LC10 Series AC Servo Drive

User's Manual

Shenzhen Xin Lichuan Electric Co., Ltd.

 Contents
Chapter I Safety Precautions ............................................................................................................................................ 1
Chapter II Electrical Specifications.................................................................................................................................. 1
2.1 Specifications ........................................................................................................................................................ 1
2.2 Drive model ........................................................................................................................................................... 2
Chapter III Installation ..................................................................................................................................................... 3
3.1 Installation of servo drive unit ............................................................................................................................ 3
3.1.1 Installation environment.............................................................................................................................. 3
3.1.2 Installation method ...................................................................................................................................... 3
3.1.3 Installation dimensions................................................................................................................................ 4
3.2 Servo motor installation............................................................................................................................. 4
3.2.1 Installation environment.............................................................................................................................. 4
3.2.2 Installation method ...................................................................................................................................... 4
Chapter IV Wiring ............................................................................................................................................................. 5
4.1 Terminal description .................................................................................................................................. 5
4.2 Main circuit wiring..................................................................................................................................... 6
4.2.1 Definition of main circuit terminals ............................................................................................................ 6
4.2.2 How to use the main circuit power terminal (spring type) .......................................................................... 6
4.2.3 Drive wiring diagram .................................................................................................................................. 7
4.3 Definition of wiring terminal ..................................................................................................................... 8
4.3.1 Definition of communication terminals (CN1/CN2) ................................................................................... 8
4.3.2 Definition of control terminals (CN1) ......................................................................................................... 8
4.3.3 Encoder terminal definition (CN2).............................................................................................................. 9
4.4 Control signal terminal wiring ................................................................................................................ 11
4.4.1 DI input circuit .......................................................................................................................................... 11
4.4.2 High-speed pulse input circuit................................................................................................................... 11
4.4.3 DO output circuit....................................................................................................................................... 13
4.4.4 Analog input circuit ................................................................................................................................... 13
4.4.5 Pulse feedback output circuit .................................................................................................................... 13
Chapter V Panel Display and Operation........................................................................................................................ 14
5.1 Panel introduction and description......................................................................................................... 14
5.1.1 Description of panel keys .......................................................................................................................... 14
5.1.2 How to operate keys on the panel ............................................................................................................. 14
5.1.3 Status display ............................................................................................................................................ 14
5.1.4 Display of parameter number .................................................................................................................... 15
5.1.5 Parameter value display ............................................................................................................................ 15
5.1.6 Monitor parameter display (P0B set parameters) ...................................................................................... 15
5.2 Common operations ................................................................................................................................. 17
5.2.1 JOG mode operation.................................................................................................................................. 17
5.2.2 Internal power-up enable ........................................................................................................................... 17
5.2.3 Initialization parameters ............................................................................................................................ 17
5.2.4 Manual reset alarm .................................................................................................................................... 17
Chapter VI Control Mode Description........................................................................................................................... 18
6.1 Location mode description ...................................................................................................................... 18
6.1.1 Position mode wiring diagram .................................................................................................................. 18
Version No.: V1.0
6.1.2 Parameters related to external pulse control .............................................................................................. 19
6.1.3 Parameters related to internal multi-segment position control .................................................................. 19
6.2 Speed mode description............................................................................................................................ 21
6.2.1 Speed mode wiring diagram ...................................................................................................................... 21
6.2.2 Functions related to external speed mode .................................................................................................. 22
6.2.3 Internal multi-speed related functions ....................................................................................................... 23
6.3 Torque mode description.......................................................................................................................... 24
6.3.1 Torque mode wiring diagram ..................................................................................................................... 24
6.3.2 Functions related to external torque mode................................................................................................. 25
6.4 Detailed description of DI/DO port function configuration .................................................................. 26
6.4.1 DI function description .............................................................................................................................. 26
6.4.2 DO function description ............................................................................................................................ 29
Chapter VII Parameter Description ............................................................................................................................... 31
7.1 P01 set drive parameters .......................................................................................................................... 31
7.2 P02 set basic control parameters ............................................................................................................. 31
7.3 P03 set terminal input parameters .......................................................................................................... 32
7.4 P04 set terminal output parameters ........................................................................................................ 32
7.5 P05 set position control parameters ........................................................................................................ 33
7.6 P06 set speed control parameters ............................................................................................................ 35
7.7 P07 set torque control parameters .......................................................................................................... 36
7.8 P08 set gain parameters ........................................................................................................................... 37
7.9 P09 set self-tuning parameters ................................................................................................................ 39
7.10 P0A set fault and protection parameters ................................................................................................ 40
7.11 P0B set monitoring parameters ............................................................................................................... 41
7.12 P0C set communication parameters ....................................................................................................... 41
7.13 P0D set auxiliary function parameters ................................................................................................... 42
7.14 P11 set multi-segment position function parameters ............................................................................. 42
7.15 P12 set multi-segment speed parameters ................................................................................................ 43
7.16 P17 set virtual DIDO parameters............................................................................................................ 44
7.17 P30 set communication reading servo related variables ....................................................................... 44
7.18 P31 set communication given servo related variables ........................................................................... 45
Chapter VIII Troubleshooting ......................................................................................................................................... 45
8.1 Fault and Warning Code List .................................................................................................................. 45
8.1.1 Fault code table (to reset the fault, you need to cancel the enable first) .................................................... 45
8.1.2 Warning code table (warnings can be reset directly, no need to disable)................................................... 48
Digital Servo Drive User Manual

Chapter I Safety Precautions

Before using the servo drive system, please read the related precautions carefully, and be
sure to abide by the safety precautions and operating procedures for installation and
commissioning. The company is not responsible for any equipment damage or personal
injury caused by not operating in accordance with the requirements.
◆ This product is a general industrial product and is not intended for use in machines and
systems that are related to human life.
◆ Only qualified personnel are allowed to perform wiring, running, maintenance,
inspection and other operations.
◆ Safety devices must be equipped if it is used on devices that may cause serious accidents
or losses.
◆ Although this product is perfectly sound in terms of quality control, the noise, static
electricity, input power supply, wiring, parts and other factors may cause unexpected actions.
Please fully consider mechanical safety measures to ensure safety within the possible range
of motion

Chapter II Electrical Specifications

2.1 Specifications

Input power Single-phase 220VAC

Temperature 0～45℃
Humidity ≤90%RH, no condensation
Working Elevation Altitude ≤1000m
environment Installation
No corrosive gas, flammable gas, oil mist or dust.
environment
Installation mode Vertical
Support 17-bit incremental/absolute value encoder, 23-bit incremental/absolute
Encoder
value encoder
Output power 24V voltage output 100mA, supply power to DI port and pulse port.
Digital input 8-channel common digital input, function can be configured.
Control signal
Digital output 6-channel digital output, function can be configured.
2-channel high-speed input: support up to 1MHz pulse, duty cycle 50%.
Input
Support pulse input mode: PULS+DIR, A+B, CW+CCW
Pulse signal
3-channel high-speed pulse output, output signal form: 5V differential signal.
Output
1 channel Z signal single-ended output signal.
2-channel analog input, 12-bit resolution, input range -9.5 ~ +9.5V. Among
Input
Analog signal them, AI2 is fixed as the torque limit input.
Output None
Communication function RS485 communication, ModbusRTU protocol.
Display panel and key operation 5 keys (Mode, Set, Left, Up, Down) and 6 nixie tubes
Built-in 50W 40Ω braking resistor. For frequent braking occasions, an external
Braking resistor
braking resistor is required.

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2.2 Drive model

LC10 P - 100
电机功率
Motor power
50:50W
50:50W
100:100W
100:100W
200:200W
200:200W
400:400W
Drive series P:脉冲型
P: Pulse type 400:400W
驱动器系列 750:750W
E:EtherCAT总线型
E: Ether CAT bus type
750:750W
1000:1KW
1000:1KW

2.3 Motor model

LCMT - 02 S LB 02 N B - 60 M006 30B

Product
产品信息 电机转速:
Motor speed:
information 10:1000RPM
10:1000RPM
15:1500RPM
15:1500RPV
驱动器功率:
Drive power: 25:2500RPM
25:2500RPV
02:02KW
02:02KW 30:3000RPM
30:3000RPM
04:0.4KW
04:0.4KW
……
Motor
电机扭矩 torque
S:S：5对极
5 pairs of 编码器类型:
Encoder type:

poles C17:17位磁编增量式
C17: 17-bit magnetic encoder incremental

R17:17位磁编绝对值
RI7: 17-bit magnetic encoder absolute value
Motor inertia: G17: 17-bit optical encoder absolute value
G17:17位光编绝对值 电机法兰：
Motor flange:
电机惯量:
LB: 220V low C23: 23-bit magnetic encoder incremental A:A:有油封，无键槽
with oil seal, no keyway 6:60法兰
6:60 flange
LB:220V低惯量
inertia C23:23位磁编增量式 N:不带刹车
N: without B: with oil seal and keyway
R23: 23-bit magnetic encoder absolute value
R23:23位磁编绝对值 C:B:有油封，有键槽 8:80法兰
8:80 flange
MB:220V中惯量
MB: 220V medium Z:带刹车
brake with oil seal, no keyway
...
inertia
G23: 23-bit optical encoder absolute value
G23:23位光编绝对值 Z: with brake C:有油封，无键槽

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Digital Servo Drive User Manual

Chapter III Installation

Warning
● The storage and installation of the product must meet the environmental conditions.
● Damaged or incomplete products should not be installed and used.
● The product requires fireproof materials for installation, and must not be installed on or near flammable
materials to prevent fire.
● The servo drive unit must be installed in the electric cabinet to prevent the intrusion of dust, corrosive
gas, conductive objects, liquids, and inflammables.
● Servo drive unit and servo motor should be protected from vibration and shock.
● It is strictly forbidden to drag the servo motor wires and encoder lines.

3.1 Installation of servo drive unit

Note
● The servo drive unit must be installed in a well-protected electric cabinet.
● The servo drive unit must be installed in the specified direction and interval, and ensure good heat
dissipation conditions.
● Do not install on or near flammable objects to prevent fire.

3.1.1 Installation environment

◆ Operating temperature/humidity: 0~55℃ (no frost), < 90%RH (no condensation).
◆ Storage temperature/humidity: -20~65℃ (no frost), < 90%RH (no condensation).
◆ Atmospheric environment: inside the control cabinet, without corrosive or flammable gas, oil mist, dust, etc.
◆ Elevation: below 1000m above sea level.
◆ Vibration: < 0.5G (4.9m/s2), 10~60 Hz (non-continuous operation).
◆ Protection: The servo drive itself has no protection, so it must be installed in a well-protected electrical cabinet, and
protected from the intrusion of corrosive or flammable gases, conductive objects, metal dust, oil mist and liquids.

3.1.2 Installation method

◆ The servo drive of our company is in vertical structure, so please install it vertically. The installation direction
should be upwards perpendicular to the installation surface.
◆ The installation layout of single or multiple servo drives is shown in the figure below.

Installation interval of a single servo drive unit Installation interval of multiple servo units

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3.1.3 Installation dimensions

3.2 Servo motor installation

Warning

● It is strictly forbidden to knock the shaft end of the motor, or the motor encoder may be damaged.

3.2.1 Installation environment

◆ Operating temperature/humidity: 5~40℃ (no frost), < 90%RH (no condensation).
◆ Storage temperature/humidity: -20~55℃ (no frost), < 80%RH (no condensation).
◆ Atmospheric environment: indoor (no exposure), without corrosive or flammable gas, oil mist, dust, etc.
◆ Elevation: below 1000m above sea level.
◆ Vibration: < 0.5G (4.9m/s2), 10~60 Hz (non-continuous operation).
◆ Protection level: IP54

3.2.2 Installation method

◆ Installation direction: To prevent water, oil and other liquids from flowing into the motor from the motor outlet,
please place the cable outlet at the bottom. If the motor shaft is installed upwards and a reducer is attached, it is
necessary to prevent oil stains in the reducer from penetrating into the motor from the motor shaft.
◆ Concentric: When connecting with the machine, please use the coupling, and keep the axle center of the servo motor
and the axle center of the machine in a straight line.
◆ Cable: Do not "bend" or put "tension" on the cables, do not over-tension the cable when wiring (using).
◆ Fixing: The motor installation must be firm, and there should be anti-loosening measures.

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Digital Servo Drive User Manual

Chapter IV Wiring

Warning
● The power supply of this series of drives is single-phase 220V. The power supply must be identified when
wiring.
● When using this product, the user must consider safety protection measures in the design and assembly to
prevent accidents caused by wrong operations.
● The drive terminals U, V and W must correspond to the motor U, V and W, or it may cause a crash.
● The drive and motor must be well grounded.
● The power must be turned off at least 5 minutes before disassembling the drive.
● It is forbidden to turn on/off the power frequently. When the power is off, you need to wait for the nixie
tube to go out before powering on again.
● When using the internal braking resistor, the short-circuit wire must be connected between terminals B2
and B3. It is forbidden to connect the wire between B1 and B2 directly.

4.1 Terminal description

Nixie tube

Key

Control signal
terminal

Encoder terminal

Power terminal

Braking resistor
terminal

Motor power
cable terminal

Earth wire
terminal

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 Digital Servo Drive User Manual

4.2 Main circuit wiring

4.2.1 Definition of main circuit terminals

◆ Input power terminal

No. Signal definition Functions

1 L
Power terminal, can be connected to AC single-phase 220V
2 N

◆ Braking resistor terminal

Pin Signal definition Functions Description

DC bus positive terminal The positive terminal of the built-in

1 B1
output DCP resistor is connected to B1. When using
Built-in braking resistor the built-in resistor, please short-circuit
2 B3
negative output. B2 and B3. When using external
resistor, please connect the resistor
Brake transistor collector
3 B2 between B1 and B2 (B2 and B3 must be
output
disconnected).

◆ Motor terminal

Socket No. Signal definition Functions

1 U Connect to motor phase U

2 V Connect to motor phase V
3 W Connect to motor phase W
4 PE Connect to motor housing

4.2.2 How to use the main circuit power terminal (spring type)

1. Strip the outer sheath of the wire to expose 8-9mm bare copper wire.
2. The pressing method is as follows:
● Use the control bar provided with the servo drive to pry up the slot (as shown in Fig. A);
● Insert a slotted screwdriver into the terminal opening (3.0~3.5mm width at the end), then press
firmly to open the slot (as shown in Fig. B).
3. The pressing method is as follows:

Fig. A Fig. B
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Digital Servo Drive User Manual
4.2.3 Drive wiring diagram

伺服驱动器
Servo driver

USB-to-485
USB转485通讯线
communication cable

PLCPLC或
or motion

CN1
controller
运动控制器

The filter is selectively installed according

CN2
滤波器根据现场环境选择性安装
to the site environment

MCCB
Filter L
AC 220V 滤波器
N
B1
外部制动电阻
External braking resistor B2
B3
①When
① 使用内部制动电阻时，短接B2和B3；
using the internal braking resistor, Motor

电机
short-circuit B2 and B3;
② 当使用外部制动电阻时，必须断开 U
②When using external braking resistor, B2 and B3
B2和B3，将电阻接到B1和B3上。
must be disconnected, and the resistor must be V
connected to B1 and B3.
W
PE
PE

Note: When using the internal braking resistor, short-circuit B2 and B3 (connected at the factory); when using the external
braking resistor, disconnect B2 and B3, and connect the external braking resistor between B1 and B2.

