JASD Series AC Servo Drives

User's Manual

Address: Floor2,Building A,Hongwei Industrial Zone No.6, Liuxian 2rd Road, Bao'an
District, Shenzhen.China
Phone：0755-26509689 26502268
Fax：0755-26509289
E- mail:[email protected]
Http: //www.jmc-motion.com
 Just motion control 0755-26509689

Preamble
All contents and copyright of this manual belong to
Shenzhen Just Motion Control Electromechanics Co.,
Ltd..Without the permission of Shenzhen Just Motion Control
Electromechanics Co., Ltd any unit or individual shall not
copy,reprint or quote in any way.There is no warranty,
expression of position or other implication in any form in this
manual.If there is any product information mentioned in this
manual, the direct or indirect outflow of information will lead
to loss of benefits.Shenzhen Just Motion Control
Electromechanics Co., Ltd. and its employees do not assume
any responsibility.In addition, the products mentioned in this
manual are for reference only. If the content is updated
without prior notice.
All rights reserved.
Shenzhen Just Motion Control Electromechanics Co., Ltd.

Version Author Approval

V1. 3 R&D R&D
Department Department

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Contents
Preamble ---------------------------------------------------------------------------------- 1
Contents ----------------------------------------------------------------------------------- 2
Chapter 1 Safety Precautions -------------------------------------------------------- 6
1.1 Precautions for reception and installation --------------------------- 6
1.2 Precautions for Wirings ---------------------------------------------------- 6
1.3 Precautions for operation ------------------------------------------------- 7
1.4 Precautions for maintenance and inspection ------------------------ 8
Chapter 2 Product Introduction ----------------------------------------------------- 9
2.1 Servo Driver ------------------------------------------------------------------- 9
2.1.1 Introduction --------------------------------------------------------- 9
2.1.2 Main characteristics ----------------------------------------------- 9
2.1.3 Driver Specifications--------------------------------------------- 10
2.1.4 Servo driver model description and nameplate content13
2.2 Servo motor----------------------------------------------------------------- 14
2.2.1 Introduction ------------------------------------------------------- 14
2.2.2 Main features ----------------------------------------------------- 14
2.2.3 Servo motor model description and nameplate content15
2.3 Servo control system and Main power circuit connection ----- 17
2.3.1 Wiring diagram of servo control system ------------------- 17
2.3.2 loop-connectivity main power ----------------------------- 18
Chapter 3 Port usage and cabling ---------------------------------------------- 19
3.1 Distribution of ports in Servo-drive ---------------------------------- 19
3.2 Description of servo driver CN1 control port ---------------------- 20
3.2.1 Definition of CN1 control port ----------------------------- 20
3.2.2 Connection instructions for CN1 control ports----------- 22
3.3 Description of the CN2 encoder port of the driver --------------- 24
3.3.1 Description of SCSI-20P encoder connector ------------------ 24

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3.3.2 Description of 1394-6P encoder connector ------------ 25

3.4 Description of the driver's CN3/CN4 port -------------------------- 26
3.5 Description of the driver's CN5 port --------------------------------- 27
3.6 Port description of power supply and motor power line ------- 27
Chapter 4 Installation instructions --------------------------------------------- 29
4.1 Installation dimension --------------------------------------------------- 29
AC servo driver with 2kW power（unit：mm） --------------- 31
AC servo driver with 3KW power（nuit：mm） --------------- 32
4.2 Install the environment used ------------------------------------------ 33
Chapter 5 Panel displays instructions and Settings ---------------- 34
5.1 The instructions of the panel functions ------------------------- 34
5.2 Operation mode switching process ---------------------------------- 35
5.3 Status display------------------------------------------------------------- 36
5.4 Write and save method for parameter setting --------------- 37
Chapter 6 control mode and setting ----------------------------------------- 39
6.1 Position control----------------------------------------------------------- 39
6.1.1 Position control wiring diagram ------------------------------ 39
6.1.2 Position control wiring diagram ------------------------------ 40
6.1.3 Description of position control mode parameters ------ 41
6.1.4 Example of electronic gear ratio calculation -------------- 42
6.2 speed control --------------------------------------------------------------- 45
6.2.1 Speed control wiring diagram -------------------------------- 45
6.2.2 Description of speed control mode parameters --------- 46
6.3 torque control -------------------------------------------------------------- 47
6.3.1 Torque control wiring diagram ------------------------------- 47
6.3.2 Description of torque control mode parameters -------- 48
Chapter 7 trial operation and parameter adjustment ---------------------- 50
7.1 test run ---------------------------------------------------------------------- 50

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7.1.1 Pre operation detection ---------------------------------------- 50

7.1.2 No-load test run -------------------------------------------------- 51
7.2 parameter adjustment --------------------------------------------------- 53
7.3 Gain tuning manually----------------------------------------------------- 55
7.3.1 Basic parameter -------------------------------------------------- 55
7.3.2 Gain switching ---------------------------------------------------- 59
7.3.3 Feed-forward function ------------------------------------------ 60
7.3.4 Disturbance observer ------------------------------------------- 61
7.3.5 Resonance suppression ---------------------------------------- 62
Chapter 8 Parameter and Function ---------------------------------------------- 67
8.1 Parameter list -------------------------------------------------------------- 67
8.2 Parameter Description --------------------------------------------------- 86
8.2.1 P00-XX motor and driver parameter ------------------------ 86
8.2.2 P01-xx Major control parameter ----------------------------- 89
8.2.3 P02-xx Gain assorted parameter ----------------------------- 92
8.2.4 P03-xx Position parameters ----------------------------------- 98
8.2.5 P04-xx Speed parameter ------------------------------------- 102
8.2.6 P05-xx Torque parameter ------------------------------------ 104
8.2.7 P06-xx I/O Parameter -------------------------------------- 106
8.2.8 P08-xx High function Parameter------------------------- 110
8.3 List of surveillance items ---------------------------------------------- 112
8.4 Auxiliary function -------------------------------------------------------- 114
Chapter 9 Fault Analysis and Treatment -------------------------------------- 118
9.1 Failure alarm information list ---------------------------------------- 118
9.2 Cause and treatment of fault alarm -------------------------------- 120
Chapter 10 Communication Settings ------------------------------------------ 128
10.1 Modbus communication parameter setting ------------------- 128
10.2 Modbus communication support read and write parameter129

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settings -------------------------------------------------------------------------- 129

Chapter 11 Special Function Instructions ------------------------------------ 133
11.1 Absolute encoder is used -------------------------------------------- 133
11.1.1 Functional description ------------------------------------ 133
11.1.2 Based on MODBUS communication servo basic
Settings and instructions. ------------------------------------------- 133
11.1.3 Based on MODBUS communication absolute data
address ------------------------------------------------------------------- 134
11.1.4 Absolute encoder related alarm processing -------- 134
11.1.5 Absolute encoder battery replacement ------------- 135

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Chapter 1 Safety Precautions

The following explanations are for things that must be observed in order to prevent harm to people and

damage to property.

Misuses that could result in harm or damage are shown as follows, classified according to the degree of

potential harm or damage.

Indicates great possibility of death or serious injury.

Danger

Indicates the possibility of injury or property damage.

Caution

Indicates something that must not be done.

1.1 Precautions for reception and installation

Danger：1、Please match the driver and motor according to the specified way, otherwise it will cause

equipment damage or fire.

2、It is forbidden to use in places with serious water vapor, combustible gas, corrosive gas, etc.

Otherwise it will cause electric shock, personal injury, fire and equipment damage.

1.2 Precautions for Wirings

Danger：1、Please do not connect the drive power supply to the motor output terminals (U, V, W).

Otherwise, the driver will be damaged, which may cause personal injury or fire.

2、Please make sure that the connecting wires of power supply and motor output terminals are

locked, otherwise it may cause sparking and fire.

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3、Please properly select the power cord and motor power extension cord correctly to avoid fire

caused by insufficient current bearing capacity of the wire.

4、Please make sure that ground the earth terminal of the motor and driver shell without fail.Bad

grounding may cause electric shock.

Caution：1、Please do not tie the motor power line to the signal line or pass through the same pipe to

prevent

interference to the signal.

2、Please use multi-stranded wire with shielding for signal line and encoder feedback extension

line to enhance anti-interference ability.

3、After the driver is off power, there is still high voltage inside. Please do not touch the power

terminal for 5 minutes, and make sure the discharge indicator is off before operating.

4、Before power on, please make sure that the wiring is connected correctly.

1.3 Precautions for operation

Danger：1、Before installation of the equipment, please first no-load trial run to avoid accidents.

2、Do not allow untrained personnel to operate, to prevent equipment damage and personnel

injury caused by the wrong operation.

3、During normal operation, please do not touch the radiator and its interior of the driver with

your hands to prevent high temperature scalding or electric shock.

Caution：1、Please adjust the parameters of the driver before long-term test to prevent the poor use of the

driver and equipment.

2、Please make sure that the device start, emergency stop, close and other switches are

effective before running the device.

3、Please do not turn on and off the power repeatedly.

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1.4 Precautions for maintenance and inspection

：1、It is forbidden to touch the inside of the drive or motor during operation to avoid electric shock.

2、 Within 5 minutes after the power is turned off, do not touch the power supply and power terminal to

prevent electric shock.

3、 Do not change the connection line when the power is on, in case of electric shock or injury.

4、 Must be operated and maintained by trained professionals.

5、 Do not disassemble and repair except by our staff.

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Chapter 2 Product Introduction

2.1 Servo Driver

2.1.1 Introduction
JASD series universal servo driver is a high performance AC servo unit developed by JMC.The servo driver of

this series use advanced DSP chip for motor control, large-scale Field Programmable Gate Array (FPGA) and IPM

power module, which is characterized by small size, high integration, stable performance and reliable protection.

There are abundant digital and analog I/O interfaces. It can be used with a variety of upper computer devices, and

support MODBUS communication protocol to facilitate networking. It can realize the full digital control of position,

speed and torque precision through the optimized PID control algorithm. It has the advantages of high precision

and quick response. At the same time, the driver supports 2500 line incremental encoder and 17-bit and 20-bit

high precision absolute encoder motor, to meet different customer performance requirements. Products are

widely used in CNC machine tools, printing and packaging machinery, textile machinery, robots, automatic

production lines and other automation fields.

2.1.2 Main characteristics

1. Using DSP+FPGA dual chip platform and optimized current loop design, the driver has the characteristics of
high dynamic response, extremely short setting time, smooth operation and small vibration when stopping.
2. With automatic gain adjustment module, the user can choose the rigidity level according to the demand.
3. The built-in FIR filter and the multiple sets of notch filter, can automatically recognize and suppress the
mechanical vibration.
4. The built-in disturbance torque observer, makes the drive with a strong ability to resist external disturbance.
5. There are a variety of control modes to choose, position control, velocity control, torque control, can switch
various control modes.
6. Location input pulse frequency up to 4 MHZ, support pulse + direction, orthogonal pulse, double pulse
position command a variety of ways.
7. It has RS485 interface, supporting Modbus communication, and Multi-ring absolute encoder with memory
function. It can be flexibly applied to manipulator and other industries.

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8. Programmable 8-way input and 5-way output port available, users can define input, output requirements via
settings, flexible application.
9. Support incremental encoder and 17bits, 20bits, 23bits high precision absolute encoder.
10. Complete protection functions including overvoltage, undervoltage, overspeeding, overloading, Position
deviation too large, encoder errors, etc. And it can remember 8 groups of historical fault information.
11. Rich monitoring items, users can choose wanted items to test running state.
12. Drive communicates with PC via connecting RS232 port to have easy, quick debug servo drive system.

2.1.3 Driver Specifications

1、Electrical specifications

a）Single phase 220V servo drive

Model JASD***2-20B 200 400 750 1500

Single Phase Continuous 1.9 3.2 6.7 8.8

Input Current (Arms)

Continuous Output 2.1 2.8 5.5 8

Current(Arms)

Max Output 5.8 9.6 16.9 19

Current(Arms)

Main Circuit Power Supply Single phase AC180-240V，50/60Hz

Control Circuit Power Single phase AC180-240V，50/60Hz

Supply

Brake Handling External brake resistance Built in brake resistance

Function

b）3-phase 220V servo drive

Model JASD***2-20B 750 1500 2000 3000

3-Phase Continuous Input 3.6 6 8.7 11

Current (Arms)

Continuous Output 5.5 8 14 20

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Current(Arms)

Max Output 16.9 19 33 50

Current(Arms)

Main Circuit Power Supply 3-phase AC180-240V，50/60Hz

Control Circuit Power Single phase AC180-240V，50/60Hz

Supply

Brake Handling Built in brake resistance

Function

2、Basic Specifications

Project Description
Control method Single/3-phase full-wave rectifier
IGBT PWM sinusoidal wave current drive
Feedback Incremental encoder
Absolute encoder
temperature Work：0～55℃ Storage：-25～85℃
humidity Work：10%～90%
altitude <1000m.When it is higher than 1000m, it shall be
derated according to GB/T 3859.2-93
Environment
Protection level：IP10，cleanliness：2
Non-corrosive and non-combustible gas
protection level
No oil and water splash
Environment with less dust, salt and metal powder

speed regulate area 1:5000

±0.01%：External load fluctuation 0～100%

steady speed accuracy ±0.01%：power input change ±10%（220V）

±0.1%：ambient temperature ±25℃（25℃）

Function
velocity response 1200Hz
frequency
torque control ±2%
accuracy

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frequency-dividing A phase, B phase and C phase: linear driving output.

pulse output of frequency-dividing pulse output number: can be set at
encoder will.
point：8
Function：Servo ON、Erase warning the warning、
Forward overpass signal input、Reverse overpass signal
input、Control mode switching、P action instruction
input、Positive side external torque limit、Reverse side
external torque limit 、 Gain switching input 、 Zero
input signal
position fixed input、Instruction pulse inhibit input、
Input/Output Encoder absolute value data required input、1. Internal
signal set speed switching input 2. Internal set speed
switching input3、Position instruction clear input、Check
out input of magnetic pole、Switch input of instruction
pulse input multiplier
point：5
Function：Alarm output、Band-type brake open output、
Servo ready for output、Position complete output、
output signal Position close output、Uniform speed output、Motor
zero speed output、Torque limit detection output、
Speed limit detection output、Warning output、
instruction pulse input multiplier switching output
Display function High voltage power indicator lamp, 6-digit 8-segment
LED.
RS485 MODBUS protocol is supported.
Communication
Axis address: by parameter setting
function
RS232 Connect PC for debugging
Regeneration treatment Built-in regenerative resistor or external regenerative
resistor.
Protection function Overvoltage, undervoltage, overcurrent, overload, etc.

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2.1.4 Servo driver model description and nameplate content

1、Model description：

JASD 750 2 - 20B - XX

JMC JASM Driver power Power supply Special function

series AC module：
Symbol Rated power output Symbol Specifications
servo Special function module
200 200W 1 Single phase 220V
drivers The default is the
drivers 400 400W 2 Single/3-phase 220V standard model.

750 750W

1500 1500W

2000 2000W Number of encoder lines

3000 3000W Symbol Supported encoder

2500 2500line

20B 17B/20B/M23B

M20B M23B with memory

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2、Nameplate content description

Product model

Rated input

Rated output

Barcode and production date

serial number

2.2 Servo motor

2.2.1 Introduction
JASM servo motors are high rotational speed, high precision servo motors developed by JMC to meet the

requirements of modern automatic control. This series of servo motors can make the control speed and position

accuracy very accurate, and can convert the voltage signal into torque and speed to drive the control object. This

series of servo motor rotor speed is controlled by the input signal and can respond quickly. It in the automatic

control system, is used as actuators, and the advantages of small electrical and mechanical time constant, high

linearity, initiating character such as voltage, can convert the received electrical signal to the motor shaft angular

displacement or angular velocity on output, and can be adjusted real time feedback signal to the servo drive,

realize high precision control.

2.2.2 Main features

1. High-energy magnetic.

2. 300% overload capacity for short periods of time.

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3. Flange dimensions (mm)：40、60、80、110、130

4. Power: 0.1-3KW optional

5. Low noise, low heat, high precision, high rotation speed, etc.

2.2.3 Servo motor model description and nameplate content

1、Model description：
80 JASM 5 07 2 30 K - 20B - XX

Flange dimensions (mm)

60、80、110、130
Power supply Number of

JMC JASM AC series 1 Single phase 110V encoder lines

servo drivers 2 3-phase 220V 2500

17B
Poles of motor Motor rated rotational speed 20B
4 Four pairs (default) 15 1500 RPM M23B
5 Five pairs 20 2000 RPM

30 3000 RPM
Special function
Motor rated output power module：
Symbol Rated output power Special function
Motor output shaft type
module
01 100W
K Keyway The default is
02 200W
F Flat shaft the standard
04 400W model.
S optical axis
07 750W 号
G reducer fitting
08 850W
P special production
10 1000W

15 1500W

20 2000W
15
30 3000W
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2、Nameplate content description

SERVO MOTOR
Motor model

MODEL:80JASM507230K-20B
Motor power line
MOTOR LEADS
definition
U: RED V：BLACK W:WHITE
Rated Power、input
voltage、input current、 Pn:750W AC: 220V In:4.2A
Rated torque、rated Tn:2.39Nm Nn:3000r/m En: 20bit
rotational speed、encoder
lines ︳︳︳︳︳︳︳︳︳︳︳︳︳︳︳︳︳︳︳︳︳︳︳︳︳︳︳︳︳︳︳︳︳︳︳︳
SER.NO:20150801001
Barcode and production
Http：//www.jmc-motion.com
date serial number

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2.3 Servo control system and Main power circuit connection

2.3.1 Wiring diagram of servo control system

The servo driver is directly connected to the industrial power supply, without the use of transformers and other

power source isolation. In order to prevent cross electric shock accident of servo system, please use fuse or circuit

breaker for wiring on input power supply. Because the servo driver has no built-in grounding protection circuit, in

order to form a more secure system, please use a leakage circuit breaker with overload and short circuit protection

or a dedicated leakage circuit breaker with supporting ground wire protection.

