing it,

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display“ ”。
1. press ENT to enter operation, display
“ ”。
Release of front
2 AF_unL 2. press ▲button one time , display
panel lock
“ ”,indicated unlock the
panel successfully
1. press ENT to enter operation,
display“ ”。
3 AF_AcL Alarm clear
2. press ▲once , display “ ”,
indicated alarm clear successfully
1.press ENT to enter operation, display
“ ”。
A1 automatic 2.press ▲once , display “ ”,
4 AF_oF1
offset adjustment indication start correct, then
display“ ”indicated correction
finished。
1.press ENT to enter operation, display
“ ”。
A2 automatic 2.press ▲once , display “ ”,
5 AF_oF2
offset adjustment indicated start to correct the offset, then
display“ ”indicated that
correction finished。
1.press ENT to enter operation, display
“ ”。
A3 automatic 2.press ▲once , display “ ”,
6 AF_oF3
offset adjustment indicated start to correct the offset, then
display“ ”indicated correction
finished。

Table 6.6 The Locked panel conditions

Mode The Locked panel conditions
Monitor mode No limitation: all monitored data can be checked.
Parameter set up mode No parameter can be changed but setting can be checked.
Auxiliary function mode Cannot be run except for” release of front panel lock”
EEPROM writing mode No limitation

6.2.5 Saving parameter

Operation procedure:
1. press M to select EEPROM writing mode, display “ ”;
2. Press ENT to enter into writing mode operation:
3. Press and hold ▲, display LED from” ” to” ”, then it become” ”,

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finally it become” ”, indicated EEPROM writing operation have been began;

4. " means that writing is unsuccessful while " show that the writing is successful;
Follow steps 3 and 4 to repeat the operation; the drive may be damaged if repeat of several times still fails. The
driver need to repair.
5. The driver need to power off and restart again if writing is successful .

NOTE: Don’t turn off the power if EEPROM writing operation goes on, otherwise it may cause a writing wrong
data; If this happens, please reset all the parameters ,then do EEPROM writing operation again.

6.2.6 Abnormal Alarm

The front panel will automatically enter the abnormal alarm display mode if driver error occurs while it
displays the corresponding error code. Please refer to Chapter 5 of alarm processing about the detail of error
code.

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Chapter 7 Trial Run

Attention
 Ground the earth terminal of the motor and driver without fail. the PE terminal of driver must
be reliably connected with the grounding terminal of equipment.
 The driver power need with isolation transformer and power filter in order to guarantee the
security and anti-jamming capability.
 Check the wiring to make sure correctness before power on.
 Install a emergency stop protection circuit externally, the protection can stop running
immediately to prevent accident happened and the power can be cut off immediately.
 If drive alarm occurs, the cause of alarm should be excluded and Svon signal must be invalid
before restarting the driver.
 please don’t touch terminal strip or separate the wiring.

Note: there are two kinds of trial run : trial run without load and trial run with load . The user need to test the
driver without load for safety first.
Contact [email protected] for more technical service .

7.1 Inspection Before trial Run

7.1.1 Inspection on wiring
Table 7.1 inspection Item Before Run
No Item Content
1. Ensure the following terminals are properly wired and securely connected :
the input power terminals, motor output power terminal ,encoder input
Inspection on terminal CN2, control signal terminal CN1, communication terminal CN3(it
1
wiring is unnecessary to connect CN1 and CN3 in Jog run mode)
2.short among power input lines and motor output lines are forbidden , and no
short connected with PG ground.
Confirmation of The range of control power input Vdc, Gnd must be in the rated
2
power supply range(24-60Vdc).
3 Fixing of position the motor and driver must be firmly fixed
Inspection without
4 the motor shaft must not be with a mechanical load.
load
Inspection on 1, all of the control switch must be placed in OFF state.
5
control signal 2, servo enable input Srv_on must be in OFF state.

