A6-PN

Servo Drive

User Guide
Data code: C2312010XXX
Version: A00

Power range: 0.4 kW to 1.0 kW

Legal Information Statement:

y The product described in this documentation may be operated only by personnel qualified for the
specific task in accordance with the relevant documentation.
y All operations on the product must follow respective descriptions provided in the documentation,
in particular, its warning notices and safety instructions.
y Damage caused by improper use is not covered by warranty.
y The company will disclaim any legal liability for any personal injury or property damage caused by
improper usage.
 Contents

Chapter 1 Product Information 10

1.1 Features 10
1.2 Model 11
1.3 Nameplate 11
1.4 Components 12
1.5 Rated Data 13
1.6 Technical Specifications 14
1.7 Communication Specifications 16

Chapter 2 Mechanical Installation 17

2.1 Installation Environment 17
2.2 Installation Orientation 17
2.3 Installation clearance 18
2.4 Installation Precautions 20
2.5 Installation Dimensions 21
2.6 Installation Guide 23

Chapter 3 Electrical Installation 24

3.1 System Topology 24
3.2 System Wiring 27
3.3 Ports 29
3.4 Power Supply Connection 34
3.4.1 Main circuit wiring 35
3.4.2 Cable specifications and recommendations 37
3.4.3 Grounding 38
3.5 Motor Connection 42
3.6 Encoder Connection (CN2) 43
3.7 Control Signal Connection (CN1) 45
3.7.1 I/O signal 45
3.7.2 Digital input/output (DI/DO) signals 46
3.7.3 Wiring of the brake 49
3.8 Communication Signal Connection (CN3 and CN4) 51
3.9 Communication Terminal Connection (CN6) 52

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 3.10 Safety STO Terminal Connection (CN5) 53
3.11 Braking Resistor Connection 54

Chapter 4 Function Overview 56

4.1 Basic Functions of the Servo Drive 56
4.1.1 Function Overview 56
4.2 List of Servo Functions 57
4.2.1 STO Function 58

Chapter 5 System Commissioning 59

5.1 Commissioning Tool 59
5.1.1 Buttons 59
5.1.2 Display 60
5.2 Commissioning Process 63
5.3 Commissioning Procedure 64
5.3.1 Checklist before running 64
5.3.2 Power on the servo drive 64
5.3.3 Jogging 64
5.3.4 Set parameters 66
5.3.5 Servo running 69
5.3.6 Stop the servo drive 70

Chapter 6 Gain Tuning 72

6.1 Overview 72
6.2 Inertia Auto-tuning 72
6.3 Basic Gain Tuning 74
6.4 Pseudo derivative feedback and feedforward control 77
6.5 Gain Switchover 78
6.6 Speed Feedforward 80
6.7 Torque Feedforward 80
6.8 Position Reference Filter 81
6.9 Model Tracking Control 81
6.10 Speed Feedback Filter 82
6.11 Speed Observer 83
6.12 Disturbance Observer 83
6.13 Friction Compensation 84
6.14 Vibration Suppression 85
6.15 Adjustments in DSC Mode 87

Chapter 7 PROFINET Communication 89

02
7.1 Overview of PROFINET 89
7.2 Supported Telegrams 89
7.2.1 Telegrams for Velocity Control Mode 90
7.2.2 Telegrams for Basic Positioner Control Mode 90
7.2.3 Annex Telegram 91
7.3 I/O Data Signals 91
7.4 Definitions of Control Words 93
7.4.1 STW1 Control Word (for Telegrams 1 and 3) 93
7.4.2 STW1 Control Word (for Telegram 111) 94
7.4.3 STW2 Control Word (for Telegrams 1, 3, and 111) 95
7.4.4 POS_STW1 Positioning Control Word (for Telegram 111) 95
7.4.5 POS_STW2 Positioning Control Word (for Telegram 111) 96
7.5 Definitions of Status Words 97
7.5.1 ZSW1 Status Word (for Telegrams 1 and 3) 97
7.5.2 ZSW1 Status Word (for Telegram 111) 98
7.5.3 ZSW2 Status Word (for Telegrams 1, 3, and 111) 99
7.5.4 POS_ZSW1 Status Word (for Telegram 111) 99
7.5.5 POS_ZSW2 Status Word (for Telegram 111) 100
7.6 AC1 Mode 100
7.6.1 Overview 100
7.6.2 Configuration 101
7.7 AC4 Mode 103
7.7.1 Overview 103
7.7.2 Configuration 103
7.8 AC3 Mode 115
7.8.1 Overview 115
7.8.2 Configuration 117
7.8.3 Example of Telegram 111 Configuration for S7-1200/1500
PLCs120
7.8.4 Pins of Function Block SINA_POS 123
7.8.5 Functionality Implementation of Function Block SINA_POS
126
7.8.6 Operating Modes of SINA_POS (FB284) 127
7.8.7 Absolute Positioning Operating Mode 128
7.8.8 Relative Positioning Operating Mode 130
7.8.9 Setup Positioning Operating Mode 131
7.8.10 Referencing 132
7.8.11 Setting the Zero Position 134

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 7.8.12 Traversing Blocks 134
7.8.13 Jog 136
7.8.14 Jog Incremental 137
7.8.15 Operating Mode Change Based on the ModePos Values139
7.8.16 Homing mode introduction 139
7.8.17 Introduction to Relative/Absolute Positioning in Telegram
111173
7.8.18 Introduction to CancelTraversing and IntermediateStop in
Telegram 111 174
7.8.19 Introduction to Velocity Jog 175
7.8.20 Introduction to ActVelocity in Telegram 111 176
7.8.21 Introduction to OverV, OverAcc, and OverDec in Telegram
111177
7.8.22 Introduction to Continuous Position Reference Setup in
Telegram 111 180

Chapter 8 Troubleshooting 182

8.1 Fault Alarms 182
8.1.1 Fault display and category 182
8.1.2 Troubleshooting and reset 183
8.1.3 List of faults and alarms 184
8.2 Solutions 189

Chapter 9 Parameter List 208

9.1 Parameter Overview 208
9.2 Parameter List 208
9.2.1 Group C00 208
9.2.2 Group C01 209
9.2.3 Group C02 213
9.2.4 Group C03 215
9.2.5 Group C04 217
9.2.6 Group C05 224
9.2.7 Group C06 225
9.2.8 Group C0A 226
9.2.9 Group C10 227
9.2.10 Group C14 228
9.2.11 Group C15 230
9.2.12 Group C16 232
9.2.13 Group C17 233

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 9.2.14 Group C18 235
9.2.15 Group R20 237
9.2.16 Group R21 238
9.2.17 Group F30 238
9.2.18 Group F31 239
9.2.19 Group U40 239
9.2.20 Group U41 242
9.2.21 Group U42 243
9.3 Parameter Read/Write 244
9.3.1 Reading/Writing Multiple Parameters Using "SINA_PARA" 244
9.3.2 Reading/Writing a Single Parameter Using "SINA_PARA_S" 247
9.4 Parameter Initialization 250

Chapter 10 Troubleshooting 251

10.1 Fault Alarms 251
10.1.1 Fault display and category 251
10.1.2 Troubleshooting and reset 252
10.1.3 List of faults and alarms 253
10.2 Solutions 259

Chapter 11 Parameter List 280

11.1 Parameter Group Description 280
11.2 Parameter List 280
11.2.1 Common Parameters in Group 2000h 280
11.2.2 Common Parameters in Group 6000h 306
11.3 Description of Parameters 312
11.3.1 Group C00 312
11.3.2 Group C01 313
11.3.3 Group C03 319
11.3.4 Group C05 321
11.3.5 Group C06 321
11.3.6 Group C0A 321
11.3.7 Group C13 322
11.3.8 Group R21 323
11.3.9 Group F30 323
11.3.10 Group F31 323
11.3.11 Group U40 324
11.3.12 Group 6000 326

05
 Chapter 12 Motor and Options 335
12.1 Model 335
12.2 Nameplate 336
12.3 Components 336
12.4 Terminal Definition 336
12.5 General Specifications 338
12.5.1 Mechanical Characteristics 338
12.5.2 Overload Characteristics 339
12.5.3 Load moment of inertia 340
12.6 Selection Precautions 341
12.7 Technical Specifications 342
12.7.1 Model of 3000 rpm 342

Chapter 13 Peripheries 345

13.1 List of Peripheries 345
13.2 Fuse 345
13.3 Electromagnetic Contactor 346
13.4 Circuit Breaker 346
13.5 Absolute Encoder Battery 347

Chapter 14 Maintenance 348

14.1 Daily Maintenance 348
14.2 Periodic Maintenance 349
14.3 Part Replacement 349
14.3.1 Plain Key Replacement 349

Chapter 15 Troubleshooting for Common EMC Issues 351

15.1 RCD Malfunction 351
15.2 Harmonic Suppression 352
15.3 Control Circuit Interference 352
15.3.1 Common I/O Signal Interference 352
15.3.2 EtherCAT Communication Interference 353

Chapter 16 Certification and Standard 354

16.1 CE Certification 354
16.2 UL/cUL Certification 354

06
 ▕

Safety Information and Precautions

To avoid personal injury or damage to the equipment, matters to be followed are stated as follows:

y Read and follow the Safety Information and Precautions before use.
y Use this product according to the designated environment requirements.
y Follow all safety information and precautions described in the product identification and manual.

The degree of injury and damage caused by improper use of this product is distinguished and described as follows:

This mark indicates that failure to comply with the notice will result in severe
DANGER personal injury or even death.

This mark indicates that failure to comply with the notice may result in severe
WARNING personal injury or even death.

This mark indicates that failure to comply with the notice may result in minor
CAUTION or moderate personal injury or damage to the equipment.

NOTICE If rated precautions are not taken, it may cause undesirable result or state.

Matters to be followed are described using the following graphic marks:

This graphic mark indicates contents This graphic mark indicates contents
that must be performed. that must not be performed.

DANGER

y Install this product on non-combustible materials such as metal.

y Set up the product in a clean place where it does not contact water or oil.
y Installation and wiring must be performed by qualified electricians.
y Installation personnel must be familiar with product installation requirements and
relevant technical materials.
y The moving, installation, wiring, and inspection of this product can be performed only
after you cut off the power supply, wait at least 10 minutes, and determine that there is
no risk of electric shock.
y Follow the proper electrostatic discharge (ESD) procedures and wear an anti-static wrist
strap to perform wiring.
y The cables should be properly connected. The energized part must be properly insulated
using an insulator.

07
 ▏ Safety Information and Precautions▕

y Do not place any combustible material around this product.

y Do not place this product around heating elements such as heaters and large wire-wound
resistors.
y Do not use this product in a corrosive and inflammable gas environment or in a place
close to combustible materials.
y Do not use this product in a place with strong vibration or impact.
y Do not use this product after the cables are immersed in oil or water.
y Do not perform wiring at power-on.
y Do not damage the cables or apply any excessive external force, weight, or pinch to them.
y Do not connect this product directly to the commercial power supply.
y Do not perform installation and wiring in a place with strong electric or magnetic field.
y Do not perform wiring and equipment operations with wet hands.
y Do not reach your hands into this product.

WARNING

y Specialized loading and unloading equipment must be used to handle the product.
y When handling the equipment with bare hands, hold the equipment casing firmly with
care to prevent parts from falling.
y Handle the equipment with care during transportation and mind your steps.
y When this product is installed in a terminal device, the terminal device must be equipped
with protection. The protection class must comply with relevant IEC standards and local
regulations.
y Cables used for wiring must meet cross sectional area and shielding requirements. The
shield of the cable must be reliably grounded at one end.

y Do not install the equipment if you find damage, rust, or signs of use on the equipment
or accessories upon unpacking.
y Do not install the equipment if you find water seepage or missing or damaged
components upon unpacking.
y Do not install the equipment if you find the packing list does not conform to the
equipment you received.
y When the product is lifted by a crane, personnel cannot stand or stay under the product.
y Do not modify this product.
y Do not fiddle with the bolts used to fix equipment components or the bolts marked in
red.
y Do not connect the input power supply to the output end of the equipment.

08
▏ Safety Information and Precautions ▕

CAUTION

y Check whether the equipment or accessories show the evidence of damage, rust, impact,
or dampness.
y Check whether the package contents are consistent with the packing list.
y After wiring is completed, ensure that there are no screws fallen or cables exposed in the
equipment.
y Make sure that the temperature around the equipment is within the range of
temperature and humidity.
y Dispose of the equipment as industrial waste during discarding.

y Do not stand on the equipment or place a weight on it.

y Do not let the equipment fall or invert it during the handling or setup.
y Do not place any barriers around the product and peripheral equipment to hinder
ventilation.
y Do not let the equipment suffer from any strong impact.

Safety Signs

Danger
y Conduct protective grounding to prevent electric shock. Read through the guide and
follow the safety instructions before use.

High Voltage
y Do not touch terminals with power-on or within 10 minutes after disconnecting the
power supply to prevent the risk of electric shock.

Hot
y Do not touch the drive during operation and within a short time after shutdown. Failure
to comply may cause burns.

Environmental Protection

Reuse
y Some components of the product can be reused due to high metal content. Dismantle the
product into individual components to improve the metal recycling efficiency. Electrical
and electronic components contain metal materials that can also be recycled through a
specific separation process.

Disposal
y Discard components that cannot be degraded and recycled as industrial wastes according
to local regulations.

09
 ▏ Product Information

Chapter 1 Product Information

Efficient, Reliable, and Reassuring

The A6-PN series is a fast, reliable, and accurate platform servo drive from
STEPPERONLINE covering the most common power range of 0.40 kW to 1.0
kW for general automation. It supports both single-phase and three-phase
power supply systems. It features a space-saving design and excellent servo
control performance.

Working together with the A6 servo motor, the A6-PN series servo drive can
optimize the performance and the ease of use. Compatible with Siemens
200/300/1200/1500 series PLCs, the A6-PN series servo drive provides ef-
ficient and convenient motion control solutions for various industries.

1.1 Features

Excellent performance
y High response: 2 kHz speed loop bandwidth
y High accuracy: 17-bit absolute encoder
y High dynamics: DSC mode
y High adaptability: standard PROFIDRIVE protocol, mainstream PROFINET
communication PLCs

Sophisticated and novel design

y Integrated communication ports, enhancing wiring efficiency
y Compact design, making the product be able to be installed in narrow space
y Easy to connect and use, with serial or USB commissioning cable to improve
commissioning efficiency
y Support to PROFINET bus servo parameter copy for quick and easy access

Safe and reliable

y Built-in dynamic brake function
y Optional high-protection model to cope with harsh application environments

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 Product Information ▕

1.2 Model

A6 - 400 PN

PN PROFINET

400 400W
750 750W
1000 1000W

A6 series servo drive

1.3 Nameplate

Nameplate

Model MODEL: A6-400PN

Rated input INPUT: 1PH AC200~240V 2.3A 50/60Hz
Rated output OUTPUT: 3PH AC0~240V 1.6A 0~500Hz 200W
Manufacturing SN S/N: CA000447224000001

www.omc-stepperonline.com

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 ▏ Product Information

1.4 Components

Figure 1-1 Components of the A6-PN servo drive (SIZE A)

No. Name No. Name

Commissioning and communication

① ⑦ STO terminal port (CN5)
port (CN6)

② Display and operation area ⑧ QR code on machine

EtherCAT communication network

③ Control signal port (CN1) ⑨
port (CN3 and CN4)

④ Power input ⑩ Encoder signal port (CN2)

⑤ Braking resistor port ⑪ Motor power output

⑥ Charging indicator ⑫ System ground

NOTICE
y The above figure describes the component layout of the SIZE A drive. Component layout of other
models may be different. For positions of ports of other models, see section 3.3 Ports.

12
 Product Information ▕

1.5 Rated Data

Single-phase 220 V servo drive

Item SIZE-A SIZE-B

Power 0.4 kW 0.75 kW

Drive model A6-PN A6-400PN A6-750PN

Continuous output current

2.8 5.5
(Arms)

Maximum output current

10.1 16.9
(Arms)

Main circuit power supply Single-phase 200–240 V AC, –10% to +10%, 50/60 Hz

Powered up by the bus, sharing one power supply and rectification part
Control circuit power supply
with the main circuit

Braking capability External braking resistor Built-in braking resistor

Single-phase/Three-phase 220 V servo drive

Item SIZE-C

Power 1.0 kW

Drive model A6-PN A6-1000PN

Continuous output current

7.6
(Arms)

Maximum output current

23
(Arms)

Main circuit power supply Single-phase/three-phase 200–240 V AC, –10% to +10%, 50/60 Hz

Control circuit power supply Single-phase 200–240 V AC, –10% to +10%, 50/60 Hz

Braking capability Built-in braking resistor

NOTICE
y The main circuits of A6-1000PN driver can be connected to a single-phase or a three-phase
power supply, depending on which one is available on site.

13
 ▏ Product Information

Three-phase 380 V servo drive

1.6 Technical Specifications

Basic specifications

Item Specifications
IGBT PWM control, sine wave current drive mode
Control mode
220 V, 380 V: Single-phase or three-phase full-bridge rectification

23-bit multi-turn absolute encoder, which can be used as a single-

Encoder feedback
turn absolute encoder in absence of the battery

0°C to +55°C
Operating temperature
(over 45°C: derate 10% for every additional 5°C)

Storage temperature –40°C to +70°C

Up to 2000 m.
Altitude
For altitude above 1000 m, derate 1% for every additional 100 m

IP20
IP rating
(except for the power terminal IP00)

Speed/torque control mode

Item Specifications

1:6000
Speed control range (The lower limit is the threshold within which the servo drive
keeps running with the rated torque load.)

Speed loop bandwidth 3 kHz

Performance
Torque control accuracy ±1%

0 s to 600 s
Ramp time (This parameter can be set for acceleration and deceleration
separately.)

Speed reference input Source of network-type references:

Input signal
Torque reference input PROFINET communication

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 Product Information ▕

Position control mode

Item Specifications
Performance Positioning time 1 ms to 10 ms
Source of network-type references:
Input signal Position reference
PROFINET communication
P-OT (positive limit switch)
N-OT (negative limit switch)
Digital input Supporting signal
HomeSwitch (home switch)
(DI) signal allocation change
TouchProbe1 (probe 1)
TouchProbe2 (probe 2)
3 DOs
Load capacity: 50 mA
Digital output Supporting signal Voltage range: 5 V to 30 V
(DO) signal allocation change S-RDY (servo ready)
ALM (fault output)
BK (brake output)

Built-in functions

Item Specifications
Overtravel (OT) prevention The servo drive stops immediately when P-OT or N-OT becomes active
Protections against overcurrent, overvoltage, undervoltage, overload,
Protection functions main circuit detection error, heatsink overheat, overspeed, encoder
error, CPU error, and parameter error
LED display Main power supply CHARGE indicator, 5-digit LED display
Five notches
Vibration suppression
(including two adaptive notches), 50 Hz to 8000 Hz
Connection RS232 PROFINET
protocol USB

Multi-station
65535 (PROFINET, dependent on the PLC)
communication
Communication
function Axis address 0 to 247 set through the software (RS232)
setting Allocated automatically by the host controller (PROFINET)
Status display, user parameter setting,
Function monitored value display, alarm tracing display,
jogging, and speed/torque reference signal observation
Other Gain tuning, alarm record, and I/O setting

15
 ▏ Product Information

1.7 Communication Specifications

Item Specifications
Communication protocol PROFINET protocol, RT and IRT modes

Process data Commonly-used telegrams

Access to industry standard parameters and function code

Non-cyclic data
parameters

RT mode: minimum 1 ms
Bus cycle
IRT mode: minimum 500 μs

Synchronization jitter <1 us

Physical layer 100 BASE-TX

Baud Rate 100 M Bit/S (100Base-TX)

Duplex mode Full duplex

PROFINET Topology Ring, linear, star, tree
data
Transmission medium Shielded Ethernet cable of Cat5e or above

Up to 65535 supported by protocol (Dependent on PLC

Number of slaves performance.)
Up to 100 tested

Communication bit error

10-10 Ethernet standard
ratio

I&M data I&M0 to I&M4

TIA Portal V17 SP1 or later versions

Configuration version
STEP7 V5.5 SP4 or later versions

PROFINET version V2.4

PROFINET interface Number of ports: 2

Alarm/Diagnosis information Supported

DCP CALL Supported

MRP Supported

PROFINET IO device; support for media MRPD Supported

redundancy PROFINET system redundancy Supported

Boot priority Supported

Port disabling Supported

Configuration-free upon device change Supported

16
 Mechanical Installation ▕

Chapter 2 Mechanical Installation

2.1 Installation Environment

Item Requirements
Place Indoors
Grid Overvoltage category (OVC): III
Below 1000 m, up to 2000 m.
Altitude
For altitude above 1000 m, derate 1% for every additional 100 m.
Storage: –40°C to +70°C
Temperature Operation: 0°C to +55°C (For temperature above 45°C, derate 10% for every additional
5°C.), with temperature change less than 0.5°C/min
Humidity Less than 95% RH, non-condensing
Vibration Less than 4.9 m/s2
Heat Install and fix the device to the surface of an incombustible object and leave sufficient
dissipation surrounding space for heat dissipation
y IP rating: IP20 (except for the power terminal IP00)
y Avoid places with direct sunlight exposure, moisture, and water drop
y Avoid places with corrosive, combustible, or explosive gas
Protection
y Avoid places with oil and dust
y Avoid places with strong electromagnetic interference
y Avoid places with constant vibration or physical shock

※ When installing the drive in a control cabinet, take into consideration the temperature change of the
cooling air. Rapid temperature drop of the cooling air is not allowed.

2.2 Installation Orientation

The A6-PN drive can only be installed vertically, and improper installation orientation may cause over-
temperature.

CAUTION

y The A6-PN series servo drive has a vertical structure and thus must be installed vertically.
Improper installation orientation may cause over-temperature and then damage to the drive.

17
 ▏ Mechanical Installation

2.3 Installation clearance

The A6-PN drive can only operate in an enclosed housing or control cabinet and must be fitted with a
protective device and protective cover. Three clearances are allowed based on the drive power rating and
heat dissipation requirements.

CAUTION

y To ensure the cooling effect and uniform temperature distribution in the control cabinet, reserve
sufficient space and install a fan.
y The drive heats up as the motor runs, and running the drive in an enclosed control cabinet may
cause abnormal temperature rise inside the cabinet. Install a cooling device for the drive to meet
the ambient temperature requirements.

Clearance for side-by-side installation:

Applicable for all models.

Air outlet Air outlet Air outlet

≥ 50mm

≥ 20mm ≥ 20mm

≥ 10mm
≥ 50mm

Air inlet Air inlet Air inlet Air inlet

18
 Mechanical Installation ▕

Clearance for compact installation:

Applicable for models of SIZE A and SIZE B (0.4 kW to 0.75 kW).

Air outlet Air outlet Air outlet

≥ 50mm

≥ 20mm ≥ 20mm

≥ 1mm
≥ 50mm

Air inlet Air inlet Air inlet Air inlet

CAUTION

y The distance between adjacent servo drives must be equal to or greater than 1 mm.
Take the installation tolerance into consideration.
y When adopting compact installation, derate the rated load rate to 75%.

19
 ▏ Mechanical Installation

Zero-clearance installation:

Applicable for models of SIZE C (1.0 kW), no derating.

Air outlet Air outlet Air outlet

≥ 50mm

≥ 20mm ≥ 20mm

≥ 50mm

Air inlet Air inlet Air inlet Air inlet

2.4 Installation Precautions

CAUTION

y To facilitate heat dissipation upward, fix the drive longitudinally on the mounting surface.
y For installation of multiple servo drives inside the cabinet, install them side by side.
y For dual-row installation, install an air guide plate.
y Use the flame-retardant mounting bracket if necessary.
y Ground the grounding terminal properly. Failure to comply may cause an electric shock or
malfunction due to interference.
y Route the servo drive cables downwards to prevent liquid from flowing into the servo
drive along the cables.

20
 Mechanical Installation ▕

2.5 Installation Dimensions

SIZE A (rated power: 0.4 kW)

Front view Side view Rear view Top view

40 150 Ø5 28

170 161

Ø5

Figure 2-1 Installation dimensions for SIZE A (unit: mm)

SIZE B (rated power: 0.75 kW)

Front view Side view Rear view Top view

50 174 Ø5 37

170 161

Ø5

Figure 2-2 Installation dimensions for SIZE B (unit: mm)

21
 ▏ Mechanical Installation

SIZE C (rated power: 1.0kW)

Front view Side view Rear view Top view

55 174 Ø5 44

170 160

Ø5

Figure 2-3 Installation dimensions for SIZE C (unit: mm)

Table 2-1 Dimensions of the outer packing box

SIZE Drive Model Outer Length Outer Height Outer Width Weight

A A6-400PN 215 mm 85 mm 195 mm 0.78 kg

B A6-750PN 220 mm 95 mm 215 mm 1.04 kg
C A6-1000PN 220 mm 95 mm 215 mm 1.20 kg

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 Mechanical Installation ▕

2.6 Installation Guide

The A6-PN series servo drive must be installed on a base through a backplate. For the mounting holes, see
the dimensions diagrams of each model.

NOTICE
Fixing with upper and lower screws
y SIZE-A/B/C: M4 screws, 1 each on top and bottom. Torque: 1.3 N·m to 1.6 N·m

Figure 2-4 Backplate mounting

CAUTION

y For the tightening torque of the mounting screws, take into account the strength of the screws
used and the material of the mounting position, and ensure that there is no looseness or
damage.

23
 ▏ Electrical Installation

Chapter 3 Electrical Installation

3.1 System Topology

■ SIZE A

Communication cable
(USB cable)

Power supply Communication cable

(Type-c to serial, serial to USB)

Circuit breaker
PC
PROFINET cable

STO signal cable

Filter

Electromagnetic
contactor
Parallel connection

I/O cable PLC

Safety link

Braking resistor

Encoder cable
System ground

Motor power cable

24
 Electrical Installation ▕

■ SIZE B

Communication cable
(USB cable)
Power supply Communication cable
(Type-c to serial, serial to USB)

Circuit breaker
PC
PROFINET cable
STO signal cable
Filter

Electromagnetic
contactor Parallel connection

I/O cable PLC

Safety link

Braking resistor

System ground

Encoder cable

Motor power cable

NOTICE
y Remove the jumper bar between terminals P and D before connecting an external braking
resistor.

25
 ▏ Electrical Installation

■ SIZE C

Power supply
PC
Circuit breaker

Filter Communication cable

(Type-c to serial, serial to USB) Communication cable
(USB cable)

Electromagnetic
contactor Parallel connection

Safety link
STO signal cable
PC
PROFINET cable

Braking resistor I/O cable PLC

System ground

Encoder cable

Motor power cable

NOTICE
y Remove the jumper bar between terminals P and D before connecting an external braking
resistor.

26
 Electrical Installation ▕

3.2 System Wiring

WARNING

y Only electrical engineering specialists can perform wiring.

y Connect an electromagnetic contactor between the input power supply and the main
circuit of the drive, to form a structure that can cut off the power supply on the power side
of the drive. If no electromagnetic contactor is connected, continuous large current upon
drive faults may cause a fire.
y Ensure that the input voltage of the drive is within the allowable range. Failure to comply
may result in product faults.
y Connect the drive protective earth (PE) terminal to that of the control cabinet. Failure to
comply may result in an electric shock.
y Insulate the connection part of power supply terminals during wiring of the power supply
and main circuit. Failure to comply may result in an electric shock.
y Ground the entire system. Failure to comply may result in malfunction.
y After power-off, wait at least 10 minutes before further wiring operations because residual
voltage exists after power-off. Failure to comply may result in an electric shock.

y Never power the servo drive with the IT grid. Use the TN or TT grid instead. Failure to
comply may result in an electrical shock.
y Do not connect the output terminals U, V, and W of the drive to a three-phase power
supply. Failure to comply may result in physical injury or a fire.
y Do not connect the motor terminals U, V, and W to a mains power supply. Failure to comply
may result in physical injury or a fire.
y Do not power on the device before wiring is completed. Failure to comply may result in an
electrical shock.

CAUTION

y Protect external wiring, branches, and short circuits according to local regulations.
y When using peripheral devices, read the user guide for each component and use it properly
after fully confirming the precautions.
y Route the device properly. Improper wiring may cause damage to the drive and motor.
y Connect the drive to the motor directly, without connecting any electromagnetic contactor
between them. Failure to comply may result in faults.
y Separate the main circuit cables from the I/O signal cables and encoder cables by at least
30 cm. Failure to comply may result in drive malfunction.
y Use twisted pairs or multi-conductor shielded twisted pairs as I/O signal cables or encoder
cables. Failure to comply may result in drive malfunction.
y The maximum wiring lengths of I/O signal cables and encoder cables are 3 m and 10 m,
respectively.
y Use a power filter to reduce electromagnetic interference on electronic devices around the
drive.

27
 ▏ Electrical Installation

y When wiring, do not allow conductive materials such as wire shavings to fall inside the drive.
y Never place cables under heavy objects or drag cables vigorously. Failure to comply may
result in an electric shock due to cable damage.

Host controller
TD+ 9 TD+ 1

TD- 10 TD- 2

RD+ 11 RD+ 3

RD- 14 RD- 6

CN3/CN4
Next slave
TD+ 1 TD+ 9

TD- 2 TD- 10

RD+ 3 RD+ 11

RD- 6 RD- 14

Cat5e shielded
twisted-pair
Ethernet cable
A6-PN
+24 V power supply +24V
1 S-RDY+(DO1+)
Internal +24 V power supply 15
Voltage range: 20 V to 28 V 6 S-RDY-(DO1-)
COM+ 13
Maximum current: 200 mA
P-OT(DI1) 10 4.7kΩ
Positive 3 ALM+(DO2+)
limit switch
2 ALM-(DO2-)
State output
N-OT(DI2) 9 4.7kΩ
Negative
limit switch
5 BK+(DO3+)
HomeSwitch(DI3) 8 4.7kΩ
Home 4 BK-(DO3-)
switch

TouchProbe2(DI4) 7 4.7kΩ The DO power supply needs

Probe 1
to be prepared by users.
Voltage range: 5 V to 24 V
TouchProbe1(DI5) 4.7kΩ
Probe 2 11 Maximum allowable voltage
of the DO port: 30 VDC
Maximum allowable current: 50 mA
COM- 14
PE shield connected to connector housing

Figure 3-3 System wiring

28
 Electrical Installation ▕

3.3 Ports

SIZE A

CN5 STO func�onal port

Commissioning and
CN6
communica�on port

Communica�on Communica�on
CN3 CN4
network port IN network port OUT

CN1 User control port

CN2 Encoder port

L1/L2 Main power input
P C External braking resistor
N Bus nega�ve electrode
U/V/W Motor power output
PE Motor grounding terminal

SIZE B

CN5 STO func�onal port

Commissioning and
CN6
communica�on port

Communica�on Communica�on
CN3 CN4
network port IN network port OUT

CN1 User control port

CN2 Encoder port

L1/L2 Main power input
P D C External braking resistor
N Bus nega�ve electrode
U/V/W Motor power output
PE Motor grounding terminal

29
 ▏ Electrical Installation

SIZE C

Communicaon Communicaon
CN3 CN4
network port IN network port OUT
Commissioning and
CN6
communicaon port
L1C/L2C Control power input
CN5 STO funconal port
R/S/T Main power input
P D C External braking resistor
N Bus negave electrode CN1 User control port

U/V/W Motor power output CN2 Encoder port

PE Motor grounding terminal

Table 3-1 Drive terminals

Terminal Pin Description

L1 and L2: Connected to the input power supply as per the

Power input terminals rated voltage class on the nameplate.

P and N : Used when multiple servo drives share one DC

Servo bus terminals bus.

P and C:
If an external braking resistor is needed, connect
External braking resistor
it between terminals P and C.
connection terminals

U, V, and W:
Connected to U, V, and W phases of the servo
Servo motor connection
motor.
Main circuit terminals terminals
of SIZE A
PE: Connected to the grounding terminal of the motor
Motor grounding terminal for grounding purpose.

30
 Electrical Installation ▕

Terminal Pin Description

L1 and L2: Connected to the input power supply as per the

Power input terminals rated voltage class on the nameplate.

P and N : Used when multiple servo drives share one DC

Servo bus terminals bus.

If an external braking resistor is needed, connect

it between terminals P and C.
P , D, and C:
Note: R emove the jumper between terminals P
External braking resistor
and D before installing an external braking
connection terminals
resistor. Otherwise, the braking transistor
will be damaged due to overcurrent.

U, V, and W:
Main circuit terminals
Servo motor connection Connected to U, V, and W phases of the servo motor.
of SIZE B
terminals

PE: Connected to the grounding terminal of the motor

Motor grounding terminal for grounding purpose.

L1C and L2C:

Connected to the control circuit power supply as
Control circuit power
per the rated voltage class on the nameplate.
input terminals

R, S, and T:
Connected to the main circuit power supply as
Main circuit power input
per the rated voltage class on the nameplate.
terminals

P and N :
Used when multiple servo drives share one DC bus.
Servo bus terminals

If an external braking resistor is needed, connect

it between terminals P and C.
P , D, and C:
Note: R emove the jumper between terminals P
External braking resistor
and D before installing an external braking
connection terminals
resistor. Otherwise, the braking transistor
will be damaged due to overcurrent.

U, V, and W:
Main circuit terminals
Servo motor connection Connected to U, V, and W phases of the servo motor.
of SIZE C
terminals

PE: Connected to the grounding terminal of the motor

Motor grounding terminal for grounding purpose.

31
 ▏ Electrical Installation

Terminal Pin Description

10 DI1 Positive limit switch

9 DI2 Negative limit switch
8 DI3 Home switch
7 DI4 Probe 2
11 DI5 Probe 1
15 + 24 V Internal 24 V power supply
15 5
Voltage range: 20 V to 28 V
Max. output current: 200 mA
10
14 4
9
13 3

(Note: The drive shares a resettable fuse of a 200

8
12

11
7
2

1
14 COM -
mA total current limit with the CN5 Safe Torque
6

Off (STO) function terminal.)

13 COM + Common terminal of DI terminals
CN1 user control
terminal 1 DO1 +
Servo ready
6 DO1 -
3 DO2 +
Fault
2 DO2 -
5 DO3 +
Brake
4 DO3 -

1 +5V 5 V power supply

2 0V -

5 3 1
3 Reserved -

4 Reserved -
6 4 2

CN2 encoder terminal 5 PS+

Encoder signal
6 PS–

Enclosure PE Shield

32
 Electrical Installation ▕

Terminal Pin Description

1 TD+ Data transmit+

2 TD– Data transmit–

CN3 CN4 3 RD+ Data receive+

4/5 - -

6 RD– Data receive–

9
10
1
2
7/8 - -
11 3
12/13 4/5 9 TD+ Data transmit+
14 6
15/16 7/8
10 TD– Data transmit–
PROFINET
communication 11 RD+ Data receive+
terminals 12/13 - -

14 RD– Data receive–

15/16 - -

1 COM STO reference ground

1 2

3 4 2 24V 24 V power supply

CN5 STO function 3 STO1 Control input for STO1

terminals
4 STO2 Control input for STO2

1: Type-c to serial, serial to USB

Type-c
2: Type-c→USB
CN6 commissioning
and communication
terminal

33
 ▏ Electrical Installation

3.4 Power Supply Connection

CAUTION

y Do not connect the input power cables to the output terminals U, V and W. Failure to
comply may cause damage the servo drive.
y Do not touch power terminals within 10 minutes after power-off because high voltage
exists inside the drive after power off.
y Do not bundle power cables and signal cables together or route them through the same
duct. Power cables and signal cables must be separated by a distance of at least 30 cm to
prevent interference.
y Do not turn on and off the power supply frequently (once a minute). Failure to comply
may cause drive faults.
y Do not power on the servo drive when any screw of the terminal block or any cable
becomes loose. Failure to comply may cause a fire.

y When cables are bundled in a metal duct, take the current reduction ratio into
consideration because of the inadequate cooling condition of the duct.
y Select cables based on the ambient temperature of the controller:
When the ambient temperature is high, use heat-resistant cables. Teflon cables are
recommended.
Take heat preservation measures in low-temperature environments because the surface
of regular cables may be easily hardened and cracked under low temperature.
y Use cables whose bending radius is over 10 times its outer diameter, to prevent the
internal conductor from breaking due to long-term bending.
y Use cables that can resist a voltage of 600 V AC or above and have a rated temperature of
75°C or above for the main circuit.
y Use a grounding cable with the same cross-sectional area as the main circuit cable. If the
cross-sectional area of the main circuit cable is less than 1.6 mm2, use a grounding cable
with a cross-sectional area of 2.0 mm2.
y Ground the drive reliably. Failure to comply may result in malfunction or even damage of
the drive.
y Use shielded cables to comply with the EMC requirements.

34
 Electrical Installation ▕

3.4.1 Main circuit wiring

Power supply Check the power supply specifications

as per the drive nameplate.

Do not use the electromagnetic contactor

to run or stop the motor.
Red
Circuit breaker L1 U
White
L2 V
Black
W
Filter Yellow/green
Electromagnetic
contactor CN2

PG

CN1
com
P ALM-
STOP button
C 1D 24V
Motor
N ALM+
RUN button Alarm
Do not connect the
signal grounding cable to
output other cable connectors
or make them touch
Surge protection device each other.

Alarm output relay

Alarm indicator

Grounding cable

Figure 3-4 Wiring of the single-phase 220 V main circuit

NOTICE
Models with a single-phase 220 V power supply
y Model SIZE-A: A6-400PN
y Model SIZE-B: A6-750PN
y Model SIZE-C: A6-1000PN (The main circuit can be connected to a single-phase or a three-phase
220 V power supply, depending on which one is available on site.)

35
 ▏ Electrical Installation

Power supply Check the power supply specifications

as per the drive nameplate.

Circuit breaker L1C

L2C
Do not use the electromagnetic contactor
Filter to run or stop the motor. Red
U
R
White
V
S
Black
T W
Yellow/green

Electromagnetic CN2
contactor
PG

P CN1
com
D ALM-
STOP button
C 1D 24V
Motor
N ALM+
RUN button Alarm
signal Do not connect the
grounding cable to
output
other cable connectors
Surge protection device or make them touch
each other.

Alarm output relay

Alarm indicator

Grounding cable

Figure 3-5 Wiring of the three-phase 220 V or 380 V main circuit

NOTICE
Models with a three-phase 220 V power supply
y Model SIZE-C: A6-1000PN(The main circuit can be connected to a single-phase or a three-phase
220 V power supply, depending on which one is available on site.)

36
 Electrical Installation ▕

3.4.2 Cable specifications and recommendations

Table 3-2 Drive input and output current and recommended cables

Rated Input Rated Output Max. Output Input Cable

Drive Model
Current Current Current Specifications
Single-phase 220 V
SIZE A A6-400PN 4A 2.8 A 10.1 A 0.75 mm2
SIZE B A6-750PN 7.9 A 5.5 A 16.9 A 0.75 mm2
SIZE C A6-1000PN 9.6 A 7.6 A 23 A 1 mm2
Single-phase 220 V
SIZE C A6-1000PN 5.1 A 7.6 A 23 A 0.75 mm2

Table 3-3 Drive cable specifications and recommendations

Cable Type Cable Size Outer Diameter (OD)

4 × 12 AWG 12.2 ± 0.4 mm

4 × 14 AWG 10.5 ± 0.3 mm
Power cable 4 × 16 AWG 9.5 ± 0.4 mm
4 × 18 AWG 7.8 ± 0.2 mm
4 × 20 AWG 6.5 ± 0.2 mm
4 × 12 AWG 12.9 ± 0.4 mm
4 × 14 AWG 11.2 ± 0.4 mm
Power shielded cable 4 × 16 AWG 10.1 ± 0.4 mm
4 × 18 AWG 8.3 ± 0.2 mm
4 × 20 AWG 6.5 ± 0.2 mm
Power cable + brake cable 4 × 20 AWG + 2 × 24 AWG 6.5 ± 0.2 mm
2 × 18 AWG 5.8 ± 0.2 mm
Brake cable
2 × 20 AWG 5.0 ± 0.2 mm

37
 ▏ Electrical Installation

3.4.3 Grounding

CAUTION

y To prevent electric shock, ground the grounding terminal properly.

y Use grounding cables that meet technical standards for electrical devices and use
protective grounding conductors that meet technical specifications. and shorten the
grounding cable as much as possible.
y For use of multiple servo drives, ground them all. Improper grounding of the device may
cause malfunction of the servo drive and the device.
y Do not use one grounding cable for multiple devices. Improper grounding of the device
may result in servo drive or device faults caused by electrical interference.
y For drives equipped with selective grounding screws for VDR and insulation resistor,
remove the selective grounding screw for VDR before voltage resistance test. Failure to
comply may cause the servo drive to fail the test.
y Install the servo drive on a conductive metal mounting surface. Ensure that the whole
conductive bottom of the device is attached properly to the mounting surface.
y Fix the grounding screw with the recommended torque. Avoid loosening or over-
tightening of the protective grounding conductor.

Grounding one servo drive alone

1 Connect the PE cable on the input power supply

side to the input PE terminal of the drive.

2 Connect the output PE terminal of the drive

to the motor output cable shield.

PE
2

38
 Electrical Installation ▕

Grounding multiple servo drives

Control cabinet

1 Connect the main circuit input PE terminal

of the servo drive to the grounding copper
busbar of the control cabinet through a
protective grounding conductor.

2 Connect the PE cable on the input power

supply side to the grounding copper
busbar of the control cabinet.

3 Connect the grounding copper busbar of

the control cabinet to the metal housing
through a protective grounding conductor.
4 4 Connect the motor output cable shield to
the output PE terminal of the servo drive.
1

Grounding
copper busbar

2 3

Grounding the control cabinet system

To suppress interference in the control cabinet, isolate the interference source from devices that may
be interfered with. Divide the control cabinet into multiple EMC compartments or use multiple control
cabinets based on the intensity of interference sources.

39
 ▏ Electrical Installation

CAUTION

System installation principles:

y Place the control unit and the drive unit in two separate control cabinets.
y For installation involving multiple control cabinets, use a grounding cable with a cross-sectional
area of at least 16 mm2 to connect the control cabinets. This is to ensure equipotentiality
between the cabinets.
y If only one control cabinet is used, place different devices in different compartments of the
control cabinet based on signal intensity.
y Apply equipotential bonding to devices in different compartments inside the control cabinet.
y Shield all communication and signal cables drawn from the control cabinet.
y Place the power input filter in a position near the input interface of the control cabinet.
y Apply spray coating to each grounding point in the control cabinet.

Drive cabinet Control cabinet

Control
area
Equipotential bonding

Controller Hub

Drive
area

Controller
Drive Drive

Filter Filter Reactor Filter Reactor Equipotential bonding Filter

Achieve all-round
PE connection with the shield PE I/O signal cable and
communication cable
Equipotential bonding
Grid Grid lead and PE
Motor cable Motor cable
Power cable
M M
Motor cable

40
 Electrical Installation ▕

Recommended grounding cable lugs for main circuit

Table 3-4 Recommended grounding cable lugs for power circuit

Rated Output Lug Model of Lug Model of Lug Model of PE

Drive Model
Current Power Cable Brake Cable Cable

SIZE A A6-400PN 2.8 A E1008 E0508 TVR2-4

SIZE B A6-750PN 5.5 A E1008 E0508 TVR2-4
SIZE C A6-1000PN 7.6 A E1508 E1008 TVR2-4

ØD ØC

B
L

Table 3-5 Lug models and dimensions

Lug model L B ØC ØD Color

E0508 14 mm 8 mm 1.0 mm 2.6 mm Orange

E1008 14 mm 8 mm 1.4 mm 3.0 mm Yellow

E1508 14 mm 8 mm 1.7 mm 3.5 mm Red

Table 3-6 Dimensions and appearance of TVR2-4 cable lugs of the grounding cable

Lug model D d2 B Appearance

Ød2
B
TVR 2-4 4.5mm 4.3mm 8.5mm ØD

41
 ▏ Electrical Installation

3.5 Motor Connection

Terminal-type motor

Pin No. Usage

Power input connector 1 Phase V

2 Phase U
1 3 Phase W
2 A
3 B
4 4 Grounding cable

A Brake (polarity insensitive)

B Brake (polarity insensitive)

Power cable without brake

U

PE

Power cable with brake U

V

BK+

BK-
PE

Figure 3-6 Power cable for terminal-type motor

42
 Electrical Installation ▕

Aviation plug-type motor

Pin No. Usage

A Phase U

A C
B Phase V
B D C Phase W
Power input connector
D Grounding cable

Pin No. Usage

A Phase U
1 B Phase V
A D
2
B C C Phase W
D Grounding cable
1 Brake (polarity insensitive)

2 Brake (polarity insensitive)

3.6 Encoder Connection (CN2)

CAUTION

Precautions for wiring of encoder signal cables:

y Ground the shield on the drive side and the motor side. Otherwise, the drive will report false
alarms.
y Do not connect cables to "reserved" terminals.
y When determining the length of the encoder cable, take into full account the voltage drop caused
by cable resistance and signal attenuation caused by distributed capacitance. Use shielded
twisted pairs above 26 AWG (as per UL2464 standard) and keep the length within 10 m.

43
 ▏ Electrical Installation

Terminal-type motor

Pin No. Usage

1 DATA+
Encoder connector
2 DATA-
3 BAT+
5 1
6 2
3 4 BAT-
7 4
5 +5V
6 0V
7 FG

Single-turn encoder cable

Multiple-turn encoder cable

Figure 3-7 Absolute encoder signal cables

CAUTION

Battery box precautions:

y Install the battery in the correct direction. Do not pinch the connector cable when closing the
battery box cover.
y Do not disassemble the battery because the internal electrolyte may spread out and cause
physical injury.
y Do not short circuit the battery. Failure to comply may deteriorate the battery power and even
incur the risk of explosion due to violent overheating.
y Before discarding the battery, insulate the battery with tape and then dispose of it according to
local regulations.

44
 Electrical Installation ▕

Aviation plug-type motor

Pin No. Usage

Encoder connector 1 DATA+

2 DATA-

1 2 3 4 +5V
4 5 6 7 5 BAT-
8 9 10
6 BAT+
9 0V
10 Enclosure

3.7 Control Signal Connection (CN1)

3.7.1 I/O signal

Use shielded signal cables to protect I/O signal circuits against strong interference noise at the periphery.
y Use a separate shielded cable for each type of analog signal.
y Shielded twisted pairs are recommended as digital signal cables.

Figure 3-8 Shielded twisted pairs

CAUTION

y To avoid electromagnetic interference, keep a distance of at least 30 cm between I/O signal

cables and power cables (input RST cables, output UVW cables, DC bus, and braking cables).

45
 ▏ Electrical Installation

3.7.2 Digital input/output (DI/DO) signals

DI circuits

NOTICE
y The circuits for DI1 to DI5 are the same. The following takes the DI1 circuit as an example.

When the host controller adopts relay output:

y For use of the internal 24 V power supply of the servo drive.

Servo drive

24V
+24 V power supply 15

COM+ 13

DI1 (CMD1) 10 4.7kΩ

COM- 14
Relay

y For use of an external power supply.

Servo drive Servo drive
External
+24 V power supply
+24 V
24V power 24V
External Two power
+24 V power supply 15 supply 15
supplies
mess up.

COM+ 13 COM+ 13

DI1 (CMD1) 10 4.7kΩ DI1 (CMD1) 10 4.7kΩ

Relay

14 COM- 14
Relay

External 0 V External 0 V

46
 Electrical Installation ▕

When the host controller adopts open collector output:

y For use of the internal 24 V power supply of the servo drive.

Servo drive Servo drive

24V 24V
+24 V power supply 15 +24 V power supply 15

PNP
COM+ 13 COM+ 13

DI1 (CMD1) 10 4.7kΩ DI1 (CMD1) 10 4.7kΩ

NPN

COM- 14 COM- 14

y For use of an external power supply.

Servo drive Servo drive

24V 24V
External External
+24 V power supply 15 +24 V power supply 15

PNP
COM+ 13 COM+ 13

DI1 (CMD1) 10 4.7kΩ DI1 (CMD1) 10 4.7kΩ

NPN
14 External 0 V 14

External 0 V

CAUTION

y PNP and NPN inputs cannot be used together in the same circuit.

47
 ▏ Electrical Installation

DO circuits

NOTICE
y The circuits of DO1 to DO3 are the same. The following takes the DO1 circuit as an example.

When the host controller adopts relay input:

Servo drive

External
5 V to 24 V
power supply

Relay

1 DO1+

6 DO1-

External 0 V

CAUTION

y When the host controller adopts relay input, a flywheel diode must be installed. Otherwise, the
DO terminals may be damaged.

When the host controller adopts optocoupler input:

NOTICE
y The maximum allowable voltage and maximum current capacity of the optocoupler output circuit
inside the servo drive are 30 VDC and DC50 mA, respectively.

48
 Electrical Installation ▕

Servo drive External Servo drive External

5 V to 24 V power supply 5 V to 24 V power supply
Current limiting
resistor not used
Optocoupler Optocoupler

1 DO1+ 1 DO1+

6 DO1- 6 DO1-

External 0 V External 0 V

3.7.3 Wiring of the brake

Some servo motors have a brake inside. The motor brake is used to prevent the movement of the servo
motor shaft and keep the motor locked in the position when the servo motor may move unexpectedly due
to external forces or its own weight during non-running conditions.

CAUTION

y The motor brake can only be used on a stopped motor and is only used to keep the load
stationary. Do not use it to brake a moving load.

NOTICE
y The brake coil has no polarity.
y Switch off the S-ON signal after the servo motor stops.
y When the motor with a built-in brake runs, the brake may generate a click sound, which does not
affect its function.
y When brake coils are energized (the brake is released), flux leakage may occur on the shaft end.
Pay special attention when using magnetic sensors near the motor.

49
 ▏ Electrical Installation

R U
Power Circuit V
Filter S M
supply breaker W
T

Check the power supply Electromagnetic

specifications as per contactor
the drive nameplate. CN2 PG Encoder

Control brake relay

BK-RY
CN1
DO3+ (BK+) +24V
BK Brake
DO3- (BK-)

+24 V (brake power supply)

The DC power supply for the brake
must be prepared by users.

Figure 3-9 Wiring of the brake

Precautions during wiring:

When determining the length of the motor brake cable, take into full account the voltage drop caused by
cable resistance. The input voltage must be at least 21.6 V to enable the brake to work properly.

Table 3-7 Brake specifications

Rated Power Supply

Motor Model Holding Torque
Power Voltage

A6M60-400H2B1-M17 1.27 N·m 7.3 W 24 V DC

A6M80-750H2B1-M17 3.2 N·m 8.5 W 24 V DC
A6M80-1000H2B1-M17 3.2 N·m 8.5 W 24 V DC

50
 Electrical Installation ▕

3.8 Communication Signal Connection (CN3 and CN4)

Communication signals are connected by PROFINET network cables. Connect CN3 (P1) to the
communication port of the master and CN4 (P2) to a slave.

PLC

Host controllers supporting the PROFINET communication protocol

Figure 3-10 Communication networking topology

CAUTION

y To enhance the system's anti-interference capability, the EtherCAT communication cable must be
an Ethernet Category 5 (100BASE-TX) network cable or high-strength shielded network cable of
no more than 100 m.
y PROFINET servo drives support multiple connection methods, and the networking topology
provided here is for reference only.

51
 ▏ Electrical Installation

PROFINET communication supports multiple networking topologies and connection methods:

y Linear connection
Master
P1 P2 P1 P2 P1 P2

y Redundant ring connection

Master

P1 P2 P1 P2 P1 P2

Figure 3-11 PROFINET communication connection

3.9 Communication Terminal Connection (CN6)

You can connect the drive to the PC through the CN6 terminal by using a serial cable (two-part wiring:
Type-c to serial, and serial to USB) or a USB cable.

Top view

Type-c-to serial cable Serial-to-USB cable

(optional) (prepared by users)

DB9

USB cable
(optional or prepared by users)

Figure 3-12 Communication terminal connection

52
 Electrical Installation ▕

DB9 Female Connector (Hole Type) Pin No. Signal Description

2 RXD PC receive end

6 7 8 9 3 TXD PC transmit end
1 2 3 4 5
5 GND Ground

Housing PE Shield

3.10 Safety STO Terminal Connection (CN5)

The safety STO terminal (CN5) is used to configure two isolated inputs to dual-channel inputs of the STO
function.

SIZE A
Top view
The CN5 position varies
COM 1 2 24V with the model.
STO1 3 4 STO2 For the specific layout, see
section 3.3 Ports.

Figure 3-13 Layout of the safety STO terminal

Pin No. Name Value Description

1 COM 0V STO reference ground

2 24V 24V 24 V power supply

3 STO1 - Control input for STO1

4 STO2 - Control input for STO2

Electrical specifications and connections of input circuit

CN5 input signal features:
y Specifications
The servo drive operates normally only when the input states of STO1 and STO2 are both "High"
("1" or "H").
The servo drive does not operate when either or both the input states of STO1 and STO2 are "Low"
("0" or "L").

53
 ▏ Electrical Installation

y Electrical characteristics of Safety Request Input Signal:

Item Characteristics Description

Voltage range 24 VDC (±15%) -

Input current 4 mA (Typ.) This is the value per channel.

Standards of logic levels "0"<3 V, "1">15 V -

Digital input impedance 5.78 kΩ -

Example connection of Example connection of

external 24 V power supply internal 24 V power supply

Servo drive Servo drive

24V CN5 CN5
24V
+24 V
STO1 3 4kΩ power supply 2

STO1 3 4kΩ

STO2 4 4kΩ
COM- 1
COM- 1
STO2 4 4kΩ

COM- 1

Figure 3-14 Input circuit connection of the safety STO terminal

3.11 Braking Resistor Connection

CAUTION

y Do not connect the external braking resistor directly to positive and negative electrodes
of the bus. Failure to comply may result in drive damage or even a fire.
y Do not select a resistor with resistance lower than the allowable minimum value. Failure
to comply may result in an alarm or damage to the servo drive.
y Do not contact the external braking resistor during use. Failure to comply may result in
burns caused by the hot braking resistor.

y Set parameters of the braking resistor properly before using the servo drive.
y Install the external braking resistor on incombustible objects (such as metal).

54
 Electrical Installation ▕

Figure 3-15 Connection of the external braking resistor

NOTICE
y The above connection example is for model SIZE A. Remove the jumper bar between terminals
P and D before connecting an external braking resistor for other models.

Table 3-8 Specifications of the braking resistor

Minimum
Maximum
Allowable
Resistor Braking Energy Braking
Drive Model Resistance Resistance
Power Absorbed by Resistor Type
of External
Capacitor
Resistor
External braking
SIZE A A6-400PN - - 45 Ω 26.29 J
resistor
Built-in braking
SIZE B A6-750PN 50 Ω 50 W 40 Ω 22.41 J
resistor
Built-in braking
SIZE C A6-1000PN 25 Ω 80 W 20 Ω 26.70 J
resistor

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 ▏ Function Overview

Chapter 4 Function Overview

4.1 Basic Functions of the Servo Drive

4.1.1 Function Overview

The servo system consists of three critical parts: the servo drive, servo motor, and encoder. The servo drive
processes input signals and feedback signals to precisely control the position, speed, and torque of the
servo motor.

Drive
Reference
input + Position loop + Speed loop + Current loop
control
Motor
− − control − control
Speed Current
Position feedback feedback
feedback
Speed calculation

Encoder

Figure 4-1 Structure of a servo system

Para. No. Name Description Default

C00.00 Servo mode 12: P
 ROFINET communication mode 12

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 Function Overview ▕

4.2 List of Servo Functions

Function Description
Latches the position value when a DI external signal or Z signal of the
Measurement probe
motor changes.
High-resolution encoder Utilizes a high-performance encoder with a resolution of 1,310,72 P/r.
Analyzes the resonance frequency and other characteristics of the
Mechanical characteristics
mechanical system when using a PC that has a drive commissioning
analysis
platform installed on it.
You only need to set one parameter, and the servo automatically
Automatic gain adjustment provides a set of matching gain parameters suitable for the current
working condition.
Uses different gains in different servo motor status (running or
Gain switchover stopping), and switches gains through external terminals during
running.
Automatically estimates the disturbance torque on the system and
Torque disturbance observation
compensates for it to reduce vibration.
Automatically sets filter characteristics after the servo drive detects
Resonance suppression
mechanical resonant points to suppress system vibration.
Suppresses mechanical resonance that may occur when the servo
Torque command filter
drive responds too quickly.
Position first-order low-pass filter Enables smooth acceleration and deceleration.
Torque limit Limits the output torque of the servo motor.
Velocity limit Limits the velocity of the servo motor.
Used when the braking capability of the built-in brake resistor of the
External braking resistor
servo drive is insufficient.
Input signal selection Assigns functions such as emergency stop to corresponding pins.
Alarm history Records the latest 20 alarms and can clear the alarm history.
Status display Displays the status of the servo drive on a 5-digit 8-segment LED.
External I/O display Displays the ON/OFF status of external I/O signals.
Enables the independent output of signals regardless of the servo
Forced signal output
drive status, useful for checking the wiring of output signals.
Allows running the servo motor directly from the servo drive panel
Trial running mode
without requiring a start signal.
Enables parameter setting, trial running, status display using a
Drive commissioning platform
personal computer.
Alarm code output Outputs a 4-digit alarm code when an alarm occurs.

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 ▏ Function Overview

4.2.1 STO Function

Description:
The Safe Torque Off (STO) function is an optional function for A6-PN series servo drives. It forcibly shuts off
the internal drive signals of the servo drives based on safety input signals, to cut off the motor current and
prevent unintended motor operation.

STO Function

Definition Safe torque off

The STO function makes the machine enter the torque-free state and
prevents unintended startup.
Description
When the STO function is activated during motor running, the motor
gradually comes to a stop.

Safety status The PWM gate control signal of the servo drive is disabled.

Operation mode High-demand or continuous mode.

The STO function blocks the PWM signal output to the power layer of the servo drive through terminals
STO1 and STO2, to prevent motor running. The two +24 VDC signals must be in an active state to enable
normal operation of the servo drive. If either or both of them are set to a low level, the PWM signal will be
blocked within the next 30 ms.

TEXE_MAX

Safety requirement
input

Drive status Operating STO

Safety function Standby Activated

STO function instruction:

STO1 Input STO2 Input PWM Signal

H H Enabled
L H Disabled
H L Disabled
L L Disabled

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 System Commissioning ▕

Chapter 5 System Commissioning

5.1 Commissioning Tool

The A6-PN series servo drive can be commissioned by the operating panel which consists of an LED display
area and five buttons.

Display and operaon area

5.1.1 Buttons

Button Description

Press:
y Switch/return to menus of different levels
MODE
Press and hold:
y Switch the group number quickly in level-2 menus

Press:
UP y Switch the state display quickly in level-1 menus
y Increase the value

Press:
DOWN y Switch the state display quickly in level-1 menus
y Decrease the value

Press:
y Move the cursor to the left
SHIFT Press and hold:
y Enter the JOG mode quickly in level-1 menus
y Page up or down when the content is displayed on multiple pages

Press:
SET y Switch to the lower-level menu
y Execute commands such as storing parameter setpoints

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 ▏ System Commissioning

5.1.2 Display
When the servo drive is running, the servo drive status, parameters, faults, and monitored values are
displayed in the LED display area.
Status display: Display current servo drive status, such as servo ready or servo running.
Parameter display: Display parameters and their setpoints.
Fault display: Display faults and alarms that occurred on the servo drive.
Monitored value display: Display values of running parameters of the servo drive.

NOTICE
y After power-on, "Init" is displayed in the LED display area and then the system enters the level-1
menu status display mode.
y In the status display mode, select the parameter to be monitored. When the motor rotates, the
display area automatically switches to monitored value display. After the motor stops, the display
area automatically returns to status display.
y In the parameter display mode, after you select the parameter to be monitored, the system
switches to monitored value display.
y Once a fault occurs, the LED display area switches to fault display automatically, with all the LEDs
blinking. Press to stop the LEDs from blinking, and then press to switch to parameter display.

Display menu
y Level-1 menu: Status display
① ① Display of the model with brake
② Status of the network port
③ Communication status
④ Running mode
⑤ Servo status
② ③ ④ ⑤

Press and to switch among different display modes.

Press to enter a level-2 menu.

y Level-2 menu: Display the parameter group number in hexadecimal

C: Function parameter
R: System parameter
F: Operation parameter
U: Monitoring parameter
Parameter group number

Press and hold to switch the group number.

Press to enter a level-3 menu.

Press to return to the level-1 menu.