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2.3.2 loop-connectivity main power

1、single-phase power supply

JASDÏ Á µ Ð
Single-phase ½ JASD
Á÷
» Ë series
· þ
Å Ç AC
¶ Ǣ÷
ý

单相AC220V
220V
交流电源 AC power servo driver Absolute
绝
对
supply 值
value
编
码
encoder
壳体 器

2、Three-phase power supply

JASDÏ µ ÁÐ
Single-phase ½JASD
Á÷
» Ëseries
· þ
Å Ç AC
¶ Ǣ÷
ý

三相AC220V
220V AC power
servo driver Absolute
绝
交流电源
对
supply value
值
编
码
encoder
壳体 器

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Chapter 3 Port usage and cabling

3.1 Distribution of ports in Servo-drive

à °æ å
LED panel display LEDÏ Ô Ê¾
Display the status, alarm number
and parameters of 显示伺服驱动器的状态、
servo driver
报警编号、参数等

DEBUG PORT(CN5)
Panel operation PCµ ÷
ÊÔ ¶ Ë
¿Ú( CN5)
Ãæ °key
² Ù
å ×÷° ´¼ ü RS232 communication

CN5
Operate the status, alarm number and RS232Í Ñ̈ ¶
通过按键操作伺服驱动
parameters of the servo driver by pressing
buttons. 器的状态、报警编号、参数等

Ê I/O
Èë
ä Êsignal
³ ö
ä Ðport(CN1)
º Å
Å ¶ Ë¿Ú£ C̈N1£ ©
Ö÷ » Ø
Main circuit power  ·µ ç
port Ô ´¶ Ë
¿Ú
Single-phase,three-phase 220V AC power
supply input port. 单相、三相220VAC电源输入口

Control circuit¿power
ÖÆ
Ø » ØÂ ·µ ç
port Ô ´¶ Ë
¿Ú
Single-phase 220V单相220VAC电源输入口
AC power supply input port.

CHARGE indicator CHAlight

RGEÖ Ȩ̂ ¾ µ Æ
If the indicator light is not on, it means there is
若指示灯亮，表示驱动器内
high voltage in the drive. Do not touch the inside ± Encoder
Âë
à Æ÷Á¬ connection
½ ¶ Ë
Ó ¿Ú£ C̈Nport(CN2)
2£ ©
部有高电压，请勿触碰内部
ÔÙ Éú µ ç
× connection
Regeneration resistance Á¬
è ½Ó ¶ Ë¿Ú port
When using built-in resistance, short circuit B1
使用内置电阻时，把B1、B2短接
and B2. When using external resistance, disconnect
使用外部电阻时，断开B1、B2。外部电
B1 and B2. Connect external resistance to B1 and B3
阻接B1、B3

Power line port¶ Á̄ ¦Ï ß

¶ Ë
¿Ú
Connect according按动力线U、V、W标识连接
to the identification of 485Í Ñ̈ ¶ Ë
¿Ú( CN4/ 5)port (CN3/4)
485 Communication
power line U V W

½Ó µ Ø
Grounding protection± screw
» ¤
£ ÂÝË¿
To prevent leakage, make sure to connect
用于防止触电，请务必连接

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3.2 Description of servo driver CN1 control port

3.2.1 Definition of CN1 control port

The upper control and interface of drive, It has the function of the upper computer to control the driver and the

feedback output of the drive.

Definition of pins in CN1 terminal:

Pin number Label Definition Declaration
1 DO4+ Digital output + Customize output port
2 DO3- Digital output - Customize output port
3 DO3+ Digital output + Customize output port 口
4 DO2- Digital output - Customize output port
5 DO2+ Digital output + Customize output port
6 DO1- Digital output - Customize output port
7 DO1+ Digital output + Customize output port
8 DI4- Digital input - Customize input port
9 DI1- Digital input - Customize input port
10 DI2- Digital input - Customize input port
11 COM+ Common input Active High 24V

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12 GNDA Emulation GND

13 GNDA Emulation GND
14 NC nop
15 MON2 Analog data monitoring not currently supported
output 2
16 MON1 Analog data monitoring not currently supported
output 1
17 +24V +24V output（outside I/O） Maximum allowable output current：
150mA
18 T_REF Torque analog control +
19 GNDA Emulation GND
20 +12V +12V output（simulate command Maximum allowable output current：
） 50 mA
21 OA+ Encoder A positive output
22 OA- Encoder A negative output
23 OB- Encoder B negative output
24 OZ- Encoder Z negative output
25 OB+ Encoder B positive output
26 DO4- Digital output - Customize output port
27 DO5- Digital output - Customize output port
28 DO5+ Digital output + Customize output port
29 HPUL- Digital input -
30 DI8- Digital input - Customize input port
31 DI7- Digital input - Customize input port
32 DI6- Digital input - Customize input port
33 DI5- Digital input - Customize input port
34 DI3- Digital input - Customize input port
35 24V SIGN+ 24V positive direction Active High 24V
36 SIGN+ positive direction Active High 5V
37 SIGN- minus direction Active low 0V
38 HPUL+ high-speed pulse +
39 24V PULS+ 24V pulse + Active High 24V
40 HSIGN- High Speed direction -
41 PULS- Pulse - Active low 0V
42 V_REF Velocity analog control +
43 PULS+ Pulse + Active High 5V

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44 GND Digital GND

45 COM +24V output GND
46 HSIGN+ High Speed direction +
47 COM +24V output GND
48 OCZ Encoder Z Phase-open
collector output
49 COM +24V output GND
50 OZ+ Encoder Z positive output

Notice:
1、When the CN1 terminals are connected，24V PULS+ and PULS+ share PULS-，24V SIGN+ and SIGN+ share SIGN-，

The difference is just a 24V high level input and a 5V high level input.

2、digital input (DI) port、digital output (DO) port, Please refer to the parameter description in chapter 8 to set the

custom function.

3.2.2 Connection instructions for CN1 control ports

The digital input DI（DI1-DI8）can be connected using the circuit of switches, relays, and open-collector transistors.

Power can be supplied from within the drive or from an external source.（Please refer to chapter 8.2.7 for p06-xx

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I/O parameters）

伺服驱动器 伺服驱动器

External power input Internal power input

The digital output DO(DO1-DO5) can be connected with relays, photoelectric couplers, etc. The power supply

provided inside the drive can be used or external power supply can be used. When using internal power supply,

The 24V power supply inside the driver provides only 150mA.If the load is greater than 150mA, be sure to use an

external power supply with a supply voltage range of 5-24v.（Please refer to chapter 8.2.7 for p06-xx I/O

parameters）

伺服驱动器 伺服驱动器

(Relay) External power supply (Relay) Internal power supply

伺服驱动器 伺服驱动器

(Optocoupler) External power source (Optocoupler) Internal power supply

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Speed and torque control analog control input effective voltage range (-10v ~10V)，The command value

corresponding to this voltage range can be set by the following parameters,P06-40 Speed analog command input

gain,P06-43 Torque analog command input gain. For the specific setting method, please read the detailed

description of parameters.

伺服驱动器 伺服驱动器

Given external power analog signal Internal 12V power supply,

speed/torque adjustment by potentiometer

3.3 Description of the CN2 encoder port of the driver

3.3.1 Description of SCSI-20P encoder connector

SCSI-20P Pin distribution of the CN2 port

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description of SCSI-20P encoder connector

Pin number Label Definition Declaration
1 NC nop
2 EZ- Encoder Z negative input
3 NC nop
4 T- Bus encoder T- Special for bus drive
5 T+ Bus encoder T+ Special for bus drive
6 EW- Magnet pole W negative input
7 EB+ Encoder B positive input
8 EW+ Magnet pole W positive input
9 EB- Encoder B negative input
10 EZ+ Encoder Z positive input
11 EA+ Encoder A positive input
12 EA- Encoder A negative input
13 GND Output power supply GND
14 +5V Output power supply 5V
15 GND Output power supply GND
16 +5V Output power supply 5V
17 EV+ Magnet pole V positive input
18 EV- Magnet pole V negative input
19 EU- Magnet pole U negative input
20 EU+ Magnet pole U positive input

3.3.2 Description of 1394-6P encoder connector

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Pin number Label Definition Declaration

1 +5V Output power supply 5V
2 GND Output power supply GND
3 NC nop
4 NC nop
5 T+ Bus encoder T+ Special for bus drive
6 T- Bus encoder T- Special for bus drive
Notice: The connector of 1394-6p encoder is special for 400W driver and the following models. For wiring,
please connect according to the sign of the terminal.

3.4 Description of the driver's CN3/CN4 port

PIN1 PIN8

Fin-out number Label Defined declaration

PIN1 CANH CNAH( FSSB )
PIN2 CANL CNAL( FSSB )
PIN3 CGND CGND( FSSB )
PIN4 Reservation Reservation
PIN5 Reservation Reservation
PIN6 GND GND
PIN7 485- 485-
PIN8 485+ 485+

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3.5 Description of the driver's CN5 port

Face CN5 port head-on

Pin-out number Label Defined declaration

1 3.3V RS232 power supply 3.3V
2 TX232 RS232 receive
3 RX232 RS232 send
4 Reservation No connection
5 GND RS232 GND

3.6 Port description of power supply and motor power line

power indicator
Earthing screw

R S T L1 L2 B3 B2 B1 U V W

Label Definition Declaration

R、S、T The power supply input of For single/three-phase 220V ac, it is recommended
the main circuit to use three-phase power supply of 1.5kw and
aboveConnect R, T with 0.4kw and below
L1、L2 The input end of the Connect to single - phase 220V AC

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power supply in the

control circuit
U、V、W The connection end of the Connect the power line of the motor
motor power line
When using the built-in regenerative resistance,
short-connect B1 and B2 (our 750W and above
The connection end of the drives have built-in regenerative resistance)
B1、B2、B3
regenerative resistor When using external resistance, disconnect the short
connection of B1 and B2, and connect both ends of
the resistance to B1 and B3
Earthing screw Driver protection GND Connect the ground wire of power supply and motor
screw
Label Definition Declaration

Notice:
1． Be sure to connect the electromagnetic contactor between the power supply and the main circuit power

supply of the servo driver, so that in case of failure of the servo driver, the power can be cut off to prevent

fire caused by excessive current.

2． There is no built-in regenerative resistance for drivers of 0.4kw and below. When the feedback energy

exceeds the capacitive absorption capacity, an overvoltage alarm of AL.402 will appear, and set p00-30,

p00-31 and p00-32 to corresponding values, Refer to 8.2 specification of parameter analysis.

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Chapter 4 Installation instructions

4.1 Installation dimension

AC servo driver
with power of
0.4KW and
below

AC servo driver with power of 400W and below（unit：mm）

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750W /
1.5KW AC
servo
driver

750W / 1.5KW AC servo driver（unit：mm）

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AC servo
driver with
2kW
power

AC servo driver with 2kW power（unit：mm）

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AC servo
driver
with 3KW
power

AC servo driver with 3KW power（nuit：mm）

Notice:
1. The normal installation direction of the servo driver must be vertical, with the top facing upward to

facilitate heat dissipation.

2. The device shall be well ventilated when the driver is installed, and the distance between multiple drivers

shall not be less than 5CM when they are used side by side in the cabinet.

3. In order to ensure safe use, please make sure that the earthing protection terminal of the driver is well

connected with the protective ground of the device!

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4.2 Install the environment used

The installation environment has a direct impact on the normal operation and service life of the product, so the

following conditions must be met:

1. Working environment temperature: 0 ~ 55℃;Working environment humidity: 10% ~ 90% (no condensation).

2. Storage environment: -20℃ ~ +85℃;Humidity of storage environment: less than 90% (no condensation).

3. Vibration: below 0.5G.

4. Prevent dripping rain or damp conditions.

5. Avoid exposure to the sun.

6. Prevent oil mist, salt erosion.

7. Prevent corrosive liquids, gas, etc.

8. Prevent dust, cotton wool and metal particles from invading.

9. Stay away from radioactive materials and combustible materials.

10. Space should be reserved around the location of the drivers in the cabinet for convenient loading, unloading

and maintenance.

11. Pay attention to the air flow in the cabinet, if necessary, add an external fan to enhance the air flow, reduce

the drive environment temperature to facilitate heat dissipation;The long-term operating temperature is below

55℃.

12. Try to avoid nearby vibration source, add shock absorption device such as vibration absorber or anti -

vibration rubber gasket.

13. If there is an electromagnetic interference source nearby, and the power supply and control line of the driver

are interfered, resulting in the wrong operation, noise filter can be added or various effective anti-interference

measures can be adopted to ensure the normal operation of the driver. (the noise filter will increase the

leakage current, so the isolation transformer should be installed at the input end of the driver power supply.)

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Chapter 5 Panel displays instructions and Settings

5.1 The instructions of the panel functions

LED display

M ENT

JASD series ac servo panel with six LED digital display state: 5 - bit key input command,Specific key functions are as

follows:

Panel key label Definition Explaination

三相AC220V
交流电源

控制器
伺服ON
系列
交流伺服驱动器
分
频
器
A相输出

B相输出

Z相输出
shift function
报警清除 Z相开集电极输出

正向超程信号输入

反向超程信号输入

正转侧外部转矩限制
绝
反转侧外部转矩限制 对
控制模式切换
值

LEFT button Use to toggle high/low display in parameter

编
位置命令清零输入
码
器
伺服准备好输出

抱闸打开输出

报警输出

M
定位完成输出

转矩限制检出输出

速度模拟指令
-10V~+10V ¦¸

mode

UP button Display changes, value added function

DOWN button Display changes, value reduction function

M M button Function switch and undo exit

ENT ENT button Identify or save functionality

Remarks：

ENT button Hold for 3 seconds to confirm or save the function

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Under the monitoring and parameter interface, long press ENT button to flip quickly

5.2 Operation mode switching process

JASD series ac servo has four function modes, namely state display mode, monitoring mode, parameter setting

mode and auxiliary mode. The switching process between them is as follows:

The electric start

Enter status display mode automatically

Run Display （status display mode）

Single Press M button

Go into monitoring long press ENT button

mode 键
d00.C.PU Display Monitor mode
Settings
Single Press M button
Go into parameter settings
long press ENT button

P00-00 Display Parameter settings

Single Press Mbutton

Go into miscellaneous function

long press ENT button
Single Press Mbutton

Auxiliary mode setting

AF_JoG Display

Note: after pressing ENT to enter the mode setting, you can exit the mode selection by pressing M

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5.3 Status display

The display discrimination is as follows:

Bit data Abbreviation symbol

Status display bit data meaning:

Display Meaning Display Meaning

Control circuit power on display
Main circuit power supply ready display

Speed and torque control: consistent

Rotate the check out display
display of speed
Position control: display after
positioning
Base block display Speed, torque control: speed command
The light is ON at servo OFF state and input
OFF at ON state Position control: instruction pulse input
display

Status display abbreviation meaning：

Display Meaning

Servo not ready (power supply not on)

Servo ready (servo motor is not energized)

In servo enable state (servo motor energized state)

Indicates that the input port of the forward overpass signal is in a valid

state, and the forward turn instruction of the motor is invalid

Indicates that the input port of the reverse overpass signal is in a valid

state, and the motor inversion instruction is invalid

Servo related operation completed correctly

The servo is in the enabling state and cannot be operated. It must be

turned off to the enable

Invalid value entered, the servo does not perform the current

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operation

The relevant parameters of the servo are locked, which shall be

unlocked before operation

Servo fault display. Please refer to chapter 9 for fault definition

5.4 Write and save method for parameter setting

Start

Double press Mbutton

P00-00 Display

The UP button or DOWN button can be used to

select the parameters that need to be set

P00-02 Display

Long press ENT to enter this parameter setting

3 Display

Parameter values can be changed by pressing the UP or DOWN buttons

8 Display

Single Press the LEFT button to shift the parameters

08 Display

Long press ENT to save the parameters

Long press ENT to save the parameters

P00-02 Display

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Chapter 6 control mode and setting

6.1 Position control

6.1.1 Position control wiring diagram

JASD series A-Phase Output

Divider
Three-phase 220V
power supply servo driver
B-Phase Output

Z-Phase Output
Controller
Servo ON input
Encoder Z-Phase
Alarm clear input Open Collector
Output，Maximum
Positive direction Current is 100mA
over-travel inhibition input
Negative direction
over-travel inhibition input

Absolute Encoder
Positive direction
torque limit switching input
Negative direction
torque limit switching input

Control mode switching input

Position deviation
counter clear input

Servo ready output

External brake release output

Servo alarm output

M
Positioning complete output

Torque in-limit signal output

24V Pulse Signal

5V Pulse Signal ¦¸

Pulse Signal Negative ¦¸

24V Drection Signal

5V Drection Signal ¦¸

Direction Signal Negative

¦¸
High-speed Pulse Positive
High-speed Pulse Negative
High-speed Direction Positive
High-speed Direction Negative

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6.1.2 Position control wiring diagram

Controller end Direction + pulse input mode : the direction + pulse input mode can be divided into 5V and 24V

signal input modes. Twisted pair wire connection can improve the anti-interference capability. In general, this

position control wiring method is often used in MCU controller system. The maximum input pulse frequency of this

control is 500KHz

伺服驱动器 伺服驱动器
控制器 控制器

5V pulse + direction input mode 24V pulse + direction input mode

Controller - end collector open input mode description: single - end input mode can use either internal power

supply or external power supply. But do not use dual power input to avoid damaging the drive. Generally PLC

controller system USES this kind of position control wiring method

伺服驱动器 伺服驱动器
控制器 控制器

Open collector USES external power supply Open collector USES internal power supply

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Note: high level must be between 3.3-5v when high speed pulse port is input

6.1.3 Description of position control mode parameters

1、Motor and driver control parameters

Para code Name Set range Default Unit

0：position mode
1：speed mode
2：torque mode
Control Mode Setting
P01-01 0-6 0 3：speed,torque
4：position ,speed
5：position,Torque
6：Servo batch function

0：pulse command
P03-00 Location command source 0-1 0
1：Numbers given

0：Orthogonal impulse command

P03-01 Command pulse mode 0-3 1 1：Direction + pulse command
2 or 3:Double pulse instruction

Instruction pulse input 0: low speed pulse

P03-02 0-1 0
terminal 1: high-speed pulse
Reverse the command Set the initial direction of
P03-03 0-1 0
pulse motor rotation
Set according to user
The number of
requirements
P03-09 instruction pulses per 0-65535 10000
See the specification of 8.2
revolution
parameters for details
Molecule of electronic Set according to user
P03-10 1-65535 1
gear 1 requirements
Denominator of See the specification of 8.2
P03-11 1-65535 1 parameters for details
electronic gear 1
Position deviation is Set according to user
P03-15 0-65535 30000
Set too large requirements
Output pulse number of Set according to user
P03-25 one revolution of 0-60000 2500 requirements
absolute motor