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7.1.2 Timing chart on power-up

off on
r,t control power <0.5 second
off
on
inner control power off >0 millisecond
on
R,S,T main power <0.8 second
off on
BUS voltage <1.5 second

Servo ready off on

>0 millisecond
off on
Servo on input <10 millisecond
off on
Dynamic brake <0.15 second
off on
Motor power on
<10 millisecond
off on
BRK-OFF
>0.1 second
no have
Position/velocity/torque command

7.1.3 Timing chart on fault

No fault Have fault

<150ms

No alarm alarm

7.1.4 holding brake

In applications where the motor drives the vertical axis, this brake would be used to hold and prevent the work
(moving load) from falling gravity while the power to the servo is shut off .

Never use this for “Brake” purpose to stop the load in motion.
Use this built-in brake for “holding” purpose only. That is to hold the stalling status.

For the brake release timing at power-on ,or braking timing at servo-off/servo-alarm while the motor is in
motion ,refer to chapter 7.1.2 timing chart on power-up.
You can follow the diagram about the wiring below :

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About the wire of brake ,there should be an 24VDC for brake, the brake will be loosed with the 24VDC
input, and the driver give an output signal to control the connection or disconnection of the 24VDC , pin 31
and pin 35 of CN1 is the control signal , and it is forbidden to connect these signal directly for the power of
24VDC , it will destroy the hardware of servo driver.
And if you connect the pin31 and pin35 for controlling the brake , just make sure the setting value of
Pr4.13. The default is 00000303h , if the driver works in torque mode , this value should be changed to
00030303h .

7.2 Trial Run

After installation and connection is completed , check the following items before turning on the power:
Wiring ? (especially power input and motor output)
Short or grounded ?
Loose connection ?
Unstable mounting ?
Separation from the mechanical system ?

7.2.1 Jog Control

It is unnecessary to connect control signal terminal CN1 and communication terminal CN4 in Jog run mode. It
is recommended that motor runs at low speed for safety, while the speed depends on the parameters below:
there are two different modes : speed JOG mode and location JOG mode.

Table 7.2 Parameter Setup of Velocity JOG

No Parameter Name Set value Unit
1 PA_001 Control mode setting 21 /
2 PA_312 Acceleration time setup User-specified millisecond
3 PA_313 Deceleration time setup User-specified millisecond
4 PA_314 Sigmoid acceleration/deceleration time setup User-specified millisecond
5 PA_604 JOG trial run command speed User-specified rpm

Table 7.3 Parameter Setup of Position JOG

No Parameter Name Nalue Unit
1 PA_001 Control mode setting 20 /
2 PA_312 Acceleration time setup User-specified millisecond
3 PA_313 Deceleration time setup User-specified millisecond
4 PA_314 Sigmoid acceleration/deceleration time setup 0 millisecond
5 PA_604 JOG trial run command speed User-specified rpm
6 PA_620 distance of trial running User-specified 0.1 rotation
7 PA_621 waiting time of trial running User-specified millisecond
8 PA_622 cycling times of trial running User-specified times

◆JOG trial run operation process

1. set all parameters above corresponding to velocity JOG or position JOG ;
2. Enter EEPROM writing mode, and save the value of modified parameters ;
3. The driver need to restart after the value is written successfully;
4. Enter auxiliary function mode, and go to “ "sub-menu;
5. Press ENT once, and display ";

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6. Press once, and display ” " if no exception occurs; press once again if “ "
occurs, it should display “ "; If “ " still occurs, please switch to data monitoring mode
“ "sub-menu, find the cause why motor doesn’t rotate, fix the trouble and try again;
7. In position JOG mode, the motor will rotate directly; if motor doesn’t rotate, switch to data monitoring
mode "sub-menu, find the cause why motor doesn’t rotate, fix the trouble and try again;
In speed JOG mode, press once, the motor rotates once (hold will make motor rotating to value of
PA_604 ), and display ” "; press once, the motor rotates once (hold will make motor rotating to
value of PA_ 604), and display” "; if motor doesn’t rotate, switch to data monitoring mode
"sub-menu, find the cause why motor doesn’t rotate, fix the trouble and try again;
8. Press ENT will exit JOG control in JOG run mode.