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 System Commissioning ▕

y Level-3 menu: Offset within the parameter group in hexadecimal

Offset within the parameter group

Press to enter a level-4 menu.

Press to return to a level-2 menu.

y Level-4 menu: Parameter setpoints in decimal

Press to increase or decrease the value.

Press to confirm the setting. Then, the system displays .

Press to return to a level-3 menu.

Status display

LED Display Meaning Description

① Display of the On: Model with brake
model with brake Off: Model without brake
No display: No network port is connected.
② Status of the
" ▔ " displayed: The OUT network port is connected.
network port
" ▁ " displayed: The IN network port is connected.
PROFINET state machine status of the slave.
1: Initializing
③ Communication
2: Pre-operation
status
К 3: Synchronizing
4: Running
Current operating mode of the servo
1: AC1 (Open-loop velocity control)
3: AC3 (Servo internal position control)
Л М Н О ④ Running mode
4: AC4 (PLC internal position control + Servo velocity
control)
5: DSC (Dynamic servo control)

nr: Servo not ready

sto: Safe torque off (STO)

⑤ Servo status
rd: Servo ready

rn: Servo running

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 ▏ System Commissioning

Parameter display

Category LED Display

Signed number with 4 digits and below:

Display on one page (5 digits)
When the rightmost "●" is turned on, the high bit " ▁ "
indicate a negative sign.

Unsigned number with 5 digits and below:

Display on one page (5 digits)

Signed number with more than 4 digits:

Such numbers are displayed from low to high bits in multiple pages (5 digits per page).
For a negative value, when the rightmost "●" is turned on, the high bit " ▁ " indicate a negative sign.
Such numbers are displayed in the format of "number of current page + values on current page".
To switch to the next page, press and hold for more than 2 seconds.
Page 1 Page 2 Page 3

Four low bits Four middle bits Four high bits

Indicate the low-bit page Indicate the middle-bit page Indicate the high-bit page

Unsigned number with more than 5 digits:

Such numbers are displayed from low to high bits in multiple pages (5 digits per page).
Such numbers are displayed in the format of "number of current page + values on current page". To
switch to the next page, press and hold for more than 2 seconds.
Page 1 Page 2 Page 3

Four low bits Four middle bits Four high bits

Indicate the low-bit page Indicate the middle-bit page Indicate the high-bit page

Fault display

y The panel displays the current or history faults and alarm codes. For analysis and troubleshooting
of faults and alarms, see the section "Troubleshooting".
y When a single fault or an alarm occurs, the panel displays the fault or alarm code. When multiple
faults or alarms occur, the panel displays the fault code of the highest level.

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 System Commissioning ▕

5.2 Commissioning Process

Start

Checklist before running

y Mechanical and wiring inspection and safety inspection

Power on the servo drive

y Connect the power supply of the main circuit and
control circuit

Jogging
y Jog through the panel

Set parameters
y Set common parameters
y Set relevant parameters in each control mode

Servo running
y Run the servo drive at a low speed for the first time
y Set relevant parameters to achieve the required effect
y Commission the servo drive

Stop the servo drive

y Turn off the S-ON signal
y Stop the servo drive upon a fault
y Stop the servo drive if the limit switch is reached
y Perform emergency stop

Finish

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 ▏ System Commissioning

5.3 Commissioning Procedure

5.3.1 Checklist before running
The mechanical part and the electrical part must be checked before commissioning to ensure site safety
and that the system allows commissioning.

CAUTION

y Confirm that the site is equipped with conditions suitable for the safe operation of the
servo drive (no interference, no foreign objects, and no dangerous goods).
y Confirm that the power input terminals are connected correctly and firmly.
y Confirm that the wiring (U/V/W) between the servo drive and the motor is correct and firm.
y Confirm that the control signal cables of the servo drive are connected correctly. External
signal cables for brake and overtravel protection are connected properly.
y Confirm that the servo motor and its axes are installed and mechanically connected reliably.
y Confirm that the servo drive and motor have been grounded reliably.

5.3.2 Power on the servo drive

NOTICE
y Single-phase input: The power terminals are L1 and L2.
y Three-phase input: The power terminals are R, S, and T for the main circuit or L1C and L2C for the
control circuit.

After the input power supply is connected:

y The LED panel displays , which means that the servo drive is ready to run and is waiting
for the S-ON signal from the host controller.

y If the LED panel keeps displaying or other faults, troubleshoot the problem according to
the section "Troubleshooting".

5.3.3 Jogging
Use the jogging function for trial run of the servo motor and servo drive to check whether the servo motor
rotates properly without abnormal vibration or noise generated during rotation.

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 System Commissioning ▕

NOTICE
y To use the jogging function, deactivate the S-ON signal. Otherwise, this function cannot be used.
y During the jog, use F30.03 to set the acceleration/deceleration time constant for the velocity/
position reference.

Procedure for setting the jogging function:

Start
Power on the servo drive
Press and hold in the level-1 menu

Set the parameter F30-00 on the panel

Press to confirm the setting

Set the jog speed

Press to increase or decrease the value

Confirm the motor speed

Press to confirm the setting

JOG-S is displayed

Press

Enable forward/reverse motor rotation

Press

Finish CCW CW

NOTICE

y Press to increase or decrease the motor speed for the jog running. If the system exits jog
running, the motor speed restores to the initial value.

y Press to make the servo motor rotate in the forward or reverse direction. After the button
is released, the servo motor stops running immediately.

Jog operation instructions:

1 Select F30.00 on the panel to enter the jog mode.
The panel displays the default jog velocity.

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 ▏ System Commissioning

2 Adjust the jog velocity through the key and press the key to enter the jog state.
The panel displays "JOG".

3 Press the key to select positive or negative jog.

4 Press the key to exit from jog and return to the previous menu.
The jog velocity you just set is not saved and will revert to the default value.

5.3.4 Set parameters

Select the rotation direction

Set C00.01 (2000.02h, rotation direction) to change the direction of motor rotation without modifying the
input command polarity.

Set the brake

The brake is used to prevent the servo motor shaft from moving and lock the motor position when the
servo drive is not running. This is to keep the mechanical load from moving due to gravity or external force.

NOTICE
y The built-in brake is a special non-energized mechanism designed for position-lock in the stop
state. Do not use the built-in brake for any other purposes, such as braking.
y The brake coil has no polarity.
y Switch off the S-ON signal after the servo motor stops.
y When the motor with a built-in brake runs, the brake may generate a click sound, which does not
affect its function.
y When brake coils are energized (the brake is released), flux leakage may occur on the shaft end.
Pay special attention when using magnetic sensors near the motor.

For the servo motor with a brake, assign function 3 (brake output) to a DO terminal (DO3 by default) of the
servo drive and set valid logic for the DO terminal.
The operating time sequences of the brake are different between normal state and fault state of the servo
drive.
The brake time sequence in the normal state changes with the motor states: static and rotating.
y Static: The motor speed is lower than 30 rpm.
y Rotating: The motor speed is equal to or greater than 30 rpm.

Brake time sequence in the motor static state:

y If the servo enabling (S-ON) signal changes from ON to OFF, and the present motor speed is lower
than 30 rpm, the servo drive acts according to the brake time sequence in the motor static state.

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 System Commissioning ▕

CAUTION

y After the brake (BK) output signal changes from OFF to ON, do not input a position/speed/torque
reference within the time defined by C05.13. Otherwise, reference loss or running error may occur.

NOTICE
y When the motor is used to drive a vertical axis, the mechanical motion part may move slightly
due to the gravity or external force. In the motor static state, if the S-ON signal becomes OFF, the
brake (BK) output signal becomes OFF immediately. However, within the time defined by C05.10,
the motor is still energized to prevent the mechanical motion part from moving due to the gravity
or external force.

ON

S-ON OFF OFF

ON

Motor energized OFF OFF

C05-10
ON

Brake output (BK) OFF OFF

ON (brake released)

Brake contactor OFF (brake applied) OFF

Position/speed/torque reference
C05-13

ON

Stop at zero speed OFF OFF

Motor speed

Figure 5-1 Brake time sequence in the motor static state

Brake time sequence in the motor rotating state:

y If the S-ON signal changes from ON to OFF, and the present motor speed is equal to or greater than
30 rpm, the servo drive acts according to the brake time sequence in the motor rotating state.

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 ▏ System Commissioning

CAUTION

y If the S-ON signal changes from OFF to ON, do not input a position/speed/torque reference
within the time defined by C05.13. Otherwise, reference loss or running error may occur.

NOTICE
y If the S-ON signal becomes OFF during motor rotating, the servo motor enters the "Stop
according to ramp in 6085h" state, but the brake (BK) output signal becomes OFF only after one
of the following conditions is met:
- The motor has decelerated to the value defined by C05.11, but the time defined by C05.12 is
not reached.
- The time defined by C05.12 has been reached, but the motor speed is still higher than the value
defined by C05.11.
y After the brake (BK) output signal changes from ON to OFF, the motor remains energized within
the time defined in C05.10 to prevent the mechanical motion part from moving due to the gravity
or external force.

ON

S-ON OFF OFF

ON

Motor energized OFF OFF

C05-10
ON

Brake output (BK) OFF OFF

ON (brake released)

Brake contactor OFF (brake applied) OFF

Position/speed/torque reference
C05-13

ON

Stop at zero speed OFF OFF

Motor speed

Figure 5-2 Brake time sequence in the motor rotating state

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 System Commissioning ▕

Set the brake

When the torque and speed directions of the motor are opposite, the energy is transferred from the motor
to the drive, increasing the bus voltage. When the voltage is increased to the braking point, the energy can
be consumed only by the braking resistor. In this case, the braking energy must be consumed according to
the braking requirements. Otherwise, the servo drive may be damaged.

CAUTION

y Set the power (C00.11) and resistance (C00.12) for the external braking resistor properly.
Otherwise, the braking function may be affected.
y When an external braking resistor is used, check whether its resistance is above the minimum
allowable resistance.
y In a natural environment, the temperature of the resistor will rise above 120°C (under continuous
braking) when the average power of the braking resistor is below its rated power. For safety
consideration, use forced cooling to cool down the braking resistor or use a braking resistor with
a thermal switch. Consult the manufacturer about load characteristics of the braking resistor.

Set the heat dissipation coefficient (C00.13) based on the heat dissipation condition of the external braking
resistor.

5.3.5 Servo running

Switch on the S-ON signal. When the servo drive is ready to run, the LED panel displays .
If there is no command input at this moment, the servo motor does not rotate and stays locked.
After a command is input, the servo motor starts rotating.

NOTICE
Operation of the servo drive
y During initial operation, set a proper command to make the motor run at low speed and check
whether the motor rotates properly.
y Check whether the motor rotates in the correct direction. If the direction of rotation is opposite
to the expected direction, check the reference signal and reference direction signal.
y If the motor rotates in the correct direction, you can view the actual motor speed in U40.01
(2040.02h) and the average load factor in U40.07 (2040.08h) through the drive panel.
y After checking preceding conditions, adjust related parameters to make the motor operate as
desired.
y Adjust the servo drive parameters according to the section "Gain Tuning".

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 ▏ System Commissioning

5.3.6 Stop the servo drive

Five type of stop modes are available for the servo drive: coast to stop, stop at zero speed, ramp to stop,
stop at emergency-stop torque, and dynamic braking (DB) stop, along with three kinds of stop status:
de-energized, position lock, and DB. After brake output is enabled, the servo drive selects a stop mode.

Table 5-1 Comparison of the stop modes

Stop Mode Description Feature

Coast to stop The servo motor is de-energized and This mode features smooth and slow
coasts to 0 RPM. The deceleration deceleration with small mechanical
time is affected by the mechanical shock.
inertia and mechanical friction.
Stop at zero speed The servo motor decelerates to 0 RPM This mode features quick deceleration
immediately and stops. with obvious mechanical shock.
Ramp to stop The motor decelerates to 0 RPM This mode features smooth and
smoothly upon position/speed/torque controllable deceleration with small
reference input. mechanical shock.
Stop at emergency-stop The servo drive outputs a reverse This mode features quick deceleration
torque braking torque to stop the motor. with obvious mechanical shock.
Dynamic braking The servo motor is in the dynamic This mode features quick deceleration
braking status. with obvious mechanical shock.

Table 5-2 Comparison of the stop statuses

Stop Status Description

De-energized The motor is de-energized and the motor shaft can rotate freely after the
motor stops rotating.
Position lock The motor shaft is locked and cannot rotate freely after the motor stops
rotating.
Dynamic braking The motor is de-energized and the motor shaft cannot rotate freely after the
motor stops rotating.

Table 5-3 Comparison of the stop modes

Stop Mode Description

Stop at S-ON OFF Deactivate the S-ON signal through communication to make the servo drive
stop according to the stop mode at S-ON OFF.
Stop at fault The stop mode varies with the fault type. For fault classification, see sections
related to faults.

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 System Commissioning ▕

Stop Mode Description

Stop at overtravel When a mechanical motion part moves beyond the range of safe movement,
the limit switch outputs a level change to force the servo motor to stop.
Emergency stop Using the DI function 4: Emergency stop
Ramp to stop OFF1, OFF2, or OFF3 can be used to stop the servo during traversing of the servo.

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Chapter 6 Gain Tuning

6.1 Overview
The servo drive must drive the motor as quick and accurate as possible to follow the commands from the
host controller or internal setting. A proper gain tuning is required to make the motor actions more closely
follow the commands and to maximize the performance of the servo system.

Gain: Low Gain: High Gain: High + Feedforward

Position loop gainѪ40.0 rad/s Position loop gainѪ80.0 rad/s Position loop gainѪ80.0 rad/s
Speed loop gainѪ25.0 Hz Speed loop gainѪ50.0Hz Speed loop gainѪ50.0 Hz
Speed loop integral time constantѪ50.0 ms Speed loop integral time constantѪ25.0 ms Speed loop integral time constantѪ25.0 ms
Speed feedforwardѪ0 Speed feedforwardѪ0 Speed feedforwardѪ50.0%
Inertia ratioѪ30 Inertia ratioѪ30 Inertia ratioѪ30

CAUTION

y Before gain tuning, perform a trial run through jogging to ensure the motor operates properly.

6.2 Inertia Auto-tuning

The load inertia ratio is the ratio of the total moment of inertia of motor load to the moment of inertia
of the motor. The load inertia ratio is a critical parameter of the servo system. A correct load inertia ratio
facilitates commissioning.
You can set the C00.06 (load inertia ratio) manually based on the weight and composition of different
mechanical parts, but the operation is very tedious. It is increasingly difficult to get the correct solution for
the complex mechanical composition. However, it can also be automatically auto-tuned by F30.10 (inertia
auto-tuning function) of the servo drive.
During auto-tuning, the drive will drive the servo motor to run in the forward or reverse direction multiple
times, so as to obtain the load inertia ratio.

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 Gain Tuning ▕

NOTICE
Inertia auto-tuning may fail in the following conditions:
y The load mechanical system is poor, with low stiffness and vibration during localization.
y The motor operation range is too small, less than 0.5 turns.
y The load torque changes dramatically.
y The motor acceleration rate is less than 3000 rpm/s.
y The actual maximum speed of the motor is less than 150 rpm.

Inertia auto-tuning process:

Start

Power on the servo drive

Set the parameter F30-10 on the panel

Press to confirm the setting

Set the number of auto-tuning turns

Press to increase
or decrease the value

Confirm the number of auto-tuning turns

Press to confirm the setting

Display the inertia value

Press

Perform auto-tuning on auto/manual gains

Press

End

Related parameters:

Value Modifica-
Parameter Name Default Unit Options Effective Time
Range tion Mode
During
C00.06 Load inertia ratio 0 to 12000 100 % - Immediately
operation

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 ▏ Gain Tuning

Value Modifica-
Parameter Name Default Unit Options Effective Time
Range tion Mode

Offline inertia auto- 0x0000 to Related modes during

C07.00 0x0001 - At stop Immediately
tuning mode setting 0x0311 the auto-tuning are set.

Offline inertia auto- The speed reference

C07.01 1 to 8000 500 rpm At stop Immediately
tuning speed reference for auto-tuning is set.

Acceleration/
The acceleration/
Deceleration time for
C07.02 0 to 65535 100 ms deceleration time for At stop Immediately
offline inertia auto-
auto-tuning is set.
tuning

A larger target torque

Offline inertia auto- leads to shorter auto-
C07.03 1 to 1500 150 0.1% At stop Immediately
tuning target torque tuning acceleration/
deceleration time.

The number of auto-

tuning revolutions
Offline inertia auto-
C07.04 10 to 65535 200 0.01r should be within the At stop Immediately
tuning revolutions
mechanical motion
range.

6.3 Basic Gain Tuning

The servo system consists of three feedback loops, which are the position loop, speed loop, and current
loop. The basic control diagram is shown in the following figure.

Drive
Reference
input + Position loop + Speed loop + Current loop
control
Motor
− − control − control
Speed Current
Position feedback feedback
feedback
Speed calculation

Encoder

CAUTION

y The responsiveness of the inner loop must be higher than that of the outer loop. Otherwise, the
responsiveness may be poor or vibrations may occur.

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 Gain Tuning ▕

The default current loop gain of the servo drive ensures sufficient responsiveness, removing the need for
further tuning. You only need to adjust the position loop gain, speed loop gain, and other auxiliary gains.
Therefore, to ensure system stability during gain tuning in position control mode, the position loop gain must
be increased together with the speed loop gain, and the responsiveness of the former must be lower than the
latter.
The drive provides three types of gain auto-tuning modes:
0: Manual tuning
1: Standard tuning by stiffness level
2: Positioning mode
When the automatic gain tuning does not achieve the expected effect, you can manually fine-tune the gain.
The effect can be optimized by more detailed tuning.
The following table lists the basic gain parameter tuning methods.

No. Parameter Name Description

Function: Determines the responsiveness of the position loop

of the servo unit. Increasing the position loop gain improves the
responsiveness and shortens the positioning time. In general, the
position loop gain cannot exceed the range of the certain vibration
count of the mechanical system.
Increase the value of C01-00 Position reference
Increase the value of C01-01 Actual speed
1 C01.00 Position loop gain

Tuning method: To ensure system stability, the gain frequency of the

speed loop must be 3 to 5 times that of the position loop.

Function: Determines the speed loop responsiveness. Too low

responsiveness of the speed loop may be a delay factor of the outer
position loop, so overshoot or a variable speed reference occurs.
Therefore, within the non-vibration range of the mechanical system,
increasing the setpoint stabilizes the speed and improves the
responsiveness of the servo system.
Speed reference
Increase the value of C01-01 Actual speed
2 C01.01 Speed loop gain

Tuning method: In the vibration range without noise, increasing the

parameter value will shorten the positioning time and lead to higher
speed stability and following performance.

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 ▏ Gain Tuning

No. Parameter Name Description

Function: To respond to even minor inputs, the speed loop contains

an integral element. Since this integral element acts as a delay
element for the servo system, when the time parameter is set too
large, it will cause overshoot, or extend the positioning time, making
the response worse.
Speed reference
Lower C01-02 Actual speed
Speed loop
3 C01.02 integral time
constant

Tuning method: Reducing the setpoint can enhance the integral

effect and shorten the positioning time, but setting the value too
low can easily cause mechanical vibration. If the value is set too
high, the speed loop deviation will never return to zero.

Function: This parameter applies a low-pass filter to the torque

reference, where the setpoint is the cutoff frequency of the low-
pass filter. The smaller the setpoint, the better the filtering effect.
Setting the value too low can cause excessive delay in the speed
loop, thereby reducing the speed loop bandwidth. When mechanical
vibrations occur, adjusting the following torque reference filter time
parameters may potentially eliminate the vibrations.
Torque reference Speed reference
4 C01.03 filter cutoff Lower C01-03 Actual speed
frequency

Tuning method: Ensure that the cutoff frequency of the torque

reference low-pass filter is more than four times the highest follow-
up frequency of the speed loop.

Related parameters:

Value Modifica- Effective

Parameter Name Default Unit Options
Range tion Mode Time

0: Manual mode
During
C00.04 Auto-tuning mode 0 to 2 1 - 1: Standard mode Immediately
operation
2: Positioning mode

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 Gain Tuning ▕

Value Modifica- Effective

Parameter Name Default Unit Options
Range tion Mode Time

Increasing the stiffness

level improves the
During
C00.05 Stiffness level 1 to 31 12 - responsiveness, but a Immediately
operation
too high level can cause
oscillation.

Increasing the
setpoint improves
0 to During
C01.00 1st position loop gain 400 0.1rad/s the responsiveness Immediately
20000 operation
and shortens the
positioning time.

Increasing the
setpoint improves
1 to During
C01.01 1st speed loop gain 250 0.1Hz the speed follow-up Immediately
20000 operation
responsiveness of the
servo system.

Reducing the setpoint

can enhance the
1st speed loop integral 1 to During
C01.02 3184 0.01ms integral effect and Immediately
time parameter 51200 operation
shorten the positioning
time.

Reducing the setpoint

1st torque reference 5 to improves the filtering During
C01.03 200 Hz Immediately
filter cutoff frequency 16000 effect but increases the operation
delay.

6.4 Pseudo derivative feedback and feedforward control

In position and speed modes, the pseudo derivative feedback and feedforward control can be used for the
speed loop. When C01.1B is 100%, the speed loop uses proportional-integral (PI) control; when C01.1B is 0%,
the speed loop switches to pure integral-proportional (IP) control.
In PI control mode, the speed response is faster, but the overshoot increases. In IP control mode, the speed
response decreases correspondingly, but the follow-up is better and the overshoot decreases.

Related parameters:

Value Modifica- Effective

Parameter Name Default Unit Options
Range tion Mode Time

Decreasing the value

PDFF control During
C01.1B 0 to 1000 1000 0.1% can reduce the speed Immediately
coefficient operation
overshoot.

77
 ▏ Gain Tuning

6.5 Gain Switchover

In position and speed modes, gain switchover can improve the system responsiveness and reference follow-
up and reduce the positioning time.
High gain parameters correspond to the second group of loop gains, while low gain parameters correspond
to the first group of loop gains. When the switchover conditions are met, the loop gain will switch between
the first and second groups of gains.

Related parameters:

Value Modifica- Effective

Parameter Name Default Unit Options
Range tion Mode Time

Set the gain switchover During

C01.38 Gain switchover mode 0 to 8 0 - Immediately
mode. operation

10 to Set the gain switchover During

C01.39 Gain switchover time 50 0.1ms Immediately
10000 time. operation

Gain switchover Set the gain switchover During

C01.3A 0 to 65535 10 - Immediately
threshold threshold. operation

Gain switchover loop Set the gain switchover During

C01.3B 0 to 65535 10 - Immediately
width loop width. operation

Increasing the
setpoint improves
0.1rad/ During
C01.00 1st position loop gain 0 to 20000 400 the responsiveness Immediately
s operation
and shortens the
positioning time.

Increasing the
setpoint improves
During
C01.01 1st speed loop gain 1 to 20000 250 0.1Hz the speed follow-up Immediately
operation
responsiveness of the
servo system.

Reducing the setpoint

can enhance the
1st speed loop integral During
C01.02 1 to 51200 3184 0.01ms integral effect and Immediately
time parameter operation
shorten the positioning
time.

Reducing the setpoint

1st torque reference improves the filtering During
C01.03 5 to 16000 200 Hz Immediately
filter cutoff frequency effect but increases the operation
delay.

78
 Gain Tuning ▕

Value Modifica- Effective

Parameter Name Default Unit Options
Range tion Mode Time
Increasing the
setpoint improves
0.1rad/ During
C01.08 2nd position loop gain 0 to 20000 560 the responsiveness Immediately
s operation
and shortens the
positioning time.
Increasing the
setpoint improves
During
C01.09 2nd speed loop gain 1 to 20000 350 0.1Hz the speed follow-up Immediately
operation
responsiveness of the
servo system.
Reducing the setpoint
2nd speed loop can enhance the
During
C01.0A integral time 1 to 51200 2274 0.01ms integral effect and Immediately
operation
parameter shorten the positioning
time.
Reducing the setpoint
2nd torque reference improves the filtering During
C01.0B 5 to 16000 280 Hz Immediately
filter cutoff frequency effect but increases the operation
delay.

Mode description:

Switchover Switchover Switchover Threshold and

C01.38 Switchover Mode
Time Threshold Loop Width Loop Width Unit

0 Fixed to the 1st gain set Inactive Inactive Inactive -

1 DI switchover Active Active Active -

2 DI P-PI switchover Active Active Active -

3 Torque reference Active Active Active 0.1%

4 Speed reference Active Active Active rpm

5 Speed feedback Active Active Active rpm

6 Speed reference change rate Active Active Active rpm/ms

7 Position deviation Active Active Active p

8 Position reference Active Active Active p

79
 ▏ Gain Tuning

6.6 Speed Feedforward

Speed feedforward can be applied to position control mode to improve the speed reference responsiveness,
shorten the positioning time, and reduce the position deviation at fixed speed.

Related parameters:

Value Modifica- Effective

Parameter Name Default Unit Options
Range tion Mode Time

0: No feedforward
Speed feedforward 1: Internal reference
C01.13 0 to 5 0 - At stop Immediately
source 2: Model tracking
5: Communication

Increasing the speed

Speed feedforward During
C01.14 0 to 2000 0 0.1% feedforward improves Immediately
percentage operation
the responsiveness.

Decreasing the cutoff

frequency improves
Speed feedforward the feedforward During
C01.15 5 to 16000 318 Hz Immediately
filter cutoff frequency smoothness but operation
increases the response
delay.

6.7 Torque Feedforward

Torque feedforward can be applied only to the position and speed modes.
In position control mode, torque feedforward can improve torque reference responsiveness and reduce
the speed deviation during operation at a constant speed. In speed control mode, torque feedforward
can improve torque reference responsiveness and reduce the speed deviation during acceleration and
deceleration.
A too high setpoint of torque feedforward may cause overshoot.

Related parameters:

Value Modifica- Effective

Parameter Name Default Unit Options
Range tion Mode Time

0: No feedforward
Torque feedforward 1: Internal reference
C01.16 0 to 5 0 - At stop Immediately
source 2: Model tracking
5: Communication

Increasing the torque

Torque feedforward During
C01.17 0 to 2000 0 0.1% feedforward improves Immediately
percentage operation
the responsiveness.

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 Gain Tuning ▕

Value Modifica- Effective

Parameter Name Default Unit Options
Range tion Mode Time

Decreasing the cutoff

frequency improves
Torque feedforward the feedforward During
C01.18 5 to 16000 318 Hz Immediately
filter cutoff frequency smoothness but operation
increases the response
delay.

6.8 Position Reference Filter

The position reference filter filters the position references (encoder unit) divided or multiplied by the
electronic gear ratio to smoothen motor operation and reduce the shock on the machine.
The position reference filter includes the low-pass and overlapping average filters.

Related parameters:

Value Modifica- Effective

Parameter Name Default Unit Options
Range tion Mode Time

Increasing the setpoint

Position reference
improves the reference
C01.20 overlapping average 0 to 1280 0 0.1ms At stop Immediately
smoothness but
filter time constant A
increases the delay.

Increasing the setpoint

Position reference
improves the reference
C01.21 overlapping average 0 to 1280 0 0.1ms At stop Immediately
smoothness but
filter time constant B
increases the delay.

Increasing the setpoint

Position reference
improves the reference
C01.22 low-pass filter time 0 to 65535 0 0.1ms At stop Immediately
smoothness but
constant A
increases the delay.

Increasing the setpoint

Position reference
improves the reference
C01.23 low-pass filter time 0 to 65535 0 0.1ms At stop Immediately
smoothness but
constant B
increases the delay.

6.9 Model Tracking Control

Model tracking control can improve the responsiveness and shorten the positioning time.
This function is only available in the position control mode.

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 ▏ Gain Tuning

Related parameters:

Value Modifica- Effective

Parameter Name Default Unit Options
Range tion Mode Time

0: Disabled
C02.00 Model tracking control 0 to 1 0 - At stop Immediately
1: Enabled

Increasing the setpoint

Model tracking control 10 to 0.1rad/ During
C02.01 500 improves the position Immediately
gain 20000 s operation
tracking.

When the inertia ratio

Model tracking inertia setpoint is not accurate, During
C02.02 10 to 8000 1000 0.1% Immediately
correction coefficient this value can be used operation
for correction.

6.10 Speed Feedback Filter

When the encoder bit number is low or the noise contribution is large, the speed feedback fluctuation or
burr calculated by the drive is large. You can set the speed feedback low-pass filter or overlapping average
filter to reduce the speed feedback fluctuation. However, a too high setpoint will increase the delay in the
servo system, which could potentially cause system oscillation.

Related parameters:

Value Modifica- Effective

Parameter Name Default Unit Options
Range tion Mode Time

0: Internal setting
1: Low-pass filter
C01.10 Speed feedback filter 0 to 4 0 - 2: O
 verlapping average filter At stop Immediately
3: Speed observer
4: No filter

Cutoff frequency of
10 to Set the cutoff frequency of During
C01.11 speed feedback low- 8000 Hz Immediately
16000 the low-pass filter. operation
pass filter

0: No filter
1: Two times filter
Speed feedback 2: Four times filter
During
C01.12 overlapping average 0 to 6 0 - 3: Eight times filter Immediately
operation
filter time constant 4: Sixteen times filter
5: T hirty-second times filter
6: S ixty-fourth times filter

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6.11 Speed Observer

The speed observer can filter high-frequency signals for speed feedback, reduce the impact of encoder
position feedback noise on the servo system, and improves the stiffness level of the servo system to some
extent.
To enable the speed observer function, set C01.10 to 3.

Related parameters:

Value Modifica- Effective

Parameter Name Default Unit Options
Range tion Mode Time

0: Internal setting
1: Low-pass filter
2: Overlapping average
C01.10 Speed feedback filter 0 to 4 0 - At stop Immediately
filter
3: Speed observer
4: No filter

Increasing the
setpoint improves the
observation speed During
C02.30 Speed observer gain 0 to 40000 0 0.1Hz Immediately
responsiveness, but operation
a too large value can
cause oscillation.

When the inertia ratio

Speed observer inertia setpoint is not accurate, During
C02.31 10 to 8000 1000 0.1% Immediately
correction this value can be used operation
for correction.

Speed observer Set the cutoff frequency

During
C02.32 speed feedback cutoff 0 to 16000 0 Hz of the speed observer Immediately
operation
frequency low-pass filter.

6.12 Disturbance Observer

The disturbance observer effectively observes the external disturbance. Disturbances within the frequency
range can be observed and suppressed with different cutoff frequencies and compensation values.

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 ▏ Gain Tuning

Related parameters:

Value Modifica- Effective

Parameter Name Default Unit Options
Range tion Mode Time

Increasing the
value improves the
Disturbance observer responsiveness to During
C02.60 0 to 40000 0 0.1Hz Immediately
gain disturbances, but a too operation
large value can cause
vibration more easily.

When the inertia ratio

Disturbance observer
setpoint is not accurate, During
C02.61 inertia correction 1 to 10000 1000 0.1% Immediately
this value can be used operation
coefficient
for correction.

Disturbance observer Set the cutoff frequency

During
C02.62 low-pass cutoff 0 to 16000 0 Hz of the speed observer Immediately
operation
frequency low-pass filter.

Disturbance observer Set the percentage

During
C02.63 compensation torque 0 to 2000 0 0.1% for observation Immediately
operation
percentage compensation.

6.13 Friction Compensation

The friction compensation function is used to compensate for changes in viscous friction and variations in
fixed loads.

Related parameters:

Value Modifica- Effective

Parameter Name Default Unit Options
Range tion Mode Time

Bit 0:
0: Disabled
1: Enabled
Friction compensation Bit 4:
During
C02.68 switch and relevant 0 to 0xFF 0 - 0: Speed threshold Immediately
operation
setting from speed
reference
1: Speed threshold
from speed feedback

Set it to the coulomb

Friction compensation During
C02.69 0 to 5000 20 0.1rpm friction compensation Immediately
speed threshold operation
speed threshold.

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 Gain Tuning ▕

Value Modifica- Effective

Parameter Name Default Unit Options
Range tion Mode Time

Set it to the static

Static friction During
C02.6A 0 to 2000 0 0.1% friction compensation Immediately
compensation operation
value.

Set it to the friction

Forward friction force of compensation
During
C02.6B compensation of 0 to 2000 0 0.1% for the position Immediately
operation
coulomb friction reference in the
forward direction.

Set it to the friction

Reverse friction force of compensation
During
C02.6C compensation of -2000 to 0 0 0.1% for the position Immediately
operation
coulomb friction reference in the reverse
direction.

Set it to the viscous

Viscous friction torque During
C02.6D 0 to 2000 0 0.1% friction torque for rated Immediately
for rated speed operation
speed.

Determine the speed

Friction compensation During
C02.6E 0 to 65535 0 0.01ms after overcoming Immediately
filter time operation
resistance friction.

Set it to the friction

Friction compensation compensation During
C02.6F 0 to 1000 10 0.1rpm Immediately
threshold for zero speed threshold for the zero operation
speed.

6.14 Vibration Suppression

The notch can suppress mechanical resonance by reducing the gain at a specific frequency. After the notch
is correctly set, vibration can be effectively suppressed, and it may be possible to continue increasing the
servo gain. The notch principle is shown in the figure below.

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 ▏ Gain Tuning

Amplitude frequency Mechanical resonance

characteristics of the frequency
mechanical system

Frequency

Notch characteristics

Notch width

Notch depth

fL fH

Central frequency Frequency

of the notch fO

Figure 6-2 Notch suppression

The servo drive has a total of five notches, and each is defined by three parameters: notch frequency, width
level, and depth level. The 1st and 2nd notches can be set manually or configured as adaptive notches
(C01.30 = 1 or 2). In this case, the parameters are automatically set by the drive, while the other three
notches can be set manually.
Steps to use adaptive notches:
① Set C01.30 (adaptive notch mode) to 1 or 2 based on the number of resonance points.
② When resonance occurs, set C01.30 to 1 to enable one adaptive notch. If resonance occurs again after
gain tuning, set C01.30 to 2 to enable two adaptive notches. Parameters of the 1st and 2nd notches are
updated automatically during servo operation.
③ If resonance is suppressed, the adaptive notch functions well. If resonance persists, use the backend
tool to observe waveforms of related variables and use the other three notches to suppress resonance.

Related parameters:

Value Modifica- Effective

Parameter Name Default Unit Options
Range tion Mode Time
0: Disabled
1: 1st notch
2: 2nd notch
During
C01.30 Adaptive notch mode 0 to 4 0 - 3: Notch parameter Immediately
operation
reset
4: R
 esonance frequency
tested only

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 Gain Tuning ▕

Value Modifica- Effective

Parameter Name Default Unit Options
Range tion Mode Time
Adaptive notch test During
C01.31 0 to 65535 0 Times - Immediately
times operation
Frequency of the 1st Set it to the frequency During
C01.40 10 to 8000 8000 Hz Immediately
notch of the 1st notch. operation
Width level of the 1st Set it to the width level During
C01.41 0 to 4000 0 0.1% Immediately
notch of the 1st notch. operation
Depth level of the 1st Set it to the depth level During
C01.42 10 to 1000 1000 0.1% Immediately
notch of the 1st notch. operation
Frequency of the 2nd Set it to the frequency During
C01.43 10 to 8000 8000 Hz Immediately
notch of the 2nd notch. operation
Width level of the 2nd Set it to the width level During
C01.44 0 to 4000 0 0.1% Immediately
notch of the 2nd notch. operation
Depth level of the 2nd Set it to the depth level During
C01.45 10 to 1000 1000 0.1% Immediately
notch of the 2nd notch. operation
Frequency of the 3rd Set it to the frequency During
C01.46 10 to 8000 8000 Hz Immediately
notch of the 3rd notch. operation
Width level of the 3rd Set it to the width level During
C01.47 0 to 4000 0 0.1% Immediately
notch of the 3rd notch. operation
Depth level of the 3rd Set it to the depth level During
C01.48 10 to 1000 1000 0.1% Immediately
notch of the 3rd notch. operation
Frequency of the 4th Set it to the frequency During
C01.49 10 to 8000 8000 Hz Immediately
notch of the 4th notch. operation
Width level of the 4th Set it to the width level During
C01.4A 0 to 4000 0 0.1% Immediately
notch of the 4th notch. operation
Depth level of the 4th Set it to the depth level During
C01.4B 10 to 1000 1000 0.1% Immediately
notch of the 4th notch. operation
Frequency of the 5th Set it to the frequency During
C01.4C 10 to 8000 8000 Hz Immediately
notch of the 5th notch. operation
Width level of the 5th Set it to the width level During
C01.4D 0 to 4000 0 0.1% Immediately
notch of the 5th notch. operation
Depth level of the 5th Set it to the depth level During
C01.4E 10 to 1000 1000 0.1% Immediately
notch of the 5th notch. operation

6.15 Adjustments in DSC Mode

If the dynamic servo control (DSC) function of telegram 105 is enabled, the servo drive takes the place of
the host controller in position loop calculation and interpolation. In this way, the fast control clock of the

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 ▏ Gain Tuning

servo drive helps improve the quality and performance of positioning.

Adjusting gain parameters on the PLC

You can adjust precontrol, gain, and other parameters on the host controller PLC to allow dynamic
adjustment of the servo drive's gain. You can also adjust the local gain of the servo based on positioning
requirements.

Figure 6-3 Gain adjustment on the PLC

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 PROFINET Communication ▕

Chapter 7 PROFINET Communication

7.1 Overview of PROFINET

PROFINET IO is an Ethernet-based real-time protocol. It is used as a high-level network in industrial
automation applications.
PROFINET provides two real-time communication types: PROFINET IO RT (real-time) and PROFINET IO IRT
(isochronous real-time). PROFINET IO RT is used for the transmission of I/O data and alarms.
In PROFINET IO RT, real-time data is transferred through prioritized Ethernet frames and no special
hardware is required. PROFINET IO IRT is used for more precise timing requirements and special hardware
for IO devices and switches are required.
All diagnostic and configuration data is transferred through the non-real time (NRT) channel and the TCP/IP
protocol is used.

7.2 Supported Telegrams

The A6-PN series servo drive supports AC1, AC4, AC3, and DSC applications. It supports standard telegrams
and Siemens telegrams for velocity control mode and basic positioner control mode.
From the perspective of the drive unit, the received process data represents the receive words and the
process data to be sent represents the send words.

Table 7-1 Description of supported telegrams

Max. Number of PZDs (One PZD = One word)

Telegram
Receive Word Send Word
Standard telegram 1 2 2
Standard telegram 3 5 9
Standard telegram 5 9 9
Siemens telegram 102 6 10
Siemens telegram 105 10 10
Standard telegram 7 2 2
Standard telegram 9 10 5
Siemens telegram 111 12 12
Annex telegram 750 3 1

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 ▏ PROFINET Communication

7.2.1 Telegrams for Velocity Control Mode

Telegram 1 3 5 102 105

Application
AC1 AC4 AC4 AC4 AC4
Mode
PZD1 STW1 ZSW1 STW1 ZSW1 STW1 ZSW1 STW1 ZSW1 STW1 ZSW1

PZD2 NSOLL_A NIST_A

NSOLL_B NIST_B NSOLL_B NIST_B NSOLL_B NIST_B NSOLL_B NIST_B
PZD3
Receive telegrams from PROFINET 

Send telegrams to PROFINET 

PZD4 STW2 ZSW2 STW2 ZSW2 STW2 ZSW2 STW2 ZSW2

PZD5 G1_STW G1_ZSW G1_STW G1_ZSW MOMRED MELDW MOMRED MELDW

PZD6 G1_STW G1_ZSW G1_STW G1_ZSW

G1_XIST1 XERR G1_XIST1
PZD7
G1_XIST1 XERR G1_XIST1
PZD8
G1_XIST2 KPC G1_XIST2
PZD9
G1_XIST2 KPC G1_XIST2
PZD10

7.2.2 Telegrams for Basic Positioner Control Mode

Telegram 7 9 111

Application
AC3 AC3 AC3
Mode
PZD1 STW1 ZSW1 STW1 ZSW1 STW1 ZSW1

PZD2 SATZANW AKTSATZ SATZANW AKTSATZ POS_STW1 POS_ZSW1

PZD3 STW2 ZSW2 POS_STW2 POS_ZSW2

Receive telegrams from PROFINET 

Send telegrams to PROFINET 

PZD4 STW2 ZSW2

MDI_TARPOS XIST_A
PZD5 OVERRIDE MELDW

PZD6
MDI_VELOCITY MDI_TARPOS XIST_A
PZD7

PZD8 MDI_ACC
MDI_VELOCITY XIST_B
PZD9 MDI_DEC

PZD10 MDI_MOD MDI_ACC FAULT_CODE

PZD11 MDI_DEC WARN_CODE

PZD12 USER_PZD USER_PZD

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 PROFINET Communication ▕

7.2.3 Annex Telegram

NOTICE
When telegram 750 is used, the motor will accelerate uncontrollably if any of the following settings
is made:
y The torque upper limit is set by PZD M_LIMIT_POS to a negative value.
y The torque lower limit is set by PZD M_LIMIT_NEG to a positive value.

Telegram 750

Application
-
Mode
PZD1 M_ADD1 M_ACT

PZD2 M_LIMIT_POS

PZD3 M_LIMIT_NEG

Send telegrams to PROFINET 

Receive telegrams from PROFINET 

7.3 I/O Data Signals

Table 7-2 Overview of I/O data in telegrams

Receive Word/
Signal Description Data Type Value and Meaning
Send Word
STW1 Control word 1 Receive word U16 -
STW2 Control word Receive word U16 -
ZSW1 Status word 1 Send word U16 -
ZSW2 Status word 2 Send word U16 -
NSOLL_A Velocity setpoint A Receive word I16 4000 hex ≒ 3000 rpm
NSOLL_B Velocity setpoint B Receive word I32 40000000 hex ≒ 3000 rpm

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Receive Word/
Signal Description Data Type Value and Meaning
Send Word
NIST_A Velocity actual value A Send word I16 4000 hex ≒ 3000 rpm
NIST_B Velocity actual value B Send word I32 40000000 hex ≒ 3000 rpm
4000 hex = Maximum
MOMRED Torque decrease value Receive word U16
torque
4000 hex = Maximum
Supplementary torque torque
M_ADD1 Send word I16
value C000 hex = Minimum
torque
4000 hex = Maximum
M_LIMIT_POS Positive torque limit Send word I16
torque
C000 hex = Minimum
M_LIMIT_NEG Negative torque limit Send word I16
torque
4000 hex = Maximum
torque
M_ACT Thrust actual value Receive word I16
C000 hex = Minimum
torque
MELDW Message word Send word U16 -
Encoder 1 control
G1_STW Receive word U16 -
word
G1_ZSW Encoder 1 status word Send word U16 -
Encoder 1 actual
G1_XIST1 Send word U32 -
position 1
Encoder 1 actual
G1_XIST2 Send word U32 -
position 2
MELDW Message word Send word U16 -
MDI_TARPOS MDI position Receive word I32 1 hex ≒ 1 LU
MDI_VELOCITY MDI velocity Receive word I32 1 hex ≒ 1000 LU/min

4000 hex ≒ 100%

MDI acceleration
MDI_ACC Receive word I16
override

4000 hex ≒ 100%

MDI deceleration
MDI_DEC Receive word I16
override
XIST_A Position actual value A Send word I32 1 hex ≒ 1 LU

4000 hex ≒ 100%

Position velocity
OVERRIDE Receive word I16
override
FAULT_CODE Fault code Send word U16 -
WARN_CODE Alarm code Send word U16 -

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Receive Word/
Signal Description Data Type Value and Meaning
Send Word
User-defined receive
word
user 0: No function Receive word I16 4000 hex ≒ 100%
1: Supplementary
torque
User-defined send
word
4000 hex ≒ 100%
0: No function
user Send word I16
1: Actual torque
2: Actual current
3: DI status
XERR DSC deviation Receive word I32 -
KPC DSC gain Receive word U32 -
Position program block
SATZANW Receive word U16 -
selection
EPOS selected program
AKTSATZ Send word U16 -
block
MDI_MOD MDI mode Receive word U16 -

7.4 Definitions of Control Words

7.4.1 STW1 Control Word (for Telegrams 1 and 3)

Signal Description
1 = ON (Allow enabling pulses)
STW1.0
0 = OFF1 (Ramp to stop, disable pulses, and get ready for switching on)
1 = No OFF2 (Allow enabling)
STW1.1
0 = OFF2 (Coast to stop, disable pulses, and inhibit switching on)
1 = No OFF3 (Allow enabling)
STW1.2
0 = OFF3 (Quick stop, disable pulses, and inhibit switching on)
1 = Allow running
STW1.3
0 = Inhibit running
1 = Running condition
STW1.4
0 = Freeze command
1 = Running condition
STW1.5
0 = Freeze command

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Signal Description
1 = Enable setpoint
STW1.6
0 = Disable setpoint
STW1.7 0-1 rising edge: Acknowledgment fault
STW1.8 Reserved

STW1.9 Reserved

1 = Control through PLC

STW1.10
0 = Not control through PLC
STW1.11 Reserved

STW1.12 Reserved

STW1.13 Reserved

STW1.14 Reserved

STW1.15 Reserved

7.4.2 STW1 Control Word (for Telegram 111)

Signal Description
1 = ON (Allow enabling pulses)
STW1.0
0 = OFF1 (Ramp to stop, disable pulses, and get ready for switching on)
1 = No OFF2 (Allow enabling)
STW1.1
0 = OFF2 (Coast to stop, disable pulses, and inhibit switching on)
1 = No OFF3 (Allow enabling)
STW1.2
0 = OFF3 (Quick stop, disable pulses, and inhibit switching on)
1 = Allow running
STW1.3
0 = Inhibit running
1 = Do not reject traversing task
STW1.4
0 = Reject traversing task
1 = Do not pause traversing task
STW1.5
0 = Pause traversing task
STW1.6 0-1 rising edge: Activate traversing task
STW1.7 0-1 rising edge: Acknowledgment fault
1 = Enable JOG1
STW1.8
0 = Disable JOG1
1 = Enable JOG2
STW1.9
0 = Disable JOG2

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 PROFINET Communication ▕

Signal Description
1 = Control through PLC
STW1.10
0 = Not control through PLC
1 = Start referencing
STW1.11
0 = Stop referencing
STW1.12 Reserved

STW1.13 Reserved

STW1.14 Reserved

STW1.15 Reserved

7.4.3 STW2 Control Word (for Telegrams 1, 3, and 111)

Signal Description

STW2.0 - STW2.11 Reserved

STW2.12 Master sign-of-life, bit 0

STW2.13 Master sign-of-life, bit 1
STW2.14 Master sign-of-life, bit 2
STW2.15 Master sign-of-life, bit 3

7.4.4 POS_STW1 Positioning Control Word (for Telegram 111)

Signal Description
POS_STW1.0 Traversing blocks selection, bit 0
POS_STW1.1 Traversing blocks selection, bit 1
POS_STW1.2 Traversing blocks selection, bit 2
POS_STW1.3 Traversing blocks selection, bit 3
POS_STW1.4 Reserved

POS_STW1.5 Reserved

POS_STW1.6 Reserved

POS_STW1.7 Reserved

1 = Absolute positioning
POS_STW1.8
0 = Relative positioning
POS_STW1.9 Absolute positioning, bit 0

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Signal Description
POS_STW1.10 Absolute positioning, bit 1
POS_STW1.11 Reserved

1 = Continuous transfer
POS_STW1.12
0 = Activate MDI block update with the rising edge of traversing blocks (STW1.6)
POS_STW1.13 Reserved

1 = Setting-up signal selected

POS_STW1.14
0 = Positioning signal selected
POS_STW1.15 1 = MDI selection

7.4.5 POS_STW2 Positioning Control Word (for Telegram 111)

Signal Description
POS_STW2.0 Reserved

POS_STW2.1 1 = Set reference point

POS_STW2.2 1 = Activate reference signal cam
POS_STW2.3 Reserved

POS_STW2.4 Reserved

1 = JOG, activate incremental positioning

POS_STW2.5
0 = JOG, activate velocity
POS_STW2.6 Reserved

POS_STW2.7 Reserved

POS_STW2.8 Reserved

POS_STW2.9 Reserved

POS_STW2.10 Reserved

POS_STW2.11 Reserved

POS_STW2.12 Reserved

POS_STW2.13 Reserved

1 = Activate the soft limit switch

POS_STW2.14
0 = Deactivate the soft limit switch
1 = Activate the hard limit switch
POS_STW2.15
0 = Deactivate the hard limit switch

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7.5 Definitions of Status Words

7.5.1 ZSW1 Status Word (for Telegrams 1 and 3)

Signal Description
1 = Ready for switching on
ZSW1.0
0 = Not ready for switching on
1 = Ready for operation
ZSW1.1
0 = Not ready for operation
1 = Operation enabled
ZSW1.2
0 = Operation disabled
1 = Fault present
ZSW1.3
0 = No fault
1 = Coast-to-stop inactive
ZSW1.4
0 = Coast-to-stop active
1 = Quick stop inactive
ZSW1.5
0 = Quick stop active
1 = Inhibit switching on active
ZSW1.6
0 = Inhibit switching on inactive
1 = Alarm present
ZSW1.7
0 = No alarm
1 = Velocity error within tolerance
ZSW1.8
0 = Velocity error exceeding tolerance
1 = Have control request
ZSW1.9
0 = No control request
1 = Reference velocity reached or exceeded
ZSW1.10
0 = Reference velocity not reached or exceeded
ZSW1.11 Reserved

ZSW1.12 Reserved

ZSW1.13 Reserved

ZSW1.14 Reserved

ZSW1.15 Reserved

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7.5.2 ZSW1 Status Word (for Telegram 111)

Signal Description
1 = Ready for switching on
ZSW1.0
0 = Not ready for switching on
1 = Ready for operation
ZSW1.1
0 = Not ready for operation
1 = Operation enabled
ZSW1.2
0 = Operation disabled
1 = Fault present
ZSW1.3
0 = No fault
1 = Coast-to-stop inactive
ZSW1.4
0 = Coast-to-stop active
1 = Quick stop inactive
ZSW1.5
0 = Quick stop active
1 = Inhibit switching on active
ZSW1.6
0 = Inhibit switching on inactive
1 = Alarm present
ZSW1.7
0 = No alarm
1: Position following error within tolerance
ZSW1.8
0: Position following error exceeding tolerance
1 = Have control request
ZSW1.9
0 = No control request
1 = Target position reached
ZSW1.10
0 = Target position not reached
1 = Reference point set
ZSW1.11
0 = Reference point not set
ZSW1.12 0-1 rising edge: Positioning activated, movement task confirmed
1 = Drive stopped
ZSW1.13
0 = Drive running
1 = Drive accelerating
ZSW1.14
0 = Drive not accelerating
1 = Drive decelerating
ZSW1.15
0 = Drive not decelerating

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7.5.3 ZSW2 Status Word (for Telegrams 1, 3, and 111)

Signal Description
ZSW2.0 ~ ZSW2.9 Reserved

ZSW2.10 1 = Pulses enabled

ZSW2.11 Reserved

ZSW2.12 Slave sign-of-life, bit 0

ZSW2.13 Slave sign-of-life, bit 1
ZSW2.14 Slave sign-of-life, bit 2
ZSW2.15 Slave sign-of-life, bit 3

7.5.4 POS_ZSW1 Status Word (for Telegram 111)

Signal Description
POS_ZSW1.0 Traversing blocks bit 0 activated
POS_ZSW1.1 Traversing blocks bit 1 activated
POS_ZSW1.2 Traversing blocks bit 2 activated
POS_ZSW1.3 Traversing blocks bit 3 activated
POS_ZSW1.4 Reserved

POS_ZSW1.5 Reserved

POS_ZSW1.6 Reserved

POS_ZSW1.7 Reserved

1 = Negative hard limit activated

POS_ZSW1.8
0 = Negative hard limit not activated
1 = Positive hard limit activated
POS_ZSW1.9
0 = Positive hard limit not activated
1 = JOG mode activated
POS_ZSW1.10
0 = JOG mode not activated
1 = Reference point approach activated
POS_ZSW1.11
0 = Reference point approach not activated
POS_ZSW1.12 Reserved

POS_ZSW1.13 1 = Traversing blocks activated

POS_ZSW1.14 Reserved

1 = MDI activated
POS_ZSW1.15
0 = MDI not activated

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7.5.5 POS_ZSW2 Status Word (for Telegram 111)

Signal Description
POS_ZSW2.0 Reserved

POS_ZSW2.1 Velocity limit activated

POS_ZSW2.2 Reserved

POS_ZSW2.3 Reserved

1 = Axis moving forward

POS_ZSW2.4
0 = Axis not moving
1 = Axis moving backward
POS_ZSW2.5
0 = Axis not moving
POS_ZSW2.6 1 = Negative soft limit switch reached
POS_ZSW2.7 1 = Positive soft limit switch reached
POS_ZSW2.8 Reserved

POS_ZSW2.9 Reserved

POS_ZSW2.10 Reserved

POS_ZSW2.11 Reserved

POS_ZSW2.12 Reserved

POS_ZSW2.13 Reserved

POS_ZSW2.14 Reserved

POS_ZSW2.15 Reserved

7.6 AC1 Mode

7.6.1 Overview
Siemens S7-200 Smart, S7-1200, and S7-1500 PLCs can communicate with the A6-PN servo drive through
PROFINET for velocity control. These PLCs use PROFINET RT and standard telegram 1 to start and stop the
servo drive and control the servo drive velocity.

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7.6.2 Configuration

1. Set the device name and IP

address.
Connect the PC to the CN3
or CN4 port of A6-PN with a
communication cable. Access the
Network Configuration screen of
Operation steps:
the background commissioning
software, and set the name and ① Select the network card that connects the PC to the servo drive.
IP address for the servo drive. ② Scan connected devices.
③ Fill in the device name and IP address.
④ Set the device name and IP address.
⑤ Rescan and confirm.
2. Install the GSD file.
Run the PLC programming
software, and choose "Options">
"Manage general station
description files".

3. Connect the servo drive to the

PLC.
Select "Devices & networks".
On the network view tab page,
import A6-PN and connect it to
the PLC.

4. Add telegram 1.
On the device view tab page,
double-click "A6-PN" and add
telegram 1.

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5. Find the hardware ID.

Right-click "Telegram 1",
choose "Properties" > "System
constants", and view the value
in the hardware ID column.

6. Call function block FB285.

Go to OB1, and drag function
block SINA_Speed (FB285) to the
programming network section.
Note: The rated velocity and
maximum velocity of the motor
can be viewed in parameters
C14.26 and C14.27, respectively.
7. Check the IP address and
device name configured.
Note that, on the device
view tab page, the IP address
and device name configured
should be consistent with the
servo drive's IP address and
device name configured in the
background.

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7.7 AC4 Mode

7.7.1 Overview
Configure axis technology objects in the PLC. The PLC controls A6-PN by using standard telegram 3 or
5, Siemens telegram 102 or 105, and PLC Open standard program blocks such as MC_Power and MC_
MoveAbsolute.

7.7.2 Configuration
A6-PN works with Siemens S7-1500 to implement AC4/DSC synchronous cyclic velocity mode.

Adding S7-1500 CPU to the project

1. Create a project and double-

click "Add new device" from the
directory tree.

2. Find the PLC type to be used

and add it to the project.

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Adding A6-PN GSD to the project

Consult the manufacturer to obtain the GSD file for A6-PN before adding it.

1. Install the A6-PN GSD file.

2. Select the GSD file and click

"Install".

3. In the directory tree, select

"Devices & networks".

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4. In the right-side pane, select

the "Hardware catalog" option
and then click "Other field
devices".

5. Select "A6-PN" from "Other

field devices".

6. Double-click "A6-PN" or drag

it to the network view tab page.

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7. On the network view tab

page, click "Not assigned"
and select "PLC_1.PROFINET
Interface_1".

8. Configure the network and

assign the IP address and device
name.

9. Right-click the device and

select "Assign device name".

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10. On the device view

tab page of A6-PN, select
"Standard telegram 3" from the
submodules.

Configuring the topology between A6-PN and S7-1500 CPU

NOTICE
y When using IRT mode, the device's connection topology must be configured.
y The configured topology in the project must match the actual wiring.

1. Switch to the topology view

tab page.

2. Configure the topology based

on actual connections using drag
and drop (connection required
for IRT).

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Creating and programming technology objects

NOTICE
y In this application example, two technology objects are configured, including a "positioning axis"
as the active axis and a "synchronous axis" as the passive axis.

Adding and configuring the positioning axis:

1. Double-click "New object" in

the project tree.

2. Select "TO_PositioningAxis"
from the motion control list.

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3. Set "Drive type" to "PROFIdrive".

Set "Drive" to the required A6-
PN.

4. Set "Encoder type" to

"Incremental" or "Absolute".
When using an absolute
encoder:
y Add an absolute battery.
y Set C00-07 to configure the
absolute mode, and set F31-
10 to 4 (clear absolute multi-
turn on first use).

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5. Check and ensure correct data Data exchange with the drive:
exchange settings:
y Data exchange with A6-PN
(manually set it based on
information on the device
nameplate or check "Apply
drive values at runtime").
y Data exchange with the
encoder (manually set it
based on information on
the device nameplate or
check "Automatic exchange
of encoder value data at
runtime").
Data exchange with the encoder:

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6. On the S7-1500 series, IRT

mode is available:
y Double-click the A6-PN image
to access device properties.
y Select "Isochronous sync
mode" and check the
"Isochronous sync mode"
box to activate IRT mode.

7. Right-click "MC Servo [OB91]"

in the program block menu and
access OB91 properties.

8. Select the "Bus synchronous"

option and set "Distributed I/O"
to "PROFINET IO system (100)".
Note: If the CPU performance is
low, consider adjusting "Factor"
to 4 or 8 to reduce CPU load.

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Writing motion control programs:

1. Add a function block (FB)

in the program and name it
"MotionControl_Pos".

2. Select the "Instructions" tab

and open the "Motion Control"
folder.

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3. Add required instructions to

the FB using the multi-instance
data block.
In this example, the following
instructions are added:
-MC_Power
-MC_Home
-MC_MoveRelative
-MC_MoveAbsolute
-MC_MoveJog
-MC_Halt
-MC_Reset

4. Write programs for the

enable, fault reset, referencing,
halt, and jog control of the
technology object.

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5. Write the program for the

electronic gear synchronization
control of the technology object.
Notes:
y If you set SyncProfileRefernce
to 1 (distance
synchronization), you need to
specify MasterStartDistance
to establish synchronization.
y In this example, time
synchronization is used, so
SyncProfileRefernce is set to 0.

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6. Write programs for the

absolute and relative positioning
control of axes.

7. Call function block

MotionControl_Pos in OB1.

8. Compile and download the project to the PLC, and then test the program.

NOTICE
y Measurement function: This drive supports two measurement channels. To use them, you need
to assign the probe functions to DI4 and DI5.
y Reference point function: This drive supports two reference points. Reference point 1 is assigned
to the motor Z signal by default. To use reference point 2, you need to configure DI5 as the home
switch.

7.8 AC3 Mode

7.8.1 Overview
The S7-1500 PLCs can communicate with the A6-PN servo drive through PROFINET. After the A6-PN control

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 ▏ PROFINET Communication

mode is set to basic positioner (EPOS), the PLC can control A6-PN through EPOS by using telegram 111 and
function block FB284 in the drive library provided by TIA Portal.
Principle of PLC calling drive function blocks from the library:

'352B'$7
)%
6,1$B326
'3:5B'$7

'%
6,1$B326B'%

'352B'$7
)%
6,1$B63(('
'3:5B'$7
0DLQ
&%

'%
6,1$B63(('B'%

5'5(&
)%
6,1$B3$5$
:55(&

'%
6,1$B3$5$B'%

Figure 7-1 Principle of calling drive function blocks

The SIMATIC S7-1500 programming section includes:

y Cyclic data exchange – SINA_POS (FB284), SINA_SPEED (FB285)
This function block enables the PLC to cyclically exchange command and status data with the
SINAMICS drive, such as sending motor operation commands and position or velocity setpoints,
and receiving the status and actual velocity value of the drive.

y Acyclic parameter access – SINA_PARA (FB286)

This function block enables the PLC to access the parameters of the SINAMICS drive, such as
reading or writing data block parameters.
After Startdrive is installed, the drive library files are automatically installed in TIA Portal.
You can download the software at https://support.industry.siemens.com/cs/us/en/view/68034568.

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7.8.2 Configuration
The AC3 mode requires configuration of telegram 111. It is recommended to use Siemens EPOS function
block.

NOTICE
y The detailed steps and parameter configuration are similar to those described in the "AC4 Mode"
section.

