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46
Display Parameter
Parameter
Signal Display Unit Explanation
Communication
Address
RS232 RS485
Un-01 Actual Motor Speed rpm Motor Speed is displayed in rpm. 6C4H 0601H
Un-02 Actual Motor Torque %
It displays the torque as a percentage of the rated
torue.
Ex: 20 are displayed. It means that the motor torque
output is 20% of rated torque.
9B6H 0602H
Un-03 Regenerative load rate %
Value for the processable regenerative power as
100% .
Displays regenerative power consumption in 10-s
cycle.
6F4H 0603H
Un-04 Accumulated load rate % Value for the rated torque as 100%.
Displays effective torque in 10-s cyle. 693H 0604H
Un-05 Max load rate % Max value of accumulated load rate 694H 0605H
Un-06 Speed Command rpm Speed command is displayed in rpm. 678H 0606H
Un-07 Position Error Value pulse Error between position command value and the
actual position feedback. 65CH 0607H
Un-08 Position Feed-back Value pulse The accumulated number of pulses from the
encoder. 688H 0608H
Un-09 ExternalVoltage Command V External analog voltage command value in volts. B93H 0609H
Un-10 (Vdc Bus)Main Loop
Voltage V DC Bus voltage in Volts. 6B7H 060AH
Un-11 External analog voltage limit
value V EX：The value is 5.25 means external analog
voltage limit value is 5.25V. B9BH 060BH
Un-12 External CCW Torque Limit
Command Value % Ex: Display 100. Means current external CCW
torque limit command is set to 100 %. 6C0H 060CH
Un-13 External CW Torque
LimitCommand Value % Ex: Display 100. Means current external CW toque
limit command is set to 100%. 6C1H 060DH
Un-14
Motor feed back – Less
then 1 rotation pulse
value(Low Byte)
pulse
After power on, it displays the number of pulses for
an incomplete revolution of the motor as a Low
Byte value.
8FDH 060EH
Un-15
Motor feed back – Less
then 1 rotation pulse
value(High Byte)
pulse
After power on, it displays the number of pulses for
an incomplete revolution of the motor as a High
Byte value.
8FCH 060FH
Un-16 Motor feed back – Rotation
value (Low Byte) rev After power on, it displays motor rotation number as
a Low Byte value. 8FFH 0610H
Un-17 Motor feed back – Rotation
value (absolute value) rev After power on, it displays motor rotation number as
a High Byte value. 8FEH 0611H
Un-18
Pulse command – Less
then 1 rotation pulse
value(Low Byte)
pulse
After power on, it displays pulse command input for
an incomplete rotation. pulse value is a Low Byte
value.
8F9H 0612H
Un-19
Pulse command – Less
then 1 rotation pulse
value(absolute value)
pulse
After power on, it displays pulse command input for
an incomplete rotation. pulse value is a High Byte
value.
8F8H 0613H
Un-20 Pulse command – rotation
value(Low Byte) rev After power on, it displays pulse command input
rotation number in Low Byte value. 8FBH 0614H
47
Parameter
Signal Display Unit Explanation
Communication
Adress
RS232 RS485
Un-21 Pulse command – rotation
value(absolute value) rev After power on, it displays pulse command input
rotation number in High Byte value.
8FAH 0615H
Un-22 Position feedback pulse 2500/8192 ppr Encoder feedback. 6B0H 0616H
Un-23
15 bits encoder position
feedback Less than 1
rotation
pulse it displays absolute position for an incomplete
rotation.
9E7H 0617H
Un-24
Communication encoder
position feedback of
multi-rotations
rev It displays absolute position for multi-rotations. 9D9H 0618H
Un-25
17 bits encoder position
feedback Less than 1
rotation(Low Byte)
pulse it displays absolute position for an incomplete
rotation as Low Byte value.
9E7H 0619H
Un-26
17 bits encoder position
feedback Less than 1
rotation(High Byte)
pulse it displays absolute position for an incomplete
rotation as High Byte value.
9E6H 061AH
Un-27 15bits/17bits encoder status ─ 15 bits/17bits encoder status feedback. 9DAH 061BH
Un-28 Torque command %
It displays the torque command as a percentage of
the rated torque.
Ex: Display. 50.Means current motor torque
command is 50% of rated torque.
67EH 061CH
Un-29 Load inertia x0.1
When Cn002.2=0(Auto gain adjust disabled), it
displays the current preset load inertia ratio from
parameter Cn025.
When Cn002.2=1(Auto gain adjust enabled), it
displays the current estimated load inertia ratio.
844H 061DH
Un-30 Digital Output status(Do) ─
The status of digital output contact (Do)
represented in hexadecimal.
Ex : H00XX (0000 0000 Do-8/7/6/5 Do-4/3/2/1)
6AFH 061EH
Un-31 Digital Input status(Di) ─
The status of digital input contact (DI)
represented in hexadecimal.
Ex : HXXXX (000Di-13 Di-12/11/10/9 Di-8/7/6/5
Di-4/3/2/1)
6CBH 061FH
Un-39 The offset voltage of TLA mV EX：The value is 25 means The offset voltage of TLA
is 25mV.
97CH 0627H
Un-40 The offset voltage of VIC mV EX：The value is 25 means The offset voltage of VIC
is 25mV.
97FH 0628H
Un-41 The offset voltage of TC mV EX：The value is 25 means The offset voltage of TC
is 25mV.
97DH 0629H
Un-42 The offset voltage of VC mV EX：The value is 25 means The offset voltage of VC
is 25mV.
97EH 062AH
Un-43 Electric motor angle degree Display the moment of electric motor angle. 6BAH 062BH
Un-44
Read the model of motor
with communication type
encoder
─ EX：When it display H1267 means motor’s Cn030
number is H1267
72FH 062CH
Un-45 Inertia Estimation for
OnLine_AutoTuning X0.1 EX：The value is 100 means the inertia ratio is ten
times.
B34H 062DH
Un-46 Status for OFFLine_Tuning ─ The status of OFFLine_Tuning 90AH 062EH
Un-47 The error code for
OFFLine_Tuning ─ The error code for OFFLine_Tuning CA5H 062FH
48
System Parameters
Parameter Name & Function Default Unit Setting
Range
Control
Mode
Communication
Address
RS232 RS485
★●
Cn001
Control Mode selection
2 X
0
│
A
ALL 510H 0001H
Setting Explanation
0 Torque Control
1 Speed Control
2 External Position Control (external pulse
Command)
3 External Position/Speed Control Switching
4 Speed/Torque Control Switching
5 External Position/Torque Control Switching
6 Internal Position Control (internal position
Command)
7 Internal Position/Speed mode switching
8 Internal Position/Torque mode switching
9 Tool Turret mode
A Internal/External Position switching
★
Cn002.0
SON (Servo On) Input contact function
0 X
0
│
1
ALL
51DH 0002H
Setting Explanation
0 Input Contact, Enables SON (Servo On).
1 Input Contact has no function.
(SON is enabled when Power on).
★
Cn002.1
CCWL & CWL Input contact function.
0 X
0
│
1
Setting Explanation
0 CCWL and CWL input contacts are able to
control the drive inhibit of CCW and CW.
1
CCWL & CWL input contacts are not able to
control CCW and CW drive inhibit. CCW and
CW drive inhibit is disable.
★
Cn002.2
Auto Tuning
0 X
0
│
1
Pi
Pe
S
Setting Explanation
0 Continuously Auto Tuning is Disable
1 Continuously Auto Tuning is Enabled.
★
Cn002.3
EMC reset mode selection
0 X
0
│
1
ALL
Setting Explanation
0
Reset EMC signal is only available in Servo Off
condition (SON contact is open) and reset
AL-09 by ALRS signal.
P.S.) It is NOT allow to reset when SON is
applied.
1
When EMC status is released, AL-09 can be
reset on both Servo ON and Servo OFF
conditions.
Attention!
Ensure that the speed command are removed
before the alarm is reset to avoid motor
unexpected start.
49
Parameter Name & Function Default Unit Setting
Range
Control
Mode
Communication
Address
RS232 RS485
Cn003
Output time setting for Mechanical Brake Signal
0 msec
-2000
│
2000
ALL 511H 0003H
Brake Signal Timing Sequence：
Implementation a pin for dynamic brake signal(BI) as a
output signal before to perform this function. Refer to
sequence diagram above.
Note: Signal logic level status: 1 = ON. 0 = OFF.
Refer to section5-6-1 for setting contact the high &
Low logic levels.
Cn004
Motor rotate direction.(Inspect from the load
side)
CCW
CW
When Torque or Speed Command value is Positive, the
setting of Motor retation direction are:
0 X
0
│
3
S
T 512H 0004H
Setting Explanation
Torque Control Speed Control
0 Counter
ClockWise(CCW)
Counter
ClockWise (CCW)
1 ClockWise (CW) Counter
ClockWise (CCW)
2 Counter
ClockWise (CCW) ClockWise(CW)
3 ClockWise (CW) ClockWise (CW)
50
Parameter Name & Function Default Unit Setting
Range
Control
Mode
Communication
Address
RS232 RS485
★
Cn005
Encoder pulse output scale.
2500
pulse
1
│
Encoder
pulse
per
rotation
ALL 513H 0005H
For default set to the rated encoder number of
pulses per revolution, such as 2500ppr.
Encoder ppr can be scaled by setting a ppr in the
range of 1 to the rated ppr of the encoder for
scaling purpose.
Ex:encorder rated precision is 2000 ppr, If you
setting Cn005 =1000, the output is 1000ppr.
P.S.the default depends on encorder rated precision
2500PPR:2500 ;8192PPR: 8192; 32768PPR：15bit、17bit
8192
32768
Cn006.0
Analog monitor output selection MON1
2
X
0
│
B
ALL 514H 0006H
Setting Explanation
0 Speed command
(±10V/1.5 times of the rated speed)
1 Speed feedback detection
(±10V/1.5 times of the rated speed)
2 Torque command
(±10V/1.5 times of the rated torque)
3 Torque feedback detection
(±10V/1.5 times of the rated torque)
4 Pulse command input
5 Position deviation value
6 Electrical angle
7 Main circuit (Vdc Bus) voltage
8 Speed command
(+10V/3.5 times of the rated torque)
9 Speed feedback detection
(+10V/1.5 times of the rated speed)
A Torque command
(+10V/3.5 times of the rated torque)
B Torque feedback detection
(±10V/3.5 times of the rated torque)
Cn006.1 Analog monitor output selection MON2
0 Refer to Cn006.0 for setting this parameter
Cn007
Speed reached preset.
Rated
rpm ×
1/3
rpm
0
│
4500
S
T 515H 0007H
Speed preset level for ClockWise or Counter
ClockWise rotation.
When the speed is greater then preset level in
Cn007 the Speed reached output signal INS will be
activated..
Cn008
Brake Mode
2 X
0
│
5
ALL 516H 0008H
Selectable Brake modes for Servo off, EMC and
CCW/CW drive inhibit.
Setting Explanation
Dynamic brakes Mechanical brakes
0 No No
1 No Yes
2 Yes No
3 Yes Yes
4* No (Under 100rpm) No
5* No (Under 100rpm) Yes
51
Parameter Name & Function Default Unit Setting
Range
Control
Mode
Communication
Address
RS232 RS485
★
Cn009
CW/CCW drive inhibit mode
0 X
0
│
2
ALL 517H 0009H
Setting Explanation
0
When torque limit reached the setting value of
(Cn010,Cn011), servo motor deceleration to stop
in the zero clamp condition.
1
Deceleration by using dynamic brake to stop then
hold in dynamic brake status. Cn009 setting has
priority over Cn008 setting, it require re-cycling
power to take effect after setting changed.
2
Once max torque limit (± 300% ) is detected then
deceleration to stop, zero clamp is applied when
stop.