7.2.2 Position Control

Notice : You must do inspection before position control test run.

Table 7.4 Parameter Setup of Position Control

No Parameter Name Input Value Unit
1 PA_001 control mode setup / 20 /
2 PA_312 Acceleration time setup / User-specified millisecond
3 PA_313 Deceleration time setup / User-specified millisecond
4 PA_314 Sigmoid acceleration/deceleration time setup / User-specified millisecond
5 PA_005 Command pulse input select / 0 /
6 PA_007 Command pulse mode select / 3 /
7 PA_518 Command pulse prohibit input invalidation / 1 /
8 PA_400 SI1 input select Srv_on Hex:0003 /

◆ Wiring Diagram
1). If the driver is enabled with external signal , pr400 should be set to 303 , and connection of CN1 should be
set as following :

1
DC12-24V COM+
2
Srv_on

pulse
+3 PUL+
_4
PUL-
+5 DR+
direction _6
DR-

Figure 7-3 Control Terminal CN1 Signal Wiring in Position Control Mode with external servo_on signal

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2). If the driver is enabled automatically , which is easier, pr400 should be set to 383 , and connection of CN1
should be set as following :

Figure 7-4 Control Terminal CN1 Signal Wiring in Position Control Mode with internal servo_on signal

◆Operation Steps
1. connect terminal CN1.
2. Enter the power (DC12V to 24V) to control signal (the COM + and COM-).
3. Enter the power to the driver.
4. Confirm the value of the parameters, and write to the EEPROM and turn off/on the power (of the driver)
5.Connect the Srv_on input to bring the driver to servo-on status and energize the motor.
6. Enter low-frequency pulse and direction signal to run the motor at low speed.

7. Check the motor rotational speed at monitor mode whether, (" " ),
Rotational speed is as per the setup or not, and
The motor stops by stopping the command (pulse) or not
If the motor does not run correctly, refer to the Factor of No-Motor running in data monitor mode

(" " ).

7.2.3 Velocity Control

Notice : You must do inspection before velocity control test run.

Table 7.5 Parameter Setup of Velocity Control

No Parameter Name input Setup value Unit
1 PA_001 Control mode setup / 21 /
2 PA_312 Acceleration time setup / User-specified millisecond
3 PA_313 Deceleration time setup / User-specified millisecond
Sigmoid acceleration/deceleration time /
4 PA_314 User-specified millisecond
setup
5 PA_315 Zero speed clamping function select / 1 /
6 Velocity setup internal and external
PA_300 / User-specified /
switching
7 PA_301 Speed Command direction selection / User-specified /
8 PA_302 Speed command input gain / User-specified Rpm/V
9 PA_303 Speed setting input reversal / User-specified /
10 PA_422 Analog input I(AI1) offset setup / User-specified 0.359mv
11 PA_423 Analog input I(AI1) filter / User-specified 0.01ms
12 PA_400 SI1 input selection Srv_on hex:0300 /
13 PA_401 SI2 input selection ZeroSpd hex:1100 /
14 PA_402 SI3 input selection IntSpd1 hex:0E00 /

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15 PA_403 SI4 input selection IntSpd2 hex:0F00 /

16 PA_404 SI5 input selection IntSpd3 hex:1000 /
17 PA_405 SI6 input selection Vc-Sign hex:1200 /

◆Wiring Diagram

◆Operation steps
1. connect terminal CN1.
2. Enter the power (DC12V to 24V) to control signal (the COM + and COM- ,while COM+ is for input signal
and COM- is for output signal).
3. Enter the power to the driver.
4. Confirm the value of the parameters, and write to the EEPROM and turn off/on the power (of the driver)
5.Connect the Srv_on input to bring the driver to servo-on status and energize the motor.
6. Apply DC voltage between velocity command input , VIN+ and VIN-, and gradually increase from 0V to
confirm the motor runs.