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4.3 Definition of wiring terminal

4.3.1 Definition of communication terminals (CN1/CN2)

Pin Network cable color Signal definition Pin 1 Pin 8
1 White/orange NC
2 Orange NC
3 White/green NC
4 Blue 485+ RJ45 connector

5 White/blue 485-
6 Green NC
7 White/brown NC
8 Brown GND
Registered jack pin order

4.3.2 Definition of control terminals (CN1)

Terminal welding surface

Pin Signal name Function name Notes or supplementary instructions

Pulse input PUL negative terminal,
42 PUL+
5V interface. When the 5V pulse interface is connected to 12V or
Pulse input PUL positive terminal, 5V 24V pulse, an external resistor needs to be connected
41 PUL-
interface. in series;
Pulse direction DIR negative When using the 24V pulse input common terminal
40 DIR+
terminal, 5V interface. OPC, the 24V pulse signal can be directly connected.
Pulse direction DIR positive terminal, At this moment, PUL+ and DIR+ are not connected.
39 DIR-
5V interface. Up to 1MHz frequency is supported.
38 OPC 24V pulse input common terminal
3 DI1 Digital input 1
4 DI2 Digital input 2
5 DI3 Digital input 3
6 DI4 Digital input 4 For detailed description of parameter configuration,
18 DI5 Digital input 5 please refer to chapter 6.4.1.
19 DI6 Digital input 6
20 DI7 Digital input 7
21 DI8 Digital input 8
10 DICOM DI port common terminal DICOM can be connected to +24V or 0V
44 +24VO 24V power output positive terminal The maximum output current of 24V is 100mA, which
11 COM- can only be used as power supply for the DI port. It is
24V power output negative terminal forbidden to drive external loads.
12 COM-

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Digital Servo Drive User Manual
8 DO1A Terminal A of digital output 1
7 DO1B Terminal B of digital output 1
6 DO2A Terminal A of digital output 2
5 DO2B Terminal B of digital output 2 For detailed description of parameter configuration,
4 DO3A Terminal A of digital output 3 please refer to chapter 6.4.2.
3 DO3B Terminal B of digital output 3
2 DO4A Terminal A of digital output 4 Note: The output port allows a maximum current of
1 DO4B Terminal B of digital output 4 200mA. It can't directly drive a large current load such
25 DO5A Terminal A of digital output 5 as a motor brake. External relay is required.
9 DO5B Terminal B of digital output 5
27 DO6A Terminal A of digital output 6
26 DO6B Terminal B of digital output 6
Encoder frequency division output
28 OA+
A+
13 OA- Encoder frequency division output A-
P05-17: The number of encoder frequency division
Encoder frequency division output
29 OB+ pulses, used to set the number of pulses output by the
B+
drive for each rotation of the motor.
14 OB- Encoder frequency division output B-
30 OZ+ Encoder frequency division output Z+
15 OZ- Encoder frequency division output Z-
20 GND Digital signal ground
37 CZ+ Z signal collector output +
This pin is not currently available
36 CZ- Z signal collector output -
16 AGND Analog input AGND
All can be used for speed or torque command input,
17 AI2 Analog input AI2
which can be selected by parameter setting of P6 and
18 AGND Analog input AGND
P7
19 AI1 Analog input AI1

4.3.3 Encoder terminal definition (CN2)

◆ Schematic diagram of drive encoder terminals

⑤ ③ ①

⑥ ④ ②

Encoder terminal pin diagram

◆ Drive encoder pin definition

Servo side Name Wire color

1 VCC Encoder power supply +5V Red
2 GND Encoder power ground Yellow
3 / / /
4 / / /
5 SD+ Encoder signal+ Blue
6 SD- Encoder signal- Black

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◆ Schematic diagram of motor terminals

① ② ③ ① ② ①
① ②
④ ⑤ ⑥ ③ ④ ⑤ ③ ②
③ ④ ④
⑦ ⑧ ⑨ ⑥ ⑦

9-pin Amp plug male 7-pin aviation plug 4-pin Amp plug 4-pin aviation plug

◆ Motor encoder terminal pin definition (Amp plug is the same as the aviation plug)
Motor side Name Wire color
1 PE Shielded cable
2 E- Battery power White
supply negative
3 E+ Battery power Green
supply positive
4 SD- Encoder signal- Black
5 GND Encoder power Yellow
ground
6 SD+ Encoder signal+ Blue
7 VCC Encoder power Red
supply +5V

◆ Motor power line pin definition

Motor side (Amp plug) Name Wire color
1 U Motor phase U Brown
2 V Motor phase V Blue
3 W Motor phase W Yellow
4 PE Motor housing Green

Motor side (aviation plug) Name Wire color

1 PE Motor housing Yellow/green
2 U Motor phase U Black
3 V Motor phase V Grey
4 W Motor phase W Brown

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4.4 Control signal terminal wiring

4.4.1 DI input circuit
◆ NPN type input wiring
Switch
PLC 伺服

COM
DICOM
24V
DIx
Y
0V

◆ PNP type input wiring

Switch
PLC 伺服

COM
DICOM
24V
DIx
Y
0V

◆ Switch input wiring

Switch
伺服

COM-
+24VO
DICOM
DIx
开关
Servo

4.4.2 High-speed pulse input circuit

◆ 5V differential pulse input wiring

PUL+ 42

PUL- 41

DIR+ 40

DIR- 39

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 Digital Servo Drive User Manual

◆ 24V NPN pulse wiring (built-in resistor)

24V 38

0V 42
COM
41
PUL
40

39
DIR

◆ 24V PNP pulse wiring (built-in resistor)

0V 38

24V 42
COM
41
PUL
40

39
DIR

◆ NPN pulse wiring (external resistor)

42
VCC

PUL R 41

40
0V
DIR R 39

◆ PNP pulse wiring (external resistor)

PUL R 42

41
VCC
DIR R 40

39
0V

Note: With external resistor wiring, when signal voltage VCC=24V, R=1.5KΩ; when signal voltage VCC=12V,
R=1KΩ;
When signal voltage VCC=5V, R=0Ω.

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Digital Servo Drive User Manual

4.4.3 DO output circuit

◆ DO output wiring (connect to optocoupler)

伺服
Switch 伺服
Switch
24V DOxA
24V
DOxA DOxB
DOxB
0V 0V

Low level output wiring High level output wiring

◆ DO output wiring (connect to relay)

伺服
Switch
24V Relay NO contact
继电器常开触点
27 +

26 电机抱闸
Relay coil
继电器线圈
Motor brake
-
0V

The brake output signal controls the motor brake through the relay

4.4.4 Analog input circuit

4.4.5 Pulse feedback output circuit

26LS32 or equivalent High-speed

optocoupler

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 Digital Servo Drive User Manual

Chapter V Panel Display and Operation

5.1 Panel introduction and description

5.1.1 Description of panel keys

8 .8 .8 .8 .8 .
M SET

Down key
模 增 减 左 设
Mode key

SET key
Left key
Up key
式 加 小 移 置
键 键 键 键 键

Name General function

M Switch between modes, return to the previous menu

Increase the value of the blinking digit of the LED
nixie tube
Decrease the value of the blinking digit of the LED
nixie tube
Change the blinking position of the LED nixie tube
View the high-order value of data longer than 5 digits
Go to next level menu
SET
Execute commands such as storing parameter values

5.1.2 How to operate keys on the panel

M
Servo power Status display Parameter set
伺服上电on
状态显示 参数组P00
P00

SET SET
Parameter set
参数组P01 参数P01.02
Parameter 参数值
Parameter value
P01 P01.02
M M

Parameter set
参数组P31
P31

5.1.3 Status display

Display Name Occasion Meaning
The moment the The drive is in initialization or reset state.
Reset
servo is powered When the initialization or reset completes, switch to
Servo initializes
on. other states automatically.
Servo initialization
Nrd is complete, but The servo is inoperable because the main circuit is not
Servo not ready the drive is not powered on.
ready.

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Digital Servo Drive User Manual

Rdy The servo drive is in operable state, waiting for the

The drive is ready.
Servo ready servo enable signal from the host computer.

The servo enable

Run
signal is active. The servo drive is running.
Servo is running
(S-ON is ON)
The servo drive is
Jog
in the jog running Jog operation settings can be made.
Jog running
state.

5.1.4 Display of parameter number

The servo parameter number of this series consists of two parts: the parameter set and the number in the parameter set, as
shown in the figure below:

Parameter 组内
Set
参数组set number
编号

5.1.5 Parameter value display

⚫ Signed number with no more than 4 digits or unsigned numbers with no more than 5 digits
Displayed on a single page (5-digit nixie tube); for signed numbers, the highest digit of the data "-" represents a negative
sign.
Example: -9999 is displayed as follows:

Example: 65535 is displayed as follows:

⚫ Signed numbers with more than 4 digits or unsigned numbers with more than 5 digits
Displayed in pages from low to high digits, and every 5 digits is a page. Display method: current page + current page value,
as shown in the figure below, press and hold the " " key for more than 2 seconds to switch the current page. Example:
-268435456 is displayed as follows:
闪烁位表示页数
The flashing bit indicates the number of pages

2秒
2 2秒2
seconds seconds
第3页
Page 3 第2页
Page 2 第1页1
Page

5.1.6 Monitor parameter display (P0B set parameters)

Functional
Name Unit Meaning
code
The actual running speed of the servo motor, which is rounded to the nearest
P0B-00 Actual motor speed rpm
1rpm
P0B-01 Speed command rpm The current speed command of the drive
The percentage of the actual output torque of the servo motor to the rated
P0B-02 Internal torque command 0.1%
torque of the motor
Corresponding level status of the 9 DI terminals: the upper half of the nixie
P0B-03 DI signal monitoring - tube lights up to indicate a high level; the lower half lights up to indicate a low
level
Corresponding level status of the 6 DO terminals: the upper half of the nixie
P0B-05 DO signal monitoring - tube lights up to indicate a high level; the lower half lights up to indicate a low
level
P0B-07 Absolute position counter Command Current absolute position of the motor (command unit)
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(32-bit decimal display) unit
Current mechanical angle of the motor 0 corresponds to the mechanical angle
Mechanical angle (number of 0°
P0B-09 p P0B-09 maximum value: 65535
of pulses from the home)
Actual mechanical angle =
P0B-10 Rotation angle ° Current electrical angle of the motor
Corresponding speed
Corresponding speed value of the position command of a single control cycle
P0B-11 information of input rpm
of the drive
position command
P0B-12 Average load ratio 0.1% The percentage of average load torque to motor rated torque
Input position command Command
P0B-13 Display the number of input position commands
count unit
Encoder position deviation Encoder position deviation = total number of input position commands - total
P0B-15 P
value number of encoder feedback pulses
Count and display the number of pulses fed back by the servo motor encoder
P0B-17 Feedback pulse counter p
(encoder unit)
P0B-19 Total power-on time 0.1s Count and display the power-on time of the servo drive
AI1 sampling voltage
P0B-21 0.01V Voltage value input by analog channel 1
value
AI2 sampling voltage
P0B-22 0.01V Voltage value input by analog channel 2
value
P0B-24 Phase current rms value 0.01A Servo motor phase current rms value
The DC bus voltage value of the main circuit, that is, the voltage between the
P0B-26 Bus voltage value 0.1V
drive P⊕, ﹣
P0B-27 Module temperature value ℃ Servo drive internal power module temperature
Set the number of times to view historical faults
0 - current fault
1- Last fault
P0B-33 Fault recording -
2- Last two faults
……
9- Last 9 faults
P0B-33 selected fault code
P0B-34 Fault code of selected time -
When there is no fault, the displayed value of P0B-34 is "Er.000"
P0B-34 shows the total servo running time when the fault occurs
P0B-35 Selected fault timestamp s
When there is no fault, the displayed value of P0B-35 is "0"
Motor speed at selected The servo motor speed when the fault displayed by P0B-34 occurs
P0B-37 rpm
fault When there is no fault, the displayed value of P0B-37 is "0"
The rms value of the U-phase winding current of the servo motor when the
Motor U-phase current at
P0B-38 0.01A fault displayed by P0B-34 occurs
the selected fault
When there is no fault, the displayed value of P0B-38 is "0"
The rms value of the V-phase winding current of the servo motor when the
Motor V-phase current at
P0B-39 0.01A fault displayed by P0B-34 occurs
the selected fault
When there is no fault, the displayed value of P0B-39 is "0"
The DC bus voltage value of the main circuit when the fault displayed by
Bus voltage at selected
P0B-40 V P0B-34 occurs
fault
When there is no fault, the displayed value of P0B-40 is "0"
The corresponding high and low level status of 9 DI terminals when the fault
displayed by P0B-34 occurs
Input terminal status at
P0B-41 - Viewing method is the same as P0B-03
selected fault
When no fault occurs, P0B-41 shows that all DI terminals are low level, and
the corresponding decimal value is "0"
The corresponding high and low level status of 5 DO terminals when the fault
displayed by P0B-34 occurs
Output terminal status at
P0B-42 - Viewing method is the same as P0B-05
selected fault
When no fault occurs, P0B-42 shows that all DO terminals are low level, and
the corresponding decimal value is "0"
Position deviation = total number of input position commands - total number
Position deviation counter Command of encoder feedback pulses
P0B-53
(32-bit decimal display) unit Note: The position deviation (command unit) is the value converted from the
encoder position deviation. When doing division, there is a loss of precision.
P0B-55 Actual motor speed 0.1rpm The actual running speed of the servo motor, accurate to 0.1rpm
Display the position command counter before the electronic gear ratio
Real-time input position Command
P0B-64 frequency multiplication, regardless of the current state of the servo and the
command counter unit
control mode

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Digital Servo Drive User Manual

5.2 Common operations

Warning

● Please check whether the wiring of the drive is correct before powering on.
● Make sure that the motor is not loaded to prevent collision or other hazards.

5.2.1 JOG mode operation

When using the jog function, you need to cancel the servo enable first, or you can't enter the JOG state!