Cn010
CCW Torque command Limit. 300
%
0
│
300
ALL 518H 000AH Ex: For a torque limit in CCW direction which is twice the
rated torque , set Cn10=200.
P.S.)default would depends on Cn030
260
250
240
220
200
Cn011
CW Torque command Limit. -300
%
-300
│
0
ALL 519H 000BH Ex: For a torque limit in CW direction which is twice the
rated torque , set Cn11=-200.
P.S.)default would depends on Cn030
-260
-250
-240
-220
-200
Cn012
Power setting for External Regeneration Resistor
0
/60
/150
W
0
│
10000
ALL 51AH 000CH
Refer to section 5-6-7 to choose external Regen resister
and set its power specification in Watts of Cn012.
P.S.)This default value will change depend on servo model
P.S.)Different series of servo has different default
Cn013
Frequency of resonance Filter ( Notch Filter).
0 Hz
0
│
1000
Pi
Pe
S
Enter the vibration frequency in Cn013, to eliminate system C40H 000DH
mechanical vibration.
Cn014
Band Width of the Resonance Filter.
7 X
1
│
100
Pi
Pe
S
C41H 000EH Adjusting the band width of the frequency, lower the band
width value in Cn014, restrain frequency Band width will be
wider.
Cn015.0
PI/P control switch mode.
4 X
0
│
4
Pi
Pe
S
C07H 000FH
Setting Explanation
0 Switch from PI to P if the torque command is larger
than Cn016.
1 Switch from PI to P if the speed command is larger
than Cn017.
2 Switch from PI to P if the acceleration rate is larger
than Cn018.
3 Switch from PI to P if the position error is larger
than Cn019.
4 Switch from PI to P be the input contact PCNT.
Set one of the multi function terminals to option 03.
52
Parameter Name & Function Default Unit Setting
Range
Control
Mode
Communication
Address
RS232 RS485
Cn015.1
Automatic gain 1& 2 switch
4 X
0
│
4
Pi
Pe
S
C07H 000FH
Setting Explanation
0 Switch from gain 1 to 2 if torque
command is greater than Cn021.
1 Switch from gain 1 to 2 if speed command
is greater than Cn022.
2 Switch from gain 1 to 2 if acceleration
command is greater than Cn023.
3 Switch from gain 1 to 2 if position error
value is greater than Cn024.
4
Switch from gain 1 to 2 by input contact
G-SEL. Set one of the multi function
terminals to option 15.
Cn015.3 Automatic gain proportion switch
0 X
1
│
0
ALL Setting Explanation
0 JSDAP new automatic gain proportion
1 JSDAP old automatic gain proportion
Cn016
PI/P control mode switch by Torque
Command
200 %
0
│
399
Pi
Pe
S
C4BH 0010H
Set the Cn015.0=0 first.
If Torque Command is less than Cn016 PI control
is selected.
If Torque Command is greater than Cn016 P
control is selected.
Cn017
PI/P control mode switch by Speed Command
0 rpm
0
│
4500
Pi
Pe
S
C4CH 0011H
Set the Cn015.0=1 first.
If Speed Command is less than Cn017 PI control
is selected.
If Speed Command is greater than Cn017 P
control is selected.
Cn018
PI/P control mode switch by accelerate
Command
0 rps/s
0
│
18750
Pi
Pe
S
C4DH 0012H
Set the Cn015.0=2 first.
If Acceleration is less than Cn018 PI control is
selected.
If Acceleration is greater than Cn018 P control is
selected.
Cn019
PI/P control mode switch by position error
number
0 pulse
0
│
50000
Pi
Pe
S
C4EH 0013H
Set the Cn015.0=3 first.
If Position error value is less than Cn019 PI
control is selected.
If Position error value is greater than Cn019 P
control is selected.
Cn020
Automatic gain 1& 2 switch delay time.
0 x02
msec
0
│
10000
Pi
Pe
S
53CH 0014H Speed loop 2 to speed loop 1, Change over delay,
when two control speed loops ( P&I gains 1 & 2)
are used.
53
Parameter Name & Function Default Unit Setting
Range
Control
Mode
Communication
Address
RS232 RS485
Cn021
Automatic gain 1& 2 switch condition (Torque
command)
200 %
0
│
399
Pi
Pe
S
53DH 0015H
Set Cn015.1=0 first.
When torque command is less than Cn021 , Gain 1 is
selected.
When torque command is greater than Cn021, Gain 2 is
selected
When Gain 2 is active and torque command
becomes less than Cn021 setting value, system will
automatically switch back to Gain 1 switch time
delay can be set by Cn020.
Cn022
Automatic gain 1& 2 switch condition (Speed
Command)
0 rpm
0
│
4500
Pi
Pe
S
53EH 0016H
Set the Cn015.1=1 first.
When speed command is less than Cn022 Gain 1 is
selected.
When speed command is greater than Cn022 Gain 2 is
selected.
When Gain 2 is active and speed command becomes less
than Cn022 setting value, system will automatically switch
back to Gain 1 the switch time delay can be set by Cn020.
Cn023
Automatic gain 1& 2 switch condition
(Acceleration Command)
0 rps/s
0
│
18750
Pi
Pe
S
53FH 0017H
Set Cn015.1=2 first.
When accel. command is less than Cn023 Gain 1 is
selected.
When accel. command is greater than Cn023 Gain 2 is
selected.
When Gain 2 is active and acceleration command
becomes less than Cn023 system will automatically
switch back to Gain 1 the switch time delay can be set by
Cn020.
* accel. is acceleration
Cn024
Automatic gain 1& 2 switch condition (Position error
value)
0 pulse
0
│
50000
Pi
Pe
S
540H 0018H
Set Cn015.1=3 first.
When position error value is less than Cn024 Gain 1 is
selected.
When position error value is greater than Cn024 Gain 2 is
selected.
When Gain 2 is active and position error value becomes
less than Cn024 system will automatically switch back to
Gain 1 and the switch time delay can be set by Cn020.
Cn025
Load-Inertia ratio
40 x0.1
0
│
1000
Pi
Pe
S
5FBH 0019H 100%
MotorRotorInertia(JM )
) L (J LoadInertiaToMotor
LoadInertiaRatio
54
Parameter Name & Function Default Unit Setting
Range
Control
Mode
Communication
Address
RS232 RS485
Cn026
Rigidity Setting
9 X
1
│
21
Pi
Pe
S
C32H 001AH
When Auto tuning is used, set the Rigidity Level
depending on the various Gain settings for applications
such as those listed below:
Setting
Explanation
Position
Loop Gain
Pn310 [1/s]
Speed
Loop Gain
Sn211 [Hz]
Speed Loop
Integral-Time Constant
Sn212 [x0.2msec]
1 2 2 1400
2 3 3 950
3 6 6 450
4 9 9 300
5 12 12 300
6 15 15 300
7 20 20 225
8 30 30 150
9 40 40 100
10 50 50 60
11 60 60 75
12 70 70 50
13 85 85 50
14 100 100 40
15 120 120 40
16 140 140 30
17 160 160 30
18 180 180 25
19 200 200 25
20 225 225 20
21 250 250 20
55
Parameter Name & Function Default Unit Setting
Range
Control
Mode
Communication
Address
RS232 RS485
Cn027
Analog monitor output 1, Offset adjustment
0 x40
mV
-250
│
250
ALL C03H 001BH
Analog monitor output zero offset can be adjusted by
parameter. Cn027 as below.
Cn028
Analog monitor output 2, offset adjustment
0 x40
mV
-250
│
250
Analog monitor output 2, zero offset can be adjusted by ALL C04H 001CH
parameter. Cn028. See diagram for Monitor 1 above.
★
Cn029
Reset parameters.
0 X
0
│
1
ALL 5FDH 001DH Setting Explanation
0 Disabled
1 Reset all Parameters to default ( Factory setting)
★●
Cn030
Servo motor model code
Default X X ALL 50BH 001EH
Servo model code can be display and checked with parameter
dn-08, refer 3-2-2 dn-08 table for more information.
Attention：Before operate your servo motor., check this
parameter setting is compatible for servo drive and motor. If
there has any incompatible problem contact supplier for more
information.
Cn031.0
Cooling fan running modes
(Available forJSDAP-50A3/75A3/100A3/200A3/300A3)
0 X
0
│
3
ALL
50EH 001FH
Setting Explanation
0 Auto-run by internal temperature sensor.
1 Run when Servo ON
2 Always Running.
3 Disabled.
Cn031.1
Low Voltage Protection(AL-01) auto-reset selection
0 X
0
│
1
ALL
This parameter(AL-01) could be set the method of Low
Voltage Protection.
Setting Explanation
0
As servo on, it shows AL-01 low voltage alarm
immediately when it detect low voltage, and after
eliminating the situation, to reset it, servo off is a must.
1
It shows BB(baseblock) immediately when it detect low
voltage, and after eliminating the situation, drive would
be auto-reset and displayed Run.
●
Cn031.2
Absolute Encoder Battery Fault
ABS
encoder
= 0
others =
1
X
0
│
1
ALL
Setting Explanation
0
When battery fault occurs, driver can not be memory
absolute position, AL-16 displayed and motor operates
continuous.
1
When battery fault occurs, driver can not be memory
absolute position, AL-16 do not display and motor
stopped.
56
Parameter Name & Function Default Unit Setting
Range
Control
Mode
Communication
Address
RS232 RS485
●
Cn031.3
Motor Series Selection
0 X
0
│
1
ALL 50EH 001FH Setting Explanation
0 The existing motor
1 01 motor (only for mainland China)
Cn032
Speed feedback smoothing filter
500 Hz
0
│
2500
Pe
Pi
S
Restrain sharp vibration noise by the setting and 546H 0020H
this filter also delay the time of servo response.
Cn033
Speed Feed-forward smoothing filter
500 Hz
0
│
1000
Pe
Pi 51EH 0021H Smooth the speed feed-forward command.
Cn034
Torque command smoothing filter
500 Hz
0
│
5000
Restrain sharp vibration noise by the setting and ALL C17H 0022H
this filter delay the time of servo response.
Cn035
Panel display content selection
0 X
0
│
31
ALL 541H 0023H
Select display content for LED panel for power on
status.
Setting Explanation
0 Display data set and drive status
parameter. Refer 3-1
1
│
31
Display Un-01 ~ Un-19 content. Refer
to 3-2-1 for more information.
Ex：Set Cn035=1, when power on it
display the actual speed of motor.
(content of Un-01)
★
Cn036
Servo ID number
1 X
0
│
254
ALL 51BH 0024H When using Modbus for communication,each
servo units has to setting a ID number. repeated
ID number will lead to communication fail.
★
Cn037.0
Modbus RS-485 braud rate setting
1 bps
0
│
5
ALL
544H 0025H
Setting Explanation
0 4800
1 9600
2 19200
3 38400
4 57600
5 115200
★
Cn037.1
PC Software RS-232 braud rate setting
1 bps
0
│
3
ALL
Setting Explanation
0 4800
1 9600
2 19200
3 38400
★
Cn037.2
Communication RS-485 selection
0 X
0
│
1
ALL
This parameter can be set to RS-485
communication written to the EEPROM or SRAM.
Setting Explanation
0 Write to EEPROM
1 Write to SRAM
Parameter Name & Function Default Unit Setting
Range
Control
Mode
Communication
Address
RS232 RS485
57
★
Cn037.3
Communication RS232 is read and written to the
selection of EEPROM.
0 X
0
│
1
ALL 544H 0025H
Setting Explanation
0 JSDAP Command address (E8~EC)
1
JSDAP Command address (70~74)
* While setting to 1, Pn407~Pn410 are
prohibited from applying.