1. Create a project in S7-1500.

2. Add an S7-1500 PLC device.

3. Install the GSD file for A6-PN.

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4. In the network view, add the

A6-PN device and establish a
network connection with the
PLC.
y Find the GSD file for A6-PN
in the hardware catalog, as
shown in the figure.
y Select the correct GSD
version, as shown in the
figure.

5. Set the IP addresses and

PROFINET device names for S7-
1500 and A6-PN respectively.

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 PROFINET Communication ▕

6. In the device view of A6-PN,

insert Siemens telegram 111.

7. After compiling the project

successfully, download the
project configuration for S7-
1500.
8. Go to OB1, and drag function
block SINA_POS (FB284) from
the library to the programming
network section (Startdrive
library is required).
9. Add variables to the pins of
the function block.
Note:
To assign values to the HWI
DSTW and HWI DSZW pins, you
may click the pin and select
the corresponding option of
telegram 111 from the drop-
down menu.

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Alternatively, you may directly

input the hardware ID.

10. Add relevant variables from the variable table to the Watch table and perform control testing using
the Watch table.

NOTICE
y Set parameters related to EPOS mode with reference to group C15.

7.8.3 Example of Telegram 111 Configuration for S7-1200/1500 PLCs

Limit activation in telegram 111

In telegram 111, bit 14 and bit

15 of position control word 2
are assigned as the soft and
hard limit activation switches,
respectively, as shown in the
figure.

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Additionally, in function block

FB284, bits 2 and 3 of the
ConfigEPOS pin are automatically
mapped to the soft and hard limit
activation, respectively, as shown
in the figure.

1. Hard limit activation Note: In the C04 group of input

In function block FB284, assign a parameters, configure relevant
value of 16#0B to the ConfigEPos DI terminals as the positive and
pin to activate the hard limit negative limits.
switch.

2. Soft limit activation

Note: The travel distance for
In function block FB284, assign a positive and negative soft limits
value of 16#07 to the ConfigEPos can be set in C15.01 (maximum
pin to activate the soft limit soft limit setting) and C15.03
switch, and set C15.00 to 1 or 2 (minimum soft limit setting).
(to enable soft limit settings).

NOTICE
Application analysis:
y Assume the current position of the motor is 0 upon power-on and a 23-bit encoder is used.
If C15.01 is set to 100000, C15.03 is set to –100000, C15.26 (gear ratio) is set to 131072, and
C15.28 is set to 10000, the motor can rotate only 10 revolutions in both directions from the
home. Exceeding this limit will trigger errors Er.F20 and Er.F21.
y Without changing the electronic gear ratio, if C15.26 and C15.28 are changed to 200000 and
–200000 respectively, the motor can rotate 20 revolutions in both directions from the home.
Summary:
The correspondence between soft limits and actual travel is:
y (C15.26 × Gear ratio)/Encoder resolution = Maximum limit position corresponding to the number
of actual revolutions the motor can rotate
y (C15.28 × Gear ratio)/Encoder resolution = Minimum limit position corresponding to the number
of actual revolutions the motor can rotate

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Home switch in telegram 111

In telegram 111, bit 2 of position

control word 2 (EPOS_STW2)
is the switch for the reference
point stopper. Additionally,
in function block FB284,
ConfigEPOS.%x6 is mapped to
bit 2 of POS_STW2.

NOTICE
Sources of the reference point:
y If the home signal is connected to the host controller, when the host controller assigns a value of
16#4B to the ConfigEPOS pin, the home is activated and the servo receives the home signal.
y If the home signal is connected to the servo DI, when a value of 16#B is assigned to the
ConfigEPOS pin, the home switch function is assigned to the relevant DI terminal in group C04.

Homing in the telegram

Homing in telegram 111 is automatically planned in the servo (ModPos = 4), and the host controller only
provides the trigger signal for homing. Homing parameters are configured with the software tool.
y In absolute referencing (C15.21 = 0), the value of C15.22 is used as the referenced value.
y In relative referencing (C15.21 = 1), the value of C15.22 plus the current position value is used as
the referenced value.
Before referencing is completed, ExcuteMode of function block SIna_POS must remain TRUE for referencing
to be completed.
In absolute mode (encoder with battery), after the first time of homing, AxisRef is set to 1. Even if the servo
is powered off and restarted, AxisRef remains at 1.
Homing involves the following parameters:

Parameter ID Default Min. Max. Unit Description Effective Time

C15.1B 0 -2 35 - Homing method Immediately
High velocity for
C15.1C 5000 0 40000000 1000 LU/min Immediately
homing
Low velocity for
C15.1E 300 0 40000000 1000 LU/min Immediately
homing

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Parameter ID Default Min. Max. Unit Description Effective Time

Acceleration/
0x4000 to
C15.20 16384 0 32767 Deceleration Immediately
100%
override for homing
C15.21 0 0 1 - Homing offset type Immediately
C15.22 0 -2147483648 2147483647 LU Homing offset Immediately
Homing timeout
C15.24 65535 0 2147483647 ms Immediately
interval

7.8.4 Pins of Function Block SINA_POS

Function block FB284, which is used by an S7-1500 or S7-1200 PLC to achieve EPOS control on A6-PN, is
located in the following position in the instruction library:

Figure 7-2 Location of function block FB284

The function block can be called in the following OBs:

y Cyclic task: OB1
y Cyclic interrupt OB: for example, OB32
The function block cyclically activates the basic positioner process in SINAMICS drives.

NOTICE
y Siemens standard telegram 111 must be used on the drive side.

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Table 7-3 Pins of function block FB284

Pin Data Type Default Description

Input
Operating mode:
1: Relative positioning
2: Absolute positioning
3: Setup positioning
ModePos INT 0 4: Reference traversing
5: Reference point set
6: Traversing position block 16 (positioning mode only)
7: Jog
8: Jog incremental
Servo operation command:
EnableAxis BOOL 0 0: OFF1
1: ON
0: Reject active traversing task
CancelTransing BOOL 1
1: Do not reject
Intermediate stop:
IntermediateStop BOOL 1 0: Interrupt active traversing task
1: Do not interrupt
Positive BOOL 0 Positive direction
Negative BOOL 0 Negative direction
Jog1 BOOL 0 Jog in positive direction (signal source 1)
Jog2 BOOL 0 Jog in positive direction (signal source 2)
0: Deselect flying referencing
FlyRef BOOL 0
1: Select flying referencing
AckError BOOL 0 Fault reset
ExecuteMode BOOL 0 Activate positioning job or receive setpoint
Direct position setpoint [LU]/
Position DINT 0 [LU]
Traversing block number in MDI mode
Velocity DINT 0 [LU/min] Velocity in MDI operating mode [LU/min]
Velocity override for all operating modes
OverV INT 100 [%]
0 to 199%
Direct setpoint/Acceleration override in MDI mode
OverAcc INT 100 [%]
0 to 100%
Direct setpoint/Deceleration override in MDI mode
OverDec INT 100 [%]
0 to 100%

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Pin Data Type Default Description

This pin can transmit bits in STW1, STW2, EPosSTW1,
and EPosSTW2 of telegram 111. The mapping of
transmitted bits is as follows:
ConfigEPos Bit Telegram 111 Bit
ConfigEPos.%X0 STW1.%X1
ConfigEPos.%X1 STW1.%X2
ConfigEPos.%X2 EPosSTW2.%X14
ConfigEPos.%X3 EPosSTW2.%X15
ConfigEPos.%X4 EPosSTW2.%X11
ConfigEPos.%X5 EPosSTW2.%X10
ConfigEPos.%X6 EPosSTW2.%X2
ConfigEPos.%X7 STW1.%X13
ConfigEPos.%X8 EPosSTW1.%X12
ConfigEPos.%X9 STW2.%X0
ConfigEPos.%X10 STW2.%X1
ConfigEPos.%X11 STW2.%X2
ConfigEPos.%X12 STW2.%X3
ConfigEPos.%X13 STW2.%X4
ConfigEPos.%X14 STW2.%X7
ConfigEPos.%X15 STW1.%X14
ConfigEPOS DWORD 0
ConfigEPos.%X16 STW1.%X15
ConfigEPos.%X17 EPosSTW1.%X6
ConfigEPos.%X18 EPosSTW1.%X7
ConfigEPos.%X19 EPosSTW1.%X11
ConfigEPos.%X20 EPosSTW1.%X13
ConfigEPos.%X21 EPosSTW2.%X3
ConfigEPos.%X22 EPosSTW2.%X4
ConfigEPos.%X23 EPosSTW2.%X6
ConfigEPos.%X24 EPosSTW2.%X7
ConfigEPos.%X25 EPosSTW2.%X12
ConfigEPos.%X26 EPosSTW2.%X13
ConfigEPos.%X27 STW2.%X5
ConfigEPos.%X28 STW2.%X6
ConfigEPos.%X29 STW2.%X8
ConfigEPos.%X30 STW2.%X9

This method can be used to transmit hardware limit

enable and referencing switch signals to A6-PN.
Note: If any variable is assigned to this pin in the
program, ensure that the drive can run only when both
ConfigEPos.%X0 and ConfigEPos.%X1 are set to 1.

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Pin Data Type Default Description

Symbolic name or HW ID (SetPoint) on the SIMATIC S7-
HWIDSTW HW_IO 0
1200/1500 of the setpoint slot
Symbolic name or HW ID (Actual Value) on the SIMATIC
HWIDZSW HW_IO 0
S7-1200/1500 of the actual value slot
Output
Error BOOL 0 1: Error present
Status Word 0 Display status
DiagID WORD 0 Expanded communication fault
Operating mode error/Block error:
0: No error
1: Communication activated
2: Incorrect operating mode selected
ErrorId INT 0 3: Incorrect parameter set
4: Invalid traversing block number
5: Drive fault activated
6: Switch inhibition activated
7: Flying referencing could not be started
AxisEnabled BOOL 0 Drive enabled
AxisError BOOL 0 Drive fault
AxisWarn BOOL 0 Drive alarm
AxisPosOk BOOL 0 Axis target position reached
AxisRef BOOL 0 Reference point set
ActVelocity DINT 0 [LU/min] Current velocity [LU/min]
ActPosition DINT 0 [LU/min] Current position [LU]
ActMode INT 0 Currently active operating mode
EPosZSW1 WORD 0 EPOS ZSW1 status
EPosZSW2 WORD 0 EPOS ZSW2 status
ActWarn WORD 0 Current alarm code
ActFault WORD 0 Current fault code

7.8.5 Functionality Implementation of Function Block SINA_POS

The basic positioner (EPOS) in A6-PN is a crucial function for position control in drives. It can be used for
absolute and relative positioning of rotary axes.
Additionally, you need to set control mode-related parameters with the software tool of A6-PN to ensure
smooth functioning of EPOS.
The closed-loop positioner includes the following parts:
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y Actual position value preparation (including measuring input evaluation and reference point
search)
y Position controller (including limitations, adaptation, and precontrol calculation)
y Monitoring (standstill, positioning, and dynamic following error monitoring)
The basic positioner can also implement the following functions in mechanical systems:
y Modulo axes/Linear axes
y Position tracking/limit
y Velocity limit
y Software limit switch
y Hardware limit switch
y Position/Standstill monitoring
y Dynamic following error monitoring
The main operating modes include Jog, Homing, MDI, and program block modes.

7.8.6 Operating Modes of SINA_POS (FB284)

(1) The axis is enabled by setting the input pin EnableAxis to "1", with OFF2 and OFF3 already set to "1"
internally. Once the axis is ready to be enabled and the drive is free of faults (AxisErr = "0"), setting
EnableAxis to 1 enables the axis and the output pin AxisEnabled signal becomes 1 as a result.
(2) The input pin ModePos is used to select the operating mode. It allows switchover from one operating
mode to another. For example, setup positioning mode (ModePos = 3) can be switched to absolute
positioning mode (ModePos = 2) during traversing.
(3) The input signals "CancelTransing" and "IntermediateStop" are relevant for all operating modes except
for jog and homing modes. These signals must be set to "1" to operate the EPOS. Specifically:
y Setting CancelTransing to 0 makes the axis stop at the maximum deceleration (C15.0B). In this case,
the job data is discarded and the axis can be switched to another operating mode after it stops.
y Setting IntermediateStop to 0 makes the axis ramp to stop at the currently applied deceleration.
In this case, the job data is not discarded and setting IntermediateStop to 1 again makes the axis
resume running. Therefore, IntermediateStop can be considered as a halt. The axis can be switched
to another operating mode after it comes to a standstill.
(4) Activating the hardware limit switches
y If the hardware limit switches are used, the input pin ConfigEPos.%X3 (POS_STW2.15) of function
block FB284 must be set to "1" to activate the hardware limit function of A6-PN.
y The positive and negative hardware limit switches can be connected to DI1 to DI5 (DI1 and DI2 by
default) of the A6-PN drive.
(5) Activating the software limit switches
y If the software limit switches are used, the input pin ConfigEPos.%X2 (POS_STW2.14) of function
block FB284 must be set to "1" to activate the software limit function (P2582) of A6-PN.

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In A6-PN, set C15.00 (software limit activation method), C15.01 (positive software limit position), and
C15.02 (negative software limit position).

7.8.7 Absolute Positioning Operating Mode

The "absolute positioning" operating mode can be implemented through the "MDI absolute positioning"
functionality of the drive. The internal positioner of the drive is used to achieve absolute position control.
Requirements:
y ModePos (operating mode) is set to 2.
y EnableAxis (axis enable) is set to 1.
y The axis must be homed or be calibrated with the encoder.
y The axis must be at a standstill if a mode higher than 3 is selected. It is possible to make a change
within the MDI operating modes (ModePos = 1,2,3) at any time.

Steps:
y Set Position and Velocity to specify the target position and dynamic response parameters.
y Set OverV, OverAcc, and OverDec to specify the velocity, acceleration, and deceleration overrides.
y The operating conditions CancelTransing and IntermediateStop must be set to 1, while Jog1 and
Jog2 must be set to 0.
y In absolute positioning, the direction of travel basically results from the shortest path to the target
position. In this case, the input parameters Positive and Negative must be set to 0.
Positioning is triggered by a rising edge of ExecuteMode. The current status of the active command
can be monitored through EPosZSW1 and EPosZSW2. When the target position is reached, AxisPosOk
is set to 1. When an error occurs during positioning, the output parameter Error is set to 1.

NOTICE
y The currently running command can be replaced on-the-fly by a new command through a rising
edge of ExecuteMode. This is only possible for the ModePos 1, ModePos 2, and ModePos 3 modes.

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The control sequence is illustrated in the following figure:

ķ ĸ s
Ĺ
v

s ĸ
ķ Ĺ

t
ON/OFF1
Execute
relativ absolut
ModePos=1,2
AxisPosOk
t

Figure 7-3 Control sequence diagram for absolute positioning mode

Servo-side parameter settings:

Parameter Name
C15.05 Maximum velocity
C15.07 Maximum acceleration
C15.09 Maximum deceleration
C15.0D Threshold for excessive deviation
C15.0F Threshold for position reach

Enable the modulo axis, set C00.07 to 3, 4, or 5, and set the single-turn upper limit based on the mechanical
load.
In absolute position mode, there are three combinations of moduli:
1. When ModePos is 2, Positive is 1, and Negative is 0, the axis runs towards the absolute positive
direction according to the given position value.
2. When ModePos is 2, Negative is 1, and Positive is 0, the axis runs towards the absolute negative
direction according to the given position value.
3. When ModePos is 2, Positive is 0, and Negative is 0, the axis runs the shortest distance between 0
and the mechanical maximum value.

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7.8.8 Relative Positioning Operating Mode

The "relative positioning" operating mode can be implemented through the "MDI relative positioning"
functionality of the drive. The internal positioner of the drive is used to achieve relative position control.
Requirements:
y ModePos (operating mode) is set to 1.
y EnableAxis (drive enable) is set to 1.
y The axis does not need to be homed or be calibrated with the encoder.
y The axis must be at a standstill if a mode higher than 3 is selected. It is possible to make a change
within the MDI operating modes (ModePos = 1,2,3) at any time.

Steps:
y Set Position and Velocity to specify the target position and dynamic response parameters.
y Set OverV, OverAcc, and OverDec to specify the velocity, acceleration, and deceleration overrides.
y The operating conditions CancelTransing and IntermediateStop must be set to 1, while Jog1 and
Jog2 must be set to 0.
y Positive and Negative must be set to 0.
Positioning is triggered by a rising edge of ExecuteMode. The current status of the active command
can be monitored through EPosZSW1 and EPosZSW2. When the target position is reached, AxisPosOk
is set to 1. When an error occurs during positioning, the output parameter Error is set to 1.

NOTICE
y The currently running command can be replaced on-the-fly by a new command through a rising
edge of ExecuteMode. This is only possible for the ModePos 1, ModePos 2, and ModePos 3 modes.

The control sequence is illustrated in the following figure:

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К Л s
М
v

s Л
К М

t
ON/OFF1
Execute
relativ absolut
ModePos=1,2
AxisPosOk
t

Figure 7-4 Control sequence diagram for relative positioning mode

Servo-side parameter settings:

Parameter Name
C15.05 Maximum velocity
C15.07 Maximum acceleration
C15.09 Maximum deceleration
C15.0D Threshold for excessive deviation
C15.0F Threshold for position reach

7.8.9 Setup Positioning Operating Mode

The "setup positioning" operating mode allows the axis positioner to run at a constant velocity in the
positive or negative direction. It is the "MDI setup" operating mode of the drive.
Requirements:
y ModePos (operating mode) is set to 3.
y AxisEnable (drive enable) is set to 1.
y The axis does not need to be homed or be calibrated with the encoder.
y The axis must be at a standstill if a mode higher than 3 is selected. It is possible to make a change
within the MDI operating modes (ModePos = 1,2,3) at any time.

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Steps:
y Set Velocity to specify the operating velocity.
y Set OverV, OverAcc, and OverDec to specify the velocity, acceleration, and deceleration overrides.
y The operating conditions CancelTransing and IntermediateStop must be set to 1, while Jog1 and
Jog2 must be set to 0.
y The direction of travel is determined by Positive and Negative (one of them must be set to 1).
Positioning is triggered by a rising edge of ExecuteMode. The current status of the active command
can be monitored through EPosZSW1 and EPosZSW2. When the target position is reached, AxisPosOk
is set to 1. When an error occurs during positioning, the output parameter Error is set to 1.

NOTICE
y The currently running command can be replaced on-the-fly by a new command through a rising
edge of ExecuteMode. This is only possible for the ModePos 1, ModePos 2, and ModePos 3 modes.

The control sequence is illustrated in the following figure:

v
Axis holds position

ON/OFF1

ModePos=3

Execute

POS

NEG
t

Figure 7-5 Control sequence diagram for setup positioning operating mode

7.8.10 Referencing
This mode allows the axis to approach the reference point in the positive or negative direction with
pre-configured referencing velocity and referencing method. It is activated by the "active referencing"
functionality of the drive.

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Requirements:
y ModePos (operating mode) is set to 4.
y EnableAxis (drive enable) is set to 1.
y Servo hard limits need to be activated, with upper limit signals and home signals connected.

Steps:
y Set C15.1B to specify the homing type.
y Set C15.1C, C15.1E, and C15.20 to specify the high velocity, low velocity, and acceleration/
deceleration time of homing.
y The operating conditions CancelTransing and IntermediateStop must be set to 1, while Jog1 and
Jog2 must be set to 0.
Referencing is triggered by a rising edge of ExecuteMode. The current status of the active command
can be monitored through EPosZSW1 and EPosZSW2. When the referencing is completed, AxisRef is
set to 1. When an error occurs during referencing, the output parameter Error is set to 1.
The control sequence is illustrated in the following figure:

ON/OFF1

ModePos=4

Execute

AxisRef

Reference cam
t

Figure 7-6 Control sequence diagram for referencing

Servo-side parameter settings:

Parameter Name
C15.1B Homing type
C15.1C High velocity for homing
C15.1E Low velocity for homing
C15.1F Acceleration/deceleration time for homing
C15.21 Homing offset type
C15.22 Homing offset
C15.24 Homing timeout interval

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7.8.11 Setting the Zero Position

This operating mode allows the zero position of the axis to be set when the axis is in any position.
Requirements:
y ModePos (operating mode) is set to 5.
y The axis is in closed-loop control and at a standstill.

Steps:
y Set the zero position of the axis on the rising edge of Execute when the axis is at a standstill.

NOTICE
y The zero position can be set using parameter C15.22.

The control sequence is illustrated in the following figure:

Execute

AxisRef
ModePos=5
t

Figure 7-7 Control sequence diagram for setting a reference point

Servo-side parameter settings:

Parameter Name
C15.22 Reference point coordinate offset

7.8.12 Traversing Blocks

The "traversing blocks" operating mode is implemented through the "traversing blocks" functionality of the
drive. It permits the creation of automation programs. (Supported in positioning mode only)
Requirements:
y ModePos (operating mode) is set to 6.
y AxisEnable (drive enable) is set to 1.
y The axis is at a standstill.

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y The axis must be homed or be calibrated with the absolute encoder.

Steps:
y The job mode, target position, and dynamic response are specified through the traversing block
parameters in the A6-PN drive. Parameter OverV scales the velocity values in the program block.
y The operating conditions CancelTransing and IntermediateStop must be set to 1, while Jog1 and
Jog2 must be set to 0.
y Set Position to specify the program block number, with the value being in the range of 0 to 15.
y The direction of travel is determined by the job mode and settings in the program block and is
independent of parameters Positive and Negative, which must be set to 0.
After you select the program block number, traversing is triggered by a rising edge of ExecuteMode.
The current status of the active command can be monitored through EPosZSW1 and EPosZSW2. While
the function block is processing the command, Busy is set to 1. When the target position is reached,
Done is set to 1. When an error occurs during traversing, the output parameter Error is set to 1.
The control sequence is illustrated in the following figure:

s К Л

t
ON/OFF1
Position=Traversing block [x]

Execute

IntMStop
AxisPosOk
t

Figure 7-8 Control sequence diagram for traversing blocks

NOTICE
y During traversing, the currently running command can be replaced on-the-fly by a new command
through "ExecuteMode". This is only possible for the same operating mode.

Servo-side parameter settings:

y Refer to servo parameter groups C16, C17, and C18, which can be configured through the

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background "visual configuration".

y Modulus axes are not supported.

7.8.13 Jog
The "jog" operating mode is implemented through the "jog" functionality of the drive.
Requirements:
y ModePos (operating mode) is set to 7.
y AxisEnable (drive enable) is set to 1.
y The axis is at a standstill.
y The axis does not need to be homed or be calibrated with the absolute encoder.
y The jog velocity is set in A6-PN, and parameter OverV scales the jog velocity settings.
y The running conditions CancelTransing and IntermediateStop are not relevant for the jog mode
and are set to 1 by default.

Note:
y Jog1 and Jog2 are used to control jog mode in EPOS. The direction of travel is determined by the
jog velocity set in the A6-PN drive. By default, Jog1 is set as the negative jog velocity, and Jog2 is
set as the positive jog velocity. The "Positive" and "Negative" parameters are not relevant in this
case and are set to 0 by default.
y The current status of the active command can be monitored through EPosZSW1 and EPosZSW2.
While the function block is processing the command, Busy is set to 1. When jog ends (Jog1 or Jog2
= 0) and the axis is at a standstill, AxisPosOK is set to 1. When an error occurs during traversing, the
output parameter Error is set to 1.

The control sequence is illustrated in the following figure:

Jog2 Speedsetpoint

Jog1 Speedsetpoint t

ON/OFF1
Jog1

Jog2

Jog active

AxisPosOk
t

Figure 7-9 Control sequence diagram for jog mode

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Servo-side parameter settings:

Parameter Name
C15.13 JOG1 velocity
C15.15 JOG2 velocity
C15.2E JOG acceleration
C15.30 JOG deceleration

7.8.14 Jog Incremental

The "jog incremental" operating mode is implemented through the "jog" functionality of the drive.
Requirements:
y ModePos (operating mode) is set to 8.
y AxisEnable (drive enable) is set to 1.
y The axis is at a standstill.
y The axis does not need to be homed or be calibrated with the absolute encoder.

Steps:
y The jog velocity is set in A6-PN, and parameter OverV scales the jog velocity settings.
y The running conditions CancelTransing and IntermediateStop are not relevant for the jog mode
and are set to 1 by default.

NOTICE
y Jog1 and Jog2 are used to control jog mode in EPOS. The direction of travel is determined by
the jog velocity set in the A6-PN drive. By default, Jog1 traversing distance and Jog2 traversing
distance are set to 1000 LU. The "Positive" and "Negative" parameters are not relevant in this
case and are set to 0 by default.
y The current status of the active command can be monitored through EPosZSW1 and EPosZSW2.
While the function block is processing the command, Busy is set to 1. When jog ends (Jog1
or Jog2 = 0) and the axis is at a standstill, AxisPosOK is set to 1. When an error occurs during
traversing, the output parameter Error is set to 1.

The control sequence is illustrated in the following figure:

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s
Jog1 traversing path

Jog2 traversing path

v t

Jog2 Speedsetpoint
Jog1 Speedsetpoint

ON/OFF1
Jog1

Jog2
Jog active
AxisPosOk
t

Figure 7-10 Control sequence diagram for incremental jog

Servo-side parameter settings:

Parameter Name
C15.13 JOG1 velocity
C15.15 JOG2 velocity
C15.17 JOG1 position increment
C15.19 JOG2 position increment
C15.2E JOG acceleration
C15.30 JOG deceleration

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7.8.15 Operating Mode Change Based on the ModePos Values

ModePos 1 ModePos 2 ModePos 3

Reletive Absolute Setup
Positioning Positioning Positioning

ModePos 4
ModePos 7
Reference
Jog
traversing
AXIS in operation
AXIS standstill
No fault active
No warning active
No MDI active
No Reference active
ModePos 5
ModePos 8
Referencepoint
Jog Inc
set

ModePos 6
Traversing
blods

Figure 7-11 Diagram of operating mode change based on the ModePos values

7.8.16 Homing mode introduction

Table 7-4 Mode overview table

Mode
Description
setting

The mode is used to search for the mechanical extreme position and Z pulse in the forward
-2
direction.

The mode is used to search for the mechanical extreme position and Z pulse in the reverse
-1
direction.

0 -

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Mode
Description
setting

The motor starts operation in the reverse direction, switches to low-speed operation when
1 the negative limit (NL) status changes from OFF to ON during reverse operation, and then
retreats to search for the nearest Z pulse position as the home.

The motor starts operation in the forward direction, switches to low-speed operation when
2 the positive limit (PL) status changes from OFF to ON during forward operation, and then
retreats to search for the nearest Z pulse position as the home.

The motor operates in the forward direction when HSW is inactive and reverse direction when
HSW is active. The motor switches to low-speed operation when the HSW status changes
3
from ON to OFF during reverse operation, and then continues the reverse operation to search
for the nearest Z pulse position as the home.

The motor operates in the forward direction when HSW is inactive and reverse direction when
HSW is active. The motor switches to low-speed operation when the HSW status changes from
4
OFF to ON during forward operation, and then continues the forward operation to search for
the nearest Z pulse position as the home.

The motor operates in the reverse direction when HSW is inactive and forward direction when
HSW is active. The motor switches to low-speed operation when the HSW status changes from
5
ON to OFF during forward operation, and then continues the forward operation to search for
the nearest Z pulse position as the home.

The motor operates in the reverse direction when HSW is inactive and forward direction when
HSW is active. The motor switches to low-speed operation when the HSW status changes
6
from OFF to ON during reverse operation, and then continues the reverse operation to search
for the nearest Z pulse position as the home.

The motor operates in the forward direction when HSW is inactive and reverse direction when
HSW is active. The motor switches to low-speed operation when the HSW status changes
7
from ON to OFF during reverse operation, and then continues the reverse operation to search
for the nearest Z pulse position as the home.

The motor operates in the forward direction when HSW is inactive and reverse direction when
HSW is active. The motor switches to low-speed operation when the HSW status changes from
8
OFF to ON during forward operation, and then continues the forward operation to search for
the nearest Z pulse position as the home.

The motor operates in the forward direction no matter whether HSW is active or inactive. The
motor switches to low-speed operation when the HSW status changes from OFF to ON during
9
reverse operation, and then continues the reverse operation to search for the nearest Z pulse
position as the home.

The motor operates in the forward direction no matter whether HSW is active or inactive. The
motor switches to low-speed operation when the HSW status changes from ON to OFF during
10
forward operation, and then continues the forward operation to search for the nearest Z pulse
position as the home.

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Mode
Description
setting

The motor operates in the reverse direction when HSW is inactive and forward direction when
HSW is active. The motor switches to low-speed operation when the HSW status changes from
11
ON to OFF during forward operation, and then continues the forward operation to search for
the nearest Z pulse position as the home.

The motor operates in the reverse direction when HSW is inactive and forward direction when
HSW is active. The motor switches to low-speed operation when the HSW status changes
12
from OFF to ON during reverse operation, and then continues the reverse operation to search
for the nearest Z pulse position as the home.

The motor operates in the reverse direction no matter whether HSW is active or inactive. The
motor switches to low-speed operation when the HSW status changes from OFF to ON during
13
forward operation, and then continues the forward operation to search for the nearest Z pulse
position as the home.

The motor operates in the reverse direction no matter whether HSW is active or inactive. The
motor switches to low-speed operation when the HSW status changes from ON to OFF during
14
reverse operation, and then continues the reverse operation to search for the nearest Z pulse
position as the home.

15 Reserved

16 Reserved

Similar to mode 1. During reverse operation, the position where the NL status changes from
17
OFF to ON is used as the home, without searching for the Z pulse.

Similar to mode 2. During forward operation, the position where the PL status changes from
18
OFF to ON is used as the home, without searching for the Z pulse.

Similar to mode 3. During reverse operation, the position where the HSW status changes from
19
ON to OFF is used as the home, without searching for the Z pulse.

Similar to mode 4. During forward operation, the position where the HSW status changes
20
from OFF to ON is used as the home, without searching for the Z pulse.

Similar to mode 5. During forward operation, the position where the HSW status changes
21
from ON to OFF is used as the home, without searching for the Z pulse.

Similar to mode 6. During reverse operation, the position where the HSW status changes from
22
OFF to ON is used as the home, without searching for the Z pulse.

Similar to mode 7. During reverse operation, the position where the HSW status changes from
23
ON to OFF is used as the home, without searching for the Z pulse.

Similar to mode 8. During forward operation, the position where the HSW status changes
24
from OFF to ON is used as the home, without searching for the Z pulse.

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Mode
Description
setting

Similar to mode 9. During reverse operation, the position where the HSW status changes from
25
OFF to ON is used as the home, without searching for the Z pulse.

Similar to mode 10. During forward operation, the position where the HSW status changes
26
from ON to OFF is used as the home, without searching for the Z pulse.

Similar to mode 11. During forward operation, the position where the HSW status changes
27
from ON to OFF is used as the home, without searching for the Z pulse.

Similar to mode 12. During reverse operation, the position where the HSW status changes
28
from OFF to ON is used as the home, without searching for the Z pulse.

Similar to mode 13. During forward operation, the position where the HSW status changes
29
from OFF to ON is used as the home, without searching for the Z pulse.

Similar to mode 14. During reverse operation, the position where the HSW status changes
30
from ON to OFF is used as the home, without searching for the Z pulse.

31 Reserved

32 Reserved

The motor starts to operate in the reverse direction, and searches for the nearest Z pulse
33
position as the home.

The motor starts to operate in the forward direction, and searches for the nearest Z pulse
34
position as the home.

35 The current position is used as the home.

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Home mode:

NL HSW PL

Start position H High speed

Direction Direction change

-L
change
Low speed
Home (reverse direction)
H Operating Active state
direction
PL signal
Inactive state
Active state
HSW signal
Position to switch Inactive state
to low speed
Z pulse train
Z pulse position

Figure 7-12 Definition of the home mode

Mode-2: The mode is used to search for the mechanical extreme position and Z pulse in the forward direction.
y The motor starts to operate in the forward direction at a high speed. After the motor runs into the
mechanical extreme position, if the torque reaches the torque limit value, the speed is near zero, and
the state is maintained for a certain period of time, the axis reaches the mechanical extreme position.
The motor switches to operate in the reverse direction at a low speed, and searches for the nearest Z
pulse position as the home.

Mechanical extreme position

H
Motion profile -L
H

Z pulse train

Mechanical limit

Figure 7-13 Home mode-2 profile and signal status

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Mode-1: The mode is used to search for the mechanical extreme position and Z pulse in the reverse direction.
y The motor starts to operate in the reverse direction at a high speed. After the motor runs into the
mechanical extreme position, if the torque reaches the torque limit value, the speed is near zero, and
the state is maintained for a certain period of time, the axis reaches the mechanical extreme position.
The motor switches to operate in the forward direction at a low speed, and searches for the nearest Z
pulse position as the home.

Mechanical extreme position

-H
Motion profile L
H

Z pulse train

Mechanical limit

Figure 7-14 Home mode-1 profile and signal status

Mode 1: Search for the NL and Z pulse.

y If the NL is inactive upon startup, the motor operates in the reverse direction at a high speed. When the
NL status changes from OFF to ON, the motor decelerates to stop, and then switches to operate in the
forward direction at a low speed. When the NL status changes from ON to OFF during forward operation
at a low speed, the motor continues the forward operation to search for the nearest Z pulse position as
the home.
y If the NL is active upon startup, the motor operates in the forward direction at a low speed. When the
NL status changes from ON to OFF during forward operation, the motor continues the forward operation
to search for the nearest Z pulse position as the home.

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NL

-H
Motion profile 1 L
H

L
Motion profile 2 H

Z pulse train

NL signal

Figure 7-15 Home mode 1 profile and signal status

Mode 2: Search for the PL and Z pulse.

y If the PL is inactive upon startup, the motor operates in the forward direction at a high speed. When the
PL status changes from OFF to ON, the motor decelerates to stop, and then switches to operate in the
reverse direction at a low speed. When the PL status changes from ON to OFF during reverse operation
at a low speed, the motor continues the reverse operation to search for the nearest Z pulse position as
the home.
y If the PL is active upon startup, the motor operates in the reverse direction at a low speed. When the PL
status changes from ON to OFF during reverse operation, the motor continues the reverse operation to
search for the nearest Z pulse position as the home.

PL

H
Motion profile 1 -L
H

-L
Motion profile 2 H

Z pulse train

PL signal

Figure 7-16 Home mode 2 profile and signal status

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Mode 3: When the HSW status changes from ON to OFF during reverse operation, the motor searches for
the position and Z pulse.
y If the HSW is inactive upon startup, the motor operates in the forward direction at a high speed. When
the HSW status changes from OFF to ON during forward operation, the motor decelerates to stop, and
then switches to operate in the reverse direction at a low speed. When the HSW status changes from
ON to OFF during reverse operation at a low speed, the motor continues the reverse operation to search
for the nearest Z pulse position as the home.
y If the HSW is active upon startup, the motor operates in the reverse direction at a low speed. When the
HSW status changes from ON to OFF during reverse operation at a low speed, the motor searches for
the nearest Z pulse position as the home.
y In this mode, no matter whether the NL or PL is in ON state, the homing process is stopped and an
alarm is reported.

HSW

H
Motion profile 1
-L
H

-L
Motion profile 2 H

Z pulse train

HSW signal

Figure 7-17 Home mode 3 profile and signal status

Mode 4: When the HSW status changes from OFF to ON during forward operation, the motor searches
for the position and Z pulse.
y If the HSW is inactive upon startup, the motor operates in the forward direction at a high speed. When
the HSW status changes from OFF to ON during forward operation, the motor decelerates to stop,
returns to the position where the HSW is inactive at a low speed, decelerates to stop again, and then
switches to operate in the forward direction at a low speed. When the HSW status changes from OFF to
ON during forward operation at a low speed, the motor continues the forward operation to search for
the nearest Z pulse position as the home.
y If the HSW is active upon startup, the motor operates in the reverse direction at a low speed. When the
HSW status changes from ON to OFF during reverse operation, the motor decelerates to stop, and then
switches to operate in the forward direction at a low speed. When the HSW status changes from OFF to
ON during forward operation at a low speed, the motor continues the forward operation to search for
the nearest Z pulse position as the home.
y In this mode, no matter whether the NL or PL is in ON state, the homing process is stopped and an
alarm is reported.

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HSW

Motion profile 1 -L
L
H

-L
Motion profile 2
L
H

Z pulse train

HSW signal

Figure 7-18 Home mode 4 profile and signal status

Mode 5: When the HSW status changes from ON to OFF during forward operation, the motor searches
for the position and Z pulse.
y If the HSW is inactive upon startup, the motor operates in the reverse direction at a high speed. When
the HSW status changes from OFF to ON during reverse operation, the motor decelerates to stop, and
then switches to operate in the forward direction at a low speed. When the HSW status changes from
ON to OFF during forward operation at a low speed, the motor continues the forward operation to
search for the nearest Z pulse position as the home.
y If the HSW is active upon startup, the motor operates in the forward direction at a low speed. When the
HSW status changes from ON to OFF during forward operation at a low speed, the motor searches for
the nearest Z pulse position as the home.
y In this mode, no matter whether the NL or PL is in ON state, the homing process is stopped and an
alarm is reported.

HSW

-H
Motion profile 1
L
H

L
Motion profile 2 H

Z pulse train

HSW signal

Figure 7-19 Home mode 5 profile and signal status

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Mode 6: When the HSW status changes from OFF to ON during reverse operation, the motor searches for
the position and Z pulse.
y If the HSW is inactive upon startup, the motor operates in the reverse direction at a high speed. When
the HSW status changes from OFF to ON during reverse operation, the motor decelerates to stop,
returns to the position where the HSW is inactive at a low speed, decelerates to stop again, and then
switches to operate in the reverse direction at a low speed. When the HSW status changes from OFF to
ON during reverse operation at a low speed, the motor continues the reverse operation to search for
the nearest Z pulse position as the home.
y If the HSW is active upon startup, the motor operates in the forward direction at a low speed. When the
HSW status changes from ON to OFF during forward operation, the motor decelerates to stop, and then
switches to operate in the reverse direction at a low speed. When the HSW status changes from OFF to
ON during reverse operation at a low speed, the motor continues the reverse operation to search for
the nearest Z pulse position as the home.
y In this mode, no matter whether the NL or PL is in ON state, the homing process is stopped and an
alarm is reported.

HSW

-H

Motion profile 1 L

H
-L

L
Motion profile 2
H
-L

Z pulse train

HSW signal

Figure 7-20 Home mode 6 profile and signal status

Mode 7: When the HSW status changes from ON to OFF during reverse operation, the motor searches for
the position and Z pulse and automatically turns to another direction upon the PL.
y If the HSW is inactive and located in the forward direction of the HSW upon startup, the motor operates
in the forward direction at a high speed. When the PL is in ON state, the motor decelerates to stop, and
then operates in the reverse direction at a high speed. When the HSW status changes from OFF to ON
during reverse operation, the motor decelerates and continues to operate in the reverse direction at
a low speed. When the HSW status changes from ON to OFF, the motor decelerates to stop, returns to
the position where the HSW is active at a low speed, decelerates to stop again (if the active HSW range
is narrow, it may enter the inactive HSW position range on the other side), and switches to operate in

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the reverse direction at a low speed. When the HSW status changes from ON to OFF during reverse
operation at a low speed, the motor continues the reverse operation to search for the nearest Z pulse
position as the home.
y If the HSW is inactive and located in the reverse direction of the HSW upon startup, the motor operates
in the forward direction at a high speed. When the HSW status changes from OFF to ON during forward
operation, the motor decelerates to stop, and then switches to operate in the reverse direction at a
low speed. When the HSW status changes from ON to OFF during reverse operation at a low speed, the
motor continues the reverse operation to search for the nearest Z pulse position as the home.
y If the HSW is active upon startup, the motor operates in the reverse direction at a low speed. When the
HSW status changes from ON to OFF during reverse operation at a low speed, the motor searches for
the nearest Z pulse position as the home.
y In this mode, the motor automatically turns to another direction when it encounters the ON state of the
PL for the first time during forward operation. When the motor encounters the ON state of the NL or
encounters the ON state of the PL again, the homing process is stopped and an alarm is reported.

HSW PL

H
-L -H
Motion profile 1
L
-L
H

H
Motion profile 2
-L
H

Motion profile 3 -L
H

Z pulse train

HSW signal

PL signal

Figure 7-21 Home mode 7 profile and signal status

Mode 8: When the HSW status changes from OFF to ON during forward operation, the motor searches
for the position and Z pulse and automatically turns to another direction upon the PL.
y If the HSW is inactive and located in the forward direction of the HSW upon startup, the motor operates
in the forward direction at a high speed. When the PL is in ON state, the motor decelerates to stop, and

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 ▏ PROFINET Communication

then operates in the reverse direction at a high speed. When the HSW status changes from OFF to ON
during reverse operation, the motor decelerates, and continues to operate in the reverse direction at
a low speed. When the HSW status changes from ON to OFF, the motor decelerates to stop, and then
switches to operate in the forward direction at a low speed. When the HSW status changes from OFF to
ON during forward operation at a low speed, the motor continues the forward operation to search for
the nearest Z pulse position as the home.
y If the HSW is inactive and located in the reverse direction of the HSW upon startup, the motor operates
in the forward direction at a high speed. When the HSW status changes from OFF to ON during forward
operation, the motor decelerates to stop, returns to the position where the HSW is inactive at a low
speed, decelerates to stop again, and then switches to operate in the forward direction at a low speed.
When the HSW status changes from OFF to ON during forward operation at a low speed, the motor
continues the forward operation to search for the nearest Z pulse position as the home.
y If the HSW is active upon startup, the motor operates in the reverse direction at a low speed. When the
HSW status changes from ON to OFF during reverse operation, the motor decelerates to stop, and then
switches to operate in the forward direction at a low speed. When the HSW status changes from OFF to
ON during forward operation at a low speed, the motor continues the forward operation to search for
the nearest Z pulse position as the home.
y In this mode, the motor automatically turns to another direction when it encounters the ON state of the
PL for the first time during forward operation. When the motor encounters the ON state of the NL or
encounters the ON state of the PL again, the homing process is stopped and an alarm is reported.

HSW PL

H
Motion profile 1 -L -H
L
H
H
-L
Motion profile 2
L
H

-L
Motion profile 3
L
H

Z pulse train

HSW signal

PL signal

Figure 7-22 Home mode 8 profile and signal status

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 PROFINET Communication ▕

Mode 9: When the HSW status changes from OFF to ON during reverse operation, the motor searches for
the position and Z pulse and automatically turns to another direction upon the PL.
y If the HSW is inactive and located in the forward direction of the HSW upon startup, the motor operates
in the forward direction at a high speed. When the PL is in ON state, the motor decelerates to stop,
and then operates in the reverse direction at a high speed. When the HSW status changes from OFF to
ON during reverse operation, the motor decelerates to stop, returns to the position where the HSW is
inactive at a low speed, decelerates to stop again, and then switches to operate in the reverse direction
at a low speed. When the HSW status changes from OFF to ON during reverse operation at a low speed,
the motor continues the reverse operation to search for the nearest Z pulse position as the home.
y If the HSW is inactive and located in the reverse direction of the HSW upon startup, the motor operates
in the forward direction at a high speed. When the HSW status changes from OFF to ON during forward
operation, the motor decelerates, and continues to operate in the forward direction at a low speed.
When the HSW status changes from ON to OFF, the motor decelerates to stop, and then switches to
operate in the reverse direction at a low speed. When the HSW status changes from OFF to ON during
reverse operation at a low speed, the motor continues the reverse operation to search for the nearest Z
pulse position as the home.
y If the HSW is active upon startup, the motor operates in the forward direction at a low speed. When the
HSW status changes from ON to OFF during forward operation, the motor decelerates to stop, and then
switches to operate in the reverse direction at a low speed. When the HSW status changes from OFF to
ON during reverse operation at a low speed, the motor continues the reverse operation to search for
the nearest Z pulse position as the home.
y In this mode, the motor automatically turns to another direction when it encounters the ON state of the
PL for the first time during forward operation. When the motor encounters the ON state of the NL or
encounters the ON state of the PL again, the homing process is stopped and an alarm is reported.

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 ▏ PROFINET Communication

HSW PL

Motion profile 1 -H

L
-L
H

H L
Motion profile 2 -L
H

L
Motion profile 3 -L
H

Z pulse train

HSW signal

PL signal

Figure 7-23 Home mode 9 profile and signal status

Mode 10: When the HSW status changes from ON to OFF during forward operation, the motor searches
for the position and Z pulse and automatically turns to another direction upon the PL.
y If the HSW is inactive and located in the forward direction of the HSW upon startup, the motor operates
in the forward direction at a high speed. When the PL is in ON state, the motor decelerates to stop, and
then operates in the reverse direction at a high speed. When the HSW status changes from OFF to ON
during reverse operation, the motor decelerates to stop, and then switches to operate in the forward
direction at a low speed. When the HSW status changes from ON to OFF during forward operation at a
low speed, the motor continues the forward operation to search for the nearest Z pulse position as the
home.
y If the HSW is inactive and located in the reverse direction of the HSW upon startup, the motor operates
in the forward direction at a high speed. When the HSW status changes from OFF to ON during forward
operation, the motor decelerates, and continues to operate in the forward direction at a low speed.
When the HSW status changes from ON to OFF, the motor decelerates to stop, returns to the position
where the HSW is active at a low speed, decelerates to stop again (if the active HSW range is narrow, it
may enter the inactive HSW position range on the other side), and switches to operate in the forward
direction at a low speed. When the HSW status changes from ON to OFF during forward operation at a
low speed, the motor continues the forward operation to search for the nearest Z pulse position as the
home.

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 PROFINET Communication ▕

y If the HSW is active upon startup, the motor operates in the forward direction at a low speed. When the
HSW status changes from ON to OFF during forward operation at a low speed, the motor searches for
the nearest Z pulse position as the home.
y In this mode, the motor automatically turns to another direction when it encounters the ON state of the
PL for the first time during forward operation. When the motor encounters the ON state of the NL or
encounters the ON state of the PL again, the homing process is stopped and an alarm is reported.

HSW PL

Motion profile 1 -H
L
H
H L

Motion profile 2 -L
L
H

L
Motion profile 3 H

Z pulse train

HSW signal

PL signal

Figure 7-24 Home mode 10 profile and signal status

Mode 11: When the HSW status changes from ON to OFF during forward operation, the motor searches
for the position and Z pulse and automatically turns to the forward direction upon the NL.
y If the HSW is inactive and located in the forward direction of the HSW upon startup, the motor operates
in the reverse direction at a high speed. When the HSW status changes from OFF to ON during reverse
operation, the motor decelerates to stop, and then switches to operate in the forward direction at a
low speed. When the HSW status changes from ON to OFF during forward operation at a low speed, the
motor continues the forward operation to search for the nearest Z pulse position as the home.
y If the HSW is inactive and located in the reverse direction of the HSW upon startup, the motor operates
in the reverse direction at a high speed. When the NL is in ON state, the motor decelerates to stop, and
then operates in the forward direction at a high speed. When the HSW status changes from OFF to ON
during forward operation, the motor decelerates and continues to operate in the forward direction at
a low speed. When the HSW status changes from ON to OFF, the motor decelerates to stop, returns to

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 ▏ PROFINET Communication

the position where the HSW is active at a low speed, decelerates to stop again (if the active HSW range
is narrow, it may enter the inactive HSW position range on the other side), and switches to operate in
the forward direction at a low speed. When the HSW status changes from ON to OFF during forward
operation at a low speed, the motor continues the forward operation to search for the nearest Z pulse
position as the home.
y If the HSW is active upon startup, the motor operates in the forward direction at a low speed. When the
HSW status changes from ON to OFF during forward operation at a low speed, the motor searches for
the nearest Z pulse position as the home.
y In this mode, the motor automatically turns to another direction when it encounters the ON state of
the NL for the first time during reverse operation. When the motor encounters the ON state of the PL or
encounters the ON state of the NL again, the homing process is stopped and an alarm is reported.

NL HSW

-H
Motion profile 1
L H
-H
H L

Motion profile 2 -L
L H

L
Motion profile 3 H

Z pulse train

HSW signal

NL signal

Figure 7-25 Home mode 11 profile and signal status

Mode 12: When the HSW status changes from OFF to ON during reverse operation, the motor searches
for the position and Z pulse and automatically turns to another direction upon the NL.
y If the HSW is inactive and located in the forward direction of the HSW upon startup, the motor operates
in the reverse direction at a high speed. When the HSW status changes from OFF to ON during reverse
operation, the motor decelerates to stop, returns to the position where the HSW is inactive at a low
speed, decelerates to stop again, and then switches to operate in the reverse direction at a low speed.
When the HSW status changes from OFF to ON during reverse operation at a low speed, the motor

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 PROFINET Communication ▕

continues the reverse operation to search for the nearest Z pulse position as the home.
y If the HSW is inactive and located in the reverse direction of the HSW upon startup, the motor operates
in the reverse direction at a high speed. When the NL is in ON state, the motor decelerates to stop, and
then operates in the forward direction at a high speed. When the HSW status changes from OFF to ON
during forward operation, the motor decelerates, and continues to operate in the forward direction at
a low speed. When the HSW status changes from ON to OFF, the motor decelerates to stop, and then
switches to operate in the reverse direction at a low speed. When the HSW status changes from OFF to
ON during reverse operation at a low speed, the motor continues the reverse operation to search for
the nearest Z pulse position as the home.
y If the HSW is active upon startup, the motor operates in the forward direction at a low speed. When the
HSW status changes from ON to OFF during forward operation, the motor decelerates to stop, and then
switches to operate in the reverse direction at a low speed. When the HSW status changes from OFF to
ON during reverse operation at a low speed, the motor continues the reverse operation to search for
the nearest Z pulse position as the home.
y In this mode, the motor automatically turns to another direction when it encounters the ON state of
the NL for the first time during reverse operation. When the motor encounters the ON state of the PL or
encounters the ON state of the NL again, the homing process is stopped and an alarm is reported.

NL HSW

-H
Motion profile 1
L

-L
H
-H
H L
Motion profile 2
-L
H

L
Motion profile 3 -L
H

Z pulse train

HSW signal

NL signal

Figure 7-26 Home mode 12 profile and signal status

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 ▏ PROFINET Communication

Mode 13: When the HSW status changes from OFF to ON during forward operation, the motor searches
for the position and Z pulse and automatically turns to another direction upon the NL.
y If the HSW is inactive and located in the forward direction of the HSW upon startup, the motor operates
in the reverse direction at a high speed. When the HSW status changes from OFF to ON during reverse
operation, the motor decelerates, and continues to operate in the reverse direction at a low speed.
When the HSW status changes from ON to OFF, the motor decelerates to stop, and then switches to
operate in the forward direction at a low speed. When the HSW status changes from OFF to ON during
forward operation at a low speed, the motor continues the forward operation to search for the nearest
Z pulse position as the home.
y If the HSW is inactive and located in the reverse direction of the HSW upon startup, the motor operates
in the reverse direction at a high speed. When the NL is in ON state, the motor decelerates to stop,
and then operates in the forward direction at a high speed. When the HSW status changes from OFF to
ON during forward operation, the motor decelerates to stop, returns to the position where the HSW is
inactive at a low speed, decelerates to stop again, and then switches to operate in the forward direction
at a low speed. When the HSW status changes from OFF to ON during forward operation at a low speed,
the motor continues the forward operation to search for the nearest Z pulse position as the home.
y If the HSW is active upon startup, the motor operates in the reverse direction at a low speed. When the
HSW status changes from ON to OFF during reverse operation, the motor decelerates to stop, and then
switches to operate in the forward direction at a low speed. When the HSW status changes from OFF to
ON during forward operation at a low speed, the motor continues the forward operation to search for
the nearest Z pulse position as the home.
y In this mode, the motor automatically turns to another direction when it encounters the ON state of
the NL for the first time during reverse operation. When the motor encounters the ON state of the PL or
encounters the ON state of the NL again, the homing process is stopped and an alarm is reported.

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 PROFINET Communication ▕

NL HSW

-L -H
Motion profile 1
L H
-H
H

Motion profile 2 -L
L
H

-L
Motion profile 3
L
H

Z pulse train

HSW signal

NL signal

Figure 7-27 Home mode 13 profile and signal status

Mode 14: When the HSW status changes from ON to OFF during reverse operation, the motor searches
for the position and Z pulse and automatically turns to another direction upon the NL.
y If the HSW is inactive and located in the forward direction of the HSW upon startup, the motor operates
in the reverse direction at a high speed. When the HSW status changes from OFF to ON during reverse
operation, the motor decelerates and continues to operate in the reverse direction at a low speed.
When the HSW status changes from ON to OFF, the motor decelerates to stop, returns to the position
where the HSW is active at a low speed, decelerates to stop again (if the active HSW range is narrow, it
may enter the inactive HSW position range on the other side), and switches to operate in the reverse
direction at a low speed. When the HSW status changes from ON to OFF during reverse operation at a
low speed, the motor continues the reverse operation to search for the nearest Z pulse position as the
home.
y If the HSW is inactive and located in the reverse direction of the HSW upon startup, the motor operates
in the reverse direction at a high speed. When the NL is in ON state, the motor decelerates to stop, and
then operates in the forward direction at a high speed. When the HSW status changes from OFF to ON
during forward operation, the motor decelerates to stop, and then switches to operate in the reverse
direction at a low speed. When the HSW status changes from ON to OFF during reverse operation at a
low speed, the motor continues the reverse operation to search for the nearest Z pulse position as the
home.
y If the HSW is active upon startup, the motor operates in the reverse direction at a low speed. When the

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 ▏ PROFINET Communication

HSW status changes from ON to OFF during reverse operation at a low speed, the motor searches for
the nearest Z pulse position as the home.
y In this mode, the motor automatically turns to another direction when it encounters the ON state of
the NL for the first time during reverse operation. When the motor encounters the ON state of the PL or
encounters the ON state of the NL again, the homing process is stopped and an alarm is reported.

NL HSW

-L -H
Motion profile 1 L

-L
H
-H
H
Motion profile 2
H
-L

-L
Motion profile 3 H

Z pulse train

HSW signal

NL signal

Figure 7-28 Home mode 14 profile and signal status

Mode 15 and mode 16: Reserved

Mode 17: Search for the NL.

y If the NL is inactive upon startup, the motor operates in the reverse direction at a high speed. When the
NL status changes from OFF to ON, the motor decelerates to stop, and then switches to operate in the
forward direction at a low speed. When the NL status changes from ON to OFF during forward operation
at a low speed, the motor decelerates to stop and uses the stop position as the home.
y If the NL is active upon startup, the motor operates in the forward direction at a low speed. When the
NL status changes from ON to OFF during forward operation, the motor decelerates to stop and uses
the stop position as the home.

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 PROFINET Communication ▕

NL

-H
Motion profile 1 L
H

L
Motion profile 2 H

NL signal

Figure 7-29 Home mode 17 profile and signal status

Mode 18: Search for the PL.

y If the PL is inactive upon startup, the motor operates in the forward direction at a high speed. When the
PL status changes from OFF to ON, the motor decelerates to stop, and then switches to operate in the
reverse direction at a low speed. When the PL status changes from ON to OFF during reverse operation
at a low speed, the motor decelerates to stop and uses the stop position as the home.
y If the PL is active upon startup, the motor operates in the reverse direction at a low speed. When the PL
status changes from ON to OFF during reverse operation at a low speed, the motor decelerates to stop
and uses the stop position as the home.

PL

H
Motion profile 1 -L
H

-L
Motion profile 2 H

PL signal

Figure 7-30 Home mode 18 profile and signal status

Mode 19: When the HSW status changes from ON to OFF during reverse operation, the motor searches
for the position.
y If the HSW is inactive upon startup, the motor operates in the forward direction at a high speed. When
the HSW status changes from OFF to ON during forward operation, the motor decelerates to stop, and
then switches to operate in the reverse direction at a low speed. When the HSW status changes from
ON to OFF during reverse operation at a low speed, the motor decelerates to stop and uses the stop

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 ▏ PROFINET Communication

position as the home.

y If the HSW is active upon startup, the motor operates in the reverse direction at a low speed. When the
HSW status changes from ON to OFF during reverse operation, the motor uses the stop position as the
home.
y In this mode, no matter whether the NL or PL is in ON state, the homing process is stopped and an
alarm is reported.

HSW

H
Motion profile 1 -L
H

-L
Motion profile 2 H

HSW signal

Figure 7-31 Home mode 19 profile and signal status

Mode 20: When the HSW status changes from OFF to ON during forward operation, the motor searches
for the position.
y If the HSW is inactive upon startup, the motor operates in the forward direction at a high speed. When
the HSW status changes from OFF to ON during forward operation, the motor decelerates to stop,
returns to the position where the HSW is inactive at a low speed, decelerates to stop again, and then
switches to operate in the forward direction at a low speed. When the HSW status changes from OFF to
ON during forward operation at a low speed, the motor decelerates to stop and uses the stop position
as the home.
y If the HSW is active upon startup, the motor operates in the reverse direction at a low speed. When the
HSW status changes from ON to OFF during reverse operation, the motor decelerates to stop, and then
switches to operate in the forward direction at a low speed. When the HSW status changes from OFF to
ON during forward operation at a low speed, the motor decelerates to stop and uses the stop position
as the home.
y In this mode, no matter whether the NL or PL is in ON state, the homing process is stopped and an
alarm is reported.

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 PROFINET Communication ▕

HSW

Motion profile 1 -L
L
H
-L
Motion profile 2
L
H

HSW signal

Figure 7-32 Home mode 20 profile and signal status

Mode 21: When the HSW status changes from ON to OFF during forward operation, the motor searches
for the position.
y If the HSW is inactive upon startup, the motor operates in the reverse direction at a high speed. When
the HSW status changes from OFF to ON during reverse operation, the motor decelerates to stop, and
then switches to operate in the forward direction at a low speed. When the HSW status changes from
ON to OFF during forward operation at a low speed, the motor decelerates to stop and uses the stop
position as the home.
y If the HSW is active upon startup, the motor operates in the forward direction at a low speed. When the
HSW status changes from ON to OFF during forward operation, the motor uses the stop position as the
home.
y In this mode, no matter whether the NL or PL is in ON state, the homing process is stopped and an
alarm is reported.

HSW

-H
Motion profile 1
L
H

Motion profile 2 L
H

HSW signal

Figure 7-33 Home mode 21 profile and signal status

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 ▏ PROFINET Communication

Mode 22: Search for the PL.

y If the HSW is inactive upon startup, the motor operates in the reverse direction at a high speed. When
the HSW status changes from OFF to ON during reverse operation, the motor decelerates to stop,
returns to the position where the HSW is inactive at a low speed, decelerates to stop again, and then
switches to operate in the reverse direction at a low speed. When the HSW status changes from OFF to
ON during reverse operation at a low speed, the motor decelerates to stop and uses the stop position as
the home.
y If the HSW is active upon startup, the motor operates in the forward direction at a low speed. When the
HSW status changes from ON to OFF during forward operation, the motor decelerates to stop, and then
switches to operate in the reverse direction at a low speed. When the HSW status changes from OFF to
ON during reverse operation at a low speed, the motor decelerates to stop and uses the stop position as
the home.
y In this mode, no matter whether the NL or PL is in ON state, the homing process is stopped and an
alarm is reported.

HSW

-H

Motion profile 1 L
-L
H
L
Motion profile 2
-L
H

HSW signal

Figure 7-34 Home mode 22 profile and signal status

Mode 23: When the HSW status changes from ON to OFF during reverse operation, the motor searches
for the position and automatically turns to another direction upon the PL.
y If the HSW is inactive and located in the forward direction of the HSW upon startup, the motor operates
in the forward direction at a high speed. When the PL is in ON state, the motor decelerates to stop, and
then operates in the reverse direction at a high speed. When the HSW status changes from OFF to ON
during reverse operation, the motor decelerates and continues to operate in the reverse direction at
a low speed. When the HSW status changes from ON to OFF, the motor decelerates to stop, returns to
the position where the HSW is active at a low speed, decelerates to stop again (if the active HSW range
is narrow, it may enter the inactive HSW position range on the other side), and switches to operate in
the reverse direction at a low speed. When the HSW status changes from ON to OFF during reverse
operation at a low speed, the motor decelerates to stop and uses the stop position as the home.
y If the HSW is inactive and located in the reverse direction of the HSW upon startup, the motor operates

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 PROFINET Communication ▕

in the forward direction at a high speed. When the HSW status changes from OFF to ON during forward
operation, the motor decelerates to stop, and then switches to operate in the reverse direction at a
low speed. When the HSW status changes from ON to OFF during reverse operation at a low speed, the
motor decelerates to stop and uses the stop position as the home.
y If the HSW is active upon startup, the motor operates in the reverse direction at a low speed. When the
HSW status changes from ON to OFF during reverse operation, the motor uses the stop position as the
home.
y In this mode, the motor automatically turns to another direction when it encounters the ON state of the
PL for the first time during forward operation. When the motor encounters the ON state of the NL or
encounters the ON state of the PL again, the homing process is stopped and an alarm is reported.