2、gain parameter

Please refer to the parameter adjustment in chapter 7 for adjustment

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6.1.4 Example of electronic gear ratio calculation

1、Ball screw drive

Assumptions:

(1) mechanical parameters: deceleration ratio R is 2/1, lead lead of lead screw is 10mm

(2) resolution of each turn of position ring of absolute value encoder: 17bit=131072

(3) load displacement corresponding to 1 position instruction (instruction unit) : 0.001mm

Then:

According to (1) and (3), the position instruction (instruction unit) value required for the

screw to rotate 1 turn (table movement 10mm) :

10
=10000
0.001

The electronic gear ratio is :(B is the numerator, A is the denominator)

Β 131072 2 16384
= × =
Α 10000 1 625

Finally, the parameter p03-10 is set to 16384, and p03-11 is set to 625

1、Belt pulley drive

Assumptions:

(1) mechanical parameters: deceleration ratio R: 5/1, pulley diameter: 0.2m(pulley circumference:

0.628m)

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(2) resolution of each turn of position ring of absolute value encoder: 17bit=131072

(3) load displacement corresponding to 1 position instruction (instruction unit) : 0.000005m

Then:

According to (1) and (3), the value of position instruction (instruction unit) required for

the pulley (load) to rotate 1 turn can be obtained:

0.628
=125600
0.000005

The electronic gear ratio is :(B is the numerator, A is the denominator)

Β 131072 5 4096
= × =
Α 125600 1 785

Finally, p03-10 is set to 4096 and p03-11 is set to 785

2、Rotating load

Assumptions:

(1) mechanical parameters: the deceleration ratio R is 10/1, and the rotation Angle of the load

axis for one turn is 360°

(2) resolution of each turn of position ring of absolute value encoder: 17bit=131072

(3) load displacement corresponding to 1 position instruction (instruction unit) : 0.01°

Then:

According to (1) and (3), the value of position instruction (instruction unit) required for

1 rotation of the load is:

360
= 36000
0.01

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The electronic gear ratio is :(B is the numerator, A is the denominator)

Β 131072 10 8192
= × =
Α 36000 1 225

Finally, the parameter p03-10 is set to 8192 and p03-11 to 225

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6.2 speed control

6.2.1 Speed control wiring diagram

JASD series A-Phase Output

Divider
Three-phase 220V
power supply servo driver
B-Phase Output

Z-Phase Output
Controller
Servo ON input
Encoder Z-Phase
Alarm clear input Open Collector
Output，Maximum
Positive direction Current is 100mA
over-travel inhibition input
Negative direction
over-travel inhibition input

Absolute Encoder
Positive direction
torque limit switching input
Negative direction
torque limit switching input

Control mode switching input

Position deviation
counter clear input

Servo ready output

External brake release output

Servo alarm output

M
Positioning complete output

Torque in-limit signal output

Velocity command input

-10V~+10V ¦¸

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6.2.2 Description of speed control mode parameters

1、Motor and driver control parameters

Para code Name Set range Default Unit

0：position mode
1：speed mode
2：torque mode
Control Mode Setting
P01-01 0-6 1 3：speed,torque
4：position,speed
5：position,torque
6：Servo batch function
0：External analog instruction
1: digital instruction
(parameter setting)
Speed instruction
P04-00 0-3 0 2: digital instruction
source
(communication)
3: internal multiple sets of
instructions
Speed command analog Set the initial direction of
P04-01 0-1 0
volume invert motor rotation
The numerical Set the speed command value,
P04-02 -6000－6000 0
velocity is given the speed mode and p04-00 is 1.
P04-06 Forward speed limit 0-6000 Restricted forward speed
P04-07 Reverse speed limit -6000-0 Restricted reverse speed
Set according to user
Speed analog command requirements
P06-40 10-2000 300
input gain See the specification of 8.2
parameters for details

2、gain parameter

Please refer to the parameter adjustment in chapter 7 for adjustment

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6.3 torque control

6.3.1 Torque control wiring diagram

JASD series A-Phase Output

Divider
Three-phase 220V
power supply servo driver
B-Phase Output

Z-Phase Output
Controller
Servo ON input
Encoder Z-Phase
Alarm clear input Open Collector
Output，Maximum
Positive direction Current is 100mA
over-travel inhibition input
Negative direction
over-travel inhibition input

Absolute Encoder
Positive direction
torque limit switching input
Negative direction
torque limit switching input

Control mode switching input

Position deviation
counter clear input

Servo ready output

External brake release output

Servo alarm output

M
Positioning complete output

Torque in-limit signal output

Torque Command input

-10V~+10V
¦¸

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6.3.2 Description of torque control mode parameters

1、Motor and driver control parameters

Para code Name Set range Default Unit

0：position mode
1：speed mode
Control Mode 2：torque mode
P01-01 Setting 0-6 2 3：speed,torque
4：position,speed
5：position,torque
6：Servo batch function
0: external simulation instruction (speed
limiter is set by p05-02)
1: digital instruction (speed limiter is set
Torque by p05-02)
P05-00 instruction 0-3 0 2: external simulation instruction (speed
source limiter is determined by speed simulation
instruction)
3: digital instruction (speed limiter is
determined by speed analog instruction)
Torque
instruction
P05-01 0-1 0 Set the initial direction of motor rotation
analog quantity
is reversed
Torque mode speed
Set the maximum speed of the motor in torque
P05-02 limiter given 0-6000 1000
mode. P05-00 is 0,1
value
P05-05 Torque limiter 0-2 0 Used to adjust the source of torque limits
setting source
Internal forward
P05-10 0-300.0 200.0 Limit forward torque values
torque limiter

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Internal reverse
P05-11 -300.0-0 -200.0 Limit the reverse torque value
torque limiter
Torque analog Set according to user requirements
P06-43 command input 0-100 10 See the specification of 8.2 parameters for
gain details

2、Torque control command related gain parameters

Please refer to the parameter adjustment in chapter 7 for adjustment

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Chapter 7 trial operation and parameter adjustment

7.1 test run

7.1.1 Pre operation detection

In order to avoid damage to the servo driver or mechanism, please remove all the load of the servo motor before

operation, and carefully check whether the following precautions are normal, and then power on for no-load test;

After the no-load test is normal, the load of the servo motor can be connected for the next test.

Notes:

Test before power 1. Check whether the servo drive has obvious appearance damage

on 2. The connecting part of distribution terminal shall be insulated

3. Check whether there is any foreign body inside the drive

4. Servo drivers, motors and external regenerative resistors shall not be placed on

combustible objects

5. In order to avoid the failure of the electromagnetic brake, please check whether the

circuit can be stopped immediately and cut off

6. Confirm whether the external power supply voltage of the servo driver meets the

requirements

7. Confirm whether the motor U, V and W power lines, encoder lines and signal lines

are connected correctly (confirm according to motor labels and instructions)

Power on detection 1. When the servo driver is powered on, do you hear the sound of relay action

2. Whether the servo driver power indicator and LED display are normal

3. Confirm whether the parameters are set correctly or not. Unexpected actions may

occur depending on the mechanical characteristics，do not make extreme adjustments

to the parameters

4. Whether the servo motor is self-locking or not Please contact the manufacturer if

the servo motor has too much vibration and sound during operation

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7.1.2 No-load test run

1、 JoG mode no-load test, the user can not need to connect additional wiring, for the sake of safety, before the

JoG no-load speed test, please fix the motor base, in case the motor speed change caused by the reaction force

caused by dangerous. The following is a simple wiring diagram in JoG mode:

三相AC220V
3-phase 系列
交流电源
AC 220v 交流伺服驱动器
AC Servo driver

绝
对
值
encoder
编
码
器

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2、Select JoG mode for test running according to the following flowchart

Start-up

Automatically enter status display mode

run/rdy display （status display mode）

按三下
Press M M 按键
three times

AF_JoG display （Auxiliary mode）

Long press the ENT

Test running mode：0 display

UP DOWN

Motor run at CW direction Motor run at CW direction

Press M one time

Go away
Ramarks: Long press ENT in test running mode, enter the speed edit menu, edit speed by UP, Down and Left

keyboard combination, afterwards long press ENT, reenter Jog mode, press Up and Down motor will run at new

setting speed.

This setting speed will not be saved after exiting Jog mode. Please refer chapter 8.4 the accessory function.

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7.2 parameter adjustment

After selecting the appropriate control mode according to the equipment requirements, you need to make

reasonable adjustments to the servo gain parameters, to make servo driver can drive the motor quickly and

accurately to maximize the mechanical performance.

velocity given
Gain set：low velocity follow gain set：middle gain set：high+feed-forward
Two
lines
coincide

Velocity-loop gain：80.0Hz Velocity-loop gain：160.0Hz Velocity-loop gain：160.0Hz

Velocity-loop ratio gain：40.0Hz Velocity-loop ratio gain：60.0Hz Velocity-loop ratio gain：60.0Hz

Velocity-loop integral time：10.0ms Velocity-loop integral time：10.0ms Velocity-loop integral time：10.0ms

Velocity feed-forward gain：0 Velocity feed-forward gain：0 Velocity feed-forward gain：50.0%

Load inertia ratio：1.00 Load inertia ratio：1.00 Load inertia ratio：1.00

The servo gain is adjusted by multiple loop parameters (position loop, velocity loop, filter & etc.), and they will

affect each other. Therefore, the setting of the gain needs to be balance adjusted according to certain rules.

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The process of gain adjustment can be performed according to the following diagram：

Start

Input to P01-04 according to mechanical

output inertial ratio or execute load rotor
Inertia recognize inertial recognition AF_JL.

Automatic gain Set P01-02 to be 1 or 2, gradually increasing

tuning P01-03 until noise heard according to request,
and return back 2 steps under current rigidity
grade.

Yes Meet
requirement

No

Set P01-02 to be 0 after saving P01-00, P02-0,

Manual gain tuning P02-10, P02-11, P02-13, P02-14, P08-20
manually, afterwards you can tune manually.

Meet Yes
requirement

No

Vibration
suppression

Over

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7.3 Gain tuning manually

7.3.1 Basic parameter

When the automatic gain adjustment fails to achieve the desired effect, you can manually fine-tune the gain to

optimize the effect.

The servo system consists of three control loops. The basic control block diagram is as follows:

Velocity Torque feed-

feed-forward forward
Position
+ +
command
+ Position-loop + Velocity-loop + Current-loop
Motor
gain gain control
- +
Velocity-loop
integration
time constant

Velocity
feedback

Position
feedback

The gain adjustment needs to follow the order of inner loop first and outer loop second. First set the load inertia

ratio P01-04, then adjust the velocity loop gain, and finally adjust the position loop gain.

Velocity loop gain: Increase the setting value as much as possible in case of not vibration no noise, which can

improve the speed following performance and speed up the positioning time.

Velocity integral constant: The smaller the set value is, the faster the integral speed is and the stronger the integral

effect is. If it is too small, it will cause vibration and noise.

parameter setting
designation setting Explain
code range

0：Manually tuning rigidity

1：standard mode automatic tuning rigidity.
In this mode，P02-00，P02-01，P02-10，P02-11，
Real-time
P02-13，P02-14，P08-20 will be set
P01-02 automatic 0-3 1
automatically according to the rigidity
tuning mode
level set in P01-03. Manual tuning does not
work. The following parameters are set by
the user:

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P02-03（Velocity feed-forward gain），P02-04

（velocity feed-forward smoothness
constant）
2：Position mode automatic tuning rigidity,
in this mode, P02-00，P02-01，P02-10，P02-11，
P02-13，P02-14，P08-20 will be set
automatically according to the rigidity
level set in P01-03. Manual tuning does not
work。The following parameters will be fixed
and cannot be changed：
P02-03（velocity feed-forward gain）：30.0%
P02-04（velocity feed-forward smooth
constant）：0.50
3：automatic tuning rigidity 2, in this mode,
P02-00，P02-01，P02-10，P02-11，P02-13，will
be set automatically according to the
rigidity level set in P01-03. Following
parameter will be setting by user: P02-03
（velocity feed-forward gain），P02-14
（velocity integral constant 2），P08-20
（torque command filter constant 1），P08-21
（torque command filter constant2）
Built-in 32 kinds of gain parameters. It
Real-time
works when P01-02 is set to 1, 2, or 3. It
automatic
P01-03 0-31 13 can be used directly according to the actual
tuning
situation. The larger the set value, the
rigidity
stronger the rigidity.
▸ The larger the setting value, the higher
Velocity the gain, the greater the rigidity, and the
P02-00 control 0-3000．0 80.0 smaller the position lag, but if the value
gain 1 is too large, the system will shake and
overshoot.

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▸ Increase the value as much as possible

without shake.
▸ For gain at static.
▸ The larger the setting value, the higher
the gain, the greater the rigidity, and the
smaller the position lag, but if the value
Velocity
is too large, the system will shake and
P02-01 control 0-3000.0 80.0
overshoot.
gain2
▸ Increase the value as much as possible
without shake.
▸ For gain at dynamic.
The feed-forward gain of the velocity loop.
The larger the parameter value, the smaller
velocity the system position tracking error and the
P02-03 feed-forwar 0-100.0 30.0 faster the response. However, if the
d gain feed-forward gain is too large, the position
loop of the system will be unstable, and
it’s easy to cause overshoot and shake.
This parameter is used to set the velocity
velocity
loop feed-forward filtering time constant.
feed-forwar
P02-04 0-64.00 0 The larger the value, the larger the
d smooth
filtering effect, but at the same time the
constant
phase lag increases.
▸ The larger the setting value, the greater
the gain and rigidity. The parameter value
Velocity is set according to the motor and load.
P02-10 1-2000.0 40.0
ratio gain 1 ▸ Increase the value as much as possible
without shock.
▸ For gain at static.
velocity ▸ Speed regulator integration time
P02-11 0.1-1000.0 10.0
integral constant. The smaller the setting value is,

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constant 1 the faster the integration speed is, the

greater the rigidity is. If it is too small,
it will cause vibration and noise.。
▸ reduce this parameter as much as possible
in case of no vibration.
▸ This parameter is for steady state
response.
▸ When set to 100.0%, the velocity loop
adopts PI control, and the dynamic response
Fake is fast; when set to 0, the velocity loop
differentia integral effect is obvious, and filter the
l low frequency interference, but the dynamic
P02-12 0-100.0 100.0
feed-forwar response is slow.
d control ▸ By tuning this value, the speed loop have
value 1 better dynamic response, and at the same
time, it can increase the resistance to
low-frequency interference.
▸ The larger the setting value, the greater
the gain and rigidity. The parameter value
Speed
is set according to the motor and load.。
P02-13 proportiona 1-2000.0 45.0
▸ Increase the value as much as possible
l gain 2
without shake.
▸ For gain during dynamic.
▸ Speed regulator integration time
constant. The smaller the setting value is,
the faster the integration speed is, the
Velocity greater the rigidity is. If it is too small,
P02-14 integral 0.1-1000.0 1000.0 it will cause vibration and noise.。
constant 2 ▸ Decrease the value as much as possible
without shake.
▸ This parameter is for steady state
response.

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▸ When set to 100.0%, the speed loop adopts

PI control, and the dynamic response is
Fake fast; when set to 0, the speed loop integral
differentia effect is obvious, and low frequency
l interference can be filtered, but the
P02-15 0-100.0 100.0
feed-forwar dynamic response is slow.
d control ▸ By tuning this value, the speed loop have
value 2 better dynamic response, and at the same
time, it can increase the resistance to
low-frequency interference.

7.3.2 Gain switching

The gain switching function can be triggered by the internal state of the servo or the external DI port. It is only

effective in the position control and speed control modes. With gain switching, the following effects can be

achieved

Switch to lower gain when the motor is static (servo enabled) to hold vibration

Switch to higher gain when the motor is static (servo enabled) to short positioning time;

Switch to higher gain in the running state of the motor to obtain better command following performance;

Switch to different gain settings by external signals according to the use situation

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P02-31 Command
P02-32
velocity

Action
Time

Stop (servo Stop (servo

Status Running
OFF) OFF)
The 2nd gain

Gain The 1st gain The 1st gain

P02-34 P02-33

Velocity gain
switching directly
Position gain
switching smoothly

relative parameter

Effective
Para code Name Set range Default Unit
time
P02-30 Gain switching mode 0-10 7 --- Real time
P02-31 Gain switching grade 0-20000 800 --- Real time
P02-32 Gain switching lag 0-20000 100 --- Real time
P02-33 gain switching delay 0-1000.0 10.0 1ms Real time
P02-34 Position gain switching time 0-1000.0 10.0 1ms Real time

7.3.3 Feed-forward function

Speed feed-forward: During position control, the speed control command required from the position command

calculation is added to the output of the position regulator, which can reduce the position deviation to improve

the response of the position control.

Torque feed-forward: Calculate the required torque command from the speed control command and add it to the

speed regulator output to improve the response of the speed control

A. Speed feed forward operation

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With the speed feed-forward smoothing constant set to be 50 (0.5ms), the speed feed-forward gain is gradually

increased to meet the system requirements. However, too large speed feed-forward gain will cause position

overshoot, this will make the setting time longer.

B. Torque feed-forward operation

With the torque feed-forward smoothing constant set to be 50 (0.5ms), the torque feed-forward gain is gradually

increased to meet the system requirements.

relative parameter

Para Effective
Name Range Default Unit
code time
P02-03 velocity feed-forward gain 0-100.0 30.0 1.0％ Real time
velocity feed-forward smooth
P02-04 0-64.00 0.5 1ms Real time
constant
P02-19 torque feed-forward gain 0-30000 0 1.0％ Real time
torque feed-forward smooth
P02-20 0-64.00 0.8 1ms Real time
constant

7.3.4 Disturbance observer

The disturbance torque value can be inferred by using the disturbance observer and compensated on the torque

command to reduce the influence of disturbance torque and vibration. This observation function is valid in position

mode and velocity mode.

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Disturb torque

+
Motor speed
+
Torque command +
Motor load

Disturbance observer Load mode

Using instruction：

a) Set P08-26 (filter constant) to a larger value, and then gradually increase P08-25 (compensation gain). At

this time, the action sound may become louder; after confirming that the current compensation gain is effective,

gradually decrease P08-26.

b) Increasing the gain can improve the effect of disturbance torque suppression, but the noise becomes

louder

c) After shortening the filter time constant, the disturbance torque with less delay can be estimated, and

the effect of suppressing the influence of disturbance can be improved, but the noise will become louder.

d) Please look for settings with better balance.