★
Cn038
Communication protocol
0 X
0
│
8
ALL 545H 0026H
Setting Explanation
0 7 , N , 2 ( Modbus , ASCII )
1 7 , E , 1 ( Modbus , ASCII )
2 7 , O , 1 ( Modbus , ASCII )
3 8 , N , 2 ( Modbus , ASCII )
4 8 , E , 1 ( Modbus , ASCII )
5 8 , O , 1 ( Modbus , ASCII )
6 8 , N , 2 ( Modbus , RTU )
7 8 , E , 1 ( Modbus , RTU )
8 8 , O , 1 ( Modbus , RTU )
★
Cn039
Communication time-out dection
0 sec
0
│
20
ALL 567H 0027H
Setting non-zero value to enable this function,
communication Time should be in the setting period
otherwise alarm message of communication
time-out will show. Setting a zero value to disable
this function.
★
Cn040
Communication response delay time
0 0.5
msec
0
│
255
ALL 5EDH 0028H Delay Servo response time to master control unit.
Cn041
Absolute encoder rotation value reset
0 X
0
│
1
ALL 524H 0029H
Setting Explanation
0 Disable
1 Reset absolute encoder rotation value
Cn041.1
Absolute encoder battery Alarm Reset(AL-16)
0 X 0 ~ 1 ALL 524H 0029H Setting Explanation
0 Disable
1 Clear AL-16 after reset power
Cn043
Analog monitor output ratio (MON1)
100 %
1
│
1000
ALL C72H 002BH For example,the Analog monitor output ratio is
10V/1.5 times speed when we set 100%, if we want
10V/0.75 times speed, please set 200%
Cn044
Analog monitor output ratio (MON2)
100 %
1
│
1000
ALL C73H 002CH Please refer to Cn043.
Cn045
~
Cn047
Reserved -- -- -- -- -- --
Cn048
Automatic gain 1&2 switch delay time
0 x02
msec
0
│
10000
Pi
Pe
S
Set the delay time from speed loop 1 to speed loop C7AH 0030H
2, when two control speed loops are used.
Cn049
Automatic gain 1&2 switch time
0 x02
msec
0
│
10000
Pi
Pe
S
Set the switch time from speed loop 1 to speed loop C7BH 0031H
2, when two control speed loops are used.
Cn050
Automatic gain 1&2 switch time
0 x02
msec
0
│
10000
Pi
Pe
S
Set the switch time from speed loop 2 to speed loop C7CH 0032H
1, when two control speed loops are used.
58
Parameter Name & Function Default Unit Setting
Range
Control
Mode
Communication
Address
RS232 RS485
Cn051
Low voltage protection level
190 Volt
170
│
190
ALL 5F0H 0033H Set the delay time of Cn052, which triggers low
voltage protection alarm, when voltage of drive
input power is lower than Cn051.
Cn052
Low voltage protection alarm delay time
0 x250
msec
0
│
100
ALL C8BH 0034H Set the delay time of Cn052, which triggers low
voltage protection alarm, when voltage of drive
input power is lower than Cn051.
Cn053
Current offset automatic adjust (only used in
servo off)
0 x
0
│
1
ALL B91H 0035H Setting Explanation
1
Drive executes current offset adjust and
then clears setting to 0 automatically when
the adjustment is finished.
Cn054
Drive warning setting
0000 x
0000
│
FFFF
ALL C8DH 0036H
Parameter Cn054 set by hex code, and each bit
represents for each alarm. Setting the
corresponding bit to 1 for the alarm is an warn mode.
Drive warns and then trigger alarm after
continuously executing the setting time of Cn055
when alarm occurs.
Ex: Set Cn054 to 0801H, and then set Cn055 to 100
when low voltage or overspeed alarm is a warn,
which triggers alarm one second later.
0000100000000001 is the setting status, presenting
in binary.
Cn055
Drive warning delays the time of triggering
alarm
0 x10
msec
0
│
300
ALL C8EH 0037H
Parameter Cn054 set by hex code, and each bit
represents for each alarm. Setting the
corresponding bit to 1 for the alarm is an warn mode.
Drive warns and then trigger alarm after
continuously executing the setting time of Cn055
when alarm occurs.
Ex: Set Cn054 to 0801H, and then set Cn055 to 100
when low voltage or overspeed alarm is a warn,
which triggers alarm one second later.
0000100000000001 is the setting status, presenting
in binary.
59
Parameter Name & Function Default Unit Setting
Range
Control
Mode
Communication
Address
RS232 RS485
Cn056
The Sencond torequ command restriction for CCW
direction 300
% 0~300 Pt C05H 0038H The same description as Cn010
P.S.)The default would depends on Cn030
260
250
240
220
200
Cn057
The Sencond torequ command restriction for CW
direction -300
% 0~300 Pt C06H 0039H The same description as Cn011
P.S.)The default would depends on Cn030
-260
-250
-240
-220
-200
Cn058
The delay time for the first session of torque
restriction to the second session of torque
restriction
0 x4
msec
0 ~
32767 Pt C13H 003AH After INP signal output, it would switch the torque
restriction from (Cn010、Cn011) to (Cn056, Cn057)
according to the delay time(setting by Cn058). After
PTRG action, the torque restriction switch from
(Cn056, Cn057) to (Cn010、Cn011).
Cn059
AutoTuning function choice
0 __ 0 ~ 2
Pe
Pi C94H 003BH
Setting Explanation
0 Disable AutoTuning
1 Enable OFFLine-AutoTuning
2 Enable OnLine-AutoTuning (display Inertia ) P
S
Cn060
The turns command of OFFLine-tuning
3 rev 3 ~
1024
Pe
Pi EX: When you set10 means the tuning command C96H 003CH
would finished in 10 turns.
Cn061
The Maximum speed OFFLine-tuning Rated
speed
x2/3
rpm
1/3~
2/3 x
Rated
speed
Pe
Pi C9CH 003DH The Maximum speed OFFLine-tuning
Cn062
OFFLine-tuning operation overtravel distance
protection settings
50 0.01rev 50 ~
300
Pe
Pi When Cn60 is 3 and Cn62 is 50 means the distance CA4H 003EH
protection is 3.5 runs (Cn60+Cn62*0.01). When
over 3.5 runs it would stop in emergency.
Torque-Control Parameter
60
Parameter Name & Function Default Unit Setting
Range
Control
Mode
Communication
Address
RS232 RS485
★
Tn101
Linear acceleration/deceleration method
0 X
0
│
2
T C8CH 0101H
Setting Explanation
0 Disabled.
1 Enabled
2 Enable Torque command smooth accel/decel
time Constant.
★
Tn102
Linear accel/decel time period.
1 msec
1
│
50000
T 523H 0102H
Time taken for the torque-command to linearly
accelerate to the rated torque level or Decelerate to zero
torque.
Tn103
Analog Torque Command Ratio
300
%
10V
0
│
600
T 521H 0103H
Slope of voltage command / Torque command can be
adjusted.
5 10
-10 -5
200
100
-200
-100
600
-600
Torque
Command (%)
Input Voltage
(V)
Slope set by Tn103
Tn104
Torque Command, analog input voltage offset
0 mV
-10000
│
10000
T 522H 0104H
The offset amount can be adjusted by this parameter.
61
Parameter Name & Function Default Unit Setting
Range
Control
Mode
Communication
Address
RS232 RS485
Tn105
Preset Speed Limit 1. ( Torque control mode)
100 rpm 0 ~ rated
speedx1.5 T 526H 0105H
In Torque control, input contacts SPD1 and SPD2 can
be used to select Preset speed limit 1. As follows:
Input Contact SPD2 Input Contact SPD1
0 1
Note: Input contacts status “1” (ON) and “0” (OFF).
Refer to 5-6-1 to set high or low input logic levels.
Tn106
Preset Speed Limit 2. ( Torque control mode)
200 rpm 0 ~ rated
speedx1.5
T 527H 0106H
In Torque control, input contacts SPD1 and SPD2 can
be used to select Preset speed limit 2. As follows:
Input Contact SPD2 Input Contact SPD1
1 0
Note: Input contacts status “1” (ON) and “0” (OFF)
Refer to 5-6-1 to set high or low input logic levels.
Tn107
Preset Speed Limit 3. ( Torque control mode)
300 rpm 0 ~ rated
speedx1.5 T 528H 0107H
In Torque control, input contacts SPD1 and SPD2 can
be used to select Preset speed limit 3. As follows:-
Input Contact SPD2 Input Contact SPD1
1 1
Note: Input contacts status “1” (ON) and “0” (OFF)
Refer to 5-6-1 to set high or low input logic levels.
Tn108
Torque output monitor value
0 %
0
│
300
ALL C30H 0108H When the torque level in CW or CCW direction become
greater then this value setting, the output contact INT
operate.
Tn109
Analog Speed Limited Proportion Controller
3000 rpm
100
│
4500
T 533H 0109H
This function used for adjusted analog voltage
command
compared with the slope of speed limit command.
Tn110
Torque command smooth accel/decel time
Constant
0 msec
0
│
10000
T 520H 010AH
Set Tn101=2 to enable this function.
Set the time period to rise to 63.2% of the full torque.
Torque
Command (%)
Time (ms) Tn110
100
50
Torque
Command
63.2
62
Speed-Control Parameter
Parameter Name & Function Default Unit Setting
Range
Control
Mode
Communication
Address
RS232 RS485
Sn201
Internal Speed Command 1
100 rpm
-1.5~ 1.5
x rated
speed
S 536H 0201H
In Speed control, input contacts SPD1 and SPD2 can
be used to select 3 sets of internal speed command,
select for speed command 1 contact status shows
below:
Input Contact SPD2 Input Contact SPD1
0 1
Note: Input contacts status “1” (ON) and “0” (OFF)
Refer to 5-6-1 to set high or low input logic levels.
Sn202
Internal Speed Command 2
200 rpm
-1.5~ 1.5
x rated
speed
S 537H 0202H
In Speed control, input contacts SPD1 and SPD2 can
be used to select 3 sets of internal speed command,
select for speed command 2 contact status shows
below:
Input Contact SPD2 Input Contact SPD1
1 0
Note: Input contacts status “1” (ON) and “0” (OFF)
Refer to 5-6-1 to set high or low input logic levels.
Sn203
Internal Speed Command 3
300 rpm
-1.5~ 1.5
x rated
speed
S 538H 0203H
In Speed control, input contacts SPD1 and SPD2 can
be used to select 3 sets of internal speed command,
select for speed command 3 contact status shows
below:
Input Contact SPD2 Input Contact SPD1
1 1
Note: Input contacts status “1” (ON) and “0” (OFF).
Refer to 5-6-1 to set high or low input logic levels.
Sn204
Zero Speed selection Enable or Disable the zero
speed preset parameter Sn215.
0 X
0
│
1
Setting Explanation ALL 529H 0204H
0 No Action. (Sn215 zero present is not effective).
1 Set the present value in Sn215 as zero speed.
Sn205
Speed command accel/decel smooth method.
0 X
0
│
3
S 52AH 0205H
Setting Explanation
0 By Step response
1 Smooth Acceleration/deceleration according to
the curve defined by Sn206.
2 Linear accel/decel time constant .Defined by
Sn207
3 S curve for Acceleration/deceleration. Defined
by Sn208.
63
Parameter Name & Function Default Unit Setting
Range
Control
Mode
Communication
Address
RS232 RS485
Sn206
Speed command smooth accel/decel time Constant.
1 msec 1
│
10000
S 52BH 0206H
Set Sn205=1 to enable this function then set the time
period for the speed to rise to 63.2% of the full speed.
Sn207
Speed command linear accel/decel time constant.
1 msec
1
│
50000
S 52CH 0207H
Set Sn205=2 to enable this function then set the time
period for the speed to rise linearly to full speed.
Sn208
S curve speed command acceleration and
deceleration time setting.