HSW PL

Motion profile 1 -L -H
L
-L
H
H
Motion profile 2 -L
H

Motion profile 3 -L
H

HSW signal

PL signal

Figure 7-35 Home mode 23 profile and signal status

Mode 24: When the HSW status changes from OFF to ON during forward operation, the motor searches
for the position and automatically turns to another direction upon the PL.
y If the HSW is inactive and located in the forward direction of the HSW upon startup, the motor operates
in the forward direction at a high speed. When the PL is in ON state, the motor decelerates to stop, and
then operates in the reverse direction at a high speed. When the HSW status changes from OFF to ON
during reverse operation, the motor decelerates, and continues to operate in the reverse direction at
a low speed. When the HSW status changes from ON to OFF, the motor decelerates to stop, and then
switches to operate in the forward direction at a low speed. When the HSW status changes from OFF to
ON during forward operation at a low speed, the motor decelerates to stop and uses the stop position
as the home.

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 ▏ PROFINET Communication

y If the HSW is inactive and located in the reverse direction of the HSW upon startup, the motor operates
in the forward direction at a high speed. When the HSW status changes from OFF to ON during forward
operation, the motor decelerates to stop, returns to the position where the HSW is inactive at a low
speed, decelerates to stop again, and then switches to operate in the forward direction at a low speed.
When the HSW status changes from OFF to ON during forward operation at a low speed, the motor
decelerates to stop and uses the stop position as the home.
y If the HSW is active upon startup, the motor operates in the reverse direction at a low speed. When the
HSW status changes from ON to OFF during reverse operation, the motor decelerates to stop, and then
switches to operate in the forward direction at a low speed. When the HSW status changes from OFF to
ON during forward operation at a low speed, the motor decelerates to stop and uses the stop position
as the home.
y In this mode, the motor automatically turns to another direction when it encounters the ON state of the
PL for the first time during forward operation. When the motor encounters the ON state of the NL or
encounters the ON state of the PL again, the homing process is stopped and an alarm is reported.

HSW PL

H
Motion profile 1 -L -H

L
H
H

Motion profile 2 -L
L
H
-L
Motion profile 3
L
H

HSW signal

PL signal

Figure 7-36 Home mode 24 profile and signal status

Mode 25: When the HSW status changes from OFF to ON during reverse operation, the motor searches
for the position and automatically turns to another direction upon the PL.
y If the HSW is inactive and located in the forward direction of the HSW upon startup, the motor operates
in the forward direction at a high speed. When the PL is in ON state, the motor decelerates to stop,
and then operates in the reverse direction at a high speed. When the HSW status changes from OFF to
ON during reverse operation, the motor decelerates to stop, returns to the position where the HSW is

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 PROFINET Communication ▕

inactive at a low speed, decelerates to stop again, and then switches to operate in the reverse direction
at a low speed. When the HSW status changes from OFF to ON during reverse operation at a low speed,
the motor decelerates to stop and uses the stop position as the home.
y If the HSW is inactive and located in the reverse direction of the HSW upon startup, the motor operates
in the forward direction at a high speed. When the HSW status changes from OFF to ON during forward
operation, the motor decelerates, and continues to operate in the forward direction at a low speed.
When the HSW status changes from ON to OFF, the motor decelerates to stop, and then switches to
operate in the reverse direction at a low speed. When the HSW status changes from OFF to ON during
reverse operation at a low speed, the motor decelerates to stop and uses the stop position as the home.
y If the HSW is active upon startup, the motor operates in the forward direction at a low speed. When the
HSW status changes from ON to OFF during forward operation, the motor decelerates to stop, and then
switches to operate in the reverse direction at a low speed. When the HSW status changes from OFF to
ON during reverse operation at a low speed, the motor decelerates to stop and uses the stop position as
the home.
y In this mode, the motor automatically turns to another direction when it encounters the ON state of the
PL for the first time during forward operation. When the motor encounters the ON state of the NL or
encounters the ON state of the PL again, the homing process is stopped and an alarm is reported.

HSW PL

H
Motion profile 1 -H
L
-L
H
H L
Motion profile 2
-L
H
L

Motion profile 3 -L
H

HSW signal

PL signal

Figure 7-37 Home mode 25 profile and signal status

Mode 26: When the HSW status changes from ON to OFF during forward operation, the motor searches
for the position and automatically turns to another direction upon the PL.
y If the HSW is inactive and located in the forward direction of the HSW upon startup, the motor operates
in the forward direction at a high speed. When the PL is in ON state, the motor decelerates to stop, and

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 ▏ PROFINET Communication

then operates in the reverse direction at a high speed. When the HSW status changes from OFF to ON
during reverse operation, the motor decelerates to stop, and then switches to operate in the forward
direction at a low speed. When the HSW status changes from ON to OFF during forward operation at a
low speed, the motor decelerates to stop and uses the stop position as the home.
y If the HSW is inactive and located in the reverse direction of the HSW upon startup, the motor operates
in the forward direction at a high speed. When the HSW status changes from OFF to ON during forward
operation, the motor decelerates and continues to operate in the forward direction at a low speed.
When the HSW status changes from ON to OFF, the motor decelerates to stop, returns to the position
where the HSW is active at a low speed, decelerates to stop again (if the active HSW range is narrow, it
may enter the inactive HSW position range on the other side), and switches to operate in the forward
direction at a low speed. When the HSW status changes from ON to OFF during forward operation at a
low speed, the motor decelerates to stop and uses the stop position as the home.
y If the HSW is active upon startup, the motor operates in the forward direction at a low speed. When the
HSW status changes from ON to OFF during forward operation, the motor uses the stop position as the
home.
y In this mode, the motor automatically turns to another direction when it encounters the ON state of the
PL for the first time during forward operation. When the motor encounters the ON state of the NL or
encounters the ON state of the PL again, the homing process is stopped and an alarm is reported.

HSW PL

Motion profile 1 -H
L
H
H L

Motion profile 2 -L
L
H

L
Motion profile 3 H

HSW signal

PL signal

Figure 7-38 Home mode 26 profile and signal status

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Mode 27: When the HSW status changes from ON to OFF during forward operation, the motor searches
for the position and automatically turns to another direction upon the NL.
y If the HSW is inactive and located in the forward direction of the HSW upon startup, the motor operates
in the reverse direction at a high speed. When the HSW status changes from OFF to ON during reverse
operation, the motor decelerates to stop, and then switches to operate in the forward direction at a
low speed. When the HSW status changes from ON to OFF during forward operation at a low speed, the
motor decelerates to stop and uses the stop position as the home.
y If the HSW is inactive and located in the reverse direction of the HSW upon startup, the motor operates
in the reverse direction at a high speed. When the NL is in ON state, the motor decelerates to stop, and
then operates in the forward direction at a high speed. When the HSW status changes from OFF to ON
during forward operation, the motor decelerates and continues to operate in the forward direction at
a low speed. When the HSW status changes from ON to OFF, the motor decelerates to stop, returns to
the position where the HSW is active at a low speed, decelerates to stop again (if the active HSW range
is narrow, it may enter the inactive HSW position range on the other side), and switches to operate in
the forward direction at a low speed. When the HSW status changes from ON to OFF during forward
operation at a low speed, the motor decelerates to stop and uses the stop position as the home.
y If the HSW is active upon startup, the motor operates in the forward direction at a low speed. When the
HSW status changes from ON to OFF during forward operation, the motor uses the stop position as the
home.
y In this mode, the motor automatically turns to another direction when it encounters the ON state of
the NL for the first time during reverse operation. When the motor encounters the ON state of the PL or
encounters the ON state of the NL again, the homing process is stopped and an alarm is reported.

NL HSW

-H
Motion profile 1
L
-H H

H L
Motion profile 2 -L
L
H

L
Motion profile 3 H

HSW signal

NL signal

Figure 7-39 Home mode 27 profile and signal status

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Mode 28: When the HSW status changes from OFF to ON during reverse operation, the motor searches
for the position and automatically turns to another direction upon the NL.
y If the HSW is inactive and located in the forward direction of the HSW upon startup, the motor operates
in the reverse direction at a high speed. When the HSW status changes from OFF to ON during reverse
operation, the motor decelerates to stop, returns to the position where the HSW is inactive at a low
speed, decelerates to stop again, and then switches to operate in the reverse direction at a low speed.
When the HSW status changes from OFF to ON during reverse operation at a low speed, the motor
decelerates to stop and uses the stop position as the home.
y If the HSW is inactive and located in the reverse direction of the HSW upon startup, the motor operates
in the reverse direction at a high speed. When the NL is in ON state, the motor decelerates to stop, and
then operates in the forward direction at a high speed. When the HSW status changes from OFF to ON
during forward operation, the motor decelerates, and continues to operate in the forward direction at
a low speed. When the HSW status changes from ON to OFF, the motor decelerates to stop, and then
switches to operate in the reverse direction at a low speed. When the HSW status changes from OFF to
ON during reverse operation at a low speed, the motor decelerates to stop and uses the stop position as
the home.
y If the HSW is active upon startup, the motor operates in the forward direction at a low speed. When the
HSW status changes from ON to OFF during forward operation, the motor decelerates to stop, and then
switches to operate in the reverse direction at a low speed. When the HSW status changes from OFF to
ON during reverse operation at a low speed, the motor decelerates to stop and uses the stop position as
the home.
y In this mode, the motor automatically turns to another direction when it encounters the ON state of
the NL for the first time during reverse operation. When the motor encounters the ON state of the PL or
encounters the ON state of the NL again, the homing process is stopped and an alarm is reported.

NL HSW

-H
Motion profile 1 L
-L
H
-H

H L
Motion profile 2
-L
H

L
Motion profile 3 -L
H

HSW signal

NL signal

Figure 7-40 Home mode 28 profile and signal status

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Mode 29: When the HSW status changes from OFF to ON during forward operation, the motor searches
for the position and automatically turns to another direction upon the NL.
y If the HSW is inactive and located in the forward direction of the HSW upon startup, the motor operates
in the reverse direction at a high speed. When the HSW status changes from OFF to ON during reverse
operation, the motor decelerates, and continues to operate in the reverse direction at a low speed.
When the HSW status changes from ON to OFF, the motor decelerates to stop, and then switches to
operate in the forward direction at a low speed. When the HSW status changes from OFF to ON during
forward operation at a low speed, the motor decelerates to stop and uses the stop position as the
home.
y If the HSW is inactive and located in the reverse direction of the HSW upon startup, the motor operates
in the reverse direction at a high speed. When the NL is in ON state, the motor decelerates to stop,
and then operates in the forward direction at a high speed. When the HSW status changes from OFF to
ON during forward operation, the motor decelerates to stop, returns to the position where the HSW is
inactive at a low speed, decelerates to stop again, and then switches to operate in the forward direction
at a low speed. When the HSW status changes from OFF to ON during forward operation at a low speed,
the motor decelerates to stop and uses the stop position as the home.
y If the HSW is active upon startup, the motor operates in the reverse direction at a low speed. When the
HSW status changes from ON to OFF during reverse operation, the motor decelerates to stop, and then
switches to operate in the forward direction at a low speed. When the HSW status changes from OFF to
ON during forward operation at a low speed, the motor decelerates to stop and uses the stop position
as the home.
y In this mode, the motor automatically turns to another direction when it encounters the ON state of
the NL for the first time during reverse operation. When the motor encounters the ON state of the PL or
encounters the ON state of the NL again, the homing process is stopped and an alarm is reported.

NL HSW

-L -H
Motion profile 1
L
H
-H
H
Motion profile 2 -L
L
H
-L
Motion profile 3
L
H

HSW signal

NL signal

Figure 7-41 Home mode 29 profile and signal status

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Mode 30: When the HSW status changes from ON to OFF during reverse operation, the motor searches
for the position and automatically turns to another direction upon the NL.
y If the HSW is inactive and located in the forward direction of the HSW upon startup, the motor operates
in the reverse direction at a high speed. When the HSW status changes from OFF to ON during reverse
operation, the motor decelerates and continues to operate in the reverse direction at a low speed.
When the HSW status changes from ON to OFF, the motor decelerates to stop, returns to the position
where the HSW is active at a low speed, decelerates to stop again (if the active HSW range is narrow, it
may enter the inactive HSW position range on the other side), and switches to operate in the reverse
direction at a low speed. When the HSW status changes from ON to OFF during reverse operation at a
low speed, the motor decelerates to stop and uses the stop position as the home.
y If the HSW is inactive and located in the reverse direction of the HSW upon startup, the motor operates
in the reverse direction at a high speed. When the NL is in ON state, the motor decelerates to stop, and
then operates in the forward direction at a high speed. When the HSW status changes from OFF to ON
during forward operation, the motor decelerates to stop, and then switches to operate in the reverse
direction at a low speed. When the HSW status changes from ON to OFF during reverse operation at a
low speed, the motor decelerates to stop and uses the stop position as the home.
y If the HSW is active upon startup, the motor operates in the reverse direction at a low speed. When the
HSW status changes from ON to OFF during reverse operation, the motor uses the stop position as the
home.
y In this mode, the motor automatically turns to another direction when it encounters the ON state of
the NL for the first time during reverse operation. When the motor encounters the ON state of the PL or
encounters the ON state of the NL again, the homing process is stopped and an alarm is reported.

NL HSW

-L -H
Motion profile 1
L
-L
H
-H
H
Motion profile 2
-L
H

-L
Motion profile 3 H

HSW signal

NL signal

Figure 7-42 Home mode 30 profile and signal status

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Mode 31 and mode 32: Reserved

Mode 33: The motor searches for the nearest Z pulse during reverse operation.
y The motor starts to operate in the reverse direction at a low speed, and searches for the nearest Z pulse
position as the home. If the motor encounters the ON state of NL before the Z pulse during reverse
operation, the motor decelerates to stop, and then operates in the forward direction to search for the
nearest Z pulse position as the home.
y In this mode, the motor automatically turns to another direction when it encounters the ON state of
the NL for the first time during reverse operation. When the motor encounters the ON state of the PL or
encounters the ON state of the NL again, the homing process is stopped and an alarm is reported.

NL

Motion profile 1 -L
H

-L
Motion profile 2 L
H

Z pulse train

NL signal

Figure 7-43 Home mode 33 profile and signal status

Mode 34: The motor searches for the nearest Z pulse during forward operation.
y The motor starts to operate in the forward direction at a low speed, and searches for the nearest Z pulse
position as the home. If the motor encounters the ON state of PL before the Z pulse during forward
operation, the motor decelerates to stop, and then operates in the reverse direction to search for the
nearest Z pulse position as the home.
y In this mode, the motor automatically turns to another direction when it encounters the ON state of the
PL for the first time during forward operation. When the motor encounters the ON state of the NL or
encounters the ON state of the PL again, the homing process is stopped and an alarm is reported.

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PL

L
Motion profile 1 H

L
Motion profile 2 -L
H

Z pulse train

PL signal

Figure 7-44 Home mode 34 profile and signal status

Mode 35: The current position is used as the home.

y Homing mode 35: The present position is taken as the mechanical home. After homing is triggered
(control word 6040h: 0x0F → 0x1F):
60E6 = 0 (absolute homing):
6064 (position feedback) is set to 607C (home offset) after homing is done.
60E6 = 1 (relative homing):
6064 (position feedback) is the sum of the original value plus 607C (home offset) after homing is done.

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7.8.17 Introduction to Relative/Absolute Positioning in Telegram 111

y In function block FB284, input pins CancelTransing and IntermediateStop are relevant for all operating
modes except for jog mode. These pins must be set to 1 to operate the EPOS.
y Position is in LU, and Velocity is in 1000 LU/min.
y The currently running command can be replaced on-the-fly by a new command through a rising edge of
ExecuteMode. This is only possible for the ModePos 1 and ModePos 2 modes.
y During positioning, AxisPosOK is False. After positioning is completed, AxisPosOK becomes True.

Example:
Conditions: ModPOS = 1, C15.26
= 131072, and C15.28 = 10000;
the Position pin in function block
FB284 is assigned a value of
100000, and the Velocity pin is
assigned a value of 2000. After
relative positioning is triggered,
the motor rotates 10 revolutions
at a velocity of 200 rpm.

NOTICE
y Motor revolutions in relative positioning = (Position × Gear ratio)/Encoder resolution
y Motor velocity in relative positioning (rpm) = (Velocity × 1000 × Gear ratio)/Encoder resolution
y Motor acceleration time in relative positioning (sec) = Velocity/(60 × C15.07)
y Motor deceleration time in relative positioning (sec) = Velocity/(60 × C15.09)

While keeping the relative

positioning data unchanged,
change parameters C15.07
and C15.09 to 20, the motor
acceleration and deceleration
time should be 2000/(60 × 20)
= 1.67s, consistent with the
preceding conclusion.

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7.8.18 Introduction to CancelTraversing and IntermediateStop in Telegram 111

y The input signals "CancelTraversing" and "IntermediateStop" are relevant for all operating modes except
for jog and homing modes. These signals must be set to 1 to operate the EPOS.
y Setting CancelTraversing to 0 makes the axis decelerate to stop at the deceleration rate. In this case, the
job data is discarded. If IntermediateStop is set to 1 again, the axis will not resume running.
y Setting IntermediateStop to 0 makes the axis ramp to stop at the currently applied deceleration. In
this case, the job data is not discarded and setting IntermediateStop to 1 again makes the axis resume
running. Therefore, IntermediateStop can be considered as a halt, allowing for a mode switchover after
the axis comes to a standstill.
The deceleration time for CancelTraversing is relevant to C15.11, and the deceleration time for
IntermediateStop is relevant to C15.09.

Example:
Testing in mode 1 (relative positioning) with telegram 111 under these conditions: 23-bit encoder; C15.26
= 131072, C15.28 = 10000, and Velocity pin set to 10000 (the velocity unit in MDI mode is 1000 LU/min).
Under the conditions, the motor velocity is 1000 rpm. Set C15.09 to 200 (maximum deceleration value
for Epos), and C15.0B to 300 (ramped deceleration value for Epos).
Trigger CancelTraversing.
C15.0B = 300. Deceleration time
calculation: 10000/(60 × 300) =
0.5556s = 555.6 ms.

Trigger IntermediateStop. C15.09

= 200. Calculation: 10000/(200 ×
60) = 0.8333s = 833.3 ms.

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NOTICE
y Deceleration time for CancelTraversing (sec) = Velocity pin / (60 × C15.0B)
y Deceleration time for IntermediateStop (sec) = Velocity pin / (60 × C15.09)

7.8.19 Introduction to Velocity Jog

y Jog includes JOG and JOG incremental, each including modes 7 and 8.

Example:
Calculating the conversion and acceleration/deceleration time for JOG1 (negative jog) and JOG2 (positive
jog) velocities in telegram111: 23-bit encoder, electronic gear ratio C15.26 = 131072, C15.28 = 10000,
JOG1 velocity C15.13 = –3000 LU/min (–300 rpm), JOG2 velocity C15.15 = 2000 LU/min (200 rpm), JOG
acceleration C15.2E = 100, JOG deceleration C15.30 = 100.
y JOG1 in mode 7
Velocity: –300 rpm; acceleration
time: 3000/(60 × 100) = 0.5 s =
500 ms

y JOG2 in mode 7
Velocity: 200 rpm; acceleration
time: 2000/(60 × 100) = 0.333 s
= 333 ms

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y JOG incremental 1 in mode 8

Velocity: –300 rpm; distance of
travel: C15.17 = 100000 LU (10
revolutions)

y JOG incremental 2 in mode 8

Velocity: 200 rpm; distance of
travel: C15.19 = 100000 LU (10
revolutions)

NOTICE
y Jog1 motor velocity = (C15.13 × 1000 × (C15.26/C15.28))/Encoder resolution rpm
y Jog1 acceleration time = C15.13/(60 × C15.2E) sec; deceleration time = C15.13/(60 × C15.30) sec
y Jog2 motor velocity = (C15.15 × 1000 × (C15.26/C15.28))/Encoder resolution rpm
y Jog2 acceleration time = C15.15/(60 × C15.2E) sec; deceleration time = C15.15/(60 × C15.30) sec
y Jog1 incremental = C15.17 × (C15.26/C15.28) encoder units
y Jog2 incremental = C15.19 × (C15.26/C15.28) encoder units

7.8.20 Introduction to ActVelocity in Telegram 111

Example analysis: With C15.26 = 131072, C15.28 = 10000, and JOG C15.15 = 2000, the motor actual velocity
is 200 rpm. How does this correspond to the value on the ACTvelocity pin? The telegram specifies that
40000000h corresponds to the motor rated velocity R20.13. 40000000h = 1073741824D. Therefore, the
ACTvelocity value corresponding to 200 rpm is 200/R20.13 × 1073741824.

NOTICE
y Motor actual velocity (rpm) = (R20.13 × ActVelocity)/1073741824.

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7.8.21 Introduction to OverV, OverAcc, and OverDec in Telegram 111

Relative positioning: ModePOS = 1

With the default electronic gear ratio C15.26 = 131072 and C15.28 = 10000, set C15.07 to 50 and C15.09
to 100. In relative positioning, set the Velocity pin value to 1000 and the Position pin value to 200000.
The motor velocity is 100 rpm, rotating 20 revolutions.
As OverV, OverAcc, and OverDec
are all set to 100 by default, the
motor acceleration time after
relative positioning is triggered
is 1000/(60 × 50) = 0.33s = 330
ms.

Motor deceleration time = 1000/

(60 × 100) = 0.166 s = 166 ms

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Keep the preceding EPOS

acceleration and deceleration
values unchanged, only
change the acceleration and
deceleration overrides to
20%, that is, OverAcc = 20 and
OverDec = 20.
In this case, Acceleration time
= 1000/(60 × 50 × 20%) = 1.67s,
and Deceleration time = 1000/
(60 × 100 × 20%) = 0.833s.

On the above basis, adjust OverV

(velocity override) to 50%. In this
case, Operating velocity = 1000
× 50% = 500 (1000 LU/min) = 50
rpm.

NOTICE
y Motor actual velocity (rpm) = (Velocity × OverV% × 1000 × Gear ratio)/Encoder resolution
y Motor acceleration time in relative/absolute positioning (sec) = (Velocity × OverV%)/(60 × C15.07
× OverAcc%)
y Motor deceleration time in relative/absolute positioning (sec) = (Velocity × OverV%)/(60 × C15.09
× OverDec%)

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Jog: ModePOS = 7

Change C15.13 to –6000 and C15.15 to 6000, while keep the following default settings: C15.26 = 131072,
JOG acceleration C15.28 = 10000, JOG deceleration C15.2E = 100, and C15.30 = 100. Change the velocity
override to 80%. Change the acceleration and deceleration overrides to 100%.
After JOG2 positive jog is
triggered, the theoretical
velocity is 600 × 80% = 480
rpm, Acceleration time = (6000
× 80%)/(60 × 100) = 0.8s, and
Deceleration time = (6000 ×
80%)/(60 × 100) = 0.8s.

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On the above basis, change the

acceleration and deceleration
overrides to 50%, that is,
OverAcc = 50 and OverDec =
50. After JOG2 positive jog is
triggered, the velocity is 600 ×
80% = 480 rpm. However, as the
acceleration and deceleration
time remains unchanged,
changing the acceleration and
deceleration overrides in JOG
mode causes no effect.

NOTICE
y JOG motor actual velocity (rpm) = (Velocity × OverV% × 1000 × Gear ratio)/Encoder resolution;
JOG motor acceleration time (sec) = (Velocity × OverV%)/(60 × C15.2E)
y JOG motor deceleration time (sec) = (Velocity × OverV%)/(60 × C15.30)

7.8.22 Introduction to Continuous Position Reference Setup in Telegram 111

In absolute positioning mode (ModPos = 2) and setup positioning mode (ModPos = 3), when you update
Position, Velocity, OverV, OverAcc, OverDec on the PLC side by setting ConfigEpos.%X8 of telegram
111, there is no need to trigger ExecuteMode. In this case, enabling the drive will immediately start the
operation, and the servo will update the corresponding values in real time.

Absolute positioning mode: ModPos = 2

Assign values as follows: Position = –2000000, Velocity = 6000, OverAcc = 50, OverDec = 50, C15.07 = 100,
and C15.09 = 100. Theoretically, the acceleration time is 2 seconds. During motion, make these updates:
OverAcc = 100, OverDec = 100, and Position = 2000000. The motor will decelerate first, with a theoretical
deceleration time of 1 second.

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Setup positioning mode: ModPos = 3

First, assign values as follows: Position = –2000000 and Velocity = 6000. Then, set Velocity to 10000. The
motor velocity transitions from 600 rpm to 1000 rpm without requiring triggering ExecuteMode.

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Chapter 8 Troubleshooting

8.1 Fault Alarms

8.1.1 Fault display and category

The servo drive provides various protection functions, and triggers an alarm when a protection functions
acts. Then, the LED panel displays the fault and its alarm code.

Figure 8-1 Fault code display

NOTICE
y The servo drive can record the latest 10 faults/alarms and the servo drive status parameters upon
occurrence of the faults/alarms. Repeated faults or alarms among the latest 5 logs are logged as
one fault or alarm, and the servo drive status upon its occurrence is logged only once.
y When a single fault or an alarm occurs, the panel displays the fault or alarm code. When multiple
faults or alarms occur, the panel displays the fault code of the highest level.
y After a fault or an alarm is reset, the servo drive still keeps the log of the fault or alarm. You can
set F31.04 (Initialize fault record) to 1 to clear the fault and alarm records.

Alarm codes are divided into three categories (category 1 indicates the most severe level) based on the
fault and alarm severity, which are specified by fault codes.

Fault Category Fault Code Resettable

Er0x.x to Er3x.x Non-resettable
Class 1
Er4x.x to Er5x.x Resettable
Class 2 Er8x.x to ErCx.x Resettable
Class 3 ALFxx Resettable

NOTICE
y "Resettable" means that the panel stops displaying the fault/alarm when a "reset signal" is input.

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8.1.2 Troubleshooting and reset

Checklist:

Whether the parameters are Whether a fault code is displayed?

set properly?

Whether the cable of the control

signal CN1 is wired properly
or is disconnected?

Whether the cable of the encoder

signal CN2 is wired properly
Whether the power supply or is disconnected?
voltage changes?
Whether there is power input?
Whether the connec�on is loose? Whether the wiring is correct?
Whether the cable is
disconnected?
Whether the short circuit cable is
disconnected?

Whether the connec�on is loose? System ground Whether the motor has noise?

Mechanical

Figure 8-2 Troubleshooting checklist

Reset operation:
y Set F31.00 (Fault reset) to 1 to stop displaying the fault on the panel.
y To reset resettable faults, switch off the S-ON signal first and then send the fault reset signal
(set F31.00 to 1).
y To reset resettable alarms, eliminate the alarm source and then the servo drive automatically
resets the alarms.

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CAUTION

y Some faults/alarms can only be reset after the causes are rectified through setting modifications.
However, a reset operation does not activate modifications.
y If the modification can be effective only after power-on, power on the device again.
y If the modification can be effective only after stop, turn off the S-ON signal. The servo drive can
operate properly only after modifications are activated.

8.1.3 List of faults and alarms

Table 8-1 List of factory fault codes

Fault Bus Fault

Fault Code Fault Name Resettable
Group Code

Er01.0 Mismatch of software versions 0x6100 Non-resettable

Er01.1 Mismatch of motor parameters 0x7122 Non-resettable

Er02.0 Product matching fault. No specified drive 0x6100 Non-resettable

Er02.1 Product matching fault. No specified motor 0x6100 Non-resettable

Er02.2 Product matching fault. No specified encoder 0x6100 Non-resettable

Er03.0 System parameter error 0x6320 Non-resettable

Er03.1 Parameter out-of-range 0x6320 Non-resettable

Er03.2 Parameter writing error 0x6320 Non-resettable

Er03.3 Parameter reading error 0x6320 Non-resettable

Class 1
Er04.0 FPGA power-on check error 0x6100 Non-resettable

Er04.1 FPGA power-on not reset 0x6100 Non-resettable

Er04.2 FPGA transmission interrupted 0x6100 Non-resettable

Er05.0 Current loop timeout 0x7500 Non-resettable

Er05.1 Speed loop timeout 0x7500 Non-resettable

Er05.2 Position loop timeout 0x7500 Non-resettable

Er06.0 Protection from out of control 0x8400 Non-resettable

Er10.0 P-hardware overcurrent 0x2312 Non-resettable

Er10.1 N-hardware overcurrent 0x2312 Non-resettable

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 Troubleshooting ▕

Fault Bus Fault

Fault Code Fault Name Resettable
Group Code

Er10.2 U phase software overcurrent 0x2312 Non-resettable

Er10.3 V phase software overcurrent 0x2312 Non-resettable

Er10.4 Output short circuited to ground 0x2330 Non-resettable

Er10.5 Current sampling failure 0x6100 Non-resettable

Er10.6 Incorrect current parameter setting 0x6320 Non-resettable

Er10.7 UV current correction failure 0x6100 Non-resettable

Er10.8 Excessive current zero drift 0x6100 Non-resettable

Er10.9 Current exception during enabling 0x2312 Non-resettable

Excessive motor speed upon servo drive power-
Er11.0 - Non-resettable
on
Er11.1 Drive over-temperature 0x2312 Non-resettable

Er12.0 PWM buffer detection failure - Non-resettable

Er20.1 Encoder internal fault 0x7305 Non-resettable

Er20.2 Encoder reading/writing error 0x7305 Non-resettable

Class 1 Er20.3 Encoder data frame loss 0x7305 Non-resettable

Er20.4 Excessive encoder incremental position 0x7305 Non-resettable

Er20.5 Abnormal encoder data 0x7305 Non-resettable

Er20.6 Mismatch of encoder type 0x7305 Non-resettable

Er20.7 Encoder model not supported 0x7305 Non-resettable

Er20.8 Encoder battery failure 0x7305 Non-resettable

Er20.9 Encoder multi-turn error 0x7305 Non-resettable

Mismatch between encoder pulses per
Er21.0 0x7305 Non-resettable
revolution and drive pulses per revolution
Er22.0 Second encoder disconnection 0x7305 Non-resettable

Er32.8 200P parallel port check failure - Non-resettable

Er32.9 Mismatch between 200P version and MCU version - Non-resettable

Er40.0 Drive overload 0x3230 Resettable

Er41.0 Motor overload 0x3230 Resettable

Er41.1 Motor over-temperature due to locked-rotor 0x7121 Resettable

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Fault Bus Fault

Fault Code Fault Name Resettable
Group Code

Er41.2 Motor over-temperature 0x4210 Resettable

Er42.0 IGBT temperature too high 0x4210 Resettable

Er42.1 Discharge tube temperature too high 0x4210 Resettable

Er42.2 Heatsink temperature too high 0x4210 Resettable

Er43.0 Overvoltage 0x3210 Resettable

Er43.1 Undervoltage 0x3220 Resettable

Er45.0 S-ON enabling failure 0xFF00 Resettable

Er46.0 Motor overspeed 0x8400 Resettable

Er47.0 Excessive position deviation 0x8611 Resettable

Er47.1 Position deviation overflow 0x8611 Resettable

Ex47.2 Excessive fully closed-loop mixed deviation 0x8611 Resettable

Er48.0 STO status exception 0x0480 Resettable

Class 1 Er48.1 STO buffer 5 V power fault 0x0481 Resettable

Er48.2 Optocoupler fault in STO pulse detection 0x0482 Resettable

Er48.3 STO buffer detection failure 0x0483 Resettable

Er50.1 D/Q current overflow 0x6100 Resettable

Er51.0 Offline inertia auto-tuning failure 0x6310 Resettable

Er51.1 Offline inertia parameter error 0x6310 Resettable

Er52.0 Angle auto-tuning failure 0x7122 Resettable

Er53.0 Motor parameter auto-tuning timeout 0x7122 Resettable

Er53.1 Resistance parameter auto-tuning failure 0x7122 Resettable

Er53.2 Inductance parameter auto-tuning failure 0x7122 Resettable

Er53.3 Back EMF parameter auto-tuning failure 0x7122 Resettable

Er54.0 Current loop auto-tuning failure 0x7122 Resettable

Er55.0 Excessive vibration 0x7122 Resettable

Er80.0 Control power undervoltage 0x3120 Resettable

Class 2 Er81.0 Input phase loss 1 0x3130 Resettable

Er81.1 Input phase loss 2 0x3130 Resettable

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Fault Bus Fault

Fault Code Fault Name Resettable
Group Code

Er81.2 Output phase loss - Resettable

Er82.0 DI function allocation fault 0x6320 Resettable
Er82.1 DO function allocation fault 0x6320 Resettable
Er82.2 VDI function allocation fault 0xFF00 Resettable
Er82.3 VDO function allocation fault 0xFF00 Resettable
Er84.0 Electronic gear ratio setting error 0x6320 Resettable
Er84.1 Software limit setting error 0x6320 Resettable
Er84.2 Encoder resolution setting error 0x7122 Resettable
Er84.3 Home position setting error 0xFF00 Resettable
Overflow of 32-bit sign bit of the target position
Er87.3 0xFF00 Resettable
during limiting
Class 2 Target position exceeding maximum value of
Er87.4 0xFF00 Resettable
mechanical single-turn position in rotating mode
ErA0.1 Multi-turn overflow fault 0x7305 Resettable
ErC2.1 DSC cannot be used in non-IRT mode - Resettable
Unreliable network cable connection,
ErC1.4 - Resettable
disconnected in network operating mode
Bus switched from operational to non-
ErC1.8 - Resettable
operational state
ErC1.1 IRT synchronization lost - Resettable
PN network switched to disconnected status
ErC1.2 - Resettable
when enabled
Network parameters cannot be set with network
ErC2.3 - Resettable
cable connected

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 ▏ Troubleshooting

Table 8-2 List of factory alarm codes

Fault Bus Fault

Alarm Code Alarm Name Resettable
Group Code

ALF0.0 Emergency stop alarm 0xF00 Resettable

Re-power-on required for parameter settings to

ALF1.0 0x6320 Resettable
take effect

ALF1.1 Frequent parameter storage alarm 0x5530 Resettable

ALF1.2 Torque reached parameter error 0x6320 Resettable

Excessive parameter write frequency from the
ALF1.3 - Resettable
host controller
ALF2.0 Forward overtravel alarm 0x5443 Resettable

ALF2.1 Reverse overtravel alarm 0x5444 Resettable

ALF2.2 Position limit warning in absolute linear mode - Resettable

ALF4.0 Homing timeout 0x6320 Resettable

Class 3
ALF4.1 Homing DI conflict 0x6320 Resettable

ALF4.2 Homing mode conflict 0x6320 Resettable

ALF5.0 Braking resistor overload 0x3210 Resettable

Too small resistance of external regenerative
ALF5.1 0x6320 Resettable
resistor
ALF6.1 Output phase loss 0x3230 Resettable

ALF7.1 Program block limit exceeded (PN) - Resettable

MDI absolute position setpoint exceeding soft

ALF7.2 - Resettable
limit value (PN)

ALF8.0 Vibration occurred during auto-tuning 0x7122 Resettable

ALF9.0 Encoder battery voltage low 0x7305 Resettable

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 Troubleshooting ▕

8.2 Solutions

Table 8-3 List of causes and solutions for faults and alarms

Code Name Cause Solution

Er01.0 Mismatch of y The MCU and FPGA y Check whether the software versions are
software versions versions are incorrect. consistent.
y Contact technical support personnel or
update the FPGA or MCU software.

Er01.1 Mismatch of motor y Incorrect motor y Replace with a servo drive or motor of the
parameters parameters matching power.
y Contact our company for technical support.
Er02.0 Product matching y The set servo drive model y Check whether the model of the U42.10
fault. No specified is incorrect. servo drive is correct. If not, contact
drive technical support and correct the model.

Er02.1 Product matching y The set motor model is y Read the motor model U42.11 and contact
fault. No specified incorrect. technical support.
motor

Er03.0 System parameter y The software is updated. y Check whether the software is updated.
error y Reset the servo drive model and the motor
model, and restore default settings (set
F31.02 to 1).

y The control power voltage y Check whether the voltage drops during
drops instantaneously. control power cutoff or instantaneous
y Instantaneous power power failure occurs.
failure occurs during y Restore default settings (set F31.02 to 1)
parameter storage. and write the parameters again.

y The times of parameter y Check whether parameter update is

writing within a certain performed frequently from the host
period of time exceeds the controller.
limit. y Change the way of parameter writing and
write the parameters again.

y The servo drive is faulty. y If the fault persists after several times of
power-on and parameter initialization,
replace the servo drive.

Er03.1 Parameter out-of- y The number of software y Check whether the parameter access
range parameters changes after address is out of range. You can view the
upgrade. An address error group number and offset of the error code
occurs during reading and in U41-06 and U41-07.
writing the change. y Restore factory settings.

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 ▏ Troubleshooting

Code Name Cause Solution

Er03.2 Parameter writing y Parameter writing is y Check whether the communication

error frequent. program contains a command that
y The control power is frequently modifies and writes parameters.
unreliable. y Check the wiring of the control power and
y The servo drive is faulty. ensure that the control power voltage is
within the limit.
y If the fault still persists after several times
of power-on, replace the servo drive.

Er03.3 Parameter reading y Parameter reading is y Check whether the communication program
error frequent. contains a command that frequently reads
y The servo drive is faulty. parameters.
y Modify a parameter, power on the servo
drive again, and check whether the
modification is saved.
y If the modification is not saved and the
fault still persists after several times of
power-on replace the servo drive.

Er04.0 FPGA power-on y FPGA power-on check y If the fault persists after several times of
check error error power-on, replace the servo drive.

Er04.1 FPGA power-on not y If the fault persists after several times of
y FPGA power-on not reset
reset power-on, replace the servo drive.

Er04.2 y FPGA failure y If the fault persists after several times of

FPGA transmission
y Timeout of access to MCU power-on, replace the servo drive.
interrupted
and FPGA

Er05.0 Current loop timeout y The interval for MCU y If the fault persists after several times of
torque interruption power-on, replace the servo drive.
scheduling is abnormal.

Er05.1 Speed loop timeout y The interval for MCU speed y If the fault persists after several times of
scheduling is abnormal. power-on, replace the servo drive.

Er05.2 Position loop y The interval for MCU y If the fault persists after several times of
timeout position interruption power-on, replace the servo drive.
scheduling is abnormal.

Er06.0 Runaway protection y The control circuit is y Check whether the servo drive power
abnormal due to incorrect cables are connected to UVW terminals of
wiring, resulting in motor the motor and servo drive in the correct
runaway and stall. sequence on both sides.
y Connect the U, V, and W phases according
to the correct sequence.

y The interference signal y The U, V, and W phase sequence is correct,

causes an error in the initial but Er06.0 occurs when the servo drive is
phase detection of the enabled. Power on the device again.
motor rotor upon power-
on.

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 Troubleshooting ▕

Code Name Cause Solution

y The encoder model is set y Check the motor model and encoder type.
incorrectly. y Use the matching products.

y The encoder cable is y Check whether the encoder cable is aging,

connected incorrectly, corroded, or loosened.
aging, or corroded, or y Re-solder, tighten, or replace the encoder
the encoder connector is cable.
loose.

y The gravity load is too y Check whether the load of the vertical axis
large when the motor is too large. Reduce the load of the vertical
controls a vertical axis. axis, increase the rigidity, or shield this fault
without affecting safety and use.

y The servo vibration is too y Set the parameters properly to avoid large
large due to improper servo vibration.
parameters setting.

y The motor is dragged by y If the motor runs properly and is actually

an external force in the dragged by an external force, consider to
reverse direction. shield the protection from out of control
(set C06.20 to 0 with caution).
Er10.0 P-hardware y The gain is set improperly y Adjust the gain after determining the cause.
overcurrent and the motor oscillates.

y The encoder cable is y Re-solder, tighten, or replace the encoder

connected incorrectly, cable.
aging, or corroded, or the
encoder connector is loose.

y Braking resistor y Select a discharge resistor of proper

overcurrent resistance and model and route it again.

y The servo drive is faulty. y Replace the servo drive.

Er10.1 N-hardware y The gain is set improperly y Adjust the gain after determining the cause.
overcurrent and the motor oscillates.

y The encoder cable is y Re-solder, tighten, or replace the encoder

connected incorrectly, cable.
aging, or corroded, or the
encoder connector is loose.

y Braking resistor y Select a braking resistor of proper

overcurrent resistance and model and route it again.

y The motor U/V/W cables y Connect motor cables correctly or replace

are short circuited. the motor with unbalanced resistance.

y The servo drive is faulty. y Replace the servo drive.

191
 ▏ Troubleshooting

Code Name Cause Solution

Er10.2 U phase software y The motor cables are in y Tighten the cables that are loosened or
overcurrent poor contact. disconnected.

y The motor cables are y Replace the motor in the case of poor
grounded. insulation.

y The motor U/V/W cables y Unplug the motor cables and check
are short circuited. whether short-circuit occurs among U, V,
and W phases and whether burrs exist on
the cable connections. Unplug the motor
cables and measure whether the resistance
among U, V, and W phases of the motor
cable is balanced.

y The motor is damaged. y Connect motor cables correctly or replace

the motor with unbalanced resistance.
Er10.3 V phase software y The motor cables are in y Tighten the cables that are loosened or
overcurrent poor contact. disconnected.

y The motor cables are y Replace the motor in the case of poor
grounded. insulation.

y The motor U/V/W cables y Unplug the motor cables and check
are short circuited. whether short-circuit occurs among U, V,
and W phases and whether burrs exist on
the cable connections. Unplug the motor
cables and measure whether the resistance
among U, V, and W phases of the motor
cable is balanced.

y The motor is damaged. y Connect motor cables correctly or replace

the motor with unbalanced resistance.
Er10.4 Output short y The servo drive power y Re-connect or replace the power cables of
circuited to ground cables (U/V/W) are short- the servo drive.
circuited to ground.

y The motor is short-circuited y Replace the motor.

to ground.

y The servo drive is faulty. y Replace the servo drive.

Er10.5 Current sampling y Current sampling of phase y Check for interference sources on the site.
failure U or V is abnormal. y Check the grounding of the servo drive
and motor and whether anti-interference
measures such as shielding are properly
applied.
y Add magnetic rings to the power cable and
encoder cable of the motor.

y The internal current y Replace the servo drive.

sampling chip is damaged.

192
 Troubleshooting ▕

Code Name Cause Solution

Er10.6 Incorrect current y Incorrect setting of current y Change the value of R21.24 to 0.
parameter setting sampling parameters y If the fault persists upon next power-on,
replace the servo drive.
Er10.7 UV current y The current correction y If the fault persists upon next power-on,
correction failure detection accuracy error is replace the servo drive.
greater than 5%.

Er10.8 Excessive current y The current zero drift y If the fault persists upon next power-on,
zero drift detected upon power on is replace the servo drive.
greater than the threshold.

Er10.9 Current exception y The sampled current y If the fault persists after several times of
during enabling during enabling is too drive enabling, replace the servo drive.
large.

y Motor power cable not y Connect the motor power cable.

connected
Er11.0 Excessive motor y The motor is rotating when y Keep the motor stationary when the servo
speed upon servo the servo drive is powered drive is powered on.
drive power-on on.
Er11.1 Drive over- y Drive over-temperature y Check whether the fan is abnormal or
temperature whether the ambient temperature is too
high.
y Improve the installation conditions of
the servo unit to reduce the ambient
temperature.
y If the fault persists upon next power-on,
replace the servo drive.
Er12.0 PWM buffer y PWM buffer detection y If the fault persists upon re-power-on,
detection failure failure upon power-on contact technical support.
Er20.1 Encoder internal y The encoder has an internal y Replace the motor.
fault fault.

Er20.2 Encoder reading/ y Encoder data exchange y Use a new encoder cable. If the fault no
writing error exception upon power-on. longer occurs after cable replacement, the
original encoder cable is damaged. If the
fault persists after the encoder cable is
replaced, the encoder may be faulty. In this
case, replace the servo motor.
y Add magnetic rings to the power cable and
encoder cable of the motor.

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 ▏ Troubleshooting

Code Name Cause Solution

Er20.3 Encoder data frame y The encoder cable is y Replace the encoder cable.
loss abnormal.

y Intensive interference to y Add magnetic rings to the power cable and

the encoder encoder cable of the motor.
y If the fault persists after the servo drive
is powered off and on several times, the
encoder is faulty. In this case, replace the
servo motor.
Er20.4 Excessive encoder y Abnormal single-turn y Route the motor cables and encoder
incremental position position of the encoder cables through different routes if they are
bundled together.
y If the fault persists after the servo drive
is powered off and on several times, the
encoder is faulty. In this case, replace the
servo motor.
Er20.5 Abnormal encoder y Internal parameters of the y Route the motor cables and encoder
data encoder are abnormal. cables through different routes if they are
bundled together.
y If the fault persists after the servo drive
is powered off and on several times, the
encoder is faulty. In this case, replace the
servo motor.
Er20.6 Mismatch of encoder y Motor model mismatch y Use the motor that matches the drive.
type

Er20.7 Encoder model not y Encoder model not y Use the motor that matches the drive.
supported supported

Er20.8 Encoder battery y The encoder battery y Replace with a new battery of matching
failure voltage is too low. voltage.

y The battery is replaced or y Set F31-10 to 4 to reset the encoder, and

no battery is connected power on the machine again.
during power-off.
y C00.07 is set to the
absolute value for the first
time.
Er20.9 Encoder multi-turn y An encoder multi-turn y Set F31.10 to 4 to reset the encoder, and
error counting error occurs. power on the machine again.
y If the fault persists after multiple times of
power-on, replace the motor.
Er21.0 Mismatch between y Mismatch between y Distribute parameters again for the
encoder pulses encoder pulses per encoder.
per revolution and revolution and drive pulses
drive pulses per per revolution
revolution

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 Troubleshooting ▕

Code Name Cause Solution

Er22.0 Second encoder y Second encoder y Recheck the second encoder cable.
disconnection disconnection
Er32.8 200P parallel port y 200P parallel port check y 200P and MCU parallel port check failure.
check failure failure Contact the technical support.

Er32.9 Mismatch between y 200P version check error y Mismatch in version numbers. Contact the
200P version and technical support.
MCU version
Er40.0 Drive overload y The servo drive overloads. y Check whether the load rate (U40.07) and
current feedback during drive running are
too large. If large load is required by the
operating conditions, use a servo drive of a
higher power.

Er41.0 Motor overload y The motor and encoder y Connect the cables according to the correct
cables are connected wiring diagram.
improperly or in poor y When customized cables are used, prepare
contact. and connect the cables according to the
wiring instructions.

y The load is too large. The y Check whether the average load factor of
motor keeps outputting the servo drive is greater than 100.0% for a
effective torque higher long time.
than the rated torque for a
long time.

y Acceleration/deceleration y Use a large-capacity servo drive and a

is too frequent or the load matching motor, or reduce the load and
inertia is too large. increase the acceleration/deceleration
time.
y Check the mechanical inertia ratio or
perform inertia auto-tuning, and view the
value. Check the single running cycle when
the servo motor runs cyclically. Increase
the acceleration/deceleration time during
single-cycle running.

y The gain is improper or the y Check whether the motor vibrates and
rigidity is too high. generates abnormal noise during running.
y Adjust the gain again.

y The servo drive or motor y View the servo drive nameplate, set the
model is set incorrectly. servo drive and motor models correctly,
and use a matching servo motor.

y Motor locked-rotor occurs y Eliminate mechanical factors.

due to mechanical factors,
resulting in overload during
running.

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 ▏ Troubleshooting

Code Name Cause Solution

y The servo drive is faulty. y If the fault persists after the servo drive
is powered off and on again, replace the
servo drive.

Er41.1 Motor over- y Power output (UVW) phase y Perform motor trial run without load and
temperature due to loss, disconnection, or check cable connections with a multimeter.
locked-rotor incorrect phase sequence Check whether the cable phase sequence is
occurs on the servo drive. correct.
y Connect cables again according to the
correct wiring diagram or replace the
cables.

y Motor parameters are set y Read parameters in group R20 and check
incorrectly. whether the number of pole pairs is
correct.
y Auto-tune the motor angle multiple times
and check whether the obtained values are
consistent.
y Correct motor parameters.

y The communication y Check whether commands from the

command is interfered. host controller jitters and eliminate
communication interference.

y Motor locked-rotor occurs y Check for mechanical factors such as

due to mechanical factors. locking, occasional jamming, or eccentricity.
y If the fault persists after the servo drive is
powered off and on several times, contact
our company for technical support.

Er41.2 Motor over- y The PTC temperature y Check for the PTC motor and check
temperature sensor of the motor whether the PTC cable is connected to the
detects motor over- servo drive.
temperature. y If the servo drive or motor does not
support PTC, disable the PTC function
(C06.16=0).
Er42.0 IGBT temperature y The ambient temperature y Improve the cooling conditions of the servo
too high is too high. drive to reduce the ambient temperature.

y The servo drive is powered y Change the fault reset method. In the
off and on for several event of overload, wait 30s before
times to reset the overload performing the reset operation.
fault. y Increase the capacity of the servo drive
and motor, increase the acceleration/
deceleration time, and reduce the load.

y The fan is damaged. y Check whether the fan works when the
motor runs. Replace the servo drive.

196
 Troubleshooting ▕

Code Name Cause Solution

y The installation direction y Install the servo drive according to the

or clearance of the servo installation requirements.
drive is improper.

y The servo drive is faulty. y If the fault persists even though the servo
drive is restarted 5 minutes after power-off,
replace the servo drive.

Er42.1 Discharge tube y The estimated y Control the number of discharge tube turn-
temperature too temperature of the ons according to the working conditions.
high discharge tube is too high.

y The discharge tube is y Control the number of discharge tube turn-

automatically closed after ons according to the working conditions.
overload.
Er42.2 Heatsink y The ambient temperature y Improve the cooling conditions of the servo
temperature too is too high. drive to reduce the ambient temperature.
high
y The servo drive is powered y Change the fault reset method. After
off and on for several times overload occurs, wait for 30s before reset.
to reset the overload fault. Increase the capacity of the servo drive
and motor, increase the acceleration/
deceleration time, and reduce the load.

y The fan is damaged. y Check whether the fan works when the
motor runs. Replace the servo drive.

y The installation direction y Install the servo drive according to the

or clearance of the servo installation requirements.
drive is improper.

y The servo drive is faulty. y If the fault persists even though the servo
drive is restarted 5 minutes after power-off,
replace the servo drive.

Er43.0 Overvoltage y The main circuit input y Replace or adjust the power supply
voltage is too high. according to the specifications.

y The power supply is y Monitor whether the power supply of the

unstable or affected by servo drive is stable, affected by lightning
lightning. or satisfies the specifications.
y Connect an SPD and then switch on the
power supplies of the control circuit and
the main circuit. If the fault persists, replace
the servo drive.

197
 ▏ Troubleshooting

Code Name Cause Solution

y The braking resistor fails. y Check the wiring of the braking resistor.
Measure the resistance of the external
braking resistor between P and C. If the
resistance is ∞, the internal cables of the
braking resistor are broken. In this case,
replace the resistor.
y Set the power and resistance of the
external braking resistor according to
the specifications of the external braking
resistor in use.

y The resistance of the y Measure the resistance of the external

external braking resistor braking resistor between P and C and
is too large, and energy compare the measured value with the
absorption during braking recommended value. Connect a new
is insufficient. external braking resistor of recommended
resistance.
y Set the power and resistance of the
external braking resistor according to
the specifications of the external braking
resistor in use.

y The motor is in abrupt y Confirm the acceleration/deceleration time

acceleration/deceleration during running and measure whether the
status. The maximum DC bus voltage exceeds the fault threshold
braking energy exceeds the during deceleration.
energy absorption value.

y The bus voltage sampling y Ensure the input voltage of the main circuit
value deviates greatly from is within the specified range, and then
the actual measured value. increase the acceleration/deceleration time
within the allowable range.
y Contact our company for technical support.

y The servo drive is faulty. y If the fault persists after the main circuit is
powered off and on several times.
y Replace the servo drive.
Er43.1 Undervoltage y The power supply of the y Measure whether the input voltages at the
main circuit is unstable or main circuit cables and servo drive comply
power failure occurs. with the specifications. Increase the power
y Instantaneous power capacity.
failure occurs.

y The power voltage drops y Monitor the power input voltage of the
during operation. servo drive and check whether the main
circuit power supply is applied to other
devices, resulting in insufficient power
capacity and voltage drop. Increase the
power capacity.

198
 Troubleshooting ▕

Code Name Cause Solution

y Phase loss: A single-phase y Check whether the main circuit wiring is

power supply is used for a correct and secure.
three-phase servo drive. y Replace the cables and connect the main
circuit cables properly.

y The servo drive is faulty. y If the fault persists after the main circuit is
powered off and on several times, replace
the servo drive.

Er45.0 S-ON enabling y The multiple S-ON enabling y Do not turn on the S-ON signal
failure methods conflict. simultaneously for multiple control modes
(such as servo background and host
controller).

Er46.0 Motor overspeed y The motor cable U, V, y Check whether the servo drive power
and W phase sequence is cables are connected to UVW terminals of
incorrect. the motor and servo drive in the correct
sequence on both sides. Connect the U,
V, and W phases according to the correct
sequence.

y The overspeed threshold is y Check whether the overspeed threshold is

set incorrectly. smaller than the actual maximum motor
speed. Reset the overspeed threshold
according to the mechanical requirements.
When C06.03 is set to 0, the overspeed
threshold is the maximum speed of the
motor.

y The input reference y Check whether the motor speed

exceeds the overspeed corresponding to the input reference
threshold. exceeds the overspeed threshold. Set the
speed limit to a value smaller than the
overspeed threshold.

y The motor speed y Check whether the speed feedback exceeds

overshoots. the overspeed threshold through the
commissioning platform. Adjust the gain or
mechanical operating conditions.

y The servo drive is faulty. y If the fault persists after the servo drive
is powered off and on, replace the servo
drive.

199
 ▏ Troubleshooting

Code Name Cause Solution

Er47.0 Excessive position y Power output (UVW) y Perform motor trial run without load and
deviation phase loss or incorrect check cable connections.
phase sequence occurs on y Connect cables again according to the
the servo drive. correct wiring diagram or replace the
cables.

y The servo drive UVW y Check and connect the cables again. Check
output cable or the whether the servo motor power cables
encoder cable breaks. (UVW) are in the same phase sequence as
the servo drive cables.
y Replace all the cables with new cables if
necessary and ensure all the cables are
connected securely.

y Motor locked-rotor occurs y Eliminate mechanical factors.

due to mechanical factors.

y The servo drive gain is low. y Adjust the gain manually or perform gain
auto-tuning.

y The position reference y Increase the acceleration/deceleration

increment is too large. ramp.Decrease the gear ratio according to
the actual conditions.

y The fault value is too small y Check whether the position deviation fault
in relative to the operating value is set to a too small value. Increase the
conditions. position deviation alarm threshold (6065h).

y The servo drive or motor is y Monitor the operating waveform

faulty. through the oscilloscope function in the
drive commissioning platform: position
reference, position feedback, speed
reference, and torque reference. If the
position reference is not 0, but the position
feedback is always 0, replace the servo
drive or motor.
Er47.1 Position deviation y Power output (UVW) y Perform motor trial run without load and
overflow phase loss or incorrect check cable connections.
phase sequence occurs on y Connect cables again according to the
the servo drive. correct wiring diagram or replace the
cables.

y The servo drive UVW y Check and connect the cables again. Check
output cable or the whether the servo motor power cables
encoder cable breaks. (UVW) are in the same phase sequence as
the servo drive cables.
y Replace all the cables with new cables if
necessary and ensure all the cables are
connected securely.

y Motor locked-rotor occurs y Eliminate mechanical factors.

due to mechanical factors.

200
 Troubleshooting ▕

Code Name Cause Solution

y The servo drive gain is low. y Adjust the gain manually or perform gain
auto-tuning.

y The position reference y Adjust the position reference. Decrease

increment is too large. the gear ratio according to the actual
conditions.

y The fault value is too small y Check whether the position deviation fault
in relative to the operating value is set to a too small value. Increase
conditions. the setpoint.

y The servo drive or motor is y Monitor the operating waveform

faulty. through the oscilloscope function in the
drive commissioning platform: position
reference, position feedback, speed
reference, and torque reference. If the
position reference is not 0, but the position
feedback is always 0, replace the servo
drive or motor.

Er47.2 Excessive fully y Too small drive mixed y Set C1B.08 to a larger value.
closed-loop mixed deviation threshold
deviation (C1B.08)

y Incorrect feedback of the y Correct the value of C1B.04.

inner/outer loop

y Failure due to mechanical y Eliminate mechanical factors.

factors
Er48.1 STO buffer 5 V y The buffer power supply is y If the fault persists after several times of
power fault abnormal. power-on, replace the servo drive.
Er48.2 Optocoupler fault in y STO upstream optocoupler y Check wiring of STO terminals.
STO pulse detection short circuit. y If the fault persists after several times of
power-on, replace the servo drive.
Er48.3 STO buffer detection y Buffer switch detection y Check wiring of STO terminals.
failure fault y If the fault persists after several times of
power-on, replace the servo drive.
Er50.1 D/Q current y A current sampling error y If the fault persists after several times of
overflow occurs. power-on, replace the servo drive.

201
 ▏ Troubleshooting

Code Name Cause Solution

Er51.0 Offline inertia auto- y Continuous vibration y Enable the vibration suppression function
tuning failure occurs during auto-tuning. to eliminate vibration if vibration cannot be
The auto-tuning result automatically suppressed.
fluctuates greatly. y Troubleshoot and remove the alarm. After
y The mechanical connection that, perform auto-tuning again.
of the load is loose due to y Increase the maximum running speed,
offset of the machinery. decrease the acceleration/deceleration
y An alarm is reported during time, and shorten the travel of the screw
the auto-tuning process, machinery.
leading to operation
interruption.
y Vibration of the load
with large inertia cannot
be suppressed. The
acceleration/deceleration
time must be increased
to ensure that the motor
current is not saturated.

Er51.1 Offline inertia y The torque during auto- y Decrease the auto-tuning speed (C07.01)
parameter error tuning is too large. and auto-tuning target torque (C07.03),
and increase the number of auto-tuning
turns (C07.04).
Er52.0 Angle auto-tuning y Angle auto-tuning failure y Set the motor parameters correctly.
failure y Perform motor wiring again.
Er53.0 Motor parameter y Motor parameter auto- y Contact our company for technical support.
auto-tuning timeout tuning timeout

Er53.1 Resistance y Contact our company for technical support.

y Resistance parameter
parameter auto-
auto-tuning failure
tuning failure

Er53.2 Inductance y Contact our company for technical support.

y Inductance parameter
parameter auto-
auto-tuning failure
tuning failure

Er53.3 Back EMF parameter y Back EMF parameter auto- y Contact our company for technical support.
auto-tuning failure tuning failure

Er54.0 Current loop auto- y Current loop auto-tuning y Contact our company for technical support.
tuning failure failure

Er55.0 Excessive vibration y The vibration is excessive. y Reset the gain parameters.

202
 Troubleshooting ▕

Code Name Cause Solution

Er80.0 Control power y The control power supply y Check whether the voltage drops during
undervoltage is unstable or power failure control power cutoff or instantaneous
occurs. power failure occurs. Power on the device
again. If the fault is caused by abnormal
power failure, ensure stable power
supply. Check whether the input voltage
of the control power cables satisfies the
specifications. Increase the power capacity.

y The control power cables y Check whether control power cables are
are in poor contact. connected and whether voltage of control
power cables on the servo drive side
satisfies the specifications. Connect the
cables again or replace the cables.
Er81.0 Input phase loss 1 y Input phase loss y Check whether the input three-phase
AC power supply is normal. If the power
supply is normal, replace the drive.
Er81.1 Input phase loss 2 y Input phase loss y Check whether the input three-phase
AC power supply is normal. If the power
supply is normal, replace the drive.
Er81.2 Output phase loss y Output UVW y Replace the motor cable.
disconnection
Er82.0 DI function y One function is allocated y Allocate different function numbers to
allocation fault to multiple DI terminals. parameters allocated with the same non-
zero function number, and turn on the
control power supply to make the settings
take effect. Or, disable the S-ON signal
and then send a reset signal to make the
settings take effect.

y The function number set y Check whether the MCU program

for the DI terminal exceeds is updated. Restore default settings
the maximum value. (F31.02=1) and power on the system again.
Er82.1 DO function y The function number y Set the correct DO function number.
allocation fault set for the DO terminal Restore default settings (F31.02=1) and
exceeds the maximum power on the system again.
value.
Er82.2 VDI function y One function is allocated to y The same non-zero function number can
allocation fault both DI and VDI terminals. be allocated only to DI or VDI. Restore
default settings (F31.02=1).
Er82.3 VDO function y One function is allocated y The same non-zero function number can
allocation fault to both DO and VDO be allocated only to DO or VDO. Restore
terminals. default settings (F31.02=1).