Relative parameter

Para defaul Effectiv

Name Range Unit
code t e time
Disturbance torque Real
P08-25 0-100.0 0 ％
compensation gain time
disturbance torque filter Real
P08-26 0-25.00 0.8 1ms
time constant time

7.3.5 Resonance suppression

If the rigidity of the servo system is too large and the response is too fast, it may cause resonance in the

mechanical system. This situation can be improved by reducing the gain of the control loop. Resonance

suppression can also be achieved by using a low-pass filter and notch without reducing the gain

1、Resonance frequency detection

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The resonance frequency of the mechanical system can be observed through monitoring items d26.1.Fr, d28.2.Fr

2、Torque command low-pass filter（P08-20）

The low-pass filter is used in the case when the vibration frequency is deviated, and it can have a good

performance when used at high frequencies. By setting the filter time constant, it will attenuate resonance near

the resonance frequency. However, the low-pass filter will make the system phase lag, reduce the bandwidth, and

reduce the phase margin easily cause loop oscillation. Therefore, it can only be applied to high frequency vibration

applications.

Filter deadline frequency（Hz）= 1/(2*pi*p08-20(ms)*0.001)

para Defaul Effective

Name Range Unit
code t time
Torque command filter
P08-20 0-25.00 0.8 1ms Real time
constant
3、Notch filter

The notch filter is used when the system resonance frequency is fixed. The trap can reduce the mechanical

resonance by reducing the gain at a specific frequency. After the trap is set correctly, the vibration can be

effectively suppressed. You can try to increase the servo gain. The servo has 4 built-in traps. When P08-11 is set to

0, 4 sets of traps can be started at the same time, and parameters can be entered manually.

A. Self-adaptive notch mode

Through the self-adaptive notch filter function module, the servo system will automatically identify the current

resonance frequency and automatically configure the notch parameters. Using instruction as following:

a) Set P08-11 to 1 or 2 according to the number of resonance points. When resonance occurs, you can set

P08-11 to 1 and turn on an self-adaptive notch. After gain tuning, set P08-11 to 2 to turn on 2 adaptive notches if

new resonance appears.

b) When the servo is running, the parameters of the third and fourth sets of notch filters will be

automatically updated, and the corresponding function code will be automatically stored every 30 minutes. After

being stored, the notch parameters will also be saved after power off.

c) If the resonance is suppressed, it shows that the self-adaptive trap is effective. After the servo system

have run stably for a period of time, set P08-11 to 0, and the notch parameters will be fixed to the last updated

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value. This operation can prevent the trap parameters from being updated to wrong values due to wrong

operations during servo running, which will intensify the vibration.

d) If the vibration cannot be eliminated for a long time, please turn off the servo enable in time.

If there are more than two resonance frequency points, the self-adaptive notch cannot meet the requirements, in

this case the manual notch can be used.

Relative parameter

para
name Description
code
range：0-4
0：The 3rd and 4th notch filter parameters will not be updated automatically, it’s
saved as the current values. But manual input is allowed.
self-adaptive 1：One of the self-adaptive notch filter is effective, the 3 rd notch parameter will
P08-11 notch filter be updated automatically, manual input is not allowed.
Mode selection 2：Two of the self-adaptive notch filter is effective, the 3rd and 4th notch
parameter will be updated automatically, manual input is not allowed.
3：Detect resonance frequency only
4：Clear the 3rd and 4th notch parameters and restore to default value.
Self-adaptive
Setting range：0-7
notch filter
This parameter sets the sensitivity of the self-adaptive notch vibration
P08-13 vibration detect
detection. The smaller the parameter value, the more sensitive the detection
door limit
sensitivity is.

B. Setting the notch parameters manually

a) The resonance frequency of the mechanical system can be observed through monitoring items d26.1.Fr,

d28.2.Fr

b) Enter the resonance frequency from the previous step into the notch parameters, simultaneously input

the width level and depth level of the same notch teams.

c) If the vibration is suppressed, it means the notch is functioning. You can continue to increase the gain and

repeat the previous two steps after new vibrations appear.

d) If the vibration cannot be removed for a long time, turn off the servo ENA in time.

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C. Notch Width Grade

Notch width
Notch Width Grade =
Notch central frequency

The notch width represents the frequency bandwidth with a magnitude of -3dB relative to the center

frequency of the notch

D. Notch Depth Grade

Output
Notch Depth Grade =
Input

When the notch depth level is 0, the input is completely suppressed at the center frequency; when the

notch level is 100, the input can be completely passed at the center frequency.

relative parameter

Para
Name Description
code
P08-30 Notch filter 1 Setting range: 300-5000，Unit：Hz

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frequency Notch is non-effective when the Notch filter 1 central frequency set
to be 5000
Setting range：0-20
notch filter 1
P08-31 notch 1’s notch width grade is the ratio between width and central
width
frequency
Setting range：0-99
notch 1’s notch depth grade is the ratio between the input and output
notch filter 1
P08-32 of the center frequency of the notch
depth
The larger this parameter, the smaller the notch depth and the weaker
the effect.
Notch relative parameter

Para Effective
name Range default unit
code time

Self-adaptive notch mode

P08-11 0-4 0 --- Real time
selection
Self-adaptive notch filter
P08-13 1-7 4 --- Real time
vibration detect door limit

P08-31 Notch filter 1 width 0-20 2 --- Real time

P08-32 Notch filter 1 depth 0-99 0 --- Real time

P08-33 Notch filter 2 frequency 300-5000 5000 HZ Real time

P08-34 Notch filter 2 width 0-20 2 --- Real time

P08-35 Notch filter 2 depth 0-99 0 --- Real time

P08-36 Notch filter 3 frequency 300-5000 5000 HZ Real time

P08-37 Notch filter 3 width 0-20 2 --- Real time

P08-38 Notch filter 3 depth 0-99 0 --- Real time

P08-39 Notch filter 4 frequency 300-5000 5000 HZ Real time

P08-40 Notch filter 4 width 0-20 2 --- Real time

P08-41 Notch filter 4 depth 0-99 0 --- Real time

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Chapter 8 Parameter and Function

8.1 Parameter list

P00-xx Motor and drive parameters
P01-xx Main control parameter
P02-xx Gain parameters
P03-xx Position parameters
P04-xx Velocity parameters
P05-xx Torque parameters
P06-xx I/O parameters
P08-xx Super function parameters

Para Setting Default Setting Effective

Type Name unit
code Range setting way time
Stop & Re-power
P00-00 Motor number 0-65535 2000
reset on
Stop & Re-power
P00-01 Motor rated speed 1-6000 --- rpm
reset on
Stop & Re-power
P00-02 Motor rated torque 0.01-655.35 --- N.M
reset on
motor and Stop & Re-power
P00-03 Motor rated current 0.01-655.35 --- A
driver reset on
parameter Stop & Re-power
P00-04 Motor rotor inertia 0.01-655.35 --- kg.cm²
reset on
Polar
Stop & Re-power
P00-05 motor pole pairs 1-31 --- logari
reset on
thm
P00-07 encoder selection 0-3 --- --- Stop & Re-power

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reset on
Line-saving Stop & Re-power
P00-08 0-1 --- ---
incremental encoder reset on
Stop & Re-power
P00-09 Absolute encoder type 0-1 --- ---
reset on
Motor and Incremental encoder Stop & Re-power
P00-10 0-65535 ---
driver lines reset on
parameter Incremental encoder Z Stop & Re-power
P00-11 0-65535 ---
pulse electrical angle reset on
Stop & Re-power
P00-12 Rotor initial angle 1 0-360 --- 1°
reset on
Stop & Re-power
P00-13 Rotor initial angle 2 0-360 --- 1°
reset on
Stop & Re-power
P00-14 Rotor initial angle 3 0-360 --- 1°
reset on
Stop & Re-power
P00-15 Rotor initial angle 4 0-360 --- 1°
reset on
Stop & Re-power
P00-16 Rotor initial angle 5 0-360 --- 1°
reset on
Stop & Re-power
P00-17 Rotor initial angle 6 0-360 --- 1°
reset on
Running
Display settings on Re-power
P00-20 0-100 100 --- &
power-on interface on
setting
Running
RS232 Communication Re-power
P00-21 0-3 2 --- &
baud rate on
setting
Running
Re-power
P00-23 Slave address 0-255 1 --- &
on
setting
P00-24 Modbus communication 0-7 2 --- Running Re-power

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baud rate & on

setting
Running
Re-power
P00-25 check way 0-3 0 --- &
on
setting
Running
Modbus communication Re-power
P00-26 0-100 0 1ms &
response delay on
setting
Torque control Modbus Running
Re-power
P00-28 communication 0-2 1 --- &
on
compatible setting setting
Modbus absolute Running
Re-power
P00-29 encoder feedback 0-1 0 --- &
on
format setting
Running
Re-power
P00-30 brake resistor setting 0-2 --- --- &
on
setting
Running
extra brake resistor Re-power
P00-31 0-65535 --- 10W &
power on
setting
Running
Extra brake resistor Re-power
P00-32 0-1000 --- 1Ω &
value on
setting
check ENA for re-open Running
Re-power
P00-33 circuit and re-short 0-1 0 --- &
on
circuit setting
Stop &
Over-heating Re-power
P00-40 0-1 1 --- resettin
protection on
g
Running Re-power
P00-41 power off protection 0-1 1 ---
& on

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setting
Speed inconsistency Running
P00-46 alarm detection time 0-65535 0 1ms & Real time
setting setting
Stop &
P01-01 control mode setting 0-6 0 --- resettin Real time
g
Running
Automatically tuning
P01-02 0-3 1 --- & Real time
mode in real time
setting
Running
automatically tuning
P01-03 0-31 13 --- & Real time
rigidity in real time
setting
Running
P01-04 rotor inertial ratio 0-100.00 3 1times & Real time
setting
Main Running
control mode after over
control P01-10 0-1 1 --- & Real time
travel
parameter setting
Running
P01-20 Dynamic brake delay 0-250 50 1ms & Real time
setting
Running
disable dynamic brake
P01-21 0-1 1 --- & Real time
when power off
setting
Running
disable dynamic brake
P01-22 0-1 1 --- & Real time
when servo OFF
setting
Running
disable dynamic brake
P01-23 0-1 1 --- & Real time
when alarming
setting

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Running
Disable dynamic brake
P01-24 0-1 1 --- & Real time
when over travel
setting
brake command - servo Running
P01-30 OFF delay (brake ON 0-255 50 1ms & Real time
delay) setting
Running
brake output speed
P01-31 0-3000 100 1rpm & Real time
limitation
setting
Running
servo OFF brake command
P01-32 0-255 50 1ms & Real time
waiting time
setting
Running
out of control check
P01-40 0-1 1 --- & Real time
ENA
setting
Running
P02-00 position control gain 1 0-3000.0 48.0 1/S & Real time
setting
Running
P02-01 Position control gain 2 0-3000.0 57.0 1/S & Real time
setting
Running
speed feed-forward
Gain P02-03 0-100.0 30.0 1.0％ & Real time
gain
paremeter setting
Running
Speed feed-forward
P02-04 0-64.00 0.5 1ms & Real time
smooth constant
setting
Running
P02-10 speed ratio gain 1 1.0-2000.0 27.0 1Hz & Real time
setting
P02-11 Speed integral 0.1-1000.0 10.0 1ms Running Real time

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constant 1 &
setting
Fake differential Running
P02-12 feed-forward control 0-100.0 100.0 1.0％ & Real time
ratio 1 setting
Running
P02-13 speed ratio gain 2 1.0-2000.0 27.0 1Hz & Real time
setting
Running
Speed integral
P02-14 0.1-1000.0 1000.0 1ms & Real time
constant 2
setting
Fake differential Running
P02-15 feed-forward control 0-100.0 100.0 1.0％ & Real time
ratio 2 setting
Stop &
Speed integral error
P02-16 0-32767 25000 --- resettin Real time
limit value
g
Running
Torque feed-forward
P02-19 0-30000 0 1.0％ & Real time
gain
setting
Running
Torque feed-forward
P02-20 0-64.00 0.8 1ms & Real time
smooth constant
setting
Running
P02-30 Gain switching mode 0-10 7 --- & Real time
setting
Running
P02-31 Gain switching grade 0-20000 800 --- & Real time
setting
Running
P02-32 Gain switching lag 0-20000 100 --- Real time
&

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setting
Running
P02-33 Gain switching delay 0-1000.0 10.0 1ms & Real time
setting
Running
Position gain
P02-34 0-1000.0 10.0 1ms & Real time
switching time
setting
Running
P02-40 Mode switch selection 0-4 0 --- & Real time
setting
Running
P02-41 Mode switch selection 0-20000 10000 --- & Real time
setting
Running
Torque command added -100.0-100.
P02-50 0 1.0％ & Real time
value 0
setting
Running
P02-51 CW torque compensation 0-100.0 0 1.0％ & Real time
setting
Running
Reverse torque
P02-52 -100.0-0 0 1.0％ & Real time
compensation
setting
Running
Source of location
P03-00 0-1 0 --- & Real time
command
setting
Running
P03-01 Instruction pulse mode 0-3 1 --- & Real time
setting
Running
Instruction Pulse
P03-02 0-1 0 --- & Real time
Input Terminal
setting

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Running
Instruction Pulse
P03-03 0-1 0 --- & Real time
Inversion
setting

Running
Position Pulse
P03-04 0-1 0 --- & Real time
filtering
位置 setting
参数 Running
Positioning completion
P03-05 0-2 1 --- & Real time
criteria
setting

Running
Location complete Encode
P03-06 0-65535 100 & Real time
range r unit
setting

Position Feedback Stop &

P03-07 0-1 0 --- Real time
format reset
Number of instruction Running
Re-power
P03-09 pulses per turn of 0-65535 10000 Pulse &
on
motor setting
Running
Electron Gear 1 Re-power
P03-10 1-65535 1 --- &
molecule on
setting
Running
Electronic gear 1 Re-power
P03-11 1-65535 1 --- &
Denominator on
setting
Running
Electron Gear 1 is Re-power
P03-12 0-32767 0 --- &
位置 16-bit higher on
setting
参数
Running
Electron Gear 2 Re-power
P03-13 1-65535 1 --- &
molecule on
setting

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Running
Electronic gear 1 Re-power
P03-14 1-65535 1 --- &
Denominator on
setting

Running
Excessive position 指令单
P03-15 0-65535 30000 & Real time
deviation setting 位*10
setting

Position Instruction Running

P03-16 smoothing filter time 0-1000.0 0 1ms & Real time
constant setting
Running
P03-20 Position loop feedback 0-1 0 --- & Real time
setting
Increment encoder
Running
output pulse frequency
P03-22 1-65535 1 --- & Real time
division ratio
setting
molecule
Increment encoder
Running
output pulse frequency
P03-23 1-65535 1 --- & Real time
division ratio
setting
denominator
Absolute number of Running
P03-25 output pulses per 0-60000 2500 --- & Real time
revolution of the motor setting
Linear encoder Stop &
P03-30 0-1 0 --- Real time
inversion reset
The polarity of the Stop &
P03-31 0-1 1 --- Real time
LINEAR ENCODER Z pulse reset
Stop &
P03-40 Source of output pulse 0-3 1 --- Real time
reset
P03-42 0-1 1 --- Stop & Real time

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Output Z pulse polarity reset

Digital Position
Stop &
P03-45 Instruction caching 0-1 0 --- Real time
reset
mode
Maximum speed of motor Running
P03-46 at digital position 0-6000 1000 --- & Real time
command run time setting
P03-50 The Gantry function Stop &
0-1 0 --- Real time
enables setting
P03-51 The input signal of
Stop &
Gantry function is 0-1 0 --- Real time
setting
reversed
P03-52 Number of feedback Running
Re-power
pulses per turn of 0-65535 10000 --- &
on
Gantry Motor setting
P03-53 Gantry function Running
position deviation too 0-65535 10000 --- & Real time
large settings setting
P03-55 Gantry proportional Running
gain 0-200 10 --- & Real time
setting
P03-60 Origin regression Running
enable control 0-6 0 --- & Real time
setting
P03-61 Origin regression Running
model 0-9 0 --- & Real time
setting
P03-65 High speed searching Running
for origin switch 0-1000 100 --- & Real time
setting

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P03-66 Low speed searching for Running

origin switch 0-200 10 --- & Real time
setting
P03-67 Search origin switch Running
acceleration and 0-5000 0 --- & Real time
deceleration time setting
P03-68 Maximum time limit for Running
searching origin 0-65550 0 --- & Real time
setting
P03-69 HMechanical Origin Running
Offset H 0-65535 0 --- & Real time
setting
P03-70 Mechanical Origin Running

Offset L 0-65535 0 --- & Real time

setting
Speed instruction Stop &
P04-00 0-3 0 --- Real time
source setting
Speed instruction Stop &
P04-01 0-1 0 --- Real time
analog counter setting
速度
Running
参数 Digital speed given
P04-02 -6000—6000 0 1rpm & Real time
value
setting
Running
Zero speed position
P04-03 0-1 0 --- & Real time
clamp function
setting
Running
Zero speed position
P04-04 0-6000 30 1rpm & Real time
clamp speed threshold
setting
速度
Running
参数
P04-05 Overspeed alarm value 0-6500 6400 1rpm & Real time
setting

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Running
P04-06 Forward speed limit 0-6000 5000 1rpm & Real time
setting
Running
P04-07 Reverse speed limit -6000-0 -5000 1rpm & Real time
setting
Running
Zero velocity
P04-10 0-200.0 2 1rpm & Real time
detection value
setting

Running
Rotation detection
P04-11 0-200.0 30 1rpm & Real time
value
setting

Running
Consistent range of
P04-12 0-200.0 30 1rpm & Real time
velocity
setting
Running
P04-14 Acceleration time 0-10000 0 & Real time
1ms/10 setting
00rpm Running
P04-15 Deceleration time 0-10000 0 & Real time
setting
-6000—6000 Running
Internal setting
P04-30 0 1rpm & Real time
speed 1
setting
1rpm Running
P04-31 Internal set speed 2 -6000—6000 0 & Real time
setting
1rpm Running
Internal setting
P04-32 -6000—6000 0 & Real time
speed 3
setting