1 msec
1
│
1000
S C44H 0208H
Set Sn205=3 to enable this function.
In the period of Acc/Dec, drastic speed changing might
cause vibration of machine. S curve speed command
acc/dec time setting has the effect to smooth acc/dec
curve.
Speed Command (rpm)
Time (ms) ts ts
ta
ts ts
td
ts=Sn208
ta=Sn209
td=Sn210
Rule for the setting： s
a t
t
2 ， s
d t
t
2
64
Parameter Name & Function Default Unit Setting
Range
Control
Mode
Communication
Address
RS232 RS485
Sn209
S curve speed command acceleration time setting.
200 msec
0
│
5000
S C45H 0209H Refer Sn208
Sn210
S curve speed command deceleration time setting.
200 msec
0
│
5000
S C46H 020AH Refer Sn208
Sn211
Speed loop Gain 1
40 Hz
10
│
1500
Pi
Pe
S
530H 020BH
Speed loop gain has a direct effect on the frequency
response bandwidth of the Speed-control loop.
Without causing vibration or noise Speed-loop-gain can
be increased to obtain a faster speed response.
If Cn025 (load Inertia ratio) is set correctly, the
speed-loop-bandwidth will equal to speed-loop-gain.
Sn212
Speed-loop Integral time 1
100 x0.2
ms
1
│
5000
Pi
Pe
S
531H 020CH
Speed loop integral element can eliminate the steady
speed error and react to even slight speed variations.
Decreasing Integral time can improve system rigidity.
The formula below shows the relationship between
Integral time and Speed loop Gain.
Sn213
Speed loop Gain 2
40 Hz
10
│
1500
Pi
Pe
S
53AH 020DH Refer to Sn211
Sn214
Speed loop Integral time 2
100 x0.2
msec
1
│
5000
Pi
Pe
S
53BH 020EH Refer to Sn212
Sn215
Value of zero speed
50 rpm
0
│
4500
ALL 532H 020FH Set the zero speed range in Sn215
When the actual speed is lower than Sn215 value,
Output contact ZS is activated.
Sn216
Analog Speed Command Ratio
Rate
rpm
rpm
/10V
100
│
6000
S 533H 0210H
Slope of voltage command / Speed command can be
adjusted.
65
Parameter Name & Functions Default Unit Setting
Range
Control
Mode
Communication
Address
RS232 RS485
Sn217
Analog Speed Command offset adjust
0 mV
-10000
│
10000
S 534H 0211H
The offset amount can be adjusted by this parameter.
Sn218
Analog speed command limited Rate
rpm x
1.02
rpm
100
│
4500 Setting Sn218 for limit the highest speed command of S C11H 0212H
analog input.
66
Position Control Parameter
Parameter Name & Function Default Unit Setting
Range
Control
Mode
Communication
Address
RS232 RS485
★
Pn301.0
Position pulse command selection
0 X
0
│
3
Pe
550H 0301H
Setting Explanation
0 (Pulse)+(Sign)
1 (CCW)/(CW) Pulse
2 AB-Phase pulse x 2
3 AB-Phase pulse x 4
★
Pn301.1
Position- Pulse Command Logic
0 X
0
│
1
Setting Explanation
0 Positive Logic
1 Negative Logic
★
Pn301.2
Selection for command receive of drive inhibit mode
0 X
0
│
1
Pi
Pe
Setting Explanation
0 When drive inhibit occurs, record value of position
command input coherently.
1 When drive inhibit occurs, ignore the value of
position command.
★
Pn301.3
Pulse command filter band width selection
1 X
0
│
7
Pe
Setting Explanation Setting Explanation
0 4500KHz 4 370KHz
1 2500KHz 5 180KHz
2 1200KHz 6 90KHz
3 750KHz 7 40KHz
Pn302
Electronic Gear Ratio Numerator 1
1 X
1
│
50000
Pi
Pe 560H 0302H
Use input contacts GN1 & GN2 to select one of four
electronic Gear Ratio Numerators.
To select Numerator 1, the statue of the input-contacts
GN1 & GN2 should be as follows:
Input Contact GN2 Input Contact GN1
0 0
Note: Input contacts status “1” (ON) and “0” (OFF).
Refer to 5-6-1 to set high or low input logic levels.
Pn303
Electronic Gear Ratio Numerator 2
1 X
1
│
50000
Pi
Pe 561H 0303H
Use input contacts GN1 & GN2 to select one of four
electronic Gear Ratio Numerators.
To select Numerator 2, the statue of the input-contacts
GN1 & GN2 should be as follows:
Input Contact GN2 Input Contact GN1
0 1
Note: Input contacts status “1” (ON) and “0” (OFF).
Refer to 5-6-1 to set high or low input logic levels.
Pn304
Electronic Gear Ratio Numerator 3
1 X
1
│
50000
Pi
Pe 562H 0304H
Use input contacts GN1 & GN2 to select one of four
electronic Gear Ratio Numerators.
To select Numerator 3, the statue of the input-contacts
GN1 & GN2 should be as follows:
Input Contact GN2 Input Contact GN1
1 0
Note: Input contacts status “1” (ON) and “0” (OFF).
Refer to 5-6-1 to set high or low input logic levels.
67
Parameter Name & Function Default Unit Setting
Range
Control
Mode
Communication
Address
RS232 RS485
Pn305
Electronic Gear Ratio Numerator 4
1 X
1
│
50000
Pi
Pe 563H 0305H
Use input contacts GN1 & GN2 to select one of four
electronic Gear Ratio Numerators.
To select Numerator 4, the statue of the
input-contacts
GN1 & GN2 should be as follows:
Input Contact GN2 Input Contact GN1
1 1
Note: Input contacts status “1” (ON) and “0”
(OFF).
Refer to 5-6-1 to set high or low input logic levels.
Pn306
Electronic Gear Ratio Denominator
1 X
1
│
50000
Pi
Pe 554H 0306H
Set the calculated Electronic Gear Ratio
Denominator
in Pn 306. (Refer to section 5-4-3).
Final Electronic Gear Ratio should comply with the
formula below.
Pn307
Position complete value
10 / 40 pulse
0
│
50000
Pi
Pe
552H
553H 0307H
Set a value for In position output signal.
When the Position pulse error value is less then
Pn307
output-contact INP (In position output signal) will
be activated.
P.S.Use 2500/8192/15bits encoder and tool turret
modes the default is 10.Use 17bits encoder the
default is 40
Pn308
“Incorrect position” Error band Upper limit.
50000 x10 pulse
x131pulse
0
│
50000
Pi
Pe
556H
557H 0308H
When the Position error value is higher then
number of pulses set in Pn308, an Alarm message
AL-11(Position error value alarm) will be displayed.
P.S.Use 2500/8192/15bits encoder the unit is 10
pulse.Use 17bits encoder the unit is 131pulse
Pn309
Incorrect position” Error band lower limit.
50000 x10 pulse
x131pulse
0
│
50000
Pi
Pe
558H
559H 0309H
When the Position error value is lower then number
of pulses set in Pn309, an Alarm message
AL-11(Position error value alarm) will be displayed.
P.S.Use 2500/8192/15bits encoder the unit is 10
pulse.Use 17bits encoder the unit is 131pulse
Pn310
Position Loop Gain 1
40 1/s
1
│
1000
Pi
Pe 55AH 030AH
Without causing vibration or noise on the
mechanical system the position loop gain value can
be increased to speed up response and shorten the
positioning time.
Generally, the position loop bandwidth should not
be higher then speed loop bandwidth. The
relationship is according to the formula below:
Pn311
Position Loop Gain 2
40 rad/s
1
│
1000
Pi
Pe 551H 030BH Refer to Pn310
68
Parameter Name & Function Default Unit Setting
Range
Control
Mode
Communication
Address
RS232 RS485
Pn312
Position Loop Feed Forward Gain
0 %
0
│
100
Pi
Pe 55BH 030CH
It can be used to reduce the track error of position
control and speed up the response.
If the feed forward gain is too large, it might cause
speed overshoot and in position oscillations which
result in the repeated ON/OFF operation of the output
contact INP (“In Position”output signal).
★
Pn313
Position command smooth
Acceleration/Deceleration Time Constant
0 msec
0
│
10000
Pi
Pe 55CH 030DH
Set the time period for the Position command pulse
frequency to rise from 0 to 63.2%.
★
Pn314
Positioning Command Direction Definition
1 X
0
│
1
Pi
Pe 55DH 030EH
Setting Explanation
0 (CW) .Clockwise
1 (CCW). Counter Clockwise
Pn315
Pulse Error Clear Modes.
0 X
0
│
2
Pe
51FH 030FH
Setting Explanation
0 Once CLR signal is activated, it eliminates,
the Pulse error amount.
1
Once CLR signal is activated, following takes
place:
The position command is cancelled.
Motor rotation is interrupted
Pulse error amount is cleared.
Machine home reference is reset
Pi
Pe
2
Once CLR signal is activated, following takes
place:-
The position command is cancelled.
Motor rotation is interrupted.
Pulse error amount is cleared.
Pi
★
Pn316.0
Internal Position Command Mode
0 X
0
│
1
Pi 50DH 0310H Setting Explanation
0 Absolute Position
1 Incremental Position
69
Parameter Name & Function Default Unit Setting
Range
Control
Mode
Communication
Address
RS232 RS485
★
Pn316.1
Internal Position Command Hold (PHOLD) program
select
0 X
0
│
1
Pi
50DH 0310H
Setting Explanation
0
When PHOLD is active then received PTRG signal.
Servomotor will be proceeded internal position
command from PHOLD position.
1
When PHOLD is active then received PTRG signal.
Servomotor will operate internal position command
of current selection.
★
Pn316.2
Encoder Feedback Dividing Phase Leading Selection
0 X
0
│
1
ALL Setting Explanation
0 Encoder feedback phase A leading phase B.
1 Encoder feedback phase B leading phase A.
★
Pn316.3
Encoder Feedback Dividing
0 X
0
│
1
ALL Setting Explanation
0 According to Cn005
1 According to Cn005/4
Pn317.0
Setting for HOME routine
0 X
0
│
5
Pi
Pe 54AH 0311H
Setting Explanation
0
Once the home routine is activated, motor will search
for Home Position switch in 1st speed in CCW directi
Input contacts CCWL or CWL can be used as the
Home Reference Switch.
Once Home reference switch is detected, then input
Contacts CCWL and CWL will act as normal Max
limits again.
Note:
When using this function, Pn365.1 can not be set to
or 2. Cn002.1 (selection for CCWL and CWL)
must be set to set to 0.
1
Once the home routine is activated, motor will search
for Home
Position switch in 1st speed in CW direction.
Input contacts CCWL or CWL can be used as the
Home Reference Switch.
Once Home position is detected, then input contacts
CCWL and CWL will act as normal max. limits again.
Note:
When using this function, Pn365.1 can not be set to
1 or 2.
Cn002.1 (selection for CCWL and CWL) must be
set to 0.
2
Once the home routine is activated , motor will
search for Home position switch in 1st speed in CCW
direction and sets the Home
reference position as soon as the input contact ORG
is activated.
If Pn365.1=2, it will directly find the closest
Rising-Edge of ORG to be the Home position
(without a need for Home Reference),
then it stops in accordance with Pn365.3 setting.
70
Parameter Name & Function Default Unit Setting
Range
Control
Mode
Communication
Address
RS232 RS485
Pn317.0
3
Once the home routine is activated , motor will
search for Home
Position switch in 1st speed in CW direction and
sets the reference Home position as soon as the
input contact ORG is activated.
If Pn365.1=2, it will directly find the closest rising
-Edge of ORG to be the Home position (without a
need for Home reference), then it stops in
accordance with Pn365.3 setting.