7. Check the motor rotational speed at monitor mode , (" ")

Whether rotational speed is as per the setup or not, and
Whether the motor stops with zero command or not
If the motor does rotate at a micro speed with command voltage of 0.
8. When you want to change the rotational speed and direction, set up the following parameters again.
Pr3.00. Pr3.01. Pr3.03
If the motor does not run correctly, refer to the Factor of No-Motor running in data monitor mode

(" " ).

7.2.4 Torque Control

Notice : You must do inspection before torque control test run.

Table 7.6 Parameter Setup of Torque Control

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No Parameter Name input Setup value Unit

1 PA_001 Control mode setup / 22 /
2 PA_312 Acceleration time setup / User-specified millisecond
3 PA_313 Deceleration time setup / User-specified millisecond
Sigmoid acceleration/deceleration time
4 PA_314 / User-specified millisecond
setup
5 PA_315 Zero-clamp function selection / 0 /
6 PA_319 Torque command direction input gain / User-specified 0.1V/100%
7 PA_320 Torque setup input reversal / User-specified /
8 PA_321 Speed limit value 1 / User-specified R/min
9 PA_400 SI1 input selection Srv_on hex:030000 /
10 PA_422 Analog input offset setup / User-specified 0.359mv
11 PA_423 Analog input filter / User-specified 0.01ms

◆Wiring Diagram

◆Operation Steps
1. connect terminal CN1.
2. Enter the power (DC12V to 24V) to control signal (the COM + and COM-).
3. Enter the power to the driver.
4. Confirm the value of the parameters, and write to the EEPROM and turn off/on the power (of the driver)
5.Connect the Srv_on input to bring the driver to servo-on status and energize the motor.
6. apply DC voltage between torque command input , VIN+ and VIN-, and gradually increase from 0V to
confirm the motor runs.

7. Check the motor torque at monitor mode (" " ), Whether actual torque is as per the setup or not
8. When you want to change the torque magnitude, direction and velocity limit value against the command
voltage, set up the following parameters : Pr3.19. Pr3.20. Pr3.21
If the motor does not run correctly, refer to the Factor of No-Motor running in data monitor mode

(" " ).

7.3 Automatic Control Mode Run

7.3.1 Operation Mode Selection
ELD5 series Low-voltage AC servo drives support the position, speed, torque three basic modes of operation,
and can switch freely between the three basic modes of operation by switch or modify parameters.

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Table 7.7 Parameter setup of Operation Mode Selection

No Mode Parameter Specification
The position control is performed based on the positional command
1 Position mode PA_001=20 (pulse train) from the host controller or the command set in the
servo driver.
The velocity control is performed according to the analog speed
2 Velocity mode PA_001=21 command from the host controller or the speed command set in the
servo driver.
The torque control is performed according to the torque command
3 Torque mode PA_001=22 specified in the form of analog voltage or the command set in the
servo driver.
1st mode:
position mode
4 2nd mode: PA_001=23 The control mode is switched through external input.
speed mode
1st mode:
position mode
5 2nd Mode: PA_001=24 The control mode is switched through external input.
torque mode
1st mode:
speed mode
6 2nd Mode: PA_001=25 The control mode is switched through external input.
torque mode

The step of changing the operation mode:

1, Switch the driver to Servo Off status.
2, Modify the corresponding parameters of control mode to EEPROM.
Turn off/on the power to make the new mode works after setup completed.

7.3.2 Position Mode

The driver is widely used for precise positioning in position control mode.