203
 ▏ Troubleshooting

Code Name Cause Solution

Er84.0 Electronic gear ratio y The electronic gear ratio y Set the electronic gear ratio correctly
setting error exceeds the limit. (0.001, 4000 x Encoder resolution/10000).

Er84.1 Software limit y The software limit lower y Reset the value to make the minimum
setting error limit is greater than or software absolute position limit is smaller
equal to the upper limit. than the maximum one.

Er84.2 Encoder resolution y The encoder resolution is y Restore default settings (C31.02=1) and
setting error abnormal. power on the system again.

Er84.3 Home position y The home offset is beyond y When the encoder works in the
setting error the software limits. incremental, absolute linear, or single-turn
absolute value mode, set the home offset
to be within the software limits.

y The home offset is beyond y When the encoder works in the rotating
the limits in rotating mode. mode, set the home offset to a value
between the upper and lower limits of the
mechanical single-turn.

Er87.3 Overflow of 32-bit y 32-bit sign bit of the target y The target position reference at the limit is
sign bit of the target position overflows during too large.
position during limiting.
limiting

Er87.4 Target position y The target position y Set the target position to a value between
exceeding maximum exceeds the single-turn the single-turn upper and lower limits.
value of mechanical position upper/lower limit
single-turn position in absolute value rotation
in rotating mode mode or single-turn
rotation mode.
ErA0.1 Multi-turn overflow y The number of turns of y Set F31.10 to 4 to reset the fault and multi-
fault the absolute encoder turn data, and power on the machine
in the forward direction again. Perform homing again when
or reverse direction necessary.
exceeds 32767 or 32768,
respectively.

ErC2.1 DSC cannot be used y To use DSC mode, IRT y If DSC mode is required, IRT mode must be
in non-IRT mode mode must be enabled on configured as the primary settings.
the servo.
ErC1.4 Unreliable network y Unreliable network y Unreliable network cable connection.
cable connection, connection, disconnected Check if the cable is loose.
disconnected in in network operating mode
network operating
mode
ErC1.8 Bus switched from y Bus switched from y Normal program download
operational to non- operational to non-
operational state operational state

204
 Troubleshooting ▕

Code Name Cause Solution

ErC1.1 IRT synchronization y Exceptional loss of IRT y Possible external interference. Check EMC
lost synchronization environment.
ErC1.2 PN network y Network switched to y Connect the network cable reliably.
switched to disconnected state during
disconnected status servo operation
when enabled
ErC2.3 Network parameters y The network cable y Unplug the network cable, restart power,
cannot be set with cannot be inserted during and then modify the IP address and
network cable setting of servo network relevant network parameters.
connected parameters.
ALF0.0 Emergency stop y Check whether the logic y Check the operation mode and clear DI
alarm of the DI allocated with emergency stop valid signal when safety is
function 4 (Emergency guaranteed.
stop) is valid.

ALF1.0 Re-power-on y Modifications of some y Power on the device again.

required for servo drive parameters take
parameter settings effect only after the servo
to take effect drive is powered on again.
After these parameters are
modified, the servo drive
reminds users to restart it.

ALF1.1 Frequent parameter y A large number of y Do not frequently write parameters into
storage alarm parameters are modified cloud platform EEPROM on the host
and saved frequently to controller.
EEPROM.
ALF1.2 Torque reached y In torque control mode, y Set the torque output when torque
parameter error the DO setting for torque reached DO signal turned on to be greater
reach is invalid. than torque output when torque reached
DO signal turned off. Set C03.4A to be
greater than C03.4B.
ALF1.3 Too frequent writing y A large number of y Do not frequently write parameters into
of EEPROM by host parameters are modified cloud platform EEPROM on the host
controller SDO and saved frequently. controller.
ALF2.0 Forward overtravel y The positive limit (PL) DI is y Run the motor in the reverse direction to
alarm active. the restricted range.

y The drive position y Run the motor in the reverse direction

feedback is at the forward to the re-stricted range or increase the
software position limit. positive software position limit.

y The home offset setting y Set the home offset within the software
exceeds the software position limit range.
position limit.

205
 ▏ Troubleshooting

Code Name Cause Solution

ALF2.1 Reverse overtravel y The negative limit (NL) DI y Run the motor in the forward direction to
alarm is active. the restricted range.

y The drive position y Run the motor in the forward direction

feedback is at the reverse to the restricted range or decrease the
software position limit. positive software position limit.

y The home offset setting y Set the home offset within the software
exceeds the software position limit range.
position limit.
ALF2.2 Position limit y Position feedback overflow y Re-establish the reference point.
warning in absolute in absolute linear mode y Switch to absolute linear infinite mode
linear mode (C00.07 = 2)
ALF4.0 Homing timeout y The homing time exceeds y Appropriately adjust the homing speed and
the setpoint. homing time, and ensure that the external
home signal connection is reliable (if used).
ALF4.1 Homing DI conflict y During homing, both the y Check whether the home signal and limit
forward and reverse limits signal are correct.
are valid or both the home
signal and limit signal are
valid.

ALF4.2 Homing mode y The homing mode is set y Check whether the homing mode set
conflict incorrectly. in object dictionary C15.1B on the host
controller is correct.

ALF5.0 Braking resistor y The cable connected y Connect the external braking resistor
overload to the external braking between P and C with a new cable.
resistor is in poor contact, y Replace the external braking resistor with
disconnected, or broken. a new one. Ensure that the resistance
measured is the same as the nominal value,
and then connect the resistor between P
and C.

y The resistance of the y Select a resistor with a proper resistance

external braking resistor according to the specification requirements.
used is too large.

y The resistance setpoint is y Set the value according to the resistance of

greater than the resistance the external bleeder resistor in use.
of the external braking
resistor used.

y The input voltage of the y Replace or adjust the power supply

main circuit is beyond the according to the specifications.
specification.

y The load moment of y Select an external braking resistor with

inertia ratio is too large. large capacity and set its resistance to the
actual one.

206
 Troubleshooting ▕

Code Name Cause Solution

y The motor speed is too y Select a servo drive with a large capacity.
high and the deceleration
process is not completed
within the set deceleration
time. The motor is in
continuous deceleration
state during cyclic running.

y The capacity of the servo y Reduce the load if allowed.

drive or the braking y Increase the acceleration/deceleration
resistor is insufficient. time if allowed.
y Increase the motor running cycle if
allowed.
ALF5.1 External braking y The resistance of the y Replace with an external braking resistor
resistance too small external braking resistor is matching the servo drive, with the
smaller than permissible resistance greater than the minimum
minimum resistance by the value, and set C00.10 to the resistance
servo drive. value.

ALF6.1 Output phase loss y The output current is y Check whether the power cable is broken.
abnormal. If so, replace the cable.

ALF7.1 Program block limit y The EPOS program block y Set the program block number in the range
exceeded (PN) number exceeds the limit. of 0 to 15.
ALF7.2 MDI absolute y The MDI absolute position y Modify the setpoint or adjust the soft limit
position setpoint setpoint exceeds the soft range.
exceeding soft limit limit value.
value (PN)
ALF8.0 Vibration occurred y Continuous vibration y Check the mechanical installation clearance
during auto-tuning occurs during auto-tuning. and connection reliability.
y The mechanical connection
of the load is loose due to
offset of the machinery.

y Vibration of the load y Appropriately adjust the inertia auto-

with large inertia cannot tuning parameters (C07.00, C07.01,
be suppressed. The C07.03, and C07.04), reduce the values of
acceleration/deceleration the auto-tuning speed (C07.01) and auto-
time must be increased tuning target torque (C07.03), and increase
to ensure that the mo-tor the number of auto-tuning turns (C07.04).
current is not saturated.
ALF9.0 Encoder battery y The encoder battery y Replace the encoder battery.
voltage low voltage is too low.

207
 ▏ Parameter List

Chapter 9 Parameter List

9.1 Parameter Overview

The drive has various parameters for setting its characteristics and functions. This chapter explains the
functions and purposes of the parameters.
Please understand the explanations and adjust the parameters to best suit application needs.

9.2 Parameter List

9.2.1 Group C00

Param- Data Modifica- Effective

Name Options Value Range Default Unit
eter Type tion Mode Time

Immedi-
C00.00 Control mode 12: P
 ROFINET 0-12 12 - U16 At stop
ately

Upon re-
Motor rotating 0: CCW
C00.01 0-1 0 - U16 At stop power-
direction 1: CW
on

0: Manual mode
During Immedi-
C00.04 Auto-tuning mode 1: Standard mode 0-2 1 - U16
operation ately
2: Positioning mode

During Immedi-
C00.05 Stiffness level - 1-31 12 - U16
operation ately

During Immedi-
C00.06 Load inertia ratio - 0-12000 100 % U16
operation ately

0: Incremental position
mode
1: A bsolute position linear
mode
2: A bsolute position linear
infinite mode Upon re-
C00.07 Absolute mode 3: A bsolute position single- 0-5 0 - U16 At stop power-
turn mode on
4: A bsolute position rotation
mode
5: Absolute mechanical single-
turn mode (operating
direction selectable)

208
 Parameter List ▕

Param- Data Modifica- Effective

Name Options Value Range Default Unit
eter Type tion Mode Time

0: Internal bleeder resistor

Bleeder resistor 1: External bleeder resistor Immedi-
C00.10 0-3 0 - U16 At stop
selection 2: No bleeder resistor ately
3: Capacitor bleeder resistor

Bleeder resistor Immedi-

C00.11 - 1-65535 50 W U16 At stop
power ately

Bleeder resistor Immedi-

C00.12 - 1-65535 50 Ω U16 At stop
resistance ately

Bleeder resistor heat

During Immedi-
C00.13 dissipation coeffi- - 1-100 30 - U16
operation ately
cient

Immedi-
C00.14 Brake enable switch - 0-1 0 - U16 At stop
ately

0: Default display
1: Speed display
During Immedi-
C00.16 Panel display 2: Torque display 0-4 0 - U16
operation ately
3: Voltage display
4: Load rate display

During Immedi-
C00.31 Super user - 0-65535 0 - U16
operation ately

9.2.2 Group C01

Param- Data Modifica- Effective

Name Options Value Range Default Unit
eter Type tion Mode Time

During Immedi-
C01.00 1st position loop gain - 0-20000 400 0.1rad/s U16
operation ately

During Immedi-
C01.01 1st speed loop gain - 1-20000 250 0.1Hz U16
operation ately

1st speed loop integral During Immedi-

C01.02 - 1-51200 3184 0.01ms U16
time parameter operation ately

1st torque reference During Immedi-

C01.03 - 5-16000 200 Hz U16
filter cutoff frequency operation ately

During Immedi-
C01.08 2nd position loop gain - 0-20000 560 0.1rad/s U16
operation ately

During Immedi-
C01.09 2nd speed loop gain - 1-20000 350 0.1Hz U16
operation ately

2nd speed loop

During Immedi-
C01.0A integral time - 1-51200 2274 0.01ms U16
operation ately
parameter

209
 ▏ Parameter List

Param- Data Modifica- Effective

Name Options Value Range Default Unit
eter Type tion Mode Time

2nd torque reference During Immedi-

C01.0B - 5-16000 280 Hz U16
filter cutoff frequency operation ately

0: Internal setting
1: Low-pass filter
2: O
 verlapping average Immedi-
C01.10 Speed feedback filter 0-4 0 - U16 At stop
filter ately
3: Speed observer
4: No filter

Cutoff frequency of
During Immedi-
C01.11 speed feedback low- - 10-16000 8000 Hz U16
operation ately
pass filter

0: No filter
1: 2 times filter
Speed feedback 2: 4 times filter
During Immedi-
C01.12 overlapping average 3: 8 times filter 0-6 0 - U16
operation ately
filter time constant 4: 16 times filter
5: 32 times filter
6: 64 times filter

0: No feedforward
1: Internal reference
Speed feedforward 2: Model tracking During Immedi-
C01.13 0-5 0 - U16
source 3: AI1 operation ately
4: AI2
5: Communication

Speed feedforward During Immedi-

C01.14 - 0-2000 0 0.1% U16
percentage operation ately

Speed feedforward During Immedi-

C01.15 - 5-16000 318 Hz U16
filter cutoff frequency operation ately
0: No feedforward
1: Internal reference
Torque feedforward 2: Model tracking During Immedi-
C01.16 0-5 0 - U16
source 3: AI1 operation ately
4: AI2
5: Communication
Torque feedforward During Immedi-
C01.17 - 0-2000 0 0.1% U16
percentage operation ately

Torque feedforward During Immedi-

C01.18 - 5-16000 318 Hz U16
filter cutoff frequency operation ately

PDFF control During Immedi-

C01.1B - 0-1000 1000 0.1% U16
coefficient operation ately

Damping factor During Immedi-

C01.1C - 0-1000 0 0.1% U16
control coefficient operation ately

210
 Parameter List ▕

Param- Data Modifica- Effective

Name Options Value Range Default Unit
eter Type tion Mode Time

Position reference
Immedi-
C01.20 overlapping average - 0-1280 0 0.1ms U16 At stop
ately
filter time constant A
Position reference
Immedi-
C01.21 overlapping average - 0-1280 0 0.1ms U16 At stop
ately
filter time constant B
Position reference
Immedi-
C01.22 low-pass filter time - 0-65535 0 0.1ms U16 At stop
ately
constant A
Position reference
Immedi-
C01.23 low-pass filter time - 0-65535 0 0.1ms U16 At stop
ately
constant B
1st notch filter
Immedi-
C01.24 frequency of position - 0-2000 0 0.1Hz U16 At stop
ately
reference
1st notch filter width Immedi-
C01.25 - 0-1000 0 0.1% U16 At stop
of position reference ately

1st notch filter depth Immedi-

C01.26 - 10-1000 1000 0.1% U16 At stop
of position reference ately
2nd notch filter
Immedi-
C01.27 frequency of position - 0-2000 0 0.1Hz U16 At stop
ately
reference
2nd notch filter width Immedi-
C01.28 - 0-1000 0 0.1% U16 At stop
of position reference ately

2nd notch filter depth Immedi-

C01.29 - 10-1000 1000 0.1% U16 At stop
of position reference ately
Position reference
Immedi-
C01.2A pre-charge filter time - 0-1280 0 0.1ms U16 At stop
ately
constant
0: Disabled
1: 1st notch
2: 2nd notch During Immedi-
C01.30 Adaptive notch mode 0-4 0 - U16
3: Notch parameter reset operation ately
4: R
 esonance frequency
tested only
Adaptive notch test Immedi-
C01.31 - 0-65535 0 Times U16 At stop
times ately

Adaptive notch test Immedi-

C01.32 - 0-8000 0 Hz U16 Read only
frequency ately

Adaptive notch test Immedi-

C01.33 - 0-5000 0 0.1% U16 Read only
amplitude ately

211
 ▏ Parameter List

Param- Data Modifica- Effective

Name Options Value Range Default Unit
eter Type tion Mode Time

Adaptive notch target During Immedi-

C01.34 - 0-2000 0 0.1% U16
torque operation ately

Adaptive notch test During Immedi-

C01.35 - 0-2000 0 0.1% U16
torque threshold operation ately
0: Fixed to the 1st gain set
1: DI switchover
2: DI P-PI switchover
3: Torque reference
4: Speed reference Immedi-
C01.38 Gain switchover mode 0-8 0 - U16 At stop
5: Speed feedback ately
6: Speed reference change
rate
7: Position deviation
8: Position reference
During Immedi-
C01.39 Gain switchover time - 10-10000 50 0.1ms U16
operation ately

Gain switchover During Immedi-

C01.3A - 0-65535 10 - U16
threshold operation ately

Gain switchover loop During Immedi-

C01.3B - 0-65535 10 - U16
width operation ately

Frequency of the 1st During Immedi-

C01.40 - 10-8000 8000 Hz U16
notch operation ately

Width level of the 1st During Immedi-

C01.41 - 0-4000 0 0.1% U16
notch operation ately

Depth level of the 1st During Immedi-

C01.42 - 10-1000 1000 0.1% U16
notch operation ately

Frequency of the 2nd During Immedi-

C01.43 - 10-8000 8000 Hz U16
notch operation ately

Width level of the During Immedi-

C01.44 - 0-4000 0 0.1% U16
2nd notch operation ately

Depth level of the During Immedi-

C01.45 - 10-1000 1000 0.1% U16
2nd notch operation ately

Frequency of the 3rd During Immedi-

C01.46 - 10-8000 8000 Hz U16
notch operation ately

Width level of the 3rd During Immedi-

C01.47 - 0-4000 0 0.1% U16
notch operation ately

Depth level of the 3rd During Immedi-

C01.48 - 10-1000 1000 0.1% U16
notch operation ately

212
 Parameter List ▕

Param- Data Modifica- Effective

Name Options Value Range Default Unit
eter Type tion Mode Time

Frequency of the 4th During Immedi-

C01.49 - 10-8000 8000 Hz U16
notch operation ately

Width level of the 4th During Immedi-

C01.4A - 0-4000 0 0.1% U16
notch operation ately

Depth level of the 4th During Immedi-

C01.4B - 10-1000 1000 0.1% U16
notch operation ately

Frequency of the 5th During Immedi-

C01.4C - 10-8000 8000 Hz U16
notch operation ately

Width level of the 5th During Immedi-

C01.4D - 0-4000 0 0.1% U16
notch operation ately

Depth level of the 5th During Immedi-

C01.4E - 10-1000 1000 0.1% U16
notch operation ately

9.2.3 Group C02

Param- Data Modifica- Effective

Name Options Value Range Default Unit
eter Type tion Mode Time

0: Disabled
Immedi-
C02.00 Model tracking control 1: S ingle mass model 0-1 0 - U16 At stop
ately
tracking

Model tracking control During Immedi-

C02.01 - 10-20000 500 0.1rad/s U16
gain operation ately

Model tracking inertia During Immedi-

C02.02 - 10-8000 1000 0.1% U16
correction coefficient operation ately

During Immedi-
C02.30 Speed observer gain - 0-40000 0 0.1Hz U16
operation ately

Speed observer inertia During Immedi-

C02.31 - 10-8000 1000 0.1% U16
correction operation ately

Speed observer speed During Immedi-

C02.32 - 0-16000 0 Hz U16
feedback cutoff frequency operation ately

Frequency for vibration During Immedi-

C02.38 - 10-20000 1000 0.1Hz U16
suppression 1 operation ately

Inertia correction for During Immedi-

C02.39 - 10-8000 1000 0.1% U16
vibration suppression 1 operation ately

Low-pass filter correction During Immedi-

C02.3A - -9999-9999 0 0.1Hz I16
for vibration suppression 1 operation ately

Correction of high-pass
During Immedi-
C02.3B filter 1 for vibration sup- - -9999-9999 0 0.1Hz I16
operation ately
pression 1

213
 ▏ Parameter List

Param- Data Modifica- Effective

Name Options Value Range Default Unit
eter Type tion Mode Time

Frequency of high-pass
During Immedi-
C02.3C filter 2 for vibration sup- - 10-50000 20000 0.1Hz U16
operation ately
pression 1

Ratio of compensation 1 During Immedi-

C02.3D - 0-20000 0 0.1% U16
for vibration suppression 1 operation ately

Ratio of compensation 2 During Immedi-

C02.3E - 0-20000 0 0.1% U16
for vibration suppression 1 operation ately

Frequency for vibration During Immedi-

C02.40 - 10-20000 1000 0.1Hz U16
suppression 2 operation ately

Inertia correction for During Immedi-

C02.41 - 10-8000 1000 0.1% U16
vibration suppression 2 operation ately

Low-pass filter correction During Immedi-

C02.42 - -9999-9999 0 0.1Hz I16
for vibration suppression 2 operation ately

Correction of high-pass
During Immedi-
C02.43 filter 1 for vibration sup- - -9999-9999 0 0.1Hz I16
operation ately
pression 2

Frequency of high-pass
During Immedi-
C02.44 filter 2 for vibration sup- - 10-50000 20000 0.1Hz U16
operation ately
pression 2

Ratio of compensation 1 During Immedi-

C02.45 - 0-20000 0 0.1% U16
for vibration suppression 2 operation ately

Ratio of compensation 2 During Immedi-

C02.46 - 0-20000 0 0.1% U16
for vibration suppression 2 operation ately

Frequency for vibration During Immedi-

C02.48 - 10-20000 1000 0.1Hz U16
suppression 3 operation ately

Inertia correction for During Immedi-

C02.49 - 10-8000 1000 0.1% U16
vibration suppression 3 operation ately

Low-pass filter correction During Immedi-

C02.4A - -9999-9999 0 0.1Hz I16
for vibration suppression 3 operation ately

Correction of high-pass
During Immedi-
C02.4B filter 1 for vibration sup- - -9999-9999 0 0.1Hz I16
operation ately
pression 3

Frequency of high-pass
During Immedi-
C02.4C filter 2 for vibration sup- - 10-50000 20000 0.1Hz U16
operation ately
pression 3

Ratio of compensation 1 During Immedi-

C02.4D - 0-20000 0 0.1% U16
for vibration suppression 3 operation ately

Ratio of compensation 2 During Immedi-

C02.4E - 0-20000 0 0.1% U16
for vibration suppression 3 operation ately

214
 Parameter List ▕

Param- Data Modifica- Effective

Name Options Value Range Default Unit
eter Type tion Mode Time

During Immedi-
C02.60 Disturbance observer gain - 0-40000 0 0.1Hz U16
operation ately

Disturbance observer
During Immedi-
C02.61 inertia correction - 1-10000 1000 0.1% U16
operation ately
coefficient

Disturbance observer low- During Immedi-

C02.62 - 0-16000 0 Hz U16
pass cutoff frequency operation ately

Disturbance observer
During Immedi-
C02.63 compensation torque per- - 0-2000 0 0.1% U16
operation ately
centage

Friction compensation During Immedi-

C02.68 - 0-255 0 - U16
switch and relevant setting operation ately

Friction compensation During Immedi-

C02.69 - 0-5000 20 0.1rpm U16
speed threshold operation ately

Static friction During Immedi-

C02.6A - 0-2000 0 0.1% U16
compensation operation ately

Forward friction
During Immedi-
C02.6B compensation of coulomb - 0-2000 0 0.1% U16
operation ately
friction

Reverse friction
During Immedi-
C02.6C compensation of coulomb - -2000-0 0 0.1% I16
operation ately
friction

Viscous friction torque for During Immedi-

C02.6D - 0-2000 0 0.1% U16
rated speed operation ately

Friction compensation During Immedi-

C02.6E - 0-65535 0 0.01ms U16
filter time operation ately

Friction compensation During Immedi-

C02.6F - 0-1000 10 0.1rpm U16
threshold for zero speed operation ately

9.2.4 Group C03

Param- Data Modifica- Effective

Name Options Value Range Default Unit
eter Type tion Mode Time

During Immedi-
C03.21 Speed reference - -8000-8000 100 rpm I16
operation ately

During Immedi-
C03.22 Acceleration rate - 0-3600000 10 ms U32
operation ately

During Immedi-
C03.24 Deceleration rate - 0-3600000 10 ms U32
operation ately

215
 ▏ Parameter List

Param- Data Modifica- Effective

Name Options Value Range Default Unit
eter Type tion Mode Time

Internal positive speed During Immedi-

C03.27 - 0-8000 6000 rpm U16
limit operation ately

Internal negative speed During Immedi-

C03.28 - 0-8000 6000 rpm U16
limit operation ately

During Immedi-
C03.2B Speed reach threshold - 0-8000 1000 rpm U16
operation ately

Speed synchronization During Immedi-

C03.2C - 0-1000 10 rpm U16
threshold operation ately

During Immedi-
C03.2D Speed rotation threshold - 0-1000 20 rpm U16
operation ately

Zero speed output During Immedi-

C03.2E - 0-1000 10 rpm U16
threshold operation ately

During Immedi-
C03.41 Torque reference - -4000-4000 0 0.1% I16
operation ately

Internal positive torque During Immedi-

C03.43 - 0-4000 3000 0.1% U16
limit operation ately

Internal negative torque During Immedi-

C03.44 - 0-4000 3000 0.1% U16
limit operation ately

Positive speed limit in During Immedi-

C03.47 - 0-8000 3000 rpm U16
torque mode operation ately

Negative speed limit in During Immedi-

C03.48 - 0-8000 3000 rpm U16
torque mode operation ately

Reference value for torque During Immedi-

C03.49 - 0-4000 0 0.1% U16
reach operation ately

Valid value for torque During Immedi-

C03.4A - 0-4000 200 0.1% U16
reached operation ately

Invalid value for torque During Immedi-

C03.4B - 0-4000 100 0.1% U16
reached operation ately

216
 Parameter List ▕

9.2.5 Group C04

Param- Value Data Modifica- Effective

Name Options Default Unit
eter Range Type tion Mode Time

1: S-ON
2: Fault reset
3: Gain switchover
4: Emergency stop
5: Home switch
6: Forward overtravel
7: Reverse overtravel
8: Mode 1
9: Mode 2
10: Positive jog
11: Negative jog
12: Segment selection 1
13: Segment selection 2
14: Segment selection 3
15: Segment selection 4
16: P osition reference
direction
17: V elocity reference Immedi-
C04.00 DI1 function selection 0-32 6 - U16 At stop
direction ately
18: T orque reference
direction
19: Position planning trigger
20: Position planning pause
21: Position capture inhibit
22: Position capture release
23: Position deviation clear
24: Position reference inhibit
25: Referencing start enable
26: Velocity reference mode
27: Zero clamp
28: External velocity limit
29: External torque limit
30: Probe 1
31: Probe 2
32: E lectronic gear ratio
switchover

0: Active low During Immedi-

C04.01 DI1 logic selection 0-1 0 - U16
1: Active high operation ately

During Immedi-
C04.02 DI1 filter time - 0-65535 150 0.01ms U16
operation ately

217
 ▏ Parameter List

Param- Value Data Modifica- Effective

Name Options Default Unit
eter Range Type tion Mode Time

1: S-ON
2: Fault reset
3: Gain switchover
4: Emergency stop
5: Home switch
6: Forward overtravel
7: Reverse overtravel
8: Mode 1
9: Mode 2
10: Positive jog
11: Negative jog
12: Segment selection 1
13: Segment selection 2
14: Segment selection 3
15: Segment selection 4
16: P osition reference
direction
17: V elocity reference Immedi-
C04.04 DI2 function selection 0-32 7 - U16 At stop
direction ately
18: T orque reference
direction
19: Position planning trigger
20: Position planning pause
21: Position capture inhibit
22: Position capture release
23: Position deviation clear
24: Position reference inhibit
25: Referencing start enable
26: Velocity reference mode
27: Zero clamp
28: External velocity limit
29: External torque limit
30: Probe 1
31: Probe 2
32: E lectronic gear ratio
switchover

0: Active low During Immedi-

C04.05 DI2 logic selection 0-1 0 - U16
1: Active high operation ately

During Immedi-
C04.06 DI2 filter time - 0-65535 150 0.01ms U16
operation ately

218
 Parameter List ▕

Param- Value Data Modifica- Effective

Name Options Default Unit
eter Range Type tion Mode Time

1: S-ON
2: Fault reset
3: Gain switchover
4: Emergency stop
5: Home switch
6: Forward overtravel
7: Reverse overtravel
8: Mode 1
9: Mode 2
10: Positive jog
11: Negative jog
12: Segment selection 1
13: Segment selection 2
14: Segment selection 3
15: Segment selection 4
16: P osition reference
direction
17: V elocity reference Immedi-
C04.08 DI3 function selection 0-32 5 - U16 At stop
direction ately
18: T orque reference
direction
19: Position planning trigger
20: Position planning pause
21: Position capture inhibit
22: Position capture release
23: Position deviation clear
24: Position reference inhibit
25: Referencing start enable
26: Velocity reference mode
27: Zero clamp
28: External velocity limit
29: External torque limit
30: Probe 1
31: Probe 2
32: E lectronic gear ratio
switchover

0: Active low During Immedi-

C04.09 DI3 logic selection 0-1 0 - U16
1: Active high operation ately

During Immedi-
C04.0A DI3 filter time - 0-65535 150 0.01ms U16
operation ately

219
 ▏ Parameter List

Param- Value Data Modifica- Effective

Name Options Default Unit
eter Range Type tion Mode Time

1: S-ON
2: Fault reset
3: Gain switchover
4: Emergency stop
5: Home switch
6: Forward overtravel
7: Reverse overtravel
8: Mode 1
9: Mode 2
10: Positive jog
11: Negative jog
12: Segment selection 1
13: Segment selection 2
14: Segment selection 3
15: Segment selection 4
16: P osition reference
direction
17: V elocity reference Immedi-
C04.0C DI4 function selection 0-32 31 - U16 At stop
direction ately
18: T orque reference
direction
19: Position planning trigger
20: Position planning pause
21: Position capture inhibit
22: Position capture release
23: Position deviation clear
24: Position reference inhibit
25: Referencing start enable
26: Velocity reference mode
27: Zero clamp
28: External velocity limit
29: External torque limit
30: Probe 1
31: Probe 2
32: E lectronic gear ratio
switchover

0: Active low During Immedi-

C04.0D DI4 logic selection 0-1 0 - U16
1: Active high operation ately

During Immedi-
C04.0E DI4 filter time - 0-65535 150 0.01ms U16
operation ately

220
 Parameter List ▕

Param- Value Data Modifica- Effective

Name Options Default Unit
eter Range Type tion Mode Time

1: S-ON
2: Fault reset
3: Gain switchover
4: Emergency stop
5: Home switch
6: Forward overtravel
7: Reverse overtravel
8: Mode 1
9: Mode 2
10: Positive jog
11: Negative jog
12: Segment selection 1
13: Segment selection 2
14: Segment selection 3
15: Segment selection 4
16: P osition reference
direction
17: V elocity reference Immedi-
C04.10 DI5 function selection 0-32 30 - U16 At stop
direction ately
18: T orque reference
direction
19: Position planning trigger
20: Position planning pause
21: Position capture inhibit
22: Position capture release
23: Position deviation clear
24: Position reference inhibit
25: Referencing start enable
26: Velocity reference mode
27: Zero clamp
28: External velocity limit
29: External torque limit
30: Probe 1
31: Probe 2
32: E lectronic gear ratio
switchover

0: Active low During Immedi-

C04.11 DI5 logic selection 0-1 0 - U16
1: Active high operation ately

During Immedi-
C04.12 DI5 filter time - 0-65535 150 0.01ms U16
operation ately

221
 ▏ Parameter List

Param- Value Data Modifica- Effective

Name Options Default Unit
eter Range Type tion Mode Time

1: Servo ready
2: Motor rotation
3: Brake
4: Fault
5: Alarm
6: Servo operation
7: Position reach
8: Positioning near
9: Referencing completion
10: P
 osition capture
completion Immedi-
C04.30 DO1 function selection 0-20 1 - U16 At stop
11: P
 osition comparison ately
output
12: Zero velocity signal
13: Velocity limit
14: Velocity reach
15: Velocity synchronization
16: Torque limit
17: Torque reached
18: EMD output
19: A
 ngle auto-tuning
completion
0: Active low During Immedi-
C04.31 DO1 logic selection 0-1 0 - U16
1: Active high operation ately
1: Servo ready
2: Motor rotation
3: Brake
4: Fault
5: Alarm
6: Servo operation
7: Position reach
8: Positioning near
9: Referencing completion
10: P
 osition capture
completion Immedi-
C04.32 DO2 function selection 0-20 4 - U16 At stop
11: P
 osition comparison ately
output
12: Zero velocity signal
13: Velocity limit
14: Velocity reach
15: Velocity synchronization
16: Torque limit
17: Torque reached
18: EMD output
19: A
 ngle auto-tuning
completion

222
 Parameter List ▕

Param- Value Data Modifica- Effective

Name Options Default Unit
eter Range Type tion Mode Time

0: Active low During Immedi-

C04.33 DO2 logic selection 0-1 0 - U16
1: Active high operation ately

1: Servo ready
2: Motor rotation
3: Brake
4: Fault
5: Alarm
6: Servo operation
7: Position reach
8: Positioning near
9: Referencing completion
10: P
 osition capture
completion Immedi-
C04.34 DO3 function selection 0-20 3 - U16 At stop
11: P
 osition comparison ately
output
12: Zero velocity signal
13: Velocity limit
14: Velocity reach
15: Velocity synchronization
16: Torque limit
17: Torque reached
18: EMD output
19: A
 ngle auto-tuning
completion

0: Active low During Immedi-

C04.35 DO3 logic selection 0-1 0 - U16
1: Active high operation ately

223
 ▏ Parameter List

9.2.6 Group C05

Param- Data Modifica- Effective

Name Options Value Range Default Unit
eter Type tion Mode Time

0: C oast to stop, keeping

de-energized status
1: S top at zero speed,
keeping position lock
status
2: S top at zero speed,
keeping de-energized
status
3: Quick ramp to stop,
keeping de-energized
Stop mode at status Immedi-
C05.02 0-7 1 - U16 At stop
overtravel 4: Quick ramp to stop, ately
keeping position lock
status
5: D ynamic braking stop,
keeping de-energized
status
6: D ynamic braking stop,
keeping dynamic
braking status
7: N ot responding to
overtravel

0: C oast to stop, keeping

de-energized status
1: Dynamic braking stop,
Stop mode at No. 1 keeping de-energized Immedi-
C05.03 0-2 2 - U16 At stop
fault status ately
2: D ynamic braking stop,
keeping dynamic
braking status

During Immedi-
C05.07 Stop speed threshold - 0-1000 10 rpm U16
operation ately

Limit for stop at During Immedi-

C05.0C - 0-3000 1000 0.1% U16
emergency-stop torque operation ately

Delay from brake close During Immedi-

C05.10 - 0-65535 100 ms U16
to motor de-energized operation ately

Speed threshold at During Immedi-

C05.11 - 10-3000 30 rpm U16
brake closing operation ately

Maximum waiting time

During Immedi-
C05.12 with S-ON off at brake - 0-65535 100 ms U16
operation ately
closing

224
 Parameter List ▕

Param- Data Modifica- Effective

Name Options Value Range Default Unit
eter Type tion Mode Time

Delay from brake on to Immedi-

C05.13 - 0-65535 100 ms U16 At stop
command received ately

Energizing delay of DB Immedi-

C05.14 - 0-65535 20 ms U16 At stop
relay ately

RFG ramp acceleration Immedi-

C05.1C - 0-(232-1) 1000 - U32 At stop
time ately

RFG ramp deceleration Immedi-

C05.1E - 0-(232-1) 1000 - U32 At stop
time ately

Quick ramp Immedi-

C05.20 - 0-(232-1) 500 - U32 At stop
deceleration time ately

9.2.7 Group C06

Param- Data Modifica- Effective

Name Options Value Range Default Unit
eter Type tion Mode Time

Excessive position Unit in During Immedi-

C06.00 - 0-(232-1) 32767 U32
deviation threshold application operation ately

Threshold of excessive During Immedi-

C06.03 - 0-9000 0 rpm U16
speed operation ately

Input phase loss 0: Enabled Immedi-

C06.04 0-1 0 - U16 At stop
detection 1: Disabled ately

Retentive at power 0: Non-retentive Immedi-

C06.05 0-1 0 - U16 At stop
failure 1: Retentive ately

0: Inactive
Mechanical limit During Immedi-
C06.07 1: Enabled 0-2 0 - U16
position operation ately
2: Enabled after homing

﹣231- Unit in During Immedi-

C06.08 Mechanical PL - 231-1 I32
(231-1) application operation ately

﹣231- Unit in During Immedi-

C06.0A Mechanical NL - ﹣231 I32
(231-1) application operation ately

Three-phase 220 V
0: Disabled Immedi-
C06.0D to two-phase alarm 0-1 0 - U16 At stop
1: Enabled ately
switch

Drive overload Immedi-

C06.10 - 0-3500 1150 0.1% U16 At stop
protection threshold ately

Motor overload Immedi-

C06.11 - 0-3500 1150 0.1% U16 At stop
protection threshold ately

Motor locked-rotor 0: Inactive Immedi-

C06.12 0-1 1 - U16 At stop
detection 1: Enabled ately

225
 ▏ Parameter List

Param- Data Modifica- Effective

Name Options Value Range Default Unit
eter Type tion Mode Time

Motor locked-rotor Immedi-

C06.13 - 0-3000 200 ms U16 At stop
detection time ately

Motor locked-rotor During Immedi-

C06.14 - 0-1000 10 rpm U16
detection speed operation ately

Output phase loss 0: Inactive Immedi-

C06.15 0-1 0 - U16 At stop
detection 1: Enabled ately

0: Inactive Immedi-
C06.16 PTC enabling 0-1 0 - U16 At stop
1: Enabled ately

Motor overload current Immedi-

C06.17 - 0-200 100 % U16 At stop
coefficient ately

Protection from out of 0: Inactive Immedi-

C06.20 0-1 1 - U16 At stop
control 1: Enabled ately

9.2.8 Group C0A

Param- Data Modifica- Effective

Name Options Value Range Default Unit
eter Type tion Mode Time

Commissioning software
Immedi-
C0A.08 communication station - 1-255 1 - U16 At stop
ately
ID

0: 1200 bps
1: 2400 bps
2: 4800 bps
Commissioning software
3: 9600 bps Upon re-
C0A.09 communication baud 0-7 7 - U16 At stop
4: 19200 bps power-on
rate
5: 38400 bps
6: 57600 bps
7: 115200 bps

0: No parity, 1 stop bit

1: Odd parity, 1 stop bit
Commissioning software 2: Even parity, 1 stop bit Upon re-
C0A.0A 0-5 0 - U16 At stop
communication format 3: No parity, 2 stop bits power-on
4: Odd parity, 2 stop bits
5: Even parity, 2 stop bits
Commissioning software
Immedi-
C0A.0B communication - 1-1000 1 ms U16 At stop
ately
response time
Commissioning software Immedi-
C0A.0C - 0-65535 0 - U16 Read only
communication timeout ately

Commissioning software 0: No storage Immedi-

C0A.0D 0-1 1 - U16 At stop
communication storage 1: Storage ately

226
 Parameter List ▕

Param- Data Modifica- Effective

Name Options Value Range Default Unit
eter Type tion Mode Time

0: L ow 16 bits before
Commissioning software high 16 bits Immedi-
C0A.0E 0-1 0 - U16 At stop
data format 1: H igh 16 bits before ately
low 16 bits
Upon re-
C0A.12 USB display switch - 0-1 0 - U16 At stop
power-on

9.2.9 Group C10

Param- Value Data Modifica- Effective

Name Options Default Unit
eter Range Type tion Mode Time

0: Inactive
1: W
 ritten through
communication During Immedi-
C10.00 Homing enable 0-3 0 - U16
2: DI trigger operation ately
3: C
 urrent position as
home

During Immedi-
C10.08 Homing timeout interval - 0-(232-1) 60000 ms U32
operation ately

Multi-turn absolute
﹣231- Upon re-
C10.10 position offset (low 32 - 0 P I32 At stop
(231-1) power-on
bits)

Multi-turn absolute
﹣231- Upon re-
C10.12 position offset (high 32 - 0 P I32 At stop
(231-1) power-on
bits)

Multi-turn revolutions Immedi-

C10.14 - 0-65535 0 Rev U16 Read only
data offset ately

Immedi-
C10.15 Multi-turn overflow flag - 0-1 0 - U16 Read only
ately

0: Nearest
1: A
 lways in forward
direction
Reference running mode 2: A
 lways in reverse Immedi-
C10.16 0-4 0 - U16 At stop
in rotation mode direction ately
3: A
 lways in current
direction
4: Not specified

Numerator of electronic
Immedi-
C10.18 gear ratio in rotation - 1-65535 1 - U16 At stop
ately
mode

227
 ▏ Parameter List

Param- Value Data Modifica- Effective

Name Options Default Unit
eter Range Type tion Mode Time

Denominator of
Immedi-
C10.19 electronic gear ratio in - 1-65535 1 - U16 At stop
ately
rotation mode

Upper limit of
mechanical absolute Immedi-
C10.1A - 0-(232-1) 0 P U32 At stop
position in ro-tation ately
mode (low 32 bits)

Upper limit of
mechanical absolute Immedi-
C10.1C - 0-(232-1) 0 P U32 At stop
position in ro-tation ately
mode (high 32 bits)

Single-turn homing ﹣231- Unit in Upon re-

C10.1E - 0 I32 At stop
absolute value offset (231-1) application power-on

Torque limit of homing During Immedi-

C10.30 - 0-3000 1000 0.1% U16
upon hit-and-stop operation ately

Speed for homing upon During Immedi-

C10.31 - 0-1000 10 rpm U16
hit-and-stop operation ately

Number of times for

During Immedi-
C10.32 homing upon hit-and- - 0-65535 30 - U16
operation ately
stop

9.2.10 Group C14

Param- Data Modifica- Effective

Name Options Value Range Default Unit
eter Type tion Mode Time

PN parameter storage Immedi-

C14.00 - 0-1 1 - U16 At stop
selection ately

Velocity ramp enable Immedi-

C14.01 - 0-1 0 - U16 At stop
flag ately

Heartbeat alarm During Immedi-

C14.02 - 1-50 5 - U16
threshold P925 operation ately

Fault message counter Immedi-

C14.03 - 0-65535 0 - U16 Read only
944 ately

Immedi-
C14.04 Fault code 947 - 0-65535 0 - U16 Read only
ately

Immedi-
C14.05 Fault serial number - 0-63 0 - U16 At stop
ately

Fault condition counter Immedi-

C14.06 - 0-65535 0 - U16 At stop
952 ately

228
 Parameter List ▕

Param- Data Modifica- Effective

Name Options Value Range Default Unit
eter Type tion Mode Time

Immedi-
C14.07 Sensor head 979 - 0-(232-1) 20754 - U32 At stop
ately

Immedi-
C14.09 Sensor type 979 - 0-(232-1) 2147483650 - U32 At stop
ately

Immedi-
C14.0B Sensor resolution 979 - 0-(232-1) 256 - U32 At stop
ately

Sensor G1_XIST1 shift Immedi-

C14.0D - 0-13 13 - U32 At stop
factor 979 ately

Sensor G1_XIST2 shift Immedi-

C14.0F - 0-13 13 - U32 At stop
factor 979 ately

Sensor multi-turn count Immedi-

C14.11 - 0-(232-1) 512 - U32 At stop
979 ately

Cumulative heartbeat
Immedi-
C14.13 loss count, for EMC - 0-65535 0 - U16 Read only
ately
testing

Immedi-
C14.14 Sync period - 0-65535 0 - U16 Read only
ately

Communication timeout Immedi-

C14.15 - 0-65535 1000 - U16 At stop
interval ately

Sync detection deviation Immedi-

C14.16 - 0-65535 3000 - U16 At stop
threshold ately

PN network parameter Immedi-

C14.17 - 0-65535 0 - U16 At stop
write flag ately

Low 32 bits of PN station Immedi-

C14.18 - 0-(232-1) 808464433 - U32 At stop
name 1 ately

High 32 bits of PN station Immedi-

C14.1A - 0-(232-1) 926298214 - U32 At stop
name 3 ately

Immedi-
C14.1C IP address 1 of PN - 0-(232-1) 3232235586 - U32 At stop
ately

Immedi-
C14.1E Subnet mask 1 of PN - 0-(232-1) 4294967040 - U32 At stop
ately

Immedi-
C14.20 Default gateway 1 of PN - 0-(232-1) 0 / U32 At stop
ately

Threshold for velocity Immedi-

C14.22 - 1-65535 30 rpm U16 At stop
within error range ately

Effective time for velocity Immedi-

C14.23 - 1-65535 5 ms U16 At stop
within error range ately

229
 ▏ Parameter List

Param- Data Modifica- Effective

Name Options Value Range Default Unit
eter Type tion Mode Time

Velocity feedback
Immedi-
C14.24 reaches or exceeds - 1-65535 1500 rpm U16 At stop
ately
comparison value

Immedi-
C14.25 Network status display - 0-65535 0 - U16 Read only
ately

Immedi-
C14.26 Rated velocity - 1-9000 3000 RPM U16 Read only
ately

Immedi-
C14.27 Maximum velocity - 1-9000 6000 RPM U16 Read only
ately

Immedi-
C14.28 Rated torque - 0-(232-1) 127 0.01N U32 At stop
ately

Immedi-
C14.2A Maximum torque - 0-(232-1) 381 0.01N U32 At stop
ately

9.2.11 Group C15

Param- Data Modifica- Effective

Name Options Value Range Default Unit
eter Type tion Mode Time

0: Disable
1: Direct enable
Immedi-
C15.00 Soft limit selection 2: E nable after 0-2 0 - U16 At stop
ately
referencing
completion

Soft limit maximum ﹣231- Immedi-

C15.01 - 231-1 LU I32 At stop
position (231-1) ately

Soft limit minimum ﹣231- Immedi-

C15.03 - ﹣231 LU I32 At stop
position (231-1) ately

During Immedi-
C15.05 Epos maximum velocity - 1-40000000 30000 kLU/min U32
operation ately

Epos maximum During Immedi-

C15.07 - 1-2000000 100 kLU/s2 U32
acceleration operation ately

Epos maximum During Immedi-

C15.09 - 1-2000000 100 kLU/s2 U32
deceleration operation ately

Epos ramp deceleration During Immedi-

C15.0B - 1-2000000 100 kLU/s2 U32
time operation ately

Epos maximum deviation During Immedi-

C15.0D - 0-(231-1) 30000 LU U32
threshold operation ately

Epos position reach During Immedi-

C15.0F - 0-(231-1) 7 LU U32
threshold operation ately

230
 Parameter List ▕

Param- Data Modifica- Effective

Name Options Value Range Default Unit
eter Type tion Mode Time

Epos position reach filter During Immedi-

C15.11 - 0-(231-1) 0 ms U32
value operation ately
-40000000- During Immedi-
C15.13 JOG1 velocity value - -300 kLU/min I32
40000000 operation ately
-40000000- During Immedi-
C15.15 JOG2 velocity value - 300 kLU/min I32
40000000 operation ately
JOG1 position increment During Immedi-
C15.17 - 0-(231-1) 1000 LU U32
value operation ately
JOG2 position increment During Immedi-
C15.19 - 0-(231-1) 1000 LU U32
value operation ately
During Immedi-
C15.1B Homing type - -2-35 0 - I16
operation ately
During Immedi-
C15.1C High velocity for homing - 0-40000000 5000 kLU/min U32
operation ately
During Immedi-
C15.1E Low velocity for homing - 0-40000000 300 kLU/min U32
operation ately
Acceleration/
During Immedi-
C15.20 deceleration time for - 0-32767 16384 - U16
operation ately
homing
During Immedi-
C15.21 Homing offset type - 0-1 0 - U16
operation ately
﹣231- During Immedi-
C15.22 Homing offset - 0 LU I32
(231-1) operation ately
During Immedi-
C15.24 Homing timeout interval - 0-(231-1) 60000 ms U32
operation ately
Numerator of electronic During Immedi-
C15.26 - 0-(232-1) 131072 - U32
gear ratio operation ately
Denominator of During Immedi-
C15.28 - 1-(232-1) 10000 - U32
electronic gear ratio operation ately
0: No function
User-defined receive During Immedi-
C15.2B 1: S upplementary 0-1 0 - U16
selection operation ately
torque
0: No function
User-defined send 1: Actual torque During Immedi-
C15.2C 0-3 0 - U16
selection 2: Actual current operation ately
3: DI status
During Immedi-
C15.2E Epos Jog acceleration - 1-2000000 100 kLU/s2 U32
operation ately
During Immedi-
C15.30 Epos Jog deceleration - 1-2000000 100 kLU/s2 U32
operation ately

231
 ▏ Parameter List

9.2.12 Group C16

Param- Data Modifica- Effective

Name Options Value Range Default Unit
eter Type tion Mode Time

0: Disable During Immedi-

C16.00 Segment 1 program task 0-1 0 - U16
1: Positioning operation ately

0: Disable During Immedi-

C16.01 Segment 2 program task 0-1 0 - U16
1: Positioning operation ately

0: Disable During Immedi-

C16.02 Segment 3 program task 0-1 0 - U16
1: Positioning operation ately

0: Disable During Immedi-

C16.03 Segment 4 program task 0-1 0 - U16
1: Positioning operation ately

0: Disable During Immedi-

C16.04 Segment 5 program task 0-1 0 - U16
1: Positioning operation ately

0: Disable During Immedi-

C16.05 Segment 6 program task 0-1 0 - U16
1: Positioning operation ately

0: Disable During Immedi-

C16.06 Segment 7 program task 0-1 0 - U16
1: Positioning operation ately

0: Disable During Immedi-

C16.07 Segment 8 program task 0-1 0 - U16
1: Positioning operation ately

0: Disable During Immedi-

C16.08 Segment 9 program task 0-1 0 - U16
1: Positioning operation ately

0: Disable During Immedi-

C16.09 Segment 10 program task 0-1 0 - U16
1: Positioning operation ately

0: Disable During Immedi-

C16.0A Segment 11 program task 0-1 0 - U16
1: Positioning operation ately

0: Disable During Immedi-

C16.0B Segment 12 program task 0-1 0 - U16
1: Positioning operation ately

0: Disable During Immedi-

C16.0C Segment 13 program task 0-1 0 - U16
1: Positioning operation ately

0: Disable During Immedi-

C16.0D Segment 14 program task 0-1 0 - U16
1: Positioning operation ately

0: Disable During Immedi-

C16.0E Segment 15 program task 0-1 0 - U16
1: Positioning operation ately

0: Disable During Immedi-

C16.0F Segment 16 program task 0-1 0 - U16
1: Positioning operation ately

232
 Parameter List ▕

9.2.13 Group C17

Param- Data Modifica- Effective

Name Options Value Range Default Unit
eter Type tion Mode Time

During Immedi-
C17.00 Segment 1 velocity - 1-40000000 600 kLU/min U32
operation ately

During Immedi-
C17.02 Segment 2 velocity - 1-40000000 600 kLU/min U32
operation ately

During Immedi-
C17.04 Segment 3 velocity - 1-40000000 600 kLU/min U32
operation ately

During Immedi-
C17.06 Segment 4 velocity - 1-40000000 600 kLU/min U32
operation ately

During Immedi-
C17.08 Segment 5 velocity - 1-40000000 600 kLU/min U32
operation ately

During Immedi-
C17.0A Segment 6 velocity - 1-40000000 600 kLU/min U32
operation ately

During Immedi-
C17.0C Segment 7 velocity - 1-40000000 600 kLU/min U32
operation ately

During Immedi-
C17.0E Segment 8 velocity - 1-40000000 600 kLU/min U32
operation ately

During Immedi-
C17.10 Segment 9 velocity - 1-40000000 600 kLU/min U32
operation ately

During Immedi-
C17.12 Segment 10 velocity - 1~40000000 600 kLU/min U32
operation ately

During Immedi-
C17.14 Segment 11 velocity - 1-40000000 600 kLU/min U32
operation ately

During Immedi-
C17.16 Segment 12 velocity - 1-40000000 600 kLU/min U32
operation ately

During Immedi-
C17.18 Segment 13 velocity - 1-40000000 600 kLU/min U32
operation ately

During Immedi-
C17.1A Segment 14 velocity - 1-40000000 600 kLU/min U32
operation ately

During Immedi-
C17.1C Segment 15 velocity - 1-40000000 600 kLU/min U32
operation ately

During Immedi-
C17.1E Segment 16 velocity - 1-40000000 600 kLU/min U32
operation ately

Segment 1 acceleration During Immedi-

C17.20 - 1-100 100 % U16
override operation ately

Segment 2 acceleration During Immedi-

C17.21 - 1-100 100 % U16
override operation ately

233
 ▏ Parameter List

Param- Data Modifica- Effective

Name Options Value Range Default Unit
eter Type tion Mode Time

Segment 3 acceleration During Immedi-

C17.22 - 1-100 100 % U16
override operation ately

Segment 4 acceleration During Immedi-

C17.23 - 1-100 100 % U16
override operation ately

Segment 5 acceleration During Immedi-

C17.24 - 1-100 100 % U16
override operation ately

Segment 6 acceleration During Immedi-

C17.25 - 1-100 100 % U16
override operation ately

Segment 7 acceleration During Immedi-

C17.26 - 1-100 100 % U16
override operation ately

Segment 8 acceleration During Immedi-

C17.27 - 1-100 100 % U16
override operation ately

Segment 9 acceleration During Immedi-

C17.28 - 1-100 100 % U16
override operation ately

Segment 10 acceleration During Immedi-

C17.29 - 1-100 100 % U16
override operation ately

Segment 11 acceleration During Immedi-

C17.2A - 1-100 100 % U16
override operation ately

Segment 12 acceleration During Immedi-

C17.2B - 1-100 100 % U16
override operation ately

Segment 13 acceleration During Immedi-

C17.2C - 1-100 100 % U16
override operation ately

Segment 14 acceleration During Immedi-

C17.2D - 1-100 100 % U16
override operation ately

Segment 15 acceleration During Immedi-

C17.2E - 1-100 100 % U16
override operation ately

Segment 16 acceleration During Immedi-

C17.2F - 1-100 100 % U16
override operation ately

Segment 1 deceleration During Immedi-

C17.30 - 1-100 100 % U16
override operation ately

Segment 2 deceleration During Immedi-

C17.31 - 1-100 100 % U16
override operation ately

Segment 3 deceleration During Immedi-

C17.32 - 1-100 100 % U16
override operation ately

Segment 4 deceleration During Immedi-

C17.33 - 1-100 100 % U16
override operation ately

Segment 5 deceleration During Immedi-

C17.34 - 1-100 100 % U16
override operation ately

234
 Parameter List ▕

Param- Data Modifica- Effective

Name Options Value Range Default Unit
eter Type tion Mode Time

Segment 6 deceleration During Immedi-

C17.35 - 1-100 100 % U16
override operation ately

Segment 7 deceleration During Immedi-

C17.36 - 1-100 100 % U16
override operation ately

Segment 8 deceleration During Immedi-

C17.37 - 1-100 100 % U16
override operation ately

Segment 9 deceleration During Immedi-

C17.38 - 1-100 100 % U16
override operation ately

Segment 10 deceleration During Immedi-

C17.39 - 1-100 100 % U16
override operation ately

Segment 11 deceleration During Immedi-

C17.3A - 1-100 100 % U16
override operation ately

Segment 12 deceleration During Immedi-

C17.3B - 1-100 100 % U16
override operation ately

Segment 13 deceleration During Immedi-

C17.3C - 1-100 100 % U16
override operation ately

Segment 14 deceleration During Immedi-

C17.3D - 1-100 100 % U16
override operation ately

Segment 15 deceleration During Immedi-

C17.3E - 1-100 100 % U16
override operation ately

Segment 16 deceleration During Immedi-

C17.3F - 1-100 100 % U16
override operation ately

9.2.14 Group C18

Param- Data Modifica- Effective

Name Options Value Range Default Unit
eter Type tion Mode Time

0: End
Segment 1 subsequent During Immedi-
C18.00 1: Intermittent 0-2 0 - U16
condition operation ately
2: Continuous

0: End
Segment 2 subsequent During Immedi-
C18.01 1: Intermittent 0-2 0 - U16
condition operation ately
2: Continuous

0: End
Segment 3 subsequent During Immedi-
C18.02 1: Intermittent 0-2 0 - U16
condition operation ately
2: Continuous

0: End
Segment 4 subsequent During Immedi-
C18.03 1: Intermittent 0-2 0 - U16
condition operation ately
2: Continuous

235
 ▏ Parameter List

Param- Data Modifica- Effective

Name Options Value Range Default Unit
eter Type tion Mode Time

0: End
Segment 5 subsequent During Immedi-
C18.04 1: Intermittent 0-2 0 - U16
condition operation ately
2: Continuous

0: End
Segment 6 subsequent During Immedi-
C18.05 1: Intermittent 0-2 0 - U16
condition operation ately
2: Continuous

0: End
Segment 7 subsequent During Immedi-
C18.06 1: Intermittent 0-2 0 - U16
condition operation ately
2: Continuous

0: End
Segment 8 subsequent During Immedi-
C18.07 1: Intermittent 0-2 0 - U16
condition operation ately
2: Continuous

0: End
Segment 9 subsequent During Immedi-
C18.08 1: Intermittent 0-2 0 - U16
condition operation ately
2: Continuous

0: End
Segment 10 subsequent During Immedi-
C18.09 1: Intermittent 0-2 0 - U16
condition operation ately
2: Continuous

0: End
Segment 11 subsequent During Immedi-
C18.0A 1: Intermittent 0-2 0 - U16
condition operation ately
2: Continuous

0: End
Segment 12 subsequent During Immedi-
C18.0B 1: Intermittent 0-2 0 - U16
condition operation ately
2: Continuous

0: End
Segment 13 subsequent During Immedi-
C18.0C 1: Intermittent 0-2 0 - U16
condition operation ately
2: Continuous

0: End
Segment 14 subsequent During Immedi-
C18.0D 1: Intermittent 0-2 0 - U16
condition operation ately
2: Continuous

0: End
Segment 15 subsequent During Immedi-
C18.0E 1: Intermittent 0-2 0 - U16
condition operation ately
2: Continuous

0: End
Segment 16 subsequent During Immedi-
C18.0F 1: Intermittent 0-2 0 - U16
condition operation ately
2: Continuous

﹣231- During Immedi-

C18.10 Segment 1 parameter - 0 - I32
(231-1) operation ately

﹣231- During Immedi-

C18.12 Segment 2 parameter - 0 - I32
(231-1) operation ately

236
 Parameter List ▕

Param- Data Modifica- Effective

Name Options Value Range Default Unit
eter Type tion Mode Time

﹣231- During Immedi-

C18.14 Segment 3 parameter - 0 - I32
(231-1) operation ately

﹣231- During Immedi-

C18.16 Segment 4 parameter - 0 - I32
(231-1) operation ately

﹣231- During Immedi-

C18.18 Segment 5 parameter - 0 - I32
(231-1) operation ately

﹣231- During Immedi-

C18.1A Segment 6 parameter - 0 - I32
(231-1) operation ately

﹣231- During Immedi-

C18.1C Segment 7 parameter - 0 - I32
(231-1) operation ately

﹣231- During Immedi-

C18.1E Segment 8 parameter - 0 - I32
(231-1) operation ately

﹣231- During Immedi-

C18.20 Segment 9 parameter - 0 - I32
(231-1) operation ately

﹣231- During Immedi-

C18.22 Segment 10 parameter - 0 - I32
(231-1) operation ately

﹣231- During Immedi-

C18.24 Segment 11 parameter - 0 - I32
(231-1) operation ately

﹣231- During Immedi-

C18.26 Segment 12 parameter - 0 - I32
(231-1) operation ately

﹣231- During Immedi-

C18.28 Segment 13 parameter - 0 - I32
(231-1) operation ately

﹣231- During Immedi-

C18.2A Segment 14 parameter - 0 - I32
(231-1) operation ately

﹣231- During Immedi-

C18.2C Segment 15 parameter - 0 - I32
(231-1) operation ately

﹣231- During Immedi-

C18.2E Segment 16 parameter - 0 - I32
(231-1) operation ately

9.2.15 Group R20

Param- Data Modifica- Effective

Name Options Value Range Default Unit
eter Type tion Mode Time

Upon re-
R20.00 Motor model - 0-65535 10000 - U16 At stop
power-on

Upon re-
R20.22 Encoder type - 0-65535 0 - U16 Read only
power-on

237
 ▏ Parameter List

9.2.16 Group R21

Param- Data Modifica- Effective

Name Options Value Range Default Unit
eter Type tion Mode Time

Upon re-
R21.00 Drive model - 0-65535 3 - U16 At stop
power-on

Upon re-
R21.01 Internal drive model - 0-65535 3 - U16 Read only
power-on

Immedi-
R21.0C Drive voltage class - 0-2 0 - U16 Read only
ately

Immedi-
R21.0D Rated drive power - 1-(232-1) 40 0.01kW U32 Read only
ately

Rated output current of Immedi-

R21.0F - 1-(232-1) 280 0.01A U32 Read only
drive ately

Maximum output Immedi-

R21.11 - 1-(232-1) 980 0.01A U32 Read only
current of drive ately

Internal bleeder resistor Immedi-

R21.13 - 1-65535 40 W U16 Read only
power ately

Internal bleeder resistor Immedi-

R21.14 - 1-65535 50 Ω U16 Read only
resistance ately

Minimum resistance of Immedi-

R21.15 - 0-65535 40 Ω U16 Read only
external bleeder resistor ately

Scaling coefficient
Immedi-
R21.17 for bus voltage of the - 0-1500 1000 0.1% U16 At stop
ately
control circuit