Pn317.0
Setting for HOME routine
0 X
0
│
5
Pi
Pe 54AH 0311H
Setting Explanation
4
Once the home routine is activated , motor will
search for Home
position in 1st speed in CCW direction and sets
the Home reference position as soon as the
nearest Z (marker pulse) is detected.
When using this function, set Pn365.1=2.
After setting the Z Phase to be the Home, it stops
in accordance with the setting of Pn365.3.
5
Once the home routine is activated, motor will
search for Home position in 1st speed in CW
direction and sets the Home reference position as
soon as the nearest Z (marker pulse) is detected.
When using this function, set Pn365.1=2.
After setting the Z Phase to be the Home, it stops
in accordance with the setting of Pn365.3.
Pn317.1
Once Reference Home switch or Signal, is found it sets
the search method for the Home position.
0 X
0
│
2
Setting Explanation
0
Once the Home Reference switch or signal is
detected, motor reverses direction in 2nd speed
to find the nearest Z. Phase pulse and sets this as
the Home position,
then stops in accordance with Pn317.3 setting
method.
1
Once the Home Reference switch or signal is
detected, motor Continues in its direction in 2nd
speed to find the nearest Z Phase pulse and sets
this as the Home position, then stops in
accordance with Pn317.3 setting method.
2
When Pn317.0=2 or 3, it finds the rising edge of
ORG to be the Home position, then stops in
accordance with Pn317.3.
When Pn317.0=4 or 5, it finds Z Phase pulse to be
the Home, then stops in accordance with Pn317.3.
71
Parameter Name & Function Default Unit Setting
Range
Control
Mode
Communication
Address
RS232 RS485
Pn317.2
Setting of Home Routine Start method
0 X
0
│
2
Pi
Pe
54AH 0311H
Setting Explanation
0 Homing routine is Disabled.
1
On power up and activation of Servo on the home
routine is started automatically.
This method is useful for applications that do not
require repeated home routines. No external home
reference switch is required.
2
Use SHOME input contactor to start a home routine.
In position mode, SHOME can be used to start a
home routine at any moment.
Pn317.3
Setting of stopping mode after finding Home signal.
0 X
0
│
1
54AH 0311H
Setting Explanation
0
After detecting the Home signal, it sets this position to
be the Home reference (Un-14 encoder feedback
rotating number and Un-15 encoder feedback pulse
number are all 0), motor decelerates and stops.
Then it reverses direction in 2nd speed to detect the
Home Position again then it decelerates and stops..
1
After detecting the Home signal, it sets this position to
be the Home reference (Un-14 encoder feedback
rotating number and Un-15 encoder feedback pulse
numbers are all 0), motor decelerates and stops.
Pn318
Machine Home reference search speed. 1st speed ( Fast)
100 rpm
0
│
2000
54BH 0312H HOME Reference search speed. Speed 1.
Pn319
Machine Home position search speed. 2nd Speed (Slow)
50 rpm
0
│
500
54CH 0313H Home position search speed. Speed 2.
Pn320
Home position offset. Number of revolutions.
0 rev
-30000
│
30000
54DH 0314H
Once the searched home position is found in accordance with
Pn317 (Home routine mode), then it will search by a number
of revolutions and pulses set in parameters Pn320 and Pn
321 to find the new (off set) Home position.
Pn321
Home position offset. Number of Pulses.
0 pulse
-32767
│
32767
54EH 0315H Home Offset position = Pn320(Rotate Number) x
Number of Encoder Pulse per Rotation x 4
+ Pn321(Pulse Number)
72
Parameter Name & Function Default Unit Setting
Range
Control
Mode
Communication
Address
RS232 RS485
Pn322
S-Curve Time Constant for Internal Position
command (TSL)
0 x0.4ms
0
│
5000
Pi 52DH 0316H
S-curve time constant generator can smoothen the
command, it provides continuous speed and
acceleration which not only better the motor
characteristic of acc/dec but also helps the motor to
operate more smoothly in machinery structure.
S-curve time constant generator is only applicable to
the mode of internal position command input. When
position command input switch to external position
pulse, the speed and acceleration are already
constant, so it doesn’t use the S-curve time constant
generator.
Notes :
1. Rule of setting: Pn323(TACC)≧Pn322(TSL) and
Pn333(TDEC)≧Pn322(TSL).If Pn323、Pn333 less
than Pn322, ignore all the trigger signal, no action
and send the alarm 11.
2. When Pn322 sets as 0, the S-curve time
constant will be disabled.
Pn323
S-Curve Time Constant for Internal Position
command(TACC) 1 x0.4ms
1
│
5000
Pi 52EH 0317H
Please refer to Pn322
Pn324
Total Number Setting
12 --
1
│
64
Pt C56H 0318H Sets total number of tool turret.
Pn325
The Location of Zero CNC Tool Turret
0 pulse
0
│
131071
Pi
C7EH
、
C7FH
0319H
、
031AH Sets the location of zero tool.
Pn326
Reduction Gear Rate for CNC Tools Turret
1 rev
0
│
16383
Pi C57H 031BH Sets reduction rate for turret.
Pn327
Rotation Speed of tool turret switching
100 rpm
0
│
5000
Pt C59H 031CH Sets the rotation speed of tool turret switching.
Pn328 Reserved -- -- -- -- -- --
Pn329
Pulse command smoothing filter
0 x
2mesc
0
│
2500
Pe C78H 031EH The smoothing filter is settable.
Pn330
Pulse command moving filter
0
x
0.4me
sc
0
│
250
Pe C79H 031FH The moving filter is settable.
73
Parameter Name & Function Default Unit Setting
Range
Control
Mode
Communication
Address
RS232 RS485
Pn331
Turret backlash compensation parameter
0 pulse
-32768
│
32767
Pt C86H 0320H Set backlash compensation value
Pn332
Accel/decel methods for Internal Position
command
0 x
0
│
2
Pi C69H 0321H
Setting Explanation
0 Smooth acceleration/deceleration for position
command
1 S-curve acceleration/deceleration for internal
position command
2 S-curve acceleration/deceleration separately
for internal position command
Pn333
S-Curve Time Constant Deceleration for Internal
Position Command(TDEC)
1 x0.4ms 1 ~ 5000 Pi C15H 0322H
We define the input time parameter are TSL and
TDEC. It judges the dec trip by the setted time
parameter. Figure (a) shows that when TDEC > TSL,
it will generate a constant deceleration region, and the
time of deceleration is TDEC – TSL. Refered to figure
(b), there is no constant deceleration region when
TDEC = TSL, and it can not be define on TDEC<TSL.
(a)
(b)
74
Parameter Name & Function Default Unit Setting
Range
Control
Mode
Communication
Address
RS232 RS485
Pn334
The Delay time Constant of PTRG Trigger
0 4ms 0~ 2500 Pi
Pe When PTRG triggered, motor would start to run after the CAEH 0323H
delay time.
Pn335
Second Session ofRotation Speed of tool turret
switching 100 rpm 0 ~ 5000 Pi
Pe C93H 0323H
Second Session of Rotation Speed of tool turret switching
Pn401
Internal Position Command 1 – Rotation Number
0 rev
-16000
│
16000
Pi 568H 0701H Set the Rotation number of the internal Position Command
1
Use input contacts POS1~POS5 to select Refer to 5-4-2.
Pn402
Internal Position Command 1 - Pulse Number
0 pulse
-131072
│
131072
Pi 56AH
56BH
0702H
0703H
Set the rotation pulse number of internal position
Command 1
Internal Position Command 1 =Pn401(Rotation Number) x
Pulse number of One Rotate x 4 + Pn402(Pulse number)
Pn403
Internal Position Command 1 - Move Speed
0 rpm
0
│
6000
Pi 569H 0704H Setting the Move Speed of internal Position Command 1
Pn404
Internal Position Command 2-Rotation Number
0 rev
-16000
│
16000
Pi 56CH 0705H Please refer to Pn401
Pn405
Internal Position Command 2-Pulse Number
0 pulse
-131072
│
131072
Pi 56EH
56FH
0706H
Please refer to Pn402 0707H
Pn406
Internal Position Command 2-Move Speed
0 rpm
0
│
6000
Pi 56DH 0708H Please refer to Pn403
Pn407
Internal Position Command 3-Rotation Number
0 rev
-16000
│
16000
Pi 570H 0709H Please refer to Pn401
Pn408
Internal Position Command 3-Pulse Number
0 pulse
-131072
│
131072
Pi 572H
573H
070AH
Please refer to Pn402 070BH
Pn409
Internal Position Command 3-Move Speed
0 rpm
0
│
6000
Pi 571H 070CH Please refer to Pn403
Pn410
Internal Position Command 4 -Rotation Number
0 rev
-16000
│
16000
Pi 574H 070DH Please refer to Pn401
Pn411
Internal Position Command 4-Pulse Number
0 pulse
-131072
│
131072
Pi 576H
577H
070EH
Please refer to Pn402 070FH
Pn412
Internal Position Command 4-Move Speed
0 rpm
0
│
6000
Pi 575H 0710H Please refer to Pn403
Pn413
Internal Position Command 5 -Rotation Number
0 rev
-16000
│
16000
Pi 578H 0711H Please refer to Pn401
Pn414
Internal Position Command 5-Pulse Number
0 pulse
-131072
│
131072
Pi 57AH
57BH
0712H
Please refer to Pn402 0713H
75
Parameter Name & Function Default Unit Setting
Range
Control
Mode
Communication
Address
RS232 RS485
Pn415
Internal Position Command 5-Move Speed
0 rpm
0
│
6000
Pi 579H 0714H Please refer to Pn403
Pn416
Internal Position Command 6 -Rotation Number
0 rev
-16000
│
16000
Pi 57CH 0715H Please refer to Pn401
Pn417
Internal Position Command 6-Pulse Number
0 pulse
-131072
│
131072
Pi 57EH
57FH
0716H
Please refer to Pn402 0717H
Pn418
Internal Position Command 6-Move Speed
0 rpm
0
│
6000
Pi 57DH 0718H Please refer to Pn403
Pn419
Internal Position Command 7 -Rotation Number
0 rev
-16000
│
16000
Pi 580H 0719H Please refer to Pn401
Pn420
Internal Position Command 7-Pulse Number
0 pulse
-131072
│
131072
Pi 582H
583H
071AH
Please refer to Pn402 071BH
Pn421
Internal Position Command 7-Move Speed
0 rpm
0
│
6000
Pi 581H 071CH Please refer to Pn403
Pn422
Internal Position Command 8 -Rotation Number
0 rev
-16000
│
16000
Pi 584H 071DH Please refer to Pn401
Pn423
Internal Position Command 8-Pulse Number
0 pulse
-131072
│
131072
Pi 586H
587H
071EH
Please refer to Pn402 071FH
Pn424