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DC power supply
- +

U
Vdc V
W
PE
GND

CN2
Use twisted wire with
shield for pulse input
PUL＋ 3 CN1
5V-24v pulse signal ，no PUL－ 4 220Ω
need to add resistor even
if voltage of pulse larger
than 5V
DIR＋ 5
DIR－ 6 220Ω

COM＋ 1 20 A＋
SRV-ON 2 4.7K 21 A－
22 B＋
POT 4.7K 23
7 B－
24 OCZ Encoder
4.7K signal output
NOT 8 25 GND
12~24Vdc 19 +5V
ZEROSPD 9 4.7K 26 GND
S-RDY 13
Use twisted wire with
shield for encoder signal
output
ALM 14

INP 15

CN3
BRK-OFF 16 Connection for
configuration with RS232
COM－ 18

Figure 7-6 Position Mode Typical Wiring Diagram

Corresponding parameters setup of position control mode

1. Process of command pulse input

The positional commands of the following 3 types (pulse train) are available.
◆A, B phase pulse
◆Positive direction pulse/negative direction pulse
◆Pulse + sign
Please set the pulse configuration and pulse counting method based on the specification and configuration of
installation of the host controller.

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Table 7.8 Parameter Setup of Position Command Selection

No Parameter Name Setup method
1 PA_006 Command pulse polar setting
2 PA_007 Command pulse input mode setting Please refer to chapter 4
3 PA_008 Command pulse counts per revolution

2. Electronic gear function

The function multiplies the input pulse command from the host controller by the predetermined dividing or
multiplying factor and applies the result to the position control section as the positional command. By using
this function, desired motor rotations or movement distance per unit input command pulse can be set.

Table 7.9 Parameter Setup of Electronic Gear Ratio

No Parameter Name Setup method
1 PA_009 First command frequency double molecular
2 PA_010 Command frequency double denominator
Please refer to
3 PA_500 The second command divide double frequency molecular
chapter 4
4 PA_501 The third command divide double frequency molecular
5 PA_502 The fourth command divide double frequency molecular

3. Position command filter

To make the positional command divided or multiplied by the electronic gear smooth, set the command filter.
Table 7.10 Parameter Setup of Position Command Filter
No Parameter Name Setup method
1 PA_222 Positional command smoothing filter
Please refer to chapter 4
2 PA_223 Positional command FIR filter

4. Motor encoder pulse output

The information on the amount of movement can be sent to the host controller in the form of A and B phase
pulses from the servo driver.
Table 7.11 Parameter Setup of Driver Encoder Pulse Output
No Parameter Name Setup method
1 PA_011 Encoder pulse output molecular
2 PA_012 Pulse output logic reverse
Please refer to chapter 4
3 PA_503 Pulse output divide frequency denominator
4 PA_533 Pulse regeneration output boundary set

5. Deviation Counter clear

The deviation counter clear input (CL) clears the counts of positional deviation counter at the position control
to 0.
Table 7.12 Parameter Setup of Deviation Counter Clear
No parameter name Setup method
1 PA_517 Counter clear input mode Please refer to chapter 4

6. Position complete output (INP)

The completion of positioning can be verified by the positioning complete output (INP).When the absolute
value of the positional deviation counter at the position control is equal to or below the positioning complete
Range by the parameter, the output is ON. Presence and absence of positional command can be specified as

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one of judgment conditions.

Table 7.13 Related Parameter Setup of Position Complete Output
No Parameter Name Setup method
1 PA_431 Position complete range
2 PA_432 Position complete output setup Please refer to chapter 4
3 PA_433 INP hold time

And the output port should be assigned for “INP”, for details of these parameters, refer to PA_410 – PA415.

7. Command pulse prohibit (INH)

The command pulse input counting process can be forcibly terminated by using the command pulse inhibit
input signal (INH).When INH input is ON ,the servo driver ignores the command pulse ,disabling pulse
counting function.
Table 7.14 Related Parameter Setup of Command Pulse Prohibit
No Parameter Name Setup method
1 PA_518 Command pulse prohibit input invalid setup
Please refer to chapter 4
2 PA_519 Command pulse prohibit input read setup

And the input port should be assigned for “INH”, for details of these parameters, refer to PA_400 – PA409.