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1rpm Running
P04-33 Internal set speed 4 -6000—6000 0 & Real time
setting
1rpm Running
P04-34 Internal set speed 5 -6000—6000 0 & Real time
setting
1rpm Running
P04-35 Internal set speed 6 -6000—6000 0 & Real time
setting
1rpm Running
P04-36 Internal set speed 7 -6000—6000 0 & Real time
setting
1rpm Running
P04-37 Internal set speed 8 -6000—6000 0 & Real time
setting
Torque instruction Stop &
P05-00 0-3 0 --- Real time
source setting
Inverse Torque Stop &
P05-01 0-1 0 --- Real time
instruction analog setting
Running
Torque mode speed
P05-02 0-5000 1500 1rpm & Real time
limit given value
setting
转矩 Running
Digital torque given
参数 P05-03 0-300.0 0 1.0％ & Real time
value
setting
Stop &
P05-05 Torque limiter source 0-2 0 --- Real time
setting

Running
Torque limit check out
P05-06 0-10000 0 ms & Real time
delay
setting

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Running
Internal Forward
P05-10 0-300.0 200.0 1.0％ & Real time
Torque limit
setting
Running
Internal reverse
P05-11 -300-0 -200.0 1.0％ & Real time
torque limit
setting
Running
External Positive
P05-12 0-300.0 100.0 1.0％ & Real time
Torque limit
setting
Running
External Reverse
P05-13 -300-0 -100.0 1.0％ & Real time
torque limit
setting
Running
DI1 Effective level of Re-power
P06-00 0-4 0 --- &
input port on
setting
Running
DI1 input port function Re-power
P06-01 0-24 1 --- &
selection (Servo ON) on
setting
Running
DI2 Effective level of Re-power
P06-02 0-4 0 --- &
input port on
setting
DI2 input port function Running
Re-power
P06-03 selection (alarm 0-24 2 --- &
on
clear) setting
Running
DI3 Effective level of Re-power
P06-04 0-4 0 --- &
input port on
setting
DI3 input port function Running
Re-power
I/O P06-05 selection (forward 0-24 3 --- &
on
参数 overtrip) setting
P06-06 DI4 Effective level 0-4 0 --- Running Re-power

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of input port & on

setting
DI4 input port function Running
Re-power
P06-07 selection (reverse 0-24 4 --- &
on
overtrip) setting
Running
DI5 Effective level Re-power
P06-08 0-4 0 --- &
of input port on
setting
DI5 input port function
selection(Default: Running
Re-power
P06-09 Forward torque 0-24 7 --- &
on
external torque setting
limit)
Running
DI6 Effective level of Re-power
P06-10 0-4 0 --- &
input port on
setting
DI6 input port function
Running
selection (Default: Re-power
P06-11 0-24 8 --- &
External torque limit on
setting
on reverse side)
Running
DI7 Effective level of Re-power
P06-12 0-4 0 --- &
input port on
I/O setting
参数 D17 input port function Running
Re-power
P06-13 selection (Default: 0-24 5 --- &
on
function model change) setting
Running
DI8 Effective level of Re-power
P06-16 0-4 0 --- &
input port on
setting
D17 input port function Running Re-power
P06-17 0-24 16 ---
selection & on

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(Default:position setting
instruction clear)
Running
DO1 Valid level of Re-power
P06-20 0-1 1 --- &
output port on
setting
DO1 Function change of Running
Re-power
P06-21 output port 0-13 3 --- &
on
(fault:serve ready) setting
Running
DO2 Valid level of Re-power
P06-22 0-1 1 --- &
output port on
setting
DO2 Function change of Running
Re-power
P06-23 output port (fault: 0-13 2 --- &
on
brake open ) setting
Running
DO3 Valid level of Re-power
P06-24 0-1 1 --- &
output port on
setting
DO3 Function change of Running
Re-power
P06-25 output port 0-13 1 --- &
on
(fault:Alarm output) setting
Running
DO4 Valid level of Re-power
P06-26 0-1 1 --- &
output port on
setting
DO4 Function change of
Running
output port Re-power
P06-27 0-13 4 --- &
(fault:position on
setting
completed)
Running
DO5 Valid level of Re-power
P06-28 0-1 1 --- &
output port on
setting
P06-29 DO5 Function change of 0-13 8 --- Running Re-power

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output port & on

(fault:check out setting
torque limited )
Running
Speed analog command
P06-40 10-2000 300 1rpm/V & Real time
input gain
setting
Running
Speed analog command
P06-41 0-64.00 0.8 1ms & Real time
filter constant
setting
Running
Speed analog command -10.000
P06-42 0 1V & Real time
offset －10.000
setting
Running
Torque analog command
P06-43 0.0-100.0 10 % & Real time
gain
setting
Running
Torque analog command
P06-44 0-64.00 0.8 1ms & Real time
filter constant
setting
Running
Torque analog command -10.000
P06-45 0 1V & Real time
offset －10.000
setting
Running
Speed analog
P06-46 0-10.000 0 1V & Real time
instruction dead zone
setting
Running
Torque analog
P06-47 0-10.000 0 1V & Real time
instruction dead zone
setting
Running
Load rotation routine
P08-01 0-1 0 --- & Real time
identification mode
setting
P08-02 Maximum speed of 100-2000 800 1rpm Running Real time

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inertia identification &

setting
Inertia identification Running
P08-03 acceleration and 20-800 100 1ms & Real time
高级功能 deceleration time setting
参数 Wait time after single Running
P08-04 inertia identification 50-10000 1000 1ms & Real time
is completed setting
The number of motor
Running
rotations required to
P08-05 1.33 圈 & Read only
complete a single
setting
inertia
Running
Adaptive notch mode
P08-11 0-4 0 --- & Real time
selection
setting
高级功能 Vibration detection Running
1-7
参数 P08-13 threshold of adaptive 3 --- & Real time
notch filter setting
Running
P08-17 Speed monitor 0-2 0 & Real time
setting
Feedback speed Running
P08-19 low-pass filter 0-25.00 0.8 1ms & Real time
constant setting
Running
Torque command filter
P08-20 0-25.00 0.8 1ms & Real time
constant1
setting
Running
Torque command filter
P08-21 0-25.00 0.8 1ms & Real time
constant2
setting
P08-25 Disturbance torque 0-100.0 0 ％ Running Real time

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compensation gain &

setting
Disturbance torque Running
P08-26 filtering time 0-25.00 0.8 1ms & Real time
constant setting
Running
Notch Filter 1
P08-30 300-5000 5000 HZ & Real time
frequency
setting
Running
P08-31 Notch Filter 1 width 0-20 2 --- & Real time
setting
Running
P08-32 Notch Filter 1 depth 0-99 0 --- & Real time
setting
Running
Notch Filter 2
P08-33 300-5000 5000 HZ & Real time
frequency
setting
Running
P08-34 Notch Filter 2 width 0-20 2 --- & Real time
setting
Running
P08-35 Notch Filter 2 depth 0-99 0 --- & Real time
setting
Running
Notch Filter 3
P08-36 300-5000 5000 HZ & Real time
frequency
setting
Running
P08-37 Notch Filter 3 width 0-20 2 --- & Real time
setting
Running
P08-38 Notch Filter 3 depth 0-99 0 --- Real time
&

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setting
Running
Notch Filter 4
P08-39 300-5000 5000 HZ & Real time
frequency
setting
Running
P08-40 Notch Filter 4 width 0-20 2 --- & Real time
setting
Running
P08-41 Notch Filter 4 depth 0-99 0 --- & Real time
setting

8.2 Parameter Description

8.2.1 P00-XX motor and driver parameter

Para
Name Description
code
Default set
P00-00 motor number 0: P0-01 to P0-17 is available
2000: Absolute encoder, P0-01 to P0-05 identified by driver
Set range: 1~6000 rpm; unit：rpm;
P00-01 rated speed
default value.
Set range 0.01-655.35 N.m;unit：N.M
P00-02 rated torque
default value.
Set range: 0.01-655.35A,unit：A
P00-03 Rated current
Default value
Set range: 0.01-655.35kg.cm²; unit：kg.cm²
P00-04 Rotor inertia
Default value
Set range:1-31 pairs; unit：对极
P00-05 Pole pairs
Default value
Range: 0-3
P00-07 Encoder option
0&1: incremental encoder

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2: Single-turn absolute encoder

3: Multi-turn absolute encoder
Range: 0-1
Line-saving
P00-08 0: non line-saving;
incremental encoder
1: line-saving;
Range: 0-1
P00-09 Absolute encoder 0: Tamagawa encoder
1: Nikon encoder
Incremental encoder
P00-10 Default set
lines
incremental encoder
P00-11 Default set
Z pulse electric angle
P00-12 Rotor initial angle 1 Default set
P00-13 Rotor initial angle 2 Default set
P00-14 Rotor initial angle 3 Default set
P00-15 Rotor initial angle 4 Default set
P00-16 Rotor initial angle 5 Default set
P00-17 Rotor initial angle 6 Default set
Set range:0-100; Default:100.
Set by customer
Display settings on
P00-20 It shows operation status while driver power-on if set value to 100.
power-on interface
Other parameter refer to 8.3 chapter.
For example: If want driver show d08.F.SP, please set value to 8.
Set range: 0-3; Default:2
Choose baud rate to communicate with PC:
RS232
0：9600
P00-21 communication baud
1：19200
rate selection
2：57600
3：115200
Set range: 0-255; Default:1;
P00-23 slave station
Set according to device required.

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Set range: 0-7; Default: 2.

0:2400
1:4800
Modbus 2:9600
P00-24 communication baud 3:19200
rate 4:38400
5:57600
6:115200
7:25600
Set range: 0-3; Default: 0.
0: no calibration, 2 stop bit.
P00-25 Calibration method 1: even calibration, 1 stop bit.
2: odd calibration, 1 stop bit.
3.no calibration, 1 stop bit.

modbus Set range: 0-100; default:0.

P00-26 Communication Response standard while set value is 0; And will response related to the
response delay value while it be set.

Set range:0-2; Default:1.

0: Reserve.
P00-28 Modbus compatible
1: default
2: Compatible with Chisu protocol （OX11and 16E address）
set range: 0-1; default: 0.
Modbus absolute
Read absolute position value 84D/84E.
P00-29 encoder feedback
0: 84D is cycle amount. 84E is single cycle amount.
style
1: 84D is single cycle amount. 84E is cycle amount.
Set range: 0-2.
Braking resistor 0: inside resistor.
P00-30
setting 1: use outside resistor.
2: No braking resistor.
Outsider braking
P00-31
resistor power Setting range: 0-65536, Unit: 10W.

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Set value according to outsider braking resistor. For example: set 4, it

means resistor power is 40W.
Outsider braking Setting range :0-1000 Unit: ohm.
P00-32
resistor value Set value according to outsider braking resistor
regeneration open Setting range: 0-1;
P00-33 circuit, Short-circuit 0: Close regeneration open-circuit
detection enable 1: Open regeneration open-circuit,short-circuit detection enable.
Setting range: 0-1
Over temperature
P00-40 0: Close over temperature protection
protection setting
1: Open over temperature protection
Setting range: 0-1
Control power failure
P00-41 0: Close control power failure protection
protection settings
1: Open control power failure protection
Setting range: 0-65536; Unit: ms.
0: Close speed inconsistency alarm detection function.
Speed inconsistency
P00-46 alarm detection time
1-65535: Speed inconsistency alarm detection time setting, When the
setting
speed error reaches P04-12 set value, and the time reaches the set time,
the drive will alarm AL.423

8.2.2 P01-xx Major control parameter

Para
Name Description
code
Setting range:0-6
0: Position control mode.
1: Speed control mode.
P01-01 Control mode setting 2: Torque control mode
3:Speed, torque control mode. Need to use an external input port in CN1
to switch, set the selected DI port input port function selection to 5
(control mode switching). Control the logic state of the port to switch the

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control mode.
Port logic Control mode
Valid Speed mode
Invalid Torque mode
4：Position and speed control mode. Need to use an external input port in
CN1 to switch, set the selected DI port input port function selection to 5
(control mode switching). Control the logic state of the port to switch the
control mode.
Port logic Control mode
Valid Position mode
Invalid Speed mode
5：Position and torque control mode. Need to use an external input port in
CN1 to switch, set the selected DI port input port function selection to 5
(control mode switching). Control the logic state of the port to switch the
control mode.
Port logic Control mode
Valid Position mode
Invalid Torque mode
6：servo electric screwdriver
Setting range:0-2
0: Manual adjustment of rigidity
1：Standard mode automatically adjusts rigidity. In this mode, parameters
P02-00, P02-01, P02-10, P02-11, P02-13, P02-14, P08-20 will be set
automatically according to the stiffness level set by P01-03, and these
parameters can not be adjusted by manual. The following parameters are
set by the user:
Real time automatic
P01-02 P02-03 (speed feedforward gain), P02-04 (speed feedforward smoothing
adjustment mode
constant).
2：Positioning mode automatically adjusts rigidity. In this mode,
parameters P02-00, P02-01, P02-10, P02-11, P02-13, P02-14, P08-20 will
be set automatically according to the rigidity level set by P01-03. and
these parameters can not be adjusted by manual.. The following
parameters will be fixed and cannot be changed:
P02-03 (speed feedforward gain), 30%

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P02-04 (speed feedforward smoothing constant).0.5

3：Automatically adjust the rigidity 2. In this mode, parameters P02-00,
P02-01, P02-10, P02-11, P02-13 will be set automatically according to the
rigidity level set in P01-03.
The following parameters are set by the user: P02-03 (speed feedforward
gain), P02-14 (speed integral constant 2), P08-20 (torque command filter
constant 1), P08-21 (torque command filter constant 2)
Setting range: 0-31
Automatically adjust Built-in 32 kinds of gain parameters. It works when P01-02 is set to 1, 2, or
P01-03
the rigidity setting 3. It can be called directly according to the actual situation. The larger the
set value, the stronger the rigidity.
Setting range: 0-100, unit: times
Set the load inertia ratio to related motor. The setting method is as
follows:
P01-04 Rotor inertia ratio
P01-04 = Load inertia / motor inertia
This inertia ratio can use the value after AF-J-L automatic inertia
recognition, write the recognized value into the parameter
Setting range: 0-1
0: The motor is in a free state after overtravel, and only receives signals
Control method after
P01-10 running in the opposite direction
overtravel
1: The motor is locked after overtravel and only receives signals in the
opposite direction.
Setting range:0-150, Unit:ms.
P01-20 Dynamic brake delay When the braking conditions are met, the dynamic brake action delay
time
Disable dynamic Setting range: 0-1;
P01-21 brake when main 0: Open dynamic brake function
power is off 1: Close dynamic brake function

Disable dynamic Setting range: 0-1

P01-22 brake when servo 0: Open dynamic brake function;

OFF. 1: Close dynamic brake function.

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Disable dynamic Setting range: 0-1

P01-23 brake when fault 0: Open dynamic brake function;
alarm. 1: Close dynamic brake function.

Disable dynamic 0-1 Setting range: 0-1

P01-24 brake when 0: Open dynamic brake function;
overtravel 1: Close dynamic brake function.

Setting range: 0-255, unit: ms

Brake When enabling: The drive will only receive the position command after
command-Servo OFF the time of P01-30 is executed under the enable command is executed.
P01-30
delay time (brake When the enable is off: When the motor is at a static state, after the close
open delay) enable command is executed, the time after the brake is closed and the
motor becomes non-energized.
Setting range: 0-3000, unit: rpm
Speed limit value of
Motor speed threshold when the brake output is active when the motor is
P01-31 brake command
rotating. Less than this threshold, the brake output command is valid,
output
otherwise it will wait for P01-32 time, the brake output command is valid.
Servo OFF-brake Setting range: 0-255, unit: ms
P01-32 command waiting The maximum waiting time for the brake output when the motor is
time rotating.
Prevent the motor from running out of control and abnormal rotation.
Runaway detection
P01-40 0: Close enable.
enabled
1: Open enable.

8.2.3 P02-xx Gain assorted parameter

Para
Name Description
code
Setting range: 0-3000.0, unit: 1 / S
Position loop regulator scale gain. The larger the parameter value set, the
Position control gain higher the gain ratio is, the greater the stiffness is, the smaller the
P02-00
1 position tracking error will be, and the faster the response. However, too
large a parameter can easily cause vibration and overshoot.
This parameter is for steady state response.

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Setting range: 0-3000.0, unit: 1 / S

Position loop regulator scale gain. The larger the parameter value set, the
higher the gain ratio is, the greater the stiffness is, the smaller the
P02-01 Position control gain2
position tracking error will be, and the faster the response. However, too
large a parameter can easily cause vibration and overshoot.
This parameter is for dynamic response.
Setting range: 0-100.0, unit: 1.0%
The feedforward gain of the speed loop. The larger the parameter value
Speed feedforward set, the smaller the system position tracking error and the faster the
P02-03
gain response. However, if the feedforward gain is too large, the position loop
of the system will be unstable, which will easily cause overshoot and
vibration.
Setting range: 0-64.00, unit: ms
Speed feedforward This parameter is used to set the speed loop feedforward filtering time
P02-04
smoothing constant constant. The larger the value set, the larger the filtering effect, but at the
same time the phase lag increases.
Setting range: 1.0-2000.0, unit: Hz
The larger the speed proportional gain is, the larger the servo stiffness is
and the faster the speed response is. However, if it is too large, it is easy to
1Speed proportional
P02-10 generate vibration and noise.
gain 1
Under the condition that the system does not oscillate, increase this
parameter value as much as possible.
This parameter is for a static response.
Setting range: 1.0-1000, Unit: ms.
Speed regulator integration time constant. The smaller the setting value,
the faster the integration speed, the greater the stiffness, and the
Speed integral
P02-11 vibration is too easy to produce noise if it is too small.
constant 1
When the system does not oscillate, reduce this parameter value as much
as possible.
This parameter is for steady state response.
P02-12 Pseudo-differential Setting range: 0-100.0, unit: 1.0%

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feedforward control When set to 100.0%, the speed loop adopts PI control, and the dynamic
coefficient 1 response is fast; when set to 0, the speed loop integral effect is obvious,
which can filter low-frequency interference, but the dynamic response is
slow.
By adjusting this coefficient, the speed loop can have a better dynamic
response, and it can increase the resistance to low-frequency
interference.
Setting range: 1.0-2000.0, unit: Hz
The larger the speed proportional gain is, the larger the servo stiffness is
and the faster the speed response is. However, if it is too large, it is easy to
speed proportional
P02-13 generate vibration and noise.
gain2
Under the system has no vibration, increase this parameter value as much
as possible.
This parameter is for dynamic response.
Setting range: 1.0-1000.0, unit: ms
Speed regulator integration time constant. The smaller the setting value,
the faster the integration speed, the greater the stiffness is, and the
Speed integral
P02-14 vibration is too easy to produce noise if it is too small.
constant 2
Under the system has no vibration, reduce this parameter value as much
as possible.
This parameter is for dynamic response.
Setting range: 0-100.0, unit: 1.0%
When set to 100.0%, the speed loop PI control, and the dynamic response
Pseudo-differential is fast; when set to 0, the speed loop integral effect is obvious, which can
P02-15 feedforward control filter low-frequency interference, but the dynamic response is slow.
coefficient 2 By adjusting this coefficient, the speed loop can have a better dynamic
response, and at the same time, it can increase the resistance to
low-frequency interference.
Speed integral error Setting range: 0-32767
P02-16
limit value Speed integral error limit value
P02-19 Torque feedforward Setting range: 0-30000, unit: 1.0%

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gain Set the current loop feedforward weighting value. This parameter adds
the current loop after weighting the differential of the speed command.
Setting range: 0-64.00, unit: ms
Torque feed-forward
P02-20 This parameter is used to set the torque feedforward filtering time
smoothing constant
constant.
Setting range: 0-10
The condition to set the 1st and 2nd gain switching mode
value Switching Remark
condition
0 fix to the 1st P02-00、P02-10、P02-11、P02-12
gain
1 fix to the P02-01、P02-13、P02-14、P02-15
2nd gain
2 Use DI input Need to set the DI port to 9 (gain switching
switching input)
Invalid: first gain
Effective: second gain
3 Big torque When the torque command is greater than
P02-30 Gain switching mode
command the threshold (determined by P02-31 and
value P02-32), it switches to the second gain.
When it is less than the threshold and
exceeds the P02-33 delay setting, it switches
to the first gain.
4 Speed When the speed command change is greater
command than the threshold (determined by P02-31
changes a and P02-32), it switches to the second gain.
lot When it is less than the threshold and
exceeds the P02-33 delay setting, it switches
to the first gain.
5 Big speed When the speed command is greater than
command the threshold (determined by P02-31 and

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value P02-32), it switches to the second gain.