Power M
上电
on

SET

SET

JOG speed can be modified by Up and

JOG速度，可通过上下键修改 M
Down keys
2秒
2 seconds SET

按
Press
电机正转
to rotate the motor
forward

按
Press
电机反转
to rotate the motor
reversely

5.2.2 Internal power-up enable

If you want to power on and enable the motor when the DI1 terminal is not connected externally, you can set P03-03
(DI1 level logic) to 1, and the motor will be enabled by default after the power is turned on again.

5.2.3 Initialization parameters

Set P02-31 to 1 to initialize the drive parameters, and the drive needs to be restarted after the setting is completed.

5.2.4 Manual reset alarm

Set P0D-01 to 1 to clear the resettable alarms;
For multi-turn absolute encoder power failure alarm (Er.731), first set P0D-20 to 2, and then set P0D-01 to 1 to clear
the alarm.

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 Digital Servo Drive User Manual

Chapter VI Control Mode Description

6.1 Location mode description

6.1.1 Position mode wiring diagram

CN1 内部24V输出，
The internal 24V output
CN3/CN4 Upper
上位机 computer
COM- 只允许给DI口
11 can only supply power
供电， to the DI port. It is 8 GND GND
COM- forbidden to supply
12 禁止给外部负
power to external
载供电！！！ 4 485+ A
+24VO 44 loads!!! It may cause
可能导致内部
5 485- B
电源损坏。 the internal
damage to
CN1 power supply.
DICOM 10 CN1
Servo enabled 28 OA+ A-phase feedback
伺服使能 A相反馈
DI1 24
Positive
正限位开关 limit switch 13 OA-
DI2 23
Negative
负限位开关 limit switch 29 OB+ B-phase feedback
B相反馈
DI3 22
Alarm reset
报警复位 14 OB-
DI4 21
Speed direction setting
速度方向设定 30 OZ+ Z-phase feedback
Z相反馈
DI5 33
Emergency
紧急停机shutdown 15 OZ-
DI6 32
Home switch
原点开关 20 GND
DI7 31
Homing start
回原点启动
DI8 43
CN1
18 AGND
CN1 -10V～+10V
Servo ready
伺服准备好 19 AI1
DO1A 8
16 AGND
Positioning DO1B 7 -10V～+10V
completed
定位完成 17 AI2
DO2A 6

Zero-velocity DO2B 5
零速到达
reached
DO3A 4 CN1 Use 5V differential input
+24V

使用5V差分输入接法
connection
DO3B 3 38 OPC
Fault output 控制器
Controller
故障输出 42 PUL+
PUL+
DO4A 2
PUL-
DO4B 1 41 PUL-
0V

Home
回零输出output DIR+
DO5A 25 40 DIR+
DIR-
DO5B 9 39 DIR-
抱闸输出
Brake output
DO6A 27
其他接线方式参考4.4.2章节
For other wiring methods, refer to
DO6B 26 chapter 4.4.2

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Digital Servo Drive User Manual
6.1.2 Parameters related to external pulse control
1. Pulse pin

Corresponding CN1
Signal name Name Note or supplementary instructions
pin number
PUL+ 42 Pulse input positive 1.Please read chapter 4.4.2 carefully
PUL- 41 Pulse input negative before wiring to prevent wrong wiring
DIR+ 40 Pulse direction negative from damaging the drive.
DIR- 39 Pulse direction positive 2.The maximum pulse frequency is
OPC 38 24V pulse common terminal 1MHz, and the duty cycle is 50%.
2. Related parameters
No. Parameter name Setting range Functions
P02-00 Control mode selection 0~6 Corresponding to position mode when set to 1
Absolute value system
P02-01 0~2 0: Incremental encoder, 1: Absolute value encoder
selection
P2-02 Rotation direction rotation 0~1 0: Forward; 1: Reverse
P02-03 Output pulse phase 0~1 Feedback pulse direction, 0: Forward; 1: Reverse
P05-00 Position command source 0~2 When set to 0, it is controlled by external pulse command
The number of pulses per
P05-02 0 ~1048576
motor rotation
Electronic gear ratio 1 The gear ratio takes effect only when P05-02 is set to 0
P05-07 1~1073741824
(numerator) Number of pulses per revolution
Encoder resolution x Denominator of electronic gear ratio

Electronic gear ratio 1 = Numerator of electronic gear ratio

P05-09 1~1073741824
(denominator) 17-bit encoder is 131072 pulses/revolution;
23-bit encoder is 8388608 pulses/revolution.
0: Pulse + direction, positive logic:
1: Pulse + direction, negative logic:
P05-15 Pulse command form 3: A-phase + B-phase quadrature pulse, quadruplicated frequency
4：CW+CCW
Encoder frequency
P05-17 35 ~32767
division pulse number
0: Encoder frequency division output; 1: Pulse command
Servo pulse output source
P05-38 0~2 synchronous output; 2: Frequency division or synchronous
selection
output prohibited
Position pulse edge
P05-43 0~1 0: Active on falling edge; 1: Active on rising edge
selection
DI1 terminal logic
P03-03 0~4 When set to 1, the default is power-on enable state
selection

6.1.3 Parameters related to internal multi-segment position control

1. Related DI functions can be controlled by external DI, or through virtual VDI for communication control
DI function
Symbol Function name Function description
code
Main and auxiliary running Inactive - the current running command is A;
FunIN.4 CMD-SEL
command switching Active - the current running command is B
Multi-segment running
FunIN.6 CMD1 16-segment command selection.
command switching 1
Multi-segment running
FunIN.7 CMD2 16-segment command selection.
command switching 2
Multi-segment running
FunIN.8 CMD3 16-segment command selection.
command switching 3
Multi-segment running
FunIN.9 CMD4 16-segment command selection.
command switching 4
Position command direction Active - the actual direction is opposite to the
FunIN.27 POSDirSel
setting set direction;
Multi-segment position Active - enable internal multi-segment
FunIN.28 PosInSen
command enable position.
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 Digital Servo Drive User Manual
2. Related parameters

No. Parameter name Setting range Functions

When set to 2, it is internal multi-segment position
P05-00 Position command source 0~2
control mode
0: Stop after a single operation;
Multi-segment position operation 1: Cyclic operation;
P11-00 0~3
mode 2: DI switching operation;
3: Sequential operation
Number of segments at end point
P11-01 1~16
of displacement command
0: Continue to run the unfinished segment;
P11-02 Margin processing method 0~1
1: Restart operation
P11-03 Time unit 0~1 0:ms; 1:s
Displacement command type 0: Relative displacement command;
P11-04 0~1
selection 1: Absolute displacement command
Sequential operation start segment Select the start segment of internal position
P11-05 0~16
selection sequence operation
1st segment movement -1073741824
P11-12 1st segment movement displacement
displacement ~1073741824
The maximum running speed of The maximum running speed of the 1st segment
P11-14 1~6000
the 1st segment displacement displacement
1st segment displacement 1st segment displacement acceleration and
P11-15 0~65535
acceleration and deceleration time deceleration time
Waiting time after the 1st segment Waiting time after the 1st segment displacement is
P11-16 0~10000
displacement is completed completed
……
-1073741824
P11-87 16th segment movement displacement 16th segment movement displacement
~1073741824
The maximum running speed of the The maximum running speed of the 16th segment
P11-89 1~6000
16th segment displacement displacement
16th segment displacement 16th segment displacement acceleration and
P11-90 0~65535
acceleration and deceleration time deceleration time
Waiting time after the 16th segment Waiting time after the 16th segment displacement
P11-91 0~10000
displacement is completed is completed
0: Disable;
P0C-09 Communication VDI 0~1
1: Enable

3. The combination method when using the DI port to switch the internal multi-segment position

DI port combination mode Acceleration

Wait time
Segment Movement Max and
after
No. CMD1 CMD2 CMD3 CMD4 displacement speed deceleration
segment
Time
1 0 0 0 0 P11-12 P11-14 P11-15 P11-16
2 0 0 0 1 P11-17 P11-19 P11-20 P11-21
3 0 0 1 0 P11-22 P11-24 P11-25 P11-26
4 0 0 1 1 P11-27 P11-29 P11-30 P11-31
5 0 1 0 0 P11-32 P11-34 P11-35 P11-36
6 0 1 0 1 P11-37 P11-39 P11-40 P11-41
7 0 1 1 0 P11-42 P11-44 P11-45 P11-46
8 0 1 1 1 P11-47 P11-49 P11-50 P11-51
9 1 0 0 0 P11-52 P11-54 P11-55 P11-56
10 1 0 0 1 P11-57 P11-59 P11-60 P11-61
11 1 0 1 0 P11-62 P11-64 P11-65 P11-66
12 1 0 1 1 P11-67 P11-69 P11-70 P11-71
13 1 1 0 0 P11-72 P11-74 P11-75 P11-76
14 1 1 0 1 P11-77 P11-79 P11-80 P11-81
15 1 1 1 0 P11-82 P11-84 P11-85 P11-86
16 1 1 1 1 P11-87 P11-89 P11-90 P11-91
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Digital Servo Drive User Manual

6.2 Speed mode description

6.2.1 Speed mode wiring diagram

CN1 内部24V输出，
The internal 24V output
只允许给DI口
can only supply power to CN3/CN4 Upper
上位机computer
COM- 11
the DI port. It is forbidden
供电，
to supply power to 8 GND GND
COM- 12 禁止给外部负
external loads!!! It may
载供电！！！
cause damage to the 4 485+ A
+24VO 44
可能导致内部
internal power supply.
5 485- B
电源损坏。
CN1
DICOM 10
Servo enabled
伺服使能
DI1 24
Positive
正限位开关 limit switch
DI2 23
Negative
负限位开关 limit switch
DI3 22
Alarm reset
报警复位
DI4 21 CN1
Speed direction setting A-phase
速度方向设定
DI5 33 28 OA+ feedback
A相反馈
Home fixed enable
零位固定使能
DI6 32 13 OA-
CMD1 B-phase
DI7 31 29 OB+ B相反馈
feedback
CMD2
DI8 43 14 OB-
Z-phase
30 OZ+ Z相反馈
feedback

Servo ready CN1 15 OZ-

伺服准备好
DO1A 8
20 GND
Positioning DO1B 7
定位完成
completed
DO2A 6

Zero-velocity DO2B 5
零速输出
reached
DO3A 4
+24V

CN1
DO3B 3
Fault output 18 AGND
故障输出 -10V～+10V
DO4A 2
19 AI1
DO4B 1
16 AGND
0V

Home output
速度到达
DO5A 25 -10V～+10V
17 AI2
DO5B 9
Brake
抱闸输出 output
DO6A 27

DO6B 26

Note: The DI and DO functions in this wiring diagram are not the default configuration, and need to be modified
according to the parameters in the DI/DO port function configuration table in 6.2.2.

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 Digital Servo Drive User Manual

6.2.2 Functions related to external speed mode

1. DI/DO port function configuration

No. Parameter name Set value Functions

P03-12 DI6 terminal function selection 12 DI6 is defined as zero fixed enable
DI7 is defined as multi-segment running command
P03-14 DI7 terminal function selection 6
switching 1
DI8 is defined as multi-segment running command
P03-16 DI8 terminal function selection 7
switching 2
DO5 terminal function
P04-08 19 DO5 is defined as speed reaching output
selection

2. Relevant pin wiring

Signal Corresponding CN1

Name Note or supplementary instructions
name pin number
AGND 18 Analog ground
Can input ±10V analog voltage as speed
AI1 19 Analog input 1
command input or torque limit
AGND 16 Analog ground
command input.
AI2 17 Analog input 2

3. Related parameters

No. Parameter name Setting range Functions

P02-00 Control mode selection 0~6 Corresponding to speed mode when set to 0
P03-50 AI1 offset -5000~5000 Set AI1 channel analog offset value, unit: mv
P03-51 AI1 input filter time constant 0~655.35 Set AI1 analog average filter time constant, unit: ms
Set AI1 channel analog dead zone value; when the input
P03-53 AI1 dead zone 0~1000.0 voltage is less than the set voltage, the motor speed is zero,
unit: mv
P03-54 AI1 zero drift -500.0~500.0 Set AI1 channel analog zero drift value, unit: mv
P03-55 AI2 offset -5000~5000 Set AI2 channel analog offset value, unit: mv
P03-56 AI2 input filter time constant 0~655.35 Set AI2 analog average filter time constant, unit: ms
Set AI2 channel analog dead zone value; when the input
P03-58 AI2 dead zone 0~1000.0 voltage is less than the set voltage, the motor speed is zero,
unit: mv
P03-59 AI2 zero drift -500.0~500.0 Set AI2 channel analog zero drift value, unit: mv
Corresponding speed value of Set the corresponding motor output speed at analog 10V,
P03-80 0rpm~9000rpm
analog 10V unit: rpm
Corresponding torque value of
P03-81 1.00~8.00 times Set the corresponding motor output torque at analog 10V
analog 10V
P06-00 Main speed command A source 0~2 Select the source of main speed command A
Auxiliary speed command B
P06-01 0~5 Select the source of auxiliary speed command B
source
P06-02 Speed command selection 0~4 Select the source of speed command
Speed command keyboard Set the value of the internal speed command, the precision is
P06-03 -6000~6000
setting value 1rpm
Speed command acceleration Speed mode acceleration time, unit: ms (multi-speed
P06-05 0~65535
ramp time constant command is inactive)
Speed command deceleration Speed mode deceleration time, unit: ms (multi-speed
P06-06 0~65535
ramp time constant command is inactive)
P06-07 Maximum speed threshold 0~6000 Set the maximum speed threshold
P06-08 Forward speed threshold 0~6000 Set the forward speed threshold
P06-09 Reverse speed threshold 0~6000 Set the reverse speed threshold
P06-15 Zero fixed speed threshold 0~6000 Set zero speed signal detection threshold
P06-16 Motor rotation speed threshold 0~1000 Set motor selection speed threshold
Speed coincidence signal
P06-17 0~100 Set speed coincidence detection signal threshold
threshold
P06-18 Speed reach signal threshold 10~6000 Set speed reach signal threshold
Zero-speed output signal
P06-19 1~6000 Set zero-speed output signal threshold
threshold

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Digital Servo Drive User Manual
6.2.3 Internal multi-speed related functions
1. Related DI functions can be controlled by external DI, or through virtual VDI for communication control

DI function
Symbol Function name Function description
code
Main and auxiliary running Inactive - the current running command is A;
FunIN.4 CMD-SEL
command switching Active - the current running command is B
Multi-speed DI switching
FunIN.5 DIR-SEL Active - command reverse direction
direction
Multi-segment running
FunIN.6 CMD1 16-segment command selection.
command switching 1
Multi-segment running
FunIN.7 CMD2 16-segment command selection.
command switching 2
Multi-segment running
FunIN.8 CMD3 16-segment command selection.
command switching 3
Multi-segment running
FunIN.9 CMD4 16-segment command selection.
command switching 4