8. Other setup for SI/SO function

For details of SI input function, refer to PA_400 – PA409.
For details of SO output function, refer to PA_410 – PA415.

7.3.3 Velocity Mode

The driver is widely used for accuracy speed control in velocity control mode.
You can control the speed according to the analog speed command from the host controller or the speed
command set in servo driver.

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DC power supply
- +

U
Vdc V
W
PE
GND

CN2

CN1

COM＋ 1
SRV-ON 4.7K
2
20 A＋

4.7K 21 A－
POT 7
22 B＋

4.7K
23 B－
NOT 8
24 OCZ Encoder
12~24Vdc signal output
ZEROSPD 4.7K 25 GND
9
19 +5V
S-RDY 13
26 GND

ALM 14
11 Vin+ +10V ~ -10V
12 Vin- analoginput
INP 15

BRK-OFF 16 CN3

COM－ 18
Connection for
configuration with RS232

Figure 7-7 Velocity Mode Typical Wiring Diagram

Relevant parameters setup of velocity control mode

1. Velocity control by analog speed command

The analog speed command input voltage is converted to equivalent digital speed command. You can set the
filter to eliminate noise or adjust the offset.

Table 7.15 Parameter Setup of Analog Speed Command

No Parameter Name Setup method
1 PA_300 Velocity setup internal/external switching
2 PA_301 Speed command rotational direction selection
3 PA_302 Speed command input gain
Please refer to chapter 4
4 PA_303 Speed command reversal input
5 PA_422 Analog input offset setup
6 PA_423 Analog input filter

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2. Velocity control by internal speed command

You can control the speed by using the internal speed command set to the parameter. By using the internal
speed command selection 1,2,3(INTSPD 1,2,3), you can select best appropriate one
Table 7.16 Parameter Setup of Internal Speed Commands Carry Out Speed Control
No Parameter Name Setup method
1 PA_300 Velocity setup internal/external switching
2 PA_301 Speed command rotational direction selection
3 PA_304 1st speed setup
4 PA_305 2nd speed setup
5 PA_306 3rd speed setup
Please refer to chapter 4
6 PA_307 4th speed setup
7 PA_308 5th speed setup
8 PA_309 6th speed setup
9 PA_310 7th speed setup
10 PA_311 8th speed setup

3. Speed zero clamp (ZEROSPD)

You can forcibly set the speed command to 0 by using the speed zero clamp input.
Table 7.17 Parameter setup of speed zero clamp
No Parameter Name Setup method
1 PA_315 Speed zero-clamp function selection
Please refer to chapter 4
2 PA_316 Speed zero clamp level
And the input port should be assigned for “ZEROSPD”, for details of these parameters, refer to PA_400 –
PA409.

4. Attained speed output (AT-SPEED)

The signal AT-SPEED is output as the motor reaches the speed set to Pr4.36”attained speed”
Table 7.18 Parameter Setup of attained speed output
No Parameter Name Setup method
1 PA_436 At-speed Please refer to chapter 4
And the output port should be assigned for “AT-SPEED”, for details of these parameters, refer to PA_410 –
PA415.

5. Speed coincidence output (V-COIN)

The signal is output when the motor speed is equal to the speed specified by the speed command. The motor
speed is judged to be coincident with the specified speed when the difference from the speed command
before/after acceleration/deceleration is within the range specified by Pr4.35”Speed coincident range”
Table 7.19 Parameter Setup of Speed Coincidence Output
No Parameter Name Setup method
1 PA_435 Speed coincidence range Please refer to chapter 4
And the output port should be assigned for “V-COIN”, for details of these parameters, refer to PA_410 –
PA415.

6. Speed command accelerates and decelerates setup

This function controls the speed by adding acceleration or deceleration instruction in the driver to the input
speed command.
Using this function, you can use the soft start when inputting stepwise speed command or when using internal
speed setup. You can also use S shaped acceleration/deceleration function to minimize shock due to change in
speed.