9.2.17 Group F30

Param- Data Modifica- Effective

Name Options Value Range Default Unit
eter Type tion Mode Time

JOG enabling in velocity During Immedi-

F30.00 - 0-8000 0 - U16
mode operation ately

JOG enabling in position During Immedi-

F30.01 - 0-8000 0 - U16
mode operation ately

During Immedi-
F30.02 JOG velocity reference - 0-8000 100 rpm U16
operation ately

JOG acceleration/ During Immedi-

F30.03 - 0-3600000 100 ms U32
deceleration time operation ately

JOG distance in position ﹣231- Unit in During Immedi-

F30.05 - 20000 I32
mode (231-1) application operation ately

238
 Parameter List ▕

Param- Data Modifica- Effective

Name Options Value Range Default Unit
eter Type tion Mode Time

Inertia auto-tuning 0: Disabled During Immedi-

F30.10 0-65535 0 - U16
selection 1: Enabled operation ately

Initial angle auto-tuning 0: Disabled During Immedi-

F30.11 0-1 0 - U16
selection 1: Enabled operation ately

9.2.18 Group F31

Param- Data Modifica- Effective

Name Options Value Range Default Unit
eter Type tion Mode Time

0: Inactive Immedi-
F31.00 Fault reset 0-1 0 - U16 At stop
1: Reset ately

0: Inactive Immedi-
F31.01 Software reset 0-1 0 - U16 At stop
1: Reset ately

0: Inactive
1: R
 estore default
settings of
Immedi-
F31.02 Parameter initialization parameters 0-2 0 - U16 At stop
ately
2: R
 estore default
settings of the
object dictionary

0: Inactive
1: F actory reset drive
Drive motor parameter Immedi-
F31.03 parameters 0-2 0 - U16 At stop
reset ately
2: F actory reset motor
parameters

0: Inactive Immedi-
F31.04 Fault record initialization 0-1 0 - U16 At stop
1: Fault record clearing ately

0: Inactive
1: Read encoder
2: Write encoder
Immedi-
F31.10 Encoder data reset 3: Reset encoder fault 0-31 0 - U16 At stop
ately
4: R
 eset encoder fault
and multi-turn data
16: Operation failed

9.2.19 Group U40

Param- Data Modifica- Effective

Name Options Value Range Default Unit
eter Type tion Mode Time

Immedi-
U40.00 Speed reference - -9000-9000 0 rpm I16 Read only
ately

239
 ▏ Parameter List

Param- Data Modifica- Effective

Name Options Value Range Default Unit
eter Type tion Mode Time

Immedi-
U40.01 Speed feedback - -9000-9000 0 rpm I16 Read only
ately

Immedi-
U40.02 Torque reference - -4000-4000 0 0.1% I16 Read only
ately

Immedi-
U40.03 Torque feedback - -4000-4000 0 0.1% I16 Read only
ately

Immedi-
U40.04 DI status - 0-65535 0 - U16 Read only
ately

Immedi-
U40.05 DO status - 0-65535 0 - U16 Read only
ately

Immedi-
U40.06 Bus voltage - 0-9000 0 0.1V U16 Read only
ately

Immedi-
U40.07 Average load ratio - 0-4000 0 0.1% U16 Read only
ately

Immedi-
U40.08 Electrical angle - 0-36000 0 0.01° U16 Read only
ately

Immedi-
U40.09 Mechanical angle - 0-36000 0 0.01° U16 Read only
ately

RMS value of phase Immedi-

U40.0C - -9000-9000 0 0.1A I16 Read only
current ately

Position deviation ﹣231- Immedi-

U40.10 - 0 P I32 Read only
counter (231-1) ately

Absolute position ﹣231- Unit in Immedi-

U40.14 - 0 I32 Read only
reference (231-1) application ately

Absolute position feedback ﹣231- Unit in Immedi-

U40.16 - 0 I32 Read only
(reference unit) (231-1) application ately

Absolute position ﹣231- Immedi-

U40.18 - 0 P I32 Read only
feedback (encoder unit) (231-1) ately

Absolute position ﹣231- Immedi-

U40.1A - 0 P I32 Read only
feedback (encoder unit) (231-1) ately

﹣231- Immedi-
U40.1C Encoder single-turn data - 0 P I32 Read only
(231-1) ately

Encoder multi-turn Immedi-

U40.1E - 0-65535 0 Rev U16 Read only
position data ately

Immedi-
U40.1F Encoder initial angle - 0-36000 0 0.01° U16 Read only
ately

Encoder multi-turn data ﹣231- Immedi-

U40.20 - 0 P I32 Read only
(low 32 bits) (231-1) ately

240
 Parameter List ▕

Param- Data Modifica- Effective

Name Options Value Range Default Unit
eter Type tion Mode Time

Encoder multi-turn data ﹣231- Immedi-

U40.22 - 0 P I32 Read only
(high 32 bits) (231-1) ately

Absolute position
﹣231- Immedi-
U40.24 feedback (encoder unit) - 0 P I32 Read only
(231-1) ately
(low 32 bits)

Absolute position
﹣231- Immedi-
U40.26 feedback (encoder unit) - 0 P I32 Read only
(231-1) ately
(high 32 bits)

Position feedback in
﹣231- Unit in Immedi-
U40.28 rotation mode (reference - 0 I32 Read only
(231-1) application ately
unit) (low 32 bits)

Position feedback in
﹣231- Immedi-
U40.2A rotation mode (encoder - 0 P I32 Read only
(231-1) ately
unit) (low 32 bits)

Position feedback in
﹣231- Immedi-
U40.2C rotation mode (encoder - 0 P I32 Read only
(231-1) ately
unit) (high 32 bits)

Immedi-
U40.30 Heatsink temperature - -9000-9000 0 0.1℃ I16 Read only
ately

Immedi-
U40.31 Motor temperature - -9000-9000 0 0.1℃ I16 Read only
ately

Immedi-
U40.32 Encoder temperature - -9000-9000 0 0.1℃ I16 Read only
ately

Immedi-
U40.33 Ambient temperature - -9000-9000 0 0.1℃ I16 Read only
ately

Offline inertia auto- Immedi-

U40.34 - 0-12000 0 % U16 Read only
tuning value ately

Immedi-
U40.35 Control circuit voltage - 0-9000 0 0.1V U16 Read only
ately

Instantaneous value in ﹣231- Immedi-

U40.36 - 0 0.001A I32 Read only
phase U current (231-1) ately

Instantaneous value in ﹣231- Immedi-

U40.38 - 0 0.001A I32 Read only
phase V current (231-1) ately

Synchronization cycle Immedi-

U40.3A - 0-(231-1) 0 10ns U32 Read only
measured value ately

SYNC and IRQ phase ﹣231- Immedi-

U40.3C - 0 10ns I32 Read only
value (231-1) ately

Immedi-
U40.3E Drive accumulated heat - 0-2000 0 0.1% U16 Read only
ately

241
 ▏ Parameter List

Param- Data Modifica- Effective

Name Options Value Range Default Unit
eter Type tion Mode Time

Immedi-
U40.3F Motor accumulated heat - 0-2000 0 0.1% U16 Read only
ately

PN standard telegram Immedi-

U40.40 - 0-65535 0 - U16 Read only
display ately

PN annex telegram Immedi-

U40.41 - 0-65535 0 - U16 Read only
display ately

Immedi-
U40.50 Encoder initial position - 0-(232-1) 0 Unit U32 Read only
ately

9.2.20 Group U41

Param- Data Modifica- Effective

Name Options Value Range Default Unit
eter Type tion Mode Time

Immedi-
U41.00 MCU system status - 0-65535 0 - U16 Read only
ately

Immedi-
U41.01 MCU fault state - 0-65535 0 - U16 Read only
ately

Immedi-
U41.04 Encoder system status - 0-65535 0 - U16 Read only
ately

Immedi-
U41.05 Encoder fault state - 0-65535 0 - U16 Read only
ately

Group number of Immedi-

U41.06 - 0-255 0 - U16 Read only
abnormal parameter ately

Offset of the abnormal

Immedi-
U41.07 parameter within the - 0-255 0 - U16 Read only
ately
parameter group

Immedi-
U41.0A Servo Status - 0-3 0 - U16 Read only
ately

Immedi-
U41.0B Servo running mode - 0-9 0 - U16 Read only
ately

Immedi-
U41.0C Servo running time - 0-(232-1) 0 0.1s U32 Read only
ately

Immedi-
U41.20 Super user status display - 0-1 0 - U16 Read only
ately

242
 Parameter List ▕

9.2.21 Group U42

Param- Data Modifica- Effective

Name Options Value Range Default Unit
eter Type tion Mode Time

Immedi-
U42.00 ARM version - 0-65535 0 0.1 U16 Read only
ately

Immedi-
U42.02 Encoder version - 0-65535 0 0.1 U16 Read only
ately

Immedi-
U42.03 ARM-based machine - 0-65535 0 0.01 U16 Read only
ately

Immedi-
U42.05 Internal software version - 0-65535 0 0.01 U16 Read only
ately

PROFINET version Immedi-

U42.09 - 0-65535 0 0.01 U16 Read only
information ately

Immedi-
U42.0C MAC1 of PN - 0-65535 0 - U16 Read only
ately

Immedi-
U42.0D MAC2 of PN - 0-65535 0 - U16 Read only
ately

Immedi-
U42.0E MAC3 of PN - 0-65535 0 - U16 Read only
ately

Immedi-
U42.10 Drive model - 0-65535 0 - U16 Read only
ately

Immedi-
U42.11 Motor model - 0-65535 0 - U16 Read only
ately

Immedi-
U42.12 Encoder model - 0-65535 0 - U16 Read only
ately

Power supply unit model Immedi-

U42.13 - 0-65535 0 - U16 Read only
identification ately

Inverter model Immedi-

U42.14 - 0-65535 0 - U16 Read only
identification 1 ately

Inverter model Immedi-

U42.15 - 0-65535 0 - U16 Read only
identification 2 ately

Immedi-
U42.16 Servo version - 0-65535 0 - U16 Read only
ately

Immedi-
U42.17 Servo chip type - 0-65535 0 - U16 Read only
ately

243
 ▏ Parameter List

9.3 Parameter Read/Write

y For TIA PORTAL (v17) and earlier versions, users may download the Startdrive installation package from
the Siemens website.
After Startdrive is installed, the Drive_lib library files are automatically installed in TIA Portal. The library
contains non-cyclic communication function blocks "SINA_PARA" and "SINA_PARA_S" for reading/
writing drive parameters. Users only need to specify the parameter number, parameter index, and the
value to be written (for write operations only). After the program block is executed, the corresponding
read/write operations will be automatically carried out.
y In TIA PORTAL (v17) and later versions, the "SINA_PARA" and "SINA_PARA_S" instructions can be found
in the instructions list.

9.3.1 Reading/Writing Multiple Parameters Using "SINA_PARA"

※Reading/Writing a maximum of five parameters is supported.

Function block description

Parameter Description

Start The rising edge of the "start" signal starts the parameter operation task.
ReadWrite The value of 0 indicates a read operation, while the value of 1 indicates a write operation.
ParaNo The number of parameters to read/write. Value range: 1 to 16.
Hardware ID (Right-click the telegram and choose "Properties" > "System constants"
HardwareID
to view it in the hardware ID column.)
AxisNo Drive number, which can be set to 2 for A6-PN.
Error Error flag.
Errorid Return value.
This parameter is 1 when a write operation is being executed, and becomes 0 after
BUSY
completion or failure.
Task execution completion. This parameter can be used to reset requests in program
DONEDONE
writing.

244
 Parameter List ▕

Parameter Description

Ready The program block is in a ready state without executing read or write operations.
DiagId Return value.

Writing Multiple Drive Parameters

This example describes how to write C15.05 (32-bit data length) and C00.05 (16-bit data length) parameters
using SINA_PARA.

Call the SINA_PARA function

block and assign values to pins.
The hardware ID of A6-PN can
be obtained from the hardware
configuration.

Set relevant parameters sxParameter[1].siParaNo = 0x1005 (C00.05 parameter number)

in the sxParameter[1] and y sxParameter[1]. srValue = 13 (value to be written in C00.05) (16-bit
sxParameter[2] data structures length)
in the background data block of y sxParameter[2].siParaNo = 0x2505 (C15.05 parameter number)
SINA_PARA.
y sxParameter[2].sdValue = 20000 (value to be written in C15.05)
Notes: (32-bit length)
y Parameter number to write Note: Write 32-bit data to the sdValue variable, and 16-bit data to the
= Servo parameter function srValue variable.
code address + 0x1000.
y All servo parameters are
single parameters locally,
index should be 0, and
AxisNo is fixed at 2.

When ReadWrite = 1, set Start pin from 0 to 1 and hold it until parameter writing is completed. Then, the
output pin Done is set.

245
 ▏ Parameter List

Reading Multiple Drive Parameters

This example describes how to read C1505 (32-bit) and C0005 (16-bit*) parameters using SINA_PARA.

Call the SINA_PARA function

block and assign values to pins.
The hardware ID of A6-PN can
be obtained from the hardware
configuration.

Set relevant parameters sxParameter[1].siParaNo = 0x1005 (C00.05 parameter number)

in the sxParameter[1] and y sxParameter[2].siParaNo = 0x2505 (C15.05 parameter number)
sxParameter[2] data structures
in the background data block of Parameter values read:
SINA_PARA. y sxParameter[1]. srValue = (read value of C00.05)
y sxParameter[2].sdValue = (read value of C15.05)
Notes:
y Parameter number to write Background data block settings:
= Servo parameter function
code address + 0x1000.
y All servo parameters are
single parameters locally,
index should be 0, and
AxisNo is fixed at 2.

When ReadWrite = 0, set Start pin from 0 to 1 and hold it until parameter reading is completed. Then, the
output pin Done is set.

*: Currently, this function can only read/write a maximum of five parameters simultaneously. Future
updates will enable reading/writing of up to 16 parameters.

246
 Parameter List ▕

9.3.2 Reading/Writing a Single Parameter Using "SINA_PARA_S"

Function block description

Parameter Description

Start The rising edge of the "start" signal starts the parameter operation task.
The value of 0 indicates a read operation, while the value of 1 indicates a
ReadWrite
write operation.
Hardware ID (Right-click the telegram and choose "Properties" > "System
HardwareID
constants" to view it in the hardware ID column.)
Parameter Parameter number to be read/written.
INDEX Parameter index
ValueWrite1 Writing 16-bit data.
ValueWrite2 Writing 32-bit data.
AxisNo Drive number, which needs to be set to 2.
ERROR Error flag.
ErrorID Return value.
This parameter is 1 when a write operation is being executed, and becomes 0
BUSY
after completion or failure.
Task execution completion. This parameter can be used to reset requests in
DONE
program writing.
The program block is in a ready state without executing read or write
Ready
operations.
DiagId Return value.
ValueRead1 Reading 16-bit data.

247
 ▏ Parameter List

Parameter Description

ValueRead2 Reading 32-bit data.

Format Format of the read parameter.
ErroNo Error code.

Writing a Single Drive Parameter

This example describes how to write C15.05 (32-bit) = 20000 and C00.05 (16-bit) = 13.0 using SINA_PARA_S.

Call the SINA_PARA_S function y Set the input pin "Start" from 0 to 1 and hold it until parameter
block and assign values to pins. writing is completed.
The hardware ID of A6-PN can
y Set the "ReadWrite" pin to 1.
be obtained from the hardware
configuration. y Fill in the parameter number C15.05 (add 0x1000 to make the
final parameter number of C25-05) in the input pin "Parameter" of
SINA_PARA_S.
y Set the parameter index to 0.
y Assign the value of 20000 to ValueWrite2.
y Set axisNo to 2.
y Set hardwareID.

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 Parameter List ▕

Reading a Single Drive Parameter

This example describes how to read C15.05 (32-bit) and C00.05 (16-bit) parameters using SINA_PARA_S.

Call the SINA_PARA_S function y Set the input pin "Start" from 0 to 1 and hold it until parameter
block and assign values to pins. reading is completed.
The hardware ID of A6-PN can
y Set the "ReadWrite" pin to 0.
be obtained from the hardware
configuration. y Fill in the parameter number C15-05 (add 0x1000 to make the
final parameter number of C25-05) (32-bit data) in the input pin
"Parameter" of SINA_PARA_S.
y Set the index parameter to 0.
y Set axisNo to 2.
y Set the value of hardwareID.
y The read parameter value is stored in the variable "valueread2".

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 ▏ Parameter List

9.4 Parameter Initialization

Users can initialize some parameters without calling the module.

Right-click the drive object and

select module parameters.
During network startup, user-
defined parameters can be sent
to the servo drive.
By default, parameters are not
transmitted. For successful
parameter transmission, the
parameter initialization switch
must be turned on.
Notes:
y Changes to the "Default
rotation direction selection"
and "Absolute value mode
setting" parameters require
a restart to take effect.
Therefore, restart the
drive after changing these
parameters for the first time
and starting the network
startup.
y The "Multi-turn clear upon
absolute value enabled"
parameter is used with the
"Encoder absolute value
mode setting" parameter to
enable automatic clearing of
the absolute encoder.

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 Troubleshooting ▕

Chapter 10 Troubleshooting

10.1 Fault Alarms

10.1.1 Fault display and category

The servo drive provides various protection functions, and triggers an alarm when a protection functions
acts. Then, the LED panel displays the fault and its alarm code.

Figure 10-1 Fault code display

NOTICE
y The servo drive can record the latest 10 faults/alarms and the servo drive status parameters upon
occurrence of the faults/alarms. Repeated faults or alarms among the latest 5 logs are logged as
one fault or alarm, and the servo drive status upon its occurrence is logged only once.
y When a single fault or an alarm occurs, the panel displays the fault or alarm code. When multiple
faults or alarms occur, the panel displays the fault code of the highest level.
y After a fault or an alarm is reset, the servo drive still keeps the log of the fault or alarm. You can
set F31.04 (Initialize fault record) to 1 to clear the fault and alarm records.

Alarm codes are divided into three categories (category 1 indicates the most severe level) based on the
fault and alarm severity, which are specified by fault codes.

Fault Category Fault Code Resettable

Er0x.x to Er3x.x Non-resettable
Class 1
Er4x.x to Er7x.x Resettable
Class 2 Er8x.x to ErCx.x Resettable
Class 3 ALFxx Resettable

NOTICE
y "Resettable" means that the panel stops displaying the fault/alarm when a "reset signal" is input.

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 ▏ Troubleshooting

10.1.2 Troubleshooting and reset

Checklist:

A6

Whether the parameters are Whether a fault code is displayed?

set properly?

Whether the cable of the control

signal CN1 is wired properly
or is disconnected?

Whether the cable of the encoder

signal CN2 is wired properly
Whether the power supply or is disconnected?
voltage changes?
Whether there is power input?
Whether the connection is loose? Whether the wiring is correct?
Whether the cable is
disconnected?
Whether the short circuit cable is
disconnected?

Whether the connection is loose? System ground Whether the motor has noise?

Mechanical

Figure 10-2 Troubleshooting checklist

Reset operation:
y Set F31.00 (Fault reset) to 1 to stop displaying the fault on the panel.
y To reset resettable faults, switch off the S-ON signal first and then send the fault reset signal
(set F31.00 to 1).
y To reset resettable alarms, eliminate the alarm source and then the servo drive automatically
resets the alarms.

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 Troubleshooting ▕

CAUTION

y Some faults/alarms can only be reset after the causes are rectified through setting modifications.
However, a reset operation does not activate modifications.
y If the modification can be effective only after power-on, power on the device again.
y If the modification can be effective only after stop, turn off the S-ON signal. The servo drive can
operate properly only after modifications are activated.

10.1.3 List of faults and alarms

Table 10-1 List of factory fault codes

Bus Fault
Fault Fault Fault Code
Fault Name Code Resettable
Group Code (203F)
(603F)

Er01.0 Mismatch of software versions 0x010 0x6100 Non-resettable

Er01.1 Mismatch of motor parameters 0x011 0x7122 Non-resettable

Product matching fault. No specified

Er02.0 0x020 0x6100 Non-resettable
drive

Product matching fault. No specified

Er02.1 0x021 0x6100 Non-resettable
motor

Product matching fault. No specified

Er02.2 0x022 0x6100 Non-resettable
encoder

Er03.0 System parameter error 0x030 0x6320 Non-resettable

Er03.1 Parameter out-of-range 0x031 0x6320 Non-resettable

Class 1
Er03.2 Parameter writing error 0x032 0x6320 Non-resettable

Er03.3 Parameter reading error 0x033 0x6320 Non-resettable

Er05.0 Current loop timeout 0x050 0x7500 Non-resettable

Er05.1 Speed loop timeout 0x051 0x7500 Non-resettable

Er05.2 Position loop timeout 0x052 0x7500 Non-resettable

Er05.3 Serial port data check failure 0x053 0x7500 Non-resettable

Er06.0 Protection from out of control 0x060 0x8400 Non-resettable

Er10.0 P-hardware overcurrent 0x100 0x2312 Non-resettable

Er10.1 N-hardware overcurrent 0x101 0x2312 Non-resettable

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 ▏ Troubleshooting

Bus Fault
Fault Fault Fault Code
Fault Name Code Resettable
Group Code (203F)
(603F)

Er10.2 U phase software overcurrent 0x102 0x2312 Non-resettable

Er10.3 V phase software overcurrent 0x103 0x2312 Non-resettable

Er10.4 Output short circuited to ground 0x104 0x2330 Non-resettable

Er10.5 Current sampling failure 0x105 0x6100 Non-resettable

Er10.6 Incorrect current parameter setting 0x106 0x6320 Non-resettable

Er10.7 UV current correction failure 0x107 0x6100 Non-resettable

Er10.8 Excessive current zero drift 0x108 0x6100 Non-resettable

Er10.9 Current exception during enabling 0x109 0x2312 Non-resettable

Excessive motor speed upon servo

Er11.0 0x110 0xFF00 Non-resettable
drive power-on

Er11.1 Drive over-temperature 0x111 0x2312 Non-resettable

Er20.1 Encoder internal fault 0x201 0x7305 Non-resettable

Er20.2 Encoder reading/writing error 0x202 0x7305 Non-resettable

Class 1 Er20.3 Encoder data frame loss 0x203 0x7305 Non-resettable

Er20.4 Excessive encoder incremental position 0x204 0x7305 Non-resettable

Er20.5 Abnormal encoder data 0x205 0x7305 Non-resettable

Er20.6 Mismatch of encoder type 0x206 0x7305 Non-resettable

Er20.7 Encoder model not supported 0x207 0x7305 Non-resettable

Er20.8 Encoder battery failure 0x208 0x7305 Non-resettable

Er20.9 Encoder multi-turn error 0x209 0x7305 Non-resettable

Mismatch between encoder pulses

Er21.0 per revolution and drive pulses per 0x210 0x7305 Non-resettable
revolution

Er31.0 More than ten PDO mapping objects 0x310 0x8220 Non-resettable

Er32.0 EtherCAT peripheral error 0x320 0x6100 Non-resettable

Er32.1 ESI check error in FLASH 0x321 0x7600 Non-resettable

Failure to read data from EEPROM

Er32.2 0x322 0x7600 Non-resettable
through bus

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 Troubleshooting ▕

Bus Fault
Fault Fault Fault Code
Fault Name Code Resettable
Group Code (203F)
(603F)

Failure of update to EEPROM through

Er32.3 0x323 0x7600 Non-resettable
bus

Correctness of checksum in ESC

Er32.4 0x324 0x7600 Non-resettable
configuration area

EtherCAT failed to obtain valid XML

Er32.5 0x325 0x7600 Non-resettable
information

Er40.0 Drive overload 0x400 0x3230 Resettable

Er41.0 Motor overload 0x410 0x3230 Resettable

Motor over-temperature due to locked-

Er41.1 0x411 0x7121 Resettable
rotor

Er41.2 Motor over-temperature 0x412 0x4210 Resettable

Er42.1 Discharge tube temperature too high 0x421 0x4210 Resettable

Er42.2 Heatsink temperature too high 0x422 0x4210 Resettable

Class 1 Er43.0 Overvoltage 0x430 0x3210 Resettable

Er43.1 Undervoltage 0x431 0x3220 Resettable

Er45.0 S-ON enabling failure 0x450 0xFF00 Resettable

Er46.0 Motor overspeed 0x460 0x8400 Resettable

Er47.0 Excessive position deviation 0x470 0x8611 Resettable

Er47.1 Position deviation overflow 0x471 0x8611 Resettable

Er50.1 D/Q current overflow 0x501 0x6100 Resettable

Er51.0 Offline inertia auto-tuning failure 0x510 0x6310 Resettable

Er51.1 Offline inertia parameter error 0x511 0x6310 Resettable

Er52.0 Angle auto-tuning failure 0x520 0x7122 Resettable

Er53.0 Motor parameter auto-tuning timeout 0x530 0x7122 Resettable

Resistance parameter auto-tuning

Er53.1 0x531 0x7122 Resettable
failure

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 ▏ Troubleshooting

Bus Fault
Fault Fault Fault Code
Fault Name Code Resettable
Group Code (203F)
(603F)

Inductance parameter auto-tuning

Er53.2 0x532 0x7122 Resettable
failure

Back EMF parameter auto-tuning

Er53.3 0x533 0x7122 Resettable
failure

Er54.0 Current loop auto-tuning failure 0x540 0x7122 Resettable

Class 1 Er55.0 Excessive vibration 0x550 0x7122 Resettable

EtherCAT synchronization cycle setting

Er74.0 0x740 0x6320 Resettable
error

Er74.1 No sync signal 0x741 0x8700 Resettable

Chip synchronization process

Er74.2 0x742 0x8700 Resettable
uncompleted in OP

Er80.0 Control power undervoltage 0x800 0x3120 Resettable

Er81.0 Input phase loss 1 0x810 0x3130 Resettable

Er81.1 Input phase loss 2 0x811 0x3130 Resettable

Er81.2 Output phase loss (reserved) 0x812 - Resettable

Er82.0 DI function allocation fault 0x820 0x6320 Resettable

Er82.1 DO function allocation fault 0x821 0x6320 Resettable

Er84.0 Electronic gear ratio setting error 0x840 0x6320 Resettable

Er84.1 Software limit setting error 0x841 0x6320 Resettable

Er84.2 Encoder resolution setting error 0x842 0x7122 Resettable

Class 2
Er84.3 Home position setting error 0x843 0xFF00 Resettable

One-time excessive position reference

increment
Er87.1 (One-time increment of the target 0x871 0xFF00 Resettable
position is over 5 times of the
maximum speed)

Continuous excessive position

reference increment
Er87.2 (Increment of the target position 0x872 0xFF00 Resettable
exceeds the maximum speed for 3
consecutive times)

Overflow of 32-bit sign bit of the target

Er87.3 0x873 0xFF00 Resettable
position during limiting

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 Troubleshooting ▕

Bus Fault
Fault Fault Fault Code
Fault Name Code Resettable
Group Code (203F)
(603F)

Target position exceeding maximum

Er87.4 value of mechanical single-turn 0x874 0xFF00 Resettable
position in rotating mode

ErA0.1 Multi-turn overflow fault 0xA01 0x7305 Resettable

Excessive EtherCAT synchronization

ErC1.0 0xC10 0x8700 Resettable
period error

ErC1.1 Synchronization loss 0xC11 0x8700 Resettable

Class 2 ErC1.2 Network status switchover error 0xC12 0x8700 Resettable

ErC1.4 Network cable connection unreliable 0xC14 0x8700 Resettable

ErC1.5 Data frame loss protection error 0xC15 0x8700 Resettable

ErC1.6 Data frame forwarding error 0xC16 0x8700 Resettable

ErC1.7 Data update timeout 0xC17 0x8700 Resettable

ErC1.8 Watchdog expired 0xC18 0x8700 Resettable

ErC2.0 SYNC signal loss 0xC20 0x8700 Resettable

Table 10-2 List of factory alarm codes

Alarm Bus Fault

Fault Alarm
Alarm Name Code Code Resettable
Group Code
(203F) (603F)

ALF0.0 Emergency stop alarm 0x0F00 0x0F00 Resettable

Re-power-on required for parameter

ALF1.0 0xF10 0x6320 Resettable
settings to take effect

ALF1.1 Frequent parameter storage alarm 0xF11 0x5530 Resettable

ALF1.2 Torque reached parameter error 0xF12 0x6320 Resettable

Class 3 Too frequent writing of EEPROM by

ALF1.3 0xF13 0x7600 Resettable
host controller SDO

ALF2.0 Forward overtravel alarm 0xF20 0x5443 Resettable

ALF2.1 Reverse overtravel alarm 0xF21 0x5444 Resettable

ALF4.0 Homing timeout 0xF40 0x6320 Resettable

ALF4.1 Homing DI conflict 0xF41 0x6320 Resettable

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 ▏ Troubleshooting

Alarm Bus Fault

Fault Alarm
Alarm Name Code Code Resettable
Group Code
(203F) (603F)

ALF4.2 Homing mode conflict 0xF42 0x6320 Resettable

ALF5.0 Braking resistor overload 0xF50 0x3210 Resettable

Too small resistance of external

ALF5.1 0xF51 0x6320 Resettable
regenerative resistor

Class 3 ALF6.1 Output phase loss 0xF61 0x3230 Resettable

ALF8.0 Vibration occurred during auto-tuning 0xF80 0x7122 Resettable

ALF9.0 Encoder battery voltage low 0xF90 0x7305 Resettable

ALFA.0 Drive high temperature warning 0xFA0 0x7305 Resettable

xxnr Servo not ready 0xFFFF - Resettable

Table 10-3 List of bus fault codes

Bus Fault SN Bus Fault Code Bus Fault Name

0 0x0000 No fault

1 0x2312 Continuous current fault

2 0x2330 Short circuit to ground

3 0x3120 Control power overvoltage

4 0x3130 Phase loss

5 0x3210 Main circuit overvoltage

6 0x3220 Main circuit undervoltage

7 0x3230 Overload

8 0x4210 Over-temperature

9 0x5443 Forward overtravel

10 0x5444 Reverse overtravel

11 0x5530 Storage fault

12 0x6320 Parameter error

13 0x7121 Motor locked-rotor

14 0x7122 Motor mismatch

15 0x7305 Encoder error

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 Troubleshooting ▕

Bus Fault SN Bus Fault Code Bus Fault Name

16 0x7500 Communication fault

17 0x7600 Data storage

18 0x8400 Speed control

19 0x8611 Following fault

20 0x8220 Length error

21 0x8700 Synchronization controller

22 0x8900 Process data monitoring

23 0x0FFF Factory fault

10.2 Solutions

Table 10-4 List of causes and solutions for faults and alarms

Code Name Cause Solution

Er01.0 Mismatch of y The MCU and FPGA y Check whether the software versions are
software versions versions are incorrect. consistent.
y Contact technical support personnel or
update the FPGA or MCU software.

Er01.1 Mismatch of motor y Incorrect motor y Replace with a servo drive or motor of the
parameters parameters matching power.
y Contact our company for technical support.
Er02.0 Product matching y The set servo drive model y Check whether the model of the U42.10
fault. No specified is incorrect. servo drive is correct. If not, contact
drive technical support and correct the model.

Er02.1 Product matching y The set motor model is y Read the motor model U42.11 and contact
fault. No specified incorrect. technical support.
motor

Er03.0 System parameter y The software is updated. y Check whether the software is updated.
error y Reset the servo drive model and the motor
model, and restore default settings (set
F31.02 to 1).

y The control power voltage y Check whether the voltage drops during
drops instantaneously. control power cutoff or instantaneous
y Instantaneous power power failure occurs.
failure occurs during y Restore default settings (set F31.02 to 1) and
parameter storage. write the parameters again.

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 ▏ Troubleshooting

Code Name Cause Solution

y The times of parameter y Check whether parameter update is

writing within a certain performed frequently from the host
period of time exceeds the controller.
limit. y Change the way of parameter writing and
write the parameters again.

y The servo drive is faulty. y If the fault persists after several times of
power-on and parameter initialization,
replace the servo drive.

Er03.1 Parameter out-of- y The number of software y Check whether the parameter access
range parameters changes after address is out of range. You can view the
upgrade. An address error group number and offset of the error code
occurs during reading and in U41-06 and U41-07.
writing the change. y Restore factory settings.

Er03.2 Parameter writing y Parameter writing is y Check whether the communication program
error frequent. contains a command that frequently
y The control power is modifies and writes parameters.
unreliable. y Check the wiring of the control power and
y The servo drive is faulty. ensure that the control power voltage is
within the limit.
y If the fault still persists after several times of
power-on, replace the servo drive.

Er03.3 Parameter reading y Parameter reading is y Check whether the communication program
error frequent. contains a command that frequently reads
y The servo drive is faulty. parameters.
y Modify a parameter, power on the servo
drive again, and check whether the
modification is saved.
y If the modification is not saved and the fault
still persists after several times of power-on
replace the servo drive.

Er05.0 Current loop y The interval for MCU y If the fault persists after several times of
timeout torque interruption power-on, replace the servo drive.
scheduling is abnormal.

Er05.1 Speed loop timeout y The interval for MCU speed y If the fault persists after several times of
scheduling is abnormal. power-on, replace the servo drive.

Er05.2 Position loop y The interval for MCU y If the fault persists after several times of
timeout position interruption power-on, replace the servo drive.
scheduling is abnormal.

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 Troubleshooting ▕

Code Name Cause Solution

Er06.0 Runaway protection y The control circuit is y Check whether the servo drive power
abnormal due to incorrect cables are connected to UVW terminals of
wiring, resulting in motor the motor and servo drive in the correct
runaway and stall. sequence on both sides.
y Connect the U, V, and W phases according
to the correct sequence.

y The interference signal y The U, V, and W phase sequence is correct,

causes an error in the but Er06.0 occurs when the servo drive is
initial phase detection enabled. Power on the device again.
of the motor rotor upon
power-on.

y The encoder model is set y Check the motor model and encoder type.
incorrectly. y Use the matching products.

y The encoder cable is y Check whether the encoder cable is aging,

connected incorrectly, corroded, or loosened.
aging, or corroded, or y Re-solder, tighten, or replace the encoder
the encoder connector is cable.
loose.

y The gravity load is too y Check whether the load of the vertical axis
large when the motor is too large. Reduce the load of the vertical
controls a vertical axis. axis, increase the rigidity, or shield this fault
without affecting safety and use.

y The servo vibration is too y Set the parameters properly to avoid large
large due to improper servo vibration.
parameters setting.

y The motor is dragged by y If the motor runs properly and is actually

an external force in the dragged by an external force, consider to
reverse direction. shield the protection from out of control (set
C06.20 to 0 with caution).
Er10.0 P-hardware y The gain is set improperly y Adjust the gain after determining the cause.
overcurrent and the motor oscillates.

y The encoder cable is y Re-solder, tighten, or replace the encoder

connected incorrectly, cable.
aging, or corroded, or
the encoder connector is
loose.

y Braking resistor y Select a discharge resistor of proper

overcurrent resistance and model and route it again.

y The servo drive is faulty. y Replace the servo drive.

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 ▏ Troubleshooting

Code Name Cause Solution

Er10.1 N-hardware y The gain is set improperly y Adjust the gain after determining the cause.
overcurrent and the motor oscillates.

y The encoder cable is y Re-solder, tighten, or replace the encoder

connected incorrectly, cable.
aging, or corroded, or
the encoder connector is
loose.

y Braking resistor y Select a braking resistor of proper resistance

overcurrent and model and route it again.

y The motor U/V/W cables y Connect motor cables correctly or replace

are short circuited. the motor with unbalanced resistance.

y The servo drive is faulty. y Replace the servo drive.

Er10.2 U phase software y The motor cables are in y Tighten the cables that are loosened or
overcurrent poor contact. disconnected.

y The motor cables are y Replace the motor in the case of poor
grounded. insulation.

y The motor U/V/W cables y Unplug the motor cables and check whether
are short circuited. short-circuit occurs among U, V, and W
phases and whether burrs exist on the cable
connections. Unplug the motor cables and
measure whether the resistance among
U, V, and W phases of the motor cable is
balanced.

y The motor is damaged. y Connect motor cables correctly or replace

the motor with unbalanced resistance.
Er10.3 V phase software y The motor cables are in y Tighten the cables that are loosened or
overcurrent poor contact. disconnected.

y The motor cables are y Replace the motor in the case of poor
grounded. insulation.

y The motor U/V/W cables y Unplug the motor cables and check whether
are short circuited. short-circuit occurs among U, V, and W
phases and whether burrs exist on the cable
connections. Unplug the motor cables and
measure whether the resistance among
U, V, and W phases of the motor cable is
balanced.

y The motor is damaged. y Connect motor cables correctly or replace

the motor with unbalanced resistance.

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 Troubleshooting ▕

Code Name Cause Solution

Er10.4 Output short y The servo drive power y Re-connect or replace the power cables of
circuited to ground cables (U/V/W) are short- the servo drive.
circuited to ground.

y The motor is short- y Replace the motor.

circuited to ground.

y The servo drive is faulty. y Replace the servo drive.

Er10.5 Current sampling y Current sampling of phase y Check for interference sources on the site.
failure U or V is abnormal. y Check the grounding of the servo drive
and motor and whether anti-interference
measures such as shielding are properly
applied.
y Add magnetic rings to the power cable and
encoder cable of the motor.

y The internal current y Replace the servo drive.

sampling chip is damaged.

Er10.6 Incorrect current y Incorrect setting of current y If the fault persists upon next power-on,
parameter setting sampling parameters replace the servo drive.
Er10.7 UV current y The current correction y If the fault persists upon next power-on,
correction failure detection accuracy error is replace the servo drive.
greater than 5%.

Er10.8 Excessive current y The current zero drift y If the fault persists upon next power-on,
zero drift detected upon power on is replace the servo drive.
greater than the threshold.

Er10.9 The sampled current y The sampled current y If the fault persists after several times of
during enabling is too during enabling is too drive enabling, replace the servo drive.
large large.

Er11.0 Excessive motor y The motor is rotating when y Keep the motor stationary when the servo
speed upon servo the servo drive is powered drive is powered on.
drive power-on on.
Er11.1 Drive over- y Drive over-temperature y Check whether the fan is abnormal or
temperature whether the ambient temperature is too
high.
y Improve the installation conditions of
the servo unit to reduce the ambient
temperature.
y If the fault persists upon next power-on,
replace the servo drive.
Er20.1 Encoder internal y The encoder has an y Replace the motor.
fault internal fault.

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 ▏ Troubleshooting

Code Name Cause Solution

Er20.2 Encoder reading/ y Encoder data exchange y Use a new encoder cable. If the fault no
writing error exception upon power-on. longer occurs after cable replacement, the
original encoder cable is damaged. If the
fault persists after the encoder cable is
replaced, the encoder may be faulty. In this
case, replace the servo motor.
y Add magnetic rings to the power cable and
encoder cable of the motor.
Er20.3 Encoder data frame y The encoder cable is y Replace the encoder cable.
loss abnormal.

y Intensive interference to y Add magnetic rings to the power cable and

the encoder encoder cable of the motor.
y If the fault persists after the servo drive
is powered off and on several times, the
encoder is faulty. In this case, replace the
servo motor.
Er20.4 Excessive encoder y Abnormal single-turn y Route the motor cables and encoder cables
incremental position position of the encoder through different routes if they are bundled
together.
y If the fault persists after the servo drive
is powered off and on several times, the
encoder is faulty. In this case, replace the
servo motor.
Er20.5 Abnormal encoder y Internal parameters of the y Route the motor cables and encoder cables
data encoder are abnormal. through different routes if they are bundled
together.
y If the fault persists after the servo drive
is powered off and on several times, the
encoder is faulty. In this case, replace the
servo motor.
Er20.6 Mismatch of y Motor model mismatch y Use the motor that matches the drive.
encoder type

Er20.7 Encoder model not y Encoder model not y Use the motor that matches the drive.
supported supported

Er20.8 Encoder battery y The encoder battery y Replace with a new battery of matching
failure voltage is too low. voltage.

y The battery is replaced or y Set F31-10 to 4 to reset the encoder, and

no battery is connected power on the machine again.
during power-off.
y C00.07 is set to the
absolute value for the first
time.

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 Troubleshooting ▕

Code Name Cause Solution

Er20.9 Encoder multi-turn y An encoder multi-turn y Set F31.10 to 4 to reset the encoder, and
error counting error occurs. power on the machine again.
y If the fault persists after multiple times of
power-on, replace the motor.
Er21.0 Mismatch between y Mismatch between y Distribute parameters again for the encoder.
encoder pulses encoder pulses per
per revolution and revolution and drive pulses
drive pulses per per revolution
revolution
Er31.0 More than ten PDO y The number of mapping y Modify the number of PDO mapping objects
mapping objects objects in TPDO or RPDO to a value smaller than or equal to 10.
exceeds 10.
Er32.0 EtherCAT peripheral y EEPROM or IIC bus error. y Replace the servo drive.
error
Er32.1 ESI check error in y The XML configuration file y Check whether the XML version in U42.0B is
FLASH is not programmed. normal. Program the XML file.
Er32.2 Failure to read y Reading EtherCAT data y If the fault persists after the servo drive is
data from EEPROM from EEPROM fails. powered off and on several times, replace
through bus the servo drive.
Er32.3 Failure of update to y The bus fails to update y If the fault persists after the servo drive is
EEPROM through EtherCAT data to EEPROM. powered off and on several times, replace
bus the servo drive.
Er32.4 Correctness of y An error occurs during y If the fault persists after the servo drive is
checksum in ESC XML load check. powered off and on several times, replace
configuration area the servo drive.
Er32.5 EtherCAT failed to y Failed to load the XML y Check whether the XML version in U42.0B is
obtain valid XML file during EtherCAT normal. Program the XML file. Contact the
information communication. technical support personnel.
Er40.0 Drive overload y The servo drive overloads. y Check whether the load rate (U40.07) and
current feedback during drive running are
too large. If large load is required by the
operating conditions, use a servo drive of a
higher power.
Er41.0 Motor overload y The motor and encoder y Connect the cables according to the correct
cables are connected wiring diagram.
improperly or in poor y When customized cables are used, prepare
contact. and connect the cables according to the
wiring instructions.

y The load is too large. The y Check whether the average load factor of
motor keeps outputting the servo drive is greater than 100.0% for a
effective torque higher long time.
than the rated torque for a
long time.

265
 ▏ Troubleshooting

Code Name Cause Solution

y Acceleration/deceleration y Use a large-capacity servo drive and a

is too frequent or the load matching motor, or reduce the load and
inertia is too large. increase the acceleration/deceleration time.
y Check the mechanical inertia ratio or
perform inertia auto-tuning, and view the
value. Check the single running cycle when
the servo motor runs cyclically. Increase
the acceleration/deceleration time during
single-cycle running.

y The gain is improper or the y Check whether the motor vibrates and
rigidity is too high. generates abnormal noise during running.
y Adjust the gain again.

y The servo drive or motor y View the servo drive nameplate, set the
model is set incorrectly. servo drive and motor models correctly, and
use a matching servo motor.

y Motor locked-rotor occurs y Eliminate mechanical factors.

due to mechanical factors,
resulting in overload
during running.

y The servo drive is faulty. y If the fault persists after the servo drive is
powered off and on again, replace the servo
drive.

Er41.1 Motor over- y Power output (UVW) phase y Perform motor trial run without load and
temperature due to loss, disconnection, or check cable connections with a multimeter.
locked-rotor incorrect phase sequence Check whether the cable phase sequence is
occurs on the servo drive. correct.
y Connect cables again according to the
correct wiring diagram or replace the cables.

y Motor parameters are set y Read parameters in group R20 and check
incorrectly. whether the number of pole pairs is correct.
y Auto-tune the motor angle multiple times
and check whether the obtained values are
consistent.
y Correct motor parameters.

y The communication y Check whether commands from the host

command is interfered. controller jitters and eliminate EtherCAT
communication interference.

y Motor locked-rotor occurs y Check for mechanical factors such as locking,

due to mechanical factors. occasional jamming, or eccentricity.
y If the fault persists after the servo drive is
powered off and on several times, contact
our company for technical support.

266
 Troubleshooting ▕

Code Name Cause Solution

Er41.2 Motor over- y The PTC temperature y Check for the PTC motor and check whether
temperature sensor of the motor the PTC cable is connected to the servo
detects motor over- drive.
temperature. y If the servo drive or motor does not support
PTC, disable the PTC function (C06-16=0).
Er42.2 Heatsink y The ambient temperature y Improve the cooling conditions of the servo
temperature too is too high. drive to reduce the ambient temperature.
high
y The servo drive is powered y Change the fault reset method. After
off and on for several overload occurs, wait for 30s before reset.
times to reset the overload Increase the capacity of the servo drive
fault. and motor, increase the acceleration/
deceleration time, and reduce the load.

y The fan is damaged. y Check whether the fan works when the
motor runs. Replace the servo drive.

y The installation direction y Install the servo drive according to the

or clearance of the servo installation requirements.
drive is improper.

y The servo drive is faulty. y If the fault persists even though the servo
drive is restarted 5 minutes after power-off,
replace the servo drive.

Er43.0 Overvoltage y The main circuit input y Replace or adjust the power supply
voltage is too high. according to the specifications.

y The power supply is y Monitor whether the power supply of the

unstable or affected by servo drive is stable, affected by lightning or
lightning. satisfies the specifications.
y Connect an SPD and then switch on the
power supplies of the control circuit and the
main circuit. If the fault persists, replace the
servo drive.

y The braking resistor fails. y Check the wiring of the braking resistor.
Measure the resistance of the external
braking resistor between P and C. If the
resistance is ∞, the internal cables of the
braking resistor are broken. In this case,
replace the resistor.
y Set the power and resistance of the
external braking resistor according to the
specifications of the external braking resistor
in use.

267
 ▏ Troubleshooting

Code Name Cause Solution

y The resistance of the y Measure the resistance of the external

external braking resistor braking resistor between P and C and
is too large, and energy compare the measured value with the
absorption during braking recommended value. Connect a new
is insufficient. external braking resistor of recommended
resistance.
y Set the power and resistance of the
external braking resistor according to the
specifications of the external braking resistor
in use.

y The motor is in abrupt y Confirm the acceleration/deceleration time

acceleration/deceleration during running and measure whether the
status. The maximum DC bus voltage exceeds the fault threshold
braking energy exceeds the during deceleration.
energy absorption value.

y The bus voltage sampling y Ensure the input voltage of the main circuit
value deviates greatly from is within the specified range, and then
the actual measured value. increase the acceleration/deceleration time
within the allowable range.
y Contact our company for technical support.

y The servo drive is faulty. y If the fault persists after the main circuit is
powered off and on several times.
y Replace the servo drive.
Er43.1 Undervoltage y The power supply of the y Measure whether the input voltages at the
main circuit is unstable or main circuit cables and servo drive comply
power failure occurs. with the specifications. Increase the power
y Instantaneous power capacity.
failure occurs.

y The power voltage drops y Monitor the power input voltage of the
during operation. servo drive and check whether the main
circuit power supply is applied to other
devices, resulting in insufficient power
capacity and voltage drop. Increase the
power capacity.

y Phase loss: A single-phase y Check whether the main circuit wiring is

power supply is used for a correct and secure.
three-phase servo drive. y Replace the cables and connect the main
circuit cables properly.

y The servo drive is faulty. y If the fault persists after the main circuit is
powered off and on several times, replace
the servo drive.

268
 Troubleshooting ▕

Code Name Cause Solution

Er45.0 S-ON enabling y The multiple S-ON enabling y Do not turn on the S-ON signal
failure methods conflict. simultaneously for multiple control modes
(such as servo background and host
controller).

Er46.0 Motor overspeed y The motor cable U, V, y Check whether the servo drive power
and W phase sequence is cables are connected to UVW terminals of
incorrect. the motor and servo drive in the correct
sequence on both sides. Connect the U,
V, and W phases according to the correct
sequence.

y The overspeed threshold is y Check whether the overspeed threshold is

set incorrectly. smaller than the actual maximum motor
speed. Reset the overspeed threshold
according to the mechanical requirements.
When C06.03 is set to 0, the overspeed
threshold is the maximum speed of the
motor.

y The input reference y Check whether the motor speed

exceeds the overspeed corresponding to the input reference
threshold. exceeds the overspeed threshold. Set the
speed limit to a value smaller than the
overspeed threshold.

y The motor speed y Check whether the speed feedback exceeds

overshoots. the overspeed threshold through the
commissioning platform. Adjust the gain or
mechanical operating conditions.

y The servo drive is faulty. y If the fault persists after the servo drive is
powered off and on, replace the servo drive.

269
 ▏ Troubleshooting

Code Name Cause Solution

Er47.0 Excessive position y Power output (UVW) y Perform motor trial run without load and
deviation phase loss or incorrect check cable connections.
phase sequence occurs on y Connect cables again according to the
the servo drive. correct wiring diagram or replace the cables.

y The servo drive UVW y Check and connect the cables again. Check
output cable or the whether the servo motor power cables
encoder cable breaks. (UVW) are in the same phase sequence as
the servo drive cables.
y Replace all the cables with new cables if
necessary and ensure all the cables are
connected securely.

y Motor locked-rotor occurs y Eliminate mechanical factors.

due to mechanical factors.

y The servo drive gain is low. y Adjust the gain manually or perform gain
auto-tuning.

y The position reference y Increase the acceleration/deceleration

increment is too large. ramp.Decrease the gear ratio according to
the actual conditions.

y The fault value is too small y Check whether the position deviation fault
in relative to the operating value is set to a too small value. Increase the
conditions. position deviation alarm threshold (6065h).

y The servo drive or motor is y Monitor the operating waveform through

faulty. the oscilloscope function in the drive
commissioning platform: position reference,
position feedback, speed reference, and
torque reference. If the position reference is
not 0, but the position feedback is always 0,
replace the servo drive or motor.

270
 Troubleshooting ▕

Code Name Cause Solution

Er47.1 Position deviation y Power output (UVW) y Perform motor trial run without load and
overflow phase loss or incorrect check cable connections.
phase sequence occurs on y Connect cables again according to the
the servo drive. correct wiring diagram or replace the cables.

y The servo drive UVW y Check and connect the cables again. Check
output cable or the whether the servo motor power cables
encoder cable breaks. (UVW) are in the same phase sequence as
the servo drive cables.
y Replace all the cables with new cables if
necessary and ensure all the cables are
connected securely.

y Motor locked-rotor occurs y Eliminate mechanical factors.

due to mechanical factors.

y The servo drive gain is low. y Adjust the gain manually or perform gain
auto-tuning.

y The position reference y Adjust the position reference. Decrease the

increment is too large. gear ratio according to the actual conditions.

y The fault value is too small y Check whether the position deviation fault
in relative to the operating value is set to a too small value. Increase the
conditions. setpoint.

y The servo drive or motor is y Monitor the operating waveform through

faulty. the oscilloscope function in the drive
commissioning platform: position reference,
position feedback, speed reference, and
torque reference. If the position reference is
not 0, but the position feedback is always 0,
replace the servo drive or motor.
Er50.1 D/Q current y A current sampling error y If the fault persists after several times of
overflow occurs. power-on, replace the servo drive.

271
 ▏ Troubleshooting

Code Name Cause Solution

Er51.0 Offline inertia auto- y Continuous vibration y Enable the vibration suppression function
tuning failure occurs during auto-tuning. to eliminate vibration if vibration cannot be
The auto-tuning result automatically suppressed.
fluctuates greatly. y Troubleshoot and remove the alarm. After
y The mechanical connection that, perform auto-tuning again.
of the load is loose due to y Increase the maximum running speed,
offset of the machinery. decrease the acceleration/deceleration
y An alarm is reported time, and shorten the travel of the screw
during the auto-tuning machinery.
process, leading to
operation interruption.
y Vibration of the load
with large inertia cannot
be suppressed. The
acceleration/deceleration
time must be increased
to ensure that the motor
current is not saturated.

Er51.1 Offline inertia y The torque during auto- y Decrease the auto-tuning speed (C07.01)
parameter error tuning is too large. and auto-tuning target torque (C07.03), and
increase the number of auto-tuning turns
(C07.04).
Er52.0 Angle auto-tuning y Angle auto-tuning failure y Set the motor parameters correctly.
failure y Perform motor wiring again.
Er53.0 Motor parameter y Motor parameter auto- y Contact our company for technical support.
auto-tuning timeout tuning timeout

Er53.1 Resistance y Contact our company for technical support.

y Resistance parameter
parameter auto-
auto-tuning failure
tuning failure

Er53.2 Inductance y Contact our company for technical support.

y Inductance parameter
parameter auto-
auto-tuning failure
tuning failure

Er53.3 Back EMF parameter y Back EMF parameter auto- y Contact our company for technical support.
auto-tuning failure tuning failure

Er54.0 Current loop auto- y Current loop auto-tuning y Contact our company for technical support.
tuning failure failure

Er55.0 Excessive vibration y The vibration is excessive. y Reset the gain parameters.

Er74.0 EtherCAT y After the system switches y Change the synchronization cycle of the host
synchronization over to the operation controller.
cycle setting error mode, the synchronization
cycle is not an integral
multiple of 250 μs.

272
 Troubleshooting ▕

Code Name Cause Solution

Er74.1 No sync signal y The communication y Correct the master communication
synchronization clock is configuration.
configured incorrectly for
the master.
Er74.2 Chip synchronization y Synchronization interrupt y If the fault persists after re-power-on,
process is not detected in several contact us.
uncompleted in OP position loop periods of
the servo drive.
Er80.0 Control power y The control power supply y Check whether the voltage drops during
undervoltage is unstable or power failure control power cutoff or instantaneous power
occurs. failure occurs. Power on the device again.
If the fault is caused by abnormal power
failure, ensure stable power supply. Check
whether the input voltage of the control
power cables satisfies the specifications.
Increase the power capacity.

y The control power cables y Check whether control power cables are
are in poor contact. connected and whether voltage of control
power cables on the servo drive side
satisfies the specifications. Connect the
cables again or replace the cables.
Er81.0 Input phase loss 1 y Input phase loss y Check whether the input three-phase AC
power supply is normal. If the power supply
is normal, replace the drive.
Er81.1 Input phase loss 2 y Input phase loss y Check whether the input three-phase AC
power supply is normal. If the power supply
is normal, replace the drive.
Er81.2 Output phase loss y Output UVW y Replace the motor cable.
(reserved) disconnection

Er82.0 DI function y One function is allocated y Allocate different function numbers to

allocation fault to multiple DI terminals. parameters allocated with the same non-
zero function number, and turn on the
control power supply to make the settings
take effect. Or, disable the S-ON signal and
then send a reset signal to make the settings
take effect.

y The function number set y Check whether the MCU program is

for the DI terminal exceeds updated. Restore default settings (F31.02=1)
the maximum value. and power on the system again.
Er82.1 DO function y The function number y Set the correct DO function number. Restore
allocation fault set for the DO terminal default settings (F31.02=1) and power on
exceeds the maximum the system again.
value.

273
 ▏ Troubleshooting

Code Name Cause Solution

Er84.0 Electronic gear ratio y The electronic gear ratio y Set the electronic gear ratio correctly (0.001,
setting error exceeds the limit. 4000 x Encoder resolution/10000).

Er84.1 Software limit y The software limit lower y Reset the value to make the minimum
setting error limit is greater than or software absolute position limit is smaller
equal to the upper limit. than the maximum one.

Er84.2 Encoder resolution y The encoder resolution is y Restore default settings (C31.02=1) and
setting error abnormal. power on the system again.

Er84.3 Home position y The home offset is beyond y When the encoder works in the incremental,
setting error the software limits. absolute linear, or single-turn absolute value
mode, set the home offset to be within the
software limits.

y The home offset is beyond y When the encoder works in the rotating
the limits in rotating mode. mode, set the home offset to a value
between the upper and lower limits of the
mechanical single-turn.

Er87.1 One-time excessive y The target position y Check the change of two adjacent target
position reference increment is too large. positions through the drive commissioning
increment (one-time One-time increment of platform.
increment of the the target position is over y Check whether the maximum speed of the
target position is 5 times of the maximum motor meets application requirements. If
over 5 times of the speed. yes, decrease the target position reference
maximum speed) increment to lower the planned reference
speed. If no, replace the motor.
y Before switching the mode or enabling the
S-ON signal, align the target position with
the current position feedback.
y Check the encoder resolution and electronic
gear ratio set for the host controller. Check
whether the encoder resolution matches
the actual motor encoder resolution.
y If data received from the slave is incorrect
due to communication time sequence
error of the host controller, check the
communication sequence of the host
controller.

274
 Troubleshooting ▕

Code Name Cause Solution

Er87.2 Continuous y The target position y Check the change of two adjacent target
excessive position increment is too large. positions through the drive commissioning
reference increment Increment of the target platform.
(increment of the position exceeds the y Check whether the maximum speed of the
target position maximum speed for 3 motor meets application requirements. If
exceeds the consecutive times. yes, decrease the target position reference
maximum speed for increment to lower the planned reference
3 consecutive times) speed. If no, replace the motor.
y Before switching the mode or enabling the
S-ON signal, align the target position with
the current position feedback.
y If data received from the slave is incorrect
due to communication time sequence
error of the host controller, check the
communication sequence of the host
controller.
Er87.3 Overflow of 32-bit y 32-bit sign bit of the target y The target position reference at the limit is
sign bit of the target position overflows during too large.
position during limiting.
limiting

Er87.4 Target position y The target position y Set the target position to a value between
exceeding maximum exceeds the single-turn the single-turn upper and lower limits.
value of mechanical position upper/lower limit
single-turn position in absolute value rotation
in rotating mode mode or single-turn
rotation mode.
ErA0.1 Multi-turn overflow y The number of turns of y Set F31-10 to 4 to reset the fault and multi-
fault the absolute encoder turn data, and power on the machine again.
in the forward direction Perform homing again when necessary.
or reverse direction
exceeds 32767 or 32768,
respectively.

ErC1.0 Excessive EtherCAT y The synchronization period y Increase the value of the manufacturer
synchronization error of the controller is parameter C13.06. If the fault persists,
period error too large. replace the drive.

ErC1.1 Synchronization loss y The communication y Perform the test on another master. Correct
synchronization clock is the master communication configuration.
configured incorrectly for
the master.

y The IN and OUT ports for y Connect the IN and OUT ports in the correct
EtherCAT communication sequence.
are connected inversely.

275
 ▏ Troubleshooting

Code Name Cause Solution

y The controller chip of the y If the fault persists after the master is
slave is damaged. replaced, use an oscilloscope to measure
the synchronization signal generated by the
slave controller chip. If there is no signal, the
slave controller chip is damaged. Return to
factory for repair or replace the controller
chip of the slave.

y The MCU pin is damaged. y Use an oscilloscope to measure the

synchronization signal generated by the
slave controller chip. If there is signal, the
MCU chip pin is damaged. Return to factory
for repair or replace the MCU chip.

ErC1.2 Network status y Master malfunction or y Check the network status switchover
switchover error manual malfunction program of the host controller.
occurs. y Use a shielded twisted-pair communication
cable.
y Ground the servo drive according to the
standard.
y Check the network connection status
according to the LED.
ErC1.4 Network cable y The physical connection of y Check whether the network cable
connection the data link is unstable, connection of the drive is reliable and firm,
unreliable or the process data is and whether there is severe vibration on
lost due to network cable site.
connection and removal.

ErC1.5 Data frame loss y Data loss occurs due to y Ensure reliable grounding and correct EMC.
protection error EMC interference, poor y Check whether the network cable is the one
network cable quality, or specified by SynMatic.
poor connection. y Check whether the network cable
connection is reliable.
ErC1.6 Data frame y An upper station has y Ensure reliable grounding and correct EMC.
forwarding error detected and marked that y Check whether the network cable is the one
the data frame has been specified by SynMatic.
damaged. When the data y Check whether the network cable
frame is forwarded to the connection is reliable.
current slave, an alarm is
reported.