When it is less than the threshold and
exceeds the P02-33 delay setting, it switches
to the first gain.
6 Large When the position deviation is greater than
position the threshold (determined by P02-31 and
deviation P02-32), switch to the second gain. When it
is less than the threshold and exceeds the
P02-33 delay setting, it switches to the first
gain.
7 There is Switch to the second gain when there is a
position position command. When the position
command command ends and the P02-33 delay setting
is exceeded, it switches to the first gain.
8 Incomplete Switch to the second gain when positioning
positioning is not completed. When the positioning is
completed and the P02-33 delay setting is
exceeded, it switches to the first gain.
9 Actual Switch to the second gain when the actual
speed is big speed is greater than the threshold
(determined by P02-31 and P02-32). When it
is less than the threshold and exceeds the
P02-33 delay setting, it switches to the first
gain.
10 With Switch to the second gain when there is a
position position command. When there is no
command + position command and the actual speed is
actual speed less than the threshold (determined by
P02-31 and P02-32), and when the delay
setting of P02-33 is exceeded, it switches to
the first gain.

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Setting range: 0-20000

Judgment threshold when gain is switched.
P02-31 Gain switching level Torque unit: 1000bit = 25% of rated torque
Speed unit: 1000bit = 200 rpm
Position unit: 131072bit per revolution
Setting range: 0-20000
Hysteresis level at gain switching
Gain switching
P02-32 Torque unit: 1000bit = 25% of rated torque
hysteresis
Speed unit: 1000bit = 200 rpm
Position unit: 131072bit per revolution
Setting range: 0-1000.0, unit: ms
P02-33 Gain switching delay When switching from the second gain to the first gain, the time from
when the trigger condition is met to the actual switching.
Setting range: 0-1000.0, unit: ms
Position gain
P02-34 Time for position control gain 1 to smoothly switch to position control
switching time
gain 2
Setting range: 0-4
Set the conditions of speed loop PI control and P control
value Judge Remark
condition
0 Torque When the torque command is less than
command P02-41, the threshold is set to PI control,
while it is bigger than P02-41, then set to
Mode switch
P02-40 P control.
selection
1 Speend When the speed command is less than
command P02-41, the threshold is set to PI control.
If the speed command is greater than
P02-41, the threshold is set to P control.
2 Acceleration When the acceleration is less than
P02-41, the threshold is set to PI control.
If the acceleration is greater than P02-41,

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the threshold is set to P control.

3 Position When the position deviation is less than
deviation P02-41, the threshold is set to PI control.
If the position deviation is greater than
P02-41, the threshold is set to P control.
4 Modeless Speed loop maintains PI control and no
switch longer switches

Setting range: 0-20000

Set the threshold for switching.
P02-41 Mode switch level Torque unit: 1000bit = 25% of rated torque
Speed unit: 1000bit = 200 rpm
Position unit: 131072bit per revolution
Setting range: -100.0-100, unit: 1.0%
Torque command
P02-50 Valid in position control mode. This value is superimposed on the torque
added value
reference value and is used for vertical axis static torque compensation.
Forward torque Setting range: -100.0-100.0, unit: 1.0%
P02-51
compensation Valid in position control mode. For compensating forward static friction
Reverse torque Setting range: -100.0-100.0, unit: 1.0%
P02-52
compensation Valid in position control mode. Used to compensate reverse static friction

8.2.4 P03-xx Position parameters

Para code Name Description

Source of position
0：pulse command
P03-00 command
1：Given the number, use it when communicating with control

0：Quadrature pulse command (90°phase difference two-phase pulse)

Command pulse
P03-01 1： Direction+ pulse command
mode
2or 3:Double pulse command（CW+CCW）
Instruction Pulse Use to specify the pulse input port in the CN1 port
P03-02 Input Terminal 0：low speed pulse port
1：high speed pulse port

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Used to adjust the direction of the pulse instruction count

Instruction Pulse 0：Normal
P03-03
Inversion 1：In The Opposite Direction

Set range : 0-1 Unit

Position Pulse filter
P03-04 0：0.1us。
setting
1：1.6us
0:Output when position deviation is less than P03-06 setting value
1: Output when position is given, and output when position deviation is
Positioning
P03-05 less than P03-06 setting value
completion criteria
2: Output when position is given (after filtering) , and output when
position deviation is less than P03-06 setting value
Set range:0-65535 Unit: encoder unit
Use to set a threshold value for positioning completion output. When the
Location complete
P03-06 absolute value motor is used, the encoder is calculated at 131072 bit per
range
turn. Using incremental encoder motor, each turn is calculated by the
number of encoder lines * 4.
Set range:0-1
Position feedback
P03-07 0：Incremental format
format
1：Multi-loop absolute value format
Setting range: 0-65535
Number of
Absolute encoder motor is effectively used to set motor rotation number
P03-09 instruction pulses per
of instructions pulse. When this parameter is set to 0, P03-10 and P03-11
turn of motor
are valid
When absolute value motor is used, see 6.1.3 example of calculation
Example ：The number of encoder lines is 2500；
method of electronic gear ratio
Molecule C 4
Electron Gear 1 G  of input pulse per turn ；
The number
P03-10 Calculation formula
Denominato r of electronic
P gear ratio of incremental motor:
molecule Find the ratio of electronic gear ？
C：Encoder line ；P：No.of input pulse per turn
C  4 2500  4 10000 25
G   
P 3200 3200 8

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Note：20BThe molecule of encoder is 131072

17B The molecule of encoder is 160000
Electronic gear 1
P03-11
Denominator

Electron Gear 1 Set range :0-32767

P03-12 molecular high Use this can expand the Electronic gear ratio
position Molecule value=P03-12*10000+P03-10

Electronic gear. 2
P03-13
molecules See P03-10

Electronic gear. 2
P03-14 Denominator See P03-11

Setting range: 0-65535, Unit: Instruction Unit * 10

Position deviation set the number of pulse to allow deviation, more than the set value will
P03-15
setting is too big alarm. EXAMPLE: Setting a value of 20, the drive alerts Al. 501 when the
follow deviation exceeds 20 * 10(position deviation is too large)
Position Instruction Setting range: 1000, in Ms Setting time constant of position instruction
P03-16 smoothing filter smoothing filter
constant
Setting Position Feedback Source
Position feedback Molecule C 4
P03-20 0: 
G Encoder 
source Denominato r P  4
1:
C： Raster scaleline
Encoder
P：Desired output A, B pulses per revolution
Increment encoder When using incremental encoder, set the number of output pulses of cN1
Example ：The number of encoder lines is 2500；
output pulse port.
P03-22 The number of A, B pulses per revolution is 500 ；
frequency division P03-23C should
4 2500be less
 4 than
5 or equal to p03-22, calculation formula:
G  
ratio molecule P4 500  4 1

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Delta encoder output

P03-23 pulse frequency
divider

Absolute number of Set Range: 0-60000

output pulses per Set absolute value motor rotation around, A, B frequency pulse output
P03-25
revolution of the number. EXAMPLE: set the value of 2500, then each rotation of the motor,
motor A and B signal output 2500 pulses
Set the grating ruler Input A, b phase sequence is reversed
P03-30 LINEAR encoder NO
yes
Set the effective level of grating ruler input Z signal
Polarity of Z pulse of
P03-31 0: low level
linear encoder
1: High level
Set CN1 terminal in the frequency-division Output Signal Source 0: Pulse
output, alarm not output
P03-40 Output pulse source 1: Motor output
2: Pulse Output
3: Grating Ruler
Set CN1 TERMINAL FREQUENCY OUTPUT SIGNAL Z effective level 0: Low
Output Z pulse
P03-42 Level
Polarity
1: High Level
Digital quantity Setting range: 0-1
P03-45 instruction cache 0: No caching (immediate execution)
mode 1: CACHING (new data executed after last data execution)
Maximum speed of
Setting range: 0-6000
motor at digital
P03-46 Sets the maximum speed of the motor when the Digital Position
position command
Command runs
run time

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8.2.5 P04-xx Speed parameter

Para
Name Description
code
0: External Analog Instruction
Speed instruction 1: Digital Instruction (Parameter Setting)
P04-00
source 2: Digital Instruction (Communication)
3: Internal Multiple instruction sets
The polarity relation used to adjust analog quantity is
Speed instruction 0: Normal
P04-01
analog reverse 1: Polarity is reversed

Digital speed given Setting range:-6000-6000，Unit: rpm

P04-02
value when P04-00 is set to 1, P04-02 is the speed control setting
0: non-position Clamp Function
1: Position Clamp function
When speed control mode is applied and the following conditions are
Zero speed position
P04-03 met, enter Position lock mode
clamp function
A: P04-03 set to 1
B: Speed instruction absolute value less than P04-04 SET THRESHOLD C:
External Input Port function set to 10(zero fixed) and in input valid state
Zero speed position ]Setting range: 0-6000, unit: rpm
P04-04 clamp speed Setting speed instruction threshold to trigger zero speed position clamp
threshold function
Set range ：0-6500，Unit：rpm
Over speed alarm
P04-05 Setting the maximum allowable RPM above the setting will trigger a 420
value
overspeed alarm
Set range：0-6000，Unit：rpm
P04-06 Forward speed limit
Limit forward speed of motor
Set range：-6000-0，Unit：rpm
P04-07 Reverse speed limit
Limit reverse speed of motor
P04-10 Zero velocity Set range：0-200.0，Unit：rpm

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detection value Set Zero speed detection threshold, motor speed below the threshold can
be output through the output port "zero speed motor output" signal
Set range：0-200.0，Unit：rpm
Rotation detection Set Motor rotation detection threshold, motor rotation speed higher than
P04-11
value the value can be displayed through the LED panel status

Set range：0-200.0，Unit：rpm
Consistent range of Set speed consistent signal threshold value, when motor speed and
P04-12
velocity instruction speed difference in the threshold value range, can output
"speed consistent output" signal through the output port
Set range：0-10000，Unit：1ms/1000rpm
P04-14 Acceleration time
Set the acceleration time in speed control
Set range：0-10000，Unit：1ms/1000rpm
P04-15 deceleration time
Set the deceleration time in speed control
Set range：-6000—6000，Unit：rpm
Parameters P04-30 to P04-37, respectively set internal speed 1 to internal
speed 8, the internal speed switch method is as follows: when the speed
loop control, P04-00 SET 3, the corresponding input port function is
defined as 13,14,15 internal rotation speed switching, which is realized by
setting the input port function to 13,14,15 on-off state combination, as
shown in the following table
P04-30
DI13 DI14 DI15 Parameter
----- 1-8 inside speed set
0 0 0 P04-30
P04-37
1 0 0 P04-31
0 1 0 P04-32
1 1 0 P04-33
0 0 1 P04-34
1 0 1 P04-35
0 1 1 P04-36
1 1 1 P04-37

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8.2.6 P05-xx Torque parameter

Para
Name Description
code
0: External Analog Instruction (speed limit set by P05-02)
1: Digital Instruction (speed limit set by P05-02)
Torque instruction
P05-00 2: External Analog Instruction (speed limit set by speed analog
source
instruction)
3: Digital Instruction (speed limit set by speed analog instruction)
Used to adjust the Torque Direction
Inverse Torque
P05-01 0: Normal
instruction analog
1: Direction reverse
Setting range: 0-maximum speed, unit: RPM
Torque mode speed
set the maximum speed of motor when torque mode, prevent no-load
P05-02 limit given value
motor speed too high cause mechanical damage torque control mode
effective
Digital Torque given Setting range:-300-300, unit% P05-03 is the initial value for digital
P05-03
value torque when P05-00 is set to 1
Source for adjusting Torque Limits 0: Internal Digital (set by P05-10,
P05-11 or P05-12, P05-13)1: External Analog (given by external analog
P05-05 Torque limiter source
input T-REF). In this mode, the positive and negative limits are the
same. 2: The torque limit is limited by the parameter P05-03
Torque limit check out
Setting range: 0-10000, unit: Ms Setting DO port output torque limit
P05-06 delay
detection output signal delay time

Setting range: 0-300.0, unit: 1.0% limit motor forward output, 100
Internal Forward Torque means 1 times Torque, 300 means 3 times torque when the torque
P05-10
limit output reaches the limit value, the output signal can be detected
through DO port output torque limit
Setting range:-300.0-0, unit: 1.0% limit motor reverse output, 100
Internal reverse torque
P05-11 means 1 times Torque, 300 means 3 times torque when the torque
limit
output reaches the limit value, the output signal can be detected

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through the DO port output torque limit

Setting range: 0-300.0, unit: 1.0%
This function, you need to use one of the external input port in CN1 to
switch, the choice of the Di port input port function set to 7(positive
side external torque limit) . The control mode can be switched by
controlling the logical state of the port.
Port logic Torque limited value
External Positive Torque
P05-12 Valid External Limited
limit
value P05-12
Invalid Internal Limited
value P05-10
If the DI function is not assigned, the system default torque limit value
is P05-10. When the torque output reaches the limit value, the output
signal can be detected through the DO port output torque limit
Setting range: 0-300.0, unit: 1.0%
This feature requires the use of an external input port in CN1 to switch,
the choice of the DI port input port function set to 8(reverse side
external torque limit) . The control mode can be switched by controlling
the logical state of the port.

Port logic Torque limited value

External reverse Torque
P05-13 Valid External Limited
limit
value P05-13
invalid Internal Limited
value P05-11
If the DI function is not assigned, the default torque limit amplitude of
the system is p05-11.When the torque output reaches the limit value,
the output signal can be detected through the Do port output torque
limit

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8.2.7 P06-xx I/O Parameter

Para
Name Description
code
Set range：0-4，Factory set:0
Set valid input of di1 input port of cN1
0: valid for low level (optocoupler on)
DI1Effective level of input
P06-00 1: Valid for high level (optocoupler off)
port
2: Rising edge effective
3: Falling edge effective
4: Both rising and falling edge are effective
Set range：0-24，Factory set: 1 servo ON
Set the function of di1 input port of cN1
0: invalid pin
1: servo ON
2: Alarm clear
3: Forward over travel signal input
4: Reverse over travel signal input
5: Control mode switching
6: Electronic gear input
7: Positive side external torque limit
DI1 Input Port function
P06-01 8: Reverse side external torque limit
selection
9: Gain switching input
10: Zero fixed input
11: Command pulse inhibit input
12: Encoder absolute value data required input
13: Internal set speed switch input 1
14: Internal set speed switch input 2
15: Internal set speed switch input 3
16: Position command clear input
17: Pole detection input

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18: Command pulse input rate switching input

19: Gantry simultaneous movement enable
20: Gantry alignment clear signal
21: origin switch signal
22: origin reset start signal
23: speed analog command direction input
24: torque analog command direction input
DI2Effective level of input
P06-02 see P06-00
port
DI2 Function choose of
P06-03 see P06-01，factory set：2 Alarm clear
input port
DI3 Valid power level of
P06-04 seeP06-00
input port
DI3 Function choose of
P06-05 seeP06-01， factory set：3 Forward overflight signal input
input port
DI4 Effective level of input
P06-06 see 06-00
port
DI4 Function choose of
P06-07 see P06-01， factory set：4 reverse overflight signal input
input port
DI5 Effective level of input
P06-08 see P06-00
port
DI5 Function choose of
P06-09 see P06-01，factory set：7 Forward turning external torque limit
input port
DI6 Effective level of input
P06-10 see P06-00
port
DI6 Function choose of
P06-11 see P06-01， factory set：8 Reverse turning external torque limit
input port
DI7 Effective level of input
P06-12 see P06-00
port
DI7 Function choose of
P06-13 see P06-01，factory set：5 Control mdoe swift
input port

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DI8 Effective level of input

P06-16 see P06-00
port
DI8 Function choose of
P06-17 see P06-01， factory set ：16 Position command zero input
input port
Set range：0-1， factory set:1
DO1 Effective level of 0: When the State is valid, optocoupler cut-off
P06-20
input port 1: When the State is valid, optocoupler on

Set range：0-13，factory set：3 Servo ready for output

0: Pin Invalidation
1: Alarm output
2: Lock Open Output
3: Servo Ready Output
4: Positioning Completed Output
5: Positioning close to output
DO1 Function choose of
P06-21 6: Speed consistent output
input port
7: Motor Zero speed output
8: Torque limit detected output
9: Speed limit detected output
10: Warning output
11: Instruction Pulse Input Rate Switching output
12: origin regression complete output
13: electrical origin regression complete output
DO2 Effective level of
P06-22 see P06-20
input port
DO2 Function choose of
P06-23 see P06-21，factory set：2 Brake open output
output port
DO3 Function choose of
P06-24 see P06-20
output port
DO3 Function choose of
P06-25 see P06-21，factory set：1 Alarm output
output port