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Table 7.20 Parameter Setup of Speed Command Acceleration/Deceleration

No Parameter Name Set method
1 PA_312 Acceleration time setup
2 PA_313 Deceleration time setup Please refer to chapter 4
3 PA_314 Sigmoid acceleration/deceleration time setup
When the position loop is external to the driver, don’t use the acceleration/deceleration time setting. Set these
values to 0.
7. SI/SO function setup.
For details of SI input function, refer to PA_400 – PA_409.
For details of SO output function, refer to PA_410 – PA_415.

7.3.4 Torque Mode

The torque control is performed according to the torque command specified in the form of analog voltage. For
controlling the torque, the speed limit input is required in addition to the torque command to maintain the
motor speed within the speed limit.
DC power supply
- +

U
Vdc V
W
PE
GND

CN2

CN1

COM＋ 1
SRV-ON 4.7K
2
20 A＋

4.7K 21 A－
POT 7
22 B＋

4.7K
23 B－
NOT 8
24 OCZ Encoder
12~24Vdc signal output
ZEROSPD 4.7K 25 GND
9
19 +5V
S-RDY 13
26 GND

ALM 14
11 Vin+ +10V ~ -10V
12 Vin- analoginput
INP 15

BRK-OFF 16 CN3

COM－ 18
Connection for
configuration with RS232

Figure 7-8 Torque Mode Typical External Wiring Diagram

Relevant parameters setup of torque control mode

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1. Analog torque command input

Table 7.21 Parameter Setup of Analog Torque Command Input
No Parameter Name Setup Method
1 PA_318 Torque command direction selection
2 PA_319 Torque command input gain
3 PA_320 Torque command input reversal Please refer to chapter 4
4 PA_422 Analog input offset setup
5 PA_423 Analog input filter

2. Speed limit function

The speed limit is one of protective functions used during torque control.
This function regulates the motor speed so that it doesn’t exceed the speed limit while the torque is controlled.

Table 7.22 Parameter Setup of Speed Limit Function

No Parameter Name Setup method
1 PA_321 Speed limit value 1
2 PA_315 Zero-clamp function selection
3 PA_302 Speed command input gain Please refer to chapter 4
4 PA_422 Analog input offset setup
5 PA_423 Analog input filter

3. SI/SO function set

For details of SI input function, refer to PA_400 – PA409.

For details of SO output function, refer to PA_410 – PA415.

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Chapter 8 Product Specification

Notice
Servo drive must be matched with relevant servo motor, Contact [email protected] for more technical
service.

8.1 Driver Technical Specification

Table 8.1 Driver Specification
Type ELD5-400/ELD5-400U ELD5-400Z/ELD5-400UZ
Rated output power 400W
Rated output current 10
Max output current 30
Main power 24-60VDC
Control mode IGBT SVPWM sinusoidal wave control
Feedback mode 1000line 2500line encoder with 5V TTL signal. 5000P/R./17-bit /23-bit serial encoder
Input pulse 0-450kHZ,5V differential /single-ended input
Adjust speed ratio 1:5000
Electronic gear ratio 1~32767/1~32767
Analog input -10~10Vdc,input resistance 20KΩ, no isolation
Velocity bandwidth 600HZ
Servo enable, over-travel inhibition, gain switching, command pulse inhibition, speed zero clamp,
Input signal
deviation counter clear, alarm clear
Output signal Alarm output, servo-ready, at-speed, zero-detection, velocity coincidence
Encoder signal output A phase, B phase, Z phase, long-distance drive mode output
Over-voltage, under-voltage, over-current, over-load, encoder error, position deviation error, brake
Alarm function
alarm, limit alarm, over-speed error etc.
jog, trapezoidal wave test, each parameter and input output signal can be modified and saved,
Operation and display six-bit LED to display rotational speed, current, position deviation, driver type version and address
ID value etc.
You can adjust the parameters of current loop, velocity loop, position loop , and change the value of
Debug software input and output signals and the parameter of motor and save the values to the files which can be
downloaded and uploaded, monitor the waveform of velocity and position in the ladder.
Communication interface RS-232,RS485,Modbus
Brake mode Built-in brake 50Ω/50W
Adapt load inertia Less than 10 times motor inertia recommended
weight About 1.5-3Kg
Environment Avoid dust, oil fog and corrosive gases
Ambient Temp 0 to +40℃ .
Humidity 40% RH to 90%RH , no condensation
environment
Vibration 5.9 m/s2 MAX
Storage Temperature -20~80℃
Installation Vertical installation