2. Related parameters

No. Parameter name Setting range Functions

0- Stop after a single operation (P12-01 selects the number
Multi-segment speed of segments)
P12-00 0~2
command operation mode 1- Cycle operation (P12-01 selects the number of segments)
2- Switch via external DI
Speed command end
P12-01 1~16
segment selection
P12-02 Running time unit selection 0~1 0-sec； 1-min
1st segment speed
P12-20 -6000~6000
command
P12-21 1st segment running time 0~6553.5
1st segment acceleration
P12-22 0~4
and deceleration time
……
16th segment speed
P12-65 -6000~6000
command
P12-66 16th segment running time 0~6553.5
16th segment acceleration
P12-67 0~4
and deceleration time

3. Combination method when using DI port to switch internal multi-speed

DI port combination mode Acceleration

Internal Running and
Segment No.
CMD1 CMD2 CMD3 CMD4 speed Time deceleration
Time
1 0 0 0 0 P12-20 P12-21 P12-22
2 0 0 0 1 P12-23 P12-24 P12-25
3 0 0 1 0 P12-26 P12-27 P12-28
4 0 0 1 1 P12-29 P12-30 P12-31
5 0 1 0 0 P12-32 P12-33 P12-34
6 0 1 0 1 P12-35 P12-36 P12-37
7 0 1 1 0 P12-38 P12-39 P12-40
8 0 1 1 1 P12-41 P12-42 P12-43
9 1 0 0 0 P12-44 P12-45 P12-46
10 1 0 0 1 P12-47 P12-48 P12-49
11 1 0 1 0 P12-50 P12-51 P12-52
12 1 0 1 1 P12-53 P12-54 P12-55
13 1 1 0 0 P12-56 P12-57 P12-58
14 1 1 0 1 P12-59 P12-60 P12-61
15 1 1 1 0 P12-62 P12-63 P12-64
16 1 1 1 1 P12-65 P12-66 P12-67

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 Digital Servo Drive User Manual

6.3 Torque mode description

6.3.1 Torque mode wiring diagram

CN1 The internal 24V output

内部24V输出，
can only supply power to CN3/CN4 Upper
上位机computer
COM- 只允许给DI口
11 the DI port. It is forbidden
供电， 8 GND GND
to supply power to
COM- 12 禁止给外部负
external loads!!! It may
载供电！！！
cause damage to the 4 485+ A
+24VO 44
可能导致内部
internal power supply.
5 485- B
电源损坏。
CN1
DICOM 10
Servo enabled
伺服使能
DI1 24
Positive
正限位开关 limit switch
DI2 23
Negative
负限位开关 limit switch
DI3 22
Alarm reset
报警复位
DI4 21 CN1
Torque command direction A-phase
转矩指令方向
DI5 33 28 OA+ feedback
A相反馈
Positive external torque
正外部转矩限制
limit DI6 32 13 OA-
Negative external torque limit B-phase
负外部转矩限制
DI7 31 29 OB+ feedback
B相反馈
Internal speed limit source
内部速度限制源
DI8 43 14 OB-
Z-phase
30 OZ+ feedback
Z相反馈

Servo ready CN1 15 OZ-

伺服准备好
DO1A 8
20 GND
Positioning DO1B 7
completed
定位完成
DO2A 6

DO2B 5
Torque
转矩限制 limit
DO3A 4
+24V

CN1
DO3B 3
Fault output 18 AGND
故障输出 -10V～+10V
DO4A 2
19 AI1
DO4B 1
16 AGND
0V

Speed limit
转速限制
DO5A 25 -10V～+10V
17 AI2
DO5B 9
Torque reached
转矩到达
DO6A 27

DO6B 26

Note: The DI and DO functions in this wiring diagram are not the default configuration, and need to be modified
according to the parameters in the DI/DO port function configuration table in 6.3.2.

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Digital Servo Drive User Manual

6.3.2 Functions related to external torque mode

1. DI/DO port function configuration

No. Parameter name Set value Functions

DI5 terminal function
P03-10 25 DI5 is defined as torque command direction
selection
DI6 terminal function
P03-12 16 DI6 is defined as positive external torque limit
selection
DI7 terminal function
P03-14 17 DI7 is defined as negative external torque limit
selection
DI8 terminal function
P03-16 36 DI8 is defined as internal speed limit source
selection
DO3 terminal function
P04-04 7 DO3 is defined as torque limit output
selection
DO5 terminal function
P04-08 8 DO5 is defined as speed limit output
selection
DO6 terminal function
P04-10 18 DO6 is defined as torque reaching output
selection

2. Relevant pin wiring

Signal Corresponding CN1

Name Note or supplementary instructions
name pin number
AGND 18 Analog ground
±10V analog voltage can be input as
AI1 19 Analog input 1
torque command input or torque limit
AGND 16 Analog ground
command input.
AI2 17 Analog input 2

3. Related parameters

No. Parameter name Setting range Functions

P02-00 Control mode selection 0~6 Corresponding to speed mode when set to 0
P03-50 AI1 offset -5000~5000 Set AI1 channel analog offset value, unit: mv
P03-51 AI1 input filter time constant 0~655.35 Set AI1 analog average filter time constant, unit: ms
Set AI1 channel analog dead zone; when the input voltage is
P03-53 AI1 dead zone 0~1000.0
less than the set voltage, the motor speed is zero, unit: mv
P03-54 AI1 zero drift -500.0~500.0 Set AI1 channel analog zero drift value, unit: mv
P03-55 AI2 offset -5000~5000 Set AI1 channel analog offset value, unit: mv
P03-56 AI2 input filter time constant 0~655.35 Set AI1 analog average filter time constant, unit: ms
Set AI1 channel analog dead zone; when the input voltage is
P03-58 AI2 dead zone 0~1000.0
less than the set voltage, the motor speed is zero, unit: mv
P03-59 AI2 zero drift -500.0~500.0 Set AI1 channel analog zero drift value, unit: mv
Corresponding speed value of Set the corresponding motor output speed at analog 10V,
P03-80 0rpm~9000rpm
analog 10V unit: rpm
1.00 ~ 8.00
Corresponding torque value of
P03-81 times rated Set the corresponding motor output torque at analog 10V
analog 10V
torque
Main torque command A
P07-00 0~2 Select the source of main torque command A
source
Auxiliary torque command B
P07-01 0~2 Select the source of auxiliary torque command B
source
P07-02 Torque command selection 0~4 Select the source of torque command
Torque command keyboard
P07-03 -300~300 Set the internal torque command for numerical setting
setting value
P07-07 Torque limit source 0~4 Select the torque limit source
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 Digital Servo Drive User Manual
P07-08 T-LMT selection 1~2 Select the analog input channel of the torque limit signal
P07-09 Positive internal torque limit 0.0~300.0 Forward torque limit when setting internal torque
P07-10 Negative internal torque limit 0.0~300.0 Reverse torque limit when setting internal torque
P07-11 Positive external torque limit 0.0~300.0 Set the forward torque limit when setting external torque
P07-12 Negative external torque limit 0.0~300.0 Set the reverse torque limit when setting external torque
P07-17 Speed limit source selection 0~2 Select the source of speed limit in torque mode
The analog channel when V-LMT is selected as the speed
P07-18 V-LMT selection 1~2
limit source
Torque control forward speed
Forward speed limit value in set torque mode/speed limit
P07-19 limit value/torque control 0~6000
value 1 in set torque mode
speed limit value 1
Negative speed limit value in
Reverse speed limit value in set torque mode/speed limit
P07-20 torque control/speed limit 0~6000
value 2 in set torque mode
value 2 in torque control
Torque reaching reference
P07-21 0.0~300.0 Set torque reaching command reference value
value
P07-22 Torque reaching active value 0.0~300.0 Set the torque reaching command active offset threshold
P07-23 Torque reaching inactive value 0.0~300.0 Set the torque reaching command inactive offset threshold

6.4 Detailed description of DI/DO port function configuration

6.4.1 DI function description
1. DI port configuration parameters:

DI port Function selection Logic level

No. Initial value Function description No. Initial value

DI1 P03-02 1 Servo enabled P03-03 0
DI2 P03-04 14 Positive overtravel switch P03-05 0
DI3 P03-06 15 Reverse overtravel switch P03-07 0
DI4 P03-08 2 Fault and warning reset P03-09 0
DI5 P03-10 26 Speed command direction setting P03-11 0
DI6 P03-12 34 Emergency shutdown P03-13 0
DI7 P03-14 31 Home switch P03-15 0
DI8 P03-16 32 Homing enable P03-17 0

2. DI port function command table

Code Name Function name Description Remarks

The logic of the terminals must be set to:

Active level.
When the DI or VDI terminal
Inactive- Servo motor enable is prohibited; corresponding to this function is changed,
FunIN.1 S-ON Servo enabled
Active - Servo motor power-on enable. or the logic selection of the corresponding
terminal is changed,
the change will take effect after the power
is turned on again.
The logic of the terminal must be set to:
Edge active. If active level is selected,
the drive is forced to set to edge active
internally.
Fault and
According to the alarm type, the servo can
warning reset Inactive- disabled;
FunIN.2 ALM-RST continue to work after some alarms are
(edge active Active - enabled.
reset.
function)
For NO.1 and NO.2 resettable fault, it is
necessary to turn off the servo enable
signal (S-ON is set to OFF) before using
this function.

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Digital Servo Drive User Manual
When P08-09=1:
Inactive- The speed control loop is PI control;
The logic selection of the corresponding
Active - The speed control loop is P control.
FunIN.3 GAIN-SEL Gain switching terminal is recommended to be set as:
When P08-09=2:
Active level.
Inactive- Fixed to first set of gains;
Active - Fixed to second set of gains.
Main and
auxiliary The logic selection of the corresponding
Inactive - the current running command is A;
FunIN.4 CMD-SEL running terminal is recommended to be set as:
Active - The current run command is B.
command Active level.
switching
Multi-speed DI
The logic selection of the corresponding
switching Inactive- Default command direction;
FunIN.5 DIR-SEL terminal is recommended to be set as:
running Active- Command reverse direction.
Active level.
direction setting
Multi-segment
The logic selection of the corresponding
running
FunIN.6 CMD1 16-segment command selection. terminal is recommended to be set as:
command
Active level.
switching 1
Multi-segment
The logic selection of the corresponding
running
FunIN.7 CMD2 16-segment command selection. terminal is recommended to be set as:
command
Active level.
switching 2
Multi-segment
The logic selection of the corresponding
running
FunIN.8 CMD3 16-segment command selection. terminal is recommended to be set as:
command
Active level.
switching 3
Multi-segment
The logic selection of the corresponding
running
FunIN.9 CMD4 16-segment command selection. terminal is recommended to be set as:
command
Active level.
switching 4
The logic selection of the corresponding
Mode switching Switch among speed, position and torque
FunIN.10 M1-SEL terminal is recommended to be set as:
1 according to the selected control mode (3, 4, 5).
Active level.
The logic selection of the corresponding
Mode switching Switch among speed, position and torque
FunIN.11 M2-SEL terminal is recommended to be set as:
2 according to the selected control mode (6).
Active level.
The logic selection of the corresponding
Home fixed Active- Enable zero position fix function;
FunIN.12 ZCLAMP terminal is recommended to be set as:
enable Inactive- Disable zero position fix function.
Active level.
Internal and external position commands
Position
Active - Prohibit command pulse input; are prohibited from running. The logic
FunIN.13 INHIBIT command
Inactive- Allow command pulse input. selection of the terminal must be set as:
disable
active level.
When the mechanical movement exceeds
Positive the movable range, it enters the overtravel
Active- Prohibit forward drive;
FunIN.14 P-OT overtravel prevention function: the logic selection of
Inactive- Allow forward drive.
switch the corresponding terminal is
recommended to set to: active level.
Reverse The logic selection of the corresponding
Active - Prohibit reverse drive;
FunIN.15 N-OT overtravel terminal is recommended to be set as:
Inactive- Allow reverse drive.
switch Active level.
Switch the torque limit source according to
P07-07.
When P07-07=1:
Active- Forward external torque limit is active ;
Inactive- Forward internal torque limit is active .
Positive The logic selection of the corresponding
P07-07=3 and the AI limit value is greater than
FunIN.16 P-CL external torque terminal is recommended to be set as:
the forward external limit value:
limit Active level.
Active- Forward external torque limit is active ;
Inactive - AI torque limit is active .
When P07-07=4:
Active - AI torque limit is active ;
Inactive- Forward internal torque limit is active .

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 Digital Servo Drive User Manual
Switch the torque limit source according to
P07-07.
When P07-07=1:
Active- Reverse external torque limit is active;
Inactive- Reverse internal torque limit is active.
Negative The logic selection of the corresponding
P07-07=3 and the AI limit value is less than the
FunIN.17 N-CL external torque terminal is recommended to be set as:
reverse external limit value:
limit Active level.
Active- Reverse external torque limit is active.
Inactive - AI torque limit is active .
When P07-07=4:
Active - AI torque limit is active ;
Inactive- Reverse internal torque limit is active.
The logic selection of the corresponding
Active- Input according to the given command;
FunIN.18 JOGCMD+ Forward jog terminal is recommended to be set as:
Inactive- Running command stops input.
Active level.
Active- Reverse input according to the given The logic selection of the corresponding
FunIN.19 JOGCMD- Negative jog command; terminal is recommended to be set as:
Inactive- Running command stops input. Active level.
Active- Execute the command of step size; The logic selection of the corresponding
FunIN.20 POSSTEP Step size enable Inactive- The command is zero, which is the terminal is recommended to be set as:
positioning state. Edge active.
Handwheel
FunIN.21 HX1 magnification
The logic selection of the corresponding
signal 1 *10 times: HX1 is active, HX2 is inactive
terminal is recommended to be set as:
Handwheel *100 times: HX1 is inactive , HX2 is active
Active level.
FunIN.22 HX2 magnification
signal 2
Inactive- Select position control according to
The logic selection of the corresponding
Handwheel P05-00;
FunIN.23 HX_EN terminal is recommended to be set as:
enable signal Active- Receive handwheel pulse signal
Active level.
in location mode for position control.
The logic selection of the corresponding
Electronic gear Inactive- Electronic gear ratio 1;
FunIN.24 GEAR_SEL terminal is recommended to be set as:
selection Active- Electronic gear ratio 2.
Active level.
Torque The logic selection of the corresponding
Inactive- Positive direction;
FunIN.25 TOQDirSel command terminal is recommended to be set as:
Active - Reverse direction.
direction setting Active level.
The logic selection of the corresponding
Speed command Inactive- Positive direction;
FunIN.26 SPDDirSel terminal is recommended to be set as:
direction setting Active - Reverse direction.
Active level.
Inactive, the actual position command direction
Position is the same as the set position command The logic selection of the corresponding
FunIN.27 POSDirSel command direction; terminal is recommended to be set as:
direction setting Active, the actual position command direction is Active level.
opposite to the set position command direction;
Multi-segment Edge active
The logic selection of the corresponding
position Inactive- Ignore internal multi-segment
FunIN.28 PosInSen terminal is recommended to be set as:
command commands;
Active level.
enable Active- Initiate internal multi-segment.
Interrupt The logic selection of the corresponding
Inactive- disabled;
FunIN.29 XintFree fixed-length terminal is recommended to be set to: Edge
Active - enabled.
state release active.
The logic selection of the corresponding
terminal must be set to: active level.
If it is set to 2 (rising edge active), the drive
will be forced to change to 1 (high level
active);
Inactive- not trigger;
FunIN.31 HomeSwitch Home switch If it is set to 3 (falling edge active), the
Active - Trigger.
drive will be forced to change to 0 (low
level active);
If it is set to 4 (both rising edge and falling
edge active), the drive will be forced to
change to 0 (low level active)
The logic selection of the corresponding
Inactive- disabled;
FunIN.32 HomingStart Homing enable terminal is recommended to be set to: Edge
Active - enabled.
active.