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DO4 Function choose of

P06-26 see P06-20
output port
DO4 Function choose of
P06-27 see P06-21，factory set：4 Location complete output
output port
DO5 Function choose of
P06-28 see P06-20
output port
DO5 Function choose of
P06-29 see P06-21，factory set：8 Torque limit check output
output port
Set range：10-2000，Unit 1rpm/V
Speed analog instruction Set the CN1 input between the simulation command and the Speed
P06-40
input gain Control Command Coefficient
Example: 500 on behalf of Each v corresponding to 500 RPM

Speed analog command Set range：0－64.00，Unit ：ms

P06-41
filter constant Set the time factor of analog instruction filtering for CN1 input

Velocity analog Set range：-10.000－10.000，Unit : V

P06-42
instruction offset Set The simulated instruction zero offset for CN1 input
Set range：0－100.0，Unit 1%
Torque simulation Set the coefficient between the analog command input by cN1 and
P06-43
instruction gain the speed control command
For example, 30.0 represents 30% of rated torque per V
Torque analog instruction Set range：0－64.00，Unit ：ms
P06-44
filter constant Set the time factor of analog instruction filtering for CN1 input
Torque analog instruction Set range：-10.000－10.000，Unit V
P06-45
offset Set The simulated instruction zero offset for CN1 input
Set range：0－10.000，Unit V
Speed analog instruction Set the dead time voltage value of the speed analog command. When
P06-46
dead zone the analog quantity is set within the range of the positive and
negative values, the system will default to zero
P06-47 Torque analog instruction Set range：0－10.000，Unit V

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dead zone Set the dead-time voltage value of the torque simulation instruction.
When the analog is given in the range of the positive and negative
values, the system defaults to zero

8.2.8 P08-xx High function Parameter

Para
Name Description
code
Set range：0-1
Load rotation routine
P08-01 0：valid
identification mode
1：invalid
Maximum speed of inertia Set range：100-2000，Unit：rpm
P08-02
identification The maximum speed of the motor in off-line inertia identification
Inertia identification Set range：20-800，Unit：ms
P08-03 acceleration and The acceleration and deceleration time of motor when off-line
deceleration time inertia identification
Wait time after single Set range：50-10000，Unit ：ms
P08-04 inertia identification is When the moment of inertia identification is off-line, the waiting
completed time after the single moment of inertia identification is completed
The number of motor
This parameter is based on P08-02, P08-03, P08-04 set conditions
P08-05 rotations required to
automatically generated the value of the rotation circle
complete a single inertia
Set range：0-4
0: The parameters of the third and fourth notch are no longer
automatically updated and are saved to the current value. However,
manual input of
Adaptive notch mode 1:1 adaptive notch filter is valid, and the parameters of the third
P08-11
selection notch filter are automatically updated. Manual input of
2:2 adaptive notch filter is valid, and the parameters of the third and
fourth notch filters are automatically updated, can Not Manually
Input
3: Only Detect Resonance Frequency

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4: Clear the third, the fourth notch filter parameters, restore to the
factory settings

Set range：0-7
Vibration detection
This parameter sets the vibration detection sensitivity of adaptive
P08-13 threshold of adaptive
notch filter, and the smaller the parameter value, the more sensitive
notch filter
the detection sensitivity is
0: TURN OFF Speed Observer
P08-17 Speed monitor 1: TURN ON SPEED OBSERVER
2: Speed, Torque Observer
Set range：0-25.00，Unit：ms
Feedback speed low-pass
P08-19 Feedback speed low-pass filter time constant, when the motor
filter constant
running when there is a howling, the value can be set up properly
Set range：0-25.00，Unit：ms
Torque command filter
P08-20 Torque instruction filter time constant 1, when there is a motor
constant1
running, the value can be appropriately set to large.
Set range：0-25.00，Unit：ms
Torque command filter
P08-21 Torque instruction filter time constant 2, when there is a motor
constant2
running, the value can be set appropriately large.
Set range：0-100.0
Disturbance torque Observed Gain Coefficient of disturbing torque. The larger the value
P08-25
compensation gain is, the stronger the anti-disturbance Torque is, but the action noise
may also be increased.
Set range：0-25.00，Unit：ms
The bigger the value is, the stronger the filtering effect is, and the
Disturbance torque
P08-26 action noise can be suppressed. However, if the disturbance is too
filtering time constant
large, the phase delay will result and the disturbance torque will be
suppressed.
Set Range: Set Range: 300-5000, Unit: HZ
P08-30 Notch Filter 1 frequency
Notch 1 center frequency Set to 5000, notch invalid
P08-31 Notch Filter 1 width Set range：0-20

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Set Range: 0-20

Notch 1 notch width level is the ratio of the width to the central
frequency
Set range：0-99
The notch depth grade of Notch 1 is the ratio between the central
P08-32 Notch Filter 1 depth
frequency input and output of Notch 1. The larger the parameter,
the smaller the notch depth and the weaker the effect
P08-33 Notch Filter 2 frequency same as P08-30
P08-34 Notch Filter 2 width same asP08-31
P08-35 Notch Filter 2 depth same asP08-32
P08-36 Notch Filter 3 frequency same asP08-30
P08-37 Notch Filter 3 width same asP08-31
P08-38 Notch Filter 3 depth same asP08-32
P08-39 Notch Filter 4 frequency same asP08-30
P08-40 Notch Filter 4 width same asP08-31
P08-41 Notch Filter 4 depth same asP08-32

8.3 List of surveillance items

Display Description
serial Display item Unit
number
This parameter can monitor the number of pulses
Sum of position sent by the user to the servo driver, which can
d00.C.PU user unit
instruction pulses confirm whether there is the phenomenon of
missing pulses
This parameter can monitor the pulse number of
Sum of position
d01.F.PU servo motor feedback. The unit is consistent with user unit
feedback pulses
the User Input Instruction Unit
This parameter can monitor the pulse number of
Number of position the position lag in the process of the SERVO system.
d02.E.PU user unit
deviation pulses The unit is consistent with the User Input
Instruction Unit

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This parameter can monitor the number of pulses

sent by the user to the servo drive. Unit: 131072 bit
Sum of pulses at a
d03.C.PE per turn when using absolute value motor. Use Encoder unit
given position
Incremental encoder motor, then each turn
according to encoder line number * 4 calculate.
This parameter can monitor the pulse number of
servo motor feedback. Unit: 131072 bit per turn
Sum of position
d04.F.PE when using absolute value motor. Use Incremental Encoder unit
feedback pulses
encoder motor, then each turn according to
encoder line number * 4 calculate.
This parameter can monitor the pulse number of
the position lag in the process of the SERVO system.
Number of position
d05.E.PE Unit: 131072 bit per turn when using absolute value Encoder unit
deviation pulses
motor. Use Incremental encoder motor, then each
turn according to encoder line number * 4 calculate.
Pulse Command input This parameter can monitor the input frequency of
d06.C.Fr KPPS
frequency external pulse instruction

Speed Control This parameter can monitor the servo given speed
d07.C.SP rpm
Command when the servo motor is running

This parameter can monitor the speed of servo

d08.F.SP Motor speed rpm
motor when it is running
This parameter can monitor the Torque of the servo
d09. C.tQ Torque instruction ％
motor when it is running
Feedback value of This parameter can monitor the Torque of the servo
d10. F.tQ ％
torque motor when it is running
This parameter can monitor the average torque of
d11.AG.L Average torque ％
the servo motor in the past 10 seconds
This parameter can monitor the peak torque of
d12.PE.L Peak torque ％
servo motor after power-on
This parameter can monitor the servo motor's load
d13.oL Overload rate ％
occupancy in the past 10 seconds
This parameter monitors the load rate of the
d14.rG Regeneration load rate ％
regeneration resistor
This parameter can monitor the input port status of
d16.I.Io Input IO status
CN1. The upper vertical bar represents the high Binary

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level (optocoupler cut-off) , the lower vertical bar system

represents the low level optocoupler on)
This parameter can monitor the output port status
of CN1. The upper vertical bar represents the high Binary
d17.o.Io Output IO status
level (optocoupler through) , the lower vertical bar system
represents the low level optocoupler cut-off)
Mechanical angle of This parameter can monitor the mechanical angle of
d18.AnG 0.1 degree
motor the motor and rotate 1 turn is 360 degrees
Motor UVW phase This parameter can monitor the phase sequence
d19.HAL
sequence position of the incremental encoder motor
Absolute Value Encoder This parameter can monitor the feedback value of Decimal
d20.ASS
single-loop value absolute encoder, rotating a circle for 0xffff system
Absolute Value Encoder This parameter can monitor the number of turns of
d21.ASM
multi-loop value the absolute encoder motor
This parameter can monitor the real-time inertia of
d22.J-L Moment of inertia ratio ％
the load of the motor
Main Circuit Voltage (AC This parameter can monitor the input voltage value
d23.dcp V
value) of the main circuit
Degree
d24.Ath Drive temperature This parameter can monitor the drive temperature Centigrade

Cumulative running This parameter monitors the drive elapsed time, in

d25.tiE seconds
time seconds
d26.1.Fr Resonance 1 This parameter can monitor resonance frequency 1 Hz
d28.2.Fr Resonance 2 This parameter can monitor resonance frequency 2 Hz

Analog quantity
This parameter can monitor the input voltage value
d30.Ai1 instruction 1 input 0.01V
of CN1 analog command.
voltage（V_REF）

Analog quantity This parameter can monitor the input voltage value
d31.Ai2 instruction 1 input of CN1 analog command. 0.01V
（T_REF）

8.4 Auxiliary function

Serial Display
Function Operation
number item

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1. Press the M button in the action panel to switch to auxiliary mode

AF, operate the Up / Down button to AF, press ENT button to enter
the Jog mode of operation. The default Jog speed is 300 RPM.
2. Press the Up button, and the motor turns forward at 300 R / Min;
press the Down button, and the motor turns back at 300 R / Min.
1 AF_JoG JOG trial run 3. Long press ENT button to enter the speed edit menu. Edit the
speed by using a combination of Up, Down and Left buttons, then
press ENT for a long time to re enter Jog mode. This setting is not
saved after the rollout of Jog mode.
4. Press M to exit Jog mode.

1. Press the M button in the action panel to switch to auxiliary mode

AF, operate the Up / Down button to AF, press ENT button to enter
the working mode.
Force enable
2. Press the Up button, the motor is rotating, long press the Up
2 AF_run operate speed
button, the motor speed will continue to increase; press the Down
mode
button, the motor reverse, long press the Up button, the motor
speed will continue to increase.
3. Press the M button to exit the mode.
1. Press the M button in the action panel to switch to auxiliary mode
Automatic AF_xxx, press the Up / Down button to AF_of1, press ENT button to
Zero Drift display clr.Ai1.
3 AF_oF1 calibration for 2. Long press ENT key until finsh flicker appears, that is to complete
analog input 1 the automatic calibration of analog input 1 zero drift. (speed analog)
（VCMD） 3. Press the M button to exit the mode.

1.Press the M button in the action panel to switch to auxiliary mode

Automatic AF_xxx, press the Up / Down button to AF_of2, press ENT button to
Zero Drift display clr.Ai1.
4 AF_oF2 calibration for 2.Long press ENT key until finsh flicker appears, that is to complete
analog input 2 the automatic calibration of analog input 1 zero drift.(torque analog)
（TCMD） 3. Press the M button to exit the mode.

U, W current Same AF_oF1

Automatic Note: when performing this function, the servo must be in the off
5 AF_oF3
zero drift enable state, otherwise the finsh flashing page will not appear, and
calibration the automatic calibration cannot be completed

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1. Press the M button in the action panel to switch to auxiliary mode

AF, press the Up / Down button to AF, press ENT button to display
Absolute
CLC. Err.
6 AF_En0 encoder fault
2. Long press ENT button until finsh flashes, that is, complete
clearing
absolute encoder troubleshooting.
3. Press the M button to exit the mode.
1. Press the M button in the action panel to switch to auxiliary mode
Absolute value AF, press the Up / Down button to AF, press ENT button to display
encoder CLC. Ash.
7 AF_En1
multi-turn 2. Long press ENT key until finsh flashes, that is, complete absolute
value resetting encoder multi-turn value resetting.
3. Press the M button to exit the mode.
recover to
8 AF_ini Contact with factory
factory setup
1. Press the M button in the operations panel to switch to auxiliary
mode AF, operate the Up / Down button to AF, press ENT button to
display the past 8 historical failure information. The left Digit 0
represents the last failure
The failure 2. Press the Up button to display the past failures one by one. Long
9 AF_Err
records display press ENT button, can show the time of failure, time coordinates
reference D 25. Tie.
3. Press the M button to exit the mode. Note: A fault that occurs
during multiple ups and downs in 30 minutes may have a recording
time deviation of 30 minutes.
1. Press the M button of the operation panel to switch to auxiliary
Version mode AF, operate the Up / Down button to AF, press ENT button to
10 AF_uEr
display display the SERVO information.
2. Press the M button to exit the mode.
1. Press the M button of the action panel to switch to the auxiliary
mode AF, operate the Up / Down button to AF, press the ENT button
Operation to edit the action permissions. 0: The parameters are all locked, can
11 AF_unL Permission not be changed; 1: The P00-XX parameters are locked, other can be
Setting changed; 2: No Lock, can be changed. Set 0,1 value, power down to
save. Set 2, power off do not save.
2. Press the M button to exit the mode.
Forced output 1. Press the M button of the action panel to switch to the auxiliary
12 AF_ Io
port level mode AF, operate the Up / Down button to AF, press the ENT button

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to edit.
2. Press the M button to exit the mode. The output port reverts to its
original output state.
1. Press the M key on the operation panel, switch to the auxiliary
mode AF﹣XXX, operate the up / down key to AF_J-L, and press the
ENT key to measure the inertia ratio.
2. Long press up key or down key, the motor will run back and forth
Load inertia
according to the maximum speed set by p08-02, acceleration and
13 AF_J-L ratio
deceleration time set by p08-03, waiting time set by p08-04, and
measurement
turns set by p08-05 until the load inertia ratio appears.
3. Press the M key to exit the mode.
4. Record the measured value and write it into p01-04 (moment of
inertia ratio) parameter

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Chapter 9 Fault Analysis and Treatment

9.1 Failure alarm information list

Alarm Type Alarm Code Alarm content
AL.051 Eeprom parameter abnormal
AL.052 Programmable Logic configuration fault
AL.053 Initialization Failed
AL.054 System abnormal
AL.060 Product model Select fault
AL.061 Product matching fault
AL.062 Parameter storage fault
AL.063 over current checkout
AL.064 Servo power on ，Self-Test find out the output short circuit fault
AL.065 servo unit built-in Fan stop
Hardware Fault
AL.066 servo unit control power supply low voltage
AL.070 AD Sample fault1
AL.071 Current sample fault
AL.100 Parametric combination abnormal
AL.101 AI Setting fault
AL.102 DI distributing fault
AL.105 Electronic gear Configuration error
AL.106 Frequency splitting pulse output Setting abnormal
AL.110 Need to power-on again after the parameter setting
AL.120 Servo ON Instruction invalid
AL.401 Under voltage
AL.402 Over voltage
AL.410 Overload (instantaneous Maximum load)
AL.411 Drive overload
Operational
AL.412 Motor overload（Continuous maximum load）
Faults
AL.420 Over speed
AL.421 Lose Control check out
AL.422 runaway fault
AL.423 Inconsistent speed alarm

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AL.425 AI collect sample over voltage

AL.430 Regeneration of Abnormal
AL.431 Regeneration of overload
AL.432 Regeneration of Short circuit Open circuit
AL.435 Stroke current Limited overload resistance
AL.436 DB overload
AL.440 Radiator overheat
AL.441 Motor overheat fault
AL.500 Output frequency division over speed
AL.501 Position deviation is too large
Full closed loop encoder position and Motor position error are too
AL.502
large
AL.505 Pulse Command input pulse abnormal
AL.510 Gantry synchronization deviation deviation is large
AL.550 Inertia identification failure fault
AL.551 back to origin Point timeout fault
AL.552 Angle Identification failure fault
AL.600 Encoder output power short circuit fault
AL.610 Incremental encoder gets out of line
AL.611 Incremental encoder Z signal loss
AL.620 Absolute Encoder gets out of line
AL.621 Read and write motor encoder EEPROM parameter abnormal
AL.622 motor encoder EEPROM data parity error
AL.640 Absolute encoder overspeed
AL.641 Absolute encoder overheat
AL.643 Absolute encoder Battery low voltage fault
Encoder Fault
AL.644 Absolute encoder multi-turn fault
AL.645 Absolute encoder multi-turn overflow fault
AL.646 Absolute encoder communication error 1
AL.647 Absolute encoder count error 2
AL.648 Absolute encoder communication error 3
AL.649 Absolute encoder communication error 4
AL.650 Absolute encoder communication error 5
AL.651 Absolute encoder communication error 6
AL.652 Absolute encoder multi-turn Multiple faults

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AL.900 Location deviation is too large

AL.901 When servo ON, Location deviation is too large
AL.910 Motor overload
AL.912 Drive overload
AL.920 Regeneration of overload
AL.921 DB overload
AL.925 External regeneration bleeder resistor is too small
AL.930 Absolute encoder’s battery Fault
Warning
AL.941 Need to power-on again after Parameters changing
AL.942 Write EEPROM frequent warnings
AL.943 Abnormal serial communication
AL.950 Over run Warning
AL.951 Absolute encoder angle initialization warning
AL.971 Under voltage warning
AL.990 Radiator overheat warning
AL.991 Input phase loss warning

9.2 Cause and treatment of fault alarm

AL.051：EEPROM parameter abnormal

Causes of fault alarm Fault alarm checking Disposal measures

servo unit EEPROM data Check connection Correct connection，reconnect
abnormal power, If always appear, then
change a drive

AL.052：Programmable logical configuration fault

Causes of fault alarm Fault alarm checking Disposal measures

Master control MCU power-on Check connections, Check the baud Reduce the baud rate of Serial
initialization exception, Serial port rate of serial communication Communication, If always appear,
baud rate setting is too high parameters P00-21 then change a drive

AL.053：Initialization Failed
Causes of fault alarm Fault alarm checking Disposal measures
Master control MCU power-on check connections If always appear, then change a
initialization failed reconnect power drive

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AL.054：System error

Causes of fault alarm Fault alarm checking Disposal measures

Master control MCU operation check connections If always appear, then change a
abnormal reconnect power drive

AL.060：Product model selection fault

Causes of fault alarm Fault alarm checking Disposal measures

Product parameter setting does Detect whether the servo unit can Set product parameters correctly
not support the mtor If always appear, then contact the
match the actual hardware manufacturer
The drive power does not match The rated current of the selected Use the matching motor and
the motor power motor is greater than or much less driver units
than the output current of the
driver

AL.061：Products matching fault

Causes of fault alarm Fault alarm checking Disposal measures

servo unit and servo motor does Detect whether the servo unit can Replace the matching motor and
not support the motor servo units
match

AL.063：Overcurrent detection

Causes of fault alarm Fault alarm checking Disposal measures

Short circuit between U,V and W U,V,W wiring whether is short Correct connection，If always
circuit appear, then change a drive
Drive damage Disconnect the U,V, and W If the connection of U,V and W is
connections on the drive enabling disconnected and the start driver
the drive still alarms, the driver will be
replaced

AL.066：Servo Unit controls the power supply voltage is low

Causes of fault alarm Fault alarm checking Disposal measures

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Control power supply L,N power check connections Measure L, N , Correct connection，If always
voltage is too low whether the voltage is lower than appear, then change a drive
140VAC

AL.071：Current collect sample fault

Causes of fault alarm Fault alarm checking Disposal measures

abnormal collect sample data in check connections whether is Correct connection，If always
current sensor correct appear, then change a drive

AL.100：Parameter combination anomaly

Causes of fault alarm Fault alarm checking Disposal measures
Parameter setting error Check the set (p03-07) parameters Set parameters correctly
If it always appears, initialize the
parameter

AL.102：DI distribution fault

Causes of fault alarm Fault alarm checking Disposal measures
Set parameters correctly Check input port function selection Set parameters correctly
At least two input ports have the parameters (p06-01, p06-03, The drive is recharged
same selection of functionality p06-05...)