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8.2 Accessory selection

1. motor cable
2. encoder cable
3. brake cable
4. software configuration cable
5. control signal terminal CN1 (26 pin)
6. control signal shell CN1

Chapter 9 Order Guidance

9.1 Capacity Selection
To determine the capacity of servo system, we must consider the inertia of load, torque of load, the positioning
accuracy, the requirement of the highest speed, consider the selection according to the following steps:

1) Calculate Inertia of Load and Torque

You can refer to relative information to calculate inertia of load, torque of load, acceleration/deceleration
torque as the next step basis.

2) Identify Mechanical Gear Ratio

According to the maximum speed and the highest speed of the motor ,you can calculate the maximum of
mechanical reduction ratio, by using it and minimum of motor turning unit ,to calculate if they can meet the
requirements of the smallest position unit or not. If the positional precision is high, you can increase the
mechanical reduction ratio or select motor with higher capacity.

3) Calculate Inertia and Torque.

Convert mechanical reduction ratio of the load inertia and load torque to the motor shaft, while the result shall
be not 5 times more than motor inertia. If the requirements can’t be matched, you can increase the mechanical
reduction ratio (the actual maximum speed reducing) or select larger capacity motor.

9.2 Electronic Gear Ratio

In position control mode, the actual speed = command pulse velocity× G ×mechanical reduction ratio.
In position control mode, the actual load minimum displacement = minimum command pulse travel ×G
×mechanical reduction ratio.
【Note 】If the electronic gear ratio of G is not 1, gear ratio division may have the remainder, then there will
be position deviation existed, the maximum deviation is the minimum of rotation ( minimum resolution ).

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Appendix
Quick guide for tuning the servo
Here is the example for debugging the parameter.

A. Check value of Pr715 and Pr716 if it is suitable for motor

 This step is only needed for motor with 1000line or 2500line incremental encoder.
 Motor with 5000line. 17bit. 23bit serial encoder can match ELD5-400Z/ELD5-400ZU automatically.

Motor type Pr715 Pr716

No need to care about the
ACM602V36-01-1000 1 33 current loop tuning , it has been
ACM604V36-01-1000 2 33 finished inside the driver .
57BL180D-1000
3 33
BLM57180-1000
ACM4005V24-T-2500 8 4
ACM4010V24-T-2500 9 4
ACM602V36-T-2500 6 36
ACM602V24-T-2500
7 36
ACM604V48-T-2500
If the motor is with brake, the default setting is the same
with motor without brake .

Download new value of parameters to the driver and save it, and restart the driver to make the new value
available.
Refer to “ Quick Reference Of EL5 series Servo Product.pdf ” for details about tuning the servo .

Notice : Please contact [email protected] for technical service for 3rd party motor .

Contact us
China Headquarters
Address: 11/F, Block A3, iPark, No.1001 Xueyuan Blvd, Nanshan District, Shenzhen

Technical Support
Tel: 86-755-2641-8447
86-755-2641-8774 (for Asia, Australia, Africa areas)
86-755-2665-5136 (for America areas)
86-755-8654-2465 (for Europe areas)
Fax: 86-755-2640-2718
Email: [email protected] (for All)

Sales Hot Line

Tel: 86-755-2641-7674 (for Asia, Australia, Africa areas)
86-755-2640-9254 (for Europe areas)
86-755-2641-7617 (for America areas)
Email: [email protected]

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