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Digital Servo Drive User Manual
The logic selection of the corresponding
terminal must be set to: active level.
If it is set to 2 (rising edge active), the drive
will be forced to change to 1 (high level
active);
Interrupt fixed Active - Prohibit interrupt fixed length;
FunIN.33 XintInhibit If it is set to 3 (falling edge active), the
length disable Inactive- Allow interrupt fixed length.
drive will be forced to change to 0 (low
level active);
If it is set to 4 (both rising edge and falling
edge active), the drive will be forced to
change to 0 (low level active)
Active - Lock position after zero speed stop; The logic selection of the corresponding
Emergency
FunIN.34 EmergencyStop Inactive- Has no effect on the current running terminal is recommended to be set as:
shutdown
state. Active level.
The logic selection of the corresponding
terminal is recommended to be set to: Edge
Clear position Active - Position deviation is cleared;
FunIN.35 ClrPosErr active.
deviation Inactive- Position deviation is not cleared.
It is recommended to configure this DI
function to DI8 or DI9 terminal.
Active - P07-19 is used as internal positive and
The logic selection of the corresponding
Internal speed negative speed limit value (P07-17=2)
FunIN.36 V_LmtSel terminal is recommended to be set as:
limit source Inactive- P07-20 is used as internal positive and
Active level.
negative speed limit value (P07-17=2)
In position control mode, when the source of
position command is pulse command The logic selection of the corresponding
Pulse command
FunIN.37 Pulselnhibit (P05-00=0): terminal is recommended to be set as:
prohibition
Inactive- Respond to pulse commands; Active level.
Active - Not respond to pulse commands;

6.4.2 DO function description

1. DO port configuration parameters:

DI port Function selection Logic level

No. Initial value Function description No. Initial value

DO1 P04-00 1 Servo ready P04-01 0
DO2 P04-02 5 Positioning completed P04-03 0
DO3 P04-04 3 Zero speed P04-05 0
DO4 P04-06 11 Fault output P04-07 0
DO5 P04-08 16 Homing output P04-09 0
DO6 P04-10 9 Brake output P04-11 0

2. DO port function command table

Code Name Function name Description

Servo status is ready to receive S-ON active signal:

FunOUT.1 S-RDY Servo ready Active - Servo is ready;
Inactive- Servo is not ready.

Inactive, the absolute value of the motor speed after filtering is less than the set
value of function code P06-16;
FunOUT.2 TGON Motor rotation output
Active, the absolute value of the motor speed after filtering reaches the set value
of function code P06-16.
Inactive, when the speed feedback of the motor is greater than the value set by
function code P06-19;
FunOUT.3 ZERO Zero speed
Active, when the difference between the speed feedback of the motor and the
given value is greater than the value set by function code P06-19.

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 Digital Servo Drive User Manual
In speed control, it is active when the absolute value of the difference between
FunOUT.4 V-CMP Speed coincidence the speed of the servo motor and the speed command is less than the set value of
P06-17 speed deviation.
In position control, it is active when the position deviation pulse reaches the
FunOUT.5 COIN Positioning completed
positioning completion range P05-21.
In position control, it is active when the position deviation pulse reaches the
FunOUT.6 NEAR Positioning approach
setting of the positioning approach signal amplitude P05-22.
Confirmation signal of torque limit: Active - motor torque is limited; Inactive -
FunOUT.7 C-LT Torque limit
motor torque is not limited.
Acknowledgement signal of speed limitation in torque control:
FunOUT.8 V-LT Speed limit Active - Motor speed is limited;
Inactive - Motor speed is not limited.
Brake signal output:
FunOUT.9 BK Brake output Valid - close, release the brake;
Invalid - Activate the brake.

FunOUT.10 WARN Warning output Warning output signal is active. (On)

FunOUT.11 ALM Fault output Status active when a fault is detected.

Outputs 3-digit alarm
FunOUT.12 ALMO1 Outputs 3-digit alarm code.
code
Outputs 3-digit alarm
FunOUT.13 ALMO2 Outputs 3-digit alarm code.
code
Outputs 3-digit alarm
FunOUT.14 ALMO3 Outputs 3-digit alarm code.
code
Interrupt fixed length Active - Interrupt fixed length positioning completed;
FunOUT.15 Xintcoin
completion Inactive - Interrupt fixed length positioning is not completed.

Homing status: Active - Homing;

FunOUT.16 HomeAttain Homing output
Inactive - Home is not reset.

Electrical homing status:

ElecHome Electrical homing
FunOUT.17 Active - Electrical home is reset;
Attain output
Inactive - Electrical home is not reset.
Torque reaching Active - The absolute value of torque reaches the set value;
FunOUT.18 ToqReach
output Inactive - The absolute value of torque is less than the set value.
Active - Speed feedback reaches the set value; Inactive - Speed feedback does
FunOUT.19 V-Arr Speed reaching output
not reach the set value.
Angle identification Active - Angle identification completed
FunOUT.20 AngIntRdy
output Inactive - Angle identification not completed
Active - Dynamic brake relay disconnected
FunOUT.21 DB DB brake output
Inactive - Dynamic brake relay pickup
Internal command Active - Internal command completed
FunOUT.22 CmdOk
output Inactive - Internal command not completed

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Digital Servo Drive User Manual

Chapter VII Parameter Description

7.1 P01 set drive parameters

Functiona Default Effective setting Related

Name Setting range Unit
l code setting method method mode
P01-00 MCU software version 0~65535 - - - Display -
Power on Stop
P01-02 Servo drive number 0~65535 - - -
again setting

7.2 P02 set basic control parameters

Functional Default Effective setting Related
Name Setting range Unit
code setting method method mode

0: Speed mode
1: Position mode
2: Torque mode
Effective
3: Torque mode ↔ speed mode Stop
P02-00 Control mode selection - 1 immediatel -
4: Speed mode↔position mode setting
y
5: Torque mode↔position mode
6: Torque↔speed↔position hybrid
mode

0: Incremental encoder Power on Stop

P02-01 Encoder type selection - 0 ALL
1: Absolute value encoder again setting
0: CCW direction is the forward
rotation direction (A leads B) Power on Stop
P02-02 Rotation direction selection - 0 PST
1: CW direction is the forward rotation again setting
direction (A lags B)

0: CCW direction is the forward

rotation direction (A leads B) Power on Stop
P02-03 Output pulse phase - 0 PST
1: CW direction is the forward rotation again setting
direction (reverse mode, A lags B)

0: Free stop, keep free running state Effective

Servo enable OFF stop mode Stop
P02-05 1: Stop at zero speed, keep free running - 0 immediatel PST
selection setting
state y
0: Free stop, keep free running state Effective
Stop
P02-06 Fault No.2 stop mode selection 1: Stop at zero speed, keep free running - 0 immediatel PST
setting
state y
0: Free stop, keep free running state
1: Stop at zero speed, position remains Effective
Stop
P02-07 Overtravel stop mode selection locked - 1 immediatel PST
setting
2: Stop at zero speed, keep free running y
state
Effective
Stop
P02-08 Fault No.1 stop mode selection 0: Free stop, keep free running state - 0 immediatel PST
setting
y
Effective
Brake output ON to command Running
P02-09 0~500 ms 250 immediatel PS
receiving delay setting
y
Standstill state, delay time from Effective
Running
P02-10 brake output OFF to motor power 1~1000 ms 150 immediatel PS
setting
off y
Effective
Rotating state, speed threshold Running
P02-11 0~3000 rpm 30 immediatel PS
value when brake output is OFF setting
y
Rotating state, delay time from Effective
Running
P02-12 servo enable OFF to brake output 1~1000 ms 500 immediatel PS
setting
OFF y
0: Output warning information Effective
Stop
P02-15 LED warning display selection immediately - 0 immediatel PST
setting
1: Do not output warning information y
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 Digital Servo Drive User Manual
Effective
Servo enable (S-ON) Stop
P02-18 0~64 ms 0 immediatel PST
Filtering time constant setting
y
0: Use built-in braking resistor
1: Use external braking resistor, natural
cooling Effective
Stop
P02-25 Braking resistor setting 2: Use external braking resistor, forced - 0 immediatel PST
setting
air cooling y
3: No braking resistor, rely on capacitor
absorption
0: No operation
Effective
1: Restore default value (except Stop
P02-31 Initialize system parameters - 0 immediatel PST
P00/P01 set) setting
y
2: Clear fault records
Effective
Running
P02-32 Panel default display function 0~99 (refer to chapter 5.1.6) - 50 immediatel -
setting
y
Power on Stop
P02-41 Factory parameter password 0~65535 - 0 PST
again setting

7.3 P03 set terminal input parameters

Functional Default Effective Setting Related
Name Setting range Unit
code setting method method mode

Refer to chapter 6.4.1

Bit0- Corresponding to FunIN.1
Power-on valid DI functions Power on Running
P03-00 Bit1- Corresponding to FunIN.2 - 0 -
Assignment 1 again setting
……
Bit15- Corresponding to FunIN.16

0~0xFFFF
Bit0- Corresponding to FunIN.17
Power-on valid DI functions Power on Running
P03-01 Bit1- Corresponding to FunIN.18 - 0 -
Assignment 2 again setting
……
Bit15- Corresponding to FunIN.32

Effective at Running
P03-02 DI1 terminal function selection 0~37 - 14 -
stop setting

Input polarity: 0~4

0- Means active low
1- Means active high
Effective at Running
P03-03 DI1 terminal logic selection 2- Means active on rising edge - 0 -
stop setting
3- Means active on falling edge
4- Means active on both rising and
falling edges

……

Effective at Running
P03-16 DI8 terminal function selection 0~37 - 31 -
stop setting
Effective at Running
P03-17 DI8 terminal logic selection Refer to the description of P03-03 - 0 -
stop setting

0~0xFFFF
Bit0- Corresponding to FunIN.33
Power-on valid DI functions Power on Running
P03-34 Bit1- Corresponding to FunIN.34 - 0 -
Assignment 3 again setting
……
Bit15- Corresponding to FunIN.48

0~0xFFFF
Bit0- Corresponding to FunIN.49
Power-on valid DI functions Power on Running
P03-35 Bit1- Corresponding to FunIN.50 - 0 -
Assignment 4 again setting
……
Bit15- Corresponding to FunIN.64

7.4 P04 set terminal output parameters

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Digital Servo Drive User Manual
Functional Factory Effective Setting Related
Name Setting range Unit
code setting method method mode
Refer to chapter 6.4.2 Effective at Running
P04-00 DO1 terminal function selection - 1 -
0~22 stop setting
Output polarity reversal setting:
0- Output L low level when active
Effective at Running
P04-01 DO1 terminal logic selection (optocoupler is turned on) - 0 -
stop setting
1- Output H high level when active
(optocoupler is turned off)
……
Refer to chapter 6.4.2 Effective at Running
P04-10 DO6 terminal function selection - 0 -
0~22 stop setting
Effective at Running
P04-11 DO6 terminal logic selection Refer to the description of P04-01 - 0 -
stop setting
Effective
0~31, set the DO port to be controlled Stop
P04-22 DO source selection - 0 immediatel -
by the drive or P31-4 setting
y

7.5 P05 set position control parameters

Functional Default Effective Setting Related
Name Setting range Unit
code setting method method mode
0- Pulse command
Position command 1- Step value given Effective Stop
P05-00 - 0 P
source 2- Multi-segment position command immediately setting
given
Number of position
Power on Stop
P05-02 commands per motor 0 ~1048576 P/r 0 P
again setting
rotation
First-order low-pass Effective Stop
P05-04 0~6553.5 ms 0.0 P
filter time constant immediately setting

Command Effective Stop

P05-05 Step amount -9999 ~9999 50 P
Unit immediately setting

Average filter time Effective Stop

P05-06 0.0~128.0 ms 0.0 P
constant immediately setting

Electronic gear ratio 1 Effective Running

P05-07 1~1073741824 - 1048576 P
(numerator) immediately setting

Electronic gear ratio 1 Effective Running

P05-09 1~1073741824 - 10000 P
(denominator) immediately setting

Electronic gear ratio 2 Effective Running

P05-11 1~1073741824 - 1048576 P
(numerator) immediately setting

Electronic gear ratio 2 Effective Running

P05-13 1~1073741824 - 10000 P
(denominator) immediately setting
0- Pulse + direction, positive logic
1- Pulse + direction, negative logic
Power on Stop
P05-15 Pulse command form 2- A-phase + B-phase quadrature pulse, - 0 P
again setting
quadruplicated frequency
3- CW+CCW

0- Servo enable OFF or clear position

deviation when fault occurs
1- Clear position deviation pulse when
Effective Stop
P05-16 Clear action selection fault or warning occurs - 0 P
immediately setting
2- Enable OFF and clear position
deviation through DI input ClrPosErr
signal

Encoder frequency Power on Stop

P05-17 35 ~32767 P/r 2500 -
division pulse number again setting

0- No speed feedforward
Speed feedforward 1- Internal speed feedforward Effective Stop
P05-19 - 1 P
control selection 2- Use AI1 as speed feedforward input immediately setting
3- Use AI2 as speed feedforward input

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 Digital Servo Drive User Manual
0- Output when the absolute value of
position deviation is less than P05-21
1- Output when the absolute value of the
position deviation is less than P05-21 and
the position command after filtering is 0
2- Output when the absolute value of the
Positioning complete position deviation is less than P05-21 and Effective Running
P05-20 - 0 P
output condition the position command before filtering is 0 immediately setting
3- Output when the absolute value of the
position deviation is less than the
positioning completion/proximity
threshold and the position command filter
is 0, active at least within the time set by
P05-60
Positioning completion Encoder Effective Running
P05-21 1 ~65535 734 P
threshold Unit immediately setting