ErC1.7 Data update y The data frame has been y Check whether the load of the master CPU
timeout lost or discarded at an is excessive. Change the sync signal offset
upper station or the value.
master performance is
poor.

ErC1.8 Watchdog expired y The master configuration y Modify the watchdog configuration of the
is incorrect. host controller.

276
 Troubleshooting ▕

Code Name Cause Solution

ErC2.0 SYNC signal loss y The physical connection of y Replace the network cable with a more
the data link is unstable, reliable one. If the fault persists, contact
or the process data is technical support.
lost due to network cable
connection and removal.

ALF0.0 Emergency stop y Check whether the logic y Check the operation mode and clear DI
alarm of the DI allocated with emergency stop valid signal when safety is
function 4 (Emergency guaranteed.
stop) is valid.

ALF1.0 Re-power-on y Modifications of some y Power on the device again.

required for servo drive parameters
parameter settings take effect only after the
to take effect servo drive is powered
on again. After these
parameters are modified,
the servo drive reminds
users to restart it.

ALF1.2 Torque reached y In torque control mode, y Set the torque output when torque reached
parameter error the DO setting for torque DO signal turned on to be greater than
reach is invalid. torque output when torque reached DO
signal turned off. Set C03.4A to be greater
than C03.4B.
ALF1.3 Too frequent writing y A large number of y Do not frequently write parameters into
of EEPROM by host parameters are modified cloud platform EEPROM on the host
controller SDO and saved frequently. controller.
ALF2.0 Forward overtravel y The positive limit (PL) DI is y Run the motor in the reverse direction to
alarm active. the restricted range.

y The drive position y Run the motor in the reverse direction to

feedback is at the forward the re-stricted range or increase the positive
software position limit. software position limit.

y The home offset setting y Set the home offset within the software
exceeds the software position limit range.
position limit.
ALF2.1 Reverse overtravel y The negative limit (NL) DI y Run the motor in the forward direction to
alarm is active. the restricted range.

y The drive position y Run the motor in the forward direction to

feedback is at the reverse the restricted range or decrease the positive
software position limit. software position limit.

y The home offset setting y Set the home offset within the software
exceeds the software position limit range.
position limit.
ALF4.0 Homing timeout y The homing time exceeds y Appropriately adjust the homing speed and
the setpoint. homing time, and ensure that the external
home signal connection is reliable (if used).

277
 ▏ Troubleshooting

Code Name Cause Solution

ALF4.1 Homing DI conflict y During homing, both the y Check whether the home signal and limit
forward and reverse limits signal are correct.
are valid or both the home
signal and limit signal are
valid.

ALF4.2 Homing mode y The homing mode is set y Check whether the homing mode set
conflict incorrectly. in object dictionary 6098h on the host
controller is correct.

ALF5.0 Braking resistor y The cable connected y Connect the external braking resistor
overload to the external braking between P and C with a new cable.
resistor is in poor contact, y Replace the external braking resistor with
disconnected, or broken. a new one. Ensure that the resistance
measured is the same as the nominal value,
and then connect the resistor between P
and C.

y The resistance of the y Select a resistor with a proper resistance

external braking resistor according to the specification requirements.
used is too large.

y The resistance setpoint is y Set the value according to the resistance of

greater than the resistance the external bleeder resistor in use.
of the external braking
resistor used.

y The input voltage of the y Replace or adjust the power supply

main circuit is beyond the according to the specifications.
specification.

y The load moment of y Select an external braking resistor with large

inertia ratio is too large. capacity and set its resistance to the actual
one.

y The motor speed is too y Select a servo drive with a large capacity.
high and the deceleration
process is not completed
within the set deceleration
time. The motor is in
continuous deceleration
state during cyclic running.

y The capacity of the servo y Reduce the load if allowed.

drive or the braking y Increase the acceleration/deceleration time
resistor is insufficient. if allowed.
y Increase the motor running cycle if allowed.

278
 Troubleshooting ▕

Code Name Cause Solution

ALF5.1 External braking y The resistance of the y Replace with an external braking resistor
resistance too small external braking resistor is matching the servo drive, with the resistance
smaller than permissible greater than the minimum value, and set
minimum resistance by the C00.10 to the resistance value.
servo drive.

ALF6.1 Output phase loss y The output current is y Check whether the power cable is broken. If
abnormal. so, replace the cable.

ALF8.0 Vibration occurred y Continuous vibration y Check the mechanical installation clearance
during auto-tuning occurs during auto-tuning. and connection reliability.
y The mechanical connection
of the load is loose due to
offset of the machinery.

y Vibration of the load y Appropriately adjust the inertia auto-tuning

with large inertia cannot parameters (C07.00, C07.01, C07.03, and
be suppressed. The C07.04), reduce the values of the auto-
acceleration/deceleration tuning speed (C07.01) and auto-tuning
time must be increased target torque (C07.03), and increase the
to ensure that the mo-tor number of auto-tuning turns (C07.04).
current is not saturated.
ALF9.0 Encoder battery y The encoder battery y Replace the encoder battery.
voltage low voltage is too low.

ALFA.0 Drive high y Drive high temperature y Check whether the fan is abnormal or
temperature warning whether the ambient temperature is too
warning high.
y Improve the installation conditions of
the servo unit to reduce the ambient
temperature.
xxnr Servo not ready y The voltage of the control y Check the U40.35 parameter for the control
power is too low. bus voltage, and ensure that the power
supply is normal.

y The main circuit voltage is y Check the U40.36 parameter for the primary
too low. bus voltage, and ensure that the power
supply is normal.

y The input AC signal is y Check the input AC power supply and the three-
abnormal. phase AC main power supply, and ensure that the
power supply is normal.

y The encoder battery y Measure the voltage of the encoder battery.

voltage is too low. If the voltage is less than 2.9 V, replace the
battery.

279
 ▏ Parameter List

Chapter 11 Parameter List

11.1 Parameter Group Description

Parameter access address: index+subindex, both in hexadecimal format
The CiA402 protocol has the following constraints on the address of system parameters.

Index Description
0001h—0FFFh Data type description
1000h—1FFFh CoE communication object
2000h—5FFFh Manufacturer specific object
6000h—9FFFh Sub-protocol object
A000h—FFFFh Reserved

11.2 Parameter List

11.2.1 Common Parameters in Group 2000h

Parameters (2000h/C00)

Param- Value Data Modifica- Effective

Index Name Options Default Unit
eter Range Type tion Mode Time

Immedi-
01h C00.00 Control mode 10: EtherCAT 0-10 10 - U16 At stop
ately

Motor rotating 0: CCW Upon re-

02h C00.01 0-1 0 - U16 At stop
direction 1: CW power-on

0: Manual mode
Auto-tuning During Immedi-
05h C00.04 1: Standard mode 0-2 1 - U16
mode operation ately
2: Positioning mode

During Immedi-
06h C00.05 Stiffness level - 1-31 12 - U16
operation ately

During Immedi-
07h C00.06 Load inertia ratio - 0-12000 100 % U16
operation ately

280
 Parameter List ▕

Param- Value Data Modifica- Effective

Index Name Options Default Unit
eter Range Type tion Mode Time

0: Incremental position
mode
1: A bsolute position linear
mode
2: A bsolute position linear
infinite mode
Upon re-
08h C00.07 Absolute mode 3: A bsolute position single- 0-5 0 - U16 At stop
power-on
turn mode
4: Absolute position rotation
mode
5: Absolute mechanical single-
turn mode (operating
direction selectable)

0: Internal bleeder resistor

Bleeder resistor 1: External bleeder resistor Immedi-
11h C00.10 0-3 0 - U16 At stop
selection 2: No bleeder resistor ately
3: Capacitor bleeder resistor

Bleeder resistor Immedi-

12h C00.11 - 1-65535 50 W U16 At stop
power ately

Bleeder resistor Immedi-

13h C00.12 - 1-65535 50 Ω U16 At stop
resistance ately

Bleeder resistor
During Immedi-
14h C00.13 heat dissipation - 1-100 30 - U16
operation ately
coeffi-cient

Brake enable Immedi-

15h C00.14 - 0-1 0 - U16 At stop
switch ately

0: Default display
1: Speed display
During Immedi-
17h C00.16 Panel display 2: Torque display 0-4 0 - U16
operation ately
3: Voltage display
4: Load rate display

During Immedi-
32h C00.31 Super user - 0-65535 0 - U16
operation ately

NOTICE
y For details about parameters above, refer to section 11.3.1 "Group C00".

281
 ▏ Parameter List

Basic Gain Parameters (2001h/C01)

Param- Value Data Modifica- Effective

Index Name Options Default Unit
eter Range Type tion Mode Time

1st position loop 0.1rad/ During Immedi-

01h C01.00 - 0-20000 400 U16
gain s operation ately

1st speed loop During Immedi-

02h C01.01 - 1-20000 250 0.1Hz U16
gain operation ately

1st speed loop

During Immedi-
03h C01.02 integral time - 1-51200 3184 0.01ms U16
operation ately
parameter

1st torque
During Immedi-
04h C01.03 reference filter - 5-16000 200 Hz U16
operation ately
cutoff frequency

2nd position loop 0.1rad/ During Immedi-

09h C01.08 - 0-20000 560 U16
gain s operation ately

2nd speed loop During Immedi-

0Ah C01.09 - 1-20000 350 0.1Hz U16
gain operation ately

2nd speed loop

During Immedi-
0Bh C01.0A integral time - 1-51200 2274 0.01ms U16
operation ately
parameter

2nd torque
During Immedi-
0Ch C01.0B reference filter - 5-16000 280 Hz U16
operation ately
cutoff frequency

0: Internal setting
1: Low-pass filter
Speed feedback 2: O
 verlapping average Immedi-
11h C01.10 0-4 0 - U16 At stop
filter filter ately
3: Speed observer
4: No filter

Cutoff frequency
During Immedi-
12h C01.11 of speed feedback - 10-16000 8000 Hz U16
operation ately
low-pass filter

0: No filter
1: 2 times filter
Speed feedback
2: 4 times filter
overlapping During Immedi-
13h C01.12 3: 8 times filter 0-6 0 - U16
average filter time operation ately
4: 16 times filter
constant
5: 32 times filter
6: 64 times filter

0: No feedforward
Speed
1: Internal reference During Immedi-
14h C01.13 feedforward 0-5 0 - U16
2: Model tracking operation ately
source
5: Communication

282
 Parameter List ▕

Param- Value Data Modifica- Effective

Index Name Options Default Unit
eter Range Type tion Mode Time

Speed
During Immedi-
15h C01.14 feedforward - 0-2000 0 0.1% U16
operation ately
percentage
Speed
During Immedi-
16h C01.15 feedforward filter - 5-16000 318 Hz U16
operation ately
cutoff frequency
0: No feedforward
Torque
1: Internal reference During Immedi-
17h C01.16 feedforward 0-5 0 - U16
2: Model tracking operation ately
source
5: Communication
Torque
During Immedi-
18h C01.17 feedforward - 0-2000 0 0.1% U16
operation ately
percentage
Torque
During Immedi-
19h C01.18 feedforward filter - 5-16000 318 Hz U16
operation ately
cutoff frequency
PDFF control During Immedi-
1Ch C01.1B - 0-1000 1000 0.1% U16
coefficient operation ately
Damping factor During Immedi-
1Dh C01.1C - 0-1000 0 0.1% U16
control coefficient operation ately
Position reference
overlapping Immedi-
21h C01.20 - 0-1280 0 0.1ms U16 At stop
average filter time ately
constant A
Position reference
overlapping Immedi-
22h C01.21 - 0-1280 0 0.1ms U16 At stop
average filter time ately
constant B
Position reference
Immedi-
23h C01.22 low-pass filter - 0-65535 0 0.1ms U16 At stop
ately
time constant A
Position reference
Immedi-
24h C01.23 low-pass filter - 0-65535 0 0.1ms U16 At stop
ately
time constant B
1st notch filter
Immedi-
25h C01.24 frequency of - 0-2000 0 0.1Hz U16 At stop
ately
position reference
1st notch filter
Immedi-
26h C01.25 width of position - 0-1000 0 0.1% U16 At stop
ately
reference

283
 ▏ Parameter List

Param- Value Data Modifica- Effective

Index Name Options Default Unit
eter Range Type tion Mode Time

1st notch filter

Immedi-
27h C01.26 depth of position - 10-1000 1000 0.1% U16 At stop
ately
reference
2nd notch filter
Immedi-
28h C01.27 frequency of - 0-2000 0 0.1Hz U16 At stop
ately
position reference
2nd notch filter
Immedi-
29h C01.28 width of position - 0-1000 0 0.1% U16 At stop
ately
reference
2nd notch filter
Immedi-
2Ah C01.29 depth of position - 10-1000 1000 0.1% U16 At stop
ately
reference
Position reference
Immedi-
2Bh C01.2A pre-charge filter - 0-1280 0 0.1ms U16 At stop
ately
time constant
0: Disabled
1: 1st notch
Adaptive notch 2: 2nd notch During Immedi-
31h C01.30 0-4 0 - U16
mode 3: Notch parameter reset operation ately
4: R
 esonance frequency
tested only
Adaptive notch Immedi-
32h C01.31 - 0-65535 0 Times U16 At stop
test times ately
0: Fixed to the 1st gain set
1: DI switchover
2: DI P-PI switchover
3: Torque reference
Gain switchover 4: Speed reference Immedi-
39h C01.38 0-8 0 - U16 At stop
mode 5: Speed feedback ately
6: S peed reference
change rate
7: Position deviation
8: Position reference
Gain switchover During Immedi-
3Ah C01.39 - 10-10000 50 0.1ms U16
time operation ately

Gain switchover During Immedi-

3Bh C01.3A - 0-65535 10 - U16
threshold operation ately

Gain switchover During Immedi-

3Ch C01.3B - 0-65535 10 - U16
loop width operation ately

Frequency of the During Immedi-

41h C01.40 - 10-8000 8000 Hz U16
1st notch operation ately

Width level of the During Immedi-

42h C01.41 - 0-4000 0 0.1% U16
1st notch operation ately

284
 Parameter List ▕

Param- Value Data Modifica- Effective

Index Name Options Default Unit
eter Range Type tion Mode Time

Depth level of the During Immedi-

43h C01.42 - 10-1000 1000 0.1% U16
1st notch operation ately

Frequency of the During Immedi-

44h C01.43 - 10-8000 8000 Hz U16
2nd notch operation ately

Width level of the During Immedi-

45h C01.44 - 0-4000 0 0.1% U16
2nd notch operation ately

Depth level of the During Immedi-

46h C01.45 - 10-1000 1000 0.1% U16
2nd notch operation ately

Frequency of the During Immedi-

47h C01.46 - 10-8000 8000 Hz U16
3rd notch operation ately

Width level of the During Immedi-

48h C01.47 - 0-4000 0 0.1% U16
3rd notch operation ately

Depth level of the During Immedi-

49h C01.48 - 10-1000 1000 0.1% U16
3rd notch operation ately

Frequency of the During Immedi-

4Ah C01.49 - 10-8000 8000 Hz U16
4th notch operation ately

Width level of the During Immedi-

4Bh C01.4A - 0-4000 0 0.1% U16
4th notch operation ately

Depth level of the During Immedi-

4Ch C01.4B - 10-1000 1000 0.1% U16
4th notch operation ately

Frequency of the During Immedi-

4Dh C01.4C - 10-8000 8000 Hz U16
5th notch operation ately

Width level of the During Immedi-

4Eh C01.4D - 0-4000 0 0.1% U16
5th notch operation ately

Depth level of the During Immedi-

4Fh C01.4E - 10-1000 1000 0.1% U16
5th notch operation ately

NOTICE
y For details about parameters above, refer to section 11.3.2 "Group C01".

Advanced Gain Parameters (2002h/C02)

Param- Data Modifica- Effective

Index Name Options Value Range Default Unit
eter Type tion Mode Time

0: Disabled
Model tracking Immedi-
01h C02.00 1: S ingle mass model 0-1 0 - U16 At stop
control ately
tracking

285
 ▏ Parameter List

Param- Data Modifica- Effective

Index Name Options Value Range Default Unit
eter Type tion Mode Time

Model tracking 0.1rad/ During Immedi-

02h C02.01 - 10-20000 500 U16
control gain s operation ately

Model tracking
During Immedi-
03h C02.02 inertia correction - 10-8000 1000 0.1% U16
operation ately
coefficient

Speed observer During Immedi-

31h C02.30 - 0-40000 0 0.1Hz U16
gain operation ately

Speed observer During Immedi-

32h C02.31 - 10-8000 1000 0.1% U16
inertia correction operation ately

Speed observer
During Immedi-
33h C02.32 speed feedback - 0-16000 0 Hz U16
operation ately
cutoff frequency

Frequency
During Immedi-
39h C02.38 for vibration - 10-20000 1000 0.1Hz U16
operation ately
suppression 1

Inertia correction
During Immedi-
3Ah C02.39 for vibration - 10-8000 1000 0.1% U16
operation ately
suppression 1

Low-pass filter
correction During Immedi-
3Bh C02.3A - -9999-9999 0 0.1Hz I16
for vibration operation ately
suppression 1

Correction of
high-pass filter 1 During Immedi-
3Ch C02.3B - -9999-9999 0 0.1Hz I16
for vibration sup- operation ately
pression 1

Frequency of high-
pass filter 2 for During Immedi-
3Dh C02.3C - 10-50000 20000 0.1Hz U16
vibration sup- operation ately
pression 1

Ratio of
compensation During Immedi-
3Eh C02.3D - 0-20000 0 0.1% U16
1 for vibration operation ately
suppression 1

Ratio of
compensation During Immedi-
3Fh C02.3E - 0-20000 0 0.1% U16
2 for vibration operation ately
suppression 1

Frequency
During Immedi-
41h C02.40 for vibration - 10-20000 1000 0.1Hz U16
operation ately
suppression 2

286
 Parameter List ▕

Param- Data Modifica- Effective

Index Name Options Value Range Default Unit
eter Type tion Mode Time

Inertia correction
During Immedi-
42h C02.41 for vibration - 10-8000 1000 0.1% U16
operation ately
suppression 2

Low-pass filter
correction During Immedi-
43h C02.42 - -9999-9999 0 0.1Hz I16
for vibration operation ately
suppression 2

Correction of
high-pass filter 1 During Immedi-
44h C02.43 - -9999-9999 0 0.1Hz I16
for vibration sup- operation ately
pression 2

Frequency of high-
pass filter 2 for During Immedi-
45h C02.44 - 10-50000 20000 0.1Hz U16
vibration sup- operation ately
pression 2

Ratio of
compensation During Immedi-
46h C02.45 - 0-20000 0 0.1% U16
1 for vibration operation ately
suppression 2

Ratio of
compensation During Immedi-
47h C02.46 - 0-20000 0 0.1% U16
2 for vibration operation ately
suppression 2

Frequency
During Immedi-
49h C02.48 for vibration - 10-20000 1000 0.1Hz U16
operation ately
suppression 3

Inertia correction
During Immedi-
4Ah C02.49 for vibration - 10-8000 1000 0.1% U16
operation ately
suppression 3

Low-pass filter
correction During Immedi-
4Bh C02.4A - -9999-9999 0 0.1Hz I16
for vibration operation ately
suppression 3

Correction of
high-pass filter 1 During Immedi-
4Ch C02.4B - -9999-9999 0 0.1Hz I16
for vibration sup- operation ately
pression 3

Frequency of high-
pass filter 2 for During Immedi-
4Dh C02.4C - 10-50000 20000 0.1Hz U16
vibration sup- operation ately
pression 3

287
 ▏ Parameter List

Param- Data Modifica- Effective

Index Name Options Value Range Default Unit
eter Type tion Mode Time

Ratio of
compensation During Immedi-
4Eh C02.4D - 0-20000 0 0.1% U16
1 for vibration operation ately
suppression 3

Ratio of
compensation During Immedi-
4Fh C02.4E - 0-20000 0 0.1% U16
2 for vibration operation ately
suppression 3

Disturbance During Immedi-

61h C02.60 - 0-40000 0 0.1Hz U16
observer gain operation ately

Disturbance
observer inertia During Immedi-
62h C02.61 - 1-10000 1000 0.1% U16
correction operation ately
coefficient

Disturbance
During Immedi-
63h C02.62 observer low-pass - 0-16000 0 Hz U16
operation ately
cutoff frequency

Disturbance
observer
During Immedi-
64h C02.63 compensation - 0-2000 0 0.1% U16
operation ately
torque per-
centage

Friction
compensation During Immedi-
69h C02.68 - 0-255 0 - U16
switch and operation ately
relevant setting

Friction
During Immedi-
6Ah C02.69 compensation - 0-5000 20 0.1rpm U16
operation ately
speed threshold

Static friction During Immedi-

6Bh C02.6A - 0-2000 0 0.1% U16
compensation operation ately

Forward friction
During Immedi-
6Ch C02.6B compensation of - 0-2000 0 0.1% U16
operation ately
coulomb friction

Reverse friction
During Immedi-
6Dh C02.6C compensation of - -2000-0 0 0.1% I16
operation ately
coulomb friction

Viscous friction
During Immedi-
6Eh C02.6D torque for rated - 0-2000 0 0.1% U16
operation ately
speed

288
 Parameter List ▕

Param- Data Modifica- Effective

Index Name Options Value Range Default Unit
eter Type tion Mode Time

Friction
During Immedi-
6Fh C02.6E compensation - 0-65535 0 0.01ms U16
operation ately
filter time

Friction
compensation During Immedi-
70h C02.6F - 0-1000 10 0.1rpm U16
threshold for zero operation ately
speed

Instruction Parameters (2003h/C03)

Param- Value Data Modifica- Effective

Index Name Options Default Unit
eter Range Type tion Mode Time

During Immedi-
22h C03.21 Speed reference - -8000-8000 100 rpm I16
operation ately

During Immedi-
23h C03.22 Acceleration rate - 0-3600000 10 ms U32
operation ately

During Immedi-
25h C03.24 Deceleration rate - 0-3600000 10 ms U32
operation ately

Internal positive speed During Immedi-

28h C03.27 - 0-8000 6000 rpm U16
limit operation ately

Internal negative speed During Immedi-

29h C03.28 - 0-8000 6000 rpm U16
limit operation ately

During Immedi-
2Ch C03.2B Speed reach threshold - 0-8000 1000 rpm U16
operation ately

Speed synchronization During Immedi-

2Dh C03.2C - 0-1000 10 rpm U16
threshold operation ately

Speed rotation During Immedi-

2Eh C03.2D - 0-1000 20 rpm U16
threshold operation ately

Zero speed output During Immedi-

2Fh C03.2E - 0-1000 10 rpm U16
threshold operation ately

During Immedi-
42h C03.41 Torque reference - -4000-4000 0 0.1% I16
operation ately

Internal positive torque During Immedi-

44h C03.43 - 0-4000 3000 0.1% U16
limit operation ately

Internal negative torque During Immedi-

45h C03.44 - 0-4000 3000 0.1% U16
limit operation ately
Positive speed limit in During Immedi-
48h C03.47 - 0-8000 3000 rpm U16
torque mode operation ately

289
 ▏ Parameter List

Param- Value Data Modifica- Effective

Index Name Options Default Unit
eter Range Type tion Mode Time

Negative speed limit in During Immedi-

49h C03.48 - 0-8000 3000 rpm U16
torque mode operation ately
Reference value for During Immedi-
4Ah C03.49 - 0-4000 0 0.1% U16
torque reach operation ately
Valid value for torque During Immedi-
4Bh C03.4A - 0-4000 200 0.1% U16
reached operation ately
Invalid value for torque During Immedi-
4Ch C03.4B - 0-4000 100 0.1% U16
reached operation ately

NOTICE
y For details about parameters above, refer to section 11.3.3 "Group C03".

I/O Parameters (2004h/C04)

Param- Value Data Modifica- Effective

Index Name Options Default Unit
eter Range Type tion Mode Time

0: No definition
1: S-ON
2: Fault reset
4: Emergency stop
DI1 function Immedi-
01h C04.00 5: Home switch 0-32 6 - U16 At stop
selection ately
6: Forward overtravel
7: Reverse overtravel
30: Probe 1
31: Probe 2
0: Active low During Immedi-
02h C04.01 DI1 logic selection 0-1 0 - U16
1: Active high operation ately
During Immedi-
03h C04.02 DI1 filter time - 0-65535 150 0.01ms U16
operation ately
0: No definition
1: S-ON
2: Fault reset
4: Emergency stop
DI2 function Immedi-
05h C04.04 5: Home switch 0-32 7 - U16 At stop
selection ately
6: Forward overtravel
7: Reverse overtravel
30: Probe 1
31: Probe 2
0: Active low During Immedi-
06h C04.05 DI2 logic selection 0-1 0 - U16
1: Active high operation ately

290
 Parameter List ▕

Param- Value Data Modifica- Effective

Index Name Options Default Unit
eter Range Type tion Mode Time

During Immedi-
07h C04.06 DI2 filter time - 0-65535 150 0.01ms U16
operation ately

0: No definition
1: S-ON
2: Fault reset
4: Emergency stop
DI3 function Immedi-
09h C04.08 5: Home switch 0-32 5 - U16 At stop
selection ately
6: Forward overtravel
7: Reverse overtravel
30: Probe 1
31: Probe 2

0: Active low During Immedi-

0Ah C04.09 DI3 logic selection 0-1 0 - U16
1: Active high operation ately

During Immedi-
0Bh C04.0A DI3 filter time - 0-65535 150 0.01ms U16
operation ately

0: No definition
1: S-ON
2: Fault reset
4: Emergency stop
DI4 function Immedi-
0Dh C04.0C 5: Home switch 0-32 31 - U16 At stop
selection ately
6: Forward overtravel
7: Reverse overtravel
30: Probe 1
31: Probe 2

0: Active low During Immedi-

0Eh C04.0D DI4 logic selection 0-1 0 - U16
1: Active high operation ately

During Immedi-
0Fh C04.0E DI4 filter time - 0-65535 150 0.01ms U16
operation ately

0: No definition
1: S-ON
2: Fault reset
4: Emergency stop
DI5 function Immedi-
11h C04.10 5: Home switch 0-32 30 - U16 At stop
selection ately
6: Forward overtravel
7: Reverse overtravel
30: Probe 1
31: Probe 2

0: Active low During Immedi-

12h C04.11 DI5 logic selection 0-1 0 - U16
1: Active high operation ately

During Immedi-
13h C04.12 DI5 filter time - 0-65535 150 0.01ms U16
operation ately

291
 ▏ Parameter List

Param- Value Data Modifica- Effective

Index Name Options Default Unit
eter Range Type tion Mode Time

0: No definition
1: Servo ready
2: Motor rotation
DO1 function Immedi-
31h C04.30 9: Brake output 0-20 1 - U16 At stop
selection ately
10: Alarm
11: Fault
32: EDM safety state

DO1 logic 0: Active low During Immedi-

32h C04.31 0-1 0 - U16
selection 1: Active high operation ately

0: No definition
1: Servo ready
2: Motor rotation
DO2 function Immedi-
33h C04.32 9: Brake output 0-20 4 - U16 At stop
selection ately
10: Alarm
11: Fault
32: EDM safety state

DO2 logic 0: Active low During Immedi-

34h C04.33 0-1 0 - U16
selection 1: Active high operation ately

0: No definition
1: Servo ready
2: Motor rotation
DO3 function Immedi-
35h C04.34 9: Brake output 0-20 3 - U16 At stop
selection ately
10: Alarm
11: Fault
32: EDM safety state

DO3 logic 0: Active low During Immedi-

36h C04.35 0-1 0 - U16
selection 1: Active high operation ately

292
 Parameter List ▕

Stop Mode (2005h/C05)

Param- Value Data Modifica- Effective

Index Name Options Default Unit
eter Range Type tion Mode Time

0: C oast to stop, keeping

de-energized status
1: S top at zero speed,
keeping position lock
status
2: S top at zero speed,
keeping de-energized
status
3: R amp to stop as defined
by 6085h, keeping de-
Stop mode at energized status Immedi-
03h C05.02 0-7 1 - U16 At stop
overtravel 4: R amp to stop as defined ately
by 6085h, keeping
position lock status
5: D ynamic braking stop,
keeping de-energized
status
6: D ynamic braking stop,
keeping dynamic braking
status
7: N ot responding to
overtravel

0: C oast to stop, keeping

de-energized status
1: Dynamic braking stop,
Stop mode at keeping de-energized Immedi-
04h C05.03 0-2 2 - U16 At stop
No. 1 fault status ately
2: D ynamic braking stop,
keeping dynamic braking
status

Limit for stop at

During Immedi-
0Dh C05.0C emergency-stop - 0-3000 1000 0.1% U16
operation ately
torque

Maximum Immedi-
0Eh C05.0D - 0-65535 10000 ms U16 At stop
downtime ately

Delay from brake

During Immedi-
11h C05.10 close to motor - 0-65535 100 ms U16
operation ately
de-energized

Speed threshold During Immedi-

12h C05.11 - 10-3000 30 rpm U16
at brake closing operation ately

293
 ▏ Parameter List

Param- Value Data Modifica- Effective

Index Name Options Default Unit
eter Range Type tion Mode Time

Maximum
waiting time During Immedi-
13h C05.12 - 0-65535 100 ms U16
with S-ON off at operation ately
brake closing

Delay from brake

Immedi-
14h C05.13 on to command - 0-65535 100 ms U16 At stop
ately
received

Energizing delay Immedi-

15h C05.14 - 0-65535 20 ms U16 At stop
of DB relay ately

NOTICE
y For details about parameters above, refer to section 11.3.4 "Group C05".

Protection Parameters (2006h/C06)

Param- Value Data Modifica- Effective

Index Name Options Default Unit
eter Range Type tion Mode Time

Threshold of During Immedi-

04h C06.03 - 0-9000 0 rpm U16
excessive speed operation ately

Input phase loss 0: Enabled Immedi-

05h C06.04 0-1 0 - U16 At stop
detection 1: Disabled ately

Retentive at 0: Non-retentive Immedi-

06h C06.05 0-1 0 - U16 At stop
power failure 1: Retentive ately

0: Inactive
Mechanical limit During Immedi-
08h C06.07 1: Enabled 0-2 0 - U16
position operation ately
2: Enabled after homing

﹣231- Unit in During Immedi-

09h C06.08 Mechanical PL - 231-1 I32
(231-1) application operation ately

﹣231- Unit in During Immedi-

0Bh C06.0A Mechanical NL - ﹣231 I32
(231-1) application operation ately

Drive overload
Immedi-
11h C06.10 protection - 0-3500 1150 0.1% U16 At stop
ately
threshold

Motor overload
Immedi-
12h C06.11 protection - 0-3500 1150 0.1% U16 At stop
ately
threshold

294
 Parameter List ▕

Param- Value Data Modifica- Effective

Index Name Options Default Unit
eter Range Type tion Mode Time

Motor locked- 0: Inactive Immedi-

13h C06.12 0-1 1 - U16 At stop
rotor detection 1: Enabled ately

Motor locked-
Immedi-
14h C06.13 rotor detection - 0-3000 200 ms U16 At stop
ately
time

Motor locked-
During Immedi-
15h C06.14 rotor detection - 0-1000 10 rpm U16
operation ately
speed

Output phase 0: Inactive Immedi-

16h C06.15 0-1 0 - U16 At stop
loss detection 1: Enabled ately

Encoder
communication Immedi-
1Dh C06.1C - 0-88 3 - U16 At stop
fault tolerance ately
threshold

Protection from 0: Inactive Immedi-

21h C06.20 0-1 1 - U16 At stop
out of control 1: Enabled ately

NOTICE
y For details about parameters above, refer to section 11.3.5 "Group C06".

Auto-tuning Parameters (2007h/C07)

Param- Value Data Modifica- Effective

Index Name Options Default Unit
eter Range Type tion Mode Time

Offline inertia auto- Immedi-

01h C07.00 - 0-785 769 - U16 At stop
tuning mode setting ately

Offline inertia
Immedi-
02h C07.01 auto-tuning speed - 50-1000 500 rpm U16 At stop
ately
reference

Acceleration/
Deceleration time for Immedi-
03h C07.02 - 0-65535 100 ms U16 At stop
offline inertia auto- ately
tuning

Offline inertia auto- Immedi-

04h C07.03 - 1-1500 150 0.1% U16 At stop
tuning target torque ately

Offline inertia auto- Immedi-

05h C07.04 - 10-65535 200 0.01r U16 At stop
tuning revolutions ately

295
 ▏ Parameter List

Communication Parameters (200Ah/C0A)

Param- Value Data Modifica- Effective

Index Name Options Default Unit
eter Range Type tion Mode Time

Commissioning
software Immedi-
09h C0A.08 - 1-255 1 - U16 At stop
communication ately
station ID

0: 1200bps
1: 2400bps
Commissioning 2: 4800bps
software 3: 9600bps Upon re-
0Ah C0A.09 0-7 7 - U16 At stop
communication 4: 19200bps power-on
baud rate 5: 38400bps
6: 57600bps
7: 115200bps

0: No parity, 1 stop bit

Commissioning 1: Odd parity, 1 stop bit
software 2: Even parity, 1 stop bit Upon re-
0Bh C0A.0A 0-5 0 - U16 At stop
communication 3: No parity, 2 stop bits power-on
format 4: Odd parity, 2 stop bits
5: Even parity, 2 stop bits
Commissioning
software Immedi-
0Ch C0A.0B - 1-1000 1 ms U16 At stop
communication ately
response time
Commissioning
software Immedi-
0Dh C0A.0C - 0-65535 0 - U16 Read only
communication ately
timeout
Commissioning
software 0: No storage Immedi-
0Eh C0A.0D 0-1 1 - U16 At stop
communication 1: Storage ately
storage
0: L ow 16 bits before
Commissioning
high 16 bits Immedi-
0Fh C0A.0E software data 0-1 0 - U16 At stop
1: H igh 16 bits before ately
format
low 16 bits

NOTICE
y For details about parameters above, refer to section 11.3.6 "Group C0A".

296
 Parameter List ▕

Homing Touch Probe Parameters (2010h/C10)

Param- Value Data Modifica- Effective

Index Name Options Default Unit
eter Range Type tion Mode Time

0: Inactive
1: W
 ritten through
communication During Immedi-
01h C10.00 Homing enable 0-3 0 - U16
2: DI trigger operation ately
3: C
 urrent position
as home

Homing timeout 0-(232- During Immedi-

09h C10.08 - 60000 ms U32
interval 1) operation ately

Multi-turn absolute Upon re-

﹣231-
11h C10.10 position offset (low - 0 P I32 At stop power-
(231-1)
32 bits) on

Multi-turn absolute Upon re-

﹣231-
13h C10.12 position offset (high - 0 P I32 At stop power-
(231-1)
32 bits) on

Multi-turn
Immedi-
15h C10.14 revolutions data - 0-65535 0 Rev U16 Read only
ately
offset

Multi-turn overflow Immedi-

16h C10.15 - 0-1 0 - U16 Read only
flag ately

0: Nearest
1: A
 lways in forward
direction
Reference running
2: A
 lways in reverse Immedi-
17h C10.16 mode in rotation 0-4 0 - U16 At stop
direction ately
mode
3: A
 lways in current
direction
4: Not specified

Numerator of
Immedi-
19h C10.18 electronic gear ratio - 1-65535 1 - U16 At stop
ately
in rotation mode

Denominator of
Immedi-
1Ah C10.19 electronic gear ratio - 1-65535 1 - U16 At stop
ately
in rotation mode

Upper limit of
mechanical absolute Immedi-
1Bh C10.1A - 0-(232-1) 0 P U32 At stop
position in ro-tation ately
mode (low 32 bits)

297
 ▏ Parameter List

Param- Value Data Modifica- Effective

Index Name Options Default Unit
eter Range Type tion Mode Time

Upper limit of
mechanical absolute Immedi-
1Dh C10.1C - 0-(232-1) 0 P U32 At stop
position in ro-tation ately
mode (high 32 bits)

Upon
Single-turn homing
﹣231- Unit in re-
1Fh C10.1E absolute value - 0 I32 At stop
(231-1) application power-
offset
on

Torque limit of
During Immedi-
31h C10.30 homing upon hit- - 0-3000 1000 0.1% U16
operation ately
and-stop

Speed for homing During Immedi-

32h C10.31 - 0-1000 10 rpm U16
upon hit-and-stop operation ately

Number of times for

During Immedi-
33h C10.32 homing upon hit- - 0-65535 30 - U16
operation ately
and-stop

EtherCAT Parameters (2013h/C13)

Param- Value Data Modifica- Effective

Index Name Options Default Unit
eter Range Type tion Mode Time

Immedi-
01h C13.00 EtherCAT slave name - 0-65535 0 - U16 Read only
ately

During Immedi-
02h C13.01 EtherCAT slave alias - 0-65535 0 - U16
operation ately

EtherCAT sync loss During Immedi-

03h C13.02 - 1-20 8 - U16
threshold operation ately

EtherCAT synchronization Immedi-

04h C13.03 - 0-65535 0 - U16 At stop
detection mode ately

Immedi-
05h C13.04 EtherCAT sync loss count - 0-65535 0 - U16 Read only
ately

EtherCAT synchronization During Immedi-

06h C13.05 - 0-2 1 - U16
mode setting operation ately

EtherCAT synchronization Immedi-

07h C13.06 - 0-6000 3000 ns U16 At stop
error threshold ately

Occurrence count of
excessive position ref- During Immedi-
08h C13.07 - 1-30 5 - U16
erence increment in sync operation ately
position mode

EtherCAT enhanced link 0: Inactive During Upon re-

09h C13.08 0-1 0 - U16
selection 1: Enabled operation power-on

298
 Parameter List ▕

Param- Value Data Modifica- Effective

Index Name Options Default Unit
eter Range Type tion Mode Time

Maximum errors and

Immedi-
0Ah C13.09 invalid frames of EtherCAT - 0-65535 0 - U16 Read only
ately
port 0 per unit time

Maximum errors and

Immedi-
0Bh C13.0A invalid frames of EtherCAT - 0-65535 0 - U16 Read only
ately
port 1 per unit time

Max. transfer error of

Immedi-
0Ch C13.0B EtherCAT port per unit - 0-65535 0 - U16 Read only
ately
time

Max. EtherCAT data frame

Immedi-
0Dh C13.0C processing unit error per - 0-65535 0 - U16 Read only
ately
unit time

Max. link loss value of

Immedi-
0Eh C13.0D EtherCAT port per unit - 0-65535 0 - U16 Read only
ately
time

EtherCAT state machine

Immedi-
0Fh C13.0E status and port connection - 0-65535 0 - U16 Read only
ately
status

Immedi-
10h C13.0F EtherCAT AL status code - 0-65535 0 - U16 Read only
ately

EtherCAT parameter 0: No storage During Immedi-

11h C13.10 0-1 1 - U16
storage 1: Storage operation ately

EtherCAT IRQ loss During Immedi-

12h C13.11 - 0-10 5 - U16
threshold operation ately

Immedi-
13h C13.12 EtherCAT IRQ loss count - 0-65535 0 - U16 Read only
ately

Immedi-
1Ah C13.19 Use of the loop network - 0-1 0 - U16 At stop
ately

NOTICE
y For details about parameters above, refer to section 11.3.7 "Group C13".

Motor Parameters (2020h/R20)

Param- Value Data Modifica-

Index Name Options Default Unit Effective Time
eter Range Type tion Mode

Upon re-
01h R20.00 Motor model - 0-65535 20000 - U16 At stop
power-on

299
 ▏ Parameter List

Param- Value Data Modifica-

Index Name Options Default Unit Effective Time
eter Range Type tion Mode

Upon re-
23h R20.22 Encoder type - 0-65535 0 - U16 Read only
power-on

Drive Parameters (2021h/R21)

Param- Value Data Modifica-

Index Name Options Default Unit Effective Time
eter Range Type tion Mode

Upon re-
01h R21.00 Drive model - 0-65535 3 - U16 At stop
power-on

02h R21.01 Internal drive model - 0-65535 3 - U16 Read only Immediately

Read
0Dh R21.0C Drive voltage class - 0-2 0 - U16 Immediately
only

0Eh R21.0D Rated drive power - 1-(232-1) 40 0.01kW U32 Read only Immediately

Rated output current

10h R21.0F - 1-(232-1) 280 0.01A U32 Read only Immediately
of drive

Maximum output
12h R21.11 - 1-(232-1) 980 0.01A U32 Read only Immediately
current of drive

Internal bleeder
14h R21.13 - 1-65535 40 W U16 Read only Immediately
resistor power

Internal bleeder
15h R21.14 - 1-65535 50 Ω U16 Read only Immediately
resistor resistance

NOTICE
y For details about parameters above, refer to section 11.3.8 "Group R21".

Motor Gain Parameters (2022h/R22)

Param- Value Data Modifica- Effective

Index Name Options Default Unit
eter Range Type tion Mode Time

0: Standard mode
Upon re-
01h R22.00 Current loop mode 1: P
 erformance 0-1 0 - U16 At stop
power-on
mode

Current loop response Upon re-

02h R22.01 - 0-4000 0 0.1% U16 At stop
level power-on

MTPA field-weakening Immedi-

21h R22.20 - 0-65535 256 - U16 At stop
switch ately

300
 Parameter List ▕

Param- Value Data Modifica- Effective

Index Name Options Default Unit
eter Range Type tion Mode Time

Immedi-
22h R22.21 Field-weakening depth - 500-2000 1000 0.1% U16 At stop
ately

Field-weakening Immedi-
23h R22.22 - 10-1000 100 Hz U16 At stop
proportional gain ately

Field-weakening integral Immedi-

24h R22.23 - 0-8000 100 0.1% U16 At stop
gain ately

Cutoff frequency of d
Immedi-
25h R22.24 axis current low-pass - 0-16000 0 Hz U16 At stop
ately
filter

Field-weakening d axis Immedi-

26h R22.25 - 0-3000 1500 0.1% U16 At stop
current limit ately

Dead zone Immedi-

31h R22.30 - 0-2000 1000 0.1% U16 At stop
compensation ately

Parameters of Control in Progress (2030h/F30)

Modifica-
Param- Value Data Effective
Index Name Options Default Unit tion
eter Range Type Time
Mode

JOG enabling in During Immedi-

01h F30.00 - 0~8000 0 - U16
velocity mode operation ately

JOG enabling in During Immedi-

02h F30.01 - 0~8000 0 - U16
position mode operation ately

JOG velocity During Immedi-

03h F30.02 - 0~8000 100 rpm U16
reference operation ately

JOG acceleration/ During Immedi-

04h F30.03 - 0~3600000 100 ms U32
deceleration time operation ately

JOG distance in ﹣231- Unit in During Immedi-

06h F30.05 - 20000 I32
position mode (231-1) application operation ately

Inertia auto-tuning 0: Disabled During Immedi-

11h F30.10 0-65535 0 - U16
selection 1: Enabled operation ately

Initial angle auto- 0: Disabled During Immedi-

12h F30.11 0-1 0 - U16
tuning selection 1: Enabled operation ately

NOTICE
y For details about parameters above, refer to section 11.3.9 "Group F30".

301
 ▏ Parameter List

Parameters of Control in Progress (2031h/F31)

Param- Value Data Modifica- Effective

Index Name Options Default Unit
eter Range Type tion Mode Time

0: Inactive Immedi-
01h F31.00 Fault reset 0-1 0 - U16 At stop
1: Reset ately

0: Inactive Immedi-
02h F31.01 Software reset 0-1 0 - U16 At stop
1: Reset ately

0: Inactive
1: R
 estore default
Parameter settings of parameters Immedi-
03h F31.02 0-2 0 - U16 At stop
initialization 2: R
 estore default ately
settings of the object
dictionary

0: Inactive
1: F actory reset drive
Drive motor Immedi-
04h F31.03 parameters 0-2 0 - U16 At stop
parameter reset ately
2: F actory reset motor
parameters

Fault record 0: Inactive Immedi-

05h F31.04 0-1 0 - U16 At stop
initialization 1: Fault record clearing ately

0: Inactive
1: Read encoder
2: Write encoder
Immedi-
11h F31.10 Encoder data reset 3: Reset encoder fault 0-31 0 - U16 At stop
ately
4: R
 eset encoder fault
and multi-turn data
16: Operation failed

NOTICE
y For details about parameters above, refer to section 11.3.10 "Group F31".

Running Monitoring Parameters (2040h/U40)

Param- Value Data Modifica- Effective

Index Name Options Default Unit
eter Range Type tion Mode Time

-9000- Immedi-
01h U40.00 Speed reference - 0 rpm I16 Read only
9000 ately

-9000- Immedi-
02h U40.01 Speed feedback - 0 rpm I16 Read only
9000 ately

302
 Parameter List ▕

Param- Value Data Modifica- Effective

Index Name Options Default Unit
eter Range Type tion Mode Time

-4000- Immedi-
03h U40.02 Torque reference - 0 0.1% I16 Read only
4000 ately

-4000- Immedi-
04h U40.03 Torque feedback - 0 0.1% I16 Read only
4000 ately

Immedi-
05h U40.04 DI status - 0-65535 0 - U16 Read only
ately

Immedi-
06h U40.05 DO status - 0-65535 0 - U16 Read only
ately

Immedi-
07h U40.06 Bus voltage - 0-9000 0 0.1V U16 Read only
ately

Immedi-
08h U40.07 Average load ratio - 0-4000 0 0.1% U16 Read only
ately

Immedi-
09h U40.08 Electrical angle - 0-36000 0 0.01° U16 Read only
ately

Immedi-
0Ah U40.09 Mechanical angle - 0-36000 0 0.01° U16 Read only
ately

RMS value of phase -9000- Read Immedi-

0Dh U40.0C - 0 0.1A I16
current 9000 only ately

Position deviation ﹣231- Immedi-

11h U40.10 - 0 P I32 Read only
counter (231-1) ately

Absolute position ﹣231- Unit in Immedi-

15h U40.14 - 0 I32 Read only
reference (231-1) application ately

Absolute position ﹣231- Unit in Immedi-

17h U40.16 - 0 I32 Read only
feedback (reference unit) (231-1) application ately

Absolute position ﹣231- Immedi-

19h U40.18 - 0 P I32 Read only
feedback (encoder unit) (231-1) ately

Absolute position ﹣231- Immedi-

1Bh U40.1A - 0 P I32 Read only
feedback (encoder unit) (231-1) ately

Encoder single-turn ﹣231- Immedi-

1Dh U40.1C - 0 P I32 Read only
data (231-1) ately

Encoder multi-turn Immedi-

1Fh U40.1E - 0-65535 0 Rev U16 Read only
position data ately

Immedi-
20h U40.1F Encoder initial angle - 0-36000 0 0.01° U16 Read only
ately

Encoder multi-turn ﹣231- Immedi-

21h U40.20 - 0 P I32 Read only
data (low 32 bits) (231-1) ately

Encoder multi-turn ﹣231- Immedi-

23h U40.22 - 0 P I32 Read only
data (high 32 bits) (231-1) ately

303
 ▏ Parameter List

Param- Value Data Modifica- Effective

Index Name Options Default Unit
eter Range Type tion Mode Time

Absolute position
﹣231- Immedi-
25h U40.24 feedback (encoder - 0 P I32 Read only
(231-1) ately
unit) (low 32 bits)

Absolute position
﹣231- Immedi-
27h U40.26 feedback (encoder - 0 P I32 Read only
(231-1) ately
unit) (high 32 bits)

Position feedback
in rotation mode ﹣231- Unit in Immedi-
29h U40.28 - 0 I32 Read only
(reference unit) (low (231-1) application ately
32 bits)

Position feedback
in rotation mode ﹣231- Immedi-
2Bh U40.2A - 0 P I32 Read only
(encoder unit) (low 32 (231-1) ately
bits)

Position feedback
in rotation mode ﹣231- Read Immedi-
2Dh U40.2C - 0 P I32
(encoder unit) (high (231-1) only ately
32 bits)

Heatsink -9000- Read Immedi-

31h U40.30 - 0 0.1℃ I16
temperature 9000 only ately

Offline inertia auto- Read Immedi-

35h U40.34 - 0-12000 0 % U16
tuning value only ately

Instantaneous value ﹣231- Immedi-

37h U40.36 - 0 0.001A I32 Read only
in phase U current (231-1) ately

Instantaneous value ﹣231- Immedi-

39h U40.38 - 0 0.001A I32 Read only
in phase V current (231-1) ately

Synchronization cycle Immedi-

3Bh U40.3A - 0-(231-1) 0 10ns U32 Read only
measured value ately

SYNC and IRQ phase ﹣231- Immedi-

3Dh U40.3C - 0 10ns I32 Read only
value (231-1) ately

Drive accumulated Immedi-

3Fh U40.3E - 0-2000 0 0.1% U16 Read only
heat ately

Motor accumulated Read Immedi-

40h U40.3F - 0-2000 0 0.1% U16
heat only ately

NOTICE
y For details about parameters above, refer to section 11.3.11 "Group U40".

304
 Parameter List ▕

Status Monitoring Parameters (2041h/U41)

Param- Value Data Modifica- Effective

Index Name Options Default Unit
eter Range Type tion Mode Time

Immedi-
01h U41.00 MCU system status - 0-65535 0 - U16 Read only
ately

Read Immedi-
02h U41.01 MCU fault state - 0-65535 0 - U16
only ately

Immedi-
05h U41.04 Encoder system status - 0-65535 0 - U16 Read only
ately

Immedi-
06h U41.05 Encoder fault state - 0-65535 0 - U16 Read only
ately

Group number of Immedi-

07h U41.06 - 0-255 0 - U16 Read only
abnormal parameter ately

Offset of the abnormal

Immedi-
08h U41.07 parameter within the - 0-255 0 - U16 Read only
ately
parameter group

Immedi-
0Bh U41.0A Servo Status - 0-3 0 - U16 Read only
ately

Immedi-
0Ch U41.0B Servo running mode - 0-9 0 - U16 Read only
ately

Immedi-
0Dh U41.0C Servo running time - 0-(232-1) 0 0.1s U32 Read only
ately

Version Parameters (2042h/U42)

Param- Value Data Modifica-

Index Name Options Default Unit Effective Time
eter Range Type tion Mode

01h U42.00 ARM version - 0-65535 0 0.01 U16 Read only Immediately

03h U42.02 Encoder version - 0-65535 0 0.01 U16 Read only Immediately

04h U42.03 ARM-based machine - 0-65535 0 0.01 U16 Read only Immediately

06h U42.05 Internal software version - 0-65535 0 0.01 U16 Read only Immediately

0Bh U42.0A EtherCAT CoE version - 0-65535 0 0.01 U16 Read only Immediately

0Ch U42.0B EtherCAT XML version - 0-65535 0 0.01 U16 Read only Immediately

11h U42.10 Drive model - 0-65535 0 - U16 Read only Immediately

12h U42.11 Motor model - 0-65535 0 - U16 Read only Immediately

13h U42.12 Encoder model - 0-65535 0 - U16 Read only Immediately

Power supply unit model

14h U42.13 - 0-65535 0 - U16 Read only Immediately
identification

305
 ▏ Parameter List

Param- Value Data Modifica-

Index Name Options Default Unit Effective Time
eter Range Type tion Mode

Inverter model identification

15h U42.14 - 0-65535 0 - U16 Read only Immediately
1

Inverter model identification

16h U42.15 - 0-65535 0 - U16 Read only Immediately
2

17h U42.16 Servo version - 0-65535 0 - U16 Read only Immediately

11.2.2 Common Parameters in Group 6000h

Parameter group 6000h contains supported sub-protocol DSP 402 related objects.

Sub- Access the PDO Data Value Modifica- Effective

Index Name Unit Default
index Platform Mapping Type Range tion Mode Time

603Fh 0 Error code RO TPDO U16 - - - - -

During Immedi-
6040h 0 Control word RW RPDO U16 - 0-65535 0
operation ately

6041h 0 Status word RO TPDO U16 - - - - -

During Upon re-

605Ah 0 Quick stop option code RW NO I16 - 0-7 2
operation power-on

Stop mode upon During Upon re-

605Ch 0 RW NO I16 - -4-1 0
servo-off operation power-on

During Upon re-

605Dh 0 Halt option code RW NO I16 - 1-3 1
operation power-on

Stop mode at No. 2 During Upon re-

605Eh 0 RW NO I16 - 5-3 2
fault operation power-on

During Immedi-
6060h 0 Servo mode RW RPDO I8 - 0-10 0
operation ately

Modes of operation
6061h 0 RO TPDO I8 - - - - -
display

Reference
6062h 0 Position reference RO TPDO I32 - - - -
unit

Encoder
6063h 0 Position feedback RO TPDO I32 - - - -
unit

Reference
6064h 0 Position feedback RO TPDO I32 - - - -
unit

Reference During Immedi-

6065h 0 Following error window RW RPDO U32 0-(232-1) 0
unit operation ately

During Immedi-
6066h 0 Following error time out RW RPDO U16 ms 0-65535 0
operation ately

306
 Parameter List ▕

Sub- Access the PDO Data Value Modifica- Effective

Index Name Unit Default
index Platform Mapping Type Range tion Mode Time

Position reach Reference During Immedi-

6067h 0 RW RPDO U32 0-(232-1) 734
threshold unit operation ately

During Immedi-
6068h 0 Position window time RW RPDO U16 ms 0-65535 0
operation ately

Reference
606Ch 0 Actual speed RO TPDO I32 - - - -
unit/s

During Immedi-
606Dh 0 Speed reach threshold RW RPDO U16 rpm 0-65535 10
operation ately

During Immedi-
606Eh 0 Velocity window time RW RPDO U16 ms 0-65535 0
operation ately

During Immedi-
606Fh 0 Velocity threshold RW RPDO U16 rpm 0-65535 10
operation ately

During Immedi-
6070h 0 Velocity threshold time RW RPDO U16 ms 0-65535 0
operation ately

4000- During Immedi-

6071h 0 Target torque RW RPDO I16 0.1% 0
4000 operation ately

During Immedi-
6072h 0 Max. torque RW RPDO U16 0.1% 0-4000 3500
operation ately

6074h 0 Torque reference RO TPDO I16 0.1% - 0 - -

6077h 0 Actual torque RO TPDO I16 0.1% - 0 - -

Reference -231- During Immedi-

607Ah 0 Target position RW RPDO I32 0
unit (231-1) operation ately

Reference -231- During Immedi-

607Ch 0 Home offset RW RPDO I32 0
unit (231-1) operation ately

Software absolute position limit

Highest sub-index
0 RO NO U8 - - 0x02 - -
supported
607D Minimum software Reference -231- During Immedi-
1 RW RPDO I32 -231
position limit unit (231-1) operation ately

Maximum software Reference -231- During Immedi-

2 RW RPDO I32 231-1
position limit unit (231-1) operation ately

During Immedi-
607Eh 0 Reference polarity RW RPDO U8 - 0-255 0
operation ately

Reference During Immedi-

607Fh 0 Maximum speed RW RPDO U32 0-(232-1) 104857600
unit/s operation ately

Profile operating User During Immedi-

6081h 0 RW RPDO U32 0-(232-1) 1747627
speed velocity operation ately

307
 ▏ Parameter List

Sub- Access the PDO Data Value Modifica- Effective

Index Name Unit Default
index Platform Mapping Type Range tion Mode Time

Reference During Immedi-

6083h 0 Profile acceleration rate RW RPDO U32 0-(232-1) 174762666
unit/s2 operation ately

Profile deceleration Reference During Immedi-

6084h 0 RW RPDO U32 0-(232-1) 174762666
rate unit/s2 operation ately

Reference During Immedi-

6085h 0 Quick stop deceleration RW RPDO U32 0-(232-1) 231-1
unit/s2 operation ately

32767- During Immedi-

6086h 0 Motion profile type RW RPDO I16 - 0
32767 operation ately

During Immedi-
6087h 0 Torque slope RW RPDO U32 0.1%/s 0-(232-1) 232-1
operation ately

Gear ratio

Highest sub-index
0 RO NO U8 U8 - 0x02 - -
supported
6091h During Immedi-
1 Motor revolutions RW RPDO U32 - 0-(232-1) 1
operation ately

During Immedi-
2 Shaft revolutions RW RPDO U32 - 1-(232-1) 1
operation ately

During Immedi-
6098h 0 Homing method RW RPDO I8 - 2-35 1
operation ately

Homing speed

Highest sub-index
0 RO NO U8 - - 2 - -
supported
6099h Speed during search Reference During Immedi-
1 RW RPDO U32 0-(232-1) 1747627
for switch unit/s operation ately

Speed during search Reference During Immedi-

2 RW RPDO U32 10-(232-1) 174763
for zero unit/s operation ately

Reference During Immedi-

609Ah 0 Homing acceleration RW RPDO U32 0-(232-1) 1747626667
unit/s2 operation ately

Reference -231- During Immedi-

60B0h 0 Position offset RW RPDO I32 0
unit (231-1) operation ately

Reference -231- During Immedi-

60B1h 0 Speed deviation RW RPDO I32 0
unit/s (231-1) operation ately

4000- During Immedi-

60B2h 0 Torque offset RW RPDO I16 0.10% 0
4000 operation ately

During Immedi-
60B8h 0 Touch probe function RW RPDO U16 - 0-65535 0
operation ately

60B9h 0 Touch probe status RW TPDO U16 - - 0 - -

308
 Parameter List ▕

Sub- Access the PDO Data Value Modifica- Effective

Index Name Unit Default
index Platform Mapping Type Range tion Mode Time

Touch probe 1 positive Reference

60BAh 0 RW TPDO I32 - 0 - -
edge unit
Touch probe 1 negative Reference
60BBh 0 RW TPDO I32 - 0 - -
edge unit
Touch probe 2 positive Reference
60BCh 0 RW TPDO I32 - 0 - -
edge unit
Touch probe 2 negative Reference
60BDh 0 RW TPDO I32 - 0 - -
edge unit
User
During Immedi-
60C5h 0 Max. acceleration RW RPDO U32 acceleration 0-232-1 231-1
operation ately
unit
User
During Immedi-
60C6h 0 Max. deceleration RW RPDO U32 acceleration 0-232-1 231-1
operation ately
unit
Touch probe 1 positive
60D5h 0 RO TPDO U16 - - 0 - -
edge counter
Touch probe 1
60D6h 0 RO TPDO U16 - - 0 - -
negative edge counter
Touch probe 2 positive
60D7h 0 RO TPDO U16 - - 0 - -
edge counter
Touch probe 2
60D8h 0 RO TPDO U16 - - 0 - -
negative edge counter
During Immedi-
60E0h 0 Positive torque limit RW RPDO U16 0.1% 0-4000 3500
operation ately
During Immedi-
60E1h 0 Negative torque limit RW RPDO U16 0.1% 0-4000 3500
operation ately

309
 ▏ Parameter List

Sub- Access the PDO Data Value Modifica- Effective

Index Name Unit Default
index Platform Mapping Type Range tion Mode Time

Supported homing method

Highest sub-index
0 RO NO U8 - - 22 - -
supported
1st supported homing
1 RO NO I16 - - 1 - -
method
2nd supported homing
2 RO NO I16 - - 2 - -
method
60E3h 3rd supported homing
3 RO NO I16 - - 3 - -
method
4th supported homing
4 RO NO I16 - - 4 - -
method
5th supported homing
5 RO NO I16 - - 5 - -
method
6th supported homing
6 RO NO I16 - - 6 - -
method

310
 Parameter List ▕

Sub- Access the PDO Data Value Modifica- Effective

Index Name Unit Default
index Platform Mapping Type Range tion Mode Time

7th supported homing

7 RO NO I16 - - 7 - -
method
8th supported homing
8 RO NO I16 - - 8 - -
method
9th supported homing
9 RO NO I16 - - 9 - -
method
10th supported
A RO NO I16 - - 10 - -
homing method
11th supported
B RO NO I16 - - 11 - -
homing method
12th supported
C RO NO I16 - - 12 - -
homing method
13th supported
D RO NO I16 - - 13 - -
homing method
14th supported
E RO NO I16 - - 14 - -
homing method
15th supported
F RO NO I16 - - 17 - -
homing method
16th supported
10 RO NO I16 - - 18 - -
homing method
17th supported
11 RO NO I16 - - 19 - -
homing method
18th supported
12 RO NO I16 - - 20 - -
homing method
19th supported
13 RO NO I16 - - 21 - -
homing method
20th supported
14 RO NO I16 - - 22 - -
homing method
21th supported
15 RO NO I16 - - 23 - -
homing method
22th supported
16 RO NO I16 - - 24 - -
homing method
23th supported
17 RO NO I16 - - 25 - -
homing method
24th supported
18 RO NO I16 - - 26 - -
homing method
25th supported
19 RO NO I16 - - 27 - -
homing method

311
 ▏ Parameter List

Sub- Access the PDO Data Value Modifica- Effective

Index Name Unit Default
index Platform Mapping Type Range tion Mode Time

26th supported
1A RO NO I16 - - 28 - -
homing method
27th supported
1B RO NO I16 - - 29 - -
homing method

28th supported
1C RO NO I16 - - 30 - -
homing method

29th supported
1D RO NO I16 - - 33 - -
homing method

30th supported
1E RO NO I16 - - 34 - -
homing method

31th supported
1F RO NO I16 - - 35 - -
homing method

Encoder increments
During Immedi-
60E6h 0 for the additional RW NO U16 - 0-1 0
operation ately
position

Reference
60F4h 0 Position deviation RO TPDO I32 - - - -
unit

Encoder
60FCh 0 Position reference RO TPDO I32 - - - -
unit

60FDh 0 DI status RO TPDO U32 - - - - -

Reference (-231-1)- During Immedi-

60FFh 0 Target velocity RW RPDO I32 0
unit/s (231-1) operation ately

Supported drive
6502h 0 RO NO U32 - - 941 - -
modes

NOTICE
y For details about parameters above, refer to section 11.3.12 "Group 6000".