AL.105：Electronic gear setting error

Causes of fault alarm Fault alarm checking Disposal measures

Electronic gear ratio setting error Check electronic gear ratio setting Set the electronic gear ratio
parameters.P03-10, P03-11 correctly
Gantry output pulse set too small Check the feedback pulse number Set the feedback pulse number of
of the gantry motor for one turn: the gantry motor for one turn
p03-52 must be greater than 128

AL.106：Frequency division pulse output setting is abnormal

Causes of fault alarm Fault alarm checking Disposal measures

The output parameters of Check the setting parameters of Set the output parameters of
frequency division pulse are set frequency division pulse output. frequency division pulse correctly
out of range P03-22, p03-23, p03-25 Incremental encoder p03-22 ≤
p03-23

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Bus encoder p03-25 <65535

The drive is recharged

AL.110：The power should be recharged after the parameters are set

Causes of fault alarm Fault alarm checking Disposal measures

After setting the servo The drive is recharged The drive is recharged
parameters, it shall be powered
on again to take effect

AL.120：Servo ON command invalid alarm

Causes of fault alarm Fault alarm checking Disposal measures

When the servo is ON, the power Check wiring and input voltage Check wiring and input voltage
supply input ports R, S and T are
not powered
AL.401：Under voltage
Causes of fault alarm Fault alarm checking Disposal measures
Main circuit input voltage lower Check whether the input R,S and T Ensure proper wiring, use correct
than rated voltage value or no of the main circuit is correct and voltage source or series regulator
input voltage what the voltage value is. The bus
voltage can be monitored through
d23.dcp

AL.402 Over voltage

Causes of fault alarm Fault alarm checking Disposal measures

The input voltage of the main Test the input voltage of the main Use the correct voltage source or
circuit is higher than the rated circuit with a voltmeter tandem regulator
voltage
Driver hardware failure When the input voltage is Please send it back to distributor or
confirmed to be correct, the original factory for maintenance
overvoltage alarm still remains
No regenerated resistance or Verify that p00-30 is set to 0 or 1 Correct setting and external
regenerated resistance is not regenerative resistance
selected correctly

AL.410：Overload (instantaneous maximum load)

Causes of fault alarm Fault alarm checking Disposal measures

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The machine is stuck when the Check if mechanical connection is Adjusting mechanical structure
motor starts jammed
Driver hardware failure Confirm that the mechanical part is Please send it back to distributor or
still alarming normally original factory for maintenanc

AL.412：Motor overload (continuous maximum load)

Causes of fault alarm Fault alarm checking Disposal measures

Continuous use beyond the rated Monitoring can be done through Switch to a higher power motor or
load of the drive d13.ol. In monitoring mode lower load
Improper parameter setting of 1. Whether the mechanical system 1. Adjust the gain of the control
control system is installed loop
2. Set the acceleration constant too 2. Acceleration and deceleration
fast setting time slows down
3. Whether the parameters of gain
class are set correctly

Motor connection error Check U, V and W wiring Correct connection

AL.420 Over speed

Causes of fault alarm Fault alarm checking Disposal measures

Input speed command too high Use the signal detector to check if Adjust the frequency of the input
the incoming signal is normal signal
Incorrect setting of overspeed Test whether p04-05 (overspeed Set p04-05 (overspeed alarm
judgment parameters alarm value) is set reasonably value) correctly

AL.421：Out of control check out

Causes of fault alarm Fault alarm checking Disposal measures

Motor power line U,V,W wiring Check the connection and adjust Correct connection
error the frequency of the input signal
Motor parameters are not set Check P00-05;And encoder Set parameters correctl In torque
correctly parameter setting is correct or not mode, set p01-40 to 0 to turn off
the out-of-control check out
function

AL.423 Inconsistent speed alarm

Causes of fault alarm Fault alarm checking Disposal measures

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Motor power line U,V,W wiring Check the wiring correct the wiring
error
Motor parameters are not set Check whether p00-46 / p04-12 set parameters correctly
correctly Settings are reasonable
AL.430：Abnormal regeneration
Causes of fault alarm Fault alarm checking Disposal measures
The regenerative resistance is Check the connection status of the If the connection is normal, please
wrong or not connected to the regenerated resistance return the drive to the factory for
external regenerative resistance maintenance
Parameter setting error Please confirm the parameter Set parameter values correctly
Settings for p00-30, p00-31 and
p00-32

AL.431：Regeneration of overload
Causes of fault alarm Fault alarm checking Disposal measures
The regenerative resistance is Check the connection status of the Select the appropriate
wrong or not connected to the regenerated resistance and regenerative resistance
external regenerative resistance whether the regenerated resistance
value and power are suitable

AL.432：Regenerative short circuit, open circuit

Causes of fault alarm Fault alarm checking Disposal measures

Regenerative short circuit Check port B1/B3 for short circuit If there is no short circuit in B1/B3
and the alarm still appears, please
return the driver to the factory for
maintenance
Regenerative open circuit Please confirm the parameter Set parameter values correctly
Settings for p00-30, p00-31 and
p00-32

AL.440：Radiator overheating

Causes of fault alarm Fault alarm checking Disposal measures

The internal temperature of the Check whether the heat dissipation Improve the heat dissipation
drive is above 95℃ condition of the drive is good condition of the drive. If the alarm
still appears, please return the
drive to the factory for
maintenance

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AL.501：Excessive position deviation

Causes of fault alarm Fault alarm checking Disposal measures

Position deviation is too large and Confirm p03-15 (position deviation Increase the set value of p03-15
parameter setting is too small is too large) parameter setting (position deviation is too large)
The gain value is set too low Confirm whether the gain class Re-adjust the gain class parameters
parameters are properly set correctly
Internal torque limiter is set too Confirm internal torque limiter Re-adjust the internal torque
small limiter correctly
Excessive external load Check external load Load reduction or high power
motor replacement

AL.505：P Command input pulse exception

Causes of fault alarm Fault alarm checking Disposal measures

The pulse command frequency is Use the pulse frequency meter to Set the input pulse frequency
higher than the rated input detect if the input frequency is correctly
frequency higher than the rated input
frequency

AL.551：Back to the origin timeout failure

Causes of fault alarm Fault alarm checking Disposal measures

The operation back to the origin is Confirm whether the parameter Set p03-68 correctly
timed out p03-68 (maximum time limit for
searching origin) is reasonable

AL.600：Short circuit fault of encoder output power supply

Causes of fault alarm Fault alarm checking Disposal measures

Encoder power connection error Check whether the encoder power Correct connection
supply +5V and GND are connected
in reverse

AL.610：Delta encoder off-line

Causes of fault alarm Fault alarm checking Disposal measures
Delta encoder HallU, HallV, HallW Check the encoder wiring Correct connection
signal exception

AL.620：Bus encoder off line

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Causes of fault alarm Fault alarm checking Disposal measures

Bus encoder communication Check the encoder wiring Correct connection
failed

AL.621：Read/write motor encoder EEPROM parameters are abnormal

Causes of fault alarm Fault alarm checking Disposal measures

Encoder read and write exception Check the encoder wiring， Correct connection

AL.640：Bus encoder overspeed

Causes of fault alarm Fault alarm checking Disposal measures

Bus encoder speed value is more Check the encoder wiring Reduce the speed
than 6000rpm Make sure the encoder shield wire If the connection is normal, please
is properly connected return the drive to the factory for
maintenance

AL.643：Bus encoder battery failure

Causes of fault alarm Fault alarm checking Disposal measures

When the bus encoder is set to Check the external battery voltage When the battery voltage is lower
multi-coil absolute value, the of the encoder and confirm that it is than 3.0V, replace the battery,
external battery voltage is low higher than 3.0v For higher than 3V, use the
auxiliary function AF_En0 to clear
the alarm

AL.645：ModBus encoder multi-loop overflow fault

Causes of fault alarm Fault alarm checking Disposal measures

The number of turns of the bus The winding number can be Clear multiple values using the
encoder is out of range monitored through the monitoring directive AF_En1
mode d21.ash. The multi-turn
absolute motor cannot turn in one
direction for a long time.

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AL.647：Bus-type encoder counts exceptions

Causes of fault alarm Fault alarm checking Disposal measures

Split-type encoder installation Check the encoder Install the encoder correctly
position deviation is large

AL.930：Absolute value encoder battery failure

Causes of fault alarm Fault alarm checking Disposal measures
Absolute value encoder battery Check the external battery voltage The battery voltage is lower than
failure of the encoder and confirm that it is 3.0v. Replace the battery
higher than 3.0v Use the command AF_En0 to clear
the alarm when it is higher

AL.941：Parameter change requires power outage and restart to take effect

Causes of fault alarm Fault alarm checking Disposal measures

After modifying the parameters, Power to restart
the parameters shall take effect
after repowering

AL943：Abnormal serial communication

Causes of fault alarm Fault alarm checking Disposal measures

Serial communication Check the wiring Add a filter to the wire
interference Check the baud rate parameter Reduce the baud rate of serial
The serial port baud rate is set too p00-21 for serial communication communication
high

Chapter 10 Communication Settings

10.1 Modbus communication parameter setting

Para Code Name Description

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setting range: 0-255, default 1

P00-23 Slave address
Set according to the equipment requirements
setting range: 0-7, default 2 0：2400
1：4800
2：9600
Modbus
3：19200
P00-24 communication
4：38400
baud rate 5：57600
6：115200
7：25600
setting range: 0-3, default 1
0: no parity, 2 stop bits
P00-25 check mode 1: even parity, 1 stop bit
2: odd parity, 1 stop bit
3: no parity, 1 stop bit
Setting range: 0-100, default 0
When the parameter is set to 0, the response is conducted according
Modbus
to the standard communication. When the parameter is set to value,
P00-26 Communication
the response time of Modbus communication is conducted according
response delay to the set time

10.2 Modbus communication support read and write parameter

settings
Supports writing to parameter lists

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Address Address address address Remark

Parameter decimail Hexadecimal Octanory
number
P03-09 309 135 465 Number of command
pulses for motor
rotation
P03-10 310 136 466 Electronic gear
molecules
P03-11 311 137 467 The electronic gear denominator
P05-03 280 118 430 The digital torque is given
P05-02 366 16E 556 Torque mode speed limiter given
value
Eeprom data 2050 802 4002 data to be written
Address: 0-11bit
12 bit for 1 when the
Eeprom control 2051 803 4003 write operation
The first 13 bits are 1
for the read operation
Note: the above written parameters are only temporarily modified and will not be saved after power failure

Support for reading parameter lists

Address Address Address Address Remark

Parameter decimail Hexadecima Octanory
number
P03-09 309 135 465 Number of command pulses for
motor rotation
P03-10 310 136 466 Electronic gear molecules
P03-11 311 137 467 The electronic gear denominator
P03-12 312 138 470 High position of electronic gears
Eeprom reads
2050 802 4002 read data
data
Eeprom reads address 2051 803 4003 data corresponding to address

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Position 2106/2107 83A/83B 4072/4073 Address 2106 is 16 bits high

reference Address 2107 is the lower 16 bits
Position 2108/2109 83C/83D 4074/4075 Address 2108 is the upper 16 bits
feedback value Address 2109 is the lower 16 bits
Position 2110/2111 83E/83F 4076/4077 Address 2110 is the upper 16 bits
deviation value Address 2111 is the lower 16 bits
Speed 2113 841 4101 Umin：1rpm/min

control
command
Motor running 2114 842 4102 Unit: 1rpm / min
speed
Torque 2115 843 4103 Unit: 0.1%
command
Torque 2116 844 4104 Unit: 0.1%
feedback value
Overload load 2117 845 4105 Unit: 0.1%
rate
Peak Torque 2118 846 4106 Unit: 0.1%
Regeneration overload 2120 848 4110 Unit: 0.1%
rate
Port status 2121 849 4111 read into the value, converted to
16-bit binary: low 8 for the input
port state, the middle 5-bit for the
output port state, high 3-bit HAL
state
Motor 2123 84B 4113 Unit: 0.1 degree
mechanical
angle
Position 2125/2126 84D/84E 4115/4116 Front High Low:
feedback value High for laps

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(Absolute Low for lap, 65536BIT per turn

Data)
Main circuit 2128 850 4120 Unit:V
voltage
Speed 2133 855 4125 Unit:0.01V

loop
analog voltage
value
Torque loop 2134 856 4126 Unit:0.01V
analog voltage
value
External command digital reference list

Instruction address address address Renark

address Decimal Hexadecimal Octanory

Control mode

Position loop 2003/2004 7D3/7D4 3723/3724 maximum support 2 ^ 32

digital given digital reference

Decimal value 131072 = 1

turn

Speed 2002 7D2 3722 speed (rpm) = 10 decimal

loop value / 5

digital reference

Torque ring digital 280 118 430 Torque = decimal value %

quantity is given

Torque ring speed 366 16E 556 Rotational speed (RPM) = base 10

digital quantity is given value

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Chapter 11 Special Function Instructions

11.1 Absolute encoder is used

11.1.1 Functional description

Using the servo motor with the absolute value encoder, the absolute value detection system can be built by the

upper device. Through the absolute value of the detection system, you do not have to reset the origin every time

the power supply. This function is based on MODBUS communication to read the absolute encoder winding

number and position data, and the upper device processes and controls the absolute encoder related functions.

11.1.2 Based on MODBUS communication servo basic Settings and instructions.

When the system using absolute value encoder is put into use, it needs to initialize the rotation number data

(af-en1 absolute value encoder multi-turn value zeroing).Thus, an alarm related to the absolute value encoder

occurs when initialization is required, such as first switching on the power.By setting (initializing) the absolute

value encoder, the alarm associated with the absolute value encoder is cleared after initializing the number of

turns.

Para Code Name Description

Set range: 0-255, default 1

P00-23 From the station address Set according to equipment requirements

Set range: 0-7, default 20：2400

1：4800
2：9600
Modbus Communication baud 3：19200
P00-24
rate 4：38400
5：57600
6：115200
7：25600
P00-25 Check way Set range: 0-3, default 0

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0: no check, 2 stop bits

1: parity, 1 stop bit
2: odd check, 1 stop bit
3: no check, 1 stop bit

Set range: 0-1, default 0,

P00-29 Read the absolute position value 84D/84E through 485
0:84d is the value of the circle, and 84E is the value of the
Modbus Absolute encoder
single circle
feedback format
1:84d is the value of a single turn, and 84E is the value of a
turn

11.1.3 Based on MODBUS communication absolute data address

Address Address: address address: Remark

Parameter Decimal Hexadecimal Octal notes
number
Position 2125/2126 84D/84E 4115/4116 Front High
feedback value Low: High
(Absolute Turn
Data) Low for lap,
65536BIT per
turn 36BIT

11.1.4 Absolute encoder related alarm processing

Alarm Fault alarm cause Fault alarm check The disposal measures
code
AL.640 Bus Encoder Overspeed Initial use occurs by AF-EN0 (see chapter 8.4) Clear
alarm
AL.643 When the bus Check the encoder clear the alarm via
encoder is set to external battery AF-EN0 (see chapter

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multi-turn absolute voltage, confirm 8.4)

value, the external that the battery is
battery voltage is replaced by more
low than 3.0V
AL.644 Read multi-turn data Check d21.ASH clear the multi-turn
AL.645 abnormality, or (see chapter 8.3) data by AF-EN1 (see
multi-turn data Multi-turn values chapter 8.4)
greater than 32767 If the
multi-turn value is
greater than 32767
AL.930 Absolute Encoder Check Encoder clear the alarm via
Battery Fault External Battery AF-EN0 (see Chapter
Voltage Replace the battery 8.4)

11.1.5 Absolute encoder battery replacement

In case of any of the following drivers, please replace the battery to avoid loss of absolute position data.

1. When the drive displays AL.930, it represents the battery voltage depression warning. The battery must be

replaced in time to avoid the loss of the motor's absolute position data

2. When the drive displays AL.643, it indicates the low battery voltage alarm. When the alarm occurs, the motor

winding number data cannot be recorded normally, so the battery must be replaced immediately. After the

battery is replaced, the auxiliary function af-en0 shall be used to alarm and clear after the battery is replaced, and

the origin of the equipment shall be checked at the same time. At the same time, the auxiliary function is used to

reset the multi-turn data of the motor

Note: it is recommended to replace the battery when the drive is energized to avoid the loss of absolute position

data

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