Positioning proximity Encoder Effective Running

P05-22 1 ~65535 65535 P
threshold Unit immediately setting

0- Disable homing
1- Input HomingStart signal through DI
to enable homing function
2- Input HomingStart signal through DI
to enable electrical reset function
3- Start homing immediately after Effective Running
P05-30 Homing enable control - 0 P
power-on immediately setting
4- Start homing immediately
5- Start homing command
6- Use current position as the home
8- Through the DI input signal, enable
current position as the home

0- Positive homing, deceleration point

and home are home switch
1- Reverse homing, deceleration point
and home are home switch
2- Positive homing, deceleration point
and home are the motor Z signal
3- Reverse homing, deceleration point
and home are motor Z signal
4- Positive homing, deceleration point is
home switch, home is motor Z signal
5- Reverse homing, deceleration point is
home switch, home is motor Z signal
6- Positive homing, deceleration point
and home are positive overtravel switch
7- Reverse homing, deceleration point
and home are reverse overtravel switch Effective Stop
P05-31 Homing mode - 0 P
8- Positive homing, deceleration point is immediately setting
forward overtravel switch, home is motor
Z signal
9- Reverse homing, deceleration point is
reverse overtravel switch, home is motor Z
signal
10- Positive homing, deceleration point
and home are mechanical limit positions
11- Reverse homing, deceleration point
and home are mechanical limit positions
12- Positive homing, deceleration point is
mechanical limit position, home is the
motor Z signal
13- Reverse homing, deceleration point is
mechanical limit position, home is the
motor Z signal

Speed of high-speed
Effective Running
P05-32 search home switch 0~3000 rpm 100 P
immediately setting
signal
Speed of low-speed
Effective Running
P05-33 search home switch 0~1000 rpm 10 P
immediately setting
signal
Acceleration and
Effective Stop
P05-34 deceleration time when 0~1000 ms 1000 P
immediately setting
searching for home

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Digital Servo Drive User Manual
Through
Limit the time to find Effective Stop
P05-35 0~65535 P5-63 10000 P
the home immediately setting
setting
Command Effective Stop
P05-36 Machine home offset -1073741824 ~1073741824 0 P
Unit immediately setting
0- Encoder frequency division output
Servo pulse output 1- Pulse command synchronous output Power on Stop
P05-38 - 0 P
source selection 2- Prohibit frequency division or again setting
synchronization output
0- The position command (referring to
Electronic gear ratio Effective Stop
P05-39 only the unit) is 0, and switch after 2.5ms - 0 P
switching condition immediately setting
1- Real-time switching
0- P05-36 is the coordinate after homing,
homing enable will be re-triggered to find
home in reverse direction in case of limit
1- P05-36 is the relative offset after
homing, homing enable will be
Offset of mechanical re-triggered to find home in reverse
home and processing direction in case of limit Effective Stop
P05-40 - 0 P
method when 2- P05-36 is the coordinate after homing, immediately setting
encountering limit it will automatically perform homing in the
reverse direction in case of limit
3- P05-36 is the relative offset after
homing, it will automatically
perform homing in the reverse direction in
case of limit
Position pulse edge 0- Active on falling edge Power on Running
P05-43 1 0 PST
selection 1- Active on rising edge again setting
Absolute position linear
Encoder Power on Stop
P05-46 mode position offset -2147483648~2147483647 0 PST
unit again setting
(lower 32 bits)
Absolute position linear
Encoder Power on Stop
P05-48 mode position offset -2147483648~2147483647 0 PST
unit again setting
(upper 32 bits)
Absolute position
rotation mode Effective Stop
P05-50 1-65535 1 65535 ALL
Mechanical gear ratio immediately setting
(numerator)
Absolute position
rotation mode Effective Stop
P05-51 1-65535 1 1 ALL
Mechanical gear ratio immediately setting
(denominator)
The number of pulses
for one rotation of the
Encoder Effective Stop
P05-52 load in absolute 0~ 4294967295 0 ALL
unit immediately setting
position rotation mode
(lower 32 bits)
The number of pulses
for one rotation of the
Encoder Effective Stop
P05-54 load in absolute 0~ 127 0 ALL
unit immediately setting
position rotation mode
(upper 32 bits)
Trigger stop homing
Effective Running
P05-56 speed judgment 0~1000 rpm 2 P
immediately setting
threshold
Trigger stop homing Effective Running
P05-58 0~300.0 % 100.0% P
torque limit immediately setting

Positioning completion Effective Running

P05-59 0~30000 ms 1 P
window time immediately setting

Positioning completion Effective Running

P05-60 0~30000 ms 1 P
hold time immediately setting
Encoder frequency
Power on Stop
P05-61 division pulse number 0~262143 P/r 0 -
again setting
(32 bits)
Limit the selection of
Effective Stop
P05-63 time unit for home 0~2 - 0 -
immediately setting
search

7.6 P06 set speed control parameters

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 Digital Servo Drive User Manual
Functional Factory Effective Setting Related
Name Setting range Unit
code setting method method mode

0- Given number (P06-03)

Main speed command A Effective Stop
P06-00 1- AI1 - 0 S
source immediately setting
2- AI2

0- Given number (P06-03)

1- AI1
Auxiliary speed 2- AI2 Effective Stop
P06-01 - 1 S
command B source 3-0 (no effect) immediately setting
4-0 (no effect)
5- Multi-speed command

0- Main speed command A source

1- Auxiliary speed command B
Speed command Effective Stop
P06-02 source - 0 S
selection immediately setting
2- A+B
3- A/B switching

Speed command Effective Running

P06-03 -6000~6000 rpm 200 S
keyboard setting value immediately setting
Effective Running
P06-04 Jog speed set value 0~6000 rpm 100 S
immediately setting
Speed command
Effective Running
P06-05 acceleration ramp time 0~65535 ms 200 S
immediately setting
constant
Speed command
Effective Running
P06-06 deceleration ramp time 0~65535 ms 200 S
immediately setting
constant
Maximum speed Effective Running
P06-07 0~6000 rpm 5000 S
threshold immediately setting
Effective Running
P06-08 Forward speed threshold 0~6000 rpm 5000 S
immediately setting
Effective Running
P06-09 Reverse speed threshold 0~6000 rpm 5000 S
immediately setting
Torque feedforward 0- No torque feedforward Effective Running
P06-11 - 1 PS
control selection 1- Internal torque feedforward immediately setting
Zero fixed speed Effective Running
P06-15 0~6000 rpm 10 S
threshold immediately setting
Motor rotation speed Effective Running
P06-16 0~1000 rpm 20 S
threshold immediately setting
Speed coincidence Effective Running
P06-17 0~100 rpm 10 S
signal threshold immediately setting
Speed reach signal Effective Running
P06-18 10~6000 rpm 1000 S
threshold immediately setting
Zero-speed output signal Effective Running
P06-19 1~6000 rpm 10 S
threshold immediately setting

7.7 P07 set torque control parameters

Functional Factory Effective Setting Related
Name Setting range Unit
code setting method method mode
0- Given number (P07-03)
Main torque Effective Stop
P07-00 1- AI1 - 0 T
command A source immediately setting
2- AI2
0- Given number (P07-03)
Auxiliary torque Effective Stop
P07-01 1- AI1 - 1 T
command B source immediately setting
2- AI2
0- Main torque command A source
Torque command 1- Auxiliary torque command B source Effective Stop
P07-02 - 0 T
selection 2- Main command A source + auxiliary immediately setting
command B source

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Digital Servo Drive User Manual
3- Main command A source/auxiliary
command B source switching
4- Communication given
Torque command Effective Running
P07-03 -300.0~300.0 % 0 T
keyboard setting value immediately setting
Torque command Effective Running
P07-05 0~30.00 ms 0.79 PST
filter time constant immediately setting
Second torque
Effective Running
P07-06 command filter time 0~30.00 ms 0.79 PST
immediately setting
constant
0- Positive and negative internal torque
limit
1- Positive and negative external torque
limit (selected by P-CL, N-CL)
T-LMT is used as external torque limit
input
Effective Stop
P07-07 Torque limit source 3- Use the minimum value of positive and - 0 PST
immediately setting
negative external torque and external
T-LMT as the torque limit (selected by
P-CL, N-CL)
4- Switch between positive and negative
internal torque limit and T-LMT torque
limit (selected by P-CL, N-CL)
1-AI1 Effective Stop
P07-08 T-LMT selection - 2 PST
2-AI2 immediately setting
Positive internal Effective Running
P07-09 0.0~300.0 % 300.0 PST
torque limit immediately setting
Negative internal Effective Running
P07-10 0.0~300.0 % 300.0 PST
torque limit immediately setting
Positive external Effective Running
P07-11 0.0~300.0 % 300.0 PST
torque limit immediately setting
Negative external Effective Running
P07-12 0.0~300.0 % 300.0 PST
torque limit immediately setting
0- Internal speed limit
(speed limit during torque control)
1- Use V-LMT as external speed limit
Speed limit source Effective Running
P07-17 input - 0 T
selection immediately setting
2- Select P07-19/ through
FunIN.36(V-SEL)
P07-20 as internal speed limit
1-AI1 Effective Running
P07-18 V-LMT selection - 1 T
2-AI2 immediately setting
Torque control
forward speed limit Effective Running
P07-19 0~6000 rpm 3000 T
/torque control speed immediately setting
limit 1
Torque control
negative speed Effective Running
P07-20 rpm 3000 T
limit/torque control 0~6000 immediately setting
speed limit 2
Torque reaching Effective Running
P07-21 0.0~300.0 % 0.0 PST
reference value immediately setting
Torque reaching Effective Running
P07-22 0.0~300.0 % 20.0 PST
active value immediately setting
Torque reaching Effective Running
P07-23 0.0~300.0 % 10.0 PST
inactive value immediately setting
Speed limit window in Effective Running
P07-40 0.5~30.0 ms 1.0 T
torque mode immediately setting

7.8 P08 set gain parameters

Functional Factory Effective Setting Related
Name Setting range Unit
code setting method method mode

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 Digital Servo Drive User Manual
Effective Running
P08-00 Speed loop gain 0.1~2000.0 Hz 25.0 PS
immediately setting
Speed loop integral Effective Running
P08-01 0.15~512.00 ms 31.83 PS
time constant immediately setting
Effective Running
P08-02 Position loop gain 0.0~2000.0 Hz 40.0 P
immediately setting
2nd speed loop Effective Running
P08-03 0.1~2000.0 Hz 40.0 PS
gain immediately setting
2nd speed loop
Effective Running
P08-04 integral time 0.15~512.00 ms 40.00 PS
immediately setting
constant
2nd position loop Effective Running
P08-05 0.0~2000.0 Hz 64.0 P
gain immediately setting
0- First gain fixed, use external DI for
Second gain mode P/PI switching Effective Running
P08-08 - 1 PST
setting 1- 1- Use gain switching according to immediately setting
the conditions of P08-09
0- First gain fixed (PS)
1- Use external DI switch (PS)
2- Large torque command (PS)
3- Large speed command (PS)
4- Large rate of change in speed
command (PS)
Gain switching 5- Speed command high and low speed Effective Running
P08-09 - 0 PST
condition selection threshold (PS) immediately setting
6- Large position deviation (P)
7- With position command (P)
8- Positioning completed (P)
9- Actual speed is high (P)
10- With position command + actual
speed (P)
Gain switching Effective Running
P08-10 0.0~1000.0 ms 5.0 PST
delay time immediately setting
According
Gain switching to Effective Running
P08-11 0~20000 50 PST
level switch immediately setting
condition
According
Gain switching to Effective Running
P08-12 0~20000 30 PST
time lag switch immediately setting
condition
Position gain Effective Running
P08-13 0.0~1000.0 ms 3.0 P
switching time immediately setting
Effective Running
P08-15 Load inertia ratio 0.00~120.00 Times 1.00 PST
immediately setting
Speed feedforward Effective Running
P08-18 0.00~64.00 ms 0.50 P
filter time constant immediately setting
Speed feedforward Effective Running
P08-19 0.0~100.0 % 0.0 P
gain immediately setting
Torque
Effective Stop
P08-20 feedforward filter 0.00~64.00 ms 0.50 PS
immediately setting
time constant
Torque Effective Running
P08-21 0.0~200.0 % 0.0 PS
feedforward gain immediately setting
0- Disable speed feedback average
filtering
1- Speed feedback 2 times average
filter
Velocity feedback 2- Speed feedback 4 times average Effective Stop
P08-22 - 0 PS
filter options filter immediately setting
3- Speed feedback 8 times average
filter
4- Speed feedback 16 times average
filter
Speed feedback
Effective Running
P08-23 low-pass filter 100~4000 Hz 4000 PS
immediately setting
cutoff frequency
P08-24 Pseudo-differential 0.0~100.0 - 100.0 Effective Running PS
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Digital Servo Drive User Manual
feedforward immediately setting
control coefficient

7.9 P09 set self-tuning parameters

Functional Default Effective Setting Related
Name Setting range Unit
code setting method method mode
Rigidity grade Effective Running
P09-01 0~31 - 12 PST
selection immediately setting
0- Adaptive notch filter is no longer updated
1-1 adaptive notch filter active (3rd notch
filter)
2-2 adaptive notch filters active (3rd and 4th
Adaptive notch filter Effective Running
P09-02 notch filters) - 0 PST
mode selection immediately setting
3- Only test the resonance point, displayed
in P09-24
4- Restore the values of the 3rd and 4th
notch filters to the default
Low frequency 0- Manually set vibration frequency
Effective Running
P09-04 resonance suppression 1- Automatically identify vibration - 0 P
immediately setting
mode selection frequency
Offline inertia 0- Positive and negative triangle wave
Effective Stop
P09-05 identification mode mode - 0 PST
immediately setting
selection 1- JOG mode
Inertia identification Effective Stop
P09-06 100~1000 rpm 500 PST
maximum speed immediately setting
Time constant of
accelerate to
Effective Stop
P09-07 maximum speed 20~800 ms 125 PST
immediately setting
during inertia
identification
Waiting time after a
single inertia Effective Stop
P09-08 50~10000 ms 800 PST
identification is immediately setting
completed
Number of
revolutions of the
P09-09 motor completing 0.00~2.00 r - - Display PST
single inertia
identification
First notch filter Effective Running
P09-12 50~4000 Hz 4000 PS
frequency immediately setting
First notch filter width Effective Running
P09-13 0~20 - 2 PS
class immediately setting
First notch filter depth Effective Running
P09-14 0~99 - 0 PS
level immediately setting
……
Fourth notch filter Effective Running
P09-21 50~4000 Hz 4000 PS
frequency immediately setting
Fourth notch filter Effective Running
P09-22 0~20 - 2 PS
width class immediately setting
Fourth notch filter Effective Running
P09-23 0~99 - 0 PS
depth level immediately setting
Resonance frequency
P09-24 0~2 Hz 0 - Display PS
identification results
Torque disturbance Effective Running
P09-30 0.0~100.0 % 0.0 PS
compensation gain immediately setting
Torque disturbance
Effective Running
P09-31 observer filter time 0.00~25.00 ms 0.50 PS
immediately setting
constant
Low frequency Effective Running
P09-38 1.0~100.0 Hz 100.0 P
resonant frequency immediately setting
Low frequency
Effective Running
P09-39 resonance frequency 0~10 - 2 P
immediately setting
filter setting