11.3 Description of Parameters

11.3.1 Group C00

C00.05: Stiffness level
y Defines the stiffness level of the servo system. The higher the stiffness level, the stronger the gains and
the quicker the response will be. But an excessively high stiffness level will cause vibration. The setpoint 0
indicates the lowest stiffness and 41 indicates the highest stiffness.

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 Parameter List ▕

C00.06: Load inertia ratio

y Defines the mechanical load inertia ratio relative to the motor moment of inertia.
y When C00.06 is set to 0, it indicates the motor carries no load; if it is set to 1.00, it indicates the
mechanical load inertia is the same as the motor moment of inertia.
y When the value of C00.06 is equal to the actual inertia ratio, the value of speed loop gain can represent
the maximum follow-up frequency of actual speed loop.

11.3.2 Group C01

C01.00: 1st position loop gain
y Defines the proportional gain of the position loop.
y This parameter determines the responsiveness of the position loop. A high setpoint shortens the
positioning time. Note that an excessively high setpoint may cause vibration.
y The 1st gain set includes C01.00, C01.01, C01.02, and C01.03.

C01.01: 1st speed loop gain

y Defines the speed loop proportional gain.
y This parameter determines the responsiveness of the speed loop. The higher the setpoint, the faster the
speed loop response is. Note that an excessively high setpoint may cause vibration.
y In the position control mode, the position loop gain must be increased together with the speed loop gain.

C01.02: 1st speed loop integral time

y Defines the speed loop integral time constant.
y The lower the setpoint, the better the integral action, and the quicker will the deviation value be close to 0.
y There is no integral action when C01.02 is set to 512.00 ms

C01.08: 2nd position loop gain

y Defines the 2nd gain of the position loop.
y The 2nd gain set includes C01.08, C01.09, C01.0A, and C01.0B.
y For details about gain switchover, see section 7.5 "Gain Switchover".

C01.0B: 2nd torque reference filter cutoff frequency

y Defines the torque reference filter time constant.
y Low-pass filtering of torque references helps to smoothen torque references and reduce vibration.
y Pay attention to the responsiveness during setting as an excessively high setpoint lowers down the
responsiveness.

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NOTICE
y The servo drive offers two low-pass filters for torque references. By default, the 1st filter is
used.
y Gain switchover can be used in the position or speed control mode. Once certain
conditions are satisfied, the servo drive can switch to filter 2.

C01.11: Cutoff frequency of speed feedback low-pass filter

y Defines the cutoff frequency for first-order low-pass filtering on the speed feedback.
y The lower the setpoint, the weaker the speed feedback fluctuation, and the longer the feedback delay will
be.
y Setting this parameter to 8000 Hz negates the filtering effect.

C01.12: Speed feedback overlapping average filter time constant

y Defines the moving average filtering times for speed feedback.
y The higher the setpoint, the weaker the speed feedback fluctuation, but the longer the feedback delay will
be.
y When C01.12 is set to a value higher than 0, C01.11 (Cutoff frequency of speed feedback low-pass filter)
is invalid.

C01.13: Speed feedforward source

y Defines the source of the speed loop feedforward signal.
y In the position control mode, the speed feedforward control can improve the position reference
responsiveness.

Speed Feedforward
Setpoint Remarks
Source
0 No feedforward -
The speed corresponding to the position reference (encoder unit)
1 Internal reference
is defined as the speed feedforward source.
Model tracking control can improve the responsiveness and
shorten the positioning time.
It is only available in the position control mode.
2 Model tracking
It must be used with C02.00. When C02.00 is set to 1, the speed
feedforward is sourced from the speed feedforward output of
model tracking.
In CSP, 60B1h is used as the source of the external speed
feedforward signal.
5 Communication
Bit 6 of 607Eh can specify the polarity of the speed feedforward
signal (60B1h).

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 Parameter List ▕

C01.14: Speed feedforward percentage

y In the position control mode, speed feedforward is the value of C01.14 multiplied by the speed
feedforward signal, which is part of the speed reference. Increasing the setpoint improves the
responsiveness to position references and reduces the position deviation during operation at a constant
speed.
y Set C01.15 to a fixed value first, and then gradually increase the value of C01.14 from 0 to a certain
setpoint at which speed feedforward achieves the desired effect.
y Adjust C01.15 and C01.14 repeatedly until a balanced setting is achieved.
y For the speed feedforward function and speed feedforward signal selection, see C01.13 (Speed
feedforward source selection).

C01.15: Speed feedforward filter cutoff frequency

y Defines the speed feedforward smoothing filter time.

C01.16: Torque feedforward source

y Defines whether to enable the internal torque feedforward function in a non-torque control mode.
y The torque feedforward function can improve the torque reference responsiveness and reduce the
position deviation during operation at constant acceleration/deceleration rate.

Torque Feedforward
Setpoint Remarks
Source
0 No feedforward -
The torque feedforward signal source is the speed reference.
In the position control mode, the speed reference is output from
1 Internal reference
the position controller. In the speed control mode, the speed
reference is output from the user speed reference.
It must be used with C02.00. When C02.00 is set to 1, the torque
2 Model tracking feedforward is sourced from the torque feedforward output of
model tracking.
In CSP, 60B1h is used as the source of the external torque
feedforward signal.
5 Communication
Bit 6 of 607Eh can specify the polarity of the torque feedforward
signal (60B1h).

y Torque feedforward parameters include C01.17 (Torque feedforward percentage) and C01.18 (Torque
feedforward cutoff frequency).
y In a non-torque control mode, the control block diagram of torque feedforward is as follows:

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Torque feedforward
control

Speed reference Speed loop Current loop

Motor
control control
−
Speed feedback

Speed detection Encoder

Figure 11-1 Torque feedforward control

C01.17: Torque feedforward percentage

y In control modes other than torque control, torque feedforward is the product of torque feedforward
signal multiplied by C01.17 and is part of the torque reference. Increasing the setpoint improves the
responsiveness to variable speed references and position references and reduces the position deviation
during operation at a constant speed.

C01.18: Torque feedforward filter cutoff frequency

y Defines the filter time constant of torque feedforward.

C01.1B: PDFF control coefficient

y Defines the control method of the speed loop.
y When the setpoint is 100.0, PI control (default control mode of the speed loop) is applied to the speed
loop, which features fast dynamic response.
y When the setpoint is 0.0, speed loop integral action is enhanced, which filters out low-frequency
interference but also slows down the dynamic response.
y C01.1B can be used to keep a good responsiveness of the speed loop, with the anti-interference capacity
in low-frequency bands improved and the speed feedback overshoot not increased.

C01.30: Adaptive notch mode

Setpoint:
0: Adaptive notch not updated
1: One adaptive notch activated (3rd notch)
2: Two adaptive notches activated (3rd and 4th notches)
3: Adaptive notch cleared, values of the 3rd and 4th notches restored to default settings
4: Resonance point tested only, displayed in C01.31, C01.32, and C01.33
Description:
y Defines the operation mode of the adaptive notch.

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C01.38: Gain switchover mode

Gain Switchover
Setpoint Remarks
Condition
0 Fixed to the 1st gain set The 1st gain set applies.
Gains are switched through bit 26 of 60FE.
Bit 26 signal inactive: 1st gain set
1 DI switchover Bit 26 signal active: 2nd gain set
If the bit 26 signal cannot be allocated to a DI terminal, the 1st gain set
applies.
Gains are switched through bit 26 of 60FE.
Bit 26 signal inactive: 1st gain set
Bit 26 signal active: 2nd gain set (The 2nd speed loop integral (C01.0A) is
2 DI P-PI switchover
forced to be 512 ms.)
If the bit 26 signal cannot be allocated to a DI terminal, the 1st gain set
applies.
When the absolute value of the torque reference exceeds (threshold +
loop width, %) in the last 1st gain set, the drive switches to the 2nd gain
set.
3 Torque reference
When the absolute value of the torque reference is less than (threshold
– loop width, %) and this status lasts within the delay (C01.39) in the last
2nd gain set, the drive returns to the 1st gain set.
When the absolute value of the speed reference exceeds (threshold +
loop width, rpm) in the last 1st gain set, the drive switches to the 2nd
gain set.
4 Speed reference
When the absolute value of the speed reference is less than (threshold –
loop width, rpm) and this status lasts within the delay (C01.39) in the last
2nd gain set, the drive returns to the 1st gain set.
It is valid only in the position control mode.
When the absolute value of the actual speed exceeds (threshold + loop
width, rpm) in the last 1st gain set, the drive switches to the 2nd gain set.
When the absolute value of the actual speed is less than (threshold –
5 Speed feedback
loop width, rpm) and this status lasts within the delay (C01.39) in the last
2nd gain set, the drive returns to the 1st gain set.
The 1st gain set applies when the drive is not in the position control
mode.

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 ▏ Parameter List

Gain Switchover
Setpoint Remarks
Condition
It is valid only in non-speed control modes.
When the absolute value of the change rate in the speed reference
exceeds (threshold + loop width, 10 rpm/s) in the last 1st gain set, the
drive switches to the 2nd gain set.
Speed reference change
6 When the absolute value of the change rate in the speed reference is less
rate
than (threshold – loop width, 10 rpm/s) and this status lasts within the
delay (C01.39) in the last 2nd gain set, the drive returns to the 1st gain
set.
The 1st gain set applies in the speed control mode.
When the absolute value of the position deviation exceeds (threshold +
loop width, encoder unit) in the last 1st gain set, the drive switches to the
2nd gain set.
When the absolute value of the position deviation is less than (threshold +
7 Position deviation
loop width, encoder unit) and this status lasts within the delay (C01.39) in
the last 2nd gain set, the drive returns to the 1st gain set.
The 1st gain set applies when the drive is not in the position control
mode.
It is valid only in the position control mode.
When the position reference is not 0 in the last 1st gain set, the drive
switches to the 2nd gain set.
8 Position reference When the position reference is 0 and this status lasts within the delay
(C01.39) in the last 2nd gain set, the drive returns to the 1st gain set.
The 1st gain set applies when the drive is not in the position control
mode.

C01.39: Gain switchover time

Defines the duration when the drive switches from the 2nd gain set to the 1st gain set.

C01.3A: Gain switchover threshold

y Defines the gain switchover threshold.
y Gain switchover is affected by both the threshold and the loop width, as defined by C01.38. The unit of
gain switchover threshold varies with the switchover condition.
y Set C01.3A to a value greater than or equal to C01.3B. If C01.3A is set to a value less than C01.3B, the
servo drive sets C01.3A to the same value as C01.3B.

C01.3B: Gain switchover loop width

y Defines the gain switchover loop width.
y Gain switchover is affected by both the threshold and the loop width. The unit of gain switchover
threshold varies with the switchover condition.
y Set C01.3A to a value greater than or equal to C01.3B. If C01.3A is set to a value less than C01.3B, the
servo drive sets C01.3A to the same value as C01.3B.

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 Parameter List ▕

C01.40: Frequency of the 1st notch

y Defines the center frequency of the notch, which is the mechanical resonance frequency.
y In the torque control mode, setting the notch frequency to 8000 Hz deactivates the notch function.

C01.41: Width level of the 1st notch

y Defines the width level of the notch. Use the default value in general cases.
y Width level is the ratio of the notch width to the notch center frequency.

C01.42: Depth level of the 1st notch

y Defines the depth level of the notch.
y The depth level of the notch is the ratio between the input to the output at the notch center frequency.
y The higher the setpoint, the lower the notch depth and the weaker the mechanical resonance
suppression will be. Note that an excessively high setpoint may cause system instability.
y For the use of notch, see 7.14 "Vibration Suppression".

C01.45: Depth level of the 2nd notch

y Description of the 2nd notch parameters is the same as that of the 1st notch parameters.

NOTICE
y The 1st and 2nd notches can be set manually or configured as adaptive notches (C01.30
= 1 or 2). In this case, the parameters are automatically set by the drive, while the other
three notches can be set manually.

11.3.3 Group C03

C03.21: Speed reference
y It is the speed reference in the local speed mode, which is invalid in EtherCAT mode.

C03.22: Acceleration rate

y It is the acceleration ramp time of the speed reference in the local speed mode, which is invalid in
EtherCAT mode.

C03.24: Deceleration rate

y It is the deceleration ramp time of the speed reference in the local speed mode, which is invalid in
EtherCAT mode.

C03.27: Internal positive speed limit

y It is the PL of the speed reference in the local speed mode, which is invalid in EtherCAT mode.

C03.28: Internal negative speed limit

y It is the NL of the speed reference in the local speed mode, which is invalid in EtherCAT mode.

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C03.43: Internal positive torque limit

y It is valid only in the local torque mode. For torque limit in EtherCAT mode, use 60E0h/60E1h/6072h.
Use the torque limit with caution as an excessively low limit value may lead to insufficient motor torque
output.
y If the setpoint exceeds the maximum torque of the servo motor and servo drive, the actual torque is
limited to the maximum torque of the servo motor and servo drive.

C03.44: Internal negative torque limit

y It is valid only in the local torque mode. For torque limit in EtherCAT mode, use 60E0h/60E1h/6072h.
Use the torque limit with caution as an excessively low limit value may lead to insufficient motor torque
output.
y If the setpoint exceeds the maximum torque of the servo motor and servo drive, the actual torque is
limited to the maximum torque of the servo motor and servo drive.

C03.47: Positive speed limit in torque mode

y It is valid only in the local torque mode. Use 607F for the speed limit in the EtherCAT, CST, and PT modes.

C03.48: Negative speed limit in torque mode

y It is valid only in the local torque mode. Use 607F for the speed limit in the EtherCAT, CST, and PT modes.

C03.4B: Invalid value for torque reached

y The torque reached function is used to judge whether the actual torque reference reaches the range of
the valid value for torque reached. If yes, the servo drive outputs the corresponding flag (bit 10 of the
status word) to the host controller.
A: Actual torque reference (U40.02)
B: Base value for torque reach (C03.49)
C: Valid value for torque reach (C03.4A)
D: Invalid value for torque reach (C03.4B)
C and D are offsets on the basis of B.
The torque reach signal is activated only when the actual torque reference meets the condition: |A| ≥ B +
C. Otherwise, the torque reach signal remains inactive.
The torque reach signal is deactivated only when the actual torque reference meets the condition: |A| < B +
D.

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 Parameter List ▕

Actual torque

B+C
A
B+D

B
0
Time
﹣B

﹣(B+D)

﹣(B+C)

Torque reached output

6041.bit10 OFF ON OFF ON OFF

11.3.4 Group C05

C05.0D: Maximum downtime
y Defines the maximum time taken by the motor in decelerating from 6000 RPM to 0 RPM when the stop
mode is set to "Ramp to stop as defined by 6084h/609Ah (HM)" or "Ramp to stop as defined by 6085h".

11.3.5 Group C06

C06.04: Input phase loss detection
Servo drives support three-phase 380 V power supplies. When voltage fluctuation or phase loss occurs on the
power supply, power input phase loss protection will be triggered by the servo drive based on the setting of
C06.04.
y C06.04 = 0: The servo drive reports Er81.0 (Phase loss fault) when the servo drive is set to 3 kW.
y C06.04 = 1: The servo drive does not report Er81.0 (Phase loss fault) when the servo drive is set to 3 kW,
with deration of 80%.

C06.11: Motor overload protection threshold

y Determines the motor overload duration before Er41.0 (Motor overload) is reported.
y You can change the setpoint to advance or delay the time when overload protection is triggered based
on the motor temperature. The setpoint 50% indicates the time is cut by half; 150% indicates the time is
prolonged by 50%.
y Set this parameter based on the actual temperature of the motor.

C06.20: Protection from out of control

y Sets whether to enable the runaway protection function.

11.3.6 Group C0A

C0A.09: Commissioning software communication baud rate
y Defines the communication rate between the servo drive and the host controller.
y The baud rate set in the servo drive must be the same as that in the host controller. Otherwise,

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communication will fail.

C0A.0A: Commissioning software communication format

y Defines the data check mode between the servo drive and the host controller during communication.
y The data format of the servo drive and the host controller must be the same; otherwise, the
communication fails.

11.3.7 Group C13

C13.00: EtherCAT slave name
y Indicates the station number assigned to the slave by the master during EtherCAT communication.

C13.01: EtherCAT slave alias

y Indicates the station number assigned to the slave EtherCAT communication since the master cannot
automatically assign station numbers.
y C13.01 = 0: The master assigns the station numbers by default. C13.01 ≠ 0: The set station number
applies by default, with the one assigned by master deactivated.

C13.05: EtherCAT synchronization mode setting

y Defines the synchronization work mode:

Setpoint Function Remarks

Manufacturer
0 Manufacturer Function
Function
Applies to the scenarios where the synchronization performance
1 Sync 1
indicator of the host controller jitters for 1 us.
Applies to the scenarios where the synchronization performance
2 Sync 2
indicator of the host controller jitters for more than 1 us.

y In the work mode, the synchronization cycle must be an integer multiple of 125 μs. Otherwise, the serve
drive will report Er74.0 (EtherCAT synchronization cycle setting is incorrect.)

C13.06: EtherCAT synchronization error threshold

y Defines the permissible jitter range of synchronization signals when the servo drive works in synchronization
mode 1 (C13.05 = 1).

C13.08: EtherCAT enhanced link selection

y When a redundant loop network is used, the EtherCAT Enhanced Link Check function must be enabled
(C13.08 = 1), which will take effect upon next power-on of the servo drive.
y When a loop network is used, both C13.08 and C13.19 need to be set to 1.

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11.3.8 Group R21

R21.00: Drive model
Setpoint:
3: 400EC
5: 750EC
6: 1000EC

Description:
y Sets the SN of the servo drive. The following table lists the servo drive SNs.

Servo
Setpoint Remarks
Drive SN

3 400EC The rated drive power is 0.4 kW. The main circuit inputs single-phase 220 V.

5 750EC The rated drive power is 0.75 kW. The main circuit inputs single-phase 220 V.

The rated drive power is 1.0 kW. The main circuit inputs single-phase or three-
phase 220 V.
6 1000EC
(The main circuit of the servo drive supports single-phase 220 V power
supplies without derating.)

If the voltage input to the main circuit of the servo drive does not comply with the preceding
specifications, a fault or damage occurs.

11.3.9 Group F30

F30.03 JOG acceleration/deceleration time
y Acceleration/Deceleration time setpoint for jog in velocity mode, which can be enabled through
parameter F30.00 on the panel or through the software

F30.10: Inertia auto-tuning selection

y Used to enable offline inertia auto-tuning through the keypad.
y In the parameter display mode, switch to F30.10 and press the SET key to enable offline inertia auto-
tuning. For details about offline inertia auto-tuning, see section 7.2 "Inertia Auto-tuning".

11.3.10 Group F31

F31.00: Fault reset
y Defines whether to enable fault reset.

Setpoint Function Remarks

0 No operation -

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Setpoint Function Remarks

When a No.1 or No.2 resettable fault occurs, you can enable the fault reset
function in the non-operational state after rectifying the fault cause and
1 Enable stopping the keypad from displaying the fault.
When a No.3 warning occurs, you can enable the fault reset function
directly.

y For fault classification, see section 10.1.3 "List of faults and alarms".
y The fault reset function, once enabled, stops the keypad from displaying the fault only. It does not
activate modifications made on parameters.
y This function is not applicable to non-resettable faults. Use this function with caution in cases where the
fault causes are not rectified.

F31.01 Software reset

y Defines whether to enable fault reset.

Setpoint Function Remarks

0 No operation -
Programs in the drive are reset automatically (similar to the program reset
1 Enable upon power-on) after the software reset function is enabled, without the
need for a power cycle.

y Software reset conditions: The servo drive is disabled, and there is no non-resettable fault such as No.1
fault.

F31.10: Encoder data reset

y The absolute position saved by the encoder changes abruptly after multi-turn data reset. In this case,
perform mechanical homing.

11.3.11 Group U40

U40.00: Speed reference
y Indicates the present speed reference (accurate to 1 RPM) of the drive in the position and speed control
modes.

U40.01: Speed feedback

y Indicates the actual motor speed after round-off, which is accurate to 1 rpm.
y This parameter is a 32-bit integer, which is displayed as a decimal on the keypad.

U40.02: Actual torque reference

y Indicates the present torque reference (accurate to 0.1%). The value 100.0% corresponds to the rated
torque of the motor.

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 Parameter List ▕

U40.04: DI status
y Indicates the level status of five DIs without filtering.
y Upper LED segments ON: high level (indicated by "1")
Lower LED segments ON: low level (indicated by "0") In cases where DI1 is low level and DI2 to DI5 are high
level, the corresponding binary value is 11110, and the value of U40.04 read in the software tool is 30.
y The keypad displays as follows:
DI4 DI2
DI5 DI3 DI1

H H H H L H: High
1 1 1 1 0 L: Low

U40.05: DO state
y Indicates the level status of three DOs without filtering.
y Upper LED segments ON: high level (indicated by "1")
Lower LED segments ON: low level (indicated by "0") In cases where DO1 is low level and DO2 to DO3 are
high level, the corresponding binary value is 110, and the value of U40.05 read in the software tool is 6.
y The keypad displays as follows:
DO2
DO3 DO1

H H L H: High
1 1 0 L: Low

U40.06: Bus voltage

y Indicates the DC bus voltage of the main circuit input voltage after rectification, which is accurate to 0.1 V.

U40.07: Average load ratio

y Indicates the percentage of the average load torque to the rated torque of the motor, which is accurate
to 0.1%. The value 100.0% corresponds to the rated torque of the motor.

U40.08: Electrical angle

y Indicates the present electrical angle of the motor, which is accurate to 0.1°.
y The electrical angle variation range is ±360.0° when the motor rotates.
y If the motor has four pairs of poles, each revolution generates four rounds of angle changes from 0° to
359.9°.
y Similarly, if the motor has five pairs of poles, each revolution generates five rounds of angle changes from

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0° to 359.9°.

U40.09: Mechanical angle

y Indicates present mechanical angle (encoder unit) of the motor. The value 0 indicates that the mechanical
angle is 0°.

U40.0C: RMS value of phase current

y Indicates the RMS value of the phase current of the servo motor, which is accurate to 0.1 A.

U40.10: Position deviation counter

y Counts the position pulses fed back by the encoder in any control mode.
y This parameter is a 32-bit integer, which is displayed as a decimal on the keypad.

U40.30: Heatsink temperature

y Indicates the temperature of the module inside the servo drive, which can be used as a reference for
estimating the actual temperature of the servo drive.

11.3.12 Group 6000

603Fh: Fault code
y When a fault described in the DSP402 profile occurs on the drive, 603Fh is as described in DSP402.
y When a fault specified by the user occurs on the servo drive, 603Fh is 0xFF00. The value of 603Fh is in
hexadecimal.
y In addition, the object dictionary 203Fh displays auxiliary bytes of fault code in hexadecimal.
y 203Fh is a UInt32 value, in which the high 16 bits indicate the internal fault code of the manufacturer,
and the low 16 bits indicate the external fault code of the manufacturer.

605Ah: Quick stop option code

0: Coast to stop, keeping de-energized status
1: Ramp to stop as defined by 6084h/609Ah (HM), keeping de-energized status
2: Ramp to stop as defined by 6085h, keeping de-energized status
3: Stop at emergency stop torque, keeping de-energized status
5: Ramp to stop as defined by 6084h/609Ah (HM), keeping position lock status
6: Ramp to stop as defined by 6085h, keeping position lock status
7: Stop at emergency stop torque, keeping position lock status

605Ch: Stop mode at S-ON OFF

–4: Ramp to stop as defined by 6085h, keeping dynamic braking status
–3: Stop at zero speed, keeping dynamic braking status
–2: Ramp to stop as defined by 6084h/609Ah (HM), keeping dynamic braking status
–1: Dynamic braking stop, keeping dynamic braking status
0: Coast to stop, keeping de-energized status
1: Ramp to stop as defined by 6084h/609Ah (HM), keeping de-energized status

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 Parameter List ▕

605Dh: Stop option code

1: Ramp to stop as defined by 6084h/609Ah (HM), keeping position lock status
2: Ramp to stop as defined by 6085h, keeping position lock status
3: Stop at emergency stop torque, keeping position lock status

605Eh: Stop mode at No. 2 fault

-5: Stop at zero speed, keeping dynamic braking status
–4: Stop at emergency stop torque, keeping dynamic braking status
-3: Ramp to stop as defined by 6085h, keeping dynamic braking status
–2: Ramp to stop as defined by 6084h/609Ah (HM), keeping dynamic braking status
–1: Dynamic braking stop, keeping dynamic braking status
0: Coast to stop, keeping de-energized status
1: Ramp to stop as defined by 6084h/609Ah (HM), keeping de-energized status
2: Ramp to stop as defined by 6085h, keeping de-energized status
3: Stop at emergency stop torque, keeping de-energized status
4: Dynamic braking stop, keeping de-energized status

6060h: Modes of operation

Setpoint:
1: Profile position (PP) mode
3: Profile velocity (PV) mode
4: Profile torque (PT) mode
6: Homing mode (HM)
8: Cyclic synchronous position (CSP) mode
9: Cyclic synchronous velocity (CSV) mode
10: Cyclic synchronous torque (CST) mode
Others: N/A

Description:
y If an unsupported operation mode is selected through an SDO, an SDO error will be returned.
y If an unsupported operation mode is selected through a PDO, the change of the operation mode will be
invalid.

6061h: Modes of operation display

1: PP mode
3: PV mode
4: PT mode
6: HM
8: CSP mode
9: CSV mode
10: CST mode

6064h: Position actual value

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 ▏ Parameter List

y Position actual value in user-defined unit (6064h) x Gear ratio (6091h) = Position actual value in encoder
unit (6063h)

6065h: Following error window

y When the difference value between position reference (6062h) and position actual value (6064h) keeps
exceeding ±6065h after the time defined by 6066h elapses, Er47.0 (Position deviation too large) occurs.

6066h: Following error time out

y Defines the time lapse to trigger excessive position deviation, used with 6065h.

6067h: Max. profile velocity

y Defines the threshold for position reach.
y If the difference between the position reference value (6062h) and the position actual value (6064h) is
within ±6067h and the time reaches 6068h, the position is reached. In this case, bit 10 of 6041h is set to
1 in PP mode.
y This flag bit is meaningful only when the S-ON signal is active in PP mode.

6068h: Position window time

y Defines the window time for position reach, which must be used together with 6067h.

606Dh: Velocity window

y Defines the threshold for speed reach.
y If the difference value between the target speed (60FFh) and the actual speed (606Ch) is within ±606Dh
and the time reaches 606Eh, the speed is reached and bit 10 of the status word 6041h is set to 1 in the
PV mode.
y This flag bit is meaningful only when the S-ON signal is active in PV mode.

606Fh: Velocity threshold

y Defines the threshold for determining whether the user velocity is 0.
y When the velocity actual value (606Ch) is within ±606Fh and the time reaches the value set by 6070h, the
user velocity is 0. When either condition is not met, the user velocity is not 0.
y This flag bit is valid only in PV mode.
y It is not related to the S-ON state.

6070h: Velocity threshold time

y Defines the time window for determining whether the user velocity is 0, which must be used together
with 606Fh.

6071h: Target torque

y Defines the target torque of the servo drive in PT mode.
y The value 1000 corresponds to the rated torque of the motor.

6072h: Max. torque

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 Parameter List ▕

y Defines the maximum torque reference limit.

y The value 1000 corresponds to the rated torque of the motor.

6074h: Torque reference value

y Defines the target torque value.
y The value 1000 corresponds to the rated torque of the motor.

6077h: Torque actual value

y Indicates the internal torque feedback of the servo drive.
y The value 1000 corresponds to the rated torque of the motor.

607Ah: Target position

y Defines the target position of the servo drive in PP mode.
y When bit 6 of 6040h is set to 0, 607Ah indicates the absolute target position of current segment. After
positioning of the current segment is done, the value of 6064h will be the same as the value of 607Ah.
y When bit 6 of 6040h is set to 1, 607Ah indicates the target incremental displacement of the current
segment. After positioning of current segment is done, the incremental displacement will be the same as
the value of 607Ah.

607Ch: Home offset

y Defines the physical location of mechanical zero that deviates from the home of the motor in position
control modes (profile position mode, interpolation mode, and homing mode).
y The home offset in active under the following conditions: The device is powered on, the homing
operation is complete, and bit 15 of 6041h is set to 1.
y After homing is done, the position actual value (6064h) will be the same as the value of 607Ch.
y If 607Ch is set to a value outside 607Dh (Software position limit), Er84.3 (Home setting error) will occur.

607D.01h: Minimum software position limit

y Defines the minimum software position limit relative to the mechanical zero.
y Minimum software position limit = (607D.01h)
y The software position limit is used to judge the absolute position. When homing is not performed, the
internal software position limit is inactivated.

607D.02h: Maximum software position limit

y Defines the maximum software position limit relative to the mechanical zero.
y Maximum software position limit = (607D.02h)

607Eh: Polarity
y Defines the polarity of position or speed references.
y When bit 7 is 1, it indicates the position reference is multiplied by "–1" and the motor direction is
reversed in the standard position mode or interpolation mode.
y When bit 6 is 1, it indicates the speed reference (60FFh) is multiplied by "–1" and the motor direction is

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 ▏ Parameter List

reversed in the speed mode.

y When bit 5 is 1, it indicates the torque reference (6071h) is multiplied by "–1" and the motor direction is
reversed in the torque mode.
y Other bits are meaningless.

607Fh: Max. profile velocity

y Defines the maximum operating speed in user-defined unit.

6081h: Profile velocity

y Defines the constant operating speed of the target position in PP mode
y The setpoint takes effect after the slave receives the displacement reference.

6083h: Profile acceleration

y Defines the acceleration rate in the acceleration stage of the displacement reference in PP mode.
y The following formula applies if a motor equipped with 17-bit encoder needs to run at 400 RPM (6081h:
400 x 131072/60) with acceleration rate being 400 RPM/s (6083h: 400 x 131072/60) and deceleration
rate being 200 RPM/s (6084h: 200 x 131072/60) under a gear ratio of 1:1:
Acceleration time tup = Δ6081h/Δ6083h = 1 (s).
Deceleration time tdown = Δ6081h/Δ6084h=2 (s).
y The setpoint 0 will be forcibly changed to 1.

6084h: Profile deceleration

y Defines the deceleration rate in the deceleration stage of the displacement reference in PP mode.
y The following formula applies if a motor equipped with 17-bit encoder needs to run at 400 RPM (6081h:
400 x 131072/60) with acceleration rate being 400 RPM/s (6083h: 400 x 131072/60) and deceleration
rate being 200 RPM/s (6084h: 200 x 131072/60) under a gear ratio of 1:1:
Acceleration time tup = Δ6081h/Δ6083h = 1 (s).
Deceleration time tdown = Δ6081h/Δ6084h=2 (s).
y The setpoint 0 will be forcibly changed to 1.

6085h: Quick stop deceleration

y Defines the deceleration rate when the quick stop command (6040h set to 0x0002) is active and 605Ah
(Quick stop option code) is set to 2 or 5.
y The setpoint 0 will be forcibly changed to 1.

6087h: Torque slope

y Defines the acceleration rate (torque reference increment per second) of the torque reference in PT
mode.
y In PT mode, if 605Ah is set to 1, 2, 5, or 6, or 605Dh is set to 1 or 2, the servo drive decelerates to stop as
defined by 6087h.
y If the setpoint exceeds the torque reference limit, the limit value will be used.
y The setpoint 0 will be forcibly changed to 1.

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 Parameter List ▕

6091.01h: Torque slope

y Defines the numerator of the gear ratio.
y The gear ratio is used to establish the proportional relationship between the load shaft displacement
designated by the user and the motor shaft displacement.
y The relationship between motor position feedback (encoder unit) and load shaft position feedback
(reference unit) is as follows.
Motor position feedback = Load shaft position feedback x Gear ratio
The relationship between the motor speed (rpm) and the load shaft speed (reference unit/s) is as follows.
Motor speed (rpm) = Load shaft speed x 6091h x 60/Encoder resolutions
y The relationship between the motor acceleration (rpm/ms) and the load shaft acceleration (reference unit/
s2) is as follows.
Motor acceleration (rpm/ms) = Load shaft acceleration x 6091h x 1000/Encoder resolutions/60
6091.02h: Shaft revolutions
y Defines the denominator of the gear ratio.

6098h: Homing method

y For details, see Table 4-1 "Mode lists".

6099.01h: Speed during search for switch

y Defines the speed during search for the deceleration point signal. A large setpoint helps prevent homing
timeout.

6099.02h: Speed during search for zero

y Defines the speed in searching for the home signal. Setting this speed to a low value prevents overshoot
during stop at high speed, avoiding excessive deviation between the stop position and the set mechanical
home.

609Ah: Homing acceleration

y Defines the acceleration rate in homing mode.

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 ▏ Parameter List

60B8h: Touch Probe Function

Bit Name Description

Touch probe 1 function selection
0 0: Disabled
1: Enabled
Touch probe 1 trigger mode
0: S ingle trigger mode (Latches the position at the
1
first trigger event.)
bit0 to bit5: Probe 1 related settings
1: Continuous trigger
When DI is used as the probe trigger
Touch probe 1 trigger signal selection signal, the DI source cannot be
2 0: DI signal changed after the probe is enabled.
1: Z signal For an absolute encoder, the Z signal
3 Reserved refers to the zero point of motor
single-turn position feedback.
Touch probe 1 positive edge
4 0: Switch off latching at positive edge
1: Enable latching at positive edge
Touch probe 1 negative edge
5 0: Switch off latching at negative edge
1: Enable latching at negative edge
6 to 7 Reserved
Touch probe 2 function selection
8 0: Disabled
1: Enabled
Touch probe 2 trigger mode
0: S ingle trigger mode (Latches the position at the
9
first trigger event.) bit8 to bit13: Probe 2 related settings
1: Continuous trigger
Touch probe 2 trigger signal selection
10 0: DI signal
1: Z signal
11 Reserved
Touch probe 2 positive edge
12 0: Switch off latching at positive edge
1: Enable latching at positive edge
bit8 to bit13: Probe 2 related settings
Touch probe 2 negative edge
13 0: Switch off latching at negative edge
1: Enable latching at negative edge
14 to 15 Reserved

60BAh: Touch probe 1 positive edge

y Indicates the position feedback value (reference unit) latched at positive edge of touch probe 1 signal.

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 Parameter List ▕

60BBh: Touch probe 1 negative edge

y Indicates the position feedback value (reference unit) latched at negative edge of touch probe 1 signal.

60BCh: Touch probe 2 positive edge

y Indicates the position feedback value (reference unit) latched at positive edge of touch probe 2 signal.

60BDh: Touch probe 2 negative edge

y Indicates the position feedback value (reference unit) latched at negative edge of touch probe 2 signal.

60C5h: Max. acceleration

y Defines the maximum permissible deceleration in PP mode, PV mode, and homing mode.
y The setpoint 0 will be forcibly changed to 1.

60C6h: Max. deceleration

y Defines the maximum permissible deceleration in PP mode, PV mode, and homing mode.
y The setpoint 0 will be forcibly changed to 1.

60D5h: Touch probe 1 positive edge counter

y The counting value is added by "1" each time this object is triggered.

60D6h: Touch probe 1 negative edge counter

y The counting value is added by "1" each time this object is triggered.

60D7h: Touch probe 2 positive edge counter

y The counting value is added by "2" each time this object is triggered.

60D8h: Touch probe 2 negative edge counter

y The counting value is added by "2" each time this object is triggered.

60E0h: Positive torque limit

y Defines the maximum torque limit of the servo drive in the forward direction.

60E1h: Negative torque limit

y Defines the maximum torque limit of the servo drive in the reverse direction.

60E3.01h: 1st supported homing method

y Bit 0 to bit 7: The low 8 bits indicate the supported homing method. Set 6098h to the corresponding
value.
y Bit 8: Relative position homing
0: Not supported
1: Supported
y Bit 9: Absolute position homing
0: Not supported
1: Supported
y Bit 10 to bit 15: N/A

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 ▏ Parameter List

60E6h: Actual position calculation method

y Defines the method for calculating the mechanical position after homing is completed. After homing is
triggered, changes in 60E6h will be blocked.

60F4h: Position deviation

y This object indicates the position deviation (in reference unit).

60FCh: Position reference value

y Indicates the position reference (encoder unit).
y If no warning is detected when the S-ON signal is active, the relationship between the position reference
in reference unit and that in encoder unit is as follows:
60FCh (in encoder unit) = 6062h (in reference unit) x 6091h

60FDh: DI status
y Indicates current DI logic of the drive. 0: Inactive; 1: Active

Bit Description

0 Reverse overtravel active

1 Forward overtravel active

2 Home signal active

3 to 15 N/A

16 DI1 input active

17 DI2 input active

18 DI3 input active

19 DI4 input active

20 DI5 input active

21 to 26 NA

60FFh: Target velocity

y Defines the target velocity in CSV and PV mode.

6502h: Supported drive modes

y Defines the target velocity in CSV and PV mode.

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 Motor and Options ▕

Chapter 12 Motor and Options

12.1 Model

A6M60 - 400 H2 A1-M17(S)

Number of S for single turn, empty for multiple
encoder turns turns

17: 17-bit
Resolution
23: 23-bit

E : Magnetic Encoders
Encoder type
M: optical encoder
1: Straight Plugs
Plug Type 2: Plastic Plugs
3: Aviation Plugs

A: No brake
Brake
B: brake

2: 220VAC
voltage level
3: 380VAC

H: high inertial
Inertial M: neutral inertial
L: low inertial

400: 400W
Power class 750: 750W
1000: 1000W

M60: 60mm End Flange

Motor Size
M80: 80mm End Flange

Product series A6 series

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 ▏ Motor and Options

12.2 Nameplate

Nameplate

Model A6M60-400H2A1-M17
Motor parameters 220V 250Hz 1.10A
400W 0.32Nm Ins:F
rated/max 3000/6000 rpm
Manufacturing SN S/N:0100000000000000
www.omc-stepperonline.com.

Figure 12-1 Nameplate of the A6M60 servo motor

12.3 Components

Quality connector

Quality motor bearing Wear-resistant oil sealing

Shaft extension protection

Figure 12-2 Components of the A6M60 servo motor

12.4 Terminal Definition

NOTICE
y The figure is for reference only. For details about the motor correspondence and size information,
refer to the supporting relationships and drawings. Pay attention to the mirror relationship
between the motor side and the cable side.

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 Motor and Options ▕

Cable Type Terminal Layout (Cable Side) Pin No. Usage

1 Phase V
2 Phase U
1
2 3 Phase W
A
3
B
4 4 Grounding cable
A Brake (polarity insensi-tive)
Power input connector B Brake (polarity insensi-tive)
A Phase U
A C B Phase V
B D
C Phase W
D Grounding cable
A Phase U
B Phase V
1
A D C Phase W
2
B C
D Grounding cable
1 Brake (polarity insensi-tive)
2 Brake (polarity insensi-tive)
1 DATA+
2 DATA-

1 3 BAT+
5
2
6
7
3 4 BAT-
4
Encoder connector 5 +5V
6 0V
7 Enclosure
1 DATA+
2 DATA-
1 2 3 4 +5V
4 5 6 7
5 BAT-
8 9 10

6 BAT+
9 0V
10 Enclosure

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 ▏ Motor and Options

12.5 General Specifications

12.5.1 Mechanical Characteristics

Item Description
Duty S1 (Continuous)
[1]
Vibration class V15
Insulation resistance 500 V DC, above 10 MΩ
Excitation mode Permanent magnetic
Mounting mode Flange
Thermal class Level F
1500 V AC, 1 minute (220 V level)
Insulation voltage
1800 V AC, 1 minute (380 V level)
IP rating of the enclosure IP67 with an oil seal (oil seal installed on the axis side)
The servo drive rotates counterclockwise (CCW) as observed
Forward direction of rotation
from the axis side under the forward rotation command.
(Non-freezing) (Derate based on the derating curve for
Ambient temperature
temperatures above 40°C.)
Ambient humidity 20% to 80% (Non-condensing)
y Free from corrosive or explosive gases
y Well ventilated with minimum amount of dust, waste, and
moisture
y Convenient for inspection and cleaning
Ambient y Derating required only for altitudes above 1000 m
Installation site
conditions y Away from sources that may generate strong magnetic
field
y Away from heating sources such as a heating stove
y Use a motor with oil seal in places with grinding fluid, oil
mist, iron powders or cuttings.
Observe the following requirements for storage of a de-
energized motor:
Storage environment
y Storage temperature: (Non-freezing)
y Storage humidity: (Non-condensing)
Shock acceleration rate
Shock 490 m/s²
at flange
resistance[2]
Number of shocks 2
Vibration Vibration acceleration
49 m/s²
resistance[3] rate at flange

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 Motor and Options ▕

CAUTION

y [1] The vibration class V15 indicates that the vibration amplitude is less than 15 μm when a servo
motor rotates at its rated speed.
y [2] The value in the table indicates the resistance against shock in the vertical direction with the
servo motor shaft mounted horizontally.
y [3] The value in the table indicates the resistance against vibration in the vertical, left-right, and
forward-backward directions with the servo motor shaft mounted horizontally.
y The strength of the vibration that the servo motor can withstand depends on the application.
Check the vibration acceleration rate applied to the servo motor through the actual product.
Vertical

Forward﹣backward

Left﹣right

Figure 12-3 Directions of short and vibration applied to the servo motor

12.5.2 Overload Characteristics

The motor is compliant with NEC and CEC requirements and equipped with protective functions against
overload and over-temperature.
To protect different load motors, set the motor overload protection gain based on the overload capacity
of the motor. Use the default gain in general conditions. However, when one of the following conditions
occurs, change the gain based on actual motor temperature:
y The motor operates in environments with high temperature.
y The motor is in cyclic motion featuring a short motion cycle and frequent acceleration/
deceleration.
See the following inverse time lag curve for motor overload protection.

250

200
Run time (s)

150

100

50

0
120 130 140 150 160 170 180 190 200 210 220 230 240 250 300 350 Load ratio (%)

Figure 12-4 Motor overload protection curve

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 ▏ Motor and Options

12.5.3 Load moment of inertia

The load moment of inertia represents the inertia of the load. Larger load moment of inertia means slower
response, which may result in unstable motion. The allowable load moment of inertia of the motor is
subject to a limit. The limit varies with the driving conditions of the servo motor.
An overvoltage warning may occur during deceleration if the load moment of inertia exceeds the allowable
value. The servo drive with a built-in braking resistor may generate an overload warning. In case of such
warnings, take one of the following measures:
y Reduce the torque limit value.
y Reduce the deceleration rate.
y Reduce the maximum speed.
y Install an external braking resistor if the warning cannot be cleared using the above measures.

NOTICE
y Servo motors with the capacity below 400 W do not have built-in braking resistors.
y When a built-in braking resistor is used, some energy generated under certain regenerative
driving conditions still exceeds the allowable capacity loss (W) of the built-in braking resistor. In
this case, an external braking resistor is required.

The following figure shows the relationship between the ratio of allowable load moment of inertia and
the speed when a servo is used without a built-in regenerative resistor or an external braking resistor. (The
following figure shows the reference values upon deceleration at 200 VAC input and torques greater than
the rated torque.)

30
Ratio of allowable load moment

25
of inertia (times)

20

15

10

0
1000 2000 3000 4000 5000 6000 7000 Speed (rpm)

Figure 12-5 Ratio of allowable load moment of inertia for the speed

When the servo unit is used by load whose moment of inertia exceeds the allowable value, an overvoltage
alarm may be triggered.

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 Motor and Options ▕

12.6 Selection Precautions

y Motors with oil seals must be derated by 10% during use.
y Do not share the power supply of the brake with other electrical devices. Failure to comply may result
in malfunction of the brake due to voltage or current drop caused by other devices.
2
y Use cables with a cross-sectional area above 0.5 mm .
y All parameters and torque-speed characteristic values are subject to the conditions that the motor
works with a servo drive and the armature coil temperature is 20°C.
y The torque for fastening the terminal screws must be 0.19 N·m to 0.21 N·m. Excessive torque may
damage the screws.
y Radial and axial loads of the motor

LF

Radial load

Axial load

Figure 12-6 Radial and axial loads of the motor

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12.7 Technical Specifications

12.7.1 Model of 3000 rpm
400 W (60 frame)

Item (A6M60-XXXXXXXXXX) 400H2B1-M17(With brake) 400H2A1-M17(Without brake)

Rated power (W) 400
Rated current (A) 2.51
Maximum current (A) 8.78
Rated torque (N·m) 1.27
Maximum torque (N·m) 4.45
-4
Rotor inertia (10 ·kg·m²) 0.60 0.59
Overload multiplier 3.5
Rated speed (rpm) 3000
Maximum speed (rpm) 6000
Rated voltage (V) 220

Product Dimensions (unit: mm)

400H2B1-M17 (With brake)
0.04 A
15.8
0
6.5 Ø14 h6 -0.011
3 ӭ 0.02
4-Ø5.5
45° 45°

5 h9

Ø70 A
14
M5 10
0
Ø50 h7 -0.025
5 Ø0.04 A
11 25.5
60 117.2 30

400H2A1-M17(Without brake)
0
0.04 A Ø14 h6 -0.011
15.8
ӭ 0.02
6.5
3
4-Ø5.5
45° 45°

5 h9

Ø70 A 14
M5 10

0
Ø50 h7 -0.025
5 25.5
11 Ø0.04 A
60 88 30

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 Motor and Options ▕

750 W (80 frame)

Item (A6M80-XXXXXXXXXX) 750H2B1-M17(With brake) 750H2A1-M17(Without brake)

Rated power (W) 750
Rated current (A) 4.60
Maximum current (A) 16.30
Rated torque (N·m) 2.39
Maximum torque (N·m) 8.36
-4
Rotor inertia (10 ·kg·m²) 1.77 1.72
Overload multiplier 3.5
Rated speed (rpm) 3000
Maximum speed (rpm) 6000
Rated voltage (V) 220

Product Dimensions (unit: mm)

750H2B1-M17 (With brake)

0.04 A
45° 45°
15.5 8 Ø19 h6 0
-0.013

3 ӭ 0.02

4-Ø6.4

6 h9

Ø90 A
M6 12 22

6 30.2
15.5 Ø70 h7 0
-0.030

80 128.8 35 Ø0.04 A

750H2A1-M17 (Without brake)

0.04 A 0
Ø19 h6 -0.013
45° 45°
15.5
8 ӭ 0.02
3

4-Ø6.4

6 h9

Ø90 A
M6 12 22
0
6 Ø70 h7 -0.030
15.5 30.2 Ø0.04 A
80 94.6 35

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 ▏ Motor and Options

1 kW (80 frame)

Item (A6M80-XXXXXXXXXX) 1000H2B1-M17(With brake) 1000H2A1-M17(Without brake)

Rated power (W) 1000
Rated current (A) 6.3
Maximum current (A) 20.9
Rated torque (N·m) 3.18
Maximum torque (N·m) 11.13
Rotor inertia (10-4·kg·m²) 2.28 2.23
Overload multiplier 3.5
Rated speed (rpm) 3000
Maximum speed (rpm) 6000
Rated voltage (V) 220

Product Dimensions (unit: mm)

1000H2B1-M17 (With brake)

0.04 A
45° 45
° 15.5 8 Ø19 h6 0
-0.013

3 ↗ 0.02

4-Ø6.4

6 h9

Ø90 A
M6 12 22

6 30.2
15.5 Ø70 h7 0
-0.030

80 142.1 35 Ø0.04 A

1000H2A1-M17(Without brake)
0.04 A
Ø19 h6 ﹣0.013
0

45° 45°
15.5
8 ↗ 0.02
3

4﹣Ø6.4

6 h9

Ø90 A
M6 12 22

6 Ø70 h7 ﹣0.030
0

15.5 30.2 Ø0.04 A

80 107.9 35

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 Peripheries ▕

Chapter 13 Peripheries

13.1 List of Peripheries

Component Installation Applicable

Description
Name Location Model

To comply with EN 61800-5-1 and UL 61800-5-1

Fuse and circuit Input side of the standards, install a fuse/circuit breaker on the input
All
breaker drive side of the servo drive to prevent accidents caused
by short circuit in the internal circuit.

Input side of the Eliminate harmonics and improves the power factor
AC input reactor All
drive on the input side.

Input side of the Reduce the conducted and radiated interference

EMC filter All
drive that escapes from the servo drive to the outside.

Output side of Reduce interference to the outside and the bearing

All
the drive current.
Magnetic ring
Improve the anti-interference performance of
Signal cable All
signals.

13.2 Fuse
To prevent accidents caused by short circuit, install a fuse on the input side of the drive.

Rated Input Recommended Fuse

Drive Model
Current Manufacturer Rated Current Model

Single-phase 220 V

SIZE A A6-400PN 4A Bussmann 2.8 A FWP-20B

SIZE B A6-750PN 7.9 A Bussmann 5.5 A FWP-35C

SIZE C A6-1000PN 9.6 A Bussmann 7.6A FWP-40C

Three-phase 220 V

SIZE C A6-1000PN 5.1 A Bussmann 7.6 A FWP-50C

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 ▏ Peripheries

13.3 Electromagnetic Contactor

Rated Input Recommended Contactor

Drive Model
Current Manufacturer Rated Current Model

Single-phase 220 V

SIZE A A6-400PN 4A Schneider 2.8 A LC1 D09

SIZE B A6-750PN 7.9 A Schneider 5.5 A LC1 D09

SIZE C A6-1000PN 9.6 A Schneider 7.6 A LC1 D12

Three-phase 220 V

SIZE C A6-1000PN 5.1 A Schneider 7.6 A LC1 D09

13.4 Circuit Breaker

Rated Input Recommended Contactor

Drive Model
Current Manufacturer Rated Current Model

Single-phase 220 V

SIZE A A6-400PN 4A Schneider 2.8 A OSMC32N2C6

SIZE B A6-750PN 7.9 A Schneider 5.5 A OSMC32N2C16

SIZE C A6-1000PN 9.6 A Schneider 7.6 A OSMC32N2C16

Three-phase 220 V

SIZE C A6-1000PN 5.1 A Schneider 7.6 A OSMC32N2C10

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 Peripheries ▕

13.5 Absolute Encoder Battery

Select an appropriate battery according to the following table.

Ratings
Battery Spec. Item and Unit Requirements
Min. Typical Max.
External battery volt-age (V) 3.2 3.6 5 In standby state[1]
Circuit fault voltage (V) - 2.6 - In standby state
Battery alarm voltage (V) 2.85 3 3.15 -
- 2 - In normal operation[2]
In standby state, shaft
Output Current consumed by the - 10 -
at a standstill
Specifications: circuit (μA)
3.6V 2500mAh In standby state, shaft
- 80 -
rotating
Ambient temperature
during battery opera-tion 0 - 40
(ºC) Same as the motor
Battery storage tem-
-20 - 60
perature (ºC)

NOTICE
y The preceding data is measured at an ambient temperature of 20ºC.
y [1] The "standby state" means that the encoder performs multi-turn counting by using the power
from an external battery when the servo drive power supply is off. In this case, data transmission
stops.
y [2] The "normal operation" means that the absolute encoder supports single-turn or multi-turn
data counting and transceiving. Power on the servo drive after connecting the absolute encoder
properly. The encoder starts data transmission after a short delay of about 5s after power-on. The
motor speed must be lower than or equal to 10 rpm during transition from the standby state to
the normal operation state (upon power-on). Otherwise, E740 (Encoder fault) may be reported.
In this case, power off and power on the servo drive again.
y Theoretically, a battery can be used for two years, but different working conditions and
environments can lead to significant differences.

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 ▏ Maintenance

Chapter 14 Maintenance

14.1 Daily Maintenance

Standard operating conditions:
y 30°C (annual average ambient temperature)
y Average load rate < 80%
y Daily operation time < 20 hours
Due to the influence of ambient temperature, humidity, dust, and vibration, the internal components of
the device may age and be damaged, causing faults or reducing the service life of the device. Therefore,
to ensure the normal function of the device and prevent damage, refer to the following items for daily
inspection and cleaning.

Check

y The ambient temperature and humidity are normal. There is no dust or unwanted objects in the
servo drive.
y There is no abnormal vibration or noise for the device.
y The voltage of the power supply is normal.
y There is no strange smell.
y There are no fibers adhered to the air inlet.
y There is no intrusion of unwanted objects on the load end.

Cleaning

y Clear the dust, especially metallic dust, on the drive surface to prevent the dust from entering the
drive.
y Keep the drive in a well ventilated environment.
y Keep the front end of the servo drive and the connectors clean.

CAUTION

y Disconnect the power supply before cleaning. Use a blower gun or dry cloth to clean the
equipment.
y Do not use gasoline, diluent, alcohol, acidic and alkaline detergents, to prevent discoloration or
damage to the enclosure.

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 Maintenance ▕

14.2 Periodic Maintenance

The electrical and electronic parts inside the servo drive may be mechanically worn out and degraded.
Perform periodic maintenance according to the following table.
Contact us or the agent before replacement to double check whether the part needs to be replaced.

Object Type Standard Replacement Interval

Bus filter capacitor About 5 years
Cooling fan 2 to 3 years (10,000 h to 30,000 h)

Aluminum electrolytic capacitor

About 5 years
Drive of the circuit board
100,000 operations (depending on the operating
Pre-charge relay
conditions)
20,000 operations (depending on the operating
Pre-charge resistor
conditions)
Bearing 3 to 5 years (20,000 h to 30,000 h)
Oil Seal 5000 hours

Motor Encoder 3 to 5 years (20,000 h to 30,000 h)

Depends on the operating conditions.
Absolute encoder battery See the operation instructions for the encoder
battery for details.

14.3 Part Replacement

14.3.1 Plain Key Replacement

CAUTION

y Observe the uninstallation requirements described in this chapter. Failure to comply may result in
equipment fault or damage.
y Disassembly by force is strictly prohibited to prevent injury to hands from bumps and knocks.

Currently, the plain keys for ASMK2 standard motors with 60/80/130 frames have been unified to B-type
plain keys, and come with key extraction holes. The specifications for the key extraction screws are as listed
in the following table.

Screw Specifications
Motor Mode Flat Key Size
(Hexagon Screw Recommended)

60 frame B-type plain key - B5 x 5 x 16.5 M3x10 and above

80 frame B-type plain key - B6 x 6 x 25 M3x15 and above

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 ▏ Maintenance

Tools: Internal hexagonal wrench

Disassembly procedure:

① Prepare key extraction screws (hexagon bolts as recommended) of the corresponding specifications
according to the motor models.
② Use an Allen key to turn the screws clockwise until the A-A end of the plain key completely disengages
from the keyway. This will allow you to remove the plain key.

Key extraction hole

Figure 14-1 Plain key disassembly

15.3.2 Oil Seal Replacement

Tools: Needle-nose pliers, non-slip gloves, and cotton cloth
Disassembly procedure:

① Put a cotton cloth at support point B to protect the end bracket against scratch during disassembly.
② Fix the motor and prop the oil seal outer lip at point A with one end of the needle-nose pliers.
③ Pry out the oil seal slowly at point B.

A B

Figure 14-2 Oil seal disassembly

350
 Troubleshooting for Common EMC Issues ▕

Chapter 15 Troubleshooting for Common

EMC Issues

15.1 RCD Malfunction

If a residual current device (RCD) is needed, select the RCD according to the following requirements:
y Use a B-type RCD because the drive may generate DC leakage current in the protective conductor.
y For each drive, use an RCD whose tripping current is not lower than 100 mA to prevent RCD
malfunction due to high-frequency leakage current generated by the drive.
y When multiple drives are connected in parallel and share one RCD, select an RCD whose tripping
current is not lower than 300 mA.
y Use Chint or Schneider RCDs (recommended).
When an RCD malfunctions, perform troubleshooting according to the following table.

Fault Possible Cause Solution

The anti-interference
performance of the RCD is poor.
y Use an RCD from a recommended
The rated tripping current of the
brand.
Tripping upon power- RCD is too low.
y Use an RCD with a high tripping current.
on An unbalanced load is connected
to the rear end of the RCD. y Move the unbalanced load to the front
end of the earth leakage circuit breaker.
The ground capacitance at the
front end of the drive is high.
The anti-interference y Use an RCD from a recommended
performance of the RCD is poor. brand.
The rated tripping current of the y Use an RCD with a high tripping current.
RCD is too low. y Install a simple filter on the input side
Tripping during
An unbalanced load is connected of the drive, and wind the LN/RST cable
operation
to the rear end of the RCD. on a magnetic ring near the RCD.

The ground distributed y Reduce the carrier frequency without

capacitance of the motor cable compromising the performance.
and the motor is too high. y Use a shorter motor cable.

351
 ▏ Troubleshooting for Common EMC Issues

15.2 Harmonic Suppression

To suppress the harmonic current of the servo drive and improve the power factor, install an AC input
reactor on the input side of the servo drive to meet standard requirements.
The following figure shows the reactor mounting mode.

Input reactor EMC filter Drive

U1 U2 L1 L1’ R U
V1 V2 L2 L2’ S V
Power supply W1 W2 L3 L3’ T W Motor
PE PE PE PE

PE Place the metal Place the metal Place the metal

enclosure on the enclosure on the enclosure on the
grounding backplate. grounding backplate. grounding backplate.

Connect the grounding copper

busbar to the backplate.

Figure 15-1 Reactor mounting mode

15.3 Control Circuit Interference

15.3.1 Common I/O Signal Interference

The drive generates very strong interference during operation. In the case of improper routing or
grounding, the drive may interfere with or be interfered with by other devices. In such a case, take the
following measures.
y Use shielded cables as the I/O signal cables and connect the shield to the PE terminal.
y Reliably connect the PE terminal of the motor to the PE terminal of the servo drive, and connect
the PE terminal of the servo drive to the PE terminal of the grid.
y Add an equipotential bonding grounding wire between the host controller and the drive.
y Add a magnetic ring for the U/V/W output cable of the drive. Wind the cable on the ring for two to
four turns.
y Increase the filter capacitance at low-speed DI terminals. A maximum of 0.1 μF capacitance is
recommended.
y Increase the filter capacitance between AI and GND terminals. A maximum of 0.22 μF capacitance
is recommended.
y Add a magnetic buckle or magnetic ring for the signal cable. Wind the signal cable on the buckle or
ring for one or two turns.
y Use shielded cables as power cables and ground the shield securely.

352
 Troubleshooting for Common EMC Issues ▕

15.3.2 EtherCAT Communication Interference

In such a case, take the following measures.
y Check that the communication network cables meet the specification requirements for Cat5e
shielded cables.
y Check that the communication port is secure and in good contact.
y Separate communication cables from power cables by a distance of at least 30 cm.
y Add equipotential grounding cables between nodes in the case of multi-node communication.
y Check that any cable between two nodes is within 100 m in length.
y Add a magnetic buckle at each end of the communication cable. Wind the communication cable
on the buckle for one or two turns.
y Add a magnetic ring for the U/V/W output cable of the drive. Wind the cable on the ring for two to
four turns.
y Use shielded cables as power cables and ground the shield securely.

353
 ▏ Certification and Standard

Chapter 16 Certification and Standard

16.1 CE Certification

Directives Standards

EMC Directive 2014/30/EU EN 61800-3

EN 61800-5-1
Low Voltage Directive 2014/35/EU
EN 60034

RoHS Directive 2011/65/EU EN 50581

16.2 UL/cUL Certification

Certification Standards

UL61800-5-1
C22.2 No.274-17
UL/cUL certification
UL 1004-6
CSA C22.2 No. 100-14

354
A6-PN
Servo Driver