Internal Position Command 8-Move Speed
0 rpm
0
│
6000
Pi 585H 0720H Please refer to Pn403
Pn425
Internal Position Command 9 -Rotation Number
0 rev
-16000
│
16000
Pi 588H 0721H Please refer to Pn401
Pn426
Internal Position Command 9-Pulse Number
0 pulse
-131072
│
131072
Pi 58AH
58BH
0722H
Please refer to Pn402 0723H
Pn427
Internal Position Command 9-Move Speed
0 rpm
0
│
6000
Pi 589H 0724H Please refer to Pn403
Pn428
Internal Position Command 10 -Rotation Number
0 rev
-16000
│
16000
Pi 58CH 0725H Please refer to Pn401
Pn429
Internal Position Command 10-Pulse Number
0 pulse
-131072
│
131072
Pi 58EH
58FH
0726H
Please refer to Pn402 0727H
Pn430
Internal Position Command 10-Move Speed
0 rpm
0
│
6000
Pi 58DH 0728H Please refer to Pn403
76
Parameter Name & Function Default Unit Setting
Range
Control
Mode
Communication
Address
RS232 RS485
Pn431
Internal Position Command 11 -Rotation Number
0 rev
-16000
│
16000
Pi 590H 0729H Please refer to Pn401
Pn432
Internal Position Command 11-Pulse Number
0 pulse
-131072
│
131072
Pi 592H
593H
072AH
Please refer to Pn402 072BH
Pn433
Internal Position Command 11-Move Speed
0 rpm
0
│
6000
Pi 591H 072CH Please refer to Pn403
Pn434
Internal Position Command 12-Rotation Number
0 rev
-16000
│
16000
Pi 594H 072DH Please refer to Pn401
Pn435
Internal Position Command 12-Pulse Number
0 pulse
-131072
│
131072
Pi 596H
597H
072EH
Please refer to Pn402 072FH
Pn436
Internal Position Command 12-Move Speed
0 rpm
0
│
6000
Pi 595H 0730H Please refer to Pn403
Pn437
Internal Position Command 13 -Rotation Number
0 rev
-16000
│
16000
Pi 598H 0731H Please refer to Pn401
Pn438
Internal Position Command 13-Pulse Number
0 pulse
-131072
│
131072
Pi 59AH
59BH
0732H
Please refer to Pn402 0733H
Pn439
Internal Position Command 13-Move Speed
0 rpm
0
│
6000
Pi 599H 0734H Please refer to Pn403
Pn440
Internal Position Command 14 -Rotation Number
0 rev
-16000
│
16000
Pi 59CH 0735H Please refer to Pn401
Pn441
Internal Position Command 14-Pulse Number
0 pulse
-131072
│
131072
Pi 59EH
59FH
0736H
Please refer to Pn402 0737H
Pn442
Internal Position Command 14-Move Speed
0 rpm
0
│
6000
Pi 59DH 0738H Please refer to Pn403
Pn443
Internal Position Command 15 -Rotation Number
0 rev
-16000
│
16000
Pi 5A0H 0739H Please refer to Pn401
Pn444
Internal Position Command 15-Pulse Number
0 pulse
-131072
│
131072
Pi 5A2H
5A3H
073AH
Please refer to Pn402 073BH
Pn445
Internal Position Command 15-Move Speed
0 rpm
0
│
6000
Pi 5A1H 073CH Please refer to Pn403
Pn446
Internal Position Command 16 -Rotation Number
0 rev
-16000
│
16000
Pi 5A4H 073DH Please refer to Pn401
Pn447
Internal Position Command 16-Pulse Number
0 pulse
-131072
│
131072
Pi 5A6H
5A7H
073EH
Please refer to Pn402 073FH
77
Parameter Name & Function Default Unit Setting
Range
Control
Mode
Communication
Address
RS232 RS485
Pn448
Internal Position Command 16-Move Speed
0 rpm
0
│
6000
Pi 5A5H 0740H Please refer to Pn403
Pn449
Internal Position Command 17 -Rotation Number
0 rev
-16000
│
16000
Pi 5A8H 0741H Please refer to Pn401
Pn450
Internal Position Command 17 - Pulse Number
0 pulse
-131072
│
131072
Pi 5AAH
5ABH
0742H
Please refer to Pn402 0743H
Pn451
Internal Position Command 17 - Move Speed
0 pulse
0
│
6000
Pi 5A9H 0744H Please refer to Pn403
Pn452
Internal Position Command 18 -Rotation Number
0 rev
-16000
│
16000
Pi 5ACH 0745H Please refer to Pn401
Pn453
Internal Position Command 18 - Pulse Number
0 pulse
-131072
│
131072
Pi 5AEH
5AFH
0746H
Please refer to Pn402 0747H
Pn454
Internal Position Command 18 - Move Speed
0 rpm
0
│
6000
Pi 5ADH 0748H Please refer to Pn403
Pn455
Internal Position Command 19 -Rotation Number
0 rev
-16000
│
16000
Pi 5B0H 0749H Please refer to Pn401
Pn456
Internal Position Command 19 - Pulse Number
0 pulse
-131072
│
131072
Pi 5B2H
5B3H
074AH
Please refer to Pn402 074BH
Pn457
Internal Position Command 19 - Move Speed
0 rpm
0
│
6000
Pi 5B1H 074CH Please refer to Pn403
Pn458
Internal Position Command 20 -Rotation Number
0 rev
-16000
│
16000
Pi 5B4H 074DH Please refer to Pn401
Pn459
Internal Position Command 20 - Pulse Number
0 pulse
-131072
│
131072
Pi 5B6H
5B7H
074EH
Please refer to Pn402 074FH
Pn460
Internal Position Command 20 - Move Speed
0 rpm
0
│
6000
Pi 5B5H 0750H Please refer to Pn403
Pn461
Internal Position Command 21 -Rotation Number
0 rev
-16000
│
16000
Pi 5B8H 0751H Please refer to Pn401
Pn462
Internal Position Command 21 - Pulse Number
0 pulse
-131072
│
131072
Pi 5BAH
5BBH
0752H
Please refer to Pn402 0753H
Pn463
Internal Position Command 21 - Move Speed
0 rpm
0
│
6000
Pi 5B9H 0754H Please refer to Pn403
Pn464
Internal Position Command 22 -Rotation Number
0 rev
-16000
│
16000
Pi 5BCH 0755H Please refer to Pn401
78
Parameter Name & Function Default Unit Setting
Range
Control
Mode
Communication
Address
RS232 RS485
Pn465
Internal Position Command 22 - Pulse Number
0 pulse
-131072
│
131072
Pi 5BEH
5BFH
0756H
Please refer to Pn402 0757H
Pn466
Internal Position Command 22 - Move Speed
0 rpm
0
│
6000
Pi 5BDH 0758H Please refer to Pn403
Pn467
Internal Position Command 23 - Rotation Number
0 rev
-16000
│
16000
Pi 5C0H 0759H Please refer to Pn401
Pn468
Internal Position Command 23 - Pulse Number
0 pulse
-131072
│
131072
Pi 5C2H
5C3H
075AH
Please refer to Pn402 075BH
Pn469
Internal Position Command 23 - Move Speed
0 rpm
0
│
6000
Pi 5C1H 075CH Please refer to Pn403
Pn470
Internal Position Command 24 - Rotation Number
0 rev
-16000
│
16000
Pi 5C4H 075DH Please refer to Pn401
Pn471
Internal Position Command 24 - Pulse Number
0 pulse
-131072
│
131072
Pi 5C6H
5C7H
075EH
Please refer to Pn402 075FH
Pn472
Internal Position Command 24 - Move Speed
0 rpm
0
│
6000
Pi 5C5H 0760H Please refer to Pn403
Pn473
Internal Position Command 25 - Rotation Number
0 rev
-16000
│
16000
Pi 5C8H 0761H Please refer to Pn401
Pn474
Internal Position Command 25 - Pulse Number
0 pulse
-131072
│
131072
Pi 5CAH
5CBH
0762H
Please refer to Pn402 0763H
Pn475
Internal Position Command 25 - Move Speed
0 rpm
0
│
6000
Pi 5C9H 0764H Please refer to Pn403
Pn476
Internal Position Command 26 - Rotation Number
0 rev
-16000
│
16000
Pi 5CCH 0765H Please refer to Pn401
Pn477
Internal Position Command 26 - Pulse Number
0 pulse
-131072
│
131072
Pi 5CEH
5CFH
0766H
Please refer to Pn402 0767H
Pn478
Internal Position Command 26 - Move Speed
0 rpm
0
│
6000
Pi 5CDH 0768H Please refer to Pn403
Pn479
Internal Position Command 27 - Rotation Number
0 rev
-16000
│
16000
Pi 5D0H 0769H Please refer to Pn401
Pn480
Internal Position Command 27 - Pulse Number
0 pulse
-131072
│
131072
Pi 5D2H
5D3H
076AH
Please refer to Pn402 076BH
Pn481
Internal Position Command 27 - Move Speed
0 rpm
0
│
6000
Pi 5D1H 076CH Please refer to Pn403
79
Parameter Name & Function Default Unit Setting
Range
Control
Mode
Communication
Address
RS232 RS485
Pn482
Internal Position Command 28 -Rotation Number
0 rev
-16000
│
16000
Pi 5D4H 076DH Please refer to Pn401
Pn483
Internal Position Command 28 - Pulse Number
0 pulse
-131072
│
131072
Pi 5D6H
5D7H
076EH
Please refer to Pn402 076FH
Pn484
Internal Position Command 28 - Move Speed
0 rpm
0
│
6000
Pi 5D5H 0770H Please refer to Pn403
Pn485
Internal Position Command 29 -Rotation Number
0 rev
-16000
│
16000
Pi 5D8H 0771H Please refer to Pn401
Pn486
Internal Position Command 29 - Pulse Number
0 pulse
-131072
│
131072
Pi 5DAH
5DBH
0772H
Please refer to Pn402 0773H
Pn487
Internal Position Command 29 - Move Speed
0 rpm
0
│
6000
Pi 5D9H 0774H Please refer to Pn403
Pn488
Internal Position Command 30 -Rotation Number
0 rev
-16000
│
16000
Pi 5DCH 0775H Please refer to Pn401
Pn489
Internal Position Command 30 - Pulse Number
0 pulse
-131072
│
131072
Pi 5DEH
5DFH
0776H
Please refer to Pn402 0777H
Pn490
Internal Position Command 30 - Move Speed
0 rpm
0
│
6000
Pi 5DDH 0778H Please refer to Pn403
Pn491
Internal Position Command 31 -Rotation Number
0 rev
-16000
│
16000
Pi 5E0H 0779H Please refer to Pn401
Pn492
Internal Position Command 31 - Pulse Number
0 pulse
-131072
│
131072
Pi 5E2H
5E3H
077AH
Please refer to Pn402 077BH
Pn493
Internal Position Command 31 - Move Speed
0 rpm
0
│
6000
Pi 5E1H 077CH Please refer to Pn403
Pn494
Internal Position Command 32 - Rotation Number
0 rev
-16000
│
16000
Pi 5E4H 077DH Please refer to Pn401
Pn495
Internal Position Command 32 - Pulse Number
0 pulse
-131072
│
131072
Pi 5E6H
5E7H
077EH
Please refer to Pn402 077FH
Pn496
Internal Position Command 32 - Move Speed
0 rpm
0
│
6000
Pi 5E5H 0780H Please refer to Pn403
80
Quick Set-up Parameters
Parameter Name & Function Default Unit Setting
Range
Control
Mode
Communication
Address
RS232 RS485
◆
qn501
Speed Loop Gain 1. ( Same function as Sn211)
40 Hz
10
│
1500
Pi
Pe
S
530H 0401H
Speed loop gain has a direct effect on the frequency
response bandwidth of the Speed-control loop.
Without causing vibration or noise Speed-loop-gain can
be increased to obtain a faster speed response.
If Cn025 (load Inertia ratio) is correctly set, the
speed-loop-bandwidth will equal to speed-loop-gain.
◆
qn502
Speed-loop Integral time 1. (Same function as Sn212)
100 x0.2
ms
1
│
5000
Pi
Pe
S
531H 0402H
Speed loop integral element can eliminate the steady
speed error
and react to even slight speed variations.
Decreasing Integral time can improve system rigidity.
The formula below shows the relationship between
Integral time and Speed loop Gain.
SpeedLoopGain SpeedLoopIntegrationTimeCons t 2
1
tan 5
◆
qn503
Speed Loop Gain 2. (Same function as Sn213)
40 Hz
10
│
1500
Pi
Pe
S
53AH 0403H Refer to qn401
◆
qn504
Speed Loop Integration Time Constant 2.