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 Digital Servo Drive User Manual

7.10 P0A set fault and protection parameters

Functional Factory Effective Setting Related
Name Setting range Unit
code setting method method mode
0- Enable fault and disable
Power input phase
warning Effective Running
P0A-00 loss protection - 0 -
1- Enable fault and warning immediately setting
selection
2- Disable fault and warning
Power-down save 0- Do not execute power-down
Effective Running
P0A-03 function enable save - 0 -
immediately setting
selection 1- Execute power-down save
Motor overload Effective Stop
P0A-04 50~300 % 100 -
protection gain immediately setting
Overspeed fault Effective Running
P0A-08 0~10000 rpm 0 PST
threshold immediately setting
Maximum
Effective Stop
P0A-09 position pulse 100~4000 kHz 4000 P
immediately setting
frequency
Encoder
Excessive position
/ Effective Running
P0A-10 deviation fault 1 ~1073741824 3145728 P
Command immediately setting
threshold
unit
Overspeed
0- No overspeed protection Effective Running
P0A-12 protection - 1 PST
1- Turn on overspeed protection immediately setting
function enable
Low frequency
resonance position
Encoder Effective Running
P0A-16 deviation 1-1000 5 P
unit immediately setting
judgment
threshold
Position setting 0- Encoder unit Effective Stop
P0A-17 - 0 P
unit selection 1- Command unit immediately setting
Low-speed pulse
Power on Stop
P0A-24 input pin filter 0~255 25ns 30 P
again setting
time constant
Speed feedback
Effective Stop
P0A-25 display value filter 0~5000 ms 50 -
immediately setting
time constant
0- Turn on motor overload
detection
Motor overload Effective Stop
P0A-26 1- Shield motor overload - 0 -
shield enable immediately setting
warning and fault
detection
Speed DO filter Effective Stop
P0A-27 0~5000 ms 10 -
time constant immediately setting
Quadrature
Power on Stop
P0A-28 encoder filter time 0~255 25ns 30 -
again setting
constant
High-speed pulse
Power on Stop
P0A-30 input pin filter 0~255 25ns 3 P
again setting
time constant
Stall
overtemperature Effective Running
P0A-32 10~65535 ms 200 -
protection time immediately setting
window
0- Shield motor stall
overtemperature protection
Stall
detection Effective Running
P0A-33 overtemperature - 1 -
1- Enable motor stall immediately setting
protection enable
overtemperature protection
detection
Encoder
multi-turn 0- No Effective Shutdown
P0A-36 - 0 ALL
overflow fault 1- Yes immediately setting
selection
P0A-40 Software limit 0- Disable software limit 1 0 Effective Stop PST

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Digital Servo Drive User Manual
setting 1- Enable software limit immediately setting
immediately after power on
2- Enable software limit after
homing
Maximum value Command Effective Stop
P0A-41 -2147483648~2147483647 2147483647 PST
of software limit unit immediately setting
Minimum value of Command Effective Stop
P0A-43 -2147483648~2147483647 -2147483648 PST
software limit unit immediately setting
Brake protection 0- No Effective Running
P0A-47 - 1 ALL
detection enable 1- Yes immediately setting
Gravity load Effective Running
P0A-48 0~300.0 % 30.0 ALL
detection value immediately setting

7.11 P0B set monitoring parameters

Functional Factory Effective Setting Related
Name Setting range Unit
code setting method method mode
For P0B-00~P0B-64, refer to chapter 5.1.6
Absolute value encoder
P0B-70 - r 0 - Display ALL
rotation data
Position within 1
Encoder
P0B-71 revolution of absolute - 0 - Display ALL
Unit
value encoder
Absolute value encoder
Encoder
P0B-77 absolute position (lower - 0 - Display ALL
Unit
32 bits)
Absolute value encoder
Encoder
P0B-79 absolute position (upper - 0 - Display ALL
Unit
32 bits)
Rotating load single-turn Encoder
P0B-81 - 0 - Display ALL
position (lower 32 bits) unit
Rotating load single-turn Encoder
P0B-83 - 0 - Display ALL
position (upper 32 bits) unit
Rotating load single-turn Command
P0B-85 - 0 - Display ALL
position unit

7.12 P0C set communication parameters

Functional Factory Effective Setting Related
Name Setting range Unit
code setting method method mode
Effective Running
P0C-00 Servo axis address 1~247, 0 is the broadcast address - 1 PST
immediately setting
0-2400bps 1-4800bps 2-9600bps
Serial port baud rate Effective Running
P0C-02 3-19200bps 4-38400bps - 5 PST
setting immediately setting
5-57600bps
0- No parity, 2 stop bits
1- Even parity, 1 stop bit Effective Running
P0C-03 Moubus data format - 0 PST
2- Odd parity, 1 stop bit immediately setting
3- No parity, 1 stop bit
Communication 0- Disable Effective Stop
P0C-09 - 0 PST
VDI 1- Yes immediately setting
Bit0-VDI1 default value
VDI default value Power on Running
P0C-10 …… - 0 PST
after power-on again setting
Bit15-VDI16 default value
Communication 0- Disable Effective Stop
P0C-11 - 0 PST
VDO 1- Yes immediately setting
The default level
Bit0-VDO1 default value
when the VDO Effective Stop
P0C-12 …… - 0 PST
function is selected immediately setting
Bit15-VDO16 default value
as 0
Whether the write
0- Do not update EEPROM
function code of Effective Running
P0C-13 1- Update EEPROM except P0B set and - 1 PST
Moubus immediately setting
P0D set
communication is
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 Digital Servo Drive User Manual
updated to
EEPROM
0x0001- Illegal command code
0x0002 - Illegal data address
P0C-14 Moubus error codes 1 - - Display -
0x0003 - Illegal data
0x0004 - Slave device failure
Moubus command Effective Running
P0C-25 0~5000 ms 1 PST
response delay immediately setting
Moubus
0- High 16 bits first, low 16 bits last Effective Running
P0C-26 communication data 1 1 PST
1- Low 16 bits first, high 16 bits last immediately setting
high and low order
Moubus error frame Effective Running
P0C-30 1 - Standard protocol 1 1 PST
format selection immediately setting

7.13 P0D set auxiliary function parameters

Functional Factory Effective Setting Related
Name Setting range Unit
code setting method method mode
0- No operation Effective Stop
P0D-00 Software Reset - 0 -
1- Yes immediately setting
0- No operation Effective Stop
P0D-01 Fault reset - 0 -
1- Yes immediately setting
Initial angle
P0D-03 1: Enable - - - - -
recognition
Emergency 0- No operation Effective Running
P0D-05 - 0 -
shutdown 1- Enable emergency stop immediately setting
JOG test run
P0D-11 (with built-in filter) - - - - -
function

0- No operation
DIDO force input 1- Force DI to enable, force DO to disable Effective Running
P0D-17 - 0 -
and output enable 2- Force DO to enable, force DI to disable immediately setting
3- Force all DIDOs to enable

DI forced to input Effective Running

P0D-18 0~0x01FF - 0x01FF -
given value immediately setting
DO forced to output Effective Running
P0D-19 0~0x001F - 0 -
given value immediately setting
0- No operation
Absolute encoder Effective Stop
P0D-20 1- Reset fault and multi-turn data - 0 ALL
reset enable immediately setting
2- Reset fault and multi-turn data

Gravity load 0- No Effective Running

P0D-24 0 -
identification 1- Yes - immediately setting

7.14 P11 set multi-segment position function parameters

Functional Factory Effective Setting Related
Name Setting range Unit
code setting method method mode

0- Stop after single operation (P11-01

selects the number of segments)
Multi-segment
1- Cyclic operation (P11-01 selects Effective Stop
P11-00 position operation - 1 P
the number of segments); 2- DI immediately setting
mode
switching operation (selects through
DI); 3- Sequence operation (P11-01
selects the number of segments)
Number of segments
at end point of Effective Stop
P11-01 1~16 - 1 P
displacement immediately setting
command

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Digital Servo Drive User Manual
Valid in other three modes except DI
mode
Margin processing Effective Stop
P11-02 0- Continue to run the unfinished - 0 P
method immediately setting
segment
1- Restart operation from segment 1
Effective Stop
P11-03 Time unit 0-ms， 1-s - 0 P
immediately setting
Displacement
0- Relative displacement command Effective Stop
P11-04 command type - 0 P
1- Absolute displacement command immediately setting
selection
Sequential operation Effective Stop
P11-05 0~16 - 0 P
start segment selection immediately setting
1st segment
Command Effective Running
P11-12 movement -1073741824 ~1073741824 10000 P
unit immediately setting
displacement
The maximum
running speed of the Effective Running
P11-14 1~6000 rpm 200 P
1st segment immediately setting
displacement
1st segment
displacement Effective Running
P11-15 0~65535 ms(s) 10 P
acceleration and immediately setting
deceleration time
Waiting time after the
1st segment Effective Running
P11-16 0~10000 ms(s) 10 P
displacement is immediately setting
completed
……
16th segment
Command Effective Running
P11-87 movement -1073741824 ~1073741824 10000 P
unit immediately setting
displacement
Maximum running
speed of Effective Running
P11-89 1~6000 rpm 200 P
16th segment of immediately setting
displacement
16th segment
displacement Effective Running
P11-90 0~65535 ms(s) 10 P
acceleration and immediately setting
deceleration time
Waiting time after the
16th segment Effective Running
P11-91 0~10000 ms(s) 10 P
displacement is immediately setting
completed

7.15 P12 set multi-segment speed parameters

Functional Factory Effective Setting Related
Name Setting range Unit
code setting method method mode
0- Stop after a single operation (P12-01
Multi-segment speed selects the number of segments)
Effective Stop
P12-00 command operation 1- Cycle operation (P12-01 selects the - 1 S
immediately setting
mode number of segments)
2- Switch via external DI
Speed command end Effective Stop
P12-01 1~16 - 16 S
segment selection immediately setting
Running time unit Effective Stop
P12-02 0-sec 1-min - 0 S
selection immediately setting
Effective Stop
P12-03 Acceleration time 1 0~65535 ms 10 S
immediately setting
Effective Stop
P12-04 Deceleration time 1 0~65535 ms 10 S
immediately setting
Effective Stop
P12-05 Acceleration time 2 0~65535 ms 50 S
immediately setting
Effective Stop
P12-06 Deceleration time 2 0~65535 ms 50 S
immediately setting
Effective Stop
P12-07 Acceleration time 3 0~65535 ms 100 S
immediately setting
Effective Stop
P12-08 Deceleration time 3 0~65535 ms 100 S
immediately setting
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 Digital Servo Drive User Manual
Effective Stop
P12-09 Acceleration time 4 0~65535 ms 150 S
immediately setting
Effective Stop
P12-10 Deceleration time 4 0~65535 ms 150 S
immediately setting
1st segment speed Effective Stop
P12-20 -6000~6000 rpm 0 S
command immediately setting
1st segment
Effective Stop
P12-21 command running 0~6553.5 s(min) 5.0 S
immediately setting
time
0- Zero acc/dec time
1st segment 1- Acc/Dec time 1
Effective Stop
P12-22 acceleration and 2- Acc/Dec time 2 - 0 S
immediately setting
deceleration time 3- Acc/Dec time 3
4- Acc/Dec time 4
……
16th segment speed Effective Stop
P12-65 -6000~6000 rpm -300 S
command immediately setting
16th segment
Effective Stop
P12-66 command running 0~6553.5 s(min) 5.0 S
immediately setting
time
16th segment
Effective Stop
P12-67 acceleration and Refer to the description of P12-22 - 0 S
immediately setting
deceleration time

7.16 P17 set virtual DIDO parameters

Functional Factory Effective Setting Related
Name Setting range Unit
code setting method method mode
VDI1 terminal Effective Running
P17-00 0~37 - 0 -
function selection at stop setting
0- Means active when VDI1 write 1
VDI1 terminal logic Effective Running
P17-01 1- Means active when write value of VDI1 0
selection - at stop setting -
changes from 0 to 1
……
VDI16 terminal Effective Running
P17-30 0~37 - 0
function selection at stop setting
0- Means active when VDI16 write 1
VDI16 terminal Effective Running
P17-31 1- Means active when write value of VDI16 0
logic selection - at stop setting -
changes from 0 to 1
P17-32 VDO virtual level - - - - Display -
VDO1 terminal Effective Running
P17-33 0~22 - 0 -
function selection at stop setting
VDO1 terminal 0- Means output 1 when active Effective Running
P17-34 - 0 -
logic selection 1- Means output 0 when active at stop setting
……
VDO16 terminal Effective Running
P17-63 0~22 - 0 -
function selection at stop setting
VDO16 terminal 0- Means output 1 when active Effective Running
P17-64 - 0 -
logic selection 1- Means output 0 when active at stop setting

7.17 P30 set communication reading servo related variables

Functional Factory Effective Related
Name Setting range Unit Setting method
code setting method mode
Communication reading Communication
P30-00 - - - - PST
servo status read only
Communication reading Communication
P30-01 - - - - PST
DO function status 1 read only
Communication reading Communication
P30-02 - - - - PST
DO function status 2 read only
Communication reading
P30-03 input pulse command - - - - Display PST
sampling value
Communication reading
P30-04 - - - - Display PST
DI conduction status

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Digital Servo Drive User Manual
7.18 P31 set communication given servo related variables
Functional Factory Effective Setting Related
Name Setting range Unit
code setting method method mode
Communication given Effective Running
P31-00 0~65535 - 0 PST
VDI virtual level immediately setting
Communication given Effective Running
P31-04 0~31 - 0 PST
DO output status immediately setting