(Same function as Sn214) 100 x0.2
ms
1
│
5000
Pi
Pe
S
53BH 0404H
Refer to qn402
◆
qn505
Position Loop Gain 1. (Same function as Pn310)
40 rad/s
1
│
1000
Pi
Pe 55AH 0405H
Without causing vibration or noise on the mechanical
system the position loop gain value can be increased to
speed up response and shorten the positioning time.
Generally, the position loop bandwidth should not be
higher then speed loop bandwidth. The relationship is
according to the formula below:
◆
qn506
Position Loop Gain 2 (Same function as Pn311)
40 rad/s
1
│
1000
Pi
Pe 551H 0406H Please refer to qn405
◆
qn507
Position Loop Feed Forward Gain
0 %
0
│
100
Pi
Pe 55BH 0407H
It can be used to reduce the follow up error of position
control and speed up the response.
If the feed forward gain is too large, it might cause speed
Overshoot and in position oscillations which result in
the repeated ON/OFF operation of the output contact
INP(“In Position” output signal).
81
Multi-Function Input Parameters
Parameter Name & Function Default Unit Setting
Range
Control
Mode
Communication
Address
RS232 RS485
★
Hn601.0
Hn601.1
DI-1 Function
Changed
by mode X
01
│
20
︵
HEX.
︶
ALL C23H 0501H
Setting Explanation
Signal Functions
00 NON Unused
01 SON Servo On
02 ALRS Alarm Reset
03 PCNT PI/P Switching
04 CCWL CCW Limit
05 CWL CW Limit
06 TLMT External Torque Limit
07 CLR Clear Pulse Error Value
08 LOK Servo Lock
09 EMC Emergency Stop
0A SPD1 Speed 1
0B SPD2 Speed 2
0C MDC Control Mode Switch
0D INH Position Command Inhibit
0E SPDINV Speed Inverse
0F G-SEL Gain Select
10 GN1 Electronic Gear Ratio Numerator 1
11 GN2 Electronic Gear Ratio Numerator 2
12 PTRG Position Trigger
13 PHOLD Position Hold
14 SHOME Start Home
15 ORG Home Position Reference (Origin)
16 POS1 Internal Position select 1
17 POS2 Internal Position select 2
18 POS3 Internal Position select 3
19 POS4 Internal Position select 4
1A TRQINV Torque Inverse
1B RS1 Torque CW Selecting
1C RS2 Torque CCW Selecting
1D MDC2 Control mode selection for tool
turret
1E POS5
Internal position command
selection 5
(Tool NO. selection 5)
1F POS6 Tool NO. selection 6
20 VDI Virtual digital input
★New setting will become effective after re-cycling the
power.
Warning! If any of programmable Inputs of DI-1 ~ DI-12 are
set for the same type of function
then the logic state selection ( NO or NC selection) for these
inputs must be the same type.
Otherwise an Alarm will be displayed. AL-07 (Abnormal DI/DO
programming).
P.S.：DI_Jog function only work in Position mode (Cn01 = 2、6、
A)
DI_Jog_1 DI_Jog_2 Function
0 0 No JOG
1 0 JOG
Excitation Forward
0 1 JOG
Excitation Reverse
1 1 JOG
Excitation zero-run
★New setting will become effective after re-cycling the power.
82
Parameter Name & Function Default Unit Setting
Range
Control
Mode
Communication
Address
RS232 RS485
★
Hn601.2
DI-1 Active Level
0 X
0
│
1
ALL C23H 0501H Setting Explanation
0 Low Active (short with IG24)
1 High Active
★
Hn602
DI-2
Changed
by mode
X 000~ 120 ALL C24H 0502H Please refer to Hn601
★
Hn603
DI-3 X 000~ 120 ALL C25H 0503H Please refer to Hn601
★
Hn604
DI-4 X 000~ 120 ALL C26H 0504H Please refer to Hn601
★
Hn605
DI-5 X 000~ 120 ALL C27H 0505H Please refer to Hn601
★
Hn606
DI-6 X 000~ 120 ALL C28H 0506H Please refer to Hn601
★
Hn607
DI-7 X 000~ 120 ALL C29H 0507H Please refer to Hn601
★
Hn608
DI-8 X 000~ 120 ALL C2AH 0508H Please refer to Hn601
★
Hn609
DI-9 X 000~ 120 ALL C2BH 0509H Please refer to Hn601
★
Hn610
DI-10 X 000~ 120 ALL C2CH 050AH Please refer to Hn601
★
Hn611
DI-11 X 000~ 120 ALL C2DH 050BH Please refer to Hn601
★
Hn612
DI-12 X 000~ 120 ALL C2EH 050CH Please refer to Hn601
★New setting will become effective after re-cycling the power.
Warning! If any of programmable Inputs of DI-1 ~ DI-12 are set for the same type of function then the logic state
selection (NO or NC selection) for these inputs must be the same type. Otherwise an Alarm will be displayed. AL-07
(Abnormal DI/DO programming).
83
Parameter Name & Function Default Unit Setting
Range
Control
Mode
Communication
Address
RS232 RS485
★
Hn613.0
Hn613.1
DO-1 Functions
Changed
by mode X
01
│
12
ALL
C47H 050DH
Setting Explanation
Signal Functions
00 NON Unused
01 RDY Servo Ready
02 ALM Alarm
03 ZS Zero Speed
04 BI Brake Signal
05 INS In Speed
06 INP In Position
07 HOME HOME
08 INT In Torque
09 P1 Position Display 1 for Tool Turret mode
0A P2 Position Display 2 for Tool Turret mode
0B P3 Position Display 3 for Tool Turret mode
0C P4 Position Display 4 for Tool Turret mode
0D P5 Position Display 5 for Tool Turret mode
0E P6 Position Display 6 for Tool Turret mode
0F OL Motor Over-load Signal
10 BAT Absolute Encoder Battery Module
Fault
11 LIM CWL/CCWL Drive Disable Signal
12 VDO Virtual Digital Output
★
Hn613.2
DO-1 Active Level
0 X
0
│
1
ALL Setting Explanation
0 Close, when the output is activated.
1 Open, when the output is activated.
★
Hn614
DO-2
Changed
by mode
X 000~
112 ALL C48H 050EH Please refer to Hn613
★
Hn615
DO-3 X 000~
112 ALL C49H 050FH Please refer to Hn613
★
Hn616
DO-4 X 000~
112 ALL C4AH 0510H Please refer to Hn613
New setting will become effective after re-cycling the power.
Warning! If any of programmable Outputs of DO-1 ~ DO-4 are set for the same type of function; then the logic state
selection (NO or NC selection) for these outputs can not be the same type. Otherwise an Alarm will be displayed. AL-07
(Abnormal DI/DO programming).
84
Parameter Name & Function Default Unit Setting
Range
Control
Mode
Communication
Address
RS232 RS485
Hn617
Digital input control method selection.
H0000 X
H0000
│
H0FFF
(HEX)
ALL C31H 0511H
Select digital input (12 pins) control method by external
terminal or communication. Convert Binary code to Hex
code for setting this parameter. DI and binary bits table as
below.
Ex. DI-1 is bit 0 and DI-12 is bit 12.
DI-[ ] DI-12 ……… DI-1
bit 11 ……… 0
Binary code representation：
￫” 0 “ Digital input control by external terminal.
￫” 1 “ Digital input control by communication.
Set H0000 for Hn617 represent DI-1 ~ DI-12 are controlled
by external terminal and set H0FFF represent all terminal is
controlled by communication.
Ex. Set DI (1, 3, 6, 10, 12) for communication control other
pins by external terminal;
The corresponding binary code is :[0 1010 0010 0101]
convert to Hex code is : [H 0A25]for entering parameter.
For the setting Bit0 (DI-1) is control by communication and
Bit1 (DI-2) is control by external terminal ….etc .
Hn618
Setting digital input status in communication mode
H0000 X
H0000
│
H0FFF
(HEX)
ALL 5FFH 0512H
Change Hn618 Hex code for setting digital input status of
communication control mode; Setting method refer Hn617.
Binary code representation:
“0” : digital input contact OFF
“1” : digital input contact ON
Set H0000 for Hn617 represent DI-1 ~ DI-12 are controlled
by external terminal and set H0FFF represent all terminal is
controlled by communication.
P.S.)This parameter should co-operate with Hn617.
85
The default value of Hn601~Hn616 on difference control mode
Cn 001
Hn 6XX
0 1 2 3 4 5 6 7 8 9 A
Hn 601 0001 0001 0001 0001 0001 0001 0001 0001 0001 0001 0001
Hn 602 0002 0002 0002 0002 0002 0002 0002 0002 0002 0002 0002
Hn 603 0003 0003 0003 0003 0003 0003 0016 0016 0016 0016 0003
Hn 604 0104 0104 0104 0104 0104 0104 0017 0017 0017 0017 0104
Hn 605 0105 0105 0105 0105 0105 0105 0018 0018 0018 0018 0105
Hn 606 001B 0006 0006 0006 001B 001B 0019 0019 0019 0019 0006
Hn 607 001C 000E 0007 000E 001C 001C 001E 001E 001E 001E 0007
Hn 608 001A 0008 000D 0008 001A 001A 0012 0012 0012 001F 000D
Hn 609 0009 0009 0009 0009 0009 0009 0009 0009 0009 0009 0009
Hn 610 000A 000A 0014 000A 000A 000A 0014 000A 001B 0012 0014
Hn 611 000B 000B 0015 000B 000B 000B 0015 000B 001C 001D 0015
Hn 612 000C 000C 000C 000C 000C 000C 0013 000C 000C 000C 000C
Hn 613 0001 0001 0001 0001 0001 0001 0001 0001 0001 0006 0001
Hn 614 0002 0002 0002 0002 0002 0002 0002 0002 0002 0002 0002
Hn 615 0008 0003 0007 0003 0008 0008 0007 0003 0008 000E 0007
Hn 616 0005 0005 0006 0006 0005 0006 0006 0006 0006 000D 0006
86
Chapter 5 Troubleshooting
5-1 Alarm functions
The Alarm codes are displayed in a format such as that shown below. For any Alarm messages, refer to this
section for identify the cause and dispel the error to reset the Alarm message by following pages description.
If this is not possible for any reason then contact your local supplier for assistance.
Alarm Status Display：
For Alarm List refer to the section 5-2. In the example above AL-01 indicate (Under Voltage)
There is also an Alarm history which can record ten entry of alarm record.
History record is listed as alarm history record table shows.
Alarm Reset Methods
1. Carry out the suggestions below to reset Alarm.
(a) Reset by input signal: Once the cause of Alarm is rectified, disable SON signal (Switch off Servo ON), then
activate input signal ALRS.
Alarm condition should be cleared and the drive will be ready for operation.
Reference 5-6-1 for setting SON and Alarm signal.
(b) Reset from Keypad : Once the cause of Alarm is rectified,
disable SON signal (Switch off Servo ON), then press the buttons and at the same time to reset Alarm
and the drive will be ready for operation.
2. Power reset: Once the cause of Alarm is rectified, disable SON signal (Switch off Servo ON) and re-cycling power.
Alarm condition can be reset and the drive will be ready for operation.
Waning!
1) Before applying power rest, ensure that SON is off (SON signal is removed first) to prevent danger.
2) Ensure that the speed commands are removed before the alarm is reset, otherwise the motor may run
abruptly once the alarm signal is reset.
87
5-2 Troubleshooting of Alarm and Warning
Alarm
Code
Alarm Name
and Description Corrective Actions Reset
Method
00 Normal — —
01
Under-voltage Use multi-meter to check whether the input
voltage is within the specified limit. If it can not be
solved, there may be failure inside the Drive.
Turn
ALRS
(DI)
ON
External power voltage is lower
than the rated power voltage。
02
Over-voltage
(Regeneration error)
1. Use multi-meter to check whether the input
voltage is within the specified limit.
2. Check the Parameter Cn012 if it is setting
correctly.
3. If this alarm appears during operation.
Extend ac/deceleration time or reduce load
ratio in the permitted range. Otherwise, an
external regeneration resistor is needed.
(Please contact your supplier for assistance.)
Turn
ALRS
(DI)
ON
1. External power voltage is
higher than the rated power
voltage.
2. Regeneration voltage is too
high.
03
Motor Over-load 1. Check connection for Motor terminal s (U,V,W)
and Encoder.
2. Adjust the Drive gain, If gain is not correctly
adjusted, it would cause motor vibration and
large current will lead to motor over load.
3. Extend acc/deceleration time or reduce load
ratio in the permitted range.
Turn
ALRS
(DI)
ON
The drive has exceeded its rated
load during continuous
operation. When the loading is
equal to 2 times of rated
loading, alarm occurs within
10sec.
04
Drive Over-current 1. Check connection of the motor cable (U,V,W)
and encoder.
Check power cable connection. Refer to the
diagram in Chapter 2.
2. Turn off the power, and turn on again after 30
min. If the alarm still exists, there may be
power module malfunction or noise consider
the drive for test and repair.
Reset
Power
Supply
Drive main circuit Over current
or Transistor error.
05
Encoder ABZ phase signal
error
1. Check the motor’s encoder connections.
2. Check the encoder if short circuit, poor solder
joints or break.
3. Check the encoder signal terminals CN2-1 and
CN2-2. ( power cable 5v)
Reset
Power
Supply
Motor’s encoder failure or
encoder connection problem.
06
Encoder UVW phase signal
error
Motor’s encoder failure or
encoder connection problem.
07
Multi-function contact setting
error
1. Check parameters Hn601~Hn612, trigger level
selected by 2nd digit of Hn601 to 612 should be
the same for all inputs DI-1~DI-12.
2. Check parameters setting of Hn613 ~ Hn616
should NOT be the same for outputs contact
DO-1~DO-4.
Reset
Power
Supply
Input/output contacts function
setting error.
08
Memory Error Disconnect all command cable then re-cycle the
power. If alarm still occurs, it means the Drive was
failure.
Reset
Power
Supply
Parameter write-in error
88
Alarm
Code
Alarm Name
and Description Corrective Actions Reset
Method
09
Emergency Stop 1. Disable Emergency stop signal input.
2. Internal mal-function.
Ensure that all connection are
correct, refer to Chapter 2 Power and motor
circuit diagrams connection.
Control wiring diagrams.
Turn
ALRS
(DI)
ON
When the input contact point
EMC is activated. Alarm 09
appears.
10
Motor over-current 1. Check if the motor wiring U,V,W)and encoder
wiring correct or not.
2 .Internal interference and mal-function. Ensure
that all connection are correct refer to Chapter 2
Power and motor circuit diagrams.
Turn
ALRS
(DI)
ON
Motor current is 4 times greater
than rated current.
11
Position error 1. Increase the position loop gain (Pn310 and
Pn311) setting value.
2. Increase in position tolerance value by (Pn307)
for a better motor response.
3. Extend the time of ac/deceleration or reduce
load inertia in the permitted range.
4. Check if the motor wiring (U,V,W) is correct.
Turn
ALRS
(DI)
ON
The deviation between Pulse
command and encoder feed
back ( position error) is greater
than the setting of Pn308 or
Pn309.
12
Motor over speed 1. Reduce the speed command.
2. Electronic gear ratio is incorrect check and set
correctly.
3. Adjust speed loop gains (Sn211 & Sn213) for a
better motor response.
Turn
ALRS
(DI)
ON
Motor’s speed is 1.5 times more
then motor’s rated speed.
13
CPU Error Turn off the power. Turn on again after 30min. If
error alarm still exists, this may be due to external
interference. Refer to the chapter 2 Motor 、 power
cable and control signals connections.
Reset
Power
Supply
Control system Mal-function.
14
Drive disable 1. Remove input contact signal
CCWL or CWL.
2. Check all input wiring for correct connections.
3. For the selected High /Low logic
potential settings refer to Section
5-6-1.
Turn
ALRS
(DI)
ON
When input contacts CCWL &
CWL are operated at the same
time this alarm occurs.
15
Drive overheat
Over-load for a long duration will cause driver
overheat, check and reset operation system.
Turn
ALRS
(DI)
ON
Power transistor temperature
exceeds 90°C.
16
Absolute Encoder Battery
error
Make sure if battery module is removed, power
supply is losing, or battery is power shortage and
requires replacing.
If the battery has reset, the number of turns
required to remove the encoder through Cn041
Turn
ALRS
(DI)
ON
Battery module remove or
battery voltage is lower than
3.2V
89
5-3 Alarm Status Description
Alarm
Code
Alarm Name
and Description
Reset
Method
Alarm Status Digital Output
CN1-25
BB/A3
CN1-24
ST/A2
CN1-23
PC/A1
CN1-22
LM/A0
00 Normal —
If there is no Alarm, CN1-22~CN1-25 operates in
accordance with default function. Please refer to
2-2-1.
01 Under-voltage Turn
ALRS(DI) ON 1 1 1 0
02 Over-voltage
(Regeneration error)
Turn
ALRS(DI) ON 1 1 0 1
03 Motor Over-load Turn
ALRS(DI) ON 1 1 0 0
04 Drive Over-current Reset Power
Supply 1 0 1 1
05 Encoder ABZ phase signal error Reset Power
Supply 1 0 1 0
06 Encoder UVW phase signal error Reset Power
Supply 1 0 0 1
07 Multi-function contact setting error Reset Power
Supply 1 0 0 0
08 Memory Error Reset Power
Supply 0 1 1 1
09 Emergency Stop Turn ALRS(DI)
ON 0 1 1 0
10 Motor over-current Turn ALRS(DI)
ON 0 1 0 1
11 Position error Turn ALRS
(DI) ON 0 1 0 0
12 Motor over speed Turn ALRS
(DI) ON 0 0 1 1
13 CPU Error Reset Power
Supply 0 0 1 0
14 Drive disable Turn ALRS
(DI) ON 0 0 0 1
15 Drive overheat Turn ALRS
(DI) ON 0 0 0 0
16 Battery Module Fault Turn ALRS
(DI) ON 1 1 1 1
90
Appendix A
For the absolute encoder, JSDAP series has optional battery module, battery modules are divided into two
parts of the battery and installation, described as below.
Battery Specification
NO. ITEMS Characteristics
1 Nominal Capacity 2400 mAh (Continuosly discharged under 2mA current till 2.0V
end-point voltage at the temperature of 23℃±3℃)
2 Nominal Voltage 3.6V
3 Operating Temperature Range -40~+85℃
4 Max. Continuos Discharge Current 100mA
5 Structures Thiony chloride, lithium anode, acetylene black, separator, and
stainless steel cell shell etc.
6 Weight for reference 19.0g
Installation
When customers received the battery modules, battery and casing has been installed properly, please refer
the following steps to install.
a. The drive has a black lightning symbol protective cover, such as the circle marked.
91
b. Remove the protective cover
c. Removed the protective cover, the customers can find the two connectors and select one of them,
reference the attached manual which was in battery module for installation. Another connector is
reserved for replacing the battery that is in order to avoid power supply outage.
92
d. When the battery module is installed, pay attention to installation marked on the drive, as below.
e. Installation completed.
I
■ 警告及注意事項：
警告
不可在送電中，實施配線工作。
輸入電源切離後，伺服驅動器之狀態顯示 CHARGE LED 未熄滅前，請勿觸摸電路或更
換零件。
伺服驅動器的輸出端 U、V、W，絕不可接到 AC 電源。
未提供馬達過溫度保護功能。
注意
當伺服驅動器安裝於控制盤內，若周溫過高時，請加裝散熱風扇。
不可對伺服驅動器作耐壓測試。
機械開始運轉前，確認是否可以隨時啟動緊急開關停機。
機械開始運轉前，須配合機械來改變使用者參數設定值。未調整到相符的正確設定值，
可能會導致機械失去控制或發生故障。
機械開始運轉前，務必確認參數 Cn030：系列化機種設定，需選取正確的驅動器和馬
達匹配組合！
■ 安全注意事項：
在安裝、運轉、保養、點檢前，請詳閱本說明書。另外，唯有具備專業資格的人員才可進
行裝配線工作。
說明書中安全注意事項區分為「警告」與「注意」兩項。
：表示可能的危險情況，如忽略會造成人員死亡或重大損傷。
：表示可能的危險情況，如未排除會造成人員較小或輕微的損傷及機器設備的
損壞。
所以應詳閱本簡易說明書及產品技術手冊後，再使用此伺服驅動器。
警告
注意
!
!
II
首先，感謝您採用東元電機伺服驅動器 JSDAP 系列(以下簡稱 JSDAP)和伺服馬達。
JSDAP 可由數位面板操作器或透過 PC 人機程式來操作，提供多樣化的機能，使產品更
能符合客戶各種不同的應用需求。
在使用 JSDAP 前，請先閱讀本簡易說明書及產品技術手冊，主要內容包括：
伺服系統的檢查、安裝及配線步驟。
數位面板操作器的操作步驟、狀態顯示、異常警報及處理對策說明。
伺服系統控制機能、試運轉及調整步驟。
伺服驅動器所有參數一覽說明。
標準機種的額定規格。
為了方便作日常的檢查、維護及瞭解異常發生之原因及處理對策，請妥善保管本說明書在
安全的地點，以便隨時參閱。
註：請將此說明書交給最終之使用者，以使伺服驅動器發揮最大效用。
III
目 錄
第一章 產品檢查及安裝..................................................................................................................... 1
1-1 產品檢查 ..................................................................................................................................... 1
1-1-1 伺服驅動器機種確認 ............................................................................................................ 1
1-1-2 伺服馬達機種確認 ................................................................................................................ 2
1-1-3 伺服驅動器與伺服馬達搭配對照表 ....................................................................................... 3
1-2 伺服驅動器操作模式簡介 .......................................................................................................... 13
1-3 伺服驅動器安裝環境條件與方法 ............................................................................................... 14
1-3-1 安裝環境條件 ..................................................................................................................... 14
1-3-2 安裝方向及間隔 ................................................................................................................. 14
1-4 伺服馬達安裝環境條件與方法................................................................................................... 15
1-4-1 安裝環境條件 ..................................................................................................................... 15
1-4-2 安裝方式 ............................................................................................................................ 15
1-4-3 其他注意事項 ..................................................................................................................... 16
第二章 配線準備 ............................................................................................................................. 17
2-1 系統組成及配線 ........................................................................................................................ 17
2-1-1 伺服驅動器電源及週邊裝置配線圖 ..................................................................................... 17
2-1-2 伺服驅動器配線說明 .......................................................................................................... 19
2-1-3 電線規格 ............................................................................................................................ 20
2-1-4 馬達端出線 ......................................................................................................................... 22
2-1-5 TB 端子說明........................................................................................................................ 25
2-1-6 馬達附機械式剎車(BRAKE)接線說明 ................................................................................. 25
2-2 I/O 信號端子說明 ....................................................................................................................... 26
2-2-1 CN1 控制信號端子說明....................................................................................................... 27
2-2-2 CN2 編碼器信號端子說明 ................................................................................................... 28
2-2-3 CN3/CN4 通訊信號端子說明 .............................................................................................. 29
2-3 控制信號標準接線圖 ................................................................................................................. 30
2-3-1 位置控制(Pe Mode)接線圖(Line Driver) ............................................................................. 30
2-3-2 位置控制(Pe Mode)接線圖(Open Collector) ...................................................................... 31
2-3-3 位置控制(Pi Mode)接線圖 .................................................................................................. 32