Chapter VIII Troubleshooting

8.1 Fault and Warning Code List
8.1.1 Fault code table (to reset the fault, you need to cancel the enable first)
Can it be
Display Fault name Fault and handling method
Reset
1. The function code parameter value of P02 and following sets exceeds the upper and
lower limits, and the parameters are re-initialized;
Parameters of P02 and
2. Power off during the process of writing parameters, rewrite the parameters after power
Er.101 above sets are No
on;
abnormal
3. Reset the motor model and drive model, and initialize the parameters;
4. The drive EEPROM is abnormal, replace the drive.
Programmable logic
Er.102 No MCU related hardware is damaged, replace the drive.
configuration failure
Programmable logic
Er.104 No MCU related hardware is damaged, replace the drive.
interrupt failure
1. When EEPROM reads/writes function codes, the total number of function codes is
Abnormal internal abnormal, initialize the parameters;
Er.105 No
program 2. The range of the set value of the function code is abnormal, initialize the parameters;
3. Initialize and power on again. If the alarm still occurs, replace the drive.
Parameter storage 1. The parameter value can’t be written to the EEPROM, initialize the parameter;
Er.108 No
failure 2. Initialize and power on again. If the alarm still occurs, replace the drive.
Er.111 Internal failure No Initialize and power on again. If the alarm still occurs, replace the drive.
Product matching The motor model and drive model match incorrectly, please contact the after-sales
Er.120 No
failure personnel to check the motor model.
Servo ON command DI port parameter configuration fault, recheck DI function and VDI function
Er.121 Yes
invalid fault configuration
Absolute position
The absolute value motor model does not match, or the motor model is set incorrectly,
Er.122 mode product No
please contact the after-sales personnel to check the motor model.
matching failure
Duplicate assignment DI port parameter configuration failure, recheck the DI function and VDI function
Er.130 Yes
of DI function configuration or initialize parameters.
DO function DO function number exceeds DO function number, recheck DO function configuration or
Er.131 Yes
allocation overrun initialize parameters.
When the drive reads the parameters in the encoder ROM area, it finds that the parameters
The data in motor
are not saved, or the parameters are inconsistent with the agreed values
ROM is incorrectly
1. Check the motor model and drive model;
Er.136 verified or the No
2. Check whether the motor encoder cable is correct, and whether the connector is
parameters are not
connected reliably;
saved
3. Check if the encoder line is disturbed, and re-arrange the wires.
Overcurrent detected by hardware;
1. Check whether the motor power lines U V W are correctly connected, and whether there
is a reverse connection or phase loss;
2. There is a short circuit in the U V W lines, or there is leakage between the motor coil
and the casing, replace the motor wire or test the motor;
3. The encoder line is in poor contact, check or replace the encoder cable;
4. The load is too heavy, first test whether the motor is normal with no load;
Er.201 Overcurrent 2 No
5. The acceleration and deceleration are too fast, increase the acceleration and
deceleration time of the program;
6. If the gain parameter is adjusted, check whether the gain is set too large, and test after
reducing the gain;
7. The braking resistor is too small or short-circuited, test with internal braking resistor
first;
8. The drive is damaged, replace the drive;
D/Q axis current Abnormal current feedback causes the internal register of the drive to overflow, replace
Er.207 Yes
overflow fault the drive;
1. MCU communication timeout, replace the drive
System sampling
Er.208 No 2. Encoder communication times out, check whether the encoder line is connected well, or
operation timeout
replace the encoder and reconnect;
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 Digital Servo Drive User Manual
3. Motor encoder is faulty, replace the motor for test;
4. Current sampling times out, check whether there is interference from large equipment
on site, increase the isolation transformer, and re-arrange the wires;
5. High-precision AD conversion times out, check the analog input wiring to see if there is
interference, and connect with shielded wire;
6. The drive is damaged, replace the drive;
During the power-on self-test of the drive, the motor phase current or bus voltage is
detected abnormal.
Output short circuit to
Er.210 No 1. The power lines U V W are short-circuited to the ground, check the motor lines;
ground
2. The motor coil is short-circuited to the casing, replace the motor;
3. Drive failure, replace the drive.
The drive performs angle identification, and it is identified that the phase sequence of the
UVW of the drive and the UVW of the motor do not match.
Er.220 Phase sequence error No 1. The electrical angle of the motor encoder does not match, reset the motor parameters,
and self-learn;
2. The U V W phase sequence is reversed, check the motor power lines;
In torque control mode, the direction of the torque command is opposite to the direction of
the speed feedback or in the position or speed control mode, the direction of the speed
feedback is opposite to the direction of the speed command;
1. The U V W phase sequence is reversed, check the motor power lines;
Er.234 Overspeed No
2. Initial phase detection error of the motor rotor is caused by the interference signal,
re-power on, and check the wiring;
3. The encoder model is wrong or the wiring is wrong, replace the motor or encoder line;
4. Drive failure, replace the drive;
DC bus voltage exceeds fault value 420V
1. Measure the power supply voltage. If the grid voltage is too high or unstable, a voltage
stabilizer needs to be added;
2. The braking resistor fails, measure the resistance between B1 and B3 of the drive in the
state of complete power failure. If it is infinite, the internal braking resistor is damaged
and the drive needs to be replaced;
Main circuit
Er.400 Yes 3. The resistance of the braking resistor is too large, replace it with a braking resistor of 40
overvoltage
ohms or 50 ohms, please contact the after-sales personnel;
4. The grid voltage is too high, and the motor accelerates and decelerates too fast, increase
the acceleration and deceleration time;
5. Monitor P0B-26 to check whether the bus voltage is consistent with the grid voltage. If
the difference is too large, the drive may be damaged and needs to be replaced. 220V AC
corresponds to the bus voltage of 310V.
DC bus voltage is lower than the fault value 200V
1. The main circuit power supply is unstable or power off, re-check the wiring, or add a
Main circuit voltage stabilizer;
Er.410 Yes
undervoltage 2. Monitor P0B-26 to check whether the bus voltage is consistent with the grid voltage. If
the difference is too large, the drive may be damaged and needs to be replaced. 220V AC
corresponds to the bus voltage of 310V.
Main circuit power
Er.420 Yes Servo drive failure, replace the drive.
phase loss
Control power
Er.430 Yes Servo drive failure, replace the drive.
undervoltage
The actual speed of the servo motor exceeds the overspeed fault threshold
1. The phase sequence of motor cable U V W is wrong, check the motor wiring;
2. The motor parameters are incorrect, reset the motor parameters and self-learn;
Er.500 Overspeed alarm Yes 3. The input command exceeds the overspeed fault threshold;
4. The motor speed is overregulated, the gain parameter setting is unreasonable, initialize
the drive parameters and test;
5. Drive failure, replace the drive.
The output pulse frequency exceeds the upper limit of the frequency allowed by the
Pulse output
Er.510 Yes hardware; reduce P05-17 (number of pulses divided by the encoder frequency), so that the
overspeed
output pulse frequency is less than the upper limit of the allowable frequency.
Angle identification Motor self-learning failed, check whether the encoder line is normal and the encoder type
Er.602 Yes
failed is correct.
Er.610 Drive overload Yes 1. The motor model or drive model is set incorrectly, please contact the after-sales
personnel to check the parameters;
2. Monitor the drive load rate PB-02 to see if the overload causes an alarm;
3. The motor is stalled, first eliminate the motor stall and then test, or remove the motor for
no-load test;
Er.620 Motor overload Yes 4. The gain parameter setting is too large, test after initializing the parameters;
5. Motor acceleration and deceleration is too fast, increase the acceleration and
deceleration time;
6. The phase sequence of motor cable U V W is wrong, check the motor wiring;
7. The drive is damaged, replace the drive.
Brake closed After the brake protection is turned on, the brake output signal is valid, the first
Er.625 Yes
abnormally 100~500ms of the input command is zero, the output torque is less than 70% of the gravity

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load detection value. Confirm whether the signal of the motor brake terminal is valid and
whether the motor brake relay is damaged
After the brake protection is turned on, the output signal of the brake is invalid, but it is
Brake opened detected that the motor rotates more than two turns
Er.626 Yes
abnormally Check whether the motor brake terminal signal is valid and whether the motor brake relay
is damaged.
The actual speed of the motor is lower than 10rpm, but the torque command reaches the
limit value, and the duration reaches the set value of P0A-32
1. The UVW output of the drive is out of phase, disconnected, and wrongly connected in
Er.630 Motor stall Yes phase sequence;
2. The motor parameters are incorrect, reset the motor parameters and self-learn;
3. The motor is stalled, first eliminate the motor stall and then test, or remove the motor for
no-load test;
The temperature of the power module of the drive is higher than the over-temperature
Er.650 Heat sink overheating Yes
protection point, the servo drive is faulty, replace the drive.
The battery voltage of the absolute value encoder is lower than 3.0V
Encoder battery 1. The encoder line is disconnected, set P0D-20=2, and then set P0D-01=1 to clear the
Er.731 Yes
failure fault;
2. The battery is dead, replace the battery.
Initialize the drive parameters, reset the motor parameters and drive parameters, set the
Encoder multi-turn encoder type,
Er.733 Yes
count error Then set P0D-20=2 and P0D-01=1 to clear the fault and power on again. If the alarm still
occurs, replace the motor and test.
Initialize the drive parameters, reset the motor parameters and drive parameters, set the
Encoder multi-turn encoder type,
Er.735 Yes
count overflow Then set P0D-20=2 and P0D-01=1 to clear the fault and power on again. If the alarm still
occurs, replace the motor and test.
Encoder Z signal is interfered, causing the electrical angle corresponding to the Z signal to
change too much
1. The encoder wiring is wrong or the connector is loose, check or replace the encoder line
Er.740 Encoder interference No
and test it;
2. Encoder Z signal is disturbed, re-wire and ensure a good grounding;
3. The encoder is faulty, replace the motor;
AI sampling value is greater than 11.5V
AD sampling
Er.834 Yes 1. Check whether the input analog voltage value is too high;
overvoltage
2. Analog input port of the drive is faulty, replace the drive.
AD circuit is disturbed
Er.835 AD sampling failure Yes There is interference in the AI channel wiring, check the analog signal wiring, and use
shielded twisted pair.
The internal parameters of the encoder are abnormal
Encoder data 1. The serial encoder line is disconnected or loose, check or replace the encoder line and
Er.A33 No
abnormal test;
2. The encoder is faulty, replace the motor;
Encoder loopback 1. The driver and motor types do not match, reset the motor model;
Er.A34 No
verification abnormal 2. The encoder line is broken, check the encoder line.
Encoder Z signal is lost or the AB signal edge transitions at the same time
1. The serial encoder line is disconnected or loose, check or replace the encoder line and
Er.A35 Z signal loss No
test;
2. The encoder is faulty, replace the motor;
In position control mode, the position deviation is greater than the set value of P0A-10
1. The drive U V W output has phase loss or the phase sequence is wrongly connected,
check the motor wire;
2. The motor is stalled, first eliminate the motor stall and then test, or remove the motor for
no-load test;
Excessive position 3. The gain of servo drive is low, initialize the parameters and test;
Er.B00 Yes
deviation 4. The input pulse frequency is high, reduce the input pulse frequency;
5. Compared with the operating conditions, the fault value (P0A-10) is too small, increase
P0A-10;
6. The torque limit value P07-09~P07-12 is set too small, initialize the parameters and
test;
7. Servo drive/motor failure, replace the drive or motor.
The input pulse frequency is greater than the maximum position pulse frequency (P0A-09)
1. Reduce the input pulse frequency;
2. Caused by input pulse interference, the pulse line should use twisted pair shielded wire
Er.B01 Abnormal pulse input Yes
and be properly grounded;
3. The pulse signal switching power supply is infected. Use the internal 24V power supply
of the drive as the pulse signal power supply.
Electronic gear ratio
A group of electronic gear ratio exceeds the limit value, check the electronic gear ratio
Er.B03 setting exceeds the Yes
setting value.
limit

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 Digital Servo Drive User Manual
8.1.2 Warning code table (warnings can be reset directly, no need to disable)
Can it be
Display Warning name Warning and handling method
Reset
When using the encoder frequency division output function (P05-38=0), the set encoder
Frequency division
frequency division pulse number does not meet the threshold determined by the encoder
Er.110 pulse output setting Yes
specification, reset the encoder frequency division pulse number (P05-17) to make it
failure
meet the specified range.
When using the homing function (P05-30=1~5), the home is not found within the time
set by P05-35,
Er.601 Homing failed Yes 1. Increase the time of P05-34;
2. Check whether the home signal is valid, change the home set point, or change the
home search direction;
Encoder battery The battery voltage of the absolute value encoder is lower than 3.0V. Replace the battery
Er.730 Yes
warning with a new one that matches the voltage in the power-on state.
When the input voltage of AI (including AI1 and AI2) terminals is 0V, the voltage
AI zero drift is too
Er.831 Yes sampled by the driver is greater than 500mV,
large
Check AI input wiring, use shielded twisted pair.
DI terminal corresponding to DI function 34 (FunIN.34: brake, Emergency) is triggered
Er.900 DI emergency stop Yes
(including hardware DI and virtual DI), check the DI wiring.
Motor overload The load rate is too high and causes a warning; check whether the load is too heavy or
Er.909 Yes
warning there is a stall condition.
Braking resistor current excessive warning
1. Check if the bus voltage is too high and the energy discharges too quickly; add a
voltage regulator and reduce the voltage;
2. Check if the motor decelerates too fast, increase the deceleration time;
Braking resistor
Er.920 Yes 3. The power of the internal braking resistor is insufficient. Replace the external braking
overload
resistor. It is recommended that the resistance value should not be lower than 35 ohms.
4. When using an external resistor, check the parameter values of P02-25 ~ P2-27, and
set the value of P2-27 to be consistent with the resistance value of the selected resistor;
4. The brake circuit of the drive is damaged, replace the drive;
External braking P02-27 (resistance value of external braking resistor) is less than P02-21 (minimum
Er.922 Yes
resistor is too small value of external braking resistor allowed by the drive)
The actual phase current of the motor is less than 10% of the rated current, and the actual
Motor power line is
Er.939 Yes speed is small, but the internal torque command is large, check the wiring of the motor
disconnected
power cable, rewire, and replace the cable if necessary
Changed parameters When the function code attribute “Effective time” of the servo drive is “power on
Er.941 take effect after Yes again”, the drive reminds the user that it needs to be powered on again after the
powering on again parameter value of the function code is changed

Frequent parameter If the number of function codes modified at the same time exceeds 200, check the
Er.942 Yes
storage operation mode. For parameters that do not need to be stored in EEPROM, set P0C-13 to
0 before the host computer writes
Forward overtravel The corresponding DI terminal of DI function 14 (FunIN.14: P-OT, forward overtravel
Er.950 Yes
warning switch) is triggered.
Reverse overtravel The corresponding DI terminal of DI function 15 (FunIN.15: N-OT, reverse overtravel
Er.952 Yes
warning switch) is triggered.
The encoder algorithm is faulty; if the fault is still reported after turning on the power for
Er.980 Encoder internal fault Yes
many times, replace the motor.
Motor self-learning failed
1. Check the motor encoder line error;
Er.A40 Internal failure Yes
2. The encoder model is wrong, reset the motor model and encoder type;
3. The motor encoder is faulty, replace the motor